This study presents a methodology for determining the optimal base placement of a Fanuc CRX10iA/L collaborative robot for a desired trajectory corresponding to an industrial task. The proposed method uses a particle swarm optimization algorithm that explores the search space to find positions for performing the trajectory. An $α$-shape algorithm is then used to draw the borders of the feasibility areas, and the largest circle inscribed is calculated from the Voronoi diagrams. The aim of this approach is to provide a robustness criterion in the context of robot placement inaccuracies that may be encountered, for example, if the robot is placed on a mobile base when the system is deployed by an operator. The approach developed uses an inverse kinematics model to evaluate all initial configurations, then moves the robot end-effector along the reference trajectory using the Jacobian matrix and assigns a score to the attempt. For the Fanuc CRX10iA/L robot, there can be up to 16 solutions to the inverse kinematics model. The calculation of these solutions is not trivial and requires a specific study that planning tools such as MoveIt cannot fully take into account. Additionally, the optimization process must consider constraints such as joint limits, singularities, and workspace limitations to ensure feasible and efficient trajectory execution.

As a promising physical layer security technique, physical layer key generation (PLKG) enables legitimate users to obtain secret keys from wireless channel without security infrastructures. However, in harsh propagation environments, the channel characteristic becomes unsatisfactory, the key generation rate (KGR) is significantly deteriorated. In this paper, we propose a novel fluid antenna (FA) enabled PLKG system to address this challenge. Specifically, we first derive the closed-form expression of the KGR for FA array, and then jointly optimize the precoding matrix and the antenna positions via a particle swarm optimization (PSO) algorithm. Next, to further reduce the computational complexity of the optimization procedure, we develop an alternating optimization (AO) algorithm, which combines the projected gradient descent (PGD) and the PSO. Simulation results demonstrate that by exploiting the additional spatial degree of freedom (DoF), our FA enabled PLKG system is superior to the benchmarks, such as the conventional fixed-position antenna (FPA) array and the reconfigurable intelligent surface (RIS). It is worth highlighting that compared to the conventional uniform planar antenna (UPA), the FA enabled PLKG achieves a 35.42\% KGR performance improvement under PSO algorithm and a 67.73\% KGR performance improvement under AO algorithm, respectively.

The accurate localization of sensor nodes is a fundamental requirement for the practical application of the Internet of Things (IoT). To enable robust localization across diverse environments, this paper proposes a hybrid meta-heuristic localization algorithm. Specifically, the algorithm integrates the Sine Cosine Algorithm (SCA), which is effective in global search, with Particle Swarm Optimization (PSO), which excels at local search. An adaptive switching module is introduced to dynamically select between the two algorithms. Furthermore, the initialization, fitness evaluation, and parameter settings of the algorithm have been specifically redesigned and optimized to address the characteristics of the node localization problem. Simulation results across varying numbers of sensor nodes demonstrate that, compared to standalone PSO and the unoptimized SCAPSO algorithm, the proposed method significantly reduces the number of required iterations and achieves an average localization error reduction of 84.97%.

This paper discusses how particle swarm optimization (PSO) can be used to generate quantum circuits to solve an instance of the MaxOne problem. It then analyzes previous studies on evolutionary algorithms for circuit synthesis. With a brief introduction to PSO, including its parameters and algorithm flow, the paper focuses on a method of quantum circuit encoding and representation as PSO parameters. The fitness evaluation used in this paper is the MaxOne problem. The paper presents experimental results that compare different learning abilities and inertia weight variations in the PSO algorithm. A comparison is further made between the PSO algorithm and a genetic algorithm for quantum circuit synthesis. The results suggest PSO converges more quickly to the optimal solution.

Network function virtualization enables network operators to implement new services through a process called service function chain mapping. The concept of Service Function Chain (SFC) is introduced to provide complex services, which is an ordered set of Network Functions (NF). The network functions of an SFC can be decomposed in several ways into some Virtual Network Functions (VNF). Additionally, the decomposed NFs can be placed (mapped) as VNFs on different machines on the underlying physical infrastructure. Selecting good decompositions and good placements among the possible options greatly affects both costs and service quality metrics. Previous research has addressed NF decomposition and VNF placement as separate problems. However, in this paper, we address both NF decomposition and VNF placement simultaneously as a single problem. Since finding an optimal solution is NP-hard, we have employed heuristic algorithms to solve the problem. Specifically, we have introduced a multiobjective decomposition and mapping VNFs (MODMVNF) method based on the non-dominated sorting genetic multi-objective algorithm (NSGAII) to solve the problem. The goal is to find near-optimal decomposition and mapping on the physical network at the same time to minimize the mapping cost and communication latency of SFC. The comparison of the results of the proposed method with the results obtained by solving ILP formulation of the problem as well as the results obtained from the multi-objective particle swarm algorithm shows the efficiency and effectiveness of the proposed method in terms of cost and communication latency.

Against the backdrop of increasingly severe global environmental changes, accurately predicting and meeting renewable energy demands has become a key challenge for sustainable business development. Traditional energy demand forecasting methods often struggle with complex data processing and low prediction accuracy. To address these issues, this paper introduces a novel approach that combines deep learning techniques with environmental decision support systems. The model integrates advanced deep learning techniques, including LSTM and Transformer, and PSO algorithm for parameter optimization, significantly enhancing predictive performance and practical applicability. Results show that our model achieves substantial improvements across various metrics, including a 30% reduction in MAE, a 20% decrease in MAPE, a 25% drop in RMSE, and a 35% decline in MSE. These results validate the model's effectiveness and reliability in renewable energy demand forecasting. This research provides valuable insights for applying deep learning in environmental decision support systems.

Compared to other techniques, particle swarm optimization is more frequently utilized because of its ease of use and low variability. However, it is complicated to find the best possible solution in the search space in large-scale optimization problems. Moreover, changing algorithm variables does not influence algorithm convergence much. The PSO algorithm can be combined with other algorithms. It can use their advantages and operators to solve this problem. Therefore, this paper proposes the onlooker multi-parent crossover discrete particle swarm optimization (OMPCDPSO). To improve the efficiency of the DPSO algorithm, we utilized multi-parent crossover on the best solutions. We performed an independent and intensive neighborhood search using the onlooker bees of the bee algorithm. The algorithm uses onlooker bees and crossover. They do local search (exploitation) and global search (exploration). Each of these searches is among the best solutions (employed bees). The proposed algorithm was tested on the allocation problem, which is an NP-hard optimization problem. Also, we used two types of simulated data. They were used to test the scalability and complexity of the better algorithm. Also, fourteen 2D test functions and thirteen 30D test functions were used. They also used twenty IEEE CEC2005 benchmark functions to test the efficiency of OMPCDPSO. Also, to test OMPCDPSO's performance, we compared it to four new binary optimization algorithms and three classic ones. The results show that the OMPCDPSO version had high capability. It performed better than other algorithms. The developed algorithm in this research (OMCDPSO) in 36 test functions out of 47 (76.60%) is better than other algorithms. The Onlooker bees and multi-parent operators significantly impact the algorithm's performance.

Abstract-- This paper introduces a novel numerical approach to achieving smooth lane-change trajectories in autonomous driving scenarios. The generation of smooth and dynamically feasible trajectories for the lane change maneuver is facilitated by combining polynomial curve fitting with particle propagation, which can account for vehicle dynamics. The proposed planning algorithm is capable of determining feasible trajectories with real-time computation capability. The simulation results validate the efficacy and effectiveness of our proposed approach. One example of this is Neural I. INTRODUCTION Network Model Predictive Control (NNMPC) [11,12], which We consider motion planning for autonomous vehicles in attempts to solve merging in dense traffic by combining highly dense traffic scenarios, as depicted in Figure 1.

Trajectory optimization of a robot manipulator consists of both optimization of the robot movement as well as optimization of the robot end-effector path. This paper aims to find optimum movement parameters including movement type, speed, and acceleration to minimize robot energy. Trajectory optimization by minimizing the energy would increase the longevity of robotic manipulators. We utilized the particle swarm optimization method to find the movement parameters leading to minimum energy consumption. The effectiveness of the proposed method is demonstrated on different trajectories. Experimental results show that 49% efficiency was obtained using a UR5 robotic arm.

Enabled by the emerging industrial agent (IA) technology, swarm intelligence (SI) is envisaged to play an important role in future industrial Internet of Things (IIoT) that is shaped by Sixth Generation (6G) mobile communications and digital twin (DT). However, its fragility against data injection attack may halt it from practical deployment. In this paper we propose an efficient trust approach to address this security concern for SI.