Through analyzing the yearly average data obtained from 123 regular meteorological observatories located in the Tibetan Plateau (T-P), this article studies the characteristics of climate change in T-P in the last 40 y...Through analyzing the yearly average data obtained from 123 regular meteorological observatories located in the Tibetan Plateau (T-P), this article studies the characteristics of climate change in T-P in the last 40 years. Prom the distribution of the linear trend, it can be concluded that the southeastern part of T-P becomes warmer and wetter, with an obvious increase of rainfall. The same characteristics are found in the southwestern part of T-P, but the shift is smaller. In the middle of T-P, temperature and humidity obviously increase with the center of the increase in Bangoin-Amdo. The south of the Tarim Basin also exhibits the same tendency. The reason for this area being humid is that it gets less sunshine and milder wind. The northeastern part of T-P turns warmer and drier. Qaidam Basin and its western and southern areas are the center of this shift, in which the living environment is deteriorating. Analyzing the characteristics of the regional average time series, it can be found that in the mid-1970s, a significant sudden change occurred to annual rainfall, yearly average snow-accumulation days and surface pressure in the eastern part of T-P. In the mid-1980s, another evident climatic jump happened to yearly average temperature, total cloud amount, surface pressure, relative humidity, and sunshine duration in the same area. That is, in the mid 1980s, the plateau experienced a climatic jump that is featured by the increase of temperature, snow-accumulation days, relative humidity, surface pressure, and by the decrease of sunshine duration and total cloud amount. The sudden climatic change of temperature in T-P is later than that of the global-mean temperature. Prom this paper it can be seen that in the middle of the 1980s, a climatic jump from warm-dry to warm-wet occurred in T-P.展开更多
Coherent Jamming is one of the Important trends in modern radar electronic warfare. High-speed sampling of wldeband radio frequency （RF） signals and high isolatlon of two receive-transmit antennas are key technologi...Coherent Jamming is one of the Important trends in modern radar electronic warfare. High-speed sampling of wldeband radio frequency （RF） signals and high isolatlon of two receive-transmit antennas are key technologies for the realization of coherent jamming. However, these technologies present significant challenges to enginserlng application. In this paper, a novel repeater Jamming based on interrupted sampling technique is presented. For a Jammer with a receive-transmit time-sharing antenna, a radar signal is sampled with a low rate by the jammer. Then, a train of false targets will be achieved after the Jamming signal feed the matched flltar of a pulse compression radar. For the case of the Ilnser frequency modulated （LFM） pulse compression radars, mathematic principles of the interrupted.sampiing repeater jamming Is developed, and then the efficiency of the jamming is described and stated as expressions of key parameters which are also beneficial to the Jamming design for other coherent radars.展开更多
Based on the ensemble mean outputs of the ensemble forecasts from the ECMWF （European Centre for Medium-Range Weather Forecasts）, JMA （Japan Meteorological Agency）, NCEP （National Centers for Environmental Predic...Based on the ensemble mean outputs of the ensemble forecasts from the ECMWF （European Centre for Medium-Range Weather Forecasts）, JMA （Japan Meteorological Agency）, NCEP （National Centers for Environmental Prediction）, and UKMO （United Kingdom Met Office） in THORPEX （The Observing System Research and Predictability Experiment） Interactive Grand Global Ensemble （TIGGE） datasets, for the Northern Hemisphere （10~ 87.5~N, 0~ 360~） from i June 2007 to 31 August 2007, this study carried out multimodel ensemble forecasts of surface temperature and 500-hPa geopotential height, temperature and winds up to 168 h by using the bias-removed ensemble mean （BREM）, the multiple linear regression based superensemble （LRSUP）, and the neural network based superensemble （NNSUP） techniques for the forecast period from 8 to 31 August 2007. A running training period is used for BREM and LRSUP ensemble forecast techniques. It is found that BREM and LRSUP, at each grid point, have different optimal lengths of the training period. In general, the optimal training period for BREM is less than 30 days in most areas, while for LRSUP it is about 45 days.展开更多
This article investigates gain self-scheduled H 1 robust control system design for a tailless fold- ing-wing morphing aircraft in the wing shape varying process. During the wing morphing phase, the aircraft＇s dynamic...This article investigates gain self-scheduled H 1 robust control system design for a tailless fold- ing-wing morphing aircraft in the wing shape varying process. During the wing morphing phase, the aircraft＇s dynamic response will be governed by time-varying aerodynamic forces and moments. Nonlinear dynamic equations of the morphing aircraft are linearized by using Jacobian linearization approach, and a linear parameter varying （LPV） model of the morphing aircraft in wing folding is obtained. A multi-loop controller for the morphing aircraft is formulated to guarantee stability for the wing shape transition process. The proposed controller uses a set of inner-loop gains to provide stability using classical techniques, whereas a gain self-scheduled H 1 outer-loop controller is devised to guarantee a specific level of robust stability and performance for the time-varying dynamics. The closed-loop simulations show that speed and altitude vary slightly during the whole wing folding process, and they converge rapidly after the process ends. This proves that the gain self-scheduled H 1 robust controller can guarantee a satisfactory dynamic performance for the morphing aircraft during the whole wing shape transition process. Finally, the flight control system＇s robustness for the wing folding process is verified according to uncertainties of the aerodynamic parameters in the nonlinear model.展开更多
Soil respiration （SR） is commonly modeled by a Q10 （an indicator of temperature sensitivity） function in ecosystem models. Q10 is usually treated as a constant of 2 in these models, although Q10 value of SR often ...Soil respiration （SR） is commonly modeled by a Q10 （an indicator of temperature sensitivity） function in ecosystem models. Q10 is usually treated as a constant of 2 in these models, although Q10 value of SR often decreases with increasing temperatures. It remains unclear whether a general temperature- dependent Q10 model of SR exists at biome and global scale. In this paper, we have compiled the long-term Q10 data of 38 SR studies ranging from the Boreal, Temperate, to Tropical/Sublropical biome on four continents. Our analysis indicated that the general temperature-dependent biome Q10 models of SR existed, especially in the Boreal and Temperate biomes. A single-exponential model was better than a simple linear model in fitting the average Q10 values at the biome scale. Average soil temperature is a better predictor of Q10 value than average air temperature in these models, especially in the Boreal biome. Soil temperature alone could explain about 50% of the Q10 variations in both the Boreal and Temperate biome single-exponential Q10 model. Q10 value of SR decreased with increasing soil temperature but at quite different rates among the three biome Q10 models. The k values （Q10 decay rate constants） were 0.09, 0.07, and 0.02/℃ in the Boreal, Temperate, and Tropical/Subtropical biome, respectively, suggesting that Q10 value is the most sensitive to soil temperature change in the Boreal biome, the second in the Temperate biome, and the least sensitive in the Tropical/ Subtropical biome. This also indirectly confirms that acclimation of SR in many soil warming experiments probably occurs. The k value in the ＂global＂ single-exponential Q10 model which combined both the Boreal and Temperate biome data set was 0.08/℃. However, the global general temperature-dependent Q10 model developed using the data sets of the three biomes is not adequate for predicting Q10 values of SR globally. The existence of the general temperature-dependent Q10 models of SR in the Boreal and Temperate biome has important im展开更多
Linear quadratic regulator(LQR) and proportional-integral-derivative(PID) control methods, which are generally used for control of linear dynamical systems, are used in this paper to control the nonlinear dynamical sy...Linear quadratic regulator(LQR) and proportional-integral-derivative(PID) control methods, which are generally used for control of linear dynamical systems, are used in this paper to control the nonlinear dynamical system. LQR is one of the optimal control techniques, which takes into account the states of the dynamical system and control input to make the optimal control decisions.The nonlinear system states are fed to LQR which is designed using a linear state-space model. This is simple as well as robust. The inverted pendulum, a highly nonlinear unstable system, is used as a benchmark for implementing the control methods. Here the control objective is to control the system such that the cart reaches a desired position and the inverted pendulum stabilizes in the upright position. In this paper, the modeling and simulation for optimal control design of nonlinear inverted pendulum-cart dynamic system using PID controller and LQR have been presented for both cases of without and with disturbance input. The Matlab-Simulink models have been developed for simulation and performance analysis of the control schemes. The simulation results justify the comparative advantage of LQR control method.展开更多
利用矩形薄板面内2个不同模态作为工作模态的直线型超声电机,其频率一致性和压电单元的布置方式以及激励方式对电机的性能和效率有重要的影响。该文根据电机定子的位移振型和应变振型详细分析了压电陶瓷的布置方式和激励方式,并利用参...利用矩形薄板面内2个不同模态作为工作模态的直线型超声电机,其频率一致性和压电单元的布置方式以及激励方式对电机的性能和效率有重要的影响。该文根据电机定子的位移振型和应变振型详细分析了压电陶瓷的布置方式和激励方式,并利用参数化有限元方法(finite element method,FEM)对定子结构进行优化设计。设计制作的样机,两相工作模态频率差为270Hz,在电压峰峰值为350V、驱动频率为44.16kHz、预压力为50N的情况下,电机最大空载速度为100mm/s,最大输出力为3N。展开更多
In this paper, based on the theory of parameter estimation, we give a selection method and, in a sense of a good character of the parameter estimation, we think that it is very reasonable. Moreover, we offer a calcula...In this paper, based on the theory of parameter estimation, we give a selection method and, in a sense of a good character of the parameter estimation, we think that it is very reasonable. Moreover, we offer a calculation method of selection statistic and an applied example.展开更多
Abstract In this paper, we study the order of the growth and exponents of convergence of zeros and poles of meromorphic solutions of some linear and nonlinear difference equations which have admissible meromorphic sol...Abstract In this paper, we study the order of the growth and exponents of convergence of zeros and poles of meromorphic solutions of some linear and nonlinear difference equations which have admissible meromorphic solutions of finite order.展开更多
The aim of this paper is to investigate the central limit theorems for asymptotically negatively dependent random fields under lower moment conditions or the Lindeberg condition. Results obtained improve a central lim...The aim of this paper is to investigate the central limit theorems for asymptotically negatively dependent random fields under lower moment conditions or the Lindeberg condition. Results obtained improve a central limit theorem of Roussas[11]for negatively associated fields and the main results of Su and Chi [18]. and also include a central limit theorem for weakly negatively associated random variables similar to that of Burton et al.[20].展开更多
Rainfall is an important factor in estimating the event mean concentration （EMC） which is used to quantify the washed-off pollutant concentrations from non-point sources （NPSs）. Pollutant loads could also be calcu...Rainfall is an important factor in estimating the event mean concentration （EMC） which is used to quantify the washed-off pollutant concentrations from non-point sources （NPSs）. Pollutant loads could also be calculated using rainfall, catchment area and runoff coefficient. In this study, runoff quantity and quality data gathered from a 28-month monitoring conducted on the road and parking lot sites in Korea were evaluated using multiple linear regression （MLR） to develop equations for estimating pollutant loads and EMCs as a function of rainfall variables. The results revealed that total event rainfall and average rainfall intensity are possible predictors of pollutant loads. Overall, the models are indicators of the high uncertainties of NPSs; perhaps estimation of EMCs and loads could be accurately obtained by means of water quality sampling or a long term monitoring is needed to gather more data that can be used for the development of estimation models.展开更多
Roles of tillage erosion and water erosion in the development of within-field spatial variation of surface soil properties and soil degradation and their contributions to the reduction of crop yields were studied on t...Roles of tillage erosion and water erosion in the development of within-field spatial variation of surface soil properties and soil degradation and their contributions to the reduction of crop yields were studied on three linear slopes in the Sichuan Basin,southwestern China.Tillage erosion was found to be the dominant erosion process at upper slope positions of each linear slope and on the whole short slope (20 m).On the long slope (110 m) and medium slope (40 m),water erosion was the dominant erosion process.Soil organic matter and soil nutrients in the tillage layer were significantly related to slope length and 137 Cs inventories on the long slope; however,there was no significant correlation among them on the short slope,suggesting that water erosion lowered soil quality by transporting SOM and surface soil nutrients selectively from the upper to lower slope positions,while tillage erosion transported soil materials unselectively.On the medium slope,SOM,total N,and available N in the tillage layer were correlated with slope length and the other properties were distributed evenly on the slope,indicating that water erosion on this slope was still the dominant soil redistribution process.Similar patterns were found for the responses of grain yield,aboveground biomass,and harvest index for slopes.These results indicated that tillage erosion was a major cause for soil degradation and grain yield reduction on the linear slopes because it resulted in displacement of the tillage layer soil required for maintaining soil quality and plant growth.展开更多
This paper puts forward a novel artificial immune response algorithm for optimal approximation of linear systems. A quaternion model of artificial immune response is proposed for engineering computing. The model abstr...This paper puts forward a novel artificial immune response algorithm for optimal approximation of linear systems. A quaternion model of artificial immune response is proposed for engineering computing. The model abstracts four elements, namely, antigen, antibody, reaction rules among antibodies, and driving algorithm describing how the rules are applied to antibodies, to simulate the process of immune response. Some reaction rules including clonal selection rules, immunological memory rules and immune regulation rules are introduced. Using the theorem of Markov chain, it is proofed that the new model is convergent. The experimental study on the optimal approximation of a stable linear system and an unstable one show that the approximate models searched by the new model have better performance indices than those obtained by some existing algorithms including the differential evolution algorithm and the multi-agent genetic algorithm.展开更多
文摘Through analyzing the yearly average data obtained from 123 regular meteorological observatories located in the Tibetan Plateau (T-P), this article studies the characteristics of climate change in T-P in the last 40 years. Prom the distribution of the linear trend, it can be concluded that the southeastern part of T-P becomes warmer and wetter, with an obvious increase of rainfall. The same characteristics are found in the southwestern part of T-P, but the shift is smaller. In the middle of T-P, temperature and humidity obviously increase with the center of the increase in Bangoin-Amdo. The south of the Tarim Basin also exhibits the same tendency. The reason for this area being humid is that it gets less sunshine and milder wind. The northeastern part of T-P turns warmer and drier. Qaidam Basin and its western and southern areas are the center of this shift, in which the living environment is deteriorating. Analyzing the characteristics of the regional average time series, it can be found that in the mid-1970s, a significant sudden change occurred to annual rainfall, yearly average snow-accumulation days and surface pressure in the eastern part of T-P. In the mid-1980s, another evident climatic jump happened to yearly average temperature, total cloud amount, surface pressure, relative humidity, and sunshine duration in the same area. That is, in the mid 1980s, the plateau experienced a climatic jump that is featured by the increase of temperature, snow-accumulation days, relative humidity, surface pressure, and by the decrease of sunshine duration and total cloud amount. The sudden climatic change of temperature in T-P is later than that of the global-mean temperature. Prom this paper it can be seen that in the middle of the 1980s, a climatic jump from warm-dry to warm-wet occurred in T-P.
文摘Coherent Jamming is one of the Important trends in modern radar electronic warfare. High-speed sampling of wldeband radio frequency （RF） signals and high isolatlon of two receive-transmit antennas are key technologies for the realization of coherent jamming. However, these technologies present significant challenges to enginserlng application. In this paper, a novel repeater Jamming based on interrupted sampling technique is presented. For a Jammer with a receive-transmit time-sharing antenna, a radar signal is sampled with a low rate by the jammer. Then, a train of false targets will be achieved after the Jamming signal feed the matched flltar of a pulse compression radar. For the case of the Ilnser frequency modulated （LFM） pulse compression radars, mathematic principles of the interrupted.sampiing repeater jamming Is developed, and then the efficiency of the jamming is described and stated as expressions of key parameters which are also beneficial to the Jamming design for other coherent radars.
基金Supported by the China Meteorological Administration Special Public Welfare Research Fund (GYHY(QX)2007-6-1)National Key Basic Research and Development (973) Program of China (2012CB955204)
文摘Based on the ensemble mean outputs of the ensemble forecasts from the ECMWF （European Centre for Medium-Range Weather Forecasts）, JMA （Japan Meteorological Agency）, NCEP （National Centers for Environmental Prediction）, and UKMO （United Kingdom Met Office） in THORPEX （The Observing System Research and Predictability Experiment） Interactive Grand Global Ensemble （TIGGE） datasets, for the Northern Hemisphere （10~ 87.5~N, 0~ 360~） from i June 2007 to 31 August 2007, this study carried out multimodel ensemble forecasts of surface temperature and 500-hPa geopotential height, temperature and winds up to 168 h by using the bias-removed ensemble mean （BREM）, the multiple linear regression based superensemble （LRSUP）, and the neural network based superensemble （NNSUP） techniques for the forecast period from 8 to 31 August 2007. A running training period is used for BREM and LRSUP ensemble forecast techniques. It is found that BREM and LRSUP, at each grid point, have different optimal lengths of the training period. In general, the optimal training period for BREM is less than 30 days in most areas, while for LRSUP it is about 45 days.
基金co-supported by China Postdoctoral Science Foundation(Nos.20110490259,2012T50038)
文摘This article investigates gain self-scheduled H 1 robust control system design for a tailless fold- ing-wing morphing aircraft in the wing shape varying process. During the wing morphing phase, the aircraft＇s dynamic response will be governed by time-varying aerodynamic forces and moments. Nonlinear dynamic equations of the morphing aircraft are linearized by using Jacobian linearization approach, and a linear parameter varying （LPV） model of the morphing aircraft in wing folding is obtained. A multi-loop controller for the morphing aircraft is formulated to guarantee stability for the wing shape transition process. The proposed controller uses a set of inner-loop gains to provide stability using classical techniques, whereas a gain self-scheduled H 1 outer-loop controller is devised to guarantee a specific level of robust stability and performance for the time-varying dynamics. The closed-loop simulations show that speed and altitude vary slightly during the whole wing folding process, and they converge rapidly after the process ends. This proves that the gain self-scheduled H 1 robust controller can guarantee a satisfactory dynamic performance for the morphing aircraft during the whole wing shape transition process. Finally, the flight control system＇s robustness for the wing folding process is verified according to uncertainties of the aerodynamic parameters in the nonlinear model.
文摘Soil respiration （SR） is commonly modeled by a Q10 （an indicator of temperature sensitivity） function in ecosystem models. Q10 is usually treated as a constant of 2 in these models, although Q10 value of SR often decreases with increasing temperatures. It remains unclear whether a general temperature- dependent Q10 model of SR exists at biome and global scale. In this paper, we have compiled the long-term Q10 data of 38 SR studies ranging from the Boreal, Temperate, to Tropical/Sublropical biome on four continents. Our analysis indicated that the general temperature-dependent biome Q10 models of SR existed, especially in the Boreal and Temperate biomes. A single-exponential model was better than a simple linear model in fitting the average Q10 values at the biome scale. Average soil temperature is a better predictor of Q10 value than average air temperature in these models, especially in the Boreal biome. Soil temperature alone could explain about 50% of the Q10 variations in both the Boreal and Temperate biome single-exponential Q10 model. Q10 value of SR decreased with increasing soil temperature but at quite different rates among the three biome Q10 models. The k values （Q10 decay rate constants） were 0.09, 0.07, and 0.02/℃ in the Boreal, Temperate, and Tropical/Subtropical biome, respectively, suggesting that Q10 value is the most sensitive to soil temperature change in the Boreal biome, the second in the Temperate biome, and the least sensitive in the Tropical/ Subtropical biome. This also indirectly confirms that acclimation of SR in many soil warming experiments probably occurs. The k value in the ＂global＂ single-exponential Q10 model which combined both the Boreal and Temperate biome data set was 0.08/℃. However, the global general temperature-dependent Q10 model developed using the data sets of the three biomes is not adequate for predicting Q10 values of SR globally. The existence of the general temperature-dependent Q10 models of SR in the Boreal and Temperate biome has important im
文摘Linear quadratic regulator(LQR) and proportional-integral-derivative(PID) control methods, which are generally used for control of linear dynamical systems, are used in this paper to control the nonlinear dynamical system. LQR is one of the optimal control techniques, which takes into account the states of the dynamical system and control input to make the optimal control decisions.The nonlinear system states are fed to LQR which is designed using a linear state-space model. This is simple as well as robust. The inverted pendulum, a highly nonlinear unstable system, is used as a benchmark for implementing the control methods. Here the control objective is to control the system such that the cart reaches a desired position and the inverted pendulum stabilizes in the upright position. In this paper, the modeling and simulation for optimal control design of nonlinear inverted pendulum-cart dynamic system using PID controller and LQR have been presented for both cases of without and with disturbance input. The Matlab-Simulink models have been developed for simulation and performance analysis of the control schemes. The simulation results justify the comparative advantage of LQR control method.
文摘利用矩形薄板面内2个不同模态作为工作模态的直线型超声电机,其频率一致性和压电单元的布置方式以及激励方式对电机的性能和效率有重要的影响。该文根据电机定子的位移振型和应变振型详细分析了压电陶瓷的布置方式和激励方式,并利用参数化有限元方法(finite element method,FEM)对定子结构进行优化设计。设计制作的样机,两相工作模态频率差为270Hz,在电压峰峰值为350V、驱动频率为44.16kHz、预压力为50N的情况下,电机最大空载速度为100mm/s,最大输出力为3N。
基金Supported by the Natural Science Foundation of Anhui Education Committee
文摘In this paper, based on the theory of parameter estimation, we give a selection method and, in a sense of a good character of the parameter estimation, we think that it is very reasonable. Moreover, we offer a calculation method of selection statistic and an applied example.
基金supported by National Natural Science Foundation of China (Grant No. 10871076)
文摘Abstract In this paper, we study the order of the growth and exponents of convergence of zeros and poles of meromorphic solutions of some linear and nonlinear difference equations which have admissible meromorphic solutions of finite order.
基金Research supported by National Natural Science Foundation of China (No. 19701011)
文摘The aim of this paper is to investigate the central limit theorems for asymptotically negatively dependent random fields under lower moment conditions or the Lindeberg condition. Results obtained improve a central limit theorem of Roussas[11]for negatively associated fields and the main results of Su and Chi [18]. and also include a central limit theorem for weakly negatively associated random variables similar to that of Burton et al.[20].
基金provided by the Korean Ministry of Environment and Eco Star Project
文摘Rainfall is an important factor in estimating the event mean concentration （EMC） which is used to quantify the washed-off pollutant concentrations from non-point sources （NPSs）. Pollutant loads could also be calculated using rainfall, catchment area and runoff coefficient. In this study, runoff quantity and quality data gathered from a 28-month monitoring conducted on the road and parking lot sites in Korea were evaluated using multiple linear regression （MLR） to develop equations for estimating pollutant loads and EMCs as a function of rainfall variables. The results revealed that total event rainfall and average rainfall intensity are possible predictors of pollutant loads. Overall, the models are indicators of the high uncertainties of NPSs; perhaps estimation of EMCs and loads could be accurately obtained by means of water quality sampling or a long term monitoring is needed to gather more data that can be used for the development of estimation models.
基金Supported by the National Natural Science Foundation of China (No. 40771027)the National Key Technology R&D Program of China (No. 2008BAD98B04)the National Basic Research Program (973 Program) of China(No. 2007CB407206)
文摘Roles of tillage erosion and water erosion in the development of within-field spatial variation of surface soil properties and soil degradation and their contributions to the reduction of crop yields were studied on three linear slopes in the Sichuan Basin,southwestern China.Tillage erosion was found to be the dominant erosion process at upper slope positions of each linear slope and on the whole short slope (20 m).On the long slope (110 m) and medium slope (40 m),water erosion was the dominant erosion process.Soil organic matter and soil nutrients in the tillage layer were significantly related to slope length and 137 Cs inventories on the long slope; however,there was no significant correlation among them on the short slope,suggesting that water erosion lowered soil quality by transporting SOM and surface soil nutrients selectively from the upper to lower slope positions,while tillage erosion transported soil materials unselectively.On the medium slope,SOM,total N,and available N in the tillage layer were correlated with slope length and the other properties were distributed evenly on the slope,indicating that water erosion on this slope was still the dominant soil redistribution process.Similar patterns were found for the responses of grain yield,aboveground biomass,and harvest index for slopes.These results indicated that tillage erosion was a major cause for soil degradation and grain yield reduction on the linear slopes because it resulted in displacement of the tillage layer soil required for maintaining soil quality and plant growth.
基金supported by the National Natural Science Foundation of China(Grant Nos,60133010 and 60372045)the Graduate Innovation Fund of Xidian University(Grant No.05004),
文摘This paper puts forward a novel artificial immune response algorithm for optimal approximation of linear systems. A quaternion model of artificial immune response is proposed for engineering computing. The model abstracts four elements, namely, antigen, antibody, reaction rules among antibodies, and driving algorithm describing how the rules are applied to antibodies, to simulate the process of immune response. Some reaction rules including clonal selection rules, immunological memory rules and immune regulation rules are introduced. Using the theorem of Markov chain, it is proofed that the new model is convergent. The experimental study on the optimal approximation of a stable linear system and an unstable one show that the approximate models searched by the new model have better performance indices than those obtained by some existing algorithms including the differential evolution algorithm and the multi-agent genetic algorithm.
