Sliding mode observer-based model predictive tracking control for Mecanum-wheeled mobile robot.

This paper proposes a novel adaptive variable power sliding mode observer-based model predictive control (AVPSMO-MPC) method for the trajectory tracking of a Mecanum-wheeled mobile robot (MWMR) with external disturbances and model uncertainties. First, in the absence of disturbances and uncertainties, a model predictive controller that considers various physical constraints is designed based on the nominal dynamics model of the MWMR, which can transform the tracking problem into a constrained quadratic programming (QP) problem to solve the optimal control inputs online. Subsequently, to improve the anti-jamming ability of the MWMR, an AVPSMO is designed as a feedforward compensation controller to suppress the effects of external disturbances and model uncertainties during the actual motion of the MWMR, and the stability of the AVPSMO is proved via Lyapunov theory. The proposed AVPSMO-MPC method can achieve precise tracking control while ensuring that the constraints of MWMR are not violated in the presence of disturbances and uncertainties. Finally, comparative simulation cases are presented to demonstrate the effectiveness and robustness of the proposed method.

Regional choroidal thickness estimation from color fundus images based on convolutional neural networks.

Purpose: This study aims to estimate the regional choroidal thickness from color fundus images from convolutional neural networks in different network structures and task learning models. Method: 1276 color fundus photos and their corresponding choroidal thickness values from healthy subjects were obtained from the Topcon DRI Triton optical coherence tomography machine. Initially, ten commonly used convolutional neural networks were deployed to identify the most accurate model, which was subsequently selected for further training. This selected model was then employed in combination with single-, multiple-, and auxiliary-task training models to predict the average and sub-region choroidal thickness in both ETDRS (Early Treatment Diabetic Retinopathy Study) grids and 100-grid subregions. The values of mean absolute error and coefficient of determination (R2) were involved to evaluate the models' performance. Results: Efficientnet-b0 network outperformed other networks with the lowest mean absolute error value (25.61 µm) and highest R2 (0.7817) in average choroidal thickness. Incorporating diopter spherical, anterior chamber depth, and lens thickness as auxiliary tasks improved predicted accuracy (p-value = 6.39×10-44, 2.72×10-38, 1.15×10-36 respectively). For ETDRS regional choroidal thickness estimation, multi-task model achieved better results than single task model (lowest mean absolute error = 31.10 µm vs. 33.20 µm). The multi-task training also can simultaneously predict the choroidal thickness of 100 grids with a minimum mean absolute error of 33.86 µm. Conclusions: Efficientnet-b0, in combination with multi-task and auxiliary task models, achieve high accuracy in estimating average and regional macular choroidal thickness directly from color fundus photographs.

Trajectory Planner for UAVs Based on Potential Field Obtained by a Kinodynamic Gene Regulation Network.

Quadrotor unmanned aerial vehicles (UAVs) often encounter intricate environmental and dynamic limitations in real-world applications, underscoring the significance of proficient trajectory planning for ensuring both safety and efficiency during flights. To tackle this challenge, we introduce an innovative approach that harmonizes sophisticated environmental insights with the dynamic state of a UAV within a potential field framework. Our proposition entails a quadrotor trajectory planner grounded in a kinodynamic gene regulation network potential field. The pivotal contribution of this study lies in the amalgamation of environmental perceptions and kinodynamic constraints within a newly devised gene regulation network (GRN) potential field. By enhancing the gene regulation network model, the potential field becomes adaptable to the UAV's dynamic conditions and its surroundings, thereby extending the GRN into a kinodynamic GRN (K-GRN). The trajectory planner excels at charting courses that guide the quadrotor UAV through intricate environments while taking dynamic constraints into account. The amalgamation of environmental insights and kinodynamic constraints within the potential field framework bolsters the adaptability and stability of the generated trajectories. Empirical results substantiate the efficacy of our proposed methodology.

Segmentation of retinal vessels in fundus images based on U-Net with self-calibrated convolutions and spatial attention modules.

Automated and accurate segmentation of retinal vessels in fundus images is an important step for screening and diagnosing various ophthalmologic diseases. However, many factors, including the variations of vessels in color, shape and size, make this task become an intricate challenge. One kind of the most popular methods for vessel segmentation is U-Net based methods. However, in the U-Net based methods, the size of the convolution kernels is generally fixed. As a result, the receptive field for an individual convolution operation is single, which is not conducive to the segmentation of retinal vessels with various thicknesses. To overcome this problem, in this paper, we employed self-calibrated convolutions to replace the traditional convolutions for the U-Net, which can make the U-Net learn discriminative representations from different receptive fields. Besides, we proposed an improved spatial attention module, instead of using traditional convolutions, to connect the encoding part and decoding part of the U-Net, which can improve the ability of the U-Net to detect thin vessels. The proposed method has been tested on Digital Retinal Images for Vessel Extraction (DRIVE) database and Child Heart and Health Study in England Database (CHASE DB1). The metrics used to evaluate the performance of the proposed method are accuracy (ACC), sensitivity (SE), specificity (SP), F1-score (F1) and the area under the receiver operating characteristic curve (AUC). The ACC, SE, SP, F1 and AUC obtained by the proposed method are 0.9680, 0.8036, 0.9840, 0.8138 and 0.9840 respectively on DRIVE database, and 0.9756, 0.8118, 0.9867, 0.8068 and 0.9888 respectively on CHASE DB1, which are better than those obtained by the traditional U-Net (the ACC, SE, SP, F1 and AUC obtained by U-Net are 0.9646, 0.7895, 0.9814, 0.7963 and 0.9791 respectively on DRIVE database, and 0.9733, 0.7817, 0.9862, 0.7870 and 0.9810 respectively on CHASE DB1). The experimental results indicate that the proposed modifications in the U-Net are effective for vessel segmentation. The structure of the proposed network.

Reprojection Error Analysis and Algorithm Optimization of Hand-Eye Calibration for Manipulator System.

The Euclidean distance error of calibration results cannot be calculated during the hand-eye calibration process of a manipulator because the true values of the hand-eye conversion matrix cannot be obtained. In this study, a new method for error analysis and algorithm optimization is presented. An error analysis of the method is carried out using a priori knowledge that the location of the augmented reality markers is fixed during the calibration process. The coordinates of the AR marker center point are reprojected onto the pixel coordinate system and then compared with the true pixel coordinates of the AR marker center point obtained by corner detection or manual labeling to obtain the Euclidean distance between the two coordinates as the basis for the error analysis. We then fine-tune the results of the hand-eye calibration algorithm to obtain the smallest reprojection error, thereby obtaining higher-precision calibration results. The experimental results show that, compared with the Tsai-Lenz algorithm, the optimized algorithm in this study reduces the average reprojection error by 44.43% and the average visual positioning error by 50.63%. Therefore, the proposed optimization method can significantly improve the accuracy of hand-eye calibration results.

Direct Estimation of Choroidal Thickness in Optical Coherence Tomography Images with Convolutional Neural Networks.

Automatic and accurate estimation of choroidal thickness plays a very important role in a computer-aided system for eye diseases. One of the most common methods for automatic estimation of choroidal thickness is segmentation-based methods, in which the boundaries of the choroid are first detected from optical coherence tomography (OCT) images. The choroidal thickness is then computed based on the detected boundaries. A shortcoming in the segmentation-based methods is that the estimating precision greatly depends on the segmentation results. To avoid the dependence on the segmentation step, in this paper, we propose a direct method based on convolutional neural networks (CNNs) for estimating choroidal thickness without segmentation. Concretely, a B-scan image is first cropped into several patches. A trained CNN model is then used to estimate the choroidal thickness for each patch. The mean thickness of the choroid in the B-scan is obtained by taking the average of the choroidal thickness on each patch. Then, 150 OCT volumes are collected to evaluate the proposed method. The experiments show that the results obtained by the proposed method are very competitive with those obtained by segmentation-based methods, which indicates that direct estimation of choroidal thickness is very promising.

Genetic U-Net: Automatically Designed Deep Networks for Retinal Vessel Segmentation Using a Genetic Algorithm.

Recently, many methods based on hand-designed convolutional neural networks (CNNs) have achieved promising results in automatic retinal vessel segmentation. However, these CNNs remain constrained in capturing retinal vessels in complex fundus images. To improve their segmentation performance, these CNNs tend to have many parameters, which may lead to overfitting and high computational complexity. Moreover, the manual design of competitive CNNs is time-consuming and requires extensive empirical knowledge. Herein, a novel automated design method, called Genetic U-Net, is proposed to generate a U-shaped CNN that can achieve better retinal vessel segmentation but with fewer architecture-based parameters, thereby addressing the above issues. First, we devised a condensed but flexible search space based on a U-shaped encoder-decoder. Then, we used an improved genetic algorithm to identify better-performing architectures in the search space and investigated the possibility of finding a superior network architecture with fewer parameters. The experimental results show that the architecture obtained using the proposed method offered a superior performance with less than 1% of the number of the original U-Net parameters in particular and with significantly fewer parameters than other state-of-the-art models. Furthermore, through in-depth investigation of the experimental results, several effective operations and patterns of networks to generate superior retinal vessel segmentations were identified. The codes of this work are available at https://github.com/96jhwei/Genetic-U-Net.

Detection of Referable Horizontal Strabismus in Children's Primary Gaze Photographs Using Deep Learning.

Purpose: This study implements and demonstrates a deep learning (DL) approach for screening referable horizontal strabismus based on primary gaze photographs using clinical assessments as a reference. The purpose of this study was to develop and evaluate deep learning algorithms that screen referable horizontal strabismus in children's primary gaze photographs. Methods: DL algorithms were developed and trained using primary gaze photographs from two tertiary hospitals of children with primary horizontal strabismus who underwent surgery as well as orthotropic children who underwent routine refractive tests. A total of 7026 images (3829 non-strabismus from 3021 orthoptics [healthy] subjects and 3197 strabismus images from 2772 subjects) were used to develop the DL algorithms. The DL model was evaluated by 5-fold cross-validation and tested on an independent validation data set of 277 images. The diagnostic performance of the DL algorithm was assessed by calculating the accuracy, sensitivity, specificity, and area under the receiver operating characteristic curve (AUC). Results: Using 5-fold cross-validation during training, the average AUCs of the DL models were approximately 0.99. In the external validation data set, the DL algorithm achieved an AUC of 0.99 with a sensitivity of 94.0% and a specificity of 99.3%. The DL algorithm's performance (with an accuracy of 0.95) in diagnosing referable horizontal strabismus was better than that of the resident ophthalmologists (with accuracy ranging from 0.81 to 0.85). Conclusions: We developed and evaluated a DL model to automatically identify referable horizontal strabismus using primary gaze photographs. The diagnostic performance of the DL model is comparable to or better than that of ophthalmologists. Translational Relevance: DL methods that automate the detection of referable horizontal strabismus can facilitate clinical assessment and screening for children at risk of strabismus.

A Bi-Objective Constrained Robust Gate Assignment Problem: Formulation, Instances and Algorithm.

The gate assignment problem (GAP) aims at assigning gates to aircraft considering operational efficiency of airport and satisfaction of passengers. Unlike the existing works, we model the GAP as a bi-objective constrained optimization problem. The total walking distance of passengers and the total robust cost of the gate assignment are the two objectives to be optimized, while satisfying the constraints regarding the limited number of flights assigned to apron, as well as three types of compatibility. A set of real instances is then constructed based on the data obtained from the Baiyun airport (CAN) in Guangzhou, China. A two-phase large neighborhood search (2PLNS) is proposed, which accommodates a greedy and stochastic strategy (GSS) for the large neighborhood search; both to speed up its convergence and to avoid local optima. The empirical analysis and results on both the synthetic instances and the constructed real-world instances show a better performance for the proposed 2PLNS as compared to many state-of-the-art algorithms in literature. An efficient way of choosing the tradeoff from a large number of nondominated solutions is also discussed in this article.

Automated glaucoma screening method based on image segmentation and feature extraction.

Glaucoma is a chronic disease that threatens eye health and can cause permanent blindness. Since there is no cure for glaucoma, early screening and detection are crucial for the prevention of glaucoma. Therefore, a novel method for automatic glaucoma screening that combines clinical measurement features with image-based features is proposed in this paper. To accurately extract clinical measurement features, an improved UNet++ neural network is proposed to segment the optic disc and optic cup based on region of interest (ROI) simultaneously. Some important clinical measurement features, such as optic cup to disc ratio, are extracted from the segmentation results. Then, the increasing field of view (IFOV) feature model is proposed to fully extract texture features, statistical features, and other hidden image-based features. Next, we select the best feature combination from all the features and use the adaptive synthetic sampling approach to alleviate the uneven distribution of training data. Finally, a gradient boosting decision tree (GBDT) classifier for glaucoma screening is trained. Experimental results based on the ORIGA dataset show that the proposed algorithm achieves excellent glaucoma screening performance with sensitivity of 0.894, accuracy of 0.843, and AUC of 0.901, which is superior to other existing methods.Graphical abstract Framework of the proposed glaucoma classification method.

Automatic Crack Detection on Road Pavements Using Encoder-Decoder Architecture.

Automatic crack detection from images is an important task that is adopted to ensure road safety and durability for Portland cement concrete (PCC) and asphalt concrete (AC) pavement. Pavement failure depends on a number of causes including water intrusion, stress from heavy loads, and all the climate effects. Generally, cracks are the first distress that arises on road surfaces and proper monitoring and maintenance to prevent cracks from spreading or forming is important. Conventional algorithms to identify cracks on road pavements are extremely time-consuming and high cost. Many cracks show complicated topological structures, oil stains, poor continuity, and low contrast, which are difficult for defining crack features. Therefore, the automated crack detection algorithm is a key tool to improve the results. Inspired by the development of deep learning in computer vision and object detection, the proposed algorithm considers an encoder-decoder architecture with hierarchical feature learning and dilated convolution, named U-Hierarchical Dilated Network (U-HDN), to perform crack detection in an end-to-end method. Crack characteristics with multiple context information are automatically able to learn and perform end-to-end crack detection. Then, a multi-dilation module embedded in an encoder-decoder architecture is proposed. The crack features of multiple context sizes can be integrated into the multi-dilation module by dilation convolution with different dilatation rates, which can obtain much more cracks information. Finally, the hierarchical feature learning module is designed to obtain a multi-scale features from the high to low- level convolutional layers, which are integrated to predict pixel-wise crack detection. Some experiments on public crack databases using 118 images were performed and the results were compared with those obtained with other methods on the same images. The results show that the proposed U-HDN method achieves high performance because it can extract and fuse different context sizes and different levels of feature maps than other algorithms.

Difficulty Adjustable and Scalable Constrained Multiobjective Test Problem Toolkit.

Multiobjective evolutionary algorithms (MOEAs) have progressed significantly in recent decades, but most of them are designed to solve unconstrained multiobjective optimization problems. In fact, many real-world multiobjective problems contain a number of constraints. To promote research on constrained multiobjective optimization, we first propose a problem classification scheme with three primary types of difficulty, which reflect various types of challenges presented by real-world optimization problems, in order to characterize the constraint functions in constrained multiobjective optimization problems (CMOPs). These are feasibility-hardness, convergence-hardness, and diversity-hardness. We then develop a general toolkit to construct difficulty adjustable and scalable CMOPs (DAS-CMOPs, or DAS-CMaOPs when the number of objectives is greater than three) with three types of parameterized constraint functions developed to capture the three proposed types of difficulty. In fact, the combination of the three primary constraint functions with different parameters allows the construction of a large variety of CMOPs, with difficulty that can be defined by a triplet, with each of its parameters specifying the level of one of the types of primary difficulty. Furthermore, the number of objectives in this toolkit can be scaled beyond three. Based on this toolkit, we suggest nine difficulty adjustable and scalable CMOPs and nine CMaOPs, to be called DAS-CMOP1-9 and DAS-CMaOP1-9, respectively. To evaluate the proposed test problems, two popular CMOEAs-MOEA/D-CDP (MOEA/D with constraint dominance principle) and NSGA-II-CDP (NSGA-II with constraint dominance principle) and two popular constrained many-objective evolutionary algorithms (CMaOEAs)-C-MOEA/DD and C-NSGA-III-are used to compare performance on DAS-CMOP1-9 and DAS-CMaOP1-9 with a variety of difficulty triplets, respectively. The experimental results reveal that mechanisms in MOEA/D-CDP may be more effective in solving convergence-hard DAS-CMOPs, while mechanisms of NSGA-II-CDP may be more effective in solving DAS-CMOPs with simultaneous diversity-, feasibility-, and convergence-hardness. Mechanisms in C-NSGA-III may be more effective in solving feasibility-hard CMaOPs, while mechanisms of C-MOEA/DD may be more effective in solving CMaOPs with convergence-hardness. In addition, none of them can solve these problems efficiently, which stimulates us to continue to develop new CMOEAs and CMaOEAs to solve the suggested DAS-CMOPs and DAS-CMaOPs.

Detecting glaucoma based on spectral domain optical coherence tomography imaging of peripapillary retinal nerve fiber layer: a comparison study between hand-crafted features and deep learning model.

PURPOSE: To develop a deep learning (DL) model for automated detection of glaucoma and to compare diagnostic capability against hand-craft features (HCFs) based on spectral domain optical coherence tomography (SD-OCT) peripapillary retinal nerve fiber layer (pRNFL) images. METHODS: A DL model with pre-trained convolutional neural network (CNN) based was trained using a retrospective training set of 1501 pRNFL OCT images, which included 690 images from 153 glaucoma patients and 811 images from 394 normal subjects. The DL model was further tested in an independent test set of 50 images from 50 glaucoma patients and 52 images from 52 normal subjects. A customized software was used to extract and measure HCFs including pRNFL thickness in average and four different sectors. Area under the receiver operator characteristics (AROC) curves was calculated to compare the diagnostic capability between DL model and hand-crafted pRNFL parameters. RESULTS: In this study, the DL model achieved an AROC of 0.99 [CI: 0.97 to 1.00] which was significantly larger than the AROC values of all other HCFs (AROCs 0.661 with 95% CI 0.549 to 0.772 for temporal sector, AROCs 0.696 with 95% CI 0.549 to 0.799 for nasal sector, AROCs 0.913 with 95% CI 0.855 to 0.970 for superior sector, AROCs 0.938 with 95% CI 0.894 to 0.982 for inferior sector, and AROCs 0.895 with 95% CI 0.832 to 0.957 for average). CONCLUSION: Our study demonstrated that DL models based on pre-trained CNN are capable of identifying glaucoma with high sensitivity and specificity based on SD-OCT pRNFL images.

Deriving external forces via convolutional neural networks for biomedical image segmentation.

Active contours, or snakes, are widely applied on biomedical image segmentation. They are curves defined within an image domain that can move to object boundaries under the influence of internal forces and external forces, in which the internal forces are generally computed from curves themselves and external forces from image data. Designing external forces properly is a key point with active contour algorithms since the external forces play a leading role in the evolution of active contours. One of most popular external forces for active contour models is gradient vector flow (GVF). However, GVF is sensitive to noise and false edges, which limits its application area. To handle this problem, in this paper, we propose using GVF as reference to train a convolutional neural network to derive an external force. The derived external force is then integrated into the active contour models for curve evolution. Three clinical applications, segmentation of optic disk in fundus images, fluid in retinal optical coherence tomography images and fetal head in ultrasound images, are employed to evaluate the proposed method. The results show that the proposed method is very promising since it achieves competitive performance for different tasks compared to the state-of-the-art algorithms.

An Event Recognition Method for Φ-OTDR Sensing System Based on Deep Learning.

Phase-sensitive optical time domain reflectometer (Φ-OTDR) based distributed optical fiber sensing system has been widely used in many fields such as long range pipeline pre-warning, perimeter security and structure health monitoring. However, the lack of event recognition ability is always being the bottleneck of Φ-OTDR in field application. An event recognition method based on deep learning is proposed in this paper. This method directly uses the temporal-spatial data matrix from Φ-OTDR as the input of a convolutional neural network (CNN). Only a simple bandpass filtering and a gray scale transformation are needed as the pre-processing, which achieves real-time. Besides, an optimized network structure with small size, high training speed and high classification accuracy is built. Experiment results based on 5644 events samples show that this network can achieve 96.67% classification accuracy in recognition of 5 kinds of events and the retraining time is only 7 min for a new sensing setup.

Surrogate-Assisted Retinal OCT Image Classification Based on Convolutional Neural Networks.

Optical Coherence Tomography (OCT) is beco-ming one of the most important modalities for the noninvasive assessment of retinal eye diseases. As the number of acquired OCT volumes increases, automating the OCT image analysis is becoming increasingly relevant. In this paper, we propose a surrogate-assisted classification method to classify retinal OCT images automatically based on convolutional neural networks (CNNs). Image denoising is first performed to reduce the noise. Thresholding and morphological dilation are applied to extract the masks. The denoised images and the masks are then employed to generate a lot of surrogate images, which are used to train the CNN model. Finally, the prediction for a test image is determined by the average of the outputs from the trained CNN model on the surrogate images. The proposed method has been evaluated on different databases. The results (AUC of 0.9783 in the local database and AUC of 0.9856 in the Duke database) show that the proposed method is a very promising tool for classifying the retinal OCT images automatically.

A Hierarchical Image Matting Model for Blood Vessel Segmentation in Fundus Images.

In this paper, a hierarchical image matting model is proposed to extract blood vessels from fundus images. More specifically, a hierarchical strategy is integrated into the image matting model for blood vessel segmentation. Normally the matting models require a user specified trimap, which separates the input image into three regions: the foreground, background and unknown regions. However, creating a user specified trimap is laborious for vessel segmentation tasks. In this paper, we propose a method that first generates trimap automatically by utilizing region features of blood vessels, then applies a hierarchical image matting model to extract the vessel pixels from the unknown regions. The proposed method has low calculation time and outperforms many other state-of-art supervised and unsupervised methods. It achieves a vessel segmentation accuracy of 96.0%, 95.7% and 95.1% in an average time of 10.72s, 15.74s and 50.71s on images from three publicly available fundus image datasets DRIVE, STARE, and CHASE DB1, respectively.

A Decomposition-Based Many-Objective Evolutionary Algorithm With Two Types of Adjustments for Direction Vectors.

Decomposition-based multiobjective evolutionary algorithm has shown its advantage in addressing many-objective optimization problem (MaOP). To further improve its convergence on MaOPs and its diversity for MaOPs with irregular Pareto fronts (PFs, e.g., degenerate and disconnected ones), we proposed a decomposition-based many-objective evolutionary algorithm with two types of adjustments for the direction vectors (MaOEA/D-2ADV). At the very beginning, search is only conducted along the boundary direction vectors to achieve fast convergence, followed by the increase of the number of the direction vectors for approximating a more complete PF. After that, a Pareto-dominance-based mechanism is used to detect the effectiveness of each direction vector and the positions of ineffective direction vectors are adjusted to better fit the shape of irregular PFs. The extensive experimental studies have been conducted to validate the efficiency of MaOEA/D-2ADV on many-objective optimization benchmark problems. The effects of each component in MaOEA/D-2ADV are also investigated in detail.

Optic Disk Detection in Fundus Image Based on Structured Learning.

Automated optic disk (OD) detection plays an important role in developing a computer aided system for eye diseases. In this paper, we propose an algorithm for the OD detection based on structured learning. A classifier model is trained based on structured learning. Then, we use the model to achieve the edge map of OD. Thresholding is performed on the edge map, thus a binary image of the OD is obtained. Finally, circle Hough transform is carried out to approximate the boundary of OD by a circle. The proposed algorithm has been evaluated on three public datasets and obtained promising results. The results (an area overlap and Dices coefficients of 0.8605 and 0.9181, respectively, an accuracy of 0.9777, and a true positive and false positive fraction of 0.9183 and 0.0102) show that the proposed method is very competitive with the state-of-the-art methods and is a reliable tool for the segmentation of OD.

Decomposition-Based-Sorting and Angle-Based-Selection for Evolutionary Multiobjective and Many-Objective Optimization.

Multiobjective evolutionary algorithm based on decomposition (MOEA/D) decomposes a multiobjective optimization problem (MOP) into a number of scalar optimization subproblems and then solves them in parallel. In many MOEA/D variants, each subproblem is associated with one and only one solution. An underlying assumption is that each subproblem has a different Pareto-optimal solution, which may not be held, for irregular Pareto fronts (PFs), e.g., disconnected and degenerate ones. In this paper, we propose a new variant of MOEA/D with sorting-and-selection (MOEA/D-SAS). Different from other selection schemes, the balance between convergence and diversity is achieved by two distinctive components, decomposition-based-sorting (DBS) and angle-based-selection (ABS). DBS only sorts L closest solutions to each subproblem to control the convergence and reduce the computational cost. The parameter L has been made adaptive based on the evolutionary process. ABS takes use of angle information between solutions in the objective space to maintain a more fine-grained diversity. In MOEA/D-SAS, different solutions can be associated with the same subproblems; and some subproblems are allowed to have no associated solution, more flexible to MOPs or many-objective optimization problems (MaOPs) with different shapes of PFs. Comprehensive experimental studies have shown that MOEA/D-SAS outperforms other approaches; and is especially effective on MOPs or MaOPs with irregular PFs. Moreover, the computational efficiency of DBS and the effects of ABS in MOEA/D-SAS are also investigated and discussed in detail.