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Keywords:
Harmony search
Chaos
Performance
i n f o
a b s t r a c t
Harmony Search (HS) is one of the newest and the easiest to code music inspired heuristics
for optimization problems. Like the use of chaos in adjusting note parameters such as pitch,
dynamic, rhythm, duration, tempo, instrument selection, attack time, etc. in real music and
in sound synthesis and timbre construction, this paper proposes new HS algorithms that
use chaotic maps for parameter adaptation in order to improve the convergence characteristics and to prevent the HS to get stuck on local solutions. This has been done by using of
chaotic number generators each time a random number is needed by the classical HS algorithm. Seven new chaotic HS algorithms have been proposed and different chaotic maps
have been analyzed in the benchmark functions. It has been detected that coupling emergent results in different areas, like those of HS and complex dynamics, can improve the
quality of results in some optimization problems. It has been also shown that, some of
the proposed methods have somewhat increased the solution quality, that is in some cases
they improved the global searching capability by escaping the local solutions.
2010 Elsevier Inc. All rights reserved.
1. Introduction
Classical optimization algorithms are inexible to adapt the solution procedure to an optimization problem. Generally a
given problem is modeled in such a way that a classical algorithm can handle it. This generally requires making several
assumptions and/or modications which might not be easy to validate in many situations. These modications and/or
assumptions on the original problem parameters (rounding variables, softening constraints, etc.) certainly affect the solution
quality [1]. They are insufcient if integer and/or discrete decision variables are required in optimization models [1]. Solution
strategies of classical optimization algorithms are generally depended on the type of objective and constraint functions (linear, nonlinear, etc.) and the type of variables used in the problem modeling (integer, real, etc.). Their efciency is also very
much dependent on the size of the solution space, number of variables and constraints used in the problem modeling, and
the structure of the solution space (convex, non-convex, etc.). Briey, they do not offer general solution strategies that can be
applied to problem formulations where, different type of variables, objective and constraint functions are simultaneously
required by the optimization problems [1].
Inefciency of classical optimization algorithms in solving larger scale and/or highly nonlinear problems forced researchers to nd more exible and adaptable general purpose novel algorithms. Problem and model independent heuristic optimization algorithms have been proposed by researchers to overcome the drawbacks of the classical optimization procedures.
These algorithms are efcient and exible and they can be modied and/or adapted to suit specic problem requirements.
Researches on these algorithms are still continuing all around the globe. Fig. 1 shows the classications of the heuristic
algorithms.
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Heuristics
Physics based
Social based
Musical based
Biology based
Single point
Multi point
Stable objective
function
Dynamic
objective
function
Single
neighborhood
Dynamic
neighborhood
Without
memory
With memory
Hybrid
A meta-heuristic algorithm, mimicking the improvisation process of music players, has been developed and named Harmony Search (HS) [27]. HS has several advantages with respect to traditional optimization techniques such as the following:
(a) HS imposes fewer mathematical requirements.
(b) HS is free from divergence.
(c) HS does not require initial value settings of the decision variables, thus it may escape the local optima. Furthermore it
may be easily adapted for multi-modal problems [8].
(d) As the HS uses stochastic random searches, derivative information is unnecessary. HS has novel stochastic derivative
[9].
(e) HS can handle both discrete and continuous variables.
(f) HS algorithm could overcome the drawback of genetic algorithms building block theory by considering the relationship among decision variables using its ensemble operation. HS generates a new vector, after considering all of the
existing vectors, whereas the genetic algorithm only considers the two parent vectors [10].
These features increase the exibility of the HS algorithm and produce better solutions.
HS is good at identifying the high performance regions of the solution space at a reasonable time, but gets into trouble in
performing local search for numerical applications. Researchers are still trying in order to improve the ne-tuning characteristic and convergence rate of HS algorithm [4,5,11,12].
Nonlinear dynamic systems have been iteratively used to generate chaotic sequences of numbers that are then mapped to
various note parameters (pitch, dynamic, rhythm, duration, tempo, instrument selection, attack time, etc.) in real music. Four
pioneers of these methods are Jeff Pressing, Michael Gogins, Rick Bidlack, and Jeremy Leach [13]. Chaos has also been used in
sound synthesis and timbre construction [13].
Many chaotic maps in the literature possess certainty, ergodicity, and the stochastic property. Recently, chaotic sequences
have been adopted instead of random sequences and very interesting and somewhat good results have been shown in many
applications [1416]. They have also been used together with some heuristic optimization algorithms [1719] to express
optimization variables. The choice of chaotic sequences is justied theoretically by their unpredictability, i.e., by their
spread-spectrum characteristic, non periodic, complex temporal behavior, and ergodic properties.
In this paper, sequences generated from different chaotic systems substitute random numbers for different parameters of
HS, musical inspired heuristic algorithm, where it is necessary to make a random-based choice. For this purpose, different HS
methods that use chaotic maps as efcient alternatives to pseudorandom sequences have been proposed. By this way, it is
intended to enhance the global convergence and to prevent to stick on a local solution. However, in general, it is hard to
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estimate how good most chaotic random number generators by applying statistical tests are, as they do not follow the uniform distribution. The simulation results show that the application of deterministic chaotic signals instead of random sequences may be a possible strategy to improve the performances of HS.
The remaining of this paper is organized as follows. Review of HS is summarized in Section 2. Section 3 offers a short
introduction on improvements for HS. Section 4 describes the proposed methods, Chaotic Harmony Search Algorithms,
shortly CHSAs. Section 5 describes the benchmark problems used for comparisons of the proposed methods. In Section 6,
the testing of the proposed methods through benchmark problems are carried out and the simulation results are compared
with those obtained via other algorithms that have been reported to have good performance. Finally, the conclusion is drawn
based on the comparison analysis reported and presented in Section 7.
2. Harmony search algorithm
Harmony Search (HS) algorithm, originated by Geem et al. [2], is based on natural musical performance processes that
occur when a musician searches for a better state of harmony [27]. The resemblance, for example between jazz improvisation that seeks to nd musically pleasing harmony and the optimization is that the optimum design process seeks to nd
the optimum solution as determined by the objective function. The pitch of each musical instrument determines the aesthetic quality just as the objective function is determined by the set of values assigned to each design variable. Aesthetic
sound quality can be improved practice after practice just as objective function value can be improved iteration by iteration
[2,3].
The analogy between improvisation and optimization is shown in Fig. 2. Each musician (double bassist, guitarist, and saxophonist) has some notes in their memories and they can correspond to each decision variable x1 ; x2 ; and x3 . The range of
each music instrument (double bass = {Do, Re, Mi}; guitar = {Mi, Fa, Sol}; and saxophone = {La, Si, Do}) corresponds to each
variable value (x1 = {1.2, 2.2, 3.1}; x2 = {3.2, 2.4, 1.8}; and x3 = {1.7, 2.8, 2.3}). If the double bassist plucks the note Mi, the guitarist plucks Sol, and the saxophonist toots Do, their notes together make a new harmony (Mi, Sol, Do). They intend to improvise a new harmony by considering which note to play in their minds. If the new harmony is better than existing worst
harmony, the new harmony is kept. Likewise, the new solution vector (1.2, 3.0, 1.6) generated in optimization process is kept
if it is better than existing worst harmony in terms of objective function value. Just as the harmony quality is enhanced practice after practice, the solution quality is enhanced iteration by iteration. HS algorithm was originally developed for discrete
optimization and later expanded for continuous optimization [2,3].
According to the above algorithm concept, the HS algorithm optimization procedure of which is shown in Fig. 3 consists of
the following ve steps.
Step
Step
Step
Step
Step
1:
2:
3:
4:
5:
Do, Re, Mi
Considered: Do
Chosen: Do
HM Considering
Sol
La, Si, Do
Considered: Mi
Chosen: Mi Sharp
Considered: None
Chosen: Sol
Pitch Adjusting
Random Selection
x1
1.2
2.2
3.1
x2
3.2
2.4
1.8
Considered: 1.2
Considered: 3.2
Chosen: 1.2
Chosen: 3.0
1.6
x3
1.7
2.8
2.3
Re
2.7
Considered: None
Chosen: 1.6
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Step 1
Step 2
Step 3
Do nothing
With probability PAR
Step 4
Improvise a
new harmony
Yes
Update HM
No
No
Termination criteria met
Step 5
Yes
Output HM
The pseudo-code for HS algorithm is shown in Fig. 4. Five steps of HS are described in the next ve subsections.
2.1. Problem and algorithm parameter initialization
The optimization problem is specied as follows:
Minimize f x subject to xj 2 X j 1; 2; . . . ; N;
where f x is an objective function; x is the set of each decision variable xj ; N is the number of decision variables, X j is the set
and xmax
are the lower and upper bound of the jth
of the possible range of values for each decision variable, that is xmin
j
j
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decision parameter respectively. The HS algorithm parameters are also specied in this step. These are the harmony memory
size (HMS), or the number of solution vectors in the harmony memory; harmony memory considering rate (HMCR); pitch
adjusting rate (PAR); bandwidth distance (bw); and the number of improvisations (NI), or stopping criterion. Recently the
bandwith (bw) term has been changed as fret width (fw) due to its being a more musical term [20]. However, in this paper
bw will be used. The harmony memory (HM) is a memory location where all the solution vectors (sets of decision variables)
are stored. This HM is similar to the genetic pool in the genetic algorithm [21]. Here, HMCR, PAR, and bw are used to improve
the solution vector. They are dened in Step 2.3.
2.2. Harmony memory initialization and evaluation
In Step 2, the HM matrix is lled with as many randomly generated solution vectors as the HMS. This matrix has N columns where N is the total number of decision variables and HMS rows which are selected in the rst step. This initial memory is created by assigning random values that lie inside the lower and upper bounds of the decision variable to each decision
parameter of each vector of the memory as shown in (1)
;
x0i;j xmin
rj xmax
xmin
j
j
j
i 1; . . . ; HMS;
j 1; . . . ; N;
where xmin
and xmax
are the lower and upper bound of the jth decision parameter respectively, and rj 2 0; 1 is an uniformly
j
j
distributed random number generated anew for each value of j. Pseudo-code of memory initialization can be shown in Fig. 5.
Thus, HM form can be shown as in Fig. 6:
Candidate solution vectors in HM shown in Fig. 6 are then analyzed and their objective function values are calculated
f xi;: ; i 1; 2; . . . ; HMS.
2.3. New harmony improvisation
In Step 3, a new harmony vector, x0i x0i;1 ; x0i;2 ; . . . ; x0i;N is generated based on three rules. They are memory consideration,
pitch adjustment, and random selection. The value of a design variable can be selected from the values stored in HM with a
probability of harmony memory considering rate (HMCR). It can be further adjusted by moving to a neighbor value of a selected value from the HM with a probability of pitch adjusting rate (PAR). Or, it can be selected randomly from the set of all
candidate values without considering the stored values in HM, with the probability of (1-HMCR). The improvisation process
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Fig. 6. HM form.
of the HS algorithm is depicted in Fig. 2. The for. . .doend do loop in Fig. 4 depicts this step of HS. Memory consideration,
pitch adjustment or random selection is applied to each variable of the new harmony vector in turn.
2.3.1. Memory consideration
In Fig. 2, the rst musician in the gure has a memory containing 3 notes, {Do, Re, Mi}. He decides to choose Do in his
memory and plays it, directly. Likewise, if the rst decision variable represents the rst musician, the value of 1.2 can be
chosen from a memory. Likewise, in the memory consideration part of the HS, the values of decision variables x0i;j for the
new vectors are chosen from any of the values in the specied HM range. The HMCR, which varies between 0 and 1, is
the rate of choosing one value from the historical values stored in the HM, while (1 - HMCR) is the rate of randomly selecting
one value from the possible range of values as shown in Fig. 7.
2.3.2. Pitch adjustment
In Fig. 2, the second musician also has a 3-notes memory, {Mi, Fa, Sol}. Differently from the rst musician, he rst chooses
the note Mi. Then, he can play its neighbor pitch such as Mi Sharp. Likewise, the value of 3.2 is chosen from the memory, and
then it can be adjusted into a neighbor value 3.0 in this step.
Likewise, in the pitch adjustment step of the algorithm, every component obtained by the memory consideration is examined to determine whether it should be pitch-adjusted. The second if-end if part of the pseudo code shown in Fig. 4 explains
this step of HS. This operation uses the PAR parameter, which is the rate of pitch adjustment and pseudo-code can be seen in
Fig. 8.
r is a random number between 0 and 1; and bw is an arbitrary distance bandwidth.
2.3.3. Random selection
In Fig. 2, the last musician has some notes in his memory, {La, Si, Do}, as well. Although this memory was used during the
past improvisations, due to his musical knowledge he can also play all possible pitches, {Do, Re, Mi, Fa, Sol, La, Si, Do+}. Thus,
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when he decides to play a note randomly, he can choose any of these notes, Sol as shown in Fig. 2. As being in the
possible data set, 1.6 can be chosen in this step, randomly, even if it doesnt exist in the memory. After each musician has
decided what to play, the new harmony is composed of (Do, Mi#, Sol). Similarly, a new solution vector is determined as
(1.2, 3.0, 1.6).
This step of HS has been shown in else part of Memory Consideration step. The value of decision variable x0:;j is randomly
chosen within the value range X i .
2.4. Harmony memory update
If the newly generated harmony vector gives a better function value than the worst one, the new harmony vector is included in the HM and the worst harmony is excluded.
2.5. Termination criterion check
The HS algorithm is terminated when the termination criterion (e.g. maximum number of improvisations) has been met.
Otherwise, Steps 2.3 and 2.4 are repeated.
3. Improvements on convergence of HS
Some works have been performed in order to improve the convergence of the HS. Mahdavi et al. [4] proposed a new variant of the HS, called the improved harmony search (IHS). The IHS dynamically updates PAR according to (2):
PARt PARmin
PARmax PARmin
t;
NI
where PAR(t) is the pitch adjusting rate for iteration t, PARmin is the minimum adjusting rate, PARmax is the maximum adjusting rate, NI is the umber of iteration, and t is the iteration number.
In addition, bw is dynamically updated as (3)
0
@
ln
bwt bwmax e
bwmin
bwmax
NI
1
t A
where bw(t) is the bandwidth for iteration t, bwmin is the minimum bandwidth and bwmax is the maximum bandwidth.
In IHS algorithm, four new extra parameters (PARmin, PARmax, bwmin, and bwmax) should be adjusted for different problems
and it is not easy to initialize these terms. Selecting the best variables is very difcult and may be another optimization
problem.
Another work is called as global-best harmony search (GHS) and is inspired by the concept of particle swarm optimization
(PSO) [5]. It modies the pitch adjustment step of the HS such that the new harmony can mimic the best harmony in the HM.
Thus, this approach replaces the bw parameter altogether and adds a social dimension to the HS [5]. GHS has exactly the
same steps as the IHS with the exception that New Harmony Improvisation step as depicted in Fig. 9.
However, another research result has shown that this PSO feature works well only for small-sized problems [22]. According to the obtained results in this work, HS outperformed PSO-HS, GA, SA, and SA + TS for a large-scale real-world problem
with 454 variables.
In [11], a more rational PAR function using the idea of simulated annealing has been proposed which increase the robustness of algorithm and therefore leads to a highly reliable algorithm. Their PAR function is:
PARt PARmax
PARmax PARmin
t:
NI
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xk1 f xk ;
0 < xk < 1;
k 0; 1; 2; . . .
fxk :
k 0; 1; 2; . . .g
2695
escape more easily from local minima than can be done through the classical HS. When a random number is needed by the
classical HS algorithm, it is generated by iterating one step of the chosen chaotic map that has been started from a random
initial condition at the rst iteration of the HS. The selected chaotic maps for the experiments have been listed in following
subsections.
4.1. Used chaotic maps
The chaotic maps that generate chaotic sequences in HS steps used in the experiments are listed below:
4.1.1. Logistic map
Logistic map, whose equation is given in Eq. (6), has been brought to the attention of scientists by Sir Robert May in 1976
[32]. It appears in nonlinear dynamics of biological population evidencing chaotic behavior.
X n1 aX n 1 X n :
In this equation, X n is the nth chaotic number where n denotes the iteration number. Obviously, X n 2 0; 1 under the conditions that the initial X 0 2 0; 1 and that X 0 R f0:0; 0:25; 0:5; 0:75; 1:0g. a 4 have been used in the experiments.
4.1.2. Tent map
Tent map [33] resembles the logistic map. It generates chaotic sequences in (0, 1) assuming the following form:
X n1
X n =0:7;
X n < 0:7;
10=3X n 1 X n ; otherwise:
X n1 ax2n sinpxn :
X n1 sinpxn :
X n1
0;
X n 0;
1=X n mod 1; X n 2 0; 1;
1
1
1=X n mod1
Xn
Xn
10
11
and bzc denotes the largest integer less than z and acts as a shift on the continued fraction representation of numbers. This
map also generates chaotic sequences in (0, 1).
4.1.5. Circle map
The Circle map [34] is represented by:
12
X n1 2:3X n 2
SinpX n
13
X n1 1 aX 2n bY n ;
14
Y n1 X n ;
15
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X n1 1 aX 2n bX n1 :
16
PARt 1 f PARt;
t 0; 1; 2; . . .
17
f() is a selected chaotic map beginning with a value taking into account the constraints.
4.2.3. CHS3
In this algorithm, bw value has not been xed in algorithm parameter initialization step of HS and it has been modied by
the selected chaotic maps as follows
bwt 1 f bwt;
t 0; 1; 2; . . .
18
f() is a selected chaotic map beginning with a value taking into account the constraints.
4.2.4. CHS4
In this algorithm PAR and bw values have not been xed in HS and they have been modied by the selected chaotic maps
as follows
PARt 1 f PARt;
bwt 1 f bwt;
t 0; 1; 2; . . .
t 0; 1; 2; . . .
19
4.2.5. CHS5
CHS1 and CHS2 are combined, that is initial HM is generated by iterating the selected chaotic maps and PAR value has
been modied by the selected chaotic maps when needed.
4.2.6. CHS6
CHS1 and CHS2 are combined, that is initial HM is generated by iterating the selected chaotic maps and bw value has been
modied by the selected chaotic maps when needed.
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4.2.7. CHS7
CHS1, CHS2, and CHS3 are combined. In this approach:
HM is generated by iterating the selected chaotic maps.
PAR value has been modied by the selected chaotic maps.
bw value has been modied by the selected chaotic maps.
5. Test problems
Well-dened benchmark functions which are based on mathematical functions can be used as objective functions to measure and test the performance of optimization methods. The nature, complexity and other properties of these benchmark
functions can be easily obtained from their denitions. The difculty levels of most benchmark functions are adjustable
by setting their parameters. From the standard set of benchmark problems available in the literature, two important functions which are multi-modal (containing many local optima, but only one global optimum) are considered to test the efcacy
of the proposed methods. Table 1 shows the main properties of the selected benchmark functions used in the experiments.
6. Experimental results
Selected two benchmark problems are solved by simulating the HS, IHS and GHS algorithms. Two criteria are applied to
terminate the simulation of the algorithms: reaching maximum number of iterations which is set to a constant number and
the second criterion is getting a minimum error.
All HM was initialized in regions that include the global optimum for a fair evaluation. The algorithms were run for 100
times to catch their stochastic properties. In this experiment, maximum iteration number was set to 500 and the goal is not
to nd the global optimum values but to nd out the potential of the algorithms. Algorithm success rate dened in Eq. (20)
has been used for comparison of the results obtained from different HS algorithms.
S 100
NT successful
Q
:
NT all lev el
20
Table 1
Properties of test problems, lb indicates lower bound, ub indicates upper bound, opt indicates optimum point.
Function no.
Function name
Denition
Griewangk
f1 x
Rastrigin
PN
x2i
i1 4000
f2 x 10 N
PN
QN
i1 cos
2
i1 xi
xi
p
1
lb
ub
opt
Property
50
50
Multi-modal
5.12
5.12
Multi-modal
10 cos2pxi
Table 2
The used parameters for HS and GHS algorithms.
HMS
HS
GHS
40
40
HMCR
PAR
bw
0.9
0.9
0.8
0.8
0.2
0.2
Table 3
The used parameters for IHS algorithm.
HMS
HMCR
PARmin
PARmax
bwmin
bwmax
40
0.9
0.10
0.99
0.10
2.0
Table 4
Success rates of HS algorithms for Rastrigin Function (N=2).
Q lev el
HS
IHS
GHS
1.e5
1.e6
44
10
51
14
47
11
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N successful is the number of trials, which found the solution on the Q lev el in the allowable maximum iteration. N all is the number
of all trials. Q lev el is the end condition to stop the algorithm, when it converges into Q lev el tolerance.
The used parameters for HS and GHS have been shown in Table 2 while the used parameters for IHS have been shown in
Table 3. Table 4 depicts the success rates of HS algorithms for Rastrigin function for N = 2. Success rates of CHS algorithms
Table 5
Success rates of CHS algorithms using different chaotic maps for Rastrigin Function (N = 2).
Q lev el
CHS1
CHS2
CHS3
CHS4
CHS5
CHS6
CHS7
Logistic map
1.e5
1.e6
56
18
48
10
66
21
79
53
48
13
99
52
59
41
Tent map
1.e5
1.e6
49
15
58
29
54
19
52
12
54
22
55
16
84
44
48
15
53
21
87
28
52
18
52
29
99
80
54
17
45
10
47
13
55
18
55
35
47
14
55
39
60
33
Circle map
1.e5
1.e6
52
16
71
33
59
19
57
37
75
28
64
37
84
41
Sinus map
1.e5
1.e6
52
19
74
31
71
41
57
45
64
24
52
23
62
37
Henon map
1.e5
1.e6
50
19
49
14
52
31
52
45
47
12
52
26
52
30
Sinusoidal iterator
1.e5
1.e6
Gauss map
1.e5
1.e6
Table 6
Success rates of HS algorithms for Griewangk Function (N = 2).
Q lev el
HS
IHS
GHS
1.e5
1.e6
62
55
68
62
68
56
Table 7
Success rates of CHS algorithms using different chaotic maps for Griewangk Function (N = 2).
Q lev el
CHS1
CHS2
CHS3
CHS4
CHS5
CHS6
CHS7
Logistic map
1.e5
1.e6
64
62
64
62
75
67
72
64
67
64
84
74
78
68
Tent map
1.e5
1.e6
67
62
72
69
91
72
71
65
60
56
73
64
71
64
Sinusoidal Iterator
1.e5
1.e6
63
60
62
58
91
71
74
69
60
48
86
66
73
67
Gauss map
1.e5
1.e6
66
60
55
51
76
72
63
57
65
63
75
69
75
69
Circle map
1.e5
1.e6
84
84
77
67
74
58
71
66
88
78
93
85
72
63
Sinus map
1.e5
1.e6
84
59
73
63
81
63
68
62
80
70
80
68
64
62
Henon map
1.e5
1.e6
72
69
65
62
79
66
62
60
63
60
78
68
73
67
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using different chaotic maps for Rastrigin function for N = 2 is shown in Table 5. CHS algorithms have somewhat shown better performance than other HS algorithms. The performances of CHS3, CHS4, and CHS6 algorithms are better than others.
From the result demonstrated from these tables, it can be concluded that adjusting of bw values with chaotic maps have
improved the convergence property of the HS algorithm.
Table 6 depicts the success rates of HS algorithms for the second benchmark function, Griewangk function for N = 2. The
same values selected to for Rastrigin function have also been used for this function. Success rates of CHS algorithms using
different chaotic maps for Griewangk function for N = 2 is shown in Table 7. CHS algorithms have somewhat shown better
performance than other HS algorithms as in Rastrigin function. The performances of CHS3, CHS4, and CH6 algorithms are
better than others.
7. Conclusions
In this paper, different chaotic maps have been embedded to adapt the parameters of music inspired HS algorithm. This
has been done using the chaotic number generators each time a random number is needed by the classical HS algorithm.
Seven new chaotic HS algorithms have been proposed and different chaotic maps have been analyzed in the benchmark
functions. It has been detected that coupling emergent results in different areas, like those of HS and complex dynamics,
can improve the quality of results in some optimization problems and also that chaos may be a desired process as in real
music. It has been also shown that, these methods especially CHS3, CHS4, and CHS6 algorithms have somewhat increased
the solution quality, that is in some cases they improved the global searching capability by escaping the local solutions.
These proposed methods are new and more elaborated experiments may be performed with parallel or distributed
implementation.
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