... −1)+ϕ1.rand1i,d(0,1).(pli,d−xi,d(t −1))+ϕ 2 .rand2i,d(0,1).(pgd−xi,d(t −1)) (23 .6)xi,d(t)=xi,d(t −1)+vi,d(t) (23 .7)Please note that in 23 .6 and 23 .10,ϕ1 and ϕ 2 are two positive numbers known ... of the particles:vi,d(t)=ω.vi,d(t −1)+ϕ1.rand1i(0,1).(pli,d(t)−xi,d(t −1))+ϕ 2 .rand2i(0,1).(pgd(t)−xi,d(t −1)) (23 .9)Comparing the two variants in 23 .6 and 23 . 12, the ... Rauch, 1997, Ko-honen, 1995, Falkenauer, 1998, Paterlini and Minerva, 20 03, Xu and Wunsch, 20 05, Rokach and Maimon, 20 05, Mitra et al .20 02) . One of the most popular approaches in this directionhas...