Evolutionary Process Research Articles

Multimodal emotion recognition in the metaverse era: New needs and transformation in mental health work

This editorial comments on an article recently published by López del Hoyo et al . The metaverse, hailed as "the successor to the mobile Internet", is undoubtedly one of the most fashionable terms in recent years. Although metaverse development is a complex and multifaceted evolutionary process influenced by many factors, it is almost certain that it will significantly impact our lives, including mental health services. Like any other technological advancements, the metaverse era presents a double-edged sword for mental health work, which must clearly understand the needs and transformations of its target audience. In this editorial, our primary focus is to contemplate potential new needs and transformation in mental health work during the metaverse era from the perspective of multimodal emotion recognition.

Morphology, biology and molecular characterisation of the endemic Canary Islands blowfly Calliphora splendens Macquart, 1838 (Diptera: Calliphoridae).

The Canary Islands are an excellent natural laboratory for understanding ecological and evolutionary processes such as biogeographical colonisation. The morphology of the larva, puparium and adult of the endemic Canarian copper fly, Calliphora splendens, is described, illustrated and contrasted with those of the other species of Calliphora that occur in Africa, the Iberian Peninsula and Macaronesia. Partial cytochrome oxidase I sequences show a connection between C. splendens, Calliphora vicina, Calliphora loewi and Calliphora croceipalpis, but more distant relationship with Calliphora vomitoria. Calliphora splendens produced unisexual offspring in captivity. This work confirms the relict character of the Canarian copper fly associated with the endemic laurel forest habitat.

Assessment of the applicability of DFT methods to [Cp*Rh]-catalyzed hydrogen evolution processes.

The present computational study provides a benchmark of density functional theory (DFT) methods in describing hydrogen evolution processes catalyzed by [Cp*Rh]-containing organometallic complexes. A test set was composed of 26 elementary reactions featuring chemical transformations and bonding situations essential for the field, including the emerging concept of non-innocent Cp* behavior. Reference values were obtained from a highly accurate 3/4 complete basis set and 6/7 complete PNO space extrapolated DLPNO-CCSD(T) energies. The performance of lower-level extrapolation procedures was also assessed. We considered 84 density functionals (DF) (including 13 generalized gradient approximations (GGA), nine meta-GGAs, 33 hybrids, and 29 double-hybrids) and three composite methods (HF-3c, PBEh-3c, and r2SCAN-3c), combined with different types of dispersion corrections (D3(0), D3BJ, D4, and VV10). The most accurate approach is the PBE0-DH-D3BJ (MAD of 1.36 kcal mol-1) followed by TPSS0-D3BJ (MAD of 1.60 kcal mol-1). Low-cost r2SCAN-3c composite provides a less accurate but much faster alternative (MAD of 2.39 kcal mol-1). The widely used Minnesota-family M06-L, M06, and M06-2X DFs should be avoided (MADs of 3.70, 3.94, and 4.01 kcal mol-1, respectively).

Lessons for Theory from Scientific Domains Where Evidence is Sparse or Indirect

AbstractIn many scientific fields, sparseness and indirectness of empirical evidence pose fundamental challenges to theory development. Theories of the evolution of human cognition provide a guiding example, where the targets of study are evolutionary processes that occurred in the ancestors of present-day humans. In many cases, the evidence is both very sparse and very indirect (e.g., archaeological findings regarding anatomical changes that might be related to the evolution of language capabilities); in other cases, the evidence is less sparse but still very indirect (e.g., data on cultural transmission in groups of contemporary humans and non-human primates). From examples of theoretical and empirical work in this domain, we distill five virtuous practices that scientists could aim to satisfy when evidence is sparse or indirect: (i) making assumptions explicit, (ii) making alternative theories explicit, (iii) pursuing computational and formal modelling, (iv) seeking external consistency with theories of related phenomena, and (v) triangulating across different forms and sources of evidence. Thus, rather than inhibiting theory development, sparseness or indirectness of evidence can catalyze it. To the extent that there are continua of sparseness and indirectness that vary across domains and that the principles identified here always apply to some degree, the solutions and advantages proposed here may generalise to other scientific domains.

Erosion of behavioural plasticity and pace-of-life shifts under multigenerational pharmaceutical pollution.

Research Highlight: Aich, U., Polverino, G., Yazdan Parast, F., Melo, G. C., Tan, H., Howells, J., Nosrati, R., & Wong, B. B. M. (2024). Long-term effects of widespread pharmaceutical pollution on trade-offs between behavioural, life history and reproductive traits in fish. Journal of Animal Ecology. https://doi.org/10.1111/1365-2656.14152. Pharmaceutical pollutants are increasingly common in aquatic ecosystems, and organisms living there are the unintended targets of these compounds, originally designed for humans. However, our understanding of these effects remains limited. In a recent study, Aich etal. (2024) investigated the effects of fluoxetine on a small freshwater fish, the guppy (Poecilia reticulata), with particular emphasis on behaviour. The authors found that, after multigenerational exposure to ecologically relevant concentrations of this compound, there was minimal impact on average behavioural traits at the population level. However, fluoxetine exposure reduced within-individual behavioural plasticity and altered the delicate equilibrium among these traits. These findings could have far-reaching evolutionary implications for how individuals and populations may respond to environmental changes and highlight the need for behavioural ecotoxicology to move beyond population-level effects. This research provides valuable insights into the subtle and multifaceted-yet profound-impacts of pollutants on ecological and evolutionary processes, highlighting the importance of studying behavioural responses at the individual level to predict how populations will respond to our rapidly changing world.

Художній дискурс поезії Олени Пчілки: до питання жанрової та образно-стильової еволюції

The paper outlines the difficult path of returning the versatile creative heritage of Olena Pchilka and particularly her work as the first Ukrainian female professional poet to the history of Ukrainian national culture. The research addresses such issues as genre and stylistic originality, tradition, innovation, and the evolution of Pchilka’s poetry, which have remained overlooked by researchers. Based on analytical, synthetic, selective, and systematic methods, as well as elements of biographical, phenomenological, and hermeneutical approaches, the paper explores Pchilka’s work. Additionally, it incorporates the concepts of «philosophy of the heart» and «philosophy of life» as far as they are related to poetry. The analysis confirmed that the dominant genres in Olena Pchilka’s poetry are those of the expressive group, that is reflection, letter, elegy, song lyrics, romance, psalm, appeal, etc. This refutes the opinion, commonly held in the history of Ukrainian literature, that Olena Pchilka’s poetry is dominated by epic lyrical genres rooted in a descriptive narrative. The unique figurative and stylistic picture of Olena Pchilka’s poetry is created by the in-depth psychologism of revealing the inner spiritual world of the lyrical character as well as philosophical, elegiac, and song-related features of the poems and the author’s strong versification skills. The mentioned characteristics dismiss criticisms that accuse Pchilka’s poetry of lacking artistry. The results of the analysis of Olena Pchilka’s «word in a poem», as viewed through the tasks set, attest to the poet’s fruitful use of the pictorial and expressive possibilities across a wide range of poetic genres. They also highlight the innovative and artistically valuable figurative and stylistic originality of the author’s voice. It can be concluded that Olena Pchilka’s poetry evolved in line with the general trends in Ukrainian poetry of the 2nd half of the 19th – the 1st quarter of the 20th century – a period marked by changing ideological and aesthetic guidelines triggering evolutionary processes in literary structures. As an integral aesthetic phenomenon, Olena Pchilka’s poetry deserves a separate monographic study, encompassing her entire poetic legacy within both national and global contexts.

From Old Labour to the Third Way: The UK Labour Party’s Social and Welfare Policy Evolution between 1975 and 1997

In parallel to the emergence and subsequent dominance of Thatcherite ideology across the realm of British politics from the mid-1970s, the UK Labour Party’s social and welfare policy agenda reacted and evolved for over two decades, a simultaneous and often futile process that occurred largely during a sustained and frustrating spell in political opposition. This convoluted policy journey therefore correlated with the party’s struggling electoral fortunes in the context of four successive general election defeats, before eventual convincing victory in 1997. This article seeks to illustrate that even before losing office in 1979, the Labour Party struggled to adapt to the advent of the New Right, facing hard structural policy-making constraints, with subsequent electoral defeats occurring amidst a more volatile public mood, changing demographics and social values, and a shifting social and economic model. In explaining how and why this happened, the article suggests that this was a critical evolutionary process for Labour, with flexible pragmatism and political necessity often eclipsing fading ideological imperatives, as the party sought electoral credibility and a route back to government. Consequently, by 1997, due to various factors, Labour’s social and welfare policies had been transformed beyond all previous recognition.

Effect of pulsation intensity on flow and dispersion characteristics of single-pulsed dual parallel plane jets

The effect of pulsation intensity on flow and dispersion characteristics of single-pulsed dual parallel plane jets was experimentally investigated in this study. A single jet from a pair of dual jets was pulsed by a loudspeaker. The flow evolution processes were examined using the laser-light sheet-assisted smoke flow visualization method. The visual spread of the jet flow was measured using the binary boundary edge detection technique. A hotwire anemometer was used to detect the instantaneous velocities, mean velocities, turbulence intensities, Lagrangian integral time, and length scales. The dispersion capabilities of the jet fluid were evaluated employing the tracer-gas concentration detection technique. Two characteristic flow modes, namely the coherent vortices and vortex breakup, could be classified based on pulsation intensity. At Ip < 1.0, the flow was characterized by coherent vortices, which maintained coherence within one excitation cycle. At Ip > 1.0, vortex breakup occurred, where vortices deformed, lost coherence, and transformed into puff-shaped vortical structures within one excitation cycle. The vortices emerging from the pulsed jet undergo deformation, evolving into puff-shaped vortices, and subsequently fragment into smaller turbulent eddies more quickly than the synchronized vortices from the non-pulsed jet. This leads to significant penetration and velocity fluctuations in the trajectory of the pulsed jet. Consequently, the overall spread width and concentration reduction index of the single-pulsed dual parallel plane jets exceed those of the non-pulsed dual parallel plane jets.

Social network analysis of heterogeneous subjects driving spatial commercialization of traditional villages: A case study of Tanka Fishing Village in Lingshui Li Autonomous county, China

Rural spatial commercialization has emerged as a focal point of interest in the field of rural geography. This study, Taking Tanka Fishing Village of Xincun Town in Lingshui Autonomous County of Hainan Province as a case, and based on the data and materials collected from field investigation and semi-structured questionnaire interview, analyzed the evolution process and characteristics of spatial commercialization, and examined the social network relationships and its underlying mechanism driven by multiple heterogeneous subjects utilizing Social Network Analysis. The aim is to provide practical guidance for the industrial transformation, upgrading, and preservation utilization of Tanka Fishing Village, as well as other traditional villages with similar profiles. The findings indicate that, firstly, as rural spaces transition from productivism to post-productivism and multi-functional countryside, the spatial commercialization of Tanka Fishing Village has also undergone a transformation from being predominantly fisheries to a fusion of fisheries and tourism, and subsequently to an integration of fisheries, tourism and culture. Secondly, the evolution of spatial commercialization within Tanka Fishing Village is a practical process where various heterogeneous subjects, including governments, businesses, village committees, Tanka people, and tourists, establish social relationship networks through a series of negotiations and strategic interactions. The social network relationship of heterogeneous subjects has gradually shifted from an ‘enterprise-driven cluster network’ to a ‘government-led tight network’ and ultimately to a ‘relatively balanced network driven by rural talents’. The role of external heterogeneous subjects, such as enterprises and government departments, in the social networks has progressively weakened, whereas the importance of internal heterogeneous subjects, including social groups and rural talents, has correspondingly increased. This shift has fortified the endogenous momentum of spatial commercialization in Tanka Fishing Village. Ultimately, strengthening government policy guidance, fostering innovative business models, encouraging villager participation, and refining the benefit-sharing mechanism are crucial strategies for promoting the sustainable commercial development and preservation of Tanka Fishing Village in Lingshui Autonomous County, China.

Past-performance-driven strategy updating promote cooperation in the spatial prisoner's dilemma game

Strategy update rules play an important role in repeated Prisoner's Dilemma games. This work proposes a modified strategy update rule based on the traditional Fermi function, in which individual past performance is taken into account in strategy update. Then, the consistency aspiration α serves as a benchmark to measure an individual's past performance, and the past performance score is dynamically adjusted during the evolution process according to the BM reinforcement learning rules. The computational results indicate that the proposed modified strategy update rules can significantly improve system cooperation t than the traditional version, and the network reciprocity effect is enhanced as the result of past performance is coupled into the strategy update rule. Moreover, different temptation to defection b exist a corresponding aspiration α result in maximizing system cooperation. Furthermore, an optimal sensitivity level β can also result in a maximizing system cooperation. As a whole, for α − β phase diagram, different a will correspond to an optimal value β that allows the system to achieve the maximum cooperation. Finally, the proposed mechanism is robust. Hopefully this can help to inspire further research on how to deal with social dilemmas.

Evolutionary Game Analysis of China–Laos Electric Power Cooperation

Cross-border power cooperation is considered a pathway for optimal regional use of renewable resources and the reduction of carbon emissions. To enhance such cooperation, it is essential to understand the game behaviors of the involved parties. This study applied evolutionary game theory (EGT) and system dynamics (SD) methods to analyze the factors influencing strategic choices and cooperation benefits in the China–Laos electricity cooperation. An EGT model was first developed to examine the interactive behavior of both parties and the stability of strategies. Subsequently, an SD model of EGT was constructed to simulate the evolutionary game process, explore the intrinsic mechanisms of the evolutionary game, and analyze the factors affecting strategy selection. The results show that: (1) the gaming behaviors cannot be ignored in cross-border power cooperation; (2) compared to the cross-border trade scenario, the strategic cooperation will generate more benefits for the parties involved and thus will be selected as the cooperation game evolves; (3) the initial strategy ratio of both parties is crucial, influencing the direction of strategy evolution and the time to reach equilibrium; (4) the choice of system cooperation strategy is affected by the unit profit of electricity trade, input cost, incremental return, trade volume, transaction cost, excess return, fine for agreement violation, and the ratio of benefit allocation, among which the former three are critical.

A global dynamic evolution snow ablation optimizer for unmanned aerial vehicle path planning under space obstacle threat

In this paper, an improved Global Dynamic Evolution Snow Ablation Optimizer (GDSAO) is proposed in order to solve the problem of global optimization and Unmanned Aerial Vehicle (UAV) path planning in 3D space with obstacle threats. Three improvement schemes are proposed in GDSAO: (1) Population initialization is carried out using the theory of the best point set to obtain a more diverse initial population; (2) A dynamic snowmelt ratio using the global evolutionary dispersion is proposed to adapt the exploitation process of the original SAO to the evolutionary process of population fitness; (3) A neighborhood dimensional search scheme is proposed to update the locations of all searched individuals outside the elite pool to obtain better population fitness. The algorithm was tested on 30 10-dimensional problems at CEC 2017 and performed better than a series of joint and leading optimization algorithms. The path planning problem of UAV was solved, and the path satisfying all obstacle avoidance threats and corner constraints was obtained. By comparison, GDSAO is superior to the existing algorithms in terms of reliability and stability of optimization.

An Early Micro Internal Short Circuit Fault Diagnosis Method Based on Accumulated Correlation Coefficient for Lithium-Ion Battery Pack

Early micro internal short circuit (ISC) fault diagnosis is crucial for the safe and reliable operation of lithium-ion batteries. In order to solve the problem that the early micro ISC fault is difficult to identify due to its weak fault characteristics, this paper proposes a fault diagnosis method based on the accumulated correlation coefficient. Specifically, the method uses the accumulated voltage value within the time window as the input feature, constructs an adjustment factor based on the distance difference of the accumulated voltage value to amplify the difference between the fault voltage correlation coefficient and the normal voltage correlation coefficient, and finally achieves the purpose of highlighting the faulty cell. The effectiveness and diagnostic capability of the proposed method are verified in experiments of short circuit faults of different severity. The results show that the proposed method can effectively identify and locate early micro ISC faults within 200 s, and improve the diagnostic capability up to 0.02 C short-circuit severity. In addition, a multi-level diagnostic warning mechanism can be established according to the decrease of the fault voltage correlation coefficient, so as to measure the severity of the fault and track the fault evolution process.

Evolution and Motivation of the Value-Added Trade Pattern of Producer Services Based on a Complex Network

With the acceleration of the digital revolution and free trade, the producer services industry has become a new driving force for countries to enhance their global value chain (GVC). The further integration of GVCs has promoted the formation of a global value network covering a wider range of regions and industries. The way of establishing strong core capabilities and competitive advantages for a country’s producer services industry in the vast value network is of great practical significance for achieving industrial structure transformation and upgrading in an open economy. Therefore, based on the Asian Development Bank Multi-Regional Input–Output Database (ADB-MRIO) and the bilateral export value-added accounting method (WWZ), this study constructs a value network of producer services and analyzes its structural evolution and driving factors. The results show the following: (1) The domestic value-added (DVA) network and foreign value-added (FVA) networks of producer services trade exhibit dense characteristics in terms of trade depth. The DVA network has a small-world topological structure, while the FVA network does not have this feature most years. (2) Western countries, represented by the USA, Germany, and the UK, are located at the hub of the global value network, while China’s network status is rising and gradually occupying a core position not only in the Asian region but also in the world. The value chain of producer services shows a pattern of being led by developed countries and extending to developing countries. (3) The broader tendency of modularity is decreasing, indicating that the development process of the DVA and FVA networks is becoming globalized. The members of the community can not only achieve trade interdependence due to geographical proximity but also break through regional limitations and complement each other. (4) The network evolution process is driven by a variety of factors. Industrial and technological distances are conducive to the expansion of the global value flow in producer services. Geographical and linguistic proximity are the main influencing factors, while the role of institutional proximity tends to be weakened.

Comprehensive identification of PIN and PILS in crape myrtle genomes reveals their putative functions in bud-to-branch development and callus generation

Polar auxin transport in plants is facilitated by influx and efflux transporters encoded by PIN-FORMED (PIN) and PIN-like (PILS) genes, respectively. While the auxin transporter gene families have been extensively studied in various monocot and dicot species, a comprehensive genome-wide analysis of PIN and PILS gene families in Lagerstroemia indica is currently lacking. In this study, we identified 22 LiPIN and LiPILS genes in L. indica genome, distributed across 17 chromosomes. Gene structure and conserved motif analyses revealed relative conservation within the same group. Additionally, we identified 16 syntenic gene pairs in LiPIN and LiPILS genes, with Ka/Ks values below 1 indicating purifying selection during evolutionary processes. Expression profiling indicated that several genes, notably LiPIN3a and LiPILS5b/6a/6b/6c, responded to salt stress. LiPIN1d, LiPIN5, and LiPILS3a were potentially linked to bud-to-branch development in L. indica. Moreover, the expression levels of LiPILS3a and LiPILS5a exhibited significant differences during the callus formation process, indicating their potential as key regulatory factors in this developmental stage. These findings offered new insights into auxin transporter genes in L. indica and enhanced our understanding of their roles in stress tolerance, growth, and development.

A fuzzy logic-genetic algorithm for full truckload transportation problem

This work addresses a full truckload commodity selection and multiple depot vehicle routing problem with time windows (FTSMDVRPTW). The goal of the problem is to design a set of selective truck routes that maximize overall profit subject to time window constraints. Each truck route is an arrangement of full truckload transportation commodities that begins at a departure point and ends at an arrival point. It is unnecessary to serve all commodities; only those that provide a higher profit are chosen. We introduce a meta-heuristic based on a combination of fuzzy logic controller (FLC) and genetic algorithm (GA) to solve the FTSMDVRPTW, where the crossover and mutation rates are adjusted during the GA’s evolutionary process using an FLC. We demonstrate the effectiveness and efficiency of the proposed FLC+GA through experimental results on randomly generated instances for the considered problem.

Evolution and expression of TLR5a and TLR5b in lamprey (Lampetra japonica)

The lamprey serves as a key model organism for studying the origin and evolution of species, embryonic development, and the immune system. The immune system primarily relies on pattern recognition receptors, including Toll-like receptors (TLRs), with Toll-like receptor 5 (TLR5) having a particularly complex evolutionary history. Currently, although TLR5 is being identified in an expanding array of taxonomic groups, a comprehensive study on its evolutionary aspects is yet to be conducted. In this study, we identified Lj-TLR5a and Lj-TLR5b in Lampetra japonica and examined their distribution across various tissues in this species. Furthermore, we conducted preliminary investigations into their immune functions and discovered that, as primitive genes, they are highly sensitive to various pathogens. Upon recognizing flagellar proteins, both Lj-TLR5a and Lj-TLR5b work together; however, these TLRs may function independently in response to other stimuli. Subsequently, we performed comprehensive structural and evolutionary analyses of the TLR5 family, incorporating TLR5 data from various species at different evolutionary stages. Our findings revealed that TLR5a and TLR5b in lamprey are in a relatively primitive evolutionary state. Meanwhile, TLR5L differentiated during the early stages of evolution and exhibits a pseudogenic trend throughout this evolutionary process; notably, this TLR is currently preserved only in certain amphibian and reptile species. In cartilaginous fish, only one type of TLR5 is usually retained, whereas bony fish typically possess both TLR5 and TLR5S. TLR5S has a relatively simple structure, likely arising from repetitive whole-genome events in bony fishes. Among bony fishes, flesh-finned fish were found to retain only one TLR5, which eventually evolved into the TLR5 found in quadrupeds. In summary, this study provides significant insights into the origin and evolution of the TLR5 family by analyzing the evolutionary status and immune functions of Lj-TLR5a and Lj-TLR5b in Japanese lampreys.

Adapting the population size in CMA-ES using nearest-better clustering method for multimodal optimization

The covariance matrix adaptation evolution strategy (CMA-ES) is one of the advanced algorithms for solving continuous single-objective optimization. In this algorithm, the population size is an important parameter which represents the number of candidate points generated in each iteration. A larger population size allows for better exploration of the search space and is typically required for handling multimodal functions, while a smaller population size facilitates quicker convergence. Adapting the population size in this algorithm raises a question about how to increase/decrease/keep it in an efficient way to solve specific problems. In this paper, we propose a novel approach for this purpose based on the information of niches observed during the evolution process. Firstly, the nearest-better clustering (NBC) technique is employed to detect the number of niches in each iteration, then the information will be used to adapt the population size accordingly. Additionally, a quasi-Newton method, which serves as a local search, can be incorporated into the algorithm in order to speed it up. We evaluate the effectiveness of our method through numerical simulations on multimodal test functions, the black-box optimization benchmarking (BBOB) noiseless testbed, and the CEC 2014 and CEC 2017 benchmark testing suites.

Evolution of Supramolecular Coordination Assemblies Visually Monitored by Time‐Dependent Multicolor Fluorescence

Supramolecular coordination assemblies play an important role in both material science and biological systems. Despite significant efforts in their development, most existing examples are thermodynamically controlled, which lack the adaptability and autonomy essential for the creation of advanced materials. In this work, we have developed non‐equilibrium coordination assembly systems that can evolve over time through a combination of thermodynamic and kinetic controls. The introduction of zinc ions resulted in the formation of metastable fiber assemblies in a kinetically trapped state, which autonomously converted to thermodynamically stable nanosheets over time. This evolution process can be regulated by external stimuli and visually monitored by the time‐dependent multicolor fluorescence. The construction strategy was versatile across other various ions such as Ca2+, Mg2+, and Al3+, offering inspiring insights for the design of complex systems that operated both in and out of their thermodynamic equilibrium

3D path planning for UAV based on A hybrid algorithm of marine predators algorithm with quasi-oppositional learning and differential evolution

3D path planning is a critical requirement for the autonomy of unmanned aerial vehicle (UAV) navigation systems. In this paper, we propose a novel approach, the differential evolution combined marine predators algorithm (DECMPA), specifically tailored to address the UAV 3D path planning problem in complex scenarios. To handle stringent constraints, DECMPA adopts a multi-step approach. Initially, it utilizes quasi-oppositional learning to generate a more uniformly distributed initial population. Throughout the iterative process, it probabilistically generates quasi-oppositional populations and merges them with existing populations, selecting the superior individuals for the next generation to mitigate local optima. Additionally, DECMPA integrates the variance, crossover, and selection processes of differential evolution into the marine predators algorithm iterations. The greedy selection of test and target vectors further accelerates population convergence. Numerical optimization experiments are conducted using the 10 and 20-dimensional CEC 2021 test suite. Compared to other algorithms, DECMPA exhibits superior solution accuracy and convergence speed, resulting in substantial performance enhancement, thus establishing itself as an efficient algorithm. Furthermore, the adoption of spherical vector coordinates in solution encoding ensures higher quality and facilitates the production of feasible solutions. To verify the effectiveness and practicality of the proposed algorithm, comprehensive path planning simulation experiments are conducted. DECMPA is compared against nine other state-of-the-art heuristic algorithms across six 3D scenarios of varying complexity. The experimental results demonstrate DECMPA’s superiority in terms of optimal cost acquisition, solution quality, and stability. In conclusion, DECMPA presents a promising solution for addressing the challenges of UAV 3D path planning in complex environments. Its innovative approach and superior performance underscore its potential for real-world application in autonomous UAV navigation systems.