l i = [ ( c s b i y +s b i z +X p ) 2 + ( s s b i y cbiz+Yp+tiy)+(cbiy+Zp+tiz)2]1/2

c=cos(),s=sin(),c=cos(),
s=sin()
biytiy li

Xp Y pZp

F(x)=0

x F(x)

xx0
F(x) x0

fitness=
(x2+y 2-1)2+(x2-y2 )2

f it ne s s=

a b s ( l i - [ ( c s b i y +s b i z +X p ) 2 +

(ssbiy-cbiz+Yp-tiy )+(cbiy+Z p+tiz)2]1/ 2)(i=1,2,

3,4,5)