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Lecture 1 - Introduction To Engineering Optimization

This document outlines the course objectives and content for a course on engineering optimization and design. The course introduces key concepts in optimization including formulating design problems, choosing optimization algorithms, and practical experience applying optimization techniques. The course content covers topics such as classical optimization techniques, unconstrained and constrained optimization methods, dynamic programming, and genetic algorithm based optimization. Students are expected to have a mathematical and computer background to understand the course materials.

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Tafesse
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100% found this document useful (1 vote)
692 views57 pages

Lecture 1 - Introduction To Engineering Optimization

This document outlines the course objectives and content for a course on engineering optimization and design. The course introduces key concepts in optimization including formulating design problems, choosing optimization algorithms, and practical experience applying optimization techniques. The course content covers topics such as classical optimization techniques, unconstrained and constrained optimization methods, dynamic programming, and genetic algorithm based optimization. Students are expected to have a mathematical and computer background to understand the course materials.

Uploaded by

Tafesse
Copyright
© Attribution Non-Commercial (BY-NC)
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Download as PPTX, PDF, TXT or read online on Scribd
Download as pptx, pdf, or txt
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You are on page 1/ 57

Dr.

Tafesse Gebresenbet
AAiT, Mechanical Engineering Department


Course Objective
The course introduces :

Understanding of principles and possibilities of optimization in
Engineering and in particular in design
Understand how to formulate an optimum design problem by
identifying critical elements
knowledge of optimization algorithms, ability to choose proper
algorithm for given problem
Practical experience with optimization algorithms
Practical experience in application of optimization to design problems

Course outline
Chapter 1: Introduction to Engineering Optimization of Design
Introduction: Historical background, Definition of terms, Basic concepts,
Classification of optimizations problems ,
Applications : Design optimization, benefits of optimization, automated
design optimization, when to use optimization, examples
Chapter 2: Optimum Design Formulation
Design models, Mathematical models, Defining optimization problem, Multi objective
design problems, applications of optimization in design
Chapter 3 Classical Optimization techniques
Single variable optimization
Multivariable optimization with equality and inequality constraints
Chapter 4: One dimensional unconstrained optimization
techniques
Elimination methods: Exhaustive search, Interval halving method,
Fibonacci Method, Golden Section method.
Interpolation methods: quadratic interpolation, cubic interpolation
Direct root methods: Newton's method, Quasi -Newton method, Secant
method
Course outline
Chapter 5: Unconstrained Optimization techniques
Direct search methods: Random search , Grid search Method, Powell method
Indirect search(Descent) methods: Steepest descent (Cauchy) method, Conjugate
gradient (Fletcher-Reeves) method, Newtons method,
Unconstrained optimization using Matlab

Chapter 6: Constrained Optimization techniques
Direct search methods: Random search, complex search Method, Quadratic
programming
Indirect methods: Penalty function method, Lagrange multiplier method
Constrained optimization using Matlab

Chapter 7: Dynamic Programming
Introduction , Multistage decision processes, Applications of dynamic programming .

Chapter 8: Genetic Algorithm based Optimization
Introduction to Genetic Algorithm , Applications of GA based optimization techniques ,
GA based Optimization using Matlab

Reference Materials
1. S.S. Rao, Engineering Optimization, 3
rd
edition, Wiley Eastern, 2009
2. Papalambros and Wilde, Principle of optimal Design, modeling and
computation, Cambridge University press, 2000
3. Fred van Keulen and Matthiis Langelaar, Lecture note s in Engineering
Optimization, Technical University of Delft
4. Ravindran, Ragsdell and Rekalaitis, Engineering Optimization
Methods and application, 2
nd
edition, Willey,2006
5. Arora, Introduction to Optimum design, 2
nd
edition, Elsevier
Academic Press, 2004
6. Forst and Hoffmann, Optimization theory and practice, Springer ,
2010
7. Haftka and Gurdal, Elements of Structural Optimization, 3
rd
edition,
Kluwer academic, 1991
8. Belegundu and Chandrupatla, Optimization concepts and
applications in Engineering, 2
nd
edition, Cambridge University press,
2011
9. Kalyanmoy Deb, Multi-objective Optimization using Evolutionary
Algorithms, Wiley, 2002


Prerequisites
Mathematical and Computer background needed to
understand the course:
Familiarity with linear algebra (vector and matrix
operations) and
basic calculus is essential and Calculus of functions of
single and multiple variables must also be understood
Familiarity with Matlab and EXCEL is also essential


Lecture outline
Introduction
Historical perspective
What can be achieved by optimization?
Optimization of the design process
Basic terminology, notations, and definitions
Engineering optimization
Popularity and pitfalls of optimization
Classification of optimization problems
Design optimization
Benefits of design optimization
Automated design optimization
Examples

Introduction
Optimization is derived from the Latin word optimus, the
best.
Thus optimization focuses on
Making things better
Generating more profit
Determining the best
Do more with less
The determination of values for design variables which
minimize (maximize) the objective, while satisfying all
constraints
Introduction
Optimization is defined as a mathematical process of
obtaining the set of conditions to produce the
maximum or the minimum value of a function
It is ideal to obtain the perfect solution to a design
situation.
Usually all of us must always work within the constraints
of the time and funds available, we can only hope for the
best solution possible.
Optimization is simply a technique that aids in
decision making but does not replace sound judgment
and technical know-how
Historical perspective
Ancient Greek philosophers: geometrical optimization
problems
Zenodorus, 200 B.C.:
A sphere encloses the greatest
volume for a given surface area
Newton, Leibniz, Bernoulli, De lHospital (1697):
Brachistochrone Problem:



Historical perspective
People have been optimizing forever, but the roots for
modern day optimization can be traced to the Second
World War.
Ancient Greek philosophers: geometrical optimization
problems
Zenodorus, 200 B.C.:
A sphere encloses the greatest
volume for a given surface area
Newton, Leibniz, Bernoulli, De lHospital (1697):
Brachistochrone Problem:
Lagrange (1750): constrained minimization
Cauchy (1847): steepest descent
Dantzig (1947): Simplex method (LP)
Kuhn, Tucker (1951): optimality conditions
Karmakar (1984): interior point method (LP)
Bendsoe, Kikuchi (1988): topology optimization


One of the first problems posed in the calculus of
variations.
Galileo considered the problem in 1638, but his answer was
incorrect.
Johann Bernoulli posed the problem in 1696 to a group of
elite mathematicians:
I, Johann Bernoulli... hope to gain the gratitude of the whole
scientific community by placing before the finest mathematicians
of our time a problem which will test their methods and the
strength of their intellect. If someone communicates to me the
solution of the proposed problem, I shall publicly declare him
worthy of praise.
Newton solved the problem the very next day, but
proclaimed I do not love to be dunned [pestered] and
teased by foreigners about mathematical things."
What can be achieved by optimization ?
Optimization techniques can be used for:
Getting a design/system to work
Reaching the optimal performance
Making a design/system reliable and robust
Also provide insight in
Design problem
Underlying physics
Model weaknesses

What can be achieved by optimization ?
Engineering design is to create artifacts to perform
desired functions under given constraints
Common goals for engineering design
Functionality
Better performance: More efficient or effective ways to
execute tasks
Multiple functions: Capabilities to execute two or more
tasks simultaneously
Value
Higher perceived value: More features with less price
Lower total cost: Same or better ownership and
sustainability with lower cost

Basic Terminology, notations and definitions
R
n
n-dimensional Euclidean (real) space
x column vector of variables, a point in Rn
x=[x
1
,x
2
,..,x
n
]
T
f(x), f objective function
x* local optimizer
f(x*) optimum function value
g
j
(x), g
j
j
th
equality constraint function
g(x) vector of inequality constraint
h
j
(x), h
j
j
th
equality constraint function
h(h(x) vector of equality constraint function
C
1
set of continuous differentiable functions
C2
set of continuous and twice differentiable differentiable
continuous functions
Norm/Length of a vector
If we let x and y be two n-dimensional vectors, then their dot
product is defined as


Thus, the dot product is a sum of the product of corresponding
elements of the vectors x and y.
Two vectors are said to be orthogonal (normal) if their dot
product is zero, i.e., x and y are orthogonal if x y =0.
If the vectors are not orthogonal, the angle between them
can be calculated from the definition of the dot product:



where is the angle between vectors x and y, and ||x||
represents the length of the vector x. This is also called the
norm of the vector
Norm/Length of a vector
The length of a vector x is defined as the square root of the
sum of squares of the components, i.e.,


The double sum of Eq. (1.11) can be written in the matrix form as
follows


Since Ax represents a vector, the triple product of the above
Eq. will be also written as a dot product:
Basic Terminology and notations
Design variables
Parameters whose numerical values are to be determined
to achieve the optimum design.
They include such values such as; size or weight, or the
number of teeth in a gear, coils in a spring, or tubes in a
heat exchanger, or etc.
Design parameters represent any number of variables the
may be required to quantify or completely describe an
engineering system.
The number of variables depends upon the type of design
involved. As this number increases, so does the complexity
of the solution to the design problems.
Constraints
Numerical values of identified conditions that must be
satisfied to achieve a feasible solution to a given problem.
External constraints
Uncontrolled restrictions or specifications imposed on a
system by an outside agency.
Ex.: Laws and regulations set by governmental agencies,
allowable materials for house construction
Internal constraints
Restrictions imposed by the designer with a keen
understanding of the physical system.
Ex.: Fundamental laws of conservation of mass, momentum,
and energy

What is mathematical/Engineering Optimization ?
Mathematical optimization is the process of
1. The formulation and
2. The solution of a constrained optimization problem of the
general mathematical form
Minimize f(x), x =[x
1
,x
2
,,x
n
]
T

subject to constraints
g
j
(x) s 0, j=1,2, , m
h
j
(x) = 0, j=1, 2, . ,r
Where f(x), g
j
(x) and h
j
(x) are scalar functions of the real column
vector
The continuous components of xi of x =[x
1
,x
2
,, x
n
]
T
are called
the (design) variables
f(x) is the objective function,
g
j
(x) denotes the respective inequality constraints, and
g
j
(x) the equality constraint function


What is mathematical/Engineering Optimization ?
The optimum vector x that solves the formerly defined
problem is denoted by x* with the corresponding optimum
function value f(x*).
If no constraints are specified, the problem is called an
unconstrained minimization problem
Other names of Mathematical Optimization
Mathematical programming
Numerical optimization
Objective and Constraint functions
The values of the functions f(x), g
j
(x), h
j
(x) at any point x
= [x
1
,x
2
,, x
n
]
T
g
j
(x), may in practise be obtained in different
ways
i. From analytically known formulae, e.g., f(x)= x
1
2
+
2x
2
2
+Sin x
3
ii. As the outcome of some complicated computational
process e.g., g
1
(x) = a(x) a
max
, where a(x) is the stress,
computed by means of a finite element analysis, at some
point in structure, the design of which is specified by x;
or
iii. From measurement taken of a physical process, e.g.,
h
1
(x)= T(x)-T
o
, where T(x) is the temperature measured at
some specified point in a reactor, and x is the vector of
operational settings.
Elements of optimization

Design space
The total region or domain defined by the design
variables in the objective functionsUsually limited by
constraints
The use of constraints is especially important in
restricting the region where optimal values of the
design variables can be searched.
Unbounded design space
Not limited by constraints
No acceptable solutions
Optimization in the design process
Conventional design process:
Collect data to describe
the system
Estimate initial design
Analyze the system
Check performance
criteria
Is design satisfactory?
Change design based on
experience / heuristics /
wild guesses
Done
Optimization-based design process:
Collect data to describe the
system
Estimate initial design
Analyze the system
Check the constraints
Does the design satisfy
convergence criteria?
Change the design using an
optimization method
Done
Identify:
1. Design variables
2. Objective function
3. Constraints
Optimization in the design process
Is there one aircraft which is the fastest, most efficient,
quietest, most inexpensive?
You can
only make
one thing
best at a
time.
Optimization Methods
Comparison of Conventional and Optimal Design
The CD process involves the use
of information gathered from one
or more trial designs together
with the designers experience an
intuition
Its advantage is that the designers
experience and intuition can be
used in making conceptual
changes in the system or to make
additional specifications in the
procedure
The CD process can lead to
uneconomical designs and can
involve a lot of calendar time.
The OD process forces the designer
to identify explicitly a set of design
variables, an objective function to
be optimized, and the constraint
functions for the system.
This rigorous formulation of the
design problem helps the designer
gain a better understanding of the
problem.
Proper mathematical formulation
of the design problem is a key to
good solutions.

Optimization popularity
Increasingly popular:
Increasing availability of numerical modeling
techniques
Increasing availability of cheap computer power
Increased competition, global markets
Better and more powerful optimization techniques
Increasingly expensive production processes
(trial-and-error approach too expensive)
More engineers having optimization knowledge
Optimization pitfalls!
Proper problem formulation critical!
Choosing the right algorithm
for a given problem
Many algorithms contain lots
of control parameters
Optimization tends to exploit
weaknesses in models
Optimization can result in very sensitive designs
Some problems are simply too hard / large /
expensive
Structural optimization
Structural optimization = optimization techniques
applied to structures
Different categories:
Sizing optimization
Material optimization
Shape optimization
Topology optimization

t
E, v
R
r
L
h
Shape optimization
Yamaha R1
Topology optimization examples
Why Design Optimization ?
Design Complexity
Classifications
Problems:
Constrained vs. unconstrained
Single level vs. multilevel
Single objective vs. multi-objective
Deterministic vs. stochastic
Responses:
Linear vs. nonlinear
Convex vs. nonconvex
Smooth vs. nonsmooth
Variables:
Continuous vs. discrete (integer, ordered, non-
ordered)
Typical Design Process
Initial Design Concept
Specific Design Candidate
Build Analysis Model(s)
Execute the Analyses
Design Requirements Met?
Final Design
Yes
No
Modify
Design
(Intuition
)
Time

Money

Intellectual
Capital
HEEDS
$
HEEDS (Hierarchical Evolutionary Engineering Design System)

A General Optimization Solution
Automotive Civil Infrastructure



Biomedical Aerospace
Automated Design Optimization
37
Create Parameterized Baseline
Model
Create HEEDS Design Model
Execute HEEDS Optimization
Plan Design Study
Basic Procedure:
Automated Design Optimization
38
Identify:
Objective(s)
Constraints
Design Variables
Analysis Methods

Note:
These definitions affect subsequent
steps
Create Parameterized Baseline
Model
Create HEEDS Design Model
Execute HEEDS Optimization
Plan Design Study
Automated Design Optimization
39
Input File(s)
Execute Solver(s)
Output File(s)
Validate Model
Create CAD/CAE Models
for a Representative Design
Create Parameterized Baseline
Model
Create HEEDS Design Model
Execute HEEDS Optimization
Plan Design Study
Automated Design Optimization
40
Define Input Files
and Output Files
Define Design Variables
and Responses
Define Objectives,
Constraints, and Search
Method
Tag Variables
in Input Files and
Responses in Output Files
Define Batch Execution
Commands for Solvers
Create Parameterized Baseline
Model
Create HEEDS Design Model
Execute HEEDS Optimization
Plan Design Study
Automated Design Optimization
Create Parameterized Baseline
Model
Create HEEDS Design Model
Execute HEEDS Optimization
Plan Design Study
Modify Variables in Input File
Execute Solver in Batch Mode
Extract Results from Output File
Optimized Design(s)
Yes
New
Design
(HEEDS)
No
Converged?
CAE Portals
When
What
Where
Tangible Benefits*
43
Crash rails: 100% increase in energy absorbed
20% reduction in mass

Composite wing: 80% increase in buckling load
15% increase in stiffness

Bumper: 20% reduction in mass
with equivalent performance

Coronary stent: 50% reduction in strain

* Percentages relative to best designs found by experienced
engineers
Return on Investment
Reduced Design Costs
Time, labor, prototypes, tooling
Reinvest savings in future innovation projects

Reduced Warranty Costs
Higher quality designs
Greater customer satisfaction

Increased Competitive Advantage
Innovative designs
Faster to market
Savings on material, manufacturing, mass, etc.
- Suggests material placement or layout based on
load path efficiency
- Maximizes stiffness
- Conceptual design tool
- Uses Abaqus Standard FEA solver
Topology Optimization
When to Use Topology Optimization
Early in the design cycle to find shape concepts
To suggest regions for mass reduction
Design of Experiments
Determine how variables affect
the response of a particular
design
Design sensitivities

Build models relating the
response to the variables
Surrogate models,
response surface models
B
A
When to Use Design of Experiments
Following optimization

To identify parameters
that cause greatest
variation in your design

Parameter Optimization
Minimize (or maximize): F(x
1
,x
2
,,x
n
)

such that: G
i
(x
1
,x
2
,,x
n
) < 0, i=1,2,,p
H
j
(x
1
,x
2
,,x
n
) = 0, j=1,2,,q
where: (x
1
,x
2
,,x
n
) are the n design variables
F(x
1
,x
2
,,x
n
) is the objective (performance)
function
G
i
(x
1
,x
2
,,x
n
) are the p inequality constraints
H
j
(x
1
,x
2
,,x
n
) are the q equality constraints

Parameter Optimization
Objective:
Search the performance design landscape to find
the highest peak or lowest valley within the feasible
range

Typically dont know the nature of surface
before search begins
Search algorithm choice depends on type of
design landscape
Local searches may yield only incremental
improvement
Number of parameters may be large


Selecting an Optimization Method
Design Space depends on:
Number, type and range
of variables and
responses
Objectives and
constraints
Gradient-Based
Simplex
Simulated
Annealing
Response Surface
Genetic Algorithm
Evolutionary
Strategy
Etc.

Design Optimization Procedure Using ANSYS
Organize ANSYS procedure into two files:
Optimization filedescribes optimization variables,
and trigger the optimization runs.
Analysis fileconstructs, analyses, and post-processes
the model.
Typical Commands in an Optimization File
52/33
01
02
03
04
05
06
07
08
09
10
11
12
13
/CLEAR ! Clear model database
... ! Initialize design variables
/INPUT, ... ! Execute analysis file once
/OPT ! Enter optimization phase
OPCLEAR ! Clear optimization database
OPVAR, ... ! Declare design variables
OPVAR, ... ! Declare state variables
OPVAR, ... ! Declare objective function
OPTYPE, ... ! Select optimization method
OPANL, ... ! Specify analysis file name
OPEXE ! Execute optimization run
OPLIST, ... ! Summarize the results
... ! Further examining results
Design Optimization Procedure Using ANSYS
53/33
01
02
03
04
05
06
07
08
09
10
11
12
/PREP7
... ! Build the model using the
! parameterized design variables
FINISH
/SOLUTION
... ! Apply loads and solve
FINISH
/POST1 ! or /POST26
*GET, ... ! Retrieve values for state variables
*GET, ... ! Retrieve value for objective
function
...
FINISH
Typical Commands in an Analysis File
Design Optimization Procedure Using ANSYS
ANSYS Optimization Algorithms
Two built-in algorithms in ANSYS:
First order method
Sub problem approximation method (Zero order method)

Other Optimization Tools Provided by ANSYS
Single Iteration Design Tool
Random Design Tool
Gradient Tool
Sweep Tool
Factorial Tool

54/33
Summary
Design variables: variables with which the design
problem is parameterized:
Objective: quantity that is to be minimized
(maximized)
Usually denoted by:
( cost function)
Constraint: condition that has to be satisfied
Inequality constraint:
Equality constraint:
( ) 0 g s x
( ) 0 h = x
( ) f x
( )
1 2
, , ,
n
x x x = x
Summary
General form of optimization problem:

( ) x x x
x
x h
x g
x
x
s s
9 _ e
=
s
n
X
f
0 ) (
0 ) (
) (
: to subject
min
Summary
Optimization problems are typically solved using
an iterative algorithm:
Model
Optimizer
Design
variables
Constants
Responses


Derivatives of
responses
(design sensi-
tivities)
h g f , ,
i i i
x
h
x
g
x
f
c
c
c
c
c
c
, ,
x

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