On barrier and modified barrier multigrid methods for 3d topology optimization

One of the challenges encountered in optimization of mechanical structures, in particular in what is known as topology optimization, is the size of the problems, which can easily involve millions of variables. A basic example is the minimum compliance formulation of the variable thickness sheet (VTS) problem, which is equivalent to a convex problem. We propose to solve the VTS problem by the Penalty-Barrier Multiplier (PBM) method, introduced by R.\ Polyak and later studied by Ben-Tal and Zibulevsky and others. The most computationally expensive part of the algorithm is the solution of linear systems arising from the Newton method used to minimize a generalized augmented Lagrangian. We use a special structure of the Hessian of this Lagrangian to reduce the size of the linear system and to convert it to a form suitable for a standard multigrid method. This converted system is solved approximately by a multigrid preconditioned MINRES method. The proposed PBM algorithm is compared with the optimality criteria (OC) method and an interior point (IP) method, both using a similar iterative solver setup. We apply all three methods to different loading scenarios. In our experiments, the PBM method clearly outperforms the other methods in terms of computation time required to achieve a certain degree of accuracy

Payload Oscillations Minimization via Open Loop Control.

The results of tests of payload oscillations, forced by linear control function which allows to minimize payload sway after acceleration phase and after overhead crane stopping are presented in this paper. The analysis of solution of this problem has been carried out. The algorithm of operation for real drive system which takes into account the possibilities of driving of an overhead crane is also presented. The impact of inaccuracies of measurement of the ropes length on minimizing a displacements of payload during the duty cycle is shown as well. The correctness of the method is confirmed by results both simulation and experimental tests

Predictive maintenance for the heated hold-up tank

We present a numerical method to compute an optimal maintenance date for the test case of the heated hold-up tank. The system consists of a tank containing a fluid whose level is controlled by three components: two inlet pumps and one outlet valve. A thermal power source heats up the fluid. The failure rates of the components depends on the temperature, the position of the three components monitors the liquid level in the tank and the liquid level determines the temperature. Therefore, this system can be modeled by a hybrid process where the discrete (components) and continuous (level, temperature) parts interact in a closed loop. We model the system by a piecewise deterministic Markov process, propose and implement a numerical method to compute the optimal maintenance date to repair the components before the total failure of the system.Comment: arXiv admin note: text overlap with arXiv:1101.174

Multiobjective genetic algorithm strategies for electricity production from generation IV nuclear technology

Development of a technico-economic optimization strategy of cogeneration systems of electricity/hydrogen, consists in finding an optimal efficiency of the generating cycle and heat delivery system, maximizing the energy production and minimizing the production costs. The first part of the paper is related to the development of a multiobjective optimization library (MULTIGEN) to tackle all types of problems arising from cogeneration. After a literature review for identifying the most efficient methods, the MULTIGEN library is described, and the innovative points are listed. A new stopping criterion, based on the stagnation of the Pareto front, may lead to significant decrease of computational times, particularly in the case of problems involving only integer variables. Two practical examples are presented in the last section. The former is devoted to a bicriteria optimization of both exergy destruction and total cost of the plant, for a generating cycle coupled with a Very High Temperature Reactor (VHTR). The second example consists in designing the heat exchanger of the generating turbomachine. Three criteria are optimized: the exchange surface, the exergy destruction and the number of exchange modules

Fast Model Identification via Physics Engines for Data-Efficient Policy Search

This paper presents a method for identifying mechanical parameters of robots or objects, such as their mass and friction coefficients. Key features are the use of off-the-shelf physics engines and the adaptation of a Bayesian optimization technique towards minimizing the number of real-world experiments needed for model-based reinforcement learning. The proposed framework reproduces in a physics engine experiments performed on a real robot and optimizes the model's mechanical parameters so as to match real-world trajectories. The optimized model is then used for learning a policy in simulation, before real-world deployment. It is well understood, however, that it is hard to exactly reproduce real trajectories in simulation. Moreover, a near-optimal policy can be frequently found with an imperfect model. Therefore, this work proposes a strategy for identifying a model that is just good enough to approximate the value of a locally optimal policy with a certain confidence, instead of wasting effort on identifying the most accurate model. Evaluations, performed both in simulation and on a real robotic manipulation task, indicate that the proposed strategy results in an overall time-efficient, integrated model identification and learning solution, which significantly improves the data-efficiency of existing policy search algorithms.Comment: IJCAI 1

Omnidirectional Sensory and Motor Volumes in Electric Fish

Active sensing organisms, such as bats, dolphins, and weakly electric fish, generate a 3-D space for active sensation by emitting self-generated energy into the environment. For a weakly electric fish, we demonstrate that the electrosensory space for prey detection has an unusual, omnidirectional shape. We compare this sensory volume with the animal's motor volume—the volume swept out by the body over selected time intervals and over the time it takes to come to a stop from typical hunting velocities. We find that the motor volume has a similar omnidirectional shape, which can be attributed to the fish's backward-swimming capabilities and body dynamics. We assessed the electrosensory space for prey detection by analyzing simulated changes in spiking activity of primary electrosensory afferents during empirically measured and synthetic prey capture trials. The animal's motor volume was reconstructed from video recordings of body motion during prey capture behavior. Our results suggest that in weakly electric fish, there is a close connection between the shape of the sensory and motor volumes. We consider three general spatial relationships between 3-D sensory and motor volumes in active and passive-sensing animals, and we examine hypotheses about these relationships in the context of the volumes we quantify for weakly electric fish. We propose that the ratio of the sensory volume to the motor volume provides insight into behavioral control strategies across all animals