Spatially optimised sustainable urban development

PhD ThesisTackling urbanisation and climate change requires more sustainable and resilient cities, which in turn will require planners to develop a portfolio of measures to manage climate risks such as flooding, meet energy and greenhouse gas reduction targets, and prioritise development on brownfield sites to preserve greenspace. However, the policies, strategies and measures put in place to meet such objectives can frequently conflict with each other or deliver unintended consequences, hampering long-term sustainability. For example, the densification of cities in order to reduce transport energy use can increase urban heat island effects and surface water flooding from extreme rainfall events. In order to make coherent decisions in the presence of such complex multi-dimensional spatial conflicts, urban planners require sophisticated planning tools to identify and manage potential trade-offs between the spatial strategies necessary to deliver sustainability. To achieve this aim, this research has developed a multi-objective spatial optimisation framework for the spatial planning of new residential development within cities. The implemented framework develops spatial strategies of required new residential development that minimize conflicts between multiple sustainability objectives as a result of planning policy and climate change related hazards. Five key sustainability objectives have been investigated, namely; (i) minimizing risk from heat waves, (ii) minimizing the risk from flood events, (iii) minimizing travel costs in order to reduce transport emissions, (iv) minimizing urban sprawl and (v) preventing development on existing greenspace. A review identified two optimisation algorithms as suitable for this task. Simulated Annealing (SA) is a traditional optimisation algorithm that uses a probabilistic approach to seek out a global optima by iteratively assessing a wide range of spatial configurations against the objectives under consideration. Gradual ‘cooling’, or reducing the probability of jumping to a different region of the objective space, helps the SA to converge on globally optimal spatial patterns. Genetic Algorithms (GA) evolve successive generations of solutions, by both recombining attributes and randomly mutating previous generations of solutions, to search for and converge towards superior spatial strategies. The framework works towards, and outputs, a series of Pareto-optimal spatial plans that outperform all other plans in at least one objective. This approach allows for a range of best trade-off plans for planners to choose from. ii Both SA and GA were evaluated for an initial case study in Middlesbrough, in the North East of England, and were able to identify strategies which significantly improve upon the local authority’s development plan. For example, the GA approach is able to identify a spatial strategy that reduces the travel to work distance between new development and the central business district by 77.5% whilst nullifying the flood risk to the new development. A comparison of the two optimisation approaches for the Middlesbrough case study revealed that the GA is the more effective approach. The GA is more able to escape local optima and on average outperforms the SA by 56% in in the Pareto fronts discovered whilst discovering double the number of multi-objective Pareto-optimal spatial plans. On the basis of the initial Middlesbrough case study the GA approach was applied to the significantly larger, and more computationally complex, problem of optimising spatial development plans for London in the UK – a total area of 1,572km2. The framework identified optimal strategies in less than 400 generations. The analysis showed, for example, strategies that provide the lowest heat risk (compared to the feasible spatial plans found) can be achieved whilst also using 85% brownfield land to locate new development. The framework was further extended to investigate the impact of different development and density regulations. This enabled the identification of optimised strategies, albeit at lower building density, that completely prevent any increase in urban sprawl whilst also improving the heat risk objective by 60% against a business as usual development strategy. Conversely by restricting development to brownfield the ability of the spatial plan to optimise future heat risk is reduced by 55.6% against the business as usual development strategy. The results of both case studies demonstrate the potential of spatial optimisation to provide planners with optimal spatial plans in the presence of conflicting sustainability objectives. The resulting diagnostic information provides an analytical appreciation of the sensitivity between conflicts and therefore the overall robustness of a plan to uncertainty. With the inclusion of further objectives, and qualitative information unsuitable for this type of analysis, spatial optimization can constitute a powerful decision support tool to help planners to identify spatial development strategies that satisfy multiple sustainability objectives and provide an evidence base for better decision making

A comparative analysis of algorithms for satellite operations scheduling

Scheduling is employed in everyday life, ranging from meetings to manufacturing and operations among other activities. One instance of scheduling in a complex real-life setting is space mission operations scheduling, i.e. instructing a satellite to perform fitting tasks during predefined time periods with a varied frequency to achieve its mission goals. Mission operations scheduling is pivotal to the success of any space mission, choreographing every task carefully, accounting for technological and environmental limitations and constraints along with mission goals.;It remains standard practice to this day, to generate operations schedules manually ,i.e. to collect requirements from individual stakeholders, collate them into a timeline, compare against feasibility and available satellite resources, and find potential conflicts. Conflict resolution is done by hand, checked by a simulator and uplinked to the satellite weekly. This process is time consuming, bears risks and can be considered sub-optimal.;A pertinent question arises: can we automate the process of satellite mission operations scheduling? And if we can, what method should be used to generate the schedules? In an attempt to address this question, a comparison of algorithms was deemed suitable in order to explore their suitability for this particular application.;The problem of mission operations scheduling was initially studied through literature and numerous interviews with experts. A framework was developed to approximate a generic Low Earth Orbit satellite, its environment and its mission requirements. Optimisation algorithms were chosen from different categories such as single-point stochastic without memory (Simulated Annealing, Random Search), multi-point stochastic with memory (Genetic Algorithm, Ant Colony System, Differential Evolution) and were run both with and without Local Search.;The aforementioned algorithmic set was initially tuned using a single 89-minute Low Earth Orbit of a scientific mission to Mars. It was then applied to scheduling operations during one high altitude Low Earth Orbit (2.4hrs) of an experimental mission.;It was then applied to a realistic test-case inspired by the European Space Agency PROBA-2 mission, comprising a 1 day schedule and subsequently a 7 day schedule - equal to a Short Term Plan as defined by the European Space Agency.;The schedule fitness - corresponding to the Hamming distance between mission requirements and generated schedule - are presented along with the execution time of each run. Algorithmic performance is discussed and put at the disposal of mission operations experts for consideration.Scheduling is employed in everyday life, ranging from meetings to manufacturing and operations among other activities. One instance of scheduling in a complex real-life setting is space mission operations scheduling, i.e. instructing a satellite to perform fitting tasks during predefined time periods with a varied frequency to achieve its mission goals. Mission operations scheduling is pivotal to the success of any space mission, choreographing every task carefully, accounting for technological and environmental limitations and constraints along with mission goals.;It remains standard practice to this day, to generate operations schedules manually ,i.e. to collect requirements from individual stakeholders, collate them into a timeline, compare against feasibility and available satellite resources, and find potential conflicts. Conflict resolution is done by hand, checked by a simulator and uplinked to the satellite weekly. This process is time consuming, bears risks and can be considered sub-optimal.;A pertinent question arises: can we automate the process of satellite mission operations scheduling? And if we can, what method should be used to generate the schedules? In an attempt to address this question, a comparison of algorithms was deemed suitable in order to explore their suitability for this particular application.;The problem of mission operations scheduling was initially studied through literature and numerous interviews with experts. A framework was developed to approximate a generic Low Earth Orbit satellite, its environment and its mission requirements. Optimisation algorithms were chosen from different categories such as single-point stochastic without memory (Simulated Annealing, Random Search), multi-point stochastic with memory (Genetic Algorithm, Ant Colony System, Differential Evolution) and were run both with and without Local Search.;The aforementioned algorithmic set was initially tuned using a single 89-minute Low Earth Orbit of a scientific mission to Mars. It was then applied to scheduling operations during one high altitude Low Earth Orbit (2.4hrs) of an experimental mission.;It was then applied to a realistic test-case inspired by the European Space Agency PROBA-2 mission, comprising a 1 day schedule and subsequently a 7 day schedule - equal to a Short Term Plan as defined by the European Space Agency.;The schedule fitness - corresponding to the Hamming distance between mission requirements and generated schedule - are presented along with the execution time of each run. Algorithmic performance is discussed and put at the disposal of mission operations experts for consideration

Energy Efficient Policies, Scheduling, and Design for Sustainable Manufacturing Systems

Climate mitigation, more stringent regulations, rising energy costs, and sustainable manufacturing are pushing researchers to focus on energy efficiency, energy flexibility, and implementation of renewable energy sources in manufacturing systems. This thesis aims to analyze the main works proposed regarding these hot topics, and to fill the gaps in the literature. First, a detailed literature review is proposed. Works regarding energy efficiency in different manufacturing levels, in the assembly line, energy saving policies, and the implementation of renewable energy sources are analyzed. Then, trying to fill the gaps in the literature, different topics are analyzed more in depth. In the single machine context, a mathematical model aiming to align the manufacturing power required to a renewable energy supply in order to obtain the maximum profit is developed. The model is applied to a single work center powered by the electric grid and by a photovoltaic system; afterwards, energy storage is also added to the power system. Analyzing the job shop context, switch off policies implementing workload approach and scheduling considering variable speed of the machines and power constraints are proposed. The direct and indirect workloads of the machines are considered to support the switch on/off decisions. A simulation model is developed to test the proposed policies compared to others presented in the literature. Regarding the job shop scheduling, a fixed and variable power constraints are considered, assuming the minimization of the makespan as the objective function. Studying the factory level, a mathematical model to design a flow line considering the possibility of using switch-off policies is developed. The design model for production lines includes a targeted imbalance among the workstations to allow for defined idle time. Finally, the main findings, results, and the future directions and challenges are presented

Graph-based Algorithms for Smart Mobility Planning and Large-scale Network Discovery

Graph theory has become a hot topic in the past two decades as evidenced by the increasing number of citations in research. Its applications are found in many fields, e.g. database, clustering, routing, etc. In this thesis, two novel graph-based algorithms are presented. The first algorithm finds itself in the thriving carsharing service, while the second algorithm is about large graph discovery to unearth the unknown graph before any analyses can be performed. In the first scenario, the automatisation of the fleet planning process in carsharing is proposed. The proposed work enhances the accuracy of the planning to the next level by taking an advantage of the open data movement such as street networks, building footprints, and demographic data. By using the street network (based on graph), it solves the questionable aspect in many previous works, feasibility as they tended to use rasterisation to simplify the map, but that comes with the price of accuracy and feasibility. A benchmark suite for further research in this problem is also provided. Along with it, two optimisation models with different sets of objectives and contexts are proposed. Through a series of experiment, a novel hybrid metaheuristic algorithm is proposed. The algorithm is called NGAP, which is based on Reference Point based Non-dominated Sorting genetic Algorithm (NSGA-III) and Pareto Local Search (PLS) and a novel problem specific local search operator designed for the fleet placement problem in carsharing called Extensible Neighbourhood Search (ENS). The designed local search operator exploits the graph structure of the street network and utilises the local knowledge to improve the exploration capability. The results show that the proposed hybrid algorithm outperforms the original NSGA-III in convergence under the same execution time. The work in smart mobility is done on city scale graphs which are considered to be medium size. However, the scale of the graphs in other fields in the real-world can be much larger than that which is why the large graph discovery algorithm is proposed as the second algorithm. To elaborate on the definition of large, some examples are required. The internet graph has over 30 billion nodes. Another one is a human brain network contains around 1011 nodes. Apart of the size, there is another aspect in real-world graph and that is the unknown. With the dynamic nature of the real-world graphs, it is almost impossible to have a complete knowledge of the graph to perform an analysis that is why graph traversal is crucial as the preparation process. I propose a novel memoryless chaos-based graph traversal algorithm called Chaotic Traversal (CHAT). CHAT is the first graph traversal algorithm that utilises the chaotic attractor directly. An experiment with two well-known chaotic attractors, Lozi map and Rössler system is conducted. The proposed algorithm is compared against the memoryless state-of-the-art algorithm, Random Walk. The results demonstrate the superior performance in coverage rate over Random Walk on five tested topologies; ring, small world, random, grid and power-law. In summary, the contribution of this research is twofold. Firstly, it contributes to the research society by introducing new study problems and novel approaches to propel the advance of the current state-of-the-art. And Secondly, it demonstrates a strong case for the conversion of research to the industrial sector to solve a real-world problem

Incorporating Domain Expertise into Evolutionary Algorithm Optimisation of Water Distribution Systems

Evolutionary Algorithms (EAs) have been widely used for the optimisation of both theoretical and real-world non-linear problems, although such optimisation methods have found reasonably limited utilisation in fields outside of the academic domain. While the causality of this limited uptake in non-academic fields falls outside the scope of this thesis, the core focus of this research remains strongly influenced by the notions of solution feasibility and making optimisation methods more accessible for engineers, both factors attributed to low EA adoption rates in the commercial space. This thesis focuses on the application of bespoke heuristic methods to the field of water distribution system optimisation. Water distribution systems are complex entities that are difficult to model and optimise as they consist of many interacting components each with a set of considerations to address, hence it is important for the engineer to understand and assess the behaviour of the system to enable its effective design and optimisation. The primary goal of this research is to assess the impact that incorporating water systems knowledge into an evolution algorithm has on algorithm performance when applied to water distribution network optimisation problems. This thesis describes the development of two heuristics influenced by the practices of water systems engineers when designing water distribution networks with the view to increasing an algorithm’s performance and resultant solution feasibility. By utilising heuristics based on engineering design principles and integrating them into existing EAs, it is found that both engineering feasibility and general algorithmic performance can be notably improved. Firstly the heuristics are applied to a standard single-objective EA and then to a multi-objective genetic algorithm. The algorithms are assessed on a number of water distribution network benchmarks from the literature including real-world based, large scale systems and compared to the standard variants of the algorithms. Following this, a set of extensive experiments are conducted to explore how the inclusion of water systems knowledge impacts the sensitivity of an evolutionary algorithm to parameter variance. It was found that the performance of both engineering inspired algorithms were less sensitive to parameter change than the standard genetic algorithm variant meaning that non-experts in the field of meta-heuristics will potentially be able to get much better performance out of the engineering heuristic based algorithms without the need for specialist evolutionary algorithm knowledge. In addition this research explores the notion that visualisation techniques can provide water system engineers with a greater insight into the operation and behaviour of an evolutionary algorithm. The final section of this thesis presents a novel three-dimensional representation of pipe based water systems and demonstrates a range of innovative methods to convey information to the user. The interactive visualisation system presented not only allows the engineer to visualise the various parameters of a network but also allows the user to observe the behaviour and progress of an iterative optimisation method. Examples of the combination of the interactive visualisation system and the EAs developed in this work are shown to enable the user to track and visualise the actions of the algorithm. The visualisation aggregates changes to the network over an EA run and grants significant insight into the operations of an EA as it is optimising a network. The research presented in this thesis demonstrates the effectiveness of integrating water system engineering expertise into evolutionary based optimisation methods. Not only is solution quality improved over standard methods utilising these new heuristic techniques, but the potential for greater interaction between engineer, problem and optimiser has been established

A Hybrid Tabu/Scatter Search Algorithm for Simulation-Based Optimization of Multi-Objective Runway Operations Scheduling

As air traffic continues to increase, air traffic flow management is becoming more challenging to effectively and efficiently utilize airport capacity without compromising safety, environmental and economic requirements. Since runways are often the primary limiting factor in airport capacity, runway operations scheduling emerge as an important problem to be solved to alleviate flight delays and air traffic congestion while reducing unnecessary fuel consumption and negative environmental impacts. However, even a moderately sized real-life runway operations scheduling problem tends to be too complex to be solved by analytical methods, where all mathematical models for this problem belong to the complexity class of NP-Hard in a strong sense due to combinatorial nature of the problem. Therefore, it is only possible to solve practical runway operations scheduling problem by making a large number of simplifications and assumptions in a deterministic context. As a result, most analytical models proposed in the literature suffer from too much abstraction, avoid uncertainties and, in turn, have little applicability in practice. On the other hand, simulation-based methods have the capability to characterize complex and stochastic real-life runway operations in detail, and to cope with several constraints and stakeholders’ preferences, which are commonly considered as important factors in practice. This dissertation proposes a simulation-based optimization (SbO) approach for multi-objective runway operations scheduling problem. The SbO approach utilizes a discrete-event simulation model for accounting for uncertain conditions, and an optimization component for finding the best known Pareto set of solutions. This approach explicitly considers uncertainty to decrease the real operational cost of the runway operations as well as fairness among aircraft as part of the optimization process. Due to the problem’s large, complex and unstructured search space, a hybrid Tabu/Scatter Search algorithm is developed to find solutions by using an elitist strategy to preserve non-dominated solutions, a dynamic update mechanism to produce high-quality solutions and a rebuilding strategy to promote solution diversity. The proposed algorithm is applied to bi-objective (i.e., maximizing runway utilization and fairness) runway operations schedule optimization as the optimization component of the SbO framework, where the developed simulation model acts as an external function evaluator. To the best of our knowledge, this is the first SbO approach that explicitly considers uncertainties in the development of schedules for runway operations as well as considers fairness as a secondary objective. In addition, computational experiments are conducted using real-life datasets for a major US airport to demonstrate that the proposed approach is effective and computationally tractable in a practical sense. In the experimental design, statistical design of experiments method is employed to analyze the impacts of parameters on the simulation as well as on the optimization component’s performance, and to identify the appropriate parameter levels. The results show that the implementation of the proposed SbO approach provides operational benefits when compared to First-Come-First-Served (FCFS) and deterministic approaches without compromising schedule fairness. It is also shown that proposed algorithm is capable of generating a set of solutions that represent the inherent trade-offs between the objectives that are considered. The proposed decision-making algorithm might be used as part of decision support tools to aid air traffic controllers in solving the real-life runway operations scheduling problem

An Approach Based on Particle Swarm Optimization for Inspection of Spacecraft Hulls by a Swarm of Miniaturized Robots

The remoteness and hazards that are inherent to the operating environments of space infrastructures promote their need for automated robotic inspection. In particular, micrometeoroid and orbital debris impact and structural fatigue are common sources of damage to spacecraft hulls. Vibration sensing has been used to detect structural damage in spacecraft hulls as well as in structural health monitoring practices in industry by deploying static sensors. In this paper, we propose using a swarm of miniaturized vibration-sensing mobile robots realizing a network of mobile sensors. We present a distributed inspection algorithm based on the bio-inspired particle swarm optimization and evolutionary algorithm niching techniques to deliver the task of enumeration and localization of an a priori unknown number of vibration sources on a simplified 2.5D spacecraft surface. Our algorithm is deployed on a swarm of simulated cm-scale wheeled robots. These are guided in their inspection task by sensing vibrations arising from failure points on the surface which are detected by on-board accelerometers. We study three performance metrics: (1) proximity of the localized sources to the ground truth locations, (2) time to localize each source, and (3) time to finish the inspection task given a 75% inspection coverage threshold. We find that our swarm is able to successfully localize the present so

Evolutionary computation based multi-objective design search and optimization of spacecraft electrical power subsystems

Designing a spacecraft electrical power system (SEPS) is a complex and time-consuming engineering task that involves meeting several design objectives under constraints. A conceptual design of a spacecraft power system involves an optimal selection of available technologies for various components, such as solar cells, solar arrays, batteries, and bus voltages. Each technology has its own advantages and disadvantages that need to be taken into account in the search for an optimal design solution. This selection must meet certain criteria, the most important of which are cost-effectiveness, mass and performance. Traditionally, this task is a manual iterative process. At present, designs thus selected may not be realizable using the state-of-art design options available in the industry. However, advances in domain knowledge and in extra-numerical and multi-objective search techniques, such as evolutionary computation, offer a possibility of accelerating and improving this design cycle through a machine-automated design procedure. This thesis addresses the key issue of intelligent design automation and optimization of spacecraft power systems implemented in realistic design processes. The SEPS design is multi-objective in nature, a situation where a designer searches for solutions that are feasible with respect to all conflicting objectives. To facilitate the intelligent search process, meta-heuristics techniques are exploited in this work to provide computationally inexpensive design optimization. It extends the existing concept of computer-aided design to computer-automated design. To make the process of trade selection more efficient and reliable, a multi-objective design system for solving preliminary design problems for spacecraft electrical power subsystems is developed. It presents a system engineering framework that places design requirements at the core of the design activities. The thesis presents how simulation and optimization techniques can be used to automate and improve the design process of spacecraft power subsystems. The automated design procedure involves the design parameterization and the tools for system sizing and analysis. For the SEPS analysis, an inexpensive method for estimating design behavior is presented. Truly multi-objective and globally optimal design solutions are then artificially evolved as a result of interfacing evolutionary computation techniques with system sizing and analysis tools under practical constraints. Compared with conventional optimization techniques, the multi-objective design approach provides system designers with a clearer understanding of the effect of their design selections on all design variables simultaneously. In particular, the thesis extends a SEPS design problem from the basic technology selection to a detailed optimization based systematic design, which ensures the optimality and usability of designs from the beginning of the design process. Designs are made with implementation of solar cell modeling and parameter optimization using simulated annealing, which forms a very useful tool for simulating the behavior of solar arrays comprising of different types of solar cells. SEPS simulation is extended in MATLAB from existing work currently limited to Si solar cells and NiH2 batteries to a variety of solar cell and battery technologies. The thesis also develops a complete SEPS design and search framework, as a single tool and thus avoiding all compatibility issues involved. This feature makes this work very practical and efficient. It also keeps a way open for further improvements and modifications, both for optimization techniques and for the SEPS search spac

Combining evolutionary algorithms and agent-based simulation for the development of urbanisation policies

Urban-planning authorities continually face the problem of optimising the allocation of green space over time in developing urban environments. To help in these decision-making processes, this thesis provides an empirical study of using evolutionary approaches to solve sequential decision making problems under uncertainty in stochastic environments. To achieve this goal, this work is underpinned by developing a theoretical framework based on the economic model of Alonso and the associated methodology for modelling spatial and temporal urban growth, in order to better understand the complexity inherent in this kind of system and to generate and improve relevant knowledge for the urban planning community. The model was hybridised with cellular automata and agent-based model and extended to encompass green space planning based on urban cost and satisfaction. Monte Carlo sampling techniques and the use of the urban model as a surrogate tool were the two main elements investigated and applied to overcome the noise and uncertainty derived from dealing with future trends and expectations. Once the evolutionary algorithms were equipped with these mechanisms, the problem under consideration was defined and characterised as a type of adaptive submodular. Afterwards, the performance of a non-adaptive evolutionary approach with a random search and a very smart greedy algorithm was compared and in which way the complexity that is linked with the configuration of the problem modifies the performance of both algorithms was analysed. Later on, the application of very distinct frameworks incorporating evolutionary algorithm approaches for this problem was explored: (i) an ‘offline’ approach, in which a candidate solution encodes a complete set of decisions, which is then evaluated by full simulation, and (ii) an ‘online’ approach which involves a sequential series of optimizations, each making only a single decision, and starting its simulations from the endpoint of the previous run

Multi-objective optimisation methods applied to aircraft techno-economic and environmental issues

Engineering methods that couple multi-objective optimisation (MOO) techniques with high fidelity computational tools are expected to minimise the environmental impact of aviation while increasing the growth, with the potential to reveal innovative solutions. In order to mitigate the compromise between computational efficiency and fidelity, these methods can be accelerated by harnessing the computational efficiency of Graphic Processor Units (GPUs). The aim of the research is to develop a family of engineering methods to support research in aviation with respect to the environmental and economic aspects. In order to reveal the non-dominated trade-o_, also known as Pareto Front(PF), among conflicting objectives, a MOO algorithm, called Multi-Objective Tabu Search 2 (MOTS2), is developed, benchmarked relative to state-of-the-art methods and accelerated by using GPUs. A prototype fluid solver based on GPU is also developed, so as to simulate the mixing capability of a microreactor that could potentially be used in fuel-saving technologies in aviation. By using the aforementioned methods, optimal aircraft trajectories in terms of flight time, fuel consumption and emissions are generated, and alternative designs of a microreactor are suggested, so as to assess the trade-offs between pressure losses and the micro-mixing capability. As a key contribution to knowledge, with reference to competitive optimisers and previous cases, the capabilities of the proposed methodology are illustrated in prototype applications of aircraft trajectory optimisation (ATO) and micromixing optimisation with 2 and 3 objectives, under operational and geometrical constraints, respectively. In the short-term, ATO ought to be applied to existing aircraft. In the long-term, improving the micro-mixing capability of a microreactor is expected to enable the use of hydrogen-based fuel. This methodology is also benchmarked and assessed relative to state-of-the-art techniques in ATO and micro-mixing optimisation with known and unknown trade-offs, whereas the former could only optimise 2 objectives and the latter could not exploit the computational efficiency of GPUs. The impact of deploying on GPUs a micro-mixing _ow solver, which accelerates the generation of trade-off against a reference study, and MOTS2, which illustrates the scalability potential, is assessed. With regard to standard analytical function test cases and verification cases in MOO, MOTS2 can handle the multi-modality of the trade-o_ of ZDT4, which is a MOO benchmark function with many local optima that presents a challenge for a state-of-the-art genetic algorithm for ATO, called NSGAMO, based on case studies in the public domain. However, MOTS2 demonstrated worse performance on ZDT3, which is a MOO benchmark function with a discontinuous trade-o_, for which NSGAMO successfully captured the target PF. Comparing their overall performance, if the shape of the PF is known, MOTS2 should be preferred in problems with multi-modal trade-offs, whereas NSGAMO should be employed in discontinuous PFs. The shape of the trade-o_ between the objectives in airfoil shape optimisation, ATO and micro-mixing optimisation was continuous. The weakness of MOTS2 to sufficiently capture the discontinuous PF of ZDT3 was not critical in the studied examples … [cont.]