generalized shape optimization using xfem and level … · sensitivity analysis: no velocity field...
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GENERALIZED SHAPE OPTIMIZATION USING XFEM AND LEVEL SET
METHODS
P. DuysinxP. Duysinx, , L. Van Miegroet, T. Jacobs L. Van Miegroet, T. Jacobs andand C. FleuryC. FleuryAutomotiveAutomotive Engineering / Engineering / MultidisciplinaryMultidisciplinary OptimizationOptimization
AerospaceAerospace andand MechanicsMechanics DepartmentDepartmentUniversityUniversity ofof LiègeLiège
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U N
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INTRODUCTION FORMULATION SENSITIVITY CONCLUSIONXFEM LEVEL SET APPLICATIONS
OUTLINE
Introduction
eXtended Finite Element Method (XFEM)
Level Set Method
Problem Formulation
Sensitivity Analysis
ApplicationsImplementationPlate with a hole
Conclusion
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INTRODUCTION FORMULATION SENSITIVITY CONCLUSIONXFEM LEVEL SET APPLICATIONS
INTRODUCTION
Types of variables(a) Sizing optimization(b) shape optimization(c) topologyoptimization(d) material selection
Types of problemsStructuralMultidisciplinary
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INTRODUCTION FORMULATION SENSITIVITY CONCLUSIONXFEM LEVEL SET APPLICATIONS
INTRODUCTION
TOPOLOGY OPTIMIZATION (Bendsøe & Kikuchi, 1988)Optimal material distribution
Optimal topology without any a priori
Fixed mesh
Design variables = Local density parameters
Many thousands of design variables
Simple design problem: Minimum compliance s.t. volume constraint
Local constraints are difficult to handle
Geometrical constraints (often manufacturing constraints) are difficult to define and to control
Preliminary design: interpretation phase necessary to come to a CAD model
Great industrial applications
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INTRODUCTION FORMULATION SENSITIVITY CONCLUSIONXFEM LEVEL SET APPLICATIONS
INTRODUCTION
Perimeter constraint
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INTRODUCTION FORMULATION SENSITIVITY CONCLUSIONXFEM LEVEL SET APPLICATIONS
INTRODUCTION
Min max compliance design Min max stress design
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INTRODUCTION FORMULATION SENSITIVITY CONCLUSIONXFEM LEVEL SET APPLICATIONS
SHAPE OPTIMIZATIONModification of boundaries of CAD model
Fixed topology a priori
Design variables
= CAD model parameters
Small number of design variables
Quite complex design problems:
Large number of global and local constraints
Geometrical constraints easily included
Detailed design
Mesh management problems
Mesh modification / mesh distortion
Velocity field
Small number of industrial applications
INTRODUCTION
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INTRODUCTION FORMULATION SENSITIVITY CONCLUSIONXFEM LEVEL SET APPLICATIONS
INTRODUCTION
Position of a point after a perturbation of the design variable di
Derivative of a response in a given point:
Conclusion: determine the velocity field at first
ii
iiiii
dXVwithdVdXddX
∂∂=+=+
/)()( δδ
RVdR
dX
XR
dR
DdDR
ii
k i
k
kii
∇+∂∂
=
∂∂
∂∂
+∂∂
= ∑
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INTRODUCTION FORMULATION SENSITIVITY CONCLUSIONXFEM LEVEL SET APPLICATIONS
INTRODUCTION
Practical calculation ofvelocity field
Transfinite mappingNatural / mechanicalapproach (Belegundu & Rajan, Zhang & Beckers)Laplacian smoothingRelocation schemes
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INTRODUCTION FORMULATION SENSITIVITY CONCLUSIONXFEM LEVEL SET APPLICATIONS
INTRODUCTION
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INTRODUCTION FORMULATION SENSITIVITY CONCLUSIONXFEM LEVEL SET APPLICATIONS
INTRODUCTION
EXTENDED FINITE ELEMENT METHOD (XFEM)alternative to remeshing methods
LEVEL SET METHODalternative description to parametric description of curves
XFEM + LEVEL SET METHODSEfficient treatment of problem involving discontinuities and propagationsEarly applications to crack problems. Moës et al. (1999)Applications to topology optimisation Belytschko et al. (2003), Wang et al. (2003), Allaire et al. (2004)
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INTRODUCTION FORMULATION SENSITIVITY CONCLUSIONXFEM LEVEL SET APPLICATIONS
INTRODUCTION
THIS WORKXFEM + Level Set methods = alternative method to shapeoptimisationIntermediate approach between shape and topology optimisationXFEM
work on fixed meshno mesh problems
Level Setsmooth curve descriptionmodification of topology is possible
Problem formulation:global and local constraintssmall number of design variables
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INTRODUCTION FORMULATION SENSITIVITY CONCLUSIONXFEM LEVEL SET APPLICATIONS
EXTENDED FINITE ELEMENT METHOD
Early motivation : study of propagating crack in mechanical structures avoid the remeshing procedure
Principle : • Allow the model to handle discontinuities that are non
conforming with the mesh• Add internal degree of freedom ai
• Add special shape functions H(x)Ni(x) (discontinuous)
)()()( xHxNuxNuuIi Li
iiii∑ ∑∈ ∈
+=
=
⇔=
a
u
aaau
uauu
ff
au
KKKK
gKq
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INTRODUCTION FORMULATION SENSITIVITY CONCLUSIONXFEM LEVEL SET APPLICATIONS
EXTENDED FINITE ELEMENT METHOD
Representing holes or material – void interfacesRemove empty elementsKeep partially filled elements
Use XFEM numerical integration
∈∈
= void node if0solid nodeif1
)(xV∑∈
=Ii
ii uxVxNu )()(
Boundary
3
2
1
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INTRODUCTION FORMULATION SENSITIVITY CONCLUSIONXFEM LEVEL SET APPLICATIONS
EXTENDED FINITE ELEMENT METHOD
Quadrangles and triangles XFEM elements
Numerical integration Division into sub-trianglesIntegration over sub-trianglesGauss points
void
solid Boundary
Material 1
Boundary
Material 2
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INTRODUCTION FORMULATION SENSITIVITY CONCLUSIONXFEM LEVEL SET APPLICATIONS
THE LEVEL SET METHOD
Principle (Sethian, 1999)Introduce a higher dimensionImplicit representationInterface = the zero level of a function
Possible practical implementation:Approximated on a fixed mesh by the signed distance function to curve Γ:
ΓΓ∈−±=
Γ
xxtxtx )(
min),(ψ
Advantages:2D / 3DCombination of entities: e.g. min / max
0),( =txψ
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INTRODUCTION FORMULATION SENSITIVITY CONCLUSIONXFEM LEVEL SET APPLICATIONS
THE LEVEL SET METHOD
Level Set of a square hole
Combination of two holes
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INTRODUCTION FORMULATION SENSITIVITY CONCLUSIONXFEM LEVEL SET APPLICATIONS
THE LEVEL SET METHOD
Evolution of interface
V: velcocity function of Γ in the outward normal direction to interface
given0),(
0
=
=∇+∂∂
tx
Vtψ
ψψ
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INTRODUCTION FORMULATION SENSITIVITY CONCLUSIONXFEM LEVEL SET APPLICATIONS
THE LEVEL SET METHOD
In XFEM framework, Each node has a Level Set dofInterpolation using classical shape functions
Material assigned to a part of the Level Set (positive or negative)
Building a library of graphic primitives and featuresLinesCircles, ellipses, rectangles, trianglesNURBS…
∑=i
ii xNtx )(),( ψψ
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INTRODUCTION FORMULATION SENSITIVITY CONCLUSIONXFEM LEVEL SET APPLICATIONS
THE LEVEL SET METHOD
Level set defined by a set of points
Level set associated to a NURBS
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INTRODUCTION FORMULATION SENSITIVITY CONCLUSIONXFEM LEVEL SET APPLICATIONS
PROBLEM FORMULATION
Geometry description and material layout :Using Level SetsBasic Level Set features: circles, ellipses, rectangles, etc.
Design ProblemFind the best shape to minimize a given objective functions while satisfying design constraints
Design variables:Parameters of Level Sets
Objective and constraintsMechanical responses: global (compliance) or local (displacement, stress)Geometrical characteristics: volume, distance
Problem formulation similar to shape optimization but simplified thanks to XFEM and Level Set!
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INTRODUCTION FORMULATION SENSITIVITY CONCLUSIONXFEM LEVEL SET APPLICATIONS
PROBLEM FORMULATION
BECAUSE OF XFEM AND LEVEL SET
The mesh has not to coincide with the geometryWork on a fixed mesh
Sensitivity analysis: no velocity field and no meshperturbation required
Topology can be altered as entities can be merged or separated generalized shapeIntroduction of new holes requires a topologicalderivatives
Topology optimization can be simulated using a design universe of holes and an optimal selection problem(Missoum et al. 2000)
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INTRODUCTION FORMULATION SENSITIVITY CONCLUSIONXFEM LEVEL SET APPLICATIONS
SENSITIVITY ANALYSIS
Classical approach for sensitivity analysis in industrial codes: semi analytical approach
Discretized equilibrium
Derivatives of displacement
Semi analytical approach
fuK =
∂∂
−∂∂
=∂∂ uKfuK
xxx
xxxx
x δδ )()( KKK −+
≈∂∂
xxxx
x δδ )()( fff −+
≈∂∂
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INTRODUCTION FORMULATION SENSITIVITY CONCLUSIONXFEM LEVEL SET APPLICATIONS
SENSITIVITY ANALYSIS
Fixed mesh no mesh perturbation However finite differences of stiffness matrix have to be made with a frozen number of dofCritical situations happen when some empty elements become partly filled with solid after perturbating of the level set :
Node with dof New nodes with dof
Reference Level Set Level Set after perturbation
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INTRODUCTION FORMULATION SENSITIVITY CONCLUSIONXFEM LEVEL SET APPLICATIONS
SENSITIVITY ANALYSIS
Reference configuration After level set perturbation
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INTRODUCTION FORMULATION SENSITIVITY CONCLUSIONXFEM LEVEL SET APPLICATIONS
SENSITIVITY ANALYSIS
Strategies to freeze the number of dofanalytical derivatives of stiffness matrix:
not general!
boundary layer in which all elements are retainedrigid modes, larger size of the problem
boundary layer with softening material (SIMP law)lost of void / solid approximation
ignore the new elements that become solid or partly solidsmall errors, but minor contributionspractically, no problem observedefficiency and simplicityvalidated on benchmarks
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INTRODUCTION FORMULATION SENSITIVITY CONCLUSIONXFEM LEVEL SET APPLICATIONS
SENSITIVITY ANALYSIS
Summary of the semi-analytical approach strategy
IgnoredIgnoredVoid
OKOKOKCut
OKOKSolid
VoidCutSolidElementinitially
xxxx
x δδ )()( KKK −+
≈∂∂
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INTRODUCTION FORMULATION SENSITIVITY CONCLUSIONXFEM LEVEL SET APPLICATIONS
IMPLEMENTATION
Preliminary investigations by coupling a standard XFEM code by Moës with a general open optimisation code (Boss Quattro)
New implementation in a multiphysic finite element code in C++ (OOFELIE from Open Engineering www.open-engineering.com)
XFEM library: 2D problems with a library of quadrangles and triangles.
Available results for optimization:
ComplianceDisplacementsStrains, StressesEnergy per element
Visualization:Level SetsResults
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INTRODUCTION FORMULATION SENSITIVITY CONCLUSIONXFEM LEVEL SET APPLICATIONS
Direct solution of the original optimisation problem which is
generally non-linear, implicit in the design variables
Minimise f(x)
s. t.: gj(x) ≤ gjmax j=1,m
is replaced by a sequence
of optimisation sub-problems
Minimise F(x)
s. t.: Gj(x) ≤ Gjmax j=1,m
by using approximations of
the responses and using powerful
mathematical programming algorithms
(Lagrangian duality methods or Quadratic Programming)
CONLIN OPTIMIZATION SOLVER
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INTRODUCTION FORMULATION SENSITIVITY CONCLUSIONXFEM LEVEL SET APPLICATIONS
CONLIN OPTIMIZATION SOLVER
FORTRAN computer programme
can be used as a standalone software or an optimizer in open
optimization tools
General solver for structural and multidisciplinary problems:
Sizing, shape, and topology problems
Robust and Efficient
Large scale problems:
100.000 design variables (topology)
5.000 constraints (shape)
5.000 constraints and 5.000 design variables (topology)
Implemented in several industrial optimisation tools: BOSS-
Quattro, MBB-Lagrange, OptiStruct (Altair)
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APPLICATIONS
CLASSICAL PROBLEM OF PLATE WITH A HOLE REVISITEDSquare plate with a holeBidirectional stress fieldσx= 2 σ0 σy=σ0
E= 1 N/m², ν=0.3
Minimize compliancest volume constraint
Design variables: major axis a and orientation θ
Mesh 30 x 30 nodes
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14 it.
Min Compliances.t. Volume constraint
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11 it.
Min Compliances.t. Volume constraint
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INTRODUCTION FORMULATION SENSITIVITY CONCLUSIONXFEM LEVEL SET APPLICATIONS
Discretization error of the geometry using approx of level setOver-estimating geometric values :
Representating interfaces inside an element :
APPLICATIONS
Xfem Fem
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Linear interpolation of the Level Set may introduce discontinuity :
Parametric study of the surface of the plateVariation of 1%
Take care of numerical noise
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Toplogy modification during optimization• Two variables : center x1, center x2
• Min. potential energy under a surface constraint• Uniform Biaxial loading : σx= σ0, σy= σ0
12 it.
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Evolution of the objective function
Evolution of the Level Set
APPLICATIONS
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Mesh refinement for the Level Set representation of sharppartsAccuracy of stresses
12 it.
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Design universe of holes (Missoum et al., 2000)Selection and sizing of basic Level Set entities with a GA in classical topology
Find a result as close as possible to MBB topologysolution
14 triangles are « well » placed.Variables : presence of a triangle
The optimum is reached after 36
APPLICATIONS
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CONCLUSION
XFEM and Level Set gives ride to a generalized shape optimisation technique
Intermediate to shape and topology optimisationWork on a fixed meshTopology can be modified:
Holes can merge and disappearNew holes cannot be introduced without topological derivatives
Smooth curves descriptionVoid-solid descriptionSmall number of design variablesGlobal or local response constraintsNo velocity field and mesh perturbation problems
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Contribution of this workNew perspectives of XFEM and Level SetInvestigation of semi-analytical approach for sensitivity analysisImplementation in a general C++ multiphysics FE code
Concept just validated
Perspectives:Sensitivity analysis (to be continued)3D problemsStress constrained problemsDynamic problemsMultiphysic simulation problems with free interfaces
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Thank you for your invitation
Thank you for your attention
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ACKNOWLEDGEMENTS
This work has been partly suported by projects:ARC MEMS, Action de recherche concertée 03/08-298 'Modeling, Multi-physic Simulation, and Optimization of Coupled Problems - Application to Micro-Electro-Mechanical Systems' funded by the Communauté Française de BelgiqueRW 02/1/5183, MOMIOP 'Modeling Electro-Thermo-Mechanical of Microsystems: Optimization including Manufacturing Laws' funded by the Walloon Region of Belgium.