ASCE Manuals and Reports on Engineering Practice No.

90
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Guide to Structural
Optimization
By the Technical Committee on
Optimal Structural Design of the
Technical Administrative Committee
on Analysis and Computation of the
Technical Activities Division of
The Structural Engineering Institute of the
American Society of Civil Engineers

Edited By Jasbir S. Arora

Published by

~
•sc·e S
Am•rican Socl•ty
of Civil EnglnHn

345 East 47th Street

New York, New York, 10017-2398

Guide to Structural Optimization

 Abstract:

Recent advances in computer methods for analysis and design have been of substantial aid to the designer in the
creative process of designing the best (optimum) system. Optimization methods are seen to be at the heart of
computer methods for designing engineering systems. With these methods, the designer can evaluate more
alternatives, thus resulting in a better and more cost-effective design. The main purpose of this Guide is to describe
the use of modem optimization methods with simple yet meaningful structural design samples. It emphasizes the
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formulation of design problems as optimization problems and includes discussion of the features and pitfalls of the
statements of these problems. Optimum solutions are obtained and, where possible, compared with solutions
obtained using traditional design procedures. Sample applications demonstrate and clarify the basic concepts and
serve to show how and what can be achieved by optimum design methods.

Library of Congress Cataloging-in-Publication Data

Guide to structural optimization I by the Technical Committee on Optimal Structural Design of the Technical
Administrative Committee on Analysis and Computation of the Technical Activities Division of The Structural
Engineering Institute of the American Society of Civil Engineers ; edited by Jasbir S. Arora.
p. cm. -- (ASCE manuals and reports on engineering practice ; no. 90)
Includes bibliographical references and index.
ISBN 0-7844-0220-5
!. Structural optimization. I. Arora, Jasbir S. II. Structural Engineering Institute. Technical Committee on
Optimal Structural Design. Ill. Series.
TA658.8.G85 1997 96-30071
624. I '7713--dc21 CIP

The material presented in this publication has been prepared in accordance with generally recognized
engineering principles and practices, and is for general information only. This information should not be used
without first securing competent advice with respect to its suitability for any general or specific application.
The contents of this publication are not intended to be and should not be construed to be a standard of the
American Society of Civil Engineers (ASCE) and are not intended for use as a reference in purchase specifications,
contracts, regulations, statutes, or any other legal document.
No reference made in this publication to any specific method, product, process or service constitutes or
implies an endorsement, recommendation, or warranty thereof by ASCE.
ASCE makes no representation or warranty of any kind, whether express or implied, concerning the
accuracy, completeness, suitability, or utility of any information, apparatus, product, or process discussed in this
publication, and assumes no liability therefore.
Anyone utilizing this information assumes all liability arising from such use, including but not limited to
infringement of any patent or patents.

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Copyright© 1997 by the American Society of Civil Engineers,

All Rights Reserved.
Library of Congress Catalog Card No: 96-30071
ISBN 0-7844-0220-5
Manufactured in the United States of America.

Guide to Structural Optimization

 MANUALS AND REPORTS ON ENGINEERING PRACTICE

(As developed by the ASCE Technical Procedures Committee, July 1930, and revised March
1935, February 1962, April 1982)

A manual or report in this series consists of an orderly presentation of facts on a

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particular subject, supplemented by an analysis oflimitations and applications of these facts. It

contains information useful to the average engineer in his everyday work, rather than the findings
that may be useful only occasionally or rarely. It is not in any sense a "standard," however; nor is
it so elementary or so conclusive as to provide a "rule of thumb" for nonengineers.

Furthermore, material in this series, in distinction from a paper (which expresses only one
person fS observations or opinions), is the work of a committee or group selected to assemble and
express information on a specific topic. As often as practicable the committee is under the
direction of one or more of the Technical Divisions and Councils, and the product evolved has
been subjected to review by the Executive Committee of the Division or Council. As a step in the
process of this review, proposed manuscripts are often brought before the members of the
Technical Divisions and Councils for comment, which may serve as the basis for improvement.
When published, each work shows the naines of the committees by which it was compiled and
indicates clearly the several processes through which it has passed in review, in order that its
merit may be definitely understood.

In February 1962 (and revised in April, 1982) the Board of Direction voted to establish:

A series entitled 'Manuals and Reports on Engineering Practice,' to include the

Manuals published and authorized to date, future Manuals of Professional
Practice, and Reports on Engineering Practice. All such Manual or Report
material of the Society would have been refereed in a manner approved by the
Board Committee on Publications and would be bound, with applicable
discussion, in books similar to past Manuals. Numbering would be consecutive
and would be a continuation of present Manual numbers. In some cases ofreports
of joint committees, bypassing of Journal publications may be authorized.

Guide to Structural Optimization

 # MANUALS AND REPORTS OF ENGINEERING PRACTICE

IO Technical Procedures for City Surveys

13 Filtering Materials for Sewage Treatment Plants
14 Accommodation of Utility Plant Within the Rights-of-Way of Urban Streets and
Highways
31 Design of Cylindrical Concrete Shell Roofs
33 Cost Control and Accounting for Civil Engineers
34 Definitions of Surveying and Associated Tenns
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35 A List of Translations of Foreign Literature on Hydraulics

36 Wastewater Treatment Plant Design
37 Design and Construction of Sanitary and Stonn Sewers
40 Ground Water Management
41 Plastic Design in Steel-A Guide and Commentary
42 Design of Structures to Resist Nuclear Weapons Effects
45 Consulting Engineering-A Guide for the Engagement of Engineering Services
46 Report on Pipeline Location
47 Selected Abstracts on Structural Applications of Plastics
49 Urban Planning Guide
50 Planning and Design Guidelines for Small Craft Harbors
51 Survey of Current Structural Research
52 Guide for the Design of Steel Transmission Towers
53 Criteria for Maintenance of Multilane Highways
54 Sedimentation Engineering
55 Guide to Employment Conditions for Civil Engineers
57 Management, Operation and Maintenance of Irrigation and Drainage Systems
58 Structural Analysis and Design of Nuclear Plant Facilities
59 Computer Pricing Practices
60 Gravity Sanitary Sewer Design and Construction
62 Existing Sewer Evaluation and Rehabilitation
63 Structural Plastics Design Manual
64 Manual on Engineering Surveying
65 Construction Cost Control
66 Structural Plastics Selection Manual
67 Wind Tunnel Model Studies of Buildings and Structures
68 Aeration-A Wastewater Treatment Process
69 Sulfide in Wastewater Collection and Treatment Systems
70 Evapotranspiration and Irrigation Water Requirements
71 Agricultural Salinity Assessment and Management
72 Design of Steel Transmission Structures
73 Quality in the Constructed Project-a Guide for Owners, Designers, and
Constructors
74 Guidelines for Electrical Transmission Line Structural Loading
75 Right-of-Way Surveying
76 Design of Municipal Wastewater Treatment Plants
77 Design and Construction of Urban Stonnwater Management Systems
78 · Structural Fire Protection
79 Steel Penstocks
80 Ship Channel Design
81 Guidelines for Cloud Seeding to Augment Precipitation
82 Odor Control in Wastewater Treatment Plants
83 Environmental Site Investigation
84 Mechanical Connections in Wood Structures
85 Quality of Ground Water
86 Operation and Maintenance of Ground Water Facilities
87 Urban Runoff Quality Manual
88 Management of Water Treatment Plant Residuals
89 Pipeline Crossings
90 Guide to Structural Optimization

iv

Guide to Structural Optimization

 TABLE OF CONTENTS
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Foreword ................................................................................. . xiii

Preface .................................................................................... . xv

Chapter
1 What is Optimization .................................................. . 1
Jasbir S. Arora, Scott A. Burns, and Min-Wei Huang
Introduction .................................................................. . 1
Optimization Problem Formulation
Design of a Plate Girder ......................................... . 2
Design_ Variables .................................................... . 4
Design Parameters/Data ......................................... . 4
Dependent Variables ............................................... . 5
Objective Function ................................................. . 5
Constraints ............................................................ . 6
Optimization Problem Statement ............................. . 6
Optimum Design Process Versus Conventional Design
Process ........................................................... . 7
Optimum Solution
Graphical Approach ............................................... . 8
Optimum Designs Using Numerical Techniques .............. . 9
Numerical Optimization Techniques ......................... . 9
Continuous Solutions with !DESIGN ........................ . 11
Discrete Solutions with !DESIGN ............................. . 15
Solution by a Spreadsheet Program .......................... . 16
General Design Optimization Model and Concepts .......... . 20
Summary and Discussion .............................................. . 22
References ................................................................... . 23
2 How to Optimize Light-Gauge, Cold-Formed
Steel Beams .................................................... . 25
Scott A. Bums
Introduction ................................................................. . 25
Problem Statement ....................................................... . 25
Procedure .................................................................... . 26
Formulation ................................................................. . 26
Design Variables .................................................... . 27
Section Properties .................................................. . 28
Effective Width ...................................................... . 30
Inequality Constraints ............................................ . 31
Complete Formulation ............................................ . 31
Solution ...................................................................... . 33
Parameter Variations ..................................................... . 35

v
Guide to Structural Optimization
 vi CONTENTS

Summary and Discussion . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . 35

References .............................................................. 37
3 How to Optimize Composite Members . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Balaur S. Dhillon and Chen-Hsing Kuo
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Introduction . . . . .. . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . 39
Mathematical Formulation of Composite Hybrid-Plate
Girder Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Generalized Geometric Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Design Variables . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Design Parameters . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . 45
Objective Function . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Design Constraints . . . . . . . .. . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Sample Design Problem . .. . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Traditional Approach .............................................. 49
Optimum Design Solution . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . 50
Summary and Discussion . .. . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . .. . . . . . . . . . . . . 52
Appendix 3-A. Notation . . . . .. . . . . .. . . .. . . . . . . . . . . .. . . . . . . . .. . . . . . .. . . . 52
Appendix 3-B. Conversion To SI Units . . .. . .. . . . . .. . . . . . . . . .. . . .. 54
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
4 How to Optimize A Reinforced Concrete Column
or Beam .......................................................... 55
Richard J. Balling, Steve S. Gallup, and
Clinton S. McGrath
Single Column: Problem Formulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Single Column: Method of Analysis . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Single Column: Method of Optimization . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Single Column: Optimum Results ................................... 61
Single Beam: Problem Formulation . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . 64
Single Beam: Method of Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Single Beam: Method of Optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Single Beam: Optimum Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Summary and Discussion ........ ."...................................... 73
References . . .. . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . .. . . . . . . 73
5 How to Optimize Prestressed Concrete Beams . . . . . . . . . . . . . . . . 75
Uri Kirsch
Introduction . . . . .. . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . 75
General Formulation . . .. . . . . . . . . . . . . . . . .. . . . . . . . .. .. . . . . . . . . . . . . . . . . . . . . . . 76
Optimization of Systems with Uniform Concrete
Dimensions . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Stress Constraints . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Deflection Constraints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . 79
Simplified Problem Formulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Example 1 . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Optimization of the Prestressing Force and Tendon
Configuration . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Example 2 . . . . . . .. . . . . . . . . . . . . . . . . . . . . . .. . . .. . . . . . . . . . . . . . . . . .. . . . . . . . . . 84

Guide to Structural Optimization

 CONTENTS vii

Optimization of the Concrete Dimensions . . . . . . . . . .. . .. .. . . . . . .. . 85

Stress Constraints . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . .. . 85
Deflection Constraints . . . . . . . . . .. . . . . . . . . . . . . . . .. . . . .. . . . . . . . . . . .. . 86
Simplified Formulation . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . .. . . . .. . . . . . 86
Example 3 . . . .. . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . 87
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General Design Procedure . . . . . . . . . . .. . . . . . .. . . . . . . . . . . . . . .. . . .. . . . . . .. . 87

Example 4 . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . .. . . .. . . . .. . . . .. . . . . . . . . . .. . 89
Summary and Discussion . . . . . . . . . . . .. . . . . . . . . . . .. . . . . . . . . . . . . . . . . .. . . . . 90
Appendix 5-A. Notation............................................... 91
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . 92
6 Sensitivity Analysis for Structural Design . . .. . . . .. . . . . . . . . . . .. . 93
Donald E. Grierson
Introduction . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . .. . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . .. . 93
Sensitivity Analysis . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . .. . . . .. . . .. . . . . . . . .. . . . . 100
Displacement Sensitivity Analysis ............................. 100
Stress Sensitivity Analysis . . . . .. . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . 108
Design Modifications . . . . .. . . . . . .. . . . . . . . . . . . .. . . . . . . . . .. . . . . . . . .. . . .. . . . . 115
Summary and Discussion . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . .. . . . . . . . . . .. . . . . 120
Appendix 6-A. Notation............................................... 120
7 How to Optimize A Reinforced Concrete Frame . . . .. . . . . . .. . 123
Richard J. Balling and Xiaoping Yao
Problem Formulation for Phase I . . . . .. . . . . . . . . . . . . . . . . . .. . . . . .. .. . . . . 124
Method of Analysis for Phase I . . . . . . . . . . . . . . . .. . . . .. . . .. . . . . . . . . . . .. . 125
Frame Analysis . .. . . . . . . . . . . . . . . . . . . . .. . . . . . . . .. . . . . . . . . . . . . . . .. .. . . . . 125
Individual Member Analysis . . . . . . . . . . . . .. . . . . . . . . .. . . .. . . . . . .. . 125
The Individual Member Analysis for Beams . . . . . . . .. . . . . . . . . . . . . 126
The Individual Member Analysis for Columns . . . .. . . . . . . . . . .. . 130
Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . 133
Summary and Discussion . . . . . . . . .. . . . . . . . . . . . . . .. . . . .. . . .. . . . . . . . .. . .. . 135
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . .. . 138
8 How to Optimize Structural Steel Frameworks . . . . . . . .. . . . .. . 139
Donald E. Grierson
Introduction . . . . . . . . .. .. . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . .. . . . . . .. . . . . 140
Design Formulation . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . .. . . . . . . . . . . . . . . . . .. . . . . 141
Design Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . .. . . . . . . . . . . . . .. . . . . . . . . . .. . 147
Example Applications . . . . . . . .. . .. . . .. . . . .. . . ... . . .. . . . .. . . . ... . .. . . . . . .. . 150
Example 1. 3-Bay by 3-Bay by 2-Story Frame ........... 150
Example 2. Planar Frame . . . . . . . . . . . . . . . .. . .. .. . . . . . . . . . . . . . . . . . 155
Example 3. Truss Footbridge . . . . . . . . . . .. . . . .. . . . . . . . . . .. . . . . . . 159
Summary and Discussion . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . .. . . . . .. .. . . . . 160
Appendix 8-A. Notation............................................... 162
References . . . . . . . . . . . . . .. . . . . .. . . . . . . . . . . . . . . .. . . . . . . . .. . . . . . . . . . . . . .. . . . . . . . . 162
9 How to Optimize Tall Steel Building Frameworks .......... 165
Chun-Man Chan
Introduction .. . . . . . . . . .. .. . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . .. . . . . . . . . . .. . 165

Guide to Structural Optimization

 viii CONTENTS

Design Problem Formulation . . . . .. . . .. . . . . . . . . . . . . . . . . . . . . . . . . . ... .. . . 167

Drift Constraints . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Strength Constraints ................................................ 173
Explicit Design Problem .................. ...... ... .... ............ 174
Automatic Resizing Technique ........................................ 175
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Optimality Criteria .................................................. 175

Recursive Algorithm ............................................... 176
Initial Design Selection ....... ..................... ..... ........... 178
Discrete Section Selection ........... ....... ............. ....... ... 179
Overall Design Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . 181
Design Example . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
Summary . . . . . .. . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . 193
Appendix 9-A. Notation ... ....... ........ ........ ..... ...... .......... 194
Appendix 9-B. Conversions to SI Units .......................... 195
References .................................................................... 195

10 How to Optimize Frames Using Plastic Design

Concept........................................................... 197
Shahram Pezeshk
Introduction .................................................................. 197
Background Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . 198
Limit Design .......................................................... 198
Plastic Hinge Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
Collapse Mechanism . .. . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
Energy Consideration .............................................. 199
Assumptions for Utilizing Plastic Strength in Design . . . . . . . . . 200
Optimal Plastic Design Formulation . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
Application................................................................... 202
Problem Description and Design Solution Using a
Graphical Approach.......................................... 202
Design Solution Using a Linear Programming
Approach ........................................................ 205
Selection of Discrete Sections : . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
How To Identify All of the Collapse Mechanisms . . . . . . . . . . . . . 207
Optimal Plastic Design For Tall Buildings . . . . . . . . . . . . .. . . . . . . . . . . 207
Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
Appendix 10-A. Notation ............................................. 208
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . 209

11 How to Incorporate Reliability in Structural

Optimization . . .. . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . .. . . . . 211
Dan M. Frangopol
Introduction . . . . . . . . .. . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
Structural Reliability Background .................................... 213
General .................................................................. 213
Single Failure Mode Reliability ................................. 213
System Reliability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
Reliability-Based Structural Optimization . . . . . . . . . . .. . . . . . . . .. . . . . 218

Guide to Structural Optimization

 CONTENTS ~

Numerical Examples . . . . . . . . . .. . . .. . . . . . . . . . . .. . . . . . . . . .. . . . . . . .. . . . . . . .. . 220

RBSO of a Steel Portal Frame . . . . . . .. . . . . . . . . .. . . . . . .. . . . . . . . . . . 220
RBSO of a Composite Hybrid-Plate Girder .. ....... ........ 225
Summary and Discussion . . . . . . . . . . . . . . . . . . . . . . . .. . . . . .. . .. . . . . . . . .. . .. . 232
Appendix 11-A. Notation ............................................. 232
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Acknowledg:inent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . .. . .. . . . . . .. . . .. . . . . . . 233
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . .. . . . . . . . .. . .. . 233

12 How to Optimize for Earthquake Loads . . . . . . .. . . . . . . .. . . . . . . . . . 237

Kevin Z. Truman and Franklin Y. Cheng
Introduction .......................... ,....................................... 237
Literature Review . . . . . . . . . . . . . . . . . . . . .. . . . . . . . .. . . . .. . . . . . . . .. . . . . . . . . . . . . . 238
Typical Seismic Design Loads .. . . . . . . . . . . .. . . . . . . . . .. . . . . . . . . . . . .. . .. . 239
Equivalent Lateral Forces . . . . . . . . . . . . ... . . . . . . . . . . . .. . . . . . . . .. . .. . 239
Modal-Response Spectra .......................................... 240
Ground Motion Accelerogram . . . . . .. . . . . . . . . .. . . . . . .. . . . . . . . . . . 240
Probabilistic Systems . . . . . . .. . . . . . . . . . . . . . . . . . . . . .. . . .. . . . .. . . .. .. . . 242
Optimization Procedures . . . .. . . . . . . . . . . . . . . .. . . . . . .. . . . . . . . . . ... . . . . . . . . 242
General . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . .. . . . . . . . . . . .. . . .. . . . .. . .. . . ... .. . 242
Optimality Criteria . . . . . . . . . . . . . . . . . . . . . .. . . . .. . . . . . . . . . . . . . . . . . . . . . . 242
Sensitivity Analyses . .. . . . . . . . . . . . . . . . . . . . .. . . .. . . . . . . . .. . . . . . . . . . . . . . . . . . . 243
Equivalent Static Forces . . .. . . . . . . . . . . .. . . . . . . . . . . . . .. . . . . . . . .. . .. . 243
Modal Response Spectra . . . . . . . . . . . . . . . . . . .. . . . . . . . .. . . . . . . . . . . . . . 243
Ground Motion Accelerogram . . . . . . . . . . .. . . . .. . . .. . . . . . . . .. . .. . 243
Typical Constraints . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . 245
Objective Functions . . . . . . . . . . . . . . .. . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . .. . 245
Numerical Examples . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . .. . . . . . . . .. . . . . . . . . 245
Multicomponent Modal Response Spectrum
Optimization . . . . . . . . . . . .. . . . . . .. . . . . . . . . . . . . . . . . . .. ... . . . . . . . .. . 246
Nonlinked, Wide-Flange System ............................ 246
Linked, Wide-Flange System . . . . . . . . . . . .. . . .. . .. . . . . . . . . . . . . . 249
Time History Optimization . . . . . . . . . . .. . . . . . .. . . .. . . . . . . . . . . . . . . . . 251
Probabilistic Minimum Cost Example .. . . . . . . . .. . . .. . . . .. . . . . 255
Summary and Discussion . . . . . . .. . . . . . .. . . . . . . . .. . .. . . .. . . . . . . . . . . .. . .. . 258
Appendix 12-A. Notation ............................................. 259
References . . . . . .. . . . . . . . . . .. . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . .. . . . .. . . .. . .. . 260

13 How to Optimize Structures for Shape . . . . . .. . . .. . . . . . . . . . . .. . . . . 263

P. B. Thanedar
Introduction . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . .. . . . . . . . . . . . . . . . . . .. . . . . . . . . . . .. . 263
Classification of Shape Design Problems . . .. . . . .. . . .. . . . . . . . .. . .. . 266
Reduced Basis Approaches .. .. . . . .. . . . .. . . . .. . . .. . . . ... . ... . . . . . . .. . .. . 267
Key Definitions in Shape Optimization . . . . . . . . . ... . . .... . . .. . . . . . . 268
Shape Optimization Algorithm . . . . . . . .. . . . . . . .. . .. ... . . ... . . . . . . .. . . . 269
Numerical Examples . . . . . . . . ... .. . . . . . . . . .. . . . .. . . . . .. . . . . . . .. . .. . . .. . . . .. 270
Thansmission Tower .. . . . . . . . . . .. . . .. . . . . . . . . . . . . . . . . . ... . . .. . . . . . . . . 270
Plate with a Square Hole . . . . . . . . . . . . . . . . . . . . . . . .. . .. . . . . .. . .. . . . . 271

Guide to Structural Optimization

 x
CONTENTS

Culvert . . . . . . . . . . . . . . ... . . . . . . . . . . . . . .. .. .. . . .. . . . . . .. . .. . . . . . . . .. . . . . . . . 273

Solid Cantilever Beam . . ... .. .. . .. .. . . . . . .. .. . .. . . . . .. . .. . .. . .. . . .. 276
Summary and Discussion .... . ... . . . . . . . . .. ... . . . . .. . ... . . . . . . .. .. .. .. . . 276
Appendix 13-A. Notation ............................................. 277
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References . . . . . . . . . . . . .. . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . .. .. . 277

Appendices
A Basic Concepts of Optimum Design . .. . . . . . . . .. . .. . . . . . . . . . . . . . . . . 279
Jasbir S. Arora
Introduction . . .. .. . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
Design Optimization Model . . . . . . . . . . . . . . . . .. . . . . . .. . . . . . . . . .. .. .. . . . . . 280
Basic Definitions . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . .. . . . . . . . . . . .. .. . . . .. 281
Local Minimum .... :................................................. 282
Global Minimum . .. . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . .. . . .. . . .. . .. . . . .. 282
Optimality Conditions .. . .. . . . . . . . .. .. . .. .. . . .. .. . .. .. . .. .. .. . . . .. . . .. . .. 282
Unconstrained Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
Constrained Problem . .. . . . . . . . ... . . . . . . . . . . . . . . . . . . .. . . . . . .. . . . . . . . 284
Global Optimality . . . . . . . . . . . .. . . . . . . . . . . . . .. . . . . . . . . . . . . .. . . .. . . . . . . . . . . . . 285
Post-Optimality Analysis . .. . . . . ... . . . .. . . . . . .. . . . . . . .. . . .. . . . . . . . .. . . . . . 287
Changes in Constraint Limit . . . . . . . .. . . .. . . . . .. . . . . . . . . . . . . . . . . . . 287
Scaling of Cost Function . .. . . . .. . . . .. .. . . . . . . . . . . . .. . . . .. .. .. . . . . . 288
Scaling of Constraint . . . . . .. .. . ... . . . . . . . . . . . . . .. . . . .. .. . . . . . . . . . .. . 289
Summary and Discussion . .. . . . .. . . .. . . . .. . . .. .. . . .. .. . . . . .. .. . .. .. . . .. . 289
Notation . .. . .. . . . . . . . . . . . .. ... . . . . .. . . . . . . . . . . . .. . . . . . . . . . .. . . . . .. . . . . . . . .. . . . . 289
References .................................................................... 290

B Basic Concepts of Computational Methods for Optimum

Design ............................................................ 291
Jasbir S. Arora
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . 291
A Basic Algorithm .................. , . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
Basic Concepts Related to Computational Algorithms . . . .. . . . 294
Constraint Normalization .. .. . . . . . .. . . . . . . . . . . . . . . . . . . . .. . . . . . . .. . 294
Potential Constraint Strategy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
Descent Function . .. . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295
Convergence of an Algorithm .. . . . . . . .. . . . . .. . . . .. . . . . . . . .. . . . . . 295
Attributes of a Good Algorithm . .. . .. . . . . . . . .. .. .. . .. . . . . . .. . . . 296
Overview of Computational Algorithms . . . . . . . .. . . . . . . . .. . . . .. . . . 297
Linearization of the Problem . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . .. . 297
Sequential Linear Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
Sequential Quadratic Programming . . . . . . . . . . . . . . . . . . . . . . .. . . . 299
Numerical Implementation Aspects .. . .. . .. . . .. . .. . .. . .. . . . .. .. . . ... 300
Summary and Discussion .................... , .. . . .. .. .. .. . . .. .. . .. . . . .. 300
Notation . . ..... . . . .. . . . . . ............. .... . . .. . . . .. .. . . . . . . . . . . . . . . . . . . . . ... . .. 301
References . . .. . .. . . . .. .. ... .. .. .. .. . .. .. .. ... .. . .. .. . . .. .. . .. .. . .. .. . . . .. .. .. . 302

Guide to Structural Optimization

 CONTENTS xi

C An Optimality Criterion Method for Structural

Optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . ... . . .. . . . . . .. . . . .. . . .. . 303
Donald E. Grierson
Example .. . . . . . . . . . .. . . . . . . . .. . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . .. . . . .. . . . . . . . .. .. . 307
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Notation....................................................................... 313
References . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . .. . . . . . .. . . . . .. . . . . . . . . . 314
D The Dual Method for Discrete Optimization . . . . .. . . .. . . . . . .. . 315
Donald E. Grierson
Example . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . .. . . . . . . . .. . . . . . .. .. . . . . . . . . 318
Notation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . .. . . . . . . . . .. . . .. . . . .. . .. . . . . . 322
References .......................... , . . . . . . . . .. . . . . . . . .. . . . . . . . . . . . . . . . .. . . . .. 322
E Combinatorial Search . . . . . .. . . . . . . . . . .. . . . . . . . . . . . . . . . . . . .. . . . . . . .. . . .. . 323
Richard J. Balling
Exhaustive Search . . . . .. . . . . . .. . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . 323
Branch and. Bound . . . . . .. . . . .. . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . 324
. Summary and Discussion . .. .. . . .. ... . . .. . . . .. . . .. . . . .. .. . . . . . .. . . . .. .. . 325
References . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . .. . . . . .. . . . . . . . . . . . . . . . .. . . . . . . . . . . 326
F Stochastic Search . . . . . . . . . . . . . . .. . . . . . . . .. . . . . . . . . . . . . . . .. . . . . . .. .. . . . .. .. . 327
Richard J. Balling
Example Problem . . . .. . . . . . . . . . . . . . . . . . . . . .. . . . . . . . ... . . . . .. . . . . . . . . .. . . . . . 327
Serial Random Search . . . . . . .. . . . . . . . . . . . . . . . . . . . . .. . . . . . . . ... . . . . . .. . . .. . 328
Simulated Annealing Algorithm . . . .. . . . . . . . . . . . . . . . . . . . .. . . . . . .. . . .. . 330
Parallel Random Search ................................................. 331
Genetic Algorithm . . . . .. . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . .. .. . 333
Summary and Discussion . ... . . . .. . . . . . . . . . . .. . . .. . . . . .. . . . . . . .. . . .. . .. . 335
References . . . . . . . . .. . . . . . . . .. . . . .. . . . . . . . . . . . . . . . . . . . . .. . . . .. . . . . . . . .. . . . . . .. . 336
Index....................................................................................... 337

Guide to Structural Optimization

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Guide to Structural Optimization

 FOREWORD

The Technical Administrative Committee on Analysis and Computation

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(A&C-TAC) was established in 1992 by combining two former technical

administrative committees: Electronic Computation and Analysis and Design
of Structures. A&C-TAC now consists of five technical committees: Com-
puter-Aided Analysis and Design, Emerging Computing Technology, Meth-
ods of Analysis, Optimal Structural Design, and Structural Control.
Among other A&C-TAC publications, Guide to Structural Optimization is
the harvest of several years of diligent work by the Technical Committee on
Optimal Structural Design (OSD-TC}. This work was carried out with de-
votion and enthusiasm. Manuscript preparation involved former and current
OSD members and officers.
Formerly the committee consisted of Richard J. Balling, Gordon S. Bjork-
man, Scott A. Bums (Chair), Franklin Y. Cheng, Dan M. Frangopol, Ramon
E. Gilsanz, Donald E. Grierson, Shahram Pezeshk, Hasan Kamil, and Kevin
Z. Truman (Secretary).
Currently the committee consists of Jasbir S. Arora, RichardJ. Balling, Scott
A. Burns, Chien-Chi Chang, Franklin Y. Cheng, Nayan K. Das, Dan M. Fran-
gopol (Chair), Donald E. Grierson, Mircea Iordanescu, C. W. Martin, Shah-
ram Pezeshk (Secretary), Subramaniam D. Rajan, and Pramod B. Thanader.
OSD-TC's purpose is to further the development of the state-of-the art of
optimal design of structures. The committee encourages and disseminates
new developments in practical applications for structural design, and new
computation techniques, methodology, and algorithms. This publication re-
flects a significant part of OSD-TC' s objectives.
A&C-TAC acknowledges the encouragement and support of ASCE STD
EXCOM contact members Barry J. Goodno (current) and Vernon B. Wat-
wood, Jr. (former) as well as OSD-TC chairs Scott A. Bums and Dan M.
Frangopol and especially the persistent effort and sensitivity of editor Jasbir
S. Arora in finalizing this volume.

Franklin Y. Cheng, Chair

Technical Administrative Committee
on Analysis and Computation

xiii
Guide to Structural Optimization
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Guide to Structural Optimization

 PREFACE

A goal of every designer is to design the best (optimum) systems. Tradi-

tionally, this has been achieved through intuition, experience, and repeated
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trials, a process that has worked well as evidenced by the existence of many
fine buildings and other structures. However, in the latter half of this century,
considerable advances have taken place in computer methods for analysis
and design that can be of substantial aid to the designer in the creative
process of designing the best system.
Optimization methods are perceived to be at the heart of computer meth-
ods for designing engineering systems. With these methods, the designer can
evaluate more alternatives, thus resulting in a better and more cost-effective
design. A purpose of this Guide is to describe the use of modem optimization
methods with simple yet meaningful structural design examples. The back-
ground knowledge required to use the Guide is covered in current under-
graduate engineering curricula, such as in courses on calculus, matrix alge-
bra, structural analysis, structural design, and probability and statistics. The
approach followed in the Guide is to emphasize the formulation of the de-
sign problem as an optimization problem. The features and pitfalls of the
statement of the optimization problem are discussed. Optimum solutions are
obtained and, where possible, compared with the solutions obtained using
traditional design procedures. Sample applications demonstrate and clarify
the basic concepts, and serve to show how and what can be achieved by the
optimum design methods. The numerical methods are not presented in de-
tail. Instead, the basic ideas and concepts used in the methods are described
so that the numerical algorithms can be used properly and effectively. Ref-
erences are cited for those readers interested in specific details of the
methods.
In Chapter 1, the question of "what is optimization" is posed and ad-
dressed. Basic concepts of optimization are described using the design of a
plate girder as an example. The process of formulating a design optimization
problem is described and illustrated. A graphical optimization process is
explained and some basic optimization concepts and terminology are intro-
duced. Several optimum designs for different conditions are obtained and
discussed to show the flexibility and power of the optimization techniques
and the optimum design process.
Chapter 2 describes a problem of maximizing the bending strength of a
cold-formed beam while maintaining a fixed volume of steel and section
depth. The optimum design problem is formulated incorporating the AISI
(1989) specifications for cold-formed steel members. Several optimum de-
signs for the beam are presented and discussed.
The design of hybrid composite plate girders is formulated as an optimi-
zation problem in Chapter 3. The formulation is based on the load factor
design method of the American Association of State Highway and Trans-
portation Officials (AASHTO 1992) specifications for highway bridges. An

xv

Guide to Structural Optimization

 xvi STRUCTURAL OPTIMIZATION

optimum design for the plate girder is obtained and compared with the
design obtained using the traditional trial-and-error approach.
Chapter 4 describes the problem of optimizing reinforced concrete beams
and columns. The design problem is formulated and is shown to belong to
a class of so-called discrete variable optimization problems. For such prob-
lems, some of the design variables must take on values that are integers and/
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or commercially available, such as the number of bars and bar sizes. Opti-
mum designs for many sample problems are obtained and discussed.
The optimum design of prestressed concrete beams is considered in Chap-
ter 5. It is shown that the problem can be decomposed into three simple
suboptimization problems, and then each problem can be solved quite effi-
ciently. An example problem is solved to demonstrate the solution
procedure.
Chapter 6 describes the use of sensitivity analysis for structural design.
This material is a precursor to the full scale optimization of structural sys-
tems presented in later chapters. Calculation of sensitivity coefficients is il-
lustrated using simple truss and frame design problems. The concept of us-
ing design sensitivity coefficients to guide the design process is described
and illustrated. The basic idea presented here is that the design sensitivity
coefficients can be used in the conventional design process to reduce the
number of iterations required to obtain an acceptable design.
The optimum design of reinforced concrete frames is described in Chapter
7. A two-phase approach is illustrated. In the first phase, concrete dimensions
of the members are optimized using a continuous optimization procedure.
The steel reinforcement is then optimized in each member in the second
phase using the combinatorial procedure presented in Chapter 4.
The optimum design of structural steel frameworks is presented in Chap-
ter 8. The design optimization problem is formulated and the solution pro-
cedure is described. The method determines the best member sizes from
commercially available sections while satisfying all the design code con-
straints. Examples are used to illustrate the design optimization process.
The optimum design of tall steel building frameworks is described in
Chapter 9. A minimum weight d~sign problem is formulated and a com-
puter-based optimization procedure is described. A procedure to systemati-
cally specify members from the database of available sections is presented.
Design of a 50-story three-dimensional frame is presented to illustrate the
optimization process.
Chapter 10 describes the concept of plastic design of frames. The basic
concepts and assumptions underlying the optimum plastic design of struc-
tures are presented and discussed. The problem of optimum plastic design
is formulated and the solution process is illustrated using a portal frame.
The optimum plastic design of tall buildings is briefly discussed.
Chapter 11 addresses the issue of incorporating structural reliability into
the optimum design process. The factors used in the Load and Resistance
Factor Design (LRFD) approach have been developed based on modem
structural reliability theory. As such, structural optimization and structural
reliability are coupled to achieve practical optimum solutions. This chapter

Guide to Structural Optimization

 PREFACE xvii

describes a framework for controlling structural reliability during the opti-

mization process. The process is demonstrated using an example problem.
Chapter 12 concentrates on the problem of optimum design of framed
structures to resist earthquake loads. Inclusion of earthquake loads makes
the analysis and design problems more difficult to solve because of the tran-
sient nature of the loads and the constraints. The chapter describes a for-
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mulation for the design problem and numerical procedures to solve it. Nu-
merical examples are used to illustrate the optimum design process.
Chapter 13 addresses the issue of shape optimum design of structures.
Both discrete and continuum structures are treated. Changes in the shape of
a structure can lead to substantial gains in its performance. The shape op-
timization problem is formulated using the finite element method of analysis.
The optimization procedure is discussed and demonstrated for several shape
design problems.
There are six appendices to the Guide. Appendix A describes basic con-
cepts of optimization and presents the mathematical conditions that need to
be satisfied by the optimum design. Appendix B describes fundamental con-
cepts of computational methods for optimum design. The concept of iterative
algorithms for continuous variable optimization is explained and the basic
requirements of a robust algorithm are delineated. Sequential linear pro-
gramming and quadratic programming methods are explained. Appendix C
discusses numerical optimality criterion methods for weight minimization of
structural systems. An iterative algorithm is described and illustrated using
a simple truss design problem. Appendix D describes a Dual method for
discrete variable structural optimization. The weight of the structure is taken
as the minimization criterion and an iterative algorithm is described and
illustrated using a simple design problem. Appendix E describes determin-
istic combinatorial search methods for discrete variable optimization prob-
lems that cannot be solved by gradient-based optimization methods. Appen-
dix F presents stochastic search methods that are either purely random or
based on principles of simulated annealing or genetic evolution.
This Guide has been prepared under the auspices of the Optimal Structural
Design (OSD) Committee which is a Technical Committee (TC) of the Anal-
ysis and Computation, a Technical Administrative Committee {TAC) of the
Structural Division (STD), ASCE. The initial idea of a Guide to Structural
Optimization was conceived by Dr. Shlomo Ginsburg in 1985 when he was
teaching at the University of Kansas. After considerable debate about the
contents, in 1992 an outline for the Guide was prepared and the contributors
to the Guide were selected and assigned the task of writing various chapters.
Each chapter of the first draft of the Guide was reviewed by two members
of the OSD Committee. The chapters were then revised by the authors based
on the comments and suggestions of the internal reviewers. The second draft
of the Guide was completed in March 1995 and submitted to the Executive
Committee (EXCOM) of the Structural Division for review. Six independent
external reviewers were selected by EXCOM and their input was solicited.
This final draft of the Guide includes most of the suggestions of these
reviewers.

Guide to Structural Optimization

 xviii
STRUCTURAL OPTIMIZATION

I would foremost like to thank the contributors to the Guide for their
diligence and hard work in preparing the final drafts of their chapters. I
would also like to thank the external reviewers who devoted considerable
time to reading the Guide and providing us with extremely thoughtful and
useful suggestions. The external reviewers were Dr. Mark E. Botkin of GM
Research and Development Center, Professor Theodore V. Galambos of the
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University of Minnesota, Professor Narbey Khachaturian of the University

of Illinois, Dr. Narendra S. Khot of Wright~Patterson Air Force Base, Professor
P. Benson Shing of the University of Colorado, and Dr. Mehdi S. Zarghamee
of Simpson, Gumpertz & Heger, Inc.

8 March 1996 Jasbir S. Arora

Guide to Structural Optimization