New analytical benchmarks for topology optimization and their implications. Part I: bisymmetric trusses with two point loads between supports
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DOI: 10.1007/s0015801207864
 Cite this article as:
 Sokół, T. & Rozvany, G.I.N. Struct Multidisc Optim (2012) 46: 477. doi:10.1007/s0015801207864
Abstract
Extending some results by Sokół and Lewiński (Struct Multidisc Optim 42:835–853, 2010), the optimal topology of bisymmetric trusses with two symmetrically placed pointloads is determined analytically, and verified by highly accurate numerical calculations. It is rather remarkable that Michell’s bestknown classical solution had to wait over hundred years for its generalization from one to two point loads. Some implications of these solutions, including properties of socalled Oregions, are also discussed.
Keywords
Exact topology optimization Michell trusses Optimal regions Symmetry Stress constraints1 Introduction
The present paper differs from those by Sokół and Lewiński (2010, 2011a), because in the latter the feasible domain was a halfplane (above or below the line of supports) and there was only a vertical axis of symmetry. In the present paper (i) the feasible domain is a rectangle or the full plane, and we have two axes of symmetry, (ii) the adjoint strain field is also given for the memberless central region of some of the optimal layouts.
Various cases of truss topology problems with two symmetrical loads between two supports (pin or roller) and for different domains (full or halfplane) were recently reviewed briefly by Sokół and Lewiński (2011b).
The line notation in this text is as follows. Thick and thin continuous lines denote concentrated and ‘distributed’ truss members, broken lines domain boundaries, dotted lines region boundaries and dashdot lines axes of symmetry or skewsymmetry.

Tregion with a tensile and a compression member at right angles: \(\bar{{\varepsilon }}_1 \,=\,\bar{{\varepsilon }}_2 =k\),

Sregion with members having forces of the same sign in any direction: \({\bar{{\varepsilon }}_1 \,=\,\,\bar{{\varepsilon }}_2 ,} \; {\left {\varepsilon_i } \right=k} \; {\left( {i=1,\;2} \right)}\),

Rregions with only one member at any point: \( {\left {\bar{{\varepsilon }}_1 } \right\,=\,\,k,}\) \({\left {\bar{{\varepsilon }}_2 } \right\le k} \), or

Oregion with no members: \( {\left {\bar{{\varepsilon }}_1 } \right\,\le \,\,k,} \; {\left {\bar{{\varepsilon }}_2 } \right\le k} ,\)
 Topology 1:

h ≥ h _{1},
 Topology 2:

\(h_1 \ge h\ge d/\sqrt 2 \),
 Topology 3:

\(h\le d/\sqrt 2 \).
Exact analytical solutions with numerical confirmation will be presented for Topologies 1 and 2, but only high resolution numerical solutions for Topology 3, for which the analytical solution is not yet available.
2 Details of optimal topologies
2.1 Topology 2/3 (limiting case between topologies 2 and 3)
If (L − d) = 0, then we have the solution in Fig. 2a, which is the classical solution by Michell (1904). The strain fields for the quarter domain consist of two Tregions: one has constant principal directions, the other one consists of a circular fan. This solution is in fact valid even when h > h _{1}, because the Tregions shown in Fig. 2a can be extended even to the entire plane, satisfying the optimality condition of Michell in (2).
The layout in Fig. 2a will become part of all other topologies in Fig. 2b–d (shown partially on the left hand side of these diagrams). The right hand side of these layouts consists of concentrated horizontal bars along the domain boundaries. It is important to note that these optimal topologies are only valid if the domain has a limited height, i.e. \(h=d/\sqrt 2 \).
This is because in Fig. 2b, for example, kinematic continuity would not be satisfied if we moved upwards the present domain boundary (the strains in the two Tregions would cause an overlapping of the horizontal displacements). However, since the adjoint strain field in Oregions may be nonunique (see Section 4.2), there should be some other adjoint displacement field for the present problem of restricted height, which can be extended for greater height values.
In Fig. 2b and d the central part of the adjoint strain field consists of Tregions and Zregions, see the definitions above. In Fig. 2c, however, there is also an Rregion, with a horizontal principal strain of \(\bar{{\varepsilon }}_1 =k\). The value of \(\bar{{\varepsilon }}_2 \) can be calculated from the condition that the strains must be zero in the direction of the region boundary with the Zregion. Then elementary calculations give \(\bar{{\varepsilon }}_2 =k\tan^2\alpha \). This implies \(\bar{{\varepsilon }}_2 =0\) and \(\bar{{\varepsilon }}_2 =k\), respectively, for Fig. 2b (with α = 0) and Fig. 2d (with α = π/4).
The solution in Fig. 2b was actually presented by the second author previously (Rozvany 2011).
Extending the region pattern in Fig. 2b to d, we can also construct optimal strain fields for any value of L − d > 2h.
2.2 Topology 1
The forces for the layout in Fig. 4 are given by: Q _{ y } = P/2, F _{ x } = Q _{ y } d/y _{D} and F _{ y } = 0. The horizontal reaction Q _{ x } at point N can be obtained from Chan’s formula (see (2.47) in the paper by Sokół and Lewiński (2010)), while the reactions at point R can easily be obtained from the equilibrium equations. These reaction forces, however, do not generate any virtual work in (3), because the corresponding virtual displacements are zero (points R and N in Fig. 4).
Equation (22) uniquely defines the optimal angle θ _{2} because the function q(θ _{2}) is monotonic (it is a decreasing function for θ _{2} ≥ 0 which starts from \(q\left( 0 \right)=\sqrt 2 \) and then asymptotically approaches 0 for θ _{2} → ∞). The lower limit of ξ for which the solution of (22) is valid for the rectangular domain shown in Fig. 1a is equal to ξ = 0.182027. This corresponds to θ _{2} = π/4 which means that the upper chord RBDS starts vertically from the support. For lower values of ξ the external fans extend beyond vertical lines drawn above the supports and the solution is formally infeasible. However, if we allow the horizontal expansion of our rectangle domain outside the supports, we can obtain the feasible solution for ξ < 0.182027. In this case the lowest limit of ξ for which the solution of (22) makes physical sense is equal to ξ = 0.0477491. This corresponds to θ _{2} = π/2 and θ _{1} = 3π/4. For lower values of ξ the internal circular fan goes outside the symmetry line connecting two supports, and that is obviously infeasible. Thus we can conclude that for ξ < 0.0477491 the optimal solution is not known.
The exact and numerically calculated volumes are compared in Section 3.
2.3 Topology 2
The above formula gives the correct volume for special cases. For ξ = 1 we obtain 4V = PL/σ _{ p } (2 + π), which is the solution by Michell (1904). For \(\xi =\sqrt 2 /\big( {1+\sqrt 2}{\kern1pt}\big)\) we obtain \(4V=PL/\sigma_p \left( {4+\pi } \right)\big( {2\sqrt 2}{\kern1pt}\big)\), which can also be readily derived from the second author’s solution (Rozvany 2011, here Fig. 2b).
2.4 Topology 3
In Fig. 8 the upper horizontal bar is connected to the chord of a circular fan having an angular width of 45° and a curved threesided region, which is similar to that derived by Chan (for details see the paper by Lewiński et al. (1994)). The upper border of this region can be a straight line if the height is sufficiently small (Fig. 8b) or it starts with a straight section and smoothly passes into a curved section (Fig. 8a). It is to be noted that contrary to Topologies type 1 and 2 the external (upper) chord has not a constant cross section in the straight segment. The threesided domain above the circular fan is connected with a region with straight members in one direction. This is the reason why the rest of the regions with Hencky nets are different from those derived for the long cantilever problem by Lewiński et al. (1994). Nevertheless, there are also some similarities in forming subsequent new regions if the permissible height is decreased. On the basis of many additional numerical tests we have established that switching from the first subtype (Fig. 8a) to the second one (Fig. 8b) occurs at a height value in the range of h ∈ (0.24d, 0.25d).
The adjoint strain field in empty regions of Topology 3 can be filled the same way as described in Section 2.1 (Fig. 2).
3 Confirmation of the analytical results by numerical calculations
All exact solutions presented in this paper have been confirmed by numerical calculations. They were performed using an improved version of the program developed by Sokół (2011a). This newer version of the program makes use of the ‘adaptive ground structure’ approach, similar to that proposed by Gilbert and Tyas (2003), however, it applies a different strategy of addingremoving of the active bars from a huge number of potential members of the full ground structure. In the present version the program is capable of solving largescale problems with the number of potential members exceeding one billion (10^{9}). This program was announced in 2011 (see Sokół 2011b) and will be presented in detail in a separate paper in a near future. It should be noted that this program uses a linear programming formulation, and therefore the solution obtained guaranteed to be the absolute minimum volume for the given discretization of nodes.
Comparison of numerical and analytical solutions
Problem 
Grid density 
Number of potential members 
Numerical volume [PL/σ _{ p }] 
Exact volume [PL/σ _{ p }] 
Relative error [%] 

Figure 5a,b 
160 × 82 
54 281 782 
2.51607 
2.51353 
0.10 
Figure 5c,d 
160 × 90 
65 257 558 
3.67977 
3.67773 
0.06 
Figure 5e,f 
160 × 103 
85 220 613 
4.50088 
4.49910 
0.04 
Figure 5g,h 
160 × 113 
102 408 109 
5.14307 
5.14159 
0.03 
Figure 6a,b 
169 × 100 
89 608 157 
3.98804 
3.98632 
0.04 
Figure 6c,d 
169 × 85 
64 983 850 
4.02699 
4.02524 
0.04 
Figure 6e,f 
169 × 70 
44 280 137 
4.18500 
4.18345 
0.04 
4 Important implication of the results for basic properties of exact optimal Michell topologies
4.1 R, S, O and Z regions in optimal Michell topologies
Various types of optimal regions were defined—in the context of grillages—already in the early 1970s (e.g. Rozvany 1972), and the present notation (including Oregions) was used a few years later (e.g. Rozvany and Hill 1976, p. 208).
In a highly creative recent research paper, Melchers (2005) used the notation N and B for our O and Zregions. He pointed out that for Michell trusses relatively few known solutions contain regions other than Ttype. This is possibly so, because much of the theory of Tregions is based on the mathematically similar theory of slip lines in plasticity, which was developed earlier. However, for Michell structures with line supports, there are in general Rregions in the solution, and Tregions are rather an exception (see Rozvany et al. 1997, e.g. Figs. 5 and 6). In the same paper Zregions (which are special cases of Oregions) were used in several solutions.
Since, in the definition of Oregions (see above), we have nonstrict inequalities, and the essential point is that we have no members in these regions, the central memberless parts of the topologies in Fig. 2b to d can be regarded as Oregions, although they contain T, Z and Rregions.
4.2 Nonuniqueness of the optimal adjoint displacement fields in Oregions
The above example demonstrates that the adjoint strain field may be nonunique in a memberless part (i.e. Oregion) of an optimal Michell topology.
In Figs. 2, 9 and 10 the optimal truss layout is unique, only the adjoint strain field is nonunique. The above nonuniqueness is, therefore, not to be confused with the finding (Rozvany 2011) that a Michell truss problem may have either one or an infinite number of optimal solutions (of the same weight).
In a recent paper (Rozvany and Sokół 2012, Fig. 6) another example of an Oregion is given, which covers a half plane and has principal adjoint strains that have a constant absolute value which is greater than zero and smaller than k. Both Fig. 10a, and this latter example disprove the notion that in Oregions the adjoint principal strains are either zero or k.
4.3 Relaxation of optimality criteria
The authors believe that, if there exists at least one feasible solution for a Michell problem, then there exists also an optimal solution satisfying Michell’s optimality criteria in (2) exactly. Nevertheless temporary relaxation of optimality criteria (as suggested by Melchers 2005), followed by an optimization within the set of solutions obtained by the relaxed conditions, can be very useful in finding optimal topologies.
An important example for this was Morley’s (1966) contention that no optimal solution satisfying known optimality criteria exists for a square clamped domain in flexure (either reinforced plate or grillage). It was the greatest breakthrough in the optimal grillage theory when Melchers (Lowe and Melchers 1972) found the exact solution of the above problem (by temporarily relaxing and then enforcing the relevant optimality criteria). As indicated above, we do have the optimal adjoint strain fields for Type 2/3 and Type 3 topologies for the memberless central parts of these problems, but it will be a highly challenging task to find these for Type 1 and Type 2 topologies, because of their partially curved boundaries.
5 Concluding remarks
In this paper we have presented exact analytical solutions for a new class of Michell truss problems: two symmetrically placed point loads in between supports, the feasible domain being symmetric to the line of supports. The exact solutions have been confirmed by very close numerical results. A rather remarkable historical aspect of this development is the fact that it has taken over hundred years to find the exact (analytical) extension of Michell’s bestknown classical (1904) solution to two point loads. Some important general implications of these solutions have also been pointed out.