A UNIFIED APPROACH TO PROCESS OPTIMIZATION By PHILIP JOHN MCGOFF A DISSERTATION PRESENTED TO THE GRADUATE SCHOOL OF THE UNIVERSITY OF FLORIDA IN PARTIAL FULFILLMENT OF THE REQUIREMENTS FOR THE DEGREE OF DOCTOR OF PHILOSOPHY UNIVERSITY OF FLORIDA 2000 This dissertation is dedicated to my family, especially my to father, who is not here to see me become the first in the family with a doctorate. ACKNOWLEDGMENTS I would like to thank my family and friends for supporting me in my return to graduate school. I would also like to thank all of my teachers-from elementary school, high school, undergraduate, and graduate school-for spending time with me and challenging me to do my best. I would especially like to thank Mr. Kristo and the rest of the math department at Owatonna High School for giving me an excellent foundation in basic mathematics. Finally I would like to thank the University of Florida Department of Statistics, the faculty, staff, and fellow students, for making my stay in Gainesville an excellent experience. m TABLE OF CONTENTS gage ACKNOWLEDGMENTS iii ABSTRACT vi CHAPTERS INTRODUCTION 1 1 METHODS OF OPTIMIZATION 2 6 2.1 The Taguchi Method 6 2.2 Dual Response Surface Optimization 11 2.3 Alternative Methods of Dual Response Surface Optimization 16 2.4 Criticisms of the Various Optimization Schemes 22 2.5 Multiple Response Optimization 25 2.6 Criticisms of Multiple Response Optimization Methods ... 34 2.7 Robust Multiple Response Optimization 36 2.8 Optimizing a Function 38 3 ROBUST PARAMETER DESIGN 41 3.1 A Description of the Proposed Method 41 3.2 Printing Process Example 47 3.3 Example with Lifetime Data 54 4 MULTIPLE RESPONSE OPTIMIZATION 59 4.1 A Description of the Proposed Method 59 4.2 Tire Tread Compound Example 63 4.3 Repeatability of a Multiresponse Optimization Experiment 68 . 4.4 Albumin Nanospheres Example 72 5 MULTIPLE RESPONSE ROBUST PARAMETER DESIGN .... 79 5.1 A Description of the Proposed Method 79 5.2 Oxygen Plasma Anodization Example 85 5.3 Repeatability of Anodization Example 90 6 CONCLUSION AND FURTHER RESEARCH 93 IV APPENDICES A SOLVER COMMAND IN MICROSOFT EXCEL 95 B FORTRAN CODE FOR MULTIVARIATE NORMAL PROBABILITY 99 C BASIC OUTLINE OF AN OPTIMIZATION EXPERIMENT ... 128 REFERENCES 133 BIOGRAPHICAL SKETCH 136 V Abstract of Dissertation Presented to the Graduate School of the University of Florida in Partial Fulfillment of the Requirements for the Degree of Doctor of Philosophy A UNIFIED APPROACH TO PROCESS OPTIMIZATION By Philip John McGoff May 2000 Chairman: G. Geoffrey Vining Major Department: Statistics The goal of any optimization experiment is to find the settings of the factors that can be controlled which results in optimal levels of the responses of interest. In robust parameter design, the two responses of interest are the mean and variance of a quality characteristic. In multiple response optimization, the responses of interest are the quality characteristics of the product. In both of these cases, a quantity that is a function of the estimates of the responses of interest is either maximized or minimized. A variety of quantities have been proposed for robust parameter design and multiple response optimization, but all of the proposed quantities are lacking in some respect-they may lack intuitive appeal, depend too heavily on the definition of subjective parameters, or fail altogether in certain situations. In addition, most of the quantities proposed for robust parameter design cannot be adapted easily to multiple response optimization. The probability that all of the responses are simultaneously within their upper and lower specification limits is a quantity which vi can be used for robust parameter design and multiple response optimization. The probability method also has an intuitive appeal that will make it easy to explain to people in fields outside of statistics. This method does not depend on the definition of subjective parameters, and it works in all of the situations that have been addressed. It may also be extended to multiple response robust parameter design, which none of the other methods has attempted. Vll CHAPTER 1 INTRODUCTION It is the goal ofany industry to produce high quality products as inexpensively as possible. The quality of a product is usually measured by physical characteristics, such as diameter, purity, taste, or hardness. When these characteristics are at specific target levels or values, the product is thought to be of high quality. As the characteristics deviate from the target levels, the quality of the product decreases. Therefore producing a high quality product translates into producing the product with quality characteristics at specific levels. There are three possible situations for an individual characteristic: • Target is best: the quality characteristic has a target level that is most desirable. For instance, the diameter of a roller bearing or viscosity of a fluid. • Larger is better: the quality characteristic should be made as large as possible. For instance, the purity of a chemical or a car’s gas mileage. • Smaller is better: the quality characteristic should be made as small as possible. For instance, impurities in a chemical or number of bubbles in a paint job. Optimizing a product or process is a situation found in many areas of applied statistics. A set of control factors affects a response of interest, which is to be maximized (or minimized). The goal of the experimenter is to find the combination of the control factors that does maximize (or minimize) the response of interest. Box and Wilson (1951) introduced the topic of response surface methods in an attempt to answer this problem. They recommended that a series of experiments be performed, first to find out which control factors actually affect the response of interest, and secondly to find the optimal settings of the control factors. The 1 2 optimal settings are found by running a response surface experiment capable of fitting the response to a second order polynomial in the control factors. Using some basic calculus, the maximum (or minimum) of the second order polynomial can be found. The situation can become much more complicated if the response of interest does not have constant variance in the region in question, or if there is more than one response of interest. Robust parameter design deals with the situation where there is a single response that does not have a constant variance in the region of interest. Multiple response optimization deals with the situation where there is more than one response of interest. Robust Parameter Design In the manufacturing and use of the product, there will exist factors that will affect the values ofthe quality characteristic, not all ofwhich can be easily controlled. Those that can be easily controlled are referred to as control factors. These could be the amount of material going into a chemical process, the temperature of a chemical bath, or the pressure in a reactor. Those factors that cannot be easily controlled, or are too costly to control, are referred to as noise factors. These could be ambient humidity and temperature, the speed at which a customer drives his car, or the temperature at which a customer bakes his cake. Optimizing the industrial process entails finding the levels of the control factors that will produce a product that has the desired quality characteristics. Due to natural variability, it is impossible to find settings that will always give the same values of the quality characteristics, and so all we ask is that it give those values a high percentage of the time on average. This variability will lead to decreased quality, as the product will not always be at its target value. One approach that has been traditionally taken is a two step process. The first step gets the characteristic at its desired level, on average. The second step is to find the sources of variability 3 and either control them or eliminate them. Control or elimination of sources of variability can be difficult and/or costly. Another approach is to find settings of the control factors that make the product insensitive to the sources of variability. This is the approach used in the area of parameter design or robust parameter design. This approach has the appeal that it is typically more cost effective than controlling or trying to totally eliminate the sources of variation. If levels of the control factors can be found for which the product is insensitive to the sources of variation, and the product’s quality characteristics can be made consistently close to their desired levels, this will result in a consistently high quality product. Experiments can be run in order to find the settings of the control factors that will result in a consistently high quality product. The experiment will have the quality characteristics as the responses of interest, and the control and noise factors as the variables of interest. Notice that some noise factors can be controlled during experimentation, even though they cannot be easily controlled otherwise. An example of this would be the speed a car is driven or the temperature at which a cake is baked. Even if no noise factors exist or are known, an experiment can still be run to find the settings of the control factors that produce the smallest variability while still achieving a desired level of the response. Multiple Response Optimization Most products and processes have more than one response of interest, and all of these responses may depend on a set of control factors. These responses may have either an ideal target value that is desired, or a range of values that will result in a product that is of satisfactory quality. These targets and ranges are typically given in the form of targets and upper and lower specification limits. Often the product cannot be shipped to a customer unless all of the individual responses are within their upper and lower specifications. Ideally, there would exist a combination of the