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Computer Aided Optimal Design: Structural and Mechanical Systems NATO ASI Series Advanced Science Institutes Series A series presenting the results of activities sponsored by the NA TO Science Committee, which aims at the dissemination of advanced scientific and technological knowledge, with a view to strengthening links between scientific communities. The Series is published by an international board of publishers in conjunction with the NATO Scientific Affairs Division A Life Sciences Plenum Publishing Corporation B Physics London and New York C Mathematical and D. Reidel Publishing Company Physical Sciences Dordrecht, Boston, Lancaster and Tokyo D Behavioural and Martinus Nijhoff Publishers Social Sciences Boston, The Hague, Dordrecht and Lancaster E Applied Sciences F Computer and Springer-Verlag Systems Sciences Berlin Heidelberg New York G Ecological Sciences London Paris Tokyo H Cell Biology Series F: Computer and Systems Sciences Vol. 27 Computer Aided Optimal Design: Structural and Mechanical Systems Edited by Carlos A. Mota Soares Centro de Mecanica e Materiais da Universidade Tecnica de Lisboa - C EMU L Instituto Superior Tecnico Avenida Rovisco Pais 1096 Lisboa Codex/Portugal Springer -Verlag Berlin Heidelberg New York London Paris Tokyo Published in cooperation with NATO Scientific Affairs Divison Proceedings of the NATO Advanced Study Institute on Computer Aided Optimal Design: Structural and Mechanical Systems held in Tr6ia, Portugal, June 29-July 11, 1986 ISBN-13:978-3-642-83053-2 e-ISBN-13:978-3-642-83051-8 001: 10.1007/978-3-642-83051-8 Library of Congress Cataloging-in-Publication Data. NATO Advanced Study Institute on Computer Aided Optimal Design: Structural and Mechanical Systems (1986 : Tr6ia, Portugal) Computer aided optimal design. (NATO ASI series, Series F: Computer and systems sciences; vol. 27) "Proceedings of the NATO Advanced Study Institute on Computer Aided Optimal Design: Structural and Mechanical Systems held in Tr6ia, Portugal, June 29 - July 11, 1986"-T.p. verso. "Published in cooperation with NATO Scientific Affairs Division," 1. Computer-aided design-Congresses. 2. Engineering design-Data processing Congresses, I. Soares, Carlos A. Mota, 1945-. II. North Atlantic Treaty Organization. Scientific Affairs Division. III. Title, IV, Series: NATO ASI series, Series F, Computer and system sciences; no, 27, TA174.N365 1986 620'.00425'0285 87-382 ISBN-13:978-3-642-83053-2 (U.S.) This work is subject to copyright. All righls are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, re-use of illustrations, recitation, broadcasting, reproduction on microfilms or in other ways, and storage in data banks, Duplication of this publication or parts thereof is only permitted under the provisions of the German Copyright Law of September 9, 1965, in its version of June 24,1985, and a copyright fee must always be paid, Violations fall under the prosecution act of the German Copyright Law, @)Springer-Verlag Berlin Heidelberg 1987 Softcover reprint of the hardcover 1st edition 1987 2145/3140-543210 NATO/NASA/NSF/USAF ADVANCED STUDY INSTITUTE COMPUTER AIDED OPTIMAL DESIGN Structural and Mechanical Systems TROIA, PORTUGAL, 29th June - 11th July, 1986 MAIN SPONSORS NATO:North Atlantic Treaty Organization NASA:The U. S. National Aeronautics and Space Administration NSF: The U. S. National Science Foundation USAF:The U. S. Air Force OTHER SPONSORS CEMUL:Centro de Mecanica e Materiais da Univ. Tecnica de Lisboa INIC:lnstituto Nacional da Investiga(,;a.o Cientffica Secretaria de Estado do Ensino Superior Comissao Permanente INVOTAN JNICT:Junta Nacional de Investiga(,;a.o Cientifica e Tecnol6gica 1ST: Instituto Superior Tecnico UTL:Universidade Tecnica de Lisboa MAGUE:Constru(,;oes Metalomecanicas, S.A.R.L. PECHINEY European Research Office, United States Army SOREFAME: Sociedades Reunidas de Fabrica(,;oes Metalicas,S.A.R.L. Escola Nautica Infante D. Henrique BPA:Banco Portugues do Atlantico TAP Air Portugal CARRIS: Companhia dos Caminhos de Ferro de Lisboa RN: Rodoviaria Nacional MAN Technologie Gmbh DIRECTOR: C. A. Mota Soares ORGANIZING COMMITTEE L. BERKE, Chief Scientist for Structures, NASA-Lewis, USA C. FLEURY, Associate Professor, UCLA, USA E. HAUG,Professor, Univ. of Iowa, USA H. HORNLEIN, Research Scientist, MBB, FRG C. A. MOTA SOARES,Professor, Tech. Univ. of Lisbon, PORTUGAL J. SOBIESKI,Deputy Head Interdiscipl. Res. Office, NASA-Langley,USA J. TAYLOR, Professor, Univ. of Michigan, USA ORGANIZED BY CEMUL: Centro de Meta.nica e Materiais da Univ. Ttknica de Lisboa 1ST: Instituto Superior Tecnico UTL: Universidade Tecnica de Lisboa NATO/NASA/NSF /USAF ADVANCED STUDY INSTITUTE COMPl'TER AIDED OPTIMAL DESIGN Structural and Mechanical Systems TROIA, PORTUGAL, 29 June -11 July, 1986 DIRECTOR: C. A. Mota Soares ORGANIZING COMMITTEE L. BERKE, Chief Scientist for Structures, NASA-Lewis,USA C. FLEURY, Associate Professor, UCLA,USA E. HAUG , Professor, Univ. of Iowa,USA H. HORNLEIN , Research Scientist, MBB,FRG C. A. MOTA SOARES, Professor, Tech. Univ. of Lisbon,Portugal J. SOBIESKI, Deputy Head Interdiscipl. Res. Office, NASA·Langley,USA J. TAYLOR, Professor, Univ. of Michigan,USA LECTURERS P. BECKERS, Associate Professor, Laboratoire Tech. Aero. et Spatiales, Belgium L. BERKE, Chief Scientist for Structures, NASA-Lewis,USA K. CHOI, Associate Professor, Univ. of Iowa,USA C. CINQUINI, Professor, Univ. of Pavia,Italy C. FLEURY, Associate Professor, UCLA,USA D. GRIERSON, Professor, Univ. of Waterloo,Canada R. HAFTKA, Professor, Virginia Poly. Institute &: St. Univ.,USA E. HAUG, Professor, Univ. of Iowa,USA H. HORNLEIN, Research Scientist, MBB,FRG N. KIKUCHI, Professor, Univ. of Michigan,USA A. MORRIS, Professor, Cranfield Inst. of Technology,UK C. A. MOTA SOARES, Professor, Tech. Univ. of Lisbon,Portugal Z. MROZ,Professor, Academy of Science of Poland,Poland N. OLHOFF,Professor, Univ. of Aalborg,Denmark P. PAPALAMBROS, Associate Professor, Univ. of Michigan,USA J. SOBIESKI, Deputy Head Interdiscipl. Res. Office, NASA-LangleY,USA J. TAYLOR, Professor, Univ. of Michigan,USA G. VANDERPLAATS, Professor, Univ. of California, Santa Barbara,USA PARTICIPANTS A. ADAO DA FONSECA, Associate Professor, Univ. of Oporto,Portugal M. AHMAD, Lecturer, Limerick Tech. Univ.,Ireland P. AMABILE, Structural Engineer, Alitalia,Italy J. AMBROSIO, Ph. D. Student, Univ. of Arizona,USA B. ANDERSSON, Professor, Aeronautical Res. Inst. of Sweden,Sweden J. ARORA, Professor, Univ. of Iowa,USA E. ATREK, Research Engineer, EMRC, USA S. AZARM, Assist. Professor, Univ. of Maryland,USA J. BARBOSA, Assist. Professor, Nautical School,Portugal A. BARROS, Ph. D. Student, Tech. Univ of Lisbon,Portugal B. BARTHELEMY, Ph. D. Student, Virginia Poly. Inst.,& St. Univ.,USA J. BARTHELEMY, Research Scientist, NASA-Langley,USA P. BARTHOLOMEW, Research Engineer, Royal Aircraft Est.,UK T. BELEK, Associate Professor, Istanbul Tech. Univ.,Turkey VII M. BENDSOE, Associate Professor, Tech. Univ. Of Denmark,Denmark R. BENEDIT, Research Engineer, GOODYEAR, USA K. BLETZINGER, Research Engineer, Univ. of Stuttgart,FRG T. BRAMA, Research Engineer, SAAB-SCANIA AB,Sweden R. CARNEIRO BARROS, Assist. Professor, Univ. of Oporto,Portugal D. CHENAIS, Assist. Professor, Univ. of Nice,France R. CONTRO, Professor, Polytechnic of Milan,Italy R. COSTA, Engineer, PROFABRIL,Portugal R. CRUZ, Engineer, MAGUE,Portugal H. CUDNEY, Ph. D. Student, State Univ. of New York, USA R. CUNTZE, Head of Dept. Structural Analysis, MAN,FRG M. DARKINS, Research Engineer, British Aerospace, UK K. DEMS, Assist. Professor, Lodz Tech. Univ.,Poland J. DOMINGUEZ, Professor, Univ. of Sevilla, Spain P. DRAKATOS, Professor, Univ. of Patras,Greece F. EL-YAFI, Research Engineer, CETIM,France Y. EROTOKRITOS, Senior Research Engineer, ISVR,UK B. ESPING, Research Scientist, Royal Inst. of Technology,Sweden F. FAGUNDO, Associate Professor, Univ. of Florida,USA L. FERNANDES, Ph. D. Student, Tech. Univ. of Lisbon,Portugal F. FORTSCH, Research Associate, Univ. of Aachen,FRG G. FROSI, Manager, IBM -ITALIA,Italy A. GAGO, Ph. D. Student, Tech. Univ. of Lisbon,Portugal J. GARCIA-LOMAS, Professor, Univ. of Sevilla,Spain E. GOMES, Ph. D. Student, Tech. Univ. of Lisbon,Portugal C. GUEDES SOARES, Assist. Professor, Port. Naval Acad.,Portugal M. GURGOZE, Associate Professor, Istanbul Tech. Univ.,Turkey R. HABER, Associate Professor, Univ. of Illinois, USA P. HAJELA, Assist. Professor, Univ. of Florida,USA D. HARTMANN, Professor, Univ. of Dortmund,FRG S. HERNANDEZ, Reader, Univ. of Zaragoza,Spain J.HERSKOYITS, Assoc. Professor, Univ. of Rio de Janeiro,Brazil D. HOELTZEL, Assist. Professor, Columbia Univ.,USA J. HOU, Assist. Professor,Old Dominion Univ.,USA M. JAKIELA, Ph. D. Student, Univ. of Michigan,USA B. KAFTANOGLU, Professor, Middle East Tech. Univ.,Turkey M. KAMAT, Professor, Georgia Inst. of Technology,USA M. KAPOOR, Professor, Indian Inst. of Tech.,India B. KARmALOO, Professor, Univ. of Sidney,Australia S. KHOT, Aero. Engineer, WPAFB,USA U. KIRSCH, Dean, Israel Inst. of Tech. ,Israel C. KNOPF-LENOIR, Research Engineer, GRADIENT,France J. KRAMMER, Engineer, MBB,FRG S. KURlTZ, Ph. D. Student, UCLA,USA B. KWAK, Professor, K.A.I.S.T.,Republic of Korea R. LATIF, Structural Analysis Eng., British Aerospace,UK R. LEAL, Ph. D. Student, Univ. of Coimbra,Portugal G. LECINA, Senior Engineer, Avions Marcel Dassault,France J. MARCELIN, Research Associate, INSA,France P. MARTIN, Ph. D. Student, State Univ. of Ghent,Belgium H. MELZER, Engineer, MBB,FRG R. MERlC, Assoc. Professor, Res. Inst. Basic Sciences,Turkey P. MIKOLAJ, Engineer, ERNO,FRG B. MLEJNEK, Research Engineer, Inst. Compo Applications,FRG P. MONTRULL, Assist. Professor, Univ. Poly. Valencia,Spain S. MORIANO, Ph. D. Student, Univ. of Nice,France C. M. MOTA SOARES, Assist. Prof. , Tech. Univ. of Lisbon,Portugal VIII V. NGUYEN, Professor, Univ. of Namur,Belgium M. NO, Professor, Univ. of Navarra,Spain R. NOTENBOOM, Staff Scientist, Tech. Univ. of Delft,Netherland G. PALASSOPOULOS, Professor, Military Academy of Greecif,Greece PAULI PEDERSEN, Professor, Tech. Univ. of Denmark,Denmark PREBEN PEDERSEN, Professor, Tech. Univ. of Denmark,Denmark J. PIMENTEL, Engineer, MAGUE,Portugal M. REITMAN, Professor, Univ. of Illinois,USA S. RIZZO, Professor, Univ. of Palermo,Italy H. RODRIGUES, Ph. D. Student, Univ. of Michigan,USA B. ROUSSELET, Professor, INRIA,France G. ROZVANI, Professor, Univ. of Essen,FRG J. SANTOS, Ph. D. Student, Univ. of lowa,USA A. SCHWAB, Assist. Professor, Tech. Univ. of Delft,Netheriand M. SERNA, Professor, Univ. of Navarra,Spain L. SIMOES, Assist. Professor, Univ. of Coimbra,Portugal P. STRONA, Research Engineer, FIAT,Italy D. TEMPLEMAN, Reader, Univ. of Liverpool,UK S. THOMSEN, Ph. D. Student, Tech. Univ. of Denmark,Denmark B. TOPPING, Lecturer, Univ. of Edinburgh,UK L. TRABUCHO CAMPOS, Assist. Prof. ,Tech. Univ. of Lisbon,Portugal J. TRIGO CORTES, Engineer, SOREFAME,Portugal P. TROMPETTE, Professor, Univ. of Grenoble,France V. VENKAYYA, Aero. Engineer, WPAFB,USA M. VINCENT, Engineer, Aerospatiale,France P. WARD, Director of Research and Development, SDRC,UK R. WATKINS, Ph. D. Student, Cranfield Inst. of Technology,UK K. WELLEN, Engineer, MBB,FRG Y. YOO, Assist. Professor, K.A.I.S.T.,RepubJic of Korea R. ZIMMERMANN, Research Scientist, DFVLR,FRG M. ZYCZKOWSKI, Professor, Tech. Univ. of Krakow,Poland PREFACE This book contains the edited version of lectures and selected papers presented at the NATO ADVANCED STUDY INSTITUTE ON COMPUTER AIDED OPTIMAL DESIGN: Structural and Mechanical Systems, held in Tr6ia, Portugal, 29th June to 11th July 1986, and organized by CEMUL - Center of Mechanics and Materials of the Technical University of Lisbon. The Institute was attended by 120 participants from 21 countries, including leading scientists and engineers from universities, research institutions and industry, and Ph.D. students. Some participants presented invited and contributed papers during the Institute and almost all participated actively in discussions on scientific aspects during the Institute. The Advanced Study Institute provided a forum for interaction among eminent scientists and engineers from different schools of thought and young reseachers. The Institute addressed the foundations and current state of the art of essential techniques related to computer aided optimal design of structural and mechanical systems, namely: Vari ational and Finite Element Methods in Optimal Design, Numerical Optimization Techniques, Design Sensitivity Analysis, Shape Optimal Design, Adaptive Finite Element Methods in Shape Optimization, CAD Technology, Software Development Techniques, Integrated Computer Aided Design and Knowledge Based Systems. Special topics of growing importance were also pre sented. This book is organized in eight parts, each one addressing a technical aspect of the field of Computer Aided Optimal Design: Part I : Variational Methods in Optimal Design Part fI : Numerical Methods in Optimal Design Part ill : Shape Optimal Design Part IV : Multilevel and Interdisciplinary Optimal Design Part V : Optimal Design of Mechanical Systems Part VI : Knowledge Based Systems in Optimal Design Part VII : Integrated CAD/FEM/OPTIMIZATION Techniques and Applications Panel Discussion: Trends in Computer Aided Optimal Design The foundations and recent developments of variational and finite element methods and mathematical programming techniques, applied to the optimal design and control of elastic and nonlinear structures, are presented by leading scientists. Several contributors address different methods for shape optimal design of structures, in cluding recent research on boundary element methods in shape optimal design, design sensitivity analysis and optimal design of nonlinear structures, adaptive finite element methods for shape optimization and the practical implementation of shape optimal design in commercially available software. In this book special emphasis is placed on the integration of CAD techniques for geometric modelling, finite element analysis and optimization methods. Several academic and industrial specialists reviewed the current state of development. A critical review of the available com mercial codes is presented. Some researchers have integrated all these techniques in codes and applied them to the design of structures in aerospace, aircraft and car industries. These appli cations show that the integration of these techniques into standard tools for practical design is a major factor for industrial usage of computers in design of structural systems. Other papers presented or submitted to the Advanced Study Institute, but not included in this book, are published in a Special Issue of the Journal of Engineering Optimization in 1987. x Without the sponsorship and financial support of the Scientific Affairs Division of NATO, National Aeronautics and Space Administration, National Science Foundation and United States Air Force the Institute and this book would not have been possible. The financial support of all other sponsors also contributed decisively to the success of the Institute. The Editor deeply appreciated all the advice and help in organizing the Institute given by Dr. Craig Sinclair and the late Dr. M. di Lullo, both of the Scientific Affairs Division of NATO. I am indebted to all members of the Organizing Committee (Prof. J.E. Taylor, Prof. E.J. Haug, Dr. J. Sobieski, Dr. L. Berke, Prof. C. Fleury and Dr. H. Hornlein) for the outstanding work that led to a very successful Institute. I am also grateful to all authors for their effort in writing the lectures and papers in time, allowing this book to be published as planned. Special thanks to CEMUL staff, Ms Gloria Ramos, Ms. Alexandra Confeiteiro and Mr. Amandio Rebelo, for their effort in administrative planning and support of the Institute. I am very grateful to my family, Maria do Rosario and our daughter Joana Sofia, for all the support during the organization of the Institute and of this book. Special thanks for my unde Hermano Cabral for the video and magnetic tape of the Panel Session of the Institute Lisbon, December 1986 Carlos A. Mota Soares

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This book contains the edited version of lectures and selected papers presented at the NATO ADVANCED STUDY INSTITUTE ON COMPUTER AIDED OPTIMAL DESIGN: Structural and Mechanical Systems, held in Tr6ia, Portugal, 29th June to 11th July 1986, and organized by CEMUL -Center of Mechanics and Materials of
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by  J. E. Taylor (auth.)
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Computer Aided Optimal Design: Structural and Mechanical Systems NATO ASI Series Advanced Science Institutes Series A series presenting the results of activities sponsored by the NA TO Science Committee, which aims at the dissemination of advanced scientific and technological knowledge, with a view to strengthening links between scientific communities. The Series is published by an international board of publishers in conjunction with the NATO Scientific Affairs Division A Life Sciences Plenum Publishing Corporation B Physics London and New York C Mathematical and D. Reidel Publishing Company Physical Sciences Dordrecht, Boston, Lancaster and Tokyo D Behavioural and Martinus Nijhoff Publishers Social Sciences Boston, The Hague, Dordrecht and Lancaster E Applied Sciences F Computer and Springer-Verlag Systems Sciences Berlin Heidelberg New York G Ecological Sciences London Paris Tokyo H Cell Biology Series F: Computer and Systems Sciences Vol. 27 Computer Aided Optimal Design: Structural and Mechanical Systems Edited by Carlos A. Mota Soares Centro de Mecanica e Materiais da Universidade Tecnica de Lisboa - C EMU L Instituto Superior Tecnico Avenida Rovisco Pais 1096 Lisboa Codex/Portugal Springer -Verlag Berlin Heidelberg New York London Paris Tokyo Published in cooperation with NATO Scientific Affairs Divison Proceedings of the NATO Advanced Study Institute on Computer Aided Optimal Design: Structural and Mechanical Systems held in Tr6ia, Portugal, June 29-July 11, 1986 ISBN-13:978-3-642-83053-2 e-ISBN-13:978-3-642-83051-8 001: 10.1007/978-3-642-83051-8 Library of Congress Cataloging-in-Publication Data. NATO Advanced Study Institute on Computer Aided Optimal Design: Structural and Mechanical Systems (1986 : Tr6ia, Portugal) Computer aided optimal design. (NATO ASI series, Series F: Computer and systems sciences; vol. 27) "Proceedings of the NATO Advanced Study Institute on Computer Aided Optimal Design: Structural and Mechanical Systems held in Tr6ia, Portugal, June 29 - July 11, 1986"-T.p. verso. "Published in cooperation with NATO Scientific Affairs Division," 1. Computer-aided design-Congresses. 2. Engineering design-Data processing Congresses, I. Soares, Carlos A. Mota, 1945-. II. North Atlantic Treaty Organization. Scientific Affairs Division. III. Title, IV, Series: NATO ASI series, Series F, Computer and system sciences; no, 27, TA174.N365 1986 620'.00425'0285 87-382 ISBN-13:978-3-642-83053-2 (U.S.) This work is subject to copyright. All righls are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, re-use of illustrations, recitation, broadcasting, reproduction on microfilms or in other ways, and storage in data banks, Duplication of this publication or parts thereof is only permitted under the provisions of the German Copyright Law of September 9, 1965, in its version of June 24,1985, and a copyright fee must always be paid, Violations fall under the prosecution act of the German Copyright Law, @)Springer-Verlag Berlin Heidelberg 1987 Softcover reprint of the hardcover 1st edition 1987 2145/3140-543210 NATO/NASA/NSF/USAF ADVANCED STUDY INSTITUTE COMPUTER AIDED OPTIMAL DESIGN Structural and Mechanical Systems TROIA, PORTUGAL, 29th June - 11th July, 1986 MAIN SPONSORS NATO:North Atlantic Treaty Organization NASA:The U. S. National Aeronautics and Space Administration NSF: The U. S. National Science Foundation USAF:The U. S. Air Force OTHER SPONSORS CEMUL:Centro de Mecanica e Materiais da Univ. Tecnica de Lisboa INIC:lnstituto Nacional da Investiga(,;a.o Cientffica Secretaria de Estado do Ensino Superior Comissao Permanente INVOTAN JNICT:Junta Nacional de Investiga(,;a.o Cientifica e Tecnol6gica 1ST: Instituto Superior Tecnico UTL:Universidade Tecnica de Lisboa MAGUE:Constru(,;oes Metalomecanicas, S.A.R.L. PECHINEY European Research Office, United States Army SOREFAME: Sociedades Reunidas de Fabrica(,;oes Metalicas,S.A.R.L. Escola Nautica Infante D. Henrique BPA:Banco Portugues do Atlantico TAP Air Portugal CARRIS: Companhia dos Caminhos de Ferro de Lisboa RN: Rodoviaria Nacional MAN Technologie Gmbh DIRECTOR: C. A. Mota Soares ORGANIZING COMMITTEE L. BERKE, Chief Scientist for Structures, NASA-Lewis, USA C. FLEURY, Associate Professor, UCLA, USA E. HAUG,Professor, Univ. of Iowa, USA H. HORNLEIN, Research Scientist, MBB, FRG C. A. MOTA SOARES,Professor, Tech. Univ. of Lisbon, PORTUGAL J. SOBIESKI,Deputy Head Interdiscipl. Res. Office, NASA-Langley,USA J. TAYLOR, Professor, Univ. of Michigan, USA ORGANIZED BY CEMUL: Centro de Meta.nica e Materiais da Univ. Ttknica de Lisboa 1ST: Instituto Superior Tecnico UTL: Universidade Tecnica de Lisboa NATO/NASA/NSF /USAF ADVANCED STUDY INSTITUTE COMPl'TER AIDED OPTIMAL DESIGN Structural and Mechanical Systems TROIA, PORTUGAL, 29 June -11 July, 1986 DIRECTOR: C. A. Mota Soares ORGANIZING COMMITTEE L. BERKE, Chief Scientist for Structures, NASA-Lewis,USA C. FLEURY, Associate Professor, UCLA,USA E. HAUG , Professor, Univ. of Iowa,USA H. HORNLEIN , Research Scientist, MBB,FRG C. A. MOTA SOARES, Professor, Tech. Univ. of Lisbon,Portugal J. SOBIESKI, Deputy Head Interdiscipl. Res. Office, NASA·Langley,USA J. TAYLOR, Professor, Univ. of Michigan,USA LECTURERS P. BECKERS, Associate Professor, Laboratoire Tech. Aero. et Spatiales, Belgium L. BERKE, Chief Scientist for Structures, NASA-Lewis,USA K. CHOI, Associate Professor, Univ. of Iowa,USA C. CINQUINI, Professor, Univ. of Pavia,Italy C. FLEURY, Associate Professor, UCLA,USA D. GRIERSON, Professor, Univ. of Waterloo,Canada R. HAFTKA, Professor, Virginia Poly. Institute &: St. Univ.,USA E. HAUG, Professor, Univ. of Iowa,USA H. HORNLEIN, Research Scientist, MBB,FRG N. KIKUCHI, Professor, Univ. of Michigan,USA A. MORRIS, Professor, Cranfield Inst. of Technology,UK C. A. MOTA SOARES, Professor, Tech. Univ. of Lisbon,Portugal Z. MROZ,Professor, Academy of Science of Poland,Poland N. OLHOFF,Professor, Univ. of Aalborg,Denmark P. PAPALAMBROS, Associate Professor, Univ. of Michigan,USA J. SOBIESKI, Deputy Head Interdiscipl. Res. Office, NASA-LangleY,USA J. TAYLOR, Professor, Univ. of Michigan,USA G. VANDERPLAATS, Professor, Univ. of California, Santa Barbara,USA PARTICIPANTS A. ADAO DA FONSECA, Associate Professor, Univ. of Oporto,Portugal M. AHMAD, Lecturer, Limerick Tech. Univ.,Ireland P. AMABILE, Structural Engineer, Alitalia,Italy J. AMBROSIO, Ph. D. Student, Univ. of Arizona,USA B. ANDERSSON, Professor, Aeronautical Res. Inst. of Sweden,Sweden J. ARORA, Professor, Univ. of Iowa,USA E. ATREK, Research Engineer, EMRC, USA S. AZARM, Assist. Professor, Univ. of Maryland,USA J. BARBOSA, Assist. Professor, Nautical School,Portugal A. BARROS, Ph. D. Student, Tech. Univ of Lisbon,Portugal B. BARTHELEMY, Ph. D. Student, Virginia Poly. Inst.,& St. Univ.,USA J. BARTHELEMY, Research Scientist, NASA-Langley,USA P. BARTHOLOMEW, Research Engineer, Royal Aircraft Est.,UK T. BELEK, Associate Professor, Istanbul Tech. Univ.,Turkey VII M. BENDSOE, Associate Professor, Tech. Univ. Of Denmark,Denmark R. BENEDIT, Research Engineer, GOODYEAR, USA K. BLETZINGER, Research Engineer, Univ. of Stuttgart,FRG T. BRAMA, Research Engineer, SAAB-SCANIA AB,Sweden R. CARNEIRO BARROS, Assist. Professor, Univ. of Oporto,Portugal D. CHENAIS, Assist. Professor, Univ. of Nice,France R. CONTRO, Professor, Polytechnic of Milan,Italy R. COSTA, Engineer, PROFABRIL,Portugal R. CRUZ, Engineer, MAGUE,Portugal H. CUDNEY, Ph. D. Student, State Univ. of New York, USA R. CUNTZE, Head of Dept. Structural Analysis, MAN,FRG M. DARKINS, Research Engineer, British Aerospace, UK K. DEMS, Assist. Professor, Lodz Tech. Univ.,Poland J. DOMINGUEZ, Professor, Univ. of Sevilla, Spain P. DRAKATOS, Professor, Univ. of Patras,Greece F. EL-YAFI, Research Engineer, CETIM,France Y. EROTOKRITOS, Senior Research Engineer, ISVR,UK B. ESPING, Research Scientist, Royal Inst. of Technology,Sweden F. FAGUNDO, Associate Professor, Univ. of Florida,USA L. FERNANDES, Ph. D. Student, Tech. Univ. of Lisbon,Portugal F. FORTSCH, Research Associate, Univ. of Aachen,FRG G. FROSI, Manager, IBM -ITALIA,Italy A. GAGO, Ph. D. Student, Tech. Univ. of Lisbon,Portugal J. GARCIA-LOMAS, Professor, Univ. of Sevilla,Spain E. GOMES, Ph. D. Student, Tech. Univ. of Lisbon,Portugal C. GUEDES SOARES, Assist. Professor, Port. Naval Acad.,Portugal M. GURGOZE, Associate Professor, Istanbul Tech. Univ.,Turkey R. HABER, Associate Professor, Univ. of Illinois, USA P. HAJELA, Assist. Professor, Univ. of Florida,USA D. HARTMANN, Professor, Univ. of Dortmund,FRG S. HERNANDEZ, Reader, Univ. of Zaragoza,Spain J.HERSKOYITS, Assoc. Professor, Univ. of Rio de Janeiro,Brazil D. HOELTZEL, Assist. Professor, Columbia Univ.,USA J. HOU, Assist. Professor,Old Dominion Univ.,USA M. JAKIELA, Ph. D. Student, Univ. of Michigan,USA B. KAFTANOGLU, Professor, Middle East Tech. Univ.,Turkey M. KAMAT, Professor, Georgia Inst. of Technology,USA M. KAPOOR, Professor, Indian Inst. of Tech.,India B. KARmALOO, Professor, Univ. of Sidney,Australia S. KHOT, Aero. Engineer, WPAFB,USA U. KIRSCH, Dean, Israel Inst. of Tech. ,Israel C. KNOPF-LENOIR, Research Engineer, GRADIENT,France J. KRAMMER, Engineer, MBB,FRG S. KURlTZ, Ph. D. Student, UCLA,USA B. KWAK, Professor, K.A.I.S.T.,Republic of Korea R. LATIF, Structural Analysis Eng., British Aerospace,UK R. LEAL, Ph. D. Student, Univ. of Coimbra,Portugal G. LECINA, Senior Engineer, Avions Marcel Dassault,France J. MARCELIN, Research Associate, INSA,France P. MARTIN, Ph. D. Student, State Univ. of Ghent,Belgium H. MELZER, Engineer, MBB,FRG R. MERlC, Assoc. Professor, Res. Inst. Basic Sciences,Turkey P. MIKOLAJ, Engineer, ERNO,FRG B. MLEJNEK, Research Engineer, Inst. Compo Applications,FRG P. MONTRULL, Assist. Professor, Univ. Poly. Valencia,Spain S. MORIANO, Ph. D. Student, Univ. of Nice,France C. M. MOTA SOARES, Assist. Prof. , Tech. Univ. of Lisbon,Portugal VIII V. NGUYEN, Professor, Univ. of Namur,Belgium M. NO, Professor, Univ. of Navarra,Spain R. NOTENBOOM, Staff Scientist, Tech. Univ. of Delft,Netherland G. PALASSOPOULOS, Professor, Military Academy of Greecif,Greece PAULI PEDERSEN, Professor, Tech. Univ. of Denmark,Denmark PREBEN PEDERSEN, Professor, Tech. Univ. of Denmark,Denmark J. PIMENTEL, Engineer, MAGUE,Portugal M. REITMAN, Professor, Univ. of Illinois,USA S. RIZZO, Professor, Univ. of Palermo,Italy H. RODRIGUES, Ph. D. Student, Univ. of Michigan,USA B. ROUSSELET, Professor, INRIA,France G. ROZVANI, Professor, Univ. of Essen,FRG J. SANTOS, Ph. D. Student, Univ. of lowa,USA A. SCHWAB, Assist. Professor, Tech. Univ. of Delft,Netheriand M. SERNA, Professor, Univ. of Navarra,Spain L. SIMOES, Assist. Professor, Univ. of Coimbra,Portugal P. STRONA, Research Engineer, FIAT,Italy D. TEMPLEMAN, Reader, Univ. of Liverpool,UK S. THOMSEN, Ph. D. Student, Tech. Univ. of Denmark,Denmark B. TOPPING, Lecturer, Univ. of Edinburgh,UK L. TRABUCHO CAMPOS, Assist. Prof. ,Tech. Univ. of Lisbon,Portugal J. TRIGO CORTES, Engineer, SOREFAME,Portugal P. TROMPETTE, Professor, Univ. of Grenoble,France V. VENKAYYA, Aero. Engineer, WPAFB,USA M. VINCENT, Engineer, Aerospatiale,France P. WARD, Director of Research and Development, SDRC,UK R. WATKINS, Ph. D. Student, Cranfield Inst. of Technology,UK K. WELLEN, Engineer, MBB,FRG Y. YOO, Assist. Professor, K.A.I.S.T.,RepubJic of Korea R. ZIMMERMANN, Research Scientist, DFVLR,FRG M. ZYCZKOWSKI, Professor, Tech. Univ. of Krakow,Poland PREFACE This book contains the edited version of lectures and selected papers presented at the NATO ADVANCED STUDY INSTITUTE ON COMPUTER AIDED OPTIMAL DESIGN: Structural and Mechanical Systems, held in Tr6ia, Portugal, 29th June to 11th July 1986, and organized by CEMUL - Center of Mechanics and Materials of the Technical University of Lisbon. The Institute was attended by 120 participants from 21 countries, including leading scientists and engineers from universities, research institutions and industry, and Ph.D. students. Some participants presented invited and contributed papers during the Institute and almost all participated actively in discussions on scientific aspects during the Institute. The Advanced Study Institute provided a forum for interaction among eminent scientists and engineers from different schools of thought and young reseachers. The Institute addressed the foundations and current state of the art of essential techniques related to computer aided optimal design of structural and mechanical systems, namely: Vari ational and Finite Element Methods in Optimal Design, Numerical Optimization Techniques, Design Sensitivity Analysis, Shape Optimal Design, Adaptive Finite Element Methods in Shape Optimization, CAD Technology, Software Development Techniques, Integrated Computer Aided Design and Knowledge Based Systems. Special topics of growing importance were also pre sented. This book is organized in eight parts, each one addressing a technical aspect of the field of Computer Aided Optimal Design: Part I : Variational Methods in Optimal Design Part fI : Numerical Methods in Optimal Design Part ill : Shape Optimal Design Part IV : Multilevel and Interdisciplinary Optimal Design Part V : Optimal Design of Mechanical Systems Part VI : Knowledge Based Systems in Optimal Design Part VII : Integrated CAD/FEM/OPTIMIZATION Techniques and Applications Panel Discussion: Trends in Computer Aided Optimal Design The foundations and recent developments of variational and finite element methods and mathematical programming techniques, applied to the optimal design and control of elastic and nonlinear structures, are presented by leading scientists. Several contributors address different methods for shape optimal design of structures, in cluding recent research on boundary element methods in shape optimal design, design sensitivity analysis and optimal design of nonlinear structures, adaptive finite element methods for shape optimization and the practical implementation of shape optimal design in commercially available software. In this book special emphasis is placed on the integration of CAD techniques for geometric modelling, finite element analysis and optimization methods. Several academic and industrial specialists reviewed the current state of development. A critical review of the available com mercial codes is presented. Some researchers have integrated all these techniques in codes and applied them to the design of structures in aerospace, aircraft and car industries. These appli cations show that the integration of these techniques into standard tools for practical design is a major factor for industrial usage of computers in design of structural systems. Other papers presented or submitted to the Advanced Study Institute, but not included in this book, are published in a Special Issue of the Journal of Engineering Optimization in 1987. x Without the sponsorship and financial support of the Scientific Affairs Division of NATO, National Aeronautics and Space Administration, National Science Foundation and United States Air Force the Institute and this book would not have been possible. The financial support of all other sponsors also contributed decisively to the success of the Institute. The Editor deeply appreciated all the advice and help in organizing the Institute given by Dr. Craig Sinclair and the late Dr. M. di Lullo, both of the Scientific Affairs Division of NATO. I am indebted to all members of the Organizing Committee (Prof. J.E. Taylor, Prof. E.J. Haug, Dr. J. Sobieski, Dr. L. Berke, Prof. C. Fleury and Dr. H. Hornlein) for the outstanding work that led to a very successful Institute. I am also grateful to all authors for their effort in writing the lectures and papers in time, allowing this book to be published as planned. Special thanks to CEMUL staff, Ms Gloria Ramos, Ms. Alexandra Confeiteiro and Mr. Amandio Rebelo, for their effort in administrative planning and support of the Institute. I am very grateful to my family, Maria do Rosario and our daughter Joana Sofia, for all the support during the organization of the Institute and of this book. Special thanks for my unde Hermano Cabral for the video and magnetic tape of the Panel Session of the Institute Lisbon, December 1986 Carlos A. Mota Soares

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This book contains the edited version of lectures and selected papers presented at the NATO ADVANCED STUDY INSTITUTE ON COMPUTER AIDED OPTIMAL DESIGN: Structural and Mechanical Systems, held in Tr6ia, Portugal, 29th June to 11th July 1986, and organized by CEMUL -Center of Mechanics and Materials of
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