Trace-Based Methods for Solving Nonlinear Global Optimization and Satisfiability Problems

In this paper we present a method called NOVEL (Nonlinear Optimization via External Lead) forsolving continuous and discrete global optimization problems. NOVEL addresses the balance between global search and local search, using a trace to aid in identifying promising regions before committing to local searches. We discuss NOVEL for solving continuous constrained optimization problems and show how it can be extended to solve constrained satisfaction and discrete satisfiability problems. We first transform the problem using Lagrange multipliers into an unconstrained version. Since a stable solution in a Lagrangian formulation only guarantees a local optimum satisfying the constraints, we propose a global search phase in which an aperiodic and bounded trace function is added to the search to first identify promising regions for local search. The trace generates an information-bearing trajectory from which good starting points are identified for further local searches. Taking only a small portion of the total search time, this elegant approach significantly reduces unnecessary local searches in regions leading to the same local optimum. We demonstrate the effectiveness of NOVEL on a collection of continuous optimization benchmark problems, finding the same or better solutions while satisfying the constraints. We extend NOVEL to discrete constraint satisfaction problems (CPSs) by showing an efficient transformation method for CSPs and the associated representation in finite-difference equations in NOVEL. We apply NOVEL to solve Boolean satisfiability instances in circuit fault detection and circuit synthesis applications, and show comparable performance when compared to the best existing method.     

Unconstrained 0–1 nonlinear programming: A nondifferentiable approach

The purpose of this paper is to give new formulations for the unconstrained 0–1 nonlinear problem. The unconstrained 0–1 nonlinear problem is reduced to nonlinear continuous problems where the objective functions are piecewise linear. In the first formulation, the objective function is a difference of two convex functions while the other formulations lead to concave problems. It is shown that the concave problems we obtain have fewer integer local minima than has the classical concave formulation of the 0–1 unconstrained 0–1 nonlinear problem.     

Stability Analysis of Gradient-Based Neural Networks for Optimization Problems

The paper introduces a new approach to analyze the stability of neural network models without using any Lyapunov function. With the new approach, we investigate the stability properties of the general gradient-based neural network model for optimization problems. Our discussion includes both isolated equilibrium points and connected equilibrium sets which could be unbounded. For a general optimization problem, if the objective function is bounded below and its gradient is Lipschitz continuous, we prove that (a) any trajectory of the gradient-based neural network converges to an equilibrium point, and (b) the Lyapunov stability is equivalent to the asymptotical stability in the gradient-based neural networks. For a convex optimization problem, under the same assumptions, we show that any trajectory of gradient-based neural networks will converge to an asymptotically stable equilibrium point of the neural networks. For a general nonlinear objective function, we propose a refined gradient-based neural network, whose trajectory with any arbitrary initial point will converge to an equilibrium point, which satisfies the second order necessary optimality conditions for optimization problems. Promising simulation results of a refined gradient-based neural network on some problems are also reported.     

On relaxations of the max k-cut problem formulations

A tight continuous relaxation is a crucial factor in solving mixed integer formulations of many NP-hard combinatorial optimization problems. The (weighted) max k-cut problem is a fundamental combinatorial optimization problem with multiple notorious mixed integer optimization formulations. In this paper, we explore four existing mixed integer optimization formulations of the max k-cut problem. Specifically, we show that the continuous relaxation of a binary quadratic optimization formulation of the problem is: (i) stronger than the continuous relaxation of two mixed integer linear optimization formulations and (ii) at least as strong as the continuous relaxation of a mixed integer semidefinite optimization formulation. We also conduct a set of experiments on multiple sets of instances of the max k-cut problem using state-of-the-art solvers that empirically confirm the theoretical results in item (i). Furthermore, these numerical results illustrate the advances in the efficiency of global non-convex quadratic optimization solvers and more general mixed integer nonlinear optimization solvers. As a result, these solvers provide a promising option to solve combinatorial optimization problems. Our codes and data are available on GitHub.     

Efficient and Adaptive Lagrange-Multiplier Methods for Nonlinear Continuous Global Optimization

Lagrangian methods are popular in solving continuous constrained optimization problems. In this paper, we address three important issues in applying Lagrangian methods to solve optimization problems with inequality constraints.First, we study methods to transform inequality constraints into equality constraints. An existing method, called the slack-variable method, adds a slack variable to each inequality constraint in order to transform it into an equality constraint. Its disadvantage is that when the search trajectory is inside a feasible region, some satisfied constraints may still pose some effect on the Lagrangian function, leading to possible oscillations and divergence when a local minimum lies on the boundary of the feasible region. To overcome this problem, we propose the MaxQ method that carries no effect on satisfied constraints. Hence, minimizing the Lagrangian function in a feasible region always leads to a local minimum of the objective function. We also study some strategies to speed up its convergence.Second, we study methods to improve the convergence speed of Lagrangian methods without affecting the solution quality. This is done by an adaptive-control strategy that dynamically adjusts the relative weights between the objective and the Lagrangian part, leading to better balance between the two and faster convergence.Third, we study a trace-based method to pull the search trajectory from one saddle point to another in a continuous fashion without restarts. This overcomes one of the problems in existing Lagrangian methods that converges only to one saddle point and requires random restarts to look for new saddle points, often missing good saddle points in the vicinity of saddle points already found.Finally, we describe a prototype Novel (Nonlinear Optimization via External Lead) that implements our proposed strategies and present improved solutions in solving a collection of benchmarks.     

A Gradient-based Continuous Method for Large-scale Optimization Problems

In this paper, we study a gradient-based continuous method for large-scale optimization problems. By converting the optimization problem into an ODE, we are able to show that the solution trajectory of this ODE tends to the set of stationary points of the original optimization problem. We test our continuous method on large-scale problems available in the literature. The simulation results are very attractive.This research was supported in part by Grants FRG/99-00/II-23 and FRG/00-0l/II-63 of Hong Kong Baptist University and the Research Grant Council of Hong Kong.     

An algorithm for nonlinear optimization problems with binary variables

One of the challenging optimization problems is determining the minimizer of a nonlinear programming problem that has binary variables. A vexing difficulty is the rate the work to solve such problems increases as the number of discrete variables increases. Any such problem with bounded discrete variables, especially binary variables, may be transformed to that of finding a global optimum of a problem in continuous variables. However, the transformed problems usually have astronomically large numbers of local minimizers, making them harder to solve than typical global optimization problems. Despite this apparent disadvantage, we show that the approach is not futile if we use smoothing techniques. The method we advocate first convexifies the problem and then solves a sequence of subproblems, whose solutions form a trajectory that leads to the solution. To illustrate how well the algorithm performs we show the computational results of applying it to problems taken from the literature and new test problems with known optimal solutions.     

Continuous quadratic programming formulations of optimization problems on graphs

Four NP-hard optimization problems on graphs are studied: The vertex separator problem, the edge separator problem, the maximum clique problem, and the maximum independent set problem. We show that the vertex separator problem is equivalent to a continuous bilinear quadratic program. This continuous formulation is compared to known continuous quadratic programming formulations for the edge separator problem, the maximum clique problem, and the maximum independent set problem. All of these formulations, when expressed as maximization problems, are shown to follow from the convexity properties of the objective function along the edges of the feasible set. An algorithm is given which exploits the continuous formulation of the vertex separator problem to quickly compute approximate separators. Computational results are given.     

An Exact Penalty Function Method for Continuous Inequality Constrained Optimal Control Problem

In this paper, we consider a class of optimal control problems subject to equality terminal state constraints and continuous state and control inequality constraints. By using the control parametrization technique and a time scaling transformation, the constrained optimal control problem is approximated by a sequence of optimal parameter selection problems with equality terminal state constraints and continuous state inequality constraints. Each of these constrained optimal parameter selection problems can be regarded as an optimization problem subject to equality constraints and continuous inequality constraints. On this basis, an exact penalty function method is used to devise a computational method to solve these optimization problems with equality constraints and continuous inequality constraints. The main idea is to augment the exact penalty function constructed from the equality constraints and continuous inequality constraints to the objective function, forming a new one. This gives rise to a sequence of unconstrained optimization problems. It is shown that, for sufficiently large penalty parameter value, any local minimizer of the unconstrained optimization problem is a local minimizer of the optimization problem with equality constraints and continuous inequality constraints. The convergent properties of the optimal parameter selection problems with equality constraints and continuous inequality constraints to the original optimal control problem are also discussed. For illustration, three examples are solved showing the effectiveness and applicability of the approach proposed.     

Firefly penalty-based algorithm for bound constrained mixed-integer nonlinear programming

In this article, we aim to extend the firefly algorithm (FA) to solve bound constrained mixed-integer nonlinear programming (MINLP) problems. An exact penalty continuous formulation of the MINLP problem is used. The continuous penalty problem comes out by relaxing the integrality constraints and by adding a penalty term to the objective function that aims to penalize integrality constraint violation. Two penalty terms are proposed, one is based on the hyperbolic tangent function and the other on the inverse hyperbolic sine function. We prove that both penalties can be used to define the continuous penalty problem, in the sense that it is equivalent to the MINLP problem. The solutions of the penalty problem are obtained using a variant of the metaheuristic FA for global optimization. Numerical experiments are given on a set of benchmark problems aiming to analyze the quality of the obtained solutions and the convergence speed. We show that the firefly penalty-based algorithm compares favourably with the penalty algorithm when the deterministic DIRECT or the simulated annealing solvers are invoked, in terms of convergence speed.     

Moment calculations for piecewise-defined functions: an application to stochastic optimization with coherent risk measures

This work introduces a new analytical approach to the formulation of optimization problems with piecewise-defined (PD) objective functions. First, we introduce a new definition of multivariate PD functions and derive formal results for their continuity and differentiability. Then, we obtain closed-form expressions for the calculation of their moments. We apply these findings to three classes of optimization problems involving coherent risk measures. The method enables one to obtain insights on problem structure and on sensitivity to imprecision at the problem formulation stage, eliminating reliance on ad-hoc post-optimality numerical calculations.     

Univariate parameterization for global optimization of mixed-integer polynomial problems

This paper presents a new relaxation technique to globally optimize mixed-integer polynomial programming problems that arise in many engineering and management contexts. Using a bilinear term as the basic building block, the underlying idea involves the discretization of one of the variables up to a chosen accuracy level (Teles, J.P., Castro, P.M., Matos, H.A. (2013). Multiparametric disaggregation technique for global optimization of polynomial programming problems. J. Glob. Optim. 55, 227–251), by means of a radix-based numeric representation system, coupled with a residual variable to effectively make its domain continuous. Binary variables are added to the formulation to choose the appropriate digit for each position together with new sets of continuous variables and constraints leading to the transformation of the original mixed-integer non-linear problem into a larger one of the mixed-integer linear programming type. The new underestimation approach can be made as tight as desired and is shown capable of providing considerably better lower bounds than a widely used global optimization solver for a specific class of design problems involving bilinear terms.     

Nonconvex, lower semicontinuous piecewise linear optimization

A branch-and-cut algorithm for solving linear problems with continuous separable piecewise linear cost functions was developed in 2005 by Keha et al. This algorithm is based on valid inequalities for an SOS2 based formulation of the problem. In this paper we study the extension of the algorithm to the case where the cost function is only lower semicontinuous. We extend the SOS2 based formulation to the lower semicontinuous case and show how the inequalities introduced by Keha et al. can also be used for this new formulation. We also introduce a simple generalization of one of the inequalities introduced by Keha et al. Furthermore, we study the discontinuities caused by fixed charge jumps and introduce two new valid inequalities by extending classical results for fixed charge linear problems. Finally, we report computational results showing how the addition of the developed inequalities can significantly improve the performance of CPLEX when solving these kinds of problems.     

Global optimization of truss topology with discrete bar areas—Part II: Implementation and numerical results

A classical problem within the field of structural optimization is to find the stiffest truss design subject to a given external static load and a bound on the total volume. The design variables describe the cross sectional areas of the bars. This class of problems is well-studied for continuous bar areas. We consider here the difficult situation that the truss must be built from pre-produced bars with given areas. This paper together with Part I proposes an algorithmic framework for the calculation of a global optimizer of the underlying non-convex mixed integer design problem. In this paper we use the theory developed in Part I to design a convergent nonlinear branch-and-bound method tailored to solve large-scale instances of the original discrete problem. The problem formulation and the needed theoretical results from Part I are repeated such that this paper is self-contained. We focus on the implementation details but also establish finite convergence of the branch-and-bound method. The algorithm is based on solving a sequence of continuous non-convex relaxations which can be formulated as quadratic programs according to the theory in Part I. The quadratic programs to be treated within the branch-and-bound search all have the same feasible set and differ from each other only in the objective function. This is one reason for making the resulting branch-and-bound method very efficient. The paper closes with several large-scale numerical examples. These examples are, to the knowledge of the authors, by far the largest discrete topology design problems solved by means of global optimization.     

Multi Agent Collaborative Search based on Tchebycheff decomposition

This paper presents a novel formulation of Multi Agent Collaborative Search, for multi-objective optimization, based on Tchebycheff decomposition. A population of agents combines heuristics that aim at exploring the search space both globally (social moves) and in a neighborhood of each agent (individualistic moves). In this novel formulation the selection process is based on a combination of Tchebycheff scalarization and Pareto dominance. Furthermore, while in the previous implementation, social actions were applied to the whole population of agents and individualistic actions only to an elite subpopulation, in this novel formulation this mechanism is inverted. The novel agent-based algorithm is tested at first on a standard benchmark of difficult problems and then on two specific problems in space trajectory design. Its performance is compared against a number of state-of-the-art multi-objective optimization algorithms. The results demonstrate that this novel agent-based search has better performance with respect to its predecessor in a number of cases and converges better than the other state-of-the-art algorithms with a better spreading of the solutions.     

A combined nodal continuous-discontinuous finite element formulation for the Maxwell problem

Continuous Galerkin formulations are appealing due to their low computational cost, whereas discontinuous Galerkin formulation facilitate adaptative mesh refinement and are more accurate in regions with jumps of physical parameters. Since many electromagnetic problems involve materials with different physical properties, this last point is very important. For this reason, in this article we have developed a combined cG-dG formulation for Maxwell’s problem that allows arbitrary finite element spaces with functions continuous in patches of finite elements and discontinuous on the interfaces of these patches. In particular, the second formulation we propose comes from a novel continuous Galerkin formulation that reduces the amount of stabilization introduced in the numerical system. In all cases, we have performed stability and convergence analyses of the methods. The outcome of this work is a new approach that keeps the low CPU cost of recent nodal continuous formulations with the ability to deal with coefficient jumps and adaptivity of discontinuous ones. All these methods have been tested using a problem with singular solution and another one with different materials, in order to prove that in fact the resulting formulations can properly deal with these problems.     

Solving the Maximum Clique Problem with Symmetric Rank-One Non-negative Matrix Approximation

Finding complete subgraphs in a graph, that is, cliques, is a key problem and has many real-world applications, e.g., finding communities in social networks, clustering gene expression data, modeling ecological niches in food webs, and describing chemicals in a substance. The problem of finding the largest clique in a graph is a well-known difficult combinatorial optimization problem and is called the maximum clique problem. In this paper, we formulate a very convenient continuous characterization of the maximum clique problem based on the symmetric rank-one non-negative approximation of a given matrix and build a one-to-one correspondence between stationary points of our formulation and cliques of a given graph. In particular, we show that the local (resp. global) minima of the continuous problem corresponds to the maximal (resp. maximum) cliques of the given graph. We also propose a new and efficient clique finding algorithm based on our continuous formulation and test it on the DIMACS data sets to show that the new algorithm outperforms other existing algorithms based on the Motzkin–Straus formulation and can compete with a sophisticated combinatorial heuristic.     

A global optimization method for the design of space trajectories

The problem of optimally designing a trajectory for a space mission is considered in this paper. Actual mission design is a complex, multi-disciplinary and multi-objective activity with relevant economic implications. In this paper we will consider some simplified models proposed by the European Space Agency as test problems for global optimization (GTOP database). We show that many trajectory optimization problems can be quite efficiently solved by means of relatively simple global optimization techniques relying on standard methods for local optimization. We show in this paper that our approach has been able to find trajectories which in many cases outperform those already known. We also conjecture that this problem displays a “funnel structure” similar, in some sense, to that of molecular optimization problems.     

Nonsmooth optimization reformulations characterizing all solutions of jointly convex generalized Nash equilibrium problems

Generalized Nash equilibrium problems (GNEPs) allow, in contrast to standard Nash equilibrium problems, a dependence of the strategy space of one player from the decisions of the other players. In this paper, we consider jointly convex GNEPs which form an important subclass of the general GNEPs. Based on a regularized Nikaido-Isoda function, we present two (nonsmooth) reformulations of this class of GNEPs, one reformulation being a constrained optimization problem and the other one being an unconstrained optimization problem. While most approaches in the literature compute only a so-called normalized Nash equilibrium, which is a subset of all solutions, our two approaches have the property that their minima characterize the set of all solutions of a GNEP. We also investigate the smoothness properties of our two optimization problems and show that both problems are continuous under a Slater-type condition and, in fact, piecewise continuously differentiable under the constant rank constraint qualification. Finally, we present some numerical results based on our unconstrained optimization reformulation.     

Continuous minimax optimization using modal intervals

Many real life problems can be stated as a continuous minimax optimization problem. Well-known applications to engineering, finance, optics and other fields demonstrate the importance of having reliable methods to tackle continuous minimax problems. In this paper a new approach to the solution of continuous minimax problems over reals is introduced, using tools based on modal intervals. Continuous minimax problems, and global optimization as a particular case, are stated as the computation of semantic extensions of continuous functions, one of the key concepts of modal intervals. Modal intervals techniques allow to compute, in a guaranteed way, such semantic extensions by means of an efficient algorithm. Several examples illustrate the behavior of the algorithms in unconstrained and constrained minimax problems.