On concave constraint functions and duality in predominantly black-and-white topology optimization

We study the ‘classical’ discrete, solid-void or black-and-white topology optimization problem, in which minimum compliance is sought, subject to constraints on the available material resource. We assume that this problem is solved using methods that relax the discreteness requirements during intermediate steps, and that the associated programming problems are solved using sequential approximate optimization (SAO) algorithms based on duality. More specifically, we assume that the advantages of the well-known Falk dual are exploited. Such algorithms represent the state-of-the-art in (large-scale) topology optimization when multiple constraints are present; an important example being the method of moving asymptotes (MMA). We depart by noting that the aforementioned SAO algorithms are invariably formulated using strictly convex subproblems. We then numerically illustrate that strictly concave constraint functions, like those present in volumetric penalization, as recently proposed by Bruns and co-workers, may increase the difficulty of the topology optimization problem when strictly convex approximations are used in the SAO algorithm. In turn, volumetric penalization methods are of notable importance, since they seem to hold much promise for generating predominantly solid-void or discrete designs. We then argue that the nonconvex problems we study may in some instances efficiently be solved using dual SAO methods based on nonconvex (strictly concave) approximations which exhibit monotonicity with respect to the design variables. Indeed, for the topology problem resulting from SIMP-like volumetric penalization, we show explicitly that convex approximations are not necessary. Even though the volumetric penalization constraint is strictly concave, the maximum of the resulting dual subproblem still corresponds to the optimum of the original primal approximate subproblem.