MOALG: A Metaheuristic Hybrid of Multi-Objective Ant Lion Optimizer and Genetic Algorithm for Solving Design Problems

This study proposes a hybridization of two efficient algorithm’s Multi-objective Ant Lion Optimizer Algorithm(MOALO)which is a multi-objective enhanced version of the Ant Lion Optimizer Algorithm(ALO)and the Genetic Algorithm(GA).MOALO version has been employed to address those problems containing many objectives and an archive has been employed for retaining the non-dominated solutions.The uniqueness of the hybrid is that the operators like mutation and crossover of GA are employed in the archive to update the solutions and later those solutions go through the process of MOALO.A first-time hybrid of these algorithms is employed to solve multi-objective problems.The hybrid algorithm overcomes the limitation of ALO of getting caught in the local optimum and the requirement of more computational effort to converge GA.To evaluate the hybridized algorithm’s performance,a set of constrained,unconstrained test problems and engineering design problems were employed and compared with five well-known computational algorithms-MOALO,Multi-objective Crystal Structure Algorithm(MOCryStAl),Multi-objective Particle Swarm Optimization(MOPSO),Multi-objective Multiverse Optimization Algorithm(MOMVO),Multi-objective Salp Swarm Algorithm(MSSA).The outcomes of five performance metrics are statistically analyzed and the most efficient Pareto fronts comparison has been obtained.The proposed hybrid surpasses MOALO based on the results of hypervolume(HV),Spread,and Spacing.So primary objective of developing this hybrid approach has been achieved successfully.The proposed approach demonstrates superior performance on the test functions,showcasing robust convergence and comprehensive coverage that surpasses other existing algorithms.

A reduced combustion mechanism of ammonia/diesel optimized with multi-objective genetic algorithm

For the deep understanding on combustion of ammonia/diesel,this study develops a reduced mechanism of ammonia/diesel with 227 species and 937 reactions.The sub-mechanism on ammonia/interactions of N-based and C-based species(N—C)/NOx is optimized using the Non-dominated Sorting Genetic Algorithm II(NSGA-II)with 200 generations.The optimized mechanism(named as 937b)is validated against combustion characteristics of ammonia/methane(which is used to examine the accuracy of N—C interactions)and ammonia/diesel blends.The ignition delay times(IDTs),the laminar flame speeds and most of key intermediate species during the combustion of ammonia/methane blends can be accurately simulated by 937b under a wide range of conditions.As for ammonia/diesel blends with various diesel energy fractions,reasonable predictions on the IDTs under pressures from 1.0 MPa to5.0 MPa as well as the laminar flame speeds are also achieved by 937b.In particular,with regard to the IDT simulations of ammonia/diesel blends,937b makes progress in both aspects of overall accuracy and computational efficiency,compared to a detailed ammonia/diesel mechanism.Further kinetic analysis reveals that the reaction pathway of ammonia during the combustion of ammonia/diesel blend mainly differs in the tendencies of oxygen additions to NH_2 and NH with different equivalence ratios.

Multi-Objective Optimization of Traffic Signal Timing at Typical Junctions Based on Genetic Algorithms

With the rapid development of urban road traffic and the increasing number of vehicles,how to alleviate traffic congestion is one of the hot issues that need to be urgently addressed in building smart cities.Therefore,in this paper,a nonlinear multi-objective optimization model of urban intersection signal timing based on a Genetic Algorithm was constructed.Specifically,a typical urban intersection was selected as the research object,and drivers’acceleration habits were taken into account.What’s more,the shortest average delay time,the least average number of stops,and the maximum capacity of the intersection were regarded as the optimization objectives.The optimization results show that compared with the Webster method when the vehicle speed is 60 km/h and the acceleration is 2.5 m/s^(2),the signal intersection timing scheme based on the proposed Genetic Algorithm multi-objective optimization reduces the intersection signal cycle time by 14.6%,the average vehicle delay time by 12.9%,the capacity by 16.2%,and the average number of vehicles stop by 0.4%.To verify the simulation results,the authors imported the optimized timing scheme into the constructed Simulation of the Urban Mobility model.The experimental results show that the authors optimized timing scheme is superior to Webster’s in terms of vehicle average loss time reduction,carbon monoxide emission,particulate matter emission,and vehicle fuel consumption.The research in this paper provides a basis for Genetic algorithms in traffic signal control.

A modified back analysis method for deep excavation with multi-objective optimization procedure

Real-time prediction of excavation-induced displacement of retaining pile during the deep excavation process is crucial for construction safety.This paper proposes a modified back analysis method with multi-objective optimization procedure,which enables a real-time prediction of horizontal displacement of retaining pile during construction.As opposed to the traditional stage-by-stage back analysis,time series monitoring data till the current excavation stage are utilized to form a multi-objective function.Then,the multi-objective particle swarm optimization (MOPSO) algorithm is applied for parameter identification.The optimized model parameters are immediately adopted to predict the excavation-induced pile deformation in the continuous construction stages.To achieve efficient parameter optimization and real-time prediction of system behavior,the back propagation neural network (BPNN) is established to substitute the finite element model,which is further implemented together with MOPSO for automatic operation.The proposed approach is applied in the Taihu tunnel excavation project,where the effectiveness of the method is demonstrated via the comparisons with the site monitoring data.The method is reliable with a prediction accuracy of more than 90%.Moreover,different optimization algorithms,including non-dominated sorting genetic algorithm (NSGA-II),Pareto Envelope-based Selection Algorithm II (PESA-II) and MOPSO,are compared,and their influences on the prediction accuracy at different excavation stages are studied.The results show that MOPSO has the best performance for high dimensional optimization task.

Multi-Strategy Assisted Multi-Objective Whale Optimization Algorithm for Feature Selection

In classification problems,datasets often contain a large amount of features,but not all of them are relevant for accurate classification.In fact,irrelevant features may even hinder classification accuracy.Feature selection aims to alleviate this issue by minimizing the number of features in the subset while simultaneously minimizing the classification error rate.Single-objective optimization approaches employ an evaluation function designed as an aggregate function with a parameter,but the results obtained depend on the value of the parameter.To eliminate this parameter’s influence,the problem can be reformulated as a multi-objective optimization problem.The Whale Optimization Algorithm(WOA)is widely used in optimization problems because of its simplicity and easy implementation.In this paper,we propose a multi-strategy assisted multi-objective WOA(MSMOWOA)to address feature selection.To enhance the algorithm’s search ability,we integrate multiple strategies such as Levy flight,Grey Wolf Optimizer,and adaptive mutation into it.Additionally,we utilize an external repository to store non-dominant solution sets and grid technology is used to maintain diversity.Results on fourteen University of California Irvine(UCI)datasets demonstrate that our proposed method effectively removes redundant features and improves classification performance.The source code can be accessed from the website:https://github.com/zc0315/MSMOWOA.

Crashworthiness Design and Multi-Objective Optimization of Bionic Thin-Walled Hybrid Tube Structures

Thin-walled structures are widely used in cars due to their lightweight construction and energy-absorbing properties.However,issues such as high initial stress and lowenergy-absorbing efficiency arise.This study proposes a novel energy-absorbing structure inwhich a straight tube is combinedwith a conical tube and a bamboo-inspired bulkhead structure is introduced.This configuration allows the conical tube to flip outward first and then fold together with the straight tube.This deformation mode absorbs more energy and less peak force than the conical tube sinking and flipping inward.Through finite element numerical simulation,the specific energy absorption capacity of the structure is increased by 26%compared to that of a regular circular cross-section tube.Finally,the impact resistance of the bionic straight tapered tube structure is further improved through multi-objective optimization,promoting the engineering application and lightweight design of hybrid cross-section tubes.

Even Search in a Promising Region for Constrained Multi-Objective Optimization

In recent years, a large number of approaches to constrained multi-objective optimization problems(CMOPs) have been proposed, focusing on developing tweaked strategies and techniques for handling constraints. However, an overly finetuned strategy or technique might overfit some problem types,resulting in a lack of versatility. In this article, we propose a generic search strategy that performs an even search in a promising region. The promising region, determined by obtained feasible non-dominated solutions, possesses two general properties.First, the constrained Pareto front(CPF) is included in the promising region. Second, as the number of feasible solutions increases or the convergence performance(i.e., approximation to the CPF) of these solutions improves, the promising region shrinks. Then we develop a new strategy named even search,which utilizes the non-dominated solutions to accelerate convergence and escape from local optima, and the feasible solutions under a constraint relaxation condition to exploit and detect feasible regions. Finally, a diversity measure is adopted to make sure that the individuals in the population evenly cover the valuable areas in the promising region. Experimental results on 45 instances from four benchmark test suites and 14 real-world CMOPs have demonstrated that searching evenly in the promising region can achieve competitive performance and excellent versatility compared to 11 most state-of-the-art methods tailored for CMOPs.

Multi-Objective Equilibrium Optimizer for Feature Selection in High-Dimensional English Speech Emotion Recognition

Speech emotion recognition(SER)uses acoustic analysis to find features for emotion recognition and examines variations in voice that are caused by emotions.The number of features acquired with acoustic analysis is extremely high,so we introduce a hybrid filter-wrapper feature selection algorithm based on an improved equilibrium optimizer for constructing an emotion recognition system.The proposed algorithm implements multi-objective emotion recognition with the minimum number of selected features and maximum accuracy.First,we use the information gain and Fisher Score to sort the features extracted from signals.Then,we employ a multi-objective ranking method to evaluate these features and assign different importance to them.Features with high rankings have a large probability of being selected.Finally,we propose a repair strategy to address the problem of duplicate solutions in multi-objective feature selection,which can improve the diversity of solutions and avoid falling into local traps.Using random forest and K-nearest neighbor classifiers,four English speech emotion datasets are employed to test the proposed algorithm(MBEO)as well as other multi-objective emotion identification techniques.The results illustrate that it performs well in inverted generational distance,hypervolume,Pareto solutions,and execution time,and MBEO is appropriate for high-dimensional English SER.

Multi-Objective Optimization of Aluminum Alloy Electric Bus Frame Connectors for Enhanced Durability

The widespread adoption of aluminumalloy electric buses,known for their energy efficiency and eco-friendliness,faces a challenge due to the aluminum frame’s susceptibility to deformation compared to steel.This issue is further exacerbated by the stringent requirements imposed by the flammability and explosiveness of batteries,necessitating robust frame protection.Our study aims to optimize the connectors of aluminum alloy bus frames,emphasizing durability,energy efficiency,and safety.This research delves into Multi-Objective Coordinated Optimization(MCO)techniques for lightweight design in aluminum alloy bus body connectors.Our goal is to enhance lightweighting,reinforce energy absorption,and improve deformation resistance in connector components.Three typical aluminum alloy connectors were selected and a design optimization platform was built for their MCO using a variety of software and methods.Firstly,through three-point bending experiments and finite element analysis on three types of connector components,we identified optimized design parameters based on deformation patterns.Then,employing Optimal Latin hypercube design(OLHD),parametric modeling,and neural network approximation,we developed high-precision approximate models for the design parameters of each connector component,targeting energy absorption,mass,and logarithmic strain.Lastly,utilizing the Archive-based Micro Genetic Algorithm(AMGA),Multi-Objective Particle Swarm Optimization(MOPSO),and Non-dominated SortingGenetic Algorithm(NSGA2),we explored optimized design solutions for these joint components.Subsequently,we simulated joint assembly buckling during bus rollover crash scenarios to verify and analyze the optimized solutions in three-point bending simulations.Each joint component showcased a remarkable 30%–40%mass reduction while boosting energy absorption.Our design optimization method exhibits high efficiency and costeffectiveness.Leveraging contemporary automation technology,the design optimization platform developed in this study is poised to facilitate intelligent optimization of lightweight metal components in future applications.

Large-Scale Multi-Objective Optimization Algorithm Based on Weighted Overlapping Grouping of Decision Variables

The large-scale multi-objective optimization algorithm(LSMOA),based on the grouping of decision variables,is an advanced method for handling high-dimensional decision variables.However,in practical problems,the interaction among decision variables is intricate,leading to large group sizes and suboptimal optimization effects;hence a large-scale multi-objective optimization algorithm based on weighted overlapping grouping of decision variables(MOEAWOD)is proposed in this paper.Initially,the decision variables are perturbed and categorized into convergence and diversity variables;subsequently,the convergence variables are subdivided into groups based on the interactions among different decision variables.If the size of a group surpasses the set threshold,that group undergoes a process of weighting and overlapping grouping.Specifically,the interaction strength is evaluated based on the interaction frequency and number of objectives among various decision variables.The decision variable with the highest interaction in the group is identified and disregarded,and the remaining variables are then reclassified into subgroups.Finally,the decision variable with the strongest interaction is added to each subgroup.MOEAWOD minimizes the interactivity between different groups and maximizes the interactivity of decision variables within groups,which contributed to the optimized direction of convergence and diversity exploration with different groups.MOEAWOD was subjected to testing on 18 benchmark large-scale optimization problems,and the experimental results demonstrate the effectiveness of our methods.Compared with the other algorithms,our method is still at an advantage.

Constrained Multi-Objective Optimization With Deep Reinforcement Learning Assisted Operator Selection

Solving constrained multi-objective optimization problems with evolutionary algorithms has attracted considerable attention.Various constrained multi-objective optimization evolutionary algorithms(CMOEAs)have been developed with the use of different algorithmic strategies,evolutionary operators,and constraint-handling techniques.The performance of CMOEAs may be heavily dependent on the operators used,however,it is usually difficult to select suitable operators for the problem at hand.Hence,improving operator selection is promising and necessary for CMOEAs.This work proposes an online operator selection framework assisted by Deep Reinforcement Learning.The dynamics of the population,including convergence,diversity,and feasibility,are regarded as the state;the candidate operators are considered as actions;and the improvement of the population state is treated as the reward.By using a Q-network to learn a policy to estimate the Q-values of all actions,the proposed approach can adaptively select an operator that maximizes the improvement of the population according to the current state and thereby improve the algorithmic performance.The framework is embedded into four popular CMOEAs and assessed on 42 benchmark problems.The experimental results reveal that the proposed Deep Reinforcement Learning-assisted operator selection significantly improves the performance of these CMOEAs and the resulting algorithm obtains better versatility compared to nine state-of-the-art CMOEAs.

Energy-Saving Distributed Flexible Job Shop Scheduling Optimization with Dual Resource Constraints Based on Integrated Q-Learning Multi-Objective Grey Wolf Optimizer

The distributed flexible job shop scheduling problem(DFJSP)has attracted great attention with the growth of the global manufacturing industry.General DFJSP research only considers machine constraints and ignores worker constraints.As one critical factor of production,effective utilization of worker resources can increase productivity.Meanwhile,energy consumption is a growing concern due to the increasingly serious environmental issues.Therefore,the distributed flexible job shop scheduling problem with dual resource constraints(DFJSP-DRC)for minimizing makespan and total energy consumption is studied in this paper.To solve the problem,we present a multi-objective mathematical model for DFJSP-DRC and propose a Q-learning-based multi-objective grey wolf optimizer(Q-MOGWO).In Q-MOGWO,high-quality initial solutions are generated by a hybrid initialization strategy,and an improved active decoding strategy is designed to obtain the scheduling schemes.To further enhance the local search capability and expand the solution space,two wolf predation strategies and three critical factory neighborhood structures based on Q-learning are proposed.These strategies and structures enable Q-MOGWO to explore the solution space more efficiently and thus find better Pareto solutions.The effectiveness of Q-MOGWO in addressing DFJSP-DRC is verified through comparison with four algorithms using 45 instances.The results reveal that Q-MOGWO outperforms comparison algorithms in terms of solution quality.

Multi-objective optimization and evaluation of supercritical CO_(2) Brayton cycle for nuclear power generation

The supercritical CO_(2) Brayton cycle is considered a promising energy conversion system for Generation IV reactors for its simple layout,compact structure,and high cycle efficiency.Mathematical models of four Brayton cycle layouts are developed in this study for different reactors to reduce the cost and increase the thermohydraulic performance of nuclear power generation to promote the commercialization of nuclear energy.Parametric analysis,multi-objective optimizations,and four decision-making methods are applied to obtain each Brayton scheme’s optimal thermohydraulic and economic indexes.Results show that for the same design thermal power scale of reactors,the higher the core’s exit temperature,the better the Brayton cycle’s thermo-economic performance.Among the four-cycle layouts,the recompression cycle(RC)has the best overall performance,followed by the simple recuperation cycle(SR)and the intercooling cycle(IC),and the worst is the reheating cycle(RH).However,RH has the lowest total cost of investment(C_(tot))of$1619.85 million,and IC has the lowest levelized cost of energy(LCOE)of 0.012$/(kWh).The nuclear Brayton cycle system’s overall performance has been improved due to optimization.The performance of the molten salt reactor combined with the intercooling cycle(MSR-IC)scheme has the greatest improvement,with the net output power(W_(net)),thermal efficiencyη_(t),and exergy efficiency(η_(e))improved by 8.58%,8.58%,and 11.21%,respectively.The performance of the lead-cooled fast reactor combined with the simple recuperation cycle scheme was optimized to increase C_(tot) by 27.78%.In comparison,the internal rate of return(IRR)increased by only 7.8%,which is not friendly to investors with limited funds.For the nuclear Brayton cycle,the molten salt reactor combined with the recompression cycle scheme should receive priority,and the gas-cooled fast reactor combined with the reheating cycle scheme should be considered carefully.

Multi-objective optimization design of anti-roll torsion bar using improved beluga whale optimization algorithm

Purpose – This study aims to reduce the redundant weight of the anti-roll torsion bar brought by thetraditional empirical design and improving its strength and stiffness.Design/methodology/approach – Based on the finite element approach coupled with the improved belugawhale optimization (IBWO) algorithm, a collaborative optimization method is suggested to optimize the designof the anti-roll torsion bar structure and weight. The dimensions and material properties of the torsion bar weredefined as random variables, and the torsion bar’s mass and strength were investigated using finite elements.Then, chaotic mapping and differential evolution (DE) operators are introduced to improve the beluga whaleoptimization (BWO) algorithm and run case studies.Findings – The findings demonstrate that the IBWO has superior solution set distribution uniformity,convergence speed, solution correctness and stability than the BWO. The IBWO algorithm is used to optimizethe anti-roll torsion bar design. The error between the optimization and finite element simulation results wasless than 1%. The weight of the optimized anti-roll torsion bar was lessened by 4%, the maximum stress wasreduced by 35% and the stiffness was increased by 1.9%.Originality/value – The study provides a methodological reference for the simulation optimization process ofthe lateral anti-roll torsion bar.

GNN Representation Learning and Multi-Objective Variable Neighborhood Search Algorithm for Wind Farm Layout Optimization

With the increasing demand for electrical services,wind farm layout optimization has been one of the biggest challenges that we have to deal with.Despite the promising performance of the heuristic algorithm on the route network design problem,the expressive capability and search performance of the algorithm on multi-objective problems remain unexplored.In this paper,the wind farm layout optimization problem is defined.Then,a multi-objective algorithm based on Graph Neural Network(GNN)and Variable Neighborhood Search(VNS)algorithm is proposed.GNN provides the basis representations for the following search algorithm so that the expressiveness and search accuracy of the algorithm can be improved.The multi-objective VNS algorithm is put forward by combining it with the multi-objective optimization algorithm to solve the problem with multiple objectives.The proposed algorithm is applied to the 18-node simulation example to evaluate the feasibility and practicality of the developed optimization strategy.The experiment on the simulation example shows that the proposed algorithm yields a reduction of 6.1% in Point of Common Coupling(PCC)over the current state-of-the-art algorithm,which means that the proposed algorithm designs a layout that improves the quality of the power supply by 6.1%at the same cost.The ablation experiments show that the proposed algorithm improves the power quality by more than 8.6% and 7.8% compared to both the original VNS algorithm and the multi-objective VNS algorithm.

Design of S-band photoinjector with high bunch charge and low emittance based on multi-objective genetic algorithm

High-brightness electron beams are required to drive LINAC-based free-electron lasers(FELs)and storage-ring-based synchrotron radiation light sources.The bunch charge and RMS bunch length at the exit of the LINAC play a crucial role in the peak current;the minimum transverse emittance is mainly determined by the injector of the LINAC.Thus,a photoin-jector with a high bunch charge and low emittance that can simultaneously provide high-quality beams for 4th generation synchrotron radiation sources and FELs is desirable.The design of a 1.6-cell S-band 2998-MHz RF gun and beam dynamics optimization of a relevant beamline are presented in this paper.Beam dynamics simulations were performed by combining ASTRA and the multi-objective genetic algorithm NSGA II.The effects of the laser pulse shape,half-cell length of the RF gun,and RF parameters on the output beam quality were analyzed and compared.The normalized transverse emittance was optimized to be as low as 0.65 and 0.92 mm·mrad when the bunch charge was as high as 1 and 2 nC,respectively.Finally,the beam stability properties of the photoinjector,considering misalignment and RF jitter,were simulated and analyzed.

Improved non-dominated sorting genetic algorithm (NSGA)-II in multi-objective optimization studies of wind turbine blades

The non-dominated sorting genetic algorithm （NSGA） is improved with the controlled elitism and dynamic crowding distance. A novel multi-objective optimization algorithm is obtained for wind turbine blades. As an example, a 5 MW wind turbine blade design is presented by taking the maximum power coefficient and the minimum blade mass as the optimization objectives. The optimal results show that this algorithm has good performance in handling the multi-objective optimization of wind turbines, and it gives a Pareto-optimal solution set rather than the optimum solutions to the conventional multi objective optimization problems. The wind turbine blade optimization method presented in this paper provides a new and general algorithm for the multi-objective optimization of wind turbines.

Multi-objective optimization of oil well drilling using elitist non-dominated sorting genetic algorithm

A multi-objective optimization of oil well drilling has been carried out using a binary coded elitist non-dominated sorting genetic algorithm.A Louisiana offshore field with abnormal formation pressure is considered for optimization.Several multi-objective optimization problems involving twoand three-objective functions were formulated and solved to fix optimal drilling variables.The important objectives are：（i） maximizing drilling depth,（ii） minimizing drilling time and （iii） minimizing drilling cost with fractional drill bit tooth wear as a constraint.Important time dependent decision variables are：（i） equivalent circulation mud density,（ii） drill bit rotation,（iii） weight on bit and （iv） Reynolds number function of circulating mud through drill bit nozzles.A set of non-dominated optimal Pareto frontier is obtained for the two-objective optimization problem whereas a non-dominated optimal Pareto surface is obtained for the three-objective optimization problem.Depending on the trade-offs involved,decision makers may select any point from the optimal Pareto frontier or optimal Pareto surface and hence corresponding values of the decision variables that may be selected for optimal drilling operation.For minimizing drilling time and drilling cost,the optimum values of the decision variables are needed to be kept at the higher values whereas the optimum values of decision variables are at the lower values for the maximization of drilling depth.

Multi-objective optimization of membrane structures based on Pareto Genetic Algorithm

A multi-objective optimization method based on Pareto Genetic Algorithm is presented for shape design of membrane structures from a structural view point.Several non-dimensional variables are defined as optimization variables,which are decision factors of shapes of membrane structures.Three objectives are proposed including maximization of stiffness,maximum uniformity of stress and minimum reaction under external loads.Pareto Multi-objective Genetic Algorithm is introduced to solve the Pareto solutions.Consequently,the dependence of the optimality upon the optimization variables is derived to provide guidelines on how to determine design parameters.Moreover,several examples illustrate the proposed methods and applications.The study shows that the multi-objective optimization method in this paper is feasible and efficient for membrane structures;the research on Pareto solutions can provide explicit and useful guidelines for shape design of membrane structures.

Multidisciplinary Design Optimization of Vehicle Instrument Panel Based on Multi-objective Genetic Algorithm

Typical multidisciplinary design optimization（MDO） has gradually been proposed to balance performances of lightweight, noise, vibration and harshness（NVH） and safety for instrument panel（IP） structure in the automotive development. Nevertheless, plastic constitutive relation of Polypropylene（PP） under different strain rates, has not been taken into consideration in current reliability-based and collaborative IP MDO design. In this paper, based on tensile test under different strain rates, the constitutive relation of Polypropylene material is studied. Impact simulation tests for head and knee bolster are carried out to meet the regulation of FMVSS 201 and FMVSS 208, respectively. NVH analysis is performed to obtain mainly the natural frequencies and corresponding mode shapes, while the crashworthiness analysis is employed to examine the crash behavior of IP structure. With the consideration of lightweight, NVH, head and knee bolster impact performance, design of experiment（DOE）, response surface model（RSM）, and collaborative optimization（CO） are applied to realize the determined and reliability-based optimizations, respectively. Furthermore, based on multi-objective genetic algorithm（MOGA）, the optimal Pareto sets are completed to solve the multi-objective optimization（MOO） problem. The proposed research ensures the smoothness of Pareto set, enhances the ability of engineers to make a comprehensive decision about multi-objectives and choose the optimal design, and improves the quality and efficiency of MDO.