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Automatic Designing System for Piping and Instruments Arrangement including Branches of Pipes
H ji Ki (K h U i it J )Hajime Kimura (Kyushu University, Japan)
ICCAS2011 (September 20ICCAS2011 (September 20--22, 2011)22, 2011)
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OverviewOverview1. Motivation and Purpose
2. Problem Formulation・Parameters: 1)Equipment’s Locations and directions 2)Piping Routes
Consider piping T-branches as equipments
・A new evaluation algorithm for Valve Operability → later
3. Multi-Objective Genetic Algorithm (MOGA)・Coding of the piping arrangement design
・Crossover operation
・Self-organization equipment arrangement method
4. Experiments
5. Conclusions and Future Works2
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PumpPump
A Ballast Pump Room
Valve
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A handle for valve operation
It is operated using a rod from upper pathway
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From upper pathway:Gratingg
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Upper Pathway
Pump
Ladder
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Pi
MotivationN d hi ti t d kill3D-CAD contributes
But…
PipeArrangement
Needs sophisticated skills Automatic design Why?
3D CAD contributes
designing efficiency
[Reason 1] Obscurity of the design evaluation[Reason 1] Obscurity of the design evaluation
Not only to arrange shortest pipes between equipments!) E t t l f i t tex.) Easy to operate valves, easy for maintenance, etc.
Answer → 1) Define numerical evaluation for all items2) Formulate as a multi-objective optimization2) Formulate as a multi-objective optimization
[Reason 2] A Problem in designing algorithms[ ] g g g
It is no use that the algorithm gives only one solution!G tiAnswer → Show plural solutions
Designer selects one of them as he needs.Geneticalgorithm
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Pi
MotivationN d hi ti t d kill3D-CAD contributes
But…
PipeArrangement
Needs sophisticated skills Automatic design Why?
3D CAD contributes
designing efficiency
[Reason 1] Problems in designing algorithms-Poor Performance -It is no use that the algorithm gives only one solution!Answer 1) Reconsideration of the problem formulationAnswer 1) Reconsideration of the problem formulation
2) Show plural solutionsDesigner selects one of them as he needs.
Geneticalgorithm
Designer selects one of them as he needs.
[Reason 2] Obscurity of the design Criteria[ ] y g-Not only to arrange shortest pipes between equipments!ex.) Easy to operate valves, easy for maintenance, etc.) y p , y ,Answer 1) Define numerical evaluation for all items
2) Formulate as a multi-objective optimization
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Pi
MotivationN d hi ti t d kill3D-CAD contributes
But…
PipeArrangement
Needs sophisticated skills Automatic design Why?
3D CAD contributes
designing efficiency
[Reason 1] Problems in designing algorithms-Poor Performance -It is no use that the algorithm gives only one solution!Answer 1) Reconsideration of the problem formulationAnswer 1) Reconsideration of the problem formulation
2) Show plural solutionsDesigner selects one of them as he needs.
Geneticalgorithm
Designer selects one of them as he needs.
[Reason 2] Obscurity of the Design Criteria[ ] y g-Not only to arrange shortest pipes between equipments!ex.) Easy to operate valves, easy for maintenance, etc.) y p , y ,Answer 1) Define numerical evaluation for all items
2) Formulate as a multi-objective optimization
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Pi
MotivationN d hi ti t d kill3D-CAD contributes
But…
PipeArrangement
Needs sophisticated skills Automatic design Why?
3D CAD contributes
designing efficiency
[Reason 1] Problems in designing algorithms-Poor Performance -It is no use that the algorithm gives only one solution!Answer 1) Reconsideration of the problem formulationAnswer 1) Reconsideration of the problem formulation
2) Show plural solutionsDesigner selects one of them as he needs.
Geneticalgorithm
Designer selects one of them as he needs.
[Reason 2] Obscurity of the Design Criteria[ ] y g-Not only to arrange shortest pipes between equipments!ex.) Easy to operate valves, easy for maintenance, etc.) y p , y ,Answer 1) Define numerical evaluation for all items
2) Formulate as a multi-objective optimization
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OverviewOverview1. Motivation and Purpose
2. Problem Formulation・Parameters: 1)Equipment’s Locations and directions 2)Piping Routes
Consider piping T-branches as equipments
・A new evaluation algorithm for Valve Operability
3. Multi-Objective Genetic Algorithm (MOGA)・Coding of the piping arrangement design
・Crossover operation
・Self-organization equipment arrangement method
4. Experiments
5. Conclusions and Future Works11
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Piping and Instruments Arrangement ProblemPiping and Instruments Arrangement ProblemPID
PlotPlan Ship hull
Equipments (pumps, tanks,
valves, etc.)
Arrange routes of the pipes, the locations of the branches and the valves
start
end Constraint:T-branches, etc・・・Obj ti F ti C t O bilit
branches and the valves
For practical reasons, 90°elbows are used.
Objective Function: Cost, Operability
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Problem Formulation Problem Formulation [Conventional][Conventional]
PIDPipeline FROM – TO List
Piping and Instruments Diagram
Pl t Pl Equipment
GivenGiven
Plot Plan EquipmentDim. & Loc.
Equipment arrangement list
Search SpaceSearch Space
Parameters for VALVES
Parameters for Pipeslocationsdirections patterns
locationsdirections
branchespatternslocations
Cost of Valve Operationality MinimizeMinimize and and MaterialsOperationality
(cost)MinimizeMinimize and and
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Problem Formulation Problem Formulation [Conventional][Conventional]
PIDPipeline FROM – TO List
Piping and Instruments Diagram
Pl t Pl Equipment
GivenGiven
Plot Plan EquipmentDim. & Loc.
Equipment arrangement list
Search SpaceSearch Space
Parameters for VALVES
Parameters for Pipeslocationsdirections patterns
locationsdirections
branchespatternslocations
Cost of Valve Operationality MinimizeMinimize and and
Including branches in piping makes the
MaterialsOperationality
(cost)MinimizeMinimize and and arrangement problem
complicated!
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A New Problem Formulation A New Problem Formulation
Valve 1
T1
Treat piping branches as the same as ‘equipments’
Valve 2
T2 T3
Parameters to search:
(1) Locations and directions of equipments(2) Piping routes without branches
= locations of elbows (lists)
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OverviewOverview1. Motivation and Purpose
2. Problem Formulation・Parameters: 1)Equipment’s Locations and directions 2)Piping Routes
Consider piping T-branches as equipments
・A new evaluation algorithm for Valve Operability → later
3. Multi-Objective Genetic Algorithm (MOGA)・Coding of the piping arrangement design
・Crossover operation
・Self-organization equipment arrangement method
4. Experiments
5. Conclusions and Future Works16
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Pi
MotivationN d hi ti t d kill3D-CAD contributes
But…
PipeArrangement
Needs sophisticated skills Automatic design Why?
3D CAD contributes
designing efficiency
[Reason 1] Problems in designing algorithms-Poor Performance -It is no use that the algorithm gives only one solution!Answer 1) Reconsideration of the problem formulationAnswer 1) Reconsideration of the problem formulation
2) Show plural solutionsDesigner selects one of them as he needs.
Geneticalgorithm
Designer selects one of them as he needs.
[Reason 2] Obscurity of the Design Criteria[ ] y g-Not only to arrange shortest pipes between equipments!ex.) Easy to operate valves, easy for maintenance, etc.) y p , y ,Answer 1) Define numerical evaluation for all items
2) Formulate as a multi-objective optimization
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What is “multi-objective optimization”?
Ship A Ship B
Which solution should we choose?Designers encounter with similar situations too often
18
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What is “multi-objective optimization”?
Ship A Ship B
Which solution should we choose?Designers encounter with similar situations too often
M lti Obj ti19
Evaluation is not scalar Multi-Objective Optimization
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What is “multi-objective optimization”?
2fcostfunction Candidates of Solutions
0 1fspace of objective function
cost function
20
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What is “multi-objective optimization”?
2fcostfunction Candidates of Solutions
0 1fspace of objective function
cost function
21
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What is “multi-objective optimization”?
2fcostfunction Candidates of Solutions
0 1fspace of objective function
cost function
22
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What is “multi-objective optimization”?
2fcostfunction Candidates of Solutions
UselessUseless
0 1fspace of objective function
cost function
23
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What is “multi-objective optimization”?
2fcostfunction Candidates of Solutions
Pareto optimum solutions
UselessUseless
0 1fspace of objective function
cost function
24
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What is “multi-objective optimization”?
2fcostfunction Candidates of Solutions
Pareto optimum solutions
UselessUseless
0 1fspace of objective function
cost function
1) Eliminate useless dominated solutions)
2) Many optimum solutions would exist.
25Finding all the Pareto optimum solutions is important.Do not worry about choosing one of them.
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NSGANSGA--ⅡⅡ
NSGA-Ⅱ: Nondominated Sorting Genetic Algorithms Ⅱ
Multi-objective Genetic algorithm
1.Efficient calculation in
ReferenceKalyanmoy Deb:A Fast and Elitist Multiobjective Genetic Algorithm: NSGA-Ⅱ,IEEE Transactions on Evolutionary Computation vol 6 No 2 (2002)
Nondominated Sorting
2. Crowding distanceIEEE Transactions on Evolutionary Computation, vol. 6, No. 2, (2002)
3. Elite strategy
Nondominated Sorting
Crowding distance Elite strategy
Rank 2Rank 3
Sorting
Rank 2Rank 3
Rank 1 Rank 1Rank 1 Rank 1
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OverviewOverview1. Motivation and Purpose
2. Problem Formulation・Parameters: 1)Equipment’s Locations and directions 2)Piping Routes
Consider piping T-branches as equipments
・A new evaluation algorithm for Valve Operability → later
3. Multi-Objective Genetic Algorithm (MOGA)・Coding of the piping arrangement design
・Crossover operation
・Self-organization equipment arrangement method
4. Experiments
5. Conclusions and Future Works27
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Coding For Genetic Algorithms Coding For Genetic Algorithms
Valve 1
T1 Fixed-length gene code
・Variable-length gene codeValve 2
T2 T3
・Depends on the locations of the connected
equipments
Parameters to search:
(1) Locations and directions of equipments(2) Piping routes without branches
= locations of elbows (lists)
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OverviewOverview1. Motivation and Purpose
2. Problem Formulation・Parameters: 1)Equipment’s Locations and directions 2)Piping Routes
Consider piping T-branches as equipments
・A new evaluation algorithm for Valve Operability → later
3. Multi-Objective Genetic Algorithm (MOGA)・Coding of the piping arrangement design
・Crossover operation
・Self-organization equipment arrangement method
4. Experiments
5. Conclusions and Future Works29
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Crossover Operation in the Piping ArrangementCrossover Operation in the Piping Arrangement
Prepare two solutions as parentsS l t l ti d di ti f i t Select locations and directions of equipments with connected pipes
Valve 1
T1
Valve 1 T1
Valve 2
Valve 2
T2 T2
T3 Valve 2 T2
T3
Parent A Parent B
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Valve 1
T1 The pipes are cut off on positions of arbitrary
Child
p yelbows in the parent.
T2
Child
Valve 2
T2 T3
Valve 1
T1
Valve 1 T1
Valve 2
Valve 2
T2 T2
T3 Valve 2 T2
T3
Parent A Parent B
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Valve 1
T1 Connect broken pipes within 3 elbows
Child
T2
Child
Valve 2
T2 T3
Valve 1
T1
Valve 1 T1
Valve 2
Valve 2
T2 T2
T3 Valve 2 T2
T3
Parent A Parent B
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OverviewOverview1. Motivation and Purpose
2. Problem Formulation・Parameters: 1)Equipment’s Locations and directions 2)Piping Routes
Consider piping T-branches as equipments
・A new evaluation algorithm for Valve Operability → later
3. Multi-Objective Genetic Algorithm (MOGA)・Coding of the piping arrangement design
・Crossover operation
・Self-organization equipment arrangement method
4. Experiments
5. Conclusions and Future Works33
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To use Genetic Algorithms, feasible initial solution candidates are needed.However, if we generate initial populations by random equipment arrangement…
Ex.1 Ex.2
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To use Genetic Algorithms, feasible initial solution candidates are needed.However, if we generate initial populations by random equipment arrangement…
The piping tends to fully spread over the design spacep g p
Ex.1 Ex.2
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To use Genetic Algorithms, feasible initial solution candidates are needed.However, if we generate initial populations by random equipment arrangement…
The piping tends to fully spread over the design spacep g p
Inefficient!
Ex.1 Ex.2
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Generating good initial populations:Self-organization Equipment Arrangement
Equipment 2
g q p gEquipment 1 Equipment 2
Target equipment
Equipment 1
Equipment 3 Target equipment
(a) Target has two destinations (b) Target has three destinations
g q p
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Generating good initial populations:Self-organization Equipment Arrangement
Equipment 2
g q p gEquipment 1 Equipment 2
Middle point
Center of gravity
Target equipment
Equipment 1
Equipment 3 Target equipment
(a) Target has two destinations (b) Target has three destinations
g q p
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Generating good initial populations:Self-organization Equipment Arrangement
Equipment 2
g q p gEquipment 1 Equipment 2
Middle point
Center of gravity
Target equipment
Equipment 1
Equipment 3 Target equipment
(a) Target has two destinations (b) Target has three destinations
g q p
Repeat these operations at all equipments in random order
→ The equipments form into connected order.
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DemoSelf-organization
13 floating equipmentsg q p5 fixed equipments19 pipes
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DemoSelf-organization
32 floating equipmentsg q p4 fixed equipments72 pipes
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Generating good initial populations:Self-organization Equipment Arrangement
Example 1 Example 2
g q p g
Example 1 Example 2
Various solutions are found when the order of the operation is different.
Feature:
It cannot take care of ‘valve operability’, or etc..→ Use Genetic Algorithms
Problems:
It cannot draw pipelines if there are too many obstacles→ Make use of Dijkstra method (on going)
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OverviewOverview1. Motivation and Purpose
2. Problem Formulation・Parameters: 1)Equipment’s Locations and directions 2)Piping Routes
Consider piping T-branches as equipments
・A new evaluation algorithm for Valve Operability → later
3. Multi-Objective Optimization Algorithm (MOGA)・Coding of the piping arrangement design
・Crossover operation
・Self-organization equipment arrangement method
4. Experiments
5. Conclusions and Future Works43
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Pi
MotivationN d hi ti t d kill3D-CAD contributes
But…
PipeArrangement
Needs sophisticated skills Automatic design Why?
3D CAD contributes
designing efficiency
[Reason 1] Problems in designing algorithms-Poor Performance -It is no use that the algorithm gives only one solution!Answer 1) Reconsideration of the problem formulationAnswer 1) Reconsideration of the problem formulation
2) Show plural solutionsDesigner selects one of them as he needs.Designer selects one of them as he needs.
[Reason 2] Obscurity of the Design Criteria[ ] y g-Not only to arrange shortest pipes between equipments!ex.) Easy to operate valves, easy for maintenance, etc.) y p , y ,Answer 1) Define numerical evaluation for all items
2) Formulate as a multi-objective optimization
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Valve Operability Evaluation of the space from pathways to valvesEvaluation of the space from pathways to valves
Good Arrangement Fair Arrangement
(2) Crew needs to get down to go through the narrow placenarrow place
Accessible,But…
Accessible(1) The valve can be operated by some tools
The valve can be
operated by some tools
The valve can be operated by hands
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Valve Operability Evaluation of the space from pathways to valvesEvaluation of the space from pathways to valves
Good Arrangement Fair Arrangement
(2) Crew needs to get down to pass through the narrow placethe narrow place
Accessible,But…
Accessible(1) The valve can be operated by a rod
The valve can be
operated by a rod
The valve can be operated by hands
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Valve Operability Evaluation of the space from pathways to valvesEvaluation of the space from pathways to valves
Bad Arrangement All pipes and valves must be arranged notg must be arranged not only to put without interference each other but also to make spacebut also to make space from pathways to valves so that crew can access the valvesthe valves.
I li it d Ob f !Not Accessible!
Implicit and Obscure so far!
To apply optimization algorithms,Numerical evaluation for the valve operationality is neededoperationality is needed.
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Evaluation Algorithm for Valve OperabilityEvaluation Algorithm for Valve Operability
Accessibility
Crew can move to a position where the valve can be operated by hands or by some tools.
Possibilit of Val e Handling
The valve can be operated by hands.
Possibility of Valve Handling
The design space is partitioned into regular grids,
and recognize accessible segmentsg g
EvaluationValve operability is calculated in this
id b i hgrid space by summing up the minimum distance from each valve to accessible segments that are located in the direction of the axis of thein the direction of the axis of the valve’s handle or four directions perpendicular to that axis.Recursive Fill Algorithm
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Finding Accessible Segments:Finding Accessible Segments:Recursive Fill AlgorithmRecursive Fill Algorithmgg
Valves
Worker segment Matrix:Imitating shape of the crew(worker)(worker)
PathwaySweep Pathway
Obstacles:Obstacles:Pipes, hull, pump, etc.
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Finding Accessible Segments:Finding Accessible Segments:Recursive Fill AlgorithmRecursive Fill Algorithmgg
Valves
Worker segment Matrix:Imitating shape of the crew(worker)(worker)
PathwayPathway
Obstacles:Obstacles:Pipes, hull, pump, etc.
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Finding Accessible Segments:Finding Accessible Segments:Recursive Fill AlgorithmRecursive Fill Algorithmgg
Valves
Worker segment Matrix:Imitating shape of the crew(worker)(worker)
PathwayPathway
Obstacles:Obstacles:Pipes, hull, pump, etc.
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Finding Accessible Segments:Finding Accessible Segments:Recursive Fill AlgorithmRecursive Fill Algorithmgg
Valves
Worker segment Matrix:Imitating shape of the crew(worker)(worker)
PathwayPathway
Obstacles:Obstacles:Pipes, hull, pump, etc.
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Finding Accessible Segments:Finding Accessible Segments:Recursive Fill AlgorithmRecursive Fill Algorithmgg
Able to handle by hand
Crew can move this swept area
Able to handle by a rod
Distance (cost)= 3 segments
Obstacles:Obstacles:Pipes, hull, pump, etc.
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Find inaccessible
Divide into regular grids, and judge all segments.
Find inaccessible segments using the recursive fill algorithm Evaluate all valvesEvaluate all valves,
and sum up
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Routing to all valves from passage space infrom passage space in accessible segments
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Features of the Evaluation AlgorithmFeatures of the Evaluation Algorithm
Accessible Accessible 1. Crew can move to a position where Goodpthe valve can be operated by hands.
2. Crew can move to a position where
Cost = 0
Fair2. Crew can move to a position where the valve can be operated by a rod, but cannot be operated by hands.
FairCost= distance
InaccessibleInaccessibleCrew cannot move to a position where BadCrew cannot move to a position where
the valve can be operated because obstacles surround valves.
Cost= 10000
Expert’s Obscure or Implicit Criterion ofSumming over all valves p p
Valve-Operability is clearly numerically defined.
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Material CostMaterial Cost
Material Cost Function
Weight of the kth pipe
Length of the kth pipe
Diameter of the kth pipe
Number of pipes
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OverviewOverview1. Motivation and Purpose
2. Problem Formulation・Parameters: 1)Equipment’s Locations and directions 2)Piping Routes
Consider piping T-branches as equipments
・A new evaluation algorithm for Valve Operability → later
3. Multi-Objective Optimization Algorithm (MOGA)・Coding of the piping arrangement design
・Crossover operation
・Self-organization equipment arrangement method
4. Experiments
(1) 5 valves (2) 7valves
5. Conclusions and Future Works58
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Simulation Setting (PID)
Five valves
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Simulation Setting (Geometrical conditions)
C tShip hull
Connectors for piping
Pump
Passage space
Pump
Design space is 5m×5m×2m
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Results (5 valvesResults (5 valves))Number of evaluate solutions: 20000 timesCalculation time: 10 days by Intel Core2Quad 2.664GHz
Routes are generated over pipes or valves
Material Cost = 2.67Number of elbows = 18Cost of Valve Operability = 140 6
Material Cost = 2.595Number of Elbows = 13C t f V l O bilit 171 0Cost of Valve Operability = 140.6 Cost of Valve Operability = 171.0
613-objective optimization
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Grating
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【【NoteNote】】 Solutions in previous methodsSolutions in previous methods
M t i l C t 8 12 M t i l C t 5 50Material Cost = 8.12Cost of Valve Operationality = 0
Material Cost = 5.50Cost of Valve Operationality = 10001
Design space = 5m x 5m x 5m 63
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Simulation Setting (PID)
7 valves
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Results Results ((7 valves7 valves))Number of evaluate solutions: 20000 timesCalculation time: 7 days by Intel Core2Quad 2.664GHz
Material Cost = 2.7975Number of elbows = 24Cost of Valve Operability = 270 8
Material Cost = 2.6475Number of Elbows = 22C t f V l O bilit 286 0Cost of Valve Operability = 270.8 Cost of Valve Operability = 286.0
653-objective optimization
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Best solution on number of elbows (7 valves)
Number of evaluations
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Best solution on Material cost (7 valves)
Number of evaluations
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Best solution on Valve Operability Cost (7 valves)
Number of evaluations
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Pareto solutions in Material-ValveOperability space
Material costMaterial costNumber of evaluations
Valve Operability cost
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Number of Pareto solutions (7 valves)
Number of pareto solutionsp
Number of evaluations
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OverviewOverview1. Motivation and Purpose
2. Problem Formulation・Parameters: 1)Equipment’s Locations and directions 2)Piping Routes
Consider piping T-branches as equipments
・A new evaluation algorithm for Valve Operability → later
3. Multi-Objective Optimization Algorithm (MOGA)・Coding of the piping arrangement design
・Crossover operation
・Self-organization equipment arrangement method
4. Experiments
(1) 5 valves (2) 7valves
5. Conclusions and Future Works71
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ConclusionsConclusions
ConclusionsConclusionsMake obscure criteria to be clear
1. Supposition in Automatic Pipe Arrangement : Make obscure criteria to be clear
Treat as multi-objective problem
2. Valve Operability Evaluation Algorithm is proposed.
3 An Implementation of Multi-objective GA for pipe arrangement is proposed3. An Implementation of Multi-objective GA for pipe arrangement is proposed.
【A new GA for piping arrangement】
●Problem formulation: Piping branches as equipments→ Simplify the piping encoding
●A new Gene encoding and crossover operation for GAs→ Simple and Intuitively appropriate
●Self-organization equipment arrangementto generate good initial populations
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RemarksRemarks Open Source
Pipe diagramProposed System CAD System
p gEquipment Arrangement listFrom-To list (Pipeline list)Geometric shapes of Hull, Multi-Objective
Equipments, and pipesOptimization Algorithm
Expert’s knowledge for XML file
Locations and directions of Pipes and Valves
Expert s knowledge for generating plans is stored
XML file
Pipes and Valves
Evaluation AlgorithmsViewer
Expert’s knowledge for evaluating plans is stored CAD Operator
XML fileX3D file