Transcript Duality and Triality Unifying Mathematics, Engineering and

MINLP 2014, Carnegie Mellon, June 2-5, 2014
Canonical Duality Theory for Solving General
Mixed Integer Nonlinear Programming Problems
with Applications
David Gao
Alex Rubinov Prof. of Mathematics, Federation University
Research Prof. of Eng. Science, Australian National University
1. Duality Gap between Math and Physics  conceptual problems
2. Canonical Duality-Triality:
Unified Modeling  Unified Solutions
3. Challenges  Breakthrough
Supported by US Air Force AFOSR grants
Since 2008
Gap between Math and Mechanics
Nonlinear/Global Optimization Problem:
min f (x) s.t. g(x) ≤ 0
f(x) is an “objective” function
g(x) is a general constraint.
(naive) questions: What is the objective function?
target and cost? what is Lagrangian? …
“Mathematics is a part of physics. …In the middle of the
twentieth century it was attempted to divide physics and
mathematics. The consequences turned out to be
catastrophic. " — V.I. Arnold (1997)
Mathematics needs to remarry physics – A. Jaffe
Gao-Ogden-Ratiu, Springer
Duality in mathematics is not a theorem,
but a “principle”
– Sir M.F. Atiyah
Duality gap is not allowed in mathematical physics!
Canonical Duality-Triality Theory
Gao-Strang, 1989 MIT and Gao, 1991 Harvard 
A methodological theory comprises mainly
1. Canonical dual transformation
Unified Modeling
2. Complementary-Dual Principle
Unified Solution
Pd
max = max
P
min =
min
3. Triality Theory
Identify both global and local extrema
Design powerful algorithms
Unified understanding complexities
Nothing is too wonderful to be true,
if it be consistent with the laws of nature
Michael Farady (1860 AC)
x
s
min = max
Philosophical Foundation
I-Ching (易 經 2800 BC-2737 BC):
The fundamental Law of Nature is the Dao :
the complementarity of one yin (Ying) and one Yang
一陰一阳以谓 道
Laozi:
All things have the receptivity of the yin and the activity of the yang.
Through union with the life-giving force (chi) they blend in harmony
Everything = {( Yin, Yang) ; Chi }
= { (subj. , obj.) ; verb }
Canonical System = { (Ying, Yang) | H-Chi }
= { ( X , X* ) | A }
Convex Canonical System: Unified Modeling
input
Convex
System
out put Xa  x
∂ F( x)
D
x
(P): min P(x) = W(Dx) - F( x) Ya  y ∂ W(y)
s.t. x  Xc= { xXa | Dx Ya}
F(x) = f T x Subjective function
The 1st duality: x* = ∂ F( x) = f , action-reaction
W( y ) : Objective function (Gao, 2000):
W( Q y ) = W( y )  QT = Q -1, det Q = 1
f
x* = f  Xa*
D* = DT
y* Ya*
P
x
Exam: W(y) = ½ | y |2 , |Q y|2 = yTQTQ y = | y|2
The 2nd duality: y* = ∂ W(y) Constitutive law
d
P
Legendre transf. W*( y*) = yT y* - W(y)
min P(x) = max Pd(y*)
Lagrangian:
L(x, y*) = (Dx)T y* - W*( y*) - f T x = xT ( DTy* - f ) - W*( y*)
(Pd ): max Pd(y*) = - W*( y*) s.t. DT y* = f
frame-indifference
Objectivity
is not a hypothesis,
a principle.
Objectivity,
Gaobut
2000
P.G. Ciarlet, Nonlinear Functional Analysis, 2013, SIAM
Manufacturing Company System
Xa  Products x
F( x ) = xT x*
Price
x*  Xa*
Company
D*
D
Ya
 Workers y
Salary y*  Ya*
(P): min P(x) = W(Dx) – F( x )
Target
(Lose)
cost
income
Unified Understanding Constraints (Gao, 1997)
(P): min P(x) = W(Dx) – U( x )
W(y) : Ya = { y  Y | g(y) ≥ 0 } physically feasible
U(x) : Xa = { x  X | Bx ≤ 0 } geometrically feasible
u* ≥ 0
u ┴ u*
0≥u
Boundary (external) constraints in Xa

external KKT conditions
u= Bx
u*=B*x*
0 ≥ Bx = u ┴ u* = B*x* ≥ 0
Xa
(x, x*) Xa*
Constitutive (objective) constraints in Ya

internal KKT conditions
0 ≤ g(y) = u ┴ u* = g*(y*) ≤ 0
Indicator ( J-J Moreau, 1963)
D*=DT
Dmn
Ya
u= g(y)
( y; y*)
Ya*
u*= g*(y*)
W(y) if g(y) ≥ 0
u* ≤ 0
W (y) =
u ┴ u*
0≤u
∞ otherwise
∂W  constitutive law and
Math = { ( X, X* ) ; A}
KKT conditions
(P): min P(x) = W(Dx) – U( x ) , x  X = Obj. – Subj.
{
Canonical Duality - Triality Theory
Nonconvex W(y)
*
(P): min P(x) = W(Dx) – x T f
x
x
1. Canonical transf. choose an objective measure
y* = ∂W
e =L(x)  W(D x) = V(L (x)) convex in e 
D
D*
y
canonical dual eqn (one-to-one): s = ∂ V (e )
y
y*
Legendre Trans: V*(s ) = e T s – V(e)
e* = ∂V
Total complementary function (Gao-Strang, 1989)
L
L t*
X(x, s ) = L(x) T s - V*(s ) – x T f
e
T
T
(Quadratic L) = ½ x G(s ) x - V*(s ) – x f
e
e*
∂xX = 0 
Analytic solution: x = G(s ) -1f
Canonical Dual: Pd(s ) = X (x (s), s ) = - ½ f T G(s ) -1 f - V*(s )
2. Complemenary-Dual Principle:
Gap function
If sc is a critical point of Pd(s ), then xc = G(s c ) -1f is a critical
solution of (P) and P(xc ) = Pd( sc ) Let S+ = {s | G( s )  0 }
3. Triality Theory: G-Strang (1989) If sc  S+ , then
S- = {s | G( s ) < 0 } P(xc ) = min P(x) = max Pd(s ) = Pd(sc )
If sc  S - , then either P(xc ) = max P(x) = max Pd(s ) = Pd(sc )
(Gao, 1996)
or P(xc ) = min P(x) = min Pd(s ) = Pd(sc )
Example: Nonconvex in Rn  Convex in R1
P(x) = W(Dx) – F(x) = ½( ½ |x|2 - 1 )2 – x T f
Pd
W(y) = ½ ( ½ y 2 - 1)2
e = ½ |x|2  V(e) = ½ (e – 1 )2
y
s = ∂ V(e ) = e - 1
n=1: double-well
d
2
-1
2
P (s) = - ½ | f | s - ½s - s
f
P
x
s
∂Pd(s) = 0  s 2 (s + 1) = ½ | f |2
 s3 ≤ s2 ≤ 0 ≤ s1
Complementary-Dual Principle:
Analytic solutions: xk = (s k ) -1 f
P(xk ) = Pd(sk ) k =1,2,3
n=2: Mexican hat
Triality Theory:
P(x1 ) = Pd(s1 )  P(x2 ) = Pd(s2 )  P(x3 ) =
Pd(s3)Problem (2003): If dim x ≠ dim s
Open
P(x2 ) = min P(x) ≠ mins < 0 Pd(s ) = Pd(s2 )
Solved in 2012
f = 0  Multiple solution
Perturbation: f ≠ 0  Unique solution
s
Buridan’s donkey
P
Pd
4
x
Quadratic Boolean Programming
(P): min P(x) = ½ xTAx – f T x s.t. x  {-1,1}n
Canonical transformation: e i = x i 2 – 1 ≤ 0
X(x, s ) = P(x) + S si ( xi 2 - 1 ) = ½ x TG(s ) x - S si - f T x ,
G (s ) = A+2 Diag (s )
 xX (x, s ) = 0  x = G(s ) -1 f
(Pd): max Pd(s) = - ½ f T [G(s ) ]-1 f – S si
s.t. s  S + = {s  Rn | s ≥ 0, G(s )  0 }
KKT: si ≥ 0 , ei = xi2 - 1 ≤ 0, ( xi2 - 1 ) si = 0
si ≠ 0  xi2 =1 integer!
min = min
P(x)
minP(x)= max Pd(s)
Thm (Gao,2007): For each critical point sc ≠ 0 ,
the vector xc = G -1(sc ) f  {-1,1}n
is a KKT point of P(x) and P(xc ) = Pd(sc )
if G(sc )  0 P(xc )= min P(x ) = max Pd (s ) =Pd (sc )
if G(sc )  0 P(xc )= min P(x ) = min Pd (s ) =Pd (sc )
(P) Could be NP-Hard if Pd (s ) has no critical point in S +
Results for Max-Cut Problem (NP-Complete)
Wang-Fang-Gao-Xing (2012) J. Global Optimization
max P(x) = ½ xTAx – f T x linear perturbation
s.t
x  {0,1}n
(Pd): max Pd(s) = - ½ f T [G(s ) ]-1 f – S si s.t. G(s ) ≥ 0
Comparison of the running time produced by the canonical dual
approach and GW’s approach (Goemans and Williamson)
Max -Cut Problem (contin.)
■ Randomly
produce 50 instances on graphs of sizes 20,50, 100, 150,200
and 500. The weight of each edge is uniformly from [0,10]
■ Ave
ratio is the average approximate ratio, the ratio is close to 1 when
the dimension increases
The 2nd Canonical Dual for Integer Programming
s.t. x  {-1,1}n
(P): min P(x) = ½ xTAx – f T x
The second canonical dual (Gao, 2009)
(Pg): min Pg(s) = - ½ s T A-1s – S | fi - si |
s.t s  Rn
Nonconvex/nonsmooth minimization
DIRECT method (Deterministic )
Thm: If sc is a solution of ( Pg ) , then
xc i =
{
P(x)
Pg(s )
1 if fi > sc i
-1 if fi < sc i
P(x)
is a feasible solution of (P) and
P(xc ) = Pg(sc ) .
If A  0, P(xc )= minP(x)=
maxPg(s
)=
Pg(s
c
)
Pg(s )
If A  0, P(xc )= min P(x)= min Pg(s ) = Pg(sc )
If A = - B T B , B Rm n , Pg(s) = ½ s Ts – S | fi - Bjisj |
m<n
n.m
General MINLP Problems
(P): min P(x,y ) = W(x,y) + aT x – bT y , x Xa , y Ya
s.t. C1 x + C2 y ≤ c , D1 x + D2 y = d ,
Xa = {x Rn | 0  x  u },
Ya = { y Zm | 0  y  v }
Let z = (x, y) , assume W(z ) is objective such that
an objective measure e =L(z ) and a convex V(e ) 
W(z ) = V(L (z ))
Canonical form:
min P(z ) = V(L (z )) – f T z
s.t.
z  Za
Mixed Integer (fixed Cost) Problem
(with H.D. Sherali and N. Ruan)
(P):
min P(x,y) = ½ xTA x + cT x – f T y
s.t. -y ≤ x ≤ y, y { 0 , 1 }n
(Pd): max Pd(s ) = - ½ cTG(s )-1c - ½ S (si - fi )+
s.t. s ≥ 0 , G(s ) = A + 2 Diag (s ) p.d.
Thm: If sc is a solution of (Pd ) , then
xc = - G (sc )-1 c ,
yci =
{
1 if fi < sc i
0 if fi > sc i
is a global solution of (P) and P(xc , yc ) = Pd(sc )
Applications to scheduling and decision science x  Rd x n
Problems that can be solved
Benchmark Problems:
1. Rosenbrock function
2. Lennard-Jones potential minimization
3. Three Hump Camel Back Problem
4. Goldstein-Price Problem
5. 2n order polynomials minimizations
6. Canonical functions … New math– Nonlinear space
Nonconvex constrained problems
(P): min P(x) = || y – z || 2
s.t. h(y) = ½ y A y – r ellipsoid
g (z) = ½ ( || z – c || 2 - b )2 – d t ( z - c)
Lagrangian: x = ( y, z )  R2n
L(x, l, m ) = || y – z || 2 + l h(y) + m g(z)
Let e = L(z ) = || z – c || 2 ,
y
z
V (e ) = ½ (e - b ) 2
 s = ∂ V (e ) = e - b , V*(s ) = e s - V (e ) = ½ s 2 + bs
Total complementary function
X (x, l , m, s ) = || y – z || 2 + l h(y) +m [ L (z )s - V* (s ) – d t ( z - c) ]
G (l,m,s ) =
0
(Pd): Pd(s ) = minx X (x, l , s ) = - ½ F T G (l,m,s )
-1 F
- mV* (s )
Thm: If G (l, m , s )  0 , (Pd) has at least one critical solution
which gives to a global optimal solution to (P).
Challenges  Super-Duality
Since 2010, Zalinescu (+ 2) has wrote 11 papers + 1 letter challenging
the Canonical Duality Theory, which can be grouped in three categories:
1. Conceptual Duality (4 papers, two published and two rejected)
•
min P(x) = V(L(x)) – F(x)
F (x) external energy (must be linear function)  ∂F(x) = x* =
f
e ) internal
energy
(must
be objective
)  ∂V(
=s
2.V(
Moral
Duality(stored)
(6 papers)
all on
the same
open problem
left ein) 2003:
min P(x) ≠ min Pd(s ) s  S3. Multi-scale duality (1 paper): Locally correct but globally wrong
If dim P ≠ dim Pd
Certain condition in S+ is missing
Total complementary function
X (x, l , m, s ) , x = ( y , z )  R2n
0
y
z
“Counter-Example”  Hidden truth
Conclusion: The consideration of the Gao-Strang function X (x, l , m, s )
is useless, at least for the problem studied in [3].
Morales-Gao (2012): linear perturbation X (x, l , m, s ) – k -1 xT f
Unified Global Optimization
Discrete optimization
Combinatorial Optim.
Integer Programming
Combinatorial
Algebra
Graph, lattice, fuzzy
max-plus algebra
Mixed Integer Optim.
Supply Chain Process
Nonconvex/nonsmooth
Variational/V.I. Analysis
Continuous Optimization
FEM, FDM, FVM, SDP
Meshless, Wavelet, SIP
Numerical
Analysis
Canonical
Duality-Triality
Theory
Duality in Nonconvex Systems:
Theory, Methods and Application
David Yang Gao
Kluwer Academic Publishers, 2000, 454pp
Part I Symmetry in Convex Systems
1. Mono-duality in static systems
2. Bi-duality in dynamical systems
Part II Symmetry Breaking:
Triality Theory in Nonconvex Systems
3. Tri-duality in nonconvex systems
4. Multi-duality and classifications of
general systems
Part III Duality in Canonical Systems
5. Duality in geometrically linear systems
6. Duality in finite deformation systems
7. Applications, open problems and concluding remarks
duality in fluid mechanics ?
All happy families are alike,
Reason: canonical duality
Every unhappy family is unhappy in
its own way
Reason: different duality gaps
Anna Karenina --- Leo N Tolstoy
Philosophy = Love of Canonical Duality
Proof: 1. By Greeks: Philosophy = Love of Wisdom
2. By Confucius: The highest Wisdom = Dao
3. By I-Ching (4000BC): Dao = one Ying + one Yang
= Canonical Duality
一陰一阳以谓 道
--- 易 經
Open Problem:
How to correctly understand the Triality
Canonical Duality –Triality Theory:
Rn
1. Non-convex  concave
2. Discrete  continuous
Rm n  L
3. Non-smooth  smooth
4. Rescaling: Rn  Rm  Rr
n> m>r
Thanks!
Rm
6. Non-deterministic  deterministic
Rn
L* y* = f
(y  y*)
L=L*
5. Diff. eqn  Algebraic eqn.
7. Challenges 
(x , x*)
Rm
L  Rmr
Rr
Rr
(ox xo)
L* L x  = 0
Breakthrough
Open Problems:
(P) is NP-Hard if (Pd) has no solution in Sa+ ?
The 4th World Congress on Global Optimization
Gainesville, Florida - USA, Feb 22-25, 2015
u
Some references
[1] Gao, D.Y. and Sherali, H.D. (2008).
Canonical duality: Connection between
nonconvex mechanics and global optimization,
in Advances in Appl. Mathematics and Global Optimization, 249-316,
Springer, 2008
[2] Gao, D.Y. (2009). Canonical duality theory: Unified understanding
and generalized solution for global optimization problems,
Computers & Chemical Engineering, 33:1964–1972
[3] Daniel Morales-Silva, David Gao On the minimal distance between
two surfaces, http://arxiv.org/abs/1210.1618
[4] Gao, DY and Wu, C, On the Triality Theory in Global Optimization
http://arxiv.org/abs/1104.2970
The 4th World Congress on Global Optimization
Gainesville, Florida - USA, Feb 22-25, 2015
International Society of Global Optimization
(www.iSoGOp.org)
Thanks! WCGO 2015