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<article xmlns:xlink="http://www.w3.org/1999/xlink">
  <front>
    <journal-meta>
      <journal-title-group>
        <journal-title>SAE International Journal of Sustainable Transportation</journal-title>
      </journal-title-group>
    </journal-meta>
    <article-meta>
      <article-id pub-id-type="doi">10.4271/13-04-01-0006</article-id>
      <title-group>
        <article-title>Optimization geometric design in intelligent systems for ensuring safety</article-title>
      </title-group>
      <contrib-group>
        <contrib contrib-type="author">
          <string-name>Andrii Chuhai</string-name>
          <xref ref-type="aff" rid="aff0">0</xref>
          <xref ref-type="aff" rid="aff2">2</xref>
        </contrib>
        <contrib contrib-type="author">
          <string-name>Georgiy Yaskov</string-name>
          <email>yaskov@ukr.net</email>
          <xref ref-type="aff" rid="aff0">0</xref>
          <xref ref-type="aff" rid="aff1">1</xref>
        </contrib>
        <contrib contrib-type="author">
          <string-name>Olha Starkova</string-name>
          <email>olha.starkova@hneu.net</email>
          <xref ref-type="aff" rid="aff2">2</xref>
        </contrib>
        <aff id="aff0">
          <label>0</label>
          <institution>Anatolii Pidhornyi Institute of Mechanical Engineering Problems of the National Academy of Sciences of Ukraine</institution>
          ,
          <addr-line>Pozharsky St. 2/10, 61129, Kharkiv</addr-line>
          ,
          <country country="UA">Ukraine</country>
        </aff>
        <aff id="aff1">
          <label>1</label>
          <institution>Kharkiv National University of Radio Electronics</institution>
          ,
          <addr-line>Nauky Ave. 14, 61166, Kharkiv</addr-line>
          ,
          <country country="UA">Ukraine</country>
        </aff>
        <aff id="aff2">
          <label>2</label>
          <institution>Simon Kuznets Kharkiv National University of Economics</institution>
          ,
          <addr-line>Nauky Ave 9A, 61166, Kharkiv</addr-line>
          ,
          <country country="UA">Ukraine</country>
        </aff>
      </contrib-group>
      <pub-date>
        <year>2021</year>
      </pub-date>
      <volume>307</volume>
      <fpage>0000</fpage>
      <lpage>0002</lpage>
      <abstract>
        <p>Packing optimization problems have a wide spectrum of real-word applications. advanced world, the need for safety systems is ubiquitous and paramount. From industrial processes to everyday applications, safety systems play a crucial role in ensuring the smooth and secure operation of various systems. One such critical application is the safe storage of spent nuclear fuel (SNF), a significant scientific problem in the present day. The solution of the problem can be reduced to the solution of the problem of finding the optimal placement of a given set of congruent circles into a multiconnected domain taking into account technological restrictions. A mathematical model of the problem is constructed and its peculiarities are considered. Our approach is based on the mathematical modelling of relations between geometric objects by means of phi-function technique. That allowed us to reduce the problem solving to nonlinear programming.</p>
      </abstract>
      <kwd-group>
        <kwd>Intelligent systems for ensuring safety</kwd>
        <kwd>optimization packing problem</kwd>
        <kwd>mathematical modeling</kwd>
        <kwd>phi-function</kwd>
        <kwd>non-linear programing 1</kwd>
      </kwd-group>
    </article-meta>
  </front>
  <body>
    <sec id="sec-1">
      <title>1. Introduction</title>
      <p>In the technologically advanced world of today, safety systems are ubiquitous and paramount. They
play a crucial role in ensuring the smooth and secure operation of various systems across a wide
range of applications. These safety systems are designed to protect both people and infrastructure
from potential harm, and their importance cannot be overstated.</p>
      <p>Safety systems are particularly critical in industries where the consequences of system failure can
be catastrophic, such as in nuclear power plants, chemical manufacturing, and aviation [1]. In these
sectors, safety systems are designed to prevent accidents and mitigate the effects of any that do</p>
      <p>In addition to protecting against potential threats, safety systems also play a key role in the
detection and response to incidents. Through continuous monitoring and advanced analytics,
modern safety systems can quickly identify potential issues and initiate appropriate response</p>
      <p>One of the areas where these safety systems are particularly crucial is in the storage of hazardous
materials, such as flammable liquids, gases, and chemically active substances. The safe storage of
these materials is not just about containing them in a secure manner, but also about ensuring that
they are stored in a way that minimizes the risk of accidents and facilitates quick response in case of</p>
      <p>This is where the specific problem of safe storage of flammable liquids, gases, and chemically
active substances in containers comes into play. The challenge lies not only in the physical storage
of these substances but also in the strategic placement of the containers. This involves considering
factors such as the type of substance, its quantity, the type of container, and the distance between</p>
      <p>The importance of maintaining appropriate separation distances between containers storing
hazardous materials is well-documented in the literature. For instance, a study [2] discusses how
safety distance determination is a key design issue in the process industry. The paper presents a
riskbased methodology for determining safety distances, which encompasses all major hazard scenarios
including jet fires, flash fires, explosions, boiling liquid expanding vapour explosion, and toxic
releases.</p>
      <p>Article [3] addresses the critical issue of safety distance determination in the process industry.
The authors emphasize that this determination is often made too late in the project lifecycle,
potentially leading to safety concerns or inefficient use of space.</p>
      <p>The paper [4] presents state-of-the-art research on determining safety distances globally. The
specific safety distances can vary depending on the type of substance, the quantity, and the specific
regulations and guidelines in place.</p>
      <p>The problem of finding the optimal placement of containers, considering given technological
restrictions, can be formulated as an optimization problem of geometric design [5-7]. The theory of
optimization geometric design is one of the tools for studying and optimizing complex technical
systems to achieve their optimal functioning state. It is designed to solve a number of applied
optimization problems of placing geometric objects. These problems are associated with the creation
of energy- and resource-saving technologies in priority sectors of the national economy (energy,
machine-, ship-, aircraft-building, construction, chemical industry, as well as in scientific research in
the field of nanotechnologies, in modern tasks of biology, mineralogy, medicine, materials science,
in robotics, tasks of coding information, systems of image recognition, control systems of spacecraft)
during the automation and modeling of the processes of placing various objects.</p>
      <p>Various heuristic approaches for solving the problem of placing equal circles in a circular
container have been proposed [8,9]. Currently, many articles consider the task of packing a fixed set
of objects into a given object, with the aim of minimizing its dimensions. Several articles solve this
problem using nonlinear models and optimization methods [10]. A large variety of nonlinear
programming models for the task of minimizing object sizes in 2D packing tasks (square, rectangle,
triangle, and circle) is also considered.</p>
      <p>The aim of the study is to build an adequate mathematical model of the problem of finding the
optimal placement of containers and to develop effective methods of finding a solution. This paper
focuses on creating an intelligent system that determines the optimal arrangement of containers on
a storage area. By formulating the problem as an optimization problem involving the placement of
congruent circles within a multiconnected domain, while adhering to stringent technological and
safety constraints, we address a critical issue in nuclear, thermal and chemical safety. The system
leverages advanced mathematical modeling techniques, particularly the phi-function method, to
represent the geometric relationships between objects. This transformation simplifies the problem
into a nonlinear programming one.</p>
      <p>The proposed intelligent system integrates these mathematical models and algorithms to provide
a robust solution for the safe and efficient storage. Key features and benefits of the system are
highlighted, showcasing its potential to enhance operational safety and storage efficiency various
facilities.</p>
    </sec>
    <sec id="sec-2">
      <title>2. Problem formulation</title>
      <p>The overarching objective of geometric design optimization can be articulated as follows: to ascertain
a spatial configuration of a specific set of geometric entities within a designated container that
adheres to all rules, requirements, and technological constraints, such that the optimization criterion
achieves an extreme value.</p>
      <p>In order to frame the problem of container placement with safety system in the context of
geometric design optimization, it is imperative to analytically define some elements of the system.
• The spatial form of the placement area
• The spatial form of the entities to be placed within the placement area</p>
      <p>Spatial form of the placement region. The external contour of the geometric shape can be
determined in alignment with the topographic conditions of the selected locality.</p>
      <p>
        The topological form of the placement area can be in general multiply connected due to the
presence of areas where container placement is not feasible (prohibition areas) (
        <xref ref-type="bibr" rid="ref1">1</xref>
        ):

A = A0 \ int
      </p>
      <p>Pl .</p>
      <p>l=1</p>
      <p>For mathematical modeling of the problem, the external boundary of the area is approximated
with a collection of line segments and circle arcs. So we assume that A0 is a connected set, the
frontier of which is formed with line segments [xi , yi , xi+1, yi+1] and circle arcs
[xi , yi , xi+1, yi+1, x j , y j , rj ] .</p>
      <p>
        Here (xi , yi ) and (xi+1, yi+1) are the coordinates of the start and end of the segment or arc,
respectively; (x j , y j ) and rj are the center coordinates and radius of the circle, respectively; Al is a
prohibited area which can be represented as (
        <xref ref-type="bibr" rid="ref2">2</xref>
        )
      </p>
      <p> 
Pl =</p>
      <p>Clg
g=1
q=1</p>
      <p>M lq , l  I = {1, 2,..., } ;</p>
      <p>Clg = {(x, y)  R2 : (x − xl0g )2 + ( y − yl0g )2 − (l0g )2  0}, g  I = {1, 2,..., },
where Mlq is a convex polygon, specified by mlq vertices, q  I = {1, 2,...,} , i.e., each prohibited
area is a non-convex set that can be represented as a finite union of different circles and convex
polygons (Figure 1).</p>
      <p>
        The technological conditions for positioning a specified set of entities within the placement
(
        <xref ref-type="bibr" rid="ref2">2</xref>
        )
ui = (xi , yi ) as the coordinates of the center of circle Ci . Then, the location of all Ci , i  I N , in R2
can be determined using the vector u = (u1,u2 ,...,uN )  R2N . Hereafter, the circle Ci translated by the
vector ui = (xi , yi ) is denoted as Ci (ui ) .
      </p>
      <p>The technological restrictions for placing a given set of objects within the placement area can be
divided into two types of constraints.</p>
      <p>The first type of constraints is dictated by the need to ensure necessary safety parameters, namely,
not exceeding the overall level of ionizing radiation and adhering to the thermal storage regimes of
spent nuclear fuel.</p>
      <p>To describe the first type of container placement conditions, we formalize the impact of each
container on the overall thermal regime and the level of ionizing radiation of the site. Each container
being characterized by its physical properties (temperature and level of ionizing radiation), which
need to be taken into account to comply with safe storage conditions, we associate an integral
indicator of thermal and radiation properties of the container with spent nuclear fuel to each circle
Сi .</p>
      <p>This parameter will determine the integral level of influence of each container on the temperature
of the containers located nearby and, at the same time, on the overall thermal level and the level of
ionizing radiation of the area P.</p>
      <p>We assume that the values of the integral coefficients ki are determined by expert judgment ki
Then, according to the values of ki , i  I N , we distribute the circles Сi , i  I N , into groups G j ,
j  I g . Let each group consist of qi , i  I g , circles, where g is the number of groups obtained.</p>
      <p>In order to minimize the mutual influence of ionizing radiation and the temperature regime of
the containers, we set the minimum permissible distances digj , i, j  I g , between the circles of each
group Gi , i  I g , and between the circles within one group.</p>
      <p>Thus, taking into account the first type of technological constraints will ensure an increase in fuel
temperatures and the level of ionizing radiation from containers with spent nuclear fuel, and ensure
a uniform distribution of ionizing radiation within the site when storing spent fuel on it.</p>
      <p>The second type of constraints is conditioned by ensuring the conditions for servicing the
containers.</p>
      <p>It is necessary to provide the possibility of approaching each container with special service
equipment in order to rotate the container or move the container within the site.</p>
      <p>To ensure this condition, it is necessary to consider the placement on the site of the so-called
ensure the presence of lanes with a width of d .</p>
      <p>Then, when placing objects, it is necessary to ensure the condition of touching Ci , i  I N , with a
lane of a given width d , which will ensure the approach of special service equipment to the
container.</p>
      <p>The criterion for optimizing the placement of objects. As a criterion for optimization, we will
choose to find the maximum filling of the selected site with circles Сi from the set I N .</p>
      <p>Thus, after formalizing all the conditions of the optimization problem of geometric design in an
analytical form, we will formulate the problem statement as follows.</p>
      <p>Problem. Determine the vector u = (u1,u2 ,...,un )  R2n , that ensures the placement of the
maximum number of circles from the set Сi , i  I N , in the given area P while ensuring the
fulfillment of the specified technological constraints (Figure 3).</p>
      <p>Based on the problem statement, we can construct a mathematical model of the problem and
conduct a study of its properties.</p>
    </sec>
    <sec id="sec-3">
      <title>3. Mathematical model</title>
      <p>One of the most crucial and complex tasks in computer and mathematical modeling of this class of
problems is analytically describing the interaction between circles and the area. In this study, we will
use the method of phi-functions, as presented in works such as [11, 12]. This method is currently
regarded as the most effective for solving similar problems.</p>
      <p>Formalization of the conditions for packing circles Ci in the area P is based on construction of
the following set G = cl(R2 \ P0 ) . This set can always be represented as a finite union of basic objects
Qij , (3) i.e.</p>
      <p>G =

j=1</p>
      <p>Q1 j

j=1

j=1

j=1
Q2 j</p>
      <p>Q3 j</p>
      <p>Q4 j ,
(3)
where</p>
      <p>Q1 j ={X  R2 : 1 j ( X )  0} ,
j  J = {1, 2,..., } ,
1 j ( X ) = a1 j x + b1 j y + c1 j ,
Q2 j = {X  R2 :  2 jl ( X )  0, l = 1, 2} ,
Q3 j = {X  R2 :3 j ( X )  0} ,
j  J = {1, 2,..., } ,</p>
      <p> 2 jl ( X ) = a2 jl x + b2 jl y + c2 jl ,
j  J = {1, 2,..., } ,
3 j (x, y) = rj2 − (x − x j )2 − ( y − y j )2 ,
Q4 j = {X  R2 :  4 jl ( X )  0, 4 j ( X )  0, l = 1, 2}, j  J = {1, 2,..., } ,
 4 jl ( X ) = a4 jl x + b4 jl y + c4 jl ,
4 j ( X ) = (x − x j )2 + ( y − y j )2 − rj2 ,  ( A, B)  2r ,  ( A, B) is the distance between points
i.e. Q1 j is a half-plane, Q2 j is a convex cone; Q3 j is a circle and Q4 j is the intersection of the
halfplane and the complement of the circle to R2 .</p>
      <p>To solve the problem, we propose an approach that allows us to reduce the solution of the problem
to solving a sequence of problems with linear objective functions. For this purpose ri for Ci , i  I ,
are supposed to be variable. The vector of radii is v = (r1, r2 ,..., r )  R .</p>
      <p>The values of the phi-function are certain measures of both the intersection of two geometric
objects and the shortest distance between them, depending on their mutual arrangement in space.
Using phi-functions for primary objects and complex 2D objects, the mathematical model of the
sequence of problems can be represented as follows (4), (5):
n
Fn ( X n* ) = max Fn ( X n ) = max  ri</p>
      <p>i=1</p>
      <p>X n = (un , vn ) Wn , n = 1, 2,..., + 1,
where
where
i ( X n ) is phi-function for Ci and G = cl(R2 \ P) ,</p>
      <p>1</p>
      <p>IC is a set of clusters that include circles Ci . Function i (ui , ri ) describes the belonging of
circle Ci to the area P .</p>
      <p>The area of feasible solutions in mathematics is described by two types of constraints. The first
type of constraints sets the conditions for the placement of objects within a given area of feasible
solutions, considering the specified permissible distances. The second type of constraints describes
the conditions for the placement of objects at specified technological distances. Both types of
constraints are described using phi-functions from systems (6). The objective function maximizes the
sum of the radii of the placed circles subject to restrictions on their maximum sizes.</p>
      <p>A phi-function for Ci and G1 can be represented as follows (6):</p>
      <p>i = miniClA , iCG , l  I  ,
iClA = minCC , CM , g  I , q  I  ,</p>
      <p>ilg ilq
iClA is a phi-function for Ci and Al ;
iClgC is a phi-function for Ci and Clg ;
iClgC = (xi − xl0g )2 + ( yi − yl0g )2 − (ri + l0g )2 ,
iClqM =</p>
      <p>max maxmin ilqk ,ilqk }, i*lqk ,
k=1,2,...,mlq
iClqM is a phi-function for Ci and Mlq ;
iCG is a phi-function for Ci and G ;
iCG = miniCjQ1 , j  I , iCjQ2 , j  I , iCjQ3 , j  I , CijQ4 , j  J  ,</p>
      <p>iCjQ1 =  i*1 j = −1 j − ri ,
CQ2 = maxmin{ ij ,ij }, i*2 j1, i*2 j2,</p>
      <p>ij
iCjQ3 = (xi − x j )2 + ( yi − y j )2 − (ri + rj )2 ,
CQ4 = maxij1,ij2 ,ij3 ,ij3i , i*4 j1, i*4 j2 ,</p>
      <p>ij
iCjQ1 , iCjQ2 , iCjQ2 , iCjQ4 are phi-functions for Ci and basic objects.</p>
      <p>The components of the function iCjQ4 are as follows (16),(17):
ij1 = minij1,ij2 , ij1, ij2 , ij3 ,
(4)
(5)
(6)
(7)
(8)
(9)
(11)
(12)
(13)
(14)
(15)
(16)
ij2 = min{ij1, ij4} , ij3 = minij2, ij5 ,
ij1 = (xi − xj1)2 + (yi − yj1)2 − ri2 , ij2(X n) = (xi − xj2)2 + (yi − yj2)2 − ri2,</p>
      <p>ij3 = (rj − ri)2 − (xi − xj)2 − (yi − yj)2
 ij1 = aj1xi + bj1yi + cj1, a1j = yj4 − yj3, bj1 = −(xj4 − xj3) , c1j = −(a1jxj3 + b1j yj3),
 ij2 = aj2xi + bj2yi + cj2 , aj2 = yj6 − yj5, bj2 = −(xj6 − xj5) , cj2 = −(aj2xj5 + bj2yj5),
 ij3 = aj3xi + bj3yi + cj3, aj3 = yj5 − yj4 , bj3 = −(xj5 − xj4) , cj3 = −(aj3x5 + bj3y5 ) ,
 ij4 = aj4xi + bj4yi + cj4 , aj4 = yj3 − yj7 , bj4 = −(xj3 − xj7) , cj4 = −(aj4xj3 + bj4yj3) ,
 ij5 = aj5xi + bj5yi + cj5 , aj5 = yj8 − yj6 , bj5 = −(xj8 − xj6) , cj5 = −(aj5xj6 + bj5yj6) ,
i*4j1 = −4j1 − ri , i*4j2 = −4j2 − ri .</p>
      <p>If the boundary of the set Q4j is formed by one straight line, then iCjQ4 can be written more
simply (18)</p>
      <p>Thus, Фi  0 holds if at least one of the systems of inequalities of the form
(17)
(18)
(19)
(20)
(21)
iCjQ4 = maxij1,ij3,i*4j1.</p>
      <p>iCjQ1  0, j J ,
iCjQ2  0, j J ,
is = iCjQ3  0, j J ,
iCjQ4  0, j J ,
iClgC  0,l I ,g I ,

iClqM  0,l I ,qI
ij  0,

 ij  0;</p>
    </sec>
    <sec id="sec-4">
      <title>4. General solution approach</title>
      <p>To solve the problem, a multi-stage methodology is proposed for packing container considering
specified technological constraints. At each stage, methods of nonlinear optimization and modern
NLP solvers are applied.</p>
      <p>is satisfied where iCjQ2  0 is either one of the inequalities i*2j1  0 , i*2j2  0 or the inequality
system</p>
      <p>iCjQ4  0 is either one of the inequalities ij3  0 , i*4j1  0 , i*4j2  0 or one of the inequality
systems (21)
iClqM  0 or the inequality i*lqk  0 or the inequality system
 ij3  0,
ij1  0,

ij2  0,
 ij1  0, ij2  0,
 ij1  0, 
 ij2  0,  ij4  0,  ij5  0;

ilqk  0 .

 ilqk  0</p>
      <p>The proposed methodology is based on a multi-stage solution search. For optimal filling of an
area considering given constraints, the first stage involves solving an optimization problem to place
the maximum number of containers in a complex area with restricted zones. To ensure safety from
increased thermal and ionizing levels and to achieve uniform distribution of ionizing radiation within
the area when storing spent nuclear fuel, constraints on the minimum allowable distances between
groups of containers are considered. At this stage, a modification of the feasible direction method
with an active set strategy is developed for local optimization. For global optimization, a sequential
statistical optimization method is designed.</p>
      <p>In the second stage, to ensure servicing conditions for containers on the area, the problem of
placing clusters of various geometric shapes is addressed. These clusters must maintain specific
distances to allow the passage of service equipment. A nonlinear optimization method based on the
interior point method with a special decomposition algorithm is developed to solve this problem.</p>
      <p>In the third stage, the total ionizing field of the area is calculated. If its value does not meet the
established criteria, the problems from the first two stages are revisited iteratively until the desired
field parameters are achieved.</p>
      <p>To solve the problem in the first stage, a strategy has been developed based on the following
sequence of methods:
● for constructing starting points, the regular placements method and the block coordinate
descent method are utilized
● for local extrema search, a modified method of feasible directions combined with an active
set strategy on subdomains is employed
● for approaching the global extrema, a modified method of narrowing neighborhoods is
applied.</p>
      <p>The main strategy focuses on optimizing the objective function defined over a set of
permutations. To ensure effective global extremum search, the objective function should be
quasiseparable and have multiple extrema. The number of local extrema should be such that their
distribution law can be asserted, considering each as a realization of a random variable.</p>
      <p>To construct starting points within the feasible domain, methods are employed that use a
sequence of placing three-dimensional geometric objects. This involves the block coordinate descent
method or the regular placements method, which focuses on arranging congruent three-dimensional
geometric objects.</p>
      <p>Due to the possibility of establishing correspondence between permutations of three-dimensional
geometric objects and local extrema in the problem under consideration, a strategy is employed to
approximate the global extremum using a modified method of narrowing neighborhoods.</p>
      <p>The method employs a randomized search aimed at optimizing the objective function defined
over a set of permutations. The narrowing neighborhoods method is based on the probabilistic
distribution properties of local extrema of the objective function. It allows organizing the exploration
of sequences of three-dimensional geometric objects to be placed in a way that, within a relatively
short time, a solution close to the global extremum of the problem can be obtained.</p>
      <p>To implement this method, a specific metric is introduced in the space of permutations. The
search for optimal values of the objective function takes place within neighborhoods defined over
the permutation set. At each step of the method, centers and radii of new neighborhoods are selected
based on accumulated statistical information. If the objective function value does not improve during
the transition to the next search stage, the neighborhood radius is reduced. This process results in a
convergent sequence.</p>
      <p>As is well-known, nonlinear optimization methods require a feasible starting point. Among the
techniques commonly used for constructing initial points in problems related to the placement of
three- gorithms are prevalent.
However, due to the
NPalgorithms significantly limits the exploration of a vast number of local extrema (whose count
exceeds n!).</p>
      <p>The use of the phi-function method for constructing a mathematical model enables the
application of modern nonlinear optimization techniques at all stages of problem-solving, including
initial point generation, local extremum search, and exploration of local extrema.</p>
      <p>In this regard, a specialized approach is proposed for constructing feasible points. The main idea
involves increasing the dimensionality of the problem by introducing metric variables related to
geometric object characteristics and their homothetic transformations.</p>
      <p>In the context of geometric objects allowing homothetic transformations, we introduce variable
coefficients for the homothety of these objects. To determine a feasible starting point, we randomly
generate coordinates for the placed geometric objects within a container. Subsequently, we solve a
nonlinear programming problem maximizing the sum of homothety coefficients for all geometric
objects. If this optimization yields a point corresponding to a local maximum where all homothety
coefficients are equal to one, we accept it as the starting point for searching the local extremum of
produce good but repetitive points, the developed method allows for diverse initial points through
random coordinate generation for the centers of geometric objects.</p>
      <p>Given the large number of inequalities defining the feasible region, direct application of nonlinear
optimization methods for finding local extrema would result in significant computational costs.
Therefore, a specialized decomposition method has been developed to search for local extrema in
formulated optimization problems. This approach substantially reduces computational expenses by
significantly decreasing the number of inequalities during the search for local extrema. By leveraging
the fact that the feasible solution space can be represented as a union of subdomains, we can notably
reduce the time required for finding local minima by solving a sequence of subproblems, each defined
with a much smaller set of inequalities</p>
      <p>The key idea of the method allows selecting a subregion within the feasible region at each stage
and generating subregions of the chosen subregion iteratively. Based on an analysis of the starting
point, an additional system of constraints is introduced for the placement parameters of each object,
enabling movement within individual containers. Next, inequalities are removed for all pairs of
three-dimensional geometric objects whose individual containers do not intersect. By doing so, we
reduce the number of constraints and, in the case of quasi-phi functions, the number of additional
variables. Subsequently, a search for a local minimum point is conducted for the constructed
subproblem. The obtained local extremum of the subproblem serves as the starting point for the next
iteration.</p>
    </sec>
    <sec id="sec-5">
      <title>5. Local optimization in the problem of packing congruent objects considering prohibited areas</title>
      <p>To find local maxima in the considered problem, which is a nonlinear programming problem, an
optimization method based on the feasible direction strategy is applied.</p>
      <p>Based on the properties of the constructed mathematical model, to find the local minimum
corresponding to the obtained initial point X i W , a subregion is highlighted Wk1  W , that
contains X i and the local minimum is calculated X 1* in this subregion. If there are other subregions
Wk j  W , for which X 1* Wk j , j = 1, 2,..., , and X 1* is not a local minimum, then the problem of
finding a local minimum on one of these subregions is solved again. The process is repeated until a
local minimum of the basic problem is found. Thus, the calculation of the local minimum of the
problem can be reduced to the solution of a sequence of problems of nonlinear programming of the
form (22)</p>
      <p>F ( X j) = min F ( X ) , j = 1, 2,..., m 0 .</p>
      <p>XWkj
find the local minimum for each of the problems X</p>
      <p>To solve the problem (22), a modification of the method of feasible directions
together with the strategy of -active inequalities are used. A standard iterative process is used to
(k+1)
= X k + tZ k , k = 1, 2,..., , where
Z k  R3n+1 solving the following problem of linear programming (23),(24)</p>
      <p>( k m,Z ak)xGk k ,
Gk = ( k , Z k )  R3n+1 : (−F ( X k ), Z k )  k ,</p>
      <p>(k j ( X k ), Z k )  k ,
j = 1, 2,..., k ( k ), −1  zik  1,i = 1, 2,...,3n +1,
where  ( X k ) is left parts of -active inequalities from the system separated from the system at
kj
a point X k .</p>
      <p>The transition from one task to another is carried out in the following way. Let X i = X 1 W is
the starting point. Then from the system specifying the subregion Wk1 , the defining system is chosen
Wk  W , such that X 1 Wi . Using a point X 1 as a starting point, the problem is solved
1 1</p>
      <p>F ( X 1) = min F ( X ) .</p>
      <p>XWk1</p>
      <p>Point received X 1 can be either a local minimum over the entire area W (Figure 4,a) , or
geometric objects relative to the subregion Wi (Figure 4,b).</p>
      <p>1</p>
      <p>In order to determine whether X 1 a local minimum relative to W , it is necessary to investigate
subregions Wk j with X 1* Wk , j {1, 2,...,0}. For this purpose, all are chosen from the system
j
-active inequalities in X 1 and problem is solved.</p>
      <p>
        If   0 , then X 1 is not a local minimum of the basic problem of the form (
        <xref ref-type="bibr" rid="ref1">1</xref>
        ) (
        <xref ref-type="bibr" rid="ref2">2</xref>
        ). This makes
it possible to calculate a new point X 2 = ( X 1* + tZ ) W , in which F ( X 1)  F ( X 2 ) . After that, a
(22)
(23)
(24)
(25)
new system of inequalities is formed that defines the subdomain Wk  W , such that X 2 Wk .
2 2
Using X 2 as a starting point, the problem is solved
      </p>
      <p>F ( X 2) = min F ( X ) . (26)</p>
      <p>XWk2
The described process continues until a local minimum of the basic problem is obtained.</p>
      <p>It should be noted that the search for local extrema on subdomains from the domain of admissible
solutions made it possible to significantly reduce the computational complexity of the method and
time spent on the search for a local extremum.</p>
    </sec>
    <sec id="sec-6">
      <title>6. Computational results</title>
      <p>To test the effectiveness of the constructed mathematical model and the proposed approach for
solving the problem, we addressed the problem of packing 80 cylindrical containers containing
hazardous waste on an area with a complex geometry (as depicted in Figure 5,a). The geometric
contours of the area are defined by a sequence of line segments and circular arcs. Within the
placement area, a zone prohibits container placement. Additionally, according to the problem
statement, there are technological constraints on container placement. The results of solving this
problem are shown in Figure 5,b.</p>
      <p>The computational time required to solve the problem illustrated in the figure was 45 minutes
and 40 seconds. Our solution utilized a computer equipped with an Intel(R) Core i5-10400F 2.90GHz
processor and 16 GB of RAM, running software developed in C#.</p>
      <p>Recent advancements in optimization methodologies, particularly in nonlinear optimization, have
revolutionized approaches to solving optimization problems. These advancements greatly enhance
the reliability, speed, and accuracy of locating both local and global solutions.</p>
      <p>They are applicable across diverse domains, leveraging user-developed external procedures for
computing objective functions, residual constraints, and Jacobi and Hessian matrices.</p>
      <p>In this study, we leveraged the IPOPT library [13] to enhance the efficiency of searching for local
extrema within subregions. IPOPT excels particularly in large-scale packing optimization tasks due
to its ability to efficiently handle high-dimensional problems. Such problems often involve numerous
variables and constraints, making them challenging for traditional optimization methods to resolve
within reasonable timeframes as problem size increases. However, IPOPT's advanced algorithms,
based on interior-point methods, navigate high-dimensional solution spaces swiftly and accurately.</p>
      <p>IPOPT uses powerful strategies to exploit the inherent structure of optimization problems,
ensuring efficient search for optimal solutions while adhering to all constraints. By leveraging sparse
linear algebra and problem-specific properties, IPOPT scales effectively to manage problems with up
to millions of variables. This capability makes IPOPT indispensable for large-scale packing
optimization tasks. Moreover, IPOPT provides ample customization capabilities and interfaces,
allowing users to adjust optimization procedures to suit particular requirements and smoothly
integrate them into current operational workflows.</p>
    </sec>
    <sec id="sec-7">
      <title>7. Conclusion</title>
      <p>In this work, the problem of optimally placing containers with nuclear waste, considering given
technological constraints, is formulated as a geometric design optimization problem. All the
conditions of the geometric design problem are described in detail. A mathematical model for the
problem of packing congruent circles into a multiply connected region, whose boundary consists of
arcs of circles and line segments, has been constructed. This model is presented as a nonlinear
optimization problem.</p>
      <p>The method of phi-functions is utilized to construct a mathematical model where the feasible
solution region can be represented as a union of subregions. Each subregion is described by systems
of inequalities with continuous functions on the left-hand sides. This representation allows for the
application of modern nonlinear optimization methods to solve the problem effectively.</p>
      <p>The results of this study hold substantial practical significance, particularly in the context of
optimizing safety-critical systems. The developed intelligent system for the optimal placement of
containers is directly applicable to the storage of spent nuclear fuel and other hazardous materials.
By leveraging advanced mathematical modeling techniques this approach addresses complex
realworld constraints, such as spatial limitations, safety regulations, and technological restrictions.</p>
      <p>The effectiveness of the proposed model is demonstrated through its application to a practical
problem: the optimal packing of 80 cylindrical containers in a complex, multiconnected storage area
with prohibited zones. This problem, reflective of real-world challenges, underscores the system's
capability to enhance the safety and efficiency of storage operations in nuclear, thermal, and
chemical industries.</p>
      <p>The practical implications extend beyond theoretical advancements, offering tangible benefits in
operational settings. The system's ability to handle nonlinear programming challenges with high
precision and reliability ensures that it can be effectively integrated into existing safety protocols.
This integration can lead to improved storage density, reduced risk of accidents, and optimized use
of available space all of which are critical in environments where safety is paramount.</p>
      <p>Moreover, the flexibility of the approach allows for its adaptation to a wide range of applications,
from industrial storage facilities to transportation of hazardous materials. As safety regulations
continue to evolve and become more stringent, the need for such intelligent systems will only grow,
making the results of this study not only relevant but essential for future developments in safety
optimization.</p>
      <p>In summary, the practical significance of the obtained results lies in their ability to provide a
robust, efficient, and scalable solution to the pressing problem of safe storage of hazardous materials,
with potential applications across multiple domains where safety and optimization are critical.</p>
    </sec>
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