Each element is assigned a density ρ∈[0,1].
Stiffness is set to E = Emin + ρp·E₀ (p=3).
The OC method minimizes compliance
(structural flexibility) subject to the volume constraint.
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$$E_e(\rho_e) = E_{\min} + \rho_e^p (E_0 - E_{\min}),\quad p=3$$
The penalty p=3 suppresses intermediate densities, driving the design toward a clear 0/1 solid-void layout.
$$\min_{\boldsymbol\rho}\; c = \mathbf{f}^T\mathbf{u} \quad \text{s.t.}\; \mathbf{K}\mathbf{u}=\mathbf{f},\; \sum_e\rho_e v_e \le V^*$$
Minimizing compliance (work done by external forces) finds the stiffest possible structure.
$$\frac{\partial c}{\partial \rho_e} = -p\,\rho_e^{p-1}\,\mathbf{u}_e^T \mathbf{K}_e^0 \mathbf{u}_e$$
Sensitivities are computed from element displacements. Higher-density elements have greater sensitivity (contribution).
$$\rho_e^{new} = \rho_e \cdot B_e^{\eta},\quad B_e = \frac{-\partial c/\partial\rho_e}{\lambda\,\partial V/\partial\rho_e}$$
The Lagrange multiplier λ is found by bisection to update densities while satisfying the volume constraint.