Fig. 1

Pareto front for a dual-objective problem (Nobj = 2). The image F(X) of the design space X is obtained by mapping all parameter vectors x ∈ X using the design goals. The Pareto front XP, marked using a thick line, consists of all designs that are non-dominated in a global sense. Its image F(XP) is the left-bottom part of the boundary of the set F(X), also indicated using a thick line in the objective space.