“…Although such a problem has been widely investigated on the basis of upperbound theorem [18][19][20][21][22][23][24], the method we employed, also based on the upper-bound theorem, is significantly distinguishable. Specifically, an arbitrary function, which governs the velocity field in deforming material at each step of the upsetting process, is associated with the upper-bound theorem to formulate the total forming energy rate equation.…”