A quantitative methodology for particle suspension assessment is presented. A new parameter, fmov/tot, the ratio of the mean number of moving particles to the total number of particles, is introduced to evaluate the minimum speed required to just suspend solids. This approach is tested to investigate the impact of impeller clearance on the minimum impeller speed, Njs, in a vessel when using a radial flow Rushton turbine. Flow patterns and power numbers obtained experimentally and computationally support the suspension findings. Image analysis is an appropriate method for determining Njs. Lowering the impeller clearance reduces the speed required for particle suspension with a change of flow pattern from a radial discharge with two loops to a single loop scouring the vessel base. The power number also falls markedly at the two‐to‐one loop transition as does the strain rate near the base. 相似文献
Robotic manipulators with three-revolute (3R) motions to attain desired positional configurations are very common in industrial robots. The capability of these robots depends largely on the workspace of the manipulator in addition to other parameters. In this study, an evolutionary optimization algorithm based on the foraging behaviour of the Escherichia coli bacteria present in the human intestine is utilized to optimize the workspace volume of a 3R manipulator. The new optimization method is modified from the original algorithm for faster convergence. This method is also useful for optimization problems in a highly constrained environment, such as robot workspace optimization. The new approach for workspace optimization of 3R manipulators is tested using three cases. The test results are compared with standard results available using other optimization algorithms, i.e. the differential evolution algorithm, the genetic algorithm and the particle swarm optimization algorithm. The present method is found to be superior to the other methods in terms of computational efficiency. 相似文献