Enhanced Static Mixer Design Analysis in Lattice Boltzmann Solver

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ISBN 13 :
Total Pages : 96 pages
Book Rating : 4.:/5 (123 download)

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Book Synopsis Enhanced Static Mixer Design Analysis in Lattice Boltzmann Solver by : Robert James Strong

Download or read book Enhanced Static Mixer Design Analysis in Lattice Boltzmann Solver written by Robert James Strong and published by . This book was released on 2020 with total page 96 pages. Available in PDF, EPUB and Kindle. Book excerpt: The mixing industry has long depended on scaled down experimental methods combined with computational analysis to determine rotating mixer designs for customer applications. Most industrial mixing companies have the capabilities in-house to perform these experiments and the analysis to show customers the benefits of proposed designs. Experimental methods center around the calculation of power draw of the mixing unit, determined from a simple torque cell to determine power draw, and the blend time, shown through acid-base neutralization, which are both fairly simple to calculate from an scaled down rig and apply it to either customer designs or in the development of new mixers. The computational analysis centers around research done by mixing forefathers who developed methodology to calculate time dependent mixing parameters, like blend time, through steady state analysis due to restrictions in computational capacity. This is possible because the majority of the mixing can be observed from studying the macro-scale interactions. The impellers and baffles in a tank drive large scale motion which blends two different species or temperatures together to create a uniform mixture. Similar to rotating mixers, there are two main parameters used when analyzing static mixers. Similar to power draw for rotating mixers, static mixers are driven by the pressure drop across the mixer. The second parameter that is used to determine the effectiveness of a static mixer is the coefficient of variation, a statistical measurement of the degree of uniformity. This looks at a two-dimensional plane located downstream from the mixer outlet and determines the effectiveness of the mixer. This has been used for decades to provide the target for customer designs, but it provides a limited picture of the process. The snap shot on a two-dimensional plane provides a small window into what is happening in the entire process. The coefficient of variation also is merely a statistical parameter that does not provide any actual physical information about the mixing process. Analysis has been performed that has demonstrated the need for more than CoV alone to fully describe the mixing process [26].The progress and continued development of rotating mixers and application analysis is quite different from that of static mixers. Static mixers have a more difficult analysis path than rotating mixers, which has lead to stunted development and growth by the industrial leaders due to number of factors. The first hurdle that mixing companies face is the physics driving the mixing itself. Static mixers drive mixing on the micro-scale. This means that counter to the large sweeping mixing that occurs in stirred vessels, static mixers drive mixing by introducing turbulence into a system which cause two distinct species or temperatures or conditions to interact with one another. The micro-scale mixing provides a hurdle for experimental setups because static mixer test rigs tend to be very large. Mixer performance is dependent upon the length and size of the mixer, which can lead to mixer chains that are the size of a room or larger. The second issue with static mixers is the equipment needed to determine the mixing is expensive and complex. This causes industrial companies to contract out third parties, either consultants like BHR Group or academic institutions to perform analysis. The issue that has arisen with third party experimental testing, is there are not any standards for data acquisition. The difficulty to analyze static mixers experimentally would tend to lead naturally to the exploration of computational analysis of static mixers. Unlike rotating mixers, the microscale mixing of static mixers requires more refined transient computational analysis than rotating mixers, which is difficult with traditional computational finite volume approaches. Traditional solvers require large high performance computers to perform the analysis, which is both expensive and time consuming from a use standpoint. This is why most development has occurred by either private consulting firms like BHR Group, or universities who have large endowments and student researchers who are able to spend the necessary time on computationally expensive analysis. The computational time required to reach a solution is highly prohibitive in an industrial setting. Most results are needed in a relatively short timeframe, and traditional methods require too much time and are too expensive to increase efficiency to be used practically for customer applications. This has led to a limited amount of progress being made from a development standpoint and process design rules based on experience to determine appropriate mixer design for customer applications. This has stunted the progress of static mixer development and innovation as well as reduced the likelihood of implementation in a customer's process when compared to rotating mixers. The past few years have seen a commercially available non-traditional solver, MStar CFD, be developed specifically for use in the mixing industry. This solver was developed with the help of the leading industrial mixing companies, and shows promise in terms of both accuracy, as well as computational speed. The new solver is a lattice Boltzmann based solver, rather than a traditional finite volume solver like ANSYS Fluent, which is traditionally the solver of choice in the mixing industry. The emergence of newly available technology should cause companies to reevaluate their current procedures and open the door for improving the products and processes provided to customers. This paper compares the new non-traditional solver to one of the more popular traditional solvers for accuracy and computational speed in out-of-the-box conditions. The study was designed to test which solver was better equipped for modeling practical mixing cases, and which should be the standard going forward. MStar CFD was found to produce results faster and more accurately when analyzing common mixing scenarios which should cause more companies to switch the industry standard CFD software. Once the solver comparison was completed, it was then deemed important to implement the parameters described by Kresta et al. to improve current design practices that strictly use the coefficient of variation for determining how a system is behaving. The other two parameters, clustering and exposure, are verified and validated within the MStar CFD framework and can be used with the coefficient of variation to more fully describe the mixing in a system. This is important for many different industries as well as for static mixer development because each process may be driven more heavily by a different aspect of mixing. For example, the chemical process industry might need a consistent residence time in order to minimize the production of secondary and tertiary products. In processes where two products are being mixed with very different viscosities, then the clustering will be more important than coefficient of variation in describing what is happening in the process. The third parameter, exposure, can be used to determine the mass transfer rate between the different species in the system. This is important because it can aid in reaction kinetic calculations and predicting total product output from a given setup. These parameters were successfully demonstrated within the MStar CFD framework and should begin to be used immediately within computational mixing circles.

Lattice Boltzmann Modeling

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Publisher : Springer Science & Business Media
ISBN 13 : 3540279822
Total Pages : 178 pages
Book Rating : 4.5/5 (42 download)

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Book Synopsis Lattice Boltzmann Modeling by : Michael C. Sukop

Download or read book Lattice Boltzmann Modeling written by Michael C. Sukop and published by Springer Science & Business Media. This book was released on 2007-04-05 with total page 178 pages. Available in PDF, EPUB and Kindle. Book excerpt: Here is a basic introduction to Lattice Boltzmann models that emphasizes intuition and simplistic conceptualization of processes, while avoiding the complex mathematics that underlies LB models. The model is viewed from a particle perspective where collisions, streaming, and particle-particle/particle-surface interactions constitute the entire conceptual framework. Beginners and those whose interest is in model application over detailed mathematics will find this a powerful 'quick start' guide. Example simulations, exercises, and computer codes are included.

Applied Mechanics Reviews

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ISBN 13 :
Total Pages : 348 pages
Book Rating : 4.3/5 (243 download)

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Book Synopsis Applied Mechanics Reviews by :

Download or read book Applied Mechanics Reviews written by and published by . This book was released on 1992 with total page 348 pages. Available in PDF, EPUB and Kindle. Book excerpt:

The Lattice Boltzmann Method

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Publisher : Springer
ISBN 13 : 3319446495
Total Pages : 705 pages
Book Rating : 4.3/5 (194 download)

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Book Synopsis The Lattice Boltzmann Method by : Timm Krüger

Download or read book The Lattice Boltzmann Method written by Timm Krüger and published by Springer. This book was released on 2016-11-07 with total page 705 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is an introduction to the theory, practice, and implementation of the Lattice Boltzmann (LB) method, a powerful computational fluid dynamics method that is steadily gaining attention due to its simplicity, scalability, extensibility, and simple handling of complex geometries. The book contains chapters on the method's background, fundamental theory, advanced extensions, and implementation. To aid beginners, the most essential paragraphs in each chapter are highlighted, and the introductory chapters on various LB topics are front-loaded with special "in a nutshell" sections that condense the chapter's most important practical results. Together, these sections can be used to quickly get up and running with the method. Exercises are integrated throughout the text, and frequently asked questions about the method are dealt with in a special section at the beginning. In the book itself and through its web page, readers can find example codes showing how the LB method can be implemented efficiently on a variety of hardware platforms, including multi-core processors, clusters, and graphics processing units. Students and scientists learning and using the LB method will appreciate the wealth of clearly presented and structured information in this volume.

Lattice-Gas Cellular Automata and Lattice Boltzmann Models

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Publisher : Springer
ISBN 13 : 3540465863
Total Pages : 320 pages
Book Rating : 4.5/5 (44 download)

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Book Synopsis Lattice-Gas Cellular Automata and Lattice Boltzmann Models by : Dieter A. Wolf-Gladrow

Download or read book Lattice-Gas Cellular Automata and Lattice Boltzmann Models written by Dieter A. Wolf-Gladrow and published by Springer. This book was released on 2004-10-19 with total page 320 pages. Available in PDF, EPUB and Kindle. Book excerpt: Lattice-gas cellular automata (LGCA) and lattice Boltzmann models (LBM) are relatively new and promising methods for the numerical solution of nonlinear partial differential equations. The book provides an introduction for graduate students and researchers. Working knowledge of calculus is required and experience in PDEs and fluid dynamics is recommended. Some peculiarities of cellular automata are outlined in Chapter 2. The properties of various LGCA and special coding techniques are discussed in Chapter 3. Concepts from statistical mechanics (Chapter 4) provide the necessary theoretical background for LGCA and LBM. The properties of lattice Boltzmann models and a method for their construction are presented in Chapter 5.

Process Intensification

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Publisher : Butterworth-Heinemann
ISBN 13 : 0080983057
Total Pages : 624 pages
Book Rating : 4.0/5 (89 download)

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Book Synopsis Process Intensification by : David Reay

Download or read book Process Intensification written by David Reay and published by Butterworth-Heinemann. This book was released on 2013-06-05 with total page 624 pages. Available in PDF, EPUB and Kindle. Book excerpt: Process Intensification: Engineering for Efficiency, Sustainability and Flexibility is the first book to provide a practical working guide to understanding process intensification (PI) and developing successful PI solutions and applications in chemical process, civil, environmental, energy, pharmaceutical, biological, and biochemical systems. Process intensification is a chemical and process design approach that leads to substantially smaller, cleaner, safer, and more energy efficient process technology. It improves process flexibility, product quality, speed to market and inherent safety, with a reduced environmental footprint. This book represents a valuable resource for engineers working with leading-edge process technologies, and those involved research and development of chemical, process, environmental, pharmaceutical, and bioscience systems. - No other reference covers both the technology and application of PI, addressing fundamentals, industry applications, and including a development and implementation guide - Covers hot and high growth topics, including emission prevention, sustainable design, and pinch analysis - World-class authors: Colin Ramshaw pioneered PI at ICI and is widely credited as the father of the technology

Micro and Macro Mixing

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Publisher : Springer Science & Business Media
ISBN 13 : 3642045499
Total Pages : 345 pages
Book Rating : 4.6/5 (42 download)

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Book Synopsis Micro and Macro Mixing by : Henning Bockhorn

Download or read book Micro and Macro Mixing written by Henning Bockhorn and published by Springer Science & Business Media. This book was released on 2009-12-26 with total page 345 pages. Available in PDF, EPUB and Kindle. Book excerpt: The homogenization of single phase gases or liquids with chemical reactive components by mixing belongs to one of the oldest basic operations applied in chemical engineering. The mixing process is used as an essential step in nearly all processes of the chemical industry as well as the pharmaceutical and food ind- tries. Recent experimentally and theoretically based results from research work lead to a fairly good prediction of the velocity fields in differend kinds of mixers, where as predictions of simultaneously proceeding homogeneous chemical re- tions, are still not reliable in a similar way. Therefore the design of equipment for mixing processes is still derived from measurements of the so called “mixing time” which is related to the applied methods of measurement and the special - sign of the test equipment itself. The cooperation of 17 research groups was stimulated by improved modern methods for experimental research and visualization, for simulations and nume- cal calculations of mixing and chemical reactions in micro and macro scale of time and local coordinates. The research work was financed for a six years period within the recently finished Priority Program of the German Research Foundation (DFG) named “Analysis, modeling and numerical prediction of flow-mixig with and without chemical reactions (SPP 1141)”. The objective of the investigations was to improve the prediction of efficiencies and selectivities of chemical re- tions on macroscopic scale.

High Performance Computing in Science and Engineering ' 08

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Publisher : Springer
ISBN 13 : 9783642100000
Total Pages : 0 pages
Book Rating : 4.1/5 ( download)

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Book Synopsis High Performance Computing in Science and Engineering ' 08 by : Wolfgang E. Nagel

Download or read book High Performance Computing in Science and Engineering ' 08 written by Wolfgang E. Nagel and published by Springer. This book was released on 2010-11-05 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The discussions and plans on all scienti?c, advisory, and political levels to realize an even larger “European Supercomputer” in Germany, where the hardware costs alone will be hundreds of millions Euro – much more than in the past – are getting closer to realization. As part of the strategy, the three national supercomputing centres HLRS (Stuttgart), NIC/JSC (Julic ̈ h) and LRZ (Munich) have formed the Gauss Centre for Supercomputing (GCS) as a new virtual organization enabled by an agreement between the Federal Ministry of Education and Research (BMBF) and the state ministries for research of Baden-Wurttem ̈ berg, Bayern, and Nordrhein-Westfalen. Already today, the GCS provides the most powerful high-performance computing - frastructure in Europe. Through GCS, HLRS participates in the European project PRACE (Partnership for Advances Computing in Europe) and - tends its reach to all European member countries. These activities aligns well with the activities of HLRS in the European HPC infrastructure project DEISA (Distributed European Infrastructure for Supercomputing Appli- tions) and in the European HPC support project HPC-Europa. Beyond that, HLRS and its partners in the GCS have agreed on a common strategy for the installation of the next generation of leading edge HPC hardware over the next ?ve years. The University of Stuttgart and the University of Karlsruhe have furth- more agreed to bundle their competences and resources.

Op Amps for Everyone

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Publisher : Newnes
ISBN 13 : 0750677015
Total Pages : 470 pages
Book Rating : 4.7/5 (56 download)

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Book Synopsis Op Amps for Everyone by : Ron Mancini

Download or read book Op Amps for Everyone written by Ron Mancini and published by Newnes. This book was released on 2003 with total page 470 pages. Available in PDF, EPUB and Kindle. Book excerpt: The operational amplifier ("op amp") is the most versatile and widely used type of analog IC, used in audio and voltage amplifiers, signal conditioners, signal converters, oscillators, and analog computing systems. Almost every electronic device uses at least one op amp. This book is Texas Instruments' complete professional-level tutorial and reference to operational amplifier theory and applications. Among the topics covered are basic op amp physics (including reviews of current and voltage division, Thevenin's theorem, and transistor models), idealized op amp operation and configuration, feedback theory and methods, single and dual supply operation, understanding op amp parameters, minimizing noise in op amp circuits, and practical applications such as instrumentation amplifiers, signal conditioning, oscillators, active filters, load and level conversions, and analog computing. There is also extensive coverage of circuit construction techniques, including circuit board design, grounding, input and output isolation, using decoupling capacitors, and frequency characteristics of passive components. The material in this book is applicable to all op amp ICs from all manufacturers, not just TI. Unlike textbook treatments of op amp theory that tend to focus on idealized op amp models and configuration, this title uses idealized models only when necessary to explain op amp theory. The bulk of this book is on real-world op amps and their applications; considerations such as thermal effects, circuit noise, circuit buffering, selection of appropriate op amps for a given application, and unexpected effects in passive components are all discussed in detail. *Published in conjunction with Texas Instruments *A single volume, professional-level guide to op amp theory and applications *Covers circuit board layout techniques for manufacturing op amp circuits.

Analysis, Synthesis and Design of Chemical Processes

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Publisher : Pearson Education
ISBN 13 : 0132459183
Total Pages : 1562 pages
Book Rating : 4.1/5 (324 download)

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Book Synopsis Analysis, Synthesis and Design of Chemical Processes by : Richard Turton

Download or read book Analysis, Synthesis and Design of Chemical Processes written by Richard Turton and published by Pearson Education. This book was released on 2008-12-24 with total page 1562 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Leading Integrated Chemical Process Design Guide: Now with New Problems, New Projects, and More More than ever, effective design is the focal point of sound chemical engineering. Analysis, Synthesis, and Design of Chemical Processes, Third Edition, presents design as a creative process that integrates both the big picture and the small details–and knows which to stress when, and why. Realistic from start to finish, this book moves readers beyond classroom exercises into open-ended, real-world process problem solving. The authors introduce integrated techniques for every facet of the discipline, from finance to operations, new plant design to existing process optimization. This fully updated Third Edition presents entirely new problems at the end of every chapter. It also adds extensive coverage of batch process design, including realistic examples of equipment sizing for batch sequencing; batch scheduling for multi-product plants; improving production via intermediate storage and parallel equipment; and new optimization techniques specifically for batch processes. Coverage includes Conceptualizing and analyzing chemical processes: flow diagrams, tracing, process conditions, and more Chemical process economics: analyzing capital and manufacturing costs, and predicting or assessing profitability Synthesizing and optimizing chemical processing: experience-based principles, BFD/PFD, simulations, and more Analyzing process performance via I/O models, performance curves, and other tools Process troubleshooting and “debottlenecking” Chemical engineering design and society: ethics, professionalism, health, safety, and new “green engineering” techniques Participating successfully in chemical engineering design teams Analysis, Synthesis, and Design of Chemical Processes, Third Edition, draws on nearly 35 years of innovative chemical engineering instruction at West Virginia University. It includes suggested curricula for both single-semester and year-long design courses; case studies and design projects with practical applications; and appendixes with current equipment cost data and preliminary design information for eleven chemical processes–including seven brand new to this edition.

Scientific and Technical Aerospace Reports

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ISBN 13 :
Total Pages : 880 pages
Book Rating : 4.3/5 (91 download)

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Book Synopsis Scientific and Technical Aerospace Reports by :

Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1994 with total page 880 pages. Available in PDF, EPUB and Kindle. Book excerpt: Lists citations with abstracts for aerospace related reports obtained from world wide sources and announces documents that have recently been entered into the NASA Scientific and Technical Information Database.

CMOS

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Publisher : John Wiley & Sons
ISBN 13 : 0470229411
Total Pages : 1074 pages
Book Rating : 4.4/5 (72 download)

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Book Synopsis CMOS by : R. Jacob Baker

Download or read book CMOS written by R. Jacob Baker and published by John Wiley & Sons. This book was released on 2008 with total page 1074 pages. Available in PDF, EPUB and Kindle. Book excerpt: This edition provides an important contemporary view of a wide range of analog/digital circuit blocks, the BSIM model, data converter architectures, and more. The authors develop design techniques for both long- and short-channel CMOS technologies and then compare the two.

The Finite Volume Method in Computational Fluid Dynamics

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Publisher : Springer
ISBN 13 : 3319168746
Total Pages : 799 pages
Book Rating : 4.3/5 (191 download)

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Book Synopsis The Finite Volume Method in Computational Fluid Dynamics by : F. Moukalled

Download or read book The Finite Volume Method in Computational Fluid Dynamics written by F. Moukalled and published by Springer. This book was released on 2015-08-13 with total page 799 pages. Available in PDF, EPUB and Kindle. Book excerpt: This textbook explores both the theoretical foundation of the Finite Volume Method (FVM) and its applications in Computational Fluid Dynamics (CFD). Readers will discover a thorough explanation of the FVM numerics and algorithms used for the simulation of incompressible and compressible fluid flows, along with a detailed examination of the components needed for the development of a collocated unstructured pressure-based CFD solver. Two particular CFD codes are explored. The first is uFVM, a three-dimensional unstructured pressure-based finite volume academic CFD code, implemented within Matlab. The second is OpenFOAM®, an open source framework used in the development of a range of CFD programs for the simulation of industrial scale flow problems. With over 220 figures, numerous examples and more than one hundred exercise on FVM numerics, programming, and applications, this textbook is suitable for use in an introductory course on the FVM, in an advanced course on numerics, and as a reference for CFD programmers and researchers.

Crystal Plasticity Finite Element Methods

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Publisher : John Wiley & Sons
ISBN 13 : 3527642099
Total Pages : 188 pages
Book Rating : 4.5/5 (276 download)

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Book Synopsis Crystal Plasticity Finite Element Methods by : Franz Roters

Download or read book Crystal Plasticity Finite Element Methods written by Franz Roters and published by John Wiley & Sons. This book was released on 2011-08-04 with total page 188 pages. Available in PDF, EPUB and Kindle. Book excerpt: Written by the leading experts in computational materials science, this handy reference concisely reviews the most important aspects of plasticity modeling: constitutive laws, phase transformations, texture methods, continuum approaches and damage mechanisms. As a result, it provides the knowledge needed to avoid failures in critical systems udner mechanical load. With its various application examples to micro- and macrostructure mechanics, this is an invaluable resource for mechanical engineers as well as for researchers wanting to improve on this method and extend its outreach.

Introduction to Permanent Plug and Abandonment of Wells

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Publisher : Springer Nature
ISBN 13 : 3030399702
Total Pages : 285 pages
Book Rating : 4.0/5 (33 download)

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Book Synopsis Introduction to Permanent Plug and Abandonment of Wells by : Mahmoud Khalifeh

Download or read book Introduction to Permanent Plug and Abandonment of Wells written by Mahmoud Khalifeh and published by Springer Nature. This book was released on 2020-01-27 with total page 285 pages. Available in PDF, EPUB and Kindle. Book excerpt: This open access book offers a timely guide to challenges and current practices to permanently plug and abandon hydrocarbon wells. With a focus on offshore North Sea, it analyzes the process of plug and abandonment of hydrocarbon wells through the establishment of permanent well barriers. It provides the reader with extensive knowledge on the type of barriers, their functioning and verification. It then discusses plug and abandonment methodologies, analyzing different types of permanent plugging materials. Last, it describes some tests for verifying the integrity and functionality of installed permanent barriers. The book offers a comprehensive reference guide to well plugging and abandonment (P&A) and well integrity testing. The book also presents new technologies that have been proposed to be used in plugging and abandoning of wells, which might be game-changing technologies, but they are still in laboratory or testing level. Given its scope, it addresses students and researchers in both academia and industry. It also provides information for engineers who work in petroleum industry and should be familiarized with P&A of hydrocarbon wells to reduce the time of P&A by considering it during well planning and construction.

Handbook of Industrial Mixing

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Publisher : John Wiley & Sons
ISBN 13 : 0471451444
Total Pages : 1450 pages
Book Rating : 4.4/5 (714 download)

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Book Synopsis Handbook of Industrial Mixing by : Edward L. Paul

Download or read book Handbook of Industrial Mixing written by Edward L. Paul and published by John Wiley & Sons. This book was released on 2004-02-17 with total page 1450 pages. Available in PDF, EPUB and Kindle. Book excerpt: Handbook of Industrial Mixing will explain the difference and uses of a variety of mixers including gear mixers, top entry mixers, side entry mixers, bottom entry mixers, on-line mixers, and submerged mixers The Handbook discusses the trade-offs among various mixers, concentrating on which might be considered for a particular process. Handbook of Industrial Mixing explains industrial mixers in a clear concise manner, and also: * Contains a CD-ROM with video clips showing different type of mixers in action and a overview of their uses. * Gives practical insights by the top professional in the field. * Details applications in key industries. * Provides the professional with information he did receive in school

Theoretical Microfluidics

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Publisher : Oxford University Press
ISBN 13 : 0191528587
Total Pages : pages
Book Rating : 4.1/5 (915 download)

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Book Synopsis Theoretical Microfluidics by : Henrik Bruus

Download or read book Theoretical Microfluidics written by Henrik Bruus and published by Oxford University Press. This book was released on 2007-09-27 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Microfluidics is a young and rapidly expanding scientific discipline, which deals with fluids and solutions in miniaturized systems, the so-called lab-on-a-chip systems. It has applications in chemical engineering, pharmaceutics, biotechnology and medicine. As the lab-on-a-chip systems grow in complexity, a proper theoretical understanding becomes increasingly important. The basic idea of the book is to provide a self-contained formulation of the theoretical framework of microfluidics, and at the same time give physical motivation and examples from lab-on-a-chip technology. After three chapters introducing microfluidics, the governing equations for mass, momentum and energy, and some basic flow solutions, the following 14 chapters treat hydraulic resistance/compliance, diffusion/dispersion, time-dependent flow, capillarity, electro- and magneto-hydrodynamics, thermal transport, two-phase flow, complex flow patterns and acousto-fluidics, as well as the new fields of opto- and nano-fluidics. Throughout the book simple models with analytical solutions are presented to provide the student with a thorough physical understanding of order of magnitudes and various selected microfluidic phenomena and devices. The book grew out of a set of well-tested lecture notes. It is with its many pedagogical exercises designed as a textbook for an advanced undergraduate or first-year graduate course. It is also well suited for self-study.