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K. M. Hangos
Systems and Control Laboratory
Computer and Automation Research Institute of the
Hungarian Academy of Sciences
Budapest, Hungary
L T. Cameron
Cape Centre Department of Chemical Engineering
The University of Queensland
Brisbane, Queensland
r^ ACADEMIC PRESS
\,,__^^ A Harcourt Science and Technology Company
San Diego San Francisco New York Boston London Sydney Tokyo
This book is printed on acid-free paper.
Academic Press
A Harcourt Science and Technology Company
525 B Street, Suite 1900, San Diego, California 92101-4495, USA
http ://w w w. academ icpress. com
ISBN 0-12-156931-4
01 02 03 04 05 06 BC 9 8 7 6 5 4 3 2 1
INTRODUCTION xiii
I F U N D A M E N T A L PRINCIPLES A N D PROCESS
MODEL DEVELOPMENT
VII
VIII CONTENTS
3 Conservation Principles
4 Constitutive Relations
4.1. Transfer Rate Equations 65
4.2. Reaction Kinetics 70
4.3. Thermodynamical Relations 72
4.4. Balance Volume Relations 75
4.5. Equipment and Control Relations 75
4.6. Summary 79
4.7. Review Questions 79
4.8. Application Exercises 80
7 Dynamic Models^—Distributed
Parameter Systems
BIBLIOGRAPHY 527
INDEX 535
INTRODUCTION
Process modelling is one of the key activities in process systems engineering. Its
importance is reflected in various ways. It is a significant activity in most major com-
panies around the world, driven by such application areas as process optimization,
design and control. It is a vital part of risk management, particularly consequence
analysis of hazardous events such as loss of containment of process fluids. It is a
permanent subject of conferences and symposia in fields related to process systems
engineering. It is often the topic of various specialized courses offered at graduate,
postgraduate and continuing professional education levels. There are various text-
books available for courses in process modelling and model solution amongst which
are Himmelblau [1], Davis [2], Riggs [3] and Rice and Do [4]. These however are
mainly devoted to the solution techniques related to process models and not to the
problem on how to define, setup, analyse and test models. Several short monographs
or mathematical notes with deeper insights on modelling are available, most notably
by Aris [5] and Denn [6].
In most books on this subject there is a lack of a consistent modelling approach
applicable to process systems engineering as well as a recognition that modelling is
not just about producing a set of equations. There is far more to process modelling
than writing equations. This is the reason why we decided to write the current book in
order to give a more comprehensive treatment of process modelling useful to student,
researcher and industrial practitioner.
There is another important aspect which limits the scope of the present material
in the area of process modelling. It originates from the well-known fact that a par-
ticular process model depends not only on the process to be described but also on the
modelling goal. It involves the intended use of the model and the user of that model.
Moreover, the actual form of the model is also determined by the education, skills
and taste of the modeller and that of the user. Due to the above reasons, the main
emphasis has been on process models for dynamic simulation and process control
purposes. These are principally lumped dynamic process models in the form of sets
of differential—algebraic equations. Other approaches such as distributed parameter
modelling and the description of discrete event and hybrid systems are also treated.
Finally the use of empirical modelling is also covered, recognizing that our knowledge
XIII
XIV INTRODUCTION
Author: Various
Language: English
*** START OF THE PROJECT GUTENBERG EBOOK HARPER'S YOUNG PEOPLE, OCTOBER
17, 1882 ***
"THEIR GIRL."
"JUST LIKE A COMET!"
THE IGUANA.
THE CRUISE OF THE CANOE CLUB.
HANDICRAFT.
THE BATTLE OF LAKE BORGNE.
WHO WON THE BICYCLE?
AUTUMN LEAVES.
THE DARING MICE.
OUR POST-OFFICE BOX.
BY JAMES OTIS,
Author of "Toby Tyler," "Tim and Tip," "Mr. Stubbs's Brother," etc.
III.
The morning on which the famous excursion was to be made dawned as bright and clear
as the most exacting boy could have wished, and Johnny and Jimmy were in the best
possible spirits.
The boat on which they were to start was to leave the pier at ten o'clock, and as early as
six they had concluded the most elaborate of toilets. They were dressed so much that the
effort to move about in such a manner as not to destroy their general elegance really
cost them no little pain.
Johnny had been up some time before it was light, making such a racket as he moved
about the house, bent on getting this thing or that which would add to his general
appearance, that Mother Brown had jumped out of bed twice in the greatest alarm,
believing burglars were in the house. He had not only made his own toilet, but he had
aided Jimmy in his, until both were in such a state of gorgeousness that they almost
feared to walk through the streets because of the excitement they might cause.
The night previous Johnny had invested five cents in butter, greatly to the mystification of
Jimmy, and when the work of dressing began, he brought it forward triumphantly,
bestowing such liberal quantities upon his own head and Jimmy's that each particular hair
lay down so flat that the most furious gust of wind could not have disturbed it. It was
fully half an hour before Johnny, with the aid of an old shoe-brush, could arrange this
portion of the toilet to please him; but it was accomplished at last, and the remainder of
the work begun.
During the first week of the summer Jimmy had taken the place, for one day, of a friend
who sold papers on the Harlem Railroad, and in order that he might improve his personal
appearance somewhat had purchased a paper collar. Of course he had worn it until it was
so thoroughly soiled that it would have been difficult to have said what its original color
was.
This Johnny used for a pattern, and from a piece of white paper had made two collars,
which had the merit of being clean, even if they did not fit as well as they might have
done. They were rather high in the back and low in front, with a decided tendency to
wrinkle; but those little defects Johnny was certain would not be noticed in the general
beauty of the whole.
Jimmy's coat, which he had borrowed from Tom Dowling for this special occasion, had
originally been brown, trimmed with fur, and many sizes too large for him. In the years
that had passed since it was new it had not grown smaller, but the color had departed
from it, and what had once been fur now looked like strips of very poor leather. But
Jimmy was perfectly satisfied with it, since it was large enough to enable him to conceal
the lack of vest, and short enough to leave fully three inches of his linen trousers
exposed to view.
He wore a felt hat with an abundance of brim and a sad deficiency of crown, while his
neck-tie was a modest and unassuming one, with alternate red and yellow stripes about
an inch wide. With the exception, perhaps, of his coat, it was in his shoes that he took
the greatest pride. It is true that there were several holes in them, but he had blackened
them and his feet so skillfully that an ordinarily careless glance would have failed to show
that they were other than whole.
While Jimmy believed that he looked thoroughly genteel, he freely admitted that Johnny
would have carried away the prize for fashionable attire had any been offered. Not
because his clothes were any more expensive than were his partner's, but because it
might be said they were more seasonable.
Johnny was clothed entirely in brown linen. Mother Brown had on hand a suit belonging
to her son, who had inadvertently left it at home when he ran away to sea, and this she
sold to Johnny for thirty cents, to be paid in ten weekly installments.
Young Brown must have been very tall, or else his clothes had been made in expectation
of his growing very rapidly, for the coat, in its original condition, nearly dragged on the
ground when Johnny tried it on. Mrs. Brown had remedied this defect, however, by
making a fold about five inches wide across the entire garment, which both the boys
thought a great improvement. The trousers had simply been cut off at the bottom, so
that they were a good fit so far as length was concerned, and it was very little trouble to
fold them in around the waist.
Mrs. Brown, without extra charge, had starched the garments very stiff, so that they
would stand out boldly without betraying the fact that the wearer did not occupy all the
space in them he might have done had he been about twice as large as he was. When
Johnny had the clothes on, with a brilliant green neck-tie to enhance the effect, it must
have been a prejudiced party who would not have admitted that it was a striking
costume. His shoes were not blackened quite as brilliantly as were his partner's, but the
reason for this apparent neglect was that, not having as many holes in them as Jimmy's
had, there was no reason for quite so high a polish.
As they had anticipated, they did attract considerable attention as they walked into the
City Hall Park, with so much time at their disposal that they were not obliged to hurry in
order to keep their engagement. Even the men looked at them with no slight degree of
interest, while the boys proved their admiration by greeting them with all kinds of
criticism, some less complimentary than others. Some of the boys Johnny spoke with
kindly, as if to show that even if he was magnificent, he was not proud; but others he
paid no attention to whatever, giving as a reason to Jimmy that when they were dressed
as they were he thought that some distinction should be made by them between the
reputable newspaper merchants and those whose credit had been impaired by their own
misdeeds.
Very many of their acquaintances in business knew about "their girl," and also knew of
the accident she had met with, therefore they readily understood by the display of
costumes that Katy was to be released from the hospital. Nearly all of them sent some
message of congratulation to the black-pin girl that her recovery was complete, and one
even offered to loan the boys ten cents, without other security than their word, if they
were going to take "their girl" out for a good time.
Jimmy would have accepted this offer eagerly, for their funds were so limited that even
the slightest addition would have been welcome; but Johnny prevented him at once by
saying to the would-be lender:
"We're much obliged to yer, Jack, and we'll do the same for you some time; but yer see
we couldn't think of takin' Katy out on borrowed money, for she wouldn't have as good a
time if she knew it."
Then the boys walked directly to the hospital, arriving there some time before eight
o'clock, and for more than an hour were they obliged to wait in the street, suffering
greatly from the heat and their fear lest they should disarrange their carefully made
toilets.
It seemed as if Katy must have been as impatient for the meeting as they were, for just
at nine o'clock she came out of the hospital gates, looking pale and worn, but as happy
as she ever was in her life. She had on the new dress, and even though it was not made
in the latest fashion, nor of the richest materials, the boys were very much surprised by
the improvement in her appearance.
"You look like a reg'lar swell!" exclaimed Johnny, approvingly, and then he turned slowly
around in front of her, that she might see and admire him.
"I hain't sure but the dress looks jest as well as if it was red," said Jimmy, too much
"dressed up" even to rub his chin, and then he too began to revolve for Katy's benefit.
For some moments it was truly a mutual admiration society of three members.
Then after they had sufficiently complimented each other, and after Katy had vainly tried
to thank the boys for their kindness, Johnny announced the programme for the day,
explaining that the excursion was necessary as a means of showing their thankfulness for
the recovery of "their girl."
"We're goin' to be reg'lar folks, ain't we?" cried Katy, when, to her great pleasure, the
boys led the way to the nearest elevated railroad station, thus giving her the opportunity
of having such a ride as she had long desired.
"I guess you'll think so before we get back," replied Johnny, decidedly; and when he paid
thirty cents for the ride, thereby diminishing their funds sadly, he looked at Katy in a
satisfied way, happy at being able to give her so much pleasure.
At the steamboat pier they mingled with the crowd that would probably spend more
money than they, but yet have less enjoyment, and it was as much as Katy could do to
see everything around her, so many times did she look at her dress—new and whole.
During the sail Ikey Moses had no reason to complain that the boys did not keep their
word in regard to patronizing him, for hardly five minutes went by without their making a
purchase of some kind. Katy had pea-nuts, apples, candy, and cakes piled up on the seat
in front of her until it seemed certain that if she ate them all she would be obliged to
return to the hospital.
When the boys were not gladdening Ikey Moses' heart by buying his wares, they were
busily engaged in pointing out to Katy the different points of interest in the harbor, or in
telling her of the wonderful things she was to see; and in this way the time passed so
rapidly that before it seemed possible they could have been away from the pier ten
minutes they were at Coney Island.
Having spent so much of their wealth on the steamer, it was necessary for them to be
careful of their money if they expected to get any dinner, and in order that the purchases
might be made more judiciously, Jimmy gave his portion of the funds to Johnny, thereby
making him responsible for the manner in which the forty remaining cents were spent.
If they did not have quite as much money, they felt of just as much importance as any
one on the beach, and they walked along in all the glory of good clothes and a contented
mind. They would have enjoyed a swim—at least the boys would—but bathing suits were
necessary; and after Johnny had vainly tried to persuade the man at the bath-house that
ten cents ought to be enough for the hire of three suits, they concluded that perhaps
they ought not waste so much time in the water, when they could be sight-seeing.
Never before had the three been on an excursion "dressed up," and they enjoyed their
own condition quite as much as they did that which they saw. Even the dinner was a
success, for Johnny bought one plate of chowder, with crackers for three, and on the
clean though rather warm sand they sat around the one plate, quite as contented as if
they had had all that money could buy.
It was not until the last trip of the boat on which Ikey Moses was employed that they
started for home, and then they gave their friend no extra work in waiting upon them, for
they had such a trifling sum in the treasury—that is to say, in Johnny's pockets—that they
would be able to buy only a small stock of papers the next morning.
But they insisted on introducing Ikey to Katy, and obliged him to hear a detailed account
of the manner in which they celebrated the release of "their girl" from the hospital. Katy
very obligingly stood up that Master Moses could see her dress from every point of view,
and long and loud was the discussion the boys entered into as to what color would have
been the most beautiful, for they all condemned Mrs. Spratt's taste in the matter.
It was well that they had not arranged to spend more than one day at the sea-shore, for
the costume of the boys was not well calculated to stand much service. As it was, the
starch had departed so entirely from Johnny's clothes that they hung limp and in folds
around him, while the improvised paper collars were such a wreck that they were
discarded before the party reached home.
By some means the secret of where they were going had been discovered by their
friends, and when they landed they found as many as twenty waiting to greet Katy, as
well as to learn all the particulars of this excursion which had been made in such a
fashionable manner, so far as clothes were concerned.
It was not until a late hour that night that Mother Brown's boarders retired, and just
before they did go to bed they startled the old lady out of her first sleep and a portion of
her senses by giving three rousing cheers for Johnny, Jimmy, and "their girl."
the end.
"JUST LIKE A COMET!"
BY JOSEPHINE POLLARD.
A little maid, so wondrous wise
In speech, and with observing eyes,
Was wakened at the early morn,
And to an eastern window borne,
That she might see the comet bright,
And nevermore forget the sight.
THE IGUANA.
THE CRUISE OF THE CANOE CLUB.[1]
BY W. L. ALDEN,
Author of "The Moral Pirates," "The Cruise of the 'Ghost,'" etc., etc.
Chapter X.
Charley and Harry took in their sails, keeping the canoes head to sea with an occasional
stroke of the paddle. When all was made snug, and the moment for turning the canoes
had arrived, they realized that they were about to attempt the most hazardous feat of the
whole cruise.
"Can we do it?" asked Harry, doubtfully.
"We've got to do it," replied Charley.
"Why can't we unship our rudders and back water till we get to the reeds?"
"It might be possible, but the chances are that we would be swamped. The seas would
overtake us, and we couldn't keep out of the way of them. No, we've got to turn around
and sail back in the regular way."
"You know best, of course," said Harry; "but what's the use of taking in our sails before
we turn around? We'll have trouble in setting them again with the wind astern."
"We can turn the canoes quicker without sails than we could with the sails set, and every
second that we can gain is worth something. Besides, if we are capsized, it will be an
advantage to have the sails furled. But we're wasting time. Let your canoe get right
astern of mine, so that mine will keep a little of the sea off of you; then watch for two or
three big seas, and turn your canoe when they have passed."
Harry followed his friend's instructions, and succeeded in turning his canoe without
accident. Then Charley, getting into the lee of the Sunshine, did his best to imitate
Harry's successful feat. He managed to turn the canoe, but while in the act a heavy sea
rolled into the cockpit and filled the Midnight absolutely full. The beef bladders, however,
kept the canoe afloat, but she lay like a log on the water, and every successive wave
swept over her.
Charley did not lose his presence of mind. He shouted to Harry to run up his sail and
keep his canoe out of the way of the seas, and then he busied himself shaking out the
reef of his mainsail, so that he could set the whole sail. The moment the canoe felt the
strain of her canvas she began to rush through the water in spite of her great weight,
and no more seas came aboard her. Steering with one hand, Charley bailed with his hat
with such energy that he soon freed the canoe of water. Meanwhile he rapidly overtook
Harry, and reached the reeds, while the Sunshine was a quarter of a mile behind him.
Tom and Joe were found sitting in their canoes and suffering the pangs of hunger.
Charley put on dry clothes, while Harry prepared a lunch of dried beef and crackers, after
which the canoeists resigned themselves as cheerfully as they could to spending the rest
of the afternoon and the night in the reeds. It was not a pleasant place, but the wind
kept the mosquitoes away, and the boys managed to fall asleep soon after sunset. The
wind died out during the night, and the boys found, the next morning, that only a few
rods below the place where they had spent the night there was an open channel by
which they could easily have reached the shore. This was rather aggravating, and it
increased the disgust with which they remembered Lake St. Peter and its reed-lined
shores.
The voyage down the St. Lawrence seemed monotonous after the excitement of running
the Magog rapids, and the various adventures of the sail down the Richelieu. The St.
Lawrence has very little shade along its banks, for, owing to the direction in which it runs,
the sun shines on the water all day long. The weather was exceedingly hot while the
boys were on the river, and on the third day after leaving Lake St. Peter they suffered so
greatly that they were afraid to stay on the water lest they should be sunstruck. Going
ashore on the low sandy bank, they were unable to find a single tree, or even a hillock
large enough to afford any shade. They thought of drawing the canoes ashore, and
sitting in the shade of them, but there was not a breath of air stirring, and the very
ground was so hot that it almost scorched their feet. Half a mile away on a meadow they
saw a tree, but it was far too hot to think of walking that distance. They decided at last
to get into their canoes and to paddle a few rods farther, to a place where a small stream
joined the river, and where they hoped to find the water somewhat cooler for bathing.
On reaching the mouth of the little stream the bows of the canoes were run ashore, so
that they would not float away, and the boys, hastily undressing, sprang into the water.
They had a delightful bath, and it was not until they began to feel chilly that they thought
of coming out and dressing. Tom was the first to go ashore, and as he was wading out of
the water, he suddenly felt himself sinking in the sand. Harry and Joe attempted to land a
few yards from the place where Tom was trying to drag his feet out of the clinging sand,
and they too found themselves in the same difficulty. Harry at once perceived what was
the matter, and, making frantic efforts to get to the shore, cried out to his comrades that
they were caught in a quicksand.
The struggles made by the three boys were all in vain. When they tried to lift one foot
out of the sand, the other foot would sink still deeper. It was impossible for them to
throw themselves at full length on the quicksand, for there were nearly two feet of water
over it, and they were not close enough together to give one another any assistance. By
the time Charley fully understood the peril they were in, Tom had sunk above his knees in
the sand, and Joe and Harry, finding that they could not extricate themselves, were
waiting with white faces and trembling lips for Charley to come to their help.
Charley knew perfectly well that if he ventured too near the other boys, he would himself
be caught in the quicksand, and there would be no hope that any of them could escape.
Keeping his presence of mind, he swam to the stern of one of the canoes, set it afloat,
and pushed it toward Tom, so that the latter could get hold of its bow. He then brought
two other canoes to the help of Joe and Harry; and when each of the three unfortunate
canoeists was thus furnished with something to cling to, he climbed into his own canoe.
"What are we to do now?" asked Harry.
"Just hold on to your canoes until I can tow them out into the stream. You can't sink
while you hang on to them."
"Won't the canoes sink with us?" asked Tom.
"Not a bit of it. You wouldn't sink yourselves if you could lie down flat on the quicksand. I
was caught in a quicksand once, and that's the way I saved myself."
"I hope it's all right," exclaimed Joe; "but it seems to me that you'll have to get a derrick
to hoist me out. But I'm not complaining. I can hang on to my canoe all day, only I don't
want to be drowned and buried both at the same time."
Charley, meanwhile, was busily making his canoe fast to Tom's canoe with his painter.
When this was done, he paddled away from the shore with all his might, while Tom tried
to lift himself out of the quicksand by throwing the weight of his body on the canoe.
Slowly Tom and his canoe yielded to the vigorous strokes of Charley's paddle, and were
towed out into deep water. By the same means Joe and Harry were rescued, and then
the entire fleet—Charley paddling, and the others swimming and pushing their canoes—
floated a short distance down stream, and finally landed where the sand was firm and
hard.
"What should we have done if you'd got into the quicksand, as we did?" said Harry to
Charley, as they were dressing.
"By this time we should all have disappeared," replied Charley.
"I shall never go ashore again while we're on this river without making sure that I'm not
walking into a quicksand," continued Harry. "It was awful to find myself sinking deeper
and deeper, and to know that I couldn't help myself."
"Very likely there isn't another quicksand the whole length of the St. Lawrence," said
Charley. "However, it's well enough to be careful where we land. I've noticed that where
a little stream joins a big one the bottom is likely to be soft; but, after all, a regular
dangerous quicksand isn't often met. I never saw but one before."
"Tell us about it," suggested Joe.
"No; we've talked enough about quicksands, and the subject isn't a cheerful one. Do you
see that pile of boards? Let's make a board shanty, and go to sleep in it after we've had
some lunch. It will be too hot to paddle before the end of the afternoon."
A shanty was easily made by leaning a dozen planks against the top of the pile of boards,
and after a comfortable lunch the boys took a long nap. When they awoke they were
disgusted to find that their canoes were high and dry two rods from the edge of the
water. They had reached a part of the river where the tide was felt, and without knowing
it they had gone ashore at high tide. They had to carry the canoes, with all their
contents, down to the water, and as the receding tide had left a muddy and slippery
surface to walk over, the task was not a pleasant one. They congratulated themselves
that they had not gone ashore at low tide, in which case the rising of the water during
the night would have carried away the canoes.
Sailing down the river with a gentle breeze, and with the help of the ebbing tide, the
canoeists came to the mouth of a small river which entered the St. Lawrence from the
north. They knew by means of the map that the small river was the Jacques Cartier. It
was a swift, shallow, and noisy stream, flowing between high, precipitous banks, and
spanned by a lofty and picturesque bridge. Taking in their sails, the boys entered the
Jacques Cartier, picking their way carefully among the rocks, and making headway very
slowly against the rapid current. They stopped under the bridge, just above which there
was an impassable rapid, and went ashore for lunch.
Near by there was a saw-mill, and from one of the workmen who came to look at the
canoes the boys heard wonderful reports of the fish to be caught in the stream. It was
full of salmon—so the man said—and about nine miles from its mouth there was a pool
where the trout actually clamored to be caught. The enthusiasm of the canoeists was
kindled; and they resolved to make a camp on the bank of the stream, and to spend a
few days in fishing.
After having thus excited his young hearers, the workman cruelly told them that the right
to fish for salmon was owned by a man living in Montreal, and that any one catching a
salmon without permission would be heavily fined. The trout, however, belonged to
nobody, and the boys, though greatly disappointed about the salmon, would not give up
their plan of trout fishing. They hired two carts from a farmer living a short distance from
the river, and placing their canoes on the carts, walked beside them over a wretchedly
rough road until they reached a place deep in the woods, where a little stream, icy cold,
joined the Jacques Cartier. Just before entering the latter the little stream formed a quiet
pool, in which the trout could be seen jumping. The point of land between the trout
stream and the river was covered with a carpet of soft grass, and on this the canoes
were placed and made ready to be slept in.
The workman at the mouth of
the Jacques Cartier had not
exaggerated the number of
trout in the pool. It was alive
with fish. The boys were
charmed with the beauty of
their camping ground and the
luxury of their table. It was
rather tiresome to walk two
miles every day to the nearest
farm-house for milk, but with
the milk rice griddle-cakes
were made, and upon these
and fresh-killed trout the
canoeists feasted for three "THEY FOUND A BEAR FEASTING UPON THE
delightful days. REMAINS OF THEIR BREAKFAST."
They had one real adventure while on the Jacques Cartier. One day when they returned
to their camp from an exploration of the upper part of the trout stream, they found a
bear feasting upon the remains of their breakfast and their bottle of maple syrup, which
he had upset and broken. The animal was full-grown, and looked like a very ugly
customer; but no sooner did he see the boys than he started on a rapid run for the
woods. By the time the boys had found their pistols and were ready to follow him, the
bear had disappeared, and though they hunted for him all the rest of the day they could
not find him. Had the bear taken it into his head to hunt the boys, he would probably
have been much more successful, for their pistol-bullets would have had little effect upon
him, except to sharpen his appetite for tender and wholesome boy's-meat.
[to be continued.]
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