UNIVERSIDAD AUTONOMA DE NUEVO LEON

FACULTAD DE CIENCIAS QUIMICAS

INGENIERIA QUIMICA

TAREA 4

NOMBRE:
SERGIO FERNANDO VILLALOBOS GARZA 1495648
JORGE ADRIAN TORRES CANTU 1495878
EDSON ELEAZIB VILLEGAS MARTNES 1465876
SEMESTRE: 6to
MATERIA: METODOS NUMERICOS
MAESTRO: RICARDO GOMEZ

SAN NICOLAS DE LOS GARZA, NUEVO LEON; A 22/03/13

1. The values shown in the following table are given by Perry for the specific volume, v (ft3/lb), of
superheated methane, at various temperatures and pressures. Estimate the specific volume of
methane at (56.4 F, 12.7 psia), (56.4, 22.7), and (411.2,12.7). Use Lagrange or Newton
interpolation.

Cdigo en Matlab
function lagrange()
y=input('Ingrese el valor de la temperatura T=');
x=input('Ingrese el valor de la presion P=');
v=[17.15,8.47,5.57,4.12,2.678,1.954,1.518;23.97,11.94,7.91,5.91,3.91,2.90
3,2.301;30.72,15.32,10.19,7.63,5.06,3.78,3.014;37.44,18.7,12.44,9.33,6.21
,4.65,3.71;44.13,22.07,14.70,11.03,7.34,5.50,4.40;50.83,25.42,16.94,12.71
,8.46,6.35,5.07;57.51,28.76,19.17,14.38,9.58,7.19,5.75;64.20,32.10,21.40,
16.05,10.70,8.03,6.42];
t=[-200;-100;0;100;200;300;400;500];
p=[10;20;30;40;60;80;100];
n = length(t);
m = length(p);
%========================================================================
==
%COEFICIENTES DE LAGRANGE PARA LAS TEMPERATURAS
for k = 1:n
w = 1;
for j = 1:n
if j~= k
w =((y-t(j))/(t(k)-t(j)))*w;
end
end
A(1,k)=w;
end
%========================================================================
==
%COEFICIENTES DE LAGRANGE PARA LAS PRESIONES
for k = 1:m

z = 1;
for j = 1:m
if j~=k
z = ((x-p(j))/(p(k)-p(j)))*z;
end
end
C(1,k)=z;
end
%========================================================================
==
%INTERPOLACION
s=A*v;
V=s*transpose(C);
%========================================================================
==
display(V)
end

Respuesta

2. Robot path planning using cubic spline. Every object having a mass is subject to
the law of inertia and so its speed described by the first derivative of its
displacement with respect to time must be continuous in any direction. In this
context, the cubic spline having the continuous derivatives up to the second order
presents a good basis for planning the robot path/trajectory. We will determine the
path of a robot iin such a way that the following conditions are satisfied:
-At time t= 0s, the robot starts from its home position (0,0) with zero initial velocity,
passing through the intermediate point (1,1) at t = 1s and arriving at the final point
(2,4) at t = 2s.
-On arriving at (2,4), it stats the point at t = 2s, stopping by the intermediate point
(3,3) at t = 3s and arriving at the point (4,2) at t = 4s.
-On arriving at (4,2), it starts the point, passing through the intermediate point (2,1)
at t = 5s and then returning to the home position (0,0) at t = 6s.
More specifically, what we need is
-the spline interpolation matching the three points (0,0), (1,1), (2,2) and having zero
velocity at both boundary points (0,0) and (2,2),
-the spline interpolation matching the three points (2,2), (3,3), (4,4) and having zero
velocity at both boundary points (2,2) and (4,4), and
-the spline interpolation matching the three points (4,4), (5,2), (6,0) and having zero
velocity at both boundary points (4,4) and (6,0) on the tx plane.
On the ty plane, we need
-the spline interpolation matching the three points (0,0), (1,1), (2,4) and having zero
velocity at both boundary points (0,0) and (2,4),
-the spline interpolation matching the three points (2,4), (3,3), (4,2) and having zero
velocity at both boundary points (2,4) and (4,2), and
-the spline interpolation matching the three points (4,2), (5,1), (6,0) and having zero
velocity at both boundary points (4,2) and (6,0).
write a program, whose objective is to make the required spline interpolations and
plot the whole
robot path obtained through the interpolations on the xy-plane.
Cdigo en Matlab
function [a,b,c,d]=splines3x(X)
n=length(X(1,:));
for i=1:n;
a(i)=X(2,i);
end
for i=1:n-1;
h(i)=X(1,i+1)-X(1,i);
end
for i=2:n-1;
alfa(i)=3/h(i)*(a(i+1)-a(i))-3/h(i-1)*(a(i)-a(i-1));
end
l(1)=1;
mu(1)=0;

z(1)=0;
for i=2:n-1;
l(i)=2*(X(1,i+1)-X(1,i-1))-h(i-1)*mu(i-1);
mu(i)=h(i)/l(i);
z(i)=(alfa(i)-h(i-1)*z(i-1))/l(i);
end
l(n)=1;
z(n)=0;
c(n)=0;
for i=n-1:-1:1;
c(i)=z(i)-mu(i)*c(i+1);
b(i)=(a(i+1)-a(i))/h(i)-h(i)*(c(i+1)+2*c(i))/3;
d(i)=(c(i+1)-c(i))/(3*h(i));
end
for i=1:n-1;
x=X(1,i):0.1:X(1,i+1);
y=a(i)+b(i)*(x-X(1,i))+c(i)*(x-X(1,i)).^2+d(i)*(x-X(1,i)).^3;
hold on;
plot(x,y,'b');
end
for i=1:n;
hold on;
plot (X(1,i),X(2,i),'*','MarkerEdgeColor','r','LineWidth',1);
title('Interpolacin por "splines" de orden 3.');
end
end

Respuesta
X vs T

Y vs T

X vs Y