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Chemical Engineering
Multiphase Thermodynamics
Laboratory report 2
Date 03.03.2017
Synopsis ........................................................................................................................ 3
Introduction ................................................................................................................... 3
Basic Theory.................................................................................................................. 4
Discussion ..................................................................................................................... 15
Conclusion .................................................................................................................... 16
Synopsis
The chemical reactors are one of main prats of the chemical industries. Thus efficient
designing reactors in order to obtain better yield and higher selectivity are very important.
Homogeneous reaction occurring between ethyl acetate () and sodium hydroxide
() is investigated in this experiment. The reaction occur in batch mode and the
mixture is stirred by help of agitator. Ethyl hydroxide () and sodium acetate ()
are produced from the reaction. The reaction is exothermic and in order to take the
produced heat from the reactor, water is used. In order to determine concentration of
reactants and products as the reaction proceeds, samples are taken from the reactor and
certain amount of solution and indicator is added to the samples. After by using
these obtained results and some equations given in the theory part, the order of reaction
and the rate of reaction at certain times are determined. Activation energy of reaction is
calculated by using Arrhenius equation:
Table 1.
Activation energy Frequency factor
Run
J/mol 1/s
50 rpm 7507.9 0.070360
100 rpm 23275.4 38.989560
150 rpm 21729.1 19.218040
The experiment consist of three part. In each part, the frequency of the stirrer is changes
and its effect on reaction rate is described in the Discussion part. As seen from the table
given above, the activation energy of each run is different. Theoretically, the activation
energy should decrease because as the stirrer speed increase, the kinetic energy of the
molecules increase. The molecules easily break the energy barrier and reacts easily.
When increasing the stirrer speed, the molecules behaves as if the temperature of them
has been increased. Because, in both case the kinetic energy of the molecules increase
and the reaction occurs easily. However, this means there are some deviations with
obtained data. The main reason of these deviations are shown in the Discussion part.
Introduction
Generally, the stirred tank batch reactors commonly used in chemical industry. The
reactants is feed to the reactor and treated altogether for a certain time. They are used
mainly for small scale production of high price products. More uniform residence and ideal
mixing time could be achieved in the batch reactor which means better yields and higher
selectivity in comparison to continuous reactors. However, in most chemical industries,
continues reactors preferred rather than batch. Because for continues reactors, the
capital cost and running costs are less than batch type. Actually, data obtained from lab
experiment could be used to predict behavior of continuous flow reactors. The main
problem related to stirrer tank batch reactor is abrasion of the matrix particles. The reason
behind abrasion the mixer blades, generated shear and air injection.
The main purpose of the experiment is determination of rate and order of reaction
which is to carry out in batch reactor in liquid phase .Moreover, by doing this experiment,
we used to how to run a small lab scale chemical reactor and extract samples from the
reactor mixture. The taken samples are titrated and indicator is added in order to get
proper information about concentration of reactants and reagents .A saponification
reaction occur between Sodium Hydroxide () and Ethyl Acetate () and
Sodium Acetate () and Ethyl hydroxide () are produced:
+ +
Basic Theory
The rate of reaction is determined by the amount of reactants changed into products
in a unit time. As mentioned before, the interaction between the molecules depends on
pressure, temperature, composition as well as stirrer speed Activation energy of
reaction is determined by using Arrhenius given below:
1 = 1
2 = 2
ln( 21)= [11 12]
Where:
stands for rate of reaction
stands for volume of reaction medium
stands for number of moles
stands for elapsed time
stands for concentration of component
In order to determine the rate of reaction, there are two methods available .They are
integral and differential methods. Integral method is more appropriate for this
experiment and will be used in calculations .Because, as seen from the graphs and
tables given in the Results obtained from the apparatus are so scattered that it is
impossible reliably finding the derivatives needed in the differential method .When
using integral method, the order in the rate equation should be assumed . Then, the
equation is integrated for assumed order . Then, concentration function which is
determined by using guessed value of order versus time graphs is plotted. If any of
these graphs gives straight , then assumed order is the real order of the reaction . [2]
= =
0 =k0
0
ln =
0 2 =k0
(0 )
(Ci Ci0) =
Reaction rate
concentration
stands for elapsed time
0 stands for initial concentration
stands for rate constant
Note: the unit of rate constant is 1/ for 1st order and 3 / for second order. [3]
The unit shown in the picture is used to hold up the lab experiment. The unit contains a
stirred tank which has 2 liter volume. The reactor is supplied with an agitator which
mixes the reactants. An internal heat transfer coil is used in order to keep the reactor at
desired temperature. A thermocouple are used to determine temperature of reaction
medium. Moreover, the reactor is supplied with 4 baffles that help mixing. In order to
make precise calculations it is needed to keep temperature constant.
1.
The reactor is designed in such a way
to make reactions in batch mode. The
reactor can take 200 of material at any
one time and samples of 10ml should be
sufficient for the titration. Before stating the
experiment draw a flow diagram and
determine how the temperature can be
maintained. Some heating/cooling tests
have been done before starting the reaction
First of all, 0.1 reaction solutions are
prepared. Then, 100 of the poured
to the reactor and temperature is settled to
desired value. Then, 100ml of the Ethyl
Acetate is added .Samples are taken instantly from the reactor. A burette and
phenolphthalein indicator is used to determine volume of in sample. The color of
indicator is changed from clear to purple when the solution has an excess of .
Table 1.Given and calculated data for 30 rpm stirring speed and 298 k average temperature
1/
Titrate (0/
Volume )
1/
/(
/ / / 1/
)
0 0 0.05 0 0 0.003188 0.000159
30 6.3 18.7 1.3 0.26 0.037 0.301 7.03 0.003198 0.000118
60 6.8 19 1.8 0.36 0.032 0.446 11.25 0.003215 0.000103
90 7.9 19.5 2.9 0.58 0.021 0.868 27.62 0.003239 0.000068
-
120 11.1 20.2 6.1 1.22 -0.011 #NUM! 0.003314 -3.7E-05
110.91
150 7 22.4 2 0.4 0.03 0.511 13.33 0.003397 0.000102
-
180 11.2 24.8 6.2 1.24 -0.012 #NUM! 0.003452 -4.1E-05
103.33
240 8.9 26.4 3.9 0.78 0.011 1.514 70.91 0.003497 0.000039
300 8.4 27.7 3.4 0.68 0.016 1.139 42.5 0.003539 0.000057
360 9.4 28.9 4.4 0.88 0.006 2.12 146.67 0.003574 0.000021
420 9.7 29.9 4.7 0.94 0.003 2.813 313.33 0.003543 0.000011
480 10.4 29 5.4 1.08 -0.004 #NUM! -270 0.003511 -1.4E-05
-
540 10.7 28.1 5.7 1.14 -0.007 #NUM! 0.00345 -2.4E-05
162.86
600 10.5 26.2 5.5 1.1 -0.005 #NUM! -220 0.00343 -1.7E-05
660 10.2 25.8 5.2 1.04 -0.002 #NUM! -520 0.00343 -7E-06
720 9.1 25.8 4.1 0.82 0.009 1.715 91.11 0.00344 0.000031
780 9.2 26 4.2 0.84 0.008 1.833 105 0.0145 0.000116
Table 2. Given and calculated data for 30 rpm stirring speed and 315.3 K average temperature
.
Titrate (0/ 1/
Volume ) 1/
/(
/ / / 1/
)
0.000 0.050 0.000 0.000 0.002580 0.000129
30.000 5.400 37.900 0.400 0.080 0.046 0.083 1.739 0.003860 0.000178
60.000 6.400 37.800 1.400 0.280 0.036 0.329 7.778 0.003860 0.000139
90.000 6.900 38.300 1.900 0.380 0.031 0.478 12.258 0.003870 0.000120
120.000 7.200 38.700 2.200 0.440 0.028 0.580 15.714 0.003890 0.000109
150.000 7.600 39.400 2.600 0.520 0.024 0.734 21.667 0.003910 0.000094
180.000 8.500 40.200 3.500 0.700 0.015 1.204 46.667 0.003940 0.000059
240.000 8.100 41.000 3.100 0.620 0.019 0.968 32.632 0.003970 0.000076
300.000 8.600 41.500 3.600 0.720 0.014 1.273 51.429 0.003990 0.000056
360.000 9.900 42.300 4.900 0.980 0.001 3.912 980.000 0.004020 0.000004
420.000 8.700 43.200 3.700 0.740 0.013 1.347 56.923 0.004050 0.000053
480.000 9.400 44.500 4.400 0.880 0.006 2.120 146.667 0.004100 0.000025
540.000 9.500 45.000 4.500 0.900 0.005 2.303 180.000 0.004120 0.000021
600.000 9.500 45.500 4.500 0.900 0.005 2.303 180.000 0.004140 0.000021
660.000 9.900 45.700 4.900 0.980 0.001 3.912 980.000 0.004140 0.000004
720.000 9.700 46.600 4.700 0.940 0.003 2.813 313.333 0.004180 0.000013
780.000 9.500 46.700 4.500 0.900 0.005 2.303 180.000 0.004180 0.000021
Table 3. Given and calculated data for 30 rpm stirring speed and 333.7 Kaverage temperature
Titrate (0/ 1/
Volume ) 1/
/(
/ / / 1/
)
0.000 0.050 0.000 0.000 0.002580 0.000129
30.000 6.600 42.100 1.600 0.320 0.030 0.390 9.410 0.004010 0.000136
60.000 6.200 46.700 1.200 0.240 0.040 0.270 6.320 0.004180 0.000159
90.000 6.700 52.900 1.700 0.340 0.030 0.420 10.300 0.004410 0.000146
120.000 7.000 55.000 2.000 0.400 0.030 0.510 13.330 0.004490 0.000135
150.000 7.400 59.400 2.400 0.480 0.030 0.650 18.460 0.004660 0.000121
180.000 8.100 62.600 3.100 0.620 0.020 0.970 32.630 0.004780 0.000091
240.000 8.500 65.900 3.500 0.700 0.020 1.200 46.670 0.004900 0.000074
300.000 8.900 67.400 3.900 0.780 0.010 1.510 70.910 0.004960 0.000055
360.000 8.900 68.200 3.900 0.780 0.010 1.510 70.910 0.004990 0.000055
420.000 8.900 68.300 3.900 0.780 0.010 1.510 70.910 0.005000 0.000055
480.000 9.700 67.600 4.700 0.940 0.000 2.810 313.330 0.004970 0.000015
540.000 10.000 67.100 5.000 1.000 0.000 #DIV/0! #DIV/0! 0.004950 0.000000
600.000 9.800 65.400 4.800 0.960 0.000 3.220 480.000 0.004890 0.000010
-
660.000 10.300 62.300 5.300 1.060 0.000 #NUM! -353.330 0.004770
0.000014
-
720.000 10.500 59.900 5.500 1.100 -0.010 #NUM! -220.000 0.004670
0.000023
780.000 9.800 58.200 4.800 0.960 0.000 3.220 480.000 0.004610 0.000009
Table 4. Given and calculated data for 50 rpm stirring speed and 299 K average temperature
Titrate (0/ 1/
Volume ) 1/
/(
/ / / 1/
)
0.000 0.000 0.000 0.050 0.000 0.000 0.002920 0.000146
30.000 6.800 22.600 1.800 0.360 0.032 0.446 11.250 0.002930 0.000094
60.000 6.600 22.700 1.600 0.320 0.034 0.386 9.410 0.002960 0.000101
90.000 7.000 23.000 2.000 0.400 0.030 0.511 13.330 0.003080 0.000092
120.000 8.100 24.200 3.100 0.620 0.019 0.968 32.630 0.003120 0.000059
150.000 7.100 24.600 2.100 0.420 0.029 0.545 14.480 0.003220 0.000093
180.000 7.700 25.600 2.700 0.540 0.023 0.777 23.480 0.003250 0.000075
240.000 7.900 25.900 2.900 0.580 0.021 0.868 27.620 0.003270 0.000069
300.000 9.800 26.100 4.800 0.960 0.002 3.219 480.000 0.003290 0.000007
360.000 9.000 26.300 4.000 0.800 0.010 1.609 80.000 0.003300 0.000033
420.000 8.600 26.400 3.600 0.720 0.014 1.273 51.430 0.003320 0.000046
480.000 8.800 26.500 3.800 0.760 0.012 1.427 63.330 0.003320 0.000040
540.000 9.700 26.500 4.700 0.940 0.003 2.813 313.330 0.003320 0.000010
600.000 9.100 26.500 4.100 0.820 0.009 1.715 91.110 0.003320 0.000030
660.000 9.100 26.500 4.100 0.820 0.009 1.715 91.110 0.003320 0.000030
720.000 9.200 26.500 4.200 0.840 0.008 1.833 105.000 0.003320 0.000027
780.000 9.100 26.500 4.100 0.820 0.009 1.715 91.110 0.325000 0.002920
Table 5. Given and calculated data for 50 rpm stirring speed and 320.1 K average temperature
Titrate 1/
(0/)
Volume converted 1/
NaOH
/(
/ / / 1/
)
0.000 0.000 0.050 0.000 0.000 0.0013 6.5E-05
30.000 6.000 34.100 1.000 0.200 0.040 0.223 5.000 0.00421 0.00017
60.000 6.500 37.400 1.500 0.300 0.035 0.357 8.571 0.00465 0.00016
90.000 7.300 39.800 2.300 0.460 0.027 0.616 17.037 0.00499 0.00014
120.000 7.600 42.000 2.600 0.520 0.024 0.734 21.667 0.00533 0.00013
150.000 8.100 44.300 3.100 0.620 0.019 0.968 32.632 0.00569 0.00011
180.000 8.200 45.500 3.200 0.640 0.018 1.022 35.556 0.00589 0.00011
240.000 8.400 48.000 3.400 0.680 0.016 1.139 42.500 0.00632 0.0001
300.000 8.700 49.800 3.700 0.740 0.013 1.347 56.923 0.00664 8.6E-05
360.000 9.000 50.600 4.000 0.800 0.010 1.609 80.000 0.00679 6.8E-05
420.000 9.200 51.200 4.200 0.840 0.008 1.833 105.000 0.00691 5.5E-05
480.000 9.100 51.600 4.100 0.820 0.009 1.715 91.111 0.00698 6.3E-05
540.000 9.500 51.600 4.500 0.900 0.005 2.303 180.000 0.00698 3.5E-05
600.000 9.300 51.600 4.300 0.860 0.007 1.966 122.857 0.00698 4.9E-05
660.000 8.900 51.500 3.900 0.780 0.011 1.514 70.909 0.00696 7.7E-05
720.000 9.200 51.300 4.200 0.840 0.008 1.833 105.000 0.00692 5.5E-05
780.000 9.200 51.100 4.200 0.840 0.008 1.833 105.000 0.00689 5.5E-05
Table 6. Given and calculated data for 50 rpm stirring speed and 333.9 Kaverage temperature
Titrate (0/ 1/
Volume ) 1/
/(
/ / / 1/
)
0.000 0.000 0.050 0.000 0.000 0.001302 0.000065
30.000 6.900 43.100 1.900 0.380 0.030 0.480 12.260 0.005497 0.000170
60.000 7.500 49.700 2.500 0.500 0.030 0.690 20.000 0.006625 0.000166
90.000 7.600 54.700 2.600 0.520 0.020 0.730 21.670 0.007593 0.000182
120.000 6.900 58.000 1.900 0.380 0.030 0.480 12.260 0.008289 0.000257
150.000 8.600 61.500 3.600 0.720 0.010 1.270 51.430 0.009080 0.000127
180.000 8.700 63.300 3.700 0.740 0.010 1.350 56.920 0.009509 0.000124
240.000 9.600 66.800 4.600 0.920 0.000 2.530 230.000 0.010387 0.000042
- -
300.000 10.100 68.400 5.100 1.020 0.000 #NUM!
1020.000 0.010808 0.000011
360.000 9.900 68.300 4.900 0.980 0.000 3.910 980.000 0.010782 0.000011
420.000 9.800 67.300 4.800 0.960 0.000 3.220 480.000 0.010517 0.000021
-
480.000 10.300 66.800 5.300 1.060 0.000 #NUM! -353.330
0.010387 0.000031
- -
540.000 10.100 66.000 5.100 1.020 0.000 #NUM!
1020.000 0.010181 0.000010
-
600.000 10.500 64.500 5.500 1.100 -0.010 #NUM! -220.000
0.009803 0.000049
-
660.000 10.400 58.300 5.400 1.080 0.000 #NUM! -270.000
0.008355 0.000033
-
720.000 10.600 57.800 5.600 1.120 -0.010 #NUM! -186.670
0.008245 0.000049
-
780.000 11.000 57.100 6.000 1.200 -0.010 #NUM! -120.000
0.008094 0.000081
Table 7. Given and calculated data for 100 rpm stirring speed and 298 K average temperature
Titrate (0/ 1/
Volume ) 1/
/(
/ / / 1/
)
0.000 0.000 0.000 0.050 0.000 0.000 0.002253 0.000113
30.000 6.200 18.300 1.200 0.240 0.038 0.274 6.320 0.002238 0.000085
60.000 5.800 18.100 0.800 0.160 0.042 0.174 3.810 0.002367 0.000099
90.000 6.400 19.800 1.400 0.280 0.036 0.329 7.780 0.002477 0.000089
120.000 6.500 21.200 1.500 0.300 0.035 0.357 8.570 0.002600 0.000091
150.000 7.100 22.700 2.100 0.420 0.029 0.545 14.480 0.002693 0.000078
180.000 7.100 23.800 2.100 0.420 0.029 0.545 14.480 0.002815 0.000082
240.000 7.700 25.200 2.700 0.540 0.023 0.777 23.480 0.002914 0.000067
300.000 8.400 26.300 3.400 0.680 0.016 1.139 42.500 0.002987 0.000048
360.000 8.500 27.100 3.500 0.700 0.015 1.204 46.670 0.003044 0.000046
420.000 8.800 27.700 3.800 0.760 0.012 1.427 63.330 0.003072 0.000037
480.000 8.700 28.000 3.700 0.740 0.013 1.347 56.920 0.003110 0.000040
540.000 9.200 28.400 4.200 0.840 0.008 1.833 105.000 0.003110 0.000025
600.000 9.300 28.400 4.300 0.860 0.007 1.966 122.860 0.003120 0.000022
660.000 9.200 28.500 4.200 0.840 0.008 1.833 105.000 0.003120 0.000025
720.000 9.700 28.500 4.700 0.940 0.003 2.813 313.330 0.003120 0.000009
780.000 9.300 28.500 4.300 0.860 0.007 1.966 122.860 0.251345 0.001759
Table 8. Given and calculated data for 100 rpm stirring speed and 312.8 K average
temperature
Titrate (0/ 1/
Volume ) 1/
/(
/ / / 1/
)
0.000 0.050 0.000 0.000 0.001182 0.000059
30.000 5.700 30.600 0.700 0.140 0.043 0.151 3.256 0.003327 0.000143
60.000 5.800 33.400 0.800 0.160 0.042 0.174 3.810 0.003620 0.000152
90.000 6.500 34.700 1.500 0.300 0.035 0.357 8.571 0.003762 0.000132
120.000 7.000 36.500 2.000 0.400 0.030 0.511 13.333 0.003967 0.000119
150.000 6.900 37.700 1.900 0.380 0.031 0.478 12.258 0.004108 0.000127
180.000 7.700 39.100 2.700 0.540 0.023 0.777 23.478 0.004278 0.000098
240.000 8.300 40.700 3.300 0.660 0.017 1.079 38.824 0.004478 0.000076
300.000 8.700 41.600 3.700 0.740 0.013 1.347 56.923 0.004594 0.000060
360.000 8.700 42.300 3.700 0.740 0.013 1.347 56.923 0.004686 0.000061
420.000 8.600 42.500 3.600 0.720 0.014 1.273 51.429 0.004712 0.000066
480.000 9.200 42.600 4.200 0.840 0.008 1.833 105.000 0.004726 0.000038
540.000 8.600 42.700 3.600 0.720 0.014 1.273 51.429 0.004739 0.000066
600.000 9.000 42.600 4.000 0.800 0.010 1.609 80.000 0.004726 0.000047
660.000 8.600 42.500 3.600 0.720 0.014 1.273 51.429 0.004712 0.000066
720.000 9.600 42.400 4.600 0.920 0.004 2.526 230.000 0.004699 0.000019
780.000 9.000 42.300 4.000 0.800 0.010 1.609 80.000 0.004686 0.000047
Table 9. Given and calculated data for 100 rpm stirring speed and 334.1 K average
temperature
Titrate (0/ 1/
Volume ) 1/
/(
/ / / 1/
)
0.000 0.050 0.000 0.000 0.001182 0.000059
30.000 6.600 44.200 1.600 0.320 0.030 0.390 9.410 0.004942 0.000168
60.000 7.300 48.100 2.300 0.460 0.030 0.620 17.040 0.005502 0.000149
90.000 7.200 53.000 2.200 0.440 0.030 0.580 15.710 0.006273 0.000176
120.000 6.400 57.100 1.400 0.280 0.040 0.330 7.780 0.006980 0.000251
150.000 8.400 62.400 3.400 0.680 0.020 1.140 42.500 0.007982 0.000128
180.000 7.800 61.200 2.800 0.560 0.020 0.820 25.450 0.007746 0.000170
240.000 9.900 60.800 4.900 0.980 0.000 3.910 980.000 0.007669 0.000008
-
300.000 10.300 60.300 5.300 1.060 0.000 #NUM! -353.330
0.007573 0.000023
360.000 9.900 60.400 4.900 0.980 0.000 3.910 980.000 0.007592 0.000008
420.000 9.900 60.400 4.900 0.980 0.000 3.910 980.000 0.007592 0.000008
480.000 9.800 62.600 4.800 0.960 0.000 3.220 480.000 0.008022 0.000016
-
540.000 10.300 66.300 5.300 1.060 0.000 #NUM! -353.330
0.008787 0.000026
600.000 10.000 67.600 5.000 1.000 0.000 #DIV/0! #DIV/0! 0.008970 0.000000
660.000 9.900 70.100 4.900 0.980 0.000 3.910 980.000 0.009480 0.000009
-
720.000 11.100 72.000 6.100 1.220 -0.010 #NUM! -110.910 0.009890
0.000109
-
780.000 11.000 68.900 6.000 1.200 -0.010 #NUM! -120.000 0.009230
0.000092
Plot 1. Ln (Ci0/Ci) versus time for first order reaction with 30 rpm stirring speed
4.500
4.000 y = 0.0047x
R = 0.9341
3.500
y = 0.0044x
3.000 R = 0.6519
Ln(Ca0/Ca)
2.500 y = 0.0034x
R = 0.3638
2.000
T=315.7 K ave
1.500
1.000 T=333.7 K
0.500
T=298K
0.000
0 200 400 600 800 1000
time (s)
Plot 2. 1/Ca-1/Ca0 versus time for second order reaction with 30 rpm stirring speed
1200.00
y = 0.5261x
R = 0.7485
1000.00
y = 0.5717x
800.00 R = 0.2391
1/Ca-1/Ca0
y = 0.2272x
600.00 R = 0.2479
T=298K
400.00 ave
T=315.3 K
200.00 ave
T=333.7 K
0.00
0 200 400 600 800 1000
time (s)
Plot 3. Ln (Ci0/Ci) versus time for first order reaction with 50 rpm stirring speed
4.500
y = 0.0089x
R = 0.9086
4.000
3.500 y = 0.0032x
R = 0.6117
3.000 y = 0.0033x
R = 0.3167
Ln(Ca0/Ca)
2.500
2.000
T=299
1.500 ave
1.000 T=320.1
K ave
0.500
T=333.9
0.000 K
0 200 400 600 800 1000
time (s)
Plot 4. 1/Ca-1/Ca0 versus time for second order reaction with 50 rpm stirring speed
1200.00
y = 1.4199x
1000.00 R = 0.6095
y = 0.1796x
800.00
R = 0.6896
1/Ca-1/Ca0
600.00 y = 0.23x
R = 0.1363
400.00
T=299K ave
200.00
T=320.1K ave
0.00
0 200 400 600 800 1000 T=333.9 K
time (s)
Plot 5. . Ln (Ci0/Ci) versus time for first order reaction with 100 rpm stirring speed
6.000
y = 0.0077x
5.000
R = 0.7344
y = 0.0028x
4.000 R = 0.7512
Ln(Ca0/Ca)
y = 0.003x
3.000 R = 0.9482
T=298K
2.000 ave
T=312.8K
1.000 ave
334.1
0.000
0 200 400 600 800 1000
time (s)
Plot 6. 1/Ca-1/Ca0 versus time for second order reaction with 50 rpm stirring speed
1200.00 y = 1.7017x
R = 0.6392
1000.00 y = 0.1562x
R = 0.5763
800.00 y = 0.2071x
1/Ca-1/Ca0
R = 0.6395
600.00
T=298K ave
400.00
T=312.8K ave
200.00
T=334.1 K
0.00
0 200 400 600 800 1000
time (s)
Discussion
Conclusion