A transient boundary element method model of Schroeder diffuser scattering using well mouth impedance

Room acoustic diffusers can be used to treat critical listening environments to improve sound quality. One popular class is Schroeder diffusers, which comprise wells of varying depth separated by thin fins. This paper concerns a new approach to enable the modelling of these complex surfaces in the time domain. Mostly, diffuser scattering is predicted using steady-state, single frequency methods. A popular approach is to use a frequency domain Boundary Element Method (BEM) model of a box containing the diffuser, where the mouth of each well is replaced by a compliant surface with appropriate surface impedance. The best way of representing compliant surfaces in time domain prediction models, such as the transient BEM is, however, currently unresolved. A representation based on surface impedance yields convolution kernels which involve future sound, so is not compatible with the current generation of time-marching transient BEM solvers. Consequently, this paper proposes the use of a surface reflection kernel for modelling well behaviour and this is tested in a time domain BEM implementation. The new algorithm is verified on two surfaces including a Schroeder diffuser model and accurate results are obtained. It is hoped that this representation may be extended to arbitrary compliant locally reacting materials

Low frequency sound propagation in activated carbon

Activated carbon can adsorb and desorb gas molecules onto and off its surface. Research has examined whether this sorption affects low frequency sound waves, with pressures typical of audible sound, interacting with granular activated carbon. Impedance tube measurements were undertaken examining the resonant frequencies of Helmholtz resonators with different backing materials. It was found that the addition of activated carbon increased the compliance of the backing volume. The effect was observed up to the highest frequency measured (500 Hz), but was most significant at lower frequencies (at higher frequencies another phenomenon can explain the behavior). An apparatus was constructed to measure the effective porosity of the activated carbon as well as the number of moles adsorbed at sound pressures between 104 and 118 dB and low frequencies between 20 and 55 Hz. Whilst the results were consistent with adsorption affecting sound propagation, other phenomena cannot be ruled out. Measurements of sorption isotherms showed that additional energy losses can be caused by water vapor condensing onto and then evaporating from the surface of the material. However, the excess absorption measured for low frequency sound waves is primarily caused by decreases in surface reactance rather than changes in surface resistance

A transient boundary element method for acoustic scattering from mixed regular and thin rigid bodies

Boundary Element Methods (BEMs) may be used to predict the scattering of sound by obstacles, which has accelerated the prototyping of new room acoustic treatments such as diffusers. Unlike the more popular frequency domain method, the time domain BEM is usually solved in an iterative manner which means it can exhibit instability, a crucial impediment to its widespread use. These instabilities are primarily associated with the resonance of cavities formed by closed surface sections, but may also be caused by discretisation or integration error corrupting physical damped resonances. Regular BEM implementations cannot model objects with thin sections due to a phenomenon known as Thin Shape Breakdown. This paper develops an algorithm which combines an accepted approach for modelling thin plates with the Combined Field Integral Equation which eradicates cavity resonances, thereby permitting models of mixed regular and thin bodies. Accuracy and stability are tested by comparison to verified frequency domain BEMs, examination of the transient response, and pole decomposition. This is done for a simple obstacle and a Schroeder diffuser, which comprises a series of wells separated by thin fins. The approach is successful but universal stability cannot be guaranteed for the diffuser. It is suggested that instability is caused by the lightly damped resonances of the wells being corrupted into divergent behaviour by numerical errors

Workspace and Singularity analysis of a Delta like family robot

Workspace and joint space analysis are essential steps in describing the task and designing the control loop of the robot, respectively. This paper presents the descriptive analysis of a family of delta-like parallel robots by using algebraic tools to induce an estimation about the complexity in representing the singularities in the workspace and the joint space. A Gr{\"o}bner based elimination is used to compute the singularities of the manipulator and a Cylindrical Algebraic Decomposition algorithm is used to study the workspace and the joint space. From these algebraic objects, we propose some certified three dimensional plotting describing the the shape of workspace and of the joint space which will help the engineers or researchers to decide the most suited configuration of the manipulator they should use for a given task. Also, the different parameters associated with the complexity of the serial and parallel singularities are tabulated, which further enhance the selection of the different configuration of the manipulator by comparing the complexity of the singularity equations.Comment: 4th IFTOMM International Symposium on Robotics and Mechatronics, Jun 2015, Poitiers, France. 201