Describe the wheel roll and slip constraints used to generate a kinematic model of a mobile robot.

Water at 70°f and streams enter the mixing chamber at the same mass flow rate, determine the temperature and the quality of the exiting stream. 0 psia is heated in a chamber by mixing it with saturated water vapor at 20 psia. if both streams enters the mixing chamber at the same mass flow rate, determine the temperature and the quality of the existing system.

An engine runs on the ideal diesel cycle. the cycle has a compression ratio of 20 and a cutoff ratio of 2. the highest temperature in the cycle is 1200 k. if the heat into the system is 300 kj/kg of working fluid and using variable specific heats determine the work produced per mass of working fluid

An open feedwater heater operates at steady state with liquid entering at inlet 1 with t? = 40°c and pl = 1 .2 mpa. water vapor att2-200°c and p2 = 1.2 mpa enters at inlet 2. saturated liquid water exits with a pressure of pa 1.2 mpa. neglect heat transfer with the surroundings and all kinetic and potential energy effects, determine the mass flow rate of steam at inlet 2 if the mass flow rate of liquid water at inlet 1 is given as 2 kg/s.