Acoustic radiation potential on a sphere in plane, cylindrical,

and sphericalstandingwave fields

M. Barmatz
JetPropulsion
Laboratory,
CaliforniaInstituteof Technology,
Pasadena,
California91109
P. Coilas
Department
ofPhysics
and.4stronomy,
CaliforniaStateUniversity,
Northridge,
Northridge,
California91330
(Received2 April 1984;accepted
for publication12 September
1984)
We haveappliedthemethodof Gor'kovfor derivingtheacoustic radiationpotentialona sphere
in an arbitrarysoundfield.Generalizedpotentialand forceexpressions arederivedfor arbitrary
standingwavemodesin rectangular, cylindrical,andsphericalgeometries for thecasewherethe
sphereradiusismuchsmallerthanthewavelength {kR,•1).Criteriafor determiningradiation
potentialminimaarederivedandexamples of characteristic
spatialradiationpotentialprofiles
arepresented. Singlemodesthat cansustainstablepositioning arediscussed for eachgeometry.
The localizingforcestrengthsfor representativestandingwavemodesin thethreegeometries are
alsocompared.In thispaper,weconsider thepositioningof samples dueto acousticforcesonly.
However,the methoddeveloped hereis generalandcanbeextendedto includegravityor other
external forces.

PACS numbers:43.25.Qp,43.25.Gf,43.40.Qi,43.20.Ks

INTRODUCTION
An objectin the presenceof a soundfield will exper-
ience forces associatedwith the field. Kundt • was one of the
firstto observethe effectof acousticforcesthroughmeasure-
mentson the motionof dustparticlesin resonanttubes.A
detailed theoretical understandingof acousticforces was
firstpresentedbyKing2fora rigidsphere in a planestanding potentialandforceexpressionsforstandingwavesin rectan-
or progressivewavefield in an ideal fluid. King calculated gular,cylindrical,and sphericalgeometries.
the radiationforceby summingthe effectof acousticpres-
suresactingon eachsurfaceelementof the rigidsphere.Yo-
sioka and Kawasima 3 extended this method to include the
effectsof a compressible
sphere.King's theorywasverified
experimentally
forliquid4andgaseous
5'6media.
King'sapproachwaslaterextendedby Embletonto the
caseof a rigidspherein a progressive
spherical7
or cylindri-
cal8wavefield.In aningenious paperGor'kov,
9usinga dif-
ferentapproachthan King, deriveda simplemethodto de-
termine the forces acting on a particle in an arbitrary
acousticfield.Gor'kov showedthat hisexpressionwasequi-
valentto King's in the caseof a'planestandingwave.Ny-
borg•øalsoderivedsimpleexpressions
fortheacoustic
force
by extendingthe methodsof King2 andEmbleton.
7 In the
caseof standingwaves,Nyborg'sexpression
reducedto that
of Gor'kov.9 Severaladditionalreferences
are givenin an
excellentreview of high intensity soundfields by Rosen-
berg.TM
The ability to influencethe motionof objectsby a sound
fieldhasmanyapplications.
•2At thistime,NASA is sup-
porting the developmentof acoustic positioning tech-
niques
•3for the processing
of materialsin the low gravity
environmentof space.We definepositioningasthe ability to
localizea sampleat a positioninteriorto the chamberboun-
Theresearch
described
in thispaperwascarriedoutbytheJetPropulsion scattered term
Laboratory,CaliforniaInstituteof Technology,undercontractwith the
National Aeronauticsand SpaceAdministration.
daries.The motivationfor thisinvestigation
comesfrom the
needto understandin detail the acousticlocalizationcapa-
bilitiesof variousresonatorgeometries.
The main emphasis
is to determine those normal modes that will sustain stable
acousticpositioningof smallsamples.
In thispaper,wewilldevelop general
acoustic
radiation
In Sec.I, we
presentGor'kov'sgeneral expression
whichisusedto evalu-
ate the acousticradiationforce in an arbitrary soundfield.
Therangeof validityof Gor'kov'sresultsisdiscussed,
anda
methodfor determining thecriticalpointsof thepotentialis
introduced.
Generalradiationpotentialexpressions arethen
derivedin Sec. II for resonancemodesin a rectangularge-
ometry.Selectionrulesfor potentialminima(localization
positions}aredeveloped, andexamples ofcharacteristic
spa-
tialprofiles
arepresented. In Secs.III andIV, weextendthe
calculationsto standingwavesin cylindricaland spherical
geometries, respectively.New positioning modesfor these
geometries will bediscussed.A comparison of theposition-
ingcapabilities of standing
wavesin thethreegeometries is
givenin Sec.V. Finally,Sec.VI containsa briefsummary
and conclusions. Preliminaryresultsof this investigation
werereported
previously.
14
I. THEORY
Gor'kov9derived
a veryusefulexpression
forthepoten-
tial U of the acousticforceF that actson a smallspherical
particlein an arbitrary acousticfield in an ideal fluid. Gor'-
kov workedwithin the frameworkof the linear theory;thus
thetime-averaged forceon the particleis correctup to terms
of secondorder in the fluid particlevelocity.The velocity
potential•Pwasrepresentedas the sumof an incidentand a

928 J. Acoust.Soc.Am.77 (3), March1985 0001-4966/85/030928-18500.80 ¸ 1985Acoustical

SocietyofAmerica 928

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 Gor'kovassumed thattheradiusof thespherical
particle countEmbleton's
differentsignconvention.
•9
R 4,2,where)tisthewavelengthofthesound.15Thenusing Fora givenmode, thestablelocalization_positions
cor-
resultsderivedin LandauandLifshitz,16•Psc
wasexpressed respondto particularminimaof thepotentialU. The critical
entirelyin termsof incidentfieldquantities.In addition,the pointsof the potentialare obtainedby requiting
compressibilityof the particleandthe possibilitythat it may 8U
be set in motion by the incidentwave was taken into ac- -0, (7)
count.17After considerable
algebra,
18Gor'kovfinallyob-
tainedthe expression
for the time-averaged
potentialU. or equivalentlyFi = 0, where•i = kxi for dimensionedxi
coordinates.To test the nature of thesecritical points, we
U= 2•rR3[( P•n/3pC2•1
-- (P /)i2n/2•2
], (1)
mustevaluatethe eigenvalues of the Hessianmatrix HU con-
2
whereP•nand /)inarethemean-square
fluctuations
of the sistingof all possiblesecondpartial derivativesof the poten-
pressure andvelocityin thewaveat thepointwheretheparti- tial at the positionsgiven by Eq. (7). A critical point is a
cle is located.In termsof the velocitypotentialwe have nondegenerate maximum if all the eigenvaluesare negative
and it is a nondegenerateminimumif all the eigenvalues are
Pin = -- •, (2) positive.Combinationsof positiveand negativeeigenvalues
8t
leadto varioustypesof saddlepointswhile oneor morezero
oin= grad •Pin' (3) eigenvaluesyield degeneratecritical points (seeAppendix
The factorsf• andf: appearingin Eq. (1) are givenby A).
2 For practicalapplicationsof acousticpositioning,it is
A = 1 -- pc:/psCs,f: = 2(Ps-- P)/(2ps+ P), (4) importantto know the degreeof stabilityprovidedby a radi-
wherec is the speedof soundin the fluid, Csis the speedof ationpotentialwell. When randomexternalforcesare pres-
soundin thepa•icle,p isthedensityof thefluid,andpsisthe ent,a samplewill moveawayfrom thepotentialminimum.If
densityof the pa•icle. The allowablerangeof the factorsf• the externalforceis small,the degreeof samplestabilitywill
andf: are - • <f•l and - 2••1. In thecaseof a rigid dependon the strengthof the acousticrestoringforcenear
spheref• =f: = 1. The acousticforce componentsare ob- the potentialminimum. In general,the potentialwell is not
tainedfrom the potentialusingthe expression symmetric, and there will be characteristicdirectionsthat
F = -- grad U. (5) correspondto the weakest'restoringforces.The maximum
restoringforceFmaxalongany particulardirectionoccursat
For comparison
•d computationalpu•oses, we define
theinfle6tionpointsbetweenthepotentialmaximaandmini-
thefollowhg dimensionlessexpressions
for the radiationpo- ma.
tential,forcecomponents,
acousticpressure, andparticleve-
In the neighborhoodof a nondegenerate
minimum,the
locity:
potentialenergyand forcesmay be written in a form identi-
cal to that of a three-dimensional
anisotropicharmonicos-
(6) cillator (seeAppendixB).
P = Pin/PC/)O,• = /)in//)0,
whereVois the maximumparticlevelocity. 1 • •,•i
•, •, = _•i•i'
We emphasize that Eq. (1)is validfor R 4,A;in fact it is
correct
tolowestorderinR/it, i.e.,(R/it )3.Furthermore,
as wherethe restoringforceconstants
g• are
mentionedabove,Eq. (1) is applicableto any acousticfield
with theexceptionof fieldssimilarto a planetravelingwave.
In the latter case, the contribution to the force is much
smaller,
9 of theorderof (R/A )6.Gor'kovdidnotconsider These dimensionlessrestoring force constantsare useful
multiple scatteringeffects;thus this analysisbecomesin- quantitiesfor comparingthe positioningcapabilitiesof var-
creasinglylesspreciseasthe chamberwallsareapproached. ious potential minima for modesof the sameor different
Gor'kov showedthat in the caseof a rigid spherein a plane geometries.
standingwavefield,Eq. (1)gavean expression for the force In Sees.II-IV, we will developthe radiation potential
thatisidentical to thecorresponding onederivedby King.2 and force expressions specificto chambersof rectangular,
As an additionalapplicationof Eq. (1), Gor'kov gavethe cylindrical,and sphericalgeometry.The three coordinate
expression for the potentialU in thecaseof a spherical(con- variablesof a given geometrywill each definenodal force
vergingor diverging) wave.Embleton 7 hasalsocalculated surfaces.Potentialminimacorrespondto the intersectionof
the radiationforceon a spheredueto a divergingspherical certainnodalforcesurfacesdeterminedby selectionrules.In
wave without restrictionto R/A • 1. Embleton goeson to most cases,theseminima will be isolatedpoints,lines, or
evaluatehis expression for the radiationforcein detailfor surfacesdependingon whetherthe normal modeis a func-
the rigid spherecasef• =f2 =•1, as a doubleexpansionin tion of three,two, or oneof the coordinatevariables,respec-
powersof(1/kr•A/r) and(kR•R/A ). Thereareonlya fin- tively. However, for cylindricaland sphericalgeometries,
ite numberof termsto any givenorder in R/it; thus, one thereare specialmodesof only two coordinatevariablesthat
wouldexpectGor'kov'sexpression to agreewith Embleton's haveisolatedminimapoints.Thesespecialmodesareimpor-
lowestorderterms,i.e.,to order(R'/it)3.Thisisindeedthe tant for acousticpositioningapplicationsand will be dis-
case,apart from a coupleof misprintsand taking into ac- cussed in detail.The notationusedfor therectangular,cylin-

929 J. Acoust.Soc. Am.,Vol. 77, No. 3, March1985 M. Barmatzand P. Coilas:Acousticradiationpotential 929

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 TABLE I. Notationfor parameters
in rectangular,
cylindrical,andspherical
coordinate
systems.

Rectangular Cylindrical Spherical

coordinates x,y,z •,r,z O,r,•

quantum
numbers
a nx,ny,nz m,n,nz l,n,m
dimensions Ix,ly,l• a,l• ro
wavenumbers ki '- tr'gl
i/li kr -- 77'Otmn
/a k = 77'•/ln
/•'0
• = •rn•/l•

All quantumnumbersare non-negative

integersbeginningwith zero.

drical,and sphericalgeometries
discussed
in thispaperare To obtainFe andF•, simplyinterchange
x•-•y andx•-•z,
givenin Table I. respectively,
in Eq. (16).
Thenormalmodes (nxnenz)
of a rectangular
chamber
II. RECTANGULAR GEOMETRY
maybedividedintothreecategories
2øcorresponding
to (i)
We will firstinvestigatethe criticalpointsof the radi- obliquemodeshavingnon valueszero,(ii)tangential
modes
ationpotentialfor a rectangularchamber.We shallbemain- havingonen valuezero,and(iii)axialmodeshavingtwon
ly interestedin the locationof the minima and the behavior values
zero.Thecriticalpointsofthesemodes naturallysep-
of the potentialnear the minima. For rectangulargeome- arate
intotwo•ets.
Forthex coordinate,
onesetcorresponds
tries,a spatialpositionis designatedby thex, y, andz coordi- to sin 2kxx = 0, i.e.,
nates,(xyz),anda normalmodeis givenby the integerquan- sinkxx ----0, coskxx ----0, (17)
tumnumbers
nx,ny,nz,(nxnenz).
2øTheorigin(000)for the
rectangularcoordinatesystemis chosento be at a cornerof with similar expressions for the y and z coordinates.The
the chamber. positionsof thesecriticalpointsare givenby
The velocitypotentialfor a standingwave field in a
rectangular chamber ofdimensions
lx,le,lzis x = m• y__
_ me z _ m• (nx,n
e,n•
:•0), (18)
lx 2nx' 1e--2n-•'l,--2n,'
•in --- -- (vo/k)cos
kxxcoskey'cos
k•z sinrot, (10) wheremx,me, andmzarenon-negative integers
lessthanor
where the wavenumber k is
equalto 2nx,2%, and2n,, respectively.
Thisconditionis
2 + k ])•/2
k = (o/c)= (k2 + k e (11) valid for oblique,tangential,and axial modes.The natureof
the criticalpointsis determinedfrom the evenness andodd-
and
7/'ttz
nessof mx,me, andm• asdiscussed
in AppendixA. Unless
7/7tx 7/7ty
and k•=•. (12) otherwisestated,in theremainderof thispaperwewill limit
' ' ourselvesto caseswherethe compressibility of the sampleis
The dimensionlessacousticpressure
andparticleveloc- lessthan and the densityof the sampleis greaterthanthose
ity for a rectangularnormal modeare of the surroundingmedium, i.e., f• > 0 andf• > 0. Under
theseconstraints,the positionsof nondegenerate (isolated)
• = cosk•x coskeycosk•z cosrot, (13)
potentialminimaare the intersectionof thex, y, andz nodal
and force planescorrespondingto having one m odd and the
others even. When all the m values are even, the critical
,b= [(kx/k)2sin2kxxcos2keycos2k•z
pointsare maxima,and when all the m valuesare odd, the
+ (ke/k)2cos2kxx sin2keycos2kzz
critical points are degenerate.These coordinateselection
+ {k•/k)2cos2kxxcos 2keysin2k•z]•/2sinrot. {14) rulesfor axial,tangential,andobliquerectangularmodesare
Substitutingthemean-squarevaluesof thepressure and givenin Table II. The positionsof thesecriticalpointsare
velocityintoGor'kov'sexpression
[Eq.{1)] yieldsthedimen- independentof the samplecharacteristics {i.e.,f• andf2);
sionlesspotential: however,their type and the magnitudeof the potentialdo
•/= (f•/3)COS
2kxxcos
2keycos
2k,z
- sin2kxxcos
2keycos 2k•z
TABLE II. Potential minima nodal force surfacesfor various modes in rec-
+ {ke/k)2cos2kxxsin2keycos2kzz tangulargeometry.
+ {k,/k )2cos
2kxxcos2keysin2k,z]. {15)
Mode x y z
The dimensionless forcecomponentFx, obtainedfrom the
spatialderivativesof the potential,is givenby axial
...... cosk•z = 0

= sin + tangential
(nxOnz)
sinkxx= 0
coskxx = 0
...
...
cosk,z = 0
sink•z = 0

Xcos
2key
cos
2k•z-(-•)[(•-)2
sin2
key oblique
(nx%n,)
coskxx= 0
sinkxx= 0
sink•y= 0
cosk•y = 0
sink,z = 0
sink,z = 0

+ (16) sinkxx= 0 sink•y = 0 coskzz= 0

930 J. Acoust.Soc.Am.,Vol.77, No.3, March1985 M. BarmatzandP. Coilas:Acoustic

radiation
potential 930

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 1.0
dependonfl andf•_.The magnitudeof the potentialat these
maxima and minima are
• ' iECTANGiLA
wherethesubscri_pt
i corres_ponds
to theoddrn direction. •0
The magnitudesUmaxand Uminare reducedfor nonrigid
sphericalsamples{fl < 1,f2 < 1}.
The secondsetof criticalpointscomesfrom the zerosof
the term in bracesin Eq. {16}.Thesepoints,whichonly arise
for tangentialand obliquemodes,are either nondegenerate
-1.0
saddlepointsor degeneratecritical points.Thus the only
O.4
nondegenerate {isolated}
potentialminima arisefor oblique
normal modesof a rectangularchamberwith coordinates
satisfyingEq. {18}with onern odd and the othertwo even.
To illustratethe acousticbehaviorof theserectangular
chambermodes,we considersomerepresentativecases.For 0.0

thesimp_le
caseofthe(00nz)z-axial
orplane-wave
mode,
•,
U, and Fz are givenby
•(z) = coskzz cosrot, (20)
-0.4
•/(z}= (f•/3}cos
2kzz- (f2/2}sin
2kzz, (21}
Fz(z}= [(fl/3} + (f2/2}]sin 2kzz. (22} T
The forceexpression,Eq. {22},is equivalentto that derived
by King2 andYosiokaandKawasima
3for a planestanding
wave.The resultsdiscussed
herefor the {00nz}z-axial mode
arealsoapplicable
to the{nx00}and{0%0}modes.
The spatialdependence of thesefunctionsfor the {001}
z-axial mode is shownin Fig. 1 for the caseof a stationary
rigid sphere.The extremaof the potential,wherethe forceis
zero, occur at the reflectingwalls {z/lz = 0 or 1} and the
midplane{z/lz = 0.5}.The forcesassociated with this plane-
wave soundfield will positiona small sampleat the mid-
plane,wherethe potentialis a minimum. The excitationof
thenzth harmonicz-axialmodewill producezeroforcecom- o o.h ola
ponentsat the reflectingwalls and nz potential minima POSITION
z/.•z
planesin the interior of the resonatorwith coordinatesgiven FIG. 1. Positiondependence of the acousticpressure,
potential,and force
by Eq. (18)for rnz odd. ona rigidspherefor the(001)z-axialrectangularmode.The potentialmini-
The shapeof the radiationpotentialwell is stronglyde- mumplaneismidwaybetweenthereflecting z wallsandcorresponds to the
pressurenodalplane.
pendenton the magnitudeand signof the variablesfl andf2.
The positionsof the potentialminimafor a plane-wavemode
arelocatedat pressurenodesor antinodesdependingonly on flor. This positioningtechniquewas demonstratedexperi-
the signsoffl andf2 asshownin Table III. When the sample mentally
:1forarectangular
chamber
andisnowbeingdevel-
densityis greaterthan the surroundingmedium(f2 > 0}, the oped further for NASA's Microgravity Science and
potential minima coincidewith pressurenodes,while for Applications
program.
13
sample densitiesless than the surroundingfluid (f2 <0}, Let us now consideran {n,,Onz}x,z-tangentialmode.
theseminimaoccurat pressureantinodes.To illustratethese Theresults
discussed
herearealsoapplicable to the{n,,ny
O)
results,we showin Fig. 2 the radiationpotentialandforceof and{On•nz
} modes.The acoustic
potentialfor thismodeex-
hibits different behavior than was obtained for the axial
the fundamentalz-axial plane-wavemodefor an air bubble
in water. This curve corresponds to a bubblesmallerthan
resonant size.
It is clear from the above discussion that an axial or TABLE III. Dependence of the potentialminimalocationon the signoff•
andf• for a plane-waverectangularmode.
plane-wavemode cannotlocalizea sampleat uniqueposi-
tionsin theresonatorinterior.However,the modescanposi- f• f2 Locationof minima
tion a samplewithin a planenormalto the modewavevec-
positive zero,positive pressurenode
tor. The localizationof a sampleat a uniquepositioncanbe
zero,negative positive pressurenode
attainedby the simultaneous excitationof threeorthogonal zero,positive negative pressureantinode
axial modes,in which casethe intersectionof the three setsof negative zero,negative pressureantinode
orthogonalplanesis a setof pointswithin the resonatorinte-

931 J. Acoust.Soc. Am., Vol. 77, No. 3, March 1985 M. Barmatzand P. Coilas:Acousticradiationpotential 931

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 RECTANGULAR
(102) MODE
RECTANGULAR(001) MODE
L0 ,/
I
./

•,o. 6

4000

• la.N

o 't I
0 0.2 0.4 0.6 0.8 1
POSITION
x/..•x
FIG. 3. x,z-contourgraphof theacousticpotentialfor the (102)x,z-tangen-
tial rectangularmode.Therearesevennonisolated potentialminimalines;
six are alongthe walls,and the deepestminima (x/l,, = z/1z = 0.5) goes
o.o throughthechambercenter.The solidlinesdepictcontoursnearthemini-
. POSITION
z/.•z ma, whilethe dashedlinescorrespond to contoursnearthe maxima.

FIG. 2. Positiondependenceof the acousticpotentialand forceon an air

bubble(smallerthan resonantsize)in waterfor the (001)z-axial rectangular with 32 on the walls and one at the chambercenter(x/l,,
mode.The potentialminimaplanesnowcorrespond to thereflectingz walls
whichare pressureantinodalplanes. . = 0.5,y/ly = 0.5,andz/l• = 0.5).Thedepthoftheinterior
potential
welldepends ontheaspect ratios1•/1,`and1•/1,`.It
isclearlyseenfrom theseplotsthat the chambercenterposi-
modes
duetotheeffects
ofthecoupling_between
thex andz tionisan isolatedpotentialminimum.Therearealsohigher-
propagationdirections.The valuesof U at the minima are orderobliquemodesthat haveisolatedminima in the interi-
always lessthan the critical value --0.5 obtained for the
or of thechamber.For example,the(n,`21)modeswith n,`• 2
axialmodes.
Decreasing
thechamber
aspect
ratiolz/1,`will
further reducethe depthof the potentialminima. For these
modesthe potential minima positionsare all nonisolated RECTANGULAR(221) MODE
lines, most of which lie on the walls of the chamber. The
lowest-ordertangentialmodethat hasan interior minimum
line is the (102),wherethe potentialminimum is alongthe
chamberaxis(x/l,` = 0.5 andz/lz = 0.5). Figure3 showsan
x,z-contourgraph of the potentialon a rigid spherefor the
(102)mode.This mode has sevenminima lines along the y
direction,with six of thesebeingon the walls. The interior
potentialwell is asymmetric,beingsteeperin thez direction.
As wasthe casefor an axial mode,the (102)tangentialmode
cannotlocalizea sampleat a uniqueposition,sinceoneof its
modeeigenvalues
(ny)iszero.Localization
at a uniqueposi-
tion can againbe attainedby the simultaneousexcitationof
two modes,whichtogetherprovideappropriateforcesin the
threeorthogonaldirections.For example,excitingthe (102)
tangentialmode and the (010) axial mode will producea
uniquelocalizationpositionat the centerof the chamber.
The obliquemodes(n,`nyn•)exhibitthe mostcompli-
catedradiationpotentialstructure.Thesemodeshaveisolat-
ed potentialminima pointswith almostall of theseposi-
tionedat thechamberwalls.The lowest-order obliquemode (b)
that hasaninteriorpotentialminimumisthe(221),or equiv- FIG. 4. Hiddenline graphsof acousticpotentialfor the (221)rectangular
alentlythe (122)or (212).Figure4 showshiddenline graphs mode.(a)y/ly-- 0.5centerplane.Therearesixisolated
minimaonthex and
forthe(221)modepotential
in thecenterplanes
y/ly = 0.5 z wallsand onein the center.(b)z/lz -- 0.5 centerplane.There are eight
andz/l• = 0.5. Thereare33 potentialminimafor thismode, isolatedminima on the x andy walls and one in the center.

932 J. Acoust. Sec. Am., Vol. 77, No. 3, March 1985 M. Barmatz and P. commas:
Acousticradiationpotential 932

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 TABLE iV. Characteristics
ofpotential
minimafora rigidsphere
forvarious
modes
in rectangular
geometry.

U critical
Mode , Surface value Location Numberof minima

axial
(00nz) plane -- 1/2 interior
andwalls nz
tangentiaP interiorandwalls ' 2nxnz-- nx-- nz
(n•Onz) line --(ki/k)2/2 walls 2(nx
+ nz)
oblique point -- (ki/k)2/2 interior 3n•nynz
-- 2(n•ny
(n•nynz) + nyn
z + nznx)
+ (n•,q-tryq-nz)
walls 4{n•nyq- nynz q-nzn•)

ak•corresponds
tok• orkz (tangential
mode)
orkx,ky,orkz (oblique
mode).
Thesubscript
i denotes
which
variable
hascosk•x•= O.

havenx - 1 interiorminimaat positions

x/l•, = m•,/2n•,,
y/ly = 0.5, andz/lz = 0.5, withm• = 2,4,...,2n•-- 2. A
summaryof radiationpotentialminimacharacteristics
for
•r=
(_•)j2
m•y}cos:
m•bcos:
kzz-(-•)[(-•)•[(,m
X •
axial,tangential,
Table IV.
andobliquerectangular
modesis givenin --Jm
+i(X)(
2mJm
•) Jm
+i(X))cos2
,

m•cos2
xkz
z]
+ cos2m•bsin2kzz , (26}

III. CYLINDRICAL GEOMETRY

whereX = krr'
In a cylindricalchamberof radiusa and lengthlz, a The dimensionlessforcecomponents for a cylindrical
spatialpositionis designated
by the•b,r, andz coordinates chamberare obtainedusingthe followingexpressions:
(c•rz}
andanormalmodeisgivenbythequantum numbers m,
n, andnz,(mnnz }.2o
Otherimportant notationsforcylindri- •r = -- O•U' (27)
calgeometries aregivenin TableI. The origin(000}for the
cylindricalcoordinate systemischosentobeat thecenterof - l(C9U• (28)
a z wall. The conversionfrom the lower symmetryof rectan- =- /'
gulargeometry to thehighersymmetry of cylindricalgeo- •z= - 3U (29)
metriesleadsto newpositioningfeatures.Thex, y Cartesian
coordinatesand nx and ny quantumnumbersare trans- where• = kr and• = kz. Explicitexpressionsfor theseforce
formedintothe•b,r polarcoordinatesandm andn quantum components are givenin AppendixC.
numbers, respectively.
In rectangular
resonators,theacous- The normalmodesof a cylindricalchambermayalsobe
tic properties
of a givenmodeareindependent of x ory as categorized in termsof axial,tangential,
andobliquemodes
longaseithern• or nyarezero.Thisisnotthecasein the as wasdonefor the rectangularmodes.The z-axialmodes,
cylindrical
system, whereall non-z-axial
modesarer depen- corresponding to m = n = 0, havemotiononlyalongthez
dentregardless of the m andn values.Furthermore, since axis while the r-axial modes,for which m = nz = 0, have
thereare no reflectingboundariesfor cylindrical•bwaves, entirelyradialmotionandfocusthesoundalongthecylinder
thevelocitypotentialfor a standing
wavefieldin a cylindri- axis.The•b-axial
modes, withn = nz = 0, travelcloseto the
calchambercontainsanarbitraryphaseconstant•bo(Ref.22} curvedwalls,havinglittle motionnearthe cylindricalaxis.
and is givenby Modesfor whichonlynz = 0 moveparallelto the wallsof
•in = --(l)dk }Jm
(krr}Cos(m•b
+ •bo)COS
kzzsincot, (23) the chamberandmaybe called•b,r-tangential
modes.
wherethe wavenumberk is specifiedby
Thepotentialminima(localization
positions)
for cylin-
dricalmodesaredetermined by theintersection
of particular
= ro/ c = ( + )/ (24) setsof nodalforcesurfaces.
The typesof nodalforcesurfaces
with for cylindricalgeometries
areshownat thebottomof Table
V. The z-nodalforcesurfacesare circularplanesdefinedby
kr = 7'i'otmn/a,
kz = •rnz/lz. (25)
coskzz= 0 or sinkzz= 0, (30)
Assuming
rigidboundary
conditions,
otmn
isa solution
ofthe
relation
d [ Jm(•ra}]/dot= 0,where function withz coordinates
JmistheBessel givenby Eq. (18}.The •b-nodalforcesur-
oforderm.Since •boisanarbitraryphase constant,
wewilllet facesare rectangularhalf-planesdefinedby
•bo= 0 in thefollowing calculationsof acoustic
properties. cosm•b= 0 or sinm•b= 0. (31)
After calculatingthemean-square fluctuations
of theacous-
In analogywiththerectangular coordinatedefinitions,
these
tic pressureandparticlevelocityandsubstituting intoEq. positionsare givenby
(1},weobtain thefollowingexpression forthedimensionless
radiationpotentialof the(mnnz} normalmode, c•/2•r = q/4m, (32}

933 J.Acoust.
Soc.Am.,Vol.77,No.3, March1985 M.Barmatz
andP.Coilas:
Acoustic
radiation
potential 933

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 TABLE V. Potentialminimanodalforcesurfaces
for variousmodesin cylindricalgeometry.

Mode r •b . z
z axial
ß-. sinm•b-- 0 coskzz -- 0
(00nz)

r axial
(0n0) J2(X)- [(4f•/3f•)+ l]Jo{X)= 0 sinm•b= 0 sink•z = 0
and J•(X)= 0 sinm•b= 0 cosk•z = 0
tangentiala
(Onn.)

obliquea {m + l)J,,,+•(X)- {m - l)J,,,_ •(X) = 0 cosm•b-- 0 sinkzz-- 0

(ran%) S•.(,t')- (2f,/•A)(t/t, )'S,.•) = 0 sinm•b= 0 sink•z = 0

nodal
surfaces

Valid
forn>0,n•>0.
whereq is a non-negative integerlessthan or equalto 4m. o.
Thuscosm•b= 0 andsinm•b= 0 correspond to q beingodd • CYLII•RICAL
or even,respectively.
The r-nodal forcesurfacesare cylinderswith r coordi- ß

natesgivenby
r/a = x/•ram,, (33)
wherexisa solutionofoneormoreofthefollowing
expres-
sions,
depending
onthemode: o.0
Jl(•)-- 0, m = 0, (34)
(m + 1)Jm+i (X)-- (m -- 1)Jm-I (X)-- 0, m > 0, (35)
-O.
J•,(X)- (2fl/3f2)(k
/k,)2Jm(X)
= 0, m>O. (36)
The allowableX solutions are thosefor whichr/a < 1. The
radialcoordinatesof the potentialminimadeterminedfrom
Fxls.(34)and(35)dependon the modequantumnumbersm
O.2
and n. On the other hand, solutionsof Fxl. (36)alsodepend
on the chamberaspectratioa/l, andsampleproperties(i.e.,
fl andf•). The potentialminimafor a givencylindricalmode
areobtainedfrom the selectionrulesfor the r, d, andz-nodal
forcesurfacesgivenin Table V. The positioningfeaturesof
representativeaxial, tangential,and oblique cylindrical
modes are discussed below.
The acousticpositioningpropertiesof the (00n,) cylin- -o.z
dricalz-axialmodes
areidentical
tothose
oftherectangular o.4
chamberas shown-inFig. 1. The (0n0)r-axial modesonly
d_epend
ontheradialcoordinate
r. Forthese
modes.•,
U,and
F are givenby:
.•{X}= Jo(X}cos•ot, (37}
•7(X)= (f•/3)Joa
(,y)- (f2/2)J•(X), (38)
and
o.0

(39)
-0. 2
0 3 6 9 12 15
The dependence ofthesefunctionsonx isshownin Fig. 5 for X
a rigid sphere.The criticalpointsofthe potentialcorrespond FIG. 5. Dependenceof the acousticpressure,potential,and forceon the
to positionswhereF, = 0. The positionand magnitudeof variablex= k,. Asx increases, thedepthof thepotentialwellsandmagni-
the firstfivepotentialmaximaand minimafor a rigid sphere tudeof the restoringforcesdecrease.

934 J. Acoust.Sec. Am.,Vol. 77, No. 3, March1985 M. Barmatzand P. Coilas:Acousticradiationpotential 934

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 aregivenin TableVI. The potentialmaximaaregivenby the
rootsof J•(X)= 0. Assumingf•andf2 arepositive,the mag- 0.
nitude
ofthepotential
is•rma
x = (fl/3}Jo
• {X)'Thex= 0root
ofJ•corr•espondstothe
cylindricalaxis
and yields
the largestta-0.4
valueof Um•. Altogethertherearen q- 1maximalocatedat
positions
r/a = 0, (•l•O1/Ci•On
},...,(CleOn
--1/t2On
},1.Thepotential
minimacorrespond tothezerosoftheterminbraces in Eq. a. 0.0
{39}and are situatedbetweenpositionsof successive
maxi-
ma. There are n minima, all in the interior of the chamber.
The depthof the potentialwellsdecreases
asX (or r/a} in-
creases.The potential maxima and minima for the r-axial

modes
are
nonisolated
critical
points.
They
arecylindrical
surfacesconcentricto the cylindrical axis and extending
betweenthe z/lz - 0 and 1 chamberwalls.
In Fig. 6, we showthe dimensionless quantities•b, U,
andFr asfunctionsof r/a for thelowestorder(010}r-axial
cylindricalmode.The potentialminimumcylindricalsur-
face
occurs
atr/a= 0.551.
This
minimum
does
notcoincide
with the acousticpressure
nodalsurface(r/a = 0.628)in 0.0
contrastto the caseof axialmodesin a rectangularchamber.
This differenceis due to the fact that the r-axial nodal cylin-
dricalsurface
depends
onthechamber
aspectlratio
andsam-
pleproperties.The potentialwellfor the (010}modeis asym- -0. T'
metric, resulting in a stronger outward-goingrestoring 0.4
,
. . ! ,

force. As was the case with the z-axial modes, the r-axial
modesby themselvescannotproducea uniqueequilibrium
localizationposition.
The(mnO)
c•,r-tangential
modeshave
strikingly
differ- 0.z
entacoustic
behavior
thanther-axialmodesduetothefinite
value
ofthequantum
numberrnwhich introduces
a• depen-
dence.Thepotentialminimumsurfaces
for thesemodesmay 0.0
be visualizedfrom the intersectionof nodalforcer cylinders
and • planeswhich producepotentialminima lines.These
{mnO}modeshave two setsof nonisolatedpotentialminima
lines.Thesetdefined
byther coordinate
solutions
ofEq.(35} -0.z0.0 i

0.2
!

0.4 0.6
i

0.8 1.0
are situatedat angles• givenby cosm• = 0, while those POSITION r I a

correspondingto Eq. (36} are at • values satisfying FIG. 6. Radial dependence of the acousticpressure,potential,andforcefor
sin m•- 0. For eachunit increasein n there are 4m new the (010)r-axialcylindricalmode.The positionof the nonisolatedcylindri-
linesintroducedinto the cylinder.The rn - 1 modesare the cal potentialminimumdoesnot coincidewith the pressurenodalcylinder.
The restoringforceis asymmetricwith the outward-goingforcebeingthe
mostinterestingfor applicationpurposes.For thesern = 1 strongest.
modes,one set of r-nodalforcesurfaces[Eq. {35}]requires
J2(X}= 0. Thelowest-order solutiongivesr/a = 0 whichcan
be thoughtof as the shrinkingof an r-nodal force cylinder and Fr for a rigid sphereis shownin Fig. 7 for the (100)
into the axial line. These(ln0} modeshavea potentialmini- tangentialmode.The solidand dashedlinescorrespond to
mum Umin-- --f:/8 alongthe cylindricalaxis.To illustrate •b= 0 and•r/2, respectively.
The heightof the potentialwell
thebehaviorof thesemodes,theradialdependence of•b,U, is largestalongthedirection•b= 0 (•r)anddecreases
to its
smallestvaluefor •b= •r/2 (3•r/2). The maximumrestoring
forceoccursat r/a = 0.493 for • = 0 (•r).While the radial
TABLE VI. Positionandmagnitudeof thefirstfiveforcepotentialmaxima acousticforceis weakestalongthe directions • = •r/2 (3•r/
and minimaof the (OHO)
r-axialcylindricalmodesfor a rigid sphere. 2), it hasa finiterestoringforceat the chamberwall, r/a = 1.
This finiteforcecomponentat the wall directedtowardthe
•/max
a U'max •/min •fmin
interiorisa featureof cylindricalgeometrythat isnot shared
0.0 0.3333 2.109 --0.1522 by rectangularchambermodeswherethe normalforcecom-
3.832 0.0541 5.408 -- 0.0591 ponemsat the wallsare alwayszero.
7.016 0.0300 8.564 -- 0.0371
10.173 0.0208 11.740 -- 0.0271
Only the m = 1, (ln0) modeshavea potentialminimum
13.324 0.0159 14.891 -- 0.0214 linealongthe axis(r/a = 0). All otherminimalinesfor m>/1
occurat finite r values.The positionsof theseminima lines
aThe radial positionof a maximum or minimum is determinedusing are illustratedin Fig. 8 where we presenta •, r-contour
r/a = graph of the radiation potential for the (210) cylindrical

935 J. Acoust.Soc.Am.,Vol.77, No.3, March1985 M. BarmatzandP. Coilas:Acoustic

radiation
potential 935

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 , ,

0.6 CYLI NDRI CAL (210) MODE

CYLINDRICAL o

0.4

0.0

0.15

FIG. 8.•,r-contourgraphoftheacoustic
potential
forthe(210)•, r-tangen-
tial cylindricalmode.Thereare 12nonisolated
potentialminimalinessitu-
ated in sets of four on three radial circles.
-0,15

shownin Fig. 9, whichrepresentsa hiddenline graphof the

{011}modepotential.In thez?lz = 0.5 midplane,thismode
hasa minimumpoint at the chambercenterr?a = 0 and a
minimum circle at the r?a = 1 wall. In addition, there are
• -0.10 another two minima circles at r?a = 0.605, one on each z
wall {z/lz = 0 and 1}.The {Onnz
}modeshavenz interiormin-
imum pointsalongthe axisat positionsz?lz = mz?2nzwith
mz = 1,3,...,2nz- 1.
-0. 20
The potentialminimaof the {mnnz} obliquecylindrical
modesare all isolatedpointssincethey are determinedfrom
o.o o.'4 o.'b theintersection of threeorthogonalnodalforcesurfaces{•,r,
POSITION r/a
and z}. Theseminima pointsmay also be derivedfrom the
FIG. 7. Radialdependence of theacoustic
pressure,
potential,andforcefor propertiesof the axial and tangentialmodes.For example,
the(100)•, r-tangentialcylindricalmode.The potentialminimumisa noni- let us first comparethe potentialminima of the {100}•, r-
solatedlinealongtheaxisof thecylinder.The restoringforceisfiniteat the tangentialmode shownin Fig. 7 and the {10nz}oblique
chamberwallsexceptfor • = 0,•r.

mode. For this mode there is a potentialmaximum at r? CYLINDRICAL(011) MODE

a = 0 and 12 minima lines, four each on three radial circles.
The radii of the innerand outercirclescorrespond to solu-
tionsof Eq. {35}whilethe middlecircleradiusisa solutionof
Eq. (36).
The (Onnz)r,z-tangentialmodesdiffer from the •, r-
tangentialmodesin that the• dependence hasbeenreplaced
by a z dependence. Now, sincern = 0, the intersectionof the
nodalforcer cylindersand thez planesleadsto nonisolated
potentialminima circlesand to isolatedpotentialminima
points.Again, there are two setsof potentialminima with
radii definedby eitherEq. {34).orEq. {36).All solutions
to
Eq. {36}givenonzeroradii. This setalwaysincludescirclesat
thez walls,z?lz = 0 or 1. The r-coordinatesolutionsto Eq.
{34}also includethe axis r/a = 0. Thus this secondset in-
cludesisolatedpotentialminimapointsalongtheaxisaswell
as nonisolated circles located at positions FIG. 9. Hiddenlinegraphof theacoustic
potentialforthe(011)cylindrical
mode.Thismodehasno• dependence. Thereisanisolated minimumpoint
r/a = (•01/i•0n),...,(a0n
_ 1/•0n ),1. This secondset always at the chambercenterand three nonisolatedminima circles,two on the z
hascirclesat the r?a = 1 walls.Thesepotentialminimaare wallsandoneonthecylinderwallin themidplanez/lz - 0.5.

936 J. Acoust. Soc. Am., Vol. 77, No. 3, March 1985 M. Barmatz and P. Coilas:Acousticradiationpotential 936

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 CYLINDRICAL (102) MODE force planesthat can intersectthe existingr- and z-nodal
forcesurfacesto producenew potentialminima. Similarly,
increasingn by 1 introducesan additionalr-nodalforcecyl•
inder into the chamber.The characteristicsof the potential
minima for the variouscylindrical modesdiscussedin Sec.
III are givenin Table VII.

IV. SPHERICAL GEOMETRY

In a sphericalchamberof radiusro,a spatialpositionis

designatedby the 0, r, and• coordinates{Or•b
) and a normal
modeisgivenbythequantum
numbers
1,n, andm, {lnm).
2ø
The origin {000)for the sphericalcoordinatesystemis cho-
sento be at the chambercenter.The sphereis the mostsym-
metricof the threegeometriesdiscussedin thispaperandhas
positioningfeaturesnot foundin rectangularandcylindrical
FIG. 10.Hiddenlinegraphof theacoustic potentialfor the(102)cylindrical geometries.
modein the•b= 0 plane.Thereisanisolatedminimumpointat thechamber The velocity potential for a standingwave field in a
centerand sixminima pointson the walls. spherical
chamber
is givenby23'24
(J•)in
= -- (1)o/kln
•l(• )P 7'•)cos m• sina•t, (40)
modes.The introductionof the z dependence
in the (10nz)
obliquemodesleadsto a preferentialselection
ofnz + 1spe- where•' = kinr and/• = cos0 with
cificminimapointsfrom the infinitenumberof suchpoints kin = o/C = 7'l'•/ln/1'
O. (41)
alongthepotentialminimumliner/a = 0 of the(100}mode.
Assumingrigidboundaryconditions,•/lnis a solutionof the
The z coordinatesof theseminimaalongthe axisaregivenby
relationd [ Jl(•r?'}
]/d•/= 0, wherejlis thespherical
Bessel
Eq.{18}withm• even.Thusthe{101}modehastwopotential
functionof order1. UsingEq. {1},we obtainthe following
minima,oneat eachz wall.The lowestobliquemodeto have
dimensionless radiation potential for the {lnm} normal
anisolatedpotentialminimumpointin thechamberinterior mode:
is the {102}mode.A hiddenline graphof the {102}mode
potentialis shownin Fig. 10.Thismodehasisolatedpoten- •r= (f•/3}/•(•')
[P•n{•tt)]
2COS 2m• --(f2/2)([•/(•')/•
tial minimaat the chambercenter{r/a = O,a/l• = 0.5}and --it+ 1(•)] 2[P•n{•tt)]
2cos2 m•
at the center{r/a = 0} of eachz wall (z/l• = 0 and 1}. In + { [jl(•)/• ]2/(1__[•2)}
[ [(1_•_
1)/•P•'•u)
general,the(10n•}modeshavenz -- 1interiorisolatedmini-
- m+ cos
ma along the axis at positionsz/l• = m•/2n• with m•
= 2,4,...,2nz -- 2. + sin }).
Extendingthiscomparison to any {mnn•} modeshows The dimension]essforce components for a spherical
that increasingrn by 1 introducestwo additional•-nodal chamberarc obtainedusingthe followingexpressions:

TABLE VII. Characteristics

of potentialminimafor a rigid spherefor variousmodesin cylindricalgeometry.

Mode Surface Location Number of minima

z axial

(00nz) plane interior

and
rwall nz
r axial
interior and z walls n
(0n0) cylindrical
•b,r
tangential
(rnn0}
a line interior
and
zwalls 2m(2n
+ 1)--
r,z tangential point interior
(Onnz) interior 2nnz -- n -- nz
circle z walls 2n
r wall

oblique
b point interior 2m[(3n+ I --6ml)ltz
--(2n + 1 -- 6ml)]
z walls 4rn(2n-I- 1)-- 26m•
r wall 2rnnz

Includes(mOO)modes.
Includes(mOnz)
modes.

937 J. Acoust. Soc. Am., Vol. 77, No. 3, March 1985 M. Barmatz and P. Coilas: Acousticradiationpotential 937

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 TABLE VIII. Potentialminimanodalforcesurfacesfor variousmodesin sphericalgeometry.

Mode r •b 0

j, + , (g) - (g/2)[ 2A/3A+ 1- • (•- 1)/g:lj,(g) = 0 sin m• -- 0 (l--rn + 1Ip•n+

•u)-- 11+ 1)itP•%u)
=0

all .•Jl+• (g)-- (1-- 1•J!(•) ---0 sinm•b= 0 It = 0

modes cosm•b= 0 (l--m + 1)p•n+•U) -- (1+ 2)itP7'•u)= 0
(lmn) It = _ 1
nodal
surfaces

sphere plane cone

try. TableVIII givestheselection rulesfor determiningthe

setsof r-, 0-, and •b-nodalforcesurfacescorresponding to
potentialminimaobtainedfromtheclosedformexpressions
=- , (44) [Eq.(32)andEqs.(46)-(52)].Besides theselectionrulespre-
sentedin Table VIII, there is an additionalset with the •b-
•, = --(•sin
0)--Ia•. (45) nodalforcesurfacesatisfyingsinrn•b= 0. However,closed
formexpressions forther- andO-nodalforcesurfaces forthis
Explicit expressions for theseforcecomponentsare givenin setcannotbe obtainedsincethe r and 0 dependences do not
AppendixC. For discussion pu•oses, thenomal modesof a &couplein the forceexpressions, Eqs.(43)and(44).
sphericalchamberwill be dividedinto r-axial, 0, r-tangen- The positioningfeaturesof representative
axial,tangen-
tial, and obliquemodes.The (0n0)r-axial modeshaveonly tial, and obliquesphericalmodesare discussedbelow. The
radialmotionwhilethe {ln0)0, r-tangentialmodeshavemo- {0n0)r-axialmodes
areindependent
of 0 and•b.z
Forthese
tion in the r and 0 directionsonly {no• dependence). modes,the dimensionless
parameters•b,U, andF, are
As wasthe casefor rectangularand cylindricalgeome- •(•') =Jo(• )coscot, (53)
tries, the potentialminima for sphericalmodescan be ob-
tained from the intersectionof setsof r-, 0-, and •-nodal •r(•-)= (f,/3)j•(•')-- (f2/2)fl•
(g), (54)
forcesurfaces.
24Thetypesofnodalforcesurfaces
forspheri- F,(• ) = { [(2f,/3f2)+ 1]Jo(•) -- (2/• }/',(•)}f2J,(• ).
cal geomet• are shownat the bottom of Table VIII. In the
caseof sphericalmodes,the •-constantnodalforcesurfaces Theseparametershavea decayingoscillatorydependence on
are circular half-planeswith coordinatepositionsgivenby
• similarto the r-axialcylindricalmodedependencies onX
•. {32).The O-constant nodal forcesurfacesare coneswith shownin Fig. 5. The positionand magnitudeof the firstfive
0 coordinatesgivenby potentialmaximaand minima for a rigid sphereare givenin
0 = cos-1•, (46) TableIX. The positionsof the potentialmaximacorrespond
where• is a solutionof oneor moreof thefollowingexpres- to therootsofj•(•' ) = 0 [seeEq. (55)],andassumingf•andf2
sions: positive,the potential has a magnitudegiven by Um•
= (f•/3)j•(•m•).Thelowest
root•'max
= 0 torresport_ds
to
/• = 0, ñ 1, (47) the centerof the sphereand yieldsthe largestvalueof Um•,.
(1- rn + 1)P•+, •u)- (1+ IIuP 7'•u)= 0, (48) For a given(0n0)mode,therearen + 1 maximumspherical
surfacesat r/ro = 0,yo•/Yo,,...,Yo,- •/Yo,, 1. The potential
(1- m + 1)P7'+• •u)- (1+ 2)/•P7'•u)= 0. (49) minima are obtained from the zero of the term in braces in
The r-constantnodal force surfacesare sphereswith r co- Eq. (55) and are situatedbetweenpositionsof successive
ordinatesgivenby maxima.Altogetherthere are n minima, all in the chamber
r/ro = •/•"Y•n, (50)
where• is a solutionof oneor moreof the followingexpres- TABLE IX. Positionandmagnitudeof thefirstfiveforcepotentialmaxima
sions,dependingon the mode: andminimaof the (0n0)r-axialsphericalmodesfor a rigid sphere.

•,+ ,(•') - (1- 1)h(•')-- O, (51) •'max

a Umax •'min Umin
jt+ ,(g)--(•'/2)[2f,/3f2 + 1--1(1- 1)/•'2]j,(•')=0. (52) 0.0 0.33333 2.639 -- 0.06939
The allowableg solutionsarethosefor whichr/ro< 1. Solu- 4.493 0.01573 6.082 -- 0.01350
7.725 0.00550 9.295 -- 0.005787
tions to Eq. (51) dependon the mode quantumnumbers,
10.904 0.00278 12.470 -- 0.003215
whilesolutionsto Eq. (52)alsodependon sampleproperties 14.066 0.00157 15.631 -- 0.002046
throughf•andf2. Thisdependence of thepositionof a poten-
tial minimumon the propertiesof the samplewasalsoob- aThe radial positionof a maximum or minimum is determinedusing
servedin cylindricalgeometrybut not in rectangulargeome- r/ro = • /rrron.

938 J. Acoust.Soc.Am.,Vol.77, No.3, March1985 M. BarmatzandP. Coilas:Acousticradiation

potential 938

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 interior.Thesepotentialmaximaandminimaareconcentric the intersectionof r-sphericaland 0-conicalnodalforcesur-
sphericalsurfacesand,exceptfor the originr/re = 0, theyfaces.In general,theseintersections are circles.However,
are nonisolatedcriticalpoints.The potentialmaximumat there are two specialcasesthat lead to isolatedpotential
theoriginmaybethoughtof asa spherethathascollapsed minima.For I = 1,onesetof r-nodalforcesurfaces
to [Eq. (51)]
an (isolated)point. requires J2(•) ----0. The lowest-order solutiongivesr/re = 0
Thedimensionless parameters•,U, andFr areshownin whichcorresponds to an isolatedpotentialminimumin the
Fig. 11 as a functionof r/re for the lowest-order centerof the sphere.This shrinkingof the radialnodalforce
r-axial
sphericalmode(010).The r-axialsphericalandcylindrical sphereto theoriginonlyoccursfor theI = 1modes.To illus-
modeshavesimilarfeatures(seeFig. 6). The potentialmini-trate this specialcase,the radial dependence of the dimen-
mumspherical surfaceoccursat r/re = 0.587andhasa radi-sionless parameters •, U, andFr is shownin Fig. 12 for the
uslessthanthepressure (100)O,r-tangentialmode.The radialdependence
nodalsphere(r/re = 0.699).Thereis of these
greaterasyrnrnetry parameters
in the sphericalpotentialwell than the for 0 = 0 andrr/2 areverysimilarto thebehav-
cylindricalwell which leadsto an evenstrongeroutward- ior of the{100)•, r-tangentialcylindricalmodefor• = 0 and
goingforce. rr/2 (seeFig. 7). The maximumrestoringforceoccursat r/
The (lnO)O,r-tangentialmodesarethemostinteresting re = 0.487 for 0 = 0. Thereis a finiterestoringforceat the
for applicationpurposes.Sincethere is no •b dependence chamberwall, r/re = 1 for all 0 valuesdifferingfrom 0 or rr.
(m = 0)for thesemodes,thepotentialminimacorrespond to For finite n values,a secondset of isolatedpotential

O.8
0.4
SPHERICAL

O.2
(tOO)
MODE•
0.0

0.0

-0. 4 i i i i i i i

....

0.4

0.0

i i i i

0.3

0.2

,9 -0.O•

0.0

-0. tO
O.0 O.2 O.4 0.'6 0•8 t.0 o.o oh o.'6 o:8 2.o
POSITION
rl ro POSITION
r/ro
FIG. 11.Radialdependence of the acoustic
pressure,potential,andforce FIG. 12.Radialdependence of theacoustic pressure,potential,andforce
forthe(010)r-axialspherical
mode.Thepotentialminimumisa nonisolated forthe(100)0,r-tange•ntial
spherical mode.Thismodehasanisolated poten-
spherical
surfacethatdoesnotcoincide withthepressure nodalsphere. The tialminimumpointat thechambercenter.Therestoring forcenearthemin-
outward-going restoringforce is much strongerthan the inward-going imumis strongest alongthe 0 -- 0 direction.The restoringforceis finiteat
force.The modehassimilarfeaturesto the (010)r-axialcylindricalmode. the chamberwallsexceptfor 0 -- 0,rr.

939 J.Acoust.
Sec.Am.,Vo1.•77,
No.3, March1985 M.Barmatz
andP.Coilas:
Acoustic
radiation
potential 939

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 minimaoccursfor the (lnO)modes.Theseuniquepointsarise TABLE X. Characteristicsof potentialminima for a spherefor various
from the shrinkingof the O-nodalforceconesinto the lines modesin sphericalgeometry.
0 = 0, rr. There are 2n potentialminima for this setwith n Mode Surface Location Number ofminima a
positions alongeachof thelines0 = 0 andrrat thesamer?ro
r axial
valuesdeterminedfrom Eq. (51}. sphere interior n
The wavelengthandresonance frequencyof a spherical (OnO)
modearespecified by theI andn quantumnumbers[seeEq. O,r tangential point interior 2n '•- 611
(41}]. For sphericalmodes,there are 21q-1 degenerate (lnO)
modesfor eachquantumnumber1.Thesedegenerate modes circle interior n + 2(n + 1)(1 -- •11)
are specifiedby the quantumnumberm whichhasinteger
values between -- I and 1. Different m values lead to differ- oblique point interior 21n'•- 611
entspat.
jal distributions
ofthedimensionless
parameters
•, (lnm) + (l -- t•11){n+ 1){m+ 1)
U, andF. The axialandtangentialsphericalmodesdiscussed
abovehave m- 0 and are independentof •. The (lnm} oblique circle interior
obliquesphericalmodesaredistinguished by finitem values (lnl)
(ImI<1) thatgivethesemodesa • dependence. Theradiation Valid for l<2.
potentialandforcesfor negativem valuesaresimplyrelated
to thoseof positivem valuesthroughthe expressions,
where the modes 1 and 2 can be the same mode, different
//(- m}= (C•n}2•r(m}, (56} modesin the samegeometry,or modesof differentgeome-
•(- m)= (C•')•(m), tries.The subscriptsi andj describethe dimensionedvari-
where ableof interestin modes1 and2, respectively.In thisdiscus-
sion we will comparerestoringforcesat the samerelative
C ? = ( -- 1)m(l-- m)!/(l + m)!. (58) displacement, xi/li •1, from the equilibriumposition.For
For finite m, C 7'< 1 and decreases with increasingm. Thus comparisonof modesin differentgeometries,it is usually
thenegativem modesproducemuchweakeracousticpoten- convenientto specifycertain additional constraints.The
tial wells and restoring'forces.Since the only difference modesmay be requiredto havethe sameresonance frequen-
betweenthe acousticpropertiesof positiveand negativem cy, maximum particle velocity, average energy density,
valuesis in the scale,evaluationof eitherpositiveor negative chamber volume, or somecombination of theseor other con-
m modeswill definethe positionsof the potentialminima.In straints.
the rest of Sec.IV, we will consideronly positivem modes. As an example,let us considerthe x, y, andz restoring
We carriedout a detailedanalysisof the potentialmini- forcesfor the (221)rectangularmodein a resonatorof square
ma positionsfor the obliquesphericalmodeswith 1<2. All of cross
section
(Ix= ly). Therestoring
forceconstants
are
thesemodeshave21nminimapointsalongthe 0 = 0, ½rlines
gx= f2k}k •2/k4, •y = f2ky2k
•2/k4, (60a)
independentof m. Variousadditionalcombinations of po-
tential minima given by the selectionrules in Table VIII
appearasI and m increase.
In general,the potentialminima of obliquespherical andthe ratio ofF\ to Fz at the samerelativedisplacement
is
modesare isolatedcriticalpointsderivedfrom the intersec-
tion of r-, 0-, and•-nodal forcesurfaces. However,the high
degreeof symmetryin the sphericalgeometrycan lead to a Fz \lx/ 3f2\lx/ +-•2+ 1 . (61)
situationwhereonly two of the variablesneedto be specified
in order to have all the forcesvanish.This caseoccursonly For a rigid sphereFx/F: < 1 with the largestvalueof this
for the (In 1)modeswhere,for onepotentialminimaset,the ratiobeing0.67for l:/lx = 0.55.The ratioF•,/F: hasthe
sameform as Eq. (61)with x replacedby y. ThusF: will
•-nodal forcesurfaces satisfy• = ½r/2,3½r/2andther-nodal
forcesurfacessatisfyEq. (51).For these• values,the force alwaysbelargerthanFx = F•.
Fo = 0 for all r and 0. This uniquecircumstance leadsto n We will nowcomparethe lowest-ordersinglemodepo-
potentialminima circlesin the • = ½r/2,3½r/2plane.The sitionersin eachgeometry,e.g.,the (221)rectangularmode,
characteristicsof the potential minima for the various the (011)cylindricalmode,and the (100)sphericalmode.It
will be assumed that each resonator has the same volume
sphericalmodesdiscussed in Sec.IV are givenin Table X.
and the samemaximum particlevelocity.For eachmode
v. DISCUSSION thereis a particulardirectionthat hasthe weakestrestoring
force.This directionis determinedby comparingtheorthog-
It is of interestto comparethe positioningcapabilities
of variousmodesin the samegeometryaswell asin different onaldimensioned
forcecom_ponents
associated
withtransla-
geometries.Let us initially assumethe samesampleand gas tionalstability.
TheFoandF• dimensionless
forces
areasso-
ciated with rotational stability and will not be considered
mediumisusedin thesecomparisons. Then, for dimensioned
variables here. Exceptfor sphericalgeometries,the strengthof the
weakestforcecomponentcanbemaximizedby theappropri-
(59) ateadjustmentof thechamberdimensionratios.The various
restoringforcecomponentswill be comparedfor the same

940 J. Acoust.Soc.Am.,Vol.77, No.3, March1985 M. BarmatzandP. Coilas:Acoustic

radiation
potential 940

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 relativedisplacement,
xi/l•,•l, from the equilibriumposi- analyzedto determinethe positionsof potentialminima
tion. whichcorrespond to uniquelocalizationpositions.Besides
In the {221)rectangularmode,the forcein thez direc- isolatedpotentialminimapoints,nonisolated minimacon-
tion is alwayslargerthan the x andy forcecomponents, as sistingof linesandcircles,andplane,cylindrical,andspheri-
shownabove.For a givendimension1•, the x andy forces cal surfaceswere also obtained.It was demonstratedin cy-
willbemaximum
andequalwhenthelengthratio1•/1• = 1. lindrical and spherical geometriesthat under special
For a constantvolume constraint,thesex and y forcesare conditionscertaintangentialmodesare capableof produc-
furthermaximized byhaving 1•/1•= 2x/]-6.Forthese dimen- ing isolatedpotentialminima.Conversely,certainoblique
sionratios,the x andy restoringforcesare approximatelya sphericalmodesexhibitnonisolated potentialminimacir-
cles.
third of the z restoringforce.
For the{011)cylindricalmode,thez forcecomponent is This analysishas demonstratedthat in eachgeometry
againalwayslargerthantheradialforce.Theweakerradial there are singleacousticmodesthat can positiona small
forceis maximized for the dimension ratioa/l• = •ao•. sample at thecenterof thechamber.The lowest-order modes
The radial restoringforce is about six and a half times in each geometry that exhibitisolated potentialminima are
weakerthanthe z restoringforcefor thisdimensionratio. the (221), (212),and (122)modes in rectangular geometries,
The {100)spherical modehasa radialrestoringforce the (011)and(102)modesin cylindricalgeometries, andthe
thatdepends ontheangle0. Themaximumrestoring forceis (100) mode in spherical geometries. Stable positioningof
small sampleswas demonstratedexperimentallyfor all of
along0 = 0 andisapproximately sixanda halftimesstron-
thesemodes. 25Isolatedpotentialminimamayalsobe pro-
gerthantheweakest direction0 = •r/2. Maximization ofthe
ducedby the simultaneous excitationof two or more modes,
restoringforceswith respectto chamberdimensions is not
eachof whichindividuallycannotproduceisolatedminima.
possible in a spherefortheassumption ofa constantvolume
resonator. For the imposedconstraints, thisanalysisshows The mostpracticalsetof modesthat canpositiona sampleat
thatthe {221)rectangular modehasthe strongest restoring thechambercenterarethe(102)and(010)rectangularmodes
forces.The ratio of the weakestrestoringforcesbetween andthe {100}and{001) cylindricalmodes.The presentinves-
eachmodeare{221)rectangular/{011) cylindrical= 2.8and tigationhaspresented acousticpositioningpropertiesof var-
iousmodesin differentgeometries that will haveapplication
{221)rectangular/{ 100)spherical = 115.If, insteadof hav-
in basicand appliedresearchprograms.
ingthesamemaximumparticlevelocityVoin eachgeometry,
weassume thesamespace-time-averaged
energy density(g) ACKNOWLEDGMENTS

(seeAppendixD), wefindthefollowingratiosfor thewea- We thank Dr. Carl Shipleyand H. JordanBrown for

kest restoringforces:(221) rectangular/{011)cylindri- programmingsupport.We alsoappreciatethe carefulread-
cal = 1.65 and {221) rectangular/(100)spherical= 47. ing of the manuscriptby JamesL. Allen and the persever-
Thesecomparisons suggestthattheoverallpositioning abi- ance and patienceof Sandi Thomas in typing the manu-
lity of the singlemodelevitatorsdecreases asthe chamber script.
symmetry increases. Thisispartiallydueto thefactthatthe APPENDIX A: CRITICAL POINTS OF A FUNCTION OF
optimization of thechamberdimension ratiosbecomes more SEVERAL VARIABLES
limiting with increasedsymmetry.
Theexpressions developed in thispaperwereanalyzed We givebelowa briefsummary(withoutproofs)of the
primarilyfor a rigidsphere.However,theseexpressions are results andterminologypertinentto this paper,concerning
alsoapplicable to thegeneralcaseof samples with arbitrary the critical points of a functionf of severalvariables:
densityandcompressibility. Of particularinterestin thisre- Xl, X2,...,Xn. For our casesn is at most3. We assumethat
gardistheacoustic behaviorof gasbubbles in a liquid.Re- fl(Xl,...,Xn) is differentiable asmanytimesasnecessary.
sonators with free boundaries is another area where the anal- A pointXc= (X•c,X2c,...,Xnc) is a criticalpointoff if
ysisisuseful.The onlyrequiredchangein theanalysis isthe
useof differentboundaryconditioncoefficients
or Yln)'
(i.e.,n•, Otmn, ofI ofI
•1 Xc=•X2 xc=.... •XnXc •f =0. (A1)
A usefulfeatureof Gor'kov's9 methodis the abilityto The value off(xc } at a criticalpointXcis calledthe critical
value off.
coupletheacoustic forcefieldwithotherexternalfieldssuch
In orderto determinethe typeof criticalpoint at Xc,we
asgravity.Undertheseconditions, theresultantforcefieldis
form the so-calledHessianmatrix off. The Hessianoff,
simplydetermined bysummingtheforcepotentials andtak-
denotedbyHf, isthesymmetricmatrixof all possible second
ingthe appropriate derivatives. Thisprocedure will leadto
new potentialminima positionsand restoringforce con- partial derivatives off, i.e.,
stants.An investigation
ly positioned samples
oftheeffectof gravityonacoustical-
in arbitrarilyorientedchambers isnow (
c•x2• c•x•c•x2aV •Xl•X n
in progress. •32f •32f
VI. CONCLUSIONS (A2)

In this paper,we havedeveloped expressionsfor the

acoustic radiationpotentialandforcesin rectangular,
cylin-
drical, and sphericalgeometries.The critical pointswere

941 J.Acoust.
Soc.Am.,Vol.77,No.3, March1985 M. Barmatz
andP.Coilas:
Acoustic
radiation
potential 941

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 The Hessianis diagonalizable
and its eigenvalues
may •rlc• 2,•//oTz 2,evaluated
at Rc,aretheeigenvalues
of
be found by the usualtechniques.The determinantof the HU I•. Wehave
matrixHfl•,c,denoted det(Hflxc),
andthetraceof Hf[•,•, + V
denotedtr(Hfl• ), areinvariant
which yieldsthe eigenvalues
underthetransformation
tci. Thus we have
• •2 =(--1)
mx (•) g(my,m
z).
Toob•n •/39: and•/•, s•ply intereh•ge
x•y
det(Hfl•)= 1-[tq i•l
(A3) •d x•z, res•etively, in •. (AS). The functiong has the
followingprope•ies:
and

tr(Hfl•
)= • •q. (A4) form•,m• bothodd,
i•1

We also wish to remind the reader of two useful terms: The

for my odd, mz even,
2
for m• odd, m• even,
rank r of an n X n matrixis theorderof thelargestsubmatrix
with a nonvanishingdeterminant, while the corank
m = n - r. Clearly then, the rank is equalto the numberof g•my,mz)
=2f
l for my,mzbotheven.
(A6)
nonzeroeigenvalues, whilethe corankisequalto thenumber
of eigenvalues whichare equalto zero. Letusassume,
forexample,
thatn•, rty,nz• 0,andfl, f2 > 0.
The type of critical point at x½is determinedfrom a We thenhavethe followingcases:
considerationof the variouspossibilities listedbelow: (1)At leasttwo of the m• valuesareeven.Then all three
eigenvalues are nonvanishing and we havea nondegenerate
(1),411
theeigenvalues
ofHf l• aredifferent
fromzero
criticalpoint.
[i.e.,det(Hfl•c)%O,r
= n,m= 0].In thiscase
wehaveanon- (a)If all threem• valuesareeven,thenall threeeigenval-
degenerate criticalpoint.It canbeshownthat a nondegener-
uesare negativeand we havea maximum.
atecriticalpointoff isanisolatedcriticalpointofd•i.e.,there
(b) If only two of the m• valuesare even,then all three
are no othercriticalpointswithin someneighborhood ofx½.
eigenvalues are positiveand we havea minimum.
(However,the converseisnot true;therearedegenerate criti-
(2) At leasttwo of the m• valuesare odd.Then at least
cal pointswhichare isolated).
one eigenvaluevanishesand we have a degeneratecritical
(a)If all theeigenvalues arepositive,
we havean isolated
point.
minimum at x½.
(a)If all threem• valuesareodd,thenall threeeigenval-
(b)If all the eigenvalues
are negative,we havean isolat-
uesvanish.In the (111) and (222) rectangularmodes,
ed maximum at x½.
which were investigatedby computerfor the above
(c)If someeigenvalues are positiveand someare nega-
choiceoff• andf:, this typeof criticalpointturnedout
tive, we havean isolatedsaddleat x½. to be a maximum.
(2)Oneormoreoftheeigenvalues ofHf lx,vanish
[i.e., (b)If onlytwo of the m• valuesare odd,thenoneeigen-
det(HfI•, = O,r• n,m• 0].In thiscase
wehaveadegenerate value vanishes,and the other two are negative.Here
criticalpoint. The corankm is equalto the numberof inde-
againa computeranalysiswouldprovidethe simplest
pendent"directions"in which the criticalpoint is degener- meansof decidingwhetherthe criticalpointis a maxi-
ate.
mum or a "saddle."
A degeneratecritical point is structurallyunstable
which meansthat by addinga small perturbationto our Nowsuppose thatny= 0.Then c•r/o•= • •r/c•.p2= 0
for all •, and consequentlywe have nonisolatedcritical
functionfwe maychangethebehaviorat x½drastically.For
points.Consider,for example,the {102)rectangularmode
example f= x4 hasanisolated butdegenerate minimumat
x = 0, whilef= x4 -- •x 2,• > 0 hasa (nondegenerate) maxi- andchoose m• = 1andm• = 2 {myhasto beequalto zero).
Then,forf•, f2> 0, • •r/o• 2> 0, and• •r/oTz 2> 0, andwe
mum there.Physicallythismeans,for example,that by tak-
havea lineofminima in they directionat x/l• = z/lz = 0.5
ing into accountattenuation,or the sizeof the objectmore
{seeFig. 3). TablesV and VIII list the varioustypesof sur-
realistically(whichamountsto the introductionof newpa-
facesofnonisolatedcriticalpointsobtainedin thecylindrical
rametersin our potentialU }, we may modifythe natureof
and sphericalgeometries,respectively.
the degenerate criticalpointsof U. By contrast,it can be
Sincewe onlyneedto knowthesignof the eigenvalues
shownthata nondegenerate criticalpointisstructurally sta-
ble.That is,a smallperturbation will notalterthebehaviorof of Hfl•c andnottheiractual values,sometimes weareableto
fat x½.Exceptfor theeaseof onevariablewherethetypeof deduce the typeof criticalpoint bylooking at tr(Hflx,) and
criticalpointisdetermined by thefirstnonzeroderivativeof det(Hfl•, ). Forexample, if tr(Hfl•,)<0,thecritical point
f (if it exists},
thegeneraltheoryof degenerate criticalpoints cannot bea minimum, If tr(Hfl•,)< 0 whiledet(Hfl•,)<0,
of functions of several variables is rather involved, and we we must have a (nondegenerate) saddle. Now suppose
refer the interested reader to established references in this tr(HfI•,}< 0,butdet(HfI• }> 0,andthenumber
ofvariables
field.26'27
Thebestpolicyin suchsituations is to investigate involvedis odd(i.e.,n is odd};againthe criticalpointat Xc
the natureof the critical point by computer. hasto bea (nondegenerate) saddle.On theotherhand,if n is
As an illustration of the aboveideas,considerthe situa- even,thecriticalpointmaybe a saddleor a maximum.
tion for the rectangulargeometrydiscussed
in See.II, Eqs.TheindexI off or at a nondegenerate critical
(16}-{18).Theoff-diagonal
elements
ofHU I•, with•½given point Xc is equal to the number of negativeeigenvaluesof
byEq.(18),vanish. Thusthediagonal
elements0 2•r/0•2, Hflxc.Theindexcharacterizes thetypeofcritical point.For
942 J. Acoust.Sec. Am., Vol. 77, No. 3, March 1985 M. Barmatzand P. Coilas:Acousticradiationpotential 942

Redistribution subject to ASA license or copyright; see http://acousticalsociety.org/content/terms. Download to IP: 141.209.144.159 On: Wed, 10 Dec 2014 15:24:15
 example,for a n X n (nondegenerate)
Hessian,I = 0 meansa This result is a specialcase of the so-calledMorse
minimum, I = n means a maximum, and 0 < I < n means a lemma.
e7We givea briefoutlineof theproof:(a}Translate
saddle. Both the index I and the corank rn are invariant the coordinateorigin to the positionof the minimum. (b}
numbersunderdifferentiableinvertiblecoordinatechanges ExpandUin a Taylor seriesabouttheorigin(theminimum}.
(diffeomorphisms).e6Therefore, iff has,forexample, a non- (c} Retain only the first nonvanishingterms;theseare the
degenerateminimum at xc and we perform a diffeomor- termsinvolvingthe secondderivatives(sincethe firstderiva-
phism• = •(x}, thetransformedfwill havea nondegenerate tivesvanishat the minimum}.{d}Finally, rotatethe coordi-
minimumat the corresponding position•c = •(x• }. How- natesystemsoasto eliminatecrossterms.We now have(B1}
ever,onehasto be careful,asthe followingsimpleexample which is, of course,identical to the potential energyof a
illustrates. Consider the elliptic paraboloid given by three-dimensionalanisotropicharmonicoscillator.The ef-
f(x,y} = xe+ t•-ye. f has a nondegenerate minimumat fectiverestoringforceconstants•'i are the eigenvalues of the
x = y = 0 for t %0, since Hessian matrix of U evaluated at the minimum under consi-
deration{seeAppendixA}.
Hflx= o= 2te . (A7} The fact that minima of interestare nondegenerate
y=0
guarantees the existenceof theR•andtheconvexityof Unear
If we change to polar coordinates, we have the minimum. Thus by definingthe Ri as above,we insure
f= F(r,•b} = r2(cos e•b+ t esine•b}. Now 8F/Sr = 8F/ that the smallestR•isin the directionof the minimum restor-
&b = 0 for r = 0 and any •b,and ing force,the largestin the directionof the maximumrestor-
ing force,and soon. If the critical point is not a nondegener-
Hflr--ø = (2½Os2
• +2t2
0sin2
• •) ' (A8)
ate minimum, someof the Ri may be zero or negativeand
thuslosetheir meaningas"restoringforce"constants.How-
whichseemsto implythat nowwehavea degenerate critical ever,we may still definerestoringforceconstantsfor certain
pointat r = 0. The paradoxis resolvedwhenwe realizethat directions.To seethis,we givebelowa somewhatsimplified
the Jacobian determinant of the transformation from Carte-
version
of theso-called
splitting
lemmae7asit applies
to our
sianto polarcoordinates isequalto r andhencethetransfor- cases.Supposethat U hasa criticalpointand the Hessianof
mation is not invertibleat r = 0. In our investigationof the
U evaluatedat this critical point has rank r (and corank
sphericalgeometry(Sec.IV}, 3 -- r}. Then in a neighborhoodaroundthiscritical point, U
OU OU OU is equivalentto a functionof the form
..... 0 (A9)
O; O0
at • = 0 for all I andm, where• = kinr. So•' = 0 isalwaysa
critical
pointof U(•,O,qb
}•:If welet(lnm}--q
ln0},the•bde-
•)•=
(•-)• •'i•/2
q-•')•d(•r+
i=l 1,.•:3)
q-const.
, (B2)
pendence
dropsout and U = U (•,0 }. Now
i.e., U maybeput in thisformby a properchoiceof coordi-
nates.If thecriticalpointunderconsideration isnonisolated,
- - 0, - >0 (A10) then we assume that Eq. (B2}is evaluated
at one of the criti-
0;00 80 2 0; 2
calpointsof thisnonisolated set.More generally,of course,
at • = 0, for all k and 0 {f•,f2 > 0}. This is a nondegenerate thetci'scouldbe considered asdepending on the variable(s}
minimumasin the previousexample,and it isbetterto think alongthedirection(s} in whichthecriticalpointisnonisolat-
of 0 hereasa "parameter"ratherthan an independentvari- ed.We notethat thesplittinglemmaisa generalization of the
ablesothattherelevant H•r consists of0 2•r/0• 2only. Morse lemma, and it enablesus to deal with degenerate
pointsby "splitting"thefunctionintoa Morse(nondegener-
APPENDIX B: EFFECTIVE RESTORING FORCE ate}pieceononesetof variablesanda degenerate pieceon a
CONSTANTS differentset of variables,whosenumberis equal to the co-
In AppendixB we restrictourselvesto the caseof three rank. For example,consideragain the (102} rectangular
independent variables,althoughtheresultsgeneralizereadi- modediscussed in AppendixA. We foundthatundercertain
ly to the easeof n variables.In orderto makecomparisons conditions U has a line of minima in the y direction at
betweenthe variousminima of the potentialU for different x/Ix = z/lz = 0.5. HU evaluatedon this setof nonisolated
modesof the samegeometry,or evenfor differentgeome- criticalpointshasrankr = 2 andcorankrn = 1. Therefore,
force in the neighborhood
tries,we introducethe conceptof an effectiverestoring of thissetof minima,we may write
constantRi. This conceptonly hasmeaningfor the caseof //= «•x•2+ «•z•2 + •rd(•)+const. (B3}
nondegenerate minima of the potential.It canbe shownthat
In thisexampleit tumsoutthat Ud{9) = 0 sincethey depen-
in the neighborhood of a nondegenerate minimum the po-
tential Umay be written,with a properchoiceof coordinates
dence dropsoutof Uwiththechoice n• = 0. FromEqs.{AS),
{A6),etc.we readilyfindthat
xi, asthe quadraticform

•r= 21i--i• •.i.•/2

_•.
const., (B1) +
wherethedimensionless
parameters
Ri = •ci/•rR 3pv•k eand The unimportantconstantin {B3}is,of course,U{x =
:ii -- kxi. z=0.5z}.

943 J. Acoust.Soc. Am.,Vol. 77, No. 3, March1985 ' M. Barmatzand P. Coilas:Acousticradiationpotential 943

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 It isratherinteresting
thattheRisasdefinedabovearea APPENDIX C: FORCE COMPONENT EXPRESSIONS
specialcaseof whatareknownastheprincipalcurvatures of FOR CYLINDRICAL AND SPHERICAL GEOMETRY
a hypersurface in differential
geometry.
2sIn ourcase,they As an aid to computercalculations,
we presentbelow
aretheprincipal_curvatures
ata minimum
ofthehypersur- theforcecomponent
expressions
forcylindrical
andspheri-
facedefinedby U. The sumandproductof theRisarealso calgeometry.
Theforcecomponents
forrectangular
geome-
usefulquantities
and,ascanbeseenfromEqs.(A3)and(A4), try are givenby Eq. (16).
they
are,respectively,
thetr(H•rI•c)and
det(H•r
I•c). In c_yli_ndrical
g_eometry,
theevaluation
ofEqs.(27}-(29)
, I fortheF,,F•, andFz forcecomponents
yields

(c1)

•= (mkr)sin2md
{J2m•Y}[(-•)COS2
LZ--
(-•)(•-)2
sin2
k•z]
"JF
(-'•)
(•--)Sm
+,(•'[
(•)gm(•'
--gm
+,(,•)]
c0s2
kzz}
. (c2)

•--(•-)sin
2k•z(J
2{X}{
[(q)+
(-•)(•__.•)2]
cos
2red-(_•)(mk•)2}
(c3)

Inspherical
geometu,
theevaluation
of•s. {43)-{45)
forthe•, •o, and• force
components
yields
Fr: --{2fl/3•'l{•}[ljl{•}--•'l+ 1{•}][p•}]2 cos
2m• -- •2/• 3• + •/•3}{ [ljl{•}--•'l+ 1{•}]
x [12yl{•)-2{/+ 1)•/+•{•)+ •2y/+2{•)] [p?•)]2 cos2md+jl{•}[ljl{•}-•'l+ ,{•}]B/{1--•}]. (c4)

•o= [2/•{1-g2}•/21
[•/3•{•)P?•)[{I+ I•P?•) - {1-m+ 1)P?+
,•)]cos
2md
--•/2•2}{[1jl{•}--•'l+,{•}]2P?•}[{I+ I•P?•}- {1--m+ 1}P•+, •}]cos2md
:2 • :2 •
+Jl(•B/(1 _g2) Jl(•)/(1_g2)[[(/+ 1)gP•) (l-- m+ 1)P•+l•)] [(/+ 1)(1+/g2)
--(1+ m+ 1)(1--m+ 1)]P•)cos 2m•+ m2p•)[(l + 1)•P•)- (1--m+ 1)P•+ 1•)]sin2m• •)]. (c5)
F, = [msin2red/•{1--g2)'/21 [(A/3•Y(•)[P?•)]2_ (A/2••)([lYl(•)
-- Ol+,(•)]2[P7•)]2
where
+ [y•{•)/{1
_g2)][ [{/+ l•P?•)-{l-m + 1)PL•)] • - [mP?•)]2})], (c6)

B= [(1+ 1)pP?{p)-(1--rn+ 1)P•+,{p)]2COS

2m• + [mP?{p)]
2sin2m• (c7)
and

•4= [lj1(•) -- O'l+1(•) ]2[p •{p)]2COS

2m• + [j•(•')/(1-- [.•2)
]B. (c8)

APPENDIX D: THE SPACE-TIME-AVERAGED ENERGY I

DENSITY
N=1•,f0•2
+S2)dK
2 (D3)
In comparing thepositioningcharacteristics
of various Themagnitude
ofN depends
onthegeometry andmode.
modes,it is appropriateto assumethat eachmodehasthe Forrectangular
geometries,
wecaneasilyintegrate
Eq.
samespace-time-averaged energydensitygivenby29 (D3) to obtain
N = 2-I• + • (D4)
(•)= 2pc2 2
P•n
_]_
PDin
d•", (D1)where
sisequaltothenumber
ofnonzero
quantum
numbers.
wheretheoverbars
denotetimeaverages,
and V is thevol- For cylindrical
geometries,
(D3)givesus
umeof thechamber.Thisexpression
canbe simplified
to N = {2-I• +2)/•2[amn
2 + (a/l•}2n•]}
•ve
X{{2m+ • [a•n + 2{a/l•}2n•]
{•) = •v• •, (D2) X {1-- m2/•a•n )}J • {•amn
)
whereN is a dimensionless
constant, + [•a•n--{m + 1}2]J•+•{ramn}}, {DS}
944 d.Acoust.
Soc.Am.,Vol.77,No.3, March1985 M.Barmatz
andP.Coilas:
Acoustic
radiation
potential 944

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 where •3M. Barmatz,"Overviewof ContainerlessProcessingTechnologies,"
in
Proceedings
of theSymposium ofMaterialsProcessing
in theReducedGra-
s'=2 if m%0, nz%0, vityEnvironmentof Space,Boston,MA, November 1981 (Elsevier,New
York, 1982),p. 25.
s'=l if m=0 and nz%0, or m%0 and n•=0,
•4M. BarmatzandP. Coilas,"AcousticRadiationForceon a Spherein
s'=O ifm=n•=0. Plane,CylindricalandSphericalStandingWaveFields,"in Proceedings
of
the11thInternationalCongress
on.4coustics,
Pads,France,1983,Vol. 1,
Finally, for sphericalgeometries,
we find p. 245.
•Two additionalconditions
areinvolved:R mustbe largein comparison

N=(3{2-'s'+:•))(l+m),){(l
' (21 --m)!' +Tf2•ln
+ 1)(1 I )]•
(•l'•/ln)
with the displacement amplitudeof the fluid particlesin the wave,since
otherwisethe fluid is not generallyin potentialflow; thus we require
R•Vo/rO.Also,R•x[*l/top,wherer/is theviscosity
of themedium.

-'!-
[Jl
+l{'rrT'ln
}--(.2(1+
1})/l{,n.T,
ln}]Jl+
1 •L. D. LandauandE. M. Lifshitz,FluidMechanics
1959);seein particularSees.73 and 76.
•7See
Ref. 16,problem
2 of Sec.76,p. 297.
(Pergamon,NewYork,

(D6) •SGor'kovomitsmostof the algebra;therearealsosomemisprints,sothe

wheres" = 1 if rn•:0 ands" = 0 if rn = 0. readeris advisedto comparewith the Russianversionof Ref. 9.
•vWefoundtwo misprintsin Embleton'sEq. (34):The secondright-hand
sidetermshouldbe0.05556a 6(instead
of 0.05445a6)andthesixthfight-
handtermshouldbe0.6667a• {instead
of0.6599a•).Embleton's radiation
•A. Kundt, "UebereineneueArt akustischer
Staubfiguren
undiiberdie forceP is the negativeof our F = -- grad U.
Anwendungderselbenzur BestimmungderSchallgeschwendigkeit
in fes- 2op.M. Morse,Vibration
andSound(McGraw-Hill,NewYork, 1948),2nd
ten K/Srpemand Gasen,"Annal. Phys.127, 497 (1866). ed.
2L.V. King,"On theAcoustic
RadiationPressure
onSpheres,"
Proc.R. 2•T.G. Wang,M. M. Saffren,
andD. D. Elleman,"Acoustic
ChamberFor
Soc.LondonSer. A 147, 212 (1934). Weightless
Positioning,"
AIAA paper# 74-155(1974).Thistechnique
3K. YosiokaandY. Kawasima,"AcousticRadiationPressure on a Com- wassuccessfully
demonstratedon the STS 11 spaceshuttleflight, Febru-
pressibleSphere,"AcusticaS, 167(1955). ary, 1984.
4E.Klein,"Absolute SoundIntensityin LiquidsbySpherical
TorsionPen- 22Experimentally,
thephaseconstant
•boisusuallyspecified
by thewaythe
dula," J. Acoust.Soc.Am. 9, 312-320 (1938). resonator is excited into resonance.
•I. Rudnick, "Measurementsof the AcousticRadiation Pressureon a 2•Thephaseconstants
•boand0ohavebeenarbitrarilysetto zero.
Spherein a StandingWaveField," J. Acoust.Soc.Am. 62, 20-22 (1977). 24H.(•. Ferris,"The FreeVibrationsof a GasContainedWithin a Spherical
6E.Leung,N. Jacobi,andT. Wang,"Acoustic
RadiationForceona Rigid Vessel,"J. Acoust.Soc.Am. 24, 57-61 (1952).
Spherein a ResonanceChamber,"J. Acoust.Soc.Am. 70, 1762-1767 2•Stable
acoustic
positioning
wasexperimentally
demonstrated byoneof us
(1981). (MB)usinga rectangular
(221),cylindrical
(011)and(102),anda spherical
?T.F. W. Embleton,
"MeanForceona Sphere
in a Spherical
SoundField.I (100)single-mode levitator.
(Theoretical),"J. Acoust.Sec.Am. 26, 4045 (1954). 26V.I. Arnold, "Critical Pointsof SmoothFunctionsand Their Normal
ST.F. W. Embleton,"The RadiationForceon a SphericalObstaclein a Forms,"Russ.Math. Surv.30(•), 1 (1975),translatedfrom Usp. Mat.
CylindricalSoundField," Can. J. Phys.34, 276 (1956). Nauk 30(•),3(1975);"NormalFormsof Functions in Neighborhoods of
9L.P. Gor'kov,"On theForcesActingona SmallParticlein an Acoustic DegenerateCriticalPoints,"Russ.Math. Surv.29(2),10(1974),translated
Field in an Ideal Fluid," Sov.Phys.Dokl. 6, 773 (1962);translatedfrom from Usp. Mat. Nauk 29(2),11(1974).
Dok. Akad. Nauk SSSR140, 88 (1961). 27See,
for example,T. PostonandI. Stewart,Catastrophe
TheoryandIts
løW.L. Nyborg,"RadiationPressure
ona SmallRigidSphere,"
J. Acoust. ,4pplications
(Pitman,SanFrancisco,1978),Chap.4.
Soc.Am. 42, 947-952 (1967). 2•Theinterestedreaderis referredto Morse Theoryby J. Milnor, Annu.
•High-IntensityUltrasonic
Fields,editedby L. D. Rosenberg
(Plenum,Stud.•1 (PrincetonU. P., Princeton,NJ, 1963),p. 34.A pertinentdiscus-
New York, 1971). sionisgivenalsoin a clearearlypaperby E. Kasner,Am. J. Math. 43, 126
•2Physical
Principlesof Ultrasonic
Technology,
editedbyL. D. Rosenberg (1921);seehisEq. (9)andbelow.
(Plenum,New York, 1973),Vols. 1,2. 2gSee,
forexample, R•f. 16,p. 250.

945 J. Acoust.Sec. Am.,Vol.77, No. 3, March1985 M. Barmatzand P. Coilas:Acousticradiationpotential 945

Redistribution subject to ASA license or copyright; see http://acousticalsociety.org/content/terms. Download to IP: 141.209.144.159 On: Wed, 10 Dec 2014 15:24:15