The Stirling cycle is a thermodynamic cycle that describes the general class of Stirling devices. This includes the original Stirling engine that was invented, developed and patented in 1816 by Robert Stirling with help from his brother, an engineer. The ideal Otto and Diesel cycles are not totally reversible because they involve heat transfer through a finite temperature difference during the irreversible isochoric/isobaric heat-addition and heat-rejection processes. The irreversibility renders the thermal efficiency of these cycles less than that of a Carnot engine operating within the same limits of temperature. Another cycle that features isothermal heat-addition and heat-rejection processes is the Stirling cycle, which is an altered version of the Carnot cycle in which the two isentropic processes featured in the Carnot cycle are replaced by two constant-volume regeneration processes. The cycle is reversible, meaning that if supplied with mechanical power, it can function as a heat pump for heating or cooling, and even for cryogenic cooling. The cycle is defined as a closed regenerative cycle with a gaseous working fluid. "Closed cycle" means the working fluid is permanently contained within the thermodynamic system. This also categorizes the engine device as an external heat engine. "Regenerative" refers to the use of an internal heat exchanger called a regenerator which increases the device's thermal efficiency. The cycle is the same as most other heat cycles in that there are four main processes: compression, heat addition, expansion, and heat removal. However, these processes are not discrete, but rather the transitions overlap. The Stirling cycle is a highly advanced subject that has defied analysis by many experts for over 190 years. Highly advanced thermodynamics is required to describe the cycle. Professor Israel Urieli writes: "...the various 'ideal' cycles (such as the Schmidt cycle) are neither physically realizable nor representative of the Stirling cycle". The analytical problem of the regenerator (the central heat exchanger in the Stirling cycle) is judged by Jakob to rank "among the most difficult and involved that are encountered in engineering". Idealized Stirling cycle thermodynamics The idealized Stirling cycle consists of four thermodynamic processes acting on the working fluid (See diagram to right): Piston motion variations Most thermodynamics textbooks describe a highly simplified form of Stirling cycle consisting of four processes. This is known as an "ideal Stirling cycle", because it is an "idealized" model, and not necessarily an optimized cycle. Theoretically, the "ideal cycle" does have high net work