Experimental Investigation of the Hydrodynamic Coefficients of a Remotely Operated Vehicle Using a Planar Motion Mechanism

The determination of hydrodynamic coefficients of full scale underwater vehicles using system identification (SI) is an extremely powerful technique. The procedure is based on experimental runs and on the analysis of on-board sensors and thrusters signals. The technique is cost effective and it has high repeatability; however, for open-frame underwater vehicles, it lacks accuracy due to the sensors' noise and the poor modeling of thruster-hull and thruster-thruster interaction effects. In this work, forced oscillation tests were undertaken with a full scale open-frame underwater vehicle. These conducted tests are unique in the sense that there are not many examples in the literature taking advantage of a PMM installation for testing a prototype and; consequently, allowing the comparison between the experimental results and the ones estimated by parameter identification. The Morison's equation inertia and drag coefficients were estimated with two parameter identification methods, that is, the weighted and the ordinary least-squares procedures. It was verified that the in-line force estimated from Morison's equation agrees well with the measured one except in the region around the motion inversion points. On the other hand, the error analysis showed that the ordinary least-squares provided better accuracy and, therefore, was used to evaluate the ratio between inertia and drag forces for a range of Keulegan-Carpenter and Reynolds numbers. It was concluded that, although both experimental and estimation techniques proved to be powerful tools for evaluation of an open-frame underwater vehicle's hydrodynamic coefficients, the research provided a rich amount of reference data for comparison with reduced models as well as for dynamic motion simulation of ROVs. [DOI: 10.1115/1.4004952]

Anomalous centrality evolution of two-particle angular correlations from Au-Au collisions at root s(NN)=62 and 200 GeV

We present two-dimensional (2D) two-particle angular correlations measured with the STAR detector on relative pseudorapidity eta and azimuth phi for charged particles from Au-Au collisions at root s(NN) = 62 and 200 GeV with transverse momentum p(t) >= 0.15 GeV/c, vertical bar eta vertical bar <= 1, and 2 pi in azimuth. Observed correlations include a same-side (relative azimuth <pi/2) 2D peak, a closely related away-side azimuth dipole, and an azimuth quadrupole conventionally associated with elliptic flow. The same-side 2D peak and away-side dipole are explained by semihard parton scattering and fragmentation (minijets) in proton-proton and peripheral nucleus-nucleus collisions. Those structures follow N-N binary-collision scaling in Au-Au collisions until midcentrality, where a transition to a qualitatively different centrality trend occurs within one 10% centrality bin. Above the transition point the number of same-side and away-side correlated pairs increases rapidly relative to binary-collision scaling, the eta width of the same-side 2D peak also increases rapidly (eta elongation), and the phi width actually decreases significantly. Those centrality trends are in marked contrast with conventional expectations for jet quenching in a dense medium. The observed centrality trends are compared to perturbative QCD predictions computed in HIJING, which serve as a theoretical baseline, and to the expected trends for semihard parton scattering and fragmentation in a thermalized opaque medium predicted by theoretical calculations and phenomenological models. We are unable to reconcile a semihard parton scattering and fragmentation origin for the observed correlation structure and centrality trends with heavy-ion collision scenarios that invoke rapid parton thermalization. If the collision system turns out to be effectively opaque to few-GeV partons the present observations would be inconsistent with the minijet picture discussed here. DOI: 10.1103/PhysRevC.86.064902