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Remotely operated vehicle (ROV) dynamics is affected by hydrodynamic forces such as added mass and viscous drag force. Both of added mass and drag force coefficients can be measured by a set of Planar Motion Mechanism (PMM) tests; however, it is costly. In this study, an economic method for identifying hydrodynamic parameters of ROV is given. A simplified nonlinear ROV dynamics model with twelve unknown hydrodynamic parameters in six degrees of freedom was derived for simulations. The identification is based on experimental data obtained by projective mapping method which is utilized to measure the planar motions of a ROV. Then least-squares optimization is performed by comparison between the theoretical simulations and the actual motion measurements. But, an optimization computation involving a large number of parameters is likely to get trapped in a local minimum. Therefore, to reduce the number of parameters to be optimized, some models of simple motions such as surge, sway, surge and sway, yaw, and heave are decoupled from the ROV dynamic model. A commercial ROV ¡§Seamor¡¨ that equipped with two vertical thrusters, two horizontal thrusters, and a depth sensor is used for identification. The experiments for measuring ROV motions of surge, sway, surge and sway, and yaw were performed in a swimming pool in National Sun Yat-sen University. A video camera is utilized to capture ROV for position estimation using projective mapping method. As for the heave motion of ROV, the experiment was conducted offshore the Shio-Liu-Qiu Island and the ROV depth was measured by an onboard pressure sensor. Then, optimal hydrodynamic parameters are identified in sequence of surge, heave, yaw, sway, and then surge and sway. Verification experiments were performed and the simulation results with the optimum values of hydrodynamic parameters show good agreement with the measured data from verification experiments.

Atualmente está aumentando a necessidade de utilização de veículos submersíveis não tripulados nos meios aquáticos, tanto para observação científica, como também para monitoramento de obras de engenharia. As posições destes veículos são controladas, em geral, manualmente o que torna essas operações tarefas longas e cansativas aos seus pilotos. Uma alternativa que simplifica estas operações é a utilização, quando necessário, de um sistema automático de posição para aliviar o piloto de funções básicas. Para o desenvolvimento de um sistema de posicionamento automático eficiente é necessário um modelo matemático para a dinâmica do veículo, que envolve o conhecimento dos parâmetros hidrodinâmicos que caracterizam o comportamento do veículo, principalmente em casos onde o veículo possua formas geométricas complexas, sendo assim torna-se compulsório a realização de métodos experimentais para a determinação dos coeficientes hidrodinâmicos do modelo. Na Faculdade de Tecnologia de Jahu vem se desenvolvendo desde 1999 a segunda versão de um veículo submersível não tripulado para utilização em ambiente fluvial denominado VSNT JAÚ II. Este trabalho propõe a utilização de métodos experimentais para a obtenção de alguns dos coeficientes hidrodinâmicos do veículo, no qual são considerados massa adicional e amortecimento viscoso que serão estimados através de ensaios de decaimento livre, utilizando um modelo em escala reduzida e técnicas de processamento digital de imagem. Para estimativa dos coeficientes de massa adicional e amortecimento viscoso o método proposto é baseado método dos mínimos quadrados e separa os movimentos do veículo em dois planos, vertical e horizontal, considerando termos de acoplamento nos movimentos nesses planos. / Unmanned underwater vehicles they have been used continually by the planet in spite of the difficulties of your operation, both for scientific observation, but also for monitoring of engineering works. The positions of these vehicles are controlled, in general, which makes manually they work long and tiring to their pilots. An alternative that simplifies this operation is the use of an automatic system of position to relieve the pilot of basic functions. For the development of an efficient of automatic positioning system it is necessary a mathematical model of the vehicle, it is necessary the knowledge of the hydrodynamic parameters that characterize the behavior of the vehicle. Those parameters are difficult to obtain through theoretical procedures, in cases where the vehicle possesses complex forms, and then experimental methods are used. In Faculdade de Tecnologia de Jahu it comes the developing since 1999 the second version of an unmanned underwater vehicle for use in fluvial environments denominated VSNT JAÚ II. This work proposes the use of an experimental method for the obtaining of some of the hydrodynamic coefficients of the Vehicle, based on rehearsals of free decay, using a model in reduced scale and techniques of digital image processing. The proposed procedure separates the movements of the vehicle in two plans, vertical and horizontal, considering joining terms in the movements in those plans.

We present predictions for the statistical error due to finite sampling in the presence of thermal fluctuations in molecular simulation algorithms. Specifically, we present predictions for the error dependence on hydrodynamic parameters and the number of samples taken. Expressions for the common hydrodynamic variables of interest such as flow velocity, temperature, density, pressure, shear stress and heat flux are derived using equilibrium statistical mechanics. Both volume-averaged and surface-averaged quantities are considered. Comparisons between theory and computations using direct simulation Monte Carlo for dilute gases, and molecular dynamics for dense fluids, show that the use of equilibrium theory provides accurate results. / Singapore-MIT Alliance (SMA)

A basic understanding of the hydrodynamic response behavior of the two-body system is important for a wide variety of offshore operations. This is a complex problem and model tests can provide data that in turn can be used to retrieve key information concerning the response characteristics of such systems. The current study demonstrates that the analysis of these data using a combination of statistical tools and system identification techniques can efficiently recover the main hydrodynamic parameters useful in design. The computation of the statistical parameters, spectral densities and coherence functions provides an overview of the general response behavior of the system. The statistical analysis also guides the selection of the nonlinear terms that will be used in the reverse multi-input / single-output (R-MI/SO) system identification method in this study. With appropriate linear and nonlinear terms included in the equation of motion, the R-MISO technique is able to estimate the main hydrodynamic parameters that characterize the offshore system. In the past, the R-MISO method was primarily applied to single body systems, while in the current study a ship moored to a fixed barge was investigated. The formulation included frequency-dependant hydrodynamic parameters which were evaluated from the experimental measurements. Several issues specific to this extension were addressed including the computation load, the interpretation of the results and the validation of the model. Only the most important cross-coupling terms were chosen to be kept based on the estimation of their energy. It is shown that both the heading and the loading condition can influence system motion behavior and that the impact of the wave in the gap between the two vessels is important. The coherence was computed to verify goodness-of-fit of the model, the results were overall satisfying.

Atualmente está aumentando a necessidade de utilização de veículos submersíveis não tripulados nos meios aquáticos, tanto para observação científica, como também para monitoramento de obras de engenharia. As posições destes veículos são controladas, em geral, manualmente o que torna essas operações tarefas longas e cansativas aos seus pilotos. Uma alternativa que simplifica estas operações é a utilização, quando necessário, de um sistema automático de posição para aliviar o piloto de funções básicas. Para o desenvolvimento de um sistema de posicionamento automático eficiente é necessário um modelo matemático para a dinâmica do veículo, que envolve o conhecimento dos parâmetros hidrodinâmicos que caracterizam o comportamento do veículo, principalmente em casos onde o veículo possua formas geométricas complexas, sendo assim torna-se compulsório a realização de métodos experimentais para a determinação dos coeficientes hidrodinâmicos do modelo. Na Faculdade de Tecnologia de Jahu vem se desenvolvendo desde 1999 a segunda versão de um veículo submersível não tripulado para utilização em ambiente fluvial denominado VSNT JAÚ II. Este trabalho propõe a utilização de métodos experimentais para a obtenção de alguns dos coeficientes hidrodinâmicos do veículo, no qual são considerados massa adicional e amortecimento viscoso que serão estimados através de ensaios de decaimento livre, utilizando um modelo em escala reduzida e técnicas de processamento digital de imagem. Para estimativa dos coeficientes de massa adicional e amortecimento viscoso o método proposto é baseado método dos mínimos quadrados e separa os movimentos do veículo em dois planos, vertical e horizontal, considerando termos de acoplamento nos movimentos nesses planos. / Unmanned underwater vehicles they have been used continually by the planet in spite of the difficulties of your operation, both for scientific observation, but also for monitoring of engineering works. The positions of these vehicles are controlled, in general, which makes manually they work long and tiring to their pilots. An alternative that simplifies this operation is the use of an automatic system of position to relieve the pilot of basic functions. For the development of an efficient of automatic positioning system it is necessary a mathematical model of the vehicle, it is necessary the knowledge of the hydrodynamic parameters that characterize the behavior of the vehicle. Those parameters are difficult to obtain through theoretical procedures, in cases where the vehicle possesses complex forms, and then experimental methods are used. In Faculdade de Tecnologia de Jahu it comes the developing since 1999 the second version of an unmanned underwater vehicle for use in fluvial environments denominated VSNT JAÚ II. This work proposes the use of an experimental method for the obtaining of some of the hydrodynamic coefficients of the Vehicle, based on rehearsals of free decay, using a model in reduced scale and techniques of digital image processing. The proposed procedure separates the movements of the vehicle in two plans, vertical and horizontal, considering joining terms in the movements in those plans.

Foi realizado um estudo com dados físicos em superfície provenientes de implementação do modelo numérico POM e dados de clorofila a do sensor MODIS, no Atlântico Sul e Tropical, tendo como finalidade analisar as variações espaciais de suas correlações. O modelo hidrodinâmico foi submetido a uma validação com dados do Projeto PIRATA e do sensor MODIS, obtendo-se resultados satisfatórios, principalmente em superfície. A clorofila a apresenta altos valores de correlação com variáveis físicas em superfície, porém esses valores são influenciados pela presença dos sinais anual e semianual nas séries temporais. Consequentemente, as análises foram desenvolvidas após a remoção desses sinais das séries. As correlações cruzadas entre as variáveis físicas e clorofila a tiveram valores altos em módulo apresentando, de maneira geral, padrão espacial característico de correlações negativas no interior do Giro Subtropical e positivas nas demais regiões para temperatura e salinidade em superfície e elevação do nível do mar. Esse padrão espacial é mais evidente para elevação e temperatura em superfície, apresentando defasagem no tempo de resposta biológica de quase zero no interior do Giro Subtropical e Equador, com predomínio de atrasos nessa resposta nas demais regiões. A covariância cruzada foi calculada para alguns pontos ao longo do meridiano de 20ºW, para elevação de superfície e temperatura, verificando-se concordância com os resultados obtidos pela correlação cruzada. A análise espectral dessa covariância salientou a ocorrência de alguns sinais, dentre eles os sinais com períodos de 3,5 e 0,7 anos (que provavelmente estão associados aos fenômenos ENSO) e o período de 0,33 anos (que pode estar relacionado a ressonâncias do sinal anual). A assinatura desses sinais apresentou variabilidade latitudinal. / A study was performed with physical data at the surface produced by the implementation of the numerical model POM and chlorophyll a data from the MODIS sensor, in the Tropical and South Atlantic, with the aim of to analyze the spatial variations of their correlations. The hydrodynamic model was subjected to a validation with data of Project PIRATE and MODIS sensor, obtaining satisfactory results, especially at the surface. The chlorophyll a values have high correlation with physical variables at the surface, but these values are influenced by the presence of annual and semiannual signals in the time series. Then, the analyses were carried out after removal of these signals from the series. The cross-correlations between physical variables and chlorophyll a had high magnitudes showing, in general, characteristic spatial pattern of negative correlations within the Subtropical Gyre and positive in other regions, for surface temperature and salinity and sea surface level. This spatial pattern is most evident in surface elevation and temperature, presenting lag in the biological response time nearly zero within the Subtropical Gyre and Equator, with a predominance of delays of the responses in other regions. The cross-covariance is calculated for several points along the meridian of 20º W for surface elevation and surface temperature, verifying agreement with the results obtained by the cross correlation. Spectral analysis of this covariance shows the occurrence of some signals, including signals with periods of 3.5 and 0.7 years (which are probably associated with ENSO phenomena) and the period of 0.33 years (that can be related to resonances of the annual signal). The signature of these signals showed latitudinal variability.

Foi realizado um estudo com dados físicos em superfície provenientes de implementação do modelo numérico POM e dados de clorofila a do sensor MODIS, no Atlântico Sul e Tropical, tendo como finalidade analisar as variações espaciais de suas correlações. O modelo hidrodinâmico foi submetido a uma validação com dados do Projeto PIRATA e do sensor MODIS, obtendo-se resultados satisfatórios, principalmente em superfície. A clorofila a apresenta altos valores de correlação com variáveis físicas em superfície, porém esses valores são influenciados pela presença dos sinais anual e semianual nas séries temporais. Consequentemente, as análises foram desenvolvidas após a remoção desses sinais das séries. As correlações cruzadas entre as variáveis físicas e clorofila a tiveram valores altos em módulo apresentando, de maneira geral, padrão espacial característico de correlações negativas no interior do Giro Subtropical e positivas nas demais regiões para temperatura e salinidade em superfície e elevação do nível do mar. Esse padrão espacial é mais evidente para elevação e temperatura em superfície, apresentando defasagem no tempo de resposta biológica de quase zero no interior do Giro Subtropical e Equador, com predomínio de atrasos nessa resposta nas demais regiões. A covariância cruzada foi calculada para alguns pontos ao longo do meridiano de 20ºW, para elevação de superfície e temperatura, verificando-se concordância com os resultados obtidos pela correlação cruzada. A análise espectral dessa covariância salientou a ocorrência de alguns sinais, dentre eles os sinais com períodos de 3,5 e 0,7 anos (que provavelmente estão associados aos fenômenos ENSO) e o período de 0,33 anos (que pode estar relacionado a ressonâncias do sinal anual). A assinatura desses sinais apresentou variabilidade latitudinal. / A study was performed with physical data at the surface produced by the implementation of the numerical model POM and chlorophyll a data from the MODIS sensor, in the Tropical and South Atlantic, with the aim of to analyze the spatial variations of their correlations. The hydrodynamic model was subjected to a validation with data of Project PIRATE and MODIS sensor, obtaining satisfactory results, especially at the surface. The chlorophyll a values have high correlation with physical variables at the surface, but these values are influenced by the presence of annual and semiannual signals in the time series. Then, the analyses were carried out after removal of these signals from the series. The cross-correlations between physical variables and chlorophyll a had high magnitudes showing, in general, characteristic spatial pattern of negative correlations within the Subtropical Gyre and positive in other regions, for surface temperature and salinity and sea surface level. This spatial pattern is most evident in surface elevation and temperature, presenting lag in the biological response time nearly zero within the Subtropical Gyre and Equator, with a predominance of delays of the responses in other regions. The cross-covariance is calculated for several points along the meridian of 20º W for surface elevation and surface temperature, verifying agreement with the results obtained by the cross correlation. Spectral analysis of this covariance shows the occurrence of some signals, including signals with periods of 3.5 and 0.7 years (which are probably associated with ENSO phenomena) and the period of 0.33 years (that can be related to resonances of the annual signal). The signature of these signals showed latitudinal variability.

Conselho Nacional de Desenvolvimento CientÃfico e TecnolÃgico / O processo de calibraÃÃo de parÃmetros hidrodinÃmicos representa parte importante dos modelos e sua abordagem geral consiste em minimizar uma funÃÃo objetivo expressa pela diferenÃa entre as cargas hidrÃulicas observadas e calculadas. Guo e Zhang, na dÃcada de 90 e, depois, Schuster e AraÃjo (2004) propuseram um processo alternativo para estimaÃÃo dos parÃmetros, atravÃs da minimizaÃÃo da diferenÃa entre os gradientes hidrÃulicos observados e calculados e denominado MÃtodo Iterativo do Gradiente HidrÃulico (MIGH). A geraÃÃo da matriz de cargas observadas tem funÃÃo determinante no sucesso do processo de calibraÃÃo. Na abordagem tradicional, a matriz observada à constituÃda por meio de um processo de interpolaÃÃo. Este trabalho propÃe-se a investigar a geraÃÃo da matriz observada, utilizando o prÃprio processo de simulaÃÃo, fixando, no modelo, os pontos de cargas aferidas em campo. Perceberam-se, ainda, grandes esforÃos manuais na busca de integrar o software simulador (PMWIN) e o calibrador (MIGH); neste sentido, toda a metodologia de calibraÃÃo foi implementada e automatizada no programa computacional desenvolvido na pesquisa, denominado UFC-MIGH. Acrescido ao processo de calibraÃÃo, foram investigadas tÃcnicas de geoprocessamento atravÃs de um Sistema de InformaÃÃes GeogrÃficas (SIG), para simplificar a geraÃÃo das matrizes de entrada do modelo. Para aplicaÃÃo da metodologia proposta, foram calibradas as condutividades hidrÃulicas horizontais de dois exemplos hipotÃticos e um caso real, referente a uma porÃÃo do aqÃÃfero da Bacia Sedimentar do Araripe, abrangendo a totalidade da Ãrea urbana do municÃpio do Crato. Em todos os casos simulados, os resultados com o emprego do MIGH, demonstraram erros menores, confirmados atravÃs dos critÃrios de convergÃncia e comparados à metodologia tradicional, implementada no software PEST. Dessa forma, o MIGH demonstra maior flexibilidade, mostrando eficÃcia superior em problemas com ou sem o zoneamento das condutividades hidrÃulicas. AlÃm disso, a nova metodologia de geraÃÃo das matrizes de cargas observadas garante resultados hidrogeologicamente mais consistentes, comparada à utilizaÃÃo da interpolaÃÃo, que nÃo contempla singularidades do modelo, como rios, poÃos de bombeamento e contornos impermeÃveis. Por fim, como importantes produtos finais, estÃo presentes no trabalho, o mapa de condutividade hidrÃulica horizontal e o mapa potenciomÃtrico da Ãrea-Crato / The process of calibration of hydrodynamic parameters represents an important part in computer modeling; its general approach consists of minimizing an objective function expressed by the difference between observed and simulated hydraulics heads. Guo and Zhang, in the decade of 90 and Schuster and AraÃjo (2004)proposed an alternative process for estimating the parameters, through the minimization of the difference between observed and simulated hydraulic gradients and denominated Iterative Method of the Hydraulic Gradient (IMHG). The generation of the matrix of observed heads has decisive function in the success of the calibration process. In the traditional approach, the observed matrix is obtained using a mathematical interpolation. This work intends to investigate the generation of the observed head matrix, using the simulation process itself, fixing, in the model, the points where the heads are known. Normally, great manual efforts were noticed in the attempt of integrating the simulating software (PMWIN) and the (IMHG), therefore, all calibration methodology was automatically implemented and a computer code was developed, denominated UFC-MIGH. Geoprocessing techniques were added to the calibration process in order to simplify the generation of the input matrix of the model. For the application of the proposed methodology, the horizontal hydraulic conductivities of two hypothetical examples and a real case were used. The real case consisted of a portion of the aquifer of the Sedimentary Basin of Araripe,including the total urban area of the municipal district of Crato. In all of the simulated cases, the results them IMHG, demonstrated smaller errors than the traditional methodology, implemented in the software PEST. Thus, IMHG demonstrated larger flexibility, showing superior effectiveness in problems with or without the zoning of the hydraulic conductivities. The new methodology of generation of observed heads matrix is much more hydrogeological consistent than using just mathematical interpolation. This new methodology takes into account singularities of the model, as rivers, wells and impermeable outlines. Finally, as important final products, present in the thesis, the map of horizontal hydraulic conductivity and the contour map of the hydraulic heads of the area where the methodology was applied

Computational fluid dynamics (CFD) modeling is possibly the best available technique in designing and predicting the performance of Stirling and pulse tube refrigerators (PTR). One of the limitations of CFD modeling of these systems, however, is that it requires closure relations for the micro porous materials housed within their regenerators and heat exchangers. Comprehensive prediction of fluid-solid interaction through this media can be obtained only by direct pore level simulation, a process which is time consuming and impractical for system level examination. Through the application of empirical correlations including the Darcy permeability and Forchheimer's inertial coefficient, the microscopic momentum equations governing fluid behavior within the porous structure can be recast as viable macroscopic governing equations. With these constitutive relationships, CFD can be an efficient and powerful tool for system modeling and optimization. The purpose of this study is to determine the hydrodynamic parameters of two mesh fillers relevant to miniature PTRs; stacked screens of 635 mesh stainless steel and 325 mesh phosphor-bronze wire cloth. Experimental setups were designed and fabricated to measure steady and oscillatory pressures and mass flow rates of the working fluid, research-grade helium. Hydrodynamic parameters for the two mesh fillers were determined for steady-state and steady periodic flow in both the axial and radial directions for a range of flow rates, operating frequencies and charge pressures. The effect of average pressure on the steady axial flow hydrodynamic parameters of other common PTR filler materials was also investigated. The determination of sample hydrodynamic parameters and their subsequent computational and experimental methodologies utilized are explained.