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Record bounded 140 s OSWEC quarter-step parity evidence #281

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cmccomb merged 1 commit into from
Oct 13, 2026
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Record bounded 140 s OSWEC quarter-step parity evidence #281

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19 changes: 13 additions & 6 deletions PARITY.md
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Original file line number Diff line number Diff line change
Expand Up @@ -139,7 +139,7 @@ change is `0.00231` rad and PTO work changes by `0.535%`, larger than
MATLAB's same-step differences above. A further local Python run at
`dt=0.0025` s needs no fallback and gives `0.000953` rad yaw difference and
`0.175%` work difference relative to Python `0.005` s. A matching MATLAB
quarter-step source run now passes the paired gates through 120 s; the
quarter-step source run now passes the paired gates through 140 s; the
measured result and its longer-window limit are recorded below.

A [250 s pinned MATLAB step audit](https://github.com/cmudrc/wec-sim-python/actions/runs/38127365821)
Expand Down Expand Up @@ -600,11 +600,18 @@ the same quarter-step differs from MATLAB by at most `1.837e-5` rad yaw,
`0.008%`. Both comparisons pass the predeclared gates of `0.0006` rad yaw,
`0.00015` rad/s speed, `20` N m torque, and `0.1%` work. The two source runs
each make 181 heading switches but select different headings at 163 common
samples, beginning at 43.855 s. This establishes a stable, independently
paired early 120 s window. MATLAB's own `0.01`-to-`0.005` s source change
becomes large by 250 s, and a 250 s quarter-step source run remains beyond
the current GitHub job budget. Neither 250 s source convergence nor native
600 s motion parity is established.
samples, beginning at 43.855 s. A [bounded 140 s quarter-step source run](https://github.com/cmudrc/wec-sim-python/actions/runs/38344267558)
passes the same predeclared limits. At 140 s, MATLAB's `0.005`-to-`0.0025` s
self-change is at most `0.0004019` rad yaw, `6.864e-5` rad/s speed, and
`8.236` N m PTO torque, with `0.0762%` relative PTO-work change. Independent
Python at `0.0025` s differs from that quarter-step source by at most
`8.647e-5` rad yaw, `1.507e-5` rad/s speed, `1.808` N m torque, and
`0.020%` relative PTO work. The two MATLAB trajectories each make 225
heading switches but select different headings at 320 common samples.
This establishes a stable, independently paired early 140 s window.
MATLAB's own `0.01`-to-`0.005` s source change becomes large by 250 s, and a
250 s quarter-step source run remains beyond the current GitHub job budget.
Neither 250 s source convergence nor native 600 s motion parity is established.

The [RM3 MoorDyn visualization force export](https://github.com/cmudrc/wec-sim-python/actions/runs/38085085794)
records acceleration, excitation, radiation, added mass, restoring, Morison,
Expand Down
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