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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.
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CalWave / EGI's (Evergreen Innovation) TEAMER (Testing and Expertise for Marine Energy) award: data and post access report for the xWave's Real Time IMU (inertial measurement unit) Optimization for Advanced Controls.
This submission contains raw Yost IMU (Inertial Measurement Unit) data and processing scripts associated with MHKDR submission 394 (UNH TDP - Concurrent Measurements of Inflow, Power Performance, and Loads for a Grid-Synchronized Vertical Axis Cross-Flow Turbine Operating in a Tidal Estuary, DOI: 10.15473/1973860) from the University of New Hampshire and Atlantic Marine Energy Center (AMEC) turbine deployment platform. The user is directed to the MHKDR submission 394 for relevant context and detail of this deployment; see link below. The 394_READ_ME file here provides the description from that submission for quick reference. The READ_ME file for this specific instrument from the 394 submission is also available here. This submission contains a zipped folder structure containing raw data in its original format and MATLAB (2019a) processing scripts used to process and manipulate the data into its final form. The final data products are submitted in the 394 submission.
This dataset contains high-frequency (10Hz) data from the GX5-45 IMU on the Barge Science vans. The data are all raw binary files.
Explore the source record for details and available documents.
Explore the source record for details and available documents.
This submission contains processed datasets from a long-term deployment of 3 moorings and a transect survey of the proposed tidal energy site off the East Forelands in Cook Inlet, AK. The long-term mooring datasets were created from 8 instruments mounted on a Terrasond High Energy Oceanographic Mooring (THEOM) bottom lander and two Mid-Water Mooring (MWM) Stablemoor buoys from 1 July 2021 to 31 August 2021 (60 days). The west-most mooring (MWM1) was deployed at 60.720225 N, 151.436196 W in ~50 m of water. The middle mooring (THEOM) was deployed at 60.720703 N, 151.429500 W in ~52 m of water. The east-most buoy (MWM2) was deployed at 60.720081 N, 151.420896 W in ~50 m of water. Each Stablemoor carried three instruments: 1. A Nortek Vector acoustic Doppler velocimeter (ADV) mounted at the Stablemoor's nose. Data were recorded at 8 Hz on a 5 minute duty cycle every 20 minutes. Data was motion-corrected using the internal IMU and external ADCP bottom-track data and then bin-averaged into 4 minute bins and converted to the Principal (streamwise, cross-stream, vertical) coordinate system. (Note: 30 seconds were trimmed from the beginning and end of each 5 minute duty cycle to account for the filter end-effects from turning on and turning off the IMU.) 2. A down-looking Nortek Signature 1000 kHz acoustic Doppler current profiler (ADCP) mounted in the first Stablemoor instrument well. Data were recorded in 2 Hz with 5-beam burst and bottom-track enabled. Processed data has been averaged into 10 minute bins and converted into the Principal coordinate system. 3. An up-looking Nortek Signature 1000 kHz acoustic Doppler current profiler (ADCP) mounted in the second Stablemoor instrument well. Data were recorded at 4 Hz with 5 beam burst enabled. Processed data has been averaged into 10 minute bins and converted into the Principal coordinate system. Note: the down-facing ADCP on MWM1 failed on July 10th, 2021, only recording 9 days of data. Because ADV motion-correction required bottom track, the ADV from MWM1 also only has 9 days processed. Additionally, only 25 days of data were processed from the MWM2 ADV because it appeared to have been impacted by debris on 7/25. Two instruments were mounted on the THEOM (see MHKDR link further below for THEOM raw data): 4. A Nortek Vector acoustic Doppler velocimeter (ADV). Data were recorded at 8 Hz on a 5 minute duty cycle every 20 minutes. Data was bin-averaged into 5 minute bins, and converted to the Principal coordinate system. 5. A Nortek Signature 500 kHz acoustic Doppler current profiler (ADCP). Data were recorded in 4 Hz in the beam coordinate system from all 5 beams. Processed data has been averaged into 10 minutes bins and converted to the Principal coordinate system.
Abstract We autonomously directed a small quadcopter package delivery Uncrewed Aerial Vehicle (UAV) or “drone” to take off, fly a specified route, and land for a total of 209 flights while varying a set of operational parameters. The vehicle was equipped with onboard sensors, including GPS, IMU, voltage and current sensors, and an ultrasonic anemometer, to collect high-resolution data on the inertial states, wind speed, and power consumption. Operational parameters, such as commanded ground speed, payload, and cruise altitude, were varied for each flight. This large data set has a total flight time of 10 hours and 45 minutes and was collected from April to October of 2019 covering a total distance of approximately 65 kilometers. The data collected were validated by comparing flights with similar operational parameters. We believe these data will be of great interest to the research and industrial communities, who can use the data to improve UAV designs, safety, and energy efficiency, as well as advance the physical understanding of in-flight operations for package delivery drones.
This paper presents the design and evaluation of a lab-scale cable-driven parallel robot (CDPR) developed as a flexible platform for automated installation of prefabricated components onto exterior building envelopes. Traditional manual installation methods for prefabricated components, which depend on scaffolding, cranes, cherry pickers, and verbal coordination, are not only labor-intensive and error-prone but also face significant limitations in dense urban environments due to site access constraints. To address these challenges, we developed a lab-scale CDPR platform capable of autonomously transporting building envelope components from a designated pickup zone to their target installation location, minimizing the need for human intervention. This study describes the system’s mechanical design, actuation architecture, real-time feedback system, and control strategy of the CDPR, and evaluates its performance in a laboratory environment. The robot’s actuation system uses torque control for end-effector manipulation. The robot’s real-time pose feedback comes from a construction-grade total station and a wireless inertial measurement unit (IMU), which together support precise end-effector control. Experimental results demonstrate the successful integration of the hardware, sensing, state estimation, and control subsystems. Preliminary tests showed that our lab-scale prototype can position the end effector with an error of less than 3 mm, which is a level of precision not previously achieved by existing CDPRs in construction applications. The key findings are twofold: (1) torque-only control is necessary but not sufficient for minimizing final pose error, and (2) incorporating real-time pose feedback can achieve the desired placement accuracy.
The radkit software suite (python) consists of three primary libraries: stark, trajan, and curie. The trajan library provides the tools to analyze and manipulate data from lidar and inertial measurement unit (IMU) devices as well as trajectories from algorithms such as simultaneous localization and mapping (SLAM). These components allow reading and writing standard data formats, performing rigid affine transformations, discretizing three-dimensional space, and visualizing data products. The curie library comprises a standard set of object-oriented tools for radiation data and analysis in the following modules: (1) listmode and binmode data classes with methods for manipulation, plotting, slicing and file IO; (2) radiological/nuclear source detection/identification analysis results; (3) source encounters of correlated analyses and (4) energy-dependent angular detector response functions. The stark package provides low-level tools that are leveraged by both curie and trajan. The tools are flexible for offline analysis as well as performant for real-time integrations. The radkit libraries have associated Robot Operating System packages for use in real-time and robotic systems.
The radkit (base) software suite (python) consists of three primary libraries: stark, trajan, and curie. The trajan library provides the tools to analyze and manipulate data from lidar and inertial measurement unit (IMU) devices, cameras, as well as trajectories from algorithms such as simultaneous localization and mapping (SLAM). These components allow reading and writing standard data formats, performing rigid affine transformations, discretizing three-dimensional space, and visualizing data products. The curie library comprises a standard set of object-oriented tools for radiation data and analysis in the following modules: (1) listmode and binmode data classes with methods for manipulation, plotting, slicing and file IO; (2) radiological/nuclear source detection/identification analysis results; (3) source encounters of correlated analyses and (4) energy-dependent angular detector response functions. The stark package provides low-level tools that are leveraged by both curie and trajan. The tools are flexible for offline analysis as well as performant for real-time integrations.
HITMAN (Hermite Interpolation of Trajectories and Measurement Synthesis for Analysis of Navigators) interpolates—or estimates the unknown values between known values—flight trajectories and generates synthetic inertial measurement unit (IMU) data using Hermite splines. This Python library provides modeling and simulation capabilities to synthesize inertial measurements from discrete trajectory points, enabling researchers to create exemplar datasets for evaluating navigation algorithms in various applications, including consumer devices like smartphones and vehicles. Sandia National Laboratories is a multimission laboratory managed and operated by National Technology & Engineering Solutions of Sandia, LLC, a wholly owned subsidiary of Honeywell International Inc., for the U.S. Department of Energy’s National Nuclear Security Administration under contract DE-NA0003525.
This data was collected between October 12 and December 15 of 2021 at the University of New Hampshire (UNH) and Atlantic Marine Energy Center (AMEC) turbine deployment platform (TDP). This data set includes over 29 days of grid connected turbine operation during this 65 day time frame. The priority for this measurement campaign was to collect data while the turbine was electrically connected to the grid by means of a rectifier and inverter. The Fall_2021_UNH_Measurement_Timeline.png highlights when each instrument was functioning and the Fall_2021_UNH_Test_Log.jpg indicates the four main regions for analysis available from this measurement campaign. The TDP is a floating structure moored on the Portsmouth facing side of Memorial Bridge pier #2, which spans the Piscataqua River between Portsmouth, NH and Kittery, ME. The Piscataqua River connects the Great Bay Estuary to the Gulf of Maine and the river currents are dominated by tidal forcing with water velocities exceeding 2.5 m/s during spring ebb tides at this site which were previously characterized by Kaelin Chancey (Assessment Of The Localized Flow And Tidal Energy Conversion System At An Estuarine Bridge - UNH MS Thesis 2019). The turbine under test was a modified New Energy Corporation (Calgary, CA) model EVG-025 4-blade H-Darrius type vertical axis cross flow turbine that rotates in the clockwise direction with a rotor diameter of 3.2m and blade length of 1.7m. The hydro-foil profile was a NACA 0021 with a 10 inch chord length and a blade preset pitch angle of +4deg with a positive angle corresponding with the toe in direction. The standard EVG-025 has a rotor diameter of 3.4m and its rated power output is 25kW at 3 m/s. The rotor diameter was reduced to accommodate the size of the existing TDP moon-pool. This project was pursued to quantify device performance for cross flow turbines operating in a marine environment. Accurate physical models, to characterize cross flow turbine performance, require real operational data sets due to the complexity of blade fluid interactions. This data can help support model development which will help predict turbine performance when analyzing perspective project locations in the future. Instrumentation was deployed to measure; water speed/direction, electrical power output, turbine shaft speed, turbine thrust force, and platform motion. Concurrent measurements of these parameters allow for correlations (cause and affect) to be inferred, allowing for characterization of device performance over a range of operating conditions. Water currents were measured using Acoustic Doppler Current Profilers (ADCP's) and Acoustic Doppler Velocimeters (ADV's) directly upstream and downstream of the turbine for inflow, wake and turbulence measurements. Electrical power output was measured using the Voltsys rectifier and the Shark power meter. Shaft speed was calculated based on the Voltsys measurements of the permanent magnet three phase generator AC generation frequency, coupled directly to the cross flow turbine under test (i.e., no gear box). Platform motions were captured using a Yost IMU (inertial measurement unit). Turbine thrust loading was measured using a reaction arm about the turbine deployment platform spanning beam, where two bi-directional load cells were connected to the system via a pinned connection. This submission includes zipped folders for each instrument containing quality controlled (QC'd) data in daily .csv files for the relevant duration specific to each instrument, along with separate .csv file that contains the units for each variable. Some instrument daily files are quite large and can pose a challenge for a visual spreadsheet editor to open. A processing software like MATLAB or Python is recommended. Note the degree of QC varied between each instrument due to time constraints. Particular time and attention was given to perform quality control tests on the acoustic based instruments that are particularly suscep...
This data was collected between October 25 and December 12 of 2022 at the University of New Hampshire (UNH) and Atlantic Marine Energy Center (AMEC) turbine deployment platform (TDP). The goal was to collect blade strain data from a crossflow turbine operating in a tidal flow. A table in ('Deployment Schedule.PNG') outlines the various dates when each instrument was operational, and more details can be found via literature listed in 'Related Publications'.txt. This dataset includes zipped folders for each instrument containing data in .csv files for the relevant duration specific to each instrument, along with separate README file for each measurement. Some instrument files are quite large and can pose a challenge for a visual spreadsheet editor to open. A processing software like MATLAB or Python is recommended. All data contained in this submission is unfiltered/unprocessed data unless otherwise noted in the README file. Blade strain was measured using 8 foil-based strain gauges along the span of a single turbine blade. Water currents were measured using Acoustic Doppler Current Profilers (ADCP's) and Acoustic Doppler Velocimeters (ADV's) both upstream and downstream of the turbine for inflow, wake and turbulence measurements. Electrical power output was measured using the Voltsys rectifier. Shaft speed was calculated based on the Voltsys measurements of the permanent magnet three phase generator AC generation frequency, coupled directly to the cross flow turbine under test (i.e., no gear box). Platform motions were captured using a Yost IMU (inertial measurement unit). Turbine thrust loading was measured using a reaction arm about the turbine deployment platform spanning beam, where two bi-directional load cells were connected to the system via a pinned connection. The TDP is a floating structure moored on the Portsmouth facing side of Memorial Bridge pier #2, which spans the Piscataqua River between Portsmouth, NH and Kittery, ME. The Piscataqua River connects the Great Bay Estuary to the Gulf of Maine and the river currents are dominated by tidal flow with water velocities exceeding 2.5 m/s during spring ebb tides at this site which were previously characterized by Chancey 2019. The turbine under test was a modified New Energy Corporation (Calgary, CA) model EVG-025 4-blade H-Darrius type vertical axis cross flow turbine that rotates in the clockwise direction with a rotor diameter of 3.2m and blade length of 1.7m. The hydro-foil profile was a NACA 0021 with a 10 inch chord length and a blade preset pitch angle of +4deg with a positive angle corresponding with the toe in direction. The standard EVG-025 has a rotor diameter of 3.4m and its rated power output is 25kW at 3 m/s. The rotor diameter was reduced to accommodate the size of the existing TDP moon-pool. A single blade of this turbine was further modified to accommodate 8 full-bridge strain gauges (Bharath et al 2023, Bichanich et al 2024). For power performance and other relevant details on the turbine and its characteristics, see O'Byrne 2022.
This TEAMER project had three main objectives related to characterizing the performance of a vortex-induced vibration (VIV) marine energy harvesting device called the Whatever Input To Torsion (WITT). The first was to characterize the motion of the WITT device as it vibrates on top of a pipe in a natural tidal flow. The second was to measure how much electricity the WITT device generates when it is deployed on top of a pipe that is secured to the seabed with a lander. The third objective was to measure how much electricity the WITT device generates in the same configuration but with a longer pipe. This TEAMER project succeeded in satisfying the first objective by measuring the motion of the WITT device with an inertial measurement unit (IMU) mounted in the WITT housing. The motion was described by examining changes in the acceleration, pitch, roll, and yaw, and displacement. The frequency of the motion was characterized using spectral analysis. The TEAMER project succeeded in reaching the second objective by measuring the power produced by the WITT. It is reported here as the average and maximum power in hourly intervals. WITT Energy decided to not have us pursue the third objective of testing a longer pipe because the first test was unexpectedly successful at having the system vibrate at the target frequency. A longer pipe would have resulted in a decreased frequency and therefore not have been a useful test. Based on these findings, the decision was made to keep the same pipe length for both tests and improve on other aspects of the test structure that had failed during the first test. The key finding of this TEAMER project is that the WITT is capable of generating electricity in moderate flow speeds when it is in a housing that is attached to a 2.5 m pipe and secured to the seabed by a lander. This report contains the first power values for a VIV instrument that generates electricity from a pendulum swinging at the top of a long pipe. The experiment demonstrated that the vibration frequency of the device varied with the tidal current speed, which changed throughout a given tidal cycle. This meant that the desired peak frequency was not sustained for more than one hour. The success of this TEAMER test provides evidence that continued research in the area of electricity generation from VIV holds promise as a source of marine energy for offshore applications. Future tests should focus on refining the pipe length equations and improving the power take off system of the WITT power electronics. In addition, experiments aimed at expanded testing and evaluation (e.g. longer than one month) are needed to measure the power production at higher tidal current speeds and test the system's durability.
Current literature lacks a comparative analysis of different motion capture systems for tracking upper limb (UL) movement as individuals perform standard tasks. To better understand the performance of various motion capture systems in quantifying UL movement in the prosthesis user population, this study compares joint angles derived from three systems that vary in cost and motion capture mechanisms: a marker-based system (Vicon), an inertial measurement unit system (Xsens), and a markerless system (Kinect). Ten healthy participants (5F/5M; 29.6 ± 7.1 years) were trained with a TouchBionic i-Limb Ultra myoelectric terminal device mounted on a bypass prosthetic device. Participants were simultaneously recorded with all systems as they performed standardized tasks. Root mean square error and bias values for degrees of freedom in the right elbow, shoulder, neck, and torso were calculated. The IMU system yielded more accurate kinematics for shoulder, neck, and torso angles while the markerless system performed better for the elbow angles. By evaluating the ability of each system to capture kinematic changes of simulated upper limb prosthesis users during a variety of standardized tasks, this study provides insight into the advantages and limitations of using different motion capture technologies for upper limb functional assessment.
This campaign aims to collect infrared imagery using a custom data acquisition system to improve and validate a previously developed attitude estimation algorithm, with a focus on ensuring reliable performance at higher altitudes. The system integrates a Boson+320 infrared camera, a VN-200 IMU for recording attitude data synchronized with image acquisition, and a Raspberry Pi 4B+ for onboard processing and storage. Image orientation was controlled using a Gremsy T7 gimbal. The primary dataset spans roll angles from −40° to 40° and pitch angles from −20° to 40°, sampled at 1° increments. Additional, smaller datasets were also collected at 2.5° angular intervals.
A system and method to distinguish spoofing signals from true GNSS signals is disclosed. One aspect of the present invention combines measuring GNSS carrier signals with measuring jitter in a vehicle's position via a low-cost inertial measurement unit (IMU) to distinguish spoofing signals from true GNSS signals. The present invention employs natural and/or artificial jitter of a vehicle, that, when combined with a tightly coupled inertial navigation system (INS), allows the receiver to distinguish the spoofing GNSS signal from the true GNSS signal. This spoofer survivability algorithm may be implemented, for example, in the software of a GNSS (or GPS) navigation system.