DOI: 10.5281/zenodo.16578373
title: Sloshing-Height Estimation for Liquid-filled Containers under Four-Dimensional Motions Including Spatial Translation and Rotation about a Fixed Direction: Modelling and Experimental Validation

description: README

-------------------------------------------

 

DESCRIPTION:

------------

This repository provides the essential data and files for reproducing and visualizing the results presented in the paper entitled 

'Model-based Sloshing-Height Estimation for Liquid-filled Containers under Four-Dimensional Motions Including Spatial Translation and Rotation about a Fixed Direction: Modelling and Experimental Validation'.

 

CSV FILES:

----------

#######################################################################################################################################################

In the "Trajectories" folder, the files named with <trajectory>.csv (where <trajectory> can refer to the Se, Sc, Sg, Te, Tc and Tg motions described in the paper), contain the trajectory imposed to the liquid-filled container.

In particular, in every .csv file the data are organized as follows.

 

   Columns:

   [1] Time [s]

   [2] x_c container position along x [m]

   [3] y_c container position along y [m]

   [4] z_c container position along z [m]

   [5] \dot{x}_c container velocity along x [m/s]

   [6] \dot{y}_c container velocity along y [m/s]

   [7] \dot{z}_c container velocity along z [m/s]

   [8] \ddot{x}_c container acceleration along x [m/s²]

   [9] \ddot{y}_c container acceleration along y [m/s²]

   [10]\ddot{z}_c container acceleration along z [m/s²]

   [11] qx container orientation (quaternion - x vector part)

   [12] qy container orientation (quaternion - y vector part)

   [13] qz container orientation (quaternion - z vector part)

   [14] qw container orientation (quaternion - scalar part)

   [15] ω_cx container angular velocity about x [rad/s]

   [16] ω_cy container angular velocity about y [rad/s]

   [17] ω_cz container angular velocity about z [rad/s]

   [18] \dot{ω}_cx container angular acceleration about x [rad/s²]

   [19] \dot{ω}_cy container angular acceleration about y [rad/s²]

   [20] \dot{ω}_cz container angular acceleration about z [rad/s²]

 

#######################################################################################################################################################

In the "Sloshing Height" folder, the files named <trajectory>_exp.csv, <trajectory>_PMD.csv, <trajectory>_PEN.csv contain the data regarding the experimental sloshing height, the PMD-model sloshing height 

and the PEN-tan sloshing height for the motions indicated with <trajectory> (where <trajectory> can refer to the Se, Sc, Sg, Te, Tc and Tg motions described in the paper).

In each .csv file the data are organized as follows.

 

   Columns:

   [1] Time [s]

   [2] Sloshing height η [mm]

   

#######################################################################################################################################################

In the 'Indices' folder, the files named eps_w<X>_N<Y>.csv and lambda_w<X>_N<Y>.csv refer to the trends of the indices \epsilon and \lambda defined in Eqs. (63) and (64), as function of \alpha, for all the motions (Se, Sc, Sg, Te, Tc and Tg)

described in the paper. The variables <X> (referred to the power of the nonlinear spring) and <Y> (indicating the number of sloshing masses) can take values 1, 2 and 3. 

In each eps_w<X>_N<Y>.csv file the data are organized as follows.

 

Columns:

   [1] \alpha 

   [2] \epsilon trend for the Se motion

   [3] \epsilon trend for the Sc motion

   [4] \epsilon trend for the Sg motion

   [5] \epsilon trend for the Te motion

   [6] \epsilon trend for the Tc motion

   [7] \epsilon trend for the Tg motion

   

In each lambda_w<X>_N<Y>.csv.csv file the data are organized as follows.

 

Columns:

   [1] \alpha 

   [2] \lambda trend for the Se motion

   [3] \lambda trend for the Sc motion

   [4] \lambda trend for the Sg motion

   [5] \lambda trend for the Te motion

   [6] \lambda trend for the Tc motion

   [7] \lambda trend for the Tg motion

 

 

CORRESPONDENCE WITH PAPER FIGURES:

----------------------------------

 

The folder "Sloshing Height" also contains also a brief Matlab script "plotSloshingHeight.m" that allows to generate the plots in Fig. 13.

 

In addition, the Matlab script "plotIndex" in the "Indices" folder allows the reproduction of plots illustrated in Fig. 11. 

 

VIDEOS:

-------

 

The "Videos" directory contains two subfolders, GoPro Right and GoPro Left, each housing the videos recorded by the GoPro cameras mounted on the experimental setup (Fig. 8). Additionally, 

both camera folders include auxiliary videos of Aruco Markers, which were utilized to identify the relative pose between the two cameras.

 

The videos corresponding to the recorded container motions are named with <trajectory>.MP4 (where <trajectory> can refer to the Se, Sc, Sg, Te, Tc and Tg motions described in the paper).

 

Due to the nature of the experimental setup and the various recording sessions, multiple camera localization runs were necessary. For this reason two videos for the marker identification are present for each camera folder.

Specifically:

 

- `Marker_Id_1.mp4`  

  This file contains camera localization data for videos with the following filenames:  

  - `Se`  

  - `Te`  

  - `Sg`  

  - `Tg`

 

- `Marker_Id_2.mp4`  

  This file corresponds to localization for videos:  

  - `Sc`  

  - `Tc`