DOI: 10.5281/zenodo.14160722
title: BDS data of the CAFP and FNAFP assessment in Vinderhoute, Belgium in 2018 (compressed)
title: Old_Axial_n_6
title: Pump_40Hz_Control_n_13
title: Pump_40Hz_n_64
title: Pump_47Hz_Control_n_15
title: Pump_47Hz_n_51

description: Barotrauma Detection Sensors (BDS) passing the Fairbanks Nijhuis Axial Flow Pumps (FNAFPs) and Conventional Axial Flow Pumps (CAFPs) of the Duivelsput pumping station (Vinderhoute, Oude Kale, Belgium). Here the compressed data is given of the CAFP (Old_Axial_n_6), the FNAFP at low rpm (Pump_40Hz_n_64), the FNAFP at high rpm (Pump_47Hz_n_51), the control FNAFP at low rpm (Pump_40Hz_Control_n_13) and the control FNAFP at high rpm (Pump_47Hz_Control_n_15). The following description is adopted from https://biorobotics.pages.taltech.ee/bds/en/description/. 

The BDS saves the sensor data in a row-column format. Each row represents one time step, and each of the 27 columns corresponds to a different variable. The data are logged to the file at 100 Hz (the magnetometer is 20 Hz). The following table provides an overview of the sensor data structure, and the physical units are given in brackets.

The calibration status for each of the three sensor types (accelerometer, rate gyro and magnetometer) is given on a scale from 0 (no calibration) to 3 (perfect calibration). The user can improve the calibration status by rotating the sensor slowly around all three axis (takes ca. 20 seconds), and then letting it stand on the flat end cap (hemisphere facing up) for 10 seconds. The sum of the calibration status represents the "total calibration" of the BDS, and is the sum of the three calibration values from each sensor, and ranges from 0 to 9. 




Col 1
Time [ms]
Timestamp


Col 2
PL [hPa]
Pressure
left
 


Col 3
TL [C]
Left
temp
 


Col 4
PC [hPa]
Pressure
center
 


Col 5
TC [C]
Center
temp
 


Col 6
PR [hPa]
Pressure
right
 


Col 7
TR [C]
Right
temp
 


Col 8
EX [deg]
Euler
angle X
 


Col 9
EY [deg]
Euler
angle Y
 


Col 10
EZ [deg]
Euler
angle Z
 


Col 11
QX [-]
Quat.  X


Col 12
QY [-]
Quat. Y


Col 13
QZ [-]
Quat. Z


Col 14
QW [-]
Quat. W


Col 15
MX [microT]
Magnet. X


Col 16
MY [microT]
Magnet. Y


Col 17
MZ [microT]
Magnet. Z


Col 18
AX [m/s2]
Dynamic
linear
accel. X


Col 19
AY [m/s2]
Dynamic
linear
accel. Y


Col 20
AZ [m/s2]
Dynamic
linear
accel. Z


Col 21
**RX [rad/s]
Rate
gyro X
 


Col 22
RY [rad/s]
Rate
gyro Y
 


Col 23
RZ [rad/s]
Rate
gyro Z
 


Col 24
CSM
Calibration
status
magnet. (0-3)


Col 25
CSA
Calibration
status
accel. (0-3)


Col 26
CSR
Calibration
status
gyro. (0-3)


Col 27
CSTOT
Sum 
calibration
status (0-9)




Sensor data example:

  


Time [ms]
0
0.01
0.02
0.03
0.04


PL [hPa]
1000.1
999.93
999.93
999.79
999.8


TL [C]
20.41
20.41
20.41
20.41
20.41


PC [hPa]
1000
1000
999.98
1000
1000.1


TC [C]
20.55
20.55
20.55
20.55
20.55


PR [hPa]
999.97
999.93
999.89
999.82
999.9


TR [C]
20.67
20.67
20.67
20.67
20.67


EX [deg]
65.563
66
66.75
67.063
67.063


EY [deg]
18.75
18.625
18.875
18.938
18.938


EZ [deg]
-165.94
-166.25
-166.81
-167.13
-167.13


QX [-]
0.53033
0.53687
0.53949
0.54187
0.54187


QY [-]
0.82336
0.81989
0.81836
0.81696
0.81696


QZ [-]
0.18768
0.18378
0.1825
0.18103
0.18103


QW [-]
-0.07489
-0.07581
-0.07745
-0.07874
-0.07874


MX [microT]
-22.75
-22.75
-22.75
-22.75
-22.75


MY [microT]
-19.25
-19.25
-19.25
-19.25
-19.25


MZ [microT]
57.875
57.875
57.875
57.875
57.875


AX [m/s2]
-1.16
-0.23
0.01
-0.1
-0.14


AY [m/s2]
-1.99
-1.56
-1.36
-1.47
-1.57


AZ [m/s2]
-0.59
-0.54
-1.03
-0.93
-0.86


RX [rad/s]
0.29889
0.27667
0.27222
0.29889
0.30111


RY [rad/s]
0.88778
1.8667
0.85333
1.0844
1.28


RZ [rad/s]
0.78556
0.82
0.79889
0.70556
0.63667


CSM
2
2
2
2
2


CSA
1
1
1
1
1


CSR
0
0
0
0
0


CSTOT
3
3
3
3
3