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Research Papers

A Low-Cost Motion Capture System for Small-Scale Wave Energy Device Tank Testing

[+] Author and Article Information
Francesco Paparella

Centre for Ocean Energy Research (COER),
Maynooth University,
Co. Kildare, Maynooth, Ireland
e-mail: francesco.paparella.2014@mumail.ie

Satja Sivcev

Mobile and Marine Robotics Research Centre
Marine and Renewable Energy Ireland (MaREI),
University of Limerick,
Limerick, Ireland
e-mail: satja.sivcev@ul.ie

Daniel Toal

Mobile and Marine Robotics Research Centre
Marine and Renewable Energy Ireland (MaREI),
University of Limerick,
Limerick, Ireland
e-mail: daniel.toal@ul.ie

John V. Ringwood

Centre for Ocean Energy Research (COER),
Maynooth University,
Co. Kildare, Maynooth, Ireland
e-mail: john.ringwood@nuim.ie

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received February 7, 2018; final manuscript received September 25, 2018; published online November 8, 2018. Assoc. Editor: Mahdi Shahbakhti.

J. Dyn. Sys., Meas., Control 141(3), 031008 (Nov 08, 2018) (9 pages) Paper No: DS-18-1064; doi: 10.1115/1.4041608 History: Received February 07, 2018; Revised September 25, 2018

The measurement of the motion of a small-scale wave energy device during wave tank tests is important for the evaluation of its response to waves and the assessment of power production. Usually, the motion of a small-scale wave energy converter (WEC) is measured using an optical motion tracking system with high precision and sampling rate. However, the cost for an optical motion tracking system can be considerably high and, therefore, the overall cost for tank testing is increased. This paper proposes a low-cost capture system composed of an inertial measurement unit and ultrasound sensors. The measurements from the ultrasound sensors are combined optimally with the measurements from the inertial measurement unit through an extended Kalman filter (EKF) in order to obtain an accurate estimation of the motion of a WEC.

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Figures

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Fig. 1

OMEY labs wave tank with ultrasound receivers placed above the middle section of the tank

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Fig. 2

Setup ultrasound measurement system and IMU for measurement of the WEC motion

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Fig. 3

Intersection of the spheres centered at the location of the receivers R1,R2,R3 at the plane Zg = 0

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Fig. 4

Setup of the IMU and ultrasound coordinate frame Xg,Yg,Zg for the tests with the Stäubli robot

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Fig. 5

Measurement of the x positions of the ultrasound transmitter or the test SPx

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Fig. 6

Measurement of the y positions of the ultrasound transmitter for the test SPy

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Fig. 7

Measurement of the z positions of the ultrasound transmitter for the test SPz

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Fig. 8

Measurement of the angle ϕ around the x-axis of the IMU for the test SRx

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Fig. 9

Measurement of the angle θ around the y-axis of the IMU for the test SRy

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Fig. 10

Measurement of the angle ψ around the z-axis of the IMU for the test SRz

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Fig. 11

Comparison between the angle ϕ around the x-axis of the IMU between computed with the EKF, accelerometer and gyroscope for a period T = 3.0 and amplitude A=20 deg

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Fig. 12

Comparison between the angle ψ around the z-axis of the IMU between computed with the EKF, accelerometer and gyroscope for a period T = 3.0 and amplitude A=20 deg

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