Search Results (26)

Electrical strain gauges are essential for monitoring wind turbine tower loads and fatigue, but accurate load measurements from these sensors require calibration over time to correct the zero-drift found in long-term measured signals. Calibration is often performed using nacelle rotation events for cable untwisting, where the tower mechanical load is known; however, non-uniform solar heating during these events can introduce thermal stresses that are misinterpreted as drift, causing systematic errors. This study evaluates six preprocessing methods for correcting zero-drift and thermal stresses in strain gauges, using measurements from two tower cross-sections—one with temperature sensors and one without. Performance is quantified using the scatter of the 10 min mean bending moments in the fore–aft and side-to-side directions and the cumulative fatigue damage over the monitoring periods. Results show that modelling the thermal stresses using a linear regression model with temperature measurements as inputs yields the most physically consistent load curves. If temperature measurements are unavailable, the effects of thermal stresses can be partly mitigated by restricting calibration to nighttime events or using solar-position variables in a regression model (instead of temperatures). As expected, the choice of preprocessing method significantly impacts load curves, but its influence on fatigue damage estimates is limited. Full article

High-renewables grids are planned in min but judged in milliseconds; credible studies must therefore resolve both horizons within a single model. Current adequacy tools bypass fast frequency dynamics, while detailed simulators lack multi-hour optimization, leaving investors without a unified basis for sizing storage, shifting demand, or upgrading transfers. We present a two-layer Hierarchical Model Predictive Control framework that links 15-min scheduling with 1-s corrective action and apply it to Germany’s four TSO zones under a stringent zero-exchange stress test derived from the NEP 2045 baseline. Batteries, vehicle-to-grid, pumped hydro and power-to-gas technologies are captured through aggregators; a decentralized optimizer pre-positions them, while a fast layer refines setpoints as forecasts drift; all are subject to inter-zonal transfer limits. Year-long simulations hold frequency within ±2 mHz for 99.9% of hours and below ±10 mHz during the worst multi-day renewable lull. Batteries absorb sub-second transients, electrolyzers smooth surpluses, and hydrogen turbines bridge week-long deficits—none of which violate transfer constraints. Because the algebraic core is modular, analysts can insert new asset classes or policy rules with minimal code change, enabling policy-relevant scenario studies from storage mandates to capacity-upgrade plans. The work elevates predictive control from plant-scale demonstrations to system-level planning practice. It unifies adequacy sizing and dynamic-performance evaluation in a single optimization loop, delivering an open, scalable blueprint for high-renewables assessments. The framework is readily portable to other interconnected grids, supporting analyses of storage obligations, hydrogen roll-outs and islanding strategies. Full article

The polished rod dynamometer operates under alternating loads and large temperature differences for a long time, inevitably leading to zero drift and temperature drift issues. At the same time, conventional inversion of polished rod dynamometer cards fails to consider the impact of friction loads, resulting in inaccurate production and liquid level calculations from pump dynamometer cards. Based on the oil-filled environment in the sucker rod and tubing during the upstroke of the pumping unit, this paper proposes a rapid identification method for the four characteristic points of the polished rod dynamometer card to obtain a calculation method for friction loads at the velocity reversal points A and C. The gravity of the polished rod string in the liquid column serves as the benchmark for calibrating the polished rod dynamometer card. Combined with basic well data, a one-dimensional wave equation difference calculation method is used to solve for the pump dynamometer card. An approximation algorithm is employed to achieve rapid calibration of the polished rod dynamometer card and inversion of the pump dynamometer card. Calculation and engineering application results indicate that the accuracy of production and liquid level calculations obtained from the pump dynamometer card through online correction of the polished rod dynamometer card exceeds 90%, achieving the goal of engineering digitization applications. Full article

The inertial navigation system (INS) is a robust and reliable navigation strategy to provide position, attitude and velocity information of a carrier with signal acquired from inertial sensors without external assistant. However, the lack of external correction information leads to the accumulation of navigation errors, thereby limiting the reliability and applicable range of INS. In a typical INS, the accuracy and robustness of INS are mainly hindered by sensor’s measuring accuracy, installation misalignments and navigation algorithm effectiveness. To address the limitations of navigation accuracy degradation caused by sensor measurement errors, a calibration and compensation method of the gyro bias was proposed to improve the navigation accuracy. Through analyzing the influence of individual navigation errors, we found that the bias noise of gyroscope is the dominant factor in degrading the navigation accuracy. Aiming to improve the performance of navigation, a rotational modulation method is employed to eliminate the influence of gyro bias drift. Specifically, the rotational modulation could average the gyro bias to zero through the periodic rotational mechanism. Furthermore, the rotational turntable output angle can be used to correct navigation-resolved attitude results, which has a highly precise angle and can be used to calibrate the gyro drift. By compensating for gyro bias in a navigation algorithm, the performance of the navigation results is improved by a matter of one order from 7 km to less than 1 km over a period of 6 h. Several individual navigation experiments were also conducted, and the results prove the effectiveness of our method. The theoretical and experimental results show that the proposed error analysis and the compensation method are feasible and can been applied to the practical navigation system. Full article

The continuous, automated monitoring of sensor-based data for walking capacity and mobility has expanded gait analysis applications beyond controlled laboratory settings to real-world, everyday environments facilitated by the development of portable, cost-efficient wearable sensors. In particular, the integration of Inertial Measurement Units (IMUs) into smart shoes has proven effective for capturing detailed foot movements and spatiotemporal gait characteristics. While IMUs enable accurate foot trajectory estimation through the double integration of acceleration data, challenges such as drift errors necessitate robust correction techniques to ensure reliable performance. This review analyzes current literature on shoe-based systems utilizing IMUs to estimate spatiotemporal gait parameters and foot trajectory characteristics, including foot–ground clearance. We explore the challenges and advancements in achieving accurate 3D foot trajectory estimation using IMUs in smart shoes and the application of advanced techniques like zero-velocity updates and error correction methods. These developments present significant opportunities for achieving reliable and efficient real-time gait assessment in everyday environments. Full article

To suppress pedestrian positioning drift, a velocity constraint commonly known as zero-velocity update (ZUPT) is widely used. However, it cannot correct the error in the non-zero velocity interval (non-ZVI) or observe heading errors. In addition, the positioning accuracy will be further affected when a velocity error occurs in the ZVI (e.g., foot tremble). In this study, the foot, ankle, and shank were regarded as a triangular structure. Consequently, an angle constraint was established by utilizing the sum of the internal angles. Moreover, in contrast to the traditional ZUPT algorithm, a velocity constraint method combined with Coriolis theorem was constructed. Magnetometer measurements were used to correct heading. Three groups of experiments with different trajectories were carried out. The ZUPT method of the single inertial measurement unit (IMU) and the distance constraint method of dual IMUs were employed for comparisons. The experimental results showed that the proposed method had high accuracy in positioning. Furthermore, the constraints built by the lower limb structure were applied to the whole gait cycle (ZVI and non-ZVI). Full article

This article studies the general properties of the Stokes drift field. This name is commonly used for the correction added to the mean Eulerian velocity for describing the averaged transport of the material particles by the oscillating fluid flows. Stokes drift is widely known mainly in connection with another feature of oscillating flows known as steady streaming, which has been and remains the focus of a multitude of studies. However, almost nothing is known about Stokes drift in general, e.g., about its energy or helicity (Hopf’s invariant). We address these quantities for acoustic drift driven by simple sound waves with finite discrete Fourier spectra. The results discover that the mean drift energy is partly localized on a certain resonant set, which we have described explicitly. Moreover, the mean drift helicity turns out to be completely localized on the same set. We also present several simple examples to discover the effect of the power spectrum and positioning of the spectral atoms. It is revealed that tuning them can drastically change both resonant and non-resonant energies, zero the helicity, or even increase it unboundedly. Full article

In order to investigate the hydrodynamic performances of semi-submersible type floating offshore wind turbines (FOWTs), particularly the effect of body-wave-current interaction, the OC4 FOWT is considered in the presence of co-existing regular wave and uniform current fields. The wind loads are not considered at this stage. The problem is treated in the framework of potential-flow theory in the frequency domain, assuming waves of small steepness, and the solution is obtained by using a perturbation expansion method for the diffraction potential with respect to the normalized current speed. Analytical and numerical formulations have been used to treat the inhomogeneous free-surface boundary condition involved in the hydrodynamic problem formulation for the derivation of the associated perturbation potential. The hydrodynamic loads were obtained after evaluating the pressure field around the multi-body configuration using three different computer codes. The results from the three computer codes compare very well with each other and with the numerical predictions of other investigators. Finally, the mean second-order drift forces are calculated by superposing their zero-current values with the corresponding current-dependent first-order corrections, with the latter being evaluated using a ‘heuristic’ approach. Full article

The correct prediction of slowly varying wave drift loads is important for the mooring analysis of floating wind turbines (FWTs). However, present design analysis tools fail to correctly predict these loads in conditions with current and moderate and large waves. This paper presents a semi-empirical method to correct zero-current potential-flow quadratic transfer functions (QTFs) of horizontal wave drift loads in conditions with current and moderate and large waves. The method is applicable to column-stabilized types of substructures or semi-submersibles. In the first step, the potential-flow QTF is corrected for potential-flow wave–current effects by applying a heuristic method. Second, the generalized Exwave formula corrects for viscous drift effects. Viscous drift effects become important for moderate and large waves. Conditions with current in the same direction as the waves increase the viscous drift contribution further. The method is validated by comparing QTF predictions with empirical QTFs identified from model test data for the INO Windmoor semi. While potential-flow QTFs agree well with the empirical data for small seastates without current, they underestimate the wave drift loads for moderate and large seastates. Conditions with current increase the underestimation. The semi-empirical correction method significantly improves predictions. Full article

Micro-Electro-Mechanical System (MEMS) inertial sensors, characterized by their small size, low cost, and low power consumption, are commonly used in foot-mounted wearable pedestrian autonomous positioning systems. However, they also have drawbacks such as heading drift and poor repeatability. To address these issues, this paper proposes an improved pedestrian autonomous 3D positioning algorithm based on dual-foot motion characteristic constraints. Two sets of small-sized Inertial Measurement Units (IMU) are worn on the left and right feet of pedestrians to form an autonomous positioning system, each integrated with low-cost, low-power micro-inertial sensor chips. On the one hand, an improved adaptive zero-velocity detection algorithm is employed to enhance discrimination accuracy under different step-speed conditions. On the other hand, considering the dual-foot gait characteristics and the height difference feature during stair ascent and descent, horizontal position update algorithms based on dual-foot motion trajectory constraints and height update algorithms based on dual-foot height differences are, respectively, designed. These algorithms aim to re-correct the pedestrian position information updated at zero velocity in both horizontal and vertical directions. The experimental results indicate that in a laboratory environment, the 3D positioning error is reduced by 93.9% compared to unconstrained conditions. Simultaneously, the proposed approach enhances the accuracy, continuity, and repeatability of the foot-mounted IMU positioning system without the need for additional power consumption. Full article

This paper proposes a novel Blockchain-based indoor navigation system that combines a foot-mounted dual-inertial measurement unit (IMU) setup and a zero-velocity update (ZUPT) algorithm for secure and accurate indoor navigation in GNSS-denied environments. The system estimates the user’s position and orientation by fusing the data from two IMUs using an extended Kalman filter (EKF). The ZUPT algorithm is employed to detect and correct the error introduced by sensor drift during zero-velocity intervals, thus enhancing the accuracy of the position estimate. The proposed Low SWaP-C blockchain-based decentralized architecture ensures the security and trustworthiness of the system by providing an immutable and distributed ledger to store and verify the sensor data and navigation solutions. The proposed system is suitable for various indoor navigation applications, including autonomous vehicles, robots, and human tracking. The experimental results provide clear and compelling evidence of the effectiveness of the proposed system in ensuring the integrity, privacy, and security of navigation data through the utilization of blockchain technology. The system exhibits an impressive ability to process more than 680 transactions per second within the Hyperledger-Fabric framework. Furthermore, it demonstrates exceptional accuracy and robustness, with a mean RMSE error of 1.2 m and a peak RMSE of 3.2 during a 20 min test. By eliminating the reliance on external signals or infrastructure, the system offers an innovative, practical, and secure solution for indoor navigation in environments where GNSS signals are unavailable. Full article

To reduce the influence of voltage harmonics on the grid current, a control strategy based on adaptive quasi-proportional phase compensated resonance (QPR_PC) is proposed. Firstly, the LCL grid-connected photovoltaic inverter system model is established, and the stability performance of the three-level inverter system under double closed-loop control is analyzed using the output impedance model of the inverter. Then, a QPR regulator for the zero steady-state error tracking of AC signals is studied. To solve the problem that the system has poor robustness against frequency changes when the traditional QPR regulator is used in the static coordinate system, this paper improves the traditional QPR regulator to optimize the response characteristics of the closed-loop system. Based on the QPR regulator, a phase margin compensation structure is introduced to form QPR_PC control. Then adaptive frequency design is added to ensure good control even when the power grid frequency drifts, which is the control strategy proposed in this paper. Verification shows that the proposed method improves the phase margin of output impedance at a specific frequency, restrains the interference of the 3rd, 5th, and 7th harmonics of grid voltage, and improves the dynamic performance of the system and the quality of grid-connected current. Finally, the simulation results show that the total harmonic distortion rate of grid-connected current is reduced by 1.03% after adopting this strategy, which verifies the effectiveness and correctness of the proposed method. Full article

This contribution introduces a computerized semi-automated procedure coupled with a dedicated algorithm to improve shear wave velocity assessment and the on-site elastic damping ratio estimation of ground materials. The standard equipment of the downhole method is integrated with a horizontal geophone (guardian) placed on the field surface. Mask tapering and band multi-filter functions improve first arrival, recognizing and isolating SH-wave trains to estimate damping ratio profiles. These are computed by treating signals using a frequency–time combined approach (frequency–time packets method). The signals are corrected to consider the different source pulse amplitude, the effects of the propagation path, and scattering. The damping ratio profile is statistically computed in terms of the local drift of trend on the amplitude ratio series that would otherwise have a normal distribution centered on zero. These profiles intercept the lithology changes in the test sites and meet the damping values stemming from previous field tests and the laboratory experimental tests available in the literature regarding materials such as the ones investigated here. Full article

Inertial sensors are widely used in human motion monitoring. Orientation and position are the two most widely used measurements for motion monitoring. Tracking with the use of multiple inertial sensors is based on kinematic modelling which achieves a good level of accuracy when biomechanical constraints are applied. More recently, there is growing interest in tracking motion with a single inertial sensor to simplify the measurement system. The dead reckoning method is commonly used for estimating position from inertial sensors. However, significant errors are generated after applying the dead reckoning method because of the presence of sensor offsets and drift. These errors limit the feasibility of monitoring upper limb motion via a single inertial sensing system. In this paper, error correction methods are evaluated to investigate the feasibility of using a single sensor to track the movement of one upper limb segment. These include zero velocity update, wavelet analysis and high-pass filtering. The experiments were carried out using the nine-hole peg test. The results show that zero velocity update is the most effective method to correct the drift from the dead reckoning-based position tracking. If this method is used, then the use of a single inertial sensor to track the movement of a single limb segment is feasible. Full article

The quadrature coupling error is an important factor that affects the detection output of microelectromechanical system (MEMS) gyroscopes. In this study, two quadrature error control methods, quadrature force-to-rebalance control (Mode I) and quadrature stiffness control (Mode II) were analyzed. We obtained the main factors affecting the zero-rate output (ZRO) under force-to-rebalance (FTR) closed-loop detection. The analysis results showed that the circuit phase delay in Mode I caused the quadrature channel to leak into the in-phase channel. However, in Mode II, the quadrature coupling stiffness was corrected in real time, which effectively improved the stability of the ZRO. The changes in the vibration displacement and Q-factor were the main factors for the ZRO drift in Mode II. Therefore, we propose an online compensation method for ZRO drift based on multiparameter fusion. The experimental results on a cobweb-like disk resonator gyroscope (CDRG) with a 340 k Q-factor showed that the bias instability (BI) of Mode II was significantly better than that of Mode I. After online compensation, the BI reached 0.23°/h, and the bias repeatability reached 3.15°/h at room temperature. Full article