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24.09.24

Do we know anything about how they measure performance per now? During training sessions etc.  → They measure IMU, GPS, and maybe local wind conditions on the training boat

Raw Gps output:

GPS output can be cleaned up directly on the ESP32 using TinyGPS library → Might be better to clean up data in post, in case OLT wants all  the raw data for later

Would be cool to plot the pitch and roll to easily see how the boat moves, and make it easier to interpret data. E.g.:

Made a GitHub repository for code: https://github.com/KarenDahlhaug/OLT_Pre_Project

Gps, IMU, sd card reader, button and led. it works, but code didnt work properly. imu samples much quicker and gps cant keep up.

standard update rate for Gps 6m neo is 1Hz and max is 5Hz.

Next up is fixing code and making 3d printed holder for everything, since we need to bring it alot outside because of the gps. also nice to have a 3d-model for later.

25.09.24

For later: the central setup can be fastened to the boat with a suction cup to ensure minimal damage to the hull

Quickly read through this article: A Wireless Rowing Measurement System for Improving the Rowing Performance of Athletes. Not much of interest for our project here.

Uploaded some files to GitHub for documentation

Cleaned up some code to try and have it only print IMU data after the GPS data is finished printing. Code can be seen in GitHub. Not tested. Tried to hold GPS slightly outside of window at Troll, but either I messed up the code, or this was not enough clearance to the sky, because nothing but the header printed to the SD card

16.09.24

Notes while reading Data acquisition and analysis of ILCA 6 dinghies sailing upwind (2024):

OBS: this is a lot of copy paste from the article. Do not use this text in any reports

• Nice to know: ILCA 6 class was known as Laser Radical before 2019, therefore most literature can be found under the keyword "laser" rather than "ILCA"
• They used a motion capture system OptiTrack Prime to track the athletes position on an ergometer hiking bench
• 
• They also tested stuff on water. They downloaded meterological data of: average wind speed, maximum wind speed, and average wind direction with 5-minute intervals
• They made a logger: M5Stack Core2 ESP32 IoT containing:
  • MPU6886 6-axis Inertial Measurement Unit (IMU), 2g-16g, 16 bit ADC, gyroscope sensitivity error: ±1%, gyroscope noise: ± 4 mdps/sqrt (Hz), accelerometer noise: 100 µg/ sqrt(Hz);
  • GPS module (u-blox M8 NEO-M8N module with reception of multiple GNSS (GPS, Galileo, GLONASS, BeiDou) with external antenna;
  • M5GO Battery Bottom2, expansion base for M5Core2 that provides a 500mAh lithium-ion polymer battery
• The logger was equipped with a power bank
• It was developed with Arduino libraries and Visual Studio Code Integrated Development Environment (IDE) with PlatformIO plug-in. When turned on, it first connects to an SSID and the GPS and is then ready to log.
• It had a screen with instructions to be user-friendly
• A .csv file was created as the output of every test session, and saved to an SD card. The following data was stored:
  • lattitude;
  • longditude;
  • acceleration on the three axes;
  • velocity on the three axes;
  • orientation on the three axes;
  • sensor temperature;
  • milliseconds from start;
  • iteration number;
  • UTS time stamp at the first and last line
• The sampling frequency is set at 20 Hz for the IMU module and at 0.04 Hz for the GPS module.
• The logger is glued in a waterproof box for electrical reasons as the M5Core2 hardware is not waterproof and the box is secured with dual lock SJ3550 adhesive tape to the aft bulkhead on the center line of the dinghy using the two jumpers as reference points
• 
• The firmware of the logger is available in an open-access folder on GitHub (https://github.com/PBelluco/SailingPrj), as well as the .csv files of the tests and the Python programs used for the elaboration of the results
  • Link doesn't work, I think this is the right link: https://github.com/PBelluco/M5Core2

Played around with the load cells, data is drifting, will try again with proper setup. Used example code from HX711 library in arduino IDE

NEO 6M module: The module did not work inside troll-labs, but outside it worked at once, and gave quite accurate position 

17.09.24

ESP32 DEVKIT-V1:

Loadcell: We are thinking about trying to use a load cell to measure Axial force. We are not sure if it is possible to use this kind of loadcell to measure axial force, we have to fiddle a bit with connections and wheatstone brigde to see if it is possible. the pictures show that axial force didnt give any "utslag", but the shear force, made a huge "utslag". this is as expected because the resistance change in the straingauges will cancel eachother out.

Tested a system with:

• Arduino IDE, ESP32
• SparkJoy OpenLog (SD card module)
• BNO055 ("gyroscope")
• and a button

The idea was to log the data from the BNO055 in the SD card, but start and finish logging in a file with button presses to avoid file corruption, as well as enable logging "sessions" in different documents. → The BNO055 worked as expected. The button did what it was supposed to do. But we had trouble with logging this information in csv files. Trying to isolate the problem it seemed like the problem was the OpenLog module. Though unclear whether wiring, code, syncing or the hardware itself was the problem. Code was generated with ChatGPT

Got the SD-card writing to work. attached is a code that write numbers 1-3 on newline after the ESP32 is restarted.

We want to test system on a bicycle:

Should consider a powersupply, as the current supplied from esp32 is limited.

10.09.24

Notes while reading GNSS Applications to Assess Performance in Olympic Sailors: Laser Class (2020):

• They evaluated Velocity Made Good (VMG) (knots), distance (km) and maneuvers (number of maneuvers) using GNSS
• They divided performance of upwind, downwind and broad reach performance into different datasets
• "Dinghy sailing is a sport with specific characteristics, since performance will not only be determined by the level of physical fitness of the sailor, but also by the characteristics of the boat and the weather conditions. Therefore, Olympic sailing is a complex sport in which performance is determined by the ability to understand and anticipate the weather conditions, having adequate equipment for the boat (e.g., quality sails), and the mastering of the technique and tactics"
  • Would there be any benefits to downloading weather and tidal forecasts?
• "Among the different Olympic classes, the sailors in the Laser class are considered dynamic hikers, since, due to a high sailor-to-yacht weight ratio, they are required to sail the boat in a very dynamic manner. This monohulled-type class was designed by Bruce Kirby in 1969 and it is manned by a single athlete. The Laser class is a one-person keelboat: the weight of the boat is 59 kg, the overall length is 4.23 m, the beam length is 1.37 m and the sail in the Olympic category is different for men and women. Women compete in the Radial (5.76 m2) category and men compete in the Standard (7.06 m2) category. This is an Olympic class since 1996 and sailors compete under the One Design rule. The One Design class is controlled by World-Sailing® and the class rules are written to prevent any changes from the manufactured boat that might affect performance, ensuring that all the competing boats are the same. This rule states that all sailors must compete with the same boats and sails and, thus, under the same conditions."
• "The sailor’s technique determines the velocity of the boat, and the VMG on the windward and leeward courses is considered the most important variable in a regatta [...] The distance traveled during the regatta is a tactical variable that determines the performance of the sailor, since higher level sailors complete the course in shorter distances. The maneuvers influence the performance of the boat, since speed decreases when they are carried out, thus the sailor must decide when to perform them, and he/she must do it efficiently in order to minimize the loss of speed."
• Should we install camera above to evaluate technique in the surge-sway plane?
• This dataset was collected with TracTrac. The device weighed 60 g, including mobile connection and a battery. Transmission frequency was 5 Hz.
• They assessed the data with analysis of variance
• "This could indicate that these (better) sailors have a better technical level, which would allow them to handle the boat more efficiently to reach higher speeds, thus keeping the boat in a planning condition, thereby reducing its hydrodynamic resistance. Some studies have shown that more successful sailors are faster and have a better pointing angle, which ca be achieved only with a higher level of physical performance, as it is known that efficient hiking is related to boat speed and boat handling performance"
  • How do they do this? How can we measure this?
  • What angle is this?
• It is mentioned several times that better sailors sail shorter routes during the regatta, which is in line with other papers on windsurfing. They advise coaches to consider distance covered in training since maneuvers are physically demanding.

11.09.24

Website with forecasts of wind and flow: https://www.windy.com/-Waves-waves?waves,63.424,10.396,5

Sailing "garmin" computers that plot IMU, speed and position with GPS

• Vakaros
• Sailmon

12.09.24

Found a cool GPS shield at TROLL, but it needs a MKR arduino board, which is expensive, and we don't have. Could it be connected with STM32 instead? → No :(

Playing around with load cells and loadcells amplifiers. SCK and CLK pin both mean SPI Clock

Found a 9DOF IMU which could measure orientation.

02.09.24

Vi vil:

• Gjør oss noen tanker om hvordan å måle krefter på båt
• Liste opp hvilke krefter som er relevante og hvordan måle disse
• Hvilke sensorer er relevante?
• Se på hvordan man kan 3D scanne ting, og bruke den modellen til å lage skreddersydd utstyr?
• Gjøre seg kjent med hvilke materialer en seilbåt er bygd av
• Fått prøvd å seile litt?
• Fins det litteratur på lignende cases?
• Hva vil egt OLT? Hvilke problem kan vi hjelpe de med?
• Hvordan funker sitski?
• Hadde vært kult å lage en skalert modell for å komme oss inn i den mindre vindtuellen
• Hvem kan vi snakke med/ta inspo fra?
• Jesper Saltvik Pedersen - sitski utøver
• NTNU marin, fins det noen der som har forsket på seilbåt?
• NIH, fins det noen der som har forsket på sitski eller seilling?
• Vindtunnell folka, har de sett at det har vært lignende prosjekter?
• PhD + professor i faget produkt- og materialtesting har sikkert smarte tanker om testing av glassfiberelementer

03.09.24

Vi snakka litt med Eirik og fikk høre at dette vil seilfolka finne utav:

• De tenker på teknikk og taktikk
• Sensorrigg som gjør at man kan skjønne hva som skjer i båten med krefter på tau, båten, hvordan gjøre kryss
• Treneren kommer til å se på disse dataene
• Treneren følger på en rib

Eirik tenker modulær sensorrigg som kan slenges over på alpint etterpå
Oppgaver:

• Hva kan vi måle, hvilke sensorer?
• Sammenstilling av denne modulære sensorriggen som samle og logger data med GPS klokke
  • GPS klokke moduler
  • Vi kan begynne kablet eller gå rett på wireless

Vi MÅ måle vind, også mest sannsynlig IMU (inertial measurement unit) data, hastighet, posisjon, andre krefter
Problemstillinger som vi kommer til å møte på men ikke nødvendigvis trenger å forholde oss til enda:

1. Utstyr må være vanntett
2. Begrenset med plass, vil ikke fortyrre utøveren så utstyret må være smått
3. Kapasitet

Se på krefter i ristropp, ror, seil, trip, kantring
Kamera for å gjenkjenne posisjon?

Ambisjon om å legge på video feed down the line så man lettere kan koble data til hva som faktisk skjer.

Kult om man kan ha video feed av flere utøvere

Vi skal hovedsakelig se på båter i klasse ILCA 6 og 7 (herre og dame)

_{Image source: https://www.parallel45marine.com/our-services/ilca-laser-dinghy/} 

04.09.24

Should we plot Velocity Made Good (VMG) like they did in this paper? The speed of the boat along the axis from starting point along the wind direction

Boat part names (image source):

6 degrees of freedom on a boat (image source):

Ideas for measuring of different factors: