Six-Degree-of-Freedom Sensor Fish Design: Governing Equations and Motion Modeling

Zeng, Dong; Richmond, Marshall C.; Simmons, C. S.; Carlson, Thomas J.

doi:10.2172/15020939

Cited by 10 publications

(11 citation statements)

References 12 publications

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“…It measures the three components of linear acceleration (up-down, forward-back, and side-to-side) and three components of angular velocities (pitch, roll, and yaw), plus pressure and temperature. The sampling frequency is 2,000 Hz; the pressure transducer, linear accelerometers, and rate gyros have sensitivities of ± 0.1 psi, ± 100 g, and ± 1080 degrees/s respectively (Deng et al 2004). The Sensor Fish Device is 24.5 mm in diameter and 90 mm in length, weighs 42 grams, and is nearly neutrally buoyant in fresh water.…”

Section: Sensor Fishmentioning

confidence: 99%

“…While balloon tag field studies are a necessary prerequisite to evaluation of turbine biological performance, they are limited in that they cannot provide insight into the specific hydraulic conditions or physical stresses that fish experience inside the turbines or the specific causes of the biological response. To overcome this deficiency, an autonomous sensor device (the Sensor Fish) developed by Pacific Northwest National Laboratory (PNNL) was released concurrently with live fish as a means of measuring hydraulic conditions such as pressure, acceleration, and rotation acting on a body in situ during downstream passage (Carlson et al 2003;Deng et al 2004). …”

Section: Introductionmentioning

confidence: 99%

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Biological assessment of the advanced turbine design at Wanapum Dam, 2005

Dauble

Richmond

et al. 2007

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Executive SummaryThis report summarizes the results of studies sponsored by the U.S. Department of Energy and conducted by Pacific Northwest National Laboratory (PNNL) to evaluate the biological performance of an advanced design turbine installed at Unit 8 of Wanapum Dam on the Columbia River in 2005. In all studies, paired comparisons were made between Unit 8 and a conventional Kaplan turbine, Unit 9. PNNL studies included an evaluation of blade-strike using deterministic and probabilistic models, integrated analysis of the response of the Sensor Fish to severe hydraulic events within the turbine system, and a novel dye technique to measure injury to juvenile salmonids in the field.The first study involved applying deterministic and stochastic blade-strike models to the advanced and existing turbine designs. Modeled probabilities were compared to results of Sensor Fish releases and injury/mortality of balloon-tagged fish under the same operational parameters. The new advanced design turbine had slightly higher modeled injury rates than the existing turbine design; however, there was no statistical evidence that suggested significant differences in blade-strike probabilities. Overall, injury rates predicted by the deterministic model were higher than experimental rates of injury while those predicted by the stochastic model were in close agreement. Fish orientation at the time of entry into the plane of the leading edges of the turbine runner blades is an important factor contributing to uncertainty in modeled results.A second study focused on expanded analysis of Sensor Fish data through the use of computational fluid dynamics (CFD) simulations and other analytical techniques. The Sensor Fish data was collected in conjunction with balloon tag tests involving juvenile Chinook salmon. Sensor Fish pressure and acceleration measurements were analyzed to identify characteristic signatures in each passage time history. These signatures were used, together with CFD and streamline plots, to identify the frequency and location of significant acceleration events such as collisions and shear. The Sensor Fish data were divided into four regions for each release condition (i.e., turbine, discharge, release pipe depth, and intake bay). Events were classified as either collision or shear and by severity level. The majority (80%) of severe acceleration events were due to collision. When all four regions were pooled, the two turbine units had similar probability of severe collisions (i.e., 20%). Unit 8 (advanced turbine) had fewer severe shear events (1.1%) than unit 9 (3.4%), but Unit 8 had more slight shear events (29.3%) than Unit 9 (19.7%). Although mean pressure nadirs recorded by Sensor Fish were consistently higher for Unit 8, values were highly variable. Thus, there was no overall evidence of correlation with Sensor Fish collision events and measured pressure nadir. The overall predicted shear injury rates were 3.1% for Unit 8 and 4.4% for Unit 9. This compared to observed injury rates of 1.1% and 0.9% for Units 8 and 9...

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Section: Sensor Fishmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Biological assessment of the advanced turbine design at Wanapum Dam, 2005

Dauble

Richmond

et al. 2007

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“…The Sensor Fish (Figure 2.1) is an autonomous device being developed at PNNL for DOE and USACE to better understand the physical conditions fish experience during passage through hydropower turbines and other dam bypass alternatives Deng et al 2004). It is 24.5 mm in diameter and 90 mm in length and weighs 42 g. It is roughly the same size as a yearling salmon smolt and, like a fish, is nearly neutrally buoyant in fresh water.…”

Section: Six-degree-of-freedom Sensor Fishmentioning

confidence: 99%

“…It is 24.5 mm in diameter and 90 mm in length and weighs 42 g. It is roughly the same size as a yearling salmon smolt and, like a fish, is nearly neutrally buoyant in fresh water. It measures the three components of linear acceleration (up-down, forward-back, and side-to-side), the three components of angular velocity (pitch, roll, and yaw), and the absolute pressure and temperature at a sampling frequency of 2,000 Hz (Deng et al 2004(Deng et al , 2007). All devices were tested in a calibration apparatus.…”

Section: Six-degree-of-freedom Sensor Fishmentioning

confidence: 99%

“…It required less time for data downloading, consumed less power, recharged batteries more quickly, stored more data, and used nonproprietary software. It was deployed at The Dalles Dam spillway and Ice Harbor Dam spillway (Carlson and Duncan 2004) The current model, the six-degree-of-freedom (6DOF) device, was successfully developed and deployed in February 2005 (Deng 2004(Deng , 2007. It measures the six components of motion: three components of linear acceleration (up-down, forward-back, and side-to-side) and three components of angular velocity (pitch, roll, and yaw).…”

Section: Introductionmentioning

confidence: 99%

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Synthesis of Sensor Fish Data for Assessment of Fish Passage Conditions at Turbines, Spillways, and Bypass Facilities ? Phase 1: The Dalles Dam Spillway Case Study

Deng¹,

Serkowski²,

Fu³

et al. 2007

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To meet the objective of characterizing the spillway conditions, Sensor Fish devices were released in April 2006 concurrently with balloon-tagged live fish-25 in mid-Bay 4 and 31 in Bay 6-at the target release elevation of 131 ft. In addition, 6 Sensor Fish were deployed upstream of the vortex and another 12 into the surface of the vortex. Release elevations for the mid-bay releases were estimated assuming hydrostatic conditions. Release elevations computed from Sensor Fish pressure measurements indicated that Sensor Fish might have been released deeper in Bay 4 (~135 ft) than those in Bay 6 (~138 ft), with the planned release elevation being 131 ft. The accuracy of the hydrostatic condition assumption can be evaluated using flow information from computational fluid dynamics (CFD). For high-volume spills at The Dalles, non-hydrostatic conditions exist near the release pipe exits, and the release elevation error assuming hydrostatic conditions can be up to 2 to 3 ft. In addition, Sensor Fish released at Bay 4 measured higher peak pressure in the transition region (from spillway chute to tailwater) than Sensor Fish released at Bay 6, possibly because of the deeper releases at Bay 4 and the existence of a high-pressure zone in the lower water column. However, we have no conclusive evidence from which to determine whether the release pipes exits were actually placed at the target elevations or whether the apparent elevation differences were caused by the non-hydrostatic pressure fields that exist and could be different at Bays 4 and 6.During passage from the entry points to the baffle blocks, 40% of Sensor Fish released into mid-Bay 4 experienced at least one severe event, while 16% of Sensor Fish released into mid-Bay 6 had at least one severe event. Overall, for the mid-bay releases in this study, Sensor Fish released from Bay 6 had smoother passage than those released from Bay 4. This finding is consistent with the findings of the live fish study in which fish released from Bay 4 sustained higher injury rates than fish from Bay 6 and the survival rate at Bay 6 was higher than that at Bay 4. Limited releases showed that vortex-entrained Sensor Fish usually experienced higher pressure fluctuations, a larger percentage of severe events, and much more rapid angular velocities. These results differ from those of the live fish study in which the injury rate was low for the fish released upstream of the vortex. The difference may result from the possibility that the fish were not entrained into the vortex because a previous study showed much higher injury rates for fish hand-tossed directly into the vortex from the deck.Over the years, the USACE has collected a large amount of live fish, Sensor Fish, and CFD particletracking data during many spillway fish passage studies in the Columbia Basin. Another objective of this study was to organize these existing data into a single data repository and, through The Dalles Dam spillway case study, evaluate it as an efficient means for accessing and retrieving system-wide Sensor F...

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