This readme.txt file was generated on 2025-03-21 and updated on 2025-03-31 by Nadine Hobeika

GENERAL INFORMATION

1. Title of the dataset: Milou: a low-cost open-source line-following robot to study indoor air

2. Authors Information

Name: Nadine Hobeika
Institution: Delft University of Technology
ORCID: 0000-0002-3333-7959
Email: N.Hobeika@tudelft.nl

Name: Ravi Peters
Email: ravi.peters@3dgi.nl

Name: Elio Hobeika
Email: elio@polybat-lb.com

Name: Clara Garcia Sanchez
Institution: Delft University of Technology
ORCID: 0000-0002-5355-4272
Email: C.Garcia-Sanchez@tudelft.nl

Name: Philomena M. Bluyssen
Institution: Delft University of Technology
ORCID: 0000-0002-5732-5362
Email: P.M.Bluyssen@tudelft.nl

3. Date of data collection: November 2024 and January 2025

4. Location of data collection: test chamber 1 in the SenseLab at the Faculty of Architecture and the Built Environment at the Delft University of Technology

5. Keywords to describe the data topic: Indoor air quality, Robotics, Test chamber, and Automation

6. Language information: English (British)

7. Funding sources that supported building the robot and collecting the data: An interdisciplinary PhD grant from the Faculty of Architecture and the Built Environment, Delft University of Technology

DATA AND FILE OVERVIEW

1. Description of directories in the `data.zip` folder

1.1. setup_1_repositioning_accuracy

This folder contains the positioning log of 2 Virtual Reality (VR) trackers mounted on the robot - Milou. It has a subfolder, "dantec", that was used only to determine when the robot had stopped at a point. The fields are dummy measurements.

1.2. setup_2_HSA_no_fans_0*

These folders contain 40 XML files from the hot-sphere anemometers (HSAs) measured over 10 points in the test chamber over 4 laps with no fans.

1.3. setup_3_HSA_2_fans

This folder contains 40 XML files from the hot-sphere anemometers (HSAs) measured over 10 points in the test chamber over 4 laps with 2 fans.

1.4. hobos_chamber

This folder contains 6 subfolders of the measurements of 6 HOBOS placed in the chamber. The subfolders contain one Excel file storing the HOBOs measurements on the 25th of November 2024 and on the 14th and 15th of January 2025. The subfolders' name has the following structure "[hobo_serial_number]_2025_01_15".

2. Description of files

2.1. vr_tracking_data_2024_11_01.log

Position and rotation of the 2 VR trackers mounted on the robot continuously sampled every 1 second over 3 laps on the path.

2.2. Run.{*}.xml

Data collected in the test chamber at one point at all three HSAs sampled every 0.5 seconds. It comprises measurements of airflow velocity magnitude (in m/s), turbulence intensity (in percent), airflow temperature (in degrees Celsius), and draught rate (in percent).

2.3. "[hobo_serial_number] 2025-01-15 HH:mm:SS CET (Data CET).xlsx"

Data collected in the test chamber at one HOBO sampled every 5 minutes. It comprises measurements of airflow temperature (in degrees Celsius), relative humidity (in percent), CO2 concentration (in ppm), and dew point (in degrees Celsius).

2.4. Milou_supplementary_materials.pdf
Supplementary figures for manuscript under review.


SHARING AND ACCESS INFORMATION

1. Licenses or restrictions placed on the data: CC BY 4.0

2. Links to publications that cite or use the data: under review

3. Recommended citation for the data: none for the moment

METHODOLOGICAL INFORMATION

1. Description of methods for data collection

1.1. VR tracker's data

Coordinate data were collected from 2 HTC VIVE VR trackers (https://www.vive.com/nz/accessory/vive-tracker/). The 2 trackers were remotely connected to a laptop running steamVR. Data were collected every 1 second and logged into a txt file.

1.2. HSA data

Airflow velocity magnitude and temperature data were collected using Dantec ComfortSense's HSAs (https://www.dantecdynamics.com/solutions/thermal-comfort/comfortsense/). The HSAs were remotely connected to a computer. The computer was operating Dantec ComfortSense's software to manage the data collection at different points. Data was collected at a frequency of 2Hz and saved in an XML file.

1.3. HOBO data

Airflow temperature data were collected using HOBO CO2 loggers (https://www.onsetcomp.com/resources/documentation/22504-mx1102a-manual). Data was collected every 5 minutes.

2. Description of methods used for data processing

See code to process data [link].

DATA FORMAT

1. VR trackers' data

Each entry of each tracker in the txt file is comprised of three lines:
(1) the date and time [YYYY-MM-DD HH:mm:SS];
(2) Generic Tracker Position: x, y, z [in meters];
(3) Generic Tracker Rotation: x, y, z, w [quaternion coordinates].


2. HSA data

The XML file generated contains a header and three entries for each HSA used for the measurements. Each entry consists of its own header and then a table of values.
The general header of the file contains the ID of the measurement, the ID of the project, the date the file was created (YYYY-DD-MMTHH:mm:SS), and other default values specific to the software.
The header of each entry contains the ID number of the HSA, the Tag as the given name of the HSA in the software, the 3D coordinates of the HSA in the software (user-defined), the type of HSA, the serial number, the start date of logging data, and the number of rows logged as the data count.
The values are organised in the following format:

---------------------------------------------------------------------------------------------------------
| Name					| Unit 			| Description				|
---------------------------------------------------------------------------------------------------------
| Time					| seconds 		| Absolute time of measurements		|
| MeanV					| m/s			| Mean airflow velocity magnitude	|
| Tu					| percent		| Turbulence intensity			|
| MeanT					| degrees Celsius	| Mean airflow temperature		|
| DR					| percent		| Draught rate				|
---------------------------------------------------------------------------------------------------------

3. HOBO data

The Excel data generated is in the following format:

-----------------------------------------------------------------------------------------------------------------
| Name					| Unit 			| Description					|
-----------------------------------------------------------------------------------------------------------------
| #					| N/A	 		| Index of measurement in the table		|
| Date-Time (CET)			| MM-DD-YYYY HH:mm:SS	| Date and time of corresponding measurements	|
| Temperature (°C)			| degrees Celsius	| Airflow temperature				|
| RH (%)				| percent		| Relative humidity				|
| CO2 (ppm)				| parts per million	| Carbon dioxide concentration			|
| Dew Point (°C)			| degrees Celsius	| Dew point temperature				|
-----------------------------------------------------------------------------------------------------------------