The data set contains electrical and mechanical signals from experiments on three-phase induction motors. The experimental tests were carried out for different mechanical loads on the induction motor axis and different severities of broken bar defects in the motor rotor, including data regarding the rotor without defects. Ten repetitions were performed for each experimental condition.


The bench of experiments is on the premises of the School of Engineeringof São Carlos (EESC) of the University of São Paulo (USP), Brazil, more specifically in theLaboratory of Intelligent Automation of Processes and Systems (LAIPS) and Laboratory ofIntelligent Control of Electrical Machines (LACIME).

The three-phase induction motor is a model of the W22 standard line from manufacturer WEG, 1 cv, 220V / 380V, 3.02A / 1.75A, 4 poles, 60 Hz, with a nominal torque of 4.1 N.m and nominal speed of 1715 rpm. The rotor is a squirrel cage type made up of 34 bars. It is driven by means of a control panel that allows the selection of the type of drive, star or triangle, and the type of supply, direct mains voltage or via a three-phase inverter.

The rotary torque wrench used in the research is the Transtec model MT-103, with a maximum rotation of 2000 rpm, based on Wheatstone bridge technology and with a sensitivity of 2 mV / V. Its main function is to allow visualization of the torque present in the shaft, which will be varied simulating various operating conditions of the induction motor.

Manual adjustment of the resistant torque is done by varying the field winding voltage of the direct current generator. Therefore, to reduce the magnitude of the grid voltage, a 1800W single-phase voltage variation is used by Variac, and to convert the alternating voltage to continuous, a single-phase rectifier is used which feeds the field winding.

The vibration sensors used were Vibrocontrol uniaxial accelerometers, model PU 2001, with sensitivity of 10 mV / mm / s, frequency range 5 to 2000 Hz and stainless-steel housing, which provides the integrated acceleration signal over time. , ie provides the measure of vibration velocity. In total five accelerometers were used simultaneously, located non-drive end side motor, drive end side motor, housing, in the axial direction of the motor, and on the support desk. Therefore, these monitoring points allow the measurement of axial, tangential and radial velocity.

The currents were measured using alternating current probes, which correspond to precision meters, with a capacity of up to 50 A RMS, with an output voltage of 10 mV / A, corresponding to the Yokogawa model 96033. The voltages were measured directly at the MIT terminals using oscilloscope voltage tips also from the manufacturer Yokogawa.

To simulate the failure of broken bars in the squirrel cage rotor of the three-phase induction motor it was necessary to drill the rotor. Drilling was carried out by means of a bench drill mounted with a 6 mm diameter drill to ensure that the diameter of the hole exceeds the width of a rotor bar, with the tip centered at half the longitudinal length of the rotor.

Since in a real situation the breaking rotor bars are usually adjacent to the first broken bar, 4 rotors were tested, the first with one broken bar, the second with two adjacent broken bars, and so on to the rotor containing four adjacent bars. broken . It is worth mentioning that the hub depth of all tested rotors was the same, corresponding to 20 mm.

Thus, a rotor without a hole was tested first, that is, a healthy rotor, and then it was successively replaced in order to obtain a database of monitored variables.

Experiments were carried out using the bench mentioned above for the construction of the database. Tests were carried out on healthy motors and motors with defects in direct start with balanced three-phase supply voltage and 60 Hz frequency.

For the preparation of a reliable database, enabling future work were applied 0.5nm shipments, 1,0Nm, 1,5Nm, 2,0Nm, 2,5Nm, 3,0Nm, 3,5Nm, and 4.0Nm to the axis of the three-phase induction motor. For each loading condition of the motor shaft, ten repetitions were performed.

In this way, using the data acquisition system, for each experiment of each loading, the following variables were acquired:

·         voltages in phases A, B, and C;

·         currents in phases A, B, and C;

·         mechanical vibration speeds tangential in the housing, tangential in the base, axial on the driven side, radial on the driven side, and radial on the non-drive side.

This experimental process was performed for the detection and diagnosis of failures for healthy engines and engines with rotors containing 1, 2, 3, and 4 bars broken adjacent.

The database is organized as a structure of the Matlab application. The “struct_rs_R1” structure presents the experimental data referring to the defectless induction motor, “struct_r1b_R1” referring to the rotor with one broken bar, “struct_r2b_R1” referring to the rotor with two broken bars, “struct_r3b_R1” referring to the rotor with three broken bars and “Struct_r4b_R1” for the rotor with four broken bars.

When loading the files containing the experimental data for each structure in the Matlab application, it will be possible to view the experimental data for each of the mechanical loads imposed on the motor shaft. Then, it will be possible to observe the experimental data for each monitored variable.


For Lissajous scanning the synchronization of both axis is crucial. The laser beam is deflected vertically by the first MEMS mirror, redirected to the second mirror and deflected horizontally. In the proposed master slave concept, the synchronization controller Φ compensates for relative phase errors by duty cycle adjustments while individual PLLs keep each MEMS mirror stabilized. This videos show how the projected grid and center pixel drifts if the synchroniaztion controller between both MEMS mirrors with individual PLLs is turned off.


Under-Actuated Cable-Driven Parallel Robots (UACDPRs) employ a number of extendable cables smaller than the degrees of freedom (Dofs) of the end-effector (EE) that they control. As a consequence, the EE is  under-constrained and preserves some freedoms, even in case all actuators are locked, which may lead to undesirable oscillations. These datasets are associated with a paper which is proposing a methodology for the computation of the EE natural oscillation frequencies, whose knowledge has proven to be convenient for control purposes.



Program folder contains all the programs used in the paper. The program is based on tensorflow 2.2.The data folder contains manually generated data and bearing data.


Raw data of positioning experiment and tracking experiment


This dataset presents the measurements corresponding to the article "Validation of a Velostat-Based Pressure Sensitive Mat for Center of Pressure Measurements". You will find the data corresponding to an affordable commercial mat, a Velostat-based mat prototype, and a commercial force platform. The results obtained in the above-mentioned article can be reproduced with them.


In the dataset, every user has a folder. In the folder of each user there are six  subfolders with the name of the balance exercises, and in each subfolder there are several files: the file of the force platform (pasco.txt), the file of the commercial mat (.json) and the files of the prototype (raw: matVelo_file.txt, post-processed: .npy). The force platform files have two headers. The second header has the name of the columns including ‘Yc (cm)’ and ‘Xc (cm)’. The commercial mat files present a dictionary with the data of the 16x16 arrays ordered sequentially. Data can be accessed by means of a sequence of keys: ‘pressureData’, ‘n’, ‘pressureData’, ’i’, ‘j’ for n = 0,1, … and i,j contained in [0,15]. The prototype post-processing files contains the data as a numpy array (time,16,16). Finally, the prototype raw files contain the sequence of 16x16 array as a comma separated vector (256 numbers per row).If the folder of the code and the folder of the dataset are at the same level and the requirements has been installed, the code can be executed showing the summary table.


This data gives the testing data of the 6-DoF maglev rotary table including step response, slope tracking, multi-axis motion. With the numerical wrench model and harmonic force model employed in the control system, the dynamic responses have some differences. Each opj file contains the test group (numerical wrench model) and control group (analytical harmonic model).


Stable and efficient walking strategies for humanoid robots usually relies on assumptions regarding terrain characteristics. If the robot is able to classify the ground type at the footstep moment, it is possible to take preventive actions to avoid falls and to reduce energy consumption. 

This dataset contains raw data from 10 inertial and torque sensors of a humanoid robot, sampled after the impact between foot and ground. There are two types of data: simulated using gazebo and data from a real robot.


Dataset contains  cvs files for several sensors.


The bearing dataset  is acquired by the electrical engineering laboratory of Case Western Reserve University and published on the Bearing Data Center Website. The gearbox dataset  is from IEEE PHM Challenge Competition in 2009


Real sampled data of a moving vehicle is provided.