# Measurements of a Wheeled Excavator Used in Sewer Construction ## Dataset Contents This dataset contains measurement data from a Volvo EW160D wheeled excavator. The data includes measurements from various hydraulic pressure sensors, temperature sensors, as well as draw wire sensors and inclination sensors on the excavator’s links and cylinders, along with the J1939 CANbus of the machine. The measurements were performed while a trench was being excavated and backfilled. The data was collected as part of the “Off-Highway-Twins 2” research project. Further information on the project can be found in the final project report: [DOI: 10.34657/34189](https://doi.org/10.34657/34189) Down below is a list of all available IDs. The trench is excavated between 8:45 a.m. and 9:52 a.m. Subsequently, the trench is backfilled and closed between 10:02 a.m. and 11:25 a.m. ## Reading Dataset The dataset is available as a pickle file and can be imported using Python and the Pandas library. Importing the dataset: import pandas as pd df = pd.read_pickle("EW160D_26.6._0830-1130.pickle") Software versions used: Python 3.9 Pandas 2.2.3 ### Included Datapoints | ID | Description | Unit | Comment | |----------------------------------|----------------------------------|----------|------------------------------------| | EULER_pitch | GNSS (Mosaic-H) | Degree | | | EULER_roll | GNSS (Mosaic-H) | Degree | | | EULER_yaw | GNSS (Mosaic-H) | Degree | | | FLOW_1 | Volume Flow Turbine | l/min | | | GPS_RTK_alt | GNSS (Mosaic-H) | m | | | GPS_RTK_lat | GNSS (Mosaic-H) | Degree | | | GPS_RTK_lon | GNSS (Mosaic-H) | Degree | | | GPS_RTK_status | GNSS (Mosaic-H) | | | | IMU_BOOM_BACK_accX | Inclination sensor (ifm JD1111) | mg | Boom Base Acceleration in X | | IMU_BOOM_FRONT_accX | Inclination sensor (ifm JD1111) | mg | Boom Outer Acceleration in X | | IMU_BUCKET_accX | Inclination sensor (ifm JD1111) | mg | Bucket Acceleration in X | | IMU_CAB_accZ | Inclination sensor (ifm JD2110) | mg | Cabin Acceleration in Z | | IMU_STICK_accX | Inclination sensor (ifm JD1111) | mg | Stick Acceleration in X | | IMU_BOOM_BACK_accY | Inclination sensor (ifm JD1111) | mg | Boom Base Acceleration in Y | | IMU_BOOM_FRONT_accY | Inclination sensor (ifm JD1111) | mg | Boom Outer Acceleration in Y | | IMU_BUCKET_accY | Inclination sensor (ifm JD1111) | mg | Bucket Acceleration in Y | | IMU_CAB_angX | Inclination sensor (ifm JD1111) | Degree | Cabin Angle in X | | IMU_STICK_accY | Inclination sensor (ifm JD1111) | mg | Stick Acceleration in Y | | IMU_BOOM_BACK_accZ | Inclination sensor (ifm JD1111) | mg | Boom Back Acceleration in Z | | IMU_BOOM_FRONT_accZ | Inclination sensor (ifm JD1111) | mg | Boom Outer Acceleration in Z | | IMU_BUCKET_accZ | Inclination sensor (ifm JD1111) | mg | Bucket Acceleration in Z | | IMU_CAB_angY | Inclination sensor (ifm JD2110) | Degree | Cabin Angle Y | | IMU_STICK_accZ | Inclination sensor (ifm JD1111) | mg | Stick Acceleration in Z | | IMU_BOOM_BACK_angZ | Inclination sensor (ifm JD1111) | Degree | Boom Base Angle in Z | | IMU_BOOM_FRONT_angZ | Inclination sensor (ifm JD1111) | Degree | Boom Outer Angle in Z | | IMU_BUCKET_angZ | Inclination sensor (ifm JD1111) | Degree | Bucket Angle in Z | | IMU_CAB_velZ | Inclination sensor (ifm JD2110) | Degree/s | Cabin Velocity around Z | | IMU_STICK_angZ | Inclination sensor (ifm JD1111) | Degree | Stick Angle in Z | | IO_1 | Light on/off | | | | IO_2 | Inductive swing sensor | | active when cab is centered | | IO_3 | not used | | | | IO_4 | not used | | | | P_BOOM_PISTON | Pressure Sensor (Wika MH-4-CAN) | bar | Position: At the cylinder | | P_BUCKET_PISTON | Pressure Sensor (Wika MH-4-CAN) | bar | Position: At the cylinder | | P_CHANGE_ATTACHMENT | Pressure Sensor (Wika MH-4-CAN) | bar | Position: At the cylinder | | P_PILOT_BUCKET_PISTON | Pressure Sensor (Wika MH-4-CAN) | bar | Position: At the cylinder | | P_PILOT_SWING_CCW | Pressure Sensor (Wika MH-4-CAN) | bar | Position: At the cylinder | | P_PUMP | Pressure Sensor (Wika MH-4-CAN) | bar | Position: At the cylinder | | P_SWING_CCW | Pressure Sensor (Wika MH-4-CAN) | bar | Position: At the cylinder | | P_TRAVEL_MOTOR | Pressure Sensor (Wika MH-4-CAN) | bar | Position: At the cylinder | | P_LS | Pressure Sensor (Wika MH-4-CAN) | bar | Position: At the cylinder | | P_PILOT_BUCKET_ROD | Pressure Sensor (Wika MH-4-CAN) | bar | Position: At the cylinder | | P_PILOT_SWING_CW | Pressure Sensor (Wika MH-4-CAN) | bar | Position: At the cylinder | | P_SERVO | Pressure Sensor (Wika MH-4-CAN) | bar | Position: At the cylinder | | P_SWING_CW | Pressure Sensor (Wika MH-4-CAN) | bar | Position: At the cylinder | | P_VA_BOOM_PISTON | Pressure Sensor (Wika MH-4-CAN) | bar | Position: At the cylinder | | P_BOOM_ROD | Pressure Sensor (Wika MH-4-CAN) | bar | Position: At the cylinder | | P_BUCKET_ROD | Pressure Sensor (Wika MH-4-CAN) | bar | Position: At the cylinder | | P_PILOT_BOOM_PISTON | Pressure Sensor (Wika MH-4-CAN) | bar | Position: At the cylinder | | P_PILOT_STICK_PISTON | Pressure Sensor (Wika MH-4-CAN) | bar | Position: At the cylinder | | P_PILOT_VA_BOOM_PISTON | Pressure Sensor (Wika MH-4-CAN) | bar | Position: At the cylinder | | P_STICK_PISTON | Pressure Sensor (Wika MH-4-CAN) | bar | Position: At the cylinder | | P_SWING_CW_ADDITIONAL | Pressure Sensor (Wika MH-4-CAN) | bar | Position: At the cylinder | | P_PILOT_BOOM_ROD | Pressure Sensor (Wika MH-4-CAN) | bar | Position: At the cylinder | | P_PILOT_STICK_ROD | Pressure Sensor (Wika MH-4-CAN) | bar | Position: At the cylinder | | P_PILOT_VA_BOOM_ROD | Pressure Sensor (Wika MH-4-CAN) | bar | Position: At the cylinder | | P_TANK | Pressure Sensor (Wika MH-4-CAN) | bar | Position: At the cylinder | | P_VA_BOOM_ROD | Pressure Sensor (Wika MH-4-CAN) | bar | Position: At the cylinder | | P_BS | Pressure Sensor (Wika MH-4-CAN) | bar | Position: At the cylinder | | P_STICK_ROD | Pressure Sensor (Wika MH-4-CAN) | bar | Position: At the cylinder | | P_BOOM_PISTON_MCV | Pressure Sensor (Wika MH-4-CAN) | bar | Position: Near the MCV | | P_BUCKET_PISTON_MCV | Pressure Sensor (Wika MH-4-CAN) | bar | Position: Near the MCV | | P_STICK_ROD_MCV | Pressure Sensor (Wika MH-4-CAN) | bar | Position: Near the MCV | | P_VA_BOOM_PISTON_MCV | Pressure Sensor (Wika MH-4-CAN) | bar | Position: Near the MCV | | P_BOOM_ROD_MCV | Pressure Sensor (Wika MH-4-CAN) | bar | Position: Near the MCV | | P_BUCKET_ROD_MCV | Pressure Sensor (Wika MH-4-CAN) | bar | Position: Near the MCV | | P_STICK_PISTON_MCV | Pressure Sensor (Wika MH-4-CAN) | bar | Position: Near the MCV | | P_TANK_MCV | Pressure Sensor (Wika MH-4-CAN) | bar | Position: Near the MCV | | P_VA_BOOM_ROD_MCV | Pressure Sensor (Wika MH-4-CAN) | bar | Position: Near the MCV | | S_BOOM_len | draw wire sensor (Waycon MH60) | m | | | S_BUCKET_len | draw wire sensor (Waycon MH60) | m | | | S_STICK_len | draw wire sensor (Waycon MH60) | m | | | S_VA_BOOM_len | draw wire sensor (Waycon MH60) | m | | | T1_temp | Oil Temperature (LS-Line,PT1000) | °C | | | T2_temp | Air Temperature (cabinet,PT1000) | °C | | | UTM_E | GNSS (Mosaic-H) | m | | | UTM_N | GNSS (Mosaic-H) | m | | | UTM_ZL | GNSS (Mosaic-H) | | | | UTM_ZN | GNSS (Mosaic-H) | | | | altitude | GNSS (source: NTP-Server) | m | | | latitude | GNSS (source: NTP-Server) | Degree | | | longitude | GNSS (source: NTP-Server) | Degree | | | speed | GNSS (source: NTP-Server) | | | | cannode1_config | measurement-equipment status | | | | cannode2_config | measurement-equipment status | | | | dbg-T | measurement-equipment status | °C | | | dbg-Ts | measurement-equipment status | °C | | | dbg-f | measurement-equipment status | | | | dbg-raw | measurement-equipment status | | Raw counter of volume flow turbine | | EngSpeed | J1939 machine CANbus data | | | | EngPercentLoadAtCurrentSpeed | J1939 machine CANbus data | | | | EngTorqueMode | J1939 machine CANbus data | | | | AccelPedalPos1 | J1939 machine CANbus data | | | | AccelPedalPos2 | J1939 machine CANbus data | | | | RemoteAccelPedalPos | J1939 machine CANbus data | | | | AmbientAirTemp | J1939 machine CANbus data | | | | ActualEngPercentTorque | J1939 machine CANbus data | | | | ActlEngPrcntTorqueHighResolution | J1939 machine CANbus data | | | | CAN0_pwr | measurement-equipment status | | | | CAN1_err | measurement-equipment status | | | | CAN1_pwr | measurement-equipment status | | | | CAN2_err | measurement-equipment status | | | | CAN2_pwr | measurement-equipment status | | | | CAN3_err | measurement-equipment status | | | | CAN3_pwr | measurement-equipment status | | | ### Data Processing The raw data was recorded with a unique timestamp for each ID. To obtain the most complete data sets possible for a specific time period, a grouping logic was applied. The goal of this processing was to minimize data loss and to represent the raw data as faithfully as possible. In this process, measured values from different rows are combined into a single group with an identical timestamp. As long as each variable within a group contains only one value, additional data is added to that group. As soon as a second value is available for a variable, the current group is closed. A new group is then started. This method works reliably as long as the sampling rates of the sensors are nearly identical. The sampling rate is approximately 100 Hz. For sensors with higher sampling rates, individual values may be discarded. In these cases, only the most recent measurement value is retained. These are the only situations in which data may be lost during processing. For FlOW_1, instead of discarding values, the group mean was calculated and retained. ## Citing this Dataset This dataset is a standalone research output. If you use it in your work, please cite the dataset itself: Sprink, Sender, Schmitz (2026). *Measurements of a Wheeled Excavator Used in Sewer Construction*. RWTH Aachen University. [DOI: 10.18154/RWTH-2026-06233](https://doi.org/10.18154/RWTH-2026-06233)