Add links to sections + tangle matlab files

dcm_lookup_tables.org

@@ -52,6 +52,10 @@
 
 * Introduction
 
+Several Lookup Tables (LUT) are used for the DCM in order to compensate for *repeatable* errors.
+- Section [[sec:dcm_stepper_lut]]: the stepper motors are calibrated using interferometers.
+- Section [[sec:dcm_attocube_lut]]: the Attocube periodic non-linearities are calibrated using piezoelectric actuators.
+
 * Stepper Motors Calibration
 :PROPERTIES:
 :header-args:matlab+: :tangle matlab/dcm_stepper_lut.m
@@ -270,6 +274,9 @@ for i = 1:length(icepap_steps_output_new)
 end
 #+end_src
 
+The output motion with both LUT are shown in Figure [[fig:compare_old_new_lut_motion]].
+It is confirmed that the new LUT is the correct one.
+Also, it is interesting to note that the old LUT gives an output motion that is above the ideal one, as was seen during the experiments.
 #+begin_src matlab :exports none
 %% Measured Motion and Idealized Motion
 % Use only middle motion where the LUT is working
@@ -296,7 +303,34 @@ exportFig('figs/compare_old_new_lut_motion.pdf', 'width', 'wide', 'height', 'nor
 #+RESULTS:
 [[file:figs/compare_old_new_lut_motion.png]]
 
-* Attocube Calibration                                              :noexport:
+* Attocube Calibration
+:PROPERTIES:
+:header-args:matlab+: :tangle matlab/dcm_attocube_lut.m
+:END:
+<<sec:dcm_attocube_lut>>
+** Introduction                                                      :ignore:
+
+** Matlab Init                                             :noexport:ignore:
+#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
+<<matlab-dir>>
+#+end_src
+
+#+begin_src matlab :exports none :results silent :noweb yes
+<<matlab-init>>
+#+end_src
+
+#+begin_src matlab :tangle no :noweb yes
+<<m-init-path>>
+#+end_src
+
+#+begin_src matlab :eval no :noweb yes
+<<m-init-path-tangle>>
+#+end_src
+
+#+begin_src matlab :noweb yes
+<<m-init-other>>
+#+end_src
+
 
 
 * Helping Functions                                                 :noexport:

matlab/dcm_attocube_lut.m

@@ -0,0 +1,14 @@
+%% Clear Workspace and Close figures
+clear; close all; clc;
+
+%% Intialize Laplace variable
+s = zpk('s');
+
+%% Path for functions, data and scripts
+addpath('./mat/'); % Path for data
+
+%% Colors for the figures
+colors = colororder;
+
+%% Frequency Vector
+freqs = logspace(1, 3, 1000);

matlab/dcm_stepper_lut.m

@@ -0,0 +1,202 @@
+%% Clear Workspace and Close figures
+clear; close all; clc;
+
+%% Intialize Laplace variable
+s = zpk('s');
+
+%% Path for functions, data and scripts
+addpath('./mat/'); % Path for data
+
+%% Colors for the figures
+colors = colororder;
+
+%% Frequency Vector
+freqs = logspace(1, 3, 1000);
+
+% Simulation
+% In this section, we suppose that we are in the frame of one fast jack (all transformations are already done), and we wish to create a LUT for one fast jack.
+
+% Let's say with make a Bragg angle scan between 10deg and 60deg during 100s.
+
+Fs = 10e3; % Sample Frequency [Hz]
+t = 0:1/Fs:10; % Time vector [s]
+theta = linspace(10, 40, length(t)); % Bragg Angle [deg]
+
+
+
+% The IcePAP steps are following the theoretical formula:
+% \begin{equation}
+% d_z = \frac{d_{\text{off}}}{2 \cos \theta}
+% \end{equation}
+% with $\theta$ the bragg angle and $d_{\text{off}} = 10\,mm$.
+
+% The motion to follow is then:
+
+perfect_motion = 10e-3./(2*cos(theta*pi/180)); % Perfect motion [m]
+
+
+
+% And the IcePAP is generated those steps:
+
+icepap_steps = perfect_motion; % IcePAP steps measured by Speedgoat [m]
+
+%% Steps as a function of the bragg angle
+figure;
+plot(theta, icepap_steps);
+xlabel('Bragg Angle [deg]'); ylabel('IcePAP Steps [m]');
+
+
+
+% #+name: fig:bragg_angle_icepap_steps_idealized
+% #+caption: IcePAP Steps as a function of the Bragg Angle
+% #+RESULTS:
+% [[file:figs/bragg_angle_icepap_steps_idealized.png]]
+
+% Then, we are measuring the motion of the Fast Jack using the Interferometer.
+% The motion error is larger than in reality to be angle to see it more easily.
+
+motion_error = 100e-6*sin(2*pi*perfect_motion/1e-3); % Error motion [m]
+
+measured_motion = perfect_motion + motion_error; % Measured motion of the Fast Jack [m]
+
+%% Measured Motion and Idealized Motion
+figure;
+hold on;
+plot(icepap_steps, measured_motion, ...
+    'DisplayName', 'Measured Motion');
+plot(icepap_steps, perfect_motion, 'k--', ...
+    'DisplayName', 'Ideal Motion');
+hold off;
+xlabel('IcePAP Steps [m]'); ylabel('Measured Motion [m]');
+legend('location', 'southeast');
+
+
+
+% #+name: fig:measured_and_ideal_motion_fast_jacks
+% #+caption: Measured motion as a function of the IcePAP Steps
+% #+RESULTS:
+% [[file:figs/measured_and_ideal_motion_fast_jacks.png]]
+
+% Let's now compute the lookup table.
+% For each micrometer of the IcePAP step, another step is associated that correspond to a position closer to the wanted position.
+
+
+%% Get range for the LUT
+% We correct only in the range of tested/measured motion
+lut_range = round(1e6*min(icepap_steps)):round(1e6*max(icepap_steps)); % IcePAP steps [um]
+
+%% Initialize the LUT
+lut = zeros(size(lut_range));
+
+%% For each um in this range
+for i = 1:length(lut_range)
+    % Get points indices where the measured motion is closed to the wanted one
+    close_points = measured_motion > 1e-6*lut_range(i) - 500e-9 & measured_motion < 1e-6*lut_range(i) + 500e-9;
+    % Get the corresponding closest IcePAP step
+    lut(i) = round(1e6*mean(icepap_steps(close_points))); % [um]
+end
+
+%% Generated Lookup Table
+figure;
+plot(lut_range, lut);
+xlabel('IcePAP input step [um]'); ylabel('Lookup Table output [um]');
+
+
+
+% #+name: fig:generated_lut_icepap
+% #+caption: Generated Lookup Table
+% #+RESULTS:
+% [[file:figs/generated_lut_icepap.png]]
+
+% The current LUT implementation is the following:
+
+motion_error_lut = zeros(size(lut_range));
+for i = 1:length(lut_range)
+    % Get points indices where the icepap step is close to the wanted one
+    close_points = icepap_steps > 1e-6*lut_range(i) - 500e-9 & icepap_steps < 1e-6*lut_range(i) + 500e-9;
+    % Get the corresponding motion error
+    motion_error_lut(i) = lut_range(i) + (lut_range(i) - round(1e6*mean(measured_motion(close_points)))); % [um]
+end
+
+
+
+% Let's compare the two Lookup Table in Figure [[fig:lut_comparison_two_methods]].
+
+%% Comparison of the two Generated Lookup Table
+figure;
+hold on;
+plot(lut_range, lut, ...
+    'DisplayName', 'New LUT');
+plot(lut_range, motion_error_lut, ...
+    'DisplayName', 'Old LUT');
+hold off;
+xlabel('IcePAP input step [um]'); ylabel('Lookup Table output [um]');
+legend('location', 'southeast');
+
+
+
+% #+name: fig:lut_comparison_two_methods
+% #+caption: Comparison of the two lookup tables
+% #+RESULTS:
+% [[file:figs/lut_comparison_two_methods.png]]
+
+% If we plot the "corrected steps" for all steps for both methods, we clearly see the difference (Figure [[fig:lut_correct_and_motion_error]]).
+
+
+%% Corrected motion and motion error at each step position
+figure;
+hold on;
+plot(lut_range, lut-lut_range, ...
+    'DisplayName', 'New LUT');
+plot(lut_range, motion_error_lut-lut_range, ...
+    'DisplayName', 'Old LUT');
+hold off;
+xlabel('IcePAP Steps [um]'); ylabel('Corrected motion [um]');
+ylim([-110, 110])
+legend('location', 'southeast');
+
+
+
+% #+name: fig:lut_correct_and_motion_error
+% #+caption: LUT correction and motion error as a function of the IcePAP steps
+% #+RESULTS:
+% [[file:figs/lut_correct_and_motion_error.png]]
+
+% Let's now implement both LUT to see which implementation is correct.
+
+icepap_steps_output_new = lut(round(1e6*icepap_steps)-lut_range(1)+1);
+i = round(1e6*icepap_steps)-motion_error_lut(1)+1;
+i(i>length(motion_error_lut)) = length(motion_error_lut);
+icepap_steps_output_old = motion_error_lut(i);
+
+motion_new = zeros(size(icepap_steps_output_new));
+motion_old = zeros(size(icepap_steps_output_old));
+
+for i = 1:length(icepap_steps_output_new)
+    [~, i_step] = min(abs(icepap_steps_output_new(i) - 1e6*icepap_steps));
+    motion_new(i) = measured_motion(i_step);
+
+    [~, i_step] = min(abs(icepap_steps_output_old(i) - 1e6*icepap_steps));
+    motion_old(i) = measured_motion(i_step);
+end
+
+
+
+% The output motion with both LUT are shown in Figure [[fig:compare_old_new_lut_motion]].
+% It is confirmed that the new LUT is the correct one.
+% Also, it is interesting to note that the old LUT gives an output motion that is above the ideal one, as was seen during the experiments.
+
+%% Measured Motion and Idealized Motion
+% Use only middle motion where the LUT is working
+i = round(0.1*length(icepap_steps)):round(0.9*length(icepap_steps));
+figure;
+hold on;
+plot(icepap_steps(i), motion_new(i), ...
+    'DisplayName', 'Motion (new LUT)');
+plot(icepap_steps(i), motion_old(i), ...
+    'DisplayName', 'Motion (old LUT)');
+plot(icepap_steps(i), perfect_motion(i), 'k--', ...
+    'DisplayName', 'Ideal Motion');
+hold off;
+xlabel('IcePAP Steps [m]'); ylabel('Measured Motion [m]');
+legend('location', 'southeast');