correct scripts

A1-nass-uniaxial-model/uniaxial_3_disturbances.m

@@ -65,11 +65,12 @@ load('meas_spindle_on.mat', 't', 'vg', 'vh');
 spindle_off = load('meas_spindle_off.mat', 't', 'vg', 'vh'); % No Rotation
 
 % Compute Power Spectral Density of the relative velocity between granite and hexapod during spindle rotation
-Fs = 1/(t(2)-t(1)); % Sampling Frequency [Hz]
+Ts = t(2)-t(1); % Sampling Time [s]
-win = hanning(ceil(2*Fs)); % Hanning window
+Nfft = floor(2/Ts);
+win = hanning(Nfft);
 
-[psd_vft, f] = pwelch(vh-vg, win, [], [], Fs); % [(m/s)^2/Hz]
+[psd_vft, f] = pwelch(vh-vg, win, Noverlap, Nfft, 1/Ts); % [(m/s)^2/Hz]
-[psd_off, ~] = pwelch(spindle_off.vh-spindle_off.vg, win, [], [], Fs); % [(m/s)^2/Hz]
+[psd_off, ~] = pwelch(spindle_off.vh-spindle_off.vg, win, Noverlap, Nfft, 1/Ts); % [(m/s)^2/Hz]
 
 % Disable the Nano-Hexpod for now
 model_config = struct();

A1-nass-uniaxial-model/uniaxial_4_dynamic_noise_budget.m

@@ -56,7 +56,7 @@ set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
 ylabel('Amplitude $d/x_{f}$ [m/m]'); xlabel('Frequency [Hz]');
 xticks([1e0, 1e1, 1e2]);
 leg = legend('location', 'southeast', 'FontSize', 8, 'NumColumns', 1);
-leg.ItemTokenSize(1) = 15
+leg.ItemTokenSize(1) = 15;
 xlim([1, 500]);
 
 %% Cumulative Amplitude Spectrum of the relative motion d, due to both the floor motion and the stage vibrations
@@ -72,7 +72,7 @@ hold off;
 set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
 ylabel('CAS [m]'); xlabel('Frequency [Hz]');
 leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 2);
-leg.ItemTokenSize(1) = 15
+leg.ItemTokenSize(1) = 15;
 
 xlim([1, 500]);
 ylim([1e-12, 3e-6])
@@ -104,7 +104,7 @@ hold off;
 set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
 ylabel('CAS [m]'); xlabel('Frequency [Hz]');
 leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 1);
-leg.ItemTokenSize(1) = 15
+leg.ItemTokenSize(1) = 15;
 
 xlim([1, 500]);
 ylim([1e-12, 3e-6])

A1-nass-uniaxial-model/uniaxial_5_active_damping.m

@@ -221,19 +221,25 @@ G_dvf_pz_heavy = feedback(G_pz_heavy, K_dvf_pz, 'name', +1);
 
 %% Verify Stability
 % IFF
-isstable(G_iff_vc_light) && isstable(G_iff_vc_mid) && isstable(G_iff_vc_heavy) && ...
+if not(isstable(G_iff_vc_light) && isstable(G_iff_vc_mid) && isstable(G_iff_vc_heavy) && ...
        isstable(G_iff_md_light) && isstable(G_iff_md_mid) && isstable(G_iff_md_heavy) && ...
-isstable(G_iff_pz_light) && isstable(G_iff_pz_mid) && isstable(G_iff_pz_heavy)
+       isstable(G_iff_pz_light) && isstable(G_iff_pz_mid) && isstable(G_iff_pz_heavy))
+    warning("One of the damped plant with decentralized IFF is not stable.");
+end
 
 % RDC
-isstable(G_rdc_vc_light) && isstable(G_rdc_vc_mid) && isstable(G_rdc_vc_heavy) && ...
+if not(isstable(G_rdc_vc_light) && isstable(G_rdc_vc_mid) && isstable(G_rdc_vc_heavy) && ...
        isstable(G_rdc_md_light) && isstable(G_rdc_md_mid) && isstable(G_rdc_md_heavy) && ...
-isstable(G_rdc_pz_light) && isstable(G_rdc_pz_mid) && isstable(G_rdc_pz_heavy)
+       isstable(G_rdc_pz_light) && isstable(G_rdc_pz_mid) && isstable(G_rdc_pz_heavy))
+    warning("One of the damped plant with decentralized RDC is not stable.");
+end
 
 % DVF
-isstable(G_dvf_vc_light) && isstable(G_dvf_vc_mid) && isstable(G_dvf_vc_heavy) && ...
+if not(isstable(G_dvf_vc_light) && isstable(G_dvf_vc_mid) && isstable(G_dvf_vc_heavy) && ...
        isstable(G_dvf_md_light) && isstable(G_dvf_md_mid) && isstable(G_dvf_md_heavy) && ...
-isstable(G_dvf_pz_light) && isstable(G_dvf_pz_mid) && isstable(G_dvf_pz_heavy)
+       isstable(G_dvf_pz_light) && isstable(G_dvf_pz_mid) && isstable(G_dvf_pz_heavy))
+    warning("One of the damped plant with decentralized DVF is not stable.");
+end
 
 %% Save Damped Plants
 save('./mat/uniaxial_damped_plants.mat', 'G_iff_vc_light', 'G_iff_md_light', 'G_iff_pz_light', ...

A1-nass-uniaxial-model/uniaxial_6_hac_lac.m

@@ -258,7 +258,7 @@ hold off;
 set(gca, 'XScale', 'lin'); set(gca, 'YScale', 'lin');
 xlabel('Real'); ylabel('Imag');
 leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 1);
-leg.ItemTokenSize(1) = 15
+leg.ItemTokenSize(1) = 15;
 xlim([-3.8, 0.2]); ylim([-2, 2]);
 axis square;
 
@@ -279,7 +279,7 @@ hold off;
 set(gca, 'XScale', 'lin'); set(gca, 'YScale', 'lin');
 xlabel('Real'); ylabel('Imag');
 leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 1);
-leg.ItemTokenSize(1) = 15
+leg.ItemTokenSize(1) = 15;
 xlim([-3.8, 0.2]); ylim([-2, 2]);
 axis square;
 
@@ -300,7 +300,7 @@ hold off;
 set(gca, 'XScale', 'lin'); set(gca, 'YScale', 'lin');
 xlabel('Real'); ylabel('Imag');
 leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 1);
-leg.ItemTokenSize(1) = 15
+leg.ItemTokenSize(1) = 15;
 xlim([-3.8, 0.2]); ylim([-2, 2]);
 axis square;
 
@@ -319,7 +319,7 @@ ylabel('Loop Gain'); set(gca, 'XTickLabel',[]);
 ylim([1e-3, 1e3]);
 yticks([1e-2, 1, 1e2])
 leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 1);
-leg.ItemTokenSize(1) = 15
+leg.ItemTokenSize(1) = 15;
 
 ax2 = nexttile;
 hold on;
@@ -413,11 +413,17 @@ G_hac_iff_pz_mid   = feedback(G_iff_pz_mid  , K_hac_pz, 'name', -1);
 G_hac_iff_pz_heavy = feedback(G_iff_pz_heavy, K_hac_pz, 'name', -1);
 
 %% Verify Stability
-isstable(G_hac_iff_vc_light) && isstable(G_hac_iff_vc_mid) && isstable(G_hac_iff_vc_heavy)
+if not(isstable(G_hac_iff_vc_light) && isstable(G_hac_iff_vc_mid) && isstable(G_hac_iff_vc_heavy))
+    warning("One of the damped plant with VC and decentralized IFF is not stable.");
+end
 
-isstable(G_hac_iff_md_light) && isstable(G_hac_iff_md_mid) && isstable(G_hac_iff_md_heavy)
+if not(isstable(G_hac_iff_md_light) && isstable(G_hac_iff_md_mid) && isstable(G_hac_iff_md_heavy))
+    warning("One of the damped plant with MD and decentralized IFF is not stable.");
+end
 
-isstable(G_hac_iff_pz_light) && isstable(G_hac_iff_pz_mid) && isstable(G_hac_iff_pz_heavy)
+if not(isstable(G_hac_iff_pz_light) && isstable(G_hac_iff_pz_mid) && isstable(G_hac_iff_pz_heavy))
+    warning("One of the damped plant with PZ and decentralized IFF is not stable.");
+end
 
 %% Change of sensitivity to disturbances with LAC and with HAC-LAC
 figure;

A1-nass-uniaxial-model/uniaxial_8_payload_dynamics.m

@@ -324,18 +324,18 @@ G_iff_vc_light_rigid = feedback(G_vc_light_rigid, K_iff_vc, 'name', +1);
 G_iff_vc_light_soft  = feedback(G_vc_light_soft , K_iff_vc, 'name', +1);
 G_iff_vc_light_stiff = feedback(G_vc_light_stiff, K_iff_vc, 'name', +1);
 
-isstable(G_iff_vc_light_rigid)
+if not(isstable(G_iff_vc_light_rigid) && isstable(G_iff_vc_light_soft) &&isstable(G_iff_vc_light_stiff))
-isstable(G_iff_vc_light_soft)
+    warning("One of the damped plant with VC and decentralized IFF is not stable.");
-isstable(G_iff_vc_light_stiff)
+end
 
 % Stiff Nano-Hexapod
 G_iff_pz_light_rigid = feedback(G_pz_light_rigid, K_iff_pz, 'name', +1);
 G_iff_pz_light_soft  = feedback(G_pz_light_soft , K_iff_pz, 'name', +1);
 G_iff_pz_light_stiff = feedback(G_pz_light_stiff, K_iff_pz, 'name', +1);
 
-isstable(G_iff_pz_light_rigid)
+if not(isstable(G_iff_pz_light_rigid) && isstable(G_iff_pz_light_soft) && isstable(G_iff_pz_light_stiff))
-isstable(G_iff_pz_light_soft)
+    warning("One of the damped plant with PZ and decentralized IFF is not stable.");
-isstable(G_iff_pz_light_stiff)
+end
 
 %% Compute closed-loop plants and verify stability
 % Soft Nano-Hexapod
@@ -343,18 +343,18 @@ G_hac_iff_vc_light_rigid = feedback(G_iff_vc_light_rigid, K_hac_vc, 'name', -1);
 G_hac_iff_vc_light_soft  = feedback(G_iff_vc_light_soft , K_hac_vc, 'name', -1);
 G_hac_iff_vc_light_stiff = feedback(G_iff_vc_light_stiff, K_hac_vc, 'name', -1);
 
-isstable(G_hac_iff_vc_light_rigid)
+if not(isstable(G_hac_iff_vc_light_rigid) && isstable(G_hac_iff_vc_light_soft) && isstable(G_hac_iff_vc_light_stiff))
-isstable(G_hac_iff_vc_light_soft)
+    warning("One of the damped plant with VC and decentralized IFF is not stable.");
-isstable(G_hac_iff_vc_light_stiff)
+end
 
 % Stiff Nano-Hexapod
 G_hac_iff_pz_light_rigid = feedback(G_iff_pz_light_rigid, K_hac_pz, 'name', -1);
 G_hac_iff_pz_light_soft  = feedback(G_iff_pz_light_soft , K_hac_pz, 'name', -1);
 G_hac_iff_pz_light_stiff = feedback(G_iff_pz_light_stiff, K_hac_pz, 'name', -1);
 
-isstable(G_hac_iff_pz_light_rigid)
+if not(isstable(G_hac_iff_pz_light_rigid) && isstable(G_hac_iff_pz_light_soft) && isstable(G_hac_iff_pz_light_stiff))
-isstable(G_hac_iff_pz_light_soft)
+    warning("One of the damped plant with PZ and decentralized IFF is not stable.");
-isstable(G_hac_iff_pz_light_stiff)
+end
 
 %% Cumulative Amplitude Spectrum of d - Effect of Sample's flexibility
 figure;

A2-nass-rotating-3dof-model/rotating_7_nano_hexapod.m

@@ -221,6 +221,19 @@ i_iff_hpf_md = i_iff_hpf_md(end)+1;
 i_iff_hpf_pz = find(opt_iff_hpf_xi_pz > 0.95*max(opt_iff_hpf_xi_pz));
 i_iff_hpf_pz = i_iff_hpf_pz(end)+1;
 
+%% Define the obtained controllers
+Kiff_hpf_vc = Kiff*opt_iff_hpf_gain_vc(i_iff_hpf_vc);
+Kiff_hpf_vc.InputName  = {'fu', 'fv'};
+Kiff_hpf_vc.OutputName = {'Fu', 'Fv'};
+
+Kiff_hpf_md = Kiff*opt_iff_hpf_gain_md(i_iff_hpf_md);
+Kiff_hpf_md.InputName  = {'fu', 'fv'};
+Kiff_hpf_md.OutputName = {'Fu', 'Fv'};
+
+Kiff_hpf_pz = Kiff*opt_iff_hpf_gain_pz(i_iff_hpf_pz);
+Kiff_hpf_pz.InputName  = {'fu', 'fv'};
+Kiff_hpf_pz.OutputName = {'Fu', 'Fv'};
+
 %% Optimal modified IFF parameters that yields maximum simultaneous damping
 figure;
 yyaxis left
@@ -303,9 +316,9 @@ mn = 15; % Nano-Hexapod mass [kg]
 ms = 1; % Sample Mass [kg]
 
 %% IFF Controller
-Kiff_vc = 1/(s + 0.1*sqrt(1e4/(mn+ms)))*eye(2); % IFF
+Kiff_vc = 1/(s + 0.1*sqrt(1e4/(mn+ms)))*eye(2); % IFF - VC
-Kiff_md = 1/(s + 0.1*sqrt(1e6/(mn+ms)))*eye(2); % IFF
+Kiff_md = 1/(s + 0.1*sqrt(1e6/(mn+ms)))*eye(2); % IFF - MD
-Kiff_pz = 1/(s + 0.1*sqrt(1e8/(mn+ms)))*eye(2); % IFF
+Kiff_pz = 1/(s + 0.1*sqrt(1e8/(mn+ms)))*eye(2); % IFF - PZ
 
 %% General Configuration
 model_config = struct();
@@ -392,6 +405,19 @@ for kp_i = 1:length(kps_pz)
     opt_iff_kp_gain_pz(kp_i) = g_opt;
 end
 
+%% Define the obtained controllers
+Kiff_kp_vc = Kiff_vc*opt_iff_kp_gain_vc(i_kp_vc);
+Kiff_kp_vc.InputName  = {'fu', 'fv'};
+Kiff_kp_vc.OutputName = {'Fu', 'Fv'};
+
+Kiff_kp_md = Kiff_md*opt_iff_kp_gain_md(i_kp_md);
+Kiff_kp_md.InputName  = {'fu', 'fv'};
+Kiff_kp_md.OutputName = {'Fu', 'Fv'};
+
+Kiff_kp_pz = Kiff_pz*opt_iff_kp_gain_pz(i_kp_pz);
+Kiff_kp_pz.InputName  = {'fu', 'fv'};
+Kiff_kp_pz.OutputName = {'Fu', 'Fv'};
+
 %% Find result with wanted parallel stiffness
 [~, i_kp_vc] = min(abs(kps_vc - 1e3));
 [~, i_kp_md] = min(abs(kps_md - 1e4));

A2-nass-rotating-3dof-model/rotating_8_nass.m

@@ -209,7 +209,7 @@ hold off;
 yticks(-360:90:360);
 ylim([ -200, 20]);
 
-linkaxes([ax,ax2],'x');
+linkaxes([ax1,ax2],'x');
 xlim([freqs_vc(1), freqs_vc(end)]);
 xticks([1e-1, 1e0, 1e1]);
 

A6-simscape-nass/nass_1_active_damping.m

@@ -268,8 +268,16 @@ xlim([freqs(1), freqs(end)]);
 
 %% Verify that parallel stiffness permits to have a stable plant
 Kiff_pure_int = -200/s*eye(6);
-isstable(feedback(G_iff_m25_Rz,       Kiff_pure_int, 1))
+
-isstable(feedback(G_iff_m25_Rz_no_kp, Kiff_pure_int, 1))
+if not(isstable(feedback(G_iff_m25_Rz, Kiff_pure_int, 1)))
+    disp("Decentralized IFF is not stable with rotation")
+end
+
+if isstable(feedback(G_iff_m25_Rz_no_kp, Kiff_pure_int, 1))
+    disp("Parallel stiffness makes the decentralized IFF stable")
+else
+    warning("Decentralized IFF is not stable even with the parallel stiffness")
+end
 
 %% IFF Controller Design
 % Second order high pass filter

B1-nass-geometry/detail_kinematics_1_geometry.m

@@ -5,7 +5,6 @@ clear; close all; clc;
 s = zpk('s');
 
 %% Path for functions, data and scripts
-addpath('./mat/'); % Path for data
 addpath('./src/'); % Path for functions
 addpath('./subsystems/'); % Path for Subsystems Simulink files
 

B1-nass-geometry/detail_kinematics_2_cubic.m

@@ -5,7 +5,6 @@ clear; close all; clc;
 s = zpk('s');
 
 %% Path for functions, data and scripts
-addpath('./mat/'); % Path for data
 addpath('./src/'); % Path for functions
 addpath('./subsystems/'); % Path for Subsystems Simulink files
 

B1-nass-geometry/detail_kinematics_3_nano_hexapod.m

@@ -5,7 +5,6 @@ clear; close all; clc;
 s = zpk('s');
 
 %% Path for functions, data and scripts
-addpath('./mat/'); % Path for data
 addpath('./src/'); % Path for functions
 addpath('./subsystems/'); % Path for Subsystems Simulink files
 
@@ -97,7 +96,7 @@ for Dx = Dxs
     end
 end
 
-sprintf('Actuator stroke should be from %.0f um to %.0f um', 1e6*L_min, 1e6*L_max)
+disp(sprintf('Actuator stroke should be from %.0f um to %.0f um', 1e6*L_min, 1e6*L_max))
 
 %% Compute mobility in translation with combined angular motion
 % Direction of motion (spherical coordinates)
@@ -232,5 +231,5 @@ for Dx = Dxs
     end
 end
 
-sprintf('Fixed joint stroke should be %.1f mrad', 1e3*max(max_angles_F))
+disp(sprintf('Fixed joint stroke should be %.1f mrad', 1e3*max(max_angles_F)))
-sprintf('Mobile joint stroke should be %.1f mrad', 1e3*max(max_angles_M))
+disp(sprintf('Mobile joint stroke should be %.1f mrad', 1e3*max(max_angles_M)))

B2-nass-fem/src/extractNodes.m

@@ -0,0 +1,91 @@
+function [int_xyz, int_i, n_xyz, n_i, nodes] = extractNodes(filename)
+% extractNodes -
+%
+% Syntax: [n_xyz, nodes] = extractNodes(filename)
+%
+% Inputs:
+%    - filename - relative or absolute path of the file that contains the Matrix
+%
+% Outputs:
+%    - n_xyz -
+%    - nodes - table containing the node numbers and corresponding dof of the interfaced DoFs
+
+arguments
+    filename
+end
+
+fid = fopen(filename,'rt');
+
+if fid == -1
+    error('Error opening the file');
+end
+
+n_xyz = []; % Contains nodes coordinates
+n_i = []; % Contains nodes indices
+
+n_num = []; % Contains node numbers
+n_dof = {}; % Contains node directions
+
+while 1
+    % Read a line
+    nextline = fgetl(fid);
+
+    % End of the file
+    if ~isstr(nextline), break, end
+
+    % Line just before the list of nodes coordinates
+    if contains(nextline, 'NODE') && ...
+            contains(nextline, 'X') && ...
+            contains(nextline, 'Y') && ...
+            contains(nextline, 'Z')
+
+        while 1
+            nextline = fgetl(fid);
+
+            if nextline < 0, break, end
+
+            c = sscanf(nextline, ' %f');
+
+            if isempty(c), break, end
+
+            n_xyz = [n_xyz; c(2:4)'];
+            n_i = [n_i; c(1)];
+        end
+    end
+
+    if nextline < 0, break, end
+
+    % Line just before the list of node DOF
+  if contains(nextline, 'NODE') && ...
+         contains(nextline, 'LABEL')
+
+        while 1
+            nextline = fgetl(fid);
+
+            if nextline < 0, break, end
+
+            c = sscanf(nextline, ' %d %s');
+
+            if isempty(c), break, end
+
+            n_num = [n_num; c(1)];
+
+            n_dof{length(n_dof)+1} = char(c(2:end)');
+        end
+
+        nodes = table(n_num, string(n_dof'), 'VariableNames', {'node_i', 'node_dof'});
+    end
+
+    if nextline < 0, break, end
+end
+
+fclose(fid);
+
+int_i = unique(nodes.('node_i')); % indices of interface nodes
+
+% Extract XYZ coordinates of only the interface nodes
+if length(n_xyz) > 0 && length(n_i) > 0
+    int_xyz = n_xyz(logical(sum(n_i.*ones(1, length(int_i)) == int_i', 2)), :);
+else
+    int_xyz = n_xyz;
+end

C5-test-bench-id31/src/h5scan.m

@@ -1,102 +1,61 @@
-function [cntrs,tp] = h5scan(pth,smp,ds,sn,varargin)
+% function [cntrs,tp] = h5scan(pth,smp,ds,sn,varargin)
-
+function [cntrs,tp] = h5scan(ds,sn)
-i = cellfun(@(x) isa(x,'detector'),varargin);
-if any(i), det = varargin{i}; varargin = varargin(~i); else, det = []; end;
     if ~isstr(ds), ds = sprintf('%.4d',ds); end;
 
-f = sprintf('%s/%s/%s_%s/%s_%s.h5',pth,smp,smp,ds,smp,ds);
+    f = sprintf('%s.h5',ds);
     h = h5info(f,sprintf('/%d.1/measurement',sn));
     fid = H5F.open(f);
-for i = 1:length(h.Links),
+    for i = 1:length(h.Links)
         nm = h.Links(i).Name;
-  try,
+        try
             id = H5D.open(fid,h.Links(i).Value{1});
             cntrs.(nm) = H5D.read(id);
             H5D.close(id);
             if ~isempty(det) & strcmp(nm,det.name), cntrs.(nm) = integrate(det,double(cntrs.(nm))); end;
-  catch,
+        end
-    warning('solving problem with %s\n',nm);
-    cntrs.(nm) = vrtlds(sprintf('%s/%s/%s_%s/scan%.4d/',pth,smp,smp,ds,sn),nm,det);
-  end;
         [~,tp.(nm)] = fileparts(h.Links(i).Value{1});
-end;
+    end
-try,
+    try
         h = h5info(f,sprintf('/%d.2/measurement',sn));
-catch,
+    catch
         h = [];
-end;
+    end
-if ~isempty(h),
+    if ~isempty(h)
-  for i = 1:length(h.Links),
+        for i = 1:length(h.Links)
             nm = h.Links(i).Name;
-    try,
+            try
                 id = H5D.open(fid,h.Links(i).Value{1});
                 cntrs.part2.(nm) = H5D.read(id);
                 H5D.close(id);
-    catch,
+            end
-      warning('solving problem with %s\n',nm);
-      cntrs.part2.(nm) = vrtlds(sprintf('%s/%s/%s_%s/scan%.4d/',pth,smp,smp,ds,sn),nm,det);
-    end;
             [~,tp.part2.(nm)] = fileparts(h.Links(i).Value{1});
-  end;
+        end
-end;
+    end
-if length(varargin),
-  fn = sprintf('/%d.1/instrument/positioners/',sn);
-  h = h5info(f,fn);
-  [~,k,m] = intersect({h.Datasets.Name},varargin,'stable');
-  h.Datasets = h.Datasets(k);
-  for i = 1:length(h.Datasets),
-    id = H5D.open(fid,[fn h.Datasets(i).Name]);
-    cntrs.(h.Datasets(i).Name) = H5D.read(id);
-    H5D.close(id);
-  end;
-end;
 
     H5F.close(fid);
 
     %%%%%%%%%%%%%%%%%%%%%%%%%%
 
     function A = vrtlds(f,nm,det)
-%try,
         n = 0; A = [];
         fn = sprintf('%s/%s_%.4d.h5',f,nm,n);
-  while exist(fn) == 2,
+
+        while exist(fn) == 2
             fid = H5F.open(fn); n = n+1;
             id = H5D.open(fid,sprintf('/entry_0000/ESRF-ID31/%s/data',nm));
-    if 2 < nargin & strcmp(nm,'p3') & ~isempty(det),
+            if 2 < nargin & strcmp(nm,'p3') & ~isempty(det)
                 fprintf('integrating %s\n',fn);
-      if isempty(A),
+                if isempty(A)
                     A = integrate(det,double(H5D.read(id)),1);
-      else,
+                else
                     tmp = integrate(det,double(H5D.read(id)),1); A.y = cat(2,A.y,tmp.y); A.y0 = cat(2,A.y0,tmp.y0);
-      end;
+                end
-    else,
+            else
                 fprintf('loading %s\n',fn);
                 A = cat(3,A,H5D.read(id));
-    end;
+            end
             H5D.close(id); H5F.close(fid);
             fn = sprintf('%s/%s_%.4d.h5',f,nm,n);
-  end;
+        end
-%catch,
+    end
-%  A = [];
+end
-%end;
-
-% fid = H5F.open...
-% id = H5D.open...
-% sid = H5D.get_space(id);
-% [ndims,h5_dims]=H5S.get_simple_extent_dims(sid)
-
-% Read a 2x3 hyperslab of data from a dataset, starting in the 4th row and 5th column of the example dataset.
-% Create a property list identifier, then open the HDF5 file and the dataset /g1/g1.1/dset1.1.1.
-
-% fid = H5F.open('example.h5');
-% id = H5D.open(fid,'/g1/g1.1/dset1.1.1');
-
-% dims = ([500 1679 1475];
-% msid = H5S.create_simple(3,dims,[]);
-% sid = H5D.get_space(id);
-% offset = [n*500 0 0];
-% block = dims; % d1: 500 or min(d1tot-n*500,500)
-% H5S.select_hyperslab(sid,'H5S_SELECT_SET',offset,[],[],block);
-% data = H5D.read(id,'H5ML_DEFAULT',msid,sid,'H5P_DEFAULT');
-% H5D.close(id);
-% H5F.close(fid);

C5-test-bench-id31/test_id31_1_metrology.m

@@ -46,9 +46,9 @@ Hm = [ 0  1  0 -l2  0;
 
 %% Angular alignment
 % Load Data
-data_it0 = h5scan(data_dir, 'alignment', 'h1rx_h1ry', 1);
+data_it0 = h5scan('alignment_h1rx_h1ry', 1);
-data_it1 = h5scan(data_dir, 'alignment', 'h1rx_h1ry_0002', 3);
+data_it1 = h5scan('alignment_h1rx_h1ry_0002', 3);
-data_it2 = h5scan(data_dir, 'alignment', 'h1rx_h1ry_0002', 5);
+data_it2 = h5scan('alignment_h1rx_h1ry_0002', 5);
 
 % Offset wrong points
 i_it0 = find(abs(data_it0.Rx_int_filtered(2:end)-data_it0.Rx_int_filtered(1:end-1))>1e-5);
@@ -81,8 +81,8 @@ ylim([-100, 800]);
 
 %% Eccentricity alignment
 % Load Data
-data_it0 = h5scan(data_dir, 'alignment', 'h1rx_h1ry_0002', 5);
+data_it0 = h5scan('alignment_h1rx_h1ry_0002', 5);
-data_it1 = h5scan(data_dir, 'alignment', 'h1dx_h1dy', 1);
+data_it1 = h5scan('alignment_h1dx_h1dy', 1);
 
 % Offset wrong points
 i_it0 = find(abs(data_it0.Dy_int_filtered(2:end)-data_it0.Dy_int_filtered(1:end-1))>1e-5);
@@ -110,7 +110,7 @@ ylim([-8, 14]);
 % This is estimated by moving the spheres using the micro-hexapod
 
 % Dx
-data_dx = h5scan(data_dir, 'metrology_acceptance_new_align', 'dx', 1);
+data_dx = h5scan('metrology_acceptance_new_align_dx', 1);
 
 dx_acceptance = zeros(5,1);
 
@@ -126,7 +126,7 @@ for i = [1:size(dx_acceptance, 1)]
 end
 
 % Dy
-data_dy = h5scan(data_dir, 'metrology_acceptance_new_align', 'dy', 1);
+data_dy = h5scan('metrology_acceptance_new_align_dy', 1);
 
 dy_acceptance = zeros(5,1);
 
@@ -142,7 +142,7 @@ for i = [1:size(dy_acceptance, 1)]
 end
 
 % Dz
-data_dz = h5scan(data_dir, 'metrology_acceptance_new_align', 'dz', 1);
+data_dz = h5scan('metrology_acceptance_new_align_dz', 1);
 
 dz_acceptance = zeros(5,1);
 
@@ -186,7 +186,7 @@ leg = legend('location', 'northeast', 'FontSize', 8, 'NumColumns', 1);
 leg.ItemTokenSize(1) = 15;
 
 %% X-Y scan with the micro-hexapod, and record of the vertical interferometer
-data = h5scan(data_dir, 'metrology_acceptance', 'after_int_align_meshXY', 1);
+data = h5scan('metrology_acceptance_after_int_align_meshXY', 1);
 
 x = 1e3*detrend(data.h1tx, 0); % [um]
 y = 1e3*detrend(data.h1ty, 0); % [um]

C5-test-bench-id31/test_id31_2_open_loop_plant.m

@@ -198,10 +198,10 @@ linkaxes([ax1,ax2],'x');
 xlim([1, 1e3]);
 
 %% Load Data
-data_1_dx = h5scan(data_dir, 'align_int_enc_Rz', 'tx_first_scan', 2);
+data_1_dx = h5scan('align_int_enc_Rz_tx_first_scan', 2);
-data_1_dy = h5scan(data_dir, 'align_int_enc_Rz', 'tx_first_scan', 3);
+data_1_dy = h5scan('align_int_enc_Rz_tx_first_scan', 3);
-data_2_dx = h5scan(data_dir, 'align_int_enc_Rz', 'verif-after-correct-offset', 1);
+data_2_dx = h5scan('align_int_enc_Rz_verif-after-correct-offset', 1);
-data_2_dy = h5scan(data_dir, 'align_int_enc_Rz', 'verif-after-correct-offset', 2);
+data_2_dy = h5scan('align_int_enc_Rz_verif-after-correct-offset', 2);
 
 % Estimation of Rz misalignment
 p1 = polyfit(data_1_dx.Dx_int_filtered, data_1_dx.Dy_int_filtered, 1);