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</div><div id="content">
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<h1 class="title">Measurements</h1>
<div id="table-of-contents">
<h2>Table of Contents</h2>
<div id="text-table-of-contents">
<ul>
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<li><a href="#org45b9da8">1. Effect of all the control systems on the Sample vibrations</a>
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<ul>
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<li><a href="#orgb2e67d9">1.1. Experimental Setup</a></li>
<li><a href="#org73ac9e9">1.2. Load data</a></li>
<li><a href="#orgeecd36c">1.3. Analysis - Time Domain</a></li>
<li><a href="#orgfaab8d1">1.4. Analysis - Frequency Domain</a>
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<ul>
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<li><a href="#org836648f">1.4.1. Vibrations at the sample location</a></li>
<li><a href="#org691a42a">1.4.2. Vibrations on the marble</a></li>
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</ul>
</li>
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<li><a href="#orgce679ab">1.5. Effect of the control system on the transmissibility from ground to sample</a></li>
<li><a href="#org0b4e90a">1.6. Conclusion</a></li>
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</ul>
</li>
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<li><a href="#org621380e">2. Effect of all the control systems on the Sample vibrations - One stage at a time</a>
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<ul>
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<li><a href="#org4386dbf">2.1. Experimental Setup</a></li>
<li><a href="#orgc55405f">2.2. Load data</a></li>
<li><a href="#org71c55c3">2.3. Analysis - Time Domain</a></li>
<li><a href="#orgb76fa51">2.4. Analysis - Frequency Domain</a>
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<ul>
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<li><a href="#orgae92b36">2.4.1. Vibrations at the sample location</a></li>
<li><a href="#org4c4f807">2.4.2. Vibrations on the marble</a></li>
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</ul>
</li>
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<li><a href="#orgae74838">2.5. Conclusion</a></li>
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</ul>
</li>
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<li><a href="#orgf3303d1">3. Effect of the Symetrie Driver</a>
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<ul>
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<li><a href="#orgdb0af53">3.1. Experimental Setup</a></li>
<li><a href="#org2f810d9">3.2. Load data</a></li>
<li><a href="#org9d9b7f6">3.3. Analysis - Time Domain</a></li>
<li><a href="#org7595838">3.4. Analysis - Frequency Domain</a>
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<ul>
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<li><a href="#org00afd4b">3.4.1. Vibrations at the sample location</a></li>
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</ul>
</li>
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<li><a href="#org6665fc3">3.5. Conclusion</a></li>
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</ul>
</li>
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<li><a href="#org221fc62">4. Transfer function from one stage to the other</a>
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<ul>
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<li><a href="#orgf959afa">4.1. Experimental Setup</a>
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<ul>
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<li><a href="#orgc0932ea">4.1.1. From Marble to Ty - <code>mat/meas_010.mat</code></a></li>
<li><a href="#org1b2ee1c">4.1.2. From Marble to Ry - <code>mat/meas_011.mat</code></a></li>
<li><a href="#orgdae0d89">4.1.3. From Ty to Ry - <code>mat/meas_012.mat</code></a></li>
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</ul>
</li>
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<li><a href="#org2c983a5">4.2. Load data</a></li>
<li><a href="#org42b8f6b">4.3. Analysis - Time Domain</a></li>
<li><a href="#org115c174">4.4. Analysis - Frequency Domain</a></li>
<li><a href="#org54c19c9">4.5. Conclusion</a></li>
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</ul>
</li>
</ul>
</div>
</div>
<p>
For all the measurements shown here:
</p>
<ul class="org-ul">
<li>geophones used are L22 with a resonance frequency of 1Hz</li>
<li>the signals are amplified with voltage amplifiers with a gain of 60dB</li>
<li>the voltage amplifiers include a low pass filter with a cut-off frequency at 1kHz</li>
</ul>
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<div id="outline-container-org45b9da8" class="outline-2">
<h2 id="org45b9da8"><span class="section-number-2">1</span> Effect of all the control systems on the Sample vibrations</h2>
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<div class="outline-text-2" id="text-1">
<p>
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<a id="org2854bd7"></a>
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</p>
<div class="note">
<p>
All the files (data and Matlab scripts) are accessible <a href="data/effect_control_all.zip">here</a>.
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</p>
</div>
</div>
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<div id="outline-container-orgb2e67d9" class="outline-3">
<h3 id="orgb2e67d9"><span class="section-number-3">1.1</span> Experimental Setup</h3>
<div class="outline-text-3" id="text-1-1">
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<p>
We here measure the signals of two geophones:
</p>
<ul class="org-ul">
<li>One is located on top of the Sample platform</li>
<li>One is located on the marble</li>
</ul>
<p>
The signal from the top geophone does not go trought the slip-ring.
</p>
<p>
First, all the control systems are turned ON, then, they are turned one by one.
Each measurement are done during 50s.
</p>
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<table id="orge5af191" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
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<caption class="t-above"><span class="table-number">Table 1:</span> Summary of the measurements and the states of the control systems</caption>
<colgroup>
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
</colgroup>
<thead>
<tr>
<th scope="col" class="org-left">Ty</th>
<th scope="col" class="org-left">Ry</th>
<th scope="col" class="org-left">Slip Ring</th>
<th scope="col" class="org-left">Spindle</th>
<th scope="col" class="org-left">Hexapod</th>
<th scope="col" class="org-left">Meas. file</th>
</tr>
</thead>
<tbody>
<tr>
<td class="org-left"><b>ON</b></td>
<td class="org-left"><b>ON</b></td>
<td class="org-left"><b>ON</b></td>
<td class="org-left"><b>ON</b></td>
<td class="org-left"><b>ON</b></td>
<td class="org-left"><code>meas_003.mat</code></td>
</tr>
<tr>
<td class="org-left">OFF</td>
<td class="org-left"><b>ON</b></td>
<td class="org-left"><b>ON</b></td>
<td class="org-left"><b>ON</b></td>
<td class="org-left"><b>ON</b></td>
<td class="org-left"><code>meas_004.mat</code></td>
</tr>
<tr>
<td class="org-left">OFF</td>
<td class="org-left">OFF</td>
<td class="org-left"><b>ON</b></td>
<td class="org-left"><b>ON</b></td>
<td class="org-left"><b>ON</b></td>
<td class="org-left"><code>meas_005.mat</code></td>
</tr>
<tr>
<td class="org-left">OFF</td>
<td class="org-left">OFF</td>
<td class="org-left">OFF</td>
<td class="org-left"><b>ON</b></td>
<td class="org-left"><b>ON</b></td>
<td class="org-left"><code>meas_006.mat</code></td>
</tr>
<tr>
<td class="org-left">OFF</td>
<td class="org-left">OFF</td>
<td class="org-left">OFF</td>
<td class="org-left">OFF</td>
<td class="org-left"><b>ON</b></td>
<td class="org-left"><code>meas_007.mat</code></td>
</tr>
<tr>
<td class="org-left">OFF</td>
<td class="org-left">OFF</td>
<td class="org-left">OFF</td>
<td class="org-left">OFF</td>
<td class="org-left">OFF</td>
<td class="org-left"><code>meas_008.mat</code></td>
</tr>
</tbody>
</table>
<p>
Each of the <code>mat</code> file contains one array <code>data</code> with 3 columns:
</p>
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<colgroup>
<col class="org-right" />
<col class="org-left" />
</colgroup>
<thead>
<tr>
<th scope="col" class="org-right">Column number</th>
<th scope="col" class="org-left">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="org-right">1</td>
<td class="org-left">Geophone - Marble</td>
</tr>
<tr>
<td class="org-right">2</td>
<td class="org-left">Geophone - Sample</td>
</tr>
<tr>
<td class="org-right">3</td>
<td class="org-left">Time</td>
</tr>
</tbody>
</table>
</div>
</div>
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<div id="outline-container-org73ac9e9" class="outline-3">
<h3 id="org73ac9e9"><span class="section-number-3">1.2</span> Load data</h3>
<div class="outline-text-3" id="text-1-2">
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<p>
We load the data of the z axis of two geophones.
</p>
<div class="org-src-container">
<pre class="src src-matlab">d3 = load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'mat/data_003.mat', 'data'</span><span class="org-rainbow-delimiters-depth-1">)</span>; d3 = d3.data;
d4 = load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'mat/data_004.mat', 'data'</span><span class="org-rainbow-delimiters-depth-1">)</span>; d4 = d4.data;
d5 = load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'mat/data_005.mat', 'data'</span><span class="org-rainbow-delimiters-depth-1">)</span>; d5 = d5.data;
d6 = load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'mat/data_006.mat', 'data'</span><span class="org-rainbow-delimiters-depth-1">)</span>; d6 = d6.data;
d7 = load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'mat/data_007.mat', 'data'</span><span class="org-rainbow-delimiters-depth-1">)</span>; d7 = d7.data;
d8 = load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'mat/data_008.mat', 'data'</span><span class="org-rainbow-delimiters-depth-1">)</span>; d8 = d8.data;
</pre>
</div>
</div>
</div>
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<div id="outline-container-orgeecd36c" class="outline-3">
<h3 id="orgeecd36c"><span class="section-number-3">1.3</span> Analysis - Time Domain</h3>
<div class="outline-text-3" id="text-1-3">
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<p>
First, we can look at the time domain data and compare all the measurements:
</p>
<ul class="org-ul">
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<li>comparison for the geophone at the sample location (figure <a href="#org1d3a54d">1</a>)</li>
<li>comparison for the geophone on the granite (figure <a href="#org322b5af">2</a>)</li>
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</ul>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
hold on;
plot<span class="org-rainbow-delimiters-depth-1">(</span>d3<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, d3<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'All ON'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>d4<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, d4<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Ty OFF'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>d5<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, d5<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Ry OFF'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>d6<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, d6<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'S-R OFF'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>d7<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, d7<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Rz OFF'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>d8<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, d8<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Hexa OFF'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
hold off;
xlabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Time </span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">[</span></span><span class="org-string">s</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">]</span></span><span class="org-string">'</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">)</span></span><span class="org-string">; ylabel</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">(</span></span><span class="org-string">'Voltage </span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">[</span></span><span class="org-string">V</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">]</span></span><span class="org-string">'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span><span class="org-highlight-numbers-number">0</span>, <span class="org-highlight-numbers-number">50</span><span class="org-rainbow-delimiters-depth-2">]</span><span class="org-rainbow-delimiters-depth-1">)</span>;
legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Location', 'bestoutside'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
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<div id="org1d3a54d" class="figure">
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<p><img src="figs/time_domain_sample.png" alt="time_domain_sample.png" />
</p>
<p><span class="figure-number">Figure 1: </span>Comparison of the time domain data when turning off the control system of the stages - Geophone at the sample location</p>
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</div>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
hold on;
plot<span class="org-rainbow-delimiters-depth-1">(</span>d3<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, d3<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'All ON'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>d4<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, d4<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Ty OFF'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>d5<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, d5<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Ry OFF'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>d6<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, d6<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'S-R OFF'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>d7<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, d7<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Rz OFF'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>d8<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, d8<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Hexa OFF'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
hold off;
xlabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Time </span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">[</span></span><span class="org-string">s</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">]</span></span><span class="org-string">'</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">)</span></span><span class="org-string">; ylabel</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">(</span></span><span class="org-string">'Voltage </span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">[</span></span><span class="org-string">V</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">]</span></span><span class="org-string">'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span><span class="org-highlight-numbers-number">0</span>, <span class="org-highlight-numbers-number">50</span><span class="org-rainbow-delimiters-depth-2">]</span><span class="org-rainbow-delimiters-depth-1">)</span>;
legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Location', 'bestoutside'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
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<div id="org322b5af" class="figure">
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<p><img src="figs/time_domain_marble.png" alt="time_domain_marble.png" />
</p>
<p><span class="figure-number">Figure 2: </span>Comparison of the time domain data when turning off the control system of the stages - Geophone on the marble</p>
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</div>
</div>
</div>
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<div id="outline-container-orgfaab8d1" class="outline-3">
<h3 id="orgfaab8d1"><span class="section-number-3">1.4</span> Analysis - Frequency Domain</h3>
<div class="outline-text-3" id="text-1-4">
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<div class="org-src-container">
<pre class="src src-matlab">dt = d3<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">2</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-1">)</span> <span class="org-type">-</span> d3<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">1</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-1">)</span>;
Fs = <span class="org-highlight-numbers-number">1</span><span class="org-type">/</span>dt;
win = hanning<span class="org-rainbow-delimiters-depth-1">(</span>ceil<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-highlight-numbers-number">10</span><span class="org-type">*</span>Fs<span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
</div>
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<div id="outline-container-org836648f" class="outline-4">
<h4 id="org836648f"><span class="section-number-4">1.4.1</span> Vibrations at the sample location</h4>
<div class="outline-text-4" id="text-1-4-1">
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<p>
First, we compute the Power Spectral Density of the signals coming from the Geophone located at the sample location.
</p>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-rainbow-delimiters-depth-1">[</span>px3, f<span class="org-rainbow-delimiters-depth-1">]</span> = pwelch<span class="org-rainbow-delimiters-depth-1">(</span>d3<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-rainbow-delimiters-depth-1">[</span>px4, <span class="org-type">~</span><span class="org-rainbow-delimiters-depth-1">]</span> = pwelch<span class="org-rainbow-delimiters-depth-1">(</span>d4<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-rainbow-delimiters-depth-1">[</span>px5, <span class="org-type">~</span><span class="org-rainbow-delimiters-depth-1">]</span> = pwelch<span class="org-rainbow-delimiters-depth-1">(</span>d5<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-rainbow-delimiters-depth-1">[</span>px6, <span class="org-type">~</span><span class="org-rainbow-delimiters-depth-1">]</span> = pwelch<span class="org-rainbow-delimiters-depth-1">(</span>d6<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-rainbow-delimiters-depth-1">[</span>px7, <span class="org-type">~</span><span class="org-rainbow-delimiters-depth-1">]</span> = pwelch<span class="org-rainbow-delimiters-depth-1">(</span>d7<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-rainbow-delimiters-depth-1">[</span>px8, <span class="org-type">~</span><span class="org-rainbow-delimiters-depth-1">]</span> = pwelch<span class="org-rainbow-delimiters-depth-1">(</span>d8<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
<p>
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And we compare all the signals (figures <a href="#org162cdb3">3</a> and <a href="#orgf67d322">4</a>).
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</p>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
hold on;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>px3<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'All ON'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>px4<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Ty OFF'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>px5<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Ry OFF'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>px6<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'S-R OFF'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>px7<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Rz OFF'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>px8<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Hexa OFF'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
hold off;
<span class="org-type">set</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">gca</span>, <span class="org-string">'xscale', 'log'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-type">set</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">gca</span>, <span class="org-string">'yscale', 'log'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
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xlabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Frequency </span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">[</span></span><span class="org-string">Hz</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">]</span></span><span class="org-string">'</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">)</span></span><span class="org-string">; ylabel</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">(</span></span><span class="org-string">'</span>Amplitude Spectral Density $<span class="org-type">\</span>left<span class="org-rainbow-delimiters-depth-2">[</span><span class="org-type">\</span>frac<span class="org-rainbow-delimiters-depth-3">{</span>V<span class="org-rainbow-delimiters-depth-3">}{</span><span class="org-type">\</span>sqrt<span class="org-rainbow-delimiters-depth-4">{</span>Hz<span class="org-rainbow-delimiters-depth-4">}</span><span class="org-rainbow-delimiters-depth-3">}</span><span class="org-type">\</span>right<span class="org-rainbow-delimiters-depth-2">]</span>$'<span class="org-rainbow-delimiters-depth-1">)</span>
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xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span><span class="org-highlight-numbers-number">0</span>.<span class="org-highlight-numbers-number">1</span>, <span class="org-highlight-numbers-number">500</span><span class="org-rainbow-delimiters-depth-2">]</span><span class="org-rainbow-delimiters-depth-1">)</span>;
legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Location', 'southwest'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
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<div id="org162cdb3" class="figure">
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<p><img src="figs/psd_sample_comp.png" alt="psd_sample_comp.png" />
</p>
<p><span class="figure-number">Figure 3: </span>Amplitude Spectral Density of the signal coming from the top geophone</p>
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</div>
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<div id="orgf67d322" class="figure">
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<p><img src="figs/psd_sample_comp_high_freq.png" alt="psd_sample_comp_high_freq.png" />
</p>
<p><span class="figure-number">Figure 4: </span>Amplitude Spectral Density of the signal coming from the top geophone (zoom at high frequencies)</p>
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</div>
</div>
</div>
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<div id="outline-container-org691a42a" class="outline-4">
<h4 id="org691a42a"><span class="section-number-4">1.4.2</span> Vibrations on the marble</h4>
<div class="outline-text-4" id="text-1-4-2">
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<p>
Now we plot the same curves for the geophone located on the marble.
</p>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-rainbow-delimiters-depth-1">[</span>px3, f<span class="org-rainbow-delimiters-depth-1">]</span> = pwelch<span class="org-rainbow-delimiters-depth-1">(</span>d3<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-rainbow-delimiters-depth-1">[</span>px4, <span class="org-type">~</span><span class="org-rainbow-delimiters-depth-1">]</span> = pwelch<span class="org-rainbow-delimiters-depth-1">(</span>d4<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-rainbow-delimiters-depth-1">[</span>px5, <span class="org-type">~</span><span class="org-rainbow-delimiters-depth-1">]</span> = pwelch<span class="org-rainbow-delimiters-depth-1">(</span>d5<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-rainbow-delimiters-depth-1">[</span>px6, <span class="org-type">~</span><span class="org-rainbow-delimiters-depth-1">]</span> = pwelch<span class="org-rainbow-delimiters-depth-1">(</span>d6<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-rainbow-delimiters-depth-1">[</span>px7, <span class="org-type">~</span><span class="org-rainbow-delimiters-depth-1">]</span> = pwelch<span class="org-rainbow-delimiters-depth-1">(</span>d7<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-rainbow-delimiters-depth-1">[</span>px8, <span class="org-type">~</span><span class="org-rainbow-delimiters-depth-1">]</span> = pwelch<span class="org-rainbow-delimiters-depth-1">(</span>d8<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
<p>
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And we compare the Amplitude Spectral Densities (figures <a href="#org989d197">5</a> and <a href="#org799c8d6">6</a>)
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</p>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
hold on;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>px3<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'All ON'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>px4<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Ty OFF'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>px5<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Ry OFF'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>px6<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'S-R OFF'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>px7<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Rz OFF'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>px8<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Hexa OFF'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
hold off;
<span class="org-type">set</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">gca</span>, <span class="org-string">'xscale', 'log'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-type">set</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">gca</span>, <span class="org-string">'yscale', 'log'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
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xlabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Frequency </span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">[</span></span><span class="org-string">Hz</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">]</span></span><span class="org-string">'</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">)</span></span><span class="org-string">; ylabel</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">(</span></span><span class="org-string">'</span>Amplitude Spectral Density $<span class="org-type">\</span>left<span class="org-rainbow-delimiters-depth-2">[</span><span class="org-type">\</span>frac<span class="org-rainbow-delimiters-depth-3">{</span>V<span class="org-rainbow-delimiters-depth-3">}{</span><span class="org-type">\</span>sqrt<span class="org-rainbow-delimiters-depth-4">{</span>Hz<span class="org-rainbow-delimiters-depth-4">}</span><span class="org-rainbow-delimiters-depth-3">}</span><span class="org-type">\</span>right<span class="org-rainbow-delimiters-depth-2">]</span>$'<span class="org-rainbow-delimiters-depth-1">)</span>
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xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span><span class="org-highlight-numbers-number">0</span>.<span class="org-highlight-numbers-number">1</span>, <span class="org-highlight-numbers-number">500</span><span class="org-rainbow-delimiters-depth-2">]</span><span class="org-rainbow-delimiters-depth-1">)</span>;
legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Location', 'northeast'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
2019-05-14 23:02:36 +02:00
<div id="org989d197" class="figure">
2019-05-02 14:06:23 +02:00
<p><img src="figs/psd_marble_comp.png" alt="psd_marble_comp.png" />
</p>
<p><span class="figure-number">Figure 5: </span>Amplitude Spectral Density of the signal coming from the top geophone</p>
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</div>
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<div id="org799c8d6" class="figure">
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<p><img src="figs/psd_marble_comp_high_freq.png" alt="psd_marble_comp_high_freq.png" />
</p>
<p><span class="figure-number">Figure 6: </span>Amplitude Spectral Density of the signal coming from the top geophone (zoom at high frequencies)</p>
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</div>
</div>
</div>
</div>
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<div id="outline-container-orgce679ab" class="outline-3">
<h3 id="orgce679ab"><span class="section-number-3">1.5</span> Effect of the control system on the transmissibility from ground to sample</h3>
<div class="outline-text-3" id="text-1-5">
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<p>
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As the feedback loops change the dynamics of the system, we should see differences on the transfer function from marble velocity to sample velocity when turning off the control systems (figure <a href="#org69857ac">7</a>).
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</p>
<div class="org-src-container">
<pre class="src src-matlab">dt = d3<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">2</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-1">)</span> <span class="org-type">-</span> d3<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">1</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-1">)</span>;
Fs = <span class="org-highlight-numbers-number">1</span><span class="org-type">/</span>dt;
win = hanning<span class="org-rainbow-delimiters-depth-1">(</span>ceil<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-highlight-numbers-number">1</span><span class="org-type">*</span>Fs<span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
<p>
First, we compute the Power Spectral Density of the signals coming from the Geophone located at the sample location.
</p>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-rainbow-delimiters-depth-1">[</span>T3, f<span class="org-rainbow-delimiters-depth-1">]</span> = tfestimate<span class="org-rainbow-delimiters-depth-1">(</span>d3<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, d3<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-rainbow-delimiters-depth-1">[</span>T4, <span class="org-type">~</span><span class="org-rainbow-delimiters-depth-1">]</span> = tfestimate<span class="org-rainbow-delimiters-depth-1">(</span>d4<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, d4<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-rainbow-delimiters-depth-1">[</span>T5, <span class="org-type">~</span><span class="org-rainbow-delimiters-depth-1">]</span> = tfestimate<span class="org-rainbow-delimiters-depth-1">(</span>d5<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, d5<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-rainbow-delimiters-depth-1">[</span>T6, <span class="org-type">~</span><span class="org-rainbow-delimiters-depth-1">]</span> = tfestimate<span class="org-rainbow-delimiters-depth-1">(</span>d6<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, d6<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-rainbow-delimiters-depth-1">[</span>T7, <span class="org-type">~</span><span class="org-rainbow-delimiters-depth-1">]</span> = tfestimate<span class="org-rainbow-delimiters-depth-1">(</span>d7<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, d7<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-rainbow-delimiters-depth-1">[</span>T8, <span class="org-type">~</span><span class="org-rainbow-delimiters-depth-1">]</span> = tfestimate<span class="org-rainbow-delimiters-depth-1">(</span>d8<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, d8<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
ax1 = subplot<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">2</span>, <span class="org-highlight-numbers-number">1</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-1">)</span>;
hold on;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, abs<span class="org-rainbow-delimiters-depth-2">(</span>T3<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'All ON'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, abs<span class="org-rainbow-delimiters-depth-2">(</span>T4<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Ty OFF'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, abs<span class="org-rainbow-delimiters-depth-2">(</span>T5<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Ry OFF'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, abs<span class="org-rainbow-delimiters-depth-2">(</span>T6<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'S-R OFF'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, abs<span class="org-rainbow-delimiters-depth-2">(</span>T7<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Rz OFF'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, abs<span class="org-rainbow-delimiters-depth-2">(</span>T8<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Hexa OFF'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
hold off;
<span class="org-type">set</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">gca</span>, <span class="org-string">'xscale', 'log'</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">)</span></span><span class="org-string">; set</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">(</span></span><span class="org-string">gca, 'yscale', 'log'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-type">set</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">gca</span>, <span class="org-string">'XTickLabel'</span>,<span class="org-rainbow-delimiters-depth-2">[]</span><span class="org-rainbow-delimiters-depth-1">)</span>;
ylabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Magnitude'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Location', 'northwest'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
ax2 = subplot<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">2</span>, <span class="org-highlight-numbers-number">1</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-1">)</span>;
hold on;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, mod<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-highlight-numbers-number">180</span><span class="org-type">+</span><span class="org-highlight-numbers-number">180</span><span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">*</span>phase<span class="org-rainbow-delimiters-depth-3">(</span>T3<span class="org-rainbow-delimiters-depth-3">)</span>, <span class="org-highlight-numbers-number">360</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-type">-</span><span class="org-highlight-numbers-number">180</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, mod<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-highlight-numbers-number">180</span><span class="org-type">+</span><span class="org-highlight-numbers-number">180</span><span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">*</span>phase<span class="org-rainbow-delimiters-depth-3">(</span>T4<span class="org-rainbow-delimiters-depth-3">)</span>, <span class="org-highlight-numbers-number">360</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-type">-</span><span class="org-highlight-numbers-number">180</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, mod<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-highlight-numbers-number">180</span><span class="org-type">+</span><span class="org-highlight-numbers-number">180</span><span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">*</span>phase<span class="org-rainbow-delimiters-depth-3">(</span>T5<span class="org-rainbow-delimiters-depth-3">)</span>, <span class="org-highlight-numbers-number">360</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-type">-</span><span class="org-highlight-numbers-number">180</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, mod<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-highlight-numbers-number">180</span><span class="org-type">+</span><span class="org-highlight-numbers-number">180</span><span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">*</span>phase<span class="org-rainbow-delimiters-depth-3">(</span>T6<span class="org-rainbow-delimiters-depth-3">)</span>, <span class="org-highlight-numbers-number">360</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-type">-</span><span class="org-highlight-numbers-number">180</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, mod<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-highlight-numbers-number">180</span><span class="org-type">+</span><span class="org-highlight-numbers-number">180</span><span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">*</span>phase<span class="org-rainbow-delimiters-depth-3">(</span>T7<span class="org-rainbow-delimiters-depth-3">)</span>, <span class="org-highlight-numbers-number">360</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-type">-</span><span class="org-highlight-numbers-number">180</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, mod<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-highlight-numbers-number">180</span><span class="org-type">+</span><span class="org-highlight-numbers-number">180</span><span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">*</span>phase<span class="org-rainbow-delimiters-depth-3">(</span>T8<span class="org-rainbow-delimiters-depth-3">)</span>, <span class="org-highlight-numbers-number">360</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-type">-</span><span class="org-highlight-numbers-number">180</span><span class="org-rainbow-delimiters-depth-1">)</span>;
hold off;
<span class="org-type">set</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">gca</span>, <span class="org-string">'xscale', 'log'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
ylim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span><span class="org-type">-</span><span class="org-highlight-numbers-number">180</span>, <span class="org-highlight-numbers-number">180</span><span class="org-rainbow-delimiters-depth-2">]</span><span class="org-rainbow-delimiters-depth-1">)</span>;
yticks<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span><span class="org-type">-</span><span class="org-highlight-numbers-number">180</span>, <span class="org-type">-</span><span class="org-highlight-numbers-number">90</span>, <span class="org-highlight-numbers-number">0</span>, <span class="org-highlight-numbers-number">90</span>, <span class="org-highlight-numbers-number">180</span><span class="org-rainbow-delimiters-depth-2">]</span><span class="org-rainbow-delimiters-depth-1">)</span>;
xlabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Frequency </span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">[</span></span><span class="org-string">Hz</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">]</span></span><span class="org-string">'</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">)</span></span><span class="org-string">; ylabel</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">(</span></span><span class="org-string">'Phase'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
linkaxes<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>ax1,ax2<span class="org-rainbow-delimiters-depth-2">]</span>,<span class="org-string">'x'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span><span class="org-highlight-numbers-number">1</span>, <span class="org-highlight-numbers-number">500</span><span class="org-rainbow-delimiters-depth-2">]</span><span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
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<div id="org69857ac" class="figure">
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<p><img src="figs/trans_comp.png" alt="trans_comp.png" />
</p>
<p><span class="figure-number">Figure 7: </span>Comparison of the transfer function from the geophone on the marble to the geophone at the sample location</p>
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</div>
</div>
</div>
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<div id="outline-container-org0b4e90a" class="outline-3">
<h3 id="org0b4e90a"><span class="section-number-3">1.6</span> Conclusion</h3>
<div class="outline-text-3" id="text-1-6">
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<div class="important">
<ul class="org-ul">
<li>The control system of the Ty stage induces a lot of vibrations of the marble</li>
</ul>
</div>
<div class="note">
<ul class="org-ul">
<li>Why it seems that the measurement noise at high frequency is the limiting factor when the slip ring is ON but not when it is OFF?</li>
</ul>
</div>
</div>
</div>
</div>
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<div id="outline-container-org621380e" class="outline-2">
<h2 id="org621380e"><span class="section-number-2">2</span> Effect of all the control systems on the Sample vibrations - One stage at a time</h2>
<div class="outline-text-2" id="text-2">
<p>
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<a id="orgad642c0"></a>
</p>
<div class="note">
<p>
All the files (data and Matlab scripts) are accessible <a href="data/effect_control_one.zip">here</a>.
</p>
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</div>
</div>
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<div id="outline-container-org4386dbf" class="outline-3">
<h3 id="org4386dbf"><span class="section-number-3">2.1</span> Experimental Setup</h3>
<div class="outline-text-3" id="text-2-1">
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<p>
2019-05-09 09:13:10 +02:00
We here measure the signals of two geophones:
</p>
<ul class="org-ul">
<li>One is located on top of the Sample platform</li>
<li>One is located on the marble</li>
</ul>
<p>
The signal from the top geophone does go trought the slip-ring.
</p>
<p>
All the control systems are turned OFF, then, they are turned on one at a time.
</p>
<p>
Each measurement are done during 100s.
</p>
<p>
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The settings of the voltage amplifier are shown on figure <a href="#org988acc8">8</a>.
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A first order low pass filter with a cut-off frequency of 1kHz is added before the voltage amplifier.
</p>
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<table id="org5e6157e" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
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<caption class="t-above"><span class="table-number">Table 2:</span> Summary of the measurements and the states of the control systems</caption>
<colgroup>
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
</colgroup>
<thead>
<tr>
<th scope="col" class="org-left">Ty</th>
<th scope="col" class="org-left">Ry</th>
<th scope="col" class="org-left">Slip Ring</th>
<th scope="col" class="org-left">Spindle</th>
<th scope="col" class="org-left">Hexapod</th>
<th scope="col" class="org-left">Meas. file</th>
</tr>
</thead>
<tbody>
<tr>
<td class="org-left">OFF</td>
<td class="org-left">OFF</td>
<td class="org-left">OFF</td>
<td class="org-left">OFF</td>
<td class="org-left">OFF</td>
<td class="org-left"><code>meas_013.mat</code></td>
</tr>
<tr>
<td class="org-left"><b>ON</b></td>
<td class="org-left">OFF</td>
<td class="org-left">OFF</td>
<td class="org-left">OFF</td>
<td class="org-left">OFF</td>
<td class="org-left"><code>meas_014.mat</code></td>
</tr>
<tr>
<td class="org-left">OFF</td>
<td class="org-left"><b>ON</b></td>
<td class="org-left">OFF</td>
<td class="org-left">OFF</td>
<td class="org-left">OFF</td>
<td class="org-left"><code>meas_015.mat</code></td>
</tr>
<tr>
<td class="org-left">OFF</td>
<td class="org-left">OFF</td>
<td class="org-left"><b>ON</b></td>
<td class="org-left">OFF</td>
<td class="org-left">OFF</td>
<td class="org-left"><code>meas_016.mat</code></td>
</tr>
<tr>
<td class="org-left">OFF</td>
<td class="org-left">OFF</td>
<td class="org-left">OFF</td>
<td class="org-left"><b>ON</b></td>
<td class="org-left">OFF</td>
<td class="org-left"><code>meas_017.mat</code></td>
</tr>
<tr>
<td class="org-left">OFF</td>
<td class="org-left">OFF</td>
<td class="org-left">OFF</td>
<td class="org-left">OFF</td>
<td class="org-left"><b>ON</b></td>
<td class="org-left"><code>meas_018.mat</code></td>
</tr>
</tbody>
</table>
<p>
Each of the <code>mat</code> file contains one array <code>data</code> with 3 columns:
</p>
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<colgroup>
<col class="org-right" />
<col class="org-left" />
</colgroup>
<thead>
<tr>
<th scope="col" class="org-right">Column number</th>
<th scope="col" class="org-left">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="org-right">1</td>
<td class="org-left">Geophone - Marble</td>
</tr>
<tr>
<td class="org-right">2</td>
<td class="org-left">Geophone - Sample</td>
</tr>
<tr>
<td class="org-right">3</td>
<td class="org-left">Time</td>
</tr>
</tbody>
</table>
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<div id="org988acc8" class="figure">
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<p><img src="./img/IMG_20190507_101459.jpg" alt="IMG_20190507_101459.jpg" width="500px" />
</p>
<p><span class="figure-number">Figure 8: </span>Voltage amplifier settings for the measurement</p>
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</div>
</div>
</div>
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<div id="outline-container-orgc55405f" class="outline-3">
<h3 id="orgc55405f"><span class="section-number-3">2.2</span> Load data</h3>
<div class="outline-text-3" id="text-2-2">
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<p>
We load the data of the z axis of two geophones.
</p>
<div class="org-src-container">
<pre class="src src-matlab">d_of = load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'mat/data_013.mat', 'data'</span><span class="org-rainbow-delimiters-depth-1">)</span>; d_of = d_of.data;
d_ty = load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'mat/data_014.mat', 'data'</span><span class="org-rainbow-delimiters-depth-1">)</span>; d_ty = d_ty.data;
d_ry = load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'mat/data_015.mat', 'data'</span><span class="org-rainbow-delimiters-depth-1">)</span>; d_ry = d_ry.data;
d_sr = load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'mat/data_016.mat', 'data'</span><span class="org-rainbow-delimiters-depth-1">)</span>; d_sr = d_sr.data;
d_rz = load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'mat/data_017.mat', 'data'</span><span class="org-rainbow-delimiters-depth-1">)</span>; d_rz = d_rz.data;
d_he = load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'mat/data_018.mat', 'data'</span><span class="org-rainbow-delimiters-depth-1">)</span>; d_he = d_he.data;
</pre>
</div>
</div>
</div>
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<div id="outline-container-org71c55c3" class="outline-3">
<h3 id="org71c55c3"><span class="section-number-3">2.3</span> Analysis - Time Domain</h3>
<div class="outline-text-3" id="text-2-3">
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<p>
First, we can look at the time domain data and compare all the measurements:
</p>
<ul class="org-ul">
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<li>comparison for the geophone at the sample location (figure <a href="#orgbcdf0fa">9</a>)</li>
<li>comparison for the geophone on the granite (figure <a href="#orgc003546">10</a>)</li>
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</ul>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
hold on;
plot<span class="org-rainbow-delimiters-depth-1">(</span>d_of<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, d_of<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'All OFF'</span>;
plot<span class="org-rainbow-delimiters-depth-2">(</span>d_ty<span class="org-rainbow-delimiters-depth-3">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-3">)</span>, d_ty<span class="org-rainbow-delimiters-depth-3">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-3">)</span>, <span class="org-string">'DisplayName', 'Ty ON'</span><span class="org-rainbow-delimiters-depth-2">)</span>;
plot<span class="org-rainbow-delimiters-depth-2">(</span>d_ry<span class="org-rainbow-delimiters-depth-3">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-3">)</span>, d_ry<span class="org-rainbow-delimiters-depth-3">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-3">)</span>, <span class="org-string">'DisplayName', 'Ry ON'</span><span class="org-rainbow-delimiters-depth-2">)</span>;
plot<span class="org-rainbow-delimiters-depth-2">(</span>d_sr<span class="org-rainbow-delimiters-depth-3">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-3">)</span>, d_sr<span class="org-rainbow-delimiters-depth-3">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-3">)</span>, <span class="org-string">'DisplayName', 'S-R ON'</span><span class="org-rainbow-delimiters-depth-2">)</span>;
plot<span class="org-rainbow-delimiters-depth-2">(</span>d_rz<span class="org-rainbow-delimiters-depth-3">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-3">)</span>, d_rz<span class="org-rainbow-delimiters-depth-3">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-3">)</span>, <span class="org-string">'DisplayName', 'Rz ON'</span><span class="org-rainbow-delimiters-depth-2">)</span>;
plot<span class="org-rainbow-delimiters-depth-2">(</span>d_he<span class="org-rainbow-delimiters-depth-3">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-3">)</span>, d_he<span class="org-rainbow-delimiters-depth-3">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-3">)</span>, <span class="org-string">'DisplayName', 'Hexa ON'</span><span class="org-rainbow-delimiters-depth-2">)</span>;
hold off;
xlabel<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-string">'Time </span><span class="org-string"><span class="org-rainbow-delimiters-depth-3">[</span></span><span class="org-string">s</span><span class="org-string"><span class="org-rainbow-delimiters-depth-3">]</span></span><span class="org-string">'</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">)</span></span><span class="org-string">; ylabel</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">(</span></span><span class="org-string">'Voltage </span><span class="org-string"><span class="org-rainbow-delimiters-depth-3">[</span></span><span class="org-string">V</span><span class="org-string"><span class="org-rainbow-delimiters-depth-3">]</span></span><span class="org-string">'</span><span class="org-rainbow-delimiters-depth-2">)</span>;
xlim<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-rainbow-delimiters-depth-3">[</span><span class="org-highlight-numbers-number">0</span>, <span class="org-highlight-numbers-number">50</span><span class="org-rainbow-delimiters-depth-3">]</span><span class="org-rainbow-delimiters-depth-2">)</span>;
legend<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-string">'Location', 'bestoutside'</span><span class="org-rainbow-delimiters-depth-2">)</span>;
</pre>
</div>
2019-05-14 23:02:36 +02:00
<div id="orgbcdf0fa" class="figure">
2019-05-09 09:13:10 +02:00
<p><img src="figs/time_domain_sample_lpf.png" alt="time_domain_sample_lpf.png" />
</p>
<p><span class="figure-number">Figure 9: </span>Comparison of the time domain data when turning off the control system of the stages - Geophone at the sample location</p>
2019-05-09 09:13:10 +02:00
</div>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
hold on;
plot<span class="org-rainbow-delimiters-depth-1">(</span>d_of<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, d_of<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'All OFF'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>d_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, d_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Ty ON'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>d_ry<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, d_ry<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Ry ON'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>d_sr<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, d_sr<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'S-R ON'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>d_rz<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, d_rz<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Rz ON'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>d_he<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, d_he<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Hexa ON'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
hold off;
xlabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Time </span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">[</span></span><span class="org-string">s</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">]</span></span><span class="org-string">'</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">)</span></span><span class="org-string">; ylabel</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">(</span></span><span class="org-string">'Voltage </span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">[</span></span><span class="org-string">V</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">]</span></span><span class="org-string">'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span><span class="org-highlight-numbers-number">0</span>, <span class="org-highlight-numbers-number">50</span><span class="org-rainbow-delimiters-depth-2">]</span><span class="org-rainbow-delimiters-depth-1">)</span>;
legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Location', 'bestoutside'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
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<div id="orgc003546" class="figure">
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<p><img src="figs/time_domain_marble_lpf.png" alt="time_domain_marble_lpf.png" />
</p>
<p><span class="figure-number">Figure 10: </span>Comparison of the time domain data when turning off the control system of the stages - Geophone on the marble</p>
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</div>
</div>
</div>
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<div id="outline-container-orgb76fa51" class="outline-3">
<h3 id="orgb76fa51"><span class="section-number-3">2.4</span> Analysis - Frequency Domain</h3>
<div class="outline-text-3" id="text-2-4">
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<div class="org-src-container">
<pre class="src src-matlab">dt = d_of<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">2</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-1">)</span> <span class="org-type">-</span> d_of<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">1</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-1">)</span>;
Fs = <span class="org-highlight-numbers-number">1</span><span class="org-type">/</span>dt;
win = hanning<span class="org-rainbow-delimiters-depth-1">(</span>ceil<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-highlight-numbers-number">10</span><span class="org-type">*</span>Fs<span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
</div>
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<div id="outline-container-orgae92b36" class="outline-4">
<h4 id="orgae92b36"><span class="section-number-4">2.4.1</span> Vibrations at the sample location</h4>
<div class="outline-text-4" id="text-2-4-1">
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<p>
First, we compute the Power Spectral Density of the signals coming from the Geophone located at the sample location.
</p>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-rainbow-delimiters-depth-1">[</span>px_of, f<span class="org-rainbow-delimiters-depth-1">]</span> = pwelch<span class="org-rainbow-delimiters-depth-1">(</span>d_of<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-rainbow-delimiters-depth-1">[</span>px_ty, <span class="org-type">~</span><span class="org-rainbow-delimiters-depth-1">]</span> = pwelch<span class="org-rainbow-delimiters-depth-1">(</span>d_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-rainbow-delimiters-depth-1">[</span>px_ry, <span class="org-type">~</span><span class="org-rainbow-delimiters-depth-1">]</span> = pwelch<span class="org-rainbow-delimiters-depth-1">(</span>d_ry<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-rainbow-delimiters-depth-1">[</span>px_sr, <span class="org-type">~</span><span class="org-rainbow-delimiters-depth-1">]</span> = pwelch<span class="org-rainbow-delimiters-depth-1">(</span>d_sr<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-rainbow-delimiters-depth-1">[</span>px_rz, <span class="org-type">~</span><span class="org-rainbow-delimiters-depth-1">]</span> = pwelch<span class="org-rainbow-delimiters-depth-1">(</span>d_rz<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-rainbow-delimiters-depth-1">[</span>px_he, <span class="org-type">~</span><span class="org-rainbow-delimiters-depth-1">]</span> = pwelch<span class="org-rainbow-delimiters-depth-1">(</span>d_he<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
<p>
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And we compare all the signals (figures <a href="#org726c86e">11</a> and <a href="#org9662613">12</a>).
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</p>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
hold on;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>px_of<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'All OFF'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>px_ty<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Ty ON'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>px_ry<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Ry ON'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>px_sr<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'S-R ON'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>px_rz<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Rz ON'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>px_he<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Hexa ON'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
hold off;
<span class="org-type">set</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">gca</span>, <span class="org-string">'xscale', 'log'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-type">set</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">gca</span>, <span class="org-string">'yscale', 'log'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
xlabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Frequency </span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">[</span></span><span class="org-string">Hz</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">]</span></span><span class="org-string">'</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">)</span></span><span class="org-string">; ylabel</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">(</span></span><span class="org-string">'</span>Amplitude Spectral Density $<span class="org-type">\</span>left<span class="org-rainbow-delimiters-depth-2">[</span><span class="org-type">\</span>frac<span class="org-rainbow-delimiters-depth-3">{</span>V<span class="org-rainbow-delimiters-depth-3">}{</span><span class="org-type">\</span>sqrt<span class="org-rainbow-delimiters-depth-4">{</span>Hz<span class="org-rainbow-delimiters-depth-4">}</span><span class="org-rainbow-delimiters-depth-3">}</span><span class="org-type">\</span>right<span class="org-rainbow-delimiters-depth-2">]</span>$'<span class="org-rainbow-delimiters-depth-1">)</span>
xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span><span class="org-highlight-numbers-number">0</span>.<span class="org-highlight-numbers-number">1</span>, <span class="org-highlight-numbers-number">500</span><span class="org-rainbow-delimiters-depth-2">]</span><span class="org-rainbow-delimiters-depth-1">)</span>;
legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Location', 'southwest'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
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<div id="org726c86e" class="figure">
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<p><img src="figs/psd_sample_comp_lpf.png" alt="psd_sample_comp_lpf.png" />
</p>
<p><span class="figure-number">Figure 11: </span>Amplitude Spectral Density of the signal coming from the top geophone</p>
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</div>
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<div id="org9662613" class="figure">
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<p><img src="figs/psd_sample_comp_high_freq_lpf.png" alt="psd_sample_comp_high_freq_lpf.png" />
</p>
<p><span class="figure-number">Figure 12: </span>Amplitude Spectral Density of the signal coming from the top geophone (zoom at high frequencies)</p>
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</div>
</div>
</div>
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<div id="outline-container-org4c4f807" class="outline-4">
<h4 id="org4c4f807"><span class="section-number-4">2.4.2</span> Vibrations on the marble</h4>
<div class="outline-text-4" id="text-2-4-2">
2019-05-09 09:13:10 +02:00
<p>
Now we plot the same curves for the geophone located on the marble.
</p>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-rainbow-delimiters-depth-1">[</span>px_of, f<span class="org-rainbow-delimiters-depth-1">]</span> = pwelch<span class="org-rainbow-delimiters-depth-1">(</span>d_of<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-rainbow-delimiters-depth-1">[</span>px_ty, <span class="org-type">~</span><span class="org-rainbow-delimiters-depth-1">]</span> = pwelch<span class="org-rainbow-delimiters-depth-1">(</span>d_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-rainbow-delimiters-depth-1">[</span>px_ry, <span class="org-type">~</span><span class="org-rainbow-delimiters-depth-1">]</span> = pwelch<span class="org-rainbow-delimiters-depth-1">(</span>d_ry<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-rainbow-delimiters-depth-1">[</span>px_sr, <span class="org-type">~</span><span class="org-rainbow-delimiters-depth-1">]</span> = pwelch<span class="org-rainbow-delimiters-depth-1">(</span>d_sr<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-rainbow-delimiters-depth-1">[</span>px_rz, <span class="org-type">~</span><span class="org-rainbow-delimiters-depth-1">]</span> = pwelch<span class="org-rainbow-delimiters-depth-1">(</span>d_rz<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-rainbow-delimiters-depth-1">[</span>px_he, <span class="org-type">~</span><span class="org-rainbow-delimiters-depth-1">]</span> = pwelch<span class="org-rainbow-delimiters-depth-1">(</span>d_he<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
<p>
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And we compare the Amplitude Spectral Densities (figures <a href="#org7b4f7ef">13</a> and <a href="#org56d9b94">14</a>)
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</p>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
hold on;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>px_of<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'All OFF'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>px_ty<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Ty ON'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>px_ry<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Ry ON'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>px_sr<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'S-R ON'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>px_rz<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Rz ON'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>px_he<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Hexa ON'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
hold off;
<span class="org-type">set</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">gca</span>, <span class="org-string">'xscale', 'log'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-type">set</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">gca</span>, <span class="org-string">'yscale', 'log'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
xlabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Frequency </span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">[</span></span><span class="org-string">Hz</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">]</span></span><span class="org-string">'</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">)</span></span><span class="org-string">; ylabel</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">(</span></span><span class="org-string">'</span>Amplitude Spectral Density $<span class="org-type">\</span>left<span class="org-rainbow-delimiters-depth-2">[</span><span class="org-type">\</span>frac<span class="org-rainbow-delimiters-depth-3">{</span>V<span class="org-rainbow-delimiters-depth-3">}{</span><span class="org-type">\</span>sqrt<span class="org-rainbow-delimiters-depth-4">{</span>Hz<span class="org-rainbow-delimiters-depth-4">}</span><span class="org-rainbow-delimiters-depth-3">}</span><span class="org-type">\</span>right<span class="org-rainbow-delimiters-depth-2">]</span>$'<span class="org-rainbow-delimiters-depth-1">)</span>
xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span><span class="org-highlight-numbers-number">0</span>.<span class="org-highlight-numbers-number">1</span>, <span class="org-highlight-numbers-number">500</span><span class="org-rainbow-delimiters-depth-2">]</span><span class="org-rainbow-delimiters-depth-1">)</span>;
legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Location', 'northeast'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
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<div id="org7b4f7ef" class="figure">
2019-05-09 09:13:10 +02:00
<p><img src="figs/psd_marble_comp_lpf.png" alt="psd_marble_comp_lpf.png" />
</p>
<p><span class="figure-number">Figure 13: </span>Amplitude Spectral Density of the signal coming from geophone located on the marble</p>
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</div>
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<div id="org56d9b94" class="figure">
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<p><img src="figs/psd_marble_comp_lpf_high_freq.png" alt="psd_marble_comp_lpf_high_freq.png" />
</p>
<p><span class="figure-number">Figure 14: </span>Amplitude Spectral Density of the signal coming from the geophone located on the marble (zoom at high frequencies)</p>
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</div>
</div>
</div>
</div>
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<div id="outline-container-orgae74838" class="outline-3">
<h3 id="orgae74838"><span class="section-number-3">2.5</span> Conclusion</h3>
<div class="outline-text-3" id="text-2-5">
<div class="important">
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<ul class="org-ul">
<li>The Ty stage induces vibrations of the marble and at the sample location above 100Hz</li>
<li>The hexapod stage induces vibrations at the sample position above 220Hz</li>
</ul>
</div>
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</div>
</div>
</div>
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<div id="outline-container-orgf3303d1" class="outline-2">
<h2 id="orgf3303d1"><span class="section-number-2">3</span> Effect of the Symetrie Driver</h2>
<div class="outline-text-2" id="text-3">
<p>
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<a id="org4504c7f"></a>
</p>
<div class="note">
<p>
All the files (data and Matlab scripts) are accessible <a href="data/effect_symetrie_driver.zip">here</a>.
</p>
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</div>
</div>
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<div id="outline-container-orgdb0af53" class="outline-3">
<h3 id="orgdb0af53"><span class="section-number-3">3.1</span> Experimental Setup</h3>
<div class="outline-text-3" id="text-3-1">
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<p>
We here measure the signals of two geophones:
</p>
<ul class="org-ul">
<li>One is located on top of the Sample platform</li>
<li>One is located on the marble</li>
</ul>
<p>
The signal from the top geophone does go trought the slip-ring.
</p>
<p>
All the control systems are turned OFF except the Hexapod one.
</p>
<p>
Each measurement are done during 100s.
</p>
<p>
The settings of the voltage amplifier are:
</p>
<ul class="org-ul">
<li>DC</li>
<li>60dB</li>
<li>1kHz</li>
</ul>
<p>
A first order low pass filter with a cut-off frequency of 1kHz is added before the voltage amplifier.
</p>
<p>
The measurements are:
</p>
<ul class="org-ul">
<li><code>meas_018.mat</code>: Hexapod's driver on the granite</li>
<li><code>meas_019.mat</code>: Hexapod's driver on the ground</li>
</ul>
<p>
Each of the <code>mat</code> file contains one array <code>data</code> with 3 columns:
</p>
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<colgroup>
<col class="org-right" />
<col class="org-left" />
</colgroup>
<thead>
<tr>
<th scope="col" class="org-right">Column number</th>
<th scope="col" class="org-left">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="org-right">1</td>
<td class="org-left">Geophone - Marble</td>
</tr>
<tr>
<td class="org-right">2</td>
<td class="org-left">Geophone - Sample</td>
</tr>
<tr>
<td class="org-right">3</td>
<td class="org-left">Time</td>
</tr>
</tbody>
</table>
</div>
</div>
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<div id="outline-container-org2f810d9" class="outline-3">
<h3 id="org2f810d9"><span class="section-number-3">3.2</span> Load data</h3>
<div class="outline-text-3" id="text-3-2">
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<p>
We load the data of the z axis of two geophones.
</p>
<div class="org-src-container">
<pre class="src src-matlab">d_18 = load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'mat/data_018.mat', 'data'</span><span class="org-rainbow-delimiters-depth-1">)</span>; d_18 = d_18.data;
d_19 = load<span class="org-rainbow-delimiters-depth-1">(</span>'mat<span class="org-type">/</span>data_019.mat', <span class="org-string">'data'</span><span class="org-rainbow-delimiters-depth-1">)</span>; d_19 = d_19.data;
</pre>
</div>
</div>
</div>
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<div id="outline-container-org9d9b7f6" class="outline-3">
<h3 id="org9d9b7f6"><span class="section-number-3">3.3</span> Analysis - Time Domain</h3>
<div class="outline-text-3" id="text-3-3">
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<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
hold on;
plot<span class="org-rainbow-delimiters-depth-1">(</span>d_19<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, d_19<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Driver - Ground'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>d_18<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, d_18<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Driver - Granite'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
hold off;
xlabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Time </span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">[</span></span><span class="org-string">s</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">]</span></span><span class="org-string">'</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">)</span></span><span class="org-string">; ylabel</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">(</span></span><span class="org-string">'Voltage </span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">[</span></span><span class="org-string">V</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">]</span></span><span class="org-string">'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span><span class="org-highlight-numbers-number">0</span>, <span class="org-highlight-numbers-number">50</span><span class="org-rainbow-delimiters-depth-2">]</span><span class="org-rainbow-delimiters-depth-1">)</span>;
legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Location', 'bestoutside'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
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<div id="orgd41a63b" class="figure">
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<p><img src="figs/time_domain_hexa_driver.png" alt="time_domain_hexa_driver.png" />
</p>
<p><span class="figure-number">Figure 15: </span>Comparison of the time domain data when turning off the control system of the stages - Geophone at the sample location</p>
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</div>
</div>
</div>
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<div id="outline-container-org7595838" class="outline-3">
<h3 id="org7595838"><span class="section-number-3">3.4</span> Analysis - Frequency Domain</h3>
<div class="outline-text-3" id="text-3-4">
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<div class="org-src-container">
<pre class="src src-matlab">dt = d_18<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">2</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-1">)</span> <span class="org-type">-</span> d_18<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">1</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-1">)</span>;
Fs = <span class="org-highlight-numbers-number">1</span><span class="org-type">/</span>dt;
win = hanning<span class="org-rainbow-delimiters-depth-1">(</span>ceil<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-highlight-numbers-number">10</span><span class="org-type">*</span>Fs<span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
</div>
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<div id="outline-container-org00afd4b" class="outline-4">
<h4 id="org00afd4b"><span class="section-number-4">3.4.1</span> Vibrations at the sample location</h4>
<div class="outline-text-4" id="text-3-4-1">
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<p>
First, we compute the Power Spectral Density of the signals coming from the Geophone located at the sample location.
</p>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-rainbow-delimiters-depth-1">[</span>px_18, f<span class="org-rainbow-delimiters-depth-1">]</span> = pwelch<span class="org-rainbow-delimiters-depth-1">(</span>d_18<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-rainbow-delimiters-depth-1">[</span>px_19, <span class="org-type">~</span><span class="org-rainbow-delimiters-depth-1">]</span> = pwelch<span class="org-rainbow-delimiters-depth-1">(</span>d_19<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
hold on;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>px_19<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Driver - Ground'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>px_18<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Driver - Granite'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
hold off;
<span class="org-type">set</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">gca</span>, <span class="org-string">'xscale', 'log'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-type">set</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">gca</span>, <span class="org-string">'yscale', 'log'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
xlabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Frequency </span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">[</span></span><span class="org-string">Hz</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">]</span></span><span class="org-string">'</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">)</span></span><span class="org-string">; ylabel</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">(</span></span><span class="org-string">'</span>Amplitude Spectral Density $<span class="org-type">\</span>left<span class="org-rainbow-delimiters-depth-2">[</span><span class="org-type">\</span>frac<span class="org-rainbow-delimiters-depth-3">{</span>V<span class="org-rainbow-delimiters-depth-3">}{</span><span class="org-type">\</span>sqrt<span class="org-rainbow-delimiters-depth-4">{</span>Hz<span class="org-rainbow-delimiters-depth-4">}</span><span class="org-rainbow-delimiters-depth-3">}</span><span class="org-type">\</span>right<span class="org-rainbow-delimiters-depth-2">]</span>$'<span class="org-rainbow-delimiters-depth-1">)</span>
xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span><span class="org-highlight-numbers-number">0</span>.<span class="org-highlight-numbers-number">1</span>, <span class="org-highlight-numbers-number">500</span><span class="org-rainbow-delimiters-depth-2">]</span><span class="org-rainbow-delimiters-depth-1">)</span>;
legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Location', 'southwest'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
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<div id="orgd04dfa2" class="figure">
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<p><img src="figs/psd_hexa_driver.png" alt="psd_hexa_driver.png" />
</p>
<p><span class="figure-number">Figure 16: </span>Amplitude Spectral Density of the signal coming from the top geophone</p>
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</div>
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<div id="orga59280d" class="figure">
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<p><img src="figs/psd_hexa_driver_high_freq.png" alt="psd_hexa_driver_high_freq.png" />
</p>
<p><span class="figure-number">Figure 17: </span>Amplitude Spectral Density of the signal coming from the top geophone (zoom at high frequencies)</p>
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</div>
</div>
</div>
</div>
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<div id="outline-container-org6665fc3" class="outline-3">
<h3 id="org6665fc3"><span class="section-number-3">3.5</span> Conclusion</h3>
<div class="outline-text-3" id="text-3-5">
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<div class="important">
<p>
Even tough the Hexapod's driver vibrates quite a lot, it does not generate significant vibrations of the granite when either placed on the granite or on the ground.
</p>
</div>
</div>
</div>
</div>
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<div id="outline-container-org221fc62" class="outline-2">
<h2 id="org221fc62"><span class="section-number-2">4</span> Transfer function from one stage to the other</h2>
<div class="outline-text-2" id="text-4">
<p>
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<a id="org796fd46"></a>
</p>
<div class="note">
<p>
All the files (data and Matlab scripts) are accessible <a href="data/tf_stages_geophone.zip">here</a>.
</p>
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</div>
</div>
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<div id="outline-container-orgf959afa" class="outline-3">
<h3 id="orgf959afa"><span class="section-number-3">4.1</span> Experimental Setup</h3>
<div class="outline-text-3" id="text-4-1">
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<p>
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For all the measurements in this section:
</p>
<ul class="org-ul">
<li>all the control stages are OFF.</li>
<li>the measurements are on the \(z\) direction</li>
</ul>
</div>
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<div id="outline-container-orgc0932ea" class="outline-4">
<h4 id="orgc0932ea"><span class="section-number-4">4.1.1</span> From Marble to Ty - <code>mat/meas_010.mat</code></h4>
<div class="outline-text-4" id="text-4-1-1">
2019-05-02 14:06:23 +02:00
<p>
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One geophone is on the marble, one is on the Ty stage (see figures <a href="#org8c67d5e">18</a>, <a href="#orgf8209e5">19</a> and <a href="#orgbda1be3">20</a>).
2019-05-02 14:06:23 +02:00
</p>
<p>
The <code>data</code> array contains the following columns:
</p>
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<colgroup>
<col class="org-right" />
<col class="org-left" />
</colgroup>
<thead>
<tr>
<th scope="col" class="org-right">Column</th>
<th scope="col" class="org-left">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="org-right">1</td>
<td class="org-left">Ground</td>
</tr>
<tr>
<td class="org-right">2</td>
<td class="org-left">Ty</td>
</tr>
<tr>
<td class="org-right">3</td>
<td class="org-left">Time</td>
</tr>
</tbody>
</table>
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<div id="org8c67d5e" class="figure">
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<p><img src="./img/IMG_20190430_155330.jpg" alt="IMG_20190430_155330.jpg" width="500px" />
</p>
<p><span class="figure-number">Figure 18: </span>Setup with one geophone on the marble and one on top of the translation stage</p>
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</div>
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<div id="orgf8209e5" class="figure">
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<p><img src="./img/IMG_20190430_155335.jpg" alt="IMG_20190430_155335.jpg" width="500px" />
</p>
<p><span class="figure-number">Figure 19: </span>Setup with one geophone on the marble and one on top of the translation stage - Close up view</p>
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</div>
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<div id="orgbda1be3" class="figure">
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<p><img src="./img/IMG_20190430_155342.jpg" alt="IMG_20190430_155342.jpg" width="500px" />
</p>
<p><span class="figure-number">Figure 20: </span>Setup with one geophone on the marble and one on top of the translation stage - Top view</p>
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</div>
</div>
</div>
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<div id="outline-container-org1b2ee1c" class="outline-4">
<h4 id="org1b2ee1c"><span class="section-number-4">4.1.2</span> From Marble to Ry - <code>mat/meas_011.mat</code></h4>
<div class="outline-text-4" id="text-4-1-2">
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<p>
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One geophone is on the marble, one is on the Ry stage (see figure <a href="#orge1aacc9">21</a>)
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</p>
<p>
The <code>data</code> array contains the following columns:
</p>
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<colgroup>
<col class="org-right" />
<col class="org-left" />
</colgroup>
<thead>
<tr>
<th scope="col" class="org-right">Column</th>
<th scope="col" class="org-left">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="org-right">1</td>
<td class="org-left">Ground</td>
</tr>
<tr>
<td class="org-right">2</td>
<td class="org-left">Ry</td>
</tr>
<tr>
<td class="org-right">3</td>
<td class="org-left">Time</td>
</tr>
</tbody>
</table>
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<div id="orge1aacc9" class="figure">
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<p><img src="./img/IMG_20190430_163919.jpg" alt="IMG_20190430_163919.jpg" width="500px" />
</p>
<p><span class="figure-number">Figure 21: </span>Setup with one geophone on the marble and one on top of the Tilt Stage</p>
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</div>
</div>
</div>
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<div id="outline-container-orgdae0d89" class="outline-4">
<h4 id="orgdae0d89"><span class="section-number-4">4.1.3</span> From Ty to Ry - <code>mat/meas_012.mat</code></h4>
<div class="outline-text-4" id="text-4-1-3">
2019-05-02 14:06:23 +02:00
<p>
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One geophone is on the Ty stage, one is on the Ry stage (see figures <a href="#org1152c2d">22</a>, <a href="#orgba78dd0">23</a> and <a href="#org451336d">24</a>)
2019-05-02 14:06:23 +02:00
One geophone on the Ty stage, one geophone on the Ry stage.
</p>
<p>
The <code>data</code> array contains the following columns:
</p>
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<colgroup>
<col class="org-right" />
<col class="org-left" />
</colgroup>
<thead>
<tr>
<th scope="col" class="org-right">Column</th>
<th scope="col" class="org-left">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="org-right">1</td>
<td class="org-left">Ty</td>
</tr>
<tr>
<td class="org-right">2</td>
<td class="org-left">Ry</td>
</tr>
<tr>
<td class="org-right">3</td>
<td class="org-left">Time</td>
</tr>
</tbody>
</table>
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<div id="org1152c2d" class="figure">
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<p><img src="./img/IMG_20190430_170405.jpg" alt="IMG_20190430_170405.jpg" width="500px" />
</p>
<p><span class="figure-number">Figure 22: </span>Setup with one geophone on the translation stage and one on top of the Tilt Stage</p>
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</div>
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<div id="orgba78dd0" class="figure">
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<p><img src="./img/IMG_20190430_170418.jpg" alt="IMG_20190430_170418.jpg" width="500px" />
</p>
<p><span class="figure-number">Figure 23: </span>Setup with one geophone on the translation stage and one on top of the Tilt Stage - Top view</p>
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</div>
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<div id="org451336d" class="figure">
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<p><img src="./img/IMG_20190430_170425.jpg" alt="IMG_20190430_170425.jpg" width="500px" />
</p>
<p><span class="figure-number">Figure 24: </span>Setup with one geophone on the translation stage and one on top of the Tilt Stage - Close up view</p>
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</div>
</div>
</div>
</div>
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<div id="outline-container-org2c983a5" class="outline-3">
<h3 id="org2c983a5"><span class="section-number-3">4.2</span> Load data</h3>
<div class="outline-text-3" id="text-4-2">
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<p>
We load the data of the z axis of two geophones.
</p>
<div class="org-src-container">
<pre class="src src-matlab">m_ty = load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'mat/data_010.mat', 'data'</span><span class="org-rainbow-delimiters-depth-1">)</span>; m_ty = m_ty.data;
m_ry = load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'mat/data_011.mat', 'data'</span><span class="org-rainbow-delimiters-depth-1">)</span>; m_ry = m_ry.data;
ty_ry = load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'mat/data_012.mat', 'data'</span><span class="org-rainbow-delimiters-depth-1">)</span>; ty_ry = ty_ry.data;
</pre>
</div>
</div>
</div>
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<div id="outline-container-org42b8f6b" class="outline-3">
<h3 id="org42b8f6b"><span class="section-number-3">4.3</span> Analysis - Time Domain</h3>
<div class="outline-text-3" id="text-4-3">
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<p>
First, we can look at the time domain data.
</p>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
hold on;
plot<span class="org-rainbow-delimiters-depth-1">(</span>m_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, m_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Marble'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>m_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, m_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Ty'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
hold off;
xlabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Time </span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">[</span></span><span class="org-string">s</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">]</span></span><span class="org-string">'</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">)</span></span><span class="org-string">; ylabel</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">(</span></span><span class="org-string">'Voltage </span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">[</span></span><span class="org-string">V</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">]</span></span><span class="org-string">'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Location', 'northeast'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span><span class="org-highlight-numbers-number">0</span>, <span class="org-highlight-numbers-number">500</span><span class="org-rainbow-delimiters-depth-2">]</span><span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
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<div id="org2867fc0" class="figure">
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<p><img src="figs/time_domain_m_ty.png" alt="time_domain_m_ty.png" />
</p>
<p><span class="figure-number">Figure 25: </span>Time domain - Marble and translation stage</p>
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</div>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
hold on;
plot<span class="org-rainbow-delimiters-depth-1">(</span>m_ry<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, m_ry<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Marble'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>m_ry<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, m_ry<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Ty'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
hold off;
xlabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Time </span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">[</span></span><span class="org-string">s</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">]</span></span><span class="org-string">'</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">)</span></span><span class="org-string">; ylabel</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">(</span></span><span class="org-string">'Voltage </span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">[</span></span><span class="org-string">V</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">]</span></span><span class="org-string">'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Location', 'northeast'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span><span class="org-highlight-numbers-number">0</span>, <span class="org-highlight-numbers-number">500</span><span class="org-rainbow-delimiters-depth-2">]</span><span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
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<div id="org5d87311" class="figure">
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<p><img src="figs/time_domain_m_ry.png" alt="time_domain_m_ry.png" />
</p>
<p><span class="figure-number">Figure 26: </span>Time domain - Marble and tilt stage</p>
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</div>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
hold on;
plot<span class="org-rainbow-delimiters-depth-1">(</span>ty_ry<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, ty_ry<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Ty'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>ty_ry<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, ty_ry<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Ry'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
hold off;
xlabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Time </span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">[</span></span><span class="org-string">s</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">]</span></span><span class="org-string">'</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">)</span></span><span class="org-string">; ylabel</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">(</span></span><span class="org-string">'Voltage </span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">[</span></span><span class="org-string">V</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">]</span></span><span class="org-string">'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Location', 'northeast'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span><span class="org-highlight-numbers-number">0</span>, <span class="org-highlight-numbers-number">500</span><span class="org-rainbow-delimiters-depth-2">]</span><span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
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<div id="orgea0aed0" class="figure">
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<p><img src="figs/time_domain_ty_ry.png" alt="time_domain_ty_ry.png" />
</p>
<p><span class="figure-number">Figure 27: </span>Time domain - Translation stage and tilt stage</p>
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</div>
</div>
</div>
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<div id="outline-container-org115c174" class="outline-3">
<h3 id="org115c174"><span class="section-number-3">4.4</span> Analysis - Frequency Domain</h3>
<div class="outline-text-3" id="text-4-4">
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<div class="org-src-container">
<pre class="src src-matlab">dt = m_ty<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">2</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-1">)</span> <span class="org-type">-</span> m_ty<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">1</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-1">)</span>;
Fs = <span class="org-highlight-numbers-number">1</span><span class="org-type">/</span>dt;
win = hanning<span class="org-rainbow-delimiters-depth-1">(</span>ceil<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-highlight-numbers-number">1</span><span class="org-type">*</span>Fs<span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
<p>
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First, we compute the transfer function estimate between the two geophones for the 3 experiments (figure <a href="#orge687ca9">28</a>). We also plot their coherence (figure <a href="#org2832d9c">29</a>).
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</p>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-rainbow-delimiters-depth-1">[</span>T_m_ty, f<span class="org-rainbow-delimiters-depth-1">]</span> = tfestimate<span class="org-rainbow-delimiters-depth-1">(</span>m_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, m_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-rainbow-delimiters-depth-1">[</span>T_m_ry, <span class="org-type">~</span><span class="org-rainbow-delimiters-depth-1">]</span> = tfestimate<span class="org-rainbow-delimiters-depth-1">(</span>m_ry<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, m_ry<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-rainbow-delimiters-depth-1">[</span>T_ty_ry, <span class="org-type">~</span><span class="org-rainbow-delimiters-depth-1">]</span> = tfestimate<span class="org-rainbow-delimiters-depth-1">(</span>ty_ry<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, ty_ry<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
ax1 = subplot<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">2</span>, <span class="org-highlight-numbers-number">1</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-1">)</span>;
hold on;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, abs<span class="org-rainbow-delimiters-depth-2">(</span>T_m_ty<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Marble - Ty'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, abs<span class="org-rainbow-delimiters-depth-2">(</span>T_m_ry<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Marble - Ry'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, abs<span class="org-rainbow-delimiters-depth-2">(</span>T_ty_ry<span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Ty - Ry'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
hold off;
<span class="org-type">set</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">gca</span>, <span class="org-string">'xscale', 'log'</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">)</span></span><span class="org-string">; set</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">(</span></span><span class="org-string">gca, 'yscale', 'log'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-type">set</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">gca</span>, <span class="org-string">'XTickLabel'</span>,<span class="org-rainbow-delimiters-depth-2">[]</span><span class="org-rainbow-delimiters-depth-1">)</span>;
ylabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Magnitude'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Location', 'northwest'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
ax2 = subplot<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">2</span>, <span class="org-highlight-numbers-number">1</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-1">)</span>;
hold on;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, mod<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-highlight-numbers-number">180</span><span class="org-type">+</span><span class="org-highlight-numbers-number">180</span><span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">*</span>phase<span class="org-rainbow-delimiters-depth-3">(</span>T_m_ty<span class="org-rainbow-delimiters-depth-3">)</span>, <span class="org-highlight-numbers-number">360</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-type">-</span><span class="org-highlight-numbers-number">180</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, mod<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-highlight-numbers-number">180</span><span class="org-type">+</span><span class="org-highlight-numbers-number">180</span><span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">*</span>phase<span class="org-rainbow-delimiters-depth-3">(</span>T_m_ry<span class="org-rainbow-delimiters-depth-3">)</span>, <span class="org-highlight-numbers-number">360</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-type">-</span><span class="org-highlight-numbers-number">180</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f, mod<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-highlight-numbers-number">180</span><span class="org-type">+</span><span class="org-highlight-numbers-number">180</span><span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">*</span>phase<span class="org-rainbow-delimiters-depth-3">(</span>T_ty_ry<span class="org-rainbow-delimiters-depth-3">)</span>, <span class="org-highlight-numbers-number">360</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-type">-</span><span class="org-highlight-numbers-number">180</span><span class="org-rainbow-delimiters-depth-1">)</span>;
hold off;
<span class="org-type">set</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">gca</span>, <span class="org-string">'xscale', 'log'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
ylim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span><span class="org-type">-</span><span class="org-highlight-numbers-number">180</span>, <span class="org-highlight-numbers-number">180</span><span class="org-rainbow-delimiters-depth-2">]</span><span class="org-rainbow-delimiters-depth-1">)</span>;
yticks<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span><span class="org-type">-</span><span class="org-highlight-numbers-number">180</span>, <span class="org-type">-</span><span class="org-highlight-numbers-number">90</span>, <span class="org-highlight-numbers-number">0</span>, <span class="org-highlight-numbers-number">90</span>, <span class="org-highlight-numbers-number">180</span><span class="org-rainbow-delimiters-depth-2">]</span><span class="org-rainbow-delimiters-depth-1">)</span>;
xlabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Frequency </span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">[</span></span><span class="org-string">Hz</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">]</span></span><span class="org-string">'</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">)</span></span><span class="org-string">; ylabel</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">(</span></span><span class="org-string">'Phase'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
linkaxes<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>ax1,ax2<span class="org-rainbow-delimiters-depth-2">]</span>,<span class="org-string">'x'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span><span class="org-highlight-numbers-number">10</span>, <span class="org-highlight-numbers-number">500</span><span class="org-rainbow-delimiters-depth-2">]</span><span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
2019-05-14 23:02:36 +02:00
<div id="orge687ca9" class="figure">
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<p><img src="figs/compare_tf_geophones.png" alt="compare_tf_geophones.png" />
</p>
<p><span class="figure-number">Figure 28: </span>Transfer function from the first geophone to the second geophone for the three experiments</p>
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<div class="org-src-container">
<pre class="src src-matlab"><span class="org-rainbow-delimiters-depth-1">[</span>coh_m_ty, f<span class="org-rainbow-delimiters-depth-1">]</span> = mscohere<span class="org-rainbow-delimiters-depth-1">(</span>m_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, m_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-rainbow-delimiters-depth-1">[</span>coh_m_ry, <span class="org-type">~</span><span class="org-rainbow-delimiters-depth-1">]</span> = mscohere<span class="org-rainbow-delimiters-depth-1">(</span>m_ry<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, m_ry<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-rainbow-delimiters-depth-1">[</span>coh_ty_ry, <span class="org-type">~</span><span class="org-rainbow-delimiters-depth-1">]</span> = mscohere<span class="org-rainbow-delimiters-depth-1">(</span>ty_ry<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, ty_ry<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, win, <span class="org-rainbow-delimiters-depth-2">[]</span>, <span class="org-rainbow-delimiters-depth-2">[]</span>, Fs<span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
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<div id="org2832d9c" class="figure">
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<p><img src="figs/coherence_two_geophones.png" alt="coherence_two_geophones.png" />
</p>
<p><span class="figure-number">Figure 29: </span>Coherence between the two geophones for the three experiments</p>
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<div id="outline-container-org54c19c9" class="outline-3">
<h3 id="org54c19c9"><span class="section-number-3">4.5</span> Conclusion</h3>
<div class="outline-text-3" id="text-4-5">
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<div class="important">
<p>
These measurements are not relevant.
</p>
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</div>
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<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
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<p class="date">Created: 2019-05-14 mar. 22:53</p>
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<p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
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