many updates

2020-04-27 11:35:57 +02:00 · 2020-04-27 11:35:57 +02:00 · 4838b6e026
commit 4838b6e026
parent dbd4320349
56 changed files with 1612 additions and 1770 deletions
--- a/Marc/index.org
+++ b/Marc/index.org
@ -101,7 +101,7 @@ Les fichiers xxx_raw sont sans traitement dans le domaine temporel (environ 10 i
 |        9 | Hexa     | X         |

 * Data Analysis
-** Loading of the data
+** Matlab Init                                              :noexport:ignore:
 #+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
  <<matlab-dir>>
 #+end_src
@ -110,10 +110,7 @@ Les fichiers xxx_raw sont sans traitement dans le domaine temporel (environ 10 i
  <<matlab-init>>
 #+end_src

-#+BEGIN_SRC matlab :results none :exports none :var currentdir=(file-name-directory buffer-file-name)
-  cd(currentdir);
-#+END_SRC
-
+** Loading of the data
 #+begin_src matlab :exports code :results none
  load('./data/freq_frf.mat');

@ -141,3 +138,30 @@ Les fichiers xxx_raw sont sans traitement dans le domaine temporel (environ 10 i
  load('./data/phs_ty_y.mat');
  load('./data/phs_ty_z.mat');
 #+end_src
+
+** test
+#+begin_src matlab
+  figure;
+  hold on;
+  plot(freq_frf, abs(ReIm7(:, 5))./(2*pi*freq_frf), 'DisplayName', 'Marble')
+  plot(freq_frf, abs(ReIm8(:, 6))./(2*pi*freq_frf), 'DisplayName', 'Ty')
+  % plot(freq_frf, abs(ReIm5(:, 3))./(2*pi*freq_frf), 'DisplayName', 'Tilt')
+  plot(freq_frf, abs(ReIm9(:, 8))./(2*pi*freq_frf), 'DisplayName', 'Hexapod')
+  hold off;
+  xlim([1, 100]);
+  set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');
+  legend('location', 'northwest');
+#+end_src
+
+#+begin_src matlab
+  figure;
+  hold on;
+  plot(freq_frf, abs(ReIm5(:, 1))./(2*pi*freq_frf), 'DisplayName', 'Marble')
+  plot(freq_frf, abs(ReIm5(:, 2))./(2*pi*freq_frf), 'DisplayName', 'Ty')
+  plot(freq_frf, abs(ReIm5(:, 3))./(2*pi*freq_frf), 'DisplayName', 'Tilt')
+  plot(freq_frf, abs(ReIm5(:, 4))./(2*pi*freq_frf), 'DisplayName', 'Hexapod')
+  hold off;
+  xlim([1, 100]);
+  set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');
+  legend('location', 'northwest');
+#+end_src
--- a/actuators-sensors/figs/piezo_model.png
+++ b/actuators-sensors/figs/piezo_model.png
--- a/actuators-sensors/index.org
+++ b/actuators-sensors/index.org
@ -26,155 +26,31 @@
 #+PROPERTY: header-args:matlab+ :eval no-export
 #+PROPERTY: header-args:matlab+ :output-dir figs

+#+PROPERTY: header-args:latex  :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/tikz/org/}{config.tex}")
+#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
+#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
+#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
+#+PROPERTY: header-args:latex+ :results file raw replace
+#+PROPERTY: header-args:latex+ :buffer no
+#+PROPERTY: header-args:latex+ :eval no-export
+#+PROPERTY: header-args:latex+ :exports results
+#+PROPERTY: header-args:latex+ :mkdirp yes
+#+PROPERTY: header-args:latex+ :output-dir figs
+#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
+
 #+PROPERTY: header-args:shell  :eval no-export
 :END:

-* Sensors
-** Inertial Sensor
-*** Accelerometers
-|                    |      |
-|--------------------+------|
-| Micromega Dynamics | [[https://micromega-dynamics.com/products/][link]] |
-| MMF                | [[https://www.mmf.de/seismic_accelerometers.htm][link]] |
-| PCB                | [[https://www.pcb.com/products/productfinder.aspx?tx=14][link]] |
-
-Wireless Accelerometers
- https://micromega-dynamics.com/products/recovib/miniature-vibration-recorder/
-
-#+name: fig:characteristics_accelerometers
-#+caption: Characteristics of commercially available accelerometers cite:collette11_review
-[[file:figs/characteristics_accelerometers.png]]
-
-*** Geophones
-|          |      |
-|----------+------|
-| Sercel   | [[http://www.sercel.com/products/Pages/seismometers.aspx][link]] |
-| Wilcoxon | [[https://wilcoxon.com/][link]] |
-
-#+name: fig:characteristics_geophone
-#+caption: Characteristics of commercially available geophones cite:collette11_review
-[[file:figs/characteristics_geophone.png]]
-
-** Force Sensors
-|     |      |
-|-----+------|
-| PCB | [[https://www.pcb.com/products/productfinder.aspx?tx=17][link]] |
-
-** Position Sensor
-
-#+name: fig:characteristics_relative_sensor
-#+caption: Characteristics of relative measurement sensors cite:collette11_review
-[[file:figs/characteristics_relative_sensor.png]]
-
-#+name: fig:position_sensor_characteristics
-#+caption: Position sensor characteristics cite:fleming13_review_nanom_resol_posit_sensor
-[[file:figs/position_sensor_characteristics.png]]
-
-
-*** Strain Gauge
-*** Capacitive Sensor
-Description:
- http://www.lionprecision.com/tech-library/technotes/cap-0020-sensor-theory.html
- https://www.lionprecision.com/comparing-capacitive-and-eddy-current-sensors
-
-|                |      |
-|----------------+------|
-| Micro Sense    | [[http://www.microsense.net/products-position-sensors.htm][link]] |
-| Micro-Epsilon  | [[https://www.micro-epsilon.com/displacement-position-sensors/capacitive-sensor/][link]] |
-| PI             | [[https://www.physikinstrumente.com/en/technology/sensor-technologies/capacitive-sensors/][link]] |
-| Unipulse       | [[https://www.unipulse.com/product/ps-ia/][link]] |
-| Lion-Precision | [[https://www.lionprecision.com/products/capacitive-sensors][link]] |
-
-*** Inductive Sensor (Eddy Current)
-
-|                |      |
-|----------------+------|
-| Micro-Epsilon  | [[https://www.micro-epsilon.com/displacement-position-sensors/eddy-current-sensor/][link]] |
-| Lion Precision | [[https://www.lionprecision.com/products/eddy-current-sensors][link]] |
-
-*** Inductive Sensor (LVDT)
-|               |      |
-|---------------+------|
-| Micro-Epsilon | [[https://www.micro-epsilon.com/displacement-position-sensors/inductive-sensor-lvdt/][link]] |
-| Keyence       | [[https://www.keyence.eu/products/measure/contact-distance-lvdt/gt2/index.jsp][link]] |
-
-*** Interferometers
-|          |      |
-|----------+------|
-| Attocube | [[http://www.attocube.com/][link]] |
-| Zygo     | [[https://www.zygo.com/?/met/markets/stageposition/zmi/][link]] |
-| Smaract  | [[https://www.smaract.com/interferometry][link]] |
-| Qutools  | [[https://www.qutools.com/qudis/][link]] |
-| Renishaw | [[https://www.renishaw.com/en/fibre-optic-laser-encoder-products--6594][link]] |
-| Sios     | [[https://sios-de.com/products/length-measurement/laser-interferometer/][link]] |
-| Keysight | [[https://www.keysight.com/en/pc-1000000393%3Aepsg%3Apgr/laser-heads?nid=-536900395.0&cc=FR&lc=fre][link]] |
-
-#+caption: Characteristics of Environmental Units
-|           | Temperature ($\pm\ ^oC$) | Pressure ($\pm\ hPa$) | Humidity $\pm\ \% RH$ | Wavelength Accuracy ($\pm\ \text{ppm}$) |
-|-----------+--------------------------+-----------------------+-----------------------+-----------------------------------------|
-| Attocube  |                      0.1 |                     1 |                     2 |                                     0.5 |
-| Renishaw  |                      0.2 |                     1 |                     6 |                                       1 |
-| Picoscale |                      0.2 |                     2 |                     2 |                                       1 |
-
-#+name: fig:figure_name
-#+caption: Expected precision of interferometer as a function of measured distance. Taken from cite:jang17_compen_refrac_index_air_laser
-[[file:figs/interferometer_precision.png]]
-
-*** Fiber Optic Displacement Sensor
-
-|          |      |
-|----------+------|
-| Unipulse | [[https://www.unipulse.com/product/atw200-2/][link]] |
-
-** Bibliography
-cite:collette12_compar
-cite:collette12_review
-cite:fleming13_review_nanom_resol_posit_sensor
-
-* Actuators
-** Piezoelectric
-|              |      |
-|--------------+------|
-| Cedrat       | [[http://www.cedrat-technologies.com/][link]] |
-| PI           | [[https://www.physikinstrumente.com/en/][link]] |
-| Piezo System | [[https://www.piezosystem.com/products/piezo_actuators/stacktypeactuators/][link]] |
-| Noliac       | [[http://www.noliac.com/][link]] |
-
-** Voice Coil
-|                      |      |
-|----------------------+------|
-| Geeplus              | [[https://www.geeplus.com/][link]] |
-| Maccon               | [[https://www.maccon.de/en.html][link]] |
-| TDS PP               | [[https://www.tds-pp.com/en/][link]] |
-| H2tech               | [[https://www.h2wtech.com/][link]] |
-| PBA Systems          | [[http://www.pbasystems.com.sg/][link]] |
-| Celera Motion        | [[https://www.celeramotion.com/][link]] |
-| Beikimco             | [[http://www.beikimco.com/][link]] |
-| Electromate          | [[https://www.electromate.com/][link]] |
-| Magnetic Innovations | [[https://www.magneticinnovations.com/][link]] |
-
-** Shaker
-
-|                    |      |
-|--------------------+------|
-| BKSV               | [[https://www.bksv.com/en/products/shakers-and-exciters][link]] |
-| Vibration Research | [[https://vibrationresearch.com/shakers/][link]] |
-| Sentek Dynamics    | [[https://www.sentekdynamics.com/][link]] |
-
-https://www.bksv.com/en/products/shakers-and-exciters/LDS-shaker-systems/permanent-magnet-shakers/V201
-
-** Brushless DC Motor
-cite:yedamale03_brush_dc_bldc_motor_fundam
-
-https://www.electricaltechnology.org/2016/05/bldc-brushless-dc-motor-construction-working-principle.html
-
 * Measurement System / Acquisition System
 ** Modal Analysis
 https://dewesoft.com/applications/structural-dynamics/modal-analysis
 Polytec 3D Scanning Laser Vibrometer https://www.polytec.com/us/vibrometry/products/full-field-vibrometers/psv-500-scanning-vibrometer/

 * Control System
-Dspace, Speedgoat
+https://www.opal-rt.com/
+https://www.speedgoat.com/
+https://www.dspace.com/en/inc/home/products/hw/microlabbox.cfm
+https://www.ni.com/fr-fr/shop/pc-based-measurement-and-control-system.html

 * Positioning Stages
 ** Hexapods
@ -193,6 +69,9 @@ Dspace, Speedgoat

 ** Voltage Amplifiers

+Amplifiers:
+https://www.cedrat-technologies.com/en/products/piezo-controllers/electronic-amplifier-boards.html
+
 * ESRF Equipment
 ** Geophones
 *** L-28LB
--- a/actuators-sensors/piezo_model.pdf
+++ b/actuators-sensors/piezo_model.pdf
--- a/disturbance-control-system/figs/cas_sample_comp.png
+++ b/disturbance-control-system/figs/cas_sample_comp.png
--- a/disturbance-control-system/index.html
+++ b/disturbance-control-system/index.html
--- a/disturbance-control-system/index.org
+++ b/disturbance-control-system/index.org
@ -29,7 +29,7 @@
 #+PROPERTY: header-args:shell  :eval no-export
 :END:

-
+* Introduction                                                        :ignore:
 This file is organized as follow:
 - Section [[sec:effect_control_all]]:
  - One geophone on the marble and one at the sample location
@ -175,7 +175,7 @@ exportFig('figs/time_domain_marble.pdf', 'width', 'full', 'height', 'tall')
 [[file:figs/time_domain_marble.png]]

 ** Analysis - Frequency Domain
-#+begin_src matlab
+#+begin_src matlab :exports none
  dt = d3(2, 3) - d3(1, 3);

  Fs = 1/dt;
@ -233,6 +233,32 @@ exportFig('figs/psd_sample_comp_high_freq.pdf', 'width', 'full', 'height', 'tall
 #+RESULTS:
 [[file:figs/psd_sample_comp_high_freq.png]]

+#+begin_src matlab :exports none
+  figure;
+  hold on;
+  plot(f, sqrt(flip(-cumtrapz(flip(f), flip(px3)))), 'DisplayName', 'Hexa, Rz, SR, Ry, Ty');
+  plot(f, sqrt(flip(-cumtrapz(flip(f), flip(px4)))), 'DisplayName', 'Hexa, Rz, SR, Ry');
+  plot(f, sqrt(flip(-cumtrapz(flip(f), flip(px5)))), 'DisplayName', 'Hexa, Rz, SR');
+  plot(f, sqrt(flip(-cumtrapz(flip(f), flip(px6)))), 'DisplayName', 'Hexa, Rz');
+  plot(f, sqrt(flip(-cumtrapz(flip(f), flip(px7)))), 'DisplayName', 'Hexa');
+  plot(f, sqrt(flip(-cumtrapz(flip(f), flip(px8)))), 'DisplayName', 'All OFF');
+  hold off;
+  xlabel('Frequency [Hz]');
+  ylabel('CAS [V]');
+  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+  legend('location', 'southwest');
+  xlim([0.1, 300]);
+#+end_src
+
+#+begin_src matlab :tangle no :exports results :results file replace
+exportFig('figs/cas_sample_comp.pdf', 'width', 'full', 'height', 'full')
+#+end_src
+
+#+name: fig:cas_sample_comp
+#+caption:
+#+RESULTS:
+[[file:figs/cas_sample_comp.png]]
+
 *** Vibrations on the marble
 Now we plot the same curves for the geophone located on the marble.
 #+begin_src matlab :results none
@ -363,6 +389,7 @@ Each of the =mat= file contains one array =data= with 3 columns:
 ** Matlab Init                                              :noexport:ignore:
 #+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
  <<matlab-dir>>
+  addpath('../src');
 #+end_src

 #+begin_src matlab :exports none :results silent :noweb yes
@ -407,7 +434,7 @@ First, we can look at the time domain data and compare all the measurements:
 - comparison for the geophone on the granite (figure [[fig:time_domain_marble_lpf]])
 - relative displacement of the sample with respect to the marble (figure [[fig:time_domain_marble_lpf]])

-#+begin_src matlab
+#+begin_src matlab :exports none
  figure;
  hold on;
  plot(d_of(:, 3), d_of(:, 2), 'DisplayName', 'All OFF');
@ -431,7 +458,7 @@ exportFig('figs/time_domain_sample_lpf.pdf', 'width', 'full', 'height', 'tall')
 #+RESULTS:
 [[file:figs/time_domain_sample_lpf.png]]

-#+begin_src matlab
+#+begin_src matlab :exports none
  figure;
  hold on;
  plot(d_of(:, 3), d_of(:, 1), 'DisplayName', 'All OFF');
@ -455,7 +482,7 @@ exportFig('figs/time_domain_marble_lpf.pdf', 'width', 'full', 'height', 'tall')
 #+RESULTS:
 [[file:figs/time_domain_marble_lpf.png]]

-#+begin_src matlab
+#+begin_src matlab :exports none
  figure;
  hold on;
  plot(d_of(:, 3), 1e6*lsim(1/(1+s/(2*pi*0.5)), d_of(:, 2)-d_of(:, 1), d_of(:, 3)), 'DisplayName', 'All OFF');
@ -541,7 +568,7 @@ exportFig('figs/psd_sample_comp_high_freq_lpf.pdf', 'width', 'full', 'height', '

 *** Vibrations on the marble
 Now we plot the same curves for the geophone located on the marble.
-#+begin_src matlab
+#+begin_src matlab :exports none
  [px_of, f] = pwelch(d_of(:, 1), win, [], [], Fs);
  [px_ty, ~] = pwelch(d_ty(:, 1), win, [], [], Fs);
  [px_ry, ~] = pwelch(d_ry(:, 1), win, [], [], Fs);
@ -551,7 +578,7 @@ Now we plot the same curves for the geophone located on the marble.
 #+end_src

 And we compare the Amplitude Spectral Densities (figures [[fig:psd_marble_comp_lpf]] and [[fig:psd_marble_lpf_high_freq]])
-#+begin_src matlab
+#+begin_src matlab :exports none
  figure;
  hold on;
  plot(f, sqrt(px_of), 'DisplayName', 'All OFF');
--- a/disturbance-sr-rz/figs/dist_rz_cas.png
+++ b/disturbance-sr-rz/figs/dist_rz_cas.png
--- a/disturbance-sr-rz/figs/dist_rz_cps.png
+++ b/disturbance-sr-rz/figs/dist_rz_cps.png
--- a/disturbance-sr-rz/figs/dist_rz_cps_reverse.png
+++ b/disturbance-sr-rz/figs/dist_rz_cps_reverse.png
--- a/disturbance-sr-rz/figs/rz_psd_sample_granite_relative_comp.png
+++ b/disturbance-sr-rz/figs/rz_psd_sample_granite_relative_comp.png
--- a/disturbance-sr-rz/figs/rz_relative_motion.png
+++ b/disturbance-sr-rz/figs/rz_relative_motion.png
--- a/disturbance-sr-rz/figs/rz_relative_velocity.png
+++ b/disturbance-sr-rz/figs/rz_relative_velocity.png
--- a/disturbance-sr-rz/figs/slip_ring_spindle_sample_time.png
+++ b/disturbance-sr-rz/figs/slip_ring_spindle_sample_time.png
--- a/disturbance-sr-rz/figs/slip_ring_spindle_sample_zoom.png
+++ b/disturbance-sr-rz/figs/slip_ring_spindle_sample_zoom.png
--- a/disturbance-sr-rz/figs/sr_sp_psd_relative_compare.png
+++ b/disturbance-sr-rz/figs/sr_sp_psd_relative_compare.png
--- a/disturbance-sr-rz/figs/ty_comp_gm.png
+++ b/disturbance-sr-rz/figs/ty_comp_gm.png
--- a/disturbance-sr-rz/index.html
+++ b/disturbance-sr-rz/index.html
--- a/disturbance-sr-rz/index.org
+++ b/disturbance-sr-rz/index.org
@ -98,22 +98,36 @@ A movie showing the experiment is shown on figure [[fig:exp_sl_sp_gif]].
 ** Matlab Init                                              :noexport:ignore:
 #+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
  <<matlab-dir>>
-  addpath('../src');
 #+end_src

 #+begin_src matlab :exports none :results silent :noweb yes
  <<matlab-init>>
 #+end_src

+#+begin_src matlab
+  addpath('../src');
+#+end_src
+
 ** Load data
 #+begin_src matlab
-  of = load('mat/data_024.mat', 'data'); of = of.data;
-  sr = load('mat/data_025.mat', 'data'); sr = sr.data;
-  sp = load('mat/data_026.mat', 'data'); sp = sp.data;
+  of = load('mat/data_024.mat', 'data'); of = of.data; % OFF
+  sr = load('mat/data_025.mat', 'data'); sr = sr.data; % Slip Ring
+  sp = load('mat/data_026.mat', 'data'); sp = sp.data; % Spindle
+#+end_src
+
+#+begin_warning
+There is a sign error for the Geophone located on top of the Hexapod.
+The problem probably comes from the wiring in the Slip-Ring.
+#+end_warning
+
+#+begin_src matlab
+  of(:, 2) = -of(:, 2);
+  sr(:, 2) = -sr(:, 2);
+  sp(:, 2) = -sp(:, 2);
 #+end_src

 ** Voltage to Velocity
-We convert the measured voltage to velocity using the function =voltageToVelocityL22= (accessible [[file:~/Cloud/These/meas/src/index.org][here]]).
+We convert the measured voltage to velocity using the function =voltageToVelocityL22= (accessible [[file:../src/index.org][here]]).

 #+begin_src matlab
  gain = 60; % [dB]
@ -192,11 +206,11 @@ We convert the measured voltage to velocity using the function =voltageToVelocit
 ** Frequency Domain
 We first compute some parameters that will be used for the PSD computation.
 #+begin_src matlab :results none
-  dt = of(2, 3)-of(1, 3);
+  dt = of(2, 3)-of(1, 3); % [s]

  Fs = 1/dt; % [Hz]

-  win = hanning(ceil(10*Fs));
+  win = hanning(ceil(10*Fs)); % Window used
 #+end_src

 Then we compute the Power Spectral Density using =pwelch= function.
@ -215,13 +229,6 @@ And for the geophone located at the sample position.
  [pxsp_s, ~] = pwelch(sp(:, 2), win, [], [], Fs);
 #+end_src

-And finally for the relative velocity between the sample and the marble.
-#+begin_src matlab
-  [pxof_r, ~] = pwelch(of(:, 2)-of(:, 1), win, [], [], Fs);
-  [pxsr_r, ~] = pwelch(sr(:, 2)-sr(:, 1), win, [], [], Fs);
-  [pxsp_r, ~] = pwelch(sp(:, 2)-sp(:, 1), win, [], [], Fs);
-#+end_src
-
 And we plot the ASD of the measured velocities:
 - figure [[fig:sr_sp_psd_marble_compare]] for the geophone located on the marble
 - figure [[fig:sr_sp_psd_sample_compare]] for the geophone at the sample position
@ -276,6 +283,115 @@ And we plot the ASD of the measured velocities:
 #+RESULTS: fig:sr_sp_psd_sample_compare
 [[file:figs/sr_sp_psd_sample_compare.png]]

+We load the ground motion to compare with the measurements (Fig. [[fig:ty_comp_gm]]).
+We see that the motion is dominated by the ground motion below 20Hz.
+#+begin_src matlab
+  gm = load('../ground-motion/mat/psd_gm.mat', 'f', 'psd_gv');
+#+end_src
+
+#+begin_src matlab :results none
+  figure;
+  hold on;
+  plot(f, sqrt(pxsp_m), 'DisplayName', 'Spindle - 6rpm');
+  plot(f, sqrt(pxsr_m), 'DisplayName', 'Slip-Ring - 6rpm');
+  plot(f, sqrt(pxof_m), 'DisplayName', 'OFF');
+  plot(gm.f, sqrt(gm.psd_gv), 'k-', 'DisplayName', 'Ground Motion');
+  hold off;
+  set(gca, 'xscale', 'log');
+  set(gca, 'yscale', 'log');
+  xlabel('Frequency [Hz]'); ylabel('ASD of the measured velocity $\left[\frac{m/s}{\sqrt{Hz}}\right]$')
+  legend('Location', 'southwest');
+  xlim([2, 500]);
+#+end_src
+
+#+HEADER: :tangle no :exports results :results none :noweb yes
+#+begin_src matlab :var filepath="figs/ty_comp_gm.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
+  <<plt-matlab>>
+#+end_src
+
+#+NAME: fig:ty_comp_gm
+#+CAPTION: Comparison of the ground velocity with the measured velocity ([[./figs/ty_comp_gm.png][png]], [[./figs/ty_comp_gm.pdf][pdf]])
+[[file:figs/ty_comp_gm.png]]
+
+
+** Relative Motion
+The relative velocity between the sample and the marble is shown in Fig. [[fig:rz_relative_velocity]].
+The velocity is integrated to have the relative displacement in Fig. [[fig:rz_relative_motion]].
+
+#+begin_src matlab :exports results
+  figure;
+  hold on;
+  plot(sp(:, 3), sp(:, 2)-sp(:, 1), 'DisplayName', 'Spindle - 6rpm');
+  plot(sr(:, 3), sr(:, 2)-sr(:, 1), 'DisplayName', 'Slip-Ring - 6rpm');
+  plot(of(:, 3), of(:, 2)-of(:, 1), 'DisplayName', 'OFF');
+  hold off;
+  xlabel('Time [s]'); ylabel('Velocity [m/s]');
+  xlim([0, 100]); ylim([-1e-4, 1e-4]);
+  legend('Location', 'northeast');
+#+end_src
+
+#+HEADER: :tangle no :exports results :results none :noweb yes
+#+begin_src matlab :var filepath="figs/rz_relative_velocity.pdf" :var figsize="wide-normal" :post pdf2svg(file=*this*, ext="png")
+  <<plt-matlab>>
+#+end_src
+
+#+NAME: fig:rz_relative_velocity
+#+CAPTION: Relative velocity between the hexapod and the marble ([[./figs/rz_relative_velocity.png][png]], [[./figs/rz_relative_velocity.pdf][pdf]])
+[[file:figs/rz_relative_velocity.png]]
+
+Time domain: Integration to have the displacement
+#+begin_src matlab :exports results
+  figure;
+  hold on;
+  plot(sp(:, 3), lsim(1/s, sp(:, 2)-sp(:, 1), sp(:, 3)), 'DisplayName', 'Spindle - 6rpm');
+  plot(sr(:, 3), lsim(1/s, sr(:, 2)-sr(:, 1), sr(:, 3)), 'DisplayName', 'Slip-Ring - 6rpm');
+  plot(of(:, 3), lsim(1/s, of(:, 2)-of(:, 1), of(:, 3)), 'DisplayName', 'OFF');
+  hold off;
+  xlabel('Time [s]'); ylabel('Displacement [m]');
+  xlim([0, 100]);
+  legend('Location', 'northeast');
+#+end_src
+
+#+HEADER: :tangle no :exports results :results none :noweb yes
+#+begin_src matlab :var filepath="figs/rz_relative_motion.pdf" :var figsize="wide-normal" :post pdf2svg(file=*this*, ext="png")
+  <<plt-matlab>>
+#+end_src
+
+#+NAME: fig:rz_relative_motion
+#+CAPTION: Relative displacement between the Hexapod and the marble ([[./figs/rz_relative_motion.png][png]], [[./figs/rz_relative_motion.pdf][pdf]])
+[[file:figs/rz_relative_motion.png]]
+
+We compute the PSD of the relative velocity between the sample and the marble.
+#+begin_src matlab
+  [pxof_r, f] = pwelch(of(:, 2)-of(:, 1), win, [], [], Fs);
+  [pxsr_r, ~] = pwelch(sr(:, 2)-sr(:, 1), win, [], [], Fs);
+  [pxsp_r, ~] = pwelch(sp(:, 2)-sp(:, 1), win, [], [], Fs);
+#+end_src
+
+The Power Spectral Density of the Granite Velocity, Sample velocity and relative velocity are compare in Fig. [[fig:rz_psd_sample_granite_relative_comp]].
+#+begin_src matlab :exports results
+  figure;
+  hold on;
+  plot(f, sqrt(pxof_m)./(2*pi*f), 'DisplayName', 'Granite');
+  plot(f, sqrt(pxof_s)./(2*pi*f), 'DisplayName', 'Sample');
+  plot(f, sqrt(pxof_r)./(2*pi*f), 'DisplayName', 'Diff');
+  hold off;
+  set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');
+  xlabel('Frequency [Hz]'); ylabel('ASD of the relative velocity $\left[\frac{m/s}{\sqrt{Hz}}\right]$')
+  legend('Location', 'southwest');
+  xlim([2, 500]);
+#+end_src
+
+#+HEADER: :tangle no :exports results :results none :noweb yes
+#+begin_src matlab :var filepath="figs/rz_psd_sample_granite_relative_comp.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
+  <<plt-matlab>>
+#+end_src
+
+#+NAME: fig:rz_psd_sample_granite_relative_comp
+#+CAPTION: Comparison of the PSD of the velocity of the Sample, Granite and relative velocity ([[./figs/rz_psd_sample_granite_relative_comp.png][png]], [[./figs/rz_psd_sample_granite_relative_comp.pdf][pdf]])
+[[file:figs/rz_psd_sample_granite_relative_comp.png]]
+
+Then, we display the PSD of the relative velocity for all three cases in Fig. [[fig:sr_sp_psd_relative_compare]].
 #+begin_src matlab :results none
  figure;
  hold on;
@ -301,12 +417,94 @@ And we plot the ASD of the measured velocities:
 #+RESULTS: fig:sr_sp_psd_relative_compare
 [[file:figs/sr_sp_psd_relative_compare.png]]

+The Cumulative Power Spectrum of the relative velocity is shown in Fig. [[fig:dist_rz_cps]] and in Fig. [[fig:dist_rz_cps_reverse]] (integrated in reverse direction).
+#+begin_src matlab :results none :exports results
+  figure;
+  hold on;
+  plot(f, cumtrapz(f,pxsp_r), 'DisplayName', 'Spindle - 6rpm');
+  plot(f, cumtrapz(f,pxsr_r), 'DisplayName', 'Slip-Ring - 6rpm');
+  plot(f, cumtrapz(f,pxof_r), 'DisplayName', 'OFF');
+  hold off;
+  set(gca, 'xscale', 'log');
+  set(gca, 'yscale', 'log');
+  xlabel('Frequency [Hz]'); ylabel('CPS of the relative velocity $\left[\frac{(m/s)^2}{Hz}\right]$')
+  legend('Location', 'southwest');
+  xlim([2, 500]);
+#+end_src
+
+#+HEADER: :tangle no :exports results :results none :noweb yes
+#+begin_src matlab :var filepath="figs/dist_rz_cps.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
+  <<plt-matlab>>
+#+end_src
+
+#+NAME: fig:dist_rz_cps
+#+CAPTION: Cumulative Power Spectrum of the relative velocity ([[./figs/dist_rz_cps.png][png]], [[./figs/dist_rz_cps.pdf][pdf]])
+[[file:figs/dist_rz_cps.png]]
+
+
+#+begin_src matlab :exports results
+  figure;
+  hold on;
+  plot(f, flip(-cumtrapz(flip(f), flip(pxsp_r))), 'DisplayName', 'Spindle - 6rpm');
+  plot(f, flip(-cumtrapz(flip(f), flip(pxsr_r))), 'DisplayName', 'Slip-Ring - 6rpm');
+  plot(f, flip(-cumtrapz(flip(f), flip(pxof_r))), 'DisplayName', 'OFF');
+  hold off;
+  set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');
+  xlabel('Frequency [Hz]'); ylabel('CPS of the relative velocity $\left[\frac{(m/s)^2}{Hz}\right]$')
+  legend('Location', 'southwest');
+  xlim([2, 500]);
+#+end_src
+
+#+HEADER: :tangle no :exports results :results none :noweb yes
+#+begin_src matlab :var filepath="figs/dist_rz_cps_reverse.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
+  <<plt-matlab>>
+#+end_src
+
+#+NAME: fig:dist_rz_cps_reverse
+#+CAPTION: Cumulative Power Spectrum of the relative velocity (integrated from high to low frequencies) ([[./figs/dist_rz_cps_reverse.png][png]], [[./figs/dist_rz_cps_reverse.pdf][pdf]])
+[[file:figs/dist_rz_cps_reverse.png]]
+
+
+Finally, the Cumulative Amplitude Spectrum of the relative position between the hexapod and the marble is shown in Fig. [[fig:dist_rz_cas]].
+#+begin_src matlab :results none
+  figure;
+  hold on;
+  plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxsp_r./(2*pi*f).^2)))), 'DisplayName', 'Spindle - 6rpm');
+  plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxsr_r./(2*pi*f).^2)))), 'DisplayName', 'Slip-Ring - 6rpm');
+  plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxof_r./(2*pi*f).^2)))), 'DisplayName', 'OFF');
+  hold off;
+  set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');
+  xlabel('Frequency [Hz]'); ylabel('CAS of the relative displacement $\left[\frac{m}{\sqrt{Hz}}\right]$')
+  legend('Location', 'southwest');
+  xlim([2, 500]);
+#+end_src
+
+#+HEADER: :tangle no :exports results :results none :noweb yes
+#+begin_src matlab :var filepath="figs/dist_rz_cas.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
+  <<plt-matlab>>
+#+end_src
+
+#+NAME: fig:dist_rz_cas
+#+CAPTION: Cumulative Amplitude Spectrum of the relative motion Hexapod/Granite ([[./figs/dist_rz_cas.png][png]], [[./figs/dist_rz_cas.pdf][pdf]])
+[[file:figs/dist_rz_cas.png]]
+
+** Save
+The Power Spectral Density of the relative velocity and of the hexapod velocity is saved for further analysis.
+#+begin_src matlab
+  save('mat/pxsp_r.mat', 'f', 'pxsp_r', 'pxsp_s');
+#+end_src
+
 ** Conclusion
 #+begin_important
-  - The slip-ring rotation induces almost no vibrations on the marble, and only a little vibrations on the sample above 100Hz.
+The relative motion below 20Hz is dominated by another effect than the rotation of the Spindle (probably ground motion).

-  - The spindle rotation induces a lot of vibrations of the sample as well as on the granite.
-  - There is a huge peak at 24Hz on the sample vibration but not on the granite vibration
-    - The peak is really sharp, could this be due to magnetic effect?
-    - Should redo the measurement with piezo accelerometers.
+The Slip-Ring rotation induce almost no relative motion of the hexapod with respect to the granite (only a little above 400Hz).
+
+The Spindle rotation induces relative motion of the hexapod with respect to the granite above 20Hz.
+#+end_important
+
+#+begin_important
+There is a huge peak at 24Hz on the sample vibration but not on the granite vibration
+- The peak is really sharp, could this be due to magnetic effect?
+- Should redo the measurement with piezo accelerometers.
 #+end_important
--- a/disturbance-sr-rz/mat/pxsp_r.mat
+++ b/disturbance-sr-rz/mat/pxsp_r.mat
--- a/disturbance-ty-sr/matlab/disturbance_ty_sr.m
+++ b/disturbance-ty-sr/matlab/disturbance_ty_sr.m
@ -11,7 +11,7 @@ ty_on = load('mat/data_051.mat', 'data'); ty_on = ty_on.data;
 ty_1h = load('mat/data_052.mat', 'data'); ty_1h = ty_1h.data;

 % Voltage to Velocity
-% We convert the measured voltage to velocity using the function =voltageToVelocityL22= (accessible [[file:~/MEGA/These/meas/src/index.org][here]]).
+% We convert the measured voltage to velocity using the function =voltageToVelocityL22= (accessible [[file:~/Cloud/thesis/meas/srcindex.org][here]]).


 gain = 40; % [dB]
--- a/disturbance-ty/figs/asd_east_marble.png
+++ b/disturbance-ty/figs/asd_east_marble.png
--- a/disturbance-ty/figs/asd_east_sample.png
+++ b/disturbance-ty/figs/asd_east_sample.png
--- a/disturbance-ty/figs/asd_z_direction.png
+++ b/disturbance-ty/figs/asd_z_direction.png
--- a/disturbance-ty/figs/asd_z_relative.png
+++ b/disturbance-ty/figs/asd_z_relative.png
--- a/disturbance-ty/figs/ty_e_time.png
+++ b/disturbance-ty/figs/ty_e_time.png
--- a/disturbance-ty/figs/ty_z_time.png
+++ b/disturbance-ty/figs/ty_z_time.png
--- a/disturbance-ty/figs/x_relative_disp.png
+++ b/disturbance-ty/figs/x_relative_disp.png
--- a/disturbance-ty/figs/z_relative_disp.png
+++ b/disturbance-ty/figs/z_relative_disp.png
--- a/disturbance-ty/index.html
+++ b/disturbance-ty/index.html
--- a/disturbance-ty/index.org
+++ b/disturbance-ty/index.org
@ -37,7 +37,7 @@ Two geophone are use:
 - One at the sample location (corresponding to the second column in the data)

 Two voltage amplifiers are used, their setup is:
- gain of 40dB (the gain at the be lowered from 60dB to 40dB to not saturate the voltage amplifiers)
+- gain of 40dB (the gain had to be lowered from 60dB to 40dB in order to not saturate the voltage amplifiers)
 - AC/DC switch on AC
 - Low pass filter at 1kHz

@ -75,6 +75,9 @@ Each of the measurement =mat= file contains one =data= array with 3 columns:
 #+attr_html: :width 500px
 [[file:./img/IMG_20190513_163032.jpg]]

+We also use the file =mat/data_051.mat= when we measure the z direction when everything is off.
+The setup used for the measurement is described [[file:~/Cloud/thesis/matlab/meas/disturbance-ty-sr/index.org][here]].
+
 * Measurement Analysis
  :PROPERTIES:
  :header-args:matlab+: :tangle matlab/disturbance_ty.m
@ -113,21 +116,33 @@ Each of the measurement =mat= file contains one =data= array with 3 columns:
 ** Load data
 #+begin_src matlab
  z_ty = load('mat/data_040.mat', 'data'); z_ty = z_ty.data;
+  z_of = load('mat/data_051.mat', 'data'); z_of = z_of.data;
  e_ty = load('mat/data_041.mat', 'data'); e_ty = e_ty.data;
  e_of = load('mat/data_042.mat', 'data'); e_of = e_of.data;
 #+end_src

+#+begin_warning
+  There is probably a sign error for the Geophone located on top of the Hexapod (only for the z direction).
+  The problem probably comes from the wiring in the Slip-Ring.
+#+end_warning
+
+#+begin_src matlab
+  z_ty(:, 2) = -z_ty(:, 2);
+#+end_src
+
 ** Voltage to Velocity
-We convert the measured voltage to velocity using the function =voltageToVelocityL22= (accessible [[file:~/Cloud/These/meas/src/index.org][here]]).
+We convert the measured voltage to velocity using the function =voltageToVelocityL22= (accessible [[file:~/Cloud/thesis/meas/srcindex.org][here]]).

 #+begin_src matlab
  gain = 40; % [dB]

  z_ty(:, 1) = voltageToVelocityL22(z_ty(:, 1), z_ty(:, 3), gain);
+  z_of(:, 1) = voltageToVelocityL22(z_of(:, 1), z_of(:, 3), gain);
  e_ty(:, 1) = voltageToVelocityL22(e_ty(:, 1), e_ty(:, 3), gain);
  e_of(:, 1) = voltageToVelocityL22(e_of(:, 1), e_of(:, 3), gain);

  z_ty(:, 2) = voltageToVelocityL22(z_ty(:, 2), z_ty(:, 3), gain);
+  z_of(:, 2) = voltageToVelocityL22(z_of(:, 2), z_of(:, 3), gain);
  e_ty(:, 2) = voltageToVelocityL22(e_ty(:, 2), e_ty(:, 3), gain);
  e_of(:, 2) = voltageToVelocityL22(e_of(:, 2), e_of(:, 3), gain);
 #+end_src
@ -137,7 +152,7 @@ We plot the measured velocity of the marble and sample in the vertical direction

 We also integrate the relative velocity to obtain the relative displacement (figure [[fig:x_relative_disp]] in the X direction and figure [[fig:z_relative_disp]] in the Z direction).

-#+begin_src matlab
+#+begin_src matlab :exports results
  figure;
  hold on;
  plot(z_ty(:, 3), z_ty(:, 1), 'DisplayName', 'Marble - Z');
@ -159,7 +174,7 @@ We also integrate the relative velocity to obtain the relative displacement (fig
 #+RESULTS: fig:ty_z_time
 [[file:figs/ty_z_time.png]]

-#+begin_src matlab
+#+begin_src matlab :exports results
  figure;
  hold on;
  plot(e_ty(:, 3), e_ty(:, 1), 'DisplayName', 'Marble - X');
@ -181,11 +196,15 @@ We also integrate the relative velocity to obtain the relative displacement (fig
 #+RESULTS: fig:ty_e_time
 [[file:figs/ty_e_time.png]]

-#+begin_src matlab
+#+begin_src matlab :exports results
  figure;
-  plot(e_ty(:, 3), 1e6*lsim(1/s, e_ty(:, 2)-e_ty(:, 1), e_ty(:, 3)));
+  hold on;
+  plot(e_ty(:, 3), 1e6*lsim(1/s, e_ty(:, 2)-e_ty(:, 1), e_ty(:, 3)), 'DisplayName', 'Ty Scan');
+  plot(e_of(:, 3), 1e6*lsim(1/s, e_of(:, 2)-e_of(:, 1), e_of(:, 3)), 'DisplayName', 'Ty OFF');
+  hold off;
  xlabel('Time [s]'); ylabel('X Relative Displacement [$\mu m$]');
  xlim([0, 2]);
+  legend('location', 'southeast');
 #+end_src

 #+NAME: fig:x_relative_disp
@ -199,9 +218,12 @@ We also integrate the relative velocity to obtain the relative displacement (fig
 #+RESULTS: fig:x_relative_disp
 [[file:figs/x_relative_disp.png]]

-#+begin_src matlab
+#+begin_src matlab :exports results
  figure;
-  plot(z_ty(:, 3), 1e6*lsim(1/s, z_ty(:, 2)-z_ty(:, 1), z_ty(:, 3)));
+  hold on;
+  plot(z_ty(:, 3), 1e6*lsim(1/s, z_ty(:, 2)-z_ty(:, 1), z_ty(:, 3)), 'DisplayName', 'Ty Scan');
+  plot(z_of(:, 3), 1e6*lsim(1/s, z_of(:, 2)-z_of(:, 1), z_of(:, 3)), 'DisplayName', 'Ty OFF');
+  hold off;
  xlabel('Time [s]'); ylabel('Z Relative Displacement [$\mu m$]');
  xlim([0, 2]);
 #+end_src
@ -217,10 +239,10 @@ We also integrate the relative velocity to obtain the relative displacement (fig
 #+RESULTS: fig:z_relative_disp
 [[file:figs/z_relative_disp.png]]

-** Frequency Domain analysis
-We get the typical ground velocity to compare with the velocities measured.
+** Frequency Domain
+We load measured ground motion at ID31 to compare with the velocities measured.
 #+begin_src matlab
-  [pxx_gm, f_gm] = getPSDGroundVelocity();
+  gm = load('../ground-motion/mat/psd_gm.mat', 'f', 'psd_gm', 'psd_gv');
 #+end_src

 We first compute some parameters that will be used for the PSD computation.
@ -236,37 +258,31 @@ Then we compute the Power Spectral Density using =pwelch= function.

 First for the geophone located on the marble
 #+begin_src matlab
-  [pxz_ty_m, f] = pwelch(z_ty(:, 1), win, [], [], Fs);
-  [pxe_ty_m, ~] = pwelch(e_ty(:, 1), win, [], [], Fs);
-  [pxe_of_m, ~] = pwelch(e_of(:, 1), win, [], [], Fs);
+  [pxz_ty_m, f] = pwelch(z_ty(:, 1), win, [], gm.f, Fs);
+  [pxz_of_m, ~] = pwelch(z_of(:, 1), win, [], gm.f, Fs);
+  [pxe_ty_m, ~] = pwelch(e_ty(:, 1), win, [], gm.f, Fs);
+  [pxe_of_m, ~] = pwelch(e_of(:, 1), win, [], gm.f, Fs);
 #+end_src

 And for the geophone located at the sample position.
 #+begin_src matlab
-  [pxz_ty_s, ~] = pwelch(z_ty(:, 2), win, [], [], Fs);
-  [pxe_ty_s, ~] = pwelch(e_ty(:, 2), win, [], [], Fs);
-  [pxe_of_s, ~] = pwelch(e_of(:, 2), win, [], [], Fs);
-#+end_src
-
-And finally for the relative velocity between the sample and the marble.
-#+begin_src matlab
-  [pxz_ty_r, ~] = pwelch(z_ty(:, 2)-z_ty(:, 1), win, [], [], Fs);
-  [pxe_ty_r, ~] = pwelch(e_ty(:, 2)-e_ty(:, 1), win, [], [], Fs);
-  [pxe_of_r, ~] = pwelch(e_of(:, 2)-e_of(:, 1), win, [], [], Fs);
+  [pxz_ty_s, ~] = pwelch(z_ty(:, 2), win, [], gm.f, Fs);
+  [pxz_of_s, ~] = pwelch(z_of(:, 2), win, [], gm.f, Fs);
+  [pxe_ty_s, ~] = pwelch(e_ty(:, 2), win, [], gm.f, Fs);
+  [pxe_of_s, ~] = pwelch(e_of(:, 2), win, [], gm.f, Fs);
 #+end_src

 And we plot the ASD of the measured velocities:
 - figure [[fig:asd_east_marble]] compares the marble velocity in the east direction when scanning and when Ty is OFF
 - figure [[fig:asd_east_sample]] compares the sample velocity in the east direction when scanning and when Ty is OFF
 - figure [[fig:asd_z_direction]] shows the marble and sample velocities in the Z direction when scanning with the translation stage
- figure [[fig:asd_e_relative]] shows the relative velocity of the sample with respect to the granite in the X direction when the translation stage is OFF and when it is scanning at 1Hz

-#+begin_src matlab
+#+begin_src matlab :exports results
  figure;
  hold on;
  plot(f, sqrt(pxe_ty_m), 'DisplayName', 'Ty 1Hz - Marble - X');
  plot(f, sqrt(pxe_of_m), 'DisplayName', 'Ty OFF - Marble - X');
-  plot(f_gm, sqrt(pxx_gm), 'k--', 'DisplayName', 'Ground Motion');
+  plot(gm.f, sqrt(gm.psd_gv), 'k--', 'DisplayName', 'Ground Motion');
  hold off;
  set(gca, 'xscale', 'log');
  set(gca, 'yscale', 'log');
@ -287,12 +303,12 @@ And we plot the ASD of the measured velocities:
 [[file:figs/asd_east_marble.png]]


-#+begin_src matlab
+#+begin_src matlab :exports results
  figure;
  hold on;
  plot(f, sqrt(pxe_ty_s), 'DisplayName', 'Ty 1Hz - Sample - X');
  plot(f, sqrt(pxe_of_s), 'DisplayName', 'Ty OFF - Sample - X');
-  plot(f_gm, sqrt(pxx_gm), 'k--', 'DisplayName', 'Ground Motion');
+  plot(gm.f, sqrt(gm.psd_gv), 'k--', 'DisplayName', 'Ground Motion');
  hold off;
  set(gca, 'xscale', 'log');
  set(gca, 'yscale', 'log');
@ -313,12 +329,12 @@ And we plot the ASD of the measured velocities:
 [[file:figs/asd_east_sample.png]]


-#+begin_src matlab
+#+begin_src matlab :exports results
  figure;
  hold on;
  plot(f, sqrt(pxz_ty_m), 'DisplayName', 'Ty 1Hz - Marble - Z');
-  plot(f, sqrt(pxz_ty_s), 'DisplayName', 'Ty 1Hz - Sample - Z');
-  plot(f_gm, sqrt(pxx_gm), 'k--', 'DisplayName', 'Ground Motion');
+  plot(f, sqrt(pxz_of_m), 'DisplayName', 'Ty OFF - Marble - Z');
+  plot(gm.f, sqrt(gm.psd_gv), 'k--', 'DisplayName', 'Ground Motion');
  hold off;
  set(gca, 'xscale', 'log');
  set(gca, 'yscale', 'log');
@ -338,8 +354,79 @@ And we plot the ASD of the measured velocities:
 #+RESULTS: fig:asd_z_direction
 [[file:figs/asd_z_direction.png]]

+#+begin_src matlab :exports results
+  figure;
+  hold on;
+  plot(f, sqrt(pxz_ty_s), 'DisplayName', 'Ty 1Hz - Sample - Z');
+  plot(f, sqrt(pxz_of_s), 'DisplayName', 'Ty OFF - Sample - Z');
+  plot(gm.f, sqrt(gm.psd_gv), 'k--', 'DisplayName', 'Ground Motion');
+  hold off;
+  set(gca, 'xscale', 'log');
+  set(gca, 'yscale', 'log');
+  xlabel('Frequency [Hz]'); ylabel('ASD of the measured velocity $\left[\frac{m/s}{\sqrt{Hz}}\right]$')
+  legend('Location', 'northwest');
+  xlim([0.1, 500]);
+#+end_src

+#+NAME: fig:asd_z_direction
+#+HEADER: :tangle no :exports results :results value raw replace :noweb yes
+#+begin_src matlab :var filepath="figs/asd_z_direction.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
+  <<plt-matlab>>
+#+end_src
+
+#+NAME: fig:asd_z_direction
+#+CAPTION: Amplitude spectral density of the measure velocity corresponding to the geophone in the vertical direction located on the granite and at the sample location when the translation stage is scanning at 1Hz
+#+RESULTS: fig:asd_z_direction
+[[file:figs/asd_z_direction.png]]
+
+** Relative Motion
+And finally for the relative velocity between the sample and the marble.
 #+begin_src matlab
+  [pxz_ty_r, f] = pwelch(z_ty(:, 2)-z_ty(:, 1), win, [], gm.f, Fs);
+  [pxz_of_r, ~] = pwelch(z_of(:, 2)-z_of(:, 1), win, [], gm.f, Fs);
+  [pxe_ty_r, ~] = pwelch(e_ty(:, 2)-e_ty(:, 1), win, [], gm.f, Fs);
+  [pxe_of_r, ~] = pwelch(e_of(:, 2)-e_of(:, 1), win, [], gm.f, Fs);
+#+end_src
+
+Fig. [[fig:asd_e_relative]] shows the relative velocity of the sample with respect to the granite in the X direction when the translation stage is OFF and when it is scanning at 1Hz
+
+#+begin_src matlab :export results
+  figure;
+  hold on;
+  plot(f, sqrt(pxz_of_r), 'DisplayName', 'Ty OFF - Relative - Z');
+  plot(f, sqrt(pxz_of_s), 'DisplayName', 'Ty 1Hz - Relative - Z');
+  plot(f, sqrt(pxz_of_m), 'DisplayName', 'Ty 1Hz - Relative - Z');
+  hold off;
+  set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');
+  xlabel('Frequency [Hz]'); ylabel('ASD of the measured velocity $\left[\frac{m/s}{\sqrt{Hz}}\right]$')
+  legend('Location', 'northwest');
+  xlim([0.1, 500]);
+#+end_src
+
+#+begin_src matlab :export results
+  figure;
+  hold on;
+  plot(f, sqrt(pxz_of_r), 'DisplayName', 'Ty OFF - Relative - Z');
+  plot(f, sqrt(pxz_ty_r), 'DisplayName', 'Ty 1Hz - Relative - Z');
+  hold off;
+  set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');
+  xlabel('Frequency [Hz]'); ylabel('ASD of the measured velocity $\left[\frac{m/s}{\sqrt{Hz}}\right]$')
+  legend('Location', 'northwest');
+  xlim([0.1, 500]);
+#+end_src
+
+#+NAME: fig:asd_z_relative
+#+HEADER: :tangle no :exports results :results value raw replace :noweb yes
+#+begin_src matlab :var filepath="figs/asd_z_relative.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
+  <<plt-matlab>>
+#+end_src
+
+#+NAME: fig:asd_z_relative
+#+CAPTION: Amplitude spectral density of the measured relative velocity in the X direction
+#+RESULTS: fig:asd_z_relative
+[[file:figs/asd_z_relative.png]]
+
+#+begin_src matlab :export results
  figure;
  hold on;
  plot(f, sqrt(pxe_of_r), 'DisplayName', 'Ty OFF - Relative - E');
@ -363,7 +450,14 @@ And we plot the ASD of the measured velocities:
 #+RESULTS: fig:asd_e_relative
 [[file:figs/asd_e_relative.png]]

-** Transfer function from marble motion in the East direction to sample motion in the East direction
+** Save
+The Power Spectral Density of the relative velocity is saved for further analysis.
+#+begin_src matlab
+  save('mat/pxz_ty_r.mat', 'f', 'pxz_ty_r', 'pxz_ty_s');
+  save('mat/pxe_ty_r.mat', 'f', 'pxe_ty_r', 'pxe_ty_s');
+#+end_src
+
+** Transfer function from marble motion in the East direction to sample motion in the East direction :noexport:
 Let's compute the transfer function for the marble velocity in the east direction to the sample velocity in the east direction.

 We first plot the time domain motions when every stage is off (figure [[fig:east_marble_sample]]).
--- a/disturbance-ty/mat/data_051.mat
+++ b/disturbance-ty/mat/data_051.mat
--- a/disturbance-ty/mat/pxe_ty_r.mat
+++ b/disturbance-ty/mat/pxe_ty_r.mat
--- a/disturbance-ty/mat/pxz_ty_r.mat
+++ b/disturbance-ty/mat/pxz_ty_r.mat
--- a/disturbance-ty/matlab/disturbance_ty.m
+++ b/disturbance-ty/matlab/disturbance_ty.m
@ -11,7 +11,7 @@ e_ty = load('mat/data_041.mat', 'data'); e_ty = e_ty.data;
 e_of = load('mat/data_042.mat', 'data'); e_of = e_of.data;

 % Voltage to Velocity
-% We convert the measured voltage to velocity using the function =voltageToVelocityL22= (accessible [[file:~/MEGA/These/meas/src/index.org][here]]).
+% We convert the measured voltage to velocity using the function =voltageToVelocityL22= (accessible [[file:~/Cloud/thesis/meas/srcindex.org][here]]).


 gain = 40; % [dB]
--- a/ground-motion/figs/nohup.out
+++ b/ground-motion/figs/nohup.out
@ -1,3 +0,0 @@
-invalid color string: rgba(50, 48, 47)
-
-(termite:1468): GLib-WARNING **: 17:39:09.552: GChildWatchSource: Exit status of a child process was requested but ECHILD was received by waitpid(). See the documentation of g_child_watch_source_new() for possible causes.
--- a/ground-motion/img/nohup.out
+++ b/ground-motion/img/nohup.out
@ -1,3 +0,0 @@
-invalid color string: rgba(50, 48, 47)
-
-(termite:29687): GLib-WARNING **: 17:42:45.114: GChildWatchSource: Exit status of a child process was requested but ECHILD was received by waitpid(). See the documentation of g_child_watch_source_new() for possible causes.
--- a/huddle-test-geophones/matlab/huddle_test_compare_axis.m
+++ b/huddle-test-geophones/matlab/huddle_test_compare_axis.m
@ -1,6 +1,6 @@
 % Matlab Init                                              :noexport:ignore:

-current_dir='/home/thomas/MEGA/These/meas/huddle-test-geophones/';
+current_dir='/home/thomas/Cloud/thesis/meas/huddle-test-geophones';
 %% Go to current Directory
 cd(current_dir);

--- a/huddle-test-geophones/matlab/huddle_test_signal_processing.m
+++ b/huddle-test-geophones/matlab/huddle_test_signal_processing.m
@ -1,6 +1,6 @@
 % Matlab Init                                              :noexport:ignore:

-current_dir='/home/thomas/MEGA/These/meas/huddle-test-geophones/';
+current_dir='/home/thomas/Cloud/thesis/meas/huddle-test-geophones';
 %% Go to current Directory
 cd(current_dir);

--- a/instrumentation/index.org
+++ b/instrumentation/index.org
@ -349,7 +349,7 @@ The values of the components are:
 Which makes a cut-off frequency of $f_c = \frac{1}{RC} = 1000 rad/s = 160Hz$.

 #+NAME: fig:lpf
-#+HEADER: :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/These/LaTeX/}{config.tex}")
+#+HEADER: :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/thesis/latex/org/}{config.tex}")
 #+HEADER: :imagemagick t :fit yes :iminoptions -scale 100% -density 150 :imoutoptions -quality 100
 #+HEADER: :results raw replace :buffer no :eval no-export :exports both :mkdirp yes
 #+HEADER: :output-dir figs
--- a/modal-analysis/data/modal_frf_coh.zip
+++ b/modal-analysis/data/modal_frf_coh.zip
--- a/modal-analysis/frf_processing.org
+++ b/modal-analysis/frf_processing.org
@ -30,7 +30,7 @@

 #+PROPERTY: header-args:shell  :eval no-export

-#+PROPERTY: header-args:latex  :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/These/LaTeX/}{config.tex}")
+#+PROPERTY: header-args:latex  :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/thesis/latex/org/}{config.tex}")
 #+PROPERTY: header-args:latex+ :imagemagick t :fit yes
 #+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
 #+PROPERTY: header-args:latex+ :imoutoptions -quality 100
--- a/modal-analysis/mat/mode_damps.txt
+++ b/modal-analysis/mat/mode_damps.txt
@ -1,21 +1,16 @@
-8.72664
-11.75321
-6.44322
-3.60695
-0.24170
-2.83603
-4.60472
-0.64145
-1.58544
-3.56361
-0.26865
-2.86851
-3.30737
-3.27213
-1.89158
-3.02795
-2.71094
-0.56008
-1.64638
-2.17368
-1.39142
+12.20318
+11.66888
+6.19561
+2.79104
+2.76253
+4.34928
+1.25546
+3.65470
+2.94088
+3.19084
+1.55526
+3.13166
+2.76141
+1.34304
+2.43201
+1.38400
--- a/modal-analysis/mat/mode_freqs.txt
+++ b/modal-analysis/mat/mode_freqs.txt
@ -1,21 +1,16 @@
-11.41275
-18.51409
-37.58431
-39.43487
-53.99524
-56.14871
-69.68561
-71.58533
-72.35341
-84.92538
-90.56538
-91.00542
-95.76079
-105.43696
-106.76771
-112.58508
-116.84928
-124.13356
-145.35893
-150.10734
-164.65885
+11.86509
+18.55747
+37.82163
+39.07850
+56.31944
+69.78452
+72.49325
+84.83446
+91.26350
+105.47266
+106.57165
+112.67669
+124.20538
+145.30034
+150.52113
+165.42632
--- a/modal-analysis/mat/mode_modal_a.txt
+++ b/modal-analysis/mat/mode_modal_a.txt
@ -1,21 +1,16 @@
-4.50556e+003 -9.41744e+003
-1.56119e+003 -1.64408e+004
-1.24918e+004 -2.00022e+004
-1.83730e+004 +8.73583e+004
-6.02120e+005 -5.53574e+004
-8.13722e+003 -4.17194e+004
-9.12802e+003 -3.78264e+004
-1.83523e+005 -5.45837e+005
-1.85481e+005 -8.15852e+004
-6.44647e+003 -3.91843e+004
-2.02548e+005 -4.85436e+005
-1.54209e+002 -3.09920e+004
-2.10759e+004 -1.47578e+004
-8.03639e+003 -7.00743e+004
-1.73222e+005 +1.94075e+005
-5.46351e+003 -9.46357e+003
-2.00775e+004 +5.23111e+004
-6.04037e+004 -8.70001e+004
-1.50266e+004 -1.61655e+005
-1.66427e+005 +1.73772e+005
-2.41033e+005 +2.81618e+005
+4.13559e+003 +6.22828e+003
+2.76278e+002 +1.74197e+004
+-1.32270e+004 +2.17346e+004
+-2.48397e+005 -1.60998e+005
+-4.23967e+004 +7.06852e+004
+-7.36964e+003 +4.57024e+004
+1.37806e+005 +3.00336e+005
+-1.31109e+004 +2.81759e+004
+5.59259e+003 -4.27543e+004
+-5.28869e+004 +6.38436e+003
+3.71578e+004 +1.57745e+004
+-4.24659e+004 +7.90956e+003
+-3.57355e+004 +1.13161e+005
+5.24764e+004 -1.45211e+005
+1.97228e+005 +2.51758e+005
+-3.00273e+005 +3.27201e+005
--- a/modal-analysis/mat/mode_modal_b.txt
+++ b/modal-analysis/mat/mode_modal_b.txt
@ -1,21 +1,16 @@
-7.00928e+005 +2.62922e+005
-1.92061e+006 -4.44325e+004
-4.52363e+006 -3.24813e+006
-2.14671e+007 +5.33018e+006
-1.92744e+007 +2.04231e+008
-1.47938e+007 +2.45218e+006
-1.63606e+007 -4.75508e+006
-2.44974e+008 -8.41188e+007
-3.84216e+007 +8.37228e+007
-2.10181e+007 +2.69256e+006
-2.75921e+008 -1.15999e+008
-1.77166e+007 -4.20197e+005
-8.45524e+006 -1.29677e+007
-4.65722e+007 +3.80208e+006
-1.32368e+008 -1.13721e+008
-6.57437e+006 -4.06578e+006
-3.79924e+007 +1.57763e+007
-6.81189e+007 +4.67313e+007
-1.47397e+008 -1.61530e+007
-1.67266e+008 -1.53366e+008
-2.87859e+008 +2.53398e+008
+4.98475e+005 -2.49344e+005
+2.02102e+006 +2.05017e+005
+4.96035e+006 +3.45724e+006
+-4.12180e+007 +5.98638e+007
+2.45891e+007 +1.56880e+007
+1.98796e+007 +4.09986e+006
+1.37577e+008 -6.10466e+007
+1.47532e+007 +7.53272e+006
+-2.44115e+007 -3.92655e+006
+3.11045e+006 +3.51656e+007
+1.09485e+007 -2.47140e+007
+4.65546e+006 +3.02251e+007
+8.75076e+007 +3.03162e+007
+-1.31915e+008 -4.96844e+007
+2.42567e+008 -1.80683e+008
+3.35742e+008 +3.16782e+008
--- a/modal-analysis/mat/mode_shapes.txt
+++ b/modal-analysis/mat/mode_shapes.txt
--- a/modal-analysis/mathematical_model.org
+++ b/modal-analysis/mathematical_model.org
@ -28,7 +28,7 @@

 #+PROPERTY: header-args:shell  :eval no-export

-#+PROPERTY: header-args:latex  :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/These/LaTeX/}{config.tex}")
+#+PROPERTY: header-args:latex  :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/thesis/latex/org/}{config.tex}")
 #+PROPERTY: header-args:latex+ :imagemagick t :fit yes
 #+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
 #+PROPERTY: header-args:latex+ :imoutoptions -quality 100
--- a/modal-analysis/measurement.org
+++ b/modal-analysis/measurement.org
@ -30,7 +30,7 @@

 #+PROPERTY: header-args:shell  :eval no-export

-#+PROPERTY: header-args:latex  :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/These/LaTeX/}{config.tex}")
+#+PROPERTY: header-args:latex  :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/thesis/latex/org/}{config.tex}")
 #+PROPERTY: header-args:latex+ :imagemagick t :fit yes
 #+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
 #+PROPERTY: header-args:latex+ :imoutoptions -quality 100
--- a/modal-analysis/modal_extraction.org
+++ b/modal-analysis/modal_extraction.org
@ -30,7 +30,7 @@

 #+PROPERTY: header-args:shell  :eval no-export

-#+PROPERTY: header-args:latex  :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/These/LaTeX/}{config.tex}")
+#+PROPERTY: header-args:latex  :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/thesis/latex/org/}{config.tex}")
 #+PROPERTY: header-args:latex+ :imagemagick t :fit yes
 #+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
 #+PROPERTY: header-args:latex+ :imoutoptions -quality 100
--- a/slip-ring-electrical-noise/img/nohup.out
+++ b/slip-ring-electrical-noise/img/nohup.out
@ -1,3 +0,0 @@
-invalid color string: rgba(50, 48, 47)
-
-(termite:25037): GLib-WARNING **: 14:10:26.520: GChildWatchSource: Exit status of a child process was requested but ECHILD was received by waitpid(). See the documentation of g_child_watch_source_new() for possible causes.
--- a/slip-ring-electrical-noise/index.org
+++ b/slip-ring-electrical-noise/index.org
@ -29,6 +29,7 @@
 #+PROPERTY: header-args:shell  :eval no-export
 :END:

+* Introduction                                                       :ignore:
 The noise induced by the slip-ring is measured when using geophones:
 - Section [[sec:meas_slip_ring_geophone]]:
  - A geophone located at the sample location is measured with its signal going directly to the ADC and going through the slip-ring
@ -65,7 +66,6 @@ The noise induced by the slip-ring is measured when using geophones:
 *Goal*:
 The goal is to determine if some noise is added to a signal passing through the slip-ring.

-
 *Setup*:
 Two measurements are made with the control systems of all the stages turned OFF.

--- a/slip-ring-electrical-noise/readme.org
+++ b/slip-ring-electrical-noise/readme.org
@ -1,5 +1,5 @@
 * DONE Measure of the noise of the Voltage Amplifier
-  CLOSED: [2019-05-06 lun. 09:00]
+CLOSED: [2019-05-06 lun. 09:00]
 - The two inputs (differential) of the voltage amplifier are shunted with 50Ohms
 - The AC/DC option of the Voltage amplifier is on AC
 - The low pass filter is set to 1hHz
@ -13,7 +13,7 @@ meas6: Ampli ON 60dB
 meas7: Ampli ON 80dB

 * DONE Measure of the noise induced by the Slip-Ring
-  CLOSED: [2019-05-06 lun. 09:28]
+CLOSED: [2019-05-06 lun. 09:28]
 Setup:
 - 0V is generated by the DAC of the Speedgoat
 - Using a T, one part goes to ADC
@ -33,7 +33,7 @@ Measurements:
 - meas11: Slip-Ring ON and omega=60rpm

 * DONE Measure of the noise induced by the slip ring when using a geophone
-  CLOSED: [2019-05-06 lun. 09:28]
+CLOSED: [2019-05-06 lun. 09:28]
 The geophone is located at the sample location
 The two Voltage amplifiers have the following settings:
 - AC
@ -58,7 +58,7 @@ Redone the measurements with 1kHz additional low pass filter:
 - meas17: Slip-Ring ON

 * DONE Measure of the influence of the AC/DC option on the voltage amplifiers
-  CLOSED: [2019-05-06 lun. 09:28]
+CLOSED: [2019-05-06 lun. 09:28]
 One geophone is located on the marble.
 It's signal goes to two voltage amplifiers with a gain of 60dB.
 On voltage amplifier is on the AC option, the other on the DC option.
--- a/slip-ring-noise-turning/img/nohup.out
+++ b/slip-ring-noise-turning/img/nohup.out
@ -1,3 +0,0 @@
-invalid color string: rgba(50, 48, 47)
-
-(termite:25037): GLib-WARNING **: 14:10:26.520: GChildWatchSource: Exit status of a child process was requested but ECHILD was received by waitpid(). See the documentation of g_child_watch_source_new() for possible causes.
--- a/slip-ring-noise-turning/readme.org
+++ b/slip-ring-noise-turning/readme.org
@ -1,5 +1,5 @@
 * DONE Measure of the noise of the Voltage Amplifier
-  CLOSED: [2019-05-06 lun. 09:00]
+CLOSED: [2019-05-06 lun. 09:00]
 - The two inputs (differential) of the voltage amplifier are shunted with 50Ohms
 - The AC/DC option of the Voltage amplifier is on AC
 - The low pass filter is set to 1hHz
@ -13,7 +13,7 @@ meas6: Ampli ON 60dB
 meas7: Ampli ON 80dB

 * DONE Measure of the noise induced by the Slip-Ring
-  CLOSED: [2019-05-06 lun. 09:28]
+CLOSED: [2019-05-06 lun. 09:28]
 Setup:
 - 0V is generated by the DAC of the Speedgoat
 - Using a T, one part goes to ADC
@ -33,7 +33,7 @@ Measurements:
 - meas11: Slip-Ring ON and omega=60rpm

 * DONE Measure of the noise induced by the slip ring when using a geophone
-  CLOSED: [2019-05-06 lun. 09:28]
+CLOSED: [2019-05-06 lun. 09:28]
 The geophone is located at the sample location
 The two Voltage amplifiers have the following settings:
 - AC
@ -58,7 +58,7 @@ Redone the measurements with 1kHz additional low pass filter:
 - meas17: Slip-Ring ON

 * DONE Measure of the influence of the AC/DC option on the voltage amplifiers
-  CLOSED: [2019-05-06 lun. 09:28]
+CLOSED: [2019-05-06 lun. 09:28]
 One geophone is located on the marble.
 It's signal goes to two voltage amplifiers with a gain of 60dB.
 On voltage amplifier is on the AC option, the other on the DC option.
--- a/static-spindle/figs/nohup.out
+++ b/static-spindle/figs/nohup.out
@ -1,3 +0,0 @@
-invalid color string: rgba(50, 48, 47)
-
-(termite:2378): GLib-WARNING **: 15:04:00.329: GChildWatchSource: Exit status of a child process was requested but ECHILD was received by waitpid(). See the documentation of g_child_watch_source_new() for possible causes.