[WIP] Breaking Change - Use Update

Folder name is changed, rework the html templates
Change the organisation.

static-measurements/figs/.gitignore

@@ -1,3 +0,0 @@
-*.svg
-*.pdf
-*.tex

static-measurements/index.org

@@ -1,142 +1,37 @@
 #+TITLE:Measurements
-:DRAWER:
-#+STARTUP: overview
-
-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/zenburn.css"/>
-#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.min.js"></script>
-#+HTML_HEAD: <script type="text/javascript" src="../js/bootstrap.min.js"></script>
-#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.stickytableheaders.min.js"></script>
-#+HTML_HEAD: <script type="text/javascript" src="../js/readtheorg.js"></script>
-
-#+PROPERTY: header-args:matlab  :session *MATLAB*
-#+PROPERTY: header-args:matlab+ :comments org
-#+PROPERTY: header-args:matlab+ :results output
-#+PROPERTY: header-args:matlab+ :exports both
-#+PROPERTY: header-args:matlab+ :eval no-export
-#+PROPERTY: header-args:matlab+ :output-dir figs
-:END:
+#+SETUPFILE: ../config.org
 
 For all the measurements shown here:
 - geophones used are L22 with a resonance frequency of 1Hz
 - the signals are amplified with voltage amplifiers with a gain of 60dB
 - the voltage amplifiers include a low pass filter with a cut-off frequency at 1kHz
 
-* Effect of the Slip-Ring on the signal
-** Experimental Setup
-Two measurements are made with the control systems of all the stages turned OFF.
+* Effect of all the control systems on the Sample vibrations
+  :PROPERTIES:
+  :header-args:matlab+: :tangle matlab/effect_control_all.m
+  :header-args:matlab+: :comments org :mkdirp yes
+  :END:
+  <<sec:effect_control_all>>
 
-One geophone is located on the marble while the other is located at the sample location (figure [[fig:setup_slipring]]).
-
-#+name: fig:setup_slipring
-#+caption: Experimental Setup
-#+attr_html: :width 500px
-[[file:./img/IMG_20190430_112615.jpg]]
-
-The two measurements are:
-| Measurement File | Description                                                      |
-|------------------+------------------------------------------------------------------|
-| =meas_008.mat=   | Signal from the top geophone does not goes through the Slip-ring |
-| =meas_009.mat=   | Signal goes through the Slip-ring (as shown on the figure above) |
-
-Each of the measurement =mat= file contains one =data= array with 3 columns:
-| Column number | Description       |
-|---------------+-------------------|
-|             1 | Geophone - Marble |
-|             2 | Geophone - Sample |
-|             3 | Time              |
-
-** Matlab Init                                              :noexport:ignore:
-#+begin_src matlab :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
-  <<matlab-init>>
+#+begin_src bash :exports none :results none
+  if [ matlab/effect_control_all.m -nt data/effect_control_all.zip ]; then
+    cp matlab/effect_control_all.m effect_control_all.m;
+    zip data/effect_control_all \
+        mat/data_003.mat \
+        mat/data_004.mat \
+        mat/data_005.mat \
+        mat/data_006.mat \
+        mat/data_007.mat \
+        mat/data_008.mat \
+        effect_control_all.m;
+    rm effect_control_all.m;
+  fi
 #+end_src
 
-** Load data
-We load the data of the z axis of two geophones.
-
-#+begin_src matlab :results none
-  d8 = load('mat/data_008.mat', 'data'); d8 = d8.data;
-  d9 = load('mat/data_009.mat', 'data'); d9 = d9.data;
-#+end_src
-
-** Analysis - Time Domain
-First, we compare the time domain signals for the two experiments (figure [[fig:slipring_time]]).
-
-
-#+begin_src matlab :results none
-  figure;
-  hold on;
-  plot(d9(:, 3), d9(:, 2), 'DisplayName', 'Slip-Ring');
-  plot(d8(:, 3), d8(:, 2), 'DisplayName', 'Wire');
-  hold off;
-  xlabel('Time [s]'); ylabel('Voltage [V]');
-  xlim([0, 50]);
-  legend('location', 'northeast');
-#+end_src
-
-#+NAME: fig:slipring_time
-#+HEADER: :tangle no :exports results :results value raw replace :noweb yes
-#+begin_src matlab :var filepath="figs/slipring_time.pdf" :var figsize="wide-tall" :post pdf2svg(file=*this*, ext="png")
-  <<plt-matlab>>
-#+end_src
-
-#+NAME: fig:slipring_time
-#+CAPTION: Effect of the Slip-Ring on the measured signal - Time domain
-#+RESULTS: fig:slipring_time
-[[file:figs/slipring_time.png]]
-
-** Analysis - Frequency Domain
-We then compute the Power Spectral Density of the two signals and we compare them (figure [[fig:slipring_asd]]).
-#+begin_src matlab :results none
-  dt = d8(2, 3) - d8(1, 3);
-  Fs = 1/dt;
-
-  win = hanning(ceil(1*Fs));
-#+end_src
-
-#+begin_src matlab :results none
-  [pxx8, f] = pwelch(d8(:, 2), win, [], [], Fs);
-  [pxx9, ~] = pwelch(d9(:, 2), win, [], [], Fs);
-#+end_src
-
-#+begin_src matlab :results none
-  figure;
-  hold on;
-  plot(f, sqrt(pxx9), 'DisplayName', 'Slip-Ring');
-  plot(f, sqrt(pxx8), 'DisplayName', 'Wire');
-  hold off;
-  set(gca, 'xscale', 'log');
-  set(gca, 'yscale', 'log');
-  xlabel('Frequency [Hz]'); ylabel('Amplitude Spectral Density $\left[\frac{V}{\sqrt{Hz}}\right]$')
-  xlim([1, 500]);
-  legend('Location', 'southwest');
-#+end_src
-
-#+NAME: fig:slipring_asd
-#+HEADER: :tangle no :exports results :results value raw replace :noweb yes
-#+begin_src matlab :var filepath="figs/slipring_asd.pdf" :var figsize="wide-tall" :post pdf2svg(file=*this*, ext="png")
-  <<plt-matlab>>
-#+end_src
-
-#+NAME: fig:slipring_asd
-#+CAPTION: Effect of the Slip-Ring on the measured signal - Frequency domain
-#+RESULTS: fig:slipring_asd
-[[file:figs/slipring_asd.png]]
-
-** Conclusion
-#+begin_important
-- Connecting the geophone through the Slip-Ring seems to induce a lot of noise.
-#+end_important
-
 #+begin_note
-*Remaining questions to answer*:
-- Why is there a sharp peak at 300Hz?
-- Why the use of the Slip-Ring does induce a noise?
-- Can the capacitive/inductive properties of the wires in the Slip-ring does not play well with the geophone? (resonant RLC circuit)
+  All the files (data and Matlab scripts) are accessible [[file:data/effect_control_all.zip][here]].
 #+end_note
 
-* Effect of all the control systems on the Sample vibrations
 ** Experimental Setup
 We here measure the signals of two geophones:
 - One is located on top of the Sample platform
@@ -166,7 +61,11 @@ Each of the =mat= file contains one array =data= with 3 columns:
 |             3 | Time              |
 
 ** Matlab Init                                              :noexport:ignore:
-#+begin_src matlab :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
+#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
+  <<matlab-dir>>
+#+end_src
+
+#+begin_src matlab :exports none :results silent :noweb yes
   <<matlab-init>>
 #+end_src
 
@@ -433,6 +332,31 @@ First, we compute the Power Spectral Density of the signals coming from the Geop
 #+end_note
 
 * Effect of all the control systems on the Sample vibrations - One stage at a time
+  :PROPERTIES:
+  :header-args:matlab+: :tangle matlab/effect_control_one.m
+  :header-args:matlab+: :comments org :mkdirp yes
+  :END:
+  <<sec:effect_control_one>>
+
+#+begin_src bash :exports none :results none
+  if [ matlab/effect_control_one.m -nt data/effect_control_one.zip ]; then
+    cp matlab/effect_control_one.m effect_control_one.m;
+    zip data/effect_control_one \
+        mat/data_013.mat \
+        mat/data_014.mat \
+        mat/data_015.mat \
+        mat/data_016.mat \
+        mat/data_017.mat \
+        mat/data_018.mat \
+        effect_control_one.m
+    rm effect_control_one.m;
+  fi
+#+end_src
+
+#+begin_note
+  All the files (data and Matlab scripts) are accessible [[file:data/effect_control_one.zip][here]].
+#+end_note
+
 ** Experimental Setup
 We here measure the signals of two geophones:
 - One is located on top of the Sample platform
@@ -471,7 +395,11 @@ Each of the =mat= file contains one array =data= with 3 columns:
 [[file:./img/IMG_20190507_101459.jpg]]
 
 ** Matlab Init                                              :noexport:ignore:
-#+begin_src matlab :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
+#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
+  <<matlab-dir>>
+#+end_src
+
+#+begin_src matlab :exports none :results silent :noweb yes
   <<matlab-init>>
 #+end_src
 
@@ -669,9 +597,30 @@ And we compare the Amplitude Spectral Densities (figures [[fig:psd_marble_comp_l
 #+begin_important
   - The Ty stage induces vibrations of the marble and at the sample location above 100Hz
   - The hexapod stage induces vibrations at the sample position above 220Hz
-#+end_note
+#+end_important
 
 * Effect of the Symetrie Driver
+  :PROPERTIES:
+  :header-args:matlab+: :tangle matlab/effect_symetrie_driver.m
+  :header-args:matlab+: :comments org :mkdirp yes
+  :END:
+  <<sec:effect_symetrie_driver>>
+
+#+begin_src bash :exports none :results none
+  if [ matlab/effect_symetrie_driver.m -nt data/effect_symetrie_driver.zip ]; then
+    cp matlab/effect_symetrie_driver.m effect_symetrie_driver.m;
+    zip data/effect_symetrie_driver \
+        mat/data_018.mat \
+        mat/data_019.mat \
+        effect_symetrie_driver.m
+    rm effect_symetrie_driver.m;
+  fi
+#+end_src
+
+#+begin_note
+  All the files (data and Matlab scripts) are accessible [[file:data/effect_symetrie_driver.zip][here]].
+#+end_note
+
 ** Experimental Setup
 We here measure the signals of two geophones:
 - One is located on top of the Sample platform
@@ -702,7 +651,11 @@ Each of the =mat= file contains one array =data= with 3 columns:
 |             3 | Time              |
 
 ** Matlab Init                                              :noexport:ignore:
-#+begin_src matlab :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
+#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
+  <<matlab-dir>>
+#+end_src
+
+#+begin_src matlab :exports none :results silent :noweb yes
   <<matlab-init>>
 #+end_src
 
@@ -797,6 +750,28 @@ First, we compute the Power Spectral Density of the signals coming from the Geop
 #+end_important
 
 * Transfer function from one stage to the other
+  :PROPERTIES:
+  :header-args:matlab+: :tangle matlab/tf_stages_geophone.m
+  :header-args:matlab+: :comments org :mkdirp yes
+  :END:
+  <<sec:tf_stages_geophone>>
+
+#+begin_src bash :exports none :results none
+  if [ matlab/tf_stages_geophone.m -nt data/tf_stages_geophone.zip ]; then
+    cp matlab/tf_stages_geophone.m tf_stages_geophone.m;
+    zip data/tf_stages_geophone \
+        mat/data_010.mat \
+        mat/data_011.mat \
+        mat/data_012.mat \
+        tf_stages_geophone.m
+    rm tf_stages_geophone.m;
+  fi
+#+end_src
+
+#+begin_note
+  All the files (data and Matlab scripts) are accessible [[file:data/tf_stages_geophone.zip][here]].
+#+end_note
+
 ** Experimental Setup
 For all the measurements in this section:
 - all the control stages are OFF.
@@ -869,7 +844,11 @@ The =data= array contains the following columns:
 [[file:./img/IMG_20190430_170425.jpg]]
 
 ** Matlab Init                                              :noexport:ignore:
-#+begin_src matlab :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
+#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
+  <<matlab-dir>>
+#+end_src
+
+#+begin_src matlab :exports none :results silent :noweb yes
   <<matlab-init>>
 #+end_src
 
@@ -1067,7 +1046,11 @@ For each of the measurements, the data are:
 Measurements are 50s long.
 
 ** Matlab Init                                              :noexport:ignore:
-#+begin_src matlab :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
+#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
+  <<matlab-dir>>
+#+end_src
+
+#+begin_src matlab :exports none :results silent :noweb yes
   <<matlab-init>>
 #+end_src
 

static-measurements/matlab/effect_control_all.m

@@ -0,0 +1,173 @@
+%% Clear Workspace and Close figures
+clear; close all; clc;
+
+%% Intialize Laplace variable
+s = zpk('s');
+
+% Load data
+% We load the data of the z axis of two geophones.
+
+d3 = load('mat/data_003.mat', 'data'); d3 = d3.data;
+d4 = load('mat/data_004.mat', 'data'); d4 = d4.data;
+d5 = load('mat/data_005.mat', 'data'); d5 = d5.data;
+d6 = load('mat/data_006.mat', 'data'); d6 = d6.data;
+d7 = load('mat/data_007.mat', 'data'); d7 = d7.data;
+d8 = load('mat/data_008.mat', 'data'); d8 = d8.data;
+
+% Analysis - Time Domain
+% First, we can look at the time domain data and compare all the measurements:
+% - comparison for the geophone at the sample location (figure [[fig:time_domain_sample]])
+% - comparison for the geophone on the granite (figure [[fig:time_domain_marble]])
+
+
+figure;
+hold on;
+plot(d3(:, 3), d3(:, 2), 'DisplayName', 'All ON');
+plot(d4(:, 3), d4(:, 2), 'DisplayName', 'Ty OFF');
+plot(d5(:, 3), d5(:, 2), 'DisplayName', 'Ry OFF');
+plot(d6(:, 3), d6(:, 2), 'DisplayName', 'S-R OFF');
+plot(d7(:, 3), d7(:, 2), 'DisplayName', 'Rz OFF');
+plot(d8(:, 3), d8(:, 2), 'DisplayName', 'Hexa OFF');
+hold off;
+xlabel('Time [s]'); ylabel('Voltage [V]');
+xlim([0, 50]);
+legend('Location', 'bestoutside');
+
+
+
+% #+NAME: fig:time_domain_sample
+% #+CAPTION: Comparison of the time domain data when turning off the control system of the stages - Geophone at the sample location
+% #+RESULTS: fig:time_domain_sample
+% [[file:figs/time_domain_sample.png]]
+
+
+
+figure;
+hold on;
+plot(d3(:, 3), d3(:, 1), 'DisplayName', 'All ON');
+plot(d4(:, 3), d4(:, 1), 'DisplayName', 'Ty OFF');
+plot(d5(:, 3), d5(:, 1), 'DisplayName', 'Ry OFF');
+plot(d6(:, 3), d6(:, 1), 'DisplayName', 'S-R OFF');
+plot(d7(:, 3), d7(:, 1), 'DisplayName', 'Rz OFF');
+plot(d8(:, 3), d8(:, 1), 'DisplayName', 'Hexa OFF');
+hold off;
+xlabel('Time [s]'); ylabel('Voltage [V]');
+xlim([0, 50]);
+legend('Location', 'bestoutside');
+
+% Analysis - Frequency Domain
+
+dt = d3(2, 3) - d3(1, 3);
+
+Fs = 1/dt;
+win = hanning(ceil(10*Fs));
+
+% Vibrations at the sample location
+% First, we compute the Power Spectral Density of the signals coming from the Geophone located at the sample location.
+
+[px3, f] = pwelch(d3(:, 2), win, [], [], Fs);
+[px4, ~] = pwelch(d4(:, 2), win, [], [], Fs);
+[px5, ~] = pwelch(d5(:, 2), win, [], [], Fs);
+[px6, ~] = pwelch(d6(:, 2), win, [], [], Fs);
+[px7, ~] = pwelch(d7(:, 2), win, [], [], Fs);
+[px8, ~] = pwelch(d8(:, 2), win, [], [], Fs);
+
+
+
+% And we compare all the signals (figures [[fig:psd_sample_comp]] and [[fig:psd_sample_comp_high_freq]]).
+
+figure;
+hold on;
+plot(f, sqrt(px3), 'DisplayName', 'All ON');
+plot(f, sqrt(px4), 'DisplayName', 'Ty OFF');
+plot(f, sqrt(px5), 'DisplayName', 'Ry OFF');
+plot(f, sqrt(px6), 'DisplayName', 'S-R OFF');
+plot(f, sqrt(px7), 'DisplayName', 'Rz OFF');
+plot(f, sqrt(px8), 'DisplayName', 'Hexa OFF');
+hold off;
+set(gca, 'xscale', 'log');
+set(gca, 'yscale', 'log');
+xlabel('Frequency [Hz]'); ylabel('Amplitude Spectral Density $\left[\frac{V}{\sqrt{Hz}}\right]$')
+xlim([0.1, 500]);
+legend('Location', 'southwest');
+
+% Vibrations on the marble
+% Now we plot the same curves for the geophone located on the marble.
+
+[px3, f] = pwelch(d3(:, 1), win, [], [], Fs);
+[px4, ~] = pwelch(d4(:, 1), win, [], [], Fs);
+[px5, ~] = pwelch(d5(:, 1), win, [], [], Fs);
+[px6, ~] = pwelch(d6(:, 1), win, [], [], Fs);
+[px7, ~] = pwelch(d7(:, 1), win, [], [], Fs);
+[px8, ~] = pwelch(d8(:, 1), win, [], [], Fs);
+
+
+
+% And we compare the Amplitude Spectral Densities (figures [[fig:psd_marble_comp]] and [[fig:psd_marble_comp_high_freq]])
+
+figure;
+hold on;
+plot(f, sqrt(px3), 'DisplayName', 'All ON');
+plot(f, sqrt(px4), 'DisplayName', 'Ty OFF');
+plot(f, sqrt(px5), 'DisplayName', 'Ry OFF');
+plot(f, sqrt(px6), 'DisplayName', 'S-R OFF');
+plot(f, sqrt(px7), 'DisplayName', 'Rz OFF');
+plot(f, sqrt(px8), 'DisplayName', 'Hexa OFF');
+hold off;
+set(gca, 'xscale', 'log');
+set(gca, 'yscale', 'log');
+xlabel('Frequency [Hz]'); ylabel('Amplitude Spectral Density $\left[\frac{V}{\sqrt{Hz}}\right]$')
+xlim([0.1, 500]);
+legend('Location', 'northeast');
+
+% Effect of the control system on the transmissibility from ground to sample
+% 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 [[fig:trans_comp]]).
+
+
+dt = d3(2, 3) - d3(1, 3);
+
+Fs = 1/dt;
+win = hanning(ceil(1*Fs));
+
+
+
+% First, we compute the Power Spectral Density of the signals coming from the Geophone located at the sample location.
+
+[T3, f] = tfestimate(d3(:, 1), d3(:, 2), win, [], [], Fs);
+[T4, ~] = tfestimate(d4(:, 1), d4(:, 2), win, [], [], Fs);
+[T5, ~] = tfestimate(d5(:, 1), d5(:, 2), win, [], [], Fs);
+[T6, ~] = tfestimate(d6(:, 1), d6(:, 2), win, [], [], Fs);
+[T7, ~] = tfestimate(d7(:, 1), d7(:, 2), win, [], [], Fs);
+[T8, ~] = tfestimate(d8(:, 1), d8(:, 2), win, [], [], Fs);
+
+figure;
+ax1 = subplot(2, 1, 1);
+hold on;
+plot(f, abs(T3), 'DisplayName', 'All ON');
+plot(f, abs(T4), 'DisplayName', 'Ty OFF');
+plot(f, abs(T5), 'DisplayName', 'Ry OFF');
+plot(f, abs(T6), 'DisplayName', 'S-R OFF');
+plot(f, abs(T7), 'DisplayName', 'Rz OFF');
+plot(f, abs(T8), 'DisplayName', 'Hexa OFF');
+hold off;
+set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');
+set(gca, 'XTickLabel',[]);
+ylabel('Magnitude');
+legend('Location', 'northwest');
+
+ax2 = subplot(2, 1, 2);
+hold on;
+plot(f, mod(180+180/pi*phase(T3), 360)-180);
+plot(f, mod(180+180/pi*phase(T4), 360)-180);
+plot(f, mod(180+180/pi*phase(T5), 360)-180);
+plot(f, mod(180+180/pi*phase(T6), 360)-180);
+plot(f, mod(180+180/pi*phase(T7), 360)-180);
+plot(f, mod(180+180/pi*phase(T8), 360)-180);
+hold off;
+set(gca, 'xscale', 'log');
+ylim([-180, 180]);
+yticks([-180, -90, 0, 90, 180]);
+xlabel('Frequency [Hz]'); ylabel('Phase');
+
+linkaxes([ax1,ax2],'x');
+xlim([1, 500]);

static-measurements/matlab/effect_control_one.m

@@ -0,0 +1,121 @@
+%% Clear Workspace and Close figures
+clear; close all; clc;
+
+%% Intialize Laplace variable
+s = zpk('s');
+
+% Load data
+% We load the data of the z axis of two geophones.
+
+d_of = load('mat/data_013.mat', 'data'); d_of = d_of.data;
+d_ty = load('mat/data_014.mat', 'data'); d_ty = d_ty.data;
+d_ry = load('mat/data_015.mat', 'data'); d_ry = d_ry.data;
+d_sr = load('mat/data_016.mat', 'data'); d_sr = d_sr.data;
+d_rz = load('mat/data_017.mat', 'data'); d_rz = d_rz.data;
+d_he = load('mat/data_018.mat', 'data'); d_he = d_he.data;
+
+% Analysis - Time Domain
+% First, we can look at the time domain data and compare all the measurements:
+% - comparison for the geophone at the sample location (figure [[fig:time_domain_sample_lpf]])
+% - comparison for the geophone on the granite (figure [[fig:time_domain_marble_lpf]])
+
+
+figure;
+hold on;
+plot(d_of(:, 3), d_of(:, 2), 'DisplayName', 'All OFF';
+plot(d_ty(:, 3), d_ty(:, 2), 'DisplayName', 'Ty ON');
+plot(d_ry(:, 3), d_ry(:, 2), 'DisplayName', 'Ry ON');
+plot(d_sr(:, 3), d_sr(:, 2), 'DisplayName', 'S-R ON');
+plot(d_rz(:, 3), d_rz(:, 2), 'DisplayName', 'Rz ON');
+plot(d_he(:, 3), d_he(:, 2), 'DisplayName', 'Hexa ON');
+hold off;
+xlabel('Time [s]'); ylabel('Voltage [V]');
+xlim([0, 50]);
+legend('Location', 'bestoutside');
+
+
+
+% #+NAME: fig:time_domain_sample_lpf
+% #+CAPTION: Comparison of the time domain data when turning off the control system of the stages - Geophone at the sample location
+% #+RESULTS: fig:time_domain_sample_lpf
+% [[file:figs/time_domain_sample_lpf.png]]
+
+
+
+figure;
+hold on;
+plot(d_of(:, 3), d_of(:, 1), 'DisplayName', 'All OFF');
+plot(d_ty(:, 3), d_ty(:, 1), 'DisplayName', 'Ty ON');
+plot(d_ry(:, 3), d_ry(:, 1), 'DisplayName', 'Ry ON');
+plot(d_sr(:, 3), d_sr(:, 1), 'DisplayName', 'S-R ON');
+plot(d_rz(:, 3), d_rz(:, 1), 'DisplayName', 'Rz ON');
+plot(d_he(:, 3), d_he(:, 1), 'DisplayName', 'Hexa ON');
+hold off;
+xlabel('Time [s]'); ylabel('Voltage [V]');
+xlim([0, 50]);
+legend('Location', 'bestoutside');
+
+% Analysis - Frequency Domain
+
+dt = d_of(2, 3) - d_of(1, 3);
+
+Fs = 1/dt;
+win = hanning(ceil(10*Fs));
+
+% Vibrations at the sample location
+% First, we compute the Power Spectral Density of the signals coming from the Geophone located at the sample location.
+
+[px_of, f] = pwelch(d_of(:, 2), win, [], [], Fs);
+[px_ty, ~] = pwelch(d_ty(:, 2), win, [], [], Fs);
+[px_ry, ~] = pwelch(d_ry(:, 2), win, [], [], Fs);
+[px_sr, ~] = pwelch(d_sr(:, 2), win, [], [], Fs);
+[px_rz, ~] = pwelch(d_rz(:, 2), win, [], [], Fs);
+[px_he, ~] = pwelch(d_he(:, 2), win, [], [], Fs);
+
+
+
+% And we compare all the signals (figures [[fig:psd_sample_comp_lpf]] and [[fig:psd_sample_comp_high_freq_lpf]]).
+
+figure;
+hold on;
+plot(f, sqrt(px_of), 'DisplayName', 'All OFF');
+plot(f, sqrt(px_ty), 'DisplayName', 'Ty ON');
+plot(f, sqrt(px_ry), 'DisplayName', 'Ry ON');
+plot(f, sqrt(px_sr), 'DisplayName', 'S-R ON');
+plot(f, sqrt(px_rz), 'DisplayName', 'Rz ON');
+plot(f, sqrt(px_he), 'DisplayName', 'Hexa ON');
+hold off;
+set(gca, 'xscale', 'log');
+set(gca, 'yscale', 'log');
+xlabel('Frequency [Hz]'); ylabel('Amplitude Spectral Density $\left[\frac{V}{\sqrt{Hz}}\right]$')
+xlim([0.1, 500]);
+legend('Location', 'southwest');
+
+% Vibrations on the marble
+% Now we plot the same curves for the geophone located on the marble.
+
+[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);
+[px_sr, ~] = pwelch(d_sr(:, 1), win, [], [], Fs);
+[px_rz, ~] = pwelch(d_rz(:, 1), win, [], [], Fs);
+[px_he, ~] = pwelch(d_he(:, 1), win, [], [], Fs);
+
+
+
+% And we compare the Amplitude Spectral Densities (figures [[fig:psd_marble_comp_lpf]] and [[fig:psd_marble_comp_lpf_high_freq]])
+
+figure;
+hold on;
+plot(f, sqrt(px_of), 'DisplayName', 'All OFF');
+plot(f, sqrt(px_ty), 'DisplayName', 'Ty ON');
+plot(f, sqrt(px_ry), 'DisplayName', 'Ry ON');
+plot(f, sqrt(px_sr), 'DisplayName', 'S-R ON');
+plot(f, sqrt(px_rz), 'DisplayName', 'Rz ON');
+plot(f, sqrt(px_he), 'DisplayName', 'Hexa ON');
+hold off;
+set(gca, 'xscale', 'log');
+set(gca, 'yscale', 'log');
+xlabel('Frequency [Hz]'); ylabel('Amplitude Spectral Density $\left[\frac{V}{\sqrt{Hz}}\right]$')
+xlim([0.1, 500]);
+legend('Location', 'northeast');

static-measurements/matlab/effect_symetrie_driver.m

@@ -0,0 +1,46 @@
+%% Clear Workspace and Close figures
+clear; close all; clc;
+
+%% Intialize Laplace variable
+s = zpk('s');
+
+% Load data
+% We load the data of the z axis of two geophones.
+
+d_18 = load('mat/data_018.mat', 'data'); d_18 = d_18.data;
+d_19 = load('mat/data_019.mat', 'data'); d_19 = d_19.data;
+
+% Analysis - Time Domain
+
+figure;
+hold on;
+plot(d_19(:, 3), d_19(:, 1), 'DisplayName', 'Driver - Ground');
+plot(d_18(:, 3), d_18(:, 1), 'DisplayName', 'Driver - Granite');
+hold off;
+xlabel('Time [s]'); ylabel('Voltage [V]');
+xlim([0, 50]);
+legend('Location', 'bestoutside');
+
+% Analysis - Frequency Domain
+
+dt = d_18(2, 3) - d_18(1, 3);
+
+Fs = 1/dt;
+win = hanning(ceil(10*Fs));
+
+% Vibrations at the sample location
+% First, we compute the Power Spectral Density of the signals coming from the Geophone located at the sample location.
+
+[px_18, f] = pwelch(d_18(:, 1), win, [], [], Fs);
+[px_19, ~] = pwelch(d_19(:, 1), win, [], [], Fs);
+
+figure;
+hold on;
+plot(f, sqrt(px_19), 'DisplayName', 'Driver - Ground');
+plot(f, sqrt(px_18), 'DisplayName', 'Driver - Granite');
+hold off;
+set(gca, 'xscale', 'log');
+set(gca, 'yscale', 'log');
+xlabel('Frequency [Hz]'); ylabel('Amplitude Spectral Density $\left[\frac{V}{\sqrt{Hz}}\right]$')
+xlim([0.1, 500]);
+legend('Location', 'southwest');

static-measurements/matlab/tf_stages_geophone.m

@@ -0,0 +1,124 @@
+%% Clear Workspace and Close figures
+clear; close all; clc;
+
+%% Intialize Laplace variable
+s = zpk('s');
+
+% Load data
+% We load the data of the z axis of two geophones.
+
+m_ty  = load('mat/data_010.mat', 'data'); m_ty  = m_ty.data;
+m_ry  = load('mat/data_011.mat', 'data'); m_ry  = m_ry.data;
+ty_ry = load('mat/data_012.mat', 'data'); ty_ry = ty_ry.data;
+
+% Analysis - Time Domain
+% First, we can look at the time domain data.
+
+
+figure;
+hold on;
+plot(m_ty(:, 3), m_ty(:, 1), 'DisplayName', 'Marble');
+plot(m_ty(:, 3), m_ty(:, 2), 'DisplayName', 'Ty');
+hold off;
+xlabel('Time [s]'); ylabel('Voltage [V]');
+legend('Location', 'northeast');
+xlim([0, 500]);
+
+
+
+% #+NAME: fig:time_domain_m_ty
+% #+CAPTION: Time domain - Marble and translation stage
+% #+RESULTS: fig:time_domain_m_ty
+% [[file:figs/time_domain_m_ty.png]]
+
+
+
+figure;
+hold on;
+plot(m_ry(:, 3), m_ry(:, 1), 'DisplayName', 'Marble');
+plot(m_ry(:, 3), m_ry(:, 2), 'DisplayName', 'Ty');
+hold off;
+xlabel('Time [s]'); ylabel('Voltage [V]');
+legend('Location', 'northeast');
+xlim([0, 500]);
+
+
+
+% #+NAME: fig:time_domain_m_ry
+% #+CAPTION: Time domain - Marble and tilt stage
+% #+RESULTS: fig:time_domain_m_ry
+% [[file:figs/time_domain_m_ry.png]]
+
+
+figure;
+hold on;
+plot(ty_ry(:, 3), ty_ry(:, 1), 'DisplayName', 'Ty');
+plot(ty_ry(:, 3), ty_ry(:, 2), 'DisplayName', 'Ry');
+hold off;
+xlabel('Time [s]'); ylabel('Voltage [V]');
+legend('Location', 'northeast');
+xlim([0, 500]);
+
+% Analysis - Frequency Domain
+
+dt = m_ty(2, 3) - m_ty(1, 3);
+
+Fs = 1/dt;
+win = hanning(ceil(1*Fs));
+
+
+
+% First, we compute the transfer function estimate between the two geophones for the 3 experiments (figure [[fig:compare_tf_geophones]]). We also plot their coherence (figure [[fig:coherence_two_geophones]]).
+
+[T_m_ty,  f] = tfestimate(m_ty(:, 1),  m_ty(:, 2),  win, [], [], Fs);
+[T_m_ry,  ~] = tfestimate(m_ry(:, 1),  m_ry(:, 2),  win, [], [], Fs);
+[T_ty_ry, ~] = tfestimate(ty_ry(:, 1), ty_ry(:, 2), win, [], [], Fs);
+
+figure;
+ax1 = subplot(2, 1, 1);
+hold on;
+plot(f, abs(T_m_ty),  'DisplayName', 'Marble - Ty');
+plot(f, abs(T_m_ry),  'DisplayName', 'Marble - Ry');
+plot(f, abs(T_ty_ry), 'DisplayName', 'Ty - Ry');
+hold off;
+set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');
+set(gca, 'XTickLabel',[]);
+ylabel('Magnitude');
+legend('Location', 'northwest');
+
+ax2 = subplot(2, 1, 2);
+hold on;
+plot(f, mod(180+180/pi*phase(T_m_ty),  360)-180);
+plot(f, mod(180+180/pi*phase(T_m_ry),  360)-180);
+plot(f, mod(180+180/pi*phase(T_ty_ry), 360)-180);
+hold off;
+set(gca, 'xscale', 'log');
+ylim([-180, 180]);
+yticks([-180, -90, 0, 90, 180]);
+xlabel('Frequency [Hz]'); ylabel('Phase');
+
+linkaxes([ax1,ax2],'x');
+xlim([10, 500]);
+
+
+
+% #+NAME: fig:compare_tf_geophones
+% #+CAPTION: Transfer function from the first geophone to the second geophone for the three experiments
+% #+RESULTS: fig:compare_tf_geophones
+% [[file:figs/compare_tf_geophones.png]]
+
+
+
+[coh_m_ty,  f] = mscohere(m_ty(:, 1),  m_ty(:, 2),  win, [], [], Fs);
+[coh_m_ry,  ~] = mscohere(m_ry(:, 1),  m_ry(:, 2),  win, [], [], Fs);
+[coh_ty_ry, ~] = mscohere(ty_ry(:, 1), ty_ry(:, 2), win, [], [], Fs);
+
+figure;
+hold on;
+plot(f, coh_m_ty,  'DisplayName', 'Marble - Ty');
+plot(f, coh_m_ry,  'DisplayName', 'Marble - Ry');
+plot(f, coh_ty_ry, 'DisplayName', 'Ty - Ry');
+hold off;
+set(gca, 'xscale', 'log');
+xlabel('Frequency [Hz]'); ylabel('Coherence');
+ylim([0, 1]); xlim([1, 500]);

static-measurements/measure_channels_run.m

@@ -1,24 +0,0 @@
-tg = slrt;
-
-%% TODO - Build this application if updated
-
-%%
-if tg.Connected == "Yes"
-    if tg.Status == "running"
-        disp('Target is Running, Stopping...');
-        tg.stop;
-        while tg.Status == "running"
-            pause(1);
-        end
-        disp('Target is Stopped');
-    end
-    if tg.Status == "stopped"
-        disp('Load the Application');
-        tg.load('measure_channels');
-
-        %% Run the application
-        disp('Starting the Application');
-        tg.start;
-        slrtexplr;
-    end
-end

static-measurements/measure_effect_Ty.m

@@ -1,52 +0,0 @@
-%%
-Tsim = 500; % [s]
-
-%%
-tg = slrt;
-
-%% TODO - Build this application if updated
-
-%%
-if tg.Connected == "Yes"
-    if tg.Status == "running"
-        disp('Target is Running, Stopping...');
-        tg.stop;
-        while tg.Status == "running"
-            pause(1);
-        end
-        disp('Target is Stopped');
-    end
-    if tg.Status == "stopped"
-        disp('Load the Application');
-        tg.load('measure_channels');
-
-        %% Run the application
-        disp('Starting the Application');
-        tg.start;
-        pause(Tsim);
-        tg.stop;
-    end
-end
-
-%%
-f = SimulinkRealTime.openFTP(tg);
-cd(f, 'data/measure_channels/');
-mget(f, 'data_001.dat', 'data');
-close(f);
-
-%%
-data = SimulinkRealTime.utils.getFileScopeData('data/data_001.dat').data;
-
-%%
-n = 012;
-
-while isfile(['mat/data_', num2str(n, '%03d'), '.mat'])
-     disp('File exists.');
-     if input(['Are you sure you want to override the file ', 'mat/data_', ...
-            num2str(n, '%03d'), '.mat', ' ? [Y/n]']) == 'Y'
-         break;
-     end
-     n = input('What should be the measurement number?');
-end
-
-save(['mat/data_', num2str(n, '%03d'), '.mat'], 'data');

static-measurements/run_test.m

@@ -1,53 +0,0 @@
-%%
-Tsim = 100; % [s]
-
-%%
-tg = slrt;
-
-%% TODO - Build this application if updated
-
-%%
-if tg.Connected == "Yes"
-    if tg.Status == "running"
-        disp('Target is Running, Stopping...');
-        tg.stop;
-        while tg.Status == "running"
-            pause(1);
-        end
-        disp('Target is Stopped');
-    end
-    if tg.Status == "stopped"
-        disp('Load the Application');
-        tg.load('measure_channels');
-
-        %% Run the application
-        disp('Starting the Application');
-        tg.start;
-        pause(Tsim);
-        tg.stop;
-    end
-else
-    error("The target computer is not connected");
-end
-
-%%
-f = SimulinkRealTime.openFTP(tg);
-cd(f, 'data/measure_channels/');
-mget(f, 'data_001.dat', 'data');
-close(f);
-
-data = SimulinkRealTime.utils.getFileScopeData('data/data_001.dat').data;
-
-%%
-n = 19;
-
-while isfile(['mat/data_', num2str(n, '%03d'), '.mat'])
-     disp('File exists.');
-     if input(['Are you sure you want to override the file ', 'mat/data_', ...
-            num2str(n, '%03d'), '.mat', ' ? [Y/n]']) == 'Y'
-         break;
-     end
-     n = input('What should be the measurement number?');
-end
-
-save(['mat/data_', num2str(n, '%03d'), '.mat'], 'data');