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<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head>
<!-- 2019-05-10 ven. 11:35 -->
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<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Measurements</title>
@@ -273,76 +273,73 @@ for the JavaScript code in this tag.
<div id="org-div-home-and-up">
<a accesskey="h" href="../index.html"> UP </a>
|
<a accesskey="H" href="index.html"> HOME </a>
<a accesskey="H" href="../index.html"> HOME </a>
</div><div id="content">
<h1 class="title">Measurements</h1>
<div id="table-of-contents">
<h2>Table of Contents</h2>
<div id="text-table-of-contents">
<ul>
<li><a href="#orge3291f9">1. Effect of all the control systems on the Sample vibrations</a>
<li><a href="#org45b9da8">1. Effect of all the control systems on the Sample vibrations</a>
<ul>
<li><a href="#orgb7f818b">1.1. Experimental Setup</a></li>
<li><a href="#org6339e93">1.2. Load data</a></li>
<li><a href="#orgb2bbf2a">1.3. Analysis - Time Domain</a></li>
<li><a href="#org939455f">1.4. Analysis - Frequency Domain</a>
<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>
<ul>
<li><a href="#org98343aa">1.4.1. Vibrations at the sample location</a></li>
<li><a href="#org2406379">1.4.2. Vibrations on the marble</a></li>
<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>
</ul>
</li>
<li><a href="#orgcd6174b">1.5. Effect of the control system on the transmissibility from ground to sample</a></li>
<li><a href="#orgb74951a">1.6. Conclusion</a></li>
<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>
</ul>
</li>
<li><a href="#orged1a63a">2. Effect of all the control systems on the Sample vibrations - One stage at a time</a>
<li><a href="#org621380e">2. Effect of all the control systems on the Sample vibrations - One stage at a time</a>
<ul>
<li><a href="#orgb02d791">2.1. Experimental Setup</a></li>
<li><a href="#orgc25694f">2.2. Load data</a></li>
<li><a href="#org91c4f39">2.3. Analysis - Time Domain</a></li>
<li><a href="#org748e4fb">2.4. Analysis - Frequency Domain</a>
<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>
<ul>
<li><a href="#orgf475151">2.4.1. Vibrations at the sample location</a></li>
<li><a href="#orgd931999">2.4.2. Vibrations on the marble</a></li>
<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>
</ul>
</li>
<li><a href="#org02fa0f5">2.5. Conclusion</a></li>
<li><a href="#orgae74838">2.5. Conclusion</a></li>
</ul>
</li>
<li><a href="#org419641c">3. Effect of the Symetrie Driver</a>
<li><a href="#orgf3303d1">3. Effect of the Symetrie Driver</a>
<ul>
<li><a href="#org0376ec1">3.1. Experimental Setup</a></li>
<li><a href="#orgd322b02">3.2. Load data</a></li>
<li><a href="#orgab00c14">3.3. Analysis - Time Domain</a></li>
<li><a href="#orgb49b710">3.4. Analysis - Frequency Domain</a>
<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>
<ul>
<li><a href="#org29e0984">3.4.1. Vibrations at the sample location</a></li>
<li><a href="#org00afd4b">3.4.1. Vibrations at the sample location</a></li>
</ul>
</li>
<li><a href="#org0edc5e7">3.5. Conclusion</a></li>
<li><a href="#org6665fc3">3.5. Conclusion</a></li>
</ul>
</li>
<li><a href="#orgf05c480">4. Transfer function from one stage to the other</a>
<li><a href="#org221fc62">4. Transfer function from one stage to the other</a>
<ul>
<li><a href="#org314ff6f">4.1. Experimental Setup</a>
<li><a href="#orgf959afa">4.1. Experimental Setup</a>
<ul>
<li><a href="#orgc56982c">4.1.1. From Marble to Ty - <code>mat/meas_010.mat</code></a></li>
<li><a href="#org28719df">4.1.2. From Marble to Ry - <code>mat/meas_011.mat</code></a></li>
<li><a href="#orgfd497bf">4.1.3. From Ty to Ry - <code>mat/meas_012.mat</code></a></li>
<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>
</ul>
</li>
<li><a href="#orgeb58991">4.2. Load data</a></li>
<li><a href="#org62dcb2b">4.3. Analysis - Time Domain</a></li>
<li><a href="#org7d7634e">4.4. Analysis - Frequency Domain</a></li>
<li><a href="#orgefefe3f">4.5. Conclusion</a></li>
<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>
</ul>
</li>
</ul>
</div>
</div>
<p>
<a href="../index.html">Back to main page</a>.
</p>
<p>
For all the measurements shown here:
@@ -353,13 +350,12 @@ For all the measurements shown here:
<li>the voltage amplifiers include a low pass filter with a cut-off frequency at 1kHz</li>
</ul>
<div id="outline-container-orge3291f9" class="outline-2">
<h2 id="orge3291f9"><span class="section-number-2">1</span> Effect of all the control systems on the Sample vibrations</h2>
<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>
<div class="outline-text-2" id="text-1">
<p>
<a id="orgce98253"></a>
<a id="org2854bd7"></a>
</p>
<div class="note">
<p>
All the files (data and Matlab scripts) are accessible <a href="data/effect_control_all.zip">here</a>.
@@ -368,8 +364,8 @@ All the files (data and Matlab scripts) are accessible <a href="data/effect_cont
</div>
</div>
<div id="outline-container-orgb7f818b" class="outline-3">
<h3 id="orgb7f818b"><span class="section-number-3">1.1</span> Experimental Setup</h3>
<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">
<p>
We here measure the signals of two geophones:
@@ -388,7 +384,7 @@ First, all the control systems are turned ON, then, they are turned one by one.
Each measurement are done during 50s.
</p>
<table id="orge386ef2" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<table id="orge5af191" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<caption class="t-above"><span class="table-number">Table 1:</span> Summary of the measurements and the states of the control systems</caption>
<colgroup>
@@ -508,8 +504,8 @@ Each of the <code>mat</code> file contains one array <code>data</code> with 3 co
</div>
</div>
<div id="outline-container-org6339e93" class="outline-3">
<h3 id="org6339e93"><span class="section-number-3">1.2</span> Load data</h3>
<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">
<p>
We load the data of the z axis of two geophones.
@@ -526,15 +522,15 @@ d8 = load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-s
</div>
</div>
<div id="outline-container-orgb2bbf2a" class="outline-3">
<h3 id="orgb2bbf2a"><span class="section-number-3">1.3</span> Analysis - Time Domain</h3>
<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">
<p>
First, we can look at the time domain data and compare all the measurements:
</p>
<ul class="org-ul">
<li>comparison for the geophone at the sample location (figure <a href="#org1d9fd16">1</a>)</li>
<li>comparison for the geophone on the granite (figure <a href="#org9c5a166">2</a>)</li>
<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>
</ul>
<div class="org-src-container">
@@ -554,7 +550,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div>
<div id="org1d9fd16" class="figure">
<div id="org1d3a54d" class="figure">
<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>
@@ -578,7 +574,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div>
<div id="org9c5a166" class="figure">
<div id="org322b5af" class="figure">
<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>
@@ -586,8 +582,8 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div>
</div>
<div id="outline-container-org939455f" class="outline-3">
<h3 id="org939455f"><span class="section-number-3">1.4</span> Analysis - Frequency Domain</h3>
<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">
<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>;
@@ -598,8 +594,8 @@ win = hanning<span class="org-rainbow-delimiters-depth-1">(</span>ceil<span clas
</div>
</div>
<div id="outline-container-org98343aa" class="outline-4">
<h4 id="org98343aa"><span class="section-number-4">1.4.1</span> Vibrations at the sample location</h4>
<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">
<p>
First, we compute the Power Spectral Density of the signals coming from the Geophone located at the sample location.
@@ -615,7 +611,7 @@ First, we compute the Power Spectral Density of the signals coming from the Geop
</div>
<p>
And we compare all the signals (figures <a href="#org19f9706">3</a> and <a href="#orgfb18b9c">4</a>).
And we compare all the signals (figures <a href="#org162cdb3">3</a> and <a href="#orgf67d322">4</a>).
</p>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
@@ -636,7 +632,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div>
<div id="org19f9706" class="figure">
<div id="org162cdb3" class="figure">
<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>
@@ -644,7 +640,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
<div id="orgfb18b9c" class="figure">
<div id="orgf67d322" class="figure">
<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>
@@ -652,8 +648,8 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div>
</div>
<div id="outline-container-org2406379" class="outline-4">
<h4 id="org2406379"><span class="section-number-4">1.4.2</span> Vibrations on the marble</h4>
<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">
<p>
Now we plot the same curves for the geophone located on the marble.
@@ -669,7 +665,7 @@ Now we plot the same curves for the geophone located on the marble.
</div>
<p>
And we compare the Amplitude Spectral Densities (figures <a href="#org24e988b">5</a> and <a href="#org50ff18b">6</a>)
And we compare the Amplitude Spectral Densities (figures <a href="#org989d197">5</a> and <a href="#org799c8d6">6</a>)
</p>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
@@ -690,7 +686,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div>
<div id="org24e988b" class="figure">
<div id="org989d197" class="figure">
<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>
@@ -698,7 +694,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
<div id="org50ff18b" class="figure">
<div id="org799c8d6" class="figure">
<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>
@@ -706,11 +702,11 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div>
</div>
</div>
<div id="outline-container-orgcd6174b" class="outline-3">
<h3 id="orgcd6174b"><span class="section-number-3">1.5</span> Effect of the control system on the transmissibility from ground to sample</h3>
<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">
<p>
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="#org79e59b9">7</a>).
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>).
</p>
<div class="org-src-container">
@@ -770,15 +766,15 @@ xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbo
</div>
<div id="org79e59b9" class="figure">
<div id="org69857ac" class="figure">
<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>
</div>
</div>
</div>
<div id="outline-container-orgb74951a" class="outline-3">
<h3 id="orgb74951a"><span class="section-number-3">1.6</span> Conclusion</h3>
<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">
<div class="important">
<ul class="org-ul">
@@ -797,13 +793,12 @@ xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbo
</div>
</div>
<div id="outline-container-orged1a63a" class="outline-2">
<h2 id="orged1a63a"><span class="section-number-2">2</span> Effect of all the control systems on the Sample vibrations - One stage at a time</h2>
<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>
<a id="orgb4369e7"></a>
<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>.
@@ -812,8 +807,8 @@ All the files (data and Matlab scripts) are accessible <a href="data/effect_cont
</div>
</div>
<div id="outline-container-orgb02d791" class="outline-3">
<h3 id="orgb02d791"><span class="section-number-3">2.1</span> Experimental Setup</h3>
<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">
<p>
We here measure the signals of two geophones:
@@ -836,11 +831,11 @@ Each measurement are done during 100s.
</p>
<p>
The settings of the voltage amplifier are shown on figure <a href="#org3c63500">8</a>.
The settings of the voltage amplifier are shown on figure <a href="#org988acc8">8</a>.
A first order low pass filter with a cut-off frequency of 1kHz is added before the voltage amplifier.
</p>
<table id="orgcd4ff5c" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<table id="org5e6157e" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<caption class="t-above"><span class="table-number">Table 2:</span> Summary of the measurements and the states of the control systems</caption>
<colgroup>
@@ -959,7 +954,7 @@ Each of the <code>mat</code> file contains one array <code>data</code> with 3 co
</table>
<div id="org3c63500" class="figure">
<div id="org988acc8" class="figure">
<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>
@@ -967,8 +962,8 @@ Each of the <code>mat</code> file contains one array <code>data</code> with 3 co
</div>
</div>
<div id="outline-container-orgc25694f" class="outline-3">
<h3 id="orgc25694f"><span class="section-number-3">2.2</span> Load data</h3>
<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">
<p>
We load the data of the z axis of two geophones.
@@ -985,15 +980,15 @@ d_he = load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org
</div>
</div>
<div id="outline-container-org91c4f39" class="outline-3">
<h3 id="org91c4f39"><span class="section-number-3">2.3</span> Analysis - Time Domain</h3>
<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">
<p>
First, we can look at the time domain data and compare all the measurements:
</p>
<ul class="org-ul">
<li>comparison for the geophone at the sample location (figure <a href="#orgc6c9092">9</a>)</li>
<li>comparison for the geophone on the granite (figure <a href="#org8c9eb5f">10</a>)</li>
<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>
</ul>
<div class="org-src-container">
@@ -1013,7 +1008,7 @@ legend<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-stri
</div>
<div id="orgc6c9092" class="figure">
<div id="orgbcdf0fa" class="figure">
<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>
@@ -1037,7 +1032,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div>
<div id="org8c9eb5f" class="figure">
<div id="orgc003546" class="figure">
<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>
@@ -1045,8 +1040,8 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div>
</div>
<div id="outline-container-org748e4fb" class="outline-3">
<h3 id="org748e4fb"><span class="section-number-3">2.4</span> Analysis - Frequency Domain</h3>
<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">
<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>;
@@ -1057,8 +1052,8 @@ win = hanning<span class="org-rainbow-delimiters-depth-1">(</span>ceil<span clas
</div>
</div>
<div id="outline-container-orgf475151" class="outline-4">
<h4 id="orgf475151"><span class="section-number-4">2.4.1</span> Vibrations at the sample location</h4>
<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">
<p>
First, we compute the Power Spectral Density of the signals coming from the Geophone located at the sample location.
@@ -1074,7 +1069,7 @@ First, we compute the Power Spectral Density of the signals coming from the Geop
</div>
<p>
And we compare all the signals (figures <a href="#orgfcdac5a">11</a> and <a href="#orgdc64e82">12</a>).
And we compare all the signals (figures <a href="#org726c86e">11</a> and <a href="#org9662613">12</a>).
</p>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
@@ -1095,7 +1090,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div>
<div id="orgfcdac5a" class="figure">
<div id="org726c86e" class="figure">
<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>
@@ -1103,7 +1098,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
<div id="orgdc64e82" class="figure">
<div id="org9662613" class="figure">
<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>
@@ -1111,8 +1106,8 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div>
</div>
<div id="outline-container-orgd931999" class="outline-4">
<h4 id="orgd931999"><span class="section-number-4">2.4.2</span> Vibrations on the marble</h4>
<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">
<p>
Now we plot the same curves for the geophone located on the marble.
@@ -1128,7 +1123,7 @@ Now we plot the same curves for the geophone located on the marble.
</div>
<p>
And we compare the Amplitude Spectral Densities (figures <a href="#org0aa0d45">13</a> and <a href="#orgf325170">14</a>)
And we compare the Amplitude Spectral Densities (figures <a href="#org7b4f7ef">13</a> and <a href="#org56d9b94">14</a>)
</p>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
@@ -1149,7 +1144,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div>
<div id="org0aa0d45" class="figure">
<div id="org7b4f7ef" class="figure">
<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>
@@ -1157,7 +1152,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
<div id="orgf325170" class="figure">
<div id="org56d9b94" class="figure">
<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>
@@ -1166,8 +1161,8 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div>
</div>
<div id="outline-container-org02fa0f5" class="outline-3">
<h3 id="org02fa0f5"><span class="section-number-3">2.5</span> Conclusion</h3>
<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">
<ul class="org-ul">
@@ -1180,13 +1175,12 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div>
</div>
<div id="outline-container-org419641c" class="outline-2">
<h2 id="org419641c"><span class="section-number-2">3</span> Effect of the Symetrie Driver</h2>
<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>
<a id="org16105f2"></a>
<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>.
@@ -1195,8 +1189,8 @@ All the files (data and Matlab scripts) are accessible <a href="data/effect_syme
</div>
</div>
<div id="outline-container-org0376ec1" class="outline-3">
<h3 id="org0376ec1"><span class="section-number-3">3.1</span> Experimental Setup</h3>
<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">
<p>
We here measure the signals of two geophones:
@@ -1276,8 +1270,8 @@ Each of the <code>mat</code> file contains one array <code>data</code> with 3 co
</div>
</div>
<div id="outline-container-orgd322b02" class="outline-3">
<h3 id="orgd322b02"><span class="section-number-3">3.2</span> Load data</h3>
<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">
<p>
We load the data of the z axis of two geophones.
@@ -1290,8 +1284,8 @@ d_19 = load<span class="org-rainbow-delimiters-depth-1">(</span>'mat<span class=
</div>
</div>
<div id="outline-container-orgab00c14" class="outline-3">
<h3 id="orgab00c14"><span class="section-number-3">3.3</span> Analysis - Time Domain</h3>
<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">
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
@@ -1306,7 +1300,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div>
<div id="orge312f8b" class="figure">
<div id="orgd41a63b" class="figure">
<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>
@@ -1314,8 +1308,8 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div>
</div>
<div id="outline-container-orgb49b710" class="outline-3">
<h3 id="orgb49b710"><span class="section-number-3">3.4</span> Analysis - Frequency Domain</h3>
<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">
<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>;
@@ -1326,8 +1320,8 @@ win = hanning<span class="org-rainbow-delimiters-depth-1">(</span>ceil<span clas
</div>
</div>
<div id="outline-container-org29e0984" class="outline-4">
<h4 id="org29e0984"><span class="section-number-4">3.4.1</span> Vibrations at the sample location</h4>
<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">
<p>
First, we compute the Power Spectral Density of the signals coming from the Geophone located at the sample location.
@@ -1353,7 +1347,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div>
<div id="org5b1abf9" class="figure">
<div id="orgd04dfa2" class="figure">
<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>
@@ -1361,7 +1355,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
<div id="orge028598" class="figure">
<div id="orga59280d" class="figure">
<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>
@@ -1370,8 +1364,8 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div>
</div>
<div id="outline-container-org0edc5e7" class="outline-3">
<h3 id="org0edc5e7"><span class="section-number-3">3.5</span> Conclusion</h3>
<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">
<div class="important">
<p>
@@ -1383,13 +1377,12 @@ Even tough the Hexapod's driver vibrates quite a lot, it does not generate signi
</div>
</div>
<div id="outline-container-orgf05c480" class="outline-2">
<h2 id="orgf05c480"><span class="section-number-2">4</span> Transfer function from one stage to the other</h2>
<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>
<a id="org0be507d"></a>
<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>.
@@ -1398,8 +1391,8 @@ All the files (data and Matlab scripts) are accessible <a href="data/tf_stages_g
</div>
</div>
<div id="outline-container-org314ff6f" class="outline-3">
<h3 id="org314ff6f"><span class="section-number-3">4.1</span> Experimental Setup</h3>
<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">
<p>
For all the measurements in this section:
@@ -1410,11 +1403,11 @@ For all the measurements in this section:
</ul>
</div>
<div id="outline-container-orgc56982c" class="outline-4">
<h4 id="orgc56982c"><span class="section-number-4">4.1.1</span> From Marble to Ty - <code>mat/meas_010.mat</code></h4>
<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">
<p>
One geophone is on the marble, one is on the Ty stage (see figures <a href="#orged2b8d6">18</a>, <a href="#org4f68210">19</a> and <a href="#orga6a543e">20</a>).
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>).
</p>
<p>
@@ -1453,21 +1446,21 @@ The <code>data</code> array contains the following columns:
</table>
<div id="orged2b8d6" class="figure">
<div id="org8c67d5e" class="figure">
<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>
</div>
<div id="org4f68210" class="figure">
<div id="orgf8209e5" class="figure">
<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>
</div>
<div id="orga6a543e" class="figure">
<div id="orgbda1be3" class="figure">
<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>
@@ -1475,11 +1468,11 @@ The <code>data</code> array contains the following columns:
</div>
</div>
<div id="outline-container-org28719df" class="outline-4">
<h4 id="org28719df"><span class="section-number-4">4.1.2</span> From Marble to Ry - <code>mat/meas_011.mat</code></h4>
<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">
<p>
One geophone is on the marble, one is on the Ry stage (see figure <a href="#org3c59300">21</a>)
One geophone is on the marble, one is on the Ry stage (see figure <a href="#orge1aacc9">21</a>)
</p>
<p>
@@ -1518,7 +1511,7 @@ The <code>data</code> array contains the following columns:
</table>
<div id="org3c59300" class="figure">
<div id="orge1aacc9" class="figure">
<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>
@@ -1526,11 +1519,11 @@ The <code>data</code> array contains the following columns:
</div>
</div>
<div id="outline-container-orgfd497bf" class="outline-4">
<h4 id="orgfd497bf"><span class="section-number-4">4.1.3</span> From Ty to Ry - <code>mat/meas_012.mat</code></h4>
<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">
<p>
One geophone is on the Ty stage, one is on the Ry stage (see figures <a href="#org87ee9cc">22</a>, <a href="#orgd4fa83b">23</a> and <a href="#org49d1927">24</a>)
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>)
One geophone on the Ty stage, one geophone on the Ry stage.
</p>
@@ -1570,21 +1563,21 @@ The <code>data</code> array contains the following columns:
</table>
<div id="org87ee9cc" class="figure">
<div id="org1152c2d" class="figure">
<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>
</div>
<div id="orgd4fa83b" class="figure">
<div id="orgba78dd0" class="figure">
<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>
</div>
<div id="org49d1927" class="figure">
<div id="org451336d" class="figure">
<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>
@@ -1593,8 +1586,8 @@ The <code>data</code> array contains the following columns:
</div>
</div>
<div id="outline-container-orgeb58991" class="outline-3">
<h3 id="orgeb58991"><span class="section-number-3">4.2</span> Load data</h3>
<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">
<p>
We load the data of the z axis of two geophones.
@@ -1608,8 +1601,8 @@ ty_ry = load<span class="org-rainbow-delimiters-depth-1">(</span><span class="or
</div>
</div>
<div id="outline-container-org62dcb2b" class="outline-3">
<h3 id="org62dcb2b"><span class="section-number-3">4.3</span> Analysis - Time Domain</h3>
<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">
<p>
First, we can look at the time domain data.
@@ -1628,7 +1621,7 @@ xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbo
</div>
<div id="orgf85137c" class="figure">
<div id="org2867fc0" class="figure">
<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>
@@ -1648,7 +1641,7 @@ xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbo
</div>
<div id="org097b9c9" class="figure">
<div id="org5d87311" class="figure">
<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>
@@ -1667,7 +1660,7 @@ xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbo
</div>
<div id="orgc6dfbdc" class="figure">
<div id="orgea0aed0" class="figure">
<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>
@@ -1675,8 +1668,8 @@ xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbo
</div>
</div>
<div id="outline-container-org7d7634e" class="outline-3">
<h3 id="org7d7634e"><span class="section-number-3">4.4</span> Analysis - Frequency Domain</h3>
<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">
<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>;
@@ -1687,7 +1680,7 @@ win = hanning<span class="org-rainbow-delimiters-depth-1">(</span>ceil<span clas
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<p>
First, we compute the transfer function estimate between the two geophones for the 3 experiments (figure <a href="#org25d24fa">28</a>). We also plot their coherence (figure <a href="#org95ff63f">29</a>).
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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<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>;
@@ -1726,7 +1719,7 @@ xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbo
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<div id="orge687ca9" class="figure">
<p><img src="figs/compare_tf_geophones.png" alt="compare_tf_geophones.png" />
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<p><span class="figure-number">Figure 28: </span>Transfer function from the first geophone to the second geophone for the three experiments</p>
@@ -1741,7 +1734,7 @@ xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbo
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<div id="org95ff63f" class="figure">
<div id="org2832d9c" class="figure">
<p><img src="figs/coherence_two_geophones.png" alt="coherence_two_geophones.png" />
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<p><span class="figure-number">Figure 29: </span>Coherence between the two geophones for the three experiments</p>
@@ -1749,8 +1742,8 @@ xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbo
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<h3 id="orgefefe3f"><span class="section-number-3">4.5</span> Conclusion</h3>
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<h3 id="org54c19c9"><span class="section-number-3">4.5</span> Conclusion</h3>
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@@ -1764,7 +1757,7 @@ These measurements are not relevant.
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<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2019-05-10 ven. 11:35</p>
<p class="date">Created: 2019-05-14 mar. 22:53</p>
<p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
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