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Thomas Dehaeze
2019-07-05 11:40:22 +02:00
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<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head>
<!-- 2019-05-15 mer. 16:35 -->
<!-- 2019-06-19 mer. 11:12 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Vibrations induced by the translation stage motion</title>
@@ -258,29 +258,29 @@ for the JavaScript code in this tag.
<h2>Table of Contents</h2>
<div id="text-table-of-contents">
<ul>
<li><a href="#org15ec826">1. Measurement description</a></li>
<li><a href="#orgb847946">2. Measurement Analysis</a>
<li><a href="#org39f8fb3">1. Measurement description</a></li>
<li><a href="#org9c1c4dc">2. Measurement Analysis</a>
<ul>
<li><a href="#org7fc6c17">2.1. Load data</a></li>
<li><a href="#orga70e282">2.2. Voltage to Velocity</a></li>
<li><a href="#org4e85d3b">2.3. Time domain plots</a></li>
<li><a href="#org121abe7">2.4. Frequency Domain analysis</a></li>
<li><a href="#org9bb2e68">2.5. Transfer function from marble motion in the East direction to sample motion in the East direction</a></li>
<li><a href="#org3557c4c">2.6. Position of the translation stage and Current</a>
<li><a href="#org83beca6">2.1. Load data</a></li>
<li><a href="#org6739365">2.2. Voltage to Velocity</a></li>
<li><a href="#org0e76d60">2.3. Time domain plots</a></li>
<li><a href="#orgae02709">2.4. Frequency Domain analysis</a></li>
<li><a href="#org86d8525">2.5. Transfer function from marble motion in the East direction to sample motion in the East direction</a></li>
<li><a href="#orgfdf507c">2.6. Position of the translation stage and Current</a>
<ul>
<li><a href="#orgda3ab01">2.6.1. Data pre-processing</a></li>
<li><a href="#orgc12f6b8">2.6.2. Time domain data</a></li>
<li><a href="#orgc57aee0">2.6.1. Data pre-processing</a></li>
<li><a href="#orgb39f0c9">2.6.2. Time domain data</a></li>
</ul>
</li>
<li><a href="#orgd2aa958">2.7. Conclusion</a></li>
<li><a href="#org7881c9d">2.7. Conclusion</a></li>
</ul>
</li>
</ul>
</div>
</div>
<div id="outline-container-org15ec826" class="outline-2">
<h2 id="org15ec826"><span class="section-number-2">1</span> Measurement description</h2>
<div id="outline-container-org39f8fb3" class="outline-2">
<h2 id="org39f8fb3"><span class="section-number-2">1</span> Measurement description</h2>
<div class="outline-text-2" id="text-1">
<p>
<b>Setup</b>:
@@ -310,7 +310,7 @@ The scans are done with the ELMO software.
</p>
<p>
The North of the Geophones corresponds to the +Y direction and the East of the Geophones to the +X direction (see figure <a href="#org045a67d">1</a>).
The North of the Geophones corresponds to the +Y direction and the East of the Geophones to the +X direction (see figure <a href="#orgf0c462e">1</a>).
</p>
<p>
@@ -394,7 +394,7 @@ Each of the measurement <code>mat</code> file contains one <code>data</code> arr
</table>
<div id="org045a67d" class="figure">
<div id="orgf0c462e" class="figure">
<p><img src="./img/IMG_20190513_163032.jpg" alt="IMG_20190513_163032.jpg" width="500px" />
</p>
<p><span class="figure-number">Figure 1: </span>Picture of the experimental setup</p>
@@ -402,11 +402,11 @@ Each of the measurement <code>mat</code> file contains one <code>data</code> arr
</div>
</div>
<div id="outline-container-orgb847946" class="outline-2">
<h2 id="orgb847946"><span class="section-number-2">2</span> Measurement Analysis</h2>
<div id="outline-container-org9c1c4dc" class="outline-2">
<h2 id="org9c1c4dc"><span class="section-number-2">2</span> Measurement Analysis</h2>
<div class="outline-text-2" id="text-2">
<p>
<a id="orgb039411"></a>
<a id="orgd482cbe"></a>
</p>
<div class="note">
<p>
@@ -416,8 +416,8 @@ All the files (data and Matlab scripts) are accessible <a href="data/disturbance
</div>
</div>
<div id="outline-container-org7fc6c17" class="outline-3">
<h3 id="org7fc6c17"><span class="section-number-3">2.1</span> Load data</h3>
<div id="outline-container-org83beca6" class="outline-3">
<h3 id="org83beca6"><span class="section-number-3">2.1</span> Load data</h3>
<div class="outline-text-3" id="text-2-1">
<div class="org-src-container">
<pre class="src src-matlab">z_ty = load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'mat/data_040.mat', 'data'</span><span class="org-rainbow-delimiters-depth-1">)</span>; z_ty = z_ty.data;
@@ -428,35 +428,37 @@ e_of = load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org
</div>
</div>
<div id="outline-container-orga70e282" class="outline-3">
<h3 id="orga70e282"><span class="section-number-3">2.2</span> Voltage to Velocity</h3>
<div id="outline-container-org6739365" class="outline-3">
<h3 id="org6739365"><span class="section-number-3">2.2</span> Voltage to Velocity</h3>
<div class="outline-text-3" id="text-2-2">
<p>
We convert the measured voltage to velocity using the function <code>voltageToVelocityL22</code> (accessible <a href="file:///home/thomas/MEGA/These/meas/src/index.html">here</a>).
</p>
<div class="org-src-container">
<pre class="src src-matlab">z_ty<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-1">)</span> = voltageToVelocityL22<span class="org-rainbow-delimiters-depth-1">(</span>z_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>, z_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-highlight-numbers-number">40</span><span class="org-rainbow-delimiters-depth-1">)</span>;
e_ty<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-1">)</span> = voltageToVelocityL22<span class="org-rainbow-delimiters-depth-1">(</span>e_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>, e_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-highlight-numbers-number">40</span><span class="org-rainbow-delimiters-depth-1">)</span>;
e_of<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-1">)</span> = voltageToVelocityL22<span class="org-rainbow-delimiters-depth-1">(</span>e_of<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, e_of<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-highlight-numbers-number">40</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<pre class="src src-matlab">gain = <span class="org-highlight-numbers-number">40</span>; <span class="org-comment">% [dB]</span>
z_ty<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-1">)</span> = voltageToVelocityL22<span class="org-rainbow-delimiters-depth-1">(</span>z_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>, z_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-highlight-numbers-number">40</span><span class="org-rainbow-delimiters-depth-1">)</span>;
e_ty<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-1">)</span> = voltageToVelocityL22<span class="org-rainbow-delimiters-depth-1">(</span>e_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>, e_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-highlight-numbers-number">40</span><span class="org-rainbow-delimiters-depth-1">)</span>;
e_of<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-1">)</span> = voltageToVelocityL22<span class="org-rainbow-delimiters-depth-1">(</span>e_of<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, e_of<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-highlight-numbers-number">40</span><span class="org-rainbow-delimiters-depth-1">)</span>;
z_ty<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-1">)</span> = voltageToVelocityL22<span class="org-rainbow-delimiters-depth-1">(</span>z_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>, z_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, gain<span class="org-rainbow-delimiters-depth-1">)</span>;
e_ty<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-1">)</span> = voltageToVelocityL22<span class="org-rainbow-delimiters-depth-1">(</span>e_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>, e_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, gain<span class="org-rainbow-delimiters-depth-1">)</span>;
e_of<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-1">)</span> = voltageToVelocityL22<span class="org-rainbow-delimiters-depth-1">(</span>e_of<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, e_of<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, gain<span class="org-rainbow-delimiters-depth-1">)</span>;
z_ty<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-1">)</span> = voltageToVelocityL22<span class="org-rainbow-delimiters-depth-1">(</span>z_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>, z_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, gain<span class="org-rainbow-delimiters-depth-1">)</span>;
e_ty<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-1">)</span> = voltageToVelocityL22<span class="org-rainbow-delimiters-depth-1">(</span>e_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>, e_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, gain<span class="org-rainbow-delimiters-depth-1">)</span>;
e_of<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-1">)</span> = voltageToVelocityL22<span class="org-rainbow-delimiters-depth-1">(</span>e_of<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, e_of<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, gain<span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
</div>
</div>
<div id="outline-container-org4e85d3b" class="outline-3">
<h3 id="org4e85d3b"><span class="section-number-3">2.3</span> Time domain plots</h3>
<div id="outline-container-org0e76d60" class="outline-3">
<h3 id="org0e76d60"><span class="section-number-3">2.3</span> Time domain plots</h3>
<div class="outline-text-3" id="text-2-3">
<p>
We plot the measured velocity of the marble and sample in the vertical direction (figure <a href="#org9602ab5">2</a>) and in the X direction (figure <a href="#orgcc783df">3</a>).
We plot the measured velocity of the marble and sample in the vertical direction (figure <a href="#org34814fe">2</a>) and in the X direction (figure <a href="#org8e9b7b5">3</a>).
</p>
<p>
We also integrate the relative velocity to obtain the relative displacement (figure <a href="#org00d44bf">4</a> in the X direction and figure <a href="#org8cb0d85">5</a> in the Z direction).
We also integrate the relative velocity to obtain the relative displacement (figure <a href="#orgd86ada1">4</a> in the X direction and figure <a href="#org3e96a6b">5</a> in the Z direction).
</p>
<div class="org-src-container">
@@ -472,7 +474,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div>
<div id="org9602ab5" class="figure">
<div id="org34814fe" class="figure">
<p><img src="figs/ty_z_time.png" alt="ty_z_time.png" />
</p>
<p><span class="figure-number">Figure 2: </span>Z velocity of the sample and marble when scanning with the translation stage</p>
@@ -491,7 +493,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div>
<div id="orgcc783df" class="figure">
<div id="org8e9b7b5" class="figure">
<p><img src="figs/ty_e_time.png" alt="ty_e_time.png" />
</p>
<p><span class="figure-number">Figure 3: </span>Velocity of the sample and marble in the east direction when scanning with the translation stage</p>
@@ -506,7 +508,7 @@ xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbo
</div>
<div id="org00d44bf" class="figure">
<div id="orgd86ada1" class="figure">
<p><img src="figs/x_relative_disp.png" alt="x_relative_disp.png" />
</p>
<p><span class="figure-number">Figure 4: </span>X relative displacement of the sample with respect to the marble</p>
@@ -521,7 +523,7 @@ xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbo
</div>
<div id="org8cb0d85" class="figure">
<div id="org3e96a6b" class="figure">
<p><img src="figs/z_relative_disp.png" alt="z_relative_disp.png" />
</p>
<p><span class="figure-number">Figure 5: </span>Z relative disp of the sample with respect to the marble</p>
@@ -529,8 +531,8 @@ xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbo
</div>
</div>
<div id="outline-container-org121abe7" class="outline-3">
<h3 id="org121abe7"><span class="section-number-3">2.4</span> Frequency Domain analysis</h3>
<div id="outline-container-orgae02709" class="outline-3">
<h3 id="orgae02709"><span class="section-number-3">2.4</span> Frequency Domain analysis</h3>
<div class="outline-text-3" id="text-2-4">
<p>
We get the typical ground velocity to compare with the velocities measured.
@@ -590,10 +592,10 @@ And finally for the relative velocity between the sample and the marble.
And we plot the ASD of the measured velocities:
</p>
<ul class="org-ul">
<li>figure <a href="#org72aa28e">6</a> compares the marble velocity in the east direction when scanning and when Ty is OFF</li>
<li>figure <a href="#orgd1eabc6">7</a> compares the sample velocity in the east direction when scanning and when Ty is OFF</li>
<li>figure <a href="#org22a9555">8</a> shows the marble and sample velocities in the Z direction when scanning with the translation stage</li>
<li>figure <a href="#org3c552b8">9</a> 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</li>
<li>figure <a href="#org94d27c9">6</a> compares the marble velocity in the east direction when scanning and when Ty is OFF</li>
<li>figure <a href="#orgb11f07e">7</a> compares the sample velocity in the east direction when scanning and when Ty is OFF</li>
<li>figure <a href="#orgaefec33">8</a> shows the marble and sample velocities in the Z direction when scanning with the translation stage</li>
<li>figure <a href="#org0099071">9</a> 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</li>
</ul>
<div class="org-src-container">
@@ -612,7 +614,7 @@ xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbo
</div>
<div id="org72aa28e" class="figure">
<div id="org94d27c9" class="figure">
<p><img src="figs/asd_east_marble.png" alt="asd_east_marble.png" />
</p>
<p><span class="figure-number">Figure 6: </span>Amplitude spectral density of the measured velocities corresponding to the geophone in the east direction located on the marble when the translation stage is OFF and when it is scanning at 1Hz</p>
@@ -635,7 +637,7 @@ xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbo
</div>
<div id="orgd1eabc6" class="figure">
<div id="orgb11f07e" class="figure">
<p><img src="figs/asd_east_sample.png" alt="asd_east_sample.png" />
</p>
<p><span class="figure-number">Figure 7: </span>Amplitude spectral density of the measured velocities corresponding to the geophone in the east direction located at the sample location when the translation stage is OFF and when it is scanning at 1Hz</p>
@@ -658,7 +660,7 @@ xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbo
</div>
<div id="org22a9555" class="figure">
<div id="orgaefec33" class="figure">
<p><img src="figs/asd_z_direction.png" alt="asd_z_direction.png" />
</p>
<p><span class="figure-number">Figure 8: </span>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</p>
@@ -680,7 +682,7 @@ xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbo
</div>
<div id="org3c552b8" class="figure">
<div id="org0099071" class="figure">
<p><img src="figs/asd_e_relative.png" alt="asd_e_relative.png" />
</p>
<p><span class="figure-number">Figure 9: </span>Amplitude spectral density of the measured relative velocity in the X direction</p>
@@ -688,15 +690,15 @@ xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbo
</div>
</div>
<div id="outline-container-org9bb2e68" class="outline-3">
<h3 id="org9bb2e68"><span class="section-number-3">2.5</span> Transfer function from marble motion in the East direction to sample motion in the East direction</h3>
<div id="outline-container-org86d8525" class="outline-3">
<h3 id="org86d8525"><span class="section-number-3">2.5</span> Transfer function from marble motion in the East direction to sample motion in the East direction</h3>
<div class="outline-text-3" id="text-2-5">
<p>
Let's compute the transfer function for the marble velocity in the east direction to the sample velocity in the east direction.
</p>
<p>
We first plot the time domain motions when every stage is off (figure <a href="#org52fbb44">10</a>).
We first plot the time domain motions when every stage is off (figure <a href="#orgb0f7dd4">10</a>).
</p>
<div class="org-src-container">
@@ -712,7 +714,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div>
<div id="org52fbb44" class="figure">
<div id="orgb0f7dd4" class="figure">
<p><img src="figs/east_marble_sample.png" alt="east_marble_sample.png" />
</p>
<p><span class="figure-number">Figure 10: </span>Velocity in the east direction of the marble and sample when all the stages are OFF</p>
@@ -733,10 +735,10 @@ win = hanning<span class="org-rainbow-delimiters-depth-1">(</span>ceil<span clas
<p>
The result is shown on figure <a href="#org2cef692">11</a>.
The result is shown on figure <a href="#orgc32127e">11</a>.
</p>
<div id="org2cef692" class="figure">
<div id="orgc32127e" class="figure">
<p><img src="figs/tf_east_marble_sample.png" alt="tf_east_marble_sample.png" />
</p>
<p><span class="figure-number">Figure 11: </span>Estimation of the transfer function from marble velocity in the east direction to sample velocity in the east direction</p>
@@ -744,16 +746,16 @@ The result is shown on figure <a href="#org2cef692">11</a>.
</div>
</div>
<div id="outline-container-org3557c4c" class="outline-3">
<h3 id="org3557c4c"><span class="section-number-3">2.6</span> Position of the translation stage and Current</h3>
<div id="outline-container-orgfdf507c" class="outline-3">
<h3 id="orgfdf507c"><span class="section-number-3">2.6</span> Position of the translation stage and Current</h3>
<div class="outline-text-3" id="text-2-6">
<p>
The position of the translation and current flowing in its actuator are measured using the elmo software and saved as an csv file.
</p>
</div>
<div id="outline-container-orgda3ab01" class="outline-4">
<h4 id="orgda3ab01"><span class="section-number-4">2.6.1</span> Data pre-processing</h4>
<div id="outline-container-orgc57aee0" class="outline-4">
<h4 id="orgc57aee0"><span class="section-number-4">2.6.1</span> Data pre-processing</h4>
<div class="outline-text-4" id="text-2-6-1">
<p>
Let's look at at the start of the csv file.
@@ -776,13 +778,13 @@ We then load this <code>cvs</code> file starting at line 29.
</div>
</div>
<div id="outline-container-orgc12f6b8" class="outline-4">
<h4 id="orgc12f6b8"><span class="section-number-4">2.6.2</span> Time domain data</h4>
<div id="outline-container-orgb39f0c9" class="outline-4">
<h4 id="orgb39f0c9"><span class="section-number-4">2.6.2</span> Time domain data</h4>
<div class="outline-text-4" id="text-2-6-2">
<p>
We plot the position of the translation stage measured by the encoders.
There is 200000 encoder count for each mm, we then divide by 200000 to obtain mm.
The result is shown on figure <a href="#org1e26376">12</a>.
The result is shown on figure <a href="#org3c042ab">12</a>.
</p>
<div class="org-src-container">
@@ -796,21 +798,21 @@ xlabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div>
<div id="org1e26376" class="figure">
<div id="org3c042ab" class="figure">
<p><img src="figs/ty_position_time.png" alt="ty_position_time.png" />
</p>
<p><span class="figure-number">Figure 12: </span>Y position of the translation stage measured by the encoders</p>
</div>
<div id="orgbbcae78" class="figure">
<div id="orgac4a46b" class="figure">
<p><img src="figs/ty_position_time_zoom.png" alt="ty_position_time_zoom.png" />
</p>
<p><span class="figure-number">Figure 13: </span>Y position of the translation stage measured by the encoders - Zoom</p>
</div>
<p>
We also plot the current as function of the time on figure <a href="#org12f65b1">14</a>.
We also plot the current as function of the time on figure <a href="#orgc686f17">14</a>.
</p>
<div class="org-src-container">
@@ -824,14 +826,14 @@ xlabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div>
<div id="org12f65b1" class="figure">
<div id="orgc686f17" class="figure">
<p><img src="figs/current_time.png" alt="current_time.png" />
</p>
<p><span class="figure-number">Figure 14: </span>Current going through the actuator of the translation stage</p>
</div>
<div id="orgc92d4f4" class="figure">
<div id="org3b181bb" class="figure">
<p><img src="figs/current_time_zoom.png" alt="current_time_zoom.png" />
</p>
<p><span class="figure-number">Figure 15: </span>Current going through the actuator of the translation stage - Zoom</p>
@@ -840,8 +842,8 @@ xlabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div>
</div>
<div id="outline-container-orgd2aa958" class="outline-3">
<h3 id="orgd2aa958"><span class="section-number-3">2.7</span> Conclusion</h3>
<div id="outline-container-org7881c9d" class="outline-3">
<h3 id="org7881c9d"><span class="section-number-3">2.7</span> Conclusion</h3>
<div class="outline-text-3" id="text-2-7">
<div class="important">
<ul class="org-ul">
@@ -856,7 +858,7 @@ xlabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2019-05-15 mer. 16:35</p>
<p class="date">Created: 2019-06-19 mer. 11:12</p>
<p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
</div>
</body>