#+TITLE: Actuators and Sensors
:drawer:
#+STARTUP: overview

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#+PROPERTY: header-args:matlab  :session *MATLAB*
#+PROPERTY: header-args:matlab+ :comments org
#+PROPERTY: header-args:matlab+ :exports both
#+PROPERTY: header-args:matlab+ :eval no-export
#+PROPERTY: header-args:matlab+ :noweb yes
#+PROPERTY: header-args:matlab+ :mkdirp yes
#+PROPERTY: header-args:matlab+ :output-dir figs
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[[../index.org][Back to main page]].

* Sensors
** Inertial Sensors
** Bibliography
cite:collette12_compar
cite:collette12_review
cite:fleming13_review_nanom_resol_posit_sensor

* Actuators
** Piezoelectric
** Voice Coil

* Suppliers
** Actuators
*** Piezoelectric
- http://www.cedrat-technologies.com/
- https://www.physikinstrumente.com/en/

*** Voice coil
- https://www.geeplus.com/
- https://www.maccon.de/en.html
- https://www.tds-pp.com/en/
- https://www.h2wtech.com/
- http://www.pbasystems.com.sg/
- https://www.celeramotion.com/
- http://www.beikimco.com/
- https://www.electromate.com/
- https://www.magneticinnovations.com/

** Sensors
*** Accelerometers

*** Geophones and Seismometers
- http://www.sercel.com/products/Pages/seismometers.aspx

*** Force sensor

*** Interferometers
- http://www.attocube.com/

** Positioning Systems
- https://www.aerotech.com/

* ESRF Equipment
** Geophones
*** L-28LB
- http://www.sercel.com/products/Pages/seismometers.aspx
- [[file:files/Geophones_specifications_Sercel_EN.pdf][Data Sheet]].

#+name: fig:L28LB
#+caption: Picture of the L-28LB Geophone
[[file:./figs/L28LB.png]]


#+name: tab:L-28LB
#+caption: L-28LB Parameters
| Natural Frequency [Hz] |  4.5 |
| Weight [g]             |  140 |
| Sensitivity [V/(m/s)]  | 31.3 |

We define the parameters of the geophone and we plot its bode plot (figure [[fig:L28LB_bode_plot]]).
#+begin_src matlab :results none
  w0 = 4.5*2*pi; % [rad/s]
  ksi = 0.38;
  G0 = 31.3; % [V/(m/s)]
  G = G0*(s/w0)^2/((s/w0)^2 + 2*ksi*(s/w0) + 1);
#+end_src

#+begin_src matlab :results none :exports none
  freqs = logspace(-1, 2, 1000);

  figure;
  ax1 = subaxis(2,1,1);
  plot(freqs, abs(squeeze(freqresp(G, freqs, 'Hz'))));
  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
  set(gca, 'XTickLabel',[]);
  ylabel('Magnitude [V/(m/s)]');

  ax2 = subaxis(2,1,2);
  plot(freqs, 180/pi*angle(squeeze(freqresp(G, freqs, 'Hz'))));
  set(gca,'xscale','log');
  yticks(-180:90:180);
  ylim([-180 180]);
  xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
  linkaxes([ax1,ax2],'x');
  xlim([fmin, fmax]);
#+end_src

#+NAME: fig:L28LB_bode_plot
#+HEADER: :tangle no :exports results :results raw :noweb yes
#+begin_src matlab :var filepath="figs/L28LB_bode_plot.pdf" :var figsize="wide-tall" :post pdf2svg(file=*this*, ext="png")
  <<plt-matlab>>
#+end_src

#+NAME: fig:L28LB_bode_plot
#+CAPTION: Bode plot of the L-28LB Geophone
#+RESULTS: fig:L28LB_bode_plot
[[file:figs/L28LB_bode_plot.png]]

*** L-4C
- http://www.sercel.com/products/Pages/seismometers.aspx
- [[file:files/Geophones_specifications_Sercel_EN.pdf][Data Sheet]].

#+name: fig:L4C
#+caption: Picture of the L-4C Geophone
[[file:./figs/L4C.png]]

#+name: tab:L4C
#+caption: L4C Parameters
| Natural Frequency [Hz] |     1 |
| Weight [g]             |  2150 |
| Sensitivity [V/(m/s)]  | 276.8 |

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

The transfer function from the velocity and the measured voltage is defined below.

Its bode plot is shown on figure [[fig:L4C_bode_plot]].

#+begin_src matlab :results none
  w0 = 2*pi; % [rad/s]
  ksi = 0.28;
  G0 = 276.8; % [V/(m/s)]
  G = G0*(s/w0)^2/((s/w0)^2 + 2*ksi*(s/w0) + 1);
#+end_src

#+begin_src matlab :results none :exports none
  freqs = logspace(-2, 2, 1000);

  figure;
  ax1 = subaxis(2,1,1);
  plot(freqs, abs(squeeze(freqresp(G, freqs, 'Hz'))));
  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
  set(gca, 'XTickLabel',[]);
  ylabel('Magnitude [V/(m/s)]');

  ax2 = subaxis(2,1,2);
  plot(freqs, 180/pi*angle(squeeze(freqresp(G, freqs, 'Hz'))));
  set(gca,'xscale','log');
  yticks(-180:90:180);
  ylim([-180 180]);
  xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
  linkaxes([ax1,ax2],'x');
  xlim([fmin, fmax]);
#+end_src

#+NAME: fig:L4C_bode_plot
#+HEADER: :tangle no :exports results :results raw :noweb yes
#+begin_src matlab :var filepath="figs/L4C_bode_plot.pdf" :var figsize="wide-tall" :post pdf2svg(file=*this*, ext="png")
  <<plt-matlab>>
#+end_src

#+NAME: fig:L4C_bode_plot
#+CAPTION: Bode plot of the L4C Geophone
#+RESULTS: fig:L4C_bode_plot
[[file:figs/L4C_bode_plot.png]]

** Accelerometers
*** Pieozoelectric acc. 356b18 - 3 axis
- https://www.pcbpiezotronics.fr/produit/accelerometres/356b18/
- [[file:files/356B18_G.pdf][Data Sheet]].

#+name: fig:356b18
#+caption: Pieozoelectric acc. 356b18 - 3 axis
[[file:./figs/356b18.jpg]]


#+name: tab:356b18
#+caption: 356b18 Parameters
| Sensitivity          | 0.102 $V/(m/s^2)$  |
| Measurement Range    | 4.9 $m/s^2$ pk     |
| Frequency Range      | 0.5 to 3000 Hz     |
| resonant frequency   | > 20000 hz         |
| broadband resolution | 0.0005 $m/s^2$ rms |

*** Ceramic acc. 393B05 - 1 axis
- http://www.pcb.com/products.aspx?m=393B05
- [[file:files/393B05_K.pdf][Data Sheet]].

#+name: fig:393b05
#+caption: Ceramic acc. 393B05 - 1 axis
[[file:./figs/393b05.jpg]]


#+name: tab:393B05
#+caption: 393B05 Parameters
| Sensitivity (±10 %)    | 1.02 $V/(m/s^2)$    |
| Measurement Range      | 4.9 $m/s^2$ pk      |
| Frequency Range (±5 %) | 0.7 to 450 Hz       |
| resonant frequency     | > 2500 hz           |
| broadband resolution   | 0.00004 $m/s^2$ rms |