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< a accesskey = "h" href = "../index.html" > UP < / a >
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< a accesskey = "H" href = "../index.html" > HOME < / a >
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< h1 class = "title" > Tomography Experiment< / h1 >
< div id = "table-of-contents" >
< h2 > Table of Contents< / h2 >
< div id = "text-table-of-contents" >
< ul >
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< li > < a href = "#org84a12d1" > 1. Simscape Model< / a > < / li >
< li > < a href = "#orgcb251b3" > 2. Tomography Experiment with no disturbances< / a > < / li >
< li > < a href = "#orgcc1bc22" > 3. With Perturbations< / a > < / li >
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< / ul >
< / div >
< / div >
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< div id = "outline-container-org84a12d1" class = "outline-2" >
< h2 id = "org84a12d1" > < span class = "section-number-2" > 1< / span > Simscape Model< / h2 >
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< div class = "outline-text-2" id = "text-1" >
< p >
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The simulink file to do tomography experiments is < code > sim_nano_station_tomo.slx< / code > .
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< / p >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > open< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'experiment_tomography/matlab/sim_nano_station_tomo.slx'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span >
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< / pre >
< / div >
< p >
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We load the shared simulink configuration and we set a small < code > StopTime< / code > .
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< / p >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > load< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'mat/conf_simscape.mat'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
< span class = "org-matlab-simulink-keyword" > set_param< / span > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-variable-name" > conf_simscape< / span > , < span class = "org-string" > 'StopTime'< / span > , '< span class = "org-highlight-numbers-number" > 10< / span > < span class = "org-type" > '< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
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< / pre >
< / div >
< p >
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We first initialize all the stages.
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< / p >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > initializeGround< span class = "org-rainbow-delimiters-depth-1" > ()< / span > ;
initializeGranite< span class = "org-rainbow-delimiters-depth-1" > ()< / span > ;
initializeTy< span class = "org-rainbow-delimiters-depth-1" > ()< / span > ;
initializeRy< span class = "org-rainbow-delimiters-depth-1" > ()< / span > ;
initializeRz< span class = "org-rainbow-delimiters-depth-1" > ()< / span > ;
initializeMicroHexapod< span class = "org-rainbow-delimiters-depth-1" > ()< / span > ;
initializeAxisc< span class = "org-rainbow-delimiters-depth-1" > ()< / span > ;
initializeMirror< span class = "org-rainbow-delimiters-depth-1" > ()< / span > ;
initializeNanoHexapod< span class = "org-rainbow-delimiters-depth-1" > (< / span > struct< span class = "org-rainbow-delimiters-depth-2" > (< / span > < span class = "org-string" > 'actuator'< / span > , < span class = "org-string" > 'piezo'< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
initializeSample< span class = "org-rainbow-delimiters-depth-1" > (< / span > struct< span class = "org-rainbow-delimiters-depth-2" > (< / span > < span class = "org-string" > 'mass'< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
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< / pre >
< / div >
< p >
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We initialize the reference path for all the stages.
All stage is set to its zero position except the Spindle which is rotating at 60rpm.
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< / p >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > initializeReferences< span class = "org-rainbow-delimiters-depth-1" > (< / span > struct< span class = "org-rainbow-delimiters-depth-2" > (< / span > < span class = "org-string" > 'Rz_type'< / span > , < span class = "org-string" > 'rotating'< / span > , < span class = "org-string" > 'Rz_period'< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
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< / pre >
< / div >
< / div >
< / div >
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< div id = "outline-container-orgcb251b3" class = "outline-2" >
< h2 id = "orgcb251b3" > < span class = "section-number-2" > 2< / span > Tomography Experiment with no disturbances< / h2 >
< div class = "outline-text-2" id = "text-2" >
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< p >
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And we initialize the disturbances to zero.
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< / p >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > opts = struct< span class = "org-rainbow-delimiters-depth-1" > (< / span > ...
< span class = "org-string" > 'Dwx'< / span > , < span class = "org-constant" > false< / span > , ...< span class = "org-comment" > % Ground Motion - X direction< / span >
< span class = "org-string" > 'Dwy'< / span > , < span class = "org-constant" > false< / span > , ...< span class = "org-comment" > % Ground Motion - Y direction< / span >
< span class = "org-string" > 'Dwz'< / span > , < span class = "org-constant" > false< / span > , ...< span class = "org-comment" > % Ground Motion - Z direction< / span >
< span class = "org-string" > 'Fty_x'< / span > , < span class = "org-constant" > false< / span > , ...< span class = "org-comment" > % Translation Stage - X direction< / span >
< span class = "org-string" > 'Fty_z'< / span > , < span class = "org-constant" > false< / span > , ...< span class = "org-comment" > % Translation Stage - Z direction< / span >
< span class = "org-string" > 'Frz_z'< / span > , < span class = "org-constant" > false< / span > ...< span class = "org-comment" > % Spindle - Z direction< / span >
< span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
initDisturbances< span class = "org-rainbow-delimiters-depth-1" > (< / span > opts< span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
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< / pre >
< / div >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > < span class = "org-matlab-simulink-keyword" > sim< / span > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'sim_nano_station_tomo'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span >
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< / pre >
< / div >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > Dsm_without_dist = Dsm;
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< / pre >
< / div >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > < span class = "org-type" > figure< / span > ;
hold on;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > Dsm_without_dist.x.Time, Dsm_without_dist.x.Data, < span class = "org-string" > 'DisplayName'< / span > , < span class = "org-string" > 'x'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span >
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > Dsm_without_dist.y.Time, Dsm_without_dist.y.Data, < span class = "org-string" > 'DisplayName'< / span > , < span class = "org-string" > 'y'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span >
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > Dsm_without_dist.z.Time, Dsm_without_dist.z.Data, < span class = "org-string" > 'DisplayName'< / span > , < span class = "org-string" > 'z'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span >
hold off;
xlim< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < span class = "org-highlight-numbers-number" > 2< / span > , < span class = "org-constant" > inf< / span > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
legend< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'location'< / span > , < span class = "org-string" > 'northeast'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
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< / pre >
< / div >
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< div id = "org8e9717d" class = "figure" >
< p > < img src = "figs/exp_tomo_without_dist_trans.png" alt = "exp_tomo_without_dist_trans.png" / >
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< / p >
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< p > < span class = "figure-number" > Figure 1: < / span > X-Y-Z translation of the sample w.r.t. granite when performing tomography experiment with no disturbances (< a href = "./figs/exp_tomo_without_dist_trans.png" > png< / a > , < a href = "./figs/exp_tomo_without_dist_trans.pdf" > pdf< / a > )< / p >
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< / div >
< p >
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Rotations.
Think of the good way to plot these rotations with respect to time.
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< / p >
< / div >
< / div >
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< div id = "outline-container-orgcc1bc22" class = "outline-2" >
< h2 id = "orgcc1bc22" > < span class = "section-number-2" > 3< / span > With Perturbations< / h2 >
< div class = "outline-text-2" id = "text-3" >
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< div class = "org-src-container" >
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< pre class = "src src-matlab" > opts = struct< span class = "org-rainbow-delimiters-depth-1" > (< / span > ...
< span class = "org-string" > 'Dwx'< / span > , < span class = "org-constant" > true< / span > , ...< span class = "org-comment" > % Ground Motion - X direction< / span >
< span class = "org-string" > 'Dwy'< / span > , < span class = "org-constant" > true< / span > , ...< span class = "org-comment" > % Ground Motion - Y direction< / span >
< span class = "org-string" > 'Dwz'< / span > , < span class = "org-constant" > true< / span > , ...< span class = "org-comment" > % Ground Motion - Z direction< / span >
< span class = "org-string" > 'Fty_x'< / span > , < span class = "org-constant" > true< / span > , ...< span class = "org-comment" > % Translation Stage - X direction< / span >
< span class = "org-string" > 'Fty_z'< / span > , < span class = "org-constant" > true< / span > , ...< span class = "org-comment" > % Translation Stage - Z direction< / span >
< span class = "org-string" > 'Frz_z'< / span > , < span class = "org-constant" > true< / span > ...< span class = "org-comment" > % Spindle - Z direction< / span >
< span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
initDisturbances< span class = "org-rainbow-delimiters-depth-1" > (< / span > opts< span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
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< / pre >
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< pre class = "src src-matlab" > < span class = "org-matlab-simulink-keyword" > sim< / span > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'sim_nano_station_tomo'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span >
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< div class = "org-src-container" >
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< pre class = "src src-matlab" > < span class = "org-type" > figure< / span > ;
hold on;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > Dsm.x.Time, Dsm.x.Data, < span class = "org-string" > 'DisplayName'< / span > , < span class = "org-string" > 'x'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span >
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > Dsm.y.Time, Dsm.y.Data, < span class = "org-string" > 'DisplayName'< / span > , < span class = "org-string" > 'y'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span >
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > Dsm.z.Time, Dsm.z.Data, < span class = "org-string" > 'DisplayName'< / span > , < span class = "org-string" > 'z'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span >
hold off;
xlim< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < span class = "org-highlight-numbers-number" > 2< / span > , < span class = "org-constant" > inf< / span > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
legend< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'location'< / span > , < span class = "org-string" > 'northeast'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
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< div id = "org230990b" class = "figure" >
< p > < img src = "figs/exp_tomo_dist_trans.png" alt = "exp_tomo_dist_trans.png" / >
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< p > < span class = "figure-number" > Figure 2: < / span > X-Y-Z translation of the sample w.r.t. the granite when performing tomography experiment with disturbances (< a href = "./figs/exp_tomo_dist_trans.png" > png< / a > , < a href = "./figs/exp_tomo_dist_trans.pdf" > pdf< / a > )< / p >
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< div id = "postamble" class = "status" >
< p class = "author" > Author: Dehaeze Thomas< / p >
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< p class = "date" > Created: 2019-12-13 ven. 19:06< / p >
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< p class = "validation" > < a href = "http://validator.w3.org/check?uri=referer" > Validate< / a > < / p >
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