def residual(mod_basis,uch_basis,y,z,dz): edge = ogp_util.transform_pt(ball_basis,uch_basis,ogp_util.transform_pt(null_basis,mod_basis,axial_edge)) #print edge nominal = [math.sin(0.0305)*(z+dz-700)-8.789, y, math.cos(0.0305)*(z+dz)] vec = ogp_util.transform_vec(ball_basis,uch_basis,ogp_util.transform_vec(null_basis,mod_basis,axial_vec)) #print vec angle = math.atan2(vec[1],vec[0]) if (abs(angle)>math.pi/2): angle = angle-math.copysign(math.pi,angle) #print edge-nominal #print angle return np.append(edge-nominal,angle*1000)
def residual(mod_basis,uch_basis,y,z,dz): edge = ogp_util.transform_pt(ball_basis,uch_basis,ogp_util.transform_pt(null_basis,mod_basis,axial_edge)) #print edge #nominal = [math.sin(0.0305)*(z+dz-700), y, math.cos(0.0305)*(z+dz-700)+700] nominal = [math.sin(0.0305)*(z+dz-700)-8.789, y, math.cos(0.0305)*(z+dz)] vec = ogp_util.transform_vec(ball_basis,uch_basis,ogp_util.transform_vec(null_basis,mod_basis,axial_vec)) #print vec angle = math.atan2(vec[1],vec[0]) if (abs(angle)>math.pi/2): angle = angle-math.copysign(math.pi,angle) #print edge-nominal #print angle return np.append(edge-nominal,angle*1000)
def axial_residuals(dict, layer, nom_height, ball_basis, global_basis):
az = math.radians(dict[layer]['XY Angle'][1])
el = math.radians(dict[layer]['Elevation'][1])
vec = np.array([
math.cos(az) * math.cos(el),
math.sin(az) * math.cos(el),
math.sin(el)
])
pos = np.array([
dict[layer]['X Location'][1], dict[layer]['Y Location'][1],
dict[layer]['Z Location'][1]
])
vec = ogp_util.transform_vec(ball_basis, global_basis, vec)
pos = ogp_util.transform_pt(ball_basis, global_basis, pos)
angle = math.atan2(vec[1], vec[0])
#height = pos[1] - pos[0]*(vec[1]/vec[0])
height = pos[1]
if (abs(angle) > math.pi / 2):
angle = angle - math.copysign(math.pi, angle)
#print pos
#print vec
#print angle
height_residual = height - nom_height
print 'Y residual {0}, angle residual {1}'.format(height_residual, angle)
return np.array([height_residual, angle])
def axial_residuals(dict, layer, nom_height, ball_basis, global_basis):
az = math.radians(dict[layer]['XY Angle'][1])
el = math.radians(dict[layer]['Elevation'][1])
vec = np.array([math.cos(az)*math.cos(el),
math.sin(az)*math.cos(el),
math.sin(el)])
pos = np.array([dict[layer]['X Location'][1],
dict[layer]['Y Location'][1],
dict[layer]['Z Location'][1]])
vec = ogp_util.transform_vec(ball_basis,global_basis,vec)
pos = ogp_util.transform_pt(ball_basis,global_basis,pos)
angle = math.atan2(vec[1],vec[0])
#height = pos[1] - pos[0]*(vec[1]/vec[0])
height = pos[1]
if (abs(angle)>math.pi/2):
angle = angle-math.copysign(math.pi,angle)
#print pos
#print vec
#print angle
height_residual = height-nom_height
print 'Y residual {0}, angle residual {1}'.format(height_residual,angle)
return np.array([height_residual,angle])
print 'Eigenvectors of curvature matrix: \n{0}'.format(v)
edgeangle = math.radians(stepdict[far + ' upper edge']['XY Angle'][1])
edgeel = math.radians(stepdict[far + ' upper edge']['Elevation'][1])
edgevec = np.array([
math.cos(edgeangle) * math.cos(edgeel),
math.sin(edgeangle) * math.cos(edgeel),
math.sin(edgeel)
])
edgepos = np.array([
stepdict[far + ' upper edge']['X Location'][1],
stepdict[far + ' upper edge']['Y Location'][1],
stepdict[far + ' upper edge']['Z Location'][1]
])
edgevec = ogp_util.transform_vec(meas_basis, fixture_basis, edgevec)
edgepos = ogp_util.transform_pt(meas_basis, fixture_basis, edgepos)
topedge1 = edgepos[1] + (6.500 * 25.4 - edgepos[0]) * (edgevec[1] / edgevec[0])
topedge2 = edgepos[1] + (3.125 * 25.4 - edgepos[0]) * (edgevec[1] / edgevec[0])
if (side == 'front'):
nominal1 = 2.337
nominal2 = 2.337
else:
nominal1 = 2.505
nominal2 = 2.166
print far + ' edge 1: nominal {0:.4f}, actual {1:.4f} (deviation {2:.2f} um)'.format(
nominal1 * 25.4, topedge1, 1000 * (topedge1 - nominal1 * 25.4))
print far + ' edge 2: nominal {0:.4f}, actual {1:.4f} (deviation {2:.2f} um)'.format(
nominal2 * 25.4, topedge2, 1000 * (topedge2 - nominal2 * 25.4))
def residual(mod_basis,uch_basis,y,z,dz): edge = ogp_util.transform_pt(ball_basis,uch_basis,ogp_util.transform_pt(null_basis,mod_basis,axial_edge)) #print edge #nominal = [math.sin(0.0305)*(z+dz-700), y, math.cos(0.0305)*(z+dz-700)+700] nominal = [math.sin(0.0305)*(z+dz-700)-8.789, y, math.cos(0.0305)*(z+dz)] vec = ogp_util.transform_vec(ball_basis,uch_basis,ogp_util.transform_vec(null_basis,mod_basis,axial_vec)) #print vec angle = math.atan2(vec[1],vec[0]) if (abs(angle)>math.pi/2): angle = angle-math.copysign(math.pi,angle) #print edge-nominal #print angle return np.append(edge-nominal,angle*1000) return np.concatenate((residual(l1_basis,global_basis,is_top*6.5,500,dz), residual(l2_basis,global_basis,is_top*9.5,700,dz), residual(l3_basis,global_basis,is_top*12.5,900,dz))) sol = scipy.optimize.leastsq(f_min,p0,args=())[0] print sol print f_min(sol) global_basis =ogp_util.make_parametrized_basis(sol[0],sol[1],sol[2],sol[3],sol[4],sol[5]) if (is_top==1): print 'top 4-6:' else: print 'bottom 4-6:' print ogp_util.transform_pt(ball_basis,global_basis,ball_basis[2])/25.4 print ogp_util.transform_pt(ball_basis,global_basis,ball_basis[3])/25.4 print ogp_util.transform_pt(ball_basis,global_basis,ball_basis[4])/25.4 print ogp_util.transform_pt(ball_basis,global_basis,ball_basis[5])/25.4
def check_alignment(moduleend):
sensorname = near + ' ' + moduleend
points = np.empty([3, 11])
points = ogp_util.get_points(stepdict, sensorname, 4, 7)
#print points
for i in range(0, 11):
points[:, i] = ogp_util.transform_pt(meas_basis, fixture_basis,
points[:, i])
#print points
[fiducials_nominal, p0] = ogp_util.l456_fiducials(moduleend, side)
sol = scipy.optimize.leastsq(ogp_util.sensor_fitfunc,
p0,
args=(points, fiducials_nominal))[0]
print 'Sensor fit parameters: ' + str(sol)
print 'Sensor fit residuals (um): ' + str(
1000.0 * ogp_util.sensor_fitfunc(sol, points, fiducials_nominal))
sensor_origin = np.array(sol[0:3])
sensor_rotation = ogp_util.make_rotation(sol[3], sol[4], sol[5])
print 'Sensor origin: {0}'.format(sensor_origin)
norm_vec = sensor_rotation.T.dot([0.0, 0.0, 1.0])
print 'Normal vector: {0}'.format(norm_vec)
meas_vec = sensor_rotation.T.dot([1.0, 0.0, 0.0])
print 'Strip vector: {0}'.format(meas_vec)
angle = math.atan2(meas_vec[1], meas_vec[0])
print 'Strip angle: {0}'.format(angle)
if (moduleend == 'block'):
fixture_x1 = 5.875
fixture_x2 = 2.500
if (side == 'front'):
nominal1 = 2.176
nominal2 = 2.008
else:
nominal1 = 2.176
nominal2 = 2.176
else:
fixture_x1 = 9.250
fixture_x2 = 5.875
if (side == 'front'):
nominal1 = 2.346
nominal2 = 2.176
else:
nominal1 = 2.176
nominal2 = 2.176
topedge1 = sensor_origin[1] + 20.17 / abs(math.cos(angle)) + (
fixture_x1 * 25.4 - sensor_origin[0]) * math.tan(angle)
topedge2 = sensor_origin[1] + 20.17 / abs(math.cos(angle)) + (
fixture_x2 * 25.4 - sensor_origin[0]) * math.tan(angle)
print near + ' ' + moduleend + ' edge 1: nominal {0:.4f}, actual {1:.4f} (deviation {2:.2f} um)'.format(
nominal1 * 25.4, topedge1, 1000 * (topedge1 - nominal1 * 25.4))
print near + ' ' + moduleend + ' edge 2: nominal {0:.4f}, actual {1:.4f} (deviation {2:.2f} um)'.format(
nominal2 * 25.4, topedge2, 1000 * (topedge2 - nominal2 * 25.4))
corner1 = sol[6] * (50.0)**2 + sol[7] * (20.17)**2 + sol[8] * 50.0 * 20.17
corner2 = sol[6] * (50.0)**2 + sol[7] * (20.17)**2 - sol[8] * 50.0 * 20.17
print 'Deviation from plane at corners (um): {0:.2f}, {1:.2f}'.format(
corner1 * 1000, corner2 * 1000)
hess = np.array([[2 * sol[6], sol[8]], [sol[8], 2 * sol[7]]])
w, v = np.linalg.eigh(hess)
print 'Eigenvalues of curvature matrix:'
print w
print 'Eigenvectors of curvature matrix:'
print v
if (moduleend == 'block'):
if (side == 'front'):
nominal1 = 2.176
nominal2 = 2.176
visible = 'upper'
edgedistance = 0.0
else:
nominal1 = 2.176
nominal2 = 2.008
visible = 'lower'
edgedistance = 40.34
else:
if (side == 'front'):
nominal1 = 2.176
nominal2 = 2.176
visible = 'lower'
edgedistance = 40.34
else:
nominal1 = 2.346
nominal2 = 2.176
visible = 'upper'
edgedistance = 0.0
edgeangle = math.radians(stepdict[far + ' ' + moduleend + ' ' + visible +
' edge']['XY Angle'][1])
edgeel = math.radians(stepdict[far + ' ' + moduleend + ' ' + visible +
' edge']['Elevation'][1])
edgevec = np.array([
math.cos(edgeangle) * math.cos(edgeel),
math.sin(edgeangle) * math.cos(edgeel),
math.sin(edgeel)
])
edgepos = np.array([
stepdict[far + ' ' + moduleend + ' ' + visible +
' edge']['X Location'][1],
stepdict[far + ' ' + moduleend + ' ' + visible +
' edge']['Y Location'][1] +
edgedistance / abs(math.cos(edgeangle)),
stepdict[far + ' ' + moduleend + ' ' + visible +
' edge']['Z Location'][1]
])
edgevec = ogp_util.transform_vec(meas_basis, fixture_basis, edgevec)
edgepos = ogp_util.transform_pt(meas_basis, fixture_basis, edgepos)
topedge1 = edgepos[1] + (fixture_x1 * 25.4 - edgepos[0]) * (edgevec[1] /
edgevec[0])
topedge2 = edgepos[1] + (fixture_x2 * 25.4 - edgepos[0]) * (edgevec[1] /
edgevec[0])
print far + ' ' + moduleend + ' edge 1: nominal {0:.4f}, actual {1:.4f} (deviation {2:.2f} um)'.format(
nominal1 * 25.4, topedge1, 1000 * (topedge1 - nominal1 * 25.4))
print far + ' ' + moduleend + ' edge 2: nominal {0:.4f}, actual {1:.4f} (deviation {2:.2f} um)'.format(
nominal2 * 25.4, topedge2, 1000 * (topedge2 - nominal2 * 25.4))
def check_alignment(moduleend):
sensorname = near+' '+moduleend
points = np.empty([3,11])
points = ogp_util.get_points(stepdict, sensorname, 4, 7)
#print points
for i in range(0,11):
points[:,i] = ogp_util.transform_pt(meas_basis,fixture_basis,points[:,i])
#print points
[fiducials_nominal,p0] = ogp_util.l456_fiducials(moduleend,side)
sol = scipy.optimize.leastsq(ogp_util.sensor_fitfunc,p0,args=(points,fiducials_nominal))[0]
print 'Sensor fit parameters: '+str(sol)
print 'Sensor fit residuals (um): '+str(1000.0*ogp_util.sensor_fitfunc(sol, points, fiducials_nominal))
sensor_origin = np.array(sol[0:3])
sensor_rotation = ogp_util.make_rotation(sol[3],sol[4],sol[5])
print 'Sensor origin: {0}'.format(sensor_origin)
norm_vec = sensor_rotation.T.dot([0.0, 0.0, 1.0])
print 'Normal vector: {0}'.format(norm_vec)
meas_vec = sensor_rotation.T.dot([1.0, 0.0, 0.0])
print 'Strip vector: {0}'.format(meas_vec)
angle = math.atan2(meas_vec[1],meas_vec[0])
print 'Strip angle: {0}'.format(angle)
if (moduleend=='block'):
fixture_x1 = 5.875
fixture_x2 = 2.500
if (side=='front'):
nominal1 = 2.176
nominal2 = 2.008
else:
nominal1 = 2.176
nominal2 = 2.176
else:
fixture_x1 = 9.250
fixture_x2 = 5.875
if (side=='front'):
nominal1 = 2.346
nominal2 = 2.176
else:
nominal1 = 2.176
nominal2 = 2.176
topedge1 = sensor_origin[1] + 20.17/abs(math.cos(angle)) + (fixture_x1*25.4 - sensor_origin[0])*math.tan(angle)
topedge2 = sensor_origin[1] + 20.17/abs(math.cos(angle)) + (fixture_x2*25.4 - sensor_origin[0])*math.tan(angle)
print near+' '+moduleend+' edge 1: nominal {0:.4f}, actual {1:.4f} (deviation {2:.2f} um)'.format(nominal1*25.4, topedge1, 1000*(topedge1-nominal1*25.4))
print near+' '+moduleend+' edge 2: nominal {0:.4f}, actual {1:.4f} (deviation {2:.2f} um)'.format(nominal2*25.4, topedge2, 1000*(topedge2-nominal2*25.4))
corner1 = sol[6]*(50.0)**2 + sol[7]*(20.17)**2 + sol[8]*50.0*20.17
corner2 = sol[6]*(50.0)**2 + sol[7]*(20.17)**2 - sol[8]*50.0*20.17
print 'Deviation from plane at corners (um): {0:.2f}, {1:.2f}'.format(corner1*1000,corner2*1000)
hess = np.array([[2*sol[6],sol[8]], [sol[8],2*sol[7]]])
w, v = np.linalg.eigh(hess)
print 'Eigenvalues of curvature matrix:'
print w
print 'Eigenvectors of curvature matrix:'
print v
if (moduleend=='block'):
if (side=='front'):
nominal1 = 2.176
nominal2 = 2.176
visible = 'upper'
edgedistance = 0.0
else:
nominal1 = 2.176
nominal2 = 2.008
visible = 'lower'
edgedistance = 40.34
else:
if (side=='front'):
nominal1 = 2.176
nominal2 = 2.176
visible = 'lower'
edgedistance = 40.34
else:
nominal1 = 2.346
nominal2 = 2.176
visible = 'upper'
edgedistance = 0.0
edgeangle = math.radians(stepdict[far+' '+moduleend+' '+visible+' edge']['XY Angle'][1])
edgeel = math.radians(stepdict[far+' '+moduleend+' '+visible+' edge']['Elevation'][1])
edgevec = np.array([math.cos(edgeangle)*math.cos(edgeel),
math.sin(edgeangle)*math.cos(edgeel),
math.sin(edgeel)])
edgepos = np.array([stepdict[far+' '+moduleend+' '+visible+' edge']['X Location'][1],
stepdict[far+' '+moduleend+' '+visible+' edge']['Y Location'][1]+edgedistance/abs(math.cos(edgeangle)),
stepdict[far+' '+moduleend+' '+visible+' edge']['Z Location'][1]])
edgevec = ogp_util.transform_vec(meas_basis,fixture_basis,edgevec)
edgepos = ogp_util.transform_pt(meas_basis,fixture_basis,edgepos)
topedge1 = edgepos[1] + (fixture_x1*25.4 - edgepos[0])*(edgevec[1]/edgevec[0])
topedge2 = edgepos[1] + (fixture_x2*25.4 - edgepos[0])*(edgevec[1]/edgevec[0])
print far+' '+moduleend+' edge 1: nominal {0:.4f}, actual {1:.4f} (deviation {2:.2f} um)'.format(nominal1*25.4, topedge1, 1000*(topedge1-nominal1*25.4))
print far+' '+moduleend+' edge 2: nominal {0:.4f}, actual {1:.4f} (deviation {2:.2f} um)'.format(nominal2*25.4, topedge2, 1000*(topedge2-nominal2*25.4))
ball_basis, uch_basis,
ogp_util.transform_vec(null_basis, mod_basis, axial_vec))
#print vec
angle = math.atan2(vec[1], vec[0])
if (abs(angle) > math.pi / 2):
angle = angle - math.copysign(math.pi, angle)
#print edge-nominal
#print angle
return np.append(edge - nominal, angle * 1000)
return np.concatenate(
(residual(l1_basis, global_basis, is_top * 6.5, 500,
dz), residual(l2_basis, global_basis, is_top * 9.5, 700, dz),
residual(l3_basis, global_basis, is_top * 12.5, 900, dz)))
sol = scipy.optimize.leastsq(f_min, p0, args=())[0]
print sol
print f_min(sol)
global_basis = ogp_util.make_parametrized_basis(sol[0], sol[1], sol[2], sol[3],
sol[4], sol[5])
if (is_top == 1):
print 'top 4-6:'
else:
print 'bottom 4-6:'
print ogp_util.transform_pt(ball_basis, global_basis, ball_basis[2]) / 25.4
print ogp_util.transform_pt(ball_basis, global_basis, ball_basis[3]) / 25.4
print ogp_util.transform_pt(ball_basis, global_basis, ball_basis[4]) / 25.4
print ogp_util.transform_pt(ball_basis, global_basis, ball_basis[5]) / 25.4
slotdownst[0] = dict[downst + ' slot ball reference']['X Location'][1]
slotdownst[1] = dict[downst + ' slot ball reference']['Y Location'][1]
slotdownst[2] = dict[downst + ' slot ball reference']['Z Location'][1]
basis = ogp_util.make_uch_basis(holeupst, holedownst, slotupst, slotdownst)
return basis
print 'top 1-3:'
t13_basis = ball_basis(t13dict, 'L1', 'L3')
#print t13_basis
t13_global = ogp_util.t13_global()
#print t13_global
print 'ball {0}, nominal {1}, residual {2}'.format(
ogp_util.transform_pt(t13_basis, t13_global, t13_basis[2]), t13_global[2],
ogp_util.transform_pt(t13_basis, t13_global, t13_basis[2]) - t13_global[2])
print 'ball {0}, nominal {1}, residual {2}'.format(
ogp_util.transform_pt(t13_basis, t13_global, t13_basis[3]), t13_global[3],
ogp_util.transform_pt(t13_basis, t13_global, t13_basis[3]) - t13_global[3])
print 'ball {0}, nominal {1}, residual {2}'.format(
ogp_util.transform_pt(t13_basis, t13_global, t13_basis[4]), t13_global[4],
ogp_util.transform_pt(t13_basis, t13_global, t13_basis[4]) - t13_global[4])
print 'ball {0}, nominal {1}, residual {2}'.format(
ogp_util.transform_pt(t13_basis, t13_global, t13_basis[5]), t13_global[5],
ogp_util.transform_pt(t13_basis, t13_global, t13_basis[5]) - t13_global[5])
print 'bottom 1-3:'
b13_basis = ball_basis(b13dict, 'L1', 'L3')
#print b13_basis
b13_global = ogp_util.b13_global()
slotupst[1]=dict[upst+' slot ball reference']['Y Location'][1]
slotupst[2]=dict[upst+' slot ball reference']['Z Location'][1]
slotdownst[0]=dict[downst+' slot ball reference']['X Location'][1]
slotdownst[1]=dict[downst+' slot ball reference']['Y Location'][1]
slotdownst[2]=dict[downst+' slot ball reference']['Z Location'][1]
basis = ogp_util.make_uch_basis(holeupst,holedownst,slotupst,slotdownst)
return basis
print 'top 1-3:'
t13_basis = ball_basis(t13dict,'L1','L3')
#print t13_basis
t13_global = ogp_util.t13_global()
#print t13_global
print 'ball {0}, nominal {1}, residual {2}'.format(ogp_util.transform_pt(t13_basis,t13_global,t13_basis[2]),t13_global[2],ogp_util.transform_pt(t13_basis,t13_global,t13_basis[2])-t13_global[2])
print 'ball {0}, nominal {1}, residual {2}'.format(ogp_util.transform_pt(t13_basis,t13_global,t13_basis[3]),t13_global[3],ogp_util.transform_pt(t13_basis,t13_global,t13_basis[3])-t13_global[3])
print 'ball {0}, nominal {1}, residual {2}'.format(ogp_util.transform_pt(t13_basis,t13_global,t13_basis[4]),t13_global[4],ogp_util.transform_pt(t13_basis,t13_global,t13_basis[4])-t13_global[4])
print 'ball {0}, nominal {1}, residual {2}'.format(ogp_util.transform_pt(t13_basis,t13_global,t13_basis[5]),t13_global[5],ogp_util.transform_pt(t13_basis,t13_global,t13_basis[5])-t13_global[5])
print 'bottom 1-3:'
b13_basis = ball_basis(b13dict,'L1','L3')
#print b13_basis
b13_global = ogp_util.b13_global()
#print b13_global
print 'ball {0}, nominal {1}, residual {2}'.format(ogp_util.transform_pt(b13_basis,b13_global,b13_basis[2]),b13_global[2],ogp_util.transform_pt(b13_basis,b13_global,b13_basis[2])-b13_global[2])
print 'ball {0}, nominal {1}, residual {2}'.format(ogp_util.transform_pt(b13_basis,b13_global,b13_basis[3]),b13_global[3],ogp_util.transform_pt(b13_basis,b13_global,b13_basis[3])-b13_global[3])
print 'ball {0}, nominal {1}, residual {2}'.format(ogp_util.transform_pt(b13_basis,b13_global,b13_basis[4]),b13_global[4],ogp_util.transform_pt(b13_basis,b13_global,b13_basis[4])-b13_global[4])
print 'ball {0}, nominal {1}, residual {2}'.format(ogp_util.transform_pt(b13_basis,b13_global,b13_basis[5]),b13_global[5],ogp_util.transform_pt(b13_basis,b13_global,b13_basis[5])-b13_global[5])
print 'top 4-6:'
w, v = np.linalg.eigh(hess)
print "Eigenvalues of curvature matrix: {0}".format(w)
print "Eigenvectors of curvature matrix: \n{0}".format(v)
edgeangle = math.radians(stepdict[far + " upper edge"]["XY Angle"][1])
edgeel = math.radians(stepdict[far + " upper edge"]["Elevation"][1])
edgevec = np.array([math.cos(edgeangle) * math.cos(edgeel), math.sin(edgeangle) * math.cos(edgeel), math.sin(edgeel)])
edgepos = np.array(
[
stepdict[far + " upper edge"]["X Location"][1],
stepdict[far + " upper edge"]["Y Location"][1],
stepdict[far + " upper edge"]["Z Location"][1],
]
)
edgevec = ogp_util.transform_vec(meas_basis, fixture_basis, edgevec)
edgepos = ogp_util.transform_pt(meas_basis, fixture_basis, edgepos)
topedge1 = edgepos[1] + (6.500 * 25.4 - edgepos[0]) * (edgevec[1] / edgevec[0])
topedge2 = edgepos[1] + (3.125 * 25.4 - edgepos[0]) * (edgevec[1] / edgevec[0])
if side == "front":
nominal1 = 2.337
nominal2 = 2.337
else:
nominal1 = 2.505
nominal2 = 2.166
print far + " edge 1: nominal {0:.4f}, actual {1:.4f} (deviation {2:.2f} um)".format(
nominal1 * 25.4, topedge1, 1000 * (topedge1 - nominal1 * 25.4)
)
print far + " edge 2: nominal {0:.4f}, actual {1:.4f} (deviation {2:.2f} um)".format(