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ID Date Author Type Categoryup Subject
  15171   Wed Jan 29 00:27:13 2020 gautamUpdateComputer Scripts / Programsmcup / mcdown modified

To fix the apparent slowness of execution of the caput commands on megatron, I changed the "ewrite" macro in the mcup and mcdown scripts to use ezcawrite instead of caput. The old lines are simply commented out, and can be reverted to at any point if we so desire. After these changes, we saw that both scripts complete execution much faster.

  15207   Tue Feb 11 19:11:35 2020 shrutiUpdateComputer Scripts / ProgramsMATLAB on donatella

Tried to open MATLAB on Donatella and found the error:


MATLAB is selecting SOFTWARE OPENGL rendering.

 

License checkout failed.
License Manager Error -9
This error may occur when: 
-The hostid of this computer does not match the hostid in the license file. 
-A Designated Computer installation is in use by another user. 
If no other user is currently running MATLAB, you may need to activate.

Troubleshoot this issue by visiting: 
http://www.mathworks.com/support/lme/R2015b/9

Diagnostic Information:
Feature: MATLAB 
License path: /home/controls/.matlab/R2015b_licenses/license_donatella_865865_R2015b.lic:/cvs/cds/caltech/apps/lin
ux64/matlab15b/licenses/license.dat:/cvs/cds/caltech/apps/linux64/matlab15b/licenses/license_chiara_
865865_R2015b.lic:/cvs/cds/caltech/apps/linux64/matlab15b/licenses/license_pianosa_865865_R2015b.lic 
Licensing error: -9,57.


So I used  my caltech credentials to get an activation key for the computer. I could not find the option for a campus license so I used the individual single machine license.

Now it can be run by going to the location:

/cvs/cds/caltech/apps/matlab17b/bin

and running

./matlab

On opening MATLAB, there were a whole bunch of other errors including a low-level graphics error when we tried to plot something.

  15325   Tue May 12 17:51:25 2020 ranaSummaryComputer Scripts / Programsupdated LESS syntax highlight on nodus

apt install source-highlight

then modified bashrc to point to /usr/share instead of /usr/bin

  15331   Thu May 14 00:47:55 2020 gautamSummaryComputer Scripts / Programspcdev1 added to authorized keys on nodus

This is to facilitate the summary page config fines to be pulled from nodus in a scripted way, without being asked for authentication. If someone knows of a better/more secure way for this to be done, please let me know. The site summary pages seem to pull the config files from a git repo, maybe that's better?

  15341   Wed May 20 20:10:34 2020 rana, John ZUpdateComputer Scripts / ProgramsNDS2 server / conf updated - seems OK now

We noticed about a week ago that the NDS2 channel lists were not getting updated on megatron. JZ and I investigated; he was able to fix it all up this afternoon by logging in and snooping around Megatron.

Please try it out and tell me about any problems in getting fresh data.


  1. The NDS2 server is what we connect to through our python NDS2 client software to download some data.
  2. It has been working for years, but it looks like there was a file corruption of the channel lists that it makes back in 2017.
  3. Since the NDS2 server code tries to make incremental changes, it was failing to make a new channel list. Was failing to parse the corrupted file.
  4. there was a controls crontab entry to restart the server every morning, but the file name in that tab had a typo, so that wasn't working. I commented it out, since it shouldn't be necessary (lets see how it goes...)
  5. the nds2mgr account also has a crontab, but that was failing since it didn't have sudo permission. JZ added nds2mgr to the sudoers list so that should work now.
  6. I was able to get new channels as of 4 PM today, so it seems to be working.

* we should remember to rebuild the NDS2 server code for Ubuntu. The thing running on there is for CentOS / SL7, but we moved to Ubuntu recently since the SL7 support is going away.

** the nds2 code & conf files are not backed up anywhere since its not on /cvs/cds. It has 52 GB(!!) of txt channel lists & archives which we don't need to backup

  15342   Thu May 21 15:31:26 2020 gautamUpdateComputer Scripts / ProgramsNDS2 service restarted

The service had failed at 16:09 yesterday. I just restarted it and am now able to fetch data again. 

Unrelated to this work: I restarted the httpd service on nodus a couple of times this afternoon while experimenting with the summary pages.

Quote:

Please try it out and tell me about any problems in getting fresh data.

  15345   Fri May 22 10:37:41 2020 ranaUpdateComputer Scripts / ProgramsNDS2 service restarted

was dead again this morning - JZ notified

current restart instructions (after ssh to megatron):

cd /home/nds2mgr/nds2-megatron

sudo su nds2mgr

make -f test_restart

  15346   Mon May 25 10:54:41 2020 ranaUpdateComputer Scripts / ProgramsNDS2 service restarted

so far it has run through the weekend with no problems (except that there are huge log files as usual).

I have started to set up monit to run on megatron to watch this process. In principle this would send us alerts when things break and also give a web interface to watch monit. I'm not sure how to do web port forwarding between megatron and nodus, so for now its just on the terminal. e.g.:

monit>sudo monit status
Monit 5.25.1 uptime: 4m

System 'megatron'
  status                       OK
  monitoring status            Monitored
  monitoring mode              active
  on reboot                    start
  load average                 [0.15] [0.22] [0.25]
  cpu                          0.6%us 1.0%sy 0.2%wa
  memory usage                 1001.4 MB [25.0%]
  swap usage                   107.2 MB [1.9%]
  uptime                       40d 17h 55m
  boot time                    Tue, 14 Apr 2020 17:47:49
  data collected               Mon, 25 May 2020 11:43:03

Process 'nds2'
  status                       OK
  monitoring status            Monitored
  monitoring mode              active
  on reboot                    start
  pid                          25007
  parent pid                   1
  uid                          4666
  effective uid                4666
  gid                          4666
  uptime                       3d 1h 22m
  threads                      53
  children                     0
  cpu                          0.0%
  cpu total                    0.0%
  memory                       19.4% [776.1 MB]
  memory total                 19.4% [776.1 MB]
  security attribute           unconfined
  disk read                    0 B/s [2.3 GB total]
  disk write                   0 B/s [17.9 MB total]
  data collected               Mon, 25 May 2020 11:43:03

 

  15618   Thu Oct 8 08:37:15 2020 gautamUpdateComputer Scripts / ProgramsFinesse GUI

This looks cool, we should have something similar, can be really useful.

  15621   Thu Oct 8 18:40:42 2020 KojiUpdateComputer Scripts / ProgramsFinesse GUI

Is it better than Luxor? https://labcit.ligo.caltech.edu/~jharms/luxor.html

  15693   Wed Dec 2 12:35:31 2020 PacoSummaryComputer Scripts / ProgramsTC200 python driver

Given the similarities between the MDT694B (single channel piezo controller) and TC200 (temperature controller) serial interfaces, I added the pyserial driver here

*Warning* this first version of the driver remains untested

  15694   Wed Dec 2 15:27:06 2020 gautamSummaryComputer Scripts / ProgramsTC200 python driver

FYI, there is this. Seems pretty well maintained, and so might be more useful in the long run. The available catalog of instruments is quite impressive - TC200 temp controller and SRS345 func gen are included and are things we use in the lab. maybe you can make a pull request to add MDT694B (there is some nice API already built I think). We should also put our netgpibdata stuff and the vacuum gauge control (basically everything that isn't rtcds) on there (unless there is some intellectual property rights issues that the Caltech lawyers have to sort out).

Quote:

Given the similarities between the MDT694B (single channel piezo controller) and TC200 (temperature controller) serial interfaces, I added the pyserial driver here

*Warning* this first version of the driver remains untested

  15716   Tue Dec 8 15:07:13 2020 gautamUpdateComputer Scripts / Programsndscope updated

I updated the ndscope on rossa to a bleeding edge version (0.7.9+dev0) which has many of the fixes I've requested in recent times (e.g. direct PDF export, see Attachment #1). As usual if you find issue, report it on the issue tracker. The basic functionality for looking at signals seems to be okay so this shouldn't adversely impact locking efforts.


In hindsight - I decided to roll-back to 0.7.9, and have the bleeding edge as a separate binary. So if you call ndscope from the command line, you should still get 0.7.9 and not the bleeding edge.

Attachment 1: test.pdf
test.pdf
  15882   Mon Mar 8 20:11:51 2021 ranaFrogsComputer Scripts / Programsactivate_matlab out of control on Megatron

there were a zillion processes trying to activate (this is the initial activation after the initial installation) matlab 2015b on megatron, so I killed them all. Was someone logged in to megatron and trying to run matlab sometime in 2020? If so, speak now, or I will send the out-of-control process brute squad after you!

  15916   Fri Mar 12 18:10:01 2021 AnchalSummaryComputer Scripts / ProgramsInstalled cds-workstation on allegra

allegra had fresh Debian 10 installed on it already. I installed cds-workstation packages (with the help of Erik von Reis). I checked that command line caget, caput etc were working. I'll see if medm and other things are working next time we visit the lab.

  15940   Thu Mar 18 13:12:39 2021 gautamUpdateComputer Scripts / ProgramsOmnigraffle vs draw.io

What is the advantage of Omnigraffle c.f. draw.io? The latter also has a desktop app, and for creating drawings, seems to have all the functionality that Omnigraffle has, see for example here. draw.io doesn't require a license and I feel this is a much better tool for collaborative artwork. I really hate that I can't even open my old omnigraffle diagrams now that I no longer have a license.

Just curious if there's some major drawback(s), not like I'm making any money off draw.io.

Quote:

After Anchal left for his test, I took the time to set up the iMAC station so that Stephen (and others) can remote desktop into it to use Omnigraffle.

  15967   Thu Mar 25 17:39:28 2021 gautamUpdateComputer Scripts / ProgramsSpot position measurement scripts "modernized"

I want to measure the spot positions on the IMC mirrors. We know that they can't be too far off centerBasically I did the bare minimum to get these scripts in /opt/rtcds/caltech/c1/scripts/ASS/MC/ running on rossa (python3 mainly). I confirmed that I get some kind of spot measurement from this, but not sure of the data quality / calibration to convert the demodulated response into mm of decentering on the MC mirrors. Perhaps it's something the MC suspension team can look into - seems implausible to me that we are off by 5mm in PIT and YAW on MC2? The spot positions I get are (in mm from the center):

MC1 P          MC2P           MC3P           MC1Y          MC2Y           MC3Y

0.640515    -5.149050    0.476649    -0.279035    5.715120    -2.901459

A future iteration of the script should also truncate the number of significant figures per a reasonable statistical error estimation.

Attachment 1: MCdecenter202103251735_mcmirror0.pdf
MCdecenter202103251735_mcmirror0.pdf
Attachment 2: MCdecenter202103251735_mcdecenter0.pdf
MCdecenter202103251735_mcdecenter0.pdf
  16075   Thu Apr 22 14:49:08 2021 gautamUpdateComputer Scripts / Programsrossa added to RTS authorized keys

This is to facilitate running of scripts like the CDS reboot script, mx_stream restart, etc, from rossa, without being pwd prompted every time, whereas previously it was only possible from pianosa. I added the public key of rossa to FB and the RT FE servers. I suppose I could add it to the Acromag servers too, but I haven't yet.

  16085   Mon Apr 26 18:52:52 2021 Anchal, PacoHowToComputer Scripts / Programsawg free slot

Today we had some trouble launching an excitation on C1:IOO-MC_LSC_EXC from awggui. The error read:

awgSetChannel: failed getIndexAWG C1:SUS-MC2_LSC_EXC ret=-3

What solved this was the following :

  1. launch the dtt command line interface
  2. Anchal remembers a slot number 37008
  3. We issue >> awg free 37008
  4. Slot freed, launch a new instance of awggui
  16324   Mon Sep 13 18:19:25 2021 TegaUpdateComputer Scripts / ProgramsMoved modbus service from chiara to c1susaux

[Tega, Anchal, Paco]

After talking to Anchal, it was made clear that chiara is not the place to host the modbus service for the temperature sensors. The obvious machine is c1pem, but the startup cmd script loads c object files and it is not clear how easy it would integrate the modbus functionality since we can only login via telnet, so we decided to instead host the service on c1susaux. We also modified the /etc/motd file on c1susaucx which displays the welcome message during login to inform the user that this machine hosts the modbus service for the temperature sensor. Anchal plans to also document this information on the temperature sensor wiki at some point in the future when the page is updated to include what has been learnt so far.

We might also consider updating the database file to a more modern way of reading the temperature sensor data using FLOAT32_LE which is available on EPICs version 3.14 and above, instead of the current method which works but leaves the reader bemused by the bitwise operations that convert the two 16 bits words (A and B) to IEEE-754 32-bit float, via 

field(CALC, "(A&D?(A&C?-1:1):0)*((G|A&E)*J+B)*2^((A&D)/G-F)")

where 

   field(INPA, "$HiWord")
   field(INPB, "$LoWord")
   field(INPC, "0x8000")   # Hi word, sign bit
   field(INPD, "0x7F80")   # Hi word, exponent mask
   field(INPE, "0x00FF")   # Hi word, mantissa mask (incl hidden bit)
   field(INPF, "150")      # Exponent offset plus 23-bit mantissa shift
   field(INPG, "0x0080")   # Mantissa hidden bit
   field(INPJ, "65536")    # Hi/Lo mantissa ratio
   field(CALC, "(A&D?(A&C?-1:1):0)*((G|A&E)*J+B)*2^((A&D)/G-F)")
   field(PREC, "4")

as opposed to the more modern form

field(INP,"@asyn($(PORT) $(OFFSET))FLOAT32_LE")
  16338   Thu Sep 16 12:06:17 2021 TegaUpdateComputer Scripts / ProgramsTemperature sensors added to the summary pages

We can now view the minute trend of the temperature sensors under the PEM tab of the summary pages. See attachment 1 for an example of today's temperature readings. 

Attachment 1: TempPlot_2021-09-16_12.04.19PM.png
TempPlot_2021-09-16_12.04.19PM.png
  16460   Tue Nov 9 13:40:02 2021 Ian MacMillanSummaryComputer Scripts / ProgramsSUS Plant Plan for New Optics

[Ian, Tega]

After talking with Rana we have an updated plan. We will be working on this plan step by step in this order.

  1. Remove c1sim from the test stand rack and move it to the rack in the office next to the printer. When connecting it we will NOT connect it to the Martian network! This is to make sure that nothing is connected to the 40m system and we can't mess anything up.
  2. Once we have moved the computer over physically, we will need to update anyone who uses it on how to connect to it. The way we connect to it will have changed.
  3. Now that we have the computer moved and everyone can connect to it we will work on the model. Currently, we have the empty models connected.
    1. recompile the model since we moved the computer.
    2. verify that nothing has changed in the move and the model can still operate and compile properly
  4. The model has the proper structure but we need to fill it with the proper filters and such
    1. For the Plant model
      1. To get it up and running quickly we will use the premade plant filters for the plant model. These filters were made for the c1sup.mdl and should work in our modified plant model. This will allow us to verify that everything is working. And allow us to run tests on the system.
      2. We need to update the model and add the state space block. (we are skipping this step for now because we are fast-tracking the testing)  
        1. Check with Chris to make sure that this is the right way to do it. I am pretty sure it is, but I don't know anything
        2. Make the 6 DOF state-space matrix. We only have a three DOF one. The surf never made a 6 DOF. 
        3. Make the block to input into the model
        4. make a switch that will allow us to switch between the state-space model and the filter block
    2. For the controller
      1. Load filter coefficients for the controller model from one of the current optics and use this as a starting point.
      2. Add medm screens for the controller and plant. We are skipping this for now because we want results and we don't care if the screens look nice and are useable at the moment.
  5.  Test the model
    1. we will take an open-loop transfer function of all six of the DOFs to all other DOFs which will leave us with 36 TFs. Many will be zero
      1. If you are looking at this post then we are measuring transfer functions from the blue flags to the green flags across the plant model.
      2. We will want to look at the TFs across the controller

 

  16461   Tue Nov 9 16:55:52 2021 Ian MacMillanSummaryComputer Scripts / ProgramsSUS Plant Plan for New Optics

[Ian, Tega]

We have moved c1sim computer from the test stand to the server rack in the office area. (see picture)

It is connected to the general campus network. Through the network switch at the top of the rack. This switch seeds the entire Martian network.

Test to show that I am not lying:

  1. you can ping it or ssh into it at
    controls@131.215.114.116
    Using the same password as before. Notice this is not going through the nodus network.
  2. It also has a different beginning of the IP addresses. Martian network IP addresses start with 191.168.113

c1sim is now as connected to the 40m network as my mom's 10-year-old laptop.

unfortunately, I have not been able to get the x2go client to connect to it. I will have to investigate further. It is nice to have access to the GUI of c1sim occasionally.

Attachment 1: IMG_8107.JPG
IMG_8107.JPG
  16462   Tue Nov 9 18:05:03 2021 Ian MacMillanSummaryComputer Scripts / ProgramsSUS Plant Plan for New Optics

[Ian, Tega]

Now that the computer is in its new rack I have copied over the filter two files that I will use in the plant and the controller from pianosa:/opt/rtcds/caltech/c1/chans to the docker system in c1sim:/home/controls/docker-cymac/chans. That is to say, C1SUP.txt -> X1SUP.txt and C1SUS.txt -> X1SUS_CP.txt, where we have updated the names of the plant and controller inside the txt files to match our testing system, e.g. ITMX -> OPT_PLANT in plant model and ITMX -> OPT_CTRL in the controller and the remaining optics (BS, ITMY, PRM, SRM) are stripped out of C1SUS.txt in order to make X1SUS_CP.txt. 

Once the filter files were copied over need to add them to the filters that are in my models to do this I run the commands:

$  cd docker-cymac
$  eval $(./env_cymac)
$  ./login_cymac
 #  cd /opt/rtcds/tst/x1/medm/x1sus_cp
 #  medm -x X1SUS_OPT_PLANT_TM_RESP.adl

see this post for more detail

Unfortunately, the graphics forwarding from the docker is not working and is giving the errors:

arg: X1SUS_OPT_PLANT_TM_RESP.adl

locateResource 'X1SUS_OPT_PLANT_TM_RESP.adl'

isNetworkRequest X1SUS_OPT_PLANT_TM_RESP.adl

canAccess('X1SUS_OPT_PLANT_TM_RESP.adl', 4) = 0

can directly access 'X1SUS_OPT_PLANT_TM_RESP.adl'

isNetworkRequest X1SUS_OPT_PLANT_TM_RESP.adl

locateResource(X1SUS_OPT_PLANT_TM_RESP.adl...) returning 1

Error: Can't open display:

This means that the easiest way to add the filters to the model is through the GUI that can be opened through X2go client. It is probably easiest to get that working. graphics forwarding from inside the docker is most likely very hard. 

unfortunately again x2go client won't connect even with updated IP and routing. It gives me the error: unable to execute: startkde. Going into the files on c1sim:/usr/bin and trying to start startkde by myself also did not work, telling me that there was no such thing even though it was right in front of me.

  16466   Mon Nov 15 15:12:28 2021 Ian MacMillanSummaryComputer Scripts / ProgramsSUS Plant Plan for New Optics

[Ian, Tega]

We are working on three fronts for the suspension plant model:

  1. Filters
    1. We now have the state-space matrices as given at the end of this post. From these matrices, we can derive transfer functions that can be used as filter inputs. For a procedure see HERE. We accomplish this using Matlab's built-in ss(A,B,C,D); function. then we make it discrete using c2d(sys, 1/f); this gives us our discrete system running at the right frequency. We can get the transfer functions of either of these systems using tf(sys);
    2. from there we can copy the transfer functions into our photon filters.  Tega is working on this right now.
  2. State-Space
    1. We have our matrices as listed at the end of this post. With those compiled into a discrete system in MatLab we can use the code Chris made called rtss.m to convert this system into a .c file and a .h file.
    2. from there we have moved those files under the userapps folder in the docker system. then we added a c-code block to our .mdl model for the plant and pointed it at the custom c file we made. See section 7.2 of T080135-v10
    3. We have done all this and this should implement a custom state-space function into our .mdl file. the downside of this is that to change our SS model we have to edit the matrices we can't edit this from an medm screen. We have to recompile every time.
  3. Python Check
    1. This python check is run by Raj and will take in the state-space matrices which are given then will take transfer functions along all inputs and outputs and will compare them to what we have from the CDS model.

 

Here are the State-space matrices:

A=\begin{bmatrix} 0 & 1 & 0 & 0 & 0 & 0 & 0 & 0 \\ -\omega_x^2(1+i/Q_{x}) & -\gamma_x & \omega_xb & 0 & 0 & 0 & 0 & 0 \\ 0 & 0 & 0 & 1 & 0 & 0 & 0 & 0 \\ \frac{\omega_{\theta}^2}{l+b} & 0 & -\omega_{\theta}^2(1+i/Q_{\theta}) & -\gamma_{\theta} & 0 & 0 & 0 & 0 \\ 0 & 0 & 0 & 0 & 0 & 1 & 0 & 0 \\ 0 & 0 & 0 & 0 & -\omega_{\phi}^2(1+i/Q_{\phi}) & -\gamma_{\phi} & 0 & 0 \\ 0 & 0 & 0 & 0 & 0 & 0 & 0 & 1 \\ 0 & 0 & 0 & 0 & 0 & 0 & -\omega_{y}^2(1+i/Q_{y}) & -\gamma_{y}\end{bmatrix} 

  B=\begin{bmatrix} 0 & 0 & 0 & 0 \\ \frac{1}{m} & 0 & 0 & 0 \\ 0 & 0 & 0 & 0 \\ 0 & \frac{R_m}{I_{\theta}} & 0 & 0 \\ 0 & 0 & 0 & 0 \\ 0 & 0 & \frac{R_m}{I_{\phi}} & 0 \\ 0 & 0 & 0 & 0 \\ 0 & 0 & 0 & \frac{1}{m} \end{bmatrix}      C=\begin{bmatrix} 1 & 0 & 0 & 0 & 0 & 0 & 0 & 0 \\ 0 & 0 & 1 & 0 & 0 & 0 & 0 & 0 \\ 0 & 0 & 0 & 0 & 1 & 0 & 0 & 0 \\ 0 & 0 & 0 & 0 & 0 & 0 & 1 & 0 \end{bmatrix}      D=\begin{bmatrix} 0 & 0 & 0 & 0 \\ 0 & 0 & 0 & 0 \\ 0 & 0 & 0 & 0 \\ 0 & 0 & 0 & 0 \end{bmatrix}

A few notes: If you want the values for these parameters see the .yml file or the State-space model file. I also haven't been able to find what exactly this s is in the matrices.

UPDATE [11/16/21 4:26pm]: I updated the matrices to make them more general and eliminate the "s" that I couldn't identify. 

The input vector will take the form:

\begin{bmatrix} x \\ \dot{x} \\ \theta \\ \dot{\theta} \\ \phi \\ \dot{\phi} \\ y \\ \dot{y} \end{bmatrix}

where x is the position, theta is the pitch, phi is the yaw, and y is the y-direction displacement

 

 

  16469   Tue Nov 16 17:29:49 2021 Ian MacMillanSummaryComputer Scripts / ProgramsSUS Plant Plan for New Optics

[Ian, Tega]

Updated A, B, C, D matrices for the state-space model to remove bugs in the previous estimate of the system dynamics. Updated the last post to represent the current matrixes.

We used MatLab to get the correct time-series filter coefficients in ZPK format and added them to the filters running in the TM_RESP filter matrix.

Get the pos-pos transfer function from the CDS model. Strangely, this seems to take a lot longer than anticipated to generate the transfer function, even though we are mainly probing the low-frequency behavior of the system.  

For example, a test that should be taking approximately 6 minutes is taking well over an hour to complete. This swept sine (results below) was on the low settings to get a fast answer and it looks bad. This is a VERY basic system it shouldn't be taking this long to complete a Swept sine TF.

 

Noticed that we need to run eval $(./env_cymac) every time we open a new terminal otherwise CDS doesn't work as expected. Since this has been the source of quite a few errors already, we have decided to put it in the startup .bashrc script.  

loc=$(pwd)
cd ${HOME}/docker-cymac/
eval $(./env_cymac)
cd ${loc}
Attachment 1: x_x_TF1.pdf
x_x_TF1.pdf
  16477   Thu Nov 18 20:00:43 2021 Ian MacMillanSummaryComputer Scripts / ProgramsSUS Plant Plan for New Optics

[Ian, Raj, Tega]

Here is the comparison between the results of Raj's python model and the transfer function measurement done on the plant model by Tega and me.

As You can see in the graphs there are a few small spots of disagreement but it doesn't look too serious. Next we will measure the signals flowing through the entire plant and controller.

For a nicer (and printable) version of these plots look in the zipped folder under Plots/Plant_TF_Individuals.pdf

Attachment 1: Final_Plant_Testing.zip
  16478   Mon Nov 22 16:38:26 2021 TegaSummaryComputer Scripts / ProgramsSUS Plant Plan for New Optics

[Tega, Ian]

TODO

1. Investigate cross-coupling btw the various degrees of freedom (dof) - turn on noise for each dof in the plant model and measure the transfer function of the other dofs.

2. Get a closed-loop transfer function using noise injection and give a detailed outline of the procedure in elog - IN1/IN2 for each TM_RESP filter while the others are turned off.

3. Derive analytic model of the closed-loop transfer functions for comparison.

4. Adapt control filters to fit optimized analytical solutions.

  32   Tue Oct 30 19:32:13 2007 tobinProblem FixedComputersconlogger restarted
I noticed that the conlogger wasn't running. It looks like it hasn't been running since October 11th. I modified the restart_conlogger script to insist that it run on op340m instead of op440m, and then ran it on op340m.
  46   Thu Nov 1 16:34:47 2007 Andrey RodionovSummaryComputersLimitation on attachment size of E-LOG

I discovered yesterday when I was attaching photos that it is NOT possible to attach files whose size is 10Mb or more. Therefore, 10Mb or something very close to that value is the limit.
  71   Tue Nov 6 16:48:54 2007 tobinConfigurationComputersscopes on the net
I configured our two 100 MHz Tektronix 3014B scopes with IP addresses: 131.215.113.24 (scope0) and 113.215.113.25 (scope1). Let the scripting commence!

There appears to be a Matlab Instrument Control Toolbox driver for this scope.
  72   Tue Nov 6 18:18:15 2007 tobinConfigurationComputersI broke (and fixed) conlogger
It turns out that not only restart_conlogger, but also conlogger itself checks to see that it is running on the right machine. I had changed the restart_conlogger script to run on op340, but it would actually silently fail (because we cleverly redirect conlogger's output to /dev/null). Anyway, it's fixed now: I edited the conlogger source code where the hostname is hardcoded (blech!) and recompiled.

On another note, Andrey fixed the "su" command on op440m. It turns out that the GNU version, in /usr/local/bin, doesn't work, and was masking the (working) sun version in /bin. Andrey renamed the offending version as "su.backup".
  73   Tue Nov 6 23:45:38 2007 tobinConfigurationComputerstektronix scripts!
I cooked up a little script to fetch the data from the networked Tektronix scope. Example usage:

linux2:scripts>tektronix/tek-dump scope0 ch1 foo.csv

"scope0" is the hostname of the scope, "ch1" is the channel you want to dump, and "foo.csv" is the file you want to dump it to. The script is written in Python since Python's libhttp gave me less trouble than Perl's HTTP::Lite.
  77   Wed Nov 7 10:55:21 2007 ajwConfigurationComputersbackup script restarted
Following the reboot of computers on 10/31/07, the backup script required restart (which unfortunately "can't" be automated because a password needs to be typed in). I restarted, following the instructions in /cvs/cds/caltech/scripts/backup/000README.txt and verified that it more-or-less worked last night (the rsync sometimes times out; it gets through after a couple of days of trying.)
  92   Sun Nov 11 21:21:04 2007 ranaHowToComputersNew DV
To use the new ligoDV (previously GEO DV) to look at 40m data, open up a matlab, set up for mDV as usual,
and then from the /cvs/cds/caltech/apps/ligoDV/ directory, type 'ligoDV'.

Then select which NDS server you want to look at and then start clicking to get some plots.
Attachment 1: Screenshot-1.png
Screenshot-1.png
  106   Thu Nov 15 18:06:06 2007 tobinUpdateComputersalex: linux1 root file system hard disk's dying
I just noticed that Alex made an entry in the old ilog yesterday, saying: "Looks like linux1 root filesystem hard drive is about to die. The system log is full of drive seek errors. We should get a replacement IDE drive as soon as possible or else the unthinkable could happen. 40 Gb IDE hard drive will be sufficient."
  107   Thu Nov 15 18:23:55 2007 JohnHowToComputersSwap CAPS and CTRL on a Windows 2000/XP machine
I've swapped ctrl and caps on the four control room Windows machines. Right ctrl is unchanged.



Start menu->Run "regedit"

HKEY_LOCAL_MACHINE\SYSTEM\CurrentControlSet\Control\Keyboard Layout

Click on the KeyboardLayout entry.

Edit->New Binary Value name it Scancode Map.

Then select the new Scancode Map entry.

Edit menu->Modify Binary Data.

In the dialog box enter the following data:

0000: 00 00 00 00 00 00 00 00
0008: 03 00 00 00 3A 00 1D 00
0010: 1D 00 3A 00 00 00 00 00

Exit the Registry Editor. You need to log off and then on in XP (and restart in Windows 2000) for the changes to be made.
  109   Thu Nov 15 18:37:06 2007 tobinUpdateComputerspossible replacement for linux1's disk
It looks like the existing disk in linux1 is a Seagate ST380013A (this can be found either via the smartctl utility or by looking at the file /proc/ide/hda/model). It appears that you can still buy this disk from amazon, though I think just about any ATA disk would work. I'll ask Steve to buy one for us.
  110   Fri Nov 16 11:27:18 2007 tobinUpdateComputersscript fix
I added a tidbit of code to "LIGOio.pm" that fixes a problem with ezcastep on Linux. Scripts such as "trianglewave" will now work on Linux.
# On Linux, "ezcastep" will interpret negative steps as command line arguments,
# because the GNU library interprets anything starting with a dash as a flag.
# There are two ways around this.  One is to set the environment variable
# POSIXLY_CORRECT and the other is to inject "--" as a command line argument
# before any dashed arguments you don't want interpreted as a flag.  The former
# is easiest to use here:

if (`uname` =~ m/Linux/) {
    # Add an environment variable for child processes
    $ENV{'POSIXLY_CORRECT'} = 1;
}
  111   Fri Nov 16 14:11:26 2007 tobinUpdateComputersop140
Alan called to say that Phil Ehrens will be coming by to take op140 off our hands.
  112   Fri Nov 16 14:31:43 2007 tobinUpdateComputersop140 disks
Phil Ehrens stopped by and took op140's disks.
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DSC_0173.JPG
  117   Tue Nov 20 11:10:07 2007 tobinUpdateComputersepics access from matlab
I installed "labca", which allows direct access to EPICS channels from within Matlab. It comes with both Linux and Solaris binaries (and source) but I've only tried it on linux.

To set it up, run these shell commands:
pushd /cvs/cds/caltech/users/tf/build/labca_2_1/bin/linux-x86
setenv PATH ${PATH}:`pwd`
cd /cvs/cds/caltech/users/tf/build/labca_2_1/lib/linux-x86
setenv LD_LIBRARY_PATH ${LD_LIBRARY_PATH}:`pwd`
popd
Then start matlab, and within matlab type:
addpath /cvs/cds/caltech/users/tf/build/labca_2_1/bin/linux-x86/labca
help labca
foo = lcaGet('C1:PSL-FSS_RCTRANSPD')
It seems like reasonably well-written software, and is being actively maintained right now. If we like it, I can build a more recent version, install it in a more permanent location, etc.
  118   Tue Nov 20 13:06:57 2007 tobinConfigurationComputerslinux1 has new disk
Alex put the new hard disk into linux1 along with a fresh install of linux (CentOS). The old disk was too damaged to copy.

Alex speculates that the old disk failed due to overheating and that linux1 could use an extra fan to prevent this in the future.
  119   Tue Nov 20 18:02:54 2007 JohnSummaryComputersPSL_Main screen
I've updated the PSL_MAIN screen. The old version may be found in cvs/cds/caltech/medm/old/medm/psl.
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PSL_Screen.tif
  120   Tue Nov 20 18:35:20 2007 JohnHowToComputersMatLab in Emacs
If you can't get MatLab to run in emacs try adding the following to the .emacs file

(setq matlab-shell-command-switches '("-nojvm"))

This stops the gui opening.

To start MatLab type M-x matlab-shell.
To enter MatLab mode M-x matlab-mode.

I've done this on LINUX3.

To run MatLab in emacs under windows one can use MatLabShell http://www.cs.umb.edu/~ram/matlabShell/index.html
  132   Wed Nov 28 16:46:28 2007 ranaConfigurationComputersscientific linux 5.0
I tried installing Scientific Linux on Tiramisu. The installation process was so bad (really)
that I quit after 15 minutes. Its back to booting Ubuntu as if nothing had ever happened. Let
us never speak of Scientific Linux again.
  140   Thu Nov 29 14:29:22 2007 tobinConfigurationComputerslinux1 httpd/conlogger fixed
I think I fixed the conlogger web interface on linux1.

Steps necessary to do this:
0. Run "/etc/init.d/httpd start" to start up httpd right now
1. Run "/usr/sbin/ntsysv" and configure httpd to be started automatically in the future
2. Copy /cvs/cds/caltech/conlogger/bin/conlog_web.pl to /var/www/cgi-bin and chown to controls
8. Hack the conlog_web.pl to (0) use /usr/bin/perl (1) not use Apache::Util, and (2) function with the newer version of CGI.pm
9. Enjoy!

The following steps are optional, and may be inserted between steps 2 and 8:
3. Try to install Apache::Util (via "perl -MCPAN -e shell" followed by "Install Apache::Util")
4. Notice that the installation dies because there is no C compiler installed
5. Bang head in disgust and abomination over a Linux distribution shipping without a C compiler installed by default
6. "yum install gcc"
7. Annoyed by further dependencies, go to step 8
  149   Fri Nov 30 19:46:58 2007 ranaConfigurationComputersEPICS Time Bad again
The time on the EPICS screens is off by 10 minutes again. Por Que?

Its because the ntpd on scipe25 wasn't restarted after the last boot. If someone
knows how to put the ntpd startup into that machine, please do so.

This time I started it up by just going sshing in as controls and then entering:

sudo /usr/sbin/ntpd -c /etc/ntp.conf

which runs it as root and points to the right file.

It takes a few minutes to get going because all of the martian machines have to first fail to
connect to the worldwide pool servers (e.g. 0.pool.ntp.org) before they move on and try linux1
which has a connection to the world. Once it gets it you'll see the time on the EPICS screens
freeze. It then waits until the ntp time catches up with its old, wrong time before updating
again.

According to the Wikipedia, this time is then good to 128 ms or less.
  153   Sun Dec 2 17:37:33 2007 ranaOmnistructureComputersNetwork Cabling in the Office
We all know that we've spent many integrated man hours trying to figure out why our network connections
in the office area don't work. Usually its because of the bad hub around the Tobin/Osamu desk.

I pried open some of the wall conduit today and it looks pretty easy to fish cables through. I think
its time we finally did that. It may be a little disruptive, but I propose we get Larry to come over
and figure out what needs to happen for us to get regular 100 Mbit ports on the walls. These can
then all go over and get connected to a switch in the rack that holds linux1.

Opinions / comments ?
  158   Mon Dec 3 16:24:47 2007 tobinHowToComputersGNU screen
GNU screen is a utility that can be quite handy for managing long-running psuedo-interactive terminal programs on remote machines. In particular, I think it might be useful in developing and testing "Matlab DMT" tools on Mafalda.
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