diff --git a/acme.html b/acme.html
new file mode 100644
index 0000000000000000000000000000000000000000..8c60e6c82c36f1fe8e3a3b1e60c2048e0993f164
--- /dev/null
+++ b/acme.html
@@ -0,0 +1,1469 @@
+<!doctype html>
+<html>
+<head>
+ <meta charset="utf-8"></meta>
+ <meta content="IE=edge" http-equiv="X-UA-Compatible"></meta>
+ <title></title>
+ <style>/*<![CDATA[*/
+form.Hole {
+ font-size: x-small;
+ color: #3333ff;
+ font-family: "Courier New",Courier,monospace;
+ font-weight: bold;
+ padding-right: 2px;
+ padding-left: 4 px;
+}
+
+div.Hole {
+ font-size: x-small;
+ color: #3333ff;
+ font-family: "Courier New",Courier,monospace;
+ font-weight: bold;
+ padding-top: 8px;
+ padding-bottom: 8px;
+ padding-right: 2px;
+ padding-left: 8px;
+ border-radius: 5px;
+ background: #FFF482;
+ box-shadow: 0 0 0 2px #FFF482;
+}
+
+span.Hole {
+ font-size: x-small;
+ color: #3333ff;
+ font-family: "Courier New",Courier,monospace;
+ font-weight: bold;
+ padding-top: 2px;
+ padding-bottom: 2px;
+ padding-right: 2px;
+ padding-left: 8px;
+ border-radius: 5px;
+ background: #FFF482;
+ box-shadow: 0 0 0 2px #FFF482;
+}
+
+span.HoleId {
+ font-size: small;
+}
+
+span.HoleDesc {
+ margin-left: 5px;
+ padding-left: 5px;
+ border-style: dotted;
+ border-width: 1px;
+}
+
+hole::before {
+ content: " " attr(id) " ";
+ font-family: "Courier New",Courier,monospace;
+ font-size: 10pt;
+ font-weight: bold;
+}
+
+hole {
+ display:block;
+ font-size: x-small;
+ color: #3333ff;
+ font-family: "Courier New",Courier,monospace;
+ font-weight: bold;
+ padding-top: 8px;
+ padding-bottom: 8px;
+ padding-right: 2px;
+ padding-left: 8px;
+ border-radius: 5px;
+ background: #FFF482;
+ box-shadow: 0 0 0 2px #FFF482;
+}
+
+p hole {
+ display:inline;
+ font-size: x-small;
+ color: #3333ff;
+ font-family: "Courier New",Courier,monospace;
+ font-weight: bold;
+ padding-top: 2px;
+ padding-bottom: 2px;
+ padding-right: 2px;
+ padding-left: 8px;
+ border-radius: 5px;
+ background: #FFF482;
+ box-shadow: 0 0 0 2px #FFF482;
+}
+
+span hole {
+ display:inline;
+ font-size: x-small;
+ color: #3333ff;
+ font-family: "Courier New",Courier,monospace;
+ font-weight: bold;
+ padding-top: 2px;
+ padding-bottom: 2px;
+ padding-right: 2px;
+ padding-left: 8px;
+ border-radius: 5px;
+ background: #FFF482;
+ box-shadow: 0 0 0 2px #FFF482;
+}
+
+h1 hole {
+ display:inline;
+ font-size: x-small;
+ color: #3333ff;
+ font-family: "Courier New",Courier,monospace;
+ font-weight: bold;
+ padding-top: 2px;
+ padding-bottom: 2px;
+ padding-right: 2px;
+ padding-left: 8px;
+ border-radius: 5px;
+ background: #FFF482;
+ box-shadow: 0 0 0 2px #FFF482;
+}
+
+h2 hole {
+ display:inline;
+ font-size: x-small;
+ color: #3333ff;
+ font-family: "Courier New",Courier,monospace;
+ font-weight: bold;
+ padding-top: 2px;
+ padding-bottom: 2px;
+ padding-right: 2px;
+ padding-left: 8px;
+ border-radius: 5px;
+ background: #FFF482;
+ box-shadow: 0 0 0 2px #FFF482;
+}
+
+h3 hole {
+ display:inline;
+ font-size: x-small;
+ color: #3333ff;
+ font-family: "Courier New",Courier,monospace;
+ font-weight: bold;
+ padding-top: 2px;
+ padding-bottom: 2px;
+ padding-right: 2px;
+ padding-left: 8px;
+ border-radius: 5px;
+ background: #FFF482;
+ box-shadow: 0 0 0 2px #FFF482;
+}
+
+h4 hole {
+ display:inline;
+ font-size: x-small;
+ color: #3333ff;
+ font-family: "Courier New",Courier,monospace;
+ font-weight: bold;
+ padding-top: 2px;
+ padding-bottom: 2px;
+ padding-right: 2px;
+ padding-left: 8px;
+ border-radius: 5px;
+ background: #FFF482;
+ box-shadow: 0 0 0 2px #FFF482;
+}
+
+h5 hole {
+ display:inline;
+ font-size: x-small;
+ color: #3333ff;
+ font-family: "Courier New",Courier,monospace;
+ font-weight: bold;
+ padding-top: 2px;
+ padding-bottom: 2px;
+ padding-right: 2px;
+ padding-left: 8px;
+ border-radius: 5px;
+ background: #FFF482;
+ box-shadow: 0 0 0 2px #FFF482;
+}
+
+h6 hole {
+ display:inline;
+ font-size: x-small;
+ color: #3333ff;
+ font-family: "Courier New",Courier,monospace;
+ font-weight: bold;
+ padding-top: 2px;
+ padding-bottom: 2px;
+ padding-right: 2px;
+ padding-left: 8px;
+ border-radius: 5px;
+ background: #FFF482;
+ box-shadow: 0 0 0 2px #FFF482;
+}
+
+dptemplate::before{
+ content: "" attr(name) "";
+ font-family: "Courier New",Courier,monospace;
+ font-weight: bold;
+ color: #3333ff;
+}
+
+dptemplate {
+ margin-bottom: 4pt;
+ margin-top: 4pt;
+ border-style:dotted;
+ border-width:thin;
+ display:block;
+ background: #E6E6E6;
+}
+
+@import url(hole.css);
+@import url(docpart_templates.css);
+
+ol.toc > li {
+ list-style:none;
+}
+
+ol.loc > li {
+ list-style:none;
+}
+
+table {
+ border-collapse:collapse;
+ border-color:#000000;
+}
+
+ttable.ReportGrid {
+ color: rgb(0,0,0);
+ border: 1px solid black;
+ border-collapse:collapse;
+}
+
+thead.ReportGrid {
+ border: 1px solid black;
+ font-weight:bold;
+}
+
+
+th.ReportGrid {
+ border: 1px solid black;
+ font-weight:bold;
+ padding:5px;
+}
+
+tr.ReportGrid {
+ margin-left: 2%;
+}
+
+td.ReportGrid {
+ border: 1px solid black;
+ padding:5px;
+ text-align:center;
+}
+
+ol.toc {
+ /*counter-reset: numsection;*/
+ list-style-type: none;
+ padding-left: 32px;
+}
+
+ol.toc > li {
+ /*counter-increment: numsection;*/
+ text-indent: -12px;
+ padding-left: 12px;
+}
+
+ol.toc > li > * {
+ text-indent: 0;
+}
+
+ol.loc {
+ /*counter-reset: numsection;*/
+ list-style-type: none;
+ padding-left: 32px;
+}
+
+ol.loc > li {
+ /*counter-increment: numsection;*/
+ text-indent: -12px;
+ padding-left: 12px;
+}
+
+ol.loc > li > * {
+ text-indent: 0;
+}
+
+a.toc_sec_title::before {
+ /*content: counters(numsection, ".") ". ";*/
+ font-weight: bold;
+}
+
+a.loc_sec_title::before {
+ /*content: counters(numsection, ".") ". ";*/
+ font-weight: bold;
+}
+
+a.loc_sec_title{
+ color:blue;
+}
+
+a.toc_no_title {
+ font-style: italic;
+}
+
+table.rgMATLABTable {
+ text-align: center;
+ border: none;
+}
+table.rgMATLABTable th p {
+ padding: 0 0 0.03in 0;
+ margin: 0 0 0 0;
+}
+table.rgMATLABTable th {
+ font-weight: bold;
+ padding: 0 0.04in 0.05in 0.04in;
+}
+table.rgMATLABTable td p {
+ padding: 0 0 0 0;
+ margin: 0 0 0 0;
+}
+table.rgMATLABTable td {
+ padding: 0 0.04in 0 0.04in;
+}
+
+/* Styles for TOC sidebar */
+
+body {
+ margin: 0;
+}
+
+.wrapper-sidebar {
+ height: 100%;
+ width: 200px;
+ background-color: #fff;
+ position: fixed!important;
+ display: none;
+ z-index: 5;
+ overflow: auto;
+ word-break: break-all;
+}
+
+.sidebar-animate-left {
+ position: relative;
+ animation: animateleft 0.4s;
+}
+
+@keyframes animateleft {
+ from {
+ left: -300px;
+ opacity: 0;
+ }
+ to {
+ left: 0;
+ opacity: 1;
+ }
+}
+
+.overlay {
+ position: fixed;
+ display: none;
+ width: 100%;
+ height: 100%;
+ top: 0;
+ left: 0;
+ right: 0;
+ bottom: 0;
+ background-color: rgba(0, 0, 0, 0.2);
+ z-index: 2;
+}
+
+.animate-opacity {
+ animation: opac 0.8s;
+}
+
+@keyframes opac {
+ from {
+ opacity: 0;
+ }
+ to {
+ opacity: 1;
+ }
+}
+
+.sidebar-button {
+ border: none;
+ display: inline-block;
+ padding: 8px 16px;
+ font-size: 24px!important;
+ vertical-align: middle;
+ overflow: hidden;
+ text-decoration: none;
+ color: inherit;
+ background-color: inherit;
+ text-align: center;
+ cursor: pointer;
+ white-space: nowrap;
+ position: fixed;
+}
+
+.sidebar-button:hover {
+ color: #000!important;
+ background-color: #ccc!important;
+}
+
+.container {
+ padding: 0.01em 16px 16px 60px;
+}
+
+.current-sidebar-item {
+ background-color: rgb(247, 175, 175);
+}
+
+/*]]>*/</style>
+ <script>
+ //<![CDATA[
+var cssrule;
+(function (cssrule) {
+
+ function createStyleSheet() {
+ var style = document.createElement("style");
+
+ // Add a media (and/or media query) here if you'd like!
+ // style.setAttribute("media", "screen")
+ // style.setAttribute("media", "@media only screen and (max-width : 1024px)")
+
+ // WebKit hack :(
+ style.appendChild(document.createTextNode(""));
+
+ // Add the <style> element to the page
+ document.head.appendChild(style);
+
+ return style.sheet;
+ }
+
+ function addCSSRule(selector, rules, index) {
+ if (document.styleSheets) {
+ var sheet = createStyleSheet();
+ if (sheet) {
+ if (sheet.insertRule) {
+ return sheet.insertRule(selector + " {" + rules + "}", index);
+ }
+ else {
+ return sheet.addRule(selector, rules, index);
+ }
+ }
+ }
+ return null;
+ }
+ cssrule.addCSSRule = addCSSRule;
+
+})(cssrule || (cssrule = {}));
+ //]]>
+ </script>
+
+ <script>
+ //<![CDATA[
+var sidebar;
+(function (sidebar) {
+
+ function createSidebar() {
+ // Get all the body content now, this will exclude TOC/LOC. Wrap them in container div
+ var contentWrapper = document.createElement('div');
+ contentWrapper.className = 'container';
+
+ // Move the body's children into this wrapper and then append wrapper to the body
+ while (document.body.firstChild) {
+ contentWrapper.appendChild(document.body.firstChild);
+ }
+ document.body.appendChild(contentWrapper);
+
+ // Add button to open side bar
+ var sidebar_button = document.createElement('button');
+ sidebar_button.innerHTML = '☰';
+ sidebar_button.className = 'sidebar-button';
+
+ // Add mouse events to open and close sidebar
+ sidebar_button.addEventListener("mouseover", function () {
+ openSidebar();
+
+ highlightSelectedEntry();
+
+ var sideBar = document.getElementById("Sidebar");
+ sideBar.addEventListener("mouseleave", closeSidebar);
+ });
+
+ // Add touch events to open and close Sidebar
+ sidebar_button.addEventListener("touchstart", function () {
+ openSidebar();
+
+ highlightSelectedEntry();
+
+ var overlay = document.getElementById("SidebarOverlay");
+ overlay.addEventListener("touchstart", closeSidebar);
+ });
+
+ contentWrapper.parentNode.insertBefore(sidebar_button, contentWrapper);
+
+ // Add div for overlay
+ var overlayDiv = document.createElement('div');
+ overlayDiv.id = 'SidebarOverlay';
+ overlayDiv.className = 'overlay animate-opacity';
+ sidebar_button.parentNode.insertBefore(overlayDiv, sidebar_button);
+
+ var sidebarWrapper = document.createElement('div');
+ sidebarWrapper.id = 'Sidebar';
+ sidebarWrapper.className = 'wrapper-sidebar sidebar-animate-left';
+ overlayDiv.parentNode.insertBefore(sidebarWrapper, overlayDiv);
+
+ // Function to open sidebar
+ function openSidebar() {
+ document.getElementById("Sidebar").style.display = "block";
+ document.getElementById("SidebarOverlay").style.display = "block";
+ }
+
+ // Function to close sidebar
+ function closeSidebar() {
+ document.getElementById("Sidebar").style.display = "none";
+ document.getElementById("SidebarOverlay").style.display = "none";
+ }
+
+ // Function to highlight the selected entry in the Sidebar
+ function highlightSelectedEntry() {
+ var sidebarItemList = document.getElementsByClassName('sidebar_sec_title');
+ for (var i = 0; i < sidebarItemList.length; i++) {
+ sidebarItemList[i].addEventListener('click', function (event) {
+ for (var j = 0; j < sidebarItemList.length; j++) {
+ sidebarItemList[j].classList.remove('current-sidebar-item');
+ }
+ event.target.classList.add('current-sidebar-item');
+ });
+ }
+ }
+ }
+ sidebar.createSidebar = createSidebar;
+
+ function apppendData(data) {
+ var sidebarWrapper = document.getElementById("Sidebar");
+ sidebarWrapper.appendChild(data);
+ }
+ sidebar.apppendData = apppendData;
+
+})(sidebar || (sidebar = {}));
+
+ //]]>
+ </script>
+
+ <script>
+ //<![CDATA[
+var loc;
+(function (loc) {
+
+ function getLOCElements(root, streamName) {
+ var str_prefix = streamName + "_loc_caption_id";
+ count = 1;
+
+ var ol = document.createElement("ol");
+ ol.className = "loc";
+
+ var h4 = document.createElement("h4");
+ h4.textContent = "List of " + streamName[0].toUpperCase() + streamName.slice(1) + "s";
+ ol.appendChild(h4);
+
+ var captions = document.getElementsByClassName("an_" + streamName);
+ for (var i = 0; i < captions.length; i++) {
+ var node = captions[i];
+ var id = str_prefix + count;
+ count = count + 1;
+ node.parentElement.id = id;
+ var li = document.createElement("li");
+ var title = document.createElement("a");
+ title.className = "loc_sec_title sidebar_sec_title";
+
+ title.textContent = node.parentElement.textContent;
+ title.href = "#" + id;
+
+ title.addEventListener("click", function (event) {
+ //event.preventDefault();
+ node.scrollIntoView();
+ }, false);
+
+ li.appendChild(title);
+ ol.appendChild(li);
+ }
+ return ol;
+ }
+ loc.getLOCElements = getLOCElements;
+
+})(loc || (loc = {}));
+
+
+ //]]>
+ </script>
+
+ <script>
+ //<![CDATA[
+var toc;
+(function (toc) {
+ var showDetails = false;
+
+ function createOutline(outline, levels, level) {
+ if (level <= levels) {
+ var ol = document.createElement("ol");
+ ol.className = "toc";
+ if(level === 1){
+ var h4 = document.createElement("h4");
+ h4.textContent = "Table of Contents";
+ ol.appendChild(h4);
+ }
+ for (var i = 0; i < outline.length; i++) {
+ ol.appendChild(createSection(outline[i], levels, level));
+ }
+ return ol;
+ }
+ return null;
+ }
+ toc.createOutline = createOutline;
+
+ function createSection(section, levels, level) {
+ var li = document.createElement("li");
+
+ var title = document.createElement("a");
+ title.className = "toc_sec_title sidebar_sec_title";
+ li.appendChild(title);
+
+ if (section.heading === null) {
+ switch (section.associatedNodes[0].nodeName.toLowerCase()) {
+ case "blockquote":
+ title.textContent = "Quoted content";
+ break;
+ case "body":
+ title.textContent = "Document";
+ break;
+ case "details":
+ title.textContent = "Widget";
+ break;
+ case "fieldset":
+ title.textContent = "Form controls";
+ break;
+ case "figure":
+ title.textContent = "Figure";
+ break;
+ case "td":
+ title.textContent = "Data cell";
+ break;
+ case "article":
+ title.textContent = "Article";
+ break;
+ case "aside":
+ title.textContent = "Aside";
+ break;
+ case "nav":
+ title.textContent = "Navigation";
+ break;
+ case "section":
+ title.textContent = "Section";
+ break;
+ }
+ title.className += "toc_no_title";
+ } else {
+ title.textContent = section.heading.text;
+ }
+
+ var node = section.associatedNodes[0];
+ if ((node.sectionType !== 1 && node.sectionType !== 2) ||
+ (node.nodeName.toLowerCase() === "body")) {
+ node = section.heading;
+ }
+ title.href = "#" + node.id;
+
+ title.addEventListener("click", function (event) {
+ event.preventDefault();
+ node.scrollIntoView();
+ }, false);
+
+ var nextlevel = createOutline(section.childSections, levels, level+1);
+ if (nextlevel) {
+ li.appendChild(nextlevel);
+ }
+ return li;
+ }
+
+ function Section() {
+ this.parentSection = null;
+ this.childSections = [];
+ this.firstChild = null;
+ this.lastChild = null;
+ this.appendChild = function (section) {
+ section.parentSection = this;
+ this.childSections.push(section);
+ if (this.firstChild === null) {
+ this.firstChild = section;
+ }
+ this.lastChild = section;
+ };
+
+ this.heading = null;
+
+ this.associatedNodes = [];
+ }
+ toc.Section = Section;
+
+ function HTMLOutline(root) {
+ var currentOutlinee = null;
+
+ var currentSection = null;
+
+ var stack = { "lastIndex": -1, "isEmpty": null, "push": null, "pop": null, "top": null };
+ stack.isEmpty = function () {
+ return stack.lastIndex === -1;
+ };
+ stack.push = function (e) {
+ stack[++stack.lastIndex] = e;
+ stack.top = e;
+ };
+ stack.pop = function () {
+ var e = stack.top;
+ delete stack[stack.lastIndex--];
+ stack.top = stack[stack.lastIndex];
+ return e;
+ };
+
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+ } else if (isHidden(node)) {
+ stack.push(node);
+ } else if (isSectioningContentElement(node) || isSectioningRootElement(node)) {
+ if (currentOutlinee !== null) {
+ stack.push(currentOutlinee);
+ }
+ currentOutlinee = node;
+ currentSection = new Section();
+ associateNodeWithSection(currentOutlinee, currentSection);
+ currentOutlinee.appendSection(currentSection);
+ } else if (currentOutlinee === null) {
+ } else if (isHeadingElement(node)) {
+ if (currentSection.heading === null)
+ currentSection.heading = node;
+else if (currentOutlinee.lastSection.heading === null || node.rank >= currentOutlinee.lastSection.heading.rank) {
+ currentSection = new Section();
+ currentSection.heading = node;
+ currentOutlinee.appendSection(currentSection);
+ } else {
+ var candidateSection = currentSection;
+ do {
+ if (node.rank < candidateSection.heading.rank) {
+ currentSection = new Section();
+ currentSection.heading = node;
+ candidateSection.appendChild(currentSection);
+ break;
+ }
+ var newCandidate = candidateSection.parentSection;
+ candidateSection = newCandidate;
+ } while(true);
+ }
+ stack.push(node);
+ }
+ }
+ }
+
+ function exit(node) {
+ if (isElement(node)) {
+ if (!stack.isEmpty() && node === stack.top) {
+ stack.pop();
+ } else if (!stack.isEmpty() && (isHeadingElement(stack.top) || isHidden(stack.top))) {
+ } else if (!stack.isEmpty() && isSectioningContentElement(node)) {
+ currentOutlinee = stack.pop();
+ currentSection = currentOutlinee.lastSection;
+ for (var i = 0; i < node.sectionList.length; i++) {
+ currentSection.appendChild(node.sectionList[i]);
+ }
+ } else if (!stack.isEmpty() && isSectioningRootElement(node)) {
+ currentOutlinee = stack.pop();
+ currentSection = currentOutlinee.lastSection;
+ while (currentSection.childSections.length > 0) {
+ currentSection = currentSection.lastChild;
+ }
+ } else if (isSectioningContentElement(node) || isSectioningRootElement(node)) {
+ currentOutlinee = null;
+ currentSection = null;
+ }
+ }
+ if (node.associatedSection === null && currentSection !== null) {
+ associateNodeWithSection(node, currentSection);
+ }
+ }
+
+ function associateNodeWithSection(node, section) {
+ section.associatedNodes.push(node);
+ node.associatedSection = section;
+ }
+
+ function isElement(node) {
+ return node.nodeType === 1;
+ }
+
+ function isHidden(node) {
+ return node.hidden;
+ }
+
+ function isSectioningContentElement(node) {
+ return node.sectionType === 1;
+ }
+
+ function isSectioningRootElement(node) {
+ return node.sectionType === 2;
+ }
+
+ function isHeadingElement(node) {
+ return node.rank !== undefined;
+ }
+
+ function extend(node) {
+ if (node.nodeType === 1) {
+ switch (node.nodeName.toLowerCase()) {
+ case "blockquote":
+ case "body":
+ case "details":
+ case "dialog":
+ case "fieldset":
+ case "figure":
+ case "td":
+ extendSectioningRootElement(node);
+ break;
+ case "article":
+ case "aside":
+ case "nav":
+ case "section":
+ extendSectioningContentElement(node);
+ break;
+ case "h1":
+ case "h2":
+ case "h3":
+ case "h4":
+ case "h5":
+ case "h6":
+ extendHeadingElement(node);
+ break;
+ case "hgroup":
+ extendHeadingGroupElement(node);
+ break;
+ default:
+ extendNode(node);
+ }
+ } else
+ extendNode(node);
+ }
+
+ function extendNode(node) {
+ node.associatedSection = null;
+ }
+
+ function extendSectioningElement(node) {
+ extendNode(node);
+ node.sectionList = [];
+ node.firstSection = null;
+ node.lastSection = null;
+
+ node.appendSection = function (section) {
+ this.sectionList.push(section);
+ if (this.firstSection === null) {
+ this.firstSection = section;
+ }
+ this.lastSection = section;
+ };
+ }
+
+ function extendSectioningContentElement(node) {
+ extendSectioningElement(node);
+ node.sectionType = 1;
+ }
+
+ function extendSectioningRootElement(node) {
+ extendSectioningElement(node);
+ node.sectionType = 2;
+ }
+
+ function extendHeadingContentElement(node) {
+ extendNode(node);
+ Object.defineProperty(node, "depth", {
+ "get": function () {
+ var section = node.associatedSection;
+ var depth = 1;
+ if (section !== null) {
+ while (section = section.parentSection)
+ ++depth;
+ }
+ return depth;
+ },
+ "configurable": true,
+ "enumerable": true
+ });
+ }
+
+ function extendHeadingElement(node) {
+ extendHeadingContentElement(node);
+ node.rank = -parseInt(node.nodeName.charAt(1));
+ node.text = node.textContent;
+ }
+
+ function extendHeadingGroupElement(node) {
+ extendHeadingContentElement(node);
+
+ for (var i = 1; i <= 6; i++) {
+ var h = node.getElementsByTagName("h" + i);
+ if (h.length > 0) {
+ node.rank = -i;
+ node.text = h[0].textContent;
+ break;
+ }
+ }
+
+ if (node.rank === undefined) {
+ node.rank = -1;
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+<body onload="outline()"><a name="home"></a><h1><span>Project Upgrade Report</span></h1><h2><span>Description</span></h2><table><tr><td style="border-right-style:solid;border-right-width:1px;"><span>Generated by:</span></td><td><span>arthur</span></td></tr><tr><td style="border-right-style:solid;border-right-width:1px;"><span>Project name:</span></td><td><span>acme</span></td></tr><tr><td style="border-right-style:solid;border-right-width:1px;"><span>Generated at:</span></td><td><span>11-Nov-2021 10:45:33</span></td></tr><tr><td style="border-right-style:solid;border-right-width:1px;"><span>Project Root:</span></td><td><span>/home/arthur/Documents/acme</span></td></tr><tr><td style="border-right-style:solid;border-right-width:1px;"><span>Repository Location:</span></td><td><span>https://gitlab.aei.uni-hannover.de/arthur.reis/acme</span></td></tr></table><h2><span>Summary</span></h2><table><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file1"><span>$/core/dynamics/calcForcesTorques.slx</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Passed With Fixes</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file2"><span>$/core/dynamics/a_calcForcesTorques.slx</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Passed With Fixes</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file3"><span>$/core/actuators/actParaPlates.slx</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Passed With Fixes</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file4"><span>$/core/dynamics/a_dblintSISOlinear_1DOF.slx</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Passed With Fixes</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file5"><span>$/core/noises/noises.slx</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Need Attention</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file6"><span>$/core/noises/setPredefInjection.m</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Passed</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file7"><span>$/core/noises/createAccelerationNoiseASD.m</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Passed</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file8"><span>$/tests/component/dynamics/testscript_dblintSISOrotational_1DOF.m</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Passed</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file9"><span>$/tests/component/noises/test_injection.slx</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Need Attention</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file10"><span>$/core/sensors/sensParaPlates2v1.slx</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Passed With Fixes</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file11"><span>$/initAcme.m</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Passed</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file12"><span>$/tests/component/dynamics/test_dblintSISO_linear.slx</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Passed With Fixes</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file13"><span>$/utils/createFrequencyArray.m</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Passed</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file14"><span>$/core/actuators/actuators.slx</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Passed With Fixes</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file15"><span>$/tests/component/noises/testscript_injection.m</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Passed</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file16"><span>$/core/dynamics/a_dblintSISO_6DOF.slx</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Passed With Fixes</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file17"><span>$/core/dynamics/dblintSISOlinear_1DOF.slx</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Need Attention</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file18"><span>$/tests/component/noises/test_injection_multiple.slx</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Passed With Fixes</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file19"><span>$/tests/component/noises/testscript_injection_readout.m</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Passed</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file20"><span>$/tests/component/noises/testscript_injection_multiple.m</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Passed</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file21"><span>$/core/sensors/sensParaPlates1v1.slx</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Need Attention</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file22"><span>$/core/dynamics/dblintSISOrotational_1DOF.slx</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Need Attention</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file23"><span>$/core/dynamics/dynamics.slx</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Need Attention</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file24"><span>$/core/noises/setReadoutBlock.m</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Passed</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file25"><span>$/tests/component/noises/test_readout.slx</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Passed With Fixes</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file26"><span>$/core/dynamics/setDoubleIntegrator_6DOF.m</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Passed</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file27"><span>$/tests/component/dynamics/testscript_dblintSISOlinear_1DOF.m</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Passed</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file28"><span>$/tests/component/dynamics/testscript_dblintSISO_6DOF.m</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Passed</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file29"><span>$/core/dynamics/a_dblintSISOrotational_1DOF.slx</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Passed With Fixes</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file30"><span>$/core/noises/injection.slx</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Passed With Fixes</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file31"><span>$/tests/component/dynamics/test_dblintSISO_6DOF.slx</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Passed With Fixes</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file32"><span>$/utils/libAcme.slx</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Need Attention</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file33"><span>$/tests/component/noises/test_injection_readout.slx</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Passed With Fixes</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file34"><span>$/core/sensors/sensors.slx</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Need Attention</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file35"><span>$/core/noises/setInjectionBlock_old.m</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Passed</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file36"><span>$/core/actuators/a_actParaPlates.slx</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Passed With Fixes</span></td></tr><tr><td style="border-bottom-style:solid;border-bottom-width:1px;border-right-style:solid;border-right-width:1px;"><a href="#file37"><span>$/tests/component/noises/testscript_readout.m</span></a></td><td style="border-bottom-style:solid;border-bottom-width:1px;"><span>Passed</span></td></tr><tr><td style="border-right-style:solid;border-right-width:1px;"><a href="#file38"><span>$/core/dynamics/dblintSISO_6DOF.slx</span></a></td><td><span>Need Attention</span></td></tr></table><h2><a name="file1"></a><span>$/core/dynamics/calcForcesTorques.slx</span></h2><span>All checks passed.</span><a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file2"></a><span>$/core/dynamics/a_calcForcesTorques.slx</span></h2><span>All checks passed.</span><a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file3"></a><span>$/core/actuators/actParaPlates.slx</span></h2><span>All checks passed.</span><a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file4"></a><span>$/core/dynamics/a_dblintSISOlinear_1DOF.slx</span></h2><span>All checks passed.</span><a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file5"></a><span>$/core/noises/noises.slx</span></h2><h4><span>Check for virtual bus across model reference boundaries</span></h4><p /><font color="Red">
+Abnormal exit: Model block cannot reference a Library or Subsystem. '<a href="matlab:open_system ('injection')">injection</a>' is a Library or Subsystem. Please specify a model name.
+</font>
+
+
+<h4><span>Check model for block upgrade issues requiring compile time information</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check model for S-function upgrade issues</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check for root outports with constant sample time</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check model settings for migration to simplified initialization mode</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check virtual bus inputs to blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check usage of Merge blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br />Model block cannot reference a Library or Subsystem. '<a href="matlab:open_system ('injection')">injection</a>' is a Library or Subsystem. Please specify a model name.</font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check usage of Outport blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check Delay, Unit Delay and Zero-Order Hold blocks for rate transition</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check usage of Discrete-Time Integrator blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file6"></a><span>$/core/noises/setPredefInjection.m</span></h2><span>All checks passed.</span><a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file7"></a><span>$/core/noises/createAccelerationNoiseASD.m</span></h2><span>All checks passed.</span><a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file8"></a><span>$/tests/component/dynamics/testscript_dblintSISOrotational_1DOF.m</span></h2><span>All checks passed.</span><a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file9"></a><span>$/tests/component/noises/test_injection.slx</span></h2><h4><span>Check for virtual bus across model reference boundaries</span></h4><p /><font color="Red">
+Abnormal exit: Diagnostic reported from block '<a href="matlab:open_and_hilite_hyperlink ('test_injection/injection/blkFromFile','error')">test_injection/injection/blkFromFile</a>'
+</font>
+
+
+<h4><span>Check model for block upgrade issues requiring compile time information</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check model for S-function upgrade issues</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check for root outports with constant sample time</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check model settings for migration to simplified initialization mode</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check virtual bus inputs to blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check usage of Merge blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br />Diagnostic reported from block '<a href="matlab:open_and_hilite_hyperlink ('test_injection/injection/blkFromFile','error')">test_injection/injection/blkFromFile</a>'<br /><br /><br />signalFile2.mat: File not found.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check usage of Outport blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check Delay, Unit Delay and Zero-Order Hold blocks for rate transition</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check usage of Discrete-Time Integrator blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file10"></a><span>$/core/sensors/sensParaPlates2v1.slx</span></h2><span>All checks passed.</span><a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file11"></a><span>$/initAcme.m</span></h2><span>All checks passed.</span><a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file12"></a><span>$/tests/component/dynamics/test_dblintSISO_linear.slx</span></h2><span>All checks passed.</span><a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file13"></a><span>$/utils/createFrequencyArray.m</span></h2><span>All checks passed.</span><a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file14"></a><span>$/core/actuators/actuators.slx</span></h2><span>All checks passed.</span><a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file15"></a><span>$/tests/component/noises/testscript_injection.m</span></h2><span>All checks passed.</span><a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file16"></a><span>$/core/dynamics/a_dblintSISO_6DOF.slx</span></h2><span>All checks passed.</span><a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file17"></a><span>$/core/dynamics/dblintSISOlinear_1DOF.slx</span></h2><h4><span>Check for virtual bus across model reference boundaries</span></h4><p /><font color="Red">
+Abnormal exit: Error evaluating properties of Simulink.Parameter object 'm' in workspace '<a href="matlab:open_system ('dblintSISOlinear_1DOF')">dblintSISOlinear_1DOF</a>'
+</font>
+
+
+<h4><span>Check model for block upgrade issues requiring compile time information</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check model for S-function upgrade issues</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check for root outports with constant sample time</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check model settings for migration to simplified initialization mode</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check virtual bus inputs to blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check usage of Merge blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br />Error evaluating properties of Simulink.Parameter object 'm' in workspace '<a href="matlab:open_system ('dblintSISOlinear_1DOF')">dblintSISOlinear_1DOF</a>'<br /><br /><br />Unable to use model argument 'm' as an interface when model '<a href="matlab:open_system ('dblintSISOlinear_1DOF')">dblintSISOlinear_1DOF</a>' is being compiled as a top model. <br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check usage of Outport blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check Delay, Unit Delay and Zero-Order Hold blocks for rate transition</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check usage of Discrete-Time Integrator blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file18"></a><span>$/tests/component/noises/test_injection_multiple.slx</span></h2><span>All checks passed.</span><a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file19"></a><span>$/tests/component/noises/testscript_injection_readout.m</span></h2><span>All checks passed.</span><a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file20"></a><span>$/tests/component/noises/testscript_injection_multiple.m</span></h2><span>All checks passed.</span><a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file21"></a><span>$/core/sensors/sensParaPlates1v1.slx</span></h2><h4><span>Check for virtual bus across model reference boundaries</span></h4><p /><font color="Red">
+Abnormal exit: Invalid setting in '<a href="matlab:open_and_hilite_hyperlink ('sensParaPlates1v1/Multiply','error')">sensParaPlates1v1/Multiply</a>' for parameter 'Gain'.
+</font>
+
+
+<h4><span>Check model for block upgrade issues requiring compile time information</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check model for S-function upgrade issues</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check for root outports with constant sample time</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check model settings for migration to simplified initialization mode</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check virtual bus inputs to blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check usage of Merge blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br />Invalid setting in '<a href="matlab:open_and_hilite_hyperlink ('sensParaPlates1v1/Multiply','error')">sensParaPlates1v1/Multiply</a>' for parameter 'Gain'.<br /><br /><br />The parameter supports only finite values.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check usage of Outport blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check Delay, Unit Delay and Zero-Order Hold blocks for rate transition</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check usage of Discrete-Time Integrator blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file22"></a><span>$/core/dynamics/dblintSISOrotational_1DOF.slx</span></h2><h4><span>Check for virtual bus across model reference boundaries</span></h4><p /><font color="Red">
+Abnormal exit: Error evaluating properties of Simulink.Parameter object 'momentInertia' in workspace '<a href="matlab:open_system ('dblintSISOrotational_1DOF')">dblintSISOrotational_1DOF</a>'
+</font>
+
+
+<h4><span>Check model for block upgrade issues requiring compile time information</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check model for S-function upgrade issues</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check for root outports with constant sample time</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check model settings for migration to simplified initialization mode</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check virtual bus inputs to blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check usage of Merge blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br />Error evaluating properties of Simulink.Parameter object 'momentInertia' in workspace '<a href="matlab:open_system ('dblintSISOrotational_1DOF')">dblintSISOrotational_1DOF</a>'<br /><br /><br />Unable to use model argument 'momentInertia' as an interface when model '<a href="matlab:open_system ('dblintSISOrotational_1DOF')">dblintSISOrotational_1DOF</a>' is being compiled as a top model. <br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check usage of Outport blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check Delay, Unit Delay and Zero-Order Hold blocks for rate transition</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check usage of Discrete-Time Integrator blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file23"></a><span>$/core/dynamics/dynamics.slx</span></h2><h4><span>Check for virtual bus across model reference boundaries</span></h4><p /><font color="Red">
+Abnormal exit: Error evaluating parameter <a href="matlab:Simulink.internal.OpenBlockParamsDialog(['dblintSISO_6DOF/dblint_x'],'m');">'m'</a> in '<a href="matlab:open_and_hilite_hyperlink ('dblintSISO_6DOF/dblint_x','error')">dblintSISO_6DOF/dblint_x</a>'<br /><br />
+Unrecognized function or variable 'm'.<br /><br />
+Variable 'm' does not exist. <br />
+<br />
+Error evaluating parameter <a href="matlab:Simulink.internal.OpenBlockParamsDialog(['dblintSISO_6DOF/dblint_y'],'m');">'m'</a> in '<a href="matlab:open_and_hilite_hyperlink ('dblintSISO_6DOF/dblint_y','error')">dblintSISO_6DOF/dblint_y</a>'<br /><br />
+Unrecognized function or variable 'm'.<br /><br />
+Variable 'm' does not exist. <br />
+<br />
+Error evaluating parameter <a href="matlab:Simulink.internal.OpenBlockParamsDialog(['dblintSISO_6DOF/dblint_z'],'m');">'m'</a> in '<a href="matlab:open_and_hilite_hyperlink ('dblintSISO_6DOF/dblint_z','error')">dblintSISO_6DOF/dblint_z</a>'<br /><br />
+Unrecognized function or variable 'm'.<br /><br />
+Variable 'm' does not exist. <br />
+<br />
+
+</font>
+
+
+<h4><span>Check model for block upgrade issues requiring compile time information</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check model for S-function upgrade issues</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check for root outports with constant sample time</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check model settings for migration to simplified initialization mode</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check virtual bus inputs to blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check usage of Merge blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br />Error evaluating parameter <a href="matlab:Simulink.internal.OpenBlockParamsDialog(['dblintSISO_6DOF/dblint_x'],'m');">'m'</a> in '<a href="matlab:open_and_hilite_hyperlink ('dblintSISO_6DOF/dblint_x','error')">dblintSISO_6DOF/dblint_x</a>'<br /><br /><br />Unrecognized function or variable 'm'.<br /><br /><br />Variable 'm' does not exist. <br /><br /><br /><br />Error evaluating parameter <a href="matlab:Simulink.internal.OpenBlockParamsDialog(['dblintSISO_6DOF/dblint_y'],'m');">'m'</a> in '<a href="matlab:open_and_hilite_hyperlink ('dblintSISO_6DOF/dblint_y','error')">dblintSISO_6DOF/dblint_y</a>'<br /><br /><br />Unrecognized function or variable 'm'.<br /><br /><br />Variable 'm' does not exist. <br /><br /><br /><br />Error evaluating parameter <a href="matlab:Simulink.internal.OpenBlockParamsDialog(['dblintSISO_6DOF/dblint_z'],'m');">'m'</a> in '<a href="matlab:open_and_hilite_hyperlink ('dblintSISO_6DOF/dblint_z','error')">dblintSISO_6DOF/dblint_z</a>'<br /><br /><br />Unrecognized function or variable 'm'.<br /><br /><br />Variable 'm' does not exist. <br /><br /><br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check usage of Outport blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check Delay, Unit Delay and Zero-Order Hold blocks for rate transition</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check usage of Discrete-Time Integrator blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file24"></a><span>$/core/noises/setReadoutBlock.m</span></h2><span>All checks passed.</span><a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file25"></a><span>$/tests/component/noises/test_readout.slx</span></h2><span>All checks passed.</span><a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file26"></a><span>$/core/dynamics/setDoubleIntegrator_6DOF.m</span></h2><span>All checks passed.</span><a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file27"></a><span>$/tests/component/dynamics/testscript_dblintSISOlinear_1DOF.m</span></h2><span>All checks passed.</span><a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file28"></a><span>$/tests/component/dynamics/testscript_dblintSISO_6DOF.m</span></h2><span>All checks passed.</span><a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file29"></a><span>$/core/dynamics/a_dblintSISOrotational_1DOF.slx</span></h2><span>All checks passed.</span><a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file30"></a><span>$/core/noises/injection.slx</span></h2><span>All checks passed.</span><a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file31"></a><span>$/tests/component/dynamics/test_dblintSISO_6DOF.slx</span></h2><span>All checks passed.</span><a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file32"></a><span>$/utils/libAcme.slx</span></h2><h4><span>Run checks that require Update Diagram on library blocks</span></h4><b><span style="color:#F1B51C;"> Need attention </span></b><br>Unable to upgrade blocks unused by a model. Use the blocks in a model and then upgrade. <table cellspacing="3px" cellpadding="0" border="0"><tr><td>Unused Blocks:</td><td>libAcme/actParaPlates_LPF, libAcme/dblintSISO_6DOF, libAcme/sensParaPlates2v1, libAcme/dblintSISOrotational_1DOF, libAcme/actParaPlates_ONERA, libAcme/dblintSISOlinear_1DOF, libAcme/actParaPlates, libAcme/calcForcesTorques, libAcme/Model</td></tr></table>
+<b><span style="color:Green;"> Passed </span></b><table cellspacing="3px" cellpadding="0" border="0"><tr><td>Block:</td><td>libAcme/injection</td></tr><tr><td>Used by:</td><td>test_injection_multiple.slx, test_injection_readout.slx, test_injection.slx</td></tr></table>
+<b><span style="color:Green;"> Passed </span></b><table cellspacing="3px" cellpadding="0" border="0"><tr><td>Block:</td><td>libAcme/readout</td></tr><tr><td>Used by:</td><td>test_injection_readout.slx, test_readout.slx</td></tr></table>
+
+<a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file33"></a><span>$/tests/component/noises/test_injection_readout.slx</span></h2><span>All checks passed.</span><a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file34"></a><span>$/core/sensors/sensors.slx</span></h2><h4><span>Check for virtual bus across model reference boundaries</span></h4><p /><font color="Red">
+Abnormal exit: Invalid setting in '<a href="matlab:open_and_hilite_hyperlink ('sensParaPlates1v1/Multiply','error')">sensParaPlates1v1/Multiply</a>' for parameter 'Gain'.
+</font>
+
+
+<h4><span>Check model for block upgrade issues requiring compile time information</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check model for S-function upgrade issues</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check for root outports with constant sample time</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check model settings for migration to simplified initialization mode</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check virtual bus inputs to blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check usage of Merge blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br />Invalid setting in '<a href="matlab:open_and_hilite_hyperlink ('sensParaPlates1v1/Multiply','error')">sensParaPlates1v1/Multiply</a>' for parameter 'Gain'.<br /><br /><br />The parameter supports only finite values.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check usage of Outport blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check Delay, Unit Delay and Zero-Order Hold blocks for rate transition</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check usage of Discrete-Time Integrator blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file35"></a><span>$/core/noises/setInjectionBlock_old.m</span></h2><span>All checks passed.</span><a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file36"></a><span>$/core/actuators/a_actParaPlates.slx</span></h2><span>All checks passed.</span><a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file37"></a><span>$/tests/component/noises/testscript_readout.m</span></h2><span>All checks passed.</span><a href="#home"><span>Go to Top</span></a>
+
+<h2><a name="file38"></a><span>$/core/dynamics/dblintSISO_6DOF.slx</span></h2><h4><span>Check for virtual bus across model reference boundaries</span></h4><p /><font color="Red">
+Abnormal exit: Error evaluating parameter <a href="matlab:Simulink.internal.OpenBlockParamsDialog(['dblintSISO_6DOF/dblint_x'],'m');">'m'</a> in '<a href="matlab:open_and_hilite_hyperlink ('dblintSISO_6DOF/dblint_x','error')">dblintSISO_6DOF/dblint_x</a>'<br /><br />
+Unrecognized function or variable 'm'.<br /><br />
+Variable 'm' does not exist. <br />
+<br />
+Error evaluating parameter <a href="matlab:Simulink.internal.OpenBlockParamsDialog(['dblintSISO_6DOF/dblint_y'],'m');">'m'</a> in '<a href="matlab:open_and_hilite_hyperlink ('dblintSISO_6DOF/dblint_y','error')">dblintSISO_6DOF/dblint_y</a>'<br /><br />
+Unrecognized function or variable 'm'.<br /><br />
+Variable 'm' does not exist. <br />
+<br />
+Error evaluating parameter <a href="matlab:Simulink.internal.OpenBlockParamsDialog(['dblintSISO_6DOF/dblint_z'],'m');">'m'</a> in '<a href="matlab:open_and_hilite_hyperlink ('dblintSISO_6DOF/dblint_z','error')">dblintSISO_6DOF/dblint_z</a>'<br /><br />
+Unrecognized function or variable 'm'.<br /><br />
+Variable 'm' does not exist. <br />
+<br />
+
+</font>
+
+
+<h4><span>Check model for block upgrade issues requiring compile time information</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check model for S-function upgrade issues</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check for root outports with constant sample time</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check model settings for migration to simplified initialization mode</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check virtual bus inputs to blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check usage of Merge blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br />Error evaluating parameter <a href="matlab:Simulink.internal.OpenBlockParamsDialog(['dblintSISO_6DOF/dblint_x'],'m');">'m'</a> in '<a href="matlab:open_and_hilite_hyperlink ('dblintSISO_6DOF/dblint_x','error')">dblintSISO_6DOF/dblint_x</a>'<br /><br /><br />Unrecognized function or variable 'm'.<br /><br /><br />Variable 'm' does not exist. <br /><br /><br /><br />Error evaluating parameter <a href="matlab:Simulink.internal.OpenBlockParamsDialog(['dblintSISO_6DOF/dblint_y'],'m');">'m'</a> in '<a href="matlab:open_and_hilite_hyperlink ('dblintSISO_6DOF/dblint_y','error')">dblintSISO_6DOF/dblint_y</a>'<br /><br /><br />Unrecognized function or variable 'm'.<br /><br /><br />Variable 'm' does not exist. <br /><br /><br /><br />Error evaluating parameter <a href="matlab:Simulink.internal.OpenBlockParamsDialog(['dblintSISO_6DOF/dblint_z'],'m');">'m'</a> in '<a href="matlab:open_and_hilite_hyperlink ('dblintSISO_6DOF/dblint_z','error')">dblintSISO_6DOF/dblint_z</a>'<br /><br /><br />Unrecognized function or variable 'm'.<br /><br /><br />Variable 'm' does not exist. <br /><br /><br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check usage of Outport blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check Delay, Unit Delay and Zero-Order Hold blocks for rate transition</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<h4><span>Check usage of Discrete-Time Integrator blocks</span></h4><!-- mdladv_ignore_start --><div class="subsection"><!-- mdladv_ignore_finish --><p /><p /><font color="#FF0000">Error occurred during model compile.<br /><br /></font><!-- mdladv_ignore_start --></div><!-- mdladv_ignore_finish -->
+
+<a href="#home"><span>Go to Top</span></a>
+
+
+
+</body>
+</html>
\ No newline at end of file
diff --git a/core/AcmeBlock.m b/core/AcmeBlock.m
deleted file mode 100644
index bd7fbf64a1e7be5f9110f9f5218585b3bf83ef00..0000000000000000000000000000000000000000
--- a/core/AcmeBlock.m
+++ /dev/null
@@ -1,47 +0,0 @@
-classdef AcmeBlock
- %ACMEBLOCK Summary of this class goes here
- % Detailed explanation goes here
-
- properties
- name
- model
- blockhandle
- blocktype
- parameters
- end
-
- methods
- function obj = AcmeBlock(name, model, parameters)
- %ACMEBLOCK Construct an instance of this class
- % Detailed explanation goes here
- % receives from AcmeBlockType
- obj.name = name;
- obj.model = model;
- %obj.blockhandle = 1;
- obj.blockhandle = Simulink.findBlocks(model,'Name',name);
- assert(~isempty(obj.blockhandle), "Could not find block '%s' in model '%s'", name, model);
-
- obj.parameters = parameters;
- for iparm = 1:length(obj.parameters.name)
- setBlockParm(obj,obj.parameters.name{iparm},...
- obj.parameters.value{iparm});
- end
- end
-
- function setBlockParm(obj,name,value)
- s = "";
- if isnumeric(value)
- if isequal(size(value),[1 1])
- s = num2str(value);
- else
- s = mat2str(value);
- end
- elseif isstring(value)
- s = value;
- end
- set_param(obj.blockhandle,name,s);
- %set_param_test(obj.blockhandle,name,s);
- end
- end
-end
-
diff --git a/core/actuators/actParaPlates.png b/core/actuators/actParaPlates.png
deleted file mode 100644
index 767544ddea6642284091287d12656b0d55a91ec8..0000000000000000000000000000000000000000
Binary files a/core/actuators/actParaPlates.png and /dev/null differ
diff --git a/core/actuators/actParaPlates.slx b/core/actuators/actParaPlates.slx
deleted file mode 100644
index 41c91c24af4c6bf13adcf4380681d2655bc4327e..0000000000000000000000000000000000000000
Binary files a/core/actuators/actParaPlates.slx and /dev/null differ
diff --git a/core/actuators/setActuatorParaPlates.m b/core/actuators/setActuatorParaPlates.m
deleted file mode 100644
index 86c26ab8d2701e13d8cc857a6f7689e860e964b9..0000000000000000000000000000000000000000
--- a/core/actuators/setActuatorParaPlates.m
+++ /dev/null
@@ -1,77 +0,0 @@
-function blockHandle = setActuatorParaPlates(varargin)%model, block, Kp ,Ki ,Kd ,...
- %Vp ,Vt ,eps0 ,faceArea ,gap)
-%SETACTUATORPARAPLATES - Sets the initial parameters of a paralel plates
-%actuator block.
-%Sets the initial parameters of a paralel plates actuator block. The PID gains
-%can be obtained with the tuning app
-%
-% Syntax: setActuatorParaPlates(Kp,Ki,Kd,Vp,Vt,eps0,faceArea,gap)
-%
-% Inputs:
-% Kp - Proportional gain, double;
-% Ki - Integral gain, double;
-% Kd - Differential gain, double;
-% Vp - Polarization voltage, double;
-% Vt - sqrt of squares of the polarization and detection voltages;
-% eps0 - Vacuum permittivity, F/m, double;
-% faceArea - area of the plates, m^2, double;
-% gap - nominal gap between the plates, m, double;
-%
-% See also: setSensParaPlates
-%
-% Author: Arthur Reis
-% email: arthur.reis@aei.mpg.de
-% Nov 2021; Last revision: 16.Feb.2022;
-
-% try to load from local json
-% should be handle or name
-if strcmp(varargin{1},'blockName')
- blockName = varargin{2};
-elseif strcmp(varargin{1},'blockHandle')
- blockName = get_param(varargin{2},'Name');
-end
-
-%if file exists
-%blockName = get_param(varargin{1},'Name');
-%JSONFILE_name= sprintf(strcat(blockName,'.json'));
-%fid=fopen(JSONFILE_name,'r');
-%raw = fread(fid,inf);
-%str = char(raw');
-%j = jsondecode(str);
-% parses existing json as defaults
-% and allows updating
-
-p = inputParser;
-addParameter(p, 'model' , '');
-addParameter(p, 'blockName', '');
-addParameter(p, 'Kp' , 0, @isnumeric);
-addParameter(p, 'Ki' , 0, @isnumeric);
-addParameter(p, 'Kd' , 0, @isnumeric);
-addParameter(p, 'Vp' , 0, @isnumeric);
-addParameter(p, 'Vt' , 0, @isnumeric);
-addParameter(p, 'eps0' , 0, @isnumeric);
-addParameter(p, 'faceArea' , 0, @isnumeric);
-addParameter(p, 'gap' , 0, @isnumeric);
-parse(p, varargin{:});
-j = p.Results;
-js = jsonencode(j,'PrettyPrint',true);
-%save p.Results as json
-JSONFILE_name= sprintf(strcat(p.Results.blockName,'.json'));
-fid=fopen(JSONFILE_name,'w');
-fprintf(fid, js);
-fclose(fid);
-
-
-
-blockHandle = Simulink.findBlocks(j.model,'Name',j.blockName);
-set_param(blockHandle, 'Kp' , num2str(j.Kp));
-set_param(blockHandle, 'Ki' , num2str(j.Ki));
-set_param(blockHandle, 'Kd' , num2str(j.Kd));
-set_param(blockHandle, 'Vp' , num2str(j.Vp));
-set_param(blockHandle, 'Vt' , num2str(j.Vt));
-set_param(blockHandle, 'eps0' , num2str(j.eps0));
-set_param(blockHandle, 'faceArea', num2str(j.faceArea));
-set_param(blockHandle, 'gap' , num2str(j.gap));
-
-end
-
diff --git a/core/actuators/setSinglePlate.m b/core/actuators/setSinglePlate.m
deleted file mode 100644
index 73cceb07d7429a1fd6d7d1920c13b91ce70011bb..0000000000000000000000000000000000000000
--- a/core/actuators/setSinglePlate.m
+++ /dev/null
@@ -1,66 +0,0 @@
-function blockHandle = setSinglePlate(varargin)
-%SETACTUATORPARAPLATES - Sets the initial parameters of a paralel plates
-%actuator block.
-%Sets the initial parameters of a paralel plates actuator block. The PID gains
-%can be obtained with the tuning app
-%
-% Syntax: setActuatorParaPlates(Kp,Ki,Kd,Vp,Vt,eps0,faceArea,gap)
-%
-% Inputs:
-% Kp - Proportional gain, double;
-% Ki - Integral gain, double;
-% Kd - Differential gain, double;
-% Vp - Polarization voltage, double;
-% Vt - sqrt of squares of the polarization and detection voltages;
-% eps0 - Vacuum permittivity, F/m, double;
-% faceArea - area of the plates, m^2, double;
-% gap - nominal gap between the plates, m, double;
-%
-% See also: setSensParaPlates
-%
-% Author: Arthur Reis
-% email: arthur.reis@aei.mpg.de
-% Nov 2021; Last revision: 16.Feb.2022;
-
-% try to load from local json
-% should be handle or name
-if strcmp(varargin{1},'blockName')
- blockName = varargin{2};
-elseif strcmp(varargin{1},'blockHandle')
- blockName = get_param(varargin{2},'Name');
-end
-
-%if file exists
-%blockName = get_param(varargin{1},'Name');
-%JSONFILE_name= sprintf(strcat(blockName,'.json'));
-%fid=fopen(JSONFILE_name,'r');
-%raw = fread(fid,inf);
-%str = char(raw');
-%j = jsondecode(str);
-% parses existing json as defaults
-% and allows updating
-
-p = inputParser;
-addParameter(p, 'model' , '');
-addParameter(p, 'blockName', '');
-addParameter(p, 'Vt' , 0, @isnumeric);
-addParameter(p, 'eps0' , 0, @isnumeric);
-addParameter(p, 'faceArea' , 0, @isnumeric);
-addParameter(p, 'gap' , 0, @isnumeric);
-parse(p, varargin{:});
-j = p.Results;
-js = jsonencode(j,'PrettyPrint',true);
-%save p.Results as json
-JSONFILE_name= sprintf(strcat(p.Results.blockName,'.json'));
-fid=fopen(JSONFILE_name,'w');
-fprintf(fid, js);
-fclose(fid);
-
-blockHandle = Simulink.findBlocks(j.model,'Name',j.blockName);
-set_param(blockHandle, 'Vt' , num2str(j.Vt));
-set_param(blockHandle, 'eps0' , num2str(j.eps0));
-set_param(blockHandle, 'faceArea', num2str(j.faceArea));
-set_param(blockHandle, 'gap' , num2str(j.gap));
-
-end
-
diff --git a/core/actuators/setSinglePlate_Vsqr.m b/core/actuators/setSinglePlate_Vsqr.m
deleted file mode 100644
index e32ceb26095fd01f45376475be0f9518cbbe02f6..0000000000000000000000000000000000000000
--- a/core/actuators/setSinglePlate_Vsqr.m
+++ /dev/null
@@ -1,66 +0,0 @@
-function blockHandle = setSinglePlate_Vsqr(varargin)
-%SETACTUATORPARAPLATES - Sets the initial parameters of a paralel plates
-%actuator block.
-%Sets the initial parameters of a paralel plates actuator block. The PID gains
-%can be obtained with the tuning app
-%
-% Syntax: setActuatorParaPlates(Kp,Ki,Kd,Vp,Vt,eps0,faceArea,gap)
-%
-% Inputs:
-% Kp - Proportional gain, double;
-% Ki - Integral gain, double;
-% Kd - Differential gain, double;
-% Vp - Polarization voltage, double;
-% Vt - sqrt of squares of the polarization and detection voltages;
-% eps0 - Vacuum permittivity, F/m, double;
-% faceArea - area of the plates, m^2, double;
-% gap - nominal gap between the plates, m, double;
-%
-% See also: setSensParaPlates
-%
-% Author: Arthur Reis
-% email: arthur.reis@aei.mpg.de
-% Nov 2021; Last revision: 16.Feb.2022;
-
-% try to load from local json
-% should be handle or name
-if strcmp(varargin{1},'blockName')
- blockName = varargin{2};
-elseif strcmp(varargin{1},'blockHandle')
- blockName = get_param(varargin{2},'Name');
-end
-
-%if file exists
-%blockName = get_param(varargin{1},'Name');
-%JSONFILE_name= sprintf(strcat(blockName,'.json'));
-%fid=fopen(JSONFILE_name,'r');
-%raw = fread(fid,inf);
-%str = char(raw');
-%j = jsondecode(str);
-% parses existing json as defaults
-% and allows updating
-
-p = inputParser;
-addParameter(p, 'model' , '');
-addParameter(p, 'blockName', '');
-addParameter(p, 'Vt' , 0, @isnumeric);
-addParameter(p, 'eps0' , 0, @isnumeric);
-addParameter(p, 'faceArea' , 0, @isnumeric);
-addParameter(p, 'gap' , 0, @isnumeric);
-parse(p, varargin{:});
-j = p.Results;
-js = jsonencode(j,'PrettyPrint',true);
-%save p.Results as json
-JSONFILE_name= sprintf(strcat(p.Results.blockName,'.json'));
-fid=fopen(JSONFILE_name,'w');
-fprintf(fid, js);
-fclose(fid);
-
-blockHandle = Simulink.findBlocks(j.model,'Name',j.blockName);
-set_param(blockHandle, 'Vt' , num2str(j.Vt));
-set_param(blockHandle, 'eps0' , num2str(j.eps0));
-set_param(blockHandle, 'faceArea', num2str(j.faceArea));
-set_param(blockHandle, 'gap' , num2str(j.gap));
-
-end
-
diff --git a/core/actuators/singlePlate.slx b/core/actuators/singlePlate.slx
deleted file mode 100644
index 570b8946cf717aa653812a28508c0b0b03ad7f17..0000000000000000000000000000000000000000
Binary files a/core/actuators/singlePlate.slx and /dev/null differ
diff --git a/core/actuators/singlePlate_Vsqr.slx b/core/actuators/singlePlate_Vsqr.slx
deleted file mode 100644
index fbad84bb2ab10f045f5450d1d417d3b3cffd94a5..0000000000000000000000000000000000000000
Binary files a/core/actuators/singlePlate_Vsqr.slx and /dev/null differ
diff --git a/core/component/Electrode.m b/core/component/Electrode.m
deleted file mode 100644
index dccf233078ff31226150b21332396744ded7a434..0000000000000000000000000000000000000000
--- a/core/component/Electrode.m
+++ /dev/null
@@ -1,15 +0,0 @@
-classdef Electrode < AcmeBlock
- %ELECTRODE Summary of this class goes here
- methods
- function obj = Electrode(name, model, Vbias, pos0, theta0, area)
- %ELECTRODE Construct an instance of this class
- %setElectrode(model, block, Vbias, pos0, theta0, area)
-
- parameters.name = ["Vbias", "pos0", "theta0", "area"];
- parameters.value = {Vbias , pos0 , theta0 , area };
- obj = obj@AcmeBlock(name, model, parameters);
- obj.blocktype = "electrode";
- end
- end
-end
-
diff --git a/core/component/SimpleElectrode.png b/core/component/SimpleElectrode.png
deleted file mode 100644
index 22d697e1de818f967a21735280011ec0145b99a6..0000000000000000000000000000000000000000
Binary files a/core/component/SimpleElectrode.png and /dev/null differ
diff --git a/core/component/TIA.slx b/core/component/TIA.slx
new file mode 100644
index 0000000000000000000000000000000000000000..4e52a08a4a10b9803d1929772f30054c8de4b263
Binary files /dev/null and b/core/component/TIA.slx differ
diff --git a/core/component/capBridge.png b/core/component/capBridge.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f6cb18468bab6672a9f415c680769efcc293f67
Binary files /dev/null and b/core/component/capBridge.png differ
diff --git a/core/component/capBridge.slx b/core/component/capBridge.slx
new file mode 100644
index 0000000000000000000000000000000000000000..c95da3abc3f78e3d12682c9569af3f59b7f5869a
Binary files /dev/null and b/core/component/capBridge.slx differ
diff --git a/core/component/electrode.slx b/core/component/electrode.slx
index 12fdbc3806b43404edda0ebcd01b62287eb11281..8c31a0345d5f1296cd67d99cd81889e034e05ecb 100644
Binary files a/core/component/electrode.slx and b/core/component/electrode.slx differ
diff --git a/core/component/planeCapacitor.slx b/core/component/planeCapacitor.slx
index 66e557eb652c43e403e5dd847076d0657ad695fe..97f96224a5ca4ddb18d40eb0fb762668f180c5d6 100644
Binary files a/core/component/planeCapacitor.slx and b/core/component/planeCapacitor.slx differ
diff --git a/core/component/setCapBridge.m b/core/component/setCapBridge.m
new file mode 100644
index 0000000000000000000000000000000000000000..c510c6a99b73d568a0f34a656d928a16616debb9
--- /dev/null
+++ b/core/component/setCapBridge.m
@@ -0,0 +1,56 @@
+function [blockHandle, varargout] = setCapBridge(varargin)
+%
+% SETCAPBRIDGE - Sets the parameters of a simplified capacitive bridge
+%
+% Syntax: blockHandle = setCapBridge(model, block, L, Cp, C0, [Q])
+%
+% Inputs:
+% model - Name of the Simulink model, string;
+% block - Name of the target instance of the Injection Block, string;
+% L - Transformer inductance, H, double;
+% Cp - Bridge tuning capacitance, F, double;
+% C0 - capacitance at resting position;
+% Q - transformer quality factor, optional, default 100
+%
+% Output:
+% blockHandle - Simulink block instance handle reference number;
+% [Zbr] - Bridge impedance, function handle
+% [f0] - Bridge renonant frequency, Hz
+% See also: Davor Mance - PhD thesis Ch. 2
+%
+% Author: Arthur Reis
+% email: arthur.reis@aei.mpg.de
+% Last revision: 27.Sep.2022;
+defaultQ = 100;
+
+p = inputParser;
+
+addRequired(p, 'model');
+addRequired(p, 'block');
+addRequired(p, 'L' , @(x) isnumeric(x) && isscalar(x));
+addRequired(p, 'Cp', @(x) isnumeric(x) && isscalar(x));
+addRequired(p, 'C0', @(x) isnumeric(x) && isscalar(x));
+addOptional(p, 'Q', defaultQ, @(x) isnumeric(x) && isscalar(x));
+
+parse(p, varargin{:});
+model = p.Results.model;
+block = p.Results.block;
+L = p.Results.L;
+Cp = p.Results.Cp;
+C0 = p.Results.C0;
+Q = p.Results.Q;
+
+Ceq = 2*(Cp + C0);
+f0 = (Q/sqrt(1+Q^2))*1/sqrt(L*Ceq)/(2*pi);
+Zbr = eval(['@(f) j*2*pi*f.*' num2str(L) '*(1-j/' num2str(Q) ')./'...
+ '(1-(2*pi*f).^2.*' num2str(L*Ceq) '*(1-j/' num2str(Q) '))']);
+
+blockHandle = Simulink.findBlocks(model,'Name',block);
+
+set_param(blockHandle,'L' , num2str(L));
+set_param(blockHandle,'Q' , num2str(Q));
+set_param(blockHandle,'Ceq', num2str(Ceq));
+
+varargout{1} = Zbr;
+varargout{2} = f0;
+end
\ No newline at end of file
diff --git a/core/component/setElectrode.m b/core/component/setElectrode.m
index 6877aca5f4d0573e45fd533b2dba15525f99448e..12ea89ac90ea7d55c44b25940cf8f9e33d46427c 100644
--- a/core/component/setElectrode.m
+++ b/core/component/setElectrode.m
@@ -1,19 +1,20 @@
function blockHandle = setElectrode(varargin)
%
-%SETELECTRODE - Sets the initial parameters of a electrode
+% SETELECTRODE - Sets the initial parameters of a electrode
% Sets the initial parameters of a electrode, to be paired to form a parallel
% plates capacitor.
%
-% Syntax: blockHandle = setElectrode(model, block, Vbias, pos0, n0, area)
+% Syntax: blockHandle = setElectrode(model, block, area, pos0, V_DC, V_AC, f)
%
% Inputs:
% model - Name of the Simulink model, string;
% block - Name of the target instance of the Injection Block, string;
-% Vbias - Offset voltage, V;
-% pos0 - initial/nominal position of the center of the plate, m.
-% theta0- initial/nominal direction of plate, comparing to the direction
-% towards the other plate of the capacitor.
% area - area of the plate, m^s
+% pos0 - initial/nominal position of the center of the plate, m.
+% V_DC - Offset DC voltage, V;
+% V_AC - AC voltage, V (rms), optional;
+% f - frequency of the AC voltage, Hz;
+% solver- type of solver the model will use, parameter;
%
% Output:
% blockHandle - Simulink block instance handle reference number;
@@ -22,36 +23,37 @@ function blockHandle = setElectrode(varargin)
%
% Author: Arthur Reis
% email: arthur.reis@aei.mpg.de
-% Last revision: 7.Apr.2022;
-%model, block, Vbias, pos0, theta0, area
+% Last revision: 27.Sep.2022;
+
defaultSolver = "Variable-step";
-defaultTheta0 = 0;
+defaultVAC = 0;
+defaultf = 1;
p = inputParser;
addRequired(p, 'model');
addRequired(p, 'block');
-addRequired(p, 'Vbias', @(x) isnumeric(x) && isscalar(x));
-addRequired(p, 'pos0', @(x) isnumeric(x) && isscalar(x));
-addRequired(p, 'area', @(x) isnumeric(x) && isscalar(x));
-addOptional(p, 'theta0', defaultTheta0);
+addRequired(p, 'area', @(x) isnumeric(x) && isscalar(x));
+addRequired(p, 'pos0', @(x) isnumeric(x) && isscalar(x));
+addRequired(p, 'V_DC', @(x) isnumeric(x) && isscalar(x));
+addOptional(p, 'V_AC', defaultVAC);
+addOptional(p, 'f', defaultf);
addParameter(p, "solver", defaultSolver);
parse(p, varargin{:});
blockHandle = Simulink.findBlocks(p.Results.model,'Name',p.Results.block);
-set_param(blockHandle,'Vbias', num2str(p.Results.Vbias));
-set_param(blockHandle,'pos0', num2str(p.Results.pos0));
-set_param(blockHandle,'theta0',num2str(p.Results.theta0));
set_param(blockHandle,'area', num2str(p.Results.area));
+set_param(blockHandle,'pos0', num2str(p.Results.pos0));
+set_param(blockHandle,'V_DC0', num2str(p.Results.V_DC));
+set_param(blockHandle,'V_AC0', num2str(p.Results.V_AC));
+set_param(blockHandle,'f0', num2str(p.Results.f));
if strcmp(p.Results.solver,defaultSolver)
load_system("electrode");
set_param("electrode","SolverType","Variable-step");
elseif strcmp(p.Results.solver,'Fixed-step')
- %set_param(blockHandle,'Vbias', num2str(Vbias));
load_system("electrode");
set_param("electrode","SolverType", "Fixed-step")
end
-end
-
+end
\ No newline at end of file
diff --git a/core/component/setPlaneCapacitor.m b/core/component/setPlaneCapacitor.m
index d5877399f090568bc7abeaca8d402eb95cb090df..1ca4b8f2b38838341e068636e8978e49743878c8 100644
--- a/core/component/setPlaneCapacitor.m
+++ b/core/component/setPlaneCapacitor.m
@@ -1,13 +1,13 @@
function blockHandle = setPlaneCapacitor(varargin)
-%SETPLANECAPACITOR - Sets the initial parameters of a capacitor.
-%Sets the initial parameters of a capacitor. Based on a parallel planes capacitor.
+% SETPLANECAPACITOR - Sets the initial parameters of a capacitor.
+% Sets the initial parameters of a capacitor. Based on a parallel planes capacitor.
%
-% Syntax: blockHandle = setPlaneCapacitor(model, block, eps0)
+% Syntax: blockHandle = setPlaneCapacitor(model, block, eps)
%
% Inputs:
% model - Name of the Simulink model, string;
% block - Name of the target instance of the Injection Block, string;
-% eps0 - Vacuum permittivity, F/m, double;
+% eps - Medium permittivity, F/m, double;
%
% Outputs:
% blockHandle - Simulink block instance handle reference number;
@@ -30,11 +30,11 @@ parse(p, varargin{:});
blockHandle = Simulink.findBlocks(p.Results.model,'Name',p.Results.block);
set_param(blockHandle,'eps0', num2str(p.Results.eps0));
-% if strcmp(p.Results.solver,defaultSolver)
-% set_param('planeCapacitor','SolverType','Variable-step');
-% elseif strcmp(p.Results.solver,'Fixed-step')
-% %set_param(blockHandle,'Vbias', num2str(Vbias));
-% set_param('planeCapacitor', 'SolverType', 'Fixed-step')
-% end
+if strcmp(p.Results.solver,defaultSolver)
+ load_system("planeCapacitor");
+ set_param("planeCapacitor",'SolverType','Variable-step');
+elseif strcmp(p.Results.solver,"Fixed-step")
+ load_system("planeCapacitor");
+ set_param("planeCapacitor", 'SolverType', 'Fixed-step')
end
-
+end
\ No newline at end of file
diff --git a/core/component/setSinglePlate.m b/core/component/setSinglePlate.m
deleted file mode 100644
index 73cceb07d7429a1fd6d7d1920c13b91ce70011bb..0000000000000000000000000000000000000000
--- a/core/component/setSinglePlate.m
+++ /dev/null
@@ -1,66 +0,0 @@
-function blockHandle = setSinglePlate(varargin)
-%SETACTUATORPARAPLATES - Sets the initial parameters of a paralel plates
-%actuator block.
-%Sets the initial parameters of a paralel plates actuator block. The PID gains
-%can be obtained with the tuning app
-%
-% Syntax: setActuatorParaPlates(Kp,Ki,Kd,Vp,Vt,eps0,faceArea,gap)
-%
-% Inputs:
-% Kp - Proportional gain, double;
-% Ki - Integral gain, double;
-% Kd - Differential gain, double;
-% Vp - Polarization voltage, double;
-% Vt - sqrt of squares of the polarization and detection voltages;
-% eps0 - Vacuum permittivity, F/m, double;
-% faceArea - area of the plates, m^2, double;
-% gap - nominal gap between the plates, m, double;
-%
-% See also: setSensParaPlates
-%
-% Author: Arthur Reis
-% email: arthur.reis@aei.mpg.de
-% Nov 2021; Last revision: 16.Feb.2022;
-
-% try to load from local json
-% should be handle or name
-if strcmp(varargin{1},'blockName')
- blockName = varargin{2};
-elseif strcmp(varargin{1},'blockHandle')
- blockName = get_param(varargin{2},'Name');
-end
-
-%if file exists
-%blockName = get_param(varargin{1},'Name');
-%JSONFILE_name= sprintf(strcat(blockName,'.json'));
-%fid=fopen(JSONFILE_name,'r');
-%raw = fread(fid,inf);
-%str = char(raw');
-%j = jsondecode(str);
-% parses existing json as defaults
-% and allows updating
-
-p = inputParser;
-addParameter(p, 'model' , '');
-addParameter(p, 'blockName', '');
-addParameter(p, 'Vt' , 0, @isnumeric);
-addParameter(p, 'eps0' , 0, @isnumeric);
-addParameter(p, 'faceArea' , 0, @isnumeric);
-addParameter(p, 'gap' , 0, @isnumeric);
-parse(p, varargin{:});
-j = p.Results;
-js = jsonencode(j,'PrettyPrint',true);
-%save p.Results as json
-JSONFILE_name= sprintf(strcat(p.Results.blockName,'.json'));
-fid=fopen(JSONFILE_name,'w');
-fprintf(fid, js);
-fclose(fid);
-
-blockHandle = Simulink.findBlocks(j.model,'Name',j.blockName);
-set_param(blockHandle, 'Vt' , num2str(j.Vt));
-set_param(blockHandle, 'eps0' , num2str(j.eps0));
-set_param(blockHandle, 'faceArea', num2str(j.faceArea));
-set_param(blockHandle, 'gap' , num2str(j.gap));
-
-end
-
diff --git a/core/component/setTIA.m b/core/component/setTIA.m
new file mode 100644
index 0000000000000000000000000000000000000000..37c91df9292eb0ed99536fed715b36cfc23d64d1
--- /dev/null
+++ b/core/component/setTIA.m
@@ -0,0 +1,51 @@
+function [blockHandle, varargout] = setTIA(varargin)
+%
+% SETTIA - Sets the parameters of a transimpedance amplifier
+%
+% Syntax: [blockHandle, Zfb, Gtia_s] =
+% setElectrode(model, block, Zbr, Cfb, Rfb
+%
+% Inputs:
+% model - Name of the Simulink model, string;
+% block - Name of the target instance of the Injection Block, string;
+% RBr - real part of impedance of the capacitance bridge @ detection freq, ohm
+% Cfb - TIA feedback capacitance, F
+% Rfb - TIA feedback resistance, ohm
+%
+% Output:
+% blockHandle - Simulink block instance handle reference number;
+% [Zfb] - feedback impedance, function handle
+% [Gtia_s] - simplified TIA gain, function handle
+% See also: Davor Mance - PhD thesis
+%
+% Author: Arthur Reis
+% email: arthur.reis@aei.mpg.de
+% Last revision: 13.10.2022;
+
+p = inputParser;
+
+addRequired(p, 'model');
+addRequired(p, 'block');
+addRequired(p, 'Rbr');
+addRequired(p, 'Cfb');
+addRequired(p, 'Rfb');
+
+parse(p, varargin{:});
+model = p.Results.model;
+block = p.Results.block;
+Rbr = real(p.Results.Rbr);
+Cfb = p.Results.Cfb;
+Rfb = p.Results.Rfb;
+
+% Mance eq. B12
+Zfb = eval(['@(f) ' num2str(Rfb) './(' num2str(i*2*pi*Rfb*Cfb) '.*f + 1)']);
+
+% Mance eq. 2.91
+blockHandle = Simulink.findBlocks(model,'Name',block);
+set_param(blockHandle,'Cfb' , num2str(Cfb));
+set_param(blockHandle,'RBr' , num2str(Rbr));
+
+Gtia_S = eval(['@(f) 2./(f.*' num2str(2*pi*Rbr*Cfb) ').^2']);
+varargout{1} = Zfb;
+varargout{2} = Gtia_S;
+end
\ No newline at end of file
diff --git a/core/component/singlePlate.slx b/core/component/singlePlate.slx
deleted file mode 100644
index 36a3ea468cc0b94e4ccd1b277154955f7f124021..0000000000000000000000000000000000000000
Binary files a/core/component/singlePlate.slx and /dev/null differ
diff --git a/core/dynamics/dblIntTransFS.slx b/core/dynamics/dblIntTransFS.slx
index 0f075a08ccb48fcfce3a9f221ef4a6defb3b370b..62b77aea70790f32dc517079734b033d8d70c896 100644
Binary files a/core/dynamics/dblIntTransFS.slx and b/core/dynamics/dblIntTransFS.slx differ
diff --git a/core/dynamics/dblIntTransVS.slx b/core/dynamics/dblIntTransVS.slx
index 7c5beb500ac64649823b98c6c8d6873809c0f8f5..82fbc661ad07d9d4e6a58223a32b5c0b8468517a 100644
Binary files a/core/dynamics/dblIntTransVS.slx and b/core/dynamics/dblIntTransVS.slx differ
diff --git a/core/dynamics/setDblIntTrans.m b/core/dynamics/setDblIntTrans.m
index 78f723bf9731c103249ace04e3067e2231a2d48f..160b57806368e10746493ca02fbf4eaffcaaaf15 100644
--- a/core/dynamics/setDblIntTrans.m
+++ b/core/dynamics/setDblIntTrans.m
@@ -12,7 +12,7 @@ function blockHandle = setDblIntTrans(model, block, varargin)
% initial position
% - dq0, initial velocity
%
-% See also: setDoubleIntegrator_6DOF
+% See also:
%
% Author: Arthur Reis
% email: arthur.reis@aei.mpg.de
diff --git a/core/dynamics/setDoubleIntegrator.m b/core/dynamics/setDoubleIntegrator.m
index 84f126417a137f77bb59b28794343d6a8fa10e8e..80ecf30d49999db2f4a6b55384f0a55ae776b722 100644
--- a/core/dynamics/setDoubleIntegrator.m
+++ b/core/dynamics/setDoubleIntegrator.m
@@ -29,8 +29,8 @@ blockHandle = Simulink.findBlocks(strcat(model),...
%% process inputs
defaultq0 = 0;
defaultdq0 = 0;
-defaultmode = 'linear';
-expectedmodes = {'linear', 'rotational'};
+%defaultmode = 'linear';
+%expectedmodes = {'linear', 'rotational'};
% parameter parsing, required parms will throw error w/ defaults;
p = inputParser;
diff --git a/core/libAcme.slx b/core/libAcme.slx
index 79f927c1bdd7cfa45a69d8ca1c5271d97149eebb..f2cef80e53e25ac68cd6233f8ce60a11c4302944 100644
Binary files a/core/libAcme.slx and b/core/libAcme.slx differ
diff --git a/core/noises/injection.png b/core/noises/injection.png
deleted file mode 100644
index 2ce5949b0e3fc8c9c186fe0adcbc00a2199b36df..0000000000000000000000000000000000000000
Binary files a/core/noises/injection.png and /dev/null differ
diff --git a/core/noises/readout.png b/core/noises/readout.png
deleted file mode 100644
index 25be7fe7a11cc14b3de76d0d4555646e47488ff3..0000000000000000000000000000000000000000
Binary files a/core/noises/readout.png and /dev/null differ
diff --git a/core/noises/setInjectionBlock.m b/core/noises/setInjectionBlock.m
deleted file mode 100644
index 31eada7407a64a79f5a2ff9fbef440c71f68325a..0000000000000000000000000000000000000000
--- a/core/noises/setInjectionBlock.m
+++ /dev/null
@@ -1,76 +0,0 @@
-function blockHandle = setInjectionBlock(model, block, mode, varargin)
-%SETINJECTIONBLOCK - Sets the initial parameters of a injection block.
-%Sets the initial parameters for one instance of the injection block from
-%Acme library.
-%
-% Syntax: setInjectionBlock(model, block, mode, varargin)
-% setInjectionBlock(model, block, 'FromWorkspace', workspaceVarName)
-% setInjectionBlock(model, block, 'FromFunction', funcHandle, t_timeseries)
-% setInjectionBlock(model, block, 'FromASD', funcHandle, freqs, N, enbw)
-% setInjectionBlock(model, block, 'FromFile', filename)
-%
-% Inputs:
-% model - Name of the Simulink model, string
-% block - Name of the target instance of the Injection Block, string
-% mode - Specifies how the Injection signal is defined.
-% 'FromWorkspace': will use a timeseries existing on the base workspace;
-% 'FromFunction': passes a function of time and a timeseries
-% argument;
-% 'FromASD': passes a ASD, function of frequency and create a time series using
-% the ENBW algorithm;
-% 'FromFile': uses the data stored in a file.
-% workspaceVarName - name of the variable in the workspace, string;
-% funcHandle - function (either of t or f). Function handle;
-% t_timeseries - time part of a timeseries to be used as argument;
-% freqs - array containing [fMin, fMax, fSample].
-% N = number of points that the freqs array has;
-% filename - name of the file containing the data
-%
-% See also: createFrequencyArray, createTimeseriesFromASD_ENBW
-%
-% Author: Arthur Reis
-% email: arthur.reis@aei.mpg.de
-% Nov 2021; Last revision: 10.Nov.2021;
-
-
-if strcmp(mode,'FromWorkspace')
- % varargin:
- % model, block, mode, workspaceVarName
- var = varargin{1};
- filename = strcat(block,'_tmp');
- eval(strcat('save(filename,''var'',''-v7.3'');'));
-
-elseif strcmp(mode,'FromFunction')
- % varargin:
- % model, block, mode, funcHandle, t_timeseries
- func = varargin{1};
- tSeries = varargin{2};
- arr = timeseries(func(tSeries),tSeries);
- filename = strcat(block,'_tmp');
- save(filename,'arr','-v7.3');
-
-elseif strcmp(mode,'FromASD')
- % varargin:
- % model, block, mode, funcHandle, freqs
- func = varargin{1};
- frequencies = varargin{2}; %[fMin, fMax, fSample]
- N = varargin{3};
- fSeries = createFrequencyArray(frequencies(2),0,N,'lin', 2,'reverse');
- enbw = varargin{4};
- arr = createTimeseriesFromASD_ENBW(func,fSeries, enbw);
- filename = strcat(block,'_tmp');
- save(filename,'arr','-v7.3');
-
-elseif strcmp(mode,'FromFile')
- % varargin:
- % model, block, mode, filename
- filename = varargin{1};
-
-end
-
-blockHandle = Simulink.findBlocks(strcat(model,'/',block),...
- 'Name','blkFromFile');
-set_param(blockHandle,'FileName',strcat(filename));
-
-end
-
diff --git a/core/noises/setReadoutBlock.m b/core/noises/setReadoutBlock.m
deleted file mode 100644
index 5145cc74ad7f5fffe4182e2939ab09d51abce24c..0000000000000000000000000000000000000000
--- a/core/noises/setReadoutBlock.m
+++ /dev/null
@@ -1,21 +0,0 @@
-function blockHandle = setReadoutBlock(model, block, varname, fSample)
-%SETREADOUTBLOCK sets an instance of the readout block in a model.
-%
-% Syntax: setReadoutBlock(model, block, varname, fSample)
-%
-% Inputs: model - Name of the Simulink model, string;
-% block - Name of the target instance of the block, string;
-% varname - Name of the variable to be created in the workspace;
-% fSample - sampling rate of the block;
-%
-% See also: setInjectionBlock
-%
-% Author: Arthur Reis
-% email: arthur.reis@aei.mpg.de
-% Nov 2021; Last revision: 10.Nov.2021;
-blockHandle = Simulink.findBlocks(model, 'Name', block);
-set_param(blockHandle,'simout',['''',varname,'''']);
-set_param(blockHandle,'fSample',num2str(fSample));
-
-end
-
diff --git a/core/sensors/diffTransformer.slx b/core/sensors/diffTransformer.slx
index 9a34813060b7dccc511f8fd643f4fd7b35929f81..0e93622c1954d149a468e702bed7c4608b40aa6b 100644
Binary files a/core/sensors/diffTransformer.slx and b/core/sensors/diffTransformer.slx differ
diff --git a/core/sensors/lockIn.slx b/core/sensors/lockIn.slx
index f1edbc9ea66c19178d5de0798ea2a87f8ad688a9..36884818b130d9520df787d7a4109d67d01a94ab 100644
Binary files a/core/sensors/lockIn.slx and b/core/sensors/lockIn.slx differ
diff --git a/initAcme.m b/initAcme.m
new file mode 100644
index 0000000000000000000000000000000000000000..d0dbcbcabebec8e4ff252f09001056d5e7427b24
--- /dev/null
+++ b/initAcme.m
@@ -0,0 +1,5 @@
+addpath(genpath(erase(mfilename('fullpath'),'initAcme')));
+
+license('test', 'control_toolbox')
+license('test', 'simulink_control_design')
+license('test', 'LTPDA')
diff --git a/simulations/Capacitance sensor/capSensor.slx b/simulations/Capacitance sensor/capSensor.slx
new file mode 100644
index 0000000000000000000000000000000000000000..80c8293eb098eb7324d0658d8c315a141ec34c1d
Binary files /dev/null and b/simulations/Capacitance sensor/capSensor.slx differ
diff --git a/simulations/Capacitance sensor/capSensorSimplified.slx b/simulations/Capacitance sensor/capSensorSimplified.slx
new file mode 100644
index 0000000000000000000000000000000000000000..85fe740d3ba75f2c0c479d46ce6daed831c94864
Binary files /dev/null and b/simulations/Capacitance sensor/capSensorSimplified.slx differ
diff --git a/simulations/Capacitance sensor/script_capSensor.m b/simulations/Capacitance sensor/script_capSensor.m
new file mode 100644
index 0000000000000000000000000000000000000000..4ea1849863b1a3d6e5ecb5546304b3f188ec47ac
--- /dev/null
+++ b/simulations/Capacitance sensor/script_capSensor.m
@@ -0,0 +1,136 @@
+%% ACME - Capacitive Sensor Simulator
+% All references are from Mance's 2012 thesis, unless otherwise noted.
+% This model is calculated in the frequency range 1e-4 - 1Hz. Effects of the
+% 100kHz injection signal are accounted for but the signal is not fully
+% simulated.
+% Arthur Reis, 13.10.2022
+clear;
+
+mdl = 'capSensor';
+load_system(mdl);
+%% Simulation parameters
+% frequency and time
+stopTime = 1e4;
+nSteps = 1e6;
+tStep = stopTime/nSteps;
+fSample = 1/(stopTime/nSteps);
+t = (0:tStep:(stopTime-tStep))';
+enbw = 1/stopTime;
+freq = logspace(-4,0,100);
+% Physical constants
+eps0 = 8.86e-12; %F/m, vacuum permittivity
+kb = 1.3806e-23; %boltzmann
+T = 300; % K
+
+%% Accelerometer Parameters
+% TM, Ch.2
+TM_side = 0.046; %m,
+mass = 2; %kg
+nominal_gap = 0.004; % m
+area = TM_side^2; %m2
+
+% Capacitive sensing
+nominal_cap = 1.15e-12;% F
+Cmax = 0.12e-12; %Tab. B-1
+fTypical = 1e-2; %Hz
+
+%% Voltage Reference
+Vd = 4.8; % Vpp, Ch. 2.6
+fDetection = 1e5; %Hz
+capAttenuation = 0.123; %Eq 2.60, from ratio between injection
+% and all other capacitances
+VRefUNoiseASD = @(f) (125e-9.*f.^0) + 1.5e-7.*f.^-.5; %V/sqrt(Hz)
+%Ch. 2.5, LT1021 datasheet
+VRefUNoiseTS = [t timeseriesFromASD(VRefUNoiseASD, enbw, fSample, nSteps).Data];
+% DAC Noise - AD660
+DACNoiseASD = @(f) (0.125e-6.*f.^0) + 0.800e-6.*f.^-.5; %V/sqrt(Hz)
+% AD660 20V span, int ref
+DACNoiseTS = [t timeseriesFromASD(DACNoiseASD, enbw, fSample, nSteps).Data];
+
+%% Capacitance Bridge
+% Tab. B-1
+L = 4.2e-3; %H
+Cp = 320e-12; %F
+C0 = 1.15e-12; %Mance tab B1 ???
+Q = 200; %Mance tab B1
+
+[brBlk, Zbr, f0br] = setCapBridge(mdl, 'capBridge', L, Cp, C0, Q);
+% Bridge Impedance Thermal Noise - Mance 2012 eq 2.24
+brRThNoise = sqrt(4*kb*T*real(Zbr(f0br)));
+brRThNoiseASD = @(f) brRThNoise.*f.^0;
+brRThNoiseTS = [t timeseriesFromASD(brRThNoiseASD, enbw, fSample, nSteps).Data];
+
+%% Transimpedance Amplifier
+% Tab. B-1
+tiaCfb = 3.3e-12; %F
+tiaRfb = 10e6; %ohm
+%brR = real(brZ(fDetection));
+[tiaBlk, tiaZfb,tiaGs] = setTIA(mdl, 'TIAmp', Zbr(f0br), tiaCfb, tiaRfb);
+%tiaR = real(tiaZfb(brf0));
+
+% TIA Feedback Impedance Thermal Noise - Mance 2012
+tiaRfbThNoise = 2*sqrt(4*kb*T*real(tiaZfb(f0br))); %V,sqrt(hz) eq 2.94
+tiaRfbThNoiseASD = @(f) tiaRfbThNoise.*f.^0;
+tiaRfbThNoiseTS = [t timeseriesFromASD(tiaRfbThNoiseASD, enbw, fSample, nSteps).Data];
+
+% TIA Current Noise - eq 2.95
+tiaINoise = 2*1.6e-15*real(tiaZfb(f0br)); % tab B1
+tiaINoiseASD = @(f) tiaINoise.*f.^0;
+tiaINoiseTS = [t timeseriesFromASD(tiaINoiseASD, enbw, fSample, nSteps).Data];
+
+% TIA Voltage Noise - eq 2.95
+NGs = 1 + 2*abs(tiaZfb(f0br)/Zbr(f0br));
+tiaUNoise = 4.5e-9*NGs*sqrt(2); % tab B1
+tiaUNoiseASD = @(f) tiaUNoise.*f.^0;
+tiaUNoiseTS = [t timeseriesFromASD(tiaUNoiseASD, enbw, fSample, nSteps).Data];
+
+
+%% AC amplifier
+acGain = 45.4; % Ch. 2.8.5
+% amplifier voltage noise
+acUNoise = 5.2e-9; %V/sqrt(Hz) tab 2.15
+acUNoiseASD = @(f) acUNoise.*f.^0;
+acUNoiseTS = [t timeseriesFromASD(acUNoiseASD, enbw, fSample, nSteps).Data];
+
+%% Demodulator
+% DC amp voltage noise
+dcampgain = 1.2; %calibrate so max +- 2.5V
+DCampUNoiseASD = @(f) (0.03e-6.*f.^0) ; %V/sqrt(Hz) AD8629, mance
+%DCampUNoiseASD = @(f) (14e-9.*f.^0) + 6.5e-9.*f.^-.7; %V/sqrt(Hz) OP97 (arbitrary)
+DCampUNoiseTS = [t timeseriesFromASD(DCampUNoiseASD, enbw, fSample, nSteps).Data];
+
+%% ADC
+% quantization noise
+ADCqNoiseASD = @(f) (2.4e-6.*f.^0) ; %V/sqrt(Hz) from eq 2.104
+ADCqNoiseTS = [t timeseriesFromASD(ADCqNoiseASD, enbw, fSample, nSteps).Data];
+
+%% Noise Budget
+% this uses the SimulinkNB toolbox.
+% it doesn't run the simulation. Instead, it finds the transfer functions of the
+% linearized model and plots the noise budged
+[noises, sys] = nbFromSimulink(mdl, freq, 'dof', 'x');
+nb = nbGroupNoises(mdl, noises, sys);
+matlabNoisePlot(nb);
+
+%% Time domain simulation
+mdlOutput = sim(mdl);
+% lpsd
+Kdes = 100;
+olap = 30;
+Jdes = 1000;
+Lmin = 1;
+order = 0;
+
+[axx,fxx] = flpsd( 'ts', mdlOutput.simout.Data, 'fs', fSample, 'Kdes', Kdes, 'Lmin', Lmin, ...
+ 'Jdes', Jdes, 'win', 'hanning', 'olap', olap, 'order', order,...
+ 'scale', 'ASD', 'LTPDAmode',false);
+
+%%
+% finding the TF between displacement readout and input perturbation
+io(1) = linio(strcat(mdl,'/C1'),1,'input');
+io(2) = linio(strcat(mdl,'/Sum13'),1,'output');
+readout2capTF = getTFresponse(mdl, io, fxx); % TF between readout and acc signal
+
+loglog(fxx, axx./readout2capTF,'k','LineWidth',1);
+xlabel('Frequency [Hz]');
+ylabel('Measured capacitance [F]');
\ No newline at end of file
diff --git a/simulations/Capacitance sensor/script_capSensorSimplified.m b/simulations/Capacitance sensor/script_capSensorSimplified.m
new file mode 100644
index 0000000000000000000000000000000000000000..d43f7e9c5ceb1c5fbfb887c75cfbb4cc18262e8e
--- /dev/null
+++ b/simulations/Capacitance sensor/script_capSensorSimplified.m
@@ -0,0 +1,117 @@
+%% ACME - Simplified Capacitive Sensor Simulator
+% All references are from Mance's 2012 thesis, unless otherwise noted.
+% This model is calculated in the frequency range 1e-4 - 1Hz. Effects of the
+% 100kHz injection signal are accounted for but the signal is not fully
+% simulated.
+% Only the dominant noise sources from the complete model are included
+% Arthur Reis, 13.10.2022
+clear;
+
+mdl = 'capSensorSimplified';
+load_system(mdl);
+%% Simulation parameters
+% frequency and time
+stopTime = 1e4;
+nSteps = 1e6;
+tStep = stopTime/nSteps;
+fSample = 1/(stopTime/nSteps);
+t = (0:tStep:(stopTime-tStep))';
+enbw = 1/stopTime;
+freq = logspace(-4,0,100);
+% Physical constants
+eps0 = 8.86e-12; %F/m, vacuum permittivity
+kb = 1.3806e-23; %boltzmann
+T = 300; % K
+
+%% Accelerometer Parameters
+% TM, Ch.2
+TM_side = 0.046; %m,
+mass = 2; %kg
+nominal_gap = 0.004; % m
+area = TM_side^2; %m2
+
+% Capacitive sensing
+nominal_cap = 1.15e-12;% F
+Cmax = 0.12e-12; %Tab. B-1
+fTypical = 1e-2; %Hz
+
+%% Voltage Reference
+Vd = 4.8; % Vpp, Ch. 2.6
+fDetection = 1e5; %Hz
+capAttenuation = 0.123; %Eq 2.60, from ratio between injection
+% and all other capacitances
+% DAC Noise - AD660
+DACNoiseASD = @(f) (0.125e-6.*f.^0) + 0.800e-6.*f.^-.5; %V/sqrt(Hz)
+% AD660 20V span, int ref
+DACNoiseTS = [t timeseriesFromASD(DACNoiseASD, enbw, fSample, nSteps).Data];
+
+%% Capacitance Bridge
+% Tab. B-1
+L = 4.2e-3; %H
+Cp = 320e-12; %F
+C0 = 1.15e-12; %Mance tab B1 ???
+Q = 200; %Mance tab B1
+
+[brBlk, Zbr, f0br] = setCapBridge(mdl, 'capBridge', L, Cp, C0, Q);
+% Bridge Impedance Thermal Noise - Mance 2012 eq 2.24
+brRThNoise = sqrt(4*kb*T*real(Zbr(f0br)));
+brRThNoiseASD = @(f) brRThNoise.*f.^0;
+brRThNoiseTS = [t timeseriesFromASD(brRThNoiseASD, enbw, fSample, nSteps).Data];
+
+%% Amplifier
+% arbitrary gain for the simplified model, adjust if needed
+% output should be max around +-2.5V
+ampgain = 100;
+%% Noise Budget
+% this uses the SimulinkNB toolbox.
+% it doesn't run the simulation. Instead, it finds the transfer functions of the
+% linearized model and plots the noise budged
+[noises, sys] = nbFromSimulink(mdl, freq, 'dof', 'x');
+nb = nbGroupNoises(mdl, noises, sys);
+
+%% Time domain simulation
+mdlOutput = sim(mdl);
+% lpsd options
+Kdes = 100;
+olap = 30;
+Jdes = 1000;
+Lmin = 1;
+order = 0;
+% lpsd
+[axx,fxx] = flpsd( 'ts', mdlOutput.simout.Data, 'fs', fSample, 'Kdes', Kdes, 'Lmin', Lmin, ...
+ 'Jdes', Jdes, 'win', 'hanning', 'olap', olap, 'order', order,...
+ 'scale', 'ASD', 'LTPDAmode',false);
+%% Finding the transfer functions
+% finding the transfer function between recorded signal and the signal we wish
+% to measure
+io(1) = linio(strcat(mdl,'/C1'),1,'input');
+io(2) = linio(strcat(mdl,'/Amp'),1,'output');
+readout2capTF = getTFresponse(mdl, io, fxx); % TF between readout and Cap1
+sensorTFexp = fit(fxx,readout2capTF, 'poly2')
+
+%% Expression for the total noise ASD
+% assuming ASD = A/f + B, where B is the high freq limit
+x = nb.sumNoise.f';
+y = nb.sumNoise.asd';
+sensorASDexp = fit(x,y, fittype(str2func(['@(a, x) a./x + ' num2str(y(end))])))
+
+%from time domain simulation
+xsim = fxx;
+ysim = axx./readout2capTF;
+sensorASDexpsim = fit(xsim,ysim, fittype(...
+ str2func(['@(a, x) a./x + ' num2str(ysim(end))])))
+
+%% Plots
+matlabNoisePlot(nb);
+xlabel('Frequency [Hz]');
+ylabel('Measured capacitance [F]');
+loglog(freq, sensorASDexp(freq),'b.', 'displayName', 'Fit from lin model');
+loglog(freq, sensorASDexpsim(freq),'k.','displayName', 'Fit from sim');
+loglog(fxx, axx./readout2capTF,'k-','LineWidth',1,'DisplayName', ...
+ 'ASD from time domain simulation');
+
+%% Finding the transfer functions
+% lpsd
+[axxs,fxxs] = flpsd( 'ts', mdlOutput.simout1.Data, 'fs', fSample, 'Kdes', Kdes, 'Lmin', Lmin, ...
+ 'Jdes', Jdes, 'win', 'hanning', 'olap', olap, 'order', order,...
+ 'scale', 'ASD', 'LTPDAmode',false);
\ No newline at end of file
diff --git a/simulations/Electrostatic/LISA_EA.slx b/simulations/Electrostatic/LISA_EA.slx
new file mode 100644
index 0000000000000000000000000000000000000000..751e59f932cdd8d26704c6557669c5e754f47469
Binary files /dev/null and b/simulations/Electrostatic/LISA_EA.slx differ
diff --git a/simulations/Electrostatic/LISA_EA_script.m b/simulations/Electrostatic/LISA_EA_script.m
new file mode 100644
index 0000000000000000000000000000000000000000..33c8eddf7e6f2342608119d3836cd83b8bd7ade9
--- /dev/null
+++ b/simulations/Electrostatic/LISA_EA_script.m
@@ -0,0 +1,102 @@
+%% Electrostatic ACC Model
+% Following the description in Davor Mance's 2012 thesis. References are from
+% that, unless otherwise mentioned. The capacitance sensor model
+% Author: Arthur Reis
+% email: arthur.reis@aei.mpg.de
+% last review: 19.10.2022
+clear;
+
+mdl = 'LISA_EA';
+load_system(mdl);
+
+%% Simulation parameters
+% frequency and time
+stopTime = 1e4;
+nSteps = 1e6;
+tStep = stopTime/nSteps;
+fSample = 1/(stopTime/nSteps);
+t = (0:tStep:(stopTime-tStep))';
+enbw = 1/stopTime;
+freq = logspace(-4,0,100);
+% Physical constants
+eps0 = 8.86e-12; %F/m, vacuum permittivity
+kb = 1.3806e-23; %boltzmann
+T = 300; % K
+
+
+%% Accelerometer Parameters (Ch.2)
+% TM
+l_TM = 0.046; %m,
+mass = 2; %kg
+gap0 = 0.004; % m
+area = l_TM^2; %m2
+
+dblint = setDblIntTrans(mdl, 'dblInt', mass, gap0);
+
+% Electrodes
+% There are four electrodes, 2 on the faces on the cage, at potential -V and +V,
+% and 2 faces of the TM, at same potential
+% setElectrode(model, block, area, pos0, V_DC, [V_AC], [f], [solver])
+Vd = 5; %V detection rms voltage
+Vp = 1; %V polarizing voltage
+fCar = 1e5;
+el1 = setElectrode(mdl,'electrode1',area,-(l_TM/2+gap0),0 ,0 ,fCar); %Cage left
+el2 = setElectrode(mdl,'electrode2',area,-l_TM/2 ,Vp,Vd,fCar); %TM left
+el3 = setElectrode(mdl,'electrode3',area,+l_TM/2 ,Vp,Vd,fCar); %TM right
+el4 = setElectrode(mdl,'electrode4',area,+(l_TM/2+gap0),0 ,0 ,fCar); %Cage right
+
+% Plane capacitors, each formed by two electrodes
+% setPlaneCapacitor(model, block, eps0)
+cap1 = setPlaneCapacitor(mdl, 'planeCapacitor1', eps0);
+cap2 = setPlaneCapacitor(mdl, 'planeCapacitor2', eps0);
+capSensorGain = 1.8e13;
+capSensorNoiseASD = @(f) 5.0124e-19 + 1.852e-22./f;
+capSensorNoiseTS = [t timeseriesFromASD(capSensorNoiseASD, enbw, fSample, nSteps).Data];
+% Capacitive sensing
+nominal_cap = 1.15e-12;% F
+Cmax = 0.12e-12; %Tab. B-1
+fTypical = 1e-2; %Hz
+
+% Control
+Kp = 1;
+Ki = 0;
+Kd = 0;
+driverGain = 1;
+
+%% Simulating
+mdlOutput = sim(mdl);
+
+%% Analysing the spectrum
+
+[axx,fxx] = flpsd('ts', mdlOutput.simout.Data, 'fs', fSample, 'Kdes', 100, ...
+ 'Lmin', 1, 'Jdes', 1000, 'win', 'hanning', 'olap', 30, ...
+ 'order', 0, 'scale', 'ASD', 'LTPDAmode', false);
+
+% Comparing the results
+% Capacitance sensor
+io(1) = linio(strcat(mdl,'/Minus1'),1,'input');
+io(2) = linio(strcat(mdl,'/simplifiedCapSensor'),1,'output');
+readout2capTF = getTFresponse(mdl, io, fxx); % TF between readout and acc signal
+figure(1);
+loglog(fxx,axx./readout2capTF,fxx,capSensorNoiseASD(fxx),'linewidth',2);
+legend('Simulated measurement','Simulated white noise input');
+xlabel('Frequency [Hz]');
+ylabel('Capacitance [F]');
+
+% Accelerometer readout
+io(1) = linio(strcat(mdl,'/Gain'),1,'input');
+io(2) = linio(strcat(mdl,'/simplifiedCapSensor'),1,'output');
+readout2accTF = getTFresponse(mdl, io, fxx); % TF between readout and acc signal
+figure(2);
+loglog(fxx,axx./readout2accTF);
+legend('Simulated measurement','Simulated white noise input');
+xlabel('Frequency [Hz]');
+ylabel('Acceleration [m/s2]');
+
+%%
+dof = 'x';
+[noises, sys] = nbFromSimulink(mdl, freq, 'dof', dof);
+nb = nbGroupNoises(mdl, noises, sys);
+matlabNoisePlot(nb);
+%loglog(fxx, axx./readout2accTF)
+
diff --git a/simulations/Tutorial/ex_01.slx b/simulations/Tutorial/ex_01.slx
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diff --git a/simulations/Tutorial/ex_05b_noisebudget.slx b/simulations/Tutorial/ex_05b_noisebudget.slx
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diff --git a/simulations/Tutorial/script_ex_01.m b/simulations/Tutorial/script_ex_01_time_domain.m
similarity index 89%
rename from simulations/Tutorial/script_ex_01.m
rename to simulations/Tutorial/script_ex_01_time_domain.m
index 34a6dfaf5e7277de7dc7c20b9b875244026b4774..e5666fe852c35ba4066eba4ee7478abe2374fb62 100644
--- a/simulations/Tutorial/script_ex_01.m
+++ b/simulations/Tutorial/script_ex_01_time_domain.m
@@ -7,12 +7,12 @@
clear;
% load the simulink model.
-mdl = 'ex_01';
+mdl = 'ex_01_time_domain';
load_system(mdl);
acme_dt_fixedstep = 0.01;
stopTime = 10;
-%% Setting the TM and control parameters
+%% Setting the TM and control parameters
mass = 0.08; %kg
gap = 0.0003; %m
% To set the block, the setter searches for a block named "dblInt" on the
@@ -27,18 +27,20 @@ Kd = 1;
% and the TM is impacted by an impulse of
forceGain = 1e-6; % N
+
%% Run the simulation
sim(mdl);
open_system([mdl '/scopeAcc']);
open_system([mdl '/scopePos']);
-
-%%
-% other than an external input, we can simulate a TM that begins out of
+
+%% Simulate again
+% other than an external input, we can also simulate a TM that begins out of
% equilibrium
forceGain = 0;
x0 = 0.00005;
dx0 = 0;
dblint = setDblIntTrans(mdl, 'dblInt', mass, gap, x0, dx0);
+
sim(mdl);
open_system([mdl '/scopePos']);
diff --git a/simulations/Tutorial/script_ex_02.m b/simulations/Tutorial/script_ex_02_noise_generation.m
similarity index 89%
rename from simulations/Tutorial/script_ex_02.m
rename to simulations/Tutorial/script_ex_02_noise_generation.m
index 461ba7dc00247d956d809e629f33bea3b20b1ee2..830f83aab305ff2246b58f33ca16f828e3460e73 100644
--- a/simulations/Tutorial/script_ex_02.m
+++ b/simulations/Tutorial/script_ex_02_noise_generation.m
@@ -4,7 +4,7 @@
% parametrize your simulation
clear;
-mdl = 'ex_02';
+mdl = 'ex_02_noise_generation';
load_system(mdl);
%% Setting the TM and control parameters
@@ -18,7 +18,7 @@ dblint = setDblIntTrans(mdl, 'dblInt', mass, gap);
%% Define the input noise
% Will add a timeseries containing noise
-% Automatically generated from expression for Amplitude Spectral Density
+% generated from expression for Amplitude Spectral Density
tslength = 1e4;
dt = 1;
@@ -28,10 +28,10 @@ nSteps = length(t);
fSample = 1/dt;
enbw = 1/tslength;
-% Consider one of the ASDs:
+% Consider the ASD:
noisefunc = @(f) (1e-10 * sqrt( (1e-3./f).^4 ./ ((1e-5./f).^4+1) + 1 + (f/1e-1).^4));
-% define a "From Workspace" Block that reads the variable:
+% define a "From Workspace" Block that contains the variable:
noise_ts = [t timeseriesFromASD(noisefunc, enbw, fSample, nSteps).Data];
%% Run
@@ -63,7 +63,7 @@ readout2accTF = getTFresponse(mdl, io, fxx); % TF between readout and acc signal
%% output comparison
loglog(fxx,noisefunc(fxx),fxx,axx./readout2accTF);
-legend('input expression','calibrated acc measurement');
+legend('input expression','simulated measurement');
xlabel('Frequency [Hz]');
xlim([1e-6 1]);
ylabel('Acceleration [m/s2]');
@@ -93,4 +93,5 @@ end
loglog(frqs, amps./cals);
legend(string(mass_var));
xlabel('Frequency [Hz]');
-ylabel('Acceleration [m/s2]');
\ No newline at end of file
+ylabel('Acceleration [m/s2]');
+% nothing happens in an ideal, noiseless instrument
\ No newline at end of file
diff --git a/simulations/Tutorial/script_ex_03.m b/simulations/Tutorial/script_ex_03_parametrization.m
similarity index 82%
rename from simulations/Tutorial/script_ex_03.m
rename to simulations/Tutorial/script_ex_03_parametrization.m
index 9fdb84722d9d5361565110759888984756b981be..9955c08d6fb43a7155888d406a68a1088409a025 100644
--- a/simulations/Tutorial/script_ex_03.m
+++ b/simulations/Tutorial/script_ex_03_parametrization.m
@@ -4,7 +4,7 @@
% it uses the block name to locate and initialize the right one
clear;
-mdl = 'ex_03';
+mdl = 'ex_03_parametrization';
load_system(mdl);
fMin = 1e-4;
@@ -27,6 +27,14 @@ Kp = [0.04, 0.05, 0.06];
Ki = [0.003, 0.003, 0.003];
Kd = [0.1, 0.1, 0.12];
+for i = 1:3
+ % the blocks should be carefully named, as the setting functions will use
+ % that name
+ setDblIntTrans(mdl, ['dblInt' num2str(i)], mass(i), gap(i));
+ setPID(mdl, ['pid' num2str(i)], Kp(i), Ki(i), Kd(i));
+end
+
+
% Consider the ASDs:
noisefunc1 = @(f) 1e-12 * f.^-1;
noisefunc2 = @(f) 1e-10 * (f.^2 + f.^0);
@@ -47,10 +55,10 @@ noise_ts2 = [t timeseriesFromASD(noisefunc2, enbw, fSample, nSteps).Data];
'Jdes', Jdes, 'win', 'hanning', 'olap', olap, 'order', order,...
'scale', 'ASD', 'LTPDAmode',true);
loglog(fxx,axx,fxx2,axx2);
+legend('noise1 asd', 'noise2 asd');
%% Run
sim(mdl);
open_system([mdl '/Scope1']);
open_system([mdl '/Scope2']);
-open_system([mdl '/Scope3']);
-
+open_system([mdl '/Scope3']);
\ No newline at end of file
diff --git a/simulations/Tutorial/script_ex_04.m b/simulations/Tutorial/script_ex_04.m
deleted file mode 100644
index ac95d7bbddce72a703ec86da9d1699f32032f12e..0000000000000000000000000000000000000000
--- a/simulations/Tutorial/script_ex_04.m
+++ /dev/null
@@ -1,100 +0,0 @@
-%% Example 04
-% ACME Advanced - GRACE-like Electrostatic ACC
-% The capacitive sensing as well as the electrostatic actuators are simulated
-clear;
-
-mdl = 'ex_04';
-load_system(mdl);
-%% Accelerometer Parameters
-% TM
-TM_side = 0.04; % m
-nominal_gap = 0.000300; % m
-area = (TM_side)^2; % m2
-mass = 0.08; % kg
-kb = 1.3806e-23; %boltzmann
-T = 300; % K
-
-% capacitive sensing, see Josselin 1999
-eps0 = 8.86e-12; %F/m, vacuum permittivity
-Vd = 5; %V detection rms voltage
-Vp = 10; %V polarizing voltage
-Vt = sqrt(Vp^2 + Vd^2);
-L = 50;
-C0 = 5e-13;
-Cp = 5e-13;
-Q = 200;
-fDetection = 1e5;
-lockgain = 1;
-
-% control
-Kp = 5e-4;
-Ki = 1e-2;
-Kd = 0;
-driverGain = 1;
-
-%% block initialization
-% there are four electrodes, 2 on the faces on the cage, at potential -V and +V,
-% and 2 faces of the TM, at same potential
-%
-% setElectrode(model, block, Vbias, ...
-% pos0, area)
-el1 = setElectrode(mdl,'electrode1', 0, ...
- TM_side/2+nominal_gap, area); % cage right
-el2 = setElectrode(mdl,'electrode2', Vt, ...
- TM_side/2, area); % TM right
-el3 = setElectrode(mdl,'electrode3', Vt, ...
- -TM_side/2, area); % TM left
-el4 = setElectrode(mdl,'electrode4', 0, ...
- -(TM_side/2+nominal_gap), area); % cage left
-
-% plane capacitors, each formed by two electrodes, simplified coulombic interaction
-% setPlaneCapacitor(model, block, eps0)
-cap1 = setPlaneCapacitor(mdl, 'planeCapacitor1', eps0);
-cap2 = setPlaneCapacitor(mdl, 'planeCapacitor2', eps0);
-
-% differential transformer, see Josselin 1999
-% setDiffTransformer(model, block, C0, L, f0, Q, range)
-dfTr = setDiffTransformer(mdl, 'diffTransformer', C0, L, fDetection, Q);
-
-dblint = setDblIntTrans(mdl, 'dblInt', mass, nominal_gap);
-
-%% simulation parameters
-% frequency and time
-stopTime = 1e3;
-nSteps = 1e4;
-tStep = stopTime/nSteps;
-acme_dt_fixedstep = tStep;
-fSample = 1/(stopTime/nSteps);
-%fMax = fSample/2;
-%fMin = 1/stopTime;
-t = (0:tStep:(stopTime-tStep))';
-enbw = 1/stopTime;
-
-noisefunc = @(f) (1e-9 * f.^0);
-noise_ts1 = [t timeseriesFromASD(noisefunc, enbw, fSample, nSteps).Data];
-
-%%
-mdlOutput = sim(mdl);
-%%
-% lpsd options
-
-Kdes = 100;
-olap = 30;
-Jdes = 1000;
-Lmin = 1;
-order = 0;
-
-[axx,fxx] = flpsd( 'ts', mdlOutput.simout.Data, 'fs', fSample, 'Kdes', Kdes, 'Lmin', Lmin, ...
- 'Jdes', Jdes, 'win', 'hanning', 'olap', olap, 'order', order,...
- 'scale', 'ASD', 'LTPDAmode',false);
-
-%%
-% finding the TF between displacement readout and input perturbation
-io(1) = linio(strcat(mdl,'/From Workspace'),1,'input');
-io(2) = linio(strcat(mdl,'/diffTransformer'),1,'output');
-readout2accTF = getTFresponse(mdl, io, fxx); % TF between readout and acc signal
-
-loglog(fxx,axx./readout2accTF,fxx,noisefunc(fxx));
-legend('calibrated acc measurement','input expression');
-xlabel('Frequency [Hz]');
-ylabel('Acceleration [m/s2]');
diff --git a/simulations/Tutorial/script_ex_04_noisy_sensor.m b/simulations/Tutorial/script_ex_04_noisy_sensor.m
new file mode 100644
index 0000000000000000000000000000000000000000..cc225d32797d8cc0181ef8c91894fd3502e9bf60
--- /dev/null
+++ b/simulations/Tutorial/script_ex_04_noisy_sensor.m
@@ -0,0 +1,97 @@
+%% Example 04
+% ACME Advanced - GRACE-like Electrostatic ACC
+% The capacitive sensing as well as the electrostatic actuators are simulated
+clear;
+
+mdl = 'ex_04_noisy_sensor';
+load_system(mdl);
+
+%% Simulation parameters
+% frequency and time
+stopTime = 1e4;
+nSteps = 1e6;
+tStep = stopTime/nSteps;
+fSample = 1/(stopTime/nSteps);
+t = (0:tStep:(stopTime-tStep))';
+enbw = 1/stopTime;
+freq = logspace(-4,0,100);
+% Physical constants
+eps0 = 8.86e-12; %F/m, vacuum permittivity
+kb = 1.3806e-23; %boltzmann
+T = 300; % K
+
+
+%% Accelerometer Parameters (Ch.2)
+% TM
+l_TM = 0.046; %m,
+mass = 2; %kg
+gap0 = 0.004; % m
+area = l_TM^2; %m2
+
+dblint = setDblIntTrans(mdl, 'dblInt', mass, gap0);
+
+% Electrodes
+% There are four electrodes, 2 on the faces on the cage, at potential -V and +V,
+% and 2 faces of the TM, at same potential
+% setElectrode(model, block, area, pos0, V_DC, [V_AC], [f], [solver])
+Vd = 5; %V detection rms voltage
+Vp = 1; %V polarizing voltage
+fCar = 1e5;
+el1 = setElectrode(mdl,'electrode1',area,-(l_TM/2+gap0),0 ,0 ,fCar); %Cage left
+el2 = setElectrode(mdl,'electrode2',area,-l_TM/2 ,Vp,Vd,fCar); %TM left
+el3 = setElectrode(mdl,'electrode3',area,+l_TM/2 ,Vp,Vd,fCar); %TM right
+el4 = setElectrode(mdl,'electrode4',area,+(l_TM/2+gap0),0 ,0 ,fCar); %Cage right
+
+% Plane capacitors, each formed by two electrodes, simplified coulombic interaction
+% setPlaneCapacitor(model, block, eps0)
+cap1 = setPlaneCapacitor(mdl, 'planeCapacitor1', eps0);
+cap2 = setPlaneCapacitor(mdl, 'planeCapacitor2', eps0);
+capSensorGain = 1.8e13;
+capSensorNoiseASD = @(f) 5.0124e-19 + 1.852e-22./f;
+capSensorNoiseTS = [t timeseriesFromASD(capSensorNoiseASD, enbw, fSample, nSteps).Data];
+% Capacitive sensing
+nominal_cap = 1.15e-12;% F
+Cmax = 0.12e-12; %Tab. B-1
+fTypical = 1e-2; %Hz
+
+% Control
+Kp = 1;
+Ki = 0;
+Kd = 0;
+driverGain = 1;
+
+%% Simulating
+mdlOutput = sim(mdl);
+%% Analysing the spectrum
+% lpsd options
+
+Kdes = 100;
+olap = 30;
+Jdes = 1000;
+Lmin = 1;
+order = 0;
+
+[axx,fxx] = flpsd( 'ts', mdlOutput.simout.Data, 'fs', fSample, 'Kdes', Kdes, 'Lmin', Lmin, ...
+ 'Jdes', Jdes, 'win', 'hanning', 'olap', olap, 'order', order,...
+ 'scale', 'ASD', 'LTPDAmode',false);
+
+%% Comparing the results
+% Capacitance sensor
+io(1) = linio(strcat(mdl,'/Minus1'),1,'input');
+io(2) = linio(strcat(mdl,'/simplifiedCapSensor'),1,'output');
+readout2capTF = getTFresponse(mdl, io, fxx); % TF between readout and acc signal
+figure(1);
+loglog(fxx,axx./readout2capTF,fxx,capSensorNoiseASD(fxx),'linewidth',2);
+legend('Simulated measurement','Simulated white noise input');
+xlabel('Frequency [Hz]');
+ylabel('Capacitance [F]');
+
+% Accelerometer readout
+io(1) = linio(strcat(mdl,'/Minus1'),1,'input');
+io(2) = linio(strcat(mdl,'/Minus'),1,'output');
+readout2accTF = getTFresponse(mdl, io, fxx); % TF between readout and acc signal
+figure(2);
+loglog(fxx,axx./(mass*readout2accTF));
+legend('Simulated measurement','Simulated white noise input');
+xlabel('Frequency [Hz]');
+ylabel('Acceleration [m/s2]');
diff --git a/simulations/Tutorial/script_ex_05_noise_budget.m b/simulations/Tutorial/script_ex_05_noise_budget.m
new file mode 100644
index 0000000000000000000000000000000000000000..2ab177affb91a3df4c2f997c9f547bb9552dd60f
--- /dev/null
+++ b/simulations/Tutorial/script_ex_05_noise_budget.m
@@ -0,0 +1,31 @@
+%% Example 07
+% Simulink Noise Budget
+% These blocks are from https://github.com/cwipf/SimulinkNb
+clear;
+
+mdl = 'ex_05a_noise_budget';
+load_system(mdl);
+%% Accelerometer Parameters
+% TM
+mass = 1; % kg
+
+% control
+Kp = 1;
+Ki = 0;
+Kd = 0;
+
+%% simulation parameters
+% there is a difference between open and closed loop sink
+freq = logspace(-2, 0, 100);
+sensorNoiseASD = 1e-9 * freq.^-1;
+dof = 'x';
+%%
+[noises, sys] = nbFromSimulink(mdl, freq, 'dof', dof);
+nb = nbGroupNoises(mdl, noises, sys);
+matlabNoisePlot(nb);
+
+%%
+mdl = 'ex_05b_noise_budget';
+[noises, sys] = nbFromSimulink(mdl, freq, 'dof', dof);
+nb = nbGroupNoises(mdl, noises, sys);
+matlabNoisePlot(nb);
\ No newline at end of file
diff --git a/simulations/Tutorial/xhps_integration/init_parameters.m b/simulations/Tutorial/xhps_integration/init_parameters.m
deleted file mode 100644
index e23d5833d751973db168a6dbe45117ec6f7bd148..0000000000000000000000000000000000000000
--- a/simulations/Tutorial/xhps_integration/init_parameters.m
+++ /dev/null
@@ -1,259 +0,0 @@
-%% ex3
-% In this example additional blocks to model non-gravitational
-% forces are added, atmospheric drag and solar radiation pressure. The
-% computed forces and torques are feed back to the dynamics computatation.
-% These models utilize the precomputed lookup tables for high precision
-% disturbance modeling. As an example these are given for a simple GRACE
-% model.
-% There are two different blocks for atmospheric drag, the first one is
-% simpler and utilzes a constant drag coefficient and the JB08 density
-% model. The atmosphere is treated as co-rotating with the Earth.
-% The second block utilizes a variable computation of the drag and lift
-% coefficients. Depending on atmosphereic conditions and the satellite
-% geometry (FE Model). The computation of the drag coefficient needs inputs
-% from the NRLMSISE atmosphere model wich is additionally executed in the
-% block.
-% Like all Simulink elements, the blocks can be commented-out and -on by
-% pressing ctrl + shift + x.
-% All necessary parameters are set at the end of this file.
-
-
-% The ordering of variables in the core_params and init_params structs may
-% not be changed! This will cause errors in the underlying C-functions.
-
-clearvars('core_params','init_params');
-
-%% core_params
-
- init_date = [2006,5,1,0,0,1];
-
- % ===============================
- % PLEASE UNCOMMENT THIS LINE
- MJD = HPS_convertCalendarDate2MJD(init_date(1),init_date(2),init_date(3),init_date(4),init_date(5),init_date(6));
- % ====================================================
- core_params.start_date = [MJD,init_date(4:6)];
-
-% GRAVITY OPTIONS
-
- % Gravity Model (simple (1), static spherical harmonics Gravity model (2), time dependent SH model (3))
- core_params.i_grav_model = 2;
- % degree and order of gravity field (iN_max (degree) must be bigger or equal iM_max (order))
- core_params.iN_max = 12;
- core_params.iM_max = 12; % also zonal degree (up to 6) for simple gravity model (than iM_max=1)
-
- % Ocean tide model (off (0), on (1))
- core_params.ocean_tides = 0;
- % degree = order
- core_params.ot_degree = 5;
-
- % Solid Earth tide model (off (0), with "zero tide" (1), with "tide free" (2) (default:1))
- core_params.solid_Earth_tides = 0;
- % degree = order (min 2, maximal 4)
- core_params.sEt_degree = 4;
-
- % Pole tide model (off (0), on (1))
- core_params.pole_tides = 0;
- % degree = order (maximal 360) (actually d/o of pole ocean tide model,
- % pole Earth tide model just affects the C21 and S21 SH coefficients)
- core_params.pt_degree = 60;
-
- % Calculate gravity gradient matrix? (0 = no, 1 = yes)
- core_params.i_gg = 0;
- % effects of center of gravity != center of mass (0: off,1: spherical potential, 2: J2 potential)
- core_params.i_cog = 0;
- % post newtonian corrections to equations of motion (0: off, 1: add Schwarzschild corr., 2: (1)+Lense-Thirring corr., 3: (2)+ de Sitter corr.)
- core_params.i_pN = 0;
- % calculate gravity gradient torque (0: do not calc, 1: spherical pot. 2: with Gravity gradient matrix)
- core_params.i_ggt = 0;
-
- % Chose ehpemeris model; analytical or JPL models (1: Analytical Montenbruck, 2: DE405, 3: DE430, 4: DE431)
- core_params.ehp_model = 1;
-
- % include moon, planets (0 do not calculate, 1 calculate)
- core_params.i_planets(1)=0; % sun
- core_params.i_planets(2)=0; % mercury
- core_params.i_planets(3)=0; % venus
- core_params.i_planets(4)=0; % mars
- core_params.i_planets(5)=0; % jupiter
- core_params.i_planets(6)=0; % saturn
- core_params.i_planets(7)=0; % uranus
- core_params.i_planets(8)=1; % neptune
- core_params.i_planets(9)=0; % pluto
- core_params.i_planets(10)=0; % moon
-
-
- % IERS2010 convention (0: compleat trafo, 1: in future setimated EOP, 2: z-onlyrotation, 3: GeoQ rotation)
- core_params.T_e_i_opt = 0;
-
-% INTEGRATION OPTIONS
-
- % Integration time limit (integrate until tmax)
- core_params.tmax = 18000;
-
- % step size of simulink simulation [s]
- core_params.dt_sim = acme_dt_fixedstep;
-
- % integration method (0: runge-kutta dopri87 8th order (13 function evaluation), 1: runge-kutta ck54 5th order (6 function evaluation), 2: Adams-Bashforth-Moulton ABM one predictor and one corrector step (2 function evaluation); order specified by core_params.AMB_order )
- core_params.int_meth = 2;
-
- % only if ABM integrator is chosen
- % order of ABM integrator, possible:2, 3, 4, 6, 8, 10, 12, 16, 18, 20, 24, 28 (1 is equal to simple euler scheme -> does not work conflict with loop indices!!!!)
- core_params.ABM_order = 8;
-
- % For Runge Kutta Integrators and initialization of ABM integrator with DoPri87:
- % local truncation error between two steps
- core_params.eps = 1e-2;
- % minimal time step allowed for step size control (if smaller step is proposed h set to hmin)
- core_params.hmin = 0.5;
- %first step size
- core_params.h0 = core_params.dt_sim;
-
- % just for RKF methods
- % option when T_e_i should be updated (0: just after every step in main
- % integration loop 1: also inside the integration routine 2: use
- % simplified T_e_i computation inside integration routine) 3: just
- % every dt_sim time step
- core_params.update_T_e_i = 2;
- % option when gravity field should be updated (like T_e_i) (0: just
- % after every step in main integration loop 1: also inside the
- % integration routine 3: just every dt_sim time step (10: no update -> set accordingly in check_params.m)
- core_params.update_gfc = 0;
-
-
-% OUTPUT OPTIONS
-
- % output T_e_i Matrix (0: no 1: output)
- core_params.T_e_i = 1;
-
- % option if position and velocity should be also transformed and saved in ECEF coordinates (0:off, 1: on)
- core_params.save_ECEF = 1;
-
- % output sub steps in one dt_sim step just for RK methods (0: no, 1: output)
- core_params.n_h =0;
-
- % output gravity gradient torque (0: no 1: output ggt is computed in next step so the output is delayed by one dt_sim time step
- % 2: calculate ggt of actual step -> computationally more intensive because one more call of gravityfield)
- core_params.output_ggt = 1;
-
- % output ephemeris (0: nein 1: ausgeben)
- core_params.output_ehpemeris = 1;
- % output ephemeris from which planets
-
- core_params.outp_eph_planets(1)=1; % sun
- core_params.outp_eph_planets(2)=0; % mercury
- core_params.outp_eph_planets(3)=0; % venus
- core_params.outp_eph_planets(4)=0; % mars
- core_params.outp_eph_planets(5)=0; % jupiter
- core_params.outp_eph_planets(6)=0; % saturn
- core_params.outp_eph_planets(7)=0; % uranus
- core_params.outp_eph_planets(8)=0; % neptune
- core_params.outp_eph_planets(9)=0; % pluto
- core_params.outp_eph_planets(10)=0; % moon
-
-
-% ADDITIONAL PARAMETERS
-
- % show integration status info (0: no info, 1: some 2: detailed info)
- core_params.int_sts =1;
-
- % number of states (computed in mdlInizialize?!)
- core_params.n = 13;
-
-
-clear init_params
-%% init_params
-% parameter für mdlInitialize
-
- % Initial conditions (position and velocity) in eci (0) or in ecef (1) frame
- init_params.frame = 1;
-
- init_params.y0(1)=0.883400652246999e-3; % w_x
- init_params.y0(2)=0.679655234847646e-3;
- init_params.y0(3)=0.018533696711896e-3;
-
- init_params.y0(4)=0.420661638681150; %q_1
- init_params.y0(5)= -0.215279353484945;
- init_params.y0(6)= 0.792394972557636;
- init_params.y0(7)= 0.385757427887756;
-
- % Initial GRACE values in ecef (polar orbit)
- init_params.y0(8)= 2495.25780467829;
- init_params.y0(9)= 3405.71999114539;
- init_params.y0(10)= 6337.46591402429;
-
- init_params.y0(11)= 3084754.04939809; %x
- init_params.y0(12)= 4802725.19816482; %y
- init_params.y0(13)=-3808582.60527389; %z
-
-
- %% check consistency of parameters
- %core_params = HPS_check_params(core_params);
-
-%% Control law
-
-% simple quaternion control law
-I = [1 0 0;...
- 0 1 0;...
- 0 0 1];
-
-k = 2; % "geschwindigkeit"
-K = k*I;
-
-c = 2; % "stärke"
-C= c*I;
-
-% constant flight path angle cFPA:
-phi1 = pi/180*0;
-phi2 = pi/180*-1;
-phi3 = pi/180*0;
-
-% compute quaternion for constant trafo from body frame
-% ===============================
- % PLEASE UNCOMMENT THIS LINES
-% T_v_d = HPS_computeDCMFromEulerAngles( phi1, phi2, phi3, 123);
-% q_v_d = HPS_computeQuaternionFromDCM(T_v_d);
-% ====================================
-
-%% Environment models
-
-% Additional values for C_d, C_l computation
-Y1 = init_date(1)-1;
-Y2 = init_date(1)+1;
-
-% Set C_D options
-a_ref_opt = 1;
-alpha_opt = 1;
-alpha_val = 1;
-
-et = load('surface_tables/et.txt');
-nt = load('surface_tables/nt.txt');
-
-% in case constant wall temp is assumed
-n_elem = size(et,1);
-T_Wall_const = ones(n_elem,1).*300;
-
-% Drag Coefficient
-c_D = 2.5;
-
-% atmospheric indices
-path_F107 = fullfile(XHPS_path, 'HPS_simulation', 'environment_data', 'activity_indices', 'FLUX', 'F107.txt');
-path_Ap = fullfile(XHPS_path, 'HPS_simulation', 'environment_data', 'activity_indices', 'KP_AP', 'Ap.txt');
-
-% load satellite data for surface forces
-load('surface_tables/angle_phi.txt');
-load('surface_tables/angle_tht.txt');
-load('surface_tables/force_FX.txt');
-load('surface_tables/force_FY.txt');
-load('surface_tables/force_FZ.txt');
-load('surface_tables/prespoint_X.txt');
-load('surface_tables/prespoint_Y.txt');
-load('surface_tables/prespoint_Z.txt');
-load('surface_tables/ref_area.txt');
-load('surface_tables/torque_TX.txt');
-load('surface_tables/torque_TY.txt');
-load('surface_tables/torque_TZ.txt');
-
-% 3 dimensional L array containing absorption coefficients for each element
-load('L3d.mat');
-elements_fe = 1:size(L3d,3);
-
diff --git a/simulations/Tutorial/xhps_integration/script_xhps_acme_01.m b/simulations/Tutorial/xhps_integration/script_xhps_acme_01.m
deleted file mode 100644
index ce5a26f2826543ad0d4ae21f8079a2af20ead395..0000000000000000000000000000000000000000
--- a/simulations/Tutorial/xhps_integration/script_xhps_acme_01.m
+++ /dev/null
@@ -1,96 +0,0 @@
-%% Example Accelerometer
-% Using ACME and XHPS together
-% Using fixed-step solvers
-clear;
-
-% ===============================
- % PLEASE UNCOMMENT THIS LINE
- hps_startup
- % =============================
-mdl = 'xhps_acme_ex_01';
-load_system(mdl);
-
-%% Setting the TM and control parameters
-mass = 0.08; %kg
-gap = 0.0003; %m
-M_sat = 478; % define the mass of the satellite (typical number for GRACE-FO)
-
-dblint = setDblIntTrans(mdl, 'dblInt', mass, gap);
-
-acme_dt_fixedstep = 1;
-
-init_parameters;
-
-I = [1 0 0;...
- 0 1 0;...
- 0 0 1];
-
-k = 2; % "geschwindigkeit"
-K = k*I;
-
-c = 2; % "stärke"
-C= c*I;
-
-% constant flight path angle cFPA:
-phi1 = pi/180*0;
-phi2 = pi/180*-1;
-phi3 = pi/180*0;
-
-% compute quaternion for constant trafo from body frame
-T_v_d = HPS_computeDCMFromEulerAngles( phi1, phi2, phi3, 123);
-q_v_d = HPS_computeQuaternionFromDCM(T_v_d);
-
-%% Environment models
-
-% Additional values for C_d, C_l computation
-
- init_date = [2006,5,1,0,0,1];
-Y1 = init_date(1)-1;
-Y2 = init_date(1)+1;
-
-% Set C_D options
-a_ref_opt = 1;
-alpha_opt = 1;
-alpha_val = 1;
-
-et = load('surface_tables/et.txt');
-nt = load('surface_tables/nt.txt');
-
-% in case constant wall temp is assumed
-n_elem = size(et,1);
-T_Wall_const = ones(n_elem,1).*300;
-
-% Drag Coefficient
-c_D = 2.5;
-
-% atmospheric indices
-path_F107 = fullfile(XHPS_path, 'HPS_simulation', 'environment_data', 'activity_indices', 'FLUX', 'F107.txt');
-path_Ap = fullfile(XHPS_path, 'HPS_simulation', 'environment_data', 'activity_indices', 'KP_AP', 'Ap.txt');
-
-% load satellite data for surface forces
-load('surface_tables/angle_phi.txt');
-load('surface_tables/angle_tht.txt');
-load('surface_tables/force_FX.txt');
-load('surface_tables/force_FY.txt');
-load('surface_tables/force_FZ.txt');
-load('surface_tables/prespoint_X.txt');
-load('surface_tables/prespoint_Y.txt');
-load('surface_tables/prespoint_Z.txt');
-load('surface_tables/ref_area.txt');
-load('surface_tables/torque_TX.txt');
-load('surface_tables/torque_TY.txt');
-load('surface_tables/torque_TZ.txt');
-
-% 3 dimensional L array containing absorption coefficients for each element
-load('L3d.mat');
-elements_fe = 1:size(L3d,3);
-
-init_parameters %XHPS stuff
-acme_dt_fixedstep = core_params.dt_sim;
-%%
-sim(mdl)
-
-
-
-
-
diff --git a/simulations/Tutorial/xhps_integration/xhps_acme_ex_01.slx b/simulations/Tutorial/xhps_integration/xhps_acme_ex_01.slx
deleted file mode 100644
index ff2529cb060b48c931143d2e5b7f53cadcb7e27e..0000000000000000000000000000000000000000
Binary files a/simulations/Tutorial/xhps_integration/xhps_acme_ex_01.slx and /dev/null differ
diff --git a/utils/SimulinkNbLite/NoiseModel/CalibrationHook.m b/utils/SimulinkNbLite/NoiseModel/CalibrationHook.m
new file mode 100644
index 0000000000000000000000000000000000000000..99c1a76a49532dd5e250cc944b580e076031f1a4
--- /dev/null
+++ b/utils/SimulinkNbLite/NoiseModel/CalibrationHook.m
@@ -0,0 +1,20 @@
+classdef CalibrationHook
+
+ properties
+ tf
+ end
+
+ methods
+ function self = CalibrationHook(tf)
+ self.tf = tf;
+ end
+
+ function newNoise = hook(self, noise)
+ newNoise.f = noise.f;
+ newNoise.name = noise.name;
+ newNoise.asd = noise.asd .* abs(self.tf.tf);
+ end
+ end
+
+end
+
diff --git a/utils/SimulinkNbLite/NoiseModel/InterpolationHook.m b/utils/SimulinkNbLite/NoiseModel/InterpolationHook.m
new file mode 100644
index 0000000000000000000000000000000000000000..59d6e4e2a107f5589eed92303b7c3351ae329b2e
--- /dev/null
+++ b/utils/SimulinkNbLite/NoiseModel/InterpolationHook.m
@@ -0,0 +1,20 @@
+classdef InterpolationHook
+
+ properties
+ f
+ end
+
+ methods
+ function self = InterpolationHook(f)
+ self.f = f;
+ end
+
+ function newNoise = hook(self, noise)
+ newNoise.name = noise.name;
+ newNoise.f = self.f;
+ newNoise.asd = interp1(noise.f, noise.asd, newNoise.f);
+ end
+ end
+
+end
+
diff --git a/utils/SimulinkNbLite/NoiseModel/LinkHook.m b/utils/SimulinkNbLite/NoiseModel/LinkHook.m
new file mode 100644
index 0000000000000000000000000000000000000000..d2d903eedb6bb0167d9ec68c2bbb23e4ca5ebe40
--- /dev/null
+++ b/utils/SimulinkNbLite/NoiseModel/LinkHook.m
@@ -0,0 +1,24 @@
+classdef LinkHook
+
+ properties
+ target
+ end
+
+ methods
+ function self = LinkHook(target)
+ self.target = target;
+ end
+
+ function newNoise = hook(self, noise)
+ newNoise.f = noise.f;
+ newNoise.asd = noise.asd;
+ if strfind(self.target, 'internal:')
+ newNoise.name = ['\hyperlink{' self.target '}{' noise.name '}'];
+ else
+ newNoise.name = ['\href{' self.target '}{' noise.name '}'];
+ end
+ end
+ end
+
+end
+
diff --git a/utils/SimulinkNbLite/NoiseModel/MatlabPlotterFactory.m b/utils/SimulinkNbLite/NoiseModel/MatlabPlotterFactory.m
new file mode 100644
index 0000000000000000000000000000000000000000..e1c7cd2b06c3b8ea21d36b52552880cde9924eff
--- /dev/null
+++ b/utils/SimulinkNbLite/NoiseModel/MatlabPlotterFactory.m
@@ -0,0 +1,67 @@
+classdef MatlabPlotterFactory < handle
+
+ properties
+ fixedFigureNumber = 0;
+ handles = {}
+ end
+
+ methods
+ function plotter = getPlotter(self, noiseModel, varargin)
+ plotter = NoisePlotter(noiseModel, varargin{:});
+ plotter.prolog{end+1} = @self.setFigureNumber;
+ plotter.epilog{end+1} = @self.stripLinks;
+ plotter.epilog{end+1} = @self.harvestHandles;
+ end
+
+ function setFigureNumber(self, noisePlotter, ~)
+ if self.fixedFigureNumber
+ noisePlotter.figureProperties.Number = self.fixedFigureNumber;
+ self.fixedFigureNumber = self.fixedFigureNumber + 1;
+ end
+ end
+
+ function harvestHandles(self, noisePlotter, ~)
+ self.handles{end+1} = noisePlotter.handles;
+ end
+
+ function stripLinks(~, noisePlotter, ~)
+ lineObjs = noisePlotter.handles.ln;
+ for n = 1:numel(lineObjs)
+ str = get(lineObjs(n), 'DisplayName');
+ % strip href and hyperlink links (\href, \hyperlink)
+ % assume no latex inside the link text
+ str = regexprep(str, '\\href{[^}]*}{([^\\]*)}', '$1');
+ str = regexprep(str, '\\hyperlink{[^}]*}{([^\\]*)}', '$1');
+ set(lineObjs(n), 'DisplayName', str);
+ end
+ textObjs = findall(noisePlotter.handles.fg, 'Type', 'text');
+ for n = 1:numel(textObjs)
+ str = get(textObjs(n), 'String');
+ % string with line breaks is returned as a 2D array
+ % convert such strings to 1D array for regexprep
+ strL = cellstr(str);
+ str = [sprintf('%s\n', strL{1:end-1}), strL{end}];
+ % strip hyperlink target (\hypertarget)
+ % assume target wraps the entire string, and may contain
+ % links inside the target text
+ str = regexprep(str, '\\hypertarget{[^}]*}{(.*)}', '$1');
+ % strip href and hyperlink links (\href, \hyperlink)
+ % assume no latex inside the link text
+ str = regexprep(str, '\\href{[^}]*}{([^\\]*)}', '$1');
+ str = regexprep(str, '\\hyperlink{[^}]*}{([^\\]*)}', '$1');
+ set(textObjs(n), 'String', str);
+ end
+ end
+
+ function finalize(~)
+ end
+
+ function render(~)
+ end
+
+ function cleanup(~)
+ end
+ end
+
+end
+
diff --git a/utils/SimulinkNbLite/NoiseModel/NameHook.m b/utils/SimulinkNbLite/NoiseModel/NameHook.m
new file mode 100644
index 0000000000000000000000000000000000000000..402988d991db0e2ff68de60fd4c00909e59a7d32
--- /dev/null
+++ b/utils/SimulinkNbLite/NoiseModel/NameHook.m
@@ -0,0 +1,20 @@
+classdef NameHook
+
+ properties
+ name
+ end
+
+ methods
+ function self = NameHook(name)
+ self.name = name;
+ end
+
+ function newNoise = hook(self, noise)
+ newNoise.f = noise.f;
+ newNoise.asd = noise.asd;
+ newNoise.name = self.name;
+ end
+ end
+
+end
+
diff --git a/utils/SimulinkNbLite/NoiseModel/Noise.m b/utils/SimulinkNbLite/NoiseModel/Noise.m
new file mode 100644
index 0000000000000000000000000000000000000000..1e2b59efa2ce8a46ef9a2697cc540b435080ed69
--- /dev/null
+++ b/utils/SimulinkNbLite/NoiseModel/Noise.m
@@ -0,0 +1,48 @@
+classdef Noise
+
+ properties
+ noiseData
+ getNoise
+ noiseHooks
+ end
+
+ properties (Dependent)
+ f
+ asd
+ name
+ end
+
+ methods
+ function self = Noise(noiseData)
+ self.noiseData = noiseData;
+ self.getNoise = @(self) self.noiseData;
+ self.noiseHooks = {};
+ end
+
+ function f = get.f(self)
+ noise = self.getNoise(self);
+ for n = 1:numel(self.noiseHooks)
+ noise = self.noiseHooks{n}.hook(noise);
+ end
+ f = noise.f;
+ end
+
+ function asd = get.asd(self)
+ noise = self.getNoise(self);
+ for n = 1:numel(self.noiseHooks)
+ noise = self.noiseHooks{n}.hook(noise);
+ end
+ asd = noise.asd;
+ end
+
+ function name = get.name(self)
+ noise = self.getNoise(self);
+ for n = 1:numel(self.noiseHooks)
+ noise = self.noiseHooks{n}.hook(noise);
+ end
+ name = noise.name;
+ end
+ end
+
+end
+
diff --git a/utils/SimulinkNbLite/NoiseModel/NoiseModel.m b/utils/SimulinkNbLite/NoiseModel/NoiseModel.m
new file mode 100644
index 0000000000000000000000000000000000000000..6105e88303120e6a4b47466eddf863502713a471
--- /dev/null
+++ b/utils/SimulinkNbLite/NoiseModel/NoiseModel.m
@@ -0,0 +1,167 @@
+classdef NoiseModel < handle
+ %NoiseModel holds a hierarchical collection of noises.
+ %
+ % Each component noise is a struct or object that defines fields 'f'
+ % (frequency vector), 'asd' (amplitude spectral density data), and
+ % 'name' (label used for plotting). Note that a NoiseModel itself can
+ % act as a noise object -- so that NoiseModels can be composed of
+ % other NoiseModels. This allows the class to represent a
+ % hierarchical drill-down noise budget.
+
+ properties
+ modelNoises % cell array of noise terms that make up the NoiseModel
+ referenceNoises % cell array of noises that can be plotted alongside the model
+ getNoise % function handle that returns the NoiseModel's noise object
+ noiseHooks % cell array of hook objects, providing extensibility for the NoiseModel's noise object (see also the Noise class)
+ unit % label for the y axis in a noise budget plot
+ title % title for a noise budget plot
+ drilldownSkip % boolean that sets whether drilldown should process noises below this NoiseModel
+ drilldownProlog % cell array of function handles, providing extensibility for drilldown
+ end
+
+ properties (Dependent)
+ f % frequency vector
+ asd % amplitude spectral density data
+ name % label used for plotting
+ sumNoise % quadrature sum of modelNoises
+ end
+
+ properties (Access = private)
+ linked % boolean that records whether drilldown's link step has been performed already
+ end
+
+ methods
+ function self = NoiseModel(modelNoises, varargin)
+ %NoiseModel object constructor
+ %
+ % NoiseModel(modelNoises) sets the modelNoises property.
+ % NoiseModel(modelNoises, referenceNoises) sets the referenceNoises property as well.
+
+ % input sanity check
+ if ~iscell(modelNoises)
+ error('First argument to NoiseModel should be a 1xN cell array of noises');
+ end
+ sz = size(modelNoises);
+ if length(sz) ~= 2 || min(sz) > 1
+ error('First argument to NoiseModel should be a 1xN cell array of noises');
+ elseif sz(1) ~= 1
+ warning('First argument to NoiseModel should be a 1xN cell array of noises');
+ modelNoises = modelNoises';
+ end
+
+
+ self.modelNoises = modelNoises;
+ self.referenceNoises = {};
+ self.getNoise = @(self) self.sumNoise;
+ self.noiseHooks = {};
+ self.unit = '';
+ self.title = '';
+ self.drilldownSkip = false;
+ self.drilldownProlog = {};
+ self.linked = false;
+
+ if numel(varargin) > 0
+ self.referenceNoises = varargin{1};
+ end
+ if numel(varargin) > 1
+ self.getNoise = varargin{2};
+ end
+ end
+
+ % the following methods implement the properties sumNoise, f, asd, and name
+ function sumNoise = get.sumNoise(self)
+ sumNoise = incoherentSum(self.modelNoises);
+ end
+
+ function f = get.f(self)
+ noise = self.getNoise(self);
+ for n = 1:numel(self.noiseHooks)
+ noise = self.noiseHooks{n}.hook(noise);
+ end
+ f = noise.f;
+ end
+
+ function asd = get.asd(self)
+ noise = self.getNoise(self);
+ for n = 1:numel(self.noiseHooks)
+ noise = self.noiseHooks{n}.hook(noise);
+ end
+ asd = noise.asd;
+ end
+
+ function name = get.name(self)
+ noise = self.getNoise(self);
+ for n = 1:numel(self.noiseHooks)
+ noise = self.noiseHooks{n}.hook(noise);
+ end
+ name = noise.name;
+ end
+
+ function sortModel(self, varargin)
+ %sortModel sorts the modelNoises.
+ %
+ % sortModel() sorts using a default weight function.
+ % sortModel(weightFunction) calls the specified weight
+ % function handle as weightFunction(f, asd, asdSum) on each
+ % noise, to determine its weight relative to the sumNoise.
+ weightFunction = @(f, asd, asdSum) trapz(log10(f), (asd./asdSum).^2);
+ if numel(varargin) > 0
+ weightFunction = varargin{1};
+ end
+
+ weight = cellfun(@(noise) weightFunction(noise.f, noise.asd, self.sumNoise.asd), self.modelNoises);
+ [~, sortNoises] = sort(weight, 'descend');
+ self.modelNoises = self.modelNoises(sortNoises);
+ end
+
+ function drilldown(self, action, varargin)
+ %drilldown traverses the NoiseModel tree (breadth first), performing an action.
+ %
+ % drilldown(ACTION) specifies the action to be performed.
+ % ACTION is a class constructor handle that is called for
+ % each NoiseModel, passing the NoiseModel as an argument.
+ % Then the NoiseModel's drilldownHooks are called on the
+ % resulting object, and finally the 'process' method of the
+ % object is invoked on the NoiseModel.
+ %
+ % The NoiseModel's property 'drilldownSkip' can be set to
+ % control the traversal.
+ persistent serialNumber
+ if numel(varargin) > 0
+ serialNumber = varargin{1};
+ elseif isempty(serialNumber)
+ serialNumber = 1;
+ end
+
+ queue = {self};
+ while ~isempty(queue)
+ this = queue{1};
+ queue = queue(2:end);
+ if ~this.drilldownSkip
+ for n = 1:numel(this.modelNoises)
+ if any(strcmp('drilldownSkip', properties(this.modelNoises{n})))
+ queue{end+1} = this.modelNoises{n}; %#ok<AGROW>
+ if ~this.linked
+ this.modelNoises{n}.noiseHooks{end+1} = LinkHook(['internal:' num2str(serialNumber + numel(queue))]);
+ end
+ end
+ end
+ end
+
+ if ~this.linked
+ this.title = ['\hypertarget{internal:' num2str(serialNumber) '}{' this.title '}'];
+ end
+ this.linked = true;
+ serialNumber = serialNumber + 1;
+
+ worker = feval(action, this);
+ for n = 1:numel(this.drilldownProlog)
+ worker = feval(this.drilldownProlog{n}, worker);
+ end
+ worker.process(this);
+ end
+ end
+ end
+
+end
+
diff --git a/utils/SimulinkNbLite/NoiseModel/NoisePlotter.m b/utils/SimulinkNbLite/NoiseModel/NoisePlotter.m
new file mode 100644
index 0000000000000000000000000000000000000000..7f0cf1e4502c62bea9fb76bbcf5e7a3c2e67c4a9
--- /dev/null
+++ b/utils/SimulinkNbLite/NoiseModel/NoisePlotter.m
@@ -0,0 +1,260 @@
+classdef NoisePlotter < handle
+ %NoisePlotter is a configurable plotting engine for NoiseModel
+ %
+ % It maintains structures figureProperties, axesProperties, etc. for
+ % configuring the settings of each graphics object in the plot. The
+ % plot can be further customized by applying prolog and epilog
+ % functions. Individual model traces and the sum trace can be
+ % selectively included or omitted.
+ %
+ % NoisePlotter objects are typically created using a PlotterFactory
+ % object.
+ properties
+ prolog % cell array of function handles that are called before the plot is drawn
+ epilog % cell array of function handles that are called after the plot is drawn
+ handles % struct of graphics handles for each component of the plot
+ plotterProperties
+ figureProperties
+ axesProperties
+ linesProperties
+ legendProperties
+ titleProperties
+ xlabelProperties
+ ylabelProperties
+ skipModelNoises % boolean array specifying whether to plot each model noise trace
+ skipSumNoise % boolean specifying whether to plot the sum noise trace
+ end
+
+ methods
+ function self = NoisePlotter(noiseModel, varargin)
+ %NoisePlotter object constructor
+ %
+ % NoisePlotter(noiseModel) prepares to plot a NoiseModel.
+
+ %% Parse arguments
+
+ opt = NoisePlotter.defaultOptions(noiseModel);
+ parser = inputParser();
+ parser.addParamValue('prolog', opt.prolog, @iscell);
+ parser.addParamValue('epilog', opt.epilog, @iscell);
+ parser.addParamValue('plotterProperties', opt.plotterProperties, @isstruct);
+ parser.addParamValue('figureProperties', opt.figureProperties, @isstruct);
+ parser.addParamValue('axesProperties', opt.axesProperties, @isstruct);
+ parser.addParamValue('linesProperties', opt.linesProperties, @isstruct);
+ parser.addParamValue('legendProperties', opt.legendProperties, @isstruct);
+ parser.addParamValue('titleProperties', opt.titleProperties, @isstruct);
+ parser.addParamValue('xlabelProperties', opt.xlabelProperties, @isstruct);
+ parser.addParamValue('ylabelProperties', opt.ylabelProperties, @isstruct);
+ parser.parse(varargin{:});
+ opt = parser.Results;
+
+ %% Initialize object
+
+ self.handles = struct();
+ self.skipModelNoises = false(size(noiseModel.modelNoises));
+ self.skipSumNoise = (numel(noiseModel.modelNoises) == 1);
+
+ self.prolog = opt.prolog;
+ self.epilog = opt.epilog;
+ self.plotterProperties = opt.plotterProperties;
+ self.figureProperties = opt.figureProperties;
+ self.axesProperties = opt.axesProperties;
+ self.linesProperties = opt.linesProperties;
+ self.legendProperties = opt.legendProperties;
+ self.titleProperties = opt.titleProperties;
+ self.xlabelProperties = opt.xlabelProperties;
+ self.ylabelProperties = opt.ylabelProperties;
+
+ end
+
+ function process(self, noiseModel)
+ %process plots the NoiseModel
+ for n = 1:numel(self.prolog)
+ feval(self.prolog{n}, self, noiseModel);
+ end
+
+ plotArgs = self.noisefun(@(noise) {noise.f noise.asd},...
+ noiseModel, 'UniformOutput', false);
+ plotArgs = [plotArgs{:}];
+ legendArgs = self.noisefun(@(noise) noise.name, noiseModel,...
+ 'UniformOutput', false);
+ self.buildPlot(plotArgs, legendArgs);
+
+ for n = 1:numel(self.epilog)
+ feval(self.epilog{n}, self, noiseModel);
+ end
+ end
+
+ function output = noisefun(self, functionHandle, noiseModel, varargin)
+ %noisefun is a cellfun implementation that respects the skipModelNoises property
+ output = cellfun(functionHandle, noiseModel.referenceNoises, varargin{:});
+ if ~self.skipSumNoise
+ output = [output cellfun(functionHandle, {noiseModel.sumNoise}, varargin{:})];
+ end
+ if isempty(self.skipModelNoises)
+ self.skipModelNoises = false(size(noiseModel.modelNoises));
+ end
+ output = [output cellfun(functionHandle, noiseModel.modelNoises(~self.skipModelNoises), varargin{:})];
+ end
+
+ function buildPlot(self, plotArgs, legendArgs)
+ %buildPlot generates the plot components
+ if isfield(self.figureProperties, 'Number')
+ % apply figure number property specially
+ % (it's read-only after figure creation)
+ fg = figure(self.figureProperties.Number);
+ self.handles.fg = fg;
+ set(fg, rmfield(self.figureProperties, 'Number'));
+ else
+ fg = figure();
+ self.handles.fg = fg;
+ set(fg, self.figureProperties);
+ end
+
+ ax = axes();
+ self.handles.ax = ax;
+ set(ax, self.axesProperties);
+
+ if ~isempty(plotArgs)
+ ln = plot(ax, plotArgs{:});
+ self.handles.ln = ln;
+ if ~iscell(self.linesProperties)
+ set(ln, self.linesProperties);
+ else
+ for n = 1:numel(ln)
+ set(ln(n), self.linesProperties{n});
+ end
+ end
+ else
+ warning('NoisePlotter:emptyplot', 'There are no noises available to plot');
+ self.handles.ln = [];
+ end
+
+
+ if ~isempty(legendArgs)
+ lg = legend(ln, legendArgs{:});
+ self.handles.lg = lg;
+ set(lg, self.legendProperties);
+ else
+ self.handles.lg = [];
+ end
+
+ ti = title(ax, '');
+ self.handles.ti = ti;
+ set(ti, self.titleProperties);
+
+ xl = xlabel(ax, '');
+ self.handles.xl = xl;
+ set(xl, self.xlabelProperties);
+
+ yl = ylabel(ax, '');
+ self.handles.yl = yl;
+ set(yl, self.ylabelProperties);
+ end
+ end
+
+ methods (Static)
+ function skipNegligibleNoises(self, noiseModel)
+ %skipNegligibleNoises is a prolog function that omits noises contributing only a negligible amount to the sum everywhere
+ epsi = self.plotterProperties.NegligibleNoiseLevel;
+ for n = 1:numel(noiseModel.modelNoises)
+ if ~ismethod(noiseModel.modelNoises{n}, 'drilldown') && ...
+ all(noiseModel.modelNoises{n}.asd < epsi*noiseModel.sumNoise.asd)
+ self.skipModelNoises(n) = true;
+ end
+ end
+ end
+
+ function setXLim(self, noiseModel)
+ %setXLim is a prolog function that sets the x-axis limits to a sane default
+ self.axesProperties.XLim = [min(noiseModel.f) max(noiseModel.f)];
+ end
+
+ function setYLim(self, noiseModel)
+ %setYLim is a prolog function that sets the y-axis limits to a sane default
+
+ % Sanity check on the noises
+ nonFinite = cellfun(@(noise) ~any(isfinite(noise.asd)), noiseModel.modelNoises);
+ if any(nonFinite(~self.skipModelNoises))
+ warning('NoisePlotter:nonfinitenoises', 'Model noises whose ASD is nonfinite everywhere are being skipped');
+ self.skipModelNoises = self.skipModelNoises | nonFinite;
+ end
+ allZero = cellfun(@(noise) all(noise.asd==0), noiseModel.modelNoises);
+ if any(allZero(~self.skipModelNoises))
+ warning('NoisePlotter:identicallyzeronoises', 'Model noises whose ASD is zero everywhere are being skipped');
+ self.skipModelNoises = self.skipModelNoises | allZero;
+ end
+ if sum(~self.skipModelNoises) == 0
+ return
+ end
+
+ function [maxNoise, minNoise] = maxminNoise(noise)
+ asd = double(noise.asd);
+ maxNoise = max(asd(isfinite(asd)));
+ minNoise = min(asd(isfinite(asd)));
+ end
+ [modelMax, modelMin] = cellfun(@maxminNoise, noiseModel.modelNoises(~self.skipModelNoises));
+
+ sumData = noiseModel.sumNoise.asd;
+ sumMax = max(sumData(isfinite(sumData)));
+ sumMin = min(sumData(isfinite(sumData)));
+
+ minY = min([min(modelMax) sumMin]);
+ maxY = max([max(modelMin) sumMax]);
+
+ self.axesProperties.YLim = [10^floor(log10(minY)) 10^ceil(log10(maxY))];
+ end
+
+ function setLinesProperties(self, noiseModel)
+ %setLinesProperties is a prolog function that styles the reference and sum traces
+ countReferences = numel(noiseModel.referenceNoises);
+ countSum = ~self.skipSumNoise;
+ countLines = countReferences + countSum + sum(~self.skipModelNoises);
+
+ if ~iscell(self.linesProperties)
+ self.linesProperties = num2cell(repmat(self.linesProperties, countLines, 1));
+ end
+
+ for n = 1:(countReferences+countSum)
+ self.linesProperties{n}.LineStyle = '-';
+ end
+ if ~self.skipSumNoise
+ self.linesProperties{countReferences+countSum}.LineWidth = 4;
+ end
+ end
+
+ function d = defaultOptions(noiseModel)
+ d = struct();
+ d.prolog = {@NoisePlotter.skipNegligibleNoises @NoisePlotter.setXLim @NoisePlotter.setYLim @NoisePlotter.setLinesProperties};
+ d.epilog = {};
+ d.plotterProperties = struct();
+ d.plotterProperties.NegligibleNoiseLevel = 0;
+ d.figureProperties = struct();
+ d.figureProperties.DefaultTextInterpreter = 'none';
+ d.axesProperties = struct();
+ d.axesProperties.Box = 'on';
+ d.axesProperties.XGrid = 'on';
+ d.axesProperties.YGrid = 'on';
+ d.axesProperties.XScale = 'log';
+ d.axesProperties.YScale = 'log';
+ %d.axesProperties.ColorOrder = distinguishable_colors(11);
+ % precomputed color vector - avoids depending on the image
+ % processing toolbox
+ d.axesProperties.ColorOrder = [0 0 1; 1 0 0; 0 1 0; 0 0 0.1724; ...
+ 1 0.1034 0.7241; 1 0.8276 0; 0 0.3448 0; 0.5172 0.5172 1; ...
+ 0.6207 0.3103 0.2759; 0 1 0.7586; 0 0.5172 0.5862];
+ d.axesProperties.LineStyleOrder = {'--', '-.', ':'};
+ d.axesProperties.NextPlot = 'add';
+ d.linesProperties = struct();
+ d.linesProperties.LineWidth = 2;
+ d.legendProperties = struct();
+ d.legendProperties.interpreter = 'none';
+ d.titleProperties = struct();
+ d.titleProperties.String = noiseModel.title;
+ d.xlabelProperties = struct();
+ d.xlabelProperties.String = 'Frequency [Hz]';
+ d.ylabelProperties = struct();
+ d.ylabelProperties.String = noiseModel.unit;
+ end
+ end
+end
\ No newline at end of file
diff --git a/utils/SimulinkNbLite/NoiseModel/calibrated.m b/utils/SimulinkNbLite/NoiseModel/calibrated.m
new file mode 100644
index 0000000000000000000000000000000000000000..71301a80a35872f2f8d5f88554a3ff0a95d279d8
--- /dev/null
+++ b/utils/SimulinkNbLite/NoiseModel/calibrated.m
@@ -0,0 +1,12 @@
+function calibratedNoise = calibrated(noise, tf)
+
+calibratedNoise = noise;
+
+if ~any(strcmp('noiseHooks', properties(calibratedNoise)))
+ calibratedNoise = Noise(calibratedNoise);
+end
+
+calibratedNoise.noiseHooks{end+1} = CalibrationHook(tf);
+
+end
+
diff --git a/utils/SimulinkNbLite/NoiseModel/incoherentSum.m b/utils/SimulinkNbLite/NoiseModel/incoherentSum.m
new file mode 100644
index 0000000000000000000000000000000000000000..5f242179589fa2fa9a1bda7d8603b4a1b7d9b42e
--- /dev/null
+++ b/utils/SimulinkNbLite/NoiseModel/incoherentSum.m
@@ -0,0 +1,17 @@
+function sumNoise = incoherentSum(noises, varargin)
+
+name = 'Sum';
+if numel(varargin) > 0
+ name = varargin{1};
+end
+
+sumPSD = zeros(size(noises{1}.asd));
+for n = 1:length(noises)
+ sumPSD = sumPSD + noises{n}.asd.^2;
+end
+
+sumNoise.f = noises{1}.f;
+sumNoise.asd = sqrt(sumPSD);
+sumNoise.name = name;
+
+end
\ No newline at end of file
diff --git a/utils/SimulinkNbLite/NoiseModel/interpolated.m b/utils/SimulinkNbLite/NoiseModel/interpolated.m
new file mode 100644
index 0000000000000000000000000000000000000000..3d9f5b7ebdedef9c0d0f86af5814cfeab183fb22
--- /dev/null
+++ b/utils/SimulinkNbLite/NoiseModel/interpolated.m
@@ -0,0 +1,12 @@
+function interpolatedNoise = interpolated(noise, f)
+
+interpolatedNoise = noise;
+
+if ~any(strcmp('noiseHooks', properties(interpolatedNoise)))
+ interpolatedNoise = Noise(interpolatedNoise);
+end
+
+interpolatedNoise.noiseHooks{end+1} = InterpolationHook(f);
+
+end
+
diff --git a/utils/SimulinkNbLite/NoiseModel/matlabNoisePlot.m b/utils/SimulinkNbLite/NoiseModel/matlabNoisePlot.m
new file mode 100644
index 0000000000000000000000000000000000000000..7661092d8ddc0074784d469beb54a57de9ea5c74
--- /dev/null
+++ b/utils/SimulinkNbLite/NoiseModel/matlabNoisePlot.m
@@ -0,0 +1,13 @@
+function handles = matlabNoisePlot(noiseModel, varargin)
+
+parser = inputParser();
+parser.KeepUnmatched = true;
+parser.addParamValue('fixedFigureNumber', 0);
+parser.parse(varargin{:});
+
+plotterFactory = MatlabPlotterFactory();
+plotterFactory.fixedFigureNumber = parser.Results.fixedFigureNumber;
+noiseModel.drilldown(@(noiseModel) plotterFactory.getPlotter(noiseModel, parser.Unmatched));
+handles = plotterFactory.handles;
+
+end
\ No newline at end of file
diff --git a/utils/SimulinkNbLite/NoiseModel/renamed.m b/utils/SimulinkNbLite/NoiseModel/renamed.m
new file mode 100644
index 0000000000000000000000000000000000000000..f445217c89ba5419ac9cecca55e43a6ef53866e8
--- /dev/null
+++ b/utils/SimulinkNbLite/NoiseModel/renamed.m
@@ -0,0 +1,12 @@
+function renamedNoise = renamed(noise, name)
+
+renamedNoise = noise;
+
+if ~any(strcmp('noiseHooks', properties(renamedNoise)))
+ renamedNoise = Noise(renamedNoise);
+end
+
+renamedNoise.noiseHooks{end+1} = NameHook(name);
+
+end
+
diff --git a/utils/SimulinkNbLite/README.md b/utils/SimulinkNbLite/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..5cd002e1ac33450c10a946534666aa921cd298bc
--- /dev/null
+++ b/utils/SimulinkNbLite/README.md
@@ -0,0 +1,15 @@
+# SimulinkNb - NoiseBudget toolbox for Simulink
+
+### How to graphically configure a noise budget for your Simulink model:
+
+1. Open SimulinkNb/NbLibrary.mdl and copy in a NbNoiseSink block. Connect it in series with the signal that you actually measure (for example, digitized photodetector output). Double-click the block to give a name to the DOF you are measuring (a string).
+
+2. Copy in a NbNoiseCal block. Sum it in to the signal that you "want" to measure and budget the noise of (for example, test mass displacement calibrated in meters). Double-click the block and set the DOF name (which must correspond with the Sink block) and the unit string (for example, 'displacement [m/rtHz]').
+
+3. Copy in one or more NbNoiseSource blocks. Sum them in throughout the model wherever noise couples. Double-click each block and set the ASD of the noise source (which can be a constant or a vector). If desired, set one or more group strings, to name the noise source and/or form sub-budgets.
+
+4. Use the nbFromSimulink function to obtain the individual noise terms and calibration TFs.
+
+5. Use the nbGroupNoises function to organize the noise terms into a hierarchical noise budget (NoiseModel object).
+
+6. Plot the noise budget using a function such as matlabNoisePlot or fragNoisePlot.
diff --git a/utils/SimulinkNbLite/SimulinkNb/NbLibrary.mdl b/utils/SimulinkNbLite/SimulinkNb/NbLibrary.mdl
new file mode 100644
index 0000000000000000000000000000000000000000..81f61a08ba9d3258b9cd1f90a423cbc38a620ed0
Binary files /dev/null and b/utils/SimulinkNbLite/SimulinkNb/NbLibrary.mdl differ
diff --git a/utils/SimulinkNbLite/SimulinkNb/README.txt b/utils/SimulinkNbLite/SimulinkNb/README.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ee2b03e35ef1158c97f4e8a081fca12c8b486029
--- /dev/null
+++ b/utils/SimulinkNbLite/SimulinkNb/README.txt
@@ -0,0 +1,150 @@
+This directory contains a Simulink-based noise budget toolkit, and an
+example based on the DARM Simulink model from the aligocalibration SVN
+repository.
+
+
+
+==============================
+Getting started: example model
+==============================
+
+To run the example, go to the example/ subdirectory and use the
+run_DARM_NB script. You'll need Matlab R2010a or newer, and a recent
+checkout of the SUS and aligocalibration repositories. (The SUS SVN
+is vast and not all of it is needed, but make sure to include at least
+the paths listed at the top of darmParams.m. Also, edit the paths
+there, and at the top of run_DARM_NB, if your SVN directories are in a
+different location.)
+
+SVN repository URLs:
+SUS -- https://redoubt.ligo-wa.caltech.edu/svn/sus
+aligocalibration -- https://svn.ligo.caltech.edu/svn/aligocalibration
+
+The script should conclude by popping up a series of noise budget and
+sub-budget plots. The following noise terms are modeled:
+* ADC Noise
+* ASPD Dark Noise
+* BOSEM L Noise
+* Laser Frequency Noise
+* Laser Intensity Noise
+* MICH Coupling Noise
+* Oscillator Amplitude Noise
+* Oscillator Phase Noise
+* QUAD Actuator Noise
+* Quantum Noise
+* Scattered Light Ring Noise
+* Squeezed Film Damping Noise
+
+Note: not all of these terms are broken out in the plots. Only the
+leading contributors are shown.
+
+Also note: the example is supplied only as a demo to illustrate how
+the various tools can be used. The DARM model included here has not
+been gone over with a fine toothed comb, and is certainly not correct
+in all particulars. Most of the input spectra are just placeholders.
+There is absolutely no warranty on the output of this example.
+
+
+
+===============================
+Getting started: your own model
+===============================
+
+To substitute frequency response data for a Simulink block in your
+model:
+
+1. Right-click the block and open its Properties.
+
+2. Type a FlexTf configuration line at the top of the block
+description field in the General tab of the Block Properties window.
+This is similar to how certain CDS parts are configured in the aLIGO
+RCG. The FlexTf line should start with the identifier string
+"FlexTf:". After the ":", type a Matlab expression (variable name or
+function call). This expression, when evaluated, should yield a frd
+object containing frequency response data to substitute for the block.
+
+3. To make the substitution more obvious, it's helpful to display the
+block's description as an annotation under its name. To do this, go
+the Block Annotation tab, choose the %<Description> token from the
+list, and add it to the displayed annotations.
+
+4. Use the linFlexTf function (in place of linmod or linmod2) to
+linearize the model. Note that linFlexTf has two outputs, a
+linearized system with extra I/O ports for the FlexTf blocks, and a
+cell array of frd objects describing the FlexTf blocks.
+
+5. Use the linFlexTfFold function to combine the two outputs of
+linFlexTf. The output is a frd object containing the frequency
+response of the linearized system.
+
+
+To graphically configure a noise budget for your model:
+
+1. Open NbLibrary.mdl and copy in a NbNoiseSink block. Connect it in
+series with the signal that you actually measure (for example,
+digitized photodetector output). Double-click the block to set the
+name of the DOF you are measuring (a string).
+
+2. Copy in a NbNoiseCal block. Sum it in to the signal that you
+"want" to measure and budget the noise of (for example, test mass
+displacement calibrated in meters). Double-click the block and set
+the DOF name string (which must correspond with the Sink block) and
+the unit string (for example, 'displacement [m/rtHz]').
+
+3. Copy in one or more NbNoiseSource blocks. Sum them in throughout
+the model wherever noise couples. Double-click each block and set the
+ASD of the noise source (which can be a constant or a vector). If
+desired, set one or more group strings, to name the noise source
+and/or form sub-budgets.
+
+4. Use the nbFromSimulink function to obtain the individual noise
+terms and calibration TFs.
+
+5. Use the nbGroupNoises function to organize the noise terms into a
+hierarchical noise budget (NoiseModel object).
+
+6. A NoiseModel object can be plotted using a function such as
+matlabNoisePlot or fragNoisePlot from the NoiseModel distribution.
+
+
+
+=============
+File overview
+=============
+
+* linFlexTf.m, linFlexTfFold.m
+linFlexTf and linFlexTfFold are functions for incorporating frequency
+response data into Simulink linearizations. These functions take the
+place of linmod or linmod2, and should prove to be more robust and
+accurate when frequency response data are available. They're really
+just wrappers around Matlab's linlft and linlftfold functions. See
+the help for more details.
+
+* nbFromSimulink.m, nbGroupNoises.m, NbLibrary.mdl
+These are tools for processing Simulink-based noise budgets, to
+automatically identify, calibrate, and organize all the noise terms
+they contain. See the help for more details.
+
+* lisoFrd.m, optickleFrd.m, scb.m
+lisoFrd imports LISO transfer functions for use with linFlexTf.
+optickleFrd is a full-fledged Optickle interface for SimulinkNB,
+developed by Nicolas Smith-Lefebvre. It automatically hooks up the
+drives and probes of an Optickle object to a FlexTf block, and calls
+tickle to compute the frequency response data if needed. scb is a
+helper function used by linFlexTf and nbFromSimulink when they process
+a block: it lets clever extension functions such as optickleFrd figure
+out which block called them, and act accordingly.
+
+* example/run_DARM_NB.m
+Main script used for the example.
+
+* example/DARM.mdl, example/darmParams.m, example/darmNbParams.m
+Demo Simulink model for DARM, and functions to define its parameters
+(adapted from Jeff Kissel's DARM model). Examples of how to configure
+FlexTf and NbNoiseSource blocks can be seen in the Simulink model by
+drilling down into the subsystems, such as: DARM.mdl/Actuation
+Function/ETMX/Hierarchy Loops/Driver Electronics
+
+* example/DarmLentickle.mat
+Lentickle model results used to supply the cavity response as a
+FlexTf, and to add various noise couplings to the model.
diff --git a/utils/SimulinkNbLite/SimulinkNb/example/OLvsCL/OLvsCL.mdl b/utils/SimulinkNbLite/SimulinkNb/example/OLvsCL/OLvsCL.mdl
new file mode 100644
index 0000000000000000000000000000000000000000..adc6b822102ec078da4da3307a51b371db1bd22a
Binary files /dev/null and b/utils/SimulinkNbLite/SimulinkNb/example/OLvsCL/OLvsCL.mdl differ
diff --git a/utils/SimulinkNbLite/SimulinkNb/findInSystemOrRefs.m b/utils/SimulinkNbLite/SimulinkNb/findInSystemOrRefs.m
new file mode 100644
index 0000000000000000000000000000000000000000..43e79b595a3573864b98f660beab6d4d1fc7c74c
--- /dev/null
+++ b/utils/SimulinkNbLite/SimulinkNb/findInSystemOrRefs.m
@@ -0,0 +1,15 @@
+function blks = findInSystemOrRefs(mdl, varargin)
+%FINDINSYSTEMORREFS locates blocks in the specified model or any models it references
+
+referencedMdls = find_system(mdl, 'FollowLinks', 'on', 'LookUnderMasks', 'all', 'BlockType', 'ModelReference');
+for n = 1:numel(referencedMdls)
+ referencedMdls{n} = get_param(referencedMdls{n}, 'ModelName');
+ load_system(referencedMdls{n});
+end
+
+blks = find_system(mdl, 'FollowLinks', 'on', 'LookUnderMasks', 'all', varargin{:});
+for n = 1:numel(referencedMdls)
+ blks = [blks; findInSystemOrRefs(referencedMdls{n}, varargin{:})]; %#ok<AGROW>
+end
+
+end
\ No newline at end of file
diff --git a/utils/SimulinkNbLite/SimulinkNb/linFlexTf.m b/utils/SimulinkNbLite/SimulinkNb/linFlexTf.m
new file mode 100644
index 0000000000000000000000000000000000000000..507cb57cdefa9bb9e7695552430d1944cf511ddb
--- /dev/null
+++ b/utils/SimulinkNbLite/SimulinkNb/linFlexTf.m
@@ -0,0 +1,153 @@
+function [sys, flexTfs] = linFlexTf(varargin)
+% LINFLEXTF Linearizes a Simulink model while removing FlexTf blocks
+%
+% [sys, flexTfs] = linFlexTf(...)
+%
+% LINFLEXTF is a wrapper for Matlab's LINLFT, and can be called in almost
+% the same way. The only difference is that it's not necessary to
+% specify the set of blocks to be removed, since this is automatically
+% determined by LINFLEXTF. The blocks removed are those that are
+% annotated with a "FlexTf: EXPR" line at the top of their block
+% description.
+%
+% For each FlexTf-tagged block, LINFLEXTF evaluates the EXPR. The result
+% is expected to be a linear model (such as an FRD object containing
+% frequency response data), which can be substituted in place of the
+% block in question.
+%
+% Note: although the contents of a FlexTf-tagged subsystem are
+% overridden, it is necessary that all inputs are connected inside the
+% subsystem to the outputs that they affect. Otherwise the linearization
+% may give incorrect results.
+%
+% LINFLEXTFFOLD (analogous to LINLFTFOLD) can be used to recombine the
+% Simulink linearization and FlexTf models that are the output arguments
+% of LINFLEXTF. It may be advantageous to call PRESCALE to improve the
+% numerical accuracy before invoking LINFLEXTFFOLD.
+%
+% See also: LINFLEXTFFOLD, LINLFT, LINLFTFOLD, PRESCALE, FRD.
+
+%% Locate all FlexTf blocks within the model
+
+mdl = varargin{1};
+load_system(mdl);
+
+flexTfBlocks = findInSystemOrRefs(mdl, 'RegExp', 'on', 'Description', '^[Ff]lex[Tt][Ff]:');
+flexTfs = cell(size(flexTfBlocks));
+disp([num2str(numel(flexTfBlocks)) ' FlexTf blocks found in model ' strtrim(evalc('disp(mdl)'))]);
+
+if numel(flexTfBlocks) < 1
+ warning('No FlexTf blocks found: standard linearization will be performed');
+ sys = linearize(varargin{:});
+ return;
+end
+
+%% Check for nested FlexTfs
+% Each FlexTf block 'shadows' any FlexTf blocks it contains. Shadowed
+% blocks are disregarded.
+
+notShadowedAnywhere = true(size(flexTfBlocks));
+for n = 1:numel(flexTfBlocks)
+ blk = flexTfBlocks{n};
+ shadowed = strncmp([blk '/'], flexTfBlocks, length(blk)+1);
+ % don't be fooled by block names with '/'s in them
+ shadowed = shadowed & ~strncmp([blk '//'], flexTfBlocks, length(blk)+2);
+ if any(shadowed)
+ shadowedBlocks = flexTfBlocks(shadowed);
+ warning(['FlexTf block ' blk ' shadows other FlexTf blocks: ' ...
+ sprintf('%s, ', shadowedBlocks{1:end-1}) shadowedBlocks{end}]);
+ notShadowedAnywhere = notShadowedAnywhere & ~shadowed;
+ end
+end
+
+% Remove shadowed blocks from the list
+flexTfBlocks = flexTfBlocks(notShadowedAnywhere);
+
+%% Check for linearization I/O points inside FlexTf blocks
+% I/O points may be passed as arguments to this function. If one of them
+% is located inside a FlexTf block, this should be flagged as an error.
+
+for n = 1:numel(varargin)
+ io = varargin{n};
+ if ~isa(io, 'linearize.IOPoint')
+ continue;
+ end
+ ioBlocks = {io.Block};
+
+ for j = 1:numel(flexTfBlocks)
+ blk = flexTfBlocks{j};
+ inFlexTf = strncmp([blk '/'], ioBlocks, length(blk)+1);
+ % don't be fooled by block names with '/'s in them
+ inFlexTf = inFlexTf & ~strncmp([blk '//'], ioBlocks, length(blk)+2);
+ if any(inFlexTf)
+ error(['One of the requested linearization I/O points is ' ...
+ 'contained in the FlexTf block ' blk]);
+ end
+ end
+end
+
+%% Extract and evaluate each FlexTf block's expression
+
+for n = 1:numel(flexTfBlocks)
+ blk = flexTfBlocks{n};
+ expr = get_param(blk, 'Description');
+ expr = strtrim(expr(length('FlexTf:')+1:end));
+ % If expr is inside a library block, then its name probably refers to a
+ % library parameter (mask variable), which has to be resolved before
+ % evaluating
+ expr = resolveLibraryParam(expr, blk);
+ disp([' ' blk ' :: ' expr]);
+ % Update the current block. This is to allow clever FlexTf functions
+ % to use gcb to figure out which block invoked them.
+ scb(blk);
+ % Note: evaluation is done in the base workspace
+ % Variables from the model workspace (if any) are ignored
+ flexTfs{n} = evalin('base', expr);
+end
+
+%% Check that each FlexTf has the same I/O count as its corresponding block
+% Note: this code can be omitted if it's too slow or causes problems.
+% It's a useful debugging aid, but not required for the linearization.
+
+disp('Compiling model to check for I/O port mismatch');
+% A compile is needed in order to use the CompiledPortWidth block property.
+% But compiling puts the model in a weird state where it cannot be closed
+% by the user! The onCleanup routine is meant to ensure that the model
+% is never left in that state.
+feval(mdl, [], [], [], 'lincompile');
+cleanup = onCleanup(@() feval(mdl, [], [], [], 'term'));
+for n = 1:numel(flexTfBlocks)
+ % Count the inputs and outputs to each block. This is tricky! If the
+ % I/O consists of scalars and vectors, it should be fine, but if the
+ % block uses buses/matrices/etc, watch out!
+ blk = flexTfBlocks{n};
+ blkPorts = get_param(blk, 'PortHandles');
+ [blkInputs, blkOutputs] = deal(0);
+ for j = 1:numel(blkPorts.Inport)
+ blkInputs = blkInputs + get_param(blkPorts.Inport(j), 'CompiledPortWidth');
+ end
+ for j = 1:numel(blkPorts.Outport)
+ blkOutputs = blkOutputs + get_param(blkPorts.Outport(j), 'CompiledPortWidth');
+ end
+ blkSize = [blkOutputs, blkInputs];
+
+ % Counting the FlexTf's inputs and outputs is much easier
+ flexTfSize = size(flexTfs{n});
+
+ if ~isequal(flexTfSize, blkSize)
+ clear cleanup;
+ error(['I/O port mismatch between block "' blk '" and FlexTf' char(10) ...
+ 'Block''s dimensions are (' strtrim(evalc('disp(blkSize)')) ') ' ...
+ 'and FlexTf''s dimensions are (' strtrim(evalc('disp(flexTfSize)')) ')']);
+ end
+end
+clear cleanup;
+
+%% Linearize the model with the FlexTf blocks factored out
+
+disp('Linearizing model');
+flexTfs = append(flexTfs{:});
+varargin{end+1} = flexTfBlocks;
+sys = linlft(varargin{:});
+
+end
diff --git a/utils/SimulinkNbLite/SimulinkNb/linFlexTfFold.m b/utils/SimulinkNbLite/SimulinkNb/linFlexTfFold.m
new file mode 100644
index 0000000000000000000000000000000000000000..f42e32c5286a868d52a2b65a15002f02c9aa0b1b
--- /dev/null
+++ b/utils/SimulinkNbLite/SimulinkNb/linFlexTfFold.m
@@ -0,0 +1,19 @@
+function [ sysFold ] = linFlexTfFold(sys, flexTfs)
+%LINFLEXTFFOLD Joins a linearized Simulink model and a collection of FlexTf block models
+%
+% sysFold = LINFLEXTFFOLD(sys, flexTfs)
+%
+% This function is analogous to LINLFTFOLD. Using PRESCALE before
+% calling LINFLEXTFFOLD may improve the numerical accuracy.
+%
+% See also: LINFLEXTF, LINLFT, LINLFTFOLD, PRESCALE, FRD.
+
+if numel(flexTfs) < 1
+ warning('No FlexTf blocks provided')
+ sysFold = sys;
+ return;
+end
+
+sysFold = lft(sys, flexTfs);
+
+end
\ No newline at end of file
diff --git a/utils/SimulinkNbLite/SimulinkNb/nbFromSimulink.m b/utils/SimulinkNbLite/SimulinkNb/nbFromSimulink.m
new file mode 100644
index 0000000000000000000000000000000000000000..ef12f2ed0132ef9690bc7f8872059ae2af948bea
--- /dev/null
+++ b/utils/SimulinkNbLite/SimulinkNb/nbFromSimulink.m
@@ -0,0 +1,274 @@
+function [noises, sys] = nbFromSimulink(mdl, freq, varargin)
+%NBFROMSIMULINK Generates noise budget terms from a Simulink model
+%
+% Syntax:
+%
+% [noises, sys] = nbFromSimulink(mdl, freq)
+% [noises, sys] = nbFromSimulink(..., 'PropertyName', PropertyValue, ...)
+%
+% Description:
+%
+% nbFromSimulink(MDL, FREQ) generates noise budget terms from the
+% Simulink model MDL, with frequency vector FREQ. It uses special
+% "dummy" blocks in the model (which are tagged as "NbNoiseSource",
+% "NbNoiseSink", or "NbNoiseCal") to generate noise budget terms.
+%
+% Each NbNoiseSource block has a user-defined parameter ASD, which should
+% evaluate to the amplitude spectral density of the noise at the point
+% where the source block is summed into the model. The ASD can be either
+% a scalar value or an array. (If an array is used, you need to make
+% sure it's interpolated to match the FREQ vector that's passed as an
+% argument to NBFROMSIMULINK.)
+%
+% The NbNoiseSink and NbNoiseCal blocks have a user-defined parameter
+% DOF. For each defined DOF, there should be exactly one sink and
+% exactly one cal block. Connect the cal block to the signal in the
+% model that you "want" to measure (for example, test mass displacement
+% calibrated in meters). Connect the sink block in series with the
+% signal that you actually measure (for example, digitized photodetector
+% output).
+%
+% NBFROMSIMULINK linearizes the model (using LINFLEXTF) to obtain
+% transfer functions from each source, and the cal block, to the sink
+% (with the loop opened after the sink). These TFs are used to determine
+% each source's contribution to the total calibrated noise.
+%
+% nbFromSimulink(..., 'PropertyName', PropertyValue, ...) allows the
+% following options to be defined:
+%
+% 'dof' -- value should be a string containing the DOF name to use, in
+% case more than one DOF has been defined in the model. (Any other DOFs
+% that may be present are simply ignored.)
+%
+% Output arguments:
+%
+% NOISES -- contains the calibrated noise terms. Each is stored in a
+% struct with fields 'f' (frequency vector), 'asd' (spectral density),
+% and 'name' (path to the source block). NOISES is a cell array of these
+% noise structs.
+%
+% SYS -- the linearized Simulink model containing the calibration TFs.
+%
+% See also: LINFLEXTF
+
+%% Parse the arguments
+
+% Validate required arguments
+if ~ischar(mdl)
+ error('The model name is not a string');
+elseif ~isreal(freq)
+ error('The frequency vector is not real-valued');
+end
+
+% Parse parameter-value pairs in varargin
+parser = inputParser();
+parser.addParamValue('dof', '', @ischar);
+parser.parse(varargin{:});
+opt = parser.Results;
+
+%% Gather all NbNoiseSink and NbNoiseCal blocks
+
+load_system(mdl);
+% getBlocksByDof() is a local function defined below
+nbNoiseSinksByDof = getBlocksByDof(mdl, 'NbNoiseSink');
+nbNoiseCalsByDof = getBlocksByDof(mdl, 'NbNoiseCal');
+
+% Check for one-to-one correspondence between the NbNoiseSink and NbNoiseCal blocks
+mismatchedDofs = setxor(nbNoiseSinksByDof.keys(), nbNoiseCalsByDof.keys());
+if ~isempty(mismatchedDofs)
+ if ~nbNoiseSinksByDof.isKey(mismatchedDofs{1})
+ error(['Missing NbNoiseSink block for DOF name ' mismatchedDofs{1}]);
+ else
+ error(['Missing NbNoiseCal block for DOF name ' mismatchedDofs{1}]);
+ end
+end
+
+% Make sure at least one DOF is defined
+availableDofs = nbNoiseSinksByDof.keys();
+if numel(availableDofs) < 1
+ error('The model must contain at least one NbNoiseSink block and at least one NbNoiseCal block');
+end
+
+%% Choose a NbNoiseSink/Cal pair according to the requested DOF
+
+if isempty(opt.dof)
+ % No DOF name was given. If exactly one DOF was defined in the model,
+ % then use it. Otherwise, give up.
+ if numel(availableDofs) == 1
+ opt.dof = availableDofs{1};
+ else
+ error(['Since the model defines multiple DOFs, you must pick one' ...
+ ' and specify it in the input arguments of this function']);
+ end
+end
+
+if nbNoiseSinksByDof.isKey(opt.dof) && nbNoiseCalsByDof.isKey(opt.dof)
+ nbNoiseSink = nbNoiseSinksByDof(opt.dof);
+ nbNoiseCal = nbNoiseCalsByDof(opt.dof);
+ disp([num2str(numel(availableDofs)) ' DOFs found; DOF ' opt.dof ' is selected']);
+else
+ error(['The requested DOF name (' opt.dof ') is not defined in the model']);
+end
+
+%% Evaluate the NbNoiseSink's measured ASD (if present)
+
+% getBlockNoise() is a local function defined below
+sinkNoise = getBlockNoises(nbNoiseSink, freq);
+sinkNoise = sinkNoise{1};
+
+%% Find the NbNoiseSource blocks
+
+nbNoiseSources = findInSystemOrRefs(mdl, 'Tag', 'NbNoiseSource');
+disp([num2str(numel(nbNoiseSources)) ' NbNoiseSource blocks found']);
+if numel(nbNoiseSources) < 1
+ error('The model must contain at least one NbNoiseSource block');
+end
+
+%% Evaluate each NbNoiseSource block's ASD, and set up noise/calibration TFs
+
+noises = {};
+% Set numerator for noise/calibration TFs, and open the loop
+% (also sets denominator for open loop gain around the sink)
+ioSink = linio(nbNoiseSink, 1, 'outin', 'on');
+% Set denominator for calibration TF (cal to sink)
+ioCal = linio(nbNoiseCal, 1, 'in');
+for n = 1:numel(nbNoiseSources)
+ blk = nbNoiseSources{n};
+ % Set denominator for noise TF (source to sink)
+ ioSource(n) = linio(blk, 1, 'in'); %#ok<AGROW>
+ % getBlockNoise() is a local function defined below
+ noises = [noises getBlockNoises(blk, freq)]; %#ok<AGROW>
+end
+io = [ioSink ioCal ioSource];
+
+%% Perform the linearization using FlexTf functions
+
+% Don't abbreviate I/O block names (it's faster that way)
+linOpt = linoptions('UseFullBlockNameLabels', 'on');
+[sys, flexTfs] = linFlexTf(mdl, io, linOpt);
+% Attempt to improve numerical accuracy with prescale
+minPosFreq = min(freq(freq>0));
+maxPosFreq = max(freq(freq>0));
+if ~isempty(minPosFreq) && ~isempty(maxPosFreq)
+ sys = prescale(sys, {2*pi*minPosFreq, 2*pi*maxPosFreq});
+end
+sys = linFlexTfFold(sys, flexTfs);
+% Ensure sys gets converted to frequency response data
+sys = frd(sys, freq, 'Units', 'Hz');
+
+% Set sys input/output names to meaningful values
+% (UseFullBlockNameLabels appends signal names to the block names)
+sys.InputName = [{nbNoiseSink nbNoiseCal} nbNoiseSources'];
+sys.OutputName = nbNoiseSink;
+
+%% Apply noise/calibration TFs to each NbNoiseSource's spectrum
+
+cal = 1/sys(2);
+% Ensure the calibration TF is finite
+if ~all(isfinite(freqresp(cal, 2*pi*freq)))
+ error('Can''t calibrate noises in the model because the TF from the NbNoiseCal block to the NbNoiseSink block can''t be inverted (is it zero?)');
+end
+
+for n = 1:numel(noises)
+ nameParts = regexp(noises{n}.name, '(.*)\{\d+\}', 'tokens');
+ blk = nameParts{1};
+ tfIdx = strcmp(blk, sys.InputName);
+ tf = abs(squeeze(freqresp(sys(tfIdx)*cal, 2*pi*freq)))';
+ noises{n}.asd = noises{n}.asd .* tf; %#ok<AGROW>
+end
+
+%% Prepend the NbNoiseSink's measured spectrum
+
+if ~isempty(sinkNoise.asd)
+ sinkNoise.asd = sinkNoise.asd .* abs(squeeze(freqresp((1-sys(1))*cal, 2*pi*freq)))';
+end
+noises = [{sinkNoise} noises];
+
+end
+
+function [ blockTable ] = getBlocksByDof(mdl, tag)
+%% Locate the blocks with the requested tag
+
+blks = findInSystemOrRefs(mdl, 'Tag', tag);
+disp([num2str(numel(blks)) ' ' tag ' blocks found']);
+
+%% Organize them in a hashtable (containers.Map object), indexed by the DOF name
+
+blockTable = containers.Map();
+for n = 1:numel(blks)
+ blk = blks{n};
+ blkVars = get_param(blk, 'MaskWSVariables');
+ blkVars = containers.Map({blkVars.Name}, {blkVars.Value});
+ dofs = blkVars('dof');
+ if ischar(dofs)
+ dofs = {dofs};
+ end
+ if ~iscellstr(dofs)
+ error(['Invalid ' tag ' block ' blk char(10) ...
+ 'The DOF name (' get_param(blk, 'dof') ') must be a string or cell array']);
+ end
+ for nn = 1:numel(dofs)
+ disp([' ' blk ' :: ' dofs{nn}]);
+ if ~blockTable.isKey(dofs{nn})
+ blockTable(dofs{nn}) = blk;
+ else
+ error(['The DOF name cannot be shared by multiple ' tag ' blocks' char(10) ...
+ 'Blocks ' blk ' and ' blockTable(dofs{nn}) ' both have dof=' dofs{nn}]);
+ end
+ end
+end
+
+end
+
+function [ noises ] = getBlockNoises(blk, freq)
+
+tag = get_param(blk, 'Tag');
+expr = get_param(blk, 'asd');
+% If expr is inside a library block, then its name probably refers to a
+% library parameter (mask variable), which has to be resolved before
+% evaluating
+expr = resolveLibraryParam(expr, blk);
+% Permit NbNoiseSink block to have an empty ASD
+if strcmp(tag, 'NbNoiseSink')
+ if isempty(expr) || strcmp(expr, '''''') || strcmp(expr, '[]')
+ noises = {struct('name', [blk '{1}'], 'f', freq, 'asd', [])};
+ return;
+ end
+end
+disp([' ' blk ' :: ' expr]);
+% Update the current block. This is to allow clever ASD functions
+% to use gcb to figure out which block invoked them.
+scb(blk);
+% Evaluate the noise ASD
+% Note: evaluation is done in the base workspace (any variables set in
+% the model workspace are ignored). The NbNoiseSource block mask is
+% set to NOT evaluate anything automatically. This way, the noise
+% budget spectra don't have to be defined when the model is used for
+% purposes other than making a noise budget.
+asds = evalin('base', expr);
+
+if ~iscell(asds)
+ asds = {asds};
+end
+
+noises = cell(1, numel(asds));
+for n = 1:numel(asds)
+ noises{n} = struct('name', [blk '{' num2str(n) '}'], 'f', freq, 'asd', []);
+ asd = asds{n};
+ % Sanity checks on the ASD
+ if ~isreal(asd) || min(size(asd)) > 1
+ error(['Invalid ' tag ' block ' blk char(10) ...
+ 'ASD #' num2str(n) ' (from ' expr ') is not a real-valued 1D array']);
+ elseif numel(asd) ~= 1 && numel(asd) ~= numel(freq)
+ error(['Invalid ' tag ' block ' blk char(10) ...
+ 'Length of ASD #' num2str(n) ' (from ' expr ') doesn''t match the frequency vector' char(10) ...
+ '(ASD''s length is ' num2str(numel(asd)) ...
+ ' and frequency vector''s length is ' num2str(numel(freq)) ')']);
+ end
+ if size(asd, 1) ~= 1
+ asd = asd';
+ end
+ noises{n}.asd = asd;
+end
+
+end
diff --git a/utils/SimulinkNbLite/SimulinkNb/nbGroupNoises.m b/utils/SimulinkNbLite/SimulinkNb/nbGroupNoises.m
new file mode 100644
index 0000000000000000000000000000000000000000..f1742f805c029403271824b9863a7652b5bd52fa
--- /dev/null
+++ b/utils/SimulinkNbLite/SimulinkNb/nbGroupNoises.m
@@ -0,0 +1,126 @@
+function [ nb ] = nbGroupNoises(mdl, noises, sys)
+%NBGROUPNOISES Organizes the noises array returned by NBFROMSIMULINK
+% [ nb ] = NBGROUPNOISES(mdl, noises, sys)
+%
+% NBGROUPNOISES combines noises whose NbNoiseSource blocks share the same
+% grouping parameters ("Group", "Sub-group", etc.). It returns a
+% hierarchical NOISEMODEL object, whose title is set based on the
+% NbNoiseCal block's "DOF name" parameter, and whose Y-label is set based
+% on the "unit" parameter.
+%
+% See also: NBFROMSIMULINK, NOISEMODEL
+
+%% Validate the arguments
+
+if ~ischar(mdl)
+ error('The model name is not a string');
+elseif ~iscell(noises)
+ error('The noises are not a cell array');
+elseif ~isobject(sys)
+ error('The sys object is not an object');
+%elseif size(sys, 2) ~= numel(noises) + 1
+% error('The noises and the sys object have mismatched dimensions')
+end
+
+%% Get the DOF and unit settings from the NbNoiseCal block
+
+load_system(mdl);
+nbNoiseCal = sys(2).InputName{:};
+blkVars = get_param(nbNoiseCal, 'MaskWSVariables');
+blkVars = containers.Map({blkVars.Name}, {blkVars.Value});
+dof = blkVars('dof');
+unit = blkVars('unit');
+if ~ischar(dof) || ~ischar(unit)
+ error(['Invalid NbNoiseCal block ' nbNoiseCal char(10) ...
+ 'The DOF name (' get_param(nbNoiseCal, 'dof') ') ' ...
+ 'and unit (' get_param(nbNoiseCal, 'unit') ' must be strings']);
+end
+disp(['NbNoiseCal block is ' nbNoiseCal ' (DOF ' ...
+ blkVars('dof') ', unit ' blkVars('unit') ')']);
+
+%% Form groups and output a NoiseModel object
+
+% groupAtLevel is a (recursive) local function defined below
+group = groupAtLevel(noises(2:end), 1, unit);
+
+nb = NoiseModel(group);
+nb.title = [dof ' NoiseBudget'];
+nb.unit = unit;
+
+if ~isempty(noises{1}.asd)
+ noises{1} = renamed(noises{1}, 'Measured');
+ nb.referenceNoises = noises(1);
+end
+
+end
+
+function [ groupedNoises ] = groupAtLevel(noises, level, unit)
+%% Limit the recursion depth
+
+groupVar = {'group', 'subgroup', 'subsubgroup', 'subsubsubgroup'};
+if level > numel(groupVar)
+ groupedNoises = noises;
+ return;
+end
+
+%% Organize the noises in a hashtable (containers.Map object), indexed by group
+
+noisesByGroup = containers.Map();
+for n = 1:numel(noises)
+ noise = noises{n};
+ nameParts = regexp(noise.name, '(.*)\{(\d+)\}', 'tokens');
+ blk = nameParts{1}{1};
+ multiplex = str2double(nameParts{1}{2});
+ blkVars = get_param(blk, 'MaskWSVariables');
+ blkVars = containers.Map({blkVars.Name}, {blkVars.Value});
+ if iscell(blkVars('group'))
+ groupInfo = blkVars('group');
+ groupInfo = groupInfo{multiplex};
+ else
+ groupInfo = struct('groupNest', blkVars('groupNest'), ...
+ 'group', blkVars('group'), 'subgroup', blkVars('subgroup'), ...
+ 'subsubgroup', blkVars('subsubgroup'), ...
+ 'subsubsubgroup', blkVars('subsubsubgroup'));
+ end
+ if groupInfo.groupNest >= level
+ groupName = groupInfo.(groupVar{level});
+ if ~ischar(groupName)
+ error(['Invalid NbNoiseSource block ' noise.name char(10) ...
+ 'The ' groupVar{level} ' parameter (' ...
+ get_param(blk, groupVar{level}) ') must be a string']);
+ end
+ else
+ groupName = noise.name;
+ end
+ if isempty(groupName)
+ groupName = noise.name;
+ end
+ if ~noisesByGroup.isKey(groupName)
+ noisesByGroup(groupName) = {noise};
+ else
+ noisesByGroup(groupName) = [noisesByGroup(groupName) {noise}];
+ end
+end
+
+%% Group the noises
+
+groupNames = noisesByGroup.keys();
+groupedNoises = cell(size(groupNames));
+disp([repmat(' ', 1, level - 1) 'Found ' num2str(numel(groupNames)) ' noise ' groupVar{level} 's:']);
+for n = 1:numel(groupNames)
+ groupName = groupNames{n};
+ group = noisesByGroup(groupName);
+ disp([repmat(' ', 1, level - 1) '* ' groupName]);
+ if numel(group) == 1
+ group = group{1};
+ else
+ group = groupAtLevel(group, level + 1, unit);
+ group = NoiseModel(group);
+ group.title = [groupName ' NoiseBudget'];
+ group.unit = unit;
+ end
+ group = renamed(group, groupName);
+ groupedNoises{n} = group;
+end
+
+end
\ No newline at end of file
diff --git a/utils/SimulinkNbLite/SimulinkNb/resolveLibraryParam.m b/utils/SimulinkNbLite/SimulinkNb/resolveLibraryParam.m
new file mode 100644
index 0000000000000000000000000000000000000000..2706f8247d3d414c78935e3404e45876853963ae
--- /dev/null
+++ b/utils/SimulinkNbLite/SimulinkNb/resolveLibraryParam.m
@@ -0,0 +1,48 @@
+function expr = resolveLibraryParam(expr, blk)
+%RESOLVELIBRARYPARAM Resolve the names of parameter structs inside masked library blocks
+% This is a rather unsavory hack that handles the most common case: where
+% inside the library there are variables like 'libraryPar.something', and
+% in the library's mask 'libraryPar' is defined as 'par.somethingElse'.
+
+
+
+%% Input checks
+
+% If expr isn't simply accessing a struct, do nothing
+structSplit = regexp(expr, '\.', 'split');
+if ~all(cellfun(@isvarname, structSplit))
+ return;
+end
+
+% If blk or parentBlk is empty, do nothing
+if isempty(blk)
+ return;
+end
+parentBlk = get_param(blk, 'Parent');
+if isempty(parentBlk)
+ return;
+end
+
+% If grandparent is empty (recursion stop condition), do nothing
+blk = parentBlk;
+if isempty(get_param(blk, 'Parent'));
+ return;
+end
+
+%% Try to resolve the name of the struct referred to by expr
+
+structName = structSplit{1};
+maskVars = get_param(blk, 'MaskNames');
+if any(strcmp(structName, maskVars))
+ newStructName = get_param(blk, structName);
+ if ~all(cellfun(@isvarname, regexp(newStructName, '\.', 'split')))
+ error(['Block ' blk ' has invalid library parameter ' structName]);
+ end
+ expr = [newStructName expr(length(structName)+1:end)];
+end
+
+%% Recursive step
+
+expr = resolveLibraryParam(expr, blk);
+
+end
diff --git a/utils/SimulinkNbLite/SimulinkNb/scb.m b/utils/SimulinkNbLite/SimulinkNb/scb.m
new file mode 100644
index 0000000000000000000000000000000000000000..63e7b732ef15bd2b2ccb99109363c05c7051bef1
--- /dev/null
+++ b/utils/SimulinkNbLite/SimulinkNb/scb.m
@@ -0,0 +1,35 @@
+function scb(block)
+%SCB Set current block.
+% SCB(BLOCK) redefines the current block returned by GCB to be BLOCK.
+%
+% See also GCB, GCS.
+% Downloaded from the Matlab File Exchange
+% http://www.mathworks.com/matlabcentral/fileexchange/13833-scb
+try
+ if ~strcmp('block',get_param(block,'Type'))
+ error('SCB:arg','Argument is not of type ''block''')
+ end
+catch
+ error('SCB:obj','Invalid Simulink object name: %s',block)
+end
+
+% Split Argument to System and Block-Name.
+%[CurrentSystem,CurrentBlock] = fileparts(block);
+% fix for block names containing '/' --ccw
+CurrentSystem = get_param(block, 'Parent');
+CurrentBlock = get_param(block, 'Name');
+
+% Get the Stateflow Root object.
+root = sfroot;
+
+% Set the Current System to be the System of Block.
+root.set('CurrentSystem',CurrentSystem);
+
+% Deselect Block that is Current Block in this System.
+set_param(gcb,'Selected','off')
+
+% Set Current Block in this System to be Block.
+root.getCurrentSystem.set('CurrentBlock',CurrentBlock)
+
+% Turn Selection on.
+set_param(gcb,'Selected','on')
diff --git a/utils/getTSfromTF.m b/utils/getTSfromTF.m
new file mode 100644
index 0000000000000000000000000000000000000000..be1dab14836a3e497cb34ad9eca484d0f62344dc
--- /dev/null
+++ b/utils/getTSfromTF.m
@@ -0,0 +1,51 @@
+function TFresponse = getTSfromTF(varargin)
+%GETTFRESPONSE returns the response of the transfer function
+%of the linearized model.
+% Returns the response of the transfer function of the linearized
+% model. First, linearizes the model around the given input and output. Then,
+% it gets the frequency response of the linear TF.
+% Syntax: TFresponse = getTFresponse(mdl, io, freqs)
+%
+% Inputs: mdl - simulink model, string;
+% io - list of IO elements;
+% u - ts
+% t - time
+% mode - direct/inverted
+%
+% Outputs: TFresponse - array containing the response,
+% same size as the frequencies;
+%
+% See also: frd, linearize, linio, getInvertedTFresponse
+%
+% Author: Arthur Reis
+% email: arthur.reis@aei.mpg.de
+% Nov 2021; Last revision: Aug.2022;
+
+defaultMode = "direct";
+
+p = inputParser;
+
+addRequired(p, 'mdl');
+addRequired(p, 'io');
+addRequired(p, 'u');
+addRequired(p, 't');
+addParameter(p, "mode", defaultMode);
+parse(p, varargin{:});
+
+mdl = p.Results.mdl;
+io = p.Results.io;
+u = p.Results.u;
+t = p.Results.t;
+mode = p.Results.mode;
+
+linearizedModel = linearize(mdl,io);
+if strcmp(mode,defaultMode)
+ linearizedModel = linearize(mdl,io);
+elseif strcmp(mode,"inverted")
+ linearizedModel = linearize(mdl,io);
+end
+lsim(linearizedModel,u,t);
+linMdlResponse = frd(linearizedModel, freqs, 'unit', 'Hz');
+TFresponse = squeeze(abs(linMdlResponse.ResponseData));
+end
+
diff --git a/utils/masks/masks.odg b/utils/masks/masks.odg
index 5b72cd7b0d4727ad84dcbb1922bc2c6586814b17..fee73ba144e5a0f11dc2c887a76c203c6516c397 100644
Binary files a/utils/masks/masks.odg and b/utils/masks/masks.odg differ