The scripts used to calculate the coordinate transformation matrices for the HAM-ISI have been updated by Jeff Kissel to include the Stage 0 L4Cs and include new measurements and calculations by Celine Ramet at Livingston and documented here:  https://dcc.ligo.org/cgi-bin/private/DocDB/ShowDocument?docid=13330

The scripts used to calculate and write the new matrices are located in Seismic SVN repository in '~/HAM-ISI/X1/SensorDefinitions/'.  The script to calculate the matrices is 'make_HAMX1_projections_100709.m'.  Since we have the "ezca" library installed on the TestStand, the matrices can be written directly to EPICS channels via the script 'fill_matrix_values.m' in the repository directory ~/HAM-ISI/X1/Common/MatlabTools/'.

I implemented the new matrices this afternoon and confirmed the changes in the medm screens from the overview screen 'G1ISIHAM_HAM_OVERVIEW.adl'. The new matrix values are attached below. 

Note: the L4C2CEN matrix was NOT written.


Some notes by Jeff Kissel on the new matrix calculation scripts:

- The GS13 coordinate definitions now use the center of the proof mass as measured by the model in SolidWorks instead of the bottom of the flange + 15 cm (Thanks Celine!). The L4Cs are also defined from the proof mass. 

- I've defined the displacement sensor directions to be the opposite of the direction of the rest of the sensors in the cluster. E.g. the H1 GS-13 and H1 actuator point -60 deg from the +X axis, and the displacement sensor points in +120. This is to account for the fact that an increase in displacement sensor gap *decreases* the voltage. I've confirmed that with this addition, the signs of every applicable matrix produced by make_HAMX1_projections_100709.m match those currently in place at on the L1 HAM6 ISI and H1 HAM6 ISI.

- Even with the above GS13 coordinate change, and a couple of other minor differences in coordinates between Celine's measurements of the aLIGO system and HPD's measurements of the eLIGO system, the absolute value of each matrix element in the GEO2CEN matrix changed less than 1e-5, and the DISP2CEN, and CONT2ACT matrices changed less that 1e-12 compared with  L1 HAM6 ISI and H1 HAM6 ISI.

- The colocated basis is defined with respect to the cartesian basis as though it were an eLIGO HAM6 ISI with V1 on the +X-axis. Therefore the matrices will be valid only for for all test stand HAMs (assuming we keep the V1-on-the-(+X)-axis convention) and aLIGO HAMs 4,5,6 (10,11,12) as per G1000125 -- for the remaining tank's we'll have to rotate everything by 90 deg. I'll create a separate "Coordinates" script to do this some time closer to when we need it.