(Kiwamu, Chris, Stefan)

Morning:
========

Created the H1IFO_ALIGN medm screen and installed BS Face camera (with Richard)

Afternoon:
==========

First we re-established the IM4 trans reference that Keita established on May 22 (alog entry 6472). This was done my locking the IMC, moving the MC3 pitch slowly while input beam and MC were following, until we hit IM4 TRANS again. We then used the IMC WFS relief script (/opt/rtcds/userapps/release/ioo/h1/scripts/imc/mcwfsrelieve) to park the mode cleaner and input beam in this new orientation. (Note: this reliefs the offsets into the actuator offset fields, H1:IMC-MC1_PIT_OUTMON etc., NOT the MC alignment sliders (we should fix that tomorrow, see below for the current offsets)

Next, after thinking way too hard on how to proceed, we moved one slider (PR3 yaw, H1:SUS-PR3_M1_OPTICALIGN_Y_OFFSET) and saw the beam on the BS cage. Centering it roughly on the BS made it visible on the ITM cage. 

The beam was moving too much, so we repeated yesterday's trick: increase the M0 damping gains... it worked again and quieted the beam motion down. (The old and new gains are below.)

With that we pointed the beam roughly on the middle of the ITM, and... saw fringes on both monitor and transmitted QPD. Since up to that point we had only moved one slider (H1:SUS-PR3_M1_OPTICALIGN_Y_OFFSET), nobody actually believed what we saw. But after misaligning the green beam the fringes were still there, and only went away when we moved the red beam...

Set up the anti-whitening filters for the transmission monitor at the end.

Next we wanted to go look for the green beam at ISCT1, but unfortunately the PLL loop broke (see Sheila's log). So that's for tomorrow.


Attached images:
===============
1) Alignment settings when we stared
2) Alignment settings after mode cleaner move (!Caution: additional nonzero MCWFS offsets, see below!)
3) Alignment setting when we got fringes (!Caution: additional nonzero MCWFS offsets, see below!)
4) Fringes on the trans mon!


Settings:
=========

Old PR2 and PR3 damping gains:
H1:SUS-PR2_M1_DAMP_L_GAIN = -1.55
H1:SUS-PR2_M1_DAMP_T_GAIN = -2
H1:SUS-PR2_M1_DAMP_V_GAIN = -3
H1:SUS-PR2_M1_DAMP_R_GAIN = -0.2
H1:SUS-PR2_M1_DAMP_P_GAIN = -2
H1:SUS-PR2_M1_DAMP_Y_GAIN = -1
H1:SUS-PR3_M1_DAMP_L_GAIN = -2
H1:SUS-PR3_M1_DAMP_T_GAIN = -5
H1:SUS-PR3_M1_DAMP_V_GAIN = -1
H1:SUS-PR3_M1_DAMP_R_GAIN = -0.02
H1:SUS-PR3_M1_DAMP_P_GAIN = -0.002
H1:SUS-PR3_M1_DAMP_Y_GAIN = -0.02

New PR2 and PR3 damping gains:
H1:SUS-PR2_M1_DAMP_L_GAIN = -15.5
H1:SUS-PR2_M1_DAMP_T_GAIN = -2
H1:SUS-PR2_M1_DAMP_V_GAIN = -3
H1:SUS-PR2_M1_DAMP_R_GAIN = -0.2
H1:SUS-PR2_M1_DAMP_P_GAIN = -2
H1:SUS-PR2_M1_DAMP_Y_GAIN = -1
H1:SUS-PR3_M1_DAMP_L_GAIN = -20
H1:SUS-PR3_M1_DAMP_T_GAIN = -5
H1:SUS-PR3_M1_DAMP_V_GAIN = -1
H1:SUS-PR3_M1_DAMP_R_GAIN = -0.02
H1:SUS-PR3_M1_DAMP_P_GAIN = -0.02
H1:SUS-PR3_M1_DAMP_Y_GAIN = -0.2

MCWFS offsets (those should be moved to the alignment sliders):
H1:IMC-MC1_PIT_OFFSET = 89.06
H1:IMC-MC2_PIT_OFFSET = 21.556
H1:IMC-MC3_PIT_OFFSET = 86.417
H1:IMC-PZT_PIT_OFFSET = 726.65
H1:IMC-MC1_YAW_OFFSET = 68.493
H1:IMC-MC2_YAW_OFFSET = 4.6945
H1:IMC-MC3_YAW_OFFSET = -69.693
H1:IMC-PZT_YAW_OFFSET = 4073.9

Attached are plots of dust counts requested from 5 PM June 5 to 5 PM June 6.

Both the dust monitor at location 14 in the LVEA (H2 PSL enclosure) and the dust monitor at location 16 in the LVEA (H1 PSL anteroom) are indicating calibration failures.

Updated the ISC EY model (without rebooting) to 
- remove remaining WFS logic,
- move LSC part into a common library block,
- fixed names of FIBR_SERVO and REFL_SERVO fast channels,
- fixed names in sheet connectors and ports,
- renamed filter module for slow SUS feedback into ALS-Y_ARM.

Also fixed the unicode problem with the DAQ ini files and copied new versions into the release area.

(Sheila, Alexa)

Calibration of DCPD's:

H1:ALS-Y_RELF_B_DC: Power of 0.26mW at 6.39 Volts (gain of 30db)
H1:ALS-Y_REFL_A_DC: Power of 1.22mW at -.190 Volts

There seems to be some loose connections in the concentrator box for the 24.5Mhz and 71Mhz RF Amplifiers at EY. We confirmed that there was 3.6V out of the amplifiers on the PowerOK pin. When we input 3.6V on the PowerOK pin into the concentrator using a breakout, we saw a signal on the tester. However we lose the signal when using a cable from the amplifier to the concentrator. When we sent 3.6V into the concentrator using a cable and a breakout, we saw a signal once, but not in another instance.  


Stefan called about trying to lock the PLL.  At first, the autolocker had a communication error. This behavior happened previously as in  this alog. The error was solved by reactivating the system manager, which required a burt restore. 

After the burt restore we saw evidence of mode hopping of the ALS laser (Note: the crystal temperature was set to -360MHz by the burt restore; we will fix this). Each time we tuned the temperature so that the beat note was near 60MHz, we would see the peak drop. So we believe this was due to mode hopping of the ALS laser, and not the reference cavity losing lock.  The ALS laser settings were at 1.839 Amps, 31.37 C. We started to adjust them but noticed that the reference cavity would drop in and out of lock. So we returned the ALS laser settings to the above values.

Kyle, John 
Plumbed helium into HAM2 annulus pump port via NW40-1/4 swagelok adapter -> Removed O-ring gasket from HAM1 pump port but left NW40 blank in place -> Pressurized annulus volume with helium @ 10 psi (~45 seconds) and confirmed exhaust flow @ HAM1 pump port (NW40 blank "fluttering" as displaced air/helium exited annulus volume -> dialed helium back to < 5 psi for ~90 seconds -> Removed helium connection and purged annulus volume with instrument air 

Note:  Can't ascertain effectiveness of helium getting to "low" portion of septum annulus due to external piping being located at the top of HAM1 and HAM2 septum flanges -> Experience, however, gives me some confidence that a "largish" leak could not go undetected following the above effort. 

Detector baseline reading ~1 x 10-9 torr*L/sec or less during testing -> no response during testing -> no calibration or demonstration of ability to detect helium -> detector behavior typical otherwise

In preparation of the acceptance documentation for HSTS suspensions, PRM top mass has been tested for phase 3b after the series of MCs.

The transfer functions are showing good agreement with model and previous measurements.

The attached file is a comparison between model, phase 3a and phase 3b

• hstsopt_metal model in blue
• phase 3a on march 2013 with ISI locked and suspension undamped in orange
• phase 3b on may 2013 with ISI damped and suspension undamped in cyan
• phase 3b on may 2013 with ISI damped and suspension damped in pink

files and data have been commited on the svn under the following directories :
/ligo/svncommon/SusSVN/sus/trunk/HSTS/Common/${MatlabTools/Data}
/ligo/svncommon/SusSVN/sus/trunk/HSTS/H1/PRM/SAGM1/${Data/Results}

Unlocked BSC2 - Hugh

Close GV-1 to leak check - Kyle & John

Install illuminator and camera on BSC2 - Richard M

Align and level X test stand - Doug & Jason

Check laser welder alignment - Doug & Jason

Assemble E-module and spiral staircase - Apollo

Lift BSC CR on crane, leaving suspended overnight - Apollo

Valve in YBM Turbo and leak detector combination to exposed Y-arm - Kyle

The E-module was assembled and married to the spiral staircase: some transitional plates between the E-mod and the work platform will need to be fabricated and installed when convenient. The Tech Cleaners did the first round of cleaning at BSC9. The Test Stand was craned over the beamtube into position near the roll-up door. Modification of the BSC CR legs to accommodate the leg jacks was started: the ceiling of the CR will be suspended on the crane overnight. The remote control for the crane will be at the corner overnight as a LO-TO measure. All but four bolts were removed from the dome: bolts will come out of the door tomorrow.

In preparation for acceptance of H1 SUS TMSY, I've been asked to model its performance. I accepted given that we've got a state-space model and parameter set that's been confirmed by measurement and it's straight-forward to adopt the loop performance figures of merit from the software suite developed for the QUAD and BSFM Level 2 designs. Here I merely show results that confirm the model's accuracy using the current filters before I move forward with the Level 2 filter design.

The new software suite for the TMTS (which will be useful for the OMCS when it comes online soon as well), can be found here:

${SusSVN}/sus/trunk/TMTS/Common/FilterDesign/
design_damping_TMTS_20130313.m (script where overall design is done)
    - plottmtsdampingcontroldesign.m (function that takes in newly designed filters and computes the performance figures of merit)
        - plottmtsactuatornoise.m (sub-function that computes the actuator noise component of the model)
 
In addition, I've added the TMTS requirements (based on Fig 18 of E1100537) to the function

${SusSVN}/sus/trunk/Common/MatlabTools/SUS_reqs.m


I won't bore you with all of the plots that this suite produces since this has only been run on the Level 1 design of the filters, but I will post results of this morning's transfer functions, and a tease of why the TMTS filters need some tweaking. I'll focus on Pitch, since that (with Yaw) are the DOFs with the most stringent requirements for the TMS, and since L and P were the only DOFs I had time to measure.

Three plots:
(1) dampingfilters_TMTS_20130313_loopmeas_P.pdf A comparison between the modeled and measured open loop gain transfer function. It confirms the stability, and we now see the model is only off by the usual known quantities:
- ~50% under in magnitude (mostly likely due to a systematic scale factor error in the model calibration -- no biggie), 
- a tiny fraction in resonant frequencies (due to modeling the "ideal" suspension properties as opposed to the "real" properties)
- some unmodeled time delay-like feature in the phase.

(2) dampingfilters_TMTS_20130313_loopdesign_P.pdf A loop design plot showing all of the useful figures of merit, the open loop gain transfer function (G), the suppresion (1 / (1+G)), and the closed loop gain transfer function (G / (1+G)). Note, I use the standard convention for loop gain with the explicit -1, such that the stability criteria is that lower unity gain crossings must stay away from +180, and upper unity gain crossings must stay away from -180, with no phase wraps in between the first LUGF and the last UUGF.

(3) dampingfilters_TMTS_20130313_totalbudget_P.pdf A noise budget based on the loop design. 

------
For the record, the filters currently in place (and ON) are (using [zeros:poles:gain] notation, and "pair" to represent a complex pair of zeros or poles at frequency of the first argument, and phase of the second. Both arguments are rounded to the nearest integer for brevity)

L FM1 "damp30" [0:30,100:1],             FM5 "from_um" [::43.478], FM10 "ELF10" [pair(16,86),pair(36,56):pair(6,51),pair(10,79):1], G = -20.0
T FM1 "damp30" [0:30,100:1],             FM5 "from_um" [::43.478], FM10 "ELF10" [pair(16,86),pair(36,56):pair(6,51),pair(10,79):1], G = -10.0
V FM1 "damp30" [0,1:0.3,30,100:3.51521], FM5 "from_um" [::43.478], FM10 "ELF10" [pair(16,86),pair(36,56):pair(6,51),pair(10,79):1], G = -20.0
R FM1 "damp30" [0,1:0.3,30,100:3.51521], FM5 "from_um" [::43.478], FM10 "ELF10" [pair(16,86),pair(36,56):pair(6,51),pair(10,79):1], G = -0.05
P FM1 "damp30" [0,1:0.3,30,100:3.51521], FM5 "from_um" [::43.478], FM10 "ELF10" [pair(16,86),pair(36,56):pair(6,51),pair(10,79):1], G = -0.5
Y FM1 "damp30" [0,1:0.3,30,100:3.51521], FM5 "from_um" [::43.478], FM10 "ELF10" [pair(16,86),pair(36,56):pair(6,51),pair(10,79):1], G = -0.1

which is notably different that when I'd spruced up the TMTS, SUS style back in March (see LHO aLOG 5754, and LHO aLOG 5781), when the different Yaw filter in FM2, and any boosts that were found in FM2 were ON. I didn't see any aLOG of this configuration change, so my guess is this was an old configuration that stuck after a reboot (which is surprising because I specifically captured a new safe...)

I've copied the foton file representing this configuration over to the userapps repo, and committed it to rev 4641
208-69-129-56:filterfiles kissel$ svn info H1SUSTMSY.txt 
Path: H1SUSTMSY.txt
Name: H1SUSTMSY.txt
URL: https://redoubt.ligo-wa.caltech.edu/svn/cds_user_apps/trunk/sus/h1/filterfiles/H1SUSTMSY.txt
Repository Root: https://redoubt.ligo-wa.caltech.edu/svn/cds_user_apps
Repository UUID: e3bfa956-ff0e-4416-9af7-00b7a258cde5
Revision: 4650
Node Kind: file
Schedule: normal
Last Changed Author: jeffrey.kissel@LIGO.ORG
Last Changed Rev: 4641
Last Changed Date: 2013-06-06 14:35:30 -0400 (Thu, 06 Jun 2013)
Text Last Updated: 2013-06-06 14:45:31 -0400 (Thu, 06 Jun 2013)
Checksum: e5032b936a0f52fd58cfd2ec15dd771b


------
Also, the data (for L and P only thus far) was taken with the following templates:

2013-06-06_1511_H1SUSTMSY_M1_L_WhiteNoise_OLGTF.xml
2013-06-06_1511_H1SUSTMSY_M1_P_WhiteNoise_OLGTF.xml

which notably improve on the standard SUS white noise DTT excitation: in order to get more coherence at low frequency, I added a zpk([0.5;0.5],[0.05;0.05],100,"n") to the Filter field in the Excitation Tab of the measurement. This adds a factor of 100 gain at low frequency (filtered out by 1 [Hz]) where the coherence is the worst, and we're not plagued with DAC saturations because on the anti-dewhitening filters in the COILOUTF banks (which start adding gain above 1 [Hz]). This way I can jack up the overall gain of the measurement at low frequency where we need it, without saturating the DAC nearly as quickly.

This chambers Actuators were moved from Bleed to Run State on Tuesday and the IPS sensors zero'd then as well.  Unlocking them today sees significant motion especially as compared to HAM1 this morning.  At HAM1 the motion on release was 2 mils or less.  Here at BSC2 the vertical moved down (uniformly) 13000 counts or about 20 mils.  The horizontal shift was half or less than the vertical shift with the motion being East with some minor CCW rotation.

Yesterday late afternoon GregG switched the HAM1 Actuators from Bleed Mode to Operation Mode; this chamber had been bleeding since 20 May.  The IPS sensors were also zero'd yesterday.

This morning, we unlocked the HEPI, so HAM1 is now floating; the caution signs have been changed.  Please be mindful of all the blue hardware at HAM1.

Also, please avoid using the HEPI Housing area as a tool/parts holder.  There are many very close clearances in the HEPI Mechanical structure and a dropped screw or tool could render them bound up.  This will/could be very difficult to diagnose/find as most of these tight spaces are not visible and barely probeable.

After adding a few channels to the ITMY .ini file, I rebooted the DAQ at 10h03. During the DAQ restart, the daqd process did not come back. It was restarted manually around 10h40 (Dave remotely).

GV1 was closed at ~16:47 utc or 9:47 local time.

Just a heads up, I'll be taking transfer functions remotely on TMSY this morning. HIFO-Y work takes precedent over this, so don't hesitate to call me and tell me to stop!

[Chris, Kiwamu]

This is a detailed version of the previous IMC WFS entry (see alog 6633).

Actuation issue wasn't really an issue:

 We kept driving the M3 stages (very bottom stage) of MC1 and MC3 to excite the angular motions (alog 6610) but it turned out that this was not the right way. The actuators on M3 are simply not strong enough to excite them with a high signal-to-noise ratio at the wave front sensors. Therefore we need o switch the driving point from the M3 to M1 (very upper stage) to have a big excitation. In fact this is the way the people in Livingston did. After all, exciting M1 gave us a prominent peak in the spectrum of the WFS signals and hence we were able to proceed with the measurement of the sensing matrix.

Balancing of the quadrant segment gain:

During adjusting the demod phase of each segment of the WFSs we noticed that they show different signal gain. In order to correct this gain discrepancy among the segments we changed the digital filter gain to make them identical. We excited the longitudinal motion of the IMC by injecting a 6 Hz sinusoidal signal at INPUT2 of the IMC common mode board servo with an amplitude of 80 mVp-p. This resulted in a peak in the spectrum of each quadrant. Then we adjusted IMC-WFS_A(B)_IX_GAIN and IMC-WFS_A(B)_IX_GAIN where X = 1,2,3,4. Here is the resultant gain coefficients. We are not sure why the gains vary by a factor of 5 at most among the segments. This variation can not be explained by the discrepancy in the transfer gain of the demodulation chain.

H1:IMC-WFS_A_I1_GAIN = 1
H1:IMC-WFS_A_Q1_GAIN = 1
H1:IMC-WFS_A_I2_GAIN = 5.33
H1:IMC-WFS_A_Q2_GAIN = 5.33
H1:IMC-WFS_A_I3_GAIN = 4.43
H1:IMC-WFS_A_Q3_GAIN = 4.43
H1:IMC-WFS_A_I4_GAIN = 1.33
H1:IMC-WFS_A_Q4_GAIN = 1.33
H1:IMC-WFS_B_I1_GAIN = 5.75
H1:IMC-WFS_B_Q1_GAIN = 5.75
H1:IMC-WFS_B_I2_GAIN = 1
H1:IMC-WFS_B_Q2_GAIN = 1
H1:IMC-WFS_B_I3_GAIN = 1.07
H1:IMC-WFS_B_Q3_GAIN = 1.07
H1:IMC-WFS_B_I4_GAIN = 5.47
H1:IMC-WFS_B_Q4_GAIN = 5.47

 

Compensation for the geometrical rotation:

As far as we remember there is a periscope in the IMC-REFL path which rotates the x-y relation of the beam, which rotates it by almost 90 degrees. Due to this effect the actual yaw motion happening in the IMC cavity shows up as almost pitch motion and vice versa at the RFFL port. We corrected this effect by manipulating the input matrix (IMC-WFS_A(B)_I_MTRIX) such that the yaw excitation shows up only in pitch basis after the input matrix. This adjustment was done by exciting the M2 stage of MC2 (which somehow we ended up with for some reason when exciting the angular motions) in pitch and yaw at 3 Hz. As a result the coupling between pitch and yaw were improved and separation ratio became approximately a factor of 50 at least which used to be 1 at worst. Here is the resultant matrix elements.

H1:IMC-WFS_A_I_MTRX_1_1 = 0.478812
H1:IMC-WFS_A_I_MTRX_1_2 = -1.33069
H1:IMC-WFS_A_I_MTRX_1_3 = -0.478812
H1:IMC-WFS_A_I_MTRX_1_4 = 1.33069
H1:IMC-WFS_A_I_MTRX_2_1 = 1.33069
H1:IMC-WFS_A_I_MTRX_2_2 = 0.478812
H1:IMC-WFS_A_I_MTRX_2_3 = -1.33069
H1:IMC-WFS_A_I_MTRX_2_4 = -0.478812
H1:IMC-WFS_B_I_MTRX_1_1 = 0.394297
H1:IMC-WFS_B_I_MTRX_1_2 = -1.35813
H1:IMC-WFS_B_I_MTRX_1_3 = -0.394297
H1:IMC-WFS_B_I_MTRX_1_4 = 1.35813
H1:IMC-WFS_B_I_MTRX_2_1 = 1.35813
H1:IMC-WFS_B_I_MTRX_2_2 = 0.394297
H1:IMC-WFS_B_I_MTRX_2_3 = -1.35813
H1:IMC-WFS_B_I_MTRX_2_4 = -0.394297
 

Measurement of the sensing matrix

The measurement of the sensing matrix went very smooth. We excited the M1 stage of the IMC suspensions. We considered two DOFs in pitch (yaw), namely common (differential) MC1-MC3 and MC2. This is the DOF basis that the Livingston people came up with in the IMC WFS commissioning. The excitation was injected to DOF_1(2)_Y(P)_EXC with an amplitude of 10-12 counts at about 3 Hz. To be sure that we are exciting the pure pitch or yaw we looked at the witness channels for the bottom stage and confirmed that we were exciting the right angular motion. Since we didn't have an auto-script to measure the sensing matrix we used diaggui to measure the transfer coefficient from the excitation to the WFSs. After measuring the 2x2 sensing matrix we inverted it and put it to the control input matrix IMC-INMATRIX_P(Y). In diaggui the frequency resolution was set to 0.01 Hz. Here is the resultant input matrix.

H1:IMC-INMATRIX_P_1_1 = 0.64725
H1:IMC-INMATRIX_P_1_2 = -0.35275
H1:IMC-INMATRIX_P_2_1 = -0.159639
H1:IMC-INMATRIX_P_2_2 = 0.840361

H1:IMC-INMATRIX_Y_1_1 = -0.163134
H1:IMC-INMATRIX_Y_1_2 = -0.836866
H1:IMC-INMATRIX_Y_2_1 = 0.529564
H1:IMC-INMATRIX_Y_2_2 = 0.470436

Closing the loops:

The trial of closing the loops were relatively easier compared with what we did to reach this point. We simply started from a small gain of 1e-4 and we fiddled with the sign. Since this was the first time for us to close the loops we enabled only fundamental control filers, namely FM6 (0.06, 0.1) and FM7(0:1) of IMC-DOF_1(2)_P(Y) and disabled the rest of the fancy filters. We aimed an UGF of  a few 10 mHz or so. The gains were adjusted by looking at the time scale of the control against a disturbance. The gains we ended with were :

H1:IMC-DOF_1_P_GAIN = -1e-05
H1:IMC-DOF_2_P_GAIN = -1e-05
H1:IMC-DOF_1_Y_GAIN = -1e-05
H1:IMC-DOF_2_Y_GAIN = -1e-05
 

What are missing ?:

• Beam pointing servo, which is a part of IMC ASC model and called DOF3, needs to be engaged.
• Spot position measurement to make sure that the beams are not in a crazy position on each IMC mirror
• Further loop optimization
• Automation of the WFS servo enable/diable
• A script to measure the sensing matrix