Investigate REFMark U

[MuffinSpawn]

The "REFMark U" reflector seems to have been throwing off the map at Argonne on July 2nd. Since the map data was not recorded on account of the mapping failure, extract the LTCS data from the log and calculate relative distance matrices for both the configured DSCS and measured LTCS coordinates of reflectors 104, REFMark U, and 1. A residual of these matrices should clearly show discrepancies if there are any.

[MuffinSpawn]

Relevant log entries:

10:20:51 position:Debug::running -> bootstrap 10:21:00 lasertracker:Info::Measured reflector 104 at (8137.648038,0.279070,1.661818) 10:21:48 lasertracker:Info::Measured reflector REFMark U at (8353.126536,1.184212,1.556245) 10:22:11 lasertracker:Info::Measured reflector 1 at (5090.207132,-2.990973,1.560408) 10:22:22 position:Debug::bootstrap -> shooting.bootstrap 10:22:22 position:Info::Finding ref reflector "104" 10:22:26 lasertracker:Info::Searching for reflector 104 at (8137.648038,0.279070,1.661818) 10:22:30 position:Info::Measuring ref reflector "104" 10:22:37 lasertracker:Info::Measured reflector 104 at (8137.649368,0.279071,1.661821) 10:22:38 position:Info::Finding ref reflector "REFMark U" 10:22:42 lasertracker:Info::Searching for reflector REFMark U at (8353.126536,1.184212,1.556245) 10:22:46 position:Info::Measuring ref reflector "REFMark U" 10:22:52 lasertracker:Info::Measured reflector REFMark U at (8353.130743,1.184213,1.556247) 10:22:53 position:Info::Finding ref reflector "REFMark T" 10:22:56 lasertracker:Info::Searching for reflector REFMark T at (3640.391329,1.859050,1.567629) 10:23:00 position:Info::Finding ref reflector "103" 10:23:02 lasertracker:Info::Searching for reflector 103 at (3018.216280,0.681263,2.069464) 10:23:06 position:Info::Finding ref reflector "101" 10:23:09 lasertracker:Info::Searching for reflector 101 at (5400.077316,-2.195138,1.846345) 10:23:13 position:Info::Finding ref reflector "1" 10:23:14 lasertracker:Info::Searching for reflector 1 at (5090.207132,-2.990973,1.560408) 10:23:18 position:Info::Measuring ref reflector "1" 10:23:25 lasertracker:Info::Measured reflector 1 at (5090.208755,-2.990972,1.560412) 10:23:25 position:Debug::shooting.bootstrap -> bootstrap

[MuffinSpawn]

Here are relevant log entries for a successful mapping without REFMark U for comparison:

10:50:18 positionclient:Debug::running -> bootstrap 10:50:45 lasertracker:Info::Measured reflector REFMark T at (3676.868929,1.843289,1.607870) 10:50:57 lasertracker:Info::Measured reflector 101 at (6055.204049,-2.102586,1.845048) 10:51:09 lasertracker:Info::Measured reflector 104 at (8149.305495,0.281559,1.677247) 10:51:19 position:Debug::bootstrap -> shooting.bootstrap 10:51:19 position:Info::Finding ref reflector "104" 10:51:20 lasertracker:Info::Searching for reflector 104 at (8149.305495,0.281559,1.677247) 10:51:24 position:Info::Measuring ref reflector "104" 10:51:31 lasertracker:Info::Measured reflector 104 at (8149.302004,0.281561,1.677244) 10:51:32 position:Info::Finding ref reflector "REFMark T" 10:51:35 lasertracker:Info::Searching for reflector REFMark T at (3676.868929,1.843289,1.607870) 10:51:39 position:Info::Measuring ref reflector "REFMark T" 10:51:45 lasertracker:Info::Measured reflector REFMark T at (3676.869355,1.843293,1.607875) 10:51:46 position:Info::Finding ref reflector "103" 10:51:49 lasertracker:Info::Searching for reflector 103 at (2912.937215,0.419087,2.169474) 10:51:53 position:Info::Finding ref reflector "101" 10:51:56 lasertracker:Info::Searching for reflector 101 at (6055.204049,-2.102586,1.845048) 10:52:00 position:Info::Measuring ref reflector "101" 10:52:06 lasertracker:Info::Measured reflector 101 at (6055.205463,-2.102590,1.845049) 10:52:07 position:Info::Finding ref reflector "1" 10:52:10 lasertracker:Info::Searching for reflector 1 at (5090.867801,-2.988372,1.585218) 10:52:15 position:Info::Measuring ref reflector "1" 10:52:21 lasertracker:Info::Measured reflector 1 at (5091.196612,-2.988358,1.585193) 10:52:21 position:Debug::shooting.bootstrap -> bootstrap 10:53:05 position:Debug::bootstrap -> shooting.bootstrap 10:53:05 position:Info::Finding ref reflector "104" 10:53:09 lasertracker:Info::Searching for reflector 104 at (8149.299113,0.281559,1.677239) 10:53:13 position:Info::Measuring ref reflector "104" 10:53:19 lasertracker:Info::Measured reflector 104 at (8149.307750,0.281555,1.677245) 10:53:20 position:Info::Finding ref reflector "REFMark T" 10:53:23 lasertracker:Info::Searching for reflector REFMark T at (3676.866618,1.843287,1.607874) 10:53:26 position:Info::Measuring ref reflector "REFMark T" 10:53:32 lasertracker:Info::Measured reflector REFMark T at (3676.873393,1.843293,1.607878) 10:53:33 position:Info::Finding ref reflector "103" 10:53:36 lasertracker:Info::Searching for reflector 103 at (2913.469958,0.419073,2.169456) 10:53:40 position:Info::Measuring ref reflector "103" 10:53:47 lasertracker:Info::Measured reflector 103 at (2913.121230,0.419065,2.169373) 10:53:47 position:Info::Finding ref reflector "101" 10:53:50 lasertracker:Info::Searching for reflector 101 at (6055.204921,-2.102582,1.845052) 10:53:54 position:Info::Measuring ref reflector "101" 10:54:00 lasertracker:Info::Measured reflector 101 at (6055.206356,-2.102590,1.845050) 10:54:01 position:Info::Finding ref reflector "1" 10:54:05 lasertracker:Info::Searching for reflector 1 at (5091.194324,-2.988356,1.585185) 10:54:09 position:Info::Measuring ref reflector "1" 10:54:16 lasertracker:Info::Measured reflector 1 at (5091.201629,-2.988355,1.585190) 10:54:16 position:Debug::shooting.bootstrap -> bootstrap

[MuffinSpawn]

Note the difference between (arbitrarily) 103's bad prediction (3018.216280,0.681263,2.069464) and good prediction (2912.937215,0.419087,2.169474). This supports the assumption that the reflectors could not be found because the bad map prediction was too far off the mark.

Unfortunately only one reflector (104) was the same in the two initial rough mappings, so a direct comparison of the initial three reflectors cannot be done to support the hypothesis that REFMark U was bad.

The DSCS coordinates for 104, REFMark U and 1 were configured as follows:

        Reflector Relative Distances (Configured)
           104          REFMark U       1
------------------------------------------------------------
104            0.0000    7349.8736      13191.5822      
REFMark U   7349.8736       0.0000      12010.6010      
1          13191.5822   12010.6010          0.0000      

         Reflector Relative Distances (Measured)
           104          REFMark U       1
------------------------------------------------------------
104            0.0000    7250.7466      13191.9421      
REFMark U   7250.7466       0.0000      11797.5532      
1          13191.9421   11797.5532          0.0000      

         Reflector Relative Distances Residuals
           104          REFMark U       1
------------------------------------------------------------
104            0.0000     -99.1269          0.3599      
REFMark U    -99.1269       0.0000       -213.0478      
1              0.3599    -213.0478          0.0000      

This clearly suggests a problem with REFMark U.