Emulator
By using the Emulator, you can perform more detailed calculations of output phase/pulse width, output voltage, output sound wave, and sound field compared to the Simulator.
NOTE: Currently, the
Emulatoris only available in Rust and Python. There are no plans to port it to C++ or C#.
Install
cargo add autd3-emulatorpip install pyautd3_emulator
APIs
The data output by the Emulator is a Polars DataFrame.
For more details, please refer to the Polars documentation.
Transducer Table
Displays a list of transducers.
Each column contains the device index, the (local) index of the transducer, position, and axial direction.
use autd3::prelude::*;
use autd3_emulator::*;
fn main() {
let emulator = Emulator::new([AUTD3::default()]);
let df = emulator.transducer_table();
dbg!(df);
}from pyautd3 import AUTD3
from pyautd3_emulator import Emulator
with Emulator([AUTD3()]) as emulator:
df = emulator.transducer_table()
print(df)
┌─────────┬────────┬────────────┬────────────┬───────┬─────┬─────┬─────┐
│ dev_idx ┆ tr_idx ┆ x[mm] ┆ y[mm] ┆ z[mm] ┆ nx ┆ ny ┆ nz │
│ --- ┆ --- ┆ --- ┆ --- ┆ --- ┆ --- ┆ --- ┆ --- │
│ u16 ┆ u8 ┆ f32 ┆ f32 ┆ f32 ┆ f32 ┆ f32 ┆ f32 │
╞═════════╪════════╪════════════╪════════════╪═══════╪═════╪═════╪═════╡
│ 0 ┆ 0 ┆ 0.0 ┆ 0.0 ┆ 0.0 ┆ 0.0 ┆ 0.0 ┆ 1.0 │
│ 0 ┆ 1 ┆ 10.16 ┆ 0.0 ┆ 0.0 ┆ 0.0 ┆ 0.0 ┆ 1.0 │
│ 0 ┆ 2 ┆ 20.32 ┆ 0.0 ┆ 0.0 ┆ 0.0 ┆ 0.0 ┆ 1.0 │
│ 0 ┆ 3 ┆ 30.48 ┆ 0.0 ┆ 0.0 ┆ 0.0 ┆ 0.0 ┆ 1.0 │
│ 0 ┆ 4 ┆ 40.639999 ┆ 0.0 ┆ 0.0 ┆ 0.0 ┆ 0.0 ┆ 1.0 │
│ … ┆ … ┆ … ┆ … ┆ … ┆ … ┆ … ┆ … │
│ 0 ┆ 244 ┆ 132.080002 ┆ 132.080002 ┆ 0.0 ┆ 0.0 ┆ 0.0 ┆ 1.0 │
│ 0 ┆ 245 ┆ 142.23999 ┆ 132.080002 ┆ 0.0 ┆ 0.0 ┆ 0.0 ┆ 1.0 │
│ 0 ┆ 246 ┆ 152.399994 ┆ 132.080002 ┆ 0.0 ┆ 0.0 ┆ 0.0 ┆ 1.0 │
│ 0 ┆ 247 ┆ 162.559998 ┆ 132.080002 ┆ 0.0 ┆ 0.0 ┆ 0.0 ┆ 1.0 │
│ 0 ┆ 248 ┆ 172.720001 ┆ 132.080002 ┆ 0.0 ┆ 0.0 ┆ 0.0 ┆ 1.0 │
└─────────┴────────┴────────────┴────────────┴───────┴─────┴─────┴─────┘
Calculation of Output Phase/Pulse Width
use autd3::prelude::*;
use autd3_emulator::*;
use std::time::Duration;
fn main() -> Result<(), Box<dyn std::error::Error>> {
let emulator = Emulator::new([AUTD3::default()]);
let record = emulator.record(|autd| {
autd.send(Silencer::default())?;
autd.send((
Sine {
freq: 200 * Hz,
option: Default::default(),
},
Uniform {
intensity: EmitIntensity::MAX,
phase: Phase::ZERO,
},
))?;
autd.tick(Duration::from_millis(10))?;
Ok(())
})?;
let df = record.phase();
dbg!(df);
let df = record.pulse_width();
dbg!(df);
Ok(())
}from pyautd3 import (
AUTD3,
Duration,
EmitIntensity,
Hz,
Phase,
Silencer,
Sine,
SineOption,
Uniform,
)
from pyautd3_emulator import Emulator, Recorder
with Emulator([AUTD3()]) as emulator:
def f(autd: Recorder) -> None:
autd.send(Silencer())
autd.send(
(
Sine(freq=200.0 * Hz, option=SineOption()),
Uniform(intensity=EmitIntensity.MAX, phase=Phase.ZERO),
),
)
autd.tick(Duration.from_millis(10))
record = emulator.record(f)
df = record.phase()
print(df)
df = record.pulse_width()
print(df)
NOTE: The time interval specified by
tickmust be a multiple of .
At each time ( unit), the phase/pulse width is stored in each column.
Each column name is <phase/pulse_width>@<time>[ns].
Each row corresponds to the rows in the Transducer Table.
┌─────────────┬────────────────┬────────────────┬────────────────┬───┬────────────────┬───────────────┬───────────────┬───────────────┐
│ phase@0[ns] ┆ phase@25000[ns ┆ phase@50000[ns ┆ phase@75000[ns ┆ … ┆ phase@9900000[ ┆ phase@9925000 ┆ phase@9950000 ┆ phase@9975000 │
│ --- ┆ ] ┆ ] ┆ ] ┆ ┆ ns] ┆ [ns] ┆ [ns] ┆ [ns] │
│ u8 ┆ --- ┆ --- ┆ --- ┆ ┆ --- ┆ --- ┆ --- ┆ --- │
│ ┆ u8 ┆ u8 ┆ u8 ┆ ┆ u8 ┆ u8 ┆ u8 ┆ u8 │
╞═════════════╪════════════════╪════════════════╪════════════════╪═══╪════════════════╪═══════════════╪═══════════════╪═══════════════╡
│ 0 ┆ 0 ┆ 0 ┆ 0 ┆ … ┆ 0 ┆ 0 ┆ 0 ┆ 0 │
│ 0 ┆ 0 ┆ 0 ┆ 0 ┆ … ┆ 0 ┆ 0 ┆ 0 ┆ 0 │
│ 0 ┆ 0 ┆ 0 ┆ 0 ┆ … ┆ 0 ┆ 0 ┆ 0 ┆ 0 │
│ 0 ┆ 0 ┆ 0 ┆ 0 ┆ … ┆ 0 ┆ 0 ┆ 0 ┆ 0 │
│ 0 ┆ 0 ┆ 0 ┆ 0 ┆ … ┆ 0 ┆ 0 ┆ 0 ┆ 0 │
│ … ┆ … ┆ … ┆ … ┆ … ┆ … ┆ … ┆ … ┆ … │
│ 0 ┆ 0 ┆ 0 ┆ 0 ┆ … ┆ 0 ┆ 0 ┆ 0 ┆ 0 │
│ 0 ┆ 0 ┆ 0 ┆ 0 ┆ … ┆ 0 ┆ 0 ┆ 0 ┆ 0 │
│ 0 ┆ 0 ┆ 0 ┆ 0 ┆ … ┆ 0 ┆ 0 ┆ 0 ┆ 0 │
│ 0 ┆ 0 ┆ 0 ┆ 0 ┆ … ┆ 0 ┆ 0 ┆ 0 ┆ 0 │
│ 0 ┆ 0 ┆ 0 ┆ 0 ┆ … ┆ 0 ┆ 0 ┆ 0 ┆ 0 │
└─────────────┴────────────────┴────────────────┴────────────────┴───┴────────────────┴───────────────┴───────────────┴───────────────┘
┌───────────────────┬───────────────────────┬───────────────────────┬───────────────────────┬───┬─────────────────────────┬─────────────────────────┬────────────────────────┬────────────────────────┐
│ pulse_width@0[ns] ┆ pulse_width@25000[ns] ┆ pulse_width@50000[ns] ┆ pulse_width@75000[ns] ┆ … ┆ pulse_width@9900000[ns] ┆ pulse_width@9925000[ns] ┆ pulse_width@9950000[ns ┆ pulse_width@9975000[ns │
│ --- ┆ --- ┆ --- ┆ --- ┆ ┆ --- ┆ --- ┆ ] ┆ ] │
│ u16 ┆ u16 ┆ u16 ┆ u16 ┆ ┆ u16 ┆ u16 ┆ --- ┆ --- │
│ ┆ ┆ ┆ ┆ ┆ ┆ ┆ u16 ┆ u16 │
╞═══════════════════╪═══════════════════════╪═══════════════════════╪═══════════════════════╪═══╪═════════════════════════╪═════════════════════════╪════════════════════════╪════════════════════════╡
│ 8 ┆ 16 ┆ 24 ┆ 33 ┆ … ┆ 50 ┆ 53 ┆ 55 ┆ 57 │
│ 8 ┆ 16 ┆ 24 ┆ 33 ┆ … ┆ 50 ┆ 53 ┆ 55 ┆ 57 │
│ 8 ┆ 16 ┆ 24 ┆ 33 ┆ … ┆ 50 ┆ 53 ┆ 55 ┆ 57 │
│ 8 ┆ 16 ┆ 24 ┆ 33 ┆ … ┆ 50 ┆ 53 ┆ 55 ┆ 57 │
│ 8 ┆ 16 ┆ 24 ┆ 33 ┆ … ┆ 50 ┆ 53 ┆ 55 ┆ 57 │
│ … ┆ … ┆ … ┆ … ┆ … ┆ … ┆ … ┆ … ┆ … │
│ 8 ┆ 16 ┆ 24 ┆ 33 ┆ … ┆ 50 ┆ 53 ┆ 55 ┆ 57 │
│ 8 ┆ 16 ┆ 24 ┆ 33 ┆ … ┆ 50 ┆ 53 ┆ 55 ┆ 57 │
│ 8 ┆ 16 ┆ 24 ┆ 33 ┆ … ┆ 50 ┆ 53 ┆ 55 ┆ 57 │
│ 8 ┆ 16 ┆ 24 ┆ 33 ┆ … ┆ 50 ┆ 53 ┆ 55 ┆ 57 │
│ 8 ┆ 16 ┆ 24 ┆ 33 ┆ … ┆ 50 ┆ 53 ┆ 55 ┆ 57 │
└───────────────────┴───────────────────────┴───────────────────────┴───────────────────────┴───┴─────────────────────────┴─────────────────────────┴────────────────────────┴────────────────────────┘
Output Voltage
use autd3::prelude::*;
use autd3_emulator::*;
use std::time::Duration;
fn main() -> Result<(), Box<dyn std::error::Error>> {
let emulator = Emulator::new([AUTD3::default()]);
let record = emulator.record(|autd| {
autd.send(Silencer::disable())?;
autd.send((
Static { intensity: 0xFF },
Uniform {
intensity: EmitIntensity::MAX,
phase: Phase(0x40),
},
))?;
autd.tick(Duration::from_millis(1))?;
Ok(())
})?;
let df = record.output_voltage();
dbg!(df);
Ok(())
}from pyautd3 import AUTD3, Duration, EmitIntensity, Phase, Silencer, Static, Uniform
from pyautd3_emulator import Emulator, Recorder
with Emulator([AUTD3()]) as emulator:
def f(autd: Recorder) -> None:
autd.send(Silencer.disable())
autd.send((Static(), Uniform(phase=Phase(0x40), intensity=EmitIntensity.MAX)))
autd.tick(Duration.from_millis(1))
record = emulator.record(f)
df = record.output_voltage()
print(df)
The output voltage at each time ( unit) is stored in each column.
Each column name is voltage[V]@<time>[25us/512].
Each row corresponds to the rows in the Transducer Table.
┌────────────────────────┬────────────────────────┬────────────────────────┬────────────────────────┬───┬────────────────────────────┬────────────────────────────┬────────────────────────────┬────────────────────────────┐
│ voltage[V]@0[25us/512] ┆ voltage[V]@1[25us/512] ┆ voltage[V]@2[25us/512] ┆ voltage[V]@3[25us/512] ┆ … ┆ voltage[V]@20476[25us/512] ┆ voltage[V]@20477[25us/512] ┆ voltage[V]@20478[25us/512] ┆ voltage[V]@20479[25us/512] │
│ --- ┆ --- ┆ --- ┆ --- ┆ ┆ --- ┆ --- ┆ --- ┆ --- │
│ f32 ┆ f32 ┆ f32 ┆ f32 ┆ ┆ f32 ┆ f32 ┆ f32 ┆ f32 │
╞════════════════════════╪════════════════════════╪════════════════════════╪════════════════════════╪═══╪════════════════════════════╪════════════════════════════╪════════════════════════════╪════════════════════════════╡
│ 12.0 ┆ 12.0 ┆ 12.0 ┆ 12.0 ┆ … ┆ -12.0 ┆ -12.0 ┆ -12.0 ┆ -12.0 │
│ 12.0 ┆ 12.0 ┆ 12.0 ┆ 12.0 ┆ … ┆ -12.0 ┆ -12.0 ┆ -12.0 ┆ -12.0 │
│ 12.0 ┆ 12.0 ┆ 12.0 ┆ 12.0 ┆ … ┆ -12.0 ┆ -12.0 ┆ -12.0 ┆ -12.0 │
│ 12.0 ┆ 12.0 ┆ 12.0 ┆ 12.0 ┆ … ┆ -12.0 ┆ -12.0 ┆ -12.0 ┆ -12.0 │
│ 12.0 ┆ 12.0 ┆ 12.0 ┆ 12.0 ┆ … ┆ -12.0 ┆ -12.0 ┆ -12.0 ┆ -12.0 │
│ … ┆ … ┆ … ┆ … ┆ … ┆ … ┆ … ┆ … ┆ … │
│ 12.0 ┆ 12.0 ┆ 12.0 ┆ 12.0 ┆ … ┆ -12.0 ┆ -12.0 ┆ -12.0 ┆ -12.0 │
│ 12.0 ┆ 12.0 ┆ 12.0 ┆ 12.0 ┆ … ┆ -12.0 ┆ -12.0 ┆ -12.0 ┆ -12.0 │
│ 12.0 ┆ 12.0 ┆ 12.0 ┆ 12.0 ┆ … ┆ -12.0 ┆ -12.0 ┆ -12.0 ┆ -12.0 │
│ 12.0 ┆ 12.0 ┆ 12.0 ┆ 12.0 ┆ … ┆ -12.0 ┆ -12.0 ┆ -12.0 ┆ -12.0 │
│ 12.0 ┆ 12.0 ┆ 12.0 ┆ 12.0 ┆ … ┆ -12.0 ┆ -12.0 ┆ -12.0 ┆ -12.0 │
└────────────────────────┴────────────────────────┴────────────────────────┴────────────────────────┴───┴────────────────────────────┴────────────────────────────┴────────────────────────────┴────────────────────────────┘
Output Sound Pressure
use autd3::prelude::*;
use autd3_emulator::*;
use std::time::Duration;
fn main() -> Result<(), Box<dyn std::error::Error>> {
let emulator = Emulator::new([AUTD3::default()]);
let record = emulator.record(|autd| {
autd.send(Silencer::disable())?;
autd.send((
Static { intensity: 0xFF },
Uniform {
intensity: EmitIntensity::MAX,
phase: Phase(0x40),
},
))?;
autd.tick(Duration::from_millis(1))?;
Ok(())
})?;
let df = record.output_ultrasound();
dbg!(df);
Ok(())
}from pyautd3 import AUTD3, Duration, EmitIntensity, Phase, Silencer, Static, Uniform
from pyautd3_emulator import Emulator, Recorder
with Emulator([AUTD3()]) as emulator:
def f(autd: Recorder) -> None:
autd.send(Silencer.disable())
autd.send((Static(), Uniform(phase=Phase(0x40), intensity=EmitIntensity.MAX)))
autd.tick(Duration.from_millis(1))
record = emulator.record(f)
df = record.output_ultrasound()
print(df)
The normalized output sound pressure at each time ( unit) is stored in each column.
Each column name is p[a.u.]@<time>[25us/512].
Each row corresponds to the rows in the Transducer Table.
┌─────────────────────┬─────────────────────┬─────────────────────┬─────────────────────┬───┬─────────────────────────┬─────────────────────────┬─────────────────────────┬─────────────────────────┐
│ p[a.u.]@0[25us/512] ┆ p[a.u.]@1[25us/512] ┆ p[a.u.]@2[25us/512] ┆ p[a.u.]@3[25us/512] ┆ … ┆ p[a.u.]@20476[25us/512] ┆ p[a.u.]@20477[25us/512] ┆ p[a.u.]@20478[25us/512] ┆ p[a.u.]@20479[25us/512] │
│ --- ┆ --- ┆ --- ┆ --- ┆ ┆ --- ┆ --- ┆ --- ┆ --- │
│ f32 ┆ f32 ┆ f32 ┆ f32 ┆ ┆ f32 ┆ f32 ┆ f32 ┆ f32 │
╞═════════════════════╪═════════════════════╪═════════════════════╪═════════════════════╪═══╪═════════════════════════╪═════════════════════════╪═════════════════════════╪═════════════════════════╡
│ 0.0 ┆ -0.000272 ┆ -0.000481 ┆ -0.000618 ┆ … ┆ -0.36185 ┆ -0.350698 ┆ -0.339501 ┆ -0.328258 │
│ 0.0 ┆ -0.000272 ┆ -0.000481 ┆ -0.000618 ┆ … ┆ -0.36185 ┆ -0.350698 ┆ -0.339501 ┆ -0.328258 │
│ 0.0 ┆ -0.000272 ┆ -0.000481 ┆ -0.000618 ┆ … ┆ -0.36185 ┆ -0.350698 ┆ -0.339501 ┆ -0.328258 │
│ 0.0 ┆ -0.000272 ┆ -0.000481 ┆ -0.000618 ┆ … ┆ -0.36185 ┆ -0.350698 ┆ -0.339501 ┆ -0.328258 │
│ 0.0 ┆ -0.000272 ┆ -0.000481 ┆ -0.000618 ┆ … ┆ -0.36185 ┆ -0.350698 ┆ -0.339501 ┆ -0.328258 │
│ … ┆ … ┆ … ┆ … ┆ … ┆ … ┆ … ┆ … ┆ … │
│ 0.0 ┆ -0.000272 ┆ -0.000481 ┆ -0.000618 ┆ … ┆ -0.36185 ┆ -0.350698 ┆ -0.339501 ┆ -0.328258 │
│ 0.0 ┆ -0.000272 ┆ -0.000481 ┆ -0.000618 ┆ … ┆ -0.36185 ┆ -0.350698 ┆ -0.339501 ┆ -0.328258 │
│ 0.0 ┆ -0.000272 ┆ -0.000481 ┆ -0.000618 ┆ … ┆ -0.36185 ┆ -0.350698 ┆ -0.339501 ┆ -0.328258 │
│ 0.0 ┆ -0.000272 ┆ -0.000481 ┆ -0.000618 ┆ … ┆ -0.36185 ┆ -0.350698 ┆ -0.339501 ┆ -0.328258 │
│ 0.0 ┆ -0.000272 ┆ -0.000481 ┆ -0.000618 ┆ … ┆ -0.36185 ┆ -0.350698 ┆ -0.339501 ┆ -0.328258 │
└─────────────────────┴─────────────────────┴─────────────────────┴─────────────────────┴───┴─────────────────────────┴─────────────────────────┴─────────────────────────┴─────────────────────────┘
Calculation of Sound Field (Instantaneous Value)
use autd3::prelude::*;
use autd3_emulator::*;
use std::time::Duration;
fn main() -> Result<(), Box<dyn std::error::Error>> {
let emulator = Emulator::new([AUTD3::default()]);
let focus = emulator.center() + Vector3::new(0., 0., 150. * mm);
let record = emulator.record(|autd| {
autd.send(Silencer::disable())?;
autd.send((
Static { intensity: 0xFF },
Focus {
pos: focus,
option: Default::default(),
},
))?;
autd.tick(Duration::from_millis(1))?;
Ok(())
})?;
let mut sound_field = record.sound_field(
RangeXY {
x: focus.x - 20.0..=focus.x + 20.0,
y: focus.y - 20.0..=focus.y + 20.0,
z: focus.z,
resolution: 1.,
},
InstantRecordOption {
sound_speed: 340e3 * mm,
time_step: Duration::from_micros(1),
print_progress: true,
memory_limits_hint_mb: 128,
gpu: true,
},
)?;
let df = sound_field.observe_points();
dbg!(df);
let df = sound_field
.skip(Duration::from_micros(500))?
.next(Duration::from_micros(500))?;
dbg!(df);
Ok(())
}NOTE: The
gpuoption is only available if thegpufeature is enabled.
import numpy as np
from pyautd3 import AUTD3, Focus, FocusOption, Silencer, Static, Duration
from pyautd3_emulator import Emulator, RangeXYZ, Recorder, InstantRecordOption
with Emulator([AUTD3()]) as emulator:
focus = emulator.center() + np.array([0.0, 0.0, 150.0])
def f(autd: Recorder) -> None:
autd.send(Silencer.disable())
autd.send((Static(), Focus(pos=focus, option=FocusOption())))
autd.tick(Duration.from_millis(1))
record = emulator.record(f)
sound_field = record.sound_field(
RangeXYZ(
x=(focus[0] - 20.0, focus[0] + 20.0),
y=(focus[1] - 20.0, focus[1] + 20.0),
z=(focus[2], focus[2]),
resolution=1.0,
),
InstantRecordOption(
sound_speed=340e3,
time_step=Duration.from_micros(1),
print_progress=True,
memory_limits_hint_mb=128,
gpu=True,
),
)
df = sound_field.observe_points()
print(df)
df = sound_field.skip(Duration.from_micros(500)).next(
Duration.from_micros(500),
)
print(df)
NOTE: In Rust, besides
RangeXYZ, you can useRangeZXY,RangeXYfor 2D,RangeXfor 1D and so on, orVec<Vector3>to specify arbitrary points. In Python, onlyRangeXYZis available.
Enabling the print_progress option will display the calculation progress.
Enabling the gpu option will execute the calculation on the GPU.
Due to the potential for high memory consumption, the next function is used to retrieve only specific times.
The skip function can be used to skip a specified amount of time.
The output sound pressure at each observation point is stored in each column in chronological order (unit specified by time_step).
Each column name is p[Pa]@<time>[ns].
Each row corresponds to the observation points obtained with observe_points.
┌────────────┬───────────┬───────┐
│ x[mm] ┆ y[mm] ┆ z[mm] │
│ --- ┆ --- ┆ --- │
│ f32 ┆ f32 ┆ f32 │
╞════════════╪═══════════╪═══════╡
│ 66.625267 ┆ 46.713196 ┆ 150.0 │
│ 67.625267 ┆ 46.713196 ┆ 150.0 │
│ 68.625267 ┆ 46.713196 ┆ 150.0 │
│ 69.625267 ┆ 46.713196 ┆ 150.0 │
│ 70.625267 ┆ 46.713196 ┆ 150.0 │
│ … ┆ … ┆ … │
│ 102.625267 ┆ 86.713196 ┆ 150.0 │
│ 103.625267 ┆ 86.713196 ┆ 150.0 │
│ 104.625267 ┆ 86.713196 ┆ 150.0 │
│ 105.625267 ┆ 86.713196 ┆ 150.0 │
│ 106.625267 ┆ 86.713196 ┆ 150.0 │
└────────────┴───────────┴───────┘
┌──────────────────┬──────────────────┬──────────────────┬──────────────────┬───┬──────────────────┬──────────────────┬──────────────────┬──────────────────┐
│ p[Pa]@500000[ns] ┆ p[Pa]@501000[ns] ┆ p[Pa]@502000[ns] ┆ p[Pa]@503000[ns] ┆ … ┆ p[Pa]@996000[ns] ┆ p[Pa]@997000[ns] ┆ p[Pa]@998000[ns] ┆ p[Pa]@999000[ns] │
│ --- ┆ --- ┆ --- ┆ --- ┆ ┆ --- ┆ --- ┆ --- ┆ --- │
│ f32 ┆ f32 ┆ f32 ┆ f32 ┆ ┆ f32 ┆ f32 ┆ f32 ┆ f32 │
╞══════════════════╪══════════════════╪══════════════════╪══════════════════╪═══╪══════════════════╪══════════════════╪══════════════════╪══════════════════╡
│ 22.249609 ┆ 14.994699 ┆ 11.20509 ┆ 3.416157 ┆ … ┆ 167.468948 ┆ 143.434677 ┆ 115.029839 ┆ 78.702179 │
│ 22.973528 ┆ 17.704706 ┆ 14.598668 ┆ 6.462077 ┆ … ┆ 128.688828 ┆ 102.245392 ┆ 73.068733 ┆ 39.29715 │
│ 23.043713 ┆ 20.534163 ┆ 15.762163 ┆ 9.015405 ┆ … ┆ 72.13736 ┆ 50.06559 ┆ 25.516897 ┆ -1.414132 │
│ 21.61729 ┆ 19.986338 ┆ 16.669203 ┆ 11.957072 ┆ … ┆ 6.599095 ┆ -8.152014 ┆ -22.183277 ┆ -34.678905 │
│ 17.479811 ┆ 18.30769 ┆ 16.697689 ┆ 12.929367 ┆ … ┆ -61.525105 ┆ -64.023788 ┆ -62.711498 ┆ -56.925694 │
│ … ┆ … ┆ … ┆ … ┆ … ┆ … ┆ … ┆ … ┆ … │
│ 14.888723 ┆ 14.758762 ┆ 13.289121 ┆ 9.737269 ┆ … ┆ -73.181961 ┆ -85.114655 ┆ -92.114983 ┆ -93.623962 │
│ 17.559294 ┆ 15.889968 ┆ 12.346513 ┆ 7.979947 ┆ … ┆ -28.419638 ┆ -61.184322 ┆ -90.326851 ┆ -113.895905 │
│ 18.171673 ┆ 15.26449 ┆ 10.946121 ┆ 5.410897 ┆ … ┆ 19.804182 ┆ -28.594215 ┆ -73.595749 ┆ -115.230705 │
│ 18.815191 ┆ 12.321008 ┆ 7.800498 ┆ 3.680776 ┆ … ┆ 65.869225 ┆ 9.351333 ┆ -48.561874 ┆ -98.87677 │
│ 16.717573 ┆ 10.482997 ┆ 4.044011 ┆ 0.89806 ┆ … ┆ 102.099556 ┆ 44.310383 ┆ -16.616224 ┆ -70.65287 │
└──────────────────┴──────────────────┴──────────────────┴──────────────────┴───┴──────────────────┴──────────────────┴──────────────────┴──────────────────┘
Calculation of Sound Field (RMS)
use autd3::prelude::*;
use autd3_emulator::*;
use std::time::Duration;
fn main() -> Result<(), Box<dyn std::error::Error>> {
let emulator = Emulator::new([AUTD3::default()]);
let focus = emulator.center() + Vector3::new(0., 0., 150. * mm);
let record = emulator.record(|autd| {
autd.send(Silencer::disable())?;
autd.send((
Static { intensity: 0xFF },
Focus {
pos: focus,
option: Default::default(),
},
))?;
autd.tick(Duration::from_micros(25))?;
Ok(())
})?;
let mut sound_field = record.sound_field(
RangeXY {
x: focus.x - 20.0..=focus.x + 20.0,
y: focus.y - 20.0..=focus.y + 20.0,
z: focus.z,
resolution: 1.,
},
RmsRecordOption {
sound_speed: 340e3 * mm,
print_progress: true,
gpu: true,
},
)?;
let df = sound_field.observe_points();
dbg!(df);
let df = sound_field.next(Duration::from_micros(25))?;
dbg!(df);
Ok(())
}NOTE: The
gpuoption is only available if thegpufeature is enabled.
import numpy as np
from pyautd3 import AUTD3, Duration, Focus, FocusOption, Silencer, Static
from pyautd3_emulator import Emulator, RangeXYZ, Recorder, RmsRecordOption
with Emulator([AUTD3()]) as emulator:
focus = emulator.center() + np.array([0.0, 0.0, 150.0])
def f(autd: Recorder) -> None:
autd.send(Silencer.disable())
autd.send((Static(), Focus(pos=focus, option=FocusOption())))
autd.tick(Duration.from_micros(25))
record = emulator.record(f)
sound_field = record.sound_field(
RangeXYZ(
x=(focus[0] - 20.0, focus[0] + 20.0),
y=(focus[1] - 20.0, focus[1] + 20.0),
z=(focus[2], focus[2]),
resolution=1.0,
),
RmsRecordOption(
sound_speed=340e3,
print_progress=True,
gpu=False,
),
)
df = sound_field.observe_points()
print(df)
df = sound_field.next(Duration.from_micros(25))
print(df)
NOTE: The time must advance by at least .
NOTE: The values calculated by RMS are not the RMS of the instantaneous sound field above. They are a linear superposition that ignores propagation delays and transducer responses.
The RMS of the output sound pressure at each observation point is stored in each column in chronological order (unit is ).
Each column name is rms[Pa]@<time>[ns].
Each row corresponds to the observation points obtained with observe_points.
┌────────────┬───────────┬───────┐
│ x[mm] ┆ y[mm] ┆ z[mm] │
│ --- ┆ --- ┆ --- │
│ f32 ┆ f32 ┆ f32 │
╞════════════╪═══════════╪═══════╡
│ 66.625267 ┆ 46.713196 ┆ 150.0 │
│ 67.625267 ┆ 46.713196 ┆ 150.0 │
│ 68.625267 ┆ 46.713196 ┆ 150.0 │
│ 69.625267 ┆ 46.713196 ┆ 150.0 │
│ 70.625267 ┆ 46.713196 ┆ 150.0 │
│ … ┆ … ┆ … │
│ 102.625267 ┆ 86.713196 ┆ 150.0 │
│ 103.625267 ┆ 86.713196 ┆ 150.0 │
│ 104.625267 ┆ 86.713196 ┆ 150.0 │
│ 105.625267 ┆ 86.713196 ┆ 150.0 │
│ 106.625267 ┆ 86.713196 ┆ 150.0 │
└────────────┴───────────┴───────┘
┌───────────────┐
│ rms[Pa]@0[ns] │
│ --- │
│ f32 │
╞═══════════════╡
│ 97.675339 │
│ 83.525314 │
│ 60.54364 │
│ 34.229084 │
│ 33.827206 │
│ … │
│ 51.324219 │
│ 75.84668 │
│ 102.852501 │
│ 120.575188 │
│ 125.698715 │
└───────────────┘
For more examples, please refer to autd3-emulator (Rust) and pyautd3 (Python).