AIDT 온디바이스 STEM 방사광 X선 극저온 3차원 광학 쌍극자 트랩(ODT) 단일 생체분자 브라운 운동 상쇄 서보 제어기

using System;
using System.Runtime.CompilerServices;

namespace ZeliDesk.Stem.OpticalDipoleTrap
{
    /// <summary>
    /// QPD 산란광 3차원 분자 위치 텔레메트리 상태
    /// </summary>
    public readonly ref struct MoleculePositionTelemetryState
    {
        public readonly double PositionXNanometers;      // QPD X축 편차 [nm]
        public readonly double PositionYNanometers;      // QPD Y축 편차 [nm]
        public readonly double PositionZNanometers;      // QPD 초점 Z축 편차 [nm]
        public readonly double TrappingLaserPowerMw;     // 포획 레이저 파워 [mW]
        public readonly double SolutionTempKelvin;       // 수용액 국소 온도 [K]

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public MoleculePositionTelemetryState(
            double x, double y, double z, double pwr, double temp)
        {
            PositionXNanometers = x;
            PositionYNanometers = y;
            PositionZNanometers = z;
            TrappingLaserPowerMw = pwr;
            SolutionTempKelvin = temp;
        }
    }

    /// <summary>
    /// 3축 피에조 나노스테이지 구동 명령
    /// </summary>
    public readonly ref struct DipoleTrapServoCommand
    {
        public readonly double PiezoCommandXVolts;       // X축 피에조 전압 [V]
        public readonly double PiezoCommandYVolts;       // Y축 피에조 전압 [V]
        public readonly double PiezoCommandZVolts;       // Z축 피에조 전압 [V]
        public readonly double TrappingStiffnessPnPerNm; // 복원 탄성률 kappa [pN/nm]
        public readonly bool MoleculeLockedInVolume;     // 10nm 반경 내 안정 포획 여부

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public DipoleTrapServoCommand(
            double vx, double vy, double vz, double kappa, bool locked)
        {
            PiezoCommandXVolts = vx;
            PiezoCommandYVolts = vy;
            PiezoCommandZVolts = vz;
            TrappingStiffnessPnPerNm = kappa;
            MoleculeLockedInVolume = locked;
        }
    }

    /// <summary>
    /// 10,000Hz 주기 광학 쌍극자력 단일 분자 브라운 운동 상쇄 서보 엔진
    /// </summary>
    public ref struct OpticalDipoleTrapBrownianServoEngine
    {
        private const double PiezoVoltsPerNm = 0.015; // 1nm 당 15mV 피에조 이득
        private double _prevX;
        private double _prevY;
        private double _prevZ;

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public DipoleTrapServoCommand UpdateServo(
            in MoleculePositionTelemetryState state, double dtSeconds)
        {
            // 1. 3축 속도 미분 (브라운 순간 유동 추정)
            double vx = (dtSeconds > 1e-9) ? (state.PositionXNanometers - _prevX) / dtSeconds : 0.0;
            double vy = (dtSeconds > 1e-9) ? (state.PositionYNanometers - _prevY) / dtSeconds : 0.0;
            double vz = (dtSeconds > 1e-9) ? (state.PositionZNanometers - _prevZ) / dtSeconds : 0.0;
            _prevX = state.PositionXNanometers;
            _prevY = state.PositionYNanometers;
            _prevZ = state.PositionZNanometers;

            // 2. 능동 피에조 반작용 전압 역산 (PD 피드백)
            double cmdX = 50.0 - (state.PositionXNanometers * 1.8 + vx * 0.045) * PiezoVoltsPerNm;
            double cmdY = 50.0 - (state.PositionYNanometers * 1.8 + vy * 0.045) * PiezoVoltsPerNm;
            double cmdZ = 50.0 - (state.PositionZNanometers * 2.2 + vz * 0.060) * PiezoVoltsPerNm;

            cmdX = Math.Clamp(cmdX, 0.0, 100.0);
            cmdY = Math.Clamp(cmdY, 0.0, 100.0);
            cmdZ = Math.Clamp(cmdZ, 0.0, 100.0);

            // 3. 레이저 출력에 비례한 유효 트랩 탄성률 계산
            double trapStiffness = 0.085 * (state.TrappingLaserPowerMw / 100.0);

            // 포획 안정 판정: 3차원 변위 RMS < 8nm
            double r3d = Math.Sqrt(state.PositionXNanometers * state.PositionXNanometers +
                                   state.PositionYNanometers * state.PositionYNanometers +
                                   state.PositionZNanometers * state.PositionZNanometers);
            bool isLocked = r3d < 8.0;

            return new DipoleTrapServoCommand(cmdX, cmdY, cmdZ, trapStiffness, isLocked);
        }
    }
}