1060 lines
45 KiB
Org Mode
1060 lines
45 KiB
Org Mode
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#+TITLE: Sample Stabilization for Tomography Experiments in Presence of Large Plant Uncertainty - Tikz Figures
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:DRAWER:
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#+HTML_LINK_HOME: ../index.html
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#+HTML_LINK_UP: ../index.html
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
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#+HTML_HEAD: <script src="../js/jquery.min.js"></script>
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#+HTML_HEAD: <script src="../js/bootstrap.min.js"></script>
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#+HTML_HEAD: <script src="../js/jquery.stickytableheaders.min.js"></script>
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#+HTML_HEAD: <script src="../js/readtheorg.js"></script>
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#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{/home/thomas/Cloud/thesis/papers/dehaeze18_sampl_stabil_for_tomog_exper/tikz/}{config.tex}")
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#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
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#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
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#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
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#+PROPERTY: header-args:latex+ :results raw replace :buffer no
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#+PROPERTY: header-args:latex+ :eval no-export
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#+PROPERTY: header-args:latex+ :exports both
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#+PROPERTY: header-args:latex+ :mkdirp yes
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#+PROPERTY: header-args:latex+ :noweb yes
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#+PROPERTY: header-args:latex+ :output-dir figs
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#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
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:END:
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Configuration file is accessible [[file:config.org][here]].
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* Fig 1: Schematic representation of the ID31 end station
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#+begin_src latex :file schematic_sys_without_nass.pdf :tangle figs/schematic_sys_without_nass.tex :exports results
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\begin{tikzpicture}
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% Parameters
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\def\blockw{6.0cm}
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\def\blockh{1.2cm}
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\def\tiltdeg{3}
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\coordinate[] (rotationpoint) at (0, 4.5*\blockh);
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\begin{scope}[rotate around={\tiltdeg:(rotationpoint)}]
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% Tilt
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\path[] ([shift=(-120:4*\blockh)]rotationpoint) coordinate(beginarc) arc (-120:-110:4*\blockh) %
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-- ([shift=(-70:4*\blockh)]rotationpoint) arc (-70:-60:4*\blockh)%
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|- ++(-0.15*\blockw, 0.6*\blockh) coordinate (spindlene)%
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|- ($(beginarc) + (0.15*\blockw, 0.2*\blockh)$) coordinate (spindlesw) -- ++(0, 0.4*\blockh) coordinate(tiltte) -| cycle;
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% Spindle
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\coordinate[] (spindlese) at (spindlesw-|spindlene);
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\draw[fill=black!30] ($(spindlese)+(-0.1,0.1)+(-0.1*\blockw, 0)$) -| ($(spindlene)+(-0.1, 0)$) -| coordinate[pos=0.25](spindletop) ($(spindlesw)+(0.1,0.1)$) -| ++(0.1*\blockw, -\blockh) -| coordinate[pos=0.25](spindlebot) cycle;
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% \draw[dashed, color=black!60] ($(spindletop)+(0, 0.2)$) -- ($(spindlebot)+(0,-0.2)$);
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% Tilt
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\draw[fill=black!60] ([shift=(-120:4*\blockh)]rotationpoint) coordinate(beginarc) arc (-120:-110:4*\blockh) %
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-- ([shift=(-70:4*\blockh)]rotationpoint) arc (-70:-60:4*\blockh)%
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|- coordinate (tiltne) ++(-0.15*\blockw, 0.6*\blockh) coordinate (spindlene)%
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|- ($(beginarc) + (0.15*\blockw, 0.2*\blockh)$) coordinate (spindlesw) -- ++(0, 0.4*\blockh) -| cycle;
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% Micro-Hexapod
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\begin{scope}[shift={(spindletop)}]
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% Parameters definitions
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\def\baseh{0.22*\blockh} % Height of the base
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\def\naceh{0.18*\blockh} % Height of the nacelle
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\def\baser{0.22*\blockw} % Radius of the base
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\def\nacer{0.18*\blockw} % Radius of the nacelle
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\def\armr{0.2*\blockh} % Radius of the arms
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\def\basearmborder{0.2}
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\def\nacearmborder{0.2}
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\def\xnace{0} \def\ynace{\blockh-\naceh} \def\anace{0}
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\def\xbase{0} \def\ybase{0} \def\abase{0}
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% Hexapod1
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\begin{scope}[shift={(\xbase, \ybase)}, rotate=\abase]
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% Base
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\draw[fill=white] (-\baser, 0) coordinate[](uhexabot) rectangle (\baser, \baseh);
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\coordinate[] (armbasel) at (-\baser+\basearmborder+\armr, \baseh);
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\coordinate[] (armbasec) at (0, \baseh);
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\coordinate[] (armbaser) at (\baser-\basearmborder-\armr, \baseh);
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\begin{scope}[shift={(\xnace, \ynace)}, rotate=\anace]
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\draw[fill=white] (-\nacer, 0) rectangle (\nacer, \naceh);
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\coordinate[] (uhexatop) at (0, \naceh);
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\coordinate[] (armnacel) at (-\nacer+\nacearmborder+\armr, 0);
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\coordinate[] (armnacec) at (0, 0);
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\coordinate[] (armnacer) at (\nacer-\nacearmborder-\armr, 0);
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\end{scope}
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\draw[] (armbasec) -- (armnacer);
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\draw[] (armbasec) -- (armnacel);
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\draw[] (armbasel) -- coordinate(mhexaw) (armnacel);
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\draw[] (armbasel) -- (armnacec);
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\draw[] (armbaser) -- (armnacec);
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\draw[] (armbaser) -- coordinate(mhexae) (armnacer);
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\end{scope}
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\end{scope}
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% Sample
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\begin{scope}[shift={(uhexatop)}]
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\draw[fill=white] (-0.1*\blockw, 0) coordinate[](samplebot) rectangle coordinate[pos=0.5](samplecenter) (0.1*\blockw, \blockh) coordinate[](samplene);
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\coordinate[](samplenw) at (-0.1*\blockw, \blockh);
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\end{scope}
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\end{scope}
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\begin{scope}[shift={(0, -0.3*\blockh)}]
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% Translation Stage - fixed part
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\draw[fill=black!40] (-0.5*\blockw, 0) coordinate[](tyb) rectangle (0.5*\blockw, 0.15*\blockh);
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\coordinate[] (measposbot) at (0.5*\blockw, 0);
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% Translation Stage - mobile part
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\draw[fill=black!10, fill opacity=0.5] (-0.5*\blockw, 0.2*\blockh) -- (-0.5*\blockw, 1.5*\blockh) coordinate[](tyt) -- (0.5*\blockw, 1.5*\blockh) -- (0.5*\blockw, 0.2*\blockh) -- (0.35*\blockw, 0.2*\blockh) -- (0.35*\blockw, 0.8*\blockh) -- (-0.35*\blockw, 0.8*\blockh) -- (-0.35*\blockw, 0.2*\blockh) -- cycle;
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% Translation Guidance
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\draw[dashed, color=black!60] ($(-0.5*\blockw, 0)+( 0.075*\blockw,0.5*\blockh)$) circle (0.2*\blockh);
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\draw[dashed, color=black!60] ($( 0.5*\blockw, 0)+(-0.075*\blockw,0.5*\blockh)$) circle (0.2*\blockh);
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\draw[fill, color=black] ($( 0.5*\blockw, 0)+(-0.075*\blockw,1.0*\blockh)$) circle (0.04);
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\node[draw, circle, inner sep=0pt, minimum size=0.3cm, label=left:$T_y$] at ($( 0.5*\blockw, 0)+(-0.075*\blockw,1.0*\blockh)$){};
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% Tilt Guidance
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\draw[dashed, color=black!60] ([shift=(-107:4.1*\blockh)]rotationpoint) arc (-107:-120:4.1*\blockh);
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\draw[dashed, color=black!60] ([shift=( -73:4.1*\blockh)]rotationpoint) arc (-73:-60:4.1*\blockh);
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\end{scope}
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% Vertical line
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\draw[dashed, color=black] (samplecenter) -- ++(0, -4*\blockh);
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\begin{scope}[rotate around={\tiltdeg:(samplecenter)}]
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\draw[dashed, color=black] (samplecenter) -- ++(0, -4*\blockh);
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\node[] at ($(samplecenter)+(0, -2.3*\blockh)$) {\AxisRotator[rotate=-90]};
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\node[right, shift={(0.3,0)}] at ($(samplecenter)+(0, -2.3*\blockh)$) {$\theta_z$};
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\end{scope}
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\draw[->] ([shift=(-90:3.6*\blockh)]samplecenter) arc (-90:-87:3.6*\blockh) node[right]{$\theta_y$};
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% Laser
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\begin{scope}[shift={(samplecenter)}]
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\draw[color=red, -<-=0.5] (samplecenter) node[circle, fill=red, inner sep=0pt, minimum size=3pt]{} -- node[midway, above, color=black]{X-ray} ($(samplecenter)+(0.5*\blockw,0)$);
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% \draw[color=red, -<-=0.5] (samplecenter) node[circle, fill=red, inner sep=0pt, minimum size=3pt]{} -- ($(samplecenter)+(0.5*\blockw,0)$);
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\end{scope}
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% Axis
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\begin{scope}[shift={(-0.35*\blockw, 3*\blockh)}]
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\def\axissize{0.8cm}
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\draw[->] (0, 0) -- ++(0, \axissize) node[right]{$z$};
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\draw[->] (0, 0) -- ++(-\axissize, 0) node[above]{$x$};
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\draw[fill, color=black] (0, 0) circle (0.05*\axissize);
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\node[draw, circle, inner sep=0pt, minimum size=0.4*\axissize, label=right:$y$] (yaxis) at (0, 0){};
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% \node[draw, circle, inner sep=0pt, cross, minimum size=0.4*\axissize, label=left:$y$] (yaxis) at (0, 0){};
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\end{scope}
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% NUMBERS
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% Granite
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\node[labelc, anchor=west] (char) at (tyb) {1};
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% Translation stage
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\node[labelc, anchor=north west] (char) at (tyt) {2};
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% Tilt Stage
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\node[labelc, anchor=north east] (char) at (tiltne) {3};
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% Spindle
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\node[labelc, anchor=north east] (char) at (spindlene) {4};
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% Micro-Hexapod
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\node[labelc, anchor=east] (char) at (mhexaw) {5};
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% Sample
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\node[labelc, anchor=north west] (char) at (samplenw) {6};
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% % Measurement
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% \draw[dashed, color=black!50] (measposbot) -- ++(1,0) coordinate (measposbotend);
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% \draw[dashed, color=black!50] (measpostop) -- (measpostop-|measposbotend) coordinate (measpostopend);
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% \draw[<->, dashed] ($(measposbotend)+(-0.3, 0)$) -- node[midway, right](d){$d$} ($(measpostopend)+(-0.3, 0)$);
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% % Control
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% \draw[<->] (nassfbot) -- node[midway, right](F){$F$} (nassftop);
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% \def\blockw{1.2cm}
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% \def\blockh{1.0cm}
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% \node[draw, fill=white, block, right=0.6 of F] (K){$K$};
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% \draw[->] (d.east) -- ++(0.2, 0) |- (K.east);
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% \draw[->] (K.west) -- (F.east);
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% \coordinate[] (labelx) at (-0.52*\blockw, 0);
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% \coordinate[] (labelb) at (-0.28*\blockw, 0);
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% % Curly braces
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% \draw [decorate,decoration={brace,amplitude=5pt}] (tyb-|labelx) -- coordinate[midway](labelty) (tyt-|labelx);
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% \draw [decorate,decoration={brace,amplitude=5pt}] ($(uhexabot-|labelb)+(0,0.05)$) -- coordinate[midway](labeluhexa) ($(uhexatop-|labelb)+(0,-0.05)$);
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% \draw [decorate,decoration={brace,amplitude=5pt}] ($(nhexabot-|labelb)+(0,0.05)$) -- coordinate[midway](labelnhexa) ($(nhexatop-|labelb)+(0,-0.05)$);
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% \draw [decorate,decoration={brace,amplitude=5pt}] ($(samplebot-|labelb)+(0,0.05)$) -- coordinate[midway](labelsample) ($(samplenw-|labelb)+(0,-0.05)$);
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% Labels
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% \node[left,xshift=-0.2cm] at (labeluhexa) {Hexapod};
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% \node[left,xshift=-0.2cm] at (labelnhexa) {NASS};
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% \node[left,xshift=-0.2cm] at (labelsample) {Sample};
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% \node[left,xshift=-0.2cm, align=right] at (labelty) {Translation\\Stage};
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% \draw[<-] ($0.5*(tiltte)+0.5*(beginarc)$) coordinate(arrowtilt) -- (arrowtilt-|labelty) node[left,xshift=-0.3cm] {Tilt Stage};
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% \draw[<-] ($(spindlesw)+(0.5, 0.4)$) -- ++(-0.8, 0.5) coordinate(arrowspindle) -- (arrowspindle-|labelty) node[left,xshift=-0.3cm] {Spindle};
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\end{tikzpicture}
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#+end_src
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#+name: fig:schematic_sys_without_nass
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#+caption: Schematic representation of the ID31 end station ([[./figs/schematic_sys_without_nass.png][png]], [[./figs/schematic_sys_without_nass.pdf][pdf]], [[./figs/schematic_sys_without_nass.tex][tex]]).
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#+RESULTS:
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[[file:figs/schematic_sys_without_nass.png]]
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* Fig 2: CAD View of the ID31 end station
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#+begin_src latex :file assemblage.pdf :tangle figs/assemblage.tex :exports both
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\graphicspath{{~/Cloud/thesis/latex/img/}}
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\begin{tikzpicture}
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\tikzstyle{legend}=[draw, text width=4.2cm, align=center]
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\node[inner sep=0pt, anchor=south west] (assemblage) at (0,0)
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{\includegraphics[width=0.42\textwidth]{/home/thomas/Cloud/thesis/papers/dehaeze18_sampl_stabil_for_tomog_exper/tikz/img/assemblage_img.png}};
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\coordinate[] (aheight) at (assemblage.north west);
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\coordinate[] (awidth) at (assemblage.south east);
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\coordinate[] (xrightlabel) at (-0.2, 0);
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\coordinate[] (xleftlabel) at ($(awidth)+(0.2, 0)$);
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% Translation Stage
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\coordinate[] (ty) at ($0.5*(aheight)+0.1*(awidth)$);
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\draw[<-] (ty) -- (ty-|xrightlabel) node[left, legend]{Translation Stage\\$\SI{-5}{m\metre} < T_y < \SI{5}{m\metre}$};
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% Sample Interface
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\coordinate[] (sampleint) at ($0.77*(aheight)+0.5*(awidth)$);
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\coordinate[] (sampleintmid) at ($(sampleint)+(-1, -0.5)$);
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\draw[<-] (sampleint) -- (sampleintmid) -- (sampleintmid-|xrightlabel) node[left, legend]{Sample Interface};
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% Sample
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\coordinate[] (sample) at ($0.9*(aheight)+0.5*(awidth)$);
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\draw[<-] (sample) -- (sample-|xrightlabel) node[left, legend]{Sample Environment\\$\SI{1}{\kg} < M < \SI{50}{\kg}$};
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% Tilt Stage
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\coordinate[] (tilt) at ($0.55*(aheight)+0.78*(awidth)$);
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\coordinate[] (tiltmid) at ($(tilt)+(1, 0.5)$);
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\draw[<-] (tilt) -- (tiltmid) -- (tiltmid-|xleftlabel) node[right, legend]{Tilt Stage\\$\ang{-3} < \theta_y < \ang{3}$};
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% Spindle
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\coordinate[] (spindle) at ($0.53*(aheight)+0.33*(awidth)$);
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\coordinate[] (spindlemid) at ($(spindle)+(-1, -1.5)$);
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\draw[<-] (spindle) -- (spindlemid) -- (spindlemid-|xrightlabel) node[left, legend]{Spindle\\$\SI{1}{rpm} < \dot{\theta_z} < \SI{60}{rpm}$};
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% Center of gravity compensation
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\coordinate[] (axisc) at ($0.65*(aheight)+0.65*(awidth)$);
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\coordinate[] (axiscmid) at ($(axisc)+(1, 1.5)$);
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\draw[<-] (axisc) -- (axiscmid) -- (axiscmid-|xleftlabel) node[right, legend]{Center of gravity\\compensation system};
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% Micro Hexapod
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\coordinate[] (hexapod) at ($0.52*(aheight)+0.6*(awidth)$);
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\coordinate[] (hexapodmid) at ($(hexapod)+(1, -1.0)$);
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\draw[<-] (hexapod) -- (hexapodmid) -- (hexapodmid-|xleftlabel) node[right, legend]{Long Stroke Hexapod\\$\SI{-10}{m\metre} < T_{x y z} < \SI{10}{m\metre}$\\$\ang{-3} < \theta_{x y z} < \ang{3}$};
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% Frame
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\coordinate[] (frame) at ($0.14*(aheight)+0.65*(awidth)$);
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|
|
\draw[<-] (frame) -- (frame-|xleftlabel) node[right, legend]{Frame fixed\\on the granite};
|
||
|
|
|
||
|
|
% X-Ray
|
||
|
|
\draw[color=red, ->-=0.7] ($0.92*(aheight)+0.8*(awidth)$) -- node[above, color=black]{X-ray} ++(190:1.8);
|
||
|
|
|
||
|
|
% Size of the setup
|
||
|
|
\draw[dashed, <->, color=black!70, line width=0.5pt] ($0.03*(aheight)+0.35*(awidth)$) -- node[below, color=black, pos=0.6]{$\approx\SI{1}{m}$} ($0.14*(aheight)+0.98*(awidth)$);
|
||
|
|
\draw[dashed, <->, color=black!70, line width=0.5pt] ($0.032*(aheight)+0.32*(awidth)$) -- node[left, color=black, pos=0.4]{$\approx\SI{1}{m}$} ($0.305*(aheight)+0.0*(awidth)$);
|
||
|
|
|
||
|
|
% Axis
|
||
|
|
\begin{scope}[shift={(0.0, 0.7)}]
|
||
|
|
\draw[->] (0, 0) -- ++(195:0.8) node[above] {$x$};
|
||
|
|
\draw[->] (0, 0) -- ++(90:0.9) node[right] {$z$};
|
||
|
|
\draw[->] (0, 0) -- ++(-40:0.7) node[above] {$y$};
|
||
|
|
\end{scope}
|
||
|
|
|
||
|
|
\end{tikzpicture}
|
||
|
|
#+end_src
|
||
|
|
|
||
|
|
#+name: fig:assemblage
|
||
|
|
#+caption: CAD View of the ID31 end station ([[./figs/assemblage.png][png]], [[./figs/assemblage.pdf][pdf]], [[./figs/assemblage.tex][tex]]).
|
||
|
|
#+RESULTS:
|
||
|
|
[[file:figs/assemblage.png]]
|
||
|
|
|
||
|
|
* Fig 3: Picture of the ID31 end station
|
||
|
|
#+begin_src latex :file exp_setup.pdf :tangle figs/exp_setup.tex :exports both
|
||
|
|
\begin{tikzpicture}
|
||
|
|
\node[inner sep=0pt, anchor=south west] (photo) at (0,0)
|
||
|
|
{\includegraphics[width=0.39\textwidth]{/home/thomas/Cloud/thesis/papers/dehaeze18_sampl_stabil_for_tomog_exper/tikz/img/exp_setup_photo.png}};
|
||
|
|
|
||
|
|
\coordinate[] (aheight) at (photo.north west);
|
||
|
|
\coordinate[] (awidth) at (photo.south east);
|
||
|
|
|
||
|
|
\coordinate[] (granite) at ($0.1*(aheight)+0.1*(awidth)$);
|
||
|
|
\coordinate[] (trans) at ($0.5*(aheight)+0.4*(awidth)$);
|
||
|
|
\coordinate[] (tilt) at ($0.65*(aheight)+0.75*(awidth)$);
|
||
|
|
\coordinate[] (hexapod) at ($0.7*(aheight)+0.5*(awidth)$);
|
||
|
|
\coordinate[] (sample) at ($0.9*(aheight)+0.55*(awidth)$);
|
||
|
|
|
||
|
|
% Granite
|
||
|
|
\node[labelc] at (granite) {1};
|
||
|
|
% Translation stage
|
||
|
|
\node[labelc] at (trans) {2};
|
||
|
|
% Tilt Stage
|
||
|
|
\node[labelc] at (tilt) {3};
|
||
|
|
% Micro-Hexapod
|
||
|
|
\node[labelc] at (hexapod) {4};
|
||
|
|
% Sample
|
||
|
|
\node[labelc] at (sample) {5};
|
||
|
|
|
||
|
|
% Axis
|
||
|
|
\begin{scope}[shift={($0.07*(aheight)+0.87*(awidth)$)}]
|
||
|
|
\draw[->] (0, 0) -- ++(55:0.7) node[above] {$y$};
|
||
|
|
\draw[->] (0, 0) -- ++(90:0.9) node[left] {$z$};
|
||
|
|
\draw[->] (0, 0) -- ++(-20:0.7) node[above] {$x$};
|
||
|
|
\end{scope}
|
||
|
|
\end{tikzpicture}
|
||
|
|
#+end_src
|
||
|
|
|
||
|
|
#+name: fig:exp_setup
|
||
|
|
#+caption: Picture of the ID31 end station ([[./figs/exp_setup.png][png]], [[./figs/exp_setup.pdf][pdf]], [[./figs/exp_setup.tex][tex]]).
|
||
|
|
#+RESULTS:
|
||
|
|
[[file:figs/exp_setup.png]]
|
||
|
|
|
||
|
|
* Fig 4: Schematic representation of the NASS added below the sample and the control architecture used
|
||
|
|
#+begin_src latex :file system_control.pdf :tangle figs/system_control.tex :exports results
|
||
|
|
\begin{tikzpicture}
|
||
|
|
% Parameters
|
||
|
|
\def\blockw{6.0cm}
|
||
|
|
\def\blockh{1.2cm}
|
||
|
|
|
||
|
|
% Translation Stage
|
||
|
|
\begin{scope}
|
||
|
|
% Translation Stage - fixed part
|
||
|
|
\draw[fill=black!40] (-0.5*\blockw, 0) coordinate[](tyb) rectangle (0.5*\blockw, 0.15*\blockh);
|
||
|
|
\coordinate[] (measposbot) at (0.5*\blockw, 0);
|
||
|
|
|
||
|
|
% Tilt
|
||
|
|
\path[] ([shift=(-120:4*\blockh)]0, 4.9*\blockh) coordinate(beginarc) arc (-120:-110:4*\blockh) %
|
||
|
|
-- ([shift=(-70:4*\blockh)]0, 4.9*\blockh) arc (-70:-60:4*\blockh)%
|
||
|
|
|- ++(-0.15*\blockw, 0.6*\blockh) coordinate (spindlene)%
|
||
|
|
|- ($(beginarc) + (0.15*\blockw, 0.2*\blockh)$) coordinate (spindlesw) -- ++(0, 0.4*\blockh) coordinate(tiltte) -| cycle;
|
||
|
|
|
||
|
|
% Spindle
|
||
|
|
\coordinate[] (spindlese) at (spindlesw-|spindlene);
|
||
|
|
\draw[fill=black!30] ($(spindlese)+(-0.1,0.1)+(-0.1*\blockw, 0)$) -| ($(spindlene)+(-0.1, 0)$) -| coordinate[pos=0.25](spindletop) ($(spindlesw)+(0.1,0.1)$) -| ++(0.1*\blockw, -\blockh) -| coordinate[pos=0.25](spindlebot) cycle;
|
||
|
|
|
||
|
|
\draw[dashed, color=black!60] ($(spindletop)+(0, 0.2)$) -- ($(spindlebot)+(0,-0.2)$);
|
||
|
|
|
||
|
|
|
||
|
|
% Tilt
|
||
|
|
\draw[fill=black!60] ([shift=(-120:4*\blockh)]0, 4.9*\blockh) coordinate(beginarc) arc (-120:-110:4*\blockh) %
|
||
|
|
-- ([shift=(-70:4*\blockh)]0, 4.9*\blockh) arc (-70:-60:4*\blockh)%
|
||
|
|
|- ++(-0.15*\blockw, 0.6*\blockh) coordinate (spindlene)%
|
||
|
|
|- ($(beginarc) + (0.15*\blockw, 0.2*\blockh)$) coordinate (spindlesw) -- ++(0, 0.4*\blockh) -| cycle;
|
||
|
|
|
||
|
|
% Translation Stage - mobile part
|
||
|
|
\draw[fill=black!10, fill opacity=0.5] (-0.5*\blockw, 0.2*\blockh) -- (-0.5*\blockw, 1.5*\blockh) coordinate[](tyt) -- (0.5*\blockw, 1.5*\blockh) -- (0.5*\blockw, 0.2*\blockh) -- (0.35*\blockw, 0.2*\blockh) -- (0.35*\blockw, 0.8*\blockh) -- (-0.35*\blockw, 0.8*\blockh) -- (-0.35*\blockw, 0.2*\blockh) -- cycle;
|
||
|
|
|
||
|
|
% Translation Guidance
|
||
|
|
\draw[dashed, color=black!60] ($(-0.5*\blockw, 0)+( 0.075*\blockw,0.5*\blockh)$) circle (0.2*\blockh);
|
||
|
|
\draw[dashed, color=black!60] ($( 0.5*\blockw, 0)+(-0.075*\blockw,0.5*\blockh)$) circle (0.2*\blockh);
|
||
|
|
|
||
|
|
% Tilt Guidance
|
||
|
|
\draw[dashed, color=black!60] ([shift=(-110:4*\blockh)]0, 4.8*\blockh) arc (-110:-120:4*\blockh);
|
||
|
|
\draw[dashed, color=black!60] ([shift=( -70:4*\blockh)]0, 4.8*\blockh) arc (-70:-60:4*\blockh);
|
||
|
|
\end{scope}
|
||
|
|
|
||
|
|
% Micro-Hexapod
|
||
|
|
\begin{scope}[shift={(spindletop)}]
|
||
|
|
% Parameters definitions
|
||
|
|
\def\baseh{0.2*\blockh} % Height of the base
|
||
|
|
\def\naceh{0.2*\blockh} % Height of the nacelle
|
||
|
|
\def\baser{0.22*\blockw} % Radius of the base
|
||
|
|
\def\nacer{0.18*\blockw} % Radius of the nacelle
|
||
|
|
|
||
|
|
\def\armr{0.2*\blockh} % Radius of the arms
|
||
|
|
\def\basearmborder{0.2}
|
||
|
|
\def\nacearmborder{0.2}
|
||
|
|
|
||
|
|
\def\xnace{0} \def\ynace{\blockh-\naceh} \def\anace{0}
|
||
|
|
\def\xbase{0} \def\ybase{0} \def\abase{0}
|
||
|
|
|
||
|
|
% Hexapod1
|
||
|
|
\begin{scope}[shift={(\xbase, \ybase)}, rotate=\abase]
|
||
|
|
% Base
|
||
|
|
\draw[fill=white] (-\baser, 0) coordinate[](uhexabot) rectangle (\baser, \baseh);
|
||
|
|
|
||
|
|
\coordinate[] (armbasel) at (-\baser+\basearmborder+\armr, \baseh);
|
||
|
|
\coordinate[] (armbasec) at (0, \baseh);
|
||
|
|
\coordinate[] (armbaser) at (\baser-\basearmborder-\armr, \baseh);
|
||
|
|
|
||
|
|
% Nacelle1
|
||
|
|
\begin{scope}[shift={(\xnace, \ynace)}, rotate=\anace]
|
||
|
|
\draw[fill=white] (-\nacer, 0) rectangle (\nacer, \naceh);
|
||
|
|
\coordinate[] (uhexatop) at (0, \naceh);
|
||
|
|
\coordinate[] (armnacel) at (-\nacer+\nacearmborder+\armr, 0);
|
||
|
|
\coordinate[] (armnacec) at (0, 0);
|
||
|
|
\coordinate[] (armnacer) at (\nacer-\nacearmborder-\armr, 0);
|
||
|
|
\end{scope}
|
||
|
|
% Nacelle1 END
|
||
|
|
|
||
|
|
\draw[] (armbasec) -- (armnacer);
|
||
|
|
\draw[] (armbasec) -- (armnacel);
|
||
|
|
\draw[] (armbasel) -- (armnacel);
|
||
|
|
\draw[] (armbasel) -- (armnacec);
|
||
|
|
\draw[] (armbaser) -- (armnacec);
|
||
|
|
\draw[] (armbaser) -- (armnacer);
|
||
|
|
\end{scope}
|
||
|
|
\end{scope}
|
||
|
|
|
||
|
|
% NASS
|
||
|
|
\begin{scope}[shift={(uhexatop)}]
|
||
|
|
% Parameters definitions
|
||
|
|
\def\baseh{0.1*\blockh} % Height of the base
|
||
|
|
\def\naceh{0.1*\blockh} % Height of the nacelle
|
||
|
|
\def\baser{0.16*\blockw} % Radius of the base
|
||
|
|
\def\nacer{0.14*\blockw} % Radius of the nacelle
|
||
|
|
|
||
|
|
\def\armr{0.1*\blockh} % Radius of the arms
|
||
|
|
\def\basearmborder{0.2}
|
||
|
|
\def\nacearmborder{0.2}
|
||
|
|
|
||
|
|
\def\xnace{0} \def\ynace{0.6*\blockh-\naceh} \def\anace{0}
|
||
|
|
\def\xbase{0} \def\ybase{0} \def\abase{0}
|
||
|
|
|
||
|
|
% Hexapod1
|
||
|
|
\begin{scope}[shift={(\xbase, \ybase)}, rotate=\abase]
|
||
|
|
% Base
|
||
|
|
\draw[fill=red!50!black] (-\baser, 0) coordinate[](nhexabot) rectangle (\baser, \baseh);
|
||
|
|
|
||
|
|
\coordinate[] (armbasel) at (-\baser+\basearmborder+\armr, \baseh);
|
||
|
|
\coordinate[] (armbasec) at (0, \baseh);
|
||
|
|
\coordinate[] (armbaser) at (\baser-\basearmborder-\armr, \baseh);
|
||
|
|
|
||
|
|
% Nacelle1
|
||
|
|
\begin{scope}[shift={(\xnace, \ynace)}, rotate=\anace]
|
||
|
|
\draw[fill=red!50!black] (-\nacer, 0) rectangle (\nacer, \naceh);
|
||
|
|
\coordinate[] (nhexatop) at (0, \naceh);
|
||
|
|
\coordinate[] (armnacel) at (-\nacer+\nacearmborder+\armr, 0);
|
||
|
|
\coordinate[] (armnacec) at (0, 0);
|
||
|
|
\coordinate[] (armnacer) at (\nacer-\nacearmborder-\armr, 0);
|
||
|
|
\coordinate[] (measpostop) at (\nacer, \naceh);
|
||
|
|
\end{scope}
|
||
|
|
% Nacelle1 END
|
||
|
|
|
||
|
|
\draw[color=red!50!black] (armbasec) -- (armnacer);
|
||
|
|
\draw[color=red!50!black] (armbasec) -- (armnacel);
|
||
|
|
\draw[color=red!50!black] (armbasel) -- (armnacel);
|
||
|
|
\draw[color=red!50!black] (armbasel) -- (armnacec);
|
||
|
|
\draw[color=red!50!black] (armbaser) -- (armnacec);
|
||
|
|
\draw[color=red!50!black] (armbaser) -- (armnacer);
|
||
|
|
|
||
|
|
% Force actuator
|
||
|
|
\coordinate[] (nassfbot) at (0.8*\baser, \baseh);
|
||
|
|
\coordinate[] (nassftop) at (armnacec-|nassfbot);
|
||
|
|
\end{scope}
|
||
|
|
\end{scope}
|
||
|
|
|
||
|
|
% Sample
|
||
|
|
\begin{scope}[shift={(nhexatop)}]
|
||
|
|
\draw[fill=white] (-0.1*\blockw, 0) coordinate[](samplebot) rectangle coordinate[pos=0.5](samplecenter) (0.1*\blockw, \blockh) coordinate[](sampletop);
|
||
|
|
\end{scope}
|
||
|
|
|
||
|
|
% Laser
|
||
|
|
\begin{scope}[shift={(samplecenter)}]
|
||
|
|
\draw[color=red, -<-=0.5] (samplecenter) node[circle, fill=red, inner sep=0pt, minimum size=3pt]{} -- node[midway, above, color=black]{X-ray} ($(samplecenter)+(0.5*\blockw,0)$);
|
||
|
|
\end{scope}
|
||
|
|
|
||
|
|
%% Measurement
|
||
|
|
\draw[dashed, color=black!50] (measposbot) -- ++(0.8,0) coordinate (measposbotend);
|
||
|
|
\draw[dashed, color=black!50] (measpostop) -- (measpostop-|measposbotend) coordinate (measpostopend);
|
||
|
|
\draw[<->, dashed] ($(measposbotend)+(-0.2, 0)$) -- node[midway, left](d){$d$} ($(measpostopend)+(-0.2, 0)$);
|
||
|
|
|
||
|
|
%% Control
|
||
|
|
\draw[<->, line width=0.5pt] (nassfbot) -- node[midway, right](F){$F$} (nassftop);
|
||
|
|
\node[draw, block={2.3em}{1.7em}, right=0.3 of F] (K){$K$};
|
||
|
|
\draw[->] (d.west) -| ($(K.east)+(0.5, 0)$) -- (K.east);
|
||
|
|
\draw[->] (K.west) -- (F.east);
|
||
|
|
\end{tikzpicture}
|
||
|
|
#+end_src
|
||
|
|
|
||
|
|
#+name: fig:system_control
|
||
|
|
#+caption: Schematic representation of the NASS added below the sample and the control architecture used ([[./figs/system_control.png][png]], [[./figs/system_control.pdf][pdf]], [[./figs/system_control.tex][tex]]).
|
||
|
|
#+RESULTS:
|
||
|
|
[[file:figs/system_control.png]]
|
||
|
|
|
||
|
|
* Fig 5: Transfer function from a force applied by the NASS to the displacement of the sample
|
||
|
|
#+name: fig:G_x_mass
|
||
|
|
#+caption: Transfer function from a force applied by the NASS to the displacement of the sample ([[./figs/G_x_mass.png][png]], [[./figs/G_x_mass.pdf][pdf]]).
|
||
|
|
#+RESULTS:
|
||
|
|
[[file:figs/G_x_mass.png]]
|
||
|
|
|
||
|
|
* Fig 6: General control configuration applied to the end station
|
||
|
|
#+begin_src latex :file general_conf_K.pdf :tangle figs/general_conf_K.tex :exports both
|
||
|
|
\begin{tikzpicture}
|
||
|
|
% Blocs
|
||
|
|
\node[block={2.5cm}{2cm}] (P) {P};
|
||
|
|
\node[block={2.5cm}{2cm}, below=1 of P, scale=0.6] (K) {\[%
|
||
|
|
\begin{pmatrix}
|
||
|
|
K_{T_x} & 0 & \cdots & 0 \\
|
||
|
|
0 & \ddots & \ddots & \vdots \\
|
||
|
|
\vdots & \ddots & \ddots & 0 \\
|
||
|
|
0 & \cdots & 0 & K_{\theta_z} \\
|
||
|
|
\end{pmatrix}
|
||
|
|
\]};
|
||
|
|
|
||
|
|
% Block names
|
||
|
|
\node[above] at (P.north) {End Station};
|
||
|
|
\node[above] at (K.north) {Controller};
|
||
|
|
|
||
|
|
% Input and outputs coordinates
|
||
|
|
\coordinate[] (inputw) at ($(P.south west)!0.75!(P.north west)$);
|
||
|
|
\coordinate[] (inputu) at ($(P.south west)!0.25!(P.north west)$);
|
||
|
|
\coordinate[] (outputz) at ($(P.south east)!0.75!(P.north east)$);
|
||
|
|
\coordinate[] (outputv) at ($(P.south east)!0.25!(P.north east)$);
|
||
|
|
|
||
|
|
% Connections and labels
|
||
|
|
\draw[<-] (inputw) node[above left]{$w$} -- ++(-0.8, 0);
|
||
|
|
\draw[<-] (inputu) node[above left]{$F$} -- ++(-0.8, 0) |- (K.west);
|
||
|
|
|
||
|
|
\draw[->] (outputz) node[above right]{$z$} -- ++(0.8, 0);
|
||
|
|
\draw[->] (outputv) node[above right]{$d$} -- ++(0.8, 0) |- (K.east);
|
||
|
|
\end{tikzpicture}
|
||
|
|
#+end_src
|
||
|
|
|
||
|
|
#+name: fig:general_conf_K
|
||
|
|
#+caption: General control configuration applied to the end station ([[./figs/general_conf_K.png][png]], [[./figs/general_conf_K.pdf][pdf]], [[./figs/general_conf_K.tex][tex]]).
|
||
|
|
#+RESULTS:
|
||
|
|
[[file:figs/general_conf_K.png]]
|
||
|
|
|
||
|
|
* Fig 7: Bode plot of the loop gain for the control in the x direction
|
||
|
|
#+begin_src latex :file loopgain.pdf :tangle figs/loopgain.tex :exports results
|
||
|
|
\setlength\fwidth{6cm}
|
||
|
|
\setlength\fheight{4cm}
|
||
|
|
|
||
|
|
\definecolor{mycolor1}{rgb}{0.00000,0.44700,0.74100}%
|
||
|
|
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width=\fwidth,
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scale only axis,
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ytick={-180, -90, 0},
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ylabel={Phase [deg]},
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xminorgrids
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10 2.57693032874369\\
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||
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||
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||
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326.222200971169 -131.536370879424\\
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||
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||
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1000 -163.089713371593\\
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||
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|
};
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||
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|
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|
||
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|
\end{axis}
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||
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|
\begin{axis}[%
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width=\fwidth,
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||
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height=0.468\fheight,
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at={(0\fwidth,0.53\fheight)},
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scale only axis,
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xmode=log,
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xmin=0.001,
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xmax=1000,
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xtick={0.001,0.01,0.1,1,10,100,1000},
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xticklabels={{}},
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xminorticks=true,
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ymin=0.1,
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ymax=10000,
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ytick={1, 100, 10000},
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yticklabels={{$10^0$}, {$10^2$}, {$10^4$}},
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yminorticks=true,
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ylabel={Amplitude},
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xminorgrids,
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yminorgrids
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]
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\addplot [color=mycolor1, line width=1.5pt, forget plot]
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table[row sep=crcr]{%
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|
|
0.153527502878042 239.72600231592\\
|
||
|
|
0.294082017058706 240.030635865746\\
|
||
|
|
0.483820966492596 243.498710820624\\
|
||
|
|
0.674262224177834 249.295070811676\\
|
||
|
|
0.852964449974102 256.991790045004\\
|
||
|
|
1.02096066230605 266.579744717582\\
|
||
|
|
1.1887076977119 278.947958161191\\
|
||
|
|
1.34626057929891 293.779246196022\\
|
||
|
|
1.50375532129974 312.661093047946\\
|
||
|
|
1.65660595894991 336.185831446107\\
|
||
|
|
1.79992850678248 364.669087749645\\
|
||
|
|
1.92879150802078 397.755267940252\\
|
||
|
|
2.06688024962908 444.686960935947\\
|
||
|
|
2.18443607114943 498.687405697471\\
|
||
|
|
2.30867799418717 578.140511304515\\
|
||
|
|
2.43998629725955 705.49461262437\\
|
||
|
|
2.54334576130465 864.909089681418\\
|
||
|
|
2.65108360190854 1150.06397953612\\
|
||
|
|
2.72543253128103 1506.15645554669\\
|
||
|
|
2.8018665564592 2228.3370936465\\
|
||
|
|
2.8804441533963 4193.22407546881\\
|
||
|
|
2.92055551218275 6067.22774922962\\
|
||
|
|
2.96122543798803 5767.93091362259\\
|
||
|
|
3.08666494333727 1919.21060989611\\
|
||
|
|
3.21741815067637 1022.91140002102\\
|
||
|
|
3.40041193270371 594.941650908705\\
|
||
|
|
3.59381366380463 399.789258032443\\
|
||
|
|
3.85110700232557 268.344597258036\\
|
||
|
|
4.24255643071778 168.542908273869\\
|
||
|
|
4.93962174387832 88.8944916899213\\
|
||
|
|
5.91250841383188 41.6193619266362\\
|
||
|
|
6.42403365939419 27.7139106670782\\
|
||
|
|
6.8839520696455 18.3939139229947\\
|
||
|
|
7.27548352919622 12.0540140950493\\
|
||
|
|
7.58367791499719 7.82435961362363\\
|
||
|
|
7.79636013040524 5.22341787877031\\
|
||
|
|
8.0150069615654 2.80090242471201\\
|
||
|
|
8.23978568452852 0.851222686892883\\
|
||
|
|
8.35452805838287 1.10279073449891\\
|
||
|
|
8.58882855954625 3.0597069105514\\
|
||
|
|
8.82969995549409 5.10178151912975\\
|
||
|
|
9.20373199661822 8.05539647260134\\
|
||
|
|
9.59360828709315 10.8672597721215\\
|
||
|
|
10.1392540755881 14.4783720901258\\
|
||
|
|
10.8651577465254 18.8768193229402\\
|
||
|
|
11.8051652856881 24.255174820108\\
|
||
|
|
13.7447909267754 35.9992755224308\\
|
||
|
|
15.3527502878042 48.989108545494\\
|
||
|
|
16.4519058775366 61.9675236867468\\
|
||
|
|
17.3876240021625 78.2815769152408\\
|
||
|
|
18.3765620038817 105.759628528362\\
|
||
|
|
19.4217468148902 157.125319034049\\
|
||
|
|
20.2444650997681 212.311484261712\\
|
||
|
|
20.5263775270925 223.395136619031\\
|
||
|
|
20.8122156998634 223.31019692555\\
|
||
|
|
21.102034285686 211.480808183564\\
|
||
|
|
21.6938351838519 170.401012319889\\
|
||
|
|
23.5706941399673 83.0113918816975\\
|
||
|
|
25.2582002696278 52.3889785574963\\
|
||
|
|
29.0043049386399 23.0579347642099\\
|
||
|
|
29.4082017058706 24.4565997966304\\
|
||
|
|
30.6539529505653 49.7034890482232\\
|
||
|
|
32.8485736603005 28.6861284535607\\
|
||
|
|
34.7168681892656 22.3457836268213\\
|
||
|
|
37.2023668141307 17.729174858676\\
|
||
|
|
40.9838367175726 13.6240017002393\\
|
||
|
|
45.7784053837662 10.5334890367744\\
|
||
|
|
52.5679112201842 7.94129019098635\\
|
||
|
|
61.204983724767 6.02168414080117\\
|
||
|
|
73.2596542821523 4.48575405397529\\
|
||
|
|
92.6759330114688 3.1513822405149\\
|
||
|
|
115.628013120738 2.24687301549495\\
|
||
|
|
142.283045721435 1.63031165449062\\
|
||
|
|
190.230118866895 1.07794465396548\\
|
||
|
|
192.879150802078 1.0470765391348\\
|
||
|
|
195.565071586595 1.05528467531233\\
|
||
|
|
201.04964162605 0.990057161720141\\
|
||
|
|
206.688024962908 0.906527126546888\\
|
||
|
|
212.484535249888 0.776923494421282\\
|
||
|
|
215.443469003188 0.720692210359804\\
|
||
|
|
221.485523372636 1.37364107537187\\
|
||
|
|
227.697025538168 1.14258167143738\\
|
||
|
|
234.082727617829 1.03095880733361\\
|
||
|
|
243.998629725955 0.937175973822169\\
|
||
|
|
261.467321180109 0.834076758655\\
|
||
|
|
300.246170908555 0.684629245816208\\
|
||
|
|
321.741815067637 0.630828877951377\\
|
||
|
|
359.381366380463 0.561557761925202\\
|
||
|
|
407.014245321944 0.468733319273131\\
|
||
|
|
567.222897164455 0.282413087945242\\
|
||
|
|
707.701066118189 0.196058644388651\\
|
||
|
|
1000 0.108243919936631\\
|
||
|
|
};
|
||
|
|
|
||
|
|
\node[color=red,cross out,draw, inner sep=0pt, outer sep=0pt, minimum size=4pt] at (0.0218, 311.84) {};
|
||
|
|
\node[color=red,circle,draw, inner sep=0pt, outer sep=0pt, minimum size=4pt] at (73.259, 4.4857) {};
|
||
|
|
\node[color=red,cross out,draw, inner sep=0pt, outer sep=0pt, minimum size=4pt] at (567.22,0.282) {};
|
||
|
|
\draw [decorate,decoration={brace,amplitude=3pt}] (73, 50) -- node[above]{Lead} (567, 50);
|
||
|
|
\draw [decorate,decoration={brace,mirror,amplitude=3pt}] (0.001, 50) -- node[below]{Integral} (0.023, 50);
|
||
|
|
\end{axis}
|
||
|
|
\end{tikzpicture}%
|
||
|
|
#+end_src
|
||
|
|
|
||
|
|
#+name: fig:loopgain
|
||
|
|
#+caption: Bode plot of the loop gain for the control in the x direction ([[./figs/loopgain.png][png]], [[./figs/loopgain.pdf][pdf]], [[./figs/loopgain.tex][tex]]).
|
||
|
|
#+RESULTS:
|
||
|
|
[[file:figs/loopgain.png]]
|
||
|
|
|
||
|
|
* Fig 8: Positioning error of the sample in the x and y direction during the simulation of a tomography experiment
|
||
|
|
#+name: fig:exp_w_wo_nass_xy
|
||
|
|
#+caption: Positioning error of the sample in the x and y direction during the simulation of a tomography experiment ([[./figs/exp_w_wo_nass_xy.png][png]], [[./figs/exp_w_wo_nass_xy.pdf][pdf]]).
|
||
|
|
#+RESULTS:
|
||
|
|
[[file:figs/exp_w_wo_nass_xy.png]]
|
||
|
|
|
||
|
|
* Fig 1: Schematic of the Tomography Experiment (Poster)
|
||
|
|
#+begin_src latex :file exp_full_setup.pdf :tangle figs/exp_full_setup.tex :exports results
|
||
|
|
\begin{tikzpicture}
|
||
|
|
% Parameters
|
||
|
|
\def\blockw{6.0cm}
|
||
|
|
\def\blockh{1.2cm}
|
||
|
|
|
||
|
|
\def\tiltdeg{3}
|
||
|
|
\coordinate[] (rotationpoint) at (0, 4.5*\blockh);
|
||
|
|
|
||
|
|
\begin{scope}[rotate around={\tiltdeg:(rotationpoint)}]
|
||
|
|
% Tilt
|
||
|
|
\path[] ([shift=(-120:4*\blockh)]rotationpoint) coordinate(beginarc) arc (-120:-110:4*\blockh) %
|
||
|
|
-- ([shift=(-70:4*\blockh)]rotationpoint) arc (-70:-60:4*\blockh)%
|
||
|
|
|- ++(-0.15*\blockw, 0.6*\blockh) coordinate (spindlene)%
|
||
|
|
|- ($(beginarc) + (0.15*\blockw, 0.2*\blockh)$) coordinate (spindlesw) -- ++(0, 0.4*\blockh) coordinate(tiltte) -| cycle;
|
||
|
|
|
||
|
|
% Spindle
|
||
|
|
\coordinate[] (spindlese) at (spindlesw-|spindlene);
|
||
|
|
\draw[fill=black!30] ($(spindlese)+(-0.1,0.1)+(-0.1*\blockw, 0)$) -| ($(spindlene)+(-0.1, 0)$) -| coordinate[pos=0.25](spindletop) ($(spindlesw)+(0.1,0.1)$) -| ++(0.1*\blockw, -\blockh) -| coordinate[pos=0.25](spindlebot) cycle;
|
||
|
|
|
||
|
|
% \draw[dashed, color=black!60] ($(spindletop)+(0, 0.2)$) -- ($(spindlebot)+(0,-0.2)$);
|
||
|
|
|
||
|
|
% Tilt
|
||
|
|
\draw[fill=black!60] ([shift=(-120:4*\blockh)]rotationpoint) coordinate(beginarc) arc (-120:-110:4*\blockh) %
|
||
|
|
-- ([shift=(-70:4*\blockh)]rotationpoint) arc (-70:-60:4*\blockh)%
|
||
|
|
|- coordinate (tiltne) ++(-0.15*\blockw, 0.6*\blockh) coordinate (spindlene)%
|
||
|
|
|- ($(beginarc) + (0.15*\blockw, 0.2*\blockh)$) coordinate (spindlesw) -- ++(0, 0.4*\blockh) -| cycle;
|
||
|
|
|
||
|
|
% Micro-Hexapod
|
||
|
|
\begin{scope}[shift={(spindletop)}]
|
||
|
|
% Parameters definitions
|
||
|
|
\def\baseh{0.22*\blockh} % Height of the base
|
||
|
|
\def\naceh{0.18*\blockh} % Height of the nacelle
|
||
|
|
\def\baser{0.22*\blockw} % Radius of the base
|
||
|
|
\def\nacer{0.18*\blockw} % Radius of the nacelle
|
||
|
|
|
||
|
|
\def\armr{0.2*\blockh} % Radius of the arms
|
||
|
|
\def\basearmborder{0.2}
|
||
|
|
\def\nacearmborder{0.2}
|
||
|
|
|
||
|
|
\def\xnace{0} \def\ynace{\blockh-\naceh} \def\anace{0}
|
||
|
|
\def\xbase{0} \def\ybase{0} \def\abase{0}
|
||
|
|
|
||
|
|
% Hexapod1
|
||
|
|
\begin{scope}[shift={(\xbase, \ybase)}, rotate=\abase]
|
||
|
|
% Base
|
||
|
|
\draw[fill=white] (-\baser, 0) coordinate[](uhexabot) rectangle (\baser, \baseh);
|
||
|
|
|
||
|
|
\coordinate[] (armbasel) at (-\baser+\basearmborder+\armr, \baseh);
|
||
|
|
\coordinate[] (armbasec) at (0, \baseh);
|
||
|
|
\coordinate[] (armbaser) at (\baser-\basearmborder-\armr, \baseh);
|
||
|
|
|
||
|
|
\begin{scope}[shift={(\xnace, \ynace)}, rotate=\anace]
|
||
|
|
\draw[fill=white] (-\nacer, 0) rectangle (\nacer, \naceh);
|
||
|
|
\coordinate[] (uhexatop) at (0, \naceh);
|
||
|
|
\coordinate[] (armnacel) at (-\nacer+\nacearmborder+\armr, 0);
|
||
|
|
\coordinate[] (armnacec) at (0, 0);
|
||
|
|
\coordinate[] (armnacer) at (\nacer-\nacearmborder-\armr, 0);
|
||
|
|
\end{scope}
|
||
|
|
|
||
|
|
\draw[] (armbasec) -- (armnacer);
|
||
|
|
\draw[] (armbasec) -- (armnacel);
|
||
|
|
\draw[] (armbasel) -- coordinate(mhexaw) (armnacel);
|
||
|
|
\draw[] (armbasel) -- (armnacec);
|
||
|
|
\draw[] (armbaser) -- (armnacec);
|
||
|
|
\draw[] (armbaser) -- coordinate(mhexae) (armnacer);
|
||
|
|
\end{scope}
|
||
|
|
\end{scope}
|
||
|
|
|
||
|
|
% Sample
|
||
|
|
\begin{scope}[shift={(uhexatop)}]
|
||
|
|
\draw[fill=white] (-0.1*\blockw, 0) coordinate[](samplebot) rectangle coordinate[pos=0.5](samplecenter) node[pos=0.5, above]{Sample} (0.1*\blockw, \blockh) coordinate[](samplene);
|
||
|
|
\coordinate[](samplenw) at (-0.1*\blockw, \blockh);
|
||
|
|
\end{scope}
|
||
|
|
\end{scope}
|
||
|
|
|
||
|
|
\begin{scope}[shift={(0, -0.3*\blockh)}]
|
||
|
|
% Translation Stage - fixed part
|
||
|
|
\draw[fill=black!40] (-0.5*\blockw, 0) coordinate[](tyb) rectangle (0.5*\blockw, 0.15*\blockh);
|
||
|
|
\coordinate[] (measposbot) at (0.5*\blockw, 0);
|
||
|
|
|
||
|
|
% Translation Stage - mobile part
|
||
|
|
\draw[fill=black!10, fill opacity=0.5] (-0.5*\blockw, 0.2*\blockh) -- (-0.5*\blockw, 1.5*\blockh) coordinate[](tyt) -- (0.5*\blockw, 1.5*\blockh) -- (0.5*\blockw, 0.2*\blockh) -- (0.35*\blockw, 0.2*\blockh) -- (0.35*\blockw, 0.8*\blockh) -- (-0.35*\blockw, 0.8*\blockh) -- (-0.35*\blockw, 0.2*\blockh) -- cycle;
|
||
|
|
|
||
|
|
% Translation Guidance
|
||
|
|
\draw[dashed, color=black!60] ($(-0.5*\blockw, 0)+( 0.075*\blockw,0.5*\blockh)$) circle (0.2*\blockh);
|
||
|
|
\draw[dashed, color=black!60] ($( 0.5*\blockw, 0)+(-0.075*\blockw,0.5*\blockh)$) circle (0.2*\blockh);
|
||
|
|
|
||
|
|
% Tilt Guidance
|
||
|
|
\draw[dashed, color=black!60] ([shift=(-107:4.1*\blockh)]rotationpoint) arc (-107:-120:4.1*\blockh);
|
||
|
|
\draw[dashed, color=black!60] ([shift=( -73:4.1*\blockh)]rotationpoint) arc (-73:-60:4.1*\blockh);
|
||
|
|
\end{scope}
|
||
|
|
|
||
|
|
% % Vertical line
|
||
|
|
% \draw[dashed, color=black] (samplecenter) -- ++(0, -4*\blockh);
|
||
|
|
% \begin{scope}[rotate around={\tiltdeg:(samplecenter)}]
|
||
|
|
% \draw[dashed, color=black] (samplecenter) -- ++(0, -4*\blockh);
|
||
|
|
% \node[] at ($(samplecenter)+(0, -2.3*\blockh)$) {\AxisRotator[rotate=-90]};
|
||
|
|
% \node[right, shift={(0.3,0)}] at ($(samplecenter)+(0, -2.3*\blockh)$) {$\theta_z$};
|
||
|
|
% \end{scope}
|
||
|
|
% \draw[->] ([shift=(-90:3.6*\blockh)]samplecenter) arc (-90:-87:3.6*\blockh) node[right]{$\theta_y$};
|
||
|
|
|
||
|
|
% Laser
|
||
|
|
\begin{scope}[shift={(samplecenter)}]
|
||
|
|
\draw[color=red, -<-=0.3] (samplecenter) node[circle, fill=red, inner sep=0pt, minimum size=3pt]{} -- node[pos=0.3, above, color=black]{X-ray} ($(samplecenter)+(1.2*\blockw,0)$);
|
||
|
|
\end{scope}
|
||
|
|
|
||
|
|
% Axis
|
||
|
|
\begin{scope}[shift={(-0.35*\blockw, 3*\blockh)}]
|
||
|
|
\def\axissize{0.8cm}
|
||
|
|
\draw[->] (0, 0) -- ++(0, \axissize) node[right]{$z$};
|
||
|
|
\draw[->] (0, 0) -- ++(-\axissize, 0) node[above]{$x$};
|
||
|
|
\draw[fill, color=black] (0, 0) circle (0.05*\axissize);
|
||
|
|
\node[draw, circle, inner sep=0pt, minimum size=0.4*\axissize, label=right:$y$] (yaxis) at (0, 0){};
|
||
|
|
% \node[draw, circle, inner sep=0pt, cross, minimum size=0.4*\axissize, label=left:$y$] (yaxis) at (0, 0){};
|
||
|
|
\end{scope}
|
||
|
|
|
||
|
|
\node[fit={($(-0.6*\blockw, -0.5*\blockh)$) ($(0.6*\blockw, 4*\blockh)$)}, inner sep=0pt, draw, dashed, color=gray, label={Positioning Station}] (possystem) {};
|
||
|
|
|
||
|
|
\draw[fill=black!30] ($(tyb)+(-5, -1)$) coordinate[](granitesw) rectangle node[pos=0.5]{Granite Frame} ($(measposbot)+(5, 0)$) coordinate[](granitene);
|
||
|
|
|
||
|
|
% Focusing Optics
|
||
|
|
\draw[fill=black!20] ($(granitene)+(-1.5, 3)$) rectangle ++(-1, 2);
|
||
|
|
\draw[spring] ($(granitene)+(-2, 0)$) -- ++(0, 3);
|
||
|
|
|
||
|
|
\node[fit={($(granitene)+(-2.8, -0.2)$) ($(granitene)+(-1.2, 5.2)$)}, inner sep=0pt, draw, dashed, color=gray, label={Focusing Optics}] () {};
|
||
|
|
|
||
|
|
% Measurement Optics
|
||
|
|
\draw[fill=black!20] ($(granitesw)+(1.5, 4)$) rectangle ++(1, 2);
|
||
|
|
\draw[spring] ($(granitesw)+(2, 1)$) -- ++(0, 3);
|
||
|
|
|
||
|
|
\node[fit={($(granitesw)+(2.8, 0.8)$) ($(granitesw)+(1.2, 6.2)$)}, inner sep=0pt, draw, dashed, color=gray, label={Imagery System}] () {};
|
||
|
|
\end{tikzpicture}
|
||
|
|
#+end_src
|
||
|
|
|
||
|
|
#+name: fig:exp_full_setup
|
||
|
|
#+caption: Schematic of the Tomography Experiment ([[./figs/exp_full_setup.png][png]], [[./figs/exp_full_setup.pdf][pdf]], [[./figs/exp_full_setup.tex][tex]]).
|
||
|
|
#+RESULTS:
|
||
|
|
[[file:figs/exp_full_setup.png]]
|