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Initial Commit
2019-10-31 11:14:28 +01:00
#+TITLE: Sample Stabilization for Tomography Experiments in Presence of Large Plant Uncertainty - Tikz Figures
:DRAWER:
#+HTML_LINK_HOME: ../index.html
Use online CSS and JS
2020-11-12 10:38:26 +01:00
#+HTML_LINK_UP: ../index.html
Initial Commit
2019-10-31 11:14:28 +01:00
Use online CSS and JS
2020-11-12 10:38:26 +01:00
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
Initial Commit
2019-10-31 11:14:28 +01:00
#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{/home/thomas/Cloud/thesis/papers/dehaeze18_sampl_stabil_for_tomog_exper/tikz/}{config.tex}")
#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
#+PROPERTY: header-args:latex+ :results raw replace :buffer no
#+PROPERTY: header-args:latex+ :eval no-export
#+PROPERTY: header-args:latex+ :exports both
#+PROPERTY: header-args:latex+ :mkdirp yes
#+PROPERTY: header-args:latex+ :noweb yes
#+PROPERTY: header-args:latex+ :output-dir figs
#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
:END:
Configuration file is accessible [[file:config.org][here]].
* Fig 1: Schematic representation of the ID31 end station
#+begin_src latex :file schematic_sys_without_nass.pdf :tangle figs/schematic_sys_without_nass.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) (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);
\draw[fill, color=black] ($( 0.5*\blockw, 0)+(-0.075*\blockw,1.0*\blockh)$) circle (0.04);
\node[draw, circle, inner sep=0pt, minimum size=0.3cm, label=left:$T_y$] at ($( 0.5*\blockw, 0)+(-0.075*\blockw,1.0*\blockh)$){};
% 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, -<-=0.5] (samplecenter) node[circle, fill=red, inner sep=0pt, minimum size=3pt]{} -- node[midway, above, color=black]{X-ray} ($(samplecenter)+(0.5*\blockw,0)$);
% \draw[color=red, -<-=0.5] (samplecenter) node[circle, fill=red, inner sep=0pt, minimum size=3pt]{} -- ($(samplecenter)+(0.5*\blockw,0)$);
\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}
% NUMBERS
% Granite
\node[labelc, anchor=west] (char) at (tyb) {1};
% Translation stage
\node[labelc, anchor=north west] (char) at (tyt) {2};
% Tilt Stage
\node[labelc, anchor=north east] (char) at (tiltne) {3};
% Spindle
\node[labelc, anchor=north east] (char) at (spindlene) {4};
% Micro-Hexapod
\node[labelc, anchor=east] (char) at (mhexaw) {5};
% Sample
\node[labelc, anchor=north west] (char) at (samplenw) {6};
% % Measurement
% \draw[dashed, color=black!50] (measposbot) -- ++(1,0) coordinate (measposbotend);
% \draw[dashed, color=black!50] (measpostop) -- (measpostop-|measposbotend) coordinate (measpostopend);
% \draw[<->, dashed] ($(measposbotend)+(-0.3, 0)$) -- node[midway, right](d){$d$} ($(measpostopend)+(-0.3, 0)$);
% % Control
% \draw[<->] (nassfbot) -- node[midway, right](F){$F$} (nassftop);
% \def\blockw{1.2cm}
% \def\blockh{1.0cm}
% \node[draw, fill=white, block, right=0.6 of F] (K){$K$};
% \draw[->] (d.east) -- ++(0.2, 0) |- (K.east);
% \draw[->] (K.west) -- (F.east);
% \coordinate[] (labelx) at (-0.52*\blockw, 0);
% \coordinate[] (labelb) at (-0.28*\blockw, 0);
% % Curly braces
% \draw [decorate,decoration={brace,amplitude=5pt}] (tyb-|labelx) -- coordinate[midway](labelty) (tyt-|labelx);
% \draw [decorate,decoration={brace,amplitude=5pt}] ($(uhexabot-|labelb)+(0,0.05)$) -- coordinate[midway](labeluhexa) ($(uhexatop-|labelb)+(0,-0.05)$);
% \draw [decorate,decoration={brace,amplitude=5pt}] ($(nhexabot-|labelb)+(0,0.05)$) -- coordinate[midway](labelnhexa) ($(nhexatop-|labelb)+(0,-0.05)$);
% \draw [decorate,decoration={brace,amplitude=5pt}] ($(samplebot-|labelb)+(0,0.05)$) -- coordinate[midway](labelsample) ($(samplenw-|labelb)+(0,-0.05)$);
% Labels
% \node[left,xshift=-0.2cm] at (labeluhexa) {Hexapod};
% \node[left,xshift=-0.2cm] at (labelnhexa) {NASS};
% \node[left,xshift=-0.2cm] at (labelsample) {Sample};
% \node[left,xshift=-0.2cm, align=right] at (labelty) {Translation\\Stage};
% \draw[<-] ($0.5*(tiltte)+0.5*(beginarc)$) coordinate(arrowtilt) -- (arrowtilt-|labelty) node[left,xshift=-0.3cm] {Tilt Stage};
% \draw[<-] ($(spindlesw)+(0.5, 0.4)$) -- ++(-0.8, 0.5) coordinate(arrowspindle) -- (arrowspindle-|labelty) node[left,xshift=-0.3cm] {Spindle};
\end{tikzpicture}
#+end_src
#+name: fig:schematic_sys_without_nass
#+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]]).
#+RESULTS:
[[file:figs/schematic_sys_without_nass.png]]
* Fig 2: CAD View of the ID31 end station
#+begin_src latex :file assemblage.pdf :tangle figs/assemblage.tex :exports both
Use online CSS and JS
2020-11-12 10:38:26 +01:00
\graphicspath{{~/Cloud/tikz/org/img/}}
Initial Commit
2019-10-31 11:14:28 +01:00
\begin{tikzpicture}
\tikzstyle{legend}=[draw, text width=4.2cm, align=center]
\node[inner sep=0pt, anchor=south west] (assemblage) at (0,0)
{\includegraphics[width=0.42\textwidth]{/home/thomas/Cloud/thesis/papers/dehaeze18_sampl_stabil_for_tomog_exper/tikz/img/assemblage_img.png}};
\coordinate[] (aheight) at (assemblage.north west);
\coordinate[] (awidth) at (assemblage.south east);
\coordinate[] (xrightlabel) at (-0.2, 0);
\coordinate[] (xleftlabel) at ($(awidth)+(0.2, 0)$);
% Translation Stage
\coordinate[] (ty) at ($0.5*(aheight)+0.1*(awidth)$);
\draw[<-] (ty) -- (ty-|xrightlabel) node[left, legend]{Translation Stage\\$\SI{-5}{m\metre} < T_y < \SI{5}{m\metre}$};
% Sample Interface
\coordinate[] (sampleint) at ($0.77*(aheight)+0.5*(awidth)$);
\coordinate[] (sampleintmid) at ($(sampleint)+(-1, -0.5)$);
\draw[<-] (sampleint) -- (sampleintmid) -- (sampleintmid-|xrightlabel) node[left, legend]{Sample Interface};
% Sample
\coordinate[] (sample) at ($0.9*(aheight)+0.5*(awidth)$);
\draw[<-] (sample) -- (sample-|xrightlabel) node[left, legend]{Sample Environment\\$\SI{1}{\kg} < M < \SI{50}{\kg}$};
% Tilt Stage
\coordinate[] (tilt) at ($0.55*(aheight)+0.78*(awidth)$);
\coordinate[] (tiltmid) at ($(tilt)+(1, 0.5)$);
\draw[<-] (tilt) -- (tiltmid) -- (tiltmid-|xleftlabel) node[right, legend]{Tilt Stage\\$\ang{-3} < \theta_y < \ang{3}$};
% Spindle
\coordinate[] (spindle) at ($0.53*(aheight)+0.33*(awidth)$);
\coordinate[] (spindlemid) at ($(spindle)+(-1, -1.5)$);
\draw[<-] (spindle) -- (spindlemid) -- (spindlemid-|xrightlabel) node[left, legend]{Spindle\\$\SI{1}{rpm} < \dot{\theta_z} < \SI{60}{rpm}$};
% Center of gravity compensation
\coordinate[] (axisc) at ($0.65*(aheight)+0.65*(awidth)$);
\coordinate[] (axiscmid) at ($(axisc)+(1, 1.5)$);
\draw[<-] (axisc) -- (axiscmid) -- (axiscmid-|xleftlabel) node[right, legend]{Center of gravity\\compensation system};
% Micro Hexapod
\coordinate[] (hexapod) at ($0.52*(aheight)+0.6*(awidth)$);
\coordinate[] (hexapodmid) at ($(hexapod)+(1, -1.0)$);
\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}$};
% Frame
\coordinate[] (frame) at ($0.14*(aheight)+0.65*(awidth)$);
\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}%
\begin{tikzpicture}
\begin{axis}[%
width=\fwidth,
height=0.468\fheight,
at={(0\fwidth,0\fheight)},
scale only axis,
xmode=log,
xmin=0.001,
xmax=1000,
xminorticks=true,
xlabel={Frequency [Hz]},
ymin=-180,
ymax=0,
ytick={-180, -90, 0},
ylabel={Phase [deg]},
xminorgrids
]
\addplot [color=mycolor1, line width=1.5pt, forget plot]
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0.00655868565957134 -70.5792954692951\\
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0.00864842327573189 -65.0664370245527\\
0.0100693863147606 -61.5741194134637\\
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1.02096066230607 -1.04567008665731\\
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1.25631660247414 -0.919492395190701\\
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1.44264395121811 -0.906637885889353\\
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1.5674554102056 -0.942283818027818\\
1.63385387780984 -0.977590942238891\\
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1.85040701954232 -1.19157983197587\\
1.92879150802077 -1.31713239076257\\
2.01049641626046 -1.48500742420691\\
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2.37342425002384 -3.08492033944978\\
2.47396410088675 -4.05587348265055\\
2.54334576130472 -5.03584114101898\\
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10.8651577465251 3.56217310328162\\
11.3254131515284 3.84724990024554\\
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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]]
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