Initial Commit
This commit is contained in:
commit
61bf1843c8
261
.gitignore
vendored
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261
.gitignore
vendored
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@ -0,0 +1,261 @@
|
||||
administrative/
|
||||
|
||||
## Core latex/pdflatex auxiliary files:
|
||||
*.aux
|
||||
*.lof
|
||||
*.log
|
||||
*.lot
|
||||
*.fls
|
||||
*.out
|
||||
*.toc
|
||||
*.fmt
|
||||
*.fot
|
||||
*.cb
|
||||
*.cb2
|
||||
.*.lb
|
||||
|
||||
## Intermediate documents:
|
||||
*.dvi
|
||||
*.xdv
|
||||
*-converted-to.*
|
||||
# these rules might exclude image files for figures etc.
|
||||
# *.ps
|
||||
# *.eps
|
||||
# *.pdf
|
||||
|
||||
## Generated if empty string is given at "Please type another file name for output:"
|
||||
.pdf
|
||||
|
||||
## Bibliography auxiliary files (bibtex/biblatex/biber):
|
||||
*.bbl
|
||||
*.bcf
|
||||
*.blg
|
||||
*-blx.aux
|
||||
*-blx.bib
|
||||
*.run.xml
|
||||
|
||||
## Build tool auxiliary files:
|
||||
*.fdb_latexmk
|
||||
*.synctex
|
||||
*.synctex(busy)
|
||||
*.synctex.gz
|
||||
*.synctex.gz(busy)
|
||||
*.pdfsync
|
||||
|
||||
## Build tool directories for auxiliary files
|
||||
# latexrun
|
||||
latex.out/
|
||||
|
||||
## Auxiliary and intermediate files from other packages:
|
||||
# algorithms
|
||||
*.alg
|
||||
*.loa
|
||||
|
||||
# achemso
|
||||
acs-*.bib
|
||||
|
||||
# amsthm
|
||||
*.thm
|
||||
|
||||
# beamer
|
||||
*.nav
|
||||
*.pre
|
||||
*.snm
|
||||
*.vrb
|
||||
|
||||
# changes
|
||||
*.soc
|
||||
|
||||
# comment
|
||||
*.cut
|
||||
|
||||
# cprotect
|
||||
*.cpt
|
||||
|
||||
# elsarticle (documentclass of Elsevier journals)
|
||||
*.spl
|
||||
|
||||
# endnotes
|
||||
*.ent
|
||||
|
||||
# fixme
|
||||
*.lox
|
||||
|
||||
# feynmf/feynmp
|
||||
*.mf
|
||||
*.mp
|
||||
*.t[1-9]
|
||||
*.t[1-9][0-9]
|
||||
*.tfm
|
||||
|
||||
#(r)(e)ledmac/(r)(e)ledpar
|
||||
*.end
|
||||
*.?end
|
||||
*.[1-9]
|
||||
*.[1-9][0-9]
|
||||
*.[1-9][0-9][0-9]
|
||||
*.[1-9]R
|
||||
*.[1-9][0-9]R
|
||||
*.[1-9][0-9][0-9]R
|
||||
*.eledsec[1-9]
|
||||
*.eledsec[1-9]R
|
||||
*.eledsec[1-9][0-9]
|
||||
*.eledsec[1-9][0-9]R
|
||||
*.eledsec[1-9][0-9][0-9]
|
||||
*.eledsec[1-9][0-9][0-9]R
|
||||
|
||||
# glossaries
|
||||
*.acn
|
||||
*.acr
|
||||
*.glg
|
||||
*.glo
|
||||
*.gls
|
||||
*.glsdefs
|
||||
|
||||
# gnuplottex
|
||||
*-gnuplottex-*
|
||||
|
||||
# gregoriotex
|
||||
*.gaux
|
||||
*.gtex
|
||||
|
||||
# htlatex
|
||||
*.4ct
|
||||
*.4tc
|
||||
*.idv
|
||||
*.lg
|
||||
*.trc
|
||||
*.xref
|
||||
|
||||
# hyperref
|
||||
*.brf
|
||||
|
||||
# knitr
|
||||
*-concordance.tex
|
||||
# TODO Comment the next line if you want to keep your tikz graphics files
|
||||
*.tikz
|
||||
*-tikzDictionary
|
||||
|
||||
# listings
|
||||
*.lol
|
||||
|
||||
# makeidx
|
||||
*.idx
|
||||
*.ilg
|
||||
*.ind
|
||||
*.ist
|
||||
|
||||
# minitoc
|
||||
*.maf
|
||||
*.mlf
|
||||
*.mlt
|
||||
*.mtc[0-9]*
|
||||
*.slf[0-9]*
|
||||
*.slt[0-9]*
|
||||
*.stc[0-9]*
|
||||
|
||||
# minted
|
||||
_minted*
|
||||
*.pyg
|
||||
|
||||
# morewrites
|
||||
*.mw
|
||||
|
||||
# nomencl
|
||||
*.nlg
|
||||
*.nlo
|
||||
*.nls
|
||||
|
||||
# pax
|
||||
*.pax
|
||||
|
||||
# pdfpcnotes
|
||||
*.pdfpc
|
||||
|
||||
# sagetex
|
||||
*.sagetex.sage
|
||||
*.sagetex.py
|
||||
*.sagetex.scmd
|
||||
|
||||
# scrwfile
|
||||
*.wrt
|
||||
|
||||
# sympy
|
||||
*.sout
|
||||
*.sympy
|
||||
sympy-plots-for-*.tex/
|
||||
|
||||
# pdfcomment
|
||||
*.upa
|
||||
*.upb
|
||||
|
||||
# pythontex
|
||||
*.pytxcode
|
||||
pythontex-files-*/
|
||||
|
||||
# tcolorbox
|
||||
*.listing
|
||||
|
||||
# thmtools
|
||||
*.loe
|
||||
|
||||
# TikZ & PGF
|
||||
*.dpth
|
||||
*.md5
|
||||
*.auxlock
|
||||
|
||||
# todonotes
|
||||
*.tdo
|
||||
|
||||
# vhistory
|
||||
*.hst
|
||||
*.ver
|
||||
|
||||
# easy-todo
|
||||
*.lod
|
||||
|
||||
# xcolor
|
||||
*.xcp
|
||||
|
||||
# xmpincl
|
||||
*.xmpi
|
||||
|
||||
# xindy
|
||||
*.xdy
|
||||
|
||||
# xypic precompiled matrices
|
||||
*.xyc
|
||||
|
||||
# endfloat
|
||||
*.ttt
|
||||
*.fff
|
||||
|
||||
# Latexian
|
||||
TSWLatexianTemp*
|
||||
|
||||
## Editors:
|
||||
# WinEdt
|
||||
*.bak
|
||||
*.sav
|
||||
|
||||
# Texpad
|
||||
.texpadtmp
|
||||
|
||||
# LyX
|
||||
*.lyx~
|
||||
|
||||
# Kile
|
||||
*.backup
|
||||
|
||||
# KBibTeX
|
||||
*~[0-9]*
|
||||
|
||||
# auto folder when using emacs and auctex
|
||||
./auto/*
|
||||
*.el
|
||||
|
||||
# expex forward references with \gathertags
|
||||
*-tags.tex
|
||||
|
||||
# standalone packages
|
||||
*.sta
|
||||
56
Makefile
Normal file
56
Makefile
Normal file
@ -0,0 +1,56 @@
|
||||
.PHONY: all paper help html publish watch clean cp-figs
|
||||
|
||||
SHELL := /bin/bash
|
||||
PAPERDIR=paper
|
||||
MATLABDIR=matlab
|
||||
TIKZDIR=tikz
|
||||
|
||||
PAPERNAME=paper
|
||||
|
||||
all: paper html publish
|
||||
|
||||
paper: cp-figs tangle tex pdf clean
|
||||
|
||||
help:
|
||||
@echo "Usage: make <command>"
|
||||
@echo " all - Cp-figs tex pdf html publish"
|
||||
@echo " paper - Compile the org file to a pdf"
|
||||
@echo " html - Export all the org files to html"
|
||||
@echo " publish - Commit everything and push to repository"
|
||||
@echo " tex - Export to paper in org format to tex"
|
||||
@echo " tangle - Tangle everything that is in the org paper and tikz file"
|
||||
@echo " pdf - Compile the tex file to pdf"
|
||||
@echo " watch - Watch the tex file for changes and compile"
|
||||
@echo " clean - Clean the paper directory"
|
||||
@echo " cp-figs - Copy all the necessary figures from tikz and matlab folder to paper folder"
|
||||
|
||||
html:
|
||||
for f in *.org; do emacsclient -e "(progn (find-file \"$$f\") (org-html-export-to-html))"; done
|
||||
for f in $(TIKZDIR)/*.org; do emacsclient -e "(progn (find-file \"$$f\") (org-html-export-to-html))"; done
|
||||
for f in $(MATLABDIR)/*.org; do emacsclient -e "(progn (find-file \"$$f\") (org-html-export-to-html))"; done
|
||||
|
||||
publish:
|
||||
git add . && git commit -m "Update - $$(date +%F)" && git push origin master
|
||||
|
||||
tex: $(PAPERDIR)/$(PAPERNAME).org
|
||||
emacsclient -e '(progn (find-file "$(PAPERDIR)/$(PAPERNAME).org") (org-latex-export-to-latex))'
|
||||
|
||||
tangle: $(PAPERDIR)/$(PAPERNAME).org
|
||||
emacsclient -e '(progn (find-file "$(PAPERDIR)/$(PAPERNAME).org") (org-babel-tangle))'
|
||||
emacsclient -e '(progn (find-file "$(TIKZDIR)/index.org") (org-babel-tangle))'
|
||||
|
||||
pdf: $(PAPERDIR)/$(PAPERNAME).tex
|
||||
latexmk -cd -quiet -bibtex $(PREVIEW_CONTINUOUSLY) -f -pdf -pdflatex="xelatex -synctex=1 -interaction nonstopmode" -use-make $(PAPERDIR)/$(PAPERNAME).tex
|
||||
|
||||
# Set the PREVIEW_CONTINUOUSLY variable to -pvc to switch latexmk into the preview continuously mode
|
||||
watch: PREVIEW_CONTINUOUSLY=-pvc
|
||||
watch: pdf
|
||||
|
||||
watch-org: $(PAPERDIR)/$(PAPERNAME).org
|
||||
echo $(PAPERDIR)/$(PAPERNAME).org | entr -s 'make tangle tex pdf'
|
||||
|
||||
clean:
|
||||
latexmk -cd -c -bibtex $(PAPERDIR)/$(PAPERNAME).tex
|
||||
|
||||
cp-figs:
|
||||
bash scripts/cp-figs.sh
|
||||
145
css/htmlize.css
Normal file
145
css/htmlize.css
Normal file
@ -0,0 +1,145 @@
|
||||
.org-bold { /* bold */ font-weight: bold; }
|
||||
.org-bold-italic { /* bold-italic */ font-weight: bold; font-style: italic; }
|
||||
.org-buffer-menu-buffer { /* buffer-menu-buffer */ font-weight: bold; }
|
||||
.org-builtin { /* font-lock-builtin-face */ color: #7a378b; }
|
||||
.org-button { /* button */ text-decoration: underline; }
|
||||
.org-calendar-today { /* calendar-today */ text-decoration: underline; }
|
||||
.org-change-log-acknowledgement { /* change-log-acknowledgement */ color: #b22222; }
|
||||
.org-change-log-conditionals { /* change-log-conditionals */ color: #a0522d; }
|
||||
.org-change-log-date { /* change-log-date */ color: #8b2252; }
|
||||
.org-change-log-email { /* change-log-email */ color: #a0522d; }
|
||||
.org-change-log-file { /* change-log-file */ color: #0000ff; }
|
||||
.org-change-log-function { /* change-log-function */ color: #a0522d; }
|
||||
.org-change-log-list { /* change-log-list */ color: #a020f0; }
|
||||
.org-change-log-name { /* change-log-name */ color: #008b8b; }
|
||||
.org-comint-highlight-input { /* comint-highlight-input */ font-weight: bold; }
|
||||
.org-comint-highlight-prompt { /* comint-highlight-prompt */ color: #00008b; }
|
||||
.org-comment { /* font-lock-comment-face */ color: #999988; font-style: italic; }
|
||||
.org-comment-delimiter { /* font-lock-comment-delimiter-face */ color: #999988; font-style: italic; }
|
||||
.org-completions-annotations { /* completions-annotations */ font-style: italic; }
|
||||
.org-completions-common-part { /* completions-common-part */ color: #000000; background-color: #ffffff; }
|
||||
.org-completions-first-difference { /* completions-first-difference */ font-weight: bold; }
|
||||
.org-constant { /* font-lock-constant-face */ color: #008b8b; }
|
||||
.org-diary { /* diary */ color: #ff0000; }
|
||||
.org-diff-context { /* diff-context */ color: #7f7f7f; }
|
||||
.org-diff-file-header { /* diff-file-header */ background-color: #b3b3b3; font-weight: bold; }
|
||||
.org-diff-function { /* diff-function */ background-color: #cccccc; }
|
||||
.org-diff-header { /* diff-header */ background-color: #cccccc; }
|
||||
.org-diff-hunk-header { /* diff-hunk-header */ background-color: #cccccc; }
|
||||
.org-diff-index { /* diff-index */ background-color: #b3b3b3; font-weight: bold; }
|
||||
.org-diff-nonexistent { /* diff-nonexistent */ background-color: #b3b3b3; font-weight: bold; }
|
||||
.org-diff-refine-change { /* diff-refine-change */ background-color: #d9d9d9; }
|
||||
.org-dired-directory { /* dired-directory */ color: #0000ff; }
|
||||
.org-dired-flagged { /* dired-flagged */ color: #ff0000; font-weight: bold; }
|
||||
.org-dired-header { /* dired-header */ color: #228b22; }
|
||||
.org-dired-ignored { /* dired-ignored */ color: #7f7f7f; }
|
||||
.org-dired-mark { /* dired-mark */ color: #008b8b; }
|
||||
.org-dired-marked { /* dired-marked */ color: #ff0000; font-weight: bold; }
|
||||
.org-dired-perm-write { /* dired-perm-write */ color: #b22222; }
|
||||
.org-dired-symlink { /* dired-symlink */ color: #a020f0; }
|
||||
.org-dired-warning { /* dired-warning */ color: #ff0000; font-weight: bold; }
|
||||
.org-doc { /* font-lock-doc-face */ color: #8b2252; }
|
||||
.org-escape-glyph { /* escape-glyph */ color: #a52a2a; }
|
||||
.org-file-name-shadow { /* file-name-shadow */ color: #7f7f7f; }
|
||||
.org-flyspell-duplicate { /* flyspell-duplicate */ color: #cdad00; font-weight: bold; text-decoration: underline; }
|
||||
.org-flyspell-incorrect { /* flyspell-incorrect */ color: #ff4500; font-weight: bold; text-decoration: underline; }
|
||||
.org-fringe { /* fringe */ background-color: #f2f2f2; }
|
||||
.org-function-name { /* font-lock-function-name-face */ color: teal; }
|
||||
.org-header-line { /* header-line */ color: #333333; background-color: #e5e5e5; }
|
||||
.org-help-argument-name { /* help-argument-name */ font-style: italic; }
|
||||
.org-highlight { /* highlight */ background-color: #b4eeb4; }
|
||||
.org-holiday { /* holiday */ background-color: #ffc0cb; }
|
||||
.org-isearch { /* isearch */ color: #b0e2ff; background-color: #cd00cd; }
|
||||
.org-isearch-fail { /* isearch-fail */ background-color: #ffc1c1; }
|
||||
.org-italic { /* italic */ font-style: italic; }
|
||||
.org-keyword { /* font-lock-keyword-face */ color: #0086b3; }
|
||||
.org-lazy-highlight { /* lazy-highlight */ background-color: #afeeee; }
|
||||
.org-link { /* link */ color: #0000ff; text-decoration: underline; }
|
||||
.org-link-visited { /* link-visited */ color: #8b008b; text-decoration: underline; }
|
||||
.org-log-edit-header { /* log-edit-header */ color: #a020f0; }
|
||||
.org-log-edit-summary { /* log-edit-summary */ color: #0000ff; }
|
||||
.org-log-edit-unknown-header { /* log-edit-unknown-header */ color: #b22222; }
|
||||
.org-match { /* match */ background-color: #ffff00; }
|
||||
.org-next-error { /* next-error */ background-color: #eedc82; }
|
||||
.org-nobreak-space { /* nobreak-space */ color: #a52a2a; text-decoration: underline; }
|
||||
.org-org-archived { /* org-archived */ color: #7f7f7f; }
|
||||
.org-org-block { /* org-block */ color: #7f7f7f; }
|
||||
.org-org-block-begin-line { /* org-block-begin-line */ color: #b22222; }
|
||||
.org-org-block-end-line { /* org-block-end-line */ color: #b22222; }
|
||||
.org-org-checkbox { /* org-checkbox */ font-weight: bold; }
|
||||
.org-org-checkbox-statistics-done { /* org-checkbox-statistics-done */ color: #228b22; font-weight: bold; }
|
||||
.org-org-checkbox-statistics-todo { /* org-checkbox-statistics-todo */ color: #ff0000; font-weight: bold; }
|
||||
.org-org-clock-overlay { /* org-clock-overlay */ background-color: #ffff00; }
|
||||
.org-org-code { /* org-code */ color: #7f7f7f; }
|
||||
.org-org-column { /* org-column */ background-color: #e5e5e5; }
|
||||
.org-org-column-title { /* org-column-title */ background-color: #e5e5e5; font-weight: bold; text-decoration: underline; }
|
||||
.org-org-date { /* org-date */ color: #a020f0; text-decoration: underline; }
|
||||
.org-org-document-info { /* org-document-info */ color: #191970; }
|
||||
.org-org-document-info-keyword { /* org-document-info-keyword */ color: #7f7f7f; }
|
||||
.org-org-document-title { /* org-document-title */ color: #191970; font-size: 144%; font-weight: bold; }
|
||||
.org-org-done { /* org-done */ color: #228b22; font-weight: bold; }
|
||||
.org-org-drawer { /* org-drawer */ color: #0000ff; }
|
||||
.org-org-ellipsis { /* org-ellipsis */ color: #b8860b; text-decoration: underline; }
|
||||
.org-org-footnote { /* org-footnote */ color: #a020f0; text-decoration: underline; }
|
||||
.org-org-formula { /* org-formula */ color: #b22222; }
|
||||
.org-org-headline-done { /* org-headline-done */ color: #bc8f8f; }
|
||||
.org-org-hide { /* org-hide */ color: #ffffff; }
|
||||
.org-org-latex-and-export-specials { /* org-latex-and-export-specials */ color: #8b4513; }
|
||||
.org-org-level-1 { /* org-level-1 */ color: #0000ff; }
|
||||
.org-org-level-2 { /* org-level-2 */ color: #a0522d; }
|
||||
.org-org-level-3 { /* org-level-3 */ color: #a020f0; }
|
||||
.org-org-level-4 { /* org-level-4 */ color: #b22222; }
|
||||
.org-org-level-5 { /* org-level-5 */ color: #228b22; }
|
||||
.org-org-level-6 { /* org-level-6 */ color: #008b8b; }
|
||||
.org-org-level-7 { /* org-level-7 */ color: #7a378b; }
|
||||
.org-org-level-8 { /* org-level-8 */ color: #8b2252; }
|
||||
.org-org-link { /* org-link */ color: #0000ff; text-decoration: underline; }
|
||||
.org-org-meta-line { /* org-meta-line */ color: #b22222; }
|
||||
.org-org-mode-line-clock { /* org-mode-line-clock */ color: #000000; background-color: #bfbfbf; }
|
||||
.org-org-mode-line-clock-overrun { /* org-mode-line-clock-overrun */ color: #000000; background-color: #ff0000; }
|
||||
.org-org-quote { /* org-quote */ color: #7f7f7f; }
|
||||
.org-org-scheduled { /* org-scheduled */ color: #006400; }
|
||||
.org-org-scheduled-previously { /* org-scheduled-previously */ color: #b22222; }
|
||||
.org-org-scheduled-today { /* org-scheduled-today */ color: #006400; }
|
||||
.org-org-sexp-date { /* org-sexp-date */ color: #a020f0; }
|
||||
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|
||||
<h1 class="title">Sample Stabilization for Tomography Experiments in Presence of Large Plant Uncertainty
|
||||
<br />
|
||||
<span class="subtitle">Dehaeze Thomas, Magnin-Mattenet Muriel and Collette Christophe</span>
|
||||
</h1>
|
||||
|
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|
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|
||||
<b>Abstract</b>:
|
||||
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|
||||
|
||||
<p>
|
||||
A new low emittance lattice storage ring is under construction at the ESRF.
|
||||
In this new instrument, an upgraded end station for ID31 beamline must allow to position the samples along complex trajectories with a nanometer precision.
|
||||
In order to reach these requirements, samples have to be mounted on high precision stages, combining a capability of large stroke, spin motion, and active rejection of disturbances.
|
||||
First, the end station will be presented with the associated requirements. However, the precision is limited by thermal expansion and various imperfections that are not actively compensated.
|
||||
Our approach is to add a Nano Active Stabilization System (NASS) which is composed of a 6DoF Stewart platform and a 6 DoF metrology system.
|
||||
A 3D model of the end station updated with experimental data is developed.
|
||||
As the mass of the samples may vary by up to two orders of magnitudes, robust control strategies are required to address such plant uncertainty.
|
||||
The proposed control strategy are presented and applied on the developed model by conducting time domain simulations of tomography experiment in presence of instrumentation noise and system uncertainty.
|
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</p>
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|
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|
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<p>
|
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To cite this paper use the following bibtex code.
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<div class="org-src-container">
|
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<pre class="src src-bibtex"><span class="org-function-name">@inproceedings</span>{<span class="org-constant">dehaeze18_sampl_stabil_for_tomog_exper</span>,
|
||||
<span class="org-variable-name">author</span> = {Thomas Dehaeze and M. Magnin Mattenet and Christophe Collette},
|
||||
<span class="org-variable-name">title</span> = {Sample Stabilization For Tomography Experiments In Presence Of
|
||||
Large Plant Uncertainty},
|
||||
<span class="org-variable-name">booktitle</span> = {MEDSI'18},
|
||||
<span class="org-variable-name">year</span> = 2018,
|
||||
<span class="org-variable-name">number</span> = 10,
|
||||
<span class="org-variable-name">pages</span> = {153--157},
|
||||
<span class="org-variable-name">doi</span> = {<span class="org-button">10.18429/JACoW-MEDSI2018-WEOAMA02</span>},
|
||||
<span class="org-variable-name">url</span> = {<span class="org-button">https://doi.org/10.18429/JACoW-MEDSI2018-WEOAMA02</span>},
|
||||
<span class="org-variable-name">address</span> = {Geneva, Switzerland},
|
||||
<span class="org-variable-name">isbn</span> = {978-3-95450-207-3},
|
||||
<span class="org-variable-name">language</span> = {english},
|
||||
<span class="org-variable-name">month</span> = {Dec},
|
||||
<span class="org-variable-name">publisher</span> = {JACoW Publishing},
|
||||
<span class="org-variable-name">series</span> = {Mechanical Engineering Design of Synchrotron Radiation
|
||||
Equipment and Instrumentation},
|
||||
<span class="org-variable-name">venue</span> = {Paris, France},
|
||||
}
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
You can also use the formatted citation below.
|
||||
</p>
|
||||
<blockquote>
|
||||
<p>
|
||||
Dehaeze, T., Mattenet, M. M., & Collette, C., Sample Stabilization For Tomography Experiments In Presence Of Large Plant Uncertainty, In MEDSI'18 (pp. 153–157) (2018). Geneva, Switzerland
|
||||
</p>
|
||||
</blockquote>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
75
index.org
Normal file
75
index.org
Normal file
@ -0,0 +1,75 @@
|
||||
#+TITLE: Sample Stabilization for Tomography Experiments in Presence of Large Plant Uncertainty
|
||||
:DRAWER:
|
||||
#+SUBTITLE: Dehaeze Thomas, Magnin-Mattenet Muriel and Collette Christophe
|
||||
#+OPTIONS: toc:nil
|
||||
#+OPTIONS: html-postamble:nil
|
||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="css/htmlize.css"/>
|
||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="css/readtheorg.css"/>
|
||||
#+HTML_HEAD: <script src="js/jquery.min.js"></script>
|
||||
#+HTML_HEAD: <script src="js/bootstrap.min.js"></script>
|
||||
#+HTML_HEAD: <script src="js/jquery.stickytableheaders.min.js"></script>
|
||||
#+HTML_HEAD: <script src="js/readtheorg.js"></script>
|
||||
:END:
|
||||
|
||||
#+begin_quote
|
||||
*Abstract*:
|
||||
|
||||
A new low emittance lattice storage ring is under construction at the ESRF.
|
||||
In this new instrument, an upgraded end station for ID31 beamline must allow to position the samples along complex trajectories with a nanometer precision.
|
||||
In order to reach these requirements, samples have to be mounted on high precision stages, combining a capability of large stroke, spin motion, and active rejection of disturbances.
|
||||
First, the end station will be presented with the associated requirements. However, the precision is limited by thermal expansion and various imperfections that are not actively compensated.
|
||||
Our approach is to add a Nano Active Stabilization System (NASS) which is composed of a 6DoF Stewart platform and a 6 DoF metrology system.
|
||||
A 3D model of the end station updated with experimental data is developed.
|
||||
As the mass of the samples may vary by up to two orders of magnitudes, robust control strategies are required to address such plant uncertainty.
|
||||
The proposed control strategy are presented and applied on the developed model by conducting time domain simulations of tomography experiment in presence of instrumentation noise and system uncertainty.
|
||||
#+end_quote
|
||||
|
||||
* Paper ([[file:paper/paper.pdf][link]])
|
||||
:PROPERTIES:
|
||||
:UNNUMBERED: t
|
||||
:END:
|
||||
The paper has been created [[https://orgmode.org/][Org Mode]] (generating [[https://www.latex-project.org/][LaTeX]] code) under [[https://www.gnu.org/software/emacs/][Emacs]].
|
||||
|
||||
* Tikz Figures ([[file:tikz/index.org][link]])
|
||||
:PROPERTIES:
|
||||
:UNNUMBERED: t
|
||||
:END:
|
||||
All the figures for the paper have been generated using [[https://sourceforge.net/projects/pgf/][TikZ]].
|
||||
|
||||
* Poster ([[file:poster/poster.pdf][link]])
|
||||
:PROPERTIES:
|
||||
:UNNUMBERED: t
|
||||
:END:
|
||||
The poster has been created using the [[https://www.ctan.org/pkg/tikzposter][tikzposter]] package for [[https://sourceforge.net/projects/latex-beamer/][beamer]].
|
||||
|
||||
* How to cite this paper
|
||||
:PROPERTIES:
|
||||
:UNNUMBERED: t
|
||||
:END:
|
||||
To cite this paper use the following bibtex code.
|
||||
#+begin_src bibtex
|
||||
@inproceedings{dehaeze18_sampl_stabil_for_tomog_exper,
|
||||
author = {Thomas Dehaeze and M. Magnin Mattenet and Christophe Collette},
|
||||
title = {Sample Stabilization For Tomography Experiments In Presence Of
|
||||
Large Plant Uncertainty},
|
||||
booktitle = {MEDSI'18},
|
||||
year = 2018,
|
||||
number = 10,
|
||||
pages = {153--157},
|
||||
doi = {10.18429/JACoW-MEDSI2018-WEOAMA02},
|
||||
url = {https://doi.org/10.18429/JACoW-MEDSI2018-WEOAMA02},
|
||||
address = {Geneva, Switzerland},
|
||||
isbn = {978-3-95450-207-3},
|
||||
language = {english},
|
||||
month = {Dec},
|
||||
publisher = {JACoW Publishing},
|
||||
series = {Mechanical Engineering Design of Synchrotron Radiation
|
||||
Equipment and Instrumentation},
|
||||
venue = {Paris, France},
|
||||
}
|
||||
#+end_src
|
||||
|
||||
You can also use the formatted citation below.
|
||||
#+begin_quote
|
||||
Dehaeze, T., Mattenet, M. M., & Collette, C., Sample Stabilization For Tomography Experiments In Presence Of Large Plant Uncertainty, In MEDSI'18 (pp. 153–157) (2018). Geneva, Switzerland
|
||||
#+end_quote
|
||||
7
js/bootstrap.min.js
vendored
Normal file
7
js/bootstrap.min.js
vendored
Normal file
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4
js/jquery.min.js
vendored
Normal file
4
js/jquery.min.js
vendored
Normal file
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1
js/jquery.stickytableheaders.min.js
vendored
Normal file
1
js/jquery.stickytableheaders.min.js
vendored
Normal file
@ -0,0 +1 @@
|
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|
||||
85
js/readtheorg.js
Normal file
85
js/readtheorg.js
Normal file
@ -0,0 +1,85 @@
|
||||
$(function() {
|
||||
$('.note').before("<p class='admonition-title note'>Note</p>");
|
||||
$('.seealso').before("<p class='admonition-title seealso'>See also</p>");
|
||||
$('.warning').before("<p class='admonition-title warning'>Warning</p>");
|
||||
$('.caution').before("<p class='admonition-title caution'>Caution</p>");
|
||||
$('.attention').before("<p class='admonition-title attention'>Attention</p>");
|
||||
$('.tip').before("<p class='admonition-title tip'>Tip</p>");
|
||||
$('.important').before("<p class='admonition-title important'>Important</p>");
|
||||
$('.hint').before("<p class='admonition-title hint'>Hint</p>");
|
||||
$('.error').before("<p class='admonition-title error'>Error</p>");
|
||||
$('.danger').before("<p class='admonition-title danger'>Danger</p>");
|
||||
});
|
||||
|
||||
$( document ).ready(function() {
|
||||
|
||||
// Shift nav in mobile when clicking the menu.
|
||||
$(document).on('click', "[data-toggle='wy-nav-top']", function() {
|
||||
$("[data-toggle='wy-nav-shift']").toggleClass("shift");
|
||||
$("[data-toggle='rst-versions']").toggleClass("shift");
|
||||
});
|
||||
// Close menu when you click a link.
|
||||
$(document).on('click', ".wy-menu-vertical .current ul li a", function() {
|
||||
$("[data-toggle='wy-nav-shift']").removeClass("shift");
|
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$("[data-toggle='rst-versions']").toggleClass("shift");
|
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});
|
||||
$(document).on('click', "[data-toggle='rst-current-version']", function() {
|
||||
$("[data-toggle='rst-versions']").toggleClass("shift-up");
|
||||
});
|
||||
// Make tables responsive
|
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$("table.docutils:not(.field-list)").wrap("<div class='wy-table-responsive'></div>");
|
||||
});
|
||||
|
||||
$( document ).ready(function() {
|
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$('#text-table-of-contents ul').first().addClass('nav');
|
||||
// ScrollSpy also requires that we use
|
||||
// a Bootstrap nav component.
|
||||
$('body').scrollspy({target: '#text-table-of-contents'});
|
||||
|
||||
// add sticky table headers
|
||||
$('table').stickyTableHeaders();
|
||||
|
||||
// set the height of tableOfContents
|
||||
var $postamble = $('#postamble');
|
||||
var $tableOfContents = $('#table-of-contents');
|
||||
$tableOfContents.css({paddingBottom: $postamble.outerHeight()});
|
||||
|
||||
// add TOC button
|
||||
var toggleSidebar = $('<div id="toggle-sidebar"><a href="#table-of-contents"><h2>Table of Contents</h2></a></div>');
|
||||
$('#content').prepend(toggleSidebar);
|
||||
|
||||
// add close button when sidebar showed in mobile screen
|
||||
var closeBtn = $('<a class="close-sidebar" href="#">Close</a>');
|
||||
var tocTitle = $('#table-of-contents').find('h2');
|
||||
tocTitle.append(closeBtn);
|
||||
});
|
||||
|
||||
window.SphinxRtdTheme = (function (jquery) {
|
||||
var stickyNav = (function () {
|
||||
var navBar,
|
||||
win,
|
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stickyNavCssClass = 'stickynav',
|
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applyStickNav = function () {
|
||||
if (navBar.height() <= win.height()) {
|
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|
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|
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|
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|
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|
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|
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applyStickNav();
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win.on('resize', applyStickNav);
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|
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|
||||
navBar = jquery('nav.wy-nav-side:first');
|
||||
win = jquery(window);
|
||||
};
|
||||
jquery(init);
|
||||
return {
|
||||
enable : enable
|
||||
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|
||||
}());
|
||||
return {
|
||||
StickyNav : stickyNav
|
||||
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|
||||
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|
||||
2
js/siunitx.js
Normal file
2
js/siunitx.js
Normal file
File diff suppressed because one or more lines are too long
1
paper/figs
Symbolic link
1
paper/figs
Symbolic link
@ -0,0 +1 @@
|
||||
../tikz/figs/
|
||||
4593
paper/ieeeconf.cls
Normal file
4593
paper/ieeeconf.cls
Normal file
File diff suppressed because it is too large
Load Diff
261
paper/paper.org
Normal file
261
paper/paper.org
Normal file
@ -0,0 +1,261 @@
|
||||
#+TITLE: SAMPLE STABILIZATION FOR TOMOGRAPHY EXPERIMENTS IN PRESENCE OF LARGE PLANT UNCERTAINTY
|
||||
:DRAWER:
|
||||
#+LATEX_CLASS: jacow
|
||||
#+LaTeX_CLASS_OPTIONS: [a4paper, keeplastbox, biblatex]
|
||||
#+OPTIONS: toc:nil
|
||||
#+STARTUP: overview
|
||||
|
||||
#+DATE: {{{time(%Y-%m-%d)}}}
|
||||
#+AUTHOR: T. Dehaeze\textsuperscript{1,}\thanks{thomas.dehaeze@esrf.fr}, M. Magnin-Mattenet, ESRF, Grenoble, France
|
||||
#+AUTHOR: @@latex:\\@@
|
||||
#+AUTHOR: C. Collette\textsuperscript{1}, Université Libre de Bruxelles, BEAMS department, Brussels, Belgium
|
||||
#+AUTHOR: @@latex:\\@@
|
||||
#+AUTHOR: \textsuperscript{1}also at Precision Mechatronics Laboratory / A&M department, Liege, Belgium
|
||||
|
||||
#+LaTeX_HEADER: \usepackage{pdfpages,multirow,ragged2e}
|
||||
#+LaTeX_HEADER: \usepackage{graphicx,tabularx,booktabs}
|
||||
#+LaTeX_HEADER: \usepackage{blindtext}
|
||||
#+LaTeX_HEADER: \usepackage[USenglish]{babel}
|
||||
#+LaTeX_HEADER: \addbibresource{ref.bib}
|
||||
#+LaTeX_HEADER: \setcounter{footnote}{1}
|
||||
:END:
|
||||
|
||||
* BUILD :noexport:
|
||||
#+NAME: startblock
|
||||
#+BEGIN_SRC emacs-lisp :results none
|
||||
(add-to-list 'org-latex-classes
|
||||
'("jacow"
|
||||
"\\documentclass{jacow}"
|
||||
("\\section{%s}" . "\\section*{%s}")
|
||||
("\\subsection{%s}" . "\\subsection*{%s}")
|
||||
("\\subsubsection{%s}" . "\\subsubsection*{%s}")
|
||||
("\\paragraph{%s}" . "\\paragraph*{%s}")
|
||||
("\\subparagraph{%s}" . "\\subparagraph*{%s}"))
|
||||
)
|
||||
#+END_SRC
|
||||
|
||||
* ABSTRACT :ignore:
|
||||
#+BEGIN_abstract
|
||||
A new low emittance lattice storage ring is under construction at the ESRF.
|
||||
In this new instrument, an upgraded end station for ID31 beamline must allow to position the samples along complex trajectories with a nanometer precision.
|
||||
In order to reach these requirements, samples have to be mounted on high precision stages, combining a capability of large stroke, spin motion, and active rejection of disturbances.
|
||||
First, the end station will be presented with the associated requirements. However, the precision is limited by thermal expansion and various imperfections that are not actively compensated.
|
||||
Our approach is to add a Nano Active Stabilization System (NASS) which is composed of a 6DoF Stewart platform and a 6 DoF metrology system.
|
||||
A 3D model of the end station updated with experimental data is developed.
|
||||
As the mass of the samples may vary by up to two orders of magnitudes, robust control strategies are required to address such plant uncertainty.
|
||||
The proposed control strategy are presented and applied on the developed model by conducting time domain simulations of tomography experiment in presence of instrumentation noise and system uncertainty.
|
||||
#+END_abstract
|
||||
|
||||
* INTRODUCTION
|
||||
# 1 - Establish Significance
|
||||
Within the framework of the ESRF Phase II Upgrade Programme, a new state-of-the-art end station for the high-energy beamline ID31 is under development.
|
||||
Research in many scientific areas such as material and life sciences are increasingly looking for instruments with higher spatial resolution.
|
||||
The design of the new end station will enable many hard X-ray characterization techniques such as reflectivity, wide angle diffraction and diffraction tomography.
|
||||
The need of great versatility induces many constrains on the end station such as combining large stroke ($\approx\SI{10}{\milli\metre}$), high precision ($\approx\SI{10}{\nano\metre}$) while accepting samples with mass ranging from $\SI{1}{\kilo\gram}$ to $\SI{50}{\kilo\gram}$.
|
||||
|
||||
# 2 - Previous and/or current research and contributions
|
||||
Many positioning end stations have been developed with an increasing positioning precision cite:martinez2016,DucotteMEDSI2016,ogurreck2013nanotomography.
|
||||
|
||||
# 3 - Locate a gap in the research / problem / question / prediction
|
||||
However, when nanometer precision is needed, thermal expansion and vibrations are becoming the main source of positioning error that cannot be compensated by encoders used for each stage.
|
||||
Therefore, a direct metrology system is usually needed cite:DucotteMEDSI2016.
|
||||
|
||||
# 4 - The present work
|
||||
The aim of this study is to develop a short stroke Stewart platform that actively stabilize the sample position and compensate for all sources of perturbations and imperfection.
|
||||
|
||||
This paper is organized as follows into three sections.
|
||||
The first section presents the ID31 positioning end station and its associated specifications.
|
||||
The second section is dedicated to the Nano Active Stabilization System (NASS) and the associated metrology frame. A model of the ID31 positioning station is also developed and presented.
|
||||
In the third section, after presenting the control strategy, simulations of tomography experiments are conducted using the developed model. These measurements are used to estimate the performance gain of using such active stabilization system.
|
||||
|
||||
* ID31 SAMPLE-STATION
|
||||
In order to position the samples along complex trajectories with a nanometer precision, a versatile positioning platform is developed. A simplified schematic representation of the system is shown Fig. ref:fig:schematic_sys_without_nass.
|
||||
|
||||
** Design
|
||||
#+name: fig:schematic_sys_without_nass
|
||||
#+caption: Schematic representation of the ID31 end station. (1) granite, (2) Translation Stage, (3) Tilt Stage, (4) Spindle, (5) Long Stroke Hexapod, (6) Sample.
|
||||
[[./figs/schematic_sys_without_nass.pdf]]
|
||||
|
||||
#+name: fig:assemblage
|
||||
#+attr_latex: :float multicolumn
|
||||
#+caption: CAD view of the ID31 end station.
|
||||
[[./figs/assemblage.pdf]]
|
||||
|
||||
This platform consists of multiple stacked stages, each of which is described below.
|
||||
|
||||
First, a translation stage offers a travel range of $T_y = \SI{\pm5}{\milli\metre}$ in the $y$ direction which permits to scan the sample through the X-ray.
|
||||
A linear encoder is used to drive a brush-less linear motor in a feedback loop with a Proportional-Integral-Derivative (PID) control law.
|
||||
|
||||
A tilt stage then rotates the sample around the $y$ axis by $\theta_y = \ang{\pm3}$. The rotation axis is aligned with the focusing point of the X-ray in order to allow experiments such as X-ray reflectivity.
|
||||
The tilt stage is driven by a stepper motor and a PI position feedback using linear encoders.
|
||||
|
||||
An air bearing spindle permits to rotate the sample around the vertical axis with an angular speed that varies from $\dot{\theta_z} = \SI{1}{rpm}$ for light samples ($M<\SI{1}{\kilo\gram}$) to $\dot{\theta_z} = \SI{60}{rpm}$ for heavy samples ($M=\SI{50}{\kilo\gram}$).
|
||||
|
||||
A long-stroke Stewart platform developed by Symetrie is placed on top of the spindle. It allows a fine positioning of the sample in all 6 degrees of freedom (DoF). Each leg of the Hexapod has an absolute linear encoder and a DC motor.
|
||||
|
||||
As the center of mass of the stages above the spindle is not perfectly aligned with the spindle axis, centrifugal forces generate parasitic motions.
|
||||
To overcome this issue, a center of gravity compensation system is used (Fig. ref:fig:assemblage). It consists of two motorized mass that can be positioned around a circular guidance in order to perfectly aligned the center of mass with the spindle rotation axis.
|
||||
|
||||
Finally a sample environment is positioned on top of all the stages. The sample environment permits to study samples under wide range of condition: low ($\SI{1.2}{\kelvin}$) to high ($\SI{2000}{\kelvin}$) temperatures, high magnetic field ($\SI{8}{\tesla}$), etc.
|
||||
|
||||
A CAD view of the platform is shown Fig. ref:fig:assemblage. The green mechanical element shown below the sample environment is a rigid element that support the sample interface. It will later be replaced by the NASS.
|
||||
|
||||
** Specifications
|
||||
As shown in the previous section, the positioning system is composed of numerous stages in order to allow complex trajectories for various experiments.
|
||||
|
||||
As the precision needed on the sample position is very depending of the experiment conducted, only the most stringent requirements are summarized on Table ref:table:specifications.
|
||||
Moreover the metrology system must remain stable for 8 hours within $\SI{10}{\nano\metre}$.
|
||||
|
||||
#+attr_latex: :align ccccc :placement [!htpb]
|
||||
#+name: table:specifications
|
||||
#+caption: Summary of the most stringent specifications on the motions of the ID31 end station
|
||||
|------------------+------------------------+------------------------+-------------------------+---------------------------|
|
||||
| | $T_{xy}$ | $T_z$ | $\theta_y$ | $\theta_z$ |
|
||||
|------------------+------------------------+------------------------+-------------------------+---------------------------|
|
||||
| Repeatability | $\SI{20}{\nano\metre}$ | $\SI{10}{\nano\metre}$ | $\SI{5}{\micro\radian}$ | $\SI{2}{\micro\radian}$ |
|
||||
|------------------+------------------------+------------------------+-------------------------+---------------------------|
|
||||
| MIM\footnotemark | $\SI{3}{\nano\metre}$ | $\SI{3}{\nano\metre}$ | $\SI{2}{\micro\radian}$ | $\SI{0.5}{\micro\radian}$ |
|
||||
|------------------+------------------------+------------------------+-------------------------+---------------------------|
|
||||
|
||||
#+LATEX: \footnotetext{Minimum Incremental Motion}
|
||||
|
||||
As the experiment with the most stringent requirements is the diffraction tomography, it will be used for simulations in order to test the performances of the system.
|
||||
|
||||
** Measurements On The Existing End Station
|
||||
Measurements have been conducted on each stage separately in order to characterize their positioning precision and mechanical properties.
|
||||
|
||||
Moreover, measurements have been done on the mounted end station (Fig. ref:fig:exp_setup) to identify its mechanical behavior.
|
||||
These measurements will permit to tune the parameters of the developed model to better match the physical system.
|
||||
|
||||
#+name: fig:exp_setup
|
||||
#+caption: Picture of the ID31 end station. (1) Granite, (2) Translation stage, (3) Tilt stage, (4) Long stroke hexapod, (5) Mass representing the sample environment. The spindle is hidden by the translation and tilt stages.
|
||||
#+attr_latex: :width 0.95\linewidth
|
||||
[[./figs/exp_setup.pdf]]
|
||||
|
||||
* NANO ACTIVE STABILIZATION SYSTEM
|
||||
** 6 DoF Metrology System
|
||||
Even though the precision of each stage has shown to be excellent, thermal drifts and various parasitic motions cannot be compensated by the encoders used.
|
||||
Moreover, we want to control the position of the sample with respect to the X-ray that is determined by the position of the optical elements.
|
||||
|
||||
In order to achieve the positioning accuracy and stability requirements (shown on Table ref:table:specifications), a direct measurement of the relative position from the sample to the optical element is mandatory.
|
||||
Laser interferometry is chosen as it offers many advantages such as high resolution, high stability and large measurement range.
|
||||
|
||||
A 6 DoF metrology system is still under developed. Therefore, this is not developed in this paper.
|
||||
|
||||
** 6 DoF Active Stabilization Stage
|
||||
In order to actively compensate the positioning error of the sample in all 6 DoF, a short stroke Stewart platform (the NASS) is added between the long stroke hexapod and the sample (Fig. ref:fig:system_control).
|
||||
|
||||
A Stewart platform is a parallel robot that consists of two platforms connected by 6 active legs. Each leg has one actuator and two rotational joints cite:McInroy1999a. The actuators can either be piezo electric stacks or voice coil linear actuators.
|
||||
|
||||
By inverting the dynamics of the Stewart platform, it is possible to control independently the position of the mobile platform in all 6 DoF with respect to the fixed platform cite:McInroy2000.
|
||||
|
||||
These Stewart platforms have been extensively used for vibration control cite:Geng1992,preumont2007 as it offers many advantages over conventional stacked stages such as high stiffness and high load over weight ratio.
|
||||
|
||||
** Control Objective
|
||||
The control objective is to stabilize the position of the sample using the NASS actuators based on the 6DoF measurements provided by the metrology system.
|
||||
|
||||
By this way, all the imperfections that are presently corrected (thermal drifts, guidance flexibilities, etc.) will be measured and compensated using a feedback control loop.
|
||||
|
||||
Figure ref:fig:system_control shows a simplified control architecture which will be used for the NASS. The validation and optimization of this control is done on a separate test bench.
|
||||
|
||||
#+name: fig:system_control
|
||||
#+caption: Schematic representation of the NASS added below the sample and the control architecture used.
|
||||
[[./figs/system_control.pdf]]
|
||||
|
||||
** Requirements For The NASS
|
||||
The required stroke for the NASS should correspond to the maximum global positioning error of the end station without the NASS.
|
||||
This has been estimated to be around $\SI{10}{\micro\metre}$ in translations. This value will be confirmed as soon as full tests of the micro-station will be finalized.
|
||||
|
||||
Then, the minimum repetability of the NASS is determined by the global specifications (Table ref:table:specifications).
|
||||
The requirements obtained for the NASS are shown Table ref:table:nass_specification.
|
||||
|
||||
#+name: table:nass_specification
|
||||
#+caption: Rough estimation of the NASS specifications
|
||||
#+attr_latex: :align ccc :placement [!htpb]
|
||||
|----------------+------------------------------+---------------------------|
|
||||
| Motion | Stroke | Repetability |
|
||||
|----------------+------------------------------+---------------------------|
|
||||
| $T_{xyz}$ | $\SI{\pm 10}{\micro\metre}$ | $\SI{10}{\nano\metre}$ |
|
||||
| $\theta_{xyz}$ | $\SI{\pm 10}{\micro\radian}$ | $\SI{1.7}{\micro\radian}$ |
|
||||
|----------------+------------------------------+---------------------------|
|
||||
|
||||
# Maybe put after we explain the 3D model
|
||||
Other requirements such as stiffness and dynamical properties will be determined using the model presented below.
|
||||
|
||||
** Model Based Design
|
||||
# Explain why we do such model
|
||||
Such positioning system with multiple stages is highly coupled and presents many physical effects such as wobble that are difficult to model with a simple model based on measurements.
|
||||
Therefore, we have chosen to develop a 3D finite mass model. The software used is Simscape which is a toolbox for modeling multidomain physical systems within the Simulink environment.
|
||||
|
||||
# Rapid overview of the model
|
||||
Each stage is represented as a 3D rigid body connected with the other stages by joints. Springs and dampers are added to take into account the finite stiffness of the mechanical guidance.
|
||||
Actuators and sensors dynamics are also included in the model.
|
||||
Finally, sources of perturbation and noise such as ground motion and sensor noise are also modeled.
|
||||
|
||||
# Tuning of the parameters
|
||||
Thanks to the individual identification of each stage, stiffness and damping representing the flexibilities can be tuned properly.
|
||||
|
||||
# Use-fullness of the model
|
||||
This model has numerous utility.
|
||||
First, it allows to conduct simulations of experiments such as tomography. That will help us to attest the performances of the system and compare various control architecture.
|
||||
Second, it permits to study the effect of the sample mass on the mechanical behavior of the system and verify the robustness properties of the controlled system.
|
||||
Finally, this model will be of great help for designing the NASS. Indeed, many parameters have to be properly chosen such as geometric configuration, leg stiffness, actuator type and rotational joints.
|
||||
|
||||
In the following, the NASS is modeled as a Stewart platform with a cubic configuration, voice coil linear actuators and ideal rotational joints.
|
||||
|
||||
* RESULTS
|
||||
** Plant Identification
|
||||
Various transfer functions of the system can be identified using the model.
|
||||
The most important one for control is $G$ which is the transfer function from a force applied by the NASS to the measurement of the sample displacement. This represent the transfer function from $F$ to $d$ on Fig. ref:fig:system_control.
|
||||
|
||||
#+name: fig:G_x_mass
|
||||
#+caption: Transfer function from a force applied by the NASS in the $x$ direction to the sample displacement with respect to the granite in the $x$ direction. This is shown for 3 values of sample mass.
|
||||
[[./figs/G_x_mass.pdf]]
|
||||
|
||||
As the measurement and the force applied by the NASS are in 6DoF, $G$ is a 6 by 6 transfer function.
|
||||
Figure ref:fig:G_x_mass represents the bode diagram of the first element of $G$ for 3 values of the sample mass.
|
||||
It shows that the sample mass has an important impact on the dynamic of the system and it confirms that we will have to be very cautious about the robustness of the controlled system.
|
||||
|
||||
** Control Synthesis
|
||||
In order to control such a system, we choose to start with a simple centralized feedback control as shown Fig. ref:fig:general_conf_K.
|
||||
The controller takes the signal of the metrology system in 6DoF and generates the forces applied by the NASS in 6DoF. It has therefore 6 inputs and 6 outputs and contains 36 elements.
|
||||
We first choose to only have diagonal elements in the controller has a decoupling compensator has been used.
|
||||
Tanks to that, each diagonal element can be tuned separately.
|
||||
|
||||
#+name: fig:general_conf_K
|
||||
#+caption: General control configuration applied to the end station. $P$ represents the model developed of the end station. $w$ represents the exogenous inputs such has ground motion and sensor noise, $d$ the 6DoF measurement, $F$ the 6DoF forces applied by the NASS and $z$ the exogenous output that we want to minimize.
|
||||
[[./figs/general_conf_K.pdf]]
|
||||
|
||||
A typical loop gain obtained for the $x$ direction is shown Fig. ref:fig:loopgain. An integral action is added at low frequency to have no static error, and a lead is added near the crossover frequency to add some phase margin. A pole is further added in high frequency to reduce the effect of noise (not shown).
|
||||
|
||||
#+name: fig:loopgain
|
||||
#+caption: Bode plot of the loop gain for the control in $x$ direction. The red circles and the red crosses represent respectively the zeros and poles of the controller. $\Delta\phi$ represents the phase margin.
|
||||
[[./figs/loopgain.pdf]]
|
||||
|
||||
** Tomography Experiment
|
||||
In order to test the performances obtained with the current controlled system, a simulation of a tomography experiment is conducted.
|
||||
The rotation speed of the spindle is set to $\dot{\theta_z} = 30rpm$, the mass of the sample is chosen to be $M=\SI{20}{\kilo\gram}$, and ground motion is taken into account.
|
||||
|
||||
The result is shown Fig. ref:fig:exp_w_wo_nass_xy. The blue and the red curves represent the $x-y$ motion of the sample for the positioning system respectively without the NASS (corresponding to the Fig. ref:fig:schematic_sys_without_nass) and with the NASS (corresponding to the Fig. ref:fig:system_control).
|
||||
|
||||
The residual motion of the sample when using the NASS is less than $\SI{50}{\nano\metre}$ in the $xyz$ directions.
|
||||
|
||||
#+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. The blue curve correspond with the ID31 without the NASS and the red curve with the NASS added. The sample used has a mass $M=\SI{20}{\kilo\gram}$ and the rotational speed is $\dot{\theta_z} = \SI{30}{rpm}$.
|
||||
[[./figs/exp_w_wo_nass_xy.pdf]]
|
||||
|
||||
* CONCLUSION
|
||||
A high precision and versatile positioning platform has been presented.
|
||||
In order to obtain nanometer precision, a Stewart platform based stabilization system (the NASS) is proposed.
|
||||
A 3D finite mass model has been developed to test such stabilization system. It has been showed that even with a simple control architecture, the parasitic motions of the sample can be reduced down to $\SI{50}{\nano\metre}$.
|
||||
|
||||
These type of stabilization platform associated with a precise 6 DoF metrology system could be used for many other positioning systems.
|
||||
|
||||
To further improve the performance of the system, many control architecture could be developed such as a hybrid feedback-feedforward control or HAC-LAC feedback control. Moreover, to address the robustness issue, control techniques such as $\mathcal{H}_\infty$ loop-shaping and \mu-synthesis would be of great help.
|
||||
|
||||
* ACKNOWLEDGMENTS
|
||||
This research was made possible by a grant from the ESRF.
|
||||
We thank the following people for their support, without whose help this work would never have been possible: V. Honkimaki, A. Jublan, L. Ducotte, C. Carole, M. Brendike and M. Lessourd and the whole team of the Precision Mechatronic Laboratory.
|
||||
|
||||
* REFERENCES :ignore:
|
||||
\printbibliography
|
||||
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|
||||
% Created 2019-10-31 jeu. 11:10
|
||||
% Intended LaTeX compiler: pdflatex
|
||||
\documentclass[a4paper, keeplastbox, biblatex]{jacow}
|
||||
\usepackage[utf8]{inputenc}
|
||||
\usepackage[T1]{fontenc}
|
||||
\usepackage{graphicx}
|
||||
\usepackage{grffile}
|
||||
\usepackage{longtable}
|
||||
\usepackage{wrapfig}
|
||||
\usepackage{rotating}
|
||||
\usepackage[normalem]{ulem}
|
||||
\usepackage{amsmath}
|
||||
\usepackage{textcomp}
|
||||
\usepackage{amssymb}
|
||||
\usepackage{capt-of}
|
||||
\usepackage{hyperref}
|
||||
\usepackage[most]{tcolorbox}
|
||||
\usepackage{siunitx}
|
||||
\usepackage{pdfpages,multirow,ragged2e}
|
||||
\usepackage{graphicx,tabularx,booktabs}
|
||||
\usepackage{blindtext}
|
||||
\usepackage[USenglish, english]{babel}
|
||||
\addbibresource{ref.bib}
|
||||
\setcounter{footnote}{1}
|
||||
\author{T. Dehaeze\textsuperscript{1,}\thanks{thomas.dehaeze@esrf.fr}, M. Magnin-Mattenet, ESRF, Grenoble, France \\ C. Collette\textsuperscript{1}, Université Libre de Bruxelles, BEAMS department, Brussels, Belgium \\ \textsuperscript{1}also at Precision Mechatronics Laboratory / A\&M department, Liege, Belgium}
|
||||
\date{2019-10-31}
|
||||
\title{SAMPLE STABILIZATION FOR TOMOGRAPHY EXPERIMENTS IN PRESENCE OF LARGE PLANT UNCERTAINTY}
|
||||
\begin{document}
|
||||
|
||||
\maketitle
|
||||
|
||||
\begin{abstract}
|
||||
A new low emittance lattice storage ring is under construction at the ESRF.
|
||||
In this new instrument, an upgraded end station for ID31 beamline must allow to position the samples along complex trajectories with a nanometer precision.
|
||||
In order to reach these requirements, samples have to be mounted on high precision stages, combining a capability of large stroke, spin motion, and active rejection of disturbances.
|
||||
First, the end station will be presented with the associated requirements. However, the precision is limited by thermal expansion and various imperfections that are not actively compensated.
|
||||
Our approach is to add a Nano Active Stabilization System (NASS) which is composed of a 6DoF Stewart platform and a 6 DoF metrology system.
|
||||
A 3D model of the end station updated with experimental data is developed.
|
||||
As the mass of the samples may vary by up to two orders of magnitudes, robust control strategies are required to address such plant uncertainty.
|
||||
The proposed control strategy are presented and applied on the developed model by conducting time domain simulations of tomography experiment in presence of instrumentation noise and system uncertainty.
|
||||
\end{abstract}
|
||||
|
||||
\section{INTRODUCTION}
|
||||
\label{sec:orgdf25a9c}
|
||||
Within the framework of the ESRF Phase II Upgrade Programme, a new state-of-the-art end station for the high-energy beamline ID31 is under development.
|
||||
Research in many scientific areas such as material and life sciences are increasingly looking for instruments with higher spatial resolution.
|
||||
The design of the new end station will enable many hard X-ray characterization techniques such as reflectivity, wide angle diffraction and diffraction tomography.
|
||||
The need of great versatility induces many constrains on the end station such as combining large stroke (\(\approx\SI{10}{\milli\metre}\)), high precision (\(\approx\SI{10}{\nano\metre}\)) while accepting samples with mass ranging from \(\SI{1}{\kilo\gram}\) to \(\SI{50}{\kilo\gram}\).
|
||||
|
||||
Many positioning end stations have been developed with an increasing positioning precision \cite{martinez2016,DucotteMEDSI2016,ogurreck2013nanotomography}.
|
||||
|
||||
However, when nanometer precision is needed, thermal expansion and vibrations are becoming the main source of positioning error that cannot be compensated by encoders used for each stage.
|
||||
Therefore, a direct metrology system is usually needed \cite{DucotteMEDSI2016}.
|
||||
|
||||
The aim of this study is to develop a short stroke Stewart platform that actively stabilize the sample position and compensate for all sources of perturbations and imperfection.
|
||||
|
||||
This paper is organized as follows into three sections.
|
||||
The first section presents the ID31 positioning end station and its associated specifications.
|
||||
The second section is dedicated to the Nano Active Stabilization System (NASS) and the associated metrology frame. A model of the ID31 positioning station is also developed and presented.
|
||||
In the third section, after presenting the control strategy, simulations of tomography experiments are conducted using the developed model. These measurements are used to estimate the performance gain of using such active stabilization system.
|
||||
|
||||
\section{ID31 SAMPLE-STATION}
|
||||
\label{sec:orgaeecefa}
|
||||
In order to position the samples along complex trajectories with a nanometer precision, a versatile positioning platform is developed. A simplified schematic representation of the system is shown Fig. \ref{fig:schematic_sys_without_nass}.
|
||||
|
||||
\subsection{Design}
|
||||
\label{sec:org6bd25e8}
|
||||
\begin{figure}[htbp]
|
||||
\centering
|
||||
\includegraphics[scale=1]{./figs/schematic_sys_without_nass.pdf}
|
||||
\caption{\label{fig:schematic_sys_without_nass}
|
||||
Schematic representation of the ID31 end station. (1) granite, (2) Translation Stage, (3) Tilt Stage, (4) Spindle, (5) Long Stroke Hexapod, (6) Sample.}
|
||||
\end{figure}
|
||||
|
||||
\begin{figure*}
|
||||
\centering
|
||||
\includegraphics[scale=1]{./figs/assemblage.pdf}
|
||||
\caption{\label{fig:assemblage}
|
||||
CAD view of the ID31 end station.}
|
||||
\end{figure*}
|
||||
|
||||
This platform consists of multiple stacked stages, each of which is described below.
|
||||
|
||||
First, a translation stage offers a travel range of \(T_y = \SI{\pm5}{\milli\metre}\) in the \(y\) direction which permits to scan the sample through the X-ray.
|
||||
A linear encoder is used to drive a brush-less linear motor in a feedback loop with a Proportional-Integral-Derivative (PID) control law.
|
||||
|
||||
A tilt stage then rotates the sample around the \(y\) axis by \(\theta_y = \ang{\pm3}\). The rotation axis is aligned with the focusing point of the X-ray in order to allow experiments such as X-ray reflectivity.
|
||||
The tilt stage is driven by a stepper motor and a PI position feedback using linear encoders.
|
||||
|
||||
An air bearing spindle permits to rotate the sample around the vertical axis with an angular speed that varies from \(\dot{\theta_z} = \SI{1}{rpm}\) for light samples (\(M<\SI{1}{\kilo\gram}\)) to \(\dot{\theta_z} = \SI{60}{rpm}\) for heavy samples (\(M=\SI{50}{\kilo\gram}\)).
|
||||
|
||||
A long-stroke Stewart platform developed by Symetrie is placed on top of the spindle. It allows a fine positioning of the sample in all 6 degrees of freedom (DoF). Each leg of the Hexapod has an absolute linear encoder and a DC motor.
|
||||
|
||||
As the center of mass of the stages above the spindle is not perfectly aligned with the spindle axis, centrifugal forces generate parasitic motions.
|
||||
To overcome this issue, a center of gravity compensation system is used (Fig. \ref{fig:assemblage}). It consists of two motorized mass that can be positioned around a circular guidance in order to perfectly aligned the center of mass with the spindle rotation axis.
|
||||
|
||||
Finally a sample environment is positioned on top of all the stages. The sample environment permits to study samples under wide range of condition: low (\(\SI{1.2}{\kelvin}\)) to high (\(\SI{2000}{\kelvin}\)) temperatures, high magnetic field (\(\SI{8}{\tesla}\)), etc.
|
||||
|
||||
A CAD view of the platform is shown Fig. \ref{fig:assemblage}. The green mechanical element shown below the sample environment is a rigid element that support the sample interface. It will later be replaced by the NASS.
|
||||
|
||||
\subsection{Specifications}
|
||||
\label{sec:org050f06e}
|
||||
As shown in the previous section, the positioning system is composed of numerous stages in order to allow complex trajectories for various experiments.
|
||||
|
||||
As the precision needed on the sample position is very depending of the experiment conducted, only the most stringent requirements are summarized on Table \ref{table:specifications}.
|
||||
Moreover the metrology system must remain stable for 8 hours within \(\SI{10}{\nano\metre}\).
|
||||
|
||||
\begin{table}[!htpb]
|
||||
\caption{\label{table:specifications}
|
||||
Summary of the most stringent specifications on the motions of the ID31 end station}
|
||||
\centering
|
||||
\begin{tabular}{ccccc}
|
||||
\hline
|
||||
& \(T_{xy}\) & \(T_z\) & \(\theta_y\) & \(\theta_z\)\\
|
||||
\hline
|
||||
Repeatability & \(\SI{20}{\nano\metre}\) & \(\SI{10}{\nano\metre}\) & \(\SI{5}{\micro\radian}\) & \(\SI{2}{\micro\radian}\)\\
|
||||
\hline
|
||||
MIM\footnotemark & \(\SI{3}{\nano\metre}\) & \(\SI{3}{\nano\metre}\) & \(\SI{2}{\micro\radian}\) & \(\SI{0.5}{\micro\radian}\)\\
|
||||
\hline
|
||||
\end{tabular}
|
||||
\end{table}
|
||||
|
||||
\footnotetext{Minimum Incremental Motion}
|
||||
|
||||
As the experiment with the most stringent requirements is the diffraction tomography, it will be used for simulations in order to test the performances of the system.
|
||||
|
||||
\subsection{Measurements On The Existing End Station}
|
||||
\label{sec:org55d0f26}
|
||||
Measurements have been conducted on each stage separately in order to characterize their positioning precision and mechanical properties.
|
||||
|
||||
Moreover, measurements have been done on the mounted end station (Fig. \ref{fig:exp_setup}) to identify its mechanical behavior.
|
||||
These measurements will permit to tune the parameters of the developed model to better match the physical system.
|
||||
|
||||
\begin{figure}[htbp]
|
||||
\centering
|
||||
\includegraphics[scale=1,width=0.95\linewidth]{./figs/exp_setup.pdf}
|
||||
\caption{\label{fig:exp_setup}
|
||||
Picture of the ID31 end station. (1) Granite, (2) Translation stage, (3) Tilt stage, (4) Long stroke hexapod, (5) Mass representing the sample environment. The spindle is hidden by the translation and tilt stages.}
|
||||
\end{figure}
|
||||
|
||||
\section{NANO ACTIVE STABILIZATION SYSTEM}
|
||||
\label{sec:org7cadf36}
|
||||
\subsection{6 DoF Metrology System}
|
||||
\label{sec:org16eceaa}
|
||||
Even though the precision of each stage has shown to be excellent, thermal drifts and various parasitic motions cannot be compensated by the encoders used.
|
||||
Moreover, we want to control the position of the sample with respect to the X-ray that is determined by the position of the optical elements.
|
||||
|
||||
In order to achieve the positioning accuracy and stability requirements (shown on Table \ref{table:specifications}), a direct measurement of the relative position from the sample to the optical element is mandatory.
|
||||
Laser interferometry is chosen as it offers many advantages such as high resolution, high stability and large measurement range.
|
||||
|
||||
A 6 DoF metrology system is still under developed. Therefore, this is not developed in this paper.
|
||||
|
||||
\subsection{6 DoF Active Stabilization Stage}
|
||||
\label{sec:orge67f457}
|
||||
In order to actively compensate the positioning error of the sample in all 6 DoF, a short stroke Stewart platform (the NASS) is added between the long stroke hexapod and the sample (Fig. \ref{fig:system_control}).
|
||||
|
||||
A Stewart platform is a parallel robot that consists of two platforms connected by 6 active legs. Each leg has one actuator and two rotational joints \cite{McInroy1999a}. The actuators can either be piezo electric stacks or voice coil linear actuators.
|
||||
|
||||
By inverting the dynamics of the Stewart platform, it is possible to control independently the position of the mobile platform in all 6 DoF with respect to the fixed platform \cite{McInroy2000}.
|
||||
|
||||
These Stewart platforms have been extensively used for vibration control \cite{Geng1992,preumont2007} as it offers many advantages over conventional stacked stages such as high stiffness and high load over weight ratio.
|
||||
|
||||
\subsection{Control Objective}
|
||||
\label{sec:orgf7bd3ce}
|
||||
The control objective is to stabilize the position of the sample using the NASS actuators based on the 6DoF measurements provided by the metrology system.
|
||||
|
||||
By this way, all the imperfections that are presently corrected (thermal drifts, guidance flexibilities, etc.) will be measured and compensated using a feedback control loop.
|
||||
|
||||
Figure \ref{fig:system_control} shows a simplified control architecture which will be used for the NASS. The validation and optimization of this control is done on a separate test bench.
|
||||
|
||||
\begin{figure}[htbp]
|
||||
\centering
|
||||
\includegraphics[scale=1]{./figs/system_control.pdf}
|
||||
\caption{\label{fig:system_control}
|
||||
Schematic representation of the NASS added below the sample and the control architecture used.}
|
||||
\end{figure}
|
||||
|
||||
\subsection{Requirements For The NASS}
|
||||
\label{sec:org24c8374}
|
||||
The required stroke for the NASS should correspond to the maximum global positioning error of the end station without the NASS.
|
||||
This has been estimated to be around \(\SI{10}{\micro\metre}\) in translations. This value will be confirmed as soon as full tests of the micro-station will be finalized.
|
||||
|
||||
Then, the minimum repetability of the NASS is determined by the global specifications (Table \ref{table:specifications}).
|
||||
The requirements obtained for the NASS are shown Table \ref{table:nass_specification}.
|
||||
|
||||
\begin{table}[!htpb]
|
||||
\caption{\label{table:nass_specification}
|
||||
Rough estimation of the NASS specifications}
|
||||
\centering
|
||||
\begin{tabular}{ccc}
|
||||
\hline
|
||||
Motion & Stroke & Repetability\\
|
||||
\hline
|
||||
\(T_{xyz}\) & \(\SI{\pm 10}{\micro\metre}\) & \(\SI{10}{\nano\metre}\)\\
|
||||
\(\theta_{xyz}\) & \(\SI{\pm 10}{\micro\radian}\) & \(\SI{1.7}{\micro\radian}\)\\
|
||||
\hline
|
||||
\end{tabular}
|
||||
\end{table}
|
||||
|
||||
Other requirements such as stiffness and dynamical properties will be determined using the model presented below.
|
||||
|
||||
\subsection{Model Based Design}
|
||||
\label{sec:orgd64fc40}
|
||||
Such positioning system with multiple stages is highly coupled and presents many physical effects such as wobble that are difficult to model with a simple model based on measurements.
|
||||
Therefore, we have chosen to develop a 3D finite mass model. The software used is Simscape which is a toolbox for modeling multidomain physical systems within the Simulink environment.
|
||||
|
||||
Each stage is represented as a 3D rigid body connected with the other stages by joints. Springs and dampers are added to take into account the finite stiffness of the mechanical guidance.
|
||||
Actuators and sensors dynamics are also included in the model.
|
||||
Finally, sources of perturbation and noise such as ground motion and sensor noise are also modeled.
|
||||
|
||||
Thanks to the individual identification of each stage, stiffness and damping representing the flexibilities can be tuned properly.
|
||||
|
||||
This model has numerous utility.
|
||||
First, it allows to conduct simulations of experiments such as tomography. That will help us to attest the performances of the system and compare various control architecture.
|
||||
Second, it permits to study the effect of the sample mass on the mechanical behavior of the system and verify the robustness properties of the controlled system.
|
||||
Finally, this model will be of great help for designing the NASS. Indeed, many parameters have to be properly chosen such as geometric configuration, leg stiffness, actuator type and rotational joints.
|
||||
|
||||
In the following, the NASS is modeled as a Stewart platform with a cubic configuration, voice coil linear actuators and ideal rotational joints.
|
||||
|
||||
\section{RESULTS}
|
||||
\label{sec:org016c64e}
|
||||
\subsection{Plant Identification}
|
||||
\label{sec:orgc4eb023}
|
||||
Various transfer functions of the system can be identified using the model.
|
||||
The most important one for control is \(G\) which is the transfer function from a force applied by the NASS to the measurement of the sample displacement. This represent the transfer function from \(F\) to \(d\) on Fig. \ref{fig:system_control}.
|
||||
|
||||
\begin{figure}[htbp]
|
||||
\centering
|
||||
\includegraphics[scale=1]{./figs/G_x_mass.pdf}
|
||||
\caption{\label{fig:G_x_mass}
|
||||
Transfer function from a force applied by the NASS in the \(x\) direction to the sample displacement with respect to the granite in the \(x\) direction. This is shown for 3 values of sample mass.}
|
||||
\end{figure}
|
||||
|
||||
As the measurement and the force applied by the NASS are in 6DoF, \(G\) is a 6 by 6 transfer function.
|
||||
Figure \ref{fig:G_x_mass} represents the bode diagram of the first element of \(G\) for 3 values of the sample mass.
|
||||
It shows that the sample mass has an important impact on the dynamic of the system and it confirms that we will have to be very cautious about the robustness of the controlled system.
|
||||
|
||||
\subsection{Control Synthesis}
|
||||
\label{sec:org253eb42}
|
||||
In order to control such a system, we choose to start with a simple centralized feedback control as shown Fig. \ref{fig:general_conf_K}.
|
||||
The controller takes the signal of the metrology system in 6DoF and generates the forces applied by the NASS in 6DoF. It has therefore 6 inputs and 6 outputs and contains 36 elements.
|
||||
We first choose to only have diagonal elements in the controller has a decoupling compensator has been used.
|
||||
Tanks to that, each diagonal element can be tuned separately.
|
||||
|
||||
\begin{figure}[htbp]
|
||||
\centering
|
||||
\includegraphics[scale=1]{./figs/general_conf_K.pdf}
|
||||
\caption{\label{fig:general_conf_K}
|
||||
General control configuration applied to the end station. \(P\) represents the model developed of the end station. \(w\) represents the exogenous inputs such has ground motion and sensor noise, \(d\) the 6DoF measurement, \(F\) the 6DoF forces applied by the NASS and \(z\) the exogenous output that we want to minimize.}
|
||||
\end{figure}
|
||||
|
||||
A typical loop gain obtained for the \(x\) direction is shown Fig. \ref{fig:loopgain}. An integral action is added at low frequency to have no static error, and a lead is added near the crossover frequency to add some phase margin. A pole is further added in high frequency to reduce the effect of noise (not shown).
|
||||
|
||||
\begin{figure}[htbp]
|
||||
\centering
|
||||
\includegraphics[scale=1]{./figs/loopgain.pdf}
|
||||
\caption{\label{fig:loopgain}
|
||||
Bode plot of the loop gain for the control in \(x\) direction. The red circles and the red crosses represent respectively the zeros and poles of the controller. \(\Delta\phi\) represents the phase margin.}
|
||||
\end{figure}
|
||||
|
||||
\subsection{Tomography Experiment}
|
||||
\label{sec:org05ae606}
|
||||
In order to test the performances obtained with the current controlled system, a simulation of a tomography experiment is conducted.
|
||||
The rotation speed of the spindle is set to \(\dot{\theta_z} = 30rpm\), the mass of the sample is chosen to be \(M=\SI{20}{\kilo\gram}\), and ground motion is taken into account.
|
||||
|
||||
The result is shown Fig. \ref{fig:exp_w_wo_nass_xy}. The blue and the red curves represent the \(x-y\) motion of the sample for the positioning system respectively without the NASS (corresponding to the Fig. \ref{fig:schematic_sys_without_nass}) and with the NASS (corresponding to the Fig. \ref{fig:system_control}).
|
||||
|
||||
The residual motion of the sample when using the NASS is less than \(\SI{50}{\nano\metre}\) in the \(xyz\) directions.
|
||||
|
||||
\begin{figure}[htbp]
|
||||
\centering
|
||||
\includegraphics[scale=1]{./figs/exp_w_wo_nass_xy.pdf}
|
||||
\caption{\label{fig:exp_w_wo_nass_xy}
|
||||
Positioning error of the sample in the \(x\) and \(y\) direction during the simulation of a tomography experiment. The blue curve correspond with the ID31 without the NASS and the red curve with the NASS added. The sample used has a mass \(M=\SI{20}{\kilo\gram}\) and the rotational speed is \(\dot{\theta_z} = \SI{30}{rpm}\).}
|
||||
\end{figure}
|
||||
|
||||
\section{CONCLUSION}
|
||||
\label{sec:org99d6087}
|
||||
A high precision and versatile positioning platform has been presented.
|
||||
In order to obtain nanometer precision, a Stewart platform based stabilization system (the NASS) is proposed.
|
||||
A 3D finite mass model has been developed to test such stabilization system. It has been showed that even with a simple control architecture, the parasitic motions of the sample can be reduced down to \(\SI{50}{\nano\metre}\).
|
||||
|
||||
These type of stabilization platform associated with a precise 6 DoF metrology system could be used for many other positioning systems.
|
||||
|
||||
To further improve the performance of the system, many control architecture could be developed such as a hybrid feedback-feedforward control or HAC-LAC feedback control. Moreover, to address the robustness issue, control techniques such as \(\mathcal{H}_\infty\) loop-shaping and \(\mu\)-synthesis would be of great help.
|
||||
|
||||
\section{ACKNOWLEDGMENTS}
|
||||
\label{sec:orgb52f978}
|
||||
This research was made possible by a grant from the ESRF.
|
||||
We thank the following people for their support, without whose help this work would never have been possible: V. Honkimaki, A. Jublan, L. Ducotte, C. Carole, M. Brendike and M. Lessourd and the whole team of the Precision Mechatronic Laboratory.
|
||||
|
||||
\printbibliography
|
||||
\end{document}
|
||||
66
paper/ref.bib
Normal file
66
paper/ref.bib
Normal file
@ -0,0 +1,66 @@
|
||||
@article{martinez2016,
|
||||
title = {ID16B: a hard X-ray nanoprobe beamline at the ESRF for nano-analysis},
|
||||
author = {Martinez-Criado, Gema and Villanova, Julie and Tucoulou, Remi and Salomon, Damien and Suuronen, J-P and Laboure, Sylvain and Guilloud, Cyril and Valls, Valentin and Barrett, Raymond and Gagliardini, Eric and others},
|
||||
journal = {Journal of synchrotron radiation},
|
||||
volume = {23},
|
||||
pages = {344--352},
|
||||
year = {2016},
|
||||
month = {1},
|
||||
doi = {10.1107/S1600577515019839},
|
||||
publisher = {International Union of Crystallography}
|
||||
}
|
||||
@unpublished{DucotteMEDSI2016,
|
||||
author = {Ducotte, L and Clement, J.M and Gleyzolle, H and Wright, J},
|
||||
title = {The new ID11 nanoscope end-station - a nano-tomography scanner},
|
||||
note = {presented at MEDSI'16, Barcelona, Spain, Sept. 2016, unpublished}
|
||||
}
|
||||
@inproceedings{ogurreck2013nanotomography,
|
||||
title = {The nanotomography endstation at the PETRA III imaging beamline},
|
||||
author = {Ogurreck, M and Wilde, F and Herzen, J and Beckmann, F and Nazmov, V and Mohr, J and Haibel, A and M{\"u}ller, M and Schreyer, A},
|
||||
booktitle = {Journal of Physics: Conference Series},
|
||||
volume = {425},
|
||||
number = {18},
|
||||
year = {2013},
|
||||
doi = {10.1088/1742-6596/425/18/182002}
|
||||
}
|
||||
% Stewart Platform
|
||||
@article{Geng1992,
|
||||
author = {Geng, Zheng and Haynes, Leonard S},
|
||||
journal = {Journal of Robotic Systems},
|
||||
number = {5},
|
||||
pages = {725--744},
|
||||
title = {Six-degree-of-freedom active vibration isolation using a stewart platform mechanism},
|
||||
volume = {10},
|
||||
doi = {10.1109/87.273110},
|
||||
year = {1992}
|
||||
}
|
||||
|
||||
@article{McInroy1999a,
|
||||
author = {McInroy, J.E.},
|
||||
journal = {Proc. of the 1999 IEEE International Conference On Control Applications, Kohala Coast, Hawaii, USA},
|
||||
pages = {508--513},
|
||||
title = {Dynamic modeling of flexure jointed hexapods for control purposes},
|
||||
doi = {10.1109/CCA.1999.806694},
|
||||
year = {1999}
|
||||
}
|
||||
@article{preumont2007,
|
||||
author = {Preumont, A. and Horodinca, M. and Romanescu, I. and de Marneffe, B. and Avraam, M. and Deraemaeker, A. and Bossens, F.},
|
||||
journal = {Journal of Sound and Vibration},
|
||||
number = {3-5},
|
||||
title = {A six-axis single-stage active vibration isolator based on Stewart platform},
|
||||
volume = {300},
|
||||
doi = {10.1016/j.jsv.2006.07.050},
|
||||
year = {2007}
|
||||
}
|
||||
@article{McInroy2000,
|
||||
author = {McInroy, John E. and Hamann, Jerry C.},
|
||||
journal = {IEEE Transactions on Robotics and Automation},
|
||||
number = {4},
|
||||
pages = {372--381},
|
||||
title = {Design and control of flexure jointed hexapods},
|
||||
volume = {16},
|
||||
doi = {10.1109/70.864229},
|
||||
year = {2000}
|
||||
}
|
||||
|
||||
|
||||
BIN
paper/weoama02_published.pdf
Normal file
BIN
paper/weoama02_published.pdf
Normal file
Binary file not shown.
14
poster/abstract.tex
Normal file
14
poster/abstract.tex
Normal file
@ -0,0 +1,14 @@
|
||||
\textbf{Abstract}
|
||||
A new low emittance lattice storage ring is under construction at the ESRF.
|
||||
In this new instrument, an upgraded end station for ID31 beamline must allow to position the samples along \emph{complex trajectories with a nanometer precision}.
|
||||
In order to reach these requirements, samples have to be mounted on high precision stages, combining a capability of large stroke, spin motion, and active rejection of disturbances.
|
||||
However, the precision is limited by thermal expansion and various imperfections
|
||||
that are not actively compensated. Our approach is to add a Nano Active Stabilization System (NASS) which is composed of a 6DoF Stewart platform and a 6 DoF metrology system.
|
||||
A 3D model of the end station updated with experimental data is developed.
|
||||
As the mass of the samples may vary by up to two orders of magnitudes, robust control strategies are required to address such plant uncertainty.
|
||||
The proposed control strategy are presented and applied on the developed model by conducting time domain simulations of tomography experiment in presence of instrumentation noise and system uncertainty.
|
||||
|
||||
%%% Local Variables: ***
|
||||
%%% mode:latex ***
|
||||
%%% TeX-master: "2018 - Student Day.tex" ***
|
||||
%%% End: ***
|
||||
8
poster/acknoledgment.tex
Normal file
8
poster/acknoledgment.tex
Normal file
@ -0,0 +1,8 @@
|
||||
\textbf{Acknowledgments}
|
||||
This research was made possible by a grant from the ESRF.
|
||||
We thank the following people for their support, without whose help this work would never have been possible: V. Honkimaki, A. Jublan, L. Ducotte, C. Carole, M. Brendike and M. Lessourd and the whole team of the Precision Mechatronic Laboratory.
|
||||
|
||||
%%% Local Variables:
|
||||
%%% mode: latex
|
||||
%%% TeX-master: "2018 - Student Day.pdf"
|
||||
%%% End:
|
||||
13
poster/conclusion.tex
Normal file
13
poster/conclusion.tex
Normal file
@ -0,0 +1,13 @@
|
||||
% \textbf{Conclusion}
|
||||
A high precision and versatile positioning platform has been presented.
|
||||
In order to obtain nanometer precision, a Stewart platform based stabilization system (the NASS) is proposed.
|
||||
A 3D finite mass model has been developed to test such stabilization system. It has been showed that even with a simple control architecture, the parasitic motions of the sample can be reduced down to \(\SI{50}{\nano\metre}\).
|
||||
|
||||
These type of stabilization platform associated with a precise 6 DoF metrology system could be used for many other positioning systems.
|
||||
|
||||
To further improve the performance of the system, many control architecture could be developed such as a hybrid feedback-feedforward control or HAC-LAC feedback control. Moreover, to address the robustness issue, control techniques such as \(\mathcal{H}_\infty\) loop-shaping and \(\mu\)-synthesis would be of great help.
|
||||
|
||||
%%% Local Variables:
|
||||
%%% mode: latex
|
||||
%%% TeX-master: "2018 - Student Day"
|
||||
%%% End:
|
||||
155
poster/config.tex
Normal file
155
poster/config.tex
Normal file
@ -0,0 +1,155 @@
|
||||
% ==============================================================================
|
||||
% Packages
|
||||
% ==============================================================================
|
||||
\usepackage[utf8]{inputenc}
|
||||
\usepackage[T1]{fontenc}
|
||||
\usepackage[ % use biblatex for bibliography
|
||||
backend=biber, % use biber backend (bibtex replacement) or bibtex
|
||||
style=ieee, % bib style
|
||||
natbib=true, % allow natbib commands
|
||||
hyperref=true, % activate hyperref support
|
||||
backref=false, % activate backrefs
|
||||
isbn=false, % don't show isbn tags
|
||||
url=false, % don't show url tags
|
||||
doi=false, % don't show doi tags
|
||||
urldate=long, % display type for dates
|
||||
maxnames=3, %
|
||||
minnames=1, %
|
||||
maxbibnames=5, %
|
||||
minbibnames=3, %
|
||||
maxcitenames=2, %
|
||||
mincitenames=1 %
|
||||
]{biblatex}
|
||||
\usepackage{graphicx} % Enhanced support for graphics
|
||||
\usepackage{caption}
|
||||
\usepackage{subcaption}
|
||||
\usepackage{wrapfig}
|
||||
\usepackage{siunitx}
|
||||
\usepackage{tikz}
|
||||
|
||||
\usepackage{array}
|
||||
\usepackage{booktabs} % better table support
|
||||
\usepackage{tabularx} % table features
|
||||
% ==============================================================================
|
||||
|
||||
|
||||
% ==============================================================================
|
||||
% Remove credentials of tikzposter
|
||||
% ==============================================================================
|
||||
\tikzposterlatexaffectionproofoff
|
||||
% ==============================================================================
|
||||
|
||||
|
||||
% ==============================================================================
|
||||
% Change MakeTitle command
|
||||
% ==============================================================================
|
||||
\makeatletter
|
||||
\newcommand\insertlogoright[2][]{\def\@insertlogoright{\includegraphics[#1]{#2}}}
|
||||
\newcommand\insertlogoleft[2][]{\def\@insertlogoleft{\includegraphics[#1]{#2}}}
|
||||
\newlength\LogoSep
|
||||
\setlength\LogoSep{0pt}
|
||||
|
||||
\insertlogoright[width=8cm]{./logo/esrf-logo.pdf}
|
||||
\insertlogoleft[width=8cm]{./logo/ltas.png}
|
||||
|
||||
\renewcommand\maketitle[1][]{ % #1 keys
|
||||
\normalsize
|
||||
\setkeys{title}{#1}
|
||||
% Title dummy to get title height
|
||||
\node[transparent,inner sep=\TP@titleinnersep, line width=\TP@titlelinewidth, anchor=north, minimum width=\TP@visibletextwidth-2\TP@titleinnersep]
|
||||
(TP@title) at ($(0, 0.5\textheight-\TP@titletotopverticalspace)$) {\parbox{\TP@titlewidth-2\TP@titleinnersep}{\TP@maketitle}};
|
||||
\draw let \p1 = ($(TP@title.north)-(TP@title.south)$) in node {
|
||||
\setlength{\TP@titleheight}{\y1}
|
||||
\setlength{\titleheight}{\y1}
|
||||
\global\TP@titleheight=\TP@titleheight
|
||||
\global\titleheight=\titleheight
|
||||
};
|
||||
|
||||
% Compute title position
|
||||
\setlength{\titleposleft}{-0.5\titlewidth}
|
||||
\setlength{\titleposright}{\titleposleft+\titlewidth}
|
||||
\setlength{\titlepostop}{0.5\textheight-\TP@titletotopverticalspace}
|
||||
\setlength{\titleposbottom}{\titlepostop-\titleheight}
|
||||
|
||||
% Title style (background)
|
||||
\TP@titlestyle
|
||||
|
||||
% Title node
|
||||
\node[inner sep=\TP@titleinnersep, line width=\TP@titlelinewidth, anchor=north, minimum width=\TP@visibletextwidth-2\TP@titleinnersep]
|
||||
at (0,0.5\textheight-\TP@titletotopverticalspace)
|
||||
(title)
|
||||
{\parbox{\TP@titlewidth-2\TP@titleinnersep}{\TP@maketitle}};
|
||||
|
||||
\node[inner sep=0pt,anchor=west]
|
||||
at ([xshift=-\LogoSep]title.west)
|
||||
{\@insertlogoright};
|
||||
|
||||
\node[inner sep=0pt,anchor=east]
|
||||
at ([xshift=\LogoSep]title.east)
|
||||
{\@insertlogoleft};
|
||||
|
||||
% Settings for blocks
|
||||
\normalsize
|
||||
\setlength{\TP@blocktop}{\titleposbottom-\TP@titletoblockverticalspace}
|
||||
}
|
||||
|
||||
\def\title#1{\gdef\@title{\scalebox{\TP@titletextscale}{%
|
||||
\begin{minipage}[t]{\linewidth}
|
||||
\centering
|
||||
#1
|
||||
\par
|
||||
\vspace{0.5em}
|
||||
\end{minipage}%
|
||||
}}}
|
||||
\makeatother
|
||||
% ==============================================================================
|
||||
|
||||
|
||||
% ==============================================================================
|
||||
% Create Table Environment
|
||||
% ==============================================================================
|
||||
\makeatletter
|
||||
\newcounter{tablecounter}
|
||||
\newenvironment{tikztable}[1][]{
|
||||
\def \rememberparameter{#1}
|
||||
\vspace{10pt}
|
||||
\refstepcounter{tablecounter}
|
||||
\begin{center}
|
||||
}{
|
||||
\ifx\rememberparameter\@empty
|
||||
\else
|
||||
\\[10pt]
|
||||
{\small Tab.~\thetablecounter: \rememberparameter}
|
||||
\fi
|
||||
\end{center}
|
||||
}
|
||||
\makeatother
|
||||
% ==============================================================================
|
||||
|
||||
|
||||
% ==============================================================================
|
||||
% Change block style
|
||||
% ==============================================================================
|
||||
\defineblockstyle{customstyle}{
|
||||
titlewidthscale=1, bodywidthscale=1, titlecenter,
|
||||
titleoffsetx=0pt, titleoffsety=0pt, bodyoffsetx=0pt, bodyoffsety=0pt,
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
\draw[color=blocktitlebgcolor, fill=blocktitlebgcolor] (blockbody.south west) rectangle (blocktitle.north east);
|
||||
\draw[color=blocktitlebgcolor, fill=blockbodybgcolor] (blockbody.south west) rectangle (blockbody.north east);
|
||||
\else
|
||||
\draw[color=blocktitlebgcolor, fill=blockbodybgcolor] (blockbody.south west) rectangle (blockbody.north east);
|
||||
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|
||||
\end{scope}
|
||||
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|
||||
\usetheme{Default}
|
||||
\usebackgroundstyle{Empty}
|
||||
% ==============================================================================
|
||||
|
||||
%%% Local Variables: ***
|
||||
%%% mode:latex ***
|
||||
%%% TeX-master: "2018 - Student Day.tex" ***
|
||||
%%% End: ***
|
||||
1
poster/figs
Symbolic link
1
poster/figs
Symbolic link
@ -0,0 +1 @@
|
||||
../tikz/figs/
|
||||
55
poster/id31samplestation.tex
Normal file
55
poster/id31samplestation.tex
Normal file
@ -0,0 +1,55 @@
|
||||
\begin{tikzfigure}[CAD view of the ID31 end station]
|
||||
\label{fig:assemblage}
|
||||
\centering
|
||||
\includegraphics[width=\linewidth]{./figs/assemblage.pdf}
|
||||
\end{tikzfigure}
|
||||
|
||||
\begin{minipage}[t]{0.49\linewidth}
|
||||
The ID31 Sample Station consists of multiple stacked stages
|
||||
(figs~\ref{fig:assemblage} and~\ref{fig:exp_setup}):
|
||||
|
||||
\begin{itemize}
|
||||
\item \emph{translation stage}: travel range of \(T_y =
|
||||
\SI{\pm5}{\milli\metre}\). Permits to scan the sample through the X-ray.
|
||||
\item \emph{tilt stage}: rotates the sample around the \(y\) axis by
|
||||
\(\theta_y = \ang{\pm3}\). The rotation axis is aligned with the focusing
|
||||
point of the X-ray in order to allow experiments such as X-ray reflectivity.
|
||||
\item \emph{air bearing spindle}: rotate the sample around the vertical axis
|
||||
with an angular speed that varies from \(\dot{\theta_z} = \SI{1}{rpm}\) for
|
||||
light samples (\(M<\SI{1}{\kilo\gram}\)) to \(\dot{\theta_z} = \SI{60}{rpm}\)
|
||||
for heavy samples (\(M=\SI{50}{\kilo\gram}\)).
|
||||
\item \emph{long-stroke Stewart platform}: allows a fine positioning of the
|
||||
sample in all 6 degrees of freedom (DoF).
|
||||
\item \emph{gravity compensation system}: consists of two motorized mass that
|
||||
can be positioned around a circular guidance in order to perfectly aligned the
|
||||
center of mass with the spindle rotation axis.
|
||||
\item \emph{sample environment}: permits to study samples under wide range of
|
||||
condition: low (\(\SI{1.2}{\kelvin}\)) to high (\(\SI{2000}{\kelvin}\)) temperatures, high
|
||||
magnetic field (\(\SI{8}{\tesla}\)), etc.
|
||||
\end{itemize}
|
||||
\end{minipage}\hfill
|
||||
\begin{minipage}[t]{0.49\linewidth}
|
||||
\begin{tikzfigure}[Picture of the ID31 end station. (1) Granite, (2) Translation stage, (3) Tilt stage, (4) Long stroke hexapod, (5) Mass representing the sample environment. The spindle is hidden by the translation and tilt stages.]
|
||||
\label{fig:exp_setup}
|
||||
\centering
|
||||
\includegraphics[width=\linewidth]{./figs/exp_setup.pdf}
|
||||
\end{tikzfigure}
|
||||
|
||||
\begin{tikztable}[Specifications on the motions of the ID31 end station]
|
||||
\label{table:specifications}
|
||||
\centering
|
||||
\begin{tabular}{ccccc}
|
||||
\toprule
|
||||
& \(T_{xy}\) & \(T_z\) & \(\theta_y\) & \(\theta_z\)\\
|
||||
\midrule
|
||||
Repeatability & \(\SI{20}{\nano\metre}\) & \(\SI{10}{\nano\metre}\) & \(\SI{5}{\micro\radian}\) & \(\SI{2}{\micro\radian}\)\\
|
||||
MIM & \(\SI{3}{\nano\metre}\) & \(\SI{3}{\nano\metre}\) & \(\SI{2}{\micro\radian}\) & \(\SI{0.5}{\micro\radian}\)\\
|
||||
\bottomrule
|
||||
\end{tabular}
|
||||
\end{tikztable}
|
||||
\end{minipage}\\
|
||||
|
||||
%%% Local Variables: ***
|
||||
%%% mode:latex ***
|
||||
%%% TeX-master: "2018 - Student Day.tex" ***
|
||||
%%% End: ***
|
||||
22
poster/introduction.tex
Normal file
22
poster/introduction.tex
Normal file
@ -0,0 +1,22 @@
|
||||
Within the framework of the ESRF Phase II Upgrade Programme, a new state-of-the-art end station for the high-energy beamline ID31 is under development.
|
||||
Research in many scientific areas such as material and life sciences are increasingly looking for instruments with higher spatial resolution.
|
||||
The design of the new end station will enable many hard X-ray characterization techniques such as reflectivity, wide angle diffraction and diffraction tomography.
|
||||
The need of great versatility induces many constrains on the end station such as combining \emph{large stroke} (\(\approx\SI{10}{\milli\metre}\)), \emph{high precision} (\(\approx\SI{10}{\nano\metre}\)) while accepting samples with mass ranging from \(\SI{1}{\kilo\gram}\) to \(\SI{50}{\kilo\gram}\).
|
||||
|
||||
Many positioning end stations have been developed with an increasing positioning precision \cite{martinez2016,DucotteMEDSI2016,ogurreck2013nanotomography}.
|
||||
|
||||
However, when nanometer precision is needed, thermal expansion and vibrations are becoming the main source of positioning error that cannot be compensated by encoders used for each stage.
|
||||
Therefore, a direct metrology system is usually needed \cite{DucotteMEDSI2016}.
|
||||
|
||||
The aim of this study is to \emph{develop a short stroke Stewart platform that actively stabilize the sample position and compensate for all sources of perturbations and imperfection}.
|
||||
|
||||
\begin{tikzfigure}[Schematic of the Tomography Experiment]
|
||||
\label{fig:exp_full_setup}
|
||||
\centering
|
||||
\includegraphics[width=0.95\linewidth]{./figs/exp_full_setup.pdf}
|
||||
\end{tikzfigure}
|
||||
|
||||
%%% Local Variables: ***
|
||||
%%% mode:latex ***
|
||||
%%% TeX-master: "2018 - Student Day.tex" ***
|
||||
%%% End: ***
|
||||
BIN
poster/logo/esrf-logo.pdf
Normal file
BIN
poster/logo/esrf-logo.pdf
Normal file
Binary file not shown.
BIN
poster/logo/ltas.png
Normal file
BIN
poster/logo/ltas.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 15 KiB |
76
poster/nass.tex
Normal file
76
poster/nass.tex
Normal file
@ -0,0 +1,76 @@
|
||||
\begin{wrapfigure}[16]{r}{0.45\linewidth}
|
||||
\vspace{-2em}
|
||||
\begin{tikzfigure}[Schematic representation of the NASS added below the sample and the control architecture used]
|
||||
\label{fig:system_control}
|
||||
\centering
|
||||
\includegraphics[width=0.9\linewidth]{./figs/system_control.pdf}
|
||||
\end{tikzfigure}
|
||||
\end{wrapfigure}
|
||||
|
||||
\textbf{6 DoF Metrology System}
|
||||
In order to achieve the positioning accuracy and stability requirements (shown on Table \ref{table:specifications}), a direct measurement of the relative position from the sample to the optical element is mandatory.
|
||||
\emph{Laser interferometry} is chosen as it offers many advantages such as high resolution, high stability and large measurement range.
|
||||
|
||||
\vspace{1em}
|
||||
|
||||
\textbf{6 DoF Active Stabilization Stage}
|
||||
In order to actively compensate the positioning error of the sample in all 6
|
||||
DoF, a short stroke Stewart platform is added just below the sample as shown Figure~\ref{fig:system_control}.
|
||||
|
||||
By inverting the dynamics of the Stewart platform, it is possible to control independently the position of the mobile platform in all 6 DoF with respect to the fixed platform \cite{McInroy2000}.
|
||||
|
||||
\vspace{1em}
|
||||
|
||||
\textbf{Control Objective}
|
||||
The control objective is to stabilize the position of the sample using the NASS actuators based on the 6DoF measurements provided by the metrology system.
|
||||
|
||||
Using this architecture, all the imperfections that cannot be compensated using the actual system (thermal drifts, guidance flexibilities, etc.) will be measured and compensated using a feedback control loop.
|
||||
|
||||
\vspace{1em}
|
||||
|
||||
\begin{minipage}[t]{0.63\linewidth}
|
||||
\textbf{Requirements For The NASS}
|
||||
The required stroke for the NASS should correspond to the maximum global
|
||||
positioning error of the end station without the NASS (\(\approx \SI{10}{\micro\metre}\) in translations).
|
||||
The repetability of the NASS is determined by the global specifications (Table \ref{table:specifications}).
|
||||
|
||||
Other requirements such as stiffness and dynamical properties will be determined using the model presented below.
|
||||
\end{minipage}
|
||||
\begin{minipage}[t]{0.37\linewidth}
|
||||
\vspace{-1em}
|
||||
\begin{tikztable}[Rough estimation of the NASS specifications]
|
||||
\label{table:nass_specification}
|
||||
\centering
|
||||
\begin{tabular}{ccc}
|
||||
\toprule
|
||||
\textbf{Motion} & \textbf{Stroke} & \textbf{Repetability}\\
|
||||
\midrule
|
||||
\(T_{xyz}\) & \(\SI{\pm 10}{\micro\metre}\) & \(\SI{10}{\nano\metre}\)\\
|
||||
\(\theta_{xyz}\) & \(\SI{\pm 10}{\micro\radian}\) & \(\SI{1.7}{\micro\radian}\)\\
|
||||
\bottomrule
|
||||
\end{tabular}
|
||||
\end{tikztable}
|
||||
\end{minipage}
|
||||
|
||||
|
||||
% \textbf{Model Based Design}
|
||||
% Such positioning system with multiple stages is highly coupled and presents many physical effects such as wobble that are difficult to model with a simple model based on measurements.
|
||||
% Therefore, we have chosen to develop a 3D finite mass model. The software used is Simscape which is a toolbox for modeling multidomain physical systems within the Simulink environment.
|
||||
|
||||
% Each stage is represented as a 3D rigid body connected with the other stages by joints. Springs and dampers are added to take into account the finite stiffness of the mechanical guidance.
|
||||
% Actuators and sensors dynamics are also included in the model.
|
||||
% Finally, sources of perturbation and noise such as ground motion and sensor noise are also modeled.
|
||||
|
||||
% Thanks to the individual identification of each stage, stiffness and damping representing the flexibilities can be tuned properly.
|
||||
|
||||
% This model has numerous utility.
|
||||
% First, it allows to conduct simulations of experiments such as tomography. That will help us to attest the performances of the system and compare various control architecture.
|
||||
% Second, it permits to study the effect of the sample mass on the mechanical behavior of the system and verify the robustness properties of the controlled system.
|
||||
% Finally, this model will be of great help for designing the NASS. Indeed, many parameters have to be properly chosen such as geometric configuration, leg stiffness, actuator type and rotational joints.
|
||||
|
||||
% In the following, the NASS is modeled as a Stewart platform with a cubic configuration, voice coil linear actuators and ideal rotational joints.
|
||||
|
||||
%%% Local Variables: ***
|
||||
%%% mode:latex ***
|
||||
%%% TeX-master: "2018 - Student Day.tex" ***
|
||||
%%% End: ***
|
||||
BIN
poster/poster.pdf
Normal file
BIN
poster/poster.pdf
Normal file
Binary file not shown.
52
poster/poster.tex
Normal file
52
poster/poster.tex
Normal file
@ -0,0 +1,52 @@
|
||||
\documentclass[%
|
||||
a0paper,%
|
||||
20pt,%
|
||||
portait,%
|
||||
margin=0mm,%
|
||||
innermargin=10mm,%
|
||||
blockverticalspace=10mm,%
|
||||
colspace=10mm,%
|
||||
subcolspace=5mm%
|
||||
]{tikzposter}
|
||||
|
||||
\input{config.tex}
|
||||
|
||||
\addbibresource{ref.bib}
|
||||
|
||||
\author{T. Dehaeze, M. Magnin-Mattenet, C. Collette}
|
||||
\date{2018-09-06}
|
||||
\title{Sample Stabilization for Tomography Experiments in Presence of Large Plant Uncertainty}
|
||||
\institute{}
|
||||
|
||||
\useblockstyle{customstyle}
|
||||
|
||||
\begin{document}
|
||||
|
||||
\maketitle[%
|
||||
roundedcorners=2,
|
||||
linewidth=2mm,
|
||||
innersep=10mm,
|
||||
titletotopverticalspace=10mm,
|
||||
titletoblockverticalspace=10mm]
|
||||
|
||||
\block[]{}{\input{abstract.tex}}
|
||||
|
||||
\begin{columns}
|
||||
\column{0.5}
|
||||
\block[]{Introduction}{\input{introduction.tex}}
|
||||
\block[]{ID31 Sample Station}{\input{id31samplestation.tex}}
|
||||
|
||||
\column{0.5}
|
||||
\block[]{Nano Active Stabilization System}{\input{nass.tex}}
|
||||
\block[]{Results}{\input{results.tex}}
|
||||
\block[]{Conclusion}{\input{conclusion.tex}}
|
||||
\end{columns}
|
||||
|
||||
\block[]{}{\input{reference.tex}}
|
||||
% \block[]{}{\input{acknoledgment.tex}}
|
||||
|
||||
\end{document}
|
||||
\section{ACKNOWLEDGMENTS}
|
||||
\label{sec:org59f58a9}
|
||||
This research was made possible by a grant from the ESRF.
|
||||
We thank the following people for their support, without whose help this work would never have been possible: V. Honkimaki, A. Jublan, L. Ducotte, C. Carole, M. Brendike and M. Lessourd and the whole team of the Precision Mechatronic Laboratory.
|
||||
66
poster/ref.bib
Normal file
66
poster/ref.bib
Normal file
@ -0,0 +1,66 @@
|
||||
@article{martinez2016,
|
||||
title = {ID16B: a hard X-ray nanoprobe beamline at the ESRF for nano-analysis},
|
||||
author = {Martinez-Criado, Gema and Villanova, Julie and Tucoulou, Remi and Salomon, Damien and Suuronen, J-P and Laboure, Sylvain and Guilloud, Cyril and Valls, Valentin and Barrett, Raymond and Gagliardini, Eric and others},
|
||||
journal = {Journal of synchrotron radiation},
|
||||
volume = {23},
|
||||
pages = {344--352},
|
||||
year = {2016},
|
||||
month = {1},
|
||||
doi = {10.1107/S1600577515019839},
|
||||
publisher = {International Union of Crystallography}
|
||||
}
|
||||
@unpublished{DucotteMEDSI2016,
|
||||
author = {Ducotte, L and Clement, J.M and Gleyzolle, H and Wright, J},
|
||||
title = {The new ID11 nanoscope end-station - a nano-tomography scanner},
|
||||
note = {presented at MEDSI'16, Barcelona, Spain, Sept. 2016, unpublished}
|
||||
}
|
||||
@inproceedings{ogurreck2013nanotomography,
|
||||
title = {The nanotomography endstation at the PETRA III imaging beamline},
|
||||
author = {Ogurreck, M and Wilde, F and Herzen, J and Beckmann, F and Nazmov, V and Mohr, J and Haibel, A and M{\"u}ller, M and Schreyer, A},
|
||||
booktitle = {Journal of Physics: Conference Series},
|
||||
volume = {425},
|
||||
number = {18},
|
||||
year = {2013},
|
||||
doi = {10.1088/1742-6596/425/18/182002}
|
||||
}
|
||||
% Stewart Platform
|
||||
@article{Geng1992,
|
||||
author = {Geng, Zheng and Haynes, Leonard S},
|
||||
journal = {Journal of Robotic Systems},
|
||||
number = {5},
|
||||
pages = {725--744},
|
||||
title = {Six-degree-of-freedom active vibration isolation using a stewart platform mechanism},
|
||||
volume = {10},
|
||||
doi = {10.1109/87.273110},
|
||||
year = {1992}
|
||||
}
|
||||
|
||||
@article{McInroy1999a,
|
||||
author = {McInroy, J.E.},
|
||||
journal = {Proc. of the 1999 IEEE International Conference On Control Applications, Kohala Coast, Hawaii, USA},
|
||||
pages = {508--513},
|
||||
title = {Dynamic modeling of flexure jointed hexapods for control purposes},
|
||||
doi = {10.1109/CCA.1999.806694},
|
||||
year = {1999}
|
||||
}
|
||||
@article{preumont2007,
|
||||
author = {Preumont, A. and Horodinca, M. and Romanescu, I. and de Marneffe, B. and Avraam, M. and Deraemaeker, A. and Bossens, F.},
|
||||
journal = {Journal of Sound and Vibration},
|
||||
number = {3-5},
|
||||
title = {A six-axis single-stage active vibration isolator based on Stewart platform},
|
||||
volume = {300},
|
||||
doi = {10.1016/j.jsv.2006.07.050},
|
||||
year = {2007}
|
||||
}
|
||||
@article{McInroy2000,
|
||||
author = {McInroy, John E. and Hamann, Jerry C.},
|
||||
journal = {IEEE Transactions on Robotics and Automation},
|
||||
number = {4},
|
||||
pages = {372--381},
|
||||
title = {Design and control of flexure jointed hexapods},
|
||||
volume = {16},
|
||||
doi = {10.1109/70.864229},
|
||||
year = {2000}
|
||||
}
|
||||
|
||||
|
||||
12
poster/reference.tex
Normal file
12
poster/reference.tex
Normal file
@ -0,0 +1,12 @@
|
||||
\textbf{Reference}
|
||||
\printbibliography[heading=none]
|
||||
% \vspace{-1em}
|
||||
|
||||
\textbf{Acknowledgments}
|
||||
This research was made possible by a grant from the ESRF.
|
||||
We thank the following people for their support, without whose help this work would never have been possible: V. Honkimaki, A. Jublan, L. Ducotte, C. Carole, M. Brendike and M. Lessourd and the whole team of the Precision Mechatronic Laboratory.
|
||||
|
||||
%%% Local Variables: ***
|
||||
%%% mode:latex ***
|
||||
%%% TeX-master: "2018 - Student Day.tex" ***
|
||||
%%% End: ***
|
||||
65
poster/results.tex
Normal file
65
poster/results.tex
Normal file
@ -0,0 +1,65 @@
|
||||
% \textbf{Plant Identification}
|
||||
% Various transfer functions of the system can be identified using the model.
|
||||
% The most important one for control is \(G\) which is the transfer function from a force applied by the NASS to the measurement of the sample displacement. This represent the transfer function from \(F\) to \(d\) on Figure~\ref{fig:system_control}.
|
||||
|
||||
% \begin{minipage}{0.60\linewidth}
|
||||
% \begin{tikzfigure}[Transfer function from a force applied by the NASS to the sample displacement]
|
||||
% \label{fig:G_x_mass}
|
||||
% \centering
|
||||
% \includegraphics[height=12cm]{./figs/G_x_mass.pdf}
|
||||
% \end{tikzfigure}
|
||||
% \end{minipage}\hfill
|
||||
% \begin{minipage}{0.38\linewidth}
|
||||
% \begin{tikzfigure}[General control configuration]
|
||||
% \label{fig:general_conf_K}
|
||||
% \centering
|
||||
% \includegraphics[height=12cm]{./figs/general_conf_K.pdf}
|
||||
% \end{tikzfigure}
|
||||
% \end{minipage}\\
|
||||
|
||||
|
||||
% As the measurement and the force applied by the NASS are in 6DoF, \(G\) is a 6 by 6 transfer function.
|
||||
% Figure~\ref{fig:G_x_mass} represents the bode diagram of the first element of \(G\) for 3 values of the sample mass.
|
||||
% It shows that the sample mass has an important impact on the dynamic of the system and it confirms that we will have to be very cautious about the robustness of the controlled system.
|
||||
|
||||
\textbf{Control Configuration}
|
||||
In order to control such a system, we choose to start with a simple centralized
|
||||
feedback control as shown Figure~\ref{fig:general_conf_K}.
|
||||
The controller takes the signal of the metrology system in 6DoF and generates
|
||||
the forces applied by the NASS in 6DoF. It is therefore a 6 by 6 matrix.
|
||||
\begin{minipage}{0.49\linewidth}
|
||||
\begin{tikzfigure}[Control configuration. \(P\) is the model of the end station, \(w\) the exogenous inputs, \(d\) the 6DoF measurement, \(F\) the 6DoF forces applied by the NASS and \(z\) the signals we want to minimize.]
|
||||
\label{fig:general_conf_K}
|
||||
\centering
|
||||
\includegraphics[height=13cm]{./figs/general_conf_K.pdf}
|
||||
\end{tikzfigure}
|
||||
\end{minipage}\hfill
|
||||
\begin{minipage}{0.49\linewidth}
|
||||
\begin{tikzfigure}[Positioning error of the sample during the simulation of a tomography experiment. The blue curve correspond with the ID31 without the NASS and the red curve with the NASS added. \(M=\SI{20}{\kilo\gram}\) and \(\dot{\theta_z} = \SI{30}{rpm}\).]
|
||||
\label{fig:exp_w_wo_nass_xy}
|
||||
\centering
|
||||
\includegraphics[height=13cm]{./figs/exp_w_wo_nass_xy.pdf}
|
||||
\end{tikzfigure}
|
||||
\end{minipage}\\
|
||||
|
||||
\textbf{Control Synthesis}
|
||||
We first choose to only have non-zero diagonal elements. Then, each diagonal
|
||||
controller is tuned independently and has a lead-lag structure:
|
||||
\begin{itemize}
|
||||
\item An integral action is added at low frequency to have no static error
|
||||
\item A lead is added near the crossover frequency to add some phase margin
|
||||
\item A pole is further added in high frequency to reduce the effect of noise
|
||||
\end{itemize}
|
||||
|
||||
\textbf{Tomography Experiment}
|
||||
In order to test the performances obtained with the current controlled system, a simulation of a tomography experiment is conducted.
|
||||
The rotation speed of the spindle is set to \(\dot{\theta_z} = 30rpm\), the mass of the sample is chosen to be \(M=\SI{20}{\kilo\gram}\), and ground motion is taken into account.
|
||||
|
||||
The result is shown Figure~\ref{fig:exp_w_wo_nass_xy}. The blue and the red curves represent the \(x-y\) motion of the sample for the positioning system respectively without the NASS and with the NASS.
|
||||
|
||||
The residual motion of the sample when using the NASS is less than \(\SI{50}{\nano\metre}\) in the \(xyz\) directions.
|
||||
|
||||
%%% Local Variables: ***
|
||||
%%% mode:latex ***
|
||||
%%% TeX-master: "2018 - Student Day.tex" ***
|
||||
%%% End: ***
|
||||
1211
tikz/config.html
Normal file
1211
tikz/config.html
Normal file
File diff suppressed because it is too large
Load Diff
695
tikz/config.org
Normal file
695
tikz/config.org
Normal file
@ -0,0 +1,695 @@
|
||||
#+TITLE: LaTeX Configuration for Tikz Figures
|
||||
:DRAWER:
|
||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
|
||||
#+HTML_HEAD: <script src="../js/jquery.min.js"></script>
|
||||
#+HTML_HEAD: <script src="../js/bootstrap.min.js"></script>
|
||||
#+HTML_HEAD: <script src="../js/jquery.stickytableheaders.min.js"></script>
|
||||
#+HTML_HEAD: <script src="../js/readtheorg.js"></script>
|
||||
|
||||
#+PROPERTY: header-args:latex+ :tangle config.tex
|
||||
#+PROPERTY: header-args:latex+ :exports code
|
||||
:END:
|
||||
|
||||
* Packages
|
||||
#+begin_src latex
|
||||
\usepackage[utf8]{inputenc}
|
||||
\usepackage[T1]{fontenc}
|
||||
|
||||
\usepackage[french, english]{babel} % Last language is main language
|
||||
|
||||
\usepackage{lmodern} % Latin Modern Font
|
||||
\usepackage{gensymb} % Generic symbols for both text and math mode
|
||||
|
||||
\usepackage{standalone} % Used to generate standalone Tikz
|
||||
|
||||
\usepackage{amsmath} % Main math Package
|
||||
\usepackage{mathtools} % Extension package to amsmath
|
||||
\usepackage{amsthm} % Typesetting theorems (AMS style)
|
||||
\usepackage{amsfonts} % More fonts from the AMS
|
||||
\usepackage{textcomp} % provide many text symbols
|
||||
\usepackage{steinmetz} % For phase symbol
|
||||
|
||||
\usepackage{xstring} % Utils to manipulate strings
|
||||
\usepackage{etoolbox} % Add basic if/then
|
||||
\usepackage{esvect} % Beautyfull vectors
|
||||
\usepackage{graphicx} % Enhanced support for graphics
|
||||
\usepackage{grffile} % Used by matlab2tikz
|
||||
|
||||
\usepackage{microtype} % typographic tuning
|
||||
\usepackage{setspace} % for line spacing, e.g. \onehalfspacing
|
||||
\usepackage{tabularx} % table features
|
||||
\usepackage{enumitem} % for simple list modifications
|
||||
\usepackage{booktabs} % better table support
|
||||
|
||||
\usepackage{stackengine} %
|
||||
|
||||
\usepackage[load-configurations=abbreviations]{siunitx} % SI units
|
||||
\sisetup{
|
||||
locale = US,
|
||||
detect-all,
|
||||
range-phrase=--,
|
||||
range-units=single
|
||||
}
|
||||
#+end_src
|
||||
|
||||
* Tikz related packages
|
||||
#+begin_src latex
|
||||
\usepackage{tikz} % Tikz
|
||||
\usepackage{tikzscale} % Used to scale Tikz graphics
|
||||
\usepackage{adjustbox} % Used to proper positioning of tikz pictures
|
||||
\usepackage{circuitikz} % Draw electronic circuits
|
||||
\usepackage{pgfpages} % Needed to use notes
|
||||
\usepackage{pgfplots} % Used to plot functions
|
||||
#+end_src
|
||||
|
||||
* Tikz Libraries
|
||||
#+begin_src latex
|
||||
\usetikzlibrary{arrows} % Arrow tip library
|
||||
\usetikzlibrary{arrows.meta} % Add some arrows
|
||||
\usetikzlibrary{calc} % The library allows advanced Coordinate Calculations
|
||||
\usetikzlibrary{intersections} % calculate intersections of paths
|
||||
\usetikzlibrary{matrix} %
|
||||
\usetikzlibrary{patterns} %
|
||||
\usetikzlibrary{shapes} % Defines circle and rectangle
|
||||
\usetikzlibrary{shapes.geometric} % Use for the shape diamond and isosceles triangle
|
||||
\usetikzlibrary{snakes} % snake=coil and snake=zigzag using segment amplitude=10pt
|
||||
\usetikzlibrary{positioning} % Additional options for placing nodes
|
||||
\usetikzlibrary{3d} % Plot 3D shapes
|
||||
\usetikzlibrary{spy} % Creating a magnified area
|
||||
\usetikzlibrary{decorations.text} % Used to make text follows a curve
|
||||
\usetikzlibrary{decorations.pathmorphing} % deformation of a path
|
||||
\usetikzlibrary{decorations.markings} % Used for spring and damper
|
||||
\usetikzlibrary{babel} % A tiny library that make the interaction with the babel package easier
|
||||
\usetikzlibrary{plotmarks} % This library defines a number of plot marks
|
||||
\usetikzlibrary{fit} % Used to make rectangle as nodes by specifying two points
|
||||
\usetikzlibrary{backgrounds} % Used to put things under others
|
||||
#+end_src
|
||||
|
||||
* PGF Plot libraries and config
|
||||
#+begin_src latex
|
||||
\usepgfplotslibrary{patchplots}
|
||||
\usepgfplotslibrary{groupplots}
|
||||
|
||||
\pgfplotsset{compat=newest}
|
||||
\pgfplotsset{plot coordinates/math parser=false}
|
||||
#+end_src
|
||||
|
||||
* Setup size of figures
|
||||
#+begin_src latex
|
||||
\newlength{\fheight}
|
||||
\newlength{\fwidth}
|
||||
|
||||
\setlength{\fwidth}{85mm}
|
||||
\setlength{\fheight}{112mm}
|
||||
#+end_src
|
||||
|
||||
* Setup Arrows style
|
||||
#+begin_src latex
|
||||
\tikzset{>=Stealth}
|
||||
% Setup default Linewidth
|
||||
\tikzset{every path/.style={line width=1pt}}
|
||||
#+end_src
|
||||
|
||||
* Colors
|
||||
#+begin_src latex
|
||||
\usepackage{xcolor}% Color extension
|
||||
|
||||
\definecolor{mycolor1}{RGB}{79,115,193}
|
||||
\definecolor{mycolor2}{RGB}{213,91,53}
|
||||
\definecolor{mycolor3}{RGB}{152,126,49}
|
||||
#+end_src
|
||||
|
||||
* Control
|
||||
** Blocks
|
||||
#+begin_src latex
|
||||
\tikzset{%
|
||||
block/.style n args={2}{%
|
||||
draw,
|
||||
fill=white,
|
||||
minimum width = #1,
|
||||
minimum height = #2,
|
||||
},
|
||||
block/.default={1.2cm}{1.0cm}
|
||||
}
|
||||
#+end_src
|
||||
|
||||
** Branches
|
||||
#+begin_src latex
|
||||
\tikzstyle{branch}=[fill,shape=circle,minimum size=4pt,inner sep=0pt]
|
||||
\tikzstyle{->top}=[-{Stealth[color=black, scale=0.8]}, draw=white, double=black, double distance=1pt, line width=1pt]
|
||||
\tikzstyle{<-top}=[{stealth[color=black, scale=0.8]}-, draw=white, double=black, double distance=1pt, line width=1pt]
|
||||
#+end_src
|
||||
|
||||
** Hand Writen Style
|
||||
Usefull for schematic plots
|
||||
#+begin_src latex
|
||||
\tikzstyle{handwriten}=[decorate,decoration={random steps,amplitude=0.1pt,segment length=0.8pt}]
|
||||
#+end_src
|
||||
|
||||
** DAC
|
||||
#+begin_src latex
|
||||
\tikzset{%
|
||||
DAC/.style={%
|
||||
draw,
|
||||
signal,
|
||||
}
|
||||
}
|
||||
#+end_src
|
||||
|
||||
** ADC
|
||||
#+begin_src latex
|
||||
\tikzset{%
|
||||
ADC/.style={%
|
||||
draw,
|
||||
signal,
|
||||
signal to = west,
|
||||
}
|
||||
}
|
||||
#+end_src
|
||||
|
||||
** Gain
|
||||
#+begin_src latex
|
||||
\tikzset{%
|
||||
gain right/.style={%
|
||||
draw,
|
||||
regular polygon,
|
||||
regular polygon sides = 3,
|
||||
inner sep = 2pt,
|
||||
shape border rotate=-90
|
||||
},
|
||||
gain left/.style={%
|
||||
draw,
|
||||
regular polygon,
|
||||
regular polygon sides = 3,
|
||||
inner sep = 2pt,
|
||||
shape border rotate=90
|
||||
},
|
||||
gain top/.style={%
|
||||
draw,
|
||||
regular polygon,
|
||||
regular polygon sides = 3,
|
||||
inner sep = 2pt,
|
||||
shape border rotate=0
|
||||
},
|
||||
gain bottom/.style={%
|
||||
draw,
|
||||
regular polygon,
|
||||
regular polygon sides = 3,
|
||||
inner sep = 2pt,
|
||||
shape border rotate=180
|
||||
},
|
||||
}
|
||||
#+end_src
|
||||
|
||||
** Add / Substract / Divide / Multiply block
|
||||
#+begin_src latex
|
||||
\tikzset{% Add block with Circled operations
|
||||
addc/.style n args={5}{%
|
||||
draw,
|
||||
fill=white,
|
||||
circle,
|
||||
outer sep = 0pt,
|
||||
inner sep = 0pt,
|
||||
minimum size = 2em,
|
||||
execute at begin node={\LARGE $#1$},
|
||||
append after command={\pgfextra{\let\mainnode=\tikzlastnode}
|
||||
\ifx#2\empty\else
|
||||
node[draw, circle, outer sep=6pt, inner sep=0pt, above left] at (\mainnode.west) {$#2$}%
|
||||
\fi
|
||||
\ifx#3\empty\else
|
||||
node[draw, circle, outer sep=6pt, inner sep=0pt, above right] at (\mainnode.north) {$#3$}%
|
||||
\fi
|
||||
\ifx#4\empty\else
|
||||
node[draw, circle, outer sep=6pt, inner sep=0pt, below right] at (\mainnode.east) {$#4$}%
|
||||
\fi
|
||||
\ifx#5\empty\else
|
||||
node[draw, circle, outer sep=6pt, inner sep=0pt, below left] at (\mainnode.south) {$#5$}%
|
||||
\fi
|
||||
}
|
||||
},
|
||||
addc/.default={+}{}{}{}{},
|
||||
}
|
||||
#+end_src
|
||||
|
||||
#+begin_src latex
|
||||
\tikzset{% Add Block
|
||||
addb/.style n args={5}{%
|
||||
draw,
|
||||
fill=white,
|
||||
circle,
|
||||
outer sep = 0pt,
|
||||
inner sep = 0pt,
|
||||
minimum size = 2em,
|
||||
execute at begin node={\LARGE $#1$},
|
||||
append after command={\pgfextra{\let\mainnode=\tikzlastnode}
|
||||
\ifx#2\empty\else
|
||||
node[outer sep=2pt, inner sep=0pt, above left] at (\mainnode.west) {$#2$}%
|
||||
\fi
|
||||
\ifx#3\empty\else
|
||||
node[outer sep=2pt, inner sep=0pt, above right] at (\mainnode.north) {$#3$}%
|
||||
\fi
|
||||
\ifx#4\empty\else
|
||||
node[outer sep=2pt, inner sep=0pt, below right] at (\mainnode.east) {$#4$}%
|
||||
\fi
|
||||
\ifx#5\empty\else
|
||||
node[outer sep=2pt, inner sep=0pt, below left] at (\mainnode.south) {$#5$}%
|
||||
\fi
|
||||
}
|
||||
},
|
||||
addb/.default={+}{}{}{}{},
|
||||
}
|
||||
#+end_src
|
||||
|
||||
* Plots
|
||||
** Default line caps
|
||||
#+begin_src latex
|
||||
\pgfplotsset{
|
||||
every axis plot/.append style={line join=round},
|
||||
every axis plot/.append style={line cap=round},
|
||||
}
|
||||
#+end_src
|
||||
|
||||
** Grid
|
||||
#+begin_src latex
|
||||
\pgfplotsset{grid style={black}}
|
||||
\pgfplotsset{major grid style={black!30!white}}
|
||||
\pgfplotsset{minor grid style={black!10!white}}
|
||||
\pgfplotsset{xmajorgrids}
|
||||
\pgfplotsset{ymajorgrids}
|
||||
#+end_src
|
||||
|
||||
** Lines
|
||||
#+begin_src latex
|
||||
\pgfplotsset{separate axis lines=false} % draw axis as rectangle and not as 4 lines
|
||||
\pgfplotsset{every outer x axis line/.append style={black}}
|
||||
\pgfplotsset{every outer y axis line/.append style={black}}
|
||||
\pgfplotsset{axis background/.style={fill=white}}
|
||||
\pgfplotsset{axis x line*=bottom} % solid line on the bottom with thin on the top
|
||||
\pgfplotsset{axis y line*=left} % solid line on the left with thin on the right
|
||||
#+end_src
|
||||
|
||||
** Ticks
|
||||
#+begin_src latex
|
||||
\pgfplotsset{every y tick label/.append style={font=\color{black}}}
|
||||
\pgfplotsset{every y tick/.append style={black}}
|
||||
\pgfplotsset{every x tick label/.append style={font=\color{black}}}
|
||||
\pgfplotsset{every x tick/.append style={black}}
|
||||
#+end_src
|
||||
|
||||
** Size
|
||||
If =scale only axis=false= (the default), pgfplots will try to produce the desired width including labels, titles and ticks.
|
||||
#+begin_src latex
|
||||
\pgfplotsset{scale only axis=true}
|
||||
#+end_src
|
||||
|
||||
** Label
|
||||
Used to align all of ylabel of one figure.
|
||||
#+begin_src latex
|
||||
\pgfplotsset{ylabel absolute}
|
||||
#+end_src
|
||||
|
||||
** Legend
|
||||
#+begin_src latex
|
||||
% https://tex.stackexchange.com/questions/54794/using-a-pgfplots-style-legend-in-a-plain-old-tikzpicture#54834
|
||||
|
||||
% argument #1: any options
|
||||
\newenvironment{customlegend}[1][]{%
|
||||
\begingroup
|
||||
% inits/clears the lists (which might be populated from previous
|
||||
% axes):
|
||||
\csname pgfplots@init@cleared@structures\endcsname
|
||||
\pgfplotsset{#1}%
|
||||
}{%
|
||||
% draws the legend:
|
||||
\csname pgfplots@createlegend\endcsname
|
||||
\endgroup
|
||||
}%
|
||||
|
||||
% makes \addlegendimage available (typically only available within an
|
||||
% axis environment):
|
||||
\def\addlegendimage{\csname pgfplots@addlegendimage\endcsname}
|
||||
|
||||
% definition to insert numbers
|
||||
% \pgfkeys{/pgfplots/number in legend/.style={%
|
||||
% /pgfplots/legend image code/.code={%
|
||||
% \node at (0.125,-0.0225){#1}; % <= changed x value
|
||||
% },%
|
||||
% },
|
||||
% }
|
||||
\pgfplotsset{
|
||||
every legend to name picture/.style={west}
|
||||
}
|
||||
#+end_src
|
||||
|
||||
** Upper and Lower bounds
|
||||
#+begin_src latex
|
||||
\pgfplotsset{upperbound}=[line cap=round, postaction={decorate,draw,decoration={border, segment length=0.2cm, amplitude=0.3cm, angle=60}}]
|
||||
\pgfplotsset{lowerbound}=[line cap=round, postaction={decorate,draw,decoration={border, segment length=0.2cm, amplitude=0.3cm, angle=-60}}]
|
||||
#+end_src
|
||||
|
||||
And we add the corresdonding
|
||||
#+begin_src latex
|
||||
\pgfplotsset{
|
||||
/pgfplots/upperbound/.style 1 args={
|
||||
legend image code/.code={
|
||||
\draw[##1, upperbound]
|
||||
plot coordinates {
|
||||
(0cm,0cm)
|
||||
(0.6cm,0cm)
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
#+end_src
|
||||
|
||||
** Pole
|
||||
#+begin_src latex
|
||||
\tikzset{%
|
||||
pole/.style{%
|
||||
color=red,
|
||||
cross out,
|
||||
draw,
|
||||
inner sep=0pt,
|
||||
outer sep=0pt,
|
||||
minimum size=#1pt
|
||||
},
|
||||
pole/.default={4}
|
||||
}
|
||||
#+end_src
|
||||
|
||||
** Zero
|
||||
#+begin_src latex
|
||||
\tikzset{%
|
||||
zero/.style{%
|
||||
color=red,
|
||||
circle,
|
||||
draw,
|
||||
inner sep=0pt,
|
||||
outer sep=0pt,
|
||||
minimum size=#1pt
|
||||
},
|
||||
zero/.default={4}
|
||||
}
|
||||
#+end_src
|
||||
|
||||
* Mechanical
|
||||
** Spring
|
||||
#+begin_src latex
|
||||
\tikzset{%
|
||||
spring/.style={%
|
||||
thick,
|
||||
decoration={
|
||||
zigzag,
|
||||
pre length = #1cm,
|
||||
post length = #1cm,
|
||||
segment length = 6
|
||||
},
|
||||
decorate
|
||||
},
|
||||
spring/.default={0.2}
|
||||
}
|
||||
#+end_src
|
||||
|
||||
** Coil
|
||||
#+begin_src latex
|
||||
\tikzset{%
|
||||
coil/.style n args={2}{%
|
||||
thick,
|
||||
decoration={
|
||||
coil,
|
||||
pre length = #1cm,
|
||||
post length = #2cm,
|
||||
segment length = 4
|
||||
},
|
||||
decorate
|
||||
},
|
||||
coil/.default={0.3}{0.3}
|
||||
}
|
||||
#+end_src
|
||||
|
||||
** Damper
|
||||
#+begin_src latex
|
||||
\tikzset{%
|
||||
damper/.style n args={2}{%
|
||||
thick,
|
||||
decoration={markings, mark connection node=dmp, mark=at position 0.5 with {
|
||||
\node (dmp) [thick,
|
||||
inner sep = 0pt,
|
||||
transform shape,
|
||||
rotate =-90,
|
||||
minimum width = #1pt,
|
||||
minimum height = #2pt,
|
||||
draw=none] {};
|
||||
\draw [thick] ($(dmp.north east)+(0.6*#2pt,0)$) -- (dmp.south east) -- (dmp.south west) -- ($(dmp.north west)+(0.6*#2pt,0)$);
|
||||
\draw [thick] ($(dmp.north)+(0,-0.3*#1pt)$) -- ($(dmp.north)+(0,0.3*#1pt)$);
|
||||
}
|
||||
},
|
||||
decorate
|
||||
},
|
||||
damper/.default={12}{3}
|
||||
}
|
||||
#+end_src
|
||||
|
||||
** Actuator
|
||||
#+begin_src latex
|
||||
\tikzset{%
|
||||
actuator/.style n args={2}{%
|
||||
thick,
|
||||
draw=none,
|
||||
decoration={
|
||||
markings,
|
||||
mark connection node=my node,
|
||||
mark=at position .5 with {
|
||||
\node [draw, inner sep=0pt, minimum width=#1cm, minimum height=#2cm,
|
||||
transform shape, fill=white] (my node) {};
|
||||
},
|
||||
mark=at position .0 with {
|
||||
\draw[<-] (0, 0) -- (my node);
|
||||
},
|
||||
mark=at position 1.0 with {
|
||||
\draw[<-] (0, 0) -- (my node);
|
||||
}
|
||||
},
|
||||
decorate
|
||||
},
|
||||
actuator/.default={0.5}{0.2}
|
||||
}
|
||||
#+end_src
|
||||
|
||||
** Ground
|
||||
#+begin_src latex
|
||||
\tikzset{%
|
||||
ground/.style n args={2}{%
|
||||
fill,
|
||||
pattern = north east lines,
|
||||
draw = none,
|
||||
anchor = north,
|
||||
minimum width = #1cm,
|
||||
minimum height = #2cm,
|
||||
append after command={
|
||||
(\tikzlastnode.north west) edge (\tikzlastnode.north east)
|
||||
}
|
||||
},
|
||||
ground/.default={2.5}{0.3}
|
||||
}
|
||||
#+end_src
|
||||
|
||||
** Force Sensor
|
||||
#+begin_src latex
|
||||
\tikzset{%
|
||||
forcesensor/.style n args={2}{%
|
||||
rectangle,
|
||||
outer sep=0pt,
|
||||
inner sep=0pt,
|
||||
draw=black,
|
||||
fill=white!60!black,
|
||||
anchor=south,
|
||||
minimum width =#1cm,
|
||||
minimum height=#2cm,
|
||||
append after command={
|
||||
[every edge/.append style={
|
||||
thick,
|
||||
black,
|
||||
}]
|
||||
(\tikzlastnode.north west) edge (\tikzlastnode.south east)
|
||||
(\tikzlastnode.north east) edge (\tikzlastnode.south west)
|
||||
}
|
||||
},
|
||||
forcesensor/.default={2.0}{0.5}
|
||||
}
|
||||
#+end_src
|
||||
|
||||
** Inertial Sensor
|
||||
#+begin_src latex
|
||||
\tikzset{%
|
||||
inertialsensor/.style={%
|
||||
rectangle,
|
||||
outer sep=0pt,
|
||||
inner sep=0pt,
|
||||
draw=black,
|
||||
fill=white!60!black,
|
||||
anchor=south east,
|
||||
minimum size=#1cm,
|
||||
append after command={
|
||||
[every edge/.append style={
|
||||
thick,
|
||||
black,
|
||||
}]
|
||||
(\tikzlastnode.north west) edge (\tikzlastnode.south east)
|
||||
(\tikzlastnode.north east) edge (\tikzlastnode.south west)
|
||||
}
|
||||
},
|
||||
inertialsensor/.default={0.3}
|
||||
}
|
||||
#+end_src
|
||||
|
||||
** Cross
|
||||
#+begin_src latex
|
||||
\tikzstyle{cross}=[path picture={
|
||||
\draw[black]
|
||||
(path picture bounding box.south east) -- (path picture bounding box.north west) (path picture bounding box.south west) -- (path picture bounding box.north east);
|
||||
}]
|
||||
|
||||
#+end_src
|
||||
|
||||
** Piezoelectric actuator
|
||||
#+begin_src latex
|
||||
\tikzset{%
|
||||
piezo/.style n args={3}{%
|
||||
draw,
|
||||
rectangle,
|
||||
minimum width = #1cm,
|
||||
minimum height = #2cm,
|
||||
fill=blue!10!white,
|
||||
anchor=center,
|
||||
append after command={
|
||||
[every edge/.append style={
|
||||
thick,
|
||||
black,
|
||||
}]
|
||||
\foreach \i in {1,...,#3}{
|
||||
(${\i/(1+#3)}*(\tikzlastnode.north west)+{(1+#3-\i)/(1+#3)}*(\tikzlastnode.south west)+0.1*(#1,0)$) edge (${\i/(1+#3)}*(\tikzlastnode.north east)+{(1+#3-\i)/(1+#3)}*(\tikzlastnode.south east)-0.1*(#1,0)$)
|
||||
}
|
||||
}
|
||||
},
|
||||
piezo/.default={2}{4}{10}
|
||||
}
|
||||
#+end_src
|
||||
|
||||
** Voice coil
|
||||
#+begin_src latex
|
||||
\def\voicecoil#1#2#3{
|
||||
% ======================
|
||||
% Parameters
|
||||
% ======================
|
||||
\def\voicecoilw{#1} % Total Width
|
||||
\def\voicecoilh{#2} % Total Height
|
||||
|
||||
\def\magnetw{\voicecoilw} % Width of the magnet
|
||||
\def\magneth{\voicecoilh/1.4} % Height of the magnet
|
||||
|
||||
\def\magnetwb{0.15*\magnetw} % Width of the borders of the magnet
|
||||
\def\magnetmw{0.15*\magnetw} % Width of the middle part of the magnet
|
||||
\def\magnetwg{0.5*\magnetw} % Width of the gap of the magnet
|
||||
|
||||
\def\magnethl{\magnetwb} % Height of the low part of the magnet
|
||||
\def\magnetmh{0.15*\magneth} % Height of the middle part of the magnet
|
||||
\def\magnethg{0.2*\magneth} % Height of the gap of the magnet
|
||||
% ======================
|
||||
|
||||
\begin{scope}[shift={(0.5*\voicecoilw, 0.5*\voicecoilh)}, rotate=#3, shift={(0, -0.5*\voicecoilh)}]
|
||||
% ======================
|
||||
% Magnet
|
||||
% ======================
|
||||
\draw[fill=white] (0, 0) -| ++(0.5*\magnetw, \magneth) -| ++(-0.5*\magnetw+0.5*\magnetwg, -\magnethg) -| (0.5*\magnetw-\magnetwb, \magnethl) -| (-0.5*\magnetw+\magnetwb, \magneth-\magnethg) -| (-0.5*\magnetwg, \magneth) -| (-0.5*\magnetw, 0) -- (cycle);
|
||||
\begin{scope}[shift={(0, \magnethl)}]
|
||||
\draw[fill=red] (-0.5*\magnetmw, 0) rectangle (0.5*\magnetmw, \magnetmh);
|
||||
\draw[fill=blue] (-0.5*\magnetmw, \magnetmh) rectangle (0.5*\magnetmw, 2*\magnetmh);
|
||||
% Top conductive Magnet
|
||||
\draw[fill=white] (-0.5*\magnetmw, 2*\magnetmh) -| (0.5*\magnetmw, -\magnethl+\magneth-\magnethg) -| ++(0.1, \magnethg) -| ++(-0.2-\magnetmw, -\magnethg) -| (-0.5*\magnetmw, \magnetmh);
|
||||
\end{scope}
|
||||
% ======================
|
||||
|
||||
% ======================
|
||||
% Coil
|
||||
% ======================
|
||||
\pgfmathsetmacro{\coilwidth}{0.5*0.5*\magnetmw+0.5*0.1+0.25*\magnetwg}%
|
||||
\draw[] ( \coilwidth, 0.5*\magneth) -- ++(0, 0.7*\magneth);
|
||||
\draw[] (-\coilwidth, 0.5*\magneth) -- ++(0, 0.7*\magneth);
|
||||
% Point on the coil
|
||||
\foreach \x in {0,1,...,9}
|
||||
{
|
||||
\node[circle,inner sep=0.6pt,fill] at ( \coilwidth, \x*0.7*\magneth/10+0.5*\magneth);
|
||||
\node[circle,inner sep=0.6pt,fill] at (-\coilwidth, \x*0.7*\magneth/10+0.5*\magneth);
|
||||
}
|
||||
\draw[fill=white] (-0.5*\magnetw, 1.2*\magneth) rectangle ++(\magnetw, \magnethg);
|
||||
% ======================
|
||||
|
||||
% ======================
|
||||
% Coordinates
|
||||
% ======================
|
||||
% Force
|
||||
\coordinate[] (vc_force) at (0, \magneth-0.5*\magnethg);
|
||||
% Coil
|
||||
\coordinate[] (vc_coil) at (0, \voicecoilh);
|
||||
% Magnet
|
||||
\coordinate[] (vc_magnet) at (0, 0);
|
||||
% Coil Wires
|
||||
\coordinate[] (vc_wire_one) at ( \coilwidth, 1.2*\magneth);
|
||||
\coordinate[] (vc_wire_two) at (-\coilwidth, 1.2*\magneth);
|
||||
% ======================
|
||||
\end{scope}
|
||||
}
|
||||
#+end_src
|
||||
|
||||
** Axis Rotator
|
||||
#+begin_src latex
|
||||
\newcommand{\AxisRotator}[1][rotate=0]{%
|
||||
\tikz [x=0.1cm,y=0.30cm,-stealth,#1] \draw (0,0) arc (-150:150:1 and 1);%
|
||||
}
|
||||
#+end_src
|
||||
|
||||
* Optics
|
||||
#+begin_src latex
|
||||
\tikzset{%
|
||||
->-/.style={
|
||||
decoration={
|
||||
markings,
|
||||
mark = at position #1 with {\arrow{>}
|
||||
}
|
||||
},
|
||||
postaction={decorate}
|
||||
}
|
||||
}
|
||||
\tikzset{%
|
||||
-<-/.style={
|
||||
decoration={
|
||||
markings,
|
||||
mark = at position #1 with {\arrow{<}
|
||||
}
|
||||
},
|
||||
postaction={decorate}
|
||||
}
|
||||
}
|
||||
#+end_src
|
||||
|
||||
* Misc
|
||||
#+begin_src latex
|
||||
\tikzset{%
|
||||
labelc/.style= {%
|
||||
draw,
|
||||
fill=white,
|
||||
shape=circle,
|
||||
inner sep=2pt,
|
||||
outer sep=6pt,
|
||||
}
|
||||
}
|
||||
#+end_src
|
||||
|
||||
* More Defaults specific to this paper
|
||||
#+begin_src latex
|
||||
\tikzset{block/.default={0.8cm}{0.8cm}}
|
||||
\tikzset{addb/.append style={scale=0.7}}
|
||||
\tikzset{node distance=0.6}
|
||||
#+end_src
|
||||
556
tikz/config.tex
Normal file
556
tikz/config.tex
Normal file
@ -0,0 +1,556 @@
|
||||
\usepackage[utf8]{inputenc}
|
||||
\usepackage[T1]{fontenc}
|
||||
|
||||
\usepackage[french, english]{babel} % Last language is main language
|
||||
|
||||
\usepackage{lmodern} % Latin Modern Font
|
||||
\usepackage{gensymb} % Generic symbols for both text and math mode
|
||||
|
||||
\usepackage{standalone} % Used to generate standalone Tikz
|
||||
|
||||
\usepackage{amsmath} % Main math Package
|
||||
\usepackage{mathtools} % Extension package to amsmath
|
||||
\usepackage{amsthm} % Typesetting theorems (AMS style)
|
||||
\usepackage{amsfonts} % More fonts from the AMS
|
||||
\usepackage{textcomp} % provide many text symbols
|
||||
\usepackage{steinmetz} % For phase symbol
|
||||
|
||||
\usepackage{xstring} % Utils to manipulate strings
|
||||
\usepackage{etoolbox} % Add basic if/then
|
||||
\usepackage{esvect} % Beautyfull vectors
|
||||
\usepackage{graphicx} % Enhanced support for graphics
|
||||
\usepackage{grffile} % Used by matlab2tikz
|
||||
|
||||
\usepackage{microtype} % typographic tuning
|
||||
\usepackage{setspace} % for line spacing, e.g. \onehalfspacing
|
||||
\usepackage{tabularx} % table features
|
||||
\usepackage{enumitem} % for simple list modifications
|
||||
\usepackage{booktabs} % better table support
|
||||
|
||||
\usepackage{stackengine} %
|
||||
|
||||
\usepackage[load-configurations=abbreviations]{siunitx} % SI units
|
||||
\sisetup{
|
||||
locale = US,
|
||||
detect-all,
|
||||
range-phrase=--,
|
||||
range-units=single
|
||||
}
|
||||
|
||||
\usepackage{tikz} % Tikz
|
||||
\usepackage{tikzscale} % Used to scale Tikz graphics
|
||||
\usepackage{adjustbox} % Used to proper positioning of tikz pictures
|
||||
\usepackage{circuitikz} % Draw electronic circuits
|
||||
\usepackage{pgfpages} % Needed to use notes
|
||||
\usepackage{pgfplots} % Used to plot functions
|
||||
|
||||
\usetikzlibrary{arrows} % Arrow tip library
|
||||
\usetikzlibrary{arrows.meta} % Add some arrows
|
||||
\usetikzlibrary{calc} % The library allows advanced Coordinate Calculations
|
||||
\usetikzlibrary{intersections} % calculate intersections of paths
|
||||
\usetikzlibrary{matrix} %
|
||||
\usetikzlibrary{patterns} %
|
||||
\usetikzlibrary{shapes} % Defines circle and rectangle
|
||||
\usetikzlibrary{shapes.geometric} % Use for the shape diamond and isosceles triangle
|
||||
\usetikzlibrary{snakes} % snake=coil and snake=zigzag using segment amplitude=10pt
|
||||
\usetikzlibrary{positioning} % Additional options for placing nodes
|
||||
\usetikzlibrary{3d} % Plot 3D shapes
|
||||
\usetikzlibrary{spy} % Creating a magnified area
|
||||
\usetikzlibrary{decorations.text} % Used to make text follows a curve
|
||||
\usetikzlibrary{decorations.pathmorphing} % deformation of a path
|
||||
\usetikzlibrary{decorations.markings} % Used for spring and damper
|
||||
\usetikzlibrary{babel} % A tiny library that make the interaction with the babel package easier
|
||||
\usetikzlibrary{plotmarks} % This library defines a number of plot marks
|
||||
\usetikzlibrary{fit} % Used to make rectangle as nodes by specifying two points
|
||||
\usetikzlibrary{backgrounds} % Used to put things under others
|
||||
|
||||
\usepgfplotslibrary{patchplots}
|
||||
\usepgfplotslibrary{groupplots}
|
||||
|
||||
\pgfplotsset{compat=newest}
|
||||
\pgfplotsset{plot coordinates/math parser=false}
|
||||
|
||||
\newlength{\fheight}
|
||||
\newlength{\fwidth}
|
||||
|
||||
\setlength{\fwidth}{85mm}
|
||||
\setlength{\fheight}{112mm}
|
||||
|
||||
\tikzset{>=Stealth}
|
||||
% Setup default Linewidth
|
||||
\tikzset{every path/.style={line width=1pt}}
|
||||
|
||||
\usepackage{xcolor}% Color extension
|
||||
|
||||
\definecolor{mycolor1}{RGB}{79,115,193}
|
||||
\definecolor{mycolor2}{RGB}{213,91,53}
|
||||
\definecolor{mycolor3}{RGB}{152,126,49}
|
||||
|
||||
\tikzset{%
|
||||
block/.style n args={2}{%
|
||||
draw,
|
||||
fill=white,
|
||||
minimum width = #1,
|
||||
minimum height = #2,
|
||||
},
|
||||
block/.default={1.2cm}{1.0cm}
|
||||
}
|
||||
|
||||
\tikzstyle{branch}=[fill,shape=circle,minimum size=4pt,inner sep=0pt]
|
||||
\tikzstyle{->top}=[-{Stealth[color=black, scale=0.8]}, draw=white, double=black, double distance=1pt, line width=1pt]
|
||||
\tikzstyle{<-top}=[{stealth[color=black, scale=0.8]}-, draw=white, double=black, double distance=1pt, line width=1pt]
|
||||
|
||||
\tikzstyle{handwriten}=[decorate,decoration={random steps,amplitude=0.1pt,segment length=0.8pt}]
|
||||
|
||||
\tikzset{%
|
||||
DAC/.style={%
|
||||
draw,
|
||||
signal,
|
||||
}
|
||||
}
|
||||
|
||||
\tikzset{%
|
||||
ADC/.style={%
|
||||
draw,
|
||||
signal,
|
||||
signal to = west,
|
||||
}
|
||||
}
|
||||
|
||||
\tikzset{%
|
||||
gain right/.style={%
|
||||
draw,
|
||||
regular polygon,
|
||||
regular polygon sides = 3,
|
||||
inner sep = 2pt,
|
||||
shape border rotate=-90
|
||||
},
|
||||
gain left/.style={%
|
||||
draw,
|
||||
regular polygon,
|
||||
regular polygon sides = 3,
|
||||
inner sep = 2pt,
|
||||
shape border rotate=90
|
||||
},
|
||||
gain top/.style={%
|
||||
draw,
|
||||
regular polygon,
|
||||
regular polygon sides = 3,
|
||||
inner sep = 2pt,
|
||||
shape border rotate=0
|
||||
},
|
||||
gain bottom/.style={%
|
||||
draw,
|
||||
regular polygon,
|
||||
regular polygon sides = 3,
|
||||
inner sep = 2pt,
|
||||
shape border rotate=180
|
||||
},
|
||||
}
|
||||
|
||||
\tikzset{% Add block with Circled operations
|
||||
addc/.style n args={5}{%
|
||||
draw,
|
||||
fill=white,
|
||||
circle,
|
||||
outer sep = 0pt,
|
||||
inner sep = 0pt,
|
||||
minimum size = 2em,
|
||||
execute at begin node={\LARGE $#1$},
|
||||
append after command={\pgfextra{\let\mainnode=\tikzlastnode}
|
||||
\ifx#2\empty\else
|
||||
node[draw, circle, outer sep=6pt, inner sep=0pt, above left] at (\mainnode.west) {$#2$}%
|
||||
\fi
|
||||
\ifx#3\empty\else
|
||||
node[draw, circle, outer sep=6pt, inner sep=0pt, above right] at (\mainnode.north) {$#3$}%
|
||||
\fi
|
||||
\ifx#4\empty\else
|
||||
node[draw, circle, outer sep=6pt, inner sep=0pt, below right] at (\mainnode.east) {$#4$}%
|
||||
\fi
|
||||
\ifx#5\empty\else
|
||||
node[draw, circle, outer sep=6pt, inner sep=0pt, below left] at (\mainnode.south) {$#5$}%
|
||||
\fi
|
||||
}
|
||||
},
|
||||
addc/.default={+}{}{}{}{},
|
||||
}
|
||||
|
||||
\tikzset{% Add Block
|
||||
addb/.style n args={5}{%
|
||||
draw,
|
||||
fill=white,
|
||||
circle,
|
||||
outer sep = 0pt,
|
||||
inner sep = 0pt,
|
||||
minimum size = 2em,
|
||||
execute at begin node={\LARGE $#1$},
|
||||
append after command={\pgfextra{\let\mainnode=\tikzlastnode}
|
||||
\ifx#2\empty\else
|
||||
node[outer sep=2pt, inner sep=0pt, above left] at (\mainnode.west) {$#2$}%
|
||||
\fi
|
||||
\ifx#3\empty\else
|
||||
node[outer sep=2pt, inner sep=0pt, above right] at (\mainnode.north) {$#3$}%
|
||||
\fi
|
||||
\ifx#4\empty\else
|
||||
node[outer sep=2pt, inner sep=0pt, below right] at (\mainnode.east) {$#4$}%
|
||||
\fi
|
||||
\ifx#5\empty\else
|
||||
node[outer sep=2pt, inner sep=0pt, below left] at (\mainnode.south) {$#5$}%
|
||||
\fi
|
||||
}
|
||||
},
|
||||
addb/.default={+}{}{}{}{},
|
||||
}
|
||||
|
||||
\pgfplotsset{
|
||||
every axis plot/.append style={line join=round},
|
||||
every axis plot/.append style={line cap=round},
|
||||
}
|
||||
|
||||
\pgfplotsset{grid style={black}}
|
||||
\pgfplotsset{major grid style={black!30!white}}
|
||||
\pgfplotsset{minor grid style={black!10!white}}
|
||||
\pgfplotsset{xmajorgrids}
|
||||
\pgfplotsset{ymajorgrids}
|
||||
|
||||
\pgfplotsset{separate axis lines=false} % draw axis as rectangle and not as 4 lines
|
||||
\pgfplotsset{every outer x axis line/.append style={black}}
|
||||
\pgfplotsset{every outer y axis line/.append style={black}}
|
||||
\pgfplotsset{axis background/.style={fill=white}}
|
||||
\pgfplotsset{axis x line*=bottom} % solid line on the bottom with thin on the top
|
||||
\pgfplotsset{axis y line*=left} % solid line on the left with thin on the right
|
||||
|
||||
\pgfplotsset{every y tick label/.append style={font=\color{black}}}
|
||||
\pgfplotsset{every y tick/.append style={black}}
|
||||
\pgfplotsset{every x tick label/.append style={font=\color{black}}}
|
||||
\pgfplotsset{every x tick/.append style={black}}
|
||||
|
||||
\pgfplotsset{scale only axis=true}
|
||||
|
||||
\pgfplotsset{ylabel absolute}
|
||||
|
||||
% https://tex.stackexchange.com/questions/54794/using-a-pgfplots-style-legend-in-a-plain-old-tikzpicture#54834
|
||||
|
||||
% argument #1: any options
|
||||
\newenvironment{customlegend}[1][]{%
|
||||
\begingroup
|
||||
% inits/clears the lists (which might be populated from previous
|
||||
% axes):
|
||||
\csname pgfplots@init@cleared@structures\endcsname
|
||||
\pgfplotsset{#1}%
|
||||
}{%
|
||||
% draws the legend:
|
||||
\csname pgfplots@createlegend\endcsname
|
||||
\endgroup
|
||||
}%
|
||||
|
||||
% makes \addlegendimage available (typically only available within an
|
||||
% axis environment):
|
||||
\def\addlegendimage{\csname pgfplots@addlegendimage\endcsname}
|
||||
|
||||
% definition to insert numbers
|
||||
% \pgfkeys{/pgfplots/number in legend/.style={%
|
||||
% /pgfplots/legend image code/.code={%
|
||||
% \node at (0.125,-0.0225){#1}; % <= changed x value
|
||||
% },%
|
||||
% },
|
||||
% }
|
||||
\pgfplotsset{
|
||||
every legend to name picture/.style={west}
|
||||
}
|
||||
|
||||
\pgfplotsset{upperbound}=[line cap=round, postaction={decorate,draw,decoration={border, segment length=0.2cm, amplitude=0.3cm, angle=60}}]
|
||||
\pgfplotsset{lowerbound}=[line cap=round, postaction={decorate,draw,decoration={border, segment length=0.2cm, amplitude=0.3cm, angle=-60}}]
|
||||
|
||||
\pgfplotsset{
|
||||
/pgfplots/upperbound/.style 1 args={
|
||||
legend image code/.code={
|
||||
\draw[##1, upperbound]
|
||||
plot coordinates {
|
||||
(0cm,0cm)
|
||||
(0.6cm,0cm)
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
\tikzset{%
|
||||
pole/.style{%
|
||||
color=red,
|
||||
cross out,
|
||||
draw,
|
||||
inner sep=0pt,
|
||||
outer sep=0pt,
|
||||
minimum size=#1pt
|
||||
},
|
||||
pole/.default={4}
|
||||
}
|
||||
|
||||
\tikzset{%
|
||||
zero/.style{%
|
||||
color=red,
|
||||
circle,
|
||||
draw,
|
||||
inner sep=0pt,
|
||||
outer sep=0pt,
|
||||
minimum size=#1pt
|
||||
},
|
||||
zero/.default={4}
|
||||
}
|
||||
|
||||
\tikzset{%
|
||||
spring/.style={%
|
||||
thick,
|
||||
decoration={
|
||||
zigzag,
|
||||
pre length = #1cm,
|
||||
post length = #1cm,
|
||||
segment length = 6
|
||||
},
|
||||
decorate
|
||||
},
|
||||
spring/.default={0.2}
|
||||
}
|
||||
|
||||
\tikzset{%
|
||||
coil/.style n args={2}{%
|
||||
thick,
|
||||
decoration={
|
||||
coil,
|
||||
pre length = #1cm,
|
||||
post length = #2cm,
|
||||
segment length = 4
|
||||
},
|
||||
decorate
|
||||
},
|
||||
coil/.default={0.3}{0.3}
|
||||
}
|
||||
|
||||
\tikzset{%
|
||||
damper/.style n args={2}{%
|
||||
thick,
|
||||
decoration={markings, mark connection node=dmp, mark=at position 0.5 with {
|
||||
\node (dmp) [thick,
|
||||
inner sep = 0pt,
|
||||
transform shape,
|
||||
rotate =-90,
|
||||
minimum width = #1pt,
|
||||
minimum height = #2pt,
|
||||
draw=none] {};
|
||||
\draw [thick] ($(dmp.north east)+(0.6*#2pt,0)$) -- (dmp.south east) -- (dmp.south west) -- ($(dmp.north west)+(0.6*#2pt,0)$);
|
||||
\draw [thick] ($(dmp.north)+(0,-0.3*#1pt)$) -- ($(dmp.north)+(0,0.3*#1pt)$);
|
||||
}
|
||||
},
|
||||
decorate
|
||||
},
|
||||
damper/.default={12}{3}
|
||||
}
|
||||
|
||||
\tikzset{%
|
||||
actuator/.style n args={2}{%
|
||||
thick,
|
||||
draw=none,
|
||||
decoration={
|
||||
markings,
|
||||
mark connection node=my node,
|
||||
mark=at position .5 with {
|
||||
\node [draw, inner sep=0pt, minimum width=#1cm, minimum height=#2cm,
|
||||
transform shape, fill=white] (my node) {};
|
||||
},
|
||||
mark=at position .0 with {
|
||||
\draw[<-] (0, 0) -- (my node);
|
||||
},
|
||||
mark=at position 1.0 with {
|
||||
\draw[<-] (0, 0) -- (my node);
|
||||
}
|
||||
},
|
||||
decorate
|
||||
},
|
||||
actuator/.default={0.5}{0.2}
|
||||
}
|
||||
|
||||
\tikzset{%
|
||||
ground/.style n args={2}{%
|
||||
fill,
|
||||
pattern = north east lines,
|
||||
draw = none,
|
||||
anchor = north,
|
||||
minimum width = #1cm,
|
||||
minimum height = #2cm,
|
||||
append after command={
|
||||
(\tikzlastnode.north west) edge (\tikzlastnode.north east)
|
||||
}
|
||||
},
|
||||
ground/.default={2.5}{0.3}
|
||||
}
|
||||
|
||||
\tikzset{%
|
||||
forcesensor/.style n args={2}{%
|
||||
rectangle,
|
||||
outer sep=0pt,
|
||||
inner sep=0pt,
|
||||
draw=black,
|
||||
fill=white!60!black,
|
||||
anchor=south,
|
||||
minimum width =#1cm,
|
||||
minimum height=#2cm,
|
||||
append after command={
|
||||
[every edge/.append style={
|
||||
thick,
|
||||
black,
|
||||
}]
|
||||
(\tikzlastnode.north west) edge (\tikzlastnode.south east)
|
||||
(\tikzlastnode.north east) edge (\tikzlastnode.south west)
|
||||
}
|
||||
},
|
||||
forcesensor/.default={2.0}{0.5}
|
||||
}
|
||||
|
||||
\tikzset{%
|
||||
inertialsensor/.style={%
|
||||
rectangle,
|
||||
outer sep=0pt,
|
||||
inner sep=0pt,
|
||||
draw=black,
|
||||
fill=white!60!black,
|
||||
anchor=south east,
|
||||
minimum size=#1cm,
|
||||
append after command={
|
||||
[every edge/.append style={
|
||||
thick,
|
||||
black,
|
||||
}]
|
||||
(\tikzlastnode.north west) edge (\tikzlastnode.south east)
|
||||
(\tikzlastnode.north east) edge (\tikzlastnode.south west)
|
||||
}
|
||||
},
|
||||
inertialsensor/.default={0.3}
|
||||
}
|
||||
|
||||
\tikzstyle{cross}=[path picture={
|
||||
\draw[black]
|
||||
(path picture bounding box.south east) -- (path picture bounding box.north west) (path picture bounding box.south west) -- (path picture bounding box.north east);
|
||||
}]
|
||||
|
||||
\tikzset{%
|
||||
piezo/.style n args={3}{%
|
||||
draw,
|
||||
rectangle,
|
||||
minimum width = #1cm,
|
||||
minimum height = #2cm,
|
||||
fill=blue!10!white,
|
||||
anchor=center,
|
||||
append after command={
|
||||
[every edge/.append style={
|
||||
thick,
|
||||
black,
|
||||
}]
|
||||
\foreach \i in {1,...,#3}{
|
||||
(${\i/(1+#3)}*(\tikzlastnode.north west)+{(1+#3-\i)/(1+#3)}*(\tikzlastnode.south west)+0.1*(#1,0)$) edge (${\i/(1+#3)}*(\tikzlastnode.north east)+{(1+#3-\i)/(1+#3)}*(\tikzlastnode.south east)-0.1*(#1,0)$)
|
||||
}
|
||||
}
|
||||
},
|
||||
piezo/.default={2}{4}{10}
|
||||
}
|
||||
|
||||
\def\voicecoil#1#2#3{
|
||||
% ======================
|
||||
% Parameters
|
||||
% ======================
|
||||
\def\voicecoilw{#1} % Total Width
|
||||
\def\voicecoilh{#2} % Total Height
|
||||
|
||||
\def\magnetw{\voicecoilw} % Width of the magnet
|
||||
\def\magneth{\voicecoilh/1.4} % Height of the magnet
|
||||
|
||||
\def\magnetwb{0.15*\magnetw} % Width of the borders of the magnet
|
||||
\def\magnetmw{0.15*\magnetw} % Width of the middle part of the magnet
|
||||
\def\magnetwg{0.5*\magnetw} % Width of the gap of the magnet
|
||||
|
||||
\def\magnethl{\magnetwb} % Height of the low part of the magnet
|
||||
\def\magnetmh{0.15*\magneth} % Height of the middle part of the magnet
|
||||
\def\magnethg{0.2*\magneth} % Height of the gap of the magnet
|
||||
% ======================
|
||||
|
||||
\begin{scope}[shift={(0.5*\voicecoilw, 0.5*\voicecoilh)}, rotate=#3, shift={(0, -0.5*\voicecoilh)}]
|
||||
% ======================
|
||||
% Magnet
|
||||
% ======================
|
||||
\draw[fill=white] (0, 0) -| ++(0.5*\magnetw, \magneth) -| ++(-0.5*\magnetw+0.5*\magnetwg, -\magnethg) -| (0.5*\magnetw-\magnetwb, \magnethl) -| (-0.5*\magnetw+\magnetwb, \magneth-\magnethg) -| (-0.5*\magnetwg, \magneth) -| (-0.5*\magnetw, 0) -- (cycle);
|
||||
\begin{scope}[shift={(0, \magnethl)}]
|
||||
\draw[fill=red] (-0.5*\magnetmw, 0) rectangle (0.5*\magnetmw, \magnetmh);
|
||||
\draw[fill=blue] (-0.5*\magnetmw, \magnetmh) rectangle (0.5*\magnetmw, 2*\magnetmh);
|
||||
% Top conductive Magnet
|
||||
\draw[fill=white] (-0.5*\magnetmw, 2*\magnetmh) -| (0.5*\magnetmw, -\magnethl+\magneth-\magnethg) -| ++(0.1, \magnethg) -| ++(-0.2-\magnetmw, -\magnethg) -| (-0.5*\magnetmw, \magnetmh);
|
||||
\end{scope}
|
||||
% ======================
|
||||
|
||||
% ======================
|
||||
% Coil
|
||||
% ======================
|
||||
\pgfmathsetmacro{\coilwidth}{0.5*0.5*\magnetmw+0.5*0.1+0.25*\magnetwg}%
|
||||
\draw[] ( \coilwidth, 0.5*\magneth) -- ++(0, 0.7*\magneth);
|
||||
\draw[] (-\coilwidth, 0.5*\magneth) -- ++(0, 0.7*\magneth);
|
||||
% Point on the coil
|
||||
\foreach \x in {0,1,...,9}
|
||||
{
|
||||
\node[circle,inner sep=0.6pt,fill] at ( \coilwidth, \x*0.7*\magneth/10+0.5*\magneth);
|
||||
\node[circle,inner sep=0.6pt,fill] at (-\coilwidth, \x*0.7*\magneth/10+0.5*\magneth);
|
||||
}
|
||||
\draw[fill=white] (-0.5*\magnetw, 1.2*\magneth) rectangle ++(\magnetw, \magnethg);
|
||||
% ======================
|
||||
|
||||
% ======================
|
||||
% Coordinates
|
||||
% ======================
|
||||
% Force
|
||||
\coordinate[] (vc_force) at (0, \magneth-0.5*\magnethg);
|
||||
% Coil
|
||||
\coordinate[] (vc_coil) at (0, \voicecoilh);
|
||||
% Magnet
|
||||
\coordinate[] (vc_magnet) at (0, 0);
|
||||
% Coil Wires
|
||||
\coordinate[] (vc_wire_one) at ( \coilwidth, 1.2*\magneth);
|
||||
\coordinate[] (vc_wire_two) at (-\coilwidth, 1.2*\magneth);
|
||||
% ======================
|
||||
\end{scope}
|
||||
}
|
||||
|
||||
\newcommand{\AxisRotator}[1][rotate=0]{%
|
||||
\tikz [x=0.1cm,y=0.30cm,-stealth,#1] \draw (0,0) arc (-150:150:1 and 1);%
|
||||
}
|
||||
|
||||
\tikzset{%
|
||||
->-/.style={
|
||||
decoration={
|
||||
markings,
|
||||
mark = at position #1 with {\arrow{>}
|
||||
}
|
||||
},
|
||||
postaction={decorate}
|
||||
}
|
||||
}
|
||||
\tikzset{%
|
||||
-<-/.style={
|
||||
decoration={
|
||||
markings,
|
||||
mark = at position #1 with {\arrow{<}
|
||||
}
|
||||
},
|
||||
postaction={decorate}
|
||||
}
|
||||
}
|
||||
|
||||
\tikzset{%
|
||||
labelc/.style= {%
|
||||
draw,
|
||||
fill=white,
|
||||
shape=circle,
|
||||
inner sep=2pt,
|
||||
outer sep=6pt,
|
||||
}
|
||||
}
|
||||
|
||||
\tikzset{block/.default={0.8cm}{0.8cm}}
|
||||
\tikzset{addb/.append style={scale=0.7}}
|
||||
\tikzset{node distance=0.6}
|
||||
BIN
tikz/figs/G_x_mass.pdf
Normal file
BIN
tikz/figs/G_x_mass.pdf
Normal file
Binary file not shown.
BIN
tikz/figs/G_x_mass.png
Normal file
BIN
tikz/figs/G_x_mass.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 93 KiB |
BIN
tikz/figs/assemblage.pdf
Normal file
BIN
tikz/figs/assemblage.pdf
Normal file
Binary file not shown.
BIN
tikz/figs/assemblage.png
Normal file
BIN
tikz/figs/assemblage.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 213 KiB |
730
tikz/figs/assemblage.svg
Normal file
730
tikz/figs/assemblage.svg
Normal file
File diff suppressed because one or more lines are too long
|
After Width: | Height: | Size: 456 KiB |
65
tikz/figs/assemblage.tex
Normal file
65
tikz/figs/assemblage.tex
Normal file
@ -0,0 +1,65 @@
|
||||
\graphicspath{{~/Cloud/thesis/latex/img/}}
|
||||
\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]{$\approx\SI{1}{m}$} ($0.14*(aheight)+0.98*(awidth)$);
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After Width: | Height: | Size: 46 KiB |
132
tikz/figs/exp_full_setup.tex
Normal file
132
tikz/figs/exp_full_setup.tex
Normal file
@ -0,0 +1,132 @@
|
||||
\begin{tikzpicture}
|
||||
% Parameters
|
||||
\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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|
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\begin{scope}[rotate around={\tiltdeg:(rotationpoint)}]
|
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% 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);
|
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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
|
||||
\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)%
|
||||
|- 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}
|
||||
BIN
tikz/figs/exp_setup.pdf
Normal file
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tikz/figs/exp_setup.pdf
Normal file
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BIN
tikz/figs/exp_setup.png
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108
tikz/figs/exp_setup.svg
Normal file
108
tikz/figs/exp_setup.svg
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|
After Width: | Height: | Size: 905 KiB |
31
tikz/figs/exp_setup.tex
Normal file
31
tikz/figs/exp_setup.tex
Normal file
@ -0,0 +1,31 @@
|
||||
\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}
|
||||
BIN
tikz/figs/exp_w_wo_nass_xy.pdf
Normal file
BIN
tikz/figs/exp_w_wo_nass_xy.pdf
Normal file
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BIN
tikz/figs/exp_w_wo_nass_xy.png
Normal file
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tikz/figs/exp_w_wo_nass_xy.png
Normal file
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|
After Width: | Height: | Size: 48 KiB |
BIN
tikz/figs/general_conf_K.pdf
Normal file
BIN
tikz/figs/general_conf_K.pdf
Normal file
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BIN
tikz/figs/general_conf_K.png
Normal file
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tikz/figs/general_conf_K.png
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|
After Width: | Height: | Size: 9.0 KiB |
335
tikz/figs/general_conf_K.svg
Normal file
335
tikz/figs/general_conf_K.svg
Normal file
@ -0,0 +1,335 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
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<defs>
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<g>
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<symbol overflow="visible" id="glyph0-0">
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After Width: | Height: | Size: 42 KiB |
29
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Normal file
29
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K_{T_x} & 0 & \cdots & 0 \\
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0 & \ddots & \ddots & \vdots \\
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\vdots & \ddots & \ddots & 0 \\
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0 & \cdots & 0 & K_{\theta_z} \\
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\]};
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% Input and outputs coordinates
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\end{tikzpicture}
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BIN
tikz/figs/loopgain.pdf
Normal file
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tikz/figs/loopgain.pdf
Normal file
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tikz/figs/loopgain.png
Normal file
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tikz/figs/loopgain.png
Normal file
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After Width: | Height: | Size: 29 KiB |
408
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After Width: | Height: | Size: 42 KiB |
165
tikz/figs/schematic_sys_without_nass.tex
Normal file
165
tikz/figs/schematic_sys_without_nass.tex
Normal file
@ -0,0 +1,165 @@
|
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\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}
|
||||
BIN
tikz/figs/system_control.pdf
Normal file
BIN
tikz/figs/system_control.pdf
Normal file
Binary file not shown.
BIN
tikz/figs/system_control.png
Normal file
BIN
tikz/figs/system_control.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 17 KiB |
133
tikz/figs/system_control.svg
Normal file
133
tikz/figs/system_control.svg
Normal file
@ -0,0 +1,133 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="194.752pt" height="159.689pt" viewBox="0 0 194.752 159.689" version="1.2">
|
||||
<defs>
|
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<g>
|
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<symbol overflow="visible" id="glyph0-0">
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<path style="stroke:none;" d=""/>
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</symbol>
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<symbol overflow="visible" id="glyph0-1">
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<path style="stroke:none;" d="M 7.21875 0 L 7.21875 -0.3125 L 7.03125 -0.3125 C 6.515625 -0.3125 6.296875 -0.359375 6.09375 -0.671875 L 4 -3.828125 L 5.359375 -5.828125 C 5.578125 -6.15625 5.90625 -6.46875 6.796875 -6.484375 L 6.796875 -6.78125 L 5.6875 -6.75 C 5.296875 -6.75 4.8125 -6.75 4.421875 -6.78125 L 4.421875 -6.484375 C 4.8125 -6.46875 5.03125 -6.25 5.03125 -6.015625 C 5.03125 -5.921875 5.015625 -5.90625 4.953125 -5.796875 L 3.8125 -4.109375 L 2.53125 -6.03125 C 2.515625 -6.0625 2.46875 -6.140625 2.46875 -6.1875 C 2.46875 -6.296875 2.6875 -6.46875 3.109375 -6.484375 L 3.109375 -6.78125 C 2.765625 -6.75 2.03125 -6.75 1.65625 -6.75 L 0.375 -6.78125 L 0.375 -6.484375 L 0.5625 -6.484375 C 1.109375 -6.484375 1.296875 -6.40625 1.484375 -6.125 L 3.3125 -3.375 L 1.671875 -0.96875 C 1.546875 -0.765625 1.25 -0.3125 0.234375 -0.3125 L 0.234375 0 L 1.34375 -0.03125 C 1.703125 -0.03125 2.25 -0.03125 2.609375 0 L 2.609375 -0.3125 C 2.15625 -0.3125 1.984375 -0.59375 1.984375 -0.765625 C 1.984375 -0.859375 2.015625 -0.890625 2.09375 -1 L 3.5 -3.09375 L 5.0625 -0.71875 C 5.09375 -0.671875 5.125 -0.640625 5.125 -0.609375 C 5.125 -0.484375 4.90625 -0.3125 4.46875 -0.3125 L 4.46875 0 C 4.8125 -0.03125 5.546875 -0.03125 5.921875 -0.03125 Z M 7.21875 0 "/>
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After Width: | Height: | Size: 27 KiB |
154
tikz/figs/system_control.tex
Normal file
154
tikz/figs/system_control.tex
Normal file
@ -0,0 +1,154 @@
|
||||
\begin{tikzpicture}
|
||||
% Parameters
|
||||
\def\blockw{6.0cm}
|
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\def\blockh{1.2cm}
|
||||
|
||||
% Translation Stage
|
||||
\begin{scope}
|
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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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|
||||
% Tilt
|
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\path[] ([shift=(-120:4*\blockh)]0, 4.9*\blockh) coordinate(beginarc) arc (-120:-110:4*\blockh) %
|
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-- ([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);
|
||||
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<a accesskey="H" href="../index.html"> HOME </a>
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</div><div id="content">
|
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<h1 class="title">Sample Stabilization for Tomography Experiments in Presence of Large Plant Uncertainty - Tikz Figures</h1>
|
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|
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|
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|
||||
<li><a href="#orgfbe45d5">1. Fig 1: Schematic representation of the ID31 end station</a></li>
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<li><a href="#org5d6efd7">2. Fig 2: CAD View of the ID31 end station</a></li>
|
||||
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|
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<li><a href="#orgb81f3d4">4. Fig 4: Schematic representation of the NASS added below the sample and the control architecture used</a></li>
|
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<li><a href="#org9ead1e2">5. Fig 5: Transfer function from a force applied by the NASS to the displacement of the sample</a></li>
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<li><a href="#orgd5d0744">6. Fig 6: General control configuration applied to the end station</a></li>
|
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<li><a href="#org8bd2e0b">7. Fig 7: Bode plot of the loop gain for the control in the x direction</a></li>
|
||||
<li><a href="#orgbd1411e">8. Fig 8: Positioning error of the sample in the x and y direction during the simulation of a tomography experiment</a></li>
|
||||
<li><a href="#orga60190e">9. Fig 1: Schematic of the Tomography Experiment (Poster)</a></li>
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<h2 id="orgfbe45d5"><span class="section-number-2">1</span> Fig 1: Schematic representation of the ID31 end station</h2>
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<p><span class="figure-number">Figure 1: </span>Schematic representation of the ID31 end station (<a href="./figs/schematic_sys_without_nass.png">png</a>, <a href="./figs/schematic_sys_without_nass.pdf">pdf</a>, <a href="./figs/schematic_sys_without_nass.tex">tex</a>).</p>
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<h2 id="org5d6efd7"><span class="section-number-2">2</span> Fig 2: CAD View of the ID31 end station</h2>
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|
||||
<span class="org-font-latex-sedate">\draw</span>[<-] (ty) -- (ty-|xrightlabel) node[left, legend]{Translation Stage<span class="org-font-latex-warning">\\</span><span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\SI</span></span><span class="org-font-latex-math">{-5}{m</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\metre</span></span><span class="org-font-latex-math">} < T_y < </span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\SI</span></span><span class="org-font-latex-math">{5}{m</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\metre</span></span><span class="org-font-latex-math">}$</span>};
|
||||
|
||||
<span class="org-comment">% Sample Interface</span>
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (sampleint) at (<span class="org-font-latex-math">$0.77*(aheight)+0.5*(awidth)$</span>);
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (sampleintmid) at (<span class="org-font-latex-math">$(sampleint)+(-1, -0.5)$</span>);
|
||||
<span class="org-font-latex-sedate">\draw</span>[<-] (sampleint) -- (sampleintmid) -- (sampleintmid-|xrightlabel) node[left, legend]{Sample Interface};
|
||||
|
||||
<span class="org-comment">% Sample</span>
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (sample) at (<span class="org-font-latex-math">$0.9*(aheight)+0.5*(awidth)$</span>);
|
||||
<span class="org-font-latex-sedate">\draw</span>[<-] (sample) -- (sample-|xrightlabel) node[left, legend]{Sample Environment<span class="org-font-latex-warning">\\</span><span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\SI</span></span><span class="org-font-latex-math">{1}{</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\kg</span></span><span class="org-font-latex-math">} < M < </span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\SI</span></span><span class="org-font-latex-math">{50}{</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\kg</span></span><span class="org-font-latex-math">}$</span>};
|
||||
|
||||
<span class="org-comment">% Tilt Stage</span>
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (tilt) at (<span class="org-font-latex-math">$0.55*(aheight)+0.78*(awidth)$</span>);
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (tiltmid) at (<span class="org-font-latex-math">$(tilt)+(1, 0.5)$</span>);
|
||||
<span class="org-font-latex-sedate">\draw</span>[<-] (tilt) -- (tiltmid) -- (tiltmid-|xleftlabel) node[right, legend]{Tilt Stage<span class="org-font-latex-warning">\\</span><span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\ang</span></span><span class="org-font-latex-math">{-3} < </span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\theta</span></span><span class="org-font-latex-math">_y < </span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\ang</span></span><span class="org-font-latex-math">{3}$</span>};
|
||||
|
||||
<span class="org-comment">% Spindle</span>
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (spindle) at (<span class="org-font-latex-math">$0.53*(aheight)+0.33*(awidth)$</span>);
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (spindlemid) at (<span class="org-font-latex-math">$(spindle)+(-1, -1.5)$</span>);
|
||||
<span class="org-font-latex-sedate">\draw</span>[<-] (spindle) -- (spindlemid) -- (spindlemid-|xrightlabel) node[left, legend]{Spindle<span class="org-font-latex-warning">\\</span><span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\SI</span></span><span class="org-font-latex-math">{1}{rpm} < </span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\dot</span></span><span class="org-font-latex-math">{</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\theta</span></span><span class="org-font-latex-math">_z} < </span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\SI</span></span><span class="org-font-latex-math">{60}{rpm}$</span>};
|
||||
|
||||
<span class="org-comment">% Center of gravity compensation</span>
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (axisc) at (<span class="org-font-latex-math">$0.65*(aheight)+0.65*(awidth)$</span>);
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (axiscmid) at (<span class="org-font-latex-math">$(axisc)+(1, 1.5)$</span>);
|
||||
<span class="org-font-latex-sedate">\draw</span>[<-] (axisc) -- (axiscmid) -- (axiscmid-|xleftlabel) node[right, legend]{Center of gravity<span class="org-font-latex-warning">\\</span>compensation system};
|
||||
|
||||
<span class="org-comment">% Micro Hexapod</span>
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (hexapod) at (<span class="org-font-latex-math">$0.52*(aheight)+0.6*(awidth)$</span>);
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (hexapodmid) at (<span class="org-font-latex-math">$(hexapod)+(1, -1.0)$</span>);
|
||||
<span class="org-font-latex-sedate">\draw</span>[<-] (hexapod) -- (hexapodmid) -- (hexapodmid-|xleftlabel) node[right, legend]{Long Stroke Hexapod<span class="org-font-latex-warning">\\</span><span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\SI</span></span><span class="org-font-latex-math">{-10}{m</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\metre</span></span><span class="org-font-latex-math">} < T_{x y z} < </span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\SI</span></span><span class="org-font-latex-math">{10}{m</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\metre</span></span><span class="org-font-latex-math">}$</span><span class="org-font-latex-warning">\\</span><span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\ang</span></span><span class="org-font-latex-math">{-3} < </span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\theta</span></span><span class="org-font-latex-math">_{x y z} < </span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\ang</span></span><span class="org-font-latex-math">{3}$</span>};
|
||||
|
||||
<span class="org-comment">% Frame</span>
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (frame) at (<span class="org-font-latex-math">$0.14*(aheight)+0.65*(awidth)$</span>);
|
||||
<span class="org-font-latex-sedate">\draw</span>[<-] (frame) -- (frame-|xleftlabel) node[right, legend]{Frame fixed<span class="org-font-latex-warning">\\</span>on the granite};
|
||||
|
||||
<span class="org-comment">% X-Ray</span>
|
||||
<span class="org-font-latex-sedate">\draw</span>[color=red, ->-=0.7] (<span class="org-font-latex-math">$0.92*(aheight)+0.8*(awidth)$</span>) -- node[above, color=black]{X-ray} ++(190:1.8);
|
||||
|
||||
<span class="org-comment">% Size of the setup</span>
|
||||
<span class="org-font-latex-sedate">\draw</span>[dashed, <->, color=black!70, line width=0.5pt] (<span class="org-font-latex-math">$0.03*(aheight)+0.35*(awidth)$</span>) -- node[below, color=black, pos=0.6]{<span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\approx\SI</span></span><span class="org-font-latex-math">{1}{m}$</span>} (<span class="org-font-latex-math">$0.14*(aheight)+0.98*(awidth)$</span>);
|
||||
<span class="org-font-latex-sedate">\draw</span>[dashed, <->, color=black!70, line width=0.5pt] (<span class="org-font-latex-math">$0.032*(aheight)+0.32*(awidth)$</span>) -- node[left, color=black, pos=0.4]{<span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\approx\SI</span></span><span class="org-font-latex-math">{1}{m}$</span>} (<span class="org-font-latex-math">$0.305*(aheight)+0.0*(awidth)$</span>);
|
||||
|
||||
<span class="org-comment">% Axis</span>
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">scope</span>}[shift={(0.0, 0.7)}]
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (0, 0) -- ++(195:0.8) node[above] {<span class="org-font-latex-math">$x$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (0, 0) -- ++(90:0.9) node[right] {<span class="org-font-latex-math">$z$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (0, 0) -- ++(-40:0.7) node[above] {<span class="org-font-latex-math">$y$</span>};
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\end</span></span>{<span class="org-function-name">scope</span>}
|
||||
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\end</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orgdb84d2b" class="figure">
|
||||
<p><img src="figs/assemblage.png" alt="assemblage.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 2: </span>CAD View of the ID31 end station (<a href="./figs/assemblage.png">png</a>, <a href="./figs/assemblage.pdf">pdf</a>, <a href="./figs/assemblage.tex">tex</a>).</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgebf7cb4" class="outline-2">
|
||||
<h2 id="orgebf7cb4"><span class="section-number-2">3</span> Fig 3: Picture of the ID31 end station</h2>
|
||||
<div class="outline-text-2" id="text-3">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
<span class="org-font-latex-sedate">\node</span>[inner sep=0pt, anchor=south west] (photo) at (0,0)
|
||||
{<span class="org-font-latex-sedate">\includegraphics</span>[width=0.39<span class="org-font-latex-sedate">\textwidth</span>]{/home/thomas/Cloud/thesis/papers/dehaeze18_sampl_stabil_for_tomog_exper/tikz/img/exp_setup_photo.png}};
|
||||
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (aheight) at (photo.north west);
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (awidth) at (photo.south east);
|
||||
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (granite) at (<span class="org-font-latex-math">$0.1*(aheight)+0.1*(awidth)$</span>);
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (trans) at (<span class="org-font-latex-math">$0.5*(aheight)+0.4*(awidth)$</span>);
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (tilt) at (<span class="org-font-latex-math">$0.65*(aheight)+0.75*(awidth)$</span>);
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (hexapod) at (<span class="org-font-latex-math">$0.7*(aheight)+0.5*(awidth)$</span>);
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (sample) at (<span class="org-font-latex-math">$0.9*(aheight)+0.55*(awidth)$</span>);
|
||||
|
||||
<span class="org-comment">% Granite</span>
|
||||
<span class="org-font-latex-sedate">\node</span>[labelc] at (granite) {1};
|
||||
<span class="org-comment">% Translation stage</span>
|
||||
<span class="org-font-latex-sedate">\node</span>[labelc] at (trans) {2};
|
||||
<span class="org-comment">% Tilt Stage</span>
|
||||
<span class="org-font-latex-sedate">\node</span>[labelc] at (tilt) {3};
|
||||
<span class="org-comment">% Micro-Hexapod</span>
|
||||
<span class="org-font-latex-sedate">\node</span>[labelc] at (hexapod) {4};
|
||||
<span class="org-comment">% Sample</span>
|
||||
<span class="org-font-latex-sedate">\node</span>[labelc] at (sample) {5};
|
||||
|
||||
<span class="org-comment">% Axis</span>
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">scope</span>}[shift={(<span class="org-font-latex-math">$0.07*(aheight)+0.87*(awidth)$</span>)}]
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (0, 0) -- ++(55:0.7) node[above] {<span class="org-font-latex-math">$y$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (0, 0) -- ++(90:0.9) node[left] {<span class="org-font-latex-math">$z$</span>};
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (0, 0) -- ++(-20:0.7) node[above] {<span class="org-font-latex-math">$x$</span>};
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\end</span></span>{<span class="org-function-name">scope</span>}
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\end</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org9bc138e" class="figure">
|
||||
<p><img src="figs/exp_setup.png" alt="exp_setup.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 3: </span>Picture of the ID31 end station (<a href="./figs/exp_setup.png">png</a>, <a href="./figs/exp_setup.pdf">pdf</a>, <a href="./figs/exp_setup.tex">tex</a>).</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgb81f3d4" class="outline-2">
|
||||
<h2 id="orgb81f3d4"><span class="section-number-2">4</span> Fig 4: Schematic representation of the NASS added below the sample and the control architecture used</h2>
|
||||
<div class="outline-text-2" id="text-4">
|
||||
|
||||
<div id="org5b86048" class="figure">
|
||||
<p><img src="figs/system_control.png" alt="system_control.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 4: </span>Schematic representation of the NASS added below the sample and the control architecture used (<a href="./figs/system_control.png">png</a>, <a href="./figs/system_control.pdf">pdf</a>, <a href="./figs/system_control.tex">tex</a>).</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org9ead1e2" class="outline-2">
|
||||
<h2 id="org9ead1e2"><span class="section-number-2">5</span> Fig 5: Transfer function from a force applied by the NASS to the displacement of the sample</h2>
|
||||
<div class="outline-text-2" id="text-5">
|
||||
|
||||
<div id="org66f8ccd" class="figure">
|
||||
<p><img src="figs/G_x_mass.png" alt="G_x_mass.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 5: </span>Transfer function from a force applied by the NASS to the displacement of the sample (<a href="./figs/G_x_mass.png">png</a>, <a href="./figs/G_x_mass.pdf">pdf</a>).</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgd5d0744" class="outline-2">
|
||||
<h2 id="orgd5d0744"><span class="section-number-2">6</span> Fig 6: General control configuration applied to the end station</h2>
|
||||
<div class="outline-text-2" id="text-6">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-latex"><span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
<span class="org-comment">% Blocs</span>
|
||||
<span class="org-font-latex-sedate">\node</span>[block={2.5cm}{2cm}] (P) {P};
|
||||
<span class="org-font-latex-sedate">\node</span>[block={2.5cm}{2cm}, below=1 of P, scale=0.6] (K) {<span class="org-font-latex-math">\[</span><span class="org-font-latex-math"><span class="org-comment">%</span></span>
|
||||
<span class="org-font-latex-math"> </span><span class="org-font-latex-sedate"><span class="org-font-latex-math"><span class="org-keyword">\begin</span></span></span><span class="org-font-latex-math">{</span><span class="org-font-latex-math"><span class="org-function-name">pmatrix</span></span><span class="org-font-latex-math">}</span>
|
||||
<span class="org-font-latex-math"> K</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_{T_x}</span></span><span class="org-font-latex-math"> </span><span class="org-font-latex-math"><span class="org-font-latex-warning">&</span></span><span class="org-font-latex-math"> 0 </span><span class="org-font-latex-math"><span class="org-font-latex-warning">&</span></span><span class="org-font-latex-math"> </span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\cdots</span></span><span class="org-font-latex-math"> </span><span class="org-font-latex-math"><span class="org-font-latex-warning">&</span></span><span class="org-font-latex-math"> 0 </span><span class="org-font-latex-math"><span class="org-font-latex-warning">\\</span></span>
|
||||
<span class="org-font-latex-math"> 0 </span><span class="org-font-latex-math"><span class="org-font-latex-warning">&</span></span><span class="org-font-latex-math"> </span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\ddots</span></span><span class="org-font-latex-math"> </span><span class="org-font-latex-math"><span class="org-font-latex-warning">&</span></span><span class="org-font-latex-math"> </span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\ddots</span></span><span class="org-font-latex-math"> </span><span class="org-font-latex-math"><span class="org-font-latex-warning">&</span></span><span class="org-font-latex-math"> </span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\vdots</span></span><span class="org-font-latex-math"> </span><span class="org-font-latex-math"><span class="org-font-latex-warning">\\</span></span>
|
||||
<span class="org-font-latex-math"> </span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\vdots</span></span><span class="org-font-latex-math"> </span><span class="org-font-latex-math"><span class="org-font-latex-warning">&</span></span><span class="org-font-latex-math"> </span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\ddots</span></span><span class="org-font-latex-math"> </span><span class="org-font-latex-math"><span class="org-font-latex-warning">&</span></span><span class="org-font-latex-math"> </span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\ddots</span></span><span class="org-font-latex-math"> </span><span class="org-font-latex-math"><span class="org-font-latex-warning">&</span></span><span class="org-font-latex-math"> 0 </span><span class="org-font-latex-math"><span class="org-font-latex-warning">\\</span></span>
|
||||
<span class="org-font-latex-math"> 0 </span><span class="org-font-latex-math"><span class="org-font-latex-warning">&</span></span><span class="org-font-latex-math"> </span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\cdots</span></span><span class="org-font-latex-math"> </span><span class="org-font-latex-math"><span class="org-font-latex-warning">&</span></span><span class="org-font-latex-math"> 0 </span><span class="org-font-latex-math"><span class="org-font-latex-warning">&</span></span><span class="org-font-latex-math"> K</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_{\theta_z}</span></span><span class="org-font-latex-math"> </span><span class="org-font-latex-math"><span class="org-font-latex-warning">\\</span></span>
|
||||
<span class="org-font-latex-math"> </span><span class="org-font-latex-sedate"><span class="org-font-latex-math"><span class="org-keyword">\end</span></span></span><span class="org-font-latex-math">{</span><span class="org-font-latex-math"><span class="org-function-name">pmatrix</span></span><span class="org-font-latex-math">}</span>
|
||||
<span class="org-font-latex-math"> \]</span>};
|
||||
|
||||
<span class="org-comment">% Block names</span>
|
||||
<span class="org-font-latex-sedate">\node</span>[above] at (P.north) {End Station};
|
||||
<span class="org-font-latex-sedate">\node</span>[above] at (K.north) {Controller};
|
||||
|
||||
<span class="org-comment">% Input and outputs coordinates</span>
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (inputw) at (<span class="org-font-latex-math">$(P.south west)!0.75!(P.north west)$</span>);
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (inputu) at (<span class="org-font-latex-math">$(P.south west)!0.25!(P.north west)$</span>);
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (outputz) at (<span class="org-font-latex-math">$(P.south east)!0.75!(P.north east)$</span>);
|
||||
<span class="org-font-latex-sedate">\coordinate</span>[] (outputv) at (<span class="org-font-latex-math">$(P.south east)!0.25!(P.north east)$</span>);
|
||||
|
||||
<span class="org-comment">% Connections and labels</span>
|
||||
<span class="org-font-latex-sedate">\draw</span>[<-] (inputw) node[above left]{<span class="org-font-latex-math">$w$</span>} -- ++(-0.8, 0);
|
||||
<span class="org-font-latex-sedate">\draw</span>[<-] (inputu) node[above left]{<span class="org-font-latex-math">$F$</span>} -- ++(-0.8, 0) |- (K.west);
|
||||
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (outputz) node[above right]{<span class="org-font-latex-math">$z$</span>} -- ++(0.8, 0);
|
||||
<span class="org-font-latex-sedate">\draw</span>[->] (outputv) node[above right]{<span class="org-font-latex-math">$d$</span>} -- ++(0.8, 0) |- (K.east);
|
||||
<span class="org-font-latex-sedate"><span class="org-keyword">\end</span></span>{<span class="org-function-name">tikzpicture</span>}
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org6fe1312" class="figure">
|
||||
<p><img src="figs/general_conf_K.png" alt="general_conf_K.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 6: </span>General control configuration applied to the end station (<a href="./figs/general_conf_K.png">png</a>, <a href="./figs/general_conf_K.pdf">pdf</a>, <a href="./figs/general_conf_K.tex">tex</a>).</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org8bd2e0b" class="outline-2">
|
||||
<h2 id="org8bd2e0b"><span class="section-number-2">7</span> Fig 7: Bode plot of the loop gain for the control in the x direction</h2>
|
||||
<div class="outline-text-2" id="text-7">
|
||||
|
||||
<div id="org6ac84e7" class="figure">
|
||||
<p><img src="figs/loopgain.png" alt="loopgain.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 7: </span>Bode plot of the loop gain for the control in the x direction (<a href="./figs/loopgain.png">png</a>, <a href="./figs/loopgain.pdf">pdf</a>, <a href="./figs/loopgain.tex">tex</a>).</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgbd1411e" class="outline-2">
|
||||
<h2 id="orgbd1411e"><span class="section-number-2">8</span> Fig 8: Positioning error of the sample in the x and y direction during the simulation of a tomography experiment</h2>
|
||||
<div class="outline-text-2" id="text-8">
|
||||
|
||||
<div id="org4acdee3" class="figure">
|
||||
<p><img src="figs/exp_w_wo_nass_xy.png" alt="exp_w_wo_nass_xy.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 8: </span>Positioning error of the sample in the x and y direction during the simulation of a tomography experiment (<a href="./figs/exp_w_wo_nass_xy.png">png</a>, <a href="./figs/exp_w_wo_nass_xy.pdf">pdf</a>).</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orga60190e" class="outline-2">
|
||||
<h2 id="orga60190e"><span class="section-number-2">9</span> Fig 1: Schematic of the Tomography Experiment (Poster)</h2>
|
||||
<div class="outline-text-2" id="text-9">
|
||||
|
||||
<div id="org75eadff" class="figure">
|
||||
<p><img src="figs/exp_full_setup.png" alt="exp_full_setup.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 9: </span>Schematic of the Tomography Experiment (<a href="./figs/exp_full_setup.png">png</a>, <a href="./figs/exp_full_setup.pdf">pdf</a>, <a href="./figs/exp_full_setup.tex">tex</a>).</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Thomas Dehaeze</p>
|
||||
<p class="date">Created: 2019-10-31 jeu. 11:13</p>
|
||||
<p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
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