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<title>Sample Stabilization for Tomography Experiments in Presence of Large Plant Uncertainty - Tikz Figures</title>
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<h1 class="title">Sample Stabilization for Tomography Experiments in Presence of Large Plant Uncertainty - Tikz Figures</h1>
<div id="table-of-contents">
<h2>Table of Contents</h2>
<div id="text-table-of-contents">
<ul>
<li><a href="#orgfbe45d5">1. Fig 1: Schematic representation of the ID31 end station</a></li>
<li><a href="#org5d6efd7">2. Fig 2: CAD View of the ID31 end station</a></li>
<li><a href="#orgebf7cb4">3. Fig 3: Picture of the ID31 end station</a></li>
<li><a href="#orgb81f3d4">4. Fig 4: Schematic representation of the NASS added below the sample and the control architecture used</a></li>
<li><a href="#org9ead1e2">5. Fig 5: Transfer function from a force applied by the NASS to the displacement of the sample</a></li>
<li><a href="#orgd5d0744">6. Fig 6: General control configuration applied to the end station</a></li>
<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>
</ul>
</div>
</div>
<p>
Configuration file is accessible <a href="config.html">here</a>.
</p>
<div id="outline-container-orgfbe45d5" class="outline-2">
<h2 id="orgfbe45d5"><span class="section-number-2">1</span> Fig 1: Schematic representation of the ID31 end station</h2>
<div class="outline-text-2" id="text-1">
<div id="org9d009c6" class="figure">
<p><img src="figs/schematic_sys_without_nass.png" alt="schematic_sys_without_nass.png" />
</p>
<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>
</div>
</div>
</div>
<div id="outline-container-org5d6efd7" class="outline-2">
<h2 id="org5d6efd7"><span class="section-number-2">2</span> Fig 2: CAD View of the ID31 end station</h2>
<div class="outline-text-2" id="text-2">
<div class="org-src-container">
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<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>
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