529 lines
36 KiB
HTML
529 lines
36 KiB
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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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<div id="table-of-contents">
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<h2>Table of Contents</h2>
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<div id="text-table-of-contents">
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<ul>
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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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<li><a href="#orgebf7cb4">3. Fig 3: Picture of the ID31 end station</a></li>
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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>
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<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>
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<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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<div class="outline-text-2" id="text-1">
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<div id="org9d009c6" class="figure">
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<p><img src="figs/schematic_sys_without_nass.png" alt="schematic_sys_without_nass.png" />
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</p>
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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>[<-] (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>
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|
|
<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">
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<p><img src="figs/exp_w_wo_nass_xy.png" alt="exp_w_wo_nass_xy.png" />
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</p>
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<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>
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<div id="outline-container-orga60190e" class="outline-2">
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<h2 id="orga60190e"><span class="section-number-2">9</span> Fig 1: Schematic of the Tomography Experiment (Poster)</h2>
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<div class="outline-text-2" id="text-9">
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<div id="org75eadff" class="figure">
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<p><img src="figs/exp_full_setup.png" alt="exp_full_setup.png" />
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</p>
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<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>
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<div id="postamble" class="status">
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<p class="author">Author: Thomas Dehaeze</p>
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<p class="date">Created: 2019-10-31 jeu. 11:13</p>
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<p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
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