From 7247f865f3078325dce3a46665bcb84b09c0cd59 Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Thu, 9 Jul 2020 09:29:24 +0200 Subject: [PATCH] Delete few tikz figures, rename folders --- inkscape/control_diagram_iff.pdf | Bin 20481 -> 0 bytes inkscape/control_diagram_iff.svg | Bin 24867 -> 0 bytes inkscape/system.pdf | Bin 61945 -> 0 bytes inkscape/system_iff.pdf | Bin 63103 -> 0 bytes matlab/figs-inkscape | 1 - matlab/figs-paper | 1 + matlab/figs-tikz | 1 - matlab/index.org | 38 ++-- paper/figs | 1 - .../figs}/campbell_diagram_imag.pdf | Bin .../figs}/campbell_diagram_imag.svg | Bin .../figs}/campbell_diagram_real.pdf | Bin .../figs}/campbell_diagram_real.svg | Bin {inkscape => paper/figs}/cedrat_xy25xs.png | Bin {inkscape => paper/figs}/comp_compliance.pdf | Bin {inkscape => paper/figs}/comp_compliance.svg | Bin {inkscape => paper/figs}/comp_root_locus.pdf | Bin {inkscape => paper/figs}/comp_root_locus.svg | Bin .../figs}/comp_transmissibility.pdf | Bin 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Thus, decentralized IFF controller with pure integrators can be used if: #+end_src #+begin_src matlab :tangle no :exports none :results none - exportFig('figs-inkscape/root_locus_iff_kp.pdf', 'width', 'full', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true); + exportFig('figs-paper/root_locus_iff_kp.pdf', 'width', 'full', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true); #+end_src ** Effect of $k_p$ on the attainable damping @@ -1783,7 +1783,7 @@ It is shown that large values of $k_p$ decreases the attainable damping. #+end_src #+begin_src matlab :tangle no :exports none :results none - exportFig('figs-inkscape/root_locus_iff_kps.pdf', 'width', 'wide', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true); + exportFig('figs-paper/root_locus_iff_kps.pdf', 'width', 'wide', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true); #+end_src #+begin_src matlab @@ -1940,7 +1940,7 @@ Let's take $k_p = 5 m \Omega^2$ and find the optimal IFF control gain $g$ such t #+end_src #+begin_src matlab :tangle no :exports none :results none - exportFig('figs-inkscape/root_locus_opt_gain_iff_kp.pdf', 'width', 'wide', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true); + exportFig('figs-paper/root_locus_opt_gain_iff_kp.pdf', 'width', 'wide', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true); #+end_src * Comparison @@ -2104,7 +2104,7 @@ IFF With parallel Stiffness #+end_src #+begin_src matlab :tangle no :exports none :results none - exportFig('figs-inkscape/comp_root_locus.pdf', 'width', 'wide', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true); + exportFig('figs-paper/comp_root_locus.pdf', 'width', 'wide', 'height', 'tall', 'png', false, 'pdf', false, 'svg', true); #+end_src ** Controllers - Optimal Gains @@ -2278,7 +2278,7 @@ Critical Damping corresponds to to $\xi = 1$, and thus: [[file:figs/comp_transmissibility.png]] #+begin_src matlab :tangle no :exports none :results none - exportFig('figs-inkscape/comp_transmissibility.pdf', 'width', 'half', 'height', 'normal', 'png', false, 'pdf', false, 'svg', true); + exportFig('figs-paper/comp_transmissibility.pdf', 'width', 'half', 'height', 'normal', 'png', false, 'pdf', false, 'svg', true); #+end_src *** Compliance :ignore: @@ -2312,7 +2312,7 @@ Critical Damping corresponds to to $\xi = 1$, and thus: [[file:figs/comp_compliance.png]] #+begin_src matlab :tangle no :exports none :results none - exportFig('figs-inkscape/comp_compliance.pdf', 'width', 'half', 'height', 'normal', 'png', false, 'pdf', false, 'svg', true); + exportFig('figs-paper/comp_compliance.pdf', 'width', 'half', 'height', 'normal', 'png', false, 'pdf', false, 'svg', true); #+end_src ** DC Compliance @@ -2568,7 +2568,7 @@ exportFig('figs/opt_damp_vs_dc_comp.pdf', 'width', 'wide', 'height', 'normal'); [[file:figs/mod_iff_damping_kp.png]] #+begin_src matlab :tangle no :exports none :results none - exportFig('figs-inkscape/mod_iff_damping_kp.pdf', 'width', 'half', 'height', '650', 'png', false, 'pdf', false, 'svg', true); + exportFig('figs-paper/mod_iff_damping_kp.pdf', 'width', 'half', 'height', '650', 'png', false, 'pdf', false, 'svg', true); #+end_src * Notations diff --git a/paper/figs b/paper/figs deleted file mode 120000 index bb6c3d7..0000000 --- a/paper/figs +++ /dev/null @@ -1 +0,0 @@ -../inkscape \ No newline at end of file diff --git a/inkscape/campbell_diagram_imag.pdf b/paper/figs/campbell_diagram_imag.pdf similarity index 100% rename from inkscape/campbell_diagram_imag.pdf rename to paper/figs/campbell_diagram_imag.pdf diff --git a/inkscape/campbell_diagram_imag.svg b/paper/figs/campbell_diagram_imag.svg similarity index 100% rename from inkscape/campbell_diagram_imag.svg rename to paper/figs/campbell_diagram_imag.svg diff --git a/inkscape/campbell_diagram_real.pdf b/paper/figs/campbell_diagram_real.pdf similarity index 100% rename from inkscape/campbell_diagram_real.pdf rename to paper/figs/campbell_diagram_real.pdf diff --git a/inkscape/campbell_diagram_real.svg b/paper/figs/campbell_diagram_real.svg similarity index 100% rename from inkscape/campbell_diagram_real.svg rename to paper/figs/campbell_diagram_real.svg diff --git a/inkscape/cedrat_xy25xs.png b/paper/figs/cedrat_xy25xs.png similarity index 100% rename from inkscape/cedrat_xy25xs.png rename to paper/figs/cedrat_xy25xs.png diff --git a/inkscape/comp_compliance.pdf b/paper/figs/comp_compliance.pdf similarity index 100% rename from inkscape/comp_compliance.pdf rename to paper/figs/comp_compliance.pdf diff --git a/inkscape/comp_compliance.svg b/paper/figs/comp_compliance.svg similarity index 100% rename from inkscape/comp_compliance.svg rename to paper/figs/comp_compliance.svg diff --git a/inkscape/comp_root_locus.pdf b/paper/figs/comp_root_locus.pdf similarity index 100% rename from inkscape/comp_root_locus.pdf rename to paper/figs/comp_root_locus.pdf diff --git a/inkscape/comp_root_locus.svg b/paper/figs/comp_root_locus.svg similarity index 100% rename from inkscape/comp_root_locus.svg 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z^3n5Wi1RA=k{`PyV2VSDtowg4=i*CR&4&KOJKg%s&pHHtytJtR*9db~#;drID zh5qrW(Klaz`0nfX@4x=(Ik%7aRgL+X|E+7qXMfD_XDC2-^0~>ZBjIIIbqZgw0=P+6%F1#}sbAI6~?n&vmyxc$pdG3h2U zi_yn{#7%|$DwiO9!OY)EVPA~2tqvTx*B_Bod(}R0*sgSAA-ITZ>PkpDl4>_hk(3DA zi;!C_pVKxV@MrkkGWSBG%%&HSjLR6i##FX6C(9~Z+j Y^5`Bs%`>Z?g] (P.east) node[above right]{$\begin{bmatrix}f_u \\ f_v\end{bmatrix}$} -- ++(1.2, 0) |- (K.east); - \end{tikzpicture} -#+end_src - #+begin_src latex :file control_diagram_iff.pdf \tikzset{block/.default={0.8cm}{0.8cm}} \tikzset{addb/.append style={scale=0.7}} @@ -140,73 +126,6 @@ Configuration file is accessible [[file:config.org][here]]. #+RESULTS: [[file:figs/control_diagram_iff.png]] -* X-Y Rotating Positioning Platform with Force Sensors -#+begin_src latex :file system_force_sensors.pdf - \begin{tikzpicture} - % Angle - \def\thetau{25} - - % Rotational Stage - \draw[fill=black!60!white] (0, 0) circle (4.3); - \draw[fill=black!40!white] (0, 0) circle (3.8); - - % Label - \node[anchor=north west, rotate=\thetau] at (-2.5, 2.5) {\small Rotating Stage}; - - % Rotating Scope - \begin{scope}[rotate=\thetau] - % Rotating Frame - \draw[fill=black!20!white] (-2.6, -2.6) rectangle (2.6, 2.6); - % Label - \node[anchor=north west, rotate=\thetau] at (-2.6, 2.6) {\small X-Y Stage}; - - % Mass - \draw[fill=white] (-1, -1) rectangle (1, 1); - % Label - \node[anchor=south west, rotate=\thetau] at (-1, -1) {\small Payload}; - - % Attached Points - \node[] at (-1, 0){$\bullet$}; - \draw[] (-1, 0) -- ++(-0.2, 0) coordinate(au); - \node[] at (0, -1){$\bullet$}; - \draw[] (0, -1) -- ++(0, -0.2) coordinate(av); - - % Force Sensors - \draw[fill=white] ($(au) + (-0.2, -0.5)$) rectangle ($(au) + (0, 0.5)$); - \draw[] ($(au) + (-0.2, -0.5)$)coordinate(actu) -- ($(au) + (0, 0.5)$); - \draw[] ($(au) + (-0.2, 0.5)$)coordinate(ku) node[above=0.1, rotate=\thetau]{$f_{u}$} -- ($(au) + (0, -0.5)$); - - \draw[fill=white] ($(av) + (-0.5, -0.2)$) rectangle ($(av) + (0.5, 0)$); - \draw[] ($(av) + ( 0.5, -0.2)$)coordinate(actv) -- ($(av) + (-0.5, 0)$); - \draw[] ($(av) + (-0.5, -0.2)$)coordinate(kv) node[left=0.1, rotate=\thetau]{$f_{v}$} -- ($(av) + ( 0.5, 0)$); - - % Spring and Actuator for U - \draw[actuator={0.6}{0.2}] (actu) -- node[above=0.1, rotate=\thetau]{$F_u$} (actu-|-2.6,0); - \draw[spring=0.2] (ku) -- node[above=0.1, rotate=\thetau]{$k$} (ku-|-2.6,0); - - \draw[actuator={0.6}{0.2}] (actv) -- node[left, rotate=\thetau]{$F_v$} (actv|-0,-2.6); - \draw[spring=0.2] (kv) -- node[left, rotate=\thetau]{$k$} (kv|-0,-2.6); - \end{scope} - - % Inertial Frame - \draw[->] (-4, -4) -- ++(2, 0) node[below]{$\vec{i}_x$}; - \draw[->] (-4, -4) -- ++(0, 2) node[left]{$\vec{i}_y$}; - \draw[fill, color=black] (-4, -4) circle (0.06); - \node[draw, circle, inner sep=0pt, minimum size=0.3cm, label=left:$\vec{i}_z$] at (-4, -4){}; - - \draw[->] (0, 0) -- ++(\thetau:2) node[above, rotate=\thetau]{$\vec{i}_u$}; - \draw[->] (0, 0) -- ++(\thetau+90:2) node[left, rotate=\thetau]{$\vec{i}_v$}; - \draw[dashed] (0, 0) -- ++(2, 0); - \draw[] (1.5, 0) arc (0:\thetau:1.5) node[midway, right]{$\theta$}; - \node[] at (0,0) {$\bullet$}; - - \draw[->] (3.5, 0) arc (0:40:3.5) node[midway, left]{$\Omega$}; - \end{tikzpicture} -#+end_src - -#+RESULTS: -[[file:figs/system_force_sensors.png]] - * Decentralized Integral Force Feedback #+begin_src latex :file system_iff.pdf \begin{tikzpicture} @@ -284,88 +203,6 @@ Configuration file is accessible [[file:config.org][here]]. #+RESULTS: [[file:figs/system_iff.png]] -* Decentralized Direct Velocity Feedback -#+begin_src latex :file system_dvf.pdf - \begin{tikzpicture} - % Angle - \def\thetau{25} - - % Rotational Stage - \draw[fill=black!60!white] (0, 0) circle (4.3); - \draw[fill=black!40!white] (0, 0) circle (3.8); - - % Label - \node[anchor=north west, rotate=\thetau] at (-2.5, 2.5) {\small Rotating Stage}; - - % Rotating Scope - \begin{scope}[rotate=\thetau] - % Rotating Frame - \draw[fill=black!20!white] (-2.6, -2.6) rectangle (2.6, 2.6); - % Label - \node[anchor=north west, rotate=\thetau] at (-2.6, 2.6) {\small X-Y Stage}; - - % Mass - \draw[fill=white] (-1, -1) rectangle (1, 1); - % Label - \node[anchor=south west, rotate=\thetau] at (-1, -1) {\small Payload}; - - % Attached Points - \node[] at (-1, 0){$\bullet$}; - \draw[] (-1, 0) -- ++(-0.2, 0) coordinate(au); - \node[] at (0, -1){$\bullet$}; - \draw[] (0, -1) -- ++(0, -0.2) coordinate(av); - - % Attached Points - \node[] at (-1, 0){$\bullet$}; - \draw[] (-1, 0) -- ++(-0.2, 0) coordinate(cu); - \draw[] ($(cu) + (0, -0.5)$) coordinate(actu) -- ($(cu) + (0, 0.5)$) coordinate(ku); - \node[] at (0, -1){$\bullet$}; - \draw[] (0, -1) -- ++(0, -0.2) coordinate(cv); - \draw[] ($(cv) + (-0.5, 0)$)coordinate(kv) -- ($(cv) + (0.5, 0)$) coordinate(actv); - - % Spring and Actuator for U - \draw[actuator={0.6}{0.2}] (actu) -- coordinate[midway](actumid) (actu-|-2.6,0); - \draw[spring=0.2] (ku) -- node[above=0.1, rotate=\thetau]{$k$} (ku-|-2.6,0); - - \draw[actuator={0.6}{0.2}] (actv) -- coordinate[midway](actvmid) (actv|-0,-2.6); - \draw[spring=0.2] (kv) -- node[left, rotate=\thetau]{$k$} (kv|-0,-2.6); - - % Displacement measurement - \draw[<->, dashed] (-2.6, -0.8) -- (-1 , -0.8) coordinate(dutop); - \draw[<->, dashed] ( 0.8, -2.6) -- ( 0.8, -1) coordinate(dvtop); - - % Controllers - \node[block={0.6cm}{0.6cm}, rotate=\thetau] (Ku) at ($(actumid) + (0, -1.2)$) {$K_{V}$}; - \draw[->] ($(dutop) + (-0.1, 0)$) node[below left, rotate=\thetau]{$v_u$} |- (Ku.east); - \draw[->] (Ku.north) -- ($(actumid) + (0, -0.1)$); - - \node[block={0.6cm}{0.6cm}, rotate=\thetau] (Kv) at ($(actvmid) + (1.2, 0)$) {$K_{V}$}; - \draw[->] ($(dvtop) + (0, -0.1)$) node[below right, rotate=\thetau]{$v_v$} -| (Kv.north); - \draw[->] (Kv.west) -- ($(actvmid) + (0.1, 0)$); - - \node[above=0.1, rotate=\thetau] at (actumid) {$F_u$}; - \node[left=0.1, rotate=\thetau] at (actvmid) {$F_v$}; - \end{scope} - - % Inertial Frame - \draw[->] (-4, -4) -- ++(2, 0) node[below]{$\vec{i}_x$}; - \draw[->] (-4, -4) -- ++(0, 2) node[left]{$\vec{i}_y$}; - \draw[fill, color=black] (-4, -4) circle (0.06); - \node[draw, circle, inner sep=0pt, minimum size=0.3cm, label=left:$\vec{i}_z$] at (-4, -4){}; - - \draw[->] (0, 0) -- ++(\thetau:2) node[above, rotate=\thetau]{$\vec{i}_u$}; - \draw[->] (0, 0) -- ++(\thetau+90:2) node[left, rotate=\thetau]{$\vec{i}_v$}; - \draw[dashed] (0, 0) -- ++(2, 0); - \draw[] (1.5, 0) arc (0:\thetau:1.5) node[midway, right]{$\theta$}; - \node[] at (0,0) {$\bullet$}; - - \draw[->] (3.5, 0) arc (0:40:3.5) node[midway, left]{$\Omega$}; - \end{tikzpicture} -#+end_src - -#+RESULTS: -[[file:figs/system_dvf.png]] - * Springs in parallel #+begin_src latex :file system_parallel_springs.pdf \begin{tikzpicture}