dehaeze21_mechatronics_approach_nass/talk/dehaeze21_mechatronics_approach_nass_talk.tex

% Created 2021-07-22 jeu. 10:15
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\author[shortname]{Thomas Dehaeze \inst{1,2}, Julien Bonnefoy \inst{1} \and Christophe Collette \inst{2,3}}
\institute[shortinst]{\inst{1} European Synchrotron Radiation Facility, Grenoble, France \and %
\inst{2} Precision Mechatronics Laboratory, University of Liege, Belgium \and %
\inst{3} BEAMS Department, Free University of Brussels, Belgium}
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\author{Dehaeze Thomas, Bonnefoy Julien and Collette Christophe}
\date{}
\title{Mechatronics Approach for the Development of a Nano-Active-Stabilization-System}
\subtitle{MEDSI2020, July 26-29, 2021}
\hypersetup{
 pdfauthor={Dehaeze Thomas, Bonnefoy Julien and Collette Christophe},
 pdftitle={Mechatronics Approach for the Development of a Nano-Active-Stabilization-System},
 pdfkeywords={},
 pdfsubject={},
 pdfcreator={Emacs 27.2 (Org mode 9.5)}, 
 pdflang={English}}
\begin{document}

\maketitle
\section{Experimental Phase}
\begin{frame}[label={sec:orgf3c94cd}]{Outline - Experimental Phase}
\begin{center}
\includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach_experimental_phase.pdf}
\end{center}
\end{frame}

\begin{frame}[label={sec:org479753d}]{Flexible Joints - Measurements}
\vspace{-2em}
\begin{columns}
\begin{column}{0.5\columnwidth}
\begin{center}
\includegraphics[scale=1,width=0.95\linewidth]{figs/received_flexible_joints.jpg}
\end{center}

\begin{center}
\includegraphics[scale=1,width=0.95\linewidth]{figs/soft_measure_flex_size.jpg}
\end{center}
\end{column}

\begin{column}{0.55\columnwidth}
\vspace{-1.5em}

\begin{center}
\includegraphics[scale=1,width=0.8\linewidth]{figs/flexible_joint_bench.pdf}
\end{center}

\vspace{-1em}

\begin{center}
\includegraphics[scale=1,width=0.9\linewidth]{figs/flex_joint_meas_example_F_d_lin_fit.pdf}
\end{center}
\end{column}
\end{columns}
\end{frame}

\begin{frame}[label={sec:org3b64613}]{Amplified Piezoelectric Actuator - Test Bench}
\vspace{-1em}

\begin{center}
\includegraphics[scale=1,width=\linewidth]{figs/test_bench_apa300ml.red.pdf}
\end{center}

\begin{tikzpicture}[remember picture, overlay]
  \node[align=left, anchor=north east, text width=4.5cm] at (current page.north east){%
  \begin{tcolorbox}[title=Goals]
  \begin{itemize}
    \item Identify Dynamics
    \item Tune APA Model
    \item Test IFF
  \end{itemize}
  \end{tcolorbox}};
\end{tikzpicture}
\end{frame}

\begin{frame}[label={sec:orge94bd9a}]{Amplified Piezoelectric Actuator - Extracted Model}
\begin{center}
\includegraphics[scale=1,width=\linewidth]{figs/apa_comp_model_frf.pdf}
\end{center}
\end{frame}

\begin{frame}[label={sec:org977a349}]{Amplified Piezoelectric Actuator - Integral Force Feedback}
\vspace{-3em}
\begin{columns}
\begin{column}{0.62\columnwidth}
\vspace{1em}

\begin{center}
\includegraphics[scale=1,width=\linewidth]{figs/test_bench_apa300ml_iff.pdf}
\end{center}

\[ K_{\text{IFF}}(s) = \frac{g}{s} \]
\end{column}

\begin{column}{0.38\columnwidth}
\begin{center}
\includegraphics[scale=1,width=\linewidth]{figs/iff_results_apa95ml.pdf}
\end{center}
\end{column}
\end{columns}
\end{frame}

\begin{frame}[label={sec:org891e73c}]{Strut - Mounting Tool}
\vspace{-2.5em}
\begin{columns}
\begin{column}{0.63\columnwidth}
\begin{center}
\includegraphics[scale=1,width=\linewidth]{figs/image_mounting_strut_bench.JPG}
\end{center}
\end{column}

\begin{column}{0.37\columnwidth}
\begin{center}
\includegraphics[scale=1,width=\linewidth]{figs/mounted_strut_picture.jpg}
\end{center}

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    \node[anchor=north east, padding=5pt] at (current page.north east){%
    \includegraphics[width=2em]{figs/icon_animation.pdf}};
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\end{column}
\end{columns}
\end{frame}
\begin{frame}[label={sec:org7ca4f86}]{Strut - Dynamical Measurements}
\vspace{-1em}

\begin{center}
\includegraphics[scale=1,width=\linewidth]{figs/test_bench_strut.red.pdf}
\end{center}

\begin{tikzpicture}[remember picture, overlay]
  \node[align=left, anchor=north east, text width=5cm] at (current page.north east){%
  \begin{tcolorbox}[title=Goals]
  \begin{itemize}
    \item Identify Dynamics
    \item Tune Model
    \item Flexible joints effects
    \item Encoder effect
  \end{itemize}
  \end{tcolorbox}};
\end{tikzpicture}
\end{frame}

\begin{frame}[label={sec:org1bb0afd}]{Strut - Encoders Output and Spurious Modes}
\vspace{-3em}
\begin{columns}
\begin{column}{0.45\columnwidth}
\begin{center}
\includegraphics[scale=1,width=\linewidth]{figs/frf_model_encoder_strut.pdf}
\end{center}
\end{column}

\begin{column}{0.55\columnwidth}
\begin{center}
\includegraphics[scale=1,width=\linewidth]{figs/meas_spur_res_struts_2_encoder.jpg}
\end{center}

\begin{center}
\includegraphics[scale=1,width=\linewidth]{figs/mode_shapes_annotated.pdf}
\end{center}

\begin{tikzpicture}[remember picture,overlay]
    \node[anchor=north east, padding=5pt] at (current page.north east){%
    \includegraphics[width=2em]{figs/icon_animation.pdf}};
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\end{column}
\end{columns}
\end{frame}

\begin{frame}[label={sec:org5d75c1c}]{Strut - Extracted Model}
\vspace{-1em}

\begin{center}
\includegraphics[scale=1,width=\linewidth]{figs/strut_meas_frf_model_int_force.pdf}
\end{center}
\end{frame}

\begin{frame}[label={sec:org876bcde}]{Nano-Hexapod Mounting Tool}
\begin{center}
\includegraphics[scale=1,width=0.9\linewidth]{figs/nano_hexapod_mounting.JPG}
\end{center}

\begin{tikzpicture}[remember picture,overlay]
    \node[anchor=north east, padding=5pt] at (current page.north east){%
    \includegraphics[width=2em]{figs/icon_animation.pdf}};
\end{tikzpicture}
\end{frame}

\begin{frame}[label={sec:org467130b}]{Mounted Nano-Hexapod}
\vspace{-1em}

\begin{center}
\includegraphics[scale=1,width=\linewidth]{figs/mounted_nano_hexapod_picture.jpg}
\end{center}
\end{frame}

\begin{frame}[label={sec:org1ec90cc}]{Nano-Hexapod - Identified Dynamics}
Diagonal + off-diagonal transfer function from Va to De (comp with model)
\end{frame}

\begin{frame}[label={sec:orgcc130d7}]{Nano-Hexapod - Force Sensors}
Diagonal + off-diagonal transfer function from Va to Vs
\end{frame}

\begin{frame}[label={sec:orgc171e2c}]{Nano-Hexapod - Damped Dynamics}
Damped and Undamped, Diagonal + off-diagonal transfer function from Va to De
\end{frame}

\begin{frame}[label={sec:org9927ee9}]{The Nano-Hexapod on top of the Micro-Station}
\vspace{-0.5em}

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\begin{center}
\includegraphics[scale=1,width=0.85\linewidth]{figs/nano_hexapod_id31.jpg}
\end{center}

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\begin{center}
\includegraphics[scale=1,width=0.85\linewidth]{figs/nano_hexapod_id31_zoom.jpg}
\end{center}

}
\end{frame}
\end{document}