Update talk files

talk/dehaeze21_mechatronics_approach_nass_talk.tex

@@ -1,4 +1,4 @@
-% Created 2021-07-20 mar. 14:23
+% Created 2021-07-22 jeu. 08:10
 % Intended LaTeX compiler: pdflatex
 \documentclass[aspectratio=169, t]{clean-beamer}
 \usepackage[utf8]{inputenc}
@@ -25,10 +25,9 @@
 \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}
-\vspace{-0.5em}
 \titlegraphic{\includegraphics[height=1.5cm]{figs/logo_pml_full.pdf} \hspace{5em} %
 \includegraphics[height=1.5cm]{figs/logo_esrf.pdf} \hspace{5em} %
-\includegraphics[height=1.5cm]{figs/logo_medsi.pdf}}
+\includegraphics[height=1.5cm]{figs/logo_medsi.jpg}}
 \beamertemplatenavigationsymbolsempty
 \addtobeamertemplate{navigation symbols}{}{%
 \usebeamerfont{footline}%
@@ -36,16 +35,10 @@
 \hspace{1em}%
 \insertframenumber/\inserttotalframenumber
 }
+\setlength{\leftmargini}{5pt}
 \setbeamertemplate{itemize items}[circle]
 \usefonttheme[onlymath]{serif}
-\AtBeginSection[]{
-\begin{frame}<beamer>{Outline}
-\tableofcontents[currentsection, hideothersubsections, sectionstyle=show/shaded]
-\end{frame}
-}
 \makeatletter
-\preto\Gin@extensions{gif,}
-\DeclareGraphicsRule{.gif}{png}{.png}{\noexpand\Gin@base.png}
 \preto\Gin@extensions{png,}
 \DeclareGraphicsRule{.png}{pdf}{.pdf}{\noexpand\Gin@base.pdf}
 \makeatother
@@ -66,217 +59,589 @@
 \begin{document}
 
 \maketitle
+
 \section*{Introduction}
-\begin{frame}[label={sec:org4b0545d}]{The ID31 Micro Station}
+\begin{frame}[label={sec:orgdc51d45}]{The ID31 Micro Station}
 \begin{center}
-\includegraphics[scale=1,width=\linewidth]{figs/assemblage.png}
+\includegraphics[scale=1,width=0.95\linewidth]{figs/micro_hexapod_render.pdf}
 \end{center}
 
-\textbf{Objective}: Position samples along complex trajectories with high precision\newline
+\begin{tikzpicture}[remember picture,overlay]
-\textbf{Stacked Positioning Stages}: \(\approx 10\,\mu m\) precision limited by stages vibrations, thermal effects, ground motion, \ldots{}
+    \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:orgb7c2959}]{Introduction - The Nano Active Stabilization System}
+\begin{frame}[label={sec:orgd54db4c}]{Introduction - The Nano Active Stabilization System}
 \textbf{Objective}: Improve the position accuracy from \(\approx 10\,\mu m\) down to \(\approx 10\,nm\) \newline
-\textbf{Design approach}: ``Model based design'' (extensive use of models and test benches)
+\textbf{Design approach}: ``Model based design'' / ``Predictive Design''
 
 \begin{center}
 \includegraphics[scale=1,width=\linewidth]{figs/nass-concept.pdf}
 \end{center}
 \end{frame}
 
-\begin{frame}[label={sec:orgaf8e005}]{The Nano-Hexapod - Why such mechanical architecture?}
+\begin{frame}[label={sec:org58304ff}]{Overview of the Mechatronic Approach - Model Based Design}
-\begin{itemize}
-\item Why stewart architecture
-\begin{itemize}
-\item 6 DoF to control / 6 actuators
-\end{itemize}
-\item Only flexible elements
-\begin{itemize}
-\item no backlash
-\item no play
-\end{itemize}
-\item How it is working
-\begin{itemize}
-\item Jacobian matrix both for actuation and sensing
-\end{itemize}
-\item Forward / Inverse kinematics : meaning. Easy to compute for small displacements
-\item[{$\square$}] Schematic of Stewart platform
-\end{itemize}
-
 \begin{center}
-\includegraphics[scale=1,width=\linewidth]{figs/nano_hexapod_elements.red.pdf}
+\includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach.png}
 \end{center}
 \end{frame}
 
-\begin{frame}[label={sec:orgb9ee458}]{Stewart Platforms Architecture}
+\section{Conceptual Phase}
-\vspace{-2em}
+\begin{frame}[label={sec:org95b2a1a}]{Outline - Conceptual Phase}
+\begin{center}
+\includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach_conceptual_phase.png}
+\end{center}
+\end{frame}
 
-\begin{columns}
+\begin{frame}[label={sec:org612b41f}]{Feedback Control - The Control Loop}
-\begin{column}{0.5\columnwidth}
+\vspace{-1em}
-\begin{figure}[htbp]
+
-\centering
+\begin{center}
-\includegraphics[scale=1,width=\linewidth]{figs/stewart_schematic.png}
+\includegraphics[scale=1,width=\linewidth]{figs/classical_feedback_schematic.png}
-\caption{\label{fig:stewart_schematic}Geometry of a Stewart Platform}
+\end{center}
-\end{figure}
 
 \vspace{-1em}
 
-\begin{tcolorbox}[title=Advantages]
+\begin{columns}
+\begin{column}{0.4\columnwidth}
+\begin{tcolorbox}[title=Why Feedback?]
 \begin{itemize}
-\item Compact
+\item Model uncertainties
-\item Allows 6dof motion
+\item Unknown disturbances
-\item Can be ``monolithic''
 \end{itemize}
 \end{tcolorbox}
 \end{column}
 
-\begin{column}{0.5\columnwidth}
+\begin{column}{0.6\columnwidth}
-\begin{tcolorbox}[title=Definition of the Geomtry]
+\begin{tcolorbox}[title=Every elements can limit the performances]
 \begin{itemize}
-\item \(\bm{a}_i\): position of the attachment points on the fixed base
+\item Drivers, Actuators, Sensors
-\item \(\bm{b}_i\): position of moving attachment points
+\item Mechanical System
-\item \(l_i\): length of each limb
+\item Controller
-\item \(\hat{\bm{s}}_i\): unit vector representing the direction of each limb
 \end{itemize}
 \end{tcolorbox}
 \end{column}
 \end{columns}
 \end{frame}
 
-\begin{frame}[label={sec:org09981cc}]{Stewart Platform Architecture - Kinematics}
+\begin{frame}[label={sec:orga5ea61a}]{Noise Budgeting and Required Control Bandwidth}
-\begin{itemize}
+\vspace{-1em}
-\item \(\bm{\mathcal{L}} = \left[ l_1, l_2, \ldots, l_6 \right]^T\): vector of actuated joint coordinates
-\item \(\bm{\mathcal{X}} = \left[ {}^A\bm{P}, \bm{}^A\hat{\bm{s}} \right]^T\): vector of platform motion variables
-\end{itemize}
 
-\begin{align*}
+\begin{center}
-\bm{\mathcal{X}} & \xrightarrow[\text{Simple}]{\text{Inverse Kinematics}}  \bm{\mathcal{L}} \\
+\includegraphics[scale=1,width=\linewidth]{figs/identification_control_noise_budget.red.pdf}
-\bm{\mathcal{L}} & \xrightarrow[\text{Complex}]{\text{Forward Kinematics}} \bm{\mathcal{X}}
+\end{center}
-\end{align*}
-
-For small displacements: \textbf{Jacobian} matrix
-\begin{equation*}
-  \bm{J} = \begin{bmatrix}
-    {\hat{\bm{s}}_1}^T & (\bm{b}_1 \times \hat{\bm{s}}_1)^T \\
-    {\hat{\bm{s}}_2}^T & (\bm{b}_2 \times \hat{\bm{s}}_2)^T \\
-    {\hat{\bm{s}}_3}^T & (\bm{b}_3 \times \hat{\bm{s}}_3)^T \\
-    {\hat{\bm{s}}_4}^T & (\bm{b}_4 \times \hat{\bm{s}}_4)^T \\
-    {\hat{\bm{s}}_5}^T & (\bm{b}_5 \times \hat{\bm{s}}_5)^T \\
-    {\hat{\bm{s}}_6}^T & (\bm{b}_6 \times \hat{\bm{s}}_6)^T
-  \end{bmatrix}
-\end{equation*}
-
-\begin{align*}
-  \delta\bm{\mathcal{L}} &= \bm{J}      \delta\bm{\mathcal{X}} \\
-  \delta\bm{\mathcal{X}} &= \bm{J}^{-1} \delta\bm{\mathcal{L}}
-\end{align*}
-
-As an example, for the Nano-Hexapod:
-\begin{equation*}
-\bm{J} = \begin{bmatrix*}[r]
- 0.69 & -0.38 & 0.61 & -0.13 & -0.10 &  0.08 \\
--0.69 & -0.38 & 0.61 & -0.13 &  0.10 & -0.08 \\
--0.02 &  0.80 & 0.61 &  0.15 & -0.06 &  0.08 \\
- 0.68 & -0.41 & 0.61 & -0.02 & -0.16 & -0.08 \\
--0.68 & -0.41 & 0.61 & -0.02 &  0.16 &  0.08 \\
- 0.02 &  0.80 & 0.61 &  0.15 &  0.06 & -0.08
-\end{bmatrix*}, \quad \bm{J}^{-1} = \begin{bmatrix*}[r]
- 0.84 & -0.84 & -1.00 & -0.15 &  0.15 &  1.00 \\
- 0.66 &  0.66 &  0.39 & -1.06 & -1.06 &  0.39 \\
- 0.27 &  0.27 &  0.27 &  0.27 &  0.27 &  0.27 \\
--4.51 & -4.51 &  0.12 &  4.39 &  4.39 &  0.12 \\
- 2.46 & -2.46 & -5.14 & -2.67 &  2.67 &  5.14 \\
- 1.96 & -1.96 &  1.96 & -1.96 &  1.96 & -1.96
-\end{bmatrix*}
-\end{equation*}
-
-\begin{itemize}
-\item[{$\square$}] Control architecture in the frame of the legs with the Jacobian matrix
-\end{itemize}
 \end{frame}
 
-\begin{frame}[label={sec:orgec6681e}]{Control Challenges - Analogy}
+\begin{frame}[label={sec:orgd23064f}]{Limitation of the Controller Bandwidth?}
+\begin{columns}
+\begin{column}{0.6\columnwidth}
 \vspace{-2em}
 
 \only<1>{
 
 \begin{center}
-\includegraphics[scale=1,width=\linewidth]{figs/001_Room.pdf}
+\includegraphics[scale=1,width=\linewidth]{figs/control_bandwidth_1_classical.pdf}
 \end{center}
 
 }\only<2>{
 
 \begin{center}
-\includegraphics[scale=1,width=\linewidth]{figs/002_Analogies.pdf}
+\includegraphics[scale=1,width=\linewidth]{figs/control_bandwidth_2_above_res.pdf}
 \end{center}
 
 }\only<3>{
 
 \begin{center}
-\includegraphics[scale=1,width=\linewidth]{figs/003_Laser.pdf}
+\includegraphics[scale=1,width=\linewidth]{figs/control_bandwidth_3_next_gen.pdf}
 \end{center}
 
-}\only<4>{
+}
+\end{column}
+
+\begin{column}{0.4\columnwidth}
+\vspace{-2em}
 
 \begin{center}
-\includegraphics[scale=1,width=\linewidth]{figs/004_Top-Platform.pdf}
+\includegraphics[scale=1,width=\linewidth]{figs/test_bench_apa_simple.pdf}
 \end{center}
 
-}\only<5>{
+\only<1>{
+
+\begin{tcolorbox}[title=Typical Approach, fontupper=\small]
+``As stiff as possible'' \newline
+Simple controller (e.g. PID)
+\end{tcolorbox}
+
+}\only<2>{
+
+\begin{tcolorbox}[title=Alternative Approach, fontupper=\small]
+Limited by complex dynamics\newline
+Model based controller
+\end{tcolorbox}
+
+}\only<3>{
+
+\begin{tcolorbox}[title=Next-Gen Systems, fontupper=\small]
+Active research topic\newline
+Complex controllers
+\end{tcolorbox}
+
+}
+\end{column}
+\end{columns}
+\end{frame}
+
+\begin{frame}[label={sec:org9493c8d}]{Soft or Stiff \(\nu\text{-hexapod}\) ? Interaction with the \(\mu\text{-station}\)}
+\vspace{-3em}
+\begin{columns}
+\begin{column}{0.3\columnwidth}
+\onslide<1->{
 
 \begin{center}
-\includegraphics[scale=1,width=\linewidth]{figs/005_Candle.pdf}
+\includegraphics[scale=1,width=\linewidth]{figs/nass_example_uncertainty_support_only_hexapod.pdf}
 \end{center}
 
-}\only<6>{
+}\onslide<2->{
 
 \begin{center}
-\includegraphics[scale=1,width=\linewidth]{figs/006_Objective and Challenges.pdf}
+\includegraphics[scale=1,width=\linewidth]{figs/nass_example_uncertainty_support.pdf}
 \end{center}
 
-}\only<7>{
+}
+\end{column}
+
+\begin{column}{0.7\columnwidth}
+\onslide<1->{
 
 \begin{center}
-\includegraphics[scale=1,width=\linewidth]{figs/007_Truck.pdf}
+\includegraphics[scale=1,width=\linewidth]{figs/nass_example_alone.pdf}
 \end{center}
 
-}\only<8>{
+\vspace{-2em}
+
+}\onslide<2->{
 
 \begin{center}
-\includegraphics[scale=1,width=\linewidth]{figs/008_Trampoline.pdf}
+\includegraphics[scale=1,width=\linewidth]{figs/nass_example_support_uncertainty_d_L.pdf}
 \end{center}
 
-}\only<9>{
+}
+\end{column}
+\end{columns}
+\end{frame}
+
+\begin{frame}[label={sec:orgddab963}]{Complexity of the Micro-Station Dynamics (Model Analysis)}
+\vspace{-1em}
 
 \begin{center}
-\includegraphics[scale=1,width=\linewidth]{figs/009_Spindle.pdf}
+\includegraphics[scale=1,width=0.95\linewidth]{figs/modes_annotated.png}
 \end{center}
 
-}\only<10>{
+\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:org3dfae25}]{Control Strategy: HAC-LAC}
+\vspace{-0.5em}
 
 \begin{center}
-\includegraphics[scale=1,width=\linewidth]{figs/010_Metrology.pdf}
+\includegraphics[scale=1,width=\linewidth]{figs/nass_schematic_test.pdf}
 \end{center}
 
-}\only<11>{
+\vspace{-2.0em}
+
+\begin{columns}
+\begin{column}{0.5\columnwidth}
+\begin{tcolorbox}[title=Low Authority Control]
+\begin{itemize}
+\item Collocated sensors/actuators
+\item Guaranteed Stability
+\item Adds damping
+\item \(\searrow\) vibration near resonances
+\end{itemize}
+\end{tcolorbox}
+\end{column}
+
+\begin{column}{0.5\columnwidth}
+\begin{tcolorbox}[title=High Authority Control]
+\begin{itemize}
+\item Position sensors
+\item Complex dynamics
+\item \(\searrow\) vibration in the bandwidth
+\item Use transformation matrices
+\end{itemize}
+\end{tcolorbox}
+\end{column}
+\end{columns}
+\end{frame}
+
+\begin{frame}[label={sec:orgb8b73a0}]{Multi-Body Models - Simulations}
+\begin{center}
+\includegraphics[scale=1,width=\linewidth]{figs/simscape_simulation.jpg}
+\end{center}
+
+
+\begin{tikzpicture}[remember picture, overlay]
+  \node[align=left, anchor=south east, text width=5.5cm,shift={(-1em, 1em)}] at (current page.south east){%
+  \begin{tcolorbox}
+  \begin{center}
+    Validation of the concept
+  \end{center}
+  \end{tcolorbox}};
+\end{tikzpicture}
+
+\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}
+
+\section{Detail Design Phase}
+\begin{frame}[label={sec:org6378434}]{Outline - Detail Design Phase}
+\begin{center}
+\includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach_detailed_phase.png}
+\end{center}
+\end{frame}
+
+\begin{frame}[label={sec:orgc57fa9c}]{Nano-Hexapod Overview - Key elements}
+\begin{center}
+\includegraphics[scale=1,width=\linewidth]{figs/nano_hexapod_elements.red.pdf}
+\end{center}
+\end{frame}
+
+\begin{frame}[label={sec:orga847212}]{Include Flexible Elements in a Multi-Body model}
+\begin{center}
+\includegraphics[scale=1,width=\linewidth]{figs/super_element_simscape.pdf}
+\end{center}
+\end{frame}
+
+\begin{frame}[label={sec:org36e74d8}]{Choice of Actuator - Amplifier Piezoelectric Actuator}
+\vspace{-2em}
+\begin{columns}
+\begin{column}{0.5\columnwidth}
+\scriptsize
+\begin{center}
+\begin{tabularx}{0.8\linewidth}{ccc}
+\toprule
+\textbf{Characteristic} & \textbf{Specs} & \textbf{Doc.}\\
+\midrule
+Axial Stiff. & \SI{\approx 1}{\newton/\micro\meter} & \SI{1.8}{\newton/\micro\meter}\\
+Sufficient Stroke & \SI{> 100}{\micro\meter} & \SI{368}{\micro\meter}\\
+Height & \SI{< 50}{\milli\meter} & \SI{30}{\milli\meter}\\
+High Resolution & \SI{< 5}{\nano\meter} & \SI{3}{\nano\meter}\\
+\bottomrule
+\end{tabularx}
+\end{center}
+\normalsize
+
+\vspace{-1em}
+
+\begin{figure}[htbp]
+\centering
+\includegraphics[scale=1,width=0.9\linewidth]{figs/apa300ml_picture.jpg}
+\caption{Picture of the APA300ML}
+\end{figure}
+\end{column}
+
+\begin{column}{0.5\columnwidth}
+\vspace{-1em}
+
+\begin{columns}
+\begin{column}{0.4\columnwidth}
+\begin{figure}[htbp]
+\centering
+\includegraphics[scale=1,width=0.8\linewidth]{figs/2dof_apa_model.pdf}
+\caption{2-DoF Model}
+\end{figure}
+\end{column}
+
+\begin{column}{0.6\columnwidth}
+\vspace{-1.6em}
+
+\begin{figure}[htbp]
+\centering
+\includegraphics[scale=1,width=0.9\linewidth]{figs/mesh_APA_schematic.pdf}
+\caption{APA Finite Element Model}
+\end{figure}
+\end{column}
+\end{columns}
+
+\begin{figure}[htbp]
+\centering
+\includegraphics[scale=1,width=\linewidth]{figs/mode_shapes_annotated.pdf}
+\caption{Flexible Modes due to limited APA stiffness}
+\end{figure}
+\end{column}
+\end{columns}
+\end{frame}
+
+\begin{frame}[label={sec:orgaefb8a2}]{Flexible Joints - Specifications and Optimization (\href{https://research.tdehaeze.xyz/test-bench-nass-flexible-joints/}{link})}
+\vspace{-2em}
+
+\begin{columns}
+\begin{column}{0.75\columnwidth}
+\scriptsize
+\begin{center}
+\begin{tabularx}{\linewidth}{ccccc}
+\toprule
+\textbf{Goal} & \textbf{Stiffness} & \textbf{Specs} & \textbf{FEM} & \textbf{Measured}\\
+\midrule
+High DVF Damping & Axial & \SI{> 100}{\newton/\micro\meter} & 94 & \\
+Low Coupling & Bending & \SI{< 100}{\newton\meter/\radian} & 5 & 3.8\\
+Low Coupling & Torsion & \SI{< 500}{\newton\meter/\radian} & 260 & \\
+Sufficient Stroke & Bending Stroke & \SI{> 1}{\milli\radian} & 20 & 18\\
+\bottomrule
+\end{tabularx}
+\end{center}
+\normalsize
+\end{column}
+
+\begin{column}{0.25\columnwidth}
+\vspace{-3em}
+
+\begin{figure}[htbp]
+\centering
+\includegraphics[scale=1,width=\linewidth]{figs/flexible_joint_dimensions.pdf}
+\caption{Dimensions after optimization}
+\end{figure}
+\end{column}
+\end{columns}
+
+\vspace{-3em}
+
+\begin{columns}
+\begin{column}{0.45\columnwidth}
+\begin{figure}[htbp]
+\centering
+\includegraphics[scale=1,width=\linewidth]{figs/location_top_flexible_joints.pdf}
+\caption{Positioning of the top joint}
+\end{figure}
+\end{column}
+
+\begin{column}{0.55\columnwidth}
+\vspace{2em}
+
+\begin{figure}[htbp]
+\centering
+\includegraphics[scale=1,width=\linewidth]{figs/simscape_model_flexible_joint.pdf}
+\caption{Simscape Model}
+\end{figure}
+\end{column}
+\end{columns}
+\end{frame}
+
+
+\begin{frame}[label={sec:org1666f90}]{Instrumentation}
+\begin{itemize}
+\item PD200 amplifier
+\item Encoders
+\item Speedgoat, DAC, ADC
+\item PEPU
+\item Attocube
+\end{itemize}
+\end{frame}
+
+\section{Experimental Phase}
+\begin{frame}[label={sec:org8c075cc}]{Outline - Experimental Phase}
+\begin{center}
+\includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach_experimental_phase.png}
+\end{center}
+\end{frame}
+
+\begin{frame}[label={sec:org57e9067}]{Flexible Joints - Measurements}
+\vspace{-2em}
+\begin{columns}
+\begin{column}{0.45\columnwidth}
+\begin{figure}[htbp]
+\centering
+\includegraphics[scale=1,width=\linewidth]{figs/flexible_joint_bench.pdf}
+\caption{Measurement bench}
+\end{figure}
+\end{column}
+
+
+\begin{column}{0.55\columnwidth}
+\begin{figure}[htbp]
+\centering
+\includegraphics[scale=1,width=\linewidth]{figs/flex_joint_meas_example_F_d_lin_fit.pdf}
+\caption{Measured displacement and force}
+\end{figure}
+\end{column}
+\end{columns}
+\end{frame}
+
+\begin{frame}[label={sec:org230d623}]{Amplified Piezoelectric Actuator - Test Bench}
+\vspace{-1em}
 
 \begin{center}
-\includegraphics[scale=1,width=\linewidth]{figs/011_Flame.pdf}
+\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:org9368c73}]{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:orga3a7c76}]{Amplified Piezoelectric Actuator - Integral Force Feedback}
+\vspace{-3em}
+\begin{columns}
+\begin{column}{0.62\columnwidth}
+\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:org4e8f560}]{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}
+
+\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{column}
+\end{columns}
+\end{frame}
+\begin{frame}[label={sec:orge547304}]{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:org76a12db}]{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}};
+\end{tikzpicture}
+\end{column}
+\end{columns}
+\end{frame}
+
+\begin{frame}[label={sec:org416c1db}]{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:orgd58b991}]{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:orgb957064}]{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:org92c51de}]{Nano-Hexapod - Identified Dynamics}
+Diagonal + off-diagonal transfer function from Va to De (comp with model)
+\end{frame}
+
+\begin{frame}[label={sec:orgafcfc6b}]{Nano-Hexapod - Force Sensors}
+Diagonal + off-diagonal transfer function from Va to Vs
+\end{frame}
+
+\begin{frame}[label={sec:org2608c34}]{Nano-Hexapod - Damped Dynamics}
+Damped and Undamped, Diagonal + off-diagonal transfer function from Va to De
+\end{frame}
+
+\begin{frame}[label={sec:org9e7c6f4}]{The Nano-Hexapod on top of the Micro-Station}
+\vspace{-0.5em}
+
+\only<1>{
+
+\begin{center}
+\includegraphics[scale=1,width=0.85\linewidth]{figs/nano_hexapod_id31.jpg}
+\end{center}
+
+}\only<2>{
+
+\begin{center}
+\includegraphics[scale=1,width=0.85\linewidth]{figs/nano_hexapod_id31_zoom.jpg}
 \end{center}
 
 }
 \end{frame}
 
-\begin{frame}[label={sec:orgd25c78f}]{Overview of the Mechatronic Approach - Model Based Design}
+\section{Conclusion}
-\vspace{-1em}
+\begin{frame}[label={sec:orgee0f6f0}]{Conclusion}
-
-\begin{center}
-\includegraphics[scale=1,width=\linewidth]{figs/nass-mechatronics-approach.png}
-\end{center}
-\end{frame}
-
-\begin{frame}[label={sec:org4f4bab3}]{Outline}
-\tableofcontents
 \end{frame}
 \end{document}

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