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% Created 2021-07-20 mar. 14:23
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% Created 2021-07-22 jeu. 08:10
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% Intended LaTeX compiler: pdflatex
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\documentclass[aspectratio=169, t]{clean-beamer}
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\usepackage[utf8]{inputenc}
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@ -25,10 +25,9 @@
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\institute[shortinst]{\inst{1} European Synchrotron Radiation Facility, Grenoble, France \and %
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\inst{2} Precision Mechatronics Laboratory, University of Liege, Belgium \and %
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\inst{3} BEAMS Department, Free University of Brussels, Belgium}
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\vspace{-0.5em}
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\titlegraphic{\includegraphics[height=1.5cm]{figs/logo_pml_full.pdf} \hspace{5em} %
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\includegraphics[height=1.5cm]{figs/logo_esrf.pdf} \hspace{5em} %
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\includegraphics[height=1.5cm]{figs/logo_medsi.pdf}}
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\includegraphics[height=1.5cm]{figs/logo_medsi.jpg}}
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\beamertemplatenavigationsymbolsempty
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\addtobeamertemplate{navigation symbols}{}{%
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\usebeamerfont{footline}%
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@ -36,16 +35,10 @@
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\hspace{1em}%
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\insertframenumber/\inserttotalframenumber
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}
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\setlength{\leftmargini}{5pt}
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\setbeamertemplate{itemize items}[circle]
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\usefonttheme[onlymath]{serif}
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\AtBeginSection[]{
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\begin{frame}<beamer>{Outline}
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\tableofcontents[currentsection, hideothersubsections, sectionstyle=show/shaded]
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\end{frame}
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}
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\makeatletter
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\preto\Gin@extensions{gif,}
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\DeclareGraphicsRule{.gif}{png}{.png}{\noexpand\Gin@base.png}
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\preto\Gin@extensions{png,}
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\DeclareGraphicsRule{.png}{pdf}{.pdf}{\noexpand\Gin@base.pdf}
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\makeatother
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@ -66,217 +59,589 @@
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\begin{document}
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\maketitle
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\section*{Introduction}
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\begin{frame}[label={sec:org4b0545d}]{The ID31 Micro Station}
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\begin{frame}[label={sec:orgdc51d45}]{The ID31 Micro Station}
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\begin{center}
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\includegraphics[scale=1,width=\linewidth]{figs/assemblage.png}
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\includegraphics[scale=1,width=0.95\linewidth]{figs/micro_hexapod_render.pdf}
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\end{center}
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\textbf{Objective}: Position samples along complex trajectories with high precision\newline
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\textbf{Stacked Positioning Stages}: \(\approx 10\,\mu m\) precision limited by stages vibrations, thermal effects, ground motion, \ldots{}
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\begin{tikzpicture}[remember picture,overlay]
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\node[anchor=north east, padding=5pt] at (current page.north east){%
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\includegraphics[width=2em]{figs/icon_animation.pdf}};
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\end{tikzpicture}
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\end{frame}
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\begin{frame}[label={sec:orgb7c2959}]{Introduction - The Nano Active Stabilization System}
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\begin{frame}[label={sec:orgd54db4c}]{Introduction - The Nano Active Stabilization System}
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\textbf{Objective}: Improve the position accuracy from \(\approx 10\,\mu m\) down to \(\approx 10\,nm\) \newline
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\textbf{Design approach}: ``Model based design'' (extensive use of models and test benches)
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\textbf{Design approach}: ``Model based design'' / ``Predictive Design''
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\begin{center}
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\includegraphics[scale=1,width=\linewidth]{figs/nass-concept.pdf}
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\end{center}
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\end{frame}
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\begin{frame}[label={sec:orgaf8e005}]{The Nano-Hexapod - Why such mechanical architecture?}
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\begin{itemize}
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\item Why stewart architecture
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\begin{itemize}
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\item 6 DoF to control / 6 actuators
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\end{itemize}
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\item Only flexible elements
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\begin{itemize}
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\item no backlash
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\item no play
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\end{itemize}
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\item How it is working
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\begin{itemize}
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\item Jacobian matrix both for actuation and sensing
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\end{itemize}
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\item Forward / Inverse kinematics : meaning. Easy to compute for small displacements
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\item[{$\square$}] Schematic of Stewart platform
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\end{itemize}
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\begin{frame}[label={sec:org58304ff}]{Overview of the Mechatronic Approach - Model Based Design}
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\begin{center}
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\includegraphics[scale=1,width=\linewidth]{figs/nano_hexapod_elements.red.pdf}
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\includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach.png}
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\end{center}
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\end{frame}
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\begin{frame}[label={sec:orgb9ee458}]{Stewart Platforms Architecture}
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\vspace{-2em}
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\section{Conceptual Phase}
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\begin{frame}[label={sec:org95b2a1a}]{Outline - Conceptual Phase}
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\begin{center}
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\includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach_conceptual_phase.png}
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\end{center}
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\end{frame}
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\begin{columns}
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\begin{column}{0.5\columnwidth}
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\begin{figure}[htbp]
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\centering
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\includegraphics[scale=1,width=\linewidth]{figs/stewart_schematic.png}
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\caption{\label{fig:stewart_schematic}Geometry of a Stewart Platform}
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\end{figure}
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\begin{frame}[label={sec:org612b41f}]{Feedback Control - The Control Loop}
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\vspace{-1em}
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\begin{center}
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\includegraphics[scale=1,width=\linewidth]{figs/classical_feedback_schematic.png}
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\end{center}
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\vspace{-1em}
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\begin{tcolorbox}[title=Advantages]
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\begin{columns}
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\begin{column}{0.4\columnwidth}
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\begin{tcolorbox}[title=Why Feedback?]
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\begin{itemize}
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\item Compact
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\item Allows 6dof motion
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\item Can be ``monolithic''
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\item Model uncertainties
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\item Unknown disturbances
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\end{itemize}
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\end{tcolorbox}
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\end{column}
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\begin{column}{0.5\columnwidth}
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\begin{tcolorbox}[title=Definition of the Geomtry]
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\begin{column}{0.6\columnwidth}
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\begin{tcolorbox}[title=Every elements can limit the performances]
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\begin{itemize}
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\item \(\bm{a}_i\): position of the attachment points on the fixed base
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\item \(\bm{b}_i\): position of moving attachment points
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\item \(l_i\): length of each limb
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\item \(\hat{\bm{s}}_i\): unit vector representing the direction of each limb
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\item Drivers, Actuators, Sensors
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\item Mechanical System
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\item Controller
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\end{itemize}
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\end{tcolorbox}
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\end{column}
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\end{columns}
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\end{frame}
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\begin{frame}[label={sec:org09981cc}]{Stewart Platform Architecture - Kinematics}
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\begin{itemize}
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\item \(\bm{\mathcal{L}} = \left[ l_1, l_2, \ldots, l_6 \right]^T\): vector of actuated joint coordinates
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\item \(\bm{\mathcal{X}} = \left[ {}^A\bm{P}, \bm{}^A\hat{\bm{s}} \right]^T\): vector of platform motion variables
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\end{itemize}
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\begin{frame}[label={sec:orga5ea61a}]{Noise Budgeting and Required Control Bandwidth}
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\vspace{-1em}
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\begin{align*}
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\bm{\mathcal{X}} & \xrightarrow[\text{Simple}]{\text{Inverse Kinematics}} \bm{\mathcal{L}} \\
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\bm{\mathcal{L}} & \xrightarrow[\text{Complex}]{\text{Forward Kinematics}} \bm{\mathcal{X}}
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\end{align*}
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For small displacements: \textbf{Jacobian} matrix
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\begin{equation*}
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\bm{J} = \begin{bmatrix}
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{\hat{\bm{s}}_1}^T & (\bm{b}_1 \times \hat{\bm{s}}_1)^T \\
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{\hat{\bm{s}}_2}^T & (\bm{b}_2 \times \hat{\bm{s}}_2)^T \\
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{\hat{\bm{s}}_3}^T & (\bm{b}_3 \times \hat{\bm{s}}_3)^T \\
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{\hat{\bm{s}}_4}^T & (\bm{b}_4 \times \hat{\bm{s}}_4)^T \\
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{\hat{\bm{s}}_5}^T & (\bm{b}_5 \times \hat{\bm{s}}_5)^T \\
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{\hat{\bm{s}}_6}^T & (\bm{b}_6 \times \hat{\bm{s}}_6)^T
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\end{bmatrix}
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\end{equation*}
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\begin{align*}
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\delta\bm{\mathcal{L}} &= \bm{J} \delta\bm{\mathcal{X}} \\
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\delta\bm{\mathcal{X}} &= \bm{J}^{-1} \delta\bm{\mathcal{L}}
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\end{align*}
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As an example, for the Nano-Hexapod:
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\begin{equation*}
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\bm{J} = \begin{bmatrix*}[r]
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0.69 & -0.38 & 0.61 & -0.13 & -0.10 & 0.08 \\
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-0.69 & -0.38 & 0.61 & -0.13 & 0.10 & -0.08 \\
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-0.02 & 0.80 & 0.61 & 0.15 & -0.06 & 0.08 \\
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0.68 & -0.41 & 0.61 & -0.02 & -0.16 & -0.08 \\
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-0.68 & -0.41 & 0.61 & -0.02 & 0.16 & 0.08 \\
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0.02 & 0.80 & 0.61 & 0.15 & 0.06 & -0.08
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\end{bmatrix*}, \quad \bm{J}^{-1} = \begin{bmatrix*}[r]
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0.84 & -0.84 & -1.00 & -0.15 & 0.15 & 1.00 \\
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0.66 & 0.66 & 0.39 & -1.06 & -1.06 & 0.39 \\
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0.27 & 0.27 & 0.27 & 0.27 & 0.27 & 0.27 \\
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-4.51 & -4.51 & 0.12 & 4.39 & 4.39 & 0.12 \\
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2.46 & -2.46 & -5.14 & -2.67 & 2.67 & 5.14 \\
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1.96 & -1.96 & 1.96 & -1.96 & 1.96 & -1.96
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\end{bmatrix*}
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\end{equation*}
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\begin{itemize}
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\item[{$\square$}] Control architecture in the frame of the legs with the Jacobian matrix
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\end{itemize}
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\begin{center}
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\includegraphics[scale=1,width=\linewidth]{figs/identification_control_noise_budget.red.pdf}
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\end{center}
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\end{frame}
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\begin{frame}[label={sec:orgec6681e}]{Control Challenges - Analogy}
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\begin{frame}[label={sec:orgd23064f}]{Limitation of the Controller Bandwidth?}
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\begin{columns}
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\begin{column}{0.6\columnwidth}
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\vspace{-2em}
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\only<1>{
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\begin{center}
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\includegraphics[scale=1,width=\linewidth]{figs/001_Room.pdf}
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\includegraphics[scale=1,width=\linewidth]{figs/control_bandwidth_1_classical.pdf}
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\end{center}
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}\only<2>{
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\begin{center}
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\includegraphics[scale=1,width=\linewidth]{figs/002_Analogies.pdf}
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\includegraphics[scale=1,width=\linewidth]{figs/control_bandwidth_2_above_res.pdf}
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\end{center}
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||||
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||||
}\only<3>{
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||||
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||||
\begin{center}
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\includegraphics[scale=1,width=\linewidth]{figs/003_Laser.pdf}
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\includegraphics[scale=1,width=\linewidth]{figs/control_bandwidth_3_next_gen.pdf}
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\end{center}
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||||
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||||
}\only<4>{
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}
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\end{column}
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\begin{column}{0.4\columnwidth}
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\vspace{-2em}
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\begin{center}
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\includegraphics[scale=1,width=\linewidth]{figs/004_Top-Platform.pdf}
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\includegraphics[scale=1,width=\linewidth]{figs/test_bench_apa_simple.pdf}
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\end{center}
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}\only<5>{
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\only<1>{
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\begin{tcolorbox}[title=Typical Approach, fontupper=\small]
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``As stiff as possible'' \newline
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Simple controller (e.g. PID)
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\end{tcolorbox}
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}\only<2>{
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\begin{tcolorbox}[title=Alternative Approach, fontupper=\small]
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Limited by complex dynamics\newline
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Model based controller
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\end{tcolorbox}
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||||
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||||
}\only<3>{
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\begin{tcolorbox}[title=Next-Gen Systems, fontupper=\small]
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Active research topic\newline
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Complex controllers
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\end{tcolorbox}
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}
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\end{column}
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\end{columns}
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\end{frame}
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\begin{frame}[label={sec:org9493c8d}]{Soft or Stiff \(\nu\text{-hexapod}\) ? Interaction with the \(\mu\text{-station}\)}
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\vspace{-3em}
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\begin{columns}
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\begin{column}{0.3\columnwidth}
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\onslide<1->{
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\begin{center}
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\includegraphics[scale=1,width=\linewidth]{figs/005_Candle.pdf}
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\includegraphics[scale=1,width=\linewidth]{figs/nass_example_uncertainty_support_only_hexapod.pdf}
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\end{center}
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}\only<6>{
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}\onslide<2->{
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\begin{center}
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\includegraphics[scale=1,width=\linewidth]{figs/006_Objective and Challenges.pdf}
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\includegraphics[scale=1,width=\linewidth]{figs/nass_example_uncertainty_support.pdf}
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\end{center}
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||||
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||||
}\only<7>{
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}
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\end{column}
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\begin{column}{0.7\columnwidth}
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\onslide<1->{
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\begin{center}
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\includegraphics[scale=1,width=\linewidth]{figs/007_Truck.pdf}
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\includegraphics[scale=1,width=\linewidth]{figs/nass_example_alone.pdf}
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\end{center}
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||||
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||||
}\only<8>{
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\vspace{-2em}
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||||
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||||
}\onslide<2->{
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||||
\begin{center}
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\includegraphics[scale=1,width=\linewidth]{figs/008_Trampoline.pdf}
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\includegraphics[scale=1,width=\linewidth]{figs/nass_example_support_uncertainty_d_L.pdf}
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\end{center}
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||||
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||||
}\only<9>{
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||||
}
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||||
\end{column}
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||||
\end{columns}
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||||
\end{frame}
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\begin{frame}[label={sec:orgddab963}]{Complexity of the Micro-Station Dynamics (Model Analysis)}
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\vspace{-1em}
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||||
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||||
\begin{center}
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||||
\includegraphics[scale=1,width=\linewidth]{figs/009_Spindle.pdf}
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||||
\includegraphics[scale=1,width=0.95\linewidth]{figs/modes_annotated.png}
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||||
\end{center}
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||||
|
||||
}\only<10>{
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||||
\begin{tikzpicture}[remember picture,overlay]
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||||
\node[anchor=north east, padding=5pt] at (current page.north east){%
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||||
\includegraphics[width=2em]{figs/icon_animation.pdf}};
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||||
\end{tikzpicture}
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||||
\end{frame}
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\begin{frame}[label={sec:org3dfae25}]{Control Strategy: HAC-LAC}
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||||
\vspace{-0.5em}
|
||||
|
||||
\begin{center}
|
||||
\includegraphics[scale=1,width=\linewidth]{figs/010_Metrology.pdf}
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||||
\includegraphics[scale=1,width=\linewidth]{figs/nass_schematic_test.pdf}
|
||||
\end{center}
|
||||
|
||||
}\only<11>{
|
||||
\vspace{-2.0em}
|
||||
|
||||
\begin{columns}
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||||
\begin{column}{0.5\columnwidth}
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||||
\begin{tcolorbox}[title=Low Authority Control]
|
||||
\begin{itemize}
|
||||
\item Collocated sensors/actuators
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||||
\item Guaranteed Stability
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||||
\item Adds damping
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||||
\item \(\searrow\) vibration near resonances
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||||
\end{itemize}
|
||||
\end{tcolorbox}
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||||
\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
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||||
\item Use transformation matrices
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||||
\end{itemize}
|
||||
\end{tcolorbox}
|
||||
\end{column}
|
||||
\end{columns}
|
||||
\end{frame}
|
||||
|
||||
\begin{frame}[label={sec:orgb8b73a0}]{Multi-Body Models - Simulations}
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||||
\begin{center}
|
||||
\includegraphics[scale=1,width=\linewidth]{figs/simscape_simulation.jpg}
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||||
\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}
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||||
\begin{center}
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||||
Validation of the concept
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||||
\end{center}
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||||
\end{tcolorbox}};
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||||
\end{tikzpicture}
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||||
|
||||
\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}
|
||||
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||||
\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}
|
||||
\vspace{-1em}
|
||||
|
||||
\begin{center}
|
||||
\includegraphics[scale=1,width=\linewidth]{figs/nass-mechatronics-approach.png}
|
||||
\end{center}
|
||||
\end{frame}
|
||||
|
||||
\begin{frame}[label={sec:org4f4bab3}]{Outline}
|
||||
\tableofcontents
|
||||
\section{Conclusion}
|
||||
\begin{frame}[label={sec:orgee0f6f0}]{Conclusion}
|
||||
\end{frame}
|
||||
\end{document}
|
||||
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style="stroke-width:4.77649"
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clip-path="url(#clipPath10947)"
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xml:space="preserve"
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x="340.31061"
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Before Width: | Height: | Size: 45 MiB After Width: | Height: | Size: 12 MiB |
Loading…
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Reference in New Issue
Block a user