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+#+TITLE: MECHATRONICS APPROACH FOR THE DEVELOPMENT OF A NANO-ACTIVE-STABILIZATION-SYSTEM
+:DRAWER:
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+#+STARTUP: overview
+
+#+DATE: {{{time(%Y-%m-%d)}}}
+#+AUTHOR: T. Dehaeze\textsuperscript{1,}\thanks{thomas.dehaeze@esrf.fr}, J. Bonnefoy, ESRF, Grenoble, France
+#+AUTHOR: @@latex:\\@@
+#+AUTHOR: C. Collette\textsuperscript{1}, Université Libre de Bruxelles, BEAMS department, Brussels, Belgium
+#+AUTHOR: @@latex:\\@@
+#+AUTHOR: \textsuperscript{1}also at Precision Mechatronics Laboratory, University of Liege, Belgium
+
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+* BUILD                                                            :noexport:
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+
+* ABSTRACT                                                           :ignore:
+#+BEGIN_abstract
+With the growing number of fourth generation light sources, there is an increased need of fast positioning end-stations with nanometric precision.
+Such systems are usually including dedicated control strategies, and many factors may limit their performances.
+In order to design such complex systems in a predictive way, a mechatronic design approach also known as "model based design", may be utilized.
+In this paper, we present how this mechatronic design approach was used for the development of a nano-hexapod for the ESRF ID31 beamline.
+The chosen design approach consists of using models of the mechatronic system (including sensors, actuators and control strategies) to predict its behavior.
+Based on this behavior and closed-loop simulations, the elements that are limiting the performances can be identified and re-designed accordingly.
+This allows to make adequate choices concerning the design of the nano-hexapod and the overall mechatronic architecture early in the project and save precious time and resources.
+Several test benches were used to validate the models and to gain confidence on the predictability of the final system's performances.
+Measured nano-hexapod's dynamics was shown to be in very good agreement with the models.
+Further tests should be done in order to confirm that the performances of the system match the predicted one.
+The presented development approach is foreseen to be applied more frequently to future mechatronic system design at the ESRF.
+#+END_abstract
+
+* CONCLUSION
+* ACKNOWLEDGMENTS
+This research was made possible by a grant from the FRIA.
+We thank the following people for their support, without whose help this work would never have been possible: V. Honkimaki, L. Ducotte and M. Lessourd and the whole team of the Precision Mechatronic Laboratory.
+
+* REFERENCES                                                         :ignore:
+\printbibliography