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+% Created 2021-06-28 lun. 11:31
+% Intended LaTeX compiler: pdflatex
+\documentclass[a4paper, keeplastbox, biblatex]{jacow}
+
+\usepackage{pdfpages,multirow,ragged2e}
+\usepackage{graphicx,tabularx,booktabs}
+\usepackage{blindtext}
+\usepackage[USenglish, english]{babel}
+\addbibresource{ref.bib}
+\setcounter{footnote}{1}
+\author{T. Dehaeze\textsuperscript{1,}\thanks{thomas.dehaeze@esrf.fr}, J. Bonnefoy, ESRF, Grenoble, France \\ C. Collette\textsuperscript{1}, Université Libre de Bruxelles, BEAMS department, Brussels, Belgium \\ \textsuperscript{1}also at Precision Mechatronics Laboratory, University of Liege, Belgium}
+\date{2021-06-28}
+\title{MECHATRONICS APPROACH FOR THE DEVELOPMENT OF A NANO-ACTIVE-STABILIZATION-SYSTEM}
+\begin{document}
+
+\maketitle
+
+\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}
+
+\section{CONCLUSION}
+\label{sec:orgd68d15d}
+\section{ACKNOWLEDGMENTS}
+\label{sec:orgf6f432d}
+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, A. Jublan, L. Ducotte, C. Carole, M. Brendike and M. Lessourd and the whole team of the Precision Mechatronic Laboratory.
+
+\printbibliography
+\end{document}