diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000..e31b6b5 --- /dev/null +++ b/.gitattributes @@ -0,0 +1,2 @@ +*.pdf binary +*.svg binary diff --git a/talk/dehaeze21_mechatronics_approach_nass_talk.org b/talk/dehaeze21_mechatronics_approach_nass_talk.org index cd45bc7..917c099 100644 --- a/talk/dehaeze21_mechatronics_approach_nass_talk.org +++ b/talk/dehaeze21_mechatronics_approach_nass_talk.org @@ -213,114 +213,11 @@ CLOSED: [2021-07-06 mar. 21:44] [[file:figs/nass_mechatronics_approach.png]] * Conceptual Phase -** Outline - Conceptual Phase -#+begin_src latex :file nass_mechatronics_approach_conceptual_phase.pdf -\graphicspath{ {/home/thomas/Cloud/thesis/papers/dehaeze21_mechatronics_approach_nass/tikz/figs-tikz} } - -\begin{tikzpicture} - % Styles - \tikzset{myblock/.style= {draw, thin, color=white!70!black, fill=white, text width=3cm, align=center, minimum height=1.4cm}}; - \tikzset{mylabel/.style= {anchor=north, below, font=\bfseries\small, color=black, text width=3cm, align=center}}; - \tikzset{mymodel/.style= {anchor=south, above, font=\small, color=black, text width=3cm, align=center}}; - \tikzset{mystep/.style= {->, ultra thick}}; - - % Blocks - \node[draw, fill=lightblue, align=center, label={[mylabel, text width=8.0cm] Dynamical Models}, minimum height = 4.5cm, text width = 8.0cm] (model) at (0, 0) {}; - - \node[myblock, fill=lightgreen, label={[mylabel] Disturbances}, left = 3 of model.west] (dist) {}; - \node[myblock, fill=lightgreen, label={[mylabel] $\mu$ Station}, below = 2pt of dist] (mustation) {}; - \node[myblock, fill=lightgreen, label={[mylabel] $\nu$ Hexapod}, above = 2pt of dist] (nanohexapod) {}; - - \node[myblock, opacity=0, fill=lightyellow, label={[mylabel, opacity=0] Mech. Design}, above = 1 of model.north] (mechanical) {}; - \node[myblock, opacity=0, fill=lightyellow, label={[mylabel, opacity=0] Instrumentation}, left = 2pt of mechanical] (instrumentation) {}; - \node[myblock, opacity=0, fill=lightyellow, label={[mylabel, opacity=0] FEM}, right = 2pt of mechanical] (fem) {}; - - \node[myblock, opacity=0, fill=lightred, label={[mylabel, opacity=0] Test Benches}, right = 3 of model.east] (testbenches) {}; - \node[myblock, opacity=0, fill=lightred, label={[mylabel, opacity=0] Assembly}, above = 2pt of testbenches] (mounting) {}; - \node[myblock, opacity=0, fill=lightred, label={[mylabel, opacity=0] Implementation}, below = 2pt of testbenches] (implementation) {}; - - % Text - \node[anchor=south, opacity=0, above, text width=8cm, align=left] at (model.south) {Extensive use of models for:\begin{itemize}[noitemsep,topsep=5pt]\item Extraction of transfer functions \\ \item Choice of appropriate control architecture \\ \item Tuning of control laws \\ \item Closed loop simulations \\ \item Noise budgets / Evaluation of performances \\ \item Sensibility to parameters / disturbances\end{itemize}\centerline{Models are at the core the mecatronic approach!}}; - - \node[mymodel] at (mustation.south) {Multiple stages \\ Complex dynamics}; - \node[mymodel] at (dist.south) {Ground motion \\ Position errors}; - \node[mymodel] at (nanohexapod.south) {Different concepts \\ Sensors, Actuators}; - - \node[mymodel, opacity=0] at (instrumentation.south) {Sensors, Actuators \\ Electronics}; - \node[mymodel, opacity=0] at (mechanical.south) {Proper integration \\ Ease of assembly}; - \node[mymodel, opacity=0] at (fem.south) {Optimize key parts: \\ Joints, Plates, APA}; - - \node[mymodel, opacity=0] at (mounting.south) {Struts \\ Nano-Hexapod}; - \node[mymodel, opacity=0] at (testbenches.south) {Instrumentation \\ APA, Struts}; - \node[mymodel, opacity=0] at (implementation.south) {Control tests \\ $\mu$ Station}; - - % Links - \draw[->] (dist.east) -- node[above, midway]{{\small Measurements}} node[below,midway]{{\small Spectral Analysis}} (dist.east-|model.west); - \draw[->] (mustation.east) -- node[above, midway]{{\small Measurements}} node[below, midway]{{\small CAD Model}} (mustation.east-|model.west); - - \draw[->] ($(nanohexapod.east-|model.west)-(0, 0.15)$) -- node[below, midway]{{\small Optimization}} ($(nanohexapod.east)-(0, 0.15)$); - \draw[<-] ($(nanohexapod.east-|model.west)+(0, 0.15)$) -- node[above, midway]{{\small Model}} ($(nanohexapod.east)+(0, 0.15)$); - - \draw[->, opacity=0] ($(fem.south|-model.north)+(0.15, 0)$) -- node[right, midway]{{\small Specif.}} ($(fem.south)+(0.15,0)$); - \draw[<-, opacity=0] ($(fem.south|-model.north)-(0.15, 0)$) -- node[left, midway,align=right]{{\small Super}\\{\small Element}} ($(fem.south)-(0.15,0)$); - - \draw[->, opacity=0] ($(mechanical.south|-model.north)+(0.15, 0)$) -- node[right, midway]{{\small Specif.}} ($(mechanical.south)+(0.15,0)$); - \draw[<-, opacity=0] ($(mechanical.south|-model.north)-(0.15, 0)$) -- node[left, midway,align=right]{{\small CAD}\\{\small model}} ($(mechanical.south)-(0.15,0)$); - - \draw[->, opacity=0] ($(instrumentation.south|-model.north)+(0.15, 0)$) -- node[right, midway]{{\small Specif.}} ($(instrumentation.south)+(0.15,0)$); - \draw[<-, opacity=0] ($(instrumentation.south|-model.north)-(0.15, 0)$) -- node[left, midway]{{\small Model}} ($(instrumentation.south)-(0.15,0)$); - - \draw[->, opacity=0] ($(mounting.west-|model.east)+(0, 0.15)$) -- node[above, midway]{{\small Requirements}} ($(mounting.west)+(0, 0.15)$); - \draw[<-, opacity=0] ($(mounting.west-|model.east)-(0, 0.15)$) -- node[below, midway]{{\small Model refinement}} ($(mounting.west)-(0, 0.15)$); - - \draw[->, opacity=0] ($(testbenches.west-|model.east)+(0, 0.15)$) -- node[above, midway]{{\small Control Laws}} ($(testbenches.west)+(0, 0.15)$); - \draw[<-, opacity=0] ($(testbenches.west-|model.east)-(0, 0.15)$) -- node[below, midway]{{\small Model refinement}} ($(testbenches.west)-(0, 0.15)$); - - \draw[->, opacity=0] ($(implementation.west-|model.east)+(0, 0.15)$) -- node[above, midway]{{\small Control Laws}} ($(implementation.west)+(0, 0.15)$); - \draw[<-, opacity=0] ($(implementation.west-|model.east)-(0, 0.15)$) -- node[below, midway]{{\small Model refinement}} ($(implementation.west)-(0, 0.15)$); - - % Main steps - \node[font=\bfseries, rotate=90, anchor=south, above] (conceptual_phase_node) at (dist.west) {1 - Conceptual Phase}; - \node[font=\bfseries, above] (detailed_phase_node) at (mechanical.north) {2 - Detail Design Phase}; - \node[font=\bfseries, rotate=-90, anchor=south, above] (implementation_phase_node) at (testbenches.east) {3 - Experimental Phase}; - \begin{scope}[on background layer] - \node[fit={(conceptual_phase_node.north|-nanohexapod.north) (mustation.south east)}, fill=lightgreen!50!white, draw, inner sep=2pt] (conceptual_phase) {}; - \node[fit={(detailed_phase_node.north-|instrumentation.west) (fem.south east)}, fill=lightyellow!50!white, draw, inner sep=2pt] (detailed_phase) {}; - \node[fit={(implementation_phase_node.north|-mounting.north) (implementation.south west)}, fill=lightred!50!white, draw, inner sep=2pt] (implementation_phase) {}; - % \node[above left] at (dob.south east) {DOB}; - \end{scope} - - % Between main steps - \draw[mystep, postaction={decorate,decoration={raise=1ex,text along path,text align=center,text={Concept Validation}}}] (conceptual_phase.north) to[out=90, in=180] (detailed_phase.west); - \draw[mystep, postaction={decorate,decoration={raise=1ex,text along path,text align=center,text={Procurement}}}] (detailed_phase.east) to[out=0, in=90] (implementation_phase.north); - - % Only for overview - \draw[->] ($(detailed_phase.south|-model.north)-(0.3, 0)$) -- ($(detailed_phase.south)-(0.3, 0)$); - \draw[<-] ($(detailed_phase.south|-model.north)+(0.3, 0)$) -- ($(detailed_phase.south)+(0.3, 0)$); - - \draw[->] ($(implementation_phase.west-|model.east)-(0, 0.3)$) -- ($(implementation_phase.west)-(0, 0.3)$); - \draw[<-] ($(implementation_phase.west-|model.east)+(0, 0.3)$) -- ($(implementation_phase.west)+(0, 0.3)$); - - % % Inside Model - % \node[inner sep=1pt, outer sep=6pt, anchor=north west, draw, fill=white, thin] (multibodymodel) at ($(model.north west) - (0, 0.5)$) - % {\includegraphics[width=5.6cm]{simscape_nano_hexapod.png}}; - - % \node[inner sep=1pt, outer sep=6pt, anchor=south west, draw, fill=white, thin] (simscape) at (model.south west) - % {\includegraphics[width=5.6cm]{simscape_picture.jpg}}; - - % % Feedback Model - % \node[inner sep=3pt, outer sep=6pt, anchor=north east, draw, fill=white, thin] (simscape_sim) at ($(model.north east) - (0, 0.5)$) - % {\includegraphics[width=3.6cm]{simscape_simulations.pdf}}; - - % % FeedBack - % \node[inner sep=3pt, outer sep=6pt, anchor=south east, draw, fill=white, thin] (feedback) at (model.south east) - % {\includegraphics[width=3.6cm]{classical_feedback_small.pdf}}; -\end{tikzpicture} -#+end_src +** DONE Outline - Conceptual Phase +CLOSED: [2021-07-22 jeu. 09:10] #+attr_latex: :width \linewidth -#+RESULTS: -[[file:figs/nass_mechatronics_approach_conceptual_phase.png]] +[[file:figs/nass_mechatronics_approach_conceptual_phase.pdf]] ** DONE Feedback Control - The Control Loop CLOSED: [2021-07-09 ven. 09:30] @@ -572,113 +469,16 @@ CLOSED: [2021-07-21 mer. 23:23] #+end_export * Detail Design Phase -** TODO Outline - Detail Design Phase -#+begin_src latex :file nass_mechatronics_approach_detailed_phase.pdf -\graphicspath{ {/home/thomas/Cloud/thesis/papers/dehaeze21_mechatronics_approach_nass/tikz/figs-tikz} } - -\begin{tikzpicture} - % Styles - \tikzset{myblock/.style= {draw, thin, color=white!70!black, fill=white, text width=3cm, align=center, minimum height=1.4cm}}; - \tikzset{mylabel/.style= {anchor=north, below, font=\bfseries\small, color=black, text width=3cm, align=center}}; - \tikzset{mymodel/.style= {anchor=south, above, font=\small, color=black, text width=3cm, align=center}}; - \tikzset{mystep/.style= {->, ultra thick}}; - - % Blocks - \node[draw, fill=lightblue, align=center, label={[mylabel, text width=8.0cm] Dynamical Models}, minimum height = 4.5cm, text width = 8.0cm] (model) at (0, 0) {}; - - \node[myblock, fill=lightgreen, label={[mylabel] Disturbances}, left = 3 of model.west] (dist) {}; - \node[myblock, fill=lightgreen, label={[mylabel] $\mu$ Station}, below = 2pt of dist] (mustation) {}; - \node[myblock, fill=lightgreen, label={[mylabel] $\nu$ Hexapod}, above = 2pt of dist] (nanohexapod) {}; - - \node[myblock, fill=lightyellow, label={[mylabel] Mech. Design}, above = 1 of model.north] (mechanical) {}; - \node[myblock, fill=lightyellow, label={[mylabel] Instrumentation}, left = 2pt of mechanical] (instrumentation) {}; - \node[myblock, fill=lightyellow, label={[mylabel] FEM}, right = 2pt of mechanical] (fem) {}; - - \node[myblock, opacity=0, fill=lightred, label={[mylabel, opacity=0] Test Benches}, right = 3 of model.east] (testbenches) {}; - \node[myblock, opacity=0, fill=lightred, label={[mylabel, opacity=0] Assembly}, above = 2pt of testbenches] (mounting) {}; - \node[myblock, opacity=0, fill=lightred, label={[mylabel, opacity=0] Implementation}, below = 2pt of testbenches] (implementation) {}; - - % Text - \node[anchor=south, opacity=0, above, text width=8cm, align=left] at (model.south) {Extensive use of models for:\begin{itemize}[noitemsep,topsep=5pt]\item Extraction of transfer functions \\ \item Choice of appropriate control architecture \\ \item Tuning of control laws \\ \item Closed loop simulations \\ \item Noise budgets / Evaluation of performances \\ \item Sensibility to parameters / disturbances\end{itemize}\centerline{Models are at the core the mecatronic approach!}}; - - \node[mymodel] at (mustation.south) {Multiple stages \\ Complex dynamics}; - \node[mymodel] at (dist.south) {Ground motion \\ Position errors}; - \node[mymodel] at (nanohexapod.south) {Different concepts \\ Sensors, Actuators}; - - \node[mymodel] at (instrumentation.south) {Sensors, Actuators \\ Electronics}; - \node[mymodel] at (mechanical.south) {Proper integration \\ Ease of assembly}; - \node[mymodel] at (fem.south) {Optimize key parts: \\ Joints, Plates, APA}; - - \node[mymodel, opacity=0] at (mounting.south) {Struts \\ Nano-Hexapod}; - \node[mymodel, opacity=0] at (testbenches.south) {Instrumentation \\ APA, Struts}; - \node[mymodel, opacity=0] at (implementation.south) {Control tests \\ $\mu$ Station}; - - % Links - \draw[->] (dist.east) -- node[above, midway]{{\small Measurements}} node[below,midway]{{\small Spectral Analysis}} (dist.east-|model.west); - \draw[->] (mustation.east) -- node[above, midway]{{\small Measurements}} node[below, midway]{{\small CAD Model}} (mustation.east-|model.west); - - \draw[->] ($(nanohexapod.east-|model.west)-(0, 0.15)$) -- node[below, midway]{{\small Optimization}} ($(nanohexapod.east)-(0, 0.15)$); - \draw[<-] ($(nanohexapod.east-|model.west)+(0, 0.15)$) -- node[above, midway]{{\small Model}} ($(nanohexapod.east)+(0, 0.15)$); - - \draw[->] ($(fem.south|-model.north)+(0.15, 0)$) -- node[right, midway]{{\small Specif.}} ($(fem.south)+(0.15,0)$); - \draw[<-] ($(fem.south|-model.north)-(0.15, 0)$) -- node[left, midway,align=right]{{\small Super}\\{\small Element}} ($(fem.south)-(0.15,0)$); - - \draw[->] ($(mechanical.south|-model.north)+(0.15, 0)$) -- node[right, midway]{{\small Specif.}} ($(mechanical.south)+(0.15,0)$); - \draw[<-] ($(mechanical.south|-model.north)-(0.15, 0)$) -- node[left, midway,align=right]{{\small CAD}\\{\small model}} ($(mechanical.south)-(0.15,0)$); - - \draw[->] ($(instrumentation.south|-model.north)+(0.15, 0)$) -- node[right, midway]{{\small Specif.}} ($(instrumentation.south)+(0.15,0)$); - \draw[<-] ($(instrumentation.south|-model.north)-(0.15, 0)$) -- node[left, midway]{{\small Model}} ($(instrumentation.south)-(0.15,0)$); - - \draw[->, opacity=0] ($(mounting.west-|model.east)+(0, 0.15)$) -- node[above, midway]{{\small Requirements}} ($(mounting.west)+(0, 0.15)$); - \draw[<-, opacity=0] ($(mounting.west-|model.east)-(0, 0.15)$) -- node[below, midway]{{\small Model refinement}} ($(mounting.west)-(0, 0.15)$); - - \draw[->, opacity=0] ($(testbenches.west-|model.east)+(0, 0.15)$) -- node[above, midway]{{\small Control Laws}} ($(testbenches.west)+(0, 0.15)$); - \draw[<-, opacity=0] ($(testbenches.west-|model.east)-(0, 0.15)$) -- node[below, midway]{{\small Model refinement}} ($(testbenches.west)-(0, 0.15)$); - - \draw[->, opacity=0] ($(implementation.west-|model.east)+(0, 0.15)$) -- node[above, midway]{{\small Control Laws}} ($(implementation.west)+(0, 0.15)$); - \draw[<-, opacity=0] ($(implementation.west-|model.east)-(0, 0.15)$) -- node[below, midway]{{\small Model refinement}} ($(implementation.west)-(0, 0.15)$); - - % Main steps - \node[font=\bfseries, rotate=90, anchor=south, above] (conceptual_phase_node) at (dist.west) {1 - Conceptual Phase}; - \node[font=\bfseries, above] (detailed_phase_node) at (mechanical.north) {2 - Detail Design Phase}; - \node[font=\bfseries, rotate=-90, anchor=south, above] (implementation_phase_node) at (testbenches.east) {3 - Experimental Phase}; - \begin{scope}[on background layer] - \node[fit={(conceptual_phase_node.north|-nanohexapod.north) (mustation.south east)}, fill=lightgreen!50!white, draw, inner sep=2pt] (conceptual_phase) {}; - \node[fit={(detailed_phase_node.north-|instrumentation.west) (fem.south east)}, fill=lightyellow!50!white, draw, inner sep=2pt] (detailed_phase) {}; - \node[fit={(implementation_phase_node.north|-mounting.north) (implementation.south west)}, fill=lightred!50!white, draw, inner sep=2pt] (implementation_phase) {}; - % \node[above left] at (dob.south east) {DOB}; - \end{scope} - - % Between main steps - \draw[mystep, postaction={decorate,decoration={raise=1ex,text along path,text align=center,text={Concept Validation}}}] (conceptual_phase.north) to[out=90, in=180] (detailed_phase.west); - \draw[mystep, postaction={decorate,decoration={raise=1ex,text along path,text align=center,text={Procurement}}}] (detailed_phase.east) to[out=0, in=90] (implementation_phase.north); - - % Only for overview - \draw[->] ($(implementation_phase.west-|model.east)-(0, 0.3)$) -- ($(implementation_phase.west)-(0, 0.3)$); - \draw[<-] ($(implementation_phase.west-|model.east)+(0, 0.3)$) -- ($(implementation_phase.west)+(0, 0.3)$); - - % % Inside Model - % \node[inner sep=1pt, outer sep=6pt, anchor=north west, draw, fill=white, thin] (multibodymodel) at ($(model.north west) - (0, 0.5)$) - % {\includegraphics[width=5.6cm]{simscape_nano_hexapod.png}}; - - % \node[inner sep=1pt, outer sep=6pt, anchor=south west, draw, fill=white, thin] (simscape) at (model.south west) - % {\includegraphics[width=5.6cm]{simscape_picture.jpg}}; - - % % Feedback Model - % \node[inner sep=3pt, outer sep=6pt, anchor=north east, draw, fill=white, thin] (simscape_sim) at ($(model.north east) - (0, 0.5)$) - % {\includegraphics[width=3.6cm]{simscape_simulations.pdf}}; - - % % FeedBack - % \node[inner sep=3pt, outer sep=6pt, anchor=south east, draw, fill=white, thin] (feedback) at (model.south east) - % {\includegraphics[width=3.6cm]{classical_feedback_small.pdf}}; -\end{tikzpicture} -#+end_src +** DONE Outline - Detail Design Phase +CLOSED: [2021-07-22 jeu. 09:10] #+attr_latex: :width \linewidth -#+RESULTS: -[[file:figs/nass_mechatronics_approach_detailed_phase.png]] +[[file:figs/nass_mechatronics_approach_detailed_phase.pdf]] -** TODO Nano-Hexapod Overview - Key elements +** DONE Nano-Hexapod Overview - Key elements +CLOSED: [2021-07-22 jeu. 09:21] + +\vspace{2em} #+attr_latex: :width \linewidth [[file:figs/nano_hexapod_elements.red.pdf]] @@ -689,7 +489,8 @@ CLOSED: [2021-07-09 ven. 14:13] #+attr_latex: :width \linewidth [[file:figs/super_element_simscape.pdf]] -** TODO Choice of Actuator - Amplifier Piezoelectric Actuator +** DONE Choice of Actuator - Amplifier Piezoelectric Actuator +CLOSED: [2021-07-22 jeu. 09:24] \vspace{-2em} *** Column :BMCOL: @@ -702,7 +503,7 @@ CLOSED: [2021-07-09 ven. 14:13] #+attr_latex: :center t :booktabs t | *Characteristic* | *Specs* | *Doc.* | |-------------------+--------------------------------------+--------------------------------| -| Axial Stiff. | \SI{\approx 1}{\newton/\micro\meter} | \SI{1.8}{\newton/\micro\meter} | +| Axial Stiff. | \SI{\approx 2}{\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} | @@ -750,34 +551,35 @@ CLOSED: [2021-07-09 ven. 14:13] #+attr_latex: :width \linewidth [[file:figs/mode_shapes_annotated.pdf]] -** Flexible Joints - Specifications and Optimization ([[https://research.tdehaeze.xyz/test-bench-nass-flexible-joints/][link]]) +** DONE Flexible Joints - Specifications and Optimization +CLOSED: [2021-07-22 jeu. 09:30] \vspace{-2em} *** Column :BMCOL: :PROPERTIES: -:BEAMER_col: 0.75 +:BEAMER_col: 0.7 :END: \scriptsize -#+attr_latex: :environment tabularx :width \linewidth :align ccccc +#+attr_latex: :environment tabularx :width 0.9\linewidth :align cccc #+attr_latex: :center t :booktabs t -| *Goal* | *Stiffness* | *Specs* | *FEM* | *Measured* | -|-------------------+----------------+-----------------------------------+-------+------------| -| 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 | +| *Goal* | *Stiffness* | *Specs* | *FEM* | +|-------------------+----------------+-----------------------------------+-------| +| High DVF Damping | Axial | \SI{> 100}{\newton/\micro\meter} | 94 | +| Low Coupling | Bending | \SI{< 100}{\newton\meter/\radian} | 5 | +| Low Coupling | Torsion | \SI{< 500}{\newton\meter/\radian} | 260 | +| Sufficient Stroke | Bending Stroke | \SI{> 1}{\milli\radian} | 20 | \normalsize *** Column :BMCOL: :PROPERTIES: -:BEAMER_col: 0.25 +:BEAMER_col: 0.3 :END: -\vspace{-3em} +\vspace{-2em} -#+caption: Dimensions after optimization +#+caption: Opt. geometry #+attr_latex: :width \linewidth [[file:figs/flexible_joint_dimensions.pdf]] @@ -786,13 +588,15 @@ CLOSED: [2021-07-09 ven. 14:13] :BEAMER_env: ignoreheading :END: -\vspace{-3em} +\vspace{-1em} **** Column :BMCOL: :PROPERTIES: :BEAMER_col: 0.45 :END: +\vspace{-3em} + #+caption: Positioning of the top joint #+attr_latex: :width \linewidth [[file:figs/location_top_flexible_joints.pdf]] @@ -802,143 +606,129 @@ CLOSED: [2021-07-09 ven. 14:13] :BEAMER_col: 0.55 :END: -\vspace{2em} +#+caption: Picture of the joint +#+attr_latex: :width 0.9\linewidth +[[file:figs/flexible_joint_picture.jpg]] -#+caption: Simscape Model -#+attr_latex: :width \linewidth -[[file:figs/simscape_model_flexible_joint.pdf]] +** DONE Instrumentation +CLOSED: [2021-07-22 jeu. 09:50] + +\vspace{-1em} + +*** Column :BMCOL: +:PROPERTIES: +:BEAMER_col: 0.33 +:END: + +#+caption: PiezoDrive - PD200 Amplifier +#+attr_latex: :height 2.2cm +[[file:figs/amplifier_PD200.jpg]] + +\vspace{-1em} + +\tiny +#+attr_latex: :environment tabularx :width 0.75\linewidth :align lc +#+attr_latex: :center t :booktabs t +| *Characteristics* | *Manual* | +|-------------------+----------------------------| +| Gain | \num{20} | +| Noise | \SI{0.7}{\milli\volt\rms} | +| Small Signal BW | \SI{7.4}{\kilo\hertz} | +| Large Signal BW | \SI{300}{\hertz} | +\normalsize -** TODO Instrumentation +*** Column :BMCOL: +:PROPERTIES: +:BEAMER_col: 0.33 +:END: -- PD200 amplifier -- Encoders -- Speedgoat, DAC, ADC -- PEPU -- Attocube +#+caption: Renishaw - Vionic Encoder +#+attr_latex: :height 2.2cm +[[file:figs/encoder_vionic.jpg]] + +\vspace{-1em} + +\tiny +#+attr_latex: :environment tabularx :width 0.85\linewidth :align lc +#+attr_latex: :center t :booktabs t +| *Characteristics* | *Manual* | +|----------------------+---------------------------| +| Range | Ruler length | +| Resolution | \SI{2.5}{\nano\meter} | +| Sub-Divisional Error | \SI{<\pm 15}{\nano\meter} | +| Bandwidth | \SI{>5}{kHz} | +\normalsize + +*** Column :BMCOL: +:PROPERTIES: +:BEAMER_col: 0.33 +:END: + +#+caption: Speedgoat - Target Machine +#+attr_latex: :height 2.2cm +[[file:figs/Speedgoat-Performance-Real-Time-Target-Machine.jpg]] + +\vspace{-1em} + +\tiny +#+attr_latex: :environment tabularx :width 0.8\linewidth :align lc +#+attr_latex: :center t :booktabs t +| *Characteristics* | *Manual* | +|-------------------+---------------------------| +| ADC (x16) | 16bit, \SI{\pm 10}{V} | +| DAC (x8) | 16bit, \SI{\pm 10}{V} | +| Digital I/O (x30) | \SI{<\pm 15}{\nano\meter} | +| Sampling Freq. | \SI{>10}{kHz} | +\normalsize + +*** Continue :B_ignoreheading: +:PROPERTIES: +:BEAMER_env: ignoreheading +:END: + +\vspace{1em} + +#+begin_tcolorbox +#+begin_center +All elements could be chosen/design based on the models +#+end_center +#+end_tcolorbox * Experimental Phase -** Outline - Experimental Phase -#+begin_src latex :file nass_mechatronics_approach_experimental_phase.pdf -\graphicspath{ {/home/thomas/Cloud/thesis/papers/dehaeze21_mechatronics_approach_nass/tikz/figs-tikz} } - -\begin{tikzpicture} - % Styles - \tikzset{myblock/.style= {draw, thin, color=white!70!black, fill=white, text width=3cm, align=center, minimum height=1.4cm}}; - \tikzset{mylabel/.style= {anchor=north, below, font=\bfseries\small, color=black, text width=3cm, align=center}}; - \tikzset{mymodel/.style= {anchor=south, above, font=\small, color=black, text width=3cm, align=center}}; - \tikzset{mystep/.style= {->, ultra thick}}; - - % Blocks - \node[draw, fill=lightblue, align=center, label={[mylabel, text width=8.0cm] Dynamical Models}, minimum height = 4.5cm, text width = 8.0cm] (model) at (0, 0) {}; - - \node[myblock, fill=lightgreen, label={[mylabel] Disturbances}, left = 3 of model.west] (dist) {}; - \node[myblock, fill=lightgreen, label={[mylabel] $\mu$ Station}, below = 2pt of dist] (mustation) {}; - \node[myblock, fill=lightgreen, label={[mylabel] $\nu$ Hexapod}, above = 2pt of dist] (nanohexapod) {}; - - \node[myblock, fill=lightyellow, label={[mylabel] Mech. Design}, above = 1 of model.north] (mechanical) {}; - \node[myblock, fill=lightyellow, label={[mylabel] Instrumentation}, left = 2pt of mechanical] (instrumentation) {}; - \node[myblock, fill=lightyellow, label={[mylabel] FEM}, right = 2pt of mechanical] (fem) {}; - - \node[myblock, fill=lightred, label={[mylabel] Test Benches}, right = 3 of model.east] (testbenches) {}; - \node[myblock, fill=lightred, label={[mylabel] Assembly}, above = 2pt of testbenches] (mounting) {}; - \node[myblock, fill=lightred, label={[mylabel] Implementation}, below = 2pt of testbenches] (implementation) {}; - - % Text - \node[anchor=south, opacity=0, above, text width=8cm, align=left] at (model.south) {Extensive use of models for:\begin{itemize}[noitemsep,topsep=5pt]\item Extraction of transfer functions \\ \item Choice of appropriate control architecture \\ \item Tuning of control laws \\ \item Closed loop simulations \\ \item Noise budgets / Evaluation of performances \\ \item Sensibility to parameters / disturbances\end{itemize}\centerline{Models are at the core the mecatronic approach!}}; - - \node[mymodel] at (mustation.south) {Multiple stages \\ Complex dynamics}; - \node[mymodel] at (dist.south) {Ground motion \\ Position errors}; - \node[mymodel] at (nanohexapod.south) {Different concepts \\ Sensors, Actuators}; - - \node[mymodel] at (instrumentation.south) {Sensors, Actuators \\ Electronics}; - \node[mymodel] at (mechanical.south) {Proper integration \\ Ease of assembly}; - \node[mymodel] at (fem.south) {Optimize key parts: \\ Joints, Plates, APA}; - - \node[mymodel] at (mounting.south) {Struts \\ Nano-Hexapod}; - \node[mymodel] at (testbenches.south) {Instrumentation \\ APA, Struts}; - \node[mymodel] at (implementation.south) {Control tests \\ $\mu$ Station}; - - % Links - \draw[->] (dist.east) -- node[above, midway]{{\small Measurements}} node[below,midway]{{\small Spectral Analysis}} (dist.east-|model.west); - \draw[->] (mustation.east) -- node[above, midway]{{\small Measurements}} node[below, midway]{{\small CAD Model}} (mustation.east-|model.west); - - \draw[->] ($(nanohexapod.east-|model.west)-(0, 0.15)$) -- node[below, midway]{{\small Optimization}} ($(nanohexapod.east)-(0, 0.15)$); - \draw[<-] ($(nanohexapod.east-|model.west)+(0, 0.15)$) -- node[above, midway]{{\small Model}} ($(nanohexapod.east)+(0, 0.15)$); - - \draw[->] ($(fem.south|-model.north)+(0.15, 0)$) -- node[right, midway]{{\small Specif.}} ($(fem.south)+(0.15,0)$); - \draw[<-] ($(fem.south|-model.north)-(0.15, 0)$) -- node[left, midway,align=right]{{\small Super}\\{\small Element}} ($(fem.south)-(0.15,0)$); - - \draw[->] ($(mechanical.south|-model.north)+(0.15, 0)$) -- node[right, midway]{{\small Specif.}} ($(mechanical.south)+(0.15,0)$); - \draw[<-] ($(mechanical.south|-model.north)-(0.15, 0)$) -- node[left, midway,align=right]{{\small CAD}\\{\small model}} ($(mechanical.south)-(0.15,0)$); - - \draw[->] ($(instrumentation.south|-model.north)+(0.15, 0)$) -- node[right, midway]{{\small Specif.}} ($(instrumentation.south)+(0.15,0)$); - \draw[<-] ($(instrumentation.south|-model.north)-(0.15, 0)$) -- node[left, midway]{{\small Model}} ($(instrumentation.south)-(0.15,0)$); - - \draw[->] ($(mounting.west-|model.east)+(0, 0.15)$) -- node[above, midway]{{\small Requirements}} ($(mounting.west)+(0, 0.15)$); - \draw[<-] ($(mounting.west-|model.east)-(0, 0.15)$) -- node[below, midway]{{\small Model refinement}} ($(mounting.west)-(0, 0.15)$); - - \draw[->] ($(testbenches.west-|model.east)+(0, 0.15)$) -- node[above, midway]{{\small Control Laws}} ($(testbenches.west)+(0, 0.15)$); - \draw[<-] ($(testbenches.west-|model.east)-(0, 0.15)$) -- node[below, midway]{{\small Model refinement}} ($(testbenches.west)-(0, 0.15)$); - - \draw[->] ($(implementation.west-|model.east)+(0, 0.15)$) -- node[above, midway]{{\small Control Laws}} ($(implementation.west)+(0, 0.15)$); - \draw[<-] ($(implementation.west-|model.east)-(0, 0.15)$) -- node[below, midway]{{\small Model refinement}} ($(implementation.west)-(0, 0.15)$); - - % Main steps - \node[font=\bfseries, rotate=90, anchor=south, above] (conceptual_phase_node) at (dist.west) {1 - Conceptual Phase}; - \node[font=\bfseries, above] (detailed_phase_node) at (mechanical.north) {2 - Detail Design Phase}; - \node[font=\bfseries, rotate=-90, anchor=south, above] (implementation_phase_node) at (testbenches.east) {3 - Experimental Phase}; - \begin{scope}[on background layer] - \node[fit={(conceptual_phase_node.north|-nanohexapod.north) (mustation.south east)}, fill=lightgreen!50!white, draw, inner sep=2pt] (conceptual_phase) {}; - \node[fit={(detailed_phase_node.north-|instrumentation.west) (fem.south east)}, fill=lightyellow!50!white, draw, inner sep=2pt] (detailed_phase) {}; - \node[fit={(implementation_phase_node.north|-mounting.north) (implementation.south west)}, fill=lightred!50!white, draw, inner sep=2pt] (implementation_phase) {}; - % \node[above left] at (dob.south east) {DOB}; - \end{scope} - - % Between main steps - \draw[mystep, postaction={decorate,decoration={raise=1ex,text along path,text align=center,text={Concept Validation}}}] (conceptual_phase.north) to[out=90, in=180] (detailed_phase.west); - \draw[mystep, postaction={decorate,decoration={raise=1ex,text along path,text align=center,text={Procurement}}}] (detailed_phase.east) to[out=0, in=90] (implementation_phase.north); - - % % Inside Model - % \node[inner sep=1pt, outer sep=6pt, anchor=north west, draw, fill=white, thin] (multibodymodel) at ($(model.north west) - (0, 0.5)$) - % {\includegraphics[width=5.6cm]{simscape_nano_hexapod.png}}; - - % \node[inner sep=1pt, outer sep=6pt, anchor=south west, draw, fill=white, thin] (simscape) at (model.south west) - % {\includegraphics[width=5.6cm]{simscape_picture.jpg}}; - - % % Feedback Model - % \node[inner sep=3pt, outer sep=6pt, anchor=north east, draw, fill=white, thin] (simscape_sim) at ($(model.north east) - (0, 0.5)$) - % {\includegraphics[width=3.6cm]{simscape_simulations.pdf}}; - - % % FeedBack - % \node[inner sep=3pt, outer sep=6pt, anchor=south east, draw, fill=white, thin] (feedback) at (model.south east) - % {\includegraphics[width=3.6cm]{classical_feedback_small.pdf}}; -\end{tikzpicture} -#+end_src +** DONE Outline - Experimental Phase +CLOSED: [2021-07-22 jeu. 10:11] #+attr_latex: :width \linewidth -#+RESULTS: -[[file:figs/nass_mechatronics_approach_experimental_phase.png]] +[[file:figs/nass_mechatronics_approach_experimental_phase.pdf]] -** Flexible Joints - Measurements +** DONE Flexible Joints - Measurements +CLOSED: [2021-07-22 jeu. 10:12] \vspace{-2em} *** Column :BMCOL: :PROPERTIES: -:BEAMER_col: 0.45 +:BEAMER_col: 0.5 :END: -#+caption: Measurement bench -#+attr_latex: :width \linewidth -[[file:figs/flexible_joint_bench.pdf]] +#+attr_latex: :width 0.95\linewidth +[[file:figs/received_flexible_joints.jpg]] +#+attr_latex: :width 0.95\linewidth +[[file:figs/soft_measure_flex_size.jpg]] *** Column :BMCOL: :PROPERTIES: :BEAMER_col: 0.55 :END: -#+caption: Measured displacement and force -#+attr_latex: :width \linewidth +\vspace{-1.5em} + +#+attr_latex: :width 0.8\linewidth +[[file:figs/flexible_joint_bench.pdf]] + +\vspace{-1em} + +#+attr_latex: :width 0.9\linewidth [[file:figs/flex_joint_meas_example_F_d_lin_fit.pdf]] ** DONE Amplified Piezoelectric Actuator - Test Bench @@ -976,6 +766,8 @@ CLOSED: [2021-07-21 mer. 17:40] :BEAMER_col: 0.62 :END: +\vspace{1em} + #+attr_latex: :width \linewidth [[file:figs/test_bench_apa300ml_iff.pdf]] diff --git a/talk/dehaeze21_mechatronics_approach_nass_talk.pdf b/talk/dehaeze21_mechatronics_approach_nass_talk.pdf index a804340..cbc5506 100644 Binary files a/talk/dehaeze21_mechatronics_approach_nass_talk.pdf and b/talk/dehaeze21_mechatronics_approach_nass_talk.pdf differ diff --git a/talk/dehaeze21_mechatronics_approach_nass_talk.tex b/talk/dehaeze21_mechatronics_approach_nass_talk.tex index 6dde08d..ed1ff74 100644 --- a/talk/dehaeze21_mechatronics_approach_nass_talk.tex +++ b/talk/dehaeze21_mechatronics_approach_nass_talk.tex @@ -1,4 +1,4 @@ -% Created 2021-07-22 jeu. 08:10 +% Created 2021-07-22 jeu. 10:15 % Intended LaTeX compiler: pdflatex \documentclass[aspectratio=169, t]{clean-beamer} \usepackage[utf8]{inputenc} @@ -59,421 +59,43 @@ \begin{document} \maketitle - -\section*{Introduction} -\begin{frame}[label={sec:orgdc51d45}]{The ID31 Micro Station} -\begin{center} -\includegraphics[scale=1,width=0.95\linewidth]{figs/micro_hexapod_render.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{frame} - -\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'' / ``Predictive Design'' - -\begin{center} -\includegraphics[scale=1,width=\linewidth]{figs/nass-concept.pdf} -\end{center} -\end{frame} - -\begin{frame}[label={sec:org58304ff}]{Overview of the Mechatronic Approach - Model Based Design} -\begin{center} -\includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach.png} -\end{center} -\end{frame} - -\section{Conceptual Phase} -\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{frame}[label={sec:org612b41f}]{Feedback Control - The Control Loop} -\vspace{-1em} - -\begin{center} -\includegraphics[scale=1,width=\linewidth]{figs/classical_feedback_schematic.png} -\end{center} - -\vspace{-1em} - -\begin{columns} -\begin{column}{0.4\columnwidth} -\begin{tcolorbox}[title=Why Feedback?] -\begin{itemize} -\item Model uncertainties -\item Unknown disturbances -\end{itemize} -\end{tcolorbox} -\end{column} - -\begin{column}{0.6\columnwidth} -\begin{tcolorbox}[title=Every elements can limit the performances] -\begin{itemize} -\item Drivers, Actuators, Sensors -\item Mechanical System -\item Controller -\end{itemize} -\end{tcolorbox} -\end{column} -\end{columns} -\end{frame} - -\begin{frame}[label={sec:orga5ea61a}]{Noise Budgeting and Required Control Bandwidth} -\vspace{-1em} - -\begin{center} -\includegraphics[scale=1,width=\linewidth]{figs/identification_control_noise_budget.red.pdf} -\end{center} -\end{frame} - -\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/control_bandwidth_1_classical.pdf} -\end{center} - -}\only<2>{ - -\begin{center} -\includegraphics[scale=1,width=\linewidth]{figs/control_bandwidth_2_above_res.pdf} -\end{center} - -}\only<3>{ - -\begin{center} -\includegraphics[scale=1,width=\linewidth]{figs/control_bandwidth_3_next_gen.pdf} -\end{center} - -} -\end{column} - -\begin{column}{0.4\columnwidth} -\vspace{-2em} - -\begin{center} -\includegraphics[scale=1,width=\linewidth]{figs/test_bench_apa_simple.pdf} -\end{center} - -\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/nass_example_uncertainty_support_only_hexapod.pdf} -\end{center} - -}\onslide<2->{ - -\begin{center} -\includegraphics[scale=1,width=\linewidth]{figs/nass_example_uncertainty_support.pdf} -\end{center} - -} -\end{column} - -\begin{column}{0.7\columnwidth} -\onslide<1->{ - -\begin{center} -\includegraphics[scale=1,width=\linewidth]{figs/nass_example_alone.pdf} -\end{center} - -\vspace{-2em} - -}\onslide<2->{ - -\begin{center} -\includegraphics[scale=1,width=\linewidth]{figs/nass_example_support_uncertainty_d_L.pdf} -\end{center} - -} -\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=0.95\linewidth]{figs/modes_annotated.png} -\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:org3dfae25}]{Control Strategy: HAC-LAC} -\vspace{-0.5em} - -\begin{center} -\includegraphics[scale=1,width=\linewidth]{figs/nass_schematic_test.pdf} -\end{center} - -\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{frame}[label={sec:orgf3c94cd}]{Outline - Experimental Phase} \begin{center} -\includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach_experimental_phase.png} +\includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach_experimental_phase.pdf} \end{center} \end{frame} -\begin{frame}[label={sec:org57e9067}]{Flexible Joints - Measurements} +\begin{frame}[label={sec:org479753d}]{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} +\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} -\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} +\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:org230d623}]{Amplified Piezoelectric Actuator - Test Bench} +\begin{frame}[label={sec:org3b64613}]{Amplified Piezoelectric Actuator - Test Bench} \vspace{-1em} \begin{center} @@ -492,16 +114,18 @@ Sufficient Stroke & Bending Stroke & \SI{> 1}{\milli\radian} & 20 & 18\\ \end{tikzpicture} \end{frame} -\begin{frame}[label={sec:org9368c73}]{Amplified Piezoelectric Actuator - Extracted Model} +\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:orga3a7c76}]{Amplified Piezoelectric Actuator - Integral Force Feedback} +\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} @@ -517,7 +141,7 @@ Sufficient Stroke & Bending Stroke & \SI{> 1}{\milli\radian} & 20 & 18\\ \end{columns} \end{frame} -\begin{frame}[label={sec:org4e8f560}]{Strut - Mounting Tool} +\begin{frame}[label={sec:org891e73c}]{Strut - Mounting Tool} \vspace{-2.5em} \begin{columns} \begin{column}{0.63\columnwidth} @@ -538,7 +162,7 @@ Sufficient Stroke & Bending Stroke & \SI{> 1}{\milli\radian} & 20 & 18\\ \end{column} \end{columns} \end{frame} -\begin{frame}[label={sec:orge547304}]{Strut - Dynamical Measurements} +\begin{frame}[label={sec:org7ca4f86}]{Strut - Dynamical Measurements} \vspace{-1em} \begin{center} @@ -558,7 +182,7 @@ Sufficient Stroke & Bending Stroke & \SI{> 1}{\milli\radian} & 20 & 18\\ \end{tikzpicture} \end{frame} -\begin{frame}[label={sec:org76a12db}]{Strut - Encoders Output and Spurious Modes} +\begin{frame}[label={sec:org1bb0afd}]{Strut - Encoders Output and Spurious Modes} \vspace{-3em} \begin{columns} \begin{column}{0.45\columnwidth} @@ -584,7 +208,7 @@ Sufficient Stroke & Bending Stroke & \SI{> 1}{\milli\radian} & 20 & 18\\ \end{columns} \end{frame} -\begin{frame}[label={sec:org416c1db}]{Strut - Extracted Model} +\begin{frame}[label={sec:org5d75c1c}]{Strut - Extracted Model} \vspace{-1em} \begin{center} @@ -592,7 +216,7 @@ Sufficient Stroke & Bending Stroke & \SI{> 1}{\milli\radian} & 20 & 18\\ \end{center} \end{frame} -\begin{frame}[label={sec:orgd58b991}]{Nano-Hexapod Mounting Tool} +\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} @@ -603,7 +227,7 @@ Sufficient Stroke & Bending Stroke & \SI{> 1}{\milli\radian} & 20 & 18\\ \end{tikzpicture} \end{frame} -\begin{frame}[label={sec:orgb957064}]{Mounted Nano-Hexapod} +\begin{frame}[label={sec:org467130b}]{Mounted Nano-Hexapod} \vspace{-1em} \begin{center} @@ -611,19 +235,19 @@ Sufficient Stroke & Bending Stroke & \SI{> 1}{\milli\radian} & 20 & 18\\ \end{center} \end{frame} -\begin{frame}[label={sec:org92c51de}]{Nano-Hexapod - Identified Dynamics} +\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:orgafcfc6b}]{Nano-Hexapod - Force Sensors} +\begin{frame}[label={sec:orgcc130d7}]{Nano-Hexapod - Force Sensors} Diagonal + off-diagonal transfer function from Va to Vs \end{frame} -\begin{frame}[label={sec:org2608c34}]{Nano-Hexapod - Damped Dynamics} +\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:org9e7c6f4}]{The Nano-Hexapod on top of the Micro-Station} +\begin{frame}[label={sec:org9927ee9}]{The Nano-Hexapod on top of the Micro-Station} \vspace{-0.5em} \only<1>{ @@ -640,8 +264,4 @@ Damped and Undamped, Diagonal + off-diagonal transfer function from Va to De } \end{frame} - -\section{Conclusion} -\begin{frame}[label={sec:orgee0f6f0}]{Conclusion} -\end{frame} \end{document} diff --git a/talk/figs/Speedgoat-Performance-Real-Time-Target-Machine.jpg b/talk/figs/Speedgoat-Performance-Real-Time-Target-Machine.jpg new file mode 100644 index 0000000..3ea23cb Binary files /dev/null and b/talk/figs/Speedgoat-Performance-Real-Time-Target-Machine.jpg differ diff --git a/talk/figs/amplifier_PD200.jpg b/talk/figs/amplifier_PD200.jpg new file mode 100644 index 0000000..c978235 Binary files /dev/null and b/talk/figs/amplifier_PD200.jpg differ diff --git a/talk/figs/encoder_vionic.jpg b/talk/figs/encoder_vionic.jpg new file mode 100644 index 0000000..276c835 Binary files /dev/null and b/talk/figs/encoder_vionic.jpg differ diff --git a/talk/figs/flexible_joint_picture.jpg b/talk/figs/flexible_joint_picture.jpg new file mode 100644 index 0000000..e11baa4 Binary files /dev/null and b/talk/figs/flexible_joint_picture.jpg differ diff --git a/talk/figs/flexible_joint_picture.png b/talk/figs/flexible_joint_picture.png new file mode 100644 index 0000000..2af0e1c Binary files /dev/null and b/talk/figs/flexible_joint_picture.png differ diff --git a/talk/figs/nass_mechatronics_approach_conceptual_phase.pdf b/talk/figs/nass_mechatronics_approach_conceptual_phase.pdf index f8497d8..59d3cbf 100644 Binary files a/talk/figs/nass_mechatronics_approach_conceptual_phase.pdf and b/talk/figs/nass_mechatronics_approach_conceptual_phase.pdf differ diff --git a/talk/figs/nass_mechatronics_approach_conceptual_phase.svg b/talk/figs/nass_mechatronics_approach_conceptual_phase.svg index 040d5b1..ec31bce 100644 Binary files a/talk/figs/nass_mechatronics_approach_conceptual_phase.svg and b/talk/figs/nass_mechatronics_approach_conceptual_phase.svg differ diff --git a/talk/figs/nass_mechatronics_approach_detailed_phase.pdf b/talk/figs/nass_mechatronics_approach_detailed_phase.pdf index db42eb6..32efcee 100644 Binary files a/talk/figs/nass_mechatronics_approach_detailed_phase.pdf and b/talk/figs/nass_mechatronics_approach_detailed_phase.pdf differ diff --git a/talk/figs/nass_mechatronics_approach_detailed_phase.svg b/talk/figs/nass_mechatronics_approach_detailed_phase.svg index 54a6821..52f6e10 100644 Binary files a/talk/figs/nass_mechatronics_approach_detailed_phase.svg and b/talk/figs/nass_mechatronics_approach_detailed_phase.svg differ diff --git a/talk/figs/nass_mechatronics_approach_experimental_phase.pdf b/talk/figs/nass_mechatronics_approach_experimental_phase.pdf index 5a04354..fa5cf8d 100644 Binary files a/talk/figs/nass_mechatronics_approach_experimental_phase.pdf and b/talk/figs/nass_mechatronics_approach_experimental_phase.pdf differ diff --git a/talk/figs/nass_mechatronics_approach_experimental_phase.svg b/talk/figs/nass_mechatronics_approach_experimental_phase.svg index c1fb289..f67682e 100644 Binary files a/talk/figs/nass_mechatronics_approach_experimental_phase.svg and b/talk/figs/nass_mechatronics_approach_experimental_phase.svg differ diff --git a/talk/figs/received_flexible_joints.jpg b/talk/figs/received_flexible_joints.jpg new file mode 100644 index 0000000..e72cbdc Binary files /dev/null and b/talk/figs/received_flexible_joints.jpg differ diff --git a/talk/figs/received_flexible_joints.png b/talk/figs/received_flexible_joints.png new file mode 100644 index 0000000..b48eac7 Binary files /dev/null and b/talk/figs/received_flexible_joints.png differ diff --git a/talk/figs/soft_measure_flex_size.jpg b/talk/figs/soft_measure_flex_size.jpg index c1063b7..0a30699 100644 Binary files a/talk/figs/soft_measure_flex_size.jpg and b/talk/figs/soft_measure_flex_size.jpg differ diff --git a/talk/figs/soft_measure_flex_size.png b/talk/figs/soft_measure_flex_size.png new file mode 100644 index 0000000..9dce830 Binary files /dev/null and b/talk/figs/soft_measure_flex_size.png differ