Update talk
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% Created 2021-07-22 jeu. 08:10
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% Created 2021-07-22 jeu. 10:15
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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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@@ -59,421 +59,43 @@
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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:orgdc51d45}]{The ID31 Micro Station}
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\begin{center}
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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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\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: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'' / ``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: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/nass_mechatronics_approach.png}
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\end{center}
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\end{frame}
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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{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{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 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}{0.6\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 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:orga5ea61a}]{Noise Budgeting and Required Control Bandwidth}
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\vspace{-1em}
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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: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/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/control_bandwidth_2_above_res.pdf}
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\end{center}
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}\only<3>{
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\begin{center}
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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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\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/test_bench_apa_simple.pdf}
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\end{center}
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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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}\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/nass_example_uncertainty_support_only_hexapod.pdf}
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\end{center}
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}\onslide<2->{
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\begin{center}
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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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\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/nass_example_alone.pdf}
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\end{center}
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\vspace{-2em}
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}\onslide<2->{
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\begin{center}
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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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\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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\begin{center}
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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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\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}
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\begin{center}
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\includegraphics[scale=1,width=\linewidth]{figs/nass_schematic_test.pdf}
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\end{center}
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\vspace{-2.0em}
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\begin{columns}
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\begin{column}{0.5\columnwidth}
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\begin{tcolorbox}[title=Low Authority Control]
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\begin{itemize}
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\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}
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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=High Authority Control]
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\begin{itemize}
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\item Position sensors
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\item Complex dynamics
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\item \(\searrow\) vibration in the bandwidth
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\item Use transformation matrices
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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:orgb8b73a0}]{Multi-Body Models - Simulations}
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\begin{center}
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\includegraphics[scale=1,width=\linewidth]{figs/simscape_simulation.jpg}
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\end{center}
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\begin{tikzpicture}[remember picture, overlay]
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\node[align=left, anchor=south east, text width=5.5cm,shift={(-1em, 1em)}] at (current page.south east){%
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\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]
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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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\section{Detail Design Phase}
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\begin{frame}[label={sec:org6378434}]{Outline - Detail Design Phase}
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\begin{center}
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\includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach_detailed_phase.png}
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\end{center}
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\end{frame}
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\begin{frame}[label={sec:orgc57fa9c}]{Nano-Hexapod Overview - Key elements}
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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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\end{center}
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\end{frame}
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\begin{frame}[label={sec:orga847212}]{Include Flexible Elements in a Multi-Body model}
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\begin{center}
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\includegraphics[scale=1,width=\linewidth]{figs/super_element_simscape.pdf}
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\end{center}
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\end{frame}
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\begin{frame}[label={sec:org36e74d8}]{Choice of Actuator - Amplifier Piezoelectric Actuator}
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\vspace{-2em}
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\begin{columns}
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\begin{column}{0.5\columnwidth}
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\scriptsize
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\begin{center}
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\begin{tabularx}{0.8\linewidth}{ccc}
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\toprule
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\textbf{Characteristic} & \textbf{Specs} & \textbf{Doc.}\\
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\midrule
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Axial Stiff. & \SI{\approx 1}{\newton/\micro\meter} & \SI{1.8}{\newton/\micro\meter}\\
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Sufficient Stroke & \SI{> 100}{\micro\meter} & \SI{368}{\micro\meter}\\
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Height & \SI{< 50}{\milli\meter} & \SI{30}{\milli\meter}\\
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High Resolution & \SI{< 5}{\nano\meter} & \SI{3}{\nano\meter}\\
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\bottomrule
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\end{tabularx}
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\end{center}
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\normalsize
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\vspace{-1em}
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\begin{figure}[htbp]
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\centering
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\includegraphics[scale=1,width=0.9\linewidth]{figs/apa300ml_picture.jpg}
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\caption{Picture of the APA300ML}
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\end{figure}
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\end{column}
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\begin{column}{0.5\columnwidth}
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\vspace{-1em}
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\begin{columns}
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\begin{column}{0.4\columnwidth}
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\begin{figure}[htbp]
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\centering
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\includegraphics[scale=1,width=0.8\linewidth]{figs/2dof_apa_model.pdf}
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\caption{2-DoF Model}
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\end{figure}
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\end{column}
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\begin{column}{0.6\columnwidth}
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\vspace{-1.6em}
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\begin{figure}[htbp]
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\centering
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\includegraphics[scale=1,width=0.9\linewidth]{figs/mesh_APA_schematic.pdf}
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\caption{APA Finite Element Model}
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\end{figure}
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\end{column}
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\end{columns}
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\begin{figure}[htbp]
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\centering
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\includegraphics[scale=1,width=\linewidth]{figs/mode_shapes_annotated.pdf}
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\caption{Flexible Modes due to limited APA stiffness}
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\end{figure}
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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:orgaefb8a2}]{Flexible Joints - Specifications and Optimization (\href{https://research.tdehaeze.xyz/test-bench-nass-flexible-joints/}{link})}
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\vspace{-2em}
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\begin{columns}
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\begin{column}{0.75\columnwidth}
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\scriptsize
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\begin{center}
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\begin{tabularx}{\linewidth}{ccccc}
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\toprule
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\textbf{Goal} & \textbf{Stiffness} & \textbf{Specs} & \textbf{FEM} & \textbf{Measured}\\
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\midrule
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High DVF Damping & Axial & \SI{> 100}{\newton/\micro\meter} & 94 & \\
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Low Coupling & Bending & \SI{< 100}{\newton\meter/\radian} & 5 & 3.8\\
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Low Coupling & Torsion & \SI{< 500}{\newton\meter/\radian} & 260 & \\
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Sufficient Stroke & Bending Stroke & \SI{> 1}{\milli\radian} & 20 & 18\\
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\bottomrule
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\end{tabularx}
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\end{center}
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\normalsize
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\end{column}
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\begin{column}{0.25\columnwidth}
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\vspace{-3em}
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\begin{figure}[htbp]
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\centering
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\includegraphics[scale=1,width=\linewidth]{figs/flexible_joint_dimensions.pdf}
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\caption{Dimensions after optimization}
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\end{figure}
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\end{column}
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\end{columns}
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\vspace{-3em}
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\begin{columns}
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\begin{column}{0.45\columnwidth}
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\begin{figure}[htbp]
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\centering
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\includegraphics[scale=1,width=\linewidth]{figs/location_top_flexible_joints.pdf}
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\caption{Positioning of the top joint}
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\end{figure}
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\end{column}
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\begin{column}{0.55\columnwidth}
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\vspace{2em}
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\begin{figure}[htbp]
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\centering
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\includegraphics[scale=1,width=\linewidth]{figs/simscape_model_flexible_joint.pdf}
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\caption{Simscape Model}
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\end{figure}
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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:org1666f90}]{Instrumentation}
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\begin{itemize}
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\item PD200 amplifier
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\item Encoders
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\item Speedgoat, DAC, ADC
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\item PEPU
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\item Attocube
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||||
\end{itemize}
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||||
\end{frame}
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||||
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\section{Experimental Phase}
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\begin{frame}[label={sec:org8c075cc}]{Outline - Experimental Phase}
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\begin{frame}[label={sec:orgf3c94cd}]{Outline - Experimental Phase}
|
||||
\begin{center}
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||||
\includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach_experimental_phase.png}
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||||
\includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach_experimental_phase.pdf}
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||||
\end{center}
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||||
\end{frame}
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||||
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||||
\begin{frame}[label={sec:org57e9067}]{Flexible Joints - Measurements}
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||||
\begin{frame}[label={sec:org479753d}]{Flexible Joints - Measurements}
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||||
\vspace{-2em}
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||||
\begin{columns}
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||||
\begin{column}{0.45\columnwidth}
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||||
\begin{figure}[htbp]
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||||
\centering
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||||
\includegraphics[scale=1,width=\linewidth]{figs/flexible_joint_bench.pdf}
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\caption{Measurement bench}
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||||
\end{figure}
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\begin{column}{0.5\columnwidth}
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||||
\begin{center}
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||||
\includegraphics[scale=1,width=0.95\linewidth]{figs/received_flexible_joints.jpg}
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||||
\end{center}
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||||
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||||
\begin{center}
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||||
\includegraphics[scale=1,width=0.95\linewidth]{figs/soft_measure_flex_size.jpg}
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\end{center}
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||||
\end{column}
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||||
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\begin{column}{0.55\columnwidth}
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\begin{figure}[htbp]
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||||
\centering
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||||
\includegraphics[scale=1,width=\linewidth]{figs/flex_joint_meas_example_F_d_lin_fit.pdf}
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||||
\caption{Measured displacement and force}
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||||
\end{figure}
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||||
\vspace{-1.5em}
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||||
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||||
\begin{center}
|
||||
\includegraphics[scale=1,width=0.8\linewidth]{figs/flexible_joint_bench.pdf}
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||||
\end{center}
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||||
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||||
\vspace{-1em}
|
||||
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||||
\begin{center}
|
||||
\includegraphics[scale=1,width=0.9\linewidth]{figs/flex_joint_meas_example_F_d_lin_fit.pdf}
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||||
\end{center}
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||||
\end{column}
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||||
\end{columns}
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||||
\end{frame}
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||||
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||||
\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\\
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||||
\end{tikzpicture}
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||||
\end{frame}
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||||
|
||||
\begin{frame}[label={sec:org9368c73}]{Amplified Piezoelectric Actuator - Extracted Model}
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||||
\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}
|
||||
|
||||
Reference in New Issue
Block a user