Talk ready to be recorded

talk/dehaeze21_mechatronics_approach_nass_talk.org

@@ -81,7 +81,7 @@ CLOSED: [2021-07-21 mer. 21:46]
 
 #+begin_export beamer
 \begin{tikzpicture}[remember picture,overlay]
-    \node[anchor=north east, padding=5pt] at (current page.north east){%
+    \node[anchor=north east] at (current page.north east){%
     \includegraphics[width=2em]{figs/icon_animation.pdf}};
 \end{tikzpicture}
 #+end_export
@@ -96,120 +96,12 @@ CLOSED: [2021-07-06 mar. 22:48]
 *Design approach*: "Model based design" / "Predictive Design"
 
 #+attr_latex: :width \linewidth
-[[file:figs/nass-concept.pdf]]
+[[file:figs/nass-concept.red.pdf]]
 
 ** DONE Overview of the Mechatronic Approach - Model Based Design
 CLOSED: [2021-07-06 mar. 21:44]
 
-#+begin_src latex :file nass_mechatronics_approach.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, opacity=0, fill=lightgreen, label={[mylabel, opacity=0] Disturbances},  left = 3 of model.west]                          (dist) {};
-  \node[myblock, opacity=0, fill=lightgreen, label={[mylabel, opacity=0] $\mu$ Station}, below = 2pt of dist] (mustation) {};
-  \node[myblock, opacity=0, fill=lightgreen, label={[mylabel, opacity=0] $\nu$ 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, opacity=0] at (mustation.south)       {Multiple stages     \\ Complex dynamics};
-  \node[mymodel, opacity=0] at (dist.south)            {Ground motion       \\ Position errors};
-  \node[mymodel, opacity=0] 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[->, opacity=0] (dist.east)      -- node[above, midway]{{\small Measurements}} node[below,midway]{{\small Spectral Analysis}} (dist.east-|model.west);
-  \draw[->, opacity=0] (mustation.east) -- node[above, midway]{{\small Measurements}} node[below, midway]{{\small CAD Model}} (mustation.east-|model.west);
-
-  \draw[->, opacity=0] ($(nanohexapod.east-|model.west)-(0, 0.15)$) -- node[below, midway]{{\small Optimization}} ($(nanohexapod.east)-(0, 0.15)$);
-  \draw[<-, opacity=0] ($(nanohexapod.east-|model.west)+(0, 0.15)$) -- 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[->] ($(conceptual_phase.east-|model.west)-(0, 0.3)$) -- ($(conceptual_phase.east)-(0, 0.3)$);
-  \draw[<-] ($(conceptual_phase.east-|model.west)+(0, 0.3)$) -- ($(conceptual_phase.east)+(0, 0.3)$);
-
-  \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
-
 #+attr_latex: :width \linewidth
-#+RESULTS:
 [[file:figs/nass_mechatronics_approach.png]]
 
 * Conceptual Phase
@@ -402,7 +294,7 @@ CLOSED: [2021-07-09 ven. 13:41]
 
 #+begin_export beamer
 \begin{tikzpicture}[remember picture,overlay]
-    \node[anchor=north east, padding=5pt] at (current page.north east){%
+    \node[anchor=north east] at (current page.north east){%
     \includegraphics[width=2em]{figs/icon_animation.pdf}};
 \end{tikzpicture}
 #+end_export
@@ -463,7 +355,7 @@ CLOSED: [2021-07-21 mer. 23:23]
 
 #+begin_export beamer
 \begin{tikzpicture}[remember picture,overlay]
-    \node[anchor=north east, padding=5pt] at (current page.north east){%
+    \node[anchor=north east] at (current page.north east){%
     \includegraphics[width=2em]{figs/icon_animation.pdf}};
 \end{tikzpicture}
 #+end_export
@@ -478,11 +370,425 @@ CLOSED: [2021-07-22 jeu. 09:10]
 ** DONE Nano-Hexapod Overview - Key elements
 CLOSED: [2021-07-22 jeu. 09:21]
 
-\vspace{2em}
+\vspace{-1.5em}
 
 #+attr_latex: :width \linewidth
 [[file:figs/nano_hexapod_elements.red.pdf]]
 
+#+attr_latex: :options [title=General Specifications, sidebyside]
+#+begin_tcolorbox
+- Flexible modes as high as possible
+- Only flexible elements (no backlash, play, etc.)
+\tcblower
+- Integrated Force Sensor and Displacement Sensor
+- Predictable dynamics
+#+end_tcolorbox
+
+** DONE Choice of Actuator and Flexible Joint Design
+CLOSED: [2021-07-22 jeu. 09:24]
+
+\vspace{-2em}
+*** Column                                                           :BMCOL:
+:PROPERTIES:
+:BEAMER_col: 0.5
+:END:
+
+\scriptsize
+#+attr_latex: :environment tabularx :width 0.8\linewidth :align ccc
+#+attr_latex: :center t :booktabs t
+| *Characteristic*  | *Specs*                              | *Doc.*                         |
+|-------------------+--------------------------------------+--------------------------------|
+| 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}            |
+\normalsize
+
+\vspace{-1em}
+
+#+caption: Picture of the APA300ML
+#+attr_latex: :width 0.9\linewidth
+[[file:figs/apa300ml_picture.jpg]]
+
+*** Column                                                           :BMCOL:
+:PROPERTIES:
+:BEAMER_col: 0.5
+:END:
+
+\scriptsize
+#+attr_latex: :environment tabularx :width 0.9\linewidth :align cccc
+#+attr_latex: :center t :booktabs t
+| *Characteristic* | *Specs*                           | *FEM* |
+|------------------+-----------------------------------+-------|
+| Axial Stiff.     | \SI{> 100}{\newton/\micro\meter}  |    94 |
+| Bending Stiff.   | \SI{< 100}{\newton\meter/\radian} |     5 |
+| Torsion Stiff.   | \SI{< 500}{\newton\meter/\radian} |   260 |
+| Bending Stroke   | \SI{> 1}{\milli\radian}           |    20 |
+\normalsize
+
+\vspace{-1em}
+
+#+caption: Picture of the joint
+#+attr_latex: :width 0.9\linewidth
+[[file:figs/flexible_joint_picture.jpg]]
+
+** 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
+
+
+*** Column                                                           :BMCOL:
+:PROPERTIES:
+:BEAMER_col: 0.33
+:END:
+
+#+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
+** DONE Outline - Experimental Phase
+CLOSED: [2021-07-22 jeu. 10:11]
+
+#+attr_latex: :width \linewidth
+[[file:figs/nass_mechatronics_approach_experimental_phase.red.pdf]]
+
+** DONE Flexible Joints - Measurements
+CLOSED: [2021-07-22 jeu. 10:12]
+\vspace{-2em}
+*** Column                                                           :BMCOL:
+:PROPERTIES:
+:BEAMER_col: 0.5
+:END:
+
+#+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:
+
+\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
+CLOSED: [2021-07-21 mer. 15:26]
+
+\vspace{-1em}
+
+#+attr_latex: :width \linewidth
+[[file:figs/test_bench_apa300ml.red.pdf]]
+
+#+begin_export beamer
+\begin{tikzpicture}[remember picture, overlay]
+  \node[align=left, anchor=north east, text width=4.5cm] at (current page.north east){%
+  \begin{tcolorbox}[title=Goals]
+  \begin{itemize}
+    \item Identify Dynamics
+    \item Tune APA Model
+    \item Test IFF
+  \end{itemize}
+  \end{tcolorbox}};
+\end{tikzpicture}
+#+end_export
+
+** DONE Amplified Piezoelectric Actuator - Extracted Model
+CLOSED: [2021-07-21 mer. 15:27]
+
+#+attr_latex: :width \linewidth
+[[file:figs/apa_comp_model_frf.pdf]]
+
+** DONE Amplified Piezoelectric Actuator - Integral Force Feedback
+CLOSED: [2021-07-21 mer. 17:40]
+\vspace{-3em}
+*** Column                                                           :BMCOL:
+:PROPERTIES:
+:BEAMER_col: 0.62
+:END:
+
+\vspace{1em}
+
+#+attr_latex: :width \linewidth
+[[file:figs/test_bench_apa300ml_iff.pdf]]
+
+\[ K_{\text{IFF}}(s) = \frac{g}{s} \]
+
+*** Column                                                           :BMCOL:
+:PROPERTIES:
+:BEAMER_col: 0.38
+:END:
+
+#+attr_latex: :width \linewidth
+[[file:figs/iff_results_apa95ml.pdf]]
+
+** DONE Strut - Mounting Tool
+CLOSED: [2021-07-21 mer. 15:23]
+\vspace{-2.5em}
+*** Requirements                                                     :BMCOL:
+:PROPERTIES:
+:BEAMER_col: 0.63
+:END:
+
+#+attr_latex: :width \linewidth
+[[file:figs/image_mounting_strut_bench.JPG]]
+
+*** Requirements                                                     :BMCOL:
+:PROPERTIES:
+:BEAMER_col: 0.37
+:END:
+
+#+attr_latex: :width \linewidth
+[[file:figs/mounted_strut_picture.jpg]]
+
+#+begin_export beamer
+\begin{tikzpicture}[remember picture,overlay]
+    \node[anchor=north east] at (current page.north east){%
+    \includegraphics[width=2em]{figs/icon_animation.pdf}};
+\end{tikzpicture}
+#+end_export
+** DONE Strut - Dynamical Measurements
+CLOSED: [2021-07-21 mer. 16:30]
+
+\vspace{-1em}
+
+#+attr_latex: :width \linewidth
+[[file:figs/test_bench_strut.red.pdf]]
+
+#+begin_export beamer
+\begin{tikzpicture}[remember picture, overlay]
+  \node[align=left, anchor=north east, text width=5cm] at (current page.north east){%
+  \begin{tcolorbox}[title=Goals]
+  \begin{itemize}
+    \item Identify Dynamics
+    \item Tune Model
+    \item Flexible joints effects
+    \item Encoder effect
+  \end{itemize}
+  \end{tcolorbox}};
+\end{tikzpicture}
+#+end_export
+
+** DONE Strut - Encoders Output and Spurious Modes
+CLOSED: [2021-07-21 mer. 16:47]
+\vspace{-3em}
+*** Column                                                           :BMCOL:
+:PROPERTIES:
+:BEAMER_col: 0.43
+:END:
+
+#+attr_latex: :width \linewidth
+[[file:figs/frf_struts_enc_int.pdf]]
+
+*** Column                                                           :BMCOL:
+:PROPERTIES:
+:BEAMER_col: 0.57
+:END:
+
+#+attr_latex: :width \linewidth
+[[file:figs/meas_spur_res_struts_2_encoder.jpg]]
+
+#+attr_latex: :width \linewidth
+[[file:figs/mode_shapes_annotated.pdf]]
+
+#+begin_export beamer
+\begin{tikzpicture}[remember picture,overlay]
+    \node[anchor=north east] at (current page.north east){%
+    \includegraphics[width=2em]{figs/icon_animation.pdf}};
+\end{tikzpicture}
+#+end_export
+
+** DONE Nano-Hexapod Mounting Tool
+CLOSED: [2021-07-21 mer. 16:47]
+
+#+attr_latex: :width 0.9\linewidth
+[[file:figs/nano_hexapod_mounting.JPG]]
+
+#+begin_export beamer
+\begin{tikzpicture}[remember picture,overlay]
+    \node[anchor=north east] at (current page.north east){%
+    \includegraphics[width=2em]{figs/icon_animation.pdf}};
+\end{tikzpicture}
+#+end_export
+
+** DONE Mounted Nano-Hexapod
+CLOSED: [2021-07-21 mer. 17:43]
+
+\vspace{-1em}
+
+#+attr_latex: :width \linewidth
+[[file:figs/mounted_nano_hexapod_picture.jpg]]
+
+** DONE Nano-Hexapod - Identified Dynamics
+CLOSED: [2021-07-22 jeu. 16:17]
+
+\vspace{-1em}
+
+#+attr_latex: :width \linewidth
+[[file:figs/nano_hexapod_enc_iff_bode_plot.pdf]]
+
+** DONE Nano-Hexapod - Damped Dynamics
+CLOSED: [2021-07-22 jeu. 16:17]
+
+\vspace{-1em}
+
+#+attr_latex: :width \linewidth
+[[file:figs/nano_hexapod_damped_bode_plot.pdf]]
+
+** DONE The Nano-Hexapod on top of the Micro-Station
+CLOSED: [2021-07-08 jeu. 11:33]
+
+\vspace{-0.5em}
+
+#+Beamer: \only<1>{
+
+#+attr_latex: :width 0.85\linewidth
+[[file:figs/nano_hexapod_id31.jpg]]
+
+#+Beamer: }\only<2>{
+
+#+attr_latex: :width 0.85\linewidth
+[[file:figs/nano_hexapod_id31_zoom.jpg]]
+
+#+Beamer: }
+
+* Conclusion
+** Conclusion
+*** Column                                                           :BMCOL:
+:PROPERTIES:
+:BEAMER_col: 0.4
+:END:
+
+*Mechatronics Approach*:
+- Use of several models
+- Predictive design
+- Beneficial in terms of: cost, delays, performances
+
+\vspace{0.5em}
+
+*Future Work*:
+- Optimal/Robust control
+- Control Test Bench
+- Implementation on ID31
+
+*** Column                                                           :BMCOL:
+:PROPERTIES:
+:BEAMER_col: 0.6
+:END:
+
+\vspace{-3em}
+
+#+attr_latex: :width \linewidth
+[[file:figs/nass_ref_tracking_results.pdf]]
+
+*** Continue                                               :B_ignoreheading:
+:PROPERTIES:
+:BEAMER_env: ignoreheading
+:END:
+
+#+attr_latex: :options [title=Many thanks to, sidebyside]
+#+begin_tcolorbox
+Philipp Brumund, Ludovic Ducotte\newline
+Jose-Maria Clement, Marc Lesourd
+\tcblower
+Youness Benyakhlef, Pierrick Got\newline
+Damien Coulon and the whole team
+#+end_tcolorbox
+
+* Backup Slides                                                     :noexport:
+:PROPERTIES:
+:UNNUMBERED: notoc
+:END:
+\appendix
+** DONE Strut - Extracted Model
+CLOSED: [2021-07-21 mer. 16:47]
+
+\vspace{-1em}
+
+#+attr_latex: :width \linewidth
+[[file:figs/strut_meas_frf_model_int_force.pdf]]
+
 ** DONE Include Flexible Elements in a Multi-Body model
 CLOSED: [2021-07-09 ven. 14:13]
 
@@ -610,327 +916,6 @@ CLOSED: [2021-07-22 jeu. 09:30]
 #+attr_latex: :width 0.9\linewidth
 [[file:figs/flexible_joint_picture.jpg]]
 
-** 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
-
-
-*** Column                                                           :BMCOL:
-:PROPERTIES:
-:BEAMER_col: 0.33
-:END:
-
-#+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
-** DONE Outline - Experimental Phase
-CLOSED: [2021-07-22 jeu. 10:11]
-
-#+attr_latex: :width \linewidth
-[[file:figs/nass_mechatronics_approach_experimental_phase.pdf]]
-
-** DONE Flexible Joints - Measurements
-CLOSED: [2021-07-22 jeu. 10:12]
-\vspace{-2em}
-*** Column                                                           :BMCOL:
-:PROPERTIES:
-:BEAMER_col: 0.5
-:END:
-
-#+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:
-
-\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
-CLOSED: [2021-07-21 mer. 15:26]
-
-\vspace{-1em}
-
-#+attr_latex: :width \linewidth
-[[file:figs/test_bench_apa300ml.red.pdf]]
-
-#+begin_export beamer
-\begin{tikzpicture}[remember picture, overlay]
-  \node[align=left, anchor=north east, text width=4.5cm] at (current page.north east){%
-  \begin{tcolorbox}[title=Goals]
-  \begin{itemize}
-    \item Identify Dynamics
-    \item Tune APA Model
-    \item Test IFF
-  \end{itemize}
-  \end{tcolorbox}};
-\end{tikzpicture}
-#+end_export
-
-** DONE Amplified Piezoelectric Actuator - Extracted Model
-CLOSED: [2021-07-21 mer. 15:27]
-
-#+attr_latex: :width \linewidth
-[[file:figs/apa_comp_model_frf.pdf]]
-
-** DONE Amplified Piezoelectric Actuator - Integral Force Feedback
-CLOSED: [2021-07-21 mer. 17:40]
-\vspace{-3em}
-*** Column                                                           :BMCOL:
-:PROPERTIES:
-:BEAMER_col: 0.62
-:END:
-
-\vspace{1em}
-
-#+attr_latex: :width \linewidth
-[[file:figs/test_bench_apa300ml_iff.pdf]]
-
-\[ K_{\text{IFF}}(s) = \frac{g}{s} \]
-
-*** Column                                                           :BMCOL:
-:PROPERTIES:
-:BEAMER_col: 0.38
-:END:
-
-#+attr_latex: :width \linewidth
-[[file:figs/iff_results_apa95ml.pdf]]
-
-** DONE Strut - Mounting Tool
-CLOSED: [2021-07-21 mer. 15:23]
-\vspace{-2.5em}
-*** Requirements                                                     :BMCOL:
-:PROPERTIES:
-:BEAMER_col: 0.63
-:END:
-
-#+attr_latex: :width \linewidth
-[[file:figs/image_mounting_strut_bench.JPG]]
-
-*** Requirements                                                     :BMCOL:
-:PROPERTIES:
-:BEAMER_col: 0.37
-:END:
-
-#+attr_latex: :width \linewidth
-[[file:figs/mounted_strut_picture.jpg]]
-
-#+begin_export beamer
-\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_export
-** DONE Strut - Dynamical Measurements
-CLOSED: [2021-07-21 mer. 16:30]
-
-\vspace{-1em}
-
-#+attr_latex: :width \linewidth
-[[file:figs/test_bench_strut.red.pdf]]
-
-#+begin_export beamer
-\begin{tikzpicture}[remember picture, overlay]
-  \node[align=left, anchor=north east, text width=5cm] at (current page.north east){%
-  \begin{tcolorbox}[title=Goals]
-  \begin{itemize}
-    \item Identify Dynamics
-    \item Tune Model
-    \item Flexible joints effects
-    \item Encoder effect
-  \end{itemize}
-  \end{tcolorbox}};
-\end{tikzpicture}
-#+end_export
-
-** DONE Strut - Encoders Output and Spurious Modes
-CLOSED: [2021-07-21 mer. 16:47]
-\vspace{-3em}
-*** Column                                                           :BMCOL:
-:PROPERTIES:
-:BEAMER_col: 0.45
-:END:
-
-#+attr_latex: :width \linewidth
-[[file:figs/frf_model_encoder_strut.pdf]]
-
-*** Column                                                           :BMCOL:
-:PROPERTIES:
-:BEAMER_col: 0.55
-:END:
-
-#+attr_latex: :width \linewidth
-[[file:figs/meas_spur_res_struts_2_encoder.jpg]]
-
-#+attr_latex: :width \linewidth
-[[file:figs/mode_shapes_annotated.pdf]]
-
-#+begin_export beamer
-\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_export
-
-** DONE Strut - Extracted Model
-CLOSED: [2021-07-21 mer. 16:47]
-
-\vspace{-1em}
-
-#+attr_latex: :width \linewidth
-[[file:figs/strut_meas_frf_model_int_force.pdf]]
-
-** DONE Nano-Hexapod Mounting Tool
-CLOSED: [2021-07-21 mer. 16:47]
-
-#+attr_latex: :width 0.9\linewidth
-[[file:figs/nano_hexapod_mounting.JPG]]
-
-#+begin_export beamer
-\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_export
-
-** DONE Mounted Nano-Hexapod
-CLOSED: [2021-07-21 mer. 17:43]
-
-\vspace{-1em}
-
-#+attr_latex: :width \linewidth
-[[file:figs/mounted_nano_hexapod_picture.jpg]]
-
-** Nano-Hexapod - Identified Dynamics
-
-\vspace{-1em}
-
-#+attr_latex: :width \linewidth
-[[file:figs/nano_hexapod_enc_bode_plot.pdf]]
-
-** Nano-Hexapod - Force Sensors
-
-\vspace{-1em}
-
-#+attr_latex: :width \linewidth
-[[file:figs/nano_hexapod_iff_bode_plot.pdf]]
-
-** Nano-Hexapod - Damped Dynamics
-
-\vspace{-1em}
-
-#+attr_latex: :width \linewidth
-[[file:figs/nano_hexapod_damped_bode_plot.pdf]]
-
-** DONE The Nano-Hexapod on top of the Micro-Station
-CLOSED: [2021-07-08 jeu. 11:33]
-
-\vspace{-0.5em}
-
-#+Beamer: \only<1>{
-
-#+attr_latex: :width 0.85\linewidth
-[[file:figs/nano_hexapod_id31.jpg]]
-
-#+Beamer: }\only<2>{
-
-#+attr_latex: :width 0.85\linewidth
-[[file:figs/nano_hexapod_id31_zoom.jpg]]
-
-#+Beamer: }
-
-* Conclusion
-** Conclusion
-* Backup Slides                                                     :noexport:
-:PROPERTIES:
-:UNNUMBERED: notoc
-:END:
-\appendix
 ** Spindle's Test Bench
 *** Column                                                           :BMCOL:
 :PROPERTIES:

talk/dehaeze21_mechatronics_approach_nass_talk.tex

@@ -1,4 +1,4 @@
-% Created 2021-07-22 jeu. 11:33
+% Created 2021-07-22 jeu. 23:48
 % Intended LaTeX compiler: pdflatex
 \documentclass[aspectratio=169, t]{clean-beamer}
 \usepackage[utf8]{inputenc}
@@ -61,40 +61,42 @@
 \maketitle
 
 \section*{Introduction}
-\begin{frame}[label={sec:org289143a}]{The ID31 Micro Station}
+\label{sec:org2f2f7e5}
+\begin{frame}[label={sec:org7a284a6}]{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){%
+    \node[anchor=north east] at (current page.north east){%
     \includegraphics[width=2em]{figs/icon_animation.pdf}};
 \end{tikzpicture}
 \end{frame}
 
-\begin{frame}[label={sec:org582891f}]{Introduction - The Nano Active Stabilization System}
+\begin{frame}[label={sec:org5dbf487}]{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}
+\includegraphics[scale=1,width=\linewidth]{figs/nass-concept.red.pdf}
 \end{center}
 \end{frame}
 
-\begin{frame}[label={sec:orgbb61f47}]{Overview of the Mechatronic Approach - Model Based Design}
+\begin{frame}[label={sec:org8665237}]{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:orgaeb9beb}]{Outline - Conceptual Phase}
+\label{sec:org0e45181}
+\begin{frame}[label={sec:org66fab8a}]{Outline - Conceptual Phase}
 \begin{center}
 \includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach_conceptual_phase.pdf}
 \end{center}
 \end{frame}
 
-\begin{frame}[label={sec:orgf4201d6}]{Feedback Control - The Control Loop}
+\begin{frame}[label={sec:org5582b03}]{Feedback Control - The Control Loop}
 \vspace{-1em}
 
 \begin{center}
@@ -125,7 +127,7 @@
 \end{columns}
 \end{frame}
 
-\begin{frame}[label={sec:org79cdad4}]{Noise Budgeting and Required Control Bandwidth}
+\begin{frame}[label={sec:org95d167f}]{Noise Budgeting and Required Control Bandwidth}
 \vspace{-1em}
 
 \begin{center}
@@ -133,7 +135,7 @@
 \end{center}
 \end{frame}
 
-\begin{frame}[label={sec:org176e59b}]{Limitation of the Controller Bandwidth?}
+\begin{frame}[label={sec:orgce8e920}]{Limitation of the Controller Bandwidth?}
 \begin{columns}
 \begin{column}{0.6\columnwidth}
 \vspace{-2em}
@@ -192,7 +194,7 @@ Complex controllers
 \end{columns}
 \end{frame}
 
-\begin{frame}[label={sec:org21bb7d1}]{Soft or Stiff \(\nu\text{-hexapod}\) ? Interaction with the \(\mu\text{-station}\)}
+\begin{frame}[label={sec:orge61676f}]{Soft or Stiff \(\nu\text{-hexapod}\) ? Interaction with the \(\mu\text{-station}\)}
 \vspace{-3em}
 \begin{columns}
 \begin{column}{0.3\columnwidth}
@@ -231,7 +233,7 @@ Complex controllers
 \end{columns}
 \end{frame}
 
-\begin{frame}[label={sec:org12c046c}]{Complexity of the Micro-Station Dynamics (Model Analysis)}
+\begin{frame}[label={sec:orgfa52d1c}]{Complexity of the Micro-Station Dynamics (Model Analysis)}
 \vspace{-1em}
 
 \begin{center}
@@ -239,12 +241,12 @@ Complex controllers
 \end{center}
 
 \begin{tikzpicture}[remember picture,overlay]
-    \node[anchor=north east, padding=5pt] at (current page.north east){%
+    \node[anchor=north east] at (current page.north east){%
     \includegraphics[width=2em]{figs/icon_animation.pdf}};
 \end{tikzpicture}
 \end{frame}
 
-\begin{frame}[label={sec:org1ffb21e}]{Control Strategy: HAC-LAC}
+\begin{frame}[label={sec:org82c9a46}]{Control Strategy: HAC-LAC}
 \vspace{-0.5em}
 
 \begin{center}
@@ -278,7 +280,7 @@ Complex controllers
 \end{columns}
 \end{frame}
 
-\begin{frame}[label={sec:org4b89eaa}]{Multi-Body Models - Simulations}
+\begin{frame}[label={sec:org8694100}]{Multi-Body Models - Simulations}
 \begin{center}
 \includegraphics[scale=1,width=\linewidth]{figs/simscape_simulation.jpg}
 \end{center}
@@ -294,33 +296,40 @@ Complex controllers
 \end{tikzpicture}
 
 \begin{tikzpicture}[remember picture,overlay]
-    \node[anchor=north east, padding=5pt] at (current page.north east){%
+    \node[anchor=north east] at (current page.north east){%
     \includegraphics[width=2em]{figs/icon_animation.pdf}};
 \end{tikzpicture}
 \end{frame}
 
 \section{Detail Design Phase}
-\begin{frame}[label={sec:org94436e6}]{Outline - Detail Design Phase}
+\label{sec:orgff27fa3}
+\begin{frame}[label={sec:orgf7e1c30}]{Outline - Detail Design Phase}
 \begin{center}
 \includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach_detailed_phase.pdf}
 \end{center}
 \end{frame}
 
-\begin{frame}[label={sec:org7d8abb1}]{Nano-Hexapod Overview - Key elements}
-\vspace{2em}
+\begin{frame}[label={sec:org133ceaa}]{Nano-Hexapod Overview - Key elements}
+\vspace{-1.5em}
 
 \begin{center}
 \includegraphics[scale=1,width=\linewidth]{figs/nano_hexapod_elements.red.pdf}
 \end{center}
+
+\begin{tcolorbox}[title=General Specifications, sidebyside]
+\begin{itemize}
+\item Flexible modes as high as possible
+\item Only flexible elements (no backlash, play, etc.)
+\end{itemize}
+\tcblower
+\begin{itemize}
+\item Integrated Force Sensor and Displacement Sensor
+\item Predictable dynamics
+\end{itemize}
+\end{tcolorbox}
 \end{frame}
 
-\begin{frame}[label={sec:orgf39c76d}]{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:orgc3f2ae5}]{Choice of Actuator - Amplifier Piezoelectric Actuator}
+\begin{frame}[label={sec:org276a69c}]{Choice of Actuator and Flexible Joint Design}
 \vspace{-2em}
 \begin{columns}
 \begin{column}{0.5\columnwidth}
@@ -349,83 +358,23 @@ High Resolution & \SI{< 5}{\nano\meter} & \SI{3}{\nano\meter}\\
 \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:orge19396b}]{Flexible Joints - Specifications and Optimization}
-\vspace{-2em}
-
-\begin{columns}
-\begin{column}{0.7\columnwidth}
 \scriptsize
 \begin{center}
 \begin{tabularx}{0.9\linewidth}{cccc}
 \toprule
-\textbf{Goal} & \textbf{Stiffness} & \textbf{Specs} & \textbf{FEM}\\
+\textbf{Characteristic} & \textbf{Specs} & \textbf{FEM}\\
 \midrule
-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\\
+Axial Stiff. & \SI{> 100}{\newton/\micro\meter} & 94\\
+Bending Stiff. & \SI{< 100}{\newton\meter/\radian} & 5\\
+Torsion Stiff. & \SI{< 500}{\newton\meter/\radian} & 260\\
+Bending Stroke & \SI{> 1}{\milli\radian} & 20\\
 \bottomrule
 \end{tabularx}
 \end{center}
 \normalsize
-\end{column}
-
-\begin{column}{0.3\columnwidth}
-\vspace{-2em}
-
-\begin{figure}[htbp]
-\centering
-\includegraphics[scale=1,width=\linewidth]{figs/flexible_joint_dimensions.pdf}
-\caption{Opt. geometry}
-\end{figure}
-\end{column}
-\end{columns}
 
 \vspace{-1em}
 
-\begin{columns}
-\begin{column}{0.45\columnwidth}
-\vspace{-3em}
-
-\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}
 \begin{figure}[htbp]
 \centering
 \includegraphics[scale=1,width=0.9\linewidth]{figs/flexible_joint_picture.jpg}
@@ -435,7 +384,7 @@ Sufficient Stroke & Bending Stroke & \SI{> 1}{\milli\radian} & 20\\
 \end{columns}
 \end{frame}
 
-\begin{frame}[label={sec:org5368d2f}]{Instrumentation}
+\begin{frame}[label={sec:org27824a6}]{Instrumentation}
 \vspace{-1em}
 
 \begin{columns}
@@ -526,13 +475,14 @@ All elements could be chosen/design based on the models
 \end{frame}
 
 \section{Experimental Phase}
-\begin{frame}[label={sec:org70a96b2}]{Outline - Experimental Phase}
+\label{sec:orgbc8949c}
+\begin{frame}[label={sec:org6e7483a}]{Outline - Experimental Phase}
 \begin{center}
-\includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach_experimental_phase.pdf}
+\includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach_experimental_phase.red.pdf}
 \end{center}
 \end{frame}
 
-\begin{frame}[label={sec:org77b0197}]{Flexible Joints - Measurements}
+\begin{frame}[label={sec:org2b19437}]{Flexible Joints - Measurements}
 \vspace{-2em}
 \begin{columns}
 \begin{column}{0.5\columnwidth}
@@ -561,7 +511,7 @@ All elements could be chosen/design based on the models
 \end{columns}
 \end{frame}
 
-\begin{frame}[label={sec:orga77e8f6}]{Amplified Piezoelectric Actuator - Test Bench}
+\begin{frame}[label={sec:org96a6b68}]{Amplified Piezoelectric Actuator - Test Bench}
 \vspace{-1em}
 
 \begin{center}
@@ -580,13 +530,13 @@ All elements could be chosen/design based on the models
 \end{tikzpicture}
 \end{frame}
 
-\begin{frame}[label={sec:org3e1d2df}]{Amplified Piezoelectric Actuator - Extracted Model}
+\begin{frame}[label={sec:orge87ad99}]{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:orgffa6e55}]{Amplified Piezoelectric Actuator - Integral Force Feedback}
+\begin{frame}[label={sec:org7af7fba}]{Amplified Piezoelectric Actuator - Integral Force Feedback}
 \vspace{-3em}
 \begin{columns}
 \begin{column}{0.62\columnwidth}
@@ -607,7 +557,7 @@ All elements could be chosen/design based on the models
 \end{columns}
 \end{frame}
 
-\begin{frame}[label={sec:org1cfa45e}]{Strut - Mounting Tool}
+\begin{frame}[label={sec:orgc496afb}]{Strut - Mounting Tool}
 \vspace{-2.5em}
 \begin{columns}
 \begin{column}{0.63\columnwidth}
@@ -622,13 +572,13 @@ All elements could be chosen/design based on the models
 \end{center}
 
 \begin{tikzpicture}[remember picture,overlay]
-    \node[anchor=north east, padding=5pt] at (current page.north east){%
+    \node[anchor=north east] at (current page.north east){%
     \includegraphics[width=2em]{figs/icon_animation.pdf}};
 \end{tikzpicture}
 \end{column}
 \end{columns}
 \end{frame}
-\begin{frame}[label={sec:orgc27d748}]{Strut - Dynamical Measurements}
+\begin{frame}[label={sec:orgaec0a8a}]{Strut - Dynamical Measurements}
 \vspace{-1em}
 
 \begin{center}
@@ -648,16 +598,16 @@ All elements could be chosen/design based on the models
 \end{tikzpicture}
 \end{frame}
 
-\begin{frame}[label={sec:org84d4ec1}]{Strut - Encoders Output and Spurious Modes}
+\begin{frame}[label={sec:org965cd42}]{Strut - Encoders Output and Spurious Modes}
 \vspace{-3em}
 \begin{columns}
-\begin{column}{0.45\columnwidth}
+\begin{column}{0.43\columnwidth}
 \begin{center}
-\includegraphics[scale=1,width=\linewidth]{figs/frf_model_encoder_strut.pdf}
+\includegraphics[scale=1,width=\linewidth]{figs/frf_struts_enc_int.pdf}
 \end{center}
 \end{column}
 
-\begin{column}{0.55\columnwidth}
+\begin{column}{0.57\columnwidth}
 \begin{center}
 \includegraphics[scale=1,width=\linewidth]{figs/meas_spur_res_struts_2_encoder.jpg}
 \end{center}
@@ -667,33 +617,25 @@ All elements could be chosen/design based on the models
 \end{center}
 
 \begin{tikzpicture}[remember picture,overlay]
-    \node[anchor=north east, padding=5pt] at (current page.north east){%
+    \node[anchor=north east] at (current page.north east){%
     \includegraphics[width=2em]{figs/icon_animation.pdf}};
 \end{tikzpicture}
 \end{column}
 \end{columns}
 \end{frame}
 
-\begin{frame}[label={sec:org615e0c9}]{Strut - Extracted Model}
-\vspace{-1em}
-
-\begin{center}
-\includegraphics[scale=1,width=\linewidth]{figs/strut_meas_frf_model_int_force.pdf}
-\end{center}
-\end{frame}
-
-\begin{frame}[label={sec:orgde0ed50}]{Nano-Hexapod Mounting Tool}
+\begin{frame}[label={sec:orgda21de8}]{Nano-Hexapod Mounting Tool}
 \begin{center}
 \includegraphics[scale=1,width=0.9\linewidth]{figs/nano_hexapod_mounting.JPG}
 \end{center}
 
 \begin{tikzpicture}[remember picture,overlay]
-    \node[anchor=north east, padding=5pt] at (current page.north east){%
+    \node[anchor=north east] at (current page.north east){%
     \includegraphics[width=2em]{figs/icon_animation.pdf}};
 \end{tikzpicture}
 \end{frame}
 
-\begin{frame}[label={sec:org4fbd60d}]{Mounted Nano-Hexapod}
+\begin{frame}[label={sec:org79abb20}]{Mounted Nano-Hexapod}
 \vspace{-1em}
 
 \begin{center}
@@ -701,23 +643,15 @@ All elements could be chosen/design based on the models
 \end{center}
 \end{frame}
 
-\begin{frame}[label={sec:org90db8c2}]{Nano-Hexapod - Identified Dynamics}
+\begin{frame}[label={sec:orgf59950c}]{Nano-Hexapod - Identified Dynamics}
 \vspace{-1em}
 
 \begin{center}
-\includegraphics[scale=1,width=\linewidth]{figs/nano_hexapod_enc_bode_plot.pdf}
+\includegraphics[scale=1,width=\linewidth]{figs/nano_hexapod_enc_iff_bode_plot.pdf}
 \end{center}
 \end{frame}
 
-\begin{frame}[label={sec:orgb51eb5c}]{Nano-Hexapod - Force Sensors}
-\vspace{-1em}
-
-\begin{center}
-\includegraphics[scale=1,width=\linewidth]{figs/nano_hexapod_iff_bode_plot.pdf}
-\end{center}
-\end{frame}
-
-\begin{frame}[label={sec:org7c39e01}]{Nano-Hexapod - Damped Dynamics}
+\begin{frame}[label={sec:org00f7894}]{Nano-Hexapod - Damped Dynamics}
 \vspace{-1em}
 
 \begin{center}
@@ -725,7 +659,7 @@ All elements could be chosen/design based on the models
 \end{center}
 \end{frame}
 
-\begin{frame}[label={sec:orgf0421d5}]{The Nano-Hexapod on top of the Micro-Station}
+\begin{frame}[label={sec:org89187a0}]{The Nano-Hexapod on top of the Micro-Station}
 \vspace{-0.5em}
 
 \only<1>{
@@ -744,6 +678,42 @@ All elements could be chosen/design based on the models
 \end{frame}
 
 \section{Conclusion}
-\begin{frame}[label={sec:orgbe10643}]{Conclusion}
+\label{sec:orgcce0f41}
+\begin{frame}[label={sec:org905c81b}]{Conclusion}
+\begin{columns}
+\begin{column}{0.4\columnwidth}
+\textbf{Mechatronics Approach}:
+\begin{itemize}
+\item Use of several models
+\item Predictive design
+\item Beneficial in terms of: cost, delays, performances
+\end{itemize}
+
+\vspace{0.5em}
+
+\textbf{Future Work}:
+\begin{itemize}
+\item Optimal/Robust control
+\item Control Test Bench
+\item Implementation on ID31
+\end{itemize}
+\end{column}
+
+\begin{column}{0.6\columnwidth}
+\vspace{-3em}
+
+\begin{center}
+\includegraphics[scale=1,width=\linewidth]{figs/nass_ref_tracking_results.pdf}
+\end{center}
+\end{column}
+\end{columns}
+
+\begin{tcolorbox}[title=Many thanks to, sidebyside]
+Philipp Brumund, Ludovic Ducotte\newline
+Jose-Maria Clement, Marc Lesourd
+\tcblower
+Youness Benyakhlef, Pierrick Got\newline
+Damien Coulon and the whole team
+\end{tcolorbox}
 \end{frame}
 \end{document}