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"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en"> <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head> <head>
<!-- 2021-07-19 lun. 11:23 --> <!-- 2021-07-28 mer. 09:43 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" /> <meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<title>Mechatronics Approach for the Development of a Nano-Active-Stabilization-System</title> <title>Mechatronics Approach for the Development of a Nano-Active-Stabilization-System</title>
<meta name="author" content="Thomas Dehaeze" /> <meta name="author" content="Thomas Dehaeze" />
@ -17,7 +17,7 @@
<a accesskey="h" href="../index.html"> UP </a> <a accesskey="h" href="../index.html"> UP </a>
| |
<a accesskey="H" href="../index.html"> HOME </a> <a accesskey="H" href="../index.html"> HOME </a>
</div><div id="content"> </div><div id="content" class="content">
<h1 class="title">Mechatronics Approach for the Development of a Nano-Active-Stabilization-System <h1 class="title">Mechatronics Approach for the Development of a Nano-Active-Stabilization-System
<br /> <br />
<span class="subtitle">Dehaeze Thomas, Bonnefoy Julien, Collette Christophe</span> <span class="subtitle">Dehaeze Thomas, Bonnefoy Julien, Collette Christophe</span>
@ -42,15 +42,26 @@ The presented development approach is foreseen to be applied more frequently to
</p> </p>
</blockquote> </blockquote>
<div id="outline-container-org5135f26" class="outline-2"> <div id="outline-container-org880994d" class="outline-2">
<h2 id="org5135f26">Conference Paper (<a href="paper/dehaeze21_mechatronics_approach_nass.pdf">pdf</a>)</h2> <h2 id="org880994d">Conference Paper (<a href="paper/dehaeze21_mechatronics_approach_nass.pdf">pdf</a>)</h2>
<div class="outline-text-2" id="text-org5135f26"> <div class="outline-text-2" id="text-org880994d">
</div> </div>
</div> </div>
<div id="outline-container-org18ea867" class="outline-2"> <div id="outline-container-org95479e9" class="outline-2">
<h2 id="org18ea867">Cite this work</h2> <h2 id="org95479e9">Talk (<a href="talk/dehaeze21_mechatronics_approach_nass_talk.pdf">link</a>)</h2>
<div class="outline-text-2" id="text-org18ea867"> <div class="outline-text-2" id="text-org95479e9">
<iframe width="720"
height="540"
src="https://www.youtube.com/embed/kaplQJoqqDg"
frameborder="0" allowfullscreen> </iframe>
</div>
</div>
<div id="outline-container-orgb29f224" class="outline-2">
<h2 id="orgb29f224">Cite this work</h2>
<div class="outline-text-2" id="text-orgb29f224">
<p> <p>
To cite this conference paper use the following bibTeX code. To cite this conference paper use the following bibTeX code.
</p> </p>
@ -75,7 +86,7 @@ You can also use the formatted citation below.
</p> </p>
<blockquote> <blockquote>
<p> <p>
Dehaeze, T., Bonnefoy, J., &amp; Collette, C., Mechatronics approach for the development of a nano-active-stabilization-system, In MEDSI&rsquo;20 (pp. ) (2021), JACoW Publishing. Dehaeze, T., Bonnefoy, J., &amp; Collette, C., Mechatronics approach for the development of a nano-active-stabilization-system, In MEDSI&rsquo;20 (2021), JACoW Publishing.
</p> </p>
</blockquote> </blockquote>
</div> </div>

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@ -34,7 +34,7 @@ The presented development approach is foreseen to be applied more frequently to
:UNNUMBERED: t :UNNUMBERED: t
:END: :END:
* Talk ([[file:talk/dehaeze21_mechatronics_approach_nass_talk.pdf][link]]) :noexport: * Talk ([[file:talk/dehaeze21_mechatronics_approach_nass_talk.pdf][link]])
:PROPERTIES: :PROPERTIES:
:UNNUMBERED: t :UNNUMBERED: t
:END: :END:
@ -42,7 +42,7 @@ The presented development approach is foreseen to be applied more frequently to
#+begin_export html #+begin_export html
<iframe width="720" <iframe width="720"
height="540" height="540"
src="https://www.youtube.com/embed/****" src="https://www.youtube.com/embed/kaplQJoqqDg"
frameborder="0" allowfullscreen> </iframe> frameborder="0" allowfullscreen> </iframe>
#+end_export #+end_export
@ -69,5 +69,5 @@ To cite this conference paper use the following bibTeX code.
You can also use the formatted citation below. You can also use the formatted citation below.
#+begin_quote #+begin_quote
Dehaeze, T., Bonnefoy, J., & Collette, C., Mechatronics approach for the development of a nano-active-stabilization-system, In MEDSI'20 (pp. ) (2021), JACoW Publishing. Dehaeze, T., Bonnefoy, J., & Collette, C., Mechatronics approach for the development of a nano-active-stabilization-system, In MEDSI'20 (2021), JACoW Publishing.
#+end_quote #+end_quote

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talk/dehaeze21_mechatronics_approach_nass_talk.org
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@ -1,11 +1,11 @@
#+TITLE: Mechatronics Approach for the Development of a Nano-Active-Stabilization-System #+TITLE: Mechatronics Approach for the Development of a Nano-Active-Stabilization-System
:DRAWER: :DRAWER:
#+AUTHOR: Dehaeze Thomas, Bonnefoy Julien and Collette Christophe #+AUTHOR:
#+SUBTITLE: MEDSI2020, July 26-29, 2021 #+SUBTITLE: MEDSI2020, July 26-29, 2021
#+EMAIL: dehaeze.thomas@gmail.com #+EMAIL: dehaeze.thomas@gmail.com
#+DATE: #+DATE:
#+LATEX_HEADER_EXTRA: \author[shortname]{Thomas Dehaeze \inst{1,2}, Julien Bonnefoy \inst{1} \and Christophe Collette \inst{2,3}} #+LATEX_HEADER_EXTRA: \author[shortname]{Thomas Dehaeze \inst{1,2}, Julien Bonnefoy \inst{1} and Christophe Collette \inst{2,3}}
#+LATEX_HEADER_EXTRA: \institute[shortinst]{\inst{1} European Synchrotron Radiation Facility, Grenoble, France \and % #+LATEX_HEADER_EXTRA: \institute[shortinst]{\inst{1} European Synchrotron Radiation Facility, Grenoble, France \and %
#+LATEX_HEADER_EXTRA: \inst{2} Precision Mechatronics Laboratory, University of Liege, Belgium \and % #+LATEX_HEADER_EXTRA: \inst{2} Precision Mechatronics Laboratory, University of Liege, Belgium \and %
#+LATEX_HEADER_EXTRA: \inst{3} BEAMS Department, Free University of Brussels, Belgium} #+LATEX_HEADER_EXTRA: \inst{3} BEAMS Department, Free University of Brussels, Belgium}
@ -86,7 +86,7 @@ CLOSED: [2021-07-21 mer. 21:46]
\end{tikzpicture} \end{tikzpicture}
#+end_export #+end_export
** DONE Introduction - The Nano Active Stabilization System ** DONE Introduction - The Nano Active Stabilization System (NASS)
CLOSED: [2021-07-06 mar. 22:48] CLOSED: [2021-07-06 mar. 22:48]
:PROPERTIES: :PROPERTIES:
:UNNUMBERED: notoc :UNNUMBERED: notoc
@ -201,10 +201,10 @@ CLOSED: [2021-07-08 jeu. 09:46]
#+attr_latex: :width \linewidth #+attr_latex: :width \linewidth
[[file:figs/control_bandwidth_2_above_res.pdf]] [[file:figs/control_bandwidth_2_above_res.pdf]]
#+Beamer: }\only<3>{ # #+Beamer: }\only<3>{
#+attr_latex: :width \linewidth # #+attr_latex: :width \linewidth
[[file:figs/control_bandwidth_3_next_gen.pdf]] # [[file:figs/control_bandwidth_3_next_gen.pdf]]
#+Beamer: } #+Beamer: }
@ -234,13 +234,13 @@ Limited by complex dynamics\newline
Model based controller Model based controller
#+end_tcolorbox #+end_tcolorbox
#+Beamer: }\only<3>{ # #+Beamer: }\only<3>{
#+attr_latex: :options [title=Next-Gen Systems, fontupper=\small] # #+attr_latex: :options [title=Next-Gen Systems, fontupper=\small]
#+begin_tcolorbox # #+begin_tcolorbox
Active research topic\newline # Active research topic\newline
Complex controllers # Complex controllers
#+end_tcolorbox # #+end_tcolorbox
#+Beamer: } #+Beamer: }
@ -273,14 +273,14 @@ CLOSED: [2021-07-09 ven. 13:37]
#+Beamer: \onslide<1->{ #+Beamer: \onslide<1->{
#+attr_latex: :width \linewidth #+attr_latex: :width \linewidth
[[file:figs/nass_example_alone.pdf]] [[file:figs/nass_example_alone_b.pdf]]
\vspace{-2em} \vspace{-2em}
#+Beamer: }\onslide<2->{ #+Beamer: }\onslide<2->{
#+attr_latex: :width \linewidth #+attr_latex: :width \linewidth
[[file:figs/nass_example_support_uncertainty_d_L.pdf]] [[file:figs/nass_example_support_uncertainty_d_L_b.pdf]]
#+Beamer: } #+Beamer: }
@ -317,7 +317,7 @@ CLOSED: [2021-07-09 ven. 15:51]
#+attr_latex: :options [title=Low Authority Control] #+attr_latex: :options [title=Low Authority Control]
#+begin_tcolorbox #+begin_tcolorbox
- Collocated sensors/actuators - Collocated sensors/actuators
- Guaranteed Stability - Guaranteed Stability, simple $K$
- Adds damping - Adds damping
- $\searrow$ vibration near resonances - $\searrow$ vibration near resonances
#+end_tcolorbox #+end_tcolorbox
@ -331,8 +331,8 @@ CLOSED: [2021-07-09 ven. 15:51]
#+begin_tcolorbox #+begin_tcolorbox
- Position sensors - Position sensors
- Complex dynamics - Complex dynamics
- $\searrow$ vibration in the bandwidth
- Use transformation matrices - Use transformation matrices
- $\searrow$ vibration in the bandwidth
#+end_tcolorbox #+end_tcolorbox
** DONE Multi-Body Models - Simulations ** DONE Multi-Body Models - Simulations
@ -529,30 +529,30 @@ CLOSED: [2021-07-22 jeu. 10:12]
\vspace{-2em} \vspace{-2em}
*** Column :BMCOL: *** Column :BMCOL:
:PROPERTIES: :PROPERTIES:
:BEAMER_col: 0.5 :BEAMER_col: 0.45
:END: :END:
#+attr_latex: :width 0.95\linewidth #+attr_latex: :width 0.95\linewidth
[[file:figs/received_flexible_joints.jpg]] [[file:figs/received_flexible_joints.jpg]]
#+attr_latex: :width 0.95\linewidth #+attr_latex: :width 0.95\linewidth
[[file:figs/soft_measure_flex_size.jpg]] [[file:figs/flexible_joint_bench.pdf]]
*** Column :BMCOL: *** Column :BMCOL:
:PROPERTIES: :PROPERTIES:
:BEAMER_col: 0.55 :BEAMER_col: 0.55
:END: :END:
\vspace{-1.5em}
#+attr_latex: :width 0.8\linewidth
[[file:figs/flexible_joint_bench.pdf]]
\vspace{-1em}
#+attr_latex: :width 0.9\linewidth #+attr_latex: :width 0.9\linewidth
[[file:figs/flex_joint_meas_example_F_d_lin_fit.pdf]] [[file:figs/flex_joint_meas_example_F_d_lin_fit.pdf]]
#+attr_latex: :options [title=Other Measurement Benches]
#+begin_tcolorbox
- Amplifier Output Noise and Bandwidth
- Encoder Measurement Noise
- DAC Output Noise
#+end_tcolorbox
** DONE Amplified Piezoelectric Actuator - Test Bench ** DONE Amplified Piezoelectric Actuator - Test Bench
CLOSED: [2021-07-21 mer. 15:26] CLOSED: [2021-07-21 mer. 15:26]
@ -574,7 +574,7 @@ CLOSED: [2021-07-21 mer. 15:26]
\end{tikzpicture} \end{tikzpicture}
#+end_export #+end_export
** DONE Amplified Piezoelectric Actuator - Extracted Model ** DONE Amplified Piezoelectric Actuator - Measured FRF and Extracted Model
CLOSED: [2021-07-21 mer. 15:27] CLOSED: [2021-07-21 mer. 15:27]
#+attr_latex: :width \linewidth #+attr_latex: :width \linewidth
@ -700,7 +700,7 @@ CLOSED: [2021-07-21 mer. 17:43]
#+attr_latex: :width \linewidth #+attr_latex: :width \linewidth
[[file:figs/mounted_nano_hexapod_picture.jpg]] [[file:figs/mounted_nano_hexapod_picture.jpg]]
** DONE Nano-Hexapod - Identified Dynamics ** DONE Nano-Hexapod - Identified Dynamics (Diagonal elements)
CLOSED: [2021-07-22 jeu. 16:17] CLOSED: [2021-07-22 jeu. 16:17]
\vspace{-1em} \vspace{-1em}

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talk/dehaeze21_mechatronics_approach_nass_talk.tex
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@ -1,4 +1,4 @@
% Created 2021-07-22 jeu. 23:48 % Created 2021-07-27 mar. 08:42
% Intended LaTeX compiler: pdflatex % Intended LaTeX compiler: pdflatex
\documentclass[aspectratio=169, t]{clean-beamer} \documentclass[aspectratio=169, t]{clean-beamer}
\usepackage[utf8]{inputenc} \usepackage[utf8]{inputenc}
@ -21,7 +21,7 @@
\usepackage{array} \usepackage{array}
\usepackage{siunitx} \usepackage{siunitx}
\usepackage{mathtools} \usepackage{mathtools}
\author[shortname]{Thomas Dehaeze \inst{1,2}, Julien Bonnefoy \inst{1} \and Christophe Collette \inst{2,3}} \author[shortname]{Thomas Dehaeze \inst{1,2}, Julien Bonnefoy \inst{1} and Christophe Collette \inst{2,3}}
\institute[shortinst]{\inst{1} European Synchrotron Radiation Facility, Grenoble, France \and % \institute[shortinst]{\inst{1} European Synchrotron Radiation Facility, Grenoble, France \and %
\inst{2} Precision Mechatronics Laboratory, University of Liege, Belgium \and % \inst{2} Precision Mechatronics Laboratory, University of Liege, Belgium \and %
\inst{3} BEAMS Department, Free University of Brussels, Belgium} \inst{3} BEAMS Department, Free University of Brussels, Belgium}
@ -45,12 +45,11 @@
\setbeamertemplate{bibliography item}[text] \setbeamertemplate{bibliography item}[text]
\DeclareSIUnit\rms{rms} \DeclareSIUnit\rms{rms}
\usetheme{default} \usetheme{default}
\author{Dehaeze Thomas, Bonnefoy Julien and Collette Christophe}
\date{} \date{}
\title{Mechatronics Approach for the Development of a Nano-Active-Stabilization-System} \title{Mechatronics Approach for the Development of a Nano-Active-Stabilization-System}
\subtitle{MEDSI2020, July 26-29, 2021} \subtitle{MEDSI2020, July 26-29, 2021}
\hypersetup{ \hypersetup{
pdfauthor={Dehaeze Thomas, Bonnefoy Julien and Collette Christophe}, pdfauthor={},
pdftitle={Mechatronics Approach for the Development of a Nano-Active-Stabilization-System}, pdftitle={Mechatronics Approach for the Development of a Nano-Active-Stabilization-System},
pdfkeywords={}, pdfkeywords={},
pdfsubject={}, pdfsubject={},
@ -61,8 +60,8 @@
\maketitle \maketitle
\section*{Introduction} \section*{Introduction}
\label{sec:org2f2f7e5} \label{sec:orgdabb222}
\begin{frame}[label={sec:org7a284a6}]{The ID31 Micro Station} \begin{frame}[label={sec:org75433ab}]{The ID31 Micro Station}
\begin{center} \begin{center}
\includegraphics[scale=1,width=0.95\linewidth]{figs/micro_hexapod_render.pdf} \includegraphics[scale=1,width=0.95\linewidth]{figs/micro_hexapod_render.pdf}
\end{center} \end{center}
@ -73,7 +72,7 @@
\end{tikzpicture} \end{tikzpicture}
\end{frame} \end{frame}
\begin{frame}[label={sec:org5dbf487}]{Introduction - The Nano Active Stabilization System} \begin{frame}[label={sec:orga898a71}]{Introduction - The Nano Active Stabilization System (NASS)}
\textbf{Objective}: Improve the position accuracy from \(\approx 10\,\mu m\) down to \(\approx 10\,nm\) \newline \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'' \textbf{Design approach}: ``Model based design'' / ``Predictive Design''
@ -82,21 +81,21 @@
\end{center} \end{center}
\end{frame} \end{frame}
\begin{frame}[label={sec:org8665237}]{Overview of the Mechatronic Approach - Model Based Design} \begin{frame}[label={sec:org9574917}]{Overview of the Mechatronic Approach - Model Based Design}
\begin{center} \begin{center}
\includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach.png} \includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach.png}
\end{center} \end{center}
\end{frame} \end{frame}
\section{Conceptual Phase} \section{Conceptual Phase}
\label{sec:org0e45181} \label{sec:org62eb09b}
\begin{frame}[label={sec:org66fab8a}]{Outline - Conceptual Phase} \begin{frame}[label={sec:orgd53fdb4}]{Outline - Conceptual Phase}
\begin{center} \begin{center}
\includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach_conceptual_phase.pdf} \includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach_conceptual_phase.pdf}
\end{center} \end{center}
\end{frame} \end{frame}
\begin{frame}[label={sec:org5582b03}]{Feedback Control - The Control Loop} \begin{frame}[label={sec:orgf99643e}]{Feedback Control - The Control Loop}
\vspace{-1em} \vspace{-1em}
\begin{center} \begin{center}
@ -127,7 +126,7 @@
\end{columns} \end{columns}
\end{frame} \end{frame}
\begin{frame}[label={sec:org95d167f}]{Noise Budgeting and Required Control Bandwidth} \begin{frame}[label={sec:orge603014}]{Noise Budgeting and Required Control Bandwidth}
\vspace{-1em} \vspace{-1em}
\begin{center} \begin{center}
@ -135,7 +134,7 @@
\end{center} \end{center}
\end{frame} \end{frame}
\begin{frame}[label={sec:orgce8e920}]{Limitation of the Controller Bandwidth?} \begin{frame}[label={sec:org1a8d575}]{Limitation of the Controller Bandwidth?}
\begin{columns} \begin{columns}
\begin{column}{0.6\columnwidth} \begin{column}{0.6\columnwidth}
\vspace{-2em} \vspace{-2em}
@ -152,12 +151,6 @@
\includegraphics[scale=1,width=\linewidth]{figs/control_bandwidth_2_above_res.pdf} \includegraphics[scale=1,width=\linewidth]{figs/control_bandwidth_2_above_res.pdf}
\end{center} \end{center}
}\only<3>{
\begin{center}
\includegraphics[scale=1,width=\linewidth]{figs/control_bandwidth_3_next_gen.pdf}
\end{center}
} }
\end{column} \end{column}
@ -182,19 +175,12 @@ Limited by complex dynamics\newline
Model based controller Model based controller
\end{tcolorbox} \end{tcolorbox}
}\only<3>{
\begin{tcolorbox}[title=Next-Gen Systems, fontupper=\small]
Active research topic\newline
Complex controllers
\end{tcolorbox}
} }
\end{column} \end{column}
\end{columns} \end{columns}
\end{frame} \end{frame}
\begin{frame}[label={sec:orge61676f}]{Soft or Stiff \(\nu\text{-hexapod}\) ? Interaction with the \(\mu\text{-station}\)} \begin{frame}[label={sec:org239155a}]{Soft or Stiff \(\nu\text{-hexapod}\) ? Interaction with the \(\mu\text{-station}\)}
\vspace{-3em} \vspace{-3em}
\begin{columns} \begin{columns}
\begin{column}{0.3\columnwidth} \begin{column}{0.3\columnwidth}
@ -217,7 +203,7 @@ Complex controllers
\onslide<1->{ \onslide<1->{
\begin{center} \begin{center}
\includegraphics[scale=1,width=\linewidth]{figs/nass_example_alone.pdf} \includegraphics[scale=1,width=\linewidth]{figs/nass_example_alone_b.pdf}
\end{center} \end{center}
\vspace{-2em} \vspace{-2em}
@ -225,7 +211,7 @@ Complex controllers
}\onslide<2->{ }\onslide<2->{
\begin{center} \begin{center}
\includegraphics[scale=1,width=\linewidth]{figs/nass_example_support_uncertainty_d_L.pdf} \includegraphics[scale=1,width=\linewidth]{figs/nass_example_support_uncertainty_d_L_b.pdf}
\end{center} \end{center}
} }
@ -233,7 +219,7 @@ Complex controllers
\end{columns} \end{columns}
\end{frame} \end{frame}
\begin{frame}[label={sec:orgfa52d1c}]{Complexity of the Micro-Station Dynamics (Model Analysis)} \begin{frame}[label={sec:orgeb9ee99}]{Complexity of the Micro-Station Dynamics (Model Analysis)}
\vspace{-1em} \vspace{-1em}
\begin{center} \begin{center}
@ -246,7 +232,7 @@ Complex controllers
\end{tikzpicture} \end{tikzpicture}
\end{frame} \end{frame}
\begin{frame}[label={sec:org82c9a46}]{Control Strategy: HAC-LAC} \begin{frame}[label={sec:orgb8ddd28}]{Control Strategy: HAC-LAC}
\vspace{-0.5em} \vspace{-0.5em}
\begin{center} \begin{center}
@ -260,7 +246,7 @@ Complex controllers
\begin{tcolorbox}[title=Low Authority Control] \begin{tcolorbox}[title=Low Authority Control]
\begin{itemize} \begin{itemize}
\item Collocated sensors/actuators \item Collocated sensors/actuators
\item Guaranteed Stability \item Guaranteed Stability, simple \(K\)
\item Adds damping \item Adds damping
\item \(\searrow\) vibration near resonances \item \(\searrow\) vibration near resonances
\end{itemize} \end{itemize}
@ -272,15 +258,15 @@ Complex controllers
\begin{itemize} \begin{itemize}
\item Position sensors \item Position sensors
\item Complex dynamics \item Complex dynamics
\item \(\searrow\) vibration in the bandwidth
\item Use transformation matrices \item Use transformation matrices
\item \(\searrow\) vibration in the bandwidth
\end{itemize} \end{itemize}
\end{tcolorbox} \end{tcolorbox}
\end{column} \end{column}
\end{columns} \end{columns}
\end{frame} \end{frame}
\begin{frame}[label={sec:org8694100}]{Multi-Body Models - Simulations} \begin{frame}[label={sec:org0579a05}]{Multi-Body Models - Simulations}
\begin{center} \begin{center}
\includegraphics[scale=1,width=\linewidth]{figs/simscape_simulation.jpg} \includegraphics[scale=1,width=\linewidth]{figs/simscape_simulation.jpg}
\end{center} \end{center}
@ -302,14 +288,14 @@ Complex controllers
\end{frame} \end{frame}
\section{Detail Design Phase} \section{Detail Design Phase}
\label{sec:orgff27fa3} \label{sec:orga9ae877}
\begin{frame}[label={sec:orgf7e1c30}]{Outline - Detail Design Phase} \begin{frame}[label={sec:org1b0984d}]{Outline - Detail Design Phase}
\begin{center} \begin{center}
\includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach_detailed_phase.pdf} \includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach_detailed_phase.pdf}
\end{center} \end{center}
\end{frame} \end{frame}
\begin{frame}[label={sec:org133ceaa}]{Nano-Hexapod Overview - Key elements} \begin{frame}[label={sec:org1f20e49}]{Nano-Hexapod Overview - Key elements}
\vspace{-1.5em} \vspace{-1.5em}
\begin{center} \begin{center}
@ -329,7 +315,7 @@ Complex controllers
\end{tcolorbox} \end{tcolorbox}
\end{frame} \end{frame}
\begin{frame}[label={sec:org276a69c}]{Choice of Actuator and Flexible Joint Design} \begin{frame}[label={sec:orge2a3011}]{Choice of Actuator and Flexible Joint Design}
\vspace{-2em} \vspace{-2em}
\begin{columns} \begin{columns}
\begin{column}{0.5\columnwidth} \begin{column}{0.5\columnwidth}
@ -384,7 +370,7 @@ Bending Stroke & \SI{> 1}{\milli\radian} & 20\\
\end{columns} \end{columns}
\end{frame} \end{frame}
\begin{frame}[label={sec:org27824a6}]{Instrumentation} \begin{frame}[label={sec:orgc5a1632}]{Instrumentation}
\vspace{-1em} \vspace{-1em}
\begin{columns} \begin{columns}
@ -475,43 +461,43 @@ All elements could be chosen/design based on the models
\end{frame} \end{frame}
\section{Experimental Phase} \section{Experimental Phase}
\label{sec:orgbc8949c} \label{sec:org000fc13}
\begin{frame}[label={sec:org6e7483a}]{Outline - Experimental Phase} \begin{frame}[label={sec:org5a3d17b}]{Outline - Experimental Phase}
\begin{center} \begin{center}
\includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach_experimental_phase.red.pdf} \includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach_experimental_phase.red.pdf}
\end{center} \end{center}
\end{frame} \end{frame}
\begin{frame}[label={sec:org2b19437}]{Flexible Joints - Measurements} \begin{frame}[label={sec:orge94eaf3}]{Flexible Joints - Measurements}
\vspace{-2em} \vspace{-2em}
\begin{columns} \begin{columns}
\begin{column}{0.5\columnwidth} \begin{column}{0.45\columnwidth}
\begin{center} \begin{center}
\includegraphics[scale=1,width=0.95\linewidth]{figs/received_flexible_joints.jpg} \includegraphics[scale=1,width=0.95\linewidth]{figs/received_flexible_joints.jpg}
\end{center} \end{center}
\begin{center} \begin{center}
\includegraphics[scale=1,width=0.95\linewidth]{figs/soft_measure_flex_size.jpg} \includegraphics[scale=1,width=0.95\linewidth]{figs/flexible_joint_bench.pdf}
\end{center} \end{center}
\end{column} \end{column}
\begin{column}{0.55\columnwidth} \begin{column}{0.55\columnwidth}
\vspace{-1.5em}
\begin{center}
\includegraphics[scale=1,width=0.8\linewidth]{figs/flexible_joint_bench.pdf}
\end{center}
\vspace{-1em}
\begin{center} \begin{center}
\includegraphics[scale=1,width=0.9\linewidth]{figs/flex_joint_meas_example_F_d_lin_fit.pdf} \includegraphics[scale=1,width=0.9\linewidth]{figs/flex_joint_meas_example_F_d_lin_fit.pdf}
\end{center} \end{center}
\begin{tcolorbox}[title=Other Measurement Benches]
\begin{itemize}
\item Amplifier Output Noise and Bandwidth
\item Encoder Measurement Noise
\item DAC Output Noise
\end{itemize}
\end{tcolorbox}
\end{column} \end{column}
\end{columns} \end{columns}
\end{frame} \end{frame}
\begin{frame}[label={sec:org96a6b68}]{Amplified Piezoelectric Actuator - Test Bench} \begin{frame}[label={sec:org518f2db}]{Amplified Piezoelectric Actuator - Test Bench}
\vspace{-1em} \vspace{-1em}
\begin{center} \begin{center}
@ -530,13 +516,13 @@ All elements could be chosen/design based on the models
\end{tikzpicture} \end{tikzpicture}
\end{frame} \end{frame}
\begin{frame}[label={sec:orge87ad99}]{Amplified Piezoelectric Actuator - Extracted Model} \begin{frame}[label={sec:org749c413}]{Amplified Piezoelectric Actuator - Measured FRF and Extracted Model}
\begin{center} \begin{center}
\includegraphics[scale=1,width=\linewidth]{figs/apa_comp_model_frf.pdf} \includegraphics[scale=1,width=\linewidth]{figs/apa_comp_model_frf.pdf}
\end{center} \end{center}
\end{frame} \end{frame}
\begin{frame}[label={sec:org7af7fba}]{Amplified Piezoelectric Actuator - Integral Force Feedback} \begin{frame}[label={sec:org1d672c7}]{Amplified Piezoelectric Actuator - Integral Force Feedback}
\vspace{-3em} \vspace{-3em}
\begin{columns} \begin{columns}
\begin{column}{0.62\columnwidth} \begin{column}{0.62\columnwidth}
@ -557,7 +543,7 @@ All elements could be chosen/design based on the models
\end{columns} \end{columns}
\end{frame} \end{frame}
\begin{frame}[label={sec:orgc496afb}]{Strut - Mounting Tool} \begin{frame}[label={sec:org7b5008c}]{Strut - Mounting Tool}
\vspace{-2.5em} \vspace{-2.5em}
\begin{columns} \begin{columns}
\begin{column}{0.63\columnwidth} \begin{column}{0.63\columnwidth}
@ -578,7 +564,7 @@ All elements could be chosen/design based on the models
\end{column} \end{column}
\end{columns} \end{columns}
\end{frame} \end{frame}
\begin{frame}[label={sec:orgaec0a8a}]{Strut - Dynamical Measurements} \begin{frame}[label={sec:orgc1ecd2e}]{Strut - Dynamical Measurements}
\vspace{-1em} \vspace{-1em}
\begin{center} \begin{center}
@ -598,7 +584,7 @@ All elements could be chosen/design based on the models
\end{tikzpicture} \end{tikzpicture}
\end{frame} \end{frame}
\begin{frame}[label={sec:org965cd42}]{Strut - Encoders Output and Spurious Modes} \begin{frame}[label={sec:org8ce2d42}]{Strut - Encoders Output and Spurious Modes}
\vspace{-3em} \vspace{-3em}
\begin{columns} \begin{columns}
\begin{column}{0.43\columnwidth} \begin{column}{0.43\columnwidth}
@ -624,7 +610,7 @@ All elements could be chosen/design based on the models
\end{columns} \end{columns}
\end{frame} \end{frame}
\begin{frame}[label={sec:orgda21de8}]{Nano-Hexapod Mounting Tool} \begin{frame}[label={sec:orgb6be716}]{Nano-Hexapod Mounting Tool}
\begin{center} \begin{center}
\includegraphics[scale=1,width=0.9\linewidth]{figs/nano_hexapod_mounting.JPG} \includegraphics[scale=1,width=0.9\linewidth]{figs/nano_hexapod_mounting.JPG}
\end{center} \end{center}
@ -635,7 +621,7 @@ All elements could be chosen/design based on the models
\end{tikzpicture} \end{tikzpicture}
\end{frame} \end{frame}
\begin{frame}[label={sec:org79abb20}]{Mounted Nano-Hexapod} \begin{frame}[label={sec:org281520e}]{Mounted Nano-Hexapod}
\vspace{-1em} \vspace{-1em}
\begin{center} \begin{center}
@ -643,7 +629,7 @@ All elements could be chosen/design based on the models
\end{center} \end{center}
\end{frame} \end{frame}
\begin{frame}[label={sec:orgf59950c}]{Nano-Hexapod - Identified Dynamics} \begin{frame}[label={sec:org351990a}]{Nano-Hexapod - Identified Dynamics (Diagonal elements)}
\vspace{-1em} \vspace{-1em}
\begin{center} \begin{center}
@ -651,7 +637,7 @@ All elements could be chosen/design based on the models
\end{center} \end{center}
\end{frame} \end{frame}
\begin{frame}[label={sec:org00f7894}]{Nano-Hexapod - Damped Dynamics} \begin{frame}[label={sec:org18b6334}]{Nano-Hexapod - Damped Dynamics}
\vspace{-1em} \vspace{-1em}
\begin{center} \begin{center}
@ -659,7 +645,7 @@ All elements could be chosen/design based on the models
\end{center} \end{center}
\end{frame} \end{frame}
\begin{frame}[label={sec:org89187a0}]{The Nano-Hexapod on top of the Micro-Station} \begin{frame}[label={sec:org79d4d53}]{The Nano-Hexapod on top of the Micro-Station}
\vspace{-0.5em} \vspace{-0.5em}
\only<1>{ \only<1>{
@ -678,8 +664,8 @@ All elements could be chosen/design based on the models
\end{frame} \end{frame}
\section{Conclusion} \section{Conclusion}
\label{sec:orgcce0f41} \label{sec:org5c1e008}
\begin{frame}[label={sec:org905c81b}]{Conclusion} \begin{frame}[label={sec:orgd50b8eb}]{Conclusion}
\begin{columns} \begin{columns}
\begin{column}{0.4\columnwidth} \begin{column}{0.4\columnwidth}
\textbf{Mechatronics Approach}: \textbf{Mechatronics Approach}:

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@ -279,7 +279,7 @@
\draw[->] (iff.south) -- (ctrladd.north); \draw[->] (iff.south) -- (ctrladd.north);
\draw[->] (ctrladd.west) -- (f.east) node[above right]{$u$}; \draw[->] (ctrladd.west) -- (f.east) node[above right]{$u$};
\draw[->] (d.west) -| (ctrl.south); \draw[->] (d.west) -| (ctrl.south);
\draw[->] (ctrl.north) -- (ctrladd.south); \draw[->] (ctrl.north) -- (ctrladd.south) node[below right]{$u^\prime$};
% ==================== % ====================
\end{tikzpicture} \end{tikzpicture}
#+end_src #+end_src