Add lot's of figures

paper/dehaeze21_mechatronics_approach_nass.org

@@ -1,7 +1,7 @@
 #+TITLE: MECHATRONICS APPROACH FOR THE DEVELOPMENT OF A NANO-ACTIVE-STABILIZATION-SYSTEM
 :DRAWER:
 #+LATEX_CLASS: jacow
-#+LATEX_CLASS_OPTIONS: [a4paper, keeplastbox, biblatex]
+#+LATEX_CLASS_OPTIONS: [a4paper, keeplastbox, biblatex, boxit]
 #+OPTIONS: toc:nil
 #+STARTUP: overview
 
@@ -18,7 +18,8 @@
 
 #+LATEX_HEADER: \usepackage{pdfpages,multirow,ragged2e}
 #+LATEX_HEADER: \usepackage{graphicx,tabularx,booktabs}
-#+LATEX_HEADER: \usepackage{blindtext}
+#+LATEX_HEADER: \usepackage{blindtext,bm}
+#+LATEX_HEADER: \usepackage{subcaption}
 #+LATEX_HEADER: \usepackage[USenglish]{babel}
 #+LATEX_HEADER: \setcounter{footnote}{1}
 #+LATEX_HEADER_EXTRA: \usepackage[colorlinks=true, allcolors=blue]{hyperref}
@@ -58,20 +59,45 @@ The presented development approach is foreseen to be applied more frequently to
 
 See cite:dehaeze18_sampl_stabil_for_tomog_exper.
 
-* MECHATRONIC APPROACH
+* NANO ACTIVE STABILIZATION SYSTEM
 
 #+name: fig:nass_concept_schematic
 #+attr_latex: :scale 1
 #+caption: Nano Active Stabilization System - Schematic representation. 1) micro-station, 2) nano-hexapod, 3) sample, 4) metrology system
 [[file:figs/nass_concept_schematic.pdf]]
 
-
-
+* MECHATRONIC APPROACH
 #+name: fig:nass_mechatronics_approach
 #+attr_latex: :float multicolumn :width \linewidth
 #+caption: Overview of the mechatronic approach
 [[file:figs/nass_mechatronics_approach.pdf]]
 
+#+begin_export latex
+\begin{figure*}[htbp]
+  \begin{subfigure}[t]{0.25\linewidth}
+    \centering
+    \includegraphics[width=0.7\linewidth]{figs/mass_spring_damper_hac_lac.pdf}
+    \caption{\label{fig:mass_spring_damper_hac_lac} Mass Spring Damper model}
+  \end{subfigure}
+  \hfill
+  \begin{subfigure}[t]{0.48\linewidth}
+    \centering
+    \includegraphics[width=0.95\linewidth]{figs/nass_simscape_3d.png}
+    \caption{\label{fig:nass_simscape_3d} Multi Body model}
+  \end{subfigure}
+  \hfill
+  \begin{subfigure}[t]{0.25\linewidth}
+    \centering
+    \includegraphics[width=0.95\linewidth]{figs/super_element_simscape_alt.pdf}
+    \caption{\label{fig:super_element_simscape} Finite Element Model}
+  \end{subfigure}
+  \hfill
+  \caption{\label{fig:nass_models}Models used during all the design process. From (\subref{fig:mass_spring_damper_hac_lac}), (\subref{fig:nass_simscape_3d}), (\subref{fig:super_element_simscape})}
+  \centering
+\end{figure*}
+#+end_export
+
+
 * NANO-HEXAPOD DESIGN
 
 #+name: fig:nano_hexapod_elements
@@ -79,12 +105,59 @@ See cite:dehaeze18_sampl_stabil_for_tomog_exper.
 #+caption: CAD view of the nano-hexapod with key elements
 [[file:figs/nano_hexapod_elements.pdf]]
 
+#+name: fig:picture_nano_hexapod_strut
+#+attr_latex: :width \linewidth
+#+caption: Picture of a nano-hexapod's strut
+[[file:figs/picture_nano_hexapod_strut.pdf]]
+
+#+name: fig:nano_hexapod_picture
+#+attr_latex: :width \linewidth
+#+caption: Picture of the Nano-Hexapod on top of the ID31 micro-station
+[[file:figs/nano_hexapod_picture.jpg]]
+
 * TEST-BENCHES
 
-#+name: fig:nass_hac_lac_schematic
-#+attr_latex: :float multicolumn :width \linewidth
-#+caption: HAC-LAC Strategy - Block Diagram
-[[file:figs/nass_hac_lac_schematic.pdf]]
+#+name: fig:test_bench_apa_schematic
+#+attr_latex: :scale 1
+#+caption: Schematic of the bench used to identify the APA dynamics
+[[file:figs/test_bench_apa_schematic.pdf]]
+
+#+begin_export latex
+\begin{figure}[htbp]
+  \begin{subfigure}[t]{0.48\linewidth}
+    \centering
+    \includegraphics[width=0.95\linewidth]{figs/apa_test_bench_results_de.pdf}
+    \caption{\label{fig:apa_test_bench_results_de} Encoder}
+  \end{subfigure}
+  \hfill
+  \begin{subfigure}[t]{0.48\linewidth}
+    \centering
+    \includegraphics[width=0.95\linewidth]{figs/apa_test_bench_results_Vs.pdf}
+    \caption{\label{fig:apa_test_bench_results_Vs} Force Sensor}
+  \end{subfigure}
+  \caption{\label{fig:apa_test_bench_results}Measured Frequency Response functions compared with the Simscape model. From the actuator stacks voltage to the encoder (\subref{fig:apa_test_bench_results_de}) and to the force sensor stack (\subref{fig:apa_test_bench_results_Vs}).}
+  \centering
+\end{figure}
+#+end_export
+
+* CONTROL RESULTS
+
+#+name: fig:nass_hac_lac_schematic_test
+#+attr_latex: :width \linewidth
+#+caption: HAC-LAC Strategy - Block Diagram. The signals are: $\bm{r}$ the wanted sample's position, $\bm{X}$ the measured sample's position, $\bm{\epsilon}_{\mathcal{X}}$ the sample's position error, $\bm{\epsilon}_{\mathcal{L}}$ the sample position error expressed in the "frame" of the nano-hexapod struts, $\bm{u}$ the generated DAC voltages applied to the voltage amplifiers and then to the piezoelectric actuator stacks, $\bm{u}^\prime$ the new inputs corresponding to the damped plant, $\bm{\tau}$ the measured sensor stack voltages. $\bm{T}$ is . $\bm{K}_{\tiny IFF}$ is the Low Authority Controller used for active damping. $\bm{K}_{\mathcal{L}}$ is the High Authority Controller.
+[[file:figs/nass_hac_lac_block_diagram_without_elec.pdf]]
+
+
+#+name: fig:nano_hexapod_identification_comp_simscape
+#+attr_latex: :width \linewidth
+#+caption: Measured FRF and Simscape identified dynamics.
+[[file:figs/nano_hexapod_identification_comp_simscape.pdf]]
+
+
+#+name: fig:nano_hexapod_identification_damp_comp_simscape
+#+attr_latex: :width \linewidth
+#+caption: Undamped and Damped plant using IFF (measured FRF and Simscape model).
+[[file:figs/nano_hexapod_identification_damp_comp_simscape.pdf]]
 
 * CONCLUSION