Add lot's of figures
This commit is contained in:
@@ -1,16 +1,17 @@
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% Created 2021-07-12 lun. 14:47
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% Created 2021-07-13 mar. 00:51
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% Intended LaTeX compiler: pdflatex
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\documentclass[a4paper, keeplastbox, biblatex]{jacow}
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\documentclass[a4paper, keeplastbox, biblatex, boxit]{jacow}
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\usepackage{pdfpages,multirow,ragged2e}
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\usepackage{graphicx,tabularx,booktabs}
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\usepackage{blindtext}
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\usepackage{blindtext,bm}
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\usepackage{subcaption}
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\usepackage[USenglish, english]{babel}
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\setcounter{footnote}{1}
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\usepackage[colorlinks=true, allcolors=blue]{hyperref}
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\addbibresource{ref.bib}
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\author{T. Dehaeze\textsuperscript{1,}\thanks{thomas.dehaeze@esrf.fr}, J. Bonnefoy, ESRF, Grenoble, France \\ C. Collette\textsuperscript{1}, Université Libre de Bruxelles, BEAMS department, Brussels, Belgium \\ \textsuperscript{1}also at Precision Mechatronics Laboratory, University of Liege, Belgium}
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\date{2021-07-12}
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\date{2021-07-13}
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\title{MECHATRONICS APPROACH FOR THE DEVELOPMENT OF A NANO-ACTIVE-STABILIZATION-SYSTEM}
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\begin{document}
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@@ -31,12 +32,12 @@ The presented development approach is foreseen to be applied more frequently to
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\end{abstract}
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\section{INTRODUCTION}
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\label{sec:org308d5f7}
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\label{sec:org0bd2d65}
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See \cite{dehaeze18_sampl_stabil_for_tomog_exper}.
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\section{MECHATRONIC APPROACH}
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\label{sec:org8ceb80a}
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\section{NANO ACTIVE STABILIZATION SYSTEM}
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\label{sec:orgcb63b2b}
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\begin{figure}[htbp]
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\centering
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@@ -44,16 +45,40 @@ See \cite{dehaeze18_sampl_stabil_for_tomog_exper}.
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\caption{\label{fig:nass_concept_schematic}Nano Active Stabilization System - Schematic representation. 1) micro-station, 2) nano-hexapod, 3) sample, 4) metrology system}
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\end{figure}
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\section{MECHATRONIC APPROACH}
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\label{sec:orgd2030b5}
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\begin{figure*}
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\centering
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\includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach.pdf}
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\caption{\label{fig:nass_mechatronics_approach}Overview of the mechatronic approach}
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\end{figure*}
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\begin{figure*}[htbp]
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\begin{subfigure}[t]{0.25\linewidth}
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\centering
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\includegraphics[width=0.7\linewidth]{figs/mass_spring_damper_hac_lac.pdf}
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\caption{\label{fig:mass_spring_damper_hac_lac} Mass Spring Damper model}
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\end{subfigure}
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\hfill
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\begin{subfigure}[t]{0.48\linewidth}
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\centering
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\includegraphics[width=0.95\linewidth]{figs/nass_simscape_3d.png}
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\caption{\label{fig:nass_simscape_3d} Multi Body model}
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\end{subfigure}
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\hfill
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\begin{subfigure}[t]{0.25\linewidth}
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\centering
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\includegraphics[width=0.95\linewidth]{figs/super_element_simscape_alt.pdf}
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\caption{\label{fig:super_element_simscape} Finite Element Model}
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\end{subfigure}
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\hfill
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\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})}
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\centering
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\end{figure*}
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\section{NANO-HEXAPOD DESIGN}
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\label{sec:org41b979c}
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\label{sec:org923eba1}
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\begin{figure*}
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\centering
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@@ -61,20 +86,71 @@ See \cite{dehaeze18_sampl_stabil_for_tomog_exper}.
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\caption{\label{fig:nano_hexapod_elements}CAD view of the nano-hexapod with key elements}
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\end{figure*}
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\section{TEST-BENCHES}
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\label{sec:orgd4b8fb2}
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\begin{figure*}
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\begin{figure}[htbp]
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\centering
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\includegraphics[scale=1,width=\linewidth]{figs/nass_hac_lac_schematic.pdf}
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\caption{\label{fig:nass_hac_lac_schematic}HAC-LAC Strategy - Block Diagram}
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\end{figure*}
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\includegraphics[scale=1,width=\linewidth]{figs/picture_nano_hexapod_strut.pdf}
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\caption{\label{fig:picture_nano_hexapod_strut}Picture of a nano-hexapod's strut}
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\end{figure}
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\begin{figure}[htbp]
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\centering
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\includegraphics[scale=1,width=\linewidth]{figs/nano_hexapod_picture.jpg}
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\caption{\label{fig:nano_hexapod_picture}Picture of the Nano-Hexapod on top of the ID31 micro-station}
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\end{figure}
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\section{TEST-BENCHES}
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\label{sec:orgeb70416}
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\begin{figure}[htbp]
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\centering
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\includegraphics[scale=1,scale=1]{figs/test_bench_apa_schematic.pdf}
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\caption{\label{fig:test_bench_apa_schematic}Schematic of the bench used to identify the APA dynamics}
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\end{figure}
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\begin{figure}[htbp]
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\begin{subfigure}[t]{0.48\linewidth}
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\centering
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\includegraphics[width=0.95\linewidth]{figs/apa_test_bench_results_de.pdf}
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\caption{\label{fig:apa_test_bench_results_de} Encoder}
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\end{subfigure}
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\hfill
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\begin{subfigure}[t]{0.48\linewidth}
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\centering
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\includegraphics[width=0.95\linewidth]{figs/apa_test_bench_results_Vs.pdf}
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\caption{\label{fig:apa_test_bench_results_Vs} Force Sensor}
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\end{subfigure}
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\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}).}
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\centering
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\end{figure}
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\section{CONTROL RESULTS}
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\label{sec:org2dca095}
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\begin{figure}[htbp]
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\centering
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\includegraphics[scale=1,width=\linewidth]{figs/nass_hac_lac_block_diagram_without_elec.pdf}
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\caption{\label{fig:nass_hac_lac_schematic_test}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.}
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\end{figure}
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\begin{figure}[htbp]
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\centering
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\includegraphics[scale=1,width=\linewidth]{figs/nano_hexapod_identification_comp_simscape.pdf}
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\caption{\label{fig:nano_hexapod_identification_comp_simscape}Measured FRF and Simscape identified dynamics.}
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\end{figure}
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\begin{figure}[htbp]
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\centering
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\includegraphics[scale=1,width=\linewidth]{figs/nano_hexapod_identification_damp_comp_simscape.pdf}
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\caption{\label{fig:nano_hexapod_identification_damp_comp_simscape}Undamped and Damped plant using IFF (measured FRF and Simscape model).}
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\end{figure}
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\section{CONCLUSION}
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\label{sec:org45fae73}
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\label{sec:orgce60d85}
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\section{ACKNOWLEDGMENTS}
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\label{sec:org36b4615}
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\label{sec:orgfea2444}
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This research was made possible by a grant from the FRIA.
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We thank the following people for their support, without whose help this work would never have been possible: V. Honkimaki, L. Ducotte and M. Lessourd and the whole team of the Precision Mechatronic Laboratory.
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