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Add lot's of figures

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This commit is contained in:
Thomas Dehaeze
2021-07-13 00:54:37 +02:00
parent b3c58e77b2
commit ab7e76d361
43 changed files with 37564 additions and 229 deletions
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67
tikz/config.org
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* Tikz related packages
#+begin_src latex
\usepackage{tikz} % Tikz
\usepackage{tikzscale} % Used to scale Tikz graphics
\usepackage{adjustbox} % Used to proper positioning of tikz pictures
\usepackage{circuitikz} % Draw electronic circuits
\usepackage{pgfpages} % Needed to use notes
\usepackage{pgfplots} % Used to plot functions
\usepackage{tikz} % Tikz
\usepackage{tikzscale} % Used to scale Tikz graphics
\usepackage{adjustbox} % Used to proper positioning of tikz pictures
\usepackage{circuitikz} % Draw electronic circuits
\usepackage{pgfpages} % Needed to use notes
\usepackage{pgfplots} % Used to plot functions
#+end_src
* Tikz Libraries
#+begin_src latex
\usetikzlibrary{arrows} % Arrow tip library
\usetikzlibrary{arrows.meta} % Add some arrows
\usetikzlibrary{calc} % The library allows advanced Coordinate Calculations
\usetikzlibrary{intersections} % calculate intersections of paths
\usetikzlibrary{matrix} %
\usetikzlibrary{patterns} %
\usetikzlibrary{shapes} % Defines circle and rectangle
\usetikzlibrary{shapes.geometric} % Use for the shape diamond and isosceles triangle
\usetikzlibrary{snakes} % snake=coil and snake=zigzag using segment amplitude=10pt
\usetikzlibrary{positioning} % Additional options for placing nodes
\usetikzlibrary{3d} % Plot 3D shapes
\usetikzlibrary{spy} % Creating a magnified area
\usetikzlibrary{decorations.text} % Used to make text follows a curve
\usetikzlibrary{decorations.pathmorphing} % deformation of a path
\usetikzlibrary{decorations.markings} % Used for spring and damper
\usetikzlibrary{babel} % A tiny library that make the interaction with the babel package easier
\usetikzlibrary{plotmarks} % This library defines a number of plot marks
\usetikzlibrary{fit} % Used to make rectangle as nodes by specifying two points
\usetikzlibrary{backgrounds} % Used to put things under others
\usetikzlibrary{arrows} % Arrow tip library
\usetikzlibrary{arrows.meta} % Add some arrows
\usetikzlibrary{calc} % The library allows advanced Coordinate Calculations
\usetikzlibrary{intersections} % calculate intersections of paths
\usetikzlibrary{matrix} %
\usetikzlibrary{patterns} %
\usetikzlibrary{shapes} % Defines circle and rectangle
\usetikzlibrary{shapes.geometric} % Use for the shape diamond and isosceles triangle
\usetikzlibrary{snakes} % snake=coil and snake=zigzag using segment amplitude=10pt
\usetikzlibrary{positioning} % Additional options for placing nodes
\usetikzlibrary{3d} % Plot 3D shapes
\usetikzlibrary{spy} % Creating a magnified area
\usetikzlibrary{decorations.text} % Used to make text follows a curve
\usetikzlibrary{decorations.pathmorphing} % deformation of a path
\usetikzlibrary{decorations.markings} % Used for spring and damper
\usetikzlibrary{babel} % A tiny library that make the interaction with the babel package easier
\usetikzlibrary{plotmarks} % This library defines a number of plot marks
\usetikzlibrary{fit} % Used to make rectangle as nodes by specifying two points
\usetikzlibrary{backgrounds} % Used to put things under others
#+end_src
* PGF Plot libraries and config
#+begin_src latex
\usepgfplotslibrary{patchplots}
\usepgfplotslibrary{groupplots}
\usepgfplotslibrary{patchplots}
\usepgfplotslibrary{groupplots}
\pgfplotsset{compat=newest}
\pgfplotsset{plot coordinates/math parser=false}
#+end_src
* Setup size of figures
#+begin_src latex
\newlength{\fheight}
\newlength{\fwidth}
\setlength{\fwidth}{85mm}
\setlength{\fheight}{112mm}
\pgfplotsset{compat=newest}
\pgfplotsset{plot coordinates/math parser=false}
#+end_src
* Setup Arrows style

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tikz/figures.org
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#+RESULTS:
[[file:figs/nass_mechatronics_approach.png]]
* Schematic Representation - NASS
#+begin_src latex :file nass_concept_schematic.pdf
\begin{tikzpicture}
% Parameters
\def\blockw{6.0cm}
\def\blockh{1.2cm}
* HAC-LAC Representation (two columns)
#+begin_src latex :file nass_hac_lac_block_diagram.pdf
\graphicspath{ {/home/thomas/Cloud/thesis/papers/dehaeze21_mechatronics_approach_nass/tikz/figs-tikz} }
% Translation Stage
\begin{scope}
% Translation Stage - fixed part
\draw[fill=black!40] (-0.5*\blockw, 0) coordinate[](tyb) rectangle (0.5*\blockw, 0.15*\blockh);
\coordinate[] (measposbot) at (0.5*\blockw, 0);
\begin{tikzpicture}
\node[inner sep=3pt, fill=white, draw] (plant) at (0, 0)
{\includegraphics[width=4.5cm]{nass_concept_schematic.pdf}};
% Tilt
\path[] ([shift=(-120:4*\blockh)]0, 4.9*\blockh) coordinate(beginarc) arc (-120:-110:4*\blockh) %
-- ([shift=(-70:4*\blockh)]0, 4.9*\blockh) arc (-70:-60:4*\blockh)%
|- ++(-0.15*\blockw, 0.6*\blockh) coordinate (spindlene)%
|- ($(beginarc) + (0.15*\blockw, 0.2*\blockh)$) coordinate (spindlesw) -- ++(0, 0.4*\blockh) coordinate(tiltte) -| cycle;
\coordinate[] (outputf) at ($(plant.south east)!0.75!(plant.north east)$);
\coordinate[] (outputx) at ($(plant.south east)!0.25!(plant.north east)$);
% Spindle
\coordinate[] (spindlese) at (spindlesw-|spindlene);
\draw[fill=black!30] ($(spindlese)+(-0.1,0.1)+(-0.1*\blockw, 0)$) -| ($(spindlene)+(-0.1, 0)$) -| coordinate[pos=0.25](spindletop) ($(spindlesw)+(0.1,0.1)$) -| ++(0.1*\blockw, -\blockh) -| coordinate[pos=0.25](spindlebot) cycle;
\node[block, left=0.6 of plant] (amp) {Amplifier};
\node[DAC, left=0.6 of amp] (dac) {DAC};
\node[ADC] (adc) at ($(plant.north-|dac) + (0, 0.2)$) {ADC};
\node[addb, left=0.6 of dac] (addu) {};
\node[block, above=0.4 of addu] (Kiff) {$\bm{K}_{\mathcal{L}}$};
\node[block, left=0.6 of addu] (Kl) {$\bm{K}_{\mathcal{X}}$};
\node[block, left=0.6 of Kl] (J) {$\bm{J}$};
\node[block, left=0.6 of J] (pos_error) {Pos. Err.};
\draw[dashed, color=black!60] ($(spindletop)+(0, 0.2)$) -- ($(spindlebot)+(0,-0.2)$);
\draw[->] (outputf) -- ++(0.2, 0)node[branch]{} |- (adc.east);
\draw[->] (outputf) --node[midway, below]{$\bm{\tau}_m$} ++(0.8, 0);
\draw[->] (outputx) -- ++(0.2, 0)node[branch]{} |- ($(plant.south)+(0, -0.2)$) -| (pos_error.south);
\draw[->] (outputx) --node[midway, above]{$\bm{\mathcal{X}}_m$} ++(0.8, 0);
% Tilt
\draw[fill=black!60] ([shift=(-120:4*\blockh)]0, 4.9*\blockh) coordinate(beginarc) arc (-120:-110:4*\blockh) %
-- ([shift=(-70:4*\blockh)]0, 4.9*\blockh) arc (-70:-60:4*\blockh)%
|- ++(-0.15*\blockw, 0.6*\blockh) coordinate (spindlene)%
|- ($(beginarc) + (0.15*\blockw, 0.2*\blockh)$) coordinate (spindlesw) -- ++(0, 0.4*\blockh) -| cycle;
% Translation Stage - mobile part
\draw[fill=black!10, fill opacity=0.5] (-0.5*\blockw, 0.2*\blockh) -- (-0.5*\blockw, 1.5*\blockh) coordinate[](tyt) -- (0.5*\blockw, 1.5*\blockh) -- (0.5*\blockw, 0.2*\blockh) -- (0.35*\blockw, 0.2*\blockh) -- (0.35*\blockw, 0.8*\blockh) -- (-0.35*\blockw, 0.8*\blockh) -- (-0.35*\blockw, 0.2*\blockh) -- cycle;
% Translation Guidance
\draw[dashed, color=black!60] ($(-0.5*\blockw, 0)+( 0.075*\blockw,0.5*\blockh)$) circle (0.2*\blockh);
\draw[dashed, color=black!60] ($( 0.5*\blockw, 0)+(-0.075*\blockw,0.5*\blockh)$) circle (0.2*\blockh);
% Tilt Guidance
\draw[dashed, color=black!60] ([shift=(-110:4*\blockh)]0, 4.8*\blockh) arc (-110:-120:4*\blockh);
\draw[dashed, color=black!60] ([shift=( -70:4*\blockh)]0, 4.8*\blockh) arc (-70:-60:4*\blockh);
\end{scope}
% Micro-Hexapod
\begin{scope}[shift={(spindletop)}]
% Parameters definitions
\def\baseh{0.2*\blockh} % Height of the base
\def\naceh{0.2*\blockh} % Height of the nacelle
\def\baser{0.22*\blockw} % Radius of the base
\def\nacer{0.18*\blockw} % Radius of the nacelle
\def\armr{0.2*\blockh} % Radius of the arms
\def\basearmborder{0.2}
\def\nacearmborder{0.2}
\def\xnace{0} \def\ynace{\blockh-\naceh} \def\anace{0}
\def\xbase{0} \def\ybase{0} \def\abase{0}
% Hexapod1
\begin{scope}[shift={(\xbase, \ybase)}, rotate=\abase]
% Base
\draw[fill=white] (-\baser, 0) coordinate[](uhexabot) rectangle (\baser, \baseh);
\coordinate[] (armbasel) at (-\baser+\basearmborder+\armr, \baseh);
\coordinate[] (armbasec) at (0, \baseh);
\coordinate[] (armbaser) at (\baser-\basearmborder-\armr, \baseh);
% Nacelle1
\begin{scope}[shift={(\xnace, \ynace)}, rotate=\anace]
\draw[fill=white] (-\nacer, 0) rectangle (\nacer, \naceh);
\coordinate[] (uhexatop) at (0, \naceh);
\coordinate[] (armnacel) at (-\nacer+\nacearmborder+\armr, 0);
\coordinate[] (armnacec) at (0, 0);
\coordinate[] (armnacer) at (\nacer-\nacearmborder-\armr, 0);
\end{scope}
% Nacelle1 END
\draw[] (armbasec) -- (armnacer);
\draw[] (armbasec) -- (armnacel);
\draw[] (armbasel) -- (armnacel);
\draw[] (armbasel) -- (armnacec);
\draw[] (armbaser) -- (armnacec);
\draw[] (armbaser) -- (armnacer);
\end{scope}
\end{scope}
% NASS
\begin{scope}[shift={(uhexatop)}]
% Parameters definitions
\def\baseh{0.1*\blockh} % Height of the base
\def\naceh{0.1*\blockh} % Height of the nacelle
\def\baser{0.16*\blockw} % Radius of the base
\def\nacer{0.14*\blockw} % Radius of the nacelle
\def\armr{0.1*\blockh} % Radius of the arms
\def\basearmborder{0.2}
\def\nacearmborder{0.2}
\def\xnace{0} \def\ynace{0.6*\blockh-\naceh} \def\anace{0}
\def\xbase{0} \def\ybase{0} \def\abase{0}
% Hexapod1
\begin{scope}[shift={(\xbase, \ybase)}, rotate=\abase]
% Base
\draw[fill=red!50!black] (-\baser, 0) coordinate[](nhexabot) rectangle (\baser, \baseh);
\coordinate[] (armbasel) at (-\baser+\basearmborder+\armr, \baseh);
\coordinate[] (armbasec) at (0, \baseh);
\coordinate[] (armbaser) at (\baser-\basearmborder-\armr, \baseh);
% Nacelle1
\begin{scope}[shift={(\xnace, \ynace)}, rotate=\anace]
\draw[fill=red!50!black] (-\nacer, 0) rectangle (\nacer, \naceh);
\coordinate[] (nhexatop) at (0, \naceh);
\coordinate[] (armnacel) at (-\nacer+\nacearmborder+\armr, 0);
\coordinate[] (armnacec) at (0, 0);
\coordinate[] (armnacer) at (\nacer-\nacearmborder-\armr, 0);
\coordinate[] (measpostop) at (\nacer, \naceh);
\end{scope}
% Nacelle1 END
\draw[color=red!50!black] (armbasec) -- (armnacer);
\draw[color=red!50!black] (armbasec) -- (armnacel);
\draw[color=red!50!black] (armbasel) -- (armnacel);
\draw[color=red!50!black] (armbasel) -- (armnacec);
\draw[color=red!50!black] (armbaser) -- (armnacec);
\draw[color=red!50!black] (armbaser) -- (armnacer);
% Force actuator
\coordinate[] (nassfbot) at (0.8*\baser, \baseh);
\coordinate[] (nassftop) at (armnacec-|nassfbot);
\end{scope}
\end{scope}
% Sample
\begin{scope}[shift={(nhexatop)}]
\draw[fill=white] (-0.1*\blockw, 0) coordinate[](samplebot) rectangle coordinate[pos=0.5](samplecenter) (0.1*\blockw, \blockh) coordinate[](sampletop);
\end{scope}
% Laser
\begin{scope}[shift={(samplecenter)}]
\draw[color=red, -<-=0.5] (samplecenter) node[circle, fill=red, inner sep=0pt, minimum size=3pt]{} -- node[midway, above, color=black]{X-ray} ($(samplecenter)+(0.5*\blockw,0)$);
\end{scope}
%% Measurement
\draw[dashed, color=black!50] (measposbot) -- ++(0.8,0) coordinate (measposbotend);
\draw[dashed, color=black!50] (measpostop) -- (measpostop-|measposbotend) coordinate (measpostopend);
\draw[<->, dashed] ($(measposbotend)+(-0.2, 0)$) -- node[midway, left](d){$d$} ($(measpostopend)+(-0.2, 0)$);
%% Control
\draw[<->, line width=0.5pt] (nassfbot) -- node[midway, right](F){$F$} (nassftop);
\node[draw, block={2.3em}{1.7em}, right=0.3 of F] (K){$K$};
\draw[->] (d.west) -| ($(K.east)+(0.5, 0)$) -- (K.east);
\draw[->] (K.west) -- (F.east);
\end{tikzpicture}
\draw[->] (pos_error.east) -- node[midway, above]{$\bm{\epsilon}_{\mathcal{X}}$} (J.west);
\draw[->] (J.east) -- node[midway, above]{$\bm{\epsilon}_{\mathcal{L}}$} (Kl.west);
\draw[->] (Kl.east) -- node[midway, above]{$\bm{u}^\prime$} (addu.west);
\draw[->] (addu.east) -- node[midway, above]{$\bm{u}$} (dac.west);
\draw[->] (dac.east) -- (amp.west);
\draw[->] (amp.east) -- (plant.west);
\draw[->] (adc.west) -| (Kiff.north);
\draw[->] (Kiff.south) -- (addu.north);
\draw[<-] (pos_error.west) -- node[midway, above]{$\bm{r}_\mu$} ++(-0.8, 0);
\end{tikzpicture}
#+end_src
#+RESULTS:
[[file:figs/nass_hac_lac_block_diagram.png]]
* HAC-LAC alternative (one column)
#+begin_src latex :file nass_hac_lac_block_diagram_without_elec.pdf
\graphicspath{ {/home/thomas/Cloud/thesis/papers/dehaeze21_mechatronics_approach_nass/tikz/figs-tikz} }
\begin{tikzpicture}
% Plant
\node[inner sep=3pt, fill=white, draw] (plant) at (0, 0)
{\includegraphics[width=4cm]{nass_concept_schematic.pdf}};
% Plant outputs
\coordinate[] (outputf) at ($(plant.south east)!0.8!(plant.north east)$);
\coordinate[] (outputx) at ($(plant.south east)!0.2!(plant.north east)$);
% Blocks
\node[addb, left=0.6 of plant] (addu) {};
\node[block, above=0.4 of addu] (Kiff) {$\bm{K}_{\text{\tiny IFF}}$};
\node[block, left=1.0 of addu] (Kl) {$\bm{K}_{\mathcal{L}}$};
\node[block, left=0.6 of Kl] (J) {$\bm{J}$};
\node[addb={+}{}{}{}{-}, left=0.6 of J] (pos_error) {};
% Lines
\draw[->] (outputf) -- ++(0.2, 0)node[below]{$\bm{\tau}$} |- ($(plant.north)+(0, 0.2)$) -| (Kiff.north);
\draw[->] (outputx) -- ++(0.6, 0)node[above]{$\bm{\mathcal{X}}$} |- ($(plant.south)+(0, -0.4)$) -| (pos_error.south);
\draw[->] (pos_error.east) -- node[midway, above]{$\bm{\epsilon}_{\mathcal{X}}$} (J.west);
\draw[->] (J.east) -- node[midway, above]{$\bm{\epsilon}_{\mathcal{L}}$} (Kl.west);
\draw[->] (Kl.east) -- node[near start, above]{$\bm{u}^\prime$} (addu.west);
\draw[->] (addu.east) -- node[midway, above]{$\bm{u}$} (plant.west);
\draw[->] (Kiff.south) -- (addu.north);
\draw[<-] (pos_error.west) -- node[midway, above]{$\bm{r}$} ++(-0.6, 0);
% Damped plant
\begin{scope}[on background layer]
\node[fit={(plant.south-|Kiff.west) ($(plant.north east)+(0.2cm,0.2cm)$)}, fill=black!10!white, draw, dashed, inner sep=0.2cm] (damped_plant) {};
\node[above right, align=left] at (damped_plant.south west) {\small Damped\\Plant};
\end{scope}
\end{tikzpicture}
#+end_src
#+RESULTS:
[[file:figs/nass_hac_lac_block_diagram_without_elec.png]]
* Mass Spring Damper Model
#+begin_src latex :file mass_spring_damper_hac_lac.pdf
\begin{tikzpicture}
% ====================
% Parameters
% ====================
\def\bracs{0.05} % Brace spacing vertically
\def\brach{-12pt} % Brace shift horizontaly
% ====================
% ====================
% Ground
% ====================
\draw (-0.9, 0) -- (0.9, 0);
\draw[dashed] (0.9, 0) -- ++(0.5, 0);
\draw[->] (1.3, 0) -- ++(0, 0.4) node[right]{$w$};
% ====================
% ====================
% Granite
\begin{scope}[shift={(0, 0)}]
\draw[fill=white] (-0.9, 1.2) rectangle (0.9, 2.0) node[pos=0.5]{$\scriptstyle\text{granite}$};
\draw[spring] (-0.7, 0) -- ++(0, 1.2);
\draw[damper] ( 0, 0) -- ++(0, 1.2);
\draw[dashed] ( 0.9, 2.0) -- ++(2.0, 0) coordinate(xg);
% \draw[decorate, decoration={brace, amplitude=8pt}, xshift=\brach] %
% (-0.9, \bracs) -- ++(0, 2.0) node[midway,rotate=90,anchor=south,yshift=10pt]{Granite};
\end{scope}
% ====================
% ====================
% Stages
\begin{scope}[shift={(0, 2.0)}]
\draw[fill=white] (-0.9, 1.2) rectangle (0.9, 2.0) node[pos=0.5]{$\scriptstyle\mu\text{-station}$};
\draw[spring] (-0.7, 0) -- ++(0, 1.2);
\draw[damper] ( 0, 0) -- ++(0, 1.2);
\draw[actuator] ( 0.7, 0) -- ++(0, 1.2) node[midway, right=0.1](ft){$f_t$};
% \draw[decorate, decoration={brace, amplitude=8pt}, xshift=\brach] %
% (-0.9, \bracs) -- ++(0, 2.0) node[midway,rotate=90,anchor=south,yshift=10pt]{$\mu\text{-station}$};
\end{scope}
% ====================
% ====================
% NASS
\begin{scope}[shift={(0, 4.0)}]
\draw[fill=white] (-0.9, 1.5) rectangle (0.9, 2.3) node[pos=0.5]{$\scriptstyle\nu\text{-hexapod}$};
\draw[dashed] (0.9, 2.3) -- ++(2.0, 0) coordinate(xnpos);
\draw[spring] (-0.7, 0) -- ++(0, 1.2) node[midway, left=0.1]{};
\draw[damper] ( 0, 0) -- ++(0, 1.2) node[midway, left=0.2]{};
\draw[actuator] ( 0.7, 0) -- ++(0, 1.2) coordinate[midway, below right=0.2 and 0.1](f);
\node[forcesensor={1.8}{0.3}] (fsensn) at (0, 1.2){};
% \draw[decorate, decoration={brace, amplitude=8pt}, xshift=\brach] %
% (-0.9, \bracs) -- ++(0, 2.2) node[midway,rotate=90,anchor=south,yshift=10pt]{$\nu\text{-hexapod}$};
\end{scope}
% ====================
% ====================
% Measured Displacement
\draw[<->, dashed] ($(xg)+(-0.1, 0)$) node[above left](d){$d$} -- ($(xnpos)+(-0.1, 0)$);
% ====================
% ====================
% IFF Control
\node[block={2em}{1.5em}, right=0.6 of fsensn] (iff) {$K_{\scriptscriptstyle IFF}$};
\node[addb] (ctrladd) at (f-|iff) {};
\node[block={2em}{1.5em}, below=0.6 of ctrladd] (ctrl) {$K_{X}$};
\draw[->] (fsensn.east) -- node[midway, above]{$\tau_m$} (iff.west);
\draw[->] (iff.south) -- (ctrladd.north);
\draw[->] (ctrladd.west) -- (f.east) node[above right]{$u$};
\draw[->] (d.west) -| (ctrl.south);
\draw[->] (ctrl.north) -- (ctrladd.south);
% ====================
\end{tikzpicture}
#+end_src
#+RESULTS:
[[file:figs/mass_spring_damper_hac_lac.png]]