Rework figures

talk/dehaeze21_mechatronics_approach_nass_talk.org

@@ -888,15 +888,24 @@ CLOSED: [2021-07-21 mer. 17:43]
 
 ** Nano-Hexapod - Identified Dynamics
 
-Diagonal + off-diagonal transfer function from Va to De (comp with model)
+\vspace{-1em}
+
+#+attr_latex: :width \linewidth
+[[file:figs/nano_hexapod_enc_bode_plot.pdf]]
 
 ** Nano-Hexapod - Force Sensors
 
-Diagonal + off-diagonal transfer function from Va to Vs
+\vspace{-1em}
+
+#+attr_latex: :width \linewidth
+[[file:figs/nano_hexapod_iff_bode_plot.pdf]]
 
 ** Nano-Hexapod - Damped Dynamics
 
-Damped and Undamped, Diagonal + off-diagonal transfer function from Va to De
+\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]

talk/dehaeze21_mechatronics_approach_nass_talk.tex

@@ -1,4 +1,4 @@
-% Created 2021-07-22 jeu. 10:15
+% Created 2021-07-22 jeu. 11:33
 % Intended LaTeX compiler: pdflatex
 \documentclass[aspectratio=169, t]{clean-beamer}
 \usepackage[utf8]{inputenc}
@@ -59,14 +59,480 @@
 \begin{document}
 
 \maketitle
+
+\section*{Introduction}
+\begin{frame}[label={sec:org289143a}]{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){%
+    \includegraphics[width=2em]{figs/icon_animation.pdf}};
+\end{tikzpicture}
+\end{frame}
+
+\begin{frame}[label={sec:org582891f}]{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}
+\end{center}
+\end{frame}
+
+\begin{frame}[label={sec:orgbb61f47}]{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}
+\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}
+\vspace{-1em}
+
+\begin{center}
+\includegraphics[scale=1,width=\linewidth]{figs/classical_feedback_schematic.png}
+\end{center}
+
+\vspace{-1em}
+
+\begin{columns}
+\begin{column}{0.4\columnwidth}
+\begin{tcolorbox}[title=Why Feedback?]
+\begin{itemize}
+\item Model uncertainties
+\item Unknown disturbances
+\end{itemize}
+\end{tcolorbox}
+\end{column}
+
+\begin{column}{0.6\columnwidth}
+\begin{tcolorbox}[title=Every elements can limit the performances]
+\begin{itemize}
+\item Drivers, Actuators, Sensors
+\item Mechanical System
+\item Controller
+\end{itemize}
+\end{tcolorbox}
+\end{column}
+\end{columns}
+\end{frame}
+
+\begin{frame}[label={sec:org79cdad4}]{Noise Budgeting and Required Control Bandwidth}
+\vspace{-1em}
+
+\begin{center}
+\includegraphics[scale=1,width=\linewidth]{figs/identification_control_noise_budget.red.pdf}
+\end{center}
+\end{frame}
+
+\begin{frame}[label={sec:org176e59b}]{Limitation of the Controller Bandwidth?}
+\begin{columns}
+\begin{column}{0.6\columnwidth}
+\vspace{-2em}
+
+\only<1>{
+
+\begin{center}
+\includegraphics[scale=1,width=\linewidth]{figs/control_bandwidth_1_classical.pdf}
+\end{center}
+
+}\only<2>{
+
+\begin{center}
+\includegraphics[scale=1,width=\linewidth]{figs/control_bandwidth_2_above_res.pdf}
+\end{center}
+
+}\only<3>{
+
+\begin{center}
+\includegraphics[scale=1,width=\linewidth]{figs/control_bandwidth_3_next_gen.pdf}
+\end{center}
+
+}
+\end{column}
+
+\begin{column}{0.4\columnwidth}
+\vspace{-2em}
+
+\begin{center}
+\includegraphics[scale=1,width=\linewidth]{figs/test_bench_apa_simple.pdf}
+\end{center}
+
+\only<1>{
+
+\begin{tcolorbox}[title=Typical Approach, fontupper=\small]
+``As stiff as possible'' \newline
+Simple controller (e.g. PID)
+\end{tcolorbox}
+
+}\only<2>{
+
+\begin{tcolorbox}[title=Alternative Approach, fontupper=\small]
+Limited by complex dynamics\newline
+Model based controller
+\end{tcolorbox}
+
+}\only<3>{
+
+\begin{tcolorbox}[title=Next-Gen Systems, fontupper=\small]
+Active research topic\newline
+Complex controllers
+\end{tcolorbox}
+
+}
+\end{column}
+\end{columns}
+\end{frame}
+
+\begin{frame}[label={sec:org21bb7d1}]{Soft or Stiff \(\nu\text{-hexapod}\) ? Interaction with the \(\mu\text{-station}\)}
+\vspace{-3em}
+\begin{columns}
+\begin{column}{0.3\columnwidth}
+\onslide<1->{
+
+\begin{center}
+\includegraphics[scale=1,width=\linewidth]{figs/nass_example_uncertainty_support_only_hexapod.pdf}
+\end{center}
+
+}\onslide<2->{
+
+\begin{center}
+\includegraphics[scale=1,width=\linewidth]{figs/nass_example_uncertainty_support.pdf}
+\end{center}
+
+}
+\end{column}
+
+\begin{column}{0.7\columnwidth}
+\onslide<1->{
+
+\begin{center}
+\includegraphics[scale=1,width=\linewidth]{figs/nass_example_alone.pdf}
+\end{center}
+
+\vspace{-2em}
+
+}\onslide<2->{
+
+\begin{center}
+\includegraphics[scale=1,width=\linewidth]{figs/nass_example_support_uncertainty_d_L.pdf}
+\end{center}
+
+}
+\end{column}
+\end{columns}
+\end{frame}
+
+\begin{frame}[label={sec:org12c046c}]{Complexity of the Micro-Station Dynamics (Model Analysis)}
+\vspace{-1em}
+
+\begin{center}
+\includegraphics[scale=1,width=0.95\linewidth]{figs/modes_annotated.png}
+\end{center}
+
+\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{frame}
+
+\begin{frame}[label={sec:org1ffb21e}]{Control Strategy: HAC-LAC}
+\vspace{-0.5em}
+
+\begin{center}
+\includegraphics[scale=1,width=\linewidth]{figs/nass_schematic_test.pdf}
+\end{center}
+
+\vspace{-2.0em}
+
+\begin{columns}
+\begin{column}{0.5\columnwidth}
+\begin{tcolorbox}[title=Low Authority Control]
+\begin{itemize}
+\item Collocated sensors/actuators
+\item Guaranteed Stability
+\item Adds damping
+\item \(\searrow\) vibration near resonances
+\end{itemize}
+\end{tcolorbox}
+\end{column}
+
+\begin{column}{0.5\columnwidth}
+\begin{tcolorbox}[title=High Authority Control]
+\begin{itemize}
+\item Position sensors
+\item Complex dynamics
+\item \(\searrow\) vibration in the bandwidth
+\item Use transformation matrices
+\end{itemize}
+\end{tcolorbox}
+\end{column}
+\end{columns}
+\end{frame}
+
+\begin{frame}[label={sec:org4b89eaa}]{Multi-Body Models - Simulations}
+\begin{center}
+\includegraphics[scale=1,width=\linewidth]{figs/simscape_simulation.jpg}
+\end{center}
+
+
+\begin{tikzpicture}[remember picture, overlay]
+  \node[align=left, anchor=south east, text width=5.5cm,shift={(-1em, 1em)}] at (current page.south east){%
+  \begin{tcolorbox}
+  \begin{center}
+    Validation of the concept
+  \end{center}
+  \end{tcolorbox}};
+\end{tikzpicture}
+
+\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{frame}
+
+\section{Detail Design Phase}
+\begin{frame}[label={sec:org94436e6}]{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{center}
+\includegraphics[scale=1,width=\linewidth]{figs/nano_hexapod_elements.red.pdf}
+\end{center}
+\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}
+\vspace{-2em}
+\begin{columns}
+\begin{column}{0.5\columnwidth}
+\scriptsize
+\begin{center}
+\begin{tabularx}{0.8\linewidth}{ccc}
+\toprule
+\textbf{Characteristic} & \textbf{Specs} & \textbf{Doc.}\\
+\midrule
+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}\\
+\bottomrule
+\end{tabularx}
+\end{center}
+\normalsize
+
+\vspace{-1em}
+
+\begin{figure}[htbp]
+\centering
+\includegraphics[scale=1,width=0.9\linewidth]{figs/apa300ml_picture.jpg}
+\caption{Picture of the APA300ML}
+\end{figure}
+\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}\\
+\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\\
+\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}
+\caption{Picture of the joint}
+\end{figure}
+\end{column}
+\end{columns}
+\end{frame}
+
+\begin{frame}[label={sec:org5368d2f}]{Instrumentation}
+\vspace{-1em}
+
+\begin{columns}
+\begin{column}{0.33\columnwidth}
+\begin{figure}[htbp]
+\centering
+\includegraphics[scale=1,height=2.2cm]{figs/amplifier_PD200.jpg}
+\caption{PiezoDrive - PD200 Amplifier}
+\end{figure}
+
+\vspace{-1em}
+
+\tiny
+\begin{center}
+\begin{tabularx}{0.75\linewidth}{lc}
+\toprule
+\textbf{Characteristics} & \textbf{Manual}\\
+\midrule
+Gain & \num{20}\\
+Noise & \SI{0.7}{\milli\volt\rms}\\
+Small Signal BW & \SI{7.4}{\kilo\hertz}\\
+Large Signal BW & \SI{300}{\hertz}\\
+\bottomrule
+\end{tabularx}
+\end{center}
+\normalsize
+\end{column}
+
+
+\begin{column}{0.33\columnwidth}
+\begin{figure}[htbp]
+\centering
+\includegraphics[scale=1,height=2.2cm]{figs/encoder_vionic.jpg}
+\caption{Renishaw - Vionic Encoder}
+\end{figure}
+
+\vspace{-1em}
+
+\tiny
+\begin{center}
+\begin{tabularx}{0.85\linewidth}{lc}
+\toprule
+\textbf{Characteristics} & \textbf{Manual}\\
+\midrule
+Range & Ruler length\\
+Resolution & \SI{2.5}{\nano\meter}\\
+Sub-Divisional Error & \SI{<\pm 15}{\nano\meter}\\
+Bandwidth & \SI{>5}{kHz}\\
+\bottomrule
+\end{tabularx}
+\end{center}
+\normalsize
+\end{column}
+
+\begin{column}{0.33\columnwidth}
+\begin{figure}[htbp]
+\centering
+\includegraphics[scale=1,height=2.2cm]{figs/Speedgoat-Performance-Real-Time-Target-Machine.jpg}
+\caption{Speedgoat - Target Machine}
+\end{figure}
+
+\vspace{-1em}
+
+\tiny
+\begin{center}
+\begin{tabularx}{0.8\linewidth}{lc}
+\toprule
+\textbf{Characteristics} & \textbf{Manual}\\
+\midrule
+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}\\
+\bottomrule
+\end{tabularx}
+\end{center}
+\normalsize
+\end{column}
+\end{columns}
+
+\vspace{1em}
+
+\begin{tcolorbox}
+\begin{center}
+All elements could be chosen/design based on the models
+\end{center}
+\end{tcolorbox}
+\end{frame}
+
 \section{Experimental Phase}
-\begin{frame}[label={sec:orgf3c94cd}]{Outline - Experimental Phase}
+\begin{frame}[label={sec:org70a96b2}]{Outline - Experimental Phase}
 \begin{center}
 \includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach_experimental_phase.pdf}
 \end{center}
 \end{frame}
 
-\begin{frame}[label={sec:org479753d}]{Flexible Joints - Measurements}
+\begin{frame}[label={sec:org77b0197}]{Flexible Joints - Measurements}
 \vspace{-2em}
 \begin{columns}
 \begin{column}{0.5\columnwidth}
@@ -95,7 +561,7 @@
 \end{columns}
 \end{frame}
 
-\begin{frame}[label={sec:org3b64613}]{Amplified Piezoelectric Actuator - Test Bench}
+\begin{frame}[label={sec:orga77e8f6}]{Amplified Piezoelectric Actuator - Test Bench}
 \vspace{-1em}
 
 \begin{center}
@@ -114,13 +580,13 @@
 \end{tikzpicture}
 \end{frame}
 
-\begin{frame}[label={sec:orge94bd9a}]{Amplified Piezoelectric Actuator - Extracted Model}
+\begin{frame}[label={sec:org3e1d2df}]{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:org977a349}]{Amplified Piezoelectric Actuator - Integral Force Feedback}
+\begin{frame}[label={sec:orgffa6e55}]{Amplified Piezoelectric Actuator - Integral Force Feedback}
 \vspace{-3em}
 \begin{columns}
 \begin{column}{0.62\columnwidth}
@@ -141,7 +607,7 @@
 \end{columns}
 \end{frame}
 
-\begin{frame}[label={sec:org891e73c}]{Strut - Mounting Tool}
+\begin{frame}[label={sec:org1cfa45e}]{Strut - Mounting Tool}
 \vspace{-2.5em}
 \begin{columns}
 \begin{column}{0.63\columnwidth}
@@ -162,7 +628,7 @@
 \end{column}
 \end{columns}
 \end{frame}
-\begin{frame}[label={sec:org7ca4f86}]{Strut - Dynamical Measurements}
+\begin{frame}[label={sec:orgc27d748}]{Strut - Dynamical Measurements}
 \vspace{-1em}
 
 \begin{center}
@@ -182,7 +648,7 @@
 \end{tikzpicture}
 \end{frame}
 
-\begin{frame}[label={sec:org1bb0afd}]{Strut - Encoders Output and Spurious Modes}
+\begin{frame}[label={sec:org84d4ec1}]{Strut - Encoders Output and Spurious Modes}
 \vspace{-3em}
 \begin{columns}
 \begin{column}{0.45\columnwidth}
@@ -208,7 +674,7 @@
 \end{columns}
 \end{frame}
 
-\begin{frame}[label={sec:org5d75c1c}]{Strut - Extracted Model}
+\begin{frame}[label={sec:org615e0c9}]{Strut - Extracted Model}
 \vspace{-1em}
 
 \begin{center}
@@ -216,7 +682,7 @@
 \end{center}
 \end{frame}
 
-\begin{frame}[label={sec:org876bcde}]{Nano-Hexapod Mounting Tool}
+\begin{frame}[label={sec:orgde0ed50}]{Nano-Hexapod Mounting Tool}
 \begin{center}
 \includegraphics[scale=1,width=0.9\linewidth]{figs/nano_hexapod_mounting.JPG}
 \end{center}
@@ -227,7 +693,7 @@
 \end{tikzpicture}
 \end{frame}
 
-\begin{frame}[label={sec:org467130b}]{Mounted Nano-Hexapod}
+\begin{frame}[label={sec:org4fbd60d}]{Mounted Nano-Hexapod}
 \vspace{-1em}
 
 \begin{center}
@@ -235,19 +701,31 @@
 \end{center}
 \end{frame}
 
-\begin{frame}[label={sec:org1ec90cc}]{Nano-Hexapod - Identified Dynamics}
-Diagonal + off-diagonal transfer function from Va to De (comp with model)
+\begin{frame}[label={sec:org90db8c2}]{Nano-Hexapod - Identified Dynamics}
+\vspace{-1em}
+
+\begin{center}
+\includegraphics[scale=1,width=\linewidth]{figs/nano_hexapod_enc_bode_plot.pdf}
+\end{center}
 \end{frame}
 
-\begin{frame}[label={sec:orgcc130d7}]{Nano-Hexapod - Force Sensors}
-Diagonal + off-diagonal transfer function from Va to Vs
+\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:orgc171e2c}]{Nano-Hexapod - Damped Dynamics}
-Damped and Undamped, Diagonal + off-diagonal transfer function from Va to De
+\begin{frame}[label={sec:org7c39e01}]{Nano-Hexapod - Damped Dynamics}
+\vspace{-1em}
+
+\begin{center}
+\includegraphics[scale=1,width=\linewidth]{figs/nano_hexapod_damped_bode_plot.pdf}
+\end{center}
 \end{frame}
 
-\begin{frame}[label={sec:org9927ee9}]{The Nano-Hexapod on top of the Micro-Station}
+\begin{frame}[label={sec:orgf0421d5}]{The Nano-Hexapod on top of the Micro-Station}
 \vspace{-0.5em}
 
 \only<1>{
@@ -264,4 +742,8 @@ Damped and Undamped, Diagonal + off-diagonal transfer function from Va to De
 
 }
 \end{frame}
+
+\section{Conclusion}
+\begin{frame}[label={sec:orgbe10643}]{Conclusion}
+\end{frame}
 \end{document}

tikz/figures.org

@@ -286,3 +286,90 @@
 
 #+RESULTS:
 [[file:figs/mass_spring_damper_hac_lac.png]]
+
+* Mass Spring Damper Model - Bis
+#+begin_src latex :file mass_spring_damper_nass.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]{$\scriptstyle\mu\text{-station}$};
+
+    \coordinate (mustation) at (0.9, 1.6);
+
+    \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, 1.2) rectangle (0.9, 2.0) node[pos=0.5]{$\scriptstyle\nu\text{-hexapod}$};
+    \draw[dashed] (0.9, 2.0) -- ++(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, right=0.1](f);
+
+    % \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}, right=0.6 of mustation] (ctrl) {$K$};
+
+  % \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)   |- (f) node[above right]{$u$};
+  % ====================
+\end{tikzpicture}
+#+end_src
+
+#+RESULTS:
+[[file:figs/mass_spring_damper_nass.png]]