Talk ready to be recorded

.gitattributes

@@ -0,0 +1,2 @@
+*.pdf binary
+*.svg binary

talk/dehaeze21_mechatronics_approach_nass_talk.tex

@@ -1,4 +1,4 @@
-% Created 2021-07-22 jeu. 08:10
+% Created 2021-07-22 jeu. 23:48
 % Intended LaTeX compiler: pdflatex
 \documentclass[aspectratio=169, t]{clean-beamer}
 \usepackage[utf8]{inputenc}
@@ -61,40 +61,42 @@
 \maketitle
 
 \section*{Introduction}
-\begin{frame}[label={sec:orgdc51d45}]{The ID31 Micro Station}
+\label{sec:org2f2f7e5}
+\begin{frame}[label={sec:org7a284a6}]{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){%
+    \node[anchor=north east] at (current page.north east){%
     \includegraphics[width=2em]{figs/icon_animation.pdf}};
 \end{tikzpicture}
 \end{frame}
 
-\begin{frame}[label={sec:orgd54db4c}]{Introduction - The Nano Active Stabilization System}
+\begin{frame}[label={sec:org5dbf487}]{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}
+\includegraphics[scale=1,width=\linewidth]{figs/nass-concept.red.pdf}
 \end{center}
 \end{frame}
 
-\begin{frame}[label={sec:org58304ff}]{Overview of the Mechatronic Approach - Model Based Design}
+\begin{frame}[label={sec:org8665237}]{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:org95b2a1a}]{Outline - Conceptual Phase}
+\label{sec:org0e45181}
+\begin{frame}[label={sec:org66fab8a}]{Outline - Conceptual Phase}
 \begin{center}
-\includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach_conceptual_phase.png}
+\includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach_conceptual_phase.pdf}
 \end{center}
 \end{frame}
 
-\begin{frame}[label={sec:org612b41f}]{Feedback Control - The Control Loop}
+\begin{frame}[label={sec:org5582b03}]{Feedback Control - The Control Loop}
 \vspace{-1em}
 
 \begin{center}
@@ -125,7 +127,7 @@
 \end{columns}
 \end{frame}
 
-\begin{frame}[label={sec:orga5ea61a}]{Noise Budgeting and Required Control Bandwidth}
+\begin{frame}[label={sec:org95d167f}]{Noise Budgeting and Required Control Bandwidth}
 \vspace{-1em}
 
 \begin{center}
@@ -133,7 +135,7 @@
 \end{center}
 \end{frame}
 
-\begin{frame}[label={sec:orgd23064f}]{Limitation of the Controller Bandwidth?}
+\begin{frame}[label={sec:orgce8e920}]{Limitation of the Controller Bandwidth?}
 \begin{columns}
 \begin{column}{0.6\columnwidth}
 \vspace{-2em}
@@ -192,7 +194,7 @@ Complex controllers
 \end{columns}
 \end{frame}
 
-\begin{frame}[label={sec:org9493c8d}]{Soft or Stiff \(\nu\text{-hexapod}\) ? Interaction with the \(\mu\text{-station}\)}
+\begin{frame}[label={sec:orge61676f}]{Soft or Stiff \(\nu\text{-hexapod}\) ? Interaction with the \(\mu\text{-station}\)}
 \vspace{-3em}
 \begin{columns}
 \begin{column}{0.3\columnwidth}
@@ -231,7 +233,7 @@ Complex controllers
 \end{columns}
 \end{frame}
 
-\begin{frame}[label={sec:orgddab963}]{Complexity of the Micro-Station Dynamics (Model Analysis)}
+\begin{frame}[label={sec:orgfa52d1c}]{Complexity of the Micro-Station Dynamics (Model Analysis)}
 \vspace{-1em}
 
 \begin{center}
@@ -239,12 +241,12 @@ Complex controllers
 \end{center}
 
 \begin{tikzpicture}[remember picture,overlay]
-    \node[anchor=north east, padding=5pt] at (current page.north east){%
+    \node[anchor=north east] at (current page.north east){%
     \includegraphics[width=2em]{figs/icon_animation.pdf}};
 \end{tikzpicture}
 \end{frame}
 
-\begin{frame}[label={sec:org3dfae25}]{Control Strategy: HAC-LAC}
+\begin{frame}[label={sec:org82c9a46}]{Control Strategy: HAC-LAC}
 \vspace{-0.5em}
 
 \begin{center}
@@ -278,7 +280,7 @@ Complex controllers
 \end{columns}
 \end{frame}
 
-\begin{frame}[label={sec:orgb8b73a0}]{Multi-Body Models - Simulations}
+\begin{frame}[label={sec:org8694100}]{Multi-Body Models - Simulations}
 \begin{center}
 \includegraphics[scale=1,width=\linewidth]{figs/simscape_simulation.jpg}
 \end{center}
@@ -294,31 +296,40 @@ Complex controllers
 \end{tikzpicture}
 
 \begin{tikzpicture}[remember picture,overlay]
-    \node[anchor=north east, padding=5pt] at (current page.north east){%
+    \node[anchor=north east] at (current page.north east){%
     \includegraphics[width=2em]{figs/icon_animation.pdf}};
 \end{tikzpicture}
 \end{frame}
 
 \section{Detail Design Phase}
-\begin{frame}[label={sec:org6378434}]{Outline - Detail Design Phase}
+\label{sec:orgff27fa3}
+\begin{frame}[label={sec:orgf7e1c30}]{Outline - Detail Design Phase}
 \begin{center}
-\includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach_detailed_phase.png}
+\includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach_detailed_phase.pdf}
 \end{center}
 \end{frame}
 
-\begin{frame}[label={sec:orgc57fa9c}]{Nano-Hexapod Overview - Key elements}
+\begin{frame}[label={sec:org133ceaa}]{Nano-Hexapod Overview - Key elements}
+\vspace{-1.5em}
+
 \begin{center}
 \includegraphics[scale=1,width=\linewidth]{figs/nano_hexapod_elements.red.pdf}
 \end{center}
+
+\begin{tcolorbox}[title=General Specifications, sidebyside]
+\begin{itemize}
+\item Flexible modes as high as possible
+\item Only flexible elements (no backlash, play, etc.)
+\end{itemize}
+\tcblower
+\begin{itemize}
+\item Integrated Force Sensor and Displacement Sensor
+\item Predictable dynamics
+\end{itemize}
+\end{tcolorbox}
 \end{frame}
 
-\begin{frame}[label={sec:orga847212}]{Include Flexible Elements in a Multi-Body model}
+\begin{frame}[label={sec:org276a69c}]{Choice of Actuator and Flexible Joint Design}
-\begin{center}
-\includegraphics[scale=1,width=\linewidth]{figs/super_element_simscape.pdf}
-\end{center}
-\end{frame}
-
-\begin{frame}[label={sec:org36e74d8}]{Choice of Actuator - Amplifier Piezoelectric Actuator}
 \vspace{-2em}
 \begin{columns}
 \begin{column}{0.5\columnwidth}
@@ -328,7 +339,7 @@ Complex controllers
 \toprule
 \textbf{Characteristic} & \textbf{Specs} & \textbf{Doc.}\\
 \midrule
-Axial Stiff. & \SI{\approx 1}{\newton/\micro\meter} & \SI{1.8}{\newton/\micro\meter}\\
+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}\\
@@ -347,133 +358,160 @@ High Resolution & \SI{< 5}{\nano\meter} & \SI{3}{\nano\meter}\\
 \end{column}
 
 \begin{column}{0.5\columnwidth}
+\scriptsize
+\begin{center}
+\begin{tabularx}{0.9\linewidth}{cccc}
+\toprule
+\textbf{Characteristic} & \textbf{Specs} & \textbf{FEM}\\
+\midrule
+Axial Stiff. & \SI{> 100}{\newton/\micro\meter} & 94\\
+Bending Stiff. & \SI{< 100}{\newton\meter/\radian} & 5\\
+Torsion Stiff. & \SI{< 500}{\newton\meter/\radian} & 260\\
+Bending Stroke & \SI{> 1}{\milli\radian} & 20\\
+\bottomrule
+\end{tabularx}
+\end{center}
+\normalsize
+
 \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}
+\includegraphics[scale=1,width=0.9\linewidth]{figs/flexible_joint_picture.jpg}
-\caption{2-DoF Model}
+\caption{Picture of the joint}
-\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:orgaefb8a2}]{Flexible Joints - Specifications and Optimization (\href{https://research.tdehaeze.xyz/test-bench-nass-flexible-joints/}{link})}
+\begin{frame}[label={sec:org27824a6}]{Instrumentation}
-\vspace{-2em}
+\vspace{-1em}
 
 \begin{columns}
-\begin{column}{0.75\columnwidth}
+\begin{column}{0.33\columnwidth}
-\scriptsize
+\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}{\linewidth}{ccccc}
+\begin{tabularx}{0.75\linewidth}{lc}
 \toprule
-\textbf{Goal} & \textbf{Stiffness} & \textbf{Specs} & \textbf{FEM} & \textbf{Measured}\\
+\textbf{Characteristics} & \textbf{Manual}\\
 \midrule
-High DVF Damping & Axial & \SI{> 100}{\newton/\micro\meter} & 94 & \\
+Gain & \num{20}\\
-Low Coupling & Bending & \SI{< 100}{\newton\meter/\radian} & 5 & 3.8\\
+Noise & \SI{0.7}{\milli\volt\rms}\\
-Low Coupling & Torsion & \SI{< 500}{\newton\meter/\radian} & 260 & \\
+Small Signal BW & \SI{7.4}{\kilo\hertz}\\
-Sufficient Stroke & Bending Stroke & \SI{> 1}{\milli\radian} & 20 & 18\\
+Large Signal BW & \SI{300}{\hertz}\\
 \bottomrule
 \end{tabularx}
 \end{center}
 \normalsize
 \end{column}
 
-\begin{column}{0.25\columnwidth}
-\vspace{-3em}
 
+\begin{column}{0.33\columnwidth}
 \begin{figure}[htbp]
 \centering
-\includegraphics[scale=1,width=\linewidth]{figs/flexible_joint_dimensions.pdf}
+\includegraphics[scale=1,height=2.2cm]{figs/encoder_vionic.jpg}
-\caption{Dimensions after optimization}
+\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{-3em}
+\vspace{1em}
 
-\begin{columns}
+\begin{tcolorbox}
-\begin{column}{0.45\columnwidth}
+\begin{center}
-\begin{figure}[htbp]
+All elements could be chosen/design based on the models
-\centering
+\end{center}
-\includegraphics[scale=1,width=\linewidth]{figs/location_top_flexible_joints.pdf}
+\end{tcolorbox}
-\caption{Positioning of the top joint}
-\end{figure}
-\end{column}
-
-\begin{column}{0.55\columnwidth}
-\vspace{2em}
-
-\begin{figure}[htbp]
-\centering
-\includegraphics[scale=1,width=\linewidth]{figs/simscape_model_flexible_joint.pdf}
-\caption{Simscape Model}
-\end{figure}
-\end{column}
-\end{columns}
-\end{frame}
-
-
-\begin{frame}[label={sec:org1666f90}]{Instrumentation}
-\begin{itemize}
-\item PD200 amplifier
-\item Encoders
-\item Speedgoat, DAC, ADC
-\item PEPU
-\item Attocube
-\end{itemize}
 \end{frame}
 
 \section{Experimental Phase}
-\begin{frame}[label={sec:org8c075cc}]{Outline - Experimental Phase}
+\label{sec:orgbc8949c}
+\begin{frame}[label={sec:org6e7483a}]{Outline - Experimental Phase}
 \begin{center}
-\includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach_experimental_phase.png}
+\includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach_experimental_phase.red.pdf}
 \end{center}
 \end{frame}
 
-\begin{frame}[label={sec:org57e9067}]{Flexible Joints - Measurements}
+\begin{frame}[label={sec:org2b19437}]{Flexible Joints - Measurements}
 \vspace{-2em}
 \begin{columns}
-\begin{column}{0.45\columnwidth}
+\begin{column}{0.5\columnwidth}
-\begin{figure}[htbp]
+\begin{center}
-\centering
+\includegraphics[scale=1,width=0.95\linewidth]{figs/received_flexible_joints.jpg}
-\includegraphics[scale=1,width=\linewidth]{figs/flexible_joint_bench.pdf}
+\end{center}
-\caption{Measurement bench}
+
-\end{figure}
+\begin{center}
+\includegraphics[scale=1,width=0.95\linewidth]{figs/soft_measure_flex_size.jpg}
+\end{center}
 \end{column}
 
-
 \begin{column}{0.55\columnwidth}
-\begin{figure}[htbp]
+\vspace{-1.5em}
-\centering
+
-\includegraphics[scale=1,width=\linewidth]{figs/flex_joint_meas_example_F_d_lin_fit.pdf}
+\begin{center}
-\caption{Measured displacement and force}
+\includegraphics[scale=1,width=0.8\linewidth]{figs/flexible_joint_bench.pdf}
-\end{figure}
+\end{center}
+
+\vspace{-1em}
+
+\begin{center}
+\includegraphics[scale=1,width=0.9\linewidth]{figs/flex_joint_meas_example_F_d_lin_fit.pdf}
+\end{center}
 \end{column}
 \end{columns}
 \end{frame}
 
-\begin{frame}[label={sec:org230d623}]{Amplified Piezoelectric Actuator - Test Bench}
+\begin{frame}[label={sec:org96a6b68}]{Amplified Piezoelectric Actuator - Test Bench}
 \vspace{-1em}
 
 \begin{center}
@@ -492,16 +530,18 @@ Sufficient Stroke & Bending Stroke & \SI{> 1}{\milli\radian} & 20 & 18\\
 \end{tikzpicture}
 \end{frame}
 
-\begin{frame}[label={sec:org9368c73}]{Amplified Piezoelectric Actuator - Extracted Model}
+\begin{frame}[label={sec:orge87ad99}]{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:orga3a7c76}]{Amplified Piezoelectric Actuator - Integral Force Feedback}
+\begin{frame}[label={sec:org7af7fba}]{Amplified Piezoelectric Actuator - Integral Force Feedback}
 \vspace{-3em}
 \begin{columns}
 \begin{column}{0.62\columnwidth}
+\vspace{1em}
+
 \begin{center}
 \includegraphics[scale=1,width=\linewidth]{figs/test_bench_apa300ml_iff.pdf}
 \end{center}
@@ -517,7 +557,7 @@ Sufficient Stroke & Bending Stroke & \SI{> 1}{\milli\radian} & 20 & 18\\
 \end{columns}
 \end{frame}
 
-\begin{frame}[label={sec:org4e8f560}]{Strut - Mounting Tool}
+\begin{frame}[label={sec:orgc496afb}]{Strut - Mounting Tool}
 \vspace{-2.5em}
 \begin{columns}
 \begin{column}{0.63\columnwidth}
@@ -532,13 +572,13 @@ Sufficient Stroke & Bending Stroke & \SI{> 1}{\milli\radian} & 20 & 18\\
 \end{center}
 
 \begin{tikzpicture}[remember picture,overlay]
-    \node[anchor=north east, padding=5pt] at (current page.north east){%
+    \node[anchor=north east] at (current page.north east){%
     \includegraphics[width=2em]{figs/icon_animation.pdf}};
 \end{tikzpicture}
 \end{column}
 \end{columns}
 \end{frame}
-\begin{frame}[label={sec:orge547304}]{Strut - Dynamical Measurements}
+\begin{frame}[label={sec:orgaec0a8a}]{Strut - Dynamical Measurements}
 \vspace{-1em}
 
 \begin{center}
@@ -558,16 +598,16 @@ Sufficient Stroke & Bending Stroke & \SI{> 1}{\milli\radian} & 20 & 18\\
 \end{tikzpicture}
 \end{frame}
 
-\begin{frame}[label={sec:org76a12db}]{Strut - Encoders Output and Spurious Modes}
+\begin{frame}[label={sec:org965cd42}]{Strut - Encoders Output and Spurious Modes}
 \vspace{-3em}
 \begin{columns}
-\begin{column}{0.45\columnwidth}
+\begin{column}{0.43\columnwidth}
 \begin{center}
-\includegraphics[scale=1,width=\linewidth]{figs/frf_model_encoder_strut.pdf}
+\includegraphics[scale=1,width=\linewidth]{figs/frf_struts_enc_int.pdf}
 \end{center}
 \end{column}
 
-\begin{column}{0.55\columnwidth}
+\begin{column}{0.57\columnwidth}
 \begin{center}
 \includegraphics[scale=1,width=\linewidth]{figs/meas_spur_res_struts_2_encoder.jpg}
 \end{center}
@@ -577,33 +617,25 @@ Sufficient Stroke & Bending Stroke & \SI{> 1}{\milli\radian} & 20 & 18\\
 \end{center}
 
 \begin{tikzpicture}[remember picture,overlay]
-    \node[anchor=north east, padding=5pt] at (current page.north east){%
+    \node[anchor=north east] at (current page.north east){%
     \includegraphics[width=2em]{figs/icon_animation.pdf}};
 \end{tikzpicture}
 \end{column}
 \end{columns}
 \end{frame}
 
-\begin{frame}[label={sec:org416c1db}]{Strut - Extracted Model}
+\begin{frame}[label={sec:orgda21de8}]{Nano-Hexapod Mounting Tool}
-\vspace{-1em}
-
-\begin{center}
-\includegraphics[scale=1,width=\linewidth]{figs/strut_meas_frf_model_int_force.pdf}
-\end{center}
-\end{frame}
-
-\begin{frame}[label={sec:orgd58b991}]{Nano-Hexapod Mounting Tool}
 \begin{center}
 \includegraphics[scale=1,width=0.9\linewidth]{figs/nano_hexapod_mounting.JPG}
 \end{center}
 
 \begin{tikzpicture}[remember picture,overlay]
-    \node[anchor=north east, padding=5pt] at (current page.north east){%
+    \node[anchor=north east] at (current page.north east){%
     \includegraphics[width=2em]{figs/icon_animation.pdf}};
 \end{tikzpicture}
 \end{frame}
 
-\begin{frame}[label={sec:orgb957064}]{Mounted Nano-Hexapod}
+\begin{frame}[label={sec:org79abb20}]{Mounted Nano-Hexapod}
 \vspace{-1em}
 
 \begin{center}
@@ -611,19 +643,23 @@ Sufficient Stroke & Bending Stroke & \SI{> 1}{\milli\radian} & 20 & 18\\
 \end{center}
 \end{frame}
 
-\begin{frame}[label={sec:org92c51de}]{Nano-Hexapod - Identified Dynamics}
+\begin{frame}[label={sec:orgf59950c}]{Nano-Hexapod - Identified Dynamics}
-Diagonal + off-diagonal transfer function from Va to De (comp with model)
+\vspace{-1em}
+
+\begin{center}
+\includegraphics[scale=1,width=\linewidth]{figs/nano_hexapod_enc_iff_bode_plot.pdf}
+\end{center}
 \end{frame}
 
-\begin{frame}[label={sec:orgafcfc6b}]{Nano-Hexapod - Force Sensors}
+\begin{frame}[label={sec:org00f7894}]{Nano-Hexapod - Damped Dynamics}
-Diagonal + off-diagonal transfer function from Va to Vs
+\vspace{-1em}
+
+\begin{center}
+\includegraphics[scale=1,width=\linewidth]{figs/nano_hexapod_damped_bode_plot.pdf}
+\end{center}
 \end{frame}
 
-\begin{frame}[label={sec:org2608c34}]{Nano-Hexapod - Damped Dynamics}
+\begin{frame}[label={sec:org89187a0}]{The Nano-Hexapod on top of the Micro-Station}
-Damped and Undamped, Diagonal + off-diagonal transfer function from Va to De
-\end{frame}
-
-\begin{frame}[label={sec:org9e7c6f4}]{The Nano-Hexapod on top of the Micro-Station}
 \vspace{-0.5em}
 
 \only<1>{
@@ -642,6 +678,42 @@ Damped and Undamped, Diagonal + off-diagonal transfer function from Va to De
 \end{frame}
 
 \section{Conclusion}
-\begin{frame}[label={sec:orgee0f6f0}]{Conclusion}
+\label{sec:orgcce0f41}
+\begin{frame}[label={sec:org905c81b}]{Conclusion}
+\begin{columns}
+\begin{column}{0.4\columnwidth}
+\textbf{Mechatronics Approach}:
+\begin{itemize}
+\item Use of several models
+\item Predictive design
+\item Beneficial in terms of: cost, delays, performances
+\end{itemize}
+
+\vspace{0.5em}
+
+\textbf{Future Work}:
+\begin{itemize}
+\item Optimal/Robust control
+\item Control Test Bench
+\item Implementation on ID31
+\end{itemize}
+\end{column}
+
+\begin{column}{0.6\columnwidth}
+\vspace{-3em}
+
+\begin{center}
+\includegraphics[scale=1,width=\linewidth]{figs/nass_ref_tracking_results.pdf}
+\end{center}
+\end{column}
+\end{columns}
+
+\begin{tcolorbox}[title=Many thanks to, sidebyside]
+Philipp Brumund, Ludovic Ducotte\newline
+Jose-Maria Clement, Marc Lesourd
+\tcblower
+Youness Benyakhlef, Pierrick Got\newline
+Damien Coulon and the whole team
+\end{tcolorbox}
 \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]]