Update Content - 2022-10-27

2022-10-27 17:57:43 +02:00 · 2022-10-27 17:57:43 +02:00 · f3d3af45d1
commit f3d3af45d1
parent ec5e745a54
19 changed files with 418 additions and 35 deletions
--- a/content/zettels/actuator_fusion.md
+++ b/content/zettels/actuator_fusion.md
@ -7,9 +7,10 @@ draft = false
 Tags
 : [Complementary Filters]({{< relref "complementary_filters.md" >}})

-(<a href="#citeproc_bib_item_2">Beijen et al. 2019</a>)
+Mention in the literature:

-(<a href="#citeproc_bib_item_1">Beijen 2018</a>) (section 6.3.1)
+-   (<a href="#citeproc_bib_item_2">Beijen et al. 2019</a>)
+-   (<a href="#citeproc_bib_item_1">Beijen 2018</a>) (section 6.3.1)


 ## Bibliography {#bibliography}
--- a/content/zettels/actuators.md
+++ b/content/zettels/actuators.md
@ -24,7 +24,7 @@ For short stroke and very high dynamic applications, mainly two types of actuato

 Rotational drives can be combined with ball-screw mechanisms for long (infinite) axial motion:

-   Brush-less DC Motor. See (<a href="#citeproc_bib_item_2">Yedamale 2003</a>) and this [working principle](https://www.electricaltechnology.org/2016/05/bldc-brushless-dc-motor-construction-working-principle.html).
+-   Brush-less DC Motor. See (<a href="#citeproc_bib_item_3">Yedamale 2003</a>) and this [working principle](https://www.electricaltechnology.org/2016/05/bldc-brushless-dc-motor-construction-working-principle.html).
 -   [Stepper Motor]({{< relref "stepper_motor.md" >}})


@ -33,11 +33,13 @@ Rotational drives can be combined with ball-screw mechanisms for long (infinite)
 For vibration isolation:

 -   In (<a href="#citeproc_bib_item_1">Ito and Schitter 2016</a>), the effect of the actuator stiffness on the attainable vibration isolation is studied ([Notes]({{< relref "ito16_compar_class_high_precis_actuat.md" >}}))
+-   (<a href="#citeproc_bib_item_2">Murugesan 1981</a>) On overview of electric motors for space applications


 ## Bibliography {#bibliography}

 <style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
  <div class="csl-entry"><a id="citeproc_bib_item_1"></a>Ito, Shingo, and Georg Schitter. 2016. “Comparison and Classification of High-Precision Actuators Based on Stiffness Influencing Vibration Isolation.” <i>Ieee/Asme Transactions on Mechatronics</i> 21 (2): 1169–78. doi:<a href="https://doi.org/10.1109/tmech.2015.2478658">10.1109/tmech.2015.2478658</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_2"></a>Yedamale, Padmaraja. 2003. “Brushless Dc (Bldc) Motor Fundamentals.” <i>Microchip Technology Inc</i> 20: 3–15.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_2"></a>Murugesan, S. 1981. “An Overview of Electric Motors for Space Applications.” <i>Ieee Transactions on Industrial Electronics and Control Instrumentation</i> IECI-28 (4): 260–65. doi:<a href="https://doi.org/10.1109/TIECI.1981.351050">10.1109/TIECI.1981.351050</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_3"></a>Yedamale, Padmaraja. 2003. “Brushless Dc (Bldc) Motor Fundamentals.” <i>Microchip Technology Inc</i> 20: 3–15.</div>
 </div>
--- a/content/zettels/digital_signal_processing.md
+++ b/content/zettels/digital_signal_processing.md
@ -1,8 +1,22 @@
 +++
 title = "Digital Signal Processing"
-author = ["Thomas Dehaeze"]
+author = ["Dehaeze Thomas"]
 draft = false
 +++

 Tags
 :
+
+
+## References {#references}
+
+Books:
+
+-   (<a href="#citeproc_bib_item_1">Lyons 2011</a>)
+
+
+## Bibliography {#bibliography}
+
+<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
+  <div class="csl-entry"><a id="citeproc_bib_item_1"></a>Lyons, Richard. 2011. <i>Understanding Digital Signal Processing</i>. Upper Saddle River, NJ: Prentice Hall.</div>
+</div>
--- a/content/zettels/discrete_transfer_functions.md
+++ b/content/zettels/discrete_transfer_functions.md
@ -35,6 +35,9 @@ There are several methods to go from the analog to the digital domain, `Tustin`

 ## Obtaining analytical formula of filter {#obtaining-analytical-formula-of-filter}

+
+### Procedure {#procedure}
+
 The Matlab [Symbolic Toolbox](https://fr.mathworks.com/help/symbolic/) can be used to obtain analytical formula for discrete transfer functions.

 Let's consider a notch filter:
@ -56,13 +59,6 @@ First the symbolic variables are declared (`Ts` is the sampling time, `s` the La
 syms gc wn xi Ts s z
 ```

-The symbolic formula of the notch filter is defined:
-
-```matlab
-%% Notch Filter - Symbolic representation
-Ga = (s^2 + 2*xi*gc*s*wn + wn^2)/(s^2 + 2*xi*s*wn + wn^2);
-```
-
 Then the bi-linear transformation is performed to go from continuous to discrete:

 ```matlab
@ -70,6 +66,13 @@ Then the bi-linear transformation is performed to go from continuous to discrete
 s = 2/Ts*(z - 1)/(z + 1);
 ```

+The symbolic formula of the notch filter is defined:
+
+```matlab
+%% Notch Filter - Symbolic representation
+Ga = (s^2 + 2*xi*gc*s*wn + wn^2)/(s^2 + 2*xi*s*wn + wn^2);
+```
+
 Finally, the numerator and denominator coefficients can be extracted:

 ```matlab
@ -90,6 +93,126 @@ den = (Ts^2*wn^2 - 4*Ts*wn*xi + 4) + (2*Ts^2*wn^2 - 8) * z + (Ts^2*wn^2 + 4*Ts*w
 ```


+### Second Order Low Pass Filter {#second-order-low-pass-filter}
+
+Let's consider a second order low pass filter:
+
+\begin{equation}
+  G(s) = \frac{1}{1 + 2 \xi \frac{s}{\omega\_n} + \frac{s^2}{\omega\_n^2}}
+\end{equation}
+
+with:
+
+-   \\(\omega\_n\\): Cut off frequency
+-   \\(\xi\\): damping ratio
+
+First the symbolic variables are declared (`Ts` is the sampling time, `s` the Laplace variable and `z` the "z-transform" variable).
+
+```matlab
+%% Declaration of the symbolic variables
+syms wn xi Ts s z
+```
+
+Then the bi-linear transformation is performed to go from continuous to discrete:
+
+```matlab
+%% Bilinear Transform
+s = 2/Ts*(z - 1)/(z + 1);
+```
+
+The symbolic formula of the notch filter is defined:
+
+```matlab
+%% Second Order Low Pass Filter - Symbolic representation
+Ga = 1/(1 + 2*xi*s/wn + s^2/wn^2);
+```
+
+Finally, the numerator and denominator coefficients can be extracted:
+
+```matlab
+%% Get numerator and denominator
+[N,D] = numden(Ga);
+
+%% Extract coefficients (from z^0 to z^n)
+num = coeffs(N, z);
+den = coeffs(D, z);
+```
+
+```text
+gain = 1/(Ts^2*wn^2 + 4*Ts*wn*xi + 4)
+```
+
+```text
+num = (Ts^2*wn^2) + (2*Ts^2*wn^2) * z^-1 + (Ts^2*wn^2) * z^-2
+```
+
+```text
+den = 1 + (2*Ts^2*wn^2 - 8) * z^-1 + (Ts^2*wn^2 - 4*Ts*wn*xi + 4) * z^-2
+```
+
+And the transfer function is equal to `gain * num/den`.
+
+
+### Second Order High Pass Filter {#second-order-high-pass-filter}
+
+Let's consider a second order low pass filter:
+
+\begin{equation}
+  G(s) = \frac{1}{1 + 2 \xi \frac{s}{\omega\_n} + \frac{s^2}{\omega\_n^2}}
+\end{equation}
+
+with:
+
+-   \\(\omega\_n\\): Cut off frequency
+-   \\(\xi\\): damping ratio
+
+First the symbolic variables are declared (`Ts` is the sampling time, `s` the Laplace variable and `z` the "z-transform" variable).
+
+```matlab
+%% Declaration of the symbolic variables
+syms wn xi Ts s z
+```
+
+Then the bi-linear transformation is performed to go from continuous to discrete:
+
+```matlab
+%% Bilinear Transform
+s = 2/Ts*(z - 1)/(z + 1);
+```
+
+The symbolic formula of the notch filter is defined:
+
+```matlab
+%% Second Order Low Pass Filter - Symbolic representation
+Ga = (s^2/wn^2)/(1 + 2*xi*s/wn + s^2/wn^2);
+```
+
+Finally, the numerator and denominator coefficients can be extracted:
+
+```matlab
+%% Get numerator and denominator
+[N,D] = numden(Ga);
+
+%% Extract coefficients (from z^0 to z^n)
+num = coeffs(N, z);
+den = coeffs(D, z);
+```
+
+```text
+gain = 1/(Ts^2*wn^2 + 4*Ts*wn*xi + 4)
+```
+
+```text
+num = (4) + (-8) * z^-1 + (4) * z^-2
+```
+
+```text
+den = 1 + (2*Ts^2*wn^2 - 8) * z^-1 + (Ts^2*wn^2 - 4*Ts*wn*xi + 4) * z^-2
+```
+
+And the transfer function is equal to `gain * num/den`.
+
+
 ## Variable Discrete Filter {#variable-discrete-filter}

 Once the analytical formula of a discrete transfer function is obtained, it is possible to vary some parameters in real time.
--- a/content/zettels/flexible_joints.md
+++ b/content/zettels/flexible_joints.md
@ -24,7 +24,7 @@ Presentations:
 -   (<a href="#citeproc_bib_item_4">Henein 2010</a>)


-## Flexure Joints for Stewart Platforms: {#flexure-joints-for-stewart-platforms}
+## Flexure Joints for Stewart Platforms {#flexure-joints-for-stewart-platforms}

 From (<a href="#citeproc_bib_item_1">Chen and McInroy 2000</a>):

@ -32,14 +32,20 @@ From (<a href="#citeproc_bib_item_1">Chen and McInroy 2000</a>):
 > A flexure joint bends material to achieve motion, rather than sliding of rolling across two surfaces.
 > This does eliminate friction and backlash, but adds spring dynamics and limits the workspace.

+<https://www.youtube.com/watch?v=tenxq7N5q3k>
+

 ## Materials {#materials}

+Typical materials used for flexible joints are:
+
+-   Steel
+-   Aluminum
+-   Titanium
+

 ## Bibliography {#bibliography}

-## References
-
 <style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
  <div class="csl-entry"><a id="citeproc_bib_item_1"></a>Chen, Yixin, and J.E. McInroy. 2000. “Identification and Decoupling Control of Flexure Jointed Hexapods.” In <i>Proceedings 2000 Icra. Millennium Conference. Ieee International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00ch37065)</i>, nil. doi:<a href="https://doi.org/10.1109/robot.2000.844878">10.1109/robot.2000.844878</a>.</div>
  <div class="csl-entry"><a id="citeproc_bib_item_2"></a>Cosandier, Florent. 2017. <i>Flexure Mechanism Design</i>. Boca Raton, FL Lausanne, Switzerland: Distributed by CRC Press, 2017EOFL Press.</div>
--- a/content/zettels/interferometers.md
+++ b/content/zettels/interferometers.md
@ -21,6 +21,8 @@ Tags
 | [Sios](https://sios-de.com/products/length-measurement/laser-interferometer/)                                | Germany     |
 | [Keysight](https://www.keysight.com/en/pc-1000000393%3Aepsg%3Apgr/laser-heads?nid=-536900395.0&cc=FR&lc=fre) | USA         |
 | [Optics11](https://optics11.com/)                                                                            | Netherlands |
+| [Prodrive](https://prodrive-technologies.com/motion/products/interferometer/)                                | Netherlands |
+| [Agito](https://agito-akribis.com/voice-coil-motors/)                                                        |             |


 ## Reviews {#reviews}
@ -34,7 +36,7 @@ The measured distance is proportional to the refractive index of the air that de

 <a id="table--tab:index-air"></a>
 <div class="table-caption">
-  <span class="table-number"><a href="#table--tab:index-air">Table 1</a></span>:
+  <span class="table-number"><a href="#table--tab:index-air">Table 1</a>:</span>
  Dependence of Refractive Index \(n\) of Air from Temperature \(T\), pressure \(p\), Humidity \(h\), and CO2 content \(x_c\). Taken around \(T = 20^oC\), \(p=101kPa\), \(h = 50\%\), \(x_c = 400 ppm\) and \(\lambda = 1530nm\)
 </div>

@ -52,7 +54,7 @@ Typical characteristics of commercial environmental units are shown in Table [2]

 <a id="table--tab:environmental-units"></a>
 <div class="table-caption">
-  <span class="table-number"><a href="#table--tab:environmental-units">Table 2</a></span>:
+  <span class="table-number"><a href="#table--tab:environmental-units">Table 2</a>:</span>
  Characteristics of Environmental Units
 </div>

--- a/content/zettels/interpolation.md
+++ b/content/zettels/interpolation.md
@ -0,0 +1,36 @@
+++
+title = "Interpolation"
+author = ["Dehaeze Thomas"]
+draft = false
+++
+
+Tags
+:
+
+
+## Band limited interpolation {#band-limited-interpolation}
+
+<https://en.wikipedia.org/wiki/Whittaker%E2%80%93Shannon_interpolation_formula>
+
+```matlab
+rng default
+```
+
+```matlab
+t = 1:10; % Time Vector [s]
+x = randn(size(t))'; % Sampled data [V]
+
+ts = linspace(-5,15,600); % New time vector [s]
+[Ts,T] = ndgrid(ts,t);
+y = sinc(Ts - T)*x;
+```
+
+<a id="figure--fig:interpolation-perfect-example"></a>
+
+{{< figure src="/ox-hugo/interpolation_perfect_example.png" caption="<span class=\"figure-number\">Figure 1: </span>Sampled and interpolated signals" >}}
+
+
+## Bibliography {#bibliography}
+
+<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
+</div>
--- a/content/zettels/piezoelectric_actuators.md
+++ b/content/zettels/piezoelectric_actuators.md
@ -62,7 +62,7 @@ The Amplified Piezo Actuators principle is presented in (<a href="#citeproc_bib_
 > The displacement amplification effect is related in a first approximation to the ratio of the shell long axis length to the short axis height.
 > The flatter is the actuator, the higher is the amplification.

-A model of an amplified piezoelectric actuator is described in (<a href="#citeproc_bib_item_4">Lucinskis and Mangeot 2016</a>).
+A model of an amplified piezoelectric actuator is described in (<a href="#citeproc_bib_item_5">Lucinskis and Mangeot 2016</a>).

 Typical topology of mechanically amplified piezoelectric actuators are displayed in Figure [1](#figure--fig:ling16-topology-piezo-mechanism-types) (from (<a href="#citeproc_bib_item_3">Ling et al. 2016</a>)).

@ -199,6 +199,14 @@ When an external load is applied, the stiffness of the load (\\(k\_e\\)) determi
 {{< figure src="/ox-hugo/piezoelectric_force_displ_relation.png" caption="<span class=\"figure-number\">Figure 5: </span>Relation between the maximum force and displacement" >}}


+## Piezoelectric stiffness - Electrical Boundaries {#piezoelectric-stiffness-electrical-boundaries}
+
+The stiffness of the piezoelectric stack varies a little bit whether it is open-circuited or short-circuited (<a href="#citeproc_bib_item_4">Liu et al. 2007</a>).
+This this experiment: <https://research.tdehaeze.xyz/test-bench-force-sensor/>.
+
+Therefore, if the piezoelectric actuator is driven by a charge amplifier (i.e. high input impedance), the stiffness will be a little bit higher than if it is driven with a voltage amplifier (i.e. small input impedance).
+
+
 ## Driving Electronics {#driving-electronics}

 Piezoelectric actuators can be driven either using a voltage to charge converter or a [Voltage Amplifier]({{< relref "voltage_amplifier.md" >}}).
@ -211,5 +219,6 @@ Limitations of the electronics is discussed in [Design, modeling and control of
  <div class="csl-entry"><a id="citeproc_bib_item_1"></a>Claeyssen, Frank, R. Le Letty, F. Barillot, and O. Sosnicki. 2007. “Amplified Piezoelectric Actuators: Static &#38; Dynamic Applications.” <i>Ferroelectrics</i> 351 (1): 3–14. doi:<a href="https://doi.org/10.1080/00150190701351865">10.1080/00150190701351865</a>.</div>
  <div class="csl-entry"><a id="citeproc_bib_item_2"></a>Fleming, A.J. 2010. “Nanopositioning System with Force Feedback for High-Performance Tracking and Vibration Control.” <i>Ieee/Asme Transactions on Mechatronics</i> 15 (3): 433–47. doi:<a href="https://doi.org/10.1109/tmech.2009.2028422">10.1109/tmech.2009.2028422</a>.</div>
  <div class="csl-entry"><a id="citeproc_bib_item_3"></a>Ling, Mingxiang, Junyi Cao, Minghua Zeng, Jing Lin, and Daniel J Inman. 2016. “Enhanced Mathematical Modeling of the Displacement Amplification Ratio for Piezoelectric Compliant Mechanisms.” <i>Smart Materials and Structures</i> 25 (7): 075022. doi:<a href="https://doi.org/10.1088/0964-1726/25/7/075022">10.1088/0964-1726/25/7/075022</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_4"></a>Lucinskis, R., and C. Mangeot. 2016. “Dynamic Characterization of an Amplified Piezoelectric Actuator.”</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_4"></a>Liu, W. Q., Z. H. Feng, R. B. Liu, and J. Zhang. 2007. “The Influence of Preamplifiers on the Piezoelectric Sensor’s Dynamic Property.” <i>Review of Scientific Instruments</i> 78 (12): 125107. doi:<a href="https://doi.org/10.1063/1.2825404">10.1063/1.2825404</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_5"></a>Lucinskis, R., and C. Mangeot. 2016. “Dynamic Characterization of an Amplified Piezoelectric Actuator.”</div>
 </div>
--- a/content/zettels/position_sensors.md
+++ b/content/zettels/position_sensors.md
@ -24,12 +24,13 @@ High precision positioning sensors include:
 ## Reviews of Relative Position Sensors {#reviews-of-relative-position-sensors}

 -   Fleming, A. J., A review of nanometer resolution position sensors: operation and performance (<a href="#citeproc_bib_item_2">Fleming 2013</a>) ([Notes]({{< relref "fleming13_review_nanom_resol_posit_sensor.md" >}}))
+-   (<a href="#citeproc_bib_item_3">Gao et al. 2015</a>)

 Table [1](#table--tab:characteristics-relative-sensor) is taken from (<a href="#citeproc_bib_item_1">Collette et al. 2011</a>).

 <a id="table--tab:characteristics-relative-sensor"></a>
 <div class="table-caption">
-  <span class="table-number"><a href="#table--tab:characteristics-relative-sensor">Table 1</a></span>:
+  <span class="table-number"><a href="#table--tab:characteristics-relative-sensor">Table 1</a>:</span>
  Characteristics of relative measurement sensors
 </div>

@ -46,7 +47,7 @@ Table [2](#table--tab:summary-position-sensors) it taken from (<a href="#citepro

 <a id="table--tab:summary-position-sensors"></a>
 <div class="table-caption">
-  <span class="table-number"><a href="#table--tab:summary-position-sensors">Table 2</a></span>:
+  <span class="table-number"><a href="#table--tab:summary-position-sensors">Table 2</a>:</span>
  Summary of position sensor characteristics. The dynamic range (DNR) and resolution are approximations based on a full-scale range of 100um and a first order bandwidth of \(1 kHz\)
 </div>

@ -63,7 +64,7 @@ Table [2](#table--tab:summary-position-sensors) it taken from (<a href="#citepro

 Capacitive Sensors and Eddy-Current sensors are compare [here](https://www.lionprecision.com/comparing-capacitive-and-eddy-current-sensors/).

-Figure [1](#figure--fig:position-sensors-thurner15) is taken from (<a href="#citeproc_bib_item_3">Thurner et al. 2015</a>).
+Figure [1](#figure--fig:position-sensors-thurner15) is taken from (<a href="#citeproc_bib_item_4">Thurner et al. 2015</a>).

 <a id="figure--fig:position-sensors-thurner15"></a>

@ -75,5 +76,6 @@ Figure [1](#figure--fig:position-sensors-thurner15) is taken from (<a href="#cit
 <style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
  <div class="csl-entry"><a id="citeproc_bib_item_1"></a>Collette, C, K Artoos, M Guinchard, S Janssens, P Carmona Fernandez, and C Hauviller. 2011. “Review of Sensors for Low Frequency Seismic Vibration Measurement.” CERN.</div>
  <div class="csl-entry"><a id="citeproc_bib_item_2"></a>Fleming, Andrew J. 2013. “A Review of Nanometer Resolution Position Sensors: Operation and Performance.” <i>Sensors and Actuators a: Physical</i> 190 (nil): 106–26. doi:<a href="https://doi.org/10.1016/j.sna.2012.10.016">10.1016/j.sna.2012.10.016</a>.</div>
-  <div class="csl-entry"><a id="citeproc_bib_item_3"></a>Thurner, Klaus, Francesca Paola Quacquarelli, Pierre-François Braun, Claudio Dal Savio, and Khaled Karrai. 2015. “Fiber-Based Distance Sensing Interferometry.” <i>Applied Optics</i> 54 (10). Optical Society of America: 3051–63.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_3"></a>Gao, W., S.W. Kim, H. Bosse, H. Haitjema, Y.L. Chen, X.D. Lu, W. Knapp, A. Weckenmann, W.T. Estler, and H. Kunzmann. 2015. “Measurement Technologies for Precision Positioning.” <i>Cirp Annals</i> 64 (2): 773–96. doi:<a href="https://doi.org/10.1016/j.cirp.2015.05.009">10.1016/j.cirp.2015.05.009</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_4"></a>Thurner, Klaus, Francesca Paola Quacquarelli, Pierre-François Braun, Claudio Dal Savio, and Khaled Karrai. 2015. “Fiber-Based Distance Sensing Interferometry.” <i>Applied Optics</i> 54 (10). Optical Society of America: 3051–63.</div>
 </div>
--- a/content/zettels/positioning_stations.md
+++ b/content/zettels/positioning_stations.md
@ -9,6 +9,19 @@ Tags
 :


+## Linear Stage {#linear-stage}
+
+
+## Spindle {#spindle}
+
+<https://www.labmotionsystems.com/>
+
+
+## Stewart Platforms {#stewart-platforms}
+
+See [Stewart Platforms]({{< relref "stewart_platforms.md" >}}).
+
+
 ## Manufacturers {#manufacturers}

 | Manufacturers                                                    | Country |
@ -17,6 +30,7 @@ Tags
 | [PI](https://www.physikinstrumente.com/en/)                      | USA     |
 | [Attocube](https://www.attocube.com/en/products/nanopositioners) | Germany |
 | [Newport](https://www.newport.com/c/manual-positioning)          |         |
+| [LAB](https://www.labmotionsystems.com/products/z-stages/)       | Belgium |


 ## Bibliography {#bibliography}
--- a/content/zettels/simulink.md
+++ b/content/zettels/simulink.md
@ -38,6 +38,11 @@ Tips:
 <https://in.mathworks.com/help/slcontrol/ug/specify-model-portion-to-linearize.html>


+## Configure Simulink Programmatically {#configure-simulink-programmatically}
+
+<https://fr.mathworks.com/help/simulink/slref/common-block-parameters.html>
+
+
 ## Bibliography {#bibliography}

 <style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
--- a/content/zettels/stepper_motor.md
+++ b/content/zettels/stepper_motor.md
@ -62,6 +62,7 @@ Nice references:

 -   (<a href="#citeproc_bib_item_3">Vyas, Patel, and Shah 2015</a>)
 -   (<a href="#citeproc_bib_item_2">Ronquist and Winroth 2016</a>)
+-   <http://www.euclidres.com/apps/stepper_motor/stepper.html>

 <div class="seealso">

--- a/content/zettels/trajectory_generation.md
+++ b/content/zettels/trajectory_generation.md
@ -15,8 +15,17 @@ Goals

 Tools

+(<a href="#citeproc_bib_item_3">Yoon et al. 2019</a>)
+(<a href="#citeproc_bib_item_4">Zanasi and Morselli 2002</a>)
+(<a href="#citeproc_bib_item_2">Singer and Seering 1991</a>)
+Chapter 4.2.4 of (<a href="#citeproc_bib_item_1">Schmidt, Schitter, and Rankers 2020</a>)
+

 ## Bibliography {#bibliography}

 <style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
+  <div class="csl-entry"><a id="citeproc_bib_item_1"></a>Schmidt, R Munnig, Georg Schitter, and Adrian Rankers. 2020. <i>The Design of High Performance Mechatronics - Third Revised Edition</i>. Ios Press.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_2"></a>Singer, Neil C., and Warren P. Seering. 1991. “Preshaping Command Inputs to Reduce System Vibration.” In <i>Artificial Intelligence at Mit: Expanding Frontiers</i>, 128–47. Cambridge, MA, USA: MIT Press.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_3"></a>Yoon, Hyun Joong, Seong Youb Chung, Han Sol Kang, and Myun Joong Hwang. 2019. “Trapezoidal Motion Profile to Suppress Residual Vibration of Flexible Object Moved by Robot.” <i>Electronics</i> 8 (1): 30. doi:<a href="https://doi.org/10.3390/electronics8010030">10.3390/electronics8010030</a>.</div>
+  <div class="csl-entry"><a id="citeproc_bib_item_4"></a>Zanasi, R., and R. Morselli. 2002. “Third Order Trajectory Generator Satisfying Velocity, Acceleration and Jerk Constraints.” In <i>Proceedings of the International Conference on Control Applications</i>, 2:1165–70 vol.2. doi:<a href="https://doi.org/10.1109/CCA.2002.1038770">10.1109/CCA.2002.1038770</a>.</div>
 </div>
--- a/content/zettels/transconductance_amplifiers.md
+++ b/content/zettels/transconductance_amplifiers.md
@ -15,6 +15,80 @@ A Transconductance Amplifier converts the control voltage into current with a cu

 Such a converter is called a voltage-to-current converter, also named a voltage-controlled current source or _transconductance_ amplifier.

+Such amplifier is used to control motors (e.g. voice coil, BLDC, stepper motors, ...).
+
+
+## Specifications {#specifications}
+
+
+### Noise {#noise}
+
+```matlab
+BL = 20; % [N/A]
+m = 1; % [kg]
+```
+
+```matlab
+freq = logspace(0,4,1000); % [Hz]
+
+%% Current noise of the amplifier
+I_asd = 1e-6*ones(size(freq)); % [A/sqrt(Hz)]
+```
+
+```matlab
+x_asd = I_asd*(BL/m)./(2*pi*freq).^2;
+```
+
+```matlab
+figure;
+plot(freq, x_asd)
+xlabel("Frequency [Hz]");
+ylabel("ASD [$m/\sqrt{Hz}$]");
+set(gca, 'Xscale', 'log');
+set(gca, 'Yscale', 'log');
+```
+
+```matlab
+figure;
+plot(freq, sqrt(flip(-cumtrapz(flip(freq), flip(x_asd.^2)))))
+xlabel("Frequency [Hz]");
+ylabel("Cumulative Amplitude Spectrum [m rms]");
+set(gca, 'Xscale', 'log');
+set(gca, 'Yscale', 'log');
+```
+
+
+## Manufacturers {#manufacturers}
+
+<a id="table--tab:table-name"></a>
+<div class="table-caption">
+  <span class="table-number"><a href="#table--tab:table-name">Table 1</a>:</span>
+  Drivers with integrated controllers
+</div>
+
+| Model                                                                                                                             | Manufacturer | Linear / PWM | Axes           | Interfaces    | Feedback     | Current Bandwidth |
+|-----------------------------------------------------------------------------------------------------------------------------------|--------------|--------------|----------------|---------------|--------------|-------------------|
+| [Apogee](https://prodrive-technologies.com/motion/products/servo-drives/apogee-kepler-series/)                                    | Prodrive     | PWM          | 1 to 3         | +/-10V 16bits | Encoder      | 7kHz              |
+| [LWM7S](https://www.maccon.co.uk/linear-servo-amplifier.html)                                                                     | Macon        | Linear       | 1              |               | Encoder/Hall |                   |
+| [Soloist ML](https://www.aerotech.com/product/motion-control-platforms/soloist-ml-controller-and-linear-digital-drive/)           | Aerotech     | Linear       | 1              | +/-10V 16bits | Encoder/Hall |                   |
+| [Automation1 XL4s](https://www.aerotech.com/product/motion-control-platforms/automation1-xl4s-high-performance-voice-coil-drive/) | Aerotech     | Linear       | 1 (voice coil) | +/-10V 16bits | ?            |                   |
+| [EM-356B](https://electromen.com/en/products/item/motor-controllers/brushless-dc-motor/EM-356B)                                   | Electromen   | PWM          | 1              | 0-10V         | Hall         |                   |
+| [azbh10a4](https://www.a-m-c.com/product/azbh10a4/)                                                                               | AMC          | PWM          | 1              | +/-10V        | Hall         |                   |
+| [S3-400/8](https://prodrive-technologies.com/motion/products/servo-drives/cygnus-series/)                                         | Prodrive     | PWM          | 1              | +/-10V        | Encoder      | 1kHz              |
+| [X-MCC](https://www.zaber.com/products/controllers-joysticks/X-MCC)                                                               | Zaber        | ??           | 1 to 4         |               |              |                   |
+
+<a id="table--tab:table-name"></a>
+<div class="table-caption">
+  <span class="table-number"><a href="#table--tab:table-name">Table 2</a>:</span>
+  Pure Drivers
+</div>
+
+| Model                                                                                                     | Manufacturer | Linear / PWM | Axes | Interfaces | Current Bandwidth |
+|-----------------------------------------------------------------------------------------------------------|--------------|--------------|------|------------|-------------------|
+| [LA300](https://varedan.com/product/analog-linear-servo-amplifiers/la-300-analog-linear-servo-amplifier/) | Varedan      | Linear       | 3    | +/-10V     | 10kHz             |
+| [LA24](https://www.cedrat-technologies.com/en/technologies/actuators/magnetic-actuators-motors.html)      | Cedrat       | Linear       | 3    | +/-10V     | 35kHz             |
+| [CMAu10](https://www.cedrat-technologies.com/en/products/magnetic-controllers/oem-amplifiers.html)        | Cedrat       | Linear       | 1    | +/-10V     | 5kHz              |
+

 ## Bibliography {#bibliography}

--- a/content/zettels/transimpedance_amplifiers.md
+++ b/content/zettels/transimpedance_amplifiers.md
@ -16,6 +16,35 @@ A transimpedance amplifier is a "current to voltage converter" and is also named
 It is generally used to interface a sensor which outputs a current proportional to the measurement parameter ([Quadrant Photodiodes]({{< relref "quadrant_photodiodes.md" >}}) for instance).


+## Basic Circuit {#basic-circuit}
+
+A basic transimpedance amplifier circuit is shown in Figure [1](#figure--fig:transimpedance-amplifier-schematic).
+
+It produces an output voltage \\(V\_{\text{out}}\\) proportional to the input current \\(I\_{\text{sig}}\\):
+
+\begin{equation}
+\boxed{V\_{\text{out}} = -I\_{\text{sig}} R\_f}
+\end{equation}
+
+The gain of the amplifier is simply \\(-R\_f\\) in [V/A].
+
+The feedback resistor creates a Johnson noise that corresponds to a current noise:
+
+\begin{equation}
+i\_{n} = \sqrt{4kT/R\_f} \quad [A/\sqrt{Hz}]
+\end{equation}
+
+This is usually larger than the amplifier input current noise.
+
+<a id="figure--fig:transimpedance-amplifier-schematic"></a>
+
+{{< figure src="/ox-hugo/transimpedance_amplifier_schematic.png" caption="<span class=\"figure-number\">Figure 1: </span>Transimpedance Amplifier; Current in, Voltage out" >}}
+
+More information about transimpedance can be found in [The art of electronics - third edition]({{< relref "horowitz15_art_of_elect_third_edition.md" >}}), chapter 8.11.4, especially on the trade-off between gain, noise and bandwidth.
+
+See [this](https://www.hardware-x.com/article/S2468-0672(21)00062-6/fulltext) open hardware design.
+
+
 ## Manufacturers {#manufacturers}

 | Manufacturers                                                                                              | Country |
@ -24,6 +53,7 @@ It is generally used to interface a sensor which outputs a current proportional
 | [MMF](https://www.mmf.de/signal_conditioners.htm)                                                          | Germany |
 | [Femto](https://www.femto.de/en/products/current-amplifiers.html)                                          | Germany |
 | [FMB Oxford](https://www.fmb-oxford.com/products/controls-2/control-modules/i404-quad-current-integrator/) | UK      |
+| [Thorlabs](https://www.thorlabs.com/newgrouppage9.cfm?objectgroup_id=7083)                                 | UK      |


 ## Bibliography {#bibliography}
--- a/content/zettels/two_stage_actuator.md
+++ b/content/zettels/two_stage_actuator.md
@ -0,0 +1,29 @@
+++
+title = "Two Stage Actuator"
+author = ["Dehaeze Thomas"]
+draft = false
+++
+
+Tags
+:
+
+The idea is to combine:
+
+-   A long stroke, low precision stage
+-   A short stroke, high precision stage
+
+The goal is therefore to obtain a long stroke high precision stage.
+
+
+## References {#references}
+
+Books and PhD:
+
+-   (<a href="#citeproc_bib_item_1">Qingsong 2016</a>)
+
+
+## Bibliography {#bibliography}
+
+<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
+  <div class="csl-entry"><a id="citeproc_bib_item_1"></a>Qingsong. 2016. <i>Design and Implementation of Large-Range Compliant Micropositioning Systems</i>. Singapore: Wiley.</div>
+</div>
--- a/content/zettels/voice_coil_actuators.md
+++ b/content/zettels/voice_coil_actuators.md
@ -27,18 +27,44 @@ As the force is proportional to the current, a [Transconductance Amplifiers]({{<

 ## Manufacturers {#manufacturers}

-| Manufacturers                                                | Country     |
-|--------------------------------------------------------------|-------------|
-| [Geeplus](https://www.geeplus.com/)                          | UK          |
-| [Maccon](https://www.maccon.de/en.html)                      | Germany     |
-| [TDS PP](https://www.tds-pp.com/en/)                         | Switzerland |
-| [H2tech](https://www.h2wtech.com/)                           | USA         |
-| [PBA Systems](http://www.pbasystems.com.sg/)                 | Singapore   |
-| [Celera Motion](https://www.celeramotion.com/)               | USA         |
-| [Beikimco](http://www.beikimco.com/)                         | USA         |
-| [Electromate](https://www.electromate.com/)                  | Canada      |
-| [Magnetic Innovations](https://www.magneticinnovations.com/) | Netherlands |
-| [Monticont](http://www.moticont.com/)                        | USA         |
+| Manufacturers                                                                       | Country     |
+|-------------------------------------------------------------------------------------|-------------|
+| [Geeplus](https://www.geeplus.com/)                                                 | UK          |
+| [Maccon](https://www.maccon.de/en.html)                                             | Germany     |
+| [TDS PP](https://www.tds-pp.com/en/product/linear-voice-coil-actuators-avm/)        | Switzerland |
+| [H2tech](https://www.h2wtech.com/)                                                  | USA         |
+| [PBA Systems](https://www.pbasystems.com.sg/product/circular-voice-coil-motor-cvc/) | Singapore   |
+| [Beikimco](http://www.beikimco.com/)                                                | USA         |
+| [Magnetic Innovations](https://www.magneticinnovations.com/)                        | Netherlands |
+| [Monticont](http://www.moticont.com/)                                               | USA         |
+| [Thorlabs](https://www.thorlabs.com/newgrouppage9.cfm?objectgroup_id=14116)         | USA         |
+| [Akribis](https://akribis-sys.com/products/voice-coil-motors/avm-series)            | USA         |
+
+
+## Voice Coil Stages {#voice-coil-stages}
+
+| Manufacturers                                                               | Country     |
+|-----------------------------------------------------------------------------|-------------|
+| [TDS PP](https://www.tds-pp.com/en/product/voice-coil-actuator-stages/)     | Switzerland |
+| [Thorlabs](https://www.thorlabs.com/newgrouppage9.cfm?objectgroup_ID=14930) | USA         |
+| [H2tech](https://www.h2wtech.com/category/voice-coil-stages#productInfo1)   | USA         |
+
+
+## Linear Actuators {#linear-actuators}
+
+| Manufacturers                                                                                            | Country     |
+|----------------------------------------------------------------------------------------------------------|-------------|
+| [TDS PP](https://www.tds-pp.com/en/products/linear-actuators/)                                           | Switzerland |
+| [PBA Systems](https://www.pbasystems.com.sg/product-category/precision-robotics/direct-drive-motors/)    | Singapore   |
+| [Celera Motion](https://www.celeramotion.com/applimotion/products/direct-drive-frameless-linear-motors/) | USA         |
+| [Akribis](https://akribis-sys.com/products/linear-motors)                                                | USA         |
+| [Aerotech](https://www.aerotech.com/motion-and-positioning/motors-products/)                             | USA         |
+
+Linear Stages
+
+| Manufacturers                                                              | Country |
+|----------------------------------------------------------------------------|---------|
+| [H2tech](https://www.h2wtech.com/category/single-rail-stages#productInfo1) | USA     |


 ## Bibliography {#bibliography}
--- a/static/ox-hugo/interpolation_perfect_example.png
+++ b/static/ox-hugo/interpolation_perfect_example.png
--- a/static/ox-hugo/transimpedance_amplifier_schematic.png
+++ b/static/ox-hugo/transimpedance_amplifier_schematic.png