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Totally reworked the experiment file

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Thomas Dehaeze
2020-03-17 12:32:31 +01:00
parent 763dbfd36a
commit 1c342403c2
28 changed files with 314 additions and 394 deletions
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@@ -4,7 +4,7 @@
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head>
<!-- 2020-03-17 mar. 11:21 -->
<!-- 2020-03-17 mar. 12:32 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Simulation of Scientific Experiments</title>
@@ -240,30 +240,30 @@
<li><a href="#org03b2a76">1. Simscape Model</a></li>
<li><a href="#org6ed78a0">2. Tomography Experiment with no disturbances</a>
<ul>
<li><a href="#org06c656a">2.1. Simulation Setup</a></li>
<li><a href="#orgc5cbe68">2.2. Analysis</a></li>
<li><a href="#org6c038f1">2.3. Conclusion</a></li>
<li><a href="#org0ba0ddd">2.1. Simulation Setup</a></li>
<li><a href="#org140576f">2.2. Analysis</a></li>
<li><a href="#org26e3394">2.3. Conclusion</a></li>
</ul>
</li>
<li><a href="#org16d8e58">3. Tomography Experiment with included perturbations</a>
<ul>
<li><a href="#org134f479">3.1. Simulation Setup</a></li>
<li><a href="#org378d406">3.2. Analysis</a></li>
<li><a href="#orgc315488">3.3. Conclusion</a></li>
<li><a href="#org3da7cb0">3.1. Simulation Setup</a></li>
<li><a href="#orgdb56a7f">3.2. Analysis</a></li>
<li><a href="#org722f52a">3.3. Conclusion</a></li>
</ul>
</li>
<li><a href="#org72f01ab">4. Tomography when the micro-hexapod is not centered</a>
<ul>
<li><a href="#org0d9f411">4.1. Simulation Setup</a></li>
<li><a href="#org80c3cd8">4.2. Analysis</a></li>
<li><a href="#orgb310f81">4.3. Conclusion</a></li>
<li><a href="#org6137b17">4.1. Simulation Setup</a></li>
<li><a href="#org92c4f21">4.2. Analysis</a></li>
<li><a href="#org92f12cd">4.3. Conclusion</a></li>
</ul>
</li>
<li><a href="#org8fa1632">5. Raster Scans with the translation stage</a>
<ul>
<li><a href="#org0ba0ddd">5.1. Simulation Setup</a></li>
<li><a href="#org140576f">5.2. Analysis</a></li>
<li><a href="#org26e3394">5.3. Conclusion</a></li>
<li><a href="#org4110173">5.1. Simulation Setup</a></li>
<li><a href="#org1e50cb1">5.2. Analysis</a></li>
<li><a href="#org98199a0">5.3. Conclusion</a></li>
</ul>
</li>
</ul>
@@ -350,7 +350,7 @@ No controller is used (Open Loop).
And we put some gravity.
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeSimscapeConfiguration(<span class="org-string">'gravity'</span>, <span class="org-constant">true</span>);
<pre class="src src-matlab">initializeSimscapeConfiguration(<span class="org-string">'gravity'</span>, <span class="org-constant">false</span>);
</pre>
</div>
@@ -375,8 +375,8 @@ In this section, a tomography experiment is performed with the sample aligned wi
No disturbance is included.
</p>
</div>
<div id="outline-container-org06c656a" class="outline-3">
<h3 id="org06c656a"><span class="section-number-3">2.1</span> Simulation Setup</h3>
<div id="outline-container-org0ba0ddd" class="outline-3">
<h3 id="org0ba0ddd"><span class="section-number-3">2.1</span> Simulation Setup</h3>
<div class="outline-text-3" id="text-2-1">
<p>
And we initialize the disturbances to be equal to zero.
@@ -412,45 +412,25 @@ save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span cl
</div>
</div>
<div id="outline-container-orgc5cbe68" class="outline-3">
<h3 id="orgc5cbe68"><span class="section-number-3">2.2</span> Analysis</h3>
<div id="outline-container-org140576f" class="outline-3">
<h3 id="org140576f"><span class="section-number-3">2.2</span> Analysis</h3>
<div class="outline-text-3" id="text-2-2">
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'tomo_align_no_dist'</span>);
t = tomo_align_no_dist.t;
MTr = tomo_align_no_dist.MTr;
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab">Edx = squeeze(MTr(1, 4, <span class="org-type">:</span>));
Edy = squeeze(MTr(2, 4, <span class="org-type">:</span>));
Edz = squeeze(MTr(3, 4, <span class="org-type">:</span>));
<span class="org-comment">% The angles obtained are u-v-w Euler angles (rotations in the moving frame)</span>
Ery = atan2( squeeze(MTr(1, 3, <span class="org-type">:</span>)), squeeze(sqrt(MTr(1, 1, <span class="org-type">:</span>)<span class="org-type">.^</span>2 <span class="org-type">+</span> MTr(1, 2, <span class="org-type">:</span>)<span class="org-type">.^</span>2)));
Erx = atan2(<span class="org-type">-</span>squeeze(MTr(2, 3, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery), squeeze(MTr(3, 3, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery));
Erz = atan2(<span class="org-type">-</span>squeeze(MTr(1, 2, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery), squeeze(MTr(1, 1, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery));
</pre>
</div>
<div id="org47272c3" class="figure">
<p><img src="figs/exp_tomo_without_dist_trans.png" alt="exp_tomo_without_dist_trans.png" />
<div id="orgfcc6055" class="figure">
<p><img src="figs/exp_tomo_without_dist.png" alt="exp_tomo_without_dist.png" />
</p>
<p><span class="figure-number">Figure 1: </span>X-Y-Z translation of the sample w.r.t. granite when performing tomography experiment with no disturbances (<a href="./figs/exp_tomo_without_dist_trans.png">png</a>, <a href="./figs/exp_tomo_without_dist_trans.pdf">pdf</a>)</p>
</div>
<div id="org72f4825" class="figure">
<p><img src="figs/exp_tomo_without_dist_rot.png" alt="exp_tomo_without_dist_rot.png" />
</p>
<p><span class="figure-number">Figure 2: </span>X-Y-Z rotations of the sample w.r.t. granite when performing tomography experiment with no disturbances (<a href="./figs/exp_tomo_without_dist_rot.png">png</a>, <a href="./figs/exp_tomo_without_dist_rot.pdf">pdf</a>)</p>
<p><span class="figure-number">Figure 1: </span>X-Y-Z translation of the sample w.r.t. granite when performing tomography experiment with no disturbances (<a href="./figs/exp_tomo_without_dist.png">png</a>, <a href="./figs/exp_tomo_without_dist.pdf">pdf</a>)</p>
</div>
</div>
</div>
<div id="outline-container-org6c038f1" class="outline-3">
<h3 id="org6c038f1"><span class="section-number-3">2.3</span> Conclusion</h3>
<div id="outline-container-org26e3394" class="outline-3">
<h3 id="org26e3394"><span class="section-number-3">2.3</span> Conclusion</h3>
<div class="outline-text-3" id="text-2-3">
<div class="important">
<p>
@@ -474,8 +454,8 @@ In this section, we also perform a tomography experiment with the sample&rsquo;s
However this time, we include perturbations such as ground motion and stage vibrations.
</p>
</div>
<div id="outline-container-org134f479" class="outline-3">
<h3 id="org134f479"><span class="section-number-3">3.1</span> Simulation Setup</h3>
<div id="outline-container-org3da7cb0" class="outline-3">
<h3 id="org3da7cb0"><span class="section-number-3">3.1</span> Simulation Setup</h3>
<div class="outline-text-3" id="text-3-1">
<p>
We now activate the disturbances.
@@ -504,52 +484,32 @@ We simulate the model.
And we save the obtained data.
</p>
<div class="org-src-container">
<pre class="src src-matlab">tomo_align_dist = struct(<span class="org-string">'t'</span>, t, <span class="org-string">'MTr'</span>, MTr);
<pre class="src src-matlab">tomo_align_dist = simout;
save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'tomo_align_dist'</span>, <span class="org-string">'-append'</span>);
</pre>
</div>
</div>
</div>
<div id="outline-container-org378d406" class="outline-3">
<h3 id="org378d406"><span class="section-number-3">3.2</span> Analysis</h3>
<div id="outline-container-orgdb56a7f" class="outline-3">
<h3 id="orgdb56a7f"><span class="section-number-3">3.2</span> Analysis</h3>
<div class="outline-text-3" id="text-3-2">
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'tomo_align_dist'</span>);
t = tomo_align_dist.t;
MTr = tomo_align_dist.MTr;
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab">Edx = squeeze(MTr(1, 4, <span class="org-type">:</span>));
Edy = squeeze(MTr(2, 4, <span class="org-type">:</span>));
Edz = squeeze(MTr(3, 4, <span class="org-type">:</span>));
<span class="org-comment">% The angles obtained are u-v-w Euler angles (rotations in the moving frame)</span>
Ery = atan2( squeeze(MTr(1, 3, <span class="org-type">:</span>)), squeeze(sqrt(MTr(1, 1, <span class="org-type">:</span>)<span class="org-type">.^</span>2 <span class="org-type">+</span> MTr(1, 2, <span class="org-type">:</span>)<span class="org-type">.^</span>2)));
Erx = atan2(<span class="org-type">-</span>squeeze(MTr(2, 3, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery), squeeze(MTr(3, 3, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery));
Erz = atan2(<span class="org-type">-</span>squeeze(MTr(1, 2, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery), squeeze(MTr(1, 1, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery));
<pre class="src src-matlab">load(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'tomo_align_dist'</span>, <span class="org-string">'tomo_align_no_dist'</span>);
</pre>
</div>
<div id="org5b3411f" class="figure">
<p><img src="figs/exp_tomo_dist_trans.png" alt="exp_tomo_dist_trans.png" />
<div id="org8030dba" class="figure">
<p><img src="figs/exp_tomo_dist.png" alt="exp_tomo_dist.png" />
</p>
<p><span class="figure-number">Figure 3: </span>X-Y-Z translation of the sample w.r.t. the granite when performing tomography experiment with disturbances (<a href="./figs/exp_tomo_dist_trans.png">png</a>, <a href="./figs/exp_tomo_dist_trans.pdf">pdf</a>)</p>
</div>
<div id="org7934376" class="figure">
<p><img src="figs/exp_tomo_dist_rot.png" alt="exp_tomo_dist_rot.png" />
</p>
<p><span class="figure-number">Figure 4: </span>X-Y-Z rotations of the sample w.r.t. the granite when performing tomography experiment with disturbances (<a href="./figs/exp_tomo_dist_rot.png">png</a>, <a href="./figs/exp_tomo_dist_rot.pdf">pdf</a>)</p>
<p><span class="figure-number">Figure 2: </span>X-Y-Z translations and rotations of the sample w.r.t. the granite when performing tomography experiment with disturbances (<a href="./figs/exp_tomo_dist.png">png</a>, <a href="./figs/exp_tomo_dist.pdf">pdf</a>)</p>
</div>
</div>
</div>
<div id="outline-container-orgc315488" class="outline-3">
<h3 id="orgc315488"><span class="section-number-3">3.3</span> Conclusion</h3>
<div id="outline-container-org722f52a" class="outline-3">
<h3 id="org722f52a"><span class="section-number-3">3.3</span> Conclusion</h3>
<div class="outline-text-3" id="text-3-3">
<div class="important">
<p>
@@ -576,8 +536,8 @@ This is due to the fact that the micro-hexapod has performed some displacement.
No disturbances are included.
</p>
</div>
<div id="outline-container-org0d9f411" class="outline-3">
<h3 id="org0d9f411"><span class="section-number-3">4.1</span> Simulation Setup</h3>
<div id="outline-container-org6137b17" class="outline-3">
<h3 id="org6137b17"><span class="section-number-3">4.1</span> Simulation Setup</h3>
<div class="outline-text-3" id="text-4-1">
<p>
We first set the wanted translation of the Micro Hexapod.
@@ -630,56 +590,37 @@ We simulate the model.
And we save the obtained data.
</p>
<div class="org-src-container">
<pre class="src src-matlab">tomo_not_align = struct(<span class="org-string">'t'</span>, t, <span class="org-string">'MTr'</span>, MTr);
<pre class="src src-matlab">tomo_not_align = simout;
save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'tomo_not_align'</span>, <span class="org-string">'-append'</span>);
</pre>
</div>
</div>
</div>
<div id="outline-container-org80c3cd8" class="outline-3">
<h3 id="org80c3cd8"><span class="section-number-3">4.2</span> Analysis</h3>
<div id="outline-container-org92c4f21" class="outline-3">
<h3 id="org92c4f21"><span class="section-number-3">4.2</span> Analysis</h3>
<div class="outline-text-3" id="text-4-2">
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'tomo_not_align'</span>);
t = tomo_not_align.t;
MTr = tomo_not_align.MTr;
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab">Edx = squeeze(MTr(1, 4, <span class="org-type">:</span>));
Edy = squeeze(MTr(2, 4, <span class="org-type">:</span>));
Edz = squeeze(MTr(3, 4, <span class="org-type">:</span>));
<span class="org-comment">% The angles obtained are u-v-w Euler angles (rotations in the moving frame)</span>
Ery = atan2( squeeze(MTr(1, 3, <span class="org-type">:</span>)), squeeze(sqrt(MTr(1, 1, <span class="org-type">:</span>)<span class="org-type">.^</span>2 <span class="org-type">+</span> MTr(1, 2, <span class="org-type">:</span>)<span class="org-type">.^</span>2)));
Erx = atan2(<span class="org-type">-</span>squeeze(MTr(2, 3, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery), squeeze(MTr(3, 3, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery));
Erz = atan2(<span class="org-type">-</span>squeeze(MTr(1, 2, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery), squeeze(MTr(1, 1, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery));
<pre class="src src-matlab">load(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'tomo_not_align'</span>, <span class="org-string">'tomo_align_no_dist'</span>);
</pre>
</div>
<div id="org40355c3" class="figure">
<p><img src="figs/exp_tomo_offset_trans.png" alt="exp_tomo_offset_trans.png" />
<div id="orgb824a01" class="figure">
<p><img src="figs/exp_tomo_offset.png" alt="exp_tomo_offset.png" />
</p>
<p><span class="figure-number">Figure 5: </span>X-Y-Z translation of the sample w.r.t. granite when performing tomography experiment with no disturbances (<a href="./figs/exp_tomo_offset_trans.png">png</a>, <a href="./figs/exp_tomo_offset_trans.pdf">pdf</a>)</p>
</div>
<div id="org3f64362" class="figure">
<p><img src="figs/exp_tomo_offset_rot.png" alt="exp_tomo_offset_rot.png" />
</p>
<p><span class="figure-number">Figure 6: </span>X-Y-Z rotations of the sample w.r.t. granite when performing tomography experiment with no disturbances (<a href="./figs/exp_tomo_offset_rot.png">png</a>, <a href="./figs/exp_tomo_offset_rot.pdf">pdf</a>)</p>
<p><span class="figure-number">Figure 3: </span>X-Y-Z translation of the sample w.r.t. granite when performing tomography experiment with no disturbances (<a href="./figs/exp_tomo_offset.png">png</a>, <a href="./figs/exp_tomo_offset.pdf">pdf</a>)</p>
</div>
</div>
</div>
<div id="outline-container-orgb310f81" class="outline-3">
<h3 id="orgb310f81"><span class="section-number-3">4.3</span> Conclusion</h3>
<div id="outline-container-org92f12cd" class="outline-3">
<h3 id="org92f12cd"><span class="section-number-3">4.3</span> Conclusion</h3>
<div class="outline-text-3" id="text-4-3">
<div class="important">
<p>
The main motions are translations in the X direction of the mobile platform (corresponds to the eccentricity of the micro-hexapod) and rotations along the rotating Y axis.
The main motion error are 1Hz X-Y translations and constant Ry error.
This is mainly due to finite stiffness of the elements.
</p>
</div>
@@ -697,17 +638,9 @@ The main motions are translations in the X direction of the mobile platform (cor
In this section, scans with the translation stage are performed.
</p>
</div>
<div id="outline-container-org0ba0ddd" class="outline-3">
<h3 id="org0ba0ddd"><span class="section-number-3">5.1</span> Simulation Setup</h3>
<div id="outline-container-org4110173" class="outline-3">
<h3 id="org4110173"><span class="section-number-3">5.1</span> Simulation Setup</h3>
<div class="outline-text-3" id="text-5-1">
<p>
We set the reference path.
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeReferences(<span class="org-string">'Dy_type'</span>, <span class="org-string">'triangular'</span>, <span class="org-string">'Dy_amplitude'</span>, 10e<span class="org-type">-</span>3, <span class="org-string">'Dy_period'</span>, 1);
</pre>
</div>
<p>
We initialize the stages.
</p>
@@ -720,7 +653,7 @@ initializeRz();
initializeMicroHexapod();
initializeAxisc();
initializeMirror();
initializeNanoHexapod(<span class="org-string">'actuator'</span>, <span class="org-string">'piezo'</span>);
initializeNanoHexapod(<span class="org-string">'type'</span>, <span class="org-string">'rigid'</span>);
initializeSample(<span class="org-string">'mass'</span>, 1);
</pre>
</div>
@@ -740,6 +673,14 @@ And we initialize the disturbances to zero.
</pre>
</div>
<p>
We set the reference path to be a triangular signal for the Translation Stage.
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeReferences(<span class="org-string">'Dy_type'</span>, <span class="org-string">'triangular'</span>, <span class="org-string">'Dy_amplitude'</span>, 10e<span class="org-type">-</span>3, <span class="org-string">'Dy_period'</span>, 1);
</pre>
</div>
<p>
We simulate the model.
</p>
@@ -752,57 +693,66 @@ We simulate the model.
And we save the obtained data.
</p>
<div class="org-src-container">
<pre class="src src-matlab">ty_scan = struct(<span class="org-string">'t'</span>, t, <span class="org-string">'MTr'</span>, MTr);
save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'ty_scan'</span>, <span class="org-string">'-append'</span>);
<pre class="src src-matlab">ty_scan_triangle = simout;
save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'ty_scan_triangle'</span>, <span class="org-string">'-append'</span>);
</pre>
</div>
<p>
We now set the reference path to be a sinusoidal signal for the Translation Stage.
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeReferences(<span class="org-string">'Dy_type'</span>, <span class="org-string">'sinusoidal'</span>, <span class="org-string">'Dy_amplitude'</span>, 10e<span class="org-type">-</span>3, <span class="org-string">'Dy_period'</span>, 1);
</pre>
</div>
<p>
We simulate the model.
</p>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-matlab-simulink-keyword">sim</span>(<span class="org-string">'nass_model'</span>);
</pre>
</div>
<p>
And we save the obtained data.
</p>
<div class="org-src-container">
<pre class="src src-matlab">ty_scan_sinus = simout;
save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'ty_scan_sinus'</span>, <span class="org-string">'-append'</span>);
</pre>
</div>
</div>
</div>
<div id="outline-container-org140576f" class="outline-3">
<h3 id="org140576f"><span class="section-number-3">5.2</span> Analysis</h3>
<div id="outline-container-org1e50cb1" class="outline-3">
<h3 id="org1e50cb1"><span class="section-number-3">5.2</span> Analysis</h3>
<div class="outline-text-3" id="text-5-2">
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'ty_scan'</span>);
t = ty_scan.t;
MTr = ty_scan.MTr;
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab">Edx = squeeze(MTr(1, 4, <span class="org-type">:</span>));
Edy = squeeze(MTr(2, 4, <span class="org-type">:</span>));
Edz = squeeze(MTr(3, 4, <span class="org-type">:</span>));
<span class="org-comment">% The angles obtained are u-v-w Euler angles (rotations in the moving frame)</span>
Ery = atan2( squeeze(MTr(1, 3, <span class="org-type">:</span>)), squeeze(sqrt(MTr(1, 1, <span class="org-type">:</span>)<span class="org-type">.^</span>2 <span class="org-type">+</span> MTr(1, 2, <span class="org-type">:</span>)<span class="org-type">.^</span>2)));
Erx = atan2(<span class="org-type">-</span>squeeze(MTr(2, 3, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery), squeeze(MTr(3, 3, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery));
Erz = atan2(<span class="org-type">-</span>squeeze(MTr(1, 2, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery), squeeze(MTr(1, 1, <span class="org-type">:</span>))<span class="org-type">./</span>cos(Ery));
<pre class="src src-matlab">load(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'ty_scan_triangle'</span>, <span class="org-string">'ty_scan_sinus'</span>);
</pre>
</div>
<div id="org042610c" class="figure">
<p><img src="figs/exp_ty_scan_trans.png" alt="exp_ty_scan_trans.png" />
<div id="org888f0bf" class="figure">
<p><img src="figs/exp_ty_scan.png" alt="exp_ty_scan.png" />
</p>
<p><span class="figure-number">Figure 7: </span>X-Y-Z translation of the sample w.r.t. granite when performing tomography experiment with no disturbances (<a href="./figs/exp_ty_scan_trans.png">png</a>, <a href="./figs/exp_ty_scan_trans.pdf">pdf</a>)</p>
</div>
<div id="org26a730c" class="figure">
<p><img src="figs/exp_ty_scan_rot.png" alt="exp_ty_scan_rot.png" />
</p>
<p><span class="figure-number">Figure 8: </span>X-Y-Z rotations of the sample w.r.t. granite when performing tomography experiment with no disturbances (<a href="./figs/exp_ty_scan_rot.png">png</a>, <a href="./figs/exp_ty_scan_rot.pdf">pdf</a>)</p>
<p><span class="figure-number">Figure 4: </span>X-Y-Z translation of the sample w.r.t. granite when performing tomography experiment with no disturbances (<a href="./figs/exp_ty_scan.png">png</a>, <a href="./figs/exp_ty_scan.pdf">pdf</a>)</p>
</div>
</div>
</div>
<div id="outline-container-org26e3394" class="outline-3">
<h3 id="org26e3394"><span class="section-number-3">5.3</span> Conclusion</h3>
<div id="outline-container-org98199a0" class="outline-3">
<h3 id="org98199a0"><span class="section-number-3">5.3</span> Conclusion</h3>
<div class="outline-text-3" id="text-5-3">
<div class="important">
<p>
This is logic that the main error moving is translation along the Y axis and rotation along the X axis.
In order to reduce the errors, we can make a smoother reference path for the translation stage.
Scans with the translation stage induces some errors in the Y direction and Rx translations.
</p>
<p>
Also, scanning with a sinusoidal wave induces less position errors and at lower frequencies.
Thus, this should be preferred.
</p>
</div>
@@ -812,7 +762,7 @@ In order to reduce the errors, we can make a smoother reference path for the tra
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-03-17 mar. 11:21</p>
<p class="date">Created: 2020-03-17 mar. 12:32</p>
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