Add org-setup-file that all org file links to
This commit is contained in:
@@ -4,227 +4,17 @@
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"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
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<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
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<head>
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<!-- 2020-03-17 mar. 12:32 -->
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<!-- 2020-04-17 ven. 10:25 -->
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<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
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<meta name="viewport" content="width=device-width, initial-scale=1" />
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<title>Simulation of Scientific Experiments</title>
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<meta name="generator" content="Org mode" />
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<meta name="author" content="Dehaeze Thomas" />
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<style type="text/css">
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<!--/*--><![CDATA[/*><!--*/
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.title { text-align: center;
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margin-bottom: .2em; }
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.subtitle { text-align: center;
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font-size: medium;
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font-weight: bold;
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margin-top:0; }
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.todo { font-family: monospace; color: red; }
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padding: 2px; font-size: 80%; font-weight: normal; }
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.timestamp { color: #bebebe; }
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.timestamp-kwd { color: #5f9ea0; }
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.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
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.org-center { margin-left: auto; margin-right: auto; text-align: center; }
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.underline { text-decoration: underline; }
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#postamble p, #preamble p { font-size: 90%; margin: .2em; }
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p.verse { margin-left: 3%; }
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pre {
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border: 1px solid #ccc;
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box-shadow: 3px 3px 3px #eee;
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padding: 8pt;
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font-family: monospace;
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overflow: auto;
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margin: 1.2em;
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}
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pre.src {
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position: relative;
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overflow: visible;
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padding-top: 1.2em;
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}
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display: none;
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background-color: white;
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right: 10px;
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padding: 3px;
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border: 1px solid black;
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}
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pre.src:hover:before { display: inline;}
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/* Languages per Org manual */
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pre.src-asymptote:before { content: 'Asymptote'; }
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pre.src-awk:before { content: 'Awk'; }
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pre.src-C:before { content: 'C'; }
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/* pre.src-C++ doesn't work in CSS */
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pre.src-clojure:before { content: 'Clojure'; }
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pre.src-css:before { content: 'CSS'; }
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pre.src-D:before { content: 'D'; }
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pre.src-ditaa:before { content: 'ditaa'; }
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pre.src-dot:before { content: 'Graphviz'; }
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pre.src-calc:before { content: 'Emacs Calc'; }
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pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
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pre.src-fortran:before { content: 'Fortran'; }
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pre.src-gnuplot:before { content: 'gnuplot'; }
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pre.src-haskell:before { content: 'Haskell'; }
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pre.src-hledger:before { content: 'hledger'; }
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pre.src-java:before { content: 'Java'; }
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pre.src-js:before { content: 'Javascript'; }
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pre.src-latex:before { content: 'LaTeX'; }
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pre.src-ledger:before { content: 'Ledger'; }
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pre.src-lisp:before { content: 'Lisp'; }
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pre.src-lilypond:before { content: 'Lilypond'; }
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pre.src-matlab:before { content: 'MATLAB'; }
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pre.src-ocaml:before { content: 'Objective Caml'; }
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pre.src-org:before { content: 'Org mode'; }
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pre.src-processing:before { content: 'Processing.js'; }
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pre.src-python:before { content: 'Python'; }
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pre.src-R:before { content: 'R'; }
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pre.src-ruby:before { content: 'Ruby'; }
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pre.src-scheme:before { content: 'Scheme'; }
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pre.src-screen:before { content: 'Gnu Screen'; }
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pre.src-sed:before { content: 'Sed'; }
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pre.src-sh:before { content: 'shell'; }
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pre.src-sql:before { content: 'SQL'; }
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pre.src-sqlite:before { content: 'SQLite'; }
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/* additional languages in org.el's org-babel-load-languages alist */
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pre.src-forth:before { content: 'Forth'; }
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pre.src-io:before { content: 'IO'; }
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pre.src-J:before { content: 'J'; }
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pre.src-makefile:before { content: 'Makefile'; }
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pre.src-maxima:before { content: 'Maxima'; }
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pre.src-perl:before { content: 'Perl'; }
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pre.src-picolisp:before { content: 'Pico Lisp'; }
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pre.src-scala:before { content: 'Scala'; }
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pre.src-shell:before { content: 'Shell Script'; }
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pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
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/* additional language identifiers per "defun org-babel-execute"
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in ob-*.el */
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pre.src-cpp:before { content: 'C++'; }
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pre.src-abc:before { content: 'ABC'; }
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pre.src-coq:before { content: 'Coq'; }
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pre.src-groovy:before { content: 'Groovy'; }
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/* additional language identifiers from org-babel-shell-names in
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ob-shell.el: ob-shell is the only babel language using a lambda to put
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the execution function name together. */
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pre.src-bash:before { content: 'bash'; }
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pre.src-csh:before { content: 'csh'; }
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pre.src-ash:before { content: 'ash'; }
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pre.src-dash:before { content: 'dash'; }
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pre.src-ksh:before { content: 'ksh'; }
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pre.src-mksh:before { content: 'mksh'; }
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pre.src-posh:before { content: 'posh'; }
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/* Additional Emacs modes also supported by the LaTeX listings package */
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pre.src-ada:before { content: 'Ada'; }
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pre.src-asm:before { content: 'Assembler'; }
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pre.src-caml:before { content: 'Caml'; }
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pre.src-delphi:before { content: 'Delphi'; }
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pre.src-html:before { content: 'HTML'; }
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pre.src-idl:before { content: 'IDL'; }
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pre.src-mercury:before { content: 'Mercury'; }
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pre.src-metapost:before { content: 'MetaPost'; }
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pre.src-modula-2:before { content: 'Modula-2'; }
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pre.src-pascal:before { content: 'Pascal'; }
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pre.src-ps:before { content: 'PostScript'; }
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pre.src-prolog:before { content: 'Prolog'; }
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pre.src-simula:before { content: 'Simula'; }
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pre.src-tcl:before { content: 'tcl'; }
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pre.src-tex:before { content: 'TeX'; }
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pre.src-plain-tex:before { content: 'Plain TeX'; }
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pre.src-verilog:before { content: 'Verilog'; }
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pre.src-vhdl:before { content: 'VHDL'; }
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pre.src-xml:before { content: 'XML'; }
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pre.src-nxml:before { content: 'XML'; }
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/* add a generic configuration mode; LaTeX export needs an additional
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(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
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pre.src-conf:before { content: 'Configuration File'; }
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table { border-collapse:collapse; }
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caption.t-above { caption-side: top; }
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caption.t-bottom { caption-side: bottom; }
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td, th { vertical-align:top; }
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th.org-right { text-align: center; }
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th.org-left { text-align: center; }
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th.org-center { text-align: center; }
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td.org-right { text-align: right; }
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td.org-left { text-align: left; }
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td.org-center { text-align: center; }
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dt { font-weight: bold; }
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.footpara { display: inline; }
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.footdef { margin-bottom: 1em; }
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.figure { padding: 1em; }
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.figure p { text-align: center; }
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.equation-container {
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display: table;
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text-align: center;
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width: 100%;
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}
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.equation {
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vertical-align: middle;
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}
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.equation-label {
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display: table-cell;
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text-align: right;
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vertical-align: middle;
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}
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.inlinetask {
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padding: 10px;
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border: 2px solid gray;
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margin: 10px;
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background: #ffffcc;
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}
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#org-div-home-and-up
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{ text-align: right; font-size: 70%; white-space: nowrap; }
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textarea { overflow-x: auto; }
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.linenr { font-size: smaller }
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.code-highlighted { background-color: #ffff00; }
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.org-info-js_info-navigation { border-style: none; }
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#org-info-js_console-label
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{ font-size: 10px; font-weight: bold; white-space: nowrap; }
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.org-info-js_search-highlight
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{ background-color: #ffff00; color: #000000; font-weight: bold; }
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.org-svg { width: 90%; }
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/*]]>*/-->
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</style>
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<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
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<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
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<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
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<script type="text/javascript" src="./js/jquery.min.js"></script>
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<script type="text/javascript" src="./js/bootstrap.min.js"></script>
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<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
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<script type="text/javascript" src="./js/readtheorg.js"></script>
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<script type="text/javascript">
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// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&dn=gpl-3.0.txt GPL-v3-or-Later
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<!--/*--><![CDATA[/*><!--*/
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function CodeHighlightOn(elem, id)
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{
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var target = document.getElementById(id);
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elem.cacheClassTarget = target.className;
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target.className = elem.cacheClassTarget;
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}
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/*]]>*///-->
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// @license-end
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</script>
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<script src="./js/jquery.min.js"></script>
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<script src="./js/bootstrap.min.js"></script>
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<script src="./js/jquery.stickytableheaders.min.js"></script>
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<script src="./js/readtheorg.js"></script>
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</head>
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<body>
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<div id="org-div-home-and-up">
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@@ -240,30 +30,37 @@
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<li><a href="#org03b2a76">1. Simscape Model</a></li>
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<li><a href="#org6ed78a0">2. Tomography Experiment with no disturbances</a>
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<ul>
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<li><a href="#org0ba0ddd">2.1. Simulation Setup</a></li>
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<li><a href="#org140576f">2.2. Analysis</a></li>
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<li><a href="#org26e3394">2.3. Conclusion</a></li>
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<li><a href="#orgdebc736">2.1. Simulation Setup</a></li>
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<li><a href="#orge0e2e88">2.2. Analysis</a></li>
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<li><a href="#org38ba07f">2.3. Conclusion</a></li>
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</ul>
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</li>
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<li><a href="#org16d8e58">3. Tomography Experiment with included perturbations</a>
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<ul>
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<li><a href="#org3da7cb0">3.1. Simulation Setup</a></li>
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<li><a href="#orgdb56a7f">3.2. Analysis</a></li>
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<li><a href="#org722f52a">3.3. Conclusion</a></li>
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<li><a href="#orgc2a0926">3.1. Simulation Setup</a></li>
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<li><a href="#org388be58">3.2. Analysis</a></li>
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<li><a href="#org51b3617">3.3. Conclusion</a></li>
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</ul>
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</li>
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<li><a href="#org72f01ab">4. Tomography when the micro-hexapod is not centered</a>
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<li><a href="#org7202245">4. Tomography Experiment with Ty raster scans</a>
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<ul>
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<li><a href="#org6137b17">4.1. Simulation Setup</a></li>
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<li><a href="#org92c4f21">4.2. Analysis</a></li>
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<li><a href="#org92f12cd">4.3. Conclusion</a></li>
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<li><a href="#org94c3461">4.1. Simulation Setup</a></li>
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<li><a href="#org65d4246">4.2. Analysis</a></li>
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<li><a href="#org41a2a1d">4.3. Conclusion</a></li>
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</ul>
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</li>
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<li><a href="#org8fa1632">5. Raster Scans with the translation stage</a>
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<li><a href="#org72f01ab">5. Tomography when the micro-hexapod is not centered</a>
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<ul>
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<li><a href="#org4110173">5.1. Simulation Setup</a></li>
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<li><a href="#org1e50cb1">5.2. Analysis</a></li>
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<li><a href="#org98199a0">5.3. Conclusion</a></li>
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||||
<li><a href="#org8a5fae6">5.1. Simulation Setup</a></li>
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||||
<li><a href="#orgf8b4f39">5.2. Analysis</a></li>
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||||
<li><a href="#orgdd34703">5.3. Conclusion</a></li>
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</ul>
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</li>
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<li><a href="#org8fa1632">6. Raster Scans with the translation stage</a>
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<ul>
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<li><a href="#orge3f0741">6.1. Simulation Setup</a></li>
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<li><a href="#org1836f98">6.2. Analysis</a></li>
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||||
<li><a href="#org8cf54cb">6.3. Conclusion</a></li>
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||||
</ul>
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||||
</li>
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||||
</ul>
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@@ -291,8 +88,8 @@ The document in organized as follow:
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<li>In section <a href="#orgfc7d050">1</a> the Simscape model is initialized</li>
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<li>In section <a href="#org3effbb8">2</a> a tomography experiment is performed where the sample is aligned with the rotation axis. No disturbance is included</li>
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<li>In section <a href="#org4e7f626">3</a>, the same is done but with disturbance included</li>
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<li>In section <a href="#orgb31e3fb">4</a> the micro-hexapod translate the sample such that its center of mass is no longer aligned with the rotation axis. No disturbance is included</li>
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||||
<li>In section <a href="#org6aaeb53">5</a>, scans with the translation stage are simulated with no perturbation included</li>
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||||
<li>In section <a href="#orgb31e3fb">5</a> the micro-hexapod translate the sample such that its center of mass is no longer aligned with the rotation axis. No disturbance is included</li>
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||||
<li>In section <a href="#org6aaeb53">6</a>, scans with the translation stage are simulated with no perturbation included</li>
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||||
</ul>
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||||
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||||
<div id="outline-container-org03b2a76" class="outline-2">
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||||
@@ -329,15 +126,6 @@ initializeSample(<span class="org-string">'mass'</span>, 1);
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</pre>
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||||
</div>
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||||
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||||
<p>
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||||
We initialize the reference path for all the stages.
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||||
All stage is set to its zero position except the Spindle which is rotating at 60rpm.
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||||
</p>
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||||
<div class="org-src-container">
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||||
<pre class="src src-matlab">initializeReferences(<span class="org-string">'Rz_type'</span>, <span class="org-string">'rotating'</span>, <span class="org-string">'Rz_period'</span>, 1);
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||||
</pre>
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||||
</div>
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||||
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||||
<p>
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||||
No controller is used (Open Loop).
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||||
</p>
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||||
@@ -347,7 +135,7 @@ No controller is used (Open Loop).
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||||
</div>
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||||
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||||
<p>
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||||
And we put some gravity.
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||||
We don’t gravity.
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||||
</p>
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||||
<div class="org-src-container">
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||||
<pre class="src src-matlab">initializeSimscapeConfiguration(<span class="org-string">'gravity'</span>, <span class="org-constant">false</span>);
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||||
@@ -375,8 +163,8 @@ In this section, a tomography experiment is performed with the sample aligned wi
|
||||
No disturbance is included.
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||||
</p>
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||||
</div>
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||||
<div id="outline-container-org0ba0ddd" class="outline-3">
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||||
<h3 id="org0ba0ddd"><span class="section-number-3">2.1</span> Simulation Setup</h3>
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||||
<div id="outline-container-orgdebc736" class="outline-3">
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||||
<h3 id="orgdebc736"><span class="section-number-3">2.1</span> Simulation Setup</h3>
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||||
<div class="outline-text-3" id="text-2-1">
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||||
<p>
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||||
And we initialize the disturbances to be equal to zero.
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||||
@@ -393,6 +181,15 @@ And we initialize the disturbances to be equal to zero.
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||||
</pre>
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||||
</div>
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||||
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||||
<p>
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||||
We initialize the reference path for all the stages.
|
||||
All stage is set to its zero position except the Spindle which is rotating at 60rpm.
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||||
</p>
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||||
<div class="org-src-container">
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||||
<pre class="src src-matlab">initializeReferences(<span class="org-string">'Rz_type'</span>, <span class="org-string">'rotating'</span>, <span class="org-string">'Rz_period'</span>, 1);
|
||||
</pre>
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||||
</div>
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||||
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||||
<p>
|
||||
We simulate the model.
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||||
</p>
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||||
@@ -412,8 +209,8 @@ save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span cl
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||||
</div>
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||||
</div>
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||||
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||||
<div id="outline-container-org140576f" class="outline-3">
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||||
<h3 id="org140576f"><span class="section-number-3">2.2</span> Analysis</h3>
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||||
<div id="outline-container-orge0e2e88" class="outline-3">
|
||||
<h3 id="orge0e2e88"><span class="section-number-3">2.2</span> Analysis</h3>
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||||
<div class="outline-text-3" id="text-2-2">
|
||||
<div class="org-src-container">
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||||
<pre class="src src-matlab">load(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'tomo_align_no_dist'</span>);
|
||||
@@ -429,8 +226,8 @@ save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span cl
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org26e3394" class="outline-3">
|
||||
<h3 id="org26e3394"><span class="section-number-3">2.3</span> Conclusion</h3>
|
||||
<div id="outline-container-org38ba07f" class="outline-3">
|
||||
<h3 id="org38ba07f"><span class="section-number-3">2.3</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-2-3">
|
||||
<div class="important">
|
||||
<p>
|
||||
@@ -454,8 +251,8 @@ In this section, we also perform a tomography experiment with the sample’s
|
||||
However this time, we include perturbations such as ground motion and stage vibrations.
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-org3da7cb0" class="outline-3">
|
||||
<h3 id="org3da7cb0"><span class="section-number-3">3.1</span> Simulation Setup</h3>
|
||||
<div id="outline-container-orgc2a0926" class="outline-3">
|
||||
<h3 id="orgc2a0926"><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.
|
||||
@@ -465,13 +262,22 @@ We now activate the disturbances.
|
||||
<span class="org-string">'Dwx'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Ground Motion - X direction</span>
|
||||
<span class="org-string">'Dwy'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Ground Motion - Y direction</span>
|
||||
<span class="org-string">'Dwz'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Ground Motion - Z direction</span>
|
||||
<span class="org-string">'Fty_x'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Translation Stage - X direction</span>
|
||||
<span class="org-string">'Fty_z'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Translation Stage - Z direction</span>
|
||||
<span class="org-string">'Fty_x'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Translation Stage - X direction</span>
|
||||
<span class="org-string">'Fty_z'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Translation Stage - Z direction</span>
|
||||
<span class="org-string">'Frz_z'</span>, <span class="org-constant">true</span> ...<span class="org-comment"> % Spindle - Z direction</span>
|
||||
);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
We initialize the reference path for all the stages.
|
||||
All stage is set to its zero position except the Spindle which is rotating at 60rpm.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeReferences(<span class="org-string">'Rz_type'</span>, <span class="org-string">'rotating'</span>, <span class="org-string">'Rz_period'</span>, 1);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
We simulate the model.
|
||||
</p>
|
||||
@@ -491,8 +297,8 @@ save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span cl
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgdb56a7f" class="outline-3">
|
||||
<h3 id="orgdb56a7f"><span class="section-number-3">3.2</span> Analysis</h3>
|
||||
<div id="outline-container-org388be58" class="outline-3">
|
||||
<h3 id="org388be58"><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>, <span class="org-string">'tomo_align_no_dist'</span>);
|
||||
@@ -508,12 +314,12 @@ save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span cl
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org722f52a" class="outline-3">
|
||||
<h3 id="org722f52a"><span class="section-number-3">3.3</span> Conclusion</h3>
|
||||
<div id="outline-container-org51b3617" class="outline-3">
|
||||
<h3 id="org51b3617"><span class="section-number-3">3.3</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-3-3">
|
||||
<div class="important">
|
||||
<p>
|
||||
Error motion is what expected from the disturbance measurements.
|
||||
Here, no vibration is included in the X and Y directions.
|
||||
</p>
|
||||
|
||||
</div>
|
||||
@@ -521,10 +327,90 @@ Error motion is what expected from the disturbance measurements.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org72f01ab" class="outline-2">
|
||||
<h2 id="org72f01ab"><span class="section-number-2">4</span> Tomography when the micro-hexapod is not centered</h2>
|
||||
<div id="outline-container-org7202245" class="outline-2">
|
||||
<h2 id="org7202245"><span class="section-number-2">4</span> Tomography Experiment with Ty raster scans</h2>
|
||||
<div class="outline-text-2" id="text-4">
|
||||
<p>
|
||||
<a id="orgd4f0240"></a>
|
||||
</p>
|
||||
<p>
|
||||
In this section, we also perform a tomography experiment with scans of the Translation stage.
|
||||
All the perturbations are included.
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-org94c3461" class="outline-3">
|
||||
<h3 id="org94c3461"><span class="section-number-3">4.1</span> Simulation Setup</h3>
|
||||
<div class="outline-text-3" id="text-4-1">
|
||||
<p>
|
||||
We now activate the disturbances.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeDisturbances(...
|
||||
<span class="org-string">'Dwx'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Ground Motion - X direction</span>
|
||||
<span class="org-string">'Dwy'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Ground Motion - Y direction</span>
|
||||
<span class="org-string">'Dwz'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Ground Motion - Z direction</span>
|
||||
<span class="org-string">'Fty_x'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Translation Stage - X direction</span>
|
||||
<span class="org-string">'Fty_z'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Translation Stage - Z direction</span>
|
||||
<span class="org-string">'Frz_z'</span>, <span class="org-constant">true</span> ...<span class="org-comment"> % Spindle - Z direction</span>
|
||||
);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
We initialize the reference path for all the stages.
|
||||
The Spindle which is rotating at 60rpm and the translation stage not moving as it would take a long time to simulate.
|
||||
However, vibrations of the Ty stage are included.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeReferences(<span class="org-string">'Rz_type'</span>, <span class="org-string">'rotating'</span>, <span class="org-string">'Rz_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">scans_rz_align_dist = simout;
|
||||
save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'scans_rz_align_dist'</span>, <span class="org-string">'-append'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org65d4246" class="outline-3">
|
||||
<h3 id="org65d4246"><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">'scans_rz_align_dist'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org38e229c" class="figure">
|
||||
<p><img src="figs/exp_scans_rz_dist.png" alt="exp_scans_rz_dist.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 3: </span>X-Y-Z translations and rotations of the sample w.r.t. the granite when performing tomography experiment and scans with the translation stage at the same time</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org41a2a1d" class="outline-3">
|
||||
<h3 id="org41a2a1d"><span class="section-number-3">4.3</span> Conclusion</h3>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org72f01ab" class="outline-2">
|
||||
<h2 id="org72f01ab"><span class="section-number-2">5</span> Tomography when the micro-hexapod is not centered</h2>
|
||||
<div class="outline-text-2" id="text-5">
|
||||
<p>
|
||||
<a id="orgb31e3fb"></a>
|
||||
</p>
|
||||
<p>
|
||||
@@ -536,9 +422,9 @@ This is due to the fact that the micro-hexapod has performed some displacement.
|
||||
No disturbances are included.
|
||||
</p>
|
||||
</div>
|
||||
<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">
|
||||
<div id="outline-container-org8a5fae6" class="outline-3">
|
||||
<h3 id="org8a5fae6"><span class="section-number-3">5.1</span> Simulation Setup</h3>
|
||||
<div class="outline-text-3" id="text-5-1">
|
||||
<p>
|
||||
We first set the wanted translation of the Micro Hexapod.
|
||||
</p>
|
||||
@@ -597,9 +483,9 @@ save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span cl
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<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 id="outline-container-orgf8b4f39" class="outline-3">
|
||||
<h3 id="orgf8b4f39"><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">'tomo_not_align'</span>, <span class="org-string">'tomo_align_no_dist'</span>);
|
||||
</pre>
|
||||
@@ -609,14 +495,14 @@ save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span cl
|
||||
<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 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>
|
||||
<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_tomo_offset.png">png</a>, <a href="./figs/exp_tomo_offset.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<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 id="outline-container-orgdd34703" class="outline-3">
|
||||
<h3 id="orgdd34703"><span class="section-number-3">5.3</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-5-3">
|
||||
<div class="important">
|
||||
<p>
|
||||
The main motion error are 1Hz X-Y translations and constant Ry error.
|
||||
@@ -629,8 +515,8 @@ This is mainly due to finite stiffness of the elements.
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org8fa1632" class="outline-2">
|
||||
<h2 id="org8fa1632"><span class="section-number-2">5</span> Raster Scans with the translation stage</h2>
|
||||
<div class="outline-text-2" id="text-5">
|
||||
<h2 id="org8fa1632"><span class="section-number-2">6</span> Raster Scans with the translation stage</h2>
|
||||
<div class="outline-text-2" id="text-6">
|
||||
<p>
|
||||
<a id="org6aaeb53"></a>
|
||||
</p>
|
||||
@@ -638,9 +524,9 @@ This is mainly due to finite stiffness of the elements.
|
||||
In this section, scans with the translation stage are performed.
|
||||
</p>
|
||||
</div>
|
||||
<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">
|
||||
<div id="outline-container-orge3f0741" class="outline-3">
|
||||
<h3 id="orge3f0741"><span class="section-number-3">6.1</span> Simulation Setup</h3>
|
||||
<div class="outline-text-3" id="text-6-1">
|
||||
<p>
|
||||
We initialize the stages.
|
||||
</p>
|
||||
@@ -725,9 +611,9 @@ save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span cl
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<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 id="outline-container-org1836f98" class="outline-3">
|
||||
<h3 id="org1836f98"><span class="section-number-3">6.2</span> Analysis</h3>
|
||||
<div class="outline-text-3" id="text-6-2">
|
||||
<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_triangle'</span>, <span class="org-string">'ty_scan_sinus'</span>);
|
||||
</pre>
|
||||
@@ -737,14 +623,14 @@ save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span cl
|
||||
<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 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>
|
||||
<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_ty_scan.png">png</a>, <a href="./figs/exp_ty_scan.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<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 id="outline-container-org8cf54cb" class="outline-3">
|
||||
<h3 id="org8cf54cb"><span class="section-number-3">6.3</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-6-3">
|
||||
<div class="important">
|
||||
<p>
|
||||
Scans with the translation stage induces some errors in the Y direction and Rx translations.
|
||||
@@ -762,7 +648,7 @@ Thus, this should be preferred.
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-03-17 mar. 12:32</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 10:25</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
Reference in New Issue
Block a user