#+TITLE: Simscape model - Report
#+LATEX_CLASS: cleanreport
#+LaTeX_CLASS_OPTIONS: [tocnp, secbreak]
#+STARTUP: overview
#+DATE: 11-2018
#+LaTeX_HEADER: \newcommand{\authorFirstName}{Thomas}
#+LaTeX_HEADER: \newcommand{\authorLastName}{Dehaeze}
#+LaTeX_HEADER: \newcommand{\authorEmail}{dehaeze.thomas@gmail.com}
#+LaTeX_HEADER: \input{config.tex}

* Simscape files for identification
|------------------------+----+----+----+------+------|
| Simscape Name          | Ty | Ry | Rz | Hexa | NASS |
|------------------------+----+----+----+------+------|
| id micro station       | F  | F  | F  | F    |      |
| id nano station stages | F  | F  | F  | F    | F    |
| id nano station config | D  | D  | D  | D    | F    |
| control nano station   | D  | D  | D  | D    | F    |
|------------------------+----+----+----+------+------|

* Inputs
** Perturbations
|----------+--------------------------------------+------+------|
| Variable | Meaning                              | Size | Unit |
|----------+--------------------------------------+------+------|
| ~Dw~     | Ground motion                        |    3 | [m]  |
| ~Fg~     | External force applied on granite    |    3 | [N]  |
| ~Fs~     | External force applied on the Sample |    3 | [N]  |
|----------+--------------------------------------+------+------|

** Measurement Noise
|----------+---------+------+------|
| Variable | Meaning | Size | Unit |
|----------+---------+------+------|
|          |         |      |      |
|----------+---------+------+------|

** Control Inputs
|----------+-------------------------------------------+------+----------|
| Variable | Meaning                                   | Size | Unit     |
|----------+-------------------------------------------+------+----------|
| ~Fy~     | Actuation force for Ty                    |    1 | [N]      |
| ~Dy~     | Imposed displacement for Ty               |    1 | [m]      |
|----------+-------------------------------------------+------+----------|
| ~My~     | Actuation torque for Ry                   |    1 | [N.m]    |
| ~Ry~     | Imposed rotation for Ry                   |    1 | [rad]    |
|----------+-------------------------------------------+------+----------|
| ~Mz~     | Actuation torque for Rz                   |    1 | [N.m]    |
| ~Rz~     | Imposed rotation for Rz                   |    1 | [rad]    |
|----------+-------------------------------------------+------+----------|
| ~Fh~     | Actuation force/torque for hexapod (cart) |    6 | [N, N.m] |
| ~Fhl~    | Actuation force/torque for hexapod (legs) |    6 | [N]      |
| ~Dh~     | Imposed position for hexapod (cart)       |    6 | [m, rad] |
|----------+-------------------------------------------+------+----------|
| ~Rm~     | Position of the two masses                |    2 | [rad]    |
|----------+-------------------------------------------+------+----------|
| ~Fn~     | Actuation force for the NASS (cart)       |    6 | [N, N.m] |
| ~Fnl~    | Actuation force for the NASS's legs       |    6 | [N]      |
| ~Dn~     | Imposed position for the NASS (cart)      |    6 | [m, rad] |
|----------+-------------------------------------------+------+----------|

* Outputs

|----------+---------------------------------------------+------+--------------|
| Variable | Meaning                                     | Size | Unit         |
|----------+---------------------------------------------+------+--------------|
| ~Dgm~    | Absolute displacement of the granite        |    3 | [m]          |
| ~Vgm~    | Absolute Velocity of the granite            |    3 | [m/s]        |
|----------+---------------------------------------------+------+--------------|
| ~Dym~    | Measured displacement of Ty                 |    1 | [m]          |
|----------+---------------------------------------------+------+--------------|
| ~Rym~    | Measured rotation of Ry                     |    1 | [rad]        |
|----------+---------------------------------------------+------+--------------|
| ~Rzm~    | Measured rotation of Rz                     |    1 | [rad]        |
|----------+---------------------------------------------+------+--------------|
| ~Dhm~    | Measured position of hexapod (cart)         |    6 | [m, rad]     |
|----------+---------------------------------------------+------+--------------|
| ~Fnlm~   | Measured force of NASS's legs               |    6 | [N]          |
| ~Dnlm~   | Measured elongation of NASS's legs          |    6 | [m]          |
| ~Dnm~    | Measured position of NASS w.r.t NASS's base |    6 | [m, rad]     |
| ~Vnm~    | Measured absolute velocity of NASS platform |    6 | [m/s, rad/s] |
| ~Vnlm~   | Measured absolute velocity of NASS's legs   |    6 | [m/s]        |
|----------+---------------------------------------------+------+--------------|
| ~Dsm~    | Position of Sample w.r.t. granite frame     |    6 | [m, rad]     |
|----------+---------------------------------------------+------+--------------|