Add Figures
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tdehaeze committed
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55 files changed
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*.pdf binary
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*.svg binary
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*.mat binary
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mat/
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figures/
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ltximg/
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slprj/
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matlab/slprj/
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Executable
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#!/bin/bash
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# Directory containing SVG files
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INPUT_DIR="."
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# Loop through all SVG files in the directory
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for svg_file in "$INPUT_DIR"/*.svg; do
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# Check if there are SVG files in the directory
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if [ -f "$svg_file" ]; then
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# Output PDF file name
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pdf_file="../${svg_file%.svg}.pdf"
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png_file="../${svg_file%.svg}"
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# Convert SVG to PDF using Inkscape
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inkscape "$svg_file" --export-filename="$pdf_file" && \
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pdftocairo -png -singlefile -cropbox "$pdf_file" "$png_file"
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fi
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done
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#+PROPERTY: header-args:matlab :session *MATLAB*
|
||||
#+PROPERTY: header-args:matlab+ :comments org
|
||||
#+PROPERTY: header-args:matlab+ :comments no
|
||||
#+PROPERTY: header-args:matlab+ :exports none
|
||||
#+PROPERTY: header-args:matlab+ :results none
|
||||
#+PROPERTY: header-args:matlab+ :eval no-export
|
||||
@@ -44,12 +45,6 @@
|
||||
#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
|
||||
:END:
|
||||
|
||||
#+begin_export html
|
||||
<hr>
|
||||
<p>This report is also available as a <a href="./nass-design.pdf">pdf</a>.</p>
|
||||
<hr>
|
||||
#+end_export
|
||||
|
||||
#+latex: \clearpage
|
||||
|
||||
* Build :noexport:
|
||||
@@ -96,59 +91,416 @@
|
||||
#+END_SRC
|
||||
|
||||
* Notes :noexport:
|
||||
** Notes
|
||||
Prefix is =detail_design=
|
||||
|
||||
- [ ] Look [[https://gitlab.esrf.fr/dehaeze/nass-fem/-/tree/master?ref_type=heads][here]] for the struts, encoder support, etc...
|
||||
- [ ] file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/nano_hexapod.org
|
||||
- [ ] Design of the flexible joints
|
||||
- [ ] Nice pictures: file:/home/thomas/Cloud/work-projects/ID31-NASS/nano-hexapod
|
||||
- [ ] Mounting of struts is explained later in file:~/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/C3-test-bench-struts/test-bench-struts.org
|
||||
- [ ] Mounting of hexapod is explained in file:~/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/C4-test-bench-nano-hexapod/test-bench-nano-hexapod.org
|
||||
|
||||
*Outline*:
|
||||
- Design goals:
|
||||
- Position =bi= and =si=
|
||||
- Maximum height of 95mm
|
||||
- As close as possible to "perfect" stewart platform: flexible modes at high frequency
|
||||
- Summary of specifications
|
||||
- Easy mounting, easy change of strut in case of failure
|
||||
- Plates:
|
||||
- Maximize frequency of flexible modes (show FEM)
|
||||
- Good tolerances for interfaces with flexible joints
|
||||
Positioning of =bi= and orientation =si=
|
||||
- Flexible joints:
|
||||
- Strut mounting (later described)
|
||||
- Encoder support:
|
||||
- Possible to fix them to the struts or to the plates
|
||||
|
||||
** TODO [#C] Summary of the specifications
|
||||
|
||||
Flexible joints:
|
||||
- Axial Stiffness
|
||||
- Bending Stiffness
|
||||
- Stroke
|
||||
|
||||
APA:
|
||||
- Axial stiffness
|
||||
|
||||
Encoders:
|
||||
- Stroke, Noise
|
||||
|
||||
Plates:
|
||||
- Maximize flexible modes
|
||||
- Correct positioning of bi and si => precisely know the Jacobian matrix
|
||||
|
||||
** TODO [#C] Explain the good wanted flatness for the APA
|
||||
|
||||
#+begin_quote
|
||||
Sur le plan on a une co-planéitée de 0.08mm entre les 2 interfaces (ce
|
||||
qui est pas très exigent avant la découpe intérieure au fil, mais qui
|
||||
est pas si évidente que ça si la matière a des contraintes interne). En
|
||||
plus, ça peut évoluer après collage des piezos (c'est probablement ce
|
||||
qu'on regardait sur ta photo.)
|
||||
|
||||
Je pense qu'on avait demandé ça pour ne pas consommer la course des flex
|
||||
seulement pour compenser les défauts d'usinage/collage. 20um c’était
|
||||
vraiment du bon boulot.
|
||||
|
||||
Le plans que Damien avait fait du corps de l'APA est en pj si tu veux
|
||||
illustrer.
|
||||
#+end_quote
|
||||
|
||||
** TODO [#C] Understand why hexapod stiffness (maximizing suspension modes) is often the main design goal
|
||||
|
||||
See for instance cite:afzali-far16_vibrat_dynam_isotr_hexap_analy_studies.
|
||||
|
||||
Possible reasons:
|
||||
- ease of designing a controller with bandwidth < first suspension mode
|
||||
- when controlling <6DoF, above the resonance the "off-axis" motion may be very large even though the "on-axis" is controlled.
|
||||
|
||||
Not the case for the following references (control bandwidth > suspension mode):
|
||||
- cite:hanieh03_activ_stewar
|
||||
|
||||
Example of claims that resonances impose limitation to control bandwidth:
|
||||
From cite:babakhani12_activ_dampin_vibrat_high_precis_motion_system (page i)
|
||||
#+begin_quote
|
||||
Speed and accuracy in motion systems can be attained by implementing a high-bandwidth motion controller.
|
||||
The resonances in the plant transfer impose a limit on the achievable bandwidth of such a controller.
|
||||
#+end_quote
|
||||
|
||||
** DONE [#B] Put all the figure in the document
|
||||
CLOSED: [2025-04-21 Mon 14:21]
|
||||
|
||||
*Design*:
|
||||
- [X] Overview
|
||||
[[file:figs/detail_design_nano_hexapod_elements.png]]
|
||||
- [X] Final design of struts
|
||||
[[file:figs/detail_design_strut_without_enc.jpg]]
|
||||
[[file:figs/detail_design_strut_with_enc.jpg]]
|
||||
- [X] Modification of APA300ML for easier mounting purposes
|
||||
[[file:figs/detail_design_apa_mod.jpg]]
|
||||
- [X] Plate design
|
||||
[[file:figs/detail_design_top_plate.jpg]]
|
||||
- [X] Design of plates for positioning struts
|
||||
[[file:figs/detail_design_fixation_flexible_joints.png]]
|
||||
[[file:figs/detail_design_location_bot_flex.png]]
|
||||
[[file:figs/detail_design_location_top_flexible_joints.png]]
|
||||
- [X] Design of Flexible joints for fixation to the plates / precise positioning of center of rotation
|
||||
[[file:figs/detail_design_specifications_flexible_joints.png]]
|
||||
- [X] Encoder on plates
|
||||
[[file:figs/detail_design_encoders_plates.jpg]]
|
||||
[[file:figs/detail_design_enc_plates.jpg]]
|
||||
- [X] Encoder on struts
|
||||
[[file:figs/detail_design_enc_struts.jpg]]
|
||||
|
||||
*FEM*:
|
||||
- [X] FEM of nano-hexapod: rigid body modes
|
||||
[[file:figs/detail_design_fem_rigid_body_mode.jpg]]
|
||||
- [X] FEM of struts => maybe issue with encoder => several options
|
||||
[[file:figs/detail_design_fem_strut_mode.jpg]]
|
||||
- [X] FEM of plates
|
||||
[[file:figs/detail_design_fem_plate_mode.jpg]]
|
||||
- [X] FEM of encoder support
|
||||
[[file:figs/detail_design_fem_encoder_fix.png]]
|
||||
|
||||
*Multi-Body Model*:
|
||||
- [X] Joint Model
|
||||
[[file:figs/detail_design_simscape_model_flexible_joint.png]]
|
||||
- [X] Encoder model
|
||||
[[file:figs/detail_design_simscape_encoder.png]]
|
||||
[[file:figs/detail_design_simscape_encoder_disp.png]]
|
||||
- [X] Screenshot of Simscape Model
|
||||
[[file:figs/detail_design_simscape_encoder_plates.png]]
|
||||
[[file:figs/detail_design_simscape_encoder_struts.png]]
|
||||
|
||||
20 figures
|
||||
|
||||
** DONE [#A] Make detailed outline
|
||||
CLOSED: [2025-04-21 Mon 14:13]
|
||||
|
||||
- *Design goals*:
|
||||
- Position =bi= and =si=
|
||||
- Maximum height of 95mm
|
||||
- As close as possible to "perfect" stewart platform: flexible modes at high frequency
|
||||
- Easy mounting, easy change of strut in case of failure
|
||||
- *Mechanical Design*
|
||||
- Struts:
|
||||
- Flexible joints: interface with plates, etc..
|
||||
- APA: modification for better mounting
|
||||
- Encoder support:
|
||||
- Plates:
|
||||
- Maximize frequency of flexible modes (show FEM)
|
||||
- Good tolerances for interfaces with flexible joints
|
||||
Positioning of =bi= and orientation =si=
|
||||
- Obtained design:
|
||||
- FEM of complete system
|
||||
- Show modes of the struts
|
||||
- Alternative encoder position: on the plates
|
||||
- *Multi body Model*:
|
||||
- Complete model: two plates, 6 joints, 6 actuators, 6 encoders
|
||||
- Joint Model
|
||||
- APA Model
|
||||
- Encoder model
|
||||
- Say that obtained dynamics was considered good + possible to perform simulations of tomography experiments with same performance as during the conceptual design
|
||||
|
||||
* Introduction :ignore:
|
||||
|
||||
#+name: fig:detail_design_nano_hexapod_elements
|
||||
#+caption: Obtained mechanical design of the Active platform, the "nano-hexapod"
|
||||
#+attr_latex: :width 0.95\linewidth
|
||||
[[file:figs/detail_design_nano_hexapod_elements.png]]
|
||||
|
||||
|
||||
*Design goals*:
|
||||
- Position =bi= and =si=
|
||||
- Maximum height of 95mm
|
||||
- As close as possible to "perfect" stewart platform: flexible modes at high frequency
|
||||
- Easy mounting, easy change of strut in case of failure
|
||||
|
||||
|
||||
Presentation of the obtained design:
|
||||
- Fixation
|
||||
- Section on: Complete strut
|
||||
- Cable management
|
||||
- Plates design
|
||||
- FEM results
|
||||
- Table some pictures from here: [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-nano-hexapod-assembly/nass-nano-hexapod-assembly.org][nass-nano-hexapod-assembly]]
|
||||
- Explain again the different specifications in terms of space, payload, etc..
|
||||
- CAD view of the nano-hexapod
|
||||
- Chosen geometry, materials, ease of mounting, cabling, ...
|
||||
- Validation on Simscape with accurate model?
|
||||
|
||||
#+name: tab:nass_design_section_matlab_code
|
||||
#+caption: Report sections and corresponding Matlab files
|
||||
#+attr_latex: :environment tabularx :width 0.6\linewidth :align lX
|
||||
#+attr_latex: :center t :booktabs t
|
||||
| *Sections* | *Matlab File* |
|
||||
|----------------------------------+------------------------|
|
||||
| Section ref:sec:nass_design_ | =nass_design_1_.m= |
|
||||
* Mechanical Design
|
||||
<<sec:detail_design_mechanics>>
|
||||
|
||||
** Struts
|
||||
**** Introduction :ignore:
|
||||
|
||||
#+name: fig:detail_design_strut
|
||||
#+caption: Design of the Nano-Hexapod struts. Before (\subref{fig:detail_design_strut_without_enc}) and after (\subref{fig:detail_design_strut_with_enc}) encoder integration.
|
||||
#+attr_latex: :options [htbp]
|
||||
#+begin_figure
|
||||
#+attr_latex: :caption \subcaption{\label{fig:detail_design_strut_without_enc}Before encoder integration}
|
||||
#+attr_latex: :options {0.49\textwidth}
|
||||
#+begin_subfigure
|
||||
#+attr_latex: :width 0.95\linewidth
|
||||
[[file:figs/detail_design_strut_without_enc.jpg]]
|
||||
#+end_subfigure
|
||||
#+attr_latex: :caption \subcaption{\label{fig:detail_design_strut_with_enc}With the mounted encoder}
|
||||
#+attr_latex: :options {0.49\textwidth}
|
||||
#+begin_subfigure
|
||||
#+attr_latex: :width 0.95\linewidth
|
||||
[[file:figs/detail_design_strut_with_enc.jpg]]
|
||||
#+end_subfigure
|
||||
#+end_figure
|
||||
|
||||
**** Flexible joints
|
||||
|
||||
Flexible joints: X5CrNiCuNb16-4 (F16Ph)
|
||||
- high yield strength: specified >1GPa using heat treatment
|
||||
- high fatigue resistance
|
||||
|
||||
#+name: fig:detail_design_apa_joints
|
||||
#+caption: Two main components of the struts: the amplified piezoelectric actuator (\subref{fig:detail_design_apa}) and the flexible joint (\subref{fig:detail_design_flexible_joint}).
|
||||
#+attr_latex: :options [htbp]
|
||||
#+begin_figure
|
||||
#+attr_latex: :caption \subcaption{\label{fig:detail_design_apa}Amplified Piezoelectric Actuator}
|
||||
#+attr_latex: :options {0.49\textwidth}
|
||||
#+begin_subfigure
|
||||
#+attr_latex: :scale 1
|
||||
[[file:figs/detail_design_apa.png]]
|
||||
#+end_subfigure
|
||||
#+attr_latex: :caption \subcaption{\label{fig:detail_design_flexible_joint}Flexible joint}
|
||||
#+attr_latex: :options {0.49\textwidth}
|
||||
#+begin_subfigure
|
||||
#+attr_latex: :scale 1
|
||||
[[file:figs/detail_design_flexible_joint.png]]
|
||||
#+end_subfigure
|
||||
#+end_figure
|
||||
|
||||
**** Piezoelectric Amplified Actuators
|
||||
|
||||
APA: modification for better mounting
|
||||
|
||||
**** Encoder support
|
||||
|
||||
All other parts are made of aluminum.
|
||||
|
||||
** Plates
|
||||
|
||||
Plates: X30Cr13
|
||||
- high hardness to not deform
|
||||
|
||||
|
||||
* Amplified Piezoelectric Design
|
||||
- Maximize frequency of flexible modes (show FEM)
|
||||
- Good tolerances for interfaces with flexible joints
|
||||
Positioning of =bi= and orientation =si=
|
||||
|
||||
#+name: fig:detail_design_top_plate
|
||||
#+caption: The mechanical design for the top platform incorporates precisely positioned V-grooves for the joint interfaces (displayed in red). The purpose of the encoder interface (shown in green) is detailed later.
|
||||
#+attr_latex: :scale 1
|
||||
[[file:figs/detail_design_top_plate.png]]
|
||||
|
||||
The cylindrical component is located (or constrained) within the V-groove via two distinct line contacts.
|
||||
|
||||
#+name: fig:detail_design_fixation_flexible_joints
|
||||
#+caption: Fixation of the flexible points to the nano-hexapod plates. Both top and bottom flexible joints are clamped to the plates as shown in (\subref{fig:detail_design_fixation_flexible_joints}). While the top flexible joint is in contact with the top plate for precise positioning of its center of rotation (\subref{fig:detail_design_location_top_flexible_joints}), the bottom joint is just oriented (\subref{fig:detail_design_location_bot_flex}).
|
||||
#+begin_figure
|
||||
#+attr_latex: :caption \subcaption{\label{fig:detail_design_fixation_flexible_joints}Flexible Joint Clamping}
|
||||
#+attr_latex: :options {0.33\textwidth}
|
||||
#+begin_subfigure
|
||||
#+attr_latex: :width 0.99\linewidth
|
||||
[[file:figs/detail_design_fixation_flexible_joints.png]]
|
||||
#+end_subfigure
|
||||
#+attr_latex: :caption \subcaption{\label{fig:detail_design_location_top_flexible_joints}Top positioning}
|
||||
#+attr_latex: :options {0.33\textwidth}
|
||||
#+begin_subfigure
|
||||
#+attr_latex: :width 0.99\linewidth
|
||||
[[file:figs/detail_design_location_top_flexible_joints.png]]
|
||||
#+end_subfigure
|
||||
#+attr_latex: :caption \subcaption{\label{fig:detail_design_location_bot_flex}Bottom Positioning}
|
||||
#+attr_latex: :options {0.33\textwidth}
|
||||
#+begin_subfigure
|
||||
#+attr_latex: :width 0.99\linewidth
|
||||
[[file:figs/detail_design_location_bot_flex.png]]
|
||||
#+end_subfigure
|
||||
#+end_figure
|
||||
|
||||
** Finite Element Analysis
|
||||
|
||||
|
||||
#+name: fig:detail_design_enc_struts
|
||||
#+caption: Obtained Nano-Hexapod design
|
||||
#+attr_latex: :width 0.9\linewidth
|
||||
[[file:figs/detail_design_enc_struts.jpg]]
|
||||
|
||||
- FEM of complete system
|
||||
- Show modes of the struts
|
||||
|
||||
#+name: fig:detail_design_fem_nano_hexapod
|
||||
#+caption: Measurement of strut flexible modes. First six modes are "suspension" modes in which the top plate behaves as a rigid body (\subref{fig:detail_design_fem_rigid_body_mode}). Then modes of the struts have natural frequencies from $205\,\text{Hz}$ to $420\,\text{Hz}$ (\subref{fig:detail_design_fem_strut_mode}). Finally, the first flexible mode of the top plate is at $650\,\text{Hz}$ (\subref{fig:detail_design_fem_plate_mode})
|
||||
#+attr_latex: :options [htbp]
|
||||
#+begin_figure
|
||||
#+attr_latex: :caption \subcaption{\label{fig:detail_design_fem_rigid_body_mode}Suspension modes}
|
||||
#+attr_latex: :options {0.33\textwidth}
|
||||
#+begin_subfigure
|
||||
#+attr_latex: :width 0.9\linewidth
|
||||
[[file:figs/detail_design_fem_rigid_body_mode.jpg]]
|
||||
#+end_subfigure
|
||||
#+attr_latex: :caption \subcaption{\label{fig:detail_design_fem_strut_mode}Strut - Local modes}
|
||||
#+attr_latex: :options {0.33\textwidth}
|
||||
#+begin_subfigure
|
||||
#+attr_latex: :width 0.9\linewidth
|
||||
[[file:figs/detail_design_fem_strut_mode.jpg]]
|
||||
#+end_subfigure
|
||||
#+attr_latex: :caption \subcaption{\label{fig:detail_design_fem_plate_mode}Top plate modes}
|
||||
#+attr_latex: :options {0.33\textwidth}
|
||||
#+begin_subfigure
|
||||
#+attr_latex: :width 0.9\linewidth
|
||||
[[file:figs/detail_design_fem_plate_mode.jpg]]
|
||||
#+end_subfigure
|
||||
#+end_figure
|
||||
|
||||
** Obtained Design
|
||||
|
||||
- Alternative encoder position: on the plates
|
||||
- Support made of aluminum
|
||||
|
||||
#+name: fig:detail_design_enc_plates_design
|
||||
#+caption: Alternative way of using the encoders: they are fixed directly to the plates.
|
||||
#+attr_latex: :options [htbp]
|
||||
#+begin_figure
|
||||
#+attr_latex: :caption \subcaption{\label{fig:detail_design_enc_plates}Nano-Hexapod with encoders fixed to the plates}
|
||||
#+attr_latex: :options {0.59\textwidth}
|
||||
#+begin_subfigure
|
||||
#+attr_latex: :height 5cm
|
||||
[[file:figs/detail_design_enc_plates.jpg]]
|
||||
#+end_subfigure
|
||||
#+attr_latex: :caption \subcaption{\label{fig:detail_design_encoders_plates}Zoom on encoder fixation}
|
||||
#+attr_latex: :options {0.39\textwidth}
|
||||
#+begin_subfigure
|
||||
#+attr_latex: :height 5cm
|
||||
[[file:figs/detail_design_encoders_plates.jpg]]
|
||||
#+end_subfigure
|
||||
#+end_figure
|
||||
|
||||
|
||||
#+name: fig:detail_design_fem_encoder_fix
|
||||
#+caption: Finite Element Analysis of the encoder supports. Encoder inertia was taken into account.
|
||||
[[file:figs/detail_design_fem_encoder_fix.png]]
|
||||
|
||||
* Multi-Body Model
|
||||
:PROPERTIES:
|
||||
:HEADER-ARGS:matlab+: :tangle matlab/nass_design_1_.m
|
||||
:HEADER-ARGS:matlab+: :tangle matlab/detail_design_1_model.m
|
||||
:END:
|
||||
<<sec:nass_design_mechanics>>
|
||||
<<sec:detail_design_model>>
|
||||
|
||||
*Multi body Model*:
|
||||
- Complete model: two plates, 6 joints, 6 actuators, 6 encoders
|
||||
- Joint Model
|
||||
- APA Model
|
||||
- Encoder model
|
||||
- Say that obtained dynamics was considered good + possible to perform simulations of tomography experiments with same performance as during the conceptual design
|
||||
|
||||
** Introduction :ignore:
|
||||
|
||||
** Matlab Init :noexport:ignore:
|
||||
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
|
||||
<<matlab-dir>>
|
||||
#+end_src
|
||||
Two configurations:
|
||||
- Encoders fixed to the struts
|
||||
- Encoders fixed to the plates
|
||||
|
||||
#+begin_src matlab :exports none :results silent :noweb yes
|
||||
<<matlab-init>>
|
||||
#+end_src
|
||||
#+name: fig:detail_design_simscape_encoder
|
||||
#+caption: 3D representation of the multi-body model. There are two configurations: encoders fixed to the struts (\subref{fig:detail_design_simscape_encoder_struts}) and encoders fixed to the plates (\subref{fig:detail_design_simscape_encoder_plates}).
|
||||
#+attr_latex: :options [htbp]
|
||||
#+begin_figure
|
||||
#+attr_latex: :caption \subcaption{\label{fig:detail_design_simscape_encoder_struts}Encoders fixed to the struts}
|
||||
#+attr_latex: :options {0.49\textwidth}
|
||||
#+begin_subfigure
|
||||
#+attr_latex: :width 0.95\linewidth
|
||||
[[file:figs/detail_design_simscape_encoder_struts.png]]
|
||||
#+end_subfigure
|
||||
#+attr_latex: :caption \subcaption{\label{fig:detail_design_simscape_encoder_plates}Encoders fixed to the plates}
|
||||
#+attr_latex: :options {0.49\textwidth}
|
||||
#+begin_subfigure
|
||||
#+attr_latex: :width 0.95\linewidth
|
||||
[[file:figs/detail_design_simscape_encoder_plates.png]]
|
||||
#+end_subfigure
|
||||
#+end_figure
|
||||
|
||||
#+begin_src matlab :tangle no :noweb yes
|
||||
<<m-init-path>>
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :eval no :noweb yes
|
||||
<<m-init-path-tangle>>
|
||||
#+end_src
|
||||
** Flexible Joints
|
||||
|
||||
#+name: fig:detail_design_simscape_model_flexible_joint
|
||||
#+caption: Multi-Body (using the Simscape software) model of the flexible joints. A 4-DoFs model is shown.
|
||||
#+attr_latex: :scale 1
|
||||
[[file:figs/detail_design_simscape_model_flexible_joint.png]]
|
||||
|
||||
** Amplified Piezoelectric Actuators
|
||||
|
||||
|
||||
|
||||
** Encoders
|
||||
|
||||
#+name: fig:detail_design_simscape_encoder_model
|
||||
#+caption: Representation of the encoder model in the multi-body model. Measurement $d_i$ corresponds to the $x$ position of the encoder frame $\{E\}$ expresssed in the ruller frame $\{R\}$ (\subref{fig:detail_design_simscape_encoder}). A rotation of the encoder therefore induces a measured displacement (\subref{fig:detail_design_simscape_encoder_disp}).
|
||||
#+attr_latex: :options [htbp]
|
||||
#+begin_figure
|
||||
#+attr_latex: :caption \subcaption{\label{fig:detail_design_simscape_encoder}Aligned encoder and ruler}
|
||||
#+attr_latex: :options {0.49\textwidth}
|
||||
#+begin_subfigure
|
||||
#+attr_latex: :scale 1
|
||||
[[file:figs/detail_design_simscape_encoder.png]]
|
||||
#+end_subfigure
|
||||
#+attr_latex: :caption \subcaption{\label{fig:detail_design_simscape_encoder_disp}Rotation of the encoder head}
|
||||
#+attr_latex: :options {0.49\textwidth}
|
||||
#+begin_subfigure
|
||||
#+attr_latex: :scale 1
|
||||
[[file:figs/detail_design_simscape_encoder_disp.png]]
|
||||
#+end_subfigure
|
||||
#+end_figure
|
||||
|
||||
#+begin_src matlab :noweb yes
|
||||
<<m-init-other>>
|
||||
#+end_src
|
||||
|
||||
* Conclusion
|
||||
<<sec:nass_design_conclusion>>
|
||||
<<sec:detail_design_conclusion>>
|
||||
|
||||
* Bibliography :ignore:
|
||||
#+latex: \printbibliography[heading=bibintoc,title={Bibliography}]
|
||||
|
||||
Binary file not shown.
+234
-16
@@ -1,8 +1,9 @@
|
||||
% Created 2024-03-19 Tue 11:13
|
||||
% Created 2025-04-21 Mon 16:49
|
||||
% Intended LaTeX compiler: pdflatex
|
||||
\documentclass[a4paper, 10pt, DIV=12, parskip=full, bibliography=totoc]{scrreprt}
|
||||
|
||||
\input{preamble.tex}
|
||||
\input{preamble_extra.tex}
|
||||
\bibliography{nass-design.bib}
|
||||
\author{Dehaeze Thomas}
|
||||
\date{\today}
|
||||
@@ -12,7 +13,7 @@
|
||||
pdftitle={Nano Hexapod - Obtained Design},
|
||||
pdfkeywords={},
|
||||
pdfsubject={},
|
||||
pdfcreator={Emacs 29.2 (Org mode 9.7)},
|
||||
pdfcreator={Emacs 30.1 (Org mode 9.7.26)},
|
||||
pdflang={English}}
|
||||
\usepackage{biblatex}
|
||||
|
||||
@@ -22,33 +23,250 @@
|
||||
\tableofcontents
|
||||
|
||||
\clearpage
|
||||
\begin{figure}[htbp]
|
||||
\centering
|
||||
\includegraphics[scale=1,width=0.95\linewidth]{figs/detail_design_nano_hexapod_elements.png}
|
||||
\caption{\label{fig:detail_design_nano_hexapod_elements}Obtained mechanical design of the Active platform, the ``nano-hexapod''}
|
||||
\end{figure}
|
||||
|
||||
|
||||
\textbf{Design goals}:
|
||||
\begin{itemize}
|
||||
\item Position \texttt{bi} and \texttt{si}
|
||||
\item Maximum height of 95mm
|
||||
\item As close as possible to ``perfect'' stewart platform: flexible modes at high frequency
|
||||
\item Easy mounting, easy change of strut in case of failure
|
||||
\end{itemize}
|
||||
|
||||
|
||||
Presentation of the obtained design:
|
||||
\begin{itemize}
|
||||
\item Fixation
|
||||
\item Section on: Complete strut
|
||||
\item Cable management
|
||||
\item Plates design
|
||||
\item FEM results
|
||||
\item Table some pictures from here: \href{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/nass-nano-hexapod-assembly/nass-nano-hexapod-assembly.org}{nass-nano-hexapod-assembly}
|
||||
\item Explain again the different specifications in terms of space, payload, etc..
|
||||
\item CAD view of the nano-hexapod
|
||||
\item Chosen geometry, materials, ease of mounting, cabling, \ldots{}
|
||||
\item Validation on Simscape with accurate model?
|
||||
\end{itemize}
|
||||
\chapter{Mechanical Design}
|
||||
\label{sec:detail_design_mechanics}
|
||||
\section{Struts}
|
||||
\begin{figure}[htbp]
|
||||
\begin{subfigure}{0.49\textwidth}
|
||||
\begin{center}
|
||||
\includegraphics[scale=1,width=0.95\linewidth]{figs/detail_design_strut_without_enc.jpg}
|
||||
\end{center}
|
||||
\subcaption{\label{fig:detail_design_strut_without_enc}Before encoder integration}
|
||||
\end{subfigure}
|
||||
\begin{subfigure}{0.49\textwidth}
|
||||
\begin{center}
|
||||
\includegraphics[scale=1,width=0.95\linewidth]{figs/detail_design_strut_with_enc.jpg}
|
||||
\end{center}
|
||||
\subcaption{\label{fig:detail_design_strut_with_enc}With the mounted encoder}
|
||||
\end{subfigure}
|
||||
\caption{\label{fig:detail_design_strut}Design of the Nano-Hexapod struts. Before (\subref{fig:detail_design_strut_without_enc}) and after (\subref{fig:detail_design_strut_with_enc}) encoder integration.}
|
||||
\end{figure}
|
||||
\subsubsection{Flexible joints}
|
||||
|
||||
\begin{table}[htbp]
|
||||
\caption{\label{tab:nass_design_section_matlab_code}Report sections and corresponding Matlab files}
|
||||
Flexible joints: X5CrNiCuNb16-4 (F16Ph)
|
||||
\begin{itemize}
|
||||
\item high yield strength: specified >1GPa using heat treatment
|
||||
\item high fatigue resistance
|
||||
\end{itemize}
|
||||
|
||||
\begin{figure}[htbp]
|
||||
\begin{subfigure}{0.49\textwidth}
|
||||
\begin{center}
|
||||
\includegraphics[scale=1,scale=1]{figs/detail_design_apa.png}
|
||||
\end{center}
|
||||
\subcaption{\label{fig:detail_design_apa}Amplified Piezoelectric Actuator}
|
||||
\end{subfigure}
|
||||
\begin{subfigure}{0.49\textwidth}
|
||||
\begin{center}
|
||||
\includegraphics[scale=1,scale=1]{figs/detail_design_flexible_joint.png}
|
||||
\end{center}
|
||||
\subcaption{\label{fig:detail_design_flexible_joint}Flexible joint}
|
||||
\end{subfigure}
|
||||
\caption{\label{fig:detail_design_apa_joints}Two main components of the struts: the amplified piezoelectric actuator (\subref{fig:detail_design_apa}) and the flexible joint (\subref{fig:detail_design_flexible_joint}).}
|
||||
\end{figure}
|
||||
\subsubsection{Piezoelectric Amplified Actuators}
|
||||
|
||||
APA: modification for better mounting
|
||||
\subsubsection{Encoder support}
|
||||
|
||||
All other parts are made of aluminum.
|
||||
\section{Plates}
|
||||
|
||||
Plates: X30Cr13
|
||||
\begin{itemize}
|
||||
\item high hardness to not deform
|
||||
\end{itemize}
|
||||
|
||||
|
||||
\begin{itemize}
|
||||
\item Maximize frequency of flexible modes (show FEM)
|
||||
\item Good tolerances for interfaces with flexible joints
|
||||
Positioning of \texttt{bi} and orientation \texttt{si}
|
||||
\end{itemize}
|
||||
|
||||
\begin{figure}[htbp]
|
||||
\centering
|
||||
\begin{tabularx}{0.6\linewidth}{lX}
|
||||
\toprule
|
||||
\textbf{Sections} & \textbf{Matlab File}\\
|
||||
\midrule
|
||||
Section \ref{sec:nass_design}\_ & \texttt{nass\_design\_1\_.m}\\
|
||||
\bottomrule
|
||||
\end{tabularx}
|
||||
\end{table}
|
||||
\chapter{Amplified Piezoelectric Design}
|
||||
\label{sec:nass_design_mechanics}
|
||||
\includegraphics[scale=1,scale=1]{figs/detail_design_top_plate.png}
|
||||
\caption{\label{fig:detail_design_top_plate}The mechanical design for the top platform incorporates precisely positioned V-grooves for the joint interfaces (displayed in red). The purpose of the encoder interface (shown in green) is detailed later.}
|
||||
\end{figure}
|
||||
|
||||
The cylindrical component is located (or constrained) within the V-groove via two distinct line contacts.
|
||||
|
||||
\begin{figure}
|
||||
\begin{subfigure}{0.33\textwidth}
|
||||
\begin{center}
|
||||
\includegraphics[scale=1,width=0.99\linewidth]{figs/detail_design_fixation_flexible_joints.png}
|
||||
\end{center}
|
||||
\subcaption{\label{fig:detail_design_fixation_flexible_joints}Flexible Joint Clamping}
|
||||
\end{subfigure}
|
||||
\begin{subfigure}{0.33\textwidth}
|
||||
\begin{center}
|
||||
\includegraphics[scale=1,width=0.99\linewidth]{figs/detail_design_location_top_flexible_joints.png}
|
||||
\end{center}
|
||||
\subcaption{\label{fig:detail_design_location_top_flexible_joints}Top positioning}
|
||||
\end{subfigure}
|
||||
\begin{subfigure}{0.33\textwidth}
|
||||
\begin{center}
|
||||
\includegraphics[scale=1,width=0.99\linewidth]{figs/detail_design_location_bot_flex.png}
|
||||
\end{center}
|
||||
\subcaption{\label{fig:detail_design_location_bot_flex}Bottom Positioning}
|
||||
\end{subfigure}
|
||||
\caption{\label{fig:detail_design_fixation_flexible_joints}Fixation of the flexible points to the nano-hexapod plates. Both top and bottom flexible joints are clamped to the plates as shown in (\subref{fig:detail_design_fixation_flexible_joints}). While the top flexible joint is in contact with the top plate for precise positioning of its center of rotation (\subref{fig:detail_design_location_top_flexible_joints}), the bottom joint is just oriented (\subref{fig:detail_design_location_bot_flex}).}
|
||||
\end{figure}
|
||||
\section{Finite Element Analysis}
|
||||
|
||||
|
||||
\begin{figure}[htbp]
|
||||
\centering
|
||||
\includegraphics[scale=1,width=0.9\linewidth]{figs/detail_design_enc_struts.jpg}
|
||||
\caption{\label{fig:detail_design_enc_struts}Obtained Nano-Hexapod design}
|
||||
\end{figure}
|
||||
|
||||
\begin{itemize}
|
||||
\item FEM of complete system
|
||||
\item Show modes of the struts
|
||||
\end{itemize}
|
||||
|
||||
\begin{figure}[htbp]
|
||||
\begin{subfigure}{0.33\textwidth}
|
||||
\begin{center}
|
||||
\includegraphics[scale=1,width=0.9\linewidth]{figs/detail_design_fem_rigid_body_mode.jpg}
|
||||
\end{center}
|
||||
\subcaption{\label{fig:detail_design_fem_rigid_body_mode}Suspension modes}
|
||||
\end{subfigure}
|
||||
\begin{subfigure}{0.33\textwidth}
|
||||
\begin{center}
|
||||
\includegraphics[scale=1,width=0.9\linewidth]{figs/detail_design_fem_strut_mode.jpg}
|
||||
\end{center}
|
||||
\subcaption{\label{fig:detail_design_fem_strut_mode}Strut - Local modes}
|
||||
\end{subfigure}
|
||||
\begin{subfigure}{0.33\textwidth}
|
||||
\begin{center}
|
||||
\includegraphics[scale=1,width=0.9\linewidth]{figs/detail_design_fem_plate_mode.jpg}
|
||||
\end{center}
|
||||
\subcaption{\label{fig:detail_design_fem_plate_mode}Top plate modes}
|
||||
\end{subfigure}
|
||||
\caption{\label{fig:detail_design_fem_nano_hexapod}Measurement of strut flexible modes. First six modes are ``suspension'' modes in which the top plate behaves as a rigid body (\subref{fig:detail_design_fem_rigid_body_mode}). Then modes of the struts have natural frequencies from \(205\,\text{Hz}\) to \(420\,\text{Hz}\) (\subref{fig:detail_design_fem_strut_mode}). Finally, the first flexible mode of the top plate is at \(650\,\text{Hz}\) (\subref{fig:detail_design_fem_plate_mode})}
|
||||
\end{figure}
|
||||
\section{Obtained Design}
|
||||
|
||||
\begin{itemize}
|
||||
\item Alternative encoder position: on the plates
|
||||
\item Support made of aluminum
|
||||
\end{itemize}
|
||||
|
||||
\begin{figure}[htbp]
|
||||
\begin{subfigure}{0.59\textwidth}
|
||||
\begin{center}
|
||||
\includegraphics[scale=1,height=5cm]{figs/detail_design_enc_plates.jpg}
|
||||
\end{center}
|
||||
\subcaption{\label{fig:detail_design_enc_plates}Nano-Hexapod with encoders fixed to the plates}
|
||||
\end{subfigure}
|
||||
\begin{subfigure}{0.39\textwidth}
|
||||
\begin{center}
|
||||
\includegraphics[scale=1,height=5cm]{figs/detail_design_encoders_plates.jpg}
|
||||
\end{center}
|
||||
\subcaption{\label{fig:detail_design_encoders_plates}Zoom on encoder fixation}
|
||||
\end{subfigure}
|
||||
\caption{\label{fig:detail_design_enc_plates_design}Alternative way of using the encoders: they are fixed directly to the plates.}
|
||||
\end{figure}
|
||||
|
||||
|
||||
\begin{figure}[htbp]
|
||||
\centering
|
||||
\includegraphics[scale=1]{figs/detail_design_fem_encoder_fix.png}
|
||||
\caption{\label{fig:detail_design_fem_encoder_fix}Finite Element Analysis of the encoder supports. Encoder inertia was taken into account.}
|
||||
\end{figure}
|
||||
\chapter{Multi-Body Model}
|
||||
\label{sec:detail_design_model}
|
||||
|
||||
\textbf{Multi body Model}:
|
||||
\begin{itemize}
|
||||
\item Complete model: two plates, 6 joints, 6 actuators, 6 encoders
|
||||
\item Joint Model
|
||||
\item APA Model
|
||||
\item Encoder model
|
||||
\item Say that obtained dynamics was considered good + possible to perform simulations of tomography experiments with same performance as during the conceptual design
|
||||
\end{itemize}
|
||||
|
||||
Two configurations:
|
||||
\begin{itemize}
|
||||
\item Encoders fixed to the struts
|
||||
\item Encoders fixed to the plates
|
||||
\end{itemize}
|
||||
|
||||
\begin{figure}[htbp]
|
||||
\begin{subfigure}{0.49\textwidth}
|
||||
\begin{center}
|
||||
\includegraphics[scale=1,width=0.95\linewidth]{figs/detail_design_simscape_encoder_struts.png}
|
||||
\end{center}
|
||||
\subcaption{\label{fig:detail_design_simscape_encoder_struts}Encoders fixed to the struts}
|
||||
\end{subfigure}
|
||||
\begin{subfigure}{0.49\textwidth}
|
||||
\begin{center}
|
||||
\includegraphics[scale=1,width=0.95\linewidth]{figs/detail_design_simscape_encoder_plates.png}
|
||||
\end{center}
|
||||
\subcaption{\label{fig:detail_design_simscape_encoder_plates}Encoders fixed to the plates}
|
||||
\end{subfigure}
|
||||
\caption{\label{fig:detail_design_simscape_encoder}3D representation of the multi-body model. There are two configurations: encoders fixed to the struts (\subref{fig:detail_design_simscape_encoder_struts}) and encoders fixed to the plates (\subref{fig:detail_design_simscape_encoder_plates}).}
|
||||
\end{figure}
|
||||
\section{Flexible Joints}
|
||||
|
||||
\begin{figure}[htbp]
|
||||
\centering
|
||||
\includegraphics[scale=1,scale=1]{figs/detail_design_simscape_model_flexible_joint.png}
|
||||
\caption{\label{fig:detail_design_simscape_model_flexible_joint}Multi-Body (using the Simscape software) model of the flexible joints. A 4-DoFs model is shown.}
|
||||
\end{figure}
|
||||
\section{Amplified Piezoelectric Actuators}
|
||||
|
||||
|
||||
|
||||
\section{Encoders}
|
||||
|
||||
\begin{figure}[htbp]
|
||||
\begin{subfigure}{0.49\textwidth}
|
||||
\begin{center}
|
||||
\includegraphics[scale=1,scale=1]{figs/detail_design_simscape_encoder.png}
|
||||
\end{center}
|
||||
\subcaption{\label{fig:detail_design_simscape_encoder}Aligned encoder and ruler}
|
||||
\end{subfigure}
|
||||
\begin{subfigure}{0.49\textwidth}
|
||||
\begin{center}
|
||||
\includegraphics[scale=1,scale=1]{figs/detail_design_simscape_encoder_disp.png}
|
||||
\end{center}
|
||||
\subcaption{\label{fig:detail_design_simscape_encoder_disp}Rotation of the encoder head}
|
||||
\end{subfigure}
|
||||
\caption{\label{fig:detail_design_simscape_encoder_model}Representation of the encoder model in the multi-body model. Measurement \(d_i\) corresponds to the \(x\) position of the encoder frame \(\{E\}\) expresssed in the ruller frame \(\{R\}\) (\subref{fig:detail_design_simscape_encoder}). A rotation of the encoder therefore induces a measured displacement (\subref{fig:detail_design_simscape_encoder_disp}).}
|
||||
\end{figure}
|
||||
\chapter{Conclusion}
|
||||
\label{sec:nass_design_conclusion}
|
||||
\label{sec:detail_design_conclusion}
|
||||
\printbibliography[heading=bibintoc,title={Bibliography}]
|
||||
\end{document}
|
||||
+13
-134
@@ -1,137 +1,16 @@
|
||||
\usepackage{float}
|
||||
\usepackage[ %
|
||||
acronym, % Separate acronyms and glossary
|
||||
toc, % appear in ToC
|
||||
automake, % auto-use the makeglossaries command (requires shell-escape)
|
||||
nonumberlist, % don't back reference pages
|
||||
nogroupskip, % don't group by letter
|
||||
nopostdot % don't add a dot at the end of each element
|
||||
]{glossaries}
|
||||
|
||||
\usepackage{caption,tabularx,booktabs}
|
||||
\usepackage{bm}
|
||||
\usepackage[stylemods=longextra]{glossaries-extra}
|
||||
|
||||
\usepackage{xpatch} % Recommanded for biblatex
|
||||
\usepackage[ % use biblatex for bibliography
|
||||
backend=biber, % use biber backend (bibtex replacement) or bibtex
|
||||
style=ieee, % bib style
|
||||
hyperref=true, % activate hyperref support
|
||||
backref=true, % activate backrefs
|
||||
isbn=false, % don't show isbn tags
|
||||
url=false, % don't show url tags
|
||||
doi=false, % don't show doi tags
|
||||
urldate=long, % display type for dates
|
||||
maxnames=3, %
|
||||
minnames=1, %
|
||||
maxbibnames=5, %
|
||||
minbibnames=3, %
|
||||
maxcitenames=2, %
|
||||
mincitenames=1 %
|
||||
]{biblatex}
|
||||
\setabbreviationstyle[acronym]{long-short}
|
||||
\setglossarystyle{long-name-desc}
|
||||
|
||||
\setlength\bibitemsep{1.1\itemsep}
|
||||
|
||||
% \renewcommand*{\bibfont}{\footnotesize}
|
||||
|
||||
\usepackage{fontawesome}
|
||||
|
||||
\usepackage{caption}
|
||||
\usepackage{subcaption}
|
||||
|
||||
\captionsetup[figure]{labelfont=bf}
|
||||
\captionsetup[subfigure]{labelfont=bf}
|
||||
\captionsetup[listing]{labelfont=bf}
|
||||
\captionsetup[table]{labelfont=bf}
|
||||
|
||||
\usepackage{xcolor}
|
||||
|
||||
\definecolor{my-blue}{HTML}{6b7adb}
|
||||
\definecolor{my-pale-blue}{HTML}{e6e9f9}
|
||||
\definecolor{my-red}{HTML}{db6b6b}
|
||||
\definecolor{my-pale-red}{HTML}{f9e6e6}
|
||||
\definecolor{my-green}{HTML}{6bdbb6}
|
||||
\definecolor{my-pale-green}{HTML}{e6f9f3}
|
||||
\definecolor{my-yellow}{HTML}{dbd26b}
|
||||
\definecolor{my-pale-yellow}{HTML}{f9f7e6}
|
||||
\definecolor{my-orange}{HTML}{dba76b}
|
||||
\definecolor{my-pale-orange}{HTML}{f9f0e6}
|
||||
\definecolor{my-grey}{HTML}{a3a3a3}
|
||||
\definecolor{my-pale-grey}{HTML}{f0f0f0}
|
||||
\definecolor{my-turq}{HTML}{6bc7db}
|
||||
\definecolor{my-pale-turq}{HTML}{e6f6f9}
|
||||
|
||||
\usepackage{inconsolata}
|
||||
|
||||
\usepackage[newfloat=true, chapter]{minted}
|
||||
\usemintedstyle{autumn}
|
||||
|
||||
\setminted{frame=lines,breaklines=true,tabsize=4,fontsize=\scriptsize,autogobble=true,labelposition=topline,bgcolor=my-pale-grey}
|
||||
\setminted[matlab]{label=Matlab}
|
||||
\setminted[latex]{label=LaTeX}
|
||||
\setminted[bash]{label=Bash}
|
||||
\setminted[python]{label=Python}
|
||||
\setminted[text]{label=Results}
|
||||
\setminted[md]{label=Org Mode}
|
||||
|
||||
\setmintedinline{fontsize=\normalsize,bgcolor=my-pale-grey}
|
||||
|
||||
\usepackage[most]{tcolorbox}
|
||||
|
||||
\tcbuselibrary{minted}
|
||||
|
||||
\newtcolorbox{seealso}{ enhanced,breakable,colback=my-pale-grey,colframe=my-grey,fonttitle=\bfseries,title=See Also}
|
||||
\newtcolorbox{hint}{ enhanced,breakable,colback=my-pale-grey,colframe=my-grey,fonttitle=\bfseries,title=Hint}
|
||||
\newtcolorbox{definition}{enhanced,breakable,colback=my-pale-red, colframe=my-red, fonttitle=\bfseries,title=Definition}
|
||||
\newtcolorbox{important}{ enhanced,breakable,colback=my-pale-red, colframe=my-red, fonttitle=\bfseries,title=Important}
|
||||
\newtcolorbox{exampl}[1][]{ enhanced,breakable,colback=my-pale-green,colframe=my-green,fonttitle=\bfseries,title=Example,#1}
|
||||
\newtcolorbox{exercice}{ enhanced,breakable,colback=my-pale-yellow,colframe=my-yellow,fonttitle=\bfseries,title=Exercice}
|
||||
\newtcolorbox{question}{ enhanced,breakable,colback=my-pale-yellow,colframe=my-yellow,fonttitle=\bfseries,title=Question}
|
||||
\newtcolorbox{answer}{ enhanced,breakable,colback=my-pale-turq,colframe=my-turq,fonttitle=\bfseries,title=Answer}
|
||||
\newtcolorbox{summary}{ enhanced,breakable,colback=my-pale-blue,colframe=my-blue,fonttitle=\bfseries,title=Summary}
|
||||
\newtcolorbox{note}{ enhanced,breakable,colback=my-pale-blue,colframe=my-blue,fonttitle=\bfseries,title=Note}
|
||||
\newtcolorbox{caution}{ enhanced,breakable,colback=my-pale-orange,colframe=my-orange,fonttitle=\bfseries,title=Caution}
|
||||
\newtcolorbox{warning}{ enhanced,breakable,colback=my-pale-orange,colframe=my-orange,fonttitle=\bfseries,title=Warning}
|
||||
|
||||
\newtcolorbox{my-quote}[1]{%
|
||||
colback=my-pale-grey,
|
||||
grow to right by=-10mm,
|
||||
grow to left by=-10mm,
|
||||
boxrule=0pt,
|
||||
boxsep=0pt,
|
||||
breakable,
|
||||
enhanced jigsaw,
|
||||
borderline west={4pt}{0pt}{my-grey}}
|
||||
|
||||
\renewenvironment{quote}{\begin{my-quote}}{\end{my-quote}}
|
||||
|
||||
\newtcolorbox{my-verse}[1]{%
|
||||
colback=my-pale-grey,
|
||||
grow to right by=-10mm,
|
||||
grow to left by=-10mm,
|
||||
boxrule=0pt,
|
||||
boxsep=0pt,
|
||||
breakable,
|
||||
enhanced jigsaw,
|
||||
borderline west={4pt}{0pt}{my-grey}}
|
||||
|
||||
\renewenvironment{verse}{\begin{my-verse}}{\end{my-verse}}
|
||||
|
||||
\usepackage{environ}% http://ctan.org/pkg/environ
|
||||
\NewEnviron{aside}{%
|
||||
\marginpar{\BODY}
|
||||
}
|
||||
|
||||
\renewenvironment{verbatim}{\VerbatimEnvironment\begin{minted}[]{text}}{\end{minted}}
|
||||
|
||||
\usepackage{soul}
|
||||
\sethlcolor{my-pale-grey}
|
||||
|
||||
\let\OldTexttt\texttt
|
||||
\renewcommand{\texttt}[1]{{\ttfamily\hl{\mbox{\,#1\,}}}}
|
||||
|
||||
\makeatletter
|
||||
\preto\Gin@extensions{png,}
|
||||
\DeclareGraphicsRule{.png}{pdf}{.pdf}{\noexpand\Gin@base.pdf}
|
||||
\preto\Gin@extensions{gif,}
|
||||
\DeclareGraphicsRule{.gif}{png}{.png}{\noexpand\Gin@base.png}
|
||||
\makeatother
|
||||
|
||||
\usepackage{hyperref}
|
||||
\hypersetup{
|
||||
colorlinks = true,
|
||||
allcolors = my-blue
|
||||
}
|
||||
|
||||
\usepackage{hypcap}
|
||||
\makeindex
|
||||
\makeglossaries
|
||||
@@ -0,0 +1,134 @@
|
||||
\usepackage{float}
|
||||
\usepackage{enumitem}
|
||||
|
||||
\usepackage{caption,tabularx,booktabs}
|
||||
\usepackage{bm}
|
||||
|
||||
\usepackage{xpatch} % Recommanded for biblatex
|
||||
\usepackage[ % use biblatex for bibliography
|
||||
backend=biber, % use biber backend (bibtex replacement) or bibtex
|
||||
style=ieee, % bib style
|
||||
hyperref=true, % activate hyperref support
|
||||
backref=true, % activate backrefs
|
||||
isbn=false, % don't show isbn tags
|
||||
url=false, % don't show url tags
|
||||
doi=false, % don't show doi tags
|
||||
urldate=long, % display type for dates
|
||||
maxnames=3, %
|
||||
minnames=1, %
|
||||
maxbibnames=5, %
|
||||
minbibnames=3, %
|
||||
maxcitenames=2, %
|
||||
mincitenames=1 %
|
||||
]{biblatex}
|
||||
|
||||
\setlength\bibitemsep{1.1\itemsep}
|
||||
|
||||
\usepackage{caption}
|
||||
\usepackage{subcaption}
|
||||
|
||||
\captionsetup[figure]{labelfont=bf}
|
||||
\captionsetup[subfigure]{labelfont=bf}
|
||||
\captionsetup[listing]{labelfont=bf}
|
||||
\captionsetup[table]{labelfont=bf}
|
||||
|
||||
\usepackage{xcolor}
|
||||
|
||||
\definecolor{my-blue}{HTML}{6b7adb}
|
||||
\definecolor{my-pale-blue}{HTML}{e6e9f9}
|
||||
\definecolor{my-red}{HTML}{db6b6b}
|
||||
\definecolor{my-pale-red}{HTML}{f9e6e6}
|
||||
\definecolor{my-green}{HTML}{6bdbb6}
|
||||
\definecolor{my-pale-green}{HTML}{e6f9f3}
|
||||
\definecolor{my-yellow}{HTML}{dbd26b}
|
||||
\definecolor{my-pale-yellow}{HTML}{f9f7e6}
|
||||
\definecolor{my-orange}{HTML}{dba76b}
|
||||
\definecolor{my-pale-orange}{HTML}{f9f0e6}
|
||||
\definecolor{my-grey}{HTML}{a3a3a3}
|
||||
\definecolor{my-pale-grey}{HTML}{f0f0f0}
|
||||
\definecolor{my-turq}{HTML}{6bc7db}
|
||||
\definecolor{my-pale-turq}{HTML}{e6f6f9}
|
||||
|
||||
\usepackage{inconsolata}
|
||||
|
||||
\usepackage[newfloat=true, chapter]{minted}
|
||||
\usemintedstyle{autumn}
|
||||
|
||||
\setminted{frame=lines,breaklines=true,tabsize=4,fontsize=\scriptsize,autogobble=true,labelposition=topline,bgcolor=my-pale-grey}
|
||||
\setminted[matlab]{label=Matlab}
|
||||
\setminted[latex]{label=LaTeX}
|
||||
\setminted[bash]{label=Bash}
|
||||
\setminted[python]{label=Python}
|
||||
\setminted[text]{label=Results}
|
||||
\setminted[md]{label=Org Mode}
|
||||
|
||||
\setmintedinline{fontsize=\normalsize,bgcolor=my-pale-grey}
|
||||
|
||||
\usepackage[most]{tcolorbox}
|
||||
|
||||
\tcbuselibrary{minted}
|
||||
|
||||
\newtcolorbox{seealso}{ enhanced,breakable,colback=my-pale-grey,colframe=my-grey,fonttitle=\bfseries,title=See Also}
|
||||
\newtcolorbox{hint}{ enhanced,breakable,colback=my-pale-grey,colframe=my-grey,fonttitle=\bfseries,title=Hint}
|
||||
\newtcolorbox{definition}{enhanced,breakable,colback=my-pale-red, colframe=my-red, fonttitle=\bfseries,title=Definition}
|
||||
\newtcolorbox{important}{ enhanced,breakable,colback=my-pale-red, colframe=my-red, fonttitle=\bfseries,title=Important}
|
||||
\newtcolorbox{exampl}[1][]{ enhanced,breakable,colback=my-pale-green,colframe=my-green,fonttitle=\bfseries,title=Example,#1}
|
||||
\newtcolorbox{exercice}{ enhanced,breakable,colback=my-pale-yellow,colframe=my-yellow,fonttitle=\bfseries,title=Exercice}
|
||||
\newtcolorbox{question}{ enhanced,breakable,colback=my-pale-yellow,colframe=my-yellow,fonttitle=\bfseries,title=Question}
|
||||
\newtcolorbox{answer}{ enhanced,breakable,colback=my-pale-turq,colframe=my-turq,fonttitle=\bfseries,title=Answer}
|
||||
\newtcolorbox{summary}{ enhanced,breakable,colback=my-pale-blue,colframe=my-blue,fonttitle=\bfseries,title=Summary}
|
||||
\newtcolorbox{note}{ enhanced,breakable,colback=my-pale-blue,colframe=my-blue,fonttitle=\bfseries,title=Note}
|
||||
\newtcolorbox{caution}{ enhanced,breakable,colback=my-pale-orange,colframe=my-orange,fonttitle=\bfseries,title=Caution}
|
||||
\newtcolorbox{warning}{ enhanced,breakable,colback=my-pale-orange,colframe=my-orange,fonttitle=\bfseries,title=Warning}
|
||||
|
||||
\newtcolorbox{my-quote}[1]{%
|
||||
colback=my-pale-grey,
|
||||
grow to right by=-10mm,
|
||||
grow to left by=-10mm,
|
||||
boxrule=0pt,
|
||||
boxsep=0pt,
|
||||
breakable,
|
||||
enhanced jigsaw,
|
||||
borderline west={4pt}{0pt}{my-grey}}
|
||||
|
||||
\renewenvironment{quote}{\begin{my-quote}}{\end{my-quote}}
|
||||
|
||||
\newtcolorbox{my-verse}[1]{%
|
||||
colback=my-pale-grey,
|
||||
grow to right by=-10mm,
|
||||
grow to left by=-10mm,
|
||||
boxrule=0pt,
|
||||
boxsep=0pt,
|
||||
breakable,
|
||||
enhanced jigsaw,
|
||||
borderline west={4pt}{0pt}{my-grey}}
|
||||
|
||||
\renewenvironment{verse}{\begin{my-verse}}{\end{my-verse}}
|
||||
|
||||
\usepackage{environ}% http://ctan.org/pkg/environ
|
||||
\NewEnviron{aside}{%
|
||||
\marginpar{\BODY}
|
||||
}
|
||||
|
||||
\renewenvironment{verbatim}{\VerbatimEnvironment\begin{minted}[]{text}}{\end{minted}}
|
||||
|
||||
\usepackage{soul}
|
||||
\sethlcolor{my-pale-grey}
|
||||
|
||||
\let\OldTexttt\texttt
|
||||
\renewcommand{\texttt}[1]{{\ttfamily\hl{\mbox{\,#1\,}}}}
|
||||
|
||||
\makeatletter
|
||||
\preto\Gin@extensions{png,}
|
||||
\DeclareGraphicsRule{.png}{pdf}{.pdf}{\noexpand\Gin@base.pdf}
|
||||
\preto\Gin@extensions{gif,}
|
||||
\DeclareGraphicsRule{.gif}{png}{.png}{\noexpand\Gin@base.png}
|
||||
\makeatother
|
||||
|
||||
\usepackage{hyperref}
|
||||
\hypersetup{
|
||||
colorlinks = true,
|
||||
allcolors = my-blue
|
||||
}
|
||||
|
||||
\usepackage{hypcap}
|
||||
Reference in new issue
Block a user