Initial commit

.gitignore

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+mat/
+figures/
+ltximg/
+slprj/
+matlab/slprj/
+*.slxc
+
+
+# ============================================================
+# ============================================================
+# LATEX
+# ============================================================
+# ============================================================
+
+## Core latex/pdflatex auxiliary files:
+*.aux
+*.lof
+*.log
+*.lot
+*.fls
+*.out
+*.toc
+*.fmt
+*.fot
+*.cb
+*.cb2
+.*.lb
+
+## Intermediate documents:
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+*.xdv
+*-converted-to.*
+# these rules might exclude image files for figures etc.
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+## Generated if empty string is given at "Please type another file name for output:"
+.pdf
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+## Bibliography auxiliary files (bibtex/biblatex/biber):
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+*.run.xml
+
+## Build tool auxiliary files:
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+*.synctex.gz
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+*.pdfsync
+
+## Build tool directories for auxiliary files
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+*.?end
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+*.[1-9][0-9]
+*.[1-9][0-9][0-9]
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+*.[1-9][0-9]R
+*.[1-9][0-9][0-9]R
+*.eledsec[1-9]
+*.eledsec[1-9]R
+*.eledsec[1-9][0-9]
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+*.eledsec[1-9][0-9][0-9]
+*.eledsec[1-9][0-9][0-9]R
+
+# glossaries
+*.acn
+*.acr
+*.glg
+*.glo
+*.gls
+*.glsdefs
+
+# gnuplottex
+*-gnuplottex-*
+
+# gregoriotex
+*.gaux
+*.gtex
+
+# htlatex
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+*.4tc
+*.idv
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+
+# sagetex
+*.sagetex.sage
+*.sagetex.py
+*.sagetex.scmd
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+# scrwfile
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+sympy-plots-for-*.tex/
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+# easy-todo
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+# xmpincl
+*.xmpi
+
+# xindy
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+
+# xypic precompiled matrices
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+# endfloat
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+
+# Latexian
+TSWLatexianTemp*
+
+## Editors:
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+# LyX
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+
+# Kile
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+
+# expex forward references with \gathertags
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+
+# standalone packages
+*.sta

.latexmkrc

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+#!/bin/env perl
+
+# Shebang is only to get syntax highlighting right across GitLab, GitHub and IDEs.
+# This file is not meant to be run, but read by `latexmk`.
+
+# ======================================================================================
+# Perl `latexmk` configuration file
+# ======================================================================================
+
+# ======================================================================================
+# PDF Generation/Building/Compilation
+# ======================================================================================
+
+@default_files=('nass-flexible-joints.tex');
+
+# PDF-generating modes are:
+# 1: pdflatex, as specified by $pdflatex variable (still largely in use)
+# 2: postscript conversion, as specified by the $ps2pdf variable (useless)
+# 3: dvi conversion, as specified by the $dvipdf variable (useless)
+# 4: lualatex, as specified by the $lualatex variable (best)
+# 5: xelatex, as specified by the $xelatex variable (second best)
+$pdf_mode = 1;
+
+# Treat undefined references and citations as well as multiply defined references as
+# ERRORS instead of WARNINGS.
+# This is only checked in the *last* run, since naturally, there are undefined references
+# in initial runs.
+# This setting is potentially annoying when debugging/editing, but highly desirable
+# in the CI pipeline, where such a warning should result in a failed pipeline, since the
+# final document is incomplete/corrupted.
+#
+# However, I could not eradicate all warnings, so that `latexmk` currently fails with
+# this option enabled.
+# Specifically, `microtype` fails together with `fontawesome`/`fontawesome5`, see:
+# https://tex.stackexchange.com/a/547514/120853
+# The fix in that answer did not help.
+# Setting `verbose=silent` to mute `microtype` warnings did not work.
+# Switching between `fontawesome` and `fontawesome5` did not help.
+$warnings_as_errors = 0;
+
+# Show used CPU time. Looks like: https://tex.stackexchange.com/a/312224/120853
+$show_time = 1;
+
+# Default is 5; we seem to need more owed to the complexity of the document.
+# Actual documents probably don't need this many since they won't use all features,
+# plus won't be compiling from cold each time.
+$max_repeat=7;
+
+# --shell-escape option (execution of code outside of latex) is required for the
+#'svg' package.
+# It converts raw SVG files to the PDF+PDF_TEX combo using InkScape.
+#
+# SyncTeX allows to jump between source (code) and output (PDF) in IDEs with support
+# (many have it). A value of `1` is enabled (gzipped), `-1` is enabled but uncompressed,
+# `0` is off.
+# Testing in VSCode w/ LaTeX Workshop only worked for the compressed version.
+# Adjust this as needed. Of course, only relevant for local use, no effect on a remote
+# CI pipeline (except for slower compilation, probably).
+#
+# %O and %S will forward Options and the Source file, respectively, given to latexmk.
+#
+# `set_tex_cmds` applies to all *latex commands (latex, xelatex, lualatex, ...), so
+# no need to specify these each. This allows to simply change `$pdf_mode` to get a
+# different engine. Check if this works with `latexmk --commands`.
+set_tex_cmds("--shell-escape -interaction=nonstopmode --synctex=1 %O %S");
+
+# Use default pdf viewer
+$pdf_previewer = 'zathura';
+
+# option 2 is same as 1 (run biber when necessary), but also deletes the
+# regeneratable bbl-file in a clenaup (`latexmk -c`). Do not use if original
+# bib file is not available!
+$bibtex_use = 2;  # default: 1
+
+# Change default `biber` call, help catch errors faster/clearer. See
+# https://web.archive.org/web/20200526101657/https://www.semipol.de/2018/06/12/latex-best-practices.html#database-entries
+$biber = "biber --validate-datamodel %O %S";
+
+# Glossaries
+add_cus_dep('glo', 'gls', 0, 'run_makeglossaries');
+add_cus_dep('acn', 'acr', 0, 'run_makeglossaries');
+
+sub run_makeglossaries {
+  if ( $silent ) {
+    system "makeglossaries -q -s '$_[0].ist' '$_[0]'";
+  }
+  else {
+    system "makeglossaries -s '$_[0].ist' '$_[0]'";
+  };
+}
+
+# ======================================================================================
+# Auxiliary Files
+# ======================================================================================
+
+# Let latexmk know about generated files, so they can be used to detect if a
+# rerun is required, or be deleted in a cleanup.
+# loe: List of Examples (KOMAScript)
+# lol: List of Listings (`listings` and `minted` packages)
+# run.xml: biber runs
+# glg: glossaries log
+# glstex: generated from glossaries-extra
+push @generated_exts, 'loe', 'lol', 'run.xml', 'glstex', 'glo', 'gls', 'glg', 'acn', 'acr', 'alg';
+
+# Also delete the *.glstex files from package glossaries-extra. Problem is,
+# that that package generates files of the form "basename-digit.glstex" if
+# multiple glossaries are present. Latexmk looks for "basename.glstex" and so
+# does not find those. For that purpose, use wildcard.
+# Also delete files generated by gnuplot/pgfplots contour plots
+# (.dat, .script, .table).
+$clean_ext = "%R-*.glstex %R_contourtmp*.*";

nass-flexible-joints.tex

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+% Created 2024-03-19 Tue 11:11
+% Intended LaTeX compiler: pdflatex
+\documentclass[a4paper, 10pt, DIV=12, parskip=full, bibliography=totoc]{scrreprt}
+
+\input{preamble.tex}
+\bibliography{nass-flexible-joints.bib}
+\author{Dehaeze Thomas}
+\date{\today}
+\title{Nano-Hexapod - Flexible Joints Optimization}
+\hypersetup{
+ pdfauthor={Dehaeze Thomas},
+ pdftitle={Nano-Hexapod - Flexible Joints Optimization},
+ pdfkeywords={},
+ pdfsubject={},
+ pdfcreator={Emacs 29.2 (Org mode 9.7)}, 
+ pdflang={English}}
+\usepackage{biblatex}
+
+\begin{document}
+
+\maketitle
+\tableofcontents
+
+\clearpage
+In this document is studied the effect of the mechanical behavior of the flexible joints that are located the extremities of each nano-hexapod's legs.
+
+Ideally, we want the x and y rotations to be free and all the translations to be blocked.
+However, this is never the case and be have to consider:
+\begin{itemize}
+\item Finite bending stiffnesses (Section \ref{sec:rot_stiffness})
+\item Axial stiffness in the direction of the legs (Section \ref{sec:trans_stiffness})
+\end{itemize}
+
+This may impose some limitations, also, the goal is to specify the required joints stiffnesses (summarized in Section \ref{sec:conclusion}).
+
+\begin{table}[htbp]
+\caption{\label{tab:nass_flexible_joints_section_matlab_code}Report sections and corresponding Matlab files}
+\centering
+\begin{tabularx}{0.6\linewidth}{lX}
+\toprule
+\textbf{Sections} & \textbf{Matlab File}\\
+\midrule
+Section \ref{sec:nass_flexible_joints_1_a} & \texttt{nass\_flexible\_joints\_1\_.m}\\
+\bottomrule
+\end{tabularx}
+\end{table}
+\chapter{Bending and Torsional Stiffness}
+\label{sec:rot_stiffness}
+
+In this section, we wish to study the effect of the rotation flexibility of the nano-hexapod joints.
+\section{Initialization}
+Let's initialize all the stages with default parameters.
+Let's consider the heaviest mass which should we the most problematic with it comes to the flexible joints.
+\section{Realistic Bending Stiffness Values}
+Let's compare the ideal case (zero stiffness in rotation and infinite stiffness in translation) with a more realistic case:
+\begin{itemize}
+\item \(K_{\theta, \phi} = 15\,[Nm/rad]\) stiffness in flexion
+\item \(K_{\psi} = 20\,[Nm/rad]\) stiffness in torsion
+\end{itemize}
+
+The stiffness and damping of the nano-hexapod's legs are:
+This corresponds to the optimal identified stiffness.
+\subsection{Direct Velocity Feedback}
+We identify the dynamics from actuators force \(\tau_i\) to relative motion sensors \(d\mathcal{L}_i\) with and without considering the flexible joint stiffness.
+
+The obtained dynamics are shown in Figure \ref{fig:flex_joint_rot_dvf}.
+It is shown that the adding of stiffness for the flexible joints does increase a little bit the frequencies of the mass suspension modes. It stiffen the structure.
+
+\begin{figure}[htbp]
+\centering
+\includegraphics[scale=1]{figs/flex_joint_rot_dvf.png}
+\caption{\label{fig:flex_joint_rot_dvf}Dynamics from actuators force \(\tau_i\) to relative motion sensors \(d\mathcal{L}_i\) with (blue) and without (red) considering the flexible joint stiffness}
+\end{figure}
+\subsection{Primary Plant}
+Let's now identify the dynamics from \(\bm{\tau}^\prime\) to \(\bm{\epsilon}_{\mathcal{X}_n}\) (for the primary controller designed in the frame of the legs).
+
+The dynamics is compare with and without the joint flexibility in Figure \ref{fig:flex_joints_rot_primary_plant_L}.
+The plant dynamics is not found to be changing significantly.
+
+\begin{figure}[htbp]
+\centering
+\includegraphics[scale=1]{figs/flex_joints_rot_primary_plant_L.png}
+\caption{\label{fig:flex_joints_rot_primary_plant_L}Dynamics from \(\bm{\tau}^\prime_i\) to \(\bm{\epsilon}_{\mathcal{X}_n,i}\) with perfect joints and with flexible joints}
+\end{figure}
+\subsection{Conclusion}
+\begin{important}
+Considering realistic flexible joint bending stiffness for the nano-hexapod does not seems to impose any limitation on the DVF control nor on the primary control.
+
+It only increases a little bit the suspension modes of the sample on top of the nano-hexapod.
+\end{important}
+\section{Parametric Study}
+We wish now to see what is the impact of the rotation stiffness of the flexible joints on the dynamics.
+This will help to determine the requirements on the joint's stiffness.
+
+Let's consider the following bending stiffness of the flexible joints:
+We also consider here a nano-hexapod with the identified optimal actuator stiffness.
+\subsection{Direct Velocity Feedback}
+The dynamics from the actuators to the relative displacement sensor in each leg is identified and shown in Figure \ref{fig:flex_joints_rot_study_dvf}.
+
+The corresponding Root Locus plot is shown in Figure \ref{fig:flex_joints_rot_study_dvf_root_locus}.
+
+It is shown that the bending stiffness of the flexible joints does indeed change a little the dynamics, but critical damping is stiff achievable with Direct Velocity Feedback.
+
+\begin{figure}[htbp]
+\centering
+\includegraphics[scale=1]{figs/flex_joints_rot_study_dvf.png}
+\caption{\label{fig:flex_joints_rot_study_dvf}Dynamics from \(\tau_i\) to \(d\mathcal{L}_i\) for all the considered Rotation Stiffnesses}
+\end{figure}
+
+\begin{figure}[htbp]
+\centering
+\includegraphics[scale=1]{figs/flex_joints_rot_study_dvf_root_locus.png}
+\caption{\label{fig:flex_joints_rot_study_dvf_root_locus}Root Locus for all the considered Rotation Stiffnesses}
+\end{figure}
+\subsection{Primary Control}
+The dynamics from \(\bm{\tau}^\prime\) to \(\bm{\epsilon}_{\mathcal{X}_n}\) (for the primary controller designed in the frame of the legs) is shown in Figure \ref{fig:flex_joints_rot_study_primary_plant}.
+
+It is shown that the bending stiffness of the flexible joints have very little impact on the dynamics.
+
+\begin{figure}[htbp]
+\centering
+\includegraphics[scale=1]{figs/flex_joints_rot_study_primary_plant.png}
+\caption{\label{fig:flex_joints_rot_study_primary_plant}Diagonal elements of the transfer function matrix from \(\bm{\tau}^\prime\) to \(\bm{\epsilon}_{\mathcal{X}_n}\) for the considered bending stiffnesses}
+\end{figure}
+\subsection{Conclusion}
+\begin{important}
+The bending stiffness of the flexible joint does not significantly change the dynamics.
+\end{important}
+\chapter{Axial Stiffness}
+\label{sec:trans_stiffness}
+
+Let's know consider a flexibility in translation of the flexible joint, in the axis of the legs.
+\section{Realistic Translation Stiffness Values}
+We choose realistic values of the axial stiffness of the joints:
+\[ K_a = 60\,[N/\mu m] \]
+\subsection{Initialization}
+Let's initialize all the stages with default parameters.
+Let's consider the heaviest mass which should we the most problematic with it comes to the flexible joints.
+\subsection{Direct Velocity Feedback}
+The dynamics from actuators force \(\tau_i\) to relative motion sensors \(d\mathcal{L}_i\) with and without considering the flexible joint stiffness are identified.
+
+The obtained dynamics are shown in Figure \ref{fig:flex_joint_trans_dvf}.
+
+\begin{figure}[htbp]
+\centering
+\includegraphics[scale=1]{figs/flex_joint_trans_dvf.png}
+\caption{\label{fig:flex_joint_trans_dvf}Dynamics from actuators force \(\tau_i\) to relative motion sensors \(d\mathcal{L}_i\) with (blue) and without (red) considering the flexible joint axis stiffness}
+\end{figure}
+\subsection{Primary Plant}
+Let's now identify the dynamics from \(\bm{\tau}^\prime\) to \(\bm{\epsilon}_{\mathcal{X}_n}\) (for the primary controller designed in the frame of the legs).
+
+The dynamics is compare with and without the joint flexibility in Figure \ref{fig:flex_joints_trans_primary_plant_L}.
+
+\begin{figure}[htbp]
+\centering
+\includegraphics[scale=1]{figs/flex_joints_trans_primary_plant_L.png}
+\caption{\label{fig:flex_joints_trans_primary_plant_L}Dynamics from \(\bm{\tau}^\prime_i\) to \(\bm{\epsilon}_{\mathcal{X}_n,i}\) with infinite axis stiffnes (solid) and with realistic axial stiffness (dashed)}
+\end{figure}
+\subsection{Conclusion}
+\begin{important}
+For the realistic value of the flexible joint axial stiffness, the dynamics is not much impact, and this should not be a problem for control.
+\end{important}
+\section{Parametric study}
+We wish now to see what is the impact of the \textbf{axial} stiffness of the flexible joints on the dynamics.
+
+Let's consider the following values for the axial stiffness:
+We also consider here a nano-hexapod with the identified optimal actuator stiffness (\(k = 10^5\,[N/m]\)).
+\subsection{Direct Velocity Feedback}
+The dynamics from the actuators to the relative displacement sensor in each leg is identified and shown in Figure \ref{fig:flex_joints_trans_study_dvf}.
+
+It is shown that the axial stiffness of the flexible joints does have a huge impact on the dynamics.
+
+If the axial stiffness of the flexible joints is \(K_a > 10^7\,[N/m]\) (here \(100\) times higher than the actuator stiffness), then the change of dynamics stays reasonably small.
+
+This is more clear by looking at the root locus (Figures \ref{fig:flex_joints_trans_study_dvf_root_locus} and \ref{fig:flex_joints_trans_study_root_locus_unzoom}).
+It can be seen that very little active damping can be achieve for axial stiffnesses below \(10^7\,[N/m]\).
+
+\begin{figure}[htbp]
+\centering
+\includegraphics[scale=1]{figs/flex_joints_trans_study_dvf.png}
+\caption{\label{fig:flex_joints_trans_study_dvf}Dynamics from \(\tau_i\) to \(d\mathcal{L}_i\) for all the considered axis Stiffnesses}
+\end{figure}
+
+\begin{figure}[htbp]
+\centering
+\includegraphics[scale=1]{figs/flex_joints_trans_study_dvf_root_locus.png}
+\caption{\label{fig:flex_joints_trans_study_dvf_root_locus}Root Locus for all the considered axial Stiffnesses}
+\end{figure}
+
+\begin{figure}[htbp]
+\centering
+\includegraphics[scale=1]{figs/flex_joints_trans_study_root_locus_unzoom.png}
+\caption{\label{fig:flex_joints_trans_study_root_locus_unzoom}Root Locus (unzoom) for all the considered axial Stiffnesses}
+\end{figure}
+\subsection{Primary Control}
+The dynamics from \(\bm{\tau}^\prime\) to \(\bm{\epsilon}_{\mathcal{X}_n}\) (for the primary controller designed in the frame of the legs) is shown in Figure \ref{fig:flex_joints_trans_study_primary_plant}.
+
+\begin{figure}[htbp]
+\centering
+\includegraphics[scale=1]{figs/flex_joints_trans_study_primary_plant.png}
+\caption{\label{fig:flex_joints_trans_study_primary_plant}Diagonal elements of the transfer function matrix from \(\bm{\tau}^\prime\) to \(\bm{\epsilon}_{\mathcal{X}_n}\) for the considered axial stiffnesses}
+\end{figure}
+\section{Conclusion}
+\begin{important}
+The axial stiffness of the flexible joints should be maximized.
+
+For the considered actuator stiffness \(k = 10^5\,[N/m]\), the axial stiffness of the flexible joints should ideally be above \(10^7\,[N/m]\).
+
+This is a reasonable stiffness value for such joints.
+
+We may interpolate the results and say that the axial joint stiffness should be 100 times higher than the actuator stiffness, but this should be confirmed with further analysis.
+\end{important}
+\chapter{Designed Flexible Joints}
+\section{Initialization}
+Let's initialize all the stages with default parameters.
+Let's consider the heaviest mass which should we the most problematic with it comes to the flexible joints.
+\section{Direct Velocity Feedback}
+\section{Integral Force Feedback}
+\chapter{Conclusion}
+\label{sec:conclusion}
+
+\begin{important}
+In this study we considered the bending, torsional and axial stiffnesses of the flexible joints used for the nano-hexapod.
+
+The bending and torsional stiffnesses somehow adds a parasitic stiffness in parallel with the legs.
+It is not found to be much problematic for the considered control architecture (it is however, if Integral Force Feedback is to be used).
+As a consequence of the added stiffness, it could increase a little bit the required actuator force.
+
+
+The axial stiffness of the flexible joints can be very problematic for control.
+Small values of the axial stiffness are shown to limit the achievable damping with Direct Velocity Feedback.
+The axial stiffness should therefore be maximized and taken into account in the model of the nano-hexapod.
+
+
+For the identified optimal actuator stiffness \(k = 10^5\,[N/m]\), the flexible joint should have the following stiffness properties:
+\begin{itemize}
+\item Axial Stiffness: \(K_a > 10^7\,[N/m]\)
+\item Bending Stiffness: \(K_b < 50\,[Nm/rad]\)
+\item Torsion Stiffness: \(K_t < 50\,[Nm/rad]\)
+\end{itemize}
+
+As there is generally a trade-off between bending stiffness and axial stiffness, it should be highlighted that the \textbf{axial} stiffness is the most important property of the flexible joints.
+\end{important}
+\printbibliography[heading=bibintoc,title={Bibliography}]
+\end{document}

preamble.tex

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+\usepackage{float}
+
+\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}
+
+% \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}