Initial commit
258
.gitignore
vendored
Normal file
@ -0,0 +1,258 @@
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ltximg/
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||||
slprj/
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matlab/slprj/
|
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*.slxc
|
||||
|
||||
|
||||
# ============================================================
|
||||
# ============================================================
|
||||
# LATEX
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||||
# ============================================================
|
||||
# ============================================================
|
||||
|
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## Core latex/pdflatex auxiliary files:
|
||||
*.aux
|
||||
*.lof
|
||||
*.log
|
||||
*.lot
|
||||
*.fls
|
||||
*.out
|
||||
*.toc
|
||||
*.fmt
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||||
*.fot
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||||
*.cb
|
||||
*.cb2
|
||||
.*.lb
|
||||
|
||||
## Intermediate documents:
|
||||
*.dvi
|
||||
*.xdv
|
||||
*-converted-to.*
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||||
# these rules might exclude image files for figures etc.
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# *.ps
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# *.eps
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# *.pdf
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||||
|
||||
## Generated if empty string is given at "Please type another file name for output:"
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||||
.pdf
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||||
|
||||
## Bibliography auxiliary files (bibtex/biblatex/biber):
|
||||
*.bbl
|
||||
*.bcf
|
||||
*.blg
|
||||
*-blx.aux
|
||||
*-blx.bib
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||||
*.run.xml
|
||||
|
||||
## Build tool auxiliary files:
|
||||
*.fdb_latexmk
|
||||
*.synctex
|
||||
*.synctex(busy)
|
||||
*.synctex.gz
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||||
*.synctex.gz(busy)
|
||||
*.pdfsync
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||||
|
||||
## Build tool directories for auxiliary files
|
||||
# latexrun
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||||
latex.out/
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||||
|
||||
## Auxiliary and intermediate files from other packages:
|
||||
# algorithms
|
||||
*.alg
|
||||
*.loa
|
||||
|
||||
# achemso
|
||||
acs-*.bib
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||||
|
||||
# amsthm
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*.thm
|
||||
|
||||
# beamer
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||||
*.nav
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||||
*.pre
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||||
*.snm
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||||
*.vrb
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||||
|
||||
# changes
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*.soc
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||||
|
||||
# cprotect
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||||
*.cpt
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||||
|
||||
# elsarticle (documentclass of Elsevier journals)
|
||||
*.spl
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||||
|
||||
# endnotes
|
||||
*.ent
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||||
|
||||
# fixme
|
||||
*.lox
|
||||
|
||||
# feynmf/feynmp
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||||
*.mf
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||||
*.mp
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||||
*.t[1-9]
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||||
*.t[1-9][0-9]
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||||
*.tfm
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||||
|
||||
#(r)(e)ledmac/(r)(e)ledpar
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*.end
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||||
*.?end
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||||
*.[1-9]
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||||
*.[1-9][0-9]
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||||
*.[1-9][0-9][0-9]
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||||
*.[1-9]R
|
||||
*.[1-9][0-9]R
|
||||
*.[1-9][0-9][0-9]R
|
||||
*.eledsec[1-9]
|
||||
*.eledsec[1-9]R
|
||||
*.eledsec[1-9][0-9]
|
||||
*.eledsec[1-9][0-9]R
|
||||
*.eledsec[1-9][0-9][0-9]
|
||||
*.eledsec[1-9][0-9][0-9]R
|
||||
|
||||
# glossaries
|
||||
*.acn
|
||||
*.acr
|
||||
*.glg
|
||||
*.glo
|
||||
*.gls
|
||||
*.glsdefs
|
||||
|
||||
# gnuplottex
|
||||
*-gnuplottex-*
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||||
|
||||
# gregoriotex
|
||||
*.gaux
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||||
*.gtex
|
||||
|
||||
# htlatex
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||||
*.4ct
|
||||
*.4tc
|
||||
*.idv
|
||||
*.lg
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||||
*.trc
|
||||
*.xref
|
||||
|
||||
# hyperref
|
||||
*.brf
|
||||
|
||||
# knitr
|
||||
*-concordance.tex
|
||||
# TODO Comment the next line if you want to keep your tikz graphics files
|
||||
*.tikz
|
||||
*-tikzDictionary
|
||||
|
||||
# listings
|
||||
*.lol
|
||||
|
||||
# makeidx
|
||||
*.idx
|
||||
*.ilg
|
||||
*.ind
|
||||
*.ist
|
||||
|
||||
# minitoc
|
||||
*.maf
|
||||
*.mlf
|
||||
*.mlt
|
||||
*.mtc[0-9]*
|
||||
*.slf[0-9]*
|
||||
*.slt[0-9]*
|
||||
*.stc[0-9]*
|
||||
|
||||
# minted
|
||||
_minted*
|
||||
*.pyg
|
||||
|
||||
# morewrites
|
||||
*.mw
|
||||
|
||||
# nomencl
|
||||
*.nlg
|
||||
*.nlo
|
||||
*.nls
|
||||
|
||||
# pax
|
||||
*.pax
|
||||
|
||||
# pdfpcnotes
|
||||
*.pdfpc
|
||||
|
||||
# sagetex
|
||||
*.sagetex.sage
|
||||
*.sagetex.py
|
||||
*.sagetex.scmd
|
||||
|
||||
# scrwfile
|
||||
*.wrt
|
||||
|
||||
# sympy
|
||||
*.sout
|
||||
*.sympy
|
||||
sympy-plots-for-*.tex/
|
||||
|
||||
# pdfcomment
|
||||
*.upa
|
||||
*.upb
|
||||
|
||||
# pythontex
|
||||
*.pytxcode
|
||||
pythontex-files-*/
|
||||
|
||||
# thmtools
|
||||
*.loe
|
||||
|
||||
# TikZ & PGF
|
||||
*.dpth
|
||||
*.md5
|
||||
*.auxlock
|
||||
|
||||
# todonotes
|
||||
*.tdo
|
||||
|
||||
# easy-todo
|
||||
*.lod
|
||||
|
||||
# xmpincl
|
||||
*.xmpi
|
||||
|
||||
# xindy
|
||||
*.xdy
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||||
|
||||
# xypic precompiled matrices
|
||||
*.xyc
|
||||
|
||||
# endfloat
|
||||
*.ttt
|
||||
*.fff
|
||||
|
||||
# Latexian
|
||||
TSWLatexianTemp*
|
||||
|
||||
## Editors:
|
||||
# WinEdt
|
||||
*.bak
|
||||
*.sav
|
||||
|
||||
# Texpad
|
||||
.texpadtmp
|
||||
|
||||
# LyX
|
||||
*.lyx~
|
||||
|
||||
# Kile
|
||||
*.backup
|
||||
|
||||
# KBibTeX
|
||||
*~[0-9]*
|
||||
|
||||
# auto folder when using emacs and auctex
|
||||
./auto/*
|
||||
*.el
|
||||
|
||||
# expex forward references with \gathertags
|
||||
*-tags.tex
|
||||
|
||||
# standalone packages
|
||||
*.sta
|
112
.latexmkrc
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@ -0,0 +1,112 @@
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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-introduction.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 = 4;
|
||||
|
||||
# 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 = 0;
|
||||
|
||||
# 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.
|
||||
$max_repeat=10;
|
||||
|
||||
# --shell-escape option (execution of code outside of latex) is required for the
|
||||
#'svg' package.
|
||||
# It converts raw SVG files to the PDF+PDF_TEX combo using InkScape.
|
||||
#
|
||||
# SyncTeX allows to jump between source (code) and output (PDF) in IDEs with support
|
||||
# (many have it). A value of `1` is enabled (gzipped), `-1` is enabled but uncompressed,
|
||||
# `0` is off.
|
||||
# Testing in VSCode w/ LaTeX Workshop only worked for the compressed version.
|
||||
# Adjust this as needed. Of course, only relevant for local use, no effect on a remote
|
||||
# CI pipeline (except for slower compilation, probably).
|
||||
#
|
||||
# %O and %S will forward Options and the Source file, respectively, given to latexmk.
|
||||
#
|
||||
# `set_tex_cmds` applies to all *latex commands (latex, xelatex, lualatex, ...), so
|
||||
# no need to specify these each. This allows to simply change `$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_update_method = 1;
|
||||
$pdf_previewer = "zathura %O %S";
|
||||
|
||||
# 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*.*";
|
BIN
figs/introduction_esrf_picture.jpg
Normal file
After Width: | Height: | Size: 263 KiB |
BIN
figs/introduction_exp_setup_photo.png
Normal file
After Width: | Height: | Size: 836 KiB |
BIN
figs/introduction_id31_beamline_schematic.pdf
Normal file
BIN
figs/introduction_id31_beamline_schematic.png
Normal file
After Width: | Height: | Size: 44 KiB |
238
figs/introduction_id31_beamline_schematic.svg
Normal file
@ -0,0 +1,238 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="455.539" height="193.683" viewBox="0 0 455.539 193.683">
|
||||
<defs>
|
||||
<g>
|
||||
<g id="glyph-0-0">
|
||||
</g>
|
||||
<g id="glyph-0-1">
|
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<g id="glyph-0-2">
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<g id="glyph-0-3">
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<g id="glyph-0-4">
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figs/introduction_id31_microstation_cad_view.pdf
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figs/introduction_nass_concept_schematic.pdf
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figs/introduction_nass_mechatronics_approach.pdf
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84
nass-introduction.bib
Normal file
@ -0,0 +1,84 @@
|
||||
@phdthesis{li01_simul_fault_vibrat_isolat_point,
|
||||
author = {Li, Xiaochun},
|
||||
keywords = {parallel robot},
|
||||
school = {University of Wyoming},
|
||||
title = {Simultaneous, Fault-tolerant Vibration Isolation and
|
||||
Pointing Control of Flexure Jointed Hexapods},
|
||||
year = 2001,
|
||||
}
|
||||
|
||||
|
||||
|
||||
@phdthesis{bishop02_devel_precis_point_contr_vibrat,
|
||||
author = {Bishop Jr, Ronald M},
|
||||
school = {Naval Postgraduate School, Monterey, California},
|
||||
title = {Development of Precision Pointing Controllers with and
|
||||
without Vibration Suppression for the {NPS} Precision Pointing
|
||||
Hexapod},
|
||||
year = 2002,
|
||||
keywords = {parallel robot},
|
||||
}
|
||||
|
||||
|
||||
|
||||
@phdthesis{hanieh03_activ_stewar,
|
||||
author = {Hanieh, Ahmed Abu},
|
||||
keywords = {parallel robot},
|
||||
school = {Universit{\'e} Libre de Bruxelles, Brussels, Belgium},
|
||||
title = {Active isolation and damping of vibrations via Stewart
|
||||
platform},
|
||||
year = 2003,
|
||||
}
|
||||
|
||||
|
||||
|
||||
@phdthesis{afzali-far16_vibrat_dynam_isotr_hexap_analy_studies,
|
||||
author = {Afzali-Far, Behrouz},
|
||||
school = {Lund University},
|
||||
title = {Vibrations and Dynamic Isotropy in Hexapods-Analytical
|
||||
Studies},
|
||||
year = 2016,
|
||||
keywords = {parallel robot},
|
||||
}
|
||||
|
||||
|
||||
|
||||
@phdthesis{naves20_desig,
|
||||
author = {Mark Naves},
|
||||
school = {Univeristy of Twente},
|
||||
title = {Design and optimization of large stroke flexure mechanisms},
|
||||
year = 2020,
|
||||
keywords = {flexure},
|
||||
}
|
||||
|
||||
|
||||
|
||||
@phdthesis{rankers98_machin,
|
||||
author = {Rankers, Adrian Mathias},
|
||||
keywords = {favorite},
|
||||
school = {University of Twente},
|
||||
title = {Machine dynamics in mechatronic systems: An engineering
|
||||
approach.},
|
||||
year = 1998,
|
||||
}
|
||||
|
||||
|
||||
|
||||
@phdthesis{monkhorst04_dynam_error_budget,
|
||||
author = {Wouter Monkhorst},
|
||||
school = {Delft University},
|
||||
title = {Dynamic Error Budgeting, a design approach},
|
||||
year = 2004,
|
||||
}
|
||||
|
||||
|
||||
|
||||
@phdthesis{jabben07_mechat,
|
||||
author = {Jabben, Leon},
|
||||
school = {Delft University},
|
||||
title = {Mechatronic design of a magnetically suspended rotating
|
||||
platform},
|
||||
year = 2007,
|
||||
keywords = {maglev},
|
||||
}
|
||||
|
476
nass-introduction.org
Normal file
@ -0,0 +1,476 @@
|
||||
#+TITLE: Nano Active Stabilization System - Introduction
|
||||
:DRAWER:
|
||||
#+LANGUAGE: en
|
||||
#+EMAIL: dehaeze.thomas@gmail.com
|
||||
#+AUTHOR: Dehaeze Thomas
|
||||
|
||||
#+BIND: org-latex-image-default-option "scale=1"
|
||||
#+BIND: org-latex-image-default-width ""
|
||||
|
||||
#+LATEX_CLASS: scrreprt
|
||||
#+LATEX_CLASS_OPTIONS: [a4paper, 10pt, DIV=12, parskip=full, bibliography=totoc]
|
||||
#+LATEX_HEADER: \input{preamble.tex}
|
||||
#+LATEX_HEADER_EXTRA: \input{preamble_extra.tex}
|
||||
#+LATEX_HEADER_EXTRA: \bibliography{nass-introduction.bib}
|
||||
|
||||
#+BIND: org-latex-bib-compiler "biber"
|
||||
|
||||
#+PROPERTY: header-args:matlab :session *MATLAB*
|
||||
#+PROPERTY: header-args:matlab+ :comments org
|
||||
#+PROPERTY: header-args:matlab+ :exports none
|
||||
#+PROPERTY: header-args:matlab+ :results none
|
||||
#+PROPERTY: header-args:matlab+ :eval no-export
|
||||
#+PROPERTY: header-args:matlab+ :noweb yes
|
||||
#+PROPERTY: header-args:matlab+ :mkdirp yes
|
||||
#+PROPERTY: header-args:matlab+ :output-dir figs
|
||||
#+PROPERTY: header-args:matlab+ :tangle no
|
||||
|
||||
#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/tikz/org/}{config.tex}")
|
||||
#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
|
||||
#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
|
||||
#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
|
||||
#+PROPERTY: header-args:latex+ :results file raw replace
|
||||
#+PROPERTY: header-args:latex+ :buffer no
|
||||
#+PROPERTY: header-args:latex+ :tangle no
|
||||
#+PROPERTY: header-args:latex+ :eval no-export
|
||||
#+PROPERTY: header-args:latex+ :exports results
|
||||
#+PROPERTY: header-args:latex+ :mkdirp yes
|
||||
#+PROPERTY: header-args:latex+ :output-dir figs
|
||||
#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
|
||||
:END:
|
||||
|
||||
#+latex: \clearpage
|
||||
|
||||
* Build :noexport:
|
||||
#+NAME: startblock
|
||||
#+BEGIN_SRC emacs-lisp :results none :tangle no
|
||||
(add-to-list 'org-latex-classes
|
||||
'("scrreprt"
|
||||
"\\documentclass{scrreprt}"
|
||||
("\\chapter{%s}" . "\\chapter*{%s}")
|
||||
("\\section{%s}" . "\\section*{%s}")
|
||||
("\\subsection{%s}" . "\\subsection*{%s}")
|
||||
("\\paragraph{%s}" . "\\paragraph*{%s}")
|
||||
))
|
||||
|
||||
|
||||
;; Remove automatic org heading labels
|
||||
(defun my-latex-filter-removeOrgAutoLabels (text backend info)
|
||||
"Org-mode automatically generates labels for headings despite explicit use of `#+LABEL`. This filter forcibly removes all automatically generated org-labels in headings."
|
||||
(when (org-export-derived-backend-p backend 'latex)
|
||||
(replace-regexp-in-string "\\\\label{sec:org[a-f0-9]+}\n" "" text)))
|
||||
(add-to-list 'org-export-filter-headline-functions
|
||||
'my-latex-filter-removeOrgAutoLabels)
|
||||
|
||||
;; Remove all org comments in the output LaTeX file
|
||||
(defun delete-org-comments (backend)
|
||||
(loop for comment in (reverse (org-element-map (org-element-parse-buffer)
|
||||
'comment 'identity))
|
||||
do
|
||||
(setf (buffer-substring (org-element-property :begin comment)
|
||||
(org-element-property :end comment))
|
||||
"")))
|
||||
(add-hook 'org-export-before-processing-hook 'delete-org-comments)
|
||||
|
||||
;; Use no package by default
|
||||
(setq org-latex-packages-alist nil)
|
||||
(setq org-latex-default-packages-alist nil)
|
||||
|
||||
;; Do not include the subtitle inside the title
|
||||
(setq org-latex-subtitle-separate t)
|
||||
(setq org-latex-subtitle-format "\\subtitle{%s}")
|
||||
|
||||
(setq org-export-before-parsing-hook '(org-ref-glossary-before-parsing
|
||||
org-ref-acronyms-before-parsing))
|
||||
#+END_SRC
|
||||
|
||||
* Notes :noexport:
|
||||
|
||||
Prefix is =introduction=
|
||||
|
||||
* Context of this thesis / Background and Motivation
|
||||
|
||||
- \gls{esrf} (Figure [[fig:esrf_picture]])
|
||||
|
||||
#+name: fig:esrf_picture
|
||||
#+caption: European Synchrotron Radiation Facility
|
||||
#+attr_latex: :width 0.7\linewidth
|
||||
[[file:figs/introduction_esrf_picture.jpg]]
|
||||
|
||||
- ID31 and Micro Station (Figure [[fig:id31_microstation_picture]])
|
||||
|
||||
#+begin_src latex :file id31_microstation_picture.pdf
|
||||
\begin{tikzpicture}
|
||||
\node[inner sep=0pt, anchor=south west] (photo) at (0,0)
|
||||
{\includegraphics[width=0.39\textwidth]{/home/thomas/Cloud/documents/reports/phd-thesis/figs/exp_setup_photo.png}};
|
||||
|
||||
\coordinate[] (aheight) at (photo.north west);
|
||||
\coordinate[] (awidth) at (photo.south east);
|
||||
|
||||
\coordinate[] (granite) at ($0.1*(aheight)+0.1*(awidth)$);
|
||||
\coordinate[] (trans) at ($0.5*(aheight)+0.4*(awidth)$);
|
||||
\coordinate[] (tilt) at ($0.65*(aheight)+0.75*(awidth)$);
|
||||
\coordinate[] (hexapod) at ($0.7*(aheight)+0.5*(awidth)$);
|
||||
\coordinate[] (sample) at ($0.9*(aheight)+0.55*(awidth)$);
|
||||
|
||||
% Granite
|
||||
\node[labelc] at (granite) {1};
|
||||
% Translation stage
|
||||
\node[labelc] at (trans) {2};
|
||||
% Tilt Stage
|
||||
\node[labelc] at (tilt) {3};
|
||||
% Micro-Hexapod
|
||||
\node[labelc] at (hexapod) {4};
|
||||
% Sample
|
||||
\node[labelc] at (sample) {5};
|
||||
|
||||
% Axis
|
||||
\begin{scope}[shift={($0.07*(aheight)+0.87*(awidth)$)}]
|
||||
\draw[->] (0, 0) -- ++(55:0.7) node[above] {$y$};
|
||||
\draw[->] (0, 0) -- ++(90:0.9) node[left] {$z$};
|
||||
\draw[->] (0, 0) -- ++(-20:0.7) node[above] {$x$};
|
||||
\end{scope}
|
||||
\end{tikzpicture}
|
||||
#+end_src
|
||||
|
||||
#+name: fig:id31_microstation_picture
|
||||
#+caption: Picture of the ID31 Micro-Station with annotations
|
||||
#+attr_latex: :width 0.49\linewidth
|
||||
#+RESULTS:
|
||||
[[file:figs/introduction_id31_microstation_picture.png]]
|
||||
|
||||
Alternative: =id31_microstation_cad_view.png= (CAD view)
|
||||
|
||||
- X-ray beam + detectors + sample stage (Figure [[fig:id31_beamline_schematic]])
|
||||
|
||||
#+begin_src latex :file id31_beamline_schematic.pdf
|
||||
\begin{tikzpicture}
|
||||
% Parameters
|
||||
\def\blockw{6.0cm}
|
||||
\def\blockh{1.2cm}
|
||||
|
||||
\def\tiltdeg{3}
|
||||
\coordinate[] (rotationpoint) at (0, 4.5*\blockh);
|
||||
|
||||
\begin{scope}[rotate around={\tiltdeg:(rotationpoint)}]
|
||||
% Tilt
|
||||
\path[] ([shift=(-120:4*\blockh)]rotationpoint) coordinate(beginarc) arc (-120:-110:4*\blockh) %
|
||||
-- ([shift=(-70:4*\blockh)]rotationpoint) arc (-70:-60:4*\blockh)%
|
||||
|- ++(-0.15*\blockw, 0.6*\blockh) coordinate (spindlene)%
|
||||
|- ($(beginarc) + (0.15*\blockw, 0.2*\blockh)$) coordinate (spindlesw) -- ++(0, 0.4*\blockh) coordinate(tiltte) -| cycle;
|
||||
|
||||
% Spindle
|
||||
\coordinate[] (spindlese) at (spindlesw-|spindlene);
|
||||
\draw[fill=black!30] ($(spindlese)+(-0.1,0.1)+(-0.1*\blockw, 0)$) -| ($(spindlene)+(-0.1, 0)$) -| coordinate[pos=0.25](spindletop) ($(spindlesw)+(0.1,0.1)$) -| ++(0.1*\blockw, -\blockh) -| coordinate[pos=0.25](spindlebot) cycle;
|
||||
|
||||
% \draw[dashed, color=black!60] ($(spindletop)+(0, 0.2)$) -- ($(spindlebot)+(0,-0.2)$);
|
||||
|
||||
% Tilt
|
||||
\draw[fill=black!60] ([shift=(-120:4*\blockh)]rotationpoint) coordinate(beginarc) arc (-120:-110:4*\blockh) %
|
||||
-- ([shift=(-70:4*\blockh)]rotationpoint) arc (-70:-60:4*\blockh)%
|
||||
|- coordinate (tiltne) ++(-0.15*\blockw, 0.6*\blockh) coordinate (spindlene)%
|
||||
|- ($(beginarc) + (0.15*\blockw, 0.2*\blockh)$) coordinate (spindlesw) -- ++(0, 0.4*\blockh) -| cycle;
|
||||
|
||||
% Micro-Hexapod
|
||||
\begin{scope}[shift={(spindletop)}]
|
||||
% Parameters definitions
|
||||
\def\baseh{0.22*\blockh} % Height of the base
|
||||
\def\naceh{0.18*\blockh} % Height of the nacelle
|
||||
\def\baser{0.22*\blockw} % Radius of the base
|
||||
\def\nacer{0.18*\blockw} % Radius of the nacelle
|
||||
|
||||
\def\armr{0.2*\blockh} % Radius of the arms
|
||||
\def\basearmborder{0.2}
|
||||
\def\nacearmborder{0.2}
|
||||
|
||||
\def\xnace{0} \def\ynace{\blockh-\naceh} \def\anace{0}
|
||||
\def\xbase{0} \def\ybase{0} \def\abase{0}
|
||||
|
||||
% Hexapod1
|
||||
\begin{scope}[shift={(\xbase, \ybase)}, rotate=\abase]
|
||||
% Base
|
||||
\draw[fill=white] (-\baser, 0) coordinate[](uhexabot) rectangle (\baser, \baseh);
|
||||
|
||||
\coordinate[] (armbasel) at (-\baser+\basearmborder+\armr, \baseh);
|
||||
\coordinate[] (armbasec) at (0, \baseh);
|
||||
\coordinate[] (armbaser) at (\baser-\basearmborder-\armr, \baseh);
|
||||
|
||||
\begin{scope}[shift={(\xnace, \ynace)}, rotate=\anace]
|
||||
\draw[fill=white] (-\nacer, 0) rectangle (\nacer, \naceh);
|
||||
\coordinate[] (uhexatop) at (0, \naceh);
|
||||
\coordinate[] (armnacel) at (-\nacer+\nacearmborder+\armr, 0);
|
||||
\coordinate[] (armnacec) at (0, 0);
|
||||
\coordinate[] (armnacer) at (\nacer-\nacearmborder-\armr, 0);
|
||||
\end{scope}
|
||||
|
||||
\draw[] (armbasec) -- (armnacer);
|
||||
\draw[] (armbasec) -- (armnacel);
|
||||
\draw[] (armbasel) -- coordinate(mhexaw) (armnacel);
|
||||
\draw[] (armbasel) -- (armnacec);
|
||||
\draw[] (armbaser) -- (armnacec);
|
||||
\draw[] (armbaser) -- coordinate(mhexae) (armnacer);
|
||||
\end{scope}
|
||||
\end{scope}
|
||||
|
||||
% Sample
|
||||
\begin{scope}[shift={(uhexatop)}]
|
||||
\draw[fill=white] (-0.1*\blockw, 0) coordinate[](samplebot) rectangle coordinate[pos=0.5](samplecenter) node[pos=0.5, above]{Sample} (0.1*\blockw, \blockh) coordinate[](samplene);
|
||||
\coordinate[](samplenw) at (-0.1*\blockw, \blockh);
|
||||
\end{scope}
|
||||
\end{scope}
|
||||
|
||||
\begin{scope}[shift={(0, -0.3*\blockh)}]
|
||||
% Translation Stage - fixed part
|
||||
\draw[fill=black!40] (-0.5*\blockw, 0) coordinate[](tyb) rectangle (0.5*\blockw, 0.15*\blockh);
|
||||
\coordinate[] (measposbot) at (0.5*\blockw, 0);
|
||||
|
||||
% Translation Stage - mobile part
|
||||
\draw[fill=black!10, fill opacity=0.5] (-0.5*\blockw, 0.2*\blockh) -- (-0.5*\blockw, 1.5*\blockh) coordinate[](tyt) -- (0.5*\blockw, 1.5*\blockh) -- (0.5*\blockw, 0.2*\blockh) -- (0.35*\blockw, 0.2*\blockh) -- (0.35*\blockw, 0.8*\blockh) -- (-0.35*\blockw, 0.8*\blockh) -- (-0.35*\blockw, 0.2*\blockh) -- cycle;
|
||||
|
||||
% Translation Guidance
|
||||
\draw[dashed, color=black!60] ($(-0.5*\blockw, 0)+( 0.075*\blockw,0.5*\blockh)$) circle (0.2*\blockh);
|
||||
\draw[dashed, color=black!60] ($( 0.5*\blockw, 0)+(-0.075*\blockw,0.5*\blockh)$) circle (0.2*\blockh);
|
||||
|
||||
% Tilt Guidance
|
||||
\draw[dashed, color=black!60] ([shift=(-107:4.1*\blockh)]rotationpoint) arc (-107:-120:4.1*\blockh);
|
||||
\draw[dashed, color=black!60] ([shift=( -73:4.1*\blockh)]rotationpoint) arc (-73:-60:4.1*\blockh);
|
||||
\end{scope}
|
||||
|
||||
% % Vertical line
|
||||
% \draw[dashed, color=black] (samplecenter) -- ++(0, -4*\blockh);
|
||||
% \begin{scope}[rotate around={\tiltdeg:(samplecenter)}]
|
||||
% \draw[dashed, color=black] (samplecenter) -- ++(0, -4*\blockh);
|
||||
% \node[] at ($(samplecenter)+(0, -2.3*\blockh)$) {\AxisRotator[rotate=-90]};
|
||||
% \node[right, shift={(0.3,0)}] at ($(samplecenter)+(0, -2.3*\blockh)$) {$\theta_z$};
|
||||
% \end{scope}
|
||||
% \draw[->] ([shift=(-90:3.6*\blockh)]samplecenter) arc (-90:-87:3.6*\blockh) node[right]{$\theta_y$};
|
||||
|
||||
% Laser
|
||||
\begin{scope}[shift={(samplecenter)}]
|
||||
\draw[color=red, -<-=0.3] (samplecenter) node[circle, fill=red, inner sep=0pt, minimum size=3pt]{} -- node[pos=0.3, above, color=black]{X-ray} ($(samplecenter)+(1.2*\blockw,0)$);
|
||||
\end{scope}
|
||||
|
||||
% Axis
|
||||
\begin{scope}[shift={(-0.35*\blockw, 3*\blockh)}]
|
||||
\def\axissize{0.8cm}
|
||||
\draw[->] (0, 0) -- ++(0, \axissize) node[right]{$z$};
|
||||
\draw[->] (0, 0) -- ++(-\axissize, 0) node[above]{$x$};
|
||||
\draw[fill, color=black] (0, 0) circle (0.05*\axissize);
|
||||
\node[draw, circle, inner sep=0pt, minimum size=0.4*\axissize, label=right:$y$] (yaxis) at (0, 0){};
|
||||
% \node[draw, circle, inner sep=0pt, cross, minimum size=0.4*\axissize, label=left:$y$] (yaxis) at (0, 0){};
|
||||
\end{scope}
|
||||
|
||||
\node[fit={($(-0.6*\blockw, -0.5*\blockh)$) ($(0.6*\blockw, 4*\blockh)$)}, inner sep=0pt, draw, dashed, color=gray, label={Positioning Station}] (possystem) {};
|
||||
|
||||
\draw[fill=black!30] ($(tyb)+(-5, -1)$) coordinate[](granitesw) rectangle node[pos=0.5]{Granite Frame} ($(measposbot)+(5, 0)$) coordinate[](granitene);
|
||||
|
||||
% Focusing Optics
|
||||
\draw[fill=black!20] ($(granitene)+(-1.5, 3)$) rectangle ++(-1, 2);
|
||||
\draw[spring] ($(granitene)+(-2, 0)$) -- ++(0, 3);
|
||||
|
||||
\node[fit={($(granitene)+(-2.8, -0.2)$) ($(granitene)+(-1.2, 5.2)$)}, inner sep=0pt, draw, dashed, color=gray, label={Focusing Optics}] () {};
|
||||
|
||||
% Measurement Optics
|
||||
\draw[fill=black!20] ($(granitesw)+(1.5, 4)$) rectangle ++(1, 2);
|
||||
\draw[spring] ($(granitesw)+(2, 1)$) -- ++(0, 3);
|
||||
|
||||
\node[fit={($(granitesw)+(2.8, 0.8)$) ($(granitesw)+(1.2, 6.2)$)}, inner sep=0pt, draw, dashed, color=gray, label={Imagery System}] () {};
|
||||
\end{tikzpicture}
|
||||
#+end_src
|
||||
|
||||
#+name: fig:id31_beamline_schematic
|
||||
#+caption: ID31 Beamline Schematic. With light source, nano-focusing optics, sample stage and detector.
|
||||
#+attr_latex: :width \linewidth
|
||||
#+RESULTS:
|
||||
[[file:figs/introduction_id31_beamline_schematic.png]]
|
||||
|
||||
- Few words about science made on ID31 and why nano-meter accuracy is required
|
||||
- Typical experiments (tomography, ...), various samples (up to 50kg)
|
||||
- Where to explain the goal of each stage? (e.g. micro-hexapod: static positioning, Ty and Rz: scans, ...)
|
||||
- Example of picture obtained (Figure [[fig:id31_tomography_result]])
|
||||
|
||||
#+name: fig:id31_tomography_result
|
||||
#+caption: Image obtained on the ID31 beamline
|
||||
#+attr_latex: :width 0.49\linewidth
|
||||
[[file:example-image-c.png]]
|
||||
|
||||
- Explain wanted positioning accuracy and why micro-station cannot have this accuracy (backlash, play, thermal expansion, ...)
|
||||
|
||||
- Speak about the metrology concept, and why it is not included in this thesis
|
||||
|
||||
* Challenge definition
|
||||
|
||||
#+name: fig:nass_concept_schematic
|
||||
#+caption: Nass Concept. 1: micro-station, 2: nano-hexapod, 3: sample, 4: 5DoF metrology
|
||||
[[file:figs/introduction_nass_concept_schematic.png]]
|
||||
|
||||
- 6DoF vibration control platform on top of a complex positioning platform
|
||||
- *Goal*: Improve accuracy of 6DoF long stroke position platform
|
||||
- *Approach*: Mechatronic approach / model based / predictive
|
||||
- *Control*: Robust control approach / various payloads.
|
||||
First hexapod with control bandwidth higher than the suspension modes that accepts various payloads?
|
||||
- Rotation aspect
|
||||
- Compactness? (more related to mechanical design)
|
||||
|
||||
* Literature Review
|
||||
|
||||
#+name: fig:stewart_platform_examples
|
||||
#+caption: Examples of Stewart Platforms
|
||||
#+begin_figure
|
||||
#+name: fig:stewart_platform_a
|
||||
#+attr_latex: :caption \subcaption{Stewart platform based on voice coil actuators}
|
||||
#+attr_latex: :options {0.49\textwidth}
|
||||
#+begin_subfigure
|
||||
#+attr_latex: :width 0.8\linewidth
|
||||
[[file:example-image-a.png]]
|
||||
#+end_subfigure
|
||||
#+name: fig:stewart_platform_a
|
||||
#+attr_latex: :options {0.49\textwidth}
|
||||
#+attr_latex: :caption \subcaption{Stewart platform based on piezoelectric actuators}
|
||||
#+begin_subfigure
|
||||
#+attr_latex: :width 0.8\linewidth
|
||||
[[file:example-image-b.png]]
|
||||
#+end_subfigure
|
||||
#+end_figure
|
||||
|
||||
- Hexapods
|
||||
cite:li01_simul_fault_vibrat_isolat_point
|
||||
cite:bishop02_devel_precis_point_contr_vibrat
|
||||
cite:hanieh03_activ_stewar
|
||||
cite:afzali-far16_vibrat_dynam_isotr_hexap_analy_studies
|
||||
cite:naves20_desig
|
||||
# [[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/bibliography.org]]
|
||||
- Positioning stations
|
||||
- Mechatronic approach?
|
||||
cite:rankers98_machin
|
||||
cite:monkhorst04_dynam_error_budget
|
||||
cite:jabben07_mechat
|
||||
|
||||
* Outline of thesis / Thesis Summary / Thesis Contributions
|
||||
|
||||
*Mechatronic Design Approach* / *Model Based Design*:
|
||||
- [[cite:&monkhorst04_dynam_error_budget]] high costs of the design process: the designed system must be *first time right*.
|
||||
When the system is finally build, its performance level should satisfy the specifications.
|
||||
No significant changes are allowed in the post design phase.
|
||||
Because of this, the designer wants to be able to predict the performance of the system a-priori and gain insight in the performance limiting factors of the system.
|
||||
|
||||
#+begin_src latex :file nass_mechatronics_approach.pdf
|
||||
% \graphicspath{ {/home/thomas/Cloud/thesis/papers/dehaeze21_mechatronics_approach_nass/tikz/figs-tikz} }
|
||||
|
||||
\begin{tikzpicture}
|
||||
% Styles
|
||||
\tikzset{myblock/.style= {draw, thin, color=white!70!black, fill=white, text width=3cm, align=center, minimum height=1.4cm}};
|
||||
\tikzset{mylabel/.style= {anchor=north, below, font=\bfseries\small, color=black, text width=3cm, align=center}};
|
||||
\tikzset{mymodel/.style= {anchor=south, above, font=\small, color=black, text width=3cm, align=center}};
|
||||
\tikzset{mystep/.style= {->, ultra thick}};
|
||||
|
||||
% Blocks
|
||||
\node[draw, fill=lightblue, align=center, label={[mylabel, text width=8.0cm] Dynamical Models}, minimum height = 4.5cm, text width = 8.0cm] (model) at (0, 0) {};
|
||||
|
||||
\node[myblock, fill=lightgreen, label={[mylabel] Disturbances}, left = 3 of model.west] (dist) {};
|
||||
\node[myblock, fill=lightgreen, label={[mylabel] $\mu$ Station}, below = 2pt of dist] (mustation) {};
|
||||
\node[myblock, fill=lightgreen, label={[mylabel] $\nu$ Hexapod}, above = 2pt of dist] (nanohexapod) {};
|
||||
|
||||
\node[myblock, fill=lightyellow, label={[mylabel] Mech. Design}, above = 1 of model.north] (mechanical) {};
|
||||
\node[myblock, fill=lightyellow, label={[mylabel] Instrumentation}, left = 2pt of mechanical] (instrumentation) {};
|
||||
\node[myblock, fill=lightyellow, label={[mylabel] FEM}, right = 2pt of mechanical] (fem) {};
|
||||
|
||||
\node[myblock, fill=lightred, label={[mylabel] Test Benches}, right = 3 of model.east] (testbenches) {};
|
||||
\node[myblock, fill=lightred, label={[mylabel] Assembly}, above = 2pt of testbenches] (mounting) {};
|
||||
\node[myblock, fill=lightred, label={[mylabel] Implementation}, below = 2pt of testbenches] (implementation) {};
|
||||
|
||||
% Text
|
||||
\node[anchor=south, above, text width=8cm, align=left] at (model.south) {Extensive use of models for:\begin{itemize}[noitemsep,topsep=5pt]\item Extraction of transfer functions \\ \item Choice of appropriate control architecture \\ \item Tuning of control laws \\ \item Closed loop simulations \\ \item Noise budgets / Evaluation of performances \\ \item Sensibility to parameters / disturbances\end{itemize}\centerline{Models are at the core the mecatronic approach!}};
|
||||
|
||||
\node[mymodel] at (mustation.south) {Multiple stages \\ Complex dynamics};
|
||||
\node[mymodel] at (dist.south) {Ground motion \\ Position errors};
|
||||
\node[mymodel] at (nanohexapod.south) {Different concepts \\ Sensors, Actuators};
|
||||
|
||||
\node[mymodel] at (instrumentation.south) {Sensors, Actuators \\ Electronics};
|
||||
\node[mymodel] at (mechanical.south) {Proper integration \\ Ease of assembly};
|
||||
\node[mymodel] at (fem.south) {Optimize key parts: \\ Joints, Plates, APA};
|
||||
|
||||
\node[mymodel] at (mounting.south) {Struts \\ Nano-Hexapod};
|
||||
\node[mymodel] at (testbenches.south) {Instrumentation \\ APA, Struts};
|
||||
\node[mymodel] at (implementation.south) {Control tests \\ $\mu$ Station};
|
||||
|
||||
% Links
|
||||
\draw[->] (dist.east) -- node[above, midway]{{\small Measurements}} node[below,midway]{{\small Spectral Analysis}} (dist.east-|model.west);
|
||||
\draw[->] (mustation.east) -- node[above, midway]{{\small Measurements}} node[below, midway]{{\small CAD Model}} (mustation.east-|model.west);
|
||||
|
||||
\draw[->] ($(nanohexapod.east-|model.west)-(0, 0.15)$) -- node[below, midway]{{\small Optimization}} ($(nanohexapod.east)-(0, 0.15)$);
|
||||
\draw[<-] ($(nanohexapod.east-|model.west)+(0, 0.15)$) -- node[above, midway]{{\small Model}} ($(nanohexapod.east)+(0, 0.15)$);
|
||||
|
||||
\draw[->] ($(fem.south|-model.north)+(0.15, 0)$) -- node[right, midway]{{\small Specif.}} ($(fem.south)+(0.15,0)$);
|
||||
\draw[<-] ($(fem.south|-model.north)-(0.15, 0)$) -- node[left, midway,align=right]{{\small Super}\\{\small Element}} ($(fem.south)-(0.15,0)$);
|
||||
|
||||
\draw[->] ($(mechanical.south|-model.north)+(0.15, 0)$) -- node[right, midway]{{\small Specif.}} ($(mechanical.south)+(0.15,0)$);
|
||||
\draw[<-] ($(mechanical.south|-model.north)-(0.15, 0)$) -- node[left, midway,align=right]{{\small CAD}\\{\small model}} ($(mechanical.south)-(0.15,0)$);
|
||||
|
||||
\draw[->] ($(instrumentation.south|-model.north)+(0.15, 0)$) -- node[right, midway]{{\small Specif.}} ($(instrumentation.south)+(0.15,0)$);
|
||||
\draw[<-] ($(instrumentation.south|-model.north)-(0.15, 0)$) -- node[left, midway]{{\small Model}} ($(instrumentation.south)-(0.15,0)$);
|
||||
|
||||
\draw[->] ($(mounting.west-|model.east)+(0, 0.15)$) -- node[above, midway]{{\small Requirements}} ($(mounting.west)+(0, 0.15)$);
|
||||
\draw[<-] ($(mounting.west-|model.east)-(0, 0.15)$) -- node[below, midway]{{\small Model refinement}} ($(mounting.west)-(0, 0.15)$);
|
||||
|
||||
\draw[->] ($(testbenches.west-|model.east)+(0, 0.15)$) -- node[above, midway]{{\small Control Laws}} ($(testbenches.west)+(0, 0.15)$);
|
||||
\draw[<-] ($(testbenches.west-|model.east)-(0, 0.15)$) -- node[below, midway]{{\small Model refinement}} ($(testbenches.west)-(0, 0.15)$);
|
||||
|
||||
\draw[->] ($(implementation.west-|model.east)+(0, 0.15)$) -- node[above, midway]{{\small Control Laws}} ($(implementation.west)+(0, 0.15)$);
|
||||
\draw[<-] ($(implementation.west-|model.east)-(0, 0.15)$) -- node[below, midway]{{\small Model refinement}} ($(implementation.west)-(0, 0.15)$);
|
||||
|
||||
% Main steps
|
||||
\node[font=\bfseries, rotate=90, anchor=south, above] (conceptual_phase_node) at (dist.west) {1 - Conceptual Phase};
|
||||
\node[font=\bfseries, above] (detailed_phase_node) at (mechanical.north) {2 - Detail Design Phase};
|
||||
\node[font=\bfseries, rotate=-90, anchor=south, above] (implementation_phase_node) at (testbenches.east) {3 - Experimental Phase};
|
||||
\begin{scope}[on background layer]
|
||||
\node[fit={(conceptual_phase_node.north|-nanohexapod.north) (mustation.south east)}, fill=lightgreen!50!white, draw, inner sep=2pt] (conceptual_phase) {};
|
||||
\node[fit={(detailed_phase_node.north-|instrumentation.west) (fem.south east)}, fill=lightyellow!50!white, draw, inner sep=2pt] (detailed_phase) {};
|
||||
\node[fit={(implementation_phase_node.north|-mounting.north) (implementation.south west)}, fill=lightred!50!white, draw, inner sep=2pt] (implementation_phase) {};
|
||||
% \node[above left] at (dob.south east) {DOB};
|
||||
\end{scope}
|
||||
|
||||
% Between main steps
|
||||
\draw[mystep, postaction={decorate,decoration={raise=1ex,text along path,text align=center,text={Concept Validation}}}] (conceptual_phase.north) to[out=90, in=180] (detailed_phase.west);
|
||||
\draw[mystep, postaction={decorate,decoration={raise=1ex,text along path,text align=center,text={Procurement}}}] (detailed_phase.east) to[out=0, in=90] (implementation_phase.north);
|
||||
|
||||
% % Inside Model
|
||||
% \node[inner sep=1pt, outer sep=6pt, anchor=north west, draw, fill=white, thin] (multibodymodel) at ($(model.north west) - (0, 0.5)$)
|
||||
% {\includegraphics[width=5.6cm]{simscape_nano_hexapod.png}};
|
||||
|
||||
% \node[inner sep=1pt, outer sep=6pt, anchor=south west, draw, fill=white, thin] (simscape) at (model.south west)
|
||||
% {\includegraphics[width=5.6cm]{simscape_picture.jpg}};
|
||||
|
||||
% % Feedback Model
|
||||
% \node[inner sep=3pt, outer sep=6pt, anchor=north east, draw, fill=white, thin] (simscape_sim) at ($(model.north east) - (0, 0.5)$)
|
||||
% {\includegraphics[width=3.6cm]{simscape_simulations.pdf}};
|
||||
|
||||
% % FeedBack
|
||||
% \node[inner sep=3pt, outer sep=6pt, anchor=south east, draw, fill=white, thin] (feedback) at (model.south east)
|
||||
% {\includegraphics[width=3.6cm]{classical_feedback_small.pdf}};
|
||||
\end{tikzpicture}
|
||||
#+end_src
|
||||
|
||||
#+name: fig:nass_mechatronics_approach
|
||||
#+caption: Overview of the mechatronic approach used for the Nano-Active-Stabilization-System
|
||||
#+attr_latex: :width \linewidth
|
||||
#+RESULTS:
|
||||
[[file:figs/introduction_nass_mechatronics_approach.png]]
|
||||
|
||||
*Goals*:
|
||||
- Design \gls{nass} such that it is easy to control (and maintain).
|
||||
Have good performances by design and not by complex control strategies.
|
||||
|
||||
|
||||
*Models*:
|
||||
- Uniaxial Model:
|
||||
- Effect of limited support compliance
|
||||
- Effect of change of payload
|
||||
- Rotating Model
|
||||
- Gyroscopic effects
|
||||
- Multi Body Model
|
||||
- Finite Element Models
|
||||
|
||||
* Bibliography :ignore:
|
||||
#+latex: \printbibliography[heading=bibintoc,title={Bibliography}]
|
||||
|
BIN
nass-introduction.pdf
Normal file
169
nass-introduction.tex
Normal file
@ -0,0 +1,169 @@
|
||||
% Created 2024-04-17 Wed 11:35
|
||||
% Intended LaTeX compiler: pdflatex
|
||||
\documentclass[a4paper, 10pt, DIV=12, parskip=full, bibliography=totoc]{scrreprt}
|
||||
|
||||
\input{preamble.tex}
|
||||
\input{preamble_extra.tex}
|
||||
\bibliography{nass-introduction.bib}
|
||||
\author{Dehaeze Thomas}
|
||||
\date{\today}
|
||||
\title{NASS - Introduction}
|
||||
\hypersetup{
|
||||
pdfauthor={Dehaeze Thomas},
|
||||
pdftitle={NASS - Introduction},
|
||||
pdfkeywords={},
|
||||
pdfsubject={},
|
||||
pdfcreator={Emacs 29.3 (Org mode 9.6)},
|
||||
pdflang={English}}
|
||||
\usepackage{biblatex}
|
||||
|
||||
\begin{document}
|
||||
|
||||
\maketitle
|
||||
\tableofcontents
|
||||
|
||||
\clearpage
|
||||
|
||||
\chapter{Context of this thesis / Background and Motivation}
|
||||
|
||||
\begin{itemize}
|
||||
\item \gls{esrf} (Figure \ref{fig:esrf_picture})
|
||||
\end{itemize}
|
||||
|
||||
\begin{figure}[htbp]
|
||||
\centering
|
||||
\includegraphics[scale=1,width=0.7\linewidth]{figs/introduction_esrf_picture.jpg}
|
||||
\caption{\label{fig:esrf_picture}European Synchrotron Radiation Facility}
|
||||
\end{figure}
|
||||
|
||||
\begin{itemize}
|
||||
\item ID31 and Micro Station (Figure \ref{fig:id31_microstation_picture})
|
||||
\end{itemize}
|
||||
|
||||
\begin{figure}[htbp]
|
||||
\centering
|
||||
\includegraphics[scale=1,width=0.49\linewidth]{figs/introduction_id31_microstation_picture.png}
|
||||
\caption{\label{fig:id31_microstation_picture}Picture of the ID31 Micro-Station with annotations}
|
||||
\end{figure}
|
||||
|
||||
Alternative: \texttt{id31\_microstation\_cad\_view.png} (CAD view)
|
||||
|
||||
\begin{itemize}
|
||||
\item X-ray beam + detectors + sample stage (Figure \ref{fig:id31_beamline_schematic})
|
||||
\end{itemize}
|
||||
|
||||
\begin{figure}[htbp]
|
||||
\centering
|
||||
\includegraphics[scale=1,width=\linewidth]{figs/introduction_id31_beamline_schematic.png}
|
||||
\caption{\label{fig:id31_beamline_schematic}ID31 Beamline Schematic. With light source, nano-focusing optics, sample stage and detector.}
|
||||
\end{figure}
|
||||
|
||||
\begin{itemize}
|
||||
\item Few words about science made on ID31 and why nano-meter accuracy is required
|
||||
\item Typical experiments (tomography, \ldots{}), various samples (up to 50kg)
|
||||
\item Where to explain the goal of each stage? (e.g. micro-hexapod: static positioning, Ty and Rz: scans, \ldots{})
|
||||
\item Example of picture obtained (Figure \ref{fig:id31_tomography_result})
|
||||
\end{itemize}
|
||||
|
||||
\begin{figure}[htbp]
|
||||
\centering
|
||||
\includegraphics[scale=1,width=0.49\linewidth]{example-image-c.png}
|
||||
\caption{\label{fig:id31_tomography_result}Image obtained on the ID31 beamline}
|
||||
\end{figure}
|
||||
|
||||
\begin{itemize}
|
||||
\item Explain wanted positioning accuracy and why micro-station cannot have this accuracy (backlash, play, thermal expansion, \ldots{})
|
||||
|
||||
\item Speak about the metrology concept, and why it is not included in this thesis
|
||||
\end{itemize}
|
||||
|
||||
\chapter{Challenge definition}
|
||||
|
||||
\begin{figure}[htbp]
|
||||
\centering
|
||||
\includegraphics[scale=1]{figs/introduction_nass_concept_schematic.png}
|
||||
\caption{\label{fig:nass_concept_schematic}Nass Concept. 1: micro-station, 2: nano-hexapod, 3: sample, 4: 5DoF metrology}
|
||||
\end{figure}
|
||||
|
||||
\begin{itemize}
|
||||
\item 6DoF vibration control platform on top of a complex positioning platform
|
||||
\item \textbf{Goal}: Improve accuracy of 6DoF long stroke position platform
|
||||
\item \textbf{Approach}: Mechatronic approach / model based / predictive
|
||||
\item \textbf{Control}: Robust control approach / various payloads.
|
||||
First hexapod with control bandwidth higher than the suspension modes that accepts various payloads?
|
||||
\item Rotation aspect
|
||||
\item Compactness? (more related to mechanical design)
|
||||
\end{itemize}
|
||||
|
||||
\chapter{Literature Review}
|
||||
|
||||
\begin{figure}
|
||||
\begin{subfigure}{0.49\textwidth}
|
||||
\begin{center}
|
||||
\includegraphics[scale=1,width=0.8\linewidth]{example-image-a.png}
|
||||
\end{center}
|
||||
\subcaption{Stewart platform based on voice coil actuators}
|
||||
\end{subfigure}
|
||||
\begin{subfigure}{0.49\textwidth}
|
||||
\begin{center}
|
||||
\includegraphics[scale=1,width=0.8\linewidth]{example-image-b.png}
|
||||
\end{center}
|
||||
\subcaption{Stewart platform based on piezoelectric actuators}
|
||||
\end{subfigure}
|
||||
\caption{\label{fig:stewart_platform_examples}Examples of Stewart Platforms}
|
||||
\end{figure}
|
||||
|
||||
\begin{itemize}
|
||||
\item Hexapods
|
||||
\cite{li01_simul_fault_vibrat_isolat_point}
|
||||
\cite{bishop02_devel_precis_point_contr_vibrat}
|
||||
\cite{hanieh03_activ_stewar}
|
||||
\cite{afzali-far16_vibrat_dynam_isotr_hexap_analy_studies}
|
||||
\cite{naves20_desig}
|
||||
\item Positioning stations
|
||||
\item Mechatronic approach?
|
||||
\cite{rankers98_machin}
|
||||
\cite{monkhorst04_dynam_error_budget}
|
||||
\cite{jabben07_mechat}
|
||||
\end{itemize}
|
||||
|
||||
\chapter{Outline of thesis / Thesis Summary / Thesis Contributions}
|
||||
|
||||
\textbf{Mechatronic Design Approach} / \textbf{Model Based Design}:
|
||||
\begin{itemize}
|
||||
\item \cite{monkhorst04_dynam_error_budget} high costs of the design process: the designed system must be \textbf{first time right}.
|
||||
When the system is finally build, its performance level should satisfy the specifications.
|
||||
No significant changes are allowed in the post design phase.
|
||||
Because of this, the designer wants to be able to predict the performance of the system a-priori and gain insight in the performance limiting factors of the system.
|
||||
\end{itemize}
|
||||
|
||||
\begin{figure}[htbp]
|
||||
\centering
|
||||
\includegraphics[scale=1,width=\linewidth]{figs/introduction_nass_mechatronics_approach.png}
|
||||
\caption{\label{fig:nass_mechatronics_approach}Overview of the mechatronic approach used for the Nano-Active-Stabilization-System}
|
||||
\end{figure}
|
||||
|
||||
\textbf{Goals}:
|
||||
\begin{itemize}
|
||||
\item Design \gls{nass} such that it is easy to control (and maintain).
|
||||
Have good performances by design and not by complex control strategies.
|
||||
\end{itemize}
|
||||
|
||||
|
||||
\textbf{Models}:
|
||||
\begin{itemize}
|
||||
\item Uniaxial Model:
|
||||
\begin{itemize}
|
||||
\item Effect of limited support compliance
|
||||
\item Effect of change of payload
|
||||
\end{itemize}
|
||||
\item Rotating Model
|
||||
\begin{itemize}
|
||||
\item Gyroscopic effects
|
||||
\end{itemize}
|
||||
\item Multi Body Model
|
||||
\item Finite Element Models
|
||||
\end{itemize}
|
||||
|
||||
\printbibliography[heading=bibintoc,title={Bibliography}]
|
||||
\end{document}
|
16
preamble.tex
Normal file
@ -0,0 +1,16 @@
|
||||
\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[stylemods=longextra]{glossaries-extra}
|
||||
|
||||
\setabbreviationstyle[acronym]{long-short}
|
||||
\setglossarystyle{long-name-desc}
|
||||
|
||||
\makeindex
|
||||
\makeglossaries
|
134
preamble_extra.tex
Normal file
@ -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}
|