First draft with only detailed outline

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nass-introduction.org

@@ -88,16 +88,286 @@
 
 Prefix is =introduction=
 
-* Context of this thesis / Background and Motivation
+** TODO [#C] Finish review about Stewart platforms
 
-- \gls{esrf} (Figure [[fig:esrf_picture]])
+# [[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/bibliography.org]]
 
-#+name: fig:esrf_picture
+- [ ] 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
+
+** TODO [#C] Review of two stage control
+
+[[elisp:(helm-bibtex nil nil "Two Stage Actuator ")][Two Stage Actuator]]:
+- [X] cite:&xu12_desig_devel_flexur_based_dual
+- [ ] cite:&pahk01_ultra_precis_posit_system_servo_motor
+- [ ] cite:&kobayashi03_phase_stabil_servo_contr_dual
+  disk drive
+- [ ] cite:&michellod06_strat_contr_dual_nano_system_singl_metrol
+- [ ] cite:&woody06_desig_perfor_dual_drive_system
+- [ ] cite:&chassagne07_nano_posit_system_with_sub
+- [ ] cite:&schitter08_dual
+- [X] cite:&buice09_desig_evaluat_singl_axis_precis
+- [X] cite:&liu10_desig_contr_long_travel_nano_posit_stage
+- [ ] cite:&ting11_contr_desig_high_frequen_cuttin
+- [ ] cite:&okazaki12_dual_servo_mechan_stage_contin_posit
+- [ ] cite:&ito13_high_precis_posit_system_using
+- [ ] cite:&yamaguchi13_advan_high_perfor_motion_contr_mechat_system
+- [ ] cite:&kim13_desig_contr_singl_stage_dual
+- [ ] cite:&wu13_desig
+- [ ] cite:&parmar14_large_dynam_range_nanop_using
+- [ ] cite:&ito15_low_stiff_dual_stage_actuat
+- [ ] cite:&qingsong16_desig_implem_large_range_compl_microp_system
+- [ ] cite:&zhu17_flexur_based_paral_actuat_dual
+- [ ] cite:&wang17_devel_contr_long_strok_precis_stage
+- [ ] cite:&okyay18_modal_analy_metrol_error_budget
+- [ ] cite:&csencsics18_system_contr_desig_voice_coil
+- [ ] cite:&okyay18_mechat_desig_actuat_optim_contr
+- [ ] cite:&kong18_vibrat_isolat_dual_stage_actuat
+- [ ] cite:&du19_multi_actuat_system_contr
+- [ ] cite:&yun20_inves_two_stage_vibrat_suppr
+- [ ] cite:&mukherjee20_hybrid_contr_precis_posit_applic
+- [ ] cite:&barros21_feedf_contr_piezoel_dual_actuat_system
+
+*To read in details*:
+- [X] cite:&choi08_desig_contr_nanop_xy_theta_scann
+ *top*
+- [X] [[cite:&buice09_desig_evaluat_singl_axis_precis]]
+- [X] cite:&shinno11_newly_devel_long_range_posit
+- [ ] cite:&okazaki12_dual_servo_mechan_stage_contin_posit
+- [ ] cite:&shan15_contr_review
+ *good review*
+- [X] cite:&okyay16_mechat_desig_dynam_contr_metrol
+ *Good review*
+  #+begin_quote
+  The alternative, sliding contact bearings are limited to 2-10 [μm] motion resolution, due to stick-slip motion [[cite:&slocum92_precis_machin_desig]], hence they are not preferred.
+Stick-slip occurs due to the difference between static and dynamic coefficients of friction in such bearings, which results in an impact-like disturbance in the control system during motion reversal.
+  #+end_quote
+- [X] cite:&kong18_vibrat_isolat_dual_stage_actuat
+ *only found example of dual stage with hexapod*
+  #+begin_quote
+  The coarse stage is usually actuated by VCMs or other linear motors, and the fine stage is usually actuated by piezoelectric actuators or VCMs.
+  #+end_quote
+
+#+name: tab:introduction_dual_stages
+#+caption: for each example, interferometers are used as the measured stage position (and signal feedback for the short stroke actuator).
+#+attr_latex: :environment tabularx :width \linewidth :align lXX
+#+attr_latex: :center t :booktabs t
+| DoF    | Long Stroke                     | Short Stroke  | Bandwidth     |                                                      |
+|--------+---------------------------------+---------------+---------------+------------------------------------------------------|
+| X,Y    | 2 axis, linear motor            | 2 piezo       |               | cite:&chassagne07_nano_posit_system_with_sub         |
+| X,Y,Rz | 1 axis, iron core linear motor  | 4 VCM         | 85Hz          | cite:&choi08_desig_contr_nanop_xy_theta_scann        |
+| X      | 1 axis, DC motor, feedscrew     | 1 PZT         |               | cite:&buice09_desig_evaluat_singl_axis_precis        |
+| X,Y,Rz | 1 axis, ballscrew, rotary motor | 3 piezo       | 3 PID, few Hz | cite:&liu10_desig_contr_long_travel_nano_posit_stage |
+| X      | 1 axis, Servo motor, ball screw | 1 VCM         |               | cite:&shinno11_newly_devel_long_range_posit          |
+| X      | 1 axis, VCM                     | 1 piezo stack |               | cite:&xu12_desig_devel_flexur_based_dual             |
+
+** TODO [#C] Make all the figures
+
+1. [ ] [[file:figs/introduction_esrf_schematic.svg]]
+   highlight Linac, Booster, Storage ring, ID31 beamline
+2. [ ] Good Picture of ESRF: =introduction_esrf_picture=
+3. [ ] Map with all the Synchrotrons in the World: =introduction_synchrotrons=
+   Show Synchrotron going to 4th generation, Highlight ESRF
+4. [ ] Synchrotron Moore law =introduction_moore_law=
+5. [ ] Picture of the beam =introduction_beam_3rd_generation= and =introduction_beam_4th_generation=
+6. [ ] ID31/typical beamline layout with: =introduction_id31_layout=
+   - Insertion device
+7. [ ] CAD view of the ID31 EH: =introduction_id31_cad=
+   - Highlight focussing optics, positioning station, sample, detector
+   - Show X-Y-Z vectors
+8. [ ] Micro-Station with each stage in different color and associated motions
+ =introduction_id31_microstation_cad=
+ =introduction_id31_microstation_picture=
+9. [ ] Typical experiment (ideally from ID31 experiments):
+   - [ ] tomography: =introduction_exp_tomography= and =introduction_exp_tomography_image=
+   - [ ] scanning: =introduction_exp_scanning= and =introduction_exp_scanning_image=
+10. [ ] Typical linear stage =introduction_linear_stage=
+    - Show: stepper motor, ball screw, linear guides
+    - Show: straightness, flatness, etc...
+11. [ ] Flexure based stage =introduction_flexure_stage=
+12. [ ] NASS concept: =introduction_nass_concept_schematic=
+    - 4 elements: micro-station, nano-hexapod, metrology, control system
+13. [ ] NASS metrology schematic: =introduction_nass_metrology=
+    - Nano-hexapod, sample, spherical mirror with flat bottom surface
+    - several fiber interferometers with tracking systems (arrows showing that they can move in Rx/Ry)
+14. [ ] Show some passive end-stations =introduction_pass_stations=
+    - ID16b
+    - ID11
+15. [ ] Show active passive end-stations =introduction_acti_stations=
+    - ID16a
+16. [ ] Two stage control =introduction_two_stage_control=
+    Schematic with the long stroke, short stroke, metrology and control architecture: trajectory generation => long stroke & short stroke + feedback on the short stroke
+17. [ ] Examples of two stage control:
+    - =introduction_two_stage_control_h_bridge= from [[cite:&schmidt20_desig_high_perfor_mechat_third_revis_edition]]
+    - =introduction_two_stage_control_example= from [[cite:&shinno11_newly_devel_long_range_posit]]
+18. [ ] Serial VS Parallel: comparison of X-Y-Rz stages
+    - =introduction_kinematics_serial=
+    - =introduction_kinematics_parallel=
+19. [ ] Stewart platform architecture =introduction_stewart_platform=
+    Maybe two pose to show that by changing the length of each strut, it is possible to change the relative position between the two plates?
+    Maybe do that with Matlab and then editing with Inkscape
+20. [ ] Different model types
+    - =introduction_model_lumped=
+    - =introduction_model_fem=
+    - =introduction_model_multi_body=
+21. [ ] Dynamic Error Budgeting ??
+    - feedback model with disturbances, noise, and performance signal
+    - PSD + CPS ? => understand what are the limitations?, similar to what is in [[cite:&schmidt20_desig_high_perfor_mechat_third_revis_edition]] ?
+
+** DONE [#B] Check these papers for literature review
+CLOSED: [2024-05-05 Sun 16:22]
+
+Check these papers:
+- [[elisp:(helm-bibtex nil nil "nass ")][Nano Active Stabilization System]]
+- [[elisp:(helm-bibtex nil nil "esrf ")][ESRF]]
+- [[elisp:(helm-bibtex nil nil "nanostage ")][Nano Positioning Stage]]
+
+
+NASS:
+- [X] cite:&wang12_autom_marker_full_field_hard
+  Calibration of spindle run-out errors, and correct the errors in post processing, for tomography
+- [X] cite:&stankevic17_inter_charac_rotat_stages_x_ray_nanot
+- [X] cite:&schroer17_ptynam
+- [X] cite:&nazaretski17_desig_perfor_x_ray_scann
+- [X] cite:&nazaretski15_pushin_limit
+- [X] cite:nazaretski22_new_kirkp_baez_based_scann
+
+- [X] cite:&naves20_t_flex
+- [X] cite:&kim13_compac_protot_appar_reduc_circl
+- [X] cite:&khaled18_pract_desig_applic_model_predic_contr
+- [X] cite:&holler18_omny_tomog_nano_cryo_stage
+- [X] cite:&holler17_omny_pin_versat_sampl_holder
+- [X] cite:&engblom18_nanop_resul
+- [X] cite:&dehaeze18_sampl_stabil_for_tomog_exper
+- [X] HXN [[cite:&xu23_high_nsls_ii]]
+  Laser interferometers on reference ring (on top of rotary stage).
+  Used to trigger the detectors (ptychography, microscope)
+
+ESRF:
+- [X] cite:raimondi21_commis_hybrid_multib_achrom_lattic
+- [X] cite:cotte17_id21_x_ray_infrar_micros
+- [X] cite:martinez-criado16_id16b
+- [X] cite:villar18_nanop_esrf_id16a_nano_imagin_beaml
+- [X] cite:riekel10_progr_micro_nano_diffr_at
+- [X] cite:wright20_new_oppor_at_mater_scien
+- [X] cite:leake19_nanod_beaml_id01
+- [X] cite:versteegen23_inser_devic_contr
+- [X] cite:marion04_hexap_esrf
+- [X] cite:fajardo95_contr_six_degree_paral_manip
+- [X] cite:cammarata09_chopp_system_time_resol_exper
+- [X] cite:dabin02_mechan_desig_high_precis_posit
+- [X] cite:dabin03_precis_mechan_high_accur_beaml
+- [X] cite:guijarro17_bliss_exper_contr_esrf_ebs_beaml
+- [X] cite:janvier13_icepap
+- [X] cite:baker18_esrf_doubl_cryst_monoc_protot_projec
+- [X] cite:dabin04_mecan
+- [X] cite:reichert21_stiff_hexap
+- [X] cite:dehaeze21_mechat_approac_devel_nano_activ_stabil_system
+- [X] cite:brumund21_multib_simul_reduc_order_flexib_bodies_fea
+- [X] cite:dehaeze21_activ_dampin_rotat_platf_using
+- [X] cite:zhang96_groun_vibrat_orme_meris_super_esrf
+- [X] cite:zelenika04_flexur_use_elast_sr_instr_desig
+- [X] cite:youness20_concep
+- [X] cite:ravy18_shinin_light_synch_light
+- [X] cite:dimper15_esrf_upgrad_progr_phase_ii
+- [X] cite:dehaeze18_sampl_stabil_for_tomog_exper
+- [X] cite:dabin04_mecan
+- [X] cite:brendike19_esrf_doubl_cryst_monoc_protot_contr_concep
+
+nanostage:
+- [X] cite:&yong16_mechan_desig_high_speed_nanop_system
+- [X] cite:&lee17_compac_compl_paral_xy_nano
+- [X] cite:&awtar13_desig_large_range_xy_nanop_system
+- [X] cite:&liu18_desig_trajec_track_contr_piezoel
+- [X] cite:&yong09_desig_ident_contr_flexur_based
+- [X] cite:&fleming10_integ_strain_force_feedb_high
+- [X] cite:&barillot99_desig_funct_tests_xy_piezoel
+
+** DONE [#C] Table that compares nano positioning stations with metrology / feedback
+CLOSED: [2024-05-05 Sun 11:55]
+
+- [X] ID16a: capacitive sensors, short stroke, spindle above the fix hexapod, light samples [[cite:&villar18_nanop_esrf_id16a_nano_imagin_beaml]]
+- [X] Soleil Nano probe [[cite:&engblom18_nanop_resul;&stankevic17_inter_charac_rotat_stages_x_ray_nanot]]
+- [X] PSI OMNY [[cite:&holler18_omny_tomog_nano_cryo_stage;&holler17_omny_pin_versat_sampl_holder]]
+  [[cite:&holler15_error_motion_compen_track_inter;&holler12_instr_x_ray_nano_imagin]]
+- [X] DESY PETRA III /PtyNAMi/ [[cite:&schropp20_ptynam;&schroer17_ptynam;&schroeck01_compen_desig_linear_time_invar]]
+  scanning microscope and tomography
+  tracking the mechanical stability of optics relative to the sample scanner
+  laser interferometer system to track the sample in the two directions transverse to the optical axis
+  #+begin_quote
+  For scanning microscopy and tomography it is essential to know where the beam hits the sample.
+  Position uncertainties can arise from vibrations of the focusing optics and of the sample.
+  The sample is scanned through the nanobeam, while the optics are kept fixed after initial alignment.
+  #+end_quote
+  Interferometers used for monitoring, not for closed-loop control
+- [ ] APS/Diamond:
+- [X] cite:&wang12_autom_marker_full_field_hard
+  Calibration of spindle run-out errors, and correct the errors in post processing, for tomography
+- [X] [[cite:&geraldes23_sapot_carnaub_sirius_lnls]]
+  SIRIUS, LNLS
+  #+begin_quote
+Synchrotron scanning X-ray microscopes are generally based on piezo scanning stages, with motion range typically
+limited to 100 µm, such that complementary long-stroke stages, with motion range of several millimeters, are often
+required to comply with alignment and the search of regions of interest in typical millimeter-size samples or sample
+mounts [3, 5–13, 15, 16]. However, potential limitations in this architecture include: 1) limited dynamics and stability,
+with resonance modes in the order of 100 Hz (or less) resulting from multiple stacked stages; 2) parasitic motion
+associated with coarse stages; and 3) deteriorated performance in continuous fly-scan beyond the piezo range, which
+are caused by disturbances introduced by stepper motors or stick-slip piezos [43].
+  #+end_quote
+- [X] Delta robot, diamond [[cite:&kelly22_delta_robot_long_travel_nano]]
+
+Bandwidth is rarely specified
+
+Same table for nano positioning stages without integrated metrology?
+
+
+* Context of this thesis
+** Synchrotron Radiation Facilities
+**** Accelerating electrons to produce intense X-ray
+
+- Explain what is a Synchrotron: light source
+- Say how many there are in the world (~50)
+- Electron part: LINAC, Booster, Storage Ring ref:fig:introduction_esrf_schematic
+- Synchrotron radiation: Insertion device / Bending magnet
+- Many beamlines (large diversity in terms of instrumentation and science)
+- Science that can be performed:
+  - structural biology, structure of materials, matter at extreme, ...
+
+**** The European Synchrotron Radiation Facility
+
+#+name: fig:introduction_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]])
+#+name: fig:introduction_esrf_schematic
+#+caption: Schematic of the ESRF - Over 40 beamlines. Booster, Linac, storage ring
+#+attr_latex: :width 0.7\linewidth
+[[file:figs/introduction_esrf_schematic.svg]]
+
+**** 3rd and 4th generation Synchrotrons
+
+- 4th generation light sources
+  - [[cite:&raimondi21_commis_hybrid_multib_achrom_lattic]]
+  - [ ] Picture of 3rd generation "beam source" vs 4th generation?
+- [ ] Picture showing Synchrotron "moore's law"
+
+** The ID31 ESRF Beamline
+**** Beamline Layout
+
+- [ ] Beamline layout (OH, EH)
+- ID31 and Micro Station (Figure ref:fig:introduction_id31_microstation_picture)
+  Check https://www.esrf.fr/UsersAndScience/Experiments/StructMaterials/ID31
+  https://www.wayforlight.eu/beamline/23244
+- X-ray beam + detectors + sample stage (Figure ref:fig:introduction_id31_beamline_schematic)
+- Focusing optics
+- Optical schematic with: source, lens, sample and detector.
+  Explain that what is the most important is the relative position between the sample and the lens.
+- Explain the XYZ frame for all the thesis (ESRF convention: X: x-ray, Z gravity up)
+  - [ ] Add XYZ on figure ref:fig:introduction_id31_cad
 
 #+begin_src latex :file id31_microstation_picture.pdf
 \begin{tikzpicture}
@@ -133,15 +403,19 @@ Prefix is =introduction=
 \end{tikzpicture}
 #+end_src
 
-#+name: fig:id31_microstation_picture
+#+name: fig:introduction_id31_cad
-#+caption: Picture of the ID31 Micro-Station with annotations
+#+caption: CAD view of the optical hutch with the nano-focusing optics, the micro-station
-#+attr_latex: :width 0.49\linewidth
+#+attr_latex: :width 0.8\linewidth
-#+RESULTS:
+[[file:figs/introduction_id31_cad.jpg]]
-[[file:figs/introduction_id31_microstation_picture.png]]
 
-Alternative: =id31_microstation_cad_view.png= (CAD view)
+**** Positioning End Station: The Micro-Station
 
-- X-ray beam + detectors + sample stage (Figure [[fig:id31_beamline_schematic]])
+Micro-Station:
+- DoF with strokes: Ty, Ry, Rz, Hexapod
+- Experiments: tomography, reflectivity, truncation rod, ...
+  Make a table to explain the different "experiments"
+- Explain how it is used (positioning, scans), what it does. But not about the performances
+- Different sample environments
 
 #+begin_src latex :file id31_beamline_schematic.pdf
   \begin{tikzpicture}
@@ -278,53 +552,292 @@ Alternative: =id31_microstation_cad_view.png= (CAD view)
   \end{tikzpicture}
 #+end_src
 
-#+name: fig:id31_beamline_schematic
+- Alternative: =id31_microstation_cad_view.png= (CAD view)
-#+caption: ID31 Beamline Schematic. With light source, nano-focusing optics, sample stage and detector.
+
-#+attr_latex: :width \linewidth
+#+name: fig:introduction_id31_microstation_picture
+#+caption: Picture of the ID31 Micro-Station with annotations
+#+attr_latex: :width 0.49\linewidth
 #+RESULTS:
-[[file:figs/introduction_id31_beamline_schematic.png]]
+[[file:figs/introduction_id31_microstation_picture.png]]
+
+**** Science performed on ID31
 
 - Few words about science made on ID31 and why nano-meter accuracy is required
-- Typical experiments (tomography, ...), various samples (up to 50kg)
+- Typical experiments (tomography, ...), various samples (up to 50kg), sample environments (high temp, cryo, etc..)
-- Where to explain the goal of each stage? (e.g. micro-hexapod: static positioning, Ty and Rz: scans, ...)
+  - Alignment of the sample, then
-- Example of picture obtained (Figure [[fig:id31_tomography_result]])
+  - Reflectivity
+  - Tomography
+  - Diffraction tomography: most critical
+- Example of picture obtained (Figure ref:fig:introduction_id31_tomography_result) with resolution
 
-#+name: fig:id31_tomography_result
+
+=introduction_exp_scanning= and =introduction_exp_scanning_image=
+
+#+name: fig:introduction_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, ...)
+** Need of accurate positioning end stations with high dynamics
+**** A push towards brighter and smaller beams...
 
-- Speak about the metrology concept, and why it is not included in this thesis
+Improvement of both the light source and the instrumentation:
+- EBS: smaller source + higher flux
+- Better focusing optic (add some links): beam size in the order of 10 to 20nm FWHM (reference)
+  - [ ] Show picture or measurement of the beam size
+  crossed silicon compound refractive lenses, KB mirrors [17], zone plates [18], or multilayer Laue lenses [19]
+  [[cite:&barrett16_reflec_optic_hard_x_ray]]
+
+Higher flux density (+high energy of the ID31 beamline) => Radiation damage: needs to scan the sample quite fast with respect to the focused beam
+
+- Allowed by better detectors: higher sampling rates and lower noise => possible to scan fast
+  [[cite:&hatsui15_x_ray_imagin_detec_synch_xfel_sourc]]
+
+**** ...Requires the use of dynamical positioning
+"from traditional step by step scans to /fly-scan/"
+
+Fast scans + needs of high accuracy and stability => need mechatronics system with:
+- accurate metrology
+- multi degree of freedom positioning systems
+- fast feedback loops
+
+Shift from step by step scan to /fly-scan/ cite:huang15_fly_scan_ptych
+- Much lower pixel size + large image => takes of lot of time if captured step by step.
+  Explain what is step by step scanning: move motors from point A to point B, stops, start detector acquisition, open shutter , close the shutter, move to point C, ...
+
+[[cite:&xu23_high_nsls_ii]]
+#+begin_quote
+In traditional step scan mode, each exposure position requires the system to stop prior to data acquisition, which may become a limiting factor when fast data collection is required.
+Fly-scanning is chosen as a preferred solution that helps overcome such speed limitations [5, 6].
+In fly-scan mode, the sample keeps moving and a triggering system generates trigger signals based on the position of the sample or the time elapsed.
+The trigger signals are used to control detector exposure.
+#+end_quote
+
+- [ ] Make picture representing a typical experiment (maybe YZ scan?) with:
+  Probably already shown earlier =introduction_exp_scanning=
+  - nano focusing optics (see the beam focused)
+  - positioning stage with displayed YZ motion (pixel by pixel in the YZ plane)
+  - detector
+
+Subject of this thesis: design of high performance positioning station with high dynamics and nanometer accuracy
 
 * Challenge definition
+** Multi DoF, Highly accurate, and Long stroke positioning end station?
+**** Performance limitation of "stacked stages" end-stations
 
-#+name: fig:nass_concept_schematic
+Typical positioning end station:
+- stacked stages
+- ballscrew, linear guides, rotary motor
+
+
+Explain the limitation of performances:
+- Backlash, play, thermal expansion, guiding imperfections, ...
+- Give some numbers: straightness of the Ty stage for instance, change of $0.1^oC$ with steel gives x nm of motion
+- Vibrations
+- Explain that this micro-station can only have ~10um of accuracy due to physical limitation
+- Possibility to have linear/rotary encoders that correct the motion in the considered DoF, but does not change anything to the other 5DoF
+
+
+Talk about flexure based positioning stations?
+Advantages: no backlash, etc...
+But: limited to short stroke
+Picture of schematic of one positioning station based on flexure
+
+**** The ID31 Micro-Station
+
+Presentation of the Micro-Station in details ref:fig:introduction_id31_microstation_cad:
+- Goal of each stage (e.g. micro-hexapod: static positioning, Ty and Rz: scans, ...)
+- Stroke
+- Initial design objectives: as stiff as possible, smallest errors as possible
+
+**** New positioning requirements
+
+- To benefits from nano-focusing optics, new source, etc... new positioning requirements
+- Positioning requirements on ID31:
+  - Maybe make a table with the requirements and the associated performances of the micro-station
+  - Make tables with the wanted motion, stroke, accuracy in different DoF, etc..
+- Sample masses
+
+The goal in this thesis is to increase the positioning accuracy of the micro-station to fulfil the initial positioning requirements.
+
+*Goal*: Improve accuracy of 6DoF long stroke position platform
+
+** The Nano Active Stabilization System
+**** NASS Concept
+
+Briefly describe the NASS concept.
+4 parts:
+- Micro Station
+- multi-DoF positioning system with good dynamics
+- 5DoF metrology system
+- Control system and associated instrumentation
+
+6DoF vibration control platform on top of a complex positioning platform that correct positioning errors based on an external metrology
+
+- [ ] Add the control system in the schematic
+
+#+name: fig:introduction_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
+**** Metrology system
-- *Goal*: Improve accuracy of 6DoF long stroke position platform
+
-- *Approach*: Mechatronic approach / model based / predictive
+Requirements:
-- *Control*: Robust control approach / various payloads.
+- 5 DoF
-  First hexapod with control bandwidth higher than the suspension modes that accepts various payloads?
+- long stroke
-- Rotation aspect
+- nano-meter accurate
-- Compactness? (more related to mechanical design)
+- high bandwidth
+
+The accuracy of the NASS will only depend on the accuracy of the metrology system.
+
+Concept:
+- Fiber interferometers
+- Spherical reflector with flat bottom
+- Tracking system
+
+Complex mechatronics system on its own.
+
+This metrology system is not further discussed in this thesis as it is still under active development.
+
+In the following of this thesis, it is supposed that the metrology system is accurate, etc..
+
+- Say that there are several high precision sensors, but only interferometers for long stroke / high accuracy?
+
+**** Multi-DoF Positioning stage for error compensation
+
+- 5 DoF
+- High dynamics
+- nano-meter capable (no backlash,)
+- Accept payloads up to 50kg
+
+**** MIMO robust control strategies
+
+Explain the robustness need?
+- 24 7/7 ...
+- That is why most of end-stations are based on well-proven design (stepper motors, linear guides, ball bearing, ...)
+- Plant uncertainty: many different samples, use cases, rotating velocities, etc...
+
+Trade-off between robustness and performance in the design of feedback system.
+
+** Predictive Design
+
+- The performances of the system will depend on many factors:
+  - sensors
+  - actuators
+  - mechanical design
+  - achievable bandwidth
+  - ...
+- Need to evaluate the different concepts, and predict the performances to guide the design
+- The goal is to design, built and test this system such that it work as expected the first time.
+  Very costly system, so much be correct.
+
+** Control Challenge
+
+High bandwidth, 6 DoF system for vibration control, fixed on top of a complex multi DoF positioning station, robust, ...
+
+- Many different configurations (tomography, Ty scans, slow fast, ...)
+- Complex MIMO system. Dynamics of the system could be coupled to the complex dynamics of the micro station
+- Rotation aspect, gyroscopic effects, actuators are rotating with respect to the sensors
+- Robustness to payload change: very critical.
+  Say that high performance systems (lithography machines, etc...) works with calibrated payloads.
+  Being robust to change of payload inertia means large stability margins and therefore less performance.
 
 * Literature Review
+** Nano Positioning end-stations
+**** End Station with Stacked Stages
 
-#+name: fig:stewart_platform_examples
+Stacked stages:
+- errors are combined
+
+To have acceptable performances / stability:
+- limited number of stages
+- high performances stages (air bearing etc...)
+
+Examples:
+- ID16b [[cite:&martinez-criado16_id16b]]
+- ID13 [[cite:&riekel10_progr_micro_nano_diffr_at]]
+- ID11 cite:wright20_new_oppor_at_mater_scien
+- ID01 [[cite:&leake19_nanod_beaml_id01]]
+- [ ] Maybe make a table to compare stations
+
+Explain limitations => Thermal drifts, run-out errors of spindles (improved by using air bearing), straightness of translation stages, ...
+
+**** Online Metrology and Active Control of Positioning Errors
+
+The idea of having an external metrology to correct for errors is not new.
+
+- To have even better performances: online metrology are required.
+- Several strategies:
+  - only used for measurements (post processing)
+  - for calibration
+  - for triggering detectors
+  - for real time positioning control
+
+
+
+- [ ] HXN [[cite:&xu23_high_nsls_ii]]
+  Laser interferometers on reference ring (on top of rotary stage).
+  Used to trigger the detectors (ptychography, microscope)
+  Similar to cite:&wang12_autom_marker_full_field_hard
+
+#+name: tab:introduction_sample_stages
+#+caption: Table caption
+#+attr_latex: :environment tabularx :width \linewidth :align lllllllX
+#+attr_latex: :center t :booktabs t
+| Architecture                                  | Sensors and measured DoFs            | Actuators and controlled DoFs | Institute, BL  | OL/CL (bandwidth)   | Stroke, DoF           | Samples      | Ref                                                                              |
+|-----------------------------------------------+--------------------------------------+-------------------------------+----------------+---------------------+-----------------------+--------------+----------------------------------------------------------------------------------|
+| XYZ, Spherical retroreflector, Sample         | 3 interferometers[fn:1], Y,Z         | YZ piezo stages               | PETRA III, P06 | OL                  | 100um                 | light        | [[cite:&schroer17_ptynam;&schropp20_ptynam]]                                         |
+| Spindle / Metrology Ring / XYZ Stage / Sample | 3 Capacitive, Y,Z,Rx                 |                               | NSLS, X8C      | OL, post processing |                       | micron scale | cite:&wang12_autom_marker_full_field_hard                                        |
+| *Hexapod* / Spindle / Metrology Ring / Sample | 12 Capacitive[fn:4], X,Y,Z,Rx,Ry     | Piezo (Hexapod)               | ESRF, ID16a    | CL, 10Hz bandwidth  | 50um, 500urad         | light        | [[cite:&villar18_nanop_esrf_id16a_nano_imagin_beaml]]                                |
+| XYZ, Rz, XY, Cylindrical reference            | 5 interferometers[fn:3], X,Y,Z,Rx,Ry | XYZ linear motors             | Soleil         | CL                  |                       | light        | [[cite:&engblom18_nanop_resul;&stankevic17_inter_charac_rotat_stages_x_ray_nanot]]   |
+| XYZ, Rz, XYZ Spherical reference              | 3 Interferometers[fn:2], Y,Z,Rx      | XYZ parallel piezo stage      | PSI, OMNY      | CL                  | 400um                 | light        | [[cite:&holler18_omny_tomog_nano_cryo_stage;&holler17_omny_pin_versat_sampl_holder]] |
+| XYZ, mirrors/sample                           | 3 interferometers[fn:3], XYZ         | XYZ piezo stage               | APS            | CL, 3 PID           | 3mm                   | light        | [[cite:&nazaretski15_pushin_limit]]                                                  |
+| Rz, Parallel XYZ stage                        | 3 interferometers[fn:1]              | 3xVCM parallel stage          | LNLS, CARNAUBA | CL, 100Hz bandwidth | YZ: 3mm, Rz: +-110deg | light        | [[cite:&geraldes23_sapot_carnaub_sirius_lnls]]                                       |
+| Parallel XYZ stage                            | 3 interferometers[fn:2], XYZ         | 3xVCM parallel stage          | Diamond, I14   | CL, 100Hz bandwidth | XYZ: 3mm              | up to 350g   | [[cite:&kelly22_delta_robot_long_travel_nano]]                                       |
+
+- [ ] Figure with different stages
+- [ ] Compared to the existing stages (see table), what are the challenges here? Rotation, large stroke, light to heavy payloads, lots of DoF (5 to be controlled)
+- [ ] Comparison with NASS?
+| Architecture            | Sensors            | Actuators | Institute, BL | OL/CL (bandwidth) | Stroke, DoF      | Samples    | Ref |
+|-------------------------+--------------------+-----------+---------------+-------------------+------------------+------------+-----|
+| Ty,Ry,Rz,Hexapod,Sample | 6+ Interferometers |           | ESRF, ID31    | CL                | Ty, Ry, Rz, Hexa | up to 50kg |     |
+
+
+**** Long Stroke - Short Stroke architecture
+
+Speak about two stage control?
+- Long stroke + short stroke
+- Usually applied to 1dof, 3dof (show some examples: disk drive, wafer scanner)
+- Any application in 6DoF? Maybe new!
+- In the table, say which ones are long stroke / short stroke. Some new stages are just long stroke (voice coil)
+
+** Multi-DoF dynamical positioning stations
+**** Serial and Parallel Kinematics
+
+Example of several dynamical stations:
+- XYZ piezo stages
+- Delta robot? Octoglide?
+- Stewart platform
+
+Serial vs parallel kinematics (table?)
+
+**** Stewart platforms
+
+- [ ] Explain the normal stewart platform architecture
+- [ ] Make a table that compares the different stewart platforms for vibration control.
+  Geometry (cubic), Actuator (soft, stiff), Sensor, Flexible joints, etc.
+
+#+name: fig:introduction_stewart_platform_examples
 #+caption: Examples of Stewart Platforms
 #+begin_figure
-#+name: fig:stewart_platform_a
+#+name: fig:introduction_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
+#+name: fig:introduction_stewart_platform_a
 #+attr_latex: :options {0.49\textwidth}
 #+attr_latex: :caption \subcaption{Stewart platform based on piezoelectric actuators}
 #+begin_subfigure
@@ -333,26 +846,146 @@ Alternative: =id31_microstation_cad_view.png= (CAD view)
 #+end_subfigure
 #+end_figure
 
-- Hexapods
+** Mechatronics approach
-  cite:li01_simul_fault_vibrat_isolat_point
+**** Predicting performances using models
-  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
+- [[cite:&monkhorst04_dynam_error_budget]]
-
+  #+begin_quote
-*Mechatronic Design Approach* / *Model Based Design*:
+  high costs of the design process: the designed system must be *first time right*.
-- [[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.
+  #+end_quote
+
+
+Can use several models:
+- Lumped mass-spring-damper models
+  cite:rankers98_machin
+- Multi-Body Models
+- Finite element models
+  Sub structuring?
+
+**** Closed-Loop Simulations
+
+[[cite:&schmidt20_desig_high_perfor_mechat_third_revis_edition]]
+
+Say what can limit the performances for a complex mechatronics systems as this one:
+- disturbances
+- measurement noise
+- DAC / amplifier noise (actuator)
+- feedback system / bandwidth
+
+Simulations can help evaluate the behavior of the system.
+
+**** Dynamic Error Budgeting
+
+- [[cite:&monkhorst04_dynam_error_budget]]
+  #+begin_quote
+  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.
+  #+end_quote
+- cite:jabben07_mechat
+- [[cite:&okyay16_mechat_desig_dynam_contr_metrol]]
+  #+begin_quote
+Error budgets [23] are frequently used in the design of precision machines, in order to assess the
+contributions of different factors such as parasitic motions, thermal expansion, and servo accuracy, on
+the positioning accuracy of a machine. Dynamic Error Budgeting (DEB) or ‘Spectral Analysis’
+extends this concept to the realm of feedback control. Recognizing that the controller can provide
+only a finite attenuation of disturbance signals interfering with the servo, DEB provides a
+methodology for predicting the cumulative effect of such signals on the control error as a function of
+their spectral (frequency) content. The method can be used to predict the control accuracy of a system
+implemented using a set of certain devices under certain conditions before it is realized. Furthermore,
+as it is formulated in the frequency domain, it can be used to optimize the controller design as well,
+typically leading to an H2 - optimal control framework. In DEB, the disturbance signals are modeled
+with their power spectral density (PSD), assuming that they are stationary stochastic processes which
+are not correlated with each other. Then, these PSD’s are transmitted to the performance goal, most
+often the positioning error, using linear time invariant (LTI) system theory. The transmitted PSD’s are
+summed up into the variance of the performance goal, which constitutes a comparative measure of
+performance. Most importantly, the influence of different dynamic factors and disturbance sources,
+which have the greatest impact on the achievable performance (e.g., accuracy) can be easily spotted
+and improved, through this kind of analysis. An approach similar to DEB was followed to decompose
+the contribution of different noise sources on the hard disk position error in [1], [2], [45]. DEB has
+been used to assess the performance of a geophone and a vibration isolation system in [75]. Jabben
+[49] has used DEB in the mechatronic design of a magnetically suspended rotating platform. Aguirre
+et al. [3] have analyzed the performance of active aerostatic thrust bearings using DEB.
+  #+end_quote
+
+** Control architecture
+
+Maybe make a simple review of control strategies for Stewart platform control.
+Based on [[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/bibliography.org]]
+
+Broad subject (MIMO control), maybe talk only about vibration control based on external metrology.
+
+- Active Damping
+- Decentralized
+- Centralized
+- Manually tuned: PID, lead lag, etc...
+- Automatic / Optimal: LQG, H-Infinity
+
+* Original Contributions
+**** Introduction                                                  :ignore:
+
+This thesis proposes several contributions in the fields of Control, Mechatronics Design and Experimental validation.
+
+**** Active Damping of rotating mechanical systems using Integral Force Feedback
+
+[[cite:&dehaeze20_activ_dampin_rotat_platf_integ_force_feedb;&dehaeze21_activ_dampin_rotat_platf_using]]
+#+begin_quote
+This paper investigates the use of Integral Force Feedback (IFF) for the active damping of rotating mechanical systems.
+Guaranteed stability, typical benefit of IFF, is lost as soon as the system is rotating due to gyroscopic effects.
+To overcome this issue, two modifications of the classical IFF control scheme are proposed.
+The first consists of slightly modifying the control law while the second consists of adding springs in parallel with the force sensors.
+Conditions for stability and optimal parameters are derived.
+The results reveal that, despite their different implementations, both modified IFF control scheme have almost identical damping authority on the suspension modes.
+#+end_quote
+
+**** Design of complementary filters using $\mathcal{H}_\infty$ Synthesis and sensor fusion
+
+[[cite:&dehaeze19_compl_filter_shapin_using_synth]]
+[[cite:&verma20_virtual_sensor_fusion_high_precis_contr]]
+[[cite:&tsang22_optim_sensor_fusion_method_activ]]
+
+- Several uses (link to some papers).
+- For the NASS, they could be use to further improve the robustness of the system.
+
+**** Multi-body simulations with reduced order flexible bodies obtained by FEA
+
+[[cite:&brumund21_multib_simul_reduc_order_flexib_bodies_fea]]
+
+Combined multi-body / FEA techniques and experimental validation on a Stewart platform containing amplified piezoelectric actuators
+Super-element of amplified piezoelectric actuator / combined multibody-FEA technique, experimental validation on an amplified piezoelectric actuator and further validated on a complete stewart platform
+
+#+begin_quote
+We considered sub-components in the multi-body model as /reduced order flexible bodies/ representing the component’s modal behaviour with reduced mass and stiffness matrices obtained from finite element analysis (FEA) models.
+These matrices were created from FEA models via modal reduction techniques, more specifically the /component mode synthesis/ (CMS).
+This makes this design approach a combined multibody-FEA technique.
+We validated the technique with a test bench that confirmed the good modelling capabilities using reduced order flexible body models obtained from FEA for an amplified piezoelectric actuator (APA).
+#+end_quote
+
+**** Robustness by design
+
+- Design of a Stewart platform and associated control architecture that is robust to large plant uncertainties due to large variety of payload and experimental conditions.
+- Instead of relying on complex controller synthesis (such as $\mathcal{H}_\infty$ synthesis or $\mu\text{-synthesis}$) to guarantee the robustness and performance.
+- The approach here is to choose an adequate architecture (mechanics, sensors, actuators) such that controllers are robust by nature.
+- Example: collocated actuator/sensor pair => controller can easily be made robust
+- This is done by using models and using HAC-LAC architecture
+
+**** Mechatronics design
+
+Conduct a rigorous mechatronics design approach for a nano active stabilization system
+[[cite:&dehaeze18_sampl_stabil_for_tomog_exper;&dehaeze21_mechat_approac_devel_nano_activ_stabil_system]]
+
+Approach from start to finish:
+- From first concepts using basic models, to concept validation
+- Detailed design phase
+- Experimental phase
+
+Complete design with clear choices based on models.
+Such approach, while not new, is here applied
+This can be used for the design of future end-stations.
 
 #+begin_src latex :file nass_mechatronics_approach.pdf
 % \graphicspath{ {/home/thomas/Cloud/thesis/papers/dehaeze21_mechatronics_approach_nass/tikz/figs-tikz} }
@@ -368,8 +1001,8 @@ Alternative: =id31_microstation_cad_view.png= (CAD view)
   \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] Micro Station}, below = 2pt of dist] (mustation) {};
-  \node[myblock, fill=lightgreen, label={[mylabel] $\nu$ Hexapod}, above = 2pt of dist] (nanohexapod) {};
+  \node[myblock, fill=lightgreen, label={[mylabel] Nano 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) {};
@@ -392,7 +1025,7 @@ Alternative: =id31_microstation_cad_view.png= (CAD view)
 
   \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};
+  \node[mymodel] at (implementation.south)  {Control tests       \\ Micro Station};
 
   % Links
   \draw[->] (dist.east)      -- node[above, midway]{{\small Measurements}} node[below,midway]{{\small Spectral Analysis}} (dist.east-|model.west);
@@ -451,26 +1084,64 @@ Alternative: =id31_microstation_cad_view.png= (CAD view)
 \end{tikzpicture}
 #+end_src
 
-#+name: fig:nass_mechatronics_approach
+#+name: fig:introduction_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]]
+[[file:figs/nass_mechatronics_approach.png]]
 
-*Goals*:
+**** 6DoF vibration control of a rotating platform
-- Design \gls{nass} such that it is easy to control (and maintain).
-  Have good performances by design and not by complex control strategies.
 
+Vibration control in 5DoF of a rotating stage
+To the author's knowledge, the use of a continuously rotating stewart platform for vibration control has not been proved in the literature.
+
+**** Experimental validation of the Nano Active Stabilization System
+
+Demonstration of the improvement of the the positioning accuracy of a complex multi DoF (the micro-station) by several orders of magnitude (Section ...) using ...
+
+* Thesis Outline - Mechatronics Design Approach
+**** Introduction                                                  :ignore:
+
+#+name: fig:introduction_overview_chapters
+#+caption: Overview of the sections
+#+attr_latex: :width \linewidth
+[[file:figs/introduction_overview_chapters.png]]
+
+This thesis
+- has a structure that follows the mechatronics design approach
+
+Is structured in three chapters that corresponds to the three mains parts of the proposed mechatronics approach.
+
+A brief overview of these three chapters is given bellow.
+
+**** Conceptual design development
+
+- Start with simple models for witch trade offs can be easily understood (uniaxial)
+- Increase the model complexity if important physical phenomenon are to be modelled (cf the rotating model)
+- Only when better understanding of the physical effects in play, and only if required, go for higher model complexity (here multi-body model)
+- The system concept and main characteristics should be extracted from the different models and validated with closed-loop simulations with the most accurate model
+- Once the concept is validated, the chosen concept can be design in mode details
+
+**** Detailed design
+
+- During this detailed design phase, models are refined from the obtained CAD and using FEM
+- The models are used to assists the design and to optimize each element based on dynamical analysis and closed-loop simulations
+- The requirements for all the associated instrumentation can be determined from a dynamical noise budgeting
+- After converging to a detailed design that give acceptable performance based on the models, the different parts can be ordered and the experimental phase begins
+
+**** Experimental validation
+
+- It is advised that the important characteristics of the different elements are evaluated individually
+  Systematic validation/refinement of models with experimental measurements
+- The obtained characteristics can be used to refine the models
+- Then, an accurate model of the system is obtained which can be used during experimental tests (for control synthesis for instance)
 
-*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}]
 
+* Footnotes
+[fn:4]Capacitive sensors from Fogale Sensors
+[fn:3]Attocube FPS3010 Fabry-Pérot interferometers
+[fn:2]Attocube IDS3010 Fabry-Pérot interferometers
+[fn:1]PicoScale SmarAct Michelson interferometers

nass-introduction.tex

@@ -1,4 +1,4 @@
-% Created 2024-04-17 Wed 11:35
+% Created 2024-05-06 Mon 14:50
 % Intended LaTeX compiler: pdflatex
 \documentclass[a4paper, 10pt, DIV=12, parskip=full, bibliography=totoc]{scrreprt}
 
@@ -7,10 +7,10 @@
 \bibliography{nass-introduction.bib}
 \author{Dehaeze Thomas}
 \date{\today}
-\title{NASS - Introduction}
+\title{Nano Active Stabilization System - Introduction}
 \hypersetup{
  pdfauthor={Dehaeze Thomas},
- pdftitle={NASS - Introduction},
+ pdftitle={Nano Active Stabilization System - Introduction},
  pdfkeywords={},
  pdfsubject={},
  pdfcreator={Emacs 29.3 (Org mode 9.6)}, 
@@ -24,78 +24,435 @@
 
 \clearpage
 
-\chapter{Context of this thesis / Background and Motivation}
+\chapter{Context of this thesis}
+\section{Synchrotron Radiation Facilities}
+\paragraph{Accelerating electrons to produce intense X-ray}
 
 \begin{itemize}
-\item \gls{esrf} (Figure \ref{fig:esrf_picture})
+\item Explain what is a Synchrotron: light source
+\item Say how many there are in the world (\textasciitilde{}50)
+\item Electron part: LINAC, Booster, Storage Ring \ref{fig:introduction_esrf_schematic}
+\item Synchrotron radiation: Insertion device / Bending magnet
+\item Many beamlines (large diversity in terms of instrumentation and science)
+\item Science that can be performed:
+\begin{itemize}
+\item structural biology, structure of materials, matter at extreme, \ldots{}
 \end{itemize}
+\end{itemize}
+
+\paragraph{The European Synchrotron Radiation Facility}
 
 \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}
+\caption{\label{fig:introduction_esrf_picture}European Synchrotron Radiation Facility}
 \end{figure}
 
+\begin{figure}[htbp]
+\centering
+\includesvg[scale=1,width=0.7\linewidth]{figs/introduction_esrf_schematic}
+\caption{\label{fig:introduction_esrf_schematic}Schematic of the ESRF - Over 40 beamlines. Booster, Linac, storage ring}
+\end{figure}
+
+\paragraph{3rd and 4th generation Synchrotrons}
+
 \begin{itemize}
-\item ID31 and Micro Station (Figure \ref{fig:id31_microstation_picture})
+\item 4th generation light sources
+\begin{itemize}
+\item \cite{raimondi21_commis_hybrid_multib_achrom_lattic}
+\item[{$\square$}] Picture of 3rd generation ``beam source'' vs 4th generation?
+\end{itemize}
+\item[{$\square$}] Picture showing Synchrotron ``moore's law''
+\end{itemize}
+
+\section{The ID31 ESRF Beamline}
+\paragraph{Beamline Layout}
+
+\begin{itemize}
+\item[{$\square$}] Beamline layout (OH, EH)
+\item ID31 and Micro Station (Figure \ref{fig:introduction_id31_microstation_picture})
+Check \url{https://www.esrf.fr/UsersAndScience/Experiments/StructMaterials/ID31}
+\url{https://www.wayforlight.eu/beamline/23244}
+\item X-ray beam + detectors + sample stage (Figure \ref{fig:introduction_id31_beamline_schematic})
+\item Focusing optics
+\item Optical schematic with: source, lens, sample and detector.
+Explain that what is the most important is the relative position between the sample and the lens.
+\item Explain the XYZ frame for all the thesis (ESRF convention: X: x-ray, Z gravity up)
+\begin{itemize}
+\item[{$\square$}] Add XYZ on figure \ref{fig:introduction_id31_cad}
+\end{itemize}
+\end{itemize}
+
+\begin{figure}[htbp]
+\centering
+\includegraphics[scale=1,width=0.8\linewidth]{figs/introduction_id31_cad.jpg}
+\caption{\label{fig:introduction_id31_cad}CAD view of the optical hutch with the nano-focusing optics, the micro-station}
+\end{figure}
+
+\paragraph{Positioning End Station: The Micro-Station}
+
+Micro-Station:
+\begin{itemize}
+\item DoF with strokes: Ty, Ry, Rz, Hexapod
+\item Experiments: tomography, reflectivity, truncation rod, \ldots{}
+Make a table to explain the different ``experiments''
+\item Explain how it is used (positioning, scans), what it does. But not about the performances
+\item Different sample environments
+
+\item Alternative: \texttt{id31\_microstation\_cad\_view.png} (CAD view)
 \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}
+\caption{\label{fig:introduction_id31_microstation_picture}Picture of the ID31 Micro-Station with annotations}
 \end{figure}
 
-Alternative: \texttt{id31\_microstation\_cad\_view.png} (CAD view)
+\paragraph{Science performed on ID31}
-
-\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 Typical experiments (tomography, \ldots{}), various samples (up to 50kg), sample environments (high temp, cryo, etc..)
-\item Where to explain the goal of each stage? (e.g. micro-hexapod: static positioning, Ty and Rz: scans, \ldots{})
+\begin{itemize}
-\item Example of picture obtained (Figure \ref{fig:id31_tomography_result})
+\item Alignment of the sample, then
+\item Reflectivity
+\item Tomography
+\item Diffraction tomography: most critical
 \end{itemize}
+\item Example of picture obtained (Figure \ref{fig:introduction_id31_tomography_result}) with resolution
+\end{itemize}
+
+
+\texttt{introduction\_exp\_scanning} and \texttt{introduction\_exp\_scanning\_image}
 
 \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}
+\caption{\label{fig:introduction_id31_tomography_result}Image obtained on the ID31 beamline}
 \end{figure}
 
-\begin{itemize}
+\section{Need of accurate positioning end stations with high dynamics}
-\item Explain wanted positioning accuracy and why micro-station cannot have this accuracy (backlash, play, thermal expansion, \ldots{})
+\paragraph{A push towards brighter and smaller beams\ldots{}}
 
-\item Speak about the metrology concept, and why it is not included in this thesis
+Improvement of both the light source and the instrumentation:
+\begin{itemize}
+\item EBS: smaller source + higher flux
+\item Better focusing optic (add some links): beam size in the order of 10 to 20nm FWHM (reference)
+\begin{itemize}
+\item[{$\square$}] Show picture or measurement of the beam size
+\end{itemize}
+crossed silicon compound refractive lenses, KB mirrors [17], zone plates [18], or multilayer Laue lenses [19]
+\cite{barrett16_reflec_optic_hard_x_ray}
 \end{itemize}
 
+Higher flux density (+high energy of the ID31 beamline) => Radiation damage: needs to scan the sample quite fast with respect to the focused beam
+
+\begin{itemize}
+\item Allowed by better detectors: higher sampling rates and lower noise => possible to scan fast
+\cite{hatsui15_x_ray_imagin_detec_synch_xfel_sourc}
+\end{itemize}
+
+\paragraph{\ldots{}Requires the use of dynamical positioning}
+``from traditional step by step scans to \emph{fly-scan}''
+
+Fast scans + needs of high accuracy and stability => need mechatronics system with:
+\begin{itemize}
+\item accurate metrology
+\item multi degree of freedom positioning systems
+\item fast feedback loops
+\end{itemize}
+
+Shift from step by step scan to \emph{fly-scan} \cite{huang15_fly_scan_ptych}
+\begin{itemize}
+\item Much lower pixel size + large image => takes of lot of time if captured step by step.
+Explain what is step by step scanning: move motors from point A to point B, stops, start detector acquisition, open shutter , close the shutter, move to point C, \ldots{}
+\end{itemize}
+
+\cite{xu23_high_nsls_ii}
+\begin{quote}
+In traditional step scan mode, each exposure position requires the system to stop prior to data acquisition, which may become a limiting factor when fast data collection is required.
+Fly-scanning is chosen as a preferred solution that helps overcome such speed limitations [5, 6].
+In fly-scan mode, the sample keeps moving and a triggering system generates trigger signals based on the position of the sample or the time elapsed.
+The trigger signals are used to control detector exposure.
+\end{quote}
+
+\begin{itemize}
+\item[{$\square$}] Make picture representing a typical experiment (maybe YZ scan?) with:
+Probably already shown earlier \texttt{introduction\_exp\_scanning}
+\begin{itemize}
+\item nano focusing optics (see the beam focused)
+\item positioning stage with displayed YZ motion (pixel by pixel in the YZ plane)
+\item detector
+\end{itemize}
+\end{itemize}
+
+Subject of this thesis: design of high performance positioning station with high dynamics and nanometer accuracy
+
 \chapter{Challenge definition}
+\section{Multi DoF, Highly accurate, and Long stroke positioning end station?}
+\paragraph{Performance limitation of ``stacked stages'' end-stations}
+
+Typical positioning end station:
+\begin{itemize}
+\item stacked stages
+\item ballscrew, linear guides, rotary motor
+\end{itemize}
+
+
+Explain the limitation of performances:
+\begin{itemize}
+\item Backlash, play, thermal expansion, guiding imperfections, \ldots{}
+\item Give some numbers: straightness of the Ty stage for instance, change of \(0.1^oC\) with steel gives x nm of motion
+\item Vibrations
+\item Explain that this micro-station can only have \textasciitilde{}10um of accuracy due to physical limitation
+\item Possibility to have linear/rotary encoders that correct the motion in the considered DoF, but does not change anything to the other 5DoF
+\end{itemize}
+
+
+Talk about flexure based positioning stations?
+Advantages: no backlash, etc\ldots{}
+But: limited to short stroke
+Picture of schematic of one positioning station based on flexure
+
+\paragraph{The ID31 Micro-Station}
+
+Presentation of the Micro-Station in details \ref{fig:introduction_id31_microstation_cad}:
+\begin{itemize}
+\item Goal of each stage (e.g. micro-hexapod: static positioning, Ty and Rz: scans, \ldots{})
+\item Stroke
+\item Initial design objectives: as stiff as possible, smallest errors as possible
+\end{itemize}
+
+\paragraph{New positioning requirements}
+
+\begin{itemize}
+\item To benefits from nano-focusing optics, new source, etc\ldots{} new positioning requirements
+\item Positioning requirements on ID31:
+\begin{itemize}
+\item Maybe make a table with the requirements and the associated performances of the micro-station
+\item Make tables with the wanted motion, stroke, accuracy in different DoF, etc..
+\end{itemize}
+\item Sample masses
+\end{itemize}
+
+The goal in this thesis is to increase the positioning accuracy of the micro-station to fulfil the initial positioning requirements.
+
+\textbf{Goal}: Improve accuracy of 6DoF long stroke position platform
+
+\section{The Nano Active Stabilization System}
+\paragraph{NASS Concept}
+
+Briefly describe the NASS concept.
+4 parts:
+\begin{itemize}
+\item Micro Station
+\item multi-DoF positioning system with good dynamics
+\item 5DoF metrology system
+\item Control system and associated instrumentation
+\end{itemize}
+
+6DoF vibration control platform on top of a complex positioning platform that correct positioning errors based on an external metrology
+
+\begin{itemize}
+\item[{$\square$}] Add the control system in the schematic
+\end{itemize}
 
 \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}
+\caption{\label{fig:introduction_nass_concept_schematic}Nass Concept. 1: micro-station, 2: nano-hexapod, 3: sample, 4: 5DoF metrology}
 \end{figure}
 
+\paragraph{Metrology system}
+
+Requirements:
 \begin{itemize}
-\item 6DoF vibration control platform on top of a complex positioning platform
+\item 5 DoF
-\item \textbf{Goal}: Improve accuracy of 6DoF long stroke position platform
+\item long stroke
-\item \textbf{Approach}: Mechatronic approach / model based / predictive
+\item nano-meter accurate
-\item \textbf{Control}: Robust control approach / various payloads.
+\item high bandwidth
-First hexapod with control bandwidth higher than the suspension modes that accepts various payloads?
+\end{itemize}
-\item Rotation aspect
+
-\item Compactness? (more related to mechanical design)
+The accuracy of the NASS will only depend on the accuracy of the metrology system.
+
+Concept:
+\begin{itemize}
+\item Fiber interferometers
+\item Spherical reflector with flat bottom
+\item Tracking system
+\end{itemize}
+
+Complex mechatronics system on its own.
+
+This metrology system is not further discussed in this thesis as it is still under active development.
+
+In the following of this thesis, it is supposed that the metrology system is accurate, etc..
+
+\begin{itemize}
+\item Say that there are several high precision sensors, but only interferometers for long stroke / high accuracy?
+\end{itemize}
+
+\paragraph{Multi-DoF Positioning stage for error compensation}
+
+\begin{itemize}
+\item 5 DoF
+\item High dynamics
+\item nano-meter capable (no backlash,)
+\item Accept payloads up to 50kg
+\end{itemize}
+
+\paragraph{MIMO robust control strategies}
+
+Explain the robustness need?
+\begin{itemize}
+\item 24 7/7 \ldots{}
+\item That is why most of end-stations are based on well-proven design (stepper motors, linear guides, ball bearing, \ldots{})
+\item Plant uncertainty: many different samples, use cases, rotating velocities, etc\ldots{}
+\end{itemize}
+
+Trade-off between robustness and performance in the design of feedback system.
+
+\section{Predictive Design}
+
+\begin{itemize}
+\item The performances of the system will depend on many factors:
+\begin{itemize}
+\item sensors
+\item actuators
+\item mechanical design
+\item achievable bandwidth
+\item \ldots{}
+\end{itemize}
+\item Need to evaluate the different concepts, and predict the performances to guide the design
+\item The goal is to design, built and test this system such that it work as expected the first time.
+Very costly system, so much be correct.
+\end{itemize}
+
+\section{Control Challenge}
+
+High bandwidth, 6 DoF system for vibration control, fixed on top of a complex multi DoF positioning station, robust, \ldots{}
+
+\begin{itemize}
+\item Many different configurations (tomography, Ty scans, slow fast, \ldots{})
+\item Complex MIMO system. Dynamics of the system could be coupled to the complex dynamics of the micro station
+\item Rotation aspect, gyroscopic effects, actuators are rotating with respect to the sensors
+\item Robustness to payload change: very critical.
+Say that high performance systems (lithography machines, etc\ldots{}) works with calibrated payloads.
+Being robust to change of payload inertia means large stability margins and therefore less performance.
 \end{itemize}
 
 \chapter{Literature Review}
+\section{Nano Positioning end-stations}
+\paragraph{End Station with Stacked Stages}
+
+Stacked stages:
+\begin{itemize}
+\item errors are combined
+\end{itemize}
+
+To have acceptable performances / stability:
+\begin{itemize}
+\item limited number of stages
+\item high performances stages (air bearing etc\ldots{})
+\end{itemize}
+
+Examples:
+\begin{itemize}
+\item ID16b \cite{martinez-criado16_id16b}
+\item ID13 \cite{riekel10_progr_micro_nano_diffr_at}
+\item ID11 \cite{wright20_new_oppor_at_mater_scien}
+\item ID01 \cite{leake19_nanod_beaml_id01}
+\item[{$\square$}] Maybe make a table to compare stations
+\end{itemize}
+
+Explain limitations => Thermal drifts, run-out errors of spindles (improved by using air bearing), straightness of translation stages, \ldots{}
+
+\paragraph{Online Metrology and Active Control of Positioning Errors}
+
+The idea of having an external metrology to correct for errors is not new.
+
+\begin{itemize}
+\item To have even better performances: online metrology are required.
+\item Several strategies:
+\begin{itemize}
+\item only used for measurements (post processing)
+\item for calibration
+\item for triggering detectors
+\item for real time positioning control
+\end{itemize}
+\end{itemize}
+
+
+
+\begin{itemize}
+\item[{$\square$}] HXN \cite{xu23_high_nsls_ii}
+Laser interferometers on reference ring (on top of rotary stage).
+Used to trigger the detectors (ptychography, microscope)
+Similar to \cite{wang12_autom_marker_full_field_hard}
+\end{itemize}
+
+\begin{table}[htbp]
+\caption{\label{tab:introduction_sample_stages}Table caption}
+\centering
+\begin{tabularx}{\linewidth}{lllllllX}
+\toprule
+Architecture & Sensors and measured DoFs & Actuators and controlled DoFs & Institute, BL & OL/CL (bandwidth) & Stroke, DoF & Samples & Ref\\
+\midrule
+XYZ, Spherical retroreflector, Sample & 3 interferometers\footnotemark, Y,Z & YZ piezo stages & PETRA III, P06 & OL & 100um & light & \cite{schroer17_ptynam,schropp20_ptynam}\\
+Spindle / Metrology Ring / XYZ Stage / Sample & 3 Capacitive, Y,Z,Rx &  & NSLS, X8C & OL, post processing &  & micron scale & \cite{wang12_autom_marker_full_field_hard}\\
+\textbf{Hexapod} / Spindle / Metrology Ring / Sample & 12 Capacitive\footnotemark, X,Y,Z,Rx,Ry & Piezo (Hexapod) & ESRF, ID16a & CL, 10Hz bandwidth & 50um, 500urad & light & \cite{villar18_nanop_esrf_id16a_nano_imagin_beaml}\\
+XYZ, Rz, XY, Cylindrical reference & 5 interferometers\footnotemark, X,Y,Z,Rx,Ry & XYZ linear motors & Soleil & CL &  & light & \cite{engblom18_nanop_resul,stankevic17_inter_charac_rotat_stages_x_ray_nanot}\\
+XYZ, Rz, XYZ Spherical reference & 3 Interferometers\footnotemark, Y,Z,Rx & XYZ parallel piezo stage & PSI, OMNY & CL & 400um & light & \cite{holler18_omny_tomog_nano_cryo_stage,holler17_omny_pin_versat_sampl_holder}\\
+XYZ, mirrors/sample & 3 interferometers\textsuperscript{\ref{org12e9b3b}}, XYZ & XYZ piezo stage & APS & CL, 3 PID & 3mm & light & \cite{nazaretski15_pushin_limit}\\
+Rz, Parallel XYZ stage & 3 interferometers\textsuperscript{\ref{orgd8c7548}} & 3xVCM parallel stage & LNLS, CARNAUBA & CL, 100Hz bandwidth & YZ: 3mm, Rz: +-110deg & light & \cite{geraldes23_sapot_carnaub_sirius_lnls}\\
+Parallel XYZ stage & 3 interferometers\textsuperscript{\ref{org65d59ad}}, XYZ & 3xVCM parallel stage & Diamond, I14 & CL, 100Hz bandwidth & XYZ: 3mm & up to 350g & \cite{kelly22_delta_robot_long_travel_nano}\\
+\bottomrule
+\end{tabularx}
+\end{table}\footnotetext[1]{\label{orgd8c7548}PicoScale SmarAct Michelson interferometers}\footnotetext[2]{\label{orgcd87c48}Capacitive sensors from Fogale Sensors}\footnotetext[3]{\label{org12e9b3b}Attocube FPS3010 Fabry-Pérot interferometers}\footnotetext[4]{\label{org65d59ad}Attocube IDS3010 Fabry-Pérot interferometers}
+
+\begin{itemize}
+\item[{$\square$}] Figure with different stages
+\item[{$\square$}] Compared to the existing stages (see table), what are the challenges here? Rotation, large stroke, light to heavy payloads, lots of DoF (5 to be controlled)
+\item[{$\square$}] Comparison with NASS?
+\end{itemize}
+\begin{center}
+\begin{tabular}{llllllll}
+Architecture & Sensors & Actuators & Institute, BL & OL/CL (bandwidth) & Stroke, DoF & Samples & Ref\\
+\hline
+Ty,Ry,Rz,Hexapod,Sample & 6+ Interferometers &  & ESRF, ID31 & CL & Ty, Ry, Rz, Hexa & up to 50kg & \\
+\end{tabular}
+\end{center}
+
+
+\paragraph{Long Stroke - Short Stroke architecture}
+
+Speak about two stage control?
+\begin{itemize}
+\item Long stroke + short stroke
+\item Usually applied to 1dof, 3dof (show some examples: disk drive, wafer scanner)
+\item Any application in 6DoF? Maybe new!
+\item In the table, say which ones are long stroke / short stroke. Some new stages are just long stroke (voice coil)
+\end{itemize}
+
+\section{Multi-DoF dynamical positioning stations}
+\paragraph{Serial and Parallel Kinematics}
+
+Example of several dynamical stations:
+\begin{itemize}
+\item XYZ piezo stages
+\item Delta robot? Octoglide?
+\item Stewart platform
+\end{itemize}
+
+Serial vs parallel kinematics (table?)
+
+\paragraph{Stewart platforms}
+
+\begin{itemize}
+\item[{$\square$}] Explain the normal stewart platform architecture
+\item[{$\square$}] Make a table that compares the different stewart platforms for vibration control.
+Geometry (cubic), Actuator (soft, stiff), Sensor, Flexible joints, etc.
+\end{itemize}
 
 \begin{figure}
 \begin{subfigure}{0.49\textwidth}
@@ -110,60 +467,223 @@ First hexapod with control bandwidth higher than the suspension modes that accep
 \end{center}
 \subcaption{Stewart platform based on piezoelectric actuators}
 \end{subfigure}
-\caption{\label{fig:stewart_platform_examples}Examples of Stewart Platforms}
+\caption{\label{fig:introduction_stewart_platform_examples}Examples of Stewart Platforms}
 \end{figure}
 
-\begin{itemize}
+\section{Mechatronics approach}
-\item Hexapods
+\paragraph{Predicting performances using models}
-\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}.
+\item \cite{monkhorst04_dynam_error_budget}
+\begin{quote}
+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{quote}
 \end{itemize}
 
+
+Can use several models:
+\begin{itemize}
+\item Lumped mass-spring-damper models
+\cite{rankers98_machin}
+\item Multi-Body Models
+\item Finite element models
+Sub structuring?
+\end{itemize}
+
+\paragraph{Closed-Loop Simulations}
+
+\cite{schmidt20_desig_high_perfor_mechat_third_revis_edition}
+
+Say what can limit the performances for a complex mechatronics systems as this one:
+\begin{itemize}
+\item disturbances
+\item measurement noise
+\item DAC / amplifier noise (actuator)
+\item feedback system / bandwidth
+\end{itemize}
+
+Simulations can help evaluate the behavior of the system.
+
+\paragraph{Dynamic Error Budgeting}
+
+\begin{itemize}
+\item \cite{monkhorst04_dynam_error_budget}
+\begin{quote}
+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{quote}
+\item \cite{jabben07_mechat}
+\item \cite{okyay16_mechat_desig_dynam_contr_metrol}
+\begin{quote}
+Error budgets [23] are frequently used in the design of precision machines, in order to assess the
+contributions of different factors such as parasitic motions, thermal expansion, and servo accuracy, on
+the positioning accuracy of a machine. Dynamic Error Budgeting (DEB) or ‘Spectral Analysis’
+extends this concept to the realm of feedback control. Recognizing that the controller can provide
+only a finite attenuation of disturbance signals interfering with the servo, DEB provides a
+methodology for predicting the cumulative effect of such signals on the control error as a function of
+their spectral (frequency) content. The method can be used to predict the control accuracy of a system
+implemented using a set of certain devices under certain conditions before it is realized. Furthermore,
+as it is formulated in the frequency domain, it can be used to optimize the controller design as well,
+typically leading to an H2 - optimal control framework. In DEB, the disturbance signals are modeled
+with their power spectral density (PSD), assuming that they are stationary stochastic processes which
+are not correlated with each other. Then, these PSD’s are transmitted to the performance goal, most
+often the positioning error, using linear time invariant (LTI) system theory. The transmitted PSD’s are
+summed up into the variance of the performance goal, which constitutes a comparative measure of
+performance. Most importantly, the influence of different dynamic factors and disturbance sources,
+which have the greatest impact on the achievable performance (e.g., accuracy) can be easily spotted
+and improved, through this kind of analysis. An approach similar to DEB was followed to decompose
+the contribution of different noise sources on the hard disk position error in [1], [2], [45]. DEB has
+been used to assess the performance of a geophone and a vibration isolation system in [75]. Jabben
+[49] has used DEB in the mechatronic design of a magnetically suspended rotating platform. Aguirre
+et al. [3] have analyzed the performance of active aerostatic thrust bearings using DEB.
+\end{quote}
+\end{itemize}
+
+\section{Control architecture}
+
+Maybe make a simple review of control strategies for Stewart platform control.
+Based on \url{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/bibliography.org}
+
+Broad subject (MIMO control), maybe talk only about vibration control based on external metrology.
+
+\begin{itemize}
+\item Active Damping
+\item Decentralized
+\item Centralized
+\item Manually tuned: PID, lead lag, etc\ldots{}
+\item Automatic / Optimal: LQG, H-Infinity
+\end{itemize}
+
+\chapter{Original Contributions}
+This thesis proposes several contributions in the fields of Control, Mechatronics Design and Experimental validation.
+
+\paragraph{Active Damping of rotating mechanical systems using Integral Force Feedback}
+
+\cite{dehaeze20_activ_dampin_rotat_platf_integ_force_feedb,dehaeze21_activ_dampin_rotat_platf_using}
+\begin{quote}
+This paper investigates the use of Integral Force Feedback (IFF) for the active damping of rotating mechanical systems.
+Guaranteed stability, typical benefit of IFF, is lost as soon as the system is rotating due to gyroscopic effects.
+To overcome this issue, two modifications of the classical IFF control scheme are proposed.
+The first consists of slightly modifying the control law while the second consists of adding springs in parallel with the force sensors.
+Conditions for stability and optimal parameters are derived.
+The results reveal that, despite their different implementations, both modified IFF control scheme have almost identical damping authority on the suspension modes.
+\end{quote}
+
+\paragraph{Design of complementary filters using \(\mathcal{H}_\infty\) Synthesis and sensor fusion}
+
+\cite{dehaeze19_compl_filter_shapin_using_synth}
+\cite{verma20_virtual_sensor_fusion_high_precis_contr}
+\cite{tsang22_optim_sensor_fusion_method_activ}
+
+\begin{itemize}
+\item Several uses (link to some papers).
+\item For the NASS, they could be use to further improve the robustness of the system.
+\end{itemize}
+
+\paragraph{Multi-body simulations with reduced order flexible bodies obtained by FEA}
+
+\cite{brumund21_multib_simul_reduc_order_flexib_bodies_fea}
+
+Combined multi-body / FEA techniques and experimental validation on a Stewart platform containing amplified piezoelectric actuators
+Super-element of amplified piezoelectric actuator / combined multibody-FEA technique, experimental validation on an amplified piezoelectric actuator and further validated on a complete stewart platform
+
+\begin{quote}
+We considered sub-components in the multi-body model as \emph{reduced order flexible bodies} representing the component’s modal behaviour with reduced mass and stiffness matrices obtained from finite element analysis (FEA) models.
+These matrices were created from FEA models via modal reduction techniques, more specifically the \emph{component mode synthesis} (CMS).
+This makes this design approach a combined multibody-FEA technique.
+We validated the technique with a test bench that confirmed the good modelling capabilities using reduced order flexible body models obtained from FEA for an amplified piezoelectric actuator (APA).
+\end{quote}
+
+\paragraph{Robustness by design}
+
+\begin{itemize}
+\item Design of a Stewart platform and associated control architecture that is robust to large plant uncertainties due to large variety of payload and experimental conditions.
+\item Instead of relying on complex controller synthesis (such as \(\mathcal{H}_\infty\) synthesis or \(\mu\text{-synthesis}\)) to guarantee the robustness and performance.
+\item The approach here is to choose an adequate architecture (mechanics, sensors, actuators) such that controllers are robust by nature.
+\item Example: collocated actuator/sensor pair => controller can easily be made robust
+\item This is done by using models and using HAC-LAC architecture
+\end{itemize}
+
+\paragraph{Mechatronics design}
+
+Conduct a rigorous mechatronics design approach for a nano active stabilization system
+\cite{dehaeze18_sampl_stabil_for_tomog_exper,dehaeze21_mechat_approac_devel_nano_activ_stabil_system}
+
+Approach from start to finish:
+\begin{itemize}
+\item From first concepts using basic models, to concept validation
+\item Detailed design phase
+\item Experimental phase
+\end{itemize}
+
+Complete design with clear choices based on models.
+Such approach, while not new, is here applied
+This can be used for the design of future end-stations.
+
 \begin{figure}[htbp]
 \centering
-\includegraphics[scale=1,width=\linewidth]{figs/introduction_nass_mechatronics_approach.png}
+\includegraphics[scale=1,width=\linewidth]{figs/nass_mechatronics_approach.png}
-\caption{\label{fig:nass_mechatronics_approach}Overview of the mechatronic approach used for the Nano-Active-Stabilization-System}
+\caption{\label{fig:introduction_nass_mechatronics_approach}Overview of the mechatronic approach used for the Nano-Active-Stabilization-System}
 \end{figure}
 
-\textbf{Goals}:
+\paragraph{6DoF vibration control of a rotating platform}
+
+Vibration control in 5DoF of a rotating stage
+To the author's knowledge, the use of a continuously rotating stewart platform for vibration control has not been proved in the literature.
+
+\paragraph{Experimental validation of the Nano Active Stabilization System}
+
+Demonstration of the improvement of the the positioning accuracy of a complex multi DoF (the micro-station) by several orders of magnitude (Section \ldots{}) using \ldots{}
+
+\chapter{Thesis Outline - Mechatronics Design Approach}
+\begin{figure}[htbp]
+\centering
+\includegraphics[scale=1,width=\linewidth]{figs/introduction_overview_chapters.png}
+\caption{\label{fig:introduction_overview_chapters}Overview of the sections}
+\end{figure}
+
+This thesis
 \begin{itemize}
-\item Design \gls{nass} such that it is easy to control (and maintain).
+\item has a structure that follows the mechatronics design approach
-Have good performances by design and not by complex control strategies.
 \end{itemize}
 
+Is structured in three chapters that corresponds to the three mains parts of the proposed mechatronics approach.
+
+A brief overview of these three chapters is given bellow.
+
+\paragraph{Conceptual design development}
 
-\textbf{Models}:
 \begin{itemize}
-\item Uniaxial Model:
+\item Start with simple models for witch trade offs can be easily understood (uniaxial)
+\item Increase the model complexity if important physical phenomenon are to be modelled (cf the rotating model)
+\item Only when better understanding of the physical effects in play, and only if required, go for higher model complexity (here multi-body model)
+\item The system concept and main characteristics should be extracted from the different models and validated with closed-loop simulations with the most accurate model
+\item Once the concept is validated, the chosen concept can be design in mode details
+\end{itemize}
+
+\paragraph{Detailed design}
+
 \begin{itemize}
-\item Effect of limited support compliance
+\item During this detailed design phase, models are refined from the obtained CAD and using FEM
-\item Effect of change of payload
+\item The models are used to assists the design and to optimize each element based on dynamical analysis and closed-loop simulations
+\item The requirements for all the associated instrumentation can be determined from a dynamical noise budgeting
+\item After converging to a detailed design that give acceptable performance based on the models, the different parts can be ordered and the experimental phase begins
 \end{itemize}
-\item Rotating Model
+
+\paragraph{Experimental validation}
+
 \begin{itemize}
-\item Gyroscopic effects
+\item It is advised that the important characteristics of the different elements are evaluated individually
-\end{itemize}
+Systematic validation/refinement of models with experimental measurements
-\item Multi Body Model
+\item The obtained characteristics can be used to refine the models
-\item Finite Element Models
+\item Then, an accurate model of the system is obtained which can be used during experimental tests (for control synthesis for instance)
 \end{itemize}
 
+
 \printbibliography[heading=bibintoc,title={Bibliography}]
 \end{document}