Finish first version

simscape-micro-station.org

@@ -308,16 +308,20 @@ Be able to pass custom =.mat= files (one mat file per disturbance)?
   - Maybe say that we remove the excentricity (by circle fit: show it in the figure)
   - Then the rest is modelled by stochastic disturbance
 
+** DONE [#C] Add picture of measured ground motion
+CLOSED: [2024-11-06 Wed 16:29]
+** DONE [#C] Add screenshot of Simscape model
+CLOSED: [2024-11-06 Wed 16:29]
+** DONE [#B] I have no measurement of horizontal ground motion           :@marc:
+CLOSED: [2024-11-06 Wed 16:29]
+
+- State "DONE"       from "WAIT"       [2024-11-06 Wed 16:29]
+- Wait for Marc reply
+
 ** TODO [#C] Add glossary
 
 PoI | Point of interest
 
-** TODO [#C] Add picture of measured ground motion
-** TODO [#C] Add screenshot of Simscape model
-** WAIT [#B] I have no measurement of horizontal ground motion           :@marc:
-
-- Wait for Marc reply
-
 ** Backup - Kinematics
 *** Micro-Station DoF table
 
@@ -1589,7 +1593,7 @@ exportFig('figs/ustation_comp_com_response_ry_z.pdf', 'width', 'third', 'height'
 ** Micro-station compliance
 <<ssec:ustation_model_compliance>>
 
-As was shown in the previous section, the dynamics of the micro-station is complex and tuning the multi-body model parameters to obtain a perfect match is hard.
+As was shown in the previous section, the dynamics of the micro-station is complex and tuning the multi-body model parameters to obtain a perfect match is difficult.
 
 When considering the NASS, the most important dynamical characteristics of the micro-station is its compliance as it is what can impact the plant dynamics.
 The adopted strategy is therefore to accurately model the micro-station compliance.
@@ -2828,13 +2832,13 @@ exportFig('figs/ustation_errors_model_dy_vertical.pdf', 'width', 'half', 'height
 :END:
 <<sec:uniaxial_conclusion>>
 
-In order to have good model:
-- kinematics
-- dynamics
-- disturbances
-
-Validated with time domain simulations.
+In this study, a multi-body model of the micro-station was developed.
+It was found difficult to match the measured dynamics obtained from the modal analysis of the micro-station.
+However, the most important dynamical characteristics to be modelled is the compliance, as it is what impacts the dynamics of the NASS.
+After tuning the model parameters, a good match with the measured compliance was obtained (Figure ref:fig:ustation_frf_compliance_model).
 
+The disturbances that affect the sample's position should also be well modelled.
+After experimental estimation of the disturbances (Section ref:sec:ustation_disturbances), the multi-body model was finally validated by performing a tomography simulation (Figure ref:fig:ustation_errors_model_spindle) as well as a simulation in which the translation stage is scanned (Figure ref:fig:ustation_errors_model_dy_vertical).
 
 * Bibliography                                                        :ignore:
 #+latex: \printbibliography[heading=bibintoc,title={Bibliography}]
@@ -4419,8 +4423,6 @@ end
 :END:
 
 **** Documentation
-Joints are positions on a circle centered with the Z axis of {F} and {M} and at a chosen distance from {F} and {M}.
-The radius of the circles can be chosen as well as the angles where the joints are located (see Figure ref:fig:joint_position_general).
 
 #+begin_src latex :file stewart_bottom_plate.pdf :tangle no
   \begin{tikzpicture}
@@ -4465,11 +4467,6 @@ The radius of the circles can be chosen as well as the angles where the joints a
   \end{tikzpicture}
 #+end_src
 
-#+name: fig:joint_position_general
-#+caption: Position of the joints
-#+RESULTS:
-[[file:figs/stewart_bottom_plate.png]]
-
 **** Function description
 #+begin_src matlab
   function [stewart] = generateGeneralConfiguration(stewart, args)

simscape-micro-station.tex

@@ -1,4 +1,4 @@
-% Created 2024-11-06 Wed 16:28
+% Created 2024-11-06 Wed 17:24
 % Intended LaTeX compiler: pdflatex
 \documentclass[a4paper, 10pt, DIV=12, parskip=full, bibliography=totoc]{scrreprt}
 
@@ -473,7 +473,7 @@ Tuning the numerous model parameters to better match the measurements is an high
 \section{Micro-station compliance}
 \label{ssec:ustation_model_compliance}
 
-As was shown in the previous section, the dynamics of the micro-station is complex and tuning the multi-body model parameters to obtain a perfect match is hard.
+As was shown in the previous section, the dynamics of the micro-station is complex and tuning the multi-body model parameters to obtain a perfect match is difficult.
 
 When considering the NASS, the most important dynamical characteristics of the micro-station is its compliance as it is what can impact the plant dynamics.
 The adopted strategy is therefore to accurately model the micro-station compliance.
@@ -821,15 +821,13 @@ Similar error amplitude can be observed, thus indicating that the multi-body mod
 \chapter*{Conclusion}
 \label{sec:uniaxial_conclusion}
 
-In order to have good model:
-\begin{itemize}
-\item kinematics
-\item dynamics
-\item disturbances
-\end{itemize}
-
-Validated with time domain simulations.
+In this study, a multi-body model of the micro-station was developed.
+It was found difficult to match the measured dynamics obtained from the modal analysis of the micro-station.
+However, the most important dynamical characteristics to be modelled is the compliance, as it is what impacts the dynamics of the NASS.
+After tuning the model parameters, a good match with the measured compliance was obtained (Figure \ref{fig:ustation_frf_compliance_model}).
 
+The disturbances that affect the sample's position should also be well modelled.
+After experimental estimation of the disturbances (Section \ref{sec:ustation_disturbances}), the multi-body model was finally validated by performing a tomography simulation (Figure \ref{fig:ustation_errors_model_spindle}) as well as a simulation in which the translation stage is scanned (Figure \ref{fig:ustation_errors_model_dy_vertical}).
 
 \printbibliography[heading=bibintoc,title={Bibliography}]
 \end{document}