Working Simscape model

.gitattributes

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+*.pdf binary
+*.svg binary
+*.mat binary

.gitignore

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-mat/
-figures/
 ltximg/
 slprj/
 matlab/slprj/

matlab/src/initializeDisturbances.m

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+  function [] = initializeDisturbances(args)
+  % initializeDisturbances - Initialize the disturbances
+  %
+  % Syntax: [] = initializeDisturbances(args)
+  %
+  % Inputs:
+  %    - args -
+
+  arguments
+      % Global parameter to enable or disable the disturbances
+      args.enable logical {mustBeNumericOrLogical} = true
+      % Ground Motion - X direction
+      args.Dwx logical {mustBeNumericOrLogical} = true
+      % Ground Motion - Y direction
+      args.Dwy logical {mustBeNumericOrLogical} = true
+      % Ground Motion - Z direction
+      args.Dwz logical {mustBeNumericOrLogical} = true
+      % Translation Stage - X direction
+      args.Fty_x logical {mustBeNumericOrLogical} = true
+      % Translation Stage - Z direction
+      args.Fty_z logical {mustBeNumericOrLogical} = true
+      % Spindle - Z direction
+      args.Frz_z logical {mustBeNumericOrLogical} = true
+  end
+
+  load('./mat/dist_psd.mat', 'dist_f');
+
+  dist_f.f = dist_f.f(2:end);
+  dist_f.psd_gm = dist_f.psd_gm(2:end);
+  dist_f.psd_ty = dist_f.psd_ty(2:end);
+  dist_f.psd_rz = dist_f.psd_rz(2:end);
+
+  Fs = 2*dist_f.f(end);      % Sampling Frequency of data is twice the maximum frequency of the PSD vector [Hz]
+  N  = 2*length(dist_f.f);   % Number of Samples match the one of the wanted PSD
+  T0 = N/Fs;                 % Signal Duration [s]
+  df = 1/T0;                 % Frequency resolution of the DFT [Hz]
+                             % Also equal to (dist_f.f(2)-dist_f.f(1))
+  t = linspace(0, T0, N+1)'; % Time Vector [s]
+  Ts = 1/Fs;                 % Sampling Time [s]
+
+  phi = dist_f.psd_gm;
+  C = zeros(N/2,1);
+  for i = 1:N/2
+    C(i) = sqrt(phi(i)*df);
+  end
+
+  if args.Dwx && args.enable
+    rng(111);
+    theta = 2*pi*rand(N/2,1); % Generate random phase [rad]
+    Cx = [0 ; C.*complex(cos(theta),sin(theta))];
+    Cx = [Cx; flipud(conj(Cx(2:end)))];;
+    Dwx = N/sqrt(2)*ifft(Cx); % Ground Motion - x direction [m]
+  else
+    Dwx = zeros(length(t), 1);
+  end
+
+  if args.Dwy && args.enable
+    rng(112);
+    theta = 2*pi*rand(N/2,1); % Generate random phase [rad]
+    Cx = [0 ; C.*complex(cos(theta),sin(theta))];
+    Cx = [Cx; flipud(conj(Cx(2:end)))];;
+    Dwy = N/sqrt(2)*ifft(Cx); % Ground Motion - y direction [m]
+  else
+    Dwy = zeros(length(t), 1);
+  end
+
+  if args.Dwy && args.enable
+    rng(113);
+    theta = 2*pi*rand(N/2,1); % Generate random phase [rad]
+    Cx = [0 ; C.*complex(cos(theta),sin(theta))];
+    Cx = [Cx; flipud(conj(Cx(2:end)))];;
+    Dwz = N/sqrt(2)*ifft(Cx); % Ground Motion - z direction [m]
+  else
+    Dwz = zeros(length(t), 1);
+  end
+
+  if args.Fty_x && args.enable
+    phi = dist_f.psd_ty; % TODO - we take here the vertical direction which is wrong but approximate
+    C = zeros(N/2,1);
+    for i = 1:N/2
+      C(i) = sqrt(phi(i)*df);
+    end
+    rng(121);
+    theta = 2*pi*rand(N/2,1); % Generate random phase [rad]
+    Cx = [0 ; C.*complex(cos(theta),sin(theta))];
+    Cx = [Cx; flipud(conj(Cx(2:end)))];;
+    u = N/sqrt(2)*ifft(Cx); % Disturbance Force Ty x [N]
+    Fty_x = u;
+  else
+    Fty_x = zeros(length(t), 1);
+  end
+
+  if args.Fty_z && args.enable
+    phi = dist_f.psd_ty;
+    C = zeros(N/2,1);
+    for i = 1:N/2
+      C(i) = sqrt(phi(i)*df);
+    end
+    rng(122);
+    theta = 2*pi*rand(N/2,1); % Generate random phase [rad]
+    Cx = [0 ; C.*complex(cos(theta),sin(theta))];
+    Cx = [Cx; flipud(conj(Cx(2:end)))];;
+    u = N/sqrt(2)*ifft(Cx); % Disturbance Force Ty z [N]
+    Fty_z = u;
+  else
+    Fty_z = zeros(length(t), 1);
+  end
+
+  if args.Frz_z && args.enable
+    phi = dist_f.psd_rz;
+    C = zeros(N/2,1);
+    for i = 1:N/2
+      C(i) = sqrt(phi(i)*df);
+    end
+    rng(131);
+    theta = 2*pi*rand(N/2,1); % Generate random phase [rad]
+    Cx = [0 ; C.*complex(cos(theta),sin(theta))];
+    Cx = [Cx; flipud(conj(Cx(2:end)))];;
+    u = N/sqrt(2)*ifft(Cx); % Disturbance Force Rz z [N]
+    Frz_z = u;
+  else
+    Frz_z = zeros(length(t), 1);
+  end
+
+  u = zeros(length(t), 6);
+  Fd = u;
+
+  Dwx    = Dwx   - Dwx(1);
+  Dwy    = Dwy   - Dwy(1);
+  Dwz    = Dwz   - Dwz(1);
+  Fty_x  = Fty_x - Fty_x(1);
+  Fty_z  = Fty_z - Fty_z(1);
+  Frz_z  = Frz_z - Frz_z(1);
+
+micro_hexapod = stewart;
+if exist('./mat', 'dir')
+    if exist('./mat/nass_disturbances.mat', 'file')
+        save('mat/nass_disturbances.mat', 'Dwx', 'Dwy', 'Dwz', 'Fty_x', 'Fty_z', 'Frz_z', 'Fd', 'Ts', 't', 'args', '-append');
+    else
+        save('mat/nass_disturbances.mat', 'Dwx', 'Dwy', 'Dwz', 'Fty_x', 'Fty_z', 'Frz_z', 'Fd', 'Ts', 't', 'args');
+    end
+elseif exist('./matlab', 'dir')
+    if exist('./matlab/mat/nass_disturbances.mat', 'file')
+        save('matlab/mat/nass_disturbances.mat', 'Dwx', 'Dwy', 'Dwz', 'Fty_x', 'Fty_z', 'Frz_z', 'Fd', 'Ts', 't', 'args', '-append');
+    else
+        save('matlab/mat/nass_disturbances.mat', 'Dwx', 'Dwy', 'Dwz', 'Fty_x', 'Fty_z', 'Frz_z', 'Fd', 'Ts', 't', 'args');
+    end
+end

matlab/src/initializeGranite.m

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+  function [granite] = initializeGranite(args)
+
+  arguments
+    args.type          char    {mustBeMember(args.type,{'rigid', 'flexible', 'none', 'modal-analysis', 'init'})} = 'flexible'
+    args.Foffset       logical {mustBeNumericOrLogical} = false
+    args.density (1,1) double {mustBeNumeric, mustBeNonnegative} = 2800 % Density [kg/m3]
+    args.K  (3,1) double {mustBeNumeric, mustBeNonnegative} = [4e9; 3e8; 8e8] % [N/m]
+    args.C  (3,1) double {mustBeNumeric, mustBeNonnegative} = [4.0e5; 1.1e5; 9.0e5] % [N/(m/s)]
+    args.x0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the X direction [m]
+    args.y0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Y direction [m]
+    args.z0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Z direction [m]
+    args.sample_pos (1,1) double {mustBeNumeric} = 0.8 % Height of the measurment point [m]
+  end
+
+  granite = struct();
+
+  switch args.type
+    case 'none'
+      granite.type = 0;
+    case 'rigid'
+      granite.type = 1;
+    case 'flexible'
+      granite.type = 2;
+    case 'modal-analysis'
+      granite.type = 3;
+    case 'init'
+      granite.type = 4;
+  end
+
+  granite.density = args.density; % [kg/m3]
+  granite.STEP    = 'granite.STEP';
+
+  granite.sample_pos = args.sample_pos; % [m]
+
+  granite.K = args.K; % [N/m]
+  granite.C = args.C; % [N/(m/s)]
+
+  if args.Foffset && ~strcmp(args.type, 'none') && ~strcmp(args.type, 'rigid') && ~strcmp(args.type, 'init')
+    load('Foffset.mat', 'Fgm');
+    granite.Deq = -Fgm'./granite.K;
+  else
+    granite.Deq = zeros(6,1);
+  end
+
+if exist('./mat', 'dir')
+    if exist('./mat/nass_stages.mat', 'file')
+        save('mat/nass_stages.mat', 'granite', '-append');
+    else
+        save('mat/nass_stages.mat', 'granite');
+    end
+elseif exist('./matlab', 'dir')
+    if exist('./matlab/mat/nass_stages.mat', 'file')
+        save('matlab/mat/nass_stages.mat', 'granite', '-append');
+    else
+        save('matlab/mat/nass_stages.mat', 'granite');
+    end
+end

matlab/src/initializeGround.m

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+  function [ground] = initializeGround(args)
+
+  arguments
+    args.type char {mustBeMember(args.type,{'none', 'rigid'})} = 'rigid'
+    args.rot_point (3,1) double {mustBeNumeric} = zeros(3,1) % Rotation point for the ground motion [m]
+  end
+
+  ground = struct();
+
+  switch args.type
+    case 'none'
+      ground.type = 0;
+    case 'rigid'
+      ground.type = 1;
+  end
+
+  ground.shape   = [2, 2, 0.5]; % [m]
+  ground.density = 2800;        % [kg/m3]
+
+  ground.rot_point = args.rot_point;
+
+if exist('./mat', 'dir')
+    if exist('./mat/nass_stages.mat', 'file')
+        save('mat/nass_stages.mat', 'ground', '-append');
+    else
+        save('mat/nass_stages.mat', 'ground');
+    end
+elseif exist('./matlab', 'dir')
+    if exist('./matlab/mat/nass_stages.mat', 'file')
+        save('matlab/mat/nass_stages.mat', 'ground', '-append');
+    else
+        save('matlab/mat/nass_stages.mat', 'ground');
+    end
+end

matlab/src/initializeLoggingConfiguration.m

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+  function [] = initializeLoggingConfiguration(args)
+
+  arguments
+    args.log      char   {mustBeMember(args.log,{'none', 'all', 'forces'})} = 'none'
+    args.Ts (1,1) double {mustBeNumeric, mustBePositive} = 1e-3
+  end
+
+  conf_log = struct();
+
+  switch args.log
+    case 'none'
+      conf_log.type = 0;
+    case 'all'
+      conf_log.type = 1;
+    case 'forces'
+      conf_log.type = 2;
+  end
+
+  conf_log.Ts = args.Ts;
+
+if exist('./mat', 'dir')
+    if exist('./mat/conf_log.mat', 'file')
+        save('mat/conf_log.mat', 'conf_log', '-append');
+    else
+        save('mat/conf_log.mat', 'conf_log');
+    end
+elseif exist('./matlab', 'dir')
+    if exist('./matlab/mat/conf_log.mat', 'file')
+        save('matlab/mat/conf_log.mat', 'conf_log', '-append');
+    else
+        save('matlab/mat/conf_log.mat', 'conf_log');
+    end
+end

matlab/src/initializeMicroHexapod.m

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+  function [micro_hexapod] = initializeMicroHexapod(args)
+
+  arguments
+      args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis', 'init', 'compliance'})} = 'flexible'
+      % initializeFramesPositions
+      args.H    (1,1) double {mustBeNumeric, mustBePositive} = 350e-3
+      args.MO_B (1,1) double {mustBeNumeric} = 270e-3
+      % generateGeneralConfiguration
+      args.FH  (1,1) double {mustBeNumeric, mustBePositive} = 50e-3
+      args.FR  (1,1) double {mustBeNumeric, mustBePositive} = 175.5e-3
+      args.FTh (6,1) double {mustBeNumeric} = [-10, 10, 120-10, 120+10, 240-10, 240+10]*(pi/180)
+      args.MH  (1,1) double {mustBeNumeric, mustBePositive} = 45e-3
+      args.MR  (1,1) double {mustBeNumeric, mustBePositive} = 118e-3
+      args.MTh (6,1) double {mustBeNumeric} = [-60+10, 60-10, 60+10, 180-10, 180+10, -60-10]*(pi/180)
+      % initializeStrutDynamics
+      args.Ki (6,1) double {mustBeNumeric, mustBeNonnegative} = 2e7*ones(6,1)
+      args.Ci (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.4e3*ones(6,1)
+      % initializeCylindricalPlatforms
+      args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 10
+      args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 26e-3
+      args.Fpr (1,1) double {mustBeNumeric, mustBePositive} = 207.5e-3
+      args.Mpm (1,1) double {mustBeNumeric, mustBePositive} = 10
+      args.Mph (1,1) double {mustBeNumeric, mustBePositive} = 26e-3
+      args.Mpr (1,1) double {mustBeNumeric, mustBePositive} = 150e-3
+      % initializeCylindricalStruts
+      args.Fsm (1,1) double {mustBeNumeric, mustBePositive} = 1
+      args.Fsh (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
+      args.Fsr (1,1) double {mustBeNumeric, mustBePositive} = 25e-3
+      args.Msm (1,1) double {mustBeNumeric, mustBePositive} = 1
+      args.Msh (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
+      args.Msr (1,1) double {mustBeNumeric, mustBePositive} = 25e-3
+      % inverseKinematics
+      args.AP  (3,1) double {mustBeNumeric} = zeros(3,1)
+      args.ARB (3,3) double {mustBeNumeric} = eye(3)
+      % Force that stiffness of each joint should apply at t=0
+      args.Foffset      logical {mustBeNumericOrLogical} = false
+  end
+
+  stewart = initializeStewartPlatform();
+
+  stewart = initializeFramesPositions(stewart, ...
+                                      'H', args.H, ...
+                                      'MO_B', args.MO_B);
+
+  stewart = generateGeneralConfiguration(stewart, ...
+                                         'FH', args.FH, ...
+                                         'FR', args.FR, ...
+                                         'FTh', args.FTh, ...
+                                         'MH', args.MH, ...
+                                         'MR', args.MR, ...
+                                         'MTh', args.MTh);
+
+  stewart = computeJointsPose(stewart);
+
+  stewart = initializeStrutDynamics(stewart, ...
+                                    'K', args.Ki, ...
+                                    'C', args.Ci);
+
+  stewart = initializeJointDynamics(stewart, ...
+                                    'type_F', 'universal_p', ...
+                                    'type_M', 'spherical_p');
+
+  stewart = initializeCylindricalPlatforms(stewart, ...
+                                           'Fpm', args.Fpm, ...
+                                           'Fph', args.Fph, ...
+                                           'Fpr', args.Fpr, ...
+                                           'Mpm', args.Mpm, ...
+                                           'Mph', args.Mph, ...
+                                           'Mpr', args.Mpr);
+
+  stewart = initializeCylindricalStruts(stewart, ...
+                                        'Fsm', args.Fsm, ...
+                                        'Fsh', args.Fsh, ...
+                                        'Fsr', args.Fsr, ...
+                                        'Msm', args.Msm, ...
+                                        'Msh', args.Msh, ...
+                                        'Msr', args.Msr);
+
+  stewart = computeJacobian(stewart);
+
+  stewart = initializeStewartPose(stewart, ...
+                                'AP', args.AP, ...
+                                'ARB', args.ARB);
+
+  stewart = initializeInertialSensor(stewart, 'type', 'none');
+
+  if args.Foffset && ~strcmp(args.type, 'none') && ~strcmp(args.type, 'rigid') && ~strcmp(args.type, 'init')
+    load('Foffset.mat', 'Fhm');
+    stewart.actuators.dLeq = -Fhm'./args.Ki;
+  else
+    stewart.actuators.dLeq = zeros(6,1);
+  end
+
+  switch args.type
+    case 'none'
+      stewart.type = 0;
+    case 'rigid'
+      stewart.type = 1;
+    case 'flexible'
+      stewart.type = 2;
+    case 'modal-analysis'
+      stewart.type = 3;
+    case 'init'
+      stewart.type = 4;
+    case 'compliance'
+      stewart.type = 5;
+  end
+
+micro_hexapod = stewart;
+if exist('./mat', 'dir')
+    if exist('./mat/nass_stages.mat', 'file')
+        save('mat/nass_stages.mat', 'micro_hexapod', '-append');
+    else
+        save('mat/nass_stages.mat', 'micro_hexapod');
+    end
+elseif exist('./matlab', 'dir')
+    if exist('./matlab/mat/nass_stages.mat', 'file')
+        save('matlab/mat/nass_stages.mat', 'micro_hexapod', '-append');
+    else
+        save('matlab/mat/nass_stages.mat', 'micro_hexapod');
+    end
+end

matlab/src/initializeReferences.m

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+  function [ref] = initializeReferences(args)
+
+  arguments
+      % Sampling Frequency [s]
+      args.Ts           (1,1) double {mustBeNumeric, mustBePositive} = 1e-3
+      % Maximum simulation time [s]
+      args.Tmax         (1,1) double {mustBeNumeric, mustBePositive} = 100
+      % Either "constant" / "triangular" / "sinusoidal"
+      args.Dy_type      char {mustBeMember(args.Dy_type,{'constant', 'triangular', 'sinusoidal'})} = 'constant'
+      % Amplitude of the displacement [m]
+      args.Dy_amplitude (1,1) double {mustBeNumeric} = 0
+      % Period of the displacement [s]
+      args.Dy_period    (1,1) double {mustBeNumeric, mustBePositive} = 1
+      % Either "constant" / "triangular" / "sinusoidal"
+      args.Ry_type      char {mustBeMember(args.Ry_type,{'constant', 'triangular', 'sinusoidal'})} = 'constant'
+      % Amplitude [rad]
+      args.Ry_amplitude (1,1) double {mustBeNumeric} = 0
+      % Period of the displacement [s]
+      args.Ry_period    (1,1) double {mustBeNumeric, mustBePositive} = 1
+      % Either "constant" / "rotating"
+      args.Rz_type      char {mustBeMember(args.Rz_type,{'constant', 'rotating', 'rotating-not-filtered'})} = 'constant'
+      % Initial angle [rad]
+      args.Rz_amplitude (1,1) double {mustBeNumeric} = 0
+      % Period of the rotating [s]
+      args.Rz_period    (1,1) double {mustBeNumeric, mustBePositive} = 1
+      % For now, only constant is implemented
+      args.Dh_type      char {mustBeMember(args.Dh_type,{'constant'})} = 'constant'
+      % Initial position [m,m,m,rad,rad,rad] of the top platform (Pitch-Roll-Yaw Euler angles)
+      args.Dh_pos       (6,1) double {mustBeNumeric} = zeros(6, 1), ...
+      % For now, only constant is implemented
+      args.Rm_type      char {mustBeMember(args.Rm_type,{'constant'})} = 'constant'
+      % Initial position of the two masses
+      args.Rm_pos       (2,1) double {mustBeNumeric} = [0; pi]
+      % For now, only constant is implemented
+      args.Dn_type      char {mustBeMember(args.Dn_type,{'constant'})} = 'constant'
+      % Initial position [m,m,m,rad,rad,rad] of the top platform
+      args.Dn_pos       (6,1) double {mustBeNumeric} = zeros(6,1)
+  end
+
+  %% Set Sampling Time
+  Ts = args.Ts;
+  Tmax = args.Tmax;
+
+  %% Low Pass Filter to filter out the references
+  s = zpk('s');
+  w0 = 2*pi*10;
+  xi = 1;
+  H_lpf = 1/(1 + 2*xi/w0*s + s^2/w0^2);
+
+  %% Translation stage - Dy
+  t = 0:Ts:Tmax; % Time Vector [s]
+  Dy   = zeros(length(t), 1);
+  Dyd  = zeros(length(t), 1);
+  Dydd = zeros(length(t), 1);
+  switch args.Dy_type
+    case 'constant'
+      Dy(:)   = args.Dy_amplitude;
+      Dyd(:)  = 0;
+      Dydd(:) = 0;
+    case 'triangular'
+      % This is done to unsure that we start with no displacement
+      Dy_raw = args.Dy_amplitude*sawtooth(2*pi*t/args.Dy_period,1/2);
+      i0 = find(t>=args.Dy_period/4,1);
+      Dy(1:end-i0+1) = Dy_raw(i0:end);
+      Dy(end-i0+2:end) = Dy_raw(end); % we fix the last value
+
+      % The signal is filtered out
+      Dy   = lsim(H_lpf,     Dy, t);
+      Dyd  = lsim(H_lpf*s,   Dy, t);
+      Dydd = lsim(H_lpf*s^2, Dy, t);
+    case 'sinusoidal'
+      Dy(:) = args.Dy_amplitude*sin(2*pi/args.Dy_period*t);
+      Dyd   = args.Dy_amplitude*2*pi/args.Dy_period*cos(2*pi/args.Dy_period*t);
+      Dydd  = -args.Dy_amplitude*(2*pi/args.Dy_period)^2*sin(2*pi/args.Dy_period*t);
+    otherwise
+      warning('Dy_type is not set correctly');
+  end
+
+  Dy = struct('time', t, 'signals', struct('values', Dy), 'deriv', Dyd, 'dderiv', Dydd);
+
+  %% Tilt Stage - Ry
+  t = 0:Ts:Tmax; % Time Vector [s]
+  Ry   = zeros(length(t), 1);
+  Ryd  = zeros(length(t), 1);
+  Rydd = zeros(length(t), 1);
+
+  switch args.Ry_type
+    case 'constant'
+      Ry(:) = args.Ry_amplitude;
+      Ryd(:)   = 0;
+      Rydd(:)  = 0;
+    case 'triangular'
+      Ry_raw = args.Ry_amplitude*sawtooth(2*pi*t/args.Ry_period,1/2);
+      i0 = find(t>=args.Ry_period/4,1);
+      Ry(1:end-i0+1) = Ry_raw(i0:end);
+      Ry(end-i0+2:end) = Ry_raw(end); % we fix the last value
+
+      % The signal is filtered out
+      Ry   = lsim(H_lpf,     Ry, t);
+      Ryd  = lsim(H_lpf*s,   Ry, t);
+      Rydd = lsim(H_lpf*s^2, Ry, t);
+    case 'sinusoidal'
+      Ry(:) = args.Ry_amplitude*sin(2*pi/args.Ry_period*t);
+
+      Ryd  = args.Ry_amplitude*2*pi/args.Ry_period*cos(2*pi/args.Ry_period*t);
+      Rydd = -args.Ry_amplitude*(2*pi/args.Ry_period)^2*sin(2*pi/args.Ry_period*t);
+    otherwise
+      warning('Ry_type is not set correctly');
+  end
+
+  Ry = struct('time', t, 'signals', struct('values', Ry), 'deriv', Ryd, 'dderiv', Rydd);
+
+  %% Spindle - Rz
+  t = 0:Ts:Tmax; % Time Vector [s]
+  Rz   = zeros(length(t), 1);
+  Rzd  = zeros(length(t), 1);
+  Rzdd = zeros(length(t), 1);
+
+  switch args.Rz_type
+    case 'constant'
+      Rz(:)   = args.Rz_amplitude;
+      Rzd(:)  = 0;
+      Rzdd(:) = 0;
+    case 'rotating-not-filtered'
+      Rz(:) = 2*pi/args.Rz_period*t;
+
+      % The signal is filtered out
+      Rz(:)   = 2*pi/args.Rz_period*t;
+      Rzd(:)  = 2*pi/args.Rz_period;
+      Rzdd(:) = 0;
+
+      % We add the angle offset
+      Rz = Rz + args.Rz_amplitude;
+
+    case 'rotating'
+      Rz(:) = 2*pi/args.Rz_period*t;
+
+      % The signal is filtered out
+      Rz   = lsim(H_lpf,     Rz, t);
+      Rzd  = lsim(H_lpf*s,   Rz, t);
+      Rzdd = lsim(H_lpf*s^2, Rz, t);
+
+      % We add the angle offset
+      Rz = Rz + args.Rz_amplitude;
+    otherwise
+      warning('Rz_type is not set correctly');
+  end
+
+  Rz = struct('time', t, 'signals', struct('values', Rz), 'deriv', Rzd, 'dderiv', Rzdd);
+
+  %% Micro-Hexapod
+  t = [0, Ts];
+  Dh = zeros(length(t), 6);
+  Dhl = zeros(length(t), 6);
+
+  switch args.Dh_type
+    case 'constant'
+      Dh = [args.Dh_pos, args.Dh_pos];
+
+      load('nass_stages.mat', 'micro_hexapod');
+
+      AP = [args.Dh_pos(1) ; args.Dh_pos(2) ; args.Dh_pos(3)];
+
+      tx = args.Dh_pos(4);
+      ty = args.Dh_pos(5);
+      tz = args.Dh_pos(6);
+
+      ARB = [cos(tz) -sin(tz) 0;
+             sin(tz)  cos(tz) 0;
+             0        0       1]*...
+            [ cos(ty) 0 sin(ty);
+              0       1 0;
+             -sin(ty) 0 cos(ty)]*...
+            [1 0        0;
+             0 cos(tx) -sin(tx);
+             0 sin(tx)  cos(tx)];
+
+      [~, Dhl] = inverseKinematics(micro_hexapod, 'AP', AP, 'ARB', ARB);
+      Dhl = [Dhl, Dhl];
+    otherwise
+      warning('Dh_type is not set correctly');
+  end
+
+  Dh = struct('time', t, 'signals', struct('values', Dh));
+  Dhl = struct('time', t, 'signals', struct('values', Dhl));
+
+  %% Axis Compensation - Rm
+  t = [0, Ts];
+
+  Rm = [args.Rm_pos, args.Rm_pos];
+  Rm = struct('time', t, 'signals', struct('values', Rm));
+
+  %% Nano-Hexapod
+  t = [0, Ts];
+  Dn = zeros(length(t), 6);
+
+  switch args.Dn_type
+    case 'constant'
+      Dn = [args.Dn_pos, args.Dn_pos];
+
+      load('nass_stages.mat', 'nano_hexapod');
+
+      AP = [args.Dn_pos(1) ; args.Dn_pos(2) ; args.Dn_pos(3)];
+
+      tx = args.Dn_pos(4);
+      ty = args.Dn_pos(5);
+      tz = args.Dn_pos(6);
+
+      ARB = [cos(tz) -sin(tz) 0;
+             sin(tz)  cos(tz) 0;
+             0        0       1]*...
+            [ cos(ty) 0 sin(ty);
+              0       1 0;
+             -sin(ty) 0 cos(ty)]*...
+            [1 0        0;
+             0 cos(tx) -sin(tx);
+             0 sin(tx)  cos(tx)];
+
+      [~, Dnl] = inverseKinematics(nano_hexapod, 'AP', AP, 'ARB', ARB);
+      Dnl = [Dnl, Dnl];
+    otherwise
+      warning('Dn_type is not set correctly');
+  end
+
+  Dn = struct('time', t, 'signals', struct('values', Dn));
+  Dnl = struct('time', t, 'signals', struct('values', Dnl));
+
+micro_hexapod = stewart;
+if exist('./mat', 'dir')
+    if exist('./mat/nass_references.mat', 'file')
+        save('mat/nass_references.mat', 'Dy', 'Ry', 'Rz', 'Dh', 'Dhl', 'Rm', 'Dn', 'Dnl', 'args', 'Ts', '-append');
+    else
+        save('mat/nass_references.mat', 'Dy', 'Ry', 'Rz', 'Dh', 'Dhl', 'Rm', 'Dn', 'Dnl', 'args', 'Ts');
+    end
+elseif exist('./matlab', 'dir')
+    if exist('./matlab/mat/nass_references.mat', 'file')
+        save('matlab/mat/nass_references.mat', 'Dy', 'Ry', 'Rz', 'Dh', 'Dhl', 'Rm', 'Dn', 'Dnl', 'args', 'Ts', '-append');
+    else
+        save('matlab/mat/nass_references.mat', 'Dy', 'Ry', 'Rz', 'Dh', 'Dhl', 'Rm', 'Dn', 'Dnl', 'args', 'Ts');
+    end
+end

matlab/src/initializeRy.m

@@ -0,0 +1,66 @@
+  function [ry] = initializeRy(args)
+
+  arguments
+    args.type          char    {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis', 'init'})} = 'flexible'
+    args.Foffset       logical {mustBeNumericOrLogical} = false
+    args.Ry_init (1,1) double  {mustBeNumeric} = 0
+  end
+
+  ry = struct();
+
+  switch args.type
+    case 'none'
+      ry.type = 0;
+    case 'rigid'
+      ry.type = 1;
+    case 'flexible'
+      ry.type = 2;
+    case 'modal-analysis'
+      ry.type = 3;
+    case 'init'
+      ry.type = 4;
+  end
+
+  % Ry - Guide for the tilt stage
+  ry.guide.density = 7800; % [kg/m3]
+  ry.guide.STEP    = 'Tilt_Guide.STEP';
+
+  % Ry - Rotor of the motor
+  ry.rotor.density = 2400; % [kg/m3]
+  ry.rotor.STEP    = 'Tilt_Motor_Axis.STEP';
+
+  % Ry - Motor
+  ry.motor.density = 3200; % [kg/m3]
+  ry.motor.STEP    = 'Tilt_Motor.STEP';
+
+  % Ry - Plateau Tilt
+  ry.stage.density = 7800; % [kg/m3]
+  ry.stage.STEP    = 'Tilt_Stage.STEP';
+
+  ry.z_offset = 0.58178; % [m]
+
+  ry.Ry_init = args.Ry_init; % [rad]
+
+  ry.K = [3.8e8; 4e8; 3.8e8; 1.2e8; 6e4; 1.2e8];
+  ry.C = [1e5;   1e5; 1e5;   3e4;   1e3; 3e4];
+
+  if args.Foffset && ~strcmp(args.type, 'none') && ~strcmp(args.type, 'rigid') && ~strcmp(args.type, 'init')
+    load('Foffset.mat', 'Fym');
+    ry.Deq = -Fym'./ry.K;
+  else
+    ry.Deq = zeros(6,1);
+  end
+
+if exist('./mat', 'dir')
+    if exist('./mat/nass_stages.mat', 'file')
+        save('mat/nass_stages.mat', 'ry', '-append');
+    else
+        save('mat/nass_stages.mat', 'ry');
+    end
+elseif exist('./matlab', 'dir')
+    if exist('./matlab/mat/nass_stages.mat', 'file')
+        save('matlab/mat/nass_stages.mat', 'ry', '-append');
+    else
+        save('matlab/mat/nass_stages.mat', 'ry');
+    end
+end

matlab/src/initializeRz.m

@@ -0,0 +1,57 @@
+  function [rz] = initializeRz(args)
+
+  arguments
+    args.type    char    {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis', 'init'})} = 'flexible'
+    args.Foffset logical {mustBeNumericOrLogical} = false
+  end
+
+  rz = struct();
+
+  switch args.type
+    case 'none'
+      rz.type = 0;
+    case 'rigid'
+      rz.type = 1;
+    case 'flexible'
+      rz.type = 2;
+    case 'modal-analysis'
+      rz.type = 3;
+    case 'init'
+      rz.type = 4;
+  end
+
+  % Spindle - Slip Ring
+  rz.slipring.density = 7800; % [kg/m3]
+  rz.slipring.STEP    = 'Spindle_Slip_Ring.STEP';
+
+  % Spindle - Rotor
+  rz.rotor.density    = 7800; % [kg/m3]
+  rz.rotor.STEP       = 'Spindle_Rotor.STEP';
+
+  % Spindle - Stator
+  rz.stator.density   = 7800; % [kg/m3]
+  rz.stator.STEP      = 'Spindle_Stator.STEP';
+
+  rz.K = [7e8; 7e8; 2e9; 1e7; 1e7; 1e7];
+  rz.C = [4e4; 4e4; 7e4; 1e4; 1e4; 1e4];
+
+  if args.Foffset && ~strcmp(args.type, 'none') && ~strcmp(args.type, 'rigid') && ~strcmp(args.type, 'init')
+    load('Foffset.mat', 'Fzm');
+    rz.Deq = -Fzm'./rz.K;
+  else
+    rz.Deq = zeros(6,1);
+  end
+
+if exist('./mat', 'dir')
+    if exist('./mat/nass_stages.mat', 'file')
+        save('mat/nass_stages.mat', 'rz', '-append');
+    else
+        save('mat/nass_stages.mat', 'rz');
+    end
+elseif exist('./matlab', 'dir')
+    if exist('./matlab/mat/nass_stages.mat', 'file')
+        save('matlab/mat/nass_stages.mat', 'rz', '-append');
+    else
+        save('matlab/mat/nass_stages.mat', 'rz');
+    end
+end

matlab/src/initializeSimscapeConfiguration.m

@@ -0,0 +1,27 @@
+  function [] = initializeSimscapeConfiguration(args)
+
+  arguments
+    args.gravity logical {mustBeNumericOrLogical} = true
+  end
+
+  conf_simscape = struct();
+
+  if args.gravity
+    conf_simscape.type = 1;
+  else
+    conf_simscape.type = 2;
+  end
+
+if exist('./mat', 'dir')
+    if exist('./mat/conf_simscape.mat', 'file')
+        save('mat/conf_simscape.mat', 'conf_simscape', '-append');
+    else
+        save('mat/conf_simscape.mat', 'conf_simscape');
+    end
+elseif exist('./matlab', 'dir')
+    if exist('./matlab/mat/conf_simscape.mat', 'file')
+        save('matlab/mat/conf_simscape.mat', 'conf_simscape', '-append');
+    else
+        save('matlab/mat/conf_simscape.mat', 'conf_simscape');
+    end
+end

matlab/src/initializeTy.m

@@ -0,0 +1,81 @@
+  function [ty] = initializeTy(args)
+
+  arguments
+    args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis', 'init'})} = 'flexible'
+    args.Foffset logical {mustBeNumericOrLogical} = false
+  end
+
+  ty = struct();
+
+  switch args.type
+    case 'none'
+      ty.type = 0;
+    case 'rigid'
+      ty.type = 1;
+    case 'flexible'
+      ty.type = 2;
+    case 'modal-analysis'
+      ty.type = 3;
+    case 'init'
+      ty.type = 4;
+  end
+
+  % Ty Granite frame
+  ty.granite_frame.density = 7800; % [kg/m3] => 43kg
+  ty.granite_frame.STEP    = 'Ty_Granite_Frame.STEP';
+
+  % Guide Translation Ty
+  ty.guide.density         = 7800; % [kg/m3] => 76kg
+  ty.guide.STEP            = 'Ty_Guide.STEP';
+
+  % Ty - Guide_Translation12
+  ty.guide12.density       = 7800; % [kg/m3]
+  ty.guide12.STEP          = 'Ty_Guide_12.STEP';
+
+  % Ty - Guide_Translation11
+  ty.guide11.density       = 7800; % [kg/m3]
+  ty.guide11.STEP          = 'Ty_Guide_11.STEP';
+
+  % Ty - Guide_Translation22
+  ty.guide22.density       = 7800; % [kg/m3]
+  ty.guide22.STEP          = 'Ty_Guide_22.STEP';
+
+  % Ty - Guide_Translation21
+  ty.guide21.density       = 7800; % [kg/m3]
+  ty.guide21.STEP          = 'Ty_Guide_21.STEP';
+
+  % Ty - Plateau translation
+  ty.frame.density         = 7800; % [kg/m3]
+  ty.frame.STEP            = 'Ty_Stage.STEP';
+
+  % Ty Stator Part
+  ty.stator.density        = 5400; % [kg/m3]
+  ty.stator.STEP           = 'Ty_Motor_Stator.STEP';
+
+  % Ty Rotor Part
+  ty.rotor.density         = 5400; % [kg/m3]
+  ty.rotor.STEP            = 'Ty_Motor_Rotor.STEP';
+
+  ty.K = [2e8; 1e8; 2e8; 6e7; 9e7; 6e7]; % [N/m, N*m/rad]
+  ty.C = [8e4; 5e4; 8e4; 2e4; 3e4; 2e4]; % [N/(m/s), N*m/(rad/s)]
+
+  if args.Foffset && ~strcmp(args.type, 'none') && ~strcmp(args.type, 'rigid') && ~strcmp(args.type, 'init')
+    load('Foffset.mat', 'Ftym');
+    ty.Deq = -Ftym'./ty.K;
+  else
+    ty.Deq = zeros(6,1);
+  end
+
+if exist('./mat', 'dir')
+    if exist('./mat/nass_stages.mat', 'file')
+        save('mat/nass_stages.mat', 'ty', '-append');
+    else
+        save('mat/nass_stages.mat', 'ty');
+    end
+elseif exist('./matlab', 'dir')
+    if exist('./matlab/mat/nass_stages.mat', 'file')
+        save('matlab/mat/nass_stages.mat', 'ty', '-append');
+    else
+        save('matlab/mat/nass_stages.mat', 'ty');
+    end
+end

matlab/src/initializeZAxisAccelerometer.m

@@ -0,0 +1,31 @@
+  function [accelerometer] = initializeZAxisAccelerometer(args)
+      arguments
+          args.mass (1,1) double {mustBeNumeric, mustBePositive} = 1e-3 % [kg]
+          args.freq (1,1) double {mustBeNumeric, mustBePositive} = 5e3  % [Hz]
+      end
+
+      %%
+      accelerometer.m = args.mass;
+
+      %% The Stiffness is set to have the damping resonance frequency
+      accelerometer.k = accelerometer.m * (2*pi*args.freq)^2;
+
+      %% We set the damping value to have critical damping
+      accelerometer.c = 2*sqrt(accelerometer.m * accelerometer.k);
+
+      %% Gain correction of the accelerometer to have a unity gain until the resonance
+      accelerometer.gain = -accelerometer.k/accelerometer.m;
+
+if exist('./mat', 'dir')
+    if exist('./mat/accelerometer_z_axis.mat', 'file')
+        save('mat/accelerometer_z_axis.mat', 'accelerometer', '-append');
+    else
+        save('mat/accelerometer_z_axis.mat', 'accelerometer');
+    end
+elseif exist('./matlab', 'dir')
+    if exist('./matlab/mat/accelerometer_z_axis.mat', 'file')
+        save('matlab/mat/accelerometer_z_axis.mat', 'accelerometer', '-append');
+    else
+        save('matlab/mat/accelerometer_z_axis.mat', 'accelerometer');
+    end
+end

matlab/src/initializeZAxisGeophone.m

@@ -0,0 +1,28 @@
+  function [geophone] = initializeZAxisGeophone(args)
+      arguments
+          args.mass (1,1) double {mustBeNumeric, mustBePositive} = 1e-3 % [kg]
+          args.freq (1,1) double {mustBeNumeric, mustBePositive} = 1    % [Hz]
+      end
+
+      %%
+      geophone.m = args.mass;
+
+      %% The Stiffness is set to have the damping resonance frequency
+      geophone.k = geophone.m * (2*pi*args.freq)^2;
+
+      %% We set the damping value to have critical damping
+      geophone.c = 2*sqrt(geophone.m * geophone.k);
+
+if exist('./mat', 'dir')
+    if exist('./mat/geophone_z_axis.mat', 'file')
+        save('mat/geophone_z_axis.mat', 'geophone', '-append');
+    else
+        save('mat/geophone_z_axis.mat', 'geophone');
+    end
+elseif exist('./matlab', 'dir')
+    if exist('./matlab/mat/geophone_z_axis.mat', 'file')
+        save('matlab/mat/geophone_z_axis.mat', 'geophone', '-append');
+    else
+        save('matlab/mat/geophone_z_axis.mat', 'geophone');
+    end
+end

preamble.tex

@@ -1,137 +1,16 @@
-\usepackage{float}
+\usepackage[      %
+    acronym,      % Separate acronyms and glossary
+    toc,          % appear in ToC
+    automake,     % auto-use the makeglossaries command (requires shell-escape)
+    nonumberlist, % don't back reference pages
+    nogroupskip,  % don't group by letter
+    nopostdot     % don't add a dot at the end of each element
+]{glossaries}
 
-\usepackage{caption,tabularx,booktabs}
+\usepackage[stylemods=longextra]{glossaries-extra}
-\usepackage{bm}
 
-\usepackage{xpatch} % Recommanded for biblatex
+\setabbreviationstyle[acronym]{long-short}
-\usepackage[        % use biblatex for bibliography
+\setglossarystyle{long-name-desc}
-    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}
+\makeindex
-
+\makeglossaries
-% \renewcommand*{\bibfont}{\footnotesize}
-
-\usepackage{fontawesome}
-
-\usepackage{caption}
-\usepackage{subcaption}
-
-\captionsetup[figure]{labelfont=bf}
-\captionsetup[subfigure]{labelfont=bf}
-\captionsetup[listing]{labelfont=bf}
-\captionsetup[table]{labelfont=bf}
-
-\usepackage{xcolor}
-
-\definecolor{my-blue}{HTML}{6b7adb}
-\definecolor{my-pale-blue}{HTML}{e6e9f9}
-\definecolor{my-red}{HTML}{db6b6b}
-\definecolor{my-pale-red}{HTML}{f9e6e6}
-\definecolor{my-green}{HTML}{6bdbb6}
-\definecolor{my-pale-green}{HTML}{e6f9f3}
-\definecolor{my-yellow}{HTML}{dbd26b}
-\definecolor{my-pale-yellow}{HTML}{f9f7e6}
-\definecolor{my-orange}{HTML}{dba76b}
-\definecolor{my-pale-orange}{HTML}{f9f0e6}
-\definecolor{my-grey}{HTML}{a3a3a3}
-\definecolor{my-pale-grey}{HTML}{f0f0f0}
-\definecolor{my-turq}{HTML}{6bc7db}
-\definecolor{my-pale-turq}{HTML}{e6f6f9}
-
-\usepackage{inconsolata}
-
-\usepackage[newfloat=true, chapter]{minted}
-\usemintedstyle{autumn}
-
-\setminted{frame=lines,breaklines=true,tabsize=4,fontsize=\scriptsize,autogobble=true,labelposition=topline,bgcolor=my-pale-grey}
-\setminted[matlab]{label=Matlab}
-\setminted[latex]{label=LaTeX}
-\setminted[bash]{label=Bash}
-\setminted[python]{label=Python}
-\setminted[text]{label=Results}
-\setminted[md]{label=Org Mode}
-
-\setmintedinline{fontsize=\normalsize,bgcolor=my-pale-grey}
-
-\usepackage[most]{tcolorbox}
-
-\tcbuselibrary{minted}
-
-\newtcolorbox{seealso}{   enhanced,breakable,colback=my-pale-grey,colframe=my-grey,fonttitle=\bfseries,title=See Also}
-\newtcolorbox{hint}{      enhanced,breakable,colback=my-pale-grey,colframe=my-grey,fonttitle=\bfseries,title=Hint}
-\newtcolorbox{definition}{enhanced,breakable,colback=my-pale-red, colframe=my-red, fonttitle=\bfseries,title=Definition}
-\newtcolorbox{important}{ enhanced,breakable,colback=my-pale-red, colframe=my-red, fonttitle=\bfseries,title=Important}
-\newtcolorbox{exampl}[1][]{    enhanced,breakable,colback=my-pale-green,colframe=my-green,fonttitle=\bfseries,title=Example,#1}
-\newtcolorbox{exercice}{  enhanced,breakable,colback=my-pale-yellow,colframe=my-yellow,fonttitle=\bfseries,title=Exercice}
-\newtcolorbox{question}{  enhanced,breakable,colback=my-pale-yellow,colframe=my-yellow,fonttitle=\bfseries,title=Question}
-\newtcolorbox{answer}{    enhanced,breakable,colback=my-pale-turq,colframe=my-turq,fonttitle=\bfseries,title=Answer}
-\newtcolorbox{summary}{   enhanced,breakable,colback=my-pale-blue,colframe=my-blue,fonttitle=\bfseries,title=Summary}
-\newtcolorbox{note}{      enhanced,breakable,colback=my-pale-blue,colframe=my-blue,fonttitle=\bfseries,title=Note}
-\newtcolorbox{caution}{   enhanced,breakable,colback=my-pale-orange,colframe=my-orange,fonttitle=\bfseries,title=Caution}
-\newtcolorbox{warning}{   enhanced,breakable,colback=my-pale-orange,colframe=my-orange,fonttitle=\bfseries,title=Warning}
-
-\newtcolorbox{my-quote}[1]{%
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-  grow to right by=-10mm,
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-  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,
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-  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}

preamble_extra.tex

@@ -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}}
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+  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}

simscape-micro-station.tex

@@ -1,9 +1,10 @@
-% Created 2024-03-19 Tue 11:05
+% Created 2024-10-30 Wed 10:53
 % Intended LaTeX compiler: pdflatex
 \documentclass[a4paper, 10pt, DIV=12, parskip=full, bibliography=totoc]{scrreprt}
 
 \input{preamble.tex}
-\bibliography{nass-uniaxial-model.bib}
+\input{preamble_extra.tex}
+\bibliography{simscape-micro-station.bib}
 \author{Dehaeze Thomas}
 \date{\today}
 \title{Simscape Model - Micro Station}
@@ -12,7 +13,7 @@
  pdftitle={Simscape Model - Micro Station},
  pdfkeywords={},
  pdfsubject={},
- pdfcreator={Emacs 29.2 (Org mode 9.7)}, 
+ pdfcreator={Emacs 29.4 (Org mode 9.6)}, 
  pdflang={English}}
 \usepackage{biblatex}
 
@@ -22,27 +23,34 @@
 \tableofcontents
 
 \clearpage
+
 \begin{table}[htbp]
-\caption{\label{tab:simscape_ustation_section_matlab_code}Report sections and corresponding Matlab files}
+\caption{\label{tab:ustation_section_matlab_code}Report sections and corresponding Matlab files}
 \centering
 \begin{tabularx}{0.6\linewidth}{lX}
 \toprule
 \textbf{Sections} & \textbf{Matlab File}\\
 \midrule
-Section \ref{sec}: & \texttt{simscape\_ustation\_1\_.m}\\
+Section \ref{sec}: & \texttt{ustation\_1\_.m}\\
 \bottomrule
 \end{tabularx}
 \end{table}
+
+
 \chapter{Micro-Station Kinematics}
-\label{sec:simscape_ustation_kinematics}
+\label{sec:ustation_kinematics}
+\url{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/kinematics.org}
 \chapter{Stage Modeling}
-\label{sec:simscape_ustation_kinematics}
+\label{sec:ustation_kinematics}
 \chapter{Measurement of Positioning Errors}
-\label{sec:simscape_ustation_kinematics}
+\label{sec:ustation_kinematics}
+\url{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/kinematics.org}
 \chapter{Simulation of Scientific Experiments}
-\label{sec:simscape_ustation_kinematics}
+\label{sec:ustation_kinematics}
 \chapter{Estimation of disturbances}
 \chapter{Conclusion}
 \label{sec:uniaxial_conclusion}
+
+
 \printbibliography[heading=bibintoc,title={Bibliography}]
 \end{document}