#+TITLE: Simscape Model - Micro Station
:DRAWER:
#+LANGUAGE: en
#+EMAIL: dehaeze.thomas@gmail.com
#+AUTHOR: Dehaeze Thomas

#+HTML_LINK_HOME: ../index.html
#+HTML_LINK_UP:   ../index.html

#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>

#+BIND: org-latex-image-default-option "scale=1"
#+BIND: org-latex-image-default-width ""

#+LaTeX_CLASS: scrreprt
#+LaTeX_CLASS_OPTIONS: [a4paper, 10pt, DIV=12, parskip=full, bibliography=totoc]
#+LaTeX_HEADER_EXTRA: \input{preamble.tex}
#+LATEX_HEADER_EXTRA: \bibliography{simscape-micro-station.bib}

#+BIND: org-latex-bib-compiler "biber"

#+PROPERTY: header-args:matlab  :session *MATLAB*
#+PROPERTY: header-args:matlab+ :comments org
#+PROPERTY: header-args:matlab+ :exports none
#+PROPERTY: header-args:matlab+ :results none
#+PROPERTY: header-args:matlab+ :eval no-export
#+PROPERTY: header-args:matlab+ :noweb yes
#+PROPERTY: header-args:matlab+ :mkdirp yes
#+PROPERTY: header-args:matlab+ :output-dir figs
#+PROPERTY: header-args:matlab+ :tangle no

#+PROPERTY: header-args:latex  :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/tikz/org/}{config.tex}")
#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
#+PROPERTY: header-args:latex+ :results file raw replace
#+PROPERTY: header-args:latex+ :buffer no
#+PROPERTY: header-args:latex+ :tangle no
#+PROPERTY: header-args:latex+ :eval no-export
#+PROPERTY: header-args:latex+ :exports results
#+PROPERTY: header-args:latex+ :mkdirp yes
#+PROPERTY: header-args:latex+ :output-dir figs
#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
:END:

#+begin_export html
  <hr>
  <p>This report is also available as a <a href="./simscape-micro-station.pdf">pdf</a>.</p>
  <hr>
#+end_export

#+latex: \clearpage

* Build                                                             :noexport:
#+NAME: startblock
#+BEGIN_SRC emacs-lisp :results none :tangle no
(add-to-list 'org-latex-classes
             '("scrreprt"
               "\\documentclass{scrreprt}"
               ("\\chapter{%s}" . "\\chapter*{%s}")
               ("\\section{%s}" . "\\section*{%s}")
               ("\\subsection{%s}" . "\\subsection*{%s}")
               ("\\paragraph{%s}" . "\\paragraph*{%s}")
               ))


;; Remove automatic org heading labels
(defun my-latex-filter-removeOrgAutoLabels (text backend info)
  "Org-mode automatically generates labels for headings despite explicit use of `#+LABEL`. This filter forcibly removes all automatically generated org-labels in headings."
  (when (org-export-derived-backend-p backend 'latex)
    (replace-regexp-in-string "\\\\label{sec:org[a-f0-9]+}\n" "" text)))
(add-to-list 'org-export-filter-headline-functions
             'my-latex-filter-removeOrgAutoLabels)

;; Remove all org comments in the output LaTeX file
(defun delete-org-comments (backend)
  (loop for comment in (reverse (org-element-map (org-element-parse-buffer)
                                    'comment 'identity))
        do
        (setf (buffer-substring (org-element-property :begin comment)
                                (org-element-property :end comment))
              "")))
(add-hook 'org-export-before-processing-hook 'delete-org-comments)

;; Use no package by default
(setq org-latex-packages-alist nil)
(setq org-latex-default-packages-alist nil)

;; Do not include the subtitle inside the title
(setq org-latex-subtitle-separate t)
(setq org-latex-subtitle-format "\\subtitle{%s}")

(setq org-export-before-parsing-hook '(org-ref-glossary-before-parsing
                                       org-ref-acronyms-before-parsing))
#+END_SRC

* Notes                                                             :noexport:

From modal analysis: validation of the multi-body model.

Based on:
- [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/kinematics.org][kinematics]], [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/simscape_subsystems.org][simscape_subsystems]]: general presentation of the micro-station. Used model: solid body + joints. Presentation of each stage.
- [ ] Also check [[file:~/Cloud/work-projects/ID31-NASS/documents/work-package-1/work-package-1.org][this document]]
- [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/identification.org][identification]]: comparison of measurements and simscape model (not so good?)
- [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/experiments.org][experiments]]: simulation of experiments with the Simscape model
- [ ] Measurement of disturbances / things that will have to be corrected using the NASS:
  - [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-measurements/static-to-dynamic/index.org]]
  - [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-measurements/disturbance-control-system/index.org]]
  - [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-measurements/disturbance-sr-rz/index.org]]
  - [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-measurements/ground-motion/index.org]]
  - [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-measurements/static-spindle/index.org]]
  - [ ] Check [[file:~/Cloud/work-projects/ID31-NASS/specifications/id-31-spindle-meas][this directory]] and [[file:~/Cloud/work-projects/ID31-NASS/specifications/stage-by-stage][this directory]]

* Introduction                                                        :ignore:


#+name: tab:simscape_ustation_section_matlab_code
#+caption: Report sections and corresponding Matlab files
#+attr_latex: :environment tabularx :width 0.6\linewidth :align lX
#+attr_latex: :center t :booktabs t
| *Sections*                                  | *Matlab File*                       |
|---------------------------------------------+-------------------------------------|
| Section ref:sec:         | =simscape_ustation_1_.m= |


* Micro-Station Kinematics
:PROPERTIES:
:HEADER-ARGS:matlab+: :tangle matlab/.m
:END:
<<sec:simscape_ustation_kinematics>>
** Introduction                                                      :ignore:

** Matlab Init                                              :noexport:ignore:
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
<<matlab-dir>>
#+end_src

#+begin_src matlab :exports none :results silent :noweb yes
<<matlab-init>>
#+end_src

#+begin_src matlab :tangle no :noweb yes
<<m-init-path>>
#+end_src

#+begin_src matlab :eval no :noweb yes
<<m-init-path-tangle>>
#+end_src

#+begin_src matlab :noweb yes
<<m-init-other>>
#+end_src

#+begin_src matlab
%% Uniaxial Simscape model name
mdl = 'nass_uniaxial_model';
#+end_src

#+begin_src matlab
%% Frequency Vector [Hz]
freqs = logspace(0, 3, 1000);
#+end_src

#+begin_src matlab
%% Load the micro-station parameters
load('uniaxial_micro_station_parameters.mat')
#+end_src


* Stage Modeling
:PROPERTIES:
:HEADER-ARGS:matlab+: :tangle matlab/.m
:END:
<<sec:simscape_ustation_kinematics>>
** Introduction                                                      :ignore:

** Matlab Init                                              :noexport:ignore:
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
<<matlab-dir>>
#+end_src

#+begin_src matlab :exports none :results silent :noweb yes
<<matlab-init>>
#+end_src

#+begin_src matlab :tangle no :noweb yes
<<m-init-path>>
#+end_src

#+begin_src matlab :eval no :noweb yes
<<m-init-path-tangle>>
#+end_src

#+begin_src matlab :noweb yes
<<m-init-other>>
#+end_src

#+begin_src matlab
%% Uniaxial Simscape model name
mdl = 'nass_uniaxial_model';
#+end_src

#+begin_src matlab
%% Frequency Vector [Hz]
freqs = logspace(0, 3, 1000);
#+end_src

#+begin_src matlab
%% Load the micro-station parameters
load('uniaxial_micro_station_parameters.mat')
#+end_src


* Measurement of Positioning Errors
:PROPERTIES:
:HEADER-ARGS:matlab+: :tangle matlab/.m
:END:
<<sec:simscape_ustation_kinematics>>
** Introduction                                                      :ignore:

** Matlab Init                                              :noexport:ignore:
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
<<matlab-dir>>
#+end_src

#+begin_src matlab :exports none :results silent :noweb yes
<<matlab-init>>
#+end_src

#+begin_src matlab :tangle no :noweb yes
<<m-init-path>>
#+end_src

#+begin_src matlab :eval no :noweb yes
<<m-init-path-tangle>>
#+end_src

#+begin_src matlab :noweb yes
<<m-init-other>>
#+end_src

#+begin_src matlab
%% Uniaxial Simscape model name
mdl = 'nass_uniaxial_model';
#+end_src

#+begin_src matlab
%% Frequency Vector [Hz]
freqs = logspace(0, 3, 1000);
#+end_src

#+begin_src matlab
%% Load the micro-station parameters
load('uniaxial_micro_station_parameters.mat')
#+end_src


* Simulation of Scientific Experiments
:PROPERTIES:
:HEADER-ARGS:matlab+: :tangle matlab/.m
:END:
<<sec:simscape_ustation_kinematics>>
** Introduction                                                      :ignore:

** Matlab Init                                              :noexport:ignore:
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
<<matlab-dir>>
#+end_src

#+begin_src matlab :exports none :results silent :noweb yes
<<matlab-init>>
#+end_src

#+begin_src matlab :tangle no :noweb yes
<<m-init-path>>
#+end_src

#+begin_src matlab :eval no :noweb yes
<<m-init-path-tangle>>
#+end_src

#+begin_src matlab :noweb yes
<<m-init-other>>
#+end_src

#+begin_src matlab
%% Uniaxial Simscape model name
mdl = 'nass_uniaxial_model';
#+end_src

#+begin_src matlab
%% Frequency Vector [Hz]
freqs = logspace(0, 3, 1000);
#+end_src

#+begin_src matlab
%% Load the micro-station parameters
load('uniaxial_micro_station_parameters.mat')
#+end_src


* Estimation of disturbances
* Conclusion
<<sec:uniaxial_conclusion>>


* Bibliography                                                        :ignore:
#+latex: \printbibliography[heading=bibintoc,title={Bibliography}]

* Helping Functions                                                 :noexport:
** Initialize Path
#+NAME: m-init-path
#+BEGIN_SRC matlab
%% Path for functions, data and scripts
addpath('./matlab/mat/'); % Path for data
addpath('./matlab/');     % Path for scripts
#+END_SRC

#+NAME: m-init-path-tangle
#+BEGIN_SRC matlab
%% Path for functions, data and scripts
addpath('./mat/'); % Path for data
#+END_SRC

** Initialize other elements
#+NAME: m-init-other
#+BEGIN_SRC matlab
%% Colors for the figures
colors = colororder;
#+END_SRC