198 lines
7.9 KiB
Org Mode
198 lines
7.9 KiB
Org Mode
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#+TITLE: Simscape Model - Nano Active Stabilization System
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:DRAWER:
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#+LANGUAGE: en
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#+EMAIL: dehaeze.thomas@gmail.com
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#+AUTHOR: Dehaeze Thomas
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#+HTML_LINK_HOME: ../index.html
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#+HTML_LINK_UP: ../index.html
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
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#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
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#+BIND: org-latex-image-default-option "scale=1"
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#+BIND: org-latex-image-default-width ""
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#+LaTeX_CLASS: scrreprt
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#+LaTeX_CLASS_OPTIONS: [a4paper, 10pt, DIV=12, parskip=full, bibliography=totoc]
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#+LaTeX_HEADER_EXTRA: \input{preamble.tex}
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#+LATEX_HEADER_EXTRA: \bibliography{simscape-nass.bib}
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#+BIND: org-latex-bib-compiler "biber"
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#+PROPERTY: header-args:matlab :session *MATLAB*
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#+PROPERTY: header-args:matlab+ :comments org
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#+PROPERTY: header-args:matlab+ :exports none
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#+PROPERTY: header-args:matlab+ :results none
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#+PROPERTY: header-args:matlab+ :eval no-export
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#+PROPERTY: header-args:matlab+ :noweb yes
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#+PROPERTY: header-args:matlab+ :mkdirp yes
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#+PROPERTY: header-args:matlab+ :output-dir figs
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#+PROPERTY: header-args:matlab+ :tangle no
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#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/tikz/org/}{config.tex}")
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#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
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#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
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#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
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#+PROPERTY: header-args:latex+ :results file raw replace
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#+PROPERTY: header-args:latex+ :buffer no
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#+PROPERTY: header-args:latex+ :tangle no
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#+PROPERTY: header-args:latex+ :eval no-export
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#+PROPERTY: header-args:latex+ :exports results
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#+PROPERTY: header-args:latex+ :mkdirp yes
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#+PROPERTY: header-args:latex+ :output-dir figs
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#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
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:END:
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#+begin_export html
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<hr>
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<p>This report is also available as a <a href="./simscape-nass.pdf">pdf</a>.</p>
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<hr>
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#+end_export
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#+latex: \clearpage
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* Build :noexport:
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#+NAME: startblock
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#+BEGIN_SRC emacs-lisp :results none :tangle no
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(add-to-list 'org-latex-classes
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'("scrreprt"
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"\\documentclass{scrreprt}"
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("\\chapter{%s}" . "\\chapter*{%s}")
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("\\section{%s}" . "\\section*{%s}")
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("\\subsection{%s}" . "\\subsection*{%s}")
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("\\paragraph{%s}" . "\\paragraph*{%s}")
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))
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;; Remove automatic org heading labels
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(defun my-latex-filter-removeOrgAutoLabels (text backend info)
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"Org-mode automatically generates labels for headings despite explicit use of `#+LABEL`. This filter forcibly removes all automatically generated org-labels in headings."
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(when (org-export-derived-backend-p backend 'latex)
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(replace-regexp-in-string "\\\\label{sec:org[a-f0-9]+}\n" "" text)))
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(add-to-list 'org-export-filter-headline-functions
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'my-latex-filter-removeOrgAutoLabels)
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;; Remove all org comments in the output LaTeX file
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(defun delete-org-comments (backend)
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(loop for comment in (reverse (org-element-map (org-element-parse-buffer)
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'comment 'identity))
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do
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(setf (buffer-substring (org-element-property :begin comment)
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(org-element-property :end comment))
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"")))
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(add-hook 'org-export-before-processing-hook 'delete-org-comments)
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;; Use no package by default
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(setq org-latex-packages-alist nil)
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(setq org-latex-default-packages-alist nil)
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;; Do not include the subtitle inside the title
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(setq org-latex-subtitle-separate t)
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(setq org-latex-subtitle-format "\\subtitle{%s}")
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(setq org-export-before-parsing-hook '(org-ref-glossary-before-parsing
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org-ref-acronyms-before-parsing))
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#+END_SRC
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* Notes :noexport:
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The goals of this report are:
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- ([[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/positioning_error.org][positioning_error]]): Explain how the NASS control is made (computation of the wanted position, measurement of the sample position, computation of the errors)
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- ([[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/uncertainty_experiment.org][uncertainty_experiment]]): Effect of experimental conditions on the plant (payload mass, Ry position, Rz position, Rz velocity, etc...)
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- Determination of the optimal stiffness for the hexapod actuators: [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/uncertainty_optimal_stiffness.org][uncertainty_optimal_stiffness]], [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/optimal_stiffness_disturbances.org][optimal_stiffness_disturbances]], [[file:~/Cloud/work-projects/ID31-NASS/documents/state-of-thesis-2020/index.org][state-of-thesis-2020]]
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- Explain why HAC-LAC strategy is nice (maybe already explained earlier) ([[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/control.org][control]], [[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/control-vibration-isolation.org][hexapod - vibration isolation]])
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- How to apply/optimize IFF on an hexapod? ([[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/control_active_damping.org][control_active_damping]], [[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/control-active-damping.org][active damping for stewart platforms]])
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- ([[file:~/Cloud/research/matlab/decoupling-strategies/svd-control.org][decoupling-strategies]]): Decoupling strategies for HAC?
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- Validation of the concept using simulations:
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- [ ] Find where this simulation in OL/CL is made
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- Tomography experiment (maybe also Ty scans)
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- Open VS Closed loop results
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- *Conclusion*: concept validation
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nano hexapod architecture with APA
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decentralized IFF + centralized HAC
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* Introduction :ignore:
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#+name: tab:simscape_nass_section_matlab_code
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#+caption: Report sections and corresponding Matlab files
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#+attr_latex: :environment tabularx :width 0.6\linewidth :align lX
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#+attr_latex: :center t :booktabs t
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| *Sections* | *Matlab File* |
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|-----------------------------------+----------------------|
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| Section ref:sec:simscape_nass_1_a | =simscape_nass_1_.m= |
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* Section 1
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:PROPERTIES:
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:HEADER-ARGS:matlab+: :tangle matlab/simscape_nass_1.m
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:END:
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<<sec:simscape_nass_1_a>>
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** Introduction :ignore:
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** Matlab Init :noexport:ignore:
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#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
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<<matlab-dir>>
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#+end_src
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#+begin_src matlab :exports none :results silent :noweb yes
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<<matlab-init>>
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#+end_src
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#+begin_src matlab :tangle no :noweb yes
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<<m-init-path>>
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#+end_src
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#+begin_src matlab :eval no :noweb yes
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<<m-init-path-tangle>>
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#+end_src
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#+begin_src matlab :noweb yes
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<<m-init-other>>
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#+end_src
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#+begin_src matlab
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%% Uniaxial Simscape model name
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mdl = 'nass_uniaxial_model';
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#+end_src
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#+begin_src matlab
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%% Frequency Vector [Hz]
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freqs = logspace(0, 3, 1000);
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#+end_src
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#+begin_src matlab
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%% Load the micro-station parameters
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load('uniaxial_micro_station_parameters.mat')
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#+end_src
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* Conclusion
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<<sec:simscape_nass_conclusion>>
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* Bibliography :ignore:
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#+latex: \printbibliography[heading=bibintoc,title={Bibliography}]
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* Helping Functions :noexport:
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** Initialize Path
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#+NAME: m-init-path
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#+BEGIN_SRC matlab
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%% Path for functions, data and scripts
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addpath('./matlab/mat/'); % Path for data
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addpath('./matlab/'); % Path for scripts
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#+END_SRC
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#+NAME: m-init-path-tangle
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#+BEGIN_SRC matlab
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%% Path for functions, data and scripts
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addpath('./mat/'); % Path for data
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#+END_SRC
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** Initialize other elements
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#+NAME: m-init-other
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#+BEGIN_SRC matlab
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%% Colors for the figures
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colors = colororder;
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#+END_SRC
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