Remove introduction from TOC

simscape-nass.org

@@ -556,7 +556,7 @@ This can then be used to compare with obtained performance with the nano-hexapod
 
 This should be done in the ustation report (A4).
 
-* Introduction
+* Introduction                                                        :ignore:
 
 The previous chapters have established crucial foundational elements for the development of the Nano Active Stabilization System (NASS).
 The uniaxial model study demonstrated that very stiff nano-hexapod configurations should be avoided due to their high coupling with the micro-station dynamics.

simscape-nass.tex

@@ -1,4 +1,4 @@
-% Created 2025-03-28 Fri 14:35
+% Created 2025-04-16 Wed 12:11
 % Intended LaTeX compiler: pdflatex
 \documentclass[a4paper, 10pt, DIV=12, parskip=full, bibliography=totoc]{scrreprt}
 
@@ -13,7 +13,7 @@
  pdftitle={Simscape Model - Nano Active Stabilization System},
  pdfkeywords={},
  pdfsubject={},
- pdfcreator={Emacs 29.4 (Org mode 9.6)}, 
+ pdfcreator={Emacs 30.1 (Org mode 9.7.26)}, 
  pdflang={English}}
 \usepackage{biblatex}
 
@@ -23,9 +23,6 @@
 \tableofcontents
 
 \clearpage
-
-\chapter{Introduction}
-
 The previous chapters have established crucial foundational elements for the development of the Nano Active Stabilization System (NASS).
 The uniaxial model study demonstrated that very stiff nano-hexapod configurations should be avoided due to their high coupling with the micro-station dynamics.
 A rotating three-degree-of-freedom model revealed that soft nano-hexapod designs prove unsuitable due to gyroscopic effect induced by the spindle rotation.
@@ -47,7 +44,6 @@ The robustness of the proposed control scheme was evaluated under various operat
 Particular attention was paid to system performance under changing payload masses and varying spindle rotational velocities.
 
 This chapter concludes the conceptual design phase, with the simulation of tomography experiments providing strong evidence for the viability of the proposed NASS architecture.
-
 \chapter{Control Kinematics}
 \label{sec:nass_kinematics}
 Figure \ref{fig:nass_concept_schematic} presents a schematic overview of the NASS.
@@ -111,8 +107,6 @@ Using these reference signals, the desired sample position relative to the fixed
   \end{bmatrix}
   \end{align}
 \end{equation}
-
-
 \section{Computation of the sample's pose error}
 \label{ssec:nass_sample_pose_error}
 
@@ -134,7 +128,6 @@ The measured sample pose is represented by the homogeneous transformation matrix
   0 & 0 & 0 & 1
 \end{array} \right]
 \end{equation}
-
 \section{Position error in the frame of the struts}
 \label{ssec:nass_error_struts}
 
@@ -165,7 +158,6 @@ Finally, these errors are mapped to the strut space using the nano-hexapod Jacob
 \begin{equation}\label{eq:nass_inverse_kinematics}
   \bm{\epsilon}_{\mathcal{L}} = \bm{J} \cdot \bm{\epsilon}_{\mathcal{X}}
 \end{equation}
-
 \section{Control Architecture - Summary}
 \label{ssec:nass_control_architecture}
 
@@ -184,7 +176,6 @@ Then, the high authority controller uses the computed errors in the frame of the
 \includegraphics[h!tbp,width=\linewidth]{figs/nass_control_architecture.png}
 \caption{\label{fig:nass_control_architecture}Control architecture for the NASS. Physical systems are shown in blue, control kinematics elements in red, decentralized Integral Force Feedback controller in yellow, and centralized high authority controller in green.}
 \end{figure}
-
 \chapter{Decentralized Active Damping}
 \label{sec:nass_active_damping}
 Building on the uniaxial model study, this section implements decentralized Integral Force Feedback (IFF) as the first component of the HAC-LAC strategy.
@@ -239,7 +230,6 @@ However, their alternating pattern is preserved, which ensures the phase remains
 \end{subfigure}
 \caption{\label{fig:nass_iff_plant_effect_rotation_payload}Effect of the Spindle's rotational velocity on the IFF plant (\subref{fig:nass_iff_plant_effect_rotation}) and effect of the payload's mass on the IFF plant (\subref{fig:nass_iff_plant_effect_payload})}
 \end{figure}
-
 \section{Controller Design}
 \label{ssec:nass_active_damping_control}
 
@@ -292,7 +282,6 @@ The results demonstrate that the closed-loop poles remain within the left-half p
 \end{subfigure}
 \caption{\label{fig:nass_iff_root_locus}Root Loci for Decentralized IFF for three payload masses. The closed-loop poles are shown by the black crosses.}
 \end{figure}
-
 \chapter{Centralized Active Vibration Control}
 \label{sec:nass_hac}
 The implementation of high-bandwidth position control for the nano-hexapod presents several technical challenges.
@@ -377,7 +366,6 @@ This result confirms effective dynamic decoupling between the nano-hexapod and t
 \includegraphics[h!tbp]{figs/nass_effect_ustation_compliance.png}
 \caption{\label{fig:nass_effect_ustation_compliance}Effect of the micro-station limited compliance on the plant dynamics}
 \end{figure}
-
 \section{Effect of Nano-Hexapod Stiffness on System Dynamics}
 \label{ssec:nass_hac_stiffness}
 
@@ -409,7 +397,6 @@ The current approach of controlling the position in the strut frame is inadequat
 \end{subfigure}
 \caption{\label{fig:nass_soft_stiff_hexapod}Coupling between a stiff nano-hexapod (\(k_a = 100\,N/\mu m\)) and the micro-station (\subref{fig:nass_stiff_nano_hexapod_coupling_ustation}). Large effect of the spindle rotational velocity for a compliance (\(k_a = 0.01\,N/\mu m\)) nano-hexapod (\subref{fig:nass_soft_nano_hexapod_effect_Wz})}
 \end{figure}
-
 \section{Controller design}
 \label{ssec:nass_hac_controller}
 
@@ -439,7 +426,6 @@ Second, the characteristic loci analysis presented in Figure \ref{fig:nass_hac_l
 \end{subfigure}
 \caption{\label{fig:nass_hac_controller}High Authority Controller - ``Diagonal Loop Gain'' (\subref{fig:nass_hac_loop_gain}) and Characteristic Loci (\subref{fig:nass_hac_loci})}
 \end{figure}
-
 \section{Tomography experiment}
 \label{ssec:nass_hac_tomography}
 
@@ -498,7 +484,6 @@ For higher mass configurations, rotational velocities are expected to be below 3
 \end{subfigure}
 \caption{\label{fig:nass_tomography_hac_iff}Simulation of tomography experiments - 360deg/s. Beam size is indicated by the dashed black ellipse}
 \end{figure}
-
 \chapter*{Conclusion}
 \label{sec:nass_conclusion}
 
@@ -516,6 +501,5 @@ The system has demonstrated excellent performance at maximum rotational velocity
 While some degradation in positioning accuracy has been observed with heavier payloads, as anticipated by the control analysis, the overall performance remains sufficient to validate the fundamental concept of the NASS.
 
 These results provide a solid foundation for advancing to the subsequent detailed design phase and experimental implementation.
-
 \printbibliography[heading=bibintoc,title={Bibliography}]
 \end{document}