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\input{preamble.tex}
\input{preamble_extra.tex}
\bibliography{simscape-nass.bib}
\author{Dehaeze Thomas}
\date{\today}
\title{Simscape Model - Nano Active Stabilization System}
\hypersetup{
 pdfauthor={Dehaeze Thomas},
 pdftitle={Simscape Model - Nano Active Stabilization System},
 pdfkeywords={},
 pdfsubject={},
 pdfcreator={Emacs 29.4 (Org mode 9.6)}, 
 pdflang={English}}
\usepackage{biblatex}

\begin{document}

\maketitle
\tableofcontents

\clearpage

From last sections:
\begin{itemize}
\item Uniaxial: No stiff nano-hexapod (should also demonstrate that here)
\item Rotating: No soft nano-hexapod, Decentralized IFF can be used robustly by adding parallel stiffness
\end{itemize}

In this section:
\begin{itemize}
\item Take the model of the nano-hexapod with stiffness 1um/N
\item Apply decentralized IFF
\item Apply HAC-LAC
\item Check robustness to payload change
\item Simulation of experiments
\end{itemize}

\begin{table}[htbp]
\centering
\begin{tabularx}{0.6\linewidth}{lX}
\toprule
\textbf{Sections} & \textbf{Matlab File}\\
\midrule
Section \ref{sec:nass_1_a} & \texttt{nass\_1\_.m}\\
\bottomrule
\end{tabularx}
\caption{\label{tab:nass_section_matlab_code}Report sections and corresponding Matlab files}

\end{table}

\chapter{Control Kinematics}
\label{sec:nass_kinematics}
\begin{itemize}
\item Explain how the position error can be expressed in the frame of the nano-hexapod
\item[{$\square$}] \href{file:///home/thomas/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)
\item Control architecture, block diagram

\item Schematic with micro-station + nass + metrology + control system
\item Zoom in the control system with blocs
\item Then explain all the blocs
\item Say that there are many control strategies.
It will be the topic of chapter 2.3.
Here, we start with something simple: control in the frame of the struts
\end{itemize}
\section{Micro Station Kinematics}

\begin{itemize}
\item from \ref{ssec:ustation_kinematics}, computation of the wanted sample pose from the setpoint of each stage.
\end{itemize}

\section{Computation of the sample's pose error}

From metrology (here supposed to be perfect 6-DoF), compute the sample's pose error.
Has to invert the homogeneous transformation.

\section{Position error in the frame of the nano-hexapod}

Explain how to compute the errors in the frame of the struts (rotating)

\chapter{Decentralized Active Damping}
\label{sec:nass_active_damping}
\begin{itemize}
\item How to apply/optimize IFF on an hexapod? ()
\item Robustness to payload mass
\item Root Locus
\item Damping optimization

\item\relax [ ]\href{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/control\_active\_damping.org}{control\_active\_damping}
\item\relax [ ]\href{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/control-active-damping.org}{active damping for stewart platforms}
\item\relax [ ]\href{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/bibliography.org}{Vibration Control and Active Damping}
\end{itemize}
\section{IFF Plant}

\begin{itemize}
\item Show how it changes with the payload mass (1, 25, 50)
\item Effect of rotation (1rpm, 60rpm)
\end{itemize}

\section{Controller Design}

\begin{itemize}
\item Apply IFF
\item Show Root Locus
\item Choose optimal gain.
Here in MIMO, cannot have optimal damping for all modes. (there is a paper that tries to optimize that)
\item Show robustness to change of payload (loci?)
\item Reference to paper showing stability in MIMO for decentralized IFF
\end{itemize}

\section{Sensitivity to disturbances}

\begin{itemize}
\item Compute transfer functions from spindle vertical error to sample vertical error with IFF (and compare without the NASS)
\item Same for horizontal
\item Maybe noise budgeting, but may be complex in MIMO\ldots{}
\end{itemize}

\chapter{Centralized Active Vibration Control}
\label{sec:nass_hac}
\begin{itemize}
\item[{$\square$}] \href{file:///home/thomas/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\ldots{})
\item Effect of micro-station compliance
\item Effect of IFF
\item Effect of payload mass
\item Decoupled plant
\item Controller design
\end{itemize}

From control kinematics:
\begin{itemize}
\item Talk about issue of not estimating Rz from external metrology? (maybe could be nice to discuss that during the experiments!)
\item Show what happens is Rz is not estimated (for instance supposed equaled to zero => increased coupling)
\end{itemize}
\section{HAC Plant}

\begin{itemize}
\item Compute transfer function from u to dL (with IFF applied)
\end{itemize}

\section{Effect of Payload mass}

\begin{itemize}
\item Show effect of payload mass + rotation
\end{itemize}

\section{Controller design}

\begin{itemize}
\item Show robustness with Loci
\end{itemize}

\section{Sensitivity to disturbances}

\begin{itemize}
\item Compute transfer functions from spindle vertical error to sample vertical error with HAC-IFF
Compare without the NASS, and with just IFF
\item Same for horizontal
\item Maybe noise budgeting, but may be complex in MIMO\ldots{}
\end{itemize}

\section{Tomography experiment}

\begin{itemize}
\item With HAC-IFF, perform tomography experiment, and compare with open-loop

\item Take into account disturbances, metrology sensor noise. Maybe say here that we don't take in account other noise sources as they will be optimized latter (detail design phase)
\item Tomography + lateral scans (same as what was done in open loop \href{file:///home/thomas/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/A4-simscape-micro-station/simscape-micro-station.org}{here})
\item Validation of concept
\end{itemize}

\chapter{Conclusion}
\label{sec:nass_conclusion}


\printbibliography[heading=bibintoc,title={Bibliography}]
\end{document}
