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Removed "introduction" and "conclusion" from the TOC

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Thomas Dehaeze 2025-04-16 12:15:37 +02:00
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@ -320,6 +320,7 @@ The conceptual design of the Nano Active Stabilization System (NASS) follows a m
#+name: fig:chapter1_overview #+name: fig:chapter1_overview
#+caption: Overview of the conceptual design development. The approach evolves from simplified analytical models to a multi-body model tuned from experimental modal analysis. It is concluded by closed-loop simulations of tomography experiments, validating the conceptual design. #+caption: Overview of the conceptual design development. The approach evolves from simplified analytical models to a multi-body model tuned from experimental modal analysis. It is concluded by closed-loop simulations of tomography experiments, validating the conceptual design.
#+attr_org: :width 800px #+attr_org: :width 800px
#+attr_latex: :options [h!tbp]
#+attr_latex: :width \linewidth #+attr_latex: :width \linewidth
[[file:figs/chapter1_overview.png]] [[file:figs/chapter1_overview.png]]
@ -1554,6 +1555,9 @@ Having some flexibility between the measurement point and the point of interest
Therefore, it is important to take special care when designing sampling environments, especially if a soft nano-hexapod is used. Therefore, it is important to take special care when designing sampling environments, especially if a soft nano-hexapod is used.
*** Conclusion *** Conclusion
:PROPERTIES:
:UNNUMBERED: t
:END:
<<sec:uniaxial_conclusion>> <<sec:uniaxial_conclusion>>
# TODO - Make a table summarizing the findings # TODO - Make a table summarizing the findings
@ -2583,6 +2587,9 @@ Conclusions are similar than those of the uniaxial (non-rotating) model:
#+end_figure #+end_figure
*** Conclusion *** Conclusion
:PROPERTIES:
:UNNUMBERED: t
:END:
In this study, the gyroscopic effects induced by the spindle's rotation have been studied using a simplified model (Section\nbsp{}ref:sec:rotating_system_description). In this study, the gyroscopic effects induced by the spindle's rotation have been studied using a simplified model (Section\nbsp{}ref:sec:rotating_system_description).
Decentralized acrlong:iff with pure integrators was shown to be unstable when applied to rotating platforms (Section\nbsp{}ref:sec:rotating_iff_pure_int). Decentralized acrlong:iff with pure integrators was shown to be unstable when applied to rotating platforms (Section\nbsp{}ref:sec:rotating_iff_pure_int).
@ -3175,6 +3182,9 @@ This can be seen in Figure\nbsp{}ref:fig:modal_comp_acc_frf_modal_3 that shows t
#+end_figure #+end_figure
*** Conclusion *** Conclusion
:PROPERTIES:
:UNNUMBERED: t
:END:
<<sec:modal_conclusion>> <<sec:modal_conclusion>>
In this study, a modal analysis of the micro-station was performed. In this study, a modal analysis of the micro-station was performed.
@ -4007,6 +4017,9 @@ A similar error amplitude was observed, thus indicating that the multi-body mode
[[file:figs/ustation_errors_model_dy_vertical.png]] [[file:figs/ustation_errors_model_dy_vertical.png]]
*** Conclusion *** Conclusion
:PROPERTIES:
:UNNUMBERED: t
:END:
<<sec:ustation_conclusion>> <<sec:ustation_conclusion>>
In this study, a multi-body model of the micro-station was developed. In this study, a multi-body model of the micro-station was developed.
@ -4985,6 +4998,9 @@ The collocated nature of the force sensors ensures stability despite strong coup
The outer loop implements High Authority Control, enabling precise positioning of the mobile platform. The outer loop implements High Authority Control, enabling precise positioning of the mobile platform.
*** Conclusion *** Conclusion
:PROPERTIES:
:UNNUMBERED: t
:END:
<<sec:nhexa_conclusion>> <<sec:nhexa_conclusion>>
After evaluating various architectures, the Stewart platform was selected for the active platform. After evaluating various architectures, the Stewart platform was selected for the active platform.
@ -5007,7 +5023,7 @@ This study establishes the theoretical framework necessary for the subsequent de
** Validation of the Concept ** Validation of the Concept
<<sec:nass>> <<sec:nass>>
*** Introduction *** Introduction :ignore:
The previous chapters have established crucial foundational elements for the development of the Nano Active Stabilization System (NASS). 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. The uniaxial model study demonstrated that very stiff nano-hexapod configurations should be avoided due to their high coupling with the micro-station dynamics.
@ -5506,6 +5522,9 @@ For higher mass configurations, rotational velocities are expected to be below 3
#+end_figure #+end_figure
*** Conclusion *** Conclusion
:PROPERTIES:
:UNNUMBERED: t
:END:
<<sec:nass_conclusion>> <<sec:nass_conclusion>>
The development and analysis presented in this chapter have successfully validated the Nano Active Stabilization System concept, marking the completion of the conceptual design phase. The development and analysis presented in this chapter have successfully validated the Nano Active Stabilization System concept, marking the completion of the conceptual design phase.
@ -6531,6 +6550,9 @@ This specification will guide the design of the flexible joints.
# TODO - Add link to section # TODO - Add link to section
*** Conclusion *** Conclusion
:PROPERTIES:
:UNNUMBERED: notoc
:END:
<<sec:detail_kinematics_conclusion>> <<sec:detail_kinematics_conclusion>>
This chapter has explored the optimization of the nano-hexapod geometry for the Nano Active Stabilization System (NASS). This chapter has explored the optimization of the nano-hexapod geometry for the Nano Active Stabilization System (NASS).
@ -7309,6 +7331,9 @@ While additional degrees of freedom could potentially capture more dynamic featu
#+end_figure #+end_figure
*** Conclusion *** Conclusion
:PROPERTIES:
:UNNUMBERED: notoc
:END:
<<sec:detail_fem_conclusion>> <<sec:detail_fem_conclusion>>
In this chapter, the methodology of combining finite element analysis with multi-body modeling has been demonstrated and validated, proving particularly valuable for the detailed design of nano-hexapod components. In this chapter, the methodology of combining finite element analysis with multi-body modeling has been demonstrated and validated, proving particularly valuable for the detailed design of nano-hexapod components.
@ -8821,6 +8846,9 @@ The control architecture has been presented for SISO systems, but can be applied
It will be experimentally validated with the NASS during the experimental phase. It will be experimentally validated with the NASS during the experimental phase.
*** Conclusion *** Conclusion
:PROPERTIES:
:UNNUMBERED: notoc
:END:
<<sec:detail_control_conclusion>> <<sec:detail_control_conclusion>>
In order to optimize the control of the Nano Active Stabilization System, several aspects of control theory were studied. In order to optimize the control of the Nano Active Stabilization System, several aspects of control theory were studied.
@ -9399,6 +9427,9 @@ This confirms that the selected instrumentation, with its measured noise charact
[[file:figs/detail_instrumentation_cl_noise_budget.png]] [[file:figs/detail_instrumentation_cl_noise_budget.png]]
*** Conclusion *** Conclusion
:PROPERTIES:
:UNNUMBERED: notoc
:END:
<<sec:detail_instrumentation_conclusion>> <<sec:detail_instrumentation_conclusion>>
This section has presented a comprehensive approach to the selection and characterization of instrumentation for the nano active stabilization system. This section has presented a comprehensive approach to the selection and characterization of instrumentation for the nano active stabilization system.
@ -9492,6 +9523,7 @@ The HAC-LAC control architecture is implemented and tested under various experim
#+name: fig:chapter3_overview #+name: fig:chapter3_overview
#+caption: Overview of the Experimental validation phase. The actuators and flexible joints and individual tested and then integrated into the struts. The Nano-hexapod is then mounted and the complete system is validated on the ID31 beamline. #+caption: Overview of the Experimental validation phase. The actuators and flexible joints and individual tested and then integrated into the struts. The Nano-hexapod is then mounted and the complete system is validated on the ID31 beamline.
#+attr_org: :width 800px #+attr_org: :width 800px
#+attr_latex: :options [h!tbp]
#+attr_latex: :width \linewidth #+attr_latex: :width \linewidth
[[file:figs/chapter3_overview.png]] [[file:figs/chapter3_overview.png]]
@ -13025,11 +13057,6 @@ With the implementation of an accurate online metrology system, the NASS will be
* TODO Conclusion and Future Work * TODO Conclusion and Future Work
<<chap:conclusion>> <<chap:conclusion>>
* Appendix :noexport:ignore:
#+latex: \appendix
* Mathematical Tools for Mechatronics :noexport:
* Stewart Platform - Kinematics :noexport:
* Bibliography :ignore: * Bibliography :ignore:
#+latex: \printbibliography[heading=bibintoc,title={Bibliography}] #+latex: \printbibliography[heading=bibintoc,title={Bibliography}]

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@ -1,4 +1,4 @@
% Created 2025-04-16 Wed 11:28 % Created 2025-04-16 Wed 12:14
% Intended LaTeX compiler: pdflatex % Intended LaTeX compiler: pdflatex
\documentclass[a4paper, 10pt, DIV=12, parskip=full, bibliography=totoc]{scrreprt} \documentclass[a4paper, 10pt, DIV=12, parskip=full, bibliography=totoc]{scrreprt}
@ -204,7 +204,7 @@ The conceptual design of the Nano Active Stabilization System (NASS) follows a m
\begin{figure}[htbp] \begin{figure}[htbp]
\centering \centering
\includegraphics[scale=1,width=\linewidth]{figs/chapter1_overview.png} \includegraphics[h!tbp,width=\linewidth]{figs/chapter1_overview.png}
\caption{\label{fig:chapter1_overview}Overview of the conceptual design development. The approach evolves from simplified analytical models to a multi-body model tuned from experimental modal analysis. It is concluded by closed-loop simulations of tomography experiments, validating the conceptual design.} \caption{\label{fig:chapter1_overview}Overview of the conceptual design development. The approach evolves from simplified analytical models to a multi-body model tuned from experimental modal analysis. It is concluded by closed-loop simulations of tomography experiments, validating the conceptual design.}
\end{figure} \end{figure}
@ -1358,7 +1358,7 @@ This is why high-bandwidth soft positioning stages are usually restricted to con
Having some flexibility between the measurement point and the point of interest (i.e., the sample point to be position on the x-ray) also degrades the position stability as shown in Section~\ref{ssec:uniaxial_payload_dynamics_effect_stability}. Having some flexibility between the measurement point and the point of interest (i.e., the sample point to be position on the x-ray) also degrades the position stability as shown in Section~\ref{ssec:uniaxial_payload_dynamics_effect_stability}.
Therefore, it is important to take special care when designing sampling environments, especially if a soft nano-hexapod is used. Therefore, it is important to take special care when designing sampling environments, especially if a soft nano-hexapod is used.
\subsection{Conclusion} \subsection*{Conclusion}
\label{sec:uniaxial_conclusion} \label{sec:uniaxial_conclusion}
In this study, a uniaxial model of the nano-active-stabilization-system was tuned from both dynamical measurements (Section~\ref{sec:uniaxial_micro_station_model}) and from disturbances measurements (Section~\ref{sec:uniaxial_disturbances}). In this study, a uniaxial model of the nano-active-stabilization-system was tuned from both dynamical measurements (Section~\ref{sec:uniaxial_micro_station_model}) and from disturbances measurements (Section~\ref{sec:uniaxial_disturbances}).
@ -2320,8 +2320,7 @@ Conclusions are similar than those of the uniaxial (non-rotating) model:
\end{subfigure} \end{subfigure}
\caption{\label{fig:rotating_nass_effect_direct_forces}Effect of sample forces \(f_{s,x}\) on the position error \(d_x\) - Comparison of active damping techniques for the three nano-hexapod stiffnesses. Integral Force Feedback degrades this compliance at low-frequency.} \caption{\label{fig:rotating_nass_effect_direct_forces}Effect of sample forces \(f_{s,x}\) on the position error \(d_x\) - Comparison of active damping techniques for the three nano-hexapod stiffnesses. Integral Force Feedback degrades this compliance at low-frequency.}
\end{figure} \end{figure}
\subsection{Conclusion} \subsection*{Conclusion}
In this study, the gyroscopic effects induced by the spindle's rotation have been studied using a simplified model (Section~\ref{sec:rotating_system_description}). In this study, the gyroscopic effects induced by the spindle's rotation have been studied using a simplified model (Section~\ref{sec:rotating_system_description}).
Decentralized \acrlong{iff} with pure integrators was shown to be unstable when applied to rotating platforms (Section~\ref{sec:rotating_iff_pure_int}). Decentralized \acrlong{iff} with pure integrators was shown to be unstable when applied to rotating platforms (Section~\ref{sec:rotating_iff_pure_int}).
Two modifications of the classical \acrshort{iff} control have been proposed to overcome this issue. Two modifications of the classical \acrshort{iff} control have been proposed to overcome this issue.
@ -2888,7 +2887,7 @@ This can be seen in Figure~\ref{fig:modal_comp_acc_frf_modal_3} that shows the f
\end{subfigure} \end{subfigure}
\caption{\label{fig:modal_comp_acc_frf_modal}Comparison of the measured FRF with the FRF synthesized from the modal model.} \caption{\label{fig:modal_comp_acc_frf_modal}Comparison of the measured FRF with the FRF synthesized from the modal model.}
\end{figure} \end{figure}
\subsection{Conclusion} \subsection*{Conclusion}
\label{sec:modal_conclusion} \label{sec:modal_conclusion}
In this study, a modal analysis of the micro-station was performed. In this study, a modal analysis of the micro-station was performed.
@ -3674,7 +3673,7 @@ A similar error amplitude was observed, thus indicating that the multi-body mode
\includegraphics[scale=1]{figs/ustation_errors_model_dy_vertical.png} \includegraphics[scale=1]{figs/ustation_errors_model_dy_vertical.png}
\caption{\label{fig:ustation_errors_model_dy_vertical}Vertical errors during a constant-velocity scan of the translation stage. Comparison of the measurements and simulated errors.} \caption{\label{fig:ustation_errors_model_dy_vertical}Vertical errors during a constant-velocity scan of the translation stage. Comparison of the measurements and simulated errors.}
\end{figure} \end{figure}
\subsection{Conclusion} \subsection*{Conclusion}
\label{sec:ustation_conclusion} \label{sec:ustation_conclusion}
In this study, a multi-body model of the micro-station was developed. In this study, a multi-body model of the micro-station was developed.
@ -4615,7 +4614,7 @@ The HAC-LAC strategy was then implemented.
The inner loop implements decentralized Integral Force Feedback for active damping. The inner loop implements decentralized Integral Force Feedback for active damping.
The collocated nature of the force sensors ensures stability despite strong coupling between struts at resonance frequencies, enabling effective damping of structural modes. The collocated nature of the force sensors ensures stability despite strong coupling between struts at resonance frequencies, enabling effective damping of structural modes.
The outer loop implements High Authority Control, enabling precise positioning of the mobile platform. The outer loop implements High Authority Control, enabling precise positioning of the mobile platform.
\subsection{Conclusion} \subsection*{Conclusion}
\label{sec:nhexa_conclusion} \label{sec:nhexa_conclusion}
After evaluating various architectures, the Stewart platform was selected for the active platform. After evaluating various architectures, the Stewart platform was selected for the active platform.
@ -4637,8 +4636,6 @@ This approach combines decentralized Integral Force Feedback for active damping
This study establishes the theoretical framework necessary for the subsequent development and validation of the NASS. This study establishes the theoretical framework necessary for the subsequent development and validation of the NASS.
\section{Validation of the Concept} \section{Validation of the Concept}
\label{sec:nass} \label{sec:nass}
\subsection{Introduction}
The previous chapters have established crucial foundational elements for the development of the Nano Active Stabilization System (NASS). 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. 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. A rotating three-degree-of-freedom model revealed that soft nano-hexapod designs prove unsuitable due to gyroscopic effect induced by the spindle rotation.
@ -5100,7 +5097,7 @@ For higher mass configurations, rotational velocities are expected to be below 3
\end{subfigure} \end{subfigure}
\caption{\label{fig:nass_tomography_hac_iff}Simulation of tomography experiments - 360deg/s. Beam size is indicated by the dashed black ellipse} \caption{\label{fig:nass_tomography_hac_iff}Simulation of tomography experiments - 360deg/s. Beam size is indicated by the dashed black ellipse}
\end{figure} \end{figure}
\subsection{Conclusion} \subsection*{Conclusion}
\label{sec:nass_conclusion} \label{sec:nass_conclusion}
The development and analysis presented in this chapter have successfully validated the Nano Active Stabilization System concept, marking the completion of the conceptual design phase. The development and analysis presented in this chapter have successfully validated the Nano Active Stabilization System concept, marking the completion of the conceptual design phase.
@ -6027,7 +6024,7 @@ With the nano-hexapod geometry and mobility requirements established, the flexib
This analysis focuses solely on bending stroke, as the torsional stroke of the flexible joints is expected to be minimal given the absence of vertical rotation requirements. This analysis focuses solely on bending stroke, as the torsional stroke of the flexible joints is expected to be minimal given the absence of vertical rotation requirements.
The required angular stroke for both fixed and mobile joints is estimated to be equal to \(1\,\text{mrad}\). The required angular stroke for both fixed and mobile joints is estimated to be equal to \(1\,\text{mrad}\).
This specification will guide the design of the flexible joints. This specification will guide the design of the flexible joints.
\subsection{Conclusion} \subsection*{Conclusion}
\label{sec:detail_kinematics_conclusion} \label{sec:detail_kinematics_conclusion}
This chapter has explored the optimization of the nano-hexapod geometry for the Nano Active Stabilization System (NASS). This chapter has explored the optimization of the nano-hexapod geometry for the Nano Active Stabilization System (NASS).
@ -6778,7 +6775,7 @@ While additional degrees of freedom could potentially capture more dynamic featu
\end{subfigure} \end{subfigure}
\caption{\label{fig:detail_fem_joints_fem_vs_perfect_plants}Comparison of the dynamics obtained between a nano-hexpod including joints modelled with FEM and a nano-hexapod having bottom joint modelled by bending stiffness \(k_f\) and axial stiffness \(k_a\) and top joints modelled by bending stiffness \(k_f\), torsion stiffness \(k_t\) and axial stiffness \(k_a\). Both from actuator force \(\bm{f}\) to strut motion measured by external metrology \(\bm{\epsilon}_{\mathcal{L}}\) (\subref{fig:detail_fem_joints_fem_vs_perfect_iff_plant}) and to the force sensors \(\bm{f}_m\) (\subref{fig:detail_fem_joints_fem_vs_perfect_hac_plant}).} \caption{\label{fig:detail_fem_joints_fem_vs_perfect_plants}Comparison of the dynamics obtained between a nano-hexpod including joints modelled with FEM and a nano-hexapod having bottom joint modelled by bending stiffness \(k_f\) and axial stiffness \(k_a\) and top joints modelled by bending stiffness \(k_f\), torsion stiffness \(k_t\) and axial stiffness \(k_a\). Both from actuator force \(\bm{f}\) to strut motion measured by external metrology \(\bm{\epsilon}_{\mathcal{L}}\) (\subref{fig:detail_fem_joints_fem_vs_perfect_iff_plant}) and to the force sensors \(\bm{f}_m\) (\subref{fig:detail_fem_joints_fem_vs_perfect_hac_plant}).}
\end{figure} \end{figure}
\subsection{Conclusion} \subsection*{Conclusion}
\label{sec:detail_fem_conclusion} \label{sec:detail_fem_conclusion}
In this chapter, the methodology of combining finite element analysis with multi-body modeling has been demonstrated and validated, proving particularly valuable for the detailed design of nano-hexapod components. In this chapter, the methodology of combining finite element analysis with multi-body modeling has been demonstrated and validated, proving particularly valuable for the detailed design of nano-hexapod components.
@ -8228,7 +8225,7 @@ Consequently, it remains unclear whether the proposed architecture offers signif
The control architecture has been presented for SISO systems, but can be applied to MIMO systems when sufficient decoupling is achieved. The control architecture has been presented for SISO systems, but can be applied to MIMO systems when sufficient decoupling is achieved.
It will be experimentally validated with the NASS during the experimental phase. It will be experimentally validated with the NASS during the experimental phase.
\subsection{Conclusion} \subsection*{Conclusion}
\label{sec:detail_control_conclusion} \label{sec:detail_control_conclusion}
In order to optimize the control of the Nano Active Stabilization System, several aspects of control theory were studied. In order to optimize the control of the Nano Active Stabilization System, several aspects of control theory were studied.
@ -8400,7 +8397,7 @@ Small Signal Bandwidth \(> 5\,kHz\) & \(6.4\,kHz\) & \(300\,Hz\) & \(30\,kHz\)
Output Impedance: \(< 3.6\,\Omega\) & n/a & \(50\,\Omega\) & n/a & n/a\\ Output Impedance: \(< 3.6\,\Omega\) & n/a & \(50\,\Omega\) & n/a & n/a\\
\bottomrule \bottomrule
\end{tabularx} \end{tabularx}
\end{table}\footnotetext[27]{\label{org2235802}The manufacturer proposed to remove the \(50\,\Omega\) output resistor to improve to small signal bandwidth above \(10\,kHz\)} \end{table}\footnotetext[27]{\label{org35798f8}The manufacturer proposed to remove the \(50\,\Omega\) output resistor to improve to small signal bandwidth above \(10\,kHz\)}
\subsubsection{ADC and DAC} \subsubsection{ADC and DAC}
Analog-to-digital converters and digital-to-analog converters play key roles in the system, serving as the interface between the digital RT controller and the analog physical plant. Analog-to-digital converters and digital-to-analog converters play key roles in the system, serving as the interface between the digital RT controller and the analog physical plant.
The proper selection of these components is critical for system performance. The proper selection of these components is critical for system performance.
@ -8790,7 +8787,7 @@ This confirms that the selected instrumentation, with its measured noise charact
\includegraphics[scale=1]{figs/detail_instrumentation_cl_noise_budget.png} \includegraphics[scale=1]{figs/detail_instrumentation_cl_noise_budget.png}
\caption{\label{fig:detail_instrumentation_cl_noise_budget}Closed-loop noise budgeting using measured noise of instrumentation} \caption{\label{fig:detail_instrumentation_cl_noise_budget}Closed-loop noise budgeting using measured noise of instrumentation}
\end{figure} \end{figure}
\subsection{Conclusion} \subsection*{Conclusion}
\label{sec:detail_instrumentation_conclusion} \label{sec:detail_instrumentation_conclusion}
This section has presented a comprehensive approach to the selection and characterization of instrumentation for the nano active stabilization system. This section has presented a comprehensive approach to the selection and characterization of instrumentation for the nano active stabilization system.
@ -8873,7 +8870,7 @@ The HAC-LAC control architecture is implemented and tested under various experim
\begin{figure}[htbp] \begin{figure}[htbp]
\centering \centering
\includegraphics[scale=1,width=\linewidth]{figs/chapter3_overview.png} \includegraphics[h!tbp,width=\linewidth]{figs/chapter3_overview.png}
\caption{\label{fig:chapter3_overview}Overview of the Experimental validation phase. The actuators and flexible joints and individual tested and then integrated into the struts. The Nano-hexapod is then mounted and the complete system is validated on the ID31 beamline.} \caption{\label{fig:chapter3_overview}Overview of the Experimental validation phase. The actuators and flexible joints and individual tested and then integrated into the struts. The Nano-hexapod is then mounted and the complete system is validated on the ID31 beamline.}
\end{figure} \end{figure}
\section{Amplified Piezoelectric Actuator} \section{Amplified Piezoelectric Actuator}