diff --git a/.latexmkrc b/.latexmkrc index 0124498..6a90294 100644 --- a/.latexmkrc +++ b/.latexmkrc @@ -19,7 +19,7 @@ # 3: dvi conversion, as specified by the $dvipdf variable (useless) # 4: lualatex, as specified by the $lualatex variable (best) # 5: xelatex, as specified by the $xelatex variable (second best) -$pdf_mode = 1; +$pdf_mode = 4; # Treat undefined references and citations as well as multiply defined references as # ERRORS instead of WARNINGS. diff --git a/config.tex b/config.tex index 200c570..8e56330 100644 --- a/config.tex +++ b/config.tex @@ -149,11 +149,28 @@ \setlength{\mtcindent}{0pt} % \usepackage[nottoc]{tocbibind} -\usepackage[lf]{ebgaramond} +\ifxetexorluatex + \usepackage{unicode-math} + \setmainfont{EB Garamond} + \setmathfont{Garamond Math} -% \usepackage{crimson} - -\usepackage[oldstyle, scale=0.7]{sourcecodepro} + % Load some missing symbols from another font. + \setmathfont{STIX Two Math}[% + range = { + \sharp, + \natural, + \flat, + \clubsuit, + \spadesuit, + \checkmark + } + ] + \setmonofont[Scale=MatchLowercase]{Source Code Pro} +\else + \usepackage[lf]{ebgaramond} % https://tug.org/FontCatalogue/quattrocento/ + \usepackage[oldstyle,scale=0.7]{sourcecodepro} % https://tug.org/FontCatalogue/sourcecodepro/ + \singlespacing +\fi \usepackage[usenames,dvipsnames]{xcolor} diff --git a/phd-thesis.bib b/phd-thesis.bib new file mode 100644 index 0000000..528be07 --- /dev/null +++ b/phd-thesis.bib @@ -0,0 +1,141 @@ +@phdthesis{li01_simul_fault_vibrat_isolat_point, + author = {Li, Xiaochun}, + keywords = {parallel robot}, + school = {University of Wyoming}, + title = {Simultaneous, Fault-tolerant Vibration Isolation and + Pointing Control of Flexure Jointed Hexapods}, + year = 2001, +} + + + +@phdthesis{bishop02_devel_precis_point_contr_vibrat, + author = {Bishop Jr, Ronald M}, + school = {Naval Postgraduate School, Monterey, California}, + title = {Development of Precision Pointing Controllers with and + without Vibration Suppression for the {NPS} Precision Pointing + Hexapod}, + year = 2002, + keywords = {parallel robot}, +} + + + +@phdthesis{hanieh03_activ_stewar, + author = {Hanieh, Ahmed Abu}, + keywords = {parallel robot}, + school = {Universit{\'e} Libre de Bruxelles, Brussels, Belgium}, + title = {Active isolation and damping of vibrations via Stewart + platform}, + year = 2003, +} + + + +@phdthesis{afzali-far16_vibrat_dynam_isotr_hexap_analy_studies, + author = {Afzali-Far, Behrouz}, + school = {Lund University}, + title = {Vibrations and Dynamic Isotropy in Hexapods-Analytical + Studies}, + year = 2016, + keywords = {parallel robot}, +} + + + +@phdthesis{naves20_desig, + author = {Mark Naves}, + school = {Univeristy of Twente}, + title = {Design and optimization of large stroke flexure mechanisms}, + year = 2020, + keywords = {flexure}, +} + + + +@phdthesis{rankers98_machin, + author = {Rankers, Adrian Mathias}, + keywords = {favorite}, + school = {University of Twente}, + title = {Machine dynamics in mechatronic systems: An engineering + approach.}, + year = 1998, +} + + + +@phdthesis{monkhorst04_dynam_error_budget, + author = {Wouter Monkhorst}, + school = {Delft University}, + title = {Dynamic Error Budgeting, a design approach}, + year = 2004, +} + + + +@phdthesis{jabben07_mechat, + author = {Jabben, Leon}, + school = {Delft University}, + title = {Mechatronic design of a magnetically suspended rotating + platform}, + year = 2007, + keywords = {maglev}, +} + + + +@inproceedings{dehaeze20_activ_dampin_rotat_platf_integ_force_feedb, + author = {Dehaeze, T. and Collette, C.}, + title = {Active Damping of Rotating Platforms using Integral Force + Feedback}, + booktitle = {Proceedings of the International Conference on Modal + Analysis Noise and Vibration Engineering (ISMA)}, + year = 2020, +} + + + +@article{dehaeze21_activ_dampin_rotat_platf_using, + author = {Thomas Dehaeze and Christophe Collette}, + title = {Active Damping of Rotating Platforms Using Integral Force + Feedback}, + journal = {Engineering Research Express}, + year = 2021, + doi = {10.1088/2631-8695/abe803}, + url = {https://doi.org/10.1088/2631-8695/abe803}, + month = {Feb}, + keywords = {nass, esrf}, +} + + + +@inproceedings{brumund21_multib_simul_reduc_order_flexib_bodies_fea, + author = {Philipp Brumund and Thomas Dehaeze}, + title = {Multibody Simulations with Reduced Order Flexible Bodies + obtained by FEA}, + booktitle = {MEDSI'20}, + year = 2021, + language = {english}, + publisher = {JACoW Publishing}, + series = {Mechanical Engineering Design of Synchrotron Radiation + Equipment and Instrumentation}, + venue = {Chicago, USA}, + keywords = {nass, esrf}, +} + + + +@inproceedings{dehaeze21_mechat_approac_devel_nano_activ_stabil_system, + author = {Dehaeze, T. and Bonnefoy, J. and Collette, C.}, + title = {Mechatronics Approach for the Development of a + Nano-Active-Stabilization-System}, + booktitle = {MEDSI'20}, + year = 2021, + language = {english}, + publisher = {JACoW Publishing}, + series = {Mechanical Engineering Design of Synchrotron Radiation + Equipment and Instrumentation}, + venue = {Chicago, USA}, + keywords = {nass, esrf}, +} + diff --git a/phd-thesis.org b/phd-thesis.org index 4d2fd08..8049e07 100644 --- a/phd-thesis.org +++ b/phd-thesis.org @@ -19,9 +19,12 @@ #+BIND: org-latex-bib-compiler "biber" +#+TODO: TODO(t) MAKE(m) COPY(c) | DONE(d) + #+LATEX_HEADER: \input{config.tex} #+LATEX_HEADER_EXTRA: \input{config_extra.tex} #+LATEX_HEADER_EXTRA: \addbibresource{ref.bib} +#+LATEX_HEADER_EXTRA: \addbibresource{phd-thesis.bib} #+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/tikz/org/}{config.tex}") #+PROPERTY: header-args:latex+ :imagemagick t :fit yes @@ -93,12 +96,13 @@ | phi | \ensuremath{\phi} | A woody bush | #+name: acronyms -| key | abbreviation | full form | -|------+--------------+----------------------------------| -| mimo | MIMO | Multiple-Inputs Multiple-Outputs | -| siso | SISO | Single-Input Single-Output | -| nass | NASS | Nano Active Stabilization System | -| lti | LTI | Linear Time Invariant | +| key | abbreviation | full form | +|------+--------------+-----------------------------------------| +| mimo | MIMO | Multiple-Inputs Multiple-Outputs | +| siso | SISO | Single-Input Single-Output | +| nass | NASS | Nano Active Stabilization System | +| lti | LTI | Linear Time Invariant | +| esrf | ESRF | European Synchrotron Radiation Facility | * Title Page :ignore: @@ -137,6 +141,8 @@ :UNNUMBERED: notoc :END: +\gls{phi} + * Résumé :PROPERTIES: :UNNUMBERED: notoc @@ -160,7 +166,7 @@ * Introduction ** Context of this thesis / Background and Motivation -- ESRF (Figure [[fig:esrf_picture]]) +- \gls{esrf} (Figure [[fig:esrf_picture]]) #+name: fig:esrf_picture #+caption: European Synchrotron Radiation Facility @@ -356,6 +362,7 @@ Alternative: =id31_microstation_cad_view.png= (CAD view) - Few words about science made on ID31 and why nano-meter accuracy is required - Typical experiments (tomography, ...), various samples (up to 50kg) +- Where to explain the goal of each stage? (e.g. micro-hexapod: static positioning, Ty and Rz: scans, ...) - Example of picture obtained (Figure [[fig:id31_tomography_result]]) #+name: fig:id31_tomography_result @@ -365,6 +372,8 @@ Alternative: =id31_microstation_cad_view.png= (CAD view) - Explain wanted positioning accuracy and why micro-station cannot have this accuracy (backlash, play, thermal expansion, ...) +- Speak about the metrology concept, and why it is not included in this thesis + ** Challenge definition #+name: fig:nass_concept_schematic @@ -406,6 +415,7 @@ Alternative: =id31_microstation_cad_view.png= (CAD view) cite:hanieh03_activ_stewar cite:afzali-far16_vibrat_dynam_isotr_hexap_analy_studies cite:naves20_desig + [[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/bibliography.org]] - Positioning stations - Mechatronic approach? cite:rankers98_machin @@ -523,25 +533,32 @@ Alternative: =id31_microstation_cad_view.png= (CAD view) #+RESULTS: [[file:figs/nass_mechatronics_approach.png]] +*Goals*: +- Design \gls{nass} such that it is easy to control (and maintain). + Have good performances by design and not by complex control strategies. + + +*Models*: +- Uniaxial Model: + - Effect of limited support compliance + - Effect of change of payload +- Rotating Model + - Gyroscopic effects +- Multi Body Model +- Finite Element Models * Conceptual Design Development \minitoc **** Abstract -Schematic that summarizes this phase. -Uniaxial => Rotation => Multi body => Simulations +#+name: fig:chapter1_overview +#+caption: Figure caption +#+attr_latex: :width \linewidth +[[file:figs/chapter1_overview.png]] -** Constrains on the system +** COPY Uni-axial Model +# [[file:/home/thomas/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/A1-nass-uniaxial-model/nass-uniaxial-model.org][NASS - Uniaxial Model]] -- Size -- Payload -- Connections to samples -- ... should justify the nano-hexapod design - - choice of parallel architecture - -- [ ] Picture/schematic of the micro-station with indicated location of Nano-Hexapod - -** Uni-axial Model *** Introduction :ignore: - Explain what we want to capture with this model @@ -639,7 +656,14 @@ Uniaxial => Rotation => Multi body => Simulations #+RESULTS: [[file:figs/mass_spring_damper_nass.png]] -*** Noise Budgeting +*** Micro Station Model +*** Nano Hexapod Model +*** Disturbance Identification +*** Open Loop Dynamic Noise Budgeting + +- List all disturbances with their spectral densities +- Show how they have been measured +- Say that repeatable errors can be calibrated (show measurement of Hans-Peter?) #+name: fig:measurement_microstation_vibration_picture #+caption: Setup used to measure the micro-station vibrations during operation @@ -651,21 +675,6 @@ Uniaxial => Rotation => Multi body => Simulations #+attr_latex: :width 0.49\linewidth [[file:example-image-b.png]] -*** Effect of support compliance -[[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/uncertainty_support.org::+TITLE: Effect of Uncertainty on the support's dynamics on the isolation platform dynamics][study]] - -- *goal*: make the nano-hexapod independent of the support compliance -- Simple 2DoF model -- Generalized to any support compliance -- *conclusion*: frequency of nano-hexapod resonances should be lower than first suspension mode of the support - -*** Effect of payload dynamics -[[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/uncertainty_payload.org::+TITLE: Effect of Uncertainty on the payload's dynamics on the isolation platform dynamics][study]] - -- *goal*: be robust to a change of payload -- Simple 2DoF model -- Generalized to any payload dynamics - *** Active Damping Conclusion: IFF is better for this application @@ -683,12 +692,32 @@ Conclusion: IFF is better for this application - Sensitivity to disturbances -** Effect of rotation +*** Position Feedback Controller +*** Effect of support compliance + +- *goal*: make the nano-hexapod independent of the support compliance +- Simple 2DoF model +- Generalized to any support compliance +- *conclusion*: frequency of nano-hexapod resonances should be lower than first suspension mode of the support + +*** Effect of payload dynamics + +- *goal*: be robust to a change of payload +- Simple 2DoF model +- Generalized to any payload dynamics + +*** Conclusion + +** COPY Effect of rotation +# [[file:/home/thomas/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/A2-nass-rotating-3dof-model/nass-rotating-3dof-model.org][NASS - Rotating 3DoF Model]] + *** Introduction :ignore: -[[cite:&dehaeze20_activ_dampin_rotat_platf_integ_force_feedb;&dehaeze21_activ_dampin_rotat_platf_using]] +Papers: +- [[cite:dehaeze20_activ_dampin_rotat_platf_integ_force_feedb]] +- [[cite:dehaeze21_activ_dampin_rotat_platf_using]] -*** X-Y rotating platform model +*** System Description and Analysis - x-y-Rz model - explain why this is representing the NASS @@ -759,19 +788,22 @@ Conclusion: IFF is better for this application #+RESULTS: [[file:figs/2dof_rotating_system.png]] -*** Effect of rotational velocity on the system dynamics - -- Campbell diagram - -*** Decentralized Integral Force Feedback +*** Integral Force Feedback - Control diagram - Root Locus: unstable with pure IFF -*** Two proposed modification of IFF +*** IFF with an High Pass Filter -- Comparison of parallel stiffness and change of controller -- Transmissibility +*** IFF with a stiffness in parallel with the force sensor + +*** Relative Damping Control + +*** Comparison of Active Damping Techniques + +*** Rotating Nano-Hexapod + +*** Nano Active Stabilization System with rotation *** Conclusion @@ -780,7 +812,56 @@ Conclusion: IFF is better for this application - Conclusion: minimum stiffness is required - APA is a nice architecture for parallel stiffness + integrated force sensor (have to speak about IFF before that) -** Multi Body Model - Nano Hexapod +** TODO Micro Station - Modal Analysis +# [[file:/home/thomas/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/A3-micro-station-modal-analysis/modal-analysis.org][Micro Station - Modal Analysis]] +*** Introduction :ignore: + +Conclusion: +- complex dynamics: need multi-body model of the micro-station to represent the limited compliance... + +*** Measurement Setup + +*** Frequency Analysis + +*** Modal Analysis + +** TODO Micro Station - Multi Body Model +# [[file:/home/thomas/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/A4-simscape-micro-station/simscape-micro-station.org][Simscape - Micro-Station]] + +*** Introduction :ignore: + +#+name: fig:simscape_first_model_screenshot +#+caption: 3D view of the multi-body model of the micro-station +#+attr_latex: :width 0.7\linewidth +[[file:figs/simscape_first_model_screenshot.jpg]] + +*** Kinematics + +[[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/kinematics.org::+TITLE: Kinematics of the station]] + +- Small overview of each stage and associated stiffnesses / inertia +- schematic that shows to considered DoF +- import from CAD + +*** Modal Analysis and Dynamic Modeling +# [[file:~/Cloud/work-projects/ID31-NASS/matlab/micro-station-modal-analysis/modal-analysis.org][modal-analysis]] + +- Picture of the experimental setup +- Location of accelerometers +- Show obtained modes +- Validation of rigid body assumption +- Explain how this helps tuning the multi-body model + +*** Disturbances and Positioning errors + +*** Validation of the Model + +- Most important metric: support compliance +- Compare model and measurement + +** TODO Nano Hexapod - Multi Body Model +# [[file:~/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/A5-simscape-nano-hexapod/simscape-nano-hexapod.org][Simscape - Nano-Hexapod]] + *** Introduction :ignore: - What we want to capture with this model @@ -809,6 +890,8 @@ Conclusion: IFF is better for this application #+end_subfigure #+end_figure +Configurable Simscape Model: [[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org]] +- Explain the different frames, etc... - Little review - explain key elements: @@ -829,52 +912,37 @@ Conclusion: IFF is better for this application - Piezoelectric effects - mass spring damper representation (2dof) - Compare the model and the experiment +- Here, just a basic 2DoF model of the APA is used -*** Dynamics +*** Dynamics of the Nano-Hexapod - Effect of joints stiffnesses +- [ ] The APA model should maybe not be used here, same for the nice top and bottom plates. Here the detailed design is not yet performed + #+name: fig:simscape_nano_hexapod #+caption: 3D view of the multi-body model of the Nano-Hexapod (simplified) #+attr_latex: :width \linewidth [[file:figs/simscape_nano_hexapod.png]] -** Multi Body Model - Micro Station -*** Introduction :ignore: +** TODO Control Architecture - Concept Validation +# [[file:~/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/A6-simscape-nass/simscape-nass.org][Simscape - NASS]] -#+name: fig:simscape_first_model_screenshot -#+caption: 3D view of the multi-body model of the micro-station -#+attr_latex: :width 0.7\linewidth -[[file:figs/simscape_first_model_screenshot.jpg]] - -*** Kinematics - -- Small overview of each stage and associated stiffnesses / inertia -- schematic that shows to considered DoF -- import from CAD - -*** Modal Analysis -[[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-measurements/modal-analysis/index.org][study]] - -- Picture of the experimental setup -- Location of accelerometers -- Show obtained modes -- Validation of rigid body assumption -- Explain how this helps tuning the multi-body model - -*** Validation of the Model - -- Most important metric: support compliance -- Compare model and measurement - -** Control Architecture *** Introduction :ignore: Discussion of: -- Transformation matrices / control architecture +- Transformation matrices / control architecture (computation of the position error in the frame of the nano-hexapod) +- Control of parallel architectures - Control in the frame of struts or cartesian? - Effect of rotation on IFF? => APA - HAC-LAC +- New noise budgeting? + +*** Control Kinematics + +- Explain how the position error can be expressed in the frame of the nano-hexapod +- block diagram +- Explain how to go from external metrology to the frame of the nano-hexapod *** High Authority Control - Low Authority Control (HAC-LAC) @@ -893,12 +961,6 @@ Discussion of: - Root Locus - Damping optimization -*** Control Kinematics - -- Explain how the position error can be expressed in the frame of the nano-hexapod -- block diagram -- Explain how to go from external metrology to the frame of the nano-hexapod - *** Decoupled Dynamics - Centralized HAC @@ -910,46 +972,36 @@ Discussion of: - Decoupled plant - Controller design -** Simulations - Concept Validation -*** Introduction :ignore: - -- Tomography experiment -- Open VS Closed loop results -- *Conclusion*: concept validation - nano hexapod architecture with APA - decentralized IFF + centralized HAC - -#+name: fig:simscape_nass_final -#+caption: 3D view of the multi-body model including the micro-station, the nano-hexapod and the associated metrology -#+attr_latex: :width \linewidth -[[file:figs/simscape_nass_final.png]] - -** Conclusion - +** Conceptual Design - Conclusion * Detailed Design \minitoc **** Abstract -CAD view of the nano-hexapod with key components: -- plates -- flexible joints -- APA -- required instrumentation (ADC, DAC, Speedgoat, Amplifiers, Force Sensor instrumentation, ...) +#+name: fig:chapter2_overview +#+caption: Figure caption +#+attr_latex: :width \linewidth +[[file:figs/chapter2_overview.png]] + +** TODO Nano-Hexapod Kinematics - Optimal Geometry? +# [[file:~/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/B1-nass-geometry/nass-geometry.org][NASS - Geometry]] + +- [ ] Maybe this can be just merged with the last section in this chapter? -** Optimal Nano-Hexapod geometry *** Introduction :ignore: -- [ ] Geometry? - - [ ] Cubic architecture? - - [ ] Kinematics - - [ ] Trade-off for the strut orientation -- [ ] Sensors required *** Optimal strut orientation + *** Cubic Architecture: a Special Case? -** Including Flexible elements in the Multi-body model +[[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/cubic-configuration.org]] + +** TODO Nano-Hexapod Dynamics - Including Flexible elements in the Multi-body model +# [[file:~/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/B2-nass-fem/nass-fem.org][NASS - FEM]] + +- [ ] Should this be an appendix? + *** Introduction :ignore: Reduced order flexible bodies [[cite:brumund21_multib_simul_reduc_order_flexib_bodies_fea]] - Used with APA, Flexible joints, Plates @@ -969,17 +1021,24 @@ Reduced order flexible bodies [[cite:brumund21_multib_simul_reduc_order_flexib_b - Test bench - Obtained transfer functions and comparison with Simscape model with reduced order flexible body -** Amplified Piezoelectric Actuator +** TODO Actuator Choice +# [[file:~/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/B3-nass-actuator-choice/nass-actuator-choice.org][NASS - Actuator]] + *** Introduction :ignore: -[[file:~/Cloud/work-projects/ID31-NASS/matlab/test-bench-apa/index.org::+TITLE: Test Bench - Amplified Piezoelectric Actuator][study 1]], [[file:~/Cloud/work-projects/ID31-NASS/matlab/test-bench-apa300ml/test-bench-apa300ml.org::+TITLE: Nano-Hexapod Struts - Test Bench][study 2]] + +- From previous study: APA seems a nice choice +- First tests with the APA95ML: validation of a basic model (maybe already presented) +- Optimal stiffness? +- Talk about piezoelectric actuator? bandwidth? noise? +- Specifications: stiffness, stroke, ... => choice of the APA +- FEM of the APA +- Validation with flexible APA in the simscape model #+name: fig:apa_schmeatic #+caption: Schematical representation of an Amplified Piezoelectric Actuator #+attr_latex: :width 0.49\linewidth [[file:example-image-a.png]] -- First tests with the APA95ML - *** Model Piezoelectric equations @@ -1015,9 +1074,18 @@ Piezoelectric equations - Tuned Simscape model - IFF results: OK -** Flexible Joints +** TODO Design of Nano-Hexapod Flexible Joints +# [[file:~/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/B4-nass-flexible-joints/nass-flexible-joints.org][NASS - Flexible Joints]] + *** Introduction :ignore: +- Perfect flexible joint +- Imperfection of the flexible joint: Model +- Study of the effect of limited stiffness in constrain directions and non-null stiffness in other directions +- Obtained Specification +- Design optimisation (FEM) +- Implementation of flexible elements in the Simscape model: close to simplified model + *** Effect of flexible joint characteristics on obtained dynamics - Based on Simscape model @@ -1028,6 +1096,7 @@ Piezoelectric equations *** Flexible joint geometry optimization - Chosen geometry +- Show different existing geometry for flexible joints used on hexapods - Optimisation with Ansys - Validation with Simscape model @@ -1038,15 +1107,22 @@ Piezoelectric equations - Test bench - Obtained results -** Instrumentation +** TODO Choice of Instrumentation +# [[file:~/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/B5-nass-instrumentation/nass-instrumentation.org][NASS - Instrumentation]] + *** Introduction :ignore: -*** DAC +- Discussion of the choice of other elements: + - Encoder + - DAC + - ADC (reading of the force sensors) + - real time controller + - Voltage amplifiers +- Give some requirements + chosen elements + measurements / validation +*** DAC and ADC -*** ADC - -Force sensor +- Force sensor *** Voltage amplifier ([[https://research.tdehaeze.xyz/test-bench-pd200/][link]]) @@ -1057,67 +1133,68 @@ Force sensor *** Encoder ([[https://research.tdehaeze.xyz/test-bench-vionic/][link]]) - Noise measurement -** Obtained Design +** TODO Obtained Design +# [[file:~/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/B6-nass-design/nass-design.org][NASS - Design]] +- Explain again the different specifications in terms of space, payload, etc.. - CAD view of the nano-hexapod - Chosen geometry, materials, ease of mounting, cabling, ... +- Validation on Simscape with accurate model? +** Detailed Design - Conclusion * Experimental Validation \minitoc **** Abstract +#+name: fig:chapter3_overview +#+caption: Figure caption +#+attr_latex: :width \linewidth +[[file:figs/chapter3_overview.png]] + Schematic representation of the experimental validation process. - APA - Strut - Nano-hexapod on suspended table - Nano-hexapod with Spindle -** Amplified Piezoelectric Actuator ([[https://research.tdehaeze.xyz/test-bench-apa300ml/][link]]) +** COPY Amplified Piezoelectric Actuator +# [[file:~/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/C1-test-bench-apa/test-bench-apa.org][Test Bench - APA]] -APA alone: -- *Goal*: Tune model of APA -- [ ] FRF and fit with FEM model -- [ ] Show all six FRF and how close they are -- [ ] IFF +** TODO Flexible Joints +# [[file:~/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/C2-test-bench-flexible-joints/test-bench-flexible-joints.org][Test Bench - Flexible Joints]] -** Struts +** TODO Struts +SCHEDULED: <2024-04-15 Mon> +# [[file:~/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/C3-test-bench-struts/test-bench-struts.org][Test Bench - Struts]] -Strut (APA + joints): -- [ ] FRF, tune model -- [ ] Issue with encoder (comparison with axial motion) -- [ ] IFF +** TODO Nano-Hexapod +# [[file:~/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/C4-test-bench-nano-hexapod/test-bench-nano-hexapod.org][Test Bench - Nano Hexapod]] -** Nano-Hexapod +** TODO Rotating Nano-Hexapod +# [[file:~/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/C5-test-bench-nass-spindle/test-bench-nass-spindle.org][Test Bench - NASS Spindle]] -Mounting - -Test bench on top of soft table: -- *Goal*: Tune model of nano-hexapod, validation of dynamics -- modal analysis soft table (first mode at xxx Hz => rigid body in Simscape) -- FRF + comp model (multiple masses) -- IFF and robustness to change of mass - -** Rotating Nano-Hexapod - -- *Goal*: validation of control strategy with rotation -- Interferometers to have more stroke - -#+name: fig:rot_nano_hexapod_bench_schematic -#+caption: Schematic of the rotating nano-hexapod test bench -#+attr_latex: :width 0.49\linewidth -[[file:example-image-a.png]] - -** ID31 Micro Station - -- *Goal*: full validation without the full metrology +** TODO ID31 Micro Station +# [[file:~/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/C6-test-bench-id31/test-bench-id31.org][Test Bench - ID31]] +** Experimental Validation - Conclusion * Conclusion and Future Work +** Alternative Architecture +[[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/alternative-micro-station-architecture.org]] + * Appendix :ignore: #+latex: \appendix +* Mathematical Tools for Mechatronics +** Feedback Control + + +** Dynamical Noise Budgeting +*** Power Spectral Density + +*** Cumulative Amplitude Spectrum + * Stewart Platform - Kinematics -* Comments on something * Bibliography :ignore: #+latex: \printbibliography[heading=bibintoc,title={Bibliography}] @@ -1140,7 +1217,9 @@ Test bench on top of soft table: #+end_export * Glossary :ignore: + #+latex: \printglossary[type=\acronymtype] +#+latex: \printglossary[type=\glossarytype] #+latex: \printglossary * Footnotes diff --git a/phd-thesis.pdf b/phd-thesis.pdf index 6684df3..c3a0e74 100644 Binary files a/phd-thesis.pdf and b/phd-thesis.pdf differ diff --git a/phd-thesis.tex b/phd-thesis.tex index cb6921c..4ffcc44 100644 --- a/phd-thesis.tex +++ b/phd-thesis.tex @@ -1,4 +1,4 @@ -% Created 2023-01-31 Tue 23:33 +% Created 2024-04-12 Fri 09:30 % Intended LaTeX compiler: pdflatex \documentclass[a4paper, twoside, 11pt, onecolumn, bibliography=totoc, openright, appendixprefix=true]{scrreprt} @@ -7,12 +7,14 @@ \newacronym{siso}{SISO}{Single-Input Single-Output} \newacronym{nass}{NASS}{Nano Active Stabilization System} \newacronym{lti}{LTI}{Linear Time Invariant} +\newacronym{esrf}{ESRF}{European Synchrotron Radiation Facility} \newglossaryentry{ka}{name=\ensuremath{k_a},description={{Actuator Stiffness in}}} \newglossaryentry{phi}{name=\ensuremath{\phi},description={{A woody bush}}} \input{config_extra.tex} \addbibresource{ref.bib} +\addbibresource{phd-thesis.bib} \author{Dehaeze Thomas} -\date{2023-01-31} +\date{2024-04-12} \title{Mechatronic approach for the design of a Nano Active Stabilization System} \subtitle{PhD Thesis} \hypersetup{ @@ -20,7 +22,7 @@ pdftitle={Mechatronic approach for the design of a Nano Active Stabilization System}, pdfkeywords={}, pdfsubject={}, - pdfcreator={Emacs 28.2 (Org mode 9.5.2)}, + pdfcreator={Emacs 29.3 (Org mode 9.6)}, pdflang={English}} \usepackage{biblatex} @@ -56,6 +58,7 @@ \newpage \chapter*{Abstract} +\gls{phi} \chapter*{Résumé} @@ -71,7 +74,7 @@ \section{Context of this thesis / Background and Motivation} \begin{itemize} -\item ESRF (Figure \ref{fig:esrf_picture}) +\item \gls{esrf} (Figure \ref{fig:esrf_picture}) \end{itemize} \begin{figure}[htbp] @@ -98,13 +101,14 @@ Alternative: \texttt{id31\_microstation\_cad\_view.png} (CAD view) \begin{figure}[htbp] \centering -\includegraphics[scale=1,width=0.49\linewidth]{figs/id31_beamline_schematic.png} +\includegraphics[scale=1,width=\linewidth]{figs/id31_beamline_schematic.png} \caption{\label{fig:id31_beamline_schematic}ID31 Beamline Schematic. With light source, nano-focusing optics, sample stage and detector.} \end{figure} \begin{itemize} \item Few words about science made on ID31 and why nano-meter accuracy is required \item Typical experiments (tomography, \ldots{}), various samples (up to 50kg) +\item Where to explain the goal of each stage? (e.g. micro-hexapod: static positioning, Ty and Rz: scans, \ldots{}) \item Example of picture obtained (Figure \ref{fig:id31_tomography_result}) \end{itemize} @@ -116,6 +120,8 @@ Alternative: \texttt{id31\_microstation\_cad\_view.png} (CAD view) \begin{itemize} \item Explain wanted positioning accuracy and why micro-station cannot have this accuracy (backlash, play, thermal expansion, \ldots{}) + +\item Speak about the metrology concept, and why it is not included in this thesis \end{itemize} \section{Challenge definition} @@ -161,6 +167,7 @@ First hexapod with control bandwidth higher than the suspension modes that accep \cite{hanieh03_activ_stewar} \cite{afzali-far16_vibrat_dynam_isotr_hexap_analy_studies} \cite{naves20_desig} +\url{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/bibliography.org} \item Positioning stations \item Mechatronic approach? \cite{rankers98_machin} @@ -184,29 +191,40 @@ Because of this, the designer wants to be able to predict the performance of the \caption{\label{fig:nass_mechatronics_approach}Overview of the mechatronic approach used for the Nano-Active-Stabilization-System} \end{figure} +\textbf{Goals}: +\begin{itemize} +\item Design \gls{nass} such that it is easy to control (and maintain). +Have good performances by design and not by complex control strategies. +\end{itemize} + + +\textbf{Models}: +\begin{itemize} +\item Uniaxial Model: +\begin{itemize} +\item Effect of limited support compliance +\item Effect of change of payload +\end{itemize} +\item Rotating Model +\begin{itemize} +\item Gyroscopic effects +\end{itemize} +\item Multi Body Model +\item Finite Element Models +\end{itemize} \chapter{Conceptual Design Development} \minitoc \paragraph{Abstract} -Schematic that summarizes this phase. -Uniaxial => Rotation => Multi body => Simulations - -\section{Constrains on the system} - -\begin{itemize} -\item Size -\item Payload -\item Connections to samples -\item \ldots{} should justify the nano-hexapod design -\begin{itemize} -\item choice of parallel architecture -\end{itemize} - -\item[{$\square$}] Picture/schematic of the micro-station with indicated location of Nano-Hexapod -\end{itemize} +\begin{figure}[htbp] +\centering +\includegraphics[scale=1,width=\linewidth]{figs/chapter1_overview.png} +\caption{\label{fig:chapter1_overview}Figure caption} +\end{figure} \section{Uni-axial Model} + \begin{itemize} \item Explain what we want to capture with this model \item Schematic of the uniaxial model (with X-ray) @@ -222,7 +240,16 @@ Uniaxial => Rotation => Multi body => Simulations \caption{\label{fig:mass_spring_damper_nass}3-DoF uniaxial mass-spring-damper model of the NASS} \end{figure} -\subsection{Noise Budgeting} +\subsection{Micro Station Model} +\subsection{Nano Hexapod Model} +\subsection{Disturbance Identification} +\subsection{Open Loop Dynamic Noise Budgeting} + +\begin{itemize} +\item List all disturbances with their spectral densities +\item Show how they have been measured +\item Say that repeatable errors can be calibrated (show measurement of Hans-Peter?) +\end{itemize} \begin{figure}[htbp] \centering @@ -236,25 +263,6 @@ Uniaxial => Rotation => Multi body => Simulations \caption{\label{fig:asd_ground_motion_ustation_dist}Amplitude Spectral density of the measured disturbance sources} \end{figure} -\subsection{Effect of support compliance} -\href{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/uncertainty\_support.org}{study} - -\begin{itemize} -\item \textbf{goal}: make the nano-hexapod independent of the support compliance -\item Simple 2DoF model -\item Generalized to any support compliance -\item \textbf{conclusion}: frequency of nano-hexapod resonances should be lower than first suspension mode of the support -\end{itemize} - -\subsection{Effect of payload dynamics} -\href{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/uncertainty\_payload.org}{study} - -\begin{itemize} -\item \textbf{goal}: be robust to a change of payload -\item Simple 2DoF model -\item Generalized to any payload dynamics -\end{itemize} - \subsection{Active Damping} Conclusion: IFF is better for this application @@ -276,10 +284,35 @@ Conclusion: IFF is better for this application \end{itemize} -\section{Effect of rotation} -\cite{dehaeze20_activ_dampin_rotat_platf_integ_force_feedb,dehaeze21_activ_dampin_rotat_platf_using} +\subsection{Position Feedback Controller} +\subsection{Effect of support compliance} -\subsection{X-Y rotating platform model} +\begin{itemize} +\item \textbf{goal}: make the nano-hexapod independent of the support compliance +\item Simple 2DoF model +\item Generalized to any support compliance +\item \textbf{conclusion}: frequency of nano-hexapod resonances should be lower than first suspension mode of the support +\end{itemize} + +\subsection{Effect of payload dynamics} + +\begin{itemize} +\item \textbf{goal}: be robust to a change of payload +\item Simple 2DoF model +\item Generalized to any payload dynamics +\end{itemize} + +\subsection{Conclusion} + +\section{Effect of rotation} + +Papers: +\begin{itemize} +\item \cite{dehaeze20_activ_dampin_rotat_platf_integ_force_feedb} +\item \cite{dehaeze21_activ_dampin_rotat_platf_using} +\end{itemize} + +\subsection{System Description and Analysis} \begin{itemize} \item x-y-Rz model @@ -294,25 +327,24 @@ Conclusion: IFF is better for this application \caption{\label{fig:2dof_rotating_system}Mass spring damper model of an X-Y stage on top of a rotating stage} \end{figure} -\subsection{Effect of rotational velocity on the system dynamics} - -\begin{itemize} -\item Campbell diagram -\end{itemize} - -\subsection{Decentralized Integral Force Feedback} +\subsection{Integral Force Feedback} \begin{itemize} \item Control diagram \item Root Locus: unstable with pure IFF \end{itemize} -\subsection{Two proposed modification of IFF} +\subsection{IFF with an High Pass Filter} -\begin{itemize} -\item Comparison of parallel stiffness and change of controller -\item Transmissibility -\end{itemize} +\subsection{IFF with a stiffness in parallel with the force sensor} + +\subsection{Relative Damping Control} + +\subsection{Comparison of Active Damping Techniques} + +\subsection{Rotating Nano-Hexapod} + +\subsection{Nano Active Stabilization System with rotation} \subsection{Conclusion} @@ -323,7 +355,56 @@ Conclusion: IFF is better for this application \item APA is a nice architecture for parallel stiffness + integrated force sensor (have to speak about IFF before that) \end{itemize} -\section{Multi Body Model - Nano Hexapod} +\section{Micro Station - Modal Analysis} +Conclusion: +\begin{itemize} +\item complex dynamics: need multi-body model of the micro-station to represent the limited compliance\ldots{} +\end{itemize} + +\subsection{Measurement Setup} + +\subsection{Frequency Analysis} + +\subsection{Modal Analysis} + +\section{Micro Station - Multi Body Model} + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1,width=0.7\linewidth]{figs/simscape_first_model_screenshot.jpg} +\caption{\label{fig:simscape_first_model_screenshot}3D view of the multi-body model of the micro-station} +\end{figure} + +\subsection{Kinematics} + +\url{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/kinematics.org} + +\begin{itemize} +\item Small overview of each stage and associated stiffnesses / inertia +\item schematic that shows to considered DoF +\item import from CAD +\end{itemize} + +\subsection{Modal Analysis and Dynamic Modeling} +\begin{itemize} +\item Picture of the experimental setup +\item Location of accelerometers +\item Show obtained modes +\item Validation of rigid body assumption +\item Explain how this helps tuning the multi-body model +\end{itemize} + +\subsection{Disturbances and Positioning errors} + +\subsection{Validation of the Model} + +\begin{itemize} +\item Most important metric: support compliance +\item Compare model and measurement +\end{itemize} + +\section{Nano Hexapod - Multi Body Model} + \begin{itemize} \item What we want to capture with this model \item Explain what is a multi body model (rigid body, springs, etc\ldots{}) @@ -333,7 +414,26 @@ Conclusion: IFF is better for this application \subsection{Stewart Platform Architecture} +\begin{figure} +\begin{subfigure}{0.49\textwidth} +\begin{center} +\includegraphics[scale=1,width=0.8\linewidth]{stewart_architecture_example.png} +\end{center} +\subcaption{Initial position} +\end{subfigure} +\begin{subfigure}{0.49\textwidth} +\begin{center} +\includegraphics[scale=1,width=0.8\linewidth]{stewart_architecture_example_pose.png} +\end{center} +\subcaption{After some motion} +\end{subfigure} +\caption{\label{fig:stewart_platform_architecture}Stewart Platform Architecture} +\end{figure} + +Configurable Simscape Model: \url{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org} \begin{itemize} +\item Explain the different frames, etc\ldots{} + \item Little review \item explain key elements: \begin{itemize} @@ -359,12 +459,15 @@ Conclusion: IFF is better for this application \item Piezoelectric effects \item mass spring damper representation (2dof) \item Compare the model and the experiment +\item Here, just a basic 2DoF model of the APA is used \end{itemize} -\subsection{Dynamics} +\subsection{Dynamics of the Nano-Hexapod} \begin{itemize} \item Effect of joints stiffnesses + +\item[{$\square$}] The APA model should maybe not be used here, same for the nice top and bottom plates. Here the detailed design is not yet performed \end{itemize} \begin{figure}[htbp] @@ -373,46 +476,24 @@ Conclusion: IFF is better for this application \caption{\label{fig:simscape_nano_hexapod}3D view of the multi-body model of the Nano-Hexapod (simplified)} \end{figure} -\section{Multi Body Model - Micro Station} -\begin{figure}[htbp] -\centering -\includegraphics[scale=1,width=0.7\linewidth]{figs/simscape_first_model_screenshot.jpg} -\caption{\label{fig:simscape_first_model_screenshot}3D view of the multi-body model of the micro-station} -\end{figure} +\section{Control Architecture - Concept Validation} -\subsection{Kinematics} - -\begin{itemize} -\item Small overview of each stage and associated stiffnesses / inertia -\item schematic that shows to considered DoF -\item import from CAD -\end{itemize} - -\subsection{Modal Analysis} -\href{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/nass-measurements/modal-analysis/index.org}{study} - -\begin{itemize} -\item Picture of the experimental setup -\item Location of accelerometers -\item Show obtained modes -\item Validation of rigid body assumption -\item Explain how this helps tuning the multi-body model -\end{itemize} - -\subsection{Validation of the Model} - -\begin{itemize} -\item Most important metric: support compliance -\item Compare model and measurement -\end{itemize} - -\section{Control Architecture} Discussion of: \begin{itemize} -\item Transformation matrices / control architecture +\item Transformation matrices / control architecture (computation of the position error in the frame of the nano-hexapod) +\item Control of parallel architectures \item Control in the frame of struts or cartesian? \item Effect of rotation on IFF? => APA \item HAC-LAC +\item New noise budgeting? +\end{itemize} + +\subsection{Control Kinematics} + +\begin{itemize} +\item Explain how the position error can be expressed in the frame of the nano-hexapod +\item block diagram +\item Explain how to go from external metrology to the frame of the nano-hexapod \end{itemize} \subsection{High Authority Control - Low Authority Control (HAC-LAC)} @@ -438,14 +519,6 @@ Discussion of: \item Damping optimization \end{itemize} -\subsection{Control Kinematics} - -\begin{itemize} -\item Explain how the position error can be expressed in the frame of the nano-hexapod -\item block diagram -\item Explain how to go from external metrology to the frame of the nano-hexapod -\end{itemize} - \subsection{Decoupled Dynamics} \begin{itemize} @@ -461,52 +534,34 @@ Discussion of: \item Controller design \end{itemize} -\section{Simulations - Concept Validation} -\begin{itemize} -\item Tomography experiment -\item Open VS Closed loop results -\item \textbf{Conclusion}: concept validation -nano hexapod architecture with APA -decentralized IFF + centralized HAC -\end{itemize} - -\begin{figure}[htbp] -\centering -\includegraphics[scale=1,width=\linewidth]{figs/simscape_nass_final.png} -\caption{\label{fig:simscape_nass_final}3D view of the multi-body model including the micro-station, the nano-hexapod and the associated metrology} -\end{figure} - -\section{Conclusion} - +\section{Conceptual Design - Conclusion} \chapter{Detailed Design} \minitoc \paragraph{Abstract} -CAD view of the nano-hexapod with key components: -\begin{itemize} -\item plates -\item flexible joints -\item APA -\item required instrumentation (ADC, DAC, Speedgoat, Amplifiers, Force Sensor instrumentation, \ldots{}) -\end{itemize} +\begin{figure}[htbp] +\centering +\includegraphics[scale=1,width=\linewidth]{figs/chapter2_overview.png} +\caption{\label{fig:chapter2_overview}Figure caption} +\end{figure} -\section{Optimal Nano-Hexapod geometry} +\section{Nano-Hexapod Kinematics - Optimal Geometry?} \begin{itemize} -\item[{$\square$}] Geometry? -\begin{itemize} -\item[{$\square$}] Cubic architecture? -\item[{$\square$}] Kinematics -\item[{$\square$}] Trade-off for the strut orientation -\end{itemize} -\item[{$\square$}] Sensors required +\item[{$\square$}] Maybe this can be just merged with the last section in this chapter? \end{itemize} \subsection{Optimal strut orientation} + \subsection{Cubic Architecture: a Special Case?} -\section{Including Flexible elements in the Multi-body model} +\url{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/cubic-configuration.org} + +\section{Nano-Hexapod Dynamics - Including Flexible elements in the Multi-body model} +\begin{itemize} +\item[{$\square$}] Should this be an appendix? +\end{itemize} Reduced order flexible bodies \cite{brumund21_multib_simul_reduc_order_flexib_bodies_fea} \begin{itemize} \item Used with APA, Flexible joints, Plates @@ -533,8 +588,17 @@ Reduced order flexible bodies \cite{brumund21_multib_simul_reduc_order_flexib_bo \item Obtained transfer functions and comparison with Simscape model with reduced order flexible body \end{itemize} -\section{Amplified Piezoelectric Actuator} -\href{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/test-bench-apa/index.org}{study 1}, \href{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/test-bench-apa300ml/test-bench-apa300ml.org}{study 2} +\section{Actuator Choice} + +\begin{itemize} +\item From previous study: APA seems a nice choice +\item First tests with the APA95ML: validation of a basic model (maybe already presented) +\item Optimal stiffness? +\item Talk about piezoelectric actuator? bandwidth? noise? +\item Specifications: stiffness, stroke, \ldots{} => choice of the APA +\item FEM of the APA +\item Validation with flexible APA in the simscape model +\end{itemize} \begin{figure}[htbp] \centering @@ -542,10 +606,6 @@ Reduced order flexible bodies \cite{brumund21_multib_simul_reduc_order_flexib_bo \caption{\label{fig:apa_schmeatic}Schematical representation of an Amplified Piezoelectric Actuator} \end{figure} -\begin{itemize} -\item First tests with the APA95ML -\end{itemize} - \subsection{Model} Piezoelectric equations @@ -568,6 +628,12 @@ Piezoelectric equations \item (2 DoF, FEM, \ldots{}) \end{itemize} +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/root_locus_iff_rot_stiffness.png} +\caption{\label{fig:root_locus_iff_rot_stiffness}Limitation of the attainable damping due to the APA design} +\end{figure} + \subsection{Experimental System Identification} \begin{itemize} @@ -585,7 +651,17 @@ Piezoelectric equations \item IFF results: OK \end{itemize} -\section{Flexible Joints} +\section{Design of Nano-Hexapod Flexible Joints} + +\begin{itemize} +\item Perfect flexible joint +\item Imperfection of the flexible joint: Model +\item Study of the effect of limited stiffness in constrain directions and non-null stiffness in other directions +\item Obtained Specification +\item Design optimisation (FEM) +\item Implementation of flexible elements in the Simscape model: close to simplified model +\end{itemize} + \subsection{Effect of flexible joint characteristics on obtained dynamics} \begin{itemize} @@ -594,10 +670,12 @@ Piezoelectric equations \item Obtained specifications (trade-off) \end{itemize} + \subsection{Flexible joint geometry optimization} \begin{itemize} \item Chosen geometry +\item Show different existing geometry for flexible joints used on hexapods \item Optimisation with Ansys \item Validation with Simscape model \end{itemize} @@ -611,13 +689,25 @@ Piezoelectric equations \item Obtained results \end{itemize} -\section{Instrumentation} -\subsection{DAC} +\section{Choice of Instrumentation} +\begin{itemize} +\item Discussion of the choice of other elements: +\begin{itemize} +\item Encoder +\item DAC +\item ADC (reading of the force sensors) +\item real time controller +\item Voltage amplifiers +\end{itemize} +\item Give some requirements + chosen elements + measurements / validation +\end{itemize} -\subsection{ADC} +\subsection{DAC and ADC} -Force sensor +\begin{itemize} +\item Force sensor +\end{itemize} \subsection{Voltage amplifier (\href{https://research.tdehaeze.xyz/test-bench-pd200/}{link})} @@ -632,17 +722,25 @@ Force sensor \item Noise measurement \end{itemize} -\section{Obtained Mechanical Design} - +\section{Obtained Design} \begin{itemize} +\item Explain again the different specifications in terms of space, payload, etc.. \item CAD view of the nano-hexapod \item Chosen geometry, materials, ease of mounting, cabling, \ldots{} +\item Validation on Simscape with accurate model? \end{itemize} +\section{Detailed Design - Conclusion} \chapter{Experimental Validation} \minitoc \paragraph{Abstract} +\begin{figure}[htbp] +\centering +\includegraphics[scale=1,width=\linewidth]{figs/chapter3_overview.png} +\caption{\label{fig:chapter3_overview}Figure caption} +\end{figure} + Schematic representation of the experimental validation process. \begin{itemize} \item APA @@ -651,62 +749,36 @@ Schematic representation of the experimental validation process. \item Nano-hexapod with Spindle \end{itemize} -\section{Amplified Piezoelectric Actuator (\href{https://research.tdehaeze.xyz/test-bench-apa300ml/}{link})} +\section{Amplified Piezoelectric Actuator} -APA alone: -\begin{itemize} -\item \textbf{Goal}: Tune model of APA -\item[{$\square$}] FRF and fit with FEM model -\item[{$\square$}] Show all six FRF and how close they are -\item[{$\square$}] IFF -\end{itemize} +\section{Flexible Joints} \section{Struts} -Strut (APA + joints): -\begin{itemize} -\item[{$\square$}] FRF, tune model -\item[{$\square$}] Issue with encoder (comparison with axial motion) -\item[{$\square$}] IFF -\end{itemize} - \section{Nano-Hexapod} -Mounting - -Test bench on top of soft table: -\begin{itemize} -\item \textbf{Goal}: Tune model of nano-hexapod, validation of dynamics -\item modal analysis soft table (first mode at xxx Hz => rigid body in Simscape) -\item FRF + comp model (multiple masses) -\item IFF and robustness to change of mass -\end{itemize} - \section{Rotating Nano-Hexapod} -\begin{itemize} -\item \textbf{Goal}: validation of control strategy with rotation -\item Interferometers to have more stroke -\end{itemize} - -\begin{figure}[htbp] -\centering -\includegraphics[scale=1,width=0.49\linewidth]{example-image-a.png} -\caption{\label{fig:rot_nano_hexapod_bench_schematic}Schematic of the rotating nano-hexapod test bench} -\end{figure} - \section{ID31 Micro Station} -\begin{itemize} -\item \textbf{Goal}: full validation without the full metrology -\end{itemize} - +\section{Experimental Validation - Conclusion} \chapter{Conclusion and Future Work} +\section{Alternative Architecture} +\url{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/alternative-micro-station-architecture.org} + \appendix +\chapter{Mathematical Tools for Mechatronics} +\section{Feedback Control} + + +\section{Dynamical Noise Budgeting} +\subsection{Power Spectral Density} + +\subsection{Cumulative Amplitude Spectrum} + \chapter{Stewart Platform - Kinematics} -\chapter{Comments on something} \printbibliography[heading=bibintoc,title={Bibliography}] \chapter*{List of Publications} @@ -722,5 +794,6 @@ Test bench on top of soft table: \end{refsection} \printglossary[type=\acronymtype] +\printglossary[type=\glossarytype] \printglossary \end{document} diff --git a/ref.bib b/ref.bib index 7aab9b7..c3c3326 100644 --- a/ref.bib +++ b/ref.bib @@ -32,12 +32,3 @@ month = {2}, keywords = {publication}, } - -@book{taghirad13_paral, - author = {Taghirad, Hamid}, - title = {Parallel robots : mechanics and control}, - year = {2013}, - publisher = {CRC Press}, - address = {Boca Raton, FL}, - isbn = {9781466555778}, -} diff --git a/setup.org b/setup.org index e4b20ff..6e48adf 100644 --- a/setup.org +++ b/setup.org @@ -249,19 +249,29 @@ Note that this is marked as deprecated for koma-script. * Fonts -https://tug.org/FontCatalogue/quattrocento/ #+begin_src latex -\usepackage[lf]{ebgaramond} -#+end_src +\ifxetexorluatex + \usepackage{unicode-math} + \setmainfont{EB Garamond} + \setmathfont{Garamond Math} -https://tug.org/FontCatalogue/crimsonproregular/ -#+begin_src latex -% \usepackage{crimson} -#+end_src - -https://tug.org/FontCatalogue/sourcecodepro/ -#+begin_src latex -\usepackage[oldstyle, scale=0.7]{sourcecodepro} + % Load some missing symbols from another font. + \setmathfont{STIX Two Math}[% + range = { + \sharp, + \natural, + \flat, + \clubsuit, + \spadesuit, + \checkmark + } + ] + \setmonofont[Scale=MatchLowercase]{Source Code Pro} +\else + \usepackage[lf]{ebgaramond} % https://tug.org/FontCatalogue/quattrocento/ + \usepackage[oldstyle,scale=0.7]{sourcecodepro} % https://tug.org/FontCatalogue/sourcecodepro/ + \singlespacing +\fi #+end_src * Colors