From db587d73fc5c3b5008b51102a8e520cb2aff3a85 Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Thu, 2 Jun 2022 19:09:04 +0200 Subject: [PATCH] Re-arrange sections --- index.html | 366 ++++++++++++++++++++++++++--------------------------- index.org | 156 +++++++++++------------ 2 files changed, 261 insertions(+), 261 deletions(-) diff --git a/index.html b/index.html index 5401553..97e6ead 100644 --- a/index.html +++ b/index.html @@ -3,7 +3,7 @@ "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> - + Research Pages @@ -37,13 +37,13 @@ Welcome to my research pages.

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1. Papers

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1. Papers

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1.1. Conference Papers

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1.1. Conference Papers

  • Dehaeze, T., Mattenet, M. M., Collette, C., Sample Stabilization For Tomography Experiments In Presence Of Large Plant Uncertainty, In MEDSI’18 (pp. 153–157) (2018). Geneva, Switzerland: JACoW Publishing @@ -79,8 +79,8 @@ Welcome to my research pages.
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1.2. Journal Papers

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1.2. Journal Papers

  • Verma, M., Dehaeze, T., Zhao, G., Watchi, J., Collette, C., Virtual sensor fusion for high precision control, Mechanical Systems and Signal Processing, 150, 107241 (2020) @@ -99,173 +99,14 @@ Welcome to my research pages.
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2. Useful Pages / Tutorials

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2. Nano Active Stabilization System (NASS)

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2.1. General Mechatronics

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2.1. General Reports

-Spectral Analysis -

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-Basics of spectral analysis are presented alongside the Matlab codes. -This includes: -

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  • power spectral density
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  • cumulative power spectrum
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  • noise budgeting
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  • …
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-Bank of Filters using matlab -

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-Several types of linear filters (low pass, high pass, notch, lead, etc.) are presented with the corresponding Matlab code. -

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2.2. System Modeling using Simscape

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-Finite Element Models with Simscape -

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-Finite Element Models (FEM) can be included into Simscape Multi-Body models. -This document presents how to do so. -

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-Stewart Platforms modeled with Simscape -

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-The goal of this project is to provide a Matlab/Simscape Toolbox to study Stewart platforms. -

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-Manage Gravity within Simscape -

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-Gravity can add some problems in multi-body simscape models: at the beginning of the simulation, some sag will be experience that may be unwanted. -In order to start the simulation at equilibrium, few measured can be employed that are described in this document. -

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3. Test Benches / Experiments

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3.1. Intrumentation Related

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-Voltage Amplifiers for Piezoelectric Actuators -

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-Voltage amplifiers for capacitive loads (piezoelectric actuators) are measured in term of dynamics from input voltage to output voltage. -Their output impedance are also measured. -

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-Attocube -

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-The Attocube (a fiber based interferometer) is tested. -Its noise characteristics as well as non-linearities are measured. -

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3.2. Amplified Piezoelecric Actuator

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-Amplified Piezoelectric Actuator - Test bench and Finite Element Model -

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-A test bench is used to characterise the performances of an Amplified Piezoelectric Actuator (APA). -The dynamics of the system is identified and compared with a Finite Element Model (FEM). -

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-Encoder in parallel with an Amplified Piezoelectric Actuator -

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-An encoder is fixed in parallel with an amplified piezoelectric actuator. -The transfer function from the actuator to the motions measured by the encoder is identified. -

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-Piezoelectric Stack as Force Sensor -

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-A part of a piezoelectric stack can be used as a force sensor. -Then, the force sensors is collocated with the part of the stack used as an actuator and Integral Force Feedback control strategy can be used to add damping in the system. -This is performed on an Amplified Piezoelectric Actuator -

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-Sensor Fusion of Inertial Sensors -

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-A geophone and a accelerometer are experimentally fused together using complementary filters. -The goal is to form a super sensor that has better noise characteristics than the individual sensors. -

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3.3. Vibration Table

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-Instrumented Vibration Table used for Modal Testing -

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-A vibration table is developed to perform controlled modal tests. -

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4. PhD Project - Nano Active Stabilization System

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4.1. General Reports

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NASS - Report 2020

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4.2. Measurements, Models and Test Benches

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2.2. Measurements, Models and Test Benches

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NASS - Micro Station Measurements

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4.3. Nano-Hexapod

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2.3. Nano-Hexapod

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Equipments:

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5. Double Crystal Monochromator (DCM)

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3. Double Crystal Monochromator (DCM)

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Kinematics

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6. Notes

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4. Useful Pages / Tutorials

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4.1. General Mechatronics

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+Spectral Analysis +

+
+

+Basics of spectral analysis are presented alongside the Matlab codes. +This includes: +

+
    +
  • power spectral density
    • +
  • cumulative power spectrum
    • +
  • noise budgeting
    • +
  • …
    • +
+
+ +

+Bank of Filters using matlab +

+
+

+Several types of linear filters (low pass, high pass, notch, lead, etc.) are presented with the corresponding Matlab code. +

+
+
+
+ +
+

4.2. System Modeling using Simscape

+
+

+Finite Element Models with Simscape +

+
+

+Finite Element Models (FEM) can be included into Simscape Multi-Body models. +This document presents how to do so. +

+
+ +

+Stewart Platforms modeled with Simscape +

+
+

+The goal of this project is to provide a Matlab/Simscape Toolbox to study Stewart platforms. +

+
+ +

+Manage Gravity within Simscape +

+
+

+Gravity can add some problems in multi-body simscape models: at the beginning of the simulation, some sag will be experience that may be unwanted. +In order to start the simulation at equilibrium, few measured can be employed that are described in this document. +

+
+
+
+
+ +
+

5. Test Benches / Experiments

+
+
+
+

5.1. Intrumentation Related

+
+

+Voltage Amplifiers for Piezoelectric Actuators +

+
+

+Voltage amplifiers for capacitive loads (piezoelectric actuators) are measured in term of dynamics from input voltage to output voltage. +Their output impedance are also measured. +

+
+ +

+Attocube +

+
+

+The Attocube (a fiber based interferometer) is tested. +Its noise characteristics as well as non-linearities are measured. +

+
+
+
+ +
+

5.2. Amplified Piezoelecric Actuator

+
+

+Amplified Piezoelectric Actuator - Test bench and Finite Element Model +

+
+

+A test bench is used to characterise the performances of an Amplified Piezoelectric Actuator (APA). +The dynamics of the system is identified and compared with a Finite Element Model (FEM). +

+
+ +

+Encoder in parallel with an Amplified Piezoelectric Actuator +

+
+

+An encoder is fixed in parallel with an amplified piezoelectric actuator. +The transfer function from the actuator to the motions measured by the encoder is identified. +

+
+ +

+Piezoelectric Stack as Force Sensor +

+
+

+A part of a piezoelectric stack can be used as a force sensor. +Then, the force sensors is collocated with the part of the stack used as an actuator and Integral Force Feedback control strategy can be used to add damping in the system. +This is performed on an Amplified Piezoelectric Actuator +

+
+ +

+Sensor Fusion of Inertial Sensors +

+
+

+A geophone and a accelerometer are experimentally fused together using complementary filters. +The goal is to form a super sensor that has better noise characteristics than the individual sensors. +

+
+
+
+ +
+

5.3. Vibration Table

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+Instrumented Vibration Table used for Modal Testing +

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+

+A vibration table is developed to perform controlled modal tests. +

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6. Notes

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7. Lectures

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7. Lectures

  • H-Infinity - Robust Control
    • diff --git a/index.org b/index.org index 5e69729..5471517 100644 --- a/index.org +++ b/index.org @@ -96,6 +96,84 @@ Then add a new submodule with the updated url. - [[file:dehaeze20_virtu_senso_fusio/index.org][Virtual Sensor Fusion]] - [[file:svd-control/index.org][SVD Control - Simscape Models]] +* Nano Active Stabilization System (NASS) +** General Reports +[[file:nass-report-2020/index.org][NASS - Report 2020]] +#+begin_quote +General report on the NASS project made in 2020. +#+end_quote + +** Measurements, Models and Test Benches +[[file:nass-micro-station-measurements/index.org][NASS - Micro Station Measurements]] +#+begin_quote +This document gathers all the measurements made on the Micro-Station. +#+end_quote + +[[file:nass-simscape/docs/index.org][NASS - Simscape Model]] +#+begin_quote +This document presents the Simscape model used to represent the micro-station as well as the Nano Active Stabilization System. +#+end_quote + +[[file:nass-fem/index.org][NASS - Finite Element Models]] +#+begin_quote +Finite Element Models of the nano-hexapod are developed and used with Simscape to perform dynamics meaurements. +In this document, models of Amplified Piezoelectric Actuators, Flexible Joints, and Entire Stewart platform's strut are developed and tested. +#+end_quote + +[[file:nass-metrology-test-bench/index.org][NASS - Metrology Concept 1]] +#+begin_quote +Presentation of the first metrology concept for the NASS. +First experimental results are presented. +#+end_quote + +[[file:nass-short-stroke-metrology/short-stroke-metrology.org][NASS - Short Stroke Metrology]] +#+begin_quote +Presentation of the short stroke metrology concept. +#+end_quote + +** Nano-Hexapod + +*Equipments*: +- [[file:test-bench-pd200/index.org][Voltage Amplifier: PD200]] +- [[file:test-bench-vionic/index.org][Encoder: Renishaw Vionic]] +- [[file:test-bench-nass-flexible-joints/index.org][Flexible Joints]] +- [[file:test-bench-apa300ml/index.org][Amplified Piezoelectric Actuator: APA300ML]] +- [[file:nass-cabling/index.org][Control Electronics and Cabling]] + +*Assembly*: +- [[file:test-bench-strut-mounting/index.org][Nano-Hexapod Struts - Assembly]] +- [[file:nass-nano-hexapod-assembly/index.html][Nano-Hexapod - Assembly]] + +*Nano-Hexapod Test Benches*: +- [[file:test-bench-nano-hexapod/index.org][Nano-Hexapod on a Granite]] +- [[file:test-bench-nass-spindle/index.org][Nano-Hexapod on top of Spindle]] + +* Double Crystal Monochromator (DCM) +[[file:dcm-kinematics/index.html][Kinematics]] + +# [[file:dcm-stepper-calibration/index.html][Calibration of stepper motors]] +# #+begin_quote +# Analysis of stepper motors' errors is performed. +# Calibration table are computed to compensate for the repeatable errors. +# #+end_quote + +# [[file:dcm-metrology/index.html][Metrology]] +# #+begin_quote +# The metrology concept is described. +# The calibration of the metrology is performed using an external metrology using the X-ray. +# #+end_quote + +# [[file:dcm-feedback-control/index.html][Feedback Control]] +# #+begin_quote +# System dynamics is identified. +# Feedback control using the piezoelectric actuator is designed and experimentally validated. +# #+end_quote + +# [[file:dcm-simscape-model/index.html][Multi-Body (Simscape) model]] +# #+begin_quote +# A multi-body model of the DCM is developed and used to test various control strategies and change of architecture. +# #+end_quote + * Useful Pages / Tutorials ** General Mechatronics @@ -182,84 +260,6 @@ The goal is to form a /super sensor/ that has better noise characteristics than A vibration table is developed to perform controlled modal tests. #+end_quote -* PhD Project - Nano Active Stabilization System -** General Reports -[[file:nass-report-2020/index.org][NASS - Report 2020]] -#+begin_quote -General report on the NASS project made in 2020. -#+end_quote - -** Measurements, Models and Test Benches -[[file:nass-micro-station-measurements/index.org][NASS - Micro Station Measurements]] -#+begin_quote -This document gathers all the measurements made on the Micro-Station. -#+end_quote - -[[file:nass-simscape/docs/index.org][NASS - Simscape Model]] -#+begin_quote -This document presents the Simscape model used to represent the micro-station as well as the Nano Active Stabilization System. -#+end_quote - -[[file:nass-fem/index.org][NASS - Finite Element Models]] -#+begin_quote -Finite Element Models of the nano-hexapod are developed and used with Simscape to perform dynamics meaurements. -In this document, models of Amplified Piezoelectric Actuators, Flexible Joints, and Entire Stewart platform's strut are developed and tested. -#+end_quote - -[[file:nass-metrology-test-bench/index.org][NASS - Metrology Concept 1]] -#+begin_quote -Presentation of the first metrology concept for the NASS. -First experimental results are presented. -#+end_quote - -[[file:nass-short-stroke-metrology/short-stroke-metrology.org][NASS - Short Stroke Metrology]] -#+begin_quote -Presentation of the short stroke metrology concept. -#+end_quote - -** Nano-Hexapod - -*Equipments*: -- [[file:test-bench-pd200/index.org][Voltage Amplifier: PD200]] -- [[file:test-bench-vionic/index.org][Encoder: Renishaw Vionic]] -- [[file:test-bench-nass-flexible-joints/index.org][Flexible Joints]] -- [[file:test-bench-apa300ml/index.org][Amplified Piezoelectric Actuator: APA300ML]] -- [[file:nass-cabling/index.org][Control Electronics and Cabling]] - -*Assembly*: -- [[file:test-bench-strut-mounting/index.org][Nano-Hexapod Struts - Assembly]] -- [[file:nass-nano-hexapod-assembly/index.html][Nano-Hexapod - Assembly]] - -*Nano-Hexapod Test Benches*: -- [[file:test-bench-nano-hexapod/index.org][Nano-Hexapod on a Granite]] -- [[file:test-bench-nass-spindle/index.org][Nano-Hexapod on top of Spindle]] - -* Double Crystal Monochromator (DCM) -[[file:dcm-kinematics/index.html][Kinematics]] - -# [[file:dcm-stepper-calibration/index.html][Calibration of stepper motors]] -# #+begin_quote -# Analysis of stepper motors' errors is performed. -# Calibration table are computed to compensate for the repeatable errors. -# #+end_quote - -# [[file:dcm-metrology/index.html][Metrology]] -# #+begin_quote -# The metrology concept is described. -# The calibration of the metrology is performed using an external metrology using the X-ray. -# #+end_quote - -# [[file:dcm-feedback-control/index.html][Feedback Control]] -# #+begin_quote -# System dynamics is identified. -# Feedback control using the piezoelectric actuator is designed and experimentally validated. -# #+end_quote - -# [[file:dcm-simscape-model/index.html][Multi-Body (Simscape) model]] -# #+begin_quote -# A multi-body model of the DCM is developed and used to test various control strategies and change of architecture. -# #+end_quote - * Notes - [[file:euspen_2020_notes/notes.org][EUSPEN - 2020 - Notes]]