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<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
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<head>
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<!-- 2021-02-04 jeu. 20:23 -->
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<!-- 2021-02-10 mer. 15:14 -->
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<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
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<title>Encoder Renishaw Vionic - Test Bench</title>
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<meta name="generator" content="Org mode" />
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@@ -39,23 +39,22 @@
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<h2>Table of Contents</h2>
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<div id="text-table-of-contents">
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<ul>
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||||
<li><a href="#org5cfc524">1. Encoder Model</a></li>
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||||
<li><a href="#orgdb597d2">2. Noise Measurement</a>
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||||
<li><a href="#orgee60877">1. Expected Performances</a></li>
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||||
<li><a href="#org78808d1">2. Encoder Model</a></li>
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||||
<li><a href="#org07e5c0c">3. Noise Measurement</a>
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||||
<ul>
|
||||
<li><a href="#orgcf20f40">2.1. Test Bench</a></li>
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||||
<li><a href="#orga00ea74">2.2. Results</a></li>
|
||||
<li><a href="#org1171cfb">3.1. Test Bench</a></li>
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||||
<li><a href="#org2d3c7ed">3.2. Thermal drifts</a></li>
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||||
<li><a href="#org12c8422">3.3. Time Domain signals</a></li>
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<li><a href="#orgcfb7422">3.4. Noise Spectral Density</a></li>
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||||
<li><a href="#orgf450d0e">3.5. Noise Model</a></li>
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<li><a href="#org5d6e2aa">3.6. Validity of the noise model</a></li>
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||||
</ul>
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||||
</li>
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||||
<li><a href="#orgf37b64f">3. Linearity Measurement</a>
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||||
<li><a href="#orgbcdb22e">4. Linearity Measurement</a>
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<ul>
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||||
<li><a href="#orgd7d0144">3.1. Test Bench</a></li>
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<li><a href="#org664af52">3.2. Results</a></li>
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</ul>
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||||
</li>
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||||
<li><a href="#orgf3c325a">4. Dynamical Measurement</a>
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<ul>
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||||
<li><a href="#org5deba50">4.1. Test Bench</a></li>
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||||
<li><a href="#org4eec56e">4.2. Results</a></li>
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||||
<li><a href="#org0508ec2">4.1. Test Bench</a></li>
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||||
<li><a href="#org4e41106">4.2. Results</a></li>
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||||
</ul>
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||||
</li>
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||||
</ul>
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||||
@@ -65,9 +64,9 @@
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<p>This report is also available as a <a href="./test-bench-vionic.pdf">pdf</a>.</p>
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<hr>
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<div class="note" id="org3ece63c">
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||||
<div class="note" id="orgf0dfbf1">
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<p>
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||||
You can find below the document of:
|
||||
You can find below the documentation of:
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||||
</p>
|
||||
<ul class="org-ul">
|
||||
<li><a href="doc/L-9517-9678-05-A_Data_sheet_VIONiC_series_en.pdf">Vionic Encoder</a></li>
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||||
@@ -77,70 +76,81 @@ You can find below the document of:
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||||
</div>
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||||
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||||
<p>
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||||
We would like to characterize the encoder measurement system.
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||||
</p>
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||||
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||||
<p>
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||||
In this document, we wish to characterize the performances of the encoder measurement system.
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||||
In particular, we would like to measure:
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||||
</p>
|
||||
<ul class="org-ul">
|
||||
<li>Power Spectral Density of the measurement noise</li>
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||||
<li>Bandwidth of the sensor</li>
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||||
<li>Linearity of the sensor</li>
|
||||
<li>the measurement noise</li>
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||||
<li>the linearity of the sensor</li>
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||||
<li>the bandwidth of the sensor</li>
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||||
</ul>
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||||
|
||||
<p>
|
||||
This document is structured as follow:
|
||||
</p>
|
||||
<ul class="org-ul">
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||||
<li>Section <a href="#org5825e63">1</a>: the expected performance of the Vionic encoder system are described</li>
|
||||
<li>Section <a href="#org886dc10">2</a>: a simple model of the encoder is developed</li>
|
||||
<li>Section <a href="#orgce8febf">3</a>: the noise of the encoder is measured and a model of the noise is identified</li>
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||||
<li>Section <a href="#org0a6ada3">4</a>: the linearity of the sensor is estimated</li>
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||||
</ul>
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||||
|
||||
<div id="orga8ce6e5" class="figure">
|
||||
<div id="outline-container-orgee60877" class="outline-2">
|
||||
<h2 id="orgee60877"><span class="section-number-2">1</span> Expected Performances</h2>
|
||||
<div class="outline-text-2" id="text-1">
|
||||
<p>
|
||||
<a id="org5825e63"></a>
|
||||
</p>
|
||||
|
||||
<p>
|
||||
The Vionic encoder is shown in Figure <a href="#org8649a60">1</a>.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="org8649a60" class="figure">
|
||||
<p><img src="figs/encoder_vionic.png" alt="encoder_vionic.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 1: </span>Picture of the Vionic Encoder</p>
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||||
</div>
|
||||
|
||||
<ul class="org-ul">
|
||||
<li>1: 2YA275</li>
|
||||
<li>2: 2YA274</li>
|
||||
<li>3: 2YA273</li>
|
||||
<li>4: 2YA270</li>
|
||||
<li>5: 2YA272</li>
|
||||
<li>6: 2YA271</li>
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||||
<li>7: 2YJ313</li>
|
||||
</ul>
|
||||
|
||||
<div id="outline-container-org5cfc524" class="outline-2">
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||||
<h2 id="org5cfc524"><span class="section-number-2">1</span> Encoder Model</h2>
|
||||
<div class="outline-text-2" id="text-1">
|
||||
<p>
|
||||
The Encoder is characterized by its dynamics \(G_m(s)\) from the “true” displacement \(y\) to measured displacement \(y_m\).
|
||||
Ideally, this dynamics is constant over a wide frequency band with very small phase drop.
|
||||
From the Renishaw <a href="https://www.renishaw.com/en/how-optical-encoders-work--36979">website</a>:
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||||
</p>
|
||||
<blockquote>
|
||||
<p>
|
||||
The VIONiC encoder features the third generation of Renishaw’s unique filtering optics that average the contributions from many scale periods and effectively filter out non-periodic features such as dirt.
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||||
The nominally square-wave scale pattern is also filtered to leave a pure sinusoidal fringe field at the detector.
|
||||
Here, a multiple finger structure is employed, fine enough to produce photocurrents in the form of four symmetrically phased signals.
|
||||
These are combined to remove DC components and produce sine and cosine signal outputs with high spectral purity and low offset while maintaining <b>bandwidth to beyond 500 kHz</b>.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
It is also characterized by its measurement noise \(n\) that can be described by its Power Spectral Density (PSD).
|
||||
Fully integrated advanced dynamic signal conditioning, Auto Gain , Auto Balance and Auto Offset Controls combine to ensure <b>ultra-low Sub-Divisional Error (SDE) of typically</b> \(<\pm 15\, nm\).
|
||||
</p>
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||||
|
||||
<p>
|
||||
The model of the encoder is shown in Figure <a href="#org3722c48">2</a>.
|
||||
This evolution of filtering optics, combined with carefully-selected electronics, provide incremental signals with wide bandwidth achieving a maximum speed of 12 m/s with the lowest positional jitter (noise) of any encoder in its class.
|
||||
Interpolation is within the readhead, with fine resolution versions being further augmented by additional noise-reducing electronics to achieve <b>jitter of just 1.6 nm RMS</b>.
|
||||
</p>
|
||||
</blockquote>
|
||||
|
||||
<p>
|
||||
The expected interpolation errors (non-linearity) is shown in Figure <a href="#org35c5a3c">2</a>.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="org3722c48" class="figure">
|
||||
<p><img src="figs/encoder-model-schematic.png" alt="encoder-model-schematic.png" />
|
||||
<div id="org35c5a3c" class="figure">
|
||||
<p><img src="./figs/vionic_expected_noise.png" alt="vionic_expected_noise.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 2: </span>Model of the Encoder</p>
|
||||
<p><span class="figure-number">Figure 2: </span>Expected interpolation errors for the Vionic Encoder</p>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
We can also use a transfer function \(G_n(s)\) to shape a noise \(\tilde{n}\) with unity ASD as shown in Figure <a href="#org1f28b48">4</a>.
|
||||
The characteristics as advertise in the manual as well as our specifications are shown in Table <a href="#org025a9b8">1</a>.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="org1ffb004" class="figure">
|
||||
<p><img src="figs/encoder-model-schematic-with-asd.png" alt="encoder-model-schematic-with-asd.png" />
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<table id="org6be868a" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
|
||||
<caption class="t-above"><span class="table-number">Table 1:</span> Characteristics of the Vionic Encoder</caption>
|
||||
<table id="org025a9b8" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
|
||||
<caption class="t-above"><span class="table-number">Table 1:</span> Characteristics of the Vionic compared with the specifications</caption>
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||||
|
||||
<colgroup>
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||||
<col class="org-left" />
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||||
@@ -153,56 +163,93 @@ We can also use a transfer function \(G_n(s)\) to shape a noise \(\tilde{n}\) wi
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||||
<tr>
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||||
<th scope="col" class="org-left"><b>Characteristics</b></th>
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||||
<th scope="col" class="org-center"><b>Manual</b></th>
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||||
<th scope="col" class="org-center"><b>Specifications</b></th>
|
||||
<th scope="col" class="org-center"><b>Specification</b></th>
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||||
</tr>
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||||
</thead>
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||||
<tbody>
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||||
<tr>
|
||||
<td class="org-left">Range</td>
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||||
<td class="org-center">Ruler length</td>
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||||
<td class="org-center">> 200 [um]</td>
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||||
</tr>
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||||
|
||||
<tr>
|
||||
<td class="org-left">Resolution</td>
|
||||
<td class="org-center">2.5 [nm]</td>
|
||||
<td class="org-center">< 50 [nm rms]</td>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<td class="org-left">Sub-Divisional Error</td>
|
||||
<td class="org-center">\(< \pm 15\,nm\)</td>
|
||||
<td class="org-left">Time Delay</td>
|
||||
<td class="org-center"> </td>
|
||||
<td class="org-center">< 0.5 ms</td>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<td class="org-left">Bandwidth</td>
|
||||
<td class="org-center">To be checked</td>
|
||||
<td class="org-center">> 5 [kHz]</td>
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||||
<td class="org-center">> 500 kHz</td>
|
||||
<td class="org-center">> 5 kHz</td>
|
||||
</tr>
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||||
|
||||
<tr>
|
||||
<td class="org-left">Noise</td>
|
||||
<td class="org-center">< 1.6 nm rms</td>
|
||||
<td class="org-center">< 50 nm rms</td>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<td class="org-left">Linearity</td>
|
||||
<td class="org-center">< +/- 15 nm</td>
|
||||
<td class="org-center"> </td>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<td class="org-left">Range</td>
|
||||
<td class="org-center">Ruler length</td>
|
||||
<td class="org-center">> 200 um</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
|
||||
|
||||
<div id="org1f28b48" class="figure">
|
||||
<p><img src="./figs/vionic_expected_noise.png" alt="vionic_expected_noise.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 4: </span>Expected interpolation errors for the Vionic Encoder</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="outline-container-orgdb597d2" class="outline-2">
|
||||
<h2 id="orgdb597d2"><span class="section-number-2">2</span> Noise Measurement</h2>
|
||||
<div id="outline-container-org78808d1" class="outline-2">
|
||||
<h2 id="org78808d1"><span class="section-number-2">2</span> Encoder Model</h2>
|
||||
<div class="outline-text-2" id="text-2">
|
||||
<p>
|
||||
<a id="org4a8cf7a"></a>
|
||||
<a id="org886dc10"></a>
|
||||
</p>
|
||||
|
||||
<p>
|
||||
The Encoder is characterized by its dynamics \(G_m(s)\) from the “true” displacement \(y\) to measured displacement \(y_m\).
|
||||
Ideally, this dynamics is constant over a wide frequency band with very small phase drop.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
It is also characterized by its measurement noise \(n\) that can be described by its Power Spectral Density (PSD) \(\Gamma_n(\omega)\).
|
||||
</p>
|
||||
|
||||
<p>
|
||||
The model of the encoder is shown in Figure <a href="#orgd01aa78">3</a>.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="orgd01aa78" class="figure">
|
||||
<p><img src="figs/encoder-model-schematic.png" alt="encoder-model-schematic.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 3: </span>Model of the Encoder</p>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
We can also use a transfer function \(G_n(s)\) to shape a noise \(\tilde{n}\) with unity ASD as shown in Figure <a href="#org35c5a3c">2</a>.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="org0de813a" class="figure">
|
||||
<p><img src="figs/encoder-model-schematic-with-asd.png" alt="encoder-model-schematic-with-asd.png" />
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-orgcf20f40" class="outline-3">
|
||||
<h3 id="orgcf20f40"><span class="section-number-3">2.1</span> Test Bench</h3>
|
||||
<div class="outline-text-3" id="text-2-1">
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org07e5c0c" class="outline-2">
|
||||
<h2 id="org07e5c0c"><span class="section-number-2">3</span> Noise Measurement</h2>
|
||||
<div class="outline-text-2" id="text-3">
|
||||
<p>
|
||||
<a id="orgce8febf"></a>
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-org1171cfb" class="outline-3">
|
||||
<h3 id="org1171cfb"><span class="section-number-3">3.1</span> Test Bench</h3>
|
||||
<div class="outline-text-3" id="text-3-1">
|
||||
<p>
|
||||
To measure the noise \(n\) of the encoder, one can rigidly fix the head and the ruler together such that no motion should be measured.
|
||||
Then, the measured signal \(y_m\) corresponds to the noise \(n\).
|
||||
@@ -210,40 +257,62 @@ Then, the measured signal \(y_m\) corresponds to the noise \(n\).
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orga00ea74" class="outline-3">
|
||||
<h3 id="orga00ea74"><span class="section-number-3">2.2</span> Results</h3>
|
||||
<div class="outline-text-3" id="text-2-2">
|
||||
<div id="outline-container-org2d3c7ed" class="outline-3">
|
||||
<h3 id="org2d3c7ed"><span class="section-number-3">3.2</span> Thermal drifts</h3>
|
||||
<div class="outline-text-3" id="text-3-2">
|
||||
<ul class="org-ul">
|
||||
<li class="off"><code>[ ]</code> picture of the setup</li>
|
||||
<li class="off"><code>[ ]</code> long thermal drifts</li>
|
||||
<li class="off"><code>[ ]</code> once stabilize, look at the noise</li>
|
||||
<li class="off"><code>[ ]</code> compute low frequency ASD (may still be thermal drifts of the mechanics and not noise)</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org12c8422" class="outline-3">
|
||||
<h3 id="org12c8422"><span class="section-number-3">3.3</span> Time Domain signals</h3>
|
||||
<div class="outline-text-3" id="text-3-3">
|
||||
<p>
|
||||
First we load the data.
|
||||
The raw measured data as well as the low pass filtered data (using a first order low pass filter with a cut-off at 10Hz) are shown in Figure <a href="#orgafb2d71">5</a>.
|
||||
The raw measured data as well as the low pass filtered data (using a first order low pass filter with a cut-off at 10Hz) are shown in Figure <a href="#org0525912">5</a>.
|
||||
</p>
|
||||
|
||||
<div id="orgafb2d71" class="figure">
|
||||
<div id="org0525912" class="figure">
|
||||
<p><img src="figs/vionic_noise_raw_lpf.png" alt="vionic_noise_raw_lpf.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 5: </span>Time domain measurement (raw data and low pass filtered data with first order 10Hz LPF)</p>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
The time domain data for all the encoders are compared in Figure <a href="#org6fcc332">6</a>.
|
||||
The time domain data for all the encoders are compared in Figure <a href="#org5c2c4fa">6</a>.
|
||||
</p>
|
||||
|
||||
<div id="org6fcc332" class="figure">
|
||||
<div id="org5c2c4fa" class="figure">
|
||||
<p><img src="figs/vionic_noise_time.png" alt="vionic_noise_time.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 6: </span>Comparison of the time domain measurement</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgcfb7422" class="outline-3">
|
||||
<h3 id="orgcfb7422"><span class="section-number-3">3.4</span> Noise Spectral Density</h3>
|
||||
<div class="outline-text-3" id="text-3-4">
|
||||
<p>
|
||||
The amplitude spectral density is computed and shown in Figure <a href="#org0596231">7</a>.
|
||||
The amplitude spectral density is computed and shown in Figure <a href="#orged52478">7</a>.
|
||||
</p>
|
||||
|
||||
<div id="org0596231" class="figure">
|
||||
<div id="orged52478" class="figure">
|
||||
<p><img src="figs/vionic_noise_asd.png" alt="vionic_noise_asd.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 7: </span>Amplitude Spectral Density of the measured signal</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgf450d0e" class="outline-3">
|
||||
<h3 id="orgf450d0e"><span class="section-number-3">3.5</span> Noise Model</h3>
|
||||
<div class="outline-text-3" id="text-3-5">
|
||||
<p>
|
||||
Let’s create a transfer function that approximate the measured noise of the encoder.
|
||||
</p>
|
||||
@@ -253,29 +322,49 @@ Let’s create a transfer function that approximate the measured noise of th
|
||||
</div>
|
||||
|
||||
<p>
|
||||
The amplitude of the transfer function and the measured ASD are shown in Figure <a href="#org2802608">8</a>.
|
||||
The amplitude of the transfer function and the measured ASD are shown in Figure <a href="#orgd40fb21">8</a>.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="org2802608" class="figure">
|
||||
<div id="orgd40fb21" class="figure">
|
||||
<p><img src="figs/vionic_noise_asd_model.png" alt="vionic_noise_asd_model.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 8: </span>Measured ASD of the noise and modelled one</p>
|
||||
<p><span class="figure-number">Figure 8: </span>Measured ASD of the noise and modeled one</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org5d6e2aa" class="outline-3">
|
||||
<h3 id="org5d6e2aa"><span class="section-number-3">3.6</span> Validity of the noise model</h3>
|
||||
<div class="outline-text-3" id="text-3-6">
|
||||
<p>
|
||||
The cumulative amplitude spectrum is now computed and shown in Figure <a href="#orgf87a6b7">9</a>.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
We can see that the Root Mean Square value of the measurement noise is \(\approx 1.6 \, nm\) as advertise in the datasheet.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="orgf87a6b7" class="figure">
|
||||
<p><img src="figs/vionic_noise_cas_model.png" alt="vionic_noise_cas_model.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 9: </span>Meassured CAS of the noise and modeled one</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgf37b64f" class="outline-2">
|
||||
<h2 id="orgf37b64f"><span class="section-number-2">3</span> Linearity Measurement</h2>
|
||||
<div class="outline-text-2" id="text-3">
|
||||
<div id="outline-container-orgbcdb22e" class="outline-2">
|
||||
<h2 id="orgbcdb22e"><span class="section-number-2">4</span> Linearity Measurement</h2>
|
||||
<div class="outline-text-2" id="text-4">
|
||||
<p>
|
||||
<a id="org55aba7f"></a>
|
||||
<a id="org0a6ada3"></a>
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-orgd7d0144" class="outline-3">
|
||||
<h3 id="orgd7d0144"><span class="section-number-3">3.1</span> Test Bench</h3>
|
||||
<div class="outline-text-3" id="text-3-1">
|
||||
<div id="outline-container-org0508ec2" class="outline-3">
|
||||
<h3 id="org0508ec2"><span class="section-number-3">4.1</span> Test Bench</h3>
|
||||
<div class="outline-text-3" id="text-4-1">
|
||||
<p>
|
||||
In order to measure the linearity, we have to compare the measured displacement with a reference sensor with a known linearity.
|
||||
An interferometer or capacitive sensor should work fine.
|
||||
@@ -283,7 +372,7 @@ An actuator should also be there so impose a displacement.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
One idea is to use the test-bench shown in Figure <a href="#orgd759dea">9</a>.
|
||||
One idea is to use the test-bench shown in Figure <a href="#orge0a809b">10</a>.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
@@ -296,38 +385,22 @@ As the interferometer has a very large bandwidth, we should be able to estimate
|
||||
</p>
|
||||
|
||||
|
||||
<div id="orgd759dea" class="figure">
|
||||
<div id="orge0a809b" class="figure">
|
||||
<p><img src="figs/test_bench_encoder_calibration.png" alt="test_bench_encoder_calibration.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 9: </span>Schematic of the test bench</p>
|
||||
<p><span class="figure-number">Figure 10: </span>Schematic of the test bench</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org664af52" class="outline-3">
|
||||
<h3 id="org664af52"><span class="section-number-3">3.2</span> Results</h3>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgf3c325a" class="outline-2">
|
||||
<h2 id="orgf3c325a"><span class="section-number-2">4</span> Dynamical Measurement</h2>
|
||||
<div class="outline-text-2" id="text-4">
|
||||
<p>
|
||||
<a id="org7abf850"></a>
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-org5deba50" class="outline-3">
|
||||
<h3 id="org5deba50"><span class="section-number-3">4.1</span> Test Bench</h3>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org4eec56e" class="outline-3">
|
||||
<h3 id="org4eec56e"><span class="section-number-3">4.2</span> Results</h3>
|
||||
<div id="outline-container-org4e41106" class="outline-3">
|
||||
<h3 id="org4e41106"><span class="section-number-3">4.2</span> Results</h3>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2021-02-04 jeu. 20:23</p>
|
||||
<p class="date">Created: 2021-02-10 mer. 15:14</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
Reference in New Issue
Block a user