Update content

book/_config.yml

@@ -19,6 +19,7 @@ sphinx:
     html_js_files:
     - https://cdnjs.cloudflare.com/ajax/libs/require.js/2.3.4/require.min.js
     - tikzjax.js  # Uses a local copy to expose the process_function
+    - remove-darkmode.js
     thebe_config:
       use_thebe_lite: true
       exclude_patterns: ["**/_*.yml", "**/*.md", "**/*.ipynb"]
@@ -27,7 +28,7 @@ sphinx:
         text: Example Maglev Assignment
         image_light: maggy.png # Put your logo for the light mode here (can be the same as image_dark)
         image_dark: maggy.png # Put your logo for the dark mode here (can be the same as image_light)
-      repository_url: "https://github.com/ForceoftheCyber/CyberBook" #add your own repo URL here
+      repository_url: "https://github.com/ForceoftheCyber/CyberBook" # add your own repo URL here
       path_to_docs: "book"
       repository_branch: "main"
       use_edit_page_button: true
@@ -42,6 +43,12 @@ sphinx:
       chtml: {
         mtextInheritFont: true # To typeset text within math prettier
       }
+      tex: {
+        inlineMath: [['$', '$'], ['\(', '\)']]
+      }
+    inverter_all: false
+    html_context:
+      default_mode: "light"
   extra_extensions:
     - sphinx.ext.imgconverter
     - jupyterbook_patches

book/_static/custom.css

@@ -4,5 +4,7 @@ Force p-elements in .jupyter-widgets to use the same color as the header-element
 Could alternatively use --pst-color-text-base so it matches the static p-elements in the book.
 */
 .jupyter-widgets p {
-    color: var(--pst-color-muted)
+    color: var(--pst-color-muted);
+    font-size: 16px;
+    margin-bottom: 0;
 }

book/_static/remove-themeswitch.js

@@ -0,0 +1,9 @@
+/**
+ * Fix to disable theme switching on the page. Removes the the button for switching themes.
+ */
+document.addEventListener("DOMContentLoaded", function () {
+    const btn = document.getElementsByClassName("btn btn-sm nav-link pst-navbar-icon theme-switch-button")[0];
+    if (btn) {
+      btn.remove();
+    }
+  });

book/_toc.yml

@@ -2,17 +2,20 @@ format: jb-book
 root: intro.md
 
 parts:
-  - caption: PID Control
+  - caption: Introduction
     numbered: True
     chapters:
-    - file: chapters/pid_control/intro.md
-      sections:
-      - file: chapters/pid_control/aligning_expectations.ipynb
-      - file: chapters/pid_control/checking_prerequisite_knowledge.ipynb
-      - file: chapters/pid_control/working_towards_the_ilos_of_this_section.ipynb
-      - file: chapters/pid_control/metacognition_and_reflection.ipynb
-    - file: chapters/simulator/maglev_dynamical_system_simulation.ipynb
-
+    - file: chapters/introducing_maggy.md
+    - file: chapters/Magnetic_levitation_history.md
+  - caption: Assignment
+    numbered: True
+    chapters:
+    - file: chapters/ilo_and_prerequisites.ipynb
+    - file: chapters/system_description.ipynb
+    - file: chapters/equilibrium_analysis.ipynb
+    - file: chapters/linearization_and_stability.ipynb
+    - file: chapters/controller_design.ipynb
+    - file: chapters/robustness_and_model_validation.ipynb
     - file: references.md
     # - file: changelog.md
     # - file: credits.md

book/chapters/Magnetic_levitation_history.md

@@ -0,0 +1,245 @@
+# A Brief History of Magnetic Levitation Technology
+
+```{note} This is an abstract from the MAGGY - Hands on control learning with a maglev system
+```
+
+<div style="display: flex;">
+  <div style="flex: 2; padding: 10px; border-right: 1px solid #ccc;">
+   <p>Maggy is far from being the first magnetic levitation system to be created.
+In this chapter, we outline some other types of magnetic levitation systems and technology and discuss how Maggy fits in.
+Most of the history and theory can be found in the book by Han and Kim<sup>1</sup></p>
+<h4>The Birth of <i>Maglev</i></h4>
+
+<p>The word Maglev was first introduced and popularized in the early
+20th century as a term to describe a type of high-speed train that
+relies on magnetic levitation to reduce friction.</p>
+
+<p> The first commercial Maglev train, the Transrapid, was developed
+in Germany and began operations in 1984. This train was an elec-
+tromagnetic maglev. Instead of wheels, the Transrapid had a set of
+electromagnets that wrapped around the train lines, and the train
+levitated through the attractive force between these magnets and elec-
+tromagnets in the tracks. This, combined with a linear motor propul-
+sive system, has allowed the most recent version of the Transrapid
+system to reach speeds up to 505 km/h.</p>
+
+<p>Since the Transrapid, there has been an explosion in the devel-
+opment of Maglev train technology, with the most promising being
+electrodynamic maglev trains. Instead of lifting coils, these trains rely
+on superconductors to passively levitate above or between a set of
+guiding coils. These coils are not actively controlled, but act effec-
+tively as permanent magnets that perfectly oppose the magnetic field
+of the superconductors once the train reaches a certain speed, due
+to induced current from the superconductors. As with the electro-
+magnetic maglevs, propulsion is achieved with a linear motor, while
+propulsion below the levitation speed is achieved using conventional
+wheels. The electrodynamic levitation technology allows for bet-
+ter stability and lower cost levitation, with trains already reaching
+speeds of up to 607 km/h.</p>
+
+  </div>
+  <div style="flex: 1; padding: 10px; margin-top: 10vh">
+    <p><sup>1</sup>T Hyung-Suk Han and Dong-Sung
+    Kim. Magnetic levitation, volume 247.
+    Springer, 2016</p>
+
+  <img src="/_static/maglev_history/transrapid.jpg" style="margin-top: 20vh">
+  <p> Figure 4.1: The world-famousShanghai airport maglev
+  train is an 08 series Tran-
+  srapid [Xplore, 2024]</p>
+
+  <img src="/_static/maglev_history/chuo_shinkansen.jpg" style="margin-top: 10vh">
+  <p> Figure 4.2: The Ch ¯u ¯o
+Shinkansen is an electrody-
+namic maglev that is set to
+start operation between Tokyo
+and Nagoya in Japan from
+2027 [Museum, 2024] </p>
+  </div>
+</div>
+
+ <div style="display: flex;">
+  <div style="flex: 2; padding: 10px; border-right: 1px solid #ccc;">
+    <h3> Modes of magnetic levitation </h3>
+    <p>
+      The above outlines two important magnetic levitation concepts; elec-
+tromagnetic suspension and electromagnetic levitation. As illustrated in
+Figure 4.3, suspension simply alludes to the fact that something is
+suspended (against gravity) using magnetic attraction, while levita-
+tion uses magnetic repulsion to counteract the gravitational force. As 
+already mentioned, the Transrapid is a perfect example of the for-
+mer, while electrodynamic maglevs rely somewhat on both of these
+concepts to achieve levitation.
+    </p>
+  <img src="/_static/maglev_history/Suspension.png">
+  <p>
+  The above concepts are examples of static magnetic levitation. A
+famous theorem by Samuel Ernshaw states that it is not possible to
+achieve stable levitation using any configuration of magnets with
+fixed magnetization.<sup>2</sup> Thus, any static levitation system relies on
+some sort of external corrective force for levitate. This is usually
+where the electro part comes in; stability is usually solved by mea-
+suring the position of the levitating magnet and stabilizing it using a
+controller to adjust the current in electromagnetic solenoids. Suspen-
+sion systems are naturally stable in the lateral direction (like a pen-
+dulum), and thus only require vertical corrective action, while levi-
+tation systems are unstable in the lateral direction (like an inverted
+pendulum), and thus require lateral stabilization. In the following,
+we will see examples of how the concepts above are commonly ap-
+plied in industrial and commercial systems.
+  </p>
+  </div>
+  <div style="flex: 1; padding: 10px; margin-top: 60vh">
+  <p>
+  Figure 4.3: A comparison be-
+tween magnetic suspension and
+magnetic levitation.
+  </p>
+  <p style = "margin-top: 30vh">
+  <sup>2</sup> Roberto Bassani. Earnshaw (1805–
+1888) and passive magnetic levitation.
+Meccanica, 41:375–389, 2006
+  </p>
+  </div>
+</div>
+<div style="display: flex;">
+  <div style="flex: 2; padding: 10px; border-right: 1px solid #ccc;">
+  <h3>Maglev in Science & Industry</h3>
+  <p>A good example of magnetic suspension in an industrial setting is
+magnetic bearings. These bearings use electromagnets to actively
+control the position of the rotor to be in the center of the bearing,
+allowing for near frictionless rotation. However, the additional bulk
+and complexity added by the suspension system make these bearings
+large and expensive, and they are therefore mostly used in costly
+and high-precision devices, including medical equipment, industrial
+machinery, and scientific instruments.</p>
+<p>
+  A planar motor, such as those offered by Planar Motors Inc. and
+  Beckhoff <sup>3</sup>, is a more sophisticated application of magnetic levitation.
+  These consist of a magnetic mover that is levitating very close to a
+base filled with electromagnets. These motors operate on a flat sur-
+face and can move in multiple directions without physical contact,
+offering high precision and flexibility. Planar motors are essential in
+industries that require precise positioning and high-speed motion,
+such as semiconductor manufacturing and automated assembly lines.
+  </p>
+  <p>NASA’s Flexible Levitation on a Track (FLOAT) system offers a
+unique application of magnetic levitation. This system is a conceptual
+magnetic road that can be rolled out onto the lunar surface for
+the transportation of material when future moon bases are to be
+constructed. Like planar motors, the roads are magnetic bases with
+small loaded carts levitating above them. Unlike planar motors and
+most other commercial uses of magnetic levitation technology, the
+levitation is achieved passively using diamagnetism, circumventing
+Earnshaw’s theorem and allowing for levitation without the use of
+electromagnets. </p>
+<p>Magnetic levitation technology is also hugely important in other
+fields of science. Aside from the use of planar motors for the pre-
+cise movement of scientific equipment and components, the most
+prominent use of magnetic levitation is the concept of magnetic con-
+finement. The two largest research projects today — the CERN Large
+Hadron Collider and the ITER Tokamak fusion reactor — would both
+not be possible without magnetic confinement to guide particles/-
+plasma without physical contact.<sup>4</sup> </p>
+  </div>
+  <div style="flex: 1; padding: 10px; margin-top: 10vh">
+    <img src="/_static/maglev_history/planar_motors.jpg">
+    <p>
+    Figure 4.4: An illustration of
+a planar motor developed by
+Planar Motors Inc. [PMI, 2024]
+    </p>
+    <p>
+    <sup>3</sup> PMI. Planar motors, 2024. URL
+https://planarmotor.com/en. Ac-
+cessed: 2024-05-25; and Beckhoff Au-
+tomation. Beckhoff - xplanar planar
+motor system, 2024. <a href="https:
+//www.beckhoff.com/en-en/products/
+motion/xplanar-planar-motor-system">URL. </a>
+Accessed: 2024-05-25
+    </p>
+    <img src="/_static/maglev_history/NASA_FLOAT.jpg" style = "margin-top: 10vh">
+    <p> Figure 4.5: An illustration
+of NASA’s FLOAT con-
+cept [NASA, 2024]</p>
+<p style = "margin-top: 16vh">
+<sup>4</sup> ITER Organization. Iter - the machine,
+2024. URL https://www.iter.org/mach.
+Accessed: 2024-05-28; and CERN. Cern
+  - the large hadron collider,
+ 2024. <a href="https://www.home.cern/science/accelerators/large-hadron-collider">URL.</a>
+  Accessed: 2024-05-28
+</p>
+  </div>
+</div>
+<div style="display: flex;">
+  <div style="flex: 2; padding: 10px; border-right: 1px solid #ccc;">
+  <h3>Maglev in Consumer Products</h3>
+  <p>Maglev technology has also made its way into consumer products.
+For the most part, these are almost direct applications of the suspension and levitation concepts mentioned above and are mostly
+used as novelty ornaments or display cases. A common example that
+most people are probably familiar with is a floating globe suspended
+below an electromagnet.</p>
+<p>More relevant for us, though, are the systems that rely on magnetic
+levitation. These systems typically consist of a base equipped with
+electromagnets and/or permanent magnets, and optical or magnetic
+sensors, that keep a permanent magnet levitating stably above the
+base. Among these is Levimoon, which sells magnetically levitating
+moons that light up using battery power.<sup>5</sup> Floately and Flyte are known for their floating lightbulbs that are cleverly designed to light
+up using magnetic induction.<sup>6</sup> The latter offers a range of levitation
+platforms that can even keep a magnet levitating in any orientation.
+Having enough power to lift heavy objects is a common issue, and
+so the company Crealev specializes in magnetic levitation modules
+that are capable of lifting heavy loads with a large gap between the
+levitating magnet and the base.<sup>7</sup> </p>
+  </div>
+  <div style="flex: 1; padding: 10px; margin-top: 0vh">
+  <img src="/_static/maglev_history/crealev_octo88.png">
+  <p>Figure 4.6: The Crealev Octo88
+levitation module, capable of
+lifting a load of 10 kg [Crealev,
+2024]</p>
+<p><sup>5</sup> Levimoon. Levimoon, 2024. URL
+http://ww.levimoon.com/. Accessed:
+2024-05-24</p>
+<p>
+<sup>6</sup> Floately. Floately, 2024. URL https:
+//www.floately.com/. Accessed: 2024-
+05-24; and Flyte. Flyte, 2024. URL
+https://flytestore.com/. Accessed:
+2024-05-24</p>
+<p><sup>7</sup> Crealev. Crealev, 2024. URL https:
+//www.crealev.com/. Accessed: 2024-
+06-04</p>
+  </div>
+</div>
+<div style="display: flex;">
+<div style="flex: 2; padding: 10px; border-right: 1px solid #ccc;">
+<h3>Maglev in Education & Maggy</h3>
+<p>In terms of teaching, there are not many alternatives offered for small
+magnetic levitation systems. As far as the authors know, the only
+available magnetic levitation system for this is the Quanser magnetic
+suspension lab.<sup>8</sup> Quanser is a leader in engineering education soluions and offers this lab as part of their portfolio, to allow students
+to study the principles of magnetic levitation and control systems in
+a hands-on environment. This platform is widely used in universi-
+ties and research institutions for teaching and research purposes. It
+is a magnetic suspension system where an iron ball is lifted using an
+electromagnet and an optical sensor. They offer a comprehensive lab
+guide and seamless integration into Matlab and Simulink. However,
+their lab is proprietary, and each unit can be very costly. Further-
+more, the suspension design effectively makes this a 1DOF system,
+limiting the potential applications and educational benefits.</p>
+<p> In contrast, Maggy is a magnetic levitation system, similar to the
+more common commercial levitation platforms mentioned above,
+that is not proprietary, and it is designed to be cheap enough for
+students to build themselves or bring home.</p>
+  </div>
+  <div style="flex: 1; padding: 10px; margin-top: 0vh">
+  <img src="/_static/maglev_history/quanser_maglev_module.jpg" style = "margin-top: 20vh">
+  <p>Figure 4.7: The Quanser mag-
+netic suspension lab [Quanser,
+2024]</p>
+  </div>
+</div>
+