labels updated due to sticking to fig: and tab: conventions

contents/safety-report.tex

@@ -49,7 +49,7 @@ \section{Hazardous Material List}
 
 \section{Power Design Choice}
 
-    The rover's power architecture is divided into two separate power systems. This approach ensures galvanic isolation between the power and logic components, which is necessary to eliminate any possible wiring configuration in which a so-called "ground loop" could form. The underlying problem is based on the fact that there exists an interface and thus an electrical connection between the individual components. While the communication between power and logic components is implemented by establishing a physical connection between their corresponding GPIO pins and reading different voltage levels, there must be a precise reference voltage available at any given point in time. Generally speaking, this is done by using a common ground. Hence, the most basic form to utilize that common ground connection is to form a "star ground." If there are multiple paths to ground, a "ground loop" is present. These ground loops, in combination with wire inductance, can cause issues for high-current electronics like the rover's motor controllers (in this particular case utilizing ODrives). This is further illustrated in figure \ref{ground_loop_bad}.
+    The rover's power architecture is divided into two separate power systems. This approach ensures galvanic isolation between the power and logic components, which is necessary to eliminate any possible wiring configuration in which a so-called "ground loop" could form. The underlying problem is based on the fact that there exists an interface and thus an electrical connection between the individual components. While the communication between power and logic components is implemented by establishing a physical connection between their corresponding GPIO pins and reading different voltage levels, there must be a precise reference voltage available at any given point in time. Generally speaking, this is done by using a common ground. Hence, the most basic form to utilize that common ground connection is to form a "star ground." If there are multiple paths to ground, a "ground loop" is present. These ground loops, in combination with wire inductance, can cause issues for high-current electronics like the rover's motor controllers (in this particular case utilizing ODrives). This is further illustrated in figure \ref{fig:ground_loop_bad}.
 
     \begin{figure}[h] %Float specifier check: passed!
         \includegraphics[width=\textwidth]{contents/figures/ground_loop_bad.png}
@@ -67,7 +67,7 @@ \section{Power Design Choice}
 
     \subsection{Galvanic isolation}
 
-    To completely minimize the possibility of creating ground loops by accident, the loop must be broken. This can be achieved by isolating the power supplies (no common ground) and connecting a dedicated signal ground between the logic and power electronics. An example of this is a single motor controller connected to a battery and a device like a Raspberry Pi connected to a different battery. It is possible to achieve the same functionality with a DC/DC isolator as shown in figure \ref{ground_loop_fix}. By isolating the data connection (whether it is GPIO, USB, or UART, etc.), the ground loop is broken.
+    To completely minimize the possibility of creating ground loops by accident, the loop must be broken. This can be achieved by isolating the power supplies (no common ground) and connecting a dedicated signal ground between the logic and power electronics. An example of this is a single motor controller connected to a battery and a device like a Raspberry Pi connected to a different battery. It is possible to achieve the same functionality with a DC/DC isolator as shown in figure \ref{fig:ground_loop_fix}. By isolating the data connection (whether it is GPIO, USB, or UART, etc.), the ground loop is broken.
 
     \begin{figure}[h] %Float specifier check: passed!
         \includegraphics[width=\textwidth]{contents/figures/ground_loop_fix.png}
@@ -79,12 +79,12 @@ \section{Power Design Choice}
 
 \section{Basic Electric Layout}
 
-    While it would be possible to use DC/DC isolators whenever a ground loop could appear, it is more straight forward and easier to implement a complete different power solution. The main energy storage contains the unregulated $24V$ (6S) and $12V$ (3S) power sources in the form of LiPo batteries. This part of the rover also integrates a dedicated battery management system (further referred to as BMS) for each battery. Additionally, the main fusing for the primary \& secondary battery can be found here. The fuses protect the rover's circuitry as well as the batteries themselves. Due to the fact, that these components are strictly connected to the individual batteries, they change frequently with each battery exchange during normal operation. This means that during missions, the batteries can be quickly replaced without affecting other parts of the rover. Therefore, this area is separated from other areas of the rover's wiring as it is the only region where connections and disconnections of components are allowed. This separation is crucial to avoid accidental disconnections that could affect the rover's operation or create potential risks by introducing faulty connections. The output of both batteries is directly fed into an emergency stop system. Afterwards, the power travels into two separate distribution and fusing circuits before supplying the actual components and voltage converters further down the line. To illustrate that, see the attached figure \ref{power_architecture}.
+    While it would be possible to use DC/DC isolators whenever a ground loop could appear, it is more straight forward and easier to implement a complete different power solution. The main energy storage contains the unregulated $24V$ (6S) and $12V$ (3S) power sources in the form of LiPo batteries. This part of the rover also integrates a dedicated battery management system (further referred to as BMS) for each battery. Additionally, the main fusing for the primary \& secondary battery can be found here. The fuses protect the rover's circuitry as well as the batteries themselves. Due to the fact, that these components are strictly connected to the individual batteries, they change frequently with each battery exchange during normal operation. This means that during missions, the batteries can be quickly replaced without affecting other parts of the rover. Therefore, this area is separated from other areas of the rover's wiring as it is the only region where connections and disconnections of components are allowed. This separation is crucial to avoid accidental disconnections that could affect the rover's operation or create potential risks by introducing faulty connections. The output of both batteries is directly fed into an emergency stop system. Afterwards, the power travels into two separate distribution and fusing circuits before supplying the actual components and voltage converters further down the line. To illustrate that, see the attached figure \ref{fig:power_architecture}.
 
     \begin{figure}[h] %Float specifier check: passed!
         \includegraphics[width=\textwidth]{contents/figures/power-architecture-v1.1.0.png}
         \caption{Basic electrical layout split in the main 4 categories. Each category serves a different purpose (in example safely distributing the power or connecting the individual components with each other).}
-         \label{power_architecture}
+         \label{fig:power_architecture}
     \end{figure}
 
     \clearpage %PAGE SPECIFIER