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Figures, tables and equations

A reader will often look at the figures before reading the complete paper. Make sure they can understand the important result without zooming to 300% or searching through the text for missing context.

Figures

Design for the final page size

A figure that looks excellent across a full monitor may become unreadable in a two-column paper.

Before submission, view the PDF at a realistic page size and check:

  • axis labels;
  • legends;
  • annotations;
  • line thickness;
  • colours; and
  • text inside diagrams.

Use font sizes that remain readable after the figure is scaled into the template.

Prefer vector graphics when appropriate

Use vector formats such as PDF or SVG for plots, diagrams and line art where the workflow supports them. They remain sharp when scaled.

Use raster images such as PNG or JPEG for photographs, screenshots and sensor images. Export them at sufficient resolution and crop away irrelevant space.

Do not take a screenshot of a plot when the plotting software can export it properly.

Make colour optional, not essential

Use a colour-blind-friendly palette and make curves distinguishable using line styles, markers or labels as well as colour.

Check whether the figure still makes sense when printed in greyscale.

Write captions that stand on their own

A strong caption explains:

  • what is shown;
  • what conditions or groups are compared;
  • what important notation means; and
  • what the reader should notice.

The caption should not require the reader to guess what red, dashed or shaded elements represent.

Every figure must also be introduced and discussed in the main text. Do not drop a figure onto the page and expect it to explain itself.

Tables

Use a table when the reader needs exact values. Use a figure when the pattern or comparison matters more than the individual numbers.

Good tables:

  • include units in headings;
  • use consistent precision;
  • align comparable numbers;
  • explain abbreviations;
  • distinguish missing data from zero; and
  • avoid unnecessary vertical lines and visual clutter.

Do not report six decimal places when the measurement is only meaningful to one.

Equations

Treat equations as part of the sentence around them. Introduce the equation, punctuate it appropriately and explain every symbol when it first appears.

The end-effector position error is

\begin{equation}
    e_p = \lVert \mathbf{p}_{target} - \mathbf{p}_{actual} \rVert_2,
    \label{eq:position-error}
\end{equation}

where $\mathbf{p}_{target}$ and $\mathbf{p}_{actual}$ are the target and
measured positions in metres, respectively.

Number equations that you refer to later. Use \label{...} and \ref{...} or \eqref{...} rather than typing "Equation 3" manually.

Final figure check

Before submission, confirm that:

  • every figure and table is referenced in the text;
  • numbering follows the order of first mention;
  • captions match the final content;
  • axes include units;
  • legends are readable;
  • no placeholder labels remain; and
  • the PDF displays correctly