Add Modern Robotics implementation and documentation

implementation/SCARA/03_motor/MR_dynamics2.emx

@@ -8,7 +8,7 @@
 <IsMainModel>0</IsMainModel>
   <KeepParameterValues>False</KeepParameterValues>
     <LibraryPath>C:\users\wouter\My Documents\studie\ma\mahd\implementation\SCARA\03_motor\MR_dynamics2.emx</LibraryPath>
-  <TimeStamp>2020-7-17 15:47:18</TimeStamp>
+  <TimeStamp>2020-7-19 14:01:30</TimeStamp>
 </Description>
 </Information>';
  type Mainmodel
@@ -2165,6 +2165,324 @@ Integrate\init = InitialPos;
 uTbai\Rconstraint = Rconstraint;
 uTbai\Cconstraint = Cconstraint;
 
+parameterrelations_end;
+     figures
+      text 'b = next link (body)
+a = previous link (body)
+i = Frame fixed in previous body, fixed in joint
+j = Frame fixed in next body, fixed in joint
+ ' 680 488 color 0;
+    implementation_end;
+   Joint2 896.1 686
+    description '<Information>
+ <Description>
+    <Version>4.8</Version>
+<IsMainModel>1</IsMainModel>
+  <KeepParameterValues>False</KeepParameterValues>
+  <AllowLibraryUpdate>True</AllowLibraryUpdate>
+    <LibraryPath>Bond Graph\MR\joint-v2.emx</LibraryPath>
+  <TimeStamp>2020-7-17 14:55:32</TimeStamp>
+</Description>
+</Information>';
+    type 'Submodel-rotz'
+     ports
+      power out p [6,1];
+      power in p1;
+      power in p2 [6,1];
+      signal in Hin [4,4];
+      signal out Hout [4,4];
+      signal out q;
+    end;
+    icon bg bottom
+     figures
+      rectangle 864.2 648 928 724 color 0 fill 14745599;
+      text 'Joint' 896 680 color 0;
+     terminals
+      p 864 664 fixed;
+      p1 896 648 fixed;
+      p2 928 664 fixed;
+      Hin 864 712 fixed;
+      Hout 928 712 fixed;
+    end;
+    implementation bg
+     submodels
+      AdHji 424 424
+       description '<Description>
+ <Version>4.0</Version>
+ <IsMainModel>1</IsMainModel>
+ <KeepParameterValues>False</KeepParameterValues>
+ <LibraryPath>Bond Graph\MTF.emx</LibraryPath>
+ <TimeStamp>2007-9-25 12:3:3</TimeStamp>
+ <AllowLibraryUpdate>True</AllowLibraryUpdate>
+</Description>';
+       type MTF
+        ports
+         power out p1 [6,1];
+         power in p2 [6,1];
+         signal in H [4,4];
+        restrictions
+         causality constraint not_equal p1 p2;
+       end;
+       icon bg bottom
+        figures
+         text 'MTF' 424 424 color 0 18 bold;
+       end;
+       implementation eq
+equations					
+	p2.e = transpose(Adjoint(H)) * p1.e;
+	p1.f = Adjoint(H) * p2.f;implementation_end;
+      Integrate 320 176
+       description '<Description>
+ <Version>4.0</Version>
+ <IsMainModel>1</IsMainModel>
+ <KeepParameterValues>False</KeepParameterValues>
+ <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>
+ <TimeStamp>2007-9-26 12:3:23</TimeStamp>
+ <AllowLibraryUpdate>True</AllowLibraryUpdate>
+</Description>';
+       type Integrate
+        ports
+         signal in input;
+         signal out output [4,4];
+         signal out q;
+        parameters
+         real init = -2.9496;
+       end;
+       icon bg
+        figures
+         rectangle 304 160 336 192 color 0 fill 15132390;
+         text 'ò' 320 173.3 color 16711680 'SymbolProp BT' 21 symbol;
+       end;
+       implementation eq
+parameters
+	real global joint;
+variables
+	real R[3,3];
+	real p[3];
+	real qa[6];
+	real temp [4,4];
+initialequations
+	qa = 0;
+equations
+q = -int(input,init);
+qa[joint] = q;
+R =  dll('EulerAngles.dll','RotationMatrixFromEulXYZs',qa);
+output = homogeneous(R,qa[4:6]);implementation_end;
+      MatrixMul 320 576
+       description '<Description>
+ <Version>4.0</Version>
+ <IsMainModel>1</IsMainModel>
+ <KeepParameterValues>False</KeepParameterValues>
+ <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>
+ <TimeStamp>2007-9-26 12:15:12</TimeStamp>
+ <AllowLibraryUpdate>True</AllowLibraryUpdate>
+</Description>';
+       type Gain
+        ports
+         signal in input1 [4,4];
+         signal out output [4,4];
+         signal in input2 [4,4];
+       end;
+       icon bg bottom
+        figures
+         rectangle 304.1 560 335.9 592 color 0 fill 15132390;
+         text 'X' 320 576 color 16711680 16 bold;
+       end;
+       implementation eq
+equations
+	output = input2*input1;    implementation_end;
+      plug p1 240 40;
+      plug p2 496 424;
+      plug Hin 112 576;
+      plug Hout 504 576;
+      plug q 448 176;
+      plug p 112 424;
+      OneJunction2 240 176
+       description '<Information>
+ <Description>
+    <Version>4.2</Version>
+<IsMainModel>1</IsMainModel>
+  <KeepParameterValues>False</KeepParameterValues>
+    <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>
+  <TimeStamp>2011-11-29 15:50:53</TimeStamp>
+</Description>
+</Information>';
+       knot FlowSensor
+        ports
+         mechanical knot in p1 [1];
+         power knot out p2 [1];
+         signal knot out flow [1];
+        restrictions
+         causality constraint not_equal p1 p2;
+       end;
+       icon bg ellipse
+        figures
+         ellipse 233.1 168.8 246.9 183.1 color 0 fill 16777215;
+         text 'f' 240 175.2 color 0;
+       end;
+       implementation eq
+equations
+	p2.f = p1.f;
+	p1.e = p2.e;
+	flow = p1.f;
+implementation_end;
+      Splitter2 320 312
+       description '<Description><Version>4.0</Version>
+   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
+  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
+<IsMainModel>1</IsMainModel>
+ <KeepParameterValues>False</KeepParameterValues>
+</Description>';
+       knot Splitter
+        ports
+         signal knot duplicatable out output [4,4];
+         signal knot in input [4,4];
+       end;
+       icon bg ellipse
+        figures
+         ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;
+         ellipse 315.7 307.7 324.3 316.3 color -1;
+        terminals
+         input 320 312 fixed;
+       end;
+       implementation eq
+equations
+    collect (output) = input;
+implementation_end;
+      Submodel1 240 312
+       description '<Description><Version>4.0</Version>
+   <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>
+<IsMainModel>1</IsMainModel>
+ <KeepParameterValues>False</KeepParameterValues>
+   <TimeStamp>2007-11-1 22:32:1</TimeStamp>
+   <AllowLibraryUpdate>False</AllowLibraryUpdate>
+</Description>';
+       type 'Submodel-Equation'
+        ports
+         power in p1 [6,1];
+         signal out H [4,4];
+         power out p2 [6,1];
+       end;
+       implementation eq
+variables
+	real q[4];		//quaternions
+	real W[3,4];	//Quaternion Rates Matrix
+	real R[3,3];	//Rotation Matrix
+equations
+	q = int(transpose(W) * p1.f[1:3] ./ 2);
+	W = [-q[2],	q[1],	-q[4],	q[3];
+		 -q[3],	q[4],	q[1],	-q[2];
+		 -q[4],	-q[3],	q[2],	q[1]];
+ 	R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]);
+		  2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]);
+		  2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2];implementation_end;
+      uTbai 240 248
+       description '<Description>
+ <Version>4.0</Version>
+ <IsMainModel>1</IsMainModel>
+ <KeepParameterValues>False</KeepParameterValues>
+ <LibraryPath>Bond Graph\TF.emx</LibraryPath>
+ <TimeStamp>2007-9-25 12:4:2</TimeStamp>
+ <AllowLibraryUpdate>True</AllowLibraryUpdate>
+</Description>';
+       type TF
+        ports
+         power in p1;
+         power out p2 [6,1];
+        restrictions
+         causality constraint not_equal p1 p2;
+         causality fixed in p1;
+         causality fixed out p2;
+        parameters
+         real Cconstraint = 1.0e-4;
+         real Rconstraint = 1000.0;
+       end;
+       icon bg left
+        figures
+         text 'TF' 240 248 color 0 18 bold;
+       end;
+       implementation eq
+parameters
+	real global joint;
+variables
+	real i;
+	real state[6];
+equations
+	/*p2.e[1] = (Rconstraint*-p2.f[1] + int(-p2.f[1])/Cconstraint);
+	p2.e[2] = (Rconstraint*-p2.f[2] + int(-p2.f[2])/Cconstraint);
+	p2.e[3] = p1.e;
+	p2.e[4] = (Rconstraint*-p2.f[4] + int(-p2.f[4])/Cconstraint);
+	p2.e[5] = (Rconstraint*-p2.f[5] + int(-p2.f[5])/Cconstraint);
+	p2.e[6] = (Rconstraint*-p2.f[6] + int(-p2.f[6])/Cconstraint);
+
+	p1.f = p2.f[3];*/
+	state = int(p2.f);
+	for i = 1 to 6 do		
+		if i == joint then
+			p1.f = p2.f[i];	
+			p2.e[i] = p1.e;
+		else
+			p2.e[i] = (Rconstraint*-p2.f[i] + -state[i]/Cconstraint);
+		end;
+	end;
+implementation_end;
+      Wbai 240 424
+       description '<Description>
+ <Version>4.0</Version>
+ <IsMainModel>1</IsMainModel>
+ <KeepParameterValues>False</KeepParameterValues>
+ <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
+ <TimeStamp>2007-9-27 9:51:43</TimeStamp>
+ <AllowLibraryUpdate>True</AllowLibraryUpdate>
+</Description>';
+       knot ZeroJunction
+        ports
+         power knot duplicatable none p [6,1];
+         signal knot out effort [6,1];
+        restrictions
+         causality constraint one_in p;
+       end;
+       icon bg bottom
+        figures
+         text '0' 240 424 color 0 18 bold;
+       end;
+       implementation eq
+equations
+	sum (direct (p.f)) = 0;
+	equal (collect (p.e));
+	effort = first (p.e);
+implementation_end;
+     end;
+     connections
+      Hin -> MatrixMul\input2;
+      Integrate\output -> Splitter2\input;
+      Integrate\q -> q;
+      MatrixMul\output -> Hout;
+      OneJunction2\flow -> Integrate\input;
+      OneJunction2\p1 <= p1;
+      OneJunction2\p2 => uTbai\p1;
+      p <= Wbai\p;
+      p2 => AdHji\p2;
+      Splitter2\output -> AdHji\H 424 312;
+      Splitter2\output -> MatrixMul\input1;
+      Submodel1\p2 => Wbai\p;
+      uTbai\p2 => Submodel1\p1;
+      Wbai\p <= AdHji\p1;
+     end;
+     parameterrelations
+EndstopMin\Rendstop = Rendstop;
+EndstopMin\Cendstop = Cendstop;
+EndstopMin\InitialPos = InitialPos;
+EndstopMin\EndstopPos = MinEndstopPos;
+EndstopMax\Rendstop = Rendstop;
+EndstopMax\Cendstop = Cendstop;
+EndstopMax\InitialPos = InitialPos;
+EndstopMax\EndstopPos = MaxEndstopPos;
+Rjoint\Rjoint= Rjoint;
+Integrate\init = InitialPos;
+uTbai\Rconstraint = Rconstraint;
+uTbai\Cconstraint = Cconstraint;
+
 parameterrelations_end;
      figures
       text 'b = next link (body)
@@ -4206,9 +4524,21 @@ implementation_end;
     <ModelProperty section="tools\graph editor" entry="debugMode" value="0"/>
   </ModelProperties>
   <Variables>
-   <Constants>
-   </Constants>
    <Parameters>
+    <Variable>
+     <Name>I</Name>
+     <Rows>3</Rows>
+     <Columns>1</Columns>
+     <Value>0 0 0</Value>
+    </Variable>
+    <Variable>
+     <Name>joint</Name>
+     <Value>0</Value>
+    </Variable>
+    <Variable>
+     <Name>m</Name>
+     <Value>0</Value>
+    </Variable>
    </Parameters>
    <Initials>
     <Variable>

implementation/SCARA/03_motor/implementation.md

@@ -0,0 +1,53 @@
+#Motor Physics.
+
+This is a small iteration from the last level of detail.
+The following are some motor physics.
+
+So I researched some different types of motors.
+For this application AC-drives are not suitable, they have a fixed speed or are very expensive.
+We are then left with DC-motors, stepper and servo.
+There are more types but these three are the most common in use.
+
+### DC-motor
+This is probably the most simple motor.
+Feeding a current trough the motor gives a torque at the mechanical axis.
+These motors rotate at a high velocity and often require a mechanical reduction.
+They are cheap though.
+
+The problem is in the control.
+A constant current is required to compensate for any gravitational pull on the load.
+Furthermore, there is no feedback on the system. Therefore, we need an angle sensor.
+Adding to the complexity.
+
+Another choice we have to make in the type of motor is the brushed or brushless.
+But both options still require some elaborate control.
+
+### Stepper
+A steppermotor is a brushless DC motor that is split in a number of multiple equal steps.
+Where a brushless DC would have 6 steps. A stepper motor can have 60 steps. or 120.
+By applying voltage to the next step we can move the rotor a single step.
+They run best up to 1200 RPM.
+The torque they can deliver is dependent on the current speed.
+The stall torque can be around the 0.2 Nm.
+But that drops off at higher velocities.
+[Stepper motor on Wikipedia](https://en.wikipedia.org/wiki/Stepper_motor)
+
+### Servo
+A servomotor is especially a motor with a build in controller.
+Often the motor itself is a simple DC-motor with permanent magnets.
+And then there is a angle sensor and a small feedback controller to control the position.
+The angle is communicated by PWM signal. And the servo will do the rest of the work.
+Although the servo is simpler to control, it is often more expensive to get a motor that is similar to the stepper.
+
+## Decission.
+From our earlier model I concluded that a velocity of 25 rad/s and a torque of 0.01 Nm is required.
+This should be doable with a stepper motor.
+Furthermore, the fixed position is a very nice option.
+For now I will go with the Steppermotor. They are more affordable and above all have fairly decent datasheets.
+
+
+## Current model state
+This model does not yet implement a steppermotor implementation.
+But it does implement simple DC motor.
+For the next step it is important to have some controller that is better suited.
+

implementation/SCARA/03_motor/motor_physics.emx

@@ -8,7 +8,7 @@
 <IsMainModel>0</IsMainModel>
   <KeepParameterValues>False</KeepParameterValues>
     <LibraryPath>C:\users\wouter\My Documents\studie\ma\mahd\implementation\SCARA\03_motor\motor_physics.emx</LibraryPath>
-  <TimeStamp>2020-7-17 18:39:03</TimeStamp>
+  <TimeStamp>2020-7-18 12:37:59</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
  </Description>
  <Attributes>
@@ -1617,7 +1617,7 @@ equations
 	p1.e = p2.e;
 	flow = p1.f;
 implementation_end;
-         uTbai 240 328
+         uTbai 240 312
           description '<Description>
  <Version>4.0</Version>
  <IsMainModel>1</IsMainModel>
@@ -1640,7 +1640,7 @@ implementation_end;
           end;
           icon bg left
            figures
-            text 'TF' 240 328 color 0 18 bold;
+            text 'TF' 240 312 color 0 18 bold;
           end;
           implementation eq
 parameters
@@ -5019,6 +5019,18 @@ implementation_end;
      <Value>0</Value>
     </Variable>
    </Initials>
+   <FavoriteVariables>
+    <Variable>
+     <Name>Joint1\JointType\uTbai\state</Name>
+     <Rows>6</Rows>
+     <Columns>1</Columns>
+     <RowIndex>0</RowIndex>
+     <ColumnIndex>0</ColumnIndex>
+    </Variable>
+    <Variable>
+     <Name>Joint1\JointType\Integrate\q</Name>
+    </Variable>
+   </FavoriteVariables>
   </Variables>
   <PlotSpecs>
    <VarNames>
@@ -5045,10 +5057,6 @@ implementation_end;
     <VarName>PlusMinus3\output</VarName>
     <VarName>Integrate\output[2]</VarName>
     <VarName>Integrate\output[1]</VarName>
-    <VarName>MSe1\effort</VarName>
-    <VarName>MSe2\effort</VarName>
-    <VarName>MSe2\flow</VarName>
-    <VarName>MSe1\flow</VarName>
     <VarName>new_joint1\position[1]</VarName>
     <VarName>new_joint1\position[2]</VarName>
     <VarName>new_joint1\position[3]</VarName>
@@ -5071,6 +5079,10 @@ implementation_end;
     <VarName>PID3\error</VarName>
     <VarName>new_joint3\position[3]</VarName>
     <VarName>new_joint3\position[2]</VarName>
+    <VarName>MSe1\effort</VarName>
+    <VarName>MSe2\effort</VarName>
+    <VarName>MSe2\flow</VarName>
+    <VarName>MSe1\flow</VarName>
    </VarNames>
    <Plots>
     <Plot>
@@ -5144,7 +5156,7 @@ implementation_end;
      <XAxes>
       <Axis>
        <Minimum>0.0</Minimum>
-       <Maximum>2.0512133912317303</Maximum>
+       <Maximum>0.10311339559032781</Maximum>
        <Linear>true</Linear>
        <Scaling>3</Scaling>
        <Label>time</Label>
@@ -5341,7 +5353,7 @@ implementation_end;
      <XAxes>
       <Axis>
        <Minimum>0.0</Minimum>
-       <Maximum>2.0512133912317303</Maximum>
+       <Maximum>0.10311339559032781</Maximum>
        <Linear>true</Linear>
        <Scaling>3</Scaling>
        <Label>time</Label>
@@ -6033,13 +6045,13 @@ implementation_end;
       <Orientation>
        <ZAxis>
         <X>
-         <Value>-0.646203434499504</Value>
+         <Value>-0.646203434499502</Value>
         </X>
         <Y>
-         <Value>-0.628938588548313</Value>
+         <Value>-0.628938588548314</Value>
         </Y>
         <Z>
-         <Value>-0.432270023337152</Value>
+         <Value>-0.432270023337153</Value>
         </Z>
        </ZAxis>
        <YAxis>
@@ -6047,7 +6059,7 @@ implementation_end;
          <Value>-0.309771185077498</Value>
         </X>
         <Y>
-         <Value>-0.301494918649692</Value>
+         <Value>-0.301494918649693</Value>
         </Y>
         <Z>
          <Value>0.901744213690389</Value>
@@ -6377,18 +6389,18 @@ implementation_end;
          </X>
          <Y>
      <VariableName>Submodel3\body_position[2]</VariableName>
-     <Value>-0.01915326984592884</Value>
+     <Value>-0.009158353632383561</Value>
          </Y>
          <Z>
      <VariableName>Submodel3\body_position[3]</VariableName>
-     <Value>0.02623393923392464</Value>
+     <Value>0.03118053280824738</Value>
          </Z>
         </Position>
         <Orientation>
          <Angles>
      <X>
       <VariableName>Submodel3\body_angle[1]</VariableName>
-      <Value>2.2010448489940284</Value>
+      <Value>1.8564889888314844</Value>
      </X>
      <Y>
       <VariableName>Submodel3\body_angle[2]</VariableName>
@@ -6482,18 +6494,18 @@ implementation_end;
          </X>
          <Y>
      <VariableName>Submodel4\body_position[2]</VariableName>
-     <Value>-0.013315183118204434</Value>
+     <Value>0.0013903741642251554</Value>
          </Y>
          <Z>
      <VariableName>Submodel4\body_position[3]</VariableName>
-     <Value>0.05268450409359094</Value>
+     <Value>0.07774345829579168</Value>
          </Z>
         </Position>
         <Orientation>
          <Angles>
      <X>
       <VariableName>Submodel4\body_angle[1]</VariableName>
-      <Value>0.008626014952555631</Value>
+      <Value>0.66277054304191</Value>
      </X>
      <Y>
       <VariableName>Submodel4\body_angle[2]</VariableName>
@@ -6620,11 +6632,11 @@ implementation_end;
          </X>
          <Y>
      <VariableName>new_joint1\position[2]</VariableName>
-     <Value>-0.01914237844052437</Value>
+     <Value>-0.009202768540009312</Value>
          </Y>
          <Z>
      <VariableName>new_joint1\position[3]</VariableName>
-     <Value>0.026264412189115294</Value>
+     <Value>0.031169842014341604</Value>
          </Z>
         </Position>
         <Orientation>
@@ -6635,11 +6647,11 @@ implementation_end;
      </X>
      <Y>
       <VariableName>new_joint1\R[2,3]</VariableName>
-      <Value>-0.8081357596650859</Value>
+      <Value>-0.9590720619797416</Value>
      </Y>
      <Z>
       <VariableName>new_joint1\R[3,3]</VariableName>
-      <Value>-0.588996259708442</Value>
+      <Value>-0.2831621089233634</Value>
      </Z>
          </ZAxis>
          <YAxis>
@@ -6649,11 +6661,11 @@ implementation_end;
      </X>
      <Y>
       <VariableName>new_joint1\R[2,2]</VariableName>
-      <Value>-0.588996259708442</Value>
+      <Value>-0.2831621089233634</Value>
      </Y>
      <Z>
       <VariableName>new_joint1\R[3,2]</VariableName>
-      <Value>0.8081357596650859</Value>
+      <Value>0.9590720619797416</Value>
      </Z>
          </YAxis>
          <OrientationType>Matrix</OrientationType>
@@ -6739,11 +6751,11 @@ implementation_end;
          </X>
          <Y>
      <VariableName>new_joint2\position[2]</VariableName>
-     <Value>-0.013304570144791548</Value>
+     <Value>0.0027085042716763867</Value>
          </Y>
          <Z>
      <VariableName>new_joint2\position[3]</VariableName>
-     <Value>0.0515337009578849</Value>
+     <Value>0.07572614202917434</Value>
          </Z>
         </Position>
         <Orientation>
@@ -6754,11 +6766,11 @@ implementation_end;
      </X>
      <Y>
       <VariableName>new_joint2\R[2,3]</VariableName>
-      <Value>0.03980493681382746</Value>
+      <Value>-0.5354583200196454</Value>
      </Y>
      <Z>
       <VariableName>new_joint2\R[3,3]</VariableName>
-      <Value>0.9992074694502875</Value>
+      <Value>0.8445616540678004</Value>
      </Z>
          </ZAxis>
          <YAxis>
@@ -6768,11 +6780,11 @@ implementation_end;
      </X>
      <Y>
       <VariableName>new_joint2\R[2,2]</VariableName>
-      <Value>0.9992074694502875</Value>
+      <Value>0.8445616540678004</Value>
      </Y>
      <Z>
       <VariableName>new_joint2\R[3,2]</VariableName>
-      <Value>-0.03980493681382746</Value>
+      <Value>0.5354583200196454</Value>
      </Z>
          </YAxis>
          <OrientationType>Matrix</OrientationType>
@@ -6864,7 +6876,7 @@ implementation_end;
      <SharedZAxis>false</SharedZAxis>
      <XAxes>
       <Axis>
-       <Minimum>0.008778601272032657</Minimum>
+       <Minimum>0.021097455593261694</Minimum>
        <Maximum>0.115</Maximum>
        <Linear>true</Linear>
        <Scaling>3</Scaling>
@@ -7006,7 +7018,7 @@ implementation_end;
      <XAxes>
       <Axis>
        <Minimum>0.0</Minimum>
-       <Maximum>2.0512133912317303</Maximum>
+       <Maximum>0.10311339559032781</Maximum>
        <Linear>true</Linear>
        <Scaling>3</Scaling>
        <Label>time</Label>
@@ -7092,7 +7104,7 @@ implementation_end;
     </PlotPanel>
     <PlotPanel>
      <PlotPanelId>2</PlotPanelId>
-     <PlotPanelVisible>true</PlotPanelVisible>
+     <PlotPanelVisible>false</PlotPanelVisible>
      <Name>Window 2</Name>
      <Tiling>0</Tiling>
      <PlotIds>
@@ -7102,7 +7114,7 @@ implementation_end;
     </PlotPanel>
     <PlotPanel>
      <PlotPanelId>3</PlotPanelId>
-     <PlotPanelVisible>true</PlotPanelVisible>
+     <PlotPanelVisible>false</PlotPanelVisible>
      <Name>Window 3</Name>
      <Tiling>0</Tiling>
      <PlotIds>
@@ -7113,13 +7125,13 @@ implementation_end;
    </PlotPanels>
    <WindowRectangles virtualDesktopWidth="5760" virtualDesktopHeight="1080">
      <WindowRectangle monitor="2" left="1920" top="0" right="3840" bottom="1080" plotpanelid="1">
--0.00208333 0.00462963 1.00208 1.0037
+0.149479 0.0675926 0.908333 0.847222
      </WindowRectangle>
      <WindowRectangle monitor="1" left="-1920" top="0" right="0" bottom="1080" plotpanelid="2">
 0.138021 0.169444 0.777604 0.862963
      </WindowRectangle>
      <WindowRectangle monitor="1" left="-1920" top="0" right="0" bottom="1080" plotpanelid="3">
-0.295833 0.327778 0.692187 0.765741
+0.526042 0.287963 0.922396 0.725926
      </WindowRectangle>
    </WindowRectangles>
   </PlotSpecs>