4.8 0 False C:\users\wouter\My Documents\studie\ma\mahd\implementation\SCARA\02_physics\scara_physics.emx 2020-7-14 15:30:34 parameters real A = 0.05 {m}; real B = 0.05 {m}; variables real J0_1_BF1[2]; real J1_2_BF1[2]; real J1_2_BF2[2]; real EE1_BF2[2]; initialequations J0_1_BF1 = [A/2;0]; J1_2_BF1 = [-A/2;0]; J1_2_BF2 = [B/2;0]; EE1_BF2 = [-B/2;0]; '; type Mainmodel end; implementation bg submodels Constant 80 96 description '4.01False Signal\Sources\Constant.emx 2007-10-19 14:48:44 '; type Constant ports signal out output; end; icon bg bottom figures rectangle 64.1 80 95.9 112 color 0 fill 15132390; line 68.9 91.6 90.9 91.6 color 16711680 width 2; line 66.2 102.7 91.9 102.7 color 0; line 68.5 86.7 68.5 105 color 0; end; implementation eq parameters real C = 1.0; // output value equations output = C; implementation_end; I 312 112 description ' 4.2 1 False Bond Graph\I.emx 2011-11-29 15:55:55 '; type I ports power in p; signal out state; signal in i; restrictions causality preferred in p; end; icon bg bottom figures text 'I' 312 112 color 0 18 bold; end; implementation eq equations state = int(p.e); p.f = state / i; implementation_end; I1 704 112 description ' 4.2 1 False Bond Graph\I.emx 2011-11-29 15:55:55 '; type I ports power in p; signal out state; signal in i; restrictions causality preferred in p; end; icon bg bottom figures text 'I' 704 112 color 0 18 bold; end; implementation eq equations state = int(p.e); p.f = state / i; implementation_end; MSe 504 96 description ' 4.2 1 False Bond Graph\MSe.emx 2011-11-29 16:12:33 '; type MSe ports power out p; signal in effort; restrictions causality fixed out p; end; icon bg bottom figures text 'MSe' 504 96 color 0 18 bold; end; implementation eq variables real flow; equations p.e = effort; flow = p.f; implementation_end; MSe1 168 168 description ' 4.2 1 False Bond Graph\MSe.emx 2011-11-29 16:12:33 '; type MSe ports power out p; signal in effort; restrictions causality fixed out p; end; icon bg bottom figures text 'MSe' 168 168 color 0 18 bold; end; implementation eq variables real flow; equations p.e = effort; flow = p.f; implementation_end; OneJunction 304 304 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports power knot duplicatable none p [2,1]; signal knot out flow [2,1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 304 304 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction1 304 456 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports power knot duplicatable none p [2,1]; signal knot out flow [2,1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 304 456 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction10 704 168 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports power knot duplicatable none p [1]; signal knot out flow [1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 704 168 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction11 864 448 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports power knot duplicatable none p [2,1]; signal knot out flow [2,1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 864 448 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction12 584 304 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports power knot duplicatable none p [2,1]; signal knot out flow [2,1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 584 304 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction3 312 168 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports power knot duplicatable none p [1]; signal knot out flow [1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 312 168 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction5 152.3 304 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports power knot duplicatable none p [2,1]; signal knot out flow [2,1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 152.3 304 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction6 152 456 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports power knot duplicatable none p [2,1]; signal knot out flow [2,1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 152 456 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction7 704 304 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports power knot duplicatable none p [2,1]; signal knot out flow [2,1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 704 304 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction8 704 456 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports power knot duplicatable none p [2,1]; signal knot out flow [2,1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 704 456 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; OneJunction9 864 304 description ' 4.2 1 False Bond Graph\OneJunction.emx 2011-11-29 16:17:51 '; knot OneJunction ports power knot duplicatable none p [2,1]; signal knot out flow [2,1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 864 304 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; PlusMinus1 512 336 description '4.01False Signal\Block Diagram\PlusMinus.emx 2007-9-27 10:15:13 '; knot PlusMinus ports signal knot duplicatable in plus [1]; signal knot duplicatable in minus [1]; signal knot out output [1]; end; icon bg ellipse figures ellipse 504 328 520 344 color 0 fill 16777215; end; implementation eq equations output = sum (collect (plus)) - sum (collect (minus)); implementation_end; RTF 304 392 description ' 4.8 1 False Bond Graph\2D\RTF-2.emx 2020-7-14 12:43:04 '; type 'TF-2' ports power in p1 [2,1]; power out p2 [2,1]; signal in angle {rad} ; restrictions causality constraint not_equal p1 p2; end; icon bg bottom figures text 'RTF' 304 392 color 0 18 bold; end; implementation eq /* 2D rotation transformer. Takes an angle as input and then rotates the dimensions */ variables real r[2,2]; equations r = [cos(angle), -sin(angle); sin(angle), cos(angle)]; p1.e = transpose (r) * p2.e; p2.f = r * p1.f; implementation_end; RTF1 512 304 description ' 4.8 1 False Bond Graph\2D\RTF-2.emx 2020-7-14 12:43:04 '; type 'TF-2' ports power in p1 [2,1]; power out p2 [2,1]; signal in angle {rad} ; restrictions causality constraint not_equal p1 p2; end; icon bg bottom figures text 'RTF' 512 304 color 0 18 bold; end; implementation eq /* 2D rotation transformer. Takes an angle as input and then rotates the dimensions */ variables real r[2,2]; equations r = [cos(angle), -sin(angle); sin(angle), cos(angle)]; p1.e = transpose (r) * p2.e; p2.f = r * p1.f; implementation_end; RTF2 152 368 description ' 4.8 1 False Bond Graph\2D\RTF-2.emx 2020-7-14 12:43:04 '; type 'TF-2' ports power in p1 [2,1]; power out p2 [2,1]; signal in angle {rad} ; restrictions causality constraint not_equal p1 p2; end; icon bg bottom figures text 'RTF' 152 368 color 0 18 bold; end; implementation eq /* 2D rotation transformer. Takes an angle as input and then rotates the dimensions */ variables real r[2,2]; equations r = [cos(angle), -sin(angle); sin(angle), cos(angle)]; p1.e = transpose (r) * p2.e; p2.f = r * p1.f; implementation_end; RTF3 704 368 description ' 4.8 1 False Bond Graph\2D\RTF-2.emx 2020-7-14 12:43:04 '; type 'TF-2' ports power in p1 [2,1]; power out p2 [2,1]; signal in angle {rad} ; restrictions causality constraint not_equal p1 p2; end; icon bg bottom figures text 'RTF' 704 368 color 0 18 bold; end; implementation eq /* 2D rotation transformer. Takes an angle as input and then rotates the dimensions */ variables real r[2,2]; equations r = [cos(angle), -sin(angle); sin(angle), cos(angle)]; p1.e = transpose (r) * p2.e; p2.f = r * p1.f; implementation_end; RTF4 864 360 description ' 4.8 1 False Bond Graph\2D\RTF-2.emx 2020-7-14 12:43:04 '; type 'TF-2' ports power in p1 [2,1]; power out p2 [2,1]; signal in angle {rad} ; restrictions causality constraint not_equal p1 p2; end; icon bg bottom figures text 'RTF' 864 360 color 0 18 bold; end; implementation eq /* 2D rotation transformer. Takes an angle as input and then rotates the dimensions */ variables real r[2,2]; equations r = [cos(angle), -sin(angle); sin(angle), cos(angle)]; p1.e = transpose (r) * p2.e; p2.f = r * p1.f; implementation_end; Sf 72 456 description '4.01False Bond Graph\2D\Sf-2.emx 2007-9-25 12:7:5 '; type 'Sf-2' ports power out p [2,1]; restrictions causality fixed in p; end; icon bg bottom figures text 'Sf' 72 456 color 0 18 bold; end; implementation eq parameters real flow[2,1] = [0.0; 0.0]; variables real effort [2]; equations p.f = flow; effort = p.e; implementation_end; Splitter1 264 336 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 1 False '; knot Splitter ports signal knot duplicatable out output [1]; signal knot in input [1]; end; icon bg ellipse figures ellipse 260.8 332.8 267.2 339.2 color -1 fill 0; ellipse 259.7 331.7 268.3 340.3 color -1; terminals input 264 336 fixed; end; implementation eq equations collect (output) = input; implementation_end; Splitter2 680 336 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 1 False '; knot Splitter ports signal knot duplicatable out output [1]; signal knot in input [1]; end; icon bg ellipse figures ellipse 676.8 332.8 683.2 339.2 color -1 fill 0; ellipse 675.7 331.7 684.3 340.3 color -1; terminals input 680 336 fixed; end; implementation eq equations collect (output) = input; implementation_end; Splitter3 168 96 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 1 False '; knot Splitter ports signal knot duplicatable out output [1]; signal knot in input [1]; end; icon bg ellipse figures ellipse 164.8 92.8 171.2 99.2 color -1 fill 0; ellipse 163.7 91.7 172.3 100.3 color -1; terminals input 168 96 fixed; end; implementation eq equations collect (output) = input; implementation_end; Submodel1 304 528 description '4.81parameters real mass = 1 {kg};'; type Submodel ports power in p [2,1]; signal in mass {kg} ; end; implementation bg submodels Gain 368 408 description '4.01False Signal\Block Diagram\Gain.emx 2007-9-26 12:15:12 '; type Gain ports signal in input; signal out output [2,1]; end; icon bg bottom figures rectangle 352.1 392 383.9 424 color 0 fill 15132390; text 'K' 368 408 color 16711680 16 bold; end; implementation eq equations output = [0;-g_n] * input; implementation_end; I 248 520 description '4.01False Bond Graph\2D\I-2.emx 2007-9-25 12:7:37 '; type 'I-2' ports power in p [2,1]; signal out state [2,1]; signal in mass {kg} ; restrictions causality preferred in p; end; icon bg bottom figures text 'I' 248 520 color 0 18 bold; end; implementation eq equations state = int(p.e); p.f = inverse ([mass,0;0,mass]) * state; implementation_end; plug p 304 468; plug mass 208 408; OneJunction2 304 520 description '4.01False Bond Graph\OneJunction.emx 2007-9-27 9:51:18 '; knot OneJunction ports power knot duplicatable none p [2,1]; signal knot out flow [2,1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 304 520 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; Sg 368 520 description '4.01False Bond Graph\2D\MSe-2.emx 2007-9-25 12:7:58 '; type 'MSe-2' ports power out p [2,1]; signal in effort [2,1]; restrictions causality fixed out p; end; icon bg bottom figures text 'MSe' 368 520 color 0 18 bold; end; implementation eq variables real flow[2]; equations p.e = effort; flow = p.f; implementation_end; Splitter1 248 408 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 1 False '; knot Splitter ports signal knot duplicatable out output [1]; signal knot in input [1]; end; icon bg ellipse figures ellipse 244.8 404.8 251.2 411.2 color -1 fill 0; ellipse 243.7 403.7 252.3 412.3 color -1; terminals input 248 408 fixed; end; implementation eq equations collect (output) = input; implementation_end; end; connections Gain\output -> Sg\effort; I\p <= OneJunction2\p; mass -> Splitter1\input; p => OneJunction2\p; Sg\p => OneJunction2\p; Splitter1\output -> Gain\input; Splitter1\output -> I\mass; end; implementation_end; Submodel2 704 528 description '4.81parameters real mass = 1 {kg};'; type Submodel ports power in p [2,1]; signal in mass {kg} ; end; icon bg figures rectangle 664 512 744 544 fill 15132390; text 'name' 704 528 16; end; implementation bg submodels Gain 368 408 description '4.01False Signal\Block Diagram\Gain.emx 2007-9-26 12:15:12 '; type Gain ports signal in input; signal out output [2,1]; end; icon bg bottom figures rectangle 352.1 392 383.9 424 color 0 fill 15132390; text 'K' 368 408 color 16711680 16 bold; end; implementation eq equations output = [0;-g_n] * input; implementation_end; I 248 520 description '4.01False Bond Graph\2D\I-2.emx 2007-9-25 12:7:37 '; type 'I-2' ports power in p [2,1]; signal out state [2,1]; signal in mass {kg} ; restrictions causality preferred in p; end; icon bg bottom figures text 'I' 248 520 color 0 18 bold; end; implementation eq equations state = int(p.e); p.f = inverse ([mass,0;0,mass]) * state; implementation_end; plug p 304 468; plug mass 208 408; OneJunction2 304 520 description '4.01False Bond Graph\OneJunction.emx 2007-9-27 9:51:18 '; knot OneJunction ports power knot duplicatable none p [2,1]; signal knot out flow [2,1]; restrictions causality constraint one_out p; end; icon bg figures text '1' 304 520 color 0 18 bold; end; implementation eq equations sum (direct (p.e)) = 0; equal (collect (p.f)); flow = first (p.f); implementation_end; Sg 368 520 description '4.01False Bond Graph\2D\MSe-2.emx 2007-9-25 12:7:58 '; type 'MSe-2' ports power out p [2,1]; signal in effort [2,1]; restrictions causality fixed out p; end; icon bg bottom figures text 'MSe' 368 520 color 0 18 bold; end; implementation eq variables real flow[2]; equations p.e = effort; flow = p.f; implementation_end; Splitter1 248 408 description '4.0 Signal\Block Diagram\Splitter.emx 2008-01-17 11:28:29 1 False '; knot Splitter ports signal knot duplicatable out output [1]; signal knot in input [1]; end; icon bg ellipse figures ellipse 244.8 404.8 251.2 411.2 color -1 fill 0; ellipse 243.7 403.7 252.3 412.3 color -1; terminals input 248 408 fixed; end; implementation eq equations collect (output) = input; implementation_end; end; connections Gain\output -> Sg\effort; I\p <= OneJunction2\p; mass -> Splitter1\input; p => OneJunction2\p; Sg\p => OneJunction2\p; Splitter1\output -> Gain\input; Splitter1\output -> I\mass; end; implementation_end; Submodel3 224 416 description '4.0 Template\Submodel-Equation.emx 1 False 2007-11-1 22:32:1 False '; type 'Submodel-Equation' ports signal in angle_velocity {rad/s} ; signal out angle {rad} ; signal in velocity [2,1] {m/s} ; signal out position [2,1] {m} ; signal out mass {kg} ; signal out angular_momentum {N.m.s} ; end; implementation eq /* Equation Submodel Enter your equations here. You can use the Toolbar buttons at the top ( Add , f(x) etc. ). */ parameters real density = 1 {kg/m3}; real dimension[3] = [1;1;1] {m}; real initial_position[2] = [0;0] {m}; real initial_angle = 0 {rad}; variables real body_angle[3]; real body_position[3]; real body_size[3]; real moment[3]; initialequations mass = dimension[1] * dimension[2] * dimension[3] * density; moment[1] = mass/12 * ( dimension[2]^2 + dimension[3]^2); moment[2] = mass/12 * ( dimension[1]^2 + dimension[3]^2); moment[3] = mass/12 * ( dimension[1]^2 + dimension[2]^2); angular_momentum = moment[1]; equations angle = int(angle_velocity,initial_angle); body_angle = [angle;0;0]; position = int(velocity,initial_position); body_position = [0; position[1];position[2]]; implementation_end; Submodel4 624 416 description '4.0 Template\Submodel-Equation.emx 1 False 2007-11-1 22:32:1 False '; type 'Submodel-Equation' ports signal in angle_velocity {rad/s} ; signal out angle {rad} ; signal in velocity [2,1] {m/s} ; signal out position [2,1] {m} ; signal out mass {kg} ; signal out angular_momentum {N.m.s} ; end; implementation eq /* Equation Submodel Enter your equations here. You can use the Toolbar buttons at the top ( Add , f(x) etc. ). */ parameters real density = 1 {kg/m3}; real dimension[3] = [1;1;1] {m}; real initial_position[2] = [0;0] {m}; real initial_angle = 0.01 {rad}; variables real body_angle[3]; real body_position[3]; real body_size[3]; real moment[3]; initialequations mass = dimension[1] * dimension[2] * dimension[3] * density; moment[1] = mass/12 * ( dimension[2]^2 + dimension[3]^2); moment[2] = mass/12 * ( dimension[1]^2 + dimension[3]^2); moment[3] = mass/12 * ( dimension[1]^2 + dimension[2]^2); angular_momentum = moment[1]; equations angle = int(angle_velocity,initial_angle); body_angle = [angle;0;0]; position = int(velocity,initial_position); body_position = [0; position[1];position[2]]; implementation_end; TF 384 224 description ' 4.8 1 False Bond Graph\2D\XTF-2.emx 2020-7-14 15:06:10 True '; type 'TF-2' ports power in p1; power out p2 [2,1]; restrictions causality constraint not_equal p1 p2; causality fixed in p2; causality fixed out p1; end; icon bg bottom figures text 'XTF' 384 224 color 0 18 bold; end; implementation eq parameters real x; real y; variables real r[2,1]; initialequations r = [-y; x]; equations p1.e = transpose (r) * p2.e; p2.f = r * p1.f; implementation_end; TF2 784 224 description ' 4.8 1 False Bond Graph\2D\XTF-2.emx 2020-7-14 15:06:10 True '; type 'TF-2' ports power in p1; power out p2 [2,1]; restrictions causality constraint not_equal p1 p2; causality fixed in p2; causality fixed out p1; end; icon bg bottom figures text 'XTF' 784 224 color 0 18 bold; end; implementation eq parameters real x; real y; variables real r[2,1]; initialequations r = [-y; x]; equations p1.e = transpose (r) * p2.e; p2.f = r * p1.f; implementation_end; TF3 632.3 224 description ' 4.8 1 False Bond Graph\2D\XTF-2.emx 2020-7-14 15:06:10 True '; type 'TF-2' ports power in p1; power out p2 [2,1]; restrictions causality constraint not_equal p1 p2; causality fixed in p2; causality fixed out p1; end; icon bg bottom figures text 'XTF' 632.3 224 color 0 18 bold; end; implementation eq parameters real x; real y; variables real r[2,1]; initialequations r = [-y; x]; equations p1.e = transpose (r) * p2.e; p2.f = r * p1.f; implementation_end; XTF 232.3 224 description ' 4.8 1 False Bond Graph\2D\XTF-2.emx 2020-7-14 15:06:10 True '; type 'TF-2' ports power in p1; power out p2 [2,1]; restrictions causality constraint not_equal p1 p2; causality fixed in p2; causality fixed out p1; end; icon bg bottom figures text 'XTF' 232.3 224 color 0 18 bold; end; implementation eq parameters real x; real y; variables real r[2,1]; initialequations r = [-y; x]; equations p1.e = transpose (r) * p2.e; p2.f = r * p1.f; implementation_end; ZeroJunction 384 304 description ' 4.2 1 False Bond Graph\ZeroJunction.emx 2011-11-29 16:45:16 '; knot ZeroJunction ports power knot duplicatable none p [2,1]; signal knot out effort [2,1]; restrictions causality constraint one_in p; end; icon bg figures text '0' 384 304 color 0 18 bold; end; implementation eq equations sum (direct (p.f)) = 0; equal (collect (p.e)); effort = first (p.e); implementation_end; ZeroJunction1 232.3 304 description ' 4.2 1 False Bond Graph\ZeroJunction.emx 2011-11-29 16:45:16 '; knot ZeroJunction ports power knot duplicatable none p [2,1]; signal knot out effort [2,1]; restrictions causality constraint one_in p; end; icon bg figures text '0' 232.3 304 color 0 18 bold; end; implementation eq equations sum (direct (p.f)) = 0; equal (collect (p.e)); effort = first (p.e); implementation_end; ZeroJunction2 784 304 description ' 4.2 1 False Bond Graph\ZeroJunction.emx 2011-11-29 16:45:16 '; knot ZeroJunction ports power knot duplicatable none p [2,1]; signal knot out effort [2,1]; restrictions causality constraint one_in p; end; icon bg figures text '0' 784 304 color 0 18 bold; end; implementation eq equations sum (direct (p.f)) = 0; equal (collect (p.e)); effort = first (p.e); implementation_end; ZeroJunction3 632.3 304 description ' 4.2 1 False Bond Graph\ZeroJunction.emx 2011-11-29 16:45:16 '; knot ZeroJunction ports power knot duplicatable none p [2,1]; signal knot out effort [2,1]; restrictions causality constraint one_in p; end; icon bg figures text '0' 632.3 304 color 0 18 bold; end; implementation eq equations sum (direct (p.f)) = 0; equal (collect (p.e)); effort = first (p.e); implementation_end; ZeroJunction4 504 168 description ' 4.2 1 False Bond Graph\ZeroJunction.emx 2011-11-29 16:45:16 '; knot ZeroJunction ports power knot duplicatable none p [1]; signal knot out effort [1]; restrictions causality constraint one_in p; end; icon bg figures text '0' 504 168 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 Constant\output -> Splitter3\input; I\p <= OneJunction3\p; I1\p <= OneJunction10\p; MSe1\p => OneJunction3\p; OneJunction\p => RTF\p1; OneJunction\p => ZeroJunction\p; OneJunction\p => ZeroJunction1\p; OneJunction1\flow -> Submodel3\velocity 224 456; OneJunction1\p => Submodel1\p; OneJunction10\flow -> Submodel4\angle_velocity 608 224 608 360; OneJunction10\p => TF2\p1; OneJunction10\p => TF3\p1; OneJunction3\flow -> Submodel3\angle_velocity 208 200 208 376; OneJunction3\p => TF\p1; OneJunction3\p => XTF\p1; OneJunction3\p => ZeroJunction4\p; OneJunction5\p => RTF2\p1; OneJunction7\p => RTF3\p1; OneJunction7\p => ZeroJunction2\p; OneJunction7\p => ZeroJunction3\p; OneJunction8\flow -> Submodel4\velocity 624 456; OneJunction8\p => Submodel2\p; OneJunction9\p => RTF4\p1; PlusMinus1\output -> RTF1\angle; RTF\p2 => OneJunction1\p; RTF1\p2 => OneJunction12\p; RTF2\p2 => OneJunction6\p; RTF3\p2 => OneJunction8\p; RTF4\p2 => OneJunction11\p; Sf\p => OneJunction6\p; Splitter1\output -> PlusMinus1\plus; Splitter1\output -> RTF\angle 280 352 280 368; Splitter1\output -> RTF2\angle 176 336; Splitter2\output -> PlusMinus1\minus; Splitter2\output -> RTF3\angle 680 344; Splitter2\output -> RTF4\angle 832 336; Splitter3\output -> MSe\effort; Splitter3\output -> MSe1\effort; Submodel3\angle -> Splitter1\input 248 384 248 352; Submodel3\angular_momentum -> I\i 200 376 200 200; Submodel3\mass -> Submodel1\mass 216 440 216 464 296 464 296 504; Submodel4\angle -> Splitter2\input; Submodel4\angular_momentum -> I1\i 600 360 600 224; Submodel4\mass -> Submodel2\mass 616 464 696 488; TF\p2 => ZeroJunction\p; TF2\p2 => ZeroJunction2\p; TF3\p2 => ZeroJunction3\p; XTF\p2 => ZeroJunction1\p; ZeroJunction\p => RTF1\p1; ZeroJunction1\p => OneJunction5\p; ZeroJunction2\p => OneJunction9\p; ZeroJunction3\p => OneJunction12\p; ZeroJunction4\p <= MSe\p; ZeroJunction4\p => OneJunction10\p; end; implementation_end; ]]> Experiment 1 4.8 TF\x 0 TF\y 0 TF2\x 0 TF2\y 0 TF3\x 0 TF3\y 0 XTF\x 0 XTF\y 0 I1\state_initial 0 I\state_initial 0 Submodel1\I\p.e_initial 2 1 0 0 Submodel2\I\p.e_initial 2 1 0 0 time Submodel4\position[2] Submodel4\position[1] GraphPlot 1 false 16777215 true true 15780518 12624260 0 10 10 10 false 16777215 true 1 model true Arial 12 34 400 0 0 0 0 Arial 12 34 400 0 0 0 0 Arial 10 34 400 0 0 0 0 Arial 12 34 400 0 0 0 0 true true false -1.0 1.0 true 3 position[1] -0.5000000000000001 0.5 true 1 position[2] 6076255 1 6076255 0 true 1 1 1 true true Submodel4\position[1] true Submodel4\position[2] true 0 16777215 D3DPlot 2 false 16777215 true 3D Animation 137 true false 4294967295 Gradients\BlueWhite.png true 1.0 1.0 1 1 1 true Reference Frame Bryant false false false false false false 1 1 1 false Default Lights and Cameras Bryant false false false false false false false Ambient 1 1 Direct3D false false false false false false 0 0.3 0.3 0.3 1 1 1 true 0.3 0.3 0.3 1 1 1 true true false false false Parallel -3 5 3 0.457495710997814 -0.762492851663023 -0.457495710997814 0.235379601434674 -0.392299335724456 0.889211827642101 Direct3D false false false false false false 3 0.5 0.5 0.5 1 1 1 true 1.0 0.0 0.0 0.5 0.5 0.5 1 1 1 true 0.5 0.5 0.5 1 1 1 true false true true false Spot Light 1 -3 -5 1 0.50709255283711 0.845154254728517 -0.169030850945703 0.0869656553478673 0.144942758913112 0.985610760609162 Direct3D false false false false false false 2 0.5 0.5 0.5 1 1 1 true 1.0 0.05 0.05 1.0471975511965976 1.0471975511965976 0.0 0.5 0.5 0.5 1 1 1 true 0.5 0.5 0.5 1 1 1 true false true true false Spot Light 2 2 -3 -1 -0.534522483824849 0.801783725737273 0.267261241912424 0.14824986333222 -0.22237479499833 0.963624111659432 Direct3D false false false false false false 2 1 1 1 1 1 1 true 1.0 0.05 0.05 1.5707963267948966 1.5707963267948966 0.0 1 1 1 1 1 1 true 0.5 0.5 0.5 1 1 1 true false true true false Camera Looking at Origin 8.08601856717543 3.82396406524929 3.99920023992003 -0.825275814177106 -0.390281698108316 -0.408166665292506 -0.368986018117198 -0.174497407115461 0.912907428682665 Direct3D false false false false false false 0.01 100.0 true 0.003926990816987242 45.0 -10.0 10.0 10.0 -10.0 true true 1 true true true false Front(XY)-Camera 10 -1 1 Direct3D false false false false false false 0.01 100.0 true 9.999999999999998 45.0 -9.999999999999998 9.999999999999998 9.999999999999998 -9.999999999999998 true true 1 true false false false Side(YZ)-Camera 10 -1 1 Direct3D false false false false false false 0.01 100.0 true 9.999999999999998 45.0 -9.999999999999998 9.999999999999998 9.999999999999998 -9.999999999999998 true true 1 true false false false Top(XZ)-Camera 10 -1 1 Direct3D false false false false false false 0.01 100.0 true 9.999999999999998 45.0 -9.999999999999998 9.999999999999998 9.999999999999998 -9.999999999999998 true true 1 true false false 1 1 1 false Scenery Bryant false false false false false false Center 1.0 true 4 1 1 1 true 1 1 1 1.0 1 1 1 true 0.498039215686275 0.498039215686275 0.498039215686275 14.298713684082 false false Block Bryant false false false false false false 1 true Window 1 0 1 2 Base 0.126562 0.0935185 0.819792 0.916667 0.0 10.0 false false false false 0.1 1.0e-6 1.0e-7 false true Euler 0.01 false BackwardEuler 1.0e-5 1.0e-5 1.0e-5 1.0e-5 0.01 1.0 AdamsBashforth 0.01 false RungeKutta2 0.01 false RungeKutta4 0.01 false RungeKutta8 false 0.001 false 1.0 1.0e-6 1.0e-6 0.9 0.33 6.0 0.0 false 100000 false 1000 RungeKuttaFehlberg false 0.001 false 1.0 1.0e-6 1.0e-6 VodeAdams false 0.001 false 1.0 1.0e-6 1.0e-6 true true BDFMethod 1.0e-5 1.0e-5 1.0e-5 1.0e-5 false 0.001 false 1.0 MeBDFiMethod 1.0e-5 1.0e-5 1.0e-5 1.0e-5 false 0.001 false 1.0 8 10 false true true false true 0 0.0 true MultipleRun true UseEndValue 0.001 BroydonFletcherGoldfarbShanno true true true true false time 1.0