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mahd/implementation/SCARA/06_arm/arm_model.emx

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  1. <?xml version="1.0" encoding="UTF-8"?>

  2. <Document>

  3.  <Model version="4.8" build="4.8.2.10124">

  4.   <Sidops><![CDATA[model 128 184

  5.  description '<Information>

  6.  <Description>

  7.     <Version>4.8</Version>

  8. <IsMainModel>0</IsMainModel>

  9.   <KeepParameterValues>False</KeepParameterValues>

  10.     <LibraryPath>C:\users\wouter\My Documents\studie\ma\mahd\implementation\SCARA\06_arm\arm_model.emx</LibraryPath>

  11.   <TimeStamp>2020-7-23 10:05:57</TimeStamp>

  12. </Description>

  13. </Information>';

  14.  type Mainmodel

  15.  end;

  16.  implementation bg

  17.   submodels

  18.    Body1 520 496

  19.     description '<Description><Version>4.0</Version>

  20.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  21. <IsMainModel>1</IsMainModel>

  22.  <KeepParameterValues>False</KeepParameterValues>

  23.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  24.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  25. </Description>';

  26.     type 'Submodel-Equation'

  27.      ports

  28.       signal in input [4,4];

  29.     end;

  30.     implementation eq

  31. variables

  32. 	real position[3];

  33. 	real rotation[3];

  34. 	real R[3,3];

  35. equations

  36. 	position = input[1:3,4];

  37. 	rotation = dll('EulerAngles.dll','EulXYZsFromHMatrix',input);

  38. 	//[input[3,2];input[1,3];input[2,1]];

  39. 	R = input[1:3,1:3];implementation_end;

  40.    Body2 896 544

  41.     description '<Description><Version>4.0</Version>

  42.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  43. <IsMainModel>1</IsMainModel>

  44.  <KeepParameterValues>False</KeepParameterValues>

  45.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  46.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  47. </Description>';

  48.     type 'Submodel-Equation'

  49.      ports

  50.       signal in input [4,4];

  51.     end;

  52.     implementation eq

  53. variables

  54. 	real position[3];

  55. 	real rotation[3];

  56. 	real R[3,3];

  57. equations

  58. 	position = input[1:3,4];

  59. 	rotation = dll('EulerAngles.dll','EulXYZsFromHMatrix',input);

  60. 	//[input[3,2];input[1,3];input[2,1]];

  61. 	R = input[1:3,1:3];implementation_end;

  62.    Body3 704 496

  63.     description '<Description><Version>4.0</Version>

  64.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  65. <IsMainModel>1</IsMainModel>

  66.  <KeepParameterValues>False</KeepParameterValues>

  67.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  68.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  69. </Description>';

  70.     type 'Submodel-Equation'

  71.      ports

  72.       signal in input [4,4];

  73.     end;

  74.     implementation eq

  75. variables

  76. 	real position[3];

  77. 	real rotation[3];

  78. 	real R[3,3];

  79. equations

  80. 	position = input[1:3,4];

  81. 	rotation = dll('EulerAngles.dll','EulXYZsFromHMatrix',input);

  82. 	//[input[3,2];input[1,3];input[2,1]];

  83. 	R = input[1:3,1:3];implementation_end;

  84.    Body4 368 152

  85.     description '<Description><Version>4.0</Version>

  86.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  87. <IsMainModel>1</IsMainModel>

  88.  <KeepParameterValues>False</KeepParameterValues>

  89.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  90.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  91. </Description>';

  92.     type 'Submodel-Equation'

  93.      ports

  94.       signal in input [4,4];

  95.     end;

  96.     implementation eq

  97. variables

  98. 	real position[3];

  99. 	real rotation[3];

  100. 	real R[3,3];

  101. equations

  102. 	position = input[1:3,4];

  103. 	rotation = dll('EulerAngles.dll','EulXYZsFromHMatrix',input);

  104. 	//[input[3,2];input[1,3];input[2,1]];

  105. 	R = input[1:3,1:3];implementation_end;

  106.    Body5 832 208

  107.     description '<Description><Version>4.0</Version>

  108.    <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>

  109. <IsMainModel>1</IsMainModel>

  110.  <KeepParameterValues>False</KeepParameterValues>

  111.    <TimeStamp>2007-11-1 22:32:1</TimeStamp>

  112.    <AllowLibraryUpdate>False</AllowLibraryUpdate>

  113. </Description>';

  114.     type 'Submodel-Equation'

  115.      ports

  116.       signal in input [4,4];

  117.     end;

  118.     implementation eq

  119. variables

  120. 	real position[3];

  121. 	real rotation[3];

  122. 	real R[3,3];

  123. equations

  124. 	position = input[1:3,4];

  125. 	rotation = dll('EulerAngles.dll','EulXYZsFromHMatrix',input);

  126. 	//[input[3,2];input[1,3];input[2,1]];

  127. 	R = input[1:3,1:3];implementation_end;

  128.    COM_body1 496 376

  129.     description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel><LibraryPath>Bond Graph\MR\center_of_mass_v2.emx</LibraryPath><TimeStamp>2020-7-21 12:24:38</TimeStamp></Description><Attributes><GlobalRelations>parameters

  130. 	real I [3,1] = [1.6399999999999998e-6; 4.7e-8; 1.61e-6] {N.m.s};

  131. 	real m = 0.00455 {kg};</GlobalRelations></Attributes></Information>';

  132.     type Submodel

  133.      ports

  134.       signal in Hin [4,4];

  135.       signal out Hout [4,4];

  136.       power out p [6,1];

  137.     end;

  138.     icon bg bottom

  139.      figures

  140.       rectangle 480 344 512 408 color 0 fill 139;

  141.       text 'COM' 496 376 color 0 'Clear Sans' 16;

  142.      terminals

  143.       Hin 480 360 fixed;

  144.       p 480 392 fixed;

  145.     end;

  146.     implementation bg

  147.      submodels

  148.       AdHi0 544 400

  149.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-9-25 12:3:3</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  150.        type MTF

  151.         ports

  152.          power in p1 [6,1];

  153.          power out p2 [6,1];

  154.          signal in H [4,4];

  155.         restrictions

  156.          causality constraint not_equal p1 p2;

  157.        end;

  158.        icon bg left

  159.         figures

  160.          text 'MTF' 544 400 color 0 18 bold;

  161.        end;

  162.        implementation eq

  163. variables

  164.  	real onlyRotH[4,4];

  165. code

  166. 	//Only rotations with respect to the inertial system matter!

  167. 	onlyRotH = H;

  168. 	onlyRotH[1,4] = 0;

  169. 	onlyRotH[2,4] = 0;

  170. 	onlyRotH[3,4] = 0;

  171. 						

  172. 	p2.e = transpose(Adjoint(onlyRotH)) * p1.e;

  173. 	p1.f = Adjoint(onlyRotH) * p2.f;

  174. implementation_end;

  175.       EJS 616 336

  176.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-10-31 11:43:6</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  177.        type MGY

  178.         ports

  179.          power in p1 [6,1];

  180.        end;

  181.        icon bg top

  182.         figures

  183.          text 'MGY' 616 336 color 0 18 bold;

  184.        end;

  185.        implementation eq

  186. //EJS / Gyroscopic effects

  187. parameters

  188. 	real global I[3];

  189. 	real global m;

  190. variables

  191. 	real II[6,6]; //Inertial tensor

  192. 	real Q[6,6];

  193. 	real QI[6,6];

  194. 	real Ia[6];

  195. initialequations

  196. 	Ia[1:3] = I;

  197. 	Ia[4:6] = m;

  198. 	II = diag(Ia);

  199. equations

  200. 	Q = transpose(adjoint(p1.f));

  201. 	QI = Q*II;

  202. 	p1.e = QI*p1.f;implementation_end;

  203.       Gravity 624 400

  204.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-9-25 12:3:26</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  205.        type Se

  206.         ports

  207.          power out p [6,1];

  208.         restrictions

  209.          causality fixed out p;

  210.        end;

  211.        icon bg bottom

  212.         figures

  213.          text 'Se' 624 400 color 0 18 bold;

  214.        end;

  215.        implementation eq

  216. parameters

  217. 	real global m;

  218. variables

  219. 	real effort[6];

  220. equations

  221. 	effort = [0;0;0;0;0;-g_n*m];

  222. 	p.e = effort;

  223. implementation_end;

  224.       InertialTensor 544 272

  225.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  226.    <LibraryPath>Bond Graph\3D\I-3.emx</LibraryPath>

  227.   <TimeStamp>2007-9-25 12:12:14</TimeStamp>

  228. </Description>';

  229.        type 'I-3'

  230.         ports

  231.          power in p [6,1];

  232.          signal out state [6,1];

  233.         restrictions

  234.          causality preferred in p;

  235.        end;

  236.        icon bg bottom

  237.         figures

  238.          text 'I' 544 272 color 0 18 bold;

  239.        end;

  240.        implementation eq

  241. parameters

  242. 	real global I[3];

  243. 	real global m;

  244. variables

  245. 	real II[6,6]; //Inertial tensor

  246. 	real Ia[6];

  247. initialequations

  248. 	Ia[1:3] = I;

  249. 	Ia[4:6] = m;

  250. 	II = diag(Ia);

  251. equations

  252.     state = int(p.e); //state = generalized momentum

  253.     p.f = inverse(II)*state;

  254. implementation_end;

  255.       plug Hin 433.4 496;

  256.       plug Hout 691.2 496;

  257.       plug p 439.4 336;

  258.       Splitter1 544 496

  259.        description '<Description><Version>4.0</Version>

  260.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  261.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  262. <IsMainModel>1</IsMainModel>

  263.  <KeepParameterValues>False</KeepParameterValues>

  264. </Description>';

  265.        knot Splitter

  266.         ports

  267.          signal knot duplicatable out output [4,4];

  268.          signal knot in input [4,4];

  269.        end;

  270.        icon bg ellipse

  271.         figures

  272.          ellipse 540.8 492.8 547.2 499.2 color -1 fill 0;

  273.          ellipse 539.7 491.7 548.3 500.3 color -1;

  274.         terminals

  275.          input 544 496 fixed;

  276.        end;

  277.        implementation eq

  278. equations

  279.     collect (output) = input;

  280. implementation_end;

  281.       Ta0j 544 336

  282.        description '<Description>

  283.  <Version>4.0</Version>

  284.  <IsMainModel>1</IsMainModel>

  285.  <KeepParameterValues>False</KeepParameterValues>

  286.  <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  287.  <TimeStamp>2007-9-27 9:51:18</TimeStamp>

  288.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  289.    <Description></Description>

  290. </Description>';

  291.        knot OneJunction

  292.         ports

  293.          power knot duplicatable none p [6,1];

  294.          signal knot out flow [6,1];

  295.         restrictions

  296.          causality constraint one_out p;

  297.        end;

  298.        icon bg bottom

  299.         figures

  300.          text '1' 544 336 color 0 18 bold;

  301.        end;

  302.        implementation eq

  303. equations

  304. 	sum (direct (p.e)) = 0;

  305. 	equal (collect (p.f));

  306. 	flow = first (p.f);

  307. implementation_end;

  308.       ZeroJunction1 504 336

  309.        description '<Information>

  310.  <Description>

  311.     <Version>4.2</Version>

  312. <IsMainModel>1</IsMainModel>

  313.   <KeepParameterValues>False</KeepParameterValues>

  314.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  315.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  316. </Description>

  317. </Information>';

  318.        knot ZeroJunction

  319.         ports

  320.          power knot duplicatable none p [6,1];

  321.          signal knot out effort [6,1];

  322.         restrictions

  323.          causality constraint one_in p;

  324.        end;

  325.        icon bg

  326.         figures

  327.          text '0' 504 336 color 0 18 bold;

  328.        end;

  329.        implementation eq

  330. equations

  331. 	sum (direct (p.f)) = 0;

  332. 	equal (collect (p.e));

  333. 	effort = first (p.e);

  334. implementation_end;

  335.      end;

  336.      connections

  337.       AdHi0\p2 => Ta0j\p;

  338.       Gravity\p => AdHi0\p1;

  339.       Hin -> Splitter1\input;

  340.       Splitter1\output -> AdHi0\H;

  341.       Splitter1\output -> Hout;

  342.       Ta0j\p => EJS\p1;

  343.       Ta0j\p => InertialTensor\p;

  344.       ZeroJunction1\p => p;

  345.       ZeroJunction1\p => Ta0j\p;

  346.      end;

  347.     implementation_end;

  348.    COM_body2 776 688

  349.     description '<Information>

  350.  <Description>

  351.     <Version>4.8</Version>

  352. <IsMainModel>1</IsMainModel>

  353.     <LibraryPath>Bond Graph\MR\center_of_mass_v2.emx</LibraryPath>

  354.   <TimeStamp>2020-7-21 12:24:38</TimeStamp>

  355. </Description>

  356.  <Attributes>

  357.   <GlobalRelations>parameters

  358. 	real I [3,1] = [0.01;0.01;0.0001] {N.m.s};

  359. 	real m = 0.5 {kg};</GlobalRelations>

  360.  </Attributes>

  361. </Information>';

  362.     type Submodel

  363.      ports

  364.       signal in Hin [4,4];

  365.       signal out Hout [4,4];

  366.       power out p [6,1];

  367.     end;

  368.     icon bg bottom

  369.      figures

  370.       rectangle 744 672 808 704 color 0 fill 139;

  371.       text 'COM' 776 688 color 0 'Clear Sans' 16;

  372.      terminals

  373.       Hin 792 672 fixed;

  374.       p 760 672 fixed;

  375.     end;

  376.     implementation bg

  377.      submodels

  378.       AdHi0 544 400

  379.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-9-25 12:3:3</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  380.        type MTF

  381.         ports

  382.          power in p1 [6,1];

  383.          power out p2 [6,1];

  384.          signal in H [4,4];

  385.         restrictions

  386.          causality constraint not_equal p1 p2;

  387.        end;

  388.        icon bg left

  389.         figures

  390.          text 'MTF' 544 400 color 0 18 bold;

  391.        end;

  392.        implementation eq

  393. variables

  394.  	real onlyRotH[4,4];

  395. code

  396. 	//Only rotations with respect to the inertial system matter!

  397. 	onlyRotH = H;

  398. 	onlyRotH[1,4] = 0;

  399. 	onlyRotH[2,4] = 0;

  400. 	onlyRotH[3,4] = 0;

  401. 						

  402. 	p2.e = transpose(Adjoint(onlyRotH)) * p1.e;

  403. 	p1.f = Adjoint(onlyRotH) * p2.f;

  404. implementation_end;

  405.       EJS 616 336

  406.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-10-31 11:43:6</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  407.        type MGY

  408.         ports

  409.          power in p1 [6,1];

  410.        end;

  411.        icon bg top

  412.         figures

  413.          text 'MGY' 616 336 color 0 18 bold;

  414.        end;

  415.        implementation eq

  416. //EJS / Gyroscopic effects

  417. parameters

  418. 	real global I[3];

  419. 	real global m;

  420. variables

  421. 	real II[6,6]; //Inertial tensor

  422. 	real Q[6,6];

  423. 	real QI[6,6];

  424. 	real Ia[6];

  425. initialequations

  426. 	Ia[1:3] = I;

  427. 	Ia[4:6] = m;

  428. 	II = diag(Ia);

  429. equations

  430. 	Q = transpose(adjoint(p1.f));

  431. 	QI = Q*II;

  432. 	p1.e = QI*p1.f;implementation_end;

  433.       Gravity 624 400

  434.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-9-25 12:3:26</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  435.        type Se

  436.         ports

  437.          power out p [6,1];

  438.         restrictions

  439.          causality fixed out p;

  440.        end;

  441.        icon bg bottom

  442.         figures

  443.          text 'Se' 624 400 color 0 18 bold;

  444.        end;

  445.        implementation eq

  446. parameters

  447. 	real global m;

  448. variables

  449. 	real effort[6];

  450. equations

  451. 	effort = [0;0;0;0;0;-g_n*m];

  452. 	p.e = effort;

  453. implementation_end;

  454.       InertialTensor 544 272

  455.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  456.    <LibraryPath>Bond Graph\3D\I-3.emx</LibraryPath>

  457.   <TimeStamp>2007-9-25 12:12:14</TimeStamp>

  458. </Description>';

  459.        type 'I-3'

  460.         ports

  461.          power in p [6,1];

  462.          signal out state [6,1];

  463.         restrictions

  464.          causality preferred in p;

  465.        end;

  466.        icon bg bottom

  467.         figures

  468.          text 'I' 544 272 color 0 18 bold;

  469.        end;

  470.        implementation eq

  471. parameters

  472. 	real global I[3];

  473. 	real global m;

  474. variables

  475. 	real II[6,6]; //Inertial tensor

  476. 	real Ia[6];

  477. initialequations

  478. 	Ia[1:3] = I;

  479. 	Ia[4:6] = m;

  480. 	II = diag(Ia);

  481. equations

  482.     state = int(p.e); //state = generalized momentum

  483.     p.f = inverse(II)*state;

  484. implementation_end;

  485.       plug Hin 433.4 496;

  486.       plug Hout 691.2 496;

  487.       plug p 439.4 336;

  488.       Splitter1 544 496

  489.        description '<Description><Version>4.0</Version>

  490.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  491.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  492. <IsMainModel>1</IsMainModel>

  493.  <KeepParameterValues>False</KeepParameterValues>

  494. </Description>';

  495.        knot Splitter

  496.         ports

  497.          signal knot duplicatable out output [4,4];

  498.          signal knot in input [4,4];

  499.        end;

  500.        icon bg ellipse

  501.         figures

  502.          ellipse 540.8 492.8 547.2 499.2 color -1 fill 0;

  503.          ellipse 539.7 491.7 548.3 500.3 color -1;

  504.         terminals

  505.          input 544 496 fixed;

  506.        end;

  507.        implementation eq

  508. equations

  509.     collect (output) = input;

  510. implementation_end;

  511.       Ta0j 544 336

  512.        description '<Description>

  513.  <Version>4.0</Version>

  514.  <IsMainModel>1</IsMainModel>

  515.  <KeepParameterValues>False</KeepParameterValues>

  516.  <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  517.  <TimeStamp>2007-9-27 9:51:18</TimeStamp>

  518.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  519.    <Description></Description>

  520. </Description>';

  521.        knot OneJunction

  522.         ports

  523.          power knot duplicatable none p [6,1];

  524.          signal knot out flow [6,1];

  525.         restrictions

  526.          causality constraint one_out p;

  527.        end;

  528.        icon bg bottom

  529.         figures

  530.          text '1' 544 336 color 0 18 bold;

  531.        end;

  532.        implementation eq

  533. equations

  534. 	sum (direct (p.e)) = 0;

  535. 	equal (collect (p.f));

  536. 	flow = first (p.f);

  537. implementation_end;

  538.       ZeroJunction1 504 336

  539.        description '<Information>

  540.  <Description>

  541.     <Version>4.2</Version>

  542. <IsMainModel>1</IsMainModel>

  543.   <KeepParameterValues>False</KeepParameterValues>

  544.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  545.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  546. </Description>

  547. </Information>';

  548.        knot ZeroJunction

  549.         ports

  550.          power knot duplicatable none p [6,1];

  551.          signal knot out effort [6,1];

  552.         restrictions

  553.          causality constraint one_in p;

  554.        end;

  555.        icon bg

  556.         figures

  557.          text '0' 504 336 color 0 18 bold;

  558.        end;

  559.        implementation eq

  560. equations

  561. 	sum (direct (p.f)) = 0;

  562. 	equal (collect (p.e));

  563. 	effort = first (p.e);

  564. implementation_end;

  565.      end;

  566.      connections

  567.       AdHi0\p2 => Ta0j\p;

  568.       Gravity\p => AdHi0\p1;

  569.       Hin -> Splitter1\input;

  570.       Splitter1\output -> AdHi0\H;

  571.       Splitter1\output -> Hout;

  572.       Ta0j\p => EJS\p1;

  573.       Ta0j\p => InertialTensor\p;

  574.       ZeroJunction1\p => p;

  575.       ZeroJunction1\p => Ta0j\p;

  576.      end;

  577.     implementation_end;

  578.    COM_body3 696 376

  579.     description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel><LibraryPath>Bond Graph\MR\center_of_mass_v2.emx</LibraryPath><TimeStamp>2020-7-21 12:24:38</TimeStamp></Description><Attributes><GlobalRelations>parameters

  580. 	real I [3,1] = [1.6399999999999998e-6; 4.7e-8; 1.61e-6] {N.m.s};

  581. 	real m = 0.00455 {kg};</GlobalRelations></Attributes></Information>';

  582.     type Submodel

  583.      ports

  584.       signal in Hin [4,4];

  585.       signal out Hout [4,4];

  586.       power out p [6,1];

  587.     end;

  588.     icon bg bottom

  589.      figures

  590.       rectangle 680 344 712 408 color 0 fill 139;

  591.       text 'COM' 696 376 color 0 'Clear Sans' 16;

  592.      terminals

  593.       Hin 680 360 fixed;

  594.       p 680 392 fixed;

  595.     end;

  596.     implementation bg

  597.      submodels

  598.       AdHi0 544 400

  599.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-9-25 12:3:3</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  600.        type MTF

  601.         ports

  602.          power in p1 [6,1];

  603.          power out p2 [6,1];

  604.          signal in H [4,4];

  605.         restrictions

  606.          causality constraint not_equal p1 p2;

  607.        end;

  608.        icon bg left

  609.         figures

  610.          text 'MTF' 544 400 color 0 18 bold;

  611.        end;

  612.        implementation eq

  613. variables

  614.  	real onlyRotH[4,4];

  615. code

  616. 	//Only rotations with respect to the inertial system matter!

  617. 	onlyRotH = H;

  618. 	onlyRotH[1,4] = 0;

  619. 	onlyRotH[2,4] = 0;

  620. 	onlyRotH[3,4] = 0;

  621. 						

  622. 	p2.e = transpose(Adjoint(onlyRotH)) * p1.e;

  623. 	p1.f = Adjoint(onlyRotH) * p2.f;

  624. implementation_end;

  625.       EJS 616 336

  626.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-10-31 11:43:6</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  627.        type MGY

  628.         ports

  629.          power in p1 [6,1];

  630.        end;

  631.        icon bg top

  632.         figures

  633.          text 'MGY' 616 336 color 0 18 bold;

  634.        end;

  635.        implementation eq

  636. //EJS / Gyroscopic effects

  637. parameters

  638. 	real global I[3];

  639. 	real global m;

  640. variables

  641. 	real II[6,6]; //Inertial tensor

  642. 	real Q[6,6];

  643. 	real QI[6,6];

  644. 	real Ia[6];

  645. initialequations

  646. 	Ia[1:3] = I;

  647. 	Ia[4:6] = m;

  648. 	II = diag(Ia);

  649. equations

  650. 	Q = transpose(adjoint(p1.f));

  651. 	QI = Q*II;

  652. 	p1.e = QI*p1.f;implementation_end;

  653.       Gravity 624 400

  654.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-9-25 12:3:26</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  655.        type Se

  656.         ports

  657.          power out p [6,1];

  658.         restrictions

  659.          causality fixed out p;

  660.        end;

  661.        icon bg bottom

  662.         figures

  663.          text 'Se' 624 400 color 0 18 bold;

  664.        end;

  665.        implementation eq

  666. parameters

  667. 	real global m;

  668. variables

  669. 	real effort[6];

  670. equations

  671. 	effort = [0;0;0;0;0;-g_n*m];

  672. 	p.e = effort;

  673. implementation_end;

  674.       InertialTensor 544 272

  675.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  676.    <LibraryPath>Bond Graph\3D\I-3.emx</LibraryPath>

  677.   <TimeStamp>2007-9-25 12:12:14</TimeStamp>

  678. </Description>';

  679.        type 'I-3'

  680.         ports

  681.          power in p [6,1];

  682.          signal out state [6,1];

  683.         restrictions

  684.          causality preferred in p;

  685.        end;

  686.        icon bg bottom

  687.         figures

  688.          text 'I' 544 272 color 0 18 bold;

  689.        end;

  690.        implementation eq

  691. parameters

  692. 	real global I[3];

  693. 	real global m;

  694. variables

  695. 	real II[6,6]; //Inertial tensor

  696. 	real Ia[6];

  697. initialequations

  698. 	Ia[1:3] = I;

  699. 	Ia[4:6] = m;

  700. 	II = diag(Ia);

  701. equations

  702.     state = int(p.e); //state = generalized momentum

  703.     p.f = inverse(II)*state;

  704. implementation_end;

  705.       plug Hin 433.4 496;

  706.       plug Hout 691.2 496;

  707.       plug p 439.4 336;

  708.       Splitter1 544 496

  709.        description '<Description><Version>4.0</Version>

  710.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  711.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  712. <IsMainModel>1</IsMainModel>

  713.  <KeepParameterValues>False</KeepParameterValues>

  714. </Description>';

  715.        knot Splitter

  716.         ports

  717.          signal knot duplicatable out output [4,4];

  718.          signal knot in input [4,4];

  719.        end;

  720.        icon bg ellipse

  721.         figures

  722.          ellipse 540.8 492.8 547.2 499.2 color -1 fill 0;

  723.          ellipse 539.7 491.7 548.3 500.3 color -1;

  724.         terminals

  725.          input 544 496 fixed;

  726.        end;

  727.        implementation eq

  728. equations

  729.     collect (output) = input;

  730. implementation_end;

  731.       Ta0j 544 336

  732.        description '<Description>

  733.  <Version>4.0</Version>

  734.  <IsMainModel>1</IsMainModel>

  735.  <KeepParameterValues>False</KeepParameterValues>

  736.  <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  737.  <TimeStamp>2007-9-27 9:51:18</TimeStamp>

  738.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  739.    <Description></Description>

  740. </Description>';

  741.        knot OneJunction

  742.         ports

  743.          power knot duplicatable none p [6,1];

  744.          signal knot out flow [6,1];

  745.         restrictions

  746.          causality constraint one_out p;

  747.        end;

  748.        icon bg bottom

  749.         figures

  750.          text '1' 544 336 color 0 18 bold;

  751.        end;

  752.        implementation eq

  753. equations

  754. 	sum (direct (p.e)) = 0;

  755. 	equal (collect (p.f));

  756. 	flow = first (p.f);

  757. implementation_end;

  758.       ZeroJunction1 504 336

  759.        description '<Information>

  760.  <Description>

  761.     <Version>4.2</Version>

  762. <IsMainModel>1</IsMainModel>

  763.   <KeepParameterValues>False</KeepParameterValues>

  764.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  765.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  766. </Description>

  767. </Information>';

  768.        knot ZeroJunction

  769.         ports

  770.          power knot duplicatable none p [6,1];

  771.          signal knot out effort [6,1];

  772.         restrictions

  773.          causality constraint one_in p;

  774.        end;

  775.        icon bg

  776.         figures

  777.          text '0' 504 336 color 0 18 bold;

  778.        end;

  779.        implementation eq

  780. equations

  781. 	sum (direct (p.f)) = 0;

  782. 	equal (collect (p.e));

  783. 	effort = first (p.e);

  784. implementation_end;

  785.      end;

  786.      connections

  787.       AdHi0\p2 => Ta0j\p;

  788.       Gravity\p => AdHi0\p1;

  789.       Hin -> Splitter1\input;

  790.       Splitter1\output -> AdHi0\H;

  791.       Splitter1\output -> Hout;

  792.       Ta0j\p => EJS\p1;

  793.       Ta0j\p => InertialTensor\p;

  794.       ZeroJunction1\p => p;

  795.       ZeroJunction1\p => Ta0j\p;

  796.      end;

  797.     implementation_end;

  798.    COM_body4 632 56

  799.     description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel><LibraryPath>Bond Graph\MR\center_of_mass_v2.emx</LibraryPath><TimeStamp>2020-7-21 12:24:38</TimeStamp></Description><Attributes><GlobalRelations>parameters

  800. 	real I [3,1] = [7.583333333333335e-7; 3.645833333333334e-8; 7.364583333333335e-7] {N.m.s};

  801. 	real m = 0.0035 {kg};</GlobalRelations></Attributes></Information>';

  802.     type Submodel

  803.      ports

  804.       signal in Hin [4,4];

  805.       signal out Hout [4,4];

  806.       power out p [6,1];

  807.     end;

  808.     icon bg bottom

  809.      figures

  810.       rectangle 600 40 664 72 color 0 fill 139;

  811.       text 'COM' 632 56 color 0 'Clear Sans' 16;

  812.      terminals

  813.       Hin 648 72 fixed;

  814.       p 616 72 fixed;

  815.     end;

  816.     implementation bg

  817.      submodels

  818.       AdHi0 544 400

  819.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-9-25 12:3:3</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  820.        type MTF

  821.         ports

  822.          power in p1 [6,1];

  823.          power out p2 [6,1];

  824.          signal in H [4,4];

  825.         restrictions

  826.          causality constraint not_equal p1 p2;

  827.        end;

  828.        icon bg left

  829.         figures

  830.          text 'MTF' 544 400 color 0 18 bold;

  831.        end;

  832.        implementation eq

  833. variables

  834.  	real onlyRotH[4,4];

  835. code

  836. 	//Only rotations with respect to the inertial system matter!

  837. 	onlyRotH = H;

  838. 	onlyRotH[1,4] = 0;

  839. 	onlyRotH[2,4] = 0;

  840. 	onlyRotH[3,4] = 0;

  841. 						

  842. 	p2.e = transpose(Adjoint(onlyRotH)) * p1.e;

  843. 	p1.f = Adjoint(onlyRotH) * p2.f;

  844. implementation_end;

  845.       EJS 616 336

  846.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-10-31 11:43:6</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  847.        type MGY

  848.         ports

  849.          power in p1 [6,1];

  850.        end;

  851.        icon bg top

  852.         figures

  853.          text 'MGY' 616 336 color 0 18 bold;

  854.        end;

  855.        implementation eq

  856. //EJS / Gyroscopic effects

  857. parameters

  858. 	real global I[3];

  859. 	real global m;

  860. variables

  861. 	real II[6,6]; //Inertial tensor

  862. 	real Q[6,6];

  863. 	real QI[6,6];

  864. 	real Ia[6];

  865. initialequations

  866. 	Ia[1:3] = I;

  867. 	Ia[4:6] = m;

  868. 	II = diag(Ia);

  869. equations

  870. 	Q = transpose(adjoint(p1.f));

  871. 	QI = Q*II;

  872. 	p1.e = QI*p1.f;implementation_end;

  873.       Gravity 624 400

  874.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-9-25 12:3:26</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  875.        type Se

  876.         ports

  877.          power out p [6,1];

  878.         restrictions

  879.          causality fixed out p;

  880.        end;

  881.        icon bg bottom

  882.         figures

  883.          text 'Se' 624 400 color 0 18 bold;

  884.        end;

  885.        implementation eq

  886. parameters

  887. 	real global m;

  888. variables

  889. 	real effort[6];

  890. equations

  891. 	effort = [0;0;0;0;0;-g_n*m];

  892. 	p.e = effort;

  893. implementation_end;

  894.       InertialTensor 544 272

  895.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  896.    <LibraryPath>Bond Graph\3D\I-3.emx</LibraryPath>

  897.   <TimeStamp>2007-9-25 12:12:14</TimeStamp>

  898. </Description>';

  899.        type 'I-3'

  900.         ports

  901.          power in p [6,1];

  902.          signal out state [6,1];

  903.         restrictions

  904.          causality preferred in p;

  905.        end;

  906.        icon bg bottom

  907.         figures

  908.          text 'I' 544 272 color 0 18 bold;

  909.        end;

  910.        implementation eq

  911. parameters

  912. 	real global I[3];

  913. 	real global m;

  914. variables

  915. 	real II[6,6]; //Inertial tensor

  916. 	real Ia[6];

  917. initialequations

  918. 	Ia[1:3] = I;

  919. 	Ia[4:6] = m;

  920. 	II = diag(Ia);

  921. equations

  922.     state = int(p.e); //state = generalized momentum

  923.     p.f = inverse(II)*state;

  924. implementation_end;

  925.       plug Hin 433.4 496;

  926.       plug Hout 691.2 496;

  927.       plug p 439.4 336;

  928.       Splitter1 544 496

  929.        description '<Description><Version>4.0</Version>

  930.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  931.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  932. <IsMainModel>1</IsMainModel>

  933.  <KeepParameterValues>False</KeepParameterValues>

  934. </Description>';

  935.        knot Splitter

  936.         ports

  937.          signal knot duplicatable out output [4,4];

  938.          signal knot in input [4,4];

  939.        end;

  940.        icon bg ellipse

  941.         figures

  942.          ellipse 540.8 492.8 547.2 499.2 color -1 fill 0;

  943.          ellipse 539.7 491.7 548.3 500.3 color -1;

  944.         terminals

  945.          input 544 496 fixed;

  946.        end;

  947.        implementation eq

  948. equations

  949.     collect (output) = input;

  950. implementation_end;

  951.       Ta0j 544 336

  952.        description '<Description>

  953.  <Version>4.0</Version>

  954.  <IsMainModel>1</IsMainModel>

  955.  <KeepParameterValues>False</KeepParameterValues>

  956.  <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  957.  <TimeStamp>2007-9-27 9:51:18</TimeStamp>

  958.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  959.    <Description></Description>

  960. </Description>';

  961.        knot OneJunction

  962.         ports

  963.          power knot duplicatable none p [6,1];

  964.          signal knot out flow [6,1];

  965.         restrictions

  966.          causality constraint one_out p;

  967.        end;

  968.        icon bg bottom

  969.         figures

  970.          text '1' 544 336 color 0 18 bold;

  971.        end;

  972.        implementation eq

  973. equations

  974. 	sum (direct (p.e)) = 0;

  975. 	equal (collect (p.f));

  976. 	flow = first (p.f);

  977. implementation_end;

  978.       ZeroJunction1 504 336

  979.        description '<Information>

  980.  <Description>

  981.     <Version>4.2</Version>

  982. <IsMainModel>1</IsMainModel>

  983.   <KeepParameterValues>False</KeepParameterValues>

  984.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  985.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  986. </Description>

  987. </Information>';

  988.        knot ZeroJunction

  989.         ports

  990.          power knot duplicatable none p [6,1];

  991.          signal knot out effort [6,1];

  992.         restrictions

  993.          causality constraint one_in p;

  994.        end;

  995.        icon bg

  996.         figures

  997.          text '0' 504 336 color 0 18 bold;

  998.        end;

  999.        implementation eq

  1000. equations

  1001. 	sum (direct (p.f)) = 0;

  1002. 	equal (collect (p.e));

  1003. 	effort = first (p.e);

  1004. implementation_end;

  1005.      end;

  1006.      connections

  1007.       AdHi0\p2 => Ta0j\p;

  1008.       Gravity\p => AdHi0\p1;

  1009.       Hin -> Splitter1\input;

  1010.       Splitter1\output -> AdHi0\H;

  1011.       Splitter1\output -> Hout;

  1012.       Ta0j\p => EJS\p1;

  1013.       Ta0j\p => InertialTensor\p;

  1014.       ZeroJunction1\p => p;

  1015.       ZeroJunction1\p => Ta0j\p;

  1016.      end;

  1017.     implementation_end;

  1018.    COM_body5 960 136

  1019.     description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel><LibraryPath>Bond Graph\MR\center_of_mass_v2.emx</LibraryPath><TimeStamp>2020-7-21 12:24:38</TimeStamp></Description><Attributes><GlobalRelations>parameters

  1020. 	real I [3,1] = [0.018;0.159;0.159] {mN.m.s};

  1021. 	real m = 0.015 {kg};</GlobalRelations></Attributes></Information>';

  1022.     type Submodel

  1023.      ports

  1024.       signal in Hin [4,4];

  1025.       signal out Hout [4,4];

  1026.       power out p [6,1];

  1027.     end;

  1028.     icon bg bottom

  1029.      figures

  1030.       rectangle 944 104 976 168 color 0 fill 139;

  1031.       text 'COM' 960 136 color 0 'Clear Sans' 16;

  1032.      terminals

  1033.       Hin 944 152 fixed;

  1034.       p 944 120 fixed;

  1035.     end;

  1036.     implementation bg

  1037.      submodels

  1038.       AdHi0 544 400

  1039.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-9-25 12:3:3</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  1040.        type MTF

  1041.         ports

  1042.          power in p1 [6,1];

  1043.          power out p2 [6,1];

  1044.          signal in H [4,4];

  1045.         restrictions

  1046.          causality constraint not_equal p1 p2;

  1047.        end;

  1048.        icon bg left

  1049.         figures

  1050.          text 'MTF' 544 400 color 0 18 bold;

  1051.        end;

  1052.        implementation eq

  1053. variables

  1054.  	real onlyRotH[4,4];

  1055. code

  1056. 	//Only rotations with respect to the inertial system matter!

  1057. 	onlyRotH = H;

  1058. 	onlyRotH[1,4] = 0;

  1059. 	onlyRotH[2,4] = 0;

  1060. 	onlyRotH[3,4] = 0;

  1061. 						

  1062. 	p2.e = transpose(Adjoint(onlyRotH)) * p1.e;

  1063. 	p1.f = Adjoint(onlyRotH) * p2.f;

  1064. implementation_end;

  1065.       EJS 616 336

  1066.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-10-31 11:43:6</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  1067.        type MGY

  1068.         ports

  1069.          power in p1 [6,1];

  1070.        end;

  1071.        icon bg top

  1072.         figures

  1073.          text 'MGY' 616 336 color 0 18 bold;

  1074.        end;

  1075.        implementation eq

  1076. //EJS / Gyroscopic effects

  1077. parameters

  1078. 	real global I[3];

  1079. 	real global m;

  1080. variables

  1081. 	real II[6,6]; //Inertial tensor

  1082. 	real Q[6,6];

  1083. 	real QI[6,6];

  1084. 	real Ia[6];

  1085. initialequations

  1086. 	Ia[1:3] = I;

  1087. 	Ia[4:6] = m;

  1088. 	II = diag(Ia);

  1089. equations

  1090. 	Q = transpose(adjoint(p1.f));

  1091. 	QI = Q*II;

  1092. 	p1.e = QI*p1.f;implementation_end;

  1093.       Gravity 624 400

  1094.        description '<Information><Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><LibraryPath></LibraryPath><TimeStamp>2007-9-25 12:3:26</TimeStamp><AllowLibraryUpdate>True</AllowLibraryUpdate></Description></Information>';

  1095.        type Se

  1096.         ports

  1097.          power out p [6,1];

  1098.         restrictions

  1099.          causality fixed out p;

  1100.        end;

  1101.        icon bg bottom

  1102.         figures

  1103.          text 'Se' 624 400 color 0 18 bold;

  1104.        end;

  1105.        implementation eq

  1106. parameters

  1107. 	real global m;

  1108. variables

  1109. 	real effort[6];

  1110. equations

  1111. 	effort = [0;0;0;0;0;-g_n*m];

  1112. 	p.e = effort;

  1113. implementation_end;

  1114.       InertialTensor 544 272

  1115.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  1116.    <LibraryPath>Bond Graph\3D\I-3.emx</LibraryPath>

  1117.   <TimeStamp>2007-9-25 12:12:14</TimeStamp>

  1118. </Description>';

  1119.        type 'I-3'

  1120.         ports

  1121.          power in p [6,1];

  1122.          signal out state [6,1];

  1123.         restrictions

  1124.          causality preferred in p;

  1125.        end;

  1126.        icon bg bottom

  1127.         figures

  1128.          text 'I' 544 272 color 0 18 bold;

  1129.        end;

  1130.        implementation eq

  1131. parameters

  1132. 	real global I[3];

  1133. 	real global m;

  1134. variables

  1135. 	real II[6,6]; //Inertial tensor

  1136. 	real Ia[6];

  1137. initialequations

  1138. 	Ia[1:3] = I;

  1139. 	Ia[4:6] = m;

  1140. 	II = diag(Ia);

  1141. equations

  1142.     state = int(p.e); //state = generalized momentum

  1143.     p.f = inverse(II)*state;

  1144. implementation_end;

  1145.       plug Hin 433.4 496;

  1146.       plug Hout 691.2 496;

  1147.       plug p 439.4 336;

  1148.       Splitter1 544 496

  1149.        description '<Description><Version>4.0</Version>

  1150.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  1151.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  1152. <IsMainModel>1</IsMainModel>

  1153.  <KeepParameterValues>False</KeepParameterValues>

  1154. </Description>';

  1155.        knot Splitter

  1156.         ports

  1157.          signal knot duplicatable out output [4,4];

  1158.          signal knot in input [4,4];

  1159.        end;

  1160.        icon bg ellipse

  1161.         figures

  1162.          ellipse 540.8 492.8 547.2 499.2 color -1 fill 0;

  1163.          ellipse 539.7 491.7 548.3 500.3 color -1;

  1164.         terminals

  1165.          input 544 496 fixed;

  1166.        end;

  1167.        implementation eq

  1168. equations

  1169.     collect (output) = input;

  1170. implementation_end;

  1171.       Ta0j 544 336

  1172.        description '<Description>

  1173.  <Version>4.0</Version>

  1174.  <IsMainModel>1</IsMainModel>

  1175.  <KeepParameterValues>False</KeepParameterValues>

  1176.  <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  1177.  <TimeStamp>2007-9-27 9:51:18</TimeStamp>

  1178.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1179.    <Description></Description>

  1180. </Description>';

  1181.        knot OneJunction

  1182.         ports

  1183.          power knot duplicatable none p [6,1];

  1184.          signal knot out flow [6,1];

  1185.         restrictions

  1186.          causality constraint one_out p;

  1187.        end;

  1188.        icon bg bottom

  1189.         figures

  1190.          text '1' 544 336 color 0 18 bold;

  1191.        end;

  1192.        implementation eq

  1193. equations

  1194. 	sum (direct (p.e)) = 0;

  1195. 	equal (collect (p.f));

  1196. 	flow = first (p.f);

  1197. implementation_end;

  1198.       ZeroJunction1 504 336

  1199.        description '<Information>

  1200.  <Description>

  1201.     <Version>4.2</Version>

  1202. <IsMainModel>1</IsMainModel>

  1203.   <KeepParameterValues>False</KeepParameterValues>

  1204.     <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  1205.   <TimeStamp>2011-11-29 16:45:16</TimeStamp>

  1206. </Description>

  1207. </Information>';

  1208.        knot ZeroJunction

  1209.         ports

  1210.          power knot duplicatable none p [6,1];

  1211.          signal knot out effort [6,1];

  1212.         restrictions

  1213.          causality constraint one_in p;

  1214.        end;

  1215.        icon bg

  1216.         figures

  1217.          text '0' 504 336 color 0 18 bold;

  1218.        end;

  1219.        implementation eq

  1220. equations

  1221. 	sum (direct (p.f)) = 0;

  1222. 	equal (collect (p.e));

  1223. 	effort = first (p.e);

  1224. implementation_end;

  1225.      end;

  1226.      connections

  1227.       AdHi0\p2 => Ta0j\p;

  1228.       Gravity\p => AdHi0\p1;

  1229.       Hin -> Splitter1\input;

  1230.       Splitter1\output -> AdHi0\H;

  1231.       Splitter1\output -> Hout;

  1232.       Ta0j\p => EJS\p1;

  1233.       Ta0j\p => InertialTensor\p;

  1234.       ZeroJunction1\p => p;

  1235.       ZeroJunction1\p => Ta0j\p;

  1236.      end;

  1237.     implementation_end;

  1238.    Ground 436 615.5

  1239.     description '<Information>

  1240.  <Description>

  1241.     <Version>4.8</Version>

  1242. <IsMainModel>1</IsMainModel>

  1243.     <LibraryPath>Bond Graph\MR\Ground.emx</LibraryPath>

  1244.   <TimeStamp>2020-7-23 09:30:51</TimeStamp>

  1245. </Description>

  1246. </Information>';

  1247.     type Submodel

  1248.      ports

  1249.       power in p [6,1];

  1250.       signal out output [4,4];

  1251.     end;

  1252.     icon bg bottom

  1253.      figures

  1254.       line 400 608 416 624 color 0 fill 15132390;

  1255.       line 408 608 424 624 color 0 fill 15132390;

  1256.       line 392 608 408 624 color 0 fill 15132390;

  1257.       line 432 624 416 608 color 0 fill 15132390;

  1258.       line 440 624 424 608 color 0 fill 15132390;

  1259.       line 448 624 432 608 color 0 fill 15132390;

  1260.       line 464 624 448 608 color 0 fill 15132390;

  1261.       line 456 624 440 608 color 0 fill 15132390;

  1262.       line 472 624 456 608 color 0 fill 15132390;

  1263.       line 480 624 464 608 color 0 fill 15132390;

  1264.       line 392 608 480 608 color 0 fill 15132390 width 2;

  1265.       line 472 608 480 616 color 0 fill 15132390;

  1266.       line 392 616 400 624 color 0 fill 15132390;

  1267.      terminals

  1268.       p 416 608 fixed;

  1269.       output 448 608 fixed;

  1270.     end;

  1271.     implementation bg

  1272.      submodels

  1273.       plug p 240 88;

  1274.       plug output 240 120;

  1275.       OneJunction2 192 88

  1276.        description '<Information>

  1277.  <Description>

  1278.     <Version>4.2</Version>

  1279. <IsMainModel>1</IsMainModel>

  1280.   <KeepParameterValues>False</KeepParameterValues>

  1281.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  1282.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  1283. </Description>

  1284. </Information>';

  1285.        knot OneJunction

  1286.         ports

  1287.          power knot duplicatable none p [6,1];

  1288.          signal knot out flow [6,1];

  1289.         restrictions

  1290.          causality constraint one_out p;

  1291.        end;

  1292.        icon bg

  1293.         figures

  1294.          text '1' 192 88 color 0 18 bold;

  1295.        end;

  1296.        implementation eq

  1297. equations

  1298. 	sum (direct (p.e)) = 0;

  1299. 	equal (collect (p.f));

  1300. 	flow = first (p.f);

  1301. implementation_end;

  1302.       Sf2 136 88

  1303.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  1304.    <LibraryPath>Bond Graph\2D\Sf-2.emx</LibraryPath>

  1305.   <TimeStamp>2007-9-25 12:7:5</TimeStamp>

  1306. </Description>';

  1307.        type 'Sf-2'

  1308.         ports

  1309.          power out p [6,1];

  1310.         restrictions

  1311.          causality fixed in p;

  1312.        end;

  1313.        icon bg bottom

  1314.         figures

  1315.          text 'Sf' 136 88 color 0 18 bold;

  1316.        end;

  1317.        implementation eq

  1318. parameters

  1319. 	real flow[6,1] = 	0;

  1320. variables

  1321. 	real effort [6];

  1322. equations

  1323. 	p.f = flow;

  1324. 	effort = p.e;

  1325. implementation_end;

  1326.       Zero 144 120

  1327.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  1328.   <LibraryPath>Signal\Sources\Zero.emx</LibraryPath>

  1329.   <TimeStamp>2007-9-27 15:54:36</TimeStamp>

  1330. </Description>

  1331. ';

  1332.        type Zero

  1333.         ports

  1334.          signal out output [4,4];

  1335.        end;

  1336.        icon bg bottom

  1337.         figures

  1338.          rectangle 128.1 104 159.9 136 color 0 fill 15132390;

  1339.          text '0' 144 120 color 16711680 18 bold;

  1340.        end;

  1341.        implementation eq

  1342. equations

  1343. 	output = eye(4);implementation_end;

  1344.      end;

  1345.      connections

  1346.       p => OneJunction2\p;

  1347.       Sf2\p => OneJunction2\p;

  1348.       Zero\output -> output;

  1349.      end;

  1350.     implementation_end;

  1351.    Ground1 1052 727.5

  1352.     description '<Information>

  1353.  <Description>

  1354.     <Version>4.8</Version>

  1355. <IsMainModel>1</IsMainModel>

  1356.     <LibraryPath>Bond Graph\MR\Ground.emx</LibraryPath>

  1357.   <TimeStamp>2020-7-23 09:30:51</TimeStamp>

  1358. </Description>

  1359. </Information>';

  1360.     type Submodel

  1361.      ports

  1362.       power in p [6,1];

  1363.       signal out output [4,4];

  1364.     end;

  1365.     icon bg bottom

  1366.      figures

  1367.       line 1016 720 1032 736 color 0 fill 15132390;

  1368.       line 1024 720 1040 736 color 0 fill 15132390;

  1369.       line 1008 720 1024 736 color 0 fill 15132390;

  1370.       line 1048 736 1032 720 color 0 fill 15132390;

  1371.       line 1056 736 1040 720 color 0 fill 15132390;

  1372.       line 1064 736 1048 720 color 0 fill 15132390;

  1373.       line 1080 736 1064 720 color 0 fill 15132390;

  1374.       line 1072 736 1056 720 color 0 fill 15132390;

  1375.       line 1088 736 1072 720 color 0 fill 15132390;

  1376.       line 1096 736 1080 720 color 0 fill 15132390;

  1377.       line 1008 720 1096 720 color 0 fill 15132390 width 2;

  1378.       line 1088 720 1096 728 color 0 fill 15132390;

  1379.       line 1008 728 1016 736 color 0 fill 15132390;

  1380.      terminals

  1381.       p 1032 720 fixed;

  1382.       output 1064 720 fixed;

  1383.     end;

  1384.     implementation bg

  1385.      submodels

  1386.       plug p 240 88;

  1387.       plug output 240 120;

  1388.       OneJunction2 192 88

  1389.        description '<Information>

  1390.  <Description>

  1391.     <Version>4.2</Version>

  1392. <IsMainModel>1</IsMainModel>

  1393.   <KeepParameterValues>False</KeepParameterValues>

  1394.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  1395.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  1396. </Description>

  1397. </Information>';

  1398.        knot OneJunction

  1399.         ports

  1400.          power knot duplicatable none p [6,1];

  1401.          signal knot out flow [6,1];

  1402.         restrictions

  1403.          causality constraint one_out p;

  1404.        end;

  1405.        icon bg

  1406.         figures

  1407.          text '1' 192 88 color 0 18 bold;

  1408.        end;

  1409.        implementation eq

  1410. equations

  1411. 	sum (direct (p.e)) = 0;

  1412. 	equal (collect (p.f));

  1413. 	flow = first (p.f);

  1414. implementation_end;

  1415.       Sf2 136 88

  1416.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  1417.    <LibraryPath>Bond Graph\2D\Sf-2.emx</LibraryPath>

  1418.   <TimeStamp>2007-9-25 12:7:5</TimeStamp>

  1419. </Description>';

  1420.        type 'Sf-2'

  1421.         ports

  1422.          power out p [6,1];

  1423.         restrictions

  1424.          causality fixed in p;

  1425.        end;

  1426.        icon bg bottom

  1427.         figures

  1428.          text 'Sf' 136 88 color 0 18 bold;

  1429.        end;

  1430.        implementation eq

  1431. parameters

  1432. 	real flow[6,1] = 	0;

  1433. variables

  1434. 	real effort [6];

  1435. equations

  1436. 	p.f = flow;

  1437. 	effort = p.e;

  1438. implementation_end;

  1439.       Zero 144 120

  1440.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  1441.   <LibraryPath>Signal\Sources\Zero.emx</LibraryPath>

  1442.   <TimeStamp>2007-9-27 15:54:36</TimeStamp>

  1443. </Description>

  1444. ';

  1445.        type Zero

  1446.         ports

  1447.          signal out output [4,4];

  1448.        end;

  1449.        icon bg bottom

  1450.         figures

  1451.          rectangle 128.1 104 159.9 136 color 0 fill 15132390;

  1452.          text '0' 144 120 color 16711680 18 bold;

  1453.        end;

  1454.        implementation eq

  1455. equations

  1456. 	output = eye(4);implementation_end;

  1457.      end;

  1458.      connections

  1459.       p => OneJunction2\p;

  1460.       Sf2\p => OneJunction2\p;

  1461.       Zero\output -> output;

  1462.      end;

  1463.     implementation_end;

  1464.    JointA 432 536

  1465.     description '<Information>

  1466.  <Description>

  1467.     <Version>4.8</Version>

  1468. <IsMainModel>1</IsMainModel>

  1469.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  1470.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  1471. </Description>

  1472. </Information>';

  1473.     type 'Submodel-v3'

  1474.      ports

  1475.       power in Pin [6,1];

  1476.       power in Pdiff [6,1];

  1477.       signal in Hin [4,4];

  1478.       signal out Hout [4,4];

  1479.       signal out Hdiff [4,4];

  1480.       power out Pout [6,1];

  1481.     end;

  1482.     icon bg bottom

  1483.      figures

  1484.       rectangle 400 512 464 560 color 0 fill 14745599;

  1485.       text 'Joint' 432 536 color 0 'Clear Sans' 16;

  1486.      terminals

  1487.       Pin 416 512 fixed;

  1488.       Hin 448 560 fixed;

  1489.       Hout 448 512 fixed;

  1490.       Pout 416 560 fixed;

  1491.     end;

  1492.     implementation bg

  1493.      submodels

  1494.       AdHji 424 424

  1495.        description '<Description>

  1496.  <Version>4.0</Version>

  1497.  <IsMainModel>1</IsMainModel>

  1498.  <KeepParameterValues>False</KeepParameterValues>

  1499.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  1500.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  1501.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1502. </Description>';

  1503.        type MTF

  1504.         ports

  1505.          power out p1 [6,1];

  1506.          power in p2 [6,1];

  1507.          signal in H [4,4];

  1508.         restrictions

  1509.          causality constraint not_equal p1 p2;

  1510.        end;

  1511.        icon bg bottom

  1512.         figures

  1513.          text 'MTF' 424 424 color 0 18 bold;

  1514.        end;

  1515.        implementation eq

  1516. equations					

  1517. 	p2.e = transpose(Adjoint(H)) * p1.e;

  1518. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  1519.       FlowSensor2 184 311.9

  1520.        description '<Information>

  1521.  <Description>

  1522.     <Version>4.2</Version>

  1523. <IsMainModel>1</IsMainModel>

  1524.   <KeepParameterValues>False</KeepParameterValues>

  1525.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  1526.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  1527. </Description>

  1528. </Information>';

  1529.        knot FlowSensor

  1530.         ports

  1531.          power knot in p1 [6,1];

  1532.          power knot out p2 [6,1];

  1533.          signal knot out flow [6,1];

  1534.         restrictions

  1535.          causality constraint not_equal p1 p2;

  1536.        end;

  1537.        icon bg ellipse

  1538.         figures

  1539.          ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  1540.          text 'f' 184 311.2 color 0;

  1541.        end;

  1542.        implementation eq

  1543. equations

  1544. 	p2.f = p1.f;

  1545. 	p1.e = p2.e;

  1546. 	flow = p1.f;

  1547. implementation_end;

  1548.       Hmatrix 256 312

  1549.        description '<Information><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></Information>';

  1550.        type 'Submodel-Equation'

  1551.         ports

  1552.          signal in flow [6,1];

  1553.          signal out H [4,4];

  1554.        end;

  1555.        icon bg

  1556.         figures

  1557.          rectangle 224 296 288 328 color 0 fill 15132390;

  1558.          text 'name' 256 312 color 0 'Clear Sans' 16;

  1559.        end;

  1560.        implementation eq

  1561. parameters

  1562. 	real init[4] = [1;0;0;0];

  1563. variables

  1564. 	real q[4];		//quaternions

  1565. 	real W[3,4];	//Quaternion Rates Matrix

  1566. 	real R[3,3];	//Rotation Matrix

  1567. 	real p[3];		//Position Vector

  1568. 	real dq[4];

  1569. 	real Wb[3,4];

  1570. equations

  1571. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  1572. 	q = int(dq,init);

  1573. 	p = int(flow[4:6]);

  1574. 	W = [-q[2],	q[1],	-q[4],	q[3];

  1575. 		 -q[3],	q[4],	q[1],	-q[2];

  1576. 		 -q[4],	-q[3],	q[2],	q[1]];

  1577. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

  1578. 	   		-q[3], -q[4],  q[1],  q[2];

  1579. 	   		-q[4],  q[3], -q[2],  q[1]];

  1580.  	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]);

  1581. 		  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]);

  1582. 		  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];

  1583. 	H = homogeneous(R,p);

  1584. 	implementation_end;

  1585.       MatrixMul 320 576

  1586.        description '<Description>

  1587.  <Version>4.0</Version>

  1588.  <IsMainModel>1</IsMainModel>

  1589.  <KeepParameterValues>False</KeepParameterValues>

  1590.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  1591.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  1592.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1593. </Description>';

  1594.        type Gain

  1595.         ports

  1596.          signal in input1 [4,4];

  1597.          signal out output [4,4];

  1598.          signal in input2 [4,4];

  1599.        end;

  1600.        icon bg bottom

  1601.         figures

  1602.          rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  1603.          text 'X' 320 576 color 16711680 16 bold;

  1604.        end;

  1605.        implementation eq

  1606. equations

  1607. 	output = input2*input1;    implementation_end;

  1608.       plug Pin 492.1 424;

  1609.       plug Pdiff 184 225;

  1610.       plug Hin 130.8 576;

  1611.       plug Hout 478.4 576;

  1612.       plug Hdiff 320 222;

  1613.       plug Pout 134.7 424;

  1614.       Splitter2 320 312

  1615.        description '<Description><Version>4.0</Version>

  1616.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  1617.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  1618. <IsMainModel>1</IsMainModel>

  1619.  <KeepParameterValues>False</KeepParameterValues>

  1620. </Description>';

  1621.        knot Splitter

  1622.         ports

  1623.          signal knot duplicatable out output [4,4];

  1624.          signal knot in input [4,4];

  1625.        end;

  1626.        icon bg ellipse

  1627.         figures

  1628.          ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  1629.          ellipse 315.7 307.7 324.3 316.3 color -1;

  1630.         terminals

  1631.          input 320 312 fixed;

  1632.        end;

  1633.        implementation eq

  1634. equations

  1635.     collect (output) = input;

  1636. implementation_end;

  1637.       Wbai 184 424

  1638.        description '<Description>

  1639.  <Version>4.0</Version>

  1640.  <IsMainModel>1</IsMainModel>

  1641.  <KeepParameterValues>False</KeepParameterValues>

  1642.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  1643.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  1644.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1645. </Description>';

  1646.        knot ZeroJunction

  1647.         ports

  1648.          power knot duplicatable none p [6,1];

  1649.          signal knot out effort [6,1];

  1650.         restrictions

  1651.          causality constraint one_in p;

  1652.        end;

  1653.        icon bg bottom

  1654.         figures

  1655.          text '0' 184 424 color 0 18 bold;

  1656.        end;

  1657.        implementation eq

  1658. equations

  1659. 	sum (direct (p.f)) = 0;

  1660. 	equal (collect (p.e));

  1661. 	effort = first (p.e);

  1662. implementation_end;

  1663.      end;

  1664.      connections

  1665.       FlowSensor2\flow -> Hmatrix\flow;

  1666.       FlowSensor2\p2 => Wbai\p;

  1667.       Hin -> MatrixMul\input2;

  1668.       Hmatrix\H -> Splitter2\input;

  1669.       MatrixMul\output -> Hout;

  1670.       Pdiff => FlowSensor2\p1;

  1671.       Pin => AdHji\p2;

  1672.       Splitter2\output -> AdHji\H 424 312;

  1673.       Splitter2\output -> Hdiff;

  1674.       Splitter2\output -> MatrixMul\input1;

  1675.       Wbai\p <= AdHji\p1;

  1676.       Wbai\p => Pout;

  1677.      end;

  1678.     implementation_end;

  1679.    JointB 432 216

  1680.     description '<Information>

  1681.  <Description>

  1682.     <Version>4.8</Version>

  1683. <IsMainModel>1</IsMainModel>

  1684.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  1685.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  1686. </Description>

  1687. </Information>';

  1688.     type 'Submodel-v3'

  1689.      ports

  1690.       power in Pin [6,1];

  1691.       power in Pdiff [6,1];

  1692.       signal in Hin [4,4];

  1693.       signal out Hout [4,4];

  1694.       signal out Hdiff [4,4];

  1695.       power out Pout [6,1];

  1696.     end;

  1697.     icon bg bottom

  1698.      figures

  1699.       rectangle 400 192 464 240 color 0 fill 14745599;

  1700.       text 'Joint' 432 216 color 0 'Clear Sans' 16;

  1701.      terminals

  1702.       Pin 416 192 fixed;

  1703.       Hin 448 240 fixed;

  1704.       Hout 448 192 fixed;

  1705.       Pout 416 240 fixed;

  1706.     end;

  1707.     implementation bg

  1708.      submodels

  1709.       AdHji 424 424

  1710.        description '<Description>

  1711.  <Version>4.0</Version>

  1712.  <IsMainModel>1</IsMainModel>

  1713.  <KeepParameterValues>False</KeepParameterValues>

  1714.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  1715.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  1716.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1717. </Description>';

  1718.        type MTF

  1719.         ports

  1720.          power out p1 [6,1];

  1721.          power in p2 [6,1];

  1722.          signal in H [4,4];

  1723.         restrictions

  1724.          causality constraint not_equal p1 p2;

  1725.        end;

  1726.        icon bg bottom

  1727.         figures

  1728.          text 'MTF' 424 424 color 0 18 bold;

  1729.        end;

  1730.        implementation eq

  1731. equations					

  1732. 	p2.e = transpose(Adjoint(H)) * p1.e;

  1733. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  1734.       FlowSensor2 184 311.9

  1735.        description '<Information>

  1736.  <Description>

  1737.     <Version>4.2</Version>

  1738. <IsMainModel>1</IsMainModel>

  1739.   <KeepParameterValues>False</KeepParameterValues>

  1740.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  1741.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  1742. </Description>

  1743. </Information>';

  1744.        knot FlowSensor

  1745.         ports

  1746.          power knot in p1 [6,1];

  1747.          power knot out p2 [6,1];

  1748.          signal knot out flow [6,1];

  1749.         restrictions

  1750.          causality constraint not_equal p1 p2;

  1751.        end;

  1752.        icon bg ellipse

  1753.         figures

  1754.          ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  1755.          text 'f' 184 311.2 color 0;

  1756.        end;

  1757.        implementation eq

  1758. equations

  1759. 	p2.f = p1.f;

  1760. 	p1.e = p2.e;

  1761. 	flow = p1.f;

  1762. implementation_end;

  1763.       Hmatrix 256 312

  1764.        description '<Information><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></Information>';

  1765.        type 'Submodel-Equation'

  1766.         ports

  1767.          signal in flow [6,1];

  1768.          signal out H [4,4];

  1769.        end;

  1770.        icon bg

  1771.         figures

  1772.          rectangle 224 296 288 328 color 0 fill 15132390;

  1773.          text 'name' 256 312 color 0 'Clear Sans' 16;

  1774.        end;

  1775.        implementation eq

  1776. parameters

  1777. 	real init[4] = [1;0;0;0];

  1778. variables

  1779. 	real q[4];		//quaternions

  1780. 	real W[3,4];	//Quaternion Rates Matrix

  1781. 	real R[3,3];	//Rotation Matrix

  1782. 	real p[3];		//Position Vector

  1783. 	real dq[4];

  1784. 	real Wb[3,4];

  1785. equations

  1786. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  1787. 	q = int(dq,init);

  1788. 	p = int(flow[4:6]);

  1789. 	W = [-q[2],	q[1],	-q[4],	q[3];

  1790. 		 -q[3],	q[4],	q[1],	-q[2];

  1791. 		 -q[4],	-q[3],	q[2],	q[1]];

  1792. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

  1793. 	   		-q[3], -q[4],  q[1],  q[2];

  1794. 	   		-q[4],  q[3], -q[2],  q[1]];

  1795.  	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]);

  1796. 		  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]);

  1797. 		  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];

  1798. 	H = homogeneous(R,p);

  1799. 	implementation_end;

  1800.       MatrixMul 320 576

  1801.        description '<Description>

  1802.  <Version>4.0</Version>

  1803.  <IsMainModel>1</IsMainModel>

  1804.  <KeepParameterValues>False</KeepParameterValues>

  1805.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  1806.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  1807.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1808. </Description>';

  1809.        type Gain

  1810.         ports

  1811.          signal in input1 [4,4];

  1812.          signal out output [4,4];

  1813.          signal in input2 [4,4];

  1814.        end;

  1815.        icon bg bottom

  1816.         figures

  1817.          rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  1818.          text 'X' 320 576 color 16711680 16 bold;

  1819.        end;

  1820.        implementation eq

  1821. equations

  1822. 	output = input2*input1;    implementation_end;

  1823.       plug Pin 492.1 424;

  1824.       plug Pdiff 184 225;

  1825.       plug Hin 130.8 576;

  1826.       plug Hout 478.4 576;

  1827.       plug Hdiff 320 222;

  1828.       plug Pout 134.7 424;

  1829.       Splitter2 320 312

  1830.        description '<Description><Version>4.0</Version>

  1831.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  1832.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  1833. <IsMainModel>1</IsMainModel>

  1834.  <KeepParameterValues>False</KeepParameterValues>

  1835. </Description>';

  1836.        knot Splitter

  1837.         ports

  1838.          signal knot duplicatable out output [4,4];

  1839.          signal knot in input [4,4];

  1840.        end;

  1841.        icon bg ellipse

  1842.         figures

  1843.          ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  1844.          ellipse 315.7 307.7 324.3 316.3 color -1;

  1845.         terminals

  1846.          input 320 312 fixed;

  1847.        end;

  1848.        implementation eq

  1849. equations

  1850.     collect (output) = input;

  1851. implementation_end;

  1852.       Wbai 184 424

  1853.        description '<Description>

  1854.  <Version>4.0</Version>

  1855.  <IsMainModel>1</IsMainModel>

  1856.  <KeepParameterValues>False</KeepParameterValues>

  1857.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  1858.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  1859.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1860. </Description>';

  1861.        knot ZeroJunction

  1862.         ports

  1863.          power knot duplicatable none p [6,1];

  1864.          signal knot out effort [6,1];

  1865.         restrictions

  1866.          causality constraint one_in p;

  1867.        end;

  1868.        icon bg bottom

  1869.         figures

  1870.          text '0' 184 424 color 0 18 bold;

  1871.        end;

  1872.        implementation eq

  1873. equations

  1874. 	sum (direct (p.f)) = 0;

  1875. 	equal (collect (p.e));

  1876. 	effort = first (p.e);

  1877. implementation_end;

  1878.      end;

  1879.      connections

  1880.       FlowSensor2\flow -> Hmatrix\flow;

  1881.       FlowSensor2\p2 => Wbai\p;

  1882.       Hin -> MatrixMul\input2;

  1883.       Hmatrix\H -> Splitter2\input;

  1884.       MatrixMul\output -> Hout;

  1885.       Pdiff => FlowSensor2\p1;

  1886.       Pin => AdHji\p2;

  1887.       Splitter2\output -> AdHji\H 424 312;

  1888.       Splitter2\output -> Hdiff;

  1889.       Splitter2\output -> MatrixMul\input1;

  1890.       Wbai\p <= AdHji\p1;

  1891.       Wbai\p => Pout;

  1892.      end;

  1893.     implementation_end;

  1894.    JointC 928 616

  1895.     description '<Information>

  1896.  <Description>

  1897.     <Version>4.8</Version>

  1898. <IsMainModel>1</IsMainModel>

  1899.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  1900.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  1901. </Description>

  1902. </Information>';

  1903.     type 'Submodel-v3'

  1904.      ports

  1905.       power in Pin [6,1];

  1906.       power in Pdiff [6,1];

  1907.       signal in Hin [4,4];

  1908.       signal out Hout [4,4];

  1909.       signal out Hdiff [4,4];

  1910.       power out Pout [6,1];

  1911.     end;

  1912.     icon bg bottom

  1913.      figures

  1914.       rectangle 904 584 952 648 color 0 fill 14745599;

  1915.       text 'Joint' 928 616 color 0 'Clear Sans' 16;

  1916.      terminals

  1917.       Pin 904 632 fixed;

  1918.       Hin 952 600 fixed;

  1919.       Hout 904 600 fixed;

  1920.       Pout 952 632 fixed;

  1921.     end;

  1922.     implementation bg

  1923.      submodels

  1924.       AdHji 424 424

  1925.        description '<Description>

  1926.  <Version>4.0</Version>

  1927.  <IsMainModel>1</IsMainModel>

  1928.  <KeepParameterValues>False</KeepParameterValues>

  1929.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  1930.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  1931.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  1932. </Description>';

  1933.        type MTF

  1934.         ports

  1935.          power out p1 [6,1];

  1936.          power in p2 [6,1];

  1937.          signal in H [4,4];

  1938.         restrictions

  1939.          causality constraint not_equal p1 p2;

  1940.        end;

  1941.        icon bg bottom

  1942.         figures

  1943.          text 'MTF' 424 424 color 0 18 bold;

  1944.        end;

  1945.        implementation eq

  1946. equations					

  1947. 	p2.e = transpose(Adjoint(H)) * p1.e;

  1948. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  1949.       FlowSensor2 184 311.9

  1950.        description '<Information>

  1951.  <Description>

  1952.     <Version>4.2</Version>

  1953. <IsMainModel>1</IsMainModel>

  1954.   <KeepParameterValues>False</KeepParameterValues>

  1955.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  1956.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  1957. </Description>

  1958. </Information>';

  1959.        knot FlowSensor

  1960.         ports

  1961.          power knot in p1 [6,1];

  1962.          power knot out p2 [6,1];

  1963.          signal knot out flow [6,1];

  1964.         restrictions

  1965.          causality constraint not_equal p1 p2;

  1966.        end;

  1967.        icon bg ellipse

  1968.         figures

  1969.          ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  1970.          text 'f' 184 311.2 color 0;

  1971.        end;

  1972.        implementation eq

  1973. equations

  1974. 	p2.f = p1.f;

  1975. 	p1.e = p2.e;

  1976. 	flow = p1.f;

  1977. implementation_end;

  1978.       Hmatrix 256 312

  1979.        description '<Information><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></Information>';

  1980.        type 'Submodel-Equation'

  1981.         ports

  1982.          signal in flow [6,1];

  1983.          signal out H [4,4];

  1984.        end;

  1985.        icon bg

  1986.         figures

  1987.          rectangle 224 296 288 328 color 0 fill 15132390;

  1988.          text 'name' 256 312 color 0 'Clear Sans' 16;

  1989.        end;

  1990.        implementation eq

  1991. parameters

  1992. 	real init[4] = [1;0;0;0];

  1993. variables

  1994. 	real q[4];		//quaternions

  1995. 	real W[3,4];	//Quaternion Rates Matrix

  1996. 	real R[3,3];	//Rotation Matrix

  1997. 	real p[3];		//Position Vector

  1998. 	real dq[4];

  1999. 	real Wb[3,4];

  2000. equations

  2001. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  2002. 	q = int(dq,init);

  2003. 	p = int(flow[4:6]);

  2004. 	W = [-q[2],	q[1],	-q[4],	q[3];

  2005. 		 -q[3],	q[4],	q[1],	-q[2];

  2006. 		 -q[4],	-q[3],	q[2],	q[1]];

  2007. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

  2008. 	   		-q[3], -q[4],  q[1],  q[2];

  2009. 	   		-q[4],  q[3], -q[2],  q[1]];

  2010.  	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]);

  2011. 		  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]);

  2012. 		  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];

  2013. 	H = homogeneous(R,p);

  2014. 	implementation_end;

  2015.       MatrixMul 320 576

  2016.        description '<Description>

  2017.  <Version>4.0</Version>

  2018.  <IsMainModel>1</IsMainModel>

  2019.  <KeepParameterValues>False</KeepParameterValues>

  2020.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  2021.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  2022.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2023. </Description>';

  2024.        type Gain

  2025.         ports

  2026.          signal in input1 [4,4];

  2027.          signal out output [4,4];

  2028.          signal in input2 [4,4];

  2029.        end;

  2030.        icon bg bottom

  2031.         figures

  2032.          rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  2033.          text 'X' 320 576 color 16711680 16 bold;

  2034.        end;

  2035.        implementation eq

  2036. equations

  2037. 	output = input2*input1;    implementation_end;

  2038.       plug Pin 492.1 424;

  2039.       plug Pdiff 184 225;

  2040.       plug Hin 130.8 576;

  2041.       plug Hout 478.4 576;

  2042.       plug Hdiff 320 222;

  2043.       plug Pout 134.7 424;

  2044.       Splitter2 320 312

  2045.        description '<Description><Version>4.0</Version>

  2046.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  2047.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  2048. <IsMainModel>1</IsMainModel>

  2049.  <KeepParameterValues>False</KeepParameterValues>

  2050. </Description>';

  2051.        knot Splitter

  2052.         ports

  2053.          signal knot duplicatable out output [4,4];

  2054.          signal knot in input [4,4];

  2055.        end;

  2056.        icon bg ellipse

  2057.         figures

  2058.          ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  2059.          ellipse 315.7 307.7 324.3 316.3 color -1;

  2060.         terminals

  2061.          input 320 312 fixed;

  2062.        end;

  2063.        implementation eq

  2064. equations

  2065.     collect (output) = input;

  2066. implementation_end;

  2067.       Wbai 184 424

  2068.        description '<Description>

  2069.  <Version>4.0</Version>

  2070.  <IsMainModel>1</IsMainModel>

  2071.  <KeepParameterValues>False</KeepParameterValues>

  2072.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  2073.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  2074.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2075. </Description>';

  2076.        knot ZeroJunction

  2077.         ports

  2078.          power knot duplicatable none p [6,1];

  2079.          signal knot out effort [6,1];

  2080.         restrictions

  2081.          causality constraint one_in p;

  2082.        end;

  2083.        icon bg bottom

  2084.         figures

  2085.          text '0' 184 424 color 0 18 bold;

  2086.        end;

  2087.        implementation eq

  2088. equations

  2089. 	sum (direct (p.f)) = 0;

  2090. 	equal (collect (p.e));

  2091. 	effort = first (p.e);

  2092. implementation_end;

  2093.      end;

  2094.      connections

  2095.       FlowSensor2\flow -> Hmatrix\flow;

  2096.       FlowSensor2\p2 => Wbai\p;

  2097.       Hin -> MatrixMul\input2;

  2098.       Hmatrix\H -> Splitter2\input;

  2099.       MatrixMul\output -> Hout;

  2100.       Pdiff => FlowSensor2\p1;

  2101.       Pin => AdHji\p2;

  2102.       Splitter2\output -> AdHji\H 424 312;

  2103.       Splitter2\output -> Hdiff;

  2104.       Splitter2\output -> MatrixMul\input1;

  2105.       Wbai\p <= AdHji\p1;

  2106.       Wbai\p => Pout;

  2107.      end;

  2108.     implementation_end;

  2109.    JointD 632 536

  2110.     description '<Information>

  2111.  <Description>

  2112.     <Version>4.8</Version>

  2113. <IsMainModel>1</IsMainModel>

  2114.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  2115.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  2116. </Description>

  2117. </Information>';

  2118.     type 'Submodel-v3'

  2119.      ports

  2120.       power in Pin [6,1];

  2121.       power in Pdiff [6,1];

  2122.       signal in Hin [4,4];

  2123.       signal out Hout [4,4];

  2124.       signal out Hdiff [4,4];

  2125.       power out Pout [6,1];

  2126.     end;

  2127.     icon bg bottom

  2128.      figures

  2129.       rectangle 600 512 664 560 color 0 fill 14745599;

  2130.       text 'Joint' 632 536 color 0 'Clear Sans' 16;

  2131.      terminals

  2132.       Pin 616 512 fixed;

  2133.       Hin 648 560 fixed;

  2134.       Hout 648 512 fixed;

  2135.       Pout 616 560 fixed;

  2136.     end;

  2137.     implementation bg

  2138.      submodels

  2139.       AdHji 424 424

  2140.        description '<Description>

  2141.  <Version>4.0</Version>

  2142.  <IsMainModel>1</IsMainModel>

  2143.  <KeepParameterValues>False</KeepParameterValues>

  2144.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  2145.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  2146.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2147. </Description>';

  2148.        type MTF

  2149.         ports

  2150.          power out p1 [6,1];

  2151.          power in p2 [6,1];

  2152.          signal in H [4,4];

  2153.         restrictions

  2154.          causality constraint not_equal p1 p2;

  2155.        end;

  2156.        icon bg bottom

  2157.         figures

  2158.          text 'MTF' 424 424 color 0 18 bold;

  2159.        end;

  2160.        implementation eq

  2161. equations					

  2162. 	p2.e = transpose(Adjoint(H)) * p1.e;

  2163. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  2164.       FlowSensor2 184 311.9

  2165.        description '<Information>

  2166.  <Description>

  2167.     <Version>4.2</Version>

  2168. <IsMainModel>1</IsMainModel>

  2169.   <KeepParameterValues>False</KeepParameterValues>

  2170.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  2171.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  2172. </Description>

  2173. </Information>';

  2174.        knot FlowSensor

  2175.         ports

  2176.          power knot in p1 [6,1];

  2177.          power knot out p2 [6,1];

  2178.          signal knot out flow [6,1];

  2179.         restrictions

  2180.          causality constraint not_equal p1 p2;

  2181.        end;

  2182.        icon bg ellipse

  2183.         figures

  2184.          ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  2185.          text 'f' 184 311.2 color 0;

  2186.        end;

  2187.        implementation eq

  2188. equations

  2189. 	p2.f = p1.f;

  2190. 	p1.e = p2.e;

  2191. 	flow = p1.f;

  2192. implementation_end;

  2193.       Hmatrix 256 312

  2194.        description '<Information><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></Information>';

  2195.        type 'Submodel-Equation'

  2196.         ports

  2197.          signal in flow [6,1];

  2198.          signal out H [4,4];

  2199.        end;

  2200.        icon bg

  2201.         figures

  2202.          rectangle 224 296 288 328 color 0 fill 15132390;

  2203.          text 'name' 256 312 color 0 'Clear Sans' 16;

  2204.        end;

  2205.        implementation eq

  2206. parameters

  2207. 	real init[4] = [1;0;0;0];

  2208. variables

  2209. 	real q[4];		//quaternions

  2210. 	real W[3,4];	//Quaternion Rates Matrix

  2211. 	real R[3,3];	//Rotation Matrix

  2212. 	real p[3];		//Position Vector

  2213. 	real dq[4];

  2214. 	real Wb[3,4];

  2215. equations

  2216. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  2217. 	q = int(dq,init);

  2218. 	p = int(flow[4:6]);

  2219. 	W = [-q[2],	q[1],	-q[4],	q[3];

  2220. 		 -q[3],	q[4],	q[1],	-q[2];

  2221. 		 -q[4],	-q[3],	q[2],	q[1]];

  2222. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

  2223. 	   		-q[3], -q[4],  q[1],  q[2];

  2224. 	   		-q[4],  q[3], -q[2],  q[1]];

  2225.  	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]);

  2226. 		  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]);

  2227. 		  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];

  2228. 	H = homogeneous(R,p);

  2229. 	implementation_end;

  2230.       MatrixMul 320 576

  2231.        description '<Description>

  2232.  <Version>4.0</Version>

  2233.  <IsMainModel>1</IsMainModel>

  2234.  <KeepParameterValues>False</KeepParameterValues>

  2235.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  2236.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  2237.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2238. </Description>';

  2239.        type Gain

  2240.         ports

  2241.          signal in input1 [4,4];

  2242.          signal out output [4,4];

  2243.          signal in input2 [4,4];

  2244.        end;

  2245.        icon bg bottom

  2246.         figures

  2247.          rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  2248.          text 'X' 320 576 color 16711680 16 bold;

  2249.        end;

  2250.        implementation eq

  2251. equations

  2252. 	output = input2*input1;    implementation_end;

  2253.       plug Pin 492.1 424;

  2254.       plug Pdiff 184 225;

  2255.       plug Hin 130.8 576;

  2256.       plug Hout 478.4 576;

  2257.       plug Hdiff 320 222;

  2258.       plug Pout 134.7 424;

  2259.       Splitter2 320 312

  2260.        description '<Description><Version>4.0</Version>

  2261.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  2262.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  2263. <IsMainModel>1</IsMainModel>

  2264.  <KeepParameterValues>False</KeepParameterValues>

  2265. </Description>';

  2266.        knot Splitter

  2267.         ports

  2268.          signal knot duplicatable out output [4,4];

  2269.          signal knot in input [4,4];

  2270.        end;

  2271.        icon bg ellipse

  2272.         figures

  2273.          ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  2274.          ellipse 315.7 307.7 324.3 316.3 color -1;

  2275.         terminals

  2276.          input 320 312 fixed;

  2277.        end;

  2278.        implementation eq

  2279. equations

  2280.     collect (output) = input;

  2281. implementation_end;

  2282.       Wbai 184 424

  2283.        description '<Description>

  2284.  <Version>4.0</Version>

  2285.  <IsMainModel>1</IsMainModel>

  2286.  <KeepParameterValues>False</KeepParameterValues>

  2287.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  2288.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  2289.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2290. </Description>';

  2291.        knot ZeroJunction

  2292.         ports

  2293.          power knot duplicatable none p [6,1];

  2294.          signal knot out effort [6,1];

  2295.         restrictions

  2296.          causality constraint one_in p;

  2297.        end;

  2298.        icon bg bottom

  2299.         figures

  2300.          text '0' 184 424 color 0 18 bold;

  2301.        end;

  2302.        implementation eq

  2303. equations

  2304. 	sum (direct (p.f)) = 0;

  2305. 	equal (collect (p.e));

  2306. 	effort = first (p.e);

  2307. implementation_end;

  2308.      end;

  2309.      connections

  2310.       FlowSensor2\flow -> Hmatrix\flow;

  2311.       FlowSensor2\p2 => Wbai\p;

  2312.       Hin -> MatrixMul\input2;

  2313.       Hmatrix\H -> Splitter2\input;

  2314.       MatrixMul\output -> Hout;

  2315.       Pdiff => FlowSensor2\p1;

  2316.       Pin => AdHji\p2;

  2317.       Splitter2\output -> AdHji\H 424 312;

  2318.       Splitter2\output -> Hdiff;

  2319.       Splitter2\output -> MatrixMul\input1;

  2320.       Wbai\p <= AdHji\p1;

  2321.       Wbai\p => Pout;

  2322.      end;

  2323.     implementation_end;

  2324.    JointE 632 216

  2325.     description '<Information>

  2326.  <Description>

  2327.     <Version>4.8</Version>

  2328. <IsMainModel>1</IsMainModel>

  2329.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  2330.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  2331. </Description>

  2332. </Information>';

  2333.     type 'Submodel-v3'

  2334.      ports

  2335.       power in Pin [6,1];

  2336.       power in Pdiff [6,1];

  2337.       signal in Hin [4,4];

  2338.       signal out Hout [4,4];

  2339.       signal out Hdiff [4,4];

  2340.       power out Pout [6,1];

  2341.     end;

  2342.     icon bg bottom

  2343.      figures

  2344.       rectangle 600 192 664 240 color 0 fill 14745599;

  2345.       text 'Joint' 632 216 color 0 'Clear Sans' 16;

  2346.      terminals

  2347.       Pin 616 192 fixed;

  2348.       Hin 648 240 fixed;

  2349.       Hout 648 192 fixed;

  2350.       Pout 616 240 fixed;

  2351.     end;

  2352.     implementation bg

  2353.      submodels

  2354.       AdHji 424 424

  2355.        description '<Description>

  2356.  <Version>4.0</Version>

  2357.  <IsMainModel>1</IsMainModel>

  2358.  <KeepParameterValues>False</KeepParameterValues>

  2359.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  2360.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  2361.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2362. </Description>';

  2363.        type MTF

  2364.         ports

  2365.          power out p1 [6,1];

  2366.          power in p2 [6,1];

  2367.          signal in H [4,4];

  2368.         restrictions

  2369.          causality constraint not_equal p1 p2;

  2370.        end;

  2371.        icon bg bottom

  2372.         figures

  2373.          text 'MTF' 424 424 color 0 18 bold;

  2374.        end;

  2375.        implementation eq

  2376. equations					

  2377. 	p2.e = transpose(Adjoint(H)) * p1.e;

  2378. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  2379.       FlowSensor2 184 311.9

  2380.        description '<Information>

  2381.  <Description>

  2382.     <Version>4.2</Version>

  2383. <IsMainModel>1</IsMainModel>

  2384.   <KeepParameterValues>False</KeepParameterValues>

  2385.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  2386.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  2387. </Description>

  2388. </Information>';

  2389.        knot FlowSensor

  2390.         ports

  2391.          power knot in p1 [6,1];

  2392.          power knot out p2 [6,1];

  2393.          signal knot out flow [6,1];

  2394.         restrictions

  2395.          causality constraint not_equal p1 p2;

  2396.        end;

  2397.        icon bg ellipse

  2398.         figures

  2399.          ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  2400.          text 'f' 184 311.2 color 0;

  2401.        end;

  2402.        implementation eq

  2403. equations

  2404. 	p2.f = p1.f;

  2405. 	p1.e = p2.e;

  2406. 	flow = p1.f;

  2407. implementation_end;

  2408.       Hmatrix 256 312

  2409.        description '<Information><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></Information>';

  2410.        type 'Submodel-Equation'

  2411.         ports

  2412.          signal in flow [6,1];

  2413.          signal out H [4,4];

  2414.        end;

  2415.        icon bg

  2416.         figures

  2417.          rectangle 224 296 288 328 color 0 fill 15132390;

  2418.          text 'name' 256 312 color 0 'Clear Sans' 16;

  2419.        end;

  2420.        implementation eq

  2421. parameters

  2422. 	real init[4] = [1;0;0;0];

  2423. variables

  2424. 	real q[4];		//quaternions

  2425. 	real W[3,4];	//Quaternion Rates Matrix

  2426. 	real R[3,3];	//Rotation Matrix

  2427. 	real p[3];		//Position Vector

  2428. 	real dq[4];

  2429. 	real Wb[3,4];

  2430. equations

  2431. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  2432. 	q = int(dq,init);

  2433. 	p = int(flow[4:6]);

  2434. 	W = [-q[2],	q[1],	-q[4],	q[3];

  2435. 		 -q[3],	q[4],	q[1],	-q[2];

  2436. 		 -q[4],	-q[3],	q[2],	q[1]];

  2437. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

  2438. 	   		-q[3], -q[4],  q[1],  q[2];

  2439. 	   		-q[4],  q[3], -q[2],  q[1]];

  2440.  	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]);

  2441. 		  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]);

  2442. 		  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];

  2443. 	H = homogeneous(R,p);

  2444. 	implementation_end;

  2445.       MatrixMul 320 576

  2446.        description '<Description>

  2447.  <Version>4.0</Version>

  2448.  <IsMainModel>1</IsMainModel>

  2449.  <KeepParameterValues>False</KeepParameterValues>

  2450.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  2451.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  2452.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2453. </Description>';

  2454.        type Gain

  2455.         ports

  2456.          signal in input1 [4,4];

  2457.          signal out output [4,4];

  2458.          signal in input2 [4,4];

  2459.        end;

  2460.        icon bg bottom

  2461.         figures

  2462.          rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  2463.          text 'X' 320 576 color 16711680 16 bold;

  2464.        end;

  2465.        implementation eq

  2466. equations

  2467. 	output = input2*input1;    implementation_end;

  2468.       plug Pin 492.1 424;

  2469.       plug Pdiff 184 225;

  2470.       plug Hin 130.8 576;

  2471.       plug Hout 478.4 576;

  2472.       plug Hdiff 320 222;

  2473.       plug Pout 134.7 424;

  2474.       Splitter2 320 312

  2475.        description '<Description><Version>4.0</Version>

  2476.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  2477.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  2478. <IsMainModel>1</IsMainModel>

  2479.  <KeepParameterValues>False</KeepParameterValues>

  2480. </Description>';

  2481.        knot Splitter

  2482.         ports

  2483.          signal knot duplicatable out output [4,4];

  2484.          signal knot in input [4,4];

  2485.        end;

  2486.        icon bg ellipse

  2487.         figures

  2488.          ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  2489.          ellipse 315.7 307.7 324.3 316.3 color -1;

  2490.         terminals

  2491.          input 320 312 fixed;

  2492.        end;

  2493.        implementation eq

  2494. equations

  2495.     collect (output) = input;

  2496. implementation_end;

  2497.       Wbai 184 424

  2498.        description '<Description>

  2499.  <Version>4.0</Version>

  2500.  <IsMainModel>1</IsMainModel>

  2501.  <KeepParameterValues>False</KeepParameterValues>

  2502.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  2503.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  2504.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2505. </Description>';

  2506.        knot ZeroJunction

  2507.         ports

  2508.          power knot duplicatable none p [6,1];

  2509.          signal knot out effort [6,1];

  2510.         restrictions

  2511.          causality constraint one_in p;

  2512.        end;

  2513.        icon bg bottom

  2514.         figures

  2515.          text '0' 184 424 color 0 18 bold;

  2516.        end;

  2517.        implementation eq

  2518. equations

  2519. 	sum (direct (p.f)) = 0;

  2520. 	equal (collect (p.e));

  2521. 	effort = first (p.e);

  2522. implementation_end;

  2523.      end;

  2524.      connections

  2525.       FlowSensor2\flow -> Hmatrix\flow;

  2526.       FlowSensor2\p2 => Wbai\p;

  2527.       Hin -> MatrixMul\input2;

  2528.       Hmatrix\H -> Splitter2\input;

  2529.       MatrixMul\output -> Hout;

  2530.       Pdiff => FlowSensor2\p1;

  2531.       Pin => AdHji\p2;

  2532.       Splitter2\output -> AdHji\H 424 312;

  2533.       Splitter2\output -> Hdiff;

  2534.       Splitter2\output -> MatrixMul\input1;

  2535.       Wbai\p <= AdHji\p1;

  2536.       Wbai\p => Pout;

  2537.      end;

  2538.     implementation_end;

  2539.    JointF 792 136

  2540.     description '<Information>

  2541.  <Description>

  2542.     <Version>4.8</Version>

  2543. <IsMainModel>1</IsMainModel>

  2544.     <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>

  2545.   <TimeStamp>2020-7-21 12:08:53</TimeStamp>

  2546. </Description>

  2547. </Information>';

  2548.     type 'Submodel-v3'

  2549.      ports

  2550.       power in Pin [6,1];

  2551.       power in Pdiff [6,1];

  2552.       signal in Hin [4,4];

  2553.       signal out Hout [4,4];

  2554.       signal out Hdiff [4,4];

  2555.       power out Pout [6,1];

  2556.     end;

  2557.     icon bg bottom

  2558.      figures

  2559.       rectangle 768 104 816 168 color 0 fill 14745599;

  2560.       text 'Joint' 792 136 color 0 'Clear Sans' 16;

  2561.      terminals

  2562.       Pin 816 120 fixed;

  2563.       Hin 768 152 fixed;

  2564.       Hout 816 152 fixed;

  2565.       Pout 768 120 fixed;

  2566.     end;

  2567.     implementation bg

  2568.      submodels

  2569.       AdHji 424 424

  2570.        description '<Description>

  2571.  <Version>4.0</Version>

  2572.  <IsMainModel>1</IsMainModel>

  2573.  <KeepParameterValues>False</KeepParameterValues>

  2574.  <LibraryPath>Bond Graph\MTF.emx</LibraryPath>

  2575.  <TimeStamp>2007-9-25 12:3:3</TimeStamp>

  2576.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2577. </Description>';

  2578.        type MTF

  2579.         ports

  2580.          power out p1 [6,1];

  2581.          power in p2 [6,1];

  2582.          signal in H [4,4];

  2583.         restrictions

  2584.          causality constraint not_equal p1 p2;

  2585.        end;

  2586.        icon bg bottom

  2587.         figures

  2588.          text 'MTF' 424 424 color 0 18 bold;

  2589.        end;

  2590.        implementation eq

  2591. equations					

  2592. 	p2.e = transpose(Adjoint(H)) * p1.e;

  2593. 	p1.f = Adjoint(H) * p2.f;implementation_end;

  2594.       FlowSensor2 184 311.9

  2595.        description '<Information>

  2596.  <Description>

  2597.     <Version>4.2</Version>

  2598. <IsMainModel>1</IsMainModel>

  2599.   <KeepParameterValues>False</KeepParameterValues>

  2600.     <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>

  2601.   <TimeStamp>2011-11-29 15:50:53</TimeStamp>

  2602. </Description>

  2603. </Information>';

  2604.        knot FlowSensor

  2605.         ports

  2606.          power knot in p1 [6,1];

  2607.          power knot out p2 [6,1];

  2608.          signal knot out flow [6,1];

  2609.         restrictions

  2610.          causality constraint not_equal p1 p2;

  2611.        end;

  2612.        icon bg ellipse

  2613.         figures

  2614.          ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;

  2615.          text 'f' 184 311.2 color 0;

  2616.        end;

  2617.        implementation eq

  2618. equations

  2619. 	p2.f = p1.f;

  2620. 	p1.e = p2.e;

  2621. 	flow = p1.f;

  2622. implementation_end;

  2623.       Hmatrix 256 312

  2624.        description '<Information><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></Information>';

  2625.        type 'Submodel-Equation'

  2626.         ports

  2627.          signal in flow [6,1];

  2628.          signal out H [4,4];

  2629.        end;

  2630.        icon bg

  2631.         figures

  2632.          rectangle 224 296 288 328 color 0 fill 15132390;

  2633.          text 'name' 256 312 color 0 'Clear Sans' 16;

  2634.        end;

  2635.        implementation eq

  2636. parameters

  2637. 	real init[4] = [1;0;0;0];

  2638. variables

  2639. 	real q[4];		//quaternions

  2640. 	real W[3,4];	//Quaternion Rates Matrix

  2641. 	real R[3,3];	//Rotation Matrix

  2642. 	real p[3];		//Position Vector

  2643. 	real dq[4];

  2644. 	real Wb[3,4];

  2645. equations

  2646. 	dq = transpose(Wb) * flow[1:3] ./ 2;

  2647. 	q = int(dq,init);

  2648. 	p = int(flow[4:6]);

  2649. 	W = [-q[2],	q[1],	-q[4],	q[3];

  2650. 		 -q[3],	q[4],	q[1],	-q[2];

  2651. 		 -q[4],	-q[3],	q[2],	q[1]];

  2652. 	Wb = [	-q[2],  q[1],  q[4], -q[3];

  2653. 	   		-q[3], -q[4],  q[1],  q[2];

  2654. 	   		-q[4],  q[3], -q[2],  q[1]];

  2655.  	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]);

  2656. 		  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]);

  2657. 		  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];

  2658. 	H = homogeneous(R,p);

  2659. 	implementation_end;

  2660.       MatrixMul 320 576

  2661.        description '<Description>

  2662.  <Version>4.0</Version>

  2663.  <IsMainModel>1</IsMainModel>

  2664.  <KeepParameterValues>False</KeepParameterValues>

  2665.  <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>

  2666.  <TimeStamp>2007-9-26 12:15:12</TimeStamp>

  2667.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2668. </Description>';

  2669.        type Gain

  2670.         ports

  2671.          signal in input1 [4,4];

  2672.          signal out output [4,4];

  2673.          signal in input2 [4,4];

  2674.        end;

  2675.        icon bg bottom

  2676.         figures

  2677.          rectangle 304.1 560 335.9 592 color 0 fill 15132390;

  2678.          text 'X' 320 576 color 16711680 16 bold;

  2679.        end;

  2680.        implementation eq

  2681. equations

  2682. 	output = input2*input1;    implementation_end;

  2683.       plug Pin 492.1 424;

  2684.       plug Pdiff 184 225;

  2685.       plug Hin 130.8 576;

  2686.       plug Hout 478.4 576;

  2687.       plug Hdiff 320 222;

  2688.       plug Pout 134.7 424;

  2689.       Splitter2 320 312

  2690.        description '<Description><Version>4.0</Version>

  2691.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  2692.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  2693. <IsMainModel>1</IsMainModel>

  2694.  <KeepParameterValues>False</KeepParameterValues>

  2695. </Description>';

  2696.        knot Splitter

  2697.         ports

  2698.          signal knot duplicatable out output [4,4];

  2699.          signal knot in input [4,4];

  2700.        end;

  2701.        icon bg ellipse

  2702.         figures

  2703.          ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;

  2704.          ellipse 315.7 307.7 324.3 316.3 color -1;

  2705.         terminals

  2706.          input 320 312 fixed;

  2707.        end;

  2708.        implementation eq

  2709. equations

  2710.     collect (output) = input;

  2711. implementation_end;

  2712.       Wbai 184 424

  2713.        description '<Description>

  2714.  <Version>4.0</Version>

  2715.  <IsMainModel>1</IsMainModel>

  2716.  <KeepParameterValues>False</KeepParameterValues>

  2717.  <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>

  2718.  <TimeStamp>2007-9-27 9:51:43</TimeStamp>

  2719.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2720. </Description>';

  2721.        knot ZeroJunction

  2722.         ports

  2723.          power knot duplicatable none p [6,1];

  2724.          signal knot out effort [6,1];

  2725.         restrictions

  2726.          causality constraint one_in p;

  2727.        end;

  2728.        icon bg bottom

  2729.         figures

  2730.          text '0' 184 424 color 0 18 bold;

  2731.        end;

  2732.        implementation eq

  2733. equations

  2734. 	sum (direct (p.f)) = 0;

  2735. 	equal (collect (p.e));

  2736. 	effort = first (p.e);

  2737. implementation_end;

  2738.      end;

  2739.      connections

  2740.       FlowSensor2\flow -> Hmatrix\flow;

  2741.       FlowSensor2\p2 => Wbai\p;

  2742.       Hin -> MatrixMul\input2;

  2743.       Hmatrix\H -> Splitter2\input;

  2744.       MatrixMul\output -> Hout;

  2745.       Pdiff => FlowSensor2\p1;

  2746.       Pin => AdHji\p2;

  2747.       Splitter2\output -> AdHji\H 424 312;

  2748.       Splitter2\output -> Hdiff;

  2749.       Splitter2\output -> MatrixMul\input1;

  2750.       Wbai\p <= AdHji\p1;

  2751.       Wbai\p => Pout;

  2752.      end;

  2753.     implementation_end;

  2754.    Joint_dynA 336 536

  2755.     description '<Description>

  2756. 	<Version>4.8</Version>

  2757. 	<IsMainModel>1</IsMainModel>

  2758. 	</Description>';

  2759.     type Submodel

  2760.      ports

  2761.       power out output [6,1];

  2762.     end;

  2763.     implementation bg

  2764.      submodels

  2765.       C1 191.8 216.2

  2766.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  2767.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  2768.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  2769. </Description>';

  2770.        type 'C-3'

  2771.         ports

  2772.          power in p [3,1];

  2773.          signal out state [3,1];

  2774.         restrictions

  2775.          causality preferred out p;

  2776.        end;

  2777.        icon bg top

  2778.         figures

  2779.          text 'C' 191.8 216.2 color 0 18 bold;

  2780.        end;

  2781.        implementation eq

  2782. parameters

  2783. 	real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m};

  2784. equations

  2785.     state = int(p.f);

  2786.     p.e = inverse(c) *state;

  2787. implementation_end;

  2788.       C4 191.8 232.2

  2789.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  2790.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  2791.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  2792. </Description>';

  2793.        type 'C-2'

  2794.         ports

  2795.          power in p [2,1];

  2796.          signal out state [2,1];

  2797.         restrictions

  2798.          causality preferred out p;

  2799.        end;

  2800.        icon bg bottom

  2801.         figures

  2802.          text 'C' 191.8 232.2 color 0 18 bold;

  2803.        end;

  2804.        implementation eq

  2805. parameters

  2806. 	real c[2,2] = [0.1, 0.0; 0.0, 0.1]  {mN.m/rad};

  2807. equations

  2808.     state = int(p.f);

  2809.     p.e = inverse(c) *state;

  2810. implementation_end;

  2811.       plug output 396 216;

  2812.       OneJunction5 239.8 232.2

  2813.        description '<Information>

  2814.  <Description>

  2815.     <Version>4.2</Version>

  2816. <IsMainModel>1</IsMainModel>

  2817.   <KeepParameterValues>False</KeepParameterValues>

  2818.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  2819.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  2820. </Description>

  2821. </Information>';

  2822.        knot OneJunction

  2823.         ports

  2824.          power knot duplicatable none p [2,1];

  2825.          signal knot out flow [2,1];

  2826.         restrictions

  2827.          causality constraint one_out p;

  2828.        end;

  2829.        icon bg

  2830.         figures

  2831.          text '1' 239.8 232.2 color 0 18 bold;

  2832.        end;

  2833.        implementation eq

  2834. equations

  2835. 	sum (direct (p.e)) = 0;

  2836. 	equal (collect (p.f));

  2837. 	flow = first (p.f);

  2838. implementation_end;

  2839.       OneJunction7 239.8 216.2

  2840.        description '<Information>

  2841.  <Description>

  2842.     <Version>4.2</Version>

  2843. <IsMainModel>1</IsMainModel>

  2844.   <KeepParameterValues>False</KeepParameterValues>

  2845.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  2846.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  2847. </Description>

  2848. </Information>';

  2849.        knot OneJunction

  2850.         ports

  2851.          power knot duplicatable none p [3,1];

  2852.          signal knot out flow [3,1];

  2853.         restrictions

  2854.          causality constraint one_out p;

  2855.        end;

  2856.        icon bg

  2857.         figures

  2858.          text '1' 239.8 216.2 color 0 18 bold;

  2859.        end;

  2860.        implementation eq

  2861. equations

  2862. 	sum (direct (p.e)) = 0;

  2863. 	equal (collect (p.f));

  2864. 	flow = first (p.f);

  2865. implementation_end;

  2866.       OneJunction8 288 200

  2867.        description '<Information>

  2868.  <Description>

  2869.     <Version>4.2</Version>

  2870. <IsMainModel>1</IsMainModel>

  2871.   <KeepParameterValues>False</KeepParameterValues>

  2872.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  2873.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  2874. </Description>

  2875. </Information>';

  2876.        knot OneJunction

  2877.         ports

  2878.          power knot duplicatable none p [1];

  2879.          signal knot out flow [1];

  2880.         restrictions

  2881.          causality constraint one_out p;

  2882.        end;

  2883.        icon bg

  2884.         figures

  2885.          text '1' 288 200 color 0 18 bold;

  2886.        end;

  2887.        implementation eq

  2888. equations

  2889. 	sum (direct (p.e)) = 0;

  2890. 	equal (collect (p.f));

  2891. 	flow = first (p.f);

  2892. implementation_end;

  2893.       PowerMux 330 216

  2894. 						specifications active 'rot_x'

  2895. 							specification 'rot_x'

  2896.  description '<Information>

  2897.  <Description>

  2898.     <Version>4.8</Version>

  2899.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  2900.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  2901. <IsMainModel>1</IsMainModel>

  2902.   <KeepParameterValues>False</KeepParameterValues>

  2903.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2904.  </Description>

  2905. </Information>';

  2906.  type 'PowerMux-Rotation'

  2907.   ports

  2908.    power in input;

  2909.    power out output [6,1];

  2910.    power in input_rot2 [2,1];

  2911.    power in input_pos3 [3,1];

  2912.   restrictions

  2913.    causality constraint not_equal input output;

  2914.    causality constraint not_equal input_rot2 output;

  2915.    causality constraint not_equal input_pos3 output;

  2916.  end;

  2917.  icon bg bottom

  2918.   figures

  2919.    line 328 192 328 240 color 0 width 2;

  2920.    rectangle 324 192 336 240 color -1;

  2921.    text '1' 333 210 color 8421504 8;

  2922.   terminals

  2923.    input 328 200 fixed;

  2924.    output 328 216 fixed;

  2925.    input_rot2 328 232 fixed;

  2926.    input_pos3 328 216 fixed;

  2927.  end;

  2928.  implementation eq

  2929. equations

  2930. 	output.e[1] = input.e;

  2931. 	output.e[2:3] = input_rot2.e;

  2932. 	output.e[4:6] = input_pos3.e;

  2933. 	output.f[1] = input.f;

  2934. 	output.f[2:3] = input_rot2.f;

  2935. 	output.f[4:6] = input_pos3.f;implementation_end;

  2936. specification_end;

  2937. 							specification 'rot_y'

  2938. description '<Description>

  2939.    <Version>4.1</Version>

  2940.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  2941.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  2942. <IsMainModel>1</IsMainModel>

  2943.  <KeepParameterValues>False</KeepParameterValues>

  2944.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2945. </Description>';

  2946.  type PowerMux

  2947.   ports

  2948.    power in input;

  2949.    power out output [6,1];

  2950.    power in input_rot2 [2,1];

  2951.    power in input_pos3 [3,1];

  2952.   restrictions

  2953.    causality constraint not_equal input output;

  2954.    causality constraint not_equal input_rot2 output;

  2955.    causality constraint not_equal input_pos3 output;

  2956.  end;

  2957.  icon bg bottom

  2958.   figures

  2959.    line 242 274 290 274 color 0 width 2;

  2960.    rectangle 242 266 290 278 color -1;

  2961.    text '1' 260 269 color 8421504 8;

  2962.   terminals

  2963.    input 250 274 fixed;

  2964.    output 266 274 fixed;

  2965.    input_rot2 282 274 fixed;

  2966.    input_pos3 266 274 fixed;

  2967.  end;

  2968.  implementation eq

  2969. equations

  2970. 	output.e[1] = input_rot2.e[1];

  2971. 	output.e[2] = input.e;

  2972. 	output.e[3] = input_rot2.e[2];

  2973. 	output.e[4:6] = input_pos3.e;

  2974. 	output.f[1] = input_rot2.f[1];

  2975. 	output.f[2] = input.f;

  2976. 	output.f[3] = input_rot2.f[2];

  2977. 	output.f[4:6] = input_pos3.f;implementation_end;

  2978. specification_end;

  2979. 							specification 'rot_z'

  2980. description '<Information>

  2981.  <Description>

  2982.     <Version>4.8</Version>

  2983.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  2984.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  2985. <IsMainModel>1</IsMainModel>

  2986.   <KeepParameterValues>False</KeepParameterValues>

  2987.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  2988.  </Description>

  2989. </Information>';

  2990.  type PowerMux

  2991.   ports

  2992.    power in input;

  2993.    power out output [6,1];

  2994.    power in input_rot2 [2,1];

  2995.    power in input_pos3 [3,1];

  2996.   restrictions

  2997.    causality constraint not_equal input output;

  2998.    causality constraint not_equal input_rot2 output;

  2999.    causality constraint not_equal input_pos3 output;

  3000.  end;

  3001.  icon bg bottom

  3002.   figures

  3003.    line 242 274 290 274 color 0 width 2;

  3004.    rectangle 242 266 290 278 color -1;

  3005.    text '1' 260 269 color 8421504 8;

  3006.   terminals

  3007.    input 250 274 fixed;

  3008.    output 266 274 fixed;

  3009.    input_rot2 282 274 fixed;

  3010.    input_pos3 266 274 fixed;

  3011.  end;

  3012.  implementation eq

  3013. equations

  3014. 	output.e[3] = input.e;

  3015. 	output.e[1:2] = input_rot2.e;

  3016. 	output.e[4:6] = input_pos3.e;

  3017. 	output.f[3] = input.f;

  3018. 	output.f[1:2] = input_rot2.f;

  3019. 	output.f[4:6] = input_pos3.f;implementation_end;

  3020. specification_end;

  3021. 						end;

  3022.       R 288 152

  3023.        description '<Information>

  3024.  <Description>

  3025.     <Version>4.2</Version>

  3026. <IsMainModel>1</IsMainModel>

  3027.   <KeepParameterValues>False</KeepParameterValues>

  3028.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  3029.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  3030. </Description>

  3031. </Information>';

  3032.        type R

  3033.         ports

  3034.          power in p;

  3035.        end;

  3036.        icon bg top

  3037.         figures

  3038.          text 'R' 288 152 color 0 18 bold;

  3039.        end;

  3040.        implementation eq

  3041. parameters

  3042. 	real r = 0.01;

  3043. equations

  3044. 	p.e = r * p.f;

  3045. implementation_end;

  3046.       R4 239.8 288.2

  3047.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3048.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  3049.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  3050. </Description>';

  3051.        type 'R-2'

  3052.         ports

  3053.          power in p [2,1];

  3054.        end;

  3055.        icon bg bottom

  3056.         figures

  3057.          text 'R' 239.8 288.2 color 0 18 bold;

  3058.        end;

  3059.        implementation eq

  3060. parameters

  3061. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  3062. equations					

  3063. 	p.e = r * p.f;

  3064. implementation_end;

  3065.       R5 239.8 168.2

  3066.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3067.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  3068.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  3069. </Description>';

  3070.        type 'R-3'

  3071.         ports

  3072.          power in p [3,1];

  3073.        end;

  3074.        icon bg top

  3075.         figures

  3076.          text 'R' 239.8 168.2 color 0 18 bold;

  3077.        end;

  3078.        implementation eq

  3079. parameters

  3080. 	real r[3,3] = [1.0, 0.0, 0.0; 0.0, 1.0, 0.0; 0.0, 0.0, 1.0]  {kN.s/m};

  3081. equations					

  3082. 	p.e = r * p.f;

  3083. implementation_end;

  3084.      end;

  3085.      connections

  3086.       C1\p <= OneJunction7\p;

  3087.       OneJunction5\p => C4\p;

  3088.       OneJunction5\p => PowerMux\input_rot2;

  3089.       OneJunction5\p => R4\p;

  3090.       OneJunction7\p => PowerMux\input_pos3;

  3091.       OneJunction7\p => R5\p;

  3092.       OneJunction8\p => PowerMux\input;

  3093.       PowerMux\output => output;

  3094.       R\p <= OneJunction8\p;

  3095.      end;

  3096.     implementation_end;

  3097.    Joint_dynB 336 216

  3098.     description '<Description>

  3099. 	<Version>4.8</Version>

  3100. 	<IsMainModel>1</IsMainModel>

  3101. 	</Description>';

  3102.     type Submodel

  3103.      ports

  3104.       power out output [6,1];

  3105.     end;

  3106.     implementation bg

  3107.      submodels

  3108.       C1 191.8 216.2

  3109.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3110.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  3111.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  3112. </Description>';

  3113.        type 'C-3'

  3114.         ports

  3115.          power in p [3,1];

  3116.          signal out state [3,1];

  3117.         restrictions

  3118.          causality preferred out p;

  3119.        end;

  3120.        icon bg top

  3121.         figures

  3122.          text 'C' 191.8 216.2 color 0 18 bold;

  3123.        end;

  3124.        implementation eq

  3125. parameters

  3126. 	real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m};

  3127. equations

  3128.     state = int(p.f);

  3129.     p.e = inverse(c) *state;

  3130. implementation_end;

  3131.       C4 191.8 232.2

  3132.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3133.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  3134.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  3135. </Description>';

  3136.        type 'C-2'

  3137.         ports

  3138.          power in p [2,1];

  3139.          signal out state [2,1];

  3140.         restrictions

  3141.          causality preferred out p;

  3142.        end;

  3143.        icon bg bottom

  3144.         figures

  3145.          text 'C' 191.8 232.2 color 0 18 bold;

  3146.        end;

  3147.        implementation eq

  3148. parameters

  3149. 	real c[2,2] = [0.1, 0.0; 0.0, 0.1]  {mN.m/rad};

  3150. equations

  3151.     state = int(p.f);

  3152.     p.e = inverse(c) *state;

  3153. implementation_end;

  3154.       plug output 396 216;

  3155.       OneJunction5 239.8 232.2

  3156.        description '<Information>

  3157.  <Description>

  3158.     <Version>4.2</Version>

  3159. <IsMainModel>1</IsMainModel>

  3160.   <KeepParameterValues>False</KeepParameterValues>

  3161.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3162.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3163. </Description>

  3164. </Information>';

  3165.        knot OneJunction

  3166.         ports

  3167.          power knot duplicatable none p [2,1];

  3168.          signal knot out flow [2,1];

  3169.         restrictions

  3170.          causality constraint one_out p;

  3171.        end;

  3172.        icon bg

  3173.         figures

  3174.          text '1' 239.8 232.2 color 0 18 bold;

  3175.        end;

  3176.        implementation eq

  3177. equations

  3178. 	sum (direct (p.e)) = 0;

  3179. 	equal (collect (p.f));

  3180. 	flow = first (p.f);

  3181. implementation_end;

  3182.       OneJunction7 239.8 216.2

  3183.        description '<Information>

  3184.  <Description>

  3185.     <Version>4.2</Version>

  3186. <IsMainModel>1</IsMainModel>

  3187.   <KeepParameterValues>False</KeepParameterValues>

  3188.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3189.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3190. </Description>

  3191. </Information>';

  3192.        knot OneJunction

  3193.         ports

  3194.          power knot duplicatable none p [3,1];

  3195.          signal knot out flow [3,1];

  3196.         restrictions

  3197.          causality constraint one_out p;

  3198.        end;

  3199.        icon bg

  3200.         figures

  3201.          text '1' 239.8 216.2 color 0 18 bold;

  3202.        end;

  3203.        implementation eq

  3204. equations

  3205. 	sum (direct (p.e)) = 0;

  3206. 	equal (collect (p.f));

  3207. 	flow = first (p.f);

  3208. implementation_end;

  3209.       OneJunction8 288 200

  3210.        description '<Information>

  3211.  <Description>

  3212.     <Version>4.2</Version>

  3213. <IsMainModel>1</IsMainModel>

  3214.   <KeepParameterValues>False</KeepParameterValues>

  3215.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3216.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3217. </Description>

  3218. </Information>';

  3219.        knot OneJunction

  3220.         ports

  3221.          power knot duplicatable none p [1];

  3222.          signal knot out flow [1];

  3223.         restrictions

  3224.          causality constraint one_out p;

  3225.        end;

  3226.        icon bg

  3227.         figures

  3228.          text '1' 288 200 color 0 18 bold;

  3229.        end;

  3230.        implementation eq

  3231. equations

  3232. 	sum (direct (p.e)) = 0;

  3233. 	equal (collect (p.f));

  3234. 	flow = first (p.f);

  3235. implementation_end;

  3236.       PowerMux 330 216

  3237. 						specifications active 'rot_x'

  3238. 							specification 'rot_x'

  3239.  description '<Information>

  3240.  <Description>

  3241.     <Version>4.8</Version>

  3242.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  3243.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  3244. <IsMainModel>1</IsMainModel>

  3245.   <KeepParameterValues>False</KeepParameterValues>

  3246.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  3247.  </Description>

  3248. </Information>';

  3249.  type 'PowerMux-Rotation'

  3250.   ports

  3251.    power in input;

  3252.    power out output [6,1];

  3253.    power in input_rot2 [2,1];

  3254.    power in input_pos3 [3,1];

  3255.   restrictions

  3256.    causality constraint not_equal input output;

  3257.    causality constraint not_equal input_rot2 output;

  3258.    causality constraint not_equal input_pos3 output;

  3259.  end;

  3260.  icon bg bottom

  3261.   figures

  3262.    line 328 192 328 240 color 0 width 2;

  3263.    rectangle 324 192 336 240 color -1;

  3264.    text '1' 333 210 color 8421504 8;

  3265.   terminals

  3266.    input 328 200 fixed;

  3267.    output 328 216 fixed;

  3268.    input_rot2 328 232 fixed;

  3269.    input_pos3 328 216 fixed;

  3270.  end;

  3271.  implementation eq

  3272. equations

  3273. 	output.e[1] = input.e;

  3274. 	output.e[2:3] = input_rot2.e;

  3275. 	output.e[4:6] = input_pos3.e;

  3276. 	output.f[1] = input.f;

  3277. 	output.f[2:3] = input_rot2.f;

  3278. 	output.f[4:6] = input_pos3.f;implementation_end;

  3279. specification_end;

  3280. 							specification 'rot_y'

  3281. description '<Description>

  3282.    <Version>4.1</Version>

  3283.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  3284.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  3285. <IsMainModel>1</IsMainModel>

  3286.  <KeepParameterValues>False</KeepParameterValues>

  3287.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  3288. </Description>';

  3289.  type PowerMux

  3290.   ports

  3291.    power in input;

  3292.    power out output [6,1];

  3293.    power in input_rot2 [2,1];

  3294.    power in input_pos3 [3,1];

  3295.   restrictions

  3296.    causality constraint not_equal input output;

  3297.    causality constraint not_equal input_rot2 output;

  3298.    causality constraint not_equal input_pos3 output;

  3299.  end;

  3300.  icon bg bottom

  3301.   figures

  3302.    line 242 274 290 274 color 0 width 2;

  3303.    rectangle 242 266 290 278 color -1;

  3304.    text '1' 260 269 color 8421504 8;

  3305.   terminals

  3306.    input 250 274 fixed;

  3307.    output 266 274 fixed;

  3308.    input_rot2 282 274 fixed;

  3309.    input_pos3 266 274 fixed;

  3310.  end;

  3311.  implementation eq

  3312. equations

  3313. 	output.e[1] = input_rot2.e[1];

  3314. 	output.e[2] = input.e;

  3315. 	output.e[3] = input_rot2.e[2];

  3316. 	output.e[4:6] = input_pos3.e;

  3317. 	output.f[1] = input_rot2.f[1];

  3318. 	output.f[2] = input.f;

  3319. 	output.f[3] = input_rot2.f[2];

  3320. 	output.f[4:6] = input_pos3.f;implementation_end;

  3321. specification_end;

  3322. 							specification 'rot_z'

  3323. description '<Information>

  3324.  <Description>

  3325.     <Version>4.8</Version>

  3326.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  3327.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  3328. <IsMainModel>1</IsMainModel>

  3329.   <KeepParameterValues>False</KeepParameterValues>

  3330.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  3331.  </Description>

  3332. </Information>';

  3333.  type PowerMux

  3334.   ports

  3335.    power in input;

  3336.    power out output [6,1];

  3337.    power in input_rot2 [2,1];

  3338.    power in input_pos3 [3,1];

  3339.   restrictions

  3340.    causality constraint not_equal input output;

  3341.    causality constraint not_equal input_rot2 output;

  3342.    causality constraint not_equal input_pos3 output;

  3343.  end;

  3344.  icon bg bottom

  3345.   figures

  3346.    line 242 274 290 274 color 0 width 2;

  3347.    rectangle 242 266 290 278 color -1;

  3348.    text '1' 260 269 color 8421504 8;

  3349.   terminals

  3350.    input 250 274 fixed;

  3351.    output 266 274 fixed;

  3352.    input_rot2 282 274 fixed;

  3353.    input_pos3 266 274 fixed;

  3354.  end;

  3355.  implementation eq

  3356. equations

  3357. 	output.e[3] = input.e;

  3358. 	output.e[1:2] = input_rot2.e;

  3359. 	output.e[4:6] = input_pos3.e;

  3360. 	output.f[3] = input.f;

  3361. 	output.f[1:2] = input_rot2.f;

  3362. 	output.f[4:6] = input_pos3.f;implementation_end;

  3363. specification_end;

  3364. 						end;

  3365.       R 288 152

  3366.        description '<Information>

  3367.  <Description>

  3368.     <Version>4.2</Version>

  3369. <IsMainModel>1</IsMainModel>

  3370.   <KeepParameterValues>False</KeepParameterValues>

  3371.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  3372.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  3373. </Description>

  3374. </Information>';

  3375.        type R

  3376.         ports

  3377.          power in p;

  3378.        end;

  3379.        icon bg top

  3380.         figures

  3381.          text 'R' 288 152 color 0 18 bold;

  3382.        end;

  3383.        implementation eq

  3384. parameters

  3385. 	real r = 0.01;

  3386. equations

  3387. 	p.e = r * p.f;

  3388. implementation_end;

  3389.       R4 239.8 288.2

  3390.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3391.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  3392.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  3393. </Description>';

  3394.        type 'R-2'

  3395.         ports

  3396.          power in p [2,1];

  3397.        end;

  3398.        icon bg bottom

  3399.         figures

  3400.          text 'R' 239.8 288.2 color 0 18 bold;

  3401.        end;

  3402.        implementation eq

  3403. parameters

  3404. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  3405. equations					

  3406. 	p.e = r * p.f;

  3407. implementation_end;

  3408.       R5 239.8 168.2

  3409.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3410.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  3411.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  3412. </Description>';

  3413.        type 'R-3'

  3414.         ports

  3415.          power in p [3,1];

  3416.        end;

  3417.        icon bg top

  3418.         figures

  3419.          text 'R' 239.8 168.2 color 0 18 bold;

  3420.        end;

  3421.        implementation eq

  3422. parameters

  3423. 	real r[3,3] = [1.0, 0.0, 0.0; 0.0, 1.0, 0.0; 0.0, 0.0, 1.0]  {kN.s/m};

  3424. equations					

  3425. 	p.e = r * p.f;

  3426. implementation_end;

  3427.      end;

  3428.      connections

  3429.       C1\p <= OneJunction7\p;

  3430.       OneJunction5\p => C4\p;

  3431.       OneJunction5\p => PowerMux\input_rot2;

  3432.       OneJunction5\p => R4\p;

  3433.       OneJunction7\p => PowerMux\input_pos3;

  3434.       OneJunction7\p => R5\p;

  3435.       OneJunction8\p => PowerMux\input;

  3436.       PowerMux\output => output;

  3437.       R\p <= OneJunction8\p;

  3438.      end;

  3439.     implementation_end;

  3440.    Joint_dynC 928 696

  3441.     description '<Description>

  3442. 	<Version>4.8</Version>

  3443. 	<IsMainModel>1</IsMainModel>

  3444. 	</Description>';

  3445.     type Submodel

  3446.      ports

  3447.       power out output [6,1];

  3448.     end;

  3449.     implementation bg

  3450.      submodels

  3451.       C1 191.8 216.2

  3452.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3453.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  3454.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  3455. </Description>';

  3456.        type 'C-3'

  3457.         ports

  3458.          power in p [3,1];

  3459.          signal out state [3,1];

  3460.         restrictions

  3461.          causality preferred out p;

  3462.        end;

  3463.        icon bg top

  3464.         figures

  3465.          text 'C' 191.8 216.2 color 0 18 bold;

  3466.        end;

  3467.        implementation eq

  3468. parameters

  3469. 	real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m};

  3470. equations

  3471.     state = int(p.f);

  3472.     p.e = inverse(c) *state;

  3473. implementation_end;

  3474.       C4 191.8 232.2

  3475.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3476.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  3477.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  3478. </Description>';

  3479.        type 'C-2'

  3480.         ports

  3481.          power in p [2,1];

  3482.          signal out state [2,1];

  3483.         restrictions

  3484.          causality preferred out p;

  3485.        end;

  3486.        icon bg bottom

  3487.         figures

  3488.          text 'C' 191.8 232.2 color 0 18 bold;

  3489.        end;

  3490.        implementation eq

  3491. parameters

  3492. 	real c[2,2] = [0.1, 0.0; 0.0, 0.1]  {mN.m/rad};

  3493. equations

  3494.     state = int(p.f);

  3495.     p.e = inverse(c) *state;

  3496. implementation_end;

  3497.       plug output 396 216;

  3498.       OneJunction5 239.8 232.2

  3499.        description '<Information>

  3500.  <Description>

  3501.     <Version>4.2</Version>

  3502. <IsMainModel>1</IsMainModel>

  3503.   <KeepParameterValues>False</KeepParameterValues>

  3504.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3505.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3506. </Description>

  3507. </Information>';

  3508.        knot OneJunction

  3509.         ports

  3510.          power knot duplicatable none p [2,1];

  3511.          signal knot out flow [2,1];

  3512.         restrictions

  3513.          causality constraint one_out p;

  3514.        end;

  3515.        icon bg

  3516.         figures

  3517.          text '1' 239.8 232.2 color 0 18 bold;

  3518.        end;

  3519.        implementation eq

  3520. equations

  3521. 	sum (direct (p.e)) = 0;

  3522. 	equal (collect (p.f));

  3523. 	flow = first (p.f);

  3524. implementation_end;

  3525.       OneJunction7 239.8 216.2

  3526.        description '<Information>

  3527.  <Description>

  3528.     <Version>4.2</Version>

  3529. <IsMainModel>1</IsMainModel>

  3530.   <KeepParameterValues>False</KeepParameterValues>

  3531.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3532.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3533. </Description>

  3534. </Information>';

  3535.        knot OneJunction

  3536.         ports

  3537.          power knot duplicatable none p [3,1];

  3538.          signal knot out flow [3,1];

  3539.         restrictions

  3540.          causality constraint one_out p;

  3541.        end;

  3542.        icon bg

  3543.         figures

  3544.          text '1' 239.8 216.2 color 0 18 bold;

  3545.        end;

  3546.        implementation eq

  3547. equations

  3548. 	sum (direct (p.e)) = 0;

  3549. 	equal (collect (p.f));

  3550. 	flow = first (p.f);

  3551. implementation_end;

  3552.       OneJunction8 288 200

  3553.        description '<Information>

  3554.  <Description>

  3555.     <Version>4.2</Version>

  3556. <IsMainModel>1</IsMainModel>

  3557.   <KeepParameterValues>False</KeepParameterValues>

  3558.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3559.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3560. </Description>

  3561. </Information>';

  3562.        knot OneJunction

  3563.         ports

  3564.          power knot duplicatable none p [1];

  3565.          signal knot out flow [1];

  3566.         restrictions

  3567.          causality constraint one_out p;

  3568.        end;

  3569.        icon bg

  3570.         figures

  3571.          text '1' 288 200 color 0 18 bold;

  3572.        end;

  3573.        implementation eq

  3574. equations

  3575. 	sum (direct (p.e)) = 0;

  3576. 	equal (collect (p.f));

  3577. 	flow = first (p.f);

  3578. implementation_end;

  3579.       PowerMux 330 216

  3580. 						specifications active 'rot_x'

  3581. 							specification 'rot_x'

  3582.  description '<Information>

  3583.  <Description>

  3584.     <Version>4.8</Version>

  3585.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  3586.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  3587. <IsMainModel>1</IsMainModel>

  3588.   <KeepParameterValues>False</KeepParameterValues>

  3589.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  3590.  </Description>

  3591. </Information>';

  3592.  type 'PowerMux-Rotation'

  3593.   ports

  3594.    power in input;

  3595.    power out output [6,1];

  3596.    power in input_rot2 [2,1];

  3597.    power in input_pos3 [3,1];

  3598.   restrictions

  3599.    causality constraint not_equal input output;

  3600.    causality constraint not_equal input_rot2 output;

  3601.    causality constraint not_equal input_pos3 output;

  3602.  end;

  3603.  icon bg bottom

  3604.   figures

  3605.    line 328 192 328 240 color 0 width 2;

  3606.    rectangle 324 192 336 240 color -1;

  3607.    text '1' 333 210 color 8421504 8;

  3608.   terminals

  3609.    input 328 200 fixed;

  3610.    output 328 216 fixed;

  3611.    input_rot2 328 232 fixed;

  3612.    input_pos3 328 216 fixed;

  3613.  end;

  3614.  implementation eq

  3615. equations

  3616. 	output.e[1] = input.e;

  3617. 	output.e[2:3] = input_rot2.e;

  3618. 	output.e[4:6] = input_pos3.e;

  3619. 	output.f[1] = input.f;

  3620. 	output.f[2:3] = input_rot2.f;

  3621. 	output.f[4:6] = input_pos3.f;implementation_end;

  3622. specification_end;

  3623. 							specification 'rot_y'

  3624. description '<Description>

  3625.    <Version>4.1</Version>

  3626.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  3627.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  3628. <IsMainModel>1</IsMainModel>

  3629.  <KeepParameterValues>False</KeepParameterValues>

  3630.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  3631. </Description>';

  3632.  type PowerMux

  3633.   ports

  3634.    power in input;

  3635.    power out output [6,1];

  3636.    power in input_rot2 [2,1];

  3637.    power in input_pos3 [3,1];

  3638.   restrictions

  3639.    causality constraint not_equal input output;

  3640.    causality constraint not_equal input_rot2 output;

  3641.    causality constraint not_equal input_pos3 output;

  3642.  end;

  3643.  icon bg bottom

  3644.   figures

  3645.    line 242 274 290 274 color 0 width 2;

  3646.    rectangle 242 266 290 278 color -1;

  3647.    text '1' 260 269 color 8421504 8;

  3648.   terminals

  3649.    input 250 274 fixed;

  3650.    output 266 274 fixed;

  3651.    input_rot2 282 274 fixed;

  3652.    input_pos3 266 274 fixed;

  3653.  end;

  3654.  implementation eq

  3655. equations

  3656. 	output.e[1] = input_rot2.e[1];

  3657. 	output.e[2] = input.e;

  3658. 	output.e[3] = input_rot2.e[2];

  3659. 	output.e[4:6] = input_pos3.e;

  3660. 	output.f[1] = input_rot2.f[1];

  3661. 	output.f[2] = input.f;

  3662. 	output.f[3] = input_rot2.f[2];

  3663. 	output.f[4:6] = input_pos3.f;implementation_end;

  3664. specification_end;

  3665. 							specification 'rot_z'

  3666. description '<Information>

  3667.  <Description>

  3668.     <Version>4.8</Version>

  3669.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  3670.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  3671. <IsMainModel>1</IsMainModel>

  3672.   <KeepParameterValues>False</KeepParameterValues>

  3673.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  3674.  </Description>

  3675. </Information>';

  3676.  type PowerMux

  3677.   ports

  3678.    power in input;

  3679.    power out output [6,1];

  3680.    power in input_rot2 [2,1];

  3681.    power in input_pos3 [3,1];

  3682.   restrictions

  3683.    causality constraint not_equal input output;

  3684.    causality constraint not_equal input_rot2 output;

  3685.    causality constraint not_equal input_pos3 output;

  3686.  end;

  3687.  icon bg bottom

  3688.   figures

  3689.    line 242 274 290 274 color 0 width 2;

  3690.    rectangle 242 266 290 278 color -1;

  3691.    text '1' 260 269 color 8421504 8;

  3692.   terminals

  3693.    input 250 274 fixed;

  3694.    output 266 274 fixed;

  3695.    input_rot2 282 274 fixed;

  3696.    input_pos3 266 274 fixed;

  3697.  end;

  3698.  implementation eq

  3699. equations

  3700. 	output.e[3] = input.e;

  3701. 	output.e[1:2] = input_rot2.e;

  3702. 	output.e[4:6] = input_pos3.e;

  3703. 	output.f[3] = input.f;

  3704. 	output.f[1:2] = input_rot2.f;

  3705. 	output.f[4:6] = input_pos3.f;implementation_end;

  3706. specification_end;

  3707. 						end;

  3708.       R 288 152

  3709.        description '<Information>

  3710.  <Description>

  3711.     <Version>4.2</Version>

  3712. <IsMainModel>1</IsMainModel>

  3713.   <KeepParameterValues>False</KeepParameterValues>

  3714.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  3715.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  3716. </Description>

  3717. </Information>';

  3718.        type R

  3719.         ports

  3720.          power in p;

  3721.        end;

  3722.        icon bg top

  3723.         figures

  3724.          text 'R' 288 152 color 0 18 bold;

  3725.        end;

  3726.        implementation eq

  3727. parameters

  3728. 	real r = 0.01;

  3729. equations

  3730. 	p.e = r * p.f;

  3731. implementation_end;

  3732.       R4 239.8 288.2

  3733.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3734.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  3735.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  3736. </Description>';

  3737.        type 'R-2'

  3738.         ports

  3739.          power in p [2,1];

  3740.        end;

  3741.        icon bg bottom

  3742.         figures

  3743.          text 'R' 239.8 288.2 color 0 18 bold;

  3744.        end;

  3745.        implementation eq

  3746. parameters

  3747. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  3748. equations					

  3749. 	p.e = r * p.f;

  3750. implementation_end;

  3751.       R5 239.8 168.2

  3752.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3753.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  3754.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  3755. </Description>';

  3756.        type 'R-3'

  3757.         ports

  3758.          power in p [3,1];

  3759.        end;

  3760.        icon bg top

  3761.         figures

  3762.          text 'R' 239.8 168.2 color 0 18 bold;

  3763.        end;

  3764.        implementation eq

  3765. parameters

  3766. 	real r[3,3] = [1.0, 0.0, 0.0; 0.0, 1.0, 0.0; 0.0, 0.0, 1.0]  {kN.s/m};

  3767. equations					

  3768. 	p.e = r * p.f;

  3769. implementation_end;

  3770.      end;

  3771.      connections

  3772.       C1\p <= OneJunction7\p;

  3773.       OneJunction5\p => C4\p;

  3774.       OneJunction5\p => PowerMux\input_rot2;

  3775.       OneJunction5\p => R4\p;

  3776.       OneJunction7\p => PowerMux\input_pos3;

  3777.       OneJunction7\p => R5\p;

  3778.       OneJunction8\p => PowerMux\input;

  3779.       PowerMux\output => output;

  3780.       R\p <= OneJunction8\p;

  3781.      end;

  3782.     implementation_end;

  3783.    Joint_dynD 536 536

  3784.     description '<Description>

  3785. 	<Version>4.8</Version>

  3786. 	<IsMainModel>1</IsMainModel>

  3787. 	</Description>';

  3788.     type Submodel

  3789.      ports

  3790.       power out output [6,1];

  3791.     end;

  3792.     implementation bg

  3793.      submodels

  3794.       C1 191.8 216.2

  3795.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3796.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  3797.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  3798. </Description>';

  3799.        type 'C-3'

  3800.         ports

  3801.          power in p [3,1];

  3802.          signal out state [3,1];

  3803.         restrictions

  3804.          causality preferred out p;

  3805.        end;

  3806.        icon bg top

  3807.         figures

  3808.          text 'C' 191.8 216.2 color 0 18 bold;

  3809.        end;

  3810.        implementation eq

  3811. parameters

  3812. 	real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m};

  3813. equations

  3814.     state = int(p.f);

  3815.     p.e = inverse(c) *state;

  3816. implementation_end;

  3817.       C4 191.8 232.2

  3818.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  3819.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  3820.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  3821. </Description>';

  3822.        type 'C-2'

  3823.         ports

  3824.          power in p [2,1];

  3825.          signal out state [2,1];

  3826.         restrictions

  3827.          causality preferred out p;

  3828.        end;

  3829.        icon bg bottom

  3830.         figures

  3831.          text 'C' 191.8 232.2 color 0 18 bold;

  3832.        end;

  3833.        implementation eq

  3834. parameters

  3835. 	real c[2,2] = [0.1, 0.0; 0.0, 0.1]  {mN.m/rad};

  3836. equations

  3837.     state = int(p.f);

  3838.     p.e = inverse(c) *state;

  3839. implementation_end;

  3840.       plug output 396 216;

  3841.       OneJunction5 239.8 232.2

  3842.        description '<Information>

  3843.  <Description>

  3844.     <Version>4.2</Version>

  3845. <IsMainModel>1</IsMainModel>

  3846.   <KeepParameterValues>False</KeepParameterValues>

  3847.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3848.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3849. </Description>

  3850. </Information>';

  3851.        knot OneJunction

  3852.         ports

  3853.          power knot duplicatable none p [2,1];

  3854.          signal knot out flow [2,1];

  3855.         restrictions

  3856.          causality constraint one_out p;

  3857.        end;

  3858.        icon bg

  3859.         figures

  3860.          text '1' 239.8 232.2 color 0 18 bold;

  3861.        end;

  3862.        implementation eq

  3863. equations

  3864. 	sum (direct (p.e)) = 0;

  3865. 	equal (collect (p.f));

  3866. 	flow = first (p.f);

  3867. implementation_end;

  3868.       OneJunction7 239.8 216.2

  3869.        description '<Information>

  3870.  <Description>

  3871.     <Version>4.2</Version>

  3872. <IsMainModel>1</IsMainModel>

  3873.   <KeepParameterValues>False</KeepParameterValues>

  3874.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3875.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3876. </Description>

  3877. </Information>';

  3878.        knot OneJunction

  3879.         ports

  3880.          power knot duplicatable none p [3,1];

  3881.          signal knot out flow [3,1];

  3882.         restrictions

  3883.          causality constraint one_out p;

  3884.        end;

  3885.        icon bg

  3886.         figures

  3887.          text '1' 239.8 216.2 color 0 18 bold;

  3888.        end;

  3889.        implementation eq

  3890. equations

  3891. 	sum (direct (p.e)) = 0;

  3892. 	equal (collect (p.f));

  3893. 	flow = first (p.f);

  3894. implementation_end;

  3895.       OneJunction8 288 200

  3896.        description '<Information>

  3897.  <Description>

  3898.     <Version>4.2</Version>

  3899. <IsMainModel>1</IsMainModel>

  3900.   <KeepParameterValues>False</KeepParameterValues>

  3901.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  3902.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  3903. </Description>

  3904. </Information>';

  3905.        knot OneJunction

  3906.         ports

  3907.          power knot duplicatable none p [1];

  3908.          signal knot out flow [1];

  3909.         restrictions

  3910.          causality constraint one_out p;

  3911.        end;

  3912.        icon bg

  3913.         figures

  3914.          text '1' 288 200 color 0 18 bold;

  3915.        end;

  3916.        implementation eq

  3917. equations

  3918. 	sum (direct (p.e)) = 0;

  3919. 	equal (collect (p.f));

  3920. 	flow = first (p.f);

  3921. implementation_end;

  3922.       PowerMux 330 216

  3923. 						specifications active 'rot_x'

  3924. 							specification 'rot_x'

  3925.  description '<Information>

  3926.  <Description>

  3927.     <Version>4.8</Version>

  3928.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  3929.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  3930. <IsMainModel>1</IsMainModel>

  3931.   <KeepParameterValues>False</KeepParameterValues>

  3932.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  3933.  </Description>

  3934. </Information>';

  3935.  type 'PowerMux-Rotation'

  3936.   ports

  3937.    power in input;

  3938.    power out output [6,1];

  3939.    power in input_rot2 [2,1];

  3940.    power in input_pos3 [3,1];

  3941.   restrictions

  3942.    causality constraint not_equal input output;

  3943.    causality constraint not_equal input_rot2 output;

  3944.    causality constraint not_equal input_pos3 output;

  3945.  end;

  3946.  icon bg bottom

  3947.   figures

  3948.    line 328 192 328 240 color 0 width 2;

  3949.    rectangle 324 192 336 240 color -1;

  3950.    text '1' 333 210 color 8421504 8;

  3951.   terminals

  3952.    input 328 200 fixed;

  3953.    output 328 216 fixed;

  3954.    input_rot2 328 232 fixed;

  3955.    input_pos3 328 216 fixed;

  3956.  end;

  3957.  implementation eq

  3958. equations

  3959. 	output.e[1] = input.e;

  3960. 	output.e[2:3] = input_rot2.e;

  3961. 	output.e[4:6] = input_pos3.e;

  3962. 	output.f[1] = input.f;

  3963. 	output.f[2:3] = input_rot2.f;

  3964. 	output.f[4:6] = input_pos3.f;implementation_end;

  3965. specification_end;

  3966. 							specification 'rot_y'

  3967. description '<Description>

  3968.    <Version>4.1</Version>

  3969.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  3970.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  3971. <IsMainModel>1</IsMainModel>

  3972.  <KeepParameterValues>False</KeepParameterValues>

  3973.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  3974. </Description>';

  3975.  type PowerMux

  3976.   ports

  3977.    power in input;

  3978.    power out output [6,1];

  3979.    power in input_rot2 [2,1];

  3980.    power in input_pos3 [3,1];

  3981.   restrictions

  3982.    causality constraint not_equal input output;

  3983.    causality constraint not_equal input_rot2 output;

  3984.    causality constraint not_equal input_pos3 output;

  3985.  end;

  3986.  icon bg bottom

  3987.   figures

  3988.    line 242 274 290 274 color 0 width 2;

  3989.    rectangle 242 266 290 278 color -1;

  3990.    text '1' 260 269 color 8421504 8;

  3991.   terminals

  3992.    input 250 274 fixed;

  3993.    output 266 274 fixed;

  3994.    input_rot2 282 274 fixed;

  3995.    input_pos3 266 274 fixed;

  3996.  end;

  3997.  implementation eq

  3998. equations

  3999. 	output.e[1] = input_rot2.e[1];

  4000. 	output.e[2] = input.e;

  4001. 	output.e[3] = input_rot2.e[2];

  4002. 	output.e[4:6] = input_pos3.e;

  4003. 	output.f[1] = input_rot2.f[1];

  4004. 	output.f[2] = input.f;

  4005. 	output.f[3] = input_rot2.f[2];

  4006. 	output.f[4:6] = input_pos3.f;implementation_end;

  4007. specification_end;

  4008. 							specification 'rot_z'

  4009. description '<Information>

  4010.  <Description>

  4011.     <Version>4.8</Version>

  4012.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  4013.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  4014. <IsMainModel>1</IsMainModel>

  4015.   <KeepParameterValues>False</KeepParameterValues>

  4016.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  4017.  </Description>

  4018. </Information>';

  4019.  type PowerMux

  4020.   ports

  4021.    power in input;

  4022.    power out output [6,1];

  4023.    power in input_rot2 [2,1];

  4024.    power in input_pos3 [3,1];

  4025.   restrictions

  4026.    causality constraint not_equal input output;

  4027.    causality constraint not_equal input_rot2 output;

  4028.    causality constraint not_equal input_pos3 output;

  4029.  end;

  4030.  icon bg bottom

  4031.   figures

  4032.    line 242 274 290 274 color 0 width 2;

  4033.    rectangle 242 266 290 278 color -1;

  4034.    text '1' 260 269 color 8421504 8;

  4035.   terminals

  4036.    input 250 274 fixed;

  4037.    output 266 274 fixed;

  4038.    input_rot2 282 274 fixed;

  4039.    input_pos3 266 274 fixed;

  4040.  end;

  4041.  implementation eq

  4042. equations

  4043. 	output.e[3] = input.e;

  4044. 	output.e[1:2] = input_rot2.e;

  4045. 	output.e[4:6] = input_pos3.e;

  4046. 	output.f[3] = input.f;

  4047. 	output.f[1:2] = input_rot2.f;

  4048. 	output.f[4:6] = input_pos3.f;implementation_end;

  4049. specification_end;

  4050. 						end;

  4051.       R 288 152

  4052.        description '<Information>

  4053.  <Description>

  4054.     <Version>4.2</Version>

  4055. <IsMainModel>1</IsMainModel>

  4056.   <KeepParameterValues>False</KeepParameterValues>

  4057.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  4058.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  4059. </Description>

  4060. </Information>';

  4061.        type R

  4062.         ports

  4063.          power in p;

  4064.        end;

  4065.        icon bg top

  4066.         figures

  4067.          text 'R' 288 152 color 0 18 bold;

  4068.        end;

  4069.        implementation eq

  4070. parameters

  4071. 	real r = 0.01;

  4072. equations

  4073. 	p.e = r * p.f;

  4074. implementation_end;

  4075.       R4 239.8 288.2

  4076.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4077.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  4078.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  4079. </Description>';

  4080.        type 'R-2'

  4081.         ports

  4082.          power in p [2,1];

  4083.        end;

  4084.        icon bg bottom

  4085.         figures

  4086.          text 'R' 239.8 288.2 color 0 18 bold;

  4087.        end;

  4088.        implementation eq

  4089. parameters

  4090. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  4091. equations					

  4092. 	p.e = r * p.f;

  4093. implementation_end;

  4094.       R5 239.8 168.2

  4095.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4096.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  4097.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  4098. </Description>';

  4099.        type 'R-3'

  4100.         ports

  4101.          power in p [3,1];

  4102.        end;

  4103.        icon bg top

  4104.         figures

  4105.          text 'R' 239.8 168.2 color 0 18 bold;

  4106.        end;

  4107.        implementation eq

  4108. parameters

  4109. 	real r[3,3] = [1.0, 0.0, 0.0; 0.0, 1.0, 0.0; 0.0, 0.0, 1.0]  {kN.s/m};

  4110. equations					

  4111. 	p.e = r * p.f;

  4112. implementation_end;

  4113.      end;

  4114.      connections

  4115.       C1\p <= OneJunction7\p;

  4116.       OneJunction5\p => C4\p;

  4117.       OneJunction5\p => PowerMux\input_rot2;

  4118.       OneJunction5\p => R4\p;

  4119.       OneJunction7\p => PowerMux\input_pos3;

  4120.       OneJunction7\p => R5\p;

  4121.       OneJunction8\p => PowerMux\input;

  4122.       PowerMux\output => output;

  4123.       R\p <= OneJunction8\p;

  4124.      end;

  4125.     implementation_end;

  4126.    Joint_dynE 536 216

  4127.     description '<Description>

  4128. 	<Version>4.8</Version>

  4129. 	<IsMainModel>1</IsMainModel>

  4130. 	</Description>';

  4131.     type Submodel

  4132.      ports

  4133.       power out output [6,1];

  4134.     end;

  4135.     implementation bg

  4136.      submodels

  4137.       C1 191.8 216.2

  4138.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4139.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  4140.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  4141. </Description>';

  4142.        type 'C-3'

  4143.         ports

  4144.          power in p [3,1];

  4145.          signal out state [3,1];

  4146.         restrictions

  4147.          causality preferred out p;

  4148.        end;

  4149.        icon bg top

  4150.         figures

  4151.          text 'C' 191.8 216.2 color 0 18 bold;

  4152.        end;

  4153.        implementation eq

  4154. parameters

  4155. 	real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m};

  4156. equations

  4157.     state = int(p.f);

  4158.     p.e = inverse(c) *state;

  4159. implementation_end;

  4160.       C4 191.8 232.2

  4161.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4162.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  4163.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  4164. </Description>';

  4165.        type 'C-2'

  4166.         ports

  4167.          power in p [2,1];

  4168.          signal out state [2,1];

  4169.         restrictions

  4170.          causality preferred out p;

  4171.        end;

  4172.        icon bg bottom

  4173.         figures

  4174.          text 'C' 191.8 232.2 color 0 18 bold;

  4175.        end;

  4176.        implementation eq

  4177. parameters

  4178. 	real c[2,2] = [0.1, 0.0; 0.0, 0.1]  {mN.m/rad};

  4179. equations

  4180.     state = int(p.f);

  4181.     p.e = inverse(c) *state;

  4182. implementation_end;

  4183.       plug output 396 216;

  4184.       OneJunction5 239.8 232.2

  4185.        description '<Information>

  4186.  <Description>

  4187.     <Version>4.2</Version>

  4188. <IsMainModel>1</IsMainModel>

  4189.   <KeepParameterValues>False</KeepParameterValues>

  4190.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4191.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4192. </Description>

  4193. </Information>';

  4194.        knot OneJunction

  4195.         ports

  4196.          power knot duplicatable none p [2,1];

  4197.          signal knot out flow [2,1];

  4198.         restrictions

  4199.          causality constraint one_out p;

  4200.        end;

  4201.        icon bg

  4202.         figures

  4203.          text '1' 239.8 232.2 color 0 18 bold;

  4204.        end;

  4205.        implementation eq

  4206. equations

  4207. 	sum (direct (p.e)) = 0;

  4208. 	equal (collect (p.f));

  4209. 	flow = first (p.f);

  4210. implementation_end;

  4211.       OneJunction7 239.8 216.2

  4212.        description '<Information>

  4213.  <Description>

  4214.     <Version>4.2</Version>

  4215. <IsMainModel>1</IsMainModel>

  4216.   <KeepParameterValues>False</KeepParameterValues>

  4217.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4218.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4219. </Description>

  4220. </Information>';

  4221.        knot OneJunction

  4222.         ports

  4223.          power knot duplicatable none p [3,1];

  4224.          signal knot out flow [3,1];

  4225.         restrictions

  4226.          causality constraint one_out p;

  4227.        end;

  4228.        icon bg

  4229.         figures

  4230.          text '1' 239.8 216.2 color 0 18 bold;

  4231.        end;

  4232.        implementation eq

  4233. equations

  4234. 	sum (direct (p.e)) = 0;

  4235. 	equal (collect (p.f));

  4236. 	flow = first (p.f);

  4237. implementation_end;

  4238.       OneJunction8 288 200

  4239.        description '<Information>

  4240.  <Description>

  4241.     <Version>4.2</Version>

  4242. <IsMainModel>1</IsMainModel>

  4243.   <KeepParameterValues>False</KeepParameterValues>

  4244.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4245.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4246. </Description>

  4247. </Information>';

  4248.        knot OneJunction

  4249.         ports

  4250.          power knot duplicatable none p [1];

  4251.          signal knot out flow [1];

  4252.         restrictions

  4253.          causality constraint one_out p;

  4254.        end;

  4255.        icon bg

  4256.         figures

  4257.          text '1' 288 200 color 0 18 bold;

  4258.        end;

  4259.        implementation eq

  4260. equations

  4261. 	sum (direct (p.e)) = 0;

  4262. 	equal (collect (p.f));

  4263. 	flow = first (p.f);

  4264. implementation_end;

  4265.       PowerMux 330 216

  4266. 						specifications active 'rot_x'

  4267. 							specification 'rot_x'

  4268.  description '<Information>

  4269.  <Description>

  4270.     <Version>4.8</Version>

  4271.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  4272.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  4273. <IsMainModel>1</IsMainModel>

  4274.   <KeepParameterValues>False</KeepParameterValues>

  4275.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  4276.  </Description>

  4277. </Information>';

  4278.  type 'PowerMux-Rotation'

  4279.   ports

  4280.    power in input;

  4281.    power out output [6,1];

  4282.    power in input_rot2 [2,1];

  4283.    power in input_pos3 [3,1];

  4284.   restrictions

  4285.    causality constraint not_equal input output;

  4286.    causality constraint not_equal input_rot2 output;

  4287.    causality constraint not_equal input_pos3 output;

  4288.  end;

  4289.  icon bg bottom

  4290.   figures

  4291.    line 328 192 328 240 color 0 width 2;

  4292.    rectangle 324 192 336 240 color -1;

  4293.    text '1' 333 210 color 8421504 8;

  4294.   terminals

  4295.    input 328 200 fixed;

  4296.    output 328 216 fixed;

  4297.    input_rot2 328 232 fixed;

  4298.    input_pos3 328 216 fixed;

  4299.  end;

  4300.  implementation eq

  4301. equations

  4302. 	output.e[1] = input.e;

  4303. 	output.e[2:3] = input_rot2.e;

  4304. 	output.e[4:6] = input_pos3.e;

  4305. 	output.f[1] = input.f;

  4306. 	output.f[2:3] = input_rot2.f;

  4307. 	output.f[4:6] = input_pos3.f;implementation_end;

  4308. specification_end;

  4309. 							specification 'rot_y'

  4310. description '<Description>

  4311.    <Version>4.1</Version>

  4312.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  4313.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  4314. <IsMainModel>1</IsMainModel>

  4315.  <KeepParameterValues>False</KeepParameterValues>

  4316.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  4317. </Description>';

  4318.  type PowerMux

  4319.   ports

  4320.    power in input;

  4321.    power out output [6,1];

  4322.    power in input_rot2 [2,1];

  4323.    power in input_pos3 [3,1];

  4324.   restrictions

  4325.    causality constraint not_equal input output;

  4326.    causality constraint not_equal input_rot2 output;

  4327.    causality constraint not_equal input_pos3 output;

  4328.  end;

  4329.  icon bg bottom

  4330.   figures

  4331.    line 242 274 290 274 color 0 width 2;

  4332.    rectangle 242 266 290 278 color -1;

  4333.    text '1' 260 269 color 8421504 8;

  4334.   terminals

  4335.    input 250 274 fixed;

  4336.    output 266 274 fixed;

  4337.    input_rot2 282 274 fixed;

  4338.    input_pos3 266 274 fixed;

  4339.  end;

  4340.  implementation eq

  4341. equations

  4342. 	output.e[1] = input_rot2.e[1];

  4343. 	output.e[2] = input.e;

  4344. 	output.e[3] = input_rot2.e[2];

  4345. 	output.e[4:6] = input_pos3.e;

  4346. 	output.f[1] = input_rot2.f[1];

  4347. 	output.f[2] = input.f;

  4348. 	output.f[3] = input_rot2.f[2];

  4349. 	output.f[4:6] = input_pos3.f;implementation_end;

  4350. specification_end;

  4351. 							specification 'rot_z'

  4352. description '<Information>

  4353.  <Description>

  4354.     <Version>4.8</Version>

  4355.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  4356.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  4357. <IsMainModel>1</IsMainModel>

  4358.   <KeepParameterValues>False</KeepParameterValues>

  4359.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  4360.  </Description>

  4361. </Information>';

  4362.  type PowerMux

  4363.   ports

  4364.    power in input;

  4365.    power out output [6,1];

  4366.    power in input_rot2 [2,1];

  4367.    power in input_pos3 [3,1];

  4368.   restrictions

  4369.    causality constraint not_equal input output;

  4370.    causality constraint not_equal input_rot2 output;

  4371.    causality constraint not_equal input_pos3 output;

  4372.  end;

  4373.  icon bg bottom

  4374.   figures

  4375.    line 242 274 290 274 color 0 width 2;

  4376.    rectangle 242 266 290 278 color -1;

  4377.    text '1' 260 269 color 8421504 8;

  4378.   terminals

  4379.    input 250 274 fixed;

  4380.    output 266 274 fixed;

  4381.    input_rot2 282 274 fixed;

  4382.    input_pos3 266 274 fixed;

  4383.  end;

  4384.  implementation eq

  4385. equations

  4386. 	output.e[3] = input.e;

  4387. 	output.e[1:2] = input_rot2.e;

  4388. 	output.e[4:6] = input_pos3.e;

  4389. 	output.f[3] = input.f;

  4390. 	output.f[1:2] = input_rot2.f;

  4391. 	output.f[4:6] = input_pos3.f;implementation_end;

  4392. specification_end;

  4393. 						end;

  4394.       R 288 152

  4395.        description '<Information>

  4396.  <Description>

  4397.     <Version>4.2</Version>

  4398. <IsMainModel>1</IsMainModel>

  4399.   <KeepParameterValues>False</KeepParameterValues>

  4400.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  4401.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  4402. </Description>

  4403. </Information>';

  4404.        type R

  4405.         ports

  4406.          power in p;

  4407.        end;

  4408.        icon bg top

  4409.         figures

  4410.          text 'R' 288 152 color 0 18 bold;

  4411.        end;

  4412.        implementation eq

  4413. parameters

  4414. 	real r = 0.01;

  4415. equations

  4416. 	p.e = r * p.f;

  4417. implementation_end;

  4418.       R4 239.8 288.2

  4419.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4420.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  4421.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  4422. </Description>';

  4423.        type 'R-2'

  4424.         ports

  4425.          power in p [2,1];

  4426.        end;

  4427.        icon bg bottom

  4428.         figures

  4429.          text 'R' 239.8 288.2 color 0 18 bold;

  4430.        end;

  4431.        implementation eq

  4432. parameters

  4433. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  4434. equations					

  4435. 	p.e = r * p.f;

  4436. implementation_end;

  4437.       R5 239.8 168.2

  4438.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4439.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  4440.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  4441. </Description>';

  4442.        type 'R-3'

  4443.         ports

  4444.          power in p [3,1];

  4445.        end;

  4446.        icon bg top

  4447.         figures

  4448.          text 'R' 239.8 168.2 color 0 18 bold;

  4449.        end;

  4450.        implementation eq

  4451. parameters

  4452. 	real r[3,3] = [1.0, 0.0, 0.0; 0.0, 1.0, 0.0; 0.0, 0.0, 1.0]  {kN.s/m};

  4453. equations					

  4454. 	p.e = r * p.f;

  4455. implementation_end;

  4456.      end;

  4457.      connections

  4458.       C1\p <= OneJunction7\p;

  4459.       OneJunction5\p => C4\p;

  4460.       OneJunction5\p => PowerMux\input_rot2;

  4461.       OneJunction5\p => R4\p;

  4462.       OneJunction7\p => PowerMux\input_pos3;

  4463.       OneJunction7\p => R5\p;

  4464.       OneJunction8\p => PowerMux\input;

  4465.       PowerMux\output => output;

  4466.       R\p <= OneJunction8\p;

  4467.      end;

  4468.     implementation_end;

  4469.    Joint_dynF 792 56

  4470.     description '<Description>

  4471. 	<Version>4.8</Version>

  4472. 	<IsMainModel>1</IsMainModel>

  4473. 	</Description>';

  4474.     type Submodel

  4475.      ports

  4476.       power out output [6,1];

  4477.     end;

  4478.     implementation bg

  4479.      submodels

  4480.       C 264 200

  4481.        description '<Information>

  4482.  <Description>

  4483.     <Version>4.2</Version>

  4484. <IsMainModel>1</IsMainModel>

  4485.   <KeepParameterValues>False</KeepParameterValues>

  4486.     <LibraryPath>Bond Graph\C.emx</LibraryPath>

  4487.   <TimeStamp>2011-11-29 15:58:35</TimeStamp>

  4488. </Description>

  4489. </Information>';

  4490.        type C

  4491.         ports

  4492.          power in p;

  4493.          signal out state;

  4494.         restrictions

  4495.          causality preferred out p;

  4496.        end;

  4497.        icon bg bottom

  4498.         figures

  4499.          text 'C' 264 200 color 0 18 bold;

  4500.        end;

  4501.        implementation eq

  4502. parameters

  4503. 	real c = 0.001;

  4504. equations

  4505. 	state = int(p.f);

  4506. 	p.e = state / c;

  4507. implementation_end;

  4508.       C1 191.8 216.2

  4509.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4510.    <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>

  4511.   <TimeStamp>2007-9-25 12:12:8</TimeStamp>

  4512. </Description>';

  4513.        type 'C-3'

  4514.         ports

  4515.          power in p [3,1];

  4516.          signal out state [3,1];

  4517.         restrictions

  4518.          causality preferred out p;

  4519.        end;

  4520.        icon bg top

  4521.         figures

  4522.          text 'C' 191.8 216.2 color 0 18 bold;

  4523.        end;

  4524.        implementation eq

  4525. parameters

  4526. 	real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m};

  4527. equations

  4528.     state = int(p.f);

  4529.     p.e = inverse(c) *state;

  4530. implementation_end;

  4531.       C4 191.8 232.2

  4532.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4533.    <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>

  4534.   <TimeStamp>2007-9-25 12:7:27</TimeStamp>

  4535. </Description>';

  4536.        type 'C-2'

  4537.         ports

  4538.          power in p [2,1];

  4539.          signal out state [2,1];

  4540.         restrictions

  4541.          causality preferred out p;

  4542.        end;

  4543.        icon bg bottom

  4544.         figures

  4545.          text 'C' 191.8 232.2 color 0 18 bold;

  4546.        end;

  4547.        implementation eq

  4548. parameters

  4549. 	real c[2,2] = [0.1, 0.0; 0.0, 0.1]  {mN.m/rad};

  4550. equations

  4551.     state = int(p.f);

  4552.     p.e = inverse(c) *state;

  4553. implementation_end;

  4554.       plug output 396 216;

  4555.       OneJunction5 239.8 232.2

  4556.        description '<Information>

  4557.  <Description>

  4558.     <Version>4.2</Version>

  4559. <IsMainModel>1</IsMainModel>

  4560.   <KeepParameterValues>False</KeepParameterValues>

  4561.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4562.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4563. </Description>

  4564. </Information>';

  4565.        knot OneJunction

  4566.         ports

  4567.          power knot duplicatable none p [2,1];

  4568.          signal knot out flow [2,1];

  4569.         restrictions

  4570.          causality constraint one_out p;

  4571.        end;

  4572.        icon bg

  4573.         figures

  4574.          text '1' 239.8 232.2 color 0 18 bold;

  4575.        end;

  4576.        implementation eq

  4577. equations

  4578. 	sum (direct (p.e)) = 0;

  4579. 	equal (collect (p.f));

  4580. 	flow = first (p.f);

  4581. implementation_end;

  4582.       OneJunction7 239.8 216.2

  4583.        description '<Information>

  4584.  <Description>

  4585.     <Version>4.2</Version>

  4586. <IsMainModel>1</IsMainModel>

  4587.   <KeepParameterValues>False</KeepParameterValues>

  4588.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4589.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4590. </Description>

  4591. </Information>';

  4592.        knot OneJunction

  4593.         ports

  4594.          power knot duplicatable none p [3,1];

  4595.          signal knot out flow [3,1];

  4596.         restrictions

  4597.          causality constraint one_out p;

  4598.        end;

  4599.        icon bg

  4600.         figures

  4601.          text '1' 239.8 216.2 color 0 18 bold;

  4602.        end;

  4603.        implementation eq

  4604. equations

  4605. 	sum (direct (p.e)) = 0;

  4606. 	equal (collect (p.f));

  4607. 	flow = first (p.f);

  4608. implementation_end;

  4609.       OneJunction8 296 200

  4610.        description '<Information>

  4611.  <Description>

  4612.     <Version>4.2</Version>

  4613. <IsMainModel>1</IsMainModel>

  4614.   <KeepParameterValues>False</KeepParameterValues>

  4615.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  4616.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  4617. </Description>

  4618. </Information>';

  4619.        knot OneJunction

  4620.         ports

  4621.          power knot duplicatable none p [1];

  4622.          signal knot out flow [1];

  4623.         restrictions

  4624.          causality constraint one_out p;

  4625.        end;

  4626.        icon bg

  4627.         figures

  4628.          text '1' 296 200 color 0 18 bold;

  4629.        end;

  4630.        implementation eq

  4631. equations

  4632. 	sum (direct (p.e)) = 0;

  4633. 	equal (collect (p.f));

  4634. 	flow = first (p.f);

  4635. implementation_end;

  4636.       PowerMux 330 216

  4637. 						specifications active 'rot_z'

  4638. 							specification 'rot_x'

  4639.  description '<Information>

  4640.  <Description>

  4641.     <Version>4.8</Version>

  4642.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  4643.   <TimeStamp>2020-7-20 14:35:23</TimeStamp>

  4644. <IsMainModel>1</IsMainModel>

  4645.   <KeepParameterValues>False</KeepParameterValues>

  4646.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  4647.  </Description>

  4648. </Information>';

  4649.  type 'PowerMux-Rotation'

  4650.   ports

  4651.    power in input;

  4652.    power out output [6,1];

  4653.    power in input_rot2 [2,1];

  4654.    power in input_pos3 [3,1];

  4655.   restrictions

  4656.    causality constraint not_equal input output;

  4657.    causality constraint not_equal input_rot2 output;

  4658.    causality constraint not_equal input_pos3 output;

  4659.  end;

  4660.  icon bg bottom

  4661.   figures

  4662.    line 328 192 328 240 color 0 width 2;

  4663.    rectangle 324 192 336 240 color -1;

  4664.    text '1' 333 210 color 8421504 8;

  4665.   terminals

  4666.    input 328 200 fixed;

  4667.    output 328 216 fixed;

  4668.    input_rot2 328 232 fixed;

  4669.    input_pos3 328 216 fixed;

  4670.  end;

  4671.  implementation eq

  4672. equations

  4673. 	output.e[1] = input.e;

  4674. 	output.e[2:3] = input_rot2.e;

  4675. 	output.e[4:6] = input_pos3.e;

  4676. 	output.f[1] = input.f;

  4677. 	output.f[2:3] = input_rot2.f;

  4678. 	output.f[4:6] = input_pos3.f;implementation_end;

  4679. specification_end;

  4680. 							specification 'rot_y'

  4681. description '<Description>

  4682.    <Version>4.1</Version>

  4683.   <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>

  4684.   <TimeStamp>2011-3-4 15:12:50</TimeStamp>

  4685. <IsMainModel>1</IsMainModel>

  4686.  <KeepParameterValues>False</KeepParameterValues>

  4687.  <AllowLibraryUpdate>True</AllowLibraryUpdate>

  4688. </Description>';

  4689.  type PowerMux

  4690.   ports

  4691.    power in input;

  4692.    power out output [6,1];

  4693.    power in input_rot2 [2,1];

  4694.    power in input_pos3 [3,1];

  4695.   restrictions

  4696.    causality constraint not_equal input output;

  4697.    causality constraint not_equal input_rot2 output;

  4698.    causality constraint not_equal input_pos3 output;

  4699.  end;

  4700.  icon bg bottom

  4701.   figures

  4702.    line 242 274 290 274 color 0 width 2;

  4703.    rectangle 242 266 290 278 color -1;

  4704.    text '1' 260 269 color 8421504 8;

  4705.   terminals

  4706.    input 250 274 fixed;

  4707.    output 266 274 fixed;

  4708.    input_rot2 282 274 fixed;

  4709.    input_pos3 266 274 fixed;

  4710.  end;

  4711.  implementation eq

  4712. equations

  4713. 	output.e[1] = input_rot2.e[1];

  4714. 	output.e[2] = input.e;

  4715. 	output.e[3] = input_rot2.e[2];

  4716. 	output.e[4:6] = input_pos3.e;

  4717. 	output.f[1] = input_rot2.f[1];

  4718. 	output.f[2] = input.f;

  4719. 	output.f[3] = input_rot2.f[2];

  4720. 	output.f[4:6] = input_pos3.f;implementation_end;

  4721. specification_end;

  4722. 							specification 'rot_z'

  4723.  description '<Information>

  4724.  <Description>

  4725.     <Version>4.8</Version>

  4726.   <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>

  4727.   <TimeStamp>2020-7-21 12:05:13</TimeStamp>

  4728. <IsMainModel>1</IsMainModel>

  4729.   <KeepParameterValues>False</KeepParameterValues>

  4730.   <AllowLibraryUpdate>True</AllowLibraryUpdate>

  4731.  </Description>

  4732. </Information>';

  4733.  type PowerMux

  4734.   ports

  4735.    power in input;

  4736.    power out output [6,1];

  4737.    power in input_rot2 [2,1];

  4738.    power in input_pos3 [3,1];

  4739.   restrictions

  4740.    causality constraint not_equal input output;

  4741.    causality constraint not_equal input_rot2 output;

  4742.    causality constraint not_equal input_pos3 output;

  4743.  end;

  4744.  icon bg bottom

  4745.   figures

  4746.    line 328 192 328 240 color 0 width 2;

  4747.    rectangle 324 192 336 240 color -1;

  4748.    text '1' 333 210 color 8421504 8;

  4749.   terminals

  4750.    input 328 200 fixed;

  4751.    output 328 216 fixed;

  4752.    input_rot2 328 232 fixed;

  4753.    input_pos3 328 216 fixed;

  4754.  end;

  4755.  implementation eq

  4756. equations

  4757. 	output.e[3] = input.e;

  4758. 	output.e[1:2] = input_rot2.e;

  4759. 	output.e[4:6] = input_pos3.e;

  4760. 	output.f[3] = input.f;

  4761. 	output.f[1:2] = input_rot2.f;

  4762. 	output.f[4:6] = input_pos3.f;implementation_end;

  4763. specification_end;

  4764. 						end;

  4765.       R 296 152

  4766.        description '<Information>

  4767.  <Description>

  4768.     <Version>4.2</Version>

  4769. <IsMainModel>1</IsMainModel>

  4770.   <KeepParameterValues>False</KeepParameterValues>

  4771.     <LibraryPath>Bond Graph\R.emx</LibraryPath>

  4772.   <TimeStamp>2011-11-29 16:35:37</TimeStamp>

  4773. </Description>

  4774. </Information>';

  4775.        type R

  4776.         ports

  4777.          power in p;

  4778.        end;

  4779.        icon bg top

  4780.         figures

  4781.          text 'R' 296 152 color 0 18 bold;

  4782.        end;

  4783.        implementation eq

  4784. parameters

  4785. 	real r = 1000;

  4786. equations

  4787. 	p.e = r * p.f;

  4788. implementation_end;

  4789.       R4 239.8 288.2

  4790.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4791.    <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>

  4792.   <TimeStamp>2007-9-25 12:6:54</TimeStamp>

  4793. </Description>';

  4794.        type 'R-2'

  4795.         ports

  4796.          power in p [2,1];

  4797.        end;

  4798.        icon bg bottom

  4799.         figures

  4800.          text 'R' 239.8 288.2 color 0 18 bold;

  4801.        end;

  4802.        implementation eq

  4803. parameters

  4804. 	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};

  4805. equations					

  4806. 	p.e = r * p.f;

  4807. implementation_end;

  4808.       R5 239.8 168.2

  4809.        description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>

  4810.    <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>

  4811.   <TimeStamp>2007-9-25 12:11:54</TimeStamp>

  4812. </Description>';

  4813.        type 'R-3'

  4814.         ports

  4815.          power in p [3,1];

  4816.        end;

  4817.        icon bg top

  4818.         figures

  4819.          text 'R' 239.8 168.2 color 0 18 bold;

  4820.        end;

  4821.        implementation eq

  4822. parameters

  4823. 	real r[3,3] = [1.0, 0.0, 0.0; 0.0, 1.0, 0.0; 0.0, 0.0, 1.0]  {kN.s/m};

  4824. equations					

  4825. 	p.e = r * p.f;

  4826. implementation_end;

  4827.      end;

  4828.      connections

  4829.       C\p <= OneJunction8\p;

  4830.       C1\p <= OneJunction7\p;

  4831.       OneJunction5\p => C4\p;

  4832.       OneJunction5\p => PowerMux\input_rot2;

  4833.       OneJunction5\p => R4\p;

  4834.       OneJunction7\p => PowerMux\input_pos3;

  4835.       OneJunction7\p => R5\p;

  4836.       OneJunction8\p => PowerMux\input;

  4837.       PowerMux\output => output;

  4838.       R\p <= OneJunction8\p;

  4839.      end;

  4840.     implementation_end;

  4841.    Link1 704 136

  4842.     description '<Information>

  4843.  <Description>

  4844.     <Version>4.8</Version>

  4845.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  4846. <IsMainModel>1</IsMainModel>

  4847.   <KeepParameterValues>False</KeepParameterValues>

  4848.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  4849. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  4850.  </Description>

  4851. </Information>';

  4852.     type 'Submodel-Equation'

  4853.      ports

  4854.       signal in Hin [4,4];

  4855.       signal out Hout [4,4];

  4856.       power in Pin [6,1];

  4857.       power out Pout [6,1];

  4858.      restrictions

  4859.       causality constraint not_equal Pin Pout;

  4860.     end;

  4861.     icon bg bottom

  4862.      figures

  4863.       rectangle 672 112 736 160 color 0 fill 8454041;

  4864.       text 'Link' 704 136 color 0 'Clear Sans' 16;

  4865.      terminals

  4866.       Hin 672 152 fixed;

  4867.       Hout 736 152 fixed;

  4868.       Pin 736 120 fixed;

  4869.       Pout 672 120 fixed;

  4870.     end;

  4871.     implementation eq

  4872. parameters

  4873. 	real offset[6]= [0;0;0;0;0.025;0]; //coordinates of joint_1

  4874. variables

  4875. 	real Hab[4,4];

  4876. 	real AdHab[6,6];

  4877. 	real R[3,3];

  4878. 	real omega[3];

  4879. initialequations

  4880. 	omega = offset[1:3];

  4881. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  4882. 	Hab = homogeneous(R,offset[4:6]);

  4883. 	AdHab = Adjoint(Hab);

  4884. equations

  4885. 	Hout = Hin * Hab;

  4886. 	Pout.e = transpose(AdHab) * Pin.e;

  4887. 	Pin.f = AdHab * Pout.f;

  4888. 

  4889.     implementation_end;

  4890.    Link2 544 136

  4891.     description '<Information>

  4892.  <Description>

  4893.     <Version>4.8</Version>

  4894.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  4895. <IsMainModel>1</IsMainModel>

  4896.   <KeepParameterValues>False</KeepParameterValues>

  4897.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  4898. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  4899.  </Description>

  4900. </Information>';

  4901.     type 'Submodel-Equation'

  4902.      ports

  4903.       signal in Hin [4,4];

  4904.       signal out Hout [4,4];

  4905.       power in Pin [6,1];

  4906.       power out Pout [6,1];

  4907.      restrictions

  4908.       causality constraint not_equal Pin Pout;

  4909.     end;

  4910.     icon bg bottom

  4911.      figures

  4912.       rectangle 512 112 576 160 color 0 fill 8454041;

  4913.       text 'Link' 544 136 color 0 'Clear Sans' 16;

  4914.      terminals

  4915.       Hin 512 152 fixed;

  4916.       Hout 576 152 fixed;

  4917.       Pin 576 120 fixed;

  4918.       Pout 512 120 fixed;

  4919.     end;

  4920.     implementation eq

  4921. parameters

  4922. 	real offset[6]= [0;0;0;0;0.025;0]; //coordinates of joint_1

  4923. variables

  4924. 	real Hab[4,4];

  4925. 	real AdHab[6,6];

  4926. 	real R[3,3];

  4927. 	real omega[3];

  4928. initialequations

  4929. 	omega = offset[1:3];

  4930. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  4931. 	Hab = homogeneous(R,offset[4:6]);

  4932. 	AdHab = Adjoint(Hab);

  4933. equations

  4934. 	Hout = Hin * Hab;

  4935. 	Pout.e = transpose(AdHab) * Pin.e;

  4936. 	Pin.f = AdHab * Pout.f;

  4937. 

  4938.     implementation_end;

  4939.    Link3 432 304

  4940.     description '<Information>

  4941.  <Description>

  4942.     <Version>4.8</Version>

  4943.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  4944. <IsMainModel>1</IsMainModel>

  4945.   <KeepParameterValues>False</KeepParameterValues>

  4946.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  4947. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  4948.  </Description>

  4949. </Information>';

  4950.     type 'Submodel-Equation'

  4951.      ports

  4952.       signal in Hin [4,4];

  4953.       signal out Hout [4,4];

  4954.       power in Pin [6,1];

  4955.       power out Pout [6,1];

  4956.      restrictions

  4957.       causality constraint not_equal Pin Pout;

  4958.     end;

  4959.     icon bg bottom

  4960.      figures

  4961.       rectangle 408 272 456 336 color 0 fill 8454041;

  4962.       text 'Link' 432 304 color 0 'Clear Sans' 16;

  4963.      terminals

  4964.       Hin 448 336 fixed;

  4965.       Hout 448 272 fixed;

  4966.       Pin 416 272 fixed;

  4967.       Pout 416 336 fixed;

  4968.     end;

  4969.     implementation eq

  4970. parameters

  4971. 	real offset[6]= [0;0;0;0;0.0325;0]; //coordinates of joint_1

  4972. variables

  4973. 	real Hab[4,4];

  4974. 	real AdHab[6,6];

  4975. 	real R[3,3];

  4976. 	real omega[3];

  4977. initialequations

  4978. 	omega = offset[1:3];

  4979. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  4980. 	Hab = homogeneous(R,offset[4:6]);

  4981. 	AdHab = Adjoint(Hab);

  4982. equations

  4983. 	Hout = Hin * Hab;

  4984. 	Pout.e = transpose(AdHab) * Pin.e;

  4985. 	Pin.f = AdHab * Pout.f;

  4986. 

  4987.     implementation_end;

  4988.    Link4 632 304

  4989.     description '<Information>

  4990.  <Description>

  4991.     <Version>4.8</Version>

  4992.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  4993. <IsMainModel>1</IsMainModel>

  4994.   <KeepParameterValues>False</KeepParameterValues>

  4995.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  4996. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  4997.  </Description>

  4998. </Information>';

  4999.     type 'Submodel-Equation'

  5000.      ports

  5001.       signal in Hin [4,4];

  5002.       signal out Hout [4,4];

  5003.       power in Pin [6,1];

  5004.       power out Pout [6,1];

  5005.      restrictions

  5006.       causality constraint not_equal Pin Pout;

  5007.     end;

  5008.     icon bg bottom

  5009.      figures

  5010.       rectangle 608 272 656 336 color 0 fill 8454041;

  5011.       text 'Link' 632 304 color 0 'Clear Sans' 16;

  5012.      terminals

  5013.       Hin 648 336 fixed;

  5014.       Hout 648 272 fixed;

  5015.       Pin 616 272 fixed;

  5016.       Pout 616 336 fixed;

  5017.     end;

  5018.     implementation eq

  5019. parameters

  5020. 	real offset[6]= [0;0;0;0;0.0325;0]; //coordinates of joint_1

  5021. variables

  5022. 	real Hab[4,4];

  5023. 	real AdHab[6,6];

  5024. 	real R[3,3];

  5025. 	real omega[3];

  5026. initialequations

  5027. 	omega = offset[1:3];

  5028. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  5029. 	Hab = homogeneous(R,offset[4:6]);

  5030. 	AdHab = Adjoint(Hab);

  5031. equations

  5032. 	Hout = Hin * Hab;

  5033. 	Pout.e = transpose(AdHab) * Pin.e;

  5034. 	Pin.f = AdHab * Pout.f;

  5035. 

  5036.     implementation_end;

  5037.    Link5 848 616

  5038.     description '<Information>

  5039.  <Description>

  5040.     <Version>4.8</Version>

  5041.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  5042. <IsMainModel>1</IsMainModel>

  5043.   <KeepParameterValues>False</KeepParameterValues>

  5044.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  5045. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  5046.  </Description>

  5047. </Information>';

  5048.     type 'Submodel-Equation'

  5049.      ports

  5050.       signal in Hin [4,4];

  5051.       signal out Hout [4,4];

  5052.       power in Pin [6,1];

  5053.       power out Pout [6,1];

  5054.      restrictions

  5055.       causality constraint not_equal Pin Pout;

  5056.     end;

  5057.     icon bg bottom

  5058.      figures

  5059.       rectangle 816 592 880 640 color 0 fill 8454041;

  5060.       text 'Link' 848 616 color 0 'Clear Sans' 16;

  5061.      terminals

  5062.       Hin 880 600 fixed;

  5063.       Hout 816 600 fixed;

  5064.       Pin 816 632 fixed;

  5065.       Pout 880 632 fixed;

  5066.     end;

  5067.     implementation eq

  5068. parameters

  5069. 	real offset[6]= [0;0;0;0;0.0125;0]; //coordinates of joint_1

  5070. variables

  5071. 	real Hab[4,4];

  5072. 	real AdHab[6,6];

  5073. 	real R[3,3];

  5074. 	real omega[3];

  5075. initialequations

  5076. 	omega = offset[1:3];

  5077. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  5078. 	Hab = homogeneous(R,offset[4:6]);

  5079. 	AdHab = Adjoint(Hab);

  5080. equations

  5081. 	Hout = Hin * Hab;

  5082. 	Pout.e = transpose(AdHab) * Pin.e;

  5083. 	Pin.f = AdHab * Pout.f;

  5084. 

  5085.     implementation_end;

  5086.    Link6 432 448

  5087.     description '<Information>

  5088.  <Description>

  5089.     <Version>4.8</Version>

  5090.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  5091. <IsMainModel>1</IsMainModel>

  5092.   <KeepParameterValues>False</KeepParameterValues>

  5093.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  5094. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  5095.  </Description>

  5096. </Information>';

  5097.     type 'Submodel-Equation'

  5098.      ports

  5099.       signal in Hin [4,4];

  5100.       signal out Hout [4,4];

  5101.       power in Pin [6,1];

  5102.       power out Pout [6,1];

  5103.      restrictions

  5104.       causality constraint not_equal Pin Pout;

  5105.     end;

  5106.     icon bg bottom

  5107.      figures

  5108.       rectangle 408 416 456 480 color 0 fill 8454041;

  5109.       text 'Link' 432 448 color 0 'Clear Sans' 16;

  5110.      terminals

  5111.       Hin 448 480 fixed;

  5112.       Hout 448 416 fixed;

  5113.       Pin 416 416 fixed;

  5114.       Pout 416 480 fixed;

  5115.     end;

  5116.     implementation eq

  5117. parameters

  5118. 	real offset[6]= [0;0;0;0;0.0325;0]; //coordinates of joint_1

  5119. variables

  5120. 	real Hab[4,4];

  5121. 	real AdHab[6,6];

  5122. 	real R[3,3];

  5123. 	real omega[3];

  5124. initialequations

  5125. 	omega = offset[1:3];

  5126. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  5127. 	Hab = homogeneous(R,offset[4:6]);

  5128. 	AdHab = Adjoint(Hab);

  5129. equations

  5130. 	Hout = Hin * Hab;

  5131. 	Pout.e = transpose(AdHab) * Pin.e;

  5132. 	Pin.f = AdHab * Pout.f;

  5133. 

  5134.     implementation_end;

  5135.    Link7 704 616

  5136.     description '<Information>

  5137.  <Description>

  5138.     <Version>4.8</Version>

  5139.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  5140. <IsMainModel>1</IsMainModel>

  5141.   <KeepParameterValues>False</KeepParameterValues>

  5142.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  5143. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  5144.  </Description>

  5145. </Information>';

  5146.     type 'Submodel-Equation'

  5147.      ports

  5148.       signal in Hin [4,4];

  5149.       signal out Hout [4,4];

  5150.       power in Pin [6,1];

  5151.       power out Pout [6,1];

  5152.      restrictions

  5153.       causality constraint not_equal Pin Pout;

  5154.     end;

  5155.     icon bg bottom

  5156.      figures

  5157.       rectangle 672 592 736 640 color 0 fill 8454041;

  5158.       text 'Link' 704 616 color 0 'Clear Sans' 16;

  5159.      terminals

  5160.       Hin 736 600 fixed;

  5161.       Hout 672 600 fixed;

  5162.       Pin 672 632 fixed;

  5163.       Pout 736 632 fixed;

  5164.     end;

  5165.     implementation eq

  5166. parameters

  5167. 	real offset[6]= [0;0;0;0;0.0125;0]; //coordinates of joint_1

  5168. variables

  5169. 	real Hab[4,4];

  5170. 	real AdHab[6,6];

  5171. 	real R[3,3];

  5172. 	real omega[3];

  5173. initialequations

  5174. 	omega = offset[1:3];

  5175. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  5176. 	Hab = homogeneous(R,offset[4:6]);

  5177. 	AdHab = Adjoint(Hab);

  5178. equations

  5179. 	Hout = Hin * Hab;

  5180. 	Pout.e = transpose(AdHab) * Pin.e;

  5181. 	Pin.f = AdHab * Pout.f;

  5182. 

  5183.     implementation_end;

  5184.    Link8 880 136

  5185.     description '<Information>

  5186.  <Description>

  5187.     <Version>4.8</Version>

  5188.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  5189. <IsMainModel>1</IsMainModel>

  5190.   <KeepParameterValues>False</KeepParameterValues>

  5191.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  5192. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  5193.  </Description>

  5194. </Information>';

  5195.     type 'Submodel-Equation'

  5196.      ports

  5197.       signal in Hin [4,4];

  5198.       signal out Hout [4,4];

  5199.       power in Pin [6,1];

  5200.       power out Pout [6,1];

  5201.      restrictions

  5202.       causality constraint not_equal Pin Pout;

  5203.     end;

  5204.     icon bg bottom

  5205.      figures

  5206.       rectangle 848 112 912 160 color 0 fill 8454041;

  5207.       text 'Link' 880 136 color 0 'Clear Sans' 16;

  5208.      terminals

  5209.       Hin 848 152 fixed;

  5210.       Hout 912 152 fixed;

  5211.       Pin 912 120 fixed;

  5212.       Pout 848 120 fixed;

  5213.     end;

  5214.     implementation eq

  5215. parameters

  5216. 	real offset[6]= [0;0;0;0;0.025;0]; //coordinates of joint_1

  5217. variables

  5218. 	real Hab[4,4];

  5219. 	real AdHab[6,6];

  5220. 	real R[3,3];

  5221. 	real omega[3];

  5222. initialequations

  5223. 	omega = offset[1:3];

  5224. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  5225. 	Hab = homogeneous(R,offset[4:6]);

  5226. 	AdHab = Adjoint(Hab);

  5227. equations

  5228. 	Hout = Hin * Hab;

  5229. 	Pout.e = transpose(AdHab) * Pin.e;

  5230. 	Pin.f = AdHab * Pout.f;

  5231. 

  5232.     implementation_end;

  5233.    Link9 632 448

  5234.     description '<Information>

  5235.  <Description>

  5236.     <Version>4.8</Version>

  5237.   <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>

  5238. <IsMainModel>1</IsMainModel>

  5239.   <KeepParameterValues>False</KeepParameterValues>

  5240.     <TimeStamp>2020-7-21 11:14:41</TimeStamp>

  5241. <AllowLibraryUpdate>False</AllowLibraryUpdate>

  5242.  </Description>

  5243. </Information>';

  5244.     type 'Submodel-Equation'

  5245.      ports

  5246.       signal in Hin [4,4];

  5247.       signal out Hout [4,4];

  5248.       power in Pin [6,1];

  5249.       power out Pout [6,1];

  5250.      restrictions

  5251.       causality constraint not_equal Pin Pout;

  5252.     end;

  5253.     icon bg bottom

  5254.      figures

  5255.       rectangle 608 416 656 480 color 0 fill 8454041;

  5256.       text 'Link' 632 448 color 0 'Clear Sans' 16;

  5257.      terminals

  5258.       Hin 648 480 fixed;

  5259.       Hout 648 416 fixed;

  5260.       Pin 616 416 fixed;

  5261.       Pout 616 480 fixed;

  5262.     end;

  5263.     implementation eq

  5264. parameters

  5265. 	real offset[6]= [0;0;0;0;0.0325;0]; //coordinates of joint_1

  5266. variables

  5267. 	real Hab[4,4];

  5268. 	real AdHab[6,6];

  5269. 	real R[3,3];

  5270. 	real omega[3];

  5271. initialequations

  5272. 	omega = offset[1:3];

  5273. 	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);

  5274. 	Hab = homogeneous(R,offset[4:6]);

  5275. 	AdHab = Adjoint(Hab);

  5276. equations

  5277. 	Hout = Hin * Hab;

  5278. 	Pout.e = transpose(AdHab) * Pin.e;

  5279. 	Pin.f = AdHab * Pout.f;

  5280. 

  5281.     implementation_end;

  5282.    OneJunction1 760 632

  5283.     description '<Information>

  5284.  <Description>

  5285.     <Version>4.2</Version>

  5286. <IsMainModel>1</IsMainModel>

  5287.   <KeepParameterValues>False</KeepParameterValues>

  5288.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5289.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5290. </Description>

  5291. </Information>';

  5292.     knot OneJunction

  5293.      ports

  5294.       power knot duplicatable none p [6,1];

  5295.       signal knot out flow [6,1];

  5296.      restrictions

  5297.       causality constraint one_out p;

  5298.     end;

  5299.     icon bg

  5300.      figures

  5301.       text '1' 760 632 color 0 18 bold;

  5302.     end;

  5303.     implementation eq

  5304. equations

  5305. 	sum (direct (p.e)) = 0;

  5306. 	equal (collect (p.f));

  5307. 	flow = first (p.f);

  5308. implementation_end;

  5309.    OneJunction2 416 392

  5310.     description '<Information>

  5311.  <Description>

  5312.     <Version>4.2</Version>

  5313. <IsMainModel>1</IsMainModel>

  5314.   <KeepParameterValues>False</KeepParameterValues>

  5315.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5316.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5317. </Description>

  5318. </Information>';

  5319.     knot OneJunction

  5320.      ports

  5321.       power knot duplicatable none p [6,1];

  5322.       signal knot out flow [6,1];

  5323.      restrictions

  5324.       causality constraint one_out p;

  5325.     end;

  5326.     icon bg

  5327.      figures

  5328.       text '1' 416 392 color 0 18 bold;

  5329.     end;

  5330.     implementation eq

  5331. equations

  5332. 	sum (direct (p.e)) = 0;

  5333. 	equal (collect (p.f));

  5334. 	flow = first (p.f);

  5335. implementation_end;

  5336.    OneJunction3 616 120

  5337.     description '<Information>

  5338.  <Description>

  5339.     <Version>4.2</Version>

  5340. <IsMainModel>1</IsMainModel>

  5341.   <KeepParameterValues>False</KeepParameterValues>

  5342.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5343.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5344. </Description>

  5345. </Information>';

  5346.     knot OneJunction

  5347.      ports

  5348.       power knot duplicatable none p [6,1];

  5349.       signal knot out flow [6,1];

  5350.      restrictions

  5351.       causality constraint one_out p;

  5352.     end;

  5353.     icon bg

  5354.      figures

  5355.       text '1' 616 120 color 0 18 bold;

  5356.     end;

  5357.     implementation eq

  5358. equations

  5359. 	sum (direct (p.e)) = 0;

  5360. 	equal (collect (p.f));

  5361. 	flow = first (p.f);

  5362. implementation_end;

  5363.    OneJunction4 616 392

  5364.     description '<Information>

  5365.  <Description>

  5366.     <Version>4.2</Version>

  5367. <IsMainModel>1</IsMainModel>

  5368.   <KeepParameterValues>False</KeepParameterValues>

  5369.     <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>

  5370.   <TimeStamp>2011-11-29 16:17:51</TimeStamp>

  5371. </Description>

  5372. </Information>';

  5373.     knot OneJunction

  5374.      ports

  5375.       power knot duplicatable none p [6,1];

  5376.       signal knot out flow [6,1];

  5377.      restrictions

  5378.       causality constraint one_out p;

  5379.     end;

  5380.     icon bg

  5381.      figures

  5382.       text '1' 616 392 color 0 18 bold;

  5383.     end;

  5384.     implementation eq

  5385. equations

  5386. 	sum (direct (p.e)) = 0;

  5387. 	equal (collect (p.f));

  5388. 	flow = first (p.f);

  5389. implementation_end;

  5390.    Splitter1 792 600

  5391.     description '<Description><Version>4.0</Version>

  5392.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  5393.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  5394. <IsMainModel>1</IsMainModel>

  5395.  <KeepParameterValues>False</KeepParameterValues>

  5396. </Description>';

  5397.     knot Splitter

  5398.      ports

  5399.       signal knot duplicatable out output [4,4];

  5400.       signal knot in input [4,4];

  5401.     end;

  5402.     icon bg ellipse

  5403.      figures

  5404.       ellipse 788.8 596.8 795.2 603.2 color -1 fill 0;

  5405.       ellipse 787.7 595.7 796.3 604.3 color -1;

  5406.      terminals

  5407.       input 792 600 fixed;

  5408.     end;

  5409.     implementation eq

  5410. equations

  5411.     collect (output) = input;

  5412. implementation_end;

  5413.    Splitter2 448 360

  5414.     description '<Description><Version>4.0</Version>

  5415.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  5416.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  5417. <IsMainModel>1</IsMainModel>

  5418.  <KeepParameterValues>False</KeepParameterValues>

  5419. </Description>';

  5420.     knot Splitter

  5421.      ports

  5422.       signal knot duplicatable out output [4,4];

  5423.       signal knot in input [4,4];

  5424.     end;

  5425.     icon bg ellipse

  5426.      figures

  5427.       ellipse 444.8 356.8 451.2 363.2 color -1 fill 0;

  5428.       ellipse 443.7 355.7 452.3 364.3 color -1;

  5429.      terminals

  5430.       input 448 360 fixed;

  5431.     end;

  5432.     implementation eq

  5433. equations

  5434.     collect (output) = input;

  5435. implementation_end;

  5436.    Splitter3 648 360

  5437.     description '<Description><Version>4.0</Version>

  5438.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  5439.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  5440. <IsMainModel>1</IsMainModel>

  5441.  <KeepParameterValues>False</KeepParameterValues>

  5442. </Description>';

  5443.     knot Splitter

  5444.      ports

  5445.       signal knot duplicatable out output [4,4];

  5446.       signal knot in input [4,4];

  5447.     end;

  5448.     icon bg ellipse

  5449.      figures

  5450.       ellipse 644.8 356.8 651.2 363.2 color -1 fill 0;

  5451.       ellipse 643.7 355.7 652.3 364.3 color -1;

  5452.      terminals

  5453.       input 648 360 fixed;

  5454.     end;

  5455.     implementation eq

  5456. equations

  5457.     collect (output) = input;

  5458. implementation_end;

  5459.    Splitter4 648 152

  5460.     description '<Description><Version>4.0</Version>

  5461.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  5462.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  5463. <IsMainModel>1</IsMainModel>

  5464.  <KeepParameterValues>False</KeepParameterValues>

  5465. </Description>';

  5466.     knot Splitter

  5467.      ports

  5468.       signal knot duplicatable out output [4,4];

  5469.       signal knot in input [4,4];

  5470.     end;

  5471.     icon bg ellipse

  5472.      figures

  5473.       ellipse 644.8 148.8 651.2 155.2 color -1 fill 0;

  5474.       ellipse 643.7 147.7 652.3 156.3 color -1;

  5475.      terminals

  5476.       input 648 152 fixed;

  5477.     end;

  5478.     implementation eq

  5479. equations

  5480.     collect (output) = input;

  5481. implementation_end;

  5482.    Splitter5 448 496

  5483.     description '<Description><Version>4.0</Version>

  5484.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  5485.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  5486. <IsMainModel>1</IsMainModel>

  5487.  <KeepParameterValues>False</KeepParameterValues>

  5488. </Description>';

  5489.     knot Splitter

  5490.      ports

  5491.       signal knot duplicatable out output [4,4];

  5492.       signal knot in input [4,4];

  5493.     end;

  5494.     icon bg ellipse

  5495.      figures

  5496.       ellipse 444.8 492.8 451.2 499.2 color -1 fill 0;

  5497.       ellipse 443.7 491.7 452.3 500.3 color -1;

  5498.      terminals

  5499.       input 448 496 fixed;

  5500.     end;

  5501.     implementation eq

  5502. equations

  5503.     collect (output) = input;

  5504. implementation_end;

  5505.    Splitter6 896 600

  5506.     description '<Description><Version>4.0</Version>

  5507.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  5508.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  5509. <IsMainModel>1</IsMainModel>

  5510.  <KeepParameterValues>False</KeepParameterValues>

  5511. </Description>';

  5512.     knot Splitter

  5513.      ports

  5514.       signal knot duplicatable out output [4,4];

  5515.       signal knot in input [4,4];

  5516.     end;

  5517.     icon bg ellipse

  5518.      figures

  5519.       ellipse 892.8 596.8 899.2 603.2 color -1 fill 0;

  5520.       ellipse 891.7 595.7 900.3 604.3 color -1;

  5521.      terminals

  5522.       input 896 600 fixed;

  5523.     end;

  5524.     implementation eq

  5525. equations

  5526.     collect (output) = input;

  5527. implementation_end;

  5528.    Splitter7 648 496

  5529.     description '<Description><Version>4.0</Version>

  5530.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  5531.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  5532. <IsMainModel>1</IsMainModel>

  5533.  <KeepParameterValues>False</KeepParameterValues>

  5534. </Description>';

  5535.     knot Splitter

  5536.      ports

  5537.       signal knot duplicatable out output [4,4];

  5538.       signal knot in input [4,4];

  5539.     end;

  5540.     icon bg ellipse

  5541.      figures

  5542.       ellipse 644.8 492.8 651.2 499.2 color -1 fill 0;

  5543.       ellipse 643.7 491.7 652.3 500.3 color -1;

  5544.      terminals

  5545.       input 648 496 fixed;

  5546.     end;

  5547.     implementation eq

  5548. equations

  5549.     collect (output) = input;

  5550. implementation_end;

  5551.    Splitter8 448 152

  5552.     description '<Description><Version>4.0</Version>

  5553.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  5554.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  5555. <IsMainModel>1</IsMainModel>

  5556.  <KeepParameterValues>False</KeepParameterValues>

  5557. </Description>';

  5558.     knot Splitter

  5559.      ports

  5560.       signal knot duplicatable out output [4,4];

  5561.       signal knot in input [4,4];

  5562.     end;

  5563.     icon bg ellipse

  5564.      figures

  5565.       ellipse 444.8 148.8 451.2 155.2 color -1 fill 0;

  5566.       ellipse 443.7 147.7 452.3 156.3 color -1;

  5567.      terminals

  5568.       input 448 152 fixed;

  5569.     end;

  5570.     implementation eq

  5571. equations

  5572.     collect (output) = input;

  5573. implementation_end;

  5574.    Splitter9 832 152

  5575.     description '<Description><Version>4.0</Version>

  5576.    <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>

  5577.   <TimeStamp>2008-01-17 11:28:29</TimeStamp>

  5578. <IsMainModel>1</IsMainModel>

  5579.  <KeepParameterValues>False</KeepParameterValues>

  5580. </Description>';

  5581.     knot Splitter

  5582.      ports

  5583.       signal knot duplicatable out output [4,4];

  5584.       signal knot in input [4,4];

  5585.     end;

  5586.     icon bg ellipse

  5587.      figures

  5588.       ellipse 828.8 148.8 835.2 155.2 color -1 fill 0;

  5589.       ellipse 827.7 147.7 836.3 156.3 color -1;

  5590.      terminals

  5591.       input 832 152 fixed;

  5592.     end;

  5593.     implementation eq

  5594. equations

  5595.     collect (output) = input;

  5596. implementation_end;

  5597.   end;

  5598.   connections

  5599.    COM_body3\p => OneJunction4\p;

  5600.    COM_body4\p => OneJunction3\p;

  5601.    COM_body5\p => Link8\Pin;

  5602.    Ground\output -> JointA\Hin;

  5603.    Ground\p <= JointA\Pout;

  5604.    Ground1\output -> JointC\Hin 1064 600;

  5605.    Ground1\p <= JointC\Pout 1032 632;

  5606.    Joint_dynB\output => JointB\Pdiff;

  5607.    Joint_dynC\output => JointC\Pdiff;

  5608.    Joint_dynD\output => JointD\Pdiff;

  5609.    Joint_dynE\output => JointE\Pdiff;

  5610.    Joint_dynF\output => JointF\Pdiff;

  5611.    JointA\Hout -> Splitter5\input;

  5612.    JointA\Pdiff <= Joint_dynA\output;

  5613.    JointA\Pin <= Link6\Pout;

  5614.    JointB\Hout -> Splitter8\input;

  5615.    JointB\Pin <= Link2\Pout 416 120;

  5616.    JointC\Hout -> Splitter6\input;

  5617.    JointC\Pin <= Link5\Pout;

  5618.    JointD\Hin <- Link7\Hout 648 600;

  5619.    JointD\Hout -> Splitter7\input;

  5620.    JointD\Pin <= Link9\Pout;

  5621.    JointD\Pout => Link7\Pin 616 632;

  5622.    JointE\Pout => Link4\Pin;

  5623.    JointF\Hout -> Splitter9\input;

  5624.    JointF\Pout => Link1\Pin;

  5625.    Link1\Hout -> JointF\Hin;

  5626.    Link2\Hout -> Splitter4\input;

  5627.    Link2\Pin <= OneJunction3\p;

  5628.    Link3\Hout -> JointB\Hin;

  5629.    Link3\Pin <= JointB\Pout;

  5630.    Link4\Hout -> JointE\Hin;

  5631.    Link5\Hout -> Splitter1\input;

  5632.    Link5\Pin <= OneJunction1\p;

  5633.    Link6\Hout -> Splitter2\input;

  5634.    Link6\Pin <= OneJunction2\p;

  5635.    Link8\Hout -> COM_body5\Hin;

  5636.    Link8\Pout => JointF\Pin;

  5637.    Link9\Hout -> Splitter3\input;

  5638.    Link9\Pin <= OneJunction4\p;

  5639.    OneJunction1\p <= COM_body2\p;

  5640.    OneJunction1\p <= Link7\Pout;

  5641.    OneJunction2\p <= COM_body1\p;

  5642.    OneJunction2\p <= Link3\Pout;

  5643.    OneJunction3\p <= Link1\Pout;

  5644.    OneJunction3\p => JointE\Pin;

  5645.    OneJunction4\p <= Link4\Pout;

  5646.    Splitter1\output -> COM_body2\Hin;

  5647.    Splitter1\output -> Link7\Hin;

  5648.    Splitter2\output -> COM_body1\Hin;

  5649.    Splitter2\output -> Link3\Hin;

  5650.    Splitter3\output -> COM_body3\Hin;

  5651.    Splitter3\output -> Link4\Hin;

  5652.    Splitter4\output -> COM_body4\Hin;

  5653.    Splitter4\output -> Link1\Hin;

  5654.    Splitter5\output -> Body1\input;

  5655.    Splitter5\output -> Link6\Hin;

  5656.    Splitter6\output -> Body2\input;

  5657.    Splitter6\output -> Link5\Hin;

  5658.    Splitter7\output -> Body3\input;

  5659.    Splitter7\output -> Link9\Hin;

  5660.    Splitter8\output -> Body4\input;

  5661.    Splitter8\output -> Link2\Hin 448 152;

  5662.    Splitter9\output -> Body5\input;

  5663.    Splitter9\output -> Link8\Hin;

  5664.   end;

  5665.  implementation_end;

  5666. ]]>

  5667. </Sidops>

  5668.  </Model>

  5669.  <Experiments>

  5670.      <DefaultExperiment><![CDATA[Experiment 1]]>

  5671. </DefaultExperiment>

  5672.   <Experiment>

  5673.     <Name>Experiment 1</Name>

  5674.     <CreatedBy></CreatedBy>

  5675.     <Info></Info>

  5676. <ExpData>

  5677.   <VersionNumber>4.8</VersionNumber>

  5678.   <ModelProperties>

  5679.   </ModelProperties>

  5680.   <Variables>

  5681.    <Constants>

  5682.    </Constants>

  5683.    <Parameters>

  5684.    </Parameters>

  5685.    <Initials>

  5686.     <Variable>

  5687.      <Name>COM_body2\InertialTensor\state_initial</Name>

  5688.      <Rows>6</Rows>

  5689.      <Columns>1</Columns>

  5690.      <Value>0 0 0 0 0 0</Value>

  5691.     </Variable>

  5692.     <Variable>

  5693.      <Name>COM_body3\InertialTensor\state_initial</Name>

  5694.      <Rows>6</Rows>

  5695.      <Columns>1</Columns>

  5696.      <Value>0 0 0 0 0 0</Value>

  5697.     </Variable>

  5698.     <Variable>

  5699.      <Name>COM_body5\InertialTensor\state_initial</Name>

  5700.      <Rows>6</Rows>

  5701.      <Columns>1</Columns>

  5702.      <Value>0 0 0 0 0 0</Value>

  5703.     </Variable>

  5704.     <Variable>

  5705.      <Name>COM_body1\InertialTensor\state_initial</Name>

  5706.      <Rows>6</Rows>

  5707.      <Columns>1</Columns>

  5708.      <Value>0 0 0 0 0 0</Value>

  5709.     </Variable>

  5710.     <Variable>

  5711.      <Name>JointB\Hmatrix\p_initial</Name>

  5712.      <Rows>3</Rows>

  5713.      <Columns>1</Columns>

  5714.      <Value>0 0 0</Value>

  5715.     </Variable>

  5716.     <Variable>

  5717.      <Name>JointD\Hmatrix\p_initial</Name>

  5718.      <Rows>3</Rows>

  5719.      <Columns>1</Columns>

  5720.      <Value>0 0 0</Value>

  5721.     </Variable>

  5722.     <Variable>

  5723.      <Name>JointA\Hmatrix\p_initial</Name>

  5724.      <Rows>3</Rows>

  5725.      <Columns>1</Columns>

  5726.      <Value>0 0 0</Value>

  5727.     </Variable>

  5728.     <Variable>

  5729.      <Name>JointC\Hmatrix\p_initial</Name>

  5730.      <Rows>3</Rows>

  5731.      <Columns>1</Columns>

  5732.      <Value>0 0 0</Value>

  5733.     </Variable>

  5734.     <Variable>

  5735.      <Name>JointF\Hmatrix\p_initial</Name>

  5736.      <Rows>3</Rows>

  5737.      <Columns>1</Columns>

  5738.      <Value>0 0 0</Value>

  5739.     </Variable>

  5740.     <Variable>

  5741.      <Name>JointE\Hmatrix\p_initial</Name>

  5742.      <Rows>3</Rows>

  5743.      <Columns>1</Columns>

  5744.      <Value>0 0 0</Value>

  5745.     </Variable>

  5746.     <Variable>

  5747.      <Name>Joint_dynE\C1\state_initial</Name>

  5748.      <Rows>3</Rows>

  5749.      <Columns>1</Columns>

  5750.      <Value>0 0 0</Value>

  5751.     </Variable>

  5752.     <Variable>

  5753.      <Name>Joint_dynE\C4\state_initial</Name>

  5754.      <Rows>2</Rows>

  5755.      <Columns>1</Columns>

  5756.      <Value>0 0</Value>

  5757.     </Variable>

  5758.     <Variable>

  5759.      <Name>Joint_dynD\C1\state_initial</Name>

  5760.      <Rows>3</Rows>

  5761.      <Columns>1</Columns>

  5762.      <Value>0 0 0</Value>

  5763.     </Variable>

  5764.     <Variable>

  5765.      <Name>Joint_dynD\C4\state_initial</Name>

  5766.      <Rows>2</Rows>

  5767.      <Columns>1</Columns>

  5768.      <Value>0 0</Value>

  5769.     </Variable>

  5770.     <Variable>

  5771.      <Name>Joint_dynA\C1\state_initial</Name>

  5772.      <Rows>3</Rows>

  5773.      <Columns>1</Columns>

  5774.      <Value>0 0 0</Value>

  5775.     </Variable>

  5776.     <Variable>

  5777.      <Name>Joint_dynA\C4\state_initial</Name>

  5778.      <Rows>2</Rows>

  5779.      <Columns>1</Columns>

  5780.      <Value>0 0</Value>

  5781.     </Variable>

  5782.     <Variable>

  5783.      <Name>Joint_dynC\C1\state_initial</Name>

  5784.      <Rows>3</Rows>

  5785.      <Columns>1</Columns>

  5786.      <Value>0 0 0</Value>

  5787.     </Variable>

  5788.     <Variable>

  5789.      <Name>Joint_dynC\C4\state_initial</Name>

  5790.      <Rows>2</Rows>

  5791.      <Columns>1</Columns>

  5792.      <Value>0 0</Value>

  5793.     </Variable>

  5794.     <Variable>

  5795.      <Name>Joint_dynF\C1\state_initial</Name>

  5796.      <Rows>3</Rows>

  5797.      <Columns>1</Columns>

  5798.      <Value>0 0 0</Value>

  5799.     </Variable>

  5800.     <Variable>

  5801.      <Name>Joint_dynF\C4\state_initial</Name>

  5802.      <Rows>2</Rows>

  5803.      <Columns>1</Columns>

  5804.      <Value>0 0</Value>

  5805.     </Variable>

  5806.     <Variable>

  5807.      <Name>Joint_dynF\C\state_initial</Name>

  5808.      <Value>0</Value>

  5809.     </Variable>

  5810.     <Variable>

  5811.      <Name>Joint_dynB\C1\state_initial</Name>

  5812.      <Rows>3</Rows>

  5813.      <Columns>1</Columns>

  5814.      <Value>0 0 0</Value>

  5815.     </Variable>

  5816.     <Variable>

  5817.      <Name>Joint_dynB\C4\state_initial</Name>

  5818.      <Rows>2</Rows>

  5819.      <Columns>1</Columns>

  5820.      <Value>0 0</Value>

  5821.     </Variable>

  5822.     <Variable>

  5823.      <Name>Link1\Pin.e_initial</Name>

  5824.      <Rows>6</Rows>

  5825.      <Columns>1</Columns>

  5826.      <Value>0 0 0 0 0 0</Value>

  5827.     </Variable>

  5828.    </Initials>

  5829.   </Variables>

  5830.   <PlotSpecs>

  5831.    <VarNames>

  5832.     <VarName>time</VarName>

  5833.    </VarNames>

  5834.    <Plots>

  5835.     <Plot>

  5836.      <PlotType>GraphPlot</PlotType>

  5837.      <BasePlot>

  5838.        <PlotId>1</PlotId>

  5839.        <UseWindowsBGColor>false</UseWindowsBGColor>

  5840.        <BGColor>16777215</BGColor>

  5841.        <PlotIsVisible>true</PlotIsVisible>

  5842.      </BasePlot>

  5843.      <Grid>

  5844.       <DrawGrid>true</DrawGrid>

  5845.       <GridColor>15780518</GridColor>

  5846.       <GridBorderLineColor>12624260</GridBorderLineColor>

  5847.       <GridZeroLineColor>0</GridZeroLineColor>

  5848.       <XTicks>10</XTicks>

  5849.       <YTicks>10</YTicks>

  5850.       <ZTicks>10</ZTicks>

  5851.       <Use3DLook>false</Use3DLook>

  5852.      </Grid>

  5853.      <PlotBGColor>16777215</PlotBGColor>

  5854.      <ShowPlotTitle>true</ShowPlotTitle>

  5855.      <TitlePosition>1</TitlePosition>

  5856.      <PlotTitle>model</PlotTitle>

  5857.      <ShowXValues>true</ShowXValues>

  5858.      <Fonts>

  5859.       <TitleFont>

  5860.        <Name>Arial</Name>

  5861.        <Height>12</Height>

  5862.        <PitchFamily>34</PitchFamily>

  5863.        <Weight>400</Weight>

  5864.        <Italic>0</Italic>

  5865.        <UnderLine>0</UnderLine>

  5866.        <StrikeOut>0</StrikeOut>

  5867.        <Color>0</Color>

  5868.       </TitleFont>

  5869.       <LabelFont>

  5870.        <Name>Arial</Name>

  5871.        <Height>12</Height>

  5872.        <PitchFamily>34</PitchFamily>

  5873.        <Weight>400</Weight>

  5874.        <Italic>0</Italic>

  5875.        <UnderLine>0</UnderLine>

  5876.        <StrikeOut>0</StrikeOut>

  5877.        <Color>0</Color>

  5878.       </LabelFont>

  5879.       <ValuesFont>

  5880.        <Name>Arial</Name>

  5881.        <Height>10</Height>

  5882.        <PitchFamily>34</PitchFamily>

  5883.        <Weight>400</Weight>

  5884.        <Italic>0</Italic>

  5885.        <UnderLine>0</UnderLine>

  5886.        <StrikeOut>0</StrikeOut>

  5887.        <Color>0</Color>

  5888.       </ValuesFont>

  5889.       <LegendFont>

  5890.        <Name>Arial</Name>

  5891.        <Height>12</Height>

  5892.        <PitchFamily>34</PitchFamily>

  5893.        <Weight>400</Weight>

  5894.        <Italic>0</Italic>

  5895.        <UnderLine>0</UnderLine>

  5896.        <StrikeOut>0</StrikeOut>

  5897.        <Color>0</Color>

  5898.       </LegendFont>

  5899.      </Fonts>

  5900.      <SharedXAxis>true</SharedXAxis>

  5901.      <SharedYAxis>true</SharedYAxis>

  5902.      <SharedZAxis>false</SharedZAxis>

  5903.      <XAxes>

  5904.       <Axis>

  5905.        <Minimum>0.0</Minimum>

  5906.        <Maximum>10.0</Maximum>

  5907.        <Linear>true</Linear>

  5908.        <Scaling>3</Scaling>

  5909.        <Label>time</Label>

  5910.       </Axis>

  5911.      </XAxes>

  5912.      <YAxes>

  5913.       <Axis>

  5914.        <Minimum>0.0</Minimum>

  5915.        <Maximum>10.0</Maximum>

  5916.        <Linear>true</Linear>

  5917.        <Scaling>2</Scaling>

  5918.        <Label></Label>

  5919.       </Axis>

  5920.      </YAxes>

  5921.      <ZAxes>

  5922.      </ZAxes>

  5923.      <Curves>

  5924.       <Curve>

  5925.        <LineColor>3355111</LineColor>

  5926.        <LineStyle>1</LineStyle>

  5927.        <TickColor>3355111</TickColor>

  5928.        <TickStyle>0</TickStyle>

  5929.        <CurveVisible>true</CurveVisible>

  5930.        <PixelThresshold>1</PixelThresshold>

  5931.        <LineThickness>1</LineThickness>

  5932.        <LineOrder>1</LineOrder>

  5933.        <ShowYValues>true</ShowYValues>

  5934.        <XCurveData>

  5935.         <ShowUnit>true</ShowUnit>

  5936.         <VarName>time</VarName>

  5937.        </XCurveData>

  5938.       </Curve>

  5939.      </Curves>

  5940.      <Legenda>

  5941.       <ShowLegenda>true</ShowLegenda>

  5942.       <BorderPenColor>0</BorderPenColor>

  5943.       <BackgroundColor>16777215</BackgroundColor>

  5944.      </Legenda>

  5945.     </Plot>

  5946.    </Plots>

  5947.    <PlotPanels>

  5948.     <PlotPanel>

  5949.      <PlotPanelId>1</PlotPanelId>

  5950.      <PlotPanelVisible>true</PlotPanelVisible>

  5951.      <Name>Window 1</Name>

  5952.      <Tiling>0</Tiling>

  5953.      <PlotIds>

  5954.        <PlotId>1</PlotId>

  5955.      </PlotIds>

  5956.      <ToggleState>Base</ToggleState>

  5957.     </PlotPanel>

  5958.    </PlotPanels>

  5959.   </PlotSpecs>

  5960.   <RunSpecs>

  5961.    <SimulatorSettings>

  5962.     <StartTime>0.0</StartTime>

  5963.     <FinishTime>10.0</FinishTime>

  5964.     <AllowPassFinishTime>false</AllowPassFinishTime>

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