mahd/implementation/SCARA/spike/inverse_kinematics.emx

<?xml version="1.0" encoding="UTF-8"?>
<Document>
 <Model version="4.8" build="4.8.2.10124">
  <Sidops><![CDATA[model 128 184
 description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>0</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>C:\users\wouter\My Documents\studie\ma\mahd\implementation\submodel\SCARA\spike\inverse_kinematics.emx</LibraryPath>
  <TimeStamp>2020-7-9 16:58:55</TimeStamp>
</Description>
</Information>';
 type Mainmodel
 end;
 implementation bg
  submodels
   inverse_kinematics 352 184
    description '<Description><Version>4.0</Version>
   <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
   <TimeStamp>2007-11-1 22:32:1</TimeStamp>
   <AllowLibraryUpdate>False</AllowLibraryUpdate>
</Description>';
    type 'Submodel-Equation'
     ports
      signal in input [2,1] {m} ;
      signal out angle1 {rad} ;
      signal out angle2 {rad} ;
      signal out a {rad} ;
      signal out b {rad} ;
      signal out c {rad} ;
      signal out phi {rad} ;
    end;
    implementation eq
parameters
	real global A_length; // length of first arm
	real global B_length; // length of second arm
	real to_rad = 1 {rad};
variables
	real x {m}, y {m};
	real C_length {m}; // length to x and y.
	real angle_sum {rad}; //  test angle
equations
	x = input[1];
	y = input[2];
	phi = atan2(y, x);
	C_length = sqrt(x^2 + y^2);	
	a = arccos ((B_length^2 + C_length^2 - A_length^2) / (2 * B_length * C_length));
	b = arccos ((A_length^2 + C_length^2 - B_length^2) / (2 * A_length * C_length));
	c = arccos ((A_length^2 + B_length^2 - C_length^2) / (2 * A_length * B_length));
	angle1 = b + phi;
	angle2 =  angle1 - pi * to_rad + c;
	
	

 implementation_end;
   rectanglepath 112 184
    description '<Description><Version>4.0</Version>
   <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
   <TimeStamp>2007-11-1 22:32:1</TimeStamp>
   <AllowLibraryUpdate>False</AllowLibraryUpdate>
</Description>';
    type 'Submodel-Equation'
     ports
      signal out output [2,1];
    end;
    implementation eq
/* 
This will generate coordinates for the box that has to be drawn
*/
parameters
	real w = 0.07{m} ;
	real h = 0.05 {m};
	real t  = 1 {s};
	real origin[2] = [0.05,0.05]{m};
variables
	real v {m/s};
	real t_w {s};
	real t_h {s};
	real period {s};
	real test1, test2, test3;
initialequations
	v = (2*w + 2*h)/t;
	t_w = w / v;
	t_h = h / v;
equations
	period = floor(time / t) * t;
	output[1] = v*(ramp(period+t_h) - ramp(period + t_w+t_h) - ramp(period + t_w + t_h + t_h)) + origin[1];
	output[2] = v*(ramp(period) - ramp(period + t_h) - ramp(period + t_h + t_w) + ramp(period + 2 * t_h + t_w))+ origin[2];
implementation_end;
   Submodel2 560 184
    description '<Description><Version>4.0</Version>
   <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
   <TimeStamp>2007-11-1 22:32:1</TimeStamp>
   <AllowLibraryUpdate>False</AllowLibraryUpdate>
</Description>';
    type 'Submodel-Equation'
     ports
      signal in angle1;
      signal in angle2;
    end;
    implementation eq
parameters
	real global A;
	real global B;
variables
	real joint1[2]{m};
	real joint2[2]{m};
	real end_effector[2]{m};
equations
	joint1 = A*[cos(angle1);sin(angle1)];
	joint2 = B*[cos(angle2);sin(angle2)];
	end_effector = joint1 + joint2;
	implementation_end;
  end;
  connections
   inverse_kinematics\angle1 -> Submodel2\angle1;
   inverse_kinematics\angle2 -> Submodel2\angle2;
   rectanglepath\output -> inverse_kinematics\input;
  end;
 implementation_end;
]]>
</Sidops>
 </Model>
 <Experiments>
     <DefaultExperiment><![CDATA[Experiment 1]]>
</DefaultExperiment>
  <Experiment>
    <Name>Experiment 1</Name>
    <CreatedBy></CreatedBy>
    <Info></Info>
<ExpData>
  <VersionNumber>4.8</VersionNumber>
  <ModelProperties>
  </ModelProperties>
  <Variables>
   <Parameters>
   </Parameters>
  </Variables>
  <PlotSpecs>
   <VarNames>
    <VarName>time</VarName>
    <VarName>Submodel2\end_effector[2]</VarName>
    <VarName>Submodel2\joint1[2]</VarName>
    <VarName>Submodel2\end_effector[1]</VarName>
    <VarName>Submodel2\joint1[1]</VarName>
    <VarName>rectanglepath\output[1]</VarName>
    <VarName>rectanglepath\output[2]</VarName>
    <VarName>rectanglepath\test1</VarName>
    <VarName>rectanglepath\test2</VarName>
    <VarName>rectanglepath\test3</VarName>
    <VarName>Constant\output[1]</VarName>
    <VarName>Constant\output[2]</VarName>
   </VarNames>
   <Plots>
    <Plot>
     <PlotType>GraphPlot</PlotType>
     <BasePlot>
       <PlotId>1</PlotId>
       <UseWindowsBGColor>false</UseWindowsBGColor>
       <BGColor>16777215</BGColor>
       <PlotIsVisible>true</PlotIsVisible>
     </BasePlot>
     <Grid>
      <DrawGrid>true</DrawGrid>
      <GridColor>15780518</GridColor>
      <GridBorderLineColor>12624260</GridBorderLineColor>
      <GridZeroLineColor>0</GridZeroLineColor>
      <XTicks>10</XTicks>
      <YTicks>10</YTicks>
      <ZTicks>10</ZTicks>
      <Use3DLook>false</Use3DLook>
     </Grid>
     <PlotBGColor>16777215</PlotBGColor>
     <ShowPlotTitle>true</ShowPlotTitle>
     <TitlePosition>1</TitlePosition>
     <PlotTitle>model</PlotTitle>
     <ShowXValues>true</ShowXValues>
     <Fonts>
      <TitleFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
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      <LabelFont>
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       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
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       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </LabelFont>
      <ValuesFont>
       <Name>Arial</Name>
       <Height>10</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </ValuesFont>
      <LegendFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </LegendFont>
     </Fonts>
     <SharedXAxis>true</SharedXAxis>
     <SharedYAxis>true</SharedYAxis>
     <SharedZAxis>false</SharedZAxis>
     <XAxes>
      <Axis>
       <Minimum>-0.049999931062904804</Minimum>
       <Maximum>0.12000000000000034</Maximum>
       <Linear>true</Linear>
       <Scaling>3</Scaling>
       <Label>end_effector[1]</Label>
      </Axis>
     </XAxes>
     <YAxes>
      <Axis>
       <Minimum>0.019999999999999997</Minimum>
       <Maximum>0.12</Maximum>
       <Linear>true</Linear>
       <Scaling>2</Scaling>
       <Label>end_effector[2]</Label>
      </Axis>
      <Axis>
       <Minimum>0.0</Minimum>
       <Maximum>5.0</Maximum>
       <Linear>true</Linear>
       <Scaling>2</Scaling>
       <Label>joint1[2]</Label>
      </Axis>
      <Axis>
       <Minimum>0.0</Minimum>
       <Maximum>5.0</Maximum>
       <Linear>true</Linear>
       <Scaling>2</Scaling>
       <Label>output[2]</Label>
      </Axis>
     </YAxes>
     <ZAxes>
     </ZAxes>
     <Curves>
      <Curve>
       <LineColor>3355111</LineColor>
       <LineStyle>1</LineStyle>
       <TickColor>3355111</TickColor>
       <TickStyle>0</TickStyle>
       <CurveVisible>true</CurveVisible>
       <PixelThresshold>1</PixelThresshold>
       <LineThickness>1</LineThickness>
       <LineOrder>1</LineOrder>
       <ShowYValues>true</ShowYValues>
       <XCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>Submodel2\end_effector[1]</VarName>
       </XCurveData>
       <YCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>Submodel2\end_effector[2]</VarName>
       </YCurveData>
      </Curve>
      <Curve>
       <LineColor>6076255</LineColor>
       <LineStyle>1</LineStyle>
       <TickColor>6076255</TickColor>
       <TickStyle>0</TickStyle>
       <CurveVisible>true</CurveVisible>
       <PixelThresshold>1</PixelThresshold>
       <LineThickness>1</LineThickness>
       <LineOrder>1</LineOrder>
       <ShowYValues>true</ShowYValues>
       <XCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>Submodel2\joint1[1]</VarName>
       </XCurveData>
       <YCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>Submodel2\joint1[2]</VarName>
       </YCurveData>
      </Curve>
      <Curve>
       <LineColor>12553035</LineColor>
       <LineStyle>1</LineStyle>
       <TickColor>12553035</TickColor>
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       <LineThickness>1</LineThickness>
       <LineOrder>1</LineOrder>
       <ShowYValues>true</ShowYValues>
       <XCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>Constant\output[1]</VarName>
       </XCurveData>
       <YCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>Constant\output[2]</VarName>
       </YCurveData>
      </Curve>
     </Curves>
     <Legenda>
      <ShowLegenda>true</ShowLegenda>
      <BorderPenColor>0</BorderPenColor>
      <BackgroundColor>16777215</BackgroundColor>
     </Legenda>
    </Plot>
    <Plot>
     <PlotType>GraphPlot</PlotType>
     <BasePlot>
       <PlotId>2</PlotId>
       <UseWindowsBGColor>false</UseWindowsBGColor>
       <BGColor>16777215</BGColor>
       <PlotIsVisible>true</PlotIsVisible>
     </BasePlot>
     <Grid>
      <DrawGrid>true</DrawGrid>
      <GridColor>15780518</GridColor>
      <GridBorderLineColor>12624260</GridBorderLineColor>
      <GridZeroLineColor>0</GridZeroLineColor>
      <XTicks>10</XTicks>
      <YTicks>10</YTicks>
      <ZTicks>10</ZTicks>
      <Use3DLook>false</Use3DLook>
     </Grid>
     <PlotBGColor>16777215</PlotBGColor>
     <ShowPlotTitle>true</ShowPlotTitle>
     <TitlePosition>1</TitlePosition>
     <PlotTitle>model(1)</PlotTitle>
     <ShowXValues>true</ShowXValues>
     <Fonts>
      <TitleFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </TitleFont>
      <LabelFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </LabelFont>
      <ValuesFont>
       <Name>Arial</Name>
       <Height>10</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </ValuesFont>
      <LegendFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </LegendFont>
     </Fonts>
     <SharedXAxis>true</SharedXAxis>
     <SharedYAxis>true</SharedYAxis>
     <SharedZAxis>false</SharedZAxis>
     <XAxes>
      <Axis>
       <Minimum>0.0</Minimum>
       <Maximum>40.0</Maximum>
       <Linear>true</Linear>
       <Scaling>3</Scaling>
       <Label>time</Label>
      </Axis>
     </XAxes>
     <YAxes>
      <Axis>
       <Minimum>0.03</Minimum>
       <Maximum>0.13</Maximum>
       <Linear>true</Linear>
       <Scaling>2</Scaling>
       <Label>output[1]</Label>
      </Axis>
      <Axis>
       <Minimum>-4.0</Minimum>
       <Maximum>1.0</Maximum>
       <Linear>true</Linear>
       <Scaling>2</Scaling>
       <Label>output[2]</Label>
      </Axis>
      <Axis>
       <Minimum>-4.0</Minimum>
       <Maximum>1.0</Maximum>
       <Linear>true</Linear>
       <Scaling>2</Scaling>
       <Label>test1</Label>
      </Axis>
      <Axis>
       <Minimum>-4.0</Minimum>
       <Maximum>1.0</Maximum>
       <Linear>true</Linear>
       <Scaling>2</Scaling>
       <Label>test2</Label>
      </Axis>
      <Axis>
       <Minimum>-4.0</Minimum>
       <Maximum>1.0</Maximum>
       <Linear>true</Linear>
       <Scaling>2</Scaling>
       <Label>test3</Label>
      </Axis>
     </YAxes>
     <ZAxes>
     </ZAxes>
     <Curves>
      <Curve>
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       <LineStyle>1</LineStyle>
       <TickColor>3355111</TickColor>
       <TickStyle>0</TickStyle>
       <CurveVisible>true</CurveVisible>
       <PixelThresshold>1</PixelThresshold>
       <LineThickness>1</LineThickness>
       <LineOrder>1</LineOrder>
       <ShowYValues>true</ShowYValues>
       <XCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>time</VarName>
       </XCurveData>
       <YCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>rectanglepath\output[1]</VarName>
       </YCurveData>
      </Curve>
      <Curve>
       <LineColor>6076255</LineColor>
       <LineStyle>1</LineStyle>
       <TickColor>6076255</TickColor>
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       <LineThickness>1</LineThickness>
       <LineOrder>1</LineOrder>
       <ShowYValues>true</ShowYValues>
       <XCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>time</VarName>
       </XCurveData>
       <YCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>rectanglepath\output[2]</VarName>
       </YCurveData>
      </Curve>
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       <LineColor>12553035</LineColor>
       <LineStyle>1</LineStyle>
       <TickColor>12553035</TickColor>
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       <PixelThresshold>1</PixelThresshold>
       <LineThickness>1</LineThickness>
       <LineOrder>1</LineOrder>
       <ShowYValues>true</ShowYValues>
       <XCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>time</VarName>
       </XCurveData>
       <YCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>rectanglepath\test1</VarName>
       </YCurveData>
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        <ShowUnit>true</ShowUnit>
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       </XCurveData>
       <YCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>rectanglepath\test3</VarName>
       </YCurveData>
      </Curve>
     </Curves>
     <Legenda>
      <ShowLegenda>true</ShowLegenda>
      <BorderPenColor>0</BorderPenColor>
      <BackgroundColor>16777215</BackgroundColor>
     </Legenda>
    </Plot>
    <Plot>
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       <UseWindowsBGColor>false</UseWindowsBGColor>
       <BGColor>16777215</BGColor>
       <PlotIsVisible>true</PlotIsVisible>
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     <PlotTitle>3D Animation</PlotTitle>
     <RenderQuality>137</RenderQuality>
     <ShowGrid>true</ShowGrid>
     <ShowFPS>false</ShowFPS>
     <BackgroundColor>4294967295</BackgroundColor>
     <SceneBackgroundImage>Gradients\BlueWhite.png</SceneBackgroundImage>
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       </ScaleValue>
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       <Name>Reference Frame</Name>
       <Position>
       </Position>
       <Orientation>
        <Angles>
        </Angles>
        <OrientationType>Bryant</OrientationType>
       </Orientation>
       <LockX>false</LockX>
       <LockY>false</LockY>
       <LockZ>false</LockZ>
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       <LockYYaw>false</LockYYaw>
       <LockZRoll>false</LockZRoll>
       <Childs>
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         <ShowReferenceFrame>false</ShowReferenceFrame>
         <Name>Default Lights and Cameras</Name>
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         <Childs>
     <Light>
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      <Name>Ambient</Name>
      <Position>
      </Position>
      <Orientation>
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       </ZAxis>
       <YAxis>
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         <Value>1</Value>
        </Y>
       </YAxis>
       <OrientationType>Direct3D</OrientationType>
      </Orientation>
      <LockX>false</LockX>
      <LockY>false</LockY>
      <LockZ>false</LockZ>
      <LockXPitch>false</LockXPitch>
      <LockYYaw>false</LockYYaw>
      <LockZRoll>false</LockZRoll>
      <Childs>
      </Childs>
      <LightType>0</LightType>
      <LightColor>
       <Color>
        <X>
         <Value>0.3</Value>
        </X>
        <Y>
         <Value>0.3</Value>
        </Y>
        <Z>
         <Value>0.3</Value>
        </Z>
       </Color>
       <Offset>
       </Offset>
       <Multipliers>
        <X>
         <Value>1</Value>
        </X>
        <Y>
         <Value>1</Value>
        </Y>
        <Z>
         <Value>1</Value>
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       </Multipliers>
       <Direct3DColorRange>true</Direct3DColorRange>
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      <AmbientLight>
       <Color>
        <X>
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        </X>
        <Y>
         <Value>0.3</Value>
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        <Z>
         <Value>0.3</Value>
        </Z>
       </Color>
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        <Y>
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        <Z>
         <Value>1</Value>
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       </Multipliers>
       <Direct3DColorRange>true</Direct3DColorRange>
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      <DiffuseOn>false</DiffuseOn>
      <SpecularOn>false</SpecularOn>
     </Light>
     <Light>
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      <Name>Parallel</Name>
      <Position>
       <X>
        <Value>-3</Value>
       </X>
       <Y>
        <Value>5</Value>
       </Y>
       <Z>
        <Value>3</Value>
       </Z>
      </Position>
      <Orientation>
       <ZAxis>
        <X>
         <Value>0.457495710997814</Value>
        </X>
        <Y>
         <Value>-0.762492851663023</Value>
        </Y>
        <Z>
         <Value>-0.457495710997814</Value>
        </Z>
       </ZAxis>
       <YAxis>
        <X>
         <Value>0.235379601434674</Value>
        </X>
        <Y>
         <Value>-0.392299335724456</Value>
        </Y>
        <Z>
         <Value>0.889211827642101</Value>
        </Z>
       </YAxis>
       <OrientationType>Direct3D</OrientationType>
      </Orientation>
      <LockX>false</LockX>
      <LockY>false</LockY>
      <LockZ>false</LockZ>
      <LockXPitch>false</LockXPitch>
      <LockYYaw>false</LockYYaw>
      <LockZRoll>false</LockZRoll>
      <Childs>
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    <FPGonio>false</FPGonio>
    <UseOutputAfterEach>false</UseOutputAfterEach>
    <OutputAfterEach>0.1</OutputAfterEach>
    <EventEpsilon>1.0e-6</EventEpsilon>
    <AlgebraicTolerance>1.0e-7</AlgebraicTolerance>
    <SteadyStateAnalysis>false</SteadyStateAnalysis>
    <UpdateHoldInstructions>true</UpdateHoldInstructions>
   </SimulatorSettings>
   <IntegrationMethods>
    <IntegrationMethod>
     <Name>Euler</Name>
     <StepSize>0.01</StepSize>
     <AutoStepSize>false</AutoStepSize>
    </IntegrationMethod>
    <IntegrationMethod>
     <Name>BackwardEuler</Name>
     <AbsoluteTolerance>1.0e-5</AbsoluteTolerance>
     <RelativeTolerance>1.0e-5</RelativeTolerance>
     <AlgebraicAbsoluteTolerance>1.0e-5</AlgebraicAbsoluteTolerance>
     <AlgebraicRelativeTolerance>1.0e-5</AlgebraicRelativeTolerance>
     <StepSize>0.01</StepSize>
     <Alpha>1.0</Alpha>
    </IntegrationMethod>
    <IntegrationMethod>
     <Name>AdamsBashforth</Name>
     <StepSize>0.01</StepSize>
     <AutoStepSize>false</AutoStepSize>
    </IntegrationMethod>
    <IntegrationMethod>
     <Name>RungeKutta2</Name>
     <StepSize>0.01</StepSize>
     <AutoStepSize>false</AutoStepSize>
    </IntegrationMethod>
    <IntegrationMethod>
     <Name>RungeKutta4</Name>
     <StepSize>0.01</StepSize>
     <AutoStepSize>false</AutoStepSize>
    </IntegrationMethod>
    <IntegrationMethod>
     <Name>RungeKutta8</Name>
     <UseInitialStepSize>false</UseInitialStepSize>
     <InitialStepSize>0.001</InitialStepSize>
     <UseMaximumStepSize>false</UseMaximumStepSize>
     <MaximumStepSize>1.0</MaximumStepSize>
     <AbsoluteTolerance>1.0e-6</AbsoluteTolerance>
     <RelativeTolerance>1.0e-6</RelativeTolerance>
     <SafetyFactor>0.9</SafetyFactor>
     <Factor1>0.33</Factor1>
     <Factor2>6.0</Factor2>
     <Beta>0.0</Beta>
     <UseMaxNrSteps>false</UseMaxNrSteps>
     <MaxNrSteps>100000</MaxNrSteps>
     <UseStiffDetection>false</UseStiffDetection>
     <MaxNrStiffnessSteps>1000</MaxNrStiffnessSteps>
    </IntegrationMethod>
    <IntegrationMethod>
     <Name>RungeKuttaFehlberg</Name>
     <UseInitialStepSize>false</UseInitialStepSize>
     <InitialStepSize>0.001</InitialStepSize>
     <UseMaximumStepSize>false</UseMaximumStepSize>
     <MaximumStepSize>1.0</MaximumStepSize>
     <AbsoluteTolerance>1.0e-6</AbsoluteTolerance>
     <RelativeTolerance>1.0e-6</RelativeTolerance>
    </IntegrationMethod>
    <IntegrationMethod>
     <Name>VodeAdams</Name>
     <UseInitialStepSize>false</UseInitialStepSize>
     <InitialStepSize>0.001</InitialStepSize>
     <UseMaximumStepSize>false</UseMaximumStepSize>
     <MaximumStepSize>1.0</MaximumStepSize>
     <AbsoluteTolerance>1.0e-6</AbsoluteTolerance>
     <RelativeTolerance>1.0e-6</RelativeTolerance>
     <VodeUseBDF>true</VodeUseBDF>
     <VodeUseNewton>true</VodeUseNewton>
    </IntegrationMethod>
    <IntegrationMethod>
     <Name>BDFMethod</Name>
     <AbsoluteTolerance>1.0e-5</AbsoluteTolerance>
     <RelativeTolerance>1.0e-5</RelativeTolerance>
     <AlgebraicAbsoluteTolerance>1.0e-5</AlgebraicAbsoluteTolerance>
     <AlgebraicRelativeTolerance>1.0e-5</AlgebraicRelativeTolerance>
     <UseInitialStepSize>false</UseInitialStepSize>
     <InitialStepSize>0.001</InitialStepSize>
     <UseMaximumStepSize>false</UseMaximumStepSize>
     <MaximumStepSize>1.0</MaximumStepSize>
    </IntegrationMethod>
    <IntegrationMethod>
     <Name>MeBDFiMethod</Name>
     <AbsoluteTolerance>1.0e-5</AbsoluteTolerance>
     <RelativeTolerance>1.0e-5</RelativeTolerance>
     <AlgebraicAbsoluteTolerance>1.0e-5</AlgebraicAbsoluteTolerance>
     <AlgebraicRelativeTolerance>1.0e-5</AlgebraicRelativeTolerance>
     <UseInitialStepSize>false</UseInitialStepSize>
     <InitialStepSize>0.001</InitialStepSize>
     <UseMaximumStepSize>false</UseMaximumStepSize>
     <MaximumStepSize>1.0</MaximumStepSize>
    </IntegrationMethod>
    <SelectedIntegrationMethod>8</SelectedIntegrationMethod>
   </IntegrationMethods>
  </RunSpecs>
  <MultipleRun>
   <NrSteps>10</NrSteps>
   <CopyFromStates>false</CopyFromStates>
   <JoinParameterVariation>true</JoinParameterVariation>
   <ClearAfterRun>true</ClearAfterRun>
   <RedrawAfterRun>false</RedrawAfterRun>
   <DrawDuringSimulation>true</DrawDuringSimulation>
   <ActionBeforeOptimization>0</ActionBeforeOptimization>
   <CompareValue>0.0</CompareValue>
   <UseCompareValue>true</UseCompareValue>
   <MultipleRunType>MultipleRun</MultipleRunType>
   <Minimize>true</Minimize>
   <OptimizationVariable></OptimizationVariable>
   <ResulVarUsage>UseEndValue</ResulVarUsage>
   <Tolerance>0.001</Tolerance>
   <OptimizationMethod>BroydonFletcherGoldfarbShanno</OptimizationMethod>
   <MultipleRunVariables>
   </MultipleRunVariables>
  </MultipleRun>
  <ExportData>
   <WriteAsText>true</WriteAsText>
   <ReadAsText>true</ReadAsText>
   <WriteHeader>true</WriteHeader>
   <ReadHeader>true</ReadHeader>
   <ReadFilename></ReadFilename>
   <WriteFilename></WriteFilename>
   <DoWrite>false</DoWrite>
   <ExportVariables>
   </ExportVariables>
   <ImportVariables>
   </ImportVariables>
  </ExportData>
  <BreakPoints>
  </BreakPoints>
</ExpData>
  </Experiment>
</Experiments>
</Document>