mahd/implementation/SCARA/06_arm/arm_model.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\SCARA\06_arm\arm_model.emx</LibraryPath>
  <TimeStamp>2020-7-23 11:32:46</TimeStamp>
</Description>
</Information>';
 type Mainmodel
 end;
 implementation bg
  submodels
   Body1 520 496
    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 [4,4];
    end;
    implementation eq
parameters
	real dimension[3] = [0.005;0.01;0.065] {m};
variables
	real position[3];
	real rotation[3];
	real R[3,3];
equations
	position = input[1:3,4];
	rotation = dll('EulerAngles.dll','EulXYZsFromHMatrix',input);
	//[input[3,2];input[1,3];input[2,1]];
	R = input[1:3,1:3];implementation_end;
   Body2 792 544
    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 [4,4];
    end;
    implementation eq
parameters
	real dimension[3] = [0.005;0.025;0.01] {m};
variables
	real position[3];
	real rotation[3];
	real R[3,3];
equations
	position = input[1:3,4];
	rotation = dll('EulerAngles.dll','EulXYZsFromHMatrix',input);
	//[input[3,2];input[1,3];input[2,1]];
	R = input[1:3,1:3];implementation_end;
   Body3 704 496
    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 [4,4];
    end;
    implementation eq
parameters
	real dimension[3] = [0.005;0.01;0.065] {m};
variables
	real position[3];
	real rotation[3];
	real R[3,3];
equations
	position = input[1:3,4];
	rotation = dll('EulerAngles.dll','EulXYZsFromHMatrix',input);
	//[input[3,2];input[1,3];input[2,1]];
	R = input[1:3,1:3];implementation_end;
   Body4 696 200
    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 [4,4];
    end;
    implementation eq
parameters
	real dimension[3] = [0.005;0.05;0.01] {m};
variables
	real position[3];
	real rotation[3];
	real R[3,3];
equations
	position = input[1:3,4];
	rotation = dll('EulerAngles.dll','EulXYZsFromHMatrix',input);
	//[input[3,2];input[1,3];input[2,1]];
	R = input[1:3,1:3];implementation_end;
   Body5 920 232
    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 [4,4];
    end;
    implementation eq
parameters
	real dimension[3] = [0.005;0.025;0.01] {m};
variables
	real position[3];
	real rotation[3];
	real R[3,3];
equations
	position = input[1:3,4];
	rotation = dll('EulerAngles.dll','EulXYZsFromHMatrix',input);
	//[input[3,2];input[1,3];input[2,1]];
	R = input[1:3,1:3];implementation_end;
   COM_body1 496 376
    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
	real I [3,1] = [1.6399999999999998e-6; 4.7e-8; 1.61e-6] {N.m.s};
	real m = 0.00455 {kg};</GlobalRelations></Attributes></Information>';
    type Submodel
     ports
      signal in Hin [4,4];
      signal out Hout [4,4];
      power out p [6,1];
    end;
    icon bg bottom
     figures
      rectangle 480 344 512 408 color 0 fill 139;
      text 'COM' 496 376 color 0 'Clear Sans' 16;
     terminals
      Hin 480 360 fixed;
      p 480 392 fixed;
    end;
    implementation bg
     submodels
      AdHi0 544 400
       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>';
       type MTF
        ports
         power in p1 [6,1];
         power out p2 [6,1];
         signal in H [4,4];
        restrictions
         causality constraint not_equal p1 p2;
       end;
       icon bg left
        figures
         text 'MTF' 544 400 color 0 18 bold;
       end;
       implementation eq
variables
 	real onlyRotH[4,4];
code
	//Only rotations with respect to the inertial system matter!
	onlyRotH = H;
	onlyRotH[1,4] = 0;
	onlyRotH[2,4] = 0;
	onlyRotH[3,4] = 0;
						
	p2.e = transpose(Adjoint(onlyRotH)) * p1.e;
	p1.f = Adjoint(onlyRotH) * p2.f;
implementation_end;
      EJS 616 336
       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>';
       type MGY
        ports
         power in p1 [6,1];
       end;
       icon bg top
        figures
         text 'MGY' 616 336 color 0 18 bold;
       end;
       implementation eq
//EJS / Gyroscopic effects
parameters
	real global I[3];
	real global m;
variables
	real II[6,6]; //Inertial tensor
	real Q[6,6];
	real QI[6,6];
	real Ia[6];
initialequations
	Ia[1:3] = I;
	Ia[4:6] = m;
	II = diag(Ia);
equations
	Q = transpose(adjoint(p1.f));
	QI = Q*II;
	p1.e = QI*p1.f;implementation_end;
      Gravity 624 400
       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>';
       type Se
        ports
         power out p [6,1];
        restrictions
         causality fixed out p;
       end;
       icon bg bottom
        figures
         text 'Se' 624 400 color 0 18 bold;
       end;
       implementation eq
parameters
	real global m;
variables
	real effort[6];
equations
	effort = [0;0;0;0;0;-g_n*m];
	p.e = effort;
implementation_end;
      InertialTensor 544 272
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\3D\I-3.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:12:14</TimeStamp>
</Description>';
       type 'I-3'
        ports
         power in p [6,1];
         signal out state [6,1];
        restrictions
         causality preferred in p;
       end;
       icon bg bottom
        figures
         text 'I' 544 272 color 0 18 bold;
       end;
       implementation eq
parameters
	real global I[3];
	real global m;
variables
	real II[6,6]; //Inertial tensor
	real Ia[6];
initialequations
	Ia[1:3] = I;
	Ia[4:6] = m;
	II = diag(Ia);
equations
    state = int(p.e); //state = generalized momentum
    p.f = inverse(II)*state;
implementation_end;
      plug Hin 433.4 496;
      plug Hout 691.2 496;
      plug p 439.4 336;
      Splitter1 544 496
       description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
       knot Splitter
        ports
         signal knot duplicatable out output [4,4];
         signal knot in input [4,4];
       end;
       icon bg ellipse
        figures
         ellipse 540.8 492.8 547.2 499.2 color -1 fill 0;
         ellipse 539.7 491.7 548.3 500.3 color -1;
        terminals
         input 544 496 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
      Ta0j 544 336
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
 <TimeStamp>2007-9-27 9:51:18</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
   <Description></Description>
</Description>';
       knot OneJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out flow [6,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg bottom
        figures
         text '1' 544 336 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      ZeroJunction1 504 336
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:45:16</TimeStamp>
</Description>
</Information>';
       knot ZeroJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out effort [6,1];
        restrictions
         causality constraint one_in p;
       end;
       icon bg
        figures
         text '0' 504 336 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
     end;
     connections
      AdHi0\p2 => Ta0j\p;
      Gravity\p => AdHi0\p1;
      Hin -> Splitter1\input;
      Splitter1\output -> AdHi0\H;
      Splitter1\output -> Hout;
      Ta0j\p => EJS\p1;
      Ta0j\p => InertialTensor\p;
      ZeroJunction1\p => p;
      ZeroJunction1\p => Ta0j\p;
     end;
    implementation_end;
   COM_body2 776 688
    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
	real I [3,1] = [0.01;0.01;0.0001] {N.m.s};
	real m = 0.5 {kg};</GlobalRelations>
 </Attributes>
</Information>';
    type Submodel
     ports
      signal in Hin [4,4];
      signal out Hout [4,4];
      power out p [6,1];
    end;
    icon bg bottom
     figures
      rectangle 744 672 808 704 color 0 fill 139;
      text 'COM' 776 688 color 0 'Clear Sans' 16;
     terminals
      Hin 792 672 fixed;
      p 760 672 fixed;
    end;
    implementation bg
     submodels
      AdHi0 544 400
       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>';
       type MTF
        ports
         power in p1 [6,1];
         power out p2 [6,1];
         signal in H [4,4];
        restrictions
         causality constraint not_equal p1 p2;
       end;
       icon bg left
        figures
         text 'MTF' 544 400 color 0 18 bold;
       end;
       implementation eq
variables
 	real onlyRotH[4,4];
code
	//Only rotations with respect to the inertial system matter!
	onlyRotH = H;
	onlyRotH[1,4] = 0;
	onlyRotH[2,4] = 0;
	onlyRotH[3,4] = 0;
						
	p2.e = transpose(Adjoint(onlyRotH)) * p1.e;
	p1.f = Adjoint(onlyRotH) * p2.f;
implementation_end;
      EJS 616 336
       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>';
       type MGY
        ports
         power in p1 [6,1];
       end;
       icon bg top
        figures
         text 'MGY' 616 336 color 0 18 bold;
       end;
       implementation eq
//EJS / Gyroscopic effects
parameters
	real global I[3];
	real global m;
variables
	real II[6,6]; //Inertial tensor
	real Q[6,6];
	real QI[6,6];
	real Ia[6];
initialequations
	Ia[1:3] = I;
	Ia[4:6] = m;
	II = diag(Ia);
equations
	Q = transpose(adjoint(p1.f));
	QI = Q*II;
	p1.e = QI*p1.f;implementation_end;
      Gravity 624 400
       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>';
       type Se
        ports
         power out p [6,1];
        restrictions
         causality fixed out p;
       end;
       icon bg bottom
        figures
         text 'Se' 624 400 color 0 18 bold;
       end;
       implementation eq
parameters
	real global m;
variables
	real effort[6];
equations
	effort = [0;0;0;0;0;-g_n*m];
	p.e = effort;
implementation_end;
      InertialTensor 544 272
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\3D\I-3.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:12:14</TimeStamp>
</Description>';
       type 'I-3'
        ports
         power in p [6,1];
         signal out state [6,1];
        restrictions
         causality preferred in p;
       end;
       icon bg bottom
        figures
         text 'I' 544 272 color 0 18 bold;
       end;
       implementation eq
parameters
	real global I[3];
	real global m;
variables
	real II[6,6]; //Inertial tensor
	real Ia[6];
initialequations
	Ia[1:3] = I;
	Ia[4:6] = m;
	II = diag(Ia);
equations
    state = int(p.e); //state = generalized momentum
    p.f = inverse(II)*state;
implementation_end;
      plug Hin 433.4 496;
      plug Hout 691.2 496;
      plug p 439.4 336;
      Splitter1 544 496
       description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
       knot Splitter
        ports
         signal knot duplicatable out output [4,4];
         signal knot in input [4,4];
       end;
       icon bg ellipse
        figures
         ellipse 540.8 492.8 547.2 499.2 color -1 fill 0;
         ellipse 539.7 491.7 548.3 500.3 color -1;
        terminals
         input 544 496 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
      Ta0j 544 336
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
 <TimeStamp>2007-9-27 9:51:18</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
   <Description></Description>
</Description>';
       knot OneJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out flow [6,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg bottom
        figures
         text '1' 544 336 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      ZeroJunction1 504 336
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:45:16</TimeStamp>
</Description>
</Information>';
       knot ZeroJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out effort [6,1];
        restrictions
         causality constraint one_in p;
       end;
       icon bg
        figures
         text '0' 504 336 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
     end;
     connections
      AdHi0\p2 => Ta0j\p;
      Gravity\p => AdHi0\p1;
      Hin -> Splitter1\input;
      Splitter1\output -> AdHi0\H;
      Splitter1\output -> Hout;
      Ta0j\p => EJS\p1;
      Ta0j\p => InertialTensor\p;
      ZeroJunction1\p => p;
      ZeroJunction1\p => Ta0j\p;
     end;
    implementation_end;
   COM_body3 696 376
    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
	real I [3,1] = [1.6399999999999998e-6; 4.7e-8; 1.61e-6] {N.m.s};
	real m = 0.00455 {kg};</GlobalRelations></Attributes></Information>';
    type Submodel
     ports
      signal in Hin [4,4];
      signal out Hout [4,4];
      power out p [6,1];
    end;
    icon bg bottom
     figures
      rectangle 680 344 712 408 color 0 fill 139;
      text 'COM' 696 376 color 0 'Clear Sans' 16;
     terminals
      Hin 680 360 fixed;
      p 680 392 fixed;
    end;
    implementation bg
     submodels
      AdHi0 544 400
       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>';
       type MTF
        ports
         power in p1 [6,1];
         power out p2 [6,1];
         signal in H [4,4];
        restrictions
         causality constraint not_equal p1 p2;
       end;
       icon bg left
        figures
         text 'MTF' 544 400 color 0 18 bold;
       end;
       implementation eq
variables
 	real onlyRotH[4,4];
code
	//Only rotations with respect to the inertial system matter!
	onlyRotH = H;
	onlyRotH[1,4] = 0;
	onlyRotH[2,4] = 0;
	onlyRotH[3,4] = 0;
						
	p2.e = transpose(Adjoint(onlyRotH)) * p1.e;
	p1.f = Adjoint(onlyRotH) * p2.f;
implementation_end;
      EJS 616 336
       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>';
       type MGY
        ports
         power in p1 [6,1];
       end;
       icon bg top
        figures
         text 'MGY' 616 336 color 0 18 bold;
       end;
       implementation eq
//EJS / Gyroscopic effects
parameters
	real global I[3];
	real global m;
variables
	real II[6,6]; //Inertial tensor
	real Q[6,6];
	real QI[6,6];
	real Ia[6];
initialequations
	Ia[1:3] = I;
	Ia[4:6] = m;
	II = diag(Ia);
equations
	Q = transpose(adjoint(p1.f));
	QI = Q*II;
	p1.e = QI*p1.f;implementation_end;
      Gravity 624 400
       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>';
       type Se
        ports
         power out p [6,1];
        restrictions
         causality fixed out p;
       end;
       icon bg bottom
        figures
         text 'Se' 624 400 color 0 18 bold;
       end;
       implementation eq
parameters
	real global m;
variables
	real effort[6];
equations
	effort = [0;0;0;0;0;-g_n*m];
	p.e = effort;
implementation_end;
      InertialTensor 544 272
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\3D\I-3.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:12:14</TimeStamp>
</Description>';
       type 'I-3'
        ports
         power in p [6,1];
         signal out state [6,1];
        restrictions
         causality preferred in p;
       end;
       icon bg bottom
        figures
         text 'I' 544 272 color 0 18 bold;
       end;
       implementation eq
parameters
	real global I[3];
	real global m;
variables
	real II[6,6]; //Inertial tensor
	real Ia[6];
initialequations
	Ia[1:3] = I;
	Ia[4:6] = m;
	II = diag(Ia);
equations
    state = int(p.e); //state = generalized momentum
    p.f = inverse(II)*state;
implementation_end;
      plug Hin 433.4 496;
      plug Hout 691.2 496;
      plug p 439.4 336;
      Splitter1 544 496
       description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
       knot Splitter
        ports
         signal knot duplicatable out output [4,4];
         signal knot in input [4,4];
       end;
       icon bg ellipse
        figures
         ellipse 540.8 492.8 547.2 499.2 color -1 fill 0;
         ellipse 539.7 491.7 548.3 500.3 color -1;
        terminals
         input 544 496 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
      Ta0j 544 336
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
 <TimeStamp>2007-9-27 9:51:18</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
   <Description></Description>
</Description>';
       knot OneJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out flow [6,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg bottom
        figures
         text '1' 544 336 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      ZeroJunction1 504 336
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:45:16</TimeStamp>
</Description>
</Information>';
       knot ZeroJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out effort [6,1];
        restrictions
         causality constraint one_in p;
       end;
       icon bg
        figures
         text '0' 504 336 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
     end;
     connections
      AdHi0\p2 => Ta0j\p;
      Gravity\p => AdHi0\p1;
      Hin -> Splitter1\input;
      Splitter1\output -> AdHi0\H;
      Splitter1\output -> Hout;
      Ta0j\p => EJS\p1;
      Ta0j\p => InertialTensor\p;
      ZeroJunction1\p => p;
      ZeroJunction1\p => Ta0j\p;
     end;
    implementation_end;
   COM_body4 632 56
    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
	real I [3,1] = [7.583333333333335e-7; 3.645833333333334e-8; 7.364583333333335e-7] {N.m.s};
	real m = 0.0035 {kg};</GlobalRelations></Attributes></Information>';
    type Submodel
     ports
      signal in Hin [4,4];
      signal out Hout [4,4];
      power out p [6,1];
    end;
    icon bg bottom
     figures
      rectangle 600 40 664 72 color 0 fill 139;
      text 'COM' 632 56 color 0 'Clear Sans' 16;
     terminals
      Hin 648 72 fixed;
      p 616 72 fixed;
    end;
    implementation bg
     submodels
      AdHi0 544 400
       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>';
       type MTF
        ports
         power in p1 [6,1];
         power out p2 [6,1];
         signal in H [4,4];
        restrictions
         causality constraint not_equal p1 p2;
       end;
       icon bg left
        figures
         text 'MTF' 544 400 color 0 18 bold;
       end;
       implementation eq
variables
 	real onlyRotH[4,4];
code
	//Only rotations with respect to the inertial system matter!
	onlyRotH = H;
	onlyRotH[1,4] = 0;
	onlyRotH[2,4] = 0;
	onlyRotH[3,4] = 0;
						
	p2.e = transpose(Adjoint(onlyRotH)) * p1.e;
	p1.f = Adjoint(onlyRotH) * p2.f;
implementation_end;
      EJS 616 336
       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>';
       type MGY
        ports
         power in p1 [6,1];
       end;
       icon bg top
        figures
         text 'MGY' 616 336 color 0 18 bold;
       end;
       implementation eq
//EJS / Gyroscopic effects
parameters
	real global I[3];
	real global m;
variables
	real II[6,6]; //Inertial tensor
	real Q[6,6];
	real QI[6,6];
	real Ia[6];
initialequations
	Ia[1:3] = I;
	Ia[4:6] = m;
	II = diag(Ia);
equations
	Q = transpose(adjoint(p1.f));
	QI = Q*II;
	p1.e = QI*p1.f;implementation_end;
      Gravity 624 400
       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>';
       type Se
        ports
         power out p [6,1];
        restrictions
         causality fixed out p;
       end;
       icon bg bottom
        figures
         text 'Se' 624 400 color 0 18 bold;
       end;
       implementation eq
parameters
	real global m;
variables
	real effort[6];
equations
	effort = [0;0;0;0;0;-g_n*m];
	p.e = effort;
implementation_end;
      InertialTensor 544 272
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\3D\I-3.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:12:14</TimeStamp>
</Description>';
       type 'I-3'
        ports
         power in p [6,1];
         signal out state [6,1];
        restrictions
         causality preferred in p;
       end;
       icon bg bottom
        figures
         text 'I' 544 272 color 0 18 bold;
       end;
       implementation eq
parameters
	real global I[3];
	real global m;
variables
	real II[6,6]; //Inertial tensor
	real Ia[6];
initialequations
	Ia[1:3] = I;
	Ia[4:6] = m;
	II = diag(Ia);
equations
    state = int(p.e); //state = generalized momentum
    p.f = inverse(II)*state;
implementation_end;
      plug Hin 433.4 496;
      plug Hout 691.2 496;
      plug p 439.4 336;
      Splitter1 544 496
       description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
       knot Splitter
        ports
         signal knot duplicatable out output [4,4];
         signal knot in input [4,4];
       end;
       icon bg ellipse
        figures
         ellipse 540.8 492.8 547.2 499.2 color -1 fill 0;
         ellipse 539.7 491.7 548.3 500.3 color -1;
        terminals
         input 544 496 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
      Ta0j 544 336
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
 <TimeStamp>2007-9-27 9:51:18</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
   <Description></Description>
</Description>';
       knot OneJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out flow [6,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg bottom
        figures
         text '1' 544 336 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      ZeroJunction1 504 336
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:45:16</TimeStamp>
</Description>
</Information>';
       knot ZeroJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out effort [6,1];
        restrictions
         causality constraint one_in p;
       end;
       icon bg
        figures
         text '0' 504 336 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
     end;
     connections
      AdHi0\p2 => Ta0j\p;
      Gravity\p => AdHi0\p1;
      Hin -> Splitter1\input;
      Splitter1\output -> AdHi0\H;
      Splitter1\output -> Hout;
      Ta0j\p => EJS\p1;
      Ta0j\p => InertialTensor\p;
      ZeroJunction1\p => p;
      ZeroJunction1\p => Ta0j\p;
     end;
    implementation_end;
   COM_body5 1064 136
    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
	real I [3,1] = [0.018;0.159;0.159] {mN.m.s};
	real m = 0.015 {kg};</GlobalRelations></Attributes></Information>';
    type Submodel
     ports
      signal in Hin [4,4];
      signal out Hout [4,4];
      power out p [6,1];
    end;
    icon bg bottom
     figures
      rectangle 1048 104 1080 168 color 0 fill 139;
      text 'COM' 1064 136 color 0 'Clear Sans' 16;
     terminals
      Hin 1048 152 fixed;
      p 1048 120 fixed;
    end;
    implementation bg
     submodels
      AdHi0 544 400
       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>';
       type MTF
        ports
         power in p1 [6,1];
         power out p2 [6,1];
         signal in H [4,4];
        restrictions
         causality constraint not_equal p1 p2;
       end;
       icon bg left
        figures
         text 'MTF' 544 400 color 0 18 bold;
       end;
       implementation eq
variables
 	real onlyRotH[4,4];
code
	//Only rotations with respect to the inertial system matter!
	onlyRotH = H;
	onlyRotH[1,4] = 0;
	onlyRotH[2,4] = 0;
	onlyRotH[3,4] = 0;
						
	p2.e = transpose(Adjoint(onlyRotH)) * p1.e;
	p1.f = Adjoint(onlyRotH) * p2.f;
implementation_end;
      EJS 616 336
       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>';
       type MGY
        ports
         power in p1 [6,1];
       end;
       icon bg top
        figures
         text 'MGY' 616 336 color 0 18 bold;
       end;
       implementation eq
//EJS / Gyroscopic effects
parameters
	real global I[3];
	real global m;
variables
	real II[6,6]; //Inertial tensor
	real Q[6,6];
	real QI[6,6];
	real Ia[6];
initialequations
	Ia[1:3] = I;
	Ia[4:6] = m;
	II = diag(Ia);
equations
	Q = transpose(adjoint(p1.f));
	QI = Q*II;
	p1.e = QI*p1.f;implementation_end;
      Gravity 624 400
       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>';
       type Se
        ports
         power out p [6,1];
        restrictions
         causality fixed out p;
       end;
       icon bg bottom
        figures
         text 'Se' 624 400 color 0 18 bold;
       end;
       implementation eq
parameters
	real global m;
variables
	real effort[6];
equations
	effort = [0;0;0;0;0;-g_n*m];
	p.e = effort;
implementation_end;
      InertialTensor 544 272
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\3D\I-3.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:12:14</TimeStamp>
</Description>';
       type 'I-3'
        ports
         power in p [6,1];
         signal out state [6,1];
        restrictions
         causality preferred in p;
       end;
       icon bg bottom
        figures
         text 'I' 544 272 color 0 18 bold;
       end;
       implementation eq
parameters
	real global I[3];
	real global m;
variables
	real II[6,6]; //Inertial tensor
	real Ia[6];
initialequations
	Ia[1:3] = I;
	Ia[4:6] = m;
	II = diag(Ia);
equations
    state = int(p.e); //state = generalized momentum
    p.f = inverse(II)*state;
implementation_end;
      plug Hin 433.4 496;
      plug Hout 691.2 496;
      plug p 439.4 336;
      Splitter1 544 496
       description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
       knot Splitter
        ports
         signal knot duplicatable out output [4,4];
         signal knot in input [4,4];
       end;
       icon bg ellipse
        figures
         ellipse 540.8 492.8 547.2 499.2 color -1 fill 0;
         ellipse 539.7 491.7 548.3 500.3 color -1;
        terminals
         input 544 496 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
      Ta0j 544 336
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
 <TimeStamp>2007-9-27 9:51:18</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
   <Description></Description>
</Description>';
       knot OneJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out flow [6,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg bottom
        figures
         text '1' 544 336 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      ZeroJunction1 504 336
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:45:16</TimeStamp>
</Description>
</Information>';
       knot ZeroJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out effort [6,1];
        restrictions
         causality constraint one_in p;
       end;
       icon bg
        figures
         text '0' 504 336 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
     end;
     connections
      AdHi0\p2 => Ta0j\p;
      Gravity\p => AdHi0\p1;
      Hin -> Splitter1\input;
      Splitter1\output -> AdHi0\H;
      Splitter1\output -> Hout;
      Ta0j\p => EJS\p1;
      Ta0j\p => InertialTensor\p;
      ZeroJunction1\p => p;
      ZeroJunction1\p => Ta0j\p;
     end;
    implementation_end;
   Ground1 1052 711.5
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
    <LibraryPath>Bond Graph\MR\Ground.emx</LibraryPath>
  <TimeStamp>2020-7-23 09:30:51</TimeStamp>
</Description>
</Information>';
    type Submodel
     ports
      power in p [6,1];
      signal out output [4,4];
    end;
    icon bg bottom
     figures
      line 1016 704 1032 720 color 0 fill 15132390;
      line 1024 704 1040 720 color 0 fill 15132390;
      line 1008 704 1024 720 color 0 fill 15132390;
      line 1048 720 1032 704 color 0 fill 15132390;
      line 1056 720 1040 704 color 0 fill 15132390;
      line 1064 720 1048 704 color 0 fill 15132390;
      line 1080 720 1064 704 color 0 fill 15132390;
      line 1072 720 1056 704 color 0 fill 15132390;
      line 1088 720 1072 704 color 0 fill 15132390;
      line 1096 720 1080 704 color 0 fill 15132390;
      line 1008 704 1096 704 color 0 fill 15132390 width 2;
      line 1088 704 1096 712 color 0 fill 15132390;
      line 1008 712 1016 720 color 0 fill 15132390;
     terminals
      p 1032 704 fixed;
      output 1064 704 fixed;
    end;
    implementation bg
     submodels
      plug p 240 88;
      plug output 240 120;
      OneJunction2 192 88
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
       knot OneJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out flow [6,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 192 88 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      Sf2 136 88
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\2D\Sf-2.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:7:5</TimeStamp>
</Description>';
       type 'Sf-2'
        ports
         power out p [6,1];
        restrictions
         causality fixed in p;
       end;
       icon bg bottom
        figures
         text 'Sf' 136 88 color 0 18 bold;
       end;
       implementation eq
parameters
	real flow[6,1] = 	0;
variables
	real effort [6];
equations
	p.f = flow;
	effort = p.e;
implementation_end;
      Zero 144 120
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
  <LibraryPath>Signal\Sources\Zero.emx</LibraryPath>
  <TimeStamp>2007-9-27 15:54:36</TimeStamp>
</Description>
';
       type Zero
        ports
         signal out output [4,4];
       end;
       icon bg bottom
        figures
         rectangle 128.1 104 159.9 136 color 0 fill 15132390;
         text '0' 144 120 color 16711680 18 bold;
       end;
       implementation eq
equations
	output = eye(4);implementation_end;
     end;
     connections
      p => OneJunction2\p;
      Sf2\p => OneJunction2\p;
      Zero\output -> output;
     end;
    implementation_end;
   Ground2 436 623.5
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
    <LibraryPath>Bond Graph\MR\Ground.emx</LibraryPath>
  <TimeStamp>2020-7-23 09:30:51</TimeStamp>
</Description>
</Information>';
    type Submodel
     ports
      power in p [6,1];
      signal out output [4,4];
    end;
    icon bg bottom
     figures
      line 400 616 416 632 color 0 fill 15132390;
      line 408 616 424 632 color 0 fill 15132390;
      line 392 616 408 632 color 0 fill 15132390;
      line 432 632 416 616 color 0 fill 15132390;
      line 440 632 424 616 color 0 fill 15132390;
      line 448 632 432 616 color 0 fill 15132390;
      line 464 632 448 616 color 0 fill 15132390;
      line 456 632 440 616 color 0 fill 15132390;
      line 472 632 456 616 color 0 fill 15132390;
      line 480 632 464 616 color 0 fill 15132390;
      line 392 616 480 616 color 0 fill 15132390 width 2;
      line 472 616 480 624 color 0 fill 15132390;
      line 392 624 400 632 color 0 fill 15132390;
     terminals
      p 416 616 fixed;
      output 448 616 fixed;
    end;
    implementation bg
     submodels
      plug p 240 88;
      plug output 240 120;
      OneJunction2 192 88
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
       knot OneJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out flow [6,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 192 88 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      Sf2 136 88
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\2D\Sf-2.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:7:5</TimeStamp>
</Description>';
       type 'Sf-2'
        ports
         power out p [6,1];
        restrictions
         causality fixed in p;
       end;
       icon bg bottom
        figures
         text 'Sf' 136 88 color 0 18 bold;
       end;
       implementation eq
parameters
	real flow[6,1] = 	0;
variables
	real effort [6];
equations
	p.f = flow;
	effort = p.e;
implementation_end;
      Zero 144 120
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
  <LibraryPath>Signal\Sources\Zero.emx</LibraryPath>
  <TimeStamp>2007-9-27 15:54:36</TimeStamp>
</Description>
';
       type Zero
        ports
         signal out output [4,4];
       end;
       icon bg bottom
        figures
         rectangle 128.1 104 159.9 136 color 0 fill 15132390;
         text '0' 144 120 color 16711680 18 bold;
       end;
       implementation eq
equations
	output = eye(4);implementation_end;
     end;
     connections
      p => OneJunction2\p;
      Sf2\p => OneJunction2\p;
      Zero\output -> output;
     end;
    implementation_end;
   inverse_kinematics 320 744
    description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>SCARA\inverse_kinematics_v1.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <TimeStamp>2020-7-10 12:26:18</TimeStamp>
<AllowLibraryUpdate>False</AllowLibraryUpdate>
 </Description>
</Information>';
    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 A_length = 0.065 {m}; // length of first arm
	real B_length = 0.05 {m}; // length of second arm
	real to_rad = 1 {rad};
variables
	real x {m}, y {m};
	real C_length {m}; // length to x and y.
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;
   JointA 432 536
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
    <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>
  <TimeStamp>2020-7-21 12:08:53</TimeStamp>
</Description>
</Information>';
    type 'Submodel-v3'
     ports
      power in Pin [6,1];
      power in Pdiff [6,1];
      signal in Hin [4,4];
      signal out Hout [4,4];
      signal out Hdiff [4,4];
      power out Pout [6,1];
    end;
    icon bg bottom
     figures
      rectangle 400 512 464 560 color 0 fill 14745599;
      text 'Joint' 432 536 color 0 'Clear Sans' 16;
     terminals
      Pin 416 560 fixed;
      Hin 448 512 fixed;
      Hout 448 560 fixed;
      Pout 416 512 fixed;
    end;
    implementation bg
     submodels
      AdHji 424 424
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\MTF.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:3:3</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type MTF
        ports
         power out p1 [6,1];
         power in p2 [6,1];
         signal in H [4,4];
        restrictions
         causality constraint not_equal p1 p2;
       end;
       icon bg bottom
        figures
         text 'MTF' 424 424 color 0 18 bold;
       end;
       implementation eq
equations					
	p2.e = transpose(Adjoint(H)) * p1.e;
	p1.f = Adjoint(H) * p2.f;implementation_end;
      FlowSensor2 184 311.9
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:50:53</TimeStamp>
</Description>
</Information>';
       knot FlowSensor
        ports
         power knot in p1 [6,1];
         power knot out p2 [6,1];
         signal knot out flow [6,1];
        restrictions
         causality constraint not_equal p1 p2;
       end;
       icon bg ellipse
        figures
         ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;
         text 'f' 184 311.2 color 0;
       end;
       implementation eq
equations
	p2.f = p1.f;
	p1.e = p2.e;
	flow = p1.f;
implementation_end;
      Hmatrix 256 312
       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>';
       type 'Submodel-Equation'
        ports
         signal in flow [6,1];
         signal out H [4,4];
       end;
       icon bg
        figures
         rectangle 224 296 288 328 color 0 fill 15132390;
         text 'name' 256 312 color 0 'Clear Sans' 16;
       end;
       implementation eq
parameters
	real init[4] = [1;0;0;0];
variables
	real q[4];		//quaternions
	real W[3,4];	//Quaternion Rates Matrix
	real R[3,3];	//Rotation Matrix
	real p[3];		//Position Vector
	real dq[4];
	real Wb[3,4];
equations
	dq = transpose(Wb) * flow[1:3] ./ 2;
	q = int(dq,init);
	p = int(flow[4:6]);
	W = [-q[2],	q[1],	-q[4],	q[3];
		 -q[3],	q[4],	q[1],	-q[2];
		 -q[4],	-q[3],	q[2],	q[1]];
	Wb = [	-q[2],  q[1],  q[4], -q[3];
	   		-q[3], -q[4],  q[1],  q[2];
	   		-q[4],  q[3], -q[2],  q[1]];
 	R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]);
		  2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]);
		  2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2];
	H = homogeneous(R,p);
	implementation_end;
      MatrixMul 320 576
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>
 <TimeStamp>2007-9-26 12:15:12</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type Gain
        ports
         signal in input1 [4,4];
         signal out output [4,4];
         signal in input2 [4,4];
       end;
       icon bg bottom
        figures
         rectangle 304.1 560 335.9 592 color 0 fill 15132390;
         text 'X' 320 576 color 16711680 16 bold;
       end;
       implementation eq
equations
	output = input2*input1;    implementation_end;
      plug Pin 492.1 424;
      plug Pdiff 184 225;
      plug Hin 130.8 576;
      plug Hout 478.4 576;
      plug Hdiff 320 222;
      plug Pout 134.7 424;
      Splitter2 320 312
       description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
       knot Splitter
        ports
         signal knot duplicatable out output [4,4];
         signal knot in input [4,4];
       end;
       icon bg ellipse
        figures
         ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;
         ellipse 315.7 307.7 324.3 316.3 color -1;
        terminals
         input 320 312 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
      Wbai 184 424
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
 <TimeStamp>2007-9-27 9:51:43</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       knot ZeroJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out effort [6,1];
        restrictions
         causality constraint one_in p;
       end;
       icon bg bottom
        figures
         text '0' 184 424 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
     end;
     connections
      FlowSensor2\flow -> Hmatrix\flow;
      FlowSensor2\p2 => Wbai\p;
      Hin -> MatrixMul\input2;
      Hmatrix\H -> Splitter2\input;
      MatrixMul\output -> Hout;
      Pdiff => FlowSensor2\p1;
      Pin => AdHji\p2;
      Splitter2\output -> AdHji\H 424 312;
      Splitter2\output -> Hdiff;
      Splitter2\output -> MatrixMul\input1;
      Wbai\p <= AdHji\p1;
      Wbai\p => Pout;
     end;
    implementation_end;
   JointB 432 216
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
    <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>
  <TimeStamp>2020-7-21 12:08:53</TimeStamp>
</Description>
</Information>';
    type 'Submodel-v3'
     ports
      power in Pin [6,1];
      power in Pdiff [6,1];
      signal in Hin [4,4];
      signal out Hout [4,4];
      signal out Hdiff [4,4];
      power out Pout [6,1];
    end;
    icon bg bottom
     figures
      rectangle 400 192 464 240 color 0 fill 14745599;
      text 'Joint' 432 216 color 0 'Clear Sans' 16;
     terminals
      Pin 416 240 fixed;
      Hin 448 192 fixed;
      Hout 448 240 fixed;
      Pout 416 192 fixed;
    end;
    implementation bg
     submodels
      AdHji 424 424
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\MTF.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:3:3</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type MTF
        ports
         power out p1 [6,1];
         power in p2 [6,1];
         signal in H [4,4];
        restrictions
         causality constraint not_equal p1 p2;
       end;
       icon bg bottom
        figures
         text 'MTF' 424 424 color 0 18 bold;
       end;
       implementation eq
equations					
	p2.e = transpose(Adjoint(H)) * p1.e;
	p1.f = Adjoint(H) * p2.f;implementation_end;
      FlowSensor2 184 311.9
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:50:53</TimeStamp>
</Description>
</Information>';
       knot FlowSensor
        ports
         power knot in p1 [6,1];
         power knot out p2 [6,1];
         signal knot out flow [6,1];
        restrictions
         causality constraint not_equal p1 p2;
       end;
       icon bg ellipse
        figures
         ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;
         text 'f' 184 311.2 color 0;
       end;
       implementation eq
equations
	p2.f = p1.f;
	p1.e = p2.e;
	flow = p1.f;
implementation_end;
      Hmatrix 256 312
       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>';
       type 'Submodel-Equation'
        ports
         signal in flow [6,1];
         signal out H [4,4];
       end;
       icon bg
        figures
         rectangle 224 296 288 328 color 0 fill 15132390;
         text 'name' 256 312 color 0 'Clear Sans' 16;
       end;
       implementation eq
parameters
	real init[4] = [1;0;0;0];
variables
	real q[4];		//quaternions
	real W[3,4];	//Quaternion Rates Matrix
	real R[3,3];	//Rotation Matrix
	real p[3];		//Position Vector
	real dq[4];
	real Wb[3,4];
equations
	dq = transpose(Wb) * flow[1:3] ./ 2;
	q = int(dq,init);
	p = int(flow[4:6]);
	W = [-q[2],	q[1],	-q[4],	q[3];
		 -q[3],	q[4],	q[1],	-q[2];
		 -q[4],	-q[3],	q[2],	q[1]];
	Wb = [	-q[2],  q[1],  q[4], -q[3];
	   		-q[3], -q[4],  q[1],  q[2];
	   		-q[4],  q[3], -q[2],  q[1]];
 	R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]);
		  2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]);
		  2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2];
	H = homogeneous(R,p);
	implementation_end;
      MatrixMul 320 576
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>
 <TimeStamp>2007-9-26 12:15:12</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type Gain
        ports
         signal in input1 [4,4];
         signal out output [4,4];
         signal in input2 [4,4];
       end;
       icon bg bottom
        figures
         rectangle 304.1 560 335.9 592 color 0 fill 15132390;
         text 'X' 320 576 color 16711680 16 bold;
       end;
       implementation eq
equations
	output = input2*input1;    implementation_end;
      plug Pin 492.1 424;
      plug Pdiff 184 225;
      plug Hin 130.8 576;
      plug Hout 478.4 576;
      plug Hdiff 320 222;
      plug Pout 134.7 424;
      Splitter2 320 312
       description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
       knot Splitter
        ports
         signal knot duplicatable out output [4,4];
         signal knot in input [4,4];
       end;
       icon bg ellipse
        figures
         ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;
         ellipse 315.7 307.7 324.3 316.3 color -1;
        terminals
         input 320 312 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
      Wbai 184 424
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
 <TimeStamp>2007-9-27 9:51:43</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       knot ZeroJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out effort [6,1];
        restrictions
         causality constraint one_in p;
       end;
       icon bg bottom
        figures
         text '0' 184 424 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
     end;
     connections
      FlowSensor2\flow -> Hmatrix\flow;
      FlowSensor2\p2 => Wbai\p;
      Hin -> MatrixMul\input2;
      Hmatrix\H -> Splitter2\input;
      MatrixMul\output -> Hout;
      Pdiff => FlowSensor2\p1;
      Pin => AdHji\p2;
      Splitter2\output -> AdHji\H 424 312;
      Splitter2\output -> Hdiff;
      Splitter2\output -> MatrixMul\input1;
      Wbai\p <= AdHji\p1;
      Wbai\p => Pout;
     end;
    implementation_end;
   JointC 944 616
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
    <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>
  <TimeStamp>2020-7-21 12:08:53</TimeStamp>
</Description>
</Information>';
    type 'Submodel-v3'
     ports
      power in Pin [6,1];
      power in Pdiff [6,1];
      signal in Hin [4,4];
      signal out Hout [4,4];
      signal out Hdiff [4,4];
      power out Pout [6,1];
    end;
    icon bg bottom
     figures
      rectangle 920 584 968 648 color 0 fill 14745599;
      text 'Joint' 944 616 color 0 'Clear Sans' 16;
     terminals
      Pin 920 632 fixed;
      Hin 968 600 fixed;
      Hout 920 600 fixed;
      Pout 968 632 fixed;
    end;
    implementation bg
     submodels
      AdHji 424 424
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\MTF.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:3:3</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type MTF
        ports
         power out p1 [6,1];
         power in p2 [6,1];
         signal in H [4,4];
        restrictions
         causality constraint not_equal p1 p2;
       end;
       icon bg bottom
        figures
         text 'MTF' 424 424 color 0 18 bold;
       end;
       implementation eq
equations					
	p2.e = transpose(Adjoint(H)) * p1.e;
	p1.f = Adjoint(H) * p2.f;implementation_end;
      FlowSensor2 184 311.9
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:50:53</TimeStamp>
</Description>
</Information>';
       knot FlowSensor
        ports
         power knot in p1 [6,1];
         power knot out p2 [6,1];
         signal knot out flow [6,1];
        restrictions
         causality constraint not_equal p1 p2;
       end;
       icon bg ellipse
        figures
         ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;
         text 'f' 184 311.2 color 0;
       end;
       implementation eq
equations
	p2.f = p1.f;
	p1.e = p2.e;
	flow = p1.f;
implementation_end;
      Hmatrix 256 312
       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>';
       type 'Submodel-Equation'
        ports
         signal in flow [6,1];
         signal out H [4,4];
       end;
       icon bg
        figures
         rectangle 224 296 288 328 color 0 fill 15132390;
         text 'name' 256 312 color 0 'Clear Sans' 16;
       end;
       implementation eq
parameters
	real init[4] = [1;0;0;0];
variables
	real q[4];		//quaternions
	real W[3,4];	//Quaternion Rates Matrix
	real R[3,3];	//Rotation Matrix
	real p[3];		//Position Vector
	real dq[4];
	real Wb[3,4];
equations
	dq = transpose(Wb) * flow[1:3] ./ 2;
	q = int(dq,init);
	p = int(flow[4:6]);
	W = [-q[2],	q[1],	-q[4],	q[3];
		 -q[3],	q[4],	q[1],	-q[2];
		 -q[4],	-q[3],	q[2],	q[1]];
	Wb = [	-q[2],  q[1],  q[4], -q[3];
	   		-q[3], -q[4],  q[1],  q[2];
	   		-q[4],  q[3], -q[2],  q[1]];
 	R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]);
		  2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]);
		  2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2];
	H = homogeneous(R,p);
	implementation_end;
      MatrixMul 320 576
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>
 <TimeStamp>2007-9-26 12:15:12</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type Gain
        ports
         signal in input1 [4,4];
         signal out output [4,4];
         signal in input2 [4,4];
       end;
       icon bg bottom
        figures
         rectangle 304.1 560 335.9 592 color 0 fill 15132390;
         text 'X' 320 576 color 16711680 16 bold;
       end;
       implementation eq
equations
	output = input2*input1;    implementation_end;
      plug Pin 492.1 424;
      plug Pdiff 184 225;
      plug Hin 130.8 576;
      plug Hout 478.4 576;
      plug Hdiff 320 222;
      plug Pout 134.7 424;
      Splitter2 320 312
       description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
       knot Splitter
        ports
         signal knot duplicatable out output [4,4];
         signal knot in input [4,4];
       end;
       icon bg ellipse
        figures
         ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;
         ellipse 315.7 307.7 324.3 316.3 color -1;
        terminals
         input 320 312 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
      Wbai 184 424
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
 <TimeStamp>2007-9-27 9:51:43</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       knot ZeroJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out effort [6,1];
        restrictions
         causality constraint one_in p;
       end;
       icon bg bottom
        figures
         text '0' 184 424 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
     end;
     connections
      FlowSensor2\flow -> Hmatrix\flow;
      FlowSensor2\p2 => Wbai\p;
      Hin -> MatrixMul\input2;
      Hmatrix\H -> Splitter2\input;
      MatrixMul\output -> Hout;
      Pdiff => FlowSensor2\p1;
      Pin => AdHji\p2;
      Splitter2\output -> AdHji\H 424 312;
      Splitter2\output -> Hdiff;
      Splitter2\output -> MatrixMul\input1;
      Wbai\p <= AdHji\p1;
      Wbai\p => Pout;
     end;
    implementation_end;
   JointD 632 536
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
    <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>
  <TimeStamp>2020-7-21 12:08:53</TimeStamp>
</Description>
</Information>';
    type 'Submodel-v3'
     ports
      power in Pin [6,1];
      power in Pdiff [6,1];
      signal in Hin [4,4];
      signal out Hout [4,4];
      signal out Hdiff [4,4];
      power out Pout [6,1];
    end;
    icon bg bottom
     figures
      rectangle 600 512 664 560 color 0 fill 14745599;
      text 'Joint' 632 536 color 0 'Clear Sans' 16;
     terminals
      Pin 616 512 fixed;
      Hin 648 560 fixed;
      Hout 648 512 fixed;
      Pout 616 560 fixed;
    end;
    implementation bg
     submodels
      AdHji 424 424
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\MTF.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:3:3</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type MTF
        ports
         power out p1 [6,1];
         power in p2 [6,1];
         signal in H [4,4];
        restrictions
         causality constraint not_equal p1 p2;
       end;
       icon bg bottom
        figures
         text 'MTF' 424 424 color 0 18 bold;
       end;
       implementation eq
equations					
	p2.e = transpose(Adjoint(H)) * p1.e;
	p1.f = Adjoint(H) * p2.f;implementation_end;
      FlowSensor2 184 311.9
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:50:53</TimeStamp>
</Description>
</Information>';
       knot FlowSensor
        ports
         power knot in p1 [6,1];
         power knot out p2 [6,1];
         signal knot out flow [6,1];
        restrictions
         causality constraint not_equal p1 p2;
       end;
       icon bg ellipse
        figures
         ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;
         text 'f' 184 311.2 color 0;
       end;
       implementation eq
equations
	p2.f = p1.f;
	p1.e = p2.e;
	flow = p1.f;
implementation_end;
      Hmatrix 256 312
       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>';
       type 'Submodel-Equation'
        ports
         signal in flow [6,1];
         signal out H [4,4];
       end;
       icon bg
        figures
         rectangle 224 296 288 328 color 0 fill 15132390;
         text 'name' 256 312 color 0 'Clear Sans' 16;
       end;
       implementation eq
parameters
	real init[4] = [1;0;0;0];
variables
	real q[4];		//quaternions
	real W[3,4];	//Quaternion Rates Matrix
	real R[3,3];	//Rotation Matrix
	real p[3];		//Position Vector
	real dq[4];
	real Wb[3,4];
equations
	dq = transpose(Wb) * flow[1:3] ./ 2;
	q = int(dq,init);
	p = int(flow[4:6]);
	W = [-q[2],	q[1],	-q[4],	q[3];
		 -q[3],	q[4],	q[1],	-q[2];
		 -q[4],	-q[3],	q[2],	q[1]];
	Wb = [	-q[2],  q[1],  q[4], -q[3];
	   		-q[3], -q[4],  q[1],  q[2];
	   		-q[4],  q[3], -q[2],  q[1]];
 	R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]);
		  2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]);
		  2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2];
	H = homogeneous(R,p);
	implementation_end;
      MatrixMul 320 576
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>
 <TimeStamp>2007-9-26 12:15:12</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type Gain
        ports
         signal in input1 [4,4];
         signal out output [4,4];
         signal in input2 [4,4];
       end;
       icon bg bottom
        figures
         rectangle 304.1 560 335.9 592 color 0 fill 15132390;
         text 'X' 320 576 color 16711680 16 bold;
       end;
       implementation eq
equations
	output = input2*input1;    implementation_end;
      plug Pin 492.1 424;
      plug Pdiff 184 225;
      plug Hin 130.8 576;
      plug Hout 478.4 576;
      plug Hdiff 320 222;
      plug Pout 134.7 424;
      Splitter2 320 312
       description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
       knot Splitter
        ports
         signal knot duplicatable out output [4,4];
         signal knot in input [4,4];
       end;
       icon bg ellipse
        figures
         ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;
         ellipse 315.7 307.7 324.3 316.3 color -1;
        terminals
         input 320 312 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
      Wbai 184 424
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
 <TimeStamp>2007-9-27 9:51:43</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       knot ZeroJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out effort [6,1];
        restrictions
         causality constraint one_in p;
       end;
       icon bg bottom
        figures
         text '0' 184 424 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
     end;
     connections
      FlowSensor2\flow -> Hmatrix\flow;
      FlowSensor2\p2 => Wbai\p;
      Hin -> MatrixMul\input2;
      Hmatrix\H -> Splitter2\input;
      MatrixMul\output -> Hout;
      Pdiff => FlowSensor2\p1;
      Pin => AdHji\p2;
      Splitter2\output -> AdHji\H 424 312;
      Splitter2\output -> Hdiff;
      Splitter2\output -> MatrixMul\input1;
      Wbai\p <= AdHji\p1;
      Wbai\p => Pout;
     end;
    implementation_end;
   JointE 632 216
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
    <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>
  <TimeStamp>2020-7-21 12:08:53</TimeStamp>
</Description>
</Information>';
    type 'Submodel-v3'
     ports
      power in Pin [6,1];
      power in Pdiff [6,1];
      signal in Hin [4,4];
      signal out Hout [4,4];
      signal out Hdiff [4,4];
      power out Pout [6,1];
    end;
    icon bg bottom
     figures
      rectangle 600 192 664 240 color 0 fill 14745599;
      text 'Joint' 632 216 color 0 'Clear Sans' 16;
     terminals
      Pin 616 192 fixed;
      Hin 648 240 fixed;
      Hout 648 192 fixed;
      Pout 616 240 fixed;
    end;
    implementation bg
     submodels
      AdHji 424 424
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\MTF.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:3:3</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type MTF
        ports
         power out p1 [6,1];
         power in p2 [6,1];
         signal in H [4,4];
        restrictions
         causality constraint not_equal p1 p2;
       end;
       icon bg bottom
        figures
         text 'MTF' 424 424 color 0 18 bold;
       end;
       implementation eq
equations					
	p2.e = transpose(Adjoint(H)) * p1.e;
	p1.f = Adjoint(H) * p2.f;implementation_end;
      FlowSensor2 184 311.9
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:50:53</TimeStamp>
</Description>
</Information>';
       knot FlowSensor
        ports
         power knot in p1 [6,1];
         power knot out p2 [6,1];
         signal knot out flow [6,1];
        restrictions
         causality constraint not_equal p1 p2;
       end;
       icon bg ellipse
        figures
         ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;
         text 'f' 184 311.2 color 0;
       end;
       implementation eq
equations
	p2.f = p1.f;
	p1.e = p2.e;
	flow = p1.f;
implementation_end;
      Hmatrix 256 312
       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>';
       type 'Submodel-Equation'
        ports
         signal in flow [6,1];
         signal out H [4,4];
       end;
       icon bg
        figures
         rectangle 224 296 288 328 color 0 fill 15132390;
         text 'name' 256 312 color 0 'Clear Sans' 16;
       end;
       implementation eq
parameters
	real init[4] = [1;0;0;0];
variables
	real q[4];		//quaternions
	real W[3,4];	//Quaternion Rates Matrix
	real R[3,3];	//Rotation Matrix
	real p[3];		//Position Vector
	real dq[4];
	real Wb[3,4];
equations
	dq = transpose(Wb) * flow[1:3] ./ 2;
	q = int(dq,init);
	p = int(flow[4:6]);
	W = [-q[2],	q[1],	-q[4],	q[3];
		 -q[3],	q[4],	q[1],	-q[2];
		 -q[4],	-q[3],	q[2],	q[1]];
	Wb = [	-q[2],  q[1],  q[4], -q[3];
	   		-q[3], -q[4],  q[1],  q[2];
	   		-q[4],  q[3], -q[2],  q[1]];
 	R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]);
		  2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]);
		  2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2];
	H = homogeneous(R,p);
	implementation_end;
      MatrixMul 320 576
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>
 <TimeStamp>2007-9-26 12:15:12</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type Gain
        ports
         signal in input1 [4,4];
         signal out output [4,4];
         signal in input2 [4,4];
       end;
       icon bg bottom
        figures
         rectangle 304.1 560 335.9 592 color 0 fill 15132390;
         text 'X' 320 576 color 16711680 16 bold;
       end;
       implementation eq
equations
	output = input2*input1;    implementation_end;
      plug Pin 492.1 424;
      plug Pdiff 184 225;
      plug Hin 130.8 576;
      plug Hout 478.4 576;
      plug Hdiff 320 222;
      plug Pout 134.7 424;
      Splitter2 320 312
       description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
       knot Splitter
        ports
         signal knot duplicatable out output [4,4];
         signal knot in input [4,4];
       end;
       icon bg ellipse
        figures
         ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;
         ellipse 315.7 307.7 324.3 316.3 color -1;
        terminals
         input 320 312 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
      Wbai 184 424
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
 <TimeStamp>2007-9-27 9:51:43</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       knot ZeroJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out effort [6,1];
        restrictions
         causality constraint one_in p;
       end;
       icon bg bottom
        figures
         text '0' 184 424 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
     end;
     connections
      FlowSensor2\flow -> Hmatrix\flow;
      FlowSensor2\p2 => Wbai\p;
      Hin -> MatrixMul\input2;
      Hmatrix\H -> Splitter2\input;
      MatrixMul\output -> Hout;
      Pdiff => FlowSensor2\p1;
      Pin => AdHji\p2;
      Splitter2\output -> AdHji\H 424 312;
      Splitter2\output -> Hdiff;
      Splitter2\output -> MatrixMul\input1;
      Wbai\p <= AdHji\p1;
      Wbai\p => Pout;
     end;
    implementation_end;
   JointF 792 136
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
    <LibraryPath>Bond Graph\MR\joint-v3.emx</LibraryPath>
  <TimeStamp>2020-7-21 12:08:53</TimeStamp>
</Description>
</Information>';
    type 'Submodel-v3'
     ports
      power in Pin [6,1];
      power in Pdiff [6,1];
      signal in Hin [4,4];
      signal out Hout [4,4];
      signal out Hdiff [4,4];
      power out Pout [6,1];
    end;
    icon bg bottom
     figures
      rectangle 768 104 816 168 color 0 fill 14745599;
      text 'Joint' 792 136 color 0 'Clear Sans' 16;
     terminals
      Pin 816 120 fixed;
      Hin 768 152 fixed;
      Hout 816 152 fixed;
      Pout 768 120 fixed;
    end;
    implementation bg
     submodels
      AdHji 424 424
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\MTF.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:3:3</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type MTF
        ports
         power out p1 [6,1];
         power in p2 [6,1];
         signal in H [4,4];
        restrictions
         causality constraint not_equal p1 p2;
       end;
       icon bg bottom
        figures
         text 'MTF' 424 424 color 0 18 bold;
       end;
       implementation eq
equations					
	p2.e = transpose(Adjoint(H)) * p1.e;
	p1.f = Adjoint(H) * p2.f;implementation_end;
      FlowSensor2 184 311.9
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\FlowSensor.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:50:53</TimeStamp>
</Description>
</Information>';
       knot FlowSensor
        ports
         power knot in p1 [6,1];
         power knot out p2 [6,1];
         signal knot out flow [6,1];
        restrictions
         causality constraint not_equal p1 p2;
       end;
       icon bg ellipse
        figures
         ellipse 177.1 304.8 190.9 319.1 color 0 fill 16777215;
         text 'f' 184 311.2 color 0;
       end;
       implementation eq
equations
	p2.f = p1.f;
	p1.e = p2.e;
	flow = p1.f;
implementation_end;
      Hmatrix 256 312
       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>';
       type 'Submodel-Equation'
        ports
         signal in flow [6,1];
         signal out H [4,4];
       end;
       icon bg
        figures
         rectangle 224 296 288 328 color 0 fill 15132390;
         text 'name' 256 312 color 0 'Clear Sans' 16;
       end;
       implementation eq
parameters
	real init[4] = [1;0;0;0];
variables
	real q[4];		//quaternions
	real W[3,4];	//Quaternion Rates Matrix
	real R[3,3];	//Rotation Matrix
	real p[3];		//Position Vector
	real dq[4];
	real Wb[3,4];
equations
	dq = transpose(Wb) * flow[1:3] ./ 2;
	q = int(dq,init);
	p = int(flow[4:6]);
	W = [-q[2],	q[1],	-q[4],	q[3];
		 -q[3],	q[4],	q[1],	-q[2];
		 -q[4],	-q[3],	q[2],	q[1]];
	Wb = [	-q[2],  q[1],  q[4], -q[3];
	   		-q[3], -q[4],  q[1],  q[2];
	   		-q[4],  q[3], -q[2],  q[1]];
 	R = [q[1]^2+q[2]^2-q[3]^2-q[4]^2, 2*(q[2]*q[3]+q[1]*q[4]), 2*(q[2]*q[4]-q[1]*q[3]);
		  2*(q[2]*q[3]-q[1]*q[4]), q[1]^2-q[2]^2+q[3]^2-q[4]^2, 2*(q[3]*q[4]+q[1]*q[2]);
		  2*(q[2]*q[4]+q[1]*q[3]), 2*(q[3]*q[4]-q[1]*q[2]), q[1]^2-q[2]^2-q[3]^2+q[4]^2];
	H = homogeneous(R,p);
	implementation_end;
      MatrixMul 320 576
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Signal\Block Diagram\Gain.emx</LibraryPath>
 <TimeStamp>2007-9-26 12:15:12</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type Gain
        ports
         signal in input1 [4,4];
         signal out output [4,4];
         signal in input2 [4,4];
       end;
       icon bg bottom
        figures
         rectangle 304.1 560 335.9 592 color 0 fill 15132390;
         text 'X' 320 576 color 16711680 16 bold;
       end;
       implementation eq
equations
	output = input2*input1;    implementation_end;
      plug Pin 492.1 424;
      plug Pdiff 184 225;
      plug Hin 130.8 576;
      plug Hout 478.4 576;
      plug Hdiff 320 222;
      plug Pout 134.7 424;
      Splitter2 320 312
       description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
       knot Splitter
        ports
         signal knot duplicatable out output [4,4];
         signal knot in input [4,4];
       end;
       icon bg ellipse
        figures
         ellipse 316.8 308.8 323.2 315.2 color -1 fill 0;
         ellipse 315.7 307.7 324.3 316.3 color -1;
        terminals
         input 320 312 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
      Wbai 184 424
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
 <TimeStamp>2007-9-27 9:51:43</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       knot ZeroJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out effort [6,1];
        restrictions
         causality constraint one_in p;
       end;
       icon bg bottom
        figures
         text '0' 184 424 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
     end;
     connections
      FlowSensor2\flow -> Hmatrix\flow;
      FlowSensor2\p2 => Wbai\p;
      Hin -> MatrixMul\input2;
      Hmatrix\H -> Splitter2\input;
      MatrixMul\output -> Hout;
      Pdiff => FlowSensor2\p1;
      Pin => AdHji\p2;
      Splitter2\output -> AdHji\H 424 312;
      Splitter2\output -> Hdiff;
      Splitter2\output -> MatrixMul\input1;
      Wbai\p <= AdHji\p1;
      Wbai\p => Pout;
     end;
    implementation_end;
   Joint_dynA 320 536
    description '<Description>
	<Version>4.8</Version>
	<IsMainModel>1</IsMainModel>
	</Description>';
    type Submodel
     ports
      power out output [6,1];
      signal in angle {rad} ;
    end;
    implementation bg
     submodels
      C 264 200
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\C.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:58:35</TimeStamp>
</Description>
</Information>';
       type C
        ports
         power in p;
         signal out state;
        restrictions
         causality preferred out p;
       end;
       icon bg bottom
        figures
         text 'C' 264 200 color 0 18 bold;
       end;
       implementation eq
parameters
	real c = 0.001;
equations
	state = int(p.f);
	p.e = state / c;
implementation_end;
      C1 191.8 216.2
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:12:8</TimeStamp>
</Description>';
       type 'C-3'
        ports
         power in p [3,1];
         signal out state [3,1];
        restrictions
         causality preferred out p;
       end;
       icon bg top
        figures
         text 'C' 191.8 216.2 color 0 18 bold;
       end;
       implementation eq
parameters
	real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m};
equations
    state = int(p.f);
    p.e = inverse(c) *state;
implementation_end;
      C4 191.8 232.2
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:7:27</TimeStamp>
</Description>';
       type 'C-2'
        ports
         power in p [2,1];
         signal out state [2,1];
        restrictions
         causality preferred out p;
       end;
       icon bg bottom
        figures
         text 'C' 191.8 232.2 color 0 18 bold;
       end;
       implementation eq
parameters
	real c[2,2] = [0.1, 0.0; 0.0, 0.1]  {mN.m/rad};
equations
    state = int(p.f);
    p.e = inverse(c) *state;
implementation_end;
      plug output 468 216;
      plug angle 224 80;
      OneJunction5 239.8 232.2
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
       knot OneJunction
        ports
         power knot duplicatable none p [2,1];
         signal knot out flow [2,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 239.8 232.2 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      OneJunction7 239.8 216.2
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
       knot OneJunction
        ports
         power knot duplicatable none p [3,1];
         signal knot out flow [3,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 239.8 216.2 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      OneJunction8 312 200
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
       knot OneJunction
        ports
         rotation knot duplicatable none p [1];
         signal knot out flow [1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 312 200 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      PowerMux 402 216
						specifications active 'rot_x'
							specification 'rot_x'
 description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>
  <TimeStamp>2020-7-20 14:35:23</TimeStamp>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
  <AllowLibraryUpdate>True</AllowLibraryUpdate>
 </Description>
</Information>';
 type 'PowerMux-Rotation'
  ports
   power in input;
   power out output [6,1];
   power in input_rot2 [2,1];
   power in input_pos3 [3,1];
  restrictions
   causality constraint not_equal input output;
   causality constraint not_equal input_rot2 output;
   causality constraint not_equal input_pos3 output;
 end;
 icon bg bottom
  figures
   line 400 192 400 240 color 0 width 2;
   rectangle 396 192 408 240 color -1;
   text '1' 405 210 color 8421504 8;
  terminals
   input 400 200 fixed;
   output 400 216 fixed;
   input_rot2 400 232 fixed;
   input_pos3 400 216 fixed;
 end;
 implementation eq
equations
	output.e[1] = input.e;
	output.e[2:3] = input_rot2.e;
	output.e[4:6] = input_pos3.e;
	output.f[1] = input.f;
	output.f[2:3] = input_rot2.f;
	output.f[4:6] = input_pos3.f;implementation_end;
specification_end;
							specification 'rot_y'
description '<Description>
   <Version>4.1</Version>
  <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>
  <TimeStamp>2011-3-4 15:12:50</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
 type PowerMux
  ports
   power in input;
   power out output [6,1];
   power in input_rot2 [2,1];
   power in input_pos3 [3,1];
  restrictions
   causality constraint not_equal input output;
   causality constraint not_equal input_rot2 output;
   causality constraint not_equal input_pos3 output;
 end;
 icon bg bottom
  figures
   line 242 274 290 274 color 0 width 2;
   rectangle 242 266 290 278 color -1;
   text '1' 260 269 color 8421504 8;
  terminals
   input 250 274 fixed;
   output 266 274 fixed;
   input_rot2 282 274 fixed;
   input_pos3 266 274 fixed;
 end;
 implementation eq
equations
	output.e[1] = input_rot2.e[1];
	output.e[2] = input.e;
	output.e[3] = input_rot2.e[2];
	output.e[4:6] = input_pos3.e;
	output.f[1] = input_rot2.f[1];
	output.f[2] = input.f;
	output.f[3] = input_rot2.f[2];
	output.f[4:6] = input_pos3.f;implementation_end;
specification_end;
							specification 'rot_z'
description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>
  <TimeStamp>2020-7-21 12:05:13</TimeStamp>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
  <AllowLibraryUpdate>True</AllowLibraryUpdate>
 </Description>
</Information>';
 type PowerMux
  ports
   power in input;
   power out output [6,1];
   power in input_rot2 [2,1];
   power in input_pos3 [3,1];
  restrictions
   causality constraint not_equal input output;
   causality constraint not_equal input_rot2 output;
   causality constraint not_equal input_pos3 output;
 end;
 icon bg bottom
  figures
   line 242 274 290 274 color 0 width 2;
   rectangle 242 266 290 278 color -1;
   text '1' 260 269 color 8421504 8;
  terminals
   input 250 274 fixed;
   output 266 274 fixed;
   input_rot2 282 274 fixed;
   input_pos3 266 274 fixed;
 end;
 implementation eq
equations
	output.e[3] = input.e;
	output.e[1:2] = input_rot2.e;
	output.e[4:6] = input_pos3.e;
	output.f[3] = input.f;
	output.f[1:2] = input_rot2.f;
	output.f[4:6] = input_pos3.f;implementation_end;
specification_end;
						end;
      R 312 152
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\R.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:35:37</TimeStamp>
</Description>
</Information>';
       type R
        ports
         power in p;
       end;
       icon bg bottom
        figures
         text 'R' 312 152 color 0 18 bold;
       end;
       implementation eq
parameters
	real r = 0.001;
equations
	p.e = r * p.f;
implementation_end;
      R4 239.8 288.2
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:6:54</TimeStamp>
</Description>';
       type 'R-2'
        ports
         power in p [2,1];
       end;
       icon bg bottom
        figures
         text 'R' 239.8 288.2 color 0 18 bold;
       end;
       implementation eq
parameters
	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};
equations					
	p.e = r * p.f;
implementation_end;
      R5 239.8 168.2
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:11:54</TimeStamp>
</Description>';
       type 'R-3'
        ports
         power in p [3,1];
       end;
       icon bg top
        figures
         text 'R' 239.8 168.2 color 0 18 bold;
       end;
       implementation eq
parameters
	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};
equations					
	p.e = r * p.f;
implementation_end;
      stepper_model 360 80
       description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel><LibraryPath>Motor\stepper_model.emx</LibraryPath><TimeStamp>2020-7-23 10:54:47</TimeStamp></Description><Attributes><GlobalRelations>parameters 
	real I_phase = 3.4 {mH};
	real R_phase = 2.9 {ohm};
	real u_max = 6 {V};
	real RotorInertia = 5.6e-6 {kg.m2};
	real StepperMass = 0.29 {kg};
	real angle_step = 1.8 {deg};
	real n_phase = 2 {none};
	real fluxLinkage = 0.0022 {Wb};
	real detentTorque = 0.01 {N.m};
variables
	real omega;
	real p; // rotor division
initialequations
	p = 2 * pi / (2 * n_phase * angle_step);
	omega = 200;</GlobalRelations></Attributes></Information>';
       type Submodel
        ports
         signal in angle;
         rotation out p;
       end;
       implementation bg
        submodels
         I 560 104
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\I.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:55:55</TimeStamp>
</Description>
</Information>';
          type I
           ports
            power in p;
            signal out state;
           restrictions
            causality preferred in p;
          end;
          icon bg bottom
           figures
            text 'I' 560 104 color 0 18 bold;
          end;
          implementation eq
parameters
	real global I_phase;
equations
    state = int(p.e);
    p.f = state / I_phase;
implementation_end;
         I1 608 328
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\I.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:55:55</TimeStamp>
</Description>
</Information>';
          type I
           ports
            power in p;
            signal out state;
           restrictions
            causality preferred in p;
          end;
          icon bg bottom
           figures
            text 'I' 608 328 color 0 18 bold;
          end;
          implementation eq
parameters
	real global I_phase;
equations
    state = int(p.e);
    p.f = state / I_phase;
implementation_end;
         I2 752 160
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\I.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:55:55</TimeStamp>
</Description>
</Information>';
          type I
           ports
            power in p;
            signal out state;
           restrictions
            causality preferred in p;
          end;
          icon bg bottom
           figures
            text 'I' 752 160 color 0 18 bold;
          end;
          implementation eq
parameters
	real global RotorInertia;
equations
    state = int(p.e);
    p.f = state / (RotorInertia);
implementation_end;
         MGY_a 656 160
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\MGY.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:03:53</TimeStamp>
</Description>
</Information>';
          type MGY
           ports
            power in p1;
            power out p2;
            signal in r;
           restrictions
            causality constraint equal p1 p2;
          end;
          icon bg bottom
           figures
            text 'MGY' 656 160 color 0 18 bold;
          end;
          implementation eq
equations
	p1.e = r * p2.f;
	p2.e = r * p1.f;
implementation_end;
         MGY_b 656 272
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\MGY.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:03:53</TimeStamp>
</Description>
</Information>';
          type MGY
           ports
            power in p1;
            power out p2;
            signal in r;
           restrictions
            causality constraint equal p1 p2;
          end;
          icon bg bottom
           figures
            text 'MGY' 656 272 color 0 18 bold;
          end;
          implementation eq
equations
	p1.e = r * p2.f;
	p2.e = r * p1.f;
implementation_end;
         MSe_a 512 160
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\MSe.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:12:33</TimeStamp>
</Description>
</Information>';
          type MSe
           ports
            electric out p;
            signal in effort;
           restrictions
            causality fixed out p;
          end;
          icon bg bottom
           figures
            text 'MSe' 512 160 color 0 18 bold;
          end;
          implementation eq
variables
	real flow;
equations
	p.e = effort;
	flow = p.f;
implementation_end;
         MSe_b 512 272
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\MSe.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:12:33</TimeStamp>
</Description>
</Information>';
          type MSe
           ports
            electric out p;
            signal in effort;
           restrictions
            causality fixed out p;
          end;
          icon bg bottom
           figures
            text 'MSe' 512 272 color 0 18 bold;
          end;
          implementation eq
variables
	real flow;
equations
	p.e = effort;
	flow = p.f;
implementation_end;
         plug angle 200 216;
         plug p 1472 216;
         OneJunction1 840 216
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
          knot OneJunction
           ports
            rotation knot duplicatable none p [1];
            signal knot out flow [1];
           restrictions
            causality constraint one_out p;
          end;
          icon bg
           figures
            text '1' 840 216 color 0 18 bold;
          end;
          implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
         OneJunction2 584 160
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
          knot OneJunction
           ports
            electric knot duplicatable none p [1];
            signal knot out flow [1];
           restrictions
            causality constraint one_out p;
          end;
          icon bg
           figures
            text '1' 584 160 color 0 18 bold;
          end;
          implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
         OneJunction3 584 272
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
          knot OneJunction
           ports
            electric knot duplicatable none p [1];
            signal knot out flow [1];
           restrictions
            causality constraint one_out p;
          end;
          icon bg
           figures
            text '1' 584 272 color 0 18 bold;
          end;
          implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
         OneJunction4 752 216
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
          knot OneJunction
           ports
            rotation knot duplicatable none p [1];
            signal knot out flow [1];
           restrictions
            causality constraint one_out p;
          end;
          icon bg
           figures
            text '1' 752 216 color 0 18 bold;
          end;
          implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
         phase_control 512 216
          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
           ports
            signal in angle;
            signal out a;
            signal out b;
          end;
          icon bg
           figures
            rectangle 472 200 552 232 color 0 fill 15132390;
            text 'name' 512 216 color 0 'Clear Sans' 16;
          end;
          implementation eq
parameters
	real global u_max {V};
variables
	real global p;
	boolean hidden eventa, eventb;
equations
	a = u_max * (cos (p*angle));
	eventa = event(a);
	b = u_max * -(sin (p*angle));
	eventb = event(b);

	
	
 implementation_end;
         R 608 104
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\R.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:35:37</TimeStamp>
</Description>
</Information>';
          type R
           ports
            power in p;
          end;
          icon bg bottom
           figures
            text 'R' 608 104 color 0 18 bold;
          end;
          implementation eq
parameters
	real global R_phase;
equations
	p.e = R_phase * p.f;
implementation_end;
         R1 560 328
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\R.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:35:37</TimeStamp>
</Description>
</Information>';
          type R
           ports
            power in p;
          end;
          icon bg bottom
           figures
            text 'R' 560 328 color 0 18 bold;
          end;
          implementation eq
parameters
	real global R_phase;
equations
	p.e = R_phase * p.f;
implementation_end;
         R2 824 264
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\R.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:35:37</TimeStamp>
</Description>
</Information>';
          type R
           ports
            power in p;
          end;
          icon bg bottom
           figures
            text 'R' 824 264 color 0 18 bold;
          end;
          implementation eq
parameters
	real r = 1.0e-3;
equations
	p.e = r * p.f;
implementation_end;
         RotorAngle 656 216
          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
           ports
            signal out output_b;
            signal out output_a;
            signal in omega {rad/s} ;
            signal out output_d;
          end;
          icon bg
           figures
            rectangle 616 200 696 232 color 0 fill 15132390;
            text 'name' 656 216 color 0 'Clear Sans' 16;
          end;
          implementation eq
parameters
	real global fluxLinkage;
	real global detentTorque;
variables
	real global p;
	real angle {rad};
equations
	angle = int(omega,-1.65);
	output_a = -p * fluxLinkage * sin(p * angle);
	output_b =  p * fluxLinkage * sin(p * angle - pi / 2);
	output_d =  detentTorque * sin(2 * p * angle);
 implementation_end;
         Se 752 272
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\MSe.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:12:33</TimeStamp>
</Description>
</Information>';
          type MSe
           ports
            power out p;
            signal in effort;
           restrictions
            causality fixed out p;
          end;
          icon bg bottom
           figures
            text 'MSe' 752 272 color 0 18 bold;
          end;
          implementation eq

variables
	real flow;
equations
	p.e = effort;
	flow = p.f;
implementation_end;
        end;
        connections
         angle -> phase_control\angle;
         I2\p <= OneJunction4\p;
         MGY_a\p2 => OneJunction4\p;
         MGY_b\p2 => OneJunction4\p;
         MSe_b\p => OneJunction3\p;
         OneJunction1\p => p;
         OneJunction2\p <= MSe_a\p;
         OneJunction2\p => I\p;
         OneJunction2\p => MGY_a\p1;
         OneJunction2\p => R\p;
         OneJunction3\p => I1\p;
         OneJunction3\p => MGY_b\p1;
         OneJunction3\p => R1\p;
         OneJunction4\flow -> RotorAngle\omega;
         OneJunction4\p => OneJunction1\p;
         OneJunction4\p => R2\p;
         phase_control\a -> MSe_a\effort;
         phase_control\b -> MSe_b\effort;
         RotorAngle\output_a -> MGY_a\r;
         RotorAngle\output_b -> MGY_b\r;
         RotorAngle\output_d -> Se\effort;
         Se\p => OneJunction4\p;
        end;
       implementation_end;
      ZeroJunction1 360 200
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:45:16</TimeStamp>
</Description>
</Information>';
       knot ZeroJunction
        ports
         rotation knot duplicatable none p [1];
         signal knot out effort [1];
        restrictions
         causality constraint one_in p;
       end;
       icon bg
        figures
         text '0' 360 200 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
     end;
     connections
      angle -> stepper_model\angle;
      C\p <= OneJunction8\p;
      C1\p <= OneJunction7\p;
      OneJunction5\p => C4\p;
      OneJunction5\p => PowerMux\input_rot2;
      OneJunction5\p => R4\p;
      OneJunction7\p => PowerMux\input_pos3;
      OneJunction7\p => R5\p;
      OneJunction8\p => R\p;
      PowerMux\input <= ZeroJunction1\p;
      PowerMux\output => output;
      ZeroJunction1\p <= OneJunction8\p;
      ZeroJunction1\p <= stepper_model\p;
     end;
    implementation_end;
   Joint_dynB 336 216
    description '<Description>
	<Version>4.8</Version>
	<IsMainModel>1</IsMainModel>
	</Description>';
    type Submodel
     ports
      power out output [6,1];
    end;
    implementation bg
     submodels
      C1 191.8 216.2
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:12:8</TimeStamp>
</Description>';
       type 'C-3'
        ports
         power in p [3,1];
         signal out state [3,1];
        restrictions
         causality preferred out p;
       end;
       icon bg top
        figures
         text 'C' 191.8 216.2 color 0 18 bold;
       end;
       implementation eq
parameters
	real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m};
equations
    state = int(p.f);
    p.e = inverse(c) *state;
implementation_end;
      C4 191.8 232.2
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:7:27</TimeStamp>
</Description>';
       type 'C-2'
        ports
         power in p [2,1];
         signal out state [2,1];
        restrictions
         causality preferred out p;
       end;
       icon bg bottom
        figures
         text 'C' 191.8 232.2 color 0 18 bold;
       end;
       implementation eq
parameters
	real c[2,2] = [0.1, 0.0; 0.0, 0.1]  {mN.m/rad};
equations
    state = int(p.f);
    p.e = inverse(c) *state;
implementation_end;
      plug output 396 216;
      OneJunction5 239.8 232.2
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
       knot OneJunction
        ports
         power knot duplicatable none p [2,1];
         signal knot out flow [2,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 239.8 232.2 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      OneJunction7 239.8 216.2
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
       knot OneJunction
        ports
         power knot duplicatable none p [3,1];
         signal knot out flow [3,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 239.8 216.2 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      OneJunction8 288 200
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
       knot OneJunction
        ports
         power knot duplicatable none p [1];
         signal knot out flow [1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 288 200 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      PowerMux 330 216
						specifications active 'rot_x'
							specification 'rot_x'
 description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>
  <TimeStamp>2020-7-20 14:35:23</TimeStamp>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
  <AllowLibraryUpdate>True</AllowLibraryUpdate>
 </Description>
</Information>';
 type 'PowerMux-Rotation'
  ports
   power in input;
   power out output [6,1];
   power in input_rot2 [2,1];
   power in input_pos3 [3,1];
  restrictions
   causality constraint not_equal input output;
   causality constraint not_equal input_rot2 output;
   causality constraint not_equal input_pos3 output;
 end;
 icon bg bottom
  figures
   line 328 192 328 240 color 0 width 2;
   rectangle 324 192 336 240 color -1;
   text '1' 333 210 color 8421504 8;
  terminals
   input 328 200 fixed;
   output 328 216 fixed;
   input_rot2 328 232 fixed;
   input_pos3 328 216 fixed;
 end;
 implementation eq
equations
	output.e[1] = input.e;
	output.e[2:3] = input_rot2.e;
	output.e[4:6] = input_pos3.e;
	output.f[1] = input.f;
	output.f[2:3] = input_rot2.f;
	output.f[4:6] = input_pos3.f;implementation_end;
specification_end;
							specification 'rot_y'
description '<Description>
   <Version>4.1</Version>
  <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>
  <TimeStamp>2011-3-4 15:12:50</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
 type PowerMux
  ports
   power in input;
   power out output [6,1];
   power in input_rot2 [2,1];
   power in input_pos3 [3,1];
  restrictions
   causality constraint not_equal input output;
   causality constraint not_equal input_rot2 output;
   causality constraint not_equal input_pos3 output;
 end;
 icon bg bottom
  figures
   line 242 274 290 274 color 0 width 2;
   rectangle 242 266 290 278 color -1;
   text '1' 260 269 color 8421504 8;
  terminals
   input 250 274 fixed;
   output 266 274 fixed;
   input_rot2 282 274 fixed;
   input_pos3 266 274 fixed;
 end;
 implementation eq
equations
	output.e[1] = input_rot2.e[1];
	output.e[2] = input.e;
	output.e[3] = input_rot2.e[2];
	output.e[4:6] = input_pos3.e;
	output.f[1] = input_rot2.f[1];
	output.f[2] = input.f;
	output.f[3] = input_rot2.f[2];
	output.f[4:6] = input_pos3.f;implementation_end;
specification_end;
							specification 'rot_z'
description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>
  <TimeStamp>2020-7-21 12:05:13</TimeStamp>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
  <AllowLibraryUpdate>True</AllowLibraryUpdate>
 </Description>
</Information>';
 type PowerMux
  ports
   power in input;
   power out output [6,1];
   power in input_rot2 [2,1];
   power in input_pos3 [3,1];
  restrictions
   causality constraint not_equal input output;
   causality constraint not_equal input_rot2 output;
   causality constraint not_equal input_pos3 output;
 end;
 icon bg bottom
  figures
   line 242 274 290 274 color 0 width 2;
   rectangle 242 266 290 278 color -1;
   text '1' 260 269 color 8421504 8;
  terminals
   input 250 274 fixed;
   output 266 274 fixed;
   input_rot2 282 274 fixed;
   input_pos3 266 274 fixed;
 end;
 implementation eq
equations
	output.e[3] = input.e;
	output.e[1:2] = input_rot2.e;
	output.e[4:6] = input_pos3.e;
	output.f[3] = input.f;
	output.f[1:2] = input_rot2.f;
	output.f[4:6] = input_pos3.f;implementation_end;
specification_end;
						end;
      R 288 152
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\R.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:35:37</TimeStamp>
</Description>
</Information>';
       type R
        ports
         power in p;
       end;
       icon bg top
        figures
         text 'R' 288 152 color 0 18 bold;
       end;
       implementation eq
parameters
	real r = 0.01;
equations
	p.e = r * p.f;
implementation_end;
      R4 239.8 288.2
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:6:54</TimeStamp>
</Description>';
       type 'R-2'
        ports
         power in p [2,1];
       end;
       icon bg bottom
        figures
         text 'R' 239.8 288.2 color 0 18 bold;
       end;
       implementation eq
parameters
	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};
equations					
	p.e = r * p.f;
implementation_end;
      R5 239.8 168.2
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:11:54</TimeStamp>
</Description>';
       type 'R-3'
        ports
         power in p [3,1];
       end;
       icon bg top
        figures
         text 'R' 239.8 168.2 color 0 18 bold;
       end;
       implementation eq
parameters
	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};
equations					
	p.e = r * p.f;
implementation_end;
     end;
     connections
      C1\p <= OneJunction7\p;
      OneJunction5\p => C4\p;
      OneJunction5\p => PowerMux\input_rot2;
      OneJunction5\p => R4\p;
      OneJunction7\p => PowerMux\input_pos3;
      OneJunction7\p => R5\p;
      OneJunction8\p => PowerMux\input;
      PowerMux\output => output;
      R\p <= OneJunction8\p;
     end;
    implementation_end;
   Joint_dynC 944 696
    description '<Description>
	<Version>4.8</Version>
	<IsMainModel>1</IsMainModel>
	</Description>';
    type Submodel
     ports
      power out output [6,1];
    end;
    implementation bg
     submodels
      C1 191.8 216.2
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:12:8</TimeStamp>
</Description>';
       type 'C-3'
        ports
         power in p [3,1];
         signal out state [3,1];
        restrictions
         causality preferred out p;
       end;
       icon bg top
        figures
         text 'C' 191.8 216.2 color 0 18 bold;
       end;
       implementation eq
parameters
	real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m};
equations
    state = int(p.f);
    p.e = inverse(c) *state;
implementation_end;
      C4 191.8 232.2
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:7:27</TimeStamp>
</Description>';
       type 'C-2'
        ports
         power in p [2,1];
         signal out state [2,1];
        restrictions
         causality preferred out p;
       end;
       icon bg bottom
        figures
         text 'C' 191.8 232.2 color 0 18 bold;
       end;
       implementation eq
parameters
	real c[2,2] = [0.1, 0.0; 0.0, 0.1]  {mN.m/rad};
equations
    state = int(p.f);
    p.e = inverse(c) *state;
implementation_end;
      plug output 396 216;
      OneJunction5 239.8 232.2
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
       knot OneJunction
        ports
         power knot duplicatable none p [2,1];
         signal knot out flow [2,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 239.8 232.2 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      OneJunction7 239.8 216.2
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
       knot OneJunction
        ports
         power knot duplicatable none p [3,1];
         signal knot out flow [3,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 239.8 216.2 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      OneJunction8 288 200
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
       knot OneJunction
        ports
         power knot duplicatable none p [1];
         signal knot out flow [1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 288 200 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      PowerMux 330 216
						specifications active 'rot_x'
							specification 'rot_x'
 description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>
  <TimeStamp>2020-7-20 14:35:23</TimeStamp>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
  <AllowLibraryUpdate>True</AllowLibraryUpdate>
 </Description>
</Information>';
 type 'PowerMux-Rotation'
  ports
   power in input;
   power out output [6,1];
   power in input_rot2 [2,1];
   power in input_pos3 [3,1];
  restrictions
   causality constraint not_equal input output;
   causality constraint not_equal input_rot2 output;
   causality constraint not_equal input_pos3 output;
 end;
 icon bg bottom
  figures
   line 328 192 328 240 color 0 width 2;
   rectangle 324 192 336 240 color -1;
   text '1' 333 210 color 8421504 8;
  terminals
   input 328 200 fixed;
   output 328 216 fixed;
   input_rot2 328 232 fixed;
   input_pos3 328 216 fixed;
 end;
 implementation eq
equations
	output.e[1] = input.e;
	output.e[2:3] = input_rot2.e;
	output.e[4:6] = input_pos3.e;
	output.f[1] = input.f;
	output.f[2:3] = input_rot2.f;
	output.f[4:6] = input_pos3.f;implementation_end;
specification_end;
							specification 'rot_y'
description '<Description>
   <Version>4.1</Version>
  <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>
  <TimeStamp>2011-3-4 15:12:50</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
 type PowerMux
  ports
   power in input;
   power out output [6,1];
   power in input_rot2 [2,1];
   power in input_pos3 [3,1];
  restrictions
   causality constraint not_equal input output;
   causality constraint not_equal input_rot2 output;
   causality constraint not_equal input_pos3 output;
 end;
 icon bg bottom
  figures
   line 242 274 290 274 color 0 width 2;
   rectangle 242 266 290 278 color -1;
   text '1' 260 269 color 8421504 8;
  terminals
   input 250 274 fixed;
   output 266 274 fixed;
   input_rot2 282 274 fixed;
   input_pos3 266 274 fixed;
 end;
 implementation eq
equations
	output.e[1] = input_rot2.e[1];
	output.e[2] = input.e;
	output.e[3] = input_rot2.e[2];
	output.e[4:6] = input_pos3.e;
	output.f[1] = input_rot2.f[1];
	output.f[2] = input.f;
	output.f[3] = input_rot2.f[2];
	output.f[4:6] = input_pos3.f;implementation_end;
specification_end;
							specification 'rot_z'
description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>
  <TimeStamp>2020-7-21 12:05:13</TimeStamp>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
  <AllowLibraryUpdate>True</AllowLibraryUpdate>
 </Description>
</Information>';
 type PowerMux
  ports
   power in input;
   power out output [6,1];
   power in input_rot2 [2,1];
   power in input_pos3 [3,1];
  restrictions
   causality constraint not_equal input output;
   causality constraint not_equal input_rot2 output;
   causality constraint not_equal input_pos3 output;
 end;
 icon bg bottom
  figures
   line 242 274 290 274 color 0 width 2;
   rectangle 242 266 290 278 color -1;
   text '1' 260 269 color 8421504 8;
  terminals
   input 250 274 fixed;
   output 266 274 fixed;
   input_rot2 282 274 fixed;
   input_pos3 266 274 fixed;
 end;
 implementation eq
equations
	output.e[3] = input.e;
	output.e[1:2] = input_rot2.e;
	output.e[4:6] = input_pos3.e;
	output.f[3] = input.f;
	output.f[1:2] = input_rot2.f;
	output.f[4:6] = input_pos3.f;implementation_end;
specification_end;
						end;
      R 288 152
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\R.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:35:37</TimeStamp>
</Description>
</Information>';
       type R
        ports
         power in p;
       end;
       icon bg top
        figures
         text 'R' 288 152 color 0 18 bold;
       end;
       implementation eq
parameters
	real r = 0.01;
equations
	p.e = r * p.f;
implementation_end;
      R4 239.8 288.2
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:6:54</TimeStamp>
</Description>';
       type 'R-2'
        ports
         power in p [2,1];
       end;
       icon bg bottom
        figures
         text 'R' 239.8 288.2 color 0 18 bold;
       end;
       implementation eq
parameters
	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};
equations					
	p.e = r * p.f;
implementation_end;
      R5 239.8 168.2
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:11:54</TimeStamp>
</Description>';
       type 'R-3'
        ports
         power in p [3,1];
       end;
       icon bg top
        figures
         text 'R' 239.8 168.2 color 0 18 bold;
       end;
       implementation eq
parameters
	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};
equations					
	p.e = r * p.f;
implementation_end;
     end;
     connections
      C1\p <= OneJunction7\p;
      OneJunction5\p => C4\p;
      OneJunction5\p => PowerMux\input_rot2;
      OneJunction5\p => R4\p;
      OneJunction7\p => PowerMux\input_pos3;
      OneJunction7\p => R5\p;
      OneJunction8\p => PowerMux\input;
      PowerMux\output => output;
      R\p <= OneJunction8\p;
     end;
    implementation_end;
   Joint_dynD 528 536
    description '<Description>
	<Version>4.8</Version>
	<IsMainModel>1</IsMainModel>
	</Description>';
    type Submodel
     ports
      power out output [6,1];
      signal in angle {rad} ;
    end;
    icon bg
     figures
      rectangle 488 520 568 552 color 0 fill 15132390;
      text 'name' 528 536 color 0 'Clear Sans' 16;
    end;
    implementation bg
     submodels
      C 264 200
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\C.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:58:35</TimeStamp>
</Description>
</Information>';
       type C
        ports
         power in p;
         signal out state;
        restrictions
         causality preferred out p;
       end;
       icon bg bottom
        figures
         text 'C' 264 200 color 0 18 bold;
       end;
       implementation eq
parameters
	real c = 0.001;
equations
	state = int(p.f);
	p.e = state / c;
implementation_end;
      C1 191.8 216.2
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:12:8</TimeStamp>
</Description>';
       type 'C-3'
        ports
         power in p [3,1];
         signal out state [3,1];
        restrictions
         causality preferred out p;
       end;
       icon bg top
        figures
         text 'C' 191.8 216.2 color 0 18 bold;
       end;
       implementation eq
parameters
	real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m};
equations
    state = int(p.f);
    p.e = inverse(c) *state;
implementation_end;
      C4 191.8 232.2
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:7:27</TimeStamp>
</Description>';
       type 'C-2'
        ports
         power in p [2,1];
         signal out state [2,1];
        restrictions
         causality preferred out p;
       end;
       icon bg bottom
        figures
         text 'C' 191.8 232.2 color 0 18 bold;
       end;
       implementation eq
parameters
	real c[2,2] = [0.1, 0.0; 0.0, 0.1]  {mN.m/rad};
equations
    state = int(p.f);
    p.e = inverse(c) *state;
implementation_end;
      plug output 468 216;
      plug angle 224 80;
      OneJunction5 239.8 232.2
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
       knot OneJunction
        ports
         power knot duplicatable none p [2,1];
         signal knot out flow [2,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 239.8 232.2 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      OneJunction7 239.8 216.2
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
       knot OneJunction
        ports
         power knot duplicatable none p [3,1];
         signal knot out flow [3,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 239.8 216.2 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      OneJunction8 312 200
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
       knot OneJunction
        ports
         rotation knot duplicatable none p [1];
         signal knot out flow [1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 312 200 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      PowerMux 402 216
						specifications active 'rot_x'
							specification 'rot_x'
 description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>
  <TimeStamp>2020-7-20 14:35:23</TimeStamp>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
  <AllowLibraryUpdate>True</AllowLibraryUpdate>
 </Description>
</Information>';
 type 'PowerMux-Rotation'
  ports
   power in input;
   power out output [6,1];
   power in input_rot2 [2,1];
   power in input_pos3 [3,1];
  restrictions
   causality constraint not_equal input output;
   causality constraint not_equal input_rot2 output;
   causality constraint not_equal input_pos3 output;
 end;
 icon bg bottom
  figures
   line 400 192 400 240 color 0 width 2;
   rectangle 396 192 408 240 color -1;
   text '1' 405 210 color 8421504 8;
  terminals
   input 400 200 fixed;
   output 400 216 fixed;
   input_rot2 400 232 fixed;
   input_pos3 400 216 fixed;
 end;
 implementation eq
equations
	output.e[1] = input.e;
	output.e[2:3] = input_rot2.e;
	output.e[4:6] = input_pos3.e;
	output.f[1] = input.f;
	output.f[2:3] = input_rot2.f;
	output.f[4:6] = input_pos3.f;implementation_end;
specification_end;
							specification 'rot_y'
description '<Description>
   <Version>4.1</Version>
  <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>
  <TimeStamp>2011-3-4 15:12:50</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
 type PowerMux
  ports
   power in input;
   power out output [6,1];
   power in input_rot2 [2,1];
   power in input_pos3 [3,1];
  restrictions
   causality constraint not_equal input output;
   causality constraint not_equal input_rot2 output;
   causality constraint not_equal input_pos3 output;
 end;
 icon bg bottom
  figures
   line 242 274 290 274 color 0 width 2;
   rectangle 242 266 290 278 color -1;
   text '1' 260 269 color 8421504 8;
  terminals
   input 250 274 fixed;
   output 266 274 fixed;
   input_rot2 282 274 fixed;
   input_pos3 266 274 fixed;
 end;
 implementation eq
equations
	output.e[1] = input_rot2.e[1];
	output.e[2] = input.e;
	output.e[3] = input_rot2.e[2];
	output.e[4:6] = input_pos3.e;
	output.f[1] = input_rot2.f[1];
	output.f[2] = input.f;
	output.f[3] = input_rot2.f[2];
	output.f[4:6] = input_pos3.f;implementation_end;
specification_end;
							specification 'rot_z'
description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>
  <TimeStamp>2020-7-21 12:05:13</TimeStamp>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
  <AllowLibraryUpdate>True</AllowLibraryUpdate>
 </Description>
</Information>';
 type PowerMux
  ports
   power in input;
   power out output [6,1];
   power in input_rot2 [2,1];
   power in input_pos3 [3,1];
  restrictions
   causality constraint not_equal input output;
   causality constraint not_equal input_rot2 output;
   causality constraint not_equal input_pos3 output;
 end;
 icon bg bottom
  figures
   line 242 274 290 274 color 0 width 2;
   rectangle 242 266 290 278 color -1;
   text '1' 260 269 color 8421504 8;
  terminals
   input 250 274 fixed;
   output 266 274 fixed;
   input_rot2 282 274 fixed;
   input_pos3 266 274 fixed;
 end;
 implementation eq
equations
	output.e[3] = input.e;
	output.e[1:2] = input_rot2.e;
	output.e[4:6] = input_pos3.e;
	output.f[3] = input.f;
	output.f[1:2] = input_rot2.f;
	output.f[4:6] = input_pos3.f;implementation_end;
specification_end;
						end;
      R 312 152
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\R.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:35:37</TimeStamp>
</Description>
</Information>';
       type R
        ports
         power in p;
       end;
       icon bg bottom
        figures
         text 'R' 312 152 color 0 18 bold;
       end;
       implementation eq
parameters
	real r = 0.001;
equations
	p.e = r * p.f;
implementation_end;
      R4 239.8 288.2
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:6:54</TimeStamp>
</Description>';
       type 'R-2'
        ports
         power in p [2,1];
       end;
       icon bg bottom
        figures
         text 'R' 239.8 288.2 color 0 18 bold;
       end;
       implementation eq
parameters
	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};
equations					
	p.e = r * p.f;
implementation_end;
      R5 239.8 168.2
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:11:54</TimeStamp>
</Description>';
       type 'R-3'
        ports
         power in p [3,1];
       end;
       icon bg top
        figures
         text 'R' 239.8 168.2 color 0 18 bold;
       end;
       implementation eq
parameters
	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};
equations					
	p.e = r * p.f;
implementation_end;
      stepper_model 360 80
       description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel><LibraryPath>Motor\stepper_model.emx</LibraryPath><TimeStamp>2020-7-23 10:54:47</TimeStamp></Description><Attributes><GlobalRelations>parameters 
	real I_phase = 3.4 {mH};
	real R_phase = 2.9 {ohm};
	real u_max = 6 {V};
	real RotorInertia = 5.6e-6 {kg.m2};
	real StepperMass = 0.29 {kg};
	real angle_step = 1.8 {deg};
	real n_phase = 2 {none};
	real fluxLinkage = 0.0022 {Wb};
	real detentTorque = 0.01 {N.m};
variables
	real omega;
	real p; // rotor division
initialequations
	p = 2 * pi / (2 * n_phase * angle_step);
	omega = 200;</GlobalRelations></Attributes></Information>';
       type Submodel
        ports
         signal in angle;
         rotation out p;
       end;
       implementation bg
        submodels
         I 560 104
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\I.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:55:55</TimeStamp>
</Description>
</Information>';
          type I
           ports
            power in p;
            signal out state;
           restrictions
            causality preferred in p;
          end;
          icon bg bottom
           figures
            text 'I' 560 104 color 0 18 bold;
          end;
          implementation eq
parameters
	real global I_phase;
equations
    state = int(p.e);
    p.f = state / I_phase;
implementation_end;
         I1 608 328
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\I.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:55:55</TimeStamp>
</Description>
</Information>';
          type I
           ports
            power in p;
            signal out state;
           restrictions
            causality preferred in p;
          end;
          icon bg bottom
           figures
            text 'I' 608 328 color 0 18 bold;
          end;
          implementation eq
parameters
	real global I_phase;
equations
    state = int(p.e);
    p.f = state / I_phase;
implementation_end;
         I2 752 160
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\I.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:55:55</TimeStamp>
</Description>
</Information>';
          type I
           ports
            power in p;
            signal out state;
           restrictions
            causality preferred in p;
          end;
          icon bg bottom
           figures
            text 'I' 752 160 color 0 18 bold;
          end;
          implementation eq
parameters
	real i = 8e-5 {kg.m2};
	real global RotorInertia;
equations
    state = int(p.e);
    p.f = state / (RotorInertia);
implementation_end;
         MGY_a 656 160
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\MGY.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:03:53</TimeStamp>
</Description>
</Information>';
          type MGY
           ports
            power in p1;
            power out p2;
            signal in r;
           restrictions
            causality constraint equal p1 p2;
          end;
          icon bg bottom
           figures
            text 'MGY' 656 160 color 0 18 bold;
          end;
          implementation eq
equations
	p1.e = r * p2.f;
	p2.e = r * p1.f;
implementation_end;
         MGY_b 656 272
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\MGY.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:03:53</TimeStamp>
</Description>
</Information>';
          type MGY
           ports
            power in p1;
            power out p2;
            signal in r;
           restrictions
            causality constraint equal p1 p2;
          end;
          icon bg bottom
           figures
            text 'MGY' 656 272 color 0 18 bold;
          end;
          implementation eq
equations
	p1.e = r * p2.f;
	p2.e = r * p1.f;
implementation_end;
         MSe_a 512 160
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\MSe.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:12:33</TimeStamp>
</Description>
</Information>';
          type MSe
           ports
            electric out p;
            signal in effort;
           restrictions
            causality fixed out p;
          end;
          icon bg bottom
           figures
            text 'MSe' 512 160 color 0 18 bold;
          end;
          implementation eq
variables
	real flow;
equations
	p.e = effort;
	flow = p.f;
implementation_end;
         MSe_b 512 272
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\MSe.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:12:33</TimeStamp>
</Description>
</Information>';
          type MSe
           ports
            electric out p;
            signal in effort;
           restrictions
            causality fixed out p;
          end;
          icon bg bottom
           figures
            text 'MSe' 512 272 color 0 18 bold;
          end;
          implementation eq
variables
	real flow;
equations
	p.e = effort;
	flow = p.f;
implementation_end;
         plug angle 200 216;
         plug p 1472 216;
         OneJunction1 840 216
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
          knot OneJunction
           ports
            rotation knot duplicatable none p [1];
            signal knot out flow [1];
           restrictions
            causality constraint one_out p;
          end;
          icon bg
           figures
            text '1' 840 216 color 0 18 bold;
          end;
          implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
         OneJunction2 584 160
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
          knot OneJunction
           ports
            electric knot duplicatable none p [1];
            signal knot out flow [1];
           restrictions
            causality constraint one_out p;
          end;
          icon bg
           figures
            text '1' 584 160 color 0 18 bold;
          end;
          implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
         OneJunction3 584 272
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
          knot OneJunction
           ports
            electric knot duplicatable none p [1];
            signal knot out flow [1];
           restrictions
            causality constraint one_out p;
          end;
          icon bg
           figures
            text '1' 584 272 color 0 18 bold;
          end;
          implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
         OneJunction4 752 216
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
          knot OneJunction
           ports
            rotation knot duplicatable none p [1];
            signal knot out flow [1];
           restrictions
            causality constraint one_out p;
          end;
          icon bg
           figures
            text '1' 752 216 color 0 18 bold;
          end;
          implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
         phase_control 512 216
          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
           ports
            signal in angle;
            signal out a;
            signal out b;
          end;
          icon bg
           figures
            rectangle 472 200 552 232 color 0 fill 15132390;
            text 'name' 512 216 color 0 'Clear Sans' 16;
          end;
          implementation eq
parameters
	real global u_max {V};
variables
	real global p;
	boolean hidden eventa, eventb;
equations
	a = u_max * (cos (p*angle));
	eventa = event(a);
	b = u_max * -(sin (p*angle));
	eventb = event(b);

	
	
 implementation_end;
         R 608 104
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\R.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:35:37</TimeStamp>
</Description>
</Information>';
          type R
           ports
            power in p;
          end;
          icon bg bottom
           figures
            text 'R' 608 104 color 0 18 bold;
          end;
          implementation eq
parameters
	real global R_phase;
equations
	p.e = R_phase * p.f;
implementation_end;
         R1 560 328
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\R.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:35:37</TimeStamp>
</Description>
</Information>';
          type R
           ports
            power in p;
          end;
          icon bg bottom
           figures
            text 'R' 560 328 color 0 18 bold;
          end;
          implementation eq
parameters
	real global R_phase;
equations
	p.e = R_phase * p.f;
implementation_end;
         R2 824 264
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\R.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:35:37</TimeStamp>
</Description>
</Information>';
          type R
           ports
            power in p;
          end;
          icon bg bottom
           figures
            text 'R' 824 264 color 0 18 bold;
          end;
          implementation eq
parameters
	real r = 1.0e-3;
equations
	p.e = r * p.f;
implementation_end;
         RotorAngle 656 216
          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
           ports
            signal out output_b;
            signal out output_a;
            signal in omega {rad/s} ;
            signal out output_d;
          end;
          icon bg
           figures
            rectangle 616 200 696 232 color 0 fill 15132390;
            text 'name' 656 216 color 0 'Clear Sans' 16;
          end;
          implementation eq
parameters
	real global fluxLinkage;
	real global detentTorque;
variables
	real global p;
	real angle {rad};
equations
	angle = int(omega);
	output_a = -p * fluxLinkage * sin(p * angle);
	output_b =  p * fluxLinkage * sin(p * angle - pi / 2);
	output_d =  detentTorque * sin(2 * p * angle);
 implementation_end;
         Se 752 272
          description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\MSe.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:12:33</TimeStamp>
</Description>
</Information>';
          type MSe
           ports
            power out p;
            signal in effort;
           restrictions
            causality fixed out p;
          end;
          icon bg bottom
           figures
            text 'MSe' 752 272 color 0 18 bold;
          end;
          implementation eq

variables
	real flow;
equations
	p.e = effort;
	flow = p.f;
implementation_end;
        end;
        connections
         angle -> phase_control\angle;
         I2\p <= OneJunction4\p;
         MGY_a\p2 => OneJunction4\p;
         MGY_b\p2 => OneJunction4\p;
         MSe_b\p => OneJunction3\p;
         OneJunction1\p => p;
         OneJunction2\p <= MSe_a\p;
         OneJunction2\p => I\p;
         OneJunction2\p => MGY_a\p1;
         OneJunction2\p => R\p;
         OneJunction3\p => I1\p;
         OneJunction3\p => MGY_b\p1;
         OneJunction3\p => R1\p;
         OneJunction4\flow -> RotorAngle\omega;
         OneJunction4\p => OneJunction1\p;
         OneJunction4\p => R2\p;
         phase_control\a -> MSe_a\effort;
         phase_control\b -> MSe_b\effort;
         RotorAngle\output_a -> MGY_a\r;
         RotorAngle\output_b -> MGY_b\r;
         RotorAngle\output_d -> Se\effort;
         Se\p => OneJunction4\p;
        end;
       implementation_end;
      ZeroJunction1 360 200
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:45:16</TimeStamp>
</Description>
</Information>';
       knot ZeroJunction
        ports
         rotation knot duplicatable none p [1];
         signal knot out effort [1];
        restrictions
         causality constraint one_in p;
       end;
       icon bg
        figures
         text '0' 360 200 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
     end;
     connections
      angle -> stepper_model\angle;
      C\p <= OneJunction8\p;
      C1\p <= OneJunction7\p;
      OneJunction5\p => C4\p;
      OneJunction5\p => PowerMux\input_rot2;
      OneJunction5\p => R4\p;
      OneJunction7\p => PowerMux\input_pos3;
      OneJunction7\p => R5\p;
      OneJunction8\p => R\p;
      PowerMux\input <= ZeroJunction1\p;
      PowerMux\output => output;
      ZeroJunction1\p <= OneJunction8\p;
      ZeroJunction1\p <= stepper_model\p;
     end;
    implementation_end;
   Joint_dynE 536 216
    description '<Description>
	<Version>4.8</Version>
	<IsMainModel>1</IsMainModel>
	</Description>';
    type Submodel
     ports
      power out output [6,1];
    end;
    implementation bg
     submodels
      C1 191.8 216.2
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:12:8</TimeStamp>
</Description>';
       type 'C-3'
        ports
         power in p [3,1];
         signal out state [3,1];
        restrictions
         causality preferred out p;
       end;
       icon bg top
        figures
         text 'C' 191.8 216.2 color 0 18 bold;
       end;
       implementation eq
parameters
	real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m};
equations
    state = int(p.f);
    p.e = inverse(c) *state;
implementation_end;
      C4 191.8 232.2
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:7:27</TimeStamp>
</Description>';
       type 'C-2'
        ports
         power in p [2,1];
         signal out state [2,1];
        restrictions
         causality preferred out p;
       end;
       icon bg bottom
        figures
         text 'C' 191.8 232.2 color 0 18 bold;
       end;
       implementation eq
parameters
	real c[2,2] = [0.1, 0.0; 0.0, 0.1]  {mN.m/rad};
equations
    state = int(p.f);
    p.e = inverse(c) *state;
implementation_end;
      plug output 396 216;
      OneJunction5 239.8 232.2
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
       knot OneJunction
        ports
         power knot duplicatable none p [2,1];
         signal knot out flow [2,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 239.8 232.2 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      OneJunction7 239.8 216.2
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
       knot OneJunction
        ports
         power knot duplicatable none p [3,1];
         signal knot out flow [3,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 239.8 216.2 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      OneJunction8 288 200
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
       knot OneJunction
        ports
         power knot duplicatable none p [1];
         signal knot out flow [1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 288 200 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      PowerMux 330 216
						specifications active 'rot_x'
							specification 'rot_x'
 description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>
  <TimeStamp>2020-7-20 14:35:23</TimeStamp>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
  <AllowLibraryUpdate>True</AllowLibraryUpdate>
 </Description>
</Information>';
 type 'PowerMux-Rotation'
  ports
   power in input;
   power out output [6,1];
   power in input_rot2 [2,1];
   power in input_pos3 [3,1];
  restrictions
   causality constraint not_equal input output;
   causality constraint not_equal input_rot2 output;
   causality constraint not_equal input_pos3 output;
 end;
 icon bg bottom
  figures
   line 328 192 328 240 color 0 width 2;
   rectangle 324 192 336 240 color -1;
   text '1' 333 210 color 8421504 8;
  terminals
   input 328 200 fixed;
   output 328 216 fixed;
   input_rot2 328 232 fixed;
   input_pos3 328 216 fixed;
 end;
 implementation eq
equations
	output.e[1] = input.e;
	output.e[2:3] = input_rot2.e;
	output.e[4:6] = input_pos3.e;
	output.f[1] = input.f;
	output.f[2:3] = input_rot2.f;
	output.f[4:6] = input_pos3.f;implementation_end;
specification_end;
							specification 'rot_y'
description '<Description>
   <Version>4.1</Version>
  <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>
  <TimeStamp>2011-3-4 15:12:50</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
 type PowerMux
  ports
   power in input;
   power out output [6,1];
   power in input_rot2 [2,1];
   power in input_pos3 [3,1];
  restrictions
   causality constraint not_equal input output;
   causality constraint not_equal input_rot2 output;
   causality constraint not_equal input_pos3 output;
 end;
 icon bg bottom
  figures
   line 242 274 290 274 color 0 width 2;
   rectangle 242 266 290 278 color -1;
   text '1' 260 269 color 8421504 8;
  terminals
   input 250 274 fixed;
   output 266 274 fixed;
   input_rot2 282 274 fixed;
   input_pos3 266 274 fixed;
 end;
 implementation eq
equations
	output.e[1] = input_rot2.e[1];
	output.e[2] = input.e;
	output.e[3] = input_rot2.e[2];
	output.e[4:6] = input_pos3.e;
	output.f[1] = input_rot2.f[1];
	output.f[2] = input.f;
	output.f[3] = input_rot2.f[2];
	output.f[4:6] = input_pos3.f;implementation_end;
specification_end;
							specification 'rot_z'
description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>
  <TimeStamp>2020-7-21 12:05:13</TimeStamp>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
  <AllowLibraryUpdate>True</AllowLibraryUpdate>
 </Description>
</Information>';
 type PowerMux
  ports
   power in input;
   power out output [6,1];
   power in input_rot2 [2,1];
   power in input_pos3 [3,1];
  restrictions
   causality constraint not_equal input output;
   causality constraint not_equal input_rot2 output;
   causality constraint not_equal input_pos3 output;
 end;
 icon bg bottom
  figures
   line 242 274 290 274 color 0 width 2;
   rectangle 242 266 290 278 color -1;
   text '1' 260 269 color 8421504 8;
  terminals
   input 250 274 fixed;
   output 266 274 fixed;
   input_rot2 282 274 fixed;
   input_pos3 266 274 fixed;
 end;
 implementation eq
equations
	output.e[3] = input.e;
	output.e[1:2] = input_rot2.e;
	output.e[4:6] = input_pos3.e;
	output.f[3] = input.f;
	output.f[1:2] = input_rot2.f;
	output.f[4:6] = input_pos3.f;implementation_end;
specification_end;
						end;
      R 288 152
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\R.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:35:37</TimeStamp>
</Description>
</Information>';
       type R
        ports
         power in p;
       end;
       icon bg top
        figures
         text 'R' 288 152 color 0 18 bold;
       end;
       implementation eq
parameters
	real r = 0.01;
equations
	p.e = r * p.f;
implementation_end;
      R4 239.8 288.2
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:6:54</TimeStamp>
</Description>';
       type 'R-2'
        ports
         power in p [2,1];
       end;
       icon bg bottom
        figures
         text 'R' 239.8 288.2 color 0 18 bold;
       end;
       implementation eq
parameters
	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};
equations					
	p.e = r * p.f;
implementation_end;
      R5 239.8 168.2
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:11:54</TimeStamp>
</Description>';
       type 'R-3'
        ports
         power in p [3,1];
       end;
       icon bg top
        figures
         text 'R' 239.8 168.2 color 0 18 bold;
       end;
       implementation eq
parameters
	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};
equations					
	p.e = r * p.f;
implementation_end;
     end;
     connections
      C1\p <= OneJunction7\p;
      OneJunction5\p => C4\p;
      OneJunction5\p => PowerMux\input_rot2;
      OneJunction5\p => R4\p;
      OneJunction7\p => PowerMux\input_pos3;
      OneJunction7\p => R5\p;
      OneJunction8\p => PowerMux\input;
      PowerMux\output => output;
      R\p <= OneJunction8\p;
     end;
    implementation_end;
   Joint_dynF 792 56
    description '<Description>
	<Version>4.8</Version>
	<IsMainModel>1</IsMainModel>
	</Description>';
    type Submodel
     ports
      power out output [6,1];
    end;
    implementation bg
     submodels
      C 264 200
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\C.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:58:35</TimeStamp>
</Description>
</Information>';
       type C
        ports
         power in p;
         signal out state;
        restrictions
         causality preferred out p;
       end;
       icon bg bottom
        figures
         text 'C' 264 200 color 0 18 bold;
       end;
       implementation eq
parameters
	real c = 0.001;
equations
	state = int(p.f);
	p.e = state / c;
implementation_end;
      C1 191.8 216.2
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\3D\C-3.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:12:8</TimeStamp>
</Description>';
       type 'C-3'
        ports
         power in p [3,1];
         signal out state [3,1];
        restrictions
         causality preferred out p;
       end;
       icon bg top
        figures
         text 'C' 191.8 216.2 color 0 18 bold;
       end;
       implementation eq
parameters
	real c[3,3] = [0.1, 0.0, 0.0; 0.0, 0.1, 0.0; 0.0, 0.0, 0.1] {mN/m};
equations
    state = int(p.f);
    p.e = inverse(c) *state;
implementation_end;
      C4 191.8 232.2
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\2D\C-2.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:7:27</TimeStamp>
</Description>';
       type 'C-2'
        ports
         power in p [2,1];
         signal out state [2,1];
        restrictions
         causality preferred out p;
       end;
       icon bg bottom
        figures
         text 'C' 191.8 232.2 color 0 18 bold;
       end;
       implementation eq
parameters
	real c[2,2] = [0.1, 0.0; 0.0, 0.1]  {mN.m/rad};
equations
    state = int(p.f);
    p.e = inverse(c) *state;
implementation_end;
      plug output 396 216;
      OneJunction5 239.8 232.2
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
       knot OneJunction
        ports
         power knot duplicatable none p [2,1];
         signal knot out flow [2,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 239.8 232.2 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      OneJunction7 239.8 216.2
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
       knot OneJunction
        ports
         power knot duplicatable none p [3,1];
         signal knot out flow [3,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 239.8 216.2 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      OneJunction8 296 200
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
       knot OneJunction
        ports
         power knot duplicatable none p [1];
         signal knot out flow [1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 296 200 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      PowerMux 330 216
						specifications active 'rot_z'
							specification 'rot_x'
description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>
  <TimeStamp>2020-7-20 14:35:23</TimeStamp>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
  <AllowLibraryUpdate>True</AllowLibraryUpdate>
 </Description>
</Information>';
 type 'PowerMux-Rotation'
  ports
   power in input;
   power out output [6,1];
   power in input_rot2 [2,1];
   power in input_pos3 [3,1];
  restrictions
   causality constraint not_equal input output;
   causality constraint not_equal input_rot2 output;
   causality constraint not_equal input_pos3 output;
 end;
 icon bg bottom
  figures
   line 328 192 328 240 color 0 width 2;
   rectangle 324 192 336 240 color -1;
   text '1' 333 210 color 8421504 8;
  terminals
   input 328 200 fixed;
   output 328 216 fixed;
   input_rot2 328 232 fixed;
   input_pos3 328 216 fixed;
 end;
 implementation eq
equations
	output.e[1] = input.e;
	output.e[2:3] = input_rot2.e;
	output.e[4:6] = input_pos3.e;
	output.f[1] = input.f;
	output.f[2:3] = input_rot2.f;
	output.f[4:6] = input_pos3.f;implementation_end;
specification_end;
							specification 'rot_y'
description '<Description>
   <Version>4.1</Version>
  <LibraryPath>Bond Graph\PowerMux.emx</LibraryPath>
  <TimeStamp>2011-3-4 15:12:50</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
 type PowerMux
  ports
   power in input;
   power out output [6,1];
   power in input_rot2 [2,1];
   power in input_pos3 [3,1];
  restrictions
   causality constraint not_equal input output;
   causality constraint not_equal input_rot2 output;
   causality constraint not_equal input_pos3 output;
 end;
 icon bg bottom
  figures
   line 242 274 290 274 color 0 width 2;
   rectangle 242 266 290 278 color -1;
   text '1' 260 269 color 8421504 8;
  terminals
   input 250 274 fixed;
   output 266 274 fixed;
   input_rot2 282 274 fixed;
   input_pos3 266 274 fixed;
 end;
 implementation eq
equations
	output.e[1] = input_rot2.e[1];
	output.e[2] = input.e;
	output.e[3] = input_rot2.e[2];
	output.e[4:6] = input_pos3.e;
	output.f[1] = input_rot2.f[1];
	output.f[2] = input.f;
	output.f[3] = input_rot2.f[2];
	output.f[4:6] = input_pos3.f;implementation_end;
specification_end;
							specification 'rot_z'
 description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>Bond Graph\MR\PowerMux-Rotation.emx</LibraryPath>
  <TimeStamp>2020-7-21 12:05:13</TimeStamp>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
  <AllowLibraryUpdate>True</AllowLibraryUpdate>
 </Description>
</Information>';
 type PowerMux
  ports
   power in input;
   power out output [6,1];
   power in input_rot2 [2,1];
   power in input_pos3 [3,1];
  restrictions
   causality constraint not_equal input output;
   causality constraint not_equal input_rot2 output;
   causality constraint not_equal input_pos3 output;
 end;
 icon bg bottom
  figures
   line 328 192 328 240 color 0 width 2;
   rectangle 324 192 336 240 color -1;
   text '1' 333 210 color 8421504 8;
  terminals
   input 328 200 fixed;
   output 328 216 fixed;
   input_rot2 328 232 fixed;
   input_pos3 328 216 fixed;
 end;
 implementation eq
equations
	output.e[3] = input.e;
	output.e[1:2] = input_rot2.e;
	output.e[4:6] = input_pos3.e;
	output.f[3] = input.f;
	output.f[1:2] = input_rot2.f;
	output.f[4:6] = input_pos3.f;implementation_end;
specification_end;
						end;
      R 296 152
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\R.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:35:37</TimeStamp>
</Description>
</Information>';
       type R
        ports
         power in p;
       end;
       icon bg top
        figures
         text 'R' 296 152 color 0 18 bold;
       end;
       implementation eq
parameters
	real r = 1000;
equations
	p.e = r * p.f;
implementation_end;
      R4 239.8 288.2
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\2D\R-2.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:6:54</TimeStamp>
</Description>';
       type 'R-2'
        ports
         power in p [2,1];
       end;
       icon bg bottom
        figures
         text 'R' 239.8 288.2 color 0 18 bold;
       end;
       implementation eq
parameters
	real r[2,2] = [1.0, 0.0; 0.0, 1.0] {kN.m.s/rad};
equations					
	p.e = r * p.f;
implementation_end;
      R5 239.8 168.2
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\3D\R-3.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:11:54</TimeStamp>
</Description>';
       type 'R-3'
        ports
         power in p [3,1];
       end;
       icon bg top
        figures
         text 'R' 239.8 168.2 color 0 18 bold;
       end;
       implementation eq
parameters
	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};
equations					
	p.e = r * p.f;
implementation_end;
     end;
     connections
      C\p <= OneJunction8\p;
      C1\p <= OneJunction7\p;
      OneJunction5\p => C4\p;
      OneJunction5\p => PowerMux\input_rot2;
      OneJunction5\p => R4\p;
      OneJunction7\p => PowerMux\input_pos3;
      OneJunction7\p => R5\p;
      OneJunction8\p => PowerMux\input;
      PowerMux\output => output;
      R\p <= OneJunction8\p;
     end;
    implementation_end;
   Link1 704 136
    description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <TimeStamp>2020-7-21 11:14:41</TimeStamp>
<AllowLibraryUpdate>False</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'Submodel-Equation'
     ports
      signal in Hin [4,4];
      signal out Hout [4,4];
      power in Pin [6,1];
      power out Pout [6,1];
     restrictions
      causality constraint not_equal Pin Pout;
    end;
    icon bg bottom
     figures
      rectangle 672 112 736 160 color 0 fill 8454041;
      text 'Link' 704 136 color 0 'Clear Sans' 16;
     terminals
      Hin 672 152 fixed;
      Hout 736 152 fixed;
      Pin 736 120 fixed;
      Pout 672 120 fixed;
    end;
    implementation eq
parameters
	real offset[6]= [0;0;0;0;0.025;0]; //coordinates of joint_1
variables
	real Hab[4,4];
	real AdHab[6,6];
	real R[3,3];
	real omega[3];
initialequations
	omega = offset[1:3];
	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);
	Hab = homogeneous(R,offset[4:6]);
	AdHab = Adjoint(Hab);
equations
	Hout = Hin * Hab;
	Pout.e = transpose(AdHab) * Pin.e;
	Pin.f = AdHab * Pout.f;

    implementation_end;
   Link10 872 136
    description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <TimeStamp>2020-7-21 11:14:41</TimeStamp>
<AllowLibraryUpdate>False</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'Submodel-Equation'
     ports
      signal in Hin [4,4];
      signal out Hout [4,4];
      power in Pin [6,1];
      power out Pout [6,1];
     restrictions
      causality constraint not_equal Pin Pout;
    end;
    icon bg bottom
     figures
      rectangle 840 112 904 160 color 0 fill 8454041;
      text 'Link' 872 136 color 0 'Clear Sans' 16;
     terminals
      Hin 840 152 fixed;
      Hout 904 152 fixed;
      Pin 904 120 fixed;
      Pout 840 120 fixed;
    end;
    implementation eq
parameters
	real offset[6]= [0;0;0;0;0.0125;0]; //coordinates of joint_1
variables
	real Hab[4,4];
	real AdHab[6,6];
	real R[3,3];
	real omega[3];
initialequations
	omega = offset[1:3];
	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);
	Hab = homogeneous(R,offset[4:6]);
	AdHab = Adjoint(Hab);
equations
	Hout = Hin * Hab;
	Pout.e = transpose(AdHab) * Pin.e;
	Pin.f = AdHab * Pout.f;

    implementation_end;
   Link2 544 136
    description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <TimeStamp>2020-7-21 11:14:41</TimeStamp>
<AllowLibraryUpdate>False</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'Submodel-Equation'
     ports
      signal in Hin [4,4];
      signal out Hout [4,4];
      power in Pin [6,1];
      power out Pout [6,1];
     restrictions
      causality constraint not_equal Pin Pout;
    end;
    icon bg bottom
     figures
      rectangle 512 112 576 160 color 0 fill 8454041;
      text 'Link' 544 136 color 0 'Clear Sans' 16;
     terminals
      Hin 576 152 fixed;
      Hout 512 152 fixed;
      Pin 512 120 fixed;
      Pout 576 120 fixed;
    end;
    implementation eq
parameters
	real offset[6]= [0;0;0;0;-0.025;0]; //coordinates of joint_1
variables
	real Hab[4,4];
	real AdHab[6,6];
	real R[3,3];
	real omega[3];
initialequations
	omega = offset[1:3];
	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);
	Hab = homogeneous(R,offset[4:6]);
	AdHab = Adjoint(Hab);
equations
	Hout = Hin * Hab;
	Pout.e = transpose(AdHab) * Pin.e;
	Pin.f = AdHab * Pout.f;

    implementation_end;
   Link3 432 448
    description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <TimeStamp>2020-7-21 11:14:41</TimeStamp>
<AllowLibraryUpdate>False</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'Submodel-Equation'
     ports
      signal in Hin [4,4];
      signal out Hout [4,4];
      power in Pin [6,1];
      power out Pout [6,1];
     restrictions
      causality constraint not_equal Pin Pout;
    end;
    icon bg bottom
     figures
      rectangle 408 416 456 480 color 0 fill 8454041;
      text 'Link' 432 448 color 0 'Clear Sans' 16;
     terminals
      Hin 448 416 fixed;
      Hout 448 480 fixed;
      Pin 416 480 fixed;
      Pout 416 416 fixed;
    end;
    implementation eq
parameters
	real offset[6]= [0;0;0;0;0;-0.0325]; //coordinates of joint_1
variables
	real Hab[4,4];
	real AdHab[6,6];
	real R[3,3];
	real omega[3];
initialequations
	omega = offset[1:3];
	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);
	Hab = homogeneous(R,offset[4:6]);
	AdHab = Adjoint(Hab);
equations
	Hout = Hin * Hab;
	Pout.e = transpose(AdHab) * Pin.e;
	Pin.f = AdHab * Pout.f;

    implementation_end;
   Link4 632 304
    description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <TimeStamp>2020-7-21 11:14:41</TimeStamp>
<AllowLibraryUpdate>False</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'Submodel-Equation'
     ports
      signal in Hin [4,4];
      signal out Hout [4,4];
      power in Pin [6,1];
      power out Pout [6,1];
     restrictions
      causality constraint not_equal Pin Pout;
    end;
    icon bg bottom
     figures
      rectangle 608 272 656 336 color 0 fill 8454041;
      text 'Link' 632 304 color 0 'Clear Sans' 16;
     terminals
      Hin 648 336 fixed;
      Hout 648 272 fixed;
      Pin 616 272 fixed;
      Pout 616 336 fixed;
    end;
    implementation eq
parameters
	real offset[6]= [0;0;0;0;0;0.0325]; //coordinates of joint_1
variables
	real Hab[4,4];
	real AdHab[6,6];
	real R[3,3];
	real omega[3];
initialequations
	omega = offset[1:3];
	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);
	Hab = homogeneous(R,offset[4:6]);
	AdHab = Adjoint(Hab);
equations
	Hout = Hin * Hab;
	Pout.e = transpose(AdHab) * Pin.e;
	Pin.f = AdHab * Pout.f;

    implementation_end;
   Link5 840 616
    description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <TimeStamp>2020-7-21 11:14:41</TimeStamp>
<AllowLibraryUpdate>False</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'Submodel-Equation'
     ports
      signal in Hin [4,4];
      signal out Hout [4,4];
      power in Pin [6,1];
      power out Pout [6,1];
     restrictions
      causality constraint not_equal Pin Pout;
    end;
    icon bg bottom
     figures
      rectangle 808 592 872 640 color 0 fill 8454041;
      text 'Link' 840 616 color 0 'Clear Sans' 16;
     terminals
      Hin 872 600 fixed;
      Hout 808 600 fixed;
      Pin 808 632 fixed;
      Pout 872 632 fixed;
    end;
    implementation eq
parameters
	real offset[6]= [0;0;0;0;-0.0125;0]; //coordinates of joint_1
variables
	real Hab[4,4];
	real AdHab[6,6];
	real R[3,3];
	real omega[3];
initialequations
	omega = offset[1:3];
	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);
	Hab = homogeneous(R,offset[4:6]);
	AdHab = Adjoint(Hab);
equations
	Hout = Hin * Hab;
	Pout.e = transpose(AdHab) * Pin.e;
	Pin.f = AdHab * Pout.f;

    implementation_end;
   Link6 432 304
    description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <TimeStamp>2020-7-21 11:14:41</TimeStamp>
<AllowLibraryUpdate>False</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'Submodel-Equation'
     ports
      signal in Hin [4,4];
      signal out Hout [4,4];
      power in Pin [6,1];
      power out Pout [6,1];
     restrictions
      causality constraint not_equal Pin Pout;
    end;
    icon bg bottom
     figures
      rectangle 408 272 456 336 color 0 fill 8454041;
      text 'Link' 432 304 color 0 'Clear Sans' 16;
     terminals
      Hin 448 272 fixed;
      Hout 448 336 fixed;
      Pin 416 336 fixed;
      Pout 416 272 fixed;
    end;
    implementation eq
parameters
	real offset[6]= [0;0;0;0;0;-0.0325]; //coordinates of joint_1
variables
	real Hab[4,4];
	real AdHab[6,6];
	real R[3,3];
	real omega[3];
initialequations
	omega = offset[1:3];
	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);
	Hab = homogeneous(R,offset[4:6]);
	AdHab = Adjoint(Hab);
equations
	Hout = Hin * Hab;
	Pout.e = transpose(AdHab) * Pin.e;
	Pin.f = AdHab * Pout.f;

    implementation_end;
   Link7 704 616
    description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <TimeStamp>2020-7-21 11:14:41</TimeStamp>
<AllowLibraryUpdate>False</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'Submodel-Equation'
     ports
      signal in Hin [4,4];
      signal out Hout [4,4];
      power in Pin [6,1];
      power out Pout [6,1];
     restrictions
      causality constraint not_equal Pin Pout;
    end;
    icon bg bottom
     figures
      rectangle 672 592 736 640 color 0 fill 8454041;
      text 'Link' 704 616 color 0 'Clear Sans' 16;
     terminals
      Hin 736 600 fixed;
      Hout 672 600 fixed;
      Pin 672 632 fixed;
      Pout 736 632 fixed;
    end;
    implementation eq
parameters
	real offset[6]= [0;0;0;0;-0.0125;0]; //coordinates of joint_1
variables
	real Hab[4,4];
	real AdHab[6,6];
	real R[3,3];
	real omega[3];
initialequations
	omega = offset[1:3];
	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);
	Hab = homogeneous(R,offset[4:6]);
	AdHab = Adjoint(Hab);
equations
	Hout = Hin * Hab;
	Pout.e = transpose(AdHab) * Pin.e;
	Pin.f = AdHab * Pout.f;

    implementation_end;
   Link8 976 136
    description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <TimeStamp>2020-7-21 11:14:41</TimeStamp>
<AllowLibraryUpdate>False</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'Submodel-Equation'
     ports
      signal in Hin [4,4];
      signal out Hout [4,4];
      power in Pin [6,1];
      power out Pout [6,1];
     restrictions
      causality constraint not_equal Pin Pout;
    end;
    icon bg bottom
     figures
      rectangle 944 112 1008 160 color 0 fill 8454041;
      text 'Link' 976 136 color 0 'Clear Sans' 16;
     terminals
      Hin 944 152 fixed;
      Hout 1008 152 fixed;
      Pin 1008 120 fixed;
      Pout 944 120 fixed;
    end;
    implementation eq
parameters
	real offset[6]= [0;0;0;0;0.0125;0]; //coordinates of joint_1
variables
	real Hab[4,4];
	real AdHab[6,6];
	real R[3,3];
	real omega[3];
initialequations
	omega = offset[1:3];
	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);
	Hab = homogeneous(R,offset[4:6]);
	AdHab = Adjoint(Hab);
equations
	Hout = Hin * Hab;
	Pout.e = transpose(AdHab) * Pin.e;
	Pin.f = AdHab * Pout.f;

    implementation_end;
   Link9 632 448
    description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>Bond Graph\MR\link-v3.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <TimeStamp>2020-7-21 11:14:41</TimeStamp>
<AllowLibraryUpdate>False</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'Submodel-Equation'
     ports
      signal in Hin [4,4];
      signal out Hout [4,4];
      power in Pin [6,1];
      power out Pout [6,1];
     restrictions
      causality constraint not_equal Pin Pout;
    end;
    icon bg bottom
     figures
      rectangle 608 416 656 480 color 0 fill 8454041;
      text 'Link' 632 448 color 0 'Clear Sans' 16;
     terminals
      Hin 648 480 fixed;
      Hout 648 416 fixed;
      Pin 616 416 fixed;
      Pout 616 480 fixed;
    end;
    implementation eq
parameters
	real offset[6]= [0;0;0;0;0;0.0325]; //coordinates of joint_1
variables
	real Hab[4,4];
	real AdHab[6,6];
	real R[3,3];
	real omega[3];
initialequations
	omega = offset[1:3];
	R = dll('EulerAngles.dll','RotationMatrixFromEulXYZs',omega);
	Hab = homogeneous(R,offset[4:6]);
	AdHab = Adjoint(Hab);
equations
	Hout = Hin * Hab;
	Pout.e = transpose(AdHab) * Pin.e;
	Pin.f = AdHab * Pout.f;

    implementation_end;
   Negate1 320 672
    description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Block Diagram\Negate.emx</LibraryPath>
  <TimeStamp>2007-9-26 12:14:11</TimeStamp>
</Description>';
    type Negate
     ports
      signal in input;
      signal out output;
    end;
    icon bg bottom
     figures
      rectangle 304 656 336 688 color 0 fill 15132390;
      text '-1' 320 672 color 16711680 16 bold;
    end;
    implementation eq
equations
	output = - input;
     implementation_end;
   OneJunction1 760 632
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
    knot OneJunction
     ports
      power knot duplicatable none p [6,1];
      signal knot out flow [6,1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 760 632 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction2 416 392
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
    knot OneJunction
     ports
      power knot duplicatable none p [6,1];
      signal knot out flow [6,1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 416 392 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction3 616 120
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
    knot OneJunction
     ports
      power knot duplicatable none p [6,1];
      signal knot out flow [6,1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 616 120 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction4 616 392
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
    knot OneJunction
     ports
      power knot duplicatable none p [6,1];
      signal knot out flow [6,1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 616 392 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction5 416 584
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\OneJunction.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:17:51</TimeStamp>
</Description>
</Information>';
    knot OneJunction
     ports
      power knot duplicatable none p [6,1];
      signal knot out flow [6,1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 416 584 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   rectanglepath 152 744
    description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>setpoint\rectanglepath.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <TimeStamp>2020-7-10 12:30:38</TimeStamp>
<AllowLibraryUpdate>False</AllowLibraryUpdate>
 </Description>
</Information>';
    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] = [0.01,0.03]{m};
variables
	real v {m/s};
	real t_w {s};
	real t_h {s};
	real period {s};
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;
   Splitter1 792 600
    description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
    knot Splitter
     ports
      signal knot duplicatable out output [4,4];
      signal knot in input [4,4];
    end;
    icon bg ellipse
     figures
      ellipse 788.8 596.8 795.2 603.2 color -1 fill 0;
      ellipse 787.7 595.7 796.3 604.3 color -1;
     terminals
      input 792 600 fixed;
    end;
    implementation eq
equations
    collect (output) = input;
implementation_end;
   Splitter2 448 360
    description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
    knot Splitter
     ports
      signal knot duplicatable out output [4,4];
      signal knot in input [4,4];
    end;
    icon bg ellipse
     figures
      ellipse 444.8 356.8 451.2 363.2 color -1 fill 0;
      ellipse 443.7 355.7 452.3 364.3 color -1;
     terminals
      input 448 360 fixed;
    end;
    implementation eq
equations
    collect (output) = input;
implementation_end;
   Splitter3 648 360
    description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
    knot Splitter
     ports
      signal knot duplicatable out output [4,4];
      signal knot in input [4,4];
    end;
    icon bg ellipse
     figures
      ellipse 644.8 356.8 651.2 363.2 color -1 fill 0;
      ellipse 643.7 355.7 652.3 364.3 color -1;
     terminals
      input 648 360 fixed;
    end;
    implementation eq
equations
    collect (output) = input;
implementation_end;
   Splitter4 648 152
    description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
    knot Splitter
     ports
      signal knot duplicatable out output [4,4];
      signal knot in input [4,4];
    end;
    icon bg ellipse
     figures
      ellipse 644.8 148.8 651.2 155.2 color -1 fill 0;
      ellipse 643.7 147.7 652.3 156.3 color -1;
     terminals
      input 648 152 fixed;
    end;
    implementation eq
equations
    collect (output) = input;
implementation_end;
   Splitter5 448 152
    description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
    knot Splitter
     ports
      signal knot duplicatable out output [4,4];
      signal knot in input [4,4];
    end;
    icon bg ellipse
     figures
      ellipse 444.8 148.8 451.2 155.2 color -1 fill 0;
      ellipse 443.7 147.7 452.3 156.3 color -1;
     terminals
      input 448 152 fixed;
    end;
    implementation eq
equations
    collect (output) = input;
implementation_end;
   Splitter6 896 600
    description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
    knot Splitter
     ports
      signal knot duplicatable out output [4,4];
      signal knot in input [4,4];
    end;
    icon bg ellipse
     figures
      ellipse 892.8 596.8 899.2 603.2 color -1 fill 0;
      ellipse 891.7 595.7 900.3 604.3 color -1;
     terminals
      input 896 600 fixed;
    end;
    implementation eq
equations
    collect (output) = input;
implementation_end;
   Splitter7 648 496
    description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
    knot Splitter
     ports
      signal knot duplicatable out output [4,4];
      signal knot in input [4,4];
    end;
    icon bg ellipse
     figures
      ellipse 644.8 492.8 651.2 499.2 color -1 fill 0;
      ellipse 643.7 491.7 652.3 500.3 color -1;
     terminals
      input 648 496 fixed;
    end;
    implementation eq
equations
    collect (output) = input;
implementation_end;
   Splitter8 448 496
    description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
    knot Splitter
     ports
      signal knot duplicatable out output [4,4];
      signal knot in input [4,4];
    end;
    icon bg ellipse
     figures
      ellipse 444.8 492.8 451.2 499.2 color -1 fill 0;
      ellipse 443.7 491.7 452.3 500.3 color -1;
     terminals
      input 448 496 fixed;
    end;
    implementation eq
equations
    collect (output) = input;
implementation_end;
   Splitter9 920 152
    description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
    knot Splitter
     ports
      signal knot duplicatable out output [4,4];
      signal knot in input [4,4];
    end;
    icon bg ellipse
     figures
      ellipse 916.8 148.8 923.2 155.2 color -1 fill 0;
      ellipse 915.7 147.7 924.3 156.3 color -1;
     terminals
      input 920 152 fixed;
    end;
    implementation eq
equations
    collect (output) = input;
implementation_end;
   stepper_control 320 608
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
    <LibraryPath>Motor\stepper_control.emx</LibraryPath>
  <TimeStamp>2020-7-23 10:55:26</TimeStamp>
</Description>
</Information>';
    type Submodel
     ports
      signal in setpoint {rad} ;
      signal out output {rad} ;
    end;
    icon bg bottom
     figures
      rectangle 264 592 376 624 color 0 fill 15132390;
      text 'name' 320 608 color 0 'Clear Sans' 16;
    end;
    implementation bg
     submodels
      Acceleration_int 648 336
       description '<Information>
 <Description>
    <Version>4.3</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>
  <TimeStamp>2013-3-8 14:47:42</TimeStamp>
</Description>
</Information>';
       type Integrate
        ports
         signal in input;
         signal out output;
       end;
       icon bg bottom
        figures
         rectangle 632 320 664 352 color 0 fill 15132390;
         text '∫' 648 336.3 color 16711680 'Lucida Sans' 21 italic;
       end;
       implementation eq
parameters
	real initial = 0;		// initial value
equations
	output = int (input, initial);
     implementation_end;
      Acceleration_limit 568 336
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>
  <TimeStamp>2007-9-26 12:47:40</TimeStamp>
</Description>';
       type 'SignalLimiter-Limit'
        ports
         signal in input;
         signal out output;
       end;
       icon bg bottom
        figures
         group
          rectangle 552 320 584 352 color 0 fill 15132390;
          line 567.9 324.5 567.9 349 color 0 fill 15132390;
          line 555 336.2 580.7 336.2 color 0 fill 15132390;
          spline 561.9 343.1 573.9 329.4 color 16711680 fill 15132390 width 2;
          spline 573.3 330.2 581.9 329.8 color 16711680 fill 15132390 width 2;
          spline 555 343.6 561.9 343.1 color 16711680 fill 15132390 width 2;
         end;
       end;
       implementation eq
parameters
	real maximum = 20;
	real minimum = -20;
equations
	output = limit (input, minimum, maximum);
  implementation_end;
      plug setpoint 136 336;
      plug output 791 336;
      PlusMinus1 240 336
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>
  <TimeStamp>2007-9-27 10:15:13</TimeStamp>
</Description>';
       knot PlusMinus
        ports
         signal knot duplicatable in plus [1];
         signal knot duplicatable in minus [1];
         signal knot out output [1];
       end;
       icon bg ellipse
        figures
         ellipse 232 328 248 344 color 0 fill 16777215;
       end;
       implementation eq
equations
    output = sum (collect (plus)) - sum (collect (minus));
    implementation_end;
      PlusMinus2 432 336
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>
  <TimeStamp>2007-9-27 10:15:13</TimeStamp>
</Description>';
       knot PlusMinus
        ports
         signal knot duplicatable in plus [1];
         signal knot duplicatable in minus [1];
         signal knot out output [1];
       end;
       icon bg ellipse
        figures
         ellipse 424 328 440 344 color 0 fill 16777215;
       end;
       implementation eq
equations
    output = sum (collect (plus)) - sum (collect (minus));
    implementation_end;
      Position_control 296 336
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Control\PID Control\Continuous\PD.emx</LibraryPath>
  <TimeStamp>2008-1-17 10:49:7</TimeStamp>
</Description>';
       type PD
        ports
         signal in error;
         signal out output;
       end;
       icon bg bottom
        figures
         rectangle 280 320 312 352 color 0 fill 15132390;
         text 'PD' 296.5 336.1 color 16711680 18 bold;
       end;
       implementation eq
parameters
	real kp = 4 {};			// Proportional gain
	real tauD = 100 {s};		// Derivative time constant: tauD > 0
	real beta = 0.4 {};		// Tameness constant: 0 < beta << 1
variables
	real state, rate;
equations
	rate = (kp * error - output) / (beta * tauD);
	state = int (rate);
	output = state + kp * error /  beta;
      implementation_end;
      Splitter3 688 336
       description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
       knot Splitter
        ports
         signal knot duplicatable out output [1];
         signal knot in input [1];
       end;
       icon bg ellipse
        figures
         ellipse 684.8 332.8 691.2 339.2 color -1 fill 0;
         ellipse 683.7 331.7 692.3 340.3 color -1;
        terminals
         input 688 336 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
      Splitter4 752 336
       description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
       knot Splitter
        ports
         signal knot duplicatable out output [1];
         signal knot in input [1];
       end;
       icon bg ellipse
        figures
         ellipse 748.8 332.8 755.2 339.2 color -1 fill 0;
         ellipse 747.7 331.7 756.3 340.3 color -1;
        terminals
         input 752 336 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
      Velocity_control 480 336
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Control\PID Control\Continuous\PD.emx</LibraryPath>
  <TimeStamp>2008-1-17 10:49:7</TimeStamp>
</Description>';
       type PD
        ports
         signal in error;
         signal out output;
       end;
       icon bg bottom
        figures
         rectangle 464 320 496 352 color 0 fill 15132390;
         text 'PD' 480.5 336.1 color 16711680 18 bold;
       end;
       implementation eq
parameters
	real kp = 12 {};			// Proportional gain
	real tauD = 10 {s};		// Derivative time constant: tauD > 0
	real beta = 0.4 {};		// Tameness constant: 0 < beta << 1
variables
	real state, rate;
equations
	rate = (kp * error - output) / (beta * tauD);
	state = int (rate);
	output = state + kp * error /  beta;
      implementation_end;
      Velocity_int 720 336
       description '<Information>
 <Description>
    <Version>4.3</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>
  <TimeStamp>2013-3-8 14:47:42</TimeStamp>
</Description>
</Information>';
       type Integrate
        ports
         signal in input;
         signal out output;
       end;
       icon bg bottom
        figures
         rectangle 704 320 736 352 color 0 fill 15132390;
         text '∫' 720 336.3 color 16711680 'Lucida Sans' 21 italic;
       end;
       implementation eq
parameters
	real initial = -1.65;		// initial value
equations
	output = int (input, initial);
     implementation_end;
      Velocity_limit 376 336
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>
  <TimeStamp>2007-9-26 12:47:40</TimeStamp>
</Description>';
       type 'SignalLimiter-Limit'
        ports
         signal in input;
         signal out output;
       end;
       icon bg bottom
        figures
         group
          rectangle 360 320 392 352 color 0 fill 15132390;
          line 375.9 324.5 375.9 349 color 0 fill 15132390;
          line 363 336.2 388.7 336.2 color 0 fill 15132390;
          spline 369.9 343.1 381.9 329.4 color 16711680 fill 15132390 width 2;
          spline 381.3 330.2 389.9 329.8 color 16711680 fill 15132390 width 2;
          spline 363 343.6 369.9 343.1 color 16711680 fill 15132390 width 2;
         end;
       end;
       implementation eq
parameters
	real maximum = 25;
	real minimum = -25;
equations
	output = limit (input, minimum, maximum);
  implementation_end;
     end;
     connections
      Acceleration_int\output -> Splitter3\input;
      Acceleration_limit\output -> Acceleration_int\input;
      PlusMinus1\output -> Position_control\error;
      PlusMinus2\output -> Velocity_control\error;
      Position_control\output -> Velocity_limit\input;
      setpoint -> PlusMinus1\plus;
      Splitter3\output -> PlusMinus2\minus 688 288 432 288;
      Splitter3\output -> Velocity_int\input;
      Splitter4\output -> output;
      Splitter4\output -> PlusMinus1\minus 752 400 240 400;
      Velocity_control\output -> Acceleration_limit\input;
      Velocity_int\output -> Splitter4\input;
      Velocity_limit\output -> PlusMinus2\plus;
     end;
    implementation_end;
   stepper_control1 528 744
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
    <LibraryPath>Motor\stepper_control.emx</LibraryPath>
  <TimeStamp>2020-7-22 15:25:26</TimeStamp>
</Description>
</Information>';
    type Submodel
     ports
      signal in setpoint {rad} ;
      signal out output {rad} ;
    end;
    implementation bg
     submodels
      Acceleration_int 648 336
       description '<Information>
 <Description>
    <Version>4.3</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>
  <TimeStamp>2013-3-8 14:47:42</TimeStamp>
</Description>
</Information>';
       type Integrate
        ports
         signal in input;
         signal out output;
       end;
       icon bg bottom
        figures
         rectangle 632 320 664 352 color 0 fill 15132390;
         text '∫' 648 336.3 color 16711680 'Lucida Sans' 21 italic;
       end;
       implementation eq
parameters
	real initial = 0;		// initial value
equations
	output = int (input, initial);
     implementation_end;
      Acceleration_limit 568 336
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>
  <TimeStamp>2007-9-26 12:47:40</TimeStamp>
</Description>';
       type 'SignalLimiter-Limit'
        ports
         signal in input;
         signal out output;
       end;
       icon bg bottom
        figures
         group
          rectangle 552 320 584 352 color 0 fill 15132390;
          line 567.9 324.5 567.9 349 color 0 fill 15132390;
          line 555 336.2 580.7 336.2 color 0 fill 15132390;
          spline 561.9 343.1 573.9 329.4 color 16711680 fill 15132390 width 2;
          spline 573.3 330.2 581.9 329.8 color 16711680 fill 15132390 width 2;
          spline 555 343.6 561.9 343.1 color 16711680 fill 15132390 width 2;
         end;
       end;
       implementation eq
parameters
	real maximum = 80;
	real minimum = -80;
equations
	output = limit (input, minimum, maximum);
  implementation_end;
      plug setpoint 136 336;
      plug output 791 336;
      PlusMinus1 240 336
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>
  <TimeStamp>2007-9-27 10:15:13</TimeStamp>
</Description>';
       knot PlusMinus
        ports
         signal knot duplicatable in plus [1];
         signal knot duplicatable in minus [1];
         signal knot out output [1];
       end;
       icon bg ellipse
        figures
         ellipse 232 328 248 344 color 0 fill 16777215;
       end;
       implementation eq
equations
    output = sum (collect (plus)) - sum (collect (minus));
    implementation_end;
      PlusMinus2 432 336
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Block Diagram\PlusMinus.emx</LibraryPath>
  <TimeStamp>2007-9-27 10:15:13</TimeStamp>
</Description>';
       knot PlusMinus
        ports
         signal knot duplicatable in plus [1];
         signal knot duplicatable in minus [1];
         signal knot out output [1];
       end;
       icon bg ellipse
        figures
         ellipse 424 328 440 344 color 0 fill 16777215;
       end;
       implementation eq
equations
    output = sum (collect (plus)) - sum (collect (minus));
    implementation_end;
      Position_control 296 336
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Control\PID Control\Continuous\PD.emx</LibraryPath>
  <TimeStamp>2008-1-17 10:49:7</TimeStamp>
</Description>';
       type PD
        ports
         signal in error;
         signal out output;
       end;
       icon bg bottom
        figures
         rectangle 280 320 312 352 color 0 fill 15132390;
         text 'PD' 296.5 336.1 color 16711680 18 bold;
       end;
       implementation eq
parameters
	real kp = 4 {};			// Proportional gain
	real tauD = 100 {s};		// Derivative time constant: tauD > 0
	real beta = 0.4 {};		// Tameness constant: 0 < beta << 1
variables
	real state, rate;
equations
	rate = (kp * error - output) / (beta * tauD);
	state = int (rate);
	output = state + kp * error /  beta;
      implementation_end;
      Splitter3 688 336
       description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
       knot Splitter
        ports
         signal knot duplicatable out output [1];
         signal knot in input [1];
       end;
       icon bg ellipse
        figures
         ellipse 684.8 332.8 691.2 339.2 color -1 fill 0;
         ellipse 683.7 331.7 692.3 340.3 color -1;
        terminals
         input 688 336 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
      Splitter4 752 336
       description '<Description><Version>4.0</Version>
   <LibraryPath>Signal\Block Diagram\Splitter.emx</LibraryPath>
  <TimeStamp>2008-01-17 11:28:29</TimeStamp>
<IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
</Description>';
       knot Splitter
        ports
         signal knot duplicatable out output [1];
         signal knot in input [1];
       end;
       icon bg ellipse
        figures
         ellipse 748.8 332.8 755.2 339.2 color -1 fill 0;
         ellipse 747.7 331.7 756.3 340.3 color -1;
        terminals
         input 752 336 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
      Velocity_control 480 336
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Control\PID Control\Continuous\PD.emx</LibraryPath>
  <TimeStamp>2008-1-17 10:49:7</TimeStamp>
</Description>';
       type PD
        ports
         signal in error;
         signal out output;
       end;
       icon bg bottom
        figures
         rectangle 464 320 496 352 color 0 fill 15132390;
         text 'PD' 480.5 336.1 color 16711680 18 bold;
       end;
       implementation eq
parameters
	real kp = 12 {};			// Proportional gain
	real tauD = 10 {s};		// Derivative time constant: tauD > 0
	real beta = 0.4 {};		// Tameness constant: 0 < beta << 1
variables
	real state, rate;
equations
	rate = (kp * error - output) / (beta * tauD);
	state = int (rate);
	output = state + kp * error /  beta;
      implementation_end;
      Velocity_int 720 336
       description '<Information>
 <Description>
    <Version>4.3</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>
  <TimeStamp>2013-3-8 14:47:42</TimeStamp>
</Description>
</Information>';
       type Integrate
        ports
         signal in input;
         signal out output;
       end;
       icon bg bottom
        figures
         rectangle 704 320 736 352 color 0 fill 15132390;
         text '∫' 720 336.3 color 16711680 'Lucida Sans' 21 italic;
       end;
       implementation eq
parameters
	real initial = 0;		// initial value
equations
	output = int (input, initial);
     implementation_end;
      Velocity_limit 376 336
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Block Diagram Non-Linear\SignalLimiter-Limit.emx</LibraryPath>
  <TimeStamp>2007-9-26 12:47:40</TimeStamp>
</Description>';
       type 'SignalLimiter-Limit'
        ports
         signal in input;
         signal out output;
       end;
       icon bg bottom
        figures
         group
          rectangle 360 320 392 352 color 0 fill 15132390;
          line 375.9 324.5 375.9 349 color 0 fill 15132390;
          line 363 336.2 388.7 336.2 color 0 fill 15132390;
          spline 369.9 343.1 381.9 329.4 color 16711680 fill 15132390 width 2;
          spline 381.3 330.2 389.9 329.8 color 16711680 fill 15132390 width 2;
          spline 363 343.6 369.9 343.1 color 16711680 fill 15132390 width 2;
         end;
       end;
       implementation eq
parameters
	real maximum = 25;
	real minimum = -25;
equations
	output = limit (input, minimum, maximum);
  implementation_end;
     end;
     connections
      Acceleration_int\output -> Splitter3\input;
      Acceleration_limit\output -> Acceleration_int\input;
      PlusMinus1\output -> Position_control\error;
      PlusMinus2\output -> Velocity_control\error;
      Position_control\output -> Velocity_limit\input;
      setpoint -> PlusMinus1\plus;
      Splitter3\output -> PlusMinus2\minus 688 288 432 288;
      Splitter3\output -> Velocity_int\input;
      Splitter4\output -> output;
      Splitter4\output -> PlusMinus1\minus 752 400 240 400;
      Velocity_control\output -> Acceleration_limit\input;
      Velocity_int\output -> Splitter4\input;
      Velocity_limit\output -> PlusMinus2\plus;
     end;
    implementation_end;
  end;
  connections
   COM_body3\p => OneJunction4\p;
   COM_body4\p => OneJunction3\p;
   COM_body5\p => Link8\Pin;
   Ground1\output -> JointC\Hin 1064 600;
   Ground1\p <= JointC\Pout 1032 632;
   inverse_kinematics\angle1 -> Negate1\input;
   inverse_kinematics\angle2 -> stepper_control1\setpoint;
   inverse_kinematics\input <- rectanglepath\output;
   Joint_dynB\output => JointB\Pdiff;
   Joint_dynC\output => JointC\Pdiff;
   Joint_dynD\output => JointD\Pdiff;
   Joint_dynE\output => JointE\Pdiff;
   Joint_dynF\output => JointF\Pdiff;
   JointA\Pdiff <= Joint_dynA\output;
   JointA\Pin <= OneJunction5\p;
   JointA\Pout => Link3\Pin;
   JointB\Hin <- Splitter5\output;
   JointB\Hout -> Link6\Hin;
   JointB\Pin <= Link6\Pout;
   JointB\Pout => Link2\Pin 416 120;
   JointC\Hout -> Splitter6\input;
   JointC\Pin <= Link5\Pout;
   JointD\Hin <- Link7\Hout 648 600;
   JointD\Hout -> Splitter7\input;
   JointD\Pin <= Link9\Pout;
   JointD\Pout => Link7\Pin 616 632;
   JointE\Hout -> Splitter4\input;
   JointE\Pout => Link4\Pin;
   JointF\Hout -> Link10\Hin;
   JointF\Pout => Link1\Pin;
   Link1\Hout -> JointF\Hin;
   Link10\Hout -> Splitter9\input;
   Link10\Pout => JointF\Pin;
   Link2\Pout => OneJunction3\p;
   Link3\Hout -> Splitter8\input;
   Link4\Hout -> JointE\Hin;
   Link5\Hout -> Splitter1\input;
   Link5\Pin <= OneJunction1\p;
   Link6\Hout -> Splitter2\input;
   Link6\Pin <= OneJunction2\p;
   Link8\Hout -> COM_body5\Hin;
   Link8\Pout => Link10\Pin;
   Link9\Hout -> Splitter3\input;
   Link9\Pin <= OneJunction4\p;
   Negate1\output -> stepper_control\setpoint;
   OneJunction1\p <= COM_body2\p;
   OneJunction1\p <= Link7\Pout;
   OneJunction2\p <= COM_body1\p;
   OneJunction2\p <= Link3\Pout;
   OneJunction3\p <= Link1\Pout;
   OneJunction3\p => JointE\Pin;
   OneJunction4\p <= Link4\Pout;
   OneJunction5\p => Ground2\p;
   Splitter1\output -> Body2\input;
   Splitter1\output -> COM_body2\Hin;
   Splitter1\output -> Link7\Hin;
   Splitter2\output -> COM_body1\Hin;
   Splitter2\output -> Link3\Hin;
   Splitter3\output -> COM_body3\Hin;
   Splitter3\output -> Link4\Hin;
   Splitter4\output -> Body4\input;
   Splitter4\output -> COM_body4\Hin;
   Splitter4\output -> Link1\Hin;
   Splitter4\output -> Link2\Hin;
   Splitter5\input <- Link2\Hout;
   Splitter6\output -> Link5\Hin;
   Splitter7\output -> Body3\input;
   Splitter7\output -> Link9\Hin;
   Splitter8\output -> Body1\input;
   Splitter8\output -> JointA\Hin;
   Splitter9\output -> Body5\input;
   Splitter9\output -> Link8\Hin;
   stepper_control\output -> Joint_dynA\angle;
   stepper_control1\output -> Joint_dynD\angle;
  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>
   <Constants>
   </Constants>
   <Parameters>
   </Parameters>
   <Initials>
    <Variable>
     <Name>COM_body1\InertialTensor\state_initial</Name>
     <Rows>6</Rows>
     <Columns>1</Columns>
     <Value>0 0 0 0 0 0</Value>
    </Variable>
    <Variable>
     <Name>COM_body2\InertialTensor\state_initial</Name>
     <Rows>6</Rows>
     <Columns>1</Columns>
     <Value>0 0 0 0 0 0</Value>
    </Variable>
    <Variable>
     <Name>COM_body3\InertialTensor\state_initial</Name>
     <Rows>6</Rows>
     <Columns>1</Columns>
     <Value>0 0 0 0 0 0</Value>
    </Variable>
    <Variable>
     <Name>COM_body4\InertialTensor\state_initial</Name>
     <Rows>6</Rows>
     <Columns>1</Columns>
     <Value>0 0 0 0 0 0</Value>
    </Variable>
    <Variable>
     <Name>COM_body5\InertialTensor\state_initial</Name>
     <Rows>6</Rows>
     <Columns>1</Columns>
     <Value>0 0 0 0 0 0</Value>
    </Variable>
    <Variable>
     <Name>JointA\Hmatrix\p_initial</Name>
     <Rows>3</Rows>
     <Columns>1</Columns>
     <Value>0 0 0</Value>
    </Variable>
    <Variable>
     <Name>JointB\Hmatrix\p_initial</Name>
     <Rows>3</Rows>
     <Columns>1</Columns>
     <Value>0 0 0</Value>
    </Variable>
    <Variable>
     <Name>JointC\Hmatrix\p_initial</Name>
     <Rows>3</Rows>
     <Columns>1</Columns>
     <Value>0 0 0</Value>
    </Variable>
    <Variable>
     <Name>JointD\Hmatrix\p_initial</Name>
     <Rows>3</Rows>
     <Columns>1</Columns>
     <Value>0 0 0</Value>
    </Variable>
    <Variable>
     <Name>JointE\Hmatrix\p_initial</Name>
     <Rows>3</Rows>
     <Columns>1</Columns>
     <Value>0 0 0</Value>
    </Variable>
    <Variable>
     <Name>JointF\Hmatrix\p_initial</Name>
     <Rows>3</Rows>
     <Columns>1</Columns>
     <Value>0 0 0</Value>
    </Variable>
    <Variable>
     <Name>Joint_dynA\C1\state_initial</Name>
     <Rows>3</Rows>
     <Columns>1</Columns>
     <Value>0 0 0</Value>
    </Variable>
    <Variable>
     <Name>Joint_dynA\C4\state_initial</Name>
     <Rows>2</Rows>
     <Columns>1</Columns>
     <Value>0 0</Value>
    </Variable>
    <Variable>
     <Name>Joint_dynA\C\state_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>Joint_dynA\stepper_model\I1\state_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>Joint_dynA\stepper_model\I2\state_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>Joint_dynA\stepper_model\I\state_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>Joint_dynB\C1\state_initial</Name>
     <Rows>3</Rows>
     <Columns>1</Columns>
     <Value>0 0 0</Value>
    </Variable>
    <Variable>
     <Name>Joint_dynB\C4\state_initial</Name>
     <Rows>2</Rows>
     <Columns>1</Columns>
     <Value>0 0</Value>
    </Variable>
    <Variable>
     <Name>Joint_dynC\C1\state_initial</Name>
     <Rows>3</Rows>
     <Columns>1</Columns>
     <Value>0 0 0</Value>
    </Variable>
    <Variable>
     <Name>Joint_dynC\C4\state_initial</Name>
     <Rows>2</Rows>
     <Columns>1</Columns>
     <Value>0 0</Value>
    </Variable>
    <Variable>
     <Name>Joint_dynD\C1\state_initial</Name>
     <Rows>3</Rows>
     <Columns>1</Columns>
     <Value>0 0 0</Value>
    </Variable>
    <Variable>
     <Name>Joint_dynD\C4\state_initial</Name>
     <Rows>2</Rows>
     <Columns>1</Columns>
     <Value>0 0</Value>
    </Variable>
    <Variable>
     <Name>Joint_dynD\C\state_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>Joint_dynD\stepper_model\I1\state_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>Joint_dynD\stepper_model\I2\state_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>Joint_dynD\stepper_model\I\state_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>Joint_dynD\stepper_model\RotorAngle\angle_initial</Name>
     <Unit>rad</Unit>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>Joint_dynE\C1\state_initial</Name>
     <Rows>3</Rows>
     <Columns>1</Columns>
     <Value>0 0 0</Value>
    </Variable>
    <Variable>
     <Name>Joint_dynE\C4\state_initial</Name>
     <Rows>2</Rows>
     <Columns>1</Columns>
     <Value>0 0</Value>
    </Variable>
    <Variable>
     <Name>Joint_dynF\C1\state_initial</Name>
     <Rows>3</Rows>
     <Columns>1</Columns>
     <Value>0 0 0</Value>
    </Variable>
    <Variable>
     <Name>Joint_dynF\C4\state_initial</Name>
     <Rows>2</Rows>
     <Columns>1</Columns>
     <Value>0 0</Value>
    </Variable>
    <Variable>
     <Name>Joint_dynF\C\state_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>stepper_control1\Position_control\state_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>stepper_control1\Velocity_control\state_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>stepper_control\Position_control\state_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>stepper_control\Velocity_control\state_initial</Name>
     <Value>0</Value>
    </Variable>
   </Initials>
  </Variables>
  <PlotSpecs>
   <VarNames>
    <VarName>time</VarName>
    <VarName>Body1\position[1]</VarName>
    <VarName>Body1\position[2]</VarName>
    <VarName>Body1\position[3]</VarName>
    <VarName>Body1\R[1,3]</VarName>
    <VarName>Body1\R[2,3]</VarName>
    <VarName>Body1\R[3,3]</VarName>
    <VarName>Body1\R[1,2]</VarName>
    <VarName>Body1\R[2,2]</VarName>
    <VarName>Body1\R[3,2]</VarName>
    <VarName>Body1\dimension[1]</VarName>
    <VarName>Body1\dimension[2]</VarName>
    <VarName>Body1\dimension[3]</VarName>
    <VarName>Body2\dimension[1]</VarName>
    <VarName>Body2\dimension[2]</VarName>
    <VarName>Body2\dimension[3]</VarName>
    <VarName>Body2\position[1]</VarName>
    <VarName>Body2\position[2]</VarName>
    <VarName>Body2\position[3]</VarName>
    <VarName>Body2\R[1,3]</VarName>
    <VarName>Body2\R[2,3]</VarName>
    <VarName>Body2\R[3,3]</VarName>
    <VarName>Body2\R[1,2]</VarName>
    <VarName>Body2\R[2,2]</VarName>
    <VarName>Body2\R[3,2]</VarName>
    <VarName>Body3\dimension[1]</VarName>
    <VarName>Body3\dimension[2]</VarName>
    <VarName>Body3\dimension[3]</VarName>
    <VarName>Body3\position[1]</VarName>
    <VarName>Body3\position[2]</VarName>
    <VarName>Body3\position[3]</VarName>
    <VarName>Body3\R[1,3]</VarName>
    <VarName>Body3\R[2,3]</VarName>
    <VarName>Body3\R[3,3]</VarName>
    <VarName>Body3\R[1,2]</VarName>
    <VarName>Body3\R[2,2]</VarName>
    <VarName>Body3\R[3,2]</VarName>
    <VarName>Body4\dimension[1]</VarName>
    <VarName>Body4\dimension[2]</VarName>
    <VarName>Body4\dimension[3]</VarName>
    <VarName>Body4\R[1,3]</VarName>
    <VarName>Body4\R[2,3]</VarName>
    <VarName>Body4\R[3,3]</VarName>
    <VarName>Body4\R[1,2]</VarName>
    <VarName>Body4\R[2,2]</VarName>
    <VarName>Body4\R[3,2]</VarName>
    <VarName>Body4\position[1]</VarName>
    <VarName>Body4\position[2]</VarName>
    <VarName>Body4\position[3]</VarName>
    <VarName>Body5\dimension[1]</VarName>
    <VarName>Body5\dimension[2]</VarName>
    <VarName>Body5\dimension[3]</VarName>
    <VarName>Body5\position[1]</VarName>
    <VarName>Body5\position[2]</VarName>
    <VarName>Body5\position[3]</VarName>
    <VarName>Body5\R[1,3]</VarName>
    <VarName>Body5\R[2,3]</VarName>
    <VarName>Body5\R[3,3]</VarName>
    <VarName>Body5\R[1,2]</VarName>
    <VarName>Body5\R[2,2]</VarName>
    <VarName>Body5\R[3,2]</VarName>
    <VarName>stepper_control\setpoint</VarName>
    <VarName>Joint_dynA\stepper_model\angle</VarName>
    <VarName>Joint_dynA\stepper_model\RotorAngle\angle</VarName>
    <VarName>stepper_control1\setpoint</VarName>
    <VarName>Joint_dynD\angle</VarName>
    <VarName>Joint_dynD\stepper_model\RotorAngle\angle</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>StepperA</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>5.823613498640715</Maximum>
       <Linear>true</Linear>
       <Scaling>3</Scaling>
       <Label>time</Label>
      </Axis>
     </XAxes>
     <YAxes>
      <Axis>
       <Minimum>-2.8</Minimum>
       <Maximum>-0.8</Maximum>
       <Linear>true</Linear>
       <Scaling>2</Scaling>
       <Label>setpoint</Label>
      </Axis>
      <Axis>
       <Minimum>-4.08637499341765</Minimum>
       <Maximum>0.0</Maximum>
       <Linear>true</Linear>
       <Scaling>2</Scaling>
       <Label>angle</Label>
      </Axis>
      <Axis>
       <Minimum>-4.08637499341765</Minimum>
       <Maximum>0.0</Maximum>
       <Linear>true</Linear>
       <Scaling>2</Scaling>
       <Label>angle</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>time</VarName>
       </XCurveData>
       <YCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>stepper_control\setpoint</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>time</VarName>
       </XCurveData>
       <YCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>Joint_dynA\stepper_model\angle</VarName>
       </YCurveData>
      </Curve>
      <Curve>
       <LineColor>12553035</LineColor>
       <LineStyle>1</LineStyle>
       <TickColor>12553035</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>Joint_dynA\stepper_model\RotorAngle\angle</VarName>
       </YCurveData>
      </Curve>
     </Curves>
     <Legenda>
      <ShowLegenda>true</ShowLegenda>
      <BorderPenColor>0</BorderPenColor>
      <BackgroundColor>16777215</BackgroundColor>
     </Legenda>
    </Plot>
    <Plot>
     <PlotType>D3DPlot</PlotType>
     <BasePlot>
       <PlotId>2</PlotId>
       <UseWindowsBGColor>false</UseWindowsBGColor>
       <BGColor>16777215</BGColor>
       <PlotIsVisible>true</PlotIsVisible>
     </BasePlot>
     <PlotTitle>3D Animation</PlotTitle>
     <RenderQuality>137</RenderQuality>
     <ShowGrid>true</ShowGrid>
     <ShowFPS>false</ShowFPS>
     <BackgroundColor>4294967295</BackgroundColor>
     <SceneBackgroundImage>Gradients\BlueWhite.png</SceneBackgroundImage>
     <ApplyTextureBackground>true</ApplyTextureBackground>
     <FrameScale>1.0</FrameScale>
     <FrameThickness>1.0</FrameThickness>
     <MainFrame>
      <Frame>
       <ScaleValue>
        <X>
         <Value>1</Value>
        </X>
        <Y>
         <Value>1</Value>
        </Y>
        <Z>
         <Value>1</Value>
        </Z>
       </ScaleValue>
       <ShowReferenceFrame>true</ShowReferenceFrame>
       <Name>Reference Frame</Name>
       <Position>
       </Position>
       <Orientation>
        <Angles>
        </Angles>
        <OrientationType>Bryant</OrientationType>
       </Orientation>
       <LockX>false</LockX>
       <LockY>false</LockY>
       <LockZ>false</LockZ>
       <LockXPitch>false</LockXPitch>
       <LockYYaw>false</LockYYaw>
       <LockZRoll>false</LockZRoll>
       <Childs>
        <Frame>
         <ScaleValue>
     <X>
      <Value>1</Value>
     </X>
     <Y>
      <Value>1</Value>
     </Y>
     <Z>
      <Value>1</Value>
     </Z>
         </ScaleValue>
         <ShowReferenceFrame>false</ShowReferenceFrame>
         <Name>Default Lights and Cameras</Name>
         <Position>
         </Position>
         <Orientation>
     <Angles>
     </Angles>
     <OrientationType>Bryant</OrientationType>
         </Orientation>
         <LockX>false</LockX>
         <LockY>false</LockY>
         <LockZ>false</LockZ>
         <LockXPitch>false</LockXPitch>
         <LockYYaw>false</LockYYaw>
         <LockZRoll>false</LockZRoll>
         <Childs>
     <Light>
      <ShowReferenceFrame>false</ShowReferenceFrame>
      <Name>Ambient</Name>
      <Position>
      </Position>
      <Orientation>
       <ZAxis>
        <Z>
         <Value>1</Value>
        </Z>
       </ZAxis>
       <YAxis>
        <Y>
         <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>
        </Z>
       </Multipliers>
       <Direct3DColorRange>true</Direct3DColorRange>
      </LightColor>
      <AmbientLight>
       <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>
        </Z>
       </Multipliers>
       <Direct3DColorRange>true</Direct3DColorRange>
      </AmbientLight>
      <AmbientOn>true</AmbientOn>
      <DiffuseOn>false</DiffuseOn>
      <SpecularOn>false</SpecularOn>
     </Light>
     <Light>
      <ShowReferenceFrame>false</ShowReferenceFrame>
      <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>
      </Childs>
      <LightType>3</LightType>
      <LightColor>
       <Color>
        <X>
         <Value>0.5</Value>
        </X>
        <Y>
         <Value>0.5</Value>
        </Y>
        <Z>
         <Value>0.5</Value>
        </Z>
       </Color>
       <Offset>
       </Offset>
       <Multipliers>
        <X>
         <Value>1</Value>
        </X>
        <Y>
         <Value>1</Value>
        </Y>
        <Z>
         <Value>1</Value>
        </Z>
       </Multipliers>
       <Direct3DColorRange>true</Direct3DColorRange>
      </LightColor>
      <Attenuation>
       <Constant>
        <Value>1.0</Value>
       </Constant>
       <Linear>
        <Value>0.0</Value>
       </Linear>
       <Quadratic>
        <Value>0.0</Value>
       </Quadratic>
      </Attenuation>
      <DiffuseLight>
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