mahd/implementation/SCARA/03_motor/motor_physics.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\03_motor\motor_physics.emx</LibraryPath>
  <TimeStamp>2020-7-18 12:37:59</TimeStamp>
<AllowLibraryUpdate>True</AllowLibraryUpdate>
 </Description>
 <Attributes>
  <GlobalRelations>parameters
	real A = 0.05 {m};
	real B = 0.05 {m};
variables
	real J0_1_BF1[2];
	real J1_2_BF1[2];
	real J1_2_BF2[2];
	real EE1_BF2[2];
initialequations
	J0_1_BF1 = [A/2;0];
	J1_2_BF1 = [-A/2;0];
	J1_2_BF2 = [B/2;0];
	EE1_BF2 = [-B/2;0];</GlobalRelations>
 </Attributes>
</Information>';
 type Mainmodel
 end;
 implementation bg
  submodels
   Base1 720 680
    description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><AllowLibraryUpdate>True</AllowLibraryUpdate><LibraryPath>Bond Graph\MR\center_of_mass.emx</LibraryPath><TimeStamp>2020-7-17 15:37:54</TimeStamp><Description>Base</Description></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
      power out p [6,1];
      signal in Hin [4,4];
      power in p1 [6,1];
      signal out Hout [4,4];
    end;
    icon bg bottom
     figures
      rectangle 688 640 752 720 color 0 fill 255;
      text 'COM' 720 664 color 0;
     terminals
      p 688 656 fixed;
      Hin 688 704 fixed;
      p1 752 656 fixed;
      Hout 752 704 fixed;
    end;
    implementation bg
     submodels
      AdHi0 544 400
       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 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 616 256
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\MGY.emx</LibraryPath>
 <TimeStamp>2007-10-31 11:43:6</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type MGY
        ports
         power in p1 [6,1];
       end;
       icon bg top
        figures
         text 'MGY' 616 256 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 616 400
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\Se.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:3:26</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type Se
        ports
         power out p [6,1];
        restrictions
         causality fixed out p;
       end;
       icon bg bottom
        figures
         text 'Se' 616 400 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 480 256
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\I.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:2:12</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type I
        ports
         power in p [6,1];
         signal out state [6,1];
        restrictions
         causality preferred in p;
       end;
       icon bg top
        figures
         text 'I' 480 256 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 472 496;
      plug p1 752 304;
      plug Hout 768 496;
      plug p 472 304;
      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 544 304
       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' 544 304 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      Ta0k 544 256
       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 top
        figures
         text '1' 544 256 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
     end;
     connections
      AdHi0\p2 => Ta0j\p;
      Gravity\p => AdHi0\p1;
      Hin -> Splitter1\input;
      p <= Ta0j\p;
      p1 => Ta0j\p;
      Splitter1\output -> AdHi0\H;
      Splitter1\output -> Hout;
      Ta0j\p => Ta0k\p;
      Ta0k\p => EJS\p1;
      Ta0k\p => InertialTensor\p;
     end;
     parameterrelations
InertialTensor\I = I;
InterialTensor\m = m;
EJS\I = I;
EJS\m = m;
AdHik\COMdim = COMdim;
AdHik1\COMdim = COMdim;
Hij\dim = dim;
Gravity\m=m;parameterrelations_end;
     figures
      text 'b = current link (body)
a = previous link (body)
i = Body fixed frame, fixed in joint with previous link
j = Body fixed frame, fixed in joint with next link
k = Body fixed frame, principal inertial frame
0 = inertial system
 ' 288 280 color 0;
    implementation_end;
   Base2 912 680
    description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><AllowLibraryUpdate>True</AllowLibraryUpdate><LibraryPath>Bond Graph\MR\center_of_mass.emx</LibraryPath><TimeStamp>2020-7-17 15:37:54</TimeStamp><Description>Base</Description></Description><Attributes><GlobalRelations>parameters
	real I [3,1] = [0;0;0] {N.m.s};
	real m = 0.015 {kg};</GlobalRelations></Attributes></Information>';
    type Submodel
     ports
      power out p [6,1];
      signal in Hin [4,4];
      power in p1 [6,1];
      signal out Hout [4,4];
    end;
    icon bg bottom
     figures
      rectangle 880 640 944 720 color 0 fill 255;
      text 'COM' 912 664 color 0;
     terminals
      p 880 656 fixed;
      Hin 880 704 fixed;
      p1 944 656 fixed;
      Hout 944 704 fixed;
    end;
    implementation bg
     submodels
      AdHi0 544 400
       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 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 616 256
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\MGY.emx</LibraryPath>
 <TimeStamp>2007-10-31 11:43:6</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type MGY
        ports
         power in p1 [6,1];
       end;
       icon bg top
        figures
         text 'MGY' 616 256 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 616 400
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\Se.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:3:26</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type Se
        ports
         power out p [6,1];
        restrictions
         causality fixed out p;
       end;
       icon bg bottom
        figures
         text 'Se' 616 400 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 480 256
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\I.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:2:12</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type I
        ports
         power in p [6,1];
         signal out state [6,1];
        restrictions
         causality preferred in p;
       end;
       icon bg top
        figures
         text 'I' 480 256 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 472 496;
      plug p1 752 304;
      plug Hout 768 496;
      plug p 472 304;
      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 544 304
       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' 544 304 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      Ta0k 544 256
       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 top
        figures
         text '1' 544 256 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
     end;
     connections
      AdHi0\p2 => Ta0j\p;
      Gravity\p => AdHi0\p1;
      Hin -> Splitter1\input;
      p <= Ta0j\p;
      p1 => Ta0j\p;
      Splitter1\output -> AdHi0\H;
      Splitter1\output -> Hout;
      Ta0j\p => Ta0k\p;
      Ta0k\p => EJS\p1;
      Ta0k\p => InertialTensor\p;
     end;
     parameterrelations
InertialTensor\I = I;
InterialTensor\m = m;
EJS\I = I;
EJS\m = m;
AdHik\COMdim = COMdim;
AdHik1\COMdim = COMdim;
Hij\dim = dim;
Gravity\m=m;parameterrelations_end;
     figures
      text 'b = current link (body)
a = previous link (body)
i = Body fixed frame, fixed in joint with previous link
j = Body fixed frame, fixed in joint with next link
k = Body fixed frame, principal inertial frame
0 = inertial system
 ' 288 280 color 0;
    implementation_end;
   Base3 368 680
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
  <AllowLibraryUpdate>True</AllowLibraryUpdate>
    <LibraryPath>Bond Graph\MR\center_of_mass.emx</LibraryPath>
  <TimeStamp>2020-7-17 15:37:54</TimeStamp>
<Description>Base</Description>
 </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
      power out p [6,1];
      signal in Hin [4,4];
      power in p1 [6,1];
      signal out Hout [4,4];
    end;
    icon bg bottom
     figures
      rectangle 336 640 400 720 color 0 fill 255;
      text 'COM' 368 664 color 0;
     terminals
      p 336 656 fixed;
      Hin 336 704 fixed;
      p1 400 656 fixed;
      Hout 400 704 fixed;
    end;
    implementation bg
     submodels
      AdHi0 544 400
       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 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 616 256
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\MGY.emx</LibraryPath>
 <TimeStamp>2007-10-31 11:43:6</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type MGY
        ports
         power in p1 [6,1];
       end;
       icon bg top
        figures
         text 'MGY' 616 256 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 616 400
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\Se.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:3:26</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type Se
        ports
         power out p [6,1];
        restrictions
         causality fixed out p;
       end;
       icon bg bottom
        figures
         text 'Se' 616 400 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 480 256
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\I.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:2:12</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       type I
        ports
         power in p [6,1];
         signal out state [6,1];
        restrictions
         causality preferred in p;
       end;
       icon bg top
        figures
         text 'I' 480 256 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 472 496;
      plug p1 752 304;
      plug Hout 768 496;
      plug p 472 304;
      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 544 304
       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' 544 304 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      Ta0k 544 256
       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 top
        figures
         text '1' 544 256 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
     end;
     connections
      AdHi0\p2 => Ta0j\p;
      Gravity\p => AdHi0\p1;
      Hin -> Splitter1\input;
      p <= Ta0j\p;
      p1 => Ta0j\p;
      Splitter1\output -> AdHi0\H;
      Splitter1\output -> Hout;
      Ta0j\p => Ta0k\p;
      Ta0k\p => EJS\p1;
      Ta0k\p => InertialTensor\p;
     end;
     parameterrelations
InertialTensor\I = I;
InterialTensor\m = m;
EJS\I = I;
EJS\m = m;
AdHik\COMdim = COMdim;
AdHik1\COMdim = COMdim;
Hij\dim = dim;
Gravity\m=m;parameterrelations_end;
     figures
      text 'b = current link (body)
a = previous link (body)
i = Body fixed frame, fixed in joint with previous link
j = Body fixed frame, fixed in joint with next link
k = Body fixed frame, principal inertial frame
0 = inertial system
 ' 288 280 color 0;
    implementation_end;
   COM1 424 584
    description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel></Description><Attributes><GlobalRelations>parameters
	real mass = 1 {kg};</GlobalRelations></Attributes></Information>';
    type Submodel
     ports
      translation in p [2,1];
      signal in mass {kg} ;
    end;
    icon bg ellipse bottom
     figures
      ellipse 416 576 432 592 color 0 fill 15132390;
      line 424 576 424 592 color 0 fill 15132390;
      line 416 584 432 584 color 0 fill 15132390;
    end;
    implementation bg
     submodels
      Gain 368 408
       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>
</Description>';
       type Gain
        ports
         signal in input;
         signal out output [2,1];
       end;
       icon bg bottom
        figures
         rectangle 352.1 392 383.9 424 color 0 fill 15132390;
         text 'K' 368 408 color 16711680 16 bold;
       end;
       implementation eq
equations
	output = [0;-g_n] * input;
    implementation_end;
      I 248 520
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\2D\I-2.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:7:37</TimeStamp>
</Description>';
       type 'I-2'
        ports
         power in p [2,1];
         signal out state [2,1];
         signal in mass {kg} ;
        restrictions
         causality preferred in p;
       end;
       icon bg bottom
        figures
         text 'I' 248 520 color 0 18 bold;
       end;
       implementation eq
equations
    state = int(p.e);
    p.f = inverse ([mass,0;0,mass]) * state;
implementation_end;
      plug p 304 468;
      plug mass 208 408;
      OneJunction2 304 520
       description '<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>
</Description>';
       knot OneJunction
        ports
         translation knot duplicatable none p [2,1];
         signal knot out flow [2,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 304 520 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      Sg 368 520
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\2D\MSe-2.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:7:58</TimeStamp>
</Description>';
       type 'MSe-2'
        ports
         power out p [2,1];
         signal in effort [2,1];
        restrictions
         causality fixed out p;
       end;
       icon bg bottom
        figures
         text 'MSe' 368 520 color 0 18 bold;
       end;
       implementation eq
variables
	real flow[2];
equations
	p.e = effort;
	flow = p.f;
implementation_end;
      Splitter1 248 408
       description '<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 244.8 404.8 251.2 411.2 color -1 fill 0;
         ellipse 243.7 403.7 252.3 412.3 color -1;
        terminals
         input 248 408 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
     end;
     connections
      Gain\output -> Sg\effort;
      I\p <= OneJunction2\p;
      mass -> Splitter1\input;
      p => OneJunction2\p;
      Sg\p => OneJunction2\p;
      Splitter1\output -> Gain\input;
      Splitter1\output -> I\mass;
     end;
    implementation_end;
   COM2 824 584
    description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel></Description><Attributes><GlobalRelations>parameters
	real mass = 1 {kg};</GlobalRelations></Attributes></Information>';
    type Submodel
     ports
      power in p [2,1];
      signal in mass {kg} ;
    end;
    icon bg ellipse
     figures
      ellipse 816 576 832 592 color 0 fill 15132390;
      line 824 576 824 592 color 0 fill 15132390;
      line 816 584 832 584 color 0 fill 15132390;
    end;
    implementation bg
     submodels
      Gain 368 408
       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>
</Description>';
       type Gain
        ports
         signal in input;
         signal out output [2,1];
       end;
       icon bg bottom
        figures
         rectangle 352.1 392 383.9 424 color 0 fill 15132390;
         text 'K' 368 408 color 16711680 16 bold;
       end;
       implementation eq
equations
	output = [0;-g_n] * input;
    implementation_end;
      I 248 520
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\2D\I-2.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:7:37</TimeStamp>
</Description>';
       type 'I-2'
        ports
         power in p [2,1];
         signal out state [2,1];
         signal in mass {kg} ;
        restrictions
         causality preferred in p;
       end;
       icon bg bottom
        figures
         text 'I' 248 520 color 0 18 bold;
       end;
       implementation eq
equations
    state = int(p.e);
    p.f = inverse ([mass,0;0,mass]) * state;
implementation_end;
      plug p 304 468;
      plug mass 208 408;
      OneJunction2 304 520
       description '<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>
</Description>';
       knot OneJunction
        ports
         power knot duplicatable none p [2,1];
         signal knot out flow [2,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 304 520 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      Sg 368 520
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\2D\MSe-2.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:7:58</TimeStamp>
</Description>';
       type 'MSe-2'
        ports
         power out p [2,1];
         signal in effort [2,1];
        restrictions
         causality fixed out p;
       end;
       icon bg bottom
        figures
         text 'MSe' 368 520 color 0 18 bold;
       end;
       implementation eq
variables
	real flow[2];
equations
	p.e = effort;
	flow = p.f;
implementation_end;
      Splitter1 248 408
       description '<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 244.8 404.8 251.2 411.2 color -1 fill 0;
         ellipse 243.7 403.7 252.3 412.3 color -1;
        terminals
         input 248 408 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
     end;
     connections
      Gain\output -> Sg\effort;
      I\p <= OneJunction2\p;
      mass -> Splitter1\input;
      p => OneJunction2\p;
      Sg\p => OneJunction2\p;
      Splitter1\output -> Gain\input;
      Splitter1\output -> I\mass;
     end;
    implementation_end;
   COM3 984 584
    description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel></Description><Attributes><GlobalRelations>parameters
	real mass = 1 {kg};</GlobalRelations></Attributes></Information>';
    type Submodel
     ports
      power in p [2,1];
      signal in mass {kg} ;
    end;
    icon bg ellipse
     figures
      ellipse 976 576 992 592 color 0 fill 15132390;
      line 984 576 984 592 color 0 fill 15132390;
      line 976 584 992 584 color 0 fill 15132390;
    end;
    implementation bg
     submodels
      Gain 368 408
       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>
</Description>';
       type Gain
        ports
         signal in input;
         signal out output [2,1];
       end;
       icon bg bottom
        figures
         rectangle 352.1 392 383.9 424 color 0 fill 15132390;
         text 'K' 368 408 color 16711680 16 bold;
       end;
       implementation eq
equations
	output = [0;-g_n] * input;
    implementation_end;
      I 248 520
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\2D\I-2.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:7:37</TimeStamp>
</Description>';
       type 'I-2'
        ports
         power in p [2,1];
         signal out state [2,1];
         signal in mass {kg} ;
        restrictions
         causality preferred in p;
       end;
       icon bg bottom
        figures
         text 'I' 248 520 color 0 18 bold;
       end;
       implementation eq
equations
    state = int(p.e);
    p.f = inverse ([mass,0;0,mass]) * state;
implementation_end;
      plug p 304 468;
      plug mass 208 408;
      OneJunction2 304 520
       description '<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>
</Description>';
       knot OneJunction
        ports
         power knot duplicatable none p [2,1];
         signal knot out flow [2,1];
        restrictions
         causality constraint one_out p;
       end;
       icon bg
        figures
         text '1' 304 520 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      Sg 368 520
       description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Bond Graph\2D\MSe-2.emx</LibraryPath>
  <TimeStamp>2007-9-25 12:7:58</TimeStamp>
</Description>';
       type 'MSe-2'
        ports
         power out p [2,1];
         signal in effort [2,1];
        restrictions
         causality fixed out p;
       end;
       icon bg bottom
        figures
         text 'MSe' 368 520 color 0 18 bold;
       end;
       implementation eq
variables
	real flow[2];
equations
	p.e = effort;
	flow = p.f;
implementation_end;
      Splitter1 248 408
       description '<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 244.8 404.8 251.2 411.2 color -1 fill 0;
         ellipse 243.7 403.7 252.3 412.3 color -1;
        terminals
         input 248 408 fixed;
       end;
       implementation eq
equations
    collect (output) = input;
implementation_end;
     end;
     connections
      Gain\output -> Sg\effort;
      I\p <= OneJunction2\p;
      mass -> Splitter1\input;
      p => OneJunction2\p;
      Sg\p => OneJunction2\p;
      Splitter1\output -> Gain\input;
      Splitter1\output -> I\mass;
     end;
    implementation_end;
   Constant 920 584
    description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Sources\Constant.emx</LibraryPath>
  <TimeStamp>2007-10-19 14:48:44</TimeStamp>
</Description>';
    type Constant
     ports
      signal out output;
    end;
    icon bg bottom
     figures
      rectangle 904.1 568 935.9 600 color 0 fill 15132390;
      line 908.9 579.6 930.9 579.6 color 16711680 width 2;
      line 906.2 590.7 931.9 590.7 color 0;
      line 908.5 574.7 908.5 593 color 0;
    end;
    implementation eq
parameters
	real C = 0.015 {kg};		// output value
equations
	output = C;
     implementation_end;
   I 432 176
    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;
      signal in i;
     restrictions
      causality preferred in p;
    end;
    icon bg bottom
     figures
      text 'I' 432 176 color 0 18 bold;
    end;
    implementation eq
equations
    state = int(p.e);
    p.f = state / i;
implementation_end;
   I1 824 176
    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;
      signal in i;
     restrictions
      causality preferred in p;
    end;
    icon bg bottom
     figures
      text 'I' 824 176 color 0 18 bold;
    end;
    implementation eq
equations
    state = int(p.e);
    p.f = state / i;
implementation_end;
   Integrate 1040 512
    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 [2,1];
      signal out output [2,1];
    end;
    icon bg bottom
     figures
      rectangle 1024 496 1056 528 color 0 fill 15132390;
      text '∫' 1040 512.3 color 16711680 'Lucida Sans' 21 italic;
    end;
    implementation eq
parameters
	real initial[2] = [0.115;0];		// initial value
equations
	output = int (input, initial);
     implementation_end;
   Integrate1 712 192
    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 696 176 728 208 color 0 fill 15132390;
      text '∫' 712 192.3 color 16711680 'Lucida Sans' 21 italic;
    end;
    implementation eq
parameters
	real initial = 0;		// initial value
equations
	output = int (input, initial);
     implementation_end;
   inverse_kinematics 304 32
    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.
	real angle_sum {rad}; //  test angle
equations
	x = input[1];
	y = input[2];
	phi = atan2(y, x);
	C_length = sqrt(x^2 + y^2);	
 	a = arccos ((B_length^2 + C_length^2 - A_length^2) / (2 * B_length * C_length));
	b = arccos ((A_length^2 + C_length^2 - B_length^2) / (2 * A_length * C_length));
	c = arccos ((A_length^2 + B_length^2 - C_length^2) / (2 * A_length * B_length));
	angle1 = b + phi;
	angle2 =  angle1 - pi * to_rad + c;
	
	

 implementation_end;
   inverse_kinematics1 392 864
    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} ;
      signal out abs_angle2;
    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.
	real angle_sum {rad}; //  test angle
equations
	x = input[1];
	y = input[2];
	phi = atan2(y, x);
	C_length = sqrt(x^2 + y^2);	
 	a = arccos ((B_length^2 + C_length^2 - A_length^2) / (2 * B_length * C_length));
	b = arccos ((A_length^2 + C_length^2 - B_length^2) / (2 * A_length * C_length));
	c = arccos ((A_length^2 + B_length^2 - C_length^2) / (2 * A_length * B_length));
	angle1 = b + phi;
	abs_angle2 =  angle1 - pi * to_rad + c;
	angle2 = c - pi * to_rad;
	
	

 implementation_end;
   Joint1 208.1 678
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
  <AllowLibraryUpdate>True</AllowLibraryUpdate>
    <LibraryPath>Bond Graph\MR\joint-v2.emx</LibraryPath>
  <TimeStamp>2020-7-17 16:52:13</TimeStamp>
</Description>
</Information>';
    type 'Submodel-rotz'
     ports
      power out p [6,1];
      power in p1;
      power in p2 [6,1];
      signal in Hin [4,4];
      signal out Hout [4,4];
      signal out q;
    end;
    icon bg bottom
     figures
      rectangle 176.2 640 240 716 color 0 fill 14745599;
      text 'Joint' 208 672 color 0;
     terminals
      p 176 656 fixed;
      p1 208 640 fixed;
      p2 240 656 fixed;
      Hin 176 704 fixed;
      Hout 240 704 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;
      JointType 240 312
       description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><AllowLibraryUpdate>True</AllowLibraryUpdate></Description><Attributes><GlobalRelations>parameters
	real joint = 1;
	real initial = 0;</GlobalRelations></Attributes></Information>';
       type Submodel
        ports
         mechanical in p1;
         signal out output [4,4];
         power out p2 [6,1];
         signal out q;
       end;
       implementation bg
        submodels
         Integrate 320 272
          description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>
 <TimeStamp>2007-9-26 12:3:23</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
          type Integrate
           ports
            signal in input;
            signal out output [4,4];
            signal out q;
          end;
          icon bg
           figures
            rectangle 304 256 336 288 color 0 fill 15132390;
            text 'ò' 320 269.3 color 16711680 'SymbolProp BT' 21 symbol;
          end;
          implementation eq
parameters
	real global joint;
	real global initial;
variables
	real R[3,3];
	real p[3];
	real qa[6];
	real temp [4,4];
initialequations
	qa = 0;
equations
-q = int(input,initial);
qa[joint] = q;
R =  dll('EulerAngles.dll','RotationMatrixFromEulXYZs',qa);
output = homogeneous(R,qa[4:6]);implementation_end;
         plug p1 240 188;
         plug output 320 416;
         plug p2 240 412;
         plug q 320 184;
         OneJunction2 240 271.9
          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
            mechanical knot in p1 [1];
            mechanical knot out p2 [1];
            signal knot out flow [1];
           restrictions
            causality constraint not_equal p1 p2;
          end;
          icon bg ellipse
           figures
            ellipse 233.1 264.8 246.9 279.1 color 0 fill 16777215;
            text 'f' 240 271.2 color 0;
          end;
          implementation eq
equations
	p2.f = p1.f;
	p1.e = p2.e;
	flow = p1.f;
implementation_end;
         uTbai 240 312
          description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\TF.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:4:2</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
          type TF
           ports
            power in p1;
            power out p2 [6,1];
           restrictions
            causality constraint not_equal p1 p2;
            causality fixed in p1;
            causality fixed out p2;
           parameters
            real Cconstraint = 1.0e-4;
            real Rconstraint = 1000.0;
          end;
          icon bg left
           figures
            text 'TF' 240 312 color 0 18 bold;
          end;
          implementation eq
parameters
	real global joint;
variables
	real i;
	real state[6];
equations
	state = int(p2.f);
	for i = 1 to 6 do		
		if i == joint then
			p1.f = p2.f[i];	
			p2.e[i] = p1.e;
		else
			p2.e[i] = (Rconstraint*-p2.f[i] + -state[i]/Cconstraint);
		end;
	end;
implementation_end;
        end;
        connections
         Integrate\output -> output;
         Integrate\q -> q;
         OneJunction2\flow -> Integrate\input;
         OneJunction2\p2 => uTbai\p1;
         p1 => OneJunction2\p1;
         uTbai\p2 => p2;
        end;
       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 p 112 424;
      plug p1 240 40;
      plug p2 496 424;
      plug Hin 112 576;
      plug Hout 504 576;
      plug q 112 312;
      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 240 424
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
 <TimeStamp>2007-9-27 9:51:43</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       knot ZeroJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out effort [6,1];
        restrictions
         causality constraint one_in p;
       end;
       icon bg bottom
        figures
         text '0' 240 424 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
     end;
     connections
      Hin -> MatrixMul\input2;
      JointType\output -> Splitter2\input;
      JointType\p1 <= p1;
      JointType\p2 => Wbai\p;
      JointType\q -> q;
      MatrixMul\output -> Hout;
      p <= Wbai\p;
      p2 => AdHji\p2;
      Splitter2\output -> AdHji\H 424 312;
      Splitter2\output -> MatrixMul\input1;
      Wbai\p <= AdHji\p1;
     end;
     parameterrelations
EndstopMin\Rendstop = Rendstop;
EndstopMin\Cendstop = Cendstop;
EndstopMin\InitialPos = InitialPos;
EndstopMin\EndstopPos = MinEndstopPos;
EndstopMax\Rendstop = Rendstop;
EndstopMax\Cendstop = Cendstop;
EndstopMax\InitialPos = InitialPos;
EndstopMax\EndstopPos = MaxEndstopPos;
Rjoint\Rjoint= Rjoint;
Integrate\init = InitialPos;
uTbai\Rconstraint = Rconstraint;
uTbai\Cconstraint = Cconstraint;

parameterrelations_end;
     figures
      text 'b = next link (body)
a = previous link (body)
i = Frame fixed in previous body, fixed in joint
j = Frame fixed in next body, fixed in joint
 ' 680 488 color 0;
    implementation_end;
   Joint2 560.1 678
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
  <AllowLibraryUpdate>True</AllowLibraryUpdate>
    <LibraryPath>Bond Graph\MR\joint-v2.emx</LibraryPath>
  <TimeStamp>2020-7-17 16:52:13</TimeStamp>
</Description>
</Information>';
    type 'Submodel-rotz'
     ports
      power out p [6,1];
      power in p1;
      power in p2 [6,1];
      signal in Hin [4,4];
      signal out Hout [4,4];
      signal out q;
    end;
    icon bg bottom
     figures
      rectangle 528.2 640 592 716 color 0 fill 14745599;
      text 'Joint' 560 672 color 0;
     terminals
      p 528 656 fixed;
      p1 560 640 fixed;
      p2 592 656 fixed;
      Hin 528 704 fixed;
      Hout 592 704 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;
      JointType 240 312
       description '<Information><Description><Version>4.8</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues><AllowLibraryUpdate>True</AllowLibraryUpdate></Description><Attributes><GlobalRelations>parameters
	real joint = 1;
	real initial = 0;</GlobalRelations></Attributes></Information>';
       type Submodel
        ports
         mechanical in p1;
         signal out output [4,4];
         power out p2 [6,1];
         signal out q;
       end;
       implementation bg
        submodels
         Integrate 320 272
          description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Signal\Block Diagram\Integrate.emx</LibraryPath>
 <TimeStamp>2007-9-26 12:3:23</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
          type Integrate
           ports
            signal in input;
            signal out output [4,4];
            signal out q;
          end;
          icon bg
           figures
            rectangle 304 256 336 288 color 0 fill 15132390;
            text 'ò' 320 269.3 color 16711680 'SymbolProp BT' 21 symbol;
          end;
          implementation eq
parameters
	real global joint;
	real global initial;
variables
	real R[3,3];
	real p[3];
	real qa[6];
	real temp [4,4];
initialequations
	qa = 0;
equations
-q = int(input,initial);
qa[joint] = q;
R =  dll('EulerAngles.dll','RotationMatrixFromEulXYZs',qa);
output = homogeneous(R,qa[4:6]);implementation_end;
         plug p1 240 188;
         plug output 320 416;
         plug p2 240 412;
         plug q 320 184;
         OneJunction2 240 271.9
          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
            mechanical knot in p1 [1];
            mechanical knot out p2 [1];
            signal knot out flow [1];
           restrictions
            causality constraint not_equal p1 p2;
          end;
          icon bg ellipse
           figures
            ellipse 233.1 264.8 246.9 279.1 color 0 fill 16777215;
            text 'f' 240 271.2 color 0;
          end;
          implementation eq
equations
	p2.f = p1.f;
	p1.e = p2.e;
	flow = p1.f;
implementation_end;
         uTbai 240 328
          description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\TF.emx</LibraryPath>
 <TimeStamp>2007-9-25 12:4:2</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
          type TF
           ports
            power in p1;
            power out p2 [6,1];
           restrictions
            causality constraint not_equal p1 p2;
            causality fixed in p1;
            causality fixed out p2;
           parameters
            real Cconstraint = 1.0e-4;
            real Rconstraint = 1000.0;
          end;
          icon bg left
           figures
            text 'TF' 240 328 color 0 18 bold;
          end;
          implementation eq
parameters
	real global joint;
variables
	real i;
	real state[6];
equations
	state = int(p2.f);
	for i = 1 to 6 do		
		if i == joint then
			p1.f = p2.f[i];	
			p2.e[i] = p1.e;
		else
			p2.e[i] = (Rconstraint*-p2.f[i] + -state[i]/Cconstraint);
		end;
	end;
implementation_end;
        end;
        connections
         Integrate\output -> output;
         Integrate\q -> q;
         OneJunction2\flow -> Integrate\input;
         OneJunction2\p2 => uTbai\p1;
         p1 => OneJunction2\p1;
         uTbai\p2 => p2;
        end;
       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 p 112 424;
      plug p1 240 40;
      plug p2 496 424;
      plug Hin 112 576;
      plug Hout 504 576;
      plug q 112 312;
      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 240 424
       description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
 <LibraryPath>Bond Graph\ZeroJunction.emx</LibraryPath>
 <TimeStamp>2007-9-27 9:51:43</TimeStamp>
 <AllowLibraryUpdate>True</AllowLibraryUpdate>
</Description>';
       knot ZeroJunction
        ports
         power knot duplicatable none p [6,1];
         signal knot out effort [6,1];
        restrictions
         causality constraint one_in p;
       end;
       icon bg bottom
        figures
         text '0' 240 424 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
     end;
     connections
      Hin -> MatrixMul\input2;
      JointType\output -> Splitter2\input;
      JointType\p1 <= p1;
      JointType\p2 => Wbai\p;
      JointType\q -> q;
      MatrixMul\output -> Hout;
      p <= Wbai\p;
      p2 => AdHji\p2;
      Splitter2\output -> AdHji\H 424 312;
      Splitter2\output -> MatrixMul\input1;
      Wbai\p <= AdHji\p1;
     end;
     parameterrelations
EndstopMin\Rendstop = Rendstop;
EndstopMin\Cendstop = Cendstop;
EndstopMin\InitialPos = InitialPos;
EndstopMin\EndstopPos = MinEndstopPos;
EndstopMax\Rendstop = Rendstop;
EndstopMax\Cendstop = Cendstop;
EndstopMax\InitialPos = InitialPos;
EndstopMax\EndstopPos = MaxEndstopPos;
Rjoint\Rjoint= Rjoint;
Integrate\init = InitialPos;
uTbai\Rconstraint = Rconstraint;
uTbai\Cconstraint = Cconstraint;

parameterrelations_end;
     figures
      text 'b = next link (body)
a = previous link (body)
i = Frame fixed in previous body, fixed in joint
j = Frame fixed in next body, fixed in joint
 ' 680 488 color 0;
    implementation_end;
   Link 288 680
    description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>Z:\home\wouter\Documents\20-sim\library\Bond Graph\MR\link-v2.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <TimeStamp>2020-7-16 17:44:32</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 256 640 320 720 color 0 fill 8454041;
      text 'name' 288 664 color 0 'Clear Sans' 16;
     terminals
      Hin 256 704 fixed;
      Hout 320 704 fixed;
      Pin 320 656 fixed;
      Pout 256 656 fixed;
    end;
    implementation eq
parameters
	real offset[3]= [0; 0.0325; 0]; //coordinates of joint_1 
variables
	real Hab[4,4];
	real AdHab[6,6];
equations
	Hab = homogeneous(eye(3),offset);
	AdHab = Adjoint(eye(3),offset);
	Hout = Hin * Hab;
	Pout.e = transpose(AdHab) * Pin.e;
	Pin.f = AdHab * Pout.f;

    implementation_end;
   Link1 480 680
    description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>Z:\home\wouter\Documents\20-sim\library\Bond Graph\MR\link-v2.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <TimeStamp>2020-7-16 17:44:32</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 448 640 512 720 color 0 fill 8454041;
      text 'name' 480 664 color 0 'Clear Sans' 16;
     terminals
      Hin 448 704 fixed;
      Hout 512 704 fixed;
      Pin 512 656 fixed;
      Pout 448 656 fixed;
    end;
    implementation eq
parameters
	real offset[3]= [0; 0.0325; 0]; //coordinates of joint_1 
variables
	real Hab[4,4];
	real AdHab[6,6];
equations
	Hab = homogeneous(eye(3),offset);
	AdHab = Adjoint(eye(3),offset);
	Hout = Hin * Hab;
	Pout.e = transpose(AdHab) * Pin.e;
	Pin.f = AdHab * Pout.f;

    implementation_end;
   Link2 640 680
    description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>Z:\home\wouter\Documents\20-sim\library\Bond Graph\MR\link-v2.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <TimeStamp>2020-7-16 17:44:32</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 608 640 672 720 color 0 fill 8454041;
      text 'name' 640 664 color 0 'Clear Sans' 16;
     terminals
      Hin 608 704 fixed;
      Hout 672 704 fixed;
      Pin 672 656 fixed;
      Pout 608 656 fixed;
    end;
    implementation eq
parameters
	real offset[3]= [0; 0.025; 0]; //coordinates of joint_1 
variables
	real Hab[4,4];
	real AdHab[6,6];
equations
	Hab = homogeneous(eye(3),offset);
	AdHab = Adjoint(eye(3),offset);
	Hout = Hin * Hab;
	Pout.e = transpose(AdHab) * Pin.e;
	Pin.f = AdHab * Pout.f;

    implementation_end;
   Link3 832 680
    description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>Z:\home\wouter\Documents\20-sim\library\Bond Graph\MR\link-v2.emx</LibraryPath>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <TimeStamp>2020-7-16 17:44:32</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 800 640 864 720 color 0 fill 8454041;
      text 'name' 832 664 color 0 'Clear Sans' 16;
     terminals
      Hin 800 704 fixed;
      Hout 864 704 fixed;
      Pin 864 656 fixed;
      Pout 800 656 fixed;
    end;
    implementation eq
parameters
	real offset[3]= [0; 0.025; 0]; //coordinates of joint_1 
variables
	real Hab[4,4];
	real AdHab[6,6];
equations
	Hab = homogeneous(eye(3),offset);
	AdHab = Adjoint(eye(3),offset);
	Hout = Hin * Hab;
	Pout.e = transpose(AdHab) * Pin.e;
	Pin.f = AdHab * Pout.f;

    implementation_end;
   MXTF 352.3 288
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Z:\home\wouter\Documents\20-sim\library\Bond Graph\2D\MXTF-2.emx</LibraryPath>
  <TimeStamp>2020-7-14 17:06:13</TimeStamp>
<AllowLibraryUpdate>True</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'TF-2'
     ports
      power in p1;
      power out p2 [2,1];
      signal in p [2,1];
     restrictions
      causality constraint not_equal p1 p2;
      causality fixed in p2;
      causality fixed out p1;
    end;
    icon bg bottom
     figures
      text 'MXTF' 352.3 288 color 0 18 bold;
    end;
    implementation eq
variables
	real r[2];
equations		
	r = [-p[2];p[1]];
	p1.e = transpose (r) * p2.e;
	p2.f = r * p1.f;implementation_end;
   Negate1 224 800
    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 208 784 240 816 color 0 fill 15132390;
      text '-1' 224 800 color 16711680 16 bold;
    end;
    implementation eq
equations
	output = - input;
     implementation_end;
   Negate2 592 800
    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 576 784 608 816 color 0 fill 15132390;
      text '-1' 592 800 color 16711680 16 bold;
    end;
    implementation eq
equations
	output = - input;
     implementation_end;
   new_joint1 424 768
    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];
      signal out output;
    end;
    implementation eq
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;
   new_joint2 776 768
    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];
      signal out output;
    end;
    implementation eq
variables
	real position[3];
	real rotation[3];
	real R[3,3];
equations
	// start typing here
	position = input[1:3,4];
	rotation = [input[3,2];input[1,3];input[2,1]];
	R = input[1:3,1:3];implementation_end;
   new_joint3 1040 704
    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];
      signal out output;
    end;
    implementation eq
variables
	real position[3];
	real rotation[3];
	real R[3,3];
equations
	position = input[1:3,4];
	rotation = [input[3,2];input[1,3];input[2,1]];
	R = input[1:3,1:3];implementation_end;
   OneJunction 424 368
    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' 424 368 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction1 424 520
    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
      translation knot duplicatable none p [2,1];
      signal knot out flow [2,1];
     restrictions
      causality constraint one_out p;
    end;
    icon bg
     figures
      text '1' 424 520 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction10 824 232
    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' 824 232 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction11 984 512
    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' 984 512 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction12 704 368
    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' 704 368 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction16 624 200
    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' 624 200 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction17 560 752
    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' 560 752 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction18 248 208
    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' 248 208 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction2 128 656
    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' 128 656 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction3 432 232
    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' 432 232 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction5 272.3 368
    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' 272.3 368 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction6 272 520
    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' 272 520 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction7 824 368
    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' 824 368 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction8 824 520
    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' 824 520 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   OneJunction9 984 368
    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' 984 368 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
   PID 248 88
    description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Control\PID Control\Continuous\PID.emx</LibraryPath>
  <TimeStamp>2008-1-17 10:49:30</TimeStamp>
</Description>';
    type PID
     ports
      signal in error;
      signal out output;
    end;
    icon bg bottom
     figures
      rectangle 232 72 264 104 color 0 fill 15132390;
      text 'PID' 248 87.5 color 16711680 18 bold;
    end;
    implementation eq
parameters
	real kp = 0.05 {};			// Proportional gain
	real tauD = 1.0 {s};		// Derivative time constant: tauD > 0
	real beta = 0.001 {};		// Tameness constant: 0 < beta << 1
	real tauI = 0.05{s};		// Integral time constant: tauI > 0
variables
	real pdout, pdrate, pdstate;
	real pirate, pistate;
equations
	pdrate = (kp * error - pdout) / (beta * tauD);
	pdstate = int (pdrate);
	pdout = pdstate + (kp * error / beta);
	pirate = pdout / tauI;
	pistate = int (pirate);
	output = pistate + pdout;
      implementation_end;
   PID1 624 88
    description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Control\PID Control\Continuous\PID.emx</LibraryPath>
  <TimeStamp>2008-1-17 10:49:30</TimeStamp>
</Description>';
    type PID
     ports
      signal in error;
      signal out output;
    end;
    icon bg bottom
     figures
      rectangle 608 72 640 104 color 0 fill 15132390;
      text 'PID' 624 87.5 color 16711680 18 bold;
    end;
    implementation eq
parameters
	real kp = 0.02 {};			// Proportional gain
	real tauD = 1.0 {s};		// Derivative time constant: tauD > 0
	real beta = 0.001 {};		// Tameness constant: 0 < beta << 1
	real tauI = 0.05 {s};		// Integral time constant: tauI > 0
variables
	real pdout, pdrate, pdstate;
	real pirate, pistate;
equations
	pdrate = (kp * error - pdout) / (beta * tauD);
	pdstate = int (pdrate);
	pdout = pdstate + (kp * error / beta);
	pirate = pdout / tauI;
	pistate = int (pirate);
	output = pistate + pdout;
      implementation_end;
   PID2 280 800
    description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Control\PID Control\Continuous\PID.emx</LibraryPath>
  <TimeStamp>2008-1-17 10:49:30</TimeStamp>
</Description>';
    type PID
     ports
      signal in error;
      signal out output;
    end;
    icon bg bottom
     figures
      rectangle 264 784 296 816 color 0 fill 15132390;
      text 'PID' 280 799.5 color 16711680 18 bold;
    end;
    implementation eq
parameters
	real kp = 0.05 {};			// Proportional gain
	real tauD = 1.0 {s};		// Derivative time constant: tauD > 0
	real beta = 0.001 {};		// Tameness constant: 0 < beta << 1
	real tauI = 0.05{s};		// Integral time constant: tauI > 0
variables
	real pdout, pdrate, pdstate;
	real pirate, pistate;
equations
	pdrate = (kp * error - pdout) / (beta * tauD);
	pdstate = int (pdrate);
	pdout = pdstate + (kp * error / beta);
	pirate = pdout / tauI;
	pistate = int (pirate);
	output = pistate + pdout;
      implementation_end;
   PID3 640 800
    description '<Description>
 <Version>4.0</Version>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Control\PID Control\Continuous\PID.emx</LibraryPath>
  <TimeStamp>2008-1-17 10:49:30</TimeStamp>
</Description>';
    type PID
     ports
      signal in error;
      signal out output;
    end;
    icon bg bottom
     figures
      rectangle 624 784 656 816 color 0 fill 15132390;
      text 'PID' 640 799.5 color 16711680 18 bold;
    end;
    implementation eq
parameters
	real kp = 0.02 {};			// Proportional gain
	real tauD = 1.0 {s};		// Derivative time constant: tauD > 0
	real beta = 0.001 {};		// Tameness constant: 0 < beta << 1
	real tauI = 0.05 {s};		// Integral time constant: tauI > 0
variables
	real pdout, pdrate, pdstate;
	real pirate, pistate;
equations
	pdrate = (kp * error - pdout) / (beta * tauD);
	pdstate = int (pdrate);
	pdout = pdstate + (kp * error / beta);
	pirate = pdout / tauI;
	pistate = int (pirate);
	output = pistate + pdout;
      implementation_end;
   PlusMinus1 584 400
    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 576 392 592 408 color 0 fill 16777215;
    end;
    implementation eq
equations
    output = sum (collect (plus)) - sum (collect (minus));
    implementation_end;
   PlusMinus2 304 88
    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 296 80 312 96 color 0 fill 16777215;
    end;
    implementation eq
equations
    output = sum (collect (plus)) - sum (collect (minus));
    implementation_end;
   PlusMinus3 552 88
    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 544 80 560 96 color 0 fill 16777215;
    end;
    implementation eq
equations
    output = sum (collect (plus)) - sum (collect (minus));
    implementation_end;
   PlusMinus4 328 800
    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 320 792 336 808 color 0 fill 16777215;
    end;
    implementation eq
equations
    output = sum (collect (plus)) - sum (collect (minus));
    implementation_end;
   PlusMinus5 688 800
    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 680 792 696 808 color 0 fill 16777215;
    end;
    implementation eq
equations
    output = sum (collect (plus)) - sum (collect (minus));
    implementation_end;
   R 240 752
    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' 240 752 color 0 18 bold;
    end;
    implementation eq
parameters
	real r = 0.01;
equations
	p.e = r * p.f;
implementation_end;
   R1 592 752
    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' 592 752 color 0 18 bold;
    end;
    implementation eq
parameters
	real r = 0.01;
equations
	p.e = r * p.f;
implementation_end;
   R2 200 208
    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' 200 208 color 0 18 bold;
    end;
    implementation eq
parameters
	real r = 0.01;
equations
	p.e = r * p.f;
implementation_end;
   R3 584 200
    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' 584 200 color 0 18 bold;
    end;
    implementation eq
parameters
	real r = 0.01;
equations
	p.e = r * p.f;
implementation_end;
   rectanglepath 64 32
    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  = 0.5 {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};
	real test1, test2, test3;
initialequations
	v = (2*w + 2*h)/t;
	t_w = w / v;
	t_h = h / v;
equations
	period = floor(time / t) * t;
	output[1] = v*(ramp(period+t_h) - ramp(period + t_w+t_h) - ramp(period + t_w + t_h + t_h)) + origin[1];
	output[2] = v*(ramp(period) - ramp(period + t_h) - ramp(period + t_h + t_w) + ramp(period + 2 * t_h + t_w))+ origin[2];
implementation_end;
   RTF 424 456
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\2D\RTF-2.emx</LibraryPath>
  <TimeStamp>2020-7-14 12:43:04</TimeStamp>
</Description>
</Information>';
    type 'TF-2'
     ports
      power in p1 [2,1];
      power out p2 [2,1];
      signal in angle {rad} ;
     restrictions
      causality constraint not_equal p1 p2;
    end;
    icon bg bottom
     figures
      text 'RTF' 424 456 color 0 18 bold;
    end;
    implementation eq
/*
2D rotation transformer. Takes an angle as input and then rotates the dimensions
*/
variables
	real r[2,2];
equations	
	r = [cos(angle), -sin(angle); sin(angle), cos(angle)];				
	p1.e = transpose (r) * p2.e;
	p2.f = r * p1.f;
implementation_end;
   RTF1 584 368
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\2D\RTF-2.emx</LibraryPath>
  <TimeStamp>2020-7-14 12:43:04</TimeStamp>
</Description>
</Information>';
    type 'TF-2'
     ports
      power in p1 [2,1];
      power out p2 [2,1];
      signal in angle {rad} ;
     restrictions
      causality constraint not_equal p1 p2;
    end;
    icon bg bottom
     figures
      text 'RTF' 584 368 color 0 18 bold;
    end;
    implementation eq
/*
2D rotation transformer. Takes an angle as input and then rotates the dimensions
*/
variables
	real r[2,2];
equations	
	r = [cos(angle), -sin(angle); sin(angle), cos(angle)];				
	p1.e = transpose (r) * p2.e;
	p2.f = r * p1.f;
implementation_end;
   RTF2 272 432
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\2D\RTF-2.emx</LibraryPath>
  <TimeStamp>2020-7-14 12:43:04</TimeStamp>
</Description>
</Information>';
    type 'TF-2'
     ports
      power in p1 [2,1];
      power out p2 [2,1];
      signal in angle {rad} ;
     restrictions
      causality constraint not_equal p1 p2;
    end;
    icon bg bottom
     figures
      text 'RTF' 272 432 color 0 18 bold;
    end;
    implementation eq
/*
2D rotation transformer. Takes an angle as input and then rotates the dimensions
*/
variables
	real r[2,2];
equations
	r = [cos(angle), -sin(angle); sin(angle), cos(angle)];				
	p1.e = transpose (r) * p2.e;
	p2.f = r * p1.f;
implementation_end;
   RTF3 824 432
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\2D\RTF-2.emx</LibraryPath>
  <TimeStamp>2020-7-14 12:43:04</TimeStamp>
</Description>
</Information>';
    type 'TF-2'
     ports
      power in p1 [2,1];
      power out p2 [2,1];
      signal in angle {rad} ;
     restrictions
      causality constraint not_equal p1 p2;
    end;
    icon bg bottom
     figures
      text 'RTF' 824 432 color 0 18 bold;
    end;
    implementation eq
/*
2D rotation transformer. Takes an angle as input and then rotates the dimensions
*/
variables
	real r[2,2];
equations	
	r = [cos(angle), -sin(angle); sin(angle), cos(angle)];				
	p1.e = transpose (r) * p2.e;
	p2.f = r * p1.f;
implementation_end;
   RTF4 984 424
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\2D\RTF-2.emx</LibraryPath>
  <TimeStamp>2020-7-14 12:43:04</TimeStamp>
</Description>
</Information>';
    type 'TF-2'
     ports
      power in p1 [2,1];
      power out p2 [2,1];
      signal in angle {rad} ;
     restrictions
      causality constraint not_equal p1 p2;
    end;
    icon bg bottom
     figures
      text 'RTF' 984 424 color 0 18 bold;
    end;
    implementation eq
/*
2D rotation transformer. Takes an angle as input and then rotates the dimensions
*/
variables
	real r[2,2];
equations	
	r = [cos(angle), -sin(angle); sin(angle), cos(angle)];				
	p1.e = transpose (r) * p2.e;
	p2.f = r * p1.f;
implementation_end;
   Se 984 656
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\Se.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:36:49</TimeStamp>
</Description>
</Information>';
    type Se
     ports
      power out p [6,1];
     restrictions
      causality fixed out p;
    end;
    icon bg bottom
     figures
      text 'Se' 984 656 color 0 18 bold;
    end;
    implementation eq
parameters
	real effort[6] = 0;
variables
	real flow[6];
equations
	p.e = effort;
	flow = p.f;
implementation_end;
   Sf 192 520
    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 [2,1];
     restrictions
      causality fixed in p;
    end;
    icon bg bottom
     figures
      text 'Sf' 192 520 color 0 18 bold;
    end;
    implementation eq
parameters
	real flow[2,1] = 	[0.0; 0.0];
variables
	real effort [2];
equations
	p.f = flow;
	effort = p.e;
implementation_end;
   Sf1 152 232
    description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\Sf.emx</LibraryPath>
  <TimeStamp>2011-11-29 16:38:03</TimeStamp>
</Description>
</Information>';
    type Sf
     ports
      power out p;
     restrictions
      causality fixed in p;
    end;
    icon bg bottom
     figures
      text 'Sf' 152 232 color 0 18 bold;
    end;
    implementation eq
parameters
	real flow = 0;
variables
	real effort;
equations
	p.f = flow;
	effort = p.e;
implementation_end;
   Sf2 72 656
    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' 72 656 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;
   Sine 440 24
    description '<Description><Version>4.0</Version><IsMainModel>1</IsMainModel><KeepParameterValues>False</KeepParameterValues>
   <LibraryPath>Signal\Sources\WaveGenerator-Sine.emx</LibraryPath>
  <TimeStamp>2007-9-27 16:12:6</TimeStamp>
</Description>';
    type 'WaveGenerator-Sine'
     ports
      signal out output;
    end;
    icon bg bottom
     figures
      group
       rectangle 424 8 456 40 color 0 fill 15132390;
       line 428.5 14.4 428.5 33.6 color 0;
       line 454.1 24 425.3 24 color 0;
       spline 428.9 23.9 432.1 15.8 435.3 23.9 438.6 32 441.7 23.9 444.8 15.8 448.1 23.9 451.6 32.2 454.8 24.2 color 16711680;
      end;
    end;
    implementation eq
parameters
	real amplitude = 1.0;			// amplitude of the wave
	real omega = 1.0 {rad/s};		// angular frequency of the wave
variables
	boolean hidden change;
	real hidden half;
equations
	"calculate at least 2 points per cycle to get a triangle"
	half = pi / omega;
	change = frequencyevent (half, half / 2);

	"calculate the sine wave"
	output = amplitude * sin ( omega * time);
implementation_end;
   Splitter1 384 400
    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 380.8 396.8 387.2 403.2 color -1 fill 0;
      ellipse 379.7 395.7 388.3 404.3 color -1;
     terminals
      input 384 400 fixed;
    end;
    implementation eq
equations
    collect (output) = input;
implementation_end;
   Splitter2 800 400
    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 796.8 396.8 803.2 403.2 color -1 fill 0;
      ellipse 795.7 395.7 804.3 404.3 color -1;
     terminals
      input 800 400 fixed;
    end;
    implementation eq
equations
    collect (output) = input;
implementation_end;
   Splitter3 304 400
    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 300.8 396.8 307.2 403.2 color -1 fill 0;
      ellipse 299.7 395.7 308.3 404.3 color -1;
     terminals
      input 304 400 fixed;
    end;
    implementation eq
equations
    collect (output) = input;
implementation_end;
   Splitter4 632 400
    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 628.8 396.8 635.2 403.2 color -1 fill 0;
      ellipse 627.7 395.7 636.3 404.3 color -1;
     terminals
      input 632 400 fixed;
    end;
    implementation eq
equations
    collect (output) = input;
implementation_end;
   Splitter5 776 704
    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 772.8 700.8 779.2 707.2 color -1 fill 0;
      ellipse 771.7 699.7 780.3 708.3 color -1;
     terminals
      input 776 704 fixed;
    end;
    implementation eq
equations
    collect (output) = input;
implementation_end;
   Splitter6 424 704
    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 420.8 700.8 427.2 707.2 color -1 fill 0;
      ellipse 419.7 699.7 428.3 708.3 color -1;
     terminals
      input 424 704 fixed;
    end;
    implementation eq
equations
    collect (output) = input;
implementation_end;
   Splitter7 160 32
    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 [2,1];
      signal knot in input [2,1];
    end;
    icon bg ellipse
     figures
      ellipse 156.8 28.8 163.2 35.2 color -1 fill 0;
      ellipse 155.7 27.7 164.3 36.3 color -1;
     terminals
      input 160 32 fixed;
    end;
    implementation eq
equations
    collect (output) = input;
implementation_end;
   Submodel1 248 168
    description '<Description>
	<Version>4.8</Version>
	<IsMainModel>1</IsMainModel>
	</Description>';
    type Submodel
     ports
      signal in input;
      power out p2;
    end;
    implementation bg
     submodels
      Gain1 552 88
       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>
</Description>';
       type Gain
        ports
         signal in input;
         signal out output;
       end;
       icon bg bottom
        figures
         rectangle 536.1 72 567.9 104 color 0 fill 15132390;
         text 'K' 552 88 color 16711680 16 bold;
       end;
       implementation eq
parameters
	real K = 12.0;		// gain
equations
	output = K * input;
    implementation_end;
      GY 624 184
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\GY.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:53:45</TimeStamp>
</Description>
</Information>';
       type GY
        ports
         power in p1;
         power out p2;
        restrictions
         causality constraint equal p1 p2;
       end;
       icon bg bottom
        figures
         text 'GY' 624 184 color 0 18 bold;
       end;
       implementation eq
parameters
	real r = 0.127;
equations
	p1.e = r * p2.f;
	p2.e = r * p1.f;
implementation_end;
      MSe 624 88
       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' 624 88 color 0 18 bold;
       end;
       implementation eq
variables
	real flow;
equations
	p.e = effort;
	flow = p.f;
implementation_end;
      plug input 424 88;
      plug p2 624 220;
      OneJunction2 624 136
       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' 624 136 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      R 664 136
       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' 664 136 color 0 18 bold;
       end;
       implementation eq
parameters
	real r = 0.08;
equations
	p.e = r * p.f;
implementation_end;
      SignalLimiter2 488 88
       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 472 72 504 104 color 0 fill 15132390;
          line 487.9 76.5 487.9 101 color 0 fill 15132390;
          line 475 88.2 500.7 88.2 color 0 fill 15132390;
          spline 481.9 95.1 493.9 81.4 color 16711680 fill 15132390 width 2;
          spline 493.3 82.2 501.9 81.8 color 16711680 fill 15132390 width 2;
          spline 475 95.6 481.9 95.1 color 16711680 fill 15132390 width 2;
         end;
       end;
       implementation eq
parameters
	real maximum = 1;
	real minimum = -1;
equations
	output = limit (input, minimum, maximum);
  implementation_end;
     end;
     connections
      Gain1\output -> MSe\effort;
      GY\p2 => p2;
      input -> SignalLimiter2\input;
      MSe\p => OneJunction2\p;
      OneJunction2\p => GY\p1;
      R\p <= OneJunction2\p;
      SignalLimiter2\output -> Gain1\input;
     end;
    implementation_end;
   Submodel2 144 800
    description '<Description>
	<Version>4.8</Version>
	<IsMainModel>1</IsMainModel>
	</Description>';
    type Submodel
     ports
      signal in input;
      power out p2;
    end;
    implementation bg
     submodels
      Gain1 552 88
       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>
</Description>';
       type Gain
        ports
         signal in input;
         signal out output;
       end;
       icon bg bottom
        figures
         rectangle 536.1 72 567.9 104 color 0 fill 15132390;
         text 'K' 552 88 color 16711680 16 bold;
       end;
       implementation eq
parameters
	real K = 12.0;		// gain
equations
	output = K * input;
    implementation_end;
      GY 624 184
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\GY.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:53:45</TimeStamp>
</Description>
</Information>';
       type GY
        ports
         power in p1;
         power out p2;
        restrictions
         causality constraint equal p1 p2;
       end;
       icon bg bottom
        figures
         text 'GY' 624 184 color 0 18 bold;
       end;
       implementation eq
parameters
	real r = 0.127;
equations
	p1.e = r * p2.f;
	p2.e = r * p1.f;
implementation_end;
      MSe 624 88
       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' 624 88 color 0 18 bold;
       end;
       implementation eq
variables
	real flow;
equations
	p.e = effort;
	flow = p.f;
implementation_end;
      plug input 424 88;
      plug p2 624 220;
      OneJunction2 624 136
       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' 624 136 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      R 664 136
       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' 664 136 color 0 18 bold;
       end;
       implementation eq
parameters
	real r = 0.08;
equations
	p.e = r * p.f;
implementation_end;
      SignalLimiter2 488 88
       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 472 72 504 104 color 0 fill 15132390;
          line 487.9 76.5 487.9 101 color 0 fill 15132390;
          line 475 88.2 500.7 88.2 color 0 fill 15132390;
          spline 481.9 95.1 493.9 81.4 color 16711680 fill 15132390 width 2;
          spline 493.3 82.2 501.9 81.8 color 16711680 fill 15132390 width 2;
          spline 475 95.6 481.9 95.1 color 16711680 fill 15132390 width 2;
         end;
       end;
       implementation eq
parameters
	real maximum = 1;
	real minimum = -1;
equations
	output = limit (input, minimum, maximum);
  implementation_end;
     end;
     connections
      Gain1\output -> MSe\effort;
      GY\p2 => p2;
      input -> SignalLimiter2\input;
      MSe\p => OneJunction2\p;
      OneJunction2\p => GY\p1;
      R\p <= OneJunction2\p;
      SignalLimiter2\output -> Gain1\input;
     end;
    implementation_end;
   Submodel3 352 480
    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 angle_velocity {rad/s} ;
      signal out angle {rad} ;
      signal in velocity [2,1] {m/s} ;
      signal out position [2,1] {m} ;
      signal out mass {kg} ;
      signal out angular_momentum {N.m.s} ;
      signal out joint1 [2,1];
      signal out joint2 [2,1];
    end;
    implementation eq
/* Equation Submodel
Enter your equations here. You can use the Toolbar buttons at the top ( Add , f(x) etc. ).
*/
parameters
	real density = 1400 {kg/m3};
	real dimension[3] = [0.005;0.065;0.01] {m};
	real initial_position[2] = [0.0325;0] {m};
	real initial_angle = 0 {rad};
variables
	real body_angle[3];
	real body_position[3];
	real body_size[3];
	real moment[3];
initialequations
	mass = dimension[1] *  dimension[2] * dimension[3] * density;
	moment[1] = mass/12 * ( dimension[2]^2 + dimension[3]^2);
	moment[2] = mass/12 * ( dimension[1]^2 + dimension[3]^2);
	moment[3] = mass/12 * ( dimension[1]^2 + dimension[2]^2);
	angular_momentum = moment[1];
equations
	angle = int(angle_velocity,initial_angle);
	body_angle = [angle;0;0];
	position = int(velocity,initial_position);
	body_position = [0; position[1];position[2]];
	joint1=[-dimension[2]/2;0];
	joint2=[dimension[2]/2;0];
	
 implementation_end;
   Submodel4 744 480
    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 angle_velocity {rad/s} ;
      signal out angle {rad} ;
      signal in velocity [2,1] {m/s} ;
      signal out position [2,1] {m} ;
      signal out mass {kg} ;
      signal out angular_momentum {N.m.s} ;
      signal out joint1 [2,1];
      signal out joint2 [2,1];
    end;
    icon bg
     figures
      rectangle 704 464 784 496 color 0 fill 15132390;
      text 'name' 744 480 color 0 16;
    end;
    implementation eq
/* Equation Submodel
Enter your equations here. You can use the Toolbar buttons at the top ( Add , f(x) etc. ).
*/
parameters
	real density = 1400 {kg/m3};
	real dimension[3] = [0.005;0.05;0.01] {m};
	real initial_position[2] = [0.09;0.0] {m};
	real initial_angle = 0.0 {rad};
variables
	real body_angle[3];
	real body_position[3];
	real body_size[3];
	real moment[3];
initialequations
	mass = dimension[1] *  dimension[2] * dimension[3] * density;
	moment[1] = mass/12 * ( dimension[2]^2 + dimension[3]^2);
	moment[2] = mass/12 * ( dimension[1]^2 + dimension[3]^2);
	moment[3] = mass/12 * ( dimension[1]^2 + dimension[2]^2);
	angular_momentum = moment[1];
equations
	angle = int(angle_velocity,initial_angle);
	body_angle = [angle;0;0];
	position = int(velocity,initial_position);
	body_position = [0; position[1];position[2]];
	joint1=[-dimension[2]/2;0];
	joint2=[dimension[2]/2;0];implementation_end;
   Submodel5 520 800
    description '<Description>
	<Version>4.8</Version>
	<IsMainModel>1</IsMainModel>
	</Description>';
    type Submodel
     ports
      signal in input;
      power out p2;
    end;
    implementation bg
     submodels
      Gain1 552 88
       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>
</Description>';
       type Gain
        ports
         signal in input;
         signal out output;
       end;
       icon bg bottom
        figures
         rectangle 536.1 72 567.9 104 color 0 fill 15132390;
         text 'K' 552 88 color 16711680 16 bold;
       end;
       implementation eq
parameters
	real K = 12.0;		// gain
equations
	output = K * input;
    implementation_end;
      GY 624 184
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\GY.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:53:45</TimeStamp>
</Description>
</Information>';
       type GY
        ports
         power in p1;
         power out p2;
        restrictions
         causality constraint equal p1 p2;
       end;
       icon bg bottom
        figures
         text 'GY' 624 184 color 0 18 bold;
       end;
       implementation eq
parameters
	real r = 0.127;
equations
	p1.e = r * p2.f;
	p2.e = r * p1.f;
implementation_end;
      MSe 624 88
       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' 624 88 color 0 18 bold;
       end;
       implementation eq
variables
	real flow;
equations
	p.e = effort;
	flow = p.f;
implementation_end;
      plug input 424 88;
      plug p2 624 220;
      OneJunction2 624 136
       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' 624 136 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      R 664 136
       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' 664 136 color 0 18 bold;
       end;
       implementation eq
parameters
	real r = 0.08;
equations
	p.e = r * p.f;
implementation_end;
      SignalLimiter2 488 88
       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 472 72 504 104 color 0 fill 15132390;
          line 487.9 76.5 487.9 101 color 0 fill 15132390;
          line 475 88.2 500.7 88.2 color 0 fill 15132390;
          spline 481.9 95.1 493.9 81.4 color 16711680 fill 15132390 width 2;
          spline 493.3 82.2 501.9 81.8 color 16711680 fill 15132390 width 2;
          spline 475 95.6 481.9 95.1 color 16711680 fill 15132390 width 2;
         end;
       end;
       implementation eq
parameters
	real maximum = 1;
	real minimum = -1;
equations
	output = limit (input, minimum, maximum);
  implementation_end;
     end;
     connections
      Gain1\output -> MSe\effort;
      GY\p2 => p2;
      input -> SignalLimiter2\input;
      MSe\p => OneJunction2\p;
      OneJunction2\p => GY\p1;
      R\p <= OneJunction2\p;
      SignalLimiter2\output -> Gain1\input;
     end;
    implementation_end;
   Submodel8 624 160
    description '<Description>
	<Version>4.8</Version>
	<IsMainModel>1</IsMainModel>
	</Description>';
    type Submodel
     ports
      signal in input;
      power out p2;
    end;
    implementation bg
     submodels
      Gain1 552 88
       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>
</Description>';
       type Gain
        ports
         signal in input;
         signal out output;
       end;
       icon bg bottom
        figures
         rectangle 536.1 72 567.9 104 color 0 fill 15132390;
         text 'K' 552 88 color 16711680 16 bold;
       end;
       implementation eq
parameters
	real K = 12.0;		// gain
equations
	output = K * input;
    implementation_end;
      GY 624 192
       description '<Information>
 <Description>
    <Version>4.2</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Bond Graph\GY.emx</LibraryPath>
  <TimeStamp>2011-11-29 15:53:45</TimeStamp>
</Description>
</Information>';
       type GY
        ports
         power in p1;
         power out p2;
        restrictions
         causality constraint equal p1 p2;
       end;
       icon bg bottom
        figures
         text 'GY' 624 192 color 0 18 bold;
       end;
       implementation eq
parameters
	real r = 0.127;
equations
	p1.e = r * p2.f;
	p2.e = r * p1.f;
implementation_end;
      MSe 624 88
       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' 624 88 color 0 18 bold;
       end;
       implementation eq
variables
	real flow;
equations
	p.e = effort;
	flow = p.f;
implementation_end;
      plug input 424 88;
      plug p2 624 280;
      OneJunction2 624 144
       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' 624 144 color 0 18 bold;
       end;
       implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
      R 672 144
       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' 672 144 color 0 18 bold;
       end;
       implementation eq
parameters
	real r = 0.08;
equations
	p.e = r * p.f;
implementation_end;
      SignalLimiter2 488 88
       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 472 72 504 104 color 0 fill 15132390;
          line 487.9 76.5 487.9 101 color 0 fill 15132390;
          line 475 88.2 500.7 88.2 color 0 fill 15132390;
          spline 481.9 95.1 493.9 81.4 color 16711680 fill 15132390 width 2;
          spline 493.3 82.2 501.9 81.8 color 16711680 fill 15132390 width 2;
          spline 475 95.6 481.9 95.1 color 16711680 fill 15132390 width 2;
         end;
       end;
       implementation eq
parameters
	real maximum = 1;
	real minimum = -1;
equations
	output = limit (input, minimum, maximum);
  implementation_end;
     end;
     connections
      Gain1\output -> MSe\effort;
      GY\p2 => p2;
      input -> SignalLimiter2\input;
      MSe\p => OneJunction2\p;
      OneJunction2\p => GY\p1;
      R\p <= OneJunction2\p;
      SignalLimiter2\output -> Gain1\input;
     end;
    implementation_end;
   TF 504 288
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Z:\home\wouter\Documents\20-sim\library\Bond Graph\2D\MXTF-2.emx</LibraryPath>
  <TimeStamp>2020-7-14 16:54:28</TimeStamp>
<AllowLibraryUpdate>True</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'TF-2'
     ports
      power in p1;
      power out p2 [2,1];
      signal in p [2,1];
     restrictions
      causality constraint not_equal p1 p2;
      causality fixed in p2;
      causality fixed out p1;
    end;
    icon bg bottom
     figures
      text 'MXTF' 504 288 color 0 18 bold;
    end;
    implementation eq
variables
	real r[2];
equations		
	r = [-p[2];p[1]];
	p1.e = transpose (r) * p2.e;
	p2.f = r * p1.f;implementation_end;
   TF2 904 288
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Z:\home\wouter\Documents\20-sim\library\Bond Graph\2D\MXTF-2.emx</LibraryPath>
  <TimeStamp>2020-7-14 17:06:13</TimeStamp>
<AllowLibraryUpdate>True</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'TF-2'
     ports
      power in p1;
      power out p2 [2,1];
      signal in p [2,1];
     restrictions
      causality constraint not_equal p1 p2;
      causality fixed in p2;
      causality fixed out p1;
    end;
    icon bg bottom
     figures
      text 'MXTF' 904 288 color 0 18 bold;
    end;
    implementation eq
variables
	real r[2];
equations		
	r = [-p[2];p[1]];
	p1.e = transpose (r) * p2.e;
	p2.f = r * p1.f;implementation_end;
   TF3 808 288
    description '<Information>
 <Description>
    <Version>4.8</Version>
<IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Z:\home\wouter\Documents\20-sim\library\Bond Graph\2D\MXTF-2.emx</LibraryPath>
  <TimeStamp>2020-7-14 16:54:28</TimeStamp>
<AllowLibraryUpdate>True</AllowLibraryUpdate>
 </Description>
</Information>';
    type 'TF-2'
     ports
      power in p1;
      power out p2 [2,1];
      signal in p [2,1];
     restrictions
      causality constraint not_equal p1 p2;
      causality fixed in p2;
      causality fixed out p1;
    end;
    icon bg bottom
     figures
      text 'MXTF' 808 288 color 0 18 bold;
    end;
    implementation eq
variables
	real r[2];
equations		
	r = [-p[2];p[1]];
	p1.e = transpose (r) * p2.e;
	p2.f = r * p1.f;implementation_end;
   Zero 80 704
    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 64.1 688 95.9 720 color 0 fill 15132390;
      text '0' 80 704 color 16711680 18 bold;
    end;
    implementation eq
equations
	output = eye(4);implementation_end;
   ZeroJunction 504 368
    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 [2,1];
      signal knot out effort [2,1];
     restrictions
      causality constraint one_in p;
    end;
    icon bg
     figures
      text '0' 504 368 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
   ZeroJunction1 352.3 368
    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 [2,1];
      signal knot out effort [2,1];
     restrictions
      causality constraint one_in p;
    end;
    icon bg
     figures
      text '0' 352.3 368 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
   ZeroJunction2 904 368
    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 [2,1];
      signal knot out effort [2,1];
     restrictions
      causality constraint one_in p;
    end;
    icon bg
     figures
      text '0' 904 368 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
   ZeroJunction3 752.3 368
    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 [2,1];
      signal knot out effort [2,1];
     restrictions
      causality constraint one_in p;
    end;
    icon bg
     figures
      text '0' 752.3 368 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
   ZeroJunction4 624 232
    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' 624 232 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
   ZeroJunction5 248 232
    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' 248 232 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.f)) = 0;
	equal (collect (p.e));
	effort = first (p.e);
implementation_end;
   ZeroJunction7 208 752
    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' 208 752 color 0 18 bold;
    end;
    implementation eq
equations
	sum (direct (p.e)) = 0;
	equal (collect (p.f));
	flow = first (p.f);
implementation_end;
  end;
  connections
   Base1\Hout -> Splitter5\input;
   Base1\p1 <= Link3\Pout;
   Base2\Hout -> new_joint3\input;
   Base3\Hin <- Link\Hout;
   Base3\Hout -> Splitter6\input;
   Base3\p1 <= Link1\Pout;
   Constant\output -> COM3\mass;
   I\p <= OneJunction3\p;
   I1\p <= OneJunction10\p;
   inverse_kinematics\angle1 -> PlusMinus2\plus;
   inverse_kinematics\angle2 -> PlusMinus3\plus;
   inverse_kinematics1\angle1 -> PlusMinus4\plus;
   inverse_kinematics1\angle2 -> PlusMinus5\plus 656 864;
   Joint1\Hout -> Link\Hin;
   Joint1\p => OneJunction2\p;
   Joint1\p2 <= Link\Pout;
   Joint1\q -> PlusMinus4\minus 280 752;
   Joint2\Hout -> Link2\Hin;
   Joint2\p2 <= Link2\Pout;
   Joint2\q -> PlusMinus5\minus 608 752;
   Link\Pin <= Base3\p;
   Link1\Hout -> Joint2\Hin;
   Link1\Pin <= Joint2\p;
   Link2\Hout -> Base1\Hin;
   Link2\Pin <= Base1\p;
   Link3\Hout -> Base2\Hin;
   Link3\Pin <= Base2\p;
   MXTF\p2 => ZeroJunction1\p;
   Negate1\output -> Submodel2\input;
   Negate2\output -> Submodel5\input;
   OneJunction\p => RTF\p1;
   OneJunction\p => ZeroJunction\p;
   OneJunction\p => ZeroJunction1\p;
   OneJunction1\flow -> Submodel3\velocity 344 520;
   OneJunction1\p => COM1\p;
   OneJunction10\flow -> Submodel4\angle_velocity 728 288 728 424;
   OneJunction10\p => TF2\p1;
   OneJunction10\p => TF3\p1;
   OneJunction11\flow -> Integrate\input;
   OneJunction11\p => COM3\p;
   OneJunction16\flow -> Integrate1\input;
   OneJunction16\p => ZeroJunction4\p;
   OneJunction17\p => Joint2\p1;
   OneJunction18\p => ZeroJunction5\p;
   OneJunction3\flow -> Submodel3\angle_velocity 328 264 328 440;
   OneJunction3\p => MXTF\p1;
   OneJunction3\p => TF\p1;
   OneJunction3\p => ZeroJunction4\p;
   OneJunction5\p => RTF2\p1;
   OneJunction7\p => RTF3\p1;
   OneJunction7\p => ZeroJunction2\p;
   OneJunction7\p => ZeroJunction3\p;
   OneJunction8\flow -> Submodel4\velocity 744 520;
   OneJunction8\p => COM2\p;
   OneJunction9\p => RTF4\p1;
   PID\output -> Submodel1\input;
   PID2\output -> Negate1\input;
   PID3\output -> Negate2\input;
   PlusMinus1\output -> RTF1\angle;
   PlusMinus2\output -> PID\error;
   PlusMinus3\output -> PID1\error;
   PlusMinus4\output -> PID2\error;
   PlusMinus5\output -> PID3\error;
   R\p <= ZeroJunction7\p;
   R1\p <= OneJunction17\p;
   R2\p <= OneJunction18\p;
   R3\p <= OneJunction16\p;
   rectanglepath\output -> Splitter7\input;
   RTF\p2 => OneJunction1\p;
   RTF1\p2 => OneJunction12\p;
   RTF2\p2 => OneJunction6\p;
   RTF3\p2 => OneJunction8\p;
   RTF4\p2 => OneJunction11\p;
   Se\p => Base2\p1;
   Sf\p => OneJunction6\p;
   Sf1\p => ZeroJunction5\p;
   Sf2\p => OneJunction2\p;
   Splitter1\output -> PlusMinus1\plus;
   Splitter1\output -> RTF\angle 400 416 400 432;
   Splitter1\output -> Splitter3\input;
   Splitter2\output -> RTF3\angle 800 408;
   Splitter2\output -> RTF4\angle 952 400;
   Splitter2\output -> Splitter4\input;
   Splitter3\output -> PlusMinus2\minus 304 160;
   Splitter3\output -> RTF2\angle 296 400;
   Splitter4\output -> PlusMinus1\minus;
   Splitter4\output -> PlusMinus3\minus 632 344 552 288;
   Splitter5\output -> Link3\Hin;
   Splitter5\output -> new_joint2\input;
   Splitter6\output -> Link1\Hin;
   Splitter6\output -> new_joint1\input;
   Splitter7\output -> inverse_kinematics\input;
   Splitter7\output -> inverse_kinematics1\input 32 680 32 864;
   Submodel1\p2 => OneJunction18\p;
   Submodel2\p2 => ZeroJunction7\p;
   Submodel3\angle -> Splitter1\input 368 448 368 416;
   Submodel3\angular_momentum -> I\i 320 440 320 264;
   Submodel3\joint1 -> MXTF\p 392 320;
   Submodel3\joint2 -> TF\p;
   Submodel3\mass -> COM1\mass 336 528 416 528 416 568;
   Submodel4\angle -> Splitter2\input;
   Submodel4\angular_momentum -> I1\i 720 424 720 288;
   Submodel4\joint1 -> TF3\p;
   Submodel4\joint2 -> TF2\p;
   Submodel4\mass -> COM2\mass 736 528 736 584;
   Submodel5\p2 => OneJunction17\p;
   Submodel8\input <- PID1\output;
   Submodel8\p2 => OneJunction16\p;
   TF\p2 => ZeroJunction\p;
   TF2\p2 => ZeroJunction2\p;
   TF3\p2 => ZeroJunction3\p;
   Zero\output -> Joint1\Hin;
   ZeroJunction\p => RTF1\p1;
   ZeroJunction1\p => OneJunction5\p;
   ZeroJunction2\p => OneJunction9\p;
   ZeroJunction3\p => OneJunction12\p;
   ZeroJunction4\p => OneJunction10\p;
   ZeroJunction5\p => OneJunction3\p;
   ZeroJunction7\p => Joint1\p1;
  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>
    <ModelProperty section="GenSimProps" entry="ClearVarsAtStart" value="1"/>
    <ModelProperty section="tools\graph editor" entry="debugMode" value="0"/>
  </ModelProperties>
  <Variables>
   <Constants>
   </Constants>
   <Parameters>
   </Parameters>
   <Initials>
    <Variable>
     <Name>Base1\InertialTensor\state_initial</Name>
     <Rows>6</Rows>
     <Columns>1</Columns>
     <Value>0 0 0 0 0 0</Value>
    </Variable>
    <Variable>
     <Name>Base3\InertialTensor\state_initial</Name>
     <Rows>6</Rows>
     <Columns>1</Columns>
     <Value>0 0 0 0 0 0</Value>
    </Variable>
    <Variable>
     <Name>I1\state_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>I\state_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>Joint1\JointType\uTbai\state_initial</Name>
     <Rows>6</Rows>
     <Columns>1</Columns>
     <Value>0 0 0 0 0 0</Value>
    </Variable>
    <Variable>
     <Name>Joint2\JointType\uTbai\state_initial</Name>
     <Rows>6</Rows>
     <Columns>1</Columns>
     <Value>0 0 0 0 0 0</Value>
    </Variable>
    <Variable>
     <Name>PID1\pdstate_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>PID1\pistate_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>PID2\pdstate_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>PID2\pistate_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>PID3\pdstate_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>PID3\pistate_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>PID\pdstate_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>PID\pistate_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>Base2\InertialTensor\p.e_initial</Name>
     <Rows>6</Rows>
     <Columns>1</Columns>
     <Value>0 0 0 0 0 0</Value>
    </Variable>
    <Variable>
     <Name>COM1\I\p.e_initial</Name>
     <Rows>2</Rows>
     <Columns>1</Columns>
     <Value>0 0</Value>
    </Variable>
    <Variable>
     <Name>COM2\I\p.e_initial</Name>
     <Rows>2</Rows>
     <Columns>1</Columns>
     <Value>0 0</Value>
    </Variable>
    <Variable>
     <Name>COM3\I\p.e_initial</Name>
     <Rows>2</Rows>
     <Columns>1</Columns>
     <Value>0 0</Value>
    </Variable>
    <Variable>
     <Name>R1\p.e_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>R\p.e_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>Submodel2\R\p.f_initial</Name>
     <Value>0</Value>
    </Variable>
    <Variable>
     <Name>Submodel5\R\p.f_initial</Name>
     <Value>0</Value>
    </Variable>
   </Initials>
   <FavoriteVariables>
    <Variable>
     <Name>Joint1\JointType\uTbai\state</Name>
     <Rows>6</Rows>
     <Columns>1</Columns>
     <RowIndex>0</RowIndex>
     <ColumnIndex>0</ColumnIndex>
    </Variable>
    <Variable>
     <Name>Joint1\JointType\Integrate\q</Name>
    </Variable>
   </FavoriteVariables>
  </Variables>
  <PlotSpecs>
   <VarNames>
    <VarName>time</VarName>
    <VarName>Submodel3\body_position[1]</VarName>
    <VarName>Submodel3\body_position[2]</VarName>
    <VarName>Submodel3\body_position[3]</VarName>
    <VarName>Submodel3\body_angle[1]</VarName>
    <VarName>Submodel3\body_angle[2]</VarName>
    <VarName>Submodel3\body_angle[3]</VarName>
    <VarName>Submodel3\dimension[1]</VarName>
    <VarName>Submodel3\dimension[2]</VarName>
    <VarName>Submodel3\dimension[3]</VarName>
    <VarName>Submodel4\dimension[1]</VarName>
    <VarName>Submodel4\dimension[2]</VarName>
    <VarName>Submodel4\dimension[3]</VarName>
    <VarName>Submodel4\body_angle[1]</VarName>
    <VarName>Submodel4\body_angle[2]</VarName>
    <VarName>Submodel4\body_angle[3]</VarName>
    <VarName>Submodel4\body_position[1]</VarName>
    <VarName>Submodel4\body_position[2]</VarName>
    <VarName>Submodel4\body_position[3]</VarName>
    <VarName>PlusMinus2\output</VarName>
    <VarName>PlusMinus3\output</VarName>
    <VarName>Integrate\output[2]</VarName>
    <VarName>Integrate\output[1]</VarName>
    <VarName>new_joint1\position[1]</VarName>
    <VarName>new_joint1\position[2]</VarName>
    <VarName>new_joint1\position[3]</VarName>
    <VarName>new_joint1\R[1,3]</VarName>
    <VarName>new_joint1\R[2,3]</VarName>
    <VarName>new_joint1\R[3,3]</VarName>
    <VarName>new_joint1\R[1,2]</VarName>
    <VarName>new_joint1\R[2,2]</VarName>
    <VarName>new_joint1\R[3,2]</VarName>
    <VarName>new_joint2\R[1,3]</VarName>
    <VarName>new_joint2\R[2,3]</VarName>
    <VarName>new_joint2\R[3,3]</VarName>
    <VarName>new_joint2\R[1,2]</VarName>
    <VarName>new_joint2\R[2,2]</VarName>
    <VarName>new_joint2\R[3,2]</VarName>
    <VarName>new_joint2\position[1]</VarName>
    <VarName>new_joint2\position[2]</VarName>
    <VarName>new_joint2\position[3]</VarName>
    <VarName>PID2\error</VarName>
    <VarName>PID3\error</VarName>
    <VarName>new_joint3\position[3]</VarName>
    <VarName>new_joint3\position[2]</VarName>
    <VarName>MSe1\effort</VarName>
    <VarName>MSe2\effort</VarName>
    <VarName>MSe2\flow</VarName>
    <VarName>MSe1\flow</VarName>
   </VarNames>
   <Plots>
    <Plot>
     <PlotType>GraphPlot</PlotType>
     <BasePlot>
       <PlotId>1</PlotId>
       <UseWindowsBGColor>false</UseWindowsBGColor>
       <BGColor>16777215</BGColor>
       <PlotIsVisible>true</PlotIsVisible>
     </BasePlot>
     <Grid>
      <DrawGrid>true</DrawGrid>
      <GridColor>15780518</GridColor>
      <GridBorderLineColor>12624260</GridBorderLineColor>
      <GridZeroLineColor>0</GridZeroLineColor>
      <XTicks>10</XTicks>
      <YTicks>10</YTicks>
      <ZTicks>10</ZTicks>
      <Use3DLook>false</Use3DLook>
     </Grid>
     <PlotBGColor>16777215</PlotBGColor>
     <ShowPlotTitle>true</ShowPlotTitle>
     <TitlePosition>1</TitlePosition>
     <PlotTitle>model</PlotTitle>
     <ShowXValues>true</ShowXValues>
     <Fonts>
      <TitleFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </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>0.10311339559032781</Maximum>
       <Linear>true</Linear>
       <Scaling>3</Scaling>
       <Label>time</Label>
      </Axis>
     </XAxes>
     <YAxes>
      <Axis>
       <Minimum>-0.009999999999999998</Minimum>
       <Maximum>0.04</Maximum>
       <Linear>true</Linear>
       <Scaling>1</Scaling>
       <Label>Joint 2 Torque</Label>
      </Axis>
      <Axis>
       <Minimum>-0.25</Minimum>
       <Maximum>0.25</Maximum>
       <Linear>true</Linear>
       <Scaling>1</Scaling>
       <Label>Joint 1 Torque</Label>
      </Axis>
      <Axis>
       <Minimum>-0.25</Minimum>
       <Maximum>0.25</Maximum>
       <Linear>true</Linear>
       <Scaling>1</Scaling>
       <Label>joint1 flow</Label>
      </Axis>
      <Axis>
       <Minimum>-0.25</Minimum>
       <Maximum>0.25</Maximum>
       <Linear>true</Linear>
       <Scaling>1</Scaling>
       <Label>joint2 flow</Label>
      </Axis>
     </YAxes>
     <ZAxes>
     </ZAxes>
     <Curves>
      <Curve>
       <LineColor>3355111</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>MSe1\effort</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>MSe2\effort</VarName>
       </YCurveData>
      </Curve>
      <Curve>
       <LineColor>12553035</LineColor>
       <LineStyle>1</LineStyle>
       <TickColor>12553035</TickColor>
       <TickStyle>0</TickStyle>
       <CurveVisible>false</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>MSe2\flow</VarName>
       </YCurveData>
      </Curve>
      <Curve>
       <LineColor>15086320</LineColor>
       <LineStyle>1</LineStyle>
       <TickColor>15086320</TickColor>
       <TickStyle>0</TickStyle>
       <CurveVisible>false</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>MSe1\flow</VarName>
       </YCurveData>
      </Curve>
     </Curves>
     <Legenda>
      <ShowLegenda>true</ShowLegenda>
      <Position>
       <X>0.9024193548387097</X>
       <Y>0.0308411214953271</Y>
      </Position>
      <BorderPenColor>0</BorderPenColor>
      <BackgroundColor>16777215</BackgroundColor>
     </Legenda>
    </Plot>
    <Plot>
     <PlotType>GraphPlot</PlotType>
     <BasePlot>
       <PlotId>2</PlotId>
       <UseWindowsBGColor>false</UseWindowsBGColor>
       <BGColor>16777215</BGColor>
       <PlotIsVisible>true</PlotIsVisible>
     </BasePlot>
     <Grid>
      <DrawGrid>true</DrawGrid>
      <GridColor>15780518</GridColor>
      <GridBorderLineColor>12624260</GridBorderLineColor>
      <GridZeroLineColor>0</GridZeroLineColor>
      <XTicks>10</XTicks>
      <YTicks>10</YTicks>
      <ZTicks>10</ZTicks>
      <Use3DLook>false</Use3DLook>
     </Grid>
     <PlotBGColor>16777215</PlotBGColor>
     <ShowPlotTitle>true</ShowPlotTitle>
     <TitlePosition>1</TitlePosition>
     <PlotTitle>model(1)</PlotTitle>
     <ShowXValues>true</ShowXValues>
     <Fonts>
      <TitleFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </TitleFont>
      <LabelFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </LabelFont>
      <ValuesFont>
       <Name>Arial</Name>
       <Height>10</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </ValuesFont>
      <LegendFont>
       <Name>Arial</Name>
       <Height>12</Height>
       <PitchFamily>34</PitchFamily>
       <Weight>400</Weight>
       <Italic>0</Italic>
       <UnderLine>0</UnderLine>
       <StrikeOut>0</StrikeOut>
       <Color>0</Color>
      </LegendFont>
     </Fonts>
     <SharedXAxis>true</SharedXAxis>
     <SharedYAxis>true</SharedYAxis>
     <SharedZAxis>false</SharedZAxis>
     <XAxes>
      <Axis>
       <Minimum>0.0</Minimum>
       <Maximum>0.10311339559032781</Maximum>
       <Linear>true</Linear>
       <Scaling>3</Scaling>
       <Label>time</Label>
      </Axis>
     </XAxes>
     <YAxes>
      <Axis>
       <Minimum>-1.5</Minimum>
       <Maximum>3.5</Maximum>
       <Linear>true</Linear>
       <Scaling>2</Scaling>
       <Label>error Joint 1</Label>
      </Axis>
      <Axis>
       <Minimum>0.0</Minimum>
       <Maximum>235.918450873204</Maximum>
       <Linear>true</Linear>
       <Scaling>2</Scaling>
       <Label>error joint 2</Label>
      </Axis>
     </YAxes>
     <ZAxes>
     </ZAxes>
     <Curves>
      <Curve>
       <LineColor>3355111</LineColor>
       <LineStyle>1</LineStyle>
       <TickColor>3355111</TickColor>
       <TickStyle>0</TickStyle>
       <CurveVisible>true</CurveVisible>
       <PixelThresshold>1</PixelThresshold>
       <LineThickness>1</LineThickness>
       <LineOrder>1</LineOrder>
       <ShowYValues>true</ShowYValues>
       <XCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>time</VarName>
       </XCurveData>
       <YCurveData>
        <ShowUnit>true</ShowUnit>
        <VarName>PlusMinus2\output</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>PlusMinus3\output</VarName>
       </YCurveData>
      </Curve>
     </Curves>
     <Legenda>
      <ShowLegenda>true</ShowLegenda>
      <BorderPenColor>0</BorderPenColor>
      <BackgroundColor>16777215</BackgroundColor>
     </Legenda>
    </Plot>
    <Plot>
     <PlotType>D3DPlot</PlotType>
     <BasePlot>
       <PlotId>3</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>
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       </ZAxis>
       <YAxis>
        <X>
         <Value>0.235379601434674</Value>
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        <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>
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      </Attenuation>
      <DiffuseLight>
       <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>
      </DiffuseLight>
      <SpecularLight>
       <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>
      </SpecularLight>
      <AmbientOn>false</AmbientOn>
      <DiffuseOn>true</DiffuseOn>
      <SpecularOn>true</SpecularOn>
     </Light>
     <Light>
      <ShowReferenceFrame>false</ShowReferenceFrame>
      <Name>Spot Light 1</Name>
      <Position>
       <X>
        <Value>-3</Value>
       </X>
       <Y>
        <Value>-5</Value>
       </Y>
       <Z>
        <Value>1</Value>
       </Z>
      </Position>
      <Orientation>
       <ZAxis>
        <X>
         <Value>0.50709255283711</Value>
        </X>
        <Y>
         <Value>0.845154254728517</Value>
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        <Z>
         <Value>-0.169030850945703</Value>
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       </ZAxis>
       <YAxis>
        <X>
         <Value>0.0869656553478673</Value>
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        <Y>
         <Value>0.144942758913112</Value>
        </Y>
        <Z>
         <Value>0.985610760609162</Value>
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       </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>2</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>0.05</Value>
       </Linear>
       <Quadratic>
        <Value>0.05</Value>
       </Quadratic>
      </Attenuation>
      <Umbra>
       <Value>1.0471975511965976</Value>
      </Umbra>
      <Penumbra>
       <Value>1.0471975511965976</Value>
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      <SpotExponent>0.0</SpotExponent>
      <DiffuseLight>
       <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>
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       </Multipliers>
       <Direct3DColorRange>true</Direct3DColorRange>
      </DiffuseLight>
      <SpecularLight>
       <Color>
        <X>
         <Value>0.5</Value>
        </X>
        <Y>
         <Value>0.5</Value>
        </Y>
        <Z>
         <Value>0.5</Value>
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       </Color>
       <Offset>
       </Offset>
       <Multipliers>
        <X>
         <Value>1</Value>
        </X>
        <Y>
         <Value>1</Value>
        </Y>
        <Z>
         <Value>1</Value>
        </Z>
       </Multipliers>
       <Direct3DColorRange>true</Direct3DColorRange>
      </SpecularLight>
      <AmbientOn>false</AmbientOn>
      <DiffuseOn>true</DiffuseOn>
      <SpecularOn>true</SpecularOn>
     </Light>
     <Light>
      <ShowReferenceFrame>false</ShowReferenceFrame>
      <Name>Spot Light 2</Name>
      <Position>
       <X>
        <Value>2</Value>
       </X>
       <Y>
        <Value>-3</Value>
       </Y>
       <Z>
        <Value>-1</Value>
       </Z>
      </Position>
      <Orientation>
       <ZAxis>
        <X>
         <Value>-0.534522483824849</Value>
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        <Y>
         <Value>0.801783725737273</Value>
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        <Z>
         <Value>0.267261241912424</Value>
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       </ZAxis>
       <YAxis>
        <X>
         <Value>0.14824986333222</Value>
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        <Y>
         <Value>-0.22237479499833</Value>
        </Y>
        <Z>
         <Value>0.963624111659432</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>2</LightType>
      <LightColor>
       <Color>
        <X>
         <Value>1</Value>
        </X>
        <Y>
         <Value>1</Value>
        </Y>
        <Z>
         <Value>1</Value>
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       </Color>
       <Offset>
       </Offset>
       <Multipliers>
        <X>
         <Value>1</Value>
        </X>
        <Y>
         <Value>1</Value>
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        <Z>
         <Value>1</Value>
        </Z>
       </Multipliers>
       <Direct3DColorRange>true</Direct3DColorRange>
      </LightColor>
      <Attenuation>
       <Constant>
        <Value>1.0</Value>
       </Constant>
       <Linear>
        <Value>0.05</Value>
       </Linear>
       <Quadratic>
        <Value>0.05</Value>
       </Quadratic>
      </Attenuation>
      <Umbra>
       <Value>1.5707963267948966</Value>
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      <Penumbra>
       <Value>1.5707963267948966</Value>
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      <SpotExponent>0.0</SpotExponent>
      <DiffuseLight>
       <Color>
        <X>
         <Value>1</Value>
        </X>
        <Y>
         <Value>1</Value>
        </Y>
        <Z>
         <Value>1</Value>
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       </Color>
       <Offset>
       </Offset>
       <Multipliers>
        <X>
         <Value>1</Value>
        </X>
        <Y>
         <Value>1</Value>
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        <Z>
         <Value>1</Value>
        </Z>
       </Multipliers>
       <Direct3DColorRange>true</Direct3DColorRange>
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      <SpecularLight>
       <Color>
        <X>
         <Value>0.5</Value>
        </X>
        <Y>
         <Value>0.5</Value>
        </Y>
        <Z>
         <Value>0.5</Value>
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       <Offset>
       </Offset>
       <Multipliers>
        <X>
         <Value>1</Value>
        </X>
        <Y>
         <Value>1</Value>
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        <Z>
         <Value>1</Value>
        </Z>
       </Multipliers>
       <Direct3DColorRange>true</Direct3DColorRange>
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      <AmbientOn>false</AmbientOn>
      <DiffuseOn>true</DiffuseOn>
      <SpecularOn>true</SpecularOn>
     </Light>
     <Camera>
      <ShowReferenceFrame>false</ShowReferenceFrame>
      <Name>Camera Looking at Origin</Name>
      <Position>
       <X>
        <Value>2.3432919923881</Value>
       </X>
       <Y>
        <Value>2.28068543057283</Value>
       </Y>
       <Z>
        <Value>1.56751702352047</Value>
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      <Orientation>
       <ZAxis>
        <X>
         <Value>-0.646203434499502</Value>
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        <Y>
         <Value>-0.628938588548314</Value>
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        <Z>
         <Value>-0.432270023337153</Value>
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       <YAxis>
        <X>
         <Value>-0.309771185077498</Value>
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        <Y>
         <Value>-0.301494918649693</Value>
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        <Z>
         <Value>0.901744213690389</Value>
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       <OrientationType>Direct3D</OrientationType>
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      <LockX>false</LockX>
      <LockY>false</LockY>
      <LockZ>false</LockZ>
      <LockXPitch>false</LockXPitch>
      <LockYYaw>false</LockYYaw>
      <LockZRoll>false</LockZRoll>
      <Childs>
      </Childs>
      <FrontPlane>0.01</FrontPlane>
      <BackPlane>100.0</BackPlane>
      <AutoFrontBack>true</AutoFrontBack>
      <Field>0.003926990816987242</Field>
      <Fieldy>45.0</Fieldy>
      <PlaneLeft>-10.0</PlaneLeft>
      <PlaneRight>10.0</PlaneRight>
      <PlaneTop>10.0</PlaneTop>
      <PlaneBottom>-10.0</PlaneBottom>
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      <LookatPosition>
       <X>
        <Value>-9.99200722162641e-016</Value>
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       <Y>
        <Value>1.76247905159244e-015</Value>
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       <Z>
        <Value>-3.05678199886544e-015</Value>
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      <UseAlwaysLookUp>true</UseAlwaysLookUp>
      <LookUpVector>
       <Z>
        <Value>1</Value>
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      <RightHand>true</RightHand>
      <Perspective>true</Perspective>
      <IsSelectedCamera>true</IsSelectedCamera>
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     <Camera>
      <ShowReferenceFrame>false</ShowReferenceFrame>
      <Name>Front(XY)-Camera</Name>
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       <Z>
        <Value>10</Value>
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      <Orientation>
       <ZAxis>
        <Z>
         <Value>-1</Value>
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       <YAxis>
        <Y>
         <Value>1</Value>
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       <OrientationType>Direct3D</OrientationType>
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      <LockX>false</LockX>
      <LockY>false</LockY>
      <LockZ>false</LockZ>
      <LockXPitch>false</LockXPitch>
      <LockYYaw>false</LockYYaw>
      <LockZRoll>false</LockZRoll>
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      <FrontPlane>0.01</FrontPlane>
      <BackPlane>100.0</BackPlane>
      <AutoFrontBack>true</AutoFrontBack>
      <Field>9.999999999999998</Field>
      <Fieldy>45.0</Fieldy>
      <PlaneLeft>-9.999999999999998</PlaneLeft>
      <PlaneRight>9.999999999999998</PlaneRight>
      <PlaneTop>9.999999999999998</PlaneTop>
      <PlaneBottom>-9.999999999999998</PlaneBottom>
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      <LookatPosition>
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      <UseAlwaysLookUp>true</UseAlwaysLookUp>
      <LookUpVector>
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        <Value>1</Value>
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      <RightHand>true</RightHand>
      <Perspective>false</Perspective>
      <IsSelectedCamera>false</IsSelectedCamera>
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     <Camera>
      <ShowReferenceFrame>false</ShowReferenceFrame>
      <Name>Side(YZ)-Camera</Name>
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       <X>
        <Value>10</Value>
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      <Orientation>
       <ZAxis>
        <X>
         <Value>-1</Value>
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       <YAxis>
        <Z>
         <Value>1</Value>
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       <OrientationType>Direct3D</OrientationType>
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      <LockX>false</LockX>
      <LockY>false</LockY>
      <LockZ>false</LockZ>
      <LockXPitch>false</LockXPitch>
      <LockYYaw>false</LockYYaw>
      <LockZRoll>false</LockZRoll>
      <Childs>
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      <FrontPlane>0.01</FrontPlane>
      <BackPlane>100.0</BackPlane>
      <AutoFrontBack>true</AutoFrontBack>
      <Field>9.999999999999998</Field>
      <Fieldy>45.0</Fieldy>
      <PlaneLeft>-9.999999999999998</PlaneLeft>
      <PlaneRight>9.999999999999998</PlaneRight>
      <PlaneTop>9.999999999999998</PlaneTop>
      <PlaneBottom>-9.999999999999998</PlaneBottom>
      <UseLookatPosition>true</UseLookatPosition>
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      <UseAlwaysLookUp>true</UseAlwaysLookUp>
      <LookUpVector>
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      <RightHand>true</RightHand>
      <Perspective>false</Perspective>
      <IsSelectedCamera>false</IsSelectedCamera>
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     <Camera>
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      <Name>Top(XZ)-Camera</Name>
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       <Y>
        <Value>10</Value>
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      <Orientation>
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      <BackPlane>100.0</BackPlane>
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      <Fieldy>45.0</Fieldy>
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      <PlaneRight>9.999999999999998</PlaneRight>
      <PlaneTop>9.999999999999998</PlaneTop>
      <PlaneBottom>-9.999999999999998</PlaneBottom>
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      <RightHand>true</RightHand>
      <Perspective>false</Perspective>
      <IsSelectedCamera>false</IsSelectedCamera>
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       <OrientationType>Bryant</OrientationType>
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      <LockY>false</LockY>
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      <LockYYaw>false</LockYYaw>
      <LockZRoll>false</LockZRoll>
      <Childs>
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        <Center>Center</Center>
        <RibLength>1.0</RibLength>
        <ShowInnerSide>true</ShowInnerSide>
        <Accuracy>4</Accuracy>
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        <OverrideColor>true</OverrideColor>
        <MeshColor>
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        <Alpha>1.0</Alpha>
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        <MeshColorOffsets>
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        <Direct3DColorRange>true</Direct3DColorRange>
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    <FPGonio>false</FPGonio>
    <UseOutputAfterEach>false</UseOutputAfterEach>
    <OutputAfterEach>0.1</OutputAfterEach>
    <EventEpsilon>1.0e-6</EventEpsilon>
    <AlgebraicTolerance>1.0e-7</AlgebraicTolerance>
    <SteadyStateAnalysis>false</SteadyStateAnalysis>
    <UpdateHoldInstructions>true</UpdateHoldInstructions>
   </SimulatorSettings>
   <IntegrationMethods>
    <IntegrationMethod>
     <Name>Euler</Name>
     <StepSize>0.01</StepSize>
     <AutoStepSize>false</AutoStepSize>
    </IntegrationMethod>
    <IntegrationMethod>
     <Name>BackwardEuler</Name>
     <AbsoluteTolerance>1.0e-5</AbsoluteTolerance>
     <RelativeTolerance>1.0e-5</RelativeTolerance>
     <AlgebraicAbsoluteTolerance>1.0e-5</AlgebraicAbsoluteTolerance>
     <AlgebraicRelativeTolerance>1.0e-5</AlgebraicRelativeTolerance>
     <StepSize>0.01</StepSize>
     <Alpha>1.0</Alpha>
    </IntegrationMethod>
    <IntegrationMethod>
     <Name>AdamsBashforth</Name>
     <StepSize>0.01</StepSize>
     <AutoStepSize>false</AutoStepSize>
    </IntegrationMethod>
    <IntegrationMethod>
     <Name>RungeKutta2</Name>
     <StepSize>0.01</StepSize>
     <AutoStepSize>false</AutoStepSize>
    </IntegrationMethod>
    <IntegrationMethod>
     <Name>RungeKutta4</Name>
     <StepSize>0.01</StepSize>
     <AutoStepSize>false</AutoStepSize>
    </IntegrationMethod>
    <IntegrationMethod>
     <Name>RungeKutta8</Name>
     <UseInitialStepSize>false</UseInitialStepSize>
     <InitialStepSize>0.0</InitialStepSize>
     <UseMaximumStepSize>false</UseMaximumStepSize>
     <MaximumStepSize>0.0</MaximumStepSize>
     <AbsoluteTolerance>1.0e-6</AbsoluteTolerance>
     <RelativeTolerance>1.0e-6</RelativeTolerance>
     <SafetyFactor>0.9</SafetyFactor>
     <Factor1>0.33</Factor1>
     <Factor2>6.0</Factor2>
     <Beta>0.0</Beta>
     <UseMaxNrSteps>false</UseMaxNrSteps>
     <MaxNrSteps>100000</MaxNrSteps>
     <UseStiffDetection>false</UseStiffDetection>
     <MaxNrStiffnessSteps>1000</MaxNrStiffnessSteps>
    </IntegrationMethod>
    <IntegrationMethod>
     <Name>RungeKuttaFehlberg</Name>
     <UseInitialStepSize>false</UseInitialStepSize>
     <InitialStepSize>0.0</InitialStepSize>
     <UseMaximumStepSize>false</UseMaximumStepSize>
     <MaximumStepSize>0.0</MaximumStepSize>
     <AbsoluteTolerance>1.0e-6</AbsoluteTolerance>
     <RelativeTolerance>1.0e-6</RelativeTolerance>
    </IntegrationMethod>
    <IntegrationMethod>
     <Name>VodeAdams</Name>
     <UseInitialStepSize>false</UseInitialStepSize>
     <InitialStepSize>0.0</InitialStepSize>
     <UseMaximumStepSize>false</UseMaximumStepSize>
     <MaximumStepSize>0.0</MaximumStepSize>
     <AbsoluteTolerance>1.0e-6</AbsoluteTolerance>
     <RelativeTolerance>1.0e-6</RelativeTolerance>
     <VodeUseBDF>true</VodeUseBDF>
     <VodeUseNewton>true</VodeUseNewton>
    </IntegrationMethod>
    <IntegrationMethod>
     <Name>BDFMethod</Name>
     <AbsoluteTolerance>1.0e-5</AbsoluteTolerance>
     <RelativeTolerance>1.0e-5</RelativeTolerance>
     <AlgebraicAbsoluteTolerance>1.0e-5</AlgebraicAbsoluteTolerance>
     <AlgebraicRelativeTolerance>1.0e-5</AlgebraicRelativeTolerance>
     <UseInitialStepSize>false</UseInitialStepSize>
     <InitialStepSize>0.0</InitialStepSize>
     <UseMaximumStepSize>false</UseMaximumStepSize>
     <MaximumStepSize>0.0</MaximumStepSize>
    </IntegrationMethod>
    <IntegrationMethod>
     <Name>MeBDFiMethod</Name>
     <AbsoluteTolerance>1.0e-5</AbsoluteTolerance>
     <RelativeTolerance>1.0e-5</RelativeTolerance>
     <AlgebraicAbsoluteTolerance>1.0e-5</AlgebraicAbsoluteTolerance>
     <AlgebraicRelativeTolerance>1.0e-5</AlgebraicRelativeTolerance>
     <UseInitialStepSize>false</UseInitialStepSize>
     <InitialStepSize>0.0</InitialStepSize>
     <UseMaximumStepSize>false</UseMaximumStepSize>
     <MaximumStepSize>0.0</MaximumStepSize>
    </IntegrationMethod>
    <SelectedIntegrationMethod>8</SelectedIntegrationMethod>
   </IntegrationMethods>
  </RunSpecs>
  <MultipleRun>
   <NrSteps>10</NrSteps>
   <CopyFromStates>false</CopyFromStates>
   <JoinParameterVariation>true</JoinParameterVariation>
   <ClearAfterRun>true</ClearAfterRun>
   <RedrawAfterRun>false</RedrawAfterRun>
   <DrawDuringSimulation>true</DrawDuringSimulation>
   <ActionBeforeOptimization>0</ActionBeforeOptimization>
   <CompareValue>0.0</CompareValue>
   <UseCompareValue>true</UseCompareValue>
   <MultipleRunType>MultipleRun</MultipleRunType>
   <Minimize>true</Minimize>
   <OptimizationVariable></OptimizationVariable>
   <ResulVarUsage>UseEndValue</ResulVarUsage>
   <Tolerance>0.001</Tolerance>
   <OptimizationMethod>BroydonFletcherGoldfarbShanno</OptimizationMethod>
   <MultipleRunVariables>
   </MultipleRunVariables>
  </MultipleRun>
  <ExportData>
   <WriteAsText>true</WriteAsText>
   <ReadAsText>true</ReadAsText>
   <WriteHeader>true</WriteHeader>
   <ReadHeader>true</ReadHeader>
   <ReadFilename></ReadFilename>
   <WriteFilename></WriteFilename>
   <DoWrite>false</DoWrite>
   <ExportVariables>
   </ExportVariables>
   <ImportVariables>
   </ImportVariables>
  </ExportData>
  <BreakPoints>
  </BreakPoints>
  <AnimationPlayback>
   <PlaybackSpeed>1.0</PlaybackSpeed>
  </AnimationPlayback>
</ExpData>
  </Experiment>
</Experiments>
</Document>