wip

2019-02-26 11:35:35 +01:00
parent 46aab5ae36
commit 966134a06d
9 changed files with 1264 additions and 41 deletions
--- a/MXfastStageDoc/MXfastStage.tex
+++ b/MXfastStageDoc/MXfastStage.tex
@@ -787,12 +787,22 @@ Motor[1].Ctrl =UserAlgo.ServoCtrlAddr[1]

 The state space controller assumes that the system is observable and controlable. The bode plot shows a flat amplitude at low frequencies, which makes the feeling, that the system is observable and controlable. But in fact the reason of that flat amplitude is friction (section \ref{sec:friction}). The viscode damping is negligable.\\
 This results to the fact that the stage consists of really 2 integrators and behaves without friction roughly like $F=m \cdot \ddot{x}$. But an integrator $\frac{1}{s}$ is neighter observable nor controlable. Therefore we have to check, how to implement an optimal controller for such a system.\\
-A controller consists in a feed forward and a feed back transfer function.
-\begin{tcolorbox}[colback=red!5!white,colframe=red!75!black,colbacktitle=red!50,coltitle=black,title=TODO]
-Assume a plant consists of a integrator $\frac{1}{s}$ the overall transfer functions y/u and y/e are: ... Setting H(s)=s results in a overall transfer function of y/u=... and y/e=... .\\
-\end{tcolorbox}

-Simulating a single integrator plant in MATLAB works. But with 2 integrators the system is unstable because of the two derivate elements. With a discrete differentiator it becomes stable again. In fact a derivate element is a very critical element.\\
+
+A controller consists of a feed forward H(s) and a feed back G(s) path.
+
+
+\begin{figure}[h!]
+\center
+\includegraphics[scale=.9]{model5.eps} 
+\caption{$1/s^2$ plant}
+\end{figure}
+
+
+Assume a plant consists of a integrator $\frac{1}{s}$ the overall transfer functions are $\frac{y}{u}=\frac{\frac{H}{s}+\frac{G}{s}}{1+\frac{G}{s}}=\frac{H+G}{s+G}$ and $\frac{y}{e}=\frac{\frac{G}{s}}{1+\frac{G}{s}}=\frac{G}{s+G}$. Setting H(s)=s and G(s)=k results in a overall transfer function of $\frac{y}{u}=\frac{s+G}{s+G}=1$ and $\frac{y}{e}=\frac{k}{s+k}$. So the output follows the input and k defines how fast errors will be compensated.\\
+
+
+Simulating a single integrator plant in MATLAB works. But with 2 integrators the system is unstable because of the two derivate elements. With a discrete differentiator it becomes stable again. In fact a derivate element is a very critical element, because it can create instability and adds a lot of noise. But in this case it is  	acceptable, because is acts on the trajectory and not on the feedback loop. The only thing that has to be granted is that the trajectory is twice differentiable. This is the case with limited jirk or with the pvt motion. A step response should be avoided and not used to tweak the parameters.\\

 \includegraphics[scale=.45]{FF_FB_ctrl.png} 
 The optimal parameters for a pure feed forward systems are calculated
@@ -815,7 +825,7 @@ k=(11.84 \ccdot 2 \ccdot \pi)^2\\
 To correct errors, posErrFB is increased. But in a discrete system, the regulation becomes instable, because the actPos always lags the desPos for one sample. To avoid instability, a fiter can attenuate this problem.\\

 The Standard Delta Tau controller (figure \ref{fig:deltatau_std_ctrl}), shows avery similar feed forward and feedback loop structure with additional filters. So after all the measurements, we can calculate the optimal Kfff and Kaff values.
-Kp and Ki values will attenuate the errors. Kvff=Kvfb makes the system stable at hither Kp values, but setting the filter B seems to be more appropriate.\\
+Kp and Ki values will attenuate the errors. Kvff=Kvfb makes the system stable at higher Kp values, but setting the filter B seems to be more appropriate.\\



--- a/MXfastStageDoc/model.svg
+++ b/MXfastStageDoc/model.svg
@@ -476,6 +476,279 @@
         d="M 0.25977,0 0,0.96484 6.08594,2.5957 0,4.22656 0.25977,5.19141 8.14453,3.07813 a 0.50005,0.50005 0 0 0 0,-0.96485 L 0.25977,0 Z"
         style="color:#000000;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:medium;line-height:normal;font-family:sans-serif;text-indent:0;text-align:start;text-decoration:none;text-decoration-line:none;text-decoration-style:solid;text-decoration-color:#000000;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;baseline-shift:baseline;text-anchor:start;white-space:normal;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate" />
    </marker>
+    <marker
+       markerWidth="30"
+       markerHeight="30"
+       refX="8.3000002"
+       refY="2.595705"
+       orient="auto"
+       id="arrowSimple-3-98">
+      <path
+         inkscape:connector-curvature="0"
+         id="path6103-6-4"
+         d="M 0.25977,0 0,0.96484 6.08594,2.5957 0,4.22656 0.25977,5.19141 8.14453,3.07813 a 0.50005,0.50005 0 0 0 0,-0.96485 L 0.25977,0 Z"
+         style="color:#000000;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:medium;line-height:normal;font-family:sans-serif;text-indent:0;text-align:start;text-decoration:none;text-decoration-line:none;text-decoration-style:solid;text-decoration-color:#000000;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;baseline-shift:baseline;text-anchor:start;white-space:normal;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate" />
+    </marker>
+    <marker
+       markerWidth="30"
+       markerHeight="30"
+       refX="8.3000002"
+       refY="2.595705"
+       orient="auto"
+       id="arrowSimple-8">
+      <path
+         inkscape:connector-curvature="0"
+         id="path6103-1"
+         d="M 0.25977,0 0,0.96484 6.08594,2.5957 0,4.22656 0.25977,5.19141 8.14453,3.07813 a 0.50005,0.50005 0 0 0 0,-0.96485 L 0.25977,0 Z"
+         style="color:#000000;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:medium;line-height:normal;font-family:sans-serif;text-indent:0;text-align:start;text-decoration:none;text-decoration-line:none;text-decoration-style:solid;text-decoration-color:#000000;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;baseline-shift:baseline;text-anchor:start;white-space:normal;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate" />
+    </marker>
+    <marker
+       markerWidth="30"
+       markerHeight="30"
+       refX="8.3000002"
+       refY="2.595705"
+       orient="auto"
+       id="marker7565">
+      <path
+         inkscape:connector-curvature="0"
+         id="path7567"
+         d="M 0.25977,0 0,0.96484 6.08594,2.5957 0,4.22656 0.25977,5.19141 8.14453,3.07813 a 0.50005,0.50005 0 0 0 0,-0.96485 L 0.25977,0 Z"
+         style="color:#000000;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:medium;line-height:normal;font-family:sans-serif;text-indent:0;text-align:start;text-decoration:none;text-decoration-line:none;text-decoration-style:solid;text-decoration-color:#000000;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;baseline-shift:baseline;text-anchor:start;white-space:normal;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate" />
+    </marker>
+    <marker
+       markerWidth="30"
+       markerHeight="30"
+       refX="8.3000002"
+       refY="2.595705"
+       orient="auto"
+       id="marker7569">
+      <path
+         inkscape:connector-curvature="0"
+         id="path7571"
+         d="M 0.25977,0 0,0.96484 6.08594,2.5957 0,4.22656 0.25977,5.19141 8.14453,3.07813 a 0.50005,0.50005 0 0 0 0,-0.96485 L 0.25977,0 Z"
+         style="color:#000000;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:medium;line-height:normal;font-family:sans-serif;text-indent:0;text-align:start;text-decoration:none;text-decoration-line:none;text-decoration-style:solid;text-decoration-color:#000000;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;baseline-shift:baseline;text-anchor:start;white-space:normal;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate" />
+    </marker>
+    <marker
+       markerWidth="30"
+       markerHeight="30"
+       refX="8.3000002"
+       refY="2.595705"
+       orient="auto"
+       id="marker7573">
+      <path
+         inkscape:connector-curvature="0"
+         id="path7575"
+         d="M 0.25977,0 0,0.96484 6.08594,2.5957 0,4.22656 0.25977,5.19141 8.14453,3.07813 a 0.50005,0.50005 0 0 0 0,-0.96485 L 0.25977,0 Z"
+         style="color:#000000;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:medium;line-height:normal;font-family:sans-serif;text-indent:0;text-align:start;text-decoration:none;text-decoration-line:none;text-decoration-style:solid;text-decoration-color:#000000;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;baseline-shift:baseline;text-anchor:start;white-space:normal;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate" />
+    </marker>
+    <marker
+       markerWidth="30"
+       markerHeight="30"
+       refX="8.3000002"
+       refY="2.595705"
+       orient="auto"
+       id="marker7577">
+      <path
+         inkscape:connector-curvature="0"
+         id="path7579"
+         d="M 0.25977,0 0,0.96484 6.08594,2.5957 0,4.22656 0.25977,5.19141 8.14453,3.07813 a 0.50005,0.50005 0 0 0 0,-0.96485 L 0.25977,0 Z"
+         style="color:#000000;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:medium;line-height:normal;font-family:sans-serif;text-indent:0;text-align:start;text-decoration:none;text-decoration-line:none;text-decoration-style:solid;text-decoration-color:#000000;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;baseline-shift:baseline;text-anchor:start;white-space:normal;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate" />
+    </marker>
+    <marker
+       markerWidth="30"
+       markerHeight="30"
+       refX="8.3000002"
+       refY="2.595705"
+       orient="auto"
+       id="marker7581">
+      <path
+         inkscape:connector-curvature="0"
+         id="path7583"
+         d="M 0.25977,0 0,0.96484 6.08594,2.5957 0,4.22656 0.25977,5.19141 8.14453,3.07813 a 0.50005,0.50005 0 0 0 0,-0.96485 L 0.25977,0 Z"
+         style="color:#000000;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:medium;line-height:normal;font-family:sans-serif;text-indent:0;text-align:start;text-decoration:none;text-decoration-line:none;text-decoration-style:solid;text-decoration-color:#000000;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;baseline-shift:baseline;text-anchor:start;white-space:normal;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate" />
+    </marker>
+    <marker
+       markerWidth="30"
+       markerHeight="30"
+       refX="8.3000002"
+       refY="2.595705"
+       orient="auto"
+       id="marker7585">
+      <path
+         inkscape:connector-curvature="0"
+         id="path7587"
+         d="M 0.25977,0 0,0.96484 6.08594,2.5957 0,4.22656 0.25977,5.19141 8.14453,3.07813 a 0.50005,0.50005 0 0 0 0,-0.96485 L 0.25977,0 Z"
+         style="color:#000000;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:medium;line-height:normal;font-family:sans-serif;text-indent:0;text-align:start;text-decoration:none;text-decoration-line:none;text-decoration-style:solid;text-decoration-color:#000000;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;baseline-shift:baseline;text-anchor:start;white-space:normal;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate" />
+    </marker>
+    <marker
+       markerWidth="30"
+       markerHeight="30"
+       refX="8.3000002"
+       refY="2.595705"
+       orient="auto"
+       id="marker7589">
+      <path
+         inkscape:connector-curvature="0"
+         id="path7591"
+         d="M 0.25977,0 0,0.96484 6.08594,2.5957 0,4.22656 0.25977,5.19141 8.14453,3.07813 a 0.50005,0.50005 0 0 0 0,-0.96485 L 0.25977,0 Z"
+         style="color:#000000;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:medium;line-height:normal;font-family:sans-serif;text-indent:0;text-align:start;text-decoration:none;text-decoration-line:none;text-decoration-style:solid;text-decoration-color:#000000;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;baseline-shift:baseline;text-anchor:start;white-space:normal;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate" />
+    </marker>
+    <marker
+       markerWidth="30"
+       markerHeight="30"
+       refX="8.3000002"
+       refY="2.595705"
+       orient="auto"
+       id="marker7593">
+      <path
+         inkscape:connector-curvature="0"
+         id="path7595"
+         d="M 0.25977,0 0,0.96484 6.08594,2.5957 0,4.22656 0.25977,5.19141 8.14453,3.07813 a 0.50005,0.50005 0 0 0 0,-0.96485 L 0.25977,0 Z"
+         style="color:#000000;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:medium;line-height:normal;font-family:sans-serif;text-indent:0;text-align:start;text-decoration:none;text-decoration-line:none;text-decoration-style:solid;text-decoration-color:#000000;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;baseline-shift:baseline;text-anchor:start;white-space:normal;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate" />
+    </marker>
+    <marker
+       markerWidth="30"
+       markerHeight="30"
+       refX="8.3000002"
+       refY="2.595705"
+       orient="auto"
+       id="marker7597">
+      <path
+         inkscape:connector-curvature="0"
+         id="path7599"
+         d="M 0.25977,0 0,0.96484 6.08594,2.5957 0,4.22656 0.25977,5.19141 8.14453,3.07813 a 0.50005,0.50005 0 0 0 0,-0.96485 L 0.25977,0 Z"
+         style="color:#000000;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:medium;line-height:normal;font-family:sans-serif;text-indent:0;text-align:start;text-decoration:none;text-decoration-line:none;text-decoration-style:solid;text-decoration-color:#000000;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;baseline-shift:baseline;text-anchor:start;white-space:normal;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate" />
+    </marker>
+    <marker
+       markerWidth="30"
+       markerHeight="30"
+       refX="8.3000002"
+       refY="2.595705"
+       orient="auto"
+       id="marker7601">
+      <path
+         inkscape:connector-curvature="0"
+         id="path7603"
+         d="M 0.25977,0 0,0.96484 6.08594,2.5957 0,4.22656 0.25977,5.19141 8.14453,3.07813 a 0.50005,0.50005 0 0 0 0,-0.96485 L 0.25977,0 Z"
+         style="color:#000000;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:medium;line-height:normal;font-family:sans-serif;text-indent:0;text-align:start;text-decoration:none;text-decoration-line:none;text-decoration-style:solid;text-decoration-color:#000000;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;baseline-shift:baseline;text-anchor:start;white-space:normal;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate" />
+    </marker>
+    <marker
+       markerWidth="30"
+       markerHeight="30"
+       refX="8.3000002"
+       refY="2.595705"
+       orient="auto"
+       id="marker7605">
+      <path
+         inkscape:connector-curvature="0"
+         id="path7607"
+         d="M 0.25977,0 0,0.96484 6.08594,2.5957 0,4.22656 0.25977,5.19141 8.14453,3.07813 a 0.50005,0.50005 0 0 0 0,-0.96485 L 0.25977,0 Z"
+         style="color:#000000;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:medium;line-height:normal;font-family:sans-serif;text-indent:0;text-align:start;text-decoration:none;text-decoration-line:none;text-decoration-style:solid;text-decoration-color:#000000;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;baseline-shift:baseline;text-anchor:start;white-space:normal;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate" />
+    </marker>
+    <marker
+       markerWidth="30"
+       markerHeight="30"
+       refX="8.3000002"
+       refY="2.595705"
+       orient="auto"
+       id="marker7609">
+      <path
+         inkscape:connector-curvature="0"
+         id="path7611"
+         d="M 0.25977,0 0,0.96484 6.08594,2.5957 0,4.22656 0.25977,5.19141 8.14453,3.07813 a 0.50005,0.50005 0 0 0 0,-0.96485 L 0.25977,0 Z"
+         style="color:#000000;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:medium;line-height:normal;font-family:sans-serif;text-indent:0;text-align:start;text-decoration:none;text-decoration-line:none;text-decoration-style:solid;text-decoration-color:#000000;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;baseline-shift:baseline;text-anchor:start;white-space:normal;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate" />
+    </marker>
+    <marker
+       markerWidth="30"
+       markerHeight="30"
+       refX="8.3000002"
+       refY="2.595705"
+       orient="auto"
+       id="marker7613">
+      <path
+         inkscape:connector-curvature="0"
+         id="path7615"
+         d="M 0.25977,0 0,0.96484 6.08594,2.5957 0,4.22656 0.25977,5.19141 8.14453,3.07813 a 0.50005,0.50005 0 0 0 0,-0.96485 L 0.25977,0 Z"
+         style="color:#000000;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:medium;line-height:normal;font-family:sans-serif;text-indent:0;text-align:start;text-decoration:none;text-decoration-line:none;text-decoration-style:solid;text-decoration-color:#000000;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;baseline-shift:baseline;text-anchor:start;white-space:normal;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate" />
+    </marker>
+    <marker
+       markerWidth="30"
+       markerHeight="30"
+       refX="8.3000002"
+       refY="2.595705"
+       orient="auto"
+       id="marker7617">
+      <path
+         inkscape:connector-curvature="0"
+         id="path7619"
+         d="M 0.25977,0 0,0.96484 6.08594,2.5957 0,4.22656 0.25977,5.19141 8.14453,3.07813 a 0.50005,0.50005 0 0 0 0,-0.96485 L 0.25977,0 Z"
+         style="color:#000000;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:medium;line-height:normal;font-family:sans-serif;text-indent:0;text-align:start;text-decoration:none;text-decoration-line:none;text-decoration-style:solid;text-decoration-color:#000000;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;baseline-shift:baseline;text-anchor:start;white-space:normal;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate" />
+    </marker>
+    <marker
+       markerWidth="30"
+       markerHeight="30"
+       refX="8.3000002"
+       refY="2.595705"
+       orient="auto"
+       id="marker7621">
+      <path
+         inkscape:connector-curvature="0"
+         id="path7623"
+         d="M 0.25977,0 0,0.96484 6.08594,2.5957 0,4.22656 0.25977,5.19141 8.14453,3.07813 a 0.50005,0.50005 0 0 0 0,-0.96485 L 0.25977,0 Z"
+         style="color:#000000;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:medium;line-height:normal;font-family:sans-serif;text-indent:0;text-align:start;text-decoration:none;text-decoration-line:none;text-decoration-style:solid;text-decoration-color:#000000;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;baseline-shift:baseline;text-anchor:start;white-space:normal;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate" />
+    </marker>
+    <marker
+       markerWidth="30"
+       markerHeight="30"
+       refX="8.3000002"
+       refY="2.595705"
+       orient="auto"
+       id="marker7625">
+      <path
+         inkscape:connector-curvature="0"
+         id="path7627"
+         d="M 0.25977,0 0,0.96484 6.08594,2.5957 0,4.22656 0.25977,5.19141 8.14453,3.07813 a 0.50005,0.50005 0 0 0 0,-0.96485 L 0.25977,0 Z"
+         style="color:#000000;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:medium;line-height:normal;font-family:sans-serif;text-indent:0;text-align:start;text-decoration:none;text-decoration-line:none;text-decoration-style:solid;text-decoration-color:#000000;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;baseline-shift:baseline;text-anchor:start;white-space:normal;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate" />
+    </marker>
+    <marker
+       markerWidth="30"
+       markerHeight="30"
+       refX="8.3000002"
+       refY="2.595705"
+       orient="auto"
+       id="marker7629">
+      <path
+         inkscape:connector-curvature="0"
+         id="path7631"
+         d="M 0.25977,0 0,0.96484 6.08594,2.5957 0,4.22656 0.25977,5.19141 8.14453,3.07813 a 0.50005,0.50005 0 0 0 0,-0.96485 L 0.25977,0 Z"
+         style="color:#000000;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:medium;line-height:normal;font-family:sans-serif;text-indent:0;text-align:start;text-decoration:none;text-decoration-line:none;text-decoration-style:solid;text-decoration-color:#000000;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;baseline-shift:baseline;text-anchor:start;white-space:normal;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate" />
+    </marker>
+    <marker
+       markerWidth="30"
+       markerHeight="30"
+       refX="8.3000002"
+       refY="2.595705"
+       orient="auto"
+       id="marker7633">
+      <path
+         inkscape:connector-curvature="0"
+         id="path7635"
+         d="M 0.25977,0 0,0.96484 6.08594,2.5957 0,4.22656 0.25977,5.19141 8.14453,3.07813 a 0.50005,0.50005 0 0 0 0,-0.96485 L 0.25977,0 Z"
+         style="color:#000000;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:medium;line-height:normal;font-family:sans-serif;text-indent:0;text-align:start;text-decoration:none;text-decoration-line:none;text-decoration-style:solid;text-decoration-color:#000000;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;baseline-shift:baseline;text-anchor:start;white-space:normal;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate" />
+    </marker>
+    <marker
+       markerWidth="30"
+       markerHeight="30"
+       refX="8.3000002"
+       refY="2.595705"
+       orient="auto"
+       id="marker7637">
+      <path
+         inkscape:connector-curvature="0"
+         id="path7639"
+         d="M 0.25977,0 0,0.96484 6.08594,2.5957 0,4.22656 0.25977,5.19141 8.14453,3.07813 a 0.50005,0.50005 0 0 0 0,-0.96485 L 0.25977,0 Z"
+         style="color:#000000;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:medium;line-height:normal;font-family:sans-serif;text-indent:0;text-align:start;text-decoration:none;text-decoration-line:none;text-decoration-style:solid;text-decoration-color:#000000;letter-spacing:normal;word-spacing:normal;text-transform:none;direction:ltr;block-progression:tb;writing-mode:lr-tb;baseline-shift:baseline;text-anchor:start;white-space:normal;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate" />
+    </marker>
  </defs>
  <sodipodi:namedview
     id="base"
@@ -484,13 +757,13 @@
     borderopacity="1.0"
     inkscape:pageopacity="0.0"
     inkscape:pageshadow="2"
-     inkscape:zoom="2.7995642"
-     inkscape:cx="189.09484"
-     inkscape:cy="145.66402"
+     inkscape:zoom="0.98979542"
+     inkscape:cx="522.59811"
+     inkscape:cy="639.08395"
     inkscape:document-units="mm"
     inkscape:current-layer="layer1"
     showgrid="true"
-     inkscape:snap-grids="false"
+     inkscape:snap-grids="true"
     inkscape:snap-nodes="true"
     inkscape:object-nodes="true"
     inkscape:snap-smooth-nodes="true"
@@ -511,7 +784,7 @@
     inkscape:snap-object-midpoints="true"
     gridtolerance="10"
     inkscape:window-width="1871"
-     inkscape:window-height="1176"
+     inkscape:window-height="1056"
     inkscape:window-x="49"
     inkscape:window-y="24"
     inkscape:window-maximized="1"
@@ -1708,5 +1981,401 @@
           sodipodi:role="line"
           id="tspan3986">x or y</tspan></text>
    </g>
+    <flowRoot
+       xml:space="preserve"
+       id="flowRoot8242"
+       style="fill:black;stroke:none;stroke-opacity:1;stroke-width:1px;stroke-linejoin:miter;stroke-linecap:butt;fill-opacity:1;font-family:sans-serif;font-style:normal;font-weight:normal;font-size:40px;line-height:125%;letter-spacing:0px;word-spacing:0px"><flowRegion
+         id="flowRegion8244"><rect
+           id="rect8246"
+           width="56.692913"
+           height="46.062992"
+           x="960.23621"
+           y="779.52753" /></flowRegion><flowPara
+         id="flowPara8248"></flowPara></flowRoot>    <g
+       id="g9370"
+       transform="translate(-407.84724,-176.79853)">
+      <rect
+         style="color:#000000;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:none;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:0.73376209;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate"
+         id="rect4483-4"
+         width="38.242615"
+         height="34.69931"
+         x="974.77637"
+         y="786.98108" />
+      <rect
+         style="color:#000000;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:none;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:0.73376209;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate"
+         id="rect4491-7"
+         width="38.242615"
+         height="34.699306"
+         x="864.93384"
+         y="733.83142" />
+      <text
+         xml:space="preserve"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:15px;line-height:125%;font-family:sans-serif;-inkscape-font-specification:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+         x="975.43481"
+         y="808.52167"
+         id="text4485-2"
+         sodipodi:linespacing="125%"><tspan
+           sodipodi:role="line"
+           id="tspan4487-1"
+           x="975.43481"
+           y="808.52167">G<tspan
+   id="tspan8238"
+   style="font-size:64.99999762%;baseline-shift:sub">1</tspan>(s)</tspan></text>
+      <text
+         xml:space="preserve"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:15px;line-height:125%;font-family:sans-serif;-inkscape-font-specification:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+         x="865.45312"
+         y="755.75519"
+         id="text4493-7"
+         sodipodi:linespacing="125%"><tspan
+           sodipodi:role="line"
+           id="tspan4495-8"
+           x="865.45312"
+           y="755.75519">H<tspan
+   id="tspan8234"
+   style="font-size:64.99999762%;baseline-shift:sub">1</tspan>(s)</tspan></text>
+      <ellipse
+         ry="3.3117063"
+         rx="3.3117061"
+         cy="751.4491"
+         cx="942.25165"
+         id="path4531-5"
+         style="color:#000000;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:none;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:0.99921262;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate" />
+      <rect
+         y="733.80988"
+         x="978.30261"
+         height="34.73344"
+         width="34.73344"
+         id="rect4638-6"
+         style="color:#000000;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:none;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:0.69963068;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate" />
+      <rect
+         y="733.81439"
+         x="1073.9718"
+         height="34.73344"
+         width="34.73344"
+         id="rect4646-4"
+         style="color:#000000;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:none;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:0.69963068;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate" />
+      <text
+         sodipodi:linespacing="125%"
+         id="text4640-9"
+         y="756.30267"
+         x="983.99451"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:15px;line-height:125%;font-family:sans-serif;-inkscape-font-specification:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+         xml:space="preserve"><tspan
+           y="756.30267"
+           x="983.99451"
+           id="tspan4642-2"
+           sodipodi:role="line">1/s</tspan></text>
+      <text
+         sodipodi:linespacing="125%"
+         id="text4648-5"
+         y="756.30267"
+         x="1079.314"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:15px;line-height:125%;font-family:sans-serif;-inkscape-font-specification:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+         xml:space="preserve"><tspan
+           y="756.30267"
+           x="1079.314"
+           id="tspan4650-4"
+           sodipodi:role="line">1/s</tspan></text>
+      <path
+         style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:0.99921262;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#arrowSimple-3-98)"
+         d="m 946.06299,751.1811 31.88976,0"
+         id="path4560-9"
+         inkscape:connector-curvature="0"
+         sodipodi:nodetypes="cc" />
+      <path
+         style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:0.99921262;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#arrowSimple-3-98)"
+         d="m 1013.3858,751.1811 60.586,2e-5"
+         id="path4562-2"
+         inkscape:connector-curvature="0"
+         sodipodi:nodetypes="cc" />
+      <path
+         sodipodi:nodetypes="cc"
+         inkscape:connector-curvature="0"
+         id="path8140"
+         d="m 1108.7052,751.18112 59.0959,-2e-5"
+         style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:0.99921262;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#arrowSimple-3-98)" />
+      <path
+         sodipodi:nodetypes="cc"
+         inkscape:connector-curvature="0"
+         id="path8152"
+         d="m 811.05042,751.18109 21.85833,0"
+         style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:0.99921262;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#arrowSimple-3-98)" />
+      <path
+         sodipodi:nodetypes="cc"
+         inkscape:connector-curvature="0"
+         id="path8164"
+         d="m 903.1781,751.53091 35.76184,-0.0818"
+         style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:0.99921262;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#arrowSimple-3-98)" />
+      <path
+         sodipodi:nodetypes="cc"
+         inkscape:connector-curvature="0"
+         id="path8188"
+         d="m 914.17322,804.33071 24.80315,0"
+         style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:0.99921262;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#arrowSimple-3-98)" />
+      <text
+         xml:space="preserve"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:15px;line-height:125%;font-family:sans-serif;-inkscape-font-specification:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+         x="955.39331"
+         y="745.211"
+         id="text4580-1"
+         sodipodi:linespacing="125%"><tspan
+           sodipodi:role="line"
+           id="tspan4582-2"
+           x="955.39331"
+           y="745.211">x</tspan></text>
+      <text
+         xml:space="preserve"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:15px;line-height:125%;font-family:sans-serif;-inkscape-font-specification:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+         x="1031.1024"
+         y="747.63782"
+         id="text4584-8"
+         sodipodi:linespacing="125%"><tspan
+           sodipodi:role="line"
+           id="tspan4586-9"
+           x="1031.1024"
+           y="747.63782">x</tspan></text>
+      <text
+         sodipodi:linespacing="125%"
+         id="text8144"
+         y="744.65271"
+         x="1122.3624"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:15px;line-height:125%;font-family:sans-serif;-inkscape-font-specification:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+         xml:space="preserve"><tspan
+           y="744.65271"
+           x="1122.3624"
+           id="tspan8146"
+           sodipodi:role="line">x</tspan></text>
+      <text
+         xml:space="preserve"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:15px;line-height:125%;font-family:sans-serif;-inkscape-font-specification:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+         x="807.04639"
+         y="844.62134"
+         id="text4588-3"
+         sodipodi:linespacing="125%"><tspan
+           sodipodi:role="line"
+           id="tspan4590-6"
+           x="807.04639"
+           y="844.62134">e<tspan
+   id="tspan9346"
+   style="font-size:64.99999762%;baseline-shift:sub">2</tspan></tspan></text>
+      <text
+         xml:space="preserve"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:15px;line-height:125%;font-family:sans-serif;-inkscape-font-specification:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+         x="746.3634"
+         y="745.40875"
+         id="text8160"
+         sodipodi:linespacing="125%"><tspan
+           sodipodi:role="line"
+           id="tspan8162"
+           x="746.3634"
+           y="745.40875">u<tspan
+   id="tspan9354"
+   style="font-size:64.99999762%;baseline-shift:sub">2</tspan></tspan></text>
+      <text
+         sodipodi:linespacing="125%"
+         id="text4594-2"
+         y="734.41815"
+         x="955.375"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:15px;line-height:125%;font-family:sans-serif;-inkscape-font-specification:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+         xml:space="preserve"><tspan
+           style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:'Abyssinica SIL';-inkscape-font-specification:'Abyssinica SIL'"
+           y="734.41815"
+           x="955.375"
+           id="tspan4596-1"
+           sodipodi:role="line">..</tspan></text>
+      <text
+         xml:space="preserve"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:15px;line-height:125%;font-family:sans-serif;-inkscape-font-specification:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+         x="1033.4718"
+         y="736.84497"
+         id="text4598-0"
+         sodipodi:linespacing="125%"><tspan
+           sodipodi:role="line"
+           id="tspan4600-5"
+           x="1033.4718"
+           y="736.84497"
+           style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:'Abyssinica SIL';-inkscape-font-specification:'Abyssinica SIL'">.</tspan></text>
+      <text
+         xml:space="preserve"
+         style="font-style:normal;font-weight:normal;font-size:15px;line-height:125%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+         x="929.14886"
+         y="745.2533"
+         id="text4553-6"
+         sodipodi:linespacing="125%"><tspan
+           sodipodi:role="line"
+           id="tspan4555-4"
+           x="929.14886"
+           y="745.2533">+</tspan></text>
+      <text
+         xml:space="preserve"
+         style="font-style:normal;font-weight:normal;font-size:15px;line-height:125%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+         x="929.9425"
+         y="768.26337"
+         id="text4557-6"
+         sodipodi:linespacing="125%"><tspan
+           sodipodi:role="line"
+           id="tspan4559-2"
+           x="929.9425"
+           y="768.26337">-</tspan></text>
+      <path
+         id="path9368"
+         d="m 974.75928,804.68051 -28.69629,-0.3498"
+         style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;marker-end:url(#arrowSimple-3-9)"
+         inkscape:connector-curvature="0" />
+      <path
+         id="path8200"
+         d="m 942.51968,800.7874 -0.26803,-46.0266"
+         style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;marker-end:url(#arrowSimple-3-9)"
+         inkscape:connector-curvature="0" />
+      <path
+         sodipodi:nodetypes="ccc"
+         inkscape:connector-curvature="0"
+         id="path8202"
+         d="m 1045.2656,751.53094 0.01,52.79977 -31.8898,0"
+         style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;marker-end:url(#arrowSimple-6)" />
+      <rect
+         y="733.83142"
+         x="772.8078"
+         height="34.69931"
+         width="38.242615"
+         id="rect8204"
+         style="color:#000000;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:none;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:0.73376209;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate" />
+      <text
+         sodipodi:linespacing="125%"
+         id="text8206"
+         y="755.37201"
+         x="773.32703"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:15px;line-height:125%;font-family:sans-serif;-inkscape-font-specification:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+         xml:space="preserve"><tspan
+           y="755.37201"
+           x="773.32703"
+           id="tspan8208"
+           sodipodi:role="line">H<tspan
+   id="tspan8236"
+   style="font-size:64.99999762%;baseline-shift:sub">2</tspan>(s)</tspan></text>
+      <rect
+         y="833.04407"
+         x="974.77637"
+         height="34.69931"
+         width="38.242599"
+         id="rect8210"
+         style="color:#000000;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:none;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:0.73376191;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate" />
+      <text
+         sodipodi:linespacing="125%"
+         id="text8212"
+         y="854.58466"
+         x="975.43475"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:15px;line-height:125%;font-family:sans-serif;-inkscape-font-specification:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+         xml:space="preserve"><tspan
+           y="854.58466"
+           x="975.43475"
+           id="tspan8214"
+           sodipodi:role="line">G<tspan
+   id="tspan8240"
+   style="font-size:64.99999762%;baseline-shift:sub">2</tspan>(s)</tspan></text>
+      <ellipse
+         ry="3.3117063"
+         rx="3.3117061"
+         style="color:#000000;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:none;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:0.99921262;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate"
+         id="circle8216"
+         cx="836.22046"
+         cy="751.18109" />
+      <path
+         style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:0.99921262;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#arrowSimple-3-98)"
+         d="m 839.76378,751.1811 24.80315,0"
+         id="path8218"
+         inkscape:connector-curvature="0"
+         sodipodi:nodetypes="cc" />
+      <path
+         id="path9364"
+         d="m 974.40944,850.3937 -134.64566,0"
+         style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;marker-end:url(#arrowSimple-6)"
+         inkscape:connector-curvature="0" />
+      <path
+         id="path8220"
+         d="m 836.22047,846.85039 0,-92.12598"
+         style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;marker-end:url(#arrowSimple-6)"
+         inkscape:connector-curvature="0" />
+      <path
+         style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;marker-end:url(#arrowSimple-6)"
+         d="m 1133.8583,751.1811 0,99.2126 -120.4725,0"
+         id="path8222"
+         inkscape:connector-curvature="0"
+         sodipodi:nodetypes="ccc" />
+      <path
+         style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:0.99921262;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#arrowSimple-3-98)"
+         d="m 733.06522,751.18108 39.3757,1e-5"
+         id="path8224"
+         inkscape:connector-curvature="0"
+         sodipodi:nodetypes="cc" />
+      <text
+         sodipodi:linespacing="125%"
+         id="text8226"
+         y="765.31934"
+         x="838.62689"
+         style="font-style:normal;font-weight:normal;font-size:15px;line-height:125%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+         xml:space="preserve"><tspan
+           y="765.31934"
+           x="838.62689"
+           id="tspan8228"
+           sodipodi:role="line">-</tspan></text>
+      <text
+         sodipodi:linespacing="125%"
+         id="text8230"
+         y="745.2533"
+         x="822.84967"
+         style="font-style:normal;font-weight:normal;font-size:15px;line-height:125%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+         xml:space="preserve"><tspan
+           y="745.2533"
+           x="822.84967"
+           id="tspan8232"
+           sodipodi:role="line">+</tspan></text>
+      <ellipse
+         ry="3.3117061"
+         rx="3.3117063"
+         cy="804.09912"
+         cx="942.51965"
+         id="circle8252"
+         style="color:#000000;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:none;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:0.99921262;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate" />
+      <circle
+         r="3.3117063"
+         cy="850.16211"
+         cx="836.22046"
+         id="circle8254"
+         style="color:#000000;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;fill:none;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:0.99921262;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate" />
+      <path
+         style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:0.99921262;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#arrowSimple-3-98)"
+         d="m 807.87401,850.3937 24.80315,0"
+         id="path9344"
+         inkscape:connector-curvature="0"
+         sodipodi:nodetypes="cc" />
+      <text
+         sodipodi:linespacing="125%"
+         id="text9348"
+         y="799.94452"
+         x="910.07483"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:15px;line-height:125%;font-family:sans-serif;-inkscape-font-specification:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+         xml:space="preserve"><tspan
+           y="799.94452"
+           x="910.07483"
+           id="tspan9350"
+           sodipodi:role="line">e<tspan
+   style="font-size:64.99999762%;baseline-shift:sub"
+   id="tspan9352">1</tspan></tspan></text>
+      <text
+         sodipodi:linespacing="125%"
+         id="text9356"
+         y="744.09448"
+         x="907.08661"
+         style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:15px;line-height:125%;font-family:sans-serif;-inkscape-font-specification:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+         xml:space="preserve"><tspan
+           y="744.09448"
+           x="907.08661"
+           id="tspan9358"
+           sodipodi:role="line">u<tspan
+   style="font-size:64.99999762%;baseline-shift:sub"
+   id="tspan9360">1</tspan></tspan></text>
+    </g>
  </g>
 </svg>
--- a/MXfastStageDoc/model5.eps
+++ b/MXfastStageDoc/model5.eps
@@ -0,0 +1,500 @@
+%!PS-Adobe-3.0 EPSF-3.0
+%%Creator: cairo 1.14.6 (http://cairographics.org)
+%%CreationDate: Tue Feb 26 08:58:51 2019
+%%Pages: 1
+%%DocumentData: Clean7Bit
+%%LanguageLevel: 2
+%%BoundingBox: 260 287 596 398
+%%EndComments
+%%BeginProlog
+save
+50 dict begin
+/q { gsave } bind def
+/Q { grestore } bind def
+/cm { 6 array astore concat } bind def
+/w { setlinewidth } bind def
+/J { setlinecap } bind def
+/j { setlinejoin } bind def
+/M { setmiterlimit } bind def
+/d { setdash } bind def
+/m { moveto } bind def
+/l { lineto } bind def
+/c { curveto } bind def
+/h { closepath } bind def
+/re { exch dup neg 3 1 roll 5 3 roll moveto 0 rlineto
+      0 exch rlineto 0 rlineto closepath } bind def
+/S { stroke } bind def
+/f { fill } bind def
+/f* { eofill } bind def
+/n { newpath } bind def
+/W { clip } bind def
+/W* { eoclip } bind def
+/BT { } bind def
+/ET { } bind def
+/pdfmark where { pop globaldict /?pdfmark /exec load put }
+    { globaldict begin /?pdfmark /pop load def /pdfmark
+    /cleartomark load def end } ifelse
+/BDC { mark 3 1 roll /BDC pdfmark } bind def
+/EMC { mark /EMC pdfmark } bind def
+/cairo_store_point { /cairo_point_y exch def /cairo_point_x exch def } def
+/Tj { show currentpoint cairo_store_point } bind def
+/TJ {
+  {
+    dup
+    type /stringtype eq
+    { show } { -0.001 mul 0 cairo_font_matrix dtransform rmoveto } ifelse
+  } forall
+  currentpoint cairo_store_point
+} bind def
+/cairo_selectfont { cairo_font_matrix aload pop pop pop 0 0 6 array astore
+    cairo_font exch selectfont cairo_point_x cairo_point_y moveto } bind def
+/Tf { pop /cairo_font exch def /cairo_font_matrix where
+      { pop cairo_selectfont } if } bind def
+/Td { matrix translate cairo_font_matrix matrix concatmatrix dup
+      /cairo_font_matrix exch def dup 4 get exch 5 get cairo_store_point
+      /cairo_font where { pop cairo_selectfont } if } bind def
+/Tm { 2 copy 8 2 roll 6 array astore /cairo_font_matrix exch def
+      cairo_store_point /cairo_font where { pop cairo_selectfont } if } bind def
+/g { setgray } bind def
+/rg { setrgbcolor } bind def
+/d1 { setcachedevice } bind def
+%%EndProlog
+%%BeginSetup
+%%BeginResource: font DejaVuSans
+11 dict begin
+/FontType 42 def
+/FontName /DejaVuSans def
+/PaintType 0 def
+/FontMatrix [ 1 0 0 1 0 0 ] def
+/FontBBox [ 0 0 0 0 ] def
+/Encoding 256 array def
+0 1 255 { Encoding exch /.notdef put } for
+Encoding 40 /parenleft put
+Encoding 41 /parenright put
+Encoding 43 /plus put
+Encoding 45 /hyphen put
+Encoding 47 /slash put
+Encoding 49 /one put
+Encoding 50 /two put
+Encoding 71 /G put
+Encoding 72 /H put
+Encoding 101 /e put
+Encoding 115 /s put
+Encoding 117 /u put
+Encoding 120 /x put
+/CharStrings 14 dict dup begin
+/.notdef 0 def
+/G 1 def
+/one 2 def
+/parenleft 3 def
+/s 4 def
+/parenright 5 def
+/H 6 def
+/slash 7 def
+/x 8 def
+/e 9 def
+/two 10 def
+/u 11 def
+/plus 12 def
+/hyphen 13 def
+end readonly def
+/sfnts [
+<0001000000090080000300106376742000691d3900000924000001fe6670676d7134766a0000
+0b24000000ab676c7966f083c2a40000009c0000088868656164086b92ef00000bd000000036
+686865610d9f077b00000c0800000024686d7478409e077300000c2c000000386c6f63610000
+3fb800000c640000003c6d617870047b067100000ca000000020707265703b07f10000000cc0
+0000056800020066fe96046605a400030007001a400c04fb0006fb0108057f0204002fc4d4ec
+310010d4ecd4ec301311211125211121660400fc73031bfce5fe96070ef8f272062900010073
+ffe3058b05f0001d0039402000051b0195031b950812a111ae15950e91088c1e02001c113404
+3318190b101e10fcecfce4fcc4310010e4f4ecf4ec10fed4ee11393930251121352111060423
+200011100021320417152e0123200011100021323604c3feb6021275fee6a0fea2fe75018b01
+5e9201076f70fc8bfeeefeed011301126ba8d50191a6fd7f53550199016d016e01994846d75f
+60fecefed1fed2fece250000000100e10000045a05d5000a004040154203a00402a005810700
+a009081f061c03001f010b10d44bb00f5458b9000100403859ecc4fcec31002fec32f4ecd4ec
+304b5358592201b40f030f04025d3721110535253311211521fe014afe990165ca014afca4aa
+047348b848fad5aa0000000100b0fef2027b0612000d0037400f069800970e0d070003120600
+130a0e10dc4bb0135458b9000affc038594bb00f5458b9000a00403859e432ec113939310010
+fcec300106021514121723260235341237027b86828385a0969594970612e6fe3ee7e7fe3be5
+eb01c6e0df01c4ec0001006fffe303c7047b002700e7403c0d0c020e0b531f1e080902070a53
+1f1f1e420a0b1e1f041500860189041486158918b91104b925b8118c281e0a0b1f1b0700521b
+080e07081422452810fcc4ecd4ece4111239393939310010e4f4ec10fef5ee10f5ee12173930
+4b535807100eed111739070eed1117395922b2002701015d406d1c0a1c0b1c0c2e092c0a2c0b
+2c0c3b093b0a3b0b3b0c0b200020012402280a280b2a132f142f152a16281e281f2920292124
+27860a860b860c860d12000000010202060a060b030c030d030e030f03100319031a031b031c
+041d09272f293f295f297f2980299029a029f029185d005d7101152e012322061514161f011e
+0115140623222627351e013332363534262f012e01353436333216038b4ea85a898962943fc4
+a5f7d85ac36c66c661828c65ab40ab98e0ce66b4043fae282854544049210e2a99899cb62323
+be353559514b50250f2495829eac1e000000000100a4fef2026f0612000d001f400f07980097
+0e0701000b12041308000e10dc3cf4ec113939310010fcec3013331612151402072336123534
+02a4a096959596a08583830612ecfe3cdfe0fe3aebe501c5e7e701c20000000100c90000053b
+05d5000b002c4014089502ad0400810a0607031c053809011c00040c10fcec32fcec3231002f
+3ce432fcec30b2500d01015d133311211133112311211123c9ca02decacafd22ca05d5fd9c02
+64fa2b02c7fd390000010000ff4202b205d50003002d4014001a010201021a03000342029f00
+8104020001032fc43939310010f4ec304b5358071005ed071005ed5922013301230208aafdf8
+aa05d5f96d0000000001003b000004790460000b014340460511060706041103040707060411
+050401020103110202010b110001000a11090a0101000a110b0a0708070911080807420a0704
+01040800bf05020a0704010408000208060c10d44bb00a544bb00f545b4bb010545b4bb01154
+5b58b90006004038594bb0145458b90006ffc03859c4d4c411173931002f3cec321739304b53
+58071005ed071008ed071008ed071005ed071005ed071008ed071008ed071005ed5922014098
+0a04040a1a04150a260a3d04310a55045707580a660a76017a047607740a8d04820a99049f04
+9707920a900aa601a904af04a507a30aa00a1c0a03040505090a0b1a03150515091a0b290326
+0525092a0b200d3a013903370534073609390b300d4903460545094a0b400d59005601590259
+0357055606590756085609590b500d6f0d78017f0d9b019407ab01a407b00dcf0ddf0dff0d2f
+5d005d09022309012309013309010464fe6b01aad9febafebad901b3fe72d9012901290460fd
+dffdc101b8fe48024a0216fe71018f0000020071ffe3047f047b0014001b0070402400150109
+8608880515a90105b90c01bb18b912b80c8c1c1b1502081508004b02120f451c10fcecf4ecc4
+111239310010e4f4ece410ee10ee10f4ee1112393040293f1d701da01dd01df01d053f003f01
+3f023f153f1b052c072f082f092c0a6f006f016f026f156f1b095d71015d0115211e01333236
+37150e01232000111000333200072e0123220607047ffcb20ccdb76ac76263d06bfef4fec701
+29fce20107b802a5889ab90e025e5abec73434ae2a2c0138010a01130143feddc497b4ae9e00
+000100960000044a05f0001c009e4027191a1b03181c11050400110505044210a111940da014
+910400a00200100a02010a1c171003061d10fc4bb015544bb016545b4bb014545b58b90003ff
+c03859c4d4ecc0c011123931002fec32f4ecf4ec304b5358071005ed0705ed01b01c10111739
+59220140325504560556077a047a05761b87190704000419041a041b051c74007606751a731b
+741c82008619821a821b821ca800a81b115d005d25211521353600373e013534262322060735
+3e01333204151406070600018902c1fc4c73018d33614da7865fd3787ad458e80114455b19fe
+f4aaaaaa7701913a6d974977964243cc3132e8c25ca5701dfeeb0000000200aeffe30458047b
+00130014003b401c030900030e0106870e118c0a01bc14b80c0d0908140b4e020800461510fc
+ecf439ec3231002fe4e432f4c4ec1112173930b46f15c01502015d1311331114163332363511
+331123350e0123222601aeb87c7c95adb8b843b175c1c801cf01ba02a6fd619f9fbea4027bfb
+a0ac6663f003a800000100d9000005db0504000b002340110009019c07030502150400170a06
+15080c10dcfc3cfc3cec31002fd43cfc3cc43001112115211123112135211103ae022dfdd3a8
+fdd3022d0504fdd3aafdd3022daa022d0001006401df027f028300030011b6009c0204010004
+10dccc310010d4ec301321152164021bfde50283a400013500b800cb00cb00c100aa009c01a6
+00b800660000007100cb00a002b20085007500b800c301cb0189022d00cb00a600f000d300aa
+008700cb03aa0400014a003300cb000000d9050200f4015400b4009c01390114013907060400
+044e04b4045204b804e704cd0037047304cd04600473013303a2055605a60556053903c50212
+00c9001f00b801df007300ba03e9033303bc0444040e00df03cd03aa00e503aa0404000000cb
+008f00a4007b00b80014016f007f027b0252008f00c705cd009a009a006f00cb00cd019e01d3
+00f000ba018300d5009803040248009e01d500c100cb00f600830354027f00000333026600d3
+00c700a400cd008f009a0073040005d5010a00fe022b00a400b4009c00000062009c0000001d
+032d05d505d505d505f0007f007b005400a406b80614072301d300b800cb00a601c301ec0693
+00a000d3035c037103db0185042304a80448008f0139011401390360008f05d5019a06140723
+06660179046004600460047b009c00000277046001aa00e904600762007b00c5007f027b0000
+00b4025205cd006600bc00660077061000cd013b01850389008f007b0000001d00cd074a042f
+009c009c0000077d006f0000006f0335006a006f007b00ae00b2002d0396008f027b00f60083
+0354063705f6008f009c04e10266008f018d02f600cd03440029006604ee0073000014000096
+0000b707060504030201002c2010b002254964b040515820c859212d2cb002254964b0405158
+20c859212d2c20100720b00050b00d7920b8ffff5058041b0559b0051cb0032508b0042523e1
+20b00050b00d7920b8ffff5058041b0559b0051cb0032508e12d2c4b505820b0fd454459212d
+2cb002254560442d2c4b5358b00225b0022545445921212d2c45442d2cb00225b0022549b005
+25b005254960b0206368208a108a233a8a10653a2d0000010000000259990c370eec5f0f3cf5
+001f080000000000d184f71800000000d184f718f7d6fc4c0e5909dc00000008000000010000
+000000010000076dfe1d00000efef7d6fa510e5900010000000000000000000000000000000e
+04cd006606330073051700e1031f00b0042b006f031f00a4060400c902b2000004bc003b04ec
+007105170096051200ae06b400d902e300640000000000000044000000ec0000015c000001cc
+0000032c00000384000003e00000042c000005b00000068400000784000008080000085c0000
+088800010000000e0354002b0068000c000200100099000800000415021600080004b8028040
+fffbfe03fa1403f92503f83203f79603f60e03f5fe03f4fe03f32503f20e03f19603f02503ef
+8a4105effe03ee9603ed9603ecfa03ebfa03eafe03e93a03e84203e7fe03e63203e5e45305e5
+9603e48a4105e45303e3e22f05e3fa03e22f03e1fe03e0fe03df3203de1403dd9603dcfe03db
+1203da7d03d9bb03d8fe03d68a4105d67d03d5d44705d57d03d44703d3d21b05d3fe03d21b03
+d1fe03d0fe03cffe03cefe03cd9603cccb1e05ccfe03cb1e03ca3203c9fe03c6851105c61c03
+c51603c4fe03c3fe03c2fe03c1fe03c0fe03bffe03befe03bdfe03bcfe03bbfe03ba1103b986
+2505b9fe03b8b7bb05b8fe03b7b65d05b7bb03b78004b6b52505b65d40ff03b64004b52503b4
+fe03b39603b2fe03b1fe03b0fe03affe03ae6403ad0e03acab2505ac6403abaa1205ab2503aa
+1203a98a4105a9fa03a8fe03a7fe03a6fe03a51203a4fe03a3a20e05a33203a20e03a16403a0
+8a4105a096039ffe039e9d0c059efe039d0c039c9b19059c64039b9a10059b19039a1003990a
+0398fe0397960d0597fe03960d03958a410595960394930e05942803930e0392fa039190bb05
+91fe03908f5d0590bb039080048f8e25058f5d038f40048e25038dfe038c8b2e058cfe038b2e
+038a8625058a410389880b05891403880b03878625058764038685110586250385110384fe03
+8382110583fe0382110381fe0380fe037ffe0340ff7e7d7d057efe037d7d037c64037b541505
+7b25037afe0379fe03780e03770c03760a0375fe0374fa0373fa0372fa0371fa0370fe036ffe
+036efe036c21036bfe036a1142056a530369fe03687d036711420566fe0365fe0364fe0363fe
+0362fe03613a0360fa035e0c035dfe035bfe035afe0359580a0559fa03580a03571619055732
+0356fe035554150555420354150353011005531803521403514a130551fe03500b034ffe034e
+4d10054efe034d10034cfe034b4a13054bfe034a4910054a1303491d0d05491003480d0347fe
+0346960345960344fe0343022d0543fa0342bb03414b0340fe033ffe033e3d12053e14033d3c
+0f053d12033c3b0d053c40ff0f033b0d033afe0339fe033837140538fa033736100537140336
+350b05361003350b03341e03330d0332310b0532fe03310b03302f0b05300d032f0b032e2d09
+052e10032d09032c32032b2a25052b64032a2912052a25032912032827250528410327250326
+250b05260f03250b0324fe0323fe03220f03210110052112032064031ffa031e1d0d051e6403
+1d0d031c1142051cfe031bfa031a42031911420519fe031864031716190517fe031601100516
+190315fe0314fe0313fe031211420512fe0311022d05114203107d030f64030efe030d0c1605
+0dfe030c0110050c16030bfe030a100309fe0308022d0508fe030714030664030401100504fe
+03401503022d0503fe0302011005022d0301100300fe0301b80164858d012b2b2b2b2b2b2b2b
+2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b
+2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b
+2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b
+2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b
+2b2b2b2b2b002b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b
+2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b
+2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b
+2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b
+2b2b2b2b2b2b2b2b2b2b2b1d00>
+] def
+/f-0-0 currentdict end definefont pop
+%%EndResource
+%%BeginResource: font AbyssinicaSIL
+11 dict begin
+/FontType 42 def
+/FontName /AbyssinicaSIL def
+/PaintType 0 def
+/FontMatrix [ 1 0 0 1 0 0 ] def
+/FontBBox [ 0 0 0 0 ] def
+/Encoding 256 array def
+0 1 255 { Encoding exch /.notdef put } for
+Encoding 46 /period put
+/CharStrings 2 dict dup begin
+/.notdef 0 def
+/period 1 def
+end readonly def
+/sfnts [
+<00010000000900800003001063767420024f10a4000001ac0000001a6670676d06599c370000
+01c800000173676c7966576c884d0000009c000001106865616400ce5d4b0000033c00000036
+686865610cd808450000037400000024686d74780a8d00e700000398000000086c6f63610000
+0164000003a00000000c6d61787002230559000003ac0000002070726570181aca2d000003cc
+000000720002006eff030792053d00030007002900b800062fb800004558b800042f1bb90004
+00093e59b800004558b800002f1bb9000000073e59303113112111252111218706f2f8f50724
+f8dc0524f9f8060819f9c60000010079000001b4013b00130079bb00000004000a00042b4107
+0009000a0019000a0029000a00035d00b800004558b800052f1bb9000500053e59b8000fdc41
+1b0007000f0017000f0027000f0037000f0047000f0057000f0067000f0077000f0087000f00
+97000f00a7000f00b7000f00c7000f000d5d410500d6000f00e6000f00025d303125140e0223
+222e0235343e0233321e0201b4182b3921213a2b18182b3a2121392b189e213a2a19192a3a21
+21392b18182b39000000002a003d007b003d01120004000c0510001b053b002b05db00460000
+b800002c4bb800095058b101018e59b801ff85b800441db9000900035f5e2db800012c202045
+6944b001602db800022cb800012a212db800032c2046b003254652582359208a208a49648a20
+4620686164b004254620686164525823658a592f20b00053586920b000545821b040591b6920
+b000545821b0406559593a2db800042c2046b00425465258238a592046206a6164b004254620
+6a61645258238a592ffd2db800052c4b20b0032650585158b080441bb04044591b21212045b0
+c05058b0c0441b2159592db800062c2020456944b001602020457d691844b001602db800072c
+b800062a2db800082c4b20b003265358b0401bb000598a8a20b0032653582321b0808a8a1b8a
+235920b0032653582321b800c08a8a1b8a235920b0032653582321b801008a8a1b8a235920b0
+032653582321b801408a8a1b8a235920b80003265358b0032545b8018050582321b801802321
+1bb003254523212321591b2159442db800092c4b535845441b2121592d000001000000017fff
+d7c4e79a5f0f3cf50009080000000000cecbfe5e00000000ced094a7f8bcfd560b5807f20000
+000900020001000000000001000006c1fec102000b8ff8bcfdf20b5800010000000000000000
+00000000000000020800006e028d0079000000000000005400000110000100000002014a0010
+00bd0005000100000000000a00000200035000010001b800002b00ba0001000200022b01ba00
+03000200022b01bf000300b80096007500540032000000082bbf0004002a0022001b0013000c
+000000082b00bf000100b80096007500540032000000082bbf0002005c004b003b002a001900
+0000082b00ba0005000400072bb8000020457d691844000000>
+] def
+/f-1-0 currentdict end definefont pop
+%%EndResource
+%%EndSetup
+%%Page: 1 1
+%%BeginPageSetup
+%%PageBoundingBox: 260 287 596 398
+%%EndPageSetup
+q 260 287 336 111 rectclip q
+0 g
+0.58701 w
+0 J
+0 j
+[] 0.0 d
+4 M q 1 0 0 -1 0 841.889771 cm
+453.543 488.145 30.594 27.762 re S Q
+q 1 0 0 -1 0 841.889771 cm
+365.668 445.625 30.594 27.762 re S Q
+BT
+12 0 0 12 454.07006 336.511261 Tm
+/f-0-0 1 Tf
+(G)Tj
+7.8 0 0 7.8 463.374747 334.111261 Tm
+(1)Tj
+12 0 0 12 468.341153 336.511261 Tm
+(\(s\))Tj
+-8.52137 3.517765 Td
+(H)Tj
+7.8 0 0 7.8 375.108146 376.324444 Tm
+(1)Tj
+12 0 0 12 380.074552 378.724444 Tm
+(\(s\))Tj
+ET
+0.79937 w
+q 1 0 0 -1 0 841.889771 cm
+430.172 459.719 m 430.172 461.184 428.988 462.371 427.523 462.371 c 426.059
+ 462.371 424.875 461.184 424.875 459.719 c 424.875 458.258 426.059 457.07
+ 427.523 457.07 c 428.988 457.07 430.172 458.258 430.172 459.719 c h
+430.172 459.719 m S Q
+0.559705 w
+q 1 0 0 -1 0 841.889771 cm
+456.363 445.609 27.789 27.785 re S Q
+q 1 0 0 -1 0 841.889771 cm
+532.898 445.613 27.789 27.785 re S Q
+BT
+12 0 0 12 460.917813 378.286456 Tm
+/f-0-0 1 Tf
+[(1/s)-4860(1/s)]TJ
+ET
+0.79937 w
+q 1 0 0 -1 0 841.889771 cm
+430.574 459.508 m 456.086 459.508 l S Q
+449.656 384.46 m 449.449 383.687 l 454.316 382.382 l 449.449 381.081 l 
+449.656 380.308 l 455.961 381.999 l 456.352 382.105 456.352 382.663 455.961
+ 382.769 c h
+449.656 384.46 m f*
+q 1 0 0 -1 0 841.889771 cm
+484.43 459.508 m 532.898 459.508 l S Q
+526.473 384.46 m 526.266 383.687 l 531.129 382.382 l 526.266 381.081 l 
+526.473 380.308 l 532.773 381.999 l 533.168 382.105 533.168 382.663 532.773
+ 382.769 c h
+526.473 384.46 m f*
+q 1 0 0 -1 0 841.889771 cm
+560.688 459.508 m 607.965 459.508 l S Q
+q 1 0 0 -1 0 841.889771 cm
+322.562 459.508 m 340.051 459.508 l S Q
+333.621 384.46 m 333.414 383.687 l 338.281 382.382 l 333.414 381.081 l 
+333.621 380.308 l 339.926 381.999 l 340.316 382.105 340.316 382.663 339.926
+ 382.769 c h
+333.621 384.46 m f*
+q 1 0 0 -1 0 841.889771 cm
+396.266 459.785 m 424.875 459.719 l S Q
+418.441 384.23 m 418.238 383.456 l 423.105 382.167 l 418.242 380.851 l 
+418.453 380.081 l 424.75 381.784 l 425.145 381.89 425.141 382.448 424.75
+ 382.554 c h
+418.441 384.23 m f*
+q 1 0 0 -1 0 841.889771 cm
+405.062 502.027 m 424.902 502.027 l S Q
+418.477 341.941 m 418.27 341.167 l 423.133 339.862 l 418.27 338.562 l 418.477
+ 337.788 l 424.777 339.48 l 425.172 339.585 425.172 340.144 424.777 340.249
+ c h
+418.477 341.941 m f*
+BT
+12 0 0 12 438.036856 387.159796 Tm
+/f-0-0 1 Tf
+(x)Tj
+5.047274 -0.161788 Td
+(x)Tj
+6.084001 0.199007 Td
+(x)Tj
+-21.021069 -6.664575 Td
+(e)Tj
+7.8 0 0 7.8 326.74213 305.231524 Tm
+(2)Tj
+12 0 0 12 270.812931 387.001593 Tm
+(u)Tj
+7.8 0 0 7.8 278.430118 384.601593 Tm
+(2)Tj
+12 0 0 12 438.022208 395.794073 Tm
+/f-1-0 1 Tf
+(..)Tj
+5.206453 -0.161788 Td
+(.)Tj
+/f-0-0 1 Tf
+-6.954862 -0.560555 Td
+(+)Tj
+0.0529093 -1.534005 Td
+(-)Tj
+ET
+0.8 w
+q 1 0 0 -1 0 841.889771 cm
+453.531 502.305 m 430.574 502.027 l S Q
+436.98 337.71 m 437.195 338.48 l 432.344 339.843 l 437.227 341.089 l 437.031
+ 341.862 l 430.703 340.249 l 430.309 340.148 430.301 339.589 430.691 339.476
+ c h
+436.98 337.71 m f*
+q 1 0 0 -1 0 841.889771 cm
+427.738 499.191 m 427.523 462.371 l S Q
+425.484 373.077 m 426.258 372.874 l 427.535 377.749 l 428.867 372.886 l
+ 429.637 373.101 l 427.91 379.398 l 427.801 379.792 427.242 379.788 427.137
+ 379.394 c h
+425.484 373.077 m f*
+q 1 0 0 -1 0 841.889771 cm
+509.934 459.785 m 509.941 502.027 l 484.43 502.027 l S Q
+490.863 337.788 m 491.07 338.558 l 486.203 339.862 l 491.07 341.167 l 490.863
+ 341.941 l 484.555 340.249 l 484.164 340.144 484.164 339.585 484.555 339.48
+ c h
+490.863 337.788 m f*
+0.58701 w
+q 1 0 0 -1 0 841.889771 cm
+291.969 445.625 30.594 27.762 re S Q
+BT
+12 0 0 12 292.383829 379.030987 Tm
+/f-0-0 1 Tf
+(H)Tj
+7.8 0 0 7.8 301.407267 376.630987 Tm
+(2)Tj
+12 0 0 12 306.373673 379.030987 Tm
+(\(s\))Tj
+ET
+0.58701 w
+q 1 0 0 -1 0 841.889771 cm
+453.543 524.996 30.594 27.762 re S Q
+BT
+12 0 0 12 454.070011 299.66087 Tm
+/f-0-0 1 Tf
+(G)Tj
+7.8 0 0 7.8 463.374698 297.26087 Tm
+(2)Tj
+12 0 0 12 468.341104 299.66087 Tm
+(\(s\))Tj
+ET
+0.79937 w
+q 1 0 0 -1 0 841.889771 cm
+345.348 459.508 m 345.348 460.969 344.16 462.156 342.699 462.156 c 341.234
+ 462.156 340.051 460.969 340.051 459.508 c 340.051 458.043 341.234 456.855
+ 342.699 456.855 c 344.16 456.855 345.348 458.043 345.348 459.508 c h
+345.348 459.508 m S Q
+q 1 0 0 -1 0 841.889771 cm
+345.535 459.508 m 365.375 459.508 l S Q
+358.949 384.46 m 358.742 383.687 l 363.605 382.382 l 358.742 381.081 l 
+358.949 380.308 l 365.25 381.999 l 365.645 382.105 365.645 382.663 365.25
+ 382.769 c h
+358.949 384.46 m f*
+0.8 w
+q 1 0 0 -1 0 841.889771 cm
+453.25 538.875 m 345.535 538.875 l S Q
+351.965 300.937 m 352.172 301.71 l 347.305 303.015 l 352.172 304.319 l 
+351.965 305.089 l 345.656 303.401 l 345.266 303.292 345.266 302.734 345.656
+ 302.628 c h
+351.965 300.937 m f*
+q 1 0 0 -1 0 841.889771 cm
+342.699 536.043 m 342.699 462.34 l S Q
+340.621 373.116 m 341.395 372.909 l 342.699 377.776 l 344.004 372.909 l
+ 344.773 373.116 l 343.086 379.425 l 342.977 379.819 342.418 379.819 342.312
+ 379.425 c h
+340.621 373.116 m f*
+q 1 0 0 -1 0 841.889771 cm
+580.809 459.508 m 580.809 538.875 l 484.43 538.875 l S Q
+490.863 300.937 m 491.07 301.71 l 486.203 303.015 l 491.07 304.319 l 490.863
+ 305.089 l 484.555 303.401 l 484.164 303.292 484.164 302.734 484.555 302.628
+ c h
+490.863 300.937 m f*
+0.79937 w
+q 1 0 0 -1 0 841.889771 cm
+260.176 459.508 m 291.676 459.508 l S Q
+285.246 384.46 m 285.039 383.687 l 289.906 382.382 l 285.039 381.081 l 
+285.246 380.308 l 291.551 381.999 l 291.945 382.105 291.945 382.663 291.551
+ 382.769 c h
+285.246 384.46 m f*
+BT
+12 0 0 12 344.623722 371.073126 Tm
+/f-0-0 1 Tf
+(-)Tj
+-1.051815 1.337736 Td
+(+)Tj
+ET
+q 1 0 0 -1 0 841.889771 cm
+430.387 501.84 m 430.387 503.305 429.199 504.488 427.738 504.488 c 426.273
+ 504.488 425.09 503.305 425.09 501.84 c 425.09 500.379 426.273 499.191 427.738
+ 499.191 c 429.199 499.191 430.387 500.379 430.387 501.84 c h
+430.387 501.84 m S Q
+q 1 0 0 -1 0 841.889771 cm
+345.348 538.691 m 345.348 540.152 344.16 541.34 342.699 541.34 c 341.234
+ 541.34 340.051 540.152 340.051 538.691 c 340.051 537.227 341.234 536.043
+ 342.699 536.043 c 344.16 536.043 345.348 537.227 345.348 538.691 c h
+345.348 538.691 m S Q
+q 1 0 0 -1 0 841.889771 cm
+320.02 538.875 m 339.863 538.875 l S Q
+333.438 305.089 m 333.23 304.316 l 338.094 303.015 l 333.23 301.71 l 333.438
+ 300.941 l 339.738 302.628 l 340.133 302.734 340.133 303.292 339.738 303.398
+ c h
+333.438 305.089 m f*
+BT
+12 0 0 12 401.782071 343.372979 Tm
+/f-0-0 1 Tf
+(e)Tj
+7.8 0 0 7.8 409.164884 340.972979 Tm
+(1)Tj
+12 0 0 12 399.391495 388.053009 Tm
+(u)Tj
+7.8 0 0 7.8 407.008683 385.653009 Tm
+(1)Tj
+ET
+Q Q
+showpage
+%%Trailer
+end restore
+%%EOF
--- a/matlab/DeltaTauParam.m
+++ b/matlab/DeltaTauParam.m
@@ -10,11 +10,30 @@ function [pb]=DeltaTauParam(mot)
    'Ts', 2E-4, ... % 0.2ms=5kHz
    'MaxDac' ,2011.968, ...
    'MaxPosErr', 10000);
+  %pb.ss_plt=mot.ss_plt;  pb.sel={3,[3]};
+  %pb.ss_plt=mot.ss_plt0; pb.sel={3,[3]};
+  %pb.ss_plt=mot.ss_c1; pb.sel={3,[3]};
+  %pb.ss_plt=mot.ss_d1; pb.sel={3,[3]};
+  %pb.ss_plt=mot.ss_1; pb.sel={2,[2]};
+  %pb.ss_plt=mot.ss_p; pb.sel={2,[2]};
+  %pb.ss_plt=mot.ss_q; pb.sel={2,[2]};
+  %pb.ss_plt=mot.ss_cq; pb.sel={3,[3]};
+  %pb.ss_plt=mot.ss_cqr; pb.sel={3,[3]};
+  pb.A=[1];pb.B=[1];pb.C=[1];pb.D=[1];pb.E=[1];pb.F=[1];
+
  if mot.id==1
    %!motor_servo(mot=1,ctrl='ServoCtrl',Kp=25,Kvfb=400,Ki=0.02,Kvff=350,Kaff=5000,MaxInt=1000)
    %!motor(mot=1,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=5,IpfGain=8,IpbGain=8,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=200,WarnFeLimit=100,InPosBand=2,homing='enc-index')
    %pb.Kp=25;pb.Kvfb=400;pb.Ki=0.02;pb.Kvff=350;pb.Kaff=5000;pb.MaxInt=1000;
    pb.Kp=25;pb.Kvfb=350;pb.Ki=0.02;pb.Kvff=350;pb.Kaff=1/(1.548e04*(pb.Ts^2));pb.MaxInt=1000;
+    %pb.Kp=0.1;pb.Kvfb=0;pb.Ki=0.00;pb.Kvff=0;pb.Kaff=1/(1.548e04*(pb.Ts^2));pb.MaxInt=1000;
+    %filter  [z^0 z^-1 ... z^-n];
+    pb.A=[1];
+    pb.B=[1];
+    pb.C=[1];
+    pb.D=[1];
+    pb.E=[1];
+    pb.F=[1];
    %19.8Hz 0dB K=(19.8*2*np.pi)**2=15477.1 Ts=5kHz=.2ms
    %Kaff = 1/(Ts*Ts*K) = 1/((19.8*2*np.pi)**2/5000**2) = 1615.2877200403302
    %Kfff=100
@@ -29,13 +48,6 @@ function [pb]=DeltaTauParam(mot)
    %pb.MaxInt=200 %200mA should be enought to fix static errors

  end
-  pb.ss_plt=mot.ss_plt;  pb.sel={3,[3]};
-  %pb.ss_plt=mot.ss_plt0; pb.sel={3,[3]};
-  %pb.ss_plt=mot.ss_c1; pb.sel={3,[3]};
-  %pb.ss_plt=mot.ss_d1; pb.sel={3,[3]};
-  %pb.ss_plt=mot.ss_1; pb.sel={2,[2]};
-  %pb.ss_plt=mot.ss_p; pb.sel={2,[2]};
-  %pb.ss_plt=mot.ss_q; pb.sel={2,[2]};
  
  %mdlName='stage_closed_loop';
  %open(mdlName)
--- a/matlab/DeltaTauSim.slx
+++ b/matlab/DeltaTauSim.slx
--- a/matlab/sample.slx
+++ b/matlab/sample.slx
--- a/python/ShapePathAnalyser/ShapePathAnalyser.py
+++ b/python/ShapePathAnalyser/ShapePathAnalyser.py
@@ -6,6 +6,7 @@
 # |              Author Thierry Zamofing (thierry.zamofing@psi.ch)        |
 # *-----------------------------------------------------------------------*
 from __future__ import print_function
+#from __future__ import absolute_import,division,generators,nested_scopes,print_function,unicode_literals,with_statement
 import os,sys
 import wx
 import wx.py
--- a/python/helicalscan.py
+++ b/python/helicalscan.py
@@ -62,7 +62,8 @@ verbose bits:

 #points:
 #dx,dz,w,fy -> pb coord. be aware of inverted dx,dz signs
-
+from __future__ import print_function
+#from __future__ import absolute_import,division,generators,nested_scopes,print_function,unicode_literals,with_statement
 import os, sys, json,re
 import numpy as np
 import matplotlib as mpl
@@ -644,8 +645,9 @@ class HelicalScanTests():


 class HelicalScan(MotionBase):
-  def __init__(self,comm, gather, verbose):
-    MotionBase.__init__(self,comm, gather, verbose)
+  def __init__(self, comm, gather, verbose, **kwargs):
+      if comm==None: return
+      MotionBase.__init__(self, comm, gather, verbose, **kwargs)

  def load_rec(self,fn_npz='/tmp/helicalscan.npz'):
    try:
@@ -849,12 +851,17 @@ class HelicalScan(MotionBase):
    if comm is None:return
    gt=self.gather
    gt.set_phasemode(False)
-    #gt.set_address("Motor[4].ActPos","Motor[5].ActPos","Motor[3].ActPos","Motor[1].ActPos")
-    gt.set_address("Motor[4].ActPos","Motor[5].ActPos","Motor[3].ActPos","Motor[1].ActPos","Gate3[1].Chan[1].UserFlag")
+    #up to now the trigger is not saved
+    #if self.meta['sync_flag']&2:
+    #  address=("Motor[4].ActPos", "Motor[5].ActPos", "Motor[3].ActPos", "Motor[1].ActPos","Coord[1].Q[11]")
+    #else:
+    #  address=("Motor[4].ActPos", "Motor[5].ActPos", "Motor[3].ActPos", "Motor[1].ActPos","Gate3[1].Chan[1].UserFlag")
+    address=("Motor[4].ActPos","Motor[5].ActPos","Motor[3].ActPos","Motor[1].ActPos")
+    gt.set_address(*address)
    gt.set_property(MaxSamples=1000000, Period=acq_per)
    ServoPeriod= .2 #0.2ms      #Sys.ServoPeriod is dependent of !common() macro
    #ServoPeriod=comm.gpascii.servo_period
-    self.meta = {'timebase': ServoPeriod*acq_per}
+    self.meta.update({'acq_per':acq_per,'address':address})

  def setup_coord_trf(self,fnCrdTrf='/tmp/coordTrf.cfg'):
    param=self.param
@@ -1107,6 +1114,7 @@ close
      yRng = kwargs.get('yRng', self.param[:,1])
      pt2pt_time = kwargs.get('pt2pt_time', 100)
      smt  = kwargs.get('smt', 1) # SegMoveTime, default = 1ms -> velocity calc not yet 100% correct (smt=0 not 100% working)
+      dwell = kwargs.get('dwell', 100)  # wait time at end of motion

      numPt=cntVert*cntHor
      pt=np.zeros((numPt,4))
@@ -1147,8 +1155,6 @@ close
      prg.append('  Coord[1].SegMoveTime=%d'%smt) #to calculate every 1 ms the inverse kinematics
      prg.append('  pvt%g abs'%pt2pt_time) #100ms to next position
      for idx in range(1,pv.shape[0]):
-        if sync_frq is not None and idx%sync_frq==0:
-          prg.append('Coord[1].Q[0]=%d'%(idx))
        prg.append('  X%g:%g Z%g:%g B%g:%g Y%g:%g' % tuple(pv[idx, (0,4,1,5,2,6,3,7)]))
        #prg.append('Y%g:%g' % tuple(pv[idx, (5, 7)]))
        #prg.append('B%g:%g' %(idx*1000,0))
@@ -1159,14 +1165,11 @@ close
        prg.append('  {')
        prg.append('    linear abs')
        prg.append('    X%g Z%g B%g Y%g' % tuple(pv[0, (0, 1, 2, 3)]))
-        prg.append('  dwell 100')
+        prg.append('  dwell %d' % dwell)
        prg.append('  goto 100')
        prg.append('  }')
      else:
-        prg.append('  dwell 1000')
-      if sync_frq is not None:
-        prg.append('  Coord[1].Q[0]=-1')
-      prg.append('  Coord[1].Q[1]=0')
+        prg.append('dwell %d' % dwell)
      prg.append('  Gather.Enable=0')
    prg.append('close')
    #prg.append('&1\nb%dr\n'%prgId)
@@ -1188,6 +1191,10 @@ close
    gt=self.gather
    gt.wait_stopped(verbose=True)
    self.rec=rec=gt.upload()
+
+    channels=self.meta['address']
+
+
    channels = ["Motor[4].HomePos", "Motor[5].HomePos", "Motor[3].HomePos", "Motor[1].HomePos"]
    ofs = np.ndarray(len(channels))
    for i, v in enumerate(channels):
@@ -1208,7 +1215,22 @@ if __name__=='__main__':
      comm = PPComm(host=args.host)
      gather = Gather(comm)
      gpascii = comm.gpascii
-    hs=HelicalScan(comm, gather, args.verbose)
+
+    # direct start
+    #hs=HelicalScan(comm, gather, args.verbose,sync_mode=0)
+
+    #simulated start and frame trigger no sync
+    #hs=HelicalScan(comm, gather, args.verbose,sync_mode=1,sync_flag=3)
+
+    #simulated start and frame trigger with sync
+    #hs=HelicalScan(comm, gather, args.verbose,sync_mode=2,sync_flag=3)
+
+    #simulated start real frame trigger no sync
+    #hs=HelicalScan(comm, gather, args.verbose,sync_mode=1,sync_flag=1)
+
+    #simulated start real frame trigger with sync
+    hs=HelicalScan(comm, gather, args.verbose,sync_mode=2,sync_flag=1)
+
    if mode==0:
      # gpasci: #1,4,5p  // y,-x ,-z
      #  0deg   256.7  -762.5  -396.4
@@ -1222,6 +1244,13 @@ if __name__=='__main__':
                   y=(1405.7, 1019.2),
                   z=((-1309.6, -1010.9, -2410.3), (-1219.4, -918.8, -2510.4)))

+      hs.calcParam(x=((-70.25682272433501, 287.48437780001825, -477.99870973215764),
+                   (-41.466601738723284, 274.71565975031103, -504.9508517714285)),
+                y=(1207.6326052816642, 1704.2138281362475), z=(
+        (-1196.2847548574225, -1686.284754857423, -1686.284754857423),
+        (-1196.2847548574225, -1686.284754857423, -1686.284754857423)))
+
+
      ### use simulation motors ###
      # os.chdir(os.path.join(os.path.dirname(__file__),'../cfg'))
      # 'sim_8_motors.cfg'
@@ -1232,22 +1261,21 @@ if __name__=='__main__':
      # fh=open("/sf/bernina/config/swissmx/exchange/helical.cmd")
      # fh=open("/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/helical.cmd")
      #fh = open("/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/lyso001_0063_helical_debug.cmd")
-      fh = open("/sf/bernina/data/p17592/res/20181130/helicaltest/lyso005/lyso005_0072_helical_debug.cmd")
+      #fh = open("/sf/bernina/data/p17592/res/20181130/helicaltest/lyso005/lyso005_0072_helical_debug.cmd")

      # find /sf/bernina/data/p17592/res/  -name '*.cmd'
-      s = fh.read();
-      s = s.replace('calcParam', 'hs.calcParam')
-      eval(s)
+      #s = fh.read();
+      #s = s.replace('calcParam', 'hs.calcParam')
+      #eval(s)

      # &1p
      # cpx X0 Z0 B0      Y258
      # cpx X0 Z0 B120000 Y258


-
-      hs.setup_coord_trf()
-      hs.setup_sync(mode=0)  # None: no sync at all mode=1: sync on timing UserFlag
-      hs.setup_gather()
+      hs.setup_gather(acq_per=1)
+      hs.setup_sync(verbose=args.verbose & 32)
+      hs.setup_coord_trf()  # reset to shape path system

      # hs.gen_prog(mode=-1)
      # hs.gen_prog(mode=0,cntHor=1,cntVert=3,wRng=(120000,120000))
@@ -1274,6 +1302,8 @@ if __name__=='__main__':
      # hs.gen_prog(mode=1,cntHor=7,cntVert=2,hRng=(-100,50),wRng=(000,10000),smt=0)

      hs.run()
+      hs.wait_armed()  # wait until motors are at first position
+      hs.trigger(0.5)  # send a start trigger (if needed) ater given time
      print('wait until gather finished:')
      fn = '/tmp/helicalscan'
      hs.gather_upload(fn + '.npz')
--- a/python/shapepath.py
+++ b/python/shapepath.py
@@ -41,6 +41,7 @@ Enc 7: Interferometer X

 '''
 from __future__ import print_function
+#from __future__ import absolute_import,division,generators,nested_scopes,print_function,unicode_literals,with_statement
 import os, sys, time
 import numpy as np
 import matplotlib as mpl
@@ -674,7 +675,7 @@ class ShapePath(MotionBase):
        ts=self.meta['srv_per']
        scale=kwargs.get('scale', 1.)
        cnt=kwargs.get('cnt', 1)  # move path multiple times
-        dwell=kwargs.get('dwell', 100)  # synchronization mark all n points
+        dwell=kwargs.get('dwell', 100)  # wait time at end of motion
        CoordFeedTime=1000. #Defaut deltatau value
        try:
          pt=self.ptsCorr