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@@ -23,7 +23,6 @@
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\date{\today, \currenttime\\
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\texttt{git:\gitAbrHash, ver:\gitVerNo{ }\gitStatus}}
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\begin{document}
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\maketitle
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\tableofcontents
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@@ -31,14 +30,25 @@
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This document describes the tuning and modeling process of the ESB-MX fast stages.
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\section{Measurements}
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The tool used to record data of the fast stages is the bode plots is MXTuning.py, a script specially developed to record system responses. The main cal to collect all data was:\\
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The tool used to record data of the fast stages is the bode plots is MXTuning.py, a script specially developed to record system responses. The main call to collect all data was:\\
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\verb|./MXTuning.py --dir MXTuning/19_01_29 --mode 64|\\
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The used frequencies are: 20 kHz Phase, 5 kHz Servo, 6.25MHz AdcAmp.\\
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This results in 50us PhaseTime and 0.2ms ServoTime.
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According to the amplifier specs (Power Brick LV User Manual.pdf p.19). a DAC Value of $32737=2^{15}$ corresponds to 33.85A current. So 1 \verb|curr_bit| is $33.85/32737A =1.034mA$.
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The used frequencies are: 20 kHz Phase, 5 kHz Servo, 6.25MHz AdcAmp. This results in 50us PhaseTime and 0.2ms ServoTime.\\
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According to the amplifier specs \cite[19]{PMAClv} a DAC Value of $32737=2^{15}$ corresponds to 33.85A current. So 1 \verb|curr_bit| is $33.85/32737A =1.034mA$.\\
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The Parker stages are configured to contCur=800mA ,peakCur=2400mA. Ste Specs of the D11 stage are 0.8Amp RMS (producing 4N force) and 2.4Amp peak.
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\cite[245-259]{PMACusr} Shows how the PwmSf works and is explained with some calculation examples.\\
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This is set in the gpasciiCommander templates:
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\begin{verbatim}
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PwmSf=15134.8909 # =.95*16384. PMAC3-style DSPGATE3 ASIC is being used for the output,
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the counter moves between +/- 16384. PwmSf is typically set to 95% of 16384
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\end{verbatim}
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Nerverless the documentation is confusing. Therefore PwmSf will measure to convert idCmd bits values to idVolts bits at a DC value.
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In steady state an idMeas=... results in idVolts=...
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(TO BE DONE)\\
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The Parker stages are configured to contCur=800mA ,peakCur=2400mA. Specs of the D11 stage are 0.8Amp RMS (producing 4N force) and 2.4Amp RMS peak.\\
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It should be save to set 0.92Amp DC and 2.8Amp DC.
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\subsection{Measure Current Step}
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\verb|MXTuning.py –mode 1| $\rightarrow$ \verb|identifyFxFyStage.m|\\
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@@ -106,7 +116,7 @@ motor_servo(mot=2,Kp=22,Kvfb=350,Ki=0.02,Kvff=240,Kaff=1500,MaxInt=1000)
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\subsubsection{chirp sine closed loop}
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Bode plot and chirp input(blue) and output(green)
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Chirp plot with input(blue) and output(green) and its bode plots.
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The parameters for that sweep is:\\
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\verb| amp: 5, minFrq: 10, maxFrq: 220, ts: 0.0002, tSec: 20|
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@@ -166,6 +176,44 @@ Solving in Laplace space:\\
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$iqVolts=(R+Ls)\cdot iqMeas$\\
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$s \cdot iqMeas =\frac{1}{L}iqVolts - \frac{R}{L}iqMeas$\\
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Transferfunction open loop of $G_1(s)=iqVolts \rightarrow iqCmd$
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\\
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using Masons rule:
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\url{https://en.wikipedia.org/wiki/Mason's_gain_formula}:
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\[
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G_1(s)=\frac{y_{out}}{y_{in}}=\frac{iqCmd}{iqVolts}=
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\frac{\frac{1}{Ls}}{1+ \frac{R}{Ls}} = \frac{1}{Ls+R} = \frac{k}{1+Ts} = \frac{\frac{1}{R}}{1+\frac{L}{R}s}
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\]
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\vspace{1pc}
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Transferfunction closed loop of $G_2(s)=iqCmd \rightarrow iqMeas$:
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\[
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\begin{aligned}
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&\text{with}\quad
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a=Ipf+\frac{Li}{s} \quad
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b=PwmSF \cdot G(s) \quad
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c=Ipb \quad
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d=1\\
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&\text{using Masons rule:} \quad G_2(s)=\frac{ab}{1+bc+abd}\\
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\\
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&\text{extending:} \quad =\frac{(Ipf+\frac{Ii}{s}) \cdot PwmSF \cdot G_1(s)}
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{1+PwmSF \cdot G_1(s) \cdot Ipb +(Ipf+\frac{Ii}{s})
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\cdot PwmSF \cdot G_1(s)}\\
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\\
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&=\left.\frac{(Ipf+\frac{Ii}{s}) \cdot PwmSF \cdot \frac{1}{Ls+R}}
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{1+PwmSF \cdot \frac{1}{Ls+R} \cdot Ipb +(Ipf+\frac{Ii}{s}) \cdot PwmSF \cdot \frac{1}{Ls+R}} \right| \cdot (Ls+R) \cdot s\\
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\\
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&=\frac{(Ipf \cdot s+Ii) \cdot PwmSF }
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{(Ls+R)s+PwmSF \cdot Ipb \cdot s +(Ipf \cdot s+Ii) \cdot PwmSF }\\
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\\
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&=\frac{Ipf \cdot s+Ii }
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{\frac{L}{PwmSF}s^2 +(\frac{R}{PwmSF}+ Ipb+Ipf)s +Ii}\\
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\\
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\end{aligned}
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\]
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\subsection{Mechanical model}
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@@ -302,6 +350,24 @@ Therefore the model seems good enough
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\newpage
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\section{HelicalScan coordinates}
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\begin{figure}[h!]
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\includegraphics[scale=.4]{../helicalscanDoc/helicalscan1a.eps}
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\includegraphics[scale=.4]{../helicalscanDoc/helicalscan2a.eps}
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\includegraphics[scale=.4]{../helicalscanDoc/helicalscan3a.eps}
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\caption{coordinate transformation}
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\end{figure}
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%\eject
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%
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@@ -314,4 +380,9 @@ Therefore the model seems good enough
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%Verbatim
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% Verbatim
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%\end{Verbatim}
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\end{document}
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\newpage
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\bibliographystyle{alpha}
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\bibliography{myBib}
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%\printbibliography
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\end{document}
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29
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29
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
@online{PMACusr,
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
}
|
||||
|
||||
@online{PMACref,
|
||||
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|
||||
title = {Power PMAC Software Reference Manual},
|
||||
year = {2015},
|
||||
url = {Power PMAC Software Reference Manual.pdf},
|
||||
}
|
||||
|
||||
|
||||
@online{PMAClv,
|
||||
author = {DELTA TAU},
|
||||
title = {Power Brick LV: Low Voltage Programmable Servo Amplifier},
|
||||
year = {2015},
|
||||
url = {Power Brick LV User Manual.pdf},
|
||||
}
|
||||
|
||||
553
python/helicalscanDoc/helicalscan1a.eps
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553
python/helicalscanDoc/helicalscan1a.eps
Normal file
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||||
save
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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style="font-size:11.25px" /><tspan
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style="font-size:11.25px" /><tspan
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style="font-size:11.25px" /><tspan
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style="font-size:11.25px">and solving to φ:</tspan><tspan
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y="264.25452"
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id="tspan8467"
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style="font-size:11.25px" /><tspan
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sodipodi:role="line"
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id="tspan8471"
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style="font-size:11.25px" /><tspan
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sodipodi:role="line"
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y="320.50452"
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style="font-size:11.25px"
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id="tspan8491" /><tspan
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y="334.56702"
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style="font-size:11.25px"
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id="tspan8493">with small ω this is unstable.</tspan><tspan
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style="font-size:11.25px">Best results at ω = 90°</tspan></text>
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2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b
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2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b1d00>
|
||||
] def
|
||||
/f-0-1 currentdict end definefont pop
|
||||
%%EndResource
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%%EndSetup
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q 73 -1 373 163 rectclip q
|
||||
0 g
|
||||
BT
|
||||
9.6 0 0 9.6 134.394739 54.36387 Tm
|
||||
/f-0-0 1 Tf
|
||||
(r)Tj
|
||||
ET
|
||||
0.579873 w
|
||||
0 J
|
||||
0 j
|
||||
[] 0.0 d
|
||||
4 M q 1 0 0 -1 0 210.279022 cm
|
||||
253.254 260.168 m 253.254 50.996 l S Q
|
||||
253.254 156.963 m 254.414 155.802 l 253.254 159.861 l 252.098 155.802 l
|
||||
h
|
||||
253.254 156.963 m f*
|
||||
0.289936 w
|
||||
q 0 -1 -1 0 0 210.279022 cm
|
||||
53.316 -253.254 m 54.477 -254.414 l 50.418 -253.254 l 54.477 -252.098 l
|
||||
h
|
||||
53.316 -253.254 m S Q
|
||||
0.8 w
|
||||
q 1 0 0 -1 0 210.279022 cm
|
||||
241.996 203.949 m 73.207 203.949 l S Q
|
||||
0.4 w
|
||||
1 J
|
||||
q 1 0 0 -1 0 210.279022 cm
|
||||
101.949 157.746 m 116.477 120.855 147.789 93.152 186.168 83.223 c S Q
|
||||
0.8 w
|
||||
0 J
|
||||
q 1 0 0 -1 0 210.279022 cm
|
||||
237.426 215.797 m 104.711 143.789 l S Q
|
||||
q 1 0 0 -1 0 210.279022 cm
|
||||
172.652 83.781 m 223.668 226.652 l S Q
|
||||
q 1 0 0 -1 0 210.279022 cm
|
||||
103.797 148.758 m 177.359 84.164 l S Q
|
||||
0.489385 w
|
||||
1 J
|
||||
q 1 0 0 -1 0 210.279022 cm
|
||||
178.707 209.234 m 175.867 190.062 188.5 171.945 207.863 167.414 c S Q
|
||||
BT
|
||||
9.6 0 0 9.6 187.412366 10.772012 Tm
|
||||
/f-0-1 1 Tf
|
||||
<01>Tj
|
||||
/f-0-0 1 Tf
|
||||
7.172966 13.999706 Td
|
||||
(z)Tj
|
||||
ET
|
||||
0.5 w
|
||||
0 J
|
||||
q 1 0 0 -1 0 210.279022 cm
|
||||
215.375 237.32 m 215.375 198.301 l S Q
|
||||
q 1 0 0 -1 0 210.279022 cm
|
||||
173.914 84.496 m 173.914 221.586 l S Q
|
||||
q 1 0 0 -1 0 210.279022 cm
|
||||
107.59 236.746 m 107.59 136.137 l S Q
|
||||
BT
|
||||
9 0 0 9 283.927527 148.67532 Tm
|
||||
/f-0-0 1 Tf
|
||||
[(with one )-3(point \(or w)-3(ith sma)-3(ll )]TJ
|
||||
/f-0-1 1 Tf
|
||||
<02>Tj
|
||||
/f-0-0 1 Tf
|
||||
(\):)Tj
|
||||
0 -2.5 Td
|
||||
[(r=sqrt)-3(\(x)]TJ
|
||||
4.193359 -0.2 Td
|
||||
(0)Tj
|
||||
0.636719 0.6 Td
|
||||
(2)Tj
|
||||
0.636719 -0.4 Td
|
||||
(+z)Tj
|
||||
1.363281 -0.2 Td
|
||||
(0)Tj
|
||||
0.636719 0.6 Td
|
||||
(2)Tj
|
||||
0.636719 -0.4 Td
|
||||
(\))Tj
|
||||
/f-0-1 1 Tf
|
||||
-8.103516 -1.25 Td
|
||||
<01>Tj
|
||||
/f-0-0 1 Tf
|
||||
[(=ar)20(ctan)-3(\(z)]TJ
|
||||
5.609375 -0.2 Td
|
||||
(0)Tj
|
||||
0.636719 0.2 Td
|
||||
(/x)Tj
|
||||
0.929688 -0.2 Td
|
||||
(0)Tj
|
||||
0.636719 0.2 Td
|
||||
(\))Tj
|
||||
-7.8125 -3.75 Td
|
||||
[(with tw)-3(o points \(an)-3(d with )-3(big )]TJ
|
||||
/f-0-1 1 Tf
|
||||
<02>Tj
|
||||
/f-0-0 1 Tf
|
||||
(\):)Tj
|
||||
0 -2.5 Td
|
||||
(x)Tj
|
||||
0.591797 -0.2 Td
|
||||
(1)Tj
|
||||
0.636719 0.2 Td
|
||||
(/x)Tj
|
||||
0.929688 -0.2 Td
|
||||
(0)Tj
|
||||
0.636719 0.2 Td
|
||||
(=cos\()Tj
|
||||
/f-0-1 1 Tf
|
||||
[<01>]TJ
|
||||
/f-0-0 1 Tf
|
||||
[(+)]TJ
|
||||
/f-0-1 1 Tf
|
||||
[<02>]TJ
|
||||
/f-0-0 1 Tf
|
||||
[(\))-3(/cos\()]TJ
|
||||
/f-0-1 1 Tf
|
||||
[<01>]TJ
|
||||
/f-0-0 1 Tf
|
||||
[()-3(\))]TJ
|
||||
-2.794922 -1.25 Td
|
||||
[(using:)-3( cos\()]TJ
|
||||
/f-0-1 1 Tf
|
||||
[<03>]TJ
|
||||
/f-0-0 1 Tf
|
||||
[()-3(+)]TJ
|
||||
/f-0-1 1 Tf
|
||||
<04>Tj
|
||||
/f-0-0 1 Tf
|
||||
[(\)=cos)]TJ
|
||||
/f-0-1 1 Tf
|
||||
[<03>]TJ
|
||||
/f-0-0 1 Tf
|
||||
[()-3(cos)]TJ
|
||||
/f-0-1 1 Tf
|
||||
<04>Tj
|
||||
/f-0-0 1 Tf
|
||||
[(-sin)]TJ
|
||||
/f-0-1 1 Tf
|
||||
[<>-3<03>]TJ
|
||||
/f-0-0 1 Tf
|
||||
[(sin)]TJ
|
||||
/f-0-1 1 Tf
|
||||
[<04>]TJ
|
||||
/f-0-0 1 Tf
|
||||
0 -1.25 Td
|
||||
[(and solving t)-3(o )]TJ
|
||||
/f-0-1 1 Tf
|
||||
<01>Tj
|
||||
/f-0-0 1 Tf
|
||||
(:)Tj
|
||||
/f-0-1 1 Tf
|
||||
0 -2.5 Td
|
||||
<01>Tj
|
||||
/f-0-0 1 Tf
|
||||
[(=ar)20(ctan)-3(\( )-3( )-3( )-3( \))]TJ
|
||||
9.6 0 0 9.6 95.537488 22.427407 Tm
|
||||
(zo)Tj
|
||||
8.235751 3.00141 Td
|
||||
(z1)Tj
|
||||
/f-0-1 1 Tf
|
||||
2.140361 -2.934188 Td
|
||||
<02>Tj
|
||||
/f-0-0 1 Tf
|
||||
-0.434845 5.208247 Td
|
||||
(r)Tj
|
||||
9 0 0 9 331.534827 21.043521 Tm
|
||||
(-x)Tj
|
||||
5.85 0 0 5.85 340.112952 19.243521 Tm
|
||||
(1)Tj
|
||||
9 0 0 9 343.837757 21.043521 Tm
|
||||
(/x)Tj
|
||||
5.85 0 0 5.85 352.204944 19.243521 Tm
|
||||
(0)Tj
|
||||
9 0 0 9 355.929749 21.043521 Tm
|
||||
(+cos)Tj
|
||||
/f-0-1 1 Tf
|
||||
<02>Tj
|
||||
/f-0-0 1 Tf
|
||||
-0.811328 -1.5 Td
|
||||
(sin)Tj
|
||||
/f-0-1 1 Tf
|
||||
<02>Tj
|
||||
ET
|
||||
0.8 w
|
||||
q 1 0 0 -1 0 210.279022 cm
|
||||
329.617 192.77 m 387.18 192.77 l S Q
|
||||
Q Q
|
||||
showpage
|
||||
%%Trailer
|
||||
end restore
|
||||
%%EOF
|
||||
Reference in New Issue
Block a user