Initial commit

2022-01-05 10:28:18 +01:00 · 2022-01-05 10:28:18 +01:00 · 2eaa0f1feb
commit 2eaa0f1feb
23 changed files with 3068 additions and 0 deletions
--- a/.gitignore
+++ b/.gitignore
@ -0,0 +1,62 @@
+auto/
+*.tex
+*.blg
+*-blx.bib
+*.bbl
+*.aux
+*.bcf
+*.fdb_latexmk
+*.log
+*.out
+*.pyg
+*.toc
+*.fls
+*.synctex.gz
+.auctex-auto/
+_minted*
+
+# Emacs
+auto/
+
+# Simulink Real Time
+*bio.m
+*pt.m
+*ref.m
+*ri.m
+*xcp.m
+*.mldatx
+*.slxc
+*.xml
+*_slrt_rtw/
+
+# data
+data/
+
+# Windows default autosave extension
+*.asv
+
+# OSX / *nix default autosave extension
+*.m~
+
+# Compiled MEX binaries (all platforms)
+*.mex*
+
+# Packaged app and toolbox files
+*.mlappinstall
+*.mltbx
+
+# Generated helpsearch folders
+helpsearch*/
+
+# Simulink code generation folders
+slprj/
+sccprj/
+
+# Matlab code generation folders
+codegen/
+
+# Simulink autosave extension
+*.autosave
+
+# Octave session info
+octave-workspace
--- a/block_diagram_lut_attocube.pdf
+++ b/block_diagram_lut_attocube.pdf
--- a/dcm_metrology.org
+++ b/dcm_metrology.org
@ -0,0 +1,406 @@
+#+TITLE: ESRF Double Crystal Monochromator - Metrology
+:DRAWER:
+#+LANGUAGE: en
+#+EMAIL: dehaeze.thomas@gmail.com
+#+AUTHOR: Dehaeze Thomas
+
+#+HTML_LINK_HOME: ../index.html
+#+HTML_LINK_UP:   ../index.html
+
+#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
+#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
+
+#+BIND: org-latex-image-default-option "scale=1"
+#+BIND: org-latex-image-default-width ""
+
+#+LaTeX_CLASS: scrreprt
+#+LaTeX_CLASS_OPTIONS: [a4paper, 10pt, DIV=12, parskip=full]
+#+LaTeX_HEADER_EXTRA: \input{preamble.tex}
+#+LATEX_HEADER_EXTRA: \bibliography{ref}
+
+#+PROPERTY: header-args:matlab  :session *MATLAB*
+#+PROPERTY: header-args:matlab+ :comments org
+#+PROPERTY: header-args:matlab+ :exports both
+#+PROPERTY: header-args:matlab+ :results none
+#+PROPERTY: header-args:matlab+ :tangle no
+#+PROPERTY: header-args:matlab+ :eval no-export
+#+PROPERTY: header-args:matlab+ :noweb yes
+#+PROPERTY: header-args:matlab+ :mkdirp yes
+#+PROPERTY: header-args:matlab+ :output-dir figs
+
+#+PROPERTY: header-args:latex  :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/tikz/org/}{config.tex}")
+#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
+#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
+#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
+#+PROPERTY: header-args:latex+ :results file raw replace
+#+PROPERTY: header-args:latex+ :buffer no
+#+PROPERTY: header-args:latex+ :tangle no
+#+PROPERTY: header-args:latex+ :eval no-export
+#+PROPERTY: header-args:latex+ :exports results
+#+PROPERTY: header-args:latex+ :mkdirp yes
+#+PROPERTY: header-args:latex+ :output-dir figs
+#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
+:END:
+
+#+begin_export html
+  <hr>
+  <p>This report is also available as a <a href="./dcm_lookup_tables.pdf">pdf</a>.</p>
+  <hr>
+#+end_export
+
+#+latex: \clearpage
+
+* Metrology Concept
+** Introduction                                                      :ignore:
+
+The goal of the metrology system is to measure the distance and default of parallelism orientation between the first and second crystals
+
+Only 3 degrees of freedom are of interest:
+- $d_z$
+- $r_y$
+- $r_x$
+
+** Matlab Init                                             :noexport:ignore:
+#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
+<<matlab-dir>>
+#+end_src
+
+#+begin_src matlab :exports none :results silent :noweb yes
+<<matlab-init>>
+#+end_src
+
+** Sensor Topology
+
+In order to measure the relative pose of the two crystals, instead of performing a direct measurement which is complicated, the pose of the two crystals are measured from a metrology frame.
+Three interferometers are used to measured the 3dof of interest for each crystals.
+Three additional interferometers are used to measured the relative motion of the metrology frame.
+
+#+name: tab:metrology_notations
+#+caption: Notations for the metrology frame
+#+attr_latex: :environment tabularx :width 0.4\linewidth :align cX
+#+attr_latex: :center t :booktabs t
+| Notation | Meaning                  |
+|----------+--------------------------|
+| =d=      | "Downstream": Positive X |
+| =u=      | "Upstream": Negative X   |
+| =h=      | "Hall": Positive Y       |
+| =r=      | "Ring": Negative Y       |
+| =f=      | "Frame"                  |
+| =1=      | "First Crystals"         |
+| =2=      | "Second Crystals"        |
+
+#+name: fig:metrology_schematic
+#+caption: Schematic of the Metrology System
+[[file:figs/metrology_schematic.png]]
+
+** Crystal's motion computation
+
+From the raw interferometric measurements, the pose between the first and second crystals can be computed.
+
+First, Jacobian matrices can be used to convert raw interferometer measurements to axial displacement and orientation of the crystals and metrology frame.
+
+For the 311 crystals:
+
+#+name: tab:311_crystals_notations_raw_interf
+#+caption: Table caption
+#+attr_latex: :environment tabularx :width 0.5\linewidth :align lX
+#+attr_latex: :center t :booktabs t
+| Notation | Description                       |
+|----------+-----------------------------------|
+| =um=     | Metrology Frame - Upstream        |
+| =dhm=    | Metrology Frame - Downstream Hall |
+| =drm=    | Metrology Frame - Downstream Ring |
+|----------+-----------------------------------|
+| =ur1=    | First Crystal - Upstream Ring     |
+| =h1=     | First Crystal - Hall              |
+| =dr1=    | First Crystal - Downstream Ring   |
+|----------+-----------------------------------|
+| =ur2=    | First Crystal - Upstream Ring     |
+| =h2=     | First Crystal - Hall              |
+| =dr2=    | First Crystal - Downstream Ring   |
+
+#+name: tab:311_crystals_notations_converted_interf
+#+caption: Table caption
+#+attr_latex: :environment tabularx :width 0.5\linewidth :align lX
+#+attr_latex: :center t :booktabs t
+| Notation | Description                    |
+|----------+--------------------------------|
+| =dzm=    | Positive: increase of distance |
+| =rym=    |                                |
+| =rxm=    |                                |
+|----------+--------------------------------|
+| =dz1=    | Positive: decrease of distance |
+| =ry1=    |                                |
+| =rx1=    |                                |
+|----------+--------------------------------|
+| =dz2=    | Positive: increase of distance |
+| =ry2=    |                                |
+| =rx2=    |                                |
+
+#+begin_src latex :file schematic_sensor_jacobian_forward_kinematics_m.pdf
+\begin{tikzpicture}
+  % Blocs
+  \node[block] (Js_inv) {$\bm{J}_{s,m}^{-1}$};
+
+  % Connections and labels
+  \draw[->] ($(Js_inv.west)+(-1.5,0)$) node[above right]{$\begin{bmatrix} u_{m} \\ dh_{m} \\ dr_{m} \end{bmatrix}$} -- (Js_inv.west);
+  \draw[->] (Js_inv.east)  -- ++(1.5, 0) node[above left]{$\begin{bmatrix} d_{zm} \\ r_{ym} \\ r_{xm} \end{bmatrix}$};
+\end{tikzpicture}
+#+end_src
+
+#+name: fig:schematic_sensor_jacobian_forward_kinematics_m
+#+caption: Forward Kinematics for the Metrology frame
+#+RESULTS:
+[[file:figs/schematic_sensor_jacobian_forward_kinematics_m.png]]
+
+#+begin_src latex :file schematic_sensor_jacobian_forward_kinematics_1.pdf
+\begin{tikzpicture}
+  % Blocs
+  \node[block] (Js_inv) {$\bm{J}_{s,1}^{-1}$};
+
+  % Connections and labels
+  \draw[->] ($(Js_inv.west)+(-1.5,0)$) node[above right]{$\begin{bmatrix} u_{r1} \\ h_1 \\ d_{r1} \end{bmatrix}$} -- (Js_inv.west);
+  \draw[->] (Js_inv.east)  -- ++(1.5, 0) node[above left]{$\begin{bmatrix} d_{z1} \\ r_{y1} \\ r_{x1} \end{bmatrix}$};
+\end{tikzpicture}
+#+end_src
+
+#+name: fig:schematic_sensor_jacobian_forward_kinematics_1
+#+caption: Forward Kinematics for the 1st crystal
+#+RESULTS:
+[[file:figs/schematic_sensor_jacobian_forward_kinematics_1.png]]
+
+#+begin_src latex :file schematic_sensor_jacobian_forward_kinematics_2.pdf
+\begin{tikzpicture}
+  % Blocs
+  \node[block] (Js_inv) {$\bm{J}_{s,2}^{-1}$};
+
+  % Connections and labels
+  \draw[->] ($(Js_inv.west)+(-1.5,0)$) node[above right]{$\begin{bmatrix} u_{r2} \\ h_2 \\ d_{r2} \end{bmatrix}$} -- (Js_inv.west);
+  \draw[->] (Js_inv.east)  -- ++(1.5, 0) node[above left]{$\begin{bmatrix} d_{z2} \\ r_{y2} \\ r_{x2} \end{bmatrix}$};
+\end{tikzpicture}
+#+end_src
+
+#+name: fig:schematic_sensor_jacobian_forward_kinematics_2
+#+caption: Forward Kinematics for the 2nd crystal
+#+RESULTS:
+[[file:figs/schematic_sensor_jacobian_forward_kinematics_2.png]]
+
+Then, the displacement and orientations can be combined as follows:
+\begin{align}
+  d_{z}   &= + d_{z1} - d_{z2} + d_{zm} \\
+  d_{r_y} &= - r_{y1} + r_{y2} - r_{ym} \\
+  d_{r_x} &= - r_{x1} + r_{x2} - r_{xm}
+\end{align}
+
+Therefore:
+- $d_z$ represents the distance between the two crystals
+- $d_{r_y}$ represents the rotation of the second crystal w.r.t. the first crystal around $y$ axis
+- $d_{r_x}$ represents the rotation of the second crystal w.r.t. the first crystal around $x$ axis
+
+If $d_{r_y}$ is positive, the second crystal has a positive rotation around $y$ w.r.t. the first crystal.
+Therefore, the second crystal should be actuated such that it is making a negative rotation around $y$ w.r.t. metrology frame.
+
+The Jacobian matrices are defined as follow:
+#+begin_src matlab
+%% Sensor Jacobian matrix for the metrology frame
+J_m = [1,  0.102,  0
+       1, -0.088,  0.1275
+       1, -0.088, -0.1275];
+
+%% Sensor Jacobian matrix for 1st "111" crystal
+J_s_111_1 = [-1, -0.036, -0.015
+             -1,  0,      0.015
+             -1,  0.036, -0.015];
+
+%% Sensor Jacobian matrix for 2nd "111" crystal
+J_s_111_2 = [1,  0.07,  0.015
+             1,  0,    -0.015
+             1, -0.07,  0.015];
+#+end_src
+
+Therefore, the matrix that gives the relative pose of the crystal from the 9 interferometers is:
+#+begin_src matlab
+%% Compute the transformation matrix
+G_111_t = [-inv(J_s_111_1), inv(J_s_111_2), -inv(J_m)];
+
+% Sign convention for the axial motion
+G_111_t(1,:) = -G_111_t(1,:);
+#+end_src
+
+#+begin_src matlab :exports results :results value table replace :tangle no :post addhdr(*this*)
+data2orgtable(G_111_t, ...
+              {'=dz= [nm]', '=rx= [nrad]', '=ry= [nrad]'}, ...
+              {'=ur1= [nm]', '=h1= [nm]', '=dr1= [nm]', '=ur2= [nm]', '=h2= [nm]', '=dr1= [nm]', '=um= [nm]', '=dhm= [nm]', '=drm= [nm]'}, ...
+              ' %.3f ');
+#+end_src
+
+#+name: tab:transformation_matrix
+#+caption: Transformation Matrix
+#+attr_latex: :environment tabularx :width \linewidth :align cccccccccc
+#+attr_latex: :center t :booktabs t :font \scriptsize
+#+RESULTS:
+|             | =ur1= [nm] | =h1= [nm] | =dr1= [nm] | =ur2= [nm] | =h2= [nm] | =dr1= [nm] | =um= [nm] | =dhm= [nm] | =drm= [nm] |
+|-------------+------------+-----------+------------+------------+-----------+------------+-----------+------------+------------|
+| =dz= [nm]   |      -0.25 |      -0.5 |      -0.25 |      -0.25 |      -0.5 |      -0.25 |     0.463 |      0.268 |      0.268 |
+| =rx= [nrad] |     13.889 |       0.0 |    -13.889 |      7.143 |       0.0 |     -7.143 |    -5.263 |      2.632 |      2.632 |
+| =ry= [nrad] |     16.667 |   -33.333 |     16.667 |     16.667 |   -33.333 |     16.667 |       0.0 |     -3.922 |      3.922 |
+
+From table [[fig:schematic_sensor_jacobian_forward_kinematics_2]], we can determine the effect of each interferometer on the estimated relative pose between the crystals.
+For instance, an error on =dr1= will have much greater impact on =ry= than an error on =drm=.
+
+* Deformations of the Metrology Frame
+** Introduction                                                      :ignore:
+
+The transformation matrix in Table [[fig:schematic_sensor_jacobian_forward_kinematics_2]] is valid only if the metrology frames are solid bodies.
+
+The metrology frame itself is experiencing some deformations due to the gravity.
+When the bragg axis is scanned, the effect of gravity on the metrology frame is changing and this introduce some measurement errors.
+
+This can be calibrated.
+
+** Measurement Setup
+
+Two beam viewers:
+- one close to the DCM to measure position of the beam
+- one far away to the DCM to measure orientation of the beam
+
+For each Bragg angle, the Fast Jacks are actuated to that the beam is at the center of the beam viewer.
+Then, then position of the crystals as measured by the interferometers is recorded.
+This position is the wanted position for a given Bragg angle.
+
+** Simulations
+
+The deformations of the metrology frame and therefore the expected interferometric measurements can be computed as a function of the Bragg angle.
+This may be done using FE software.
+
+** Comparison
+
+* Attocube - Periodic Non-Linearity
+:PROPERTIES:
+:header-args:matlab+: :tangle matlab/dcm_attocube_lut.m
+:END:
+<<sec:dcm_attocube_lut>>
+
+** Introduction                                                      :ignore:
+
+The idea is to calibrate the periodic non-linearity of the interferometers, a known displacement must be imposed and the interferometer output compared to this displacement.
+This should be performed over several periods in order to characterize the error.
+
+We here suppose that we are already in the frame of the Attocube (the fast-jack displacements are converted to Attocube displacement using the transformation matrices).
+We also suppose that we are at a certain Bragg angle, and that the stepper motors are not moving: only the piezoelectric actuators are used.
+
+The setup is schematically with the block diagram in Figure [[fig:block_diagram_lut_attocube]].
+The signals are:
+- $u$: Actuator Signal (position where we wish to go)
+- $d$: Disturbances affecting the signal
+- $y$: Displacement of the crystal
+- $y_g$: Measurement of the crystal motion by the strain gauge with some noise $n_g$
+- $y_a$: Measurement of the crystal motion by the interferometer with some noise $n_a$
+
+#+begin_src latex :file block_diagram_lut_attocube.pdf
+\definecolor{myblue}{rgb}{0, 0.447, 0.741}
+\definecolor{myred}{rgb}{0.8500, 0.325, 0.098}
+
+\begin{tikzpicture}
+  \node[block] (G) at (0,0){$G(s)$};
+  \node[addb, right=1 of G] (addd) {};
+  \node[block, align=center, right=1 of addd] (non_linearity) {Periodic\\Non-linearity};
+  \node[addb, right=1 of non_linearity] (addna) {};
+  \node[addb, below=1.8 of addna] (addnsg) {};
+
+  \draw[->] ($(G.west) + (-1.0, 0)$) node[above right]{$u$} -- (G.west);
+  \draw[->] (G.east) -- (addd.west);
+  \draw[->] (addd.east) -- (non_linearity.west);
+  \draw[->] ($(addd.north) + (0, 1.0)$) node[below right]{$d$} -- (addd.north);
+  \draw[->] (non_linearity.east) -- (addna.west);
+  \draw[->] (addna.east) -- ++(1.2, 0) node[above left]{$y_a$};
+  \draw[->] ($(addna.north) + (0, 1.0)$) node[below right](na){$n_a$} -- (addna.north);
+  \draw[->] ($(addd.east) + (0.4, 0)$)node[branch]{} node[above]{$y$} |- (addnsg.west);
+  \draw[->] (addnsg.east) -- ++(1.2, 0) node[above left]{$y_g$};
+  \draw[->] ($(addnsg.north) + (0, 1.0)$) node[below right](nsg){$n_{g}$} -- (addnsg.north);
+
+  \begin{scope}[on background layer]
+    \node[fit={(non_linearity.south west) (na.north east)}, fill=myblue!20!white, draw, inner sep=6pt] (attocube) {};
+    \node[fit={(non_linearity.west|-addnsg.south) (nsg.north east)}, fill=myred!20!white, draw, inner sep=6pt] (straingauge) {};
+    \node[below right] at (attocube.north west) {Attocube};
+    \node[below right] at (straingauge.north west) {Strain Gauge};
+  \end{scope}
+\end{tikzpicture}
+#+end_src
+
+#+name: fig:block_diagram_lut_attocube
+#+caption: Block Diagram schematic of the setup used to measure the periodic non-linearity of the Attocube
+#+RESULTS:
+[[file:figs/block_diagram_lut_attocube.png]]
+
+The problem is to estimate the periodic non-linearity of the Attocube from the imperfect measurements $y_a$ and $y_g$.
+
+The wavelength of the Attocube is 1530nm, therefore the non-linearity has a period of 765nm.
+The amplitude of the non-linearity can vary from one unit to the other (and maybe from one experimental condition to the other).
+It is typically between 5nm peak to peak and 20nm peak to peak.
+
+** Matlab Init                                             :noexport:ignore:
+#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
+<<matlab-dir>>
+#+end_src
+
+#+begin_src matlab :exports none :results silent :noweb yes
+<<matlab-init>>
+#+end_src
+
+#+begin_src matlab :tangle no :noweb yes
+<<m-init-path>>
+#+end_src
+
+#+begin_src matlab :eval no :noweb yes
+<<m-init-path-tangle>>
+#+end_src
+
+#+begin_src matlab :noweb yes
+<<m-init-other>>
+#+end_src
+
+** Simulations
+We have some constrains on the way the motion is imposed and measured:
+- We want the frequency content of the imposed motion to be at low frequency in order not to induce vibrations of the structure.
+  We have to make sure the forces applied by the piezoelectric actuator only moves the crystal and not the fast jack below.
+  Therefore, we have to move much slower than the first resonance frequency in the system.
+- As both $y_a$ and $y_g$ should have rather small noise, we have to filter them with low pass filters.
+  The cut-off frequency of the low pass filter should be high as compared to the motion (to not induce any distortion) but still reducing sufficiently the noise.
+  Let's say we want the noise to be less than 1nm ($6 \sigma$).
+
+Suppose we have the power spectral density (PSD) of both $n_a$ and $n_g$.
+
+- [ ] Take the PSD of the Attocube
+- [ ] Take the PSD of the strain gauge
+- [ ] Using 2nd order low pass filter, estimate the required low pass filter cut-off frequency to have sufficiently low noise
+
+* Helping Functions                                                 :noexport:
+** Initialize Path
+#+NAME: m-init-path
+#+BEGIN_SRC matlab
+%% Path for functions, data and scripts
+addpath('./matlab/mat/'); % Path for data
+addpath('./matlab/src/'); % Path for functions
+addpath('./matlab/');     % Path for scripts
+#+END_SRC
+
+#+NAME: m-init-path-tangle
+#+BEGIN_SRC matlab
+%% Path for functions, data and scripts
+addpath('./mat/'); % Path for data
+addpath('./src/'); % Path for functions
+#+END_SRC
+
+** Initialize other elements
+#+NAME: m-init-other
+#+BEGIN_SRC matlab
+%% Colors for the figures
+colors = colororder;
+
+%% Frequency Vector
+freqs = logspace(1, 3, 1000);
+#+END_SRC
+
+* Bibliography                                                        :ignore:
+#+latex: \printbibliography
--- a/dcm_metrology.pdf
+++ b/dcm_metrology.pdf
--- a/figs/block_diagram_lut_attocube.pdf
+++ b/figs/block_diagram_lut_attocube.pdf
--- a/figs/block_diagram_lut_attocube.png
+++ b/figs/block_diagram_lut_attocube.png
--- a/figs/block_diagram_lut_attocube.svg
+++ b/figs/block_diagram_lut_attocube.svg
@ -0,0 +1,281 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="289.211pt" height="133.172pt" viewBox="0 0 289.211 133.172" version="1.2">
+<defs>
+<g>
+<symbol overflow="visible" id="glyph0-0">
+<path style="stroke:none;" d=""/>
+</symbol>
+<symbol overflow="visible" id="glyph0-1">
+<path style="stroke:none;" d="M 7.109375 0 L 7.109375 -0.3125 L 6.921875 -0.3125 C 6.328125 -0.3125 6.1875 -0.375 6.078125 -0.703125 L 3.9375 -6.890625 C 3.890625 -7.03125 3.875 -7.09375 3.71875 -7.09375 C 3.5625 -7.09375 3.53125 -7.03125 3.484375 -6.890625 L 1.421875 -0.96875 C 1.25 -0.46875 0.859375 -0.3125 0.3125 -0.3125 L 0.3125 0 L 1.328125 -0.03125 L 2.46875 0 L 2.46875 -0.3125 C 1.96875 -0.3125 1.71875 -0.5625 1.71875 -0.8125 C 1.71875 -0.84375 1.734375 -0.9375 1.75 -0.953125 L 2.203125 -2.265625 L 4.640625 -2.265625 L 5.171875 -0.75 C 5.1875 -0.703125 5.203125 -0.640625 5.203125 -0.609375 C 5.203125 -0.3125 4.640625 -0.3125 4.375 -0.3125 L 4.375 0 C 4.734375 -0.03125 5.421875 -0.03125 5.8125 -0.03125 Z M 4.53125 -2.5625 L 2.3125 -2.5625 L 3.421875 -5.78125 Z M 4.53125 -2.5625 "/>
+</symbol>
+<symbol overflow="visible" id="glyph0-2">
+<path style="stroke:none;" d="M 3.28125 -1.234375 L 3.28125 -1.796875 L 3.046875 -1.796875 L 3.046875 -1.25 C 3.046875 -0.515625 2.75 -0.140625 2.375 -0.140625 C 1.71875 -0.140625 1.71875 -1.046875 1.71875 -1.203125 L 1.71875 -3.96875 L 3.125 -3.96875 L 3.125 -4.265625 L 1.71875 -4.265625 L 1.71875 -6.09375 L 1.46875 -6.09375 C 1.453125 -5.28125 1.15625 -4.21875 0.1875 -4.1875 L 0.1875 -3.96875 L 1.03125 -3.96875 L 1.03125 -1.234375 C 1.03125 -0.015625 1.953125 0.109375 2.3125 0.109375 C 3.015625 0.109375 3.28125 -0.59375 3.28125 -1.234375 Z M 3.28125 -1.234375 "/>
+</symbol>
+<symbol overflow="visible" id="glyph0-3">
+<path style="stroke:none;" d="M 4.671875 -2.125 C 4.671875 -3.390625 3.671875 -4.4375 2.484375 -4.4375 C 1.234375 -4.4375 0.28125 -3.359375 0.28125 -2.125 C 0.28125 -0.84375 1.3125 0.109375 2.46875 0.109375 C 3.671875 0.109375 4.671875 -0.859375 4.671875 -2.125 Z M 3.84375 -2.203125 C 3.84375 -1.84375 3.84375 -1.3125 3.625 -0.875 C 3.40625 -0.421875 2.96875 -0.140625 2.484375 -0.140625 C 2.046875 -0.140625 1.609375 -0.34375 1.34375 -0.796875 C 1.09375 -1.234375 1.09375 -1.84375 1.09375 -2.203125 C 1.09375 -2.578125 1.09375 -3.125 1.34375 -3.5625 C 1.609375 -4.015625 2.078125 -4.21875 2.46875 -4.21875 C 2.90625 -4.21875 3.328125 -4 3.59375 -3.578125 C 3.84375 -3.15625 3.84375 -2.578125 3.84375 -2.203125 Z M 3.84375 -2.203125 "/>
+</symbol>
+<symbol overflow="visible" id="glyph0-4">
+<path style="stroke:none;" d="M 4.109375 -1.171875 C 4.109375 -1.28125 4.015625 -1.28125 3.984375 -1.28125 C 3.890625 -1.28125 3.875 -1.234375 3.859375 -1.171875 C 3.5625 -0.25 2.921875 -0.140625 2.5625 -0.140625 C 2.03125 -0.140625 1.15625 -0.5625 1.15625 -2.15625 C 1.15625 -3.78125 1.96875 -4.1875 2.5 -4.1875 C 2.578125 -4.1875 3.203125 -4.1875 3.5625 -3.828125 C 3.15625 -3.796875 3.09375 -3.5 3.09375 -3.375 C 3.09375 -3.109375 3.265625 -2.90625 3.546875 -2.90625 C 3.796875 -2.90625 4 -3.078125 4 -3.375 C 4 -4.046875 3.25 -4.4375 2.484375 -4.4375 C 1.25 -4.4375 0.34375 -3.375 0.34375 -2.140625 C 0.34375 -0.875 1.3125 0.109375 2.46875 0.109375 C 3.796875 0.109375 4.109375 -1.078125 4.109375 -1.171875 Z M 4.109375 -1.171875 "/>
+</symbol>
+<symbol overflow="visible" id="glyph0-5">
+<path style="stroke:none;" d="M 5.296875 0 L 5.296875 -0.3125 C 4.609375 -0.3125 4.53125 -0.375 4.53125 -0.859375 L 4.53125 -4.375 L 3.078125 -4.265625 L 3.078125 -3.96875 C 3.765625 -3.96875 3.84375 -3.890625 3.84375 -3.40625 L 3.84375 -1.640625 C 3.84375 -0.78125 3.375 -0.109375 2.640625 -0.109375 C 1.8125 -0.109375 1.765625 -0.578125 1.765625 -1.09375 L 1.765625 -4.375 L 0.3125 -4.265625 L 0.3125 -3.96875 C 1.09375 -3.96875 1.09375 -3.9375 1.09375 -3.046875 L 1.09375 -1.5625 C 1.09375 -0.796875 1.09375 0.109375 2.59375 0.109375 C 3.15625 0.109375 3.59375 -0.171875 3.875 -0.78125 L 3.875 0.109375 Z M 5.296875 0 "/>
+</symbol>
+<symbol overflow="visible" id="glyph0-6">
+<path style="stroke:none;" d="M 5.15625 -2.140625 C 5.15625 -3.390625 4.1875 -4.375 3.0625 -4.375 C 2.28125 -4.375 1.859375 -3.90625 1.703125 -3.734375 L 1.703125 -6.875 L 0.28125 -6.765625 L 0.28125 -6.453125 C 0.96875 -6.453125 1.046875 -6.390625 1.046875 -5.90625 L 1.046875 0 L 1.296875 0 L 1.65625 -0.609375 C 1.796875 -0.390625 2.21875 0.109375 2.953125 0.109375 C 4.125 0.109375 5.15625 -0.859375 5.15625 -2.140625 Z M 4.34375 -2.15625 C 4.34375 -1.78125 4.3125 -1.1875 4.03125 -0.75 C 3.828125 -0.4375 3.453125 -0.109375 2.90625 -0.109375 C 2.46875 -0.109375 2.109375 -0.34375 1.875 -0.71875 C 1.734375 -0.921875 1.734375 -0.953125 1.734375 -1.125 L 1.734375 -3.171875 C 1.734375 -3.359375 1.734375 -3.375 1.84375 -3.53125 C 2.234375 -4.078125 2.78125 -4.15625 3.015625 -4.15625 C 3.453125 -4.15625 3.8125 -3.90625 4.046875 -3.53125 C 4.3125 -3.125 4.34375 -2.5625 4.34375 -2.15625 Z M 4.34375 -2.15625 "/>
+</symbol>
+<symbol overflow="visible" id="glyph0-7">
+<path style="stroke:none;" d="M 4.109375 -1.171875 C 4.109375 -1.28125 4.03125 -1.296875 3.984375 -1.296875 C 3.890625 -1.296875 3.875 -1.234375 3.859375 -1.15625 C 3.5 -0.140625 2.609375 -0.140625 2.515625 -0.140625 C 2.015625 -0.140625 1.625 -0.4375 1.390625 -0.796875 C 1.09375 -1.28125 1.09375 -1.9375 1.09375 -2.28125 L 3.859375 -2.28125 C 4.078125 -2.28125 4.109375 -2.28125 4.109375 -2.5 C 4.109375 -3.484375 3.578125 -4.4375 2.34375 -4.4375 C 1.1875 -4.4375 0.28125 -3.421875 0.28125 -2.171875 C 0.28125 -0.859375 1.3125 0.109375 2.453125 0.109375 C 3.671875 0.109375 4.109375 -0.984375 4.109375 -1.171875 Z M 3.453125 -2.5 L 1.109375 -2.5 C 1.171875 -3.96875 2 -4.21875 2.34375 -4.21875 C 3.359375 -4.21875 3.453125 -2.875 3.453125 -2.5 Z M 3.453125 -2.5 "/>
+</symbol>
+<symbol overflow="visible" id="glyph0-8">
+<path style="stroke:none;" d="M 4.9375 -1.84375 C 4.9375 -2.828125 4.296875 -3.640625 3.453125 -3.84375 L 2.1875 -4.15625 C 1.578125 -4.296875 1.1875 -4.828125 1.1875 -5.40625 C 1.1875 -6.109375 1.71875 -6.703125 2.5 -6.703125 C 4.15625 -6.703125 4.375 -5.078125 4.421875 -4.640625 C 4.4375 -4.578125 4.4375 -4.515625 4.546875 -4.515625 C 4.671875 -4.515625 4.671875 -4.5625 4.671875 -4.75 L 4.671875 -6.75 C 4.671875 -6.921875 4.671875 -6.984375 4.5625 -6.984375 C 4.5 -6.984375 4.484375 -6.96875 4.421875 -6.859375 L 4.078125 -6.296875 C 3.78125 -6.578125 3.375 -6.984375 2.484375 -6.984375 C 1.390625 -6.984375 0.5625 -6.109375 0.5625 -5.0625 C 0.5625 -4.234375 1.078125 -3.515625 1.859375 -3.25 C 1.96875 -3.203125 2.46875 -3.09375 3.15625 -2.921875 C 3.421875 -2.859375 3.71875 -2.78125 4 -2.421875 C 4.203125 -2.15625 4.3125 -1.828125 4.3125 -1.5 C 4.3125 -0.796875 3.8125 -0.09375 2.984375 -0.09375 C 2.6875 -0.09375 1.9375 -0.140625 1.421875 -0.625 C 0.84375 -1.15625 0.8125 -1.796875 0.796875 -2.15625 C 0.796875 -2.25 0.71875 -2.25 0.6875 -2.25 C 0.5625 -2.25 0.5625 -2.171875 0.5625 -2 L 0.5625 -0.015625 C 0.5625 0.15625 0.5625 0.21875 0.65625 0.21875 C 0.734375 0.21875 0.75 0.203125 0.8125 0.09375 C 0.8125 0.09375 0.84375 0.046875 1.171875 -0.46875 C 1.46875 -0.140625 2.109375 0.21875 2.984375 0.21875 C 4.15625 0.21875 4.9375 -0.75 4.9375 -1.84375 Z M 4.9375 -1.84375 "/>
+</symbol>
+<symbol overflow="visible" id="glyph0-9">
+<path style="stroke:none;" d="M 3.609375 -3.78125 C 3.609375 -4.09375 3.296875 -4.375 2.875 -4.375 C 2.15625 -4.375 1.796875 -3.71875 1.65625 -3.28125 L 1.65625 -4.375 L 0.28125 -4.265625 L 0.28125 -3.96875 C 0.96875 -3.96875 1.046875 -3.890625 1.046875 -3.40625 L 1.046875 -0.75 C 1.046875 -0.3125 0.9375 -0.3125 0.28125 -0.3125 L 0.28125 0 L 1.40625 -0.03125 C 1.796875 -0.03125 2.265625 -0.03125 2.671875 0 L 2.671875 -0.3125 L 2.453125 -0.3125 C 1.71875 -0.3125 1.703125 -0.421875 1.703125 -0.765625 L 1.703125 -2.296875 C 1.703125 -3.28125 2.125 -4.15625 2.875 -4.15625 C 2.9375 -4.15625 2.96875 -4.15625 2.984375 -4.15625 C 2.953125 -4.140625 2.75 -4.015625 2.75 -3.765625 C 2.75 -3.484375 2.96875 -3.34375 3.1875 -3.34375 C 3.359375 -3.34375 3.609375 -3.453125 3.609375 -3.78125 Z M 3.609375 -3.78125 "/>
+</symbol>
+<symbol overflow="visible" id="glyph0-10">
+<path style="stroke:none;" d="M 4.78125 -0.875 L 4.78125 -1.4375 L 4.53125 -1.4375 L 4.53125 -0.875 C 4.53125 -0.3125 4.296875 -0.25 4.1875 -0.25 C 3.859375 -0.25 3.8125 -0.6875 3.8125 -0.75 L 3.8125 -2.71875 C 3.8125 -3.140625 3.8125 -3.53125 3.453125 -3.890625 C 3.078125 -4.28125 2.578125 -4.4375 2.09375 -4.4375 C 1.28125 -4.4375 0.609375 -3.96875 0.609375 -3.3125 C 0.609375 -3.015625 0.796875 -2.859375 1.0625 -2.859375 C 1.34375 -2.859375 1.515625 -3.046875 1.515625 -3.3125 C 1.515625 -3.421875 1.46875 -3.75 1.015625 -3.765625 C 1.28125 -4.109375 1.765625 -4.21875 2.078125 -4.21875 C 2.5625 -4.21875 3.125 -3.828125 3.125 -2.953125 L 3.125 -2.578125 C 2.625 -2.5625 1.9375 -2.53125 1.3125 -2.234375 C 0.5625 -1.890625 0.3125 -1.375 0.3125 -0.9375 C 0.3125 -0.140625 1.28125 0.109375 1.90625 0.109375 C 2.5625 0.109375 3.015625 -0.28125 3.203125 -0.75 C 3.234375 -0.359375 3.5 0.0625 3.96875 0.0625 C 4.1875 0.0625 4.78125 -0.078125 4.78125 -0.875 Z M 3.125 -1.390625 C 3.125 -0.453125 2.421875 -0.109375 1.96875 -0.109375 C 1.484375 -0.109375 1.078125 -0.453125 1.078125 -0.953125 C 1.078125 -1.5 1.5 -2.3125 3.125 -2.375 Z M 3.125 -1.390625 "/>
+</symbol>
+<symbol overflow="visible" id="glyph0-11">
+<path style="stroke:none;" d="M 2.453125 0 L 2.453125 -0.3125 C 1.796875 -0.3125 1.75 -0.359375 1.75 -0.75 L 1.75 -4.375 L 0.359375 -4.265625 L 0.359375 -3.96875 C 1.015625 -3.96875 1.09375 -3.90625 1.09375 -3.421875 L 1.09375 -0.75 C 1.09375 -0.3125 0.984375 -0.3125 0.328125 -0.3125 L 0.328125 0 L 1.421875 -0.03125 C 1.765625 -0.03125 2.109375 -0.015625 2.453125 0 Z M 1.90625 -5.984375 C 1.90625 -6.25 1.671875 -6.515625 1.375 -6.515625 C 1.046875 -6.515625 0.84375 -6.234375 0.84375 -5.984375 C 0.84375 -5.71875 1.0625 -5.453125 1.359375 -5.453125 C 1.703125 -5.453125 1.90625 -5.734375 1.90625 -5.984375 Z M 1.90625 -5.984375 "/>
+</symbol>
+<symbol overflow="visible" id="glyph0-12">
+<path style="stroke:none;" d="M 5.296875 0 L 5.296875 -0.3125 C 4.78125 -0.3125 4.53125 -0.3125 4.53125 -0.609375 L 4.53125 -2.5 C 4.53125 -3.34375 4.53125 -3.65625 4.21875 -4.015625 C 4.078125 -4.1875 3.75 -4.375 3.1875 -4.375 C 2.453125 -4.375 1.984375 -3.953125 1.71875 -3.34375 L 1.71875 -4.375 L 0.3125 -4.265625 L 0.3125 -3.96875 C 1.015625 -3.96875 1.09375 -3.890625 1.09375 -3.40625 L 1.09375 -0.75 C 1.09375 -0.3125 0.984375 -0.3125 0.3125 -0.3125 L 0.3125 0 L 1.4375 -0.03125 L 2.546875 0 L 2.546875 -0.3125 C 1.875 -0.3125 1.765625 -0.3125 1.765625 -0.75 L 1.765625 -2.578125 C 1.765625 -3.609375 2.484375 -4.15625 3.109375 -4.15625 C 3.734375 -4.15625 3.84375 -3.625 3.84375 -3.0625 L 3.84375 -0.75 C 3.84375 -0.3125 3.734375 -0.3125 3.078125 -0.3125 L 3.078125 0 L 4.1875 -0.03125 Z M 5.296875 0 "/>
+</symbol>
+<symbol overflow="visible" id="glyph0-13">
+<path style="stroke:none;" d="M 7.28125 -2.390625 L 7.28125 -2.703125 L 6.078125 -2.671875 C 5.671875 -2.671875 4.828125 -2.671875 4.484375 -2.703125 L 4.484375 -2.390625 L 4.796875 -2.390625 C 5.6875 -2.390625 5.71875 -2.28125 5.71875 -1.921875 L 5.71875 -1.28125 C 5.71875 -0.171875 4.453125 -0.09375 4.1875 -0.09375 C 3.53125 -0.09375 1.578125 -0.4375 1.578125 -3.390625 C 1.578125 -6.34375 3.53125 -6.671875 4.125 -6.671875 C 5.1875 -6.671875 6.078125 -5.78125 6.28125 -4.328125 C 6.296875 -4.1875 6.296875 -4.15625 6.4375 -4.15625 C 6.59375 -4.15625 6.59375 -4.1875 6.59375 -4.390625 L 6.59375 -6.75 C 6.59375 -6.921875 6.59375 -6.984375 6.484375 -6.984375 C 6.453125 -6.984375 6.40625 -6.984375 6.328125 -6.859375 L 5.828125 -6.125 C 5.515625 -6.453125 4.984375 -6.984375 4 -6.984375 C 2.15625 -6.984375 0.5625 -5.421875 0.5625 -3.390625 C 0.5625 -1.359375 2.140625 0.21875 4.015625 0.21875 C 4.75 0.21875 5.53125 -0.046875 5.875 -0.625 C 6 -0.40625 6.40625 -0.015625 6.515625 -0.015625 C 6.59375 -0.015625 6.59375 -0.09375 6.59375 -0.234375 L 6.59375 -1.96875 C 6.59375 -2.34375 6.640625 -2.390625 7.28125 -2.390625 Z M 7.28125 -2.390625 "/>
+</symbol>
+<symbol overflow="visible" id="glyph0-14">
+<path style="stroke:none;" d="M 4.796875 -4 C 4.796875 -4.171875 4.6875 -4.484375 4.296875 -4.484375 C 4.09375 -4.484375 3.671875 -4.421875 3.25 -4.015625 C 2.828125 -4.34375 2.421875 -4.375 2.203125 -4.375 C 1.28125 -4.375 0.59375 -3.6875 0.59375 -2.9375 C 0.59375 -2.5 0.8125 -2.125 1.0625 -1.90625 C 0.9375 -1.765625 0.75 -1.4375 0.75 -1.09375 C 0.75 -0.78125 0.875 -0.40625 1.1875 -0.203125 C 0.59375 -0.046875 0.28125 0.390625 0.28125 0.78125 C 0.28125 1.5 1.265625 2.046875 2.46875 2.046875 C 3.640625 2.046875 4.671875 1.53125 4.671875 0.765625 C 4.671875 0.421875 4.53125 -0.09375 4.015625 -0.359375 C 3.5 -0.640625 2.921875 -0.640625 2.3125 -0.640625 C 2.078125 -0.640625 1.640625 -0.640625 1.578125 -0.65625 C 1.265625 -0.6875 1.046875 -1 1.046875 -1.3125 C 1.046875 -1.359375 1.046875 -1.578125 1.21875 -1.78125 C 1.609375 -1.5 2.015625 -1.46875 2.203125 -1.46875 C 3.125 -1.46875 3.796875 -2.15625 3.796875 -2.921875 C 3.796875 -3.28125 3.640625 -3.65625 3.390625 -3.890625 C 3.75 -4.21875 4.109375 -4.265625 4.296875 -4.265625 C 4.296875 -4.265625 4.359375 -4.265625 4.390625 -4.265625 C 4.28125 -4.21875 4.234375 -4.109375 4.234375 -4 C 4.234375 -3.828125 4.359375 -3.703125 4.515625 -3.703125 C 4.609375 -3.703125 4.796875 -3.78125 4.796875 -4 Z M 3.0625 -2.9375 C 3.0625 -2.671875 3.046875 -2.34375 2.90625 -2.09375 C 2.828125 -1.984375 2.59375 -1.703125 2.203125 -1.703125 C 1.34375 -1.703125 1.34375 -2.6875 1.34375 -2.921875 C 1.34375 -3.1875 1.34375 -3.5 1.5 -3.75 C 1.578125 -3.875 1.796875 -4.15625 2.203125 -4.15625 C 3.0625 -4.15625 3.0625 -3.15625 3.0625 -2.9375 Z M 4.15625 0.78125 C 4.15625 1.3125 3.453125 1.8125 2.484375 1.8125 C 1.46875 1.8125 0.796875 1.3125 0.796875 0.78125 C 0.796875 0.328125 1.171875 -0.046875 1.609375 -0.0625 L 2.1875 -0.0625 C 3.046875 -0.0625 4.15625 -0.0625 4.15625 0.78125 Z M 4.15625 0.78125 "/>
+</symbol>
+<symbol overflow="visible" id="glyph0-15">
+<path style="stroke:none;" d="M 3.28125 2.375 C 3.28125 2.34375 3.28125 2.328125 3.109375 2.15625 C 1.875 0.90625 1.5625 -0.953125 1.5625 -2.484375 C 1.5625 -4.203125 1.9375 -5.921875 3.15625 -7.15625 C 3.28125 -7.28125 3.28125 -7.296875 3.28125 -7.328125 C 3.28125 -7.40625 3.234375 -7.4375 3.1875 -7.4375 C 3.078125 -7.4375 2.1875 -6.75 1.609375 -5.5 C 1.09375 -4.40625 0.984375 -3.3125 0.984375 -2.484375 C 0.984375 -1.703125 1.09375 -0.5 1.640625 0.609375 C 2.234375 1.828125 3.078125 2.484375 3.1875 2.484375 C 3.234375 2.484375 3.28125 2.453125 3.28125 2.375 Z M 3.28125 2.375 "/>
+</symbol>
+<symbol overflow="visible" id="glyph0-16">
+<path style="stroke:none;" d="M 2.859375 -2.484375 C 2.859375 -3.25 2.75 -4.453125 2.203125 -5.5625 C 1.609375 -6.78125 0.765625 -7.4375 0.65625 -7.4375 C 0.609375 -7.4375 0.5625 -7.390625 0.5625 -7.328125 C 0.5625 -7.296875 0.5625 -7.28125 0.75 -7.109375 C 1.71875 -6.125 2.28125 -4.546875 2.28125 -2.484375 C 2.28125 -0.78125 1.921875 0.953125 0.6875 2.203125 C 0.5625 2.328125 0.5625 2.34375 0.5625 2.375 C 0.5625 2.4375 0.609375 2.484375 0.65625 2.484375 C 0.765625 2.484375 1.65625 1.796875 2.234375 0.546875 C 2.75 -0.546875 2.859375 -1.640625 2.859375 -2.484375 Z M 2.859375 -2.484375 "/>
+</symbol>
+<symbol overflow="visible" id="glyph0-17">
+<path style="stroke:none;" d="M 6.1875 -4.921875 C 6.1875 -5.890625 5.203125 -6.765625 3.84375 -6.765625 L 0.34375 -6.765625 L 0.34375 -6.453125 L 0.578125 -6.453125 C 1.34375 -6.453125 1.359375 -6.34375 1.359375 -6 L 1.359375 -0.765625 C 1.359375 -0.421875 1.34375 -0.3125 0.578125 -0.3125 L 0.34375 -0.3125 L 0.34375 0 C 0.6875 -0.03125 1.421875 -0.03125 1.796875 -0.03125 C 2.171875 -0.03125 2.921875 -0.03125 3.265625 0 L 3.265625 -0.3125 L 3.03125 -0.3125 C 2.265625 -0.3125 2.25 -0.421875 2.25 -0.765625 L 2.25 -3.125 L 3.921875 -3.125 C 5.109375 -3.125 6.1875 -3.9375 6.1875 -4.921875 Z M 5.15625 -4.921875 C 5.15625 -4.453125 5.15625 -3.390625 3.59375 -3.390625 L 2.21875 -3.390625 L 2.21875 -6.0625 C 2.21875 -6.390625 2.234375 -6.453125 2.703125 -6.453125 L 3.59375 -6.453125 C 5.15625 -6.453125 5.15625 -5.40625 5.15625 -4.921875 Z M 5.15625 -4.921875 "/>
+</symbol>
+<symbol overflow="visible" id="glyph0-18">
+<path style="stroke:none;" d="M 5.21875 0 L 5.21875 -0.3125 C 4.53125 -0.3125 4.453125 -0.375 4.453125 -0.859375 L 4.453125 -6.875 L 3.015625 -6.765625 L 3.015625 -6.453125 C 3.71875 -6.453125 3.796875 -6.390625 3.796875 -5.90625 L 3.796875 -3.765625 C 3.5 -4.125 3.078125 -4.375 2.546875 -4.375 C 1.375 -4.375 0.34375 -3.40625 0.34375 -2.125 C 0.34375 -0.875 1.3125 0.109375 2.4375 0.109375 C 3.078125 0.109375 3.515625 -0.234375 3.765625 -0.546875 L 3.765625 0.109375 Z M 3.765625 -1.171875 C 3.765625 -0.984375 3.765625 -0.96875 3.65625 -0.796875 C 3.359375 -0.328125 2.90625 -0.109375 2.484375 -0.109375 C 2.046875 -0.109375 1.6875 -0.359375 1.453125 -0.75 C 1.1875 -1.15625 1.15625 -1.71875 1.15625 -2.125 C 1.15625 -2.484375 1.171875 -3.078125 1.46875 -3.53125 C 1.671875 -3.828125 2.046875 -4.15625 2.578125 -4.15625 C 2.9375 -4.15625 3.34375 -4.015625 3.65625 -3.5625 C 3.765625 -3.390625 3.765625 -3.375 3.765625 -3.203125 Z M 3.765625 -1.171875 "/>
+</symbol>
+<symbol overflow="visible" id="glyph0-19">
+<path style="stroke:none;" d="M 7.09375 -6.453125 L 7.09375 -6.765625 L 5.9375 -6.734375 L 4.78125 -6.765625 L 4.78125 -6.453125 C 5.796875 -6.453125 5.796875 -6 5.796875 -5.71875 L 5.796875 -1.5 L 2.296875 -6.640625 C 2.203125 -6.75 2.203125 -6.765625 2.015625 -6.765625 L 0.328125 -6.765625 L 0.328125 -6.453125 L 0.609375 -6.453125 C 0.765625 -6.453125 0.953125 -6.453125 1.109375 -6.4375 C 1.34375 -6.40625 1.34375 -6.40625 1.34375 -6.21875 L 1.34375 -1.046875 C 1.34375 -0.765625 1.34375 -0.3125 0.328125 -0.3125 L 0.328125 0 L 1.484375 -0.03125 L 2.640625 0 L 2.640625 -0.3125 C 1.625 -0.3125 1.625 -0.765625 1.625 -1.046875 L 1.625 -6.1875 C 1.671875 -6.140625 1.6875 -6.125 1.71875 -6.078125 L 5.765625 -0.125 C 5.859375 -0.015625 5.859375 0 5.9375 0 C 6.078125 0 6.078125 -0.0625 6.078125 -0.25 L 6.078125 -5.71875 C 6.078125 -6 6.078125 -6.453125 7.09375 -6.453125 Z M 7.09375 -6.453125 "/>
+</symbol>
+<symbol overflow="visible" id="glyph0-20">
+<path style="stroke:none;" d="M 2.734375 -1.859375 L 2.734375 -2.421875 L 0.109375 -2.421875 L 0.109375 -1.859375 Z M 2.734375 -1.859375 "/>
+</symbol>
+<symbol overflow="visible" id="glyph0-21">
+<path style="stroke:none;" d="M 2.53125 0 L 2.53125 -0.3125 C 1.859375 -0.3125 1.75 -0.3125 1.75 -0.75 L 1.75 -6.875 L 0.328125 -6.765625 L 0.328125 -6.453125 C 1.015625 -6.453125 1.09375 -6.390625 1.09375 -5.90625 L 1.09375 -0.75 C 1.09375 -0.3125 0.984375 -0.3125 0.328125 -0.3125 L 0.328125 0 L 1.421875 -0.03125 Z M 2.53125 0 "/>
+</symbol>
+<symbol overflow="visible" id="glyph0-22">
+<path style="stroke:none;" d="M 5.03125 -3.96875 L 5.03125 -4.265625 C 4.796875 -4.25 4.515625 -4.234375 4.296875 -4.234375 L 3.421875 -4.265625 L 3.421875 -3.96875 C 3.734375 -3.953125 3.890625 -3.78125 3.890625 -3.53125 C 3.890625 -3.4375 3.890625 -3.421875 3.828125 -3.296875 L 2.828125 -0.859375 L 1.734375 -3.53125 C 1.6875 -3.625 1.671875 -3.671875 1.671875 -3.703125 C 1.671875 -3.96875 2.046875 -3.96875 2.234375 -3.96875 L 2.234375 -4.265625 L 1.15625 -4.234375 C 0.875 -4.234375 0.484375 -4.25 0.1875 -4.265625 L 0.1875 -3.96875 C 0.65625 -3.96875 0.859375 -3.96875 0.984375 -3.609375 L 2.484375 0 L 2.234375 0.578125 C 2.015625 1.125 1.734375 1.8125 1.09375 1.8125 C 1.046875 1.8125 0.828125 1.8125 0.640625 1.640625 C 0.9375 1.59375 1.015625 1.375 1.015625 1.21875 C 1.015625 0.953125 0.828125 0.796875 0.609375 0.796875 C 0.40625 0.796875 0.1875 0.9375 0.1875 1.234375 C 0.1875 1.671875 0.609375 2.03125 1.09375 2.03125 C 1.71875 2.03125 2.125 1.46875 2.375 0.90625 L 4.109375 -3.328125 C 4.375 -3.953125 4.875 -3.96875 5.03125 -3.96875 Z M 5.03125 -3.96875 "/>
+</symbol>
+<symbol overflow="visible" id="glyph1-0">
+<path style="stroke:none;" d=""/>
+</symbol>
+<symbol overflow="visible" id="glyph1-1">
+<path style="stroke:none;" d="M 7.140625 -2.59375 C 7.140625 -2.671875 7.09375 -2.703125 7.015625 -2.703125 C 6.78125 -2.703125 6.203125 -2.671875 5.96875 -2.671875 L 4.59375 -2.703125 C 4.5 -2.703125 4.375 -2.703125 4.375 -2.5 C 4.375 -2.390625 4.453125 -2.390625 4.671875 -2.390625 C 4.671875 -2.390625 4.96875 -2.390625 5.203125 -2.375 C 5.453125 -2.34375 5.515625 -2.3125 5.515625 -2.1875 C 5.515625 -2.09375 5.40625 -1.65625 5.296875 -1.28125 C 5.015625 -0.203125 3.734375 -0.09375 3.390625 -0.09375 C 2.4375 -0.09375 1.390625 -0.65625 1.390625 -2.171875 C 1.390625 -2.484375 1.5 -4.109375 2.53125 -5.40625 C 3.078125 -6.078125 4.03125 -6.671875 5.015625 -6.671875 C 6.015625 -6.671875 6.609375 -5.90625 6.609375 -4.765625 C 6.609375 -4.375 6.578125 -4.359375 6.578125 -4.265625 C 6.578125 -4.15625 6.6875 -4.15625 6.71875 -4.15625 C 6.859375 -4.15625 6.859375 -4.1875 6.90625 -4.359375 L 7.53125 -6.890625 C 7.53125 -6.921875 7.515625 -6.984375 7.421875 -6.984375 C 7.390625 -6.984375 7.375 -6.96875 7.265625 -6.859375 L 6.578125 -6.109375 C 6.484375 -6.234375 6.03125 -6.984375 4.9375 -6.984375 C 2.71875 -6.984375 0.5 -4.796875 0.5 -2.5 C 0.5 -0.921875 1.59375 0.21875 3.203125 0.21875 C 3.640625 0.21875 4.078125 0.125 4.4375 -0.015625 C 4.9375 -0.21875 5.125 -0.421875 5.296875 -0.625 C 5.390625 -0.375 5.640625 -0.015625 5.75 -0.015625 C 5.796875 -0.015625 5.8125 -0.046875 5.8125 -0.046875 C 5.828125 -0.0625 5.9375 -0.453125 5.984375 -0.65625 L 6.171875 -1.421875 C 6.21875 -1.578125 6.265625 -1.75 6.296875 -1.921875 C 6.40625 -2.375 6.421875 -2.390625 6.984375 -2.390625 C 7.03125 -2.390625 7.140625 -2.40625 7.140625 -2.59375 Z M 7.140625 -2.59375 "/>
+</symbol>
+<symbol overflow="visible" id="glyph1-2">
+<path style="stroke:none;" d="M 3.921875 -1.53125 C 3.921875 -1.890625 3.734375 -2.140625 3.609375 -2.265625 C 3.34375 -2.53125 3.0625 -2.578125 2.625 -2.671875 C 2.265625 -2.75 1.875 -2.828125 1.875 -3.265625 C 1.875 -3.5625 2.109375 -4.15625 2.984375 -4.15625 C 3.234375 -4.15625 3.71875 -4.09375 3.875 -3.703125 C 3.59375 -3.6875 3.390625 -3.484375 3.390625 -3.265625 C 3.390625 -3.125 3.484375 -2.96875 3.703125 -2.96875 C 3.921875 -2.96875 4.15625 -3.140625 4.15625 -3.53125 C 4.15625 -3.96875 3.734375 -4.375 2.984375 -4.375 C 1.671875 -4.375 1.3125 -3.375 1.3125 -2.9375 C 1.3125 -2.15625 2.046875 -2.015625 2.328125 -1.953125 C 2.84375 -1.859375 3.359375 -1.75 3.359375 -1.203125 C 3.359375 -0.9375 3.125 -0.109375 1.9375 -0.109375 C 1.796875 -0.109375 1.046875 -0.109375 0.8125 -0.640625 C 1.1875 -0.578125 1.4375 -0.875 1.4375 -1.15625 C 1.4375 -1.390625 1.28125 -1.5 1.0625 -1.5 C 0.8125 -1.5 0.515625 -1.296875 0.515625 -0.859375 C 0.515625 -0.28125 1.078125 0.109375 1.9375 0.109375 C 3.53125 0.109375 3.921875 -1.09375 3.921875 -1.53125 Z M 3.921875 -1.53125 "/>
+</symbol>
+<symbol overflow="visible" id="glyph1-3">
+<path style="stroke:none;" d="M 5.375 -1.421875 C 5.375 -1.515625 5.296875 -1.515625 5.265625 -1.515625 C 5.15625 -1.515625 5.15625 -1.46875 5.125 -1.34375 C 4.984375 -0.78125 4.796875 -0.109375 4.375 -0.109375 C 4.171875 -0.109375 4.078125 -0.234375 4.078125 -0.5625 C 4.078125 -0.78125 4.1875 -1.25 4.265625 -1.59375 L 4.546875 -2.671875 C 4.578125 -2.8125 4.671875 -3.1875 4.71875 -3.34375 C 4.765625 -3.5625 4.859375 -3.9375 4.859375 -4 C 4.859375 -4.1875 4.71875 -4.265625 4.578125 -4.265625 C 4.53125 -4.265625 4.265625 -4.265625 4.1875 -3.921875 L 3.453125 -0.9375 C 3.4375 -0.90625 3.046875 -0.109375 2.3125 -0.109375 C 1.796875 -0.109375 1.703125 -0.5625 1.703125 -0.921875 C 1.703125 -1.46875 1.984375 -2.265625 2.234375 -2.9375 C 2.359375 -3.234375 2.40625 -3.375 2.40625 -3.5625 C 2.40625 -4.015625 2.09375 -4.375 1.59375 -4.375 C 0.65625 -4.375 0.28125 -2.9375 0.28125 -2.859375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.78125 0.5625 -2.9375 C 0.8125 -3.796875 1.1875 -4.15625 1.5625 -4.15625 C 1.65625 -4.15625 1.8125 -4.15625 1.8125 -3.828125 C 1.8125 -3.59375 1.703125 -3.3125 1.640625 -3.15625 C 1.28125 -2.171875 1.0625 -1.5625 1.0625 -1.078125 C 1.0625 -0.140625 1.75 0.109375 2.28125 0.109375 C 2.9375 0.109375 3.296875 -0.34375 3.46875 -0.5625 C 3.578125 -0.15625 3.921875 0.109375 4.34375 0.109375 C 4.703125 0.109375 4.921875 -0.125 5.078125 -0.4375 C 5.25 -0.796875 5.375 -1.421875 5.375 -1.421875 Z M 5.375 -1.421875 "/>
+</symbol>
+<symbol overflow="visible" id="glyph1-4">
+<path style="stroke:none;" d="M 4.9375 -1.421875 C 4.9375 -1.515625 4.84375 -1.515625 4.8125 -1.515625 C 4.71875 -1.515625 4.703125 -1.46875 4.671875 -1.34375 C 4.5 -0.6875 4.328125 -0.109375 3.921875 -0.109375 C 3.65625 -0.109375 3.625 -0.359375 3.625 -0.5625 C 3.625 -0.796875 3.640625 -0.875 3.6875 -1.046875 L 5.109375 -6.765625 C 5.109375 -6.765625 5.109375 -6.875 4.984375 -6.875 C 4.828125 -6.875 3.890625 -6.78125 3.71875 -6.765625 C 3.640625 -6.75 3.59375 -6.703125 3.59375 -6.578125 C 3.59375 -6.453125 3.671875 -6.453125 3.828125 -6.453125 C 4.296875 -6.453125 4.3125 -6.390625 4.3125 -6.296875 L 4.296875 -6.09375 L 3.6875 -3.75 C 3.515625 -4.109375 3.234375 -4.375 2.78125 -4.375 C 1.625 -4.375 0.390625 -2.921875 0.390625 -1.46875 C 0.390625 -0.546875 0.9375 0.109375 1.71875 0.109375 C 1.90625 0.109375 2.40625 0.0625 3 -0.640625 C 3.078125 -0.21875 3.421875 0.109375 3.90625 0.109375 C 4.25 0.109375 4.484375 -0.125 4.640625 -0.4375 C 4.796875 -0.796875 4.9375 -1.421875 4.9375 -1.421875 Z M 3.546875 -3.125 L 3.046875 -1.171875 C 3 -1 3 -0.984375 2.859375 -0.8125 C 2.421875 -0.265625 2.015625 -0.109375 1.734375 -0.109375 C 1.234375 -0.109375 1.09375 -0.65625 1.09375 -1.046875 C 1.09375 -1.53125 1.421875 -2.75 1.640625 -3.203125 C 1.953125 -3.796875 2.390625 -4.15625 2.796875 -4.15625 C 3.4375 -4.15625 3.578125 -3.34375 3.578125 -3.28125 C 3.578125 -3.234375 3.5625 -3.171875 3.546875 -3.125 Z M 3.546875 -3.125 "/>
+</symbol>
+<symbol overflow="visible" id="glyph1-5">
+<path style="stroke:none;" d="M 4.8125 -3.78125 C 4.859375 -3.90625 4.859375 -3.9375 4.859375 -4 C 4.859375 -4.1875 4.71875 -4.265625 4.5625 -4.265625 C 4.46875 -4.265625 4.3125 -4.203125 4.21875 -4.0625 C 4.203125 -4.015625 4.125 -3.703125 4.078125 -3.53125 L 3.890625 -2.734375 L 3.4375 -0.953125 C 3.390625 -0.796875 2.96875 -0.109375 2.3125 -0.109375 C 1.8125 -0.109375 1.703125 -0.546875 1.703125 -0.90625 C 1.703125 -1.359375 1.875 -1.984375 2.203125 -2.859375 C 2.375 -3.265625 2.40625 -3.375 2.40625 -3.5625 C 2.40625 -4.015625 2.09375 -4.375 1.59375 -4.375 C 0.65625 -4.375 0.28125 -2.9375 0.28125 -2.859375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.78125 0.5625 -2.9375 C 0.828125 -3.859375 1.234375 -4.15625 1.5625 -4.15625 C 1.640625 -4.15625 1.8125 -4.15625 1.8125 -3.84375 C 1.8125 -3.59375 1.71875 -3.34375 1.640625 -3.15625 C 1.25 -2.09375 1.0625 -1.53125 1.0625 -1.0625 C 1.0625 -0.1875 1.6875 0.109375 2.28125 0.109375 C 2.671875 0.109375 3 -0.0625 3.28125 -0.34375 C 3.15625 0.171875 3.03125 0.65625 2.640625 1.1875 C 2.375 1.53125 2 1.8125 1.546875 1.8125 C 1.40625 1.8125 0.953125 1.78125 0.796875 1.390625 C 0.953125 1.390625 1.078125 1.390625 1.21875 1.28125 C 1.3125 1.1875 1.421875 1.0625 1.421875 0.875 C 1.421875 0.5625 1.15625 0.53125 1.046875 0.53125 C 0.828125 0.53125 0.5 0.6875 0.5 1.171875 C 0.5 1.671875 0.9375 2.03125 1.546875 2.03125 C 2.5625 2.03125 3.59375 1.125 3.859375 0.015625 Z M 4.8125 -3.78125 "/>
+</symbol>
+<symbol overflow="visible" id="glyph1-6">
+<path style="stroke:none;" d="M 5.65625 -1.421875 C 5.65625 -1.515625 5.5625 -1.515625 5.53125 -1.515625 C 5.4375 -1.515625 5.4375 -1.484375 5.390625 -1.34375 C 5.1875 -0.65625 4.859375 -0.109375 4.375 -0.109375 C 4.203125 -0.109375 4.140625 -0.203125 4.140625 -0.4375 C 4.140625 -0.6875 4.234375 -0.921875 4.3125 -1.140625 C 4.5 -1.671875 4.921875 -2.75 4.921875 -3.3125 C 4.921875 -3.984375 4.5 -4.375 3.78125 -4.375 C 2.890625 -4.375 2.40625 -3.75 2.234375 -3.515625 C 2.1875 -4.078125 1.78125 -4.375 1.328125 -4.375 C 0.875 -4.375 0.6875 -4 0.578125 -3.8125 C 0.421875 -3.484375 0.28125 -2.890625 0.28125 -2.859375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.765625 0.578125 -2.984375 C 0.75 -3.6875 0.9375 -4.15625 1.296875 -4.15625 C 1.5 -4.15625 1.609375 -4.03125 1.609375 -3.703125 C 1.609375 -3.5 1.578125 -3.390625 1.453125 -2.875 L 0.875 -0.578125 C 0.84375 -0.4375 0.78125 -0.203125 0.78125 -0.15625 C 0.78125 0.015625 0.921875 0.109375 1.0625 0.109375 C 1.1875 0.109375 1.359375 0.03125 1.4375 -0.171875 C 1.453125 -0.1875 1.5625 -0.65625 1.625 -0.90625 L 1.84375 -1.796875 C 1.90625 -2.015625 1.96875 -2.234375 2.015625 -2.453125 L 2.140625 -2.953125 C 2.28125 -3.265625 2.8125 -4.15625 3.75 -4.15625 C 4.203125 -4.15625 4.296875 -3.796875 4.296875 -3.46875 C 4.296875 -2.859375 3.796875 -1.578125 3.640625 -1.15625 C 3.5625 -0.9375 3.546875 -0.8125 3.546875 -0.703125 C 3.546875 -0.234375 3.890625 0.109375 4.359375 0.109375 C 5.296875 0.109375 5.65625 -1.34375 5.65625 -1.421875 Z M 5.65625 -1.421875 "/>
+</symbol>
+<symbol overflow="visible" id="glyph2-0">
+<path style="stroke:none;" d=""/>
+</symbol>
+<symbol overflow="visible" id="glyph2-1">
+<path style="stroke:none;" d="M 11.515625 -4.265625 C 11.515625 -4.5625 11.234375 -4.5625 10.984375 -4.5625 L 6.453125 -4.5625 L 6.453125 -9.109375 C 6.453125 -9.34375 6.453125 -9.625 6.15625 -9.625 C 5.84375 -9.625 5.84375 -9.359375 5.84375 -9.109375 L 5.84375 -4.5625 L 1.3125 -4.5625 C 1.078125 -4.5625 0.78125 -4.5625 0.78125 -4.28125 C 0.78125 -3.96875 1.0625 -3.96875 1.3125 -3.96875 L 5.84375 -3.96875 L 5.84375 0.5625 C 5.84375 0.796875 5.84375 1.09375 6.140625 1.09375 C 6.453125 1.09375 6.453125 0.828125 6.453125 0.5625 L 6.453125 -3.96875 L 10.984375 -3.96875 C 11.21875 -3.96875 11.515625 -3.96875 11.515625 -4.265625 Z M 11.515625 -4.265625 "/>
+</symbol>
+<symbol overflow="visible" id="glyph3-0">
+<path style="stroke:none;" d=""/>
+</symbol>
+<symbol overflow="visible" id="glyph3-1">
+<path style="stroke:none;" d="M 3.96875 -0.984375 C 3.96875 -1.078125 3.875 -1.078125 3.84375 -1.078125 C 3.75 -1.078125 3.75 -1.046875 3.703125 -0.875 C 3.609375 -0.53125 3.484375 -0.125 3.1875 -0.125 C 3.015625 -0.125 2.96875 -0.28125 2.96875 -0.46875 C 2.96875 -0.578125 3.015625 -0.828125 3.0625 -1.015625 L 3.21875 -1.640625 C 3.28125 -1.890625 3.296875 -1.9375 3.359375 -2.171875 C 3.40625 -2.34375 3.484375 -2.671875 3.484375 -2.703125 C 3.484375 -2.859375 3.359375 -2.921875 3.25 -2.921875 C 3.125 -2.921875 2.96875 -2.84375 2.921875 -2.65625 C 2.78125 -2.875 2.546875 -3.0625 2.21875 -3.0625 C 1.328125 -3.0625 0.421875 -2.078125 0.421875 -1.078125 C 0.421875 -0.40625 0.875 0.0625 1.46875 0.0625 C 1.84375 0.0625 2.171875 -0.140625 2.453125 -0.421875 C 2.59375 0 2.984375 0.0625 3.171875 0.0625 C 3.421875 0.0625 3.59375 -0.078125 3.71875 -0.296875 C 3.875 -0.5625 3.96875 -0.96875 3.96875 -0.984375 Z M 2.8125 -2.171875 L 2.484375 -0.875 C 2.4375 -0.671875 2.28125 -0.53125 2.125 -0.40625 C 2.0625 -0.34375 1.796875 -0.125 1.484375 -0.125 C 1.234375 -0.125 0.984375 -0.3125 0.984375 -0.796875 C 0.984375 -1.171875 1.1875 -1.921875 1.34375 -2.203125 C 1.671875 -2.765625 2.015625 -2.859375 2.21875 -2.859375 C 2.703125 -2.859375 2.828125 -2.34375 2.828125 -2.265625 C 2.828125 -2.234375 2.8125 -2.1875 2.8125 -2.171875 Z M 2.8125 -2.171875 "/>
+</symbol>
+<symbol overflow="visible" id="glyph3-2">
+<path style="stroke:none;" d="M 2.9375 0.46875 L 3.6875 -2.5625 C 3.71875 -2.65625 3.71875 -2.703125 3.71875 -2.703125 C 3.71875 -2.859375 3.59375 -2.921875 3.484375 -2.921875 C 3.328125 -2.921875 3.1875 -2.796875 3.15625 -2.65625 C 3.046875 -2.84375 2.8125 -3.0625 2.453125 -3.0625 C 1.578125 -3.0625 0.671875 -2.125 0.671875 -1.140625 C 0.671875 -0.421875 1.15625 0 1.734375 0 C 2.046875 0 2.359375 -0.15625 2.59375 -0.375 C 2.484375 0.0625 2.546875 -0.1875 2.4375 0.25 C 2.359375 0.546875 2.3125 0.734375 2.046875 0.96875 C 1.75 1.21875 1.453125 1.21875 1.28125 1.21875 C 0.953125 1.21875 0.875 1.203125 0.75 1.171875 C 0.921875 1.09375 0.96875 0.921875 0.96875 0.828125 C 0.96875 0.65625 0.828125 0.5625 0.6875 0.5625 C 0.5 0.5625 0.296875 0.734375 0.296875 0.984375 C 0.296875 1.40625 0.890625 1.421875 1.28125 1.421875 C 2.375 1.421875 2.84375 0.859375 2.9375 0.46875 Z M 2.734375 -0.921875 C 2.703125 -0.8125 2.703125 -0.8125 2.59375 -0.671875 C 2.34375 -0.375 2.015625 -0.1875 1.75 -0.1875 C 1.390625 -0.1875 1.234375 -0.5 1.234375 -0.859375 C 1.234375 -1.15625 1.421875 -1.9375 1.59375 -2.234375 C 1.890625 -2.71875 2.21875 -2.859375 2.453125 -2.859375 C 2.9375 -2.859375 3.0625 -2.34375 3.0625 -2.28125 C 3.0625 -2.28125 3.0625 -2.25 3.046875 -2.171875 Z M 2.734375 -0.921875 "/>
+</symbol>
+</g>
+<clipPath id="clip1">
+  <path d="M 219 91 L 268 91 L 268 132.347656 L 219 132.347656 Z M 219 91 "/>
+</clipPath>
+<clipPath id="clip2">
+  <path d="M 0.5 44 L 26 44 L 26 46 L 0.5 46 Z M 0.5 44 "/>
+</clipPath>
+<clipPath id="clip3">
+  <path d="M 267 29 L 287.925781 29 L 287.925781 61 L 267 61 Z M 267 29 "/>
+</clipPath>
+<clipPath id="clip4">
+  <path d="M 267 99 L 287.925781 99 L 287.925781 132 L 267 132 Z M 267 99 "/>
+</clipPath>
+</defs>
+<g id="surface1">
+<path style="fill-rule:nonzero;fill:rgb(79.998779%,88.938904%,94.819641%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 88.145751 -20.649762 L 221.799738 -20.649762 L 221.799738 44.286644 L 88.145751 44.286644 Z M 88.145751 -20.649762 " transform="matrix(0.993821,0,0,-0.993821,47.062973,45.005179)"/>
+<path style="fill-rule:nonzero;fill:rgb(96.998596%,86.499023%,81.959534%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 88.145751 -86.891105 L 221.615003 -86.891105 L 221.615003 -26.663483 L 88.145751 -26.663483 Z M 88.145751 -86.891105 " transform="matrix(0.993821,0,0,-0.993821,47.062973,45.005179)"/>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph0-1" x="137.964789" y="11.112905"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph0-2" x="145.11334" y="11.112905"/>
+  <use xlink:href="#glyph0-2" x="148.963854" y="11.112905"/>
+  <use xlink:href="#glyph0-3" x="152.814369" y="11.112905"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph0-4" x="158.042118" y="11.112905"/>
+  <use xlink:href="#glyph0-5" x="162.44313" y="11.112905"/>
+  <use xlink:href="#glyph0-6" x="167.944148" y="11.112905"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph0-7" x="173.722395" y="11.112905"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph0-8" x="137.964789" y="81.623504"/>
+  <use xlink:href="#glyph0-2" x="143.465807" y="81.623504"/>
+  <use xlink:href="#glyph0-9" x="147.316321" y="81.623504"/>
+  <use xlink:href="#glyph0-10" x="151.194558" y="81.623504"/>
+  <use xlink:href="#glyph0-11" x="156.145079" y="81.623504"/>
+  <use xlink:href="#glyph0-12" x="158.895587" y="81.623504"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph0-13" x="167.693652" y="81.623504"/>
+  <use xlink:href="#glyph0-10" x="175.462998" y="81.623504"/>
+  <use xlink:href="#glyph0-5" x="180.413518" y="81.623504"/>
+  <use xlink:href="#glyph0-14" x="185.914536" y="81.623504"/>
+  <use xlink:href="#glyph0-7" x="190.865056" y="81.623504"/>
+</g>
+<path style="fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M -17.00791 -14.172236 L 17.006959 -14.172236 L 17.006959 14.174798 L -17.00791 14.174798 Z M -17.00791 -14.172236 " transform="matrix(0.993821,0,0,-0.993821,47.062973,45.005179)"/>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph1-1" x="36.999543" y="47.479793"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph0-15" x="44.784142" y="47.479793"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph1-2" x="48.634204" y="47.479793"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph0-16" x="53.275347" y="47.479793"/>
+</g>
+<path style="fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 65.777064 0.00128092 C 65.777064 5.504033 61.319835 9.961262 55.817083 9.961262 C 50.314331 9.961262 45.853171 5.504033 45.853171 0.00128092 C 45.853171 -5.501471 50.314331 -9.962631 55.817083 -9.962631 C 61.319835 -9.962631 65.777064 -5.501471 65.777064 0.00128092 Z M 65.777064 0.00128092 " transform="matrix(0.993821,0,0,-0.993821,47.062973,45.005179)"/>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph2-1" x="96.374378" y="49.145437"/>
+</g>
+<path style="fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 94.623277 -14.172236 L 158.577047 -14.172236 L 158.577047 14.174798 L 94.623277 14.174798 Z M 94.623277 -14.172236 " transform="matrix(0.993821,0,0,-0.993821,47.062973,45.005179)"/>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph0-17" x="155.195655" y="41.511899"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph0-7" x="161.657074" y="41.511899"/>
+  <use xlink:href="#glyph0-9" x="166.058087" y="41.511899"/>
+  <use xlink:href="#glyph0-11" x="169.936324" y="41.511899"/>
+  <use xlink:href="#glyph0-3" x="172.686833" y="41.511899"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph0-18" x="177.914582" y="41.511899"/>
+  <use xlink:href="#glyph0-11" x="183.4156" y="41.511899"/>
+  <use xlink:href="#glyph0-4" x="186.166109" y="41.511899"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph0-19" x="144.399779" y="53.393028"/>
+  <use xlink:href="#glyph0-3" x="151.825559" y="53.393028"/>
+  <use xlink:href="#glyph0-12" x="156.776079" y="53.393028"/>
+  <use xlink:href="#glyph0-20" x="162.277097" y="53.393028"/>
+  <use xlink:href="#glyph0-21" x="165.577114" y="53.393028"/>
+  <use xlink:href="#glyph0-11" x="168.327623" y="53.393028"/>
+  <use xlink:href="#glyph0-12" x="171.078131" y="53.393028"/>
+  <use xlink:href="#glyph0-7" x="176.579149" y="53.393028"/>
+  <use xlink:href="#glyph0-10" x="180.980162" y="53.393028"/>
+  <use xlink:href="#glyph0-9" x="185.930682" y="53.393028"/>
+  <use xlink:href="#glyph0-11" x="189.808919" y="53.393028"/>
+  <use xlink:href="#glyph0-2" x="192.559428" y="53.393028"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph0-22" x="196.132713" y="53.393028"/>
+</g>
+<path style="fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 207.347153 0.00128092 C 207.347153 5.504033 202.889924 9.961262 197.387172 9.961262 C 191.88442 9.961262 187.42326 5.504033 187.42326 0.00128092 C 187.42326 -5.501471 191.88442 -9.962631 197.387172 -9.962631 C 202.889924 -9.962631 207.347153 -5.501471 207.347153 0.00128092 Z M 207.347153 0.00128092 " transform="matrix(0.993821,0,0,-0.993821,47.062973,45.005179)"/>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph2-1" x="237.068608" y="49.145437"/>
+</g>
+<path style=" stroke:none;fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;" d="M 253.128906 115.515625 C 253.128906 110.046875 248.699219 105.617188 243.230469 105.617188 C 237.761719 105.617188 233.328125 110.046875 233.328125 115.515625 C 233.328125 120.984375 237.761719 125.417969 243.230469 125.417969 C 248.699219 125.417969 253.128906 120.984375 253.128906 115.515625 Z M 253.128906 115.515625 "/>
+<g clip-path="url(#clip1)" clip-rule="nonzero">
+<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 207.347153 -70.948846 C 207.347153 -65.446094 202.889924 -60.988865 197.387172 -60.988865 C 191.88442 -60.988865 187.42326 -65.446094 187.42326 -70.948846 C 187.42326 -76.451598 191.88442 -80.912758 197.387172 -80.912758 C 202.889924 -80.912758 207.347153 -76.451598 207.347153 -70.948846 Z M 207.347153 -70.948846 " transform="matrix(0.993821,0,0,-0.993821,47.062973,45.005179)"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph2-1" x="237.068608" y="119.656036"/>
+</g>
+<g clip-path="url(#clip2)" clip-rule="nonzero">
+<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M -45.854123 0.00128092 L -22.141192 0.00128092 " transform="matrix(0.993821,0,0,-0.993821,47.062973,45.005179)"/>
+</g>
+<path style="fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 6.052248 0.00128092 L 1.60681 1.683551 L 3.088622 0.00128092 L 1.60681 -1.68492 Z M 6.052248 0.00128092 " transform="matrix(0.993821,0,0,-0.993821,22.239056,45.005179)"/>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph1-3" x="5.288705" y="41.209777"/>
+</g>
+<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 17.506137 0.00128092 L 41.219068 0.00128092 " transform="matrix(0.993821,0,0,-0.993821,47.062973,45.005179)"/>
+<path style="fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 6.053327 0.00128092 L 1.60789 1.683551 L 3.085772 0.00128092 L 1.60789 -1.68492 Z M 6.053327 0.00128092 " transform="matrix(0.993821,0,0,-0.993821,85.206733,45.005179)"/>
+<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 65.777064 0.00128092 L 89.489995 0.00128092 " transform="matrix(0.993821,0,0,-0.993821,47.062973,45.005179)"/>
+<path style="fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 6.051915 0.00128092 L 1.610407 1.683551 L 3.088289 0.00128092 L 1.610407 -1.68492 Z M 6.051915 0.00128092 " transform="matrix(0.993821,0,0,-0.993821,133.180793,45.005179)"/>
+<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 55.817083 38.308296 L 55.817083 14.595366 " transform="matrix(0.993821,0,0,-0.993821,47.062973,45.005179)"/>
+<path style="fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 6.054654 0.00131291 L 1.609216 1.683583 L 3.087098 0.00131291 L 1.609216 -1.684888 Z M 6.054654 0.00131291 " transform="matrix(0,0.993821,0.993821,0,102.533851,27.678071)"/>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph1-4" x="106.327494" y="17.60355"/>
+</g>
+<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 159.076226 0.00128092 L 182.789157 0.00128092 " transform="matrix(0.993821,0,0,-0.993821,47.062973,45.005179)"/>
+<path style="fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 6.053086 0.00128092 L 1.607648 1.683551 L 3.089461 0.00128092 L 1.607648 -1.68492 Z M 6.053086 0.00128092 " transform="matrix(0.993821,0,0,-0.993821,225.902285,45.005179)"/>
+<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 207.347153 0.00128092 L 236.731849 0.00128092 " transform="matrix(0.993821,0,0,-0.993821,47.062973,45.005179)"/>
+<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 285.527344 45.003906 L 281.109375 43.332031 L 282.578125 45.003906 L 281.109375 46.679688 Z M 285.527344 45.003906 "/>
+<g clip-path="url(#clip3)" clip-rule="nonzero">
+<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 6.054159 0.00128092 L 1.608721 1.683551 L 3.086603 0.00128092 L 1.608721 -1.68492 Z M 6.054159 0.00128092 " transform="matrix(0.993821,0,0,-0.993821,279.510594,45.005179)"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph1-5" x="273.494132" y="39.284746"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-1" x="278.347953" y="40.769515"/>
+</g>
+<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 197.387172 38.308296 L 197.387172 14.595366 " transform="matrix(0.993821,0,0,-0.993821,47.062973,45.005179)"/>
+<path style="fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 6.054654 0.00107178 L 1.609216 1.683342 L 3.087098 0.00107178 L 1.609216 -1.681198 Z M 6.054654 0.00107178 " transform="matrix(0,0.993821,0.993821,0,243.229404,27.678071)"/>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph1-6" x="247.021725" y="14.990794"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-1" x="252.964774" y="16.475563"/>
+</g>
+<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 77.116664 0.00128092 L 77.116664 -70.948846 L 182.789157 -70.948846 " transform="matrix(0.993821,0,0,-0.993821,47.062973,45.005179)"/>
+<path style="fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 6.053086 0.00101392 L 1.607648 1.683284 L 3.089461 0.00101392 L 1.607648 -1.681256 Z M 6.053086 0.00101392 " transform="matrix(0.993821,0,0,-0.993821,225.902285,115.516633)"/>
+<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 125.683594 45.003906 C 125.683594 43.910156 124.796875 43.023438 123.703125 43.023438 C 122.609375 43.023438 121.722656 43.910156 121.722656 45.003906 C 121.722656 46.097656 122.609375 46.984375 123.703125 46.984375 C 124.796875 46.984375 125.683594 46.097656 125.683594 45.003906 Z M 125.683594 45.003906 "/>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph1-5" x="121.097661" y="39.284746"/>
+</g>
+<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 207.347153 -70.948846 L 236.731849 -70.948846 " transform="matrix(0.993821,0,0,-0.993821,47.062973,45.005179)"/>
+<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 285.527344 115.515625 L 281.109375 113.84375 L 282.578125 115.515625 L 281.109375 117.1875 Z M 285.527344 115.515625 "/>
+<g clip-path="url(#clip4)" clip-rule="nonzero">
+<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 6.054159 0.00101392 L 1.608721 1.683284 L 3.086603 0.00101392 L 1.608721 -1.681256 Z M 6.054159 0.00101392 " transform="matrix(0.993821,0,0,-0.993821,279.510594,115.516633)"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph1-5" x="273.676995" y="108.887986"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-2" x="278.53181" y="110.372755"/>
+</g>
+<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 197.387172 -32.641831 L 197.387172 -56.354761 " transform="matrix(0.993821,0,0,-0.993821,47.062973,45.005179)"/>
+<path style="fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 6.054931 0.00107178 L 1.609493 1.683342 L 3.087375 0.00107178 L 1.609493 -1.681198 Z M 6.054931 0.00107178 " transform="matrix(0,0.993821,0.993821,0,243.229404,98.189514)"/>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph1-6" x="247.021725" y="85.501393"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-2" x="252.964774" y="86.986162"/>
+</g>
+</g>
+</svg>
--- a/figs/metrology_schematic.pdf
+++ b/figs/metrology_schematic.pdf
--- a/figs/metrology_schematic.png
+++ b/figs/metrology_schematic.png
--- a/figs/metrology_schematic.svg
+++ b/figs/metrology_schematic.svg
--- a/figs/schematic_sensor_jacobian_forward_kinematics_1.pdf
+++ b/figs/schematic_sensor_jacobian_forward_kinematics_1.pdf
--- a/figs/schematic_sensor_jacobian_forward_kinematics_1.png
+++ b/figs/schematic_sensor_jacobian_forward_kinematics_1.png
--- a/figs/schematic_sensor_jacobian_forward_kinematics_1.svg
+++ b/figs/schematic_sensor_jacobian_forward_kinematics_1.svg
@ -0,0 +1,186 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="122.048pt" height="58.676pt" viewBox="0 0 122.048 58.676" version="1.2">
+<defs>
+<g>
+<symbol overflow="visible" id="glyph0-0">
+<path style="stroke:none;" d=""/>
+</symbol>
+<symbol overflow="visible" id="glyph0-1">
+<path style="stroke:none;" d="M 5.953125 -6.125 C 6 -6.28125 6 -6.296875 6.078125 -6.296875 C 6.1875 -6.3125 6.328125 -6.3125 6.453125 -6.3125 C 6.703125 -6.3125 6.859375 -6.3125 6.859375 -6.609375 C 6.859375 -6.625 6.859375 -6.78125 6.65625 -6.78125 C 6.453125 -6.78125 6.234375 -6.765625 6.03125 -6.765625 C 5.8125 -6.765625 5.578125 -6.75 5.34375 -6.75 C 4.96875 -6.75 4.015625 -6.78125 3.625 -6.78125 C 3.515625 -6.78125 3.328125 -6.78125 3.328125 -6.5 C 3.328125 -6.3125 3.484375 -6.3125 3.671875 -6.3125 L 4.015625 -6.3125 C 4.40625 -6.3125 4.421875 -6.3125 4.65625 -6.296875 L 3.46875 -1.5 C 3.21875 -0.484375 2.59375 -0.1875 2.140625 -0.1875 C 2.046875 -0.1875 1.625 -0.203125 1.328125 -0.421875 C 1.859375 -0.546875 2.03125 -1.015625 2.03125 -1.28125 C 2.03125 -1.609375 1.765625 -1.84375 1.4375 -1.84375 C 1.03125 -1.84375 0.546875 -1.53125 0.546875 -0.90625 C 0.546875 -0.234375 1.234375 0.171875 2.1875 0.171875 C 3.296875 0.171875 4.484375 -0.28125 4.78125 -1.4375 Z M 5.953125 -6.125 "/>
+</symbol>
+<symbol overflow="visible" id="glyph1-0">
+<path style="stroke:none;" d=""/>
+</symbol>
+<symbol overflow="visible" id="glyph1-1">
+<path style="stroke:none;" d="M 5.421875 -1.734375 C 5.421875 -1.90625 5.265625 -1.90625 5.171875 -1.90625 L 1 -1.90625 C 0.90625 -1.90625 0.75 -1.90625 0.75 -1.734375 C 0.75 -1.5625 0.90625 -1.5625 1 -1.5625 L 5.171875 -1.5625 C 5.265625 -1.5625 5.421875 -1.5625 5.421875 -1.734375 Z M 5.421875 -1.734375 "/>
+</symbol>
+<symbol overflow="visible" id="glyph2-0">
+<path style="stroke:none;" d=""/>
+</symbol>
+<symbol overflow="visible" id="glyph2-1">
+<path style="stroke:none;" d="M 3.28125 0 L 3.28125 -0.25 L 3.015625 -0.25 C 2.3125 -0.25 2.3125 -0.34375 2.3125 -0.5625 L 2.3125 -4.40625 C 2.3125 -4.59375 2.3125 -4.59375 2.109375 -4.59375 C 1.671875 -4.15625 1.03125 -4.15625 0.75 -4.15625 L 0.75 -3.90625 C 0.921875 -3.90625 1.375 -3.90625 1.765625 -4.09375 L 1.765625 -0.5625 C 1.765625 -0.34375 1.765625 -0.25 1.0625 -0.25 L 0.796875 -0.25 L 0.796875 0 L 2.03125 -0.03125 Z M 3.28125 0 "/>
+</symbol>
+<symbol overflow="visible" id="glyph3-0">
+<path style="stroke:none;" d=""/>
+</symbol>
+<symbol overflow="visible" id="glyph3-1">
+<path style="stroke:none;" d="M 3.109375 -1.078125 C 3.109375 -1.703125 2.421875 -1.828125 2.15625 -1.875 C 2.09375 -1.890625 1.921875 -1.921875 1.875 -1.9375 C 1.625 -1.984375 1.5 -2.125 1.5 -2.28125 C 1.5 -2.4375 1.625 -2.625 1.78125 -2.734375 C 1.96875 -2.84375 2.203125 -2.859375 2.328125 -2.859375 C 2.46875 -2.859375 2.828125 -2.84375 2.984375 -2.609375 C 2.796875 -2.5625 2.6875 -2.421875 2.6875 -2.28125 C 2.6875 -2.125 2.828125 -2.0625 2.921875 -2.0625 C 2.984375 -2.0625 3.25 -2.09375 3.25 -2.453125 C 3.25 -2.90625 2.75 -3.046875 2.328125 -3.046875 C 1.25 -3.046875 1.0625 -2.25 1.0625 -2.046875 C 1.0625 -1.78125 1.203125 -1.625 1.296875 -1.53125 C 1.484375 -1.390625 1.609375 -1.375 2.078125 -1.28125 C 2.234375 -1.265625 2.671875 -1.171875 2.671875 -0.828125 C 2.671875 -0.71875 2.59375 -0.453125 2.3125 -0.28125 C 2.03125 -0.125 1.703125 -0.125 1.609375 -0.125 C 1.328125 -0.125 0.9375 -0.1875 0.78125 -0.421875 C 1.015625 -0.4375 1.15625 -0.609375 1.15625 -0.8125 C 1.15625 -0.984375 1.03125 -1.0625 0.890625 -1.0625 C 0.6875 -1.0625 0.484375 -0.90625 0.484375 -0.609375 C 0.484375 -0.1875 0.9375 0.0625 1.609375 0.0625 C 2.875 0.0625 3.109375 -0.796875 3.109375 -1.078125 Z M 3.109375 -1.078125 "/>
+</symbol>
+<symbol overflow="visible" id="glyph3-2">
+<path style="stroke:none;" d="M 1.65625 -0.046875 C 1.65625 -0.46875 1.484375 -0.796875 1.171875 -0.796875 C 0.9375 -0.796875 0.78125 -0.609375 0.78125 -0.40625 C 0.78125 -0.1875 0.9375 0 1.171875 0 C 1.34375 0 1.453125 -0.109375 1.453125 -0.109375 C 1.453125 0.265625 1.390625 0.71875 0.921875 1.15625 C 0.890625 1.1875 0.875 1.203125 0.875 1.234375 C 0.875 1.28125 0.921875 1.328125 0.96875 1.328125 C 1.0625 1.328125 1.65625 0.78125 1.65625 -0.046875 Z M 1.65625 -0.046875 "/>
+</symbol>
+<symbol overflow="visible" id="glyph3-3">
+<path style="stroke:none;" d="M 3.546875 -2.546875 C 3.546875 -2.90625 3.15625 -3.046875 2.8125 -3.046875 C 2.453125 -3.046875 2.140625 -2.90625 1.828125 -2.5625 C 1.703125 -2.984375 1.28125 -3.046875 1.125 -3.046875 C 0.859375 -3.046875 0.6875 -2.890625 0.578125 -2.703125 C 0.421875 -2.421875 0.328125 -2.03125 0.328125 -2 C 0.328125 -1.90625 0.421875 -1.90625 0.4375 -1.90625 C 0.546875 -1.90625 0.546875 -1.921875 0.59375 -2.109375 C 0.703125 -2.53125 0.828125 -2.859375 1.09375 -2.859375 C 1.28125 -2.859375 1.328125 -2.703125 1.328125 -2.515625 C 1.328125 -2.390625 1.265625 -2.125 1.21875 -1.9375 L 1.0625 -1.328125 L 0.84375 -0.4375 C 0.8125 -0.34375 0.78125 -0.171875 0.78125 -0.15625 C 0.78125 0 0.90625 0.0625 1.015625 0.0625 C 1.109375 0.0625 1.25 0 1.3125 -0.125 C 1.328125 -0.171875 1.390625 -0.484375 1.4375 -0.65625 L 1.625 -1.390625 C 1.640625 -1.4375 1.796875 -2.0625 1.8125 -2.09375 C 1.828125 -2.15625 2.015625 -2.5 2.25 -2.671875 C 2.3125 -2.71875 2.5 -2.859375 2.796875 -2.859375 C 2.875 -2.859375 3.046875 -2.859375 3.1875 -2.765625 C 2.96875 -2.703125 2.875 -2.5 2.875 -2.375 C 2.875 -2.234375 3 -2.125 3.15625 -2.125 C 3.3125 -2.125 3.546875 -2.25 3.546875 -2.546875 Z M 3.546875 -2.546875 "/>
+</symbol>
+<symbol overflow="visible" id="glyph3-4">
+<path style="stroke:none;" d="M 3.453125 -1 C 3.453125 -1.09375 3.375 -1.09375 3.328125 -1.09375 C 3.25 -1.09375 3.234375 -1.0625 3.203125 -0.984375 C 3.078125 -0.640625 2.671875 -0.46875 2.328125 -0.46875 C 2.171875 -0.46875 2 -0.5 1.828125 -0.546875 C 1.5 -0.609375 1.453125 -0.609375 1.328125 -0.609375 C 1.328125 -0.609375 1.203125 -0.609375 1.15625 -0.609375 C 1.34375 -0.796875 1.46875 -0.921875 2.0625 -1.390625 C 2.203125 -1.515625 2.71875 -1.921875 2.921875 -2.125 C 3.34375 -2.53125 3.609375 -2.890625 3.609375 -2.96875 C 3.609375 -3.046875 3.515625 -3.046875 3.484375 -3.046875 C 3.421875 -3.046875 3.40625 -3.03125 3.375 -2.984375 C 3.15625 -2.671875 3.015625 -2.5625 2.84375 -2.5625 C 2.765625 -2.5625 2.65625 -2.5625 2.453125 -2.765625 C 2.21875 -3 2.0625 -3.046875 1.90625 -3.046875 C 1.34375 -3.046875 0.96875 -2.453125 0.96875 -2.25 C 0.96875 -2.1875 1.046875 -2.15625 1.09375 -2.15625 C 1.171875 -2.15625 1.1875 -2.1875 1.21875 -2.25 C 1.328125 -2.5 1.703125 -2.515625 1.828125 -2.515625 C 1.984375 -2.515625 2.15625 -2.46875 2.25 -2.453125 C 2.640625 -2.375 2.6875 -2.375 2.859375 -2.375 C 2.671875 -2.1875 2.546875 -2.0625 1.890625 -1.53125 C 1.359375 -1.09375 1.171875 -0.921875 1.03125 -0.796875 C 0.625 -0.375 0.421875 -0.078125 0.421875 -0.015625 C 0.421875 0.0625 0.515625 0.0625 0.546875 0.0625 C 0.609375 0.0625 0.625 0.0625 0.65625 0 C 0.84375 -0.265625 1.0625 -0.421875 1.296875 -0.421875 C 1.375 -0.421875 1.484375 -0.421875 1.671875 -0.25 C 1.875 -0.03125 2.015625 0.0625 2.25 0.0625 C 2.984375 0.0625 3.453125 -0.765625 3.453125 -1 Z M 3.453125 -1 "/>
+</symbol>
+<symbol overflow="visible" id="glyph3-5">
+<path style="stroke:none;" d="M 3.84375 -2.609375 C 3.875 -2.703125 3.875 -2.71875 3.875 -2.765625 C 3.875 -2.90625 3.765625 -2.984375 3.640625 -2.984375 C 3.578125 -2.984375 3.4375 -2.953125 3.359375 -2.8125 C 3.34375 -2.78125 3.28125 -2.546875 3.25 -2.421875 L 3.109375 -1.84375 L 2.828125 -0.734375 C 2.828125 -0.734375 2.515625 -0.125 1.984375 -0.125 C 1.515625 -0.125 1.515625 -0.578125 1.515625 -0.703125 C 1.515625 -1.078125 1.671875 -1.515625 1.875 -2.046875 C 1.953125 -2.265625 2 -2.34375 2 -2.46875 C 2 -2.796875 1.703125 -3.046875 1.328125 -3.046875 C 0.640625 -3.046875 0.328125 -2.109375 0.328125 -2 C 0.328125 -1.90625 0.421875 -1.90625 0.4375 -1.90625 C 0.546875 -1.90625 0.546875 -1.9375 0.5625 -2.015625 C 0.734375 -2.59375 1.03125 -2.859375 1.3125 -2.859375 C 1.4375 -2.859375 1.484375 -2.78125 1.484375 -2.609375 C 1.484375 -2.453125 1.421875 -2.3125 1.390625 -2.21875 C 1.0625 -1.375 0.984375 -1.109375 0.984375 -0.8125 C 0.984375 -0.6875 0.984375 -0.359375 1.265625 -0.140625 C 1.46875 0.03125 1.765625 0.0625 1.953125 0.0625 C 2.234375 0.0625 2.484375 -0.03125 2.703125 -0.25 C 2.609375 0.140625 2.546875 0.421875 2.25 0.78125 C 2.0625 0.984375 1.78125 1.21875 1.421875 1.21875 C 1.375 1.21875 1.046875 1.21875 0.90625 0.984375 C 1.28125 0.953125 1.28125 0.609375 1.28125 0.609375 C 1.28125 0.390625 1.078125 0.34375 1 0.34375 C 0.828125 0.34375 0.609375 0.484375 0.609375 0.796875 C 0.609375 1.15625 0.9375 1.40625 1.421875 1.40625 C 2.125 1.40625 2.96875 0.875 3.1875 0 Z M 3.84375 -2.609375 "/>
+</symbol>
+<symbol overflow="visible" id="glyph3-6">
+<path style="stroke:none;" d="M 3.875 -0.984375 C 3.875 -1.078125 3.78125 -1.078125 3.765625 -1.078125 C 3.671875 -1.078125 3.65625 -1.046875 3.640625 -0.96875 C 3.484375 -0.484375 3.078125 -0.125 2.6875 -0.125 C 2.40625 -0.125 2.265625 -0.3125 2.265625 -0.578125 C 2.265625 -0.75 2.421875 -1.390625 2.625 -2.15625 C 2.765625 -2.6875 3.078125 -2.859375 3.296875 -2.859375 C 3.296875 -2.859375 3.53125 -2.859375 3.671875 -2.765625 C 3.453125 -2.703125 3.375 -2.5 3.375 -2.375 C 3.375 -2.234375 3.484375 -2.125 3.640625 -2.125 C 3.8125 -2.125 4.03125 -2.25 4.03125 -2.546875 C 4.03125 -2.9375 3.59375 -3.046875 3.3125 -3.046875 C 2.96875 -3.046875 2.6875 -2.828125 2.546875 -2.5625 C 2.421875 -2.84375 2.09375 -3.046875 1.703125 -3.046875 C 0.9375 -3.046875 0.484375 -2.203125 0.484375 -2 C 0.484375 -1.90625 0.59375 -1.90625 0.609375 -1.90625 C 0.703125 -1.90625 0.703125 -1.9375 0.734375 -2.015625 C 0.90625 -2.5625 1.34375 -2.859375 1.6875 -2.859375 C 1.921875 -2.859375 2.109375 -2.734375 2.109375 -2.40625 C 2.109375 -2.265625 2.015625 -1.921875 1.953125 -1.6875 L 1.71875 -0.734375 C 1.65625 -0.5 1.421875 -0.125 1.078125 -0.125 C 1.046875 -0.125 0.84375 -0.125 0.703125 -0.21875 C 0.984375 -0.3125 1 -0.5625 1 -0.609375 C 1 -0.75 0.890625 -0.859375 0.734375 -0.859375 C 0.53125 -0.859375 0.328125 -0.6875 0.328125 -0.4375 C 0.328125 -0.09375 0.71875 0.0625 1.0625 0.0625 C 1.375 0.0625 1.65625 -0.125 1.828125 -0.421875 C 2 -0.0625 2.375 0.0625 2.65625 0.0625 C 3.453125 0.0625 3.875 -0.796875 3.875 -0.984375 Z M 3.875 -0.984375 "/>
+</symbol>
+<symbol overflow="visible" id="glyph4-0">
+<path style="stroke:none;" d=""/>
+</symbol>
+<symbol overflow="visible" id="glyph4-1">
+<path style="stroke:none;" d="M 6.515625 0.296875 L 6.515625 -0.390625 L 3.21875 -0.390625 L 3.21875 17.40625 L 3.90625 17.40625 L 3.90625 0.296875 Z M 6.515625 0.296875 "/>
+</symbol>
+<symbol overflow="visible" id="glyph4-2">
+<path style="stroke:none;" d="M 6.515625 17.390625 L 6.515625 16.71875 L 3.90625 16.71875 L 3.90625 -0.390625 L 3.21875 -0.390625 L 3.21875 17.390625 Z M 6.515625 17.390625 "/>
+</symbol>
+<symbol overflow="visible" id="glyph4-3">
+<path style="stroke:none;" d="M 3.359375 17.40625 L 3.359375 -0.390625 L 0.0625 -0.390625 L 0.0625 0.296875 L 2.6875 0.296875 L 2.6875 17.40625 Z M 3.359375 17.40625 "/>
+</symbol>
+<symbol overflow="visible" id="glyph4-4">
+<path style="stroke:none;" d="M 3.359375 17.390625 L 3.359375 -0.390625 L 2.6875 -0.390625 L 2.6875 16.71875 L 0.0625 16.71875 L 0.0625 17.390625 Z M 3.359375 17.390625 "/>
+</symbol>
+<symbol overflow="visible" id="glyph5-0">
+<path style="stroke:none;" d=""/>
+</symbol>
+<symbol overflow="visible" id="glyph5-1">
+<path style="stroke:none;" d="M 5.375 -1.421875 C 5.375 -1.515625 5.28125 -1.515625 5.25 -1.515625 C 5.15625 -1.515625 5.140625 -1.46875 5.109375 -1.328125 C 4.96875 -0.78125 4.78125 -0.109375 4.375 -0.109375 C 4.15625 -0.109375 4.0625 -0.234375 4.0625 -0.5625 C 4.0625 -0.78125 4.1875 -1.25 4.265625 -1.59375 L 4.546875 -2.65625 C 4.5625 -2.8125 4.671875 -3.1875 4.703125 -3.328125 C 4.75 -3.5625 4.859375 -3.9375 4.859375 -4 C 4.859375 -4.171875 4.71875 -4.265625 4.5625 -4.265625 C 4.515625 -4.265625 4.265625 -4.25 4.1875 -3.921875 L 3.4375 -0.9375 C 3.4375 -0.90625 3.03125 -0.109375 2.3125 -0.109375 C 1.796875 -0.109375 1.703125 -0.546875 1.703125 -0.921875 C 1.703125 -1.46875 1.984375 -2.25 2.234375 -2.9375 C 2.359375 -3.234375 2.40625 -3.375 2.40625 -3.5625 C 2.40625 -4 2.09375 -4.375 1.59375 -4.375 C 0.65625 -4.375 0.28125 -2.9375 0.28125 -2.84375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.765625 0.5625 -2.921875 C 0.8125 -3.78125 1.1875 -4.15625 1.5625 -4.15625 C 1.65625 -4.15625 1.8125 -4.140625 1.8125 -3.828125 C 1.8125 -3.59375 1.703125 -3.296875 1.640625 -3.15625 C 1.28125 -2.171875 1.0625 -1.5625 1.0625 -1.078125 C 1.0625 -0.140625 1.75 0.109375 2.28125 0.109375 C 2.9375 0.109375 3.296875 -0.34375 3.46875 -0.546875 C 3.578125 -0.140625 3.921875 0.109375 4.34375 0.109375 C 4.6875 0.109375 4.921875 -0.125 5.078125 -0.4375 C 5.234375 -0.796875 5.375 -1.421875 5.375 -1.421875 Z M 5.375 -1.421875 "/>
+</symbol>
+<symbol overflow="visible" id="glyph5-2">
+<path style="stroke:none;" d="M 5.40625 -1.421875 C 5.40625 -1.515625 5.3125 -1.515625 5.28125 -1.515625 C 5.1875 -1.515625 5.1875 -1.484375 5.140625 -1.328125 C 4.984375 -0.8125 4.671875 -0.109375 4.125 -0.109375 C 3.953125 -0.109375 3.890625 -0.203125 3.890625 -0.4375 C 3.890625 -0.6875 3.96875 -0.921875 4.0625 -1.140625 C 4.21875 -1.5625 4.671875 -2.734375 4.671875 -3.3125 C 4.671875 -3.953125 4.265625 -4.375 3.53125 -4.375 C 2.90625 -4.375 2.4375 -4.0625 2.0625 -3.609375 L 2.84375 -6.75 C 2.84375 -6.75 2.84375 -6.859375 2.703125 -6.859375 C 2.484375 -6.859375 1.765625 -6.78125 1.5 -6.765625 C 1.421875 -6.75 1.3125 -6.75 1.3125 -6.5625 C 1.3125 -6.453125 1.40625 -6.453125 1.546875 -6.453125 C 2.03125 -6.453125 2.046875 -6.375 2.046875 -6.28125 L 2.015625 -6.078125 L 0.578125 -0.390625 C 0.546875 -0.25 0.546875 -0.234375 0.546875 -0.171875 C 0.546875 0.0625 0.734375 0.109375 0.828125 0.109375 C 0.984375 0.109375 1.140625 -0.015625 1.203125 -0.140625 L 1.390625 -0.90625 L 1.609375 -1.796875 C 1.65625 -2 1.71875 -2.21875 1.765625 -2.453125 C 1.796875 -2.515625 1.875 -2.84375 1.875 -2.890625 C 1.90625 -2.984375 2.21875 -3.546875 2.546875 -3.8125 C 2.765625 -3.96875 3.078125 -4.15625 3.5 -4.15625 C 3.921875 -4.15625 4.03125 -3.8125 4.03125 -3.46875 C 4.03125 -2.921875 3.65625 -1.84375 3.421875 -1.25 C 3.34375 -1.015625 3.296875 -0.90625 3.296875 -0.703125 C 3.296875 -0.234375 3.640625 0.109375 4.109375 0.109375 C 5.03125 0.109375 5.40625 -1.328125 5.40625 -1.421875 Z M 5.40625 -1.421875 "/>
+</symbol>
+<symbol overflow="visible" id="glyph5-3">
+<path style="stroke:none;" d="M 4.921875 -1.421875 C 4.921875 -1.515625 4.84375 -1.515625 4.8125 -1.515625 C 4.703125 -1.515625 4.703125 -1.46875 4.671875 -1.328125 C 4.5 -0.6875 4.328125 -0.109375 3.921875 -0.109375 C 3.65625 -0.109375 3.625 -0.359375 3.625 -0.5625 C 3.625 -0.796875 3.640625 -0.875 3.671875 -1.03125 L 5.109375 -6.75 C 5.109375 -6.75 5.109375 -6.859375 4.96875 -6.859375 C 4.828125 -6.859375 3.890625 -6.78125 3.71875 -6.75 C 3.640625 -6.75 3.578125 -6.703125 3.578125 -6.5625 C 3.578125 -6.453125 3.671875 -6.453125 3.8125 -6.453125 C 4.296875 -6.453125 4.3125 -6.375 4.3125 -6.28125 L 4.28125 -6.078125 L 3.6875 -3.734375 C 3.515625 -4.109375 3.21875 -4.375 2.78125 -4.375 C 1.625 -4.375 0.390625 -2.921875 0.390625 -1.46875 C 0.390625 -0.546875 0.9375 0.109375 1.71875 0.109375 C 1.90625 0.109375 2.40625 0.0625 3 -0.640625 C 3.078125 -0.21875 3.421875 0.109375 3.890625 0.109375 C 4.25 0.109375 4.46875 -0.125 4.625 -0.4375 C 4.796875 -0.796875 4.921875 -1.421875 4.921875 -1.421875 Z M 3.546875 -3.109375 L 3.046875 -1.171875 C 3 -1 3 -0.984375 2.84375 -0.8125 C 2.40625 -0.265625 2 -0.109375 1.734375 -0.109375 C 1.234375 -0.109375 1.09375 -0.65625 1.09375 -1.03125 C 1.09375 -1.53125 1.421875 -2.75 1.640625 -3.203125 C 1.953125 -3.78125 2.390625 -4.15625 2.796875 -4.15625 C 3.4375 -4.15625 3.578125 -3.34375 3.578125 -3.28125 C 3.578125 -3.21875 3.546875 -3.171875 3.546875 -3.109375 Z M 3.546875 -3.109375 "/>
+</symbol>
+<symbol overflow="visible" id="glyph5-4">
+<path style="stroke:none;" d="M 4.3125 -3.734375 C 4.3125 -4.078125 4 -4.375 3.484375 -4.375 C 2.84375 -4.375 2.40625 -3.890625 2.21875 -3.609375 C 2.140625 -4.0625 1.796875 -4.375 1.328125 -4.375 C 0.875 -4.375 0.6875 -3.984375 0.59375 -3.8125 C 0.421875 -3.46875 0.28125 -2.875 0.28125 -2.84375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.765625 0.578125 -2.984375 C 0.734375 -3.671875 0.9375 -4.15625 1.296875 -4.15625 C 1.46875 -4.15625 1.609375 -4.078125 1.609375 -3.703125 C 1.609375 -3.484375 1.578125 -3.375 1.4375 -2.875 L 0.875 -0.578125 C 0.84375 -0.4375 0.78125 -0.203125 0.78125 -0.15625 C 0.78125 0.015625 0.921875 0.109375 1.0625 0.109375 C 1.1875 0.109375 1.359375 0.03125 1.4375 -0.171875 C 1.453125 -0.203125 1.796875 -1.546875 1.828125 -1.734375 L 2.140625 -3.015625 C 2.1875 -3.140625 2.46875 -3.609375 2.703125 -3.828125 C 2.78125 -3.890625 3.0625 -4.15625 3.484375 -4.15625 C 3.75 -4.15625 3.90625 -4.03125 3.90625 -4.03125 C 3.609375 -3.984375 3.390625 -3.75 3.390625 -3.484375 C 3.390625 -3.328125 3.5 -3.140625 3.765625 -3.140625 C 4.03125 -3.140625 4.3125 -3.375 4.3125 -3.734375 Z M 4.3125 -3.734375 "/>
+</symbol>
+</g>
+<clipPath id="clip1">
+  <path d="M 23 27 L 56 27 L 56 58.289062 L 23 58.289062 Z M 23 27 "/>
+</clipPath>
+<clipPath id="clip2">
+  <path d="M 100 27 L 121.101562 27 L 121.101562 58.289062 L 100 58.289062 Z M 100 27 "/>
+</clipPath>
+</defs>
+<g id="surface1">
+<path style="fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M -17.007538 -14.17196 L 17.009655 -14.17196 L 17.009655 14.172421 L -17.007538 14.172421 Z M -17.007538 -14.17196 " transform="matrix(0.99226,0,0,-0.99226,60.551684,43.234604)"/>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph0-1" x="51.627296" y="45.587252"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph1-1" x="58.862857" y="41.359232"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph2-1" x="65.041661" y="41.359232"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-1" x="57.86762" y="48.223688"/>
+  <use xlink:href="#glyph3-2" x="61.598789" y="48.223688"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph2-1" x="63.946206" y="48.223688"/>
+</g>
+<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M -60.02801 0.00023036 L -22.141021 0.00023036 " transform="matrix(0.99226,0,0,-0.99226,60.551684,43.234604)"/>
+<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 41.773438 43.234375 L 37.363281 41.566406 L 38.832031 43.234375 L 37.363281 44.90625 Z M 41.773438 43.234375 "/>
+<g clip-path="url(#clip1)" clip-rule="nonzero">
+<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 6.053539 0.00023036 L 1.608983 1.68121 L 3.089189 0.00023036 L 1.608983 -1.684686 Z M 6.053539 0.00023036 " transform="matrix(0.99226,0,0,-0.99226,35.766752,43.234604)"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-1" x="4.779717" y="4.252671"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-2" x="4.779717" y="22.046872"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph5-1" x="11.370309" y="12.160984"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-3" x="17.029169" y="13.643421"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph2-1" x="20.911883" y="13.643421"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph5-2" x="13.293309" y="24.023455"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph2-1" x="18.988883" y="25.505891"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph5-3" x="11.626312" y="35.885925"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-3" x="16.772174" y="37.369354"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph2-1" x="20.654888" y="37.369354"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-3" x="25.347286" y="4.252671"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-4" x="25.347286" y="22.046872"/>
+</g>
+<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 17.505682 0.00023036 L 55.392671 0.00023036 " transform="matrix(0.99226,0,0,-0.99226,60.551684,43.234604)"/>
+<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 118.707031 43.234375 L 114.296875 41.566406 L 115.761719 43.234375 L 114.296875 44.90625 Z M 118.707031 43.234375 "/>
+<g clip-path="url(#clip2)" clip-rule="nonzero">
+<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 6.054671 0.00023036 L 1.610115 1.68121 L 3.086384 0.00023036 L 1.610115 -1.684686 Z M 6.054671 0.00023036 " transform="matrix(0.99226,0,0,-0.99226,112.699222,43.234604)"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-1" x="89.501867" y="4.252671"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-2" x="89.501867" y="22.046872"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph5-3" x="96.092459" y="12.160984"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-4" x="101.237328" y="13.643421"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph2-1" x="105.298648" y="13.643421"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph5-4" x="96.336555" y="24.023455"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-5" x="100.796764" y="25.505891"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph2-1" x="105.054552" y="25.505891"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph5-4" x="96.224429" y="35.885925"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-6" x="100.683646" y="37.369354"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph2-1" x="105.166678" y="37.369354"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-3" x="109.733059" y="4.252671"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-4" x="109.733059" y="22.046872"/>
+</g>
+</g>
+</svg>
--- a/figs/schematic_sensor_jacobian_forward_kinematics_2.pdf
+++ b/figs/schematic_sensor_jacobian_forward_kinematics_2.pdf
--- a/figs/schematic_sensor_jacobian_forward_kinematics_2.png
+++ b/figs/schematic_sensor_jacobian_forward_kinematics_2.png
--- a/figs/schematic_sensor_jacobian_forward_kinematics_2.svg
+++ b/figs/schematic_sensor_jacobian_forward_kinematics_2.svg
@ -0,0 +1,189 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="122.048pt" height="58.676pt" viewBox="0 0 122.048 58.676" version="1.2">
+<defs>
+<g>
+<symbol overflow="visible" id="glyph0-0">
+<path style="stroke:none;" d=""/>
+</symbol>
+<symbol overflow="visible" id="glyph0-1">
+<path style="stroke:none;" d="M 5.953125 -6.125 C 6 -6.28125 6 -6.296875 6.078125 -6.296875 C 6.1875 -6.3125 6.328125 -6.3125 6.453125 -6.3125 C 6.703125 -6.3125 6.859375 -6.3125 6.859375 -6.609375 C 6.859375 -6.625 6.859375 -6.78125 6.65625 -6.78125 C 6.453125 -6.78125 6.234375 -6.765625 6.03125 -6.765625 C 5.8125 -6.765625 5.578125 -6.75 5.34375 -6.75 C 4.96875 -6.75 4.015625 -6.78125 3.625 -6.78125 C 3.515625 -6.78125 3.328125 -6.78125 3.328125 -6.5 C 3.328125 -6.3125 3.484375 -6.3125 3.671875 -6.3125 L 4.015625 -6.3125 C 4.40625 -6.3125 4.421875 -6.3125 4.65625 -6.296875 L 3.46875 -1.5 C 3.21875 -0.484375 2.59375 -0.1875 2.140625 -0.1875 C 2.046875 -0.1875 1.625 -0.203125 1.328125 -0.421875 C 1.859375 -0.546875 2.03125 -1.015625 2.03125 -1.28125 C 2.03125 -1.609375 1.765625 -1.84375 1.4375 -1.84375 C 1.03125 -1.84375 0.546875 -1.53125 0.546875 -0.90625 C 0.546875 -0.234375 1.234375 0.171875 2.1875 0.171875 C 3.296875 0.171875 4.484375 -0.28125 4.78125 -1.4375 Z M 5.953125 -6.125 "/>
+</symbol>
+<symbol overflow="visible" id="glyph1-0">
+<path style="stroke:none;" d=""/>
+</symbol>
+<symbol overflow="visible" id="glyph1-1">
+<path style="stroke:none;" d="M 5.421875 -1.734375 C 5.421875 -1.90625 5.265625 -1.90625 5.171875 -1.90625 L 1 -1.90625 C 0.90625 -1.90625 0.75 -1.90625 0.75 -1.734375 C 0.75 -1.5625 0.90625 -1.5625 1 -1.5625 L 5.171875 -1.5625 C 5.265625 -1.5625 5.421875 -1.5625 5.421875 -1.734375 Z M 5.421875 -1.734375 "/>
+</symbol>
+<symbol overflow="visible" id="glyph2-0">
+<path style="stroke:none;" d=""/>
+</symbol>
+<symbol overflow="visible" id="glyph2-1">
+<path style="stroke:none;" d="M 3.28125 0 L 3.28125 -0.25 L 3.015625 -0.25 C 2.3125 -0.25 2.3125 -0.34375 2.3125 -0.5625 L 2.3125 -4.40625 C 2.3125 -4.59375 2.3125 -4.59375 2.109375 -4.59375 C 1.671875 -4.15625 1.03125 -4.15625 0.75 -4.15625 L 0.75 -3.90625 C 0.921875 -3.90625 1.375 -3.90625 1.765625 -4.09375 L 1.765625 -0.5625 C 1.765625 -0.34375 1.765625 -0.25 1.0625 -0.25 L 0.796875 -0.25 L 0.796875 0 L 2.03125 -0.03125 Z M 3.28125 0 "/>
+</symbol>
+<symbol overflow="visible" id="glyph2-2">
+<path style="stroke:none;" d="M 3.5 -1.265625 L 3.265625 -1.265625 C 3.234375 -1.109375 3.171875 -0.703125 3.078125 -0.625 C 3.03125 -0.59375 2.484375 -0.59375 2.390625 -0.59375 L 1.125 -0.59375 C 1.84375 -1.234375 2.09375 -1.421875 2.5 -1.75 C 3.015625 -2.15625 3.5 -2.59375 3.5 -3.25 C 3.5 -4.078125 2.765625 -4.59375 1.875 -4.59375 C 1.015625 -4.59375 0.4375 -4 0.4375 -3.359375 C 0.4375 -3 0.734375 -2.96875 0.796875 -2.96875 C 0.96875 -2.96875 1.171875 -3.09375 1.171875 -3.34375 C 1.171875 -3.453125 1.125 -3.703125 0.765625 -3.703125 C 0.96875 -4.1875 1.453125 -4.34375 1.765625 -4.34375 C 2.46875 -4.34375 2.828125 -3.8125 2.828125 -3.25 C 2.828125 -2.640625 2.390625 -2.171875 2.171875 -1.921875 L 0.5 -0.265625 C 0.4375 -0.203125 0.4375 -0.1875 0.4375 0 L 3.28125 0 Z M 3.5 -1.265625 "/>
+</symbol>
+<symbol overflow="visible" id="glyph3-0">
+<path style="stroke:none;" d=""/>
+</symbol>
+<symbol overflow="visible" id="glyph3-1">
+<path style="stroke:none;" d="M 3.109375 -1.078125 C 3.109375 -1.703125 2.421875 -1.828125 2.15625 -1.875 C 2.09375 -1.890625 1.921875 -1.921875 1.875 -1.9375 C 1.625 -1.984375 1.5 -2.125 1.5 -2.28125 C 1.5 -2.4375 1.625 -2.625 1.78125 -2.734375 C 1.96875 -2.84375 2.203125 -2.859375 2.328125 -2.859375 C 2.46875 -2.859375 2.828125 -2.84375 2.984375 -2.609375 C 2.796875 -2.5625 2.6875 -2.421875 2.6875 -2.28125 C 2.6875 -2.125 2.828125 -2.0625 2.921875 -2.0625 C 2.984375 -2.0625 3.25 -2.09375 3.25 -2.453125 C 3.25 -2.90625 2.75 -3.046875 2.328125 -3.046875 C 1.25 -3.046875 1.0625 -2.25 1.0625 -2.046875 C 1.0625 -1.78125 1.203125 -1.625 1.296875 -1.53125 C 1.484375 -1.390625 1.609375 -1.375 2.078125 -1.28125 C 2.234375 -1.265625 2.671875 -1.171875 2.671875 -0.828125 C 2.671875 -0.71875 2.59375 -0.453125 2.3125 -0.28125 C 2.03125 -0.125 1.703125 -0.125 1.609375 -0.125 C 1.328125 -0.125 0.9375 -0.1875 0.78125 -0.421875 C 1.015625 -0.4375 1.15625 -0.609375 1.15625 -0.8125 C 1.15625 -0.984375 1.03125 -1.0625 0.890625 -1.0625 C 0.6875 -1.0625 0.484375 -0.90625 0.484375 -0.609375 C 0.484375 -0.1875 0.9375 0.0625 1.609375 0.0625 C 2.875 0.0625 3.109375 -0.796875 3.109375 -1.078125 Z M 3.109375 -1.078125 "/>
+</symbol>
+<symbol overflow="visible" id="glyph3-2">
+<path style="stroke:none;" d="M 1.65625 -0.046875 C 1.65625 -0.46875 1.484375 -0.796875 1.171875 -0.796875 C 0.9375 -0.796875 0.78125 -0.609375 0.78125 -0.40625 C 0.78125 -0.1875 0.9375 0 1.171875 0 C 1.34375 0 1.453125 -0.109375 1.453125 -0.109375 C 1.453125 0.265625 1.390625 0.71875 0.921875 1.15625 C 0.890625 1.1875 0.875 1.203125 0.875 1.234375 C 0.875 1.28125 0.921875 1.328125 0.96875 1.328125 C 1.0625 1.328125 1.65625 0.78125 1.65625 -0.046875 Z M 1.65625 -0.046875 "/>
+</symbol>
+<symbol overflow="visible" id="glyph3-3">
+<path style="stroke:none;" d="M 3.546875 -2.546875 C 3.546875 -2.90625 3.15625 -3.046875 2.8125 -3.046875 C 2.453125 -3.046875 2.140625 -2.90625 1.828125 -2.5625 C 1.703125 -2.984375 1.28125 -3.046875 1.125 -3.046875 C 0.859375 -3.046875 0.6875 -2.890625 0.578125 -2.703125 C 0.421875 -2.421875 0.328125 -2.03125 0.328125 -2 C 0.328125 -1.90625 0.421875 -1.90625 0.4375 -1.90625 C 0.546875 -1.90625 0.546875 -1.921875 0.59375 -2.109375 C 0.703125 -2.53125 0.828125 -2.859375 1.09375 -2.859375 C 1.28125 -2.859375 1.328125 -2.703125 1.328125 -2.515625 C 1.328125 -2.390625 1.265625 -2.125 1.21875 -1.9375 L 1.0625 -1.328125 L 0.84375 -0.4375 C 0.8125 -0.34375 0.78125 -0.171875 0.78125 -0.15625 C 0.78125 0 0.90625 0.0625 1.015625 0.0625 C 1.109375 0.0625 1.25 0 1.3125 -0.125 C 1.328125 -0.171875 1.390625 -0.484375 1.4375 -0.65625 L 1.625 -1.390625 C 1.640625 -1.4375 1.796875 -2.0625 1.8125 -2.09375 C 1.828125 -2.15625 2.015625 -2.5 2.25 -2.671875 C 2.3125 -2.71875 2.5 -2.859375 2.796875 -2.859375 C 2.875 -2.859375 3.046875 -2.859375 3.1875 -2.765625 C 2.96875 -2.703125 2.875 -2.5 2.875 -2.375 C 2.875 -2.234375 3 -2.125 3.15625 -2.125 C 3.3125 -2.125 3.546875 -2.25 3.546875 -2.546875 Z M 3.546875 -2.546875 "/>
+</symbol>
+<symbol overflow="visible" id="glyph3-4">
+<path style="stroke:none;" d="M 3.453125 -1 C 3.453125 -1.09375 3.375 -1.09375 3.328125 -1.09375 C 3.25 -1.09375 3.234375 -1.0625 3.203125 -0.984375 C 3.078125 -0.640625 2.671875 -0.46875 2.328125 -0.46875 C 2.171875 -0.46875 2 -0.5 1.828125 -0.546875 C 1.5 -0.609375 1.453125 -0.609375 1.328125 -0.609375 C 1.328125 -0.609375 1.203125 -0.609375 1.15625 -0.609375 C 1.34375 -0.796875 1.46875 -0.921875 2.0625 -1.390625 C 2.203125 -1.515625 2.71875 -1.921875 2.921875 -2.125 C 3.34375 -2.53125 3.609375 -2.890625 3.609375 -2.96875 C 3.609375 -3.046875 3.515625 -3.046875 3.484375 -3.046875 C 3.421875 -3.046875 3.40625 -3.03125 3.375 -2.984375 C 3.15625 -2.671875 3.015625 -2.5625 2.84375 -2.5625 C 2.765625 -2.5625 2.65625 -2.5625 2.453125 -2.765625 C 2.21875 -3 2.0625 -3.046875 1.90625 -3.046875 C 1.34375 -3.046875 0.96875 -2.453125 0.96875 -2.25 C 0.96875 -2.1875 1.046875 -2.15625 1.09375 -2.15625 C 1.171875 -2.15625 1.1875 -2.1875 1.21875 -2.25 C 1.328125 -2.5 1.703125 -2.515625 1.828125 -2.515625 C 1.984375 -2.515625 2.15625 -2.46875 2.25 -2.453125 C 2.640625 -2.375 2.6875 -2.375 2.859375 -2.375 C 2.671875 -2.1875 2.546875 -2.0625 1.890625 -1.53125 C 1.359375 -1.09375 1.171875 -0.921875 1.03125 -0.796875 C 0.625 -0.375 0.421875 -0.078125 0.421875 -0.015625 C 0.421875 0.0625 0.515625 0.0625 0.546875 0.0625 C 0.609375 0.0625 0.625 0.0625 0.65625 0 C 0.84375 -0.265625 1.0625 -0.421875 1.296875 -0.421875 C 1.375 -0.421875 1.484375 -0.421875 1.671875 -0.25 C 1.875 -0.03125 2.015625 0.0625 2.25 0.0625 C 2.984375 0.0625 3.453125 -0.765625 3.453125 -1 Z M 3.453125 -1 "/>
+</symbol>
+<symbol overflow="visible" id="glyph3-5">
+<path style="stroke:none;" d="M 3.84375 -2.609375 C 3.875 -2.703125 3.875 -2.71875 3.875 -2.765625 C 3.875 -2.90625 3.765625 -2.984375 3.640625 -2.984375 C 3.578125 -2.984375 3.4375 -2.953125 3.359375 -2.8125 C 3.34375 -2.78125 3.28125 -2.546875 3.25 -2.421875 L 3.109375 -1.84375 L 2.828125 -0.734375 C 2.828125 -0.734375 2.515625 -0.125 1.984375 -0.125 C 1.515625 -0.125 1.515625 -0.578125 1.515625 -0.703125 C 1.515625 -1.078125 1.671875 -1.515625 1.875 -2.046875 C 1.953125 -2.265625 2 -2.34375 2 -2.46875 C 2 -2.796875 1.703125 -3.046875 1.328125 -3.046875 C 0.640625 -3.046875 0.328125 -2.109375 0.328125 -2 C 0.328125 -1.90625 0.421875 -1.90625 0.4375 -1.90625 C 0.546875 -1.90625 0.546875 -1.9375 0.5625 -2.015625 C 0.734375 -2.59375 1.03125 -2.859375 1.3125 -2.859375 C 1.4375 -2.859375 1.484375 -2.78125 1.484375 -2.609375 C 1.484375 -2.453125 1.421875 -2.3125 1.390625 -2.21875 C 1.0625 -1.375 0.984375 -1.109375 0.984375 -0.8125 C 0.984375 -0.6875 0.984375 -0.359375 1.265625 -0.140625 C 1.46875 0.03125 1.765625 0.0625 1.953125 0.0625 C 2.234375 0.0625 2.484375 -0.03125 2.703125 -0.25 C 2.609375 0.140625 2.546875 0.421875 2.25 0.78125 C 2.0625 0.984375 1.78125 1.21875 1.421875 1.21875 C 1.375 1.21875 1.046875 1.21875 0.90625 0.984375 C 1.28125 0.953125 1.28125 0.609375 1.28125 0.609375 C 1.28125 0.390625 1.078125 0.34375 1 0.34375 C 0.828125 0.34375 0.609375 0.484375 0.609375 0.796875 C 0.609375 1.15625 0.9375 1.40625 1.421875 1.40625 C 2.125 1.40625 2.96875 0.875 3.1875 0 Z M 3.84375 -2.609375 "/>
+</symbol>
+<symbol overflow="visible" id="glyph3-6">
+<path style="stroke:none;" d="M 3.875 -0.984375 C 3.875 -1.078125 3.78125 -1.078125 3.765625 -1.078125 C 3.671875 -1.078125 3.65625 -1.046875 3.640625 -0.96875 C 3.484375 -0.484375 3.078125 -0.125 2.6875 -0.125 C 2.40625 -0.125 2.265625 -0.3125 2.265625 -0.578125 C 2.265625 -0.75 2.421875 -1.390625 2.625 -2.15625 C 2.765625 -2.6875 3.078125 -2.859375 3.296875 -2.859375 C 3.296875 -2.859375 3.53125 -2.859375 3.671875 -2.765625 C 3.453125 -2.703125 3.375 -2.5 3.375 -2.375 C 3.375 -2.234375 3.484375 -2.125 3.640625 -2.125 C 3.8125 -2.125 4.03125 -2.25 4.03125 -2.546875 C 4.03125 -2.9375 3.59375 -3.046875 3.3125 -3.046875 C 2.96875 -3.046875 2.6875 -2.828125 2.546875 -2.5625 C 2.421875 -2.84375 2.09375 -3.046875 1.703125 -3.046875 C 0.9375 -3.046875 0.484375 -2.203125 0.484375 -2 C 0.484375 -1.90625 0.59375 -1.90625 0.609375 -1.90625 C 0.703125 -1.90625 0.703125 -1.9375 0.734375 -2.015625 C 0.90625 -2.5625 1.34375 -2.859375 1.6875 -2.859375 C 1.921875 -2.859375 2.109375 -2.734375 2.109375 -2.40625 C 2.109375 -2.265625 2.015625 -1.921875 1.953125 -1.6875 L 1.71875 -0.734375 C 1.65625 -0.5 1.421875 -0.125 1.078125 -0.125 C 1.046875 -0.125 0.84375 -0.125 0.703125 -0.21875 C 0.984375 -0.3125 1 -0.5625 1 -0.609375 C 1 -0.75 0.890625 -0.859375 0.734375 -0.859375 C 0.53125 -0.859375 0.328125 -0.6875 0.328125 -0.4375 C 0.328125 -0.09375 0.71875 0.0625 1.0625 0.0625 C 1.375 0.0625 1.65625 -0.125 1.828125 -0.421875 C 2 -0.0625 2.375 0.0625 2.65625 0.0625 C 3.453125 0.0625 3.875 -0.796875 3.875 -0.984375 Z M 3.875 -0.984375 "/>
+</symbol>
+<symbol overflow="visible" id="glyph4-0">
+<path style="stroke:none;" d=""/>
+</symbol>
+<symbol overflow="visible" id="glyph4-1">
+<path style="stroke:none;" d="M 6.515625 0.296875 L 6.515625 -0.390625 L 3.21875 -0.390625 L 3.21875 17.40625 L 3.90625 17.40625 L 3.90625 0.296875 Z M 6.515625 0.296875 "/>
+</symbol>
+<symbol overflow="visible" id="glyph4-2">
+<path style="stroke:none;" d="M 6.515625 17.390625 L 6.515625 16.71875 L 3.90625 16.71875 L 3.90625 -0.390625 L 3.21875 -0.390625 L 3.21875 17.390625 Z M 6.515625 17.390625 "/>
+</symbol>
+<symbol overflow="visible" id="glyph4-3">
+<path style="stroke:none;" d="M 3.359375 17.40625 L 3.359375 -0.390625 L 0.0625 -0.390625 L 0.0625 0.296875 L 2.6875 0.296875 L 2.6875 17.40625 Z M 3.359375 17.40625 "/>
+</symbol>
+<symbol overflow="visible" id="glyph4-4">
+<path style="stroke:none;" d="M 3.359375 17.390625 L 3.359375 -0.390625 L 2.6875 -0.390625 L 2.6875 16.71875 L 0.0625 16.71875 L 0.0625 17.390625 Z M 3.359375 17.390625 "/>
+</symbol>
+<symbol overflow="visible" id="glyph5-0">
+<path style="stroke:none;" d=""/>
+</symbol>
+<symbol overflow="visible" id="glyph5-1">
+<path style="stroke:none;" d="M 5.375 -1.421875 C 5.375 -1.515625 5.28125 -1.515625 5.25 -1.515625 C 5.15625 -1.515625 5.140625 -1.46875 5.109375 -1.328125 C 4.96875 -0.78125 4.78125 -0.109375 4.375 -0.109375 C 4.15625 -0.109375 4.0625 -0.234375 4.0625 -0.5625 C 4.0625 -0.78125 4.1875 -1.25 4.265625 -1.59375 L 4.546875 -2.65625 C 4.5625 -2.8125 4.671875 -3.1875 4.703125 -3.328125 C 4.75 -3.5625 4.859375 -3.9375 4.859375 -4 C 4.859375 -4.171875 4.71875 -4.265625 4.5625 -4.265625 C 4.515625 -4.265625 4.265625 -4.25 4.1875 -3.921875 L 3.4375 -0.9375 C 3.4375 -0.90625 3.03125 -0.109375 2.3125 -0.109375 C 1.796875 -0.109375 1.703125 -0.546875 1.703125 -0.921875 C 1.703125 -1.46875 1.984375 -2.25 2.234375 -2.9375 C 2.359375 -3.234375 2.40625 -3.375 2.40625 -3.5625 C 2.40625 -4 2.09375 -4.375 1.59375 -4.375 C 0.65625 -4.375 0.28125 -2.9375 0.28125 -2.84375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.765625 0.5625 -2.921875 C 0.8125 -3.78125 1.1875 -4.15625 1.5625 -4.15625 C 1.65625 -4.15625 1.8125 -4.140625 1.8125 -3.828125 C 1.8125 -3.59375 1.703125 -3.296875 1.640625 -3.15625 C 1.28125 -2.171875 1.0625 -1.5625 1.0625 -1.078125 C 1.0625 -0.140625 1.75 0.109375 2.28125 0.109375 C 2.9375 0.109375 3.296875 -0.34375 3.46875 -0.546875 C 3.578125 -0.140625 3.921875 0.109375 4.34375 0.109375 C 4.6875 0.109375 4.921875 -0.125 5.078125 -0.4375 C 5.234375 -0.796875 5.375 -1.421875 5.375 -1.421875 Z M 5.375 -1.421875 "/>
+</symbol>
+<symbol overflow="visible" id="glyph5-2">
+<path style="stroke:none;" d="M 5.40625 -1.421875 C 5.40625 -1.515625 5.3125 -1.515625 5.28125 -1.515625 C 5.1875 -1.515625 5.1875 -1.484375 5.140625 -1.328125 C 4.984375 -0.8125 4.671875 -0.109375 4.125 -0.109375 C 3.953125 -0.109375 3.890625 -0.203125 3.890625 -0.4375 C 3.890625 -0.6875 3.96875 -0.921875 4.0625 -1.140625 C 4.21875 -1.5625 4.671875 -2.734375 4.671875 -3.3125 C 4.671875 -3.953125 4.265625 -4.375 3.53125 -4.375 C 2.90625 -4.375 2.4375 -4.0625 2.0625 -3.609375 L 2.84375 -6.75 C 2.84375 -6.75 2.84375 -6.859375 2.703125 -6.859375 C 2.484375 -6.859375 1.765625 -6.78125 1.5 -6.765625 C 1.421875 -6.75 1.3125 -6.75 1.3125 -6.5625 C 1.3125 -6.453125 1.40625 -6.453125 1.546875 -6.453125 C 2.03125 -6.453125 2.046875 -6.375 2.046875 -6.28125 L 2.015625 -6.078125 L 0.578125 -0.390625 C 0.546875 -0.25 0.546875 -0.234375 0.546875 -0.171875 C 0.546875 0.0625 0.734375 0.109375 0.828125 0.109375 C 0.984375 0.109375 1.140625 -0.015625 1.203125 -0.140625 L 1.390625 -0.90625 L 1.609375 -1.796875 C 1.65625 -2 1.71875 -2.21875 1.765625 -2.453125 C 1.796875 -2.515625 1.875 -2.84375 1.875 -2.890625 C 1.90625 -2.984375 2.21875 -3.546875 2.546875 -3.8125 C 2.765625 -3.96875 3.078125 -4.15625 3.5 -4.15625 C 3.921875 -4.15625 4.03125 -3.8125 4.03125 -3.46875 C 4.03125 -2.921875 3.65625 -1.84375 3.421875 -1.25 C 3.34375 -1.015625 3.296875 -0.90625 3.296875 -0.703125 C 3.296875 -0.234375 3.640625 0.109375 4.109375 0.109375 C 5.03125 0.109375 5.40625 -1.328125 5.40625 -1.421875 Z M 5.40625 -1.421875 "/>
+</symbol>
+<symbol overflow="visible" id="glyph5-3">
+<path style="stroke:none;" d="M 4.921875 -1.421875 C 4.921875 -1.515625 4.84375 -1.515625 4.8125 -1.515625 C 4.703125 -1.515625 4.703125 -1.46875 4.671875 -1.328125 C 4.5 -0.6875 4.328125 -0.109375 3.921875 -0.109375 C 3.65625 -0.109375 3.625 -0.359375 3.625 -0.5625 C 3.625 -0.796875 3.640625 -0.875 3.671875 -1.03125 L 5.109375 -6.75 C 5.109375 -6.75 5.109375 -6.859375 4.96875 -6.859375 C 4.828125 -6.859375 3.890625 -6.78125 3.71875 -6.75 C 3.640625 -6.75 3.578125 -6.703125 3.578125 -6.5625 C 3.578125 -6.453125 3.671875 -6.453125 3.8125 -6.453125 C 4.296875 -6.453125 4.3125 -6.375 4.3125 -6.28125 L 4.28125 -6.078125 L 3.6875 -3.734375 C 3.515625 -4.109375 3.21875 -4.375 2.78125 -4.375 C 1.625 -4.375 0.390625 -2.921875 0.390625 -1.46875 C 0.390625 -0.546875 0.9375 0.109375 1.71875 0.109375 C 1.90625 0.109375 2.40625 0.0625 3 -0.640625 C 3.078125 -0.21875 3.421875 0.109375 3.890625 0.109375 C 4.25 0.109375 4.46875 -0.125 4.625 -0.4375 C 4.796875 -0.796875 4.921875 -1.421875 4.921875 -1.421875 Z M 3.546875 -3.109375 L 3.046875 -1.171875 C 3 -1 3 -0.984375 2.84375 -0.8125 C 2.40625 -0.265625 2 -0.109375 1.734375 -0.109375 C 1.234375 -0.109375 1.09375 -0.65625 1.09375 -1.03125 C 1.09375 -1.53125 1.421875 -2.75 1.640625 -3.203125 C 1.953125 -3.78125 2.390625 -4.15625 2.796875 -4.15625 C 3.4375 -4.15625 3.578125 -3.34375 3.578125 -3.28125 C 3.578125 -3.21875 3.546875 -3.171875 3.546875 -3.109375 Z M 3.546875 -3.109375 "/>
+</symbol>
+<symbol overflow="visible" id="glyph5-4">
+<path style="stroke:none;" d="M 4.3125 -3.734375 C 4.3125 -4.078125 4 -4.375 3.484375 -4.375 C 2.84375 -4.375 2.40625 -3.890625 2.21875 -3.609375 C 2.140625 -4.0625 1.796875 -4.375 1.328125 -4.375 C 0.875 -4.375 0.6875 -3.984375 0.59375 -3.8125 C 0.421875 -3.46875 0.28125 -2.875 0.28125 -2.84375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.765625 0.578125 -2.984375 C 0.734375 -3.671875 0.9375 -4.15625 1.296875 -4.15625 C 1.46875 -4.15625 1.609375 -4.078125 1.609375 -3.703125 C 1.609375 -3.484375 1.578125 -3.375 1.4375 -2.875 L 0.875 -0.578125 C 0.84375 -0.4375 0.78125 -0.203125 0.78125 -0.15625 C 0.78125 0.015625 0.921875 0.109375 1.0625 0.109375 C 1.1875 0.109375 1.359375 0.03125 1.4375 -0.171875 C 1.453125 -0.203125 1.796875 -1.546875 1.828125 -1.734375 L 2.140625 -3.015625 C 2.1875 -3.140625 2.46875 -3.609375 2.703125 -3.828125 C 2.78125 -3.890625 3.0625 -4.15625 3.484375 -4.15625 C 3.75 -4.15625 3.90625 -4.03125 3.90625 -4.03125 C 3.609375 -3.984375 3.390625 -3.75 3.390625 -3.484375 C 3.390625 -3.328125 3.5 -3.140625 3.765625 -3.140625 C 4.03125 -3.140625 4.3125 -3.375 4.3125 -3.734375 Z M 4.3125 -3.734375 "/>
+</symbol>
+</g>
+<clipPath id="clip1">
+  <path d="M 23 27 L 56 27 L 56 58.289062 L 23 58.289062 Z M 23 27 "/>
+</clipPath>
+<clipPath id="clip2">
+  <path d="M 100 27 L 121.101562 27 L 121.101562 58.289062 L 100 58.289062 Z M 100 27 "/>
+</clipPath>
+</defs>
+<g id="surface1">
+<path style="fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M -17.007538 -14.17196 L 17.009655 -14.17196 L 17.009655 14.172421 L -17.007538 14.172421 Z M -17.007538 -14.17196 " transform="matrix(0.99226,0,0,-0.99226,60.551684,43.234604)"/>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph0-1" x="51.627296" y="45.587252"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph1-1" x="58.862857" y="41.359232"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph2-1" x="65.041661" y="41.359232"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-1" x="57.86762" y="48.223688"/>
+  <use xlink:href="#glyph3-2" x="61.598789" y="48.223688"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph2-2" x="63.946206" y="48.223688"/>
+</g>
+<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M -60.02801 0.00023036 L -22.141021 0.00023036 " transform="matrix(0.99226,0,0,-0.99226,60.551684,43.234604)"/>
+<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 41.773438 43.234375 L 37.363281 41.566406 L 38.832031 43.234375 L 37.363281 44.90625 Z M 41.773438 43.234375 "/>
+<g clip-path="url(#clip1)" clip-rule="nonzero">
+<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 6.053539 0.00023036 L 1.608983 1.68121 L 3.089189 0.00023036 L 1.608983 -1.684686 Z M 6.053539 0.00023036 " transform="matrix(0.99226,0,0,-0.99226,35.766752,43.234604)"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-1" x="4.779717" y="4.252671"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-2" x="4.779717" y="22.046872"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph5-1" x="11.370309" y="12.160984"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-3" x="17.029169" y="13.643421"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph2-2" x="20.911883" y="13.643421"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph5-2" x="13.293309" y="24.023455"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph2-2" x="18.988883" y="25.505891"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph5-3" x="11.626312" y="35.885925"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-3" x="16.772174" y="37.369354"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph2-2" x="20.654888" y="37.369354"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-3" x="25.347286" y="4.252671"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-4" x="25.347286" y="22.046872"/>
+</g>
+<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 17.505682 0.00023036 L 55.392671 0.00023036 " transform="matrix(0.99226,0,0,-0.99226,60.551684,43.234604)"/>
+<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 118.707031 43.234375 L 114.296875 41.566406 L 115.761719 43.234375 L 114.296875 44.90625 Z M 118.707031 43.234375 "/>
+<g clip-path="url(#clip2)" clip-rule="nonzero">
+<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 6.054671 0.00023036 L 1.610115 1.68121 L 3.086384 0.00023036 L 1.610115 -1.684686 Z M 6.054671 0.00023036 " transform="matrix(0.99226,0,0,-0.99226,112.699222,43.234604)"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-1" x="89.501867" y="4.252671"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-2" x="89.501867" y="22.046872"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph5-3" x="96.092459" y="12.160984"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-4" x="101.237328" y="13.643421"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph2-2" x="105.298648" y="13.643421"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph5-4" x="96.336555" y="24.023455"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-5" x="100.796764" y="25.505891"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph2-2" x="105.054552" y="25.505891"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph5-4" x="96.224429" y="35.885925"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-6" x="100.683646" y="37.369354"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph2-2" x="105.166678" y="37.369354"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-3" x="109.733059" y="4.252671"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-4" x="109.733059" y="22.046872"/>
+</g>
+</g>
+</svg>
--- a/figs/schematic_sensor_jacobian_forward_kinematics_h.pdf
+++ b/figs/schematic_sensor_jacobian_forward_kinematics_h.pdf
--- a/figs/schematic_sensor_jacobian_forward_kinematics_h.png
+++ b/figs/schematic_sensor_jacobian_forward_kinematics_h.png
--- a/figs/schematic_sensor_jacobian_forward_kinematics_h.svg
+++ b/figs/schematic_sensor_jacobian_forward_kinematics_h.svg
@ -0,0 +1,181 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="122.048pt" height="58.676pt" viewBox="0 0 122.048 58.676" version="1.2">
+<defs>
+<g>
+<symbol overflow="visible" id="glyph0-0">
+<path style="stroke:none;" d=""/>
+</symbol>
+<symbol overflow="visible" id="glyph0-1">
+<path style="stroke:none;" d="M 5.953125 -6.125 C 6 -6.28125 6 -6.296875 6.078125 -6.296875 C 6.1875 -6.3125 6.328125 -6.3125 6.453125 -6.3125 C 6.703125 -6.3125 6.859375 -6.3125 6.859375 -6.609375 C 6.859375 -6.625 6.859375 -6.78125 6.65625 -6.78125 C 6.453125 -6.78125 6.234375 -6.765625 6.03125 -6.765625 C 5.8125 -6.765625 5.578125 -6.75 5.34375 -6.75 C 4.96875 -6.75 4.015625 -6.78125 3.625 -6.78125 C 3.515625 -6.78125 3.328125 -6.78125 3.328125 -6.5 C 3.328125 -6.3125 3.484375 -6.3125 3.671875 -6.3125 L 4.015625 -6.3125 C 4.40625 -6.3125 4.421875 -6.3125 4.65625 -6.296875 L 3.46875 -1.5 C 3.21875 -0.484375 2.59375 -0.1875 2.140625 -0.1875 C 2.046875 -0.1875 1.625 -0.203125 1.328125 -0.421875 C 1.859375 -0.546875 2.03125 -1.015625 2.03125 -1.28125 C 2.03125 -1.609375 1.765625 -1.84375 1.4375 -1.84375 C 1.03125 -1.84375 0.546875 -1.53125 0.546875 -0.90625 C 0.546875 -0.234375 1.234375 0.171875 2.1875 0.171875 C 3.296875 0.171875 4.484375 -0.28125 4.78125 -1.4375 Z M 5.953125 -6.125 "/>
+</symbol>
+<symbol overflow="visible" id="glyph1-0">
+<path style="stroke:none;" d=""/>
+</symbol>
+<symbol overflow="visible" id="glyph1-1">
+<path style="stroke:none;" d="M 5.421875 -1.734375 C 5.421875 -1.90625 5.265625 -1.90625 5.171875 -1.90625 L 1 -1.90625 C 0.90625 -1.90625 0.75 -1.90625 0.75 -1.734375 C 0.75 -1.5625 0.90625 -1.5625 1 -1.5625 L 5.171875 -1.5625 C 5.265625 -1.5625 5.421875 -1.5625 5.421875 -1.734375 Z M 5.421875 -1.734375 "/>
+</symbol>
+<symbol overflow="visible" id="glyph2-0">
+<path style="stroke:none;" d=""/>
+</symbol>
+<symbol overflow="visible" id="glyph2-1">
+<path style="stroke:none;" d="M 3.28125 0 L 3.28125 -0.25 L 3.015625 -0.25 C 2.3125 -0.25 2.3125 -0.34375 2.3125 -0.5625 L 2.3125 -4.40625 C 2.3125 -4.59375 2.3125 -4.59375 2.109375 -4.59375 C 1.671875 -4.15625 1.03125 -4.15625 0.75 -4.15625 L 0.75 -3.90625 C 0.921875 -3.90625 1.375 -3.90625 1.765625 -4.09375 L 1.765625 -0.5625 C 1.765625 -0.34375 1.765625 -0.25 1.0625 -0.25 L 0.796875 -0.25 L 0.796875 0 L 2.03125 -0.03125 Z M 3.28125 0 "/>
+</symbol>
+<symbol overflow="visible" id="glyph3-0">
+<path style="stroke:none;" d=""/>
+</symbol>
+<symbol overflow="visible" id="glyph3-1">
+<path style="stroke:none;" d="M 3.109375 -1.078125 C 3.109375 -1.703125 2.421875 -1.828125 2.15625 -1.875 C 2.09375 -1.890625 1.921875 -1.921875 1.875 -1.9375 C 1.625 -1.984375 1.5 -2.125 1.5 -2.28125 C 1.5 -2.4375 1.625 -2.625 1.78125 -2.734375 C 1.96875 -2.84375 2.203125 -2.859375 2.328125 -2.859375 C 2.46875 -2.859375 2.828125 -2.84375 2.984375 -2.609375 C 2.796875 -2.5625 2.6875 -2.421875 2.6875 -2.28125 C 2.6875 -2.125 2.828125 -2.0625 2.921875 -2.0625 C 2.984375 -2.0625 3.25 -2.09375 3.25 -2.453125 C 3.25 -2.90625 2.75 -3.046875 2.328125 -3.046875 C 1.25 -3.046875 1.0625 -2.25 1.0625 -2.046875 C 1.0625 -1.78125 1.203125 -1.625 1.296875 -1.53125 C 1.484375 -1.390625 1.609375 -1.375 2.078125 -1.28125 C 2.234375 -1.265625 2.671875 -1.171875 2.671875 -0.828125 C 2.671875 -0.71875 2.59375 -0.453125 2.3125 -0.28125 C 2.03125 -0.125 1.703125 -0.125 1.609375 -0.125 C 1.328125 -0.125 0.9375 -0.1875 0.78125 -0.421875 C 1.015625 -0.4375 1.15625 -0.609375 1.15625 -0.8125 C 1.15625 -0.984375 1.03125 -1.0625 0.890625 -1.0625 C 0.6875 -1.0625 0.484375 -0.90625 0.484375 -0.609375 C 0.484375 -0.1875 0.9375 0.0625 1.609375 0.0625 C 2.875 0.0625 3.109375 -0.796875 3.109375 -1.078125 Z M 3.109375 -1.078125 "/>
+</symbol>
+<symbol overflow="visible" id="glyph3-2">
+<path style="stroke:none;" d="M 1.65625 -0.046875 C 1.65625 -0.46875 1.484375 -0.796875 1.171875 -0.796875 C 0.9375 -0.796875 0.78125 -0.609375 0.78125 -0.40625 C 0.78125 -0.1875 0.9375 0 1.171875 0 C 1.34375 0 1.453125 -0.109375 1.453125 -0.109375 C 1.453125 0.265625 1.390625 0.71875 0.921875 1.15625 C 0.890625 1.1875 0.875 1.203125 0.875 1.234375 C 0.875 1.28125 0.921875 1.328125 0.96875 1.328125 C 1.0625 1.328125 1.65625 0.78125 1.65625 -0.046875 Z M 1.65625 -0.046875 "/>
+</symbol>
+<symbol overflow="visible" id="glyph3-3">
+<path style="stroke:none;" d="M 4.296875 -0.984375 C 4.296875 -1.078125 4.203125 -1.078125 4.1875 -1.078125 C 4.078125 -1.078125 4.078125 -1.03125 4.046875 -0.96875 C 3.890625 -0.40625 3.578125 -0.125 3.3125 -0.125 C 3.171875 -0.125 3.140625 -0.21875 3.140625 -0.359375 C 3.140625 -0.53125 3.171875 -0.609375 3.296875 -0.921875 C 3.390625 -1.140625 3.671875 -1.875 3.671875 -2.265625 C 3.671875 -2.375 3.671875 -2.671875 3.40625 -2.859375 C 3.296875 -2.953125 3.09375 -3.046875 2.765625 -3.046875 C 2.265625 -3.046875 1.890625 -2.78125 1.640625 -2.484375 L 2.171875 -4.59375 C 2.171875 -4.609375 2.1875 -4.703125 2.1875 -4.703125 C 2.1875 -4.734375 2.171875 -4.796875 2.078125 -4.796875 C 1.9375 -4.796875 1.375 -4.75 1.203125 -4.734375 C 1.140625 -4.734375 1.046875 -4.71875 1.046875 -4.578125 C 1.046875 -4.484375 1.140625 -4.484375 1.21875 -4.484375 C 1.5625 -4.484375 1.5625 -4.4375 1.5625 -4.375 C 1.5625 -4.328125 1.546875 -4.28125 1.53125 -4.21875 L 0.546875 -0.296875 C 0.515625 -0.1875 0.515625 -0.15625 0.515625 -0.15625 C 0.515625 -0.046875 0.609375 0.0625 0.75 0.0625 C 0.828125 0.0625 0.96875 0.03125 1.03125 -0.109375 C 1.0625 -0.15625 1.125 -0.40625 1.15625 -0.546875 L 1.3125 -1.15625 C 1.328125 -1.265625 1.40625 -1.53125 1.421875 -1.640625 C 1.5 -1.890625 1.5 -1.90625 1.640625 -2.125 C 1.859375 -2.46875 2.203125 -2.859375 2.734375 -2.859375 C 3.125 -2.859375 3.15625 -2.546875 3.15625 -2.375 C 3.15625 -1.953125 2.859375 -1.1875 2.734375 -0.90625 C 2.671875 -0.703125 2.640625 -0.640625 2.640625 -0.53125 C 2.640625 -0.15625 2.9375 0.0625 3.296875 0.0625 C 3.984375 0.0625 4.296875 -0.890625 4.296875 -0.984375 Z M 4.296875 -0.984375 "/>
+</symbol>
+<symbol overflow="visible" id="glyph3-4">
+<path style="stroke:none;" d="M 4.1875 -4.375 C 4.1875 -4.703125 3.84375 -4.875 3.484375 -4.875 C 3.1875 -4.875 2.84375 -4.703125 2.65625 -4.359375 C 2.515625 -4.09375 2.46875 -3.78125 2.3125 -2.984375 L 1.765625 -2.984375 C 1.640625 -2.984375 1.546875 -2.984375 1.546875 -2.828125 C 1.546875 -2.734375 1.640625 -2.734375 1.765625 -2.734375 L 2.265625 -2.734375 L 1.65625 0.546875 C 1.625 0.6875 1.515625 1.21875 1.171875 1.21875 C 1.171875 1.21875 1 1.21875 0.875 1.140625 C 1.15625 1.046875 1.171875 0.796875 1.171875 0.75 C 1.171875 0.609375 1.0625 0.5 0.90625 0.5 C 0.71875 0.5 0.5 0.65625 0.5 0.921875 C 0.5 1.234375 0.828125 1.40625 1.171875 1.40625 C 1.625 1.40625 1.921875 0.953125 2 0.796875 C 2.25 0.34375 2.421875 -0.515625 2.421875 -0.59375 L 2.8125 -2.734375 L 3.5 -2.734375 C 3.640625 -2.734375 3.71875 -2.734375 3.71875 -2.890625 C 3.71875 -2.984375 3.640625 -2.984375 3.515625 -2.984375 L 2.859375 -2.984375 C 3.03125 -3.859375 3.078125 -4.1875 3.140625 -4.375 C 3.171875 -4.53125 3.328125 -4.671875 3.484375 -4.671875 C 3.484375 -4.671875 3.6875 -4.671875 3.8125 -4.59375 C 3.53125 -4.5 3.515625 -4.25 3.515625 -4.21875 C 3.515625 -4.0625 3.625 -3.953125 3.78125 -3.953125 C 3.96875 -3.953125 4.1875 -4.125 4.1875 -4.375 Z M 4.1875 -4.375 "/>
+</symbol>
+<symbol overflow="visible" id="glyph3-5">
+<path style="stroke:none;" d="M 3.453125 -1 C 3.453125 -1.09375 3.375 -1.09375 3.328125 -1.09375 C 3.25 -1.09375 3.234375 -1.0625 3.203125 -0.984375 C 3.078125 -0.640625 2.671875 -0.46875 2.328125 -0.46875 C 2.171875 -0.46875 2 -0.5 1.828125 -0.546875 C 1.5 -0.609375 1.453125 -0.609375 1.328125 -0.609375 C 1.328125 -0.609375 1.203125 -0.609375 1.15625 -0.609375 C 1.34375 -0.796875 1.46875 -0.921875 2.0625 -1.390625 C 2.203125 -1.515625 2.71875 -1.921875 2.921875 -2.125 C 3.34375 -2.53125 3.609375 -2.890625 3.609375 -2.96875 C 3.609375 -3.046875 3.515625 -3.046875 3.484375 -3.046875 C 3.421875 -3.046875 3.40625 -3.03125 3.375 -2.984375 C 3.15625 -2.671875 3.015625 -2.5625 2.84375 -2.5625 C 2.765625 -2.5625 2.65625 -2.5625 2.453125 -2.765625 C 2.21875 -3 2.0625 -3.046875 1.90625 -3.046875 C 1.34375 -3.046875 0.96875 -2.453125 0.96875 -2.25 C 0.96875 -2.1875 1.046875 -2.15625 1.09375 -2.15625 C 1.171875 -2.15625 1.1875 -2.1875 1.21875 -2.25 C 1.328125 -2.5 1.703125 -2.515625 1.828125 -2.515625 C 1.984375 -2.515625 2.15625 -2.46875 2.25 -2.453125 C 2.640625 -2.375 2.6875 -2.375 2.859375 -2.375 C 2.671875 -2.1875 2.546875 -2.0625 1.890625 -1.53125 C 1.359375 -1.09375 1.171875 -0.921875 1.03125 -0.796875 C 0.625 -0.375 0.421875 -0.078125 0.421875 -0.015625 C 0.421875 0.0625 0.515625 0.0625 0.546875 0.0625 C 0.609375 0.0625 0.625 0.0625 0.65625 0 C 0.84375 -0.265625 1.0625 -0.421875 1.296875 -0.421875 C 1.375 -0.421875 1.484375 -0.421875 1.671875 -0.25 C 1.875 -0.03125 2.015625 0.0625 2.25 0.0625 C 2.984375 0.0625 3.453125 -0.765625 3.453125 -1 Z M 3.453125 -1 "/>
+</symbol>
+<symbol overflow="visible" id="glyph3-6">
+<path style="stroke:none;" d="M 3.84375 -2.609375 C 3.875 -2.703125 3.875 -2.71875 3.875 -2.765625 C 3.875 -2.90625 3.765625 -2.984375 3.640625 -2.984375 C 3.578125 -2.984375 3.4375 -2.953125 3.359375 -2.8125 C 3.34375 -2.78125 3.28125 -2.546875 3.25 -2.421875 L 3.109375 -1.84375 L 2.828125 -0.734375 C 2.828125 -0.734375 2.515625 -0.125 1.984375 -0.125 C 1.515625 -0.125 1.515625 -0.578125 1.515625 -0.703125 C 1.515625 -1.078125 1.671875 -1.515625 1.875 -2.046875 C 1.953125 -2.265625 2 -2.34375 2 -2.46875 C 2 -2.796875 1.703125 -3.046875 1.328125 -3.046875 C 0.640625 -3.046875 0.328125 -2.109375 0.328125 -2 C 0.328125 -1.90625 0.421875 -1.90625 0.4375 -1.90625 C 0.546875 -1.90625 0.546875 -1.9375 0.5625 -2.015625 C 0.734375 -2.59375 1.03125 -2.859375 1.3125 -2.859375 C 1.4375 -2.859375 1.484375 -2.78125 1.484375 -2.609375 C 1.484375 -2.453125 1.421875 -2.3125 1.390625 -2.21875 C 1.0625 -1.375 0.984375 -1.109375 0.984375 -0.8125 C 0.984375 -0.6875 0.984375 -0.359375 1.265625 -0.140625 C 1.46875 0.03125 1.765625 0.0625 1.953125 0.0625 C 2.234375 0.0625 2.484375 -0.03125 2.703125 -0.25 C 2.609375 0.140625 2.546875 0.421875 2.25 0.78125 C 2.0625 0.984375 1.78125 1.21875 1.421875 1.21875 C 1.375 1.21875 1.046875 1.21875 0.90625 0.984375 C 1.28125 0.953125 1.28125 0.609375 1.28125 0.609375 C 1.28125 0.390625 1.078125 0.34375 1 0.34375 C 0.828125 0.34375 0.609375 0.484375 0.609375 0.796875 C 0.609375 1.15625 0.9375 1.40625 1.421875 1.40625 C 2.125 1.40625 2.96875 0.875 3.1875 0 Z M 3.84375 -2.609375 "/>
+</symbol>
+<symbol overflow="visible" id="glyph3-7">
+<path style="stroke:none;" d="M 3.875 -0.984375 C 3.875 -1.078125 3.78125 -1.078125 3.765625 -1.078125 C 3.671875 -1.078125 3.65625 -1.046875 3.640625 -0.96875 C 3.484375 -0.484375 3.078125 -0.125 2.6875 -0.125 C 2.40625 -0.125 2.265625 -0.3125 2.265625 -0.578125 C 2.265625 -0.75 2.421875 -1.390625 2.625 -2.15625 C 2.765625 -2.6875 3.078125 -2.859375 3.296875 -2.859375 C 3.296875 -2.859375 3.53125 -2.859375 3.671875 -2.765625 C 3.453125 -2.703125 3.375 -2.5 3.375 -2.375 C 3.375 -2.234375 3.484375 -2.125 3.640625 -2.125 C 3.8125 -2.125 4.03125 -2.25 4.03125 -2.546875 C 4.03125 -2.9375 3.59375 -3.046875 3.3125 -3.046875 C 2.96875 -3.046875 2.6875 -2.828125 2.546875 -2.5625 C 2.421875 -2.84375 2.09375 -3.046875 1.703125 -3.046875 C 0.9375 -3.046875 0.484375 -2.203125 0.484375 -2 C 0.484375 -1.90625 0.59375 -1.90625 0.609375 -1.90625 C 0.703125 -1.90625 0.703125 -1.9375 0.734375 -2.015625 C 0.90625 -2.5625 1.34375 -2.859375 1.6875 -2.859375 C 1.921875 -2.859375 2.109375 -2.734375 2.109375 -2.40625 C 2.109375 -2.265625 2.015625 -1.921875 1.953125 -1.6875 L 1.71875 -0.734375 C 1.65625 -0.5 1.421875 -0.125 1.078125 -0.125 C 1.046875 -0.125 0.84375 -0.125 0.703125 -0.21875 C 0.984375 -0.3125 1 -0.5625 1 -0.609375 C 1 -0.75 0.890625 -0.859375 0.734375 -0.859375 C 0.53125 -0.859375 0.328125 -0.6875 0.328125 -0.4375 C 0.328125 -0.09375 0.71875 0.0625 1.0625 0.0625 C 1.375 0.0625 1.65625 -0.125 1.828125 -0.421875 C 2 -0.0625 2.375 0.0625 2.65625 0.0625 C 3.453125 0.0625 3.875 -0.796875 3.875 -0.984375 Z M 3.875 -0.984375 "/>
+</symbol>
+<symbol overflow="visible" id="glyph4-0">
+<path style="stroke:none;" d=""/>
+</symbol>
+<symbol overflow="visible" id="glyph4-1">
+<path style="stroke:none;" d="M 6.515625 0.296875 L 6.515625 -0.390625 L 3.21875 -0.390625 L 3.21875 17.40625 L 3.90625 17.40625 L 3.90625 0.296875 Z M 6.515625 0.296875 "/>
+</symbol>
+<symbol overflow="visible" id="glyph4-2">
+<path style="stroke:none;" d="M 6.515625 17.390625 L 6.515625 16.71875 L 3.90625 16.71875 L 3.90625 -0.390625 L 3.21875 -0.390625 L 3.21875 17.390625 Z M 6.515625 17.390625 "/>
+</symbol>
+<symbol overflow="visible" id="glyph4-3">
+<path style="stroke:none;" d="M 3.359375 17.40625 L 3.359375 -0.390625 L 0.0625 -0.390625 L 0.0625 0.296875 L 2.6875 0.296875 L 2.6875 17.40625 Z M 3.359375 17.40625 "/>
+</symbol>
+<symbol overflow="visible" id="glyph4-4">
+<path style="stroke:none;" d="M 3.359375 17.390625 L 3.359375 -0.390625 L 2.6875 -0.390625 L 2.6875 16.71875 L 0.0625 16.71875 L 0.0625 17.390625 Z M 3.359375 17.390625 "/>
+</symbol>
+<symbol overflow="visible" id="glyph5-0">
+<path style="stroke:none;" d=""/>
+</symbol>
+<symbol overflow="visible" id="glyph5-1">
+<path style="stroke:none;" d="M 5.375 -1.421875 C 5.375 -1.515625 5.28125 -1.515625 5.25 -1.515625 C 5.15625 -1.515625 5.140625 -1.46875 5.109375 -1.328125 C 4.96875 -0.78125 4.78125 -0.109375 4.375 -0.109375 C 4.15625 -0.109375 4.0625 -0.234375 4.0625 -0.5625 C 4.0625 -0.78125 4.1875 -1.25 4.265625 -1.59375 L 4.546875 -2.65625 C 4.5625 -2.8125 4.671875 -3.1875 4.703125 -3.328125 C 4.75 -3.5625 4.859375 -3.9375 4.859375 -4 C 4.859375 -4.171875 4.71875 -4.265625 4.5625 -4.265625 C 4.515625 -4.265625 4.265625 -4.25 4.1875 -3.921875 L 3.4375 -0.9375 C 3.4375 -0.90625 3.03125 -0.109375 2.3125 -0.109375 C 1.796875 -0.109375 1.703125 -0.546875 1.703125 -0.921875 C 1.703125 -1.46875 1.984375 -2.25 2.234375 -2.9375 C 2.359375 -3.234375 2.40625 -3.375 2.40625 -3.5625 C 2.40625 -4 2.09375 -4.375 1.59375 -4.375 C 0.65625 -4.375 0.28125 -2.9375 0.28125 -2.84375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.765625 0.5625 -2.921875 C 0.8125 -3.78125 1.1875 -4.15625 1.5625 -4.15625 C 1.65625 -4.15625 1.8125 -4.140625 1.8125 -3.828125 C 1.8125 -3.59375 1.703125 -3.296875 1.640625 -3.15625 C 1.28125 -2.171875 1.0625 -1.5625 1.0625 -1.078125 C 1.0625 -0.140625 1.75 0.109375 2.28125 0.109375 C 2.9375 0.109375 3.296875 -0.34375 3.46875 -0.546875 C 3.578125 -0.140625 3.921875 0.109375 4.34375 0.109375 C 4.6875 0.109375 4.921875 -0.125 5.078125 -0.4375 C 5.234375 -0.796875 5.375 -1.421875 5.375 -1.421875 Z M 5.375 -1.421875 "/>
+</symbol>
+<symbol overflow="visible" id="glyph5-2">
+<path style="stroke:none;" d="M 4.921875 -1.421875 C 4.921875 -1.515625 4.84375 -1.515625 4.8125 -1.515625 C 4.703125 -1.515625 4.703125 -1.46875 4.671875 -1.328125 C 4.5 -0.6875 4.328125 -0.109375 3.921875 -0.109375 C 3.65625 -0.109375 3.625 -0.359375 3.625 -0.5625 C 3.625 -0.796875 3.640625 -0.875 3.671875 -1.03125 L 5.109375 -6.75 C 5.109375 -6.75 5.109375 -6.859375 4.96875 -6.859375 C 4.828125 -6.859375 3.890625 -6.78125 3.71875 -6.75 C 3.640625 -6.75 3.578125 -6.703125 3.578125 -6.5625 C 3.578125 -6.453125 3.671875 -6.453125 3.8125 -6.453125 C 4.296875 -6.453125 4.3125 -6.375 4.3125 -6.28125 L 4.28125 -6.078125 L 3.6875 -3.734375 C 3.515625 -4.109375 3.21875 -4.375 2.78125 -4.375 C 1.625 -4.375 0.390625 -2.921875 0.390625 -1.46875 C 0.390625 -0.546875 0.9375 0.109375 1.71875 0.109375 C 1.90625 0.109375 2.40625 0.0625 3 -0.640625 C 3.078125 -0.21875 3.421875 0.109375 3.890625 0.109375 C 4.25 0.109375 4.46875 -0.125 4.625 -0.4375 C 4.796875 -0.796875 4.921875 -1.421875 4.921875 -1.421875 Z M 3.546875 -3.109375 L 3.046875 -1.171875 C 3 -1 3 -0.984375 2.84375 -0.8125 C 2.40625 -0.265625 2 -0.109375 1.734375 -0.109375 C 1.234375 -0.109375 1.09375 -0.65625 1.09375 -1.03125 C 1.09375 -1.53125 1.421875 -2.75 1.640625 -3.203125 C 1.953125 -3.78125 2.390625 -4.15625 2.796875 -4.15625 C 3.4375 -4.15625 3.578125 -3.34375 3.578125 -3.28125 C 3.578125 -3.21875 3.546875 -3.171875 3.546875 -3.109375 Z M 3.546875 -3.109375 "/>
+</symbol>
+<symbol overflow="visible" id="glyph5-3">
+<path style="stroke:none;" d="M 5.40625 -1.421875 C 5.40625 -1.515625 5.3125 -1.515625 5.28125 -1.515625 C 5.1875 -1.515625 5.1875 -1.484375 5.140625 -1.328125 C 4.984375 -0.8125 4.671875 -0.109375 4.125 -0.109375 C 3.953125 -0.109375 3.890625 -0.203125 3.890625 -0.4375 C 3.890625 -0.6875 3.96875 -0.921875 4.0625 -1.140625 C 4.21875 -1.5625 4.671875 -2.734375 4.671875 -3.3125 C 4.671875 -3.953125 4.265625 -4.375 3.53125 -4.375 C 2.90625 -4.375 2.4375 -4.0625 2.0625 -3.609375 L 2.84375 -6.75 C 2.84375 -6.75 2.84375 -6.859375 2.703125 -6.859375 C 2.484375 -6.859375 1.765625 -6.78125 1.5 -6.765625 C 1.421875 -6.75 1.3125 -6.75 1.3125 -6.5625 C 1.3125 -6.453125 1.40625 -6.453125 1.546875 -6.453125 C 2.03125 -6.453125 2.046875 -6.375 2.046875 -6.28125 L 2.015625 -6.078125 L 0.578125 -0.390625 C 0.546875 -0.25 0.546875 -0.234375 0.546875 -0.171875 C 0.546875 0.0625 0.734375 0.109375 0.828125 0.109375 C 0.984375 0.109375 1.140625 -0.015625 1.203125 -0.140625 L 1.390625 -0.90625 L 1.609375 -1.796875 C 1.65625 -2 1.71875 -2.21875 1.765625 -2.453125 C 1.796875 -2.515625 1.875 -2.84375 1.875 -2.890625 C 1.90625 -2.984375 2.21875 -3.546875 2.546875 -3.8125 C 2.765625 -3.96875 3.078125 -4.15625 3.5 -4.15625 C 3.921875 -4.15625 4.03125 -3.8125 4.03125 -3.46875 C 4.03125 -2.921875 3.65625 -1.84375 3.421875 -1.25 C 3.34375 -1.015625 3.296875 -0.90625 3.296875 -0.703125 C 3.296875 -0.234375 3.640625 0.109375 4.109375 0.109375 C 5.03125 0.109375 5.40625 -1.328125 5.40625 -1.421875 Z M 5.40625 -1.421875 "/>
+</symbol>
+<symbol overflow="visible" id="glyph5-4">
+<path style="stroke:none;" d="M 4.3125 -3.734375 C 4.3125 -4.078125 4 -4.375 3.484375 -4.375 C 2.84375 -4.375 2.40625 -3.890625 2.21875 -3.609375 C 2.140625 -4.0625 1.796875 -4.375 1.328125 -4.375 C 0.875 -4.375 0.6875 -3.984375 0.59375 -3.8125 C 0.421875 -3.46875 0.28125 -2.875 0.28125 -2.84375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.765625 0.578125 -2.984375 C 0.734375 -3.671875 0.9375 -4.15625 1.296875 -4.15625 C 1.46875 -4.15625 1.609375 -4.078125 1.609375 -3.703125 C 1.609375 -3.484375 1.578125 -3.375 1.4375 -2.875 L 0.875 -0.578125 C 0.84375 -0.4375 0.78125 -0.203125 0.78125 -0.15625 C 0.78125 0.015625 0.921875 0.109375 1.0625 0.109375 C 1.1875 0.109375 1.359375 0.03125 1.4375 -0.171875 C 1.453125 -0.203125 1.796875 -1.546875 1.828125 -1.734375 L 2.140625 -3.015625 C 2.1875 -3.140625 2.46875 -3.609375 2.703125 -3.828125 C 2.78125 -3.890625 3.0625 -4.15625 3.484375 -4.15625 C 3.75 -4.15625 3.90625 -4.03125 3.90625 -4.03125 C 3.609375 -3.984375 3.390625 -3.75 3.390625 -3.484375 C 3.390625 -3.328125 3.5 -3.140625 3.765625 -3.140625 C 4.03125 -3.140625 4.3125 -3.375 4.3125 -3.734375 Z M 4.3125 -3.734375 "/>
+</symbol>
+</g>
+<clipPath id="clip1">
+  <path d="M 23 27 L 56 27 L 56 58.289062 L 23 58.289062 Z M 23 27 "/>
+</clipPath>
+<clipPath id="clip2">
+  <path d="M 100 27 L 121.101562 27 L 121.101562 58.289062 L 100 58.289062 Z M 100 27 "/>
+</clipPath>
+</defs>
+<g id="surface1">
+<path style="fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M -17.007538 -14.17196 L 17.009655 -14.17196 L 17.009655 14.172421 L -17.007538 14.172421 Z M -17.007538 -14.17196 " transform="matrix(0.99226,0,0,-0.99226,60.551684,43.234604)"/>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph0-1" x="51.627296" y="45.414599"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph1-1" x="58.862857" y="41.185586"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph2-1" x="65.041661" y="41.185586"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-1" x="57.86762" y="48.396341"/>
+  <use xlink:href="#glyph3-2" x="61.598789" y="48.396341"/>
+  <use xlink:href="#glyph3-3" x="63.946686" y="48.396341"/>
+</g>
+<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M -60.02801 0.00023036 L -22.141021 0.00023036 " transform="matrix(0.99226,0,0,-0.99226,60.551684,43.234604)"/>
+<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 41.773438 43.234375 L 37.363281 41.566406 L 38.832031 43.234375 L 37.363281 44.90625 Z M 41.773438 43.234375 "/>
+<g clip-path="url(#clip1)" clip-rule="nonzero">
+<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 6.053539 0.00023036 L 1.608983 1.68121 L 3.089189 0.00023036 L 1.608983 -1.684686 Z M 6.053539 0.00023036 " transform="matrix(0.99226,0,0,-0.99226,35.766752,43.234604)"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-1" x="4.779717" y="4.252671"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-2" x="4.779717" y="22.046872"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph5-1" x="13.9611" y="12.160984"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-4" x="19.61996" y="13.643421"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph5-2" x="11.370309" y="24.023455"/>
+  <use xlink:href="#glyph5-3" x="16.515707" y="24.023455"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-4" x="22.210751" y="25.506884"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph5-2" x="11.987495" y="35.885925"/>
+  <use xlink:href="#glyph5-4" x="17.132893" y="35.885925"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-4" x="21.592573" y="37.369354"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-3" x="27.335775" y="4.252671"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-4" x="27.335775" y="22.046872"/>
+</g>
+<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 17.505682 0.00023036 L 55.392671 0.00023036 " transform="matrix(0.99226,0,0,-0.99226,60.551684,43.234604)"/>
+<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 118.707031 43.234375 L 114.296875 41.566406 L 115.761719 43.234375 L 114.296875 44.90625 Z M 118.707031 43.234375 "/>
+<g clip-path="url(#clip2)" clip-rule="nonzero">
+<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 6.054671 0.00023036 L 1.610115 1.68121 L 3.086384 0.00023036 L 1.610115 -1.684686 Z M 6.054671 0.00023036 " transform="matrix(0.99226,0,0,-0.99226,112.699222,43.234604)"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-1" x="88.812246" y="4.252671"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-2" x="88.812246" y="22.046872"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph5-2" x="95.402838" y="12.160984"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-5" x="100.547707" y="13.643421"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-4" x="104.608259" y="13.643421"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph5-4" x="95.646934" y="24.023455"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-6" x="100.106151" y="25.506884"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-4" x="104.364611" y="25.506884"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph5-4" x="95.533816" y="35.885925"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-7" x="99.994026" y="37.369354"/>
+  <use xlink:href="#glyph3-4" x="104.476688" y="37.369354"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-3" x="109.733059" y="4.252671"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-4" x="109.733059" y="22.046872"/>
+</g>
+</g>
+</svg>
--- a/figs/schematic_sensor_jacobian_forward_kinematics_m.pdf
+++ b/figs/schematic_sensor_jacobian_forward_kinematics_m.pdf
--- a/figs/schematic_sensor_jacobian_forward_kinematics_m.png
+++ b/figs/schematic_sensor_jacobian_forward_kinematics_m.png
--- a/figs/schematic_sensor_jacobian_forward_kinematics_m.svg
+++ b/figs/schematic_sensor_jacobian_forward_kinematics_m.svg
@ -0,0 +1,178 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="122.048pt" height="58.676pt" viewBox="0 0 122.048 58.676" version="1.2">
+<defs>
+<g>
+<symbol overflow="visible" id="glyph0-0">
+<path style="stroke:none;" d=""/>
+</symbol>
+<symbol overflow="visible" id="glyph0-1">
+<path style="stroke:none;" d="M 5.953125 -6.125 C 6 -6.28125 6 -6.296875 6.078125 -6.296875 C 6.1875 -6.3125 6.328125 -6.3125 6.453125 -6.3125 C 6.703125 -6.3125 6.859375 -6.3125 6.859375 -6.609375 C 6.859375 -6.625 6.859375 -6.78125 6.65625 -6.78125 C 6.453125 -6.78125 6.234375 -6.765625 6.03125 -6.765625 C 5.8125 -6.765625 5.578125 -6.75 5.34375 -6.75 C 4.96875 -6.75 4.015625 -6.78125 3.625 -6.78125 C 3.515625 -6.78125 3.328125 -6.78125 3.328125 -6.5 C 3.328125 -6.3125 3.484375 -6.3125 3.671875 -6.3125 L 4.015625 -6.3125 C 4.40625 -6.3125 4.421875 -6.3125 4.65625 -6.296875 L 3.46875 -1.5 C 3.21875 -0.484375 2.59375 -0.1875 2.140625 -0.1875 C 2.046875 -0.1875 1.625 -0.203125 1.328125 -0.421875 C 1.859375 -0.546875 2.03125 -1.015625 2.03125 -1.28125 C 2.03125 -1.609375 1.765625 -1.84375 1.4375 -1.84375 C 1.03125 -1.84375 0.546875 -1.53125 0.546875 -0.90625 C 0.546875 -0.234375 1.234375 0.171875 2.1875 0.171875 C 3.296875 0.171875 4.484375 -0.28125 4.78125 -1.4375 Z M 5.953125 -6.125 "/>
+</symbol>
+<symbol overflow="visible" id="glyph1-0">
+<path style="stroke:none;" d=""/>
+</symbol>
+<symbol overflow="visible" id="glyph1-1">
+<path style="stroke:none;" d="M 5.421875 -1.734375 C 5.421875 -1.90625 5.265625 -1.90625 5.171875 -1.90625 L 1 -1.90625 C 0.90625 -1.90625 0.75 -1.90625 0.75 -1.734375 C 0.75 -1.5625 0.90625 -1.5625 1 -1.5625 L 5.171875 -1.5625 C 5.265625 -1.5625 5.421875 -1.5625 5.421875 -1.734375 Z M 5.421875 -1.734375 "/>
+</symbol>
+<symbol overflow="visible" id="glyph2-0">
+<path style="stroke:none;" d=""/>
+</symbol>
+<symbol overflow="visible" id="glyph2-1">
+<path style="stroke:none;" d="M 3.28125 0 L 3.28125 -0.25 L 3.015625 -0.25 C 2.3125 -0.25 2.3125 -0.34375 2.3125 -0.5625 L 2.3125 -4.40625 C 2.3125 -4.59375 2.3125 -4.59375 2.109375 -4.59375 C 1.671875 -4.15625 1.03125 -4.15625 0.75 -4.15625 L 0.75 -3.90625 C 0.921875 -3.90625 1.375 -3.90625 1.765625 -4.09375 L 1.765625 -0.5625 C 1.765625 -0.34375 1.765625 -0.25 1.0625 -0.25 L 0.796875 -0.25 L 0.796875 0 L 2.03125 -0.03125 Z M 3.28125 0 "/>
+</symbol>
+<symbol overflow="visible" id="glyph3-0">
+<path style="stroke:none;" d=""/>
+</symbol>
+<symbol overflow="visible" id="glyph3-1">
+<path style="stroke:none;" d="M 3.109375 -1.078125 C 3.109375 -1.703125 2.421875 -1.828125 2.15625 -1.875 C 2.09375 -1.890625 1.921875 -1.921875 1.875 -1.9375 C 1.625 -1.984375 1.5 -2.125 1.5 -2.28125 C 1.5 -2.4375 1.625 -2.625 1.78125 -2.734375 C 1.96875 -2.84375 2.203125 -2.859375 2.328125 -2.859375 C 2.46875 -2.859375 2.828125 -2.84375 2.984375 -2.609375 C 2.796875 -2.5625 2.6875 -2.421875 2.6875 -2.28125 C 2.6875 -2.125 2.828125 -2.0625 2.921875 -2.0625 C 2.984375 -2.0625 3.25 -2.09375 3.25 -2.453125 C 3.25 -2.90625 2.75 -3.046875 2.328125 -3.046875 C 1.25 -3.046875 1.0625 -2.25 1.0625 -2.046875 C 1.0625 -1.78125 1.203125 -1.625 1.296875 -1.53125 C 1.484375 -1.390625 1.609375 -1.375 2.078125 -1.28125 C 2.234375 -1.265625 2.671875 -1.171875 2.671875 -0.828125 C 2.671875 -0.71875 2.59375 -0.453125 2.3125 -0.28125 C 2.03125 -0.125 1.703125 -0.125 1.609375 -0.125 C 1.328125 -0.125 0.9375 -0.1875 0.78125 -0.421875 C 1.015625 -0.4375 1.15625 -0.609375 1.15625 -0.8125 C 1.15625 -0.984375 1.03125 -1.0625 0.890625 -1.0625 C 0.6875 -1.0625 0.484375 -0.90625 0.484375 -0.609375 C 0.484375 -0.1875 0.9375 0.0625 1.609375 0.0625 C 2.875 0.0625 3.109375 -0.796875 3.109375 -1.078125 Z M 3.109375 -1.078125 "/>
+</symbol>
+<symbol overflow="visible" id="glyph3-2">
+<path style="stroke:none;" d="M 1.65625 -0.046875 C 1.65625 -0.46875 1.484375 -0.796875 1.171875 -0.796875 C 0.9375 -0.796875 0.78125 -0.609375 0.78125 -0.40625 C 0.78125 -0.1875 0.9375 0 1.171875 0 C 1.34375 0 1.453125 -0.109375 1.453125 -0.109375 C 1.453125 0.265625 1.390625 0.71875 0.921875 1.15625 C 0.890625 1.1875 0.875 1.203125 0.875 1.234375 C 0.875 1.28125 0.921875 1.328125 0.96875 1.328125 C 1.0625 1.328125 1.65625 0.78125 1.65625 -0.046875 Z M 1.65625 -0.046875 "/>
+</symbol>
+<symbol overflow="visible" id="glyph3-3">
+<path style="stroke:none;" d="M 6.671875 -0.984375 C 6.671875 -1.078125 6.59375 -1.078125 6.5625 -1.078125 C 6.46875 -1.078125 6.46875 -1.03125 6.4375 -0.96875 C 6.28125 -0.40625 5.984375 -0.125 5.703125 -0.125 C 5.5625 -0.125 5.53125 -0.21875 5.53125 -0.359375 C 5.53125 -0.53125 5.5625 -0.609375 5.6875 -0.921875 C 5.765625 -1.140625 6.0625 -1.875 6.0625 -2.265625 C 6.0625 -2.375 6.0625 -2.671875 5.796875 -2.859375 C 5.6875 -2.953125 5.484375 -3.046875 5.15625 -3.046875 C 4.53125 -3.046875 4.15625 -2.640625 3.9375 -2.359375 C 3.875 -2.9375 3.390625 -3.046875 3.03125 -3.046875 C 2.453125 -3.046875 2.0625 -2.703125 1.859375 -2.421875 C 1.8125 -2.90625 1.40625 -3.046875 1.125 -3.046875 C 0.828125 -3.046875 0.671875 -2.84375 0.578125 -2.671875 C 0.421875 -2.421875 0.328125 -2.03125 0.328125 -2 C 0.328125 -1.90625 0.421875 -1.90625 0.4375 -1.90625 C 0.546875 -1.90625 0.546875 -1.921875 0.59375 -2.109375 C 0.703125 -2.515625 0.828125 -2.859375 1.09375 -2.859375 C 1.28125 -2.859375 1.328125 -2.703125 1.328125 -2.515625 C 1.328125 -2.390625 1.265625 -2.125 1.21875 -1.9375 L 1.0625 -1.328125 L 0.84375 -0.4375 C 0.8125 -0.34375 0.78125 -0.171875 0.78125 -0.15625 C 0.78125 0 0.90625 0.0625 1.015625 0.0625 C 1.140625 0.0625 1.25 -0.015625 1.28125 -0.078125 C 1.3125 -0.140625 1.375 -0.359375 1.40625 -0.515625 L 1.5625 -1.140625 C 1.59375 -1.28125 1.640625 -1.4375 1.671875 -1.59375 C 1.75 -1.875 1.765625 -1.9375 1.96875 -2.21875 C 2.15625 -2.5 2.484375 -2.859375 3 -2.859375 C 3.40625 -2.859375 3.40625 -2.5 3.40625 -2.375 C 3.40625 -2.203125 3.390625 -2.109375 3.296875 -1.71875 L 3 -0.5625 C 2.96875 -0.421875 2.90625 -0.1875 2.90625 -0.15625 C 2.90625 0 3.03125 0.0625 3.140625 0.0625 C 3.265625 0.0625 3.375 -0.015625 3.40625 -0.078125 C 3.453125 -0.140625 3.5 -0.359375 3.53125 -0.515625 L 3.6875 -1.140625 C 3.734375 -1.28125 3.765625 -1.4375 3.8125 -1.59375 C 3.890625 -1.890625 3.890625 -1.90625 4.015625 -2.125 C 4.25 -2.46875 4.59375 -2.859375 5.125 -2.859375 C 5.515625 -2.859375 5.53125 -2.546875 5.53125 -2.375 C 5.53125 -1.953125 5.234375 -1.1875 5.125 -0.90625 C 5.046875 -0.703125 5.03125 -0.640625 5.03125 -0.53125 C 5.03125 -0.15625 5.328125 0.0625 5.6875 0.0625 C 6.375 0.0625 6.671875 -0.890625 6.671875 -0.984375 Z M 6.671875 -0.984375 "/>
+</symbol>
+<symbol overflow="visible" id="glyph3-4">
+<path style="stroke:none;" d="M 3.453125 -1 C 3.453125 -1.09375 3.375 -1.09375 3.328125 -1.09375 C 3.25 -1.09375 3.234375 -1.0625 3.203125 -0.984375 C 3.078125 -0.640625 2.671875 -0.46875 2.328125 -0.46875 C 2.171875 -0.46875 2 -0.5 1.828125 -0.546875 C 1.5 -0.609375 1.453125 -0.609375 1.328125 -0.609375 C 1.328125 -0.609375 1.203125 -0.609375 1.15625 -0.609375 C 1.34375 -0.796875 1.46875 -0.921875 2.0625 -1.390625 C 2.203125 -1.515625 2.71875 -1.921875 2.921875 -2.125 C 3.34375 -2.53125 3.609375 -2.890625 3.609375 -2.96875 C 3.609375 -3.046875 3.515625 -3.046875 3.484375 -3.046875 C 3.421875 -3.046875 3.40625 -3.03125 3.375 -2.984375 C 3.15625 -2.671875 3.015625 -2.5625 2.84375 -2.5625 C 2.765625 -2.5625 2.65625 -2.5625 2.453125 -2.765625 C 2.21875 -3 2.0625 -3.046875 1.90625 -3.046875 C 1.34375 -3.046875 0.96875 -2.453125 0.96875 -2.25 C 0.96875 -2.1875 1.046875 -2.15625 1.09375 -2.15625 C 1.171875 -2.15625 1.1875 -2.1875 1.21875 -2.25 C 1.328125 -2.5 1.703125 -2.515625 1.828125 -2.515625 C 1.984375 -2.515625 2.15625 -2.46875 2.25 -2.453125 C 2.640625 -2.375 2.6875 -2.375 2.859375 -2.375 C 2.671875 -2.1875 2.546875 -2.0625 1.890625 -1.53125 C 1.359375 -1.09375 1.171875 -0.921875 1.03125 -0.796875 C 0.625 -0.375 0.421875 -0.078125 0.421875 -0.015625 C 0.421875 0.0625 0.515625 0.0625 0.546875 0.0625 C 0.609375 0.0625 0.625 0.0625 0.65625 0 C 0.84375 -0.265625 1.0625 -0.421875 1.296875 -0.421875 C 1.375 -0.421875 1.484375 -0.421875 1.671875 -0.25 C 1.875 -0.03125 2.015625 0.0625 2.25 0.0625 C 2.984375 0.0625 3.453125 -0.765625 3.453125 -1 Z M 3.453125 -1 "/>
+</symbol>
+<symbol overflow="visible" id="glyph3-5">
+<path style="stroke:none;" d="M 3.84375 -2.609375 C 3.875 -2.703125 3.875 -2.71875 3.875 -2.765625 C 3.875 -2.90625 3.765625 -2.984375 3.640625 -2.984375 C 3.578125 -2.984375 3.4375 -2.953125 3.359375 -2.8125 C 3.34375 -2.78125 3.28125 -2.546875 3.25 -2.421875 L 3.109375 -1.84375 L 2.828125 -0.734375 C 2.828125 -0.734375 2.515625 -0.125 1.984375 -0.125 C 1.515625 -0.125 1.515625 -0.578125 1.515625 -0.703125 C 1.515625 -1.078125 1.671875 -1.515625 1.875 -2.046875 C 1.953125 -2.265625 2 -2.34375 2 -2.46875 C 2 -2.796875 1.703125 -3.046875 1.328125 -3.046875 C 0.640625 -3.046875 0.328125 -2.109375 0.328125 -2 C 0.328125 -1.90625 0.421875 -1.90625 0.4375 -1.90625 C 0.546875 -1.90625 0.546875 -1.9375 0.5625 -2.015625 C 0.734375 -2.59375 1.03125 -2.859375 1.3125 -2.859375 C 1.4375 -2.859375 1.484375 -2.78125 1.484375 -2.609375 C 1.484375 -2.453125 1.421875 -2.3125 1.390625 -2.21875 C 1.0625 -1.375 0.984375 -1.109375 0.984375 -0.8125 C 0.984375 -0.6875 0.984375 -0.359375 1.265625 -0.140625 C 1.46875 0.03125 1.765625 0.0625 1.953125 0.0625 C 2.234375 0.0625 2.484375 -0.03125 2.703125 -0.25 C 2.609375 0.140625 2.546875 0.421875 2.25 0.78125 C 2.0625 0.984375 1.78125 1.21875 1.421875 1.21875 C 1.375 1.21875 1.046875 1.21875 0.90625 0.984375 C 1.28125 0.953125 1.28125 0.609375 1.28125 0.609375 C 1.28125 0.390625 1.078125 0.34375 1 0.34375 C 0.828125 0.34375 0.609375 0.484375 0.609375 0.796875 C 0.609375 1.15625 0.9375 1.40625 1.421875 1.40625 C 2.125 1.40625 2.96875 0.875 3.1875 0 Z M 3.84375 -2.609375 "/>
+</symbol>
+<symbol overflow="visible" id="glyph3-6">
+<path style="stroke:none;" d="M 3.875 -0.984375 C 3.875 -1.078125 3.78125 -1.078125 3.765625 -1.078125 C 3.671875 -1.078125 3.65625 -1.046875 3.640625 -0.96875 C 3.484375 -0.484375 3.078125 -0.125 2.6875 -0.125 C 2.40625 -0.125 2.265625 -0.3125 2.265625 -0.578125 C 2.265625 -0.75 2.421875 -1.390625 2.625 -2.15625 C 2.765625 -2.6875 3.078125 -2.859375 3.296875 -2.859375 C 3.296875 -2.859375 3.53125 -2.859375 3.671875 -2.765625 C 3.453125 -2.703125 3.375 -2.5 3.375 -2.375 C 3.375 -2.234375 3.484375 -2.125 3.640625 -2.125 C 3.8125 -2.125 4.03125 -2.25 4.03125 -2.546875 C 4.03125 -2.9375 3.59375 -3.046875 3.3125 -3.046875 C 2.96875 -3.046875 2.6875 -2.828125 2.546875 -2.5625 C 2.421875 -2.84375 2.09375 -3.046875 1.703125 -3.046875 C 0.9375 -3.046875 0.484375 -2.203125 0.484375 -2 C 0.484375 -1.90625 0.59375 -1.90625 0.609375 -1.90625 C 0.703125 -1.90625 0.703125 -1.9375 0.734375 -2.015625 C 0.90625 -2.5625 1.34375 -2.859375 1.6875 -2.859375 C 1.921875 -2.859375 2.109375 -2.734375 2.109375 -2.40625 C 2.109375 -2.265625 2.015625 -1.921875 1.953125 -1.6875 L 1.71875 -0.734375 C 1.65625 -0.5 1.421875 -0.125 1.078125 -0.125 C 1.046875 -0.125 0.84375 -0.125 0.703125 -0.21875 C 0.984375 -0.3125 1 -0.5625 1 -0.609375 C 1 -0.75 0.890625 -0.859375 0.734375 -0.859375 C 0.53125 -0.859375 0.328125 -0.6875 0.328125 -0.4375 C 0.328125 -0.09375 0.71875 0.0625 1.0625 0.0625 C 1.375 0.0625 1.65625 -0.125 1.828125 -0.421875 C 2 -0.0625 2.375 0.0625 2.65625 0.0625 C 3.453125 0.0625 3.875 -0.796875 3.875 -0.984375 Z M 3.875 -0.984375 "/>
+</symbol>
+<symbol overflow="visible" id="glyph4-0">
+<path style="stroke:none;" d=""/>
+</symbol>
+<symbol overflow="visible" id="glyph4-1">
+<path style="stroke:none;" d="M 6.515625 0.296875 L 6.515625 -0.390625 L 3.21875 -0.390625 L 3.21875 17.40625 L 3.90625 17.40625 L 3.90625 0.296875 Z M 6.515625 0.296875 "/>
+</symbol>
+<symbol overflow="visible" id="glyph4-2">
+<path style="stroke:none;" d="M 6.515625 17.390625 L 6.515625 16.71875 L 3.90625 16.71875 L 3.90625 -0.390625 L 3.21875 -0.390625 L 3.21875 17.390625 Z M 6.515625 17.390625 "/>
+</symbol>
+<symbol overflow="visible" id="glyph4-3">
+<path style="stroke:none;" d="M 3.359375 17.40625 L 3.359375 -0.390625 L 0.0625 -0.390625 L 0.0625 0.296875 L 2.6875 0.296875 L 2.6875 17.40625 Z M 3.359375 17.40625 "/>
+</symbol>
+<symbol overflow="visible" id="glyph4-4">
+<path style="stroke:none;" d="M 3.359375 17.390625 L 3.359375 -0.390625 L 2.6875 -0.390625 L 2.6875 16.71875 L 0.0625 16.71875 L 0.0625 17.390625 Z M 3.359375 17.390625 "/>
+</symbol>
+<symbol overflow="visible" id="glyph5-0">
+<path style="stroke:none;" d=""/>
+</symbol>
+<symbol overflow="visible" id="glyph5-1">
+<path style="stroke:none;" d="M 5.375 -1.421875 C 5.375 -1.515625 5.28125 -1.515625 5.25 -1.515625 C 5.15625 -1.515625 5.140625 -1.46875 5.109375 -1.328125 C 4.96875 -0.78125 4.78125 -0.109375 4.375 -0.109375 C 4.15625 -0.109375 4.0625 -0.234375 4.0625 -0.5625 C 4.0625 -0.78125 4.1875 -1.25 4.265625 -1.59375 L 4.546875 -2.65625 C 4.5625 -2.8125 4.671875 -3.1875 4.703125 -3.328125 C 4.75 -3.5625 4.859375 -3.9375 4.859375 -4 C 4.859375 -4.171875 4.71875 -4.265625 4.5625 -4.265625 C 4.515625 -4.265625 4.265625 -4.25 4.1875 -3.921875 L 3.4375 -0.9375 C 3.4375 -0.90625 3.03125 -0.109375 2.3125 -0.109375 C 1.796875 -0.109375 1.703125 -0.546875 1.703125 -0.921875 C 1.703125 -1.46875 1.984375 -2.25 2.234375 -2.9375 C 2.359375 -3.234375 2.40625 -3.375 2.40625 -3.5625 C 2.40625 -4 2.09375 -4.375 1.59375 -4.375 C 0.65625 -4.375 0.28125 -2.9375 0.28125 -2.84375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.765625 0.5625 -2.921875 C 0.8125 -3.78125 1.1875 -4.15625 1.5625 -4.15625 C 1.65625 -4.15625 1.8125 -4.140625 1.8125 -3.828125 C 1.8125 -3.59375 1.703125 -3.296875 1.640625 -3.15625 C 1.28125 -2.171875 1.0625 -1.5625 1.0625 -1.078125 C 1.0625 -0.140625 1.75 0.109375 2.28125 0.109375 C 2.9375 0.109375 3.296875 -0.34375 3.46875 -0.546875 C 3.578125 -0.140625 3.921875 0.109375 4.34375 0.109375 C 4.6875 0.109375 4.921875 -0.125 5.078125 -0.4375 C 5.234375 -0.796875 5.375 -1.421875 5.375 -1.421875 Z M 5.375 -1.421875 "/>
+</symbol>
+<symbol overflow="visible" id="glyph5-2">
+<path style="stroke:none;" d="M 4.921875 -1.421875 C 4.921875 -1.515625 4.84375 -1.515625 4.8125 -1.515625 C 4.703125 -1.515625 4.703125 -1.46875 4.671875 -1.328125 C 4.5 -0.6875 4.328125 -0.109375 3.921875 -0.109375 C 3.65625 -0.109375 3.625 -0.359375 3.625 -0.5625 C 3.625 -0.796875 3.640625 -0.875 3.671875 -1.03125 L 5.109375 -6.75 C 5.109375 -6.75 5.109375 -6.859375 4.96875 -6.859375 C 4.828125 -6.859375 3.890625 -6.78125 3.71875 -6.75 C 3.640625 -6.75 3.578125 -6.703125 3.578125 -6.5625 C 3.578125 -6.453125 3.671875 -6.453125 3.8125 -6.453125 C 4.296875 -6.453125 4.3125 -6.375 4.3125 -6.28125 L 4.28125 -6.078125 L 3.6875 -3.734375 C 3.515625 -4.109375 3.21875 -4.375 2.78125 -4.375 C 1.625 -4.375 0.390625 -2.921875 0.390625 -1.46875 C 0.390625 -0.546875 0.9375 0.109375 1.71875 0.109375 C 1.90625 0.109375 2.40625 0.0625 3 -0.640625 C 3.078125 -0.21875 3.421875 0.109375 3.890625 0.109375 C 4.25 0.109375 4.46875 -0.125 4.625 -0.4375 C 4.796875 -0.796875 4.921875 -1.421875 4.921875 -1.421875 Z M 3.546875 -3.109375 L 3.046875 -1.171875 C 3 -1 3 -0.984375 2.84375 -0.8125 C 2.40625 -0.265625 2 -0.109375 1.734375 -0.109375 C 1.234375 -0.109375 1.09375 -0.65625 1.09375 -1.03125 C 1.09375 -1.53125 1.421875 -2.75 1.640625 -3.203125 C 1.953125 -3.78125 2.390625 -4.15625 2.796875 -4.15625 C 3.4375 -4.15625 3.578125 -3.34375 3.578125 -3.28125 C 3.578125 -3.21875 3.546875 -3.171875 3.546875 -3.109375 Z M 3.546875 -3.109375 "/>
+</symbol>
+<symbol overflow="visible" id="glyph5-3">
+<path style="stroke:none;" d="M 5.40625 -1.421875 C 5.40625 -1.515625 5.3125 -1.515625 5.28125 -1.515625 C 5.1875 -1.515625 5.1875 -1.484375 5.140625 -1.328125 C 4.984375 -0.8125 4.671875 -0.109375 4.125 -0.109375 C 3.953125 -0.109375 3.890625 -0.203125 3.890625 -0.4375 C 3.890625 -0.6875 3.96875 -0.921875 4.0625 -1.140625 C 4.21875 -1.5625 4.671875 -2.734375 4.671875 -3.3125 C 4.671875 -3.953125 4.265625 -4.375 3.53125 -4.375 C 2.90625 -4.375 2.4375 -4.0625 2.0625 -3.609375 L 2.84375 -6.75 C 2.84375 -6.75 2.84375 -6.859375 2.703125 -6.859375 C 2.484375 -6.859375 1.765625 -6.78125 1.5 -6.765625 C 1.421875 -6.75 1.3125 -6.75 1.3125 -6.5625 C 1.3125 -6.453125 1.40625 -6.453125 1.546875 -6.453125 C 2.03125 -6.453125 2.046875 -6.375 2.046875 -6.28125 L 2.015625 -6.078125 L 0.578125 -0.390625 C 0.546875 -0.25 0.546875 -0.234375 0.546875 -0.171875 C 0.546875 0.0625 0.734375 0.109375 0.828125 0.109375 C 0.984375 0.109375 1.140625 -0.015625 1.203125 -0.140625 L 1.390625 -0.90625 L 1.609375 -1.796875 C 1.65625 -2 1.71875 -2.21875 1.765625 -2.453125 C 1.796875 -2.515625 1.875 -2.84375 1.875 -2.890625 C 1.90625 -2.984375 2.21875 -3.546875 2.546875 -3.8125 C 2.765625 -3.96875 3.078125 -4.15625 3.5 -4.15625 C 3.921875 -4.15625 4.03125 -3.8125 4.03125 -3.46875 C 4.03125 -2.921875 3.65625 -1.84375 3.421875 -1.25 C 3.34375 -1.015625 3.296875 -0.90625 3.296875 -0.703125 C 3.296875 -0.234375 3.640625 0.109375 4.109375 0.109375 C 5.03125 0.109375 5.40625 -1.328125 5.40625 -1.421875 Z M 5.40625 -1.421875 "/>
+</symbol>
+<symbol overflow="visible" id="glyph5-4">
+<path style="stroke:none;" d="M 4.3125 -3.734375 C 4.3125 -4.078125 4 -4.375 3.484375 -4.375 C 2.84375 -4.375 2.40625 -3.890625 2.21875 -3.609375 C 2.140625 -4.0625 1.796875 -4.375 1.328125 -4.375 C 0.875 -4.375 0.6875 -3.984375 0.59375 -3.8125 C 0.421875 -3.46875 0.28125 -2.875 0.28125 -2.84375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.765625 0.578125 -2.984375 C 0.734375 -3.671875 0.9375 -4.15625 1.296875 -4.15625 C 1.46875 -4.15625 1.609375 -4.078125 1.609375 -3.703125 C 1.609375 -3.484375 1.578125 -3.375 1.4375 -2.875 L 0.875 -0.578125 C 0.84375 -0.4375 0.78125 -0.203125 0.78125 -0.15625 C 0.78125 0.015625 0.921875 0.109375 1.0625 0.109375 C 1.1875 0.109375 1.359375 0.03125 1.4375 -0.171875 C 1.453125 -0.203125 1.796875 -1.546875 1.828125 -1.734375 L 2.140625 -3.015625 C 2.1875 -3.140625 2.46875 -3.609375 2.703125 -3.828125 C 2.78125 -3.890625 3.0625 -4.15625 3.484375 -4.15625 C 3.75 -4.15625 3.90625 -4.03125 3.90625 -4.03125 C 3.609375 -3.984375 3.390625 -3.75 3.390625 -3.484375 C 3.390625 -3.328125 3.5 -3.140625 3.765625 -3.140625 C 4.03125 -3.140625 4.3125 -3.375 4.3125 -3.734375 Z M 4.3125 -3.734375 "/>
+</symbol>
+</g>
+<clipPath id="clip1">
+  <path d="M 23 27 L 56 27 L 56 58.289062 L 23 58.289062 Z M 23 27 "/>
+</clipPath>
+<clipPath id="clip2">
+  <path d="M 100 27 L 121.101562 27 L 121.101562 58.289062 L 100 58.289062 Z M 100 27 "/>
+</clipPath>
+</defs>
+<g id="surface1">
+<path style="fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M -17.007538 -14.17196 L 17.009655 -14.17196 L 17.009655 14.172421 L -17.007538 14.172421 Z M -17.007538 -14.17196 " transform="matrix(0.99226,0,0,-0.99226,60.551684,43.234604)"/>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph0-1" x="50.637021" y="45.363002"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph1-1" x="57.872582" y="41.775981"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph2-1" x="64.051386" y="41.775981"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-1" x="56.877345" y="47.806938"/>
+  <use xlink:href="#glyph3-2" x="60.608514" y="47.806938"/>
+  <use xlink:href="#glyph3-3" x="62.95641" y="47.806938"/>
+</g>
+<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M -60.02801 0.00023036 L -22.141021 0.00023036 " transform="matrix(0.99226,0,0,-0.99226,60.551684,43.234604)"/>
+<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 41.773438 43.234375 L 37.363281 41.566406 L 38.832031 43.234375 L 37.363281 44.90625 Z M 41.773438 43.234375 "/>
+<g clip-path="url(#clip1)" clip-rule="nonzero">
+<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 6.053539 0.00023036 L 1.608983 1.68121 L 3.089189 0.00023036 L 1.608983 -1.684686 Z M 6.053539 0.00023036 " transform="matrix(0.99226,0,0,-0.99226,35.766752,43.234604)"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-1" x="4.779717" y="4.252671"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-2" x="4.779717" y="22.046872"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph5-1" x="13.9611" y="12.160984"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-3" x="19.61996" y="13.643421"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph5-2" x="11.370309" y="24.023455"/>
+  <use xlink:href="#glyph5-3" x="16.515707" y="24.023455"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-3" x="22.210751" y="25.506884"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph5-2" x="11.987495" y="35.885925"/>
+  <use xlink:href="#glyph5-4" x="17.132893" y="35.885925"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-3" x="21.592573" y="37.369354"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-3" x="29.720176" y="4.252671"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-4" x="29.720176" y="22.046872"/>
+</g>
+<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 17.505682 0.00023036 L 55.392671 0.00023036 " transform="matrix(0.99226,0,0,-0.99226,60.551684,43.234604)"/>
+<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 118.707031 43.234375 L 114.296875 41.566406 L 115.761719 43.234375 L 114.296875 44.90625 Z M 118.707031 43.234375 "/>
+<g clip-path="url(#clip2)" clip-rule="nonzero">
+<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 6.054671 0.00023036 L 1.610115 1.68121 L 3.086384 0.00023036 L 1.610115 -1.684686 Z M 6.054671 0.00023036 " transform="matrix(0.99226,0,0,-0.99226,112.699222,43.234604)"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-1" x="86.427845" y="4.252671"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-2" x="86.427845" y="22.046872"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph5-2" x="93.017444" y="12.160984"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-4" x="98.163306" y="13.643421"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-3" x="102.223858" y="13.643421"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph5-4" x="93.262533" y="24.023455"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-5" x="97.72175" y="25.506884"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-3" x="101.980209" y="25.506884"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph5-4" x="93.149415" y="35.885925"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph3-6" x="97.609624" y="37.369354"/>
+  <use xlink:href="#glyph3-3" x="102.092286" y="37.369354"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-3" x="109.733059" y="4.252671"/>
+</g>
+<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
+  <use xlink:href="#glyph4-4" x="109.733059" y="22.046872"/>
+</g>
+</g>
+</svg>
--- a/ref.bib
+++ b/ref.bib
@ -0,0 +1,11 @@
+@article{fleming10_integ_strain_force_feedb_high,
+    author = {Fleming, Andrew J and Leang, Kam K},
+    title = {Integrated Strain and Force Feedback for High-Performance
+                  Control of Piezoelectric Actuators},
+    journal = {Sensors and Actuators A: Physical},
+    volume = 161,
+    number = {1-2},
+    pages = {256--265},
+    year = 2010,
+    publisher = {Elsevier}
+}