Reworked all the analysis about optimal sensor fusion
This commit is contained in:
parent
148ede19ad
commit
28d394df34
BIN
matlab/figs/comparison_cps_noise.pdf
Normal file
BIN
matlab/figs/comparison_cps_noise.pdf
Normal file
Binary file not shown.
BIN
matlab/figs/comparison_cps_noise.png
Normal file
BIN
matlab/figs/comparison_cps_noise.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 141 KiB |
BIN
matlab/figs/comparison_psd_noise.pdf
Normal file
BIN
matlab/figs/comparison_psd_noise.pdf
Normal file
Binary file not shown.
BIN
matlab/figs/comparison_psd_noise.png
Normal file
BIN
matlab/figs/comparison_psd_noise.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 179 KiB |
BIN
matlab/figs/cps_h2_synthesis.pdf
Normal file
BIN
matlab/figs/cps_h2_synthesis.pdf
Normal file
Binary file not shown.
BIN
matlab/figs/cps_h2_synthesis.png
Normal file
BIN
matlab/figs/cps_h2_synthesis.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 125 KiB |
Binary file not shown.
Binary file not shown.
|
Before Width: | Height: | Size: 103 KiB After Width: | Height: | Size: 105 KiB |
BIN
matlab/figs/noise_characteristics_sensors.pdf
Normal file
BIN
matlab/figs/noise_characteristics_sensors.pdf
Normal file
Binary file not shown.
BIN
matlab/figs/noise_characteristics_sensors.png
Normal file
BIN
matlab/figs/noise_characteristics_sensors.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 122 KiB |
Binary file not shown.
Binary file not shown.
|
Before Width: | Height: | Size: 115 KiB After Width: | Height: | Size: 122 KiB |
Binary file not shown.
Binary file not shown.
|
Before Width: | Height: | Size: 160 KiB After Width: | Height: | Size: 166 KiB |
BIN
matlab/figs/weights_comp_filters_Hinfa.pdf
Normal file
BIN
matlab/figs/weights_comp_filters_Hinfa.pdf
Normal file
Binary file not shown.
BIN
matlab/figs/weights_comp_filters_Hinfa.png
Normal file
BIN
matlab/figs/weights_comp_filters_Hinfa.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 137 KiB |
BIN
matlab/figs/weights_comp_filters_Hinfb.pdf
Normal file
BIN
matlab/figs/weights_comp_filters_Hinfb.pdf
Normal file
Binary file not shown.
BIN
matlab/figs/weights_comp_filters_Hinfb.png
Normal file
BIN
matlab/figs/weights_comp_filters_Hinfb.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 128 KiB |
File diff suppressed because it is too large
Load Diff
495
matlab/index.org
495
matlab/index.org
@ -86,61 +86,65 @@ The complementary filters have to be designed in order to minimize the effect no
|
||||
#+end_src
|
||||
|
||||
** Architecture
|
||||
Let's consider the sensor fusion architecture shown on figure [[fig:fusion_two_noisy_sensors_with_dyn]] where two sensors 1 and 2 are measuring the same quantity $x$ with different noise characteristics determined by $W_1$ and $W_2$.
|
||||
Let's consider the sensor fusion architecture shown on figure [[fig:fusion_two_noisy_sensors_weights]] where two sensors (sensor 1 and sensor 2) are measuring the same quantity $x$ with different noise characteristics determined by $N_1(s)$ and $N_2(s)$.
|
||||
|
||||
$n_1$ and $n_2$ are white noise (constant power spectral density over all frequencies).
|
||||
$\tilde{n}_1$ and $\tilde{n}_2$ are normalized white noise:
|
||||
#+name: eq:normalized_noise
|
||||
\begin{equation}
|
||||
\Phi_{\tilde{n}_1}(\omega) = \Phi_{\tilde{n}_1}(\omega) = 1
|
||||
\end{equation}
|
||||
|
||||
#+name: fig:fusion_two_noisy_sensors_with_dyn
|
||||
#+name: fig:fusion_two_noisy_sensors_weights
|
||||
#+caption: Fusion of two sensors
|
||||
[[file:figs-tikz/fusion_two_noisy_sensors_with_dyn.png]]
|
||||
[[file:figs-tikz/fusion_two_noisy_sensors_weights.png]]
|
||||
|
||||
We consider that the two sensor dynamics $G_1$ and $G_2$ are ideal ($G_1 = G_2 = 1$). We obtain the architecture of figure [[fig:fusion_two_noisy_sensors]].
|
||||
We consider that the two sensor dynamics $G_1(s)$ and $G_2(s)$ are ideal:
|
||||
#+name: eq:idea_dynamics
|
||||
\begin{equation}
|
||||
G_1(s) = G_2(s) = 1
|
||||
\end{equation}
|
||||
|
||||
#+name: fig:fusion_two_noisy_sensors
|
||||
We obtain the architecture of figure [[fig:sensor_fusion_noisy_perfect_dyn]].
|
||||
|
||||
#+name: fig:sensor_fusion_noisy_perfect_dyn
|
||||
#+caption: Fusion of two sensors with ideal dynamics
|
||||
[[file:figs-tikz/fusion_two_noisy_sensors.png]]
|
||||
[[file:figs-tikz/sensor_fusion_noisy_perfect_dyn.png]]
|
||||
|
||||
$H_1$ and $H_2$ are complementary filters ($H_1 + H_2 = 1$). The goal is to design $H_1$ and $H_2$ such that the effect of the noise sources $n_1$ and $n_2$ has the smallest possible effect on the estimation $\hat{x}$.
|
||||
$H_1(s)$ and $H_2(s)$ are complementary filters:
|
||||
#+name: eq:comp_filters_property
|
||||
\begin{equation}
|
||||
H_1(s) + H_2(s) = 1
|
||||
\end{equation}
|
||||
|
||||
The goal is to design $H_1(s)$ and $H_2(s)$ such that the effect of the noise sources $\tilde{n}_1$ and $\tilde{n}_2$ has the smallest possible effect on the estimation $\hat{x}$.
|
||||
|
||||
We have that the Power Spectral Density (PSD) of $\hat{x}$ is:
|
||||
\[ \Gamma_{\hat{x}} = |H_1 W_1|^2 \Gamma_{n_1} + |H_2 W_2|^2 \Gamma_{n_2} \]
|
||||
\[ \Phi_{\hat{x}}(\omega) = |H_1(j\omega) N_1(j\omega)|^2 \Phi_{\tilde{n}_1}(\omega) + |H_2(j\omega) N_2(j\omega)|^2 \Phi_{\tilde{n}_2}(\omega), \quad \forall \omega \]
|
||||
|
||||
And the goal is the minimize the Root Mean Square (RMS) value of $\hat{x}$:
|
||||
\[ \sigma_{\hat{x}} = \sqrt{\int_0^\infty \Gamma_{\hat{x}}(\omega) d\omega} \]
|
||||
|
||||
As $n_1$ and $n_2$ are white noise: $\Gamma_{n_1} = \Gamma_{n_2} = 1$ and we have:
|
||||
\[ \sigma_{\hat{x}} = \sqrt{\int_0^\infty |H_1 W_1|^2(\omega) + |H_2 W_2|^2(\omega) d\omega} = \left\| \begin{matrix} H_1 W_1 \\ H_2 W_2 \end{matrix} \right\|_2 \]
|
||||
|
||||
Thus, the goal is to design $H_1$ and $H_2$ such that $H_1 + H_2 = 1$ and such that $\left\| \begin{matrix} H_1 W_1 \\ H_2 W_2 \end{matrix} \right\|_2$ is minimized.
|
||||
|
||||
For that, we will use the $\mathcal{H}_2$ Synthesis.
|
||||
#+name: eq:rms_value_estimation
|
||||
\begin{equation}
|
||||
\sigma_{\hat{x}} = \sqrt{\int_0^\infty \Phi_{\hat{x}}(\omega) d\omega}
|
||||
\end{equation}
|
||||
|
||||
** Noise of the sensors
|
||||
Let's define the noise characteristics of the two sensors by choosing $W_1$ and $W_2$:
|
||||
- Sensor 1 characterized by $W_1$ has low noise at low frequency (for instance a geophone)
|
||||
- Sensor 2 characterized by $W_2$ has low noise at high frequency (for instance an accelerometer)
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
omegac = 2*pi; G0 = 1e-2; Ginf = 1e-6;
|
||||
W1 = ((sqrt(G0))/(s/omegac + 1))^2;
|
||||
|
||||
omegac = 100*2*pi; G0 = 1e-6; Ginf = 1e-2;
|
||||
W2 = ((sqrt(Ginf)*s/omegac + sqrt(G0))/(s/omegac + 1))^2/(1 + s/2/pi/4000)^2;
|
||||
#+end_src
|
||||
Let's define the noise characteristics of the two sensors by choosing $N_1$ and $N_2$:
|
||||
- Sensor 1 characterized by $N_1(s)$ has low noise at low frequency (for instance a geophone)
|
||||
- Sensor 2 characterized by $N_2(s)$ has low noise at high frequency (for instance an accelerometer)
|
||||
|
||||
#+begin_src matlab
|
||||
omegac = 100*2*pi; G0 = 1e-5; Ginf = 1e-4;
|
||||
W1 = (Ginf*s/omegac + G0)/(s/omegac + 1)/(1 + s/2/pi/4000);
|
||||
N1 = (Ginf*s/omegac + G0)/(s/omegac + 1)/(1 + s/2/pi/100);
|
||||
|
||||
omegac = 1*2*pi; G0 = 1e-3; Ginf = 1e-8;
|
||||
W2 = ((sqrt(Ginf)*s/omegac + sqrt(G0))/(s/omegac + 1))^2/(1 + s/2/pi/4000)^2;
|
||||
N2 = ((sqrt(Ginf)*s/omegac + sqrt(G0))/(s/omegac + 1))^2/(1 + s/2/pi/4000)^2;
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
figure;
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(W1, freqs, 'Hz'))), '-', 'DisplayName', '$W_1$');
|
||||
plot(freqs, abs(squeeze(freqresp(W2, freqs, 'Hz'))), '-', 'DisplayName', '$W_2$');
|
||||
plot(freqs, abs(squeeze(freqresp(N1, freqs, 'Hz'))), '-', 'DisplayName', '$N_1$');
|
||||
plot(freqs, abs(squeeze(freqresp(N2, freqs, 'Hz'))), '-', 'DisplayName', '$N_2$');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
xlabel('Frequency [Hz]'); ylabel('Magnitude');
|
||||
hold off;
|
||||
@ -149,15 +153,21 @@ Let's define the noise characteristics of the two sensors by choosing $W_1$ and
|
||||
#+end_src
|
||||
|
||||
#+HEADER: :tangle no :exports results :results none :noweb yes
|
||||
#+begin_src matlab :var filepath="figs/nosie_characteristics_sensors.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
|
||||
#+begin_src matlab :var filepath="figs/noise_characteristics_sensors.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
|
||||
<<plt-matlab>>
|
||||
#+end_src
|
||||
|
||||
#+NAME: fig:nosie_characteristics_sensors
|
||||
#+CAPTION: Noise Characteristics of the two sensors ([[./figs/nosie_characteristics_sensors.png][png]], [[./figs/nosie_characteristics_sensors.pdf][pdf]])
|
||||
[[file:figs/nosie_characteristics_sensors.png]]
|
||||
#+NAME: fig:noise_characteristics_sensors
|
||||
#+CAPTION: Noise Characteristics of the two sensors ([[./figs/noise_characteristics_sensors.png][png]], [[./figs/noise_characteristics_sensors.pdf][pdf]])
|
||||
[[file:figs/noise_characteristics_sensors.png]]
|
||||
|
||||
** H-Two Synthesis
|
||||
As $\tilde{n}_1$ and $\tilde{n}_2$ are normalized white noise: $\Phi_{\tilde{n}_1}(\omega) = \Phi_{\tilde{n}_2}(\omega) = 1$ and we have:
|
||||
\[ \sigma_{\hat{x}} = \sqrt{\int_0^\infty |H_1 N_1|^2(\omega) + |H_2 N_2|^2(\omega) d\omega} = \left\| \begin{matrix} H_1 N_1 \\ H_2 N_2 \end{matrix} \right\|_2 \]
|
||||
Thus, the goal is to design $H_1(s)$ and $H_2(s)$ such that $H_1(s) + H_2(s) = 1$ and such that $\left\| \begin{matrix} H_1 N_1 \\ H_2 N_2 \end{matrix} \right\|_2$ is minimized.
|
||||
|
||||
For that, we use the $\mathcal{H}_2$ Synthesis.
|
||||
|
||||
We use the generalized plant architecture shown on figure [[fig:h_infinity_optimal_comp_filters]].
|
||||
|
||||
#+name: fig:h_infinity_optimal_comp_filters
|
||||
@ -165,16 +175,16 @@ We use the generalized plant architecture shown on figure [[fig:h_infinity_optim
|
||||
[[file:figs-tikz/h_infinity_optimal_comp_filters.png]]
|
||||
|
||||
The transfer function from $[n_1, n_2]$ to $\hat{x}$ is:
|
||||
\[ \begin{bmatrix} W_1 H_1 \\ W_2 (1 - H_1) \end{bmatrix} \]
|
||||
\[ \begin{bmatrix} N_1 H_1 \\ N_2 (1 - H_1) \end{bmatrix} \]
|
||||
If we define $H_2 = 1 - H_1$, we obtain:
|
||||
\[ \begin{bmatrix} W_1 H_1 \\ W_2 H_2 \end{bmatrix} \]
|
||||
\[ \begin{bmatrix} N_1 H_1 \\ N_2 H_2 \end{bmatrix} \]
|
||||
|
||||
Thus, if we minimize the $\mathcal{H}_2$ norm of this transfer function, we minimize the RMS value of $\hat{x}$.
|
||||
|
||||
We define the generalized plant $P$ on matlab as shown on figure [[fig:h_infinity_optimal_comp_filters]].
|
||||
#+begin_src matlab
|
||||
P = [0 W2 1;
|
||||
W1 -W2 0];
|
||||
P = [0 N2 1;
|
||||
N1 -N2 0];
|
||||
#+end_src
|
||||
|
||||
And we do the $\mathcal{H}_2$ synthesis using the =h2syn= command.
|
||||
@ -182,17 +192,18 @@ And we do the $\mathcal{H}_2$ synthesis using the =h2syn= command.
|
||||
[H1, ~, gamma] = h2syn(P, 1, 1);
|
||||
#+end_src
|
||||
|
||||
What is minimized is =norm([W1*H1,W2*H2], 2)=.
|
||||
|
||||
Finally, we define $H_2 = 1 - H_1$.
|
||||
Finally, we define $H_2(s) = 1 - H_1(s)$.
|
||||
#+begin_src matlab
|
||||
H2 = 1 - H1;
|
||||
#+end_src
|
||||
|
||||
** Analysis
|
||||
The complementary filters obtained are shown on figure [[fig:htwo_comp_filters]]. The PSD of the [[fig:psd_sensors_htwo_synthesis]].
|
||||
Finally, the RMS value of $\hat{x}$ is shown on table [[tab:rms_results]].
|
||||
The optimal sensor fusion has permitted to reduced the RMS value of the estimation error by a factor 8 compare to when using only one sensor.
|
||||
The complementary filters obtained are shown on figure [[fig:htwo_comp_filters]].
|
||||
|
||||
The PSD of the noise of the individual sensor and of the super sensor are shown in Fig. [[fig:psd_sensors_htwo_synthesis]].
|
||||
|
||||
The Cumulative Power Spectrum (CPS) is shown on Fig. [[fig:cps_h2_synthesis]].
|
||||
|
||||
The obtained RMS value of the super sensor is lower than the RMS value of the individual sensors.
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
figure;
|
||||
@ -215,14 +226,20 @@ The optimal sensor fusion has permitted to reduced the RMS value of the estimati
|
||||
#+CAPTION: Obtained complementary filters using the $\mathcal{H}_2$ Synthesis ([[./figs/htwo_comp_filters.png][png]], [[./figs/htwo_comp_filters.pdf][pdf]])
|
||||
[[file:figs/htwo_comp_filters.png]]
|
||||
|
||||
#+begin_src matlab
|
||||
PSD_S1 = abs(squeeze(freqresp(N1, freqs, 'Hz'))).^2;
|
||||
PSD_S2 = abs(squeeze(freqresp(N2, freqs, 'Hz'))).^2;
|
||||
PSD_H2 = abs(squeeze(freqresp(N1*H1, freqs, 'Hz'))).^2+abs(squeeze(freqresp(N2*H2, freqs, 'Hz'))).^2;
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
figure;
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(W1, freqs, 'Hz'))).^2, '-', 'DisplayName', '$|W_1|^2$');
|
||||
plot(freqs, abs(squeeze(freqresp(W2, freqs, 'Hz'))).^2, '-', 'DisplayName', '$|W_2|^2$');
|
||||
plot(freqs, abs(squeeze(freqresp(W1*H1, freqs, 'Hz'))).^2+abs(squeeze(freqresp(W2*H2, freqs, 'Hz'))).^2, 'k-', 'DisplayName', '$|W_1H_1|^2+|W_2H_2|^2$');
|
||||
plot(freqs, PSD_S1, '-', 'DisplayName', '$\Phi_{\hat{x}_1}$');
|
||||
plot(freqs, PSD_S2, '-', 'DisplayName', '$\Phi_{\hat{x}_2}$');
|
||||
plot(freqs, PSD_H2, 'k-', 'DisplayName', '$\Phi_{\hat{x}_{\mathcal{H}_2}}$');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
xlabel('Frequency [Hz]'); ylabel('Magnitude');
|
||||
xlabel('Frequency [Hz]'); ylabel('Power Spectral Density');
|
||||
hold off;
|
||||
xlim([freqs(1), freqs(end)]);
|
||||
legend('location', 'northeast');
|
||||
@ -237,77 +254,76 @@ The optimal sensor fusion has permitted to reduced the RMS value of the estimati
|
||||
#+CAPTION: Power Spectral Density of the estimated $\hat{x}$ using the two sensors alone and using the optimally fused signal ([[./figs/psd_sensors_htwo_synthesis.png][png]], [[./figs/psd_sensors_htwo_synthesis.pdf][pdf]])
|
||||
[[file:figs/psd_sensors_htwo_synthesis.png]]
|
||||
|
||||
#+begin_src matlab :exports results :results value table replace :tangle no :post addhdr(*this*)
|
||||
data2orgtable([norm([W1], 2);norm([W2], 2);norm([W1*H1 + W2*H2], 2)], {'Sensor 1', 'Sensor 2', 'Optimal Sensor Fusion'}, {'rms value'}, ' %.1e');
|
||||
#+end_src
|
||||
|
||||
#+name: tab:rms_results
|
||||
#+caption: RMS value of the estimation error when using the sensor individually and when using the two sensor merged using the optimal complementary filters
|
||||
#+RESULTS:
|
||||
| | rms value |
|
||||
|-----------------------+-----------|
|
||||
| Sensor 1 | 1.1e-02 |
|
||||
| Sensor 2 | 1.3e-03 |
|
||||
| Optimal Sensor Fusion | 1.5e-04 |
|
||||
|
||||
** H-Infinity Synthesis
|
||||
*** First idea
|
||||
Another objective that we may have is that the noise of the super sensor $n_{SS}$ is following the minimum of the noise of the two sensors $n_1$ and $n_2$:
|
||||
\[ \Gamma_{n_{ss}}(\omega) = \min(\Gamma_{n_1}(\omega),\ \Gamma_{n_2}(\omega)) \]
|
||||
|
||||
In order to obtain that ideal case, we need that the complementary filters be designed such that:
|
||||
\begin{align*}
|
||||
& H_1(j\omega) = 1 \text{ and } H_2(j\omega) = 0 \text{ at frequencies where } \Gamma_{n_1}(\omega) < \Gamma_{n_2}(\omega) \\
|
||||
& H_1(j\omega) = 0 \text{ and } H_2(j\omega) = 1 \text{ at frequencies where } \Gamma_{n_1}(\omega) > \Gamma_{n_2}(\omega)
|
||||
\end{align*}
|
||||
|
||||
Which is indeed *impossible in practice*.
|
||||
|
||||
We could try to use filters with the highest possible order to approximate that.
|
||||
However, we may have robustness and implementation problems.
|
||||
|
||||
#+begin_src matlab
|
||||
omegac = 100*2*pi; G0 = 1e-5; Ginf = 1e-4;
|
||||
N1 = (Ginf*s/omegac + G0)/(s/omegac + 1)/(1 + s/2/pi/4000);
|
||||
|
||||
omegac = 1*2*pi; G0 = 1e-3; Ginf = 1e-8;
|
||||
N2 = ((sqrt(Ginf)*s/omegac + sqrt(G0))/(s/omegac + 1))^2/(1 + s/2/pi/4000)^2;
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
n = 5; w0 = 2*pi*10; G0 = 1/10; G1 = 10000; Gc = 1/2;
|
||||
W1 = (((1/w0)*sqrt((1-(G0/Gc)^(2/n))/(1-(Gc/G1)^(2/n)))*s + (G0/Gc)^(1/n))/((1/G1)^(1/n)*(1/w0)*sqrt((1-(G0/Gc)^(2/n))/(1-(Gc/G1)^(2/n)))*s + (1/Gc)^(1/n)))^n;
|
||||
|
||||
n = 5; w0 = 2*pi*8; G0 = 1000; G1 = 0.1; Gc = 1/2;
|
||||
W2 = (((1/w0)*sqrt((1-(G0/Gc)^(2/n))/(1-(Gc/G1)^(2/n)))*s + (G0/Gc)^(1/n))/((1/G1)^(1/n)*(1/w0)*sqrt((1-(G0/Gc)^(2/n))/(1-(Gc/G1)^(2/n)))*s + (1/Gc)^(1/n)))^n;
|
||||
CPS_S1 = 1/pi*cumtrapz(2*pi*freqs, PSD_S1);
|
||||
CPS_S2 = 1/pi*cumtrapz(2*pi*freqs, PSD_S2);
|
||||
CPS_H2 = 1/pi*cumtrapz(2*pi*freqs, PSD_H2);
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
figure;
|
||||
hold on;
|
||||
plot(freqs, 1./abs(squeeze(freqresp(W1, freqs, 'Hz'))), '--', 'DisplayName', '$W_1 = \frac{N_1}{N_2}$');
|
||||
plot(freqs, 1./abs(squeeze(freqresp(W2, freqs, 'Hz'))), '--', 'DisplayName', '$W_2 = \frac{N_2}{N_1}$');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
xlabel('Frequency [Hz]'); ylabel('Magnitude');
|
||||
plot(freqs, CPS_S1, '-', 'DisplayName', sprintf('$\\sigma_{\\hat{x}_1} = %.1e$', sqrt(CPS_S1(end))));
|
||||
plot(freqs, CPS_S2, '-', 'DisplayName', sprintf('$\\sigma_{\\hat{x}_2} = %.1e$', sqrt(CPS_S2(end))));
|
||||
plot(freqs, CPS_H2, 'k-', 'DisplayName', sprintf('$\\sigma_{\\hat{x}_{\\mathcal{H}_2}} = %.1e$', sqrt(CPS_H2(end))));
|
||||
set(gca, 'YScale', 'log'); set(gca, 'XScale', 'log');
|
||||
xlabel('Frequency [Hz]'); ylabel('Cumulative Power Spectrum');
|
||||
hold off;
|
||||
xlim([freqs(1), freqs(end)]);
|
||||
legend('location', 'northeast');
|
||||
xlim([2e-1, freqs(end)]);
|
||||
ylim([1e-10 1e-5]);
|
||||
legend('location', 'southeast');
|
||||
#+end_src
|
||||
|
||||
#+HEADER: :tangle no :exports results :results none :noweb yes
|
||||
#+begin_src matlab :var filepath="figs/cps_h2_synthesis.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
|
||||
<<plt-matlab>>
|
||||
#+end_src
|
||||
|
||||
#+NAME: fig:cps_h2_synthesis
|
||||
#+CAPTION: Cumulative Power Spectrum of individual sensors and super sensor using the $\mathcal{H}_2$ synthesis ([[./figs/cps_h2_synthesis.png][png]], [[./figs/cps_h2_synthesis.pdf][pdf]])
|
||||
[[file:figs/cps_h2_synthesis.png]]
|
||||
|
||||
** H-Infinity Synthesis - method A
|
||||
Another objective that we may have is that the noise of the super sensor $n_{SS}$ is following the minimum of the noise of the two sensors $n_1$ and $n_2$:
|
||||
\[ \Gamma_{n_{ss}}(\omega) = \min(\Gamma_{n_1}(\omega),\ \Gamma_{n_2}(\omega)) \]
|
||||
|
||||
In order to obtain that ideal case, we need that the complementary filters be designed such that:
|
||||
\begin{align*}
|
||||
& |H_1(j\omega)| = 1 \text{ and } |H_2(j\omega)| = 0 \text{ at frequencies where } \Gamma_{n_1}(\omega) < \Gamma_{n_2}(\omega) \\
|
||||
& |H_1(j\omega)| = 0 \text{ and } |H_2(j\omega)| = 1 \text{ at frequencies where } \Gamma_{n_1}(\omega) > \Gamma_{n_2}(\omega)
|
||||
\end{align*}
|
||||
|
||||
Which is indeed impossible in practice.
|
||||
|
||||
We could try to approach that with the $\mathcal{H}_\infty$ synthesis by using high order filters.
|
||||
|
||||
As shown on Fig. [[fig:noise_characteristics_sensors]], the frequency where the two sensors have the same noise level is around 9Hz.
|
||||
We will thus choose weighting functions such that the merging frequency is around 9Hz.
|
||||
|
||||
The weighting functions used as well as the obtained complementary filters are shown in Fig. [[fig:weights_comp_filters_Hinfa]].
|
||||
|
||||
#+begin_src matlab
|
||||
n = 5; w0 = 2*pi*10; G0 = 1/10; G1 = 10000; Gc = 1/2;
|
||||
W1a = (((1/w0)*sqrt((1-(G0/Gc)^(2/n))/(1-(Gc/G1)^(2/n)))*s + (G0/Gc)^(1/n))/((1/G1)^(1/n)*(1/w0)*sqrt((1-(G0/Gc)^(2/n))/(1-(Gc/G1)^(2/n)))*s + (1/Gc)^(1/n)))^n;
|
||||
|
||||
n = 5; w0 = 2*pi*8; G0 = 1000; G1 = 0.1; Gc = 1/2;
|
||||
W2a = (((1/w0)*sqrt((1-(G0/Gc)^(2/n))/(1-(Gc/G1)^(2/n)))*s + (G0/Gc)^(1/n))/((1/G1)^(1/n)*(1/w0)*sqrt((1-(G0/Gc)^(2/n))/(1-(Gc/G1)^(2/n)))*s + (1/Gc)^(1/n)))^n;
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
P = [W1 -W1;
|
||||
0 W2;
|
||||
1 0];
|
||||
P = [W1a -W1a;
|
||||
0 W2a;
|
||||
1 0];
|
||||
#+end_src
|
||||
|
||||
And we do the $\mathcal{H}_\infty$ synthesis using the =hinfsyn= command.
|
||||
#+begin_src matlab :results output replace :exports both
|
||||
[H2, ~, gamma, ~] = hinfsyn(P, 1, 1,'TOLGAM', 0.001, 'METHOD', 'ric', 'DISPLAY', 'on');
|
||||
[H2a, ~, gamma, ~] = hinfsyn(P, 1, 1,'TOLGAM', 0.001, 'METHOD', 'ric', 'DISPLAY', 'on');
|
||||
#+end_src
|
||||
|
||||
#+RESULTS:
|
||||
#+begin_example
|
||||
[H2, ~, gamma, ~] = hinfsyn(P, 1, 1,'TOLGAM', 0.001, 'METHOD', 'ric', 'DISPLAY', 'on');
|
||||
[H2a, ~, gamma, ~] = hinfsyn(P, 1, 1,'TOLGAM', 0.001, 'METHOD', 'ric', 'DISPLAY', 'on');
|
||||
Resetting value of Gamma min based on D_11, D_12, D_21 terms
|
||||
|
||||
Test bounds: 0.1000 < gamma <= 10500.0000
|
||||
@ -343,7 +359,7 @@ Test bounds: 0.1000 < gamma <= 10500.0000
|
||||
#+end_example
|
||||
|
||||
#+begin_src matlab
|
||||
H1 = 1 - H2;
|
||||
H1a = 1 - H2a;
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
@ -352,14 +368,14 @@ Test bounds: 0.1000 < gamma <= 10500.0000
|
||||
ax1 = subplot(2,1,1);
|
||||
hold on;
|
||||
set(gca,'ColorOrderIndex',1)
|
||||
plot(freqs, 1./abs(squeeze(freqresp(W1, freqs, 'Hz'))), '--', 'DisplayName', '$w_1$');
|
||||
plot(freqs, 1./abs(squeeze(freqresp(W1a, freqs, 'Hz'))), '--', 'DisplayName', '$w_1$');
|
||||
set(gca,'ColorOrderIndex',2)
|
||||
plot(freqs, 1./abs(squeeze(freqresp(W2, freqs, 'Hz'))), '--', 'DisplayName', '$w_2$');
|
||||
plot(freqs, 1./abs(squeeze(freqresp(W2a, freqs, 'Hz'))), '--', 'DisplayName', '$w_2$');
|
||||
|
||||
set(gca,'ColorOrderIndex',1)
|
||||
plot(freqs, abs(squeeze(freqresp(H1, freqs, 'Hz'))), '-', 'DisplayName', '$H_1$');
|
||||
plot(freqs, abs(squeeze(freqresp(H1a, freqs, 'Hz'))), '-', 'DisplayName', '$H_1$');
|
||||
set(gca,'ColorOrderIndex',2)
|
||||
plot(freqs, abs(squeeze(freqresp(H2, freqs, 'Hz'))), '-', 'DisplayName', '$H_2$');
|
||||
plot(freqs, abs(squeeze(freqresp(H2a, freqs, 'Hz'))), '-', 'DisplayName', '$H_2$');
|
||||
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
@ -371,9 +387,9 @@ Test bounds: 0.1000 < gamma <= 10500.0000
|
||||
ax2 = subplot(2,1,2);
|
||||
hold on;
|
||||
set(gca,'ColorOrderIndex',1)
|
||||
plot(freqs, 180/pi*phase(squeeze(freqresp(H1, freqs, 'Hz'))), '-');
|
||||
plot(freqs, 180/pi*phase(squeeze(freqresp(H1a, freqs, 'Hz'))), '-');
|
||||
set(gca,'ColorOrderIndex',2)
|
||||
plot(freqs, 180/pi*phase(squeeze(freqresp(H2, freqs, 'Hz'))), '-');
|
||||
plot(freqs, 180/pi*phase(squeeze(freqresp(H2a, freqs, 'Hz'))), '-');
|
||||
hold off;
|
||||
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||
set(gca, 'XScale', 'log');
|
||||
@ -384,135 +400,100 @@ Test bounds: 0.1000 < gamma <= 10500.0000
|
||||
xticks([0.1, 1, 10, 100, 1000]);
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
figure;
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(N1, freqs, 'Hz'))).^2, '-', 'DisplayName', '$|N_1|^2$');
|
||||
plot(freqs, abs(squeeze(freqresp(N2, freqs, 'Hz'))).^2, '-', 'DisplayName', '$|N_2|^2$');
|
||||
plot(freqs, abs(squeeze(freqresp(N1*H1, freqs, 'Hz'))).^2+abs(squeeze(freqresp(N2*H2, freqs, 'Hz'))).^2, 'k-', 'DisplayName', '$|N_1H_1|^2+|N_2H_2|^2$');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
xlabel('Frequency [Hz]'); ylabel('Magnitude');
|
||||
hold off;
|
||||
xlim([freqs(1), freqs(end)]);
|
||||
legend('location', 'northeast');
|
||||
#+HEADER: :tangle no :exports results :results none :noweb yes
|
||||
#+begin_src matlab :var filepath="figs/weights_comp_filters_Hinfa.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
|
||||
<<plt-matlab>>
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports results :results value table replace :tangle no :post addhdr(*this*)
|
||||
data2orgtable([norm([N1], 2);norm([N2], 2);norm([N1*H1 + N2*H2], 2)], {'Sensor 1', 'Sensor 2', 'Optimal Sensor Fusion'}, {'rms value'}, ' %.1e');
|
||||
#+NAME: fig:weights_comp_filters_Hinfa
|
||||
#+CAPTION: Weights and Complementary Fitlers obtained ([[./figs/weights_comp_filters_Hinfa.png][png]], [[./figs/weights_comp_filters_Hinfa.pdf][pdf]])
|
||||
[[file:figs/weights_comp_filters_Hinfa.png]]
|
||||
|
||||
We then compute the Power Spectral Density as well as the Cumulative Power Spectrum.
|
||||
|
||||
#+begin_src matlab
|
||||
PSD_Ha = abs(squeeze(freqresp(N1*H1a, freqs, 'Hz'))).^2+abs(squeeze(freqresp(N2*H2a, freqs, 'Hz'))).^2;
|
||||
CPS_Ha = 1/pi*cumtrapz(2*pi*freqs, PSD_Ha);
|
||||
#+end_src
|
||||
|
||||
#+RESULTS:
|
||||
| | rms value |
|
||||
|-----------------------+-----------|
|
||||
| Sensor 1 | 1.1e-02 |
|
||||
| Sensor 2 | 1.3e-03 |
|
||||
| Optimal Sensor Fusion | 3.2e-04 |
|
||||
|
||||
*** Second idea
|
||||
** H-Infinity Synthesis - method B
|
||||
We have that:
|
||||
\[ \Phi_{n_{ss}} = \left|H_1\right|^2 \Phi_{n_1} + \left|H_2\right|^2 \Phi_{n_2} \]
|
||||
\[ \Phi_{\hat{x}}(\omega) = \left|H_1(j\omega) N_1(j\omega)\right|^2 + \left|H_2(j\omega) N_2(j\omega)\right|^2 \]
|
||||
|
||||
We model the Power Spectral Densities of the two sensors by weighting functions $N_1(s)$ and $N_2(s)$.
|
||||
\[ \Phi_{n_{ss}} = \left|H_1 N_1\right|^2 + \left|H_2\right N_2|^2 \]
|
||||
Then, at frequencies where $|H_1(j\omega)| < |H_2(j\omega)|$ we would like that $|N_1(j\omega)| = 1$ and $|N_2(j\omega)| = 0$ as we discussed before.
|
||||
Then $|H_1 N_1|^2 + |H_2 N_2|^2 = |N_1|^2$.
|
||||
|
||||
Then, at frequencies where $|H_1| < |H_2|$ we would like that $|N_1| = 1$ and $|N_2| = 0$ as we discussed before.
|
||||
Then $|H_1 N_1|^2 + |H_2 N_2|^2 = |H_1 N_1|^2$.
|
||||
|
||||
However, if we design $H_2$ such that when $|N_1| < |N_2|$, we have that:
|
||||
We know that this is impossible in practice. A more realistic choice is to design $H_2(s)$ such that when $|N_2(j\omega)| > |N_1(j\omega)|$, we have that:
|
||||
\[ |H_2 N_2|^2 = \epsilon |H_1 N_1|^2 \]
|
||||
|
||||
Which is equivalent to have (by supposing $|H_1| \approx 1$):
|
||||
\[ |H_2| = \sqrt{\epsilon} \frac{|N_1|}{|N_2|} \]
|
||||
|
||||
And we have:
|
||||
\begin{align*}
|
||||
\Phi_{n_{ss}} &= \left|H_1 N_1\right|^2 + |H_2 N_2|^2 \\
|
||||
&= (1 + \epsilon)\left|H_1 N_1\right|^2 \\
|
||||
&\approx \left|H_1 N_1\right|^2
|
||||
\Phi_{\hat{x}} &= \left|H_1 N_1\right|^2 + |H_2 N_2|^2 \\
|
||||
&= (1 + \epsilon) \left| H_1 N_1 \right|^2 \\
|
||||
&\approx \left|N_1\right|^2
|
||||
\end{align*}
|
||||
|
||||
We have then that:
|
||||
\[ |H_2 N_2| = \sqrt{\epsilon} |H_1 N_1| \]
|
||||
We suppose that $|H_1| = 1$:
|
||||
\[ |H_2| = \sqrt{\epsilon} \frac{|N_1|}{|N_2|} \]
|
||||
We can use that for the maximum magnitude of $|H_2|$ at frequencies where $|N_1| < |N_2|$
|
||||
|
||||
Similarly, we have that the maximum magnitude of $|H_1|$ at frequencies where $|N_1| > |N_2|$ is:
|
||||
Similarly, we design $H_1(s)$ such that at frequencies where $|N_1| > |N_2|$:
|
||||
\[ |H_1| = \sqrt{\epsilon} \frac{|N_2|}{|N_1|} \]
|
||||
|
||||
We could take $\epsilon = 1$, then we increase the noise of the super sensor just by a factor $\sqrt{2}$ over the all bandwidth from the idea case.
|
||||
For instance, is we take $\epsilon = 1$, then the PSD of $\hat{x}$ is increased by just by a factor $\sqrt{2}$ over the all frequencies from the idea case.
|
||||
|
||||
This could be used as weighting functions for the $\mathcal{H}_\infty$ synthesis of the complementary filters.
|
||||
We use this as the weighting functions for the $\mathcal{H}_\infty$ synthesis of the complementary filters.
|
||||
|
||||
The weighting function and the obtained complementary filters are shown in Fig. [[fig:weights_comp_filters_Hinfb]].
|
||||
|
||||
#+begin_src matlab
|
||||
omegac = 100*2*pi; G0 = 1e-5; Ginf = 1e-4;
|
||||
N1 = (Ginf*s/omegac + G0)/(s/omegac + 1)/(1 + s/2/pi/4000);
|
||||
epsilon = 2;
|
||||
|
||||
omegac = 1*2*pi; G0 = 1e-3; Ginf = 1e-8;
|
||||
N2 = ((sqrt(Ginf)*s/omegac + sqrt(G0))/(s/omegac + 1))^2/(1 + s/2/pi/4000)^2;
|
||||
W1b = 1/epsilon*N1/N2;
|
||||
W2b = 1/epsilon*N2/N1;
|
||||
|
||||
W1b = W1b/(1 + s/2/pi/1000); % this is added so that it is proper
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
W1 = N1/N2;
|
||||
W2 = N2/N1;
|
||||
|
||||
W1 = W1/(1 + s/2/pi/1000); % this is added so that it is proper
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
figure;
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(W1, freqs, 'Hz'))), '--', 'DisplayName', '$W_1 = \frac{N_1}{N_2}$');
|
||||
plot(freqs, abs(squeeze(freqresp(W2, freqs, 'Hz'))), '--', 'DisplayName', '$W_2 = \frac{N_2}{N_1}$');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
xlabel('Frequency [Hz]'); ylabel('Magnitude');
|
||||
hold off;
|
||||
xlim([freqs(1), freqs(end)]);
|
||||
legend('location', 'northeast');
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
P = [W1 -W1;
|
||||
0 W2;
|
||||
1 0];
|
||||
P = [W1b -W1b;
|
||||
0 W2b;
|
||||
1 0];
|
||||
#+end_src
|
||||
|
||||
And we do the $\mathcal{H}_\infty$ synthesis using the =hinfsyn= command.
|
||||
#+begin_src matlab :results output replace :exports both
|
||||
[H2, ~, gamma, ~] = hinfsyn(P, 1, 1,'TOLGAM', 0.001, 'METHOD', 'ric', 'DISPLAY', 'on');
|
||||
[H2b, ~, gamma, ~] = hinfsyn(P, 1, 1,'TOLGAM', 0.001, 'METHOD', 'ric', 'DISPLAY', 'on');
|
||||
#+end_src
|
||||
|
||||
#+RESULTS:
|
||||
#+begin_example
|
||||
[H2, ~, gamma, ~] = hinfsyn(P, 1, 1,'TOLGAM', 0.001, 'METHOD', 'ric', 'DISPLAY', 'on');
|
||||
Test bounds: 0.0000 < gamma <= 2625.0000
|
||||
[H2b, ~, gamma, ~] = hinfsyn(P, 1, 1,'TOLGAM', 0.001, 'METHOD', 'ric', 'DISPLAY', 'on');
|
||||
Test bounds: 0.0000 < gamma <= 32.8125
|
||||
|
||||
gamma hamx_eig xinf_eig hamy_eig yinf_eig nrho_xy p/f
|
||||
2.625e+03 1.8e+01 -2.3e-12 6.3e+00 -1.7e-14 0.0000 p
|
||||
1.313e+03 1.8e+01 -3.3e-12 6.3e+00 -5.9e-13 0.0000 p
|
||||
656.250 1.8e+01 -1.8e-12 6.3e+00 -1.2e-13 0.0000 p
|
||||
328.125 1.8e+01 -8.3e-13 6.3e+00 -7.5e-14 0.0000 p
|
||||
164.063 1.8e+01 -3.8e-13 6.3e+00 -6.1e-14 0.0000 p
|
||||
82.031 1.8e+01 -3.3e-22 6.3e+00 -5.4e-14 0.0000 p
|
||||
41.016 1.8e+01 -3.4e-12 6.3e+00 -1.4e-16 0.0000 p
|
||||
20.508 1.8e+01 -6.4e-14 6.3e+00 -4.4e-13 0.0000 p
|
||||
10.254 1.8e+01 -1.4e-13 6.3e+00 -4.9e-14 0.0000 p
|
||||
5.127 1.7e+01 -1.1e-12 6.3e+00 -1.6e-13 0.0000 p
|
||||
2.563 1.7e+01 -6.5e-13 6.3e+00 -7.3e-14 0.0000 p
|
||||
1.282 1.4e+01 -8.9e+04# 6.3e+00 -1.6e-14 0.0000 f
|
||||
1.923 1.6e+01 -4.6e+05# 6.3e+00 -2.1e-13 0.0000 f
|
||||
2.243 1.7e+01 -1.9e+06# 6.3e+00 -9.9e-14 0.0000 f
|
||||
2.403 1.7e+01 -3.7e-11 6.3e+00 -2.1e-12 0.0000 p
|
||||
2.323 1.7e+01 -4.6e+06# 6.3e+00 -5.8e-14 0.0000 f
|
||||
2.363 1.7e+01 -1.2e+07# 6.3e+00 -3.3e-14 0.0000 f
|
||||
2.383 1.7e+01 -6.8e+07# 6.3e+00 -1.2e-13 0.0000 f
|
||||
2.393 1.7e+01 -5.5e-11 6.3e+00 -1.8e-12 0.0000 p
|
||||
2.388 1.7e+01 1.3e-22 6.3e+00 -2.5e-15 0.0000 p
|
||||
2.386 1.7e+01 -1.5e+08# 6.3e+00 -1.4e-13 0.0000 f
|
||||
2.387 1.7e+01 -4.0e+08# 6.3e+00 -1.0e-13 0.0000 f
|
||||
2.388 1.7e+01 -2.1e+09# 6.3e+00 -4.2e-13 0.0000 f
|
||||
32.812 1.8e+01 3.4e-10 6.3e+00 -2.9e-13 0.0000 p
|
||||
16.406 1.8e+01 3.4e-10 6.3e+00 -1.2e-15 0.0000 p
|
||||
8.203 1.8e+01 3.3e-10 6.3e+00 -2.6e-13 0.0000 p
|
||||
4.102 1.8e+01 3.3e-10 6.3e+00 -2.1e-13 0.0000 p
|
||||
2.051 1.7e+01 3.4e-10 6.3e+00 -7.2e-16 0.0000 p
|
||||
1.025 1.6e+01 -1.3e+06# 6.3e+00 -8.3e-14 0.0000 f
|
||||
1.538 1.7e+01 3.4e-10 6.3e+00 -2.0e-13 0.0000 p
|
||||
1.282 1.7e+01 3.4e-10 6.3e+00 -7.9e-17 0.0000 p
|
||||
1.154 1.7e+01 3.6e-10 6.3e+00 -1.8e-13 0.0000 p
|
||||
1.089 1.7e+01 -3.4e+06# 6.3e+00 -1.7e-13 0.0000 f
|
||||
1.122 1.7e+01 -1.0e+07# 6.3e+00 -3.2e-13 0.0000 f
|
||||
1.138 1.7e+01 -1.3e+08# 6.3e+00 -1.8e-13 0.0000 f
|
||||
1.146 1.7e+01 3.2e-10 6.3e+00 -3.0e-13 0.0000 p
|
||||
1.142 1.7e+01 5.5e-10 6.3e+00 -2.8e-13 0.0000 p
|
||||
1.140 1.7e+01 -1.5e-10 6.3e+00 -2.3e-13 0.0000 p
|
||||
1.139 1.7e+01 -4.8e+08# 6.3e+00 -6.2e-14 0.0000 f
|
||||
1.139 1.7e+01 1.3e-09 6.3e+00 -8.9e-17 0.0000 p
|
||||
|
||||
Gamma value achieved: 2.3882
|
||||
Gamma value achieved: 1.1390
|
||||
#+end_example
|
||||
|
||||
#+begin_src matlab
|
||||
H1 = 1 - H2;
|
||||
H1b = 1 - H2b;
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
@ -521,14 +502,14 @@ Test bounds: 0.0000 < gamma <= 2625.0000
|
||||
ax1 = subplot(2,1,1);
|
||||
hold on;
|
||||
set(gca,'ColorOrderIndex',1)
|
||||
plot(freqs, 1./abs(squeeze(freqresp(W1, freqs, 'Hz'))), '--', 'DisplayName', '$w_1$');
|
||||
plot(freqs, 1./abs(squeeze(freqresp(W1b, freqs, 'Hz'))), '--', 'DisplayName', '$w_1$');
|
||||
set(gca,'ColorOrderIndex',2)
|
||||
plot(freqs, 1./abs(squeeze(freqresp(W2, freqs, 'Hz'))), '--', 'DisplayName', '$w_2$');
|
||||
plot(freqs, 1./abs(squeeze(freqresp(W2b, freqs, 'Hz'))), '--', 'DisplayName', '$w_2$');
|
||||
|
||||
set(gca,'ColorOrderIndex',1)
|
||||
plot(freqs, abs(squeeze(freqresp(H1, freqs, 'Hz'))), '-', 'DisplayName', '$H_1$');
|
||||
plot(freqs, abs(squeeze(freqresp(H1b, freqs, 'Hz'))), '-', 'DisplayName', '$H_1$');
|
||||
set(gca,'ColorOrderIndex',2)
|
||||
plot(freqs, abs(squeeze(freqresp(H2, freqs, 'Hz'))), '-', 'DisplayName', '$H_2$');
|
||||
plot(freqs, abs(squeeze(freqresp(H2b, freqs, 'Hz'))), '-', 'DisplayName', '$H_2$');
|
||||
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
@ -540,9 +521,9 @@ Test bounds: 0.0000 < gamma <= 2625.0000
|
||||
ax2 = subplot(2,1,2);
|
||||
hold on;
|
||||
set(gca,'ColorOrderIndex',1)
|
||||
plot(freqs, 180/pi*phase(squeeze(freqresp(H1, freqs, 'Hz'))), '-');
|
||||
plot(freqs, 180/pi*phase(squeeze(freqresp(H1b, freqs, 'Hz'))), '-');
|
||||
set(gca,'ColorOrderIndex',2)
|
||||
plot(freqs, 180/pi*phase(squeeze(freqresp(H2, freqs, 'Hz'))), '-');
|
||||
plot(freqs, 180/pi*phase(squeeze(freqresp(H2b, freqs, 'Hz'))), '-');
|
||||
hold off;
|
||||
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||
set(gca, 'XScale', 'log');
|
||||
@ -553,32 +534,96 @@ Test bounds: 0.0000 < gamma <= 2625.0000
|
||||
xticks([0.1, 1, 10, 100, 1000]);
|
||||
#+end_src
|
||||
|
||||
#+HEADER: :tangle no :exports results :results none :noweb yes
|
||||
#+begin_src matlab :var filepath="figs/weights_comp_filters_Hinfb.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
|
||||
<<plt-matlab>>
|
||||
#+end_src
|
||||
|
||||
#+NAME: fig:weights_comp_filters_Hinfb
|
||||
#+CAPTION: Weights and Complementary Fitlers obtained ([[./figs/weights_comp_filters_Hinfb.png][png]], [[./figs/weights_comp_filters_Hinfb.pdf][pdf]])
|
||||
[[file:figs/weights_comp_filters_Hinfb.png]]
|
||||
|
||||
#+begin_src matlab
|
||||
PSD_Hb = abs(squeeze(freqresp(N1*H1b, freqs, 'Hz'))).^2+abs(squeeze(freqresp(N2*H2b, freqs, 'Hz'))).^2;
|
||||
CPS_Hb = 1/pi*cumtrapz(2*pi*freqs, PSD_Hb);
|
||||
#+end_src
|
||||
|
||||
** Comparison of the methods
|
||||
The three methods are now compared.
|
||||
|
||||
The Power Spectral Density of the super sensors obtained with the complementary filters designed using the three methods are shown in Fig. [[fig:comparison_psd_noise]].
|
||||
|
||||
The Cumulative Power Spectrum for the same sensors are shown on Fig. [[fig:comparison_cps_noise]].
|
||||
|
||||
The RMS value of the obtained super sensors are shown on table [[tab:rms_results]].
|
||||
|
||||
#+begin_src matlab :exports results :results value table replace :tangle no :post addhdr(*this*)
|
||||
data2orgtable([norm([N1], 2) ; norm([N2], 2) ; norm([N1*H1, N2*H2], 2) ; norm([N1*H1a, N2*H2a], 2) ; norm([N1*H1b, N2*H2b], 2)], {'Sensor 1', 'Sensor 2', 'H2 Fusion', 'H-Infinity a', 'H-Infinity b'}, {'rms value'}, ' %.1e');
|
||||
#+end_src
|
||||
|
||||
#+name: tab:rms_results
|
||||
#+caption: RMS value of the estimation error when using the sensor individually and when using the two sensor merged using the optimal complementary filters
|
||||
#+RESULTS:
|
||||
| | rms value |
|
||||
|--------------+-----------|
|
||||
| Sensor 1 | 1.3e-03 |
|
||||
| Sensor 2 | 1.3e-03 |
|
||||
| H2 Fusion | 1.2e-04 |
|
||||
| H-Infinity a | 2.4e-04 |
|
||||
| H-Infinity b | 1.4e-04 |
|
||||
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
figure;
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(N1, freqs, 'Hz'))).^2, '-', 'DisplayName', '$|N_1|^2$');
|
||||
plot(freqs, abs(squeeze(freqresp(N2, freqs, 'Hz'))).^2, '-', 'DisplayName', '$|N_2|^2$');
|
||||
plot(freqs, abs(squeeze(freqresp(N1*H1, freqs, 'Hz'))).^2+abs(squeeze(freqresp(N2*H2, freqs, 'Hz'))).^2, 'k-', 'DisplayName', '$|N_1H_1|^2+|N_2H_2|^2$');
|
||||
plot(freqs, PSD_S1, '-', 'DisplayName', '$\Phi_{\hat{x}_1}$');
|
||||
plot(freqs, PSD_S2, '-', 'DisplayName', '$\Phi_{\hat{x}_2}$');
|
||||
plot(freqs, PSD_H2, 'k-', 'DisplayName', '$\Phi_{\hat{x}_{\mathcal{H}_2}}$');
|
||||
plot(freqs, PSD_Ha, 'k--', 'DisplayName', '$\Phi_{\hat{x}_{\mathcal{H}_\infty},a}$');
|
||||
plot(freqs, PSD_Hb, 'k-.', 'DisplayName', '$\Phi_{\hat{x}_{\mathcal{H}_\infty},b}$');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
xlabel('Frequency [Hz]'); ylabel('Magnitude');
|
||||
xlabel('Frequency [Hz]'); ylabel('Power Spectral Density');
|
||||
hold off;
|
||||
xlim([freqs(1), freqs(end)]);
|
||||
legend('location', 'northeast');
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports results :results value table replace :tangle no :post addhdr(*this*)
|
||||
data2orgtable([norm([N1], 2);norm([N2], 2);norm([N1*H1 + N2*H2], 2)], {'Sensor 1', 'Sensor 2', 'Optimal Sensor Fusion'}, {'rms value'}, ' %.1e');
|
||||
#+HEADER: :tangle no :exports results :results none :noweb yes
|
||||
#+begin_src matlab :var filepath="figs/comparison_psd_noise.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
|
||||
<<plt-matlab>>
|
||||
#+end_src
|
||||
|
||||
#+RESULTS:
|
||||
| | rms value |
|
||||
|-----------------------+-----------|
|
||||
| Sensor 1 | 1.1e-02 |
|
||||
| Sensor 2 | 1.3e-03 |
|
||||
| Optimal Sensor Fusion | 1.9e-04 |
|
||||
#+NAME: fig:comparison_psd_noise
|
||||
#+CAPTION: Comparison of the obtained Power Spectral Density using the three methods ([[./figs/comparison_psd_noise.png][png]], [[./figs/comparison_psd_noise.pdf][pdf]])
|
||||
[[file:figs/comparison_psd_noise.png]]
|
||||
|
||||
*** Conclusion
|
||||
From the above two experiments with $\mathcal{H}_\infty$ it still seems that the $\mathcal{H}_2$ synthesis gives the complementary filters that permits to obtain the minimal super sensor noise (when measuring with the $\mathcal{H}_2$ norm)
|
||||
#+begin_src matlab :exports none
|
||||
figure;
|
||||
hold on;
|
||||
plot(freqs, CPS_S1, '-', 'DisplayName', sprintf('$\\sigma_{\\hat{x}_1} = %.1e$', sqrt(CPS_S1(end))));
|
||||
plot(freqs, CPS_S2, '-', 'DisplayName', sprintf('$\\sigma_{\\hat{x}_2} = %.1e$', sqrt(CPS_S2(end))));
|
||||
plot(freqs, CPS_H2, 'k-', 'DisplayName', sprintf('$\\sigma_{\\hat{x}_{\\mathcal{H}_2}} = %.1e$', sqrt(CPS_H2(end))));
|
||||
plot(freqs, CPS_Ha, 'k--', 'DisplayName', sprintf('$\\sigma_{\\hat{x}_{\\mathcal{H}_\\infty, a}} = %.1e$', sqrt(CPS_Ha(end))));
|
||||
plot(freqs, CPS_Hb, 'k-.', 'DisplayName', sprintf('$\\sigma_{\\hat{x}_{\\mathcal{H}_\\infty, b}} = %.1e$', sqrt(CPS_Hb(end))));
|
||||
set(gca, 'YScale', 'log'); set(gca, 'XScale', 'log');
|
||||
xlabel('Frequency [Hz]'); ylabel('Cumulative Power Spectrum');
|
||||
hold off;
|
||||
xlim([2e-1, freqs(end)]);
|
||||
ylim([1e-10 1e-5]);
|
||||
legend('location', 'southeast');
|
||||
#+end_src
|
||||
|
||||
#+HEADER: :tangle no :exports results :results none :noweb yes
|
||||
#+begin_src matlab :var filepath="figs/comparison_cps_noise.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
|
||||
<<plt-matlab>>
|
||||
#+end_src
|
||||
|
||||
#+NAME: fig:comparison_cps_noise
|
||||
#+CAPTION: Comparison of the obtained Cumulative Power Spectrum using the three methods ([[./figs/comparison_cps_noise.png][png]], [[./figs/comparison_cps_noise.pdf][pdf]])
|
||||
[[file:figs/comparison_cps_noise.png]]
|
||||
|
||||
** Conclusion
|
||||
From the above complementary filter design with the $\mathcal{H}_2$ and $\mathcal{H}_\infty$ synthesis, it still seems that the $\mathcal{H}_2$ synthesis gives the complementary filters that permits to obtain the minimal super sensor noise (when measuring with the $\mathcal{H}_2$ norm).
|
||||
|
||||
* Robustness to sensor dynamics uncertainty
|
||||
:PROPERTIES:
|
||||
|
||||
Binary file not shown.
Binary file not shown.
|
Before Width: | Height: | Size: 13 KiB After Width: | Height: | Size: 28 KiB |
@ -1,165 +1,264 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="194.49pt" height="194.98pt" viewBox="0 0 194.49 194.98" version="1.2">
|
||||
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="199.852pt" height="107.531pt" viewBox="0 0 199.852 107.531" 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 11.5625 -4.28125 C 11.5625 -4.578125 11.28125 -4.578125 11.03125 -4.578125 L 6.46875 -4.578125 L 6.46875 -9.140625 C 6.46875 -9.375 6.46875 -9.671875 6.1875 -9.671875 C 5.875 -9.671875 5.875 -9.390625 5.875 -9.140625 L 5.875 -4.578125 L 1.328125 -4.578125 C 1.078125 -4.578125 0.796875 -4.578125 0.796875 -4.296875 C 0.796875 -3.984375 1.0625 -3.984375 1.328125 -3.984375 L 5.875 -3.984375 L 5.875 0.5625 C 5.875 0.8125 5.875 1.09375 6.171875 1.09375 C 6.46875 1.09375 6.46875 0.828125 6.46875 0.5625 L 6.46875 -3.984375 L 11.03125 -3.984375 C 11.265625 -3.984375 11.5625 -3.984375 11.5625 -4.28125 Z M 11.5625 -4.28125 "/>
|
||||
<path style="stroke:none;" d="M 4.953125 -1.84375 C 4.953125 -2.84375 4.296875 -3.65625 3.46875 -3.84375 L 2.1875 -4.15625 C 1.578125 -4.3125 1.1875 -4.84375 1.1875 -5.421875 C 1.1875 -6.109375 1.71875 -6.71875 2.5 -6.71875 C 4.15625 -6.71875 4.375 -5.09375 4.4375 -4.640625 C 4.4375 -4.578125 4.4375 -4.53125 4.546875 -4.53125 C 4.6875 -4.53125 4.6875 -4.578125 4.6875 -4.765625 L 4.6875 -6.75 C 4.6875 -6.921875 4.6875 -7 4.578125 -7 C 4.5 -7 4.5 -6.984375 4.421875 -6.859375 L 4.078125 -6.296875 C 3.78125 -6.59375 3.375 -7 2.484375 -7 C 1.390625 -7 0.5625 -6.125 0.5625 -5.0625 C 0.5625 -4.25 1.078125 -3.515625 1.859375 -3.25 C 1.96875 -3.21875 2.46875 -3.09375 3.171875 -2.921875 C 3.4375 -2.859375 3.734375 -2.78125 4.015625 -2.421875 C 4.21875 -2.15625 4.3125 -1.828125 4.3125 -1.515625 C 4.3125 -0.796875 3.8125 -0.09375 2.984375 -0.09375 C 2.703125 -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 -2.1875 0.5625 -2 L 0.5625 -0.015625 C 0.5625 0.15625 0.5625 0.21875 0.671875 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 1.484375 -0.140625 2.109375 0.21875 3 0.21875 C 4.15625 0.21875 4.953125 -0.75 4.953125 -1.84375 Z M 4.953125 -1.84375 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-2">
|
||||
<path style="stroke:none;" d="M 5.3125 0 L 5.3125 -0.3125 C 4.609375 -0.3125 4.53125 -0.375 4.53125 -0.859375 L 4.53125 -4.390625 L 3.078125 -4.28125 L 3.078125 -3.96875 C 3.765625 -3.96875 3.84375 -3.90625 3.84375 -3.40625 L 3.84375 -1.640625 C 3.84375 -0.78125 3.375 -0.109375 2.65625 -0.109375 C 1.8125 -0.109375 1.78125 -0.578125 1.78125 -1.09375 L 1.78125 -4.390625 L 0.3125 -4.28125 L 0.3125 -3.96875 C 1.09375 -3.96875 1.09375 -3.9375 1.09375 -3.0625 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 5.3125 0 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-3">
|
||||
<path style="stroke:none;" d="M 5.171875 -2.140625 C 5.171875 -3.40625 4.203125 -4.390625 3.09375 -4.390625 C 2.328125 -4.390625 1.90625 -3.953125 1.703125 -3.734375 L 1.703125 -4.390625 L 0.28125 -4.28125 L 0.28125 -3.96875 C 0.984375 -3.96875 1.046875 -3.90625 1.046875 -3.46875 L 1.046875 1.171875 C 1.046875 1.625 0.9375 1.625 0.28125 1.625 L 0.28125 1.921875 L 1.390625 1.890625 L 2.515625 1.921875 L 2.515625 1.625 C 1.84375 1.625 1.734375 1.625 1.734375 1.171875 L 1.734375 -0.578125 C 1.78125 -0.421875 2.203125 0.109375 2.953125 0.109375 C 4.140625 0.109375 5.171875 -0.859375 5.171875 -2.140625 Z M 4.34375 -2.140625 C 4.34375 -0.9375 3.65625 -0.109375 2.921875 -0.109375 C 2.515625 -0.109375 2.140625 -0.3125 1.875 -0.71875 C 1.734375 -0.921875 1.734375 -0.9375 1.734375 -1.125 L 1.734375 -3.34375 C 2.03125 -3.84375 2.515625 -4.140625 3.015625 -4.140625 C 3.734375 -4.140625 4.34375 -3.265625 4.34375 -2.140625 Z M 4.34375 -2.140625 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-4">
|
||||
<path style="stroke:none;" d="M 4.125 -1.1875 C 4.125 -1.28125 4.03125 -1.296875 3.984375 -1.296875 C 3.90625 -1.296875 3.875 -1.234375 3.859375 -1.15625 C 3.515625 -0.140625 2.625 -0.140625 2.515625 -0.140625 C 2.03125 -0.140625 1.625 -0.4375 1.40625 -0.796875 C 1.09375 -1.28125 1.09375 -1.9375 1.09375 -2.296875 L 3.875 -2.296875 C 4.09375 -2.296875 4.125 -2.296875 4.125 -2.5 C 4.125 -3.484375 3.578125 -4.4375 2.34375 -4.4375 C 1.1875 -4.4375 0.28125 -3.421875 0.28125 -2.1875 C 0.28125 -0.859375 1.3125 0.109375 2.453125 0.109375 C 3.671875 0.109375 4.125 -0.984375 4.125 -1.1875 Z M 3.46875 -2.5 L 1.109375 -2.5 C 1.171875 -3.984375 2 -4.234375 2.34375 -4.234375 C 3.359375 -4.234375 3.46875 -2.890625 3.46875 -2.5 Z M 3.46875 -2.5 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-5">
|
||||
<path style="stroke:none;" d="M 3.609375 -3.78125 C 3.609375 -4.09375 3.296875 -4.390625 2.875 -4.390625 C 2.15625 -4.390625 1.796875 -3.71875 1.65625 -3.296875 L 1.65625 -4.390625 L 0.28125 -4.28125 L 0.28125 -3.96875 C 0.96875 -3.96875 1.046875 -3.90625 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 1.8125 -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 -0.78125 L 1.703125 -2.296875 C 1.703125 -3.28125 2.125 -4.171875 2.875 -4.171875 C 2.953125 -4.171875 2.96875 -4.171875 2.984375 -4.15625 C 2.953125 -4.140625 2.765625 -4.03125 2.765625 -3.765625 C 2.765625 -3.5 2.96875 -3.34375 3.1875 -3.34375 C 3.359375 -3.34375 3.609375 -3.46875 3.609375 -3.78125 Z M 3.609375 -3.78125 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-6">
|
||||
<path style="stroke:none;" d="M 5.3125 0 L 5.3125 -0.3125 C 4.796875 -0.3125 4.546875 -0.3125 4.53125 -0.609375 L 4.53125 -2.5 C 4.53125 -3.359375 4.53125 -3.65625 4.234375 -4.015625 C 4.09375 -4.1875 3.765625 -4.390625 3.1875 -4.390625 C 2.453125 -4.390625 2 -3.953125 1.71875 -3.34375 L 1.71875 -4.390625 L 0.3125 -4.28125 L 0.3125 -3.96875 C 1.015625 -3.96875 1.09375 -3.90625 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 1.890625 -0.3125 1.78125 -0.3125 1.78125 -0.75 L 1.78125 -2.578125 C 1.78125 -3.609375 2.484375 -4.171875 3.109375 -4.171875 C 3.734375 -4.171875 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 4.203125 -0.03125 Z M 5.3125 0 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-7">
|
||||
<path style="stroke:none;" d="M 3.578125 -1.265625 C 3.578125 -1.796875 3.28125 -2.09375 3.15625 -2.21875 C 2.828125 -2.53125 2.4375 -2.609375 2.03125 -2.6875 C 1.46875 -2.796875 0.796875 -2.921875 0.796875 -3.5 C 0.796875 -3.84375 1.0625 -4.25 1.921875 -4.25 C 3 -4.25 3.0625 -3.359375 3.078125 -3.0625 C 3.078125 -2.96875 3.1875 -2.96875 3.1875 -2.96875 C 3.328125 -2.96875 3.328125 -3.015625 3.328125 -3.203125 L 3.328125 -4.203125 C 3.328125 -4.375 3.328125 -4.4375 3.21875 -4.4375 C 3.171875 -4.4375 3.140625 -4.4375 3.015625 -4.328125 C 2.984375 -4.28125 2.890625 -4.203125 2.84375 -4.171875 C 2.46875 -4.4375 2.0625 -4.4375 1.921875 -4.4375 C 0.703125 -4.4375 0.328125 -3.78125 0.328125 -3.21875 C 0.328125 -2.875 0.484375 -2.59375 0.75 -2.375 C 1.078125 -2.125 1.34375 -2.0625 2.0625 -1.921875 C 2.28125 -1.890625 3.09375 -1.71875 3.09375 -1.015625 C 3.09375 -0.5 2.75 -0.109375 1.96875 -0.109375 C 1.140625 -0.109375 0.78125 -0.671875 0.59375 -1.515625 C 0.5625 -1.640625 0.5625 -1.6875 0.453125 -1.6875 C 0.328125 -1.6875 0.328125 -1.625 0.328125 -1.4375 L 0.328125 -0.125 C 0.328125 0.046875 0.328125 0.109375 0.4375 0.109375 C 0.484375 0.109375 0.5 0.09375 0.6875 -0.09375 C 0.703125 -0.109375 0.703125 -0.125 0.890625 -0.3125 C 1.3125 0.09375 1.765625 0.109375 1.96875 0.109375 C 3.109375 0.109375 3.578125 -0.5625 3.578125 -1.265625 Z M 3.578125 -1.265625 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-8">
|
||||
<path style="stroke:none;" d="M 4.671875 -2.125 C 4.671875 -3.390625 3.6875 -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 1.625 -0.34375 1.34375 -0.796875 C 1.09375 -1.234375 1.09375 -1.84375 1.09375 -2.203125 C 1.09375 -2.59375 1.09375 -3.125 1.34375 -3.5625 C 1.609375 -4.015625 2.078125 -4.234375 2.46875 -4.234375 C 2.90625 -4.234375 3.328125 -4.015625 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="glyph0-9">
|
||||
<path style="stroke:none;" d="M 4.15625 0 L 4.15625 -0.3125 L 3.84375 -0.3125 C 2.953125 -0.3125 2.921875 -0.421875 2.921875 -0.78125 L 2.921875 -6.34375 C 2.921875 -6.59375 2.921875 -6.609375 2.6875 -6.609375 C 2.078125 -5.96875 1.203125 -5.96875 0.890625 -5.96875 L 0.890625 -5.671875 C 1.078125 -5.671875 1.671875 -5.671875 2.1875 -5.921875 L 2.1875 -0.78125 C 2.1875 -0.421875 2.15625 -0.3125 1.265625 -0.3125 L 0.9375 -0.3125 L 0.9375 0 C 1.296875 -0.03125 2.15625 -0.03125 2.546875 -0.03125 C 2.953125 -0.03125 3.8125 -0.03125 4.15625 0 Z M 4.15625 0 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-10">
|
||||
<path style="stroke:none;" d="M 4.453125 -1.71875 L 4.203125 -1.71875 C 4.15625 -1.421875 4.09375 -0.984375 3.984375 -0.84375 C 3.921875 -0.765625 3.265625 -0.765625 3.046875 -0.765625 L 1.265625 -0.765625 L 2.3125 -1.78125 C 3.859375 -3.15625 4.453125 -3.6875 4.453125 -4.6875 C 4.453125 -5.8125 3.5625 -6.609375 2.34375 -6.609375 C 1.234375 -6.609375 0.5 -5.6875 0.5 -4.8125 C 0.5 -4.25 0.984375 -4.25 1.015625 -4.25 C 1.1875 -4.25 1.53125 -4.375 1.53125 -4.78125 C 1.53125 -5.046875 1.359375 -5.296875 1.015625 -5.296875 C 0.9375 -5.296875 0.90625 -5.296875 0.890625 -5.28125 C 1.109375 -5.9375 1.640625 -6.296875 2.21875 -6.296875 C 3.125 -6.296875 3.546875 -5.5 3.546875 -4.6875 C 3.546875 -3.890625 3.0625 -3.109375 2.515625 -2.484375 L 0.609375 -0.359375 C 0.5 -0.265625 0.5 -0.234375 0.5 0 L 4.171875 0 Z M 4.453125 -1.71875 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-11">
|
||||
<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 -0.96875 1.5625 -2.484375 C 1.5625 -4.203125 1.9375 -5.9375 3.15625 -7.171875 C 3.28125 -7.296875 3.28125 -7.3125 3.28125 -7.34375 C 3.28125 -7.40625 3.25 -7.4375 3.1875 -7.4375 C 3.078125 -7.4375 2.1875 -6.765625 1.609375 -5.5 C 1.09375 -4.421875 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 3.25 2.484375 3.28125 2.453125 3.28125 2.375 Z M 3.28125 2.375 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-12">
|
||||
<path style="stroke:none;" d="M 2.875 -2.484375 C 2.875 -3.25 2.765625 -4.453125 2.21875 -5.578125 C 1.625 -6.796875 0.765625 -7.4375 0.671875 -7.4375 C 0.609375 -7.4375 0.5625 -7.40625 0.5625 -7.34375 C 0.5625 -7.3125 0.5625 -7.296875 0.75 -7.109375 C 1.71875 -6.125 2.296875 -4.546875 2.296875 -2.484375 C 2.296875 -0.78125 1.921875 0.96875 0.6875 2.21875 C 0.5625 2.328125 0.5625 2.34375 0.5625 2.375 C 0.5625 2.4375 0.609375 2.484375 0.671875 2.484375 C 0.765625 2.484375 1.65625 1.8125 2.25 0.546875 C 2.75 -0.546875 2.875 -1.640625 2.875 -2.484375 Z M 2.875 -2.484375 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-13">
|
||||
<path style="stroke:none;" d="M 3.984375 -5.265625 L 2.484375 -6.859375 L 0.96875 -5.265625 L 1.09375 -5.125 L 2.484375 -6.1875 L 3.859375 -5.125 Z M 3.984375 -5.265625 "/>
|
||||
</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 10.421875 -6.671875 C 10.421875 -6.71875 10.375 -6.78125 10.296875 -6.78125 C 10.0625 -6.78125 9.78125 -6.75 9.53125 -6.75 C 9.1875 -6.75 8.828125 -6.78125 8.5 -6.78125 C 8.4375 -6.78125 8.3125 -6.78125 8.3125 -6.59375 C 8.3125 -6.484375 8.390625 -6.484375 8.453125 -6.484375 C 8.703125 -6.46875 9.046875 -6.390625 9.046875 -6.09375 C 9.046875 -5.984375 9 -5.90625 8.90625 -5.765625 L 6.234375 -1.078125 L 5.859375 -6.015625 C 5.859375 -6.21875 5.828125 -6.46875 6.5625 -6.484375 C 6.734375 -6.484375 6.828125 -6.484375 6.828125 -6.671875 C 6.828125 -6.78125 6.71875 -6.78125 6.671875 -6.78125 C 6.28125 -6.78125 5.859375 -6.75 5.46875 -6.75 C 5.234375 -6.75 4.65625 -6.78125 4.421875 -6.78125 C 4.359375 -6.78125 4.234375 -6.78125 4.234375 -6.59375 C 4.234375 -6.484375 4.328125 -6.484375 4.46875 -6.484375 C 4.90625 -6.484375 4.984375 -6.421875 5 -6.234375 L 5.0625 -5.46875 L 2.546875 -1.078125 L 2.171875 -6.125 C 2.171875 -6.234375 2.171875 -6.46875 2.921875 -6.484375 C 3.015625 -6.484375 3.125 -6.484375 3.125 -6.671875 C 3.125 -6.78125 2.984375 -6.78125 2.984375 -6.78125 C 2.59375 -6.78125 2.171875 -6.75 1.765625 -6.75 C 1.421875 -6.75 1.0625 -6.78125 0.71875 -6.78125 C 0.671875 -6.78125 0.546875 -6.78125 0.546875 -6.59375 C 0.546875 -6.484375 0.640625 -6.484375 0.796875 -6.484375 C 1.296875 -6.484375 1.296875 -6.390625 1.328125 -6.109375 L 1.765625 -0.046875 C 1.78125 0.140625 1.78125 0.21875 1.921875 0.21875 C 2.046875 0.21875 2.078125 0.15625 2.171875 0.015625 L 5.09375 -5.0625 L 5.453125 -0.046875 C 5.46875 0.171875 5.5 0.21875 5.609375 0.21875 C 5.75 0.21875 5.796875 0.125 5.859375 0.03125 L 9.109375 -5.640625 C 9.359375 -6.078125 9.59375 -6.421875 10.21875 -6.484375 C 10.3125 -6.484375 10.421875 -6.484375 10.421875 -6.671875 Z M 10.421875 -6.671875 "/>
|
||||
<path style="stroke:none;" d="M 7.15625 -2.59375 C 7.15625 -2.671875 7.109375 -2.703125 7.03125 -2.703125 C 6.796875 -2.703125 6.21875 -2.671875 5.984375 -2.671875 L 4.59375 -2.703125 C 4.5 -2.703125 4.390625 -2.703125 4.390625 -2.515625 C 4.390625 -2.40625 4.46875 -2.40625 4.6875 -2.40625 C 4.6875 -2.40625 4.984375 -2.40625 5.203125 -2.375 C 5.46875 -2.34375 5.515625 -2.328125 5.515625 -2.1875 C 5.515625 -2.109375 5.40625 -1.65625 5.3125 -1.296875 C 5.03125 -0.203125 3.734375 -0.09375 3.390625 -0.09375 C 2.4375 -0.09375 1.40625 -0.65625 1.40625 -2.171875 C 1.40625 -2.484375 1.5 -4.125 2.546875 -5.40625 C 3.078125 -6.078125 4.03125 -6.6875 5.015625 -6.6875 C 6.03125 -6.6875 6.625 -5.921875 6.625 -4.765625 C 6.625 -4.375 6.59375 -4.359375 6.59375 -4.265625 C 6.59375 -4.171875 6.703125 -4.171875 6.734375 -4.171875 C 6.859375 -4.171875 6.859375 -4.1875 6.921875 -4.359375 L 7.546875 -6.890625 C 7.546875 -6.921875 7.515625 -7 7.4375 -7 C 7.40625 -7 7.390625 -6.984375 7.28125 -6.875 L 6.59375 -6.109375 C 6.5 -6.25 6.046875 -7 4.9375 -7 C 2.734375 -7 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 4.09375 0.125 4.4375 -0.015625 C 4.9375 -0.21875 5.125 -0.421875 5.3125 -0.625 C 5.390625 -0.375 5.65625 -0.015625 5.75 -0.015625 C 5.796875 -0.015625 5.828125 -0.046875 5.828125 -0.046875 C 5.84375 -0.0625 5.9375 -0.453125 6 -0.65625 L 6.1875 -1.421875 C 6.21875 -1.59375 6.265625 -1.75 6.3125 -1.921875 C 6.421875 -2.375 6.421875 -2.390625 7 -2.40625 C 7.046875 -2.40625 7.15625 -2.40625 7.15625 -2.59375 Z M 7.15625 -2.59375 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph1-2">
|
||||
<path style="stroke:none;" d="M 7.140625 -0.203125 C 7.140625 -0.3125 7.046875 -0.3125 6.859375 -0.3125 C 6.484375 -0.3125 6.21875 -0.3125 6.21875 -0.484375 C 6.21875 -0.546875 6.234375 -0.59375 6.234375 -0.65625 L 7.578125 -6.015625 C 7.671875 -6.375 7.6875 -6.484375 8.421875 -6.484375 C 8.671875 -6.484375 8.75 -6.484375 8.75 -6.671875 C 8.75 -6.78125 8.640625 -6.78125 8.609375 -6.78125 L 7.34375 -6.75 L 6.0625 -6.78125 C 5.984375 -6.78125 5.875 -6.78125 5.875 -6.59375 C 5.875 -6.484375 5.96875 -6.484375 6.15625 -6.484375 C 6.15625 -6.484375 6.359375 -6.484375 6.53125 -6.453125 C 6.703125 -6.4375 6.796875 -6.421875 6.796875 -6.296875 C 6.796875 -6.265625 6.78125 -6.234375 6.75 -6.109375 L 6.15625 -3.6875 L 3.125 -3.6875 L 3.71875 -6.015625 C 3.8125 -6.375 3.828125 -6.484375 4.546875 -6.484375 C 4.8125 -6.484375 4.890625 -6.484375 4.890625 -6.671875 C 4.890625 -6.78125 4.78125 -6.78125 4.75 -6.78125 L 3.484375 -6.75 L 2.203125 -6.78125 C 2.109375 -6.78125 2 -6.78125 2 -6.59375 C 2 -6.484375 2.09375 -6.484375 2.28125 -6.484375 C 2.28125 -6.484375 2.5 -6.484375 2.65625 -6.453125 C 2.84375 -6.4375 2.9375 -6.421875 2.9375 -6.296875 C 2.9375 -6.265625 2.921875 -6.234375 2.890625 -6.109375 L 1.5625 -0.78125 C 1.453125 -0.390625 1.4375 -0.3125 0.65625 -0.3125 C 0.484375 -0.3125 0.390625 -0.3125 0.390625 -0.109375 C 0.390625 0 0.53125 0 0.53125 0 L 1.78125 -0.03125 L 2.421875 -0.015625 C 2.640625 -0.015625 2.859375 0 3.078125 0 C 3.15625 0 3.265625 0 3.265625 -0.203125 C 3.265625 -0.3125 3.1875 -0.3125 2.984375 -0.3125 C 2.625 -0.3125 2.34375 -0.3125 2.34375 -0.484375 C 2.34375 -0.546875 2.359375 -0.59375 2.375 -0.65625 L 3.046875 -3.375 L 6.078125 -3.375 L 5.390625 -0.640625 C 5.296875 -0.3125 5.109375 -0.3125 4.484375 -0.3125 C 4.34375 -0.3125 4.25 -0.3125 4.25 -0.109375 C 4.25 0 4.390625 0 4.390625 0 L 5.65625 -0.03125 L 6.296875 -0.015625 C 6.515625 -0.015625 6.734375 0 6.9375 0 C 7.015625 0 7.140625 0 7.140625 -0.203125 Z M 7.140625 -0.203125 "/>
|
||||
<path style="stroke:none;" d="M 3.921875 -1.53125 C 3.921875 -1.890625 3.734375 -2.140625 3.625 -2.265625 C 3.359375 -2.546875 3.0625 -2.59375 2.625 -2.671875 C 2.265625 -2.765625 1.875 -2.828125 1.875 -3.28125 C 1.875 -3.5625 2.109375 -4.171875 2.984375 -4.171875 C 3.234375 -4.171875 3.734375 -4.09375 3.875 -3.703125 C 3.609375 -3.703125 3.40625 -3.484375 3.40625 -3.265625 C 3.40625 -3.125 3.5 -2.96875 3.703125 -2.96875 C 3.921875 -2.96875 4.171875 -3.140625 4.171875 -3.53125 C 4.171875 -3.984375 3.734375 -4.390625 2.984375 -4.390625 C 1.671875 -4.390625 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 3.140625 -0.109375 1.9375 -0.109375 C 1.8125 -0.109375 1.046875 -0.109375 0.8125 -0.640625 C 1.1875 -0.578125 1.4375 -0.890625 1.4375 -1.15625 C 1.4375 -1.390625 1.28125 -1.515625 1.078125 -1.515625 C 0.8125 -1.515625 0.515625 -1.296875 0.515625 -0.859375 C 0.515625 -0.28125 1.078125 0.109375 1.9375 0.109375 C 3.546875 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 4.921875 -1.421875 C 4.921875 -1.515625 4.84375 -1.515625 4.8125 -1.515625 C 4.71875 -1.515625 4.703125 -1.484375 4.6875 -1.40625 C 4.359375 -0.34375 3.671875 -0.109375 3.359375 -0.109375 C 2.96875 -0.109375 2.8125 -0.421875 2.8125 -0.765625 C 2.8125 -0.984375 2.875 -1.203125 2.984375 -1.640625 L 3.3125 -3 C 3.375 -3.265625 3.609375 -4.171875 4.296875 -4.171875 C 4.359375 -4.171875 4.59375 -4.171875 4.796875 -4.046875 C 4.515625 -4 4.328125 -3.75 4.328125 -3.515625 C 4.328125 -3.34375 4.4375 -3.15625 4.703125 -3.15625 C 4.921875 -3.15625 5.234375 -3.34375 5.234375 -3.734375 C 5.234375 -4.25 4.65625 -4.390625 4.3125 -4.390625 C 3.734375 -4.390625 3.390625 -3.859375 3.265625 -3.640625 C 3.015625 -4.296875 2.484375 -4.390625 2.203125 -4.390625 C 1.15625 -4.390625 0.59375 -3.109375 0.59375 -2.859375 C 0.59375 -2.765625 0.71875 -2.765625 0.71875 -2.765625 C 0.796875 -2.765625 0.828125 -2.78125 0.84375 -2.875 C 1.1875 -3.921875 1.84375 -4.171875 2.171875 -4.171875 C 2.359375 -4.171875 2.71875 -4.078125 2.71875 -3.515625 C 2.71875 -3.203125 2.546875 -2.53125 2.171875 -1.140625 C 2.015625 -0.53125 1.671875 -0.109375 1.234375 -0.109375 C 1.171875 -0.109375 0.9375 -0.109375 0.734375 -0.234375 C 0.984375 -0.28125 1.203125 -0.5 1.203125 -0.78125 C 1.203125 -1.046875 0.984375 -1.125 0.828125 -1.125 C 0.53125 -1.125 0.28125 -0.859375 0.28125 -0.546875 C 0.28125 -0.09375 0.78125 0.109375 1.21875 0.109375 C 1.875 0.109375 2.234375 -0.59375 2.265625 -0.640625 C 2.390625 -0.28125 2.75 0.109375 3.34375 0.109375 C 4.359375 0.109375 4.921875 -1.171875 4.921875 -1.421875 Z M 4.921875 -1.421875 "/>
|
||||
<path style="stroke:none;" d="M 7.125 -0.203125 C 7.125 -0.3125 7.03125 -0.3125 6.84375 -0.3125 C 6.484375 -0.3125 6.203125 -0.3125 6.203125 -0.484375 C 6.203125 -0.546875 6.21875 -0.59375 6.234375 -0.65625 L 7.578125 -6.015625 C 7.65625 -6.375 7.671875 -6.46875 8.40625 -6.46875 C 8.65625 -6.46875 8.734375 -6.46875 8.734375 -6.671875 C 8.734375 -6.78125 8.625 -6.78125 8.609375 -6.78125 L 7.328125 -6.75 L 6.046875 -6.78125 C 5.96875 -6.78125 5.859375 -6.78125 5.859375 -6.578125 C 5.859375 -6.46875 5.953125 -6.46875 6.140625 -6.46875 C 6.140625 -6.46875 6.34375 -6.46875 6.515625 -6.453125 C 6.703125 -6.421875 6.78125 -6.421875 6.78125 -6.296875 C 6.78125 -6.25 6.78125 -6.234375 6.75 -6.109375 L 6.15625 -3.6875 L 3.125 -3.6875 L 3.703125 -6.015625 C 3.796875 -6.375 3.828125 -6.46875 4.546875 -6.46875 C 4.796875 -6.46875 4.875 -6.46875 4.875 -6.671875 C 4.875 -6.78125 4.765625 -6.78125 4.75 -6.78125 L 3.46875 -6.75 L 2.1875 -6.78125 C 2.109375 -6.78125 2 -6.78125 2 -6.578125 C 2 -6.46875 2.09375 -6.46875 2.28125 -6.46875 C 2.28125 -6.46875 2.484375 -6.46875 2.65625 -6.453125 C 2.84375 -6.421875 2.921875 -6.421875 2.921875 -6.296875 C 2.921875 -6.25 2.921875 -6.21875 2.890625 -6.109375 L 1.5625 -0.78125 C 1.453125 -0.390625 1.4375 -0.3125 0.65625 -0.3125 C 0.46875 -0.3125 0.390625 -0.3125 0.390625 -0.109375 C 0.390625 0 0.53125 0 0.53125 0 L 1.78125 -0.03125 L 2.421875 -0.015625 C 2.640625 -0.015625 2.859375 0 3.0625 0 C 3.140625 0 3.265625 0 3.265625 -0.203125 C 3.265625 -0.3125 3.171875 -0.3125 2.984375 -0.3125 C 2.625 -0.3125 2.34375 -0.3125 2.34375 -0.484375 C 2.34375 -0.546875 2.359375 -0.59375 2.375 -0.65625 L 3.046875 -3.375 L 6.078125 -3.375 L 5.390625 -0.640625 C 5.28125 -0.3125 5.09375 -0.3125 4.484375 -0.3125 C 4.328125 -0.3125 4.25 -0.3125 4.25 -0.109375 C 4.25 0 4.390625 0 4.390625 0 L 5.640625 -0.03125 L 6.28125 -0.015625 C 6.5 -0.015625 6.71875 0 6.921875 0 C 7 0 7.125 0 7.125 -0.203125 Z M 7.125 -0.203125 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph1-4">
|
||||
<path style="stroke:none;" d="M 5.671875 -1.421875 C 5.671875 -1.515625 5.578125 -1.515625 5.5625 -1.515625 C 5.453125 -1.515625 5.453125 -1.484375 5.40625 -1.34375 C 5.203125 -0.671875 4.875 -0.109375 4.390625 -0.109375 C 4.21875 -0.109375 4.15625 -0.203125 4.15625 -0.4375 C 4.15625 -0.6875 4.25 -0.921875 4.328125 -1.140625 C 4.515625 -1.671875 4.9375 -2.765625 4.9375 -3.328125 C 4.9375 -4 4.515625 -4.390625 3.796875 -4.390625 C 2.90625 -4.390625 2.421875 -3.75 2.25 -3.53125 C 2.203125 -4.078125 1.78125 -4.390625 1.328125 -4.390625 C 0.875 -4.390625 0.6875 -4 0.59375 -3.828125 C 0.421875 -3.484375 0.28125 -2.90625 0.28125 -2.859375 C 0.28125 -2.765625 0.40625 -2.765625 0.40625 -2.765625 C 0.5 -2.765625 0.515625 -2.765625 0.578125 -2.984375 C 0.75 -3.703125 0.9375 -4.171875 1.296875 -4.171875 C 1.5 -4.171875 1.609375 -4.046875 1.609375 -3.71875 C 1.609375 -3.515625 1.578125 -3.40625 1.453125 -2.875 L 0.875 -0.59375 C 0.84375 -0.4375 0.78125 -0.203125 0.78125 -0.15625 C 0.78125 0.015625 0.921875 0.109375 1.078125 0.109375 C 1.1875 0.109375 1.375 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 -2.46875 L 2.140625 -2.96875 C 2.296875 -3.265625 2.828125 -4.171875 3.765625 -4.171875 C 4.21875 -4.171875 4.296875 -3.8125 4.296875 -3.484375 C 4.296875 -2.859375 3.8125 -1.59375 3.65625 -1.15625 C 3.5625 -0.9375 3.5625 -0.8125 3.5625 -0.703125 C 3.5625 -0.234375 3.90625 0.109375 4.375 0.109375 C 5.3125 0.109375 5.671875 -1.34375 5.671875 -1.421875 Z M 5.671875 -1.421875 "/>
|
||||
<path style="stroke:none;" d="M 4.921875 -1.421875 C 4.921875 -1.515625 4.828125 -1.515625 4.796875 -1.515625 C 4.71875 -1.515625 4.6875 -1.484375 4.671875 -1.40625 C 4.34375 -0.34375 3.671875 -0.109375 3.359375 -0.109375 C 2.96875 -0.109375 2.8125 -0.421875 2.8125 -0.765625 C 2.8125 -0.984375 2.875 -1.203125 2.96875 -1.640625 L 3.3125 -3 C 3.375 -3.25 3.609375 -4.171875 4.296875 -4.171875 C 4.34375 -4.171875 4.578125 -4.171875 4.796875 -4.03125 C 4.515625 -3.984375 4.3125 -3.734375 4.3125 -3.5 C 4.3125 -3.34375 4.421875 -3.15625 4.6875 -3.15625 C 4.90625 -3.15625 5.234375 -3.328125 5.234375 -3.734375 C 5.234375 -4.25 4.640625 -4.390625 4.3125 -4.390625 C 3.734375 -4.390625 3.390625 -3.859375 3.265625 -3.625 C 3.015625 -4.28125 2.484375 -4.390625 2.1875 -4.390625 C 1.15625 -4.390625 0.59375 -3.109375 0.59375 -2.859375 C 0.59375 -2.765625 0.71875 -2.765625 0.71875 -2.765625 C 0.796875 -2.765625 0.828125 -2.78125 0.84375 -2.875 C 1.1875 -3.921875 1.828125 -4.171875 2.171875 -4.171875 C 2.359375 -4.171875 2.703125 -4.078125 2.703125 -3.5 C 2.703125 -3.1875 2.546875 -2.53125 2.171875 -1.140625 C 2.015625 -0.53125 1.671875 -0.109375 1.234375 -0.109375 C 1.171875 -0.109375 0.9375 -0.109375 0.734375 -0.234375 C 0.984375 -0.28125 1.203125 -0.5 1.203125 -0.78125 C 1.203125 -1.046875 0.984375 -1.125 0.828125 -1.125 C 0.53125 -1.125 0.28125 -0.859375 0.28125 -0.546875 C 0.28125 -0.09375 0.78125 0.109375 1.21875 0.109375 C 1.875 0.109375 2.234375 -0.578125 2.265625 -0.640625 C 2.375 -0.28125 2.734375 0.109375 3.328125 0.109375 C 4.359375 0.109375 4.921875 -1.171875 4.921875 -1.421875 Z M 4.921875 -1.421875 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph1-5">
|
||||
<path style="stroke:none;" d="M 5.671875 -1.421875 C 5.671875 -1.515625 5.578125 -1.515625 5.546875 -1.515625 C 5.453125 -1.515625 5.453125 -1.484375 5.390625 -1.34375 C 5.203125 -0.671875 4.875 -0.109375 4.390625 -0.109375 C 4.21875 -0.109375 4.140625 -0.203125 4.140625 -0.4375 C 4.140625 -0.6875 4.234375 -0.921875 4.328125 -1.140625 C 4.515625 -1.671875 4.9375 -2.765625 4.9375 -3.328125 C 4.9375 -3.984375 4.5 -4.390625 3.796875 -4.390625 C 2.890625 -4.390625 2.40625 -3.75 2.25 -3.515625 C 2.1875 -4.078125 1.78125 -4.390625 1.328125 -4.390625 C 0.875 -4.390625 0.6875 -4 0.578125 -3.8125 C 0.421875 -3.484375 0.28125 -2.890625 0.28125 -2.859375 C 0.28125 -2.765625 0.40625 -2.765625 0.40625 -2.765625 C 0.5 -2.765625 0.515625 -2.765625 0.578125 -2.984375 C 0.75 -3.6875 0.9375 -4.171875 1.296875 -4.171875 C 1.5 -4.171875 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 1.078125 0.109375 C 1.1875 0.109375 1.375 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 2.296875 -3.265625 2.8125 -4.171875 3.765625 -4.171875 C 4.203125 -4.171875 4.296875 -3.796875 4.296875 -3.46875 C 4.296875 -2.859375 3.8125 -1.59375 3.65625 -1.15625 C 3.5625 -0.9375 3.546875 -0.8125 3.546875 -0.703125 C 3.546875 -0.234375 3.90625 0.109375 4.359375 0.109375 C 5.296875 0.109375 5.671875 -1.34375 5.671875 -1.421875 Z M 5.671875 -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 3.28125 0 L 3.28125 -0.25 L 3.03125 -0.25 C 2.328125 -0.25 2.328125 -0.34375 2.328125 -0.5625 L 2.328125 -4.421875 C 2.328125 -4.609375 2.3125 -4.609375 2.125 -4.609375 C 1.671875 -4.171875 1.046875 -4.171875 0.765625 -4.171875 L 0.765625 -3.921875 C 0.921875 -3.921875 1.390625 -3.921875 1.765625 -4.109375 L 1.765625 -0.5625 C 1.765625 -0.34375 1.765625 -0.25 1.078125 -0.25 L 0.8125 -0.25 L 0.8125 0 L 2.046875 -0.03125 Z M 3.28125 0 "/>
|
||||
<path style="stroke:none;" d="M 3.28125 0 L 3.28125 -0.25 L 3.015625 -0.25 C 2.328125 -0.25 2.328125 -0.34375 2.328125 -0.5625 L 2.328125 -4.40625 C 2.328125 -4.59375 2.3125 -4.609375 2.109375 -4.609375 C 1.671875 -4.171875 1.046875 -4.15625 0.75 -4.15625 L 0.75 -3.90625 C 0.921875 -3.90625 1.375 -3.90625 1.765625 -4.109375 L 1.765625 -0.5625 C 1.765625 -0.34375 1.765625 -0.25 1.0625 -0.25 L 0.8125 -0.25 L 0.8125 0 L 2.046875 -0.03125 Z M 3.28125 0 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph2-2">
|
||||
<path style="stroke:none;" d="M 3.515625 -1.265625 L 3.28125 -1.265625 C 3.25 -1.109375 3.1875 -0.703125 3.09375 -0.625 C 3.03125 -0.59375 2.5 -0.59375 2.40625 -0.59375 L 1.125 -0.59375 C 1.859375 -1.234375 2.09375 -1.4375 2.515625 -1.765625 C 3.03125 -2.171875 3.515625 -2.59375 3.515625 -3.265625 C 3.515625 -4.109375 2.78125 -4.609375 1.890625 -4.609375 C 1.015625 -4.609375 0.4375 -4.015625 0.4375 -3.375 C 0.4375 -3.015625 0.734375 -2.984375 0.8125 -2.984375 C 0.96875 -2.984375 1.171875 -3.09375 1.171875 -3.34375 C 1.171875 -3.484375 1.125 -3.71875 0.765625 -3.71875 C 0.984375 -4.21875 1.453125 -4.359375 1.78125 -4.359375 C 2.46875 -4.359375 2.84375 -3.828125 2.84375 -3.265625 C 2.84375 -2.65625 2.40625 -2.171875 2.1875 -1.921875 L 0.5 -0.265625 C 0.4375 -0.203125 0.4375 -0.1875 0.4375 0 L 3.296875 0 Z M 3.515625 -1.265625 "/>
|
||||
<path style="stroke:none;" d="M 3.5 -1.265625 L 3.265625 -1.265625 C 3.25 -1.109375 3.171875 -0.703125 3.09375 -0.625 C 3.03125 -0.59375 2.5 -0.59375 2.40625 -0.59375 L 1.125 -0.59375 C 1.859375 -1.234375 2.09375 -1.421875 2.515625 -1.75 C 3.03125 -2.171875 3.5 -2.59375 3.5 -3.25 C 3.5 -4.09375 2.765625 -4.609375 1.875 -4.609375 C 1.015625 -4.609375 0.4375 -4 0.4375 -3.359375 C 0.4375 -3.015625 0.734375 -2.96875 0.8125 -2.96875 C 0.96875 -2.96875 1.171875 -3.09375 1.171875 -3.34375 C 1.171875 -3.46875 1.125 -3.71875 0.765625 -3.71875 C 0.984375 -4.203125 1.453125 -4.359375 1.78125 -4.359375 C 2.46875 -4.359375 2.828125 -3.8125 2.828125 -3.25 C 2.828125 -2.65625 2.40625 -2.171875 2.171875 -1.921875 L 0.5 -0.265625 C 0.4375 -0.203125 0.4375 -0.1875 0.4375 0 L 3.296875 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 4 -5.265625 L 2.484375 -6.875 L 0.96875 -5.265625 L 1.109375 -5.125 L 2.484375 -6.203125 L 3.859375 -5.125 Z M 4 -5.265625 "/>
|
||||
<path style="stroke:none;" d="M 8.078125 -2.984375 C 8.078125 -3.203125 7.890625 -3.203125 7.703125 -3.203125 L 4.53125 -3.203125 L 4.53125 -6.390625 C 4.53125 -6.546875 4.53125 -6.75 4.3125 -6.75 C 4.109375 -6.75 4.109375 -6.5625 4.109375 -6.390625 L 4.109375 -3.203125 L 0.921875 -3.203125 C 0.75 -3.203125 0.546875 -3.203125 0.546875 -3 C 0.546875 -2.78125 0.75 -2.78125 0.921875 -2.78125 L 4.109375 -2.78125 L 4.109375 0.390625 C 4.109375 0.5625 4.109375 0.765625 4.3125 0.765625 C 4.53125 0.765625 4.53125 0.578125 4.53125 0.390625 L 4.53125 -2.78125 L 7.703125 -2.78125 C 7.875 -2.78125 8.078125 -2.78125 8.078125 -2.984375 Z M 8.078125 -2.984375 "/>
|
||||
</symbol>
|
||||
</g>
|
||||
<clipPath id="clip1">
|
||||
<path d="M 42 155 L 91 155 L 91 194.714844 L 42 194.714844 Z M 42 155 "/>
|
||||
<path d="M 77 67 L 120 67 L 120 107.0625 L 77 107.0625 Z M 77 67 "/>
|
||||
</clipPath>
|
||||
<clipPath id="clip2">
|
||||
<path d="M 104 164 L 140 164 L 140 194.714844 L 104 194.714844 Z M 104 164 "/>
|
||||
<path d="M 0.359375 63 L 22 63 L 22 65 L 0.359375 65 Z M 0.359375 63 "/>
|
||||
</clipPath>
|
||||
<clipPath id="clip3">
|
||||
<path d="M 36 163 L 70 163 L 70 194.714844 L 36 194.714844 Z M 36 163 "/>
|
||||
</clipPath>
|
||||
<clipPath id="clip4">
|
||||
<path d="M 65 0.246094 L 67 0.246094 L 67 20 L 65 20 Z M 65 0.246094 "/>
|
||||
</clipPath>
|
||||
<clipPath id="clip5">
|
||||
<path d="M 84 163 L 118 163 L 118 194.714844 L 84 194.714844 Z M 84 163 "/>
|
||||
</clipPath>
|
||||
<clipPath id="clip6">
|
||||
<path d="M 173 112 L 193.980469 112 L 193.980469 145 L 173 145 Z M 173 112 "/>
|
||||
<path d="M 178 48 L 199.34375 48 L 199.34375 80 L 178 80 Z M 178 48 "/>
|
||||
</clipPath>
|
||||
</defs>
|
||||
<g id="surface1">
|
||||
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 31.253906 128.390625 C 31.253906 127.292969 30.367188 126.40625 29.269531 126.40625 C 28.171875 126.40625 27.28125 127.292969 27.28125 128.390625 C 27.28125 129.488281 28.171875 130.378906 29.269531 130.378906 C 30.367188 130.378906 31.253906 129.488281 31.253906 128.390625 Z M 31.253906 128.390625 "/>
|
||||
<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 47.116695 51.326989 C 47.116695 56.829661 42.65581 61.290547 37.153137 61.290547 C 31.650464 61.290547 27.189578 56.829661 27.189578 51.326989 C 27.189578 45.824316 31.650464 41.36343 37.153137 41.36343 C 42.65581 41.36343 47.116695 45.824316 47.116695 51.326989 Z M 47.116695 51.326989 " transform="matrix(0.997385,0,0,-0.997385,29.268252,128.391968)"/>
|
||||
<path style="fill-rule:nonzero;fill:rgb(89.99939%,89.99939%,89.99939%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-dasharray:2.98883,2.98883;stroke-miterlimit:10;" d="M -5.670536 -42.442942 L 163.842935 -42.442942 L 163.842935 63.093485 L -5.670536 63.093485 Z M -5.670536 -42.442942 " transform="matrix(0.995657,0,0,-0.995657,21.110755,63.811683)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-1" x="60.14329" y="81.355309"/>
|
||||
<use xlink:href="#glyph0-1" x="124.336533" y="11.133441"/>
|
||||
<use xlink:href="#glyph0-2" x="129.847716" y="11.133441"/>
|
||||
<use xlink:href="#glyph0-3" x="135.358899" y="11.133441"/>
|
||||
</g>
|
||||
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;" d="M 76.261719 179.582031 C 76.261719 174.097656 71.8125 169.648438 66.324219 169.648438 C 60.835938 169.648438 56.386719 174.097656 56.386719 179.582031 C 56.386719 185.070312 60.835938 189.519531 66.324219 189.519531 C 71.8125 189.519531 76.261719 185.070312 76.261719 179.582031 Z M 76.261719 179.582031 "/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-4" x="141.147824" y="11.133441"/>
|
||||
<use xlink:href="#glyph0-5" x="145.556969" y="11.133441"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-1" x="152.745512" y="11.133441"/>
|
||||
<use xlink:href="#glyph0-4" x="158.256696" y="11.133441"/>
|
||||
<use xlink:href="#glyph0-6" x="162.665841" y="11.133441"/>
|
||||
<use xlink:href="#glyph0-7" x="168.177024" y="11.133441"/>
|
||||
<use xlink:href="#glyph0-8" x="172.090202" y="11.133441"/>
|
||||
<use xlink:href="#glyph0-5" x="177.049871" y="11.133441"/>
|
||||
</g>
|
||||
<path style="fill-rule:nonzero;fill:rgb(79.998779%,79.998779%,79.998779%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-dasharray:2.98883,2.98883;stroke-miterlimit:10;" d="M 7.42932 13.099036 L 96.032839 13.099036 L 96.032839 57.424335 L 7.42932 57.424335 Z M 7.42932 13.099036 " transform="matrix(0.995657,0,0,-0.995657,21.110755,63.811683)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-1" x="31.814072" y="16.777823"/>
|
||||
<use xlink:href="#glyph0-4" x="37.325256" y="16.777823"/>
|
||||
<use xlink:href="#glyph0-6" x="41.734401" y="16.777823"/>
|
||||
<use xlink:href="#glyph0-7" x="47.245584" y="16.777823"/>
|
||||
<use xlink:href="#glyph0-8" x="51.158762" y="16.777823"/>
|
||||
<use xlink:href="#glyph0-5" x="56.118431" y="16.777823"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-9" x="63.306974" y="16.777823"/>
|
||||
</g>
|
||||
<path style="fill-rule:nonzero;fill:rgb(79.998779%,79.998779%,79.998779%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-dasharray:2.98883,2.98883;stroke-miterlimit:10;" d="M 7.42932 -36.773792 L 96.032839 -36.773792 L 96.032839 7.547584 L 7.42932 7.547584 Z M 7.42932 -36.773792 " transform="matrix(0.995657,0,0,-0.995657,21.110755,63.811683)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-1" x="31.814072" y="66.434245"/>
|
||||
<use xlink:href="#glyph0-4" x="37.325256" y="66.434245"/>
|
||||
<use xlink:href="#glyph0-6" x="41.734401" y="66.434245"/>
|
||||
<use xlink:href="#glyph0-7" x="47.245584" y="66.434245"/>
|
||||
<use xlink:href="#glyph0-8" x="51.158762" y="66.434245"/>
|
||||
<use xlink:href="#glyph0-5" x="56.118431" y="66.434245"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-10" x="63.306974" y="66.434245"/>
|
||||
</g>
|
||||
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 23.09375 63.8125 C 23.09375 62.714844 22.207031 61.828125 21.109375 61.828125 C 20.015625 61.828125 19.125 62.714844 19.125 63.8125 C 19.125 64.90625 20.015625 65.796875 21.109375 65.796875 C 22.207031 65.796875 23.09375 64.90625 23.09375 63.8125 Z M 23.09375 63.8125 "/>
|
||||
<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 16.433264 16.43383 L 47.796022 16.43383 L 47.796022 33.44128 L 16.433264 33.44128 Z M 16.433264 16.43383 " transform="matrix(0.995657,0,0,-0.995657,21.110755,63.811683)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-1" x="40.777976" y="41.463157"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-1" x="48.576961" y="42.951665"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-11" x="53.026553" y="41.463157"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-2" x="56.88373" y="41.463157"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-12" x="61.53345" y="41.463157"/>
|
||||
</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 16.433264 -33.438997 L 47.796022 -33.438997 L 47.796022 -16.431547 L 16.433264 -16.431547 Z M 16.433264 -33.438997 " transform="matrix(0.995657,0,0,-0.995657,21.110755,63.811683)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-1" x="40.777976" y="91.119579"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-2" x="48.576961" y="92.608087"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-11" x="53.026553" y="91.119579"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-2" x="56.88373" y="91.119579"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-12" x="61.53345" y="91.119579"/>
|
||||
</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 84.918166 24.935593 C 84.918166 28.788261 81.795229 31.911198 77.946485 31.911198 C 74.093816 31.911198 70.97088 28.788261 70.97088 24.935593 C 70.97088 21.086849 74.093816 17.963912 77.946485 17.963912 C 81.795229 17.963912 84.918166 21.086849 84.918166 24.935593 Z M 84.918166 24.935593 " transform="matrix(0.995657,0,0,-0.995657,21.110755,63.811683)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph3-1" x="94.397114" y="41.887307"/>
|
||||
</g>
|
||||
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;" d="M 105.660156 88.640625 C 105.660156 84.804688 102.550781 81.695312 98.71875 81.695312 C 94.882812 81.695312 91.773438 84.804688 91.773438 88.640625 C 91.773438 92.476562 94.882812 95.582031 98.71875 95.582031 C 102.550781 95.582031 105.660156 92.476562 105.660156 88.640625 Z M 105.660156 88.640625 "/>
|
||||
<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 47.116695 -51.324296 C 47.116695 -45.82554 42.65581 -41.364654 37.153137 -41.364654 C 31.650464 -41.364654 27.189578 -45.82554 27.189578 -51.324296 C 27.189578 -56.826969 31.650464 -61.287855 37.153137 -61.287855 C 42.65581 -61.287855 47.116695 -56.826969 47.116695 -51.324296 Z M 47.116695 -51.324296 " transform="matrix(0.997385,0,0,-0.997385,29.268252,128.391968)"/>
|
||||
<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 84.918166 -24.937234 C 84.918166 -21.084566 81.795229 -17.961629 77.946485 -17.961629 C 74.093816 -17.961629 70.97088 -21.084566 70.97088 -24.937234 C 70.97088 -28.789902 74.093816 -31.908915 77.946485 -31.908915 C 81.795229 -31.908915 84.918166 -28.789902 84.918166 -24.937234 Z M 84.918166 -24.937234 " transform="matrix(0.995657,0,0,-0.995657,21.110755,63.811683)"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-1" x="60.14329" y="183.738835"/>
|
||||
<use xlink:href="#glyph3-1" x="94.397114" y="91.543729"/>
|
||||
</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 20.143807 75.96173 L 54.162467 75.96173 L 54.162467 104.305391 L 20.143807 104.305391 Z M 20.143807 75.96173 " transform="matrix(0.997385,0,0,-0.997385,29.268252,128.391968)"/>
|
||||
<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 108.093024 16.43383 L 139.90696 16.43383 L 139.90696 33.44128 L 108.093024 33.44128 Z M 108.093024 16.43383 " transform="matrix(0.995657,0,0,-0.995657,21.110755,63.811683)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-1" x="59.402233" y="41.143754"/>
|
||||
<use xlink:href="#glyph1-3" x="132.039934" y="41.463157"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-1" x="68.786625" y="42.634844"/>
|
||||
</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 20.143807 -26.693471 L 54.162467 -26.693471 L 54.162467 1.654106 L 20.143807 1.654106 Z M 20.143807 -26.693471 " transform="matrix(0.997385,0,0,-0.997385,29.268252,128.391968)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-1" x="59.402233" y="143.527279"/>
|
||||
<use xlink:href="#glyph2-1" x="140.285969" y="42.951665"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-2" x="68.786625" y="145.018369"/>
|
||||
</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 75.961667 37.1532 L 109.97641 37.1532 L 109.97641 65.500777 L 75.961667 65.500777 Z M 75.961667 37.1532 " transform="matrix(0.997385,0,0,-0.997385,29.268252,128.391968)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-2" x="115.634778" y="79.850256"/>
|
||||
<use xlink:href="#glyph0-11" x="144.735562" y="41.463157"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-1" x="123.89412" y="81.341346"/>
|
||||
<use xlink:href="#glyph1-2" x="148.592738" y="41.463157"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-12" x="153.242459" y="41.463157"/>
|
||||
</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 108.093024 -33.438997 L 139.90696 -33.438997 L 139.90696 -16.431547 L 108.093024 -16.431547 Z M 108.093024 -33.438997 " transform="matrix(0.995657,0,0,-0.995657,21.110755,63.811683)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-3" x="132.039934" y="91.119579"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-2" x="140.285969" y="92.608087"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-11" x="144.735562" y="91.119579"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-2" x="148.592738" y="91.119579"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-12" x="153.242459" y="91.119579"/>
|
||||
</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 158.173785 -0.000820322 C 158.173785 3.851848 155.050849 6.974784 151.198181 6.974784 C 147.345512 6.974784 144.226499 3.851848 144.226499 -0.000820322 C 144.226499 -3.853488 147.345512 -6.972502 151.198181 -6.972502 C 155.050849 -6.972502 158.173785 -3.853488 158.173785 -0.000820322 Z M 158.173785 -0.000820322 " transform="matrix(0.995657,0,0,-0.995657,21.110755,63.811683)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph3-1" x="167.332006" y="66.71502"/>
|
||||
</g>
|
||||
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;" d="M 105.03125 193.71875 L 138.957031 193.71875 L 138.957031 165.449219 L 105.03125 165.449219 Z M 105.03125 193.71875 "/>
|
||||
<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 75.961667 -65.498085 L 109.97641 -65.498085 L 109.97641 -37.154424 L 75.961667 -37.154424 Z M 75.961667 -65.498085 " transform="matrix(0.997385,0,0,-0.997385,29.268252,128.391968)"/>
|
||||
<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 -19.84145 -0.000820322 L -0.00138631 -0.000820322 " transform="matrix(0.995657,0,0,-0.995657,21.110755,63.811683)"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-2" x="115.634778" y="182.233781"/>
|
||||
<use xlink:href="#glyph1-4" x="5.156341" y="60.009268"/>
|
||||
</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 -0.00138631 -0.000820322 L -0.00138631 24.935593 L 11.301604 24.935593 " transform="matrix(0.995657,0,0,-0.995657,21.110755,63.811683)"/>
|
||||
<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 6.052276 -0.00123664 L 1.607192 1.681854 L 3.086271 -0.00123664 L 1.607192 -1.684327 Z M 6.052276 -0.00123664 " transform="matrix(0.995657,0,0,-0.995657,29.536506,38.983144)"/>
|
||||
<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 -0.00138631 -0.000820322 L -0.00138631 -24.937234 L 11.301604 -24.937234 " transform="matrix(0.995657,0,0,-0.995657,21.110755,63.811683)"/>
|
||||
<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 6.052276 -0.000404007 L 1.607192 1.682686 L 3.086271 -0.000404007 L 1.607192 -1.683494 Z M 6.052276 -0.000404007 " transform="matrix(0.995657,0,0,-0.995657,29.536506,88.640223)"/>
|
||||
<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 48.29428 24.935593 L 66.337478 24.935593 " transform="matrix(0.995657,0,0,-0.995657,21.110755,63.811683)"/>
|
||||
<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 6.05161 -0.00123664 L 1.610449 1.681854 L 3.085605 -0.00123664 L 1.610449 -1.684327 Z M 6.05161 -0.00123664 " transform="matrix(0.995657,0,0,-0.995657,84.334045,38.983144)"/>
|
||||
<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 48.29428 -24.937234 L 66.337478 -24.937234 " transform="matrix(0.995657,0,0,-0.995657,21.110755,63.811683)"/>
|
||||
<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 6.05161 -0.000404007 L 1.610449 1.682686 L 3.085605 -0.000404007 L 1.610449 -1.683494 Z M 6.05161 -0.000404007 " transform="matrix(0.995657,0,0,-0.995657,84.334045,88.640223)"/>
|
||||
<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 77.946485 36.5446 L 77.946485 54.587798 " transform="matrix(0.995657,0,0,-0.995657,21.110755,63.811683)"/>
|
||||
<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 6.055305 0.00148454 L 1.610221 1.684575 L 3.0893 0.00148454 L 1.610221 -1.681606 Z M 6.055305 0.00148454 " transform="matrix(0,0.995657,0.995657,0,98.717272,24.599897)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-5" x="102.517696" y="17.534523"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-2" x="123.89412" y="183.724871"/>
|
||||
<use xlink:href="#glyph2-1" x="108.471728" y="19.022035"/>
|
||||
</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 135.801766 0.00134606 C 135.801766 5.504019 131.344797 9.960988 125.842124 9.960988 C 120.339451 9.960988 115.878565 5.504019 115.878565 0.00134606 C 115.878565 -5.501327 120.339451 -9.962212 125.842124 -9.962212 C 131.344797 -9.962212 135.801766 -5.501327 135.801766 0.00134606 Z M 135.801766 0.00134606 " transform="matrix(0.997385,0,0,-0.997385,29.268252,128.391968)"/>
|
||||
<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 77.946485 -13.328227 L 77.946485 4.714971 " transform="matrix(0.995657,0,0,-0.995657,21.110755,63.811683)"/>
|
||||
<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 6.054483 0.00148454 L 1.609398 1.684575 L 3.088477 0.00148454 L 1.609398 -1.681606 Z M 6.054483 0.00148454 " transform="matrix(0,0.995657,0.995657,0,98.717272,74.256966)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-1" x="148.599336" y="132.547072"/>
|
||||
<use xlink:href="#glyph1-5" x="102.517696" y="67.190944"/>
|
||||
</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 -28.346294 0.00134606 L -2.489607 0.00134606 " transform="matrix(0.997385,0,0,-0.997385,29.268252,128.391968)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-3" x="4.804402" y="124.582956"/>
|
||||
<use xlink:href="#glyph2-2" x="108.471728" y="68.678457"/>
|
||||
</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 0.00128307 2.492236 L 0.00128307 51.326989 L 22.556367 51.326989 " transform="matrix(0.997385,0,0,-0.997385,29.268252,128.391968)"/>
|
||||
<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 6.053928 0.000858605 L 1.608708 1.684951 L 3.089143 0.000858605 L 1.608708 -1.683233 Z M 6.053928 0.000858605 " transform="matrix(0.997385,0,0,-0.997385,48.934562,77.200075)"/>
|
||||
<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 0.00128307 -2.489544 L 0.00128307 -51.324296 L 22.556367 -51.324296 " transform="matrix(0.997385,0,0,-0.997385,29.268252,128.391968)"/>
|
||||
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 54.972656 179.582031 L 50.539062 177.90625 L 52.015625 179.582031 L 50.539062 181.261719 Z M 54.972656 179.582031 "/>
|
||||
<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 84.918166 24.935593 L 102.961364 24.935593 " transform="matrix(0.995657,0,0,-0.995657,21.110755,63.811683)"/>
|
||||
<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 6.0541 -0.00123664 L 1.609015 1.681854 L 3.088094 -0.00123664 L 1.609015 -1.684327 Z M 6.0541 -0.00123664 " transform="matrix(0.995657,0,0,-0.995657,120.800316,38.983144)"/>
|
||||
<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 84.918166 -24.937234 L 102.961364 -24.937234 " transform="matrix(0.995657,0,0,-0.995657,21.110755,63.811683)"/>
|
||||
<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 6.0541 -0.000404007 L 1.609015 1.682686 L 3.088094 -0.000404007 L 1.609015 -1.683494 Z M 6.0541 -0.000404007 " transform="matrix(0.995657,0,0,-0.995657,120.800316,88.640223)"/>
|
||||
<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 140.405217 24.935593 L 151.198181 24.935593 L 151.198181 11.608187 " transform="matrix(0.995657,0,0,-0.995657,21.110755,63.811683)"/>
|
||||
<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 6.054889 -0.000439438 L 1.609804 1.682651 L 3.088884 -0.000439438 L 1.609804 -1.68353 Z M 6.054889 -0.000439438 " transform="matrix(0,0.995657,0.995657,0,171.652781,49.428436)"/>
|
||||
<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 140.405217 -24.937234 L 151.198181 -24.937234 L 151.198181 -11.605904 " transform="matrix(0.995657,0,0,-0.995657,21.110755,63.811683)"/>
|
||||
<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 6.053238 0.000439438 L 1.608154 1.68353 L 3.087233 0.000439438 L 1.608154 -1.682651 Z M 6.053238 0.000439438 " transform="matrix(0,-0.995657,-0.995657,0,171.652781,78.19492)"/>
|
||||
<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 158.173785 -0.000820322 L 173.380447 -0.000820322 " transform="matrix(0.995657,0,0,-0.995657,21.110755,63.811683)"/>
|
||||
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 196.941406 63.8125 L 192.515625 62.136719 L 193.988281 63.8125 L 192.515625 65.488281 Z M 196.941406 63.8125 "/>
|
||||
<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 6.053928 0.00183351 L 1.608708 1.682009 L 3.089143 0.00183351 L 1.608708 -1.682259 Z M 6.053928 0.00183351 " transform="matrix(0.997385,0,0,-0.997385,48.934562,179.58386)"/>
|
||||
</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 37.153137 75.460419 L 37.153137 65.923759 " transform="matrix(0.997385,0,0,-0.997385,29.268252,128.391968)"/>
|
||||
<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 6.052652 0.000406954 L 1.607433 1.684499 L 3.087867 0.000406954 L 1.607433 -1.683685 Z M 6.052652 0.000406954 " transform="matrix(0,0.997385,0.997385,0,66.323813,59.810834)"/>
|
||||
<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 37.153137 -27.190866 L 37.153137 -36.731443 " transform="matrix(0.997385,0,0,-0.997385,29.268252,128.391968)"/>
|
||||
<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 6.051687 0.000406954 L 1.610384 1.684499 L 3.086902 0.000406954 L 1.610384 -1.683685 Z M 6.051687 0.000406954 " transform="matrix(0,0.997385,0.997385,0,66.323813,162.194609)"/>
|
||||
<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 37.153137 109.439914 L 37.153137 127.483198 " transform="matrix(0.997385,0,0,-0.997385,29.268252,128.391968)"/>
|
||||
</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 6.052967 0.000406954 L 1.607747 1.684499 L 3.088182 0.000406954 L 1.607747 -1.683685 Z M 6.052967 0.000406954 " transform="matrix(0,0.997385,0.997385,0,66.323813,16.408176)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-4" x="70.132097" y="9.329179"/>
|
||||
<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 6.054422 -0.000820322 L 1.609338 1.68227 L 3.088417 -0.000820322 L 1.609338 -1.683911 Z M 6.054422 -0.000820322 " transform="matrix(0.995657,0,0,-0.995657,190.913276,63.811683)"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-1" x="76.096457" y="10.820269"/>
|
||||
</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 37.153137 6.788629 L 37.153137 24.831913 " transform="matrix(0.997385,0,0,-0.997385,29.268252,128.391968)"/>
|
||||
<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 6.051982 0.000406954 L 1.610679 1.684499 L 3.087197 0.000406954 L 1.610679 -1.683685 Z M 6.051982 0.000406954 " transform="matrix(0,0.997385,0.997385,0,66.323813,118.791971)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-4" x="70.132097" y="111.713702"/>
|
||||
<use xlink:href="#glyph0-13" x="189.50928" y="60.009268"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-2" x="76.096457" y="113.204792"/>
|
||||
</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 47.116695 51.326989 L 70.827145 51.326989 " transform="matrix(0.997385,0,0,-0.997385,29.268252,128.391968)"/>
|
||||
<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 6.052356 0.000858605 L 1.607136 1.684951 L 3.08757 0.000858605 L 1.607136 -1.683233 Z M 6.052356 0.000858605 " transform="matrix(0.997385,0,0,-0.997385,97.080661,77.200075)"/>
|
||||
<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 47.116695 -51.324296 L 70.827145 -51.324296 " transform="matrix(0.997385,0,0,-0.997385,29.268252,128.391968)"/>
|
||||
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 103.117188 179.582031 L 98.683594 177.90625 L 100.160156 179.582031 L 98.683594 181.261719 Z M 103.117188 179.582031 "/>
|
||||
<g clip-path="url(#clip5)" 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 6.052356 0.00183351 L 1.607136 1.682009 L 3.08757 0.00183351 L 1.607136 -1.682259 Z M 6.052356 0.00183351 " transform="matrix(0.997385,0,0,-0.997385,97.080661,179.58386)"/>
|
||||
</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 110.473805 51.326989 L 125.842124 51.326989 L 125.842124 14.598116 " transform="matrix(0.997385,0,0,-0.997385,29.268252,128.391968)"/>
|
||||
<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 6.052165 0.00142402 L 1.606945 1.6816 L 3.08738 0.00142402 L 1.606945 -1.682668 Z M 6.052165 0.00142402 " transform="matrix(0,0.997385,0.997385,0,154.77983,111.002726)"/>
|
||||
<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 110.473805 -51.324296 L 125.842124 -51.324296 L 125.842124 -14.595424 " transform="matrix(0.997385,0,0,-0.997385,29.268252,128.391968)"/>
|
||||
<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 6.054857 -0.00142402 L 1.609637 1.682668 L 3.086155 -0.00142402 L 1.609637 -1.6816 Z M 6.054857 -0.00142402 " transform="matrix(0,-0.997385,-0.997385,0,154.77983,145.781209)"/>
|
||||
<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 135.801766 0.00134606 L 159.516132 0.00134606 " transform="matrix(0.997385,0,0,-0.997385,29.268252,128.391968)"/>
|
||||
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 191.574219 128.390625 L 187.140625 126.714844 L 188.617188 128.390625 L 187.140625 130.070312 Z M 191.574219 128.390625 "/>
|
||||
<g clip-path="url(#clip6)" 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 6.053383 0.00134606 L 1.608163 1.681522 L 3.088598 0.00134606 L 1.608163 -1.682746 Z M 6.053383 0.00134606 " transform="matrix(0.997385,0,0,-0.997385,185.536668,128.391968)"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph3-1" x="184.133158" y="124.582956"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-3" x="183.501814" y="124.582956"/>
|
||||
<use xlink:href="#glyph1-4" x="188.879028" y="60.009268"/>
|
||||
</g>
|
||||
</g>
|
||||
</svg>
|
||||
|
||||
|
Before Width: | Height: | Size: 24 KiB After Width: | Height: | Size: 39 KiB |
BIN
tikz/figs/fusion_two_noisy_sensors_weights.pdf
Normal file
BIN
tikz/figs/fusion_two_noisy_sensors_weights.pdf
Normal file
Binary file not shown.
BIN
tikz/figs/fusion_two_noisy_sensors_weights.png
Normal file
BIN
tikz/figs/fusion_two_noisy_sensors_weights.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 36 KiB |
330
tikz/figs/fusion_two_noisy_sensors_weights.svg
Normal file
330
tikz/figs/fusion_two_noisy_sensors_weights.svg
Normal file
@ -0,0 +1,330 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="199.852pt" height="162.385pt" viewBox="0 0 199.852 162.385" 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 4.953125 -1.84375 C 4.953125 -2.84375 4.296875 -3.65625 3.46875 -3.84375 L 2.1875 -4.15625 C 1.578125 -4.3125 1.1875 -4.84375 1.1875 -5.421875 C 1.1875 -6.109375 1.71875 -6.71875 2.5 -6.71875 C 4.15625 -6.71875 4.375 -5.09375 4.4375 -4.640625 C 4.4375 -4.578125 4.4375 -4.53125 4.546875 -4.53125 C 4.6875 -4.53125 4.6875 -4.578125 4.6875 -4.765625 L 4.6875 -6.75 C 4.6875 -6.921875 4.6875 -7 4.578125 -7 C 4.5 -7 4.5 -6.984375 4.421875 -6.859375 L 4.078125 -6.296875 C 3.78125 -6.59375 3.375 -7 2.484375 -7 C 1.390625 -7 0.5625 -6.125 0.5625 -5.0625 C 0.5625 -4.25 1.078125 -3.515625 1.859375 -3.25 C 1.96875 -3.21875 2.46875 -3.09375 3.171875 -2.921875 C 3.4375 -2.859375 3.734375 -2.78125 4.015625 -2.421875 C 4.21875 -2.15625 4.3125 -1.828125 4.3125 -1.515625 C 4.3125 -0.796875 3.8125 -0.09375 2.984375 -0.09375 C 2.703125 -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 -2.1875 0.5625 -2 L 0.5625 -0.015625 C 0.5625 0.15625 0.5625 0.21875 0.671875 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 1.484375 -0.140625 2.109375 0.21875 3 0.21875 C 4.15625 0.21875 4.953125 -0.75 4.953125 -1.84375 Z M 4.953125 -1.84375 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-2">
|
||||
<path style="stroke:none;" d="M 5.3125 0 L 5.3125 -0.3125 C 4.609375 -0.3125 4.53125 -0.375 4.53125 -0.859375 L 4.53125 -4.390625 L 3.078125 -4.28125 L 3.078125 -3.96875 C 3.765625 -3.96875 3.84375 -3.90625 3.84375 -3.40625 L 3.84375 -1.640625 C 3.84375 -0.78125 3.375 -0.109375 2.65625 -0.109375 C 1.8125 -0.109375 1.78125 -0.578125 1.78125 -1.09375 L 1.78125 -4.390625 L 0.3125 -4.28125 L 0.3125 -3.96875 C 1.09375 -3.96875 1.09375 -3.9375 1.09375 -3.0625 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 5.3125 0 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-3">
|
||||
<path style="stroke:none;" d="M 5.171875 -2.140625 C 5.171875 -3.40625 4.203125 -4.390625 3.09375 -4.390625 C 2.328125 -4.390625 1.90625 -3.953125 1.703125 -3.734375 L 1.703125 -4.390625 L 0.28125 -4.28125 L 0.28125 -3.96875 C 0.984375 -3.96875 1.046875 -3.90625 1.046875 -3.46875 L 1.046875 1.171875 C 1.046875 1.625 0.9375 1.625 0.28125 1.625 L 0.28125 1.921875 L 1.390625 1.890625 L 2.515625 1.921875 L 2.515625 1.625 C 1.84375 1.625 1.734375 1.625 1.734375 1.171875 L 1.734375 -0.578125 C 1.78125 -0.421875 2.203125 0.109375 2.953125 0.109375 C 4.140625 0.109375 5.171875 -0.859375 5.171875 -2.140625 Z M 4.34375 -2.140625 C 4.34375 -0.9375 3.65625 -0.109375 2.921875 -0.109375 C 2.515625 -0.109375 2.140625 -0.3125 1.875 -0.71875 C 1.734375 -0.921875 1.734375 -0.9375 1.734375 -1.125 L 1.734375 -3.34375 C 2.03125 -3.84375 2.515625 -4.140625 3.015625 -4.140625 C 3.734375 -4.140625 4.34375 -3.265625 4.34375 -2.140625 Z M 4.34375 -2.140625 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-4">
|
||||
<path style="stroke:none;" d="M 4.125 -1.1875 C 4.125 -1.28125 4.03125 -1.296875 3.984375 -1.296875 C 3.90625 -1.296875 3.875 -1.234375 3.859375 -1.15625 C 3.515625 -0.140625 2.625 -0.140625 2.515625 -0.140625 C 2.03125 -0.140625 1.625 -0.4375 1.40625 -0.796875 C 1.09375 -1.28125 1.09375 -1.9375 1.09375 -2.296875 L 3.875 -2.296875 C 4.09375 -2.296875 4.125 -2.296875 4.125 -2.5 C 4.125 -3.484375 3.578125 -4.4375 2.34375 -4.4375 C 1.1875 -4.4375 0.28125 -3.421875 0.28125 -2.1875 C 0.28125 -0.859375 1.3125 0.109375 2.453125 0.109375 C 3.671875 0.109375 4.125 -0.984375 4.125 -1.1875 Z M 3.46875 -2.5 L 1.109375 -2.5 C 1.171875 -3.984375 2 -4.234375 2.34375 -4.234375 C 3.359375 -4.234375 3.46875 -2.890625 3.46875 -2.5 Z M 3.46875 -2.5 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-5">
|
||||
<path style="stroke:none;" d="M 3.609375 -3.78125 C 3.609375 -4.09375 3.296875 -4.390625 2.875 -4.390625 C 2.15625 -4.390625 1.796875 -3.71875 1.65625 -3.296875 L 1.65625 -4.390625 L 0.28125 -4.28125 L 0.28125 -3.96875 C 0.96875 -3.96875 1.046875 -3.90625 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 1.8125 -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 -0.78125 L 1.703125 -2.296875 C 1.703125 -3.28125 2.125 -4.171875 2.875 -4.171875 C 2.953125 -4.171875 2.96875 -4.171875 2.984375 -4.15625 C 2.953125 -4.140625 2.765625 -4.03125 2.765625 -3.765625 C 2.765625 -3.5 2.96875 -3.34375 3.1875 -3.34375 C 3.359375 -3.34375 3.609375 -3.46875 3.609375 -3.78125 Z M 3.609375 -3.78125 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-6">
|
||||
<path style="stroke:none;" d="M 5.3125 0 L 5.3125 -0.3125 C 4.796875 -0.3125 4.546875 -0.3125 4.53125 -0.609375 L 4.53125 -2.5 C 4.53125 -3.359375 4.53125 -3.65625 4.234375 -4.015625 C 4.09375 -4.1875 3.765625 -4.390625 3.1875 -4.390625 C 2.453125 -4.390625 2 -3.953125 1.71875 -3.34375 L 1.71875 -4.390625 L 0.3125 -4.28125 L 0.3125 -3.96875 C 1.015625 -3.96875 1.09375 -3.90625 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 1.890625 -0.3125 1.78125 -0.3125 1.78125 -0.75 L 1.78125 -2.578125 C 1.78125 -3.609375 2.484375 -4.171875 3.109375 -4.171875 C 3.734375 -4.171875 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 4.203125 -0.03125 Z M 5.3125 0 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-7">
|
||||
<path style="stroke:none;" d="M 3.578125 -1.265625 C 3.578125 -1.796875 3.28125 -2.09375 3.15625 -2.21875 C 2.828125 -2.53125 2.4375 -2.609375 2.03125 -2.6875 C 1.46875 -2.796875 0.796875 -2.921875 0.796875 -3.5 C 0.796875 -3.84375 1.0625 -4.25 1.921875 -4.25 C 3 -4.25 3.0625 -3.359375 3.078125 -3.0625 C 3.078125 -2.96875 3.1875 -2.96875 3.1875 -2.96875 C 3.328125 -2.96875 3.328125 -3.015625 3.328125 -3.203125 L 3.328125 -4.203125 C 3.328125 -4.375 3.328125 -4.4375 3.21875 -4.4375 C 3.171875 -4.4375 3.140625 -4.4375 3.015625 -4.328125 C 2.984375 -4.28125 2.890625 -4.203125 2.84375 -4.171875 C 2.46875 -4.4375 2.0625 -4.4375 1.921875 -4.4375 C 0.703125 -4.4375 0.328125 -3.78125 0.328125 -3.21875 C 0.328125 -2.875 0.484375 -2.59375 0.75 -2.375 C 1.078125 -2.125 1.34375 -2.0625 2.0625 -1.921875 C 2.28125 -1.890625 3.09375 -1.71875 3.09375 -1.015625 C 3.09375 -0.5 2.75 -0.109375 1.96875 -0.109375 C 1.140625 -0.109375 0.78125 -0.671875 0.59375 -1.515625 C 0.5625 -1.640625 0.5625 -1.6875 0.453125 -1.6875 C 0.328125 -1.6875 0.328125 -1.625 0.328125 -1.4375 L 0.328125 -0.125 C 0.328125 0.046875 0.328125 0.109375 0.4375 0.109375 C 0.484375 0.109375 0.5 0.09375 0.6875 -0.09375 C 0.703125 -0.109375 0.703125 -0.125 0.890625 -0.3125 C 1.3125 0.09375 1.765625 0.109375 1.96875 0.109375 C 3.109375 0.109375 3.578125 -0.5625 3.578125 -1.265625 Z M 3.578125 -1.265625 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-8">
|
||||
<path style="stroke:none;" d="M 4.671875 -2.125 C 4.671875 -3.390625 3.6875 -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 1.625 -0.34375 1.34375 -0.796875 C 1.09375 -1.234375 1.09375 -1.84375 1.09375 -2.203125 C 1.09375 -2.59375 1.09375 -3.125 1.34375 -3.5625 C 1.609375 -4.015625 2.078125 -4.234375 2.46875 -4.234375 C 2.90625 -4.234375 3.328125 -4.015625 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="glyph0-9">
|
||||
<path style="stroke:none;" d="M 4.15625 0 L 4.15625 -0.3125 L 3.84375 -0.3125 C 2.953125 -0.3125 2.921875 -0.421875 2.921875 -0.78125 L 2.921875 -6.34375 C 2.921875 -6.59375 2.921875 -6.609375 2.6875 -6.609375 C 2.078125 -5.96875 1.203125 -5.96875 0.890625 -5.96875 L 0.890625 -5.671875 C 1.078125 -5.671875 1.671875 -5.671875 2.1875 -5.921875 L 2.1875 -0.78125 C 2.1875 -0.421875 2.15625 -0.3125 1.265625 -0.3125 L 0.9375 -0.3125 L 0.9375 0 C 1.296875 -0.03125 2.15625 -0.03125 2.546875 -0.03125 C 2.953125 -0.03125 3.8125 -0.03125 4.15625 0 Z M 4.15625 0 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-10">
|
||||
<path style="stroke:none;" d="M 4.453125 -1.71875 L 4.203125 -1.71875 C 4.15625 -1.421875 4.09375 -0.984375 3.984375 -0.84375 C 3.921875 -0.765625 3.265625 -0.765625 3.046875 -0.765625 L 1.265625 -0.765625 L 2.3125 -1.78125 C 3.859375 -3.15625 4.453125 -3.6875 4.453125 -4.6875 C 4.453125 -5.8125 3.5625 -6.609375 2.34375 -6.609375 C 1.234375 -6.609375 0.5 -5.6875 0.5 -4.8125 C 0.5 -4.25 0.984375 -4.25 1.015625 -4.25 C 1.1875 -4.25 1.53125 -4.375 1.53125 -4.78125 C 1.53125 -5.046875 1.359375 -5.296875 1.015625 -5.296875 C 0.9375 -5.296875 0.90625 -5.296875 0.890625 -5.28125 C 1.109375 -5.9375 1.640625 -6.296875 2.21875 -6.296875 C 3.125 -6.296875 3.546875 -5.5 3.546875 -4.6875 C 3.546875 -3.890625 3.0625 -3.109375 2.515625 -2.484375 L 0.609375 -0.359375 C 0.5 -0.265625 0.5 -0.234375 0.5 0 L 4.171875 0 Z M 4.453125 -1.71875 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-11">
|
||||
<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 -0.96875 1.5625 -2.484375 C 1.5625 -4.203125 1.9375 -5.9375 3.15625 -7.171875 C 3.28125 -7.296875 3.28125 -7.3125 3.28125 -7.34375 C 3.28125 -7.40625 3.25 -7.4375 3.1875 -7.4375 C 3.078125 -7.4375 2.1875 -6.765625 1.609375 -5.5 C 1.09375 -4.421875 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 3.25 2.484375 3.28125 2.453125 3.28125 2.375 Z M 3.28125 2.375 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-12">
|
||||
<path style="stroke:none;" d="M 2.875 -2.484375 C 2.875 -3.25 2.765625 -4.453125 2.21875 -5.578125 C 1.625 -6.796875 0.765625 -7.4375 0.671875 -7.4375 C 0.609375 -7.4375 0.5625 -7.40625 0.5625 -7.34375 C 0.5625 -7.3125 0.5625 -7.296875 0.75 -7.109375 C 1.71875 -6.125 2.296875 -4.546875 2.296875 -2.484375 C 2.296875 -0.78125 1.921875 0.96875 0.6875 2.21875 C 0.5625 2.328125 0.5625 2.34375 0.5625 2.375 C 0.5625 2.4375 0.609375 2.484375 0.671875 2.484375 C 0.765625 2.484375 1.65625 1.8125 2.25 0.546875 C 2.75 -0.546875 2.875 -1.640625 2.875 -2.484375 Z M 2.875 -2.484375 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-13">
|
||||
<path style="stroke:none;" d="M 4.140625 -6.3125 L 3.984375 -6.453125 C 3.984375 -6.453125 3.609375 -5.984375 3.171875 -5.984375 C 2.9375 -5.984375 2.6875 -6.125 2.515625 -6.234375 C 2.25 -6.390625 2.078125 -6.453125 1.90625 -6.453125 C 1.53125 -6.453125 1.34375 -6.234375 0.828125 -5.6875 L 0.984375 -5.53125 C 0.984375 -5.53125 1.375 -6.015625 1.8125 -6.015625 C 2.03125 -6.015625 2.28125 -5.859375 2.453125 -5.765625 C 2.71875 -5.609375 2.890625 -5.53125 3.0625 -5.53125 C 3.4375 -5.53125 3.625 -5.75 4.140625 -6.3125 Z M 4.140625 -6.3125 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-14">
|
||||
<path style="stroke:none;" d="M 3.984375 -5.265625 L 2.484375 -6.859375 L 0.96875 -5.265625 L 1.09375 -5.125 L 2.484375 -6.1875 L 3.859375 -5.125 Z M 3.984375 -5.265625 "/>
|
||||
</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 7.15625 -2.59375 C 7.15625 -2.671875 7.109375 -2.703125 7.03125 -2.703125 C 6.796875 -2.703125 6.21875 -2.671875 5.984375 -2.671875 L 4.59375 -2.703125 C 4.5 -2.703125 4.390625 -2.703125 4.390625 -2.515625 C 4.390625 -2.40625 4.46875 -2.40625 4.6875 -2.40625 C 4.6875 -2.40625 4.984375 -2.40625 5.203125 -2.375 C 5.46875 -2.34375 5.515625 -2.328125 5.515625 -2.1875 C 5.515625 -2.109375 5.40625 -1.65625 5.3125 -1.296875 C 5.03125 -0.203125 3.734375 -0.09375 3.390625 -0.09375 C 2.4375 -0.09375 1.40625 -0.65625 1.40625 -2.171875 C 1.40625 -2.484375 1.5 -4.125 2.546875 -5.40625 C 3.078125 -6.078125 4.03125 -6.6875 5.015625 -6.6875 C 6.03125 -6.6875 6.625 -5.921875 6.625 -4.765625 C 6.625 -4.375 6.59375 -4.359375 6.59375 -4.265625 C 6.59375 -4.171875 6.703125 -4.171875 6.734375 -4.171875 C 6.859375 -4.171875 6.859375 -4.1875 6.921875 -4.359375 L 7.546875 -6.890625 C 7.546875 -6.921875 7.515625 -7 7.4375 -7 C 7.40625 -7 7.390625 -6.984375 7.28125 -6.875 L 6.59375 -6.109375 C 6.5 -6.25 6.046875 -7 4.9375 -7 C 2.734375 -7 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 4.09375 0.125 4.4375 -0.015625 C 4.9375 -0.21875 5.125 -0.421875 5.3125 -0.625 C 5.390625 -0.375 5.65625 -0.015625 5.75 -0.015625 C 5.796875 -0.015625 5.828125 -0.046875 5.828125 -0.046875 C 5.84375 -0.0625 5.9375 -0.453125 6 -0.65625 L 6.1875 -1.421875 C 6.21875 -1.59375 6.265625 -1.75 6.3125 -1.921875 C 6.421875 -2.375 6.421875 -2.390625 7 -2.40625 C 7.046875 -2.40625 7.15625 -2.40625 7.15625 -2.59375 Z M 7.15625 -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 3.625 -2.265625 C 3.359375 -2.546875 3.0625 -2.59375 2.625 -2.671875 C 2.265625 -2.765625 1.875 -2.828125 1.875 -3.28125 C 1.875 -3.5625 2.109375 -4.171875 2.984375 -4.171875 C 3.234375 -4.171875 3.734375 -4.09375 3.875 -3.703125 C 3.609375 -3.703125 3.40625 -3.484375 3.40625 -3.265625 C 3.40625 -3.125 3.5 -2.96875 3.703125 -2.96875 C 3.921875 -2.96875 4.171875 -3.140625 4.171875 -3.53125 C 4.171875 -3.984375 3.734375 -4.390625 2.984375 -4.390625 C 1.671875 -4.390625 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 3.140625 -0.109375 1.9375 -0.109375 C 1.8125 -0.109375 1.046875 -0.109375 0.8125 -0.640625 C 1.1875 -0.578125 1.4375 -0.890625 1.4375 -1.15625 C 1.4375 -1.390625 1.28125 -1.515625 1.078125 -1.515625 C 0.8125 -1.515625 0.515625 -1.296875 0.515625 -0.859375 C 0.515625 -0.28125 1.078125 0.109375 1.9375 0.109375 C 3.546875 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 8.734375 -6.671875 C 8.734375 -6.671875 8.734375 -6.78125 8.609375 -6.78125 C 8.28125 -6.78125 7.9375 -6.75 7.609375 -6.75 C 7.265625 -6.75 6.921875 -6.78125 6.59375 -6.78125 C 6.53125 -6.78125 6.421875 -6.78125 6.421875 -6.578125 C 6.421875 -6.46875 6.515625 -6.46875 6.59375 -6.46875 C 7.15625 -6.453125 7.265625 -6.25 7.265625 -6.03125 C 7.265625 -6 7.25 -5.859375 7.25 -5.828125 L 6.125 -1.40625 L 3.9375 -6.59375 C 3.859375 -6.765625 3.84375 -6.78125 3.625 -6.78125 L 2.296875 -6.78125 C 2.09375 -6.78125 2 -6.78125 2 -6.578125 C 2 -6.46875 2.09375 -6.46875 2.28125 -6.46875 C 2.328125 -6.46875 2.953125 -6.46875 2.953125 -6.375 L 1.625 -1.046875 C 1.53125 -0.65625 1.359375 -0.34375 0.5625 -0.3125 C 0.5 -0.3125 0.390625 -0.296875 0.390625 -0.109375 C 0.390625 -0.046875 0.4375 0 0.515625 0 C 0.828125 0 1.1875 -0.03125 1.515625 -0.03125 C 1.84375 -0.03125 2.203125 0 2.53125 0 C 2.578125 0 2.703125 0 2.703125 -0.203125 C 2.703125 -0.296875 2.625 -0.3125 2.515625 -0.3125 C 1.9375 -0.328125 1.859375 -0.546875 1.859375 -0.75 C 1.859375 -0.8125 1.859375 -0.859375 1.890625 -0.96875 L 3.203125 -6.21875 C 3.25 -6.15625 3.25 -6.125 3.296875 -6.03125 L 5.765625 -0.1875 C 5.828125 -0.015625 5.859375 0 5.953125 0 C 6.0625 0 6.0625 -0.03125 6.109375 -0.203125 L 7.5 -5.734375 C 7.59375 -6.125 7.78125 -6.4375 8.578125 -6.46875 C 8.625 -6.46875 8.734375 -6.484375 8.734375 -6.671875 Z M 8.734375 -6.671875 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph1-4">
|
||||
<path style="stroke:none;" d="M 7.125 -0.203125 C 7.125 -0.3125 7.03125 -0.3125 6.84375 -0.3125 C 6.484375 -0.3125 6.203125 -0.3125 6.203125 -0.484375 C 6.203125 -0.546875 6.21875 -0.59375 6.234375 -0.65625 L 7.578125 -6.015625 C 7.65625 -6.375 7.671875 -6.46875 8.40625 -6.46875 C 8.65625 -6.46875 8.734375 -6.46875 8.734375 -6.671875 C 8.734375 -6.78125 8.625 -6.78125 8.609375 -6.78125 L 7.328125 -6.75 L 6.046875 -6.78125 C 5.96875 -6.78125 5.859375 -6.78125 5.859375 -6.578125 C 5.859375 -6.46875 5.953125 -6.46875 6.140625 -6.46875 C 6.140625 -6.46875 6.34375 -6.46875 6.515625 -6.453125 C 6.703125 -6.421875 6.78125 -6.421875 6.78125 -6.296875 C 6.78125 -6.25 6.78125 -6.234375 6.75 -6.109375 L 6.15625 -3.6875 L 3.125 -3.6875 L 3.703125 -6.015625 C 3.796875 -6.375 3.828125 -6.46875 4.546875 -6.46875 C 4.796875 -6.46875 4.875 -6.46875 4.875 -6.671875 C 4.875 -6.78125 4.765625 -6.78125 4.75 -6.78125 L 3.46875 -6.75 L 2.1875 -6.78125 C 2.109375 -6.78125 2 -6.78125 2 -6.578125 C 2 -6.46875 2.09375 -6.46875 2.28125 -6.46875 C 2.28125 -6.46875 2.484375 -6.46875 2.65625 -6.453125 C 2.84375 -6.421875 2.921875 -6.421875 2.921875 -6.296875 C 2.921875 -6.25 2.921875 -6.21875 2.890625 -6.109375 L 1.5625 -0.78125 C 1.453125 -0.390625 1.4375 -0.3125 0.65625 -0.3125 C 0.46875 -0.3125 0.390625 -0.3125 0.390625 -0.109375 C 0.390625 0 0.53125 0 0.53125 0 L 1.78125 -0.03125 L 2.421875 -0.015625 C 2.640625 -0.015625 2.859375 0 3.0625 0 C 3.140625 0 3.265625 0 3.265625 -0.203125 C 3.265625 -0.3125 3.171875 -0.3125 2.984375 -0.3125 C 2.625 -0.3125 2.34375 -0.3125 2.34375 -0.484375 C 2.34375 -0.546875 2.359375 -0.59375 2.375 -0.65625 L 3.046875 -3.375 L 6.078125 -3.375 L 5.390625 -0.640625 C 5.28125 -0.3125 5.09375 -0.3125 4.484375 -0.3125 C 4.328125 -0.3125 4.25 -0.3125 4.25 -0.109375 C 4.25 0 4.390625 0 4.390625 0 L 5.640625 -0.03125 L 6.28125 -0.015625 C 6.5 -0.015625 6.71875 0 6.921875 0 C 7 0 7.125 0 7.125 -0.203125 Z M 7.125 -0.203125 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph1-5">
|
||||
<path style="stroke:none;" d="M 4.921875 -1.421875 C 4.921875 -1.515625 4.828125 -1.515625 4.796875 -1.515625 C 4.71875 -1.515625 4.6875 -1.484375 4.671875 -1.40625 C 4.34375 -0.34375 3.671875 -0.109375 3.359375 -0.109375 C 2.96875 -0.109375 2.8125 -0.421875 2.8125 -0.765625 C 2.8125 -0.984375 2.875 -1.203125 2.96875 -1.640625 L 3.3125 -3 C 3.375 -3.25 3.609375 -4.171875 4.296875 -4.171875 C 4.34375 -4.171875 4.578125 -4.171875 4.796875 -4.03125 C 4.515625 -3.984375 4.3125 -3.734375 4.3125 -3.5 C 4.3125 -3.34375 4.421875 -3.15625 4.6875 -3.15625 C 4.90625 -3.15625 5.234375 -3.328125 5.234375 -3.734375 C 5.234375 -4.25 4.640625 -4.390625 4.3125 -4.390625 C 3.734375 -4.390625 3.390625 -3.859375 3.265625 -3.625 C 3.015625 -4.28125 2.484375 -4.390625 2.1875 -4.390625 C 1.15625 -4.390625 0.59375 -3.109375 0.59375 -2.859375 C 0.59375 -2.765625 0.71875 -2.765625 0.71875 -2.765625 C 0.796875 -2.765625 0.828125 -2.78125 0.84375 -2.875 C 1.1875 -3.921875 1.828125 -4.171875 2.171875 -4.171875 C 2.359375 -4.171875 2.703125 -4.078125 2.703125 -3.5 C 2.703125 -3.1875 2.546875 -2.53125 2.171875 -1.140625 C 2.015625 -0.53125 1.671875 -0.109375 1.234375 -0.109375 C 1.171875 -0.109375 0.9375 -0.109375 0.734375 -0.234375 C 0.984375 -0.28125 1.203125 -0.5 1.203125 -0.78125 C 1.203125 -1.046875 0.984375 -1.125 0.828125 -1.125 C 0.53125 -1.125 0.28125 -0.859375 0.28125 -0.546875 C 0.28125 -0.09375 0.78125 0.109375 1.21875 0.109375 C 1.875 0.109375 2.234375 -0.578125 2.265625 -0.640625 C 2.375 -0.28125 2.734375 0.109375 3.328125 0.109375 C 4.359375 0.109375 4.921875 -1.171875 4.921875 -1.421875 Z M 4.921875 -1.421875 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph1-6">
|
||||
<path style="stroke:none;" d="M 5.671875 -1.421875 C 5.671875 -1.515625 5.578125 -1.515625 5.546875 -1.515625 C 5.453125 -1.515625 5.453125 -1.484375 5.390625 -1.34375 C 5.203125 -0.671875 4.875 -0.109375 4.390625 -0.109375 C 4.21875 -0.109375 4.140625 -0.203125 4.140625 -0.4375 C 4.140625 -0.6875 4.234375 -0.921875 4.328125 -1.140625 C 4.515625 -1.671875 4.9375 -2.765625 4.9375 -3.328125 C 4.9375 -3.984375 4.5 -4.390625 3.796875 -4.390625 C 2.890625 -4.390625 2.40625 -3.75 2.25 -3.515625 C 2.1875 -4.078125 1.78125 -4.390625 1.328125 -4.390625 C 0.875 -4.390625 0.6875 -4 0.578125 -3.8125 C 0.421875 -3.484375 0.28125 -2.890625 0.28125 -2.859375 C 0.28125 -2.765625 0.40625 -2.765625 0.40625 -2.765625 C 0.5 -2.765625 0.515625 -2.765625 0.578125 -2.984375 C 0.75 -3.6875 0.9375 -4.171875 1.296875 -4.171875 C 1.5 -4.171875 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 1.078125 0.109375 C 1.1875 0.109375 1.375 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 2.296875 -3.265625 2.8125 -4.171875 3.765625 -4.171875 C 4.203125 -4.171875 4.296875 -3.796875 4.296875 -3.46875 C 4.296875 -2.859375 3.8125 -1.59375 3.65625 -1.15625 C 3.5625 -0.9375 3.546875 -0.8125 3.546875 -0.703125 C 3.546875 -0.234375 3.90625 0.109375 4.359375 0.109375 C 5.296875 0.109375 5.671875 -1.34375 5.671875 -1.421875 Z M 5.671875 -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 3.28125 0 L 3.28125 -0.25 L 3.03125 -0.25 C 2.328125 -0.25 2.328125 -0.34375 2.328125 -0.5625 L 2.328125 -4.421875 C 2.328125 -4.609375 2.3125 -4.609375 2.125 -4.609375 C 1.671875 -4.171875 1.046875 -4.171875 0.765625 -4.171875 L 0.765625 -3.921875 C 0.921875 -3.921875 1.390625 -3.921875 1.765625 -4.109375 L 1.765625 -0.5625 C 1.765625 -0.34375 1.765625 -0.25 1.078125 -0.25 L 0.8125 -0.25 L 0.8125 0 L 2.046875 -0.03125 Z M 3.28125 0 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph2-2">
|
||||
<path style="stroke:none;" d="M 3.515625 -1.265625 L 3.28125 -1.265625 C 3.25 -1.109375 3.1875 -0.703125 3.09375 -0.625 C 3.03125 -0.59375 2.5 -0.59375 2.40625 -0.59375 L 1.125 -0.59375 C 1.859375 -1.234375 2.09375 -1.4375 2.515625 -1.765625 C 3.03125 -2.171875 3.515625 -2.59375 3.515625 -3.265625 C 3.515625 -4.109375 2.78125 -4.609375 1.890625 -4.609375 C 1.015625 -4.609375 0.4375 -4.015625 0.4375 -3.375 C 0.4375 -3.015625 0.734375 -2.984375 0.8125 -2.984375 C 0.96875 -2.984375 1.171875 -3.09375 1.171875 -3.34375 C 1.171875 -3.484375 1.125 -3.71875 0.765625 -3.71875 C 0.984375 -4.21875 1.453125 -4.359375 1.78125 -4.359375 C 2.46875 -4.359375 2.84375 -3.828125 2.84375 -3.265625 C 2.84375 -2.65625 2.40625 -2.171875 2.1875 -1.921875 L 0.5 -0.265625 C 0.4375 -0.203125 0.4375 -0.1875 0.4375 0 L 3.296875 0 Z M 3.515625 -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 8.078125 -2.984375 C 8.078125 -3.203125 7.890625 -3.203125 7.703125 -3.203125 L 4.53125 -3.203125 L 4.53125 -6.390625 C 4.53125 -6.546875 4.53125 -6.75 4.3125 -6.75 C 4.109375 -6.75 4.109375 -6.5625 4.109375 -6.390625 L 4.109375 -3.203125 L 0.921875 -3.203125 C 0.75 -3.203125 0.546875 -3.203125 0.546875 -3 C 0.546875 -2.78125 0.75 -2.78125 0.921875 -2.78125 L 4.109375 -2.78125 L 4.109375 0.390625 C 4.109375 0.5625 4.109375 0.765625 4.3125 0.765625 C 4.53125 0.765625 4.53125 0.578125 4.53125 0.390625 L 4.53125 -2.78125 L 7.703125 -2.78125 C 7.875 -2.78125 8.078125 -2.78125 8.078125 -2.984375 Z M 8.078125 -2.984375 "/>
|
||||
</symbol>
|
||||
</g>
|
||||
<clipPath id="clip1">
|
||||
<path d="M 14 0 L 185 0 L 185 161.773438 L 14 161.773438 Z M 14 0 "/>
|
||||
</clipPath>
|
||||
<clipPath id="clip2">
|
||||
<path d="M 77 122 L 120 122 L 120 161.773438 L 77 161.773438 Z M 77 122 "/>
|
||||
</clipPath>
|
||||
<clipPath id="clip3">
|
||||
<path d="M 0.304688 103 L 22 103 L 22 105 L 0.304688 105 Z M 0.304688 103 "/>
|
||||
</clipPath>
|
||||
<clipPath id="clip4">
|
||||
<path d="M 178 88 L 199.402344 88 L 199.402344 121 L 178 121 Z M 178 88 "/>
|
||||
</clipPath>
|
||||
</defs>
|
||||
<g id="surface1">
|
||||
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(89.99939%,89.99939%,89.99939%);fill-opacity:1;" d="M 15.417969 160.777344 L 184.289062 160.777344 L 184.289062 0.992188 L 15.417969 0.992188 Z M 15.417969 160.777344 "/>
|
||||
<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-dasharray:2.98883,2.98883;stroke-miterlimit:10;" d="M -5.669088 -56.615255 L 163.84157 -56.615255 L 163.84157 103.775055 L -5.669088 103.775055 Z M -5.669088 -56.615255 " transform="matrix(0.996227,0,0,-0.996227,21.065667,104.375698)"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-1" x="124.350497" y="11.138814"/>
|
||||
<use xlink:href="#glyph0-2" x="129.864833" y="11.138814"/>
|
||||
<use xlink:href="#glyph0-3" x="135.379169" y="11.138814"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-4" x="141.171406" y="11.138814"/>
|
||||
<use xlink:href="#glyph0-5" x="145.583073" y="11.138814"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-1" x="152.775729" y="11.138814"/>
|
||||
<use xlink:href="#glyph0-4" x="158.290065" y="11.138814"/>
|
||||
<use xlink:href="#glyph0-6" x="162.701732" y="11.138814"/>
|
||||
<use xlink:href="#glyph0-7" x="168.216069" y="11.138814"/>
|
||||
<use xlink:href="#glyph0-8" x="172.131485" y="11.138814"/>
|
||||
<use xlink:href="#glyph0-5" x="177.093991" y="11.138814"/>
|
||||
</g>
|
||||
<path style="fill-rule:nonzero;fill:rgb(79.998779%,79.998779%,79.998779%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-dasharray:2.98883,2.98883;stroke-miterlimit:10;" d="M 7.43112 27.271563 L 99.881499 27.271563 L 99.881499 98.105225 L 7.43112 98.105225 Z M 7.43112 27.271563 " transform="matrix(0.996227,0,0,-0.996227,21.065667,104.375698)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-1" x="31.775108" y="16.787421"/>
|
||||
<use xlink:href="#glyph0-4" x="37.289444" y="16.787421"/>
|
||||
<use xlink:href="#glyph0-6" x="41.701111" y="16.787421"/>
|
||||
<use xlink:href="#glyph0-7" x="47.215447" y="16.787421"/>
|
||||
<use xlink:href="#glyph0-8" x="51.130864" y="16.787421"/>
|
||||
<use xlink:href="#glyph0-5" x="56.09337" y="16.787421"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-9" x="63.286025" y="16.787421"/>
|
||||
</g>
|
||||
<path style="fill-rule:nonzero;fill:rgb(79.998779%,79.998779%,79.998779%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-dasharray:2.98883,2.98883;stroke-miterlimit:10;" d="M 7.43112 -50.945425 L 99.881499 -50.945425 L 99.881499 19.884316 L 7.43112 19.884316 Z M 7.43112 -50.945425 " transform="matrix(0.996227,0,0,-0.996227,21.065667,104.375698)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-1" x="31.775108" y="94.7113"/>
|
||||
<use xlink:href="#glyph0-4" x="37.289444" y="94.7113"/>
|
||||
<use xlink:href="#glyph0-6" x="41.701111" y="94.7113"/>
|
||||
<use xlink:href="#glyph0-7" x="47.215447" y="94.7113"/>
|
||||
<use xlink:href="#glyph0-8" x="51.130864" y="94.7113"/>
|
||||
<use xlink:href="#glyph0-5" x="56.09337" y="94.7113"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-10" x="63.286025" y="94.7113"/>
|
||||
</g>
|
||||
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 23.050781 104.375 C 23.050781 103.28125 22.160156 102.390625 21.066406 102.390625 C 19.96875 102.390625 19.082031 103.28125 19.082031 104.375 C 19.082031 105.472656 19.96875 106.359375 21.066406 106.359375 C 22.160156 106.359375 23.050781 105.472656 23.050781 104.375 Z M 23.050781 104.375 "/>
|
||||
<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 16.433838 30.60445 L 47.794348 30.60445 L 47.794348 47.61394 L 16.433838 47.61394 Z M 16.433838 30.60445 " transform="matrix(0.996227,0,0,-0.996227,21.065667,104.375698)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-1" x="40.744139" y="67.894862"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-1" x="48.547585" y="69.383225"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-11" x="52.999724" y="67.894862"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-2" x="56.859107" y="67.894862"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-12" x="61.511487" y="67.894862"/>
|
||||
</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 16.433838 -47.612538 L 47.794348 -47.612538 L 47.794348 -30.606969 L 16.433838 -30.606969 Z M 16.433838 -47.612538 " transform="matrix(0.996227,0,0,-0.996227,21.065667,104.375698)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-1" x="40.744139" y="145.818741"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-2" x="48.547585" y="147.308101"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-11" x="52.999724" y="145.818741"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-2" x="56.859107" y="145.818741"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-12" x="61.511487" y="145.818741"/>
|
||||
</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 84.918794 39.109195 C 84.918794 42.963581 81.797643 46.084733 77.943257 46.084733 C 74.092791 46.084733 70.97164 42.963581 70.97164 39.109195 C 70.97164 35.25873 74.092791 32.137579 77.943257 32.137579 C 81.797643 32.137579 84.918794 35.25873 84.918794 39.109195 Z M 84.918794 39.109195 " transform="matrix(0.996227,0,0,-0.996227,21.065667,104.375698)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph3-1" x="94.393952" y="68.319255"/>
|
||||
</g>
|
||||
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;" d="M 105.664062 143.339844 C 105.664062 139.5 102.554688 136.390625 98.714844 136.390625 C 94.878906 136.390625 91.769531 139.5 91.769531 143.339844 C 91.769531 147.175781 94.878906 150.285156 98.714844 150.285156 C 102.554688 150.285156 105.664062 147.175781 105.664062 143.339844 Z M 105.664062 143.339844 "/>
|
||||
<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 84.918794 -39.111714 C 84.918794 -35.257328 81.797643 -32.136177 77.943257 -32.136177 C 74.092791 -32.136177 70.97164 -35.257328 70.97164 -39.111714 C 70.97164 -42.962179 74.092791 -46.083331 77.943257 -46.083331 C 81.797643 -46.083331 84.918794 -42.962179 84.918794 -39.111714 Z M 84.918794 -39.111714 " transform="matrix(0.996227,0,0,-0.996227,21.065667,104.375698)"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph3-1" x="94.393952" y="146.243134"/>
|
||||
</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 62.176738 60.75728 L 93.713696 60.75728 L 93.713696 77.762848 L 62.176738 77.762848 Z M 62.176738 60.75728 " transform="matrix(0.996227,0,0,-0.996227,21.065667,104.375698)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-3" x="86.315547" y="37.859614"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-1" x="94.290344" y="39.347978"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-11" x="98.742482" y="37.859614"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-2" x="102.602862" y="37.859614"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-12" x="107.255242" y="37.859614"/>
|
||||
</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 62.176738 -17.46363 L 93.713696 -17.46363 L 93.713696 -0.458061 L 62.176738 -0.458061 Z M 62.176738 -17.46363 " transform="matrix(0.996227,0,0,-0.996227,21.065667,104.375698)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-3" x="86.315547" y="115.783494"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-2" x="94.290344" y="117.272853"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-11" x="98.742482" y="115.783494"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-2" x="102.602862" y="115.783494"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-12" x="107.255242" y="115.783494"/>
|
||||
</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 110.92708 30.60445 L 142.738511 30.60445 L 142.738511 47.61394 L 110.92708 47.61394 Z M 110.92708 30.60445 " transform="matrix(0.996227,0,0,-0.996227,21.065667,104.375698)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-4" x="134.882609" y="67.894862"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-1" x="143.132365" y="69.383225"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-11" x="147.584503" y="67.894862"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-2" x="151.444883" y="67.894862"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-12" x="156.097263" y="67.894862"/>
|
||||
</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 110.92708 -47.612538 L 142.738511 -47.612538 L 142.738511 -30.606969 L 110.92708 -30.606969 Z M 110.92708 -47.612538 " transform="matrix(0.996227,0,0,-0.996227,21.065667,104.375698)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-4" x="134.882609" y="145.818741"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-2" x="143.132365" y="147.308101"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-11" x="147.584503" y="145.818741"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-2" x="151.444883" y="145.818741"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-12" x="156.097263" y="145.818741"/>
|
||||
</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 158.171741 0.000701019 C 158.171741 3.851166 155.050589 6.972317 151.200124 6.972317 C 147.345738 6.972317 144.224587 3.851166 144.224587 0.000701019 C 144.224587 -3.849764 147.345738 -6.974836 151.200124 -6.974836 C 155.050589 -6.974836 158.171741 -3.849764 158.171741 0.000701019 Z M 158.171741 0.000701019 " transform="matrix(0.996227,0,0,-0.996227,21.065667,104.375698)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph3-1" x="167.370567" y="107.280696"/>
|
||||
</g>
|
||||
<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 -19.843663 0.000701019 L 0.000741656 0.000701019 " transform="matrix(0.996227,0,0,-0.996227,21.065667,104.375698)"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-5" x="5.102126" y="100.571107"/>
|
||||
</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 0.000741656 0.000701019 L 0.000741656 39.109195 L 11.301191 39.109195 " transform="matrix(0.996227,0,0,-0.996227,21.065667,104.375698)"/>
|
||||
<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 6.053947 -0.00104489 L 1.607483 1.681083 L 3.085717 -0.00104489 L 1.607483 -1.683173 Z M 6.053947 -0.00104489 " transform="matrix(0.996227,0,0,-0.996227,29.496238,65.413022)"/>
|
||||
<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 0.000741656 0.000701019 L 0.000741656 -39.111714 L 11.301191 -39.111714 " transform="matrix(0.996227,0,0,-0.996227,21.065667,104.375698)"/>
|
||||
<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 6.053947 -0.00147411 L 1.607483 1.684575 L 3.085717 -0.00147411 L 1.607483 -1.683602 Z M 6.053947 -0.00147411 " transform="matrix(0.996227,0,0,-0.996227,29.496238,143.338375)"/>
|
||||
<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 48.292321 39.109195 L 66.336966 39.109195 " transform="matrix(0.996227,0,0,-0.996227,21.065667,104.375698)"/>
|
||||
<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 6.053182 -0.00104489 L 1.610639 1.681083 L 3.088873 -0.00104489 L 1.610639 -1.683173 Z M 6.053182 -0.00104489 " transform="matrix(0.996227,0,0,-0.996227,84.325125,65.413022)"/>
|
||||
<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 48.292321 -39.111714 L 66.336966 -39.111714 " transform="matrix(0.996227,0,0,-0.996227,21.065667,104.375698)"/>
|
||||
<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 6.053182 -0.00147411 L 1.610639 1.684575 L 3.088873 -0.00147411 L 1.610639 -1.683602 Z M 6.053182 -0.00147411 " transform="matrix(0.996227,0,0,-0.996227,84.325125,143.338375)"/>
|
||||
<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 77.943257 82.895495 L 77.943257 95.27031 " transform="matrix(0.996227,0,0,-0.996227,21.065667,104.375698)"/>
|
||||
<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 6.053911 -0.00174326 L 1.607447 1.684306 L 3.085681 -0.00174326 L 1.607447 -1.683871 Z M 6.053911 -0.00174326 " transform="matrix(0,0.996227,0.996227,0,98.71658,18.965024)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-13" x="103.017292" y="19.520072"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-6" x="102.519179" y="19.520072"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-1" x="108.476616" y="21.009431"/>
|
||||
</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 77.943257 4.674586 L 77.943257 17.049401 " transform="matrix(0.996227,0,0,-0.996227,21.065667,104.375698)"/>
|
||||
<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 6.054311 -0.00174326 L 1.607847 1.684306 L 3.08608 -0.00174326 L 1.607847 -1.683871 Z M 6.054311 -0.00174326 " transform="matrix(0,0.996227,0.996227,0,98.71658,96.890407)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-13" x="103.017292" y="97.444947"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-6" x="102.519179" y="97.444947"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-2" x="108.476616" y="98.93331"/>
|
||||
</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 77.943257 60.259307 L 77.943257 50.719407 " transform="matrix(0.996227,0,0,-0.996227,21.065667,104.375698)"/>
|
||||
<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 6.052079 -0.00174326 L 1.609536 1.684306 L 3.08777 -0.00174326 L 1.609536 -1.683871 Z M 6.052079 -0.00174326 " transform="matrix(0,0.996227,0.996227,0,98.71658,51.021536)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-6" x="102.519179" y="53.17262"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-1" x="108.476616" y="54.661979"/>
|
||||
</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 77.943257 -17.961602 L 77.943257 -27.501502 " transform="matrix(0.996227,0,0,-0.996227,21.065667,104.375698)"/>
|
||||
<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 6.052499 -0.00174326 L 1.609956 1.684306 L 3.088189 -0.00174326 L 1.609956 -1.683871 Z M 6.052499 -0.00174326 " transform="matrix(0,0.996227,0.996227,0,98.71658,128.9469)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-6" x="102.519179" y="131.097495"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-2" x="108.476616" y="132.585858"/>
|
||||
</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 84.918794 39.109195 L 105.798354 39.109195 " transform="matrix(0.996227,0,0,-0.996227,21.065667,104.375698)"/>
|
||||
<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 6.05482 -0.00104489 L 1.608356 1.681083 L 3.08659 -0.00104489 L 1.608356 -1.683173 Z M 6.05482 -0.00104489 " transform="matrix(0.996227,0,0,-0.996227,123.635993,65.413022)"/>
|
||||
<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 84.918794 -39.111714 L 105.798354 -39.111714 " transform="matrix(0.996227,0,0,-0.996227,21.065667,104.375698)"/>
|
||||
<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 6.05482 -0.00147411 L 1.608356 1.684575 L 3.08659 -0.00147411 L 1.608356 -1.683602 Z M 6.05482 -0.00147411 " transform="matrix(0.996227,0,0,-0.996227,123.635993,143.338375)"/>
|
||||
<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 143.236483 39.109195 L 151.200124 39.109195 L 151.200124 11.606992 " transform="matrix(0.996227,0,0,-0.996227,21.065667,104.375698)"/>
|
||||
<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 6.054245 0.0015041 L 1.607781 1.683632 L 3.086014 0.0015041 L 1.607781 -1.684545 Z M 6.054245 0.0015041 " transform="matrix(0,0.996227,0.996227,0,171.693814,89.984223)"/>
|
||||
<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 143.236483 -39.111714 L 151.200124 -39.111714 L 151.200124 -11.60559 " transform="matrix(0.996227,0,0,-0.996227,21.065667,104.375698)"/>
|
||||
<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 6.051716 -0.0015041 L 1.609173 1.684545 L 3.087406 -0.0015041 L 1.609173 -1.683632 Z M 6.051716 -0.0015041 " transform="matrix(0,-0.996227,-0.996227,0,171.693814,118.767164)"/>
|
||||
<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 158.171741 0.000701019 L 173.381471 0.000701019 " transform="matrix(0.996227,0,0,-0.996227,21.065667,104.375698)"/>
|
||||
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 196.996094 104.375 L 192.566406 102.699219 L 194.042969 104.375 L 192.566406 106.050781 Z M 196.996094 104.375 "/>
|
||||
<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 6.053607 0.000701019 L 1.607143 1.682829 L 3.089298 0.000701019 L 1.607143 -1.681427 Z M 6.053607 0.000701019 " transform="matrix(0.996227,0,0,-0.996227,190.965327,104.375698)"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-14" x="189.560528" y="100.571107"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-5" x="188.929916" y="100.571107"/>
|
||||
</g>
|
||||
</g>
|
||||
</svg>
|
||||
|
After Width: | Height: | Size: 45 KiB |
Binary file not shown.
Binary file not shown.
|
Before Width: | Height: | Size: 14 KiB After Width: | Height: | Size: 14 KiB |
@ -1,5 +1,5 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="184.41pt" height="135.99pt" viewBox="0 0 184.41 135.99" version="1.2">
|
||||
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="184.41pt" height="135.995pt" viewBox="0 0 184.41 135.995" version="1.2">
|
||||
<defs>
|
||||
<g>
|
||||
<symbol overflow="visible" id="glyph0-0">
|
||||
@ -9,7 +9,7 @@
|
||||
<path style="stroke:none;" d="M 7.5 -5.28125 C 7.5 -6.046875 6.84375 -6.78125 5.53125 -6.78125 L 2.3125 -6.78125 C 2.125 -6.78125 2.015625 -6.78125 2.015625 -6.59375 C 2.015625 -6.484375 2.109375 -6.484375 2.3125 -6.484375 C 2.4375 -6.484375 2.609375 -6.46875 2.734375 -6.453125 C 2.890625 -6.4375 2.953125 -6.40625 2.953125 -6.296875 C 2.953125 -6.265625 2.9375 -6.234375 2.90625 -6.109375 L 1.578125 -0.78125 C 1.484375 -0.390625 1.453125 -0.3125 0.671875 -0.3125 C 0.5 -0.3125 0.390625 -0.3125 0.390625 -0.125 C 0.390625 0 0.515625 0 0.546875 0 L 1.8125 -0.03125 L 2.4375 -0.015625 C 2.65625 -0.015625 2.875 0 3.09375 0 C 3.15625 0 3.296875 0 3.296875 -0.203125 C 3.296875 -0.3125 3.203125 -0.3125 3.015625 -0.3125 C 2.640625 -0.3125 2.359375 -0.3125 2.359375 -0.484375 C 2.359375 -0.546875 2.390625 -0.59375 2.390625 -0.65625 L 3.015625 -3.140625 L 4.703125 -3.140625 C 6.109375 -3.140625 7.5 -4.171875 7.5 -5.28125 Z M 6.5625 -5.53125 C 6.5625 -5.140625 6.375 -4.28125 5.984375 -3.921875 C 5.484375 -3.484375 4.890625 -3.40625 4.453125 -3.40625 L 3.046875 -3.40625 L 3.734375 -6.109375 C 3.8125 -6.453125 3.828125 -6.484375 4.265625 -6.484375 L 5.21875 -6.484375 C 6.046875 -6.484375 6.5625 -6.21875 6.5625 -5.53125 Z M 6.5625 -5.53125 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-2">
|
||||
<path style="stroke:none;" d="M 10.421875 -6.671875 C 10.421875 -6.71875 10.375 -6.78125 10.296875 -6.78125 C 10.0625 -6.78125 9.78125 -6.75 9.53125 -6.75 C 9.1875 -6.75 8.828125 -6.78125 8.5 -6.78125 C 8.4375 -6.78125 8.3125 -6.78125 8.3125 -6.59375 C 8.3125 -6.484375 8.390625 -6.484375 8.453125 -6.484375 C 8.703125 -6.46875 9.046875 -6.390625 9.046875 -6.09375 C 9.046875 -5.984375 9 -5.90625 8.90625 -5.765625 L 6.234375 -1.078125 L 5.859375 -6.015625 C 5.859375 -6.21875 5.828125 -6.46875 6.5625 -6.484375 C 6.734375 -6.484375 6.828125 -6.484375 6.828125 -6.671875 C 6.828125 -6.78125 6.71875 -6.78125 6.671875 -6.78125 C 6.28125 -6.78125 5.859375 -6.75 5.46875 -6.75 C 5.234375 -6.75 4.65625 -6.78125 4.421875 -6.78125 C 4.359375 -6.78125 4.234375 -6.78125 4.234375 -6.59375 C 4.234375 -6.484375 4.328125 -6.484375 4.46875 -6.484375 C 4.90625 -6.484375 4.984375 -6.421875 5 -6.234375 L 5.0625 -5.46875 L 2.546875 -1.078125 L 2.171875 -6.125 C 2.171875 -6.234375 2.171875 -6.46875 2.921875 -6.484375 C 3.015625 -6.484375 3.125 -6.484375 3.125 -6.671875 C 3.125 -6.78125 2.984375 -6.78125 2.984375 -6.78125 C 2.59375 -6.78125 2.171875 -6.75 1.765625 -6.75 C 1.421875 -6.75 1.0625 -6.78125 0.71875 -6.78125 C 0.671875 -6.78125 0.546875 -6.78125 0.546875 -6.59375 C 0.546875 -6.484375 0.640625 -6.484375 0.796875 -6.484375 C 1.296875 -6.484375 1.296875 -6.390625 1.328125 -6.109375 L 1.765625 -0.046875 C 1.78125 0.140625 1.78125 0.21875 1.921875 0.21875 C 2.046875 0.21875 2.078125 0.15625 2.171875 0.015625 L 5.09375 -5.0625 L 5.453125 -0.046875 C 5.46875 0.171875 5.5 0.21875 5.609375 0.21875 C 5.75 0.21875 5.796875 0.125 5.859375 0.03125 L 9.109375 -5.640625 C 9.359375 -6.078125 9.59375 -6.421875 10.21875 -6.484375 C 10.3125 -6.484375 10.421875 -6.484375 10.421875 -6.671875 Z M 10.421875 -6.671875 "/>
|
||||
<path style="stroke:none;" d="M 8.75 -6.671875 C 8.75 -6.671875 8.75 -6.78125 8.625 -6.78125 C 8.296875 -6.78125 7.953125 -6.75 7.625 -6.75 C 7.28125 -6.75 6.9375 -6.78125 6.609375 -6.78125 C 6.546875 -6.78125 6.421875 -6.78125 6.421875 -6.59375 C 6.421875 -6.484375 6.53125 -6.484375 6.609375 -6.484375 C 7.171875 -6.46875 7.28125 -6.265625 7.28125 -6.046875 C 7.28125 -6.015625 7.265625 -5.859375 7.25 -5.828125 L 6.140625 -1.40625 L 3.9375 -6.59375 C 3.859375 -6.78125 3.859375 -6.78125 3.625 -6.78125 L 2.296875 -6.78125 C 2.09375 -6.78125 2 -6.78125 2 -6.59375 C 2 -6.484375 2.09375 -6.484375 2.28125 -6.484375 C 2.328125 -6.484375 2.96875 -6.484375 2.96875 -6.390625 L 1.625 -1.046875 C 1.53125 -0.65625 1.359375 -0.34375 0.5625 -0.3125 C 0.5 -0.3125 0.390625 -0.296875 0.390625 -0.109375 C 0.390625 -0.046875 0.4375 0 0.515625 0 C 0.828125 0 1.1875 -0.03125 1.515625 -0.03125 C 1.84375 -0.03125 2.203125 0 2.53125 0 C 2.578125 0 2.71875 0 2.71875 -0.203125 C 2.71875 -0.296875 2.625 -0.3125 2.515625 -0.3125 C 1.9375 -0.328125 1.859375 -0.546875 1.859375 -0.75 C 1.859375 -0.8125 1.875 -0.859375 1.890625 -0.96875 L 3.203125 -6.21875 C 3.25 -6.15625 3.25 -6.140625 3.296875 -6.046875 L 5.78125 -0.1875 C 5.84375 -0.015625 5.875 0 5.96875 0 C 6.078125 0 6.078125 -0.03125 6.125 -0.203125 L 7.515625 -5.75 C 7.609375 -6.140625 7.796875 -6.453125 8.59375 -6.484375 C 8.640625 -6.484375 8.75 -6.484375 8.75 -6.671875 Z M 8.75 -6.671875 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-3">
|
||||
<path style="stroke:none;" d="M 7.140625 -0.203125 C 7.140625 -0.3125 7.046875 -0.3125 6.859375 -0.3125 C 6.484375 -0.3125 6.21875 -0.3125 6.21875 -0.484375 C 6.21875 -0.546875 6.234375 -0.59375 6.234375 -0.65625 L 7.578125 -6.015625 C 7.671875 -6.375 7.6875 -6.484375 8.421875 -6.484375 C 8.671875 -6.484375 8.75 -6.484375 8.75 -6.671875 C 8.75 -6.78125 8.640625 -6.78125 8.609375 -6.78125 L 7.34375 -6.75 L 6.0625 -6.78125 C 5.984375 -6.78125 5.875 -6.78125 5.875 -6.59375 C 5.875 -6.484375 5.96875 -6.484375 6.15625 -6.484375 C 6.15625 -6.484375 6.359375 -6.484375 6.53125 -6.453125 C 6.703125 -6.4375 6.796875 -6.421875 6.796875 -6.296875 C 6.796875 -6.265625 6.78125 -6.234375 6.75 -6.109375 L 6.15625 -3.6875 L 3.125 -3.6875 L 3.71875 -6.015625 C 3.8125 -6.375 3.828125 -6.484375 4.546875 -6.484375 C 4.8125 -6.484375 4.890625 -6.484375 4.890625 -6.671875 C 4.890625 -6.78125 4.78125 -6.78125 4.75 -6.78125 L 3.484375 -6.75 L 2.203125 -6.78125 C 2.109375 -6.78125 2 -6.78125 2 -6.59375 C 2 -6.484375 2.09375 -6.484375 2.28125 -6.484375 C 2.28125 -6.484375 2.5 -6.484375 2.65625 -6.453125 C 2.84375 -6.4375 2.9375 -6.421875 2.9375 -6.296875 C 2.9375 -6.265625 2.921875 -6.234375 2.890625 -6.109375 L 1.5625 -0.78125 C 1.453125 -0.390625 1.4375 -0.3125 0.65625 -0.3125 C 0.484375 -0.3125 0.390625 -0.3125 0.390625 -0.109375 C 0.390625 0 0.53125 0 0.53125 0 L 1.78125 -0.03125 L 2.421875 -0.015625 C 2.640625 -0.015625 2.859375 0 3.078125 0 C 3.15625 0 3.265625 0 3.265625 -0.203125 C 3.265625 -0.3125 3.1875 -0.3125 2.984375 -0.3125 C 2.625 -0.3125 2.34375 -0.3125 2.34375 -0.484375 C 2.34375 -0.546875 2.359375 -0.59375 2.375 -0.65625 L 3.046875 -3.375 L 6.078125 -3.375 L 5.390625 -0.640625 C 5.296875 -0.3125 5.109375 -0.3125 4.484375 -0.3125 C 4.34375 -0.3125 4.25 -0.3125 4.25 -0.109375 C 4.25 0 4.390625 0 4.390625 0 L 5.65625 -0.03125 L 6.296875 -0.015625 C 6.515625 -0.015625 6.734375 0 6.9375 0 C 7.015625 0 7.140625 0 7.140625 -0.203125 Z M 7.140625 -0.203125 "/>
|
||||
@ -45,99 +45,108 @@
|
||||
<path style="stroke:none;" d=""/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph4-1">
|
||||
<path style="stroke:none;" d="M 4.140625 -6.3125 L 3.984375 -6.46875 C 3.984375 -6.46875 3.609375 -6 3.171875 -6 C 2.9375 -6 2.6875 -6.140625 2.53125 -6.234375 C 2.25 -6.40625 2.078125 -6.46875 1.90625 -6.46875 C 1.53125 -6.46875 1.34375 -6.25 0.828125 -5.6875 L 1 -5.546875 C 1 -5.546875 1.375 -6.015625 1.8125 -6.015625 C 2.03125 -6.015625 2.28125 -5.875 2.453125 -5.78125 C 2.71875 -5.609375 2.90625 -5.546875 3.078125 -5.546875 C 3.453125 -5.546875 3.640625 -5.765625 4.140625 -6.3125 Z M 4.140625 -6.3125 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph4-2">
|
||||
<path style="stroke:none;" d="M 4 -5.265625 L 2.484375 -6.875 L 0.96875 -5.265625 L 1.109375 -5.125 L 2.484375 -6.203125 L 3.859375 -5.125 Z M 4 -5.265625 "/>
|
||||
</symbol>
|
||||
</g>
|
||||
<clipPath id="clip1">
|
||||
<path d="M 80 117 L 104 117 L 104 135.769531 L 80 135.769531 Z M 80 117 "/>
|
||||
<path d="M 80 117 L 104 117 L 104 135.777344 L 80 135.777344 Z M 80 117 "/>
|
||||
</clipPath>
|
||||
<clipPath id="clip2">
|
||||
<path d="M 91 110 L 124 110 L 124 135.769531 L 91 135.769531 Z M 91 110 "/>
|
||||
<path d="M 91 110 L 124 110 L 124 135.777344 L 91 135.777344 Z M 91 110 "/>
|
||||
</clipPath>
|
||||
<clipPath id="clip3">
|
||||
<path d="M 162 41 L 183.820312 41 L 183.820312 74 L 162 74 Z M 162 41 "/>
|
||||
</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-dasharray:2.98883,2.98883;stroke-miterlimit:10;" d="M -70.867419 -42.521997 L 70.865845 -42.521997 L 70.865845 42.518746 L -70.867419 42.518746 Z M -70.867419 -42.521997 " transform="matrix(0.996811,0,0,-0.996811,91.910941,57.488614)"/>
|
||||
<path style="fill-rule:nonzero;fill:rgb(79.998779%,79.998779%,79.998779%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-dasharray:2.98883,2.98883;stroke-miterlimit:10;" d="M -70.867419 -42.518407 L 70.865845 -42.518407 L 70.865845 42.518416 L -70.867419 42.518416 Z M -70.867419 -42.518407 " transform="matrix(0.996811,0,0,-0.996811,91.910941,57.496098)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-1" x="88.033347" y="10.800986"/>
|
||||
<use xlink:href="#glyph0-1" x="88.033347" y="10.80847"/>
|
||||
</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 -48.189627 17.305523 L -25.511834 17.305523 L -25.511834 34.316807 L -48.189627 34.316807 Z M -48.189627 17.305523 " transform="matrix(0.996811,0,0,-0.996811,91.910941,57.488614)"/>
|
||||
<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 -48.189627 17.309113 L -25.511834 17.309113 L -25.511834 34.316477 L -48.189627 34.316477 Z M -48.189627 17.309113 " transform="matrix(0.996811,0,0,-0.996811,91.910941,57.496098)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-2" x="48.260595" y="34.40746"/>
|
||||
<use xlink:href="#glyph0-2" x="48.961353" y="34.415941"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-1" x="57.639588" y="35.896695"/>
|
||||
<use xlink:href="#glyph1-1" x="56.939827" y="35.905176"/>
|
||||
</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 -48.189627 -8.503348 L -25.511834 -8.503348 L -25.511834 8.504016 L -48.189627 8.504016 Z M -48.189627 -8.503348 " transform="matrix(0.996811,0,0,-0.996811,91.910941,57.488614)"/>
|
||||
<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 -48.189627 -8.503678 L -25.511834 -8.503678 L -25.511834 8.503687 L -48.189627 8.503687 Z M -48.189627 -8.503678 " transform="matrix(0.996811,0,0,-0.996811,91.910941,57.496098)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-2" x="48.260595" y="60.13714"/>
|
||||
<use xlink:href="#glyph0-2" x="48.961353" y="60.144624"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-2" x="57.639588" y="61.626376"/>
|
||||
<use xlink:href="#glyph1-2" x="56.939827" y="61.63386"/>
|
||||
</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 5.943953 25.813124 C 5.943953 29.661335 2.820711 32.784577 -1.031418 32.784577 C -4.883547 32.784577 -8.006788 29.661335 -8.006788 25.813124 C -8.006788 21.960996 -4.883547 18.837754 -1.031418 18.837754 C 2.820711 18.837754 5.943953 21.960996 5.943953 25.813124 Z M 5.943953 25.813124 " transform="matrix(0.996811,0,0,-0.996811,91.910941,57.488614)"/>
|
||||
<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 5.943953 25.812795 C 5.943953 29.661005 2.820711 32.784247 -1.031418 32.784247 C -4.883547 32.784247 -8.006788 29.661005 -8.006788 25.812795 C -8.006788 21.960666 -4.883547 18.837424 -1.031418 18.837424 C 2.820711 18.837424 5.943953 21.960666 5.943953 25.812795 Z M 5.943953 25.812795 " transform="matrix(0.996811,0,0,-0.996811,91.910941,57.496098)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-1" x="86.558565" y="34.666132"/>
|
||||
<use xlink:href="#glyph2-1" x="86.559064" y="34.674115"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph3-1" x="81.172298" y="46.4908"/>
|
||||
<use xlink:href="#glyph3-1" x="81.172298" y="46.498284"/>
|
||||
</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 45.62911 0.000333869 C 45.62911 3.852463 42.505868 6.975705 38.65374 6.975705 C 34.801611 6.975705 31.678369 3.852463 31.678369 0.000333869 C 31.678369 -3.851795 34.801611 -6.975037 38.65374 -6.975037 C 42.505868 -6.975037 45.62911 -3.851795 45.62911 0.000333869 Z M 45.62911 0.000333869 " transform="matrix(0.996811,0,0,-0.996811,91.910941,57.488614)"/>
|
||||
<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 45.62911 0.00000437205 C 45.62911 3.852133 42.505868 6.975375 38.65374 6.975375 C 34.801611 6.975375 31.678369 3.852133 31.678369 0.00000437205 C 31.678369 -3.852125 34.801611 -6.975366 38.65374 -6.975366 C 42.505868 -6.975366 45.62911 -3.852125 45.62911 0.00000437205 Z M 45.62911 0.00000437205 " transform="matrix(0.996811,0,0,-0.996811,91.910941,57.496098)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-1" x="126.117999" y="60.395813"/>
|
||||
<use xlink:href="#glyph2-1" x="126.117501" y="60.402798"/>
|
||||
</g>
|
||||
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;" d="M 80.609375 134.773438 L 103.214844 134.773438 L 103.214844 117.820312 L 80.609375 117.820312 Z M 80.609375 134.773438 "/>
|
||||
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;" d="M 80.609375 134.78125 L 103.214844 134.78125 L 103.214844 117.828125 L 80.609375 117.828125 Z M 80.609375 134.78125 "/>
|
||||
<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 -11.337724 -77.532088 L 11.340069 -77.532088 L 11.340069 -60.524723 L -11.337724 -60.524723 Z M -11.337724 -77.532088 " transform="matrix(0.996811,0,0,-0.996811,91.910941,57.488614)"/>
|
||||
<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 -11.337724 -77.532417 L 11.340069 -77.532417 L 11.340069 -60.525053 L -11.337724 -60.525053 Z M -11.337724 -77.532417 " transform="matrix(0.996811,0,0,-0.996811,91.910941,57.496098)"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-3" x="85.556272" y="128.945994"/>
|
||||
<use xlink:href="#glyph0-3" x="85.556272" y="128.952481"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-1" x="93.810862" y="130.435229"/>
|
||||
<use xlink:href="#glyph1-1" x="93.810862" y="130.441716"/>
|
||||
</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 -91.209638 25.813124 L -53.319267 25.813124 " transform="matrix(0.996811,0,0,-0.996811,91.910941,57.488614)"/>
|
||||
<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 6.053806 0.00184449 L 1.609946 1.682987 L 3.087314 0.00184449 L 1.609946 -1.683217 Z M 6.053806 0.00184449 " transform="matrix(0.996811,0,0,-0.996811,35.930345,31.759651)"/>
|
||||
<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 -91.209638 25.812795 L -53.319267 25.812795 " transform="matrix(0.996811,0,0,-0.996811,91.910941,57.496098)"/>
|
||||
<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 6.053806 0.00151499 L 1.609946 1.682658 L 3.087314 0.00151499 L 1.609946 -1.683546 Z M 6.053806 0.00151499 " transform="matrix(0.996811,0,0,-0.996811,35.930345,31.767135)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-4" x="4.800641" y="26.463874"/>
|
||||
<use xlink:href="#glyph4-1" x="5.299046" y="26.471358"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-1" x="10.76157" y="27.95311"/>
|
||||
</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 -91.209638 0.000333869 L -53.319267 0.000333869 " transform="matrix(0.996811,0,0,-0.996811,91.910941,57.488614)"/>
|
||||
<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 6.053806 0.000333869 L 1.609946 1.681477 L 3.087314 0.000333869 L 1.609946 -1.684728 Z M 6.053806 0.000333869 " transform="matrix(0.996811,0,0,-0.996811,35.930345,57.488614)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-4" x="4.800641" y="52.192558"/>
|
||||
<use xlink:href="#glyph0-4" x="4.801638" y="26.471358"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-2" x="10.76157" y="53.681794"/>
|
||||
<use xlink:href="#glyph1-1" x="10.762566" y="27.960594"/>
|
||||
</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 -25.014153 25.813124 L -12.638748 25.813124 " transform="matrix(0.996811,0,0,-0.996811,91.910941,57.488614)"/>
|
||||
<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 6.052285 0.00184449 L 1.608425 1.682987 L 3.085793 0.00184449 L 1.608425 -1.683217 Z M 6.052285 0.00184449 " transform="matrix(0.996811,0,0,-0.996811,76.482642,31.759651)"/>
|
||||
<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 -25.014153 0.000333869 L -1.031418 0.000333869 L -1.031418 14.201875 " transform="matrix(0.996811,0,0,-0.996811,91.910941,57.488614)"/>
|
||||
<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 6.053857 -0.000282303 L 1.609997 1.684779 L 3.087365 -0.000282303 L 1.609997 -1.681425 Z M 6.053857 -0.000282303 " transform="matrix(0,-0.996811,-0.996811,0,90.882531,46.15955)"/>
|
||||
<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 -1.031418 0.000333869 L 27.046409 0.000333869 " transform="matrix(0.996811,0,0,-0.996811,91.910941,57.488614)"/>
|
||||
<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 6.052082 0.000333869 L 1.608222 1.681477 L 3.08559 0.000333869 L 1.608222 -1.684728 Z M 6.052082 0.000333869 " transform="matrix(0.996811,0,0,-0.996811,116.041438,57.488614)"/>
|
||||
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 92.867188 57.488281 C 92.867188 56.390625 91.980469 55.503906 90.882812 55.503906 C 89.785156 55.503906 88.894531 56.390625 88.894531 57.488281 C 88.894531 58.585938 89.785156 59.476562 90.882812 59.476562 C 91.980469 59.476562 92.867188 58.585938 92.867188 57.488281 Z M 92.867188 57.488281 "/>
|
||||
<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 5.943953 25.813124 L 20.114145 25.813124 L 20.114145 -34.414108 L 82.704382 -34.414108 L 82.704382 -69.028406 L 16.469709 -69.028406 " transform="matrix(0.996811,0,0,-0.996811,91.910941,57.488614)"/>
|
||||
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 105.125 126.296875 L 109.554688 127.976562 L 108.082031 126.296875 L 109.554688 124.621094 Z M 105.125 126.296875 "/>
|
||||
<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 -91.209638 0.00000437205 L -53.319267 0.00000437205 " transform="matrix(0.996811,0,0,-0.996811,91.910941,57.496098)"/>
|
||||
<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 6.053806 0.00000437205 L 1.609946 1.681147 L 3.087314 0.00000437205 L 1.609946 -1.681138 Z M 6.053806 0.00000437205 " transform="matrix(0.996811,0,0,-0.996811,35.930345,57.496098)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph4-1" x="5.299046" y="52.200042"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-4" x="4.801638" y="52.200042"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-2" x="10.762566" y="53.689278"/>
|
||||
</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 -25.014153 25.812795 L -12.638748 25.812795 " transform="matrix(0.996811,0,0,-0.996811,91.910941,57.496098)"/>
|
||||
<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 6.052285 0.00151499 L 1.608425 1.682658 L 3.085793 0.00151499 L 1.608425 -1.683546 Z M 6.052285 0.00151499 " transform="matrix(0.996811,0,0,-0.996811,76.482642,31.767135)"/>
|
||||
<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 -25.014153 0.00000437205 L -1.031418 0.00000437205 L -1.031418 14.205465 " transform="matrix(0.996811,0,0,-0.996811,91.910941,57.496098)"/>
|
||||
<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 6.053528 -0.000282303 L 1.609668 1.684779 L 3.087036 -0.000282303 L 1.609668 -1.681425 Z M 6.053528 -0.000282303 " transform="matrix(0,-0.996811,-0.996811,0,90.882531,46.167034)"/>
|
||||
<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 -1.031418 0.00000437205 L 27.046409 0.00000437205 " transform="matrix(0.996811,0,0,-0.996811,91.910941,57.496098)"/>
|
||||
<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 6.052082 0.00000437205 L 1.608222 1.681147 L 3.08559 0.00000437205 L 1.608222 -1.681138 Z M 6.052082 0.00000437205 " transform="matrix(0.996811,0,0,-0.996811,116.041438,57.496098)"/>
|
||||
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 92.867188 57.496094 C 92.867188 56.398438 91.980469 55.511719 90.882812 55.511719 C 89.785156 55.511719 88.894531 56.398438 88.894531 57.496094 C 88.894531 58.59375 89.785156 59.480469 90.882812 59.480469 C 91.980469 59.480469 92.867188 58.59375 92.867188 57.496094 Z M 92.867188 57.496094 "/>
|
||||
<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 5.943953 25.812795 L 20.114145 25.812795 L 20.114145 -34.414437 L 82.704382 -34.414437 L 82.704382 -69.028735 L 16.469709 -69.028735 " transform="matrix(0.996811,0,0,-0.996811,91.910941,57.496098)"/>
|
||||
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 105.125 126.304688 L 109.554688 127.984375 L 108.082031 126.304688 L 109.554688 124.628906 Z M 105.125 126.304688 "/>
|
||||
<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 6.052644 -0.000464409 L 1.608784 1.684597 L 3.086152 -0.000464409 L 1.608784 -1.681607 Z M 6.052644 -0.000464409 " transform="matrix(-0.996811,0,0,0.996811,111.158341,126.297338)"/>
|
||||
<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 6.052644 -0.000134912 L 1.608784 1.684927 L 3.086152 -0.000134912 L 1.608784 -1.681278 Z M 6.052644 -0.000134912 " transform="matrix(-0.996811,0,0,0.996811,111.158341,126.304822)"/>
|
||||
</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 -11.835405 -69.028406 L -82.702037 -69.028406 L -82.702037 -25.812457 L 38.65374 -25.812457 L 38.65374 -11.606997 " transform="matrix(0.996811,0,0,-0.996811,91.910941,57.488614)"/>
|
||||
<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 6.052346 -0.0000695274 L 1.608487 1.684992 L 3.085854 -0.0000695274 L 1.608487 -1.681212 Z M 6.052346 -0.0000695274 " transform="matrix(0,-0.996811,-0.996811,0,130.441337,71.888513)"/>
|
||||
<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 45.62911 0.000333869 L 86.576104 0.000333869 " transform="matrix(0.996811,0,0,-0.996811,91.910941,57.488614)"/>
|
||||
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 181.414062 57.488281 L 176.984375 55.8125 L 178.457031 57.488281 L 176.984375 59.167969 Z M 181.414062 57.488281 "/>
|
||||
<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 -11.835405 -69.028735 L -82.702037 -69.028735 L -82.702037 -25.812786 L 38.65374 -25.812786 L 38.65374 -11.607326 " transform="matrix(0.996811,0,0,-0.996811,91.910941,57.496098)"/>
|
||||
<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 6.052017 -0.0000695274 L 1.608157 1.684992 L 3.089444 -0.0000695274 L 1.608157 -1.681212 Z M 6.052017 -0.0000695274 " transform="matrix(0,-0.996811,-0.996811,0,130.441337,71.895997)"/>
|
||||
<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 45.62911 0.00000437205 L 86.576104 0.00000437205 " transform="matrix(0.996811,0,0,-0.996811,91.910941,57.496098)"/>
|
||||
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 181.414062 57.496094 L 176.984375 55.820312 L 178.457031 57.496094 L 176.984375 59.171875 Z M 181.414062 57.496094 "/>
|
||||
<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 6.053717 0.000333869 L 1.609858 1.681477 L 3.087225 0.000333869 L 1.609858 -1.684728 Z M 6.053717 0.000333869 " transform="matrix(0.996811,0,0,-0.996811,175.379652,57.488614)"/>
|
||||
<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 6.053717 0.00000437205 L 1.609858 1.681147 L 3.087225 0.00000437205 L 1.609858 -1.681138 Z M 6.053717 0.00000437205 " transform="matrix(0.996811,0,0,-0.996811,175.379652,57.496098)"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph4-1" x="173.976381" y="53.681794"/>
|
||||
<use xlink:href="#glyph4-2" x="173.975384" y="53.689278"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-5" x="173.3454" y="53.681794"/>
|
||||
<use xlink:href="#glyph0-5" x="173.344403" y="53.689278"/>
|
||||
</g>
|
||||
</g>
|
||||
</svg>
|
||||
|
||||
|
Before Width: | Height: | Size: 22 KiB After Width: | Height: | Size: 23 KiB |
BIN
tikz/figs/sensor_fusion_noisy_perfect_dyn.pdf
Normal file
BIN
tikz/figs/sensor_fusion_noisy_perfect_dyn.pdf
Normal file
Binary file not shown.
BIN
tikz/figs/sensor_fusion_noisy_perfect_dyn.png
Normal file
BIN
tikz/figs/sensor_fusion_noisy_perfect_dyn.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 34 KiB |
303
tikz/figs/sensor_fusion_noisy_perfect_dyn.svg
Normal file
303
tikz/figs/sensor_fusion_noisy_perfect_dyn.svg
Normal file
@ -0,0 +1,303 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="185.678pt" height="169.222pt" viewBox="0 0 185.678 169.222" 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 4.953125 -1.84375 C 4.953125 -2.84375 4.296875 -3.65625 3.46875 -3.84375 L 2.1875 -4.15625 C 1.578125 -4.3125 1.1875 -4.84375 1.1875 -5.421875 C 1.1875 -6.109375 1.71875 -6.71875 2.5 -6.71875 C 4.15625 -6.71875 4.375 -5.09375 4.4375 -4.640625 C 4.4375 -4.578125 4.4375 -4.53125 4.546875 -4.53125 C 4.6875 -4.53125 4.6875 -4.578125 4.6875 -4.765625 L 4.6875 -6.75 C 4.6875 -6.921875 4.6875 -7 4.578125 -7 C 4.5 -7 4.5 -6.984375 4.421875 -6.859375 L 4.078125 -6.296875 C 3.78125 -6.59375 3.375 -7 2.484375 -7 C 1.390625 -7 0.5625 -6.125 0.5625 -5.0625 C 0.5625 -4.25 1.078125 -3.515625 1.859375 -3.25 C 1.96875 -3.21875 2.46875 -3.09375 3.171875 -2.921875 C 3.4375 -2.859375 3.734375 -2.78125 4.015625 -2.421875 C 4.21875 -2.15625 4.3125 -1.828125 4.3125 -1.515625 C 4.3125 -0.796875 3.8125 -0.09375 2.984375 -0.09375 C 2.703125 -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 -2.1875 0.5625 -2 L 0.5625 -0.015625 C 0.5625 0.15625 0.5625 0.21875 0.671875 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 1.484375 -0.140625 2.109375 0.21875 3 0.21875 C 4.15625 0.21875 4.953125 -0.75 4.953125 -1.84375 Z M 4.953125 -1.84375 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-2">
|
||||
<path style="stroke:none;" d="M 5.3125 0 L 5.3125 -0.3125 C 4.609375 -0.3125 4.53125 -0.375 4.53125 -0.859375 L 4.53125 -4.390625 L 3.078125 -4.28125 L 3.078125 -3.96875 C 3.765625 -3.96875 3.84375 -3.90625 3.84375 -3.40625 L 3.84375 -1.640625 C 3.84375 -0.78125 3.375 -0.109375 2.65625 -0.109375 C 1.8125 -0.109375 1.78125 -0.578125 1.78125 -1.09375 L 1.78125 -4.390625 L 0.3125 -4.28125 L 0.3125 -3.96875 C 1.09375 -3.96875 1.09375 -3.9375 1.09375 -3.0625 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 5.3125 0 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-3">
|
||||
<path style="stroke:none;" d="M 5.171875 -2.140625 C 5.171875 -3.40625 4.203125 -4.390625 3.09375 -4.390625 C 2.328125 -4.390625 1.90625 -3.953125 1.703125 -3.734375 L 1.703125 -4.390625 L 0.28125 -4.28125 L 0.28125 -3.96875 C 0.984375 -3.96875 1.046875 -3.90625 1.046875 -3.46875 L 1.046875 1.171875 C 1.046875 1.625 0.9375 1.625 0.28125 1.625 L 0.28125 1.921875 L 1.390625 1.890625 L 2.515625 1.921875 L 2.515625 1.625 C 1.84375 1.625 1.734375 1.625 1.734375 1.171875 L 1.734375 -0.578125 C 1.78125 -0.421875 2.203125 0.109375 2.953125 0.109375 C 4.140625 0.109375 5.171875 -0.859375 5.171875 -2.140625 Z M 4.34375 -2.140625 C 4.34375 -0.9375 3.65625 -0.109375 2.921875 -0.109375 C 2.515625 -0.109375 2.140625 -0.3125 1.875 -0.71875 C 1.734375 -0.921875 1.734375 -0.9375 1.734375 -1.125 L 1.734375 -3.34375 C 2.03125 -3.84375 2.515625 -4.140625 3.015625 -4.140625 C 3.734375 -4.140625 4.34375 -3.265625 4.34375 -2.140625 Z M 4.34375 -2.140625 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-4">
|
||||
<path style="stroke:none;" d="M 4.125 -1.1875 C 4.125 -1.28125 4.03125 -1.296875 3.984375 -1.296875 C 3.90625 -1.296875 3.875 -1.234375 3.859375 -1.15625 C 3.515625 -0.140625 2.625 -0.140625 2.515625 -0.140625 C 2.03125 -0.140625 1.625 -0.4375 1.40625 -0.796875 C 1.09375 -1.28125 1.09375 -1.9375 1.09375 -2.296875 L 3.875 -2.296875 C 4.09375 -2.296875 4.125 -2.296875 4.125 -2.5 C 4.125 -3.484375 3.578125 -4.4375 2.34375 -4.4375 C 1.1875 -4.4375 0.28125 -3.421875 0.28125 -2.1875 C 0.28125 -0.859375 1.3125 0.109375 2.453125 0.109375 C 3.671875 0.109375 4.125 -0.984375 4.125 -1.1875 Z M 3.46875 -2.5 L 1.109375 -2.5 C 1.171875 -3.984375 2 -4.234375 2.34375 -4.234375 C 3.359375 -4.234375 3.46875 -2.890625 3.46875 -2.5 Z M 3.46875 -2.5 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-5">
|
||||
<path style="stroke:none;" d="M 3.609375 -3.78125 C 3.609375 -4.09375 3.296875 -4.390625 2.875 -4.390625 C 2.15625 -4.390625 1.796875 -3.71875 1.65625 -3.296875 L 1.65625 -4.390625 L 0.28125 -4.28125 L 0.28125 -3.96875 C 0.96875 -3.96875 1.046875 -3.90625 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 1.8125 -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 -0.78125 L 1.703125 -2.296875 C 1.703125 -3.28125 2.125 -4.171875 2.875 -4.171875 C 2.953125 -4.171875 2.96875 -4.171875 2.984375 -4.15625 C 2.953125 -4.140625 2.765625 -4.03125 2.765625 -3.765625 C 2.765625 -3.5 2.96875 -3.34375 3.1875 -3.34375 C 3.359375 -3.34375 3.609375 -3.46875 3.609375 -3.78125 Z M 3.609375 -3.78125 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-6">
|
||||
<path style="stroke:none;" d="M 5.3125 0 L 5.3125 -0.3125 C 4.796875 -0.3125 4.546875 -0.3125 4.53125 -0.609375 L 4.53125 -2.5 C 4.53125 -3.359375 4.53125 -3.65625 4.234375 -4.015625 C 4.09375 -4.1875 3.765625 -4.390625 3.1875 -4.390625 C 2.453125 -4.390625 2 -3.953125 1.71875 -3.34375 L 1.71875 -4.390625 L 0.3125 -4.28125 L 0.3125 -3.96875 C 1.015625 -3.96875 1.09375 -3.90625 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 1.890625 -0.3125 1.78125 -0.3125 1.78125 -0.75 L 1.78125 -2.578125 C 1.78125 -3.609375 2.484375 -4.171875 3.109375 -4.171875 C 3.734375 -4.171875 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 4.203125 -0.03125 Z M 5.3125 0 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-7">
|
||||
<path style="stroke:none;" d="M 3.578125 -1.265625 C 3.578125 -1.796875 3.28125 -2.09375 3.15625 -2.21875 C 2.828125 -2.53125 2.4375 -2.609375 2.03125 -2.6875 C 1.46875 -2.796875 0.796875 -2.921875 0.796875 -3.5 C 0.796875 -3.84375 1.0625 -4.25 1.921875 -4.25 C 3 -4.25 3.0625 -3.359375 3.078125 -3.0625 C 3.078125 -2.96875 3.1875 -2.96875 3.1875 -2.96875 C 3.328125 -2.96875 3.328125 -3.015625 3.328125 -3.203125 L 3.328125 -4.203125 C 3.328125 -4.375 3.328125 -4.4375 3.21875 -4.4375 C 3.171875 -4.4375 3.140625 -4.4375 3.015625 -4.328125 C 2.984375 -4.28125 2.890625 -4.203125 2.84375 -4.171875 C 2.46875 -4.4375 2.0625 -4.4375 1.921875 -4.4375 C 0.703125 -4.4375 0.328125 -3.78125 0.328125 -3.21875 C 0.328125 -2.875 0.484375 -2.59375 0.75 -2.375 C 1.078125 -2.125 1.34375 -2.0625 2.0625 -1.921875 C 2.28125 -1.890625 3.09375 -1.71875 3.09375 -1.015625 C 3.09375 -0.5 2.75 -0.109375 1.96875 -0.109375 C 1.140625 -0.109375 0.78125 -0.671875 0.59375 -1.515625 C 0.5625 -1.640625 0.5625 -1.6875 0.453125 -1.6875 C 0.328125 -1.6875 0.328125 -1.625 0.328125 -1.4375 L 0.328125 -0.125 C 0.328125 0.046875 0.328125 0.109375 0.4375 0.109375 C 0.484375 0.109375 0.5 0.09375 0.6875 -0.09375 C 0.703125 -0.109375 0.703125 -0.125 0.890625 -0.3125 C 1.3125 0.09375 1.765625 0.109375 1.96875 0.109375 C 3.109375 0.109375 3.578125 -0.5625 3.578125 -1.265625 Z M 3.578125 -1.265625 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-8">
|
||||
<path style="stroke:none;" d="M 4.671875 -2.125 C 4.671875 -3.390625 3.6875 -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 1.625 -0.34375 1.34375 -0.796875 C 1.09375 -1.234375 1.09375 -1.84375 1.09375 -2.203125 C 1.09375 -2.59375 1.09375 -3.125 1.34375 -3.5625 C 1.609375 -4.015625 2.078125 -4.234375 2.46875 -4.234375 C 2.90625 -4.234375 3.328125 -4.015625 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="glyph0-9">
|
||||
<path style="stroke:none;" d="M 4.15625 0 L 4.15625 -0.3125 L 3.84375 -0.3125 C 2.953125 -0.3125 2.921875 -0.421875 2.921875 -0.78125 L 2.921875 -6.34375 C 2.921875 -6.59375 2.921875 -6.609375 2.6875 -6.609375 C 2.078125 -5.96875 1.203125 -5.96875 0.890625 -5.96875 L 0.890625 -5.671875 C 1.078125 -5.671875 1.671875 -5.671875 2.1875 -5.921875 L 2.1875 -0.78125 C 2.1875 -0.421875 2.15625 -0.3125 1.265625 -0.3125 L 0.9375 -0.3125 L 0.9375 0 C 1.296875 -0.03125 2.15625 -0.03125 2.546875 -0.03125 C 2.953125 -0.03125 3.8125 -0.03125 4.15625 0 Z M 4.15625 0 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-10">
|
||||
<path style="stroke:none;" d="M 4.453125 -1.71875 L 4.203125 -1.71875 C 4.15625 -1.421875 4.09375 -0.984375 3.984375 -0.84375 C 3.921875 -0.765625 3.265625 -0.765625 3.046875 -0.765625 L 1.265625 -0.765625 L 2.3125 -1.78125 C 3.859375 -3.15625 4.453125 -3.6875 4.453125 -4.6875 C 4.453125 -5.8125 3.5625 -6.609375 2.34375 -6.609375 C 1.234375 -6.609375 0.5 -5.6875 0.5 -4.8125 C 0.5 -4.25 0.984375 -4.25 1.015625 -4.25 C 1.1875 -4.25 1.53125 -4.375 1.53125 -4.78125 C 1.53125 -5.046875 1.359375 -5.296875 1.015625 -5.296875 C 0.9375 -5.296875 0.90625 -5.296875 0.890625 -5.28125 C 1.109375 -5.9375 1.640625 -6.296875 2.21875 -6.296875 C 3.125 -6.296875 3.546875 -5.5 3.546875 -4.6875 C 3.546875 -3.890625 3.0625 -3.109375 2.515625 -2.484375 L 0.609375 -0.359375 C 0.5 -0.265625 0.5 -0.234375 0.5 0 L 4.171875 0 Z M 4.453125 -1.71875 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-11">
|
||||
<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 -0.96875 1.5625 -2.484375 C 1.5625 -4.203125 1.9375 -5.9375 3.15625 -7.171875 C 3.28125 -7.296875 3.28125 -7.3125 3.28125 -7.34375 C 3.28125 -7.40625 3.25 -7.4375 3.1875 -7.4375 C 3.078125 -7.4375 2.1875 -6.765625 1.609375 -5.5 C 1.09375 -4.421875 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 3.25 2.484375 3.28125 2.453125 3.28125 2.375 Z M 3.28125 2.375 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-12">
|
||||
<path style="stroke:none;" d="M 2.875 -2.484375 C 2.875 -3.25 2.765625 -4.453125 2.21875 -5.578125 C 1.625 -6.796875 0.765625 -7.4375 0.671875 -7.4375 C 0.609375 -7.4375 0.5625 -7.40625 0.5625 -7.34375 C 0.5625 -7.3125 0.5625 -7.296875 0.75 -7.109375 C 1.71875 -6.125 2.296875 -4.546875 2.296875 -2.484375 C 2.296875 -0.78125 1.921875 0.96875 0.6875 2.21875 C 0.5625 2.328125 0.5625 2.34375 0.5625 2.375 C 0.5625 2.4375 0.609375 2.484375 0.671875 2.484375 C 0.765625 2.484375 1.65625 1.8125 2.25 0.546875 C 2.75 -0.546875 2.875 -1.640625 2.875 -2.484375 Z M 2.875 -2.484375 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-13">
|
||||
<path style="stroke:none;" d="M 3.984375 -5.265625 L 2.484375 -6.859375 L 0.96875 -5.265625 L 1.09375 -5.125 L 2.484375 -6.1875 L 3.859375 -5.125 Z M 3.984375 -5.265625 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph0-14">
|
||||
<path style="stroke:none;" d="M 4.140625 -6.3125 L 3.984375 -6.453125 C 3.984375 -6.453125 3.609375 -5.984375 3.171875 -5.984375 C 2.9375 -5.984375 2.6875 -6.125 2.515625 -6.234375 C 2.25 -6.390625 2.078125 -6.453125 1.90625 -6.453125 C 1.53125 -6.453125 1.34375 -6.234375 0.828125 -5.6875 L 0.984375 -5.53125 C 0.984375 -5.53125 1.375 -6.015625 1.8125 -6.015625 C 2.03125 -6.015625 2.28125 -5.859375 2.453125 -5.765625 C 2.71875 -5.609375 2.890625 -5.53125 3.0625 -5.53125 C 3.4375 -5.53125 3.625 -5.75 4.140625 -6.3125 Z M 4.140625 -6.3125 "/>
|
||||
</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 8.078125 -2.984375 C 8.078125 -3.203125 7.890625 -3.203125 7.703125 -3.203125 L 4.53125 -3.203125 L 4.53125 -6.390625 C 4.53125 -6.546875 4.53125 -6.75 4.3125 -6.75 C 4.109375 -6.75 4.109375 -6.5625 4.109375 -6.390625 L 4.109375 -3.203125 L 0.921875 -3.203125 C 0.75 -3.203125 0.546875 -3.203125 0.546875 -3 C 0.546875 -2.78125 0.75 -2.78125 0.921875 -2.78125 L 4.109375 -2.78125 L 4.109375 0.390625 C 4.109375 0.5625 4.109375 0.765625 4.3125 0.765625 C 4.53125 0.765625 4.53125 0.578125 4.53125 0.390625 L 4.53125 -2.78125 L 7.703125 -2.78125 C 7.875 -2.78125 8.078125 -2.78125 8.078125 -2.984375 Z M 8.078125 -2.984375 "/>
|
||||
</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 8.734375 -6.671875 C 8.734375 -6.671875 8.734375 -6.78125 8.609375 -6.78125 C 8.28125 -6.78125 7.9375 -6.75 7.609375 -6.75 C 7.265625 -6.75 6.921875 -6.78125 6.59375 -6.78125 C 6.53125 -6.78125 6.421875 -6.78125 6.421875 -6.578125 C 6.421875 -6.46875 6.515625 -6.46875 6.59375 -6.46875 C 7.15625 -6.453125 7.265625 -6.25 7.265625 -6.03125 C 7.265625 -6 7.25 -5.859375 7.25 -5.828125 L 6.125 -1.40625 L 3.9375 -6.59375 C 3.859375 -6.765625 3.84375 -6.78125 3.625 -6.78125 L 2.296875 -6.78125 C 2.09375 -6.78125 2 -6.78125 2 -6.578125 C 2 -6.46875 2.09375 -6.46875 2.28125 -6.46875 C 2.328125 -6.46875 2.953125 -6.46875 2.953125 -6.375 L 1.625 -1.046875 C 1.53125 -0.65625 1.359375 -0.34375 0.5625 -0.3125 C 0.5 -0.3125 0.390625 -0.296875 0.390625 -0.109375 C 0.390625 -0.046875 0.4375 0 0.515625 0 C 0.828125 0 1.1875 -0.03125 1.515625 -0.03125 C 1.84375 -0.03125 2.203125 0 2.53125 0 C 2.578125 0 2.703125 0 2.703125 -0.203125 C 2.703125 -0.296875 2.625 -0.3125 2.515625 -0.3125 C 1.9375 -0.328125 1.859375 -0.546875 1.859375 -0.75 C 1.859375 -0.8125 1.859375 -0.859375 1.890625 -0.96875 L 3.203125 -6.21875 C 3.25 -6.15625 3.25 -6.125 3.296875 -6.03125 L 5.765625 -0.1875 C 5.828125 -0.015625 5.859375 0 5.953125 0 C 6.0625 0 6.0625 -0.03125 6.109375 -0.203125 L 7.5 -5.734375 C 7.59375 -6.125 7.78125 -6.4375 8.578125 -6.46875 C 8.625 -6.46875 8.734375 -6.484375 8.734375 -6.671875 Z M 8.734375 -6.671875 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph2-2">
|
||||
<path style="stroke:none;" d="M 3.921875 -1.53125 C 3.921875 -1.890625 3.734375 -2.140625 3.625 -2.265625 C 3.359375 -2.546875 3.0625 -2.59375 2.625 -2.671875 C 2.265625 -2.765625 1.875 -2.828125 1.875 -3.28125 C 1.875 -3.5625 2.109375 -4.171875 2.984375 -4.171875 C 3.234375 -4.171875 3.734375 -4.09375 3.875 -3.703125 C 3.609375 -3.703125 3.40625 -3.484375 3.40625 -3.265625 C 3.40625 -3.125 3.5 -2.96875 3.703125 -2.96875 C 3.921875 -2.96875 4.171875 -3.140625 4.171875 -3.53125 C 4.171875 -3.984375 3.734375 -4.390625 2.984375 -4.390625 C 1.671875 -4.390625 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 3.140625 -0.109375 1.9375 -0.109375 C 1.8125 -0.109375 1.046875 -0.109375 0.8125 -0.640625 C 1.1875 -0.578125 1.4375 -0.890625 1.4375 -1.15625 C 1.4375 -1.390625 1.28125 -1.515625 1.078125 -1.515625 C 0.8125 -1.515625 0.515625 -1.296875 0.515625 -0.859375 C 0.515625 -0.28125 1.078125 0.109375 1.9375 0.109375 C 3.546875 0.109375 3.921875 -1.09375 3.921875 -1.53125 Z M 3.921875 -1.53125 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph2-3">
|
||||
<path style="stroke:none;" d="M 7.125 -0.203125 C 7.125 -0.3125 7.03125 -0.3125 6.84375 -0.3125 C 6.484375 -0.3125 6.203125 -0.3125 6.203125 -0.484375 C 6.203125 -0.546875 6.21875 -0.59375 6.234375 -0.65625 L 7.578125 -6.015625 C 7.65625 -6.375 7.671875 -6.46875 8.40625 -6.46875 C 8.65625 -6.46875 8.734375 -6.46875 8.734375 -6.671875 C 8.734375 -6.78125 8.625 -6.78125 8.609375 -6.78125 L 7.328125 -6.75 L 6.046875 -6.78125 C 5.96875 -6.78125 5.859375 -6.78125 5.859375 -6.578125 C 5.859375 -6.46875 5.953125 -6.46875 6.140625 -6.46875 C 6.140625 -6.46875 6.34375 -6.46875 6.515625 -6.453125 C 6.703125 -6.421875 6.78125 -6.421875 6.78125 -6.296875 C 6.78125 -6.25 6.78125 -6.234375 6.75 -6.109375 L 6.15625 -3.6875 L 3.125 -3.6875 L 3.703125 -6.015625 C 3.796875 -6.375 3.828125 -6.46875 4.546875 -6.46875 C 4.796875 -6.46875 4.875 -6.46875 4.875 -6.671875 C 4.875 -6.78125 4.765625 -6.78125 4.75 -6.78125 L 3.46875 -6.75 L 2.1875 -6.78125 C 2.109375 -6.78125 2 -6.78125 2 -6.578125 C 2 -6.46875 2.09375 -6.46875 2.28125 -6.46875 C 2.28125 -6.46875 2.484375 -6.46875 2.65625 -6.453125 C 2.84375 -6.421875 2.921875 -6.421875 2.921875 -6.296875 C 2.921875 -6.25 2.921875 -6.21875 2.890625 -6.109375 L 1.5625 -0.78125 C 1.453125 -0.390625 1.4375 -0.3125 0.65625 -0.3125 C 0.46875 -0.3125 0.390625 -0.3125 0.390625 -0.109375 C 0.390625 0 0.53125 0 0.53125 0 L 1.78125 -0.03125 L 2.421875 -0.015625 C 2.640625 -0.015625 2.859375 0 3.0625 0 C 3.140625 0 3.265625 0 3.265625 -0.203125 C 3.265625 -0.3125 3.171875 -0.3125 2.984375 -0.3125 C 2.625 -0.3125 2.34375 -0.3125 2.34375 -0.484375 C 2.34375 -0.546875 2.359375 -0.59375 2.375 -0.65625 L 3.046875 -3.375 L 6.078125 -3.375 L 5.390625 -0.640625 C 5.28125 -0.3125 5.09375 -0.3125 4.484375 -0.3125 C 4.328125 -0.3125 4.25 -0.3125 4.25 -0.109375 C 4.25 0 4.390625 0 4.390625 0 L 5.640625 -0.03125 L 6.28125 -0.015625 C 6.5 -0.015625 6.71875 0 6.921875 0 C 7 0 7.125 0 7.125 -0.203125 Z M 7.125 -0.203125 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph2-4">
|
||||
<path style="stroke:none;" d="M 4.921875 -1.421875 C 4.921875 -1.515625 4.828125 -1.515625 4.796875 -1.515625 C 4.71875 -1.515625 4.6875 -1.484375 4.671875 -1.40625 C 4.34375 -0.34375 3.671875 -0.109375 3.359375 -0.109375 C 2.96875 -0.109375 2.8125 -0.421875 2.8125 -0.765625 C 2.8125 -0.984375 2.875 -1.203125 2.96875 -1.640625 L 3.3125 -3 C 3.375 -3.25 3.609375 -4.171875 4.296875 -4.171875 C 4.34375 -4.171875 4.578125 -4.171875 4.796875 -4.03125 C 4.515625 -3.984375 4.3125 -3.734375 4.3125 -3.5 C 4.3125 -3.34375 4.421875 -3.15625 4.6875 -3.15625 C 4.90625 -3.15625 5.234375 -3.328125 5.234375 -3.734375 C 5.234375 -4.25 4.640625 -4.390625 4.3125 -4.390625 C 3.734375 -4.390625 3.390625 -3.859375 3.265625 -3.625 C 3.015625 -4.28125 2.484375 -4.390625 2.1875 -4.390625 C 1.15625 -4.390625 0.59375 -3.109375 0.59375 -2.859375 C 0.59375 -2.765625 0.71875 -2.765625 0.71875 -2.765625 C 0.796875 -2.765625 0.828125 -2.78125 0.84375 -2.875 C 1.1875 -3.921875 1.828125 -4.171875 2.171875 -4.171875 C 2.359375 -4.171875 2.703125 -4.078125 2.703125 -3.5 C 2.703125 -3.1875 2.546875 -2.53125 2.171875 -1.140625 C 2.015625 -0.53125 1.671875 -0.109375 1.234375 -0.109375 C 1.171875 -0.109375 0.9375 -0.109375 0.734375 -0.234375 C 0.984375 -0.28125 1.203125 -0.5 1.203125 -0.78125 C 1.203125 -1.046875 0.984375 -1.125 0.828125 -1.125 C 0.53125 -1.125 0.28125 -0.859375 0.28125 -0.546875 C 0.28125 -0.09375 0.78125 0.109375 1.21875 0.109375 C 1.875 0.109375 2.234375 -0.578125 2.265625 -0.640625 C 2.375 -0.28125 2.734375 0.109375 3.328125 0.109375 C 4.359375 0.109375 4.921875 -1.171875 4.921875 -1.421875 Z M 4.921875 -1.421875 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph2-5">
|
||||
<path style="stroke:none;" d="M 5.671875 -1.421875 C 5.671875 -1.515625 5.578125 -1.515625 5.546875 -1.515625 C 5.453125 -1.515625 5.453125 -1.484375 5.390625 -1.34375 C 5.203125 -0.671875 4.875 -0.109375 4.390625 -0.109375 C 4.21875 -0.109375 4.140625 -0.203125 4.140625 -0.4375 C 4.140625 -0.6875 4.234375 -0.921875 4.328125 -1.140625 C 4.515625 -1.671875 4.9375 -2.765625 4.9375 -3.328125 C 4.9375 -3.984375 4.5 -4.390625 3.796875 -4.390625 C 2.890625 -4.390625 2.40625 -3.75 2.25 -3.515625 C 2.1875 -4.078125 1.78125 -4.390625 1.328125 -4.390625 C 0.875 -4.390625 0.6875 -4 0.578125 -3.8125 C 0.421875 -3.484375 0.28125 -2.890625 0.28125 -2.859375 C 0.28125 -2.765625 0.40625 -2.765625 0.40625 -2.765625 C 0.5 -2.765625 0.515625 -2.765625 0.578125 -2.984375 C 0.75 -3.6875 0.9375 -4.171875 1.296875 -4.171875 C 1.5 -4.171875 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 1.078125 0.109375 C 1.1875 0.109375 1.375 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 2.296875 -3.265625 2.8125 -4.171875 3.765625 -4.171875 C 4.203125 -4.171875 4.296875 -3.796875 4.296875 -3.46875 C 4.296875 -2.859375 3.8125 -1.59375 3.65625 -1.15625 C 3.5625 -0.9375 3.546875 -0.8125 3.546875 -0.703125 C 3.546875 -0.234375 3.90625 0.109375 4.359375 0.109375 C 5.296875 0.109375 5.671875 -1.34375 5.671875 -1.421875 Z M 5.671875 -1.421875 "/>
|
||||
</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 3.28125 0 L 3.28125 -0.25 L 3.015625 -0.25 C 2.328125 -0.25 2.328125 -0.34375 2.328125 -0.5625 L 2.328125 -4.40625 C 2.328125 -4.59375 2.3125 -4.609375 2.109375 -4.609375 C 1.671875 -4.171875 1.046875 -4.15625 0.75 -4.15625 L 0.75 -3.90625 C 0.921875 -3.90625 1.375 -3.90625 1.765625 -4.109375 L 1.765625 -0.5625 C 1.765625 -0.34375 1.765625 -0.25 1.0625 -0.25 L 0.8125 -0.25 L 0.8125 0 L 2.046875 -0.03125 Z M 3.28125 0 "/>
|
||||
</symbol>
|
||||
<symbol overflow="visible" id="glyph3-2">
|
||||
<path style="stroke:none;" d="M 3.5 -1.265625 L 3.265625 -1.265625 C 3.25 -1.109375 3.171875 -0.703125 3.09375 -0.625 C 3.03125 -0.59375 2.5 -0.59375 2.40625 -0.59375 L 1.125 -0.59375 C 1.859375 -1.234375 2.09375 -1.421875 2.515625 -1.75 C 3.03125 -2.171875 3.5 -2.59375 3.5 -3.25 C 3.5 -4.09375 2.765625 -4.609375 1.875 -4.609375 C 1.015625 -4.609375 0.4375 -4 0.4375 -3.359375 C 0.4375 -3.015625 0.734375 -2.96875 0.8125 -2.96875 C 0.96875 -2.96875 1.171875 -3.09375 1.171875 -3.34375 C 1.171875 -3.46875 1.125 -3.71875 0.765625 -3.71875 C 0.984375 -4.203125 1.453125 -4.359375 1.78125 -4.359375 C 2.46875 -4.359375 2.828125 -3.8125 2.828125 -3.25 C 2.828125 -2.65625 2.40625 -2.171875 2.171875 -1.921875 L 0.5 -0.265625 C 0.4375 -0.203125 0.4375 -0.1875 0.4375 0 L 3.296875 0 Z M 3.5 -1.265625 "/>
|
||||
</symbol>
|
||||
</g>
|
||||
<clipPath id="clip1">
|
||||
<path d="M 57 128 L 100 128 L 100 168.449219 L 57 168.449219 Z M 57 128 "/>
|
||||
</clipPath>
|
||||
<clipPath id="clip2">
|
||||
<path d="M 0.265625 108 L 22 108 L 22 110 L 0.265625 110 Z M 0.265625 108 "/>
|
||||
</clipPath>
|
||||
<clipPath id="clip3">
|
||||
<path d="M 164 93 L 185.09375 93 L 185.09375 125 L 164 125 Z M 164 93 "/>
|
||||
</clipPath>
|
||||
</defs>
|
||||
<g id="surface1">
|
||||
<path style="fill-rule:nonzero;fill:rgb(89.99939%,89.99939%,89.99939%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-dasharray:2.98883,2.98883;stroke-miterlimit:10;" d="M -5.66899 -59.022917 L 149.6669 -59.022917 L 149.6669 108.207251 L -5.66899 108.207251 Z M -5.66899 -59.022917 " transform="matrix(0.995424,0,0,-0.995424,21.010234,108.704231)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-1" x="110.103626" y="11.12983"/>
|
||||
<use xlink:href="#glyph0-2" x="115.613514" y="11.12983"/>
|
||||
<use xlink:href="#glyph0-3" x="121.123403" y="11.12983"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-4" x="126.910968" y="11.12983"/>
|
||||
<use xlink:href="#glyph0-5" x="131.319078" y="11.12983"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-1" x="138.505932" y="11.12983"/>
|
||||
<use xlink:href="#glyph0-4" x="144.015821" y="11.12983"/>
|
||||
<use xlink:href="#glyph0-6" x="148.42393" y="11.12983"/>
|
||||
<use xlink:href="#glyph0-7" x="153.933819" y="11.12983"/>
|
||||
<use xlink:href="#glyph0-8" x="157.846078" y="11.12983"/>
|
||||
<use xlink:href="#glyph0-5" x="162.804581" y="11.12983"/>
|
||||
</g>
|
||||
<path style="fill-rule:nonzero;fill:rgb(79.998779%,79.998779%,79.998779%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-dasharray:2.98883,2.98883;stroke-miterlimit:10;" d="M 5.66805 28.067054 L 79.651163 28.067054 L 79.651163 102.536769 L 5.66805 102.536769 Z M 5.66805 28.067054 " transform="matrix(0.995424,0,0,-0.995424,21.010234,108.704231)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-1" x="29.958096" y="16.773882"/>
|
||||
<use xlink:href="#glyph0-4" x="35.467984" y="16.773882"/>
|
||||
<use xlink:href="#glyph0-6" x="39.876094" y="16.773882"/>
|
||||
<use xlink:href="#glyph0-7" x="45.385983" y="16.773882"/>
|
||||
<use xlink:href="#glyph0-8" x="49.298242" y="16.773882"/>
|
||||
<use xlink:href="#glyph0-5" x="54.256745" y="16.773882"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-9" x="61.443599" y="16.773882"/>
|
||||
</g>
|
||||
<path style="fill-rule:nonzero;fill:rgb(79.998779%,79.998779%,79.998779%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-dasharray:2.98883,2.98883;stroke-miterlimit:10;" d="M 5.66805 -53.352435 L 79.651163 -53.352435 L 79.651163 21.121204 L 5.66805 21.121204 Z M 5.66805 -53.352435 " transform="matrix(0.995424,0,0,-0.995424,21.010234,108.704231)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-1" x="29.958096" y="97.817284"/>
|
||||
<use xlink:href="#glyph0-4" x="35.467984" y="97.817284"/>
|
||||
<use xlink:href="#glyph0-6" x="39.876094" y="97.817284"/>
|
||||
<use xlink:href="#glyph0-7" x="45.385983" y="97.817284"/>
|
||||
<use xlink:href="#glyph0-8" x="49.298242" y="97.817284"/>
|
||||
<use xlink:href="#glyph0-5" x="54.256745" y="97.817284"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-10" x="61.443599" y="97.817284"/>
|
||||
</g>
|
||||
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 22.992188 108.703125 C 22.992188 107.609375 22.105469 106.722656 21.011719 106.722656 C 19.914062 106.722656 19.027344 107.609375 19.027344 108.703125 C 19.027344 109.800781 19.914062 110.6875 21.011719 110.6875 C 22.105469 110.6875 22.992188 109.800781 22.992188 108.703125 Z M 22.992188 108.703125 "/>
|
||||
<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 64.692078 40.706931 C 64.692078 44.560505 61.568407 47.684175 57.718758 47.684175 C 53.865185 47.684175 50.741515 44.560505 50.741515 40.706931 C 50.741515 36.857282 53.865185 33.733612 57.718758 33.733612 C 61.568407 33.733612 64.692078 36.857282 64.692078 40.706931 Z M 64.692078 40.706931 " transform="matrix(0.995424,0,0,-0.995424,21.010234,108.704231)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-1" x="74.143951" y="71.085185"/>
|
||||
</g>
|
||||
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;" d="M 85.40625 149.226562 C 85.40625 145.390625 82.296875 142.285156 78.464844 142.285156 C 74.628906 142.285156 71.519531 145.390625 71.519531 149.226562 C 71.519531 153.058594 74.628906 156.167969 78.464844 156.167969 C 82.296875 156.167969 85.40625 153.058594 85.40625 149.226562 Z M 85.40625 149.226562 "/>
|
||||
<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 64.692078 -40.708633 C 64.692078 -36.85506 61.568407 -33.735314 57.718758 -33.735314 C 53.865185 -33.735314 50.741515 -36.85506 50.741515 -40.708633 C 50.741515 -44.558282 53.865185 -47.681953 57.718758 -47.681953 C 61.568407 -47.681953 64.692078 -44.558282 64.692078 -40.708633 Z M 64.692078 -40.708633 " transform="matrix(0.995424,0,0,-0.995424,21.010234,108.704231)"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-1" x="74.143951" y="152.128587"/>
|
||||
</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 41.951287 62.352868 L 73.482306 62.352868 L 73.482306 79.36039 L 41.951287 79.36039 Z M 41.951287 62.352868 " transform="matrix(0.995424,0,0,-0.995424,21.010234,108.704231)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-1" x="66.072061" y="40.650111"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph3-1" x="74.040427" y="42.138269"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-11" x="78.488974" y="40.650111"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-2" x="82.346241" y="40.650111"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-12" x="86.994868" y="40.650111"/>
|
||||
</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 41.951287 -19.062696 L 73.482306 -19.062696 L 73.482306 -2.055174 L 41.951287 -2.055174 Z M 41.951287 -19.062696 " transform="matrix(0.995424,0,0,-0.995424,21.010234,108.704231)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-1" x="66.072061" y="121.693513"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph3-2" x="74.040427" y="123.181671"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-11" x="78.488974" y="121.693513"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-2" x="82.346241" y="121.693513"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-12" x="86.994868" y="121.693513"/>
|
||||
</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 99.205496 32.20317 L 131.015135 32.20317 L 131.015135 49.210692 L 99.205496 49.210692 Z M 99.205496 32.20317 " transform="matrix(0.995424,0,0,-0.995424,21.010234,108.704231)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-3" x="123.065035" y="70.661135"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph3-1" x="131.308138" y="72.149293"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-11" x="135.756685" y="70.661135"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-2" x="139.613952" y="70.661135"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-12" x="144.26258" y="70.661135"/>
|
||||
</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 99.205496 -49.212394 L 131.015135 -49.212394 L 131.015135 -32.204872 L 99.205496 -32.204872 Z M 99.205496 -49.212394 " transform="matrix(0.995424,0,0,-0.995424,21.010234,108.704231)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-3" x="123.065035" y="151.704537"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph3-2" x="131.308138" y="153.192695"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-11" x="135.756685" y="151.704537"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-2" x="139.613952" y="151.704537"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-12" x="144.26258" y="151.704537"/>
|
||||
</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 144.000342 0.00111119 C 144.000342 3.85076 140.876672 6.974431 137.027023 6.974431 C 133.17345 6.974431 130.049779 3.85076 130.049779 0.00111119 C 130.049779 -3.852462 133.17345 -6.972208 137.027023 -6.972208 C 140.876672 -6.972208 144.000342 -3.852462 144.000342 0.00111119 Z M 144.000342 0.00111119 " transform="matrix(0.995424,0,0,-0.995424,21.010234,108.704231)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph1-1" x="153.089" y="111.606886"/>
|
||||
</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 -19.843233 0.00111119 L 0.00149204 0.00111119 " transform="matrix(0.995424,0,0,-0.995424,21.010234,108.704231)"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-4" x="5.059567" y="104.902709"/>
|
||||
</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 0.00149204 0.00111119 L 0.00149204 40.706931 L 46.110948 40.706931 " transform="matrix(0.995424,0,0,-0.995424,21.010234,108.704231)"/>
|
||||
<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 6.054045 -0.00159857 L 1.607916 1.681887 L 3.087343 -0.00159857 L 1.607916 -1.68116 Z M 6.054045 -0.00159857 " transform="matrix(0.995424,0,0,-0.995424,64.083036,68.182002)"/>
|
||||
<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 0.00149204 0.00111119 L 0.00149204 -40.708633 L 46.110948 -40.708633 " transform="matrix(0.995424,0,0,-0.995424,21.010234,108.704231)"/>
|
||||
<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 6.054045 -0.0000732569 L 1.607916 1.683412 L 3.087343 -0.0000732569 L 1.607916 -1.683559 Z M 6.054045 -0.0000732569 " transform="matrix(0.995424,0,0,-0.995424,64.083036,149.22649)"/>
|
||||
<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 64.692078 40.706931 L 94.072631 40.706931 " transform="matrix(0.995424,0,0,-0.995424,21.010234,108.704231)"/>
|
||||
<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 6.051848 -0.00159857 L 1.609643 1.681887 L 3.08907 -0.00159857 L 1.609643 -1.68116 Z M 6.051848 -0.00159857 " transform="matrix(0.995424,0,0,-0.995424,111.827411,68.182002)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-13" x="105.975604" y="62.893845"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-4" x="105.345501" y="62.893845"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph3-1" x="111.013443" y="64.381008"/>
|
||||
</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 64.692078 -40.708633 L 94.072631 -40.708633 " transform="matrix(0.995424,0,0,-0.995424,21.010234,108.704231)"/>
|
||||
<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 6.051848 -0.0000732569 L 1.609643 1.683412 L 3.08907 -0.0000732569 L 1.609643 -1.683559 Z M 6.051848 -0.0000732569 " transform="matrix(0.995424,0,0,-0.995424,111.827411,149.22649)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-13" x="105.975604" y="143.937247"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-4" x="105.345501" y="143.937247"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph3-2" x="111.013443" y="145.42441"/>
|
||||
</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 57.718758 99.70349 L 57.718758 84.493256 " transform="matrix(0.995424,0,0,-0.995424,21.010234,108.704231)"/>
|
||||
<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 6.053111 0.00195841 L 1.606983 1.68152 L 3.086409 0.00195841 L 1.606983 -1.681527 Z M 6.053111 0.00195841 " transform="matrix(0,0.995424,0.995424,0,78.462894,21.771465)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-14" x="82.760337" y="19.504329"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-5" x="82.262625" y="19.504329"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph3-1" x="88.215258" y="20.992487"/>
|
||||
</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 57.718758 18.284001 L 57.718758 3.077691 " transform="matrix(0.995424,0,0,-0.995424,21.010234,108.704231)"/>
|
||||
<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 6.051566 0.00195841 L 1.609362 1.68152 L 3.088788 0.00195841 L 1.609362 -1.681527 Z M 6.051566 0.00195841 " transform="matrix(0,0.995424,0.995424,0,78.462894,102.815972)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-14" x="82.760337" y="100.547731"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-5" x="82.262625" y="100.547731"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph3-2" x="88.215258" y="102.035889"/>
|
||||
</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 57.718758 61.854494 L 57.718758 52.314742 " transform="matrix(0.995424,0,0,-0.995424,21.010234,108.704231)"/>
|
||||
<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 6.053715 0.00195841 L 1.607587 1.68152 L 3.087013 0.00195841 L 1.607587 -1.681527 Z M 6.053715 0.00195841 " transform="matrix(0,0.995424,0.995424,0,78.462894,53.802114)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-5" x="82.262625" y="55.951761"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph3-1" x="88.215258" y="57.438924"/>
|
||||
</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 57.718758 -19.561071 L 57.718758 -29.100823 " transform="matrix(0.995424,0,0,-0.995424,21.010234,108.704231)"/>
|
||||
<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 6.05218 0.00195841 L 1.609976 1.68152 L 3.089402 0.00195841 L 1.609976 -1.681527 Z M 6.05218 0.00195841 " transform="matrix(0,0.995424,0.995424,0,78.462894,134.846611)"/>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-5" x="82.262625" y="136.995163"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph3-2" x="88.215258" y="138.482326"/>
|
||||
</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 131.513509 40.706931 L 137.027023 40.706931 L 137.027023 11.608921 " transform="matrix(0.995424,0,0,-0.995424,21.010234,108.704231)"/>
|
||||
<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 6.05491 0.00182285 L 1.608781 1.681384 L 3.088208 0.00182285 L 1.608781 -1.681663 Z M 6.05491 0.00182285 " transform="matrix(0,0.995424,0.995424,0,157.408342,94.324363)"/>
|
||||
<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 131.513509 -40.708633 L 137.027023 -40.708633 L 137.027023 -11.606699 " transform="matrix(0.995424,0,0,-0.995424,21.010234,108.704231)"/>
|
||||
<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 6.053198 -0.00182285 L 1.607069 1.681663 L 3.086496 -0.00182285 L 1.607069 -1.681384 Z M 6.053198 -0.00182285 " transform="matrix(0,-0.995424,-0.995424,0,157.408342,123.08409)"/>
|
||||
<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 144.000342 0.00111119 L 159.206652 0.00111119 " transform="matrix(0.995424,0,0,-0.995424,21.010234,108.704231)"/>
|
||||
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 182.691406 108.703125 L 178.265625 107.027344 L 179.738281 108.703125 L 178.265625 110.378906 Z M 182.691406 108.703125 "/>
|
||||
<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 6.054784 0.00111119 L 1.608655 1.684597 L 3.088082 0.00111119 L 1.608655 -1.682374 Z M 6.054784 0.00111119 " transform="matrix(0.995424,0,0,-0.995424,176.664332,108.704231)"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph0-13" x="175.261064" y="104.902709"/>
|
||||
</g>
|
||||
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
|
||||
<use xlink:href="#glyph2-4" x="174.630961" y="104.902709"/>
|
||||
</g>
|
||||
</g>
|
||||
</svg>
|
||||
|
After Width: | Height: | Size: 41 KiB |
153
tikz/index.org
153
tikz/index.org
@ -108,7 +108,7 @@ Configuration file is accessible [[file:config.org][here]].
|
||||
#+begin_src latex :file h_infinity_optimal_comp_filters.pdf :tangle figs/h_infinity_optimal_comp_filters.tex
|
||||
<<tikz_default>>
|
||||
\begin{tikzpicture}
|
||||
\node[block={5.0cm}{3.0cm}, dashed] (P) {};
|
||||
\node[block={5.0cm}{3.0cm}, fill=black!20!white, dashed] (P) {};
|
||||
\node[above] at (P.north) {$P$};
|
||||
|
||||
\coordinate[] (inputn1) at ($(P.south west)!0.8!(P.north west) + (-\cdist, 0)$);
|
||||
@ -118,18 +118,18 @@ Configuration file is accessible [[file:config.org][here]].
|
||||
\coordinate[] (outputx) at ($(P.south east)!0.5!(P.north east) + ( \cdist, 0)$);
|
||||
\coordinate[] (outputv) at ($(P.south east)!0.1!(P.north east) + ( \cdist, 0)$);
|
||||
|
||||
\node[block, right=1.5 of inputn1] (W1){$W_1$};
|
||||
\node[block, right=1.5 of inputn2] (W2){$W_2$};
|
||||
\node[addb={+}{}{}{}{-}, right=of W1] (sub) {};
|
||||
\node[addb, right=2 of W2] (add) {};
|
||||
\node[block, right=1.5 of inputn1] (N1){$N_1$};
|
||||
\node[block, right=1.5 of inputn2] (N2){$N_2$};
|
||||
\node[addb={+}{}{}{}{-}, right=of N1] (sub) {};
|
||||
\node[addb, right=2 of N2] (add) {};
|
||||
|
||||
\node[block, below=of P] (H1) {$H_1$};
|
||||
|
||||
\draw[->] (inputn1)node[above right]{$n_1$} -- (W1.west);
|
||||
\draw[->] (inputn2)node[above right]{$n_2$} -- (W2.west);
|
||||
\draw[->] (W1) -- (sub.west);
|
||||
\draw[->] (W2) -| (sub.south);
|
||||
\draw[->] (W2-|sub.south) node[branch]{} -- (add.west);
|
||||
\draw[->] (inputn1)node[above right]{$\tilde{n}_1$} -- (N1.west);
|
||||
\draw[->] (inputn2)node[above right]{$\tilde{n}_2$} -- (N2.west);
|
||||
\draw[->] (N1) -- (sub.west);
|
||||
\draw[->] (N2) -| (sub.south);
|
||||
\draw[->] (N2-|sub.south) node[branch]{} -- (add.west);
|
||||
\draw[->] (sub.east) -- ++(0.5, 0) |- ($(outputv) + (-0.3, 0)$) |- (H1.east);
|
||||
\draw[->] (H1.west) -| ($(inputu) + (0.3, 0)$) -| (add.south);
|
||||
\draw[->] (add.east) -- (outputx) node[above left]{$\hat{x}$};
|
||||
@ -142,28 +142,40 @@ Configuration file is accessible [[file:config.org][here]].
|
||||
[[file:figs/h_infinity_optimal_comp_filters.png]]
|
||||
* Fusion of two noisy sensors
|
||||
#+begin_src latex :file fusion_two_noisy_sensors.pdf :tangle figs/fusion_two_noisy_sensors.tex
|
||||
<<tikz_default>>
|
||||
|
||||
\begin{tikzpicture}
|
||||
\node[branch] (x) at (0, 0);
|
||||
\node[addb, above right=1.5 and 1 of x](add1){};
|
||||
\node[addb, below right=1.5 and 1 of x](add2){};
|
||||
\node[block, above=0.5 of add1](W1){$W_1$};
|
||||
\node[block, above=0.5 of add2](W2){$W_2$};
|
||||
\node[block, right=1 of add1](H1){$H_1$};
|
||||
\node[block, right=1 of add2](H2){$H_2$};
|
||||
\node[addb, right=4 of x](add){};
|
||||
\node[block, above right=0.5 and 0.5 of x](G1){$G_1(s)$};
|
||||
\node[block, below right=0.5 and 0.5 of x](G2){$G_2(s)$};
|
||||
\node[addb, right=0.8 of G1](add1){};
|
||||
\node[addb, right=0.8 of G2](add2){};
|
||||
\node[block, right=0.8 of add1](H1){$H_1(s)$};
|
||||
\node[block, right=0.8 of add2](H2){$H_2(s)$};
|
||||
\node[addb, right=5 of x](add){};
|
||||
|
||||
\draw[] ($(x)+(-1, 0)$) node[above right]{$x$} -- (x);
|
||||
\draw[->] (x) |- (add1.west);
|
||||
\draw[->] (x) |- (add2.west);
|
||||
\draw[->] (W1.south) -- (add1.north);
|
||||
\draw[->] (W2.south) -- (add2.north);
|
||||
\draw[<-] (W1.north) -- ++(0, 0.8)node[below right]{$n_1$};
|
||||
\draw[<-] (W2.north) -- ++(0, 0.8)node[below right]{$n_2$};
|
||||
\draw[] ($(x)+(-0.7, 0)$) node[above right]{$x$} -- (x.center);
|
||||
\draw[->] (x.center) |- (G1.west);
|
||||
\draw[->] (x.center) |- (G2.west);
|
||||
\draw[->] (G1.east) -- (add1.west);
|
||||
\draw[->] (G2.east) -- (add2.west);
|
||||
\draw[<-] (add1.north) -- ++(0, 0.8)node[below right](n1){$n_1$};
|
||||
\draw[<-] (add2.north) -- ++(0, 0.8)node[below right](n2){$n_2$};
|
||||
\draw[->] (add1.east) -- (H1.west);
|
||||
\draw[->] (add2.east) -- (H2.west);
|
||||
\draw[->] (H1) -| (add.north);
|
||||
\draw[->] (H2) -| (add.south);
|
||||
\draw[->] (add.east) -- ++(1, 0) node[above left]{$\hat{x}$};
|
||||
\draw[->] (add.east) -- ++(0.7, 0) node[above left]{$\hat{x}$};
|
||||
|
||||
\begin{scope}[on background layer]
|
||||
\node[fit={($(G2.south-|x)+(-0.2, -0.3)$) ($(n1.north east-|add.east)+(0.2, 0.3)$)}, fill=black!10!white, draw, dashed, inner sep=0pt] (supersensor) {};
|
||||
\node[below left] at (supersensor.north east) {Super Sensor};
|
||||
|
||||
\node[fit={($(G1.south west)+(-0.3, -0.1)$) ($(n1.north east)+(0.0, 0.1)$)}, fill=black!20!white, draw, dashed, inner sep=0pt] (sensor1) {};
|
||||
\node[below right] at (sensor1.north west) {Sensor 1};
|
||||
\node[fit={($(G2.south west)+(-0.3, -0.1)$) ($(n2.north east)+(0.0, 0.1)$)}, fill=black!20!white, draw, dashed, inner sep=0pt] (sensor2) {};
|
||||
\node[below right] at (sensor2.north west) {Sensor 2};
|
||||
\end{scope}
|
||||
\end{tikzpicture}
|
||||
#+end_src
|
||||
|
||||
@ -171,6 +183,97 @@ Configuration file is accessible [[file:config.org][here]].
|
||||
#+caption: Fusion of two noisy sensors ([[./figs/fusion_two_noisy_sensors.png][png]], [[./figs/fusion_two_noisy_sensors.pdf][pdf]], [[./figs/fusion_two_noisy_sensors.tex][tex]]).
|
||||
#+RESULTS:
|
||||
[[file:figs/fusion_two_noisy_sensors.png]]
|
||||
|
||||
* Fusion of two noisy sensors with perfect dynamics
|
||||
#+begin_src latex :file sensor_fusion_noisy_perfect_dyn.pdf :tangle figs/sensor_fusion_noisy_perfect_dyn.tex
|
||||
<<tikz_default>>
|
||||
\begin{tikzpicture}
|
||||
\node[branch] (x) at (0, 0);
|
||||
\node[addb, above right=1.2 and 1.8 of x](addn1){};
|
||||
\node[addb, below right=1.2 and 1.8 of x](addn2){};
|
||||
\node[block, above=0.5 of addn1](N1) {$N_1(s)$};
|
||||
\node[block, above=0.5 of addn2](N2) {$N_2(s)$};
|
||||
\node[block, right=1.2 of addn1](H1){$H_1(s)$};
|
||||
\node[block, right=1.2 of addn2](H2){$H_2(s)$};
|
||||
\node[addb, right=4.5 of x](add){};
|
||||
|
||||
\draw[] ($(x)+(-0.7, 0)$) node[above right]{$x$} -- (x.center);
|
||||
\draw[->] (x.center) |- (addn1.west);
|
||||
\draw[->] (x.center) |- (addn2.west);
|
||||
\draw[->] (addn1.east) -- (H1.west)node[above left]{$\hat{x}_1$};
|
||||
\draw[->] (addn2.east) -- (H2.west)node[above left]{$\hat{x}_2$};
|
||||
\draw[->] ($(N1.north)+(0,0.7)$) node[below right](n1){$\tilde{n}_1$} -- (N1.north);
|
||||
\draw[->] ($(N2.north)+(0,0.7)$) node[below right](n2){$\tilde{n}_2$} -- (N2.north);
|
||||
\draw[->] (N1.south) -- (addn1.north)node[above right]{$n_1$};
|
||||
\draw[->] (N2.south) -- (addn2.north)node[above right]{$n_2$};
|
||||
\draw[->] (H1.east) -| (add.north);
|
||||
\draw[->] (H2.east) -| (add.south);
|
||||
\draw[->] (add.east) -- ++(0.7, 0) node[above left]{$\hat{x}$};
|
||||
|
||||
\begin{scope}[on background layer]
|
||||
\node[fit={($(addn2.south-|x)+(-0.2, -0.4)$) ($(n1.north-|add.east)+(0.2, 0.3)$)}, fill=black!10!white, draw, dashed, inner sep=0pt] (supersensor) {};
|
||||
\node[below left] at (supersensor.north east) {Super Sensor};
|
||||
\node[block, fit={($(x|-addn1.south)+(0.2, -0.2)$) ($(n1.north-|N1.east)+(0.2, 0.1)$)}, fill=black!20!white, dashed, inner sep=0pt] (sensor1) {};
|
||||
\node[below right] at (sensor1.north west) {Sensor 1};
|
||||
\node[block, fit={($(x|-addn2.south)+(0.2, -0.2)$) ($(n2.north-|N2.east)+(0.2, 0.1)$)}, fill=black!20!white, dashed, inner sep=0pt] (sensor2) {};
|
||||
\node[below right] at (sensor2.north west) {Sensor 2};
|
||||
\end{scope}
|
||||
\end{tikzpicture}
|
||||
#+end_src
|
||||
|
||||
#+name: fig:sensor_fusion_noisy_perfect_dyn
|
||||
#+caption: Sensor fusion architecture with sensor dynamics uncertainty ([[./figs/sensor_fusion_noisy_perfect_dyn.png][png]], [[./figs/sensor_fusion_noisy_perfect_dyn.pdf][pdf]], [[./figs/sensor_fusion_noisy_perfect_dyn.tex][tex]]).
|
||||
#+RESULTS:
|
||||
[[file:figs/sensor_fusion_noisy_perfect_dyn.png]]
|
||||
|
||||
* Fusion of two noisy sensors with sensors weights
|
||||
#+begin_src latex :file fusion_two_noisy_sensors_weights.pdf :tangle figs/fusion_two_noisy_sensors_weights.tex
|
||||
<<tikz_default>>
|
||||
|
||||
\begin{tikzpicture}
|
||||
\node[branch] (x) at (0, 0);
|
||||
\node[block, above right=1 and 0.5 of x](G1){$G_1(s)$};
|
||||
\node[block, below right=1 and 0.5 of x](G2){$G_2(s)$};
|
||||
\node[addb, right=0.8 of G1](add1){};
|
||||
\node[addb, right=0.8 of G2](add2){};
|
||||
\node[block, above=0.5 of add1](N1){$N_1(s)$};
|
||||
\node[block, above=0.5 of add2](N2){$N_2(s)$};
|
||||
\node[block, right=0.9 of add1](H1){$H_1(s)$};
|
||||
\node[block, right=0.9 of add2](H2){$H_2(s)$};
|
||||
\node[addb, right=5 of x](add){};
|
||||
|
||||
\draw[] ($(x)+(-0.7, 0)$) node[above right]{$x$} -- (x.center);
|
||||
\draw[->] (x.center) |- (G1.west);
|
||||
\draw[->] (x.center) |- (G2.west);
|
||||
\draw[->] (G1.east) -- (add1.west);
|
||||
\draw[->] (G2.east) -- (add2.west);
|
||||
\draw[<-] (N1.north) -- ++(0, 0.6)node[below right](n1){$\tilde{n}_1$};
|
||||
\draw[<-] (N2.north) -- ++(0, 0.6)node[below right](n2){$\tilde{n}_2$};
|
||||
\draw[->] (N1.south) -- (add1.north)node[above right]{$n_1$};
|
||||
\draw[->] (N2.south) -- (add2.north)node[above right]{$n_2$};
|
||||
\draw[->] (add1.east) -- (H1.west);
|
||||
\draw[->] (add2.east) -- (H2.west);
|
||||
\draw[->] (H1) -| (add.north);
|
||||
\draw[->] (H2) -| (add.south);
|
||||
\draw[->] (add.east) -- ++(0.7, 0) node[above left]{$\hat{x}$};
|
||||
|
||||
\begin{scope}[on background layer]
|
||||
\node[fit={($(G2.south-|x)+(-0.2, -0.3)$) ($(n1.north east-|add.east)+(0.2, 0.3)$)}, fill=black!10!white, draw, dashed, inner sep=0pt] (supersensor) {};
|
||||
\node[below left] at (supersensor.north east) {Super Sensor};
|
||||
|
||||
\node[fit={($(G1.south west)+(-0.3, -0.1)$) ($(n1.north-|N1.east)+(0.2, 0.1)$)}, fill=black!20!white, draw, dashed, inner sep=0pt] (sensor1) {};
|
||||
\node[below right] at (sensor1.north west) {Sensor 1};
|
||||
\node[fit={($(G2.south west)+(-0.3, -0.1)$) ($(n2.north-|N1.east)+(0.2, 0.1)$)}, fill=black!20!white, draw, dashed, inner sep=0pt] (sensor2) {};
|
||||
\node[below right] at (sensor2.north west) {Sensor 2};
|
||||
\end{scope}
|
||||
\end{tikzpicture}
|
||||
#+end_src
|
||||
|
||||
#+name: fig:fusion_two_noisy_sensors_weights
|
||||
#+caption: Fusion of two noisy sensors ([[./figs/fusion_two_noisy_sensors_weights.png][png]], [[./figs/fusion_two_noisy_sensors_weights.pdf][pdf]], [[./figs/fusion_two_noisy_sensors_weights.tex][tex]]).
|
||||
#+RESULTS:
|
||||
[[file:figs/fusion_two_noisy_sensors_weights.png]]
|
||||
|
||||
* Fusion of two noisy signals
|
||||
#+begin_src latex :file fusion_two_signals.pdf :tangle figs/fusion_two_signals.tex
|
||||
\begin{tikzpicture}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user