tdehaeze/dehaeze20_optim_robus_compl_filte
1
0
Fork 0
Code Issues Pull Requests Releases Activity

Continue analysis about mixed H2/Hinf synthesis

Browse Source
This commit is contained in:
Thomas Dehaeze 2019-08-30 14:39:01 +02:00
parent 34a68a0e36
commit c95830ea3d
25 changed files with 1857 additions and 1102 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

BIN
matlab/figs/comp_filters_mixed_synthesis.pdf Normal file
View File

Binary file not shown.

BIN
matlab/figs/comp_filters_mixed_synthesis.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 122 KiB

BIN
matlab/figs/cps_sensors_hinf_synthesis.pdf Normal file
View File

Binary file not shown.

BIN
matlab/figs/cps_sensors_hinf_synthesis.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 124 KiB

BIN
matlab/figs/cps_super_sensor_mixed_syn.pdf Normal file
View File

Binary file not shown.

BIN
matlab/figs/cps_super_sensor_mixed_syn.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 124 KiB

BIN
matlab/figs/psd_sensors_hinf_synthesis.pdf Normal file
View File

Binary file not shown.

BIN
matlab/figs/psd_sensors_hinf_synthesis.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 168 KiB

BIN
matlab/figs/psd_super_sensor_mixed_syn.pdf Normal file
View File

Binary file not shown.

BIN
matlab/figs/psd_super_sensor_mixed_syn.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 169 KiB

BIN
matlab/figs/super_sensor_dyn_uncertainty_mixed_syn.pdf Normal file
View File

Binary file not shown.

BIN
matlab/figs/super_sensor_dyn_uncertainty_mixed_syn.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 145 KiB

BIN
matlab/figs/super_sensor_uncertainty_bode_plot.pdf
View File

Binary file not shown.

BIN
matlab/figs/super_sensor_uncertainty_bode_plot.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 136 KiB

After

Width:  |  Height:  |  Size: 146 KiB

BIN
matlab/figs/uncertainty_super_sensor_H2_syn.pdf Normal file
View File

Binary file not shown.

BIN
matlab/figs/uncertainty_super_sensor_H2_syn.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 175 KiB

1146
matlab/index.html
View File

File diff suppressed because it is too large Load Diff

1290
matlab/index.org
View File

File diff suppressed because it is too large Load Diff

BIN
tikz/figs/h_infinity_optimal_comp_filters_bis.pdf Normal file
View File

Binary file not shown.

BIN
tikz/figs/h_infinity_optimal_comp_filters_bis.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 14 KiB

195
tikz/figs/h_infinity_optimal_comp_filters_bis.svg Normal file
View File

@ -0,0 +1,195 @@
<?xml version="1.0" encoding="UTF-8"?>
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="156.063pt" height="116.473pt" viewBox="0 0 156.063 116.473" version="1.2">
<defs>
<g>
<symbol overflow="visible" id="glyph0-0">
<path style="stroke:none;" d=""/>
</symbol>
<symbol overflow="visible" id="glyph0-1">
<path style="stroke:none;" d="M 7.46875 -5.265625 C 7.46875 -6.03125 6.8125 -6.765625 5.515625 -6.765625 L 2.3125 -6.765625 C 2.125 -6.765625 2.015625 -6.765625 2.015625 -6.578125 C 2.015625 -6.453125 2.09375 -6.453125 2.296875 -6.453125 C 2.421875 -6.453125 2.609375 -6.453125 2.71875 -6.4375 C 2.875 -6.421875 2.9375 -6.390625 2.9375 -6.28125 C 2.9375 -6.234375 2.9375 -6.21875 2.90625 -6.09375 L 1.578125 -0.765625 C 1.46875 -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 1.796875 -0.03125 L 2.4375 -0.015625 C 2.65625 -0.015625 2.875 0 3.078125 0 C 3.15625 0 3.28125 0 3.28125 -0.203125 C 3.28125 -0.3125 3.1875 -0.3125 3 -0.3125 C 2.640625 -0.3125 2.359375 -0.3125 2.359375 -0.484375 C 2.359375 -0.546875 2.375 -0.59375 2.390625 -0.65625 L 3 -3.125 L 4.6875 -3.125 C 6.09375 -3.125 7.46875 -4.15625 7.46875 -5.265625 Z M 6.546875 -5.515625 C 6.546875 -5.125 6.34375 -4.265625 5.96875 -3.90625 C 5.46875 -3.46875 4.875 -3.390625 4.4375 -3.390625 L 3.046875 -3.390625 L 3.71875 -6.078125 C 3.796875 -6.421875 3.828125 -6.453125 4.25 -6.453125 L 5.203125 -6.453125 C 6.015625 -6.453125 6.546875 -6.1875 6.546875 -5.515625 Z M 6.546875 -5.515625 "/>
</symbol>
<symbol overflow="visible" id="glyph0-2">
<path style="stroke:none;" d="M 3.921875 -1.53125 C 3.921875 -1.890625 3.734375 -2.140625 3.609375 -2.265625 C 3.34375 -2.53125 3.0625 -2.578125 2.625 -2.671875 C 2.265625 -2.75 1.875 -2.828125 1.875 -3.265625 C 1.875 -3.5625 2.109375 -4.15625 2.984375 -4.15625 C 3.234375 -4.15625 3.71875 -4.09375 3.875 -3.703125 C 3.59375 -3.6875 3.390625 -3.484375 3.390625 -3.265625 C 3.390625 -3.125 3.484375 -2.96875 3.703125 -2.96875 C 3.921875 -2.96875 4.15625 -3.140625 4.15625 -3.53125 C 4.15625 -3.96875 3.734375 -4.375 2.984375 -4.375 C 1.671875 -4.375 1.3125 -3.375 1.3125 -2.9375 C 1.3125 -2.15625 2.046875 -2.015625 2.328125 -1.953125 C 2.84375 -1.859375 3.359375 -1.75 3.359375 -1.203125 C 3.359375 -0.9375 3.125 -0.109375 1.9375 -0.109375 C 1.796875 -0.109375 1.046875 -0.109375 0.8125 -0.640625 C 1.1875 -0.578125 1.4375 -0.875 1.4375 -1.15625 C 1.4375 -1.390625 1.28125 -1.5 1.0625 -1.5 C 0.8125 -1.5 0.515625 -1.296875 0.515625 -0.859375 C 0.515625 -0.28125 1.078125 0.109375 1.9375 0.109375 C 3.53125 0.109375 3.921875 -1.09375 3.921875 -1.53125 Z M 3.921875 -1.53125 "/>
</symbol>
<symbol overflow="visible" id="glyph0-3">
<path style="stroke:none;" d="M 8.734375 -6.65625 C 8.734375 -6.65625 8.734375 -6.765625 8.59375 -6.765625 C 8.265625 -6.765625 7.921875 -6.734375 7.59375 -6.734375 C 7.265625 -6.734375 6.921875 -6.765625 6.59375 -6.765625 C 6.53125 -6.765625 6.40625 -6.765625 6.40625 -6.5625 C 6.40625 -6.453125 6.515625 -6.453125 6.59375 -6.453125 C 7.15625 -6.453125 7.265625 -6.234375 7.265625 -6.015625 C 7.265625 -6 7.234375 -5.84375 7.234375 -5.8125 L 6.125 -1.40625 L 3.9375 -6.578125 C 3.859375 -6.75 3.84375 -6.765625 3.609375 -6.765625 L 2.28125 -6.765625 C 2.09375 -6.765625 2 -6.765625 2 -6.5625 C 2 -6.453125 2.09375 -6.453125 2.28125 -6.453125 C 2.328125 -6.453125 2.953125 -6.453125 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 1.171875 -0.03125 1.5 -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 2.609375 -0.3125 2.5 -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 -6.203125 C 3.234375 -6.140625 3.234375 -6.125 3.28125 -6.015625 L 5.75 -0.1875 C 5.828125 -0.015625 5.859375 0 5.9375 0 C 6.046875 0 6.046875 -0.03125 6.109375 -0.203125 L 7.484375 -5.71875 C 7.59375 -6.125 7.765625 -6.421875 8.5625 -6.453125 C 8.609375 -6.453125 8.734375 -6.46875 8.734375 -6.65625 Z M 8.734375 -6.65625 "/>
</symbol>
<symbol overflow="visible" id="glyph0-4">
<path style="stroke:none;" d="M 7.109375 -0.203125 C 7.109375 -0.3125 7.03125 -0.3125 6.828125 -0.3125 C 6.46875 -0.3125 6.1875 -0.3125 6.1875 -0.484375 C 6.1875 -0.546875 6.21875 -0.59375 6.21875 -0.65625 L 7.5625 -6 C 7.640625 -6.359375 7.671875 -6.453125 8.390625 -6.453125 C 8.640625 -6.453125 8.734375 -6.453125 8.734375 -6.65625 C 8.734375 -6.765625 8.625 -6.765625 8.59375 -6.765625 L 7.328125 -6.734375 L 6.046875 -6.765625 C 5.96875 -6.765625 5.859375 -6.765625 5.859375 -6.5625 C 5.859375 -6.453125 5.9375 -6.453125 6.125 -6.453125 C 6.125 -6.453125 6.34375 -6.453125 6.515625 -6.4375 C 6.6875 -6.421875 6.78125 -6.40625 6.78125 -6.28125 C 6.78125 -6.234375 6.765625 -6.21875 6.734375 -6.09375 L 6.140625 -3.671875 L 3.125 -3.671875 L 3.703125 -6 C 3.796875 -6.359375 3.828125 -6.453125 4.53125 -6.453125 C 4.796875 -6.453125 4.875 -6.453125 4.875 -6.65625 C 4.875 -6.765625 4.765625 -6.765625 4.734375 -6.765625 L 3.46875 -6.734375 L 2.1875 -6.765625 C 2.109375 -6.765625 2 -6.765625 2 -6.5625 C 2 -6.453125 2.09375 -6.453125 2.28125 -6.453125 C 2.28125 -6.453125 2.484375 -6.453125 2.65625 -6.4375 C 2.828125 -6.421875 2.921875 -6.40625 2.921875 -6.28125 C 2.921875 -6.234375 2.90625 -6.21875 2.875 -6.09375 L 1.5625 -0.765625 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 2.609375 -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 6.0625 -3.375 L 5.375 -0.640625 C 5.28125 -0.3125 5.09375 -0.3125 4.484375 -0.3125 C 4.328125 -0.3125 4.234375 -0.3125 4.234375 -0.109375 C 4.234375 0 4.375 0 4.375 0 L 5.640625 -0.03125 L 6.265625 -0.015625 C 6.484375 -0.015625 6.703125 0 6.921875 0 C 7 0 7.109375 0 7.109375 -0.203125 Z M 7.109375 -0.203125 "/>
</symbol>
<symbol overflow="visible" id="glyph0-5">
<path style="stroke:none;" d="M 6.84375 -3.6875 C 6.84375 -4.234375 6.578125 -4.375 6.40625 -4.375 C 6.15625 -4.375 5.90625 -4.125 5.90625 -3.90625 C 5.90625 -3.78125 5.96875 -3.71875 6.0625 -3.640625 C 6.171875 -3.53125 6.421875 -3.265625 6.421875 -2.796875 C 6.421875 -2.453125 6.125 -1.484375 5.875 -0.984375 C 5.609375 -0.453125 5.265625 -0.109375 4.78125 -0.109375 C 4.3125 -0.109375 4.046875 -0.40625 4.046875 -0.96875 C 4.046875 -1.25 4.125 -1.5625 4.15625 -1.6875 L 4.578125 -3.359375 C 4.625 -3.578125 4.71875 -3.9375 4.71875 -4 C 4.71875 -4.1875 4.59375 -4.265625 4.4375 -4.265625 C 4.3125 -4.265625 4.140625 -4.1875 4.078125 -4 C 4.046875 -3.921875 3.578125 -2.03125 3.5 -1.765625 C 3.4375 -1.46875 3.421875 -1.296875 3.421875 -1.125 C 3.421875 -1.015625 3.421875 -0.984375 3.421875 -0.9375 C 3.203125 -0.421875 2.90625 -0.109375 2.515625 -0.109375 C 1.71875 -0.109375 1.71875 -0.84375 1.71875 -1.015625 C 1.71875 -1.328125 1.765625 -1.71875 2.234375 -2.9375 C 2.34375 -3.234375 2.40625 -3.375 2.40625 -3.5625 C 2.40625 -4.015625 2.078125 -4.375 1.59375 -4.375 C 0.65625 -4.375 0.28125 -2.9375 0.28125 -2.859375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.78125 0.5625 -2.9375 C 0.828125 -3.859375 1.21875 -4.15625 1.5625 -4.15625 C 1.65625 -4.15625 1.8125 -4.15625 1.8125 -3.828125 C 1.8125 -3.59375 1.703125 -3.3125 1.640625 -3.140625 C 1.203125 -1.96875 1.078125 -1.515625 1.078125 -1.140625 C 1.078125 -0.234375 1.75 0.109375 2.484375 0.109375 C 2.65625 0.109375 3.125 0.109375 3.515625 -0.578125 C 3.78125 0.046875 4.453125 0.109375 4.75 0.109375 C 5.5 0.109375 5.9375 -0.515625 6.1875 -1.109375 C 6.53125 -1.875 6.84375 -3.203125 6.84375 -3.6875 Z M 6.84375 -3.6875 "/>
</symbol>
<symbol overflow="visible" id="glyph0-6">
<path style="stroke:none;" d="M 5.375 -1.421875 C 5.375 -1.515625 5.296875 -1.515625 5.265625 -1.515625 C 5.15625 -1.515625 5.15625 -1.46875 5.125 -1.34375 C 4.984375 -0.78125 4.796875 -0.109375 4.375 -0.109375 C 4.171875 -0.109375 4.078125 -0.234375 4.078125 -0.5625 C 4.078125 -0.78125 4.1875 -1.25 4.265625 -1.59375 L 4.546875 -2.671875 C 4.578125 -2.8125 4.671875 -3.1875 4.71875 -3.34375 C 4.765625 -3.5625 4.859375 -3.9375 4.859375 -4 C 4.859375 -4.1875 4.71875 -4.265625 4.578125 -4.265625 C 4.53125 -4.265625 4.265625 -4.265625 4.1875 -3.921875 L 3.453125 -0.9375 C 3.4375 -0.90625 3.046875 -0.109375 2.3125 -0.109375 C 1.796875 -0.109375 1.703125 -0.5625 1.703125 -0.921875 C 1.703125 -1.46875 1.984375 -2.265625 2.234375 -2.9375 C 2.359375 -3.234375 2.40625 -3.375 2.40625 -3.5625 C 2.40625 -4.015625 2.09375 -4.375 1.59375 -4.375 C 0.65625 -4.375 0.28125 -2.9375 0.28125 -2.859375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.78125 0.5625 -2.9375 C 0.8125 -3.796875 1.1875 -4.15625 1.5625 -4.15625 C 1.65625 -4.15625 1.8125 -4.15625 1.8125 -3.828125 C 1.8125 -3.59375 1.703125 -3.3125 1.640625 -3.15625 C 1.28125 -2.171875 1.0625 -1.5625 1.0625 -1.078125 C 1.0625 -0.140625 1.75 0.109375 2.28125 0.109375 C 2.9375 0.109375 3.296875 -0.34375 3.46875 -0.5625 C 3.578125 -0.15625 3.921875 0.109375 4.34375 0.109375 C 4.703125 0.109375 4.921875 -0.125 5.078125 -0.4375 C 5.25 -0.796875 5.375 -1.421875 5.375 -1.421875 Z M 5.375 -1.421875 "/>
</symbol>
<symbol overflow="visible" id="glyph0-7">
<path style="stroke:none;" d="M 4.640625 -3.6875 C 4.640625 -4.21875 4.375 -4.375 4.203125 -4.375 C 3.953125 -4.375 3.71875 -4.125 3.71875 -3.90625 C 3.71875 -3.78125 3.765625 -3.71875 3.875 -3.609375 C 4.078125 -3.40625 4.203125 -3.15625 4.203125 -2.796875 C 4.203125 -2.375 3.609375 -0.109375 2.453125 -0.109375 C 1.9375 -0.109375 1.71875 -0.453125 1.71875 -0.96875 C 1.71875 -1.53125 1.984375 -2.25 2.28125 -3.078125 C 2.359375 -3.234375 2.40625 -3.375 2.40625 -3.5625 C 2.40625 -4.015625 2.09375 -4.375 1.59375 -4.375 C 0.65625 -4.375 0.28125 -2.9375 0.28125 -2.859375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.78125 0.5625 -2.9375 C 0.859375 -3.9375 1.28125 -4.15625 1.5625 -4.15625 C 1.640625 -4.15625 1.8125 -4.15625 1.8125 -3.84375 C 1.8125 -3.59375 1.71875 -3.328125 1.640625 -3.15625 C 1.203125 -2 1.078125 -1.546875 1.078125 -1.125 C 1.078125 -0.046875 1.953125 0.109375 2.40625 0.109375 C 4.078125 0.109375 4.640625 -3.171875 4.640625 -3.6875 Z M 4.640625 -3.6875 "/>
</symbol>
<symbol overflow="visible" id="glyph0-8">
<path style="stroke:none;" d="M 4.3125 -1.421875 C 4.3125 -1.46875 4.265625 -1.515625 4.1875 -1.515625 C 4.09375 -1.515625 4.078125 -1.453125 4.046875 -1.390625 C 3.828125 -0.75 3.1875 -0.5625 2.859375 -0.5625 C 2.671875 -0.5625 2.484375 -0.609375 2.28125 -0.6875 C 1.9375 -0.8125 1.796875 -0.859375 1.578125 -0.859375 C 1.578125 -0.859375 1.40625 -0.859375 1.3125 -0.828125 C 1.859375 -1.390625 2.140625 -1.640625 2.5 -1.953125 C 2.5 -1.953125 3.109375 -2.484375 3.46875 -2.84375 C 4.40625 -3.765625 4.625 -4.234375 4.625 -4.28125 C 4.625 -4.375 4.515625 -4.375 4.515625 -4.375 C 4.453125 -4.375 4.421875 -4.359375 4.375 -4.265625 C 4.078125 -3.796875 3.859375 -3.640625 3.625 -3.640625 C 3.390625 -3.640625 3.265625 -3.78125 3.125 -3.953125 C 2.9375 -4.1875 2.765625 -4.375 2.4375 -4.375 C 1.6875 -4.375 1.234375 -3.453125 1.234375 -3.25 C 1.234375 -3.203125 1.265625 -3.140625 1.359375 -3.140625 C 1.453125 -3.140625 1.46875 -3.1875 1.484375 -3.25 C 1.671875 -3.703125 2.25 -3.71875 2.328125 -3.71875 C 2.53125 -3.71875 2.71875 -3.640625 2.953125 -3.5625 C 3.34375 -3.421875 3.453125 -3.421875 3.71875 -3.421875 C 3.359375 -2.984375 2.53125 -2.28125 2.34375 -2.125 L 1.453125 -1.28125 C 0.765625 -0.625 0.421875 -0.0625 0.421875 0.015625 C 0.421875 0.109375 0.546875 0.109375 0.546875 0.109375 C 0.625 0.109375 0.640625 0.09375 0.703125 -0.015625 C 0.9375 -0.359375 1.234375 -0.640625 1.546875 -0.640625 C 1.765625 -0.640625 1.875 -0.546875 2.125 -0.25 C 2.28125 -0.046875 2.46875 0.109375 2.75 0.109375 C 3.734375 0.109375 4.3125 -1.15625 4.3125 -1.421875 Z M 4.3125 -1.421875 "/>
</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 3.28125 2.375 C 3.28125 2.34375 3.28125 2.328125 3.109375 2.15625 C 1.875 0.90625 1.5625 -0.953125 1.5625 -2.484375 C 1.5625 -4.203125 1.9375 -5.921875 3.15625 -7.15625 C 3.28125 -7.28125 3.28125 -7.296875 3.28125 -7.328125 C 3.28125 -7.40625 3.234375 -7.4375 3.1875 -7.4375 C 3.078125 -7.4375 2.1875 -6.75 1.609375 -5.5 C 1.09375 -4.40625 0.984375 -3.3125 0.984375 -2.484375 C 0.984375 -1.703125 1.09375 -0.5 1.640625 0.609375 C 2.234375 1.828125 3.078125 2.484375 3.1875 2.484375 C 3.234375 2.484375 3.28125 2.453125 3.28125 2.375 Z M 3.28125 2.375 "/>
</symbol>
<symbol overflow="visible" id="glyph1-2">
<path style="stroke:none;" d="M 2.859375 -2.484375 C 2.859375 -3.25 2.75 -4.453125 2.203125 -5.5625 C 1.609375 -6.78125 0.765625 -7.4375 0.65625 -7.4375 C 0.609375 -7.4375 0.5625 -7.390625 0.5625 -7.328125 C 0.5625 -7.296875 0.5625 -7.28125 0.75 -7.109375 C 1.71875 -6.125 2.28125 -4.546875 2.28125 -2.484375 C 2.28125 -0.78125 1.921875 0.953125 0.6875 2.203125 C 0.5625 2.328125 0.5625 2.34375 0.5625 2.375 C 0.5625 2.4375 0.609375 2.484375 0.65625 2.484375 C 0.765625 2.484375 1.65625 1.796875 2.234375 0.546875 C 2.75 -0.546875 2.859375 -1.640625 2.859375 -2.484375 Z M 2.859375 -2.484375 "/>
</symbol>
<symbol overflow="visible" id="glyph2-0">
<path style="stroke:none;" d=""/>
</symbol>
<symbol overflow="visible" id="glyph2-1">
<path style="stroke:none;" d="M 3.28125 0 L 3.28125 -0.25 L 3.015625 -0.25 C 2.328125 -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 3.5 -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 8.0625 -2.984375 C 8.0625 -3.203125 7.875 -3.203125 7.6875 -3.203125 L 4.515625 -3.203125 L 4.515625 -6.375 C 4.515625 -6.546875 4.515625 -6.75 4.3125 -6.75 C 4.09375 -6.75 4.09375 -6.5625 4.09375 -6.375 L 4.09375 -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 4.09375 -2.78125 L 4.09375 0.390625 C 4.09375 0.5625 4.09375 0.765625 4.296875 0.765625 C 4.515625 0.765625 4.515625 0.578125 4.515625 0.390625 L 4.515625 -2.78125 L 7.6875 -2.78125 C 7.859375 -2.78125 8.0625 -2.78125 8.0625 -2.984375 Z M 8.0625 -2.984375 "/>
</symbol>
<symbol overflow="visible" id="glyph4-0">
<path style="stroke:none;" d=""/>
</symbol>
<symbol overflow="visible" id="glyph4-1">
<path style="stroke:none;" d="M 6.875 -2.484375 C 6.875 -2.671875 6.6875 -2.671875 6.546875 -2.671875 L 1.15625 -2.671875 C 1.015625 -2.671875 0.828125 -2.671875 0.828125 -2.484375 C 0.828125 -2.28125 1.015625 -2.28125 1.15625 -2.28125 L 6.546875 -2.28125 C 6.6875 -2.28125 6.875 -2.28125 6.875 -2.484375 Z M 6.875 -2.484375 "/>
</symbol>
</g>
<clipPath id="clip1">
<path d="M 61 97 L 94 97 L 94 115.863281 L 61 115.863281 Z M 61 97 "/>
</clipPath>
<clipPath id="clip2">
<path d="M 81 90 L 114 90 L 114 115.863281 L 81 115.863281 Z M 81 90 "/>
</clipPath>
<clipPath id="clip3">
<path d="M 134 19 L 155.132812 19 L 155.132812 52 L 134 52 Z M 134 19 "/>
</clipPath>
<clipPath id="clip4">
<path d="M 134 48 L 155.132812 48 L 155.132812 80 L 134 80 Z M 134 48 "/>
</clipPath>
</defs>
<g id="surface1">
<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 -56.693712 -35.43478 L 56.69394 -35.43478 L 56.69394 35.433485 L -56.693712 35.433485 Z M -56.693712 -35.43478 " transform="matrix(0.994032,0,0,-0.994032,77.566293,53.300138)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-1" x="67.526571" y="11.311239"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-1" x="75.260139" y="11.311239"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-2" x="79.111019" y="11.311239"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-2" x="83.753147" y="11.311239"/>
</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 5.317002 9.462078 L 36.84894 9.462078 L 36.84894 26.469833 L 5.317002 26.469833 Z M 5.317002 9.462078 " transform="matrix(0.994032,0,0,-0.994032,77.566293,53.300138)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-3" x="86.151746" y="37.917495"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-1" x="94.107977" y="39.402579"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-1" x="98.551299" y="37.917495"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-2" x="102.402179" y="37.917495"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-2" x="107.044308" y="37.917495"/>
</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 5.317002 -19.2837 L 36.84894 -19.2837 L 36.84894 -2.275945 L 5.317002 -2.275945 Z M 5.317002 -19.2837 " transform="matrix(0.994032,0,0,-0.994032,77.566293,53.300138)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-3" x="86.151746" y="66.489946"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-2" x="94.107977" y="67.97503"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-1" x="98.551299" y="66.489946"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-2" x="102.402179" y="66.489946"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-2" x="107.044308" y="66.489946"/>
</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 -12.189825 17.965955 C -12.189825 21.817064 -15.313939 24.941178 -19.165048 24.941178 C -23.016157 24.941178 -26.136341 21.817064 -26.136341 17.965955 C -26.136341 14.114846 -23.016157 10.990732 -19.165048 10.990732 C -15.313939 10.990732 -12.189825 14.114846 -12.189825 17.965955 Z M -12.189825 17.965955 " transform="matrix(0.994032,0,0,-0.994032,77.566293,53.300138)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-1" x="54.205551" y="38.339959"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-1" x="48.833803" y="50.132158"/>
</g>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;" d="M 61.753906 114.871094 L 93.375 114.871094 L 93.375 97.964844 L 61.753906 97.964844 Z M 61.753906 114.871094 "/>
<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 -15.907324 -61.940627 L 15.903622 -61.940627 L 15.903622 -44.932872 L -15.907324 -44.932872 Z M -15.907324 -61.940627 " transform="matrix(0.994032,0,0,-0.994032,77.566293,53.300138)"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-4" x="65.056402" y="108.894351"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-2" x="73.28798" y="110.379435"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-1" x="77.731302" y="108.894351"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-2" x="81.582182" y="108.894351"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-2" x="86.22431" y="108.894351"/>
</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 -77.033855 17.965955 L -30.769461 17.965955 " transform="matrix(0.994032,0,0,-0.994032,77.566293,53.300138)"/>
<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 6.054666 0.000155164 L 1.610172 1.682068 L 3.08774 0.000155164 L 1.610172 -1.681758 Z M 6.054666 0.000155164 " transform="matrix(0.994032,0,0,-0.994032,44.157251,35.44156)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-5" x="4.788251" y="31.645154"/>
</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 -16.402467 -53.43675 L -67.111355 -53.43675 L -67.111355 -10.779823 L 0.18481 -10.779823 " transform="matrix(0.994032,0,0,-0.994032,77.566293,53.300138)"/>
<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 6.052907 -0.000772783 L 1.608413 1.68114 L 3.085981 -0.000772783 L 1.608413 -1.682686 Z M 6.052907 -0.000772783 " transform="matrix(0.994032,0,0,-0.994032,74.92853,64.014857)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-6" x="8.019849" y="60.2186"/>
</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 -19.165048 -10.779823 L -19.165048 6.357612 " transform="matrix(0.994032,0,0,-0.994032,77.566293,53.300138)"/>
<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 6.052269 0.00137803 L 1.607775 1.683291 L 3.089273 0.00137803 L 1.607775 -1.684465 Z M 6.052269 0.00137803 " transform="matrix(0,-0.994032,-0.994032,0,58.516995,49.801305)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 60.496094 64.015625 C 60.496094 62.921875 59.609375 62.035156 58.515625 62.035156 C 57.421875 62.035156 56.535156 62.921875 56.535156 64.015625 C 56.535156 65.109375 57.421875 65.996094 58.515625 65.996094 C 59.609375 65.996094 60.496094 65.109375 60.496094 64.015625 Z M 60.496094 64.015625 "/>
<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 -12.189825 17.965955 L 0.18481 17.965955 " transform="matrix(0.994032,0,0,-0.994032,77.566293,53.300138)"/>
<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 6.052907 0.000155164 L 1.608413 1.682068 L 3.085981 0.000155164 L 1.608413 -1.681758 Z M 6.052907 0.000155164 " transform="matrix(0.994032,0,0,-0.994032,74.92853,35.44156)"/>
<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 -43.144096 17.965955 L -43.144096 -28.746425 L 67.111583 -28.746425 L 67.111583 -53.43675 L 21.035814 -53.43675 " transform="matrix(0.994032,0,0,-0.994032,77.566293,53.300138)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 95.28125 106.417969 L 99.699219 108.09375 L 98.230469 106.417969 L 99.699219 104.746094 Z M 95.28125 106.417969 "/>
<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 6.054433 -0.00128041 L 1.609939 1.684562 L 3.087507 -0.00128041 L 1.609939 -1.683193 Z M 6.054433 -0.00128041 " transform="matrix(-0.994032,0,0,0.994032,101.299549,106.419242)"/>
</g>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 36.660156 35.441406 C 36.660156 34.347656 35.773438 33.460938 34.679688 33.460938 C 33.585938 33.460938 32.699219 34.347656 32.699219 35.441406 C 32.699219 36.535156 33.585938 37.421875 34.679688 37.421875 C 35.773438 37.421875 36.660156 36.535156 36.660156 35.441406 Z M 36.660156 35.441406 "/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-7" x="141.69924" y="78.076382"/>
</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 37.348012 17.965955 L 72.400963 17.965955 " transform="matrix(0.994032,0,0,-0.994032,77.566293,53.300138)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 152.730469 35.441406 L 148.3125 33.769531 L 149.78125 35.441406 L 148.3125 37.113281 Z M 152.730469 35.441406 "/>
<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 6.05311 0.000155164 L 1.608616 1.682068 L 3.086184 0.000155164 L 1.608616 -1.681758 Z M 6.05311 0.000155164 " transform="matrix(0.994032,0,0,-0.994032,146.713484,35.44156)"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-8" x="141.295663" y="30.16007"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-1" x="145.901012" y="31.645154"/>
</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 37.348012 -10.779823 L 72.400963 -10.779823 " transform="matrix(0.994032,0,0,-0.994032,77.566293,53.300138)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 152.730469 64.015625 L 148.3125 62.34375 L 149.78125 64.015625 L 148.3125 65.6875 Z M 152.730469 64.015625 "/>
<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 6.05311 -0.000772783 L 1.608616 1.68114 L 3.086184 -0.000772783 L 1.608616 -1.682686 Z M 6.05311 -0.000772783 " transform="matrix(0.994032,0,0,-0.994032,146.713484,64.014857)"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-8" x="141.295663" y="58.732522"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-2" x="145.901012" y="60.2186"/>
</g>
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 28 KiB

BIN
tikz/figs/h_infinity_robust_fusion.pdf
View File

Binary file not shown.

BIN
tikz/figs/h_infinity_robust_fusion.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 11 KiB

After

Width:  |  Height:  |  Size: 14 KiB

179
tikz/figs/h_infinity_robust_fusion.svg
View File

@ -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="156.06pt" height="138.83pt" viewBox="0 0 156.06 138.83" version="1.2">
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="156.063pt" height="116.473pt" viewBox="0 0 156.063 116.473" version="1.2">
<defs>
<g>
<symbol overflow="visible" id="glyph0-0">
@ -9,118 +9,187 @@
<path style="stroke:none;" d="M 7.46875 -5.265625 C 7.46875 -6.03125 6.8125 -6.765625 5.515625 -6.765625 L 2.3125 -6.765625 C 2.125 -6.765625 2.015625 -6.765625 2.015625 -6.578125 C 2.015625 -6.453125 2.09375 -6.453125 2.296875 -6.453125 C 2.421875 -6.453125 2.609375 -6.453125 2.71875 -6.4375 C 2.875 -6.421875 2.9375 -6.390625 2.9375 -6.28125 C 2.9375 -6.234375 2.9375 -6.21875 2.90625 -6.09375 L 1.578125 -0.765625 C 1.46875 -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 1.796875 -0.03125 L 2.4375 -0.015625 C 2.65625 -0.015625 2.875 0 3.078125 0 C 3.15625 0 3.28125 0 3.28125 -0.203125 C 3.28125 -0.3125 3.1875 -0.3125 3 -0.3125 C 2.640625 -0.3125 2.359375 -0.3125 2.359375 -0.484375 C 2.359375 -0.546875 2.375 -0.59375 2.390625 -0.65625 L 3 -3.125 L 4.6875 -3.125 C 6.09375 -3.125 7.46875 -4.15625 7.46875 -5.265625 Z M 6.546875 -5.515625 C 6.546875 -5.125 6.34375 -4.265625 5.96875 -3.90625 C 5.46875 -3.46875 4.875 -3.390625 4.4375 -3.390625 L 3.046875 -3.390625 L 3.71875 -6.078125 C 3.796875 -6.421875 3.828125 -6.453125 4.25 -6.453125 L 5.203125 -6.453125 C 6.015625 -6.453125 6.546875 -6.1875 6.546875 -5.515625 Z M 6.546875 -5.515625 "/>
</symbol>
<symbol overflow="visible" id="glyph0-2">
<path style="stroke:none;" d="M 6.84375 -3.6875 C 6.84375 -4.234375 6.578125 -4.375 6.40625 -4.375 C 6.15625 -4.375 5.90625 -4.125 5.90625 -3.90625 C 5.90625 -3.78125 5.96875 -3.71875 6.0625 -3.640625 C 6.171875 -3.53125 6.421875 -3.265625 6.421875 -2.796875 C 6.421875 -2.453125 6.125 -1.484375 5.875 -0.984375 C 5.609375 -0.453125 5.265625 -0.109375 4.78125 -0.109375 C 4.3125 -0.109375 4.046875 -0.40625 4.046875 -0.96875 C 4.046875 -1.25 4.125 -1.5625 4.15625 -1.6875 L 4.578125 -3.359375 C 4.625 -3.578125 4.71875 -3.9375 4.71875 -4 C 4.71875 -4.1875 4.59375 -4.265625 4.4375 -4.265625 C 4.3125 -4.265625 4.140625 -4.1875 4.078125 -4 C 4.046875 -3.921875 3.578125 -2.03125 3.5 -1.765625 C 3.4375 -1.46875 3.421875 -1.296875 3.421875 -1.125 C 3.421875 -1.015625 3.421875 -0.984375 3.421875 -0.9375 C 3.203125 -0.421875 2.90625 -0.109375 2.515625 -0.109375 C 1.71875 -0.109375 1.71875 -0.84375 1.71875 -1.015625 C 1.71875 -1.328125 1.765625 -1.71875 2.234375 -2.9375 C 2.34375 -3.234375 2.40625 -3.375 2.40625 -3.5625 C 2.40625 -4.015625 2.078125 -4.375 1.59375 -4.375 C 0.65625 -4.375 0.28125 -2.9375 0.28125 -2.859375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.78125 0.5625 -2.9375 C 0.828125 -3.859375 1.21875 -4.15625 1.5625 -4.15625 C 1.65625 -4.15625 1.8125 -4.15625 1.8125 -3.828125 C 1.8125 -3.59375 1.703125 -3.3125 1.640625 -3.140625 C 1.203125 -1.96875 1.078125 -1.515625 1.078125 -1.140625 C 1.078125 -0.234375 1.75 0.109375 2.484375 0.109375 C 2.65625 0.109375 3.125 0.109375 3.515625 -0.578125 C 3.78125 0.046875 4.453125 0.109375 4.75 0.109375 C 5.5 0.109375 5.9375 -0.515625 6.1875 -1.109375 C 6.53125 -1.875 6.84375 -3.203125 6.84375 -3.6875 Z M 6.84375 -3.6875 "/>
<path style="stroke:none;" d="M 3.921875 -1.53125 C 3.921875 -1.890625 3.734375 -2.140625 3.609375 -2.265625 C 3.34375 -2.53125 3.0625 -2.578125 2.625 -2.671875 C 2.265625 -2.75 1.875 -2.828125 1.875 -3.265625 C 1.875 -3.5625 2.109375 -4.15625 2.984375 -4.15625 C 3.234375 -4.15625 3.71875 -4.09375 3.875 -3.703125 C 3.59375 -3.6875 3.390625 -3.484375 3.390625 -3.265625 C 3.390625 -3.125 3.484375 -2.96875 3.703125 -2.96875 C 3.921875 -2.96875 4.15625 -3.140625 4.15625 -3.53125 C 4.15625 -3.96875 3.734375 -4.375 2.984375 -4.375 C 1.671875 -4.375 1.3125 -3.375 1.3125 -2.9375 C 1.3125 -2.15625 2.046875 -2.015625 2.328125 -1.953125 C 2.84375 -1.859375 3.359375 -1.75 3.359375 -1.203125 C 3.359375 -0.9375 3.125 -0.109375 1.9375 -0.109375 C 1.796875 -0.109375 1.046875 -0.109375 0.8125 -0.640625 C 1.1875 -0.578125 1.4375 -0.875 1.4375 -1.15625 C 1.4375 -1.390625 1.28125 -1.5 1.0625 -1.5 C 0.8125 -1.5 0.515625 -1.296875 0.515625 -0.859375 C 0.515625 -0.28125 1.078125 0.109375 1.9375 0.109375 C 3.53125 0.109375 3.921875 -1.09375 3.921875 -1.53125 Z M 3.921875 -1.53125 "/>
</symbol>
<symbol overflow="visible" id="glyph0-3">
<path style="stroke:none;" d="M 7.109375 -0.203125 C 7.109375 -0.3125 7.03125 -0.3125 6.828125 -0.3125 C 6.46875 -0.3125 6.1875 -0.3125 6.1875 -0.484375 C 6.1875 -0.546875 6.21875 -0.59375 6.21875 -0.65625 L 7.5625 -6 C 7.640625 -6.359375 7.671875 -6.453125 8.390625 -6.453125 C 8.640625 -6.453125 8.734375 -6.453125 8.734375 -6.65625 C 8.734375 -6.765625 8.625 -6.765625 8.59375 -6.765625 L 7.328125 -6.734375 L 6.046875 -6.765625 C 5.96875 -6.765625 5.859375 -6.765625 5.859375 -6.5625 C 5.859375 -6.453125 5.9375 -6.453125 6.125 -6.453125 C 6.125 -6.453125 6.34375 -6.453125 6.515625 -6.4375 C 6.6875 -6.421875 6.78125 -6.40625 6.78125 -6.28125 C 6.78125 -6.234375 6.765625 -6.21875 6.734375 -6.09375 L 6.140625 -3.671875 L 3.125 -3.671875 L 3.703125 -6 C 3.796875 -6.359375 3.828125 -6.453125 4.53125 -6.453125 C 4.796875 -6.453125 4.875 -6.453125 4.875 -6.65625 C 4.875 -6.765625 4.765625 -6.765625 4.734375 -6.765625 L 3.46875 -6.734375 L 2.1875 -6.765625 C 2.109375 -6.765625 2 -6.765625 2 -6.5625 C 2 -6.453125 2.09375 -6.453125 2.28125 -6.453125 C 2.28125 -6.453125 2.484375 -6.453125 2.65625 -6.4375 C 2.828125 -6.421875 2.921875 -6.40625 2.921875 -6.28125 C 2.921875 -6.234375 2.90625 -6.21875 2.875 -6.09375 L 1.5625 -0.765625 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 2.609375 -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 6.0625 -3.375 L 5.375 -0.640625 C 5.28125 -0.3125 5.09375 -0.3125 4.484375 -0.3125 C 4.328125 -0.3125 4.234375 -0.3125 4.234375 -0.109375 C 4.234375 0 4.375 0 4.375 0 L 5.640625 -0.03125 L 6.265625 -0.015625 C 6.484375 -0.015625 6.703125 0 6.921875 0 C 7 0 7.109375 0 7.109375 -0.203125 Z M 7.109375 -0.203125 "/>
<path style="stroke:none;" d="M 10.375 -6.65625 C 10.375 -6.703125 10.34375 -6.765625 10.265625 -6.765625 C 10.03125 -6.765625 9.75 -6.734375 9.5 -6.734375 C 9.15625 -6.734375 8.796875 -6.765625 8.46875 -6.765625 C 8.40625 -6.765625 8.28125 -6.765625 8.28125 -6.578125 C 8.28125 -6.46875 8.375 -6.453125 8.4375 -6.453125 C 8.671875 -6.453125 9.015625 -6.375 9.015625 -6.078125 C 9.015625 -5.96875 8.96875 -5.890625 8.890625 -5.75 L 6.21875 -1.078125 L 5.84375 -6 C 5.828125 -6.1875 5.8125 -6.453125 6.53125 -6.453125 C 6.703125 -6.453125 6.8125 -6.453125 6.8125 -6.65625 C 6.8125 -6.75 6.703125 -6.765625 6.65625 -6.765625 C 6.265625 -6.765625 5.84375 -6.734375 5.453125 -6.734375 C 5.21875 -6.734375 4.640625 -6.765625 4.40625 -6.765625 C 4.34375 -6.765625 4.21875 -6.765625 4.21875 -6.5625 C 4.21875 -6.453125 4.3125 -6.453125 4.453125 -6.453125 C 4.890625 -6.453125 4.96875 -6.40625 4.984375 -6.21875 L 5.046875 -5.453125 L 2.53125 -1.078125 L 2.15625 -6.109375 C 2.15625 -6.21875 2.15625 -6.453125 2.90625 -6.453125 C 3.015625 -6.453125 3.125 -6.453125 3.125 -6.65625 C 3.125 -6.765625 2.984375 -6.765625 2.984375 -6.765625 C 2.578125 -6.765625 2.171875 -6.734375 1.765625 -6.734375 C 1.421875 -6.734375 1.0625 -6.765625 0.71875 -6.765625 C 0.671875 -6.765625 0.546875 -6.765625 0.546875 -6.578125 C 0.546875 -6.453125 0.640625 -6.453125 0.796875 -6.453125 C 1.28125 -6.453125 1.296875 -6.375 1.3125 -6.09375 L 1.765625 -0.046875 C 1.765625 0.140625 1.78125 0.21875 1.921875 0.21875 C 2.046875 0.21875 2.078125 0.15625 2.15625 0.015625 L 5.078125 -5.046875 L 5.4375 -0.046875 C 5.453125 0.171875 5.484375 0.21875 5.59375 0.21875 C 5.71875 0.21875 5.78125 0.125 5.828125 0.03125 L 9.078125 -5.609375 C 9.328125 -6.046875 9.5625 -6.40625 10.1875 -6.453125 C 10.28125 -6.46875 10.375 -6.46875 10.375 -6.65625 Z M 10.375 -6.65625 "/>
</symbol>
<symbol overflow="visible" id="glyph0-4">
<path style="stroke:none;" d="M 7.109375 -0.203125 C 7.109375 -0.3125 7.03125 -0.3125 6.828125 -0.3125 C 6.46875 -0.3125 6.1875 -0.3125 6.1875 -0.484375 C 6.1875 -0.546875 6.21875 -0.59375 6.21875 -0.65625 L 7.5625 -6 C 7.640625 -6.359375 7.671875 -6.453125 8.390625 -6.453125 C 8.640625 -6.453125 8.734375 -6.453125 8.734375 -6.65625 C 8.734375 -6.765625 8.625 -6.765625 8.59375 -6.765625 L 7.328125 -6.734375 L 6.046875 -6.765625 C 5.96875 -6.765625 5.859375 -6.765625 5.859375 -6.5625 C 5.859375 -6.453125 5.9375 -6.453125 6.125 -6.453125 C 6.125 -6.453125 6.34375 -6.453125 6.515625 -6.4375 C 6.6875 -6.421875 6.78125 -6.40625 6.78125 -6.28125 C 6.78125 -6.234375 6.765625 -6.21875 6.734375 -6.09375 L 6.140625 -3.671875 L 3.125 -3.671875 L 3.703125 -6 C 3.796875 -6.359375 3.828125 -6.453125 4.53125 -6.453125 C 4.796875 -6.453125 4.875 -6.453125 4.875 -6.65625 C 4.875 -6.765625 4.765625 -6.765625 4.734375 -6.765625 L 3.46875 -6.734375 L 2.1875 -6.765625 C 2.109375 -6.765625 2 -6.765625 2 -6.5625 C 2 -6.453125 2.09375 -6.453125 2.28125 -6.453125 C 2.28125 -6.453125 2.484375 -6.453125 2.65625 -6.4375 C 2.828125 -6.421875 2.921875 -6.40625 2.921875 -6.28125 C 2.921875 -6.234375 2.90625 -6.21875 2.875 -6.09375 L 1.5625 -0.765625 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 2.609375 -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 6.0625 -3.375 L 5.375 -0.640625 C 5.28125 -0.3125 5.09375 -0.3125 4.484375 -0.3125 C 4.328125 -0.3125 4.234375 -0.3125 4.234375 -0.109375 C 4.234375 0 4.375 0 4.375 0 L 5.640625 -0.03125 L 6.265625 -0.015625 C 6.484375 -0.015625 6.703125 0 6.921875 0 C 7 0 7.109375 0 7.109375 -0.203125 Z M 7.109375 -0.203125 "/>
</symbol>
<symbol overflow="visible" id="glyph0-5">
<path style="stroke:none;" d="M 6.84375 -3.6875 C 6.84375 -4.234375 6.578125 -4.375 6.40625 -4.375 C 6.15625 -4.375 5.90625 -4.125 5.90625 -3.90625 C 5.90625 -3.78125 5.96875 -3.71875 6.0625 -3.640625 C 6.171875 -3.53125 6.421875 -3.265625 6.421875 -2.796875 C 6.421875 -2.453125 6.125 -1.484375 5.875 -0.984375 C 5.609375 -0.453125 5.265625 -0.109375 4.78125 -0.109375 C 4.3125 -0.109375 4.046875 -0.40625 4.046875 -0.96875 C 4.046875 -1.25 4.125 -1.5625 4.15625 -1.6875 L 4.578125 -3.359375 C 4.625 -3.578125 4.71875 -3.9375 4.71875 -4 C 4.71875 -4.1875 4.59375 -4.265625 4.4375 -4.265625 C 4.3125 -4.265625 4.140625 -4.1875 4.078125 -4 C 4.046875 -3.921875 3.578125 -2.03125 3.5 -1.765625 C 3.4375 -1.46875 3.421875 -1.296875 3.421875 -1.125 C 3.421875 -1.015625 3.421875 -0.984375 3.421875 -0.9375 C 3.203125 -0.421875 2.90625 -0.109375 2.515625 -0.109375 C 1.71875 -0.109375 1.71875 -0.84375 1.71875 -1.015625 C 1.71875 -1.328125 1.765625 -1.71875 2.234375 -2.9375 C 2.34375 -3.234375 2.40625 -3.375 2.40625 -3.5625 C 2.40625 -4.015625 2.078125 -4.375 1.59375 -4.375 C 0.65625 -4.375 0.28125 -2.9375 0.28125 -2.859375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.78125 0.5625 -2.9375 C 0.828125 -3.859375 1.21875 -4.15625 1.5625 -4.15625 C 1.65625 -4.15625 1.8125 -4.15625 1.8125 -3.828125 C 1.8125 -3.59375 1.703125 -3.3125 1.640625 -3.140625 C 1.203125 -1.96875 1.078125 -1.515625 1.078125 -1.140625 C 1.078125 -0.234375 1.75 0.109375 2.484375 0.109375 C 2.65625 0.109375 3.125 0.109375 3.515625 -0.578125 C 3.78125 0.046875 4.453125 0.109375 4.75 0.109375 C 5.5 0.109375 5.9375 -0.515625 6.1875 -1.109375 C 6.53125 -1.875 6.84375 -3.203125 6.84375 -3.6875 Z M 6.84375 -3.6875 "/>
</symbol>
<symbol overflow="visible" id="glyph0-6">
<path style="stroke:none;" d="M 5.375 -1.421875 C 5.375 -1.515625 5.296875 -1.515625 5.265625 -1.515625 C 5.15625 -1.515625 5.15625 -1.46875 5.125 -1.34375 C 4.984375 -0.78125 4.796875 -0.109375 4.375 -0.109375 C 4.171875 -0.109375 4.078125 -0.234375 4.078125 -0.5625 C 4.078125 -0.78125 4.1875 -1.25 4.265625 -1.59375 L 4.546875 -2.671875 C 4.578125 -2.8125 4.671875 -3.1875 4.71875 -3.34375 C 4.765625 -3.5625 4.859375 -3.9375 4.859375 -4 C 4.859375 -4.1875 4.71875 -4.265625 4.578125 -4.265625 C 4.53125 -4.265625 4.265625 -4.265625 4.1875 -3.921875 L 3.453125 -0.9375 C 3.4375 -0.90625 3.046875 -0.109375 2.3125 -0.109375 C 1.796875 -0.109375 1.703125 -0.5625 1.703125 -0.921875 C 1.703125 -1.46875 1.984375 -2.265625 2.234375 -2.9375 C 2.359375 -3.234375 2.40625 -3.375 2.40625 -3.5625 C 2.40625 -4.015625 2.09375 -4.375 1.59375 -4.375 C 0.65625 -4.375 0.28125 -2.9375 0.28125 -2.859375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.78125 0.5625 -2.9375 C 0.8125 -3.796875 1.1875 -4.15625 1.5625 -4.15625 C 1.65625 -4.15625 1.8125 -4.15625 1.8125 -3.828125 C 1.8125 -3.59375 1.703125 -3.3125 1.640625 -3.15625 C 1.28125 -2.171875 1.0625 -1.5625 1.0625 -1.078125 C 1.0625 -0.140625 1.75 0.109375 2.28125 0.109375 C 2.9375 0.109375 3.296875 -0.34375 3.46875 -0.5625 C 3.578125 -0.15625 3.921875 0.109375 4.34375 0.109375 C 4.703125 0.109375 4.921875 -0.125 5.078125 -0.4375 C 5.25 -0.796875 5.375 -1.421875 5.375 -1.421875 Z M 5.375 -1.421875 "/>
</symbol>
<symbol overflow="visible" id="glyph0-7">
<path style="stroke:none;" d="M 4.640625 -3.6875 C 4.640625 -4.21875 4.375 -4.375 4.203125 -4.375 C 3.953125 -4.375 3.71875 -4.125 3.71875 -3.90625 C 3.71875 -3.78125 3.765625 -3.71875 3.875 -3.609375 C 4.078125 -3.40625 4.203125 -3.15625 4.203125 -2.796875 C 4.203125 -2.375 3.609375 -0.109375 2.453125 -0.109375 C 1.9375 -0.109375 1.71875 -0.453125 1.71875 -0.96875 C 1.71875 -1.53125 1.984375 -2.25 2.28125 -3.078125 C 2.359375 -3.234375 2.40625 -3.375 2.40625 -3.5625 C 2.40625 -4.015625 2.09375 -4.375 1.59375 -4.375 C 0.65625 -4.375 0.28125 -2.9375 0.28125 -2.859375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.78125 0.5625 -2.9375 C 0.859375 -3.9375 1.28125 -4.15625 1.5625 -4.15625 C 1.640625 -4.15625 1.8125 -4.15625 1.8125 -3.84375 C 1.8125 -3.59375 1.71875 -3.328125 1.640625 -3.15625 C 1.203125 -2 1.078125 -1.546875 1.078125 -1.125 C 1.078125 -0.046875 1.953125 0.109375 2.40625 0.109375 C 4.078125 0.109375 4.640625 -3.171875 4.640625 -3.6875 Z M 4.640625 -3.6875 "/>
</symbol>
<symbol overflow="visible" id="glyph0-8">
<path style="stroke:none;" d="M 4.3125 -1.421875 C 4.3125 -1.46875 4.265625 -1.515625 4.1875 -1.515625 C 4.09375 -1.515625 4.078125 -1.453125 4.046875 -1.390625 C 3.828125 -0.75 3.1875 -0.5625 2.859375 -0.5625 C 2.671875 -0.5625 2.484375 -0.609375 2.28125 -0.6875 C 1.9375 -0.8125 1.796875 -0.859375 1.578125 -0.859375 C 1.578125 -0.859375 1.40625 -0.859375 1.3125 -0.828125 C 1.859375 -1.390625 2.140625 -1.640625 2.5 -1.953125 C 2.5 -1.953125 3.109375 -2.484375 3.46875 -2.84375 C 4.40625 -3.765625 4.625 -4.234375 4.625 -4.28125 C 4.625 -4.375 4.515625 -4.375 4.515625 -4.375 C 4.453125 -4.375 4.421875 -4.359375 4.375 -4.265625 C 4.078125 -3.796875 3.859375 -3.640625 3.625 -3.640625 C 3.390625 -3.640625 3.265625 -3.78125 3.125 -3.953125 C 2.9375 -4.1875 2.765625 -4.375 2.4375 -4.375 C 1.6875 -4.375 1.234375 -3.453125 1.234375 -3.25 C 1.234375 -3.203125 1.265625 -3.140625 1.359375 -3.140625 C 1.453125 -3.140625 1.46875 -3.1875 1.484375 -3.25 C 1.671875 -3.703125 2.25 -3.71875 2.328125 -3.71875 C 2.53125 -3.71875 2.71875 -3.640625 2.953125 -3.5625 C 3.34375 -3.421875 3.453125 -3.421875 3.71875 -3.421875 C 3.359375 -2.984375 2.53125 -2.28125 2.34375 -2.125 L 1.453125 -1.28125 C 0.765625 -0.625 0.421875 -0.0625 0.421875 0.015625 C 0.421875 0.109375 0.546875 0.109375 0.546875 0.109375 C 0.625 0.109375 0.640625 0.09375 0.703125 -0.015625 C 0.9375 -0.359375 1.234375 -0.640625 1.546875 -0.640625 C 1.765625 -0.640625 1.875 -0.546875 2.125 -0.25 C 2.28125 -0.046875 2.46875 0.109375 2.75 0.109375 C 3.734375 0.109375 4.3125 -1.15625 4.3125 -1.421875 Z M 4.3125 -1.421875 "/>
</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 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 "/>
<path style="stroke:none;" d="M 3.28125 2.375 C 3.28125 2.34375 3.28125 2.328125 3.109375 2.15625 C 1.875 0.90625 1.5625 -0.953125 1.5625 -2.484375 C 1.5625 -4.203125 1.9375 -5.921875 3.15625 -7.15625 C 3.28125 -7.28125 3.28125 -7.296875 3.28125 -7.328125 C 3.28125 -7.40625 3.234375 -7.4375 3.1875 -7.4375 C 3.078125 -7.4375 2.1875 -6.75 1.609375 -5.5 C 1.09375 -4.40625 0.984375 -3.3125 0.984375 -2.484375 C 0.984375 -1.703125 1.09375 -0.5 1.640625 0.609375 C 2.234375 1.828125 3.078125 2.484375 3.1875 2.484375 C 3.234375 2.484375 3.28125 2.453125 3.28125 2.375 Z M 3.28125 2.375 "/>
</symbol>
<symbol overflow="visible" id="glyph1-2">
<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 "/>
<path style="stroke:none;" d="M 2.859375 -2.484375 C 2.859375 -3.25 2.75 -4.453125 2.203125 -5.5625 C 1.609375 -6.78125 0.765625 -7.4375 0.65625 -7.4375 C 0.609375 -7.4375 0.5625 -7.390625 0.5625 -7.328125 C 0.5625 -7.296875 0.5625 -7.28125 0.75 -7.109375 C 1.71875 -6.125 2.28125 -4.546875 2.28125 -2.484375 C 2.28125 -0.78125 1.921875 0.953125 0.6875 2.203125 C 0.5625 2.328125 0.5625 2.34375 0.5625 2.375 C 0.5625 2.4375 0.609375 2.484375 0.65625 2.484375 C 0.765625 2.484375 1.65625 1.796875 2.234375 0.546875 C 2.75 -0.546875 2.859375 -1.640625 2.859375 -2.484375 Z M 2.859375 -2.484375 "/>
</symbol>
<symbol overflow="visible" id="glyph2-0">
<path style="stroke:none;" d=""/>
</symbol>
<symbol overflow="visible" id="glyph2-1">
<path style="stroke:none;" d="M 8.0625 -2.984375 C 8.0625 -3.203125 7.875 -3.203125 7.6875 -3.203125 L 4.515625 -3.203125 L 4.515625 -6.375 C 4.515625 -6.546875 4.515625 -6.75 4.3125 -6.75 C 4.09375 -6.75 4.09375 -6.5625 4.09375 -6.375 L 4.09375 -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 4.09375 -2.78125 L 4.09375 0.390625 C 4.09375 0.5625 4.09375 0.765625 4.296875 0.765625 C 4.515625 0.765625 4.515625 0.578125 4.515625 0.390625 L 4.515625 -2.78125 L 7.6875 -2.78125 C 7.859375 -2.78125 8.0625 -2.78125 8.0625 -2.984375 Z M 8.0625 -2.984375 "/>
<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 3.5 -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 8.0625 -2.984375 C 8.0625 -3.203125 7.875 -3.203125 7.6875 -3.203125 L 4.515625 -3.203125 L 4.515625 -6.375 C 4.515625 -6.546875 4.515625 -6.75 4.3125 -6.75 C 4.09375 -6.75 4.09375 -6.5625 4.09375 -6.375 L 4.09375 -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 4.09375 -2.78125 L 4.09375 0.390625 C 4.09375 0.5625 4.09375 0.765625 4.296875 0.765625 C 4.515625 0.765625 4.515625 0.578125 4.515625 0.390625 L 4.515625 -2.78125 L 7.6875 -2.78125 C 7.859375 -2.78125 8.0625 -2.78125 8.0625 -2.984375 Z M 8.0625 -2.984375 "/>
</symbol>
<symbol overflow="visible" id="glyph4-0">
<path style="stroke:none;" d=""/>
</symbol>
<symbol overflow="visible" id="glyph4-1">
<path style="stroke:none;" d="M 6.875 -2.484375 C 6.875 -2.671875 6.6875 -2.671875 6.546875 -2.671875 L 1.15625 -2.671875 C 1.015625 -2.671875 0.828125 -2.671875 0.828125 -2.484375 C 0.828125 -2.28125 1.015625 -2.28125 1.15625 -2.28125 L 6.546875 -2.28125 C 6.6875 -2.28125 6.875 -2.28125 6.875 -2.484375 Z M 6.875 -2.484375 "/>
</symbol>
</g>
<clipPath id="clip1">
<path d="M 76 113 L 110 113 L 110 138.328125 L 76 138.328125 Z M 76 113 "/>
<path d="M 61 97 L 94 97 L 94 115.863281 L 61 115.863281 Z M 61 97 "/>
</clipPath>
<clipPath id="clip2">
<path d="M 134 16 L 155.125 16 L 155.125 48 L 134 48 Z M 134 16 "/>
<path d="M 81 90 L 114 90 L 114 115.863281 L 81 115.863281 Z M 81 90 "/>
</clipPath>
<clipPath id="clip3">
<path d="M 134 50 L 155.125 50 L 155.125 82 L 134 82 Z M 134 50 "/>
<path d="M 134 19 L 155.132812 19 L 155.132812 52 L 134 52 Z M 134 19 "/>
</clipPath>
<clipPath id="clip4">
<path d="M 134 48 L 155.132812 48 L 155.132812 80 L 134 80 Z M 134 48 "/>
</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 -56.693302 -42.520279 L 56.6926 -42.520279 L 56.6926 42.52013 L -56.693302 42.52013 Z M -56.693302 -42.520279 " transform="matrix(0.994013,0,0,-0.994013,77.564802,57.453051)"/>
<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 -56.693712 -35.43478 L 56.69394 -35.43478 L 56.69394 35.433485 L -56.693712 35.433485 Z M -56.693712 -35.43478 " transform="matrix(0.994032,0,0,-0.994032,77.566293,53.300138)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-1" x="73.698092" y="10.896476"/>
</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 14.172396 -17.106401 L 36.851148 -17.106401 L 36.851148 -0.0983192 L 14.172396 -0.0983192 Z M 14.172396 -17.106401 " transform="matrix(0.994013,0,0,-0.994013,77.564802,57.453051)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-2" x="97.157787" y="67.395166"/>
<use xlink:href="#glyph0-1" x="67.526571" y="11.311239"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-1" x="104.247086" y="68.880221"/>
</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 14.172396 17.30667 L 36.851148 17.30667 L 36.851148 34.314752 L 14.172396 34.314752 Z M 14.172396 17.30667 " transform="matrix(0.994013,0,0,-0.994013,77.564802,57.453051)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-2" x="97.157787" y="33.185224"/>
<use xlink:href="#glyph1-1" x="75.260139" y="11.311239"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-2" x="104.247086" y="34.670279"/>
</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 -3.334768 25.810711 C -3.334768 29.661894 -6.455012 32.786068 -10.306195 32.786068 C -14.157378 32.786068 -17.281552 29.661894 -17.281552 25.810711 C -17.281552 21.959528 -14.157378 18.839284 -10.306195 18.839284 C -6.455012 18.839284 -3.334768 21.959528 -3.334768 25.810711 Z M -3.334768 25.810711 " transform="matrix(0.994013,0,0,-0.994013,77.564802,57.453051)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-1" x="63.007883" y="34.694632"/>
<use xlink:href="#glyph0-2" x="79.111019" y="11.311239"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-1" x="57.636835" y="46.486108"/>
<use xlink:href="#glyph1-2" x="83.753147" y="11.311239"/>
</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 -11.339727 -80.367977 L 11.339025 -80.367977 L 11.339025 -63.359895 L -11.339727 -63.359895 Z M -11.339727 -80.367977 " transform="matrix(0.994013,0,0,-0.994013,77.564802,57.453051)"/>
<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 3.910168 9.462078 L 36.84894 9.462078 L 36.84894 26.469833 L 3.910168 26.469833 Z M 3.910168 9.462078 " transform="matrix(0.994032,0,0,-0.994032,77.566293,53.300138)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-3" x="71.227971" y="131.52688"/>
<use xlink:href="#glyph0-3" x="84.755131" y="37.917495"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-1" x="79.45939" y="133.011935"/>
<use xlink:href="#glyph2-1" x="94.107977" y="39.402579"/>
</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 -77.033836 25.810711 L -21.914761 25.810711 " transform="matrix(0.994013,0,0,-0.994013,77.564802,57.453051)"/>
<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 6.052637 -0.000568831 L 1.608058 1.681376 L 3.085655 -0.000568831 L 1.608058 -1.682514 Z M 6.052637 -0.000568831 " transform="matrix(0.994013,0,0,-0.994013,52.960164,31.79631)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-2" x="4.787165" y="28.000453"/>
<use xlink:href="#glyph1-1" x="98.551299" y="37.917495"/>
</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 -11.838809 -71.863936 L -67.115075 -71.863936 L -67.115075 -8.60236 L 9.040105 -8.60236 " transform="matrix(0.994013,0,0,-0.994013,77.564802,57.453051)"/>
<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 6.051474 0.00182987 L 1.606894 1.683775 L 3.088421 0.00182987 L 1.606894 -1.684045 Z M 6.051474 0.00182987 " transform="matrix(0.994013,0,0,-0.994013,83.730852,66.005725)"/>
<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 -10.306195 -8.60236 L -10.306195 14.202145 " transform="matrix(0.994013,0,0,-0.994013,77.564802,57.453051)"/>
<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 6.055324 -0.000674578 L 1.606814 1.681271 L 3.088341 -0.000674578 L 1.606814 -1.68262 Z M 6.055324 -0.000674578 " transform="matrix(0,-0.994013,-0.994013,0,67.319642,46.155788)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 69.300781 66.003906 C 69.300781 64.910156 68.414062 64.023438 67.320312 64.023438 C 66.226562 64.023438 65.339844 64.910156 65.339844 66.003906 C 65.339844 67.101562 66.226562 67.988281 67.320312 67.988281 C 68.414062 67.988281 69.300781 67.101562 69.300781 66.003906 Z M 69.300781 66.003906 "/>
<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 -3.334768 25.810711 L 9.040105 25.810711 " transform="matrix(0.994013,0,0,-0.994013,77.564802,57.453051)"/>
<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 6.051474 -0.000568831 L 1.606894 1.681376 L 3.088421 -0.000568831 L 1.606894 -1.682514 Z M 6.051474 -0.000568831 " transform="matrix(0.994013,0,0,-0.994013,83.730852,31.79631)"/>
<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 -37.350932 25.810711 L -37.350932 -34.413146 L 67.114373 -34.413146 L 67.114373 -71.863936 L 16.471316 -71.863936 " transform="matrix(0.994013,0,0,-0.994013,77.564802,57.453051)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 90.742188 128.886719 L 95.160156 130.558594 L 93.6875 128.886719 L 95.160156 127.214844 Z M 90.742188 128.886719 "/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-2" x="102.402179" y="37.917495"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-2" x="107.044308" y="37.917495"/>
</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 3.910168 -19.2837 L 36.84894 -19.2837 L 36.84894 -2.275945 L 3.910168 -2.275945 Z M 3.910168 -19.2837 " transform="matrix(0.994032,0,0,-0.994032,77.566293,53.300138)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-3" x="84.755131" y="66.489946"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-2" x="94.107977" y="67.97503"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-1" x="98.551299" y="66.489946"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-2" x="102.402179" y="66.489946"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-2" x="107.044308" y="66.489946"/>
</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 -13.592729 17.965955 C -13.592729 21.817064 -16.716843 24.941178 -20.567952 24.941178 C -24.419061 24.941178 -27.543175 21.817064 -27.543175 17.965955 C -27.543175 14.114846 -24.419061 10.990732 -20.567952 10.990732 C -16.716843 10.990732 -13.592729 14.114846 -13.592729 17.965955 Z M -13.592729 17.965955 " transform="matrix(0.994032,0,0,-0.994032,77.566293,53.300138)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-1" x="52.808936" y="38.339959"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-1" x="47.437188" y="50.132158"/>
</g>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;" d="M 61.753906 114.871094 L 93.375 114.871094 L 93.375 97.964844 L 61.753906 97.964844 Z M 61.753906 114.871094 "/>
<g clip-path="url(#clip1)" clip-rule="nonzero">
<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 6.052223 0.000656202 L 1.607643 1.682601 L 3.08917 0.000656202 L 1.607643 -1.681289 Z M 6.052223 0.000656202 " transform="matrix(-0.994013,0,0,0.994013,96.758174,128.886066)"/>
<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 -15.907324 -61.940627 L 15.903622 -61.940627 L 15.903622 -44.932872 L -15.907324 -44.932872 Z M -15.907324 -61.940627 " transform="matrix(0.994032,0,0,-0.994032,77.566293,53.300138)"/>
</g>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 42.421875 31.796875 C 42.421875 30.703125 41.535156 29.816406 40.4375 29.816406 C 39.34375 29.816406 38.457031 30.703125 38.457031 31.796875 C 38.457031 32.890625 39.34375 33.777344 40.4375 33.777344 C 41.535156 33.777344 42.421875 32.890625 42.421875 31.796875 Z M 42.421875 31.796875 "/>
<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 37.35023 25.810711 L 72.399925 25.810711 " transform="matrix(0.994013,0,0,-0.994013,77.564802,57.453051)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 152.726562 31.796875 L 148.308594 30.125 L 149.78125 31.796875 L 148.308594 33.46875 Z M 152.726562 31.796875 "/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-4" x="65.056402" y="108.894351"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-2" x="73.28798" y="110.379435"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-1" x="77.730308" y="108.894351"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-2" x="81.582182" y="108.894351"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-2" x="86.22431" y="108.894351"/>
</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 -77.033855 17.965955 L -32.176295 17.965955 " transform="matrix(0.994032,0,0,-0.994032,77.566293,53.300138)"/>
<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 6.052312 0.000155164 L 1.607818 1.682068 L 3.089316 0.000155164 L 1.607818 -1.681758 Z M 6.052312 0.000155164 " transform="matrix(0.994032,0,0,-0.994032,42.761153,35.44156)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-5" x="4.788251" y="31.645154"/>
</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 -16.402467 -53.43675 L -67.111355 -53.43675 L -67.111355 -10.779823 L -1.218094 -10.779823 " transform="matrix(0.994032,0,0,-0.994032,77.566293,53.300138)"/>
<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 6.054473 -0.000772783 L 1.609979 1.68114 L 3.087547 -0.000772783 L 1.609979 -1.682686 Z M 6.054473 -0.000772783 " transform="matrix(0.994032,0,0,-0.994032,73.532442,64.014857)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-6" x="8.019849" y="60.2186"/>
</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 -20.567952 -10.779823 L -20.567952 6.357612 " transform="matrix(0.994032,0,0,-0.994032,77.566293,53.300138)"/>
<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 6.052269 -0.000197973 L 1.607775 1.681715 L 3.089273 -0.000197973 L 1.607775 -1.682111 Z M 6.052269 -0.000197973 " transform="matrix(0,-0.994032,-0.994032,0,57.120897,49.801305)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 59.101562 64.015625 C 59.101562 62.921875 58.214844 62.035156 57.121094 62.035156 C 56.027344 62.035156 55.140625 62.921875 55.140625 64.015625 C 55.140625 65.109375 56.027344 65.996094 57.121094 65.996094 C 58.214844 65.996094 59.101562 65.109375 59.101562 64.015625 Z M 59.101562 64.015625 "/>
<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 -13.592729 17.965955 L -1.218094 17.965955 " transform="matrix(0.994032,0,0,-0.994032,77.566293,53.300138)"/>
<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 6.054473 0.000155164 L 1.609979 1.682068 L 3.087547 0.000155164 L 1.609979 -1.681758 Z M 6.054473 0.000155164 " transform="matrix(0.994032,0,0,-0.994032,73.532442,35.44156)"/>
<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 -44.55093 17.965955 L -44.55093 -28.746425 L 67.111583 -28.746425 L 67.111583 -53.43675 L 21.035814 -53.43675 " transform="matrix(0.994032,0,0,-0.994032,77.566293,53.300138)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 95.28125 106.417969 L 99.699219 108.09375 L 98.230469 106.417969 L 99.699219 104.746094 Z M 95.28125 106.417969 "/>
<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 6.052134 -0.000568831 L 1.607555 1.681376 L 3.089081 -0.000568831 L 1.607555 -1.682514 Z M 6.052134 -0.000568831 " transform="matrix(0.994013,0,0,-0.994013,146.710664,31.79631)"/>
<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 6.054433 -0.00128041 L 1.609939 1.684562 L 3.087507 -0.00128041 L 1.609939 -1.683193 Z M 6.054433 -0.00128041 " transform="matrix(-0.994032,0,0,0.994032,101.299549,106.419242)"/>
</g>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 35.261719 35.441406 C 35.261719 34.347656 34.375 33.460938 33.28125 33.460938 C 32.1875 33.460938 31.300781 34.347656 31.300781 35.441406 C 31.300781 36.535156 32.1875 37.421875 33.28125 37.421875 C 34.375 37.421875 35.261719 36.535156 35.261719 35.441406 Z M 35.261719 35.441406 "/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-4" x="141.293941" y="26.515398"/>
<use xlink:href="#glyph0-7" x="141.69924" y="78.076382"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-2" x="145.899202" y="28.000453"/>
</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 37.35023 -8.60236 L 72.399925 -8.60236 " transform="matrix(0.994013,0,0,-0.994013,77.564802,57.453051)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 152.726562 66.003906 L 148.308594 64.332031 L 149.78125 66.003906 L 148.308594 67.679688 Z M 152.726562 66.003906 "/>
<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 37.348012 17.965955 L 72.400963 17.965955 " transform="matrix(0.994032,0,0,-0.994032,77.566293,53.300138)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 152.730469 35.441406 L 148.3125 33.769531 L 149.78125 35.441406 L 148.3125 37.113281 Z M 152.730469 35.441406 "/>
<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 6.052134 0.00182987 L 1.607555 1.683775 L 3.089081 0.00182987 L 1.607555 -1.684045 Z M 6.052134 0.00182987 " transform="matrix(0.994013,0,0,-0.994013,146.710664,66.005725)"/>
<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 6.05311 0.000155164 L 1.608616 1.682068 L 3.086184 0.000155164 L 1.608616 -1.681758 Z M 6.05311 0.000155164 " transform="matrix(0.994032,0,0,-0.994032,146.713484,35.44156)"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-4" x="141.293941" y="60.724347"/>
<use xlink:href="#glyph0-8" x="141.295663" y="30.16007"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-1" x="145.899202" y="62.209402"/>
<use xlink:href="#glyph2-1" x="145.901012" y="31.645154"/>
</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 37.348012 -10.779823 L 72.400963 -10.779823 " transform="matrix(0.994032,0,0,-0.994032,77.566293,53.300138)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 152.730469 64.015625 L 148.3125 62.34375 L 149.78125 64.015625 L 148.3125 65.6875 Z M 152.730469 64.015625 "/>
<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 6.05311 -0.000772783 L 1.608616 1.68114 L 3.086184 -0.000772783 L 1.608616 -1.682686 Z M 6.05311 -0.000772783 " transform="matrix(0.994032,0,0,-0.994032,146.713484,64.014857)"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-8" x="141.295663" y="58.732522"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-2" x="145.901012" y="60.2186"/>
</g>
</g>
</svg>

Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 19 KiB

After

Width:  |  Height:  |  Size: 28 KiB

149
tikz/index.org
View File

@ -104,42 +104,6 @@ Configuration file is accessible [[file:config.org][here]].
#+RESULTS:
[[file:figs/sf_hinf_filters_b.png]]
* H-Infinity - Optimal Complementary Filters
#+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}, fill=black!20!white, dashed] (P) {};
\node[above] at (P.north) {$P$};
\coordinate[] (inputn1) at ($(P.south west)!0.8!(P.north west) + (-\cdist, 0)$);
\coordinate[] (inputn2) at ($(P.south west)!0.5!(P.north west) + (-\cdist, 0)$);
\coordinate[] (inputu) at ($(P.south west)!0.2!(P.north west) + (-\cdist, 0)$);
\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] (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]{$\tilde{n}_1$} -- (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]{$\hat{x}$};
\end{tikzpicture}
#+end_src
#+name: fig:h_infinity_optimal_comp_filters
#+caption: H-Infinity - Optimal Complementary Filters ([[./figs/h_infinity_optimal_comp_filters.png][png]], [[./figs/h_infinity_optimal_comp_filters.pdf][pdf]], [[./figs/h_infinity_optimal_comp_filters.tex][tex]]).
#+RESULTS:
[[file:figs/h_infinity_optimal_comp_filters.png]]
* Generate Complementary Filters using Feedback Control Architecture
#+begin_src latex :file complementary_filters_feedback_architecture.pdf :tangle figs/complementary_filters_feedback_architecture.tex :exports both
\begin{tikzpicture}
@ -162,7 +126,7 @@ Configuration file is accessible [[file:config.org][here]].
[[file:figs/complementary_filters_feedback_architecture.png]]
* H-Infinity Synthesis for Robust Sensor Fusion
#+begin_src latex :file h_infinity_robust_fusion.pdf :tangle figs/h_infinity_robust_fusion.tex :exports both
#+begin_src latex :file h_infinity_robust_fusion_old.pdf :tangle figs/h_infinity_robust_fusion_old.tex :exports both
<<tikz_default>>
\begin{tikzpicture}
\node[block={4.0cm}{3.0cm}, dashed] (P) {};
@ -191,10 +155,11 @@ Configuration file is accessible [[file:config.org][here]].
\end{tikzpicture}
#+end_src
#+name: fig:h_infinity_robust_fusion
#+caption: H-Infinity Synthesis for Robust Sensor Fusion ([[./figs/h_infinity_robust_fusion.png][png]], [[./figs/h_infinity_robust_fusion.pdf][pdf]], [[./figs/h_infinity_robust_fusion.tex][tex]]).
#+name: fig:h_infinity_robust_fusion_old
#+caption: H-Infinity Synthesis for Robust Sensor Fusion ([[./figs/h_infinity_robust_fusion_old.png][png]], [[./figs/h_infinity_robust_fusion_old.pdf][pdf]], [[./figs/h_infinity_robust_fusion_old.tex][tex]]).
#+RESULTS:
[[file:figs/h_infinity_robust_fusion.png]]
[[file:figs/h_infinity_robust_fusion_old.png]]
* Fusion of two noisy sensors
#+begin_src latex :file fusion_two_noisy_sensors.pdf :tangle figs/fusion_two_noisy_sensors.tex
<<tikz_default>>
@ -761,3 +726,107 @@ Configuration file is accessible [[file:config.org][here]].
#+caption: Fusion of two noisy sensors_with_dyn ([[./figs/fusion_gain_mismatch.png][png]], [[./figs/fusion_gain_mismatch.pdf][pdf]], [[./figs/fusion_gain_mismatch.tex][tex]]).
#+RESULTS:
[[file:figs/fusion_gain_mismatch.png]]
* Architecture used for $\mathcal{H}_\infty$ synthesis of complementary filters
#+begin_src latex :file h_infinity_robust_fusion.pdf :tangle figs/h_infinity_robust_fusion.tex :exports both
<<tikz_default>>
\begin{tikzpicture}
\node[block={4.0cm}{2.5cm}, fill=black!20!white, dashed] (P) {};
\node[above] at (P.north) {$P(s)$};
\coordinate[] (inputw) at ($(P.south west)!0.75!(P.north west) + (-0.7, 0)$);
\coordinate[] (inputu) at ($(P.south west)!0.35!(P.north west) + (-0.7, 0)$);
\coordinate[] (output1) at ($(P.south east)!0.75!(P.north east) + ( 0.7, 0)$);
\coordinate[] (output2) at ($(P.south east)!0.35!(P.north east) + ( 0.7, 0)$);
\coordinate[] (outputv) at ($(P.south east)!0.1!(P.north east) + ( 0.7, 0)$);
\node[block, left=1.4 of output1] (W1){$W_1(s)$};
\node[block, left=1.4 of output2] (W2){$W_2(s)$};
\node[addb={+}{}{}{}{-}, left=of W1] (sub) {};
\node[block, below=0.3 of P] (H2) {$H_2(s)$};
\draw[->] (inputw) node[above right]{$w$} -- (sub.west);
\draw[->] (H2.west) -| ($(inputu)+(0.35, 0)$) node[above]{$u$} -- (W2.west);
\draw[->] (inputu-|sub) node[branch]{} -- (sub.south);
\draw[->] (sub.east) -- (W1.west);
\draw[->] ($(sub.west)+(-0.6, 0)$) node[branch]{} |- ($(outputv)+(-0.35, 0)$) node[above]{$v$} |- (H2.east);
\draw[->] (W1.east) -- (output1)node[above left]{$z_1$};
\draw[->] (W2.east) -- (output2)node[above left]{$z_2$};
\end{tikzpicture}
#+end_src
#+name: fig:h_infinity_robust_fusion
#+caption: Architecture used for $\mathcal{H}_\infty$ synthesis of complementary filters ([[./figs/h_infinity_robust_fusion.png][png]], [[./figs/h_infinity_robust_fusion.pdf][pdf]], [[./figs/h_infinity_robust_fusion.tex][tex]]).
#+RESULTS:
[[file:figs/h_infinity_robust_fusion.png]]
* H-Infinity - Optimal Complementary Filters
#+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}, fill=black!20!white, dashed] (P) {};
\node[above] at (P.north) {$P$};
\coordinate[] (inputn1) at ($(P.south west)!0.8!(P.north west) + (-\cdist, 0)$);
\coordinate[] (inputn2) at ($(P.south west)!0.5!(P.north west) + (-\cdist, 0)$);
\coordinate[] (inputu) at ($(P.south west)!0.2!(P.north west) + (-\cdist, 0)$);
\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] (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]{$\tilde{n}_1$} -- (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]{$\hat{x}$};
\end{tikzpicture}
#+end_src
#+name: fig:h_infinity_optimal_comp_filters
#+caption: H-Infinity - Optimal Complementary Filters ([[./figs/h_infinity_optimal_comp_filters.png][png]], [[./figs/h_infinity_optimal_comp_filters.pdf][pdf]], [[./figs/h_infinity_optimal_comp_filters.tex][tex]]).
#+RESULTS:
[[file:figs/h_infinity_optimal_comp_filters.png]]
* H-Infinity - Optimal Complementary Filters - Alternative
#+begin_src latex :file h_infinity_optimal_comp_filters_bis.pdf :tangle figs/h_infinity_optimal_comp_filters_bis.tex :exports both
<<tikz_default>>
\begin{tikzpicture}
\node[block={4.0cm}{2.5cm}, fill=black!20!white, dashed] (P) {};
\node[above] at (P.north) {$P(s)$};
\coordinate[] (inputw) at ($(P.south west)!0.75!(P.north west) + (-0.7, 0)$);
\coordinate[] (inputu) at ($(P.south west)!0.35!(P.north west) + (-0.7, 0)$);
\coordinate[] (output1) at ($(P.south east)!0.75!(P.north east) + ( 0.7, 0)$);
\coordinate[] (output2) at ($(P.south east)!0.35!(P.north east) + ( 0.7, 0)$);
\coordinate[] (outputv) at ($(P.south east)!0.1!(P.north east) + ( 0.7, 0)$);
\node[block, left=1.4 of output1] (N1){$N_1(s)$};
\node[block, left=1.4 of output2] (N2){$N_2(s)$};
\node[addb={+}{}{}{}{-}, left=of N1] (sub) {};
\node[block, below=0.3 of P] (H2) {$H_2(s)$};
\draw[->] (inputw) node[above right]{$w$} -- (sub.west);
\draw[->] (H2.west) -| ($(inputu)+(0.35, 0)$) node[above]{$u$} -- (N2.west);
\draw[->] (inputu-|sub) node[branch]{} -- (sub.south);
\draw[->] (sub.east) -- (N1.west);
\draw[->] ($(sub.west)+(-0.6, 0)$) node[branch]{} |- ($(outputv)+(-0.35, 0)$) node[above]{$v$} |- (H2.east);
\draw[->] (N1.east) -- (output1)node[above left]{$z_1$};
\draw[->] (N2.east) -- (output2)node[above left]{$z_2$};
\end{tikzpicture}
#+end_src
#+name: fig:h_infinity_optimal_comp_filters_bis
#+caption: Architecture used for $\mathcal{H}_\infty$ synthesis of complementary filters ([[./figs/h_infinity_optimal_comp_filters_bis.png][png]], [[./figs/h_infinity_optimal_comp_filters_bis.pdf][pdf]], [[./figs/h_infinity_optimal_comp_filters_bis.tex][tex]]).
#+RESULTS:
[[file:figs/h_infinity_optimal_comp_filters_bis.png]]