tdehaeze/dehaeze21_desig_compl_filte
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Update journal paper

Browse Source
This commit is contained in:
Thomas Dehaeze 2021-06-21 11:40:36 +02:00
parent eccd0eeba9
commit ad04f8a16d
27 changed files with 839 additions and 288 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

56
Makefile Normal file
View File

@ -0,0 +1,56 @@
.PHONY: all paper help html publish watch clean cp-figs
SHELL := /bin/bash
PAPERDIR=paper
MATLABDIR=matlab
TIKZDIR=tikz
PAPERNAME=paper
all: paper html publish
paper: cp-figs tangle tex pdf clean
help:
@echo "Usage: make <command>"
@echo " all - Cp-figs tex pdf html publish"
@echo " paper - Compile the org file to a pdf"
@echo " html - Export all the org files to html"
@echo " publish - Commit everything and push to repository"
@echo " tex - Export to paper in org format to tex"
@echo " tangle - Tangle everything that is in the org paper and tikz file"
@echo " pdf - Compile the tex file to pdf"
@echo " watch - Watch the tex file for changes and compile"
@echo " clean - Clean the paper directory"
@echo " cp-figs - Copy all the necessary figures from tikz and matlab folder to paper folder"
html:
for f in *.org; do emacsclient -e "(progn (find-file \"$$f\") (org-html-export-to-html))"; done
for f in $(TIKZDIR)/*.org; do emacsclient -e "(progn (find-file \"$$f\") (org-html-export-to-html))"; done
for f in $(MATLABDIR)/*.org; do emacsclient -e "(progn (find-file \"$$f\") (org-html-export-to-html))"; done
publish:
git add . && git commit -m "Update - $$(date +%F)" && git push origin master
tex: $(PAPERDIR)/$(PAPERNAME).org
emacsclient -e '(progn (find-file "$(PAPERDIR)/$(PAPERNAME).org") (org-latex-export-to-latex))'
tangle: $(PAPERDIR)/$(PAPERNAME).org
emacsclient -e '(progn (find-file "$(PAPERDIR)/$(PAPERNAME).org") (org-babel-tangle))'
emacsclient -e '(progn (find-file "$(TIKZDIR)/index.org") (org-babel-tangle))'
pdf: $(PAPERDIR)/$(PAPERNAME).tex
latexmk -cd -quiet -bibtex $(PREVIEW_CONTINUOUSLY) -f -pdf -pdflatex="xelatex -synctex=1 -interaction nonstopmode" -use-make $(PAPERDIR)/$(PAPERNAME).tex
# Set the PREVIEW_CONTINUOUSLY variable to -pvc to switch latexmk into the preview continuously mode
watch: PREVIEW_CONTINUOUSLY=-pvc
watch: pdf
watch-org: $(PAPERDIR)/$(PAPERNAME).org
echo $(PAPERDIR)/$(PAPERNAME).org | entr -s 'make tangle tex pdf'
clean:
latexmk -cd -c -bibtex $(PAPERDIR)/$(PAPERNAME).tex
cp-figs:
bash scripts/cp-figs.sh

BIN
journal/figs/comp_filter_three_hinf.pdf
View File

Binary file not shown.

BIN
journal/figs/comp_filter_three_hinf.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 19 KiB

After

Width:  |  Height:  |  Size: 19 KiB

65
journal/figs/comp_filter_three_hinf.svg
View File

@ -33,22 +33,22 @@
<path style="stroke:none;" d=""/>
</symbol>
<symbol overflow="visible" id="glyph1-1">
<path style="stroke:none;" d="M 3.296875 2.390625 C 3.296875 2.359375 3.296875 2.34375 3.125 2.171875 C 1.875 0.921875 1.5625 -0.96875 1.5625 -2.484375 C 1.5625 -4.21875 1.9375 -5.953125 3.171875 -7.203125 C 3.296875 -7.3125 3.296875 -7.328125 3.296875 -7.359375 C 3.296875 -7.4375 3.25 -7.46875 3.1875 -7.46875 C 3.09375 -7.46875 2.203125 -6.78125 1.609375 -5.53125 C 1.109375 -4.421875 0.984375 -3.328125 0.984375 -2.484375 C 0.984375 -1.71875 1.09375 -0.5 1.640625 0.609375 C 2.234375 1.84375 3.09375 2.484375 3.1875 2.484375 C 3.25 2.484375 3.296875 2.453125 3.296875 2.390625 Z M 3.296875 2.390625 "/>
<path style="stroke:none;" d="M 3.578125 -1.203125 C 3.578125 -1.75 3.140625 -2.296875 2.375 -2.453125 C 3.09375 -2.71875 3.359375 -3.234375 3.359375 -3.671875 C 3.359375 -4.21875 2.734375 -4.625 1.953125 -4.625 C 1.1875 -4.625 0.59375 -4.25 0.59375 -3.6875 C 0.59375 -3.453125 0.75 -3.328125 0.953125 -3.328125 C 1.171875 -3.328125 1.3125 -3.484375 1.3125 -3.671875 C 1.3125 -3.875 1.171875 -4.03125 0.953125 -4.046875 C 1.203125 -4.34375 1.671875 -4.421875 1.9375 -4.421875 C 2.25 -4.421875 2.6875 -4.265625 2.6875 -3.671875 C 2.6875 -3.375 2.59375 -3.046875 2.40625 -2.84375 C 2.1875 -2.578125 1.984375 -2.5625 1.640625 -2.53125 C 1.46875 -2.515625 1.453125 -2.515625 1.421875 -2.515625 C 1.421875 -2.515625 1.34375 -2.5 1.34375 -2.421875 C 1.34375 -2.328125 1.40625 -2.328125 1.53125 -2.328125 L 1.90625 -2.328125 C 2.453125 -2.328125 2.84375 -1.953125 2.84375 -1.203125 C 2.84375 -0.34375 2.328125 -0.078125 1.9375 -0.078125 C 1.65625 -0.078125 1.03125 -0.15625 0.75 -0.578125 C 1.078125 -0.578125 1.15625 -0.8125 1.15625 -0.96875 C 1.15625 -1.1875 0.984375 -1.34375 0.765625 -1.34375 C 0.578125 -1.34375 0.375 -1.21875 0.375 -0.9375 C 0.375 -0.28125 1.09375 0.140625 1.9375 0.140625 C 2.90625 0.140625 3.578125 -0.515625 3.578125 -1.203125 Z M 3.578125 -1.203125 "/>
</symbol>
<symbol overflow="visible" id="glyph1-2">
<path style="stroke:none;" d="M 2.875 -2.484375 C 2.875 -3.265625 2.765625 -4.46875 2.21875 -5.59375 C 1.625 -6.8125 0.765625 -7.46875 0.671875 -7.46875 C 0.609375 -7.46875 0.5625 -7.421875 0.5625 -7.359375 C 0.5625 -7.328125 0.5625 -7.3125 0.75 -7.140625 C 1.734375 -6.15625 2.296875 -4.5625 2.296875 -2.484375 C 2.296875 -0.78125 1.9375 0.96875 0.703125 2.21875 C 0.5625 2.34375 0.5625 2.359375 0.5625 2.390625 C 0.5625 2.453125 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 -1.65625 2.875 -2.484375 Z M 2.875 -2.484375 "/>
<path style="stroke:none;" d="M 3.296875 0 L 3.296875 -0.25 L 3.03125 -0.25 C 2.328125 -0.25 2.328125 -0.34375 2.328125 -0.578125 L 2.328125 -4.4375 C 2.328125 -4.625 2.328125 -4.625 2.125 -4.625 C 1.671875 -4.1875 1.046875 -4.1875 0.765625 -4.1875 L 0.765625 -3.9375 C 0.921875 -3.9375 1.390625 -3.9375 1.765625 -4.125 L 1.765625 -0.578125 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 3.296875 0 "/>
</symbol>
<symbol overflow="visible" id="glyph1-3">
<path style="stroke:none;" d="M 3.515625 -1.265625 L 3.28125 -1.265625 C 3.265625 -1.109375 3.1875 -0.703125 3.09375 -0.640625 C 3.046875 -0.59375 2.515625 -0.59375 2.40625 -0.59375 L 1.125 -0.59375 C 1.859375 -1.234375 2.109375 -1.4375 2.515625 -1.765625 C 3.03125 -2.171875 3.515625 -2.609375 3.515625 -3.265625 C 3.515625 -4.109375 2.78125 -4.625 1.890625 -4.625 C 1.03125 -4.625 0.4375 -4.015625 0.4375 -3.375 C 0.4375 -3.03125 0.734375 -2.984375 0.8125 -2.984375 C 0.96875 -2.984375 1.171875 -3.109375 1.171875 -3.359375 C 1.171875 -3.484375 1.125 -3.734375 0.765625 -3.734375 C 0.984375 -4.21875 1.453125 -4.375 1.78125 -4.375 C 2.484375 -4.375 2.84375 -3.828125 2.84375 -3.265625 C 2.84375 -2.65625 2.40625 -2.1875 2.1875 -1.9375 L 0.515625 -0.265625 C 0.4375 -0.203125 0.4375 -0.1875 0.4375 0 L 3.3125 0 Z M 3.515625 -1.265625 "/>
</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 3.296875 0 L 3.296875 -0.25 L 3.03125 -0.25 C 2.328125 -0.25 2.328125 -0.34375 2.328125 -0.578125 L 2.328125 -4.4375 C 2.328125 -4.625 2.328125 -4.625 2.125 -4.625 C 1.671875 -4.1875 1.046875 -4.1875 0.765625 -4.1875 L 0.765625 -3.9375 C 0.921875 -3.9375 1.390625 -3.9375 1.765625 -4.125 L 1.765625 -0.578125 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 3.296875 0 "/>
<path style="stroke:none;" d="M 3.296875 2.390625 C 3.296875 2.359375 3.296875 2.34375 3.125 2.171875 C 1.875 0.921875 1.5625 -0.96875 1.5625 -2.484375 C 1.5625 -4.21875 1.9375 -5.953125 3.171875 -7.203125 C 3.296875 -7.3125 3.296875 -7.328125 3.296875 -7.359375 C 3.296875 -7.4375 3.25 -7.46875 3.1875 -7.46875 C 3.09375 -7.46875 2.203125 -6.78125 1.609375 -5.53125 C 1.109375 -4.421875 0.984375 -3.328125 0.984375 -2.484375 C 0.984375 -1.71875 1.09375 -0.5 1.640625 0.609375 C 2.234375 1.84375 3.09375 2.484375 3.1875 2.484375 C 3.25 2.484375 3.296875 2.453125 3.296875 2.390625 Z M 3.296875 2.390625 "/>
</symbol>
<symbol overflow="visible" id="glyph2-2">
<path style="stroke:none;" d="M 3.515625 -1.265625 L 3.28125 -1.265625 C 3.265625 -1.109375 3.1875 -0.703125 3.09375 -0.640625 C 3.046875 -0.59375 2.515625 -0.59375 2.40625 -0.59375 L 1.125 -0.59375 C 1.859375 -1.234375 2.109375 -1.4375 2.515625 -1.765625 C 3.03125 -2.171875 3.515625 -2.609375 3.515625 -3.265625 C 3.515625 -4.109375 2.78125 -4.625 1.890625 -4.625 C 1.03125 -4.625 0.4375 -4.015625 0.4375 -3.375 C 0.4375 -3.03125 0.734375 -2.984375 0.8125 -2.984375 C 0.96875 -2.984375 1.171875 -3.109375 1.171875 -3.359375 C 1.171875 -3.484375 1.125 -3.734375 0.765625 -3.734375 C 0.984375 -4.21875 1.453125 -4.375 1.78125 -4.375 C 2.484375 -4.375 2.84375 -3.828125 2.84375 -3.265625 C 2.84375 -2.65625 2.40625 -2.1875 2.1875 -1.9375 L 0.515625 -0.265625 C 0.4375 -0.203125 0.4375 -0.1875 0.4375 0 L 3.3125 0 Z M 3.515625 -1.265625 "/>
</symbol>
<symbol overflow="visible" id="glyph2-3">
<path style="stroke:none;" d="M 3.578125 -1.203125 C 3.578125 -1.75 3.140625 -2.296875 2.375 -2.453125 C 3.09375 -2.71875 3.359375 -3.234375 3.359375 -3.671875 C 3.359375 -4.21875 2.734375 -4.625 1.953125 -4.625 C 1.1875 -4.625 0.59375 -4.25 0.59375 -3.6875 C 0.59375 -3.453125 0.75 -3.328125 0.953125 -3.328125 C 1.171875 -3.328125 1.3125 -3.484375 1.3125 -3.671875 C 1.3125 -3.875 1.171875 -4.03125 0.953125 -4.046875 C 1.203125 -4.34375 1.671875 -4.421875 1.9375 -4.421875 C 2.25 -4.421875 2.6875 -4.265625 2.6875 -3.671875 C 2.6875 -3.375 2.59375 -3.046875 2.40625 -2.84375 C 2.1875 -2.578125 1.984375 -2.5625 1.640625 -2.53125 C 1.46875 -2.515625 1.453125 -2.515625 1.421875 -2.515625 C 1.421875 -2.515625 1.34375 -2.5 1.34375 -2.421875 C 1.34375 -2.328125 1.40625 -2.328125 1.53125 -2.328125 L 1.90625 -2.328125 C 2.453125 -2.328125 2.84375 -1.953125 2.84375 -1.203125 C 2.84375 -0.34375 2.328125 -0.078125 1.9375 -0.078125 C 1.65625 -0.078125 1.03125 -0.15625 0.75 -0.578125 C 1.078125 -0.578125 1.15625 -0.8125 1.15625 -0.96875 C 1.15625 -1.1875 0.984375 -1.34375 0.765625 -1.34375 C 0.578125 -1.34375 0.375 -1.21875 0.375 -0.9375 C 0.375 -0.28125 1.09375 0.140625 1.9375 0.140625 C 2.90625 0.140625 3.578125 -0.515625 3.578125 -1.203125 Z M 3.578125 -1.203125 "/>
<path style="stroke:none;" d="M 2.875 -2.484375 C 2.875 -3.265625 2.765625 -4.46875 2.21875 -5.59375 C 1.625 -6.8125 0.765625 -7.46875 0.671875 -7.46875 C 0.609375 -7.46875 0.5625 -7.421875 0.5625 -7.359375 C 0.5625 -7.328125 0.5625 -7.3125 0.75 -7.140625 C 1.734375 -6.15625 2.296875 -4.5625 2.296875 -2.484375 C 2.296875 -0.78125 1.9375 0.96875 0.703125 2.21875 C 0.5625 2.34375 0.5625 2.359375 0.5625 2.390625 C 0.5625 2.453125 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 -1.65625 2.875 -2.484375 Z M 2.875 -2.484375 "/>
</symbol>
<symbol overflow="visible" id="glyph3-0">
<path style="stroke:none;" d=""/>
@ -94,64 +94,67 @@
<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-miterlimit:10;" d="M -70.86535 -63.781263 L 70.866926 -63.781263 L 70.866926 63.780524 L -70.86535 63.780524 Z M -70.86535 -63.781263 " transform="matrix(0.998444,0,0,-0.998444,92.493354,81.751584)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-1" x="82.410069" y="11.275426"/>
<use xlink:href="#glyph0-1" x="80.86947" y="11.275426"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-1" x="90.177962" y="11.275426"/>
<use xlink:href="#glyph1-1" x="87.255517" y="12.767102"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-2" x="94.045934" y="11.275426"/>
<use xlink:href="#glyph2-1" x="91.718561" y="11.275426"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-2" x="98.708667" y="11.275426"/>
<use xlink:href="#glyph0-2" x="95.586533" y="11.275426"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-2" x="100.249266" y="11.275426"/>
</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 18.085571 27.227548 L 51.023547 27.227548 L 51.023547 49.907372 L 18.085571 49.907372 Z M 18.085571 27.227548 " transform="matrix(0.998444,0,0,-0.998444,92.493354,81.751584)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-3" x="113.866043" y="45.731724"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-1" x="123.260401" y="47.224397"/>
<use xlink:href="#glyph1-2" x="123.260401" y="47.224397"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-1" x="127.723445" y="45.731724"/>
<use xlink:href="#glyph2-1" x="127.723445" y="45.731724"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-2" x="131.591416" y="45.731724"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-2" x="136.254149" y="45.731724"/>
<use xlink:href="#glyph2-2" x="136.254149" y="45.731724"/>
</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 18.085571 -4.91231 L 51.023547 -4.91231 L 51.023547 17.767514 L 18.085571 17.767514 Z M 18.085571 -4.91231 " transform="matrix(0.998444,0,0,-0.998444,92.493354,81.751584)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-3" x="113.866043" y="77.820711"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-2" x="123.260401" y="79.312386"/>
<use xlink:href="#glyph1-3" x="123.260401" y="79.312386"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-1" x="127.723445" y="77.820711"/>
<use xlink:href="#glyph2-1" x="127.723445" y="77.820711"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-2" x="131.591416" y="77.820711"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-2" x="136.254149" y="77.820711"/>
<use xlink:href="#glyph2-2" x="136.254149" y="77.820711"/>
</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 18.085571 -37.048256 L 51.023547 -37.048256 L 51.023547 -14.372344 L 18.085571 -14.372344 Z M 18.085571 -37.048256 " transform="matrix(0.998444,0,0,-0.998444,92.493354,81.751584)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-3" x="113.866043" y="109.909697"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-3" x="123.260401" y="111.401373"/>
<use xlink:href="#glyph1-1" x="123.260401" y="111.401373"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-1" x="127.723445" y="109.909697"/>
<use xlink:href="#glyph2-1" x="127.723445" y="109.909697"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-2" x="131.591416" y="109.909697"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-2" x="136.254149" y="109.909697"/>
<use xlink:href="#glyph2-2" x="136.254149" y="109.909697"/>
</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 0.577858 38.569416 C 0.577858 42.419157 -2.544188 45.541203 -6.393929 45.541203 C -10.247582 45.541203 -13.369628 42.419157 -13.369628 38.569416 C -13.369628 34.715763 -10.247582 31.593717 -6.393929 31.593717 C -2.544188 31.593717 0.577858 34.715763 0.577858 38.569416 Z M 0.577858 38.569416 " transform="matrix(0.998444,0,0,-0.998444,92.493354,81.751584)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
@ -175,31 +178,31 @@
<use xlink:href="#glyph0-4" x="79.928936" y="166.58836"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-2" x="88.19705" y="168.081033"/>
<use xlink:href="#glyph1-3" x="88.19705" y="168.081033"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-1" x="92.659095" y="166.58836"/>
<use xlink:href="#glyph2-1" x="92.659095" y="166.58836"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-2" x="96.528065" y="166.58836"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-2" x="101.190798" y="166.58836"/>
<use xlink:href="#glyph2-2" x="101.190798" y="166.58836"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-4" x="79.928936" y="178.525754"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-3" x="88.19705" y="180.017429"/>
<use xlink:href="#glyph1-1" x="88.19705" y="180.017429"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-1" x="92.659095" y="178.525754"/>
<use xlink:href="#glyph2-1" x="92.659095" y="178.525754"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-2" x="96.528065" y="178.525754"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-2" x="101.190798" y="178.525754"/>
<use xlink:href="#glyph2-2" x="101.190798" y="178.525754"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph5-2" x="105.05877" y="158.630762"/>
@ -241,7 +244,7 @@
<use xlink:href="#glyph0-6" x="170.657529" y="37.939868"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-1" x="175.283319" y="39.432541"/>
<use xlink:href="#glyph1-2" x="175.283319" y="39.432541"/>
</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 51.524326 6.429558 L 86.574964 6.429558 " transform="matrix(0.998444,0,0,-0.998444,92.493354,81.751584)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 182.144531 75.332031 L 177.703125 73.652344 L 179.179688 75.332031 L 177.703125 77.015625 Z M 182.144531 75.332031 "/>
@ -252,7 +255,7 @@
<use xlink:href="#glyph0-6" x="170.657529" y="70.028855"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-2" x="175.283319" y="71.521528"/>
<use xlink:href="#glyph1-3" x="175.283319" y="71.521528"/>
</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 51.524326 -25.7103 L 86.574964 -25.7103 " transform="matrix(0.998444,0,0,-0.998444,92.493354,81.751584)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 182.144531 107.421875 L 177.703125 105.742188 L 179.179688 107.421875 L 177.703125 109.101562 Z M 182.144531 107.421875 "/>
@ -263,19 +266,19 @@
<use xlink:href="#glyph0-6" x="170.657529" y="102.117842"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-3" x="175.283319" y="103.609517"/>
<use xlink:href="#glyph1-1" x="175.283319" y="103.609517"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-7" x="3.857499" y="70.028855"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-1" x="9.552623" y="71.521528"/>
<use xlink:href="#glyph1-2" x="9.552623" y="71.521528"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-7" x="3.857499" y="102.117842"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-2" x="9.552623" y="103.609517"/>
<use xlink:href="#glyph1-3" x="9.552623" y="103.609517"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-8" x="172.612482" y="129.280507"/>

Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 36 KiB

After

Width:  |  Height:  |  Size: 36 KiB

BIN
journal/figs/feedback_sensor_fusion.pdf
View File

Binary file not shown.

BIN
journal/figs/feedback_sensor_fusion.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 6.8 KiB

After

Width:  |  Height:  |  Size: 7.4 KiB

110
journal/figs/feedback_sensor_fusion.svg
View File

@ -1,115 +1,133 @@
<?xml version="1.0" encoding="UTF-8"?>
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="178.289pt" height="65.971pt" viewBox="0 0 178.289 65.971" version="1.2">
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="181.452pt" height="65.971pt" viewBox="0 0 181.452 65.971" 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 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 "/>
<path style="stroke:none;" d="M 8.09375 -2.984375 C 8.09375 -3.203125 7.890625 -3.203125 7.71875 -3.203125 L 4.53125 -3.203125 L 4.53125 -6.390625 C 4.53125 -6.5625 4.53125 -6.765625 4.328125 -6.765625 C 4.109375 -6.765625 4.109375 -6.578125 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 7.71875 -2.78125 C 7.875 -2.78125 8.09375 -2.78125 8.09375 -2.984375 Z M 8.09375 -2.984375 "/>
</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 6.890625 -2.484375 C 6.890625 -2.671875 6.703125 -2.671875 6.5625 -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 6.5625 -2.28125 C 6.703125 -2.28125 6.890625 -2.28125 6.890625 -2.484375 Z M 6.890625 -2.484375 "/>
<path style="stroke:none;" d="M 6.890625 -2.484375 C 6.890625 -2.6875 6.703125 -2.6875 6.5625 -2.6875 L 1.15625 -2.6875 C 1.015625 -2.6875 0.828125 -2.6875 0.828125 -2.484375 C 0.828125 -2.28125 1.015625 -2.28125 1.15625 -2.28125 L 6.5625 -2.28125 C 6.703125 -2.28125 6.890625 -2.28125 6.890625 -2.484375 Z M 6.890625 -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 6.375 -2.453125 C 6.375 -2.484375 6.34375 -2.5625 6.265625 -2.5625 C 6.171875 -2.5625 6.15625 -2.515625 6.09375 -2.34375 C 5.75 -1.4375 5.3125 -0.3125 3.609375 -0.3125 L 2.671875 -0.3125 C 2.53125 -0.3125 2.515625 -0.3125 2.453125 -0.3125 C 2.34375 -0.328125 2.328125 -0.34375 2.328125 -0.421875 C 2.328125 -0.453125 2.328125 -0.46875 2.375 -0.640625 L 3.703125 -6 C 3.796875 -6.359375 3.828125 -6.46875 4.765625 -6.46875 C 5.0625 -6.46875 5.140625 -6.46875 5.140625 -6.65625 C 5.140625 -6.78125 5.03125 -6.78125 4.984375 -6.78125 L 3.515625 -6.75 L 2.1875 -6.78125 C 2.125 -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 0.484375 -0.3125 0.390625 -0.3125 0.390625 -0.109375 C 0.390625 0 0.46875 0 0.65625 0 L 5.25 0 C 5.484375 0 5.5 0 5.5625 -0.171875 L 6.34375 -2.3125 C 6.375 -2.421875 6.375 -2.453125 6.375 -2.453125 Z M 6.375 -2.453125 "/>
<path style="stroke:none;" d="M 6.390625 -2.453125 C 6.390625 -2.5 6.359375 -2.5625 6.265625 -2.5625 C 6.1875 -2.5625 6.171875 -2.515625 6.109375 -2.359375 C 5.765625 -1.4375 5.328125 -0.3125 3.609375 -0.3125 L 2.671875 -0.3125 C 2.53125 -0.3125 2.515625 -0.3125 2.453125 -0.3125 C 2.359375 -0.328125 2.328125 -0.34375 2.328125 -0.421875 C 2.328125 -0.453125 2.328125 -0.46875 2.375 -0.640625 L 3.71875 -6.015625 C 3.8125 -6.375 3.828125 -6.484375 4.765625 -6.484375 C 5.0625 -6.484375 5.140625 -6.484375 5.140625 -6.671875 C 5.140625 -6.78125 5.03125 -6.78125 4.984375 -6.78125 L 3.515625 -6.75 L 2.203125 -6.78125 C 2.125 -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 0.484375 0 0.65625 0 L 5.25 0 C 5.5 0 5.5 0 5.5625 -0.171875 L 6.34375 -2.3125 C 6.390625 -2.421875 6.390625 -2.453125 6.390625 -2.453125 Z M 6.390625 -2.453125 "/>
</symbol>
<symbol overflow="visible" id="glyph2-2">
<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 "/>
<path style="stroke:none;" d="M 3.9375 -1.546875 C 3.9375 -1.890625 3.75 -2.140625 3.625 -2.265625 C 3.359375 -2.546875 3.078125 -2.59375 2.640625 -2.6875 C 2.28125 -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 -4.109375 3.890625 -3.71875 C 3.609375 -3.703125 3.40625 -3.484375 3.40625 -3.265625 C 3.40625 -3.125 3.5 -2.984375 3.71875 -2.984375 C 3.9375 -2.984375 4.171875 -3.15625 4.171875 -3.53125 C 4.171875 -3.984375 3.75 -4.390625 2.984375 -4.390625 C 1.671875 -4.390625 1.3125 -3.375 1.3125 -2.9375 C 1.3125 -2.171875 2.046875 -2.015625 2.328125 -1.953125 C 2.859375 -1.859375 3.375 -1.75 3.375 -1.203125 C 3.375 -0.9375 3.140625 -0.109375 1.953125 -0.109375 C 1.8125 -0.109375 1.046875 -0.109375 0.8125 -0.640625 C 1.1875 -0.59375 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 3.9375 -1.09375 3.9375 -1.546875 Z M 3.9375 -1.546875 "/>
</symbol>
<symbol overflow="visible" id="glyph2-3">
<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 "/>
</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 3.984375 -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 "/>
<path style="stroke:none;" d="M 3.296875 2.390625 C 3.296875 2.359375 3.296875 2.328125 3.125 2.171875 C 1.875 0.921875 1.5625 -0.96875 1.5625 -2.484375 C 1.5625 -4.21875 1.9375 -5.9375 3.15625 -7.1875 C 3.296875 -7.296875 3.296875 -7.328125 3.296875 -7.359375 C 3.296875 -7.421875 3.25 -7.453125 3.1875 -7.453125 C 3.09375 -7.453125 2.203125 -6.78125 1.609375 -5.515625 C 1.109375 -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 1.84375 3.09375 2.484375 3.1875 2.484375 C 3.25 2.484375 3.296875 2.453125 3.296875 2.390625 Z M 3.296875 2.390625 "/>
</symbol>
<symbol overflow="visible" id="glyph3-2">
<path style="stroke:none;" d="M 2.875 -2.484375 C 2.875 -3.265625 2.765625 -4.46875 2.21875 -5.578125 C 1.625 -6.8125 0.765625 -7.453125 0.671875 -7.453125 C 0.609375 -7.453125 0.5625 -7.40625 0.5625 -7.359375 C 0.5625 -7.328125 0.5625 -7.296875 0.75 -7.125 C 1.734375 -6.140625 2.296875 -4.5625 2.296875 -2.484375 C 2.296875 -0.78125 1.921875 0.96875 0.703125 2.21875 C 0.5625 2.328125 0.5625 2.359375 0.5625 2.390625 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 -1.65625 2.875 -2.484375 Z M 2.875 -2.484375 "/>
</symbol>
<symbol overflow="visible" id="glyph3-3">
<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>
<symbol overflow="visible" id="glyph4-0">
<path style="stroke:none;" d=""/>
</symbol>
<symbol overflow="visible" id="glyph4-1">
<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 3.515625 -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="glyph4-2">
<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 3.28125 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>
</g>
<clipPath id="clip1">
<path d="M 22 18 L 158 18 L 158 65.824219 L 22 65.824219 Z M 22 18 "/>
<path d="M 22 18 L 161 18 L 161 65.855469 L 22 65.855469 Z M 22 18 "/>
</clipPath>
<clipPath id="clip2">
<path d="M 156 20 L 177.582031 20 L 177.582031 52 L 156 52 Z M 156 20 "/>
<path d="M 160 20 L 180.90625 20 L 180.90625 53 L 160 53 Z M 160 20 "/>
</clipPath>
<clipPath id="clip3">
<path d="M 129 0.117188 L 131 0.117188 L 131 26 L 129 26 Z M 129 0.117188 "/>
<path d="M 132 0.0859375 L 134 0.0859375 L 134 26 L 132 26 Z M 132 0.0859375 "/>
</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 23.273438 64.832031 L 157.132812 64.832031 L 157.132812 18.546875 L 23.273438 18.546875 Z M 23.273438 64.832031 "/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(89.99939%,89.99939%,89.99939%);fill-opacity:1;" d="M 23.296875 64.863281 L 160.4375 64.863281 L 160.4375 18.53125 L 23.296875 18.53125 Z M 23.296875 64.863281 "/>
<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 -12.95175 -28.655532 L 121.441444 -28.655532 L 121.441444 17.814205 L -12.95175 17.814205 Z M -12.95175 -28.655532 " transform="matrix(0.996028,0,0,-0.996028,36.173742,36.290321)"/>
<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 -12.950767 -28.656055 L 124.604034 -28.656055 L 124.604034 17.815903 L -12.950767 17.815903 Z M -12.950767 -28.656055 " transform="matrix(0.996989,0,0,-0.996989,36.208647,36.29351)"/>
</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 6.975057 0.0012632 C 6.975057 3.852498 3.853282 6.974273 -0.00187492 6.974273 C -3.85311 6.974273 -6.974885 3.852498 -6.974885 0.0012632 C -6.974885 -3.849972 -3.85311 -6.975668 -0.00187492 -6.975668 C 3.853282 -6.975668 6.975057 -3.849972 6.975057 0.0012632 Z M 6.975057 0.0012632 " transform="matrix(0.996028,0,0,-0.996028,36.173742,36.290321)"/>
<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 6.972503 0.000542422 C 6.972503 3.851983 3.84982 6.974666 -0.00162053 6.974666 C -3.853061 6.974666 -6.975745 3.851983 -6.975745 0.000542422 C -6.975745 -3.850898 -3.853061 -6.973582 -0.00162053 -6.973582 C 3.84982 -6.973582 6.972503 -3.850898 6.972503 0.000542422 Z M 6.972503 0.000542422 " transform="matrix(0.996989,0,0,-0.996989,36.208647,36.29351)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-1" x="31.853969" y="39.194738"/>
<use xlink:href="#glyph0-1" x="31.884706" y="39.200729"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-1" x="26.471434" y="51.009621"/>
<use xlink:href="#glyph1-1" x="26.496977" y="51.027013"/>
</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 35.8201 -11.340663 L 58.496108 -11.340663 L 58.496108 11.339267 L 35.8201 11.339267 Z M 35.8201 -11.340663 " transform="matrix(0.996028,0,0,-0.996028,36.173742,36.290321)"/>
<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 35.817167 -11.338286 L 61.660606 -11.338286 L 61.660606 11.339371 L 35.817167 11.339371 Z M 35.817167 -11.338286 " transform="matrix(0.996989,0,0,-0.996989,36.208647,36.29351)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-1" x="79.766897" y="39.6808"/>
</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 101.287171 0.0012632 C 101.287171 3.852498 98.165396 6.974273 94.314161 6.974273 C 90.462926 6.974273 87.341151 3.852498 87.341151 0.0012632 C 87.341151 -3.849972 90.462926 -6.975668 94.314161 -6.975668 C 98.165396 -6.975668 101.287171 -3.849972 101.287171 0.0012632 Z M 101.287171 0.0012632 " transform="matrix(0.996028,0,0,-0.996028,36.173742,36.290321)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-1" x="125.793348" y="39.194738"/>
</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 -11.606563 0.0012632 L -35.321856 0.0012632 " transform="matrix(0.996028,0,0,-0.996028,36.173742,36.290321)"/>
<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 0.0012632 L 1.607953 1.683727 L 3.086482 0.0012632 L 1.607953 -1.681201 Z M 6.055305 0.0012632 " transform="matrix(0.996028,0,0,-0.996028,21.785153,36.290321)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-1" x="5.428352" y="30.998424"/>
<use xlink:href="#glyph2-1" x="75.2298" y="38.777009"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-2" x="4.797867" y="30.998424"/>
<use xlink:href="#glyph3-1" x="81.989385" y="38.777009"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-1" x="10.46925" y="32.48649"/>
<use xlink:href="#glyph2-2" x="85.852718" y="38.777009"/>
</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 6.975057 0.0012632 L 30.686427 0.0012632 " transform="matrix(0.996028,0,0,-0.996028,36.173742,36.290321)"/>
<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 6.053696 0.0012632 L 1.610265 1.683727 L 3.088794 0.0012632 L 1.610265 -1.681201 Z M 6.053696 0.0012632 " transform="matrix(0.996028,0,0,-0.996028,63.911756,36.290321)"/>
<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 58.99418 0.0012632 L 82.709473 0.0012632 " transform="matrix(0.996028,0,0,-0.996028,36.173742,36.290321)"/>
<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 6.0522 0.0012632 L 1.608769 1.683727 L 3.087298 0.0012632 L 1.608769 -1.681201 Z M 6.0522 0.0012632 " transform="matrix(0.996028,0,0,-0.996028,115.725746,36.290321)"/>
<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 101.287171 0.0012632 L 136.340467 0.0012632 " transform="matrix(0.996028,0,0,-0.996028,36.173742,36.290321)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 175.175781 36.289062 L 170.75 34.613281 L 172.222656 36.289062 L 170.75 37.964844 Z M 175.175781 36.289062 "/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-2" x="90.508656" y="38.777009"/>
</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 104.453518 0.000542422 C 104.453518 3.851983 101.330834 6.974666 97.479394 6.974666 C 93.627953 6.974666 90.50527 3.851983 90.50527 0.000542422 C 90.50527 -3.850898 93.627953 -6.973582 97.479394 -6.973582 C 101.330834 -6.973582 104.453518 -3.850898 104.453518 0.000542422 Z M 104.453518 0.000542422 " transform="matrix(0.996989,0,0,-0.996989,36.208647,36.29351)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-1" x="129.068203" y="39.200729"/>
</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 -11.606876 0.000542422 L -35.318898 0.000542422 " transform="matrix(0.996989,0,0,-0.996989,36.208647,36.29351)"/>
<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 6.051892 0.000542422 L 1.608827 1.681385 L 3.085931 0.000542422 L 1.608827 -1.684218 Z M 6.051892 0.000542422 " transform="matrix(0.996989,0,0,-0.996989,21.806174,36.29351)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-3" x="5.43359" y="30.996507"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-3" x="4.802496" y="30.996507"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-1" x="10.479351" y="32.486009"/>
</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 6.972503 0.000542422 L 30.688443 0.000542422 " transform="matrix(0.996989,0,0,-0.996989,36.208647,36.29351)"/>
<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 6.052612 0.000542422 L 1.609546 1.681385 L 3.08665 0.000542422 L 1.609546 -1.684218 Z M 6.052612 0.000542422 " transform="matrix(0.996989,0,0,-0.996989,63.973425,36.29351)"/>
<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 62.158198 0.000542422 L 85.87022 0.000542422 " transform="matrix(0.996989,0,0,-0.996989,36.208647,36.29351)"/>
<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 6.054737 0.000542422 L 1.607753 1.681385 L 3.088775 0.000542422 L 1.607753 -1.684218 Z M 6.054737 0.000542422 " transform="matrix(0.996989,0,0,-0.996989,118.990838,36.29351)"/>
<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 104.453518 0.000542422 L 139.504368 0.000542422 " transform="matrix(0.996989,0,0,-0.996989,36.208647,36.29351)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 178.496094 36.292969 L 174.066406 34.617188 L 175.539062 36.292969 L 174.066406 37.972656 Z M 178.496094 36.292969 "/>
<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 6.053966 0.0012632 L 1.610535 1.683727 L 3.089064 0.0012632 L 1.610535 -1.681201 Z M 6.053966 0.0012632 " transform="matrix(0.996028,0,0,-0.996028,169.145862,36.290321)"/>
<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 6.051807 0.000542422 L 1.608741 1.681385 L 3.085845 0.000542422 L 1.608741 -1.684218 Z M 6.051807 0.000542422 " transform="matrix(0.996989,0,0,-0.996989,172.462509,36.29351)"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-1" x="167.743056" y="32.48649"/>
<use xlink:href="#glyph3-3" x="171.057393" y="32.486009"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-2" x="167.111575" y="32.48649"/>
<use xlink:href="#glyph2-3" x="170.426299" y="32.486009"/>
</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 115.460656 0.0012632 L 115.460656 -22.678667 L -0.00187492 -22.678667 L -0.00187492 -11.607347 " transform="matrix(0.996028,0,0,-0.996028,36.173742,36.290321)"/>
<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 6.054522 0.00187492 L 1.607169 1.684339 L 3.085698 0.00187492 L 1.607169 -1.684511 Z M 6.054522 0.00187492 " transform="matrix(0,-0.996028,-0.996028,0,36.173742,50.67891)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 153.164062 36.289062 C 153.164062 35.195312 152.273438 34.304688 151.175781 34.304688 C 150.082031 34.304688 149.191406 35.195312 149.191406 36.289062 C 149.191406 37.386719 150.082031 38.273438 151.175781 38.273438 C 152.273438 38.273438 153.164062 37.386719 153.164062 36.289062 Z M 153.164062 36.289062 "/>
<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 118.625094 0.000542422 L 118.625094 -22.677115 L -0.00162053 -22.677115 L -0.00162053 -11.608631 " transform="matrix(0.996989,0,0,-0.996989,36.208647,36.29351)"/>
<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 6.054055 0.00162053 L 1.607072 1.682463 L 3.088094 0.00162053 L 1.607072 -1.68314 Z M 6.054055 0.00162053 " transform="matrix(0,-0.996989,-0.996989,0,36.208647,50.695983)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 156.464844 36.292969 C 156.464844 35.195312 155.574219 34.308594 154.476562 34.308594 C 153.378906 34.308594 152.492188 35.195312 152.492188 36.292969 C 152.492188 37.390625 153.378906 38.28125 154.476562 38.28125 C 155.574219 38.28125 156.464844 37.390625 156.464844 36.292969 Z M 156.464844 36.292969 "/>
<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 94.314161 11.605952 L 94.314161 35.321244 " transform="matrix(0.996028,0,0,-0.996028,36.173742,36.290321)"/>
<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 97.479394 11.605798 L 97.479394 35.321738 " transform="matrix(0.996989,0,0,-0.996989,36.208647,36.29351)"/>
</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 6.052005 -0.00105905 L 1.608575 1.681405 L 3.087104 -0.00105905 L 1.608575 -1.683523 Z M 6.052005 -0.00105905 " transform="matrix(0,0.996028,0.996028,0,130.114336,21.901721)"/>
<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 6.05298 0.00123373 L 1.609915 1.682076 L 3.087019 0.00123373 L 1.609915 -1.683527 Z M 6.05298 0.00123373 " transform="matrix(0,0.996989,0.996989,0,133.393301,21.891026)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-1" x="134.547437" y="11.749188"/>
<use xlink:href="#glyph3-3" x="137.83074" y="11.728697"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-2" x="133.916952" y="11.749188"/>
<use xlink:href="#glyph2-3" x="137.199646" y="11.728697"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-2" x="139.588335" y="13.23825"/>
<use xlink:href="#glyph4-2" x="142.876501" y="13.219196"/>
</g>
</g>
</svg>

Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 14 KiB

After

Width:  |  Height:  |  Size: 17 KiB

BIN
journal/figs/feedback_sensor_fusion_arch.pdf Normal file
View File

Binary file not shown.

BIN
journal/figs/feedback_sensor_fusion_arch.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 19 KiB

315
journal/figs/feedback_sensor_fusion_arch.svg Normal file
View File

@ -0,0 +1,315 @@
<?xml version="1.0" encoding="UTF-8"?>
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="273.547pt" height="89.455pt" viewBox="0 0 273.547 89.455" 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 4.4375 -3.171875 L 4.4375 -3.390625 C 4.21875 -3.375 4 -3.359375 3.78125 -3.359375 C 3.640625 -3.359375 3.3125 -3.375 3.109375 -3.390625 L 3.109375 -3.171875 C 3.671875 -3.171875 3.671875 -2.96875 3.671875 -2.828125 L 3.671875 -0.78125 L 1.53125 -3.328125 C 1.484375 -3.390625 1.46875 -3.390625 1.375 -3.390625 L 0.40625 -3.390625 L 0.40625 -3.171875 L 0.609375 -3.171875 C 0.65625 -3.171875 0.890625 -3.15625 0.9375 -3.140625 C 0.953125 -3.140625 0.953125 -3.125 0.953125 -3.046875 L 0.953125 -0.546875 C 0.953125 -0.421875 0.953125 -0.21875 0.40625 -0.21875 L 0.40625 0 C 0.640625 -0.015625 0.859375 -0.015625 1.078125 -0.015625 C 1.21875 -0.015625 1.53125 -0.015625 1.734375 0 L 1.734375 -0.21875 C 1.1875 -0.21875 1.1875 -0.421875 1.1875 -0.546875 L 1.1875 -3 L 3.65625 -0.0625 C 3.703125 0 3.71875 0 3.78125 0 C 3.890625 0 3.890625 -0.046875 3.890625 -0.15625 L 3.890625 -2.828125 C 3.890625 -2.96875 3.890625 -3.171875 4.4375 -3.171875 Z M 4.4375 -3.171875 "/>
</symbol>
<symbol overflow="visible" id="glyph0-2">
<path style="stroke:none;" d="M 3.046875 -1.0625 C 3.046875 -1.671875 2.46875 -2.21875 1.6875 -2.21875 C 0.90625 -2.21875 0.328125 -1.671875 0.328125 -1.0625 C 0.328125 -0.453125 0.90625 0.046875 1.6875 0.046875 C 2.46875 0.046875 3.046875 -0.453125 3.046875 -1.0625 Z M 2.546875 -1.109375 C 2.546875 -0.859375 2.546875 -0.125 1.6875 -0.125 C 0.8125 -0.125 0.8125 -0.859375 0.8125 -1.109375 C 0.8125 -1.328125 0.8125 -2.0625 1.6875 -2.0625 C 2.546875 -2.0625 2.546875 -1.328125 2.546875 -1.109375 Z M 2.546875 -1.109375 "/>
</symbol>
<symbol overflow="visible" id="glyph0-3">
<path style="stroke:none;" d="M 2.375 -1.84375 C 2.375 -2.03125 2.1875 -2.1875 1.9375 -2.1875 C 1.6875 -2.1875 1.359375 -2.0625 1.171875 -1.640625 L 1.171875 -2.1875 L 0.375 -2.140625 L 0.375 -1.921875 C 0.75 -1.921875 0.78125 -1.875 0.78125 -1.640625 L 0.78125 -0.421875 C 0.78125 -0.265625 0.78125 -0.21875 0.46875 -0.21875 L 0.375 -0.21875 L 0.375 0 C 0.578125 -0.015625 0.8125 -0.015625 1.015625 -0.015625 L 1.71875 0 L 1.71875 -0.21875 L 1.59375 -0.21875 C 1.203125 -0.21875 1.203125 -0.265625 1.203125 -0.421875 L 1.203125 -1.109375 C 1.203125 -1.5625 1.46875 -2.015625 1.9375 -2.03125 C 1.9375 -2.03125 1.875 -1.953125 1.875 -1.84375 C 1.875 -1.671875 2.015625 -1.59375 2.125 -1.59375 C 2.25 -1.59375 2.375 -1.671875 2.375 -1.84375 Z M 2.375 -1.84375 "/>
</symbol>
<symbol overflow="visible" id="glyph0-4">
<path style="stroke:none;" d="M 5.109375 0 L 5.109375 -0.21875 L 5.015625 -0.21875 C 4.703125 -0.21875 4.703125 -0.265625 4.703125 -0.421875 L 4.703125 -1.5 C 4.703125 -2.109375 4.234375 -2.1875 3.859375 -2.1875 C 3.375 -2.1875 3.09375 -1.953125 2.953125 -1.734375 C 2.828125 -2.1875 2.328125 -2.1875 2.140625 -2.1875 C 1.625 -2.1875 1.34375 -1.921875 1.21875 -1.703125 L 1.21875 -2.1875 L 0.40625 -2.140625 L 0.40625 -1.921875 C 0.765625 -1.921875 0.8125 -1.875 0.8125 -1.640625 L 0.8125 -0.421875 C 0.8125 -0.265625 0.8125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.625 -0.015625 0.828125 -0.015625 1.046875 -0.015625 C 1.25 -0.015625 1.46875 -0.015625 1.671875 0 L 1.671875 -0.21875 L 1.578125 -0.21875 C 1.265625 -0.21875 1.265625 -0.265625 1.265625 -0.421875 L 1.265625 -1.28125 C 1.265625 -1.828125 1.765625 -2.03125 2.078125 -2.03125 C 2.453125 -2.03125 2.53125 -1.828125 2.53125 -1.5 L 2.53125 -0.421875 C 2.53125 -0.265625 2.53125 -0.21875 2.21875 -0.21875 L 2.125 -0.21875 L 2.125 0 C 2.34375 -0.015625 2.546875 -0.015625 2.765625 -0.015625 C 2.96875 -0.015625 3.1875 -0.015625 3.390625 0 L 3.390625 -0.21875 L 3.296875 -0.21875 C 2.984375 -0.21875 2.984375 -0.265625 2.984375 -0.421875 L 2.984375 -1.28125 C 2.984375 -1.828125 3.484375 -2.03125 3.796875 -2.03125 C 4.171875 -2.03125 4.25 -1.828125 4.25 -1.5 L 4.25 -0.421875 C 4.25 -0.265625 4.25 -0.21875 3.9375 -0.21875 L 3.84375 -0.21875 L 3.84375 0 C 4.0625 -0.015625 4.265625 -0.015625 4.484375 -0.015625 C 4.6875 -0.015625 4.90625 -0.015625 5.109375 0 Z M 5.109375 0 "/>
</symbol>
<symbol overflow="visible" id="glyph0-5">
<path style="stroke:none;" d="M 3.140625 -0.453125 L 3.140625 -0.71875 L 2.9375 -0.71875 L 2.9375 -0.453125 C 2.9375 -0.40625 2.9375 -0.1875 2.734375 -0.1875 C 2.546875 -0.1875 2.546875 -0.40625 2.546875 -0.453125 L 2.546875 -1.46875 C 2.546875 -1.953125 2.046875 -2.21875 1.421875 -2.21875 C 1.125 -2.21875 0.546875 -2.203125 0.546875 -1.78125 C 0.546875 -1.59375 0.6875 -1.515625 0.8125 -1.515625 C 0.953125 -1.515625 1.078125 -1.609375 1.078125 -1.78125 C 1.078125 -1.890625 1 -1.96875 0.953125 -2 C 1.125 -2.0625 1.359375 -2.0625 1.421875 -2.0625 C 1.84375 -2.0625 2.09375 -1.828125 2.09375 -1.46875 L 2.09375 -1.34375 C 1.625 -1.3125 1.359375 -1.296875 0.96875 -1.15625 C 0.640625 -1.046875 0.359375 -0.84375 0.359375 -0.515625 C 0.359375 -0.046875 0.9375 0.046875 1.328125 0.046875 C 1.703125 0.046875 2 -0.09375 2.15625 -0.359375 C 2.171875 -0.171875 2.296875 0.03125 2.546875 0.03125 C 2.578125 0.03125 3.140625 0.03125 3.140625 -0.453125 Z M 2.09375 -0.703125 C 2.09375 -0.15625 1.5 -0.109375 1.375 -0.109375 C 1.09375 -0.109375 0.8125 -0.265625 0.8125 -0.515625 C 0.8125 -0.6875 0.921875 -1.140625 2.09375 -1.1875 Z M 2.09375 -0.703125 "/>
</symbol>
<symbol overflow="visible" id="glyph0-6">
<path style="stroke:none;" d="M 1.65625 0 L 1.65625 -0.21875 L 1.5625 -0.21875 C 1.25 -0.21875 1.25 -0.265625 1.25 -0.421875 L 1.25 -3.4375 L 0.40625 -3.390625 L 0.40625 -3.171875 C 0.78125 -3.171875 0.828125 -3.125 0.828125 -2.890625 L 0.828125 -0.421875 C 0.828125 -0.265625 0.828125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.625 -0.015625 0.828125 -0.015625 1.03125 -0.015625 C 1.234375 -0.015625 1.453125 -0.015625 1.65625 0 Z M 1.65625 0 "/>
</symbol>
<symbol overflow="visible" id="glyph0-7">
<path style="stroke:none;" d="M 1.609375 0 L 1.609375 -0.21875 C 1.28125 -0.21875 1.25 -0.21875 1.25 -0.421875 L 1.25 -2.1875 L 0.4375 -2.140625 L 0.4375 -1.921875 C 0.78125 -1.921875 0.828125 -1.875 0.828125 -1.640625 L 0.828125 -0.421875 C 0.828125 -0.265625 0.828125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.609375 -0.015625 0.828125 -0.015625 1.03125 -0.015625 C 1.21875 -0.015625 1.4375 -0.015625 1.609375 0 Z M 1.296875 -2.96875 C 1.296875 -3.140625 1.15625 -3.28125 1 -3.28125 C 0.828125 -3.28125 0.6875 -3.140625 0.6875 -2.96875 C 0.6875 -2.796875 0.828125 -2.671875 1 -2.671875 C 1.15625 -2.671875 1.296875 -2.796875 1.296875 -2.96875 Z M 1.296875 -2.96875 "/>
</symbol>
<symbol overflow="visible" id="glyph0-8">
<path style="stroke:none;" d="M 2.625 -0.984375 L 2.421875 -0.984375 C 2.359375 -0.421875 2.265625 -0.171875 1.5625 -0.171875 L 0.90625 -0.171875 L 2.546875 -1.9375 C 2.59375 -1.984375 2.609375 -2 2.609375 -2.046875 C 2.609375 -2.140625 2.546875 -2.140625 2.453125 -2.140625 L 0.453125 -2.140625 L 0.390625 -1.28125 L 0.609375 -1.28125 C 0.640625 -1.828125 0.796875 -1.96875 1.375 -1.96875 L 2.015625 -1.96875 L 0.359375 -0.203125 C 0.3125 -0.15625 0.3125 -0.15625 0.3125 -0.09375 C 0.3125 0 0.375 0 0.453125 0 L 2.53125 0 Z M 2.625 -0.984375 "/>
</symbol>
<symbol overflow="visible" id="glyph0-9">
<path style="stroke:none;" d="M 2.703125 -0.59375 C 2.703125 -0.671875 2.625 -0.671875 2.609375 -0.671875 C 2.53125 -0.671875 2.515625 -0.65625 2.484375 -0.578125 C 2.359375 -0.25 1.984375 -0.125 1.703125 -0.125 C 1.3125 -0.125 1.078125 -0.34375 1.015625 -0.4375 C 0.8125 -0.671875 0.8125 -0.984375 0.8125 -1.109375 L 2.5625 -1.109375 C 2.671875 -1.109375 2.703125 -1.109375 2.703125 -1.234375 C 2.703125 -1.5625 2.53125 -2.21875 1.609375 -2.21875 C 0.859375 -2.21875 0.328125 -1.671875 0.328125 -1.09375 C 0.328125 -0.453125 0.921875 0.046875 1.671875 0.046875 C 2.46875 0.046875 2.703125 -0.5 2.703125 -0.59375 Z M 2.328125 -1.265625 L 0.828125 -1.265625 C 0.890625 -1.921875 1.359375 -2.0625 1.59375 -2.0625 C 2.28125 -2.0625 2.328125 -1.40625 2.328125 -1.265625 Z M 2.328125 -1.265625 "/>
</symbol>
<symbol overflow="visible" id="glyph0-10">
<path style="stroke:none;" d="M 3.328125 0 L 3.328125 -0.21875 C 2.96875 -0.21875 2.921875 -0.25 2.921875 -0.5 L 2.921875 -3.4375 L 2.09375 -3.390625 L 2.09375 -3.171875 C 2.453125 -3.171875 2.5 -3.125 2.5 -2.890625 L 2.5 -1.921875 C 2.390625 -2.015625 2.125 -2.1875 1.71875 -2.1875 C 0.96875 -2.1875 0.359375 -1.6875 0.359375 -1.0625 C 0.359375 -0.46875 0.921875 0.046875 1.65625 0.046875 C 2.0625 0.046875 2.34375 -0.125 2.484375 -0.25 L 2.484375 0.046875 Z M 2.484375 -0.546875 C 2.25 -0.171875 1.875 -0.109375 1.6875 -0.109375 C 1.4375 -0.109375 1.1875 -0.203125 1.03125 -0.421875 C 0.859375 -0.625 0.859375 -0.90625 0.859375 -1.0625 C 0.859375 -1.203125 0.859375 -1.53125 1.078125 -1.75 C 1.25 -1.9375 1.5 -2.03125 1.75 -2.03125 C 1.890625 -2.03125 2.25 -2 2.484375 -1.65625 Z M 2.484375 -0.546875 "/>
</symbol>
<symbol overflow="visible" id="glyph0-11">
<path style="stroke:none;" d="M 2.375 -0.625 C 2.375 -0.84375 2.25 -1.015625 2.0625 -1.125 C 1.859375 -1.25 1.703125 -1.265625 1.296875 -1.34375 C 0.96875 -1.390625 0.59375 -1.453125 0.59375 -1.703125 C 0.59375 -1.875 0.78125 -2.078125 1.328125 -2.078125 C 1.734375 -2.078125 1.96875 -1.90625 2 -1.5625 C 2.015625 -1.484375 2.015625 -1.46875 2.109375 -1.46875 C 2.21875 -1.46875 2.21875 -1.5 2.21875 -1.59375 L 2.21875 -2.078125 C 2.21875 -2.171875 2.21875 -2.21875 2.140625 -2.21875 C 2.109375 -2.21875 2.09375 -2.21875 2.046875 -2.1875 C 2.03125 -2.171875 1.9375 -2.078125 1.921875 -2.078125 C 1.921875 -2.078125 1.90625 -2.078125 1.875 -2.109375 C 1.765625 -2.171875 1.578125 -2.21875 1.328125 -2.21875 C 0.515625 -2.21875 0.34375 -1.84375 0.34375 -1.609375 C 0.34375 -1.15625 0.921875 -1.0625 1.375 -0.984375 C 1.671875 -0.953125 2.125 -0.875 2.125 -0.546875 C 2.125 -0.359375 1.96875 -0.109375 1.375 -0.109375 C 1.046875 -0.109375 0.71875 -0.234375 0.5625 -0.765625 C 0.546875 -0.84375 0.53125 -0.859375 0.453125 -0.859375 C 0.34375 -0.859375 0.34375 -0.828125 0.34375 -0.71875 L 0.34375 -0.078125 C 0.34375 0 0.34375 0.046875 0.421875 0.046875 C 0.46875 0.046875 0.46875 0.046875 0.5625 -0.046875 L 0.6875 -0.171875 C 0.9375 0.046875 1.25 0.046875 1.375 0.046875 C 2.203125 0.046875 2.375 -0.375 2.375 -0.625 Z M 2.375 -0.625 "/>
</symbol>
<symbol overflow="visible" id="glyph0-12">
<path style="stroke:none;" d="M 3.390625 0 L 3.390625 -0.21875 L 3.296875 -0.21875 C 2.96875 -0.21875 2.96875 -0.265625 2.96875 -0.421875 L 2.96875 -1.5 C 2.96875 -2.046875 2.59375 -2.1875 2.140625 -2.1875 C 1.609375 -2.1875 1.328125 -1.890625 1.21875 -1.703125 L 1.21875 -2.1875 L 0.40625 -2.140625 L 0.40625 -1.921875 C 0.765625 -1.921875 0.8125 -1.875 0.8125 -1.640625 L 0.8125 -0.421875 C 0.8125 -0.265625 0.8125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.625 -0.015625 0.828125 -0.015625 1.046875 -0.015625 C 1.25 -0.015625 1.46875 -0.015625 1.671875 0 L 1.671875 -0.21875 L 1.578125 -0.21875 C 1.265625 -0.21875 1.265625 -0.265625 1.265625 -0.421875 L 1.265625 -1.28125 C 1.265625 -1.84375 1.765625 -2.03125 2.078125 -2.03125 C 2.453125 -2.03125 2.53125 -1.8125 2.53125 -1.5 L 2.53125 -0.421875 C 2.53125 -0.265625 2.53125 -0.21875 2.203125 -0.21875 L 2.125 -0.21875 L 2.125 0 C 2.328125 -0.015625 2.546875 -0.015625 2.75 -0.015625 C 2.96875 -0.015625 3.171875 -0.015625 3.390625 0 Z M 3.390625 0 "/>
</symbol>
<symbol overflow="visible" id="glyph0-13">
<path style="stroke:none;" d="M 1.21875 -3.28125 C 1.234375 -3.390625 1.125 -3.484375 1 -3.484375 C 0.875 -3.484375 0.765625 -3.390625 0.78125 -3.28125 L 0.890625 -2.09375 L 1.09375 -2.09375 Z M 1.859375 -3.28125 C 1.875 -3.390625 1.765625 -3.484375 1.640625 -3.484375 C 1.515625 -3.484375 1.40625 -3.390625 1.421875 -3.28125 L 1.53125 -2.09375 L 1.75 -2.09375 Z M 1.859375 -3.28125 "/>
</symbol>
<symbol overflow="visible" id="glyph0-14">
<path style="stroke:none;" d="M 4.265625 -1.15625 C 4.265625 -1.234375 4.234375 -1.265625 4.15625 -1.265625 C 4.09375 -1.265625 4.0625 -1.265625 4.046875 -1.171875 C 4.015625 -0.421875 3.296875 -0.109375 2.71875 -0.109375 C 2.015625 -0.109375 1.0625 -0.5 1.0625 -1.6875 C 1.0625 -2.875 1.984375 -3.28125 2.703125 -3.28125 C 3.15625 -3.28125 3.890625 -3.03125 4.046875 -2.109375 C 4.046875 -2.0625 4.109375 -2.0625 4.15625 -2.0625 C 4.265625 -2.0625 4.265625 -2.09375 4.265625 -2.1875 L 4.265625 -3.359375 C 4.265625 -3.4375 4.265625 -3.484375 4.1875 -3.484375 C 4.125 -3.484375 4.109375 -3.46875 4.09375 -3.4375 L 3.796875 -3.046875 C 3.484375 -3.3125 3.109375 -3.484375 2.625 -3.484375 C 1.421875 -3.484375 0.484375 -2.671875 0.484375 -1.6875 C 0.484375 -0.71875 1.421875 0.109375 2.625 0.109375 C 3.578125 0.109375 4.265625 -0.5 4.265625 -1.15625 Z M 4.265625 -1.15625 "/>
</symbol>
<symbol overflow="visible" id="glyph0-15">
<path style="stroke:none;" d="M 1.859375 -0.875 L 1.859375 -1.265625 L 0.203125 -1.265625 L 0.203125 -0.875 Z M 1.859375 -0.875 "/>
</symbol>
<symbol overflow="visible" id="glyph0-16">
<path style="stroke:none;" d="M 3.71875 -1.34375 L 3.5 -1.34375 C 3.4375 -0.765625 3.296875 -0.21875 2.34375 -0.21875 L 1.734375 -0.21875 C 1.484375 -0.21875 1.484375 -0.25 1.484375 -0.40625 L 1.484375 -2.953125 C 1.484375 -3.109375 1.484375 -3.171875 1.96875 -3.171875 L 2.171875 -3.171875 L 2.171875 -3.390625 C 1.890625 -3.359375 1.53125 -3.359375 1.25 -3.359375 L 0.40625 -3.390625 L 0.40625 -3.171875 L 0.5625 -3.171875 C 0.953125 -3.171875 0.953125 -3.109375 0.953125 -2.96875 L 0.953125 -0.421875 C 0.953125 -0.265625 0.953125 -0.21875 0.5625 -0.21875 L 0.40625 -0.21875 L 0.40625 0 L 3.546875 0 Z M 3.71875 -1.34375 "/>
</symbol>
<symbol overflow="visible" id="glyph0-17">
<path style="stroke:none;" d="M 3.359375 -1.0625 C 3.359375 -1.671875 2.8125 -2.1875 2.078125 -2.1875 C 1.6875 -2.1875 1.375 -2.046875 1.203125 -1.90625 L 1.203125 -2.1875 L 0.375 -2.140625 L 0.375 -1.921875 C 0.734375 -1.921875 0.78125 -1.921875 0.78125 -1.703125 L 0.78125 0.546875 C 0.78125 0.703125 0.78125 0.75 0.46875 0.75 L 0.375 0.75 L 0.375 0.953125 C 0.59375 0.953125 0.796875 0.9375 1.015625 0.9375 C 1.21875 0.9375 1.4375 0.953125 1.640625 0.953125 L 1.640625 0.75 L 1.546875 0.75 C 1.234375 0.75 1.234375 0.703125 1.234375 0.546875 L 1.234375 -0.234375 C 1.4375 -0.046875 1.703125 0.046875 1.984375 0.046875 C 2.75 0.046875 3.359375 -0.453125 3.359375 -1.0625 Z M 2.859375 -1.0625 C 2.859375 -0.53125 2.453125 -0.109375 1.953125 -0.109375 C 1.734375 -0.109375 1.46875 -0.203125 1.296875 -0.421875 C 1.234375 -0.515625 1.234375 -0.515625 1.234375 -0.609375 L 1.234375 -1.640625 C 1.4375 -1.953125 1.8125 -2.015625 2.015625 -2.015625 C 2.5 -2.015625 2.859375 -1.5625 2.859375 -1.0625 Z M 2.859375 -1.0625 "/>
</symbol>
<symbol overflow="visible" id="glyph0-18">
<path style="stroke:none;" d="M 2.703125 -0.59375 C 2.703125 -0.65625 2.640625 -0.65625 2.609375 -0.65625 C 2.53125 -0.65625 2.515625 -0.65625 2.5 -0.59375 C 2.328125 -0.171875 1.96875 -0.125 1.75 -0.125 C 1.328125 -0.125 0.859375 -0.40625 0.859375 -1.078125 C 0.859375 -1.296875 0.890625 -1.5625 1.078125 -1.765625 C 1.3125 -2.046875 1.609375 -2.046875 1.765625 -2.046875 C 1.90625 -2.046875 2.046875 -2.046875 2.21875 -2 C 2.15625 -1.953125 2.109375 -1.875 2.109375 -1.78125 C 2.109375 -1.609375 2.234375 -1.515625 2.375 -1.515625 C 2.5 -1.515625 2.640625 -1.59375 2.640625 -1.78125 C 2.640625 -2.203125 2.09375 -2.21875 1.75 -2.21875 C 0.765625 -2.21875 0.359375 -1.5625 0.359375 -1.0625 C 0.359375 -0.453125 0.9375 0.046875 1.6875 0.046875 C 2.546875 0.046875 2.703125 -0.546875 2.703125 -0.59375 Z M 2.703125 -0.59375 "/>
</symbol>
<symbol overflow="visible" id="glyph0-19">
<path style="stroke:none;" d="M 2.203125 -0.625 L 2.203125 -0.890625 L 1.984375 -0.890625 L 1.984375 -0.640625 C 1.984375 -0.265625 1.765625 -0.125 1.59375 -0.125 C 1.21875 -0.125 1.21875 -0.515625 1.21875 -0.625 L 1.21875 -1.921875 L 2.09375 -1.921875 L 2.09375 -2.140625 L 1.21875 -2.140625 L 1.21875 -3.046875 L 1.015625 -3.046875 C 1 -2.578125 0.765625 -2.09375 0.25 -2.078125 L 0.25 -1.921875 L 0.78125 -1.921875 L 0.78125 -0.625 C 0.78125 -0.0625 1.25 0.046875 1.546875 0.046875 C 1.921875 0.046875 2.203125 -0.21875 2.203125 -0.625 Z M 2.203125 -0.625 "/>
</symbol>
<symbol overflow="visible" id="glyph0-20">
<path style="stroke:none;" d="M 3.265625 -1.921875 L 3.265625 -2.140625 C 3.15625 -2.125 3.015625 -2.109375 2.828125 -2.109375 C 2.671875 -2.109375 2.484375 -2.125 2.328125 -2.140625 L 2.328125 -1.921875 C 2.453125 -1.921875 2.53125 -1.84375 2.53125 -1.75 C 2.53125 -1.703125 2.515625 -1.671875 2.5 -1.640625 L 1.890625 -0.453125 L 1.21875 -1.734375 C 1.1875 -1.78125 1.1875 -1.796875 1.1875 -1.8125 C 1.1875 -1.90625 1.328125 -1.921875 1.453125 -1.921875 L 1.453125 -2.140625 C 1.25 -2.125 1.046875 -2.109375 0.828125 -2.109375 C 0.625 -2.109375 0.5 -2.109375 0.28125 -2.140625 L 0.28125 -1.921875 C 0.625 -1.921875 0.65625 -1.890625 0.734375 -1.765625 L 1.65625 0 C 1.4375 0.4375 1.234375 0.859375 0.828125 0.859375 C 0.703125 0.859375 0.65625 0.828125 0.609375 0.796875 C 0.640625 0.78125 0.75 0.71875 0.75 0.578125 C 0.75 0.421875 0.625 0.328125 0.5 0.328125 C 0.390625 0.328125 0.25 0.40625 0.25 0.578125 C 0.25 0.828125 0.515625 1.015625 0.828125 1.015625 C 1.125 1.015625 1.453125 0.828125 1.671875 0.40625 L 2.734375 -1.609375 C 2.78125 -1.71875 2.890625 -1.90625 3.265625 -1.921875 Z M 3.265625 -1.921875 "/>
</symbol>
<symbol overflow="visible" id="glyph0-21">
<path style="stroke:none;" d="M 3.78125 0 L 3.78125 -0.21875 C 3.453125 -0.21875 3.40625 -0.21875 3.40625 -0.421875 L 3.40625 -2.1875 L 2.59375 -2.140625 L 1.234375 -2.140625 L 1.234375 -2.671875 C 1.234375 -3.140625 1.890625 -3.328125 2.25 -3.328125 C 2.28125 -3.328125 2.734375 -3.328125 2.890625 -3.25 C 2.84375 -3.203125 2.8125 -3.125 2.8125 -3.046875 C 2.8125 -2.875 2.96875 -2.75 3.125 -2.75 C 3.28125 -2.75 3.421875 -2.890625 3.421875 -3.046875 C 3.421875 -3.15625 3.390625 -3.25 3.3125 -3.296875 C 3 -3.484375 2.53125 -3.484375 2.265625 -3.484375 C 1.65625 -3.484375 0.828125 -3.21875 0.828125 -2.671875 L 0.828125 -2.140625 L 0.34375 -2.140625 L 0.34375 -1.921875 L 0.828125 -1.921875 L 0.828125 -0.421875 C 0.828125 -0.265625 0.828125 -0.21875 0.5 -0.21875 L 0.421875 -0.21875 L 0.421875 0 C 0.625 -0.015625 0.84375 -0.015625 1.0625 -0.015625 L 1.765625 0 L 1.765625 -0.21875 L 1.625 -0.21875 C 1.25 -0.21875 1.25 -0.265625 1.25 -0.421875 L 1.25 -1.921875 L 2.59375 -1.921875 C 2.953125 -1.921875 2.984375 -1.875 2.984375 -1.640625 L 2.984375 -0.421875 C 2.984375 -0.265625 2.984375 -0.21875 2.671875 -0.21875 L 2.578125 -0.21875 L 2.578125 0 C 2.78125 -0.015625 2.984375 -0.015625 3.1875 -0.015625 C 3.390625 -0.015625 3.59375 -0.015625 3.78125 0 Z M 3.78125 0 "/>
</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 8.0625 -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="glyph2-0">
<path style="stroke:none;" d=""/>
</symbol>
<symbol overflow="visible" id="glyph2-1">
<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>
<symbol overflow="visible" id="glyph3-0">
<path style="stroke:none;" d=""/>
</symbol>
<symbol overflow="visible" id="glyph3-1">
<path style="stroke:none;" d="M 6.375 -2.453125 C 6.375 -2.484375 6.34375 -2.5625 6.25 -2.5625 C 6.15625 -2.5625 6.15625 -2.5 6.078125 -2.34375 C 5.75 -1.4375 5.3125 -0.3125 3.59375 -0.3125 L 2.671875 -0.3125 C 2.53125 -0.3125 2.5 -0.3125 2.453125 -0.3125 C 2.34375 -0.328125 2.3125 -0.34375 2.3125 -0.421875 C 2.3125 -0.453125 2.3125 -0.46875 2.375 -0.640625 L 3.703125 -6 C 3.796875 -6.34375 3.828125 -6.453125 4.75 -6.453125 C 5.046875 -6.453125 5.125 -6.453125 5.125 -6.640625 C 5.125 -6.765625 5.015625 -6.765625 4.96875 -6.765625 L 3.5 -6.734375 L 2.1875 -6.765625 C 2.125 -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 0.484375 -0.3125 0.390625 -0.3125 0.390625 -0.109375 C 0.390625 0 0.46875 0 0.65625 0 L 5.234375 0 C 5.484375 0 5.484375 0 5.546875 -0.171875 L 6.328125 -2.3125 C 6.375 -2.421875 6.375 -2.453125 6.375 -2.453125 Z M 6.375 -2.453125 "/>
</symbol>
<symbol overflow="visible" id="glyph3-2">
<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="glyph3-3">
<path style="stroke:none;" d="M 4.90625 -1.421875 C 4.90625 -1.515625 4.828125 -1.515625 4.796875 -1.515625 C 4.703125 -1.515625 4.6875 -1.46875 4.671875 -1.40625 C 4.34375 -0.34375 3.671875 -0.109375 3.34375 -0.109375 C 2.96875 -0.109375 2.796875 -0.421875 2.796875 -0.765625 C 2.796875 -0.984375 2.859375 -1.203125 2.96875 -1.640625 L 3.3125 -2.984375 C 3.375 -3.25 3.59375 -4.15625 4.296875 -4.15625 C 4.34375 -4.15625 4.578125 -4.15625 4.78125 -4.03125 C 4.5 -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 5.21875 -3.328125 5.21875 -3.71875 C 5.21875 -4.234375 4.640625 -4.375 4.296875 -4.375 C 3.71875 -4.375 3.375 -3.859375 3.265625 -3.625 C 3.015625 -4.28125 2.484375 -4.375 2.1875 -4.375 C 1.15625 -4.375 0.59375 -3.09375 0.59375 -2.859375 C 0.59375 -2.75 0.71875 -2.75 0.71875 -2.75 C 0.796875 -2.75 0.828125 -2.78125 0.84375 -2.859375 C 1.171875 -3.90625 1.828125 -4.15625 2.171875 -4.15625 C 2.359375 -4.15625 2.703125 -4.078125 2.703125 -3.5 C 2.703125 -3.1875 2.53125 -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 -0.765625 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 4.34375 0.109375 4.90625 -1.171875 4.90625 -1.421875 Z M 4.90625 -1.421875 "/>
</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 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="glyph4-2">
<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="glyph4-3">
<path style="stroke:none;" d="M 4.9375 -1.84375 C 4.9375 -2.828125 4.296875 -3.640625 3.453125 -3.84375 L 2.1875 -4.15625 C 1.578125 -4.296875 1.1875 -4.828125 1.1875 -5.40625 C 1.1875 -6.109375 1.71875 -6.703125 2.5 -6.703125 C 4.15625 -6.703125 4.375 -5.078125 4.421875 -4.640625 C 4.4375 -4.578125 4.4375 -4.515625 4.546875 -4.515625 C 4.671875 -4.515625 4.671875 -4.5625 4.671875 -4.75 L 4.671875 -6.75 C 4.671875 -6.921875 4.671875 -6.984375 4.5625 -6.984375 C 4.5 -6.984375 4.484375 -6.96875 4.421875 -6.859375 L 4.078125 -6.296875 C 3.78125 -6.578125 3.375 -6.984375 2.484375 -6.984375 C 1.390625 -6.984375 0.5625 -6.109375 0.5625 -5.0625 C 0.5625 -4.234375 1.078125 -3.515625 1.859375 -3.25 C 1.96875 -3.203125 2.46875 -3.09375 3.15625 -2.921875 C 3.421875 -2.859375 3.71875 -2.78125 4 -2.421875 C 4.203125 -2.15625 4.3125 -1.828125 4.3125 -1.5 C 4.3125 -0.796875 3.8125 -0.09375 2.984375 -0.09375 C 2.6875 -0.09375 1.9375 -0.140625 1.421875 -0.625 C 0.84375 -1.15625 0.8125 -1.796875 0.796875 -2.15625 C 0.796875 -2.25 0.71875 -2.25 0.6875 -2.25 C 0.5625 -2.25 0.5625 -2.171875 0.5625 -2 L 0.5625 -0.015625 C 0.5625 0.15625 0.5625 0.21875 0.65625 0.21875 C 0.734375 0.21875 0.75 0.203125 0.8125 0.09375 C 0.8125 0.09375 0.84375 0.046875 1.171875 -0.46875 C 1.46875 -0.140625 2.109375 0.21875 2.984375 0.21875 C 4.15625 0.21875 4.9375 -0.75 4.9375 -1.84375 Z M 4.9375 -1.84375 "/>
</symbol>
<symbol overflow="visible" id="glyph4-4">
<path style="stroke:none;" d="M 4.109375 -1.171875 C 4.109375 -1.28125 4.03125 -1.296875 3.984375 -1.296875 C 3.890625 -1.296875 3.875 -1.234375 3.859375 -1.15625 C 3.5 -0.140625 2.609375 -0.140625 2.515625 -0.140625 C 2.015625 -0.140625 1.625 -0.4375 1.390625 -0.796875 C 1.09375 -1.28125 1.09375 -1.9375 1.09375 -2.28125 L 3.859375 -2.28125 C 4.078125 -2.28125 4.109375 -2.28125 4.109375 -2.5 C 4.109375 -3.484375 3.578125 -4.4375 2.34375 -4.4375 C 1.1875 -4.4375 0.28125 -3.421875 0.28125 -2.171875 C 0.28125 -0.859375 1.3125 0.109375 2.453125 0.109375 C 3.671875 0.109375 4.109375 -0.984375 4.109375 -1.171875 Z M 3.453125 -2.5 L 1.109375 -2.5 C 1.171875 -3.96875 2 -4.21875 2.34375 -4.21875 C 3.359375 -4.21875 3.453125 -2.875 3.453125 -2.5 Z M 3.453125 -2.5 "/>
</symbol>
<symbol overflow="visible" id="glyph4-5">
<path style="stroke:none;" d="M 5.296875 0 L 5.296875 -0.3125 C 4.78125 -0.3125 4.53125 -0.3125 4.53125 -0.609375 L 4.53125 -2.5 C 4.53125 -3.34375 4.53125 -3.65625 4.21875 -4.015625 C 4.078125 -4.1875 3.75 -4.375 3.1875 -4.375 C 2.453125 -4.375 1.984375 -3.953125 1.71875 -3.34375 L 1.71875 -4.375 L 0.3125 -4.265625 L 0.3125 -3.96875 C 1.015625 -3.96875 1.09375 -3.890625 1.09375 -3.40625 L 1.09375 -0.75 C 1.09375 -0.3125 0.984375 -0.3125 0.3125 -0.3125 L 0.3125 0 L 1.4375 -0.03125 L 2.546875 0 L 2.546875 -0.3125 C 1.875 -0.3125 1.765625 -0.3125 1.765625 -0.75 L 1.765625 -2.578125 C 1.765625 -3.609375 2.484375 -4.15625 3.109375 -4.15625 C 3.734375 -4.15625 3.84375 -3.625 3.84375 -3.0625 L 3.84375 -0.75 C 3.84375 -0.3125 3.734375 -0.3125 3.078125 -0.3125 L 3.078125 0 L 4.1875 -0.03125 Z M 5.296875 0 "/>
</symbol>
<symbol overflow="visible" id="glyph4-6">
<path style="stroke:none;" d="M 3.5625 -1.265625 C 3.5625 -1.796875 3.265625 -2.09375 3.15625 -2.203125 C 2.828125 -2.53125 2.4375 -2.609375 2.015625 -2.6875 C 1.46875 -2.796875 0.796875 -2.921875 0.796875 -3.5 C 0.796875 -3.84375 1.0625 -4.25 1.90625 -4.25 C 3 -4.25 3.046875 -3.359375 3.078125 -3.046875 C 3.078125 -2.96875 3.1875 -2.96875 3.1875 -2.96875 C 3.3125 -2.96875 3.3125 -3.015625 3.3125 -3.203125 L 3.3125 -4.203125 C 3.3125 -4.375 3.3125 -4.4375 3.203125 -4.4375 C 3.15625 -4.4375 3.140625 -4.4375 3.015625 -4.3125 C 2.984375 -4.28125 2.875 -4.1875 2.84375 -4.15625 C 2.46875 -4.4375 2.0625 -4.4375 1.90625 -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 1.0625 -2.125 1.34375 -2.0625 2.0625 -1.921875 C 2.28125 -1.875 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 -1.609375 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 0.875 -0.3125 C 1.3125 0.09375 1.765625 0.109375 1.96875 0.109375 C 3.109375 0.109375 3.5625 -0.5625 3.5625 -1.265625 Z M 3.5625 -1.265625 "/>
</symbol>
<symbol overflow="visible" id="glyph4-7">
<path style="stroke:none;" d="M 4.671875 -2.125 C 4.671875 -3.390625 3.671875 -4.4375 2.484375 -4.4375 C 1.234375 -4.4375 0.28125 -3.359375 0.28125 -2.125 C 0.28125 -0.84375 1.3125 0.109375 2.46875 0.109375 C 3.671875 0.109375 4.671875 -0.859375 4.671875 -2.125 Z M 3.84375 -2.203125 C 3.84375 -1.84375 3.84375 -1.3125 3.625 -0.875 C 3.40625 -0.421875 2.96875 -0.140625 2.484375 -0.140625 C 2.046875 -0.140625 1.609375 -0.34375 1.34375 -0.796875 C 1.09375 -1.234375 1.09375 -1.84375 1.09375 -2.203125 C 1.09375 -2.578125 1.09375 -3.125 1.34375 -3.5625 C 1.609375 -4.015625 2.078125 -4.21875 2.46875 -4.21875 C 2.90625 -4.21875 3.328125 -4 3.59375 -3.578125 C 3.84375 -3.15625 3.84375 -2.578125 3.84375 -2.203125 Z M 3.84375 -2.203125 "/>
</symbol>
<symbol overflow="visible" id="glyph4-8">
<path style="stroke:none;" d="M 3.609375 -3.78125 C 3.609375 -4.09375 3.296875 -4.375 2.875 -4.375 C 2.15625 -4.375 1.796875 -3.71875 1.65625 -3.28125 L 1.65625 -4.375 L 0.28125 -4.265625 L 0.28125 -3.96875 C 0.96875 -3.96875 1.046875 -3.890625 1.046875 -3.40625 L 1.046875 -0.75 C 1.046875 -0.3125 0.9375 -0.3125 0.28125 -0.3125 L 0.28125 0 L 1.40625 -0.03125 C 1.796875 -0.03125 2.265625 -0.03125 2.671875 0 L 2.671875 -0.3125 L 2.453125 -0.3125 C 1.71875 -0.3125 1.703125 -0.421875 1.703125 -0.765625 L 1.703125 -2.296875 C 1.703125 -3.28125 2.125 -4.15625 2.875 -4.15625 C 2.9375 -4.15625 2.96875 -4.15625 2.984375 -4.15625 C 2.953125 -4.140625 2.75 -4.015625 2.75 -3.765625 C 2.75 -3.484375 2.96875 -3.34375 3.1875 -3.34375 C 3.359375 -3.34375 3.609375 -3.453125 3.609375 -3.78125 Z M 3.609375 -3.78125 "/>
</symbol>
<symbol overflow="visible" id="glyph4-9">
<path style="stroke:none;" d="M 4.453125 -1.71875 L 4.203125 -1.71875 C 4.15625 -1.421875 4.078125 -0.984375 3.984375 -0.84375 C 3.90625 -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 -4.671875 C 4.453125 -5.8125 3.5625 -6.59375 2.34375 -6.59375 C 1.234375 -6.59375 0.5 -5.6875 0.5 -4.796875 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 -5.03125 1.359375 -5.296875 1.015625 -5.296875 C 0.9375 -5.296875 0.90625 -5.296875 0.875 -5.28125 C 1.109375 -5.921875 1.640625 -6.296875 2.21875 -6.296875 C 3.125 -6.296875 3.546875 -5.484375 3.546875 -4.671875 C 3.546875 -3.890625 3.046875 -3.09375 2.5 -2.484375 L 0.609375 -0.359375 C 0.5 -0.25 0.5 -0.234375 0.5 0 L 4.171875 0 Z M 4.453125 -1.71875 "/>
</symbol>
<symbol overflow="visible" id="glyph4-10">
<path style="stroke:none;" d="M 4.15625 0 L 4.15625 -0.3125 L 3.828125 -0.3125 C 2.9375 -0.3125 2.90625 -0.421875 2.90625 -0.78125 L 2.90625 -6.34375 C 2.90625 -6.578125 2.90625 -6.59375 2.6875 -6.59375 C 2.078125 -5.96875 1.203125 -5.96875 0.875 -5.96875 L 0.875 -5.65625 C 1.078125 -5.65625 1.671875 -5.65625 2.171875 -5.90625 L 2.171875 -0.78125 C 2.171875 -0.421875 2.15625 -0.3125 1.265625 -0.3125 L 0.9375 -0.3125 L 0.9375 0 C 1.28125 -0.03125 2.15625 -0.03125 2.546875 -0.03125 C 2.9375 -0.03125 3.796875 -0.03125 4.15625 0 Z M 4.15625 0 "/>
</symbol>
<symbol overflow="visible" id="glyph4-11">
<path style="stroke:none;" d="M 3.984375 -5.25 L 2.484375 -6.859375 L 0.96875 -5.25 L 1.09375 -5.109375 L 2.484375 -6.1875 L 3.859375 -5.109375 Z M 3.984375 -5.25 "/>
</symbol>
<symbol overflow="visible" id="glyph5-0">
<path style="stroke:none;" d=""/>
</symbol>
<symbol overflow="visible" id="glyph5-1">
<path style="stroke:none;" d="M 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="glyph5-2">
<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>
</g>
<clipPath id="clip1">
<path d="M 14 0 L 256 0 L 256 88.914062 L 14 88.914062 Z M 14 0 "/>
</clipPath>
<clipPath id="clip2">
<path d="M 251 40 L 272.492188 40 L 272.492188 73 L 251 73 Z M 251 40 "/>
</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 15.222656 87.921875 L 255.058594 87.921875 L 255.058594 0.992188 L 15.222656 0.992188 Z M 15.222656 87.921875 "/>
<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 -113.704386 -31.644535 L 127.59274 -31.644535 L 127.59274 55.814768 L -113.704386 55.814768 Z M -113.704386 -31.644535 " transform="matrix(0.993944,0,0,-0.993944,128.238499,56.468966)"/>
</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-miterlimit:10;" d="M -12.949729 -28.653768 L 124.601973 -28.653768 L 124.601973 52.827931 L -12.949729 52.827931 Z M -12.949729 -28.653768 " transform="matrix(0.993944,0,0,-0.993944,128.238499,56.468966)"/>
<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-miterlimit:10;" d="M -91.216648 -28.653768 L -35.013022 -28.653768 L -35.013022 52.827931 L -91.216648 52.827931 Z M -91.216648 -28.653768 " transform="matrix(0.993944,0,0,-0.993944,128.238499,56.468966)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-1" x="48.775623" y="74.71878"/>
<use xlink:href="#glyph0-2" x="53.630706" y="74.71878"/>
<use xlink:href="#glyph0-3" x="57.000449" y="74.71878"/>
<use xlink:href="#glyph0-4" x="59.682479" y="74.71878"/>
<use xlink:href="#glyph0-5" x="65.114865" y="74.71878"/>
<use xlink:href="#glyph0-6" x="68.484607" y="74.71878"/>
<use xlink:href="#glyph0-7" x="70.478925" y="74.71878"/>
<use xlink:href="#glyph0-8" x="72.473242" y="74.71878"/>
<use xlink:href="#glyph0-9" x="75.498881" y="74.71878"/>
<use xlink:href="#glyph0-10" x="78.52452" y="74.71878"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-11" x="55.037473" y="81.650548"/>
<use xlink:href="#glyph0-9" x="57.753665" y="81.650548"/>
<use xlink:href="#glyph0-12" x="60.779304" y="81.650548"/>
<use xlink:href="#glyph0-11" x="64.492656" y="81.650548"/>
<use xlink:href="#glyph0-2" x="67.208849" y="81.650548"/>
<use xlink:href="#glyph0-3" x="70.578592" y="81.650548"/>
<use xlink:href="#glyph0-11" x="73.260622" y="81.650548"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-13" x="162.768129" y="10.673969"/>
<use xlink:href="#glyph0-14" x="165.406094" y="10.673969"/>
<use xlink:href="#glyph0-6" x="170.150767" y="10.673969"/>
<use xlink:href="#glyph0-2" x="172.145085" y="10.673969"/>
<use xlink:href="#glyph0-11" x="175.514827" y="10.673969"/>
<use xlink:href="#glyph0-9" x="178.23102" y="10.673969"/>
<use xlink:href="#glyph0-10" x="181.256659" y="10.673969"/>
<use xlink:href="#glyph0-15" x="184.970011" y="10.673969"/>
<use xlink:href="#glyph0-16" x="187.307937" y="10.673969"/>
<use xlink:href="#glyph0-2" x="191.42035" y="10.673969"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-2" x="194.963383" y="10.673969"/>
<use xlink:href="#glyph0-17" x="198.333125" y="10.673969"/>
<use xlink:href="#glyph0-13" x="202.046477" y="10.673969"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-18" x="151.50972" y="17.605738"/>
<use xlink:href="#glyph0-2" x="154.535359" y="17.605738"/>
<use xlink:href="#glyph0-4" x="157.905102" y="17.605738"/>
<use xlink:href="#glyph0-17" x="163.337488" y="17.605738"/>
<use xlink:href="#glyph0-6" x="167.050839" y="17.605738"/>
<use xlink:href="#glyph0-9" x="169.045157" y="17.605738"/>
<use xlink:href="#glyph0-4" x="172.070796" y="17.605738"/>
<use xlink:href="#glyph0-9" x="177.503182" y="17.605738"/>
<use xlink:href="#glyph0-12" x="180.52882" y="17.605738"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-19" x="184.068882" y="17.605738"/>
<use xlink:href="#glyph0-5" x="186.750912" y="17.605738"/>
<use xlink:href="#glyph0-3" x="190.120655" y="17.605738"/>
<use xlink:href="#glyph0-20" x="192.802685" y="17.605738"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-21" x="198.681168" y="17.605738"/>
<use xlink:href="#glyph0-6" x="202.840122" y="17.605738"/>
<use xlink:href="#glyph0-19" x="204.834439" y="17.605738"/>
<use xlink:href="#glyph0-9" x="207.51647" y="17.605738"/>
<use xlink:href="#glyph0-3" x="210.542108" y="17.605738"/>
<use xlink:href="#glyph0-11" x="213.224139" y="17.605738"/>
</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 6.975617 0.000217036 C 6.975617 3.851665 3.851229 6.972123 -0.000219133 6.972123 C -3.851667 6.972123 -6.972125 3.851665 -6.972125 0.000217036 C -6.972125 -3.851231 -3.851667 -6.975619 -0.000219133 -6.975619 C 3.851229 -6.975619 6.975617 -3.851231 6.975617 0.000217036 Z M 6.975617 0.000217036 " transform="matrix(0.993944,0,0,-0.993944,128.238499,56.468966)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-1" x="123.927762" y="59.368302"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-1" x="118.556486" y="71.157477"/>
</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 35.818244 -11.337973 L 61.658314 -11.337973 L 61.658314 11.338407 L 35.818244 11.338407 Z M 35.818244 -11.337973 " transform="matrix(0.993944,0,0,-0.993944,128.238499,56.468966)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-1" x="167.140491" y="58.944881"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-1" x="173.879434" y="58.944881"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-2" x="177.730969" y="58.944881"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-2" x="182.372689" y="58.944881"/>
</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 104.452613 0.000217036 C 104.452613 3.851665 101.328225 6.972123 97.476777 6.972123 C 93.625329 6.972123 90.504871 3.851665 90.504871 0.000217036 C 90.504871 -3.851231 93.625329 -6.975619 97.476777 -6.975619 C 101.328225 -6.975619 104.452613 -3.851231 104.452613 0.000217036 Z M 104.452613 0.000217036 " transform="matrix(0.993944,0,0,-0.993944,128.238499,56.468966)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-1" x="220.814485" y="59.368302"/>
</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 -84.743858 -11.337973 L -41.489742 -11.337973 L -41.489742 11.338407 L -84.743858 11.338407 Z M -84.743858 -11.337973 " transform="matrix(0.993944,0,0,-0.993944,128.238499,56.468966)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-3" x="47.311542" y="59.880183"/>
<use xlink:href="#glyph4-4" x="52.813244" y="59.880183"/>
<use xlink:href="#glyph4-5" x="57.214804" y="59.880183"/>
<use xlink:href="#glyph4-6" x="62.716505" y="59.880183"/>
<use xlink:href="#glyph4-7" x="66.622951" y="59.880183"/>
<use xlink:href="#glyph4-8" x="71.574087" y="59.880183"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-9" x="78.750262" y="59.880183"/>
</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 -84.743858 23.67483 L -41.489742 23.67483 L -41.489742 46.351211 L -84.743858 46.351211 Z M -84.743858 23.67483 " transform="matrix(0.993944,0,0,-0.993944,128.238499,56.468966)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-3" x="47.311542" y="25.0802"/>
<use xlink:href="#glyph4-4" x="52.813244" y="25.0802"/>
<use xlink:href="#glyph4-5" x="57.214804" y="25.0802"/>
<use xlink:href="#glyph4-6" x="62.716505" y="25.0802"/>
<use xlink:href="#glyph4-7" x="66.622951" y="25.0802"/>
<use xlink:href="#glyph4-8" x="71.574087" y="25.0802"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-10" x="78.750262" y="25.0802"/>
</g>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 26.113281 56.46875 C 26.113281 55.375 25.226562 54.488281 24.132812 54.488281 C 23.039062 54.488281 22.152344 55.375 22.152344 56.46875 C 22.152344 57.5625 23.039062 58.449219 24.132812 58.449219 C 25.226562 58.449219 26.113281 57.5625 26.113281 56.46875 Z M 26.113281 56.46875 "/>
<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 6.975617 0.000217036 L 30.685601 0.000217036 " transform="matrix(0.993944,0,0,-0.993944,128.238499,56.468966)"/>
<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 6.05175 0.000217036 L 1.606865 1.682278 L 3.088494 0.000217036 L 1.606865 -1.681844 Z M 6.05175 0.000217036 " transform="matrix(0.993944,0,0,-0.993944,155.91849,56.468966)"/>
<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 62.15743 0.000217036 L 85.871343 0.000217036 " transform="matrix(0.993944,0,0,-0.993944,128.238499,56.468966)"/>
<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 6.053923 0.000217036 L 1.609038 1.682278 L 3.086736 0.000217036 L 1.609038 -1.681844 Z M 6.053923 0.000217036 " transform="matrix(0.993944,0,0,-0.993944,210.767893,56.468966)"/>
<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 104.452613 0.000217036 L 139.504717 0.000217036 " transform="matrix(0.993944,0,0,-0.993944,128.238499,56.468966)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 270.09375 56.46875 L 265.675781 54.796875 L 267.144531 56.46875 L 265.675781 58.140625 Z M 270.09375 56.46875 "/>
<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 6.054137 0.000217036 L 1.609252 1.682278 L 3.08695 0.000217036 L 1.609252 -1.681844 Z M 6.054137 0.000217036 " transform="matrix(0.993944,0,0,-0.993944,264.076274,56.468966)"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-11" x="262.676443" y="52.674086"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-3" x="262.046282" y="52.674086"/>
</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 118.624369 0.000217036 L 118.624369 -22.676164 L -0.000219133 -22.676164 L -0.000219133 -11.609147 " transform="matrix(0.993944,0,0,-0.993944,128.238499,56.468966)"/>
<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 6.051603 0.000219133 L 1.610648 1.68228 L 3.088347 0.000219133 L 1.610648 -1.681842 Z M 6.051603 0.000219133 " transform="matrix(0,-0.993944,-0.993944,0,128.238499,70.827457)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 248.125 56.46875 C 248.125 55.375 247.238281 54.488281 246.144531 54.488281 C 245.050781 54.488281 244.164062 55.375 244.164062 56.46875 C 244.164062 57.5625 245.050781 58.449219 246.144531 58.449219 C 247.238281 58.449219 248.125 57.5625 248.125 56.46875 Z M 248.125 56.46875 "/>
<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 -104.739945 0.000217036 L -104.739945 35.01302 L -89.872571 35.01302 " transform="matrix(0.993944,0,0,-0.993944,128.238499,56.468966)"/>
<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 6.054809 0.000680262 L 1.609924 1.682741 L 3.087622 0.000680262 L 1.609924 -1.681381 Z M 6.054809 0.000680262 " transform="matrix(0.993944,0,0,-0.993944,36.087325,21.668645)"/>
<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 -127.416326 0.000217036 L -89.872571 0.000217036 " transform="matrix(0.993944,0,0,-0.993944,128.238499,56.468966)"/>
<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 6.054809 0.000217036 L 1.609924 1.682278 L 3.087622 0.000217036 L 1.609924 -1.681844 Z M 6.054809 0.000217036 " transform="matrix(0.993944,0,0,-0.993944,36.087325,56.468966)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-3" x="5.390942" y="52.674086"/>
</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 -40.990626 0.000217036 L -11.605653 0.000217036 " transform="matrix(0.993944,0,0,-0.993944,128.238499,56.468966)"/>
<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 6.055097 0.000217036 L 1.610212 1.682278 L 3.08791 0.000217036 L 1.610212 -1.681844 Z M 6.055097 0.000217036 " transform="matrix(0.993944,0,0,-0.993944,113.880007,56.468966)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-11" x="98.965841" y="51.188139"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-3" x="98.336674" y="51.188139"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph5-1" x="103.996194" y="52.674086"/>
</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 -40.990626 35.01302 L 97.476777 35.01302 L 97.476777 11.605651 " transform="matrix(0.993944,0,0,-0.993944,128.238499,56.468966)"/>
<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 6.055109 -0.00138302 L 1.610224 1.684608 L 3.087922 -0.00138302 L 1.610224 -1.683444 Z M 6.055109 -0.00138302 " transform="matrix(0,0.993944,0.993944,0,225.126375,42.110464)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-11" x="98.965841" y="16.388156"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-3" x="98.336674" y="16.388156"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph5-2" x="103.996194" y="17.874103"/>
</g>
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 50 KiB

BIN
journal/figs/feedback_synthesis_architecture.pdf
View File

Binary file not shown.

BIN
journal/figs/feedback_synthesis_architecture.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 8.1 KiB

After

Width:  |  Height:  |  Size: 8.1 KiB

4
journal/figs/feedback_synthesis_architecture.svg
View File

@ -24,10 +24,10 @@
<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 3.5 -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="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 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="glyph2-0">
<path style="stroke:none;" d=""/>

Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 22 KiB

After

Width:  |  Height:  |  Size: 22 KiB

BIN
journal/figs/feedback_synthesis_architecture_generalized_plant.pdf
View File

Binary file not shown.

BIN
journal/figs/feedback_synthesis_architecture_generalized_plant.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 11 KiB

After

Width:  |  Height:  |  Size: 11 KiB

4
journal/figs/feedback_synthesis_architecture_generalized_plant.svg
View File

@ -45,10 +45,10 @@
<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 2.3125 -0.25 2.3125 -0.34375 2.3125 -0.5625 L 2.3125 -4.40625 C 2.3125 -4.59375 2.3125 -4.59375 2.109375 -4.59375 C 1.671875 -4.15625 1.03125 -4.15625 0.75 -4.15625 L 0.75 -3.90625 C 0.921875 -3.90625 1.375 -3.90625 1.765625 -4.09375 L 1.765625 -0.5625 C 1.765625 -0.34375 1.765625 -0.25 1.0625 -0.25 L 0.796875 -0.25 L 0.796875 0 L 2.03125 -0.03125 Z M 3.28125 0 "/>
<path style="stroke:none;" d="M 3.5 -1.265625 L 3.265625 -1.265625 C 3.234375 -1.109375 3.171875 -0.703125 3.078125 -0.625 C 3.03125 -0.59375 2.484375 -0.59375 2.390625 -0.59375 L 1.125 -0.59375 C 1.84375 -1.234375 2.09375 -1.421875 2.5 -1.75 C 3.015625 -2.15625 3.5 -2.59375 3.5 -3.25 C 3.5 -4.078125 2.765625 -4.59375 1.875 -4.59375 C 1.015625 -4.59375 0.4375 -4 0.4375 -3.359375 C 0.4375 -3 0.734375 -2.96875 0.796875 -2.96875 C 0.96875 -2.96875 1.171875 -3.09375 1.171875 -3.34375 C 1.171875 -3.453125 1.125 -3.703125 0.765625 -3.703125 C 0.96875 -4.1875 1.453125 -4.34375 1.765625 -4.34375 C 2.46875 -4.34375 2.828125 -3.8125 2.828125 -3.25 C 2.828125 -2.640625 2.390625 -2.171875 2.171875 -1.921875 L 0.5 -0.265625 C 0.4375 -0.203125 0.4375 -0.1875 0.4375 0 L 3.28125 0 Z M 3.5 -1.265625 "/>
</symbol>
<symbol overflow="visible" id="glyph3-2">
<path style="stroke:none;" d="M 3.5 -1.265625 L 3.265625 -1.265625 C 3.234375 -1.109375 3.171875 -0.703125 3.078125 -0.625 C 3.03125 -0.59375 2.484375 -0.59375 2.390625 -0.59375 L 1.125 -0.59375 C 1.84375 -1.234375 2.09375 -1.421875 2.5 -1.75 C 3.015625 -2.15625 3.5 -2.59375 3.5 -3.25 C 3.5 -4.078125 2.765625 -4.59375 1.875 -4.59375 C 1.015625 -4.59375 0.4375 -4 0.4375 -3.359375 C 0.4375 -3 0.734375 -2.96875 0.796875 -2.96875 C 0.96875 -2.96875 1.171875 -3.09375 1.171875 -3.34375 C 1.171875 -3.453125 1.125 -3.703125 0.765625 -3.703125 C 0.96875 -4.1875 1.453125 -4.34375 1.765625 -4.34375 C 2.46875 -4.34375 2.828125 -3.8125 2.828125 -3.25 C 2.828125 -2.640625 2.390625 -2.171875 2.171875 -1.921875 L 0.5 -0.265625 C 0.4375 -0.203125 0.4375 -0.1875 0.4375 0 L 3.28125 0 Z M 3.5 -1.265625 "/>
<path style="stroke:none;" d="M 3.28125 0 L 3.28125 -0.25 L 3.015625 -0.25 C 2.3125 -0.25 2.3125 -0.34375 2.3125 -0.5625 L 2.3125 -4.40625 C 2.3125 -4.59375 2.3125 -4.59375 2.109375 -4.59375 C 1.671875 -4.15625 1.03125 -4.15625 0.75 -4.15625 L 0.75 -3.90625 C 0.921875 -3.90625 1.375 -3.90625 1.765625 -4.09375 L 1.765625 -0.5625 C 1.765625 -0.34375 1.765625 -0.25 1.0625 -0.25 L 0.796875 -0.25 L 0.796875 0 L 2.03125 -0.03125 Z M 3.28125 0 "/>
</symbol>
<symbol overflow="visible" id="glyph4-0">
<path style="stroke:none;" d=""/>

Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 27 KiB

After

Width:  |  Height:  |  Size: 27 KiB

BIN
journal/figs/hinf_filters_results.pdf
View File

Binary file not shown.

BIN
journal/figs/hinf_filters_results.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 113 KiB

After

Width:  |  Height:  |  Size: 113 KiB

BIN
journal/figs/sensor_model_uncertainty_simplified.pdf
View File

Binary file not shown.

BIN
journal/figs/sensor_model_uncertainty_simplified.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 12 KiB

After

Width:  |  Height:  |  Size: 10 KiB

198
journal/figs/sensor_model_uncertainty_simplified.svg
View File

@ -1,219 +1,219 @@
<?xml version="1.0" encoding="UTF-8"?>
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="179.872pt" height="69.037pt" viewBox="0 0 179.872 69.037" version="1.2">
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="182.707pt" height="57.698pt" viewBox="0 0 182.707 57.698" 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 7.03125 -6.40625 L 7.03125 -6.71875 L 5.890625 -6.6875 L 4.734375 -6.71875 L 4.734375 -6.40625 C 5.75 -6.40625 5.75 -5.953125 5.75 -5.6875 L 5.75 -1.484375 L 2.28125 -6.578125 C 2.1875 -6.703125 2.1875 -6.71875 2 -6.71875 L 0.328125 -6.71875 L 0.328125 -6.40625 L 0.609375 -6.40625 C 0.75 -6.40625 0.953125 -6.390625 1.09375 -6.390625 C 1.328125 -6.359375 1.34375 -6.34375 1.34375 -6.15625 L 1.34375 -1.03125 C 1.34375 -0.765625 1.34375 -0.296875 0.328125 -0.296875 L 0.328125 0 L 1.46875 -0.03125 L 2.625 0 L 2.625 -0.296875 C 1.609375 -0.296875 1.609375 -0.765625 1.609375 -1.03125 L 1.609375 -6.140625 C 1.65625 -6.09375 1.671875 -6.078125 1.703125 -6.03125 L 5.71875 -0.125 C 5.8125 -0.015625 5.8125 0 5.890625 0 C 6.03125 0 6.03125 -0.0625 6.03125 -0.25 L 6.03125 -5.6875 C 6.03125 -5.953125 6.03125 -6.40625 7.03125 -6.40625 Z M 7.03125 -6.40625 "/>
<path style="stroke:none;" d="M 4.4375 -3.171875 L 4.4375 -3.390625 C 4.21875 -3.375 4 -3.359375 3.78125 -3.359375 C 3.640625 -3.359375 3.3125 -3.375 3.109375 -3.390625 L 3.109375 -3.171875 C 3.671875 -3.171875 3.671875 -2.96875 3.671875 -2.828125 L 3.671875 -0.78125 L 1.53125 -3.328125 C 1.484375 -3.390625 1.46875 -3.390625 1.375 -3.390625 L 0.40625 -3.390625 L 0.40625 -3.171875 L 0.609375 -3.171875 C 0.65625 -3.171875 0.890625 -3.15625 0.9375 -3.140625 C 0.953125 -3.140625 0.953125 -3.125 0.953125 -3.046875 L 0.953125 -0.546875 C 0.953125 -0.421875 0.953125 -0.21875 0.40625 -0.21875 L 0.40625 0 C 0.640625 -0.015625 0.859375 -0.015625 1.078125 -0.015625 C 1.21875 -0.015625 1.53125 -0.015625 1.734375 0 L 1.734375 -0.21875 C 1.1875 -0.21875 1.1875 -0.421875 1.1875 -0.546875 L 1.1875 -3 L 3.65625 -0.0625 C 3.703125 0 3.71875 0 3.78125 0 C 3.890625 0 3.890625 -0.046875 3.890625 -0.15625 L 3.890625 -2.828125 C 3.890625 -2.96875 3.890625 -3.171875 4.4375 -3.171875 Z M 4.4375 -3.171875 "/>
</symbol>
<symbol overflow="visible" id="glyph0-2">
<path style="stroke:none;" d="M 4.625 -2.109375 C 4.625 -3.359375 3.640625 -4.40625 2.453125 -4.40625 C 1.234375 -4.40625 0.28125 -3.328125 0.28125 -2.109375 C 0.28125 -0.828125 1.296875 0.109375 2.453125 0.109375 C 3.640625 0.109375 4.625 -0.859375 4.625 -2.109375 Z M 3.8125 -2.1875 C 3.8125 -1.828125 3.8125 -1.296875 3.59375 -0.859375 C 3.375 -0.421875 2.953125 -0.140625 2.453125 -0.140625 C 2.03125 -0.140625 1.609375 -0.34375 1.34375 -0.796875 C 1.09375 -1.234375 1.09375 -1.828125 1.09375 -2.1875 C 1.09375 -2.5625 1.09375 -3.09375 1.328125 -3.53125 C 1.59375 -3.984375 2.046875 -4.1875 2.453125 -4.1875 C 2.875 -4.1875 3.296875 -3.96875 3.5625 -3.546875 C 3.8125 -3.125 3.8125 -2.5625 3.8125 -2.1875 Z M 3.8125 -2.1875 "/>
<path style="stroke:none;" d="M 3.046875 -1.0625 C 3.046875 -1.671875 2.46875 -2.21875 1.6875 -2.21875 C 0.90625 -2.21875 0.328125 -1.671875 0.328125 -1.0625 C 0.328125 -0.453125 0.90625 0.046875 1.6875 0.046875 C 2.46875 0.046875 3.046875 -0.453125 3.046875 -1.0625 Z M 2.546875 -1.109375 C 2.546875 -0.859375 2.546875 -0.125 1.6875 -0.125 C 0.8125 -0.125 0.8125 -0.859375 0.8125 -1.109375 C 0.8125 -1.328125 0.8125 -2.0625 1.6875 -2.0625 C 2.546875 -2.0625 2.546875 -1.328125 2.546875 -1.109375 Z M 2.546875 -1.109375 "/>
</symbol>
<symbol overflow="visible" id="glyph0-3">
<path style="stroke:none;" d="M 3.578125 -3.75 C 3.578125 -4.0625 3.265625 -4.34375 2.84375 -4.34375 C 2.125 -4.34375 1.78125 -3.6875 1.640625 -3.265625 L 1.640625 -4.34375 L 0.28125 -4.234375 L 0.28125 -3.9375 C 0.96875 -3.9375 1.046875 -3.859375 1.046875 -3.375 L 1.046875 -0.75 C 1.046875 -0.296875 0.9375 -0.296875 0.28125 -0.296875 L 0.28125 0 L 1.390625 -0.03125 C 1.78125 -0.03125 2.25 -0.03125 2.640625 0 L 2.640625 -0.296875 L 2.4375 -0.296875 C 1.703125 -0.296875 1.6875 -0.40625 1.6875 -0.765625 L 1.6875 -2.28125 C 1.6875 -3.25 2.109375 -4.125 2.84375 -4.125 C 2.921875 -4.125 2.9375 -4.125 2.953125 -4.125 C 2.921875 -4.109375 2.734375 -3.984375 2.734375 -3.734375 C 2.734375 -3.453125 2.9375 -3.3125 3.15625 -3.3125 C 3.328125 -3.3125 3.578125 -3.4375 3.578125 -3.75 Z M 3.578125 -3.75 "/>
<path style="stroke:none;" d="M 2.375 -1.84375 C 2.375 -2.03125 2.1875 -2.1875 1.9375 -2.1875 C 1.6875 -2.1875 1.359375 -2.0625 1.171875 -1.640625 L 1.171875 -2.1875 L 0.375 -2.140625 L 0.375 -1.921875 C 0.75 -1.921875 0.78125 -1.875 0.78125 -1.640625 L 0.78125 -0.421875 C 0.78125 -0.265625 0.78125 -0.21875 0.46875 -0.21875 L 0.375 -0.21875 L 0.375 0 C 0.578125 -0.015625 0.8125 -0.015625 1.015625 -0.015625 L 1.71875 0 L 1.71875 -0.21875 L 1.59375 -0.21875 C 1.203125 -0.21875 1.203125 -0.265625 1.203125 -0.421875 L 1.203125 -1.109375 C 1.203125 -1.5625 1.46875 -2.015625 1.9375 -2.03125 C 1.9375 -2.03125 1.875 -1.953125 1.875 -1.84375 C 1.875 -1.671875 2.015625 -1.59375 2.125 -1.59375 C 2.25 -1.59375 2.375 -1.671875 2.375 -1.84375 Z M 2.375 -1.84375 "/>
</symbol>
<symbol overflow="visible" id="glyph0-4">
<path style="stroke:none;" d="M 7.984375 0 L 7.984375 -0.296875 C 7.484375 -0.296875 7.234375 -0.296875 7.21875 -0.59375 L 7.21875 -2.484375 C 7.21875 -3.328125 7.21875 -3.625 6.921875 -3.984375 C 6.78125 -4.140625 6.453125 -4.34375 5.890625 -4.34375 C 5.0625 -4.34375 4.625 -3.75 4.46875 -3.375 C 4.328125 -4.234375 3.59375 -4.34375 3.15625 -4.34375 C 2.4375 -4.34375 1.96875 -3.921875 1.703125 -3.3125 L 1.703125 -4.34375 L 0.3125 -4.234375 L 0.3125 -3.9375 C 1 -3.9375 1.078125 -3.859375 1.078125 -3.375 L 1.078125 -0.75 C 1.078125 -0.296875 0.96875 -0.296875 0.3125 -0.296875 L 0.3125 0 L 1.421875 -0.03125 L 2.53125 0 L 2.53125 -0.296875 C 1.875 -0.296875 1.765625 -0.296875 1.765625 -0.75 L 1.765625 -2.5625 C 1.765625 -3.578125 2.453125 -4.125 3.09375 -4.125 C 3.703125 -4.125 3.8125 -3.59375 3.8125 -3.03125 L 3.8125 -0.75 C 3.8125 -0.296875 3.703125 -0.296875 3.046875 -0.296875 L 3.046875 0 L 4.15625 -0.03125 L 5.265625 0 L 5.265625 -0.296875 C 4.59375 -0.296875 4.484375 -0.296875 4.484375 -0.75 L 4.484375 -2.5625 C 4.484375 -3.578125 5.1875 -4.125 5.8125 -4.125 C 6.4375 -4.125 6.546875 -3.59375 6.546875 -3.03125 L 6.546875 -0.75 C 6.546875 -0.296875 6.4375 -0.296875 5.78125 -0.296875 L 5.78125 0 L 6.890625 -0.03125 Z M 7.984375 0 "/>
<path style="stroke:none;" d="M 5.109375 0 L 5.109375 -0.21875 L 5.015625 -0.21875 C 4.703125 -0.21875 4.703125 -0.265625 4.703125 -0.421875 L 4.703125 -1.5 C 4.703125 -2.109375 4.234375 -2.1875 3.859375 -2.1875 C 3.375 -2.1875 3.09375 -1.953125 2.953125 -1.734375 C 2.828125 -2.1875 2.328125 -2.1875 2.140625 -2.1875 C 1.625 -2.1875 1.34375 -1.921875 1.21875 -1.703125 L 1.21875 -2.1875 L 0.40625 -2.140625 L 0.40625 -1.921875 C 0.765625 -1.921875 0.8125 -1.875 0.8125 -1.640625 L 0.8125 -0.421875 C 0.8125 -0.265625 0.8125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.625 -0.015625 0.828125 -0.015625 1.046875 -0.015625 C 1.25 -0.015625 1.46875 -0.015625 1.671875 0 L 1.671875 -0.21875 L 1.578125 -0.21875 C 1.265625 -0.21875 1.265625 -0.265625 1.265625 -0.421875 L 1.265625 -1.28125 C 1.265625 -1.828125 1.765625 -2.03125 2.078125 -2.03125 C 2.453125 -2.03125 2.53125 -1.828125 2.53125 -1.5 L 2.53125 -0.421875 C 2.53125 -0.265625 2.53125 -0.21875 2.21875 -0.21875 L 2.125 -0.21875 L 2.125 0 C 2.34375 -0.015625 2.546875 -0.015625 2.765625 -0.015625 C 2.96875 -0.015625 3.1875 -0.015625 3.390625 0 L 3.390625 -0.21875 L 3.296875 -0.21875 C 2.984375 -0.21875 2.984375 -0.265625 2.984375 -0.421875 L 2.984375 -1.28125 C 2.984375 -1.828125 3.484375 -2.03125 3.796875 -2.03125 C 4.171875 -2.03125 4.25 -1.828125 4.25 -1.5 L 4.25 -0.421875 C 4.25 -0.265625 4.25 -0.21875 3.9375 -0.21875 L 3.84375 -0.21875 L 3.84375 0 C 4.0625 -0.015625 4.265625 -0.015625 4.484375 -0.015625 C 4.6875 -0.015625 4.90625 -0.015625 5.109375 0 Z M 5.109375 0 "/>
</symbol>
<symbol overflow="visible" id="glyph0-5">
<path style="stroke:none;" d="M 4.75 -0.875 L 4.75 -1.421875 L 4.5 -1.421875 L 4.5 -0.875 C 4.5 -0.296875 4.25 -0.25 4.140625 -0.25 C 3.828125 -0.25 3.78125 -0.6875 3.78125 -0.734375 L 3.78125 -2.703125 C 3.78125 -3.109375 3.78125 -3.5 3.4375 -3.859375 C 3.046875 -4.25 2.5625 -4.40625 2.078125 -4.40625 C 1.28125 -4.40625 0.59375 -3.9375 0.59375 -3.296875 C 0.59375 -3 0.796875 -2.828125 1.046875 -2.828125 C 1.328125 -2.828125 1.5 -3.03125 1.5 -3.28125 C 1.5 -3.40625 1.453125 -3.71875 1 -3.734375 C 1.265625 -4.078125 1.75 -4.1875 2.0625 -4.1875 C 2.546875 -4.1875 3.109375 -3.796875 3.109375 -2.921875 L 3.109375 -2.5625 C 2.609375 -2.53125 1.921875 -2.5 1.296875 -2.21875 C 0.5625 -1.875 0.3125 -1.359375 0.3125 -0.9375 C 0.3125 -0.140625 1.265625 0.109375 1.890625 0.109375 C 2.53125 0.109375 2.984375 -0.28125 3.171875 -0.75 C 3.21875 -0.359375 3.484375 0.0625 3.9375 0.0625 C 4.140625 0.0625 4.75 -0.078125 4.75 -0.875 Z M 3.109375 -1.375 C 3.109375 -0.4375 2.390625 -0.109375 1.953125 -0.109375 C 1.46875 -0.109375 1.078125 -0.453125 1.078125 -0.9375 C 1.078125 -1.484375 1.484375 -2.296875 3.109375 -2.359375 Z M 3.109375 -1.375 "/>
<path style="stroke:none;" d="M 3.140625 -0.453125 L 3.140625 -0.71875 L 2.9375 -0.71875 L 2.9375 -0.453125 C 2.9375 -0.40625 2.9375 -0.1875 2.734375 -0.1875 C 2.546875 -0.1875 2.546875 -0.40625 2.546875 -0.453125 L 2.546875 -1.46875 C 2.546875 -1.953125 2.046875 -2.21875 1.421875 -2.21875 C 1.125 -2.21875 0.546875 -2.203125 0.546875 -1.78125 C 0.546875 -1.59375 0.6875 -1.515625 0.8125 -1.515625 C 0.953125 -1.515625 1.078125 -1.609375 1.078125 -1.78125 C 1.078125 -1.890625 1 -1.96875 0.953125 -2 C 1.125 -2.0625 1.359375 -2.0625 1.421875 -2.0625 C 1.84375 -2.0625 2.09375 -1.828125 2.09375 -1.46875 L 2.09375 -1.34375 C 1.625 -1.3125 1.359375 -1.296875 0.96875 -1.15625 C 0.640625 -1.046875 0.359375 -0.84375 0.359375 -0.515625 C 0.359375 -0.046875 0.9375 0.046875 1.328125 0.046875 C 1.703125 0.046875 2 -0.09375 2.15625 -0.359375 C 2.171875 -0.171875 2.296875 0.03125 2.546875 0.03125 C 2.578125 0.03125 3.140625 0.03125 3.140625 -0.453125 Z M 2.09375 -0.703125 C 2.09375 -0.15625 1.5 -0.109375 1.375 -0.109375 C 1.09375 -0.109375 0.8125 -0.265625 0.8125 -0.515625 C 0.8125 -0.6875 0.921875 -1.140625 2.09375 -1.1875 Z M 2.09375 -0.703125 "/>
</symbol>
<symbol overflow="visible" id="glyph0-6">
<path style="stroke:none;" d="M 2.5 0 L 2.5 -0.296875 C 1.84375 -0.296875 1.734375 -0.296875 1.734375 -0.75 L 1.734375 -6.828125 L 0.328125 -6.71875 L 0.328125 -6.40625 C 1.015625 -6.40625 1.09375 -6.34375 1.09375 -5.859375 L 1.09375 -0.75 C 1.09375 -0.296875 0.984375 -0.296875 0.328125 -0.296875 L 0.328125 0 L 1.421875 -0.03125 Z M 2.5 0 "/>
<path style="stroke:none;" d="M 1.65625 0 L 1.65625 -0.21875 L 1.5625 -0.21875 C 1.25 -0.21875 1.25 -0.265625 1.25 -0.421875 L 1.25 -3.4375 L 0.40625 -3.390625 L 0.40625 -3.171875 C 0.78125 -3.171875 0.828125 -3.125 0.828125 -2.890625 L 0.828125 -0.421875 C 0.828125 -0.265625 0.828125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.625 -0.015625 0.828125 -0.015625 1.03125 -0.015625 C 1.234375 -0.015625 1.453125 -0.015625 1.65625 0 Z M 1.65625 0 "/>
</symbol>
<symbol overflow="visible" id="glyph0-7">
<path style="stroke:none;" d="M 2.421875 0 L 2.421875 -0.296875 C 1.78125 -0.296875 1.734375 -0.359375 1.734375 -0.734375 L 1.734375 -4.34375 L 0.359375 -4.234375 L 0.359375 -3.9375 C 1 -3.9375 1.09375 -3.875 1.09375 -3.390625 L 1.09375 -0.75 C 1.09375 -0.296875 0.984375 -0.296875 0.328125 -0.296875 L 0.328125 0 L 1.40625 -0.03125 C 1.75 -0.03125 2.09375 -0.015625 2.421875 0 Z M 1.890625 -5.9375 C 1.890625 -6.203125 1.65625 -6.453125 1.359375 -6.453125 C 1.03125 -6.453125 0.828125 -6.1875 0.828125 -5.9375 C 0.828125 -5.671875 1.0625 -5.421875 1.359375 -5.421875 C 1.6875 -5.421875 1.890625 -5.6875 1.890625 -5.9375 Z M 1.890625 -5.9375 "/>
<path style="stroke:none;" d="M 1.609375 0 L 1.609375 -0.21875 C 1.28125 -0.21875 1.25 -0.21875 1.25 -0.421875 L 1.25 -2.1875 L 0.4375 -2.140625 L 0.4375 -1.921875 C 0.78125 -1.921875 0.828125 -1.875 0.828125 -1.640625 L 0.828125 -0.421875 C 0.828125 -0.265625 0.828125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.609375 -0.015625 0.828125 -0.015625 1.03125 -0.015625 C 1.21875 -0.015625 1.4375 -0.015625 1.609375 0 Z M 1.296875 -2.96875 C 1.296875 -3.140625 1.15625 -3.28125 1 -3.28125 C 0.828125 -3.28125 0.6875 -3.140625 0.6875 -2.96875 C 0.6875 -2.796875 0.828125 -2.671875 1 -2.671875 C 1.15625 -2.671875 1.296875 -2.796875 1.296875 -2.96875 Z M 1.296875 -2.96875 "/>
</symbol>
<symbol overflow="visible" id="glyph0-8">
<path style="stroke:none;" d="M 3.9375 -1.84375 L 3.703125 -1.84375 C 3.609375 -0.671875 3.40625 -0.25 2.265625 -0.25 L 1.09375 -0.25 L 3.828125 -3.9375 C 3.921875 -4.046875 3.921875 -4.0625 3.921875 -4.109375 C 3.921875 -4.234375 3.84375 -4.234375 3.671875 -4.234375 L 0.515625 -4.234375 L 0.40625 -2.65625 L 0.65625 -2.65625 C 0.71875 -3.65625 0.90625 -4.015625 1.984375 -4.015625 L 3.109375 -4.015625 L 0.359375 -0.3125 C 0.28125 -0.203125 0.28125 -0.1875 0.28125 -0.140625 C 0.28125 0 0.34375 0 0.53125 0 L 3.78125 0 Z M 3.9375 -1.84375 "/>
<path style="stroke:none;" d="M 2.625 -0.984375 L 2.421875 -0.984375 C 2.359375 -0.421875 2.265625 -0.171875 1.5625 -0.171875 L 0.90625 -0.171875 L 2.546875 -1.9375 C 2.59375 -1.984375 2.609375 -2 2.609375 -2.046875 C 2.609375 -2.140625 2.546875 -2.140625 2.453125 -2.140625 L 0.453125 -2.140625 L 0.390625 -1.28125 L 0.609375 -1.28125 C 0.640625 -1.828125 0.796875 -1.96875 1.375 -1.96875 L 2.015625 -1.96875 L 0.359375 -0.203125 C 0.3125 -0.15625 0.3125 -0.15625 0.3125 -0.09375 C 0.3125 0 0.375 0 0.453125 0 L 2.53125 0 Z M 2.625 -0.984375 "/>
</symbol>
<symbol overflow="visible" id="glyph0-9">
<path style="stroke:none;" d="M 4.078125 -1.171875 C 4.078125 -1.265625 4 -1.28125 3.953125 -1.28125 C 3.859375 -1.28125 3.84375 -1.234375 3.828125 -1.15625 C 3.484375 -0.140625 2.59375 -0.140625 2.5 -0.140625 C 2 -0.140625 1.609375 -0.4375 1.390625 -0.796875 C 1.09375 -1.265625 1.09375 -1.921875 1.09375 -2.265625 L 3.828125 -2.265625 C 4.046875 -2.265625 4.078125 -2.265625 4.078125 -2.484375 C 4.078125 -3.453125 3.546875 -4.40625 2.3125 -4.40625 C 1.171875 -4.40625 0.28125 -3.390625 0.28125 -2.15625 C 0.28125 -0.84375 1.3125 0.109375 2.4375 0.109375 C 3.640625 0.109375 4.078125 -0.984375 4.078125 -1.171875 Z M 3.4375 -2.484375 L 1.09375 -2.484375 C 1.15625 -3.9375 1.984375 -4.1875 2.3125 -4.1875 C 3.328125 -4.1875 3.4375 -2.859375 3.4375 -2.484375 Z M 3.4375 -2.484375 "/>
<path style="stroke:none;" d="M 2.703125 -0.59375 C 2.703125 -0.671875 2.625 -0.671875 2.609375 -0.671875 C 2.53125 -0.671875 2.515625 -0.65625 2.484375 -0.578125 C 2.359375 -0.25 1.984375 -0.125 1.703125 -0.125 C 1.3125 -0.125 1.078125 -0.34375 1.015625 -0.4375 C 0.8125 -0.671875 0.8125 -0.984375 0.8125 -1.109375 L 2.5625 -1.109375 C 2.671875 -1.109375 2.703125 -1.109375 2.703125 -1.234375 C 2.703125 -1.5625 2.53125 -2.21875 1.609375 -2.21875 C 0.859375 -2.21875 0.328125 -1.671875 0.328125 -1.09375 C 0.328125 -0.453125 0.921875 0.046875 1.671875 0.046875 C 2.46875 0.046875 2.703125 -0.5 2.703125 -0.59375 Z M 2.328125 -1.265625 L 0.828125 -1.265625 C 0.890625 -1.921875 1.359375 -2.0625 1.59375 -2.0625 C 2.28125 -2.0625 2.328125 -1.40625 2.328125 -1.265625 Z M 2.328125 -1.265625 "/>
</symbol>
<symbol overflow="visible" id="glyph0-10">
<path style="stroke:none;" d="M 5.171875 0 L 5.171875 -0.296875 C 4.484375 -0.296875 4.40625 -0.375 4.40625 -0.859375 L 4.40625 -6.828125 L 3 -6.71875 L 3 -6.40625 C 3.6875 -6.40625 3.765625 -6.34375 3.765625 -5.859375 L 3.765625 -3.734375 C 3.484375 -4.09375 3.0625 -4.34375 2.53125 -4.34375 C 1.359375 -4.34375 0.328125 -3.375 0.328125 -2.109375 C 0.328125 -0.859375 1.296875 0.109375 2.421875 0.109375 C 3.046875 0.109375 3.484375 -0.21875 3.734375 -0.546875 L 3.734375 0.109375 Z M 3.734375 -1.15625 C 3.734375 -0.984375 3.734375 -0.96875 3.625 -0.796875 C 3.328125 -0.328125 2.890625 -0.109375 2.46875 -0.109375 C 2.03125 -0.109375 1.671875 -0.359375 1.4375 -0.734375 C 1.171875 -1.140625 1.15625 -1.703125 1.15625 -2.109375 C 1.15625 -2.46875 1.171875 -3.0625 1.453125 -3.5 C 1.65625 -3.796875 2.03125 -4.125 2.5625 -4.125 C 2.90625 -4.125 3.328125 -3.984375 3.625 -3.53125 C 3.734375 -3.375 3.734375 -3.34375 3.734375 -3.171875 Z M 3.734375 -1.15625 "/>
<path style="stroke:none;" d="M 3.328125 0 L 3.328125 -0.21875 C 2.96875 -0.21875 2.921875 -0.25 2.921875 -0.5 L 2.921875 -3.4375 L 2.09375 -3.390625 L 2.09375 -3.171875 C 2.453125 -3.171875 2.5 -3.125 2.5 -2.890625 L 2.5 -1.921875 C 2.390625 -2.015625 2.125 -2.1875 1.71875 -2.1875 C 0.96875 -2.1875 0.359375 -1.6875 0.359375 -1.0625 C 0.359375 -0.46875 0.921875 0.046875 1.65625 0.046875 C 2.0625 0.046875 2.34375 -0.125 2.484375 -0.25 L 2.484375 0.046875 Z M 2.484375 -0.546875 C 2.25 -0.171875 1.875 -0.109375 1.6875 -0.109375 C 1.4375 -0.109375 1.1875 -0.203125 1.03125 -0.421875 C 0.859375 -0.625 0.859375 -0.90625 0.859375 -1.0625 C 0.859375 -1.203125 0.859375 -1.53125 1.078125 -1.75 C 1.25 -1.9375 1.5 -2.03125 1.75 -2.03125 C 1.890625 -2.03125 2.25 -2 2.484375 -1.65625 Z M 2.484375 -0.546875 "/>
</symbol>
<symbol overflow="visible" id="glyph0-11">
<path style="stroke:none;" d="M 4.90625 -1.828125 C 4.90625 -2.8125 4.25 -3.609375 3.4375 -3.8125 L 2.171875 -4.125 C 1.5625 -4.265625 1.171875 -4.796875 1.171875 -5.359375 C 1.171875 -6.046875 1.703125 -6.65625 2.484375 -6.65625 C 4.125 -6.65625 4.328125 -5.046875 4.390625 -4.59375 C 4.40625 -4.546875 4.40625 -4.484375 4.515625 -4.484375 C 4.640625 -4.484375 4.640625 -4.53125 4.640625 -4.71875 L 4.640625 -6.6875 C 4.640625 -6.859375 4.640625 -6.921875 4.53125 -6.921875 C 4.46875 -6.921875 4.453125 -6.921875 4.390625 -6.796875 L 4.046875 -6.234375 C 3.75 -6.53125 3.34375 -6.921875 2.46875 -6.921875 C 1.375 -6.921875 0.546875 -6.0625 0.546875 -5.015625 C 0.546875 -4.203125 1.078125 -3.484375 1.84375 -3.21875 C 1.953125 -3.1875 2.453125 -3.0625 3.140625 -2.90625 C 3.40625 -2.828125 3.703125 -2.765625 3.96875 -2.390625 C 4.171875 -2.140625 4.28125 -1.8125 4.28125 -1.5 C 4.28125 -0.796875 3.78125 -0.09375 2.953125 -0.09375 C 2.671875 -0.09375 1.921875 -0.140625 1.40625 -0.625 C 0.828125 -1.15625 0.8125 -1.78125 0.796875 -2.125 C 0.78125 -2.234375 0.703125 -2.234375 0.671875 -2.234375 C 0.546875 -2.234375 0.546875 -2.15625 0.546875 -1.984375 L 0.546875 -0.015625 C 0.546875 0.140625 0.546875 0.21875 0.65625 0.21875 C 0.734375 0.21875 0.734375 0.203125 0.8125 0.09375 C 0.8125 0.09375 0.828125 0.046875 1.15625 -0.46875 C 1.46875 -0.140625 2.09375 0.21875 2.96875 0.21875 C 4.125 0.21875 4.90625 -0.75 4.90625 -1.828125 Z M 4.90625 -1.828125 "/>
<path style="stroke:none;" d="M 2.375 -0.625 C 2.375 -0.84375 2.25 -1.015625 2.0625 -1.125 C 1.859375 -1.25 1.703125 -1.265625 1.296875 -1.34375 C 0.96875 -1.390625 0.59375 -1.453125 0.59375 -1.703125 C 0.59375 -1.875 0.78125 -2.078125 1.328125 -2.078125 C 1.734375 -2.078125 1.96875 -1.90625 2 -1.5625 C 2.015625 -1.484375 2.015625 -1.46875 2.109375 -1.46875 C 2.21875 -1.46875 2.21875 -1.5 2.21875 -1.59375 L 2.21875 -2.078125 C 2.21875 -2.171875 2.21875 -2.21875 2.140625 -2.21875 C 2.109375 -2.21875 2.09375 -2.21875 2.046875 -2.1875 C 2.03125 -2.171875 1.9375 -2.078125 1.921875 -2.078125 C 1.921875 -2.078125 1.90625 -2.078125 1.875 -2.109375 C 1.765625 -2.171875 1.578125 -2.21875 1.328125 -2.21875 C 0.515625 -2.21875 0.34375 -1.84375 0.34375 -1.609375 C 0.34375 -1.15625 0.921875 -1.0625 1.375 -0.984375 C 1.671875 -0.953125 2.125 -0.875 2.125 -0.546875 C 2.125 -0.359375 1.96875 -0.109375 1.375 -0.109375 C 1.046875 -0.109375 0.71875 -0.234375 0.5625 -0.765625 C 0.546875 -0.84375 0.53125 -0.859375 0.453125 -0.859375 C 0.34375 -0.859375 0.34375 -0.828125 0.34375 -0.71875 L 0.34375 -0.078125 C 0.34375 0 0.34375 0.046875 0.421875 0.046875 C 0.46875 0.046875 0.46875 0.046875 0.5625 -0.046875 L 0.6875 -0.171875 C 0.9375 0.046875 1.25 0.046875 1.375 0.046875 C 2.203125 0.046875 2.375 -0.375 2.375 -0.625 Z M 2.375 -0.625 "/>
</symbol>
<symbol overflow="visible" id="glyph0-12">
<path style="stroke:none;" d="M 5.265625 0 L 5.265625 -0.296875 C 4.75 -0.296875 4.5 -0.296875 4.484375 -0.59375 L 4.484375 -2.484375 C 4.484375 -3.328125 4.484375 -3.625 4.1875 -3.984375 C 4.046875 -4.140625 3.71875 -4.34375 3.15625 -4.34375 C 2.4375 -4.34375 1.96875 -3.921875 1.703125 -3.3125 L 1.703125 -4.34375 L 0.3125 -4.234375 L 0.3125 -3.9375 C 1 -3.9375 1.078125 -3.859375 1.078125 -3.375 L 1.078125 -0.75 C 1.078125 -0.296875 0.96875 -0.296875 0.3125 -0.296875 L 0.3125 0 L 1.421875 -0.03125 L 2.53125 0 L 2.53125 -0.296875 C 1.875 -0.296875 1.765625 -0.296875 1.765625 -0.75 L 1.765625 -2.5625 C 1.765625 -3.578125 2.453125 -4.125 3.09375 -4.125 C 3.703125 -4.125 3.8125 -3.59375 3.8125 -3.03125 L 3.8125 -0.75 C 3.8125 -0.296875 3.703125 -0.296875 3.046875 -0.296875 L 3.046875 0 L 4.15625 -0.03125 Z M 5.265625 0 "/>
</symbol>
<symbol overflow="visible" id="glyph0-13">
<path style="stroke:none;" d="M 3.53125 -1.265625 C 3.53125 -1.78125 3.25 -2.078125 3.125 -2.1875 C 2.796875 -2.5 2.421875 -2.578125 2 -2.65625 C 1.453125 -2.765625 0.796875 -2.90625 0.796875 -3.46875 C 0.796875 -3.8125 1.046875 -4.21875 1.890625 -4.21875 C 2.984375 -4.21875 3.03125 -3.328125 3.046875 -3.03125 C 3.0625 -2.9375 3.171875 -2.9375 3.171875 -2.9375 C 3.296875 -2.9375 3.296875 -2.984375 3.296875 -3.171875 L 3.296875 -4.171875 C 3.296875 -4.328125 3.296875 -4.40625 3.1875 -4.40625 C 3.140625 -4.40625 3.109375 -4.40625 2.984375 -4.28125 C 2.953125 -4.25 2.859375 -4.15625 2.828125 -4.125 C 2.453125 -4.40625 2.046875 -4.40625 1.890625 -4.40625 C 0.703125 -4.40625 0.328125 -3.75 0.328125 -3.1875 C 0.328125 -2.84375 0.484375 -2.578125 0.75 -2.359375 C 1.0625 -2.109375 1.34375 -2.046875 2.046875 -1.90625 C 2.265625 -1.875 3.0625 -1.703125 3.0625 -1 C 3.0625 -0.5 2.71875 -0.109375 1.953125 -0.109375 C 1.125 -0.109375 0.78125 -0.671875 0.59375 -1.5 C 0.5625 -1.625 0.546875 -1.671875 0.453125 -1.671875 C 0.328125 -1.671875 0.328125 -1.609375 0.328125 -1.421875 L 0.328125 -0.125 C 0.328125 0.046875 0.328125 0.109375 0.4375 0.109375 C 0.484375 0.109375 0.484375 0.09375 0.671875 -0.09375 C 0.703125 -0.109375 0.703125 -0.125 0.875 -0.3125 C 1.3125 0.09375 1.75 0.109375 1.953125 0.109375 C 3.09375 0.109375 3.53125 -0.546875 3.53125 -1.265625 Z M 3.53125 -1.265625 "/>
</symbol>
<symbol overflow="visible" id="glyph0-14">
<path style="stroke:none;" d="M 3.25 2.359375 C 3.25 2.328125 3.25 2.3125 3.09375 2.140625 C 1.859375 0.90625 1.546875 -0.953125 1.546875 -2.453125 C 1.546875 -4.171875 1.921875 -5.875 3.125 -7.109375 C 3.25 -7.21875 3.25 -7.25 3.25 -7.265625 C 3.25 -7.34375 3.21875 -7.375 3.15625 -7.375 C 3.0625 -7.375 2.171875 -6.703125 1.59375 -5.453125 C 1.09375 -4.375 0.96875 -3.28125 0.96875 -2.453125 C 0.96875 -1.6875 1.078125 -0.5 1.625 0.609375 C 2.21875 1.8125 3.0625 2.453125 3.15625 2.453125 C 3.21875 2.453125 3.25 2.421875 3.25 2.359375 Z M 3.25 2.359375 "/>
</symbol>
<symbol overflow="visible" id="glyph0-15">
<path style="stroke:none;" d="M 2.84375 -2.453125 C 2.84375 -3.21875 2.734375 -4.40625 2.1875 -5.515625 C 1.609375 -6.734375 0.75 -7.375 0.65625 -7.375 C 0.59375 -7.375 0.5625 -7.328125 0.5625 -7.265625 C 0.5625 -7.25 0.5625 -7.21875 0.75 -7.046875 C 1.703125 -6.078125 2.265625 -4.515625 2.265625 -2.453125 C 2.265625 -0.78125 1.90625 0.953125 0.6875 2.1875 C 0.5625 2.3125 0.5625 2.328125 0.5625 2.359375 C 0.5625 2.421875 0.59375 2.453125 0.65625 2.453125 C 0.75 2.453125 1.640625 1.78125 2.21875 0.546875 C 2.71875 -0.546875 2.84375 -1.625 2.84375 -2.453125 Z M 2.84375 -2.453125 "/>
</symbol>
<symbol overflow="visible" id="glyph0-16">
<path style="stroke:none;" d="M 7.71875 -0.078125 C 7.71875 -0.078125 7.71875 -0.109375 7.671875 -0.203125 L 4.34375 -6.859375 C 4.28125 -6.984375 4.25 -7.03125 4.09375 -7.03125 C 3.921875 -7.03125 3.90625 -6.984375 3.828125 -6.859375 L 0.515625 -0.203125 C 0.46875 -0.109375 0.46875 -0.078125 0.46875 -0.078125 C 0.46875 0 0.515625 0 0.671875 0 L 7.5 0 C 7.65625 0 7.71875 0 7.71875 -0.078125 Z M 6.421875 -0.75 L 1.125 -0.75 L 3.78125 -6.046875 Z M 6.421875 -0.75 "/>
</symbol>
<symbol overflow="visible" id="glyph0-17">
<path style="stroke:none;" d="M 3.953125 -5.203125 L 2.453125 -6.796875 L 0.96875 -5.203125 L 1.09375 -5.078125 L 2.453125 -6.125 L 3.828125 -5.078125 Z M 3.953125 -5.203125 "/>
<path style="stroke:none;" d="M 3.390625 0 L 3.390625 -0.21875 L 3.296875 -0.21875 C 2.96875 -0.21875 2.96875 -0.265625 2.96875 -0.421875 L 2.96875 -1.5 C 2.96875 -2.046875 2.59375 -2.1875 2.140625 -2.1875 C 1.609375 -2.1875 1.328125 -1.890625 1.21875 -1.703125 L 1.21875 -2.1875 L 0.40625 -2.140625 L 0.40625 -1.921875 C 0.765625 -1.921875 0.8125 -1.875 0.8125 -1.640625 L 0.8125 -0.421875 C 0.8125 -0.265625 0.8125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.625 -0.015625 0.828125 -0.015625 1.046875 -0.015625 C 1.25 -0.015625 1.46875 -0.015625 1.671875 0 L 1.671875 -0.21875 L 1.578125 -0.21875 C 1.265625 -0.21875 1.265625 -0.265625 1.265625 -0.421875 L 1.265625 -1.28125 C 1.265625 -1.84375 1.765625 -2.03125 2.078125 -2.03125 C 2.453125 -2.03125 2.53125 -1.8125 2.53125 -1.5 L 2.53125 -0.421875 C 2.53125 -0.265625 2.53125 -0.21875 2.203125 -0.21875 L 2.125 -0.21875 L 2.125 0 C 2.328125 -0.015625 2.546875 -0.015625 2.75 -0.015625 C 2.96875 -0.015625 3.171875 -0.015625 3.390625 0 Z M 3.390625 0 "/>
</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 6.796875 -3.65625 C 6.796875 -4.203125 6.53125 -4.34375 6.359375 -4.34375 C 6.109375 -4.34375 5.875 -4.09375 5.875 -3.875 C 5.875 -3.75 5.921875 -3.6875 6.015625 -3.609375 C 6.125 -3.5 6.375 -3.25 6.375 -2.765625 C 6.375 -2.4375 6.078125 -1.46875 5.828125 -0.96875 C 5.578125 -0.453125 5.234375 -0.109375 4.75 -0.109375 C 4.28125 -0.109375 4.015625 -0.40625 4.015625 -0.96875 C 4.015625 -1.234375 4.09375 -1.546875 4.125 -1.6875 L 4.546875 -3.328125 C 4.59375 -3.546875 4.6875 -3.90625 4.6875 -3.96875 C 4.6875 -4.140625 4.546875 -4.234375 4.40625 -4.234375 C 4.28125 -4.234375 4.109375 -4.15625 4.046875 -3.953125 C 4.015625 -3.890625 3.546875 -2.015625 3.484375 -1.765625 C 3.40625 -1.46875 3.390625 -1.28125 3.390625 -1.109375 C 3.390625 -1 3.390625 -0.984375 3.40625 -0.9375 C 3.171875 -0.40625 2.875 -0.109375 2.5 -0.109375 C 1.703125 -0.109375 1.703125 -0.828125 1.703125 -1 C 1.703125 -1.3125 1.765625 -1.703125 2.21875 -2.90625 C 2.328125 -3.203125 2.390625 -3.34375 2.390625 -3.53125 C 2.390625 -3.984375 2.0625 -4.34375 1.578125 -4.34375 C 0.65625 -4.34375 0.28125 -2.921875 0.28125 -2.828125 C 0.28125 -2.734375 0.40625 -2.734375 0.40625 -2.734375 C 0.5 -2.734375 0.515625 -2.75 0.5625 -2.90625 C 0.828125 -3.828125 1.203125 -4.125 1.546875 -4.125 C 1.640625 -4.125 1.796875 -4.125 1.796875 -3.796875 C 1.796875 -3.5625 1.6875 -3.28125 1.625 -3.109375 C 1.1875 -1.953125 1.078125 -1.5 1.078125 -1.125 C 1.078125 -0.234375 1.734375 0.109375 2.46875 0.109375 C 2.640625 0.109375 3.09375 0.109375 3.484375 -0.578125 C 3.75 0.046875 4.421875 0.109375 4.71875 0.109375 C 5.453125 0.109375 5.890625 -0.515625 6.140625 -1.09375 C 6.484375 -1.875 6.796875 -3.1875 6.796875 -3.65625 Z M 6.796875 -3.65625 "/>
<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="glyph1-2">
<path style="stroke:none;" d="M 3.890625 -1.515625 C 3.890625 -1.875 3.703125 -2.125 3.59375 -2.234375 C 3.328125 -2.515625 3.03125 -2.5625 2.609375 -2.65625 C 2.25 -2.734375 1.859375 -2.796875 1.859375 -3.25 C 1.859375 -3.53125 2.09375 -4.125 2.953125 -4.125 C 3.203125 -4.125 3.703125 -4.0625 3.84375 -3.671875 C 3.5625 -3.671875 3.375 -3.453125 3.375 -3.234375 C 3.375 -3.09375 3.453125 -2.953125 3.671875 -2.953125 C 3.890625 -2.953125 4.125 -3.109375 4.125 -3.5 C 4.125 -3.9375 3.703125 -4.34375 2.953125 -4.34375 C 1.65625 -4.34375 1.296875 -3.34375 1.296875 -2.90625 C 1.296875 -2.140625 2.03125 -2 2.3125 -1.9375 C 2.828125 -1.84375 3.328125 -1.734375 3.328125 -1.1875 C 3.328125 -0.9375 3.109375 -0.109375 1.921875 -0.109375 C 1.78125 -0.109375 1.03125 -0.109375 0.8125 -0.625 C 1.171875 -0.578125 1.421875 -0.875 1.421875 -1.15625 C 1.421875 -1.375 1.265625 -1.5 1.0625 -1.5 C 0.8125 -1.5 0.515625 -1.28125 0.515625 -0.84375 C 0.515625 -0.28125 1.078125 0.109375 1.921875 0.109375 C 3.515625 0.109375 3.890625 -1.078125 3.890625 -1.515625 Z M 3.890625 -1.515625 "/>
<path style="stroke:none;" d="M 3.921875 -1.53125 C 3.921875 -1.890625 3.734375 -2.140625 3.609375 -2.265625 C 3.34375 -2.53125 3.0625 -2.578125 2.625 -2.671875 C 2.265625 -2.75 1.875 -2.828125 1.875 -3.265625 C 1.875 -3.5625 2.109375 -4.15625 2.984375 -4.15625 C 3.234375 -4.15625 3.71875 -4.09375 3.875 -3.703125 C 3.59375 -3.6875 3.390625 -3.484375 3.390625 -3.265625 C 3.390625 -3.125 3.484375 -2.96875 3.703125 -2.96875 C 3.921875 -2.96875 4.15625 -3.140625 4.15625 -3.53125 C 4.15625 -3.96875 3.734375 -4.375 2.984375 -4.375 C 1.671875 -4.375 1.3125 -3.375 1.3125 -2.9375 C 1.3125 -2.15625 2.046875 -2.015625 2.328125 -1.953125 C 2.84375 -1.859375 3.359375 -1.75 3.359375 -1.203125 C 3.359375 -0.9375 3.125 -0.109375 1.9375 -0.109375 C 1.796875 -0.109375 1.046875 -0.109375 0.8125 -0.640625 C 1.1875 -0.578125 1.4375 -0.875 1.4375 -1.15625 C 1.4375 -1.390625 1.28125 -1.5 1.0625 -1.5 C 0.8125 -1.5 0.515625 -1.296875 0.515625 -0.859375 C 0.515625 -0.28125 1.078125 0.109375 1.9375 0.109375 C 3.53125 0.109375 3.921875 -1.09375 3.921875 -1.53125 Z M 3.921875 -1.53125 "/>
</symbol>
<symbol overflow="visible" id="glyph1-3">
<path style="stroke:none;" d="M 4.875 -1.40625 C 4.875 -1.5 4.78125 -1.5 4.75 -1.5 C 4.671875 -1.5 4.65625 -1.46875 4.625 -1.390625 C 4.3125 -0.34375 3.640625 -0.109375 3.328125 -0.109375 C 2.9375 -0.109375 2.78125 -0.421875 2.78125 -0.75 C 2.78125 -0.96875 2.84375 -1.1875 2.953125 -1.625 L 3.28125 -2.96875 C 3.34375 -3.21875 3.5625 -4.125 4.25 -4.125 C 4.3125 -4.125 4.546875 -4.125 4.75 -4 C 4.46875 -3.953125 4.28125 -3.703125 4.28125 -3.46875 C 4.28125 -3.3125 4.390625 -3.125 4.65625 -3.125 C 4.859375 -3.125 5.171875 -3.296875 5.171875 -3.703125 C 5.171875 -4.203125 4.59375 -4.34375 4.265625 -4.34375 C 3.703125 -4.34375 3.34375 -3.828125 3.234375 -3.59375 C 2.984375 -4.25 2.453125 -4.34375 2.171875 -4.34375 C 1.15625 -4.34375 0.59375 -3.078125 0.59375 -2.828125 C 0.59375 -2.734375 0.703125 -2.734375 0.703125 -2.734375 C 0.78125 -2.734375 0.8125 -2.75 0.828125 -2.84375 C 1.171875 -3.875 1.8125 -4.125 2.15625 -4.125 C 2.34375 -4.125 2.6875 -4.046875 2.6875 -3.46875 C 2.6875 -3.171875 2.515625 -2.5 2.15625 -1.125 C 2 -0.515625 1.65625 -0.109375 1.21875 -0.109375 C 1.15625 -0.109375 0.9375 -0.109375 0.734375 -0.234375 C 0.96875 -0.28125 1.1875 -0.484375 1.1875 -0.765625 C 1.1875 -1.03125 0.96875 -1.109375 0.828125 -1.109375 C 0.53125 -1.109375 0.28125 -0.859375 0.28125 -0.546875 C 0.28125 -0.09375 0.78125 0.109375 1.203125 0.109375 C 1.859375 0.109375 2.21875 -0.578125 2.234375 -0.640625 C 2.359375 -0.28125 2.71875 0.109375 3.296875 0.109375 C 4.3125 0.109375 4.875 -1.15625 4.875 -1.40625 Z M 4.875 -1.40625 "/>
<path style="stroke:none;" d="M 4.90625 -1.421875 C 4.90625 -1.515625 4.828125 -1.515625 4.796875 -1.515625 C 4.703125 -1.515625 4.6875 -1.46875 4.671875 -1.40625 C 4.34375 -0.34375 3.671875 -0.109375 3.34375 -0.109375 C 2.96875 -0.109375 2.796875 -0.421875 2.796875 -0.765625 C 2.796875 -0.984375 2.859375 -1.203125 2.96875 -1.640625 L 3.3125 -2.984375 C 3.375 -3.25 3.59375 -4.15625 4.296875 -4.15625 C 4.34375 -4.15625 4.578125 -4.15625 4.78125 -4.03125 C 4.5 -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 5.21875 -3.328125 5.21875 -3.71875 C 5.21875 -4.234375 4.640625 -4.375 4.296875 -4.375 C 3.71875 -4.375 3.375 -3.859375 3.265625 -3.625 C 3.015625 -4.28125 2.484375 -4.375 2.1875 -4.375 C 1.15625 -4.375 0.59375 -3.09375 0.59375 -2.859375 C 0.59375 -2.75 0.71875 -2.75 0.71875 -2.75 C 0.796875 -2.75 0.828125 -2.78125 0.84375 -2.859375 C 1.171875 -3.90625 1.828125 -4.15625 2.171875 -4.15625 C 2.359375 -4.15625 2.703125 -4.078125 2.703125 -3.5 C 2.703125 -3.1875 2.53125 -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 -0.765625 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 4.34375 0.109375 4.90625 -1.171875 4.90625 -1.421875 Z M 4.90625 -1.421875 "/>
</symbol>
<symbol overflow="visible" id="glyph1-4">
<path style="stroke:none;" d="M 5.609375 -1.40625 C 5.609375 -1.5 5.515625 -1.5 5.5 -1.5 C 5.390625 -1.5 5.390625 -1.46875 5.34375 -1.328125 C 5.15625 -0.65625 4.828125 -0.109375 4.34375 -0.109375 C 4.171875 -0.109375 4.109375 -0.203125 4.109375 -0.4375 C 4.109375 -0.671875 4.203125 -0.90625 4.28125 -1.125 C 4.46875 -1.65625 4.890625 -2.734375 4.890625 -3.296875 C 4.890625 -3.953125 4.46875 -4.34375 3.75 -4.34375 C 2.875 -4.34375 2.390625 -3.71875 2.21875 -3.484375 C 2.171875 -4.046875 1.765625 -4.34375 1.3125 -4.34375 C 0.859375 -4.34375 0.671875 -3.953125 0.578125 -3.78125 C 0.421875 -3.453125 0.28125 -2.875 0.28125 -2.828125 C 0.28125 -2.734375 0.40625 -2.734375 0.40625 -2.734375 C 0.5 -2.734375 0.515625 -2.734375 0.5625 -2.953125 C 0.734375 -3.65625 0.9375 -4.125 1.28125 -4.125 C 1.484375 -4.125 1.59375 -4 1.59375 -3.671875 C 1.59375 -3.46875 1.5625 -3.359375 1.4375 -2.84375 L 0.859375 -0.578125 C 0.828125 -0.4375 0.78125 -0.203125 0.78125 -0.15625 C 0.78125 0.015625 0.90625 0.109375 1.0625 0.109375 C 1.171875 0.109375 1.359375 0.03125 1.421875 -0.171875 C 1.4375 -0.1875 1.546875 -0.65625 1.609375 -0.890625 L 1.828125 -1.78125 C 1.890625 -2 1.953125 -2.21875 2 -2.4375 L 2.125 -2.921875 C 2.265625 -3.234375 2.796875 -4.125 3.71875 -4.125 C 4.171875 -4.125 4.25 -3.765625 4.25 -3.4375 C 4.25 -2.828125 3.78125 -1.578125 3.609375 -1.15625 C 3.53125 -0.921875 3.515625 -0.8125 3.515625 -0.703125 C 3.515625 -0.234375 3.859375 0.109375 4.328125 0.109375 C 5.25 0.109375 5.609375 -1.328125 5.609375 -1.40625 Z M 5.609375 -1.40625 "/>
<path style="stroke:none;" d="M 5.65625 -1.421875 C 5.65625 -1.515625 5.5625 -1.515625 5.53125 -1.515625 C 5.4375 -1.515625 5.4375 -1.484375 5.390625 -1.34375 C 5.1875 -0.65625 4.859375 -0.109375 4.375 -0.109375 C 4.203125 -0.109375 4.140625 -0.203125 4.140625 -0.4375 C 4.140625 -0.6875 4.234375 -0.921875 4.3125 -1.140625 C 4.5 -1.671875 4.921875 -2.75 4.921875 -3.3125 C 4.921875 -3.984375 4.5 -4.375 3.78125 -4.375 C 2.890625 -4.375 2.40625 -3.75 2.234375 -3.515625 C 2.1875 -4.078125 1.78125 -4.375 1.328125 -4.375 C 0.875 -4.375 0.6875 -4 0.578125 -3.8125 C 0.421875 -3.484375 0.28125 -2.890625 0.28125 -2.859375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.765625 0.578125 -2.984375 C 0.75 -3.6875 0.9375 -4.15625 1.296875 -4.15625 C 1.5 -4.15625 1.609375 -4.03125 1.609375 -3.703125 C 1.609375 -3.5 1.578125 -3.390625 1.453125 -2.875 L 0.875 -0.578125 C 0.84375 -0.4375 0.78125 -0.203125 0.78125 -0.15625 C 0.78125 0.015625 0.921875 0.109375 1.0625 0.109375 C 1.1875 0.109375 1.359375 0.03125 1.4375 -0.171875 C 1.453125 -0.1875 1.5625 -0.65625 1.625 -0.90625 L 1.84375 -1.796875 C 1.90625 -2.015625 1.96875 -2.234375 2.015625 -2.453125 L 2.140625 -2.953125 C 2.28125 -3.265625 2.8125 -4.15625 3.75 -4.15625 C 4.203125 -4.15625 4.296875 -3.796875 4.296875 -3.46875 C 4.296875 -2.859375 3.796875 -1.578125 3.640625 -1.15625 C 3.5625 -0.9375 3.546875 -0.8125 3.546875 -0.703125 C 3.546875 -0.234375 3.890625 0.109375 4.359375 0.109375 C 5.296875 0.109375 5.65625 -1.34375 5.65625 -1.421875 Z M 5.65625 -1.421875 "/>
</symbol>
<symbol overflow="visible" id="glyph2-0">
<path style="stroke:none;" d=""/>
</symbol>
<symbol overflow="visible" id="glyph2-1">
<path style="stroke:none;" d="M 3.25 0 L 3.25 -0.25 L 2.984375 -0.25 C 2.296875 -0.25 2.296875 -0.34375 2.296875 -0.5625 L 2.296875 -4.375 C 2.296875 -4.5625 2.296875 -4.5625 2.09375 -4.5625 C 1.65625 -4.125 1.03125 -4.125 0.75 -4.125 L 0.75 -3.875 C 0.921875 -3.875 1.375 -3.875 1.75 -4.0625 L 1.75 -0.5625 C 1.75 -0.34375 1.75 -0.25 1.0625 -0.25 L 0.796875 -0.25 L 0.796875 0 L 2.015625 -0.03125 Z M 3.25 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="glyph3-0">
<path style="stroke:none;" d=""/>
</symbol>
<symbol overflow="visible" id="glyph3-1">
<path style="stroke:none;" d="M 8 -2.953125 C 8 -3.171875 7.8125 -3.171875 7.640625 -3.171875 L 4.484375 -3.171875 L 4.484375 -6.328125 C 4.484375 -6.5 4.484375 -6.6875 4.28125 -6.6875 C 4.0625 -6.6875 4.0625 -6.5 4.0625 -6.328125 L 4.0625 -3.171875 L 0.921875 -3.171875 C 0.75 -3.171875 0.546875 -3.171875 0.546875 -2.96875 C 0.546875 -2.765625 0.734375 -2.765625 0.921875 -2.765625 L 4.0625 -2.765625 L 4.0625 0.390625 C 4.0625 0.5625 4.0625 0.765625 4.265625 0.765625 C 4.484375 0.765625 4.484375 0.578125 4.484375 0.390625 L 4.484375 -2.765625 L 7.640625 -2.765625 C 7.796875 -2.765625 8 -2.765625 8 -2.953125 Z M 8 -2.953125 "/>
<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="glyph3-2">
<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="glyph3-3">
<path style="stroke:none;" d="M 7.78125 -0.078125 C 7.78125 -0.078125 7.78125 -0.109375 7.734375 -0.203125 L 4.375 -6.921875 C 4.3125 -7.046875 4.296875 -7.09375 4.125 -7.09375 C 3.953125 -7.09375 3.9375 -7.046875 3.859375 -6.921875 L 0.515625 -0.203125 C 0.46875 -0.109375 0.46875 -0.078125 0.46875 -0.078125 C 0.46875 0 0.53125 0 0.6875 0 L 7.5625 0 C 7.71875 0 7.78125 0 7.78125 -0.078125 Z M 6.46875 -0.75 L 1.125 -0.75 L 3.796875 -6.109375 Z M 6.46875 -0.75 "/>
</symbol>
<symbol overflow="visible" id="glyph3-4">
<path style="stroke:none;" d="M 3.984375 -5.25 L 2.484375 -6.859375 L 0.96875 -5.25 L 1.09375 -5.109375 L 2.484375 -6.1875 L 3.859375 -5.109375 Z M 3.984375 -5.25 "/>
</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 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>
</g>
<clipPath id="clip1">
<path d="M 99 33 L 142 33 L 142 68.085938 L 99 68.085938 Z M 99 33 "/>
<path d="M 102 22 L 145 22 L 145 57.398438 L 102 57.398438 Z M 102 22 "/>
</clipPath>
<clipPath id="clip2">
<path d="M 124 33 L 167 33 L 167 68.085938 L 124 68.085938 Z M 124 33 "/>
<path d="M 127 22 L 170 22 L 170 57.398438 L 127 57.398438 Z M 127 22 "/>
</clipPath>
<clipPath id="clip3">
<path d="M 1.175781 53 L 110 53 L 110 55 L 1.175781 55 Z M 1.175781 53 "/>
<path d="M 0.328125 43 L 113 43 L 113 45 L 0.328125 45 Z M 0.328125 43 "/>
</clipPath>
<clipPath id="clip4">
<path d="M 94 38 L 127 38 L 127 68.085938 L 94 68.085938 Z M 94 38 "/>
<path d="M 96 27 L 130 27 L 130 57.398438 L 96 57.398438 Z M 96 27 "/>
</clipPath>
<clipPath id="clip5">
<path d="M 118 38 L 152 38 L 152 68.085938 L 118 68.085938 Z M 118 38 "/>
<path d="M 121 27 L 155 27 L 155 57.398438 L 121 57.398438 Z M 121 27 "/>
</clipPath>
<clipPath id="clip6">
<path d="M 157 38 L 178.570312 38 L 178.570312 68.085938 L 157 68.085938 Z M 157 38 "/>
<path d="M 161 27 L 182.085938 27 L 182.085938 57.398438 L 161 57.398438 Z M 161 27 "/>
</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-miterlimit:10;" d="M -8.469953 -12.950565 L 141.337058 -12.950565 L 141.337058 54.088894 L -8.469953 54.088894 Z M -8.469953 -12.950565 " transform="matrix(0.986243,0,0,-0.986243,21.72843,54.32916)"/>
<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-miterlimit:10;" d="M -8.468722 -12.953489 L 141.334726 -12.953489 L 141.334726 42.750619 L -8.468722 42.750619 Z M -8.468722 -12.953489 " transform="matrix(0.994793,0,0,-0.994793,23.881658,43.520209)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-1" x="47.208014" y="11.028168"/>
<use xlink:href="#glyph0-2" x="54.577172" y="11.028168"/>
<use xlink:href="#glyph0-3" x="59.489943" y="11.028168"/>
<use xlink:href="#glyph0-4" x="63.338609" y="11.028168"/>
<use xlink:href="#glyph0-5" x="71.526234" y="11.028168"/>
<use xlink:href="#glyph0-6" x="76.439005" y="11.028168"/>
<use xlink:href="#glyph0-7" x="79.168541" y="11.028168"/>
<use xlink:href="#glyph0-8" x="81.898077" y="11.028168"/>
<use xlink:href="#glyph0-9" x="86.265531" y="11.028168"/>
<use xlink:href="#glyph0-10" x="90.632985" y="11.028168"/>
<use xlink:href="#glyph0-1" x="127.685334" y="7.709647"/>
<use xlink:href="#glyph0-2" x="132.544563" y="7.709647"/>
<use xlink:href="#glyph0-3" x="135.917183" y="7.709647"/>
<use xlink:href="#glyph0-4" x="138.601503" y="7.709647"/>
<use xlink:href="#glyph0-5" x="144.038527" y="7.709647"/>
<use xlink:href="#glyph0-6" x="147.411147" y="7.709647"/>
<use xlink:href="#glyph0-7" x="149.407167" y="7.709647"/>
<use xlink:href="#glyph0-8" x="151.403187" y="7.709647"/>
<use xlink:href="#glyph0-9" x="154.431409" y="7.709647"/>
<use xlink:href="#glyph0-10" x="157.459632" y="7.709647"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-11" x="99.363962" y="11.028168"/>
<use xlink:href="#glyph0-9" x="104.823034" y="11.028168"/>
<use xlink:href="#glyph0-12" x="109.190488" y="11.028168"/>
<use xlink:href="#glyph0-13" x="114.64956" y="11.028168"/>
<use xlink:href="#glyph0-2" x="118.525736" y="11.028168"/>
<use xlink:href="#glyph0-3" x="123.438508" y="11.028168"/>
<use xlink:href="#glyph0-11" x="142.937502" y="14.647334"/>
<use xlink:href="#glyph0-9" x="145.656014" y="14.647334"/>
<use xlink:href="#glyph0-12" x="148.684236" y="14.647334"/>
<use xlink:href="#glyph0-11" x="152.400758" y="14.647334"/>
<use xlink:href="#glyph0-2" x="155.11927" y="14.647334"/>
<use xlink:href="#glyph0-3" x="158.49189" y="14.647334"/>
</g>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 23.695312 54.328125 C 23.695312 53.242188 22.8125 52.363281 21.726562 52.363281 C 20.644531 52.363281 19.761719 53.242188 19.761719 54.328125 C 19.761719 55.414062 20.644531 56.292969 21.726562 56.292969 C 22.8125 56.292969 23.695312 55.414062 23.695312 54.328125 Z M 23.695312 54.328125 "/>
<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 13.599282 13.598265 L 44.259358 13.598265 L 44.259358 36.273492 L 13.599282 36.273492 Z M 13.599282 13.598265 " transform="matrix(0.986243,0,0,-0.986243,21.72843,54.32916)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 25.863281 43.519531 C 25.863281 42.425781 24.976562 41.539062 23.882812 41.539062 C 22.785156 41.539062 21.898438 42.425781 21.898438 43.519531 C 21.898438 44.613281 22.785156 45.503906 23.882812 45.503906 C 24.976562 45.503906 25.863281 44.613281 25.863281 43.519531 Z M 25.863281 43.519531 "/>
<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 13.599309 13.598829 L 44.25895 13.598829 L 44.25895 36.275498 L 13.599309 36.275498 Z M 13.599309 13.598829 " transform="matrix(0.994793,0,0,-0.994793,23.881658,43.520209)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-1" x="38.413687" y="32.192939"/>
<use xlink:href="#glyph1-1" x="40.712562" y="21.192077"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-1" x="45.447571" y="33.666386"/>
<use xlink:href="#glyph2-1" x="47.807427" y="22.678298"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-14" x="49.85509" y="32.192939"/>
<use xlink:href="#glyph3-1" x="52.253157" y="21.192077"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-2" x="53.676781" y="32.192939"/>
<use xlink:href="#glyph1-2" x="56.10798" y="21.192077"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-15" x="58.282536" y="32.192939"/>
<use xlink:href="#glyph3-2" x="60.753664" y="21.192077"/>
</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 56.593098 13.598265 L 88.425553 13.598265 L 88.425553 36.273492 L 56.593098 36.273492 Z M 56.593098 13.598265 " transform="matrix(0.986243,0,0,-0.986243,21.72843,54.32916)"/>
<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 56.596629 13.598829 L 88.426426 13.598829 L 88.426426 36.275498 L 56.596629 36.275498 Z M 56.596629 13.598829 " transform="matrix(0.994793,0,0,-0.994793,23.881658,43.520209)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-16" x="80.818185" y="32.192939"/>
<use xlink:href="#glyph3-3" x="83.484687" y="21.192077"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-1" x="89.005973" y="33.666386"/>
<use xlink:href="#glyph2-1" x="91.743459" y="22.678298"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-14" x="93.413492" y="32.192939"/>
<use xlink:href="#glyph3-1" x="96.189189" y="21.192077"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-2" x="97.235183" y="32.192939"/>
<use xlink:href="#glyph1-2" x="100.043018" y="21.192077"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-15" x="101.840938" y="32.192939"/>
<use xlink:href="#glyph3-2" x="104.688702" y="21.192077"/>
</g>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;" d="M 127.488281 54.328125 C 127.488281 50.53125 124.410156 47.453125 120.613281 47.453125 C 116.8125 47.453125 113.734375 50.53125 113.734375 54.328125 C 113.734375 58.128906 116.8125 61.207031 120.613281 61.207031 C 124.410156 61.207031 127.488281 58.128906 127.488281 54.328125 Z M 127.488281 54.328125 "/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;" d="M 130.558594 43.519531 C 130.558594 39.6875 127.453125 36.582031 123.621094 36.582031 C 119.789062 36.582031 116.683594 39.6875 116.683594 43.519531 C 116.683594 47.351562 119.789062 50.457031 123.621094 50.457031 C 127.453125 50.457031 130.558594 47.351562 130.558594 43.519531 Z M 130.558594 43.519531 "/>
<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 107.2351 0.00104971 C 107.2351 3.850887 104.114038 6.971949 100.2642 6.971949 C 96.410401 6.971949 93.28934 3.850887 93.28934 0.00104971 C 93.28934 -3.852749 96.410401 -6.973811 100.2642 -6.973811 C 104.114038 -6.973811 107.2351 -3.852749 107.2351 0.00104971 Z M 107.2351 0.00104971 " transform="matrix(0.986243,0,0,-0.986243,21.72843,54.32916)"/>
<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 107.235299 0.000680985 C 107.235299 3.85277 104.113576 6.974493 100.261487 6.974493 C 96.409399 6.974493 93.287675 3.85277 93.287675 0.000680985 C 93.287675 -3.851408 96.409399 -6.973131 100.261487 -6.973131 C 104.113576 -6.973131 107.235299 -3.851408 107.235299 0.000680985 Z M 107.235299 0.000680985 " transform="matrix(0.994793,0,0,-0.994793,23.881658,43.520209)"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-1" x="116.33279" y="57.206031"/>
<use xlink:href="#glyph4-1" x="119.307186" y="46.42202"/>
</g>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;" d="M 152.429688 54.328125 C 152.429688 50.53125 149.347656 47.453125 145.550781 47.453125 C 141.75 47.453125 138.671875 50.53125 138.671875 54.328125 C 138.671875 58.128906 141.75 61.207031 145.550781 61.207031 C 149.347656 61.207031 152.429688 58.128906 152.429688 54.328125 Z M 152.429688 54.328125 "/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;" d="M 155.714844 43.519531 C 155.714844 39.6875 152.609375 36.582031 148.777344 36.582031 C 144.945312 36.582031 141.839844 39.6875 141.839844 43.519531 C 141.839844 47.351562 144.945312 50.457031 148.777344 50.457031 C 152.609375 50.457031 155.714844 47.351562 155.714844 43.519531 Z M 155.714844 43.519531 "/>
<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 132.524415 0.00104971 C 132.524415 3.850887 129.399392 6.971949 125.549554 6.971949 C 121.695756 6.971949 118.574694 3.850887 118.574694 0.00104971 C 118.574694 -3.852749 121.695756 -6.973811 125.549554 -6.973811 C 129.399392 -6.973811 132.524415 -3.852749 132.524415 0.00104971 Z M 132.524415 0.00104971 " transform="matrix(0.986243,0,0,-0.986243,21.72843,54.32916)"/>
<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 132.523221 0.000680985 C 132.523221 3.85277 129.401497 6.974493 125.549409 6.974493 C 121.69732 6.974493 118.575597 3.85277 118.575597 0.000680985 C 118.575597 -3.851408 121.69732 -6.973131 125.549409 -6.973131 C 129.401497 -6.973131 132.523221 -3.851408 132.523221 0.000680985 Z M 132.523221 0.000680985 " transform="matrix(0.994793,0,0,-0.994793,23.881658,43.520209)"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-1" x="141.270927" y="57.206031"/>
<use xlink:href="#glyph4-1" x="144.461525" y="46.42202"/>
</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 -19.841233 0.00104971 L 88.655276 0.00104971 " transform="matrix(0.986243,0,0,-0.986243,21.72843,54.32916)"/>
<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 -22.679435 0.000680985 L 88.654174 0.000680985 " transform="matrix(0.994793,0,0,-0.994793,23.881658,43.520209)"/>
</g>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 112.335938 54.328125 L 107.953125 52.667969 L 109.410156 54.328125 L 107.953125 55.988281 Z M 112.335938 54.328125 "/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 115.273438 43.519531 L 110.851562 41.847656 L 112.324219 43.519531 L 110.851562 45.195312 Z M 115.273438 43.519531 "/>
<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 6.054485 0.00104971 L 1.610537 1.684364 L 3.087892 0.00104971 L 1.610537 -1.682264 Z M 6.054485 0.00104971 " transform="matrix(0.986243,0,0,-0.986243,106.364745,54.32916)"/>
<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 6.053228 0.000680985 L 1.608208 1.681307 L 3.088573 0.000680985 L 1.608208 -1.683872 Z M 6.053228 0.000680985 " transform="matrix(0.994793,0,0,-0.994793,109.251728,43.520209)"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-3" x="5.924875" y="50.563685"/>
<use xlink:href="#glyph1-3" x="5.121849" y="39.722089"/>
</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 -0.0018938 0.00104971 L -0.0018938 24.937859 L 8.466165 24.937859 " transform="matrix(0.986243,0,0,-0.986243,21.72843,54.32916)"/>
<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 6.054645 0.00124896 L 1.610696 1.684563 L 3.088052 0.00124896 L 1.610696 -1.682065 Z M 6.054645 0.00124896 " transform="matrix(0.986243,0,0,-0.986243,27.27865,29.735607)"/>
<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 44.758411 24.937859 L 51.463942 24.937859 " transform="matrix(0.986243,0,0,-0.986243,21.72843,54.32916)"/>
<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 6.0516 0.00124896 L 1.607652 1.684563 L 3.088968 0.00124896 L 1.607652 -1.682065 Z M 6.0516 0.00124896 " transform="matrix(0.986243,0,0,-0.986243,69.683996,29.735607)"/>
<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 88.924606 24.937859 L 100.2642 24.937859 L 100.2642 11.606013 " transform="matrix(0.986243,0,0,-0.986243,21.72843,54.32916)"/>
<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 6.052126 0.00131993 L 1.608177 1.684634 L 3.089493 0.00131993 L 1.608177 -1.681994 Z M 6.052126 0.00131993 " transform="matrix(0,0.986243,0.986243,0,120.611979,40.081916)"/>
<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 107.2351 0.00104971 L 113.94063 0.00104971 " transform="matrix(0.986243,0,0,-0.986243,21.72843,54.32916)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 137.273438 54.328125 L 132.890625 52.667969 L 134.347656 54.328125 L 132.890625 55.988281 Z M 137.273438 54.328125 "/>
<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 0.00116079 0.000680985 L 0.00116079 24.9352 L 8.467117 24.9352 " transform="matrix(0.994793,0,0,-0.994793,23.881658,43.520209)"/>
<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 6.051514 -0.00141005 L 1.610421 1.683142 L 3.086859 -0.00141005 L 1.610421 -1.682036 Z M 6.051514 -0.00141005 " transform="matrix(0.994793,0,0,-0.994793,29.479995,18.713441)"/>
<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 44.757641 24.9352 L 51.464437 24.9352 " transform="matrix(0.994793,0,0,-0.994793,23.881658,43.520209)"/>
<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 6.051974 -0.00141005 L 1.606955 1.683142 L 3.087319 -0.00141005 L 1.606955 -1.682036 Z M 6.051974 -0.00141005 " transform="matrix(0.994793,0,0,-0.994793,72.252975,18.713441)"/>
<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 88.925116 24.9352 L 100.261487 24.9352 L 100.261487 11.607994 " transform="matrix(0.994793,0,0,-0.994793,23.881658,43.520209)"/>
<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 6.05395 -0.00139282 L 1.60893 1.68316 L 3.089294 -0.00139282 L 1.60893 -1.682019 Z M 6.05395 -0.00139282 " transform="matrix(0,0.994793,0.994793,0,123.622479,29.149447)"/>
<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 107.235299 0.000680985 L 113.942096 0.000680985 " transform="matrix(0.994793,0,0,-0.994793,23.881658,43.520209)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 140.429688 43.519531 L 136.007812 41.847656 L 137.476562 43.519531 L 136.007812 45.195312 Z M 140.429688 43.519531 "/>
<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 6.053489 0.00104971 L 1.609541 1.684364 L 3.086896 0.00104971 L 1.609541 -1.682264 Z M 6.053489 0.00104971 " transform="matrix(0.986243,0,0,-0.986243,131.303227,54.32916)"/>
<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 6.0548 0.000680985 L 1.60978 1.681307 L 3.086218 0.000680985 L 1.60978 -1.683872 Z M 6.0548 0.000680985 " transform="matrix(0.994793,0,0,-0.994793,134.406415,43.520209)"/>
</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 125.549554 11.606013 L 125.549554 26.815249 " transform="matrix(0.986243,0,0,-0.986243,21.72843,54.32916)"/>
<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 6.052126 0.000334159 L 1.608177 1.683648 L 3.089493 0.000334159 L 1.608177 -1.68298 Z M 6.052126 0.000334159 " transform="matrix(0,0.986243,0.986243,0,145.550452,40.081916)"/>
<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 125.549409 11.607994 L 125.549409 23.981013 " transform="matrix(0.994793,0,0,-0.994793,23.881658,43.520209)"/>
<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 6.05395 0.000188775 L 1.60893 1.684741 L 3.089294 0.000188775 L 1.60893 -1.684364 Z M 6.05395 0.000188775 " transform="matrix(0,0.994793,0.994793,0,148.777156,29.149447)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-4" x="149.314724" y="35.878529"/>
<use xlink:href="#glyph1-4" x="152.575057" y="27.729858"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-1" x="155.212456" y="37.352962"/>
<use xlink:href="#glyph2-1" x="158.52392" y="29.216079"/>
</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 132.524415 0.00104971 L 153.401467 0.00104971 " transform="matrix(0.986243,0,0,-0.986243,21.72843,54.32916)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 176.191406 54.328125 L 171.808594 52.667969 L 173.265625 54.328125 L 171.808594 55.988281 Z M 176.191406 54.328125 "/>
<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 132.523221 0.000680985 L 153.401463 0.000680985 " transform="matrix(0.994793,0,0,-0.994793,23.881658,43.520209)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 179.683594 43.519531 L 175.261719 41.847656 L 176.730469 43.519531 L 175.261719 45.195312 Z M 179.683594 43.519531 "/>
<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 6.054587 0.00104971 L 1.610638 1.684364 L 3.087993 0.00104971 L 1.610638 -1.682264 Z M 6.054587 0.00104971 " transform="matrix(0.986243,0,0,-0.986243,170.220114,54.32916)"/>
<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 6.054427 0.000680985 L 1.609407 1.681307 L 3.085845 0.000680985 L 1.609407 -1.683872 Z M 6.054427 0.000680985 " transform="matrix(0.994793,0,0,-0.994793,173.660692,43.520209)"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-17" x="164.421992" y="49.089252"/>
<use xlink:href="#glyph3-4" x="167.813298" y="38.234873"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-3" x="163.7977" y="49.089252"/>
<use xlink:href="#glyph1-3" x="167.183594" y="38.234873"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-1" x="169.413367" y="50.563685"/>
<use xlink:href="#glyph2-1" x="172.847946" y="39.722089"/>
</g>
</g>
</svg>

Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 34 KiB

After

Width:  |  Height:  |  Size: 33 KiB

BIN
journal/figs/weights_W1_W2.pdf
View File

Binary file not shown.

BIN
journal/figs/weights_W1_W2.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 78 KiB

After

Width:  |  Height:  |  Size: 78 KiB

154
journal/journal.org
View File

@ -101,7 +101,7 @@ Sensor fusion \sep{} Optimal filters \sep{} $\mathcal{H}_\infty$ synthesis \sep{
# The applications of sensor fusion are numerous
- UAV: cite:pascoal99_navig_system_desig_using_time, cite:jensen13_basic_uas
- Gravitational wave observer: cite:hua05_low_ligo,hua04_polyp_fir_compl_filter_contr_system
- Gravitational wave observer: cite:hua05_low_ligo,hua04_polyp_fir_compl_filter_contr_system,lucia18_low_frequen_optim_perfor_advan,heijningen18_low,akutsu21_vibrat_isolat_system_beam_split
*** Kalman Filtering or Complementary filters :ignore:
@ -123,7 +123,7 @@ Sensor fusion \sep{} Optimal filters \sep{} $\mathcal{H}_\infty$ synthesis \sep{
- first order: cite:corke04_inert_visual_sensin_system_small_auton_helic
- second order: cite:baerveldt97_low_cost_low_weigh_attit, cite:stoten01_fusion_kinet_data_using_compos_filter, cite:jensen13_basic_uas
- higher order: cite:shaw90_bandw_enhan_posit_measur_using_measur_accel, cite:zimmermann92_high_bandw_orien_measur_contr, cite:collette15_sensor_fusion_method_high_perfor, cite:matichard15_seism_isolat_advan_ligo
- cite:pascoal99_navig_system_desig_using_time use LMI to generate complementary filters
- cite:pascoal99_navig_system_desig_using_time use LMI to generate complementary filters (convex optimization techniques), specific for navigation systems
- cite:hua05_low_ligo,hua04_polyp_fir_compl_filter_contr_system: FIR + convex optimization
- Similar to feedback system:
- cite:plummer06_optim_compl_filter_their_applic_motion_measur use H-Infinity to optimize complementary filters (flatten the super sensor noise spectral density)
@ -225,7 +225,7 @@ When two filters are complementary, usually one is a low pass filter while the o
The complementary filters are designed in such a way that their magnitude is close to one in the bandwidth of the sensor they are combined with.
This enables to measure the physical quantity over larger bandwidth.
There are two different categories of complementary filters --- frequency domain complementary filters and state space complementary filters.
Earliest application of the the frequency domain complementary filters was seen in Anderson and Fritze cite:anderson53_instr_approac_system_steer_comput.
Earliest application of the frequency domain complementary filters was seen in Anderson and Fritze cite:anderson53_instr_approac_system_steer_comput.
A simple RC circuit was used to physically realize the complementary filters.
Frequency domain complementary filters were also used in cite:shaw90_bandw_enhan_posit_measur_using_measur_accel, zimmermann92_high_bandw_orien_measur_contr, baerveldt97, roberts03_low.
State space complementary filter finds application in tracking orientation of the flexible links in a robot cite:bachmann03_desig_marg_dof,salcudean91_global_conver_angul_veloc_obser,mahony08_nonlin_compl_filter_special_orthog_group and are particularly useful for multi-input multi-output systems.
@ -247,11 +247,11 @@ Such a method would prove to be very useful as the noise of the "supper sensor"
This paper presents such a framework based on the $\mathcal{H}_\infty$ norm minimization.
The proposed method is quite general and can be easily extended to a case where more than two complementary filters needs to be designed.
The organization of this paper is as follows.
Section [[*Complementary filters requirements][2]] presents the design requirements of ideal complementary filters.
Section 2 presents the design requirements of ideal complementary filters.
It also demonstrates how the noise and robustness characteristics of the "super sensor" can be transformed into upper bounds on the norm of the complementary filters.
The framework for the design of complementary filters is detailed in Section [[*Design formulation using $\mathcal{H}_\infty$ synthesis][3]].
This is followed by the application of the design method to complementary filter design for the active vibration isolation at LIGO in Section [[*Application: Complementary Filter Design for Active Vibration Isolation of LIGO][4]].
Finally, concluding remarks are presented in Section [[*Concluding remarks][5]].
The framework for the design of complementary filters is detailed in Section 3.
This is followed by the application of the design method to complementary filter design for the active vibration isolation at LIGO in Section 4.
Finally, concluding remarks are presented in Section 5.
* Sensor Fusion and Complementary Filters Requirements
<<sec:requirements>>
@ -617,6 +617,8 @@ After synthesis, the obtained FIR filters were found to be compliant with the re
However they are of very high order so their implementation is quite complex.
In this section, the effectiveness of the proposed complementary filter synthesis strategy is demonstrated on the same set of requirements.
# Example where clearly manual tuning of the complementary filters is not an option
** Complementary Filters Specifications
<<sec:ligo_specifications>>
The specifications for the set of complementary filters ($L_1,H_1$) used at the LIGO are summarized below (for further details, refer to cite:hua04_polyp_fir_compl_filter_contr_system):
@ -660,22 +662,31 @@ They are found to be very close to each other and this shows the effectiveness o
[[file:figs/comp_fir_ligo_hinf.pdf]]
* Discussion
** Alternative configuration
- Feedback architecture : Similar to mixed sensitivity (add schematic of feedback loop with weights)
- 2 inputs / 1 output
<<sec:discussion>>
** Introduction :ignore:
Explain differences
** "Closed-Loop" complementary filters
<<sec:closed_loop_complementary_filters>>
*** Introduction to using feedback architecture for CF :ignore:
It is possible to use the fundamental properties of a feedback architecture to generate complementary filters.
It has been proposed by:
- cite:plummer06_optim_compl_filter_their_applic_motion_measur use H-Infinity to optimize complementary filters (flatten the super sensor noise spectral density)
- cite:jensen13_basic_uas design of complementary filters with classical control theory, PID
- Maybe also cite cite:mahony05_compl_filter_desig_special_orthog
Consider the feedback architecture of Figure ref:fig:feedback_sensor_fusion, with two inputs $\hat{x}_1$ and $\hat{x}_2$, and one output $\hat{x}$.
#+name: fig:feedback_sensor_fusion
#+caption: Classical feedback architecture for sensor fusion
#+caption: "Closed-Loop" complementary filters
#+attr_latex: :scale 1
[[file:figs/feedback_sensor_fusion.pdf]]
The output $\hat{x}$ is described by eqref:eq:closed_loop_complementary_filters.
#+name: eq:closed_loop_complementary_filters
\begin{equation}
\hat{x} = \underbrace{\frac{L(s)}{1 + L(s)}}_{T(s)} \hat{x}_1 + \underbrace{\frac{1}{1 + L(s)}}_{S(s)} \hat{x}_2
\hat{x} = \underbrace{\frac{1}{1 + L(s)}}_{S(s)} \hat{x}_1 + \underbrace{\frac{L(s)}{1 + L(s)}}_{T(s)} \hat{x}_2
\end{equation}
with the famous relationship
@ -683,6 +694,56 @@ with the famous relationship
T(s) + S(s) = 1
\end{equation}
Provided that the closed-loop system is stable, this indeed forms two complementary filters.
*** Sensor Fusion with "closed-loop" complementary filters :ignore:
Therefore, two filters can be merged as shown in Figure ref:fig:feedback_sensor_fusion_arch.
#+name: fig:feedback_sensor_fusion_arch
#+caption: Classical feedback architecture for sensor fusion
#+attr_latex: :scale 1
[[file:figs/feedback_sensor_fusion_arch.pdf]]
One of the main advantage of this configuration is that standard tools of the linear control theory can be applied.
*** Mixed Sensitivity Synthesis :ignore:
If one want to shape both the transfer functions $\frac{\hat{x}}{\hat{x}_1}(s) = S(s)$ and $\frac{\hat{x}}{\hat{x}_2}(s) = T(s)$, this corresponds to the $\mathcal{H}_\infty$ mixed-sensitivity synthesis.
The $\mathcal{H}_\infty$ mixed-sensitivity synthesis can be perform by applying the $\mathcal{H}_\infty$ synthesis to the generalized plant $P_L(s)$ shown in Figure ref:fig:feedback_synthesis_architecture_generalized_plant and described by eqref:eq:generalized_plant_mixed_sensitivity where $W_1(s)$ and $W_2(s)$ are weighting functions used to respectively shape $S(s)$ and $T(s)$.
#+name: eq:generalized_plant_mixed_sensitivity
\begin{equation}
\begin{bmatrix} z \\ v \end{bmatrix} = P_L(s) \begin{bmatrix} w_1 \\ w_2 \\ u \end{bmatrix}; \quad P_L(s) = \begin{bmatrix}
\phantom{+}W_1(s) & 0 & \phantom{+}1 \\
-W_1(s) & W_2(s) & -1
\end{bmatrix}
\end{equation}
This is equivalent as to find a filter $L(s)$ such that eqref:eq:comp_filters_feedback_obj is verified.
#+name: eq:comp_filters_feedback_obj
\begin{equation}
\left\|\begin{matrix} \frac{1}{1 + L(s)} W_1(s) \\ \frac{L(s)}{1 + L(s)} W_2(s) \end{matrix}\right\|_\infty \le 1
\end{equation}
The sensor fusion can be implemented as shown in Figure ref:fig:feedback_sensor_fusion_arch using the feedback architecture or more classically as shown in Figure ref:fig:sensor_fusion_overview using eqref:eq:comp_filters_feedback.
#+name: eq:comp_filters_feedback
\begin{equation}
H_1(s) = \frac{1}{1 + L(s)}; \quad H_2(s) = \frac{L(s)}{1 + L(s)}
\end{equation}
The two being equivalent considering only the inputs/outputs relationships.
#+name: fig:feedback_synthesis_architecture_generalized_plant
#+caption: Generalized plant for the $\mathcal{H}_\infty$ mixed-sensitivity synthesis
#+attr_latex: :scale 1
[[file:figs/feedback_synthesis_architecture_generalized_plant.pdf]]
*** Example and equivalence with our synthesis method :ignore:
Example: same weights as in ref:tab:weights_params.
Therefore, complementary filter design is very similar to mixed-sensitivity synthesis.
They are actually equivalent by taking
@ -691,19 +752,9 @@ L = H_H^{-1} - 1
\end{equation}
(provided $H_H$ is invertible, therefore bi-proper)
\begin{equation}
P_L(s) = \begin{bmatrix}
\phantom{+}W_2(s) & 0 & \phantom{+}1 \\
-W_2(s) & W_1(s) & -1
\end{bmatrix}
\end{equation}
#+name: fig:feedback_synthesis_architecture_generalized_plant
#+caption: Generalized plant for mixed-sensitivity shaping
#+attr_latex: :scale 1
[[file:figs/feedback_synthesis_architecture_generalized_plant.pdf]]
** Imposing zero at origin / roll-off
<<sec:add_features_in_filters>>
3 methods:
Link to literature about doing that with mixed sensitivity
@ -713,13 +764,19 @@ Link to literature about doing that with mixed sensitivity
*** Why it is used sometimes :ignore:
Some applications may require to merge more than two sensors.
In such a case, it is necessary to design as many complementary filters as the number of sensors used.
# Example of LIGO
# In truth two options: sequential fusion or fusion at once
For instance at the LIGO, three sensors (an LVDT, a seismometer and a geophone) are merged to form a super sensor (Figure ref:fig:ligo_super_sensor_architecture). \par
*** Sequential vs Parallel :ignore:
When merging $n>2$ sensors using complementary filters, two architectures can be used as shown in Figure ref:fig:sensor_fusion_three.
The fusion can either be done in a "sequential" way where $n-1$ sets of two complementary filters are used (Figure ref:fig:sensor_fusion_three_sequential), or in a "parallel" way where one set of $n$ complementary filters is used (Figure ref:fig:sensor_fusion_three_parallel).
In the first case, typical sensor fusion synthesis techniques can be used.
However, when a parallel architecture is used, a new synthesis method for a set of more than two complementary filters is required.
Such synthesis method is presented in this section. \par
*************** TODO Say possible advantages of parallel architecture
*************** END
#+begin_export latex
\begin{figure}[htbp]
@ -740,7 +797,7 @@ In such a case, it is necessary to design as many complementary filters as the n
#+end_export
*** Mathematical Problem :ignore:
The synthesis problem is then to compute $n$ stable transfer functions $H_i(s)$ such that eqref:eq:hinf_problem_gen is satisfied.
The synthesis objective is to compute a set of $n$ stable transfer functions $[H_1(s),\ H_2(s),\ \dots,\ H_n(s)]$ such that eqref:eq:hinf_problem_gen is satisfied.
#+name: eq:hinf_problem_gen
\begin{subequations}
\begin{align}
@ -748,14 +805,16 @@ The synthesis problem is then to compute $n$ stable transfer functions $H_i(s)$
& \left| H_i(j\omega) \right| < \frac{1}{\left| W_i(j\omega) \right|}, \quad \forall \omega,\ i = 1 \dots n \label{eq:hinf_cond_perf_gen}
\end{align}
\end{subequations}
where $[W_1(s),\ W_2(s),\ \dots,\ W_n(s)]$ are weighting transfer functions that are chosen to specify the maximum wanted norms of the complementary filters during the synthesis.
Such synthesis objective is very close to the one described in Section ref:sec:synthesis_objective, and indeed the proposed synthesis architecture is also very similar. \par
*** H-Infinity Architecture :ignore:
The synthesis method is generalized here for the synthesis of three complementary filters using the architecture shown in Fig. ref:fig:comp_filter_three_hinf.
Consider the generalized plant $P_3(s)$ shown in Figure ref:fig:comp_filter_three_hinf which is also described by eqref:eq:generalized_plant_three_filters.
The $\mathcal{H}_\infty$ synthesis objective applied on $P(s)$ is to design two stable filters $H_2(s)$ and $H_3(s)$ such that the $\mathcal{H}_\infty$ norm of the transfer function from $w$ to $[z_1,\ z_2, \ z_3]$ is less than one eqref:eq:hinf_syn_obj_three.
#+name: eq:hinf_syn_obj_three
#+name: eq:generalized_plant_three_filters
\begin{equation}
\left\| \begin{matrix} \left[1 - H_2(s) - H_3(s)\right] W_1(s) \\ H_2(s) W_2(s) \\ H_3(s) W_3(s) \end{matrix} \right\|_\infty \le 1
\begin{bmatrix} z_1 \\ z_2 \\ z_3 \\ v \end{bmatrix} = P_3(s) \begin{bmatrix} w \\ u_1 \\ u_2 \end{bmatrix}; \quad P_3(s) = \begin{bmatrix}W_1(s) & -W_1(s) & -W_1(s) \\ 0 & \phantom{+}W_2(s) & 0 \\ 0 & 0 & \phantom{+}W_3(s) \\ 1 & 0 & 0 \end{bmatrix}
\end{equation}
#+name: fig:comp_filter_three_hinf
@ -763,18 +822,41 @@ The $\mathcal{H}_\infty$ synthesis objective applied on $P(s)$ is to design two
#+attr_latex: :scale 1
[[file:figs/comp_filter_three_hinf.pdf]]
By choosing $H_1(s) \triangleq 1 - H_2(s) - H_3(s)$, the proposed $\mathcal{H}_\infty$ synthesis solves the design problem eqref:eq:hinf_problem_gen. \par
Applying the $\mathcal{H}_\infty$ synthesis on the generalized plant $P_3(s)$ is equivalent as to find two stable filters $[H_2(s),\ H_3(s)]$ (shown in Figure ref:fig:comp_filter_three_hinf) such that the $\mathcal{H}_\infty$ norm of the transfer function from $w$ to $[z_1,\ z_2, \ z_3]$ is less than one eqref:eq:hinf_syn_obj_three.
#+name: eq:hinf_syn_obj_three
\begin{equation}
\left\| \begin{matrix} \left[1 - H_2(s) - H_3(s)\right] W_1(s) \\ H_2(s) W_2(s) \\ H_3(s) W_3(s) \end{matrix} \right\|_\infty \le 1
\end{equation}
By defining $H_1(s) \triangleq 1 - H_2(s) - H_3(s)$, the proposed $\mathcal{H}_\infty$ synthesis solves the design problem eqref:eq:hinf_problem_gen with $n=3$. \par
*** Example of generated complementary filters :ignore:
An example is given to validate the method where three sensors are used in different frequency bands (up to $\SI{1}{Hz}$, from $1$ to $\SI{10}{Hz}$ and above $\SI{10}{Hz}$ respectively).
Three weighting functions are designed using eqref:eq:weight_formula and shown by dashed curves in Fig. ref:fig:three_complementary_filters_results.
The bode plots of the obtained complementary filters are shown in Fig. ref:fig:three_complementary_filters_results.
The bode plots of the obtained complementary filters are shown in Fig. ref:fig:three_complementary_filters_results. \par
#+name: fig:three_complementary_filters_results
#+caption: Frequency response of the weighting functions and three complementary filters obtained using $\mathcal{H}_\infty$ synthesis
#+attr_latex: :scale 1
[[file:figs/three_complementary_filters_results.pdf]]
*** Generalization :ignore:
Such synthesis method can be generalized to a set of $n$ complementary filters, even though there might not be any practical application for $n>3$.
#+name: eq:generalized_plant_n_filters
\begin{equation}
\begin{bmatrix} z_1 \\ \vdots \\ z_n \\ v \end{bmatrix} = P_n(s) \begin{bmatrix} w \\ u_1 \\ \vdots \\ u_{n-1} \end{bmatrix}; \quad
P_n(s) = \begin{bmatrix}
W_1 & -W_1 & \dots & \dots & -W_1 \\
0 & W_2 & 0 & \dots & 0 \\
\vdots & \ddots & \ddots & \ddots & \vdots \\
\vdots & & \ddots & \ddots & 0 \\
0 & \dots & \dots & 0 & W_n \\
1 & 0 & \dots & \dots & 0
\end{bmatrix}
\end{equation}
* Conclusion
<<sec:conclusion>>
This paper has shown how complementary filters can be used to combine multiple sensors in order to obtain a super sensor.

BIN
journal/journal.pdf
View File

Binary file not shown.

186
journal/journal.tex
View File

@ -1,4 +1,4 @@
% Created 2021-05-21 ven. 11:56
% Created 2021-06-18 ven. 17:00
% Intended LaTeX compiler: pdflatex
\documentclass[preprint, sort&compress]{elsarticle}
\usepackage[utf8]{inputenc}
@ -58,7 +58,7 @@ Sensor fusion \sep{} Optimal filters \sep{} \(\mathcal{H}_\infty\) synthesis \se
\end{frontmatter}
\section{Introduction}
\label{sec:orgf465050}
\label{sec:org3356a46}
\label{sec:introduction}
\begin{itemize}
\item \cite{bendat57_optim_filter_indep_measur_two} roots of sensor fusion
@ -70,7 +70,7 @@ Sensor fusion \sep{} Optimal filters \sep{} \(\mathcal{H}_\infty\) synthesis \se
\end{itemize}
\begin{itemize}
\item UAV: \cite{pascoal99_navig_system_desig_using_time}, \cite{jensen13_basic_uas}
\item Gravitational wave observer: \cite{hua05_low_ligo,hua04_polyp_fir_compl_filter_contr_system}
\item Gravitational wave observer: \cite{hua05_low_ligo,hua04_polyp_fir_compl_filter_contr_system,lucia18_low_frequen_optim_perfor_advan,heijningen18_low,akutsu21_vibrat_isolat_system_beam_split}
\end{itemize}
\begin{itemize}
\item \cite{brown72_integ_navig_system_kalman_filter} alternate form of complementary filters => Kalman filtering
@ -86,7 +86,7 @@ Sensor fusion \sep{} Optimal filters \sep{} \(\mathcal{H}_\infty\) synthesis \se
\item second order: \cite{baerveldt97_low_cost_low_weigh_attit}, \cite{stoten01_fusion_kinet_data_using_compos_filter}, \cite{jensen13_basic_uas}
\item higher order: \cite{shaw90_bandw_enhan_posit_measur_using_measur_accel}, \cite{zimmermann92_high_bandw_orien_measur_contr}, \cite{collette15_sensor_fusion_method_high_perfor}, \cite{matichard15_seism_isolat_advan_ligo}
\end{itemize}
\item \cite{pascoal99_navig_system_desig_using_time} use LMI to generate complementary filters
\item \cite{pascoal99_navig_system_desig_using_time} use LMI to generate complementary filters (convex optimization techniques), specific for navigation systems
\item \cite{hua05_low_ligo,hua04_polyp_fir_compl_filter_contr_system}: FIR + convex optimization
\item Similar to feedback system:
\begin{itemize}
@ -105,13 +105,13 @@ Most of the requirements => shape of the complementary filters
=> propose a way to shape complementary filters.
\section{Sensor Fusion and Complementary Filters Requirements}
\label{sec:orgf888f1b}
\label{sec:org32c05cb}
\label{sec:requirements}
Complementary filters provides a framework for fusing signals from different sensors.
As the effectiveness of the fusion depends on the proper design of the complementary filters, they are expected to fulfill certain requirements.
These requirements are discussed in this section.
\subsection{Sensor Fusion Architecture}
\label{sec:orgabe574c}
\label{sec:orgcfc6167}
\label{sec:sensor_fusion}
A general sensor fusion architecture using complementary filters is shown in Figure \ref{fig:sensor_fusion_overview} where several sensors (here two) are measuring the same physical quantity \(x\).
@ -138,7 +138,7 @@ Therefore, a pair of strict complementary filter needs to satisfy the following
It will soon become clear why the complementary property is important.
\subsection{Sensor Models and Sensor Normalization}
\label{sec:org4484191}
\label{sec:orga2c7e39}
\label{sec:sensor_models}
In order to study such sensor fusion architecture, a model of the sensors is required.
@ -187,7 +187,7 @@ The super sensor output is therefore equal to:
\end{figure}
\subsection{Noise Sensor Filtering}
\label{sec:orgd1347c0}
\label{sec:org5397108}
\label{sec:noise_filtering}
In this section, it is supposed that all the sensors are perfectly calibrated, such that:
@ -227,7 +227,7 @@ In such case, to lower the noise of the super sensor, the value of the norm \(|H
Therefore, by properly shaping the norm of the complementary filters, it is possible to minimize the noise of the super sensor noise.
\subsection{Sensor Fusion Robustness}
\label{sec:orgaa981c0}
\label{sec:org6cbe7ea}
\label{sec:fusion_robustness}
In practical systems the sensor normalization is not perfect and condition \eqref{eq:perfect_dynamics} is not verified.
@ -289,14 +289,14 @@ As it is generally desired to limit the maximum phase added by the super sensor,
Typically, the norm of the complementary filter \(|H_i(j\omega)|\) should be made small when \(|w_i(j\omega)|\) is large, i.e., at frequencies where the sensor dynamics is uncertain.
\section{Complementary Filters Shaping}
\label{sec:orgf912b72}
\label{sec:org3fcce50}
\label{sec:hinf_method}
As shown in Section \ref{sec:requirements}, the noise and robustness of the ``super sensor'' are determined by the complementary filters norms.
Therefore, a complementary filters synthesis method that allows to shape their norms would be of great use.
In this section, such synthesis is proposed by expressing this problem as a \(\mathcal{H}_\infty\) norm optimization.
\subsection{Synthesis Objective}
\label{sec:org6a0910c}
\label{sec:org006154f}
\label{sec:synthesis_objective}
The synthesis objective is to shape the norm of two filters \(H_1(s)\) and \(H_2(s)\) while ensuring their complementary property \eqref{eq:comp_filter}.
@ -313,7 +313,7 @@ This is equivalent as to finding proper and stable transfer functions \(H_1(s)\)
where \(W_1(s)\) and \(W_2(s)\) are two weighting transfer functions that are chosen to specify the maximum wanted norms of the complementary filters during the synthesis.
\subsection{Shaping of Complementary Filters using \(\mathcal{H}_\infty\) synthesis}
\label{sec:org45cf644}
\label{sec:orgd8cba14}
\label{sec:hinf_synthesis}
In this section, it is shown that the synthesis objective can be easily expressed as a standard \(\mathcal{H}_\infty\) optimal control problem and therefore solved using convenient tools readily available.
@ -354,7 +354,7 @@ Therefore, applying the \(\mathcal{H}_\infty\) synthesis on the standard plant \
The above optimization problem can be efficiently solved in Matlab \cite{matlab20} using the Robust Control Toolbox.
\subsection{Weighting Functions Design}
\label{sec:orgb99cb9e}
\label{sec:org7aa4ffb}
\label{sec:hinf_weighting_func}
Weighting functions are used during the synthesis to specify what is the maximum allowed norms of the complementary filters.
@ -404,7 +404,7 @@ The typical shape of a weighting function generated using \eqref{eq:weight_formu
\end{figure}
\subsection{Validation of the proposed synthesis method}
\label{sec:orgbe95f55}
\label{sec:orgb562cf2}
\label{sec:hinf_example}
The proposed methodology for the design of complementary filters is now applied on a simple example where two complementary filters \(H_1(s)\) and \(H_2(s)\) have to be designed such that:
@ -465,7 +465,7 @@ This simple example illustrates the fact that the proposed methodology for compl
A more complex real life example is taken up in the next section.
\section{Application: Design of Complementary Filters used in the Active Vibration Isolation System at the LIGO}
\label{sec:org93403ee}
\label{sec:org60805ba}
\label{sec:application_ligo}
Sensor fusion using complementary filters are widely used in active vibration isolation systems in gravitational wave detectors such at the LIGO \cite{matichard15_seism_isolat_advan_ligo,hua05_low_ligo}, the VIRGO \cite{lucia18_low_frequen_optim_perfor_advan,heijningen18_low} and the KAGRA \cite{akutsu21_vibrat_isolat_system_beam_split}.
@ -488,7 +488,7 @@ After synthesis, the obtained FIR filters were found to be compliant with the re
However they are of very high order so their implementation is quite complex.
In this section, the effectiveness of the proposed complementary filter synthesis strategy is demonstrated on the same set of requirements.
\subsection{Complementary Filters Specifications}
\label{sec:orgd0da28c}
\label{sec:orgfdd63d0}
\label{sec:ligo_specifications}
The specifications for the set of complementary filters (\(L_1,H_1\)) used at the LIGO are summarized below (for further details, refer to \cite{hua04_polyp_fir_compl_filter_contr_system}):
\begin{itemize}
@ -508,7 +508,7 @@ They are physically represented in Figure \ref{fig:fir_filter_ligo} as well as t
\end{figure}
\subsection{Weighting Functions Design}
\label{sec:org3890dcd}
\label{sec:org916b9d5}
\label{sec:ligo_weights}
The weighting functions should be designed such that their inverse magnitude is as close as possible to the specifications in order to not over-constrain the synthesis problem.
However, the order of each weight should stay reasonably small in order to reduce the computational costs of the optimization problem as well as for the physical implementation of the filters.
@ -524,7 +524,7 @@ The magnitudes of the weighting functions are shown in Fig. \ref{fig:ligo_weight
\end{figure}
\subsection{\(\mathcal{H}_\infty\) Synthesis}
\label{sec:orgd62d211}
\label{sec:orgab74bf1}
\label{sec:ligo_results}
\(\mathcal{H}_\infty\) synthesis is performed using the architecture shown in Fig. \ref{eq:generalized_plant}.
The complementary filters obtained are of order \(27\).
@ -538,29 +538,33 @@ They are found to be very close to each other and this shows the effectiveness o
\end{figure}
\section{Discussion}
\label{sec:orga70d7fb}
\subsection{Alternative configuration}
\label{sec:orgccb904f}
\begin{itemize}
\item Feedback architecture : Similar to mixed sensitivity (add schematic of feedback loop with weights)
\item 2 inputs / 1 output
\end{itemize}
Explain differences
\label{sec:org5bc126e}
\label{sec:discussion}
\subsection{``Closed-Loop'' complementary filters}
\label{sec:org8731218}
\label{sec:closed_loop_complementary_filters}
It is possible to use the fundamental properties of a feedback architecture to generate complementary filters.
It has been proposed by:
\begin{itemize}
\item \cite{plummer06_optim_compl_filter_their_applic_motion_measur} use H-Infinity to optimize complementary filters (flatten the super sensor noise spectral density)
\item \cite{jensen13_basic_uas} design of complementary filters with classical control theory, PID
\item Maybe also cite \cite{mahony05_compl_filter_desig_special_orthog}
\end{itemize}
Consider the feedback architecture of Figure \ref{fig:feedback_sensor_fusion}, with two inputs \(\hat{x}_1\) and \(\hat{x}_2\), and one output \(\hat{x}\).
\begin{figure}[htbp]
\centering
\includegraphics[scale=1,scale=1]{figs/feedback_sensor_fusion.pdf}
\caption{\label{fig:feedback_sensor_fusion}Classical feedback architecture for sensor fusion}
\caption{\label{fig:feedback_sensor_fusion}``Closed-Loop'' complementary filters}
\end{figure}
The output \(\hat{x}\) is described by \eqref{eq:closed_loop_complementary_filters}.
\begin{equation}
\hat{x} = \underbrace{\frac{L(s)}{1 + L(s)}}_{T(s)} \hat{x}_1 + \underbrace{\frac{1}{1 + L(s)}}_{S(s)} \hat{x}_2
\label{eq:closed_loop_complementary_filters}
\hat{x} = \underbrace{\frac{1}{1 + L(s)}}_{S(s)} \hat{x}_1 + \underbrace{\frac{L(s)}{1 + L(s)}}_{T(s)} \hat{x}_2
\end{equation}
with the famous relationship
@ -568,6 +572,51 @@ with the famous relationship
T(s) + S(s) = 1
\end{equation}
Provided that the closed-loop system is stable, this indeed forms two complementary filters.
Therefore, two filters can be merged as shown in Figure \ref{fig:feedback_sensor_fusion_arch}.
\begin{figure}[htbp]
\centering
\includegraphics[scale=1,scale=1]{figs/feedback_sensor_fusion_arch.pdf}
\caption{\label{fig:feedback_sensor_fusion_arch}Classical feedback architecture for sensor fusion}
\end{figure}
One of the main advantage of this configuration is that standard tools of the linear control theory can be applied.
If one want to shape both the transfer functions \(\frac{\hat{x}}{\hat{x}_1}(s) = S(s)\) and \(\frac{\hat{x}}{\hat{x}_2}(s) = T(s)\), this corresponds to the \(\mathcal{H}_\infty\) mixed-sensitivity synthesis.
The \(\mathcal{H}_\infty\) mixed-sensitivity synthesis can be perform by applying the \(\mathcal{H}_\infty\) synthesis to the generalized plant \(P_L(s)\) shown in Figure \ref{fig:feedback_synthesis_architecture_generalized_plant} and described by \eqref{eq:generalized_plant_mixed_sensitivity} where \(W_1(s)\) and \(W_2(s)\) are weighting functions used to respectively shape \(S(s)\) and \(T(s)\).
\begin{equation}
\label{eq:generalized_plant_mixed_sensitivity}
\begin{bmatrix} z \\ v \end{bmatrix} = P_L(s) \begin{bmatrix} w_1 \\ w_2 \\ u \end{bmatrix}; \quad P_L(s) = \begin{bmatrix}
\phantom{+}W_1(s) & 0 & \phantom{+}1 \\
-W_1(s) & W_2(s) & -1
\end{bmatrix}
\end{equation}
This is equivalent as to find a filter \(L(s)\) such that \eqref{eq:comp_filters_feedback_obj} is verified.
\begin{equation}
\label{eq:comp_filters_feedback_obj}
\left\|\begin{matrix} \frac{1}{1 + L(s)} W_1(s) \\ \frac{L(s)}{1 + L(s)} W_2(s) \end{matrix}\right\|_\infty \le 1
\end{equation}
The sensor fusion can be implemented as shown in Figure \ref{fig:feedback_sensor_fusion_arch} using the feedback architecture or more classically as shown in Figure \ref{fig:sensor_fusion_overview} using \eqref{eq:comp_filters_feedback}.
\begin{equation}
\label{eq:comp_filters_feedback}
H_1(s) = \frac{1}{1 + L(s)}; \quad H_2(s) = \frac{L(s)}{1 + L(s)}
\end{equation}
The two being equivalent considering only the inputs/outputs relationships.
\begin{figure}[htbp]
\centering
\includegraphics[scale=1,scale=1]{figs/feedback_synthesis_architecture_generalized_plant.pdf}
\caption{\label{fig:feedback_synthesis_architecture_generalized_plant}Generalized plant for the \(\mathcal{H}_\infty\) mixed-sensitivity synthesis}
\end{figure}
Example: same weights as in \ref{tab:weights_params}.
Therefore, complementary filter design is very similar to mixed-sensitivity synthesis.
They are actually equivalent by taking
@ -576,30 +625,36 @@ L = H_H^{-1} - 1
\end{equation}
(provided \(H_H\) is invertible, therefore bi-proper)
\begin{equation}
P_L(s) = \begin{bmatrix}
\phantom{+}W_2(s) & 0 & \phantom{+}1 \\
-W_2(s) & W_1(s) & -1
\end{bmatrix}
\end{equation}
\begin{figure}[htbp]
\centering
\includegraphics[scale=1,scale=1]{figs/feedback_synthesis_architecture_generalized_plant.pdf}
\caption{\label{fig:feedback_synthesis_architecture_generalized_plant}Generalized plant for mixed-sensitivity shaping}
\end{figure}
\subsection{Imposing zero at origin / roll-off}
\label{sec:org402c2aa}
\label{sec:orgdea775a}
\label{sec:add_features_in_filters}
3 methods:
Link to literature about doing that with mixed sensitivity
\subsection{Synthesis of Three Complementary Filters}
\label{sec:orgf9a165b}
\label{sec:org6446998}
\label{sec:hinf_three_comp_filters}
Some applications may require to merge more than two sensors.
In such a case, it is necessary to design as many complementary filters as the number of sensors used.
For instance at the LIGO, three sensors (an LVDT, a seismometer and a geophone) are merged to form a super sensor (Figure \ref{fig:ligo_super_sensor_architecture}). \par
When merging \(n>2\) sensors using complementary filters, two architectures can be used as shown in Figure \ref{fig:sensor_fusion_three}.
The fusion can either be done in a ``sequential'' way where \(n-1\) sets of two complementary filters are used (Figure \ref{fig:sensor_fusion_three_sequential}), or in a ``parallel'' way where one set of \(n\) complementary filters is used (Figure \ref{fig:sensor_fusion_three_parallel}).
In the first case, typical sensor fusion synthesis techniques can be used.
However, when a parallel architecture is used, a new synthesis method for a set of more than two complementary filters is required.
Such synthesis method is presented in this section. \par
\begin{center}
\fbox{
\begin{minipage}[c]{.6\textwidth}
Say possible advantages of parallel architecture
\end{minipage}
}
\end{center}
\begin{figure}[htbp]
\begin{subfigure}[b]{0.59\linewidth}
\centering
@ -615,7 +670,7 @@ In such a case, it is necessary to design as many complementary filters as the n
\caption{\label{fig:sensor_fusion_three}Sensor fusion architecture with more than two sensors}
\centering
\end{figure}
The synthesis problem is then to compute \(n\) stable transfer functions \(H_i(s)\) such that \eqref{eq:hinf_problem_gen} is satisfied.
The synthesis objective is to compute a set of \(n\) stable transfer functions \([H_1(s),\ H_2(s),\ \dots,\ H_n(s)]\) such that \eqref{eq:hinf_problem_gen} is satisfied.
\begin{subequations}
\label{eq:hinf_problem_gen}
\begin{align}
@ -623,12 +678,14 @@ The synthesis problem is then to compute \(n\) stable transfer functions \(H_i(s
& \left| H_i(j\omega) \right| < \frac{1}{\left| W_i(j\omega) \right|}, \quad \forall \omega,\ i = 1 \dots n \label{eq:hinf_cond_perf_gen}
\end{align}
\end{subequations}
The synthesis method is generalized here for the synthesis of three complementary filters using the architecture shown in Fig. \ref{fig:comp_filter_three_hinf}.
where \([W_1(s),\ W_2(s),\ \dots,\ W_n(s)]\) are weighting transfer functions that are chosen to specify the maximum wanted norms of the complementary filters during the synthesis.
Such synthesis objective is very close to the one described in Section \ref{sec:synthesis_objective}, and indeed the proposed synthesis architecture is also very similar. \par
Consider the generalized plant \(P_3(s)\) shown in Figure \ref{fig:comp_filter_three_hinf} which is also described by \eqref{eq:generalized_plant_three_filters}.
The \(\mathcal{H}_\infty\) synthesis objective applied on \(P(s)\) is to design two stable filters \(H_2(s)\) and \(H_3(s)\) such that the \(\mathcal{H}_\infty\) norm of the transfer function from \(w\) to \([z_1,\ z_2, \ z_3]\) is less than one \eqref{eq:hinf_syn_obj_three}.
\begin{equation}
\label{eq:hinf_syn_obj_three}
\left\| \begin{matrix} \left[1 - H_2(s) - H_3(s)\right] W_1(s) \\ H_2(s) W_2(s) \\ H_3(s) W_3(s) \end{matrix} \right\|_\infty \le 1
\label{eq:generalized_plant_three_filters}
\begin{bmatrix} z_1 \\ z_2 \\ z_3 \\ v \end{bmatrix} = P_3(s) \begin{bmatrix} w \\ u_1 \\ u_2 \end{bmatrix}; \quad P_3(s) = \begin{bmatrix}W_1(s) & -W_1(s) & -W_1(s) \\ 0 & \phantom{+}W_2(s) & 0 \\ 0 & 0 & \phantom{+}W_3(s) \\ 1 & 0 & 0 \end{bmatrix}
\end{equation}
\begin{figure}[htbp]
@ -637,19 +694,40 @@ The \(\mathcal{H}_\infty\) synthesis objective applied on \(P(s)\) is to design
\caption{\label{fig:comp_filter_three_hinf}Architecture for \(\mathcal{H}_\infty\) synthesis of three complementary filters}
\end{figure}
By choosing \(H_1(s) \triangleq 1 - H_2(s) - H_3(s)\), the proposed \(\mathcal{H}_\infty\) synthesis solves the design problem \eqref{eq:hinf_problem_gen}. \par
Applying the \(\mathcal{H}_\infty\) synthesis on the generalized plant \(P_3(s)\) is equivalent as to find two stable filters \([H_2(s),\ H_3(s)]\) (shown in Figure \ref{fig:comp_filter_three_hinf}) such that the \(\mathcal{H}_\infty\) norm of the transfer function from \(w\) to \([z_1,\ z_2, \ z_3]\) is less than one \eqref{eq:hinf_syn_obj_three}.
\begin{equation}
\label{eq:hinf_syn_obj_three}
\left\| \begin{matrix} \left[1 - H_2(s) - H_3(s)\right] W_1(s) \\ H_2(s) W_2(s) \\ H_3(s) W_3(s) \end{matrix} \right\|_\infty \le 1
\end{equation}
By defining \(H_1(s) \triangleq 1 - H_2(s) - H_3(s)\), the proposed \(\mathcal{H}_\infty\) synthesis solves the design problem \eqref{eq:hinf_problem_gen} with \(n=3\). \par
An example is given to validate the method where three sensors are used in different frequency bands (up to \(\SI{1}{Hz}\), from \(1\) to \(\SI{10}{Hz}\) and above \(\SI{10}{Hz}\) respectively).
Three weighting functions are designed using \eqref{eq:weight_formula} and shown by dashed curves in Fig. \ref{fig:three_complementary_filters_results}.
The bode plots of the obtained complementary filters are shown in Fig. \ref{fig:three_complementary_filters_results}.
The bode plots of the obtained complementary filters are shown in Fig. \ref{fig:three_complementary_filters_results}. \par
\begin{figure}[htbp]
\centering
\includegraphics[scale=1,scale=1]{figs/three_complementary_filters_results.pdf}
\caption{\label{fig:three_complementary_filters_results}Frequency response of the weighting functions and three complementary filters obtained using \(\mathcal{H}_\infty\) synthesis}
\end{figure}
Such synthesis method can be generalized to a set of \(n\) complementary filters, even though there might not be any practical application for \(n>3\).
\begin{equation}
\label{eq:generalized_plant_n_filters}
\begin{bmatrix} z_1 \\ \vdots \\ z_n \\ v \end{bmatrix} = P_n(s) \begin{bmatrix} w \\ u_1 \\ \vdots \\ u_{n-1} \end{bmatrix}; \quad
P_n(s) = \begin{bmatrix}
W_1 & -W_1 & \dots & \dots & -W_1 \\
0 & W_2 & 0 & \dots & 0 \\
\vdots & \ddots & \ddots & \ddots & \vdots \\
\vdots & & \ddots & \ddots & 0 \\
0 & \dots & \dots & 0 & W_n \\
1 & 0 & \dots & \dots & 0
\end{bmatrix}
\end{equation}
\section{Conclusion}
\label{sec:org75ed4d0}
\label{sec:orgcba6c13}
\label{sec:conclusion}
This paper has shown how complementary filters can be used to combine multiple sensors in order to obtain a super sensor.
Typical specification on the super sensor noise and on the robustness of the sensor fusion has been shown to be linked to the norm of the complementary filters.
@ -657,7 +735,7 @@ Therefore, a synthesis method that permits the shaping of the complementary filt
Future work will aim at further developing this synthesis method for the robust and optimal synthesis of complementary filters used in sensor fusion.
\section*{Acknowledgment}
\label{sec:org0b419b1}
\label{sec:orgf175dee}
This research benefited from a FRIA grant from the French Community of Belgium.
\bibliographystyle{elsarticle-num}

27
journal/ref.bib
View File

@ -260,20 +260,6 @@
publisher = {IEEE},
}
@article{mahony08_nonlin_compl_filter_special_orthog_group,
author = {Mahony, Robert and Hamel, Tarek and Pflimlin, Jean-Michel},
title = {Nonlinear Complementary Filters on the Special Orthogonal
Group},
journal = {IEEE Transactions on automatic control},
volume = 53,
number = 5,
pages = {1203--1218},
year = 2008,
doi = {10.1109/TAC.2008.923738},
url = {https://doi.org/10.1109/TAC.2008.923738},
publisher = {IEEE},
}
@article{pascoal00_navig_system_desig_using_time,
author = {Pascoal, Antonio and Kaminer, Isaac and Oliveira, Paulo},
title = {Navigation System Design Using Time-Varying Complementary
@ -586,3 +572,16 @@
Virgo Seismic Isolation System},
year = 2018,
}
@inproceedings{mahony05_compl_filter_desig_special_orthog,
author = {R. Mahony and T. Hamel and J.-M. Pflimlin},
title = {Complementary Filter Design on the Special Orthogonal Group
SO(3)},
booktitle = {Proceedings of the 44th IEEE Conference on Decision and
Control},
year = 2005,
pages = {nil},
doi = {10.1109/cdc.2005.1582367},
url = {https://doi.org/10.1109/cdc.2005.1582367},
month = {-},
}