tdehaeze/lecture-h-infinity
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Add many things about loop shaping

Browse Source
This commit is contained in:
Thomas Dehaeze 2020-11-30 17:44:13 +01:00
parent dbe2962ec0
commit b24a473b35
24 changed files with 3025 additions and 326 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

BIN
figs/first_order_weight.pdf Normal file
View File

Binary file not shown.

BIN
figs/first_order_weight.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 63 KiB

BIN
figs/gang_of_four_feedback.pdf Normal file
View File

Binary file not shown.

BIN
figs/gang_of_four_feedback.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 10 KiB

161
figs/gang_of_four_feedback.svg Normal file
View File

@ -0,0 +1,161 @@
<?xml version="1.0" encoding="UTF-8"?>
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="247.934pt" height="71.984pt" viewBox="0 0 247.934 71.984" version="1.2">
<defs>
<g>
<symbol overflow="visible" id="glyph0-0">
<path style="stroke:none;" d=""/>
</symbol>
<symbol overflow="visible" id="glyph0-1">
<path style="stroke:none;" d="M 11.578125 -4.28125 C 11.578125 -4.59375 11.296875 -4.59375 11.046875 -4.59375 L 6.484375 -4.59375 L 6.484375 -9.15625 C 6.484375 -9.390625 6.484375 -9.6875 6.1875 -9.6875 C 5.890625 -9.6875 5.890625 -9.40625 5.890625 -9.15625 L 5.890625 -4.59375 L 1.328125 -4.59375 C 1.078125 -4.59375 0.796875 -4.59375 0.796875 -4.296875 C 0.796875 -3.984375 1.0625 -3.984375 1.328125 -3.984375 L 5.890625 -3.984375 L 5.890625 0.5625 C 5.890625 0.8125 5.890625 1.09375 6.171875 1.09375 C 6.484375 1.09375 6.484375 0.828125 6.484375 0.5625 L 6.484375 -3.984375 L 11.046875 -3.984375 C 11.28125 -3.984375 11.578125 -3.984375 11.578125 -4.28125 Z M 11.578125 -4.28125 "/>
</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 6.90625 -2.484375 C 6.90625 -2.6875 6.71875 -2.6875 6.578125 -2.6875 L 1.15625 -2.6875 C 1.015625 -2.6875 0.828125 -2.6875 0.828125 -2.484375 C 0.828125 -2.296875 1.015625 -2.296875 1.15625 -2.296875 L 6.578125 -2.296875 C 6.71875 -2.296875 6.90625 -2.296875 6.90625 -2.484375 Z M 6.90625 -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 7.359375 -0.203125 C 7.359375 -0.3125 7.25 -0.3125 7.171875 -0.3125 C 6.765625 -0.3125 6.625 -0.40625 6.484375 -0.75 L 5.0625 -4.015625 C 5.0625 -4.046875 5.015625 -4.125 5.015625 -4.15625 C 5.015625 -4.15625 5.203125 -4.3125 5.3125 -4.390625 L 7.046875 -5.734375 C 7.984375 -6.421875 8.375 -6.453125 8.671875 -6.484375 C 8.75 -6.5 8.84375 -6.515625 8.84375 -6.6875 C 8.84375 -6.734375 8.8125 -6.796875 8.734375 -6.796875 C 8.515625 -6.796875 8.265625 -6.765625 8.03125 -6.765625 C 7.671875 -6.765625 7.28125 -6.796875 6.921875 -6.796875 C 6.859375 -6.796875 6.734375 -6.796875 6.734375 -6.59375 C 6.734375 -6.53125 6.78125 -6.5 6.859375 -6.484375 C 7.078125 -6.46875 7.171875 -6.421875 7.171875 -6.28125 C 7.171875 -6.09375 6.875 -5.875 6.8125 -5.828125 L 2.921875 -2.84375 L 3.71875 -6.03125 C 3.8125 -6.390625 3.828125 -6.484375 4.5625 -6.484375 C 4.8125 -6.484375 4.890625 -6.484375 4.890625 -6.6875 C 4.890625 -6.78125 4.8125 -6.796875 4.75 -6.796875 L 3.484375 -6.765625 L 2.203125 -6.796875 C 2.125 -6.796875 2 -6.796875 2 -6.609375 C 2 -6.484375 2.09375 -6.484375 2.296875 -6.484375 C 2.421875 -6.484375 2.59375 -6.484375 2.71875 -6.46875 C 2.875 -6.453125 2.9375 -6.421875 2.9375 -6.3125 C 2.9375 -6.265625 2.921875 -6.234375 2.890625 -6.125 L 1.5625 -0.78125 C 1.46875 -0.390625 1.4375 -0.3125 0.65625 -0.3125 C 0.484375 -0.3125 0.375 -0.3125 0.375 -0.125 C 0.375 0 0.5 0 0.53125 0 L 1.796875 -0.03125 L 2.421875 -0.015625 C 2.640625 -0.015625 2.859375 0 3.078125 0 C 3.140625 0 3.28125 0 3.28125 -0.203125 C 3.28125 -0.3125 3.1875 -0.3125 3 -0.3125 C 2.625 -0.3125 2.34375 -0.3125 2.34375 -0.484375 C 2.34375 -0.5625 2.40625 -0.78125 2.4375 -0.921875 L 2.84375 -2.484375 L 4.3125 -3.640625 L 5.46875 -0.96875 C 5.59375 -0.703125 5.59375 -0.671875 5.59375 -0.609375 C 5.59375 -0.3125 5.171875 -0.3125 5.078125 -0.3125 C 4.96875 -0.3125 4.859375 -0.3125 4.859375 -0.109375 C 4.859375 0 5 0 5 0 C 5.390625 0 5.8125 -0.03125 6.203125 -0.03125 C 6.421875 -0.03125 6.96875 0 7.1875 0 C 7.234375 0 7.359375 0 7.359375 -0.203125 Z M 7.359375 -0.203125 "/>
</symbol>
<symbol overflow="visible" id="glyph2-2">
<path style="stroke:none;" d="M 3.9375 -1.546875 C 3.9375 -1.90625 3.75 -2.15625 3.640625 -2.265625 C 3.359375 -2.546875 3.078125 -2.59375 2.640625 -2.6875 C 2.28125 -2.765625 1.875 -2.84375 1.875 -3.28125 C 1.875 -3.578125 2.125 -4.1875 3 -4.1875 C 3.25 -4.1875 3.75 -4.109375 3.890625 -3.71875 C 3.609375 -3.71875 3.40625 -3.5 3.40625 -3.28125 C 3.40625 -3.140625 3.5 -2.984375 3.71875 -2.984375 C 3.9375 -2.984375 4.1875 -3.15625 4.1875 -3.546875 C 4.1875 -3.984375 3.75 -4.40625 3 -4.40625 C 1.6875 -4.40625 1.3125 -3.390625 1.3125 -2.953125 C 1.3125 -2.171875 2.046875 -2.015625 2.34375 -1.953125 C 2.859375 -1.859375 3.375 -1.75 3.375 -1.203125 C 3.375 -0.953125 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 -1.171875 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 7.171875 -2.609375 C 7.171875 -2.671875 7.125 -2.71875 7.046875 -2.71875 C 6.8125 -2.71875 6.234375 -2.6875 6 -2.6875 L 4.609375 -2.71875 C 4.515625 -2.71875 4.40625 -2.71875 4.40625 -2.515625 C 4.40625 -2.40625 4.484375 -2.40625 4.703125 -2.40625 C 4.703125 -2.40625 5 -2.40625 5.21875 -2.390625 C 5.484375 -2.359375 5.53125 -2.328125 5.53125 -2.203125 C 5.53125 -2.109375 5.421875 -1.65625 5.328125 -1.296875 C 5.046875 -0.203125 3.75 -0.09375 3.40625 -0.09375 C 2.453125 -0.09375 1.40625 -0.65625 1.40625 -2.1875 C 1.40625 -2.484375 1.5 -4.125 2.546875 -5.421875 C 3.078125 -6.09375 4.046875 -6.703125 5.03125 -6.703125 C 6.046875 -6.703125 6.640625 -5.9375 6.640625 -4.78125 C 6.640625 -4.390625 6.609375 -4.375 6.609375 -4.28125 C 6.609375 -4.1875 6.71875 -4.1875 6.765625 -4.1875 C 6.890625 -4.1875 6.890625 -4.203125 6.9375 -4.375 L 7.5625 -6.921875 C 7.5625 -6.953125 7.546875 -7.015625 7.453125 -7.015625 C 7.421875 -7.015625 7.421875 -7 7.3125 -6.890625 L 6.609375 -6.125 C 6.515625 -6.265625 6.0625 -7.015625 4.953125 -7.015625 C 2.734375 -7.015625 0.5 -4.8125 0.5 -2.515625 C 0.5 -0.921875 1.609375 0.21875 3.21875 0.21875 C 3.65625 0.21875 4.09375 0.125 4.453125 -0.015625 C 4.953125 -0.21875 5.140625 -0.421875 5.328125 -0.625 C 5.421875 -0.375 5.671875 -0.015625 5.765625 -0.015625 C 5.828125 -0.015625 5.84375 -0.046875 5.84375 -0.046875 C 5.859375 -0.0625 5.96875 -0.453125 6.015625 -0.65625 L 6.203125 -1.421875 C 6.234375 -1.59375 6.296875 -1.765625 6.328125 -1.9375 C 6.4375 -2.375 6.453125 -2.40625 7.015625 -2.40625 C 7.0625 -2.40625 7.171875 -2.421875 7.171875 -2.609375 Z M 7.171875 -2.609375 "/>
</symbol>
<symbol overflow="visible" id="glyph2-4">
<path style="stroke:none;" d="M 4.34375 -3.75 C 4.34375 -4.09375 4.015625 -4.40625 3.515625 -4.40625 C 2.859375 -4.40625 2.421875 -3.90625 2.234375 -3.640625 C 2.15625 -4.078125 1.796875 -4.40625 1.328125 -4.40625 C 0.875 -4.40625 0.6875 -4.015625 0.59375 -3.828125 C 0.421875 -3.5 0.28125 -2.890625 0.28125 -2.859375 C 0.28125 -2.765625 0.40625 -2.765625 0.40625 -2.765625 C 0.5 -2.765625 0.515625 -2.78125 0.578125 -3 C 0.75 -3.703125 0.953125 -4.1875 1.296875 -4.1875 C 1.46875 -4.1875 1.609375 -4.09375 1.609375 -3.71875 C 1.609375 -3.515625 1.578125 -3.40625 1.453125 -2.890625 L 0.875 -0.59375 C 0.84375 -0.4375 0.78125 -0.203125 0.78125 -0.15625 C 0.78125 0.015625 0.921875 0.109375 1.078125 0.109375 C 1.1875 0.109375 1.375 0.03125 1.4375 -0.171875 C 1.46875 -0.203125 1.796875 -1.5625 1.84375 -1.734375 L 2.15625 -3.03125 C 2.203125 -3.171875 2.484375 -3.640625 2.71875 -3.859375 C 2.796875 -3.921875 3.078125 -4.1875 3.515625 -4.1875 C 3.765625 -4.1875 3.9375 -4.0625 3.9375 -4.0625 C 3.640625 -4.015625 3.40625 -3.765625 3.40625 -3.515625 C 3.40625 -3.359375 3.515625 -3.171875 3.796875 -3.171875 C 4.0625 -3.171875 4.34375 -3.390625 4.34375 -3.75 Z M 4.34375 -3.75 "/>
</symbol>
<symbol overflow="visible" id="glyph2-5">
<path style="stroke:none;" d="M 3.5625 -0.390625 C 3.5625 -0.421875 3.546875 -0.53125 3.46875 -0.53125 C 3.46875 -0.53125 3.421875 -0.53125 3.328125 -0.484375 C 3.03125 -0.28125 2.65625 -0.109375 2.296875 -0.109375 C 1.71875 -0.109375 1.21875 -0.53125 1.21875 -1.40625 C 1.21875 -1.75 1.296875 -2.125 1.328125 -2.25 L 2.96875 -2.25 C 3.125 -2.25 3.296875 -2.25 3.296875 -2.421875 C 3.296875 -2.5625 3.1875 -2.5625 3.015625 -2.5625 L 1.40625 -2.5625 C 1.640625 -3.40625 2.203125 -3.984375 3.109375 -3.984375 L 3.40625 -3.984375 C 3.578125 -3.984375 3.75 -3.984375 3.75 -4.15625 C 3.75 -4.296875 3.609375 -4.296875 3.4375 -4.296875 L 3.09375 -4.296875 C 1.796875 -4.296875 0.46875 -3.296875 0.46875 -1.765625 C 0.46875 -0.671875 1.21875 0.109375 2.265625 0.109375 C 2.921875 0.109375 3.5625 -0.28125 3.5625 -0.390625 Z M 3.5625 -0.390625 "/>
</symbol>
<symbol overflow="visible" id="glyph2-6">
<path style="stroke:none;" d="M 4.953125 -1.421875 C 4.953125 -1.515625 4.859375 -1.515625 4.84375 -1.515625 C 4.734375 -1.515625 4.734375 -1.484375 4.703125 -1.34375 C 4.53125 -0.703125 4.34375 -0.109375 3.9375 -0.109375 C 3.671875 -0.109375 3.640625 -0.375 3.640625 -0.5625 C 3.640625 -0.8125 3.65625 -0.875 3.703125 -1.046875 L 5.140625 -6.796875 C 5.140625 -6.796875 5.140625 -6.90625 5 -6.90625 C 4.859375 -6.90625 3.90625 -6.8125 3.75 -6.796875 C 3.65625 -6.78125 3.609375 -6.734375 3.609375 -6.609375 C 3.609375 -6.484375 3.6875 -6.484375 3.84375 -6.484375 C 4.3125 -6.484375 4.34375 -6.421875 4.34375 -6.3125 L 4.3125 -6.125 L 3.71875 -3.765625 C 3.53125 -4.125 3.25 -4.40625 2.796875 -4.40625 C 1.625 -4.40625 0.390625 -2.9375 0.390625 -1.484375 C 0.390625 -0.546875 0.953125 0.109375 1.71875 0.109375 C 1.921875 0.109375 2.421875 0.0625 3.015625 -0.640625 C 3.09375 -0.21875 3.4375 0.109375 3.921875 0.109375 C 4.265625 0.109375 4.5 -0.125 4.65625 -0.4375 C 4.828125 -0.796875 4.953125 -1.421875 4.953125 -1.421875 Z M 3.5625 -3.140625 L 3.0625 -1.1875 C 3.015625 -1 3.015625 -0.984375 2.859375 -0.8125 C 2.421875 -0.265625 2.015625 -0.109375 1.734375 -0.109375 C 1.25 -0.109375 1.109375 -0.65625 1.109375 -1.046875 C 1.109375 -1.546875 1.421875 -2.765625 1.65625 -3.21875 C 1.953125 -3.8125 2.40625 -4.1875 2.8125 -4.1875 C 3.453125 -4.1875 3.59375 -3.359375 3.59375 -3.296875 C 3.59375 -3.25 3.578125 -3.1875 3.5625 -3.140625 Z M 3.5625 -3.140625 "/>
</symbol>
<symbol overflow="visible" id="glyph2-7">
<path style="stroke:none;" d="M 5.40625 -1.421875 C 5.40625 -1.515625 5.3125 -1.515625 5.28125 -1.515625 C 5.1875 -1.515625 5.171875 -1.484375 5.140625 -1.34375 C 5 -0.78125 4.8125 -0.109375 4.40625 -0.109375 C 4.1875 -0.109375 4.09375 -0.234375 4.09375 -0.5625 C 4.09375 -0.78125 4.203125 -1.25 4.296875 -1.609375 L 4.5625 -2.671875 C 4.59375 -2.828125 4.703125 -3.203125 4.734375 -3.359375 C 4.78125 -3.578125 4.890625 -3.96875 4.890625 -4.015625 C 4.890625 -4.203125 4.75 -4.296875 4.59375 -4.296875 C 4.546875 -4.296875 4.296875 -4.28125 4.203125 -3.9375 L 3.46875 -0.953125 C 3.453125 -0.90625 3.0625 -0.109375 2.328125 -0.109375 C 1.8125 -0.109375 1.71875 -0.5625 1.71875 -0.921875 C 1.71875 -1.484375 1.984375 -2.265625 2.25 -2.953125 C 2.375 -3.25 2.421875 -3.390625 2.421875 -3.578125 C 2.421875 -4.03125 2.09375 -4.40625 1.609375 -4.40625 C 0.65625 -4.40625 0.28125 -2.953125 0.28125 -2.859375 C 0.28125 -2.765625 0.40625 -2.765625 0.40625 -2.765625 C 0.5 -2.765625 0.515625 -2.78125 0.5625 -2.953125 C 0.8125 -3.8125 1.1875 -4.1875 1.578125 -4.1875 C 1.65625 -4.1875 1.828125 -4.171875 1.828125 -3.859375 C 1.828125 -3.609375 1.71875 -3.328125 1.65625 -3.171875 C 1.28125 -2.1875 1.078125 -1.578125 1.078125 -1.078125 C 1.078125 -0.140625 1.765625 0.109375 2.296875 0.109375 C 2.953125 0.109375 3.3125 -0.34375 3.484375 -0.5625 C 3.59375 -0.15625 3.9375 0.109375 4.375 0.109375 C 4.71875 0.109375 4.953125 -0.125 5.109375 -0.4375 C 5.28125 -0.796875 5.40625 -1.421875 5.40625 -1.421875 Z M 5.40625 -1.421875 "/>
</symbol>
<symbol overflow="visible" id="glyph2-8">
<path style="stroke:none;" d="M 4.84375 -3.796875 C 4.875 -3.9375 4.875 -3.953125 4.875 -4.015625 C 4.875 -4.203125 4.734375 -4.296875 4.59375 -4.296875 C 4.484375 -4.296875 4.328125 -4.234375 4.234375 -4.078125 C 4.21875 -4.03125 4.140625 -3.71875 4.09375 -3.546875 L 3.90625 -2.75 L 3.453125 -0.953125 C 3.40625 -0.8125 2.984375 -0.109375 2.328125 -0.109375 C 1.828125 -0.109375 1.71875 -0.546875 1.71875 -0.921875 C 1.71875 -1.375 1.875 -1.984375 2.21875 -2.859375 C 2.375 -3.28125 2.421875 -3.390625 2.421875 -3.578125 C 2.421875 -4.03125 2.09375 -4.40625 1.609375 -4.40625 C 0.65625 -4.40625 0.28125 -2.953125 0.28125 -2.859375 C 0.28125 -2.765625 0.40625 -2.765625 0.40625 -2.765625 C 0.5 -2.765625 0.515625 -2.78125 0.5625 -2.953125 C 0.84375 -3.875 1.234375 -4.1875 1.578125 -4.1875 C 1.65625 -4.1875 1.828125 -4.1875 1.828125 -3.859375 C 1.828125 -3.609375 1.71875 -3.359375 1.65625 -3.171875 C 1.25 -2.109375 1.078125 -1.546875 1.078125 -1.078125 C 1.078125 -0.1875 1.703125 0.109375 2.296875 0.109375 C 2.671875 0.109375 3.015625 -0.0625 3.296875 -0.34375 C 3.171875 0.171875 3.046875 0.671875 2.640625 1.1875 C 2.390625 1.53125 2.015625 1.828125 1.546875 1.828125 C 1.40625 1.828125 0.96875 1.796875 0.796875 1.40625 C 0.953125 1.40625 1.078125 1.40625 1.21875 1.28125 C 1.328125 1.1875 1.421875 1.0625 1.421875 0.875 C 1.421875 0.5625 1.15625 0.53125 1.0625 0.53125 C 0.828125 0.53125 0.5 0.6875 0.5 1.171875 C 0.5 1.671875 0.9375 2.046875 1.546875 2.046875 C 2.578125 2.046875 3.609375 1.140625 3.875 0.015625 Z M 4.84375 -3.796875 "/>
</symbol>
<symbol overflow="visible" id="glyph2-9">
<path style="stroke:none;" d="M 5.6875 -1.421875 C 5.6875 -1.515625 5.59375 -1.515625 5.5625 -1.515625 C 5.46875 -1.515625 5.46875 -1.5 5.421875 -1.34375 C 5.21875 -0.671875 4.890625 -0.109375 4.40625 -0.109375 C 4.234375 -0.109375 4.15625 -0.203125 4.15625 -0.4375 C 4.15625 -0.6875 4.25 -0.921875 4.34375 -1.140625 C 4.53125 -1.671875 4.953125 -2.765625 4.953125 -3.328125 C 4.953125 -4 4.515625 -4.40625 3.796875 -4.40625 C 2.90625 -4.40625 2.421875 -3.765625 2.25 -3.53125 C 2.203125 -4.09375 1.796875 -4.40625 1.328125 -4.40625 C 0.875 -4.40625 0.6875 -4.015625 0.59375 -3.828125 C 0.421875 -3.5 0.28125 -2.90625 0.28125 -2.859375 C 0.28125 -2.765625 0.40625 -2.765625 0.40625 -2.765625 C 0.5 -2.765625 0.515625 -2.78125 0.578125 -3 C 0.75 -3.703125 0.953125 -4.1875 1.296875 -4.1875 C 1.5 -4.1875 1.609375 -4.046875 1.609375 -3.71875 C 1.609375 -3.515625 1.578125 -3.40625 1.453125 -2.890625 L 0.875 -0.59375 C 0.84375 -0.4375 0.78125 -0.203125 0.78125 -0.15625 C 0.78125 0.015625 0.921875 0.109375 1.078125 0.109375 C 1.1875 0.109375 1.375 0.03125 1.4375 -0.171875 C 1.453125 -0.1875 1.578125 -0.65625 1.625 -0.90625 L 1.84375 -1.796875 C 1.90625 -2.015625 1.96875 -2.234375 2.015625 -2.46875 L 2.15625 -2.96875 C 2.296875 -3.28125 2.828125 -4.1875 3.765625 -4.1875 C 4.21875 -4.1875 4.3125 -3.8125 4.3125 -3.484375 C 4.3125 -2.859375 3.828125 -1.59375 3.65625 -1.171875 C 3.578125 -0.9375 3.5625 -0.8125 3.5625 -0.703125 C 3.5625 -0.234375 3.90625 0.109375 4.375 0.109375 C 5.3125 0.109375 5.6875 -1.34375 5.6875 -1.421875 Z M 5.6875 -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 3.296875 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="glyph3-2">
<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 "/>
</symbol>
</g>
<clipPath id="clip1">
<path d="M 190 36 L 239 36 L 239 71.964844 L 190 71.964844 Z M 190 36 "/>
</clipPath>
<clipPath id="clip2">
<path d="M 226 12 L 247.867188 12 L 247.867188 44 L 226 44 Z M 226 12 "/>
</clipPath>
<clipPath id="clip3">
<path d="M 228 60 L 247.867188 60 L 247.867188 62 L 228 62 Z M 228 60 "/>
</clipPath>
<clipPath id="clip4">
<path d="M 211 45 L 245 45 L 245 71.964844 L 211 71.964844 Z M 211 45 "/>
</clipPath>
</defs>
<g id="surface1">
<path style="fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 9.963447 -0.00170692 C 9.963447 5.503664 5.501322 9.961882 -0.000141739 9.961882 C -5.501606 9.961882 -9.963731 5.503664 -9.963731 -0.00170692 C -9.963731 -5.503171 -5.501606 -9.961389 -0.000141739 -9.961389 C 5.501322 -9.961389 9.963447 -5.503171 9.963447 -0.00170692 Z M 9.963447 -0.00170692 " transform="matrix(0.999734,0,0,-0.999734,33.629048,27.963137)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-1" x="27.434697" y="32.128029"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-1" x="23.89064" y="45.725409"/>
</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 33.137583 -14.173447 L 67.154449 -14.173447 L 67.154449 14.173941 L 33.137583 14.173941 Z M 33.137583 -14.173447 " transform="matrix(0.999734,0,0,-0.999734,33.629048,27.963137)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-1" x="72.967576" y="30.453474"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-1" x="82.139135" y="30.453474"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-2" x="86.013103" y="30.453474"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-2" x="90.68186" y="30.453474"/>
</g>
<path style="fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 110.255763 -0.00170692 C 110.255763 5.503664 105.793638 9.961882 100.292174 9.961882 C 94.79071 9.961882 90.328585 5.503664 90.328585 -0.00170692 C 90.328585 -5.503171 94.79071 -9.961389 100.292174 -9.961389 C 105.793638 -9.961389 110.255763 -5.503171 110.255763 -0.00170692 Z M 110.255763 -0.00170692 " transform="matrix(0.999734,0,0,-0.999734,33.629048,27.963137)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-1" x="127.699007" y="32.128029"/>
</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 133.429899 -14.173447 L 167.446764 -14.173447 L 167.446764 14.173941 L 133.429899 14.173941 Z M 133.429899 -14.173447 " transform="matrix(0.999734,0,0,-0.999734,33.629048,27.963137)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-3" x="173.902707" y="30.453474"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-1" x="181.734622" y="30.453474"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-2" x="185.607591" y="30.453474"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-2" x="190.276348" y="30.453474"/>
</g>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;" d="M 224.199219 61.007812 C 224.199219 55.507812 219.742188 51.050781 214.242188 51.050781 C 208.738281 51.050781 204.28125 55.507812 204.28125 61.007812 C 204.28125 66.511719 208.738281 70.96875 214.242188 70.96875 C 219.742188 70.96875 224.199219 66.511719 224.199219 61.007812 Z M 224.199219 61.007812 "/>
<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 190.620901 -33.053472 C 190.620901 -27.552008 186.162683 -23.09379 180.661219 -23.09379 C 175.155847 -23.09379 170.69763 -27.552008 170.69763 -33.053472 C 170.69763 -38.558843 175.155847 -43.017061 180.661219 -43.017061 C 186.162683 -43.017061 190.620901 -38.558843 190.620901 -33.053472 Z M 190.620901 -33.053472 " transform="matrix(0.999734,0,0,-0.999734,33.629048,27.963137)"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-1" x="208.043619" y="65.173232"/>
</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 -14.597777 -0.00170692 L -32.641641 -0.00170692 " transform="matrix(0.999734,0,0,-0.999734,33.629048,27.963137)"/>
<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 6.052763 -0.00170692 L 1.610174 1.682335 L 3.08713 -0.00170692 L 1.610174 -1.681842 Z M 6.052763 -0.00170692 " transform="matrix(0.999734,0,0,-0.999734,16.198848,27.963137)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-4" x="4.815718" y="24.145154"/>
</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 9.963447 -0.00170692 L 28.007312 -0.00170692 " transform="matrix(0.999734,0,0,-0.999734,33.629048,27.963137)"/>
<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 6.054801 -0.00170692 L 1.608306 1.682335 L 3.089168 -0.00170692 L 1.608306 -1.681842 Z M 6.054801 -0.00170692 " transform="matrix(0.999734,0,0,-0.999734,58.79056,27.963137)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-5" x="58.399454" y="24.145154"/>
</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 67.654582 -0.00170692 L 85.698446 -0.00170692 " transform="matrix(0.999734,0,0,-0.999734,33.629048,27.963137)"/>
<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 6.052129 -0.00170692 L 1.60954 1.682335 L 3.086496 -0.00170692 L 1.60954 -1.681842 Z M 6.052129 -0.00170692 " transform="matrix(0.999734,0,0,-0.999734,116.465107,27.963137)"/>
<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 100.292174 14.595928 L 100.292174 26.970315 " transform="matrix(0.999734,0,0,-0.999734,33.629048,27.963137)"/>
<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 6.054612 -0.000776042 L 1.608116 1.683266 L 3.088979 -0.000776042 L 1.608116 -1.684818 Z M 6.054612 -0.000776042 " transform="matrix(0,0.999734,0.999734,0,133.895307,10.532937)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-6" x="137.711341" y="11.733458"/>
</g>
<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 110.255763 -0.00170692 L 128.299628 -0.00170692 " transform="matrix(0.999734,0,0,-0.999734,33.629048,27.963137)"/>
<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 6.054157 -0.00170692 L 1.607661 1.682335 L 3.088524 -0.00170692 L 1.607661 -1.681842 Z M 6.054157 -0.00170692 " transform="matrix(0.999734,0,0,-0.999734,159.056829,27.963137)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-7" x="157.006205" y="24.145154"/>
</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 167.946898 -0.00170692 L 208.668672 -0.00170692 " transform="matrix(0.999734,0,0,-0.999734,33.629048,27.963137)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 245.453125 27.964844 L 241.011719 26.28125 L 242.488281 27.964844 L 241.011719 29.644531 Z M 245.453125 27.964844 "/>
<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 6.051865 -0.00170692 L 1.609276 1.682335 L 3.086232 -0.00170692 L 1.609276 -1.681842 Z M 6.051865 -0.00170692 " transform="matrix(0.999734,0,0,-0.999734,239.402871,27.963137)"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-8" x="237.811695" y="22.208669"/>
</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 180.661219 -0.00170692 L 180.661219 -18.459744 " transform="matrix(0.999734,0,0,-0.999734,33.629048,27.963137)"/>
<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 6.051556 0.00157874 L 1.608968 1.681713 L 3.085923 0.00157874 L 1.608968 -1.682463 Z M 6.051556 0.00157874 " transform="matrix(0,0.999734,0.999734,0,214.240609,43.57896)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 216.234375 27.964844 C 216.234375 26.863281 215.339844 25.972656 214.242188 25.972656 C 213.140625 25.972656 212.25 26.863281 212.25 27.964844 C 212.25 29.0625 213.140625 29.957031 214.242188 29.957031 C 215.339844 29.957031 216.234375 29.0625 216.234375 27.964844 Z M 216.234375 27.964844 "/>
<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 195.254946 -33.053472 L 213.298811 -33.053472 " transform="matrix(0.999734,0,0,-0.999734,33.629048,27.963137)"/>
</g>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 225.617188 61.007812 L 230.0625 62.691406 L 228.585938 61.007812 L 230.0625 59.328125 Z M 225.617188 61.007812 "/>
<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 6.055233 -0.00134829 L 1.608737 1.682694 L 3.085693 -0.00134829 L 1.608737 -1.681483 Z M 6.055233 -0.00134829 " transform="matrix(-0.999734,0,0,0.999734,231.670809,61.00916)"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-9" x="237.073891" y="57.191357"/>
</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 170.69763 -33.053472 L -0.000141739 -33.053472 L -0.000141739 -14.595434 " transform="matrix(0.999734,0,0,-0.999734,33.629048,27.963137)"/>
<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 6.055105 0.000141739 L 1.608609 1.684184 L 3.089472 0.000141739 L 1.608609 -1.6839 Z M 6.055105 0.000141739 " transform="matrix(0,-0.999734,-0.999734,0,33.629048,45.393337)"/>
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 28 KiB

BIN
figs/h-infinity-spec-S.pdf Normal file
View File

Binary file not shown.

BIN
figs/h-infinity-spec-S.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 30 KiB

504
figs/h-infinity-spec-S.svg Normal file
View File

@ -0,0 +1,504 @@
<?xml version="1.0" encoding="UTF-8"?>
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="281.478pt" height="153.201pt" viewBox="0 0 281.478 153.201" 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 4.15625 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="glyph0-2">
<path style="stroke:none;" d="M 4.5625 -3.171875 C 4.5625 -3.96875 4.5 -4.75 4.15625 -5.484375 C 3.703125 -6.4375 2.890625 -6.59375 2.484375 -6.59375 C 1.875 -6.59375 1.15625 -6.34375 0.75 -5.421875 C 0.4375 -4.734375 0.390625 -3.96875 0.390625 -3.171875 C 0.390625 -2.421875 0.421875 -1.53125 0.828125 -0.78125 C 1.265625 0.015625 1.984375 0.21875 2.46875 0.21875 C 3 0.21875 3.75 0.015625 4.1875 -0.9375 C 4.5 -1.609375 4.5625 -2.390625 4.5625 -3.171875 Z M 3.734375 -3.28125 C 3.734375 -2.546875 3.734375 -1.875 3.625 -1.234375 C 3.484375 -0.296875 2.90625 0 2.46875 0 C 2.078125 0 1.5 -0.25 1.3125 -1.203125 C 1.203125 -1.796875 1.203125 -2.703125 1.203125 -3.28125 C 1.203125 -3.921875 1.203125 -4.578125 1.28125 -5.109375 C 1.46875 -6.296875 2.21875 -6.375 2.46875 -6.375 C 2.796875 -6.375 3.453125 -6.203125 3.640625 -5.21875 C 3.734375 -4.671875 3.734375 -3.90625 3.734375 -3.28125 Z M 3.734375 -3.28125 "/>
</symbol>
<symbol overflow="visible" id="glyph0-3">
<path style="stroke:none;" d="M 4.671875 -1.640625 L 4.671875 -1.9375 L 3.671875 -1.9375 L 3.671875 -6.453125 C 3.671875 -6.640625 3.671875 -6.703125 3.515625 -6.703125 C 3.421875 -6.703125 3.390625 -6.703125 3.3125 -6.59375 L 0.28125 -1.9375 L 0.28125 -1.640625 L 2.90625 -1.640625 L 2.90625 -0.765625 C 2.90625 -0.421875 2.890625 -0.3125 2.15625 -0.3125 L 1.953125 -0.3125 L 1.953125 0 C 2.359375 -0.03125 2.875 -0.03125 3.28125 -0.03125 C 3.703125 -0.03125 4.234375 -0.03125 4.640625 0 L 4.640625 -0.3125 L 4.421875 -0.3125 C 3.6875 -0.3125 3.671875 -0.421875 3.671875 -0.765625 L 3.671875 -1.640625 Z M 2.96875 -1.9375 L 0.5625 -1.9375 L 2.96875 -5.640625 Z M 2.96875 -1.9375 "/>
</symbol>
<symbol overflow="visible" id="glyph0-4">
<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="glyph0-5">
<path style="stroke:none;" d="M 4.53125 -2.015625 C 4.53125 -3.28125 3.640625 -4.234375 2.546875 -4.234375 C 1.875 -4.234375 1.5 -3.71875 1.3125 -3.25 L 1.3125 -3.484375 C 1.3125 -6 2.53125 -6.34375 3.046875 -6.34375 C 3.28125 -6.34375 3.6875 -6.296875 3.90625 -5.953125 C 3.765625 -5.953125 3.375 -5.953125 3.375 -5.515625 C 3.375 -5.203125 3.609375 -5.046875 3.828125 -5.046875 C 3.984375 -5.046875 4.28125 -5.140625 4.28125 -5.53125 C 4.28125 -6.125 3.84375 -6.59375 3.015625 -6.59375 C 1.75 -6.59375 0.421875 -5.3125 0.421875 -3.125 C 0.421875 -0.484375 1.5625 0.21875 2.484375 0.21875 C 3.59375 0.21875 4.53125 -0.71875 4.53125 -2.015625 Z M 3.640625 -2.03125 C 3.640625 -1.5625 3.640625 -1.0625 3.46875 -0.703125 C 3.171875 -0.109375 2.71875 -0.0625 2.484375 -0.0625 C 1.859375 -0.0625 1.5625 -0.65625 1.5 -0.796875 C 1.328125 -1.265625 1.328125 -2.0625 1.328125 -2.234375 C 1.328125 -3.015625 1.640625 -4 2.53125 -4 C 2.6875 -4 3.15625 -4 3.453125 -3.390625 C 3.640625 -3.015625 3.640625 -2.515625 3.640625 -2.03125 Z M 3.640625 -2.03125 "/>
</symbol>
<symbol overflow="visible" id="glyph0-6">
<path style="stroke:none;" d="M 4.53125 -1.671875 C 4.53125 -2.015625 4.421875 -2.46875 4.046875 -2.875 C 3.859375 -3.09375 3.6875 -3.1875 3.0625 -3.59375 C 3.78125 -3.953125 4.265625 -4.46875 4.265625 -5.125 C 4.265625 -6.03125 3.375 -6.59375 2.484375 -6.59375 C 1.484375 -6.59375 0.6875 -5.859375 0.6875 -4.9375 C 0.6875 -4.765625 0.703125 -4.3125 1.125 -3.859375 C 1.234375 -3.734375 1.59375 -3.484375 1.84375 -3.3125 C 1.265625 -3.03125 0.421875 -2.484375 0.421875 -1.5 C 0.421875 -0.453125 1.421875 0.21875 2.46875 0.21875 C 3.59375 0.21875 4.53125 -0.609375 4.53125 -1.671875 Z M 3.828125 -5.125 C 3.828125 -4.5625 3.4375 -4.078125 2.84375 -3.734375 L 1.609375 -4.53125 C 1.15625 -4.828125 1.125 -5.15625 1.125 -5.328125 C 1.125 -5.9375 1.765625 -6.34375 2.46875 -6.34375 C 3.1875 -6.34375 3.828125 -5.828125 3.828125 -5.125 Z M 4.03125 -1.3125 C 4.03125 -0.578125 3.28125 -0.0625 2.484375 -0.0625 C 1.625 -0.0625 0.90625 -0.671875 0.90625 -1.5 C 0.90625 -2.078125 1.234375 -2.703125 2.078125 -3.171875 L 3.28125 -2.390625 C 3.5625 -2.203125 4.03125 -1.90625 4.03125 -1.3125 Z M 4.03125 -1.3125 "/>
</symbol>
<symbol overflow="visible" id="glyph0-7">
<path style="stroke:none;" d="M 5.21875 0 L 5.21875 -0.3125 C 4.53125 -0.3125 4.453125 -0.375 4.453125 -0.859375 L 4.453125 -6.875 L 3.015625 -6.765625 L 3.015625 -6.453125 C 3.71875 -6.453125 3.796875 -6.390625 3.796875 -5.90625 L 3.796875 -3.765625 C 3.5 -4.125 3.078125 -4.375 2.546875 -4.375 C 1.375 -4.375 0.34375 -3.40625 0.34375 -2.125 C 0.34375 -0.875 1.3125 0.109375 2.4375 0.109375 C 3.078125 0.109375 3.515625 -0.234375 3.765625 -0.546875 L 3.765625 0.109375 Z M 3.765625 -1.171875 C 3.765625 -0.984375 3.765625 -0.96875 3.65625 -0.796875 C 3.359375 -0.328125 2.90625 -0.109375 2.484375 -0.109375 C 2.046875 -0.109375 1.6875 -0.359375 1.453125 -0.75 C 1.1875 -1.15625 1.15625 -1.71875 1.15625 -2.125 C 1.15625 -2.484375 1.171875 -3.078125 1.46875 -3.53125 C 1.671875 -3.828125 2.046875 -4.15625 2.578125 -4.15625 C 2.9375 -4.15625 3.34375 -4.015625 3.65625 -3.5625 C 3.765625 -3.390625 3.765625 -3.375 3.765625 -3.203125 Z M 3.765625 -1.171875 "/>
</symbol>
<symbol overflow="visible" id="glyph0-8">
<path style="stroke:none;" d="M 6.453125 -1.8125 C 6.453125 -2.671875 5.640625 -3.421875 4.53125 -3.53125 C 5.5 -3.71875 6.1875 -4.359375 6.1875 -5.09375 C 6.1875 -5.953125 5.265625 -6.765625 3.984375 -6.765625 L 0.359375 -6.765625 L 0.359375 -6.453125 L 0.59375 -6.453125 C 1.359375 -6.453125 1.375 -6.34375 1.375 -6 L 1.375 -0.765625 C 1.375 -0.421875 1.359375 -0.3125 0.59375 -0.3125 L 0.359375 -0.3125 L 0.359375 0 L 4.234375 0 C 5.5625 0 6.453125 -0.875 6.453125 -1.8125 Z M 5.21875 -5.09375 C 5.21875 -4.453125 4.734375 -3.625 3.640625 -3.625 L 2.203125 -3.625 L 2.203125 -6.0625 C 2.203125 -6.390625 2.21875 -6.453125 2.6875 -6.453125 L 3.90625 -6.453125 C 4.875 -6.453125 5.21875 -5.609375 5.21875 -5.09375 Z M 5.453125 -1.828125 C 5.453125 -1.125 4.9375 -0.3125 3.921875 -0.3125 L 2.6875 -0.3125 C 2.21875 -0.3125 2.203125 -0.375 2.203125 -0.703125 L 2.203125 -3.40625 L 4.0625 -3.40625 C 5.046875 -3.40625 5.453125 -2.484375 5.453125 -1.828125 Z M 5.453125 -1.828125 "/>
</symbol>
<symbol overflow="visible" id="glyph0-9">
<path style="stroke:none;" d="M 4.109375 -1.171875 C 4.109375 -1.28125 4.03125 -1.296875 3.984375 -1.296875 C 3.890625 -1.296875 3.875 -1.234375 3.859375 -1.15625 C 3.5 -0.140625 2.609375 -0.140625 2.515625 -0.140625 C 2.015625 -0.140625 1.625 -0.4375 1.390625 -0.796875 C 1.09375 -1.28125 1.09375 -1.9375 1.09375 -2.28125 L 3.859375 -2.28125 C 4.078125 -2.28125 4.109375 -2.28125 4.109375 -2.5 C 4.109375 -3.484375 3.578125 -4.4375 2.34375 -4.4375 C 1.1875 -4.4375 0.28125 -3.421875 0.28125 -2.171875 C 0.28125 -0.859375 1.3125 0.109375 2.453125 0.109375 C 3.671875 0.109375 4.109375 -0.984375 4.109375 -1.171875 Z M 3.453125 -2.5 L 1.109375 -2.5 C 1.171875 -3.96875 2 -4.21875 2.34375 -4.21875 C 3.359375 -4.21875 3.453125 -2.875 3.453125 -2.5 Z M 3.453125 -2.5 "/>
</symbol>
<symbol overflow="visible" id="glyph0-10">
<path style="stroke:none;" d="M 4.109375 -1.171875 C 4.109375 -1.28125 4.015625 -1.28125 3.984375 -1.28125 C 3.890625 -1.28125 3.875 -1.234375 3.859375 -1.171875 C 3.5625 -0.25 2.921875 -0.140625 2.5625 -0.140625 C 2.03125 -0.140625 1.15625 -0.5625 1.15625 -2.15625 C 1.15625 -3.78125 1.96875 -4.1875 2.5 -4.1875 C 2.578125 -4.1875 3.203125 -4.1875 3.5625 -3.828125 C 3.15625 -3.796875 3.09375 -3.5 3.09375 -3.375 C 3.09375 -3.109375 3.265625 -2.90625 3.546875 -2.90625 C 3.796875 -2.90625 4 -3.078125 4 -3.375 C 4 -4.046875 3.25 -4.4375 2.484375 -4.4375 C 1.25 -4.4375 0.34375 -3.375 0.34375 -2.140625 C 0.34375 -0.875 1.3125 0.109375 2.46875 0.109375 C 3.796875 0.109375 4.109375 -1.078125 4.109375 -1.171875 Z M 4.109375 -1.171875 "/>
</symbol>
<symbol overflow="visible" id="glyph0-11">
<path style="stroke:none;" d="M 6.046875 -4.5 L 5.765625 -6.734375 L 0.328125 -6.734375 L 0.328125 -6.421875 L 0.5625 -6.421875 C 1.328125 -6.421875 1.34375 -6.3125 1.34375 -5.96875 L 1.34375 -0.765625 C 1.34375 -0.421875 1.328125 -0.3125 0.5625 -0.3125 L 0.328125 -0.3125 L 0.328125 0 C 0.671875 -0.03125 1.453125 -0.03125 1.828125 -0.03125 C 2.234375 -0.03125 3.140625 -0.03125 3.5 0 L 3.5 -0.3125 L 3.171875 -0.3125 C 2.234375 -0.3125 2.234375 -0.4375 2.234375 -0.78125 L 2.234375 -3.21875 L 3.078125 -3.21875 C 4.03125 -3.21875 4.125 -2.90625 4.125 -2.0625 L 4.375 -2.0625 L 4.375 -4.6875 L 4.125 -4.6875 C 4.125 -3.859375 4.03125 -3.53125 3.078125 -3.53125 L 2.234375 -3.53125 L 2.234375 -6.03125 C 2.234375 -6.359375 2.25 -6.421875 2.71875 -6.421875 L 3.90625 -6.421875 C 5.390625 -6.421875 5.640625 -5.875 5.796875 -4.5 Z M 6.046875 -4.5 "/>
</symbol>
<symbol overflow="visible" id="glyph0-12">
<path style="stroke:none;" d="M 3.609375 -3.78125 C 3.609375 -4.09375 3.296875 -4.375 2.875 -4.375 C 2.15625 -4.375 1.796875 -3.71875 1.65625 -3.28125 L 1.65625 -4.375 L 0.28125 -4.265625 L 0.28125 -3.96875 C 0.96875 -3.96875 1.046875 -3.890625 1.046875 -3.40625 L 1.046875 -0.75 C 1.046875 -0.3125 0.9375 -0.3125 0.28125 -0.3125 L 0.28125 0 L 1.40625 -0.03125 C 1.796875 -0.03125 2.265625 -0.03125 2.671875 0 L 2.671875 -0.3125 L 2.453125 -0.3125 C 1.71875 -0.3125 1.703125 -0.421875 1.703125 -0.765625 L 1.703125 -2.296875 C 1.703125 -3.28125 2.125 -4.15625 2.875 -4.15625 C 2.9375 -4.15625 2.96875 -4.15625 2.984375 -4.15625 C 2.953125 -4.140625 2.75 -4.015625 2.75 -3.765625 C 2.75 -3.484375 2.96875 -3.34375 3.1875 -3.34375 C 3.359375 -3.34375 3.609375 -3.453125 3.609375 -3.78125 Z M 3.609375 -3.78125 "/>
</symbol>
<symbol overflow="visible" id="glyph0-13">
<path style="stroke:none;" d="M 5.21875 1.921875 L 5.21875 1.609375 C 4.5625 1.609375 4.453125 1.609375 4.453125 1.171875 L 4.453125 -4.375 L 4.234375 -4.375 L 3.859375 -3.484375 C 3.71875 -3.75 3.3125 -4.375 2.53125 -4.375 C 1.375 -4.375 0.34375 -3.421875 0.34375 -2.125 C 0.34375 -0.890625 1.296875 0.109375 2.453125 0.109375 C 3.140625 0.109375 3.546875 -0.3125 3.765625 -0.609375 L 3.765625 1.171875 C 3.765625 1.609375 3.65625 1.609375 2.984375 1.609375 L 2.984375 1.921875 L 4.09375 1.890625 Z M 3.796875 -1.34375 C 3.796875 -1.03125 3.609375 -0.75 3.390625 -0.515625 C 3.265625 -0.375 2.953125 -0.109375 2.484375 -0.109375 C 1.765625 -0.109375 1.15625 -0.984375 1.15625 -2.125 C 1.15625 -3.3125 1.859375 -4.125 2.578125 -4.125 C 3.375 -4.125 3.796875 -3.265625 3.796875 -2.75 Z M 3.796875 -1.34375 "/>
</symbol>
<symbol overflow="visible" id="glyph0-14">
<path style="stroke:none;" d="M 5.296875 0 L 5.296875 -0.3125 C 4.609375 -0.3125 4.53125 -0.375 4.53125 -0.859375 L 4.53125 -4.375 L 3.078125 -4.265625 L 3.078125 -3.96875 C 3.765625 -3.96875 3.84375 -3.890625 3.84375 -3.40625 L 3.84375 -1.640625 C 3.84375 -0.78125 3.375 -0.109375 2.640625 -0.109375 C 1.8125 -0.109375 1.765625 -0.578125 1.765625 -1.09375 L 1.765625 -4.375 L 0.3125 -4.265625 L 0.3125 -3.96875 C 1.09375 -3.96875 1.09375 -3.9375 1.09375 -3.046875 L 1.09375 -1.5625 C 1.09375 -0.796875 1.09375 0.109375 2.59375 0.109375 C 3.15625 0.109375 3.59375 -0.171875 3.875 -0.78125 L 3.875 0.109375 Z M 5.296875 0 "/>
</symbol>
<symbol overflow="visible" id="glyph0-15">
<path style="stroke:none;" d="M 5.296875 0 L 5.296875 -0.3125 C 4.78125 -0.3125 4.53125 -0.3125 4.53125 -0.609375 L 4.53125 -2.5 C 4.53125 -3.34375 4.53125 -3.65625 4.21875 -4.015625 C 4.078125 -4.1875 3.75 -4.375 3.1875 -4.375 C 2.453125 -4.375 1.984375 -3.953125 1.71875 -3.34375 L 1.71875 -4.375 L 0.3125 -4.265625 L 0.3125 -3.96875 C 1.015625 -3.96875 1.09375 -3.890625 1.09375 -3.40625 L 1.09375 -0.75 C 1.09375 -0.3125 0.984375 -0.3125 0.3125 -0.3125 L 0.3125 0 L 1.4375 -0.03125 L 2.546875 0 L 2.546875 -0.3125 C 1.875 -0.3125 1.765625 -0.3125 1.765625 -0.75 L 1.765625 -2.578125 C 1.765625 -3.609375 2.484375 -4.15625 3.109375 -4.15625 C 3.734375 -4.15625 3.84375 -3.625 3.84375 -3.0625 L 3.84375 -0.75 C 3.84375 -0.3125 3.734375 -0.3125 3.078125 -0.3125 L 3.078125 0 L 4.1875 -0.03125 Z M 5.296875 0 "/>
</symbol>
<symbol overflow="visible" id="glyph0-16">
<path style="stroke:none;" d="M 5.03125 -3.96875 L 5.03125 -4.265625 C 4.796875 -4.25 4.515625 -4.234375 4.296875 -4.234375 L 3.421875 -4.265625 L 3.421875 -3.96875 C 3.734375 -3.953125 3.890625 -3.78125 3.890625 -3.53125 C 3.890625 -3.4375 3.890625 -3.421875 3.828125 -3.296875 L 2.828125 -0.859375 L 1.734375 -3.53125 C 1.6875 -3.625 1.671875 -3.671875 1.671875 -3.703125 C 1.671875 -3.96875 2.046875 -3.96875 2.234375 -3.96875 L 2.234375 -4.265625 L 1.15625 -4.234375 C 0.875 -4.234375 0.484375 -4.25 0.1875 -4.265625 L 0.1875 -3.96875 C 0.65625 -3.96875 0.859375 -3.96875 0.984375 -3.609375 L 2.484375 0 L 2.234375 0.578125 C 2.015625 1.125 1.734375 1.8125 1.09375 1.8125 C 1.046875 1.8125 0.828125 1.8125 0.640625 1.640625 C 0.9375 1.59375 1.015625 1.375 1.015625 1.21875 C 1.015625 0.953125 0.828125 0.796875 0.609375 0.796875 C 0.40625 0.796875 0.1875 0.9375 0.1875 1.234375 C 0.1875 1.671875 0.609375 2.03125 1.09375 2.03125 C 1.71875 2.03125 2.125 1.46875 2.375 0.90625 L 4.109375 -3.328125 C 4.375 -3.953125 4.875 -3.96875 5.03125 -3.96875 Z M 5.03125 -3.96875 "/>
</symbol>
<symbol overflow="visible" id="glyph0-17">
<path style="stroke:none;" d="M 2.53125 2.484375 L 2.53125 2.078125 L 1.5625 2.078125 L 1.5625 -7.03125 L 2.53125 -7.03125 L 2.53125 -7.4375 L 1.171875 -7.4375 L 1.171875 2.484375 Z M 2.53125 2.484375 "/>
</symbol>
<symbol overflow="visible" id="glyph0-18">
<path style="stroke:none;" d="M 7.09375 0 L 7.09375 -0.3125 L 6.859375 -0.3125 C 6.09375 -0.3125 6.078125 -0.421875 6.078125 -0.765625 L 6.078125 -6 C 6.078125 -6.34375 6.09375 -6.453125 6.859375 -6.453125 L 7.09375 -6.453125 L 7.09375 -6.765625 C 6.75 -6.734375 6.015625 -6.734375 5.640625 -6.734375 C 5.265625 -6.734375 4.515625 -6.734375 4.171875 -6.765625 L 4.171875 -6.453125 L 4.40625 -6.453125 C 5.171875 -6.453125 5.1875 -6.34375 5.1875 -6 L 5.1875 -3.671875 L 2.234375 -3.671875 L 2.234375 -6 C 2.234375 -6.34375 2.25 -6.453125 3.015625 -6.453125 L 3.25 -6.453125 L 3.25 -6.765625 C 2.90625 -6.734375 2.171875 -6.734375 1.796875 -6.734375 C 1.421875 -6.734375 0.671875 -6.734375 0.328125 -6.765625 L 0.328125 -6.453125 L 0.5625 -6.453125 C 1.328125 -6.453125 1.34375 -6.34375 1.34375 -6 L 1.34375 -0.765625 C 1.34375 -0.421875 1.328125 -0.3125 0.5625 -0.3125 L 0.328125 -0.3125 L 0.328125 0 C 0.671875 -0.03125 1.40625 -0.03125 1.78125 -0.03125 C 2.15625 -0.03125 2.90625 -0.03125 3.25 0 L 3.25 -0.3125 L 3.015625 -0.3125 C 2.25 -0.3125 2.234375 -0.421875 2.234375 -0.765625 L 2.234375 -3.375 L 5.1875 -3.375 L 5.1875 -0.765625 C 5.1875 -0.421875 5.171875 -0.3125 4.40625 -0.3125 L 4.171875 -0.3125 L 4.171875 0 C 4.515625 -0.03125 5.25 -0.03125 5.625 -0.03125 C 6 -0.03125 6.75 -0.03125 7.09375 0 Z M 7.09375 0 "/>
</symbol>
<symbol overflow="visible" id="glyph0-19">
<path style="stroke:none;" d="M 3.96875 -1.859375 L 3.71875 -1.859375 C 3.640625 -0.6875 3.421875 -0.25 2.28125 -0.25 L 1.109375 -0.25 L 3.859375 -3.96875 C 3.953125 -4.078125 3.953125 -4.09375 3.953125 -4.140625 C 3.953125 -4.265625 3.875 -4.265625 3.6875 -4.265625 L 0.53125 -4.265625 L 0.421875 -2.671875 L 0.65625 -2.671875 C 0.71875 -3.6875 0.90625 -4.046875 2 -4.046875 L 3.125 -4.046875 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 3.796875 0 Z M 3.96875 -1.859375 "/>
</symbol>
<symbol overflow="visible" id="glyph0-20">
<path style="stroke:none;" d="M 1.578125 2.484375 L 1.578125 -7.4375 L 0.21875 -7.4375 L 0.21875 -7.03125 L 1.171875 -7.03125 L 1.171875 2.078125 L 0.21875 2.078125 L 0.21875 2.484375 Z M 1.578125 2.484375 "/>
</symbol>
<symbol overflow="visible" id="glyph1-0">
<path style="stroke:none;" d=""/>
</symbol>
<symbol overflow="visible" id="glyph1-1">
<path style="stroke:none;" d="M 5.4375 -1.734375 C 5.4375 -1.90625 5.28125 -1.90625 5.1875 -1.90625 L 1 -1.90625 C 0.90625 -1.90625 0.75 -1.90625 0.75 -1.734375 C 0.75 -1.5625 0.921875 -1.5625 1 -1.5625 L 5.1875 -1.5625 C 5.265625 -1.5625 5.4375 -1.5625 5.4375 -1.734375 Z M 5.4375 -1.734375 "/>
</symbol>
<symbol overflow="visible" id="glyph2-0">
<path style="stroke:none;" d=""/>
</symbol>
<symbol overflow="visible" id="glyph2-1">
<path style="stroke:none;" d="M 3.5 -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="glyph2-2">
<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>
<symbol overflow="visible" id="glyph2-3">
<path style="stroke:none;" d="M 3.578125 -2.21875 C 3.578125 -2.96875 3.484375 -3.53125 3.171875 -4.015625 C 2.953125 -4.328125 2.53125 -4.609375 1.96875 -4.609375 C 0.359375 -4.609375 0.359375 -2.71875 0.359375 -2.21875 C 0.359375 -1.71875 0.359375 0.140625 1.96875 0.140625 C 3.578125 0.140625 3.578125 -1.71875 3.578125 -2.21875 Z M 2.953125 -2.296875 C 2.953125 -1.796875 2.953125 -1.28125 2.859375 -0.84375 C 2.71875 -0.203125 2.25 -0.0625 1.96875 -0.0625 C 1.65625 -0.0625 1.234375 -0.25 1.09375 -0.8125 C 0.984375 -1.21875 0.984375 -1.796875 0.984375 -2.296875 C 0.984375 -2.8125 0.984375 -3.34375 1.09375 -3.71875 C 1.234375 -4.265625 1.6875 -4.40625 1.96875 -4.40625 C 2.34375 -4.40625 2.703125 -4.1875 2.828125 -3.78125 C 2.9375 -3.40625 2.953125 -2.90625 2.953125 -2.296875 Z M 2.953125 -2.296875 "/>
</symbol>
<symbol overflow="visible" id="glyph2-4">
<path style="stroke:none;" d="M 3.5625 -1.203125 C 3.5625 -1.734375 3.125 -2.28125 2.359375 -2.4375 C 3.09375 -2.703125 3.34375 -3.21875 3.34375 -3.65625 C 3.34375 -4.203125 2.71875 -4.609375 1.953125 -4.609375 C 1.171875 -4.609375 0.59375 -4.234375 0.59375 -3.671875 C 0.59375 -3.4375 0.75 -3.3125 0.953125 -3.3125 C 1.171875 -3.3125 1.296875 -3.46875 1.296875 -3.65625 C 1.296875 -3.859375 1.171875 -4.015625 0.953125 -4.03125 C 1.1875 -4.328125 1.671875 -4.40625 1.921875 -4.40625 C 2.234375 -4.40625 2.671875 -4.25 2.671875 -3.65625 C 2.671875 -3.359375 2.578125 -3.03125 2.40625 -2.828125 C 2.171875 -2.5625 1.984375 -2.546875 1.625 -2.53125 C 1.453125 -2.515625 1.4375 -2.515625 1.40625 -2.5 C 1.40625 -2.5 1.34375 -2.484375 1.34375 -2.421875 C 1.34375 -2.3125 1.40625 -2.3125 1.515625 -2.3125 L 1.890625 -2.3125 C 2.4375 -2.3125 2.828125 -1.9375 2.828125 -1.203125 C 2.828125 -0.34375 2.328125 -0.078125 1.921875 -0.078125 C 1.640625 -0.078125 1.03125 -0.15625 0.75 -0.5625 C 1.0625 -0.578125 1.140625 -0.8125 1.140625 -0.953125 C 1.140625 -1.171875 0.984375 -1.34375 0.765625 -1.34375 C 0.5625 -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 3.5625 -0.5 3.5625 -1.203125 Z M 3.5625 -1.203125 "/>
</symbol>
<symbol overflow="visible" id="glyph2-5">
<path style="stroke:none;" d="M 3.671875 -1.140625 L 3.671875 -1.390625 L 2.90625 -1.390625 L 2.90625 -4.484375 C 2.90625 -4.625 2.90625 -4.671875 2.75 -4.671875 C 2.65625 -4.671875 2.640625 -4.671875 2.5625 -4.578125 L 0.265625 -1.390625 L 0.265625 -1.140625 L 2.3125 -1.140625 L 2.3125 -0.5625 C 2.3125 -0.328125 2.3125 -0.25 1.75 -0.25 L 1.5625 -0.25 L 1.5625 0 L 2.609375 -0.03125 L 3.65625 0 L 3.65625 -0.25 L 3.46875 -0.25 C 2.90625 -0.25 2.90625 -0.328125 2.90625 -0.5625 L 2.90625 -1.140625 Z M 2.359375 -1.390625 L 0.53125 -1.390625 L 2.359375 -3.921875 Z M 2.359375 -1.390625 "/>
</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 6.875 -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="glyph3-2">
<path style="stroke:none;" d="M 9.34375 -2.484375 C 9.34375 -2.53125 9.296875 -2.5625 9.265625 -2.578125 C 8.203125 -2.953125 7.421875 -3.859375 7.234375 -4.96875 C 7.21875 -5.015625 7.171875 -5.0625 7.125 -5.0625 L 6.9375 -5.0625 C 6.890625 -5.0625 6.828125 -5.015625 6.828125 -4.9375 C 7 -4.015625 7.515625 -3.203125 8.25 -2.671875 L 0.75 -2.671875 C 0.609375 -2.671875 0.546875 -2.578125 0.546875 -2.484375 C 0.546875 -2.375 0.609375 -2.28125 0.75 -2.28125 L 8.25 -2.28125 C 7.515625 -1.75 7 -0.9375 6.828125 -0.015625 C 6.828125 0.0625 6.890625 0.109375 6.9375 0.109375 L 7.125 0.109375 C 7.171875 0.109375 7.21875 0.0625 7.234375 0.015625 C 7.421875 -1.09375 8.203125 -2 9.265625 -2.375 C 9.296875 -2.390625 9.34375 -2.421875 9.34375 -2.484375 Z M 9.34375 -2.484375 "/>
</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 4.203125 -1.46875 C 4.203125 -2.15625 3.75 -2.859375 2.9375 -3.046875 L 1.84375 -3.296875 C 1.34375 -3.421875 0.96875 -3.828125 0.96875 -4.3125 C 0.96875 -4.84375 1.421875 -5.34375 2.109375 -5.34375 C 3.484375 -5.34375 3.671875 -4.0625 3.703125 -3.75 C 3.71875 -3.671875 3.734375 -3.609375 3.828125 -3.609375 C 3.96875 -3.609375 3.96875 -3.671875 3.96875 -3.8125 L 3.96875 -5.375 C 3.96875 -5.5 3.96875 -5.578125 3.859375 -5.578125 C 3.796875 -5.578125 3.78125 -5.546875 3.71875 -5.46875 L 3.453125 -5.015625 C 3.046875 -5.453125 2.546875 -5.578125 2.109375 -5.578125 C 1.171875 -5.578125 0.46875 -4.859375 0.46875 -4.0625 C 0.46875 -3.453125 0.8125 -3.125 0.953125 -2.96875 C 1.25 -2.6875 1.5 -2.625 2.359375 -2.421875 C 3.046875 -2.265625 3.15625 -2.234375 3.421875 -1.96875 C 3.5 -1.875 3.703125 -1.609375 3.703125 -1.21875 C 3.703125 -0.671875 3.28125 -0.09375 2.53125 -0.09375 C 1.65625 -0.09375 0.765625 -0.515625 0.71875 -1.609375 C 0.703125 -1.75 0.703125 -1.796875 0.59375 -1.796875 C 0.46875 -1.796875 0.46875 -1.734375 0.46875 -1.578125 L 0.46875 -0.046875 C 0.46875 0.09375 0.46875 0.171875 0.578125 0.171875 C 0.640625 0.171875 0.640625 0.15625 0.703125 0.078125 C 0.734375 0.03125 0.765625 -0.046875 0.984375 -0.375 C 1.484375 0.0625 2.0625 0.171875 2.546875 0.171875 C 3.53125 0.171875 4.203125 -0.625 4.203125 -1.46875 Z M 4.203125 -1.46875 "/>
</symbol>
<symbol overflow="visible" id="glyph4-2">
<path style="stroke:none;" d="M 2.796875 -0.984375 L 2.796875 -1.4375 L 2.546875 -1.4375 L 2.546875 -1 C 2.546875 -0.453125 2.3125 -0.171875 2 -0.171875 C 1.46875 -0.171875 1.46875 -0.84375 1.46875 -0.96875 L 1.46875 -3.15625 L 2.65625 -3.15625 L 2.65625 -3.421875 L 1.46875 -3.421875 L 1.46875 -4.875 L 1.234375 -4.875 C 1.21875 -4.15625 0.890625 -3.40625 0.15625 -3.375 L 0.15625 -3.15625 L 0.875 -3.15625 L 0.875 -0.984375 C 0.875 -0.0625 1.578125 0.078125 1.953125 0.078125 C 2.484375 0.078125 2.796875 -0.390625 2.796875 -0.984375 Z M 2.796875 -0.984375 "/>
</symbol>
<symbol overflow="visible" id="glyph4-3">
<path style="stroke:none;" d="M 4.078125 -0.71875 L 4.078125 -1.15625 L 3.828125 -1.15625 L 3.828125 -0.71875 C 3.828125 -0.390625 3.703125 -0.265625 3.546875 -0.265625 C 3.25 -0.265625 3.25 -0.625 3.25 -0.71875 L 3.25 -2.359375 C 3.25 -3.140625 2.5 -3.53125 1.78125 -3.53125 C 1.109375 -3.53125 0.53125 -3.28125 0.53125 -2.75 C 0.53125 -2.515625 0.703125 -2.375 0.90625 -2.375 C 1.125 -2.375 1.28125 -2.53125 1.28125 -2.75 C 1.28125 -2.9375 1.15625 -3.078125 0.984375 -3.109375 C 1.28125 -3.3125 1.703125 -3.3125 1.765625 -3.3125 C 2.203125 -3.3125 2.640625 -3 2.640625 -2.359375 L 2.640625 -2.109375 C 2.1875 -2.078125 1.65625 -2.0625 1.09375 -1.828125 C 0.40625 -1.53125 0.265625 -1.0625 0.265625 -0.8125 C 0.265625 -0.125 1.0625 0.078125 1.609375 0.078125 C 2.1875 0.078125 2.546875 -0.25 2.71875 -0.5625 C 2.765625 -0.265625 2.96875 0.046875 3.3125 0.046875 C 3.40625 0.046875 4.078125 0.015625 4.078125 -0.71875 Z M 2.640625 -1.109375 C 2.640625 -0.34375 2 -0.140625 1.671875 -0.140625 C 1.265625 -0.140625 0.921875 -0.421875 0.921875 -0.796875 C 0.921875 -1.328125 1.40625 -1.859375 2.640625 -1.90625 Z M 2.640625 -1.109375 "/>
</symbol>
<symbol overflow="visible" id="glyph4-4">
<path style="stroke:none;" d="M 2.0625 0 L 2.0625 -0.265625 C 1.546875 -0.265625 1.515625 -0.296875 1.515625 -0.609375 L 1.515625 -3.5 L 0.359375 -3.40625 L 0.359375 -3.140625 C 0.859375 -3.140625 0.9375 -3.09375 0.9375 -2.703125 L 0.9375 -0.625 C 0.9375 -0.265625 0.84375 -0.265625 0.328125 -0.265625 L 0.328125 0 C 0.640625 -0.03125 1.078125 -0.03125 1.203125 -0.03125 C 1.3125 -0.03125 1.78125 -0.03125 2.0625 0 Z M 1.609375 -4.765625 C 1.609375 -5.03125 1.40625 -5.21875 1.171875 -5.21875 C 0.9375 -5.21875 0.734375 -5.03125 0.734375 -4.765625 C 0.734375 -4.546875 0.921875 -4.328125 1.171875 -4.328125 C 1.421875 -4.328125 1.609375 -4.546875 1.609375 -4.765625 Z M 1.609375 -4.765625 "/>
</symbol>
<symbol overflow="visible" id="glyph4-5">
<path style="stroke:none;" d="M 3.5 -0.953125 C 3.5 -1.046875 3.390625 -1.046875 3.359375 -1.046875 C 3.3125 -1.046875 3.265625 -1.03125 3.25 -0.953125 C 3.1875 -0.796875 2.96875 -0.171875 2.171875 -0.171875 C 1.6875 -0.171875 0.984375 -0.546875 0.984375 -1.71875 C 0.984375 -2.859375 1.5625 -3.28125 2.140625 -3.28125 C 2.21875 -3.28125 2.640625 -3.28125 2.921875 -3.140625 C 2.6875 -3.078125 2.65625 -2.890625 2.65625 -2.796875 C 2.65625 -2.578125 2.8125 -2.421875 3.03125 -2.421875 C 3.234375 -2.421875 3.40625 -2.5625 3.40625 -2.796875 C 3.40625 -3.296875 2.875 -3.53125 2.125 -3.53125 C 1.015625 -3.53125 0.28125 -2.65625 0.28125 -1.71875 C 0.28125 -0.703125 1.09375 0.078125 2.09375 0.078125 C 3.21875 0.078125 3.5 -0.859375 3.5 -0.953125 Z M 3.5 -0.953125 "/>
</symbol>
<symbol overflow="visible" id="glyph4-6">
<path style="stroke:none;" d="M 3.5 -0.953125 C 3.5 -0.984375 3.46875 -1.0625 3.359375 -1.0625 C 3.28125 -1.0625 3.265625 -1 3.25 -0.953125 C 2.96875 -0.1875 2.28125 -0.171875 2.140625 -0.171875 C 1.78125 -0.171875 1.421875 -0.328125 1.1875 -0.703125 C 0.9375 -1.0625 0.9375 -1.5625 0.9375 -1.8125 L 3.265625 -1.8125 C 3.453125 -1.8125 3.5 -1.8125 3.5 -1.984375 C 3.5 -2.6875 3.109375 -3.53125 1.984375 -3.53125 C 1 -3.53125 0.234375 -2.71875 0.234375 -1.734375 C 0.234375 -0.71875 1.09375 0.078125 2.09375 0.078125 C 3.09375 0.078125 3.5 -0.765625 3.5 -0.953125 Z M 2.953125 -2.015625 L 0.953125 -2.015625 C 1.015625 -3.125 1.6875 -3.3125 1.984375 -3.3125 C 2.921875 -3.3125 2.953125 -2.1875 2.953125 -2.015625 Z M 2.953125 -2.015625 "/>
</symbol>
<symbol overflow="visible" id="glyph4-7">
<path style="stroke:none;" d="M 3.046875 -3 C 3.046875 -3.265625 2.78125 -3.5 2.4375 -3.5 C 1.921875 -3.5 1.578125 -3.109375 1.40625 -2.65625 L 1.40625 -3.5 L 0.28125 -3.40625 L 0.28125 -3.140625 C 0.8125 -3.140625 0.875 -3.09375 0.875 -2.703125 L 0.875 -0.625 C 0.875 -0.265625 0.78125 -0.265625 0.28125 -0.265625 L 0.28125 0 C 0.59375 -0.03125 1.015625 -0.03125 1.21875 -0.03125 C 1.671875 -0.03125 1.6875 -0.03125 2.203125 0 L 2.203125 -0.265625 L 2.046875 -0.265625 C 1.46875 -0.265625 1.453125 -0.34375 1.453125 -0.640625 L 1.453125 -1.8125 C 1.453125 -2.40625 1.703125 -3.25 2.46875 -3.265625 C 2.421875 -3.234375 2.34375 -3.171875 2.34375 -3 C 2.34375 -2.75 2.53125 -2.640625 2.6875 -2.640625 C 2.875 -2.640625 3.046875 -2.765625 3.046875 -3 Z M 3.046875 -3 "/>
</symbol>
<symbol overflow="visible" id="glyph4-8">
<path style="stroke:none;" d="M 3.96875 -1.6875 C 3.96875 -2.671875 3.140625 -3.53125 2.09375 -3.53125 C 1.046875 -3.53125 0.234375 -2.671875 0.234375 -1.6875 C 0.234375 -0.703125 1.078125 0.078125 2.09375 0.078125 C 3.125 0.078125 3.96875 -0.703125 3.96875 -1.6875 Z M 3.25 -1.765625 C 3.25 -1.390625 3.234375 -0.953125 3.015625 -0.625 C 2.796875 -0.3125 2.453125 -0.171875 2.09375 -0.171875 C 1.671875 -0.171875 1.34375 -0.375 1.171875 -0.65625 C 0.96875 -0.96875 0.9375 -1.359375 0.9375 -1.765625 C 0.9375 -2.0625 0.9375 -2.53125 1.1875 -2.875 C 1.390625 -3.15625 1.734375 -3.3125 2.09375 -3.3125 C 2.515625 -3.3125 2.859375 -3.109375 3.03125 -2.84375 C 3.25 -2.5 3.25 -2.078125 3.25 -1.765625 Z M 3.25 -1.765625 "/>
</symbol>
<symbol overflow="visible" id="glyph4-9">
<path style="stroke:none;" d="M 6.15625 -0.71875 C 6.15625 -0.765625 6.15625 -0.875 6.03125 -0.875 C 5.921875 -0.875 5.921875 -0.78125 5.921875 -0.734375 C 5.875 -0.234375 5.59375 -0.0625 5.375 -0.0625 C 4.953125 -0.0625 4.90625 -0.421875 4.765625 -1.421875 C 4.703125 -1.875 4.625 -2.421875 3.75 -2.6875 C 4.375 -2.859375 5.140625 -3.296875 5.140625 -3.984375 C 5.140625 -4.765625 4.125 -5.40625 2.953125 -5.40625 L 0.359375 -5.40625 L 0.359375 -5.15625 L 0.53125 -5.15625 C 1.15625 -5.15625 1.171875 -5.0625 1.171875 -4.765625 L 1.171875 -0.640625 C 1.171875 -0.34375 1.15625 -0.265625 0.53125 -0.265625 L 0.359375 -0.265625 L 0.359375 0 L 1.515625 -0.03125 L 2.671875 0 L 2.671875 -0.265625 L 2.5 -0.265625 C 1.890625 -0.265625 1.875 -0.34375 1.875 -0.640625 L 1.875 -2.59375 L 2.875 -2.59375 C 3.453125 -2.59375 3.71875 -2.3125 3.765625 -2.234375 C 4 -1.984375 4 -1.84375 4 -1.296875 C 4 -0.796875 4 -0.453125 4.328125 -0.171875 C 4.671875 0.125 5.125 0.171875 5.34375 0.171875 C 6 0.171875 6.15625 -0.484375 6.15625 -0.71875 Z M 4.3125 -3.984375 C 4.3125 -3.109375 3.671875 -2.8125 2.84375 -2.8125 L 1.875 -2.8125 L 1.875 -4.828125 C 1.875 -5.03125 1.875 -5.125 2.0625 -5.140625 C 2.140625 -5.15625 2.390625 -5.15625 2.546875 -5.15625 C 3.265625 -5.15625 4.3125 -5.15625 4.3125 -3.984375 Z M 4.3125 -3.984375 "/>
</symbol>
<symbol overflow="visible" id="glyph4-10">
<path style="stroke:none;" d="M 2.984375 -5 C 2.984375 -5.34375 2.65625 -5.578125 2.234375 -5.578125 C 1.640625 -5.578125 0.9375 -5.15625 0.9375 -4.296875 L 0.9375 -3.421875 L 0.28125 -3.421875 L 0.28125 -3.15625 L 0.9375 -3.15625 L 0.9375 -0.625 C 0.9375 -0.265625 0.84375 -0.265625 0.328125 -0.265625 L 0.328125 0 C 0.640625 -0.03125 1.078125 -0.03125 1.265625 -0.03125 C 1.734375 -0.03125 1.75 -0.03125 2.265625 0 L 2.265625 -0.265625 L 2.109375 -0.265625 C 1.53125 -0.265625 1.515625 -0.34375 1.515625 -0.640625 L 1.515625 -3.15625 L 2.46875 -3.15625 L 2.46875 -3.421875 L 1.484375 -3.421875 L 1.484375 -4.3125 C 1.484375 -5 1.875 -5.359375 2.21875 -5.359375 C 2.359375 -5.359375 2.421875 -5.328125 2.453125 -5.3125 C 2.3125 -5.25 2.28125 -5.109375 2.28125 -5 C 2.28125 -4.796875 2.421875 -4.65625 2.625 -4.65625 C 2.84375 -4.65625 2.984375 -4.796875 2.984375 -5 Z M 2.984375 -5 "/>
</symbol>
<symbol overflow="visible" id="glyph4-11">
<path style="stroke:none;" d="M 1.609375 -0.4375 C 1.609375 -0.703125 1.390625 -0.875 1.171875 -0.875 C 0.90625 -0.875 0.734375 -0.671875 0.734375 -0.4375 C 0.734375 -0.171875 0.9375 0 1.171875 0 C 1.4375 0 1.609375 -0.21875 1.609375 -0.4375 Z M 1.609375 -0.4375 "/>
</symbol>
<symbol overflow="visible" id="glyph4-12">
<path style="stroke:none;" d="M 4.296875 0 L 4.296875 -0.265625 C 3.96875 -0.265625 3.8125 -0.296875 3.53125 -0.671875 L 2.390625 -2.15625 L 3.0625 -2.6875 C 3.578125 -3.109375 3.90625 -3.140625 4.109375 -3.15625 L 4.109375 -3.421875 C 3.921875 -3.390625 3.8125 -3.390625 3.484375 -3.390625 C 3.09375 -3.390625 2.984375 -3.40625 2.640625 -3.421875 L 2.640625 -3.15625 C 2.78125 -3.140625 2.8125 -3.046875 2.8125 -3 C 2.8125 -2.828125 2.65625 -2.6875 2.59375 -2.640625 L 1.453125 -1.734375 L 1.453125 -5.5 L 0.28125 -5.40625 L 0.28125 -5.15625 C 0.8125 -5.15625 0.875 -5.09375 0.875 -4.703125 L 0.875 -0.625 C 0.875 -0.265625 0.78125 -0.265625 0.28125 -0.265625 L 0.28125 0 C 0.59375 -0.03125 1.015625 -0.03125 1.15625 -0.03125 C 1.3125 -0.03125 1.71875 -0.03125 2.03125 0 L 2.03125 -0.265625 C 1.515625 -0.265625 1.421875 -0.265625 1.421875 -0.625 L 1.421875 -1.390625 L 1.96875 -1.8125 C 1.984375 -1.8125 2.1875 -1.53125 2.328125 -1.390625 C 2.4375 -1.21875 2.5625 -1.0625 2.6875 -0.90625 C 2.796875 -0.75 2.96875 -0.53125 2.96875 -0.421875 C 2.96875 -0.28125 2.8125 -0.265625 2.71875 -0.265625 L 2.71875 0 C 3.0625 -0.03125 3.421875 -0.03125 3.5625 -0.03125 C 3.859375 -0.03125 4.015625 -0.03125 4.296875 0 Z M 4.296875 0 "/>
</symbol>
<symbol overflow="visible" id="glyph4-13">
<path style="stroke:none;" d="M 4.390625 -1.71875 C 4.390625 -2.703125 3.59375 -3.5 2.625 -3.5 C 2.328125 -3.5 1.859375 -3.421875 1.453125 -3 L 1.453125 -3.5 L 0.28125 -3.40625 L 0.28125 -3.140625 C 0.84375 -3.140625 0.875 -3.09375 0.875 -2.765625 L 0.875 0.921875 C 0.875 1.28125 0.78125 1.28125 0.28125 1.28125 L 0.28125 1.53125 C 0.625 1.515625 0.96875 1.515625 1.1875 1.515625 C 1.40625 1.515625 1.75 1.515625 2.078125 1.53125 L 2.078125 1.28125 C 1.578125 1.28125 1.484375 1.28125 1.484375 0.921875 L 1.484375 -0.390625 C 1.859375 0.015625 2.25 0.078125 2.515625 0.078125 C 3.515625 0.078125 4.390625 -0.703125 4.390625 -1.71875 Z M 3.6875 -1.71875 C 3.6875 -0.796875 3.109375 -0.140625 2.46875 -0.140625 C 2.1875 -0.140625 1.828125 -0.265625 1.578125 -0.65625 C 1.484375 -0.796875 1.484375 -0.796875 1.484375 -0.953125 L 1.484375 -2.640625 C 1.65625 -2.953125 2.0625 -3.25 2.5625 -3.25 C 3.171875 -3.25 3.6875 -2.578125 3.6875 -1.71875 Z M 3.6875 -1.71875 "/>
</symbol>
<symbol overflow="visible" id="glyph4-14">
<path style="stroke:none;" d="M 4.390625 0 L 4.390625 -0.265625 C 3.84375 -0.265625 3.78125 -0.3125 3.78125 -0.703125 L 3.78125 -5.5 L 2.609375 -5.40625 L 2.609375 -5.15625 C 3.140625 -5.15625 3.203125 -5.09375 3.203125 -4.703125 L 3.203125 -3.03125 C 2.9375 -3.328125 2.5625 -3.5 2.140625 -3.5 C 1.15625 -3.5 0.28125 -2.71875 0.28125 -1.703125 C 0.28125 -0.734375 1.0625 0.078125 2.0625 0.078125 C 2.53125 0.078125 2.921875 -0.140625 3.1875 -0.421875 L 3.1875 0.078125 Z M 3.1875 -0.984375 C 3.1875 -0.84375 3.1875 -0.8125 3.0625 -0.65625 C 2.84375 -0.328125 2.484375 -0.140625 2.109375 -0.140625 C 1.75 -0.140625 1.421875 -0.328125 1.234375 -0.625 C 1.015625 -0.9375 0.984375 -1.328125 0.984375 -1.6875 C 0.984375 -2.15625 1.046875 -2.484375 1.234375 -2.75 C 1.421875 -3.046875 1.78125 -3.265625 2.1875 -3.265625 C 2.5625 -3.265625 2.953125 -3.078125 3.1875 -2.671875 Z M 3.1875 -0.984375 "/>
</symbol>
<symbol overflow="visible" id="glyph4-15">
<path style="stroke:none;" d="M 7.3125 0 L 7.3125 -0.265625 L 7.140625 -0.265625 C 6.53125 -0.265625 6.515625 -0.34375 6.515625 -0.640625 L 6.515625 -4.765625 C 6.515625 -5.0625 6.53125 -5.15625 7.140625 -5.15625 L 7.3125 -5.15625 L 7.3125 -5.40625 L 5.96875 -5.40625 C 5.765625 -5.40625 5.75 -5.390625 5.6875 -5.25 L 3.84375 -0.75 L 2.015625 -5.234375 C 1.953125 -5.390625 1.9375 -5.40625 1.71875 -5.40625 L 0.390625 -5.40625 L 0.390625 -5.15625 L 0.5625 -5.15625 C 1.171875 -5.15625 1.1875 -5.0625 1.1875 -4.765625 L 1.1875 -0.84375 C 1.1875 -0.640625 1.1875 -0.265625 0.390625 -0.265625 L 0.390625 0 C 0.75 -0.03125 1.109375 -0.03125 1.328125 -0.03125 C 1.53125 -0.03125 1.90625 -0.03125 2.25 0 L 2.25 -0.265625 C 1.453125 -0.265625 1.453125 -0.640625 1.453125 -0.84375 L 1.453125 -5.046875 L 1.46875 -5.0625 L 3.46875 -0.1875 C 3.515625 -0.09375 3.546875 0 3.65625 0 C 3.75 0 3.796875 -0.09375 3.828125 -0.1875 L 5.859375 -5.125 L 5.859375 -0.640625 C 5.859375 -0.34375 5.84375 -0.265625 5.234375 -0.265625 L 5.0625 -0.265625 L 5.0625 0 L 6.1875 -0.03125 Z M 7.3125 0 "/>
</symbol>
<symbol overflow="visible" id="glyph4-16">
<path style="stroke:none;" d="M 4.453125 0 L 4.453125 -0.265625 C 3.90625 -0.265625 3.84375 -0.3125 3.84375 -0.703125 L 3.84375 -3.5 L 2.640625 -3.40625 L 2.640625 -3.140625 C 3.1875 -3.140625 3.25 -3.09375 3.25 -2.703125 L 3.25 -1.328125 C 3.25 -0.640625 2.84375 -0.140625 2.234375 -0.140625 C 1.5625 -0.140625 1.53125 -0.484375 1.53125 -0.875 L 1.53125 -3.5 L 0.328125 -3.40625 L 0.328125 -3.140625 C 0.921875 -3.140625 0.921875 -3.125 0.921875 -2.421875 L 0.921875 -1.234375 C 0.921875 -0.65625 0.921875 0.078125 2.1875 0.078125 C 2.9375 0.078125 3.21875 -0.484375 3.265625 -0.5625 L 3.265625 0.078125 Z M 4.453125 0 "/>
</symbol>
<symbol overflow="visible" id="glyph4-17">
<path style="stroke:none;" d="M 2.109375 0 L 2.109375 -0.265625 C 1.609375 -0.265625 1.515625 -0.265625 1.515625 -0.625 L 1.515625 -5.5 L 0.328125 -5.40625 L 0.328125 -5.15625 C 0.875 -5.15625 0.9375 -5.09375 0.9375 -4.703125 L 0.9375 -0.625 C 0.9375 -0.265625 0.84375 -0.265625 0.328125 -0.265625 L 0.328125 0 C 0.640625 -0.03125 1.078125 -0.03125 1.21875 -0.03125 C 1.375 -0.03125 1.8125 -0.03125 2.109375 0 Z M 2.109375 0 "/>
</symbol>
<symbol overflow="visible" id="glyph4-18">
<path style="stroke:none;" d="M 6.796875 0 L 6.796875 -0.265625 C 6.28125 -0.265625 6.1875 -0.265625 6.1875 -0.625 L 6.1875 -2.40625 C 6.1875 -3.046875 5.90625 -3.5 5.046875 -3.5 C 4.3125 -3.5 3.953125 -3 3.828125 -2.765625 C 3.6875 -3.328125 3.234375 -3.5 2.71875 -3.5 C 1.953125 -3.5 1.578125 -2.953125 1.484375 -2.734375 L 1.46875 -2.734375 L 1.46875 -3.5 L 0.328125 -3.40625 L 0.328125 -3.140625 C 0.859375 -3.140625 0.921875 -3.09375 0.921875 -2.703125 L 0.921875 -0.625 C 0.921875 -0.265625 0.828125 -0.265625 0.328125 -0.265625 L 0.328125 0 C 0.671875 -0.03125 1.015625 -0.03125 1.234375 -0.03125 C 1.453125 -0.03125 1.796875 -0.03125 2.125 0 L 2.125 -0.265625 C 1.625 -0.265625 1.53125 -0.265625 1.53125 -0.625 L 1.53125 -2.046875 C 1.53125 -2.890625 2.15625 -3.265625 2.65625 -3.265625 C 3.171875 -3.265625 3.25 -2.875 3.25 -2.4375 L 3.25 -0.625 C 3.25 -0.265625 3.15625 -0.265625 2.65625 -0.265625 L 2.65625 0 C 3 -0.03125 3.34375 -0.03125 3.5625 -0.03125 C 3.78125 -0.03125 4.125 -0.03125 4.453125 0 L 4.453125 -0.265625 C 3.953125 -0.265625 3.859375 -0.265625 3.859375 -0.625 L 3.859375 -2.046875 C 3.859375 -2.890625 4.484375 -3.265625 4.984375 -3.265625 C 5.5 -3.265625 5.578125 -2.875 5.578125 -2.4375 L 5.578125 -0.625 C 5.578125 -0.265625 5.484375 -0.265625 4.984375 -0.265625 L 4.984375 0 C 5.328125 -0.03125 5.671875 -0.03125 5.890625 -0.03125 C 6.109375 -0.03125 6.453125 -0.03125 6.796875 0 Z M 6.796875 0 "/>
</symbol>
<symbol overflow="visible" id="glyph4-19">
<path style="stroke:none;" d="M 4.078125 -3.171875 C 4.078125 -3.3125 3.984375 -3.578125 3.625 -3.578125 C 3.5 -3.578125 3.109375 -3.546875 2.75 -3.21875 C 2.546875 -3.359375 2.234375 -3.5 1.875 -3.5 C 1.078125 -3.5 0.5 -2.953125 0.5 -2.328125 C 0.5 -1.953125 0.71875 -1.671875 0.875 -1.515625 C 0.703125 -1.328125 0.640625 -1.0625 0.640625 -0.875 C 0.640625 -0.546875 0.796875 -0.3125 0.96875 -0.171875 C 0.5625 -0.0625 0.234375 0.25 0.234375 0.609375 C 0.234375 1.1875 1.046875 1.625 2.09375 1.625 C 3.09375 1.625 3.96875 1.21875 3.96875 0.59375 C 3.96875 0.171875 3.703125 -0.171875 3.453125 -0.296875 C 2.984375 -0.546875 2.59375 -0.546875 1.8125 -0.546875 L 1.375 -0.546875 C 1.125 -0.578125 0.921875 -0.78125 0.921875 -1.0625 C 0.921875 -1.265625 0.96875 -1.328125 1.03125 -1.40625 C 1.359375 -1.203125 1.671875 -1.171875 1.859375 -1.171875 C 2.640625 -1.171875 3.21875 -1.71875 3.21875 -2.328125 C 3.21875 -2.625 3.09375 -2.890625 2.90625 -3.09375 C 3.015625 -3.1875 3.265625 -3.34375 3.65625 -3.359375 C 3.625 -3.328125 3.59375 -3.296875 3.59375 -3.171875 C 3.59375 -3.03125 3.6875 -2.921875 3.828125 -2.921875 C 3.9375 -2.921875 4.078125 -3 4.078125 -3.171875 Z M 2.59375 -2.328125 C 2.59375 -2.03125 2.5625 -1.828125 2.4375 -1.671875 C 2.265625 -1.453125 2.015625 -1.390625 1.875 -1.390625 C 1.140625 -1.390625 1.140625 -2.15625 1.140625 -2.328125 C 1.140625 -2.625 1.171875 -2.828125 1.296875 -2.984375 C 1.421875 -3.171875 1.640625 -3.265625 1.859375 -3.265625 C 2.59375 -3.265625 2.59375 -2.5 2.59375 -2.328125 Z M 3.5 0.609375 C 3.5 1.03125 2.890625 1.390625 2.09375 1.390625 C 1.3125 1.390625 0.703125 1.03125 0.703125 0.609375 C 0.703125 0.4375 0.828125 -0.03125 1.484375 -0.03125 L 2.234375 -0.03125 C 2.453125 -0.03125 3.5 -0.03125 3.5 0.609375 Z M 3.5 0.609375 "/>
</symbol>
<symbol overflow="visible" id="glyph4-20">
<path style="stroke:none;" d="M 4.453125 0 L 4.453125 -0.265625 C 3.9375 -0.265625 3.84375 -0.265625 3.84375 -0.625 L 3.84375 -2.40625 C 3.84375 -3.0625 3.546875 -3.5 2.71875 -3.5 C 1.9375 -3.5 1.578125 -2.921875 1.484375 -2.734375 L 1.46875 -2.734375 L 1.46875 -3.5 L 0.328125 -3.40625 L 0.328125 -3.140625 C 0.859375 -3.140625 0.921875 -3.09375 0.921875 -2.703125 L 0.921875 -0.625 C 0.921875 -0.265625 0.828125 -0.265625 0.328125 -0.265625 L 0.328125 0 C 0.671875 -0.03125 1.015625 -0.03125 1.234375 -0.03125 C 1.453125 -0.03125 1.796875 -0.03125 2.125 0 L 2.125 -0.265625 C 1.625 -0.265625 1.53125 -0.265625 1.53125 -0.625 L 1.53125 -2.046875 C 1.53125 -2.890625 2.15625 -3.265625 2.640625 -3.265625 C 3.125 -3.265625 3.25 -2.9375 3.25 -2.4375 L 3.25 -0.625 C 3.25 -0.265625 3.15625 -0.265625 2.640625 -0.265625 L 2.640625 0 C 2.984375 -0.03125 3.328125 -0.03125 3.546875 -0.03125 C 3.78125 -0.03125 4.109375 -0.03125 4.453125 0 Z M 4.453125 0 "/>
</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 4.390625 -7.234375 C 4.390625 -7.34375 4.3125 -7.4375 4.203125 -7.4375 C 4.125 -7.4375 4.0625 -7.40625 4.03125 -7.34375 L 0.59375 2.09375 C 0.546875 2.234375 0.546875 2.28125 0.546875 2.28125 C 0.546875 2.390625 0.640625 2.484375 0.75 2.484375 C 0.875 2.484375 0.90625 2.40625 0.953125 2.234375 L 4.34375 -7.046875 C 4.390625 -7.1875 4.390625 -7.234375 4.390625 -7.234375 Z M 4.390625 -7.234375 "/>
</symbol>
<symbol overflow="visible" id="glyph5-2">
<path style="stroke:none;" d="M 5.75 -2.375 C 5.859375 -2.796875 5.984375 -3.28125 5.984375 -3.6875 C 5.984375 -3.9375 5.9375 -4.15625 5.78125 -4.296875 C 5.71875 -4.34375 5.640625 -4.375 5.5625 -4.375 C 5.4375 -4.375 5.3125 -4.3125 5.203125 -4.21875 C 5.125 -4.125 5.078125 -4.015625 5.078125 -3.90625 C 5.078125 -3.796875 5.109375 -3.71875 5.1875 -3.65625 C 5.421875 -3.4375 5.5625 -3.125 5.5625 -2.78125 C 5.5625 -2.671875 5.546875 -2.53125 5.515625 -2.421875 C 5.296875 -1.515625 4.71875 -0.609375 3.9375 -0.609375 C 3.375 -0.609375 3.046875 -0.984375 2.96875 -1.5 C 3.09375 -1.765625 3.1875 -2.078125 3.265625 -2.375 C 3.28125 -2.453125 3.296875 -2.546875 3.296875 -2.625 C 3.296875 -2.78125 3.25 -2.875 3.109375 -2.875 C 2.921875 -2.875 2.828125 -2.640625 2.78125 -2.421875 C 2.6875 -2.109375 2.65625 -1.8125 2.640625 -1.53125 C 2.3125 -0.984375 1.84375 -0.609375 1.296875 -0.609375 C 0.6875 -0.609375 0.4375 -1.09375 0.4375 -1.71875 C 0.4375 -1.921875 0.46875 -2.15625 0.515625 -2.375 C 0.65625 -2.96875 1.015625 -3.515625 1.390625 -4.046875 C 1.421875 -4.078125 1.453125 -4.125 1.453125 -4.171875 C 1.453125 -4.234375 1.40625 -4.28125 1.359375 -4.3125 C 1.328125 -4.328125 1.296875 -4.328125 1.265625 -4.328125 C 1.203125 -4.328125 1.140625 -4.296875 1.09375 -4.234375 C 0.6875 -3.671875 0.4375 -3.046875 0.28125 -2.421875 C 0.171875 -2.046875 0.125 -1.65625 0.125 -1.3125 C 0.125 -0.5 0.421875 0.109375 1.171875 0.109375 C 1.796875 0.109375 2.3125 -0.328125 2.6875 -0.9375 C 2.796875 -0.328125 3.140625 0.109375 3.796875 0.109375 C 4.828125 0.109375 5.453125 -1.171875 5.75 -2.375 Z M 5.75 -2.375 "/>
</symbol>
<symbol overflow="visible" id="glyph6-0">
<path style="stroke:none;" d=""/>
</symbol>
<symbol overflow="visible" id="glyph6-1">
<path style="stroke:none;" d="M 3.4375 -0.71875 C 3.4375 -0.75 3.375 -0.828125 3.3125 -0.828125 C 3.28125 -0.828125 3.265625 -0.8125 3.203125 -0.765625 C 2.65625 -0.125 1.859375 -0.125 1.734375 -0.125 C 1.234375 -0.125 1 -0.46875 1 -0.890625 C 1 -1.09375 1.109375 -1.859375 1.46875 -2.328125 C 1.734375 -2.671875 2.09375 -2.859375 2.4375 -2.859375 C 2.53125 -2.859375 2.859375 -2.84375 3.03125 -2.65625 C 2.78125 -2.609375 2.6875 -2.421875 2.6875 -2.265625 C 2.6875 -2.078125 2.828125 -2.015625 2.953125 -2.015625 C 3.109375 -2.015625 3.34375 -2.125 3.34375 -2.453125 C 3.34375 -2.921875 2.8125 -3.0625 2.4375 -3.0625 C 1.390625 -3.0625 0.4375 -2.109375 0.4375 -1.140625 C 0.4375 -0.546875 0.84375 0.0625 1.71875 0.0625 C 2.890625 0.0625 3.4375 -0.625 3.4375 -0.71875 Z M 3.4375 -0.71875 "/>
</symbol>
<symbol overflow="visible" id="glyph7-0">
<path style="stroke:none;" d=""/>
</symbol>
<symbol overflow="visible" id="glyph7-1">
<path style="stroke:none;" d="M 0 -8.703125 L -0.3125 -8.703125 L -0.3125 -8.46875 C -0.3125 -7.703125 -0.421875 -7.6875 -0.765625 -7.6875 L -6 -7.6875 C -6.34375 -7.6875 -6.453125 -7.703125 -6.453125 -8.46875 L -6.453125 -8.703125 L -6.765625 -8.703125 L -6.765625 -7.03125 C -6.765625 -6.78125 -6.75 -6.78125 -6.578125 -6.703125 L -1 -4.53125 L -6.546875 -2.390625 C -6.765625 -2.296875 -6.765625 -2.265625 -6.765625 -2.046875 L -6.765625 -0.359375 L -6.453125 -0.359375 L -6.453125 -0.609375 C -6.453125 -1.359375 -6.34375 -1.390625 -6 -1.390625 L -1.046875 -1.390625 C -0.765625 -1.390625 -0.3125 -1.390625 -0.3125 -0.359375 L 0 -0.359375 L -0.03125 -1.53125 L 0 -2.6875 L -0.3125 -2.6875 C -0.3125 -1.671875 -0.765625 -1.671875 -1.046875 -1.671875 L -6.375 -1.671875 L -0.21875 -4.0625 C -0.09375 -4.109375 0 -4.15625 0 -4.265625 C 0 -4.375 -0.078125 -4.390625 -0.1875 -4.4375 L -6.453125 -6.875 L -6.453125 -6.890625 L -0.765625 -6.890625 C -0.421875 -6.890625 -0.3125 -6.859375 -0.3125 -6.109375 L -0.3125 -5.859375 L 0 -5.859375 C -0.03125 -6.234375 -0.03125 -6.90625 -0.03125 -7.296875 C -0.03125 -7.671875 -0.03125 -8.34375 0 -8.703125 Z M 0 -8.703125 "/>
</symbol>
<symbol overflow="visible" id="glyph7-2">
<path style="stroke:none;" d="M -0.875 -4.78125 L -1.4375 -4.78125 L -1.4375 -4.53125 L -0.875 -4.53125 C -0.3125 -4.53125 -0.25 -4.296875 -0.25 -4.1875 C -0.25 -3.859375 -0.6875 -3.8125 -0.75 -3.8125 L -2.71875 -3.8125 C -3.140625 -3.8125 -3.53125 -3.8125 -3.890625 -3.453125 C -4.28125 -3.078125 -4.4375 -2.578125 -4.4375 -2.09375 C -4.4375 -1.28125 -3.96875 -0.609375 -3.3125 -0.609375 C -3.015625 -0.609375 -2.859375 -0.796875 -2.859375 -1.0625 C -2.859375 -1.34375 -3.046875 -1.515625 -3.3125 -1.515625 C -3.421875 -1.515625 -3.75 -1.46875 -3.765625 -1.015625 C -4.109375 -1.28125 -4.21875 -1.765625 -4.21875 -2.078125 C -4.21875 -2.5625 -3.828125 -3.125 -2.953125 -3.125 L -2.578125 -3.125 C -2.5625 -2.625 -2.53125 -1.9375 -2.234375 -1.3125 C -1.890625 -0.5625 -1.375 -0.3125 -0.9375 -0.3125 C -0.140625 -0.3125 0.109375 -1.28125 0.109375 -1.90625 C 0.109375 -2.5625 -0.28125 -3.015625 -0.75 -3.203125 C -0.359375 -3.234375 0.0625 -3.5 0.0625 -3.96875 C 0.0625 -4.1875 -0.078125 -4.78125 -0.875 -4.78125 Z M -1.390625 -3.125 C -0.453125 -3.125 -0.109375 -2.421875 -0.109375 -1.96875 C -0.109375 -1.484375 -0.453125 -1.078125 -0.953125 -1.078125 C -1.5 -1.078125 -2.3125 -1.5 -2.375 -3.125 Z M -1.390625 -3.125 "/>
</symbol>
<symbol overflow="visible" id="glyph7-3">
<path style="stroke:none;" d="M -4 -4.796875 C -4.171875 -4.796875 -4.484375 -4.6875 -4.484375 -4.296875 C -4.484375 -4.09375 -4.421875 -3.671875 -4.015625 -3.25 C -4.34375 -2.828125 -4.375 -2.421875 -4.375 -2.203125 C -4.375 -1.28125 -3.6875 -0.59375 -2.9375 -0.59375 C -2.5 -0.59375 -2.125 -0.8125 -1.90625 -1.0625 C -1.765625 -0.9375 -1.4375 -0.75 -1.09375 -0.75 C -0.78125 -0.75 -0.40625 -0.875 -0.203125 -1.1875 C -0.046875 -0.59375 0.390625 -0.28125 0.78125 -0.28125 C 1.5 -0.28125 2.046875 -1.265625 2.046875 -2.46875 C 2.046875 -3.640625 1.53125 -4.671875 0.765625 -4.671875 C 0.421875 -4.671875 -0.09375 -4.53125 -0.359375 -4.015625 C -0.640625 -3.5 -0.640625 -2.921875 -0.640625 -2.3125 C -0.640625 -2.078125 -0.640625 -1.640625 -0.65625 -1.578125 C -0.6875 -1.265625 -1 -1.046875 -1.3125 -1.046875 C -1.359375 -1.046875 -1.578125 -1.046875 -1.78125 -1.21875 C -1.5 -1.609375 -1.46875 -2.015625 -1.46875 -2.203125 C -1.46875 -3.125 -2.15625 -3.796875 -2.921875 -3.796875 C -3.28125 -3.796875 -3.65625 -3.640625 -3.890625 -3.390625 C -4.21875 -3.75 -4.265625 -4.109375 -4.265625 -4.296875 C -4.265625 -4.296875 -4.265625 -4.359375 -4.265625 -4.390625 C -4.21875 -4.28125 -4.109375 -4.234375 -4 -4.234375 C -3.828125 -4.234375 -3.703125 -4.359375 -3.703125 -4.515625 C -3.703125 -4.609375 -3.78125 -4.796875 -4 -4.796875 Z M -2.9375 -3.0625 C -2.671875 -3.0625 -2.34375 -3.046875 -2.09375 -2.90625 C -1.984375 -2.828125 -1.703125 -2.59375 -1.703125 -2.203125 C -1.703125 -1.34375 -2.6875 -1.34375 -2.921875 -1.34375 C -3.1875 -1.34375 -3.5 -1.34375 -3.75 -1.5 C -3.875 -1.578125 -4.15625 -1.796875 -4.15625 -2.203125 C -4.15625 -3.0625 -3.15625 -3.0625 -2.9375 -3.0625 Z M 0.78125 -4.15625 C 1.3125 -4.15625 1.8125 -3.453125 1.8125 -2.484375 C 1.8125 -1.46875 1.3125 -0.796875 0.78125 -0.796875 C 0.328125 -0.796875 -0.046875 -1.171875 -0.0625 -1.609375 L -0.0625 -2.1875 C -0.0625 -3.046875 -0.0625 -4.15625 0.78125 -4.15625 Z M 0.78125 -4.15625 "/>
</symbol>
<symbol overflow="visible" id="glyph7-4">
<path style="stroke:none;" d="M 0 -5.296875 L -0.3125 -5.296875 C -0.3125 -4.78125 -0.3125 -4.53125 -0.609375 -4.53125 L -2.5 -4.53125 C -3.34375 -4.53125 -3.65625 -4.53125 -4.015625 -4.21875 C -4.1875 -4.078125 -4.375 -3.75 -4.375 -3.1875 C -4.375 -2.453125 -3.953125 -1.984375 -3.34375 -1.71875 L -4.375 -1.71875 L -4.265625 -0.3125 L -3.96875 -0.3125 C -3.96875 -1.015625 -3.890625 -1.09375 -3.40625 -1.09375 L -0.75 -1.09375 C -0.3125 -1.09375 -0.3125 -0.984375 -0.3125 -0.3125 L 0 -0.3125 L -0.03125 -1.4375 L 0 -2.546875 L -0.3125 -2.546875 C -0.3125 -1.875 -0.3125 -1.765625 -0.75 -1.765625 L -2.578125 -1.765625 C -3.609375 -1.765625 -4.15625 -2.484375 -4.15625 -3.109375 C -4.15625 -3.734375 -3.625 -3.84375 -3.0625 -3.84375 L -0.75 -3.84375 C -0.3125 -3.84375 -0.3125 -3.734375 -0.3125 -3.078125 L 0 -3.078125 L -0.03125 -4.1875 Z M 0 -5.296875 "/>
</symbol>
<symbol overflow="visible" id="glyph7-5">
<path style="stroke:none;" d="M 0 -2.453125 L -0.3125 -2.453125 C -0.3125 -1.796875 -0.359375 -1.75 -0.75 -1.75 L -4.375 -1.75 L -4.265625 -0.359375 L -3.96875 -0.359375 C -3.96875 -1.015625 -3.90625 -1.09375 -3.421875 -1.09375 L -0.75 -1.09375 C -0.3125 -1.09375 -0.3125 -0.984375 -0.3125 -0.328125 L 0 -0.328125 L -0.03125 -1.421875 C -0.03125 -1.765625 -0.015625 -2.109375 0 -2.453125 Z M -5.984375 -1.90625 C -6.25 -1.90625 -6.515625 -1.671875 -6.515625 -1.375 C -6.515625 -1.046875 -6.234375 -0.84375 -5.984375 -0.84375 C -5.71875 -0.84375 -5.453125 -1.0625 -5.453125 -1.359375 C -5.453125 -1.703125 -5.734375 -1.90625 -5.984375 -1.90625 Z M -5.984375 -1.90625 "/>
</symbol>
<symbol overflow="visible" id="glyph7-6">
<path style="stroke:none;" d="M -1.234375 -3.28125 L -1.796875 -3.28125 L -1.796875 -3.046875 L -1.25 -3.046875 C -0.515625 -3.046875 -0.140625 -2.75 -0.140625 -2.375 C -0.140625 -1.71875 -1.046875 -1.71875 -1.203125 -1.71875 L -3.96875 -1.71875 L -3.96875 -3.125 L -4.265625 -3.125 L -4.265625 -1.71875 L -6.09375 -1.71875 L -6.09375 -1.46875 C -5.28125 -1.453125 -4.21875 -1.15625 -4.1875 -0.1875 L -3.96875 -0.1875 L -3.96875 -1.03125 L -1.234375 -1.03125 C -0.015625 -1.03125 0.109375 -1.953125 0.109375 -2.3125 C 0.109375 -3.015625 -0.59375 -3.28125 -1.234375 -3.28125 Z M -1.234375 -3.28125 "/>
</symbol>
<symbol overflow="visible" id="glyph7-7">
<path style="stroke:none;" d="M 0 -5.296875 L -0.3125 -5.296875 C -0.3125 -4.609375 -0.375 -4.53125 -0.859375 -4.53125 L -4.375 -4.53125 L -4.265625 -3.078125 L -3.96875 -3.078125 C -3.96875 -3.765625 -3.890625 -3.84375 -3.40625 -3.84375 L -1.640625 -3.84375 C -0.78125 -3.84375 -0.109375 -3.375 -0.109375 -2.640625 C -0.109375 -1.8125 -0.578125 -1.765625 -1.09375 -1.765625 L -4.375 -1.765625 L -4.265625 -0.3125 L -3.96875 -0.3125 C -3.96875 -1.09375 -3.9375 -1.09375 -3.046875 -1.09375 L -1.5625 -1.09375 C -0.796875 -1.09375 0.109375 -1.09375 0.109375 -2.59375 C 0.109375 -3.15625 -0.171875 -3.59375 -0.78125 -3.875 L 0.109375 -3.875 Z M 0 -5.296875 "/>
</symbol>
<symbol overflow="visible" id="glyph7-8">
<path style="stroke:none;" d="M 0 -5.21875 L -0.3125 -5.21875 C -0.3125 -4.53125 -0.375 -4.453125 -0.859375 -4.453125 L -6.875 -4.453125 L -6.765625 -3.015625 L -6.453125 -3.015625 C -6.453125 -3.71875 -6.390625 -3.796875 -5.90625 -3.796875 L -3.765625 -3.796875 C -4.125 -3.5 -4.375 -3.078125 -4.375 -2.546875 C -4.375 -1.375 -3.40625 -0.34375 -2.125 -0.34375 C -0.875 -0.34375 0.109375 -1.3125 0.109375 -2.4375 C 0.109375 -3.078125 -0.234375 -3.515625 -0.546875 -3.765625 L 0.109375 -3.765625 Z M -1.171875 -3.765625 C -0.984375 -3.765625 -0.96875 -3.765625 -0.796875 -3.65625 C -0.328125 -3.359375 -0.109375 -2.90625 -0.109375 -2.484375 C -0.109375 -2.046875 -0.359375 -1.6875 -0.75 -1.453125 C -1.15625 -1.1875 -1.71875 -1.15625 -2.125 -1.15625 C -2.484375 -1.15625 -3.078125 -1.171875 -3.53125 -1.46875 C -3.828125 -1.671875 -4.15625 -2.046875 -4.15625 -2.578125 C -4.15625 -2.9375 -4.015625 -3.34375 -3.5625 -3.65625 C -3.390625 -3.765625 -3.375 -3.765625 -3.203125 -3.765625 Z M -1.171875 -3.765625 "/>
</symbol>
<symbol overflow="visible" id="glyph7-9">
<path style="stroke:none;" d="M -1.171875 -4.109375 C -1.28125 -4.109375 -1.296875 -4.03125 -1.296875 -3.984375 C -1.296875 -3.890625 -1.234375 -3.875 -1.15625 -3.859375 C -0.140625 -3.5 -0.140625 -2.609375 -0.140625 -2.515625 C -0.140625 -2.015625 -0.4375 -1.625 -0.796875 -1.390625 C -1.28125 -1.09375 -1.9375 -1.09375 -2.28125 -1.09375 L -2.28125 -3.859375 C -2.28125 -4.078125 -2.28125 -4.109375 -2.5 -4.109375 C -3.484375 -4.109375 -4.4375 -3.578125 -4.4375 -2.34375 C -4.4375 -1.1875 -3.421875 -0.28125 -2.171875 -0.28125 C -0.859375 -0.28125 0.109375 -1.3125 0.109375 -2.453125 C 0.109375 -3.671875 -0.984375 -4.109375 -1.171875 -4.109375 Z M -2.5 -3.453125 L -2.5 -1.109375 C -3.96875 -1.171875 -4.21875 -2 -4.21875 -2.34375 C -4.21875 -3.359375 -2.875 -3.453125 -2.5 -3.453125 Z M -2.5 -3.453125 "/>
</symbol>
<symbol overflow="visible" id="glyph7-10">
<path style="stroke:none;" d="M 2.484375 -2.53125 L 2.078125 -2.53125 L 2.078125 -1.5625 L -7.03125 -1.5625 L -7.03125 -2.53125 L -7.4375 -2.53125 L -7.4375 -1.171875 L 2.484375 -1.171875 Z M 2.484375 -2.53125 "/>
</symbol>
<symbol overflow="visible" id="glyph7-11">
<path style="stroke:none;" d="M -1.8125 -6.453125 C -2.671875 -6.453125 -3.421875 -5.640625 -3.53125 -4.53125 C -3.71875 -5.5 -4.359375 -6.1875 -5.09375 -6.1875 C -5.953125 -6.1875 -6.765625 -5.265625 -6.765625 -3.984375 L -6.765625 -0.359375 L -6.453125 -0.359375 L -6.453125 -0.59375 C -6.453125 -1.359375 -6.34375 -1.375 -6 -1.375 L -0.765625 -1.375 C -0.421875 -1.375 -0.3125 -1.359375 -0.3125 -0.59375 L -0.3125 -0.359375 L 0 -0.359375 L 0 -4.234375 C 0 -5.5625 -0.875 -6.453125 -1.8125 -6.453125 Z M -5.09375 -5.21875 C -4.453125 -5.21875 -3.625 -4.734375 -3.625 -3.640625 L -3.625 -2.203125 L -6.0625 -2.203125 C -6.390625 -2.203125 -6.453125 -2.21875 -6.453125 -2.6875 L -6.453125 -3.90625 C -6.453125 -4.875 -5.609375 -5.21875 -5.09375 -5.21875 Z M -1.828125 -5.453125 C -1.125 -5.453125 -0.3125 -4.9375 -0.3125 -3.921875 L -0.3125 -2.6875 C -0.3125 -2.21875 -0.375 -2.203125 -0.703125 -2.203125 L -3.40625 -2.203125 L -3.40625 -4.0625 C -3.40625 -5.046875 -2.484375 -5.453125 -1.828125 -5.453125 Z M -1.828125 -5.453125 "/>
</symbol>
<symbol overflow="visible" id="glyph7-12">
<path style="stroke:none;" d="M 2.484375 -1.578125 L -7.4375 -1.578125 L -7.4375 -0.21875 L -7.03125 -0.21875 L -7.03125 -1.171875 L 2.078125 -1.171875 L 2.078125 -0.21875 L 2.484375 -0.21875 Z M 2.484375 -1.578125 "/>
</symbol>
</g>
<clipPath id="clip1">
<path d="M 43.914062 24 L 269.511719 24 L 269.511719 115 L 43.914062 115 Z M 43.914062 24 "/>
</clipPath>
<clipPath id="clip2">
<path d="M 59 89 L 96 89 L 96 119.726562 L 59 119.726562 Z M 59 89 "/>
</clipPath>
<clipPath id="clip3">
<path d="M 57 87 L 90 87 L 90 119.726562 L 57 119.726562 Z M 57 87 "/>
</clipPath>
</defs>
<g id="surface1">
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;" d="M 43.914062 119.726562 L 269.511719 119.726562 L 269.511719 6.917969 L 43.914062 6.917969 Z M 43.914062 119.726562 "/>
<path style="fill:none;stroke-width:0.3985;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(89.99939%,89.99939%,89.99939%);stroke-opacity:1;stroke-miterlimit:10;" d="M -75.590915 -0.000980901 L -75.590915 113.395951 M -64.21549 -0.000980901 L -64.21549 113.395951 M -57.559865 -0.000980901 L -57.559865 113.395951 M -52.836138 -0.000980901 L -52.836138 113.395951 M -49.172599 -0.000980901 L -49.172599 113.395951 M -46.180513 -0.000980901 L -46.180513 113.395951 M -43.651768 -0.000980901 L -43.651768 113.395951 M -41.456786 -0.000980901 L -41.456786 113.395951 M -39.524887 -0.000980901 L -39.524887 113.395951 M -37.797173 -0.000980901 L -37.797173 113.395951 M -26.417821 -0.000980901 L -26.417821 113.395951 M -19.762196 -0.000980901 L -19.762196 113.395951 M -15.038469 -0.000980901 L -15.038469 113.395951 M -11.378857 -0.000980901 L -11.378857 113.395951 M -8.382844 -0.000980901 L -8.382844 113.395951 M -5.854099 -0.000980901 L -5.854099 113.395951 M -3.663044 -0.000980901 L -3.663044 113.395951 M -1.731145 -0.000980901 L -1.731145 113.395951 M 0.000495111 -0.000980901 L 0.000495111 113.395951 M 11.375921 -0.000980901 L 11.375921 113.395951 M 18.031546 -0.000980901 L 18.031546 113.395951 M 22.755273 -0.000980901 L 22.755273 113.395951 M 26.418812 -0.000980901 L 26.418812 113.395951 M 29.410898 -0.000980901 L 29.410898 113.395951 M 31.939643 -0.000980901 L 31.939643 113.395951 M 34.134625 -0.000980901 L 34.134625 113.395951 M 36.066523 -0.000980901 L 36.066523 113.395951 M 37.794237 -0.000980901 L 37.794237 113.395951 M 49.173589 -0.000980901 L 49.173589 113.395951 M 55.829214 -0.000980901 L 55.829214 113.395951 M 60.549015 -0.000980901 L 60.549015 113.395951 M 64.212554 -0.000980901 L 64.212554 113.395951 M 67.20464 -0.000980901 L 67.20464 113.395951 M 69.737311 -0.000980901 L 69.737311 113.395951 M 71.928367 -0.000980901 L 71.928367 113.395951 M 73.860265 -0.000980901 L 73.860265 113.395951 M 75.591906 -0.000980901 L 75.591906 113.395951 M 86.967331 -0.000980901 L 86.967331 113.395951 M 93.622956 -0.000980901 L 93.622956 113.395951 M 98.346683 -0.000980901 L 98.346683 113.395951 M 102.010222 -0.000980901 L 102.010222 113.395951 M 105.002308 -0.000980901 L 105.002308 113.395951 M 107.531053 -0.000980901 L 107.531053 113.395951 M 109.726035 -0.000980901 L 109.726035 113.395951 M 111.657934 -0.000980901 L 111.657934 113.395951 M 113.385648 -0.000980901 L 113.385648 113.395951 M 124.765 -0.000980901 L 124.765 113.395951 M 131.420625 -0.000980901 L 131.420625 113.395951 M 136.140425 -0.000980901 L 136.140425 113.395951 M 139.803964 -0.000980901 L 139.803964 113.395951 M 142.79605 -0.000980901 L 142.79605 113.395951 M 145.328722 -0.000980901 L 145.328722 113.395951 M 147.519777 -0.000980901 L 147.519777 113.395951 M 149.451676 -0.000980901 L 149.451676 113.395951 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
<path style="fill:none;stroke-width:0.3985;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(69.999695%,69.999695%,69.999695%);stroke-opacity:1;stroke-miterlimit:10;" d="M -75.590915 -0.000980901 L -75.590915 113.395951 M -37.797173 -0.000980901 L -37.797173 113.395951 M 0.000495111 -0.000980901 L 0.000495111 113.395951 M 37.794237 -0.000980901 L 37.794237 113.395951 M 75.591906 -0.000980901 L 75.591906 113.395951 M 113.385648 -0.000980901 L 113.385648 113.395951 M 151.183316 -0.000980901 L 151.183316 113.395951 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
<path style="fill:none;stroke-width:0.3985;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(69.999695%,69.999695%,69.999695%);stroke-opacity:1;stroke-miterlimit:10;" d="M -75.590915 113.395951 L 151.183316 113.395951 M -75.590915 94.497117 L 151.183316 94.497117 M -75.590915 75.598283 L 151.183316 75.598283 M -75.590915 56.695522 L 151.183316 56.695522 M -75.590915 37.796688 L 151.183316 37.796688 M -75.590915 18.897853 L 151.183316 18.897853 M -75.590915 -0.000980901 L 151.183316 -0.000980901 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
<path style="fill:none;stroke-width:0.19925;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M -75.590915 -0.000980901 L -75.590915 2.834041 M -64.21549 -0.000980901 L -64.21549 2.834041 M -57.559865 -0.000980901 L -57.559865 2.834041 M -52.836138 -0.000980901 L -52.836138 2.834041 M -49.172599 -0.000980901 L -49.172599 2.834041 M -46.180513 -0.000980901 L -46.180513 2.834041 M -43.651768 -0.000980901 L -43.651768 2.834041 M -41.456786 -0.000980901 L -41.456786 2.834041 M -39.524887 -0.000980901 L -39.524887 2.834041 M -37.797173 -0.000980901 L -37.797173 2.834041 M -26.417821 -0.000980901 L -26.417821 2.834041 M -19.762196 -0.000980901 L -19.762196 2.834041 M -15.038469 -0.000980901 L -15.038469 2.834041 M -11.378857 -0.000980901 L -11.378857 2.834041 M -8.382844 -0.000980901 L -8.382844 2.834041 M -5.854099 -0.000980901 L -5.854099 2.834041 M -3.663044 -0.000980901 L -3.663044 2.834041 M -1.731145 -0.000980901 L -1.731145 2.834041 M 0.000495111 -0.000980901 L 0.000495111 2.834041 M 11.375921 -0.000980901 L 11.375921 2.834041 M 18.031546 -0.000980901 L 18.031546 2.834041 M 22.755273 -0.000980901 L 22.755273 2.834041 M 26.418812 -0.000980901 L 26.418812 2.834041 M 29.410898 -0.000980901 L 29.410898 2.834041 M 31.939643 -0.000980901 L 31.939643 2.834041 M 34.134625 -0.000980901 L 34.134625 2.834041 M 36.066523 -0.000980901 L 36.066523 2.834041 M 37.794237 -0.000980901 L 37.794237 2.834041 M 49.173589 -0.000980901 L 49.173589 2.834041 M 55.829214 -0.000980901 L 55.829214 2.834041 M 60.549015 -0.000980901 L 60.549015 2.834041 M 64.212554 -0.000980901 L 64.212554 2.834041 M 67.20464 -0.000980901 L 67.20464 2.834041 M 69.737311 -0.000980901 L 69.737311 2.834041 M 71.928367 -0.000980901 L 71.928367 2.834041 M 73.860265 -0.000980901 L 73.860265 2.834041 M 75.591906 -0.000980901 L 75.591906 2.834041 M 86.967331 -0.000980901 L 86.967331 2.834041 M 93.622956 -0.000980901 L 93.622956 2.834041 M 98.346683 -0.000980901 L 98.346683 2.834041 M 102.010222 -0.000980901 L 102.010222 2.834041 M 105.002308 -0.000980901 L 105.002308 2.834041 M 107.531053 -0.000980901 L 107.531053 2.834041 M 109.726035 -0.000980901 L 109.726035 2.834041 M 111.657934 -0.000980901 L 111.657934 2.834041 M 113.385648 -0.000980901 L 113.385648 2.834041 M 124.765 -0.000980901 L 124.765 2.834041 M 131.420625 -0.000980901 L 131.420625 2.834041 M 136.140425 -0.000980901 L 136.140425 2.834041 M 139.803964 -0.000980901 L 139.803964 2.834041 M 142.79605 -0.000980901 L 142.79605 2.834041 M 145.328722 -0.000980901 L 145.328722 2.834041 M 147.519777 -0.000980901 L 147.519777 2.834041 M 149.451676 -0.000980901 L 149.451676 2.834041 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
<path style="fill:none;stroke-width:0.19925;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M -75.590915 -0.000980901 L -75.590915 4.251551 M -37.797173 -0.000980901 L -37.797173 4.251551 M 0.000495111 -0.000980901 L 0.000495111 4.251551 M 37.794237 -0.000980901 L 37.794237 4.251551 M 75.591906 -0.000980901 L 75.591906 4.251551 M 113.385648 -0.000980901 L 113.385648 4.251551 M 151.183316 -0.000980901 L 151.183316 4.251551 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
<path style="fill:none;stroke-width:0.19925;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M -75.590915 113.395951 L -71.346236 113.395951 M -75.590915 94.497117 L -71.346236 94.497117 M -75.590915 75.598283 L -71.346236 75.598283 M -75.590915 56.695522 L -71.346236 56.695522 M -75.590915 37.796688 L -71.346236 37.796688 M -75.590915 18.897853 L -71.346236 18.897853 M -75.590915 -0.000980901 L -71.346236 -0.000980901 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M -75.590915 -0.000980901 L 151.183316 -0.000980901 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M -75.590915 -0.000980901 L -75.590915 113.395951 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-1" x="33.639563" y="131.592695"/>
<use xlink:href="#glyph0-2" x="38.595019" y="131.592695"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-1" x="43.549877" y="127.995456"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-1" x="49.74457" y="127.995456"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-1" x="71.238471" y="131.592695"/>
<use xlink:href="#glyph0-2" x="76.193926" y="131.592695"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-1" x="81.14978" y="127.995456"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-2" x="87.343477" y="127.995456"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-1" x="111.934228" y="131.592695"/>
<use xlink:href="#glyph0-2" x="116.889683" y="131.592695"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-3" x="121.845536" y="127.995456"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-1" x="149.53413" y="131.592695"/>
<use xlink:href="#glyph0-2" x="154.489586" y="131.592695"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-2" x="159.444444" y="127.995456"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-1" x="187.133038" y="131.592695"/>
<use xlink:href="#glyph0-2" x="192.088493" y="131.592695"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-1" x="197.043352" y="127.995456"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-1" x="224.731946" y="131.592695"/>
<use xlink:href="#glyph0-2" x="229.687401" y="131.592695"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-4" x="234.643255" y="127.995456"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-1" x="262.330853" y="131.592695"/>
<use xlink:href="#glyph0-2" x="267.286309" y="131.592695"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-5" x="272.242162" y="127.995456"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-3" x="30.205473" y="10.041629"/>
<use xlink:href="#glyph0-2" x="35.160929" y="10.041629"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-4" x="30.205473" y="28.842575"/>
<use xlink:href="#glyph0-2" x="35.160929" y="28.842575"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-2" x="35.16063" y="47.643521"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-1" x="22.496678" y="66.031621"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-4" x="30.205473" y="66.031621"/>
<use xlink:href="#glyph0-2" x="35.160929" y="66.031621"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-1" x="22.496678" y="84.832567"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-3" x="30.205473" y="84.832567"/>
<use xlink:href="#glyph0-2" x="35.160929" y="84.832567"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-1" x="22.496678" y="103.632518"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-5" x="30.205473" y="103.632518"/>
<use xlink:href="#glyph0-2" x="35.160929" y="103.632518"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-1" x="22.496678" y="122.433464"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-6" x="30.205473" y="122.433464"/>
<use xlink:href="#glyph0-2" x="35.160929" y="122.433464"/>
</g>
<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 -75.590915 18.897853 L -37.797173 18.897853 L 86.127034 81.264399 L 151.183316 81.264399 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
</g>
<g clip-path="url(#clip2)" clip-rule="nonzero">
<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M -45.607226 15.93718 L -37.797173 9.4504 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
</g>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 71.28125 101.828125 L 73.613281 105.9375 L 73.550781 103.710938 L 75.75 103.363281 Z M 71.28125 101.828125 "/>
<g clip-path="url(#clip3)" clip-rule="nonzero">
<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 6.051258 0.000731316 L 1.60851 1.680992 L 3.08686 -0.000794462 L 1.609362 -1.68211 Z M 6.051258 0.000731316 " transform="matrix(-0.765269,-0.635535,-0.635535,0.765269,75.912554,105.673354)"/>
</g>
<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M -37.797173 9.4504 L 11.375921 9.4504 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
<path style="fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 11.874602 2.280387 L 108.893591 2.280387 L 108.893591 16.616486 L 11.874602 16.616486 Z M 11.874602 2.280387 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-1" x="134.228952" y="113.325963"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-5" x="141.937748" y="113.325963"/>
<use xlink:href="#glyph0-2" x="146.893204" y="113.325963"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-7" x="153.503781" y="113.325963"/>
<use xlink:href="#glyph0-8" x="159.010283" y="113.325963"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-2" x="168.778762" y="113.325963"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-1" x="181.993841" y="113.325963"/>
<use xlink:href="#glyph4-2" x="186.674181" y="113.325963"/>
<use xlink:href="#glyph4-3" x="189.95034" y="113.325963"/>
<use xlink:href="#glyph4-2" x="194.162884" y="113.325963"/>
<use xlink:href="#glyph4-4" x="197.439043" y="113.325963"/>
<use xlink:href="#glyph4-5" x="199.778817" y="113.325963"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-6" x="206.329549" y="113.325963"/>
<use xlink:href="#glyph4-7" x="210.073504" y="113.325963"/>
<use xlink:href="#glyph4-7" x="213.356799" y="113.325963"/>
<use xlink:href="#glyph4-8" x="216.640094" y="113.325963"/>
<use xlink:href="#glyph4-7" x="220.852638" y="113.325963"/>
</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 4.63391 37.796688 L 37.794237 37.796688 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
<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 6.054074 0.00150232 L 1.609137 1.682097 L 3.089474 0.00150232 L 1.609137 -1.683019 Z M 6.054074 0.00150232 " transform="matrix(-0.994812,0,0,0.994812,126.546101,82.123505)"/>
<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 38.292918 29.495808 L 144.449159 29.495808 L 144.449159 46.101494 L 38.292918 46.101494 Z M 38.292918 29.495808 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-4" x="160.510882" y="84.60177"/>
<use xlink:href="#glyph0-2" x="165.466338" y="84.60177"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-7" x="172.076915" y="84.60177"/>
<use xlink:href="#glyph0-8" x="177.583417" y="84.60177"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph5-1" x="184.599253" y="84.60177"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-7" x="189.555404" y="84.60177"/>
<use xlink:href="#glyph0-9" x="195.061906" y="84.60177"/>
<use xlink:href="#glyph0-10" x="199.467306" y="84.60177"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-2" x="206.624383" y="84.60177"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-9" x="219.838467" y="84.60177"/>
<use xlink:href="#glyph4-6" x="226.035577" y="84.60177"/>
<use xlink:href="#glyph4-10" x="229.779532" y="84.60177"/>
<use xlink:href="#glyph4-11" x="232.353997" y="84.60177"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-2" x="238.43614" y="84.60177"/>
<use xlink:href="#glyph4-7" x="241.712299" y="84.60177"/>
<use xlink:href="#glyph4-3" x="244.995594" y="84.60177"/>
<use xlink:href="#glyph4-5" x="249.208138" y="84.60177"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-12" x="252.722159" y="84.60177"/>
<use xlink:href="#glyph4-11" x="257.167808" y="84.60177"/>
</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 70.958491 75.598283 L 18.031546 75.598283 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
<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 6.055225 0.00189289 L 1.610288 1.682487 L 3.086698 0.00189289 L 1.610288 -1.682628 Z M 6.055225 0.00189289 " transform="matrix(0.994812,0,0,-0.994812,186.878535,44.521414)"/>
<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 -37.294566 68.75418 L 17.532865 68.75418 L 17.532865 82.438459 L -37.294566 82.438459 Z M -37.294566 68.75418 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph5-2" x="85.315056" y="46.482576"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph6-1" x="91.484879" y="47.96982"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-2" x="98.275463" y="46.482576"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-1" x="111.489547" y="46.482576"/>
<use xlink:href="#glyph4-13" x="116.169887" y="46.482576"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-6" x="121.08809" y="46.482576"/>
<use xlink:href="#glyph4-6" x="124.832045" y="46.482576"/>
<use xlink:href="#glyph4-14" x="128.576" y="46.482576"/>
</g>
<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 91.541846 85.406986 L 86.967331 94.497117 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
<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 6.054209 0.000157083 L 1.608354 1.683164 L 3.086317 -0.00117714 L 1.606932 -1.683367 Z M 6.054209 0.000157083 " transform="matrix(0.447098,0.888616,0.888616,-0.447098,208.910222,32.2413)"/>
<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 86.967331 94.497117 L 37.794237 94.497117 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
<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 -61.082045 86.969782 L 37.295556 86.969782 L 37.295556 102.024453 L -61.082045 102.024453 Z M -61.082045 86.969782 " transform="matrix(0.994812,0,0,-0.994812,119.112789,119.725587)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-5" x="61.650476" y="28.365066"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-7" x="68.261054" y="28.365066"/>
<use xlink:href="#glyph0-8" x="73.767556" y="28.365066"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-2" x="83.537328" y="28.365066"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-15" x="96.751412" y="28.365066"/>
<use xlink:href="#glyph4-8" x="104.465291" y="28.365066"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-14" x="108.915698" y="28.365066"/>
<use xlink:href="#glyph4-16" x="113.596038" y="28.365066"/>
<use xlink:href="#glyph4-17" x="118.276378" y="28.365066"/>
<use xlink:href="#glyph4-6" x="120.616152" y="28.365066"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-18" x="127.166884" y="28.365066"/>
<use xlink:href="#glyph4-3" x="134.186998" y="28.365066"/>
<use xlink:href="#glyph4-7" x="138.399542" y="28.365066"/>
<use xlink:href="#glyph4-19" x="141.682837" y="28.365066"/>
<use xlink:href="#glyph4-4" x="145.895381" y="28.365066"/>
<use xlink:href="#glyph4-20" x="148.235155" y="28.365066"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-11" x="124.280835" y="146.127889"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-12" x="129.928072" y="146.127889"/>
<use xlink:href="#glyph0-9" x="133.810176" y="146.127889"/>
<use xlink:href="#glyph0-13" x="138.215576" y="146.127889"/>
<use xlink:href="#glyph0-14" x="143.446555" y="146.127889"/>
<use xlink:href="#glyph0-9" x="148.953057" y="146.127889"/>
<use xlink:href="#glyph0-15" x="153.358457" y="146.127889"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-10" x="158.855048" y="146.127889"/>
<use xlink:href="#glyph0-16" x="163.260448" y="146.127889"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-17" x="171.801671" y="146.127889"/>
<use xlink:href="#glyph0-18" x="174.554922" y="146.127889"/>
<use xlink:href="#glyph0-19" x="181.988105" y="146.127889"/>
<use xlink:href="#glyph0-20" x="186.393505" y="146.127889"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph7-1" x="11.703966" y="97.25478"/>
<use xlink:href="#glyph7-2" x="11.703966" y="88.169448"/>
<use xlink:href="#glyph7-3" x="11.703966" y="83.213993"/>
<use xlink:href="#glyph7-4" x="11.703966" y="78.258537"/>
<use xlink:href="#glyph7-5" x="11.703966" y="72.752035"/>
<use xlink:href="#glyph7-6" x="11.703966" y="69.998784"/>
<use xlink:href="#glyph7-7" x="11.703966" y="66.144431"/>
<use xlink:href="#glyph7-8" x="11.703966" y="60.637929"/>
<use xlink:href="#glyph7-9" x="11.703966" y="55.131427"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph7-10" x="11.703966" y="47.425693"/>
<use xlink:href="#glyph7-8" x="11.703966" y="44.672442"/>
<use xlink:href="#glyph7-11" x="11.703966" y="39.16594"/>
<use xlink:href="#glyph7-12" x="11.703966" y="32.146042"/>
</g>
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 80 KiB

BIN
figs/high_order_weight.pdf Normal file
View File

Binary file not shown.

BIN
figs/high_order_weight.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 75 KiB

BIN
figs/loop_shaping_S_with_W.pdf Normal file
View File

Binary file not shown.

BIN
figs/loop_shaping_S_with_W.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 18 KiB

273
figs/loop_shaping_S_with_W.svg Normal file
View File

@ -0,0 +1,273 @@
<?xml version="1.0" encoding="UTF-8"?>
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="206.943pt" height="156.445pt" viewBox="0 0 206.943 156.445" 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 10.015625 -6.46875 L 10.015625 -6.78125 C 9.71875 -6.75 9.40625 -6.75 9.109375 -6.75 L 7.921875 -6.78125 L 7.921875 -6.46875 C 8.59375 -6.453125 8.796875 -6.125 8.796875 -5.9375 C 8.796875 -5.890625 8.765625 -5.796875 8.734375 -5.75 L 7.25 -1.15625 L 5.671875 -6.015625 C 5.65625 -6.0625 5.640625 -6.125 5.640625 -6.171875 C 5.640625 -6.46875 6.21875 -6.46875 6.46875 -6.46875 L 6.46875 -6.78125 C 6.109375 -6.75 5.4375 -6.75 5.0625 -6.75 L 3.84375 -6.78125 L 3.84375 -6.46875 C 4.421875 -6.46875 4.625 -6.46875 4.75 -6.109375 L 4.953125 -5.421875 L 3.578125 -1.15625 L 1.984375 -6.046875 C 1.96875 -6.078125 1.96875 -6.140625 1.96875 -6.171875 C 1.96875 -6.46875 2.546875 -6.46875 2.796875 -6.46875 L 2.796875 -6.78125 C 2.4375 -6.75 1.765625 -6.75 1.390625 -6.75 L 0.171875 -6.78125 L 0.171875 -6.46875 C 0.921875 -6.46875 0.96875 -6.421875 1.078125 -6.046875 L 3.0625 0.03125 C 3.09375 0.125 3.125 0.21875 3.25 0.21875 C 3.390625 0.21875 3.40625 0.15625 3.453125 0.015625 L 5.09375 -5.015625 L 6.734375 0.03125 C 6.765625 0.125 6.796875 0.21875 6.921875 0.21875 C 7.0625 0.21875 7.078125 0.15625 7.125 0.015625 L 9.015625 -5.796875 C 9.203125 -6.375 9.625 -6.46875 10.015625 -6.46875 Z M 10.015625 -6.46875 "/>
</symbol>
<symbol overflow="visible" id="glyph0-2">
<path style="stroke:none;" d="M 4.125 -1.1875 C 4.125 -1.28125 4.03125 -1.296875 3.984375 -1.296875 C 3.90625 -1.296875 3.875 -1.234375 3.859375 -1.15625 C 3.515625 -0.140625 2.625 -0.140625 2.515625 -0.140625 C 2.03125 -0.140625 1.625 -0.4375 1.40625 -0.796875 C 1.09375 -1.28125 1.09375 -1.9375 1.09375 -2.296875 L 3.875 -2.296875 C 4.09375 -2.296875 4.125 -2.296875 4.125 -2.5 C 4.125 -3.484375 3.578125 -4.4375 2.34375 -4.4375 C 1.1875 -4.4375 0.28125 -3.421875 0.28125 -2.1875 C 0.28125 -0.859375 1.3125 0.109375 2.453125 0.109375 C 3.671875 0.109375 4.125 -0.984375 4.125 -1.1875 Z M 3.46875 -2.5 L 1.109375 -2.5 C 1.171875 -3.984375 2 -4.234375 2.34375 -4.234375 C 3.359375 -4.234375 3.46875 -2.890625 3.46875 -2.5 Z M 3.46875 -2.5 "/>
</symbol>
<symbol overflow="visible" id="glyph0-3">
<path style="stroke:none;" d="M 2.453125 0 L 2.453125 -0.3125 C 1.796875 -0.3125 1.75 -0.359375 1.75 -0.75 L 1.75 -4.390625 L 0.359375 -4.28125 L 0.359375 -3.96875 C 1.015625 -3.96875 1.09375 -3.90625 1.09375 -3.421875 L 1.09375 -0.75 C 1.09375 -0.3125 0.984375 -0.3125 0.328125 -0.3125 L 0.328125 0 L 1.421875 -0.03125 C 1.765625 -0.03125 2.109375 -0.015625 2.453125 0 Z M 1.90625 -6 C 1.90625 -6.265625 1.671875 -6.515625 1.375 -6.515625 C 1.046875 -6.515625 0.84375 -6.234375 0.84375 -6 C 0.84375 -5.71875 1.078125 -5.46875 1.375 -5.46875 C 1.703125 -5.46875 1.90625 -5.75 1.90625 -6 Z M 1.90625 -6 "/>
</symbol>
<symbol overflow="visible" id="glyph0-4">
<path style="stroke:none;" d="M 4.8125 -4.015625 C 4.8125 -4.171875 4.6875 -4.5 4.3125 -4.5 C 4.109375 -4.5 3.671875 -4.4375 3.25 -4.03125 C 2.84375 -4.359375 2.421875 -4.390625 2.203125 -4.390625 C 1.28125 -4.390625 0.59375 -3.703125 0.59375 -2.9375 C 0.59375 -2.5 0.8125 -2.125 1.0625 -1.921875 C 0.9375 -1.765625 0.75 -1.4375 0.75 -1.09375 C 0.75 -0.78125 0.890625 -0.40625 1.1875 -0.203125 C 0.59375 -0.046875 0.28125 0.390625 0.28125 0.78125 C 0.28125 1.5 1.265625 2.046875 2.46875 2.046875 C 3.640625 2.046875 4.671875 1.53125 4.671875 0.765625 C 4.671875 0.421875 4.53125 -0.09375 4.03125 -0.359375 C 3.5 -0.640625 2.921875 -0.640625 2.328125 -0.640625 C 2.078125 -0.640625 1.640625 -0.640625 1.578125 -0.65625 C 1.265625 -0.6875 1.046875 -1 1.046875 -1.3125 C 1.046875 -1.359375 1.046875 -1.59375 1.21875 -1.78125 C 1.609375 -1.515625 2.015625 -1.484375 2.203125 -1.484375 C 3.125 -1.484375 3.8125 -2.15625 3.8125 -2.921875 C 3.8125 -3.296875 3.65625 -3.65625 3.40625 -3.890625 C 3.765625 -4.234375 4.125 -4.28125 4.296875 -4.28125 C 4.296875 -4.28125 4.359375 -4.28125 4.390625 -4.265625 C 4.28125 -4.234375 4.234375 -4.125 4.234375 -4 C 4.234375 -3.828125 4.359375 -3.703125 4.53125 -3.703125 C 4.625 -3.703125 4.8125 -3.78125 4.8125 -4.015625 Z M 3.0625 -2.9375 C 3.0625 -2.671875 3.0625 -2.34375 2.90625 -2.109375 C 2.828125 -1.984375 2.59375 -1.703125 2.203125 -1.703125 C 1.34375 -1.703125 1.34375 -2.703125 1.34375 -2.921875 C 1.34375 -3.1875 1.34375 -3.515625 1.5 -3.765625 C 1.578125 -3.875 1.8125 -4.15625 2.203125 -4.15625 C 3.0625 -4.15625 3.0625 -3.171875 3.0625 -2.9375 Z M 4.15625 0.78125 C 4.15625 1.3125 3.453125 1.8125 2.484375 1.8125 C 1.484375 1.8125 0.796875 1.3125 0.796875 0.78125 C 0.796875 0.328125 1.171875 -0.046875 1.609375 -0.0625 L 2.1875 -0.0625 C 3.046875 -0.0625 4.15625 -0.0625 4.15625 0.78125 Z M 4.15625 0.78125 "/>
</symbol>
<symbol overflow="visible" id="glyph0-5">
<path style="stroke:none;" d="M 5.3125 0 L 5.3125 -0.3125 C 4.796875 -0.3125 4.546875 -0.3125 4.53125 -0.609375 L 4.53125 -2.5 C 4.53125 -3.359375 4.53125 -3.65625 4.234375 -4.015625 C 4.09375 -4.1875 3.765625 -4.390625 3.1875 -4.390625 C 2.34375 -4.390625 1.921875 -3.796875 1.75 -3.4375 L 1.75 -6.890625 L 0.3125 -6.78125 L 0.3125 -6.46875 C 1.015625 -6.46875 1.09375 -6.40625 1.09375 -5.90625 L 1.09375 -0.75 C 1.09375 -0.3125 0.984375 -0.3125 0.3125 -0.3125 L 0.3125 0 L 1.4375 -0.03125 L 2.546875 0 L 2.546875 -0.3125 C 1.890625 -0.3125 1.78125 -0.3125 1.78125 -0.75 L 1.78125 -2.578125 C 1.78125 -3.609375 2.484375 -4.171875 3.109375 -4.171875 C 3.734375 -4.171875 3.84375 -3.625 3.84375 -3.0625 L 3.84375 -0.75 C 3.84375 -0.3125 3.734375 -0.3125 3.078125 -0.3125 L 3.078125 0 L 4.203125 -0.03125 Z M 5.3125 0 "/>
</symbol>
<symbol overflow="visible" id="glyph0-6">
<path style="stroke:none;" d="M 3.296875 -1.234375 L 3.296875 -1.796875 L 3.046875 -1.796875 L 3.046875 -1.25 C 3.046875 -0.515625 2.75 -0.140625 2.375 -0.140625 C 1.71875 -0.140625 1.71875 -1.046875 1.71875 -1.203125 L 1.71875 -3.96875 L 3.140625 -3.96875 L 3.140625 -4.28125 L 1.71875 -4.28125 L 1.71875 -6.109375 L 1.46875 -6.109375 C 1.453125 -5.28125 1.15625 -4.234375 0.1875 -4.1875 L 0.1875 -3.96875 L 1.03125 -3.96875 L 1.03125 -1.234375 C 1.03125 -0.015625 1.953125 0.109375 2.3125 0.109375 C 3.015625 0.109375 3.296875 -0.59375 3.296875 -1.234375 Z M 3.296875 -1.234375 "/>
</symbol>
<symbol overflow="visible" id="glyph0-7">
<path style="stroke:none;" d="M 5.234375 0 L 5.234375 -0.3125 C 4.53125 -0.3125 4.453125 -0.375 4.453125 -0.859375 L 4.453125 -6.890625 L 3.03125 -6.78125 L 3.03125 -6.46875 C 3.71875 -6.46875 3.796875 -6.40625 3.796875 -5.90625 L 3.796875 -3.765625 C 3.515625 -4.125 3.078125 -4.390625 2.546875 -4.390625 C 1.375 -4.390625 0.34375 -3.40625 0.34375 -2.140625 C 0.34375 -0.875 1.3125 0.109375 2.4375 0.109375 C 3.078125 0.109375 3.515625 -0.234375 3.765625 -0.546875 L 3.765625 0.109375 Z M 3.765625 -1.171875 C 3.765625 -0.984375 3.765625 -0.96875 3.65625 -0.796875 C 3.359375 -0.328125 2.921875 -0.109375 2.484375 -0.109375 C 2.046875 -0.109375 1.6875 -0.359375 1.453125 -0.75 C 1.1875 -1.15625 1.15625 -1.71875 1.15625 -2.125 C 1.15625 -2.484375 1.1875 -3.078125 1.46875 -3.53125 C 1.671875 -3.84375 2.046875 -4.171875 2.59375 -4.171875 C 2.9375 -4.171875 3.359375 -4.015625 3.65625 -3.578125 C 3.765625 -3.40625 3.765625 -3.390625 3.765625 -3.203125 Z M 3.765625 -1.171875 "/>
</symbol>
<symbol overflow="visible" id="glyph0-8">
<path style="stroke:none;" d="M 7.296875 -2.40625 L 7.296875 -2.703125 L 6.078125 -2.671875 C 5.6875 -2.671875 4.84375 -2.671875 4.484375 -2.703125 L 4.484375 -2.40625 L 4.796875 -2.40625 C 5.6875 -2.40625 5.71875 -2.296875 5.71875 -1.921875 L 5.71875 -1.296875 C 5.71875 -0.171875 4.46875 -0.09375 4.1875 -0.09375 C 3.546875 -0.09375 1.578125 -0.4375 1.578125 -3.390625 C 1.578125 -6.359375 3.53125 -6.6875 4.125 -6.6875 C 5.1875 -6.6875 6.09375 -5.796875 6.296875 -4.328125 C 6.3125 -4.203125 6.3125 -4.171875 6.453125 -4.171875 C 6.609375 -4.171875 6.609375 -4.203125 6.609375 -4.40625 L 6.609375 -6.75 C 6.609375 -6.921875 6.609375 -7 6.5 -7 C 6.453125 -7 6.421875 -7 6.34375 -6.875 L 5.84375 -6.140625 C 5.53125 -6.453125 4.984375 -7 4.015625 -7 C 2.15625 -7 0.5625 -5.421875 0.5625 -3.390625 C 0.5625 -1.359375 2.140625 0.21875 4.03125 0.21875 C 4.75 0.21875 5.546875 -0.046875 5.890625 -0.625 C 6.015625 -0.40625 6.40625 -0.015625 6.515625 -0.015625 C 6.609375 -0.015625 6.609375 -0.09375 6.609375 -0.234375 L 6.609375 -1.96875 C 6.609375 -2.34375 6.640625 -2.40625 7.296875 -2.40625 Z M 7.296875 -2.40625 "/>
</symbol>
<symbol overflow="visible" id="glyph0-9">
<path style="stroke:none;" d="M 5.3125 0 L 5.3125 -0.3125 C 4.796875 -0.3125 4.546875 -0.3125 4.53125 -0.609375 L 4.53125 -2.5 C 4.53125 -3.359375 4.53125 -3.65625 4.234375 -4.015625 C 4.09375 -4.1875 3.765625 -4.390625 3.1875 -4.390625 C 2.453125 -4.390625 2 -3.953125 1.71875 -3.34375 L 1.71875 -4.390625 L 0.3125 -4.28125 L 0.3125 -3.96875 C 1.015625 -3.96875 1.09375 -3.90625 1.09375 -3.40625 L 1.09375 -0.75 C 1.09375 -0.3125 0.984375 -0.3125 0.3125 -0.3125 L 0.3125 0 L 1.4375 -0.03125 L 2.546875 0 L 2.546875 -0.3125 C 1.890625 -0.3125 1.78125 -0.3125 1.78125 -0.75 L 1.78125 -2.578125 C 1.78125 -3.609375 2.484375 -4.171875 3.109375 -4.171875 C 3.734375 -4.171875 3.84375 -3.625 3.84375 -3.0625 L 3.84375 -0.75 C 3.84375 -0.3125 3.734375 -0.3125 3.078125 -0.3125 L 3.078125 0 L 4.203125 -0.03125 Z M 5.3125 0 "/>
</symbol>
<symbol overflow="visible" id="glyph0-10">
<path style="stroke:none;" d="M 3.609375 -3.78125 C 3.609375 -4.09375 3.296875 -4.390625 2.875 -4.390625 C 2.15625 -4.390625 1.796875 -3.71875 1.65625 -3.296875 L 1.65625 -4.390625 L 0.28125 -4.28125 L 0.28125 -3.96875 C 0.96875 -3.96875 1.046875 -3.90625 1.046875 -3.40625 L 1.046875 -0.75 C 1.046875 -0.3125 0.9375 -0.3125 0.28125 -0.3125 L 0.28125 0 L 1.40625 -0.03125 C 1.8125 -0.03125 2.265625 -0.03125 2.671875 0 L 2.671875 -0.3125 L 2.453125 -0.3125 C 1.71875 -0.3125 1.703125 -0.421875 1.703125 -0.78125 L 1.703125 -2.296875 C 1.703125 -3.28125 2.125 -4.171875 2.875 -4.171875 C 2.953125 -4.171875 2.96875 -4.171875 2.984375 -4.15625 C 2.953125 -4.140625 2.765625 -4.03125 2.765625 -3.765625 C 2.765625 -3.5 2.96875 -3.34375 3.1875 -3.34375 C 3.359375 -3.34375 3.609375 -3.46875 3.609375 -3.78125 Z M 3.609375 -3.78125 "/>
</symbol>
<symbol overflow="visible" id="glyph0-11">
<path style="stroke:none;" d="M 4.796875 -0.890625 L 4.796875 -1.4375 L 4.546875 -1.4375 L 4.546875 -0.890625 C 4.546875 -0.3125 4.296875 -0.25 4.1875 -0.25 C 3.859375 -0.25 3.8125 -0.6875 3.8125 -0.75 L 3.8125 -2.734375 C 3.8125 -3.140625 3.8125 -3.53125 3.46875 -3.90625 C 3.078125 -4.28125 2.578125 -4.4375 2.109375 -4.4375 C 1.296875 -4.4375 0.609375 -3.984375 0.609375 -3.328125 C 0.609375 -3.03125 0.796875 -2.859375 1.0625 -2.859375 C 1.34375 -2.859375 1.515625 -3.0625 1.515625 -3.3125 C 1.515625 -3.4375 1.46875 -3.765625 1.015625 -3.765625 C 1.28125 -4.125 1.765625 -4.234375 2.078125 -4.234375 C 2.5625 -4.234375 3.140625 -3.84375 3.140625 -2.953125 L 3.140625 -2.59375 C 2.625 -2.5625 1.9375 -2.53125 1.3125 -2.234375 C 0.5625 -1.890625 0.3125 -1.375 0.3125 -0.9375 C 0.3125 -0.140625 1.28125 0.109375 1.90625 0.109375 C 2.5625 0.109375 3.015625 -0.28125 3.203125 -0.75 C 3.25 -0.359375 3.515625 0.0625 3.984375 0.0625 C 4.1875 0.0625 4.796875 -0.078125 4.796875 -0.890625 Z M 3.140625 -1.390625 C 3.140625 -0.453125 2.421875 -0.109375 1.96875 -0.109375 C 1.484375 -0.109375 1.078125 -0.453125 1.078125 -0.953125 C 1.078125 -1.5 1.5 -2.328125 3.140625 -2.375 Z M 3.140625 -1.390625 "/>
</symbol>
<symbol overflow="visible" id="glyph0-12">
<path style="stroke:none;" d="M 2.53125 0 L 2.53125 -0.3125 C 1.859375 -0.3125 1.75 -0.3125 1.75 -0.75 L 1.75 -6.890625 L 0.328125 -6.78125 L 0.328125 -6.46875 C 1.015625 -6.46875 1.09375 -6.40625 1.09375 -5.90625 L 1.09375 -0.75 C 1.09375 -0.3125 0.984375 -0.3125 0.328125 -0.3125 L 0.328125 0 L 1.421875 -0.03125 Z M 2.53125 0 "/>
</symbol>
<symbol overflow="visible" id="glyph0-13">
<path style="stroke:none;" d="M 3.984375 -1.859375 L 3.734375 -1.859375 C 3.640625 -0.6875 3.4375 -0.25 2.28125 -0.25 L 1.109375 -0.25 L 3.875 -3.984375 C 3.953125 -4.09375 3.953125 -4.109375 3.953125 -4.140625 C 3.953125 -4.28125 3.875 -4.28125 3.703125 -4.28125 L 0.53125 -4.28125 L 0.421875 -2.671875 L 0.671875 -2.671875 C 0.71875 -3.6875 0.90625 -4.0625 2 -4.0625 L 3.140625 -4.0625 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 3.8125 0 Z M 3.984375 -1.859375 "/>
</symbol>
<symbol overflow="visible" id="glyph0-14">
<path style="stroke:none;" d="M 6.1875 -4.9375 C 6.1875 -5.90625 5.203125 -6.78125 3.84375 -6.78125 L 0.34375 -6.78125 L 0.34375 -6.46875 L 0.578125 -6.46875 C 1.34375 -6.46875 1.375 -6.359375 1.375 -6 L 1.375 -0.78125 C 1.375 -0.421875 1.34375 -0.3125 0.578125 -0.3125 L 0.34375 -0.3125 L 0.34375 0 C 0.6875 -0.03125 1.421875 -0.03125 1.8125 -0.03125 C 2.1875 -0.03125 2.921875 -0.03125 3.28125 0 L 3.28125 -0.3125 L 3.03125 -0.3125 C 2.265625 -0.3125 2.25 -0.421875 2.25 -0.78125 L 2.25 -3.140625 L 3.921875 -3.140625 C 5.125 -3.140625 6.1875 -3.9375 6.1875 -4.9375 Z M 5.171875 -4.9375 C 5.171875 -4.46875 5.171875 -3.390625 3.59375 -3.390625 L 2.21875 -3.390625 L 2.21875 -6.078125 C 2.21875 -6.40625 2.25 -6.46875 2.703125 -6.46875 L 3.59375 -6.46875 C 5.171875 -6.46875 5.171875 -5.421875 5.171875 -4.9375 Z M 5.171875 -4.9375 "/>
</symbol>
<symbol overflow="visible" id="glyph0-15">
<path style="stroke:none;" d="M 4.140625 -6.3125 L 3.984375 -6.453125 C 3.984375 -6.453125 3.609375 -5.984375 3.171875 -5.984375 C 2.9375 -5.984375 2.6875 -6.125 2.515625 -6.234375 C 2.25 -6.390625 2.078125 -6.453125 1.90625 -6.453125 C 1.53125 -6.453125 1.34375 -6.234375 0.828125 -5.6875 L 0.984375 -5.53125 C 0.984375 -5.53125 1.375 -6.015625 1.8125 -6.015625 C 2.03125 -6.015625 2.28125 -5.859375 2.453125 -5.765625 C 2.71875 -5.609375 2.890625 -5.53125 3.0625 -5.53125 C 3.4375 -5.53125 3.625 -5.75 4.140625 -6.3125 Z M 4.140625 -6.3125 "/>
</symbol>
<symbol overflow="visible" id="glyph0-16">
<path style="stroke:none;" d="M 3.28125 2.375 C 3.28125 2.34375 3.28125 2.328125 3.109375 2.15625 C 1.875 0.90625 1.5625 -0.96875 1.5625 -2.484375 C 1.5625 -4.203125 1.9375 -5.9375 3.15625 -7.171875 C 3.28125 -7.296875 3.28125 -7.3125 3.28125 -7.34375 C 3.28125 -7.40625 3.25 -7.4375 3.1875 -7.4375 C 3.078125 -7.4375 2.1875 -6.765625 1.609375 -5.5 C 1.09375 -4.421875 0.984375 -3.3125 0.984375 -2.484375 C 0.984375 -1.703125 1.09375 -0.5 1.640625 0.609375 C 2.234375 1.828125 3.078125 2.484375 3.1875 2.484375 C 3.25 2.484375 3.28125 2.453125 3.28125 2.375 Z M 3.28125 2.375 "/>
</symbol>
<symbol overflow="visible" id="glyph0-17">
<path style="stroke:none;" d="M 2.875 -2.484375 C 2.875 -3.25 2.765625 -4.453125 2.21875 -5.578125 C 1.625 -6.796875 0.765625 -7.4375 0.671875 -7.4375 C 0.609375 -7.4375 0.5625 -7.40625 0.5625 -7.34375 C 0.5625 -7.3125 0.5625 -7.296875 0.75 -7.109375 C 1.71875 -6.125 2.296875 -4.546875 2.296875 -2.484375 C 2.296875 -0.78125 1.921875 0.96875 0.6875 2.21875 C 0.5625 2.328125 0.5625 2.34375 0.5625 2.375 C 0.5625 2.4375 0.609375 2.484375 0.671875 2.484375 C 0.765625 2.484375 1.65625 1.8125 2.25 0.546875 C 2.75 -0.546875 2.875 -1.640625 2.875 -2.484375 Z M 2.875 -2.484375 "/>
</symbol>
<symbol overflow="visible" id="glyph0-18">
<path style="stroke:none;" d="M 7.15625 -3.4375 C 7.15625 -3.640625 6.96875 -3.640625 6.828125 -3.640625 L 0.890625 -3.640625 C 0.75 -3.640625 0.5625 -3.640625 0.5625 -3.4375 C 0.5625 -3.25 0.75 -3.25 0.890625 -3.25 L 6.8125 -3.25 C 6.96875 -3.25 7.15625 -3.25 7.15625 -3.4375 Z M 7.15625 -1.515625 C 7.15625 -1.71875 6.96875 -1.71875 6.8125 -1.71875 L 0.890625 -1.71875 C 0.75 -1.71875 0.5625 -1.71875 0.5625 -1.515625 C 0.5625 -1.3125 0.75 -1.3125 0.890625 -1.3125 L 6.828125 -1.3125 C 6.96875 -1.3125 7.15625 -1.3125 7.15625 -1.515625 Z M 7.15625 -1.515625 "/>
</symbol>
<symbol overflow="visible" id="glyph1-0">
<path style="stroke:none;" d=""/>
</symbol>
<symbol overflow="visible" id="glyph1-1">
<path style="stroke:none;" d="M 7.484375 -5.28125 C 7.484375 -6.046875 6.828125 -6.78125 5.53125 -6.78125 L 2.3125 -6.78125 C 2.125 -6.78125 2.015625 -6.78125 2.015625 -6.59375 C 2.015625 -6.46875 2.109375 -6.46875 2.296875 -6.46875 C 2.4375 -6.46875 2.609375 -6.453125 2.734375 -6.453125 C 2.890625 -6.421875 2.953125 -6.40625 2.953125 -6.296875 C 2.953125 -6.25 2.9375 -6.21875 2.90625 -6.109375 L 1.578125 -0.78125 C 1.484375 -0.390625 1.453125 -0.3125 0.671875 -0.3125 C 0.5 -0.3125 0.390625 -0.3125 0.390625 -0.125 C 0.390625 0 0.515625 0 0.546875 0 L 1.8125 -0.03125 L 2.4375 -0.015625 C 2.65625 -0.015625 2.875 0 3.078125 0 C 3.15625 0 3.28125 0 3.28125 -0.203125 C 3.28125 -0.3125 3.1875 -0.3125 3 -0.3125 C 2.640625 -0.3125 2.359375 -0.3125 2.359375 -0.484375 C 2.359375 -0.546875 2.375 -0.59375 2.390625 -0.65625 L 3 -3.140625 L 4.6875 -3.140625 C 6.109375 -3.140625 7.484375 -4.171875 7.484375 -5.28125 Z M 6.5625 -5.515625 C 6.5625 -5.125 6.359375 -4.28125 5.96875 -3.921875 C 5.484375 -3.46875 4.875 -3.390625 4.4375 -3.390625 L 3.046875 -3.390625 L 3.71875 -6.09375 C 3.8125 -6.4375 3.828125 -6.46875 4.25 -6.46875 L 5.203125 -6.46875 C 6.03125 -6.46875 6.5625 -6.203125 6.5625 -5.515625 Z M 6.5625 -5.515625 "/>
</symbol>
<symbol overflow="visible" id="glyph1-2">
<path style="stroke:none;" d="M 3.921875 -1.53125 C 3.921875 -1.890625 3.734375 -2.140625 3.625 -2.265625 C 3.359375 -2.546875 3.0625 -2.59375 2.625 -2.671875 C 2.265625 -2.765625 1.875 -2.828125 1.875 -3.28125 C 1.875 -3.5625 2.109375 -4.171875 2.984375 -4.171875 C 3.234375 -4.171875 3.734375 -4.09375 3.875 -3.703125 C 3.609375 -3.703125 3.40625 -3.484375 3.40625 -3.265625 C 3.40625 -3.125 3.5 -2.96875 3.703125 -2.96875 C 3.921875 -2.96875 4.171875 -3.140625 4.171875 -3.53125 C 4.171875 -3.984375 3.734375 -4.390625 2.984375 -4.390625 C 1.671875 -4.390625 1.3125 -3.375 1.3125 -2.9375 C 1.3125 -2.15625 2.046875 -2.015625 2.328125 -1.953125 C 2.84375 -1.859375 3.359375 -1.75 3.359375 -1.203125 C 3.359375 -0.9375 3.140625 -0.109375 1.9375 -0.109375 C 1.8125 -0.109375 1.046875 -0.109375 0.8125 -0.640625 C 1.1875 -0.578125 1.4375 -0.890625 1.4375 -1.15625 C 1.4375 -1.390625 1.28125 -1.515625 1.078125 -1.515625 C 0.8125 -1.515625 0.515625 -1.296875 0.515625 -0.859375 C 0.515625 -0.28125 1.078125 0.109375 1.9375 0.109375 C 3.546875 0.109375 3.921875 -1.09375 3.921875 -1.53125 Z M 3.921875 -1.53125 "/>
</symbol>
<symbol overflow="visible" id="glyph1-3">
<path style="stroke:none;" d="M 7.15625 -2.59375 C 7.15625 -2.671875 7.109375 -2.703125 7.03125 -2.703125 C 6.796875 -2.703125 6.21875 -2.671875 5.984375 -2.671875 L 4.59375 -2.703125 C 4.5 -2.703125 4.390625 -2.703125 4.390625 -2.515625 C 4.390625 -2.40625 4.46875 -2.40625 4.6875 -2.40625 C 4.6875 -2.40625 4.984375 -2.40625 5.203125 -2.375 C 5.46875 -2.34375 5.515625 -2.328125 5.515625 -2.1875 C 5.515625 -2.109375 5.40625 -1.65625 5.3125 -1.296875 C 5.03125 -0.203125 3.734375 -0.09375 3.390625 -0.09375 C 2.4375 -0.09375 1.40625 -0.65625 1.40625 -2.171875 C 1.40625 -2.484375 1.5 -4.125 2.546875 -5.40625 C 3.078125 -6.078125 4.03125 -6.6875 5.015625 -6.6875 C 6.03125 -6.6875 6.625 -5.921875 6.625 -4.765625 C 6.625 -4.375 6.59375 -4.359375 6.59375 -4.265625 C 6.59375 -4.171875 6.703125 -4.171875 6.734375 -4.171875 C 6.859375 -4.171875 6.859375 -4.1875 6.921875 -4.359375 L 7.546875 -6.890625 C 7.546875 -6.921875 7.515625 -7 7.4375 -7 C 7.40625 -7 7.390625 -6.984375 7.28125 -6.875 L 6.59375 -6.109375 C 6.5 -6.25 6.046875 -7 4.9375 -7 C 2.734375 -7 0.5 -4.796875 0.5 -2.5 C 0.5 -0.921875 1.59375 0.21875 3.203125 0.21875 C 3.640625 0.21875 4.09375 0.125 4.4375 -0.015625 C 4.9375 -0.21875 5.125 -0.421875 5.3125 -0.625 C 5.390625 -0.375 5.65625 -0.015625 5.75 -0.015625 C 5.796875 -0.015625 5.828125 -0.046875 5.828125 -0.046875 C 5.84375 -0.0625 5.9375 -0.453125 6 -0.65625 L 6.1875 -1.421875 C 6.21875 -1.59375 6.265625 -1.75 6.3125 -1.921875 C 6.421875 -2.375 6.421875 -2.390625 7 -2.40625 C 7.046875 -2.40625 7.15625 -2.40625 7.15625 -2.59375 Z M 7.15625 -2.59375 "/>
</symbol>
<symbol overflow="visible" id="glyph1-4">
<path style="stroke:none;" d="M 10.390625 -6.671875 C 10.390625 -6.703125 10.359375 -6.78125 10.28125 -6.78125 C 10.046875 -6.78125 9.765625 -6.75 9.515625 -6.75 C 9.171875 -6.75 8.8125 -6.78125 8.484375 -6.78125 C 8.421875 -6.78125 8.296875 -6.78125 8.296875 -6.59375 C 8.296875 -6.484375 8.390625 -6.46875 8.4375 -6.46875 C 8.6875 -6.453125 9.03125 -6.375 9.03125 -6.078125 C 9.03125 -5.96875 8.984375 -5.890625 8.90625 -5.75 L 6.21875 -1.078125 L 5.859375 -6 C 5.84375 -6.203125 5.828125 -6.453125 6.546875 -6.46875 C 6.71875 -6.46875 6.8125 -6.46875 6.8125 -6.671875 C 6.8125 -6.765625 6.703125 -6.78125 6.671875 -6.78125 C 6.265625 -6.78125 5.859375 -6.75 5.453125 -6.75 C 5.234375 -6.75 4.640625 -6.78125 4.421875 -6.78125 C 4.359375 -6.78125 4.234375 -6.78125 4.234375 -6.578125 C 4.234375 -6.46875 4.328125 -6.46875 4.46875 -6.46875 C 4.90625 -6.46875 4.96875 -6.40625 4.984375 -6.21875 L 5.046875 -5.453125 L 2.546875 -1.078125 L 2.15625 -6.109375 C 2.15625 -6.234375 2.15625 -6.453125 2.921875 -6.46875 C 3.015625 -6.46875 3.125 -6.46875 3.125 -6.671875 C 3.125 -6.78125 2.984375 -6.78125 2.984375 -6.78125 C 2.59375 -6.78125 2.171875 -6.75 1.765625 -6.75 C 1.421875 -6.75 1.0625 -6.78125 0.71875 -6.78125 C 0.671875 -6.78125 0.546875 -6.78125 0.546875 -6.59375 C 0.546875 -6.46875 0.640625 -6.46875 0.796875 -6.46875 C 1.296875 -6.46875 1.296875 -6.375 1.3125 -6.109375 L 1.765625 -0.046875 C 1.78125 0.140625 1.78125 0.21875 1.921875 0.21875 C 2.046875 0.21875 2.078125 0.15625 2.15625 0.015625 L 5.078125 -5.046875 L 5.453125 -0.046875 C 5.46875 0.171875 5.484375 0.21875 5.609375 0.21875 C 5.734375 0.21875 5.796875 0.125 5.84375 0.03125 L 9.09375 -5.625 C 9.34375 -6.0625 9.578125 -6.421875 10.203125 -6.46875 C 10.296875 -6.484375 10.390625 -6.484375 10.390625 -6.671875 Z M 10.390625 -6.671875 "/>
</symbol>
<symbol overflow="visible" id="glyph1-5">
<path style="stroke:none;" d="M 7.34375 -0.203125 C 7.34375 -0.3125 7.234375 -0.3125 7.140625 -0.3125 C 6.734375 -0.3125 6.609375 -0.40625 6.453125 -0.75 L 5.046875 -4.015625 C 5.046875 -4.03125 5 -4.125 5 -4.140625 C 5 -4.140625 5.171875 -4.296875 5.28125 -4.375 L 7.03125 -5.71875 C 7.953125 -6.40625 8.34375 -6.4375 8.640625 -6.46875 C 8.71875 -6.484375 8.828125 -6.484375 8.828125 -6.671875 C 8.828125 -6.703125 8.796875 -6.78125 8.71875 -6.78125 C 8.5 -6.78125 8.25 -6.75 8 -6.75 C 7.65625 -6.75 7.265625 -6.78125 6.90625 -6.78125 C 6.84375 -6.78125 6.71875 -6.78125 6.71875 -6.578125 C 6.71875 -6.515625 6.765625 -6.484375 6.84375 -6.46875 C 7.046875 -6.453125 7.140625 -6.40625 7.140625 -6.265625 C 7.140625 -6.078125 6.84375 -5.859375 6.78125 -5.796875 L 2.921875 -2.828125 L 3.703125 -6.015625 C 3.796875 -6.375 3.8125 -6.46875 4.546875 -6.46875 C 4.796875 -6.46875 4.875 -6.46875 4.875 -6.671875 C 4.875 -6.75 4.796875 -6.78125 4.75 -6.78125 L 3.46875 -6.75 L 2.1875 -6.78125 C 2.125 -6.78125 2 -6.78125 2 -6.59375 C 2 -6.46875 2.078125 -6.46875 2.28125 -6.46875 C 2.40625 -6.46875 2.59375 -6.453125 2.703125 -6.453125 C 2.875 -6.421875 2.921875 -6.40625 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 0.375 -0.3125 0.375 -0.125 C 0.375 0 0.5 0 0.53125 0 L 1.78125 -0.03125 L 2.421875 -0.015625 C 2.640625 -0.015625 2.859375 0 3.0625 0 C 3.140625 0 3.265625 0 3.265625 -0.203125 C 3.265625 -0.3125 3.171875 -0.3125 2.984375 -0.3125 C 2.625 -0.3125 2.34375 -0.3125 2.34375 -0.484375 C 2.34375 -0.5625 2.40625 -0.78125 2.4375 -0.921875 L 2.828125 -2.484375 L 4.3125 -3.625 L 5.453125 -0.96875 C 5.578125 -0.6875 5.578125 -0.671875 5.578125 -0.609375 C 5.578125 -0.3125 5.15625 -0.3125 5.0625 -0.3125 C 4.953125 -0.3125 4.84375 -0.3125 4.84375 -0.109375 C 4.84375 0 4.984375 0 4.984375 0 C 5.375 0 5.796875 -0.03125 6.1875 -0.03125 C 6.40625 -0.03125 6.9375 0 7.15625 0 C 7.21875 0 7.34375 0 7.34375 -0.203125 Z M 7.34375 -0.203125 "/>
</symbol>
<symbol overflow="visible" id="glyph1-6">
<path style="stroke:none;" d="M 3.546875 -0.390625 C 3.546875 -0.421875 3.546875 -0.53125 3.453125 -0.53125 C 3.453125 -0.53125 3.40625 -0.53125 3.328125 -0.46875 C 3.015625 -0.28125 2.65625 -0.109375 2.28125 -0.109375 C 1.703125 -0.109375 1.203125 -0.53125 1.203125 -1.40625 C 1.203125 -1.75 1.296875 -2.125 1.3125 -2.25 L 2.953125 -2.25 C 3.109375 -2.25 3.296875 -2.25 3.296875 -2.40625 C 3.296875 -2.546875 3.171875 -2.546875 3 -2.546875 L 1.40625 -2.546875 C 1.640625 -3.390625 2.1875 -3.96875 3.09375 -3.96875 L 3.40625 -3.96875 C 3.578125 -3.96875 3.734375 -3.96875 3.734375 -4.140625 C 3.734375 -4.28125 3.609375 -4.28125 3.4375 -4.28125 L 3.078125 -4.28125 C 1.796875 -4.28125 0.46875 -3.28125 0.46875 -1.765625 C 0.46875 -0.671875 1.203125 0.109375 2.265625 0.109375 C 2.90625 0.109375 3.546875 -0.28125 3.546875 -0.390625 Z M 3.546875 -0.390625 "/>
</symbol>
<symbol overflow="visible" id="glyph1-7">
<path style="stroke:none;" d="M 4.640625 -3.6875 C 4.640625 -4.234375 4.390625 -4.390625 4.203125 -4.390625 C 3.953125 -4.390625 3.71875 -4.125 3.71875 -3.90625 C 3.71875 -3.78125 3.765625 -3.71875 3.875 -3.609375 C 4.09375 -3.40625 4.21875 -3.15625 4.21875 -2.796875 C 4.21875 -2.375 3.609375 -0.109375 2.453125 -0.109375 C 1.9375 -0.109375 1.71875 -0.453125 1.71875 -0.96875 C 1.71875 -1.53125 1.984375 -2.25 2.296875 -3.078125 C 2.359375 -3.25 2.40625 -3.390625 2.40625 -3.578125 C 2.40625 -4.015625 2.09375 -4.390625 1.59375 -4.390625 C 0.671875 -4.390625 0.28125 -2.953125 0.28125 -2.859375 C 0.28125 -2.765625 0.40625 -2.765625 0.40625 -2.765625 C 0.5 -2.765625 0.515625 -2.78125 0.5625 -2.9375 C 0.859375 -3.9375 1.28125 -4.171875 1.5625 -4.171875 C 1.640625 -4.171875 1.8125 -4.171875 1.8125 -3.84375 C 1.8125 -3.609375 1.71875 -3.328125 1.640625 -3.15625 C 1.203125 -2 1.078125 -1.546875 1.078125 -1.125 C 1.078125 -0.046875 1.953125 0.109375 2.40625 0.109375 C 4.078125 0.109375 4.640625 -3.171875 4.640625 -3.6875 Z M 4.640625 -3.6875 "/>
</symbol>
<symbol overflow="visible" id="glyph1-8">
<path style="stroke:none;" d="M 5.390625 -1.421875 C 5.390625 -1.515625 5.296875 -1.515625 5.265625 -1.515625 C 5.171875 -1.515625 5.15625 -1.484375 5.125 -1.34375 C 4.984375 -0.78125 4.796875 -0.109375 4.390625 -0.109375 C 4.171875 -0.109375 4.078125 -0.234375 4.078125 -0.5625 C 4.078125 -0.78125 4.203125 -1.25 4.28125 -1.59375 L 4.546875 -2.671875 C 4.578125 -2.8125 4.6875 -3.1875 4.71875 -3.34375 C 4.765625 -3.578125 4.875 -3.953125 4.875 -4.015625 C 4.875 -4.1875 4.734375 -4.28125 4.578125 -4.28125 C 4.53125 -4.28125 4.28125 -4.265625 4.203125 -3.921875 L 3.453125 -0.9375 C 3.4375 -0.90625 3.046875 -0.109375 2.328125 -0.109375 C 1.8125 -0.109375 1.703125 -0.5625 1.703125 -0.921875 C 1.703125 -1.484375 1.984375 -2.265625 2.25 -2.953125 C 2.359375 -3.25 2.40625 -3.390625 2.40625 -3.578125 C 2.40625 -4.015625 2.09375 -4.390625 1.59375 -4.390625 C 0.65625 -4.390625 0.28125 -2.953125 0.28125 -2.859375 C 0.28125 -2.765625 0.40625 -2.765625 0.40625 -2.765625 C 0.5 -2.765625 0.515625 -2.78125 0.5625 -2.9375 C 0.8125 -3.796875 1.1875 -4.171875 1.5625 -4.171875 C 1.65625 -4.171875 1.8125 -4.15625 1.8125 -3.84375 C 1.8125 -3.609375 1.703125 -3.3125 1.640625 -3.171875 C 1.28125 -2.1875 1.078125 -1.5625 1.078125 -1.078125 C 1.078125 -0.140625 1.75 0.109375 2.296875 0.109375 C 2.953125 0.109375 3.296875 -0.34375 3.46875 -0.5625 C 3.578125 -0.15625 3.921875 0.109375 4.359375 0.109375 C 4.703125 0.109375 4.9375 -0.125 5.09375 -0.4375 C 5.265625 -0.796875 5.390625 -1.421875 5.390625 -1.421875 Z M 5.390625 -1.421875 "/>
</symbol>
<symbol overflow="visible" id="glyph1-9">
<path style="stroke:none;" d="M 6.859375 -3.6875 C 6.859375 -4.234375 6.59375 -4.390625 6.421875 -4.390625 C 6.171875 -4.390625 5.921875 -4.125 5.921875 -3.90625 C 5.921875 -3.78125 5.984375 -3.71875 6.078125 -3.640625 C 6.1875 -3.53125 6.421875 -3.28125 6.421875 -2.796875 C 6.421875 -2.453125 6.140625 -1.484375 5.890625 -0.984375 C 5.625 -0.453125 5.28125 -0.109375 4.796875 -0.109375 C 4.328125 -0.109375 4.0625 -0.40625 4.0625 -0.96875 C 4.0625 -1.25 4.125 -1.5625 4.171875 -1.703125 L 4.578125 -3.359375 C 4.640625 -3.578125 4.734375 -3.953125 4.734375 -4.015625 C 4.734375 -4.1875 4.59375 -4.28125 4.4375 -4.28125 C 4.328125 -4.28125 4.140625 -4.203125 4.078125 -4 C 4.046875 -3.921875 3.578125 -2.03125 3.515625 -1.78125 C 3.4375 -1.484375 3.421875 -1.296875 3.421875 -1.125 C 3.421875 -1.015625 3.421875 -0.984375 3.4375 -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 1.78125 -1.71875 2.25 -2.9375 C 2.34375 -3.234375 2.40625 -3.375 2.40625 -3.578125 C 2.40625 -4.015625 2.078125 -4.390625 1.59375 -4.390625 C 0.65625 -4.390625 0.28125 -2.953125 0.28125 -2.859375 C 0.28125 -2.765625 0.40625 -2.765625 0.40625 -2.765625 C 0.5 -2.765625 0.515625 -2.78125 0.5625 -2.9375 C 0.828125 -3.859375 1.21875 -4.171875 1.5625 -4.171875 C 1.65625 -4.171875 1.8125 -4.15625 1.8125 -3.84375 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 4.46875 0.109375 4.765625 0.109375 C 5.5 0.109375 5.9375 -0.515625 6.203125 -1.109375 C 6.53125 -1.890625 6.859375 -3.21875 6.859375 -3.6875 Z M 6.859375 -3.6875 "/>
</symbol>
<symbol overflow="visible" id="glyph1-10">
<path style="stroke:none;" d="M 4.328125 -3.734375 C 4.328125 -4.09375 4.015625 -4.390625 3.5 -4.390625 C 2.859375 -4.390625 2.421875 -3.90625 2.234375 -3.625 C 2.15625 -4.0625 1.796875 -4.390625 1.328125 -4.390625 C 0.875 -4.390625 0.6875 -4 0.59375 -3.8125 C 0.421875 -3.484375 0.28125 -2.890625 0.28125 -2.859375 C 0.28125 -2.765625 0.40625 -2.765625 0.40625 -2.765625 C 0.5 -2.765625 0.515625 -2.765625 0.578125 -2.984375 C 0.75 -3.6875 0.9375 -4.171875 1.296875 -4.171875 C 1.46875 -4.171875 1.609375 -4.09375 1.609375 -3.703125 C 1.609375 -3.5 1.578125 -3.390625 1.453125 -2.875 L 0.875 -0.578125 C 0.84375 -0.4375 0.78125 -0.203125 0.78125 -0.15625 C 0.78125 0.015625 0.921875 0.109375 1.078125 0.109375 C 1.1875 0.109375 1.375 0.03125 1.4375 -0.171875 C 1.453125 -0.203125 1.796875 -1.5625 1.828125 -1.734375 L 2.15625 -3.03125 C 2.1875 -3.15625 2.46875 -3.625 2.703125 -3.84375 C 2.78125 -3.90625 3.078125 -4.171875 3.5 -4.171875 C 3.765625 -4.171875 3.921875 -4.046875 3.921875 -4.046875 C 3.625 -4 3.40625 -3.765625 3.40625 -3.5 C 3.40625 -3.34375 3.515625 -3.15625 3.78125 -3.15625 C 4.046875 -3.15625 4.328125 -3.390625 4.328125 -3.734375 Z M 4.328125 -3.734375 "/>
</symbol>
<symbol overflow="visible" id="glyph2-0">
<path style="stroke:none;" d=""/>
</symbol>
<symbol overflow="visible" id="glyph2-1">
<path style="stroke:none;" d="M 11.546875 -4.265625 C 11.546875 -4.578125 11.265625 -4.578125 11.015625 -4.578125 L 6.46875 -4.578125 L 6.46875 -9.125 C 6.46875 -9.375 6.46875 -9.65625 6.171875 -9.65625 C 5.875 -9.65625 5.875 -9.390625 5.875 -9.125 L 5.875 -4.578125 L 1.328125 -4.578125 C 1.078125 -4.578125 0.796875 -4.578125 0.796875 -4.296875 C 0.796875 -3.984375 1.0625 -3.984375 1.328125 -3.984375 L 5.875 -3.984375 L 5.875 0.5625 C 5.875 0.8125 5.875 1.09375 6.15625 1.09375 C 6.46875 1.09375 6.46875 0.828125 6.46875 0.5625 L 6.46875 -3.984375 L 11.015625 -3.984375 C 11.25 -3.984375 11.546875 -3.984375 11.546875 -4.265625 Z M 11.546875 -4.265625 "/>
</symbol>
<symbol overflow="visible" id="glyph3-0">
<path style="stroke:none;" d=""/>
</symbol>
<symbol overflow="visible" id="glyph3-1">
<path style="stroke:none;" d="M 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 "/>
</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 3.125 -1.078125 C 3.125 -1.71875 2.421875 -1.84375 2.171875 -1.890625 C 2.109375 -1.90625 1.9375 -1.9375 1.890625 -1.953125 C 1.640625 -2 1.515625 -2.140625 1.515625 -2.296875 C 1.515625 -2.453125 1.640625 -2.640625 1.78125 -2.734375 C 1.96875 -2.859375 2.21875 -2.875 2.34375 -2.875 C 2.484375 -2.875 2.84375 -2.84375 3 -2.609375 C 2.8125 -2.578125 2.703125 -2.421875 2.703125 -2.28125 C 2.703125 -2.125 2.84375 -2.0625 2.9375 -2.0625 C 3 -2.0625 3.265625 -2.109375 3.265625 -2.46875 C 3.265625 -2.90625 2.765625 -3.0625 2.34375 -3.0625 C 1.265625 -3.0625 1.0625 -2.265625 1.0625 -2.046875 C 1.0625 -1.796875 1.203125 -1.625 1.3125 -1.546875 C 1.484375 -1.40625 1.609375 -1.375 2.09375 -1.296875 C 2.234375 -1.265625 2.6875 -1.1875 2.6875 -0.828125 C 2.6875 -0.71875 2.609375 -0.453125 2.3125 -0.28125 C 2.046875 -0.125 1.703125 -0.125 1.625 -0.125 C 1.34375 -0.125 0.953125 -0.1875 0.78125 -0.421875 C 1.015625 -0.4375 1.171875 -0.625 1.171875 -0.8125 C 1.171875 -0.984375 1.046875 -1.078125 0.890625 -1.078125 C 0.703125 -1.078125 0.5 -0.90625 0.5 -0.609375 C 0.5 -0.1875 0.9375 0.0625 1.609375 0.0625 C 2.890625 0.0625 3.125 -0.8125 3.125 -1.078125 Z M 3.125 -1.078125 "/>
</symbol>
</g>
<clipPath id="clip1">
<path d="M 93 126 L 129 126 L 129 155.890625 L 93 155.890625 Z M 93 126 "/>
</clipPath>
<clipPath id="clip2">
<path d="M 179 26 L 206.546875 26 L 206.546875 58 L 179 58 Z M 179 26 "/>
</clipPath>
<clipPath id="clip3">
<path d="M 115 125 L 149 125 L 149 155.890625 L 115 155.890625 Z M 115 125 "/>
</clipPath>
</defs>
<g id="surface1">
<path style="fill-rule:nonzero;fill:rgb(79.998779%,79.998779%,79.998779%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-dasharray:2.98883,2.98883;stroke-miterlimit:10;" d="M -25.475029 -22.641073 L 122.850086 -22.641073 L 122.850086 72.703786 L -25.475029 72.703786 Z M -25.475029 -22.641073 " transform="matrix(0.996465,0,0,-0.996465,62.517786,91.798339)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-1" x="38.528889" y="12.568413"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-2" x="47.908279" y="12.568413"/>
<use xlink:href="#glyph0-3" x="52.321" y="12.568413"/>
<use xlink:href="#glyph0-4" x="55.078827" y="12.568413"/>
<use xlink:href="#glyph0-5" x="60.042518" y="12.568413"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-6" x="65.280205" y="12.568413"/>
<use xlink:href="#glyph0-2" x="69.140963" y="12.568413"/>
<use xlink:href="#glyph0-7" x="73.553685" y="12.568413"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-8" x="82.375156" y="12.568413"/>
<use xlink:href="#glyph0-2" x="90.165173" y="12.568413"/>
<use xlink:href="#glyph0-9" x="94.577894" y="12.568413"/>
<use xlink:href="#glyph0-2" x="100.093547" y="12.568413"/>
<use xlink:href="#glyph0-10" x="104.506269" y="12.568413"/>
<use xlink:href="#glyph0-11" x="108.394824" y="12.568413"/>
<use xlink:href="#glyph0-12" x="113.358515" y="12.568413"/>
<use xlink:href="#glyph0-3" x="116.116342" y="12.568413"/>
<use xlink:href="#glyph0-13" x="118.874168" y="12.568413"/>
<use xlink:href="#glyph0-2" x="123.28689" y="12.568413"/>
<use xlink:href="#glyph0-7" x="127.699611" y="12.568413"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-14" x="136.521083" y="12.568413"/>
<use xlink:href="#glyph0-12" x="143.277659" y="12.568413"/>
<use xlink:href="#glyph0-11" x="146.035485" y="12.568413"/>
<use xlink:href="#glyph0-9" x="150.999176" y="12.568413"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-6" x="156.236863" y="12.568413"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-15" x="165.629988" y="10.059314"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-1" x="163.407871" y="12.568413"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-16" x="171.160369" y="12.568413"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-2" x="175.020674" y="12.568413"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-17" x="179.674166" y="12.568413"/>
</g>
<path style="fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M -17.007596 -14.173641 L 17.007178 -14.173641 L 17.007178 14.172658 L -17.007596 14.172658 Z M -17.007596 -14.173641 " transform="matrix(0.996465,0,0,-0.996465,62.517786,91.798339)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-3" x="52.427582" y="94.280533"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-16" x="60.232892" y="94.280533"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-2" x="64.093197" y="94.280533"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-17" x="68.746689" y="94.280533"/>
</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 54.440287 0.00146892 C 54.440287 5.50138 49.979204 9.962463 44.475373 9.962463 C 38.975462 9.962463 34.514379 5.50138 34.514379 0.00146892 C 34.514379 -5.502362 38.975462 -9.963445 44.475373 -9.963445 C 49.979204 -9.963445 54.440287 -5.502362 54.440287 0.00146892 Z M 54.440287 0.00146892 " transform="matrix(0.996465,0,0,-0.996465,62.517786,91.798339)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-1" x="100.662465" y="95.949612"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-1" x="87.202216" y="88.986315"/>
</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 80.367879 35.890055 L 114.382654 35.890055 L 114.382654 64.236354 L 80.367879 64.236354 Z M 80.367879 35.890055 " transform="matrix(0.996465,0,0,-0.996465,62.517786,91.798339)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-4" x="146.549677" y="44.395504"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-1" x="155.925416" y="45.884222"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-16" x="160.16936" y="44.395504"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-2" x="164.029666" y="44.395504"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-17" x="168.683157" y="44.395504"/>
</g>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;" d="M 94.085938 154.898438 L 127.980469 154.898438 L 127.980469 126.652344 L 94.085938 126.652344 Z M 94.085938 154.898438 "/>
<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 31.680142 -63.323951 L 65.694916 -63.323951 L 65.694916 -34.977652 L 31.680142 -34.977652 Z M 31.680142 -63.323951 " transform="matrix(0.996465,0,0,-0.996465,62.517786,91.798339)"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-5" x="100.273844" y="143.25579"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-16" x="109.415414" y="143.25579"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-2" x="113.276715" y="143.25579"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-17" x="117.930207" y="143.25579"/>
</g>
<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 17.505032 0.00146892 L 29.880812 0.00146892 " transform="matrix(0.996465,0,0,-0.996465,62.517786,91.798339)"/>
<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 6.05294 0.00146892 L 1.607538 1.683195 L 3.089339 0.00146892 L 1.607538 -1.684177 Z M 6.05294 0.00146892 " transform="matrix(0.996465,0,0,-0.996465,89.464551,91.798339)"/>
<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 65.777238 0.00146892 L 65.777238 50.061244 L 75.236458 50.061244 " transform="matrix(0.996465,0,0,-0.996465,62.517786,91.798339)"/>
<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 6.054267 -0.00183568 L 1.608864 1.683811 L 3.086745 -0.00183568 L 1.608864 -1.683562 Z M 6.054267 -0.00183568 " transform="matrix(0.996465,0,0,-0.996465,134.658542,41.912233)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 130.050781 91.796875 C 130.050781 90.703125 129.160156 89.8125 128.0625 89.8125 C 126.96875 89.8125 126.078125 90.703125 126.078125 91.796875 C 126.078125 92.894531 126.96875 93.785156 128.0625 93.785156 C 129.160156 93.785156 130.050781 92.894531 130.050781 91.796875 Z M 130.050781 91.796875 "/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-6" x="134.268246" y="38.10781"/>
</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 114.880507 50.061244 L 132.924763 50.061244 " transform="matrix(0.996465,0,0,-0.996465,62.517786,91.798339)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 198.175781 41.914062 L 193.746094 40.234375 L 195.222656 41.914062 L 193.746094 43.589844 Z M 198.175781 41.914062 "/>
<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 6.052672 -0.00183568 L 1.607269 1.683811 L 3.08907 -0.00183568 L 1.607269 -1.683562 Z M 6.052672 -0.00183568 " transform="matrix(0.996465,0,0,-0.996465,192.144506,41.912233)"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-15" x="191.838013" y="38.10781"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-6" x="191.753314" y="38.10781"/>
</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 54.440287 0.00146892 L 131.71737 0.00146892 L 131.71737 -49.148841 L 70.826337 -49.148841 " transform="matrix(0.996465,0,0,-0.996465,62.517786,91.798339)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 129.890625 140.773438 L 134.320312 142.453125 L 132.847656 140.773438 L 134.320312 139.097656 Z M 129.890625 140.773438 "/>
<g clip-path="url(#clip3)" clip-rule="nonzero">
<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 6.053881 -0.00111851 L 1.608479 1.684528 L 3.08636 -0.00111851 L 1.608479 -1.682845 Z M 6.053881 -0.00111851 " transform="matrix(-0.996465,0,0,0.996465,135.923106,140.774552)"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-7" x="197.573666" y="118.423883"/>
</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 31.182288 -49.148841 L -34.514797 -49.148841 L -34.514797 0.00146892 L -22.139017 0.00146892 " transform="matrix(0.996465,0,0,-0.996465,62.517786,91.798339)"/>
<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 6.053731 0.00146892 L 1.608329 1.683195 L 3.08621 0.00146892 L 1.608329 -1.684177 Z M 6.053731 0.00146892 " transform="matrix(0.996465,0,0,-0.996465,37.627825,91.798339)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-8" x="18.637455" y="118.423883"/>
</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 -45.851749 50.061244 L 44.475373 50.061244 L 44.475373 14.59603 " transform="matrix(0.996465,0,0,-0.996465,62.517786,91.798339)"/>
<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 6.053298 -0.00182691 L 1.607896 1.683819 L 3.085777 -0.00182691 L 1.607896 -1.683553 Z M 6.053298 -0.00182691 " transform="matrix(0,0.996465,0.996465,0,106.837758,74.425131)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-9" x="4.144868" y="38.10781"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-18" x="14.275928" y="38.10781"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-10" x="24.75575" y="38.10781"/>
</g>
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 45 KiB

BIN
figs/loop_shaping_S_without_W.pdf Normal file
View File

Binary file not shown.

BIN
figs/loop_shaping_S_without_W.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 15 KiB

217
figs/loop_shaping_S_without_W.svg Normal file
View File

@ -0,0 +1,217 @@
<?xml version="1.0" encoding="UTF-8"?>
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="160.592pt" height="119.836pt" viewBox="0 0 160.592 119.836" 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 7.296875 -2.40625 L 7.296875 -2.71875 L 6.09375 -2.6875 C 5.6875 -2.6875 4.84375 -2.6875 4.484375 -2.71875 L 4.484375 -2.40625 L 4.8125 -2.40625 C 5.703125 -2.40625 5.734375 -2.296875 5.734375 -1.921875 L 5.734375 -1.296875 C 5.734375 -0.171875 4.46875 -0.09375 4.1875 -0.09375 C 3.546875 -0.09375 1.578125 -0.4375 1.578125 -3.40625 C 1.578125 -6.375 3.53125 -6.703125 4.140625 -6.703125 C 5.203125 -6.703125 6.109375 -5.796875 6.296875 -4.34375 C 6.3125 -4.203125 6.3125 -4.171875 6.453125 -4.171875 C 6.625 -4.171875 6.625 -4.203125 6.625 -4.40625 L 6.625 -6.765625 C 6.625 -6.9375 6.625 -7 6.515625 -7 C 6.46875 -7 6.421875 -7 6.34375 -6.890625 L 5.859375 -6.15625 C 5.53125 -6.46875 5 -7 4.015625 -7 C 2.171875 -7 0.5625 -5.4375 0.5625 -3.40625 C 0.5625 -1.359375 2.140625 0.21875 4.03125 0.21875 C 4.765625 0.21875 5.5625 -0.046875 5.890625 -0.625 C 6.015625 -0.40625 6.421875 -0.015625 6.53125 -0.015625 C 6.625 -0.015625 6.625 -0.09375 6.625 -0.234375 L 6.625 -1.96875 C 6.625 -2.359375 6.65625 -2.40625 7.296875 -2.40625 Z M 7.296875 -2.40625 "/>
</symbol>
<symbol overflow="visible" id="glyph0-2">
<path style="stroke:none;" d="M 4.125 -1.1875 C 4.125 -1.28125 4.046875 -1.296875 4 -1.296875 C 3.90625 -1.296875 3.890625 -1.25 3.859375 -1.15625 C 3.515625 -0.140625 2.625 -0.140625 2.53125 -0.140625 C 2.03125 -0.140625 1.625 -0.4375 1.40625 -0.8125 C 1.109375 -1.28125 1.109375 -1.9375 1.109375 -2.296875 L 3.875 -2.296875 C 4.09375 -2.296875 4.125 -2.296875 4.125 -2.5 C 4.125 -3.484375 3.59375 -4.453125 2.34375 -4.453125 C 1.1875 -4.453125 0.28125 -3.421875 0.28125 -2.1875 C 0.28125 -0.859375 1.328125 0.109375 2.46875 0.109375 C 3.671875 0.109375 4.125 -1 4.125 -1.1875 Z M 3.46875 -2.5 L 1.109375 -2.5 C 1.171875 -3.984375 2 -4.234375 2.34375 -4.234375 C 3.375 -4.234375 3.46875 -2.890625 3.46875 -2.5 Z M 3.46875 -2.5 "/>
</symbol>
<symbol overflow="visible" id="glyph0-3">
<path style="stroke:none;" d="M 5.3125 0 L 5.3125 -0.3125 C 4.796875 -0.3125 4.546875 -0.3125 4.546875 -0.609375 L 4.546875 -2.5 C 4.546875 -3.359375 4.546875 -3.671875 4.234375 -4.03125 C 4.09375 -4.1875 3.765625 -4.390625 3.1875 -4.390625 C 2.46875 -4.390625 2 -3.96875 1.71875 -3.34375 L 1.71875 -4.390625 L 0.3125 -4.28125 L 0.3125 -3.96875 C 1.015625 -3.96875 1.09375 -3.90625 1.09375 -3.421875 L 1.09375 -0.75 C 1.09375 -0.3125 0.984375 -0.3125 0.3125 -0.3125 L 0.3125 0 L 1.4375 -0.03125 L 2.546875 0 L 2.546875 -0.3125 C 1.890625 -0.3125 1.78125 -0.3125 1.78125 -0.75 L 1.78125 -2.578125 C 1.78125 -3.625 2.484375 -4.171875 3.125 -4.171875 C 3.75 -4.171875 3.859375 -3.640625 3.859375 -3.078125 L 3.859375 -0.75 C 3.859375 -0.3125 3.75 -0.3125 3.078125 -0.3125 L 3.078125 0 L 4.203125 -0.03125 Z M 5.3125 0 "/>
</symbol>
<symbol overflow="visible" id="glyph0-4">
<path style="stroke:none;" d="M 3.625 -3.78125 C 3.625 -4.109375 3.3125 -4.390625 2.875 -4.390625 C 2.15625 -4.390625 1.796875 -3.734375 1.65625 -3.296875 L 1.65625 -4.390625 L 0.28125 -4.28125 L 0.28125 -3.96875 C 0.96875 -3.96875 1.046875 -3.90625 1.046875 -3.421875 L 1.046875 -0.75 C 1.046875 -0.3125 0.9375 -0.3125 0.28125 -0.3125 L 0.28125 0 L 1.40625 -0.03125 C 1.8125 -0.03125 2.28125 -0.03125 2.671875 0 L 2.671875 -0.3125 L 2.46875 -0.3125 C 1.734375 -0.3125 1.703125 -0.421875 1.703125 -0.78125 L 1.703125 -2.3125 C 1.703125 -3.296875 2.125 -4.171875 2.875 -4.171875 C 2.953125 -4.171875 2.96875 -4.171875 2.984375 -4.15625 C 2.96875 -4.15625 2.765625 -4.03125 2.765625 -3.78125 C 2.765625 -3.5 2.96875 -3.34375 3.1875 -3.34375 C 3.375 -3.34375 3.625 -3.46875 3.625 -3.78125 Z M 3.625 -3.78125 "/>
</symbol>
<symbol overflow="visible" id="glyph0-5">
<path style="stroke:none;" d="M 4.796875 -0.890625 L 4.796875 -1.4375 L 4.546875 -1.4375 L 4.546875 -0.890625 C 4.546875 -0.3125 4.296875 -0.25 4.1875 -0.25 C 3.859375 -0.25 3.828125 -0.703125 3.828125 -0.75 L 3.828125 -2.734375 C 3.828125 -3.15625 3.828125 -3.53125 3.46875 -3.90625 C 3.078125 -4.296875 2.578125 -4.453125 2.109375 -4.453125 C 1.296875 -4.453125 0.609375 -3.984375 0.609375 -3.328125 C 0.609375 -3.03125 0.8125 -2.859375 1.0625 -2.859375 C 1.34375 -2.859375 1.515625 -3.0625 1.515625 -3.3125 C 1.515625 -3.4375 1.46875 -3.765625 1.015625 -3.78125 C 1.28125 -4.125 1.765625 -4.234375 2.09375 -4.234375 C 2.578125 -4.234375 3.140625 -3.84375 3.140625 -2.96875 L 3.140625 -2.59375 C 2.640625 -2.5625 1.9375 -2.53125 1.3125 -2.234375 C 0.5625 -1.890625 0.3125 -1.375 0.3125 -0.9375 C 0.3125 -0.140625 1.28125 0.109375 1.90625 0.109375 C 2.5625 0.109375 3.015625 -0.28125 3.203125 -0.75 C 3.25 -0.359375 3.515625 0.0625 3.984375 0.0625 C 4.1875 0.0625 4.796875 -0.078125 4.796875 -0.890625 Z M 3.140625 -1.390625 C 3.140625 -0.453125 2.421875 -0.109375 1.984375 -0.109375 C 1.484375 -0.109375 1.078125 -0.453125 1.078125 -0.953125 C 1.078125 -1.5 1.5 -2.328125 3.140625 -2.390625 Z M 3.140625 -1.390625 "/>
</symbol>
<symbol overflow="visible" id="glyph0-6">
<path style="stroke:none;" d="M 2.53125 0 L 2.53125 -0.3125 C 1.875 -0.3125 1.765625 -0.3125 1.765625 -0.75 L 1.765625 -6.890625 L 0.328125 -6.78125 L 0.328125 -6.484375 C 1.03125 -6.484375 1.109375 -6.40625 1.109375 -5.921875 L 1.109375 -0.75 C 1.109375 -0.3125 1 -0.3125 0.328125 -0.3125 L 0.328125 0 L 1.4375 -0.03125 Z M 2.53125 0 "/>
</symbol>
<symbol overflow="visible" id="glyph0-7">
<path style="stroke:none;" d="M 2.453125 0 L 2.453125 -0.3125 C 1.796875 -0.3125 1.765625 -0.359375 1.765625 -0.75 L 1.765625 -4.390625 L 0.375 -4.28125 L 0.375 -3.96875 C 1.015625 -3.96875 1.109375 -3.921875 1.109375 -3.421875 L 1.109375 -0.75 C 1.109375 -0.3125 1 -0.3125 0.328125 -0.3125 L 0.328125 0 L 1.421875 -0.03125 C 1.765625 -0.03125 2.109375 -0.015625 2.453125 0 Z M 1.90625 -6 C 1.90625 -6.265625 1.671875 -6.53125 1.375 -6.53125 C 1.046875 -6.53125 0.84375 -6.25 0.84375 -6 C 0.84375 -5.734375 1.078125 -5.46875 1.375 -5.46875 C 1.703125 -5.46875 1.90625 -5.75 1.90625 -6 Z M 1.90625 -6 "/>
</symbol>
<symbol overflow="visible" id="glyph0-8">
<path style="stroke:none;" d="M 3.984375 -1.859375 L 3.734375 -1.859375 C 3.640625 -0.6875 3.4375 -0.25 2.28125 -0.25 L 1.109375 -0.25 L 3.875 -3.984375 C 3.96875 -4.09375 3.96875 -4.109375 3.96875 -4.15625 C 3.96875 -4.28125 3.890625 -4.28125 3.703125 -4.28125 L 0.53125 -4.28125 L 0.421875 -2.6875 L 0.671875 -2.6875 C 0.71875 -3.703125 0.921875 -4.0625 2 -4.0625 L 3.140625 -4.0625 L 0.375 -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 3.8125 0 Z M 3.984375 -1.859375 "/>
</symbol>
<symbol overflow="visible" id="glyph0-9">
<path style="stroke:none;" d="M 5.234375 0 L 5.234375 -0.3125 C 4.546875 -0.3125 4.46875 -0.375 4.46875 -0.859375 L 4.46875 -6.890625 L 3.03125 -6.78125 L 3.03125 -6.484375 C 3.734375 -6.484375 3.8125 -6.40625 3.8125 -5.921875 L 3.8125 -3.78125 C 3.515625 -4.140625 3.09375 -4.390625 2.546875 -4.390625 C 1.375 -4.390625 0.34375 -3.421875 0.34375 -2.140625 C 0.34375 -0.875 1.3125 0.109375 2.4375 0.109375 C 3.078125 0.109375 3.53125 -0.234375 3.78125 -0.546875 L 3.78125 0.109375 Z M 3.78125 -1.171875 C 3.78125 -1 3.78125 -0.96875 3.671875 -0.8125 C 3.375 -0.328125 2.921875 -0.109375 2.5 -0.109375 C 2.046875 -0.109375 1.6875 -0.375 1.453125 -0.75 C 1.1875 -1.15625 1.15625 -1.71875 1.15625 -2.125 C 1.15625 -2.5 1.1875 -3.09375 1.46875 -3.53125 C 1.671875 -3.84375 2.0625 -4.171875 2.59375 -4.171875 C 2.9375 -4.171875 3.359375 -4.03125 3.671875 -3.578125 C 3.78125 -3.40625 3.78125 -3.390625 3.78125 -3.203125 Z M 3.78125 -1.171875 "/>
</symbol>
<symbol overflow="visible" id="glyph0-10">
<path style="stroke:none;" d="M 6.203125 -4.9375 C 6.203125 -5.90625 5.21875 -6.78125 3.859375 -6.78125 L 0.34375 -6.78125 L 0.34375 -6.484375 L 0.59375 -6.484375 C 1.34375 -6.484375 1.375 -6.375 1.375 -6.015625 L 1.375 -0.78125 C 1.375 -0.421875 1.34375 -0.3125 0.59375 -0.3125 L 0.34375 -0.3125 L 0.34375 0 C 0.703125 -0.03125 1.4375 -0.03125 1.8125 -0.03125 C 2.1875 -0.03125 2.9375 -0.03125 3.28125 0 L 3.28125 -0.3125 L 3.046875 -0.3125 C 2.28125 -0.3125 2.25 -0.421875 2.25 -0.78125 L 2.25 -3.140625 L 3.9375 -3.140625 C 5.125 -3.140625 6.203125 -3.9375 6.203125 -4.9375 Z M 5.171875 -4.9375 C 5.171875 -4.46875 5.171875 -3.40625 3.59375 -3.40625 L 2.21875 -3.40625 L 2.21875 -6.078125 C 2.21875 -6.40625 2.25 -6.484375 2.71875 -6.484375 L 3.59375 -6.484375 C 5.171875 -6.484375 5.171875 -5.421875 5.171875 -4.9375 Z M 5.171875 -4.9375 "/>
</symbol>
<symbol overflow="visible" id="glyph0-11">
<path style="stroke:none;" d="M 3.296875 -1.234375 L 3.296875 -1.796875 L 3.046875 -1.796875 L 3.046875 -1.25 C 3.046875 -0.515625 2.75 -0.140625 2.390625 -0.140625 C 1.71875 -0.140625 1.71875 -1.046875 1.71875 -1.21875 L 1.71875 -3.96875 L 3.140625 -3.96875 L 3.140625 -4.28125 L 1.71875 -4.28125 L 1.71875 -6.109375 L 1.46875 -6.109375 C 1.453125 -5.296875 1.15625 -4.234375 0.1875 -4.1875 L 0.1875 -3.96875 L 1.03125 -3.96875 L 1.03125 -1.234375 C 1.03125 -0.015625 1.953125 0.109375 2.3125 0.109375 C 3.015625 0.109375 3.296875 -0.59375 3.296875 -1.234375 Z M 3.296875 -1.234375 "/>
</symbol>
<symbol overflow="visible" id="glyph0-12">
<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="glyph0-13">
<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="glyph0-14">
<path style="stroke:none;" d="M 7.171875 -3.453125 C 7.171875 -3.640625 6.96875 -3.640625 6.84375 -3.640625 L 0.890625 -3.640625 C 0.75 -3.640625 0.5625 -3.640625 0.5625 -3.453125 C 0.5625 -3.25 0.75 -3.25 0.890625 -3.25 L 6.828125 -3.25 C 6.96875 -3.25 7.171875 -3.25 7.171875 -3.453125 Z M 7.171875 -1.515625 C 7.171875 -1.71875 6.96875 -1.71875 6.828125 -1.71875 L 0.890625 -1.71875 C 0.75 -1.71875 0.5625 -1.71875 0.5625 -1.515625 C 0.5625 -1.328125 0.75 -1.328125 0.890625 -1.328125 L 6.84375 -1.328125 C 6.96875 -1.328125 7.171875 -1.328125 7.171875 -1.515625 Z M 7.171875 -1.515625 "/>
</symbol>
<symbol overflow="visible" id="glyph1-0">
<path style="stroke:none;" d=""/>
</symbol>
<symbol overflow="visible" id="glyph1-1">
<path style="stroke:none;" d="M 7.5 -5.28125 C 7.5 -6.046875 6.84375 -6.78125 5.53125 -6.78125 L 2.3125 -6.78125 C 2.125 -6.78125 2.015625 -6.78125 2.015625 -6.59375 C 2.015625 -6.484375 2.109375 -6.484375 2.3125 -6.484375 C 2.4375 -6.484375 2.609375 -6.46875 2.734375 -6.453125 C 2.890625 -6.4375 2.953125 -6.40625 2.953125 -6.296875 C 2.953125 -6.265625 2.9375 -6.234375 2.90625 -6.109375 L 1.578125 -0.78125 C 1.484375 -0.390625 1.453125 -0.3125 0.671875 -0.3125 C 0.5 -0.3125 0.390625 -0.3125 0.390625 -0.125 C 0.390625 0 0.515625 0 0.546875 0 L 1.8125 -0.03125 L 2.4375 -0.015625 C 2.65625 -0.015625 2.875 0 3.09375 0 C 3.15625 0 3.296875 0 3.296875 -0.203125 C 3.296875 -0.3125 3.203125 -0.3125 3.015625 -0.3125 C 2.640625 -0.3125 2.359375 -0.3125 2.359375 -0.484375 C 2.359375 -0.546875 2.390625 -0.59375 2.390625 -0.65625 L 3.015625 -3.140625 L 4.703125 -3.140625 C 6.109375 -3.140625 7.5 -4.171875 7.5 -5.28125 Z M 6.5625 -5.53125 C 6.5625 -5.140625 6.375 -4.28125 5.984375 -3.921875 C 5.484375 -3.484375 4.890625 -3.40625 4.453125 -3.40625 L 3.046875 -3.40625 L 3.734375 -6.109375 C 3.8125 -6.453125 3.828125 -6.484375 4.265625 -6.484375 L 5.21875 -6.484375 C 6.046875 -6.484375 6.5625 -6.21875 6.5625 -5.53125 Z M 6.5625 -5.53125 "/>
</symbol>
<symbol overflow="visible" id="glyph1-2">
<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="glyph1-3">
<path style="stroke:none;" d="M 7.171875 -2.609375 C 7.171875 -2.671875 7.109375 -2.71875 7.03125 -2.71875 C 6.8125 -2.71875 6.21875 -2.6875 6 -2.6875 L 4.59375 -2.71875 C 4.515625 -2.71875 4.390625 -2.71875 4.390625 -2.515625 C 4.390625 -2.40625 4.46875 -2.40625 4.6875 -2.40625 C 4.6875 -2.40625 4.984375 -2.40625 5.21875 -2.390625 C 5.46875 -2.359375 5.53125 -2.328125 5.53125 -2.203125 C 5.53125 -2.109375 5.421875 -1.65625 5.3125 -1.296875 C 5.03125 -0.203125 3.75 -0.09375 3.40625 -0.09375 C 2.4375 -0.09375 1.40625 -0.65625 1.40625 -2.171875 C 1.40625 -2.484375 1.5 -4.125 2.546875 -5.421875 C 3.078125 -6.09375 4.046875 -6.703125 5.03125 -6.703125 C 6.046875 -6.703125 6.625 -5.9375 6.625 -4.78125 C 6.625 -4.375 6.59375 -4.375 6.59375 -4.265625 C 6.59375 -4.171875 6.703125 -4.171875 6.75 -4.171875 C 6.875 -4.171875 6.875 -4.1875 6.921875 -4.375 L 7.546875 -6.90625 C 7.546875 -6.9375 7.53125 -7 7.4375 -7 C 7.40625 -7 7.40625 -7 7.296875 -6.890625 L 6.59375 -6.125 C 6.515625 -6.265625 6.046875 -7 4.953125 -7 C 2.734375 -7 0.5 -4.8125 0.5 -2.5 C 0.5 -0.921875 1.59375 0.21875 3.203125 0.21875 C 3.640625 0.21875 4.09375 0.125 4.453125 -0.015625 C 4.953125 -0.21875 5.140625 -0.421875 5.3125 -0.625 C 5.40625 -0.375 5.671875 -0.015625 5.765625 -0.015625 C 5.8125 -0.015625 5.828125 -0.046875 5.828125 -0.046875 C 5.859375 -0.0625 5.953125 -0.453125 6 -0.65625 L 6.1875 -1.421875 C 6.234375 -1.59375 6.28125 -1.765625 6.3125 -1.921875 C 6.421875 -2.375 6.4375 -2.390625 7 -2.40625 C 7.0625 -2.40625 7.171875 -2.421875 7.171875 -2.609375 Z M 7.171875 -2.609375 "/>
</symbol>
<symbol overflow="visible" id="glyph1-4">
<path style="stroke:none;" d="M 7.359375 -0.203125 C 7.359375 -0.3125 7.25 -0.3125 7.15625 -0.3125 C 6.75 -0.3125 6.625 -0.40625 6.46875 -0.75 L 5.0625 -4.015625 C 5.046875 -4.046875 5.015625 -4.125 5.015625 -4.15625 C 5.015625 -4.15625 5.1875 -4.296875 5.296875 -4.375 L 7.03125 -5.71875 C 7.96875 -6.40625 8.359375 -6.453125 8.65625 -6.484375 C 8.734375 -6.484375 8.828125 -6.5 8.828125 -6.671875 C 8.828125 -6.71875 8.796875 -6.78125 8.71875 -6.78125 C 8.5 -6.78125 8.265625 -6.75 8.015625 -6.75 C 7.65625 -6.75 7.28125 -6.78125 6.921875 -6.78125 C 6.84375 -6.78125 6.734375 -6.78125 6.734375 -6.59375 C 6.734375 -6.515625 6.78125 -6.484375 6.84375 -6.484375 C 7.0625 -6.453125 7.15625 -6.40625 7.15625 -6.265625 C 7.15625 -6.09375 6.859375 -5.859375 6.796875 -5.8125 L 2.921875 -2.828125 L 3.71875 -6.015625 C 3.8125 -6.375 3.828125 -6.484375 4.546875 -6.484375 C 4.796875 -6.484375 4.890625 -6.484375 4.890625 -6.671875 C 4.890625 -6.765625 4.8125 -6.78125 4.75 -6.78125 L 3.484375 -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 2.421875 -6.484375 2.59375 -6.46875 2.71875 -6.453125 C 2.875 -6.4375 2.9375 -6.40625 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 0.375 -0.3125 0.375 -0.125 C 0.375 0 0.5 0 0.53125 0 L 1.78125 -0.03125 L 2.421875 -0.015625 C 2.640625 -0.015625 2.859375 0 3.078125 0 C 3.140625 0 3.265625 0 3.265625 -0.203125 C 3.265625 -0.3125 3.1875 -0.3125 2.984375 -0.3125 C 2.625 -0.3125 2.34375 -0.3125 2.34375 -0.484375 C 2.34375 -0.5625 2.40625 -0.78125 2.4375 -0.921875 L 2.828125 -2.484375 L 4.3125 -3.640625 L 5.46875 -0.96875 C 5.578125 -0.703125 5.578125 -0.671875 5.578125 -0.609375 C 5.578125 -0.3125 5.15625 -0.3125 5.0625 -0.3125 C 4.953125 -0.3125 4.84375 -0.3125 4.84375 -0.109375 C 4.84375 0 4.984375 0 4.984375 0 C 5.390625 0 5.796875 -0.03125 6.203125 -0.03125 C 6.421875 -0.03125 6.953125 0 7.171875 0 C 7.21875 0 7.359375 0 7.359375 -0.203125 Z M 7.359375 -0.203125 "/>
</symbol>
<symbol overflow="visible" id="glyph1-5">
<path style="stroke:none;" d="M 3.5625 -0.390625 C 3.5625 -0.421875 3.546875 -0.53125 3.453125 -0.53125 C 3.453125 -0.53125 3.421875 -0.53125 3.328125 -0.484375 C 3.015625 -0.28125 2.65625 -0.109375 2.28125 -0.109375 C 1.703125 -0.109375 1.21875 -0.53125 1.21875 -1.40625 C 1.21875 -1.75 1.296875 -2.125 1.328125 -2.25 L 2.96875 -2.25 C 3.125 -2.25 3.296875 -2.25 3.296875 -2.421875 C 3.296875 -2.546875 3.1875 -2.546875 3.015625 -2.546875 L 1.40625 -2.546875 C 1.640625 -3.40625 2.203125 -3.96875 3.09375 -3.96875 L 3.40625 -3.96875 C 3.578125 -3.96875 3.734375 -3.96875 3.734375 -4.140625 C 3.734375 -4.28125 3.609375 -4.28125 3.4375 -4.28125 L 3.09375 -4.28125 C 1.796875 -4.28125 0.46875 -3.296875 0.46875 -1.765625 C 0.46875 -0.671875 1.21875 0.109375 2.265625 0.109375 C 2.90625 0.109375 3.5625 -0.28125 3.5625 -0.390625 Z M 3.5625 -0.390625 "/>
</symbol>
<symbol overflow="visible" id="glyph1-6">
<path style="stroke:none;" d="M 4.65625 -3.703125 C 4.65625 -4.234375 4.390625 -4.390625 4.21875 -4.390625 C 3.96875 -4.390625 3.734375 -4.140625 3.734375 -3.921875 C 3.734375 -3.78125 3.78125 -3.734375 3.890625 -3.625 C 4.09375 -3.421875 4.21875 -3.15625 4.21875 -2.796875 C 4.21875 -2.390625 3.625 -0.109375 2.453125 -0.109375 C 1.953125 -0.109375 1.71875 -0.453125 1.71875 -0.96875 C 1.71875 -1.53125 1.984375 -2.25 2.296875 -3.078125 C 2.359375 -3.25 2.421875 -3.390625 2.421875 -3.578125 C 2.421875 -4.03125 2.09375 -4.390625 1.59375 -4.390625 C 0.671875 -4.390625 0.28125 -2.953125 0.28125 -2.859375 C 0.28125 -2.765625 0.40625 -2.765625 0.40625 -2.765625 C 0.5 -2.765625 0.515625 -2.78125 0.5625 -2.9375 C 0.859375 -3.9375 1.28125 -4.171875 1.5625 -4.171875 C 1.65625 -4.171875 1.8125 -4.171875 1.8125 -3.859375 C 1.8125 -3.609375 1.71875 -3.34375 1.65625 -3.15625 C 1.21875 -2 1.078125 -1.546875 1.078125 -1.125 C 1.078125 -0.046875 1.953125 0.109375 2.421875 0.109375 C 4.078125 0.109375 4.65625 -3.1875 4.65625 -3.703125 Z M 4.65625 -3.703125 "/>
</symbol>
<symbol overflow="visible" id="glyph1-7">
<path style="stroke:none;" d="M 5.390625 -1.421875 C 5.390625 -1.515625 5.3125 -1.515625 5.28125 -1.515625 C 5.171875 -1.515625 5.171875 -1.484375 5.140625 -1.34375 C 5 -0.78125 4.8125 -0.109375 4.390625 -0.109375 C 4.1875 -0.109375 4.078125 -0.234375 4.078125 -0.5625 C 4.078125 -0.78125 4.203125 -1.25 4.28125 -1.59375 L 4.5625 -2.671875 C 4.59375 -2.828125 4.6875 -3.203125 4.734375 -3.34375 C 4.78125 -3.578125 4.875 -3.953125 4.875 -4.015625 C 4.875 -4.1875 4.734375 -4.28125 4.59375 -4.28125 C 4.546875 -4.28125 4.28125 -4.265625 4.203125 -3.9375 L 3.453125 -0.9375 C 3.453125 -0.90625 3.046875 -0.109375 2.328125 -0.109375 C 1.8125 -0.109375 1.703125 -0.5625 1.703125 -0.921875 C 1.703125 -1.484375 1.984375 -2.265625 2.25 -2.953125 C 2.359375 -3.25 2.421875 -3.390625 2.421875 -3.578125 C 2.421875 -4.03125 2.09375 -4.390625 1.59375 -4.390625 C 0.65625 -4.390625 0.28125 -2.953125 0.28125 -2.859375 C 0.28125 -2.765625 0.40625 -2.765625 0.40625 -2.765625 C 0.5 -2.765625 0.515625 -2.78125 0.5625 -2.9375 C 0.8125 -3.8125 1.1875 -4.171875 1.5625 -4.171875 C 1.65625 -4.171875 1.8125 -4.15625 1.8125 -3.84375 C 1.8125 -3.609375 1.703125 -3.3125 1.65625 -3.171875 C 1.28125 -2.1875 1.078125 -1.5625 1.078125 -1.078125 C 1.078125 -0.140625 1.765625 0.109375 2.296875 0.109375 C 2.953125 0.109375 3.3125 -0.34375 3.484375 -0.5625 C 3.59375 -0.15625 3.9375 0.109375 4.359375 0.109375 C 4.703125 0.109375 4.9375 -0.125 5.09375 -0.4375 C 5.265625 -0.796875 5.390625 -1.421875 5.390625 -1.421875 Z M 5.390625 -1.421875 "/>
</symbol>
<symbol overflow="visible" id="glyph1-8">
<path style="stroke:none;" d="M 6.859375 -3.703125 C 6.859375 -4.25 6.59375 -4.390625 6.421875 -4.390625 C 6.1875 -4.390625 5.9375 -4.140625 5.9375 -3.921875 C 5.9375 -3.78125 6 -3.734375 6.078125 -3.640625 C 6.1875 -3.53125 6.4375 -3.28125 6.4375 -2.796875 C 6.4375 -2.46875 6.15625 -1.484375 5.890625 -0.984375 C 5.640625 -0.453125 5.28125 -0.109375 4.796875 -0.109375 C 4.328125 -0.109375 4.0625 -0.40625 4.0625 -0.96875 C 4.0625 -1.25 4.140625 -1.5625 4.171875 -1.703125 L 4.59375 -3.375 C 4.640625 -3.59375 4.734375 -3.953125 4.734375 -4.015625 C 4.734375 -4.1875 4.59375 -4.28125 4.453125 -4.28125 C 4.328125 -4.28125 4.15625 -4.203125 4.078125 -4 C 4.046875 -3.9375 3.59375 -2.03125 3.515625 -1.78125 C 3.453125 -1.484375 3.421875 -1.296875 3.421875 -1.125 C 3.421875 -1.015625 3.421875 -1 3.4375 -0.9375 C 3.203125 -0.421875 2.90625 -0.109375 2.53125 -0.109375 C 1.734375 -0.109375 1.734375 -0.84375 1.734375 -1.015625 C 1.734375 -1.328125 1.78125 -1.71875 2.25 -2.9375 C 2.359375 -3.234375 2.421875 -3.375 2.421875 -3.578125 C 2.421875 -4.03125 2.09375 -4.390625 1.59375 -4.390625 C 0.65625 -4.390625 0.28125 -2.953125 0.28125 -2.859375 C 0.28125 -2.765625 0.40625 -2.765625 0.40625 -2.765625 C 0.5 -2.765625 0.515625 -2.78125 0.5625 -2.9375 C 0.828125 -3.859375 1.21875 -4.171875 1.5625 -4.171875 C 1.65625 -4.171875 1.8125 -4.15625 1.8125 -3.84375 C 1.8125 -3.59375 1.703125 -3.3125 1.640625 -3.15625 C 1.203125 -1.984375 1.078125 -1.515625 1.078125 -1.140625 C 1.078125 -0.234375 1.75 0.109375 2.5 0.109375 C 2.65625 0.109375 3.125 0.109375 3.53125 -0.59375 C 3.78125 0.046875 4.46875 0.109375 4.765625 0.109375 C 5.515625 0.109375 5.953125 -0.515625 6.21875 -1.109375 C 6.546875 -1.890625 6.859375 -3.21875 6.859375 -3.703125 Z M 6.859375 -3.703125 "/>
</symbol>
<symbol overflow="visible" id="glyph1-9">
<path style="stroke:none;" d="M 4.328125 -3.75 C 4.328125 -4.09375 4.015625 -4.390625 3.515625 -4.390625 C 2.859375 -4.390625 2.421875 -3.90625 2.234375 -3.625 C 2.15625 -4.078125 1.796875 -4.390625 1.328125 -4.390625 C 0.875 -4.390625 0.6875 -4 0.59375 -3.828125 C 0.421875 -3.484375 0.28125 -2.890625 0.28125 -2.859375 C 0.28125 -2.765625 0.40625 -2.765625 0.40625 -2.765625 C 0.5 -2.765625 0.515625 -2.765625 0.578125 -2.984375 C 0.75 -3.703125 0.9375 -4.171875 1.296875 -4.171875 C 1.46875 -4.171875 1.609375 -4.09375 1.609375 -3.71875 C 1.609375 -3.515625 1.578125 -3.40625 1.453125 -2.875 L 0.875 -0.59375 C 0.84375 -0.4375 0.78125 -0.203125 0.78125 -0.15625 C 0.78125 0.015625 0.921875 0.109375 1.078125 0.109375 C 1.1875 0.109375 1.375 0.03125 1.4375 -0.171875 C 1.453125 -0.203125 1.796875 -1.5625 1.84375 -1.734375 L 2.15625 -3.03125 C 2.203125 -3.15625 2.46875 -3.625 2.71875 -3.84375 C 2.796875 -3.921875 3.078125 -4.171875 3.515625 -4.171875 C 3.765625 -4.171875 3.921875 -4.046875 3.921875 -4.046875 C 3.625 -4 3.40625 -3.765625 3.40625 -3.515625 C 3.40625 -3.34375 3.515625 -3.15625 3.78125 -3.15625 C 4.046875 -3.15625 4.328125 -3.390625 4.328125 -3.75 Z M 4.328125 -3.75 "/>
</symbol>
<symbol overflow="visible" id="glyph2-0">
<path style="stroke:none;" d=""/>
</symbol>
<symbol overflow="visible" id="glyph2-1">
<path style="stroke:none;" d="M 11.5625 -4.28125 C 11.5625 -4.578125 11.28125 -4.578125 11.03125 -4.578125 L 6.46875 -4.578125 L 6.46875 -9.140625 C 6.46875 -9.375 6.46875 -9.671875 6.1875 -9.671875 C 5.875 -9.671875 5.875 -9.390625 5.875 -9.140625 L 5.875 -4.578125 L 1.328125 -4.578125 C 1.078125 -4.578125 0.796875 -4.578125 0.796875 -4.296875 C 0.796875 -3.984375 1.0625 -3.984375 1.328125 -3.984375 L 5.875 -3.984375 L 5.875 0.5625 C 5.875 0.8125 5.875 1.09375 6.171875 1.09375 C 6.46875 1.09375 6.46875 0.828125 6.46875 0.5625 L 6.46875 -3.984375 L 11.03125 -3.984375 C 11.265625 -3.984375 11.5625 -3.984375 11.5625 -4.28125 Z M 11.5625 -4.28125 "/>
</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 6.890625 -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>
</g>
<clipPath id="clip1">
<path d="M 32 0.0703125 L 143 0.0703125 L 143 88 L 32 88 Z M 32 0.0703125 "/>
</clipPath>
<clipPath id="clip2">
<path d="M 64 89 L 100 89 L 100 119.601562 L 64 119.601562 Z M 64 89 "/>
</clipPath>
<clipPath id="clip3">
<path d="M 133 9 L 160.183594 9 L 160.183594 41 L 133 41 Z M 133 9 "/>
</clipPath>
<clipPath id="clip4">
<path d="M 86 88 L 120 88 L 120 119.601562 L 86 119.601562 Z M 86 88 "/>
</clipPath>
</defs>
<g id="surface1">
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(79.998779%,79.998779%,79.998779%);fill-opacity:1;" d="M 32.855469 86.746094 L 142.183594 86.746094 L 142.183594 1.066406 L 32.855469 1.066406 Z M 32.855469 86.746094 "/>
<g clip-path="url(#clip1)" clip-rule="nonzero">
<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-dasharray:2.98883,2.98883;stroke-miterlimit:10;" d="M -29.462059 -26.625253 L 80.143825 -26.625253 L 80.143825 59.272112 L -29.462059 59.272112 Z M -29.462059 -26.625253 " transform="matrix(0.997466,0,0,-0.997466,62.242866,60.188313)"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-1" x="36.888282" y="11.831169"/>
<use xlink:href="#glyph0-2" x="44.686123" y="11.831169"/>
<use xlink:href="#glyph0-3" x="49.103276" y="11.831169"/>
<use xlink:href="#glyph0-2" x="54.62447" y="11.831169"/>
<use xlink:href="#glyph0-4" x="59.041623" y="11.831169"/>
<use xlink:href="#glyph0-5" x="62.934084" y="11.831169"/>
<use xlink:href="#glyph0-6" x="67.902761" y="11.831169"/>
<use xlink:href="#glyph0-7" x="70.663358" y="11.831169"/>
<use xlink:href="#glyph0-8" x="73.423954" y="11.831169"/>
<use xlink:href="#glyph0-2" x="77.841108" y="11.831169"/>
<use xlink:href="#glyph0-9" x="82.258261" y="11.831169"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-10" x="91.088593" y="11.831169"/>
<use xlink:href="#glyph0-6" x="97.851956" y="11.831169"/>
<use xlink:href="#glyph0-5" x="100.612553" y="11.831169"/>
<use xlink:href="#glyph0-3" x="105.581229" y="11.831169"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-11" x="110.824177" y="11.831169"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-1" x="118.002204" y="11.831169"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-12" x="125.76149" y="11.831169"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-2" x="129.626671" y="11.831169"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-13" x="134.284836" y="11.831169"/>
</g>
<path style="fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M -17.008625 -14.171819 L 17.007265 -14.171819 L 17.007265 14.17345 L -17.008625 14.17345 Z M -17.008625 -14.171819 " transform="matrix(0.997466,0,0,-0.997466,62.242866,60.188313)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-3" x="52.142527" y="62.673001"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-12" x="59.955677" y="62.673001"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-2" x="63.819859" y="62.673001"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-13" x="68.478025" y="62.673001"/>
</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 54.438058 0.000815308 C 54.438058 5.50304 49.981452 9.963563 44.475311 9.963563 C 38.973086 9.963563 34.512563 5.50304 34.512563 0.000815308 C 34.512563 -5.501409 38.973086 -9.961932 44.475311 -9.961932 C 49.981452 -9.961932 54.438058 -5.501409 54.438058 0.000815308 Z M 54.438058 0.000815308 " transform="matrix(0.997466,0,0,-0.997466,62.242866,60.188313)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-1" x="100.425858" y="64.344753"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-1" x="86.95209" y="57.373465"/>
</g>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(100%,100%,100%);fill-opacity:1;" d="M 65.152344 118.605469 L 99.082031 118.605469 L 99.082031 90.332031 L 65.152344 90.332031 Z M 65.152344 118.605469 "/>
<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 2.91687 -58.56557 L 36.932759 -58.56557 L 36.932759 -30.220301 L 2.91687 -30.220301 Z M 2.91687 -58.56557 " transform="matrix(0.997466,0,0,-0.997466,62.242866,60.188313)"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-4" x="71.348731" y="106.953502"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-12" x="80.499483" y="106.953502"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-2" x="84.364663" y="106.953502"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-13" x="89.022829" y="106.953502"/>
</g>
<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 17.504619 0.000815308 L 29.879729 0.000815308 " transform="matrix(0.997466,0,0,-0.997466,62.242866,60.188313)"/>
<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 6.052548 0.000815308 L 1.607691 1.68477 L 3.088004 0.000815308 L 1.607691 -1.68314 Z M 6.052548 0.000815308 " transform="matrix(0.997466,0,0,-0.997466,89.216696,60.188313)"/>
<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 65.779298 0.000815308 L 65.779298 35.391282 L 86.574183 35.391282 " transform="matrix(0.997466,0,0,-0.997466,62.242866,60.188313)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 151.804688 24.886719 L 147.371094 23.207031 L 148.84375 24.886719 L 147.371094 26.566406 Z M 151.804688 24.886719 "/>
<g clip-path="url(#clip3)" clip-rule="nonzero">
<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 6.054132 -0.000278285 L 1.609275 1.683677 L 3.085672 -0.000278285 L 1.609275 -1.684233 Z M 6.054132 -0.000278285 " transform="matrix(0.997466,0,0,-0.997466,145.765897,24.886441)"/>
</g>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 129.84375 60.1875 C 129.84375 59.089844 128.953125 58.199219 127.855469 58.199219 C 126.757812 58.199219 125.867188 59.089844 125.867188 60.1875 C 125.867188 61.285156 126.757812 62.175781 127.855469 62.175781 C 128.953125 62.175781 129.84375 61.285156 129.84375 60.1875 Z M 129.84375 60.1875 "/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-5" x="145.374661" y="21.078675"/>
</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 54.438058 0.000815308 L 85.368002 0.000815308 L 85.368002 -44.392936 L 42.066863 -44.392936 " transform="matrix(0.997466,0,0,-0.997466,62.242866,60.188313)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 100.996094 104.46875 L 105.429688 106.148438 L 103.953125 104.46875 L 105.429688 102.789062 Z M 100.996094 104.46875 "/>
<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 6.052846 -0.000864374 L 1.607988 1.683091 L 3.088302 -0.000864374 L 1.607988 -1.684819 Z M 6.052846 -0.000864374 " transform="matrix(-0.997466,0,0,0.997466,107.0336,104.469612)"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-6" x="151.200859" y="84.468627"/>
</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 2.419516 -44.392936 L -34.513923 -44.392936 L -34.513923 0.000815308 L -22.138813 0.000815308 " transform="matrix(0.997466,0,0,-0.997466,62.242866,60.188313)"/>
<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 6.054626 0.000815308 L 1.609768 1.68477 L 3.086166 0.000815308 L 1.609768 -1.68314 Z M 6.054626 0.000815308 " transform="matrix(0.997466,0,0,-0.997466,37.327905,60.188313)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-7" x="18.31846" y="84.468627"/>
</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 -45.851248 35.391282 L 44.475311 35.391282 L 44.475311 14.596397 " transform="matrix(0.997466,0,0,-0.997466,62.242866,60.188313)"/>
<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 6.053622 -0.00188942 L 1.608765 1.682065 L 3.089079 -0.00188942 L 1.608765 -1.681928 Z M 6.053622 -0.00188942 " transform="matrix(0,0.997466,0.997466,0,106.607353,42.797656)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-8" x="3.811317" y="21.078675"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-14" x="13.952552" y="21.078675"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-9" x="24.4429" y="21.078675"/>
</g>
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 35 KiB

BIN
figs/open_loop_shaping_shape.pdf Normal file
View File

Binary file not shown.

BIN
figs/open_loop_shaping_shape.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 17 KiB

314
figs/open_loop_shaping_shape.svg Normal file
View File

@ -0,0 +1,314 @@
<?xml version="1.0" encoding="UTF-8"?>
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="265.963pt" height="174.209pt" viewBox="0 0 265.963 174.209" version="1.2">
<defs>
<g>
<symbol overflow="visible" id="glyph0-0">
<path style="stroke:none;" d=""/>
</symbol>
<symbol overflow="visible" id="glyph0-1">
<path style="stroke:none;" d="M 5.765625 -2.375 C 5.875 -2.796875 6 -3.296875 6 -3.6875 C 6 -3.953125 5.9375 -4.171875 5.796875 -4.296875 C 5.734375 -4.359375 5.65625 -4.390625 5.5625 -4.390625 C 5.453125 -4.390625 5.3125 -4.328125 5.21875 -4.234375 C 5.125 -4.125 5.078125 -4.015625 5.078125 -3.90625 C 5.078125 -3.8125 5.125 -3.734375 5.1875 -3.65625 C 5.4375 -3.4375 5.5625 -3.140625 5.5625 -2.78125 C 5.5625 -2.671875 5.5625 -2.546875 5.53125 -2.421875 C 5.296875 -1.515625 4.71875 -0.609375 3.9375 -0.609375 C 3.390625 -0.609375 3.0625 -0.984375 2.96875 -1.5 C 3.09375 -1.78125 3.1875 -2.078125 3.265625 -2.375 C 3.28125 -2.453125 3.296875 -2.546875 3.296875 -2.625 C 3.296875 -2.78125 3.25 -2.890625 3.109375 -2.890625 C 2.921875 -2.890625 2.828125 -2.640625 2.78125 -2.421875 C 2.703125 -2.109375 2.65625 -1.8125 2.65625 -1.53125 C 2.328125 -0.984375 1.84375 -0.609375 1.296875 -0.609375 C 0.6875 -0.609375 0.4375 -1.09375 0.4375 -1.71875 C 0.4375 -1.921875 0.46875 -2.15625 0.515625 -2.375 C 0.671875 -2.96875 1.015625 -3.515625 1.40625 -4.046875 C 1.421875 -4.09375 1.453125 -4.140625 1.453125 -4.171875 C 1.453125 -4.234375 1.40625 -4.28125 1.359375 -4.3125 C 1.328125 -4.328125 1.296875 -4.328125 1.265625 -4.328125 C 1.203125 -4.328125 1.140625 -4.3125 1.09375 -4.25 C 0.6875 -3.6875 0.4375 -3.046875 0.28125 -2.421875 C 0.171875 -2.046875 0.125 -1.65625 0.125 -1.3125 C 0.125 -0.5 0.421875 0.109375 1.171875 0.109375 C 1.796875 0.109375 2.3125 -0.328125 2.6875 -0.9375 C 2.796875 -0.328125 3.140625 0.109375 3.8125 0.109375 C 4.84375 0.109375 5.46875 -1.171875 5.765625 -2.375 Z M 5.765625 -2.375 "/>
</symbol>
<symbol overflow="visible" id="glyph0-2">
<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 "/>
</symbol>
<symbol overflow="visible" id="glyph0-3">
<path style="stroke:none;" d="M 3.9375 -6.203125 C 3.9375 -6.390625 3.796875 -6.5625 3.5625 -6.5625 C 3.328125 -6.5625 3.03125 -6.328125 3.03125 -6.03125 C 3.03125 -5.828125 3.171875 -5.671875 3.40625 -5.671875 C 3.671875 -5.671875 3.9375 -5.9375 3.9375 -6.203125 Z M 3.515625 -3.109375 C 3.578125 -3.296875 3.578125 -3.4375 3.578125 -3.46875 C 3.578125 -4.03125 3.15625 -4.390625 2.65625 -4.390625 C 1.640625 -4.390625 1.078125 -2.953125 1.078125 -2.859375 C 1.078125 -2.765625 1.203125 -2.765625 1.203125 -2.765625 C 1.296875 -2.765625 1.296875 -2.765625 1.375 -2.953125 C 1.625 -3.5625 2.078125 -4.171875 2.625 -4.171875 C 2.765625 -4.171875 2.953125 -4.125 2.953125 -3.703125 C 2.953125 -3.484375 2.921875 -3.375 2.875 -3.203125 L 1.9375 0.5 C 1.75 1.25 1.28125 1.8125 0.71875 1.8125 C 0.671875 1.8125 0.515625 1.8125 0.34375 1.71875 C 0.640625 1.65625 0.78125 1.40625 0.78125 1.203125 C 0.78125 1.046875 0.671875 0.859375 0.40625 0.859375 C 0.15625 0.859375 -0.125 1.0625 -0.125 1.421875 C -0.125 1.8125 0.265625 2.03125 0.75 2.03125 C 1.4375 2.03125 2.359375 1.515625 2.609375 0.53125 Z M 3.515625 -3.109375 "/>
</symbol>
<symbol overflow="visible" id="glyph0-4">
<path style="stroke:none;" d="M 5.625 -4.03125 C 5.625 -4.28125 5.421875 -4.28125 5.234375 -4.28125 L 1.90625 -4.28125 C 1.6875 -4.28125 1.3125 -4.28125 0.875 -3.8125 C 0.53125 -3.421875 0.265625 -2.96875 0.265625 -2.921875 C 0.265625 -2.921875 0.265625 -2.8125 0.390625 -2.8125 C 0.46875 -2.8125 0.484375 -2.859375 0.546875 -2.9375 C 1.03125 -3.703125 1.609375 -3.703125 1.8125 -3.703125 L 2.375 -3.703125 C 2.046875 -2.5 1.515625 -1.296875 1.09375 -0.390625 C 1.015625 -0.25 1.015625 -0.234375 1.015625 -0.15625 C 1.015625 0.03125 1.1875 0.109375 1.3125 0.109375 C 1.609375 0.109375 1.6875 -0.171875 1.8125 -0.53125 C 1.9375 -0.984375 1.9375 -1.015625 2.078125 -1.515625 L 2.625 -3.703125 L 3.75 -3.703125 C 3.421875 -2.234375 3.328125 -1.8125 3.328125 -1.140625 C 3.328125 -0.984375 3.328125 -0.71875 3.40625 -0.390625 C 3.515625 0.046875 3.625 0.109375 3.765625 0.109375 C 3.96875 0.109375 4.171875 -0.0625 4.171875 -0.265625 C 4.171875 -0.328125 4.171875 -0.34375 4.125 -0.484375 C 3.828125 -1.203125 3.828125 -1.84375 3.828125 -2.125 C 3.828125 -2.65625 3.90625 -3.1875 4.015625 -3.703125 L 5.140625 -3.703125 C 5.265625 -3.703125 5.625 -3.703125 5.625 -4.03125 Z M 5.625 -4.03125 "/>
</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 6.484375 -6.484375 C 6.59375 -6.59375 6.59375 -6.640625 6.59375 -6.6875 C 6.59375 -6.796875 6.515625 -6.890625 6.40625 -6.890625 C 6.34375 -6.890625 6.28125 -6.859375 6.1875 -6.75 L 0.671875 -0.40625 C 0.578125 -0.3125 0.5625 -0.28125 0.5625 -0.203125 C 0.5625 0 0.75 0 0.90625 0 L 6.25 0 C 6.421875 0 6.59375 0 6.59375 -0.203125 C 6.59375 -0.390625 6.421875 -0.390625 6.25 -0.390625 L 1.1875 -0.390625 Z M 6.484375 -6.484375 "/>
</symbol>
<symbol overflow="visible" id="glyph2-0">
<path style="stroke:none;" d=""/>
</symbol>
<symbol overflow="visible" id="glyph2-1">
<path style="stroke:none;" d="M 3.28125 2.375 C 3.28125 2.34375 3.28125 2.328125 3.109375 2.15625 C 1.875 0.90625 1.5625 -0.96875 1.5625 -2.484375 C 1.5625 -4.203125 1.9375 -5.9375 3.15625 -7.171875 C 3.28125 -7.296875 3.28125 -7.3125 3.28125 -7.34375 C 3.28125 -7.40625 3.25 -7.4375 3.1875 -7.4375 C 3.078125 -7.4375 2.1875 -6.765625 1.609375 -5.5 C 1.09375 -4.421875 0.984375 -3.3125 0.984375 -2.484375 C 0.984375 -1.703125 1.09375 -0.5 1.640625 0.609375 C 2.234375 1.828125 3.078125 2.484375 3.1875 2.484375 C 3.25 2.484375 3.28125 2.453125 3.28125 2.375 Z M 3.28125 2.375 "/>
</symbol>
<symbol overflow="visible" id="glyph2-2">
<path style="stroke:none;" d="M 2.875 -2.484375 C 2.875 -3.25 2.765625 -4.453125 2.21875 -5.578125 C 1.625 -6.796875 0.765625 -7.4375 0.671875 -7.4375 C 0.609375 -7.4375 0.5625 -7.40625 0.5625 -7.34375 C 0.5625 -7.3125 0.5625 -7.296875 0.75 -7.109375 C 1.71875 -6.125 2.296875 -4.546875 2.296875 -2.484375 C 2.296875 -0.78125 1.921875 0.96875 0.6875 2.21875 C 0.5625 2.328125 0.5625 2.34375 0.5625 2.375 C 0.5625 2.4375 0.609375 2.484375 0.671875 2.484375 C 0.765625 2.484375 1.65625 1.8125 2.25 0.546875 C 2.75 -0.546875 2.875 -1.640625 2.875 -2.484375 Z M 2.875 -2.484375 "/>
</symbol>
<symbol overflow="visible" id="glyph2-3">
<path style="stroke:none;" d="M 4.453125 -1.71875 L 4.203125 -1.71875 C 4.15625 -1.421875 4.09375 -0.984375 3.984375 -0.84375 C 3.921875 -0.765625 3.265625 -0.765625 3.046875 -0.765625 L 1.265625 -0.765625 L 2.3125 -1.78125 C 3.859375 -3.15625 4.453125 -3.6875 4.453125 -4.6875 C 4.453125 -5.8125 3.5625 -6.609375 2.34375 -6.609375 C 1.234375 -6.609375 0.5 -5.6875 0.5 -4.8125 C 0.5 -4.25 0.984375 -4.25 1.015625 -4.25 C 1.1875 -4.25 1.53125 -4.375 1.53125 -4.78125 C 1.53125 -5.046875 1.359375 -5.296875 1.015625 -5.296875 C 0.9375 -5.296875 0.90625 -5.296875 0.890625 -5.28125 C 1.109375 -5.9375 1.640625 -6.296875 2.21875 -6.296875 C 3.125 -6.296875 3.546875 -5.5 3.546875 -4.6875 C 3.546875 -3.890625 3.0625 -3.109375 2.515625 -2.484375 L 0.609375 -0.359375 C 0.5 -0.265625 0.5 -0.234375 0.5 0 L 4.171875 0 Z M 4.453125 -1.71875 "/>
</symbol>
<symbol overflow="visible" id="glyph2-4">
<path style="stroke:none;" d="M 4.15625 0 L 4.15625 -0.3125 L 3.84375 -0.3125 C 2.953125 -0.3125 2.921875 -0.421875 2.921875 -0.78125 L 2.921875 -6.34375 C 2.921875 -6.59375 2.921875 -6.609375 2.6875 -6.609375 C 2.078125 -5.96875 1.203125 -5.96875 0.890625 -5.96875 L 0.890625 -5.671875 C 1.078125 -5.671875 1.671875 -5.671875 2.1875 -5.921875 L 2.1875 -0.78125 C 2.1875 -0.421875 2.15625 -0.3125 1.265625 -0.3125 L 0.9375 -0.3125 L 0.9375 0 C 1.296875 -0.03125 2.15625 -0.03125 2.546875 -0.03125 C 2.953125 -0.03125 3.8125 -0.03125 4.15625 0 Z M 4.15625 0 "/>
</symbol>
<symbol overflow="visible" id="glyph2-5">
<path style="stroke:none;" d="M 7.265625 -0.875 C 7.265625 -0.9375 7.265625 -1.046875 7.140625 -1.046875 C 7.03125 -1.046875 7.03125 -0.953125 7.015625 -0.890625 C 6.953125 -0.171875 6.609375 0 6.359375 0 C 5.875 0 5.796875 -0.5 5.65625 -1.421875 L 5.53125 -2.21875 C 5.34375 -2.859375 4.859375 -3.1875 4.3125 -3.375 C 5.28125 -3.609375 6.046875 -4.21875 6.046875 -4.984375 C 6.046875 -5.9375 4.921875 -6.78125 3.46875 -6.78125 L 0.34375 -6.78125 L 0.34375 -6.46875 L 0.578125 -6.46875 C 1.34375 -6.46875 1.375 -6.359375 1.375 -6 L 1.375 -0.78125 C 1.375 -0.421875 1.34375 -0.3125 0.578125 -0.3125 L 0.34375 -0.3125 L 0.34375 0 C 0.703125 -0.03125 1.40625 -0.03125 1.796875 -0.03125 C 2.1875 -0.03125 2.890625 -0.03125 3.25 0 L 3.25 -0.3125 L 3 -0.3125 C 2.25 -0.3125 2.21875 -0.421875 2.21875 -0.78125 L 2.21875 -3.28125 L 3.359375 -3.28125 C 3.515625 -3.28125 3.9375 -3.28125 4.28125 -2.953125 C 4.65625 -2.59375 4.65625 -2.28125 4.65625 -1.625 C 4.65625 -0.96875 4.65625 -0.578125 5.0625 -0.203125 C 5.484375 0.15625 6.015625 0.21875 6.3125 0.21875 C 7.09375 0.21875 7.265625 -0.59375 7.265625 -0.875 Z M 5.03125 -4.984375 C 5.03125 -4.3125 4.796875 -3.5 3.328125 -3.5 L 2.21875 -3.5 L 2.21875 -6.078125 C 2.21875 -6.296875 2.21875 -6.421875 2.4375 -6.453125 C 2.546875 -6.46875 2.828125 -6.46875 3.03125 -6.46875 C 3.921875 -6.46875 5.03125 -6.421875 5.03125 -4.984375 Z M 5.03125 -4.984375 "/>
</symbol>
<symbol overflow="visible" id="glyph2-6">
<path style="stroke:none;" d="M 4.125 -1.1875 C 4.125 -1.28125 4.03125 -1.296875 3.984375 -1.296875 C 3.90625 -1.296875 3.875 -1.234375 3.859375 -1.15625 C 3.515625 -0.140625 2.625 -0.140625 2.515625 -0.140625 C 2.03125 -0.140625 1.625 -0.4375 1.40625 -0.796875 C 1.09375 -1.28125 1.09375 -1.9375 1.09375 -2.296875 L 3.875 -2.296875 C 4.09375 -2.296875 4.125 -2.296875 4.125 -2.5 C 4.125 -3.484375 3.578125 -4.4375 2.34375 -4.4375 C 1.1875 -4.4375 0.28125 -3.421875 0.28125 -2.1875 C 0.28125 -0.859375 1.3125 0.109375 2.453125 0.109375 C 3.671875 0.109375 4.125 -0.984375 4.125 -1.1875 Z M 3.46875 -2.5 L 1.109375 -2.5 C 1.171875 -3.984375 2 -4.234375 2.34375 -4.234375 C 3.359375 -4.234375 3.46875 -2.890625 3.46875 -2.5 Z M 3.46875 -2.5 "/>
</symbol>
<symbol overflow="visible" id="glyph2-7">
<path style="stroke:none;" d="M 3.546875 -6.296875 C 3.546875 -6.671875 3.171875 -7 2.65625 -7 C 1.953125 -7 1.109375 -6.46875 1.109375 -5.421875 L 1.109375 -4.28125 L 0.328125 -4.28125 L 0.328125 -3.96875 L 1.109375 -3.96875 L 1.109375 -0.75 C 1.109375 -0.3125 1 -0.3125 0.34375 -0.3125 L 0.34375 0 L 1.46875 -0.03125 C 1.859375 -0.03125 2.328125 -0.03125 2.734375 0 L 2.734375 -0.3125 L 2.515625 -0.3125 C 1.78125 -0.3125 1.765625 -0.421875 1.765625 -0.78125 L 1.765625 -3.96875 L 2.890625 -3.96875 L 2.890625 -4.28125 L 1.734375 -4.28125 L 1.734375 -5.421875 C 1.734375 -6.296875 2.21875 -6.78125 2.65625 -6.78125 C 2.671875 -6.78125 2.828125 -6.78125 2.96875 -6.703125 C 2.859375 -6.671875 2.671875 -6.53125 2.671875 -6.296875 C 2.671875 -6.0625 2.84375 -5.859375 3.109375 -5.859375 C 3.390625 -5.859375 3.546875 -6.0625 3.546875 -6.296875 Z M 3.546875 -6.296875 "/>
</symbol>
<symbol overflow="visible" id="glyph2-8">
<path style="stroke:none;" d="M 3.609375 -3.78125 C 3.609375 -4.09375 3.296875 -4.390625 2.875 -4.390625 C 2.15625 -4.390625 1.796875 -3.71875 1.65625 -3.296875 L 1.65625 -4.390625 L 0.28125 -4.28125 L 0.28125 -3.96875 C 0.96875 -3.96875 1.046875 -3.90625 1.046875 -3.40625 L 1.046875 -0.75 C 1.046875 -0.3125 0.9375 -0.3125 0.28125 -0.3125 L 0.28125 0 L 1.40625 -0.03125 C 1.8125 -0.03125 2.265625 -0.03125 2.671875 0 L 2.671875 -0.3125 L 2.453125 -0.3125 C 1.71875 -0.3125 1.703125 -0.421875 1.703125 -0.78125 L 1.703125 -2.296875 C 1.703125 -3.28125 2.125 -4.171875 2.875 -4.171875 C 2.953125 -4.171875 2.96875 -4.171875 2.984375 -4.15625 C 2.953125 -4.140625 2.765625 -4.03125 2.765625 -3.765625 C 2.765625 -3.5 2.96875 -3.34375 3.1875 -3.34375 C 3.359375 -3.34375 3.609375 -3.46875 3.609375 -3.78125 Z M 3.609375 -3.78125 "/>
</symbol>
<symbol overflow="visible" id="glyph2-9">
<path style="stroke:none;" d="M 5.3125 0 L 5.3125 -0.3125 C 4.796875 -0.3125 4.546875 -0.3125 4.53125 -0.609375 L 4.53125 -2.5 C 4.53125 -3.359375 4.53125 -3.65625 4.234375 -4.015625 C 4.09375 -4.1875 3.765625 -4.390625 3.1875 -4.390625 C 2.453125 -4.390625 2 -3.953125 1.71875 -3.34375 L 1.71875 -4.390625 L 0.3125 -4.28125 L 0.3125 -3.96875 C 1.015625 -3.96875 1.09375 -3.90625 1.09375 -3.40625 L 1.09375 -0.75 C 1.09375 -0.3125 0.984375 -0.3125 0.3125 -0.3125 L 0.3125 0 L 1.4375 -0.03125 L 2.546875 0 L 2.546875 -0.3125 C 1.890625 -0.3125 1.78125 -0.3125 1.78125 -0.75 L 1.78125 -2.578125 C 1.78125 -3.609375 2.484375 -4.171875 3.109375 -4.171875 C 3.734375 -4.171875 3.84375 -3.625 3.84375 -3.0625 L 3.84375 -0.75 C 3.84375 -0.3125 3.734375 -0.3125 3.078125 -0.3125 L 3.078125 0 L 4.203125 -0.03125 Z M 5.3125 0 "/>
</symbol>
<symbol overflow="visible" id="glyph2-10">
<path style="stroke:none;" d="M 4.125 -1.1875 C 4.125 -1.28125 4.015625 -1.28125 3.984375 -1.28125 C 3.90625 -1.28125 3.875 -1.234375 3.859375 -1.1875 C 3.578125 -0.265625 2.921875 -0.140625 2.5625 -0.140625 C 2.03125 -0.140625 1.15625 -0.5625 1.15625 -2.15625 C 1.15625 -3.78125 1.96875 -4.203125 2.5 -4.203125 C 2.59375 -4.203125 3.21875 -4.1875 3.5625 -3.828125 C 3.15625 -3.796875 3.09375 -3.5 3.09375 -3.375 C 3.09375 -3.109375 3.28125 -2.921875 3.546875 -2.921875 C 3.8125 -2.921875 4.015625 -3.078125 4.015625 -3.390625 C 4.015625 -4.0625 3.25 -4.4375 2.484375 -4.4375 C 1.25 -4.4375 0.34375 -3.375 0.34375 -2.140625 C 0.34375 -0.875 1.3125 0.109375 2.46875 0.109375 C 3.796875 0.109375 4.125 -1.078125 4.125 -1.1875 Z M 4.125 -1.1875 "/>
</symbol>
<symbol overflow="visible" id="glyph2-11">
<path style="stroke:none;" d="M 6.796875 -4.484375 L 6.609375 -6.71875 L 0.546875 -6.71875 L 0.359375 -4.484375 L 0.609375 -4.484375 C 0.75 -6.078125 0.890625 -6.40625 2.390625 -6.40625 C 2.5625 -6.40625 2.828125 -6.40625 2.921875 -6.390625 C 3.140625 -6.34375 3.140625 -6.234375 3.140625 -6.015625 L 3.140625 -0.78125 C 3.140625 -0.453125 3.140625 -0.3125 2.09375 -0.3125 L 1.703125 -0.3125 L 1.703125 0 C 2.109375 -0.03125 3.109375 -0.03125 3.578125 -0.03125 C 4.03125 -0.03125 5.046875 -0.03125 5.453125 0 L 5.453125 -0.3125 L 5.0625 -0.3125 C 4.015625 -0.3125 4.015625 -0.453125 4.015625 -0.78125 L 4.015625 -6.015625 C 4.015625 -6.21875 4.015625 -6.34375 4.203125 -6.390625 C 4.3125 -6.40625 4.578125 -6.40625 4.765625 -6.40625 C 6.265625 -6.40625 6.40625 -6.078125 6.546875 -4.484375 Z M 6.796875 -4.484375 "/>
</symbol>
<symbol overflow="visible" id="glyph2-12">
<path style="stroke:none;" d="M 4.796875 -0.890625 L 4.796875 -1.4375 L 4.546875 -1.4375 L 4.546875 -0.890625 C 4.546875 -0.3125 4.296875 -0.25 4.1875 -0.25 C 3.859375 -0.25 3.8125 -0.6875 3.8125 -0.75 L 3.8125 -2.734375 C 3.8125 -3.140625 3.8125 -3.53125 3.46875 -3.90625 C 3.078125 -4.28125 2.578125 -4.4375 2.109375 -4.4375 C 1.296875 -4.4375 0.609375 -3.984375 0.609375 -3.328125 C 0.609375 -3.03125 0.796875 -2.859375 1.0625 -2.859375 C 1.34375 -2.859375 1.515625 -3.0625 1.515625 -3.3125 C 1.515625 -3.4375 1.46875 -3.765625 1.015625 -3.765625 C 1.28125 -4.125 1.765625 -4.234375 2.078125 -4.234375 C 2.5625 -4.234375 3.140625 -3.84375 3.140625 -2.953125 L 3.140625 -2.59375 C 2.625 -2.5625 1.9375 -2.53125 1.3125 -2.234375 C 0.5625 -1.890625 0.3125 -1.375 0.3125 -0.9375 C 0.3125 -0.140625 1.28125 0.109375 1.90625 0.109375 C 2.5625 0.109375 3.015625 -0.28125 3.203125 -0.75 C 3.25 -0.359375 3.515625 0.0625 3.984375 0.0625 C 4.1875 0.0625 4.796875 -0.078125 4.796875 -0.890625 Z M 3.140625 -1.390625 C 3.140625 -0.453125 2.421875 -0.109375 1.96875 -0.109375 C 1.484375 -0.109375 1.078125 -0.453125 1.078125 -0.953125 C 1.078125 -1.5 1.5 -2.328125 3.140625 -2.375 Z M 3.140625 -1.390625 "/>
</symbol>
<symbol overflow="visible" id="glyph2-13">
<path style="stroke:none;" d="M 5.0625 0 L 5.0625 -0.3125 C 4.703125 -0.3125 4.484375 -0.3125 4.109375 -0.828125 L 2.84375 -2.609375 C 2.84375 -2.625 2.78125 -2.6875 2.78125 -2.71875 C 2.78125 -2.765625 3.5 -3.359375 3.59375 -3.4375 C 4.21875 -3.9375 4.640625 -3.953125 4.84375 -3.96875 L 4.84375 -4.28125 C 4.546875 -4.25 4.421875 -4.25 4.140625 -4.25 C 3.796875 -4.25 3.171875 -4.265625 3.03125 -4.28125 L 3.03125 -3.96875 C 3.21875 -3.953125 3.328125 -3.84375 3.328125 -3.71875 C 3.328125 -3.515625 3.1875 -3.40625 3.109375 -3.328125 L 1.703125 -2.125 L 1.703125 -6.890625 L 0.28125 -6.78125 L 0.28125 -6.46875 C 0.96875 -6.46875 1.046875 -6.40625 1.046875 -5.90625 L 1.046875 -0.75 C 1.046875 -0.3125 0.9375 -0.3125 0.28125 -0.3125 L 0.28125 0 L 1.359375 -0.03125 L 2.453125 0 L 2.453125 -0.3125 C 1.78125 -0.3125 1.671875 -0.3125 1.671875 -0.75 L 1.671875 -1.78125 L 2.3125 -2.328125 C 3.078125 -1.265625 3.5 -0.71875 3.5 -0.53125 C 3.5 -0.34375 3.328125 -0.3125 3.140625 -0.3125 L 3.140625 0 L 4.203125 -0.03125 C 4.5 -0.03125 4.78125 -0.015625 5.0625 0 Z M 5.0625 0 "/>
</symbol>
<symbol overflow="visible" id="glyph2-14">
<path style="stroke:none;" d="M 2.453125 0 L 2.453125 -0.3125 C 1.796875 -0.3125 1.75 -0.359375 1.75 -0.75 L 1.75 -4.390625 L 0.359375 -4.28125 L 0.359375 -3.96875 C 1.015625 -3.96875 1.09375 -3.90625 1.09375 -3.421875 L 1.09375 -0.75 C 1.09375 -0.3125 0.984375 -0.3125 0.328125 -0.3125 L 0.328125 0 L 1.421875 -0.03125 C 1.765625 -0.03125 2.109375 -0.015625 2.453125 0 Z M 1.90625 -6 C 1.90625 -6.265625 1.671875 -6.515625 1.375 -6.515625 C 1.046875 -6.515625 0.84375 -6.234375 0.84375 -6 C 0.84375 -5.71875 1.078125 -5.46875 1.375 -5.46875 C 1.703125 -5.46875 1.90625 -5.75 1.90625 -6 Z M 1.90625 -6 "/>
</symbol>
<symbol overflow="visible" id="glyph2-15">
<path style="stroke:none;" d="M 4.8125 -4.015625 C 4.8125 -4.171875 4.6875 -4.5 4.3125 -4.5 C 4.109375 -4.5 3.671875 -4.4375 3.25 -4.03125 C 2.84375 -4.359375 2.421875 -4.390625 2.203125 -4.390625 C 1.28125 -4.390625 0.59375 -3.703125 0.59375 -2.9375 C 0.59375 -2.5 0.8125 -2.125 1.0625 -1.921875 C 0.9375 -1.765625 0.75 -1.4375 0.75 -1.09375 C 0.75 -0.78125 0.890625 -0.40625 1.1875 -0.203125 C 0.59375 -0.046875 0.28125 0.390625 0.28125 0.78125 C 0.28125 1.5 1.265625 2.046875 2.46875 2.046875 C 3.640625 2.046875 4.671875 1.53125 4.671875 0.765625 C 4.671875 0.421875 4.53125 -0.09375 4.03125 -0.359375 C 3.5 -0.640625 2.921875 -0.640625 2.328125 -0.640625 C 2.078125 -0.640625 1.640625 -0.640625 1.578125 -0.65625 C 1.265625 -0.6875 1.046875 -1 1.046875 -1.3125 C 1.046875 -1.359375 1.046875 -1.59375 1.21875 -1.78125 C 1.609375 -1.515625 2.015625 -1.484375 2.203125 -1.484375 C 3.125 -1.484375 3.8125 -2.15625 3.8125 -2.921875 C 3.8125 -3.296875 3.65625 -3.65625 3.40625 -3.890625 C 3.765625 -4.234375 4.125 -4.28125 4.296875 -4.28125 C 4.296875 -4.28125 4.359375 -4.28125 4.390625 -4.265625 C 4.28125 -4.234375 4.234375 -4.125 4.234375 -4 C 4.234375 -3.828125 4.359375 -3.703125 4.53125 -3.703125 C 4.625 -3.703125 4.8125 -3.78125 4.8125 -4.015625 Z M 3.0625 -2.9375 C 3.0625 -2.671875 3.0625 -2.34375 2.90625 -2.109375 C 2.828125 -1.984375 2.59375 -1.703125 2.203125 -1.703125 C 1.34375 -1.703125 1.34375 -2.703125 1.34375 -2.921875 C 1.34375 -3.1875 1.34375 -3.515625 1.5 -3.765625 C 1.578125 -3.875 1.8125 -4.15625 2.203125 -4.15625 C 3.0625 -4.15625 3.0625 -3.171875 3.0625 -2.9375 Z M 4.15625 0.78125 C 4.15625 1.3125 3.453125 1.8125 2.484375 1.8125 C 1.484375 1.8125 0.796875 1.3125 0.796875 0.78125 C 0.796875 0.328125 1.171875 -0.046875 1.609375 -0.0625 L 2.1875 -0.0625 C 3.046875 -0.0625 4.15625 -0.0625 4.15625 0.78125 Z M 4.15625 0.78125 "/>
</symbol>
<symbol overflow="visible" id="glyph2-16">
<path style="stroke:none;" d="M 7.109375 -6.46875 L 7.109375 -6.78125 L 5.9375 -6.75 L 4.78125 -6.78125 L 4.78125 -6.46875 C 5.796875 -6.46875 5.796875 -6 5.796875 -5.734375 L 5.796875 -1.5 L 2.296875 -6.640625 C 2.21875 -6.765625 2.203125 -6.78125 2.015625 -6.78125 L 0.328125 -6.78125 L 0.328125 -6.46875 L 0.609375 -6.46875 C 0.765625 -6.46875 0.96875 -6.453125 1.109375 -6.453125 C 1.34375 -6.421875 1.34375 -6.40625 1.34375 -6.21875 L 1.34375 -1.046875 C 1.34375 -0.78125 1.34375 -0.3125 0.328125 -0.3125 L 0.328125 0 L 1.484375 -0.03125 L 2.65625 0 L 2.65625 -0.3125 C 1.625 -0.3125 1.625 -0.78125 1.625 -1.046875 L 1.625 -6.203125 C 1.671875 -6.15625 1.6875 -6.140625 1.71875 -6.078125 L 5.78125 -0.125 C 5.859375 -0.015625 5.875 0 5.9375 0 C 6.078125 0 6.078125 -0.0625 6.078125 -0.265625 L 6.078125 -5.734375 C 6.078125 -6 6.078125 -6.46875 7.109375 -6.46875 Z M 7.109375 -6.46875 "/>
</symbol>
<symbol overflow="visible" id="glyph2-17">
<path style="stroke:none;" d="M 4.671875 -2.125 C 4.671875 -3.390625 3.6875 -4.4375 2.484375 -4.4375 C 1.234375 -4.4375 0.28125 -3.359375 0.28125 -2.125 C 0.28125 -0.84375 1.3125 0.109375 2.46875 0.109375 C 3.671875 0.109375 4.671875 -0.859375 4.671875 -2.125 Z M 3.84375 -2.203125 C 3.84375 -1.84375 3.84375 -1.3125 3.625 -0.875 C 3.40625 -0.421875 2.96875 -0.140625 2.484375 -0.140625 C 2.046875 -0.140625 1.625 -0.34375 1.34375 -0.796875 C 1.09375 -1.234375 1.09375 -1.84375 1.09375 -2.203125 C 1.09375 -2.59375 1.09375 -3.125 1.34375 -3.5625 C 1.609375 -4.015625 2.078125 -4.234375 2.46875 -4.234375 C 2.90625 -4.234375 3.328125 -4.015625 3.59375 -3.578125 C 3.84375 -3.15625 3.84375 -2.578125 3.84375 -2.203125 Z M 3.84375 -2.203125 "/>
</symbol>
<symbol overflow="visible" id="glyph2-18">
<path style="stroke:none;" d="M 3.578125 -1.265625 C 3.578125 -1.796875 3.28125 -2.09375 3.15625 -2.21875 C 2.828125 -2.53125 2.4375 -2.609375 2.03125 -2.6875 C 1.46875 -2.796875 0.796875 -2.921875 0.796875 -3.5 C 0.796875 -3.84375 1.0625 -4.25 1.921875 -4.25 C 3 -4.25 3.0625 -3.359375 3.078125 -3.0625 C 3.078125 -2.96875 3.1875 -2.96875 3.1875 -2.96875 C 3.328125 -2.96875 3.328125 -3.015625 3.328125 -3.203125 L 3.328125 -4.203125 C 3.328125 -4.375 3.328125 -4.4375 3.21875 -4.4375 C 3.171875 -4.4375 3.140625 -4.4375 3.015625 -4.328125 C 2.984375 -4.28125 2.890625 -4.203125 2.84375 -4.171875 C 2.46875 -4.4375 2.0625 -4.4375 1.921875 -4.4375 C 0.703125 -4.4375 0.328125 -3.78125 0.328125 -3.21875 C 0.328125 -2.875 0.484375 -2.59375 0.75 -2.375 C 1.078125 -2.125 1.34375 -2.0625 2.0625 -1.921875 C 2.28125 -1.890625 3.09375 -1.71875 3.09375 -1.015625 C 3.09375 -0.5 2.75 -0.109375 1.96875 -0.109375 C 1.140625 -0.109375 0.78125 -0.671875 0.59375 -1.515625 C 0.5625 -1.640625 0.5625 -1.6875 0.453125 -1.6875 C 0.328125 -1.6875 0.328125 -1.625 0.328125 -1.4375 L 0.328125 -0.125 C 0.328125 0.046875 0.328125 0.109375 0.4375 0.109375 C 0.484375 0.109375 0.5 0.09375 0.6875 -0.09375 C 0.703125 -0.109375 0.703125 -0.125 0.890625 -0.3125 C 1.3125 0.09375 1.765625 0.109375 1.96875 0.109375 C 3.109375 0.109375 3.578125 -0.5625 3.578125 -1.265625 Z M 3.578125 -1.265625 "/>
</symbol>
<symbol overflow="visible" id="glyph2-19">
<path style="stroke:none;" d="M 2.078125 0.5 L 2.078125 -4.390625 L 0.578125 -4.28125 L 0.578125 -3.96875 C 1.34375 -3.96875 1.421875 -3.90625 1.421875 -3.40625 L 1.421875 0.515625 C 1.421875 0.96875 1.34375 1.8125 0.703125 1.8125 C 0.65625 1.8125 0.421875 1.8125 0.171875 1.6875 C 0.3125 1.640625 0.515625 1.515625 0.515625 1.234375 C 0.515625 0.984375 0.34375 0.78125 0.0625 0.78125 C -0.21875 0.78125 -0.390625 0.984375 -0.390625 1.234375 C -0.390625 1.75 0.15625 2.03125 0.71875 2.03125 C 1.46875 2.03125 2.078125 1.40625 2.078125 0.5 Z M 2.078125 -6 C 2.078125 -6.265625 1.859375 -6.515625 1.5625 -6.515625 C 1.21875 -6.515625 1.015625 -6.234375 1.015625 -6 C 1.015625 -5.71875 1.25 -5.46875 1.546875 -5.46875 C 1.890625 -5.46875 2.078125 -5.75 2.078125 -6 Z M 2.078125 -6 "/>
</symbol>
<symbol overflow="visible" id="glyph2-20">
<path style="stroke:none;" d="M 3.296875 -1.234375 L 3.296875 -1.796875 L 3.046875 -1.796875 L 3.046875 -1.25 C 3.046875 -0.515625 2.75 -0.140625 2.375 -0.140625 C 1.71875 -0.140625 1.71875 -1.046875 1.71875 -1.203125 L 1.71875 -3.96875 L 3.140625 -3.96875 L 3.140625 -4.28125 L 1.71875 -4.28125 L 1.71875 -6.109375 L 1.46875 -6.109375 C 1.453125 -5.28125 1.15625 -4.234375 0.1875 -4.1875 L 0.1875 -3.96875 L 1.03125 -3.96875 L 1.03125 -1.234375 C 1.03125 -0.015625 1.953125 0.109375 2.3125 0.109375 C 3.015625 0.109375 3.296875 -0.59375 3.296875 -1.234375 Z M 3.296875 -1.234375 "/>
</symbol>
<symbol overflow="visible" id="glyph2-21">
<path style="stroke:none;" d="M 6.453125 -1.8125 C 6.453125 -2.671875 5.640625 -3.421875 4.546875 -3.546875 C 5.5 -3.734375 6.1875 -4.359375 6.1875 -5.09375 C 6.1875 -5.96875 5.28125 -6.78125 3.984375 -6.78125 L 0.359375 -6.78125 L 0.359375 -6.46875 L 0.59375 -6.46875 C 1.359375 -6.46875 1.375 -6.359375 1.375 -6 L 1.375 -0.78125 C 1.375 -0.421875 1.359375 -0.3125 0.59375 -0.3125 L 0.359375 -0.3125 L 0.359375 0 L 4.25 0 C 5.5625 0 6.453125 -0.890625 6.453125 -1.8125 Z M 5.234375 -5.09375 C 5.234375 -4.46875 4.75 -3.625 3.640625 -3.625 L 2.203125 -3.625 L 2.203125 -6.078125 C 2.203125 -6.40625 2.21875 -6.46875 2.6875 -6.46875 L 3.921875 -6.46875 C 4.875 -6.46875 5.234375 -5.625 5.234375 -5.09375 Z M 5.46875 -1.828125 C 5.46875 -1.125 4.953125 -0.3125 3.921875 -0.3125 L 2.6875 -0.3125 C 2.21875 -0.3125 2.203125 -0.375 2.203125 -0.703125 L 2.203125 -3.40625 L 4.0625 -3.40625 C 5.046875 -3.40625 5.46875 -2.484375 5.46875 -1.828125 Z M 5.46875 -1.828125 "/>
</symbol>
<symbol overflow="visible" id="glyph2-22">
<path style="stroke:none;" d="M 5.234375 0 L 5.234375 -0.3125 C 4.53125 -0.3125 4.453125 -0.375 4.453125 -0.859375 L 4.453125 -6.890625 L 3.03125 -6.78125 L 3.03125 -6.46875 C 3.71875 -6.46875 3.796875 -6.40625 3.796875 -5.90625 L 3.796875 -3.765625 C 3.515625 -4.125 3.078125 -4.390625 2.546875 -4.390625 C 1.375 -4.390625 0.34375 -3.40625 0.34375 -2.140625 C 0.34375 -0.875 1.3125 0.109375 2.4375 0.109375 C 3.078125 0.109375 3.515625 -0.234375 3.765625 -0.546875 L 3.765625 0.109375 Z M 3.765625 -1.171875 C 3.765625 -0.984375 3.765625 -0.96875 3.65625 -0.796875 C 3.359375 -0.328125 2.921875 -0.109375 2.484375 -0.109375 C 2.046875 -0.109375 1.6875 -0.359375 1.453125 -0.75 C 1.1875 -1.15625 1.15625 -1.71875 1.15625 -2.125 C 1.15625 -2.484375 1.1875 -3.078125 1.46875 -3.53125 C 1.671875 -3.84375 2.046875 -4.171875 2.59375 -4.171875 C 2.9375 -4.171875 3.359375 -4.015625 3.65625 -3.578125 C 3.765625 -3.40625 3.765625 -3.390625 3.765625 -3.203125 Z M 3.765625 -1.171875 "/>
</symbol>
<symbol overflow="visible" id="glyph2-23">
<path style="stroke:none;" d="M 6.96875 -3.96875 L 6.96875 -4.28125 C 6.75 -4.25 6.46875 -4.25 6.25 -4.25 L 5.328125 -4.28125 L 5.328125 -3.96875 C 5.6875 -3.953125 5.90625 -3.78125 5.90625 -3.5 C 5.90625 -3.4375 5.90625 -3.40625 5.859375 -3.28125 L 4.953125 -0.75 L 3.96875 -3.515625 C 3.921875 -3.625 3.921875 -3.65625 3.921875 -3.703125 C 3.921875 -3.96875 4.3125 -3.96875 4.5 -3.96875 L 4.5 -4.28125 L 3.46875 -4.25 C 3.171875 -4.25 2.890625 -4.25 2.59375 -4.28125 L 2.59375 -3.96875 C 2.953125 -3.96875 3.109375 -3.953125 3.21875 -3.8125 C 3.265625 -3.765625 3.375 -3.46875 3.4375 -3.28125 L 2.59375 -0.875 L 1.640625 -3.515625 C 1.59375 -3.640625 1.59375 -3.65625 1.59375 -3.703125 C 1.59375 -3.96875 1.984375 -3.96875 2.1875 -3.96875 L 2.1875 -4.28125 L 1.09375 -4.25 L 0.171875 -4.28125 L 0.171875 -3.96875 C 0.671875 -3.96875 0.796875 -3.9375 0.90625 -3.625 L 2.15625 -0.109375 C 2.21875 0.03125 2.25 0.109375 2.375 0.109375 C 2.5 0.109375 2.515625 0.046875 2.5625 -0.09375 L 3.578125 -2.890625 L 4.578125 -0.078125 C 4.625 0.03125 4.65625 0.109375 4.78125 0.109375 C 4.90625 0.109375 4.9375 0.015625 4.984375 -0.078125 L 6.140625 -3.328125 C 6.3125 -3.828125 6.625 -3.953125 6.96875 -3.96875 Z M 6.96875 -3.96875 "/>
</symbol>
<symbol overflow="visible" id="glyph2-24">
<path style="stroke:none;" d="M 5.3125 0 L 5.3125 -0.3125 C 4.796875 -0.3125 4.546875 -0.3125 4.53125 -0.609375 L 4.53125 -2.5 C 4.53125 -3.359375 4.53125 -3.65625 4.234375 -4.015625 C 4.09375 -4.1875 3.765625 -4.390625 3.1875 -4.390625 C 2.34375 -4.390625 1.921875 -3.796875 1.75 -3.4375 L 1.75 -6.890625 L 0.3125 -6.78125 L 0.3125 -6.46875 C 1.015625 -6.46875 1.09375 -6.40625 1.09375 -5.90625 L 1.09375 -0.75 C 1.09375 -0.3125 0.984375 -0.3125 0.3125 -0.3125 L 0.3125 0 L 1.4375 -0.03125 L 2.546875 0 L 2.546875 -0.3125 C 1.890625 -0.3125 1.78125 -0.3125 1.78125 -0.75 L 1.78125 -2.578125 C 1.78125 -3.609375 2.484375 -4.171875 3.109375 -4.171875 C 3.734375 -4.171875 3.84375 -3.625 3.84375 -3.0625 L 3.84375 -0.75 C 3.84375 -0.3125 3.734375 -0.3125 3.078125 -0.3125 L 3.078125 0 L 4.203125 -0.03125 Z M 5.3125 0 "/>
</symbol>
<symbol overflow="visible" id="glyph2-25">
<path style="stroke:none;" d="M 6.1875 -4.9375 C 6.1875 -5.90625 5.203125 -6.78125 3.84375 -6.78125 L 0.34375 -6.78125 L 0.34375 -6.46875 L 0.578125 -6.46875 C 1.34375 -6.46875 1.375 -6.359375 1.375 -6 L 1.375 -0.78125 C 1.375 -0.421875 1.34375 -0.3125 0.578125 -0.3125 L 0.34375 -0.3125 L 0.34375 0 C 0.6875 -0.03125 1.421875 -0.03125 1.8125 -0.03125 C 2.1875 -0.03125 2.921875 -0.03125 3.28125 0 L 3.28125 -0.3125 L 3.03125 -0.3125 C 2.265625 -0.3125 2.25 -0.421875 2.25 -0.78125 L 2.25 -3.140625 L 3.921875 -3.140625 C 5.125 -3.140625 6.1875 -3.9375 6.1875 -4.9375 Z M 5.171875 -4.9375 C 5.171875 -4.46875 5.171875 -3.390625 3.59375 -3.390625 L 2.21875 -3.390625 L 2.21875 -6.078125 C 2.21875 -6.40625 2.25 -6.46875 2.703125 -6.46875 L 3.59375 -6.46875 C 5.171875 -6.46875 5.171875 -5.421875 5.171875 -4.9375 Z M 5.171875 -4.9375 "/>
</symbol>
<symbol overflow="visible" id="glyph2-26">
<path style="stroke:none;" d="M 8.71875 0 L 8.71875 -0.3125 L 8.484375 -0.3125 C 7.71875 -0.3125 7.703125 -0.421875 7.703125 -0.78125 L 7.703125 -6 C 7.703125 -6.359375 7.71875 -6.46875 8.484375 -6.46875 L 8.71875 -6.46875 L 8.71875 -6.78125 L 7.046875 -6.78125 C 6.78125 -6.78125 6.78125 -6.765625 6.71875 -6.59375 L 4.546875 -1 L 2.390625 -6.5625 C 2.296875 -6.78125 2.265625 -6.78125 2.046875 -6.78125 L 0.359375 -6.78125 L 0.359375 -6.46875 L 0.609375 -6.46875 C 1.375 -6.46875 1.390625 -6.359375 1.390625 -6 L 1.390625 -1.046875 C 1.390625 -0.78125 1.390625 -0.3125 0.359375 -0.3125 L 0.359375 0 L 1.53125 -0.03125 L 2.6875 0 L 2.6875 -0.3125 C 1.671875 -0.3125 1.671875 -0.78125 1.671875 -1.046875 L 1.671875 -6.390625 L 4.0625 -0.21875 C 4.125 -0.09375 4.171875 0 4.265625 0 C 4.375 0 4.40625 -0.078125 4.4375 -0.1875 L 6.890625 -6.46875 L 6.890625 -0.78125 C 6.890625 -0.421875 6.875 -0.3125 6.109375 -0.3125 L 5.875 -0.3125 L 5.875 0 C 6.234375 -0.03125 6.921875 -0.03125 7.296875 -0.03125 C 7.6875 -0.03125 8.359375 -0.03125 8.71875 0 Z M 8.71875 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 1.578125 2.15625 L 1.578125 -7.109375 C 1.578125 -7.25 1.578125 -7.4375 1.375 -7.4375 C 1.1875 -7.4375 1.1875 -7.25 1.1875 -7.109375 L 1.1875 2.15625 C 1.1875 2.296875 1.1875 2.484375 1.375 2.484375 C 1.578125 2.484375 1.578125 2.296875 1.578125 2.15625 Z M 1.578125 2.15625 "/>
</symbol>
<symbol overflow="visible" id="glyph3-2">
<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 "/>
</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 3.4375 -0.71875 C 3.4375 -0.75 3.375 -0.828125 3.3125 -0.828125 C 3.28125 -0.828125 3.265625 -0.8125 3.203125 -0.765625 C 2.65625 -0.125 1.859375 -0.125 1.734375 -0.125 C 1.234375 -0.125 1 -0.46875 1 -0.890625 C 1 -1.09375 1.109375 -1.859375 1.46875 -2.328125 C 1.734375 -2.671875 2.09375 -2.859375 2.4375 -2.859375 C 2.53125 -2.859375 2.859375 -2.84375 3.03125 -2.65625 C 2.78125 -2.609375 2.6875 -2.421875 2.6875 -2.265625 C 2.6875 -2.078125 2.828125 -2.015625 2.953125 -2.015625 C 3.109375 -2.015625 3.34375 -2.125 3.34375 -2.453125 C 3.34375 -2.921875 2.8125 -3.0625 2.4375 -3.0625 C 1.390625 -3.0625 0.4375 -2.109375 0.4375 -1.140625 C 0.4375 -0.546875 0.84375 0.0625 1.71875 0.0625 C 2.890625 0.0625 3.4375 -0.625 3.4375 -0.71875 Z M 3.4375 -0.71875 "/>
</symbol>
</g>
<clipPath id="clip1">
<path d="M 238 105 L 265.34375 105 L 265.34375 138 L 238 138 Z M 238 105 "/>
</clipPath>
<clipPath id="clip2">
<path d="M 238 35 L 265.34375 35 L 265.34375 67 L 238 67 Z M 238 35 "/>
</clipPath>
<clipPath id="clip3">
<path d="M 41 1 L 265.34375 1 L 265.34375 101 L 41 101 Z M 41 1 "/>
</clipPath>
<clipPath id="clip4">
<path d="M 41 128 L 265.34375 128 L 265.34375 173.421875 L 41 173.421875 Z M 41 128 "/>
</clipPath>
</defs>
<g id="surface1">
<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 -8.505271 -14.175013 L 213.635524 -14.175013 " transform="matrix(0.99548,0,0,-0.99548,40.994171,107.525777)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 256.867188 121.636719 L 252.441406 119.960938 L 253.914062 121.636719 L 252.441406 123.308594 Z M 256.867188 121.636719 "/>
<g clip-path="url(#clip1)" clip-rule="nonzero">
<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 6.054913 -0.00162309 L 1.609037 1.681767 L 3.08838 -0.00162309 L 1.609037 -1.681089 Z M 6.054913 -0.00162309 " transform="matrix(0.99548,0,0,-0.99548,250.839642,121.635103)"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-1" x="255.010425" y="117.833972"/>
</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 0.00193188 -4.631878 L 0.00193188 -65.198608 " transform="matrix(0.99548,0,0,-0.99548,40.994171,107.525777)"/>
<path style="fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-miterlimit:10;" d="M 6.053947 -0.00193188 L 1.60807 1.681458 L 3.087413 -0.00193188 L 1.60807 -1.681398 Z M 6.053947 -0.00193188 " transform="matrix(0,-0.99548,-0.99548,0,40.994171,114.964083)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph1-1" x="4.386389" y="110.005517"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-2" x="11.548868" y="110.005517"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-1" x="18.298222" y="110.005517"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-3" x="22.154712" y="110.005517"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-1" x="26.804068" y="110.005517"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-2" x="33.335943" y="110.005517"/>
</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 -8.505271 56.692182 L 213.635524 56.692182 " transform="matrix(0.99548,0,0,-0.99548,40.994171,107.525777)"/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(0%,0%,0%);fill-opacity:1;" d="M 256.867188 51.089844 L 252.441406 49.414062 L 253.914062 51.089844 L 252.441406 52.765625 Z M 256.867188 51.089844 "/>
<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 6.054913 -0.00143837 L 1.609037 1.681952 L 3.08838 -0.00143837 L 1.609037 -1.684829 Z M 6.054913 -0.00143837 " transform="matrix(0.99548,0,0,-0.99548,250.839642,51.088412)"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-1" x="255.010425" y="47.287291"/>
</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 0.00193188 14.171865 L 0.00193188 94.578271 " transform="matrix(0.99548,0,0,-0.99548,40.994171,107.525777)"/>
<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 6.054199 -0.00193188 L 1.608323 1.681458 L 3.087666 -0.00193188 L 1.608323 -1.681398 Z M 6.054199 -0.00193188 " transform="matrix(0,-0.99548,-0.99548,0,40.994171,16.198709)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-1" x="6.038886" y="11.24096"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-2" x="8.793379" y="11.24096"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-1" x="15.542733" y="11.24096"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-3" x="19.400218" y="11.24096"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-1" x="24.049575" y="11.24096"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-2" x="30.58145" y="11.24096"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-1" x="34.437939" y="11.24096"/>
</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 14.171447 92.125779 L 56.691764 70.865621 L 170.079275 42.518743 L 212.599592 21.258584 " transform="matrix(0.99548,0,0,-0.99548,40.994171,107.525777)"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-2" x="69.930783" y="21.770152"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-3" x="77.644758" y="21.770152"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-2" x="147.531436" y="46.461043"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-4" x="155.24541" y="46.461043"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-2" x="214.99412" y="85.827299"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-3" x="222.708094" y="85.827299"/>
</g>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(100%,50%,50%);fill-opacity:1;" d="M 55.101562 21.457031 L 97.429688 42.621094 L 55.101562 42.621094 Z M 55.101562 21.457031 "/>
<path style=" stroke:none;fill-rule:nonzero;fill:rgb(100%,50%,50%);fill-opacity:1;" d="M 210.304688 59.554688 L 252.632812 80.71875 L 252.632812 59.554688 Z M 210.304688 59.554688 "/>
<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 35.431605 60.565156 L 35.431605 42.518743 " transform="matrix(0.99548,0,0,-0.99548,40.994171,107.525777)"/>
<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 6.053251 0.00189474 L 1.607374 1.681361 L 3.086717 0.00189474 L 1.607374 -1.681495 Z M 6.053251 0.00189474 " transform="matrix(0,-0.99548,-0.99548,0,76.267511,50.061047)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-5" x="55.384829" y="75.831684"/>
<use xlink:href="#glyph2-6" x="62.685152" y="75.831684"/>
<use xlink:href="#glyph2-7" x="67.093511" y="75.831684"/>
<use xlink:href="#glyph2-6" x="70.124321" y="75.831684"/>
<use xlink:href="#glyph2-8" x="74.53268" y="75.831684"/>
<use xlink:href="#glyph2-6" x="78.417392" y="75.831684"/>
<use xlink:href="#glyph2-9" x="82.825751" y="75.831684"/>
<use xlink:href="#glyph2-10" x="88.335953" y="75.831684"/>
<use xlink:href="#glyph2-6" x="92.744312" y="75.831684"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-11" x="57.382758" y="87.732648"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-8" x="63.722068" y="87.732648"/>
<use xlink:href="#glyph2-12" x="67.60678" y="87.732648"/>
<use xlink:href="#glyph2-10" x="72.565564" y="87.732648"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-13" x="76.696232" y="87.732648"/>
<use xlink:href="#glyph2-14" x="81.930725" y="87.732648"/>
<use xlink:href="#glyph2-9" x="84.685825" y="87.732648"/>
<use xlink:href="#glyph2-15" x="90.196027" y="87.732648"/>
</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 191.339434 52.823131 L 191.339434 70.865621 " transform="matrix(0.99548,0,0,-0.99548,40.994171,107.525777)"/>
<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 6.052174 -0.00152636 L 1.610221 1.681864 L 3.08564 -0.00152636 L 1.610221 -1.684917 Z M 6.052174 -0.00152636 " transform="matrix(0,0.99548,0.99548,0,231.470269,52.115807)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-16" x="219.732605" y="19.349145"/>
<use xlink:href="#glyph2-17" x="227.170781" y="19.349145"/>
<use xlink:href="#glyph2-14" x="232.129566" y="19.349145"/>
<use xlink:href="#glyph2-18" x="234.884667" y="19.349145"/>
<use xlink:href="#glyph2-6" x="238.797148" y="19.349145"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-5" x="211.150572" y="31.250108"/>
<use xlink:href="#glyph2-6" x="218.450894" y="31.250108"/>
<use xlink:href="#glyph2-19" x="222.859254" y="31.250108"/>
<use xlink:href="#glyph2-6" x="225.890063" y="31.250108"/>
<use xlink:href="#glyph2-10" x="230.298422" y="31.250108"/>
<use xlink:href="#glyph2-20" x="234.706782" y="31.250108"/>
<use xlink:href="#glyph2-14" x="238.563724" y="31.250108"/>
<use xlink:href="#glyph2-17" x="241.318825" y="31.250108"/>
<use xlink:href="#glyph2-9" x="246.277609" y="31.250108"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-1" x="148.760853" y="59.160381"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph4-1" x="154.933825" y="60.648624"/>
</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 113.385519 38.63792 L 113.385519 31.931827 " transform="matrix(0.99548,0,0,-0.99548,40.994171,107.525777)"/>
<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 6.051435 0.00172055 L 1.609482 1.681187 L 3.088825 0.00172055 L 1.609482 -1.68167 Z M 6.051435 0.00172055 " transform="matrix(0,-0.99548,-0.99548,0,153.8689,71.887364)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-21" x="129.969178" y="86.369836"/>
<use xlink:href="#glyph2-12" x="136.993792" y="86.369836"/>
<use xlink:href="#glyph2-9" x="141.952576" y="86.369836"/>
<use xlink:href="#glyph2-22" x="147.462778" y="86.369836"/>
<use xlink:href="#glyph2-23" x="152.972979" y="86.369836"/>
<use xlink:href="#glyph2-14" x="160.135447" y="86.369836"/>
<use xlink:href="#glyph2-22" x="162.890548" y="86.369836"/>
<use xlink:href="#glyph2-20" x="168.400749" y="86.369836"/>
<use xlink:href="#glyph2-24" x="172.257692" y="86.369836"/>
</g>
<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 14.171447 -56.69533 L 56.691764 -56.69533 C 80.369098 -56.69533 89.712109 -35.435172 113.385519 -35.435172 C 137.062853 -35.435172 146.405865 -56.69533 170.079275 -56.69533 L 212.599592 -56.69533 " transform="matrix(0.99548,0,0,-0.99548,40.994171,107.525777)"/>
<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 14.171447 -56.69533 L 56.691764 -56.69533 C 80.369098 -56.69533 89.712109 -35.435172 113.385519 -35.435172 C 137.062853 -35.435172 146.405865 -56.69533 170.079275 -56.69533 L 212.599592 -56.69533 " transform="matrix(0.99548,0,0,-0.99548,40.994171,107.525777)"/>
</g>
<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-dasharray:2.98883,2.98883;stroke-miterlimit:10;" d="M 113.385519 -56.69533 L 113.385519 -40.065475 " transform="matrix(0.99548,0,0,-0.99548,40.994171,107.525777)"/>
<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 6.053829 0.00172055 L 1.607953 1.681187 L 3.087296 0.00172055 L 1.607953 -1.68167 Z M 6.053829 0.00172055 " transform="matrix(0,-0.99548,-0.99548,0,153.8689,150.237404)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-25" x="123.866885" y="137.068637"/>
<use xlink:href="#glyph2-24" x="130.616783" y="137.068637"/>
<use xlink:href="#glyph2-12" x="136.126984" y="137.068637"/>
<use xlink:href="#glyph2-18" x="141.085769" y="137.068637"/>
<use xlink:href="#glyph2-6" x="144.998249" y="137.068637"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph2-26" x="152.709159" y="137.068637"/>
<use xlink:href="#glyph2-12" x="161.800595" y="137.068637"/>
<use xlink:href="#glyph2-8" x="166.759379" y="137.068637"/>
<use xlink:href="#glyph2-15" x="170.644091" y="137.068637"/>
<use xlink:href="#glyph2-14" x="175.602876" y="137.068637"/>
<use xlink:href="#glyph2-9" x="178.357976" y="137.068637"/>
</g>
<path style="fill:none;stroke-width:0.99628;stroke-linecap:butt;stroke-linejoin:miter;stroke:rgb(0%,0%,0%);stroke-opacity:1;stroke-dasharray:2.98883,2.98883;stroke-miterlimit:10;" d="M 0.00193188 -56.69533 L 212.599592 -56.69533 " transform="matrix(0.99548,0,0,-0.99548,40.994171,107.525777)"/>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph3-2" x="23.469741" y="166.442265"/>
</g>
<g style="fill:rgb(0%,0%,0%);fill-opacity:1;">
<use xlink:href="#glyph0-4" x="31.183715" y="166.442265"/>
</g>
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 46 KiB

BIN
figs/results_sensitivity_hinf.pdf Normal file
View File

Binary file not shown.

BIN
figs/results_sensitivity_hinf.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 76 KiB

1050
index.html
View File

File diff suppressed because it is too large Load Diff

812
index.org
View File

@ -1,4 +1,4 @@
#+TITLE: Robust Control - $\mathcal{H}_\infty$ Synthesis #+TITLE: A brief and practical introduction to $\mathcal{H}_\infty$ Control
:DRAWER: :DRAWER:
#+STARTUP: overview #+STARTUP: overview
@ -31,6 +31,7 @@
#+PROPERTY: header-args:latex+ :imoutoptions -quality 100 #+PROPERTY: header-args:latex+ :imoutoptions -quality 100
#+PROPERTY: header-args:latex+ :results file raw replace #+PROPERTY: header-args:latex+ :results file raw replace
#+PROPERTY: header-args:latex+ :buffer no #+PROPERTY: header-args:latex+ :buffer no
#+PROPERTY: header-args:latex+ :tangle no
#+PROPERTY: header-args:latex+ :eval no-export #+PROPERTY: header-args:latex+ :eval no-export
#+PROPERTY: header-args:latex+ :exports results #+PROPERTY: header-args:latex+ :exports results
#+PROPERTY: header-args:latex+ :mkdirp yes #+PROPERTY: header-args:latex+ :mkdirp yes
@ -48,8 +49,15 @@
<<matlab-init>> <<matlab-init>>
#+end_src #+end_src
#+begin_src matlab :tangle no
addpath('matlab')
#+end_src
* Introduction to the Control Methodology - Model Based Control * Introduction to the Control Methodology - Model Based Control
** Control Methodology <<sec:model_based_control>>
** Model Based Control - Methodology
<<sec:model_based_control_methodology>>
The typical methodology when applying Model Based Control to a plant is schematically shown in Figure [[fig:control-procedure]]. The typical methodology when applying Model Based Control to a plant is schematically shown in Figure [[fig:control-procedure]].
It consists of three steps: It consists of three steps:
@ -94,6 +102,7 @@ It consists of three steps:
In this document, we will mainly focus on steps 2 and 3. In this document, we will mainly focus on steps 2 and 3.
** Some Background: From Classical Control to Robust Control ** Some Background: From Classical Control to Robust Control
<<sec:comp_classical_modern_robust_control>>
#+name: tab:comparison_control_methods #+name: tab:comparison_control_methods
#+caption: Table summurazing the main differences between classical, modern and robust control #+caption: Table summurazing the main differences between classical, modern and robust control
@ -122,6 +131,7 @@ In this document, we will mainly focus on steps 2 and 3.
| | Only SISO | Difficult Rejection of Perturbations | Need a reasonably good model of the system | | | Only SISO | Difficult Rejection of Perturbations | Need a reasonably good model of the system |
** Example System ** Example System
<<sec:example_system>>
Let's consider the model shown in Figure [[fig:mech_sys_1dof_inertial_contr]]. Let's consider the model shown in Figure [[fig:mech_sys_1dof_inertial_contr]].
It could represent a suspension system with a payload to position or isolate using an force actuator and an inertial sensor. It could represent a suspension system with a payload to position or isolate using an force actuator and an inertial sensor.
@ -204,6 +214,20 @@ You can follow this generic procedure:
\end{align} \end{align}
#+HTML: </details> #+HTML: </details>
#+end_exercice #+end_exercice
Hi Musa,
Thank you very much for sharing this awesome package.
For a long time, I am dreaming of being abble to export source blocks to HTML tha are surounded by <details> blocks.
For now, I am manually adding #+HTML: <details><summary>Code</summary> and #+HTML: </details> around the source blocks I want to hide...
This is a very simple solution, but not so elegent nor practical.
Do you have any idea if it would be easy to extend to org-mode export of source blocks to add such functionallity?
Similarly, I would love to be able to export a <span> block with the name of the file corresponding to the source block.
For instance, if a particular source block is tangled to script.sh, it would be so nice to display the filename when exporting!
Thanks in advance
Having obtained $G(s)$ and $G_d(s)$, we can transform the system shown in Figure [[fig:mech_sys_1dof_inertial_contr]] into a classical feedback form as shown in Figure [[fig:open_loop_shaping]]. Having obtained $G(s)$ and $G_d(s)$, we can transform the system shown in Figure [[fig:mech_sys_1dof_inertial_contr]] into a classical feedback form as shown in Figure [[fig:open_loop_shaping]].
@ -302,10 +326,17 @@ And now the system dynamics $G(s)$ and $G_d(s)$ (their bode plots are shown in F
[[file:figs/bode_plot_example_Gd.png]] [[file:figs/bode_plot_example_Gd.png]]
* Classical Open Loop Shaping * Classical Open Loop Shaping
** Introduction to Open Loop Shaping <<sec:open_loop_shaping>>
** Introduction to Loop Shaping
<<sec:open_loop_shaping_introduction>>
#+begin_definition #+begin_definition
The *Loop Gain* $L(s)$ usually refers to as the product of the controller and the plant (Figure [[fig:open_loop_shaping]]): *Loop Shaping* refers to a design procedure that involves explicitly shaping the magnitude of the *Loop Transfer Function* $L(s)$.
#+end_definition
#+begin_definition
The *Loop Gain* $L(s)$ usually refers to as the product of the controller and the plant ("Gain around the loop", see Figure [[fig:open_loop_shaping]]):
\begin{equation} \begin{equation}
L(s) = G(s) \cdot K(s) \label{eq:loop_gain} L(s) = G(s) \cdot K(s) \label{eq:loop_gain}
\end{equation} \end{equation}
@ -336,11 +367,7 @@ The *Loop Gain* $L(s)$ usually refers to as the product of the controller and th
[[file:figs/open_loop_shaping.png]] [[file:figs/open_loop_shaping.png]]
#+end_definition #+end_definition
#+begin_definition This synthesis method is widely used as many characteristics of the closed-loop system depend on the shape of the open loop gain $L(s)$ such as:
*Open Loop Shaping* refers to a control design technique where the controller $K(s)$ is designed such that the *Open Loop Gain* $L(s)$ has desirable shape.
#+end_definition
This synthesis method is widely used as many characteristics of the closed-loop system depend on the shape of the open loop gain $L(s)$:
- *Performance*: $L$ large - *Performance*: $L$ large
- *Good disturbance rejection*: $L$ large - *Good disturbance rejection*: $L$ large
- *Limitation of measurement noise on plant output*: $L$ small - *Limitation of measurement noise on plant output*: $L$ small
@ -350,9 +377,52 @@ This synthesis method is widely used as many characteristics of the closed-loop
The Open Loop shape is usually done manually has the loop gain $L(s)$ depends linearly on $K(s)$ eqref:eq:loop_gain. The Open Loop shape is usually done manually has the loop gain $L(s)$ depends linearly on $K(s)$ eqref:eq:loop_gain.
$K(s)$ then consists of a combination of leads, lags, notches, etc. such that $L(s)$ has the wanted shape. $K(s)$ then consists of a combination of leads, lags, notches, etc. such that $L(s)$ has the wanted shape (an example is shown in Figure [[fig:open_loop_shaping_shape]]).
#+begin_src latex :file open_loop_shaping_shape.pdf
\begin{tikzpicture}
% Phase Axis
\draw[->] (-0.3, -0.5) -- ++(8, 0) node[above]{$\omega$}; \draw[<-] (0, 0)
node[left]{$\angle L(j\omega)$} -- ++(0, -2.3);
% Gain Axis
\draw[->] (-0.3, 2) -- ++(8, 0) node[above]{$\omega$}; \draw[->] (0, 0.5) --
++(0, 3) node[left]{$\left|L(j\omega)\right|$};
% Gain Slopes
\draw[shift={(0,2)}] (0.5, 1.25) -- node[midway, above]{$-2$} (2, 0.5) --
node[midway, above]{$-1$} (6, -0.5) -- node[midway, below left]{$-2$} (7.5,
-1.25);
% Forbiden region
\path[shift={(0,1.8)}, fill=red!50!white] (0.5, 1.25) -- (2, 0.5) -| coordinate[near start](lfshaping) cycle;
\path[shift={(0,2.2)}, fill=red!50!white] (6, -0.5) -- (7.5, -1.25) |- coordinate[near end](hfshaping) cycle;
\draw[<-] (lfshaping) -- ++(0, -0.8) node[below, align=center]{Reference\\Tracking};
\draw[<-] (hfshaping) -- ++(0, 0.8) node[above, align=center]{Noise\\Rejection};
% Crossover frequency
\node[below] (wc) at (4,2){$\omega_c$};
\draw[<-] (wc.south) -- ++(0, -0.4) node[below, align=center]{Bandwidth};
% Phase
\draw[] (0.5, -2) -- (2, -2)[out=0, in=-180] to (4, -1.25)[out=0, in=-180] to
(6, -2) -- (7.5, -2); \draw[] (0.5, -2) -- (2, -2)[out=0, in=-180] to (4,
-1.25)[out=0, in=-180] to (6, -2) -- (7.5, -2);
% Phase Margin
\draw[->, dashed] (4, -2) -- (4, -1.25) node[above]{Phase Margin};
\draw[dashed] (0, -2) node[left]{$-\pi$} -- (7.5, -2);
\end{tikzpicture}
#+end_src
#+name: fig:open_loop_shaping_shape
#+caption: Typical Wanted Shape for the Loop Gain $L(s)$
#+RESULTS:
[[file:figs/open_loop_shaping_shape.png]]
** Example of Open Loop Shaping ** Example of Open Loop Shaping
<<sec:loop_shaping_example>>
#+begin_exampl #+begin_exampl
Let's take our example system and try to apply the Open-Loop shaping strategy to design a controller that fulfils the following specifications: Let's take our example system and try to apply the Open-Loop shaping strategy to design a controller that fulfils the following specifications:
@ -421,23 +491,24 @@ And we can verify that we have the wanted stability margins:
#+end_src #+end_src
#+begin_src matlab :exports results :results value table replace :tangle no :post addhdr(*this*) #+begin_src matlab :exports results :results value table replace :tangle no :post addhdr(*this*)
data2orgtable([Gm; Pm; Wc/2/pi], {'Gain Margin $> 3$ [dB]', 'Phase Margin $> 30$ [deg]', 'Crossover $\approx 10$ [Hz]'}, {'Manual Method'}, ' %.1f '); data2orgtable([Gm; Pm; Wc/2/pi], {'Gain Margin $> 3$ [dB]', 'Phase Margin $> 30$ [deg]', 'Crossover $\approx 10$ [Hz]'}, {'Requirements', 'Manual Method'}, ' %.1f ');
#+end_src #+end_src
#+RESULTS: #+RESULTS:
| | Manual Method | | Requirements | Manual Method |
|-----------------------------+---------------| |-----------------------------+---------------|
| Gain Margin $> 3$ [dB] | 3.1 | | Gain Margin $> 3$ [dB] | 3.1 |
| Phase Margin $> 30$ [deg] | 35.4 | | Phase Margin $> 30$ [deg] | 35.4 |
| Crossover $\approx 10$ [Hz] | 10.1 | | Crossover $\approx 10$ [Hz] | 10.1 |
** $\mathcal{H}_\infty$ Loop Shaping Synthesis ** $\mathcal{H}_\infty$ Loop Shaping Synthesis
<<sec:h_infinity_open_loop_shaping>>
The Open Loop Shaping synthesis can be performed using the $\mathcal{H}_\infty$ Synthesis. The Open Loop Shaping synthesis can be performed using the $\mathcal{H}_\infty$ Synthesis.
Even though we will not go into details, we will provide one example. Even though we will not go into details, we will provide one example.
Using Matlab, the $\mathcal{H}_\infty$ synthesis of a controller based on the wanted open loop shape can be performed using the =loopsyn= command: Using Matlab, the $\mathcal{H}_\infty$ Loop Shaping Synthesis can be performed using the =loopsyn= command:
#+begin_src matlab :eval no #+begin_src matlab :eval no
K = loopsyn(G, Gd); K = loopsyn(G, Gd);
#+end_src #+end_src
@ -451,6 +522,7 @@ where:
#+end_seealso #+end_seealso
** Example of the $\mathcal{H}_\infty$ Loop Shaping Synthesis ** Example of the $\mathcal{H}_\infty$ Loop Shaping Synthesis
<<sec:h_infinity_open_loop_shaping_example>>
Let's reuse the previous plant. Let's reuse the previous plant.
@ -465,7 +537,7 @@ Translate the specification into the wanted shape of the open loop gain.
(1 + s/(2*pi*10/sqrt(3)))/(1 + s/(2*pi*10*sqrt(3))); % Lead (1 + s/(2*pi*10/sqrt(3)))/(1 + s/(2*pi*10*sqrt(3))); % Lead
#+end_src #+end_src
The $\mathcal{H}_\infty$ optimal open loop shaping is performed using the =loopsyn= command: The $\mathcal{H}_\infty$ optimal open loop shaping synthesis is performed using the =loopsyn= command:
#+begin_src matlab #+begin_src matlab
[K, ~, GAM] = loopsyn(G, Lw); [K, ~, GAM] = loopsyn(G, Lw);
#+end_src #+end_src
@ -575,8 +647,11 @@ Let's now compare the obtained stability margins of the $\mathcal{H}_\infty$ con
| Phase Margin $> 30$ [deg] | 35.4 | 54.7 | | Phase Margin $> 30$ [deg] | 35.4 | 54.7 |
| Crossover $\approx 10$ [Hz] | 10.1 | 9.9 | | Crossover $\approx 10$ [Hz] | 10.1 | 9.9 |
* First Step in the $\mathcal{H}_\infty$ world * First Steps in the $\mathcal{H}_\infty$ world
<<sec:h_infinity_introduction>>
** The $\mathcal{H}_\infty$ Norm ** The $\mathcal{H}_\infty$ Norm
<<sec:h_infinity_norm>>
#+begin_definition #+begin_definition
The $\mathcal{H}_\infty$ norm is defined as the peak of the maximum singular value of the frequency response The $\mathcal{H}_\infty$ norm is defined as the peak of the maximum singular value of the frequency response
@ -591,7 +666,7 @@ Let's now compare the obtained stability margins of the $\mathcal{H}_\infty$ con
#+end_definition #+end_definition
#+begin_exampl #+begin_exampl
And compute its $\mathcal{H}_\infty$ norm using the =hinfnorm= function: Let's compute the $\mathcal{H}_\infty$ norm of our test plant $G(s)$ using the =hinfnorm= function:
#+begin_src matlab :results value replace #+begin_src matlab :results value replace
hinfnorm(G) hinfnorm(G)
#+end_src #+end_src
@ -599,8 +674,7 @@ And compute its $\mathcal{H}_\infty$ norm using the =hinfnorm= function:
#+RESULTS: #+RESULTS:
: 7.9216e-06 : 7.9216e-06
The magnitude $|G(j\omega)|$ of the plant $G(s)$ as a function of frequency is shown in Figure [[fig:hinfinity_norm_siso_bode]]. We can see that the $\mathcal{H}_\infty$ norm of $G(s)$ does corresponds to the peak value of $|G(j\omega)|$ as a function of frequency as shown in Figure [[fig:hinfinity_norm_siso_bode]].
The maximum value of the magnitude over all frequencies does correspond to the $\mathcal{H}_\infty$ norm of $G(s)$ as Equation eqref:eq:hinf_norm_siso implies.
#+begin_src matlab :exports none #+begin_src matlab :exports none
freqs = logspace(0, 3, 1000); freqs = logspace(0, 3, 1000);
@ -626,23 +700,47 @@ The maximum value of the magnitude over all frequencies does correspond to the $
#+end_exampl #+end_exampl
** $\mathcal{H}_\infty$ Synthesis ** $\mathcal{H}_\infty$ Synthesis
<<sec:h_infinity_synthesis>>
*Optimization problem*: #+begin_definition
$\mathcal{H}_\infty$ synthesis is a method that uses an *algorithm* (LMI optimization, Riccati equation) to find a controller of the same order as the system so that the $\mathcal{H}_\infty$ norms of defined transfer functions are minimized. $\mathcal{H}_\infty$ synthesis is a method that uses an *algorithm* (LMI optimization, Riccati equation) to find a controller that stabilize the system and that *minimizes* the $\mathcal{H}_\infty$ norms of defined transfer functions.
#+end_definition
*Engineer work*: Why optimizing the $\mathcal{H}_\infty$ norm of transfer functions is a pertinent choice will become clear when we will translate the typical control specifications into the $\mathcal{H}_\infty$ norm of transfer functions.
Then applying the $\mathcal{H}_\infty$ synthesis to a plant, the engineer work usually consists of the following steps
1. Write the problem as standard $\mathcal{H}_\infty$ problem 1. Write the problem as standard $\mathcal{H}_\infty$ problem
2. Translate the specifications as $\mathcal{H}_\infty$ norms 2. Translate the specifications as $\mathcal{H}_\infty$ norms of transfer functions
3. Make the synthesis and analyze the obtain controller 3. Make the synthesis and analyze the obtain controller
4. Reduce the order of the controller for implementation 4. Reduce the order of the controller for implementation
*Many ways to use the $\mathcal{H}_\infty$ Synthesis*:
- Traditional $\mathcal{H}_\infty$ Synthesis Note that there are many ways to use the $\mathcal{H}_\infty$ Synthesis:
- Mixed Sensitivity Loop Shaping - Traditional $\mathcal{H}_\infty$ Synthesis (=hinfsyn= [[https://www.mathworks.com/help/robust/ref/hinfsyn.html][doc]])
- Fixed-Structure $\mathcal{H}_\infty$ Synthesis - Open Loop Shaping $\mathcal{H}_\infty$ Synthesis (=loopsyn= [[https://www.mathworks.com/help/robust/ref/loopsyn.html][doc]])
- Mixed Sensitivity Loop Shaping (=mixsyn= [[https://www.mathworks.com/help/robust/ref/lti.mixsyn.html][doc]])
- Fixed-Structure $\mathcal{H}_\infty$ Synthesis (=hinfstruct= [[https://www.mathworks.com/help/robust/ref/lti.hinfstruct.html][doc]])
- Signal Based $\mathcal{H}_\infty$ Synthesis - Signal Based $\mathcal{H}_\infty$ Synthesis
** The Generalized Plant ** The Generalized Plant
<<sec:generalized_plant>>
The first step when applying the $\mathcal{H}_\infty$ synthesis is usually to write the problem as a standard $\mathcal{H}_\infty$ problem.
This consist of deriving the *Generalized Plant* for the current problem.
It makes things much easier for the following steps.
The generalized plant, usually noted $P(s)$, is shown in Figure [[fig:general_plant]].
It has two inputs and two outputs (both could contains many signals).
The meaning of the inputs and outputs are summarized in Table [[tab:notation_general]].
Note that this generalized plant is as its name implies, quite /general/.
It can indeed represent feedback as well as feedforward control architectures.
\begin{equation}
\begin{bmatrix} z \\ v \end{bmatrix} = P \begin{bmatrix} w \\ u \end{bmatrix} = \begin{bmatrix} P_{11} & P_{12} \\ P_{21} & P_{22} \end{bmatrix} \begin{bmatrix} w \\ u \end{bmatrix}
\end{equation}
#+begin_src latex :file general_plant.pdf #+begin_src latex :file general_plant.pdf
\begin{tikzpicture} \begin{tikzpicture}
\node[block={2.0cm}{2.0cm}] (P) {$P$}; \node[block={2.0cm}{2.0cm}] (P) {$P$};
@ -663,9 +761,12 @@ $\mathcal{H}_\infty$ synthesis is a method that uses an *algorithm* (LMI optimiz
\end{tikzpicture} \end{tikzpicture}
#+end_src #+end_src
#+name: fig:general_plant
#+caption: Inputs and Outputs of the generalized Plant
#+RESULTS: #+RESULTS:
[[file:figs/general_plant.png]] [[file:figs/general_plant.png]]
#+begin_important
#+name: tab:notation_general #+name: tab:notation_general
#+caption: Notations for the general configuration #+caption: Notations for the general configuration
| Notation | Meaning | | Notation | Meaning |
@ -675,50 +776,68 @@ $\mathcal{H}_\infty$ synthesis is a method that uses an *algorithm* (LMI optimiz
| $z$ | Exogenous outputs: signals to be minimized | | $z$ | Exogenous outputs: signals to be minimized |
| $v$ | Controller inputs: measurements | | $v$ | Controller inputs: measurements |
| $u$ | Control signals | | $u$ | Control signals |
#+end_important
\begin{equation} ** The General Synthesis Problem Formulation
\begin{bmatrix} z \\ v \end{bmatrix} = P \begin{bmatrix} w \\ u \end{bmatrix} = \begin{bmatrix} P_{11} & P_{12} \\ P_{21} & P_{22} \end{bmatrix} \begin{bmatrix} w \\ u \end{bmatrix} <<sec:h_infinity_general_synthesis>>
\end{equation}
** From a Classical Feedback Architecture to a Generalized Plant Once the generalized plant is obtained, the $\mathcal{H}_\infty$ synthesis problem can be stated as follows:
#+begin_src latex :file classical_feedback.pdf #+begin_important
- $\mathcal{H}_\infty$ Synthesis applied on the generalized plant ::
Find a stabilizing controller $K$ that, using the sensed output $v$, generates a control signal $u$ such that the $\mathcal{H}_\infty$ norm of the closed-loop transfer function from $w$ to $z$ is minimized.
After $K$ is found, the system is /robustified/ by adjusting the response around the unity gain frequency to increase stability margins.
#+end_important
#+begin_src latex :file general_control_names.pdf
\begin{tikzpicture} \begin{tikzpicture}
\node[addb={+}{}{}{}{-}] (addfb) at (0, 0){};
\node[block, right=0.8 of addfb] (K){$K(s)$};
\node[addb={+}{}{}{}{}, right=0.8 of K] (addu){};
\node[block, right=0.8 of addu] (G){$G(s)$};
\draw[<-] (addfb.west) -- ++(-0.8, 0) node[above right]{$r$}; % Blocs
\draw[->] (addfb.east) -- (K.west) node[above left]{$\epsilon$}; \node[block={2.0cm}{2.0cm}] (P) {$P$};
\draw[->] (K.east) -- (addu.west) node[above left]{$u$}; \node[block={1.5cm}{1.5cm}, below=0.7 of P] (K) {$K$};
\draw[->] (addu.east) -- (G.west);
\draw[<-] (addu.north) -- ++(0, 0.8) node[below right]{$d$}; % Input and outputs coordinates
\draw[->] (G.east) -- ++(1.2, 0); \coordinate[] (inputw) at ($(P.south west)!0.75!(P.north west)$);
\draw[->] ($(G.east) + (0.6, 0)$) node[branch]{} node[above]{$y$} -- ++(0, -0.8) -| (addfb.south); \coordinate[] (inputu) at ($(P.south west)!0.25!(P.north west)$);
\coordinate[] (outputz) at ($(P.south east)!0.75!(P.north east)$);
\coordinate[] (outputv) at ($(P.south east)!0.25!(P.north east)$);
% Connections and labels
\draw[<-] (inputw) node[above left, align=right]{(weighted)\\exogenous inputs\\$w$} -- ++(-1.5, 0);
\draw[<-] (inputu) -- ++(-0.8, 0) |- node[left, near start, align=right]{control signals\\$u$} (K.west);
\draw[->] (outputz) node[above right, align=left]{(weighted)\\exogenous outputs\\$z$} -- ++(1.5, 0);
\draw[->] (outputv) -- ++(0.8, 0) |- node[right, near start, align=left]{sensed output\\$v$} (K.east);
\end{tikzpicture} \end{tikzpicture}
#+end_src #+end_src
#+name: fig:classical_feedback #+name: fig:general_control_names
#+caption: Classical Feedback Architecture #+caption: General Control Configuration
#+RESULTS: #+RESULTS:
[[file:figs/classical_feedback.png]] [[file:figs/general_control_names.png]]
#+name: table:notation_conventional Note that the closed-loop transfer function from $w$ to $z$ is:
#+caption: Notations for the Classical Feedback Architecture \begin{equation}
| Notation | Meaning | \frac{z}{w} = P_{11} + P_{12} K \big( I - P_{22} K \big)^{-1} P_{21} \triangleq F_l(P, K)
|------------+-------------------| \end{equation}
| $G$ | Plant model |
| $K$ | Controller |
| $r$ | Reference inputs |
| $y$ | Plant outputs |
| $u$ | Control signals |
| $d$ | Input Disturbance |
| $\epsilon$ | Tracking Error |
The procedure is: Using Matlab, the $\mathcal{H}_\infty$ Synthesis applied on a Generalized plant can be applied using the =hinfsyn= command ([[https://www.mathworks.com/help/robust/ref/hinfsyn.html][documentation]]):
1. define signals of the generalized plant #+begin_src matlab :eval no
2. Remove $K$ and rearrange the inputs and outputs K = hinfsyn(P, nmeas, ncont);
#+end_src
where:
- =P= is the generalized plant transfer function matrix
- =nmeas= is the number of sensed output (size of $v$)
- =ncont= is the number of control signals (size of $u$)
- =K= obtained controller that minimized the $\mathcal{H}_\infty$ norm from $w$ to $z$
** From a Classical Feedback Architecture to a Generalized Plant
<<sec:generalized_plant_derivation>>
The procedure to convert a typical control architecture as the one shown in Figure [[fig:classical_feedback_tracking]] to a generalized Plant is as follows:
1. Define signals ($w$, $z$, $u$ and $v$) of the generalized plant
2. Remove $K$ and rearrange the inputs and outputs to match the generalized configuration
#+begin_src latex :file classical_feedback_tracking.pdf #+begin_src latex :file classical_feedback_tracking.pdf
\begin{tikzpicture} \begin{tikzpicture}
@ -765,12 +884,13 @@ The procedure is:
#+end_src #+end_src
#+begin_exercice #+begin_exercice
Let's find the Generalized plant of corresponding to the tracking control architecture shown in Figure [[fig:classical_feedback_tracking]] Compute the Generalized plant of corresponding to the tracking control architecture shown in Figure [[fig:classical_feedback_tracking]]
#+name: fig:classical_feedback_tracking #+name: fig:classical_feedback_tracking
#+caption: Classical Feedback Control Architecture (Tracking) #+caption: Classical Feedback Control Architecture (Tracking)
[[file:figs/classical_feedback_tracking.png]] [[file:figs/classical_feedback_tracking.png]]
#+HTML: <details><summary>Hint</summary>
First, define the signals of the generalized plant: First, define the signals of the generalized plant:
- Exogenous inputs: $w = r$ - Exogenous inputs: $w = r$
- Signals to be minimized: $z_1 = \epsilon$, $z_2 = u$ - Signals to be minimized: $z_1 = \epsilon$, $z_2 = u$
@ -778,76 +898,550 @@ The procedure is:
- Control inputs: $u$ - Control inputs: $u$
Then, Remove $K$ and rearrange the inputs and outputs. Then, Remove $K$ and rearrange the inputs and outputs.
We obtain the generalized plant shown in Figure [[fig:mixed_sensitivity_ref_tracking]]. #+HTML: </details>
#+HTML: <details><summary>Answer</summary>
The obtained generalized plant shown in Figure [[fig:mixed_sensitivity_ref_tracking]].
#+name: fig:mixed_sensitivity_ref_tracking #+name: fig:mixed_sensitivity_ref_tracking
#+caption: Generalized plant of the Classical Feedback Control Architecture (Tracking) #+caption: Generalized plant of the Classical Feedback Control Architecture (Tracking)
[[file:figs/mixed_sensitivity_ref_tracking.png]] [[file:figs/mixed_sensitivity_ref_tracking.png]]
#+HTML: </details>
Using Matlab, the generalized plant can be defined as follows:
#+begin_src matlab :tangle no :eval no
P = [1 -G;
0 1;
1 -G]
#+end_src
#+end_exercice #+end_exercice
Using Matlab, the generalized plant can be defined as follows:
** The General Synthesis Problem Formulation #+begin_src matlab :tangle no :eval no
P = [1 -G;
#+begin_important 0 1;
The $\mathcal{H}_\infty$ Synthesis objective is to find all stabilizing controllers $K$ which minimize 1 -G]
\begin{equation} P.InputName = {'w', 'u'};
\| F_l(P, K) \|_\infty = \max_{\omega} \overline{\sigma} \big( F_l(P, K)(j\omega) \big) P.OutputName = {'e', 'u', 'v'};
\end{equation}
#+end_important
#+begin_src latex :file general_control_names.pdf
\begin{tikzpicture}
% Blocs
\node[block={2.0cm}{2.0cm}] (P) {$P$};
\node[block={1.5cm}{1.5cm}, below=0.7 of P] (K) {$K$};
% Input and outputs coordinates
\coordinate[] (inputw) at ($(P.south west)!0.75!(P.north west)$);
\coordinate[] (inputu) at ($(P.south west)!0.25!(P.north west)$);
\coordinate[] (outputz) at ($(P.south east)!0.75!(P.north east)$);
\coordinate[] (outputv) at ($(P.south east)!0.25!(P.north east)$);
% Connections and labels
\draw[<-] (inputw) node[above left, align=right]{(weighted)\\exogenous inputs\\$w$} -- ++(-1.5, 0);
\draw[<-] (inputu) -- ++(-0.8, 0) |- node[left, near start, align=right]{control signals\\$u$} (K.west);
\draw[->] (outputz) node[above right, align=left]{(weighted)\\exogenous outputs\\$z$} -- ++(1.5, 0);
\draw[->] (outputv) -- ++(0.8, 0) |- node[right, near start, align=left]{sensed output\\$v$} (K.east);
\end{tikzpicture}
#+end_src #+end_src
#+name: fig:general_control_names
#+caption: General Control Configuration
#+RESULTS:
[[file:figs/general_control_names.png]]
* Modern Interpretation of the Control Specifications * Modern Interpretation of the Control Specifications
** Introduction <<sec:modern_interpretation_specification>>
- *Reference tracking* Overshoot, Static error, Setling time ** Introduction
- $S(s) = T_{r \rightarrow \epsilon}$ The
#+name: fig:gang_of_four_feedback
#+caption: Simple Feedback Architecture
#+RESULTS:
[[file:figs/gang_of_four_feedback.png]]
- *Reference tracking* Overshoot, Static error, Settling time
- From $r$ to $\epsilon$
- *Disturbances rejection* - *Disturbances rejection*
- From $d$ to $y$
- $G(s) S(s) = T_{d \rightarrow \epsilon}$ - $G(s) S(s) = T_{d \rightarrow \epsilon}$
- *Measurement noise filtering* - *Measurement noise filtering*
- From $n$ to $y$
- $T(s) = T_{n \rightarrow \epsilon}$ - $T(s) = T_{n \rightarrow \epsilon}$
- *Small command amplitude* - *Small command amplitude*
- From $n, r, d$ to $u$
- $K(s) S(s) = T_{r \rightarrow u}$ - $K(s) S(s) = T_{r \rightarrow u}$
- *Stability* - *Stability*
- $S(s)$, $T(s)$, $K(s)S(s)$, $G(s)S(s)$ - $S(s)$, $T(s)$, $K(s)S(s)$, $G(s)S(s)$
- *Robustness to plant uncertainty* (stability margins) - *Robustness to plant uncertainty* (stability margins)
- *Controller implementation* - *Controller implementation*
** ** Closed Loop Transfer Functions
<<sec:losed_loop_tf>>
As the performances of a controlled system depend on the *closed* loop transfer functions, it is very important to derive these closed-loop transfer functions as a function of the plant $G(s)$ and controller $K(s)$.
#+begin_src latex :file gang_of_four_feedback.pdf
\begin{tikzpicture}
\node[addb={+}{}{}{}{-}] (addfb) at (0, 0){};
\node[block, right=0.8 of addfb] (K){$K(s)$};
\node[addb, right=0.8 of K] (addd){};
\node[block, right=0.8 of addd] (G){$G(s)$};
\node[addb, below right=0.4 and 0.2 of G] (addn){};
\draw[<-] (addfb.west) -- ++(-0.8, 0) node[above right]{$r$};
\draw[->] (addfb.east) -- (K.west) node[above left]{$\epsilon$};
\draw[->] (K.east) -- (addd.west);
\draw[<-] (addd.north) -- ++(0, 0.6) node[below right]{$d$};
\draw[->] (addd.east) -- (G.west) node[above left]{$u$};
\draw[->] (G.east) -- ++(1.6, 0) node[above left]{$y$};
\draw[->] (G-|addn) node[branch]{} -- (addn.north);
\draw[<-] (addn.east) -- ++(0.8, 0) node[above left]{$n$};
\draw[->] (addn.west) -| (addfb.south);
\end{tikzpicture}
#+end_src
#+name: fig:gang_of_four_feedback
#+caption: Simple Feedback Architecture
#+RESULTS:
[[file:figs/gang_of_four_feedback.png]]
#+begin_exercice
Write the output signals $[\epsilon, u, y]$ as a function of the systems $K(s), G(s)$ and of the input signals $[r, d, n]$ as shown in Figure [[fig:gang_of_four_feedback]].
#+HTML: <details><summary>Hint</summary>
Take one of the output (e.g. $y$), and write it as a function of the inputs $[d, r, n]$ going step by step around the loop:
\begin{aligned}
y &= G u \\
&= G (d + K \epsilon) \\
&= G \big(d + K (r - n - y) \big) \\
&= G d + GK r - GK n - GK y
\end{aligned}
Isolate $y$ at the right hand side, and finally obtain:
\[ y = \frac{GK}{1+ GK} r + \frac{G}{1 + GK} d - \frac{GK}{1 + GK} n \]
Do the same procedure for $u$ and $\epsilon$
#+HTML: </details>
#+HTML: <details><summary>Anwser</summary>
The following equations should be obtained:
\begin{align}
y &= \frac{GK}{1 + GK} r + \frac{G}{1 + GK} d - \frac{GK}{1 + GK} n \\
\epsilon &= \frac{1 }{1 + GK} r - \frac{G}{1 + GK} d - \frac{G }{1 + GK} n \\
u &= \frac{K }{1 + GK} r - \frac{1}{1 + GK} d - \frac{K }{1 + GK} n
\end{align}
#+HTML: </details>
#+end_exercice
We can see that their are 4 different transfer functions describing the behavior of the system in Figure [[fig:gang_of_four_feedback]].
They are called the *Gang of Four*:
\begin{align}
S &= \frac{1 }{1 + GK}, \quad \text{the sensitivity function} \\
T &= \frac{GK}{1 + GK}, \quad \text{the complementary sensitivity function} \\
GS &= \frac{G }{1 + GK}, \quad \text{the load disturbance sensitivity function} \\
KS &= \frac{K }{1 + GK}, \quad \text{the noise sensitivity function}
\end{align}
#+begin_seealso
If a feedforward controller is included, a *Gang of Six* transfer functions can be defined.
More on that in this [[https://www.youtube.com/watch?v=b_8v8scghh8][short video]].
#+end_seealso
And we have:
\begin{align}
\epsilon &= S r - GS d - GS n \\
y &= T r + GS d - T n \\
u &= KS r - S d - KS n
\end{align}
** Sensitivity Transfer Function
<<sec:sensitivity_transfer_functions>>
#+begin_src matlab
K1 = 14e8 * ... % Gain
1/(s^2) * ... % Double Integrator
(1 + s/(2*pi*10/sqrt(8)))/(1 + s/(2*pi*10*sqrt(8))); % Lead
K2 = 1e8 * ... % Gain
1/(s^2) * ... % Double Integrator
(1 + s/(2*pi*1/sqrt(8)))/(1 + s/(2*pi*1*sqrt(8))); % Lead
K3 = 1e8 * ... % Gain
1/(s^2) * ... % Double Integrator
(1 + s/(2*pi*1/sqrt(2)))/(1 + s/(2*pi*1*sqrt(2))); % Lead
S1 = 1/(1 + K1*G);
S2 = 1/(1 + K2*G);
S3 = 1/(1 + K3*G);
T1 = K1*G/(1 + K1*G);
T2 = K2*G/(1 + K2*G);
T3 = K3*G/(1 + K3*G);
bodeFig({S1, S2, S3})
#+end_src
#+begin_src matlab
freqs = logspace(-1, 2, 1000);
figure;
tiledlayout(1, 2, 'TileSpacing', 'None', 'Padding', 'None');
ax1 = nexttile;
hold on;
plot(freqs, abs(squeeze(freqresp(S1, freqs, 'Hz'))), 'DisplayName', '$L(s)$');
plot(freqs, abs(squeeze(freqresp(S2, freqs, 'Hz'))), 'DisplayName', '$L_w(s)$');
plot(freqs, abs(squeeze(freqresp(S3, freqs, 'Hz'))), 'DisplayName', '$L_w(s) / \gamma$, $L_w(s) \cdot \gamma$');
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
xlabel('Frquency [Hz]'); ylabel('Sensitivity Magnitude');
hold off;
ax2 = nexttile;
t = linspace(0, 1, 1000);
y1 = step(T1, t);
y2 = step(T2, t);
y3 = step(T3, t);
hold on;
plot(t, y1)
plot(t, y2)
plot(t, y3)
hold off
xlabel('Time [s]'); ylabel('Step Response');
#+end_src
#+begin_src latex :file h-infinity-spec-S.pdf
\begin{tikzpicture}
\begin{axis}[%
width=8cm,
height=4cm,
at={(0,0)},
xmode=log,
xmin=0.01,
xmax=10000,
ymin=-80,
ymax=40,
ylabel={Magnitude [dB]},
xlabel={Frequency [Hz]},
ytick={40, 20, 0, -20, -40, -60, -80},
xminorgrids,
yminorgrids
]
\addplot [thick, color=black, forget plot]
table[row sep=crcr]{%
0.01 -60\\
0.1 -60\\
190 6\\
10000 6\\
};
\draw[<-] (0.05, -60) -- (0.1, -70);
\draw (0.1, -70) -- (2, -70) node[right, fill=white, draw]{$\SI{-60}{\decibel} \rightarrow$ \footnotesize{Static error}};
\draw[<-] (1, -40) -- (10, -40) node[right, fill=white, draw]{$\SI{20}{\decibel/dec} \rightarrow$ \footnotesize{Ref. track.}};
\draw[<-] (100, 0) -- (3, 0) node[left, fill=white, draw]{$\omega_c \rightarrow$ \footnotesize{Speed}};
\draw[<-] (300, 6) -- (200, 20);
\draw (200, 20) -- (10, 20) node[left, fill=white, draw]{$\SI{6}{\decibel} \rightarrow$ \footnotesize{Module margin}};
\end{axis}
\end{tikzpicture}
#+end_src
#+name: fig:h-infinity-spec-S
#+caption: Typical wanted shape of the Sensitivity transfer function
#+RESULTS:
[[file:figs/h-infinity-spec-S.png]]
** Robustness: Module Margin
<<sec:module_margin>>
- [ ] Definition of Module margin
- [ ] Why it represents robustness
- [ ] Example
\[ M_S < 2 \Rightarrow \text{GM} > 2 \text{ and } \text{PM} > 29^o \]
** How to *Shape* transfer function? Using of Weighting Functions!
<<sec:weighting_functions>>
Let's say we want to shape the sensitivity transfer function corresponding to the transfer function from $r$ to $\epsilon$ of the control architecture shown in Figure [[fig:loop_shaping_S_without_W]].
#+begin_src latex :file loop_shaping_S_without_W.pdf
\begin{tikzpicture}
\node[block] (G) {$G(s)$};
\node[addb={+}{-}{}{}{}, right=0.6 of G] (addw) {};
\coordinate[above right=1.0 and 1.4 of addw] (epsilon);
\coordinate[] (w) at ($(epsilon-|G.west)+(-1.0, 0)$);
\node[block, below left=0.8 and 0 of addw] (K) {$K(s)$};
% Connections
\draw[->] (G.east) -- (addw.west);
\draw[->] ($(addw.east)+(0.4, 0)$)node[branch]{} |- (epsilon) node[above left](z1){$\epsilon$};
\draw[->] (addw.east) -- (addw-|z1) |- node[near start, right]{$v$} (K.east);
\draw[->] (K.west) -| node[near end, left]{$u$} ($(G-|w)+(0.4, 0)$) -- (G.west);
\draw[->] (w) node[above]{$w = r$} -| (addw.north);
\begin{scope}[on background layer]
\node[fit={(G.south west) ($(z1.north west)+(-0.4, 0)$)}, inner sep=12pt, draw, dashed, fill=black!20!white] (P) {};
\node[below] at (P.north) {Generalized Plant $P(s)$};
\end{scope}
\end{tikzpicture}
#+end_src
#+name: fig:loop_shaping_S_without_W
#+caption: Generalized Plant
#+RESULTS:
[[file:figs/loop_shaping_S_without_W.png]]
If the $\mathcal{H}_\infty$ synthesis is directly applied on the generalized plant $P(s)$ shown in Figure [[fig:loop_shaping_S_without_W]], if will minimize the $\mathcal{H}_\infty$ norm of transfer function from $r$ to $\epsilon$ (the sensitivity transfer function).
However, as the $\mathcal{H}_\infty$ norm is the maximum peak value of the transfer function's magnitude, it does not allow to *shape* the norm over all frequencies.
A /trick/ is to include a *weighting function* in the generalized plant as shown in Figure [[fig:loop_shaping_S_with_W]].
Applying the $\mathcal{H}_\infty$ synthesis to the /weighted/ generalized plant $\tilde{P}(s)$ (Figure [[fig:loop_shaping_S_with_W]]) will generate a controller $K(s)$ that minimizes the $\mathcal{H}_\infty$ norm between $r$ and $\tilde{\epsilon}$:
\begin{equation}
\begin{aligned}
& \left\| \frac{\tilde{\epsilon}}{r} \right\|_\infty < \gamma (=1) \\
\Leftrightarrow & \left\| W_s(s) S(s) \right\|_\infty < 1 \\
\Leftrightarrow & \left| W_s(j\omega) S(j\omega) \right| < 1 \quad \forall \omega \\
\Leftrightarrow & \left| S(j\omega) \right| < \frac{1}{\left| W_s(j\omega) \right|} \quad \forall \omega
\end{aligned}\label{eq:sensitivity_shaping}
\end{equation}
#+begin_important
As shown in Equation eqref:eq:sensitivity_shaping, the $\mathcal{H}_\infty$ synthesis allows to *shape* the magnitude of the sensitivity transfer function.
Therefore, the choice of the weighting function $W_s(s)$ is very important.
Its inverse magnitude will define the frequency dependent upper bound of the sensitivity transfer function magnitude.
#+end_important
#+begin_src latex :file loop_shaping_S_with_W.pdf
\begin{tikzpicture}
\node[block] (G) {$G(s)$};
\node[addb={+}{-}{}{}{}, right=0.6 of G] (addw) {};
\node[block, above right=1.0 and 1.0 of addw] (Ws) {$W_s(s)$};
\coordinate[right=0.8 of Ws] (epsilon);
\coordinate[] (w) at ($(epsilon-|G.west)+(-1.0, 0)$);
\begin{scope}[on background layer]
\node[fit={(G.south west) (Ws.north east)}, inner sep=8pt, draw, dashed, fill=black!20!white] (P) {};
\node[above] at (P.north) {Weighted Generalized Plant $\tilde{P}(s)$};
\end{scope}
\node[block, below=0.4 of P] (K) {$K(s)$};
% Connections
\draw[->] (G.east) -- (addw.west);
\draw[->] ($(addw.east)+(0.4, 0)$)node[branch]{} |- (Ws.west)node[above left]{$\epsilon$};
\draw[->] (Ws.east) -- (epsilon) node[above left](z1){$\tilde{\epsilon}$};
\draw[->] (addw.east) -- (addw-|z1) |- node[near start, right]{$v$} (K.east);
\draw[->] (K.west) -| node[near end, left]{$u$} ($(G-|w)+(0.4, 0)$) -- (G.west);
\draw[->] (w) node[above]{$w = r$} -| (addw.north);
\end{tikzpicture}
#+end_src
#+name: fig:loop_shaping_S_with_W
#+caption: Weighted Generalized Plant
#+RESULTS:
[[file:figs/loop_shaping_S_with_W.png]]
Once the weighting function is designed, it should be added to the generalized plant as shown in Figure [[fig:loop_shaping_S_with_W]].
The weighted generalized plant can be defined in Matlab by either re-defining all the inputs or by pre-multiplying the (non-weighted) generalized plant by a block-diagonal MIMO transfer function containing the weights for the outputs $z$ and =1= for the outputs $v$.
#+begin_src matlab :tangle no :eval no
Pw = [Ws -Ws*G;
1 -G]
% Alternative
Pw = blkdiag(Ws, 1)*P;
#+end_src
** Design of Weighting Functions
<<sec:weighting_functions_design>>
Weighting function used must be *proper*, *stable* and *minimum phase* transfer functions.
- proper ::
more poles than zeros, this implies $\lim_{\omega \to \infty} |W(j\omega)| < \infty$
- stable ::
no poles in the right half plane
- minimum phase ::
no zeros in the right half plane
Matlab is providing the =makeweight= function that creates a first-order weights by specifying the low frequency gain, high frequency gain, and a gain at a specific frequency:
#+begin_src matlab :tangle no :eval no
W = makeweight(dcgain,[freq,mag],hfgain)
#+end_src
with:
- =dcgain=
- =freq=
- =mag=
- =hfgain=
#+begin_exampl
The Matlab code below produces a weighting function with a magnitude shape shown in Figure [[fig:first_order_weight]].
#+begin_src matlab
Ws = makeweight(1e2, [2*pi*10, 1], 1/2);
#+end_src
#+begin_src matlab :exports none
freqs = logspace(-2, 2, 1000);
figure;
hold on;
plot(freqs, abs(squeeze(freqresp(Ws, freqs, 'Hz'))), 'k-');
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
xlabel('Frquency [Hz]'); ylabel('Magnitude');
hold off;
#+end_src
#+begin_src matlab :tangle no :exports results :results file replace
exportFig('figs/first_order_weight.pdf', 'width', 'wide', 'height', 'normal');
#+end_src
#+name: fig:first_order_weight
#+caption: Obtained Magnitude of the Weighting Function
#+RESULTS:
[[file:figs/first_order_weight.png]]
#+end_exampl
#+begin_seealso
Quite often, higher orders weights are required.
In such case, the following formula can be used the design of these weights:
\begin{equation}
W(s) = \left( \frac{
\frac{1}{\omega_0} \sqrt{\frac{1 - \left(\frac{G_0}{G_c}\right)^{\frac{2}{n}}}{1 - \left(\frac{G_c}{G_\infty}\right)^{\frac{2}{n}}}} s + \left(\frac{G_0}{G_c}\right)^{\frac{1}{n}}
}{
\left(\frac{1}{G_\infty}\right)^{\frac{1}{n}} \frac{1}{\omega_0} \sqrt{\frac{1 - \left(\frac{G_0}{G_c}\right)^{\frac{2}{n}}}{1 - \left(\frac{G_c}{G_\infty}\right)^{\frac{2}{n}}}} s + \left(\frac{1}{G_c}\right)^{\frac{1}{n}}
}\right)^n \label{eq:weight_formula_advanced}
\end{equation}
The parameters permit to specify:
- the low frequency gain: $G_0 = lim_{\omega \to 0} |W(j\omega)|$
- the high frequency gain: $G_\infty = lim_{\omega \to \infty} |W(j\omega)|$
- the absolute gain at $\omega_0$: $G_c = |W(j\omega_0)|$
- the absolute slope between high and low frequency: $n$
A Matlab function implementing Equation eqref:eq:weight_formula_advanced is shown below:
#+name: lst:generateWeight
#+caption: Matlab Function that can be used to generate Weighting functions
#+begin_src matlab :tangle matlab/generateWeight.m :comments none :eval no
function [W] = generateWeight(args)
arguments
args.G0 (1,1) double {mustBeNumeric, mustBePositive} = 0.1
args.G1 (1,1) double {mustBeNumeric, mustBePositive} = 10
args.Gc (1,1) double {mustBeNumeric, mustBePositive} = 1
args.wc (1,1) double {mustBeNumeric, mustBePositive} = 2*pi
args.n (1,1) double {mustBeInteger, mustBePositive} = 1
end
if (args.Gc <= args.G0 && args.Gc <= args.G1) || (args.Gc >= args.G0 && args.Gc >= args.G1)
eid = 'value:range';
msg = 'Gc must be between G0 and G1';
throwAsCaller(MException(eid,msg))
end
s = zpk('s');
W = (((1/args.wc)*sqrt((1-(args.G0/args.Gc)^(2/args.n))/(1-(args.Gc/args.G1)^(2/args.n)))*s + (args.G0/args.Gc)^(1/args.n))/((1/args.G1)^(1/args.n)*(1/args.wc)*sqrt((1-(args.G0/args.Gc)^(2/args.n))/(1-(args.Gc/args.G1)^(2/args.n)))*s + (1/args.Gc)^(1/args.n)))^args.n;
end
#+end_src
Let's use this function to generate three weights with the same high and low frequency gains, but but different slopes.
#+begin_src matlab
W1 = generateWeight('G0', 1e2, 'G1', 1/2, 'Gc', 1, 'wc', 2*pi*10, 'n', 1);
W2 = generateWeight('G0', 1e2, 'G1', 1/2, 'Gc', 1, 'wc', 2*pi*10, 'n', 2);
W3 = generateWeight('G0', 1e2, 'G1', 1/2, 'Gc', 1, 'wc', 2*pi*10, 'n', 3);
#+end_src
The obtained shapes are shown in Figure [[fig:high_order_weight]].
#+begin_src matlab :exports none
freqs = logspace(-2, 2, 1000);
figure;
hold on;
plot(freqs, abs(squeeze(freqresp(W1, freqs, 'Hz'))), ...
'DisplayName', '$n = 1$');
plot(freqs, abs(squeeze(freqresp(W2, freqs, 'Hz'))), ...
'DisplayName', '$n = 2$');
plot(freqs, abs(squeeze(freqresp(W3, freqs, 'Hz'))), ...
'DisplayName', '$n = 3$');
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
xlabel('Frquency [Hz]'); ylabel('Magnitude');
legend('location', 'northeast');
#+end_src
#+begin_src matlab :tangle no :exports results :results file replace
exportFig('figs/high_order_weight.pdf', 'width', 'wide', 'height', 'normal');
#+end_src
#+name: fig:high_order_weight
#+caption: Higher order weights using Equation eqref:eq:weight_formula_advanced
#+RESULTS:
[[file:figs/high_order_weight.png]]
#+end_seealso
** Sensitivity Function Shaping - Example
<<sec:sensitivity_shaping_example>>
- Robustness: Module margin > 2 ($\Rightarrow \text{GM} > 2 \text{ and } \text{PM} > 29^o$)
- Bandwidth:
- Slope of -2
First, the weighting functions is generated.
#+begin_src matlab
Ws = generateWeight('G0', 1e3, 'G1', 1/2, 'Gc', 1, 'wc', 2*pi*10, 'n', 2);
#+end_src
It is then added to the generalized plant.
#+begin_src matlab
Pw = blkdiag(Ws, 1)*P;
#+end_src
And the $\mathcal{H}_\infty$ synthesis is performed.
#+begin_src matlab :results output replace
K = hinfsyn(Pw, 1, 1, 'Display', 'on');
#+end_src
#+RESULTS:
#+begin_example
K = hinfsyn(Pw, 1, 1, 'Display', 'on');
Test bounds: 0.5 <= gamma <= 0.51
gamma X>=0 Y>=0 rho(XY)<1 p/f
5.05e-01 0.0e+00 0.0e+00 4.497e-28 p
Limiting gains...
5.05e-01 0.0e+00 0.0e+00 0.000e+00 p
5.05e-01 -1.8e+01 # -2.9e-15 1.514e-15 f
Best performance (actual): 0.504
#+end_example
The obtained $\gamma \approx 0.5$ means that it found a controller $K(s)$ that stabilize the closed-loop system, and such that:
\begin{aligned}
& \| W_s(s) S(s) \|_\infty < 0.5 \\
& \Leftrightarrow |S(j\omega)| < \frac{0.5}{|W_s(j\omega)|} \quad \forall \omega
\end{aligned}
This is indeed what we can see by comparing $|S|$ and $|W_S|$ in Figure [[fig:results_sensitivity_hinf]].
#+begin_src matlab :exports none
figure;
hold on;
plot(freqs, 1./abs(squeeze(freqresp(Ws, freqs, 'Hz'))), 'k--', 'DisplayName', '$|W_s|^{-1}$');
plot(freqs, abs(squeeze(freqresp(1/(1 + K*G), freqs, 'Hz'))), 'k-', 'DisplayName', '$|S|$');
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
xlabel('Frequency [Hz]'); ylabel('Magnitude');
legend('location', 'southeast', 'FontSize', 8);
#+end_src
#+begin_src matlab :tangle no :exports results :results file replace
exportFig('figs/results_sensitivity_hinf.pdf', 'width', 'wide', 'height', 'normal');
#+end_src
#+name: fig:results_sensitivity_hinf
#+caption: Weighting function and obtained closed-loop sensitivity
#+RESULTS:
[[file:figs/results_sensitivity_hinf.png]]
* $\mathcal{H}_\infty$ Mixed-Sensitivity Synthesis
<<sec:h_infinity_mixed_sensitivity>>
** Problem
** Typical Procedure
** Step 1 - Shaping of the Sensitivity Function
** Step 2 - Shaping of
* Conclusion
* Resources * Resources

20
matlab/generateWeight.m Normal file
View File

@ -0,0 +1,20 @@
function [W] = generateWeight(args)
arguments
args.G0 (1,1) double {mustBeNumeric, mustBePositive} = 0.1
args.G1 (1,1) double {mustBeNumeric, mustBePositive} = 10
args.Gc (1,1) double {mustBeNumeric, mustBePositive} = 1
args.wc (1,1) double {mustBeNumeric, mustBePositive} = 2*pi
args.n (1,1) double {mustBeInteger, mustBePositive} = 1
end
if (args.Gc <= args.G0 && args.Gc <= args.G1) || (args.Gc >= args.G0 && args.Gc >= args.G1)
eid = 'value:range';
msg = 'Gc must be between G0 and G1';
throwAsCaller(MException(eid,msg))
end
s = zpk('s');
W = (((1/args.wc)*sqrt((1-(args.G0/args.Gc)^(2/args.n))/(1-(args.Gc/args.G1)^(2/args.n)))*s + (args.G0/args.Gc)^(1/args.n))/((1/args.G1)^(1/args.n)*(1/args.wc)*sqrt((1-(args.G0/args.Gc)^(2/args.n))/(1-(args.Gc/args.G1)^(2/args.n)))*s + (1/args.Gc)^(1/args.n)))^args.n;
end