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

804
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:
#+STARTUP: overview
@ -31,6 +31,7 @@
#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
#+PROPERTY: header-args:latex+ :results file raw replace
#+PROPERTY: header-args:latex+ :buffer no
#+PROPERTY: header-args:latex+ :tangle no
#+PROPERTY: header-args:latex+ :eval no-export
#+PROPERTY: header-args:latex+ :exports results
#+PROPERTY: header-args:latex+ :mkdirp yes
@ -48,8 +49,15 @@
<<matlab-init>>
#+end_src
#+begin_src matlab :tangle no
addpath('matlab')
#+end_src
* 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]].
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.
** Some Background: From Classical Control to Robust Control
<<sec:comp_classical_modern_robust_control>>
#+name: tab:comparison_control_methods
#+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 |
** Example System
<<sec:example_system>>
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.
@ -204,6 +214,20 @@ You can follow this generic procedure:
\end{align}
#+HTML: </details>
#+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]].
@ -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]]
* Classical Open Loop Shaping
** Introduction to Open Loop Shaping
<<sec:open_loop_shaping>>
** Introduction to Loop Shaping
<<sec:open_loop_shaping_introduction>>
#+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}
L(s) = G(s) \cdot K(s) \label{eq:loop_gain}
\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]]
#+end_definition
#+begin_definition
*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 $L(s)$:
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:
- *Performance*: $L$ large
- *Good disturbance rejection*: $L$ large
- *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.
$K(s)$ 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
<<sec:loop_shaping_example>>
#+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:
@ -421,23 +491,24 @@ And we can verify that we have the wanted stability margins:
#+end_src
#+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
#+RESULTS:
| | Manual Method |
| Requirements | Manual Method |
|-----------------------------+---------------|
| Gain Margin $> 3$ [dB] | 3.1 |
| Phase Margin $> 30$ [deg] | 35.4 |
| Crossover $\approx 10$ [Hz] | 10.1 |
** $\mathcal{H}_\infty$ Loop Shaping Synthesis
<<sec:h_infinity_open_loop_shaping>>
The Open Loop Shaping synthesis can be performed using the $\mathcal{H}_\infty$ Synthesis.
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
K = loopsyn(G, Gd);
#+end_src
@ -451,6 +522,7 @@ where:
#+end_seealso
** Example of the $\mathcal{H}_\infty$ Loop Shaping Synthesis
<<sec:h_infinity_open_loop_shaping_example>>
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
#+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
[K, ~, GAM] = loopsyn(G, Lw);
#+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 |
| 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
<<sec:h_infinity_norm>>
#+begin_definition
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
#+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
hinfnorm(G)
#+end_src
@ -599,8 +674,7 @@ And compute its $\mathcal{H}_\infty$ norm using the =hinfnorm= function:
#+RESULTS:
: 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]].
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.
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]].
#+begin_src matlab :exports none
freqs = logspace(0, 3, 1000);
@ -626,23 +700,47 @@ The maximum value of the magnitude over all frequencies does correspond to the $
#+end_exampl
** $\mathcal{H}_\infty$ Synthesis
<<sec:h_infinity_synthesis>>
*Optimization problem*:
$\mathcal{H}_\infty$ 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.
#+begin_definition
$\mathcal{H}_\infty$ 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
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
4. Reduce the order of the controller for implementation
*Many ways to use the $\mathcal{H}_\infty$ Synthesis*:
- Traditional $\mathcal{H}_\infty$ Synthesis
- Mixed Sensitivity Loop Shaping
- Fixed-Structure $\mathcal{H}_\infty$ Synthesis
Note that there are many ways to use the $\mathcal{H}_\infty$ Synthesis:
- Traditional $\mathcal{H}_\infty$ Synthesis (=hinfsyn= [[https://www.mathworks.com/help/robust/ref/hinfsyn.html][doc]])
- 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
** 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{tikzpicture}
\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_src
#+name: fig:general_plant
#+caption: Inputs and Outputs of the generalized Plant
#+RESULTS:
[[file:figs/general_plant.png]]
#+begin_important
#+name: tab:notation_general
#+caption: Notations for the general configuration
| 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 |
| $v$ | Controller inputs: measurements |
| $u$ | Control signals |
#+end_important
\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}
** The General Synthesis Problem Formulation
<<sec:h_infinity_general_synthesis>>
** 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}
\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]{$r$};
\draw[->] (addfb.east) -- (K.west) node[above left]{$\epsilon$};
\draw[->] (K.east) -- (addu.west) node[above left]{$u$};
\draw[->] (addu.east) -- (G.west);
\draw[<-] (addu.north) -- ++(0, 0.8) node[below right]{$d$};
\draw[->] (G.east) -- ++(1.2, 0);
\draw[->] ($(G.east) + (0.6, 0)$) node[branch]{} node[above]{$y$} -- ++(0, -0.8) -| (addfb.south);
% 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
#+name: fig:classical_feedback
#+caption: Classical Feedback Architecture
#+name: fig:general_control_names
#+caption: General Control Configuration
#+RESULTS:
[[file:figs/classical_feedback.png]]
[[file:figs/general_control_names.png]]
#+name: table:notation_conventional
#+caption: Notations for the Classical Feedback Architecture
| Notation | Meaning |
|------------+-------------------|
| $G$ | Plant model |
| $K$ | Controller |
| $r$ | Reference inputs |
| $y$ | Plant outputs |
| $u$ | Control signals |
| $d$ | Input Disturbance |
| $\epsilon$ | Tracking Error |
Note that the closed-loop transfer function from $w$ to $z$ is:
\begin{equation}
\frac{z}{w} = P_{11} + P_{12} K \big( I - P_{22} K \big)^{-1} P_{21} \triangleq F_l(P, K)
\end{equation}
The procedure is:
1. define signals of the generalized plant
2. Remove $K$ and rearrange the inputs and outputs
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]]):
#+begin_src matlab :eval no
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{tikzpicture}
@ -765,12 +884,13 @@ The procedure is:
#+end_src
#+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
#+caption: Classical Feedback Control Architecture (Tracking)
[[file:figs/classical_feedback_tracking.png]]
#+HTML: <details><summary>Hint</summary>
First, define the signals of the generalized plant:
- Exogenous inputs: $w = r$
- Signals to be minimized: $z_1 = \epsilon$, $z_2 = u$
@ -778,76 +898,550 @@ The procedure is:
- Control inputs: $u$
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
#+caption: Generalized plant of the Classical Feedback Control Architecture (Tracking)
[[file:figs/mixed_sensitivity_ref_tracking.png]]
#+HTML: </details>
#+end_exercice
Using Matlab, the generalized plant can be defined as follows:
#+begin_src matlab :tangle no :eval no
P = [1 -G;
0 1;
1 -G]
P.InputName = {'w', 'u'};
P.OutputName = {'e', 'u', 'v'};
#+end_src
#+end_exercice
** The General Synthesis Problem Formulation
#+begin_important
The $\mathcal{H}_\infty$ Synthesis objective is to find all stabilizing controllers $K$ which minimize
\begin{equation}
\| F_l(P, K) \|_\infty = \max_{\omega} \overline{\sigma} \big( F_l(P, K)(j\omega) \big)
\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
#+name: fig:general_control_names
#+caption: General Control Configuration
#+RESULTS:
[[file:figs/general_control_names.png]]
* Modern Interpretation of the Control Specifications
** Introduction
<<sec:modern_interpretation_specification>>
- *Reference tracking* Overshoot, Static error, Setling time
- $S(s) = T_{r \rightarrow \epsilon}$
** Introduction
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*
- From $d$ to $y$
- $G(s) S(s) = T_{d \rightarrow \epsilon}$
- *Measurement noise filtering*
- From $n$ to $y$
- $T(s) = T_{n \rightarrow \epsilon}$
- *Small command amplitude*
- From $n, r, d$ to $u$
- $K(s) S(s) = T_{r \rightarrow u}$
- *Stability*
- $S(s)$, $T(s)$, $K(s)S(s)$, $G(s)S(s)$
- *Robustness to plant uncertainty* (stability margins)
- *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

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