Add org-setup-file that all org file links to
This commit is contained in:
@@ -4,237 +4,25 @@
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-03-13 ven. 17:39 -->
|
||||
<!-- 2020-04-17 ven. 09:36 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>Active Damping with an uni-axial model</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Dehaeze Thomas" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||
<script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||
<script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&dn=gpl-3.0.txt GPL-v3-or-Later
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
// @license-end
|
||||
</script>
|
||||
<script>
|
||||
MathJax = {
|
||||
tex: { macros: {
|
||||
bm: ["\\boldsymbol{#1}",1],
|
||||
}
|
||||
}
|
||||
<script src="./js/jquery.min.js"></script>
|
||||
<script src="./js/bootstrap.min.js"></script>
|
||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="./js/readtheorg.js"></script>
|
||||
<script>MathJax = {
|
||||
tex: {
|
||||
tags: 'ams',
|
||||
macros: {bm: ["\\boldsymbol{#1}",1],}
|
||||
}
|
||||
};
|
||||
</script>
|
||||
<script type="text/javascript"
|
||||
src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
<script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
@@ -251,63 +39,63 @@
|
||||
<ul>
|
||||
<li><a href="#org7409841">1.1. Init</a></li>
|
||||
<li><a href="#org7514f31">1.2. Identification</a></li>
|
||||
<li><a href="#org380e20f">1.3. Sensitivity to disturbances</a></li>
|
||||
<li><a href="#org5ffc5f1">1.3. Sensitivity to disturbances</a></li>
|
||||
<li><a href="#orgdda82c0">1.4. Undamped Plant</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org5a3389e">2. Integral Force Feedback</a>
|
||||
<ul>
|
||||
<li><a href="#orgbaae6a1">2.1. One degree-of-freedom example</a>
|
||||
<li><a href="#orgbe39d04">2.1. One degree-of-freedom example</a>
|
||||
<ul>
|
||||
<li><a href="#orgc436f05">2.1.1. Equations</a></li>
|
||||
<li><a href="#org238893b">2.1.2. Matlab Example</a></li>
|
||||
<li><a href="#orgdb4e3a8">2.1.1. Equations</a></li>
|
||||
<li><a href="#orgeec7ed9">2.1.2. Matlab Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org824be47">2.2. Control Design</a></li>
|
||||
<li><a href="#orgfdd4556">2.3. Identification of the damped plant</a></li>
|
||||
<li><a href="#org4802ab9">2.4. Sensitivity to disturbances</a></li>
|
||||
<li><a href="#org2cbe422">2.5. Damped Plant</a></li>
|
||||
<li><a href="#orgdade398">2.6. Conclusion</a></li>
|
||||
<li><a href="#org767264d">2.2. Control Design</a></li>
|
||||
<li><a href="#org945fe08">2.3. Identification of the damped plant</a></li>
|
||||
<li><a href="#orgfd53164">2.4. Sensitivity to disturbances</a></li>
|
||||
<li><a href="#org685bc2a">2.5. Damped Plant</a></li>
|
||||
<li><a href="#org6b26d75">2.6. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#orgc4ca1b5">3. Relative Motion Control</a>
|
||||
<ul>
|
||||
<li><a href="#org39a3687">3.1. One degree-of-freedom example</a>
|
||||
<li><a href="#org54d13d6">3.1. One degree-of-freedom example</a>
|
||||
<ul>
|
||||
<li><a href="#org994b142">3.1.1. Equations</a></li>
|
||||
<li><a href="#org6a1f411">3.1.2. Matlab Example</a></li>
|
||||
<li><a href="#org54758f7">3.1.1. Equations</a></li>
|
||||
<li><a href="#org31ae910">3.1.2. Matlab Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org13a97a7">3.2. Control Design</a></li>
|
||||
<li><a href="#orge00b37b">3.3. Identification of the damped plant</a></li>
|
||||
<li><a href="#orgcd3874b">3.4. Sensitivity to disturbances</a></li>
|
||||
<li><a href="#orgfcc3787">3.5. Damped Plant</a></li>
|
||||
<li><a href="#org37ceb38">3.6. Conclusion</a></li>
|
||||
<li><a href="#orga66a259">3.2. Control Design</a></li>
|
||||
<li><a href="#org6a2522d">3.3. Identification of the damped plant</a></li>
|
||||
<li><a href="#org164a6e3">3.4. Sensitivity to disturbances</a></li>
|
||||
<li><a href="#org5f7ca3b">3.5. Damped Plant</a></li>
|
||||
<li><a href="#org7e0c0fc">3.6. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org3cc03b0">4. Direct Velocity Feedback</a>
|
||||
<ul>
|
||||
<li><a href="#org20ee26e">4.1. One degree-of-freedom example</a>
|
||||
<li><a href="#org77792c1">4.1. One degree-of-freedom example</a>
|
||||
<ul>
|
||||
<li><a href="#org0d2ea8d">4.1.1. Equations</a></li>
|
||||
<li><a href="#orgaddbb82">4.1.2. Matlab Example</a></li>
|
||||
<li><a href="#org82cc039">4.1.1. Equations</a></li>
|
||||
<li><a href="#org935ed32">4.1.2. Matlab Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#orgf1bd80b">4.2. Control Design</a></li>
|
||||
<li><a href="#org54ebde8">4.3. Identification of the damped plant</a></li>
|
||||
<li><a href="#org454c0c8">4.4. Sensitivity to disturbances</a></li>
|
||||
<li><a href="#org5f21dd1">4.5. Damped Plant</a></li>
|
||||
<li><a href="#org53572a3">4.6. Conclusion</a></li>
|
||||
<li><a href="#org6a45963">4.2. Control Design</a></li>
|
||||
<li><a href="#org9b2a9e2">4.3. Identification of the damped plant</a></li>
|
||||
<li><a href="#org7d01fa7">4.4. Sensitivity to disturbances</a></li>
|
||||
<li><a href="#org91db5e4">4.5. Damped Plant</a></li>
|
||||
<li><a href="#org228bb9f">4.6. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org21441bc">5. Comparison</a>
|
||||
<ul>
|
||||
<li><a href="#orgbe907b4">5.1. Load the plants</a></li>
|
||||
<li><a href="#orgde6308d">5.2. Sensitivity to Disturbance</a></li>
|
||||
<li><a href="#orga1cf9f2">5.3. Damped Plant</a></li>
|
||||
<li><a href="#org1de78b5">5.3. Damped Plant</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org4d89cbd">6. Conclusion</a></li>
|
||||
<li><a href="#org1ff0703">6. Conclusion</a></li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
@@ -421,8 +209,8 @@ And we save it for further analysis.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org380e20f" class="outline-3">
|
||||
<h3 id="org380e20f"><span class="section-number-3">1.3</span> Sensitivity to disturbances</h3>
|
||||
<div id="outline-container-org5ffc5f1" class="outline-3">
|
||||
<h3 id="org5ffc5f1"><span class="section-number-3">1.3</span> Sensitivity to disturbances</h3>
|
||||
<div class="outline-text-3" id="text-1-3">
|
||||
<p>
|
||||
The sensitivity to disturbances are shown on figure <a href="#orgcf7fa15">1</a>.
|
||||
@@ -480,15 +268,15 @@ Then, it is applied on the simscape model.
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgbaae6a1" class="outline-3">
|
||||
<h3 id="orgbaae6a1"><span class="section-number-3">2.1</span> One degree-of-freedom example</h3>
|
||||
<div id="outline-container-orgbe39d04" class="outline-3">
|
||||
<h3 id="orgbe39d04"><span class="section-number-3">2.1</span> One degree-of-freedom example</h3>
|
||||
<div class="outline-text-3" id="text-2-1">
|
||||
<p>
|
||||
<a id="org7f37ded"></a>
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-orgc436f05" class="outline-4">
|
||||
<h4 id="orgc436f05"><span class="section-number-4">2.1.1</span> Equations</h4>
|
||||
<div id="outline-container-orgdb4e3a8" class="outline-4">
|
||||
<h4 id="orgdb4e3a8"><span class="section-number-4">2.1.1</span> Equations</h4>
|
||||
<div class="outline-text-4" id="text-2-1-1">
|
||||
|
||||
<div id="org1acdc30" class="figure">
|
||||
@@ -554,8 +342,8 @@ This is attainable if we have:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org238893b" class="outline-4">
|
||||
<h4 id="org238893b"><span class="section-number-4">2.1.2</span> Matlab Example</h4>
|
||||
<div id="outline-container-orgeec7ed9" class="outline-4">
|
||||
<h4 id="orgeec7ed9"><span class="section-number-4">2.1.2</span> Matlab Example</h4>
|
||||
<div class="outline-text-4" id="text-2-1-2">
|
||||
<p>
|
||||
Let define the system parameters.
|
||||
@@ -618,8 +406,8 @@ And the closed loop system is computed below.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org824be47" class="outline-3">
|
||||
<h3 id="org824be47"><span class="section-number-3">2.2</span> Control Design</h3>
|
||||
<div id="outline-container-org767264d" class="outline-3">
|
||||
<h3 id="org767264d"><span class="section-number-3">2.2</span> Control Design</h3>
|
||||
<div class="outline-text-3" id="text-2-2">
|
||||
<p>
|
||||
Let’s load the undamped plant:
|
||||
@@ -661,8 +449,8 @@ The corresponding loop gains are shown in figure <a href="#org36e3a94">7</a>.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgfdd4556" class="outline-3">
|
||||
<h3 id="orgfdd4556"><span class="section-number-3">2.3</span> Identification of the damped plant</h3>
|
||||
<div id="outline-container-org945fe08" class="outline-3">
|
||||
<h3 id="org945fe08"><span class="section-number-3">2.3</span> Identification of the damped plant</h3>
|
||||
<div class="outline-text-3" id="text-2-3">
|
||||
<p>
|
||||
Let’s initialize the system prior to identification.
|
||||
@@ -715,8 +503,8 @@ And we save the damped plant for further analysis
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org4802ab9" class="outline-3">
|
||||
<h3 id="org4802ab9"><span class="section-number-3">2.4</span> Sensitivity to disturbances</h3>
|
||||
<div id="outline-container-orgfd53164" class="outline-3">
|
||||
<h3 id="orgfd53164"><span class="section-number-3">2.4</span> Sensitivity to disturbances</h3>
|
||||
<div class="outline-text-3" id="text-2-4">
|
||||
<p>
|
||||
As shown on figure <a href="#org38217ee">8</a>:
|
||||
@@ -752,8 +540,8 @@ For instance, the plots are not the same when using <code>minreal</code>.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org2cbe422" class="outline-3">
|
||||
<h3 id="org2cbe422"><span class="section-number-3">2.5</span> Damped Plant</h3>
|
||||
<div id="outline-container-org685bc2a" class="outline-3">
|
||||
<h3 id="org685bc2a"><span class="section-number-3">2.5</span> Damped Plant</h3>
|
||||
<div class="outline-text-3" id="text-2-5">
|
||||
<p>
|
||||
Now, look at the new damped plant to control.
|
||||
@@ -782,8 +570,8 @@ However, it increases coupling at low frequency (figure <a href="#org8017b2f">11
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgdade398" class="outline-3">
|
||||
<h3 id="orgdade398"><span class="section-number-3">2.6</span> Conclusion</h3>
|
||||
<div id="outline-container-org6b26d75" class="outline-3">
|
||||
<h3 id="org6b26d75"><span class="section-number-3">2.6</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-2-6">
|
||||
<div class="important">
|
||||
<p>
|
||||
@@ -817,15 +605,15 @@ In the Relative Motion Control (RMC), a derivative feedback is applied between t
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org39a3687" class="outline-3">
|
||||
<h3 id="org39a3687"><span class="section-number-3">3.1</span> One degree-of-freedom example</h3>
|
||||
<div id="outline-container-org54d13d6" class="outline-3">
|
||||
<h3 id="org54d13d6"><span class="section-number-3">3.1</span> One degree-of-freedom example</h3>
|
||||
<div class="outline-text-3" id="text-3-1">
|
||||
<p>
|
||||
<a id="org6f16e09"></a>
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-org994b142" class="outline-4">
|
||||
<h4 id="org994b142"><span class="section-number-4">3.1.1</span> Equations</h4>
|
||||
<div id="outline-container-org54758f7" class="outline-4">
|
||||
<h4 id="org54758f7"><span class="section-number-4">3.1.1</span> Equations</h4>
|
||||
<div class="outline-text-4" id="text-3-1-1">
|
||||
|
||||
<div id="org64900ec" class="figure">
|
||||
@@ -884,8 +672,8 @@ This corresponds to a gain:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org6a1f411" class="outline-4">
|
||||
<h4 id="org6a1f411"><span class="section-number-4">3.1.2</span> Matlab Example</h4>
|
||||
<div id="outline-container-org31ae910" class="outline-4">
|
||||
<h4 id="org31ae910"><span class="section-number-4">3.1.2</span> Matlab Example</h4>
|
||||
<div class="outline-text-4" id="text-3-1-2">
|
||||
<p>
|
||||
Let define the system parameters.
|
||||
@@ -948,8 +736,8 @@ And the closed loop system is computed below.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org13a97a7" class="outline-3">
|
||||
<h3 id="org13a97a7"><span class="section-number-3">3.2</span> Control Design</h3>
|
||||
<div id="outline-container-orga66a259" class="outline-3">
|
||||
<h3 id="orga66a259"><span class="section-number-3">3.2</span> Control Design</h3>
|
||||
<div class="outline-text-3" id="text-3-2">
|
||||
<p>
|
||||
Let’s load the undamped plant:
|
||||
@@ -992,8 +780,8 @@ The obtained loop gains are shown in figure <a href="#orga5b8f12">15</a>.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orge00b37b" class="outline-3">
|
||||
<h3 id="orge00b37b"><span class="section-number-3">3.3</span> Identification of the damped plant</h3>
|
||||
<div id="outline-container-org6a2522d" class="outline-3">
|
||||
<h3 id="org6a2522d"><span class="section-number-3">3.3</span> Identification of the damped plant</h3>
|
||||
<div class="outline-text-3" id="text-3-3">
|
||||
<p>
|
||||
Let’s initialize the system prior to identification.
|
||||
@@ -1046,8 +834,8 @@ And we save the damped plant for further analysis.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgcd3874b" class="outline-3">
|
||||
<h3 id="orgcd3874b"><span class="section-number-3">3.4</span> Sensitivity to disturbances</h3>
|
||||
<div id="outline-container-org164a6e3" class="outline-3">
|
||||
<h3 id="org164a6e3"><span class="section-number-3">3.4</span> Sensitivity to disturbances</h3>
|
||||
<div class="outline-text-3" id="text-3-4">
|
||||
<p>
|
||||
As shown in figure <a href="#org58aec78">16</a>, RMC control succeed in lowering the sensitivity to disturbances near resonance of the system.
|
||||
@@ -1069,8 +857,8 @@ As shown in figure <a href="#org58aec78">16</a>, RMC control succeed in lowering
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgfcc3787" class="outline-3">
|
||||
<h3 id="orgfcc3787"><span class="section-number-3">3.5</span> Damped Plant</h3>
|
||||
<div id="outline-container-org5f7ca3b" class="outline-3">
|
||||
<h3 id="org5f7ca3b"><span class="section-number-3">3.5</span> Damped Plant</h3>
|
||||
<div class="outline-text-3" id="text-3-5">
|
||||
|
||||
<div id="org2267bd4" class="figure">
|
||||
@@ -1081,8 +869,8 @@ As shown in figure <a href="#org58aec78">16</a>, RMC control succeed in lowering
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org37ceb38" class="outline-3">
|
||||
<h3 id="org37ceb38"><span class="section-number-3">3.6</span> Conclusion</h3>
|
||||
<div id="outline-container-org7e0c0fc" class="outline-3">
|
||||
<h3 id="org7e0c0fc"><span class="section-number-3">3.6</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-3-6">
|
||||
<div class="important">
|
||||
<p>
|
||||
@@ -1114,15 +902,15 @@ In the Relative Motion Control (RMC), a feedback is applied between the measured
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org20ee26e" class="outline-3">
|
||||
<h3 id="org20ee26e"><span class="section-number-3">4.1</span> One degree-of-freedom example</h3>
|
||||
<div id="outline-container-org77792c1" class="outline-3">
|
||||
<h3 id="org77792c1"><span class="section-number-3">4.1</span> One degree-of-freedom example</h3>
|
||||
<div class="outline-text-3" id="text-4-1">
|
||||
<p>
|
||||
<a id="org3a699cb"></a>
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-org0d2ea8d" class="outline-4">
|
||||
<h4 id="org0d2ea8d"><span class="section-number-4">4.1.1</span> Equations</h4>
|
||||
<div id="outline-container-org82cc039" class="outline-4">
|
||||
<h4 id="org82cc039"><span class="section-number-4">4.1.1</span> Equations</h4>
|
||||
<div class="outline-text-4" id="text-4-1-1">
|
||||
|
||||
<div id="org93ae6e4" class="figure">
|
||||
@@ -1181,8 +969,8 @@ This corresponds to a gain:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgaddbb82" class="outline-4">
|
||||
<h4 id="orgaddbb82"><span class="section-number-4">4.1.2</span> Matlab Example</h4>
|
||||
<div id="outline-container-org935ed32" class="outline-4">
|
||||
<h4 id="org935ed32"><span class="section-number-4">4.1.2</span> Matlab Example</h4>
|
||||
<div class="outline-text-4" id="text-4-1-2">
|
||||
<p>
|
||||
Let define the system parameters.
|
||||
@@ -1269,8 +1057,8 @@ The obtained sensitivity to disturbances is shown in figure <a href="#org1c3277a
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgf1bd80b" class="outline-3">
|
||||
<h3 id="orgf1bd80b"><span class="section-number-3">4.2</span> Control Design</h3>
|
||||
<div id="outline-container-org6a45963" class="outline-3">
|
||||
<h3 id="org6a45963"><span class="section-number-3">4.2</span> Control Design</h3>
|
||||
<div class="outline-text-3" id="text-4-2">
|
||||
<p>
|
||||
Let’s load the undamped plant:
|
||||
@@ -1309,8 +1097,8 @@ The controller is defined below and the obtained loop gain is shown in figure <a
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org54ebde8" class="outline-3">
|
||||
<h3 id="org54ebde8"><span class="section-number-3">4.3</span> Identification of the damped plant</h3>
|
||||
<div id="outline-container-org9b2a9e2" class="outline-3">
|
||||
<h3 id="org9b2a9e2"><span class="section-number-3">4.3</span> Identification of the damped plant</h3>
|
||||
<div class="outline-text-3" id="text-4-3">
|
||||
<p>
|
||||
Let’s initialize the system prior to identification.
|
||||
@@ -1363,8 +1151,8 @@ And we save the damped plant for further analysis.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org454c0c8" class="outline-3">
|
||||
<h3 id="org454c0c8"><span class="section-number-3">4.4</span> Sensitivity to disturbances</h3>
|
||||
<div id="outline-container-org7d01fa7" class="outline-3">
|
||||
<h3 id="org7d01fa7"><span class="section-number-3">4.4</span> Sensitivity to disturbances</h3>
|
||||
<div class="outline-text-3" id="text-4-4">
|
||||
|
||||
<div id="org2558226" class="figure">
|
||||
@@ -1383,8 +1171,8 @@ And we save the damped plant for further analysis.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org5f21dd1" class="outline-3">
|
||||
<h3 id="org5f21dd1"><span class="section-number-3">4.5</span> Damped Plant</h3>
|
||||
<div id="outline-container-org91db5e4" class="outline-3">
|
||||
<h3 id="org91db5e4"><span class="section-number-3">4.5</span> Damped Plant</h3>
|
||||
<div class="outline-text-3" id="text-4-5">
|
||||
|
||||
<div id="org2fa3671" class="figure">
|
||||
@@ -1395,8 +1183,8 @@ And we save the damped plant for further analysis.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org53572a3" class="outline-3">
|
||||
<h3 id="org53572a3"><span class="section-number-3">4.6</span> Conclusion</h3>
|
||||
<div id="outline-container-org228bb9f" class="outline-3">
|
||||
<h3 id="org228bb9f"><span class="section-number-3">4.6</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-4-6">
|
||||
<div class="important">
|
||||
<p>
|
||||
@@ -1467,8 +1255,8 @@ Direct Velocity Feedback:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orga1cf9f2" class="outline-3">
|
||||
<h3 id="orga1cf9f2"><span class="section-number-3">5.3</span> Damped Plant</h3>
|
||||
<div id="outline-container-org1de78b5" class="outline-3">
|
||||
<h3 id="org1de78b5"><span class="section-number-3">5.3</span> Damped Plant</h3>
|
||||
<div class="outline-text-3" id="text-5-3">
|
||||
|
||||
<div id="org043ecf3" class="figure">
|
||||
@@ -1494,8 +1282,8 @@ Direct Velocity Feedback:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org4d89cbd" class="outline-2">
|
||||
<h2 id="org4d89cbd"><span class="section-number-2">6</span> Conclusion</h2>
|
||||
<div id="outline-container-org1ff0703" class="outline-2">
|
||||
<h2 id="org1ff0703"><span class="section-number-2">6</span> Conclusion</h2>
|
||||
<div class="outline-text-2" id="text-6">
|
||||
<p>
|
||||
<a id="org58549a4"></a>
|
||||
@@ -1505,7 +1293,7 @@ Direct Velocity Feedback:
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-03-13 ven. 17:39</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 09:36</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@@ -4,227 +4,17 @@
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-04-05 dim. 19:43 -->
|
||||
<!-- 2020-04-17 ven. 09:34 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>Compensating the gravity forces to start at steady state</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Dehaeze Thomas" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||
<script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||
<script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&dn=gpl-3.0.txt GPL-v3-or-Later
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
// @license-end
|
||||
</script>
|
||||
<script src="./js/jquery.min.js"></script>
|
||||
<script src="./js/bootstrap.min.js"></script>
|
||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="./js/readtheorg.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
@@ -269,9 +59,9 @@ In order to start the simulation at steady state in presence of gravity:
|
||||
We don’t inject any perturbations and no reference tracking.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"> initializeReferences();
|
||||
initializeDisturbances(<span class="org-string">'enable'</span>, <span class="org-constant">false</span>);
|
||||
initializeController();
|
||||
<pre class="src src-matlab">initializeReferences();
|
||||
initializeDisturbances(<span class="org-string">'enable'</span>, <span class="org-constant">false</span>);
|
||||
initializeController();
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
@@ -279,8 +69,8 @@ We don’t inject any perturbations and no reference tracking.
|
||||
We include the gravity and log all the signals to display.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"> initializeSimscapeConfiguration(<span class="org-string">'gravity'</span>, <span class="org-constant">true</span>);
|
||||
initializeLoggingConfiguration(<span class="org-string">'log'</span>, <span class="org-string">'all'</span>);
|
||||
<pre class="src src-matlab">initializeSimscapeConfiguration(<span class="org-string">'gravity'</span>, <span class="org-constant">true</span>);
|
||||
initializeLoggingConfiguration(<span class="org-string">'log'</span>, <span class="org-string">'all'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
@@ -295,28 +85,28 @@ Let’s simulate the system without any compensation of gravity forces.
|
||||
</p>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"> initializeGround();
|
||||
initializeGranite();
|
||||
initializeTy();
|
||||
initializeRy();
|
||||
initializeRz();
|
||||
initializeMicroHexapod();
|
||||
initializeAxisc();
|
||||
initializeMirror();
|
||||
initializeNanoHexapod();
|
||||
initializeSample();
|
||||
<pre class="src src-matlab">initializeGround();
|
||||
initializeGranite();
|
||||
initializeTy();
|
||||
initializeRy();
|
||||
initializeRz();
|
||||
initializeMicroHexapod();
|
||||
initializeAxisc();
|
||||
initializeMirror();
|
||||
initializeNanoHexapod();
|
||||
initializeSample();
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"> load(<span class="org-string">'mat/conf_simulink.mat'</span>);
|
||||
<span class="org-matlab-simulink-keyword">set_param</span>(<span class="org-variable-name">conf_simulink</span>, <span class="org-string">'StopTime'</span>, <span class="org-string">'0.5'</span>);
|
||||
<pre class="src src-matlab">load(<span class="org-string">'mat/conf_simulink.mat'</span>);
|
||||
<span class="org-matlab-simulink-keyword">set_param</span>(<span class="org-variable-name">conf_simulink</span>, <span class="org-string">'StopTime'</span>, <span class="org-string">'0.5'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"> <span class="org-matlab-simulink-keyword">sim</span>(<span class="org-string">'nass_model'</span>);
|
||||
sim_no_compensation = simout;
|
||||
<pre class="src src-matlab"><span class="org-matlab-simulink-keyword">sim</span>(<span class="org-string">'nass_model'</span>);
|
||||
sim_no_compensation = simout;
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
@@ -341,16 +131,16 @@ We here wish to simulate the system in order to compute the required force in ea
|
||||
</p>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"> initializeGround();
|
||||
initializeGranite(<span class="org-string">'type'</span>, <span class="org-string">'init'</span>);
|
||||
initializeTy(<span class="org-string">'type'</span>, <span class="org-string">'init'</span>);
|
||||
initializeRy(<span class="org-string">'type'</span>, <span class="org-string">'init'</span>);
|
||||
initializeRz(<span class="org-string">'type'</span>, <span class="org-string">'init'</span>);
|
||||
initializeMicroHexapod(<span class="org-string">'type'</span>, <span class="org-string">'init'</span>);
|
||||
initializeAxisc();
|
||||
initializeMirror();
|
||||
initializeNanoHexapod(<span class="org-string">'type'</span>, <span class="org-string">'init'</span>);
|
||||
initializeSample(<span class="org-string">'type'</span>, <span class="org-string">'init'</span>);
|
||||
<pre class="src src-matlab">initializeGround();
|
||||
initializeGranite(<span class="org-string">'type'</span>, <span class="org-string">'init'</span>);
|
||||
initializeTy(<span class="org-string">'type'</span>, <span class="org-string">'init'</span>);
|
||||
initializeRy(<span class="org-string">'type'</span>, <span class="org-string">'init'</span>);
|
||||
initializeRz(<span class="org-string">'type'</span>, <span class="org-string">'init'</span>);
|
||||
initializeMicroHexapod(<span class="org-string">'type'</span>, <span class="org-string">'init'</span>);
|
||||
initializeAxisc();
|
||||
initializeMirror();
|
||||
initializeNanoHexapod(<span class="org-string">'type'</span>, <span class="org-string">'init'</span>);
|
||||
initializeSample(<span class="org-string">'type'</span>, <span class="org-string">'init'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
@@ -358,13 +148,13 @@ We here wish to simulate the system in order to compute the required force in ea
|
||||
We simulate for a short time period (all the bodies are solid, so nothing should move).
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"> load(<span class="org-string">'mat/conf_simulink.mat'</span>);
|
||||
<span class="org-matlab-simulink-keyword">set_param</span>(<span class="org-variable-name">conf_simulink</span>, <span class="org-string">'StopTime'</span>, <span class="org-string">'0.1'</span>);
|
||||
<pre class="src src-matlab">load(<span class="org-string">'mat/conf_simulink.mat'</span>);
|
||||
<span class="org-matlab-simulink-keyword">set_param</span>(<span class="org-variable-name">conf_simulink</span>, <span class="org-string">'StopTime'</span>, <span class="org-string">'0.1'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"> <span class="org-matlab-simulink-keyword">sim</span>(<span class="org-string">'nass_model'</span>);
|
||||
<pre class="src src-matlab"><span class="org-matlab-simulink-keyword">sim</span>(<span class="org-string">'nass_model'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
@@ -372,7 +162,7 @@ We simulate for a short time period (all the bodies are solid, so nothing should
|
||||
Verification that nothing is moving by looking at the maximum displacement of the sample:
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"> max(max(simout.Em.En.Data))
|
||||
<pre class="src src-matlab">max(max(simout.Em.En.Data))
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
@@ -385,7 +175,7 @@ Verification that nothing is moving by looking at the maximum displacement of th
|
||||
We here show the measured total force/torque applied at the location of each joint.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"> data2orgtable([Fgm 0 0 0; Ftym; Fym; Fsm], {<span class="org-string">'Granite'</span>, <span class="org-string">'Translation Stage'</span>, <span class="org-string">'Tilt Stage'</span>, <span class="org-string">'Sample'</span>}, {<span class="org-string">'Fx'</span>, <span class="org-string">'Fy'</span>, <span class="org-string">'Fz'</span>, <span class="org-string">'Mx'</span>, <span class="org-string">'My'</span>, <span class="org-string">'Mz'</span>}, <span class="org-string">' %.1e '</span>);
|
||||
<pre class="src src-matlab">data2orgtable([Fgm 0 0 0; Ftym; Fym; Fsm], {<span class="org-string">'Granite'</span>, <span class="org-string">'Translation Stage'</span>, <span class="org-string">'Tilt Stage'</span>, <span class="org-string">'Sample'</span>}, {<span class="org-string">'Fx'</span>, <span class="org-string">'Fy'</span>, <span class="org-string">'Fz'</span>, <span class="org-string">'Mx'</span>, <span class="org-string">'My'</span>, <span class="org-string">'Mz'</span>}, <span class="org-string">' %.1e '</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
@@ -462,7 +252,7 @@ We here show the measured total force/torque applied at the location of each joi
|
||||
</table>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"> data2orgtable([Fhm; Fnm], {<span class="org-string">'Micro-Hexapod'</span>, <span class="org-string">'Nano-Hexapod'</span>}, {<span class="org-string">'F1'</span>, <span class="org-string">'F2'</span>, <span class="org-string">'F3'</span>, <span class="org-string">'F4'</span>, <span class="org-string">'F5'</span>, <span class="org-string">'F6'</span>}, <span class="org-string">' %.1e '</span>);
|
||||
<pre class="src src-matlab">data2orgtable([Fhm; Fnm], {<span class="org-string">'Micro-Hexapod'</span>, <span class="org-string">'Nano-Hexapod'</span>}, {<span class="org-string">'F1'</span>, <span class="org-string">'F2'</span>, <span class="org-string">'F3'</span>, <span class="org-string">'F4'</span>, <span class="org-string">'F5'</span>, <span class="org-string">'F6'</span>}, <span class="org-string">' %.1e '</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
@@ -522,7 +312,7 @@ We here show the measured total force/torque applied at the location of each joi
|
||||
We save these forces in <code>Foffset.mat</code>.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"> save(<span class="org-string">'mat/Foffset.mat'</span>, <span class="org-string">'Fgm'</span>, <span class="org-string">'Ftym'</span>, <span class="org-string">'Fym'</span>, <span class="org-string">'Fzm'</span>, <span class="org-string">'Fhm'</span>, <span class="org-string">'Fnm'</span>, <span class="org-string">'Fsm'</span>);
|
||||
<pre class="src src-matlab">save(<span class="org-string">'mat/Foffset.mat'</span>, <span class="org-string">'Fgm'</span>, <span class="org-string">'Ftym'</span>, <span class="org-string">'Fym'</span>, <span class="org-string">'Fzm'</span>, <span class="org-string">'Fhm'</span>, <span class="org-string">'Fnm'</span>, <span class="org-string">'Fsm'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
@@ -536,16 +326,16 @@ We save these forces in <code>Foffset.mat</code>.
|
||||
We now initialize the stages with the option <code>Foffset</code>.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"> initializeGround();
|
||||
initializeGranite(<span class="org-string">'Foffset'</span>, <span class="org-constant">true</span>);
|
||||
initializeTy(<span class="org-string">'Foffset'</span>, <span class="org-constant">true</span>);
|
||||
initializeRy(<span class="org-string">'Foffset'</span>, <span class="org-constant">true</span>);
|
||||
initializeRz(<span class="org-string">'Foffset'</span>, <span class="org-constant">true</span>);
|
||||
initializeMicroHexapod(<span class="org-string">'Foffset'</span>, <span class="org-constant">true</span>);
|
||||
initializeAxisc();
|
||||
initializeMirror();
|
||||
initializeNanoHexapod(<span class="org-string">'Foffset'</span>, <span class="org-constant">true</span>);
|
||||
initializeSample(<span class="org-string">'Foffset'</span>, <span class="org-constant">true</span>);
|
||||
<pre class="src src-matlab">initializeGround();
|
||||
initializeGranite(<span class="org-string">'Foffset'</span>, <span class="org-constant">true</span>);
|
||||
initializeTy(<span class="org-string">'Foffset'</span>, <span class="org-constant">true</span>);
|
||||
initializeRy(<span class="org-string">'Foffset'</span>, <span class="org-constant">true</span>);
|
||||
initializeRz(<span class="org-string">'Foffset'</span>, <span class="org-constant">true</span>);
|
||||
initializeMicroHexapod(<span class="org-string">'Foffset'</span>, <span class="org-constant">true</span>);
|
||||
initializeAxisc();
|
||||
initializeMirror();
|
||||
initializeNanoHexapod(<span class="org-string">'Foffset'</span>, <span class="org-constant">true</span>);
|
||||
initializeSample(<span class="org-string">'Foffset'</span>, <span class="org-constant">true</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
@@ -553,14 +343,14 @@ We now initialize the stages with the option <code>Foffset</code>.
|
||||
And we simulate the system for 0.5 seconds.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"> load(<span class="org-string">'mat/conf_simulink.mat'</span>);
|
||||
<span class="org-matlab-simulink-keyword">set_param</span>(<span class="org-variable-name">conf_simulink</span>, <span class="org-string">'StopTime'</span>, <span class="org-string">'0.5'</span>);
|
||||
<pre class="src src-matlab">load(<span class="org-string">'mat/conf_simulink.mat'</span>);
|
||||
<span class="org-matlab-simulink-keyword">set_param</span>(<span class="org-variable-name">conf_simulink</span>, <span class="org-string">'StopTime'</span>, <span class="org-string">'0.5'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"> <span class="org-matlab-simulink-keyword">sim</span>(<span class="org-string">'nass_model'</span>);
|
||||
sim_compensation = simout;
|
||||
<pre class="src src-matlab"><span class="org-matlab-simulink-keyword">sim</span>(<span class="org-string">'nass_model'</span>);
|
||||
sim_compensation = simout;
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
@@ -590,7 +380,7 @@ This initialization should be redone for each configuration (change of sample ma
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-04-05 dim. 19:43</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 09:34</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@@ -4,237 +4,25 @@
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-04-01 mer. 16:16 -->
|
||||
<!-- 2020-04-17 ven. 09:35 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>Control of the Nano-Active-Stabilization-System</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Dehaeze Thomas" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||
<script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||
<script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&dn=gpl-3.0.txt GPL-v3-or-Later
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
// @license-end
|
||||
</script>
|
||||
<script>
|
||||
MathJax = {
|
||||
tex: { macros: {
|
||||
bm: ["\\boldsymbol{#1}",1],
|
||||
}
|
||||
}
|
||||
<script src="./js/jquery.min.js"></script>
|
||||
<script src="./js/bootstrap.min.js"></script>
|
||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="./js/readtheorg.js"></script>
|
||||
<script>MathJax = {
|
||||
tex: {
|
||||
tags: 'ams',
|
||||
macros: {bm: ["\\boldsymbol{#1}",1],}
|
||||
}
|
||||
};
|
||||
</script>
|
||||
<script type="text/javascript"
|
||||
src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
<script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
@@ -266,6 +54,8 @@
|
||||
<li><a href="#orgeb80da1">4.2. HAC-LAC using IFF and Tracking control in the Cartesian frame</a></li>
|
||||
<li><a href="#org8b2b21e">4.3. HAC-LAC using IFF - the HAC controller is positioning the sample w.r.t. the granite in the task space</a></li>
|
||||
<li><a href="#org1c04b26">4.4. HAC-LAC using IFF - the HAC controller is positioning the sample w.r.t. the granite in the space of the legs</a></li>
|
||||
<li><a href="#org83b9480">4.5. HAC-LAC using DVF - the HAC controller is positioning the sample w.r.t. the granite in the task space</a></li>
|
||||
<li><a href="#orgdbdd7d4">4.6. HAC-LAC using DVF - the HAC controller is positioning the sample w.r.t. the granite in the space of the legs</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#orgab73896">5. Cascade Architectures (link)</a>
|
||||
@@ -275,6 +65,11 @@
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org4ac6d11">6. Force Control (link)</a></li>
|
||||
<li><a href="#org5840a0b">7. Other Control Architectures</a>
|
||||
<ul>
|
||||
<li><a href="#org5be51f2">7.1. Control to force the nano-hexapod to not do any vertical rotation</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
@@ -620,6 +415,28 @@ Usually, the Low Authority Controller is first design, and then the High Authori
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org83b9480" class="outline-3">
|
||||
<h3 id="org83b9480"><span class="section-number-3">4.5</span> HAC-LAC using DVF - the HAC controller is positioning the sample w.r.t. the granite in the task space</h3>
|
||||
<div class="outline-text-3" id="text-4-5">
|
||||
|
||||
<div class="figure">
|
||||
<p><img src="figs/control_architecture_hac_dvf_pos_X.png" alt="control_architecture_hac_dvf_pos_X.png" />
|
||||
</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgdbdd7d4" class="outline-3">
|
||||
<h3 id="orgdbdd7d4"><span class="section-number-3">4.6</span> HAC-LAC using DVF - the HAC controller is positioning the sample w.r.t. the granite in the space of the legs</h3>
|
||||
<div class="outline-text-3" id="text-4-6">
|
||||
|
||||
<div class="figure">
|
||||
<p><img src="figs/control_architecture_hac_dvf_pos_L.png" alt="control_architecture_hac_dvf_pos_L.png" />
|
||||
</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgab73896" class="outline-2">
|
||||
@@ -629,13 +446,13 @@ Usually, the Low Authority Controller is first design, and then the High Authori
|
||||
<a id="orga038762"></a>
|
||||
</p>
|
||||
<p>
|
||||
The principle of Cascade control is shown in Figure <a href="#org03ef231">13</a> and explained as follow:
|
||||
The principle of Cascade control is shown in Figure <a href="#org03ef231">15</a> and explained as follow:
|
||||
</p>
|
||||
<blockquote>
|
||||
<p>
|
||||
To follow <b>two objectives</b> with different properties in one control system, usually a <b>hierarchy</b> of two feedback loops is used in practice.
|
||||
This kind of control topology is called <b>cascade control</b>, which is used when there are <b>several measurements and one prime control variable</b>.
|
||||
Cascade control is implemented by <b>nesting</b> the control loops, as shown in Figure <a href="#org03ef231">13</a>.
|
||||
Cascade control is implemented by <b>nesting</b> the control loops, as shown in Figure <a href="#org03ef231">15</a>.
|
||||
The output control loop is called the <b>primary loop</b>, while the inner loop is called the secondary loop and is used to fulfill a secondary objective in the closed-loop system. – <a class='org-ref-reference' href="#taghirad13_paral">taghirad13_paral</a>
|
||||
</p>
|
||||
</blockquote>
|
||||
@@ -644,7 +461,7 @@ The output control loop is called the <b>primary loop</b>, while the inner loop
|
||||
<div id="org03ef231" class="figure">
|
||||
<p><img src="figs/control_architecture_cascade_control.png" alt="control_architecture_cascade_control.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 13: </span>Cascade Control Architecture</p>
|
||||
<p><span class="figure-number">Figure 15: </span>Cascade Control Architecture</p>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
@@ -669,7 +486,7 @@ The inner loop can be composed of the system controlled with the HAC-LAC topolog
|
||||
<div id="orgff7dfc6" class="figure">
|
||||
<p><img src="figs/control_architecture_cascade_L.png" alt="control_architecture_cascade_L.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 14: </span>Cascaded Control consisting of (from inner to outer loop): IFF, Linearization Loop, Tracking Control in the frame of the Legs</p>
|
||||
<p><span class="figure-number">Figure 16: </span>Cascaded Control consisting of (from inner to outer loop): IFF, Linearization Loop, Tracking Control in the frame of the Legs</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
@@ -681,7 +498,7 @@ The inner loop can be composed of the system controlled with the HAC-LAC topolog
|
||||
<div id="org4bc4c4c" class="figure">
|
||||
<p><img src="figs/control_architecture_cascade_X.png" alt="control_architecture_cascade_X.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 15: </span>Cascaded Control consisting of (from inner to outer loop): IFF, Linearization Loop, Tracking Control in the Cartesian Frame</p>
|
||||
<p><span class="figure-number">Figure 17: </span>Cascaded Control consisting of (from inner to outer loop): IFF, Linearization Loop, Tracking Control in the Cartesian Frame</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
@@ -707,6 +524,43 @@ Signals:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org5840a0b" class="outline-2">
|
||||
<h2 id="org5840a0b"><span class="section-number-2">7</span> Other Control Architectures</h2>
|
||||
<div class="outline-text-2" id="text-7">
|
||||
</div>
|
||||
<div id="outline-container-org5be51f2" class="outline-3">
|
||||
<h3 id="org5be51f2"><span class="section-number-3">7.1</span> Control to force the nano-hexapod to not do any vertical rotation</h3>
|
||||
<div class="outline-text-3" id="text-7-1">
|
||||
<p>
|
||||
As the sample rotation around the vertical axis is not measure, the best we can do with the nano-hexapod is to not rotate around this same axis.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
One way to do it is shown in Figure <a href="#orga8781eb">19</a>.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
The controller \(\bm{K}_{R_z}\) is decomposed as shown in Figure <a href="#org2f0522c">20</a>.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="orga8781eb" class="figure">
|
||||
<p><img src="figs/control_architecture_fixed_rz.png" alt="control_architecture_fixed_rz.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 19: </span>Figure caption</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org2f0522c" class="figure">
|
||||
<p><img src="figs/control_architecture_fixed_Krz.png" alt="control_architecture_fixed_Krz.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 20: </span>Figure caption</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
|
||||
<p>
|
||||
|
||||
<h1 class='org-ref-bib-h1'>Bibliography</h1>
|
||||
@@ -718,7 +572,7 @@ Signals:
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-04-01 mer. 16:16</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 09:35</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@@ -4,259 +4,25 @@
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-03-26 jeu. 17:25 -->
|
||||
<!-- 2020-04-17 ven. 09:36 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>Active Damping applied on the Simscape Model</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Dehaeze Thomas" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||
<script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||
<script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
/*
|
||||
@licstart The following is the entire license notice for the
|
||||
JavaScript code in this tag.
|
||||
|
||||
Copyright (C) 2012-2020 Free Software Foundation, Inc.
|
||||
|
||||
The JavaScript code in this tag is free software: you can
|
||||
redistribute it and/or modify it under the terms of the GNU
|
||||
General Public License (GNU GPL) as published by the Free Software
|
||||
Foundation, either version 3 of the License, or (at your option)
|
||||
any later version. The code is distributed WITHOUT ANY WARRANTY;
|
||||
without even the implied warranty of MERCHANTABILITY or FITNESS
|
||||
FOR A PARTICULAR PURPOSE. See the GNU GPL for more details.
|
||||
|
||||
As additional permission under GNU GPL version 3 section 7, you
|
||||
may distribute non-source (e.g., minimized or compacted) forms of
|
||||
that code without the copy of the GNU GPL normally required by
|
||||
section 4, provided you include this license notice and a URL
|
||||
through which recipients can access the Corresponding Source.
|
||||
|
||||
|
||||
@licend The above is the entire license notice
|
||||
for the JavaScript code in this tag.
|
||||
*/
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
</script>
|
||||
<script>
|
||||
MathJax = {
|
||||
tex: { macros: {
|
||||
bm: ["\\boldsymbol{#1}",1],
|
||||
}
|
||||
}
|
||||
<script src="./js/jquery.min.js"></script>
|
||||
<script src="./js/bootstrap.min.js"></script>
|
||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="./js/readtheorg.js"></script>
|
||||
<script>MathJax = {
|
||||
tex: {
|
||||
tags: 'ams',
|
||||
macros: {bm: ["\\boldsymbol{#1}",1],}
|
||||
}
|
||||
};
|
||||
</script>
|
||||
<script type="text/javascript"
|
||||
src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
<script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
@@ -273,17 +39,17 @@ for the JavaScript code in this tag.
|
||||
<ul>
|
||||
<li><a href="#orgb9bb91c">1.1. Identification of the dynamics for Active Damping</a>
|
||||
<ul>
|
||||
<li><a href="#org9be7a0a">1.1.1. Identification</a></li>
|
||||
<li><a href="#org0e0278d">1.1.1. Identification</a></li>
|
||||
<li><a href="#org821239d">1.1.2. Obtained Plants for Active Damping</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org21a2e91">1.2. Identification of the dynamics for High Authority Control</a>
|
||||
<ul>
|
||||
<li><a href="#orgae8b5f6">1.2.1. Identification</a></li>
|
||||
<li><a href="#org25cfa54">1.2.1. Identification</a></li>
|
||||
<li><a href="#orgff85811">1.2.2. Obtained Plants</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#orgd249fa7">1.3. Tomography Experiment</a>
|
||||
<li><a href="#org2540d06">1.3. Tomography Experiment</a>
|
||||
<ul>
|
||||
<li><a href="#orgd5305ce">1.3.1. Simulation</a></li>
|
||||
<li><a href="#orgd64a4bc">1.3.2. Results</a></li>
|
||||
@@ -303,55 +69,55 @@ for the JavaScript code in this tag.
|
||||
</li>
|
||||
<li><a href="#org47c5593">2.4. Variation of the Tilt Angle</a></li>
|
||||
<li><a href="#org047e39c">2.5. Scans of the Translation Stage</a></li>
|
||||
<li><a href="#orga3a88c5">2.6. Conclusion</a></li>
|
||||
<li><a href="#org6e25821">2.6. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org11ab68f">3. Integral Force Feedback</a>
|
||||
<ul>
|
||||
<li><a href="#org7469e89">3.1. Control Design</a>
|
||||
<li><a href="#orga4d47de">3.1. Control Design</a>
|
||||
<ul>
|
||||
<li><a href="#org50113d6">3.1.1. Plant</a></li>
|
||||
<li><a href="#org0279170">3.1.2. Control Design</a></li>
|
||||
<li><a href="#orge6bfce6">3.1.3. Diagonal Controller</a></li>
|
||||
<li><a href="#org506864d">3.1.1. Plant</a></li>
|
||||
<li><a href="#orgd147055">3.1.2. Control Design</a></li>
|
||||
<li><a href="#orgeed5a23">3.1.3. Diagonal Controller</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org93e3515">3.2. Tomography Experiment</a>
|
||||
<li><a href="#orge4bf8c1">3.2. Tomography Experiment</a>
|
||||
<ul>
|
||||
<li><a href="#org132e692">3.2.1. Simulation with IFF Controller</a></li>
|
||||
<li><a href="#orge17626d">3.2.2. Compare with Undamped system</a></li>
|
||||
<li><a href="#org9c3f302">3.2.2. Compare with Undamped system</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org6bfc3c8">3.3. Conclusion</a></li>
|
||||
<li><a href="#orgd53cc4e">3.3. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org13393f4">4. Direct Velocity Feedback</a>
|
||||
<ul>
|
||||
<li><a href="#org6ab2a22">4.1. Control Design</a>
|
||||
<li><a href="#org22d12df">4.1. Control Design</a>
|
||||
<ul>
|
||||
<li><a href="#orged52a69">4.1.1. Plant</a></li>
|
||||
<li><a href="#org44b5b14">4.1.2. Control Design</a></li>
|
||||
<li><a href="#orgfb28f7d">4.1.3. Diagonal Controller</a></li>
|
||||
<li><a href="#org0b48ca9">4.1.1. Plant</a></li>
|
||||
<li><a href="#org59030a3">4.1.2. Control Design</a></li>
|
||||
<li><a href="#org59cf352">4.1.3. Diagonal Controller</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#orgdc93329">4.2. Tomography Experiment</a>
|
||||
<li><a href="#org76bbcf0">4.2. Tomography Experiment</a>
|
||||
<ul>
|
||||
<li><a href="#orgaf91898">4.2.1. Initialize the Simulation</a></li>
|
||||
<li><a href="#orge68c2e6">4.2.2. Compare with Undamped system</a></li>
|
||||
<li><a href="#orge2c011b">4.2.1. Initialize the Simulation</a></li>
|
||||
<li><a href="#org8cb0050">4.2.2. Compare with Undamped system</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#orgdd6b994">4.3. Conclusion</a></li>
|
||||
<li><a href="#org5f85708">4.3. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org8f2508f">5. Inertial Control</a>
|
||||
<ul>
|
||||
<li><a href="#org78934a1">5.1. Control Design</a>
|
||||
<li><a href="#org9f4c2b3">5.1. Control Design</a>
|
||||
<ul>
|
||||
<li><a href="#orga97b3aa">5.1.1. Plant</a></li>
|
||||
<li><a href="#org92b0a5f">5.1.2. Control Design</a></li>
|
||||
<li><a href="#org9e08e48">5.1.3. Diagonal Controller</a></li>
|
||||
<li><a href="#org9ec605a">5.1.1. Plant</a></li>
|
||||
<li><a href="#org94a1419">5.1.2. Control Design</a></li>
|
||||
<li><a href="#orgc596f9b">5.1.3. Diagonal Controller</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org054aff8">5.2. Conclusion</a></li>
|
||||
<li><a href="#orgdc8e915">5.2. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org3557ae9">6. Comparison</a>
|
||||
@@ -366,16 +132,16 @@ for the JavaScript code in this tag.
|
||||
<ul>
|
||||
<li><a href="#org8642cf5">7.1. prepareLinearizeIdentification</a>
|
||||
<ul>
|
||||
<li><a href="#org6a968ef">Function Description</a></li>
|
||||
<li><a href="#orgc14eed3">Optional Parameters</a></li>
|
||||
<li><a href="#orgc7a07c5">Initialize the Simulation</a></li>
|
||||
<li><a href="#orga028903">Function Description</a></li>
|
||||
<li><a href="#orgbda1bf4">Optional Parameters</a></li>
|
||||
<li><a href="#org2131c58">Initialize the Simulation</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#orgeb73896">7.2. prepareTomographyExperiment</a>
|
||||
<ul>
|
||||
<li><a href="#org34e8f09">Function Description</a></li>
|
||||
<li><a href="#org82d8c08">Optional Parameters</a></li>
|
||||
<li><a href="#org2ece687">Initialize the Simulation</a></li>
|
||||
<li><a href="#org889b896">Function Description</a></li>
|
||||
<li><a href="#orgf77fd6f">Optional Parameters</a></li>
|
||||
<li><a href="#org45b5800">Initialize the Simulation</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -447,8 +213,8 @@ After that, a tomography experiment is simulation without any active damping tec
|
||||
<h3 id="orgb9bb91c"><span class="section-number-3">1.1</span> Identification of the dynamics for Active Damping</h3>
|
||||
<div class="outline-text-3" id="text-1-1">
|
||||
</div>
|
||||
<div id="outline-container-org9be7a0a" class="outline-4">
|
||||
<h4 id="org9be7a0a"><span class="section-number-4">1.1.1</span> Identification</h4>
|
||||
<div id="outline-container-org0e0278d" class="outline-4">
|
||||
<h4 id="org0e0278d"><span class="section-number-4">1.1.1</span> Identification</h4>
|
||||
<div class="outline-text-4" id="text-1-1-1">
|
||||
<p>
|
||||
We initialize all the stages with the default parameters.
|
||||
@@ -541,8 +307,8 @@ And we save them for further analysis.
|
||||
<h3 id="org21a2e91"><span class="section-number-3">1.2</span> Identification of the dynamics for High Authority Control</h3>
|
||||
<div class="outline-text-3" id="text-1-2">
|
||||
</div>
|
||||
<div id="outline-container-orgae8b5f6" class="outline-4">
|
||||
<h4 id="orgae8b5f6"><span class="section-number-4">1.2.1</span> Identification</h4>
|
||||
<div id="outline-container-org25cfa54" class="outline-4">
|
||||
<h4 id="org25cfa54"><span class="section-number-4">1.2.1</span> Identification</h4>
|
||||
<div class="outline-text-4" id="text-1-2-1">
|
||||
<p>
|
||||
We initialize all the stages with the default parameters.
|
||||
@@ -611,8 +377,8 @@ And we save them for further analysis.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgd249fa7" class="outline-3">
|
||||
<h3 id="orgd249fa7"><span class="section-number-3">1.3</span> Tomography Experiment</h3>
|
||||
<div id="outline-container-org2540d06" class="outline-3">
|
||||
<h3 id="org2540d06"><span class="section-number-3">1.3</span> Tomography Experiment</h3>
|
||||
<div class="outline-text-3" id="text-1-3">
|
||||
</div>
|
||||
<div id="outline-container-orgd5305ce" class="outline-4">
|
||||
@@ -1000,8 +766,8 @@ We identify the dynamics at different positions (times) when scanning with the T
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orga3a88c5" class="outline-3">
|
||||
<h3 id="orga3a88c5"><span class="section-number-3">2.6</span> Conclusion</h3>
|
||||
<div id="outline-container-org6e25821" class="outline-3">
|
||||
<h3 id="org6e25821"><span class="section-number-3">2.6</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-2-6">
|
||||
<table id="orgbd1a9f9" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
|
||||
<caption class="t-above"><span class="table-number">Table 1:</span> Conclusion on the variability of the system dynamics for active damping</caption>
|
||||
@@ -1092,12 +858,12 @@ The control architecture is represented in figure <a href="#org3a1dbf1">29</a> w
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org7469e89" class="outline-3">
|
||||
<h3 id="org7469e89"><span class="section-number-3">3.1</span> Control Design</h3>
|
||||
<div id="outline-container-orga4d47de" class="outline-3">
|
||||
<h3 id="orga4d47de"><span class="section-number-3">3.1</span> Control Design</h3>
|
||||
<div class="outline-text-3" id="text-3-1">
|
||||
</div>
|
||||
<div id="outline-container-org50113d6" class="outline-4">
|
||||
<h4 id="org50113d6"><span class="section-number-4">3.1.1</span> Plant</h4>
|
||||
<div id="outline-container-org506864d" class="outline-4">
|
||||
<h4 id="org506864d"><span class="section-number-4">3.1.1</span> Plant</h4>
|
||||
<div class="outline-text-4" id="text-3-1-1">
|
||||
<p>
|
||||
Let’s load the previously identified undamped plant:
|
||||
@@ -1121,8 +887,8 @@ Let’s look at the transfer function from actuator forces in the nano-hexap
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org0279170" class="outline-4">
|
||||
<h4 id="org0279170"><span class="section-number-4">3.1.2</span> Control Design</h4>
|
||||
<div id="outline-container-orgd147055" class="outline-4">
|
||||
<h4 id="orgd147055"><span class="section-number-4">3.1.2</span> Control Design</h4>
|
||||
<div class="outline-text-4" id="text-3-1-2">
|
||||
<p>
|
||||
The controller for each pair of actuator/sensor is:
|
||||
@@ -1146,8 +912,8 @@ The corresponding loop gains are shown in figure <a href="#org1f5c623">31</a>.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orge6bfce6" class="outline-4">
|
||||
<h4 id="orge6bfce6"><span class="section-number-4">3.1.3</span> Diagonal Controller</h4>
|
||||
<div id="outline-container-orgeed5a23" class="outline-4">
|
||||
<h4 id="orgeed5a23"><span class="section-number-4">3.1.3</span> Diagonal Controller</h4>
|
||||
<div class="outline-text-4" id="text-3-1-3">
|
||||
<p>
|
||||
We create the diagonal controller and we add a minus sign as we have a positive
|
||||
@@ -1169,8 +935,8 @@ We save the controller for further analysis.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org93e3515" class="outline-3">
|
||||
<h3 id="org93e3515"><span class="section-number-3">3.2</span> Tomography Experiment</h3>
|
||||
<div id="outline-container-orge4bf8c1" class="outline-3">
|
||||
<h3 id="orge4bf8c1"><span class="section-number-3">3.2</span> Tomography Experiment</h3>
|
||||
<div class="outline-text-3" id="text-3-2">
|
||||
</div>
|
||||
<div id="outline-container-org132e692" class="outline-4">
|
||||
@@ -1222,8 +988,8 @@ save(<span class="org-string">'./mat/active_damping_tomo_exp.mat'</span>, <span
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orge17626d" class="outline-4">
|
||||
<h4 id="orge17626d"><span class="section-number-4">3.2.2</span> Compare with Undamped system</h4>
|
||||
<div id="outline-container-org9c3f302" class="outline-4">
|
||||
<h4 id="org9c3f302"><span class="section-number-4">3.2.2</span> Compare with Undamped system</h4>
|
||||
<div class="outline-text-4" id="text-3-2-2">
|
||||
|
||||
<div id="org7547861" class="figure">
|
||||
@@ -1249,8 +1015,8 @@ save(<span class="org-string">'./mat/active_damping_tomo_exp.mat'</span>, <span
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org6bfc3c8" class="outline-3">
|
||||
<h3 id="org6bfc3c8"><span class="section-number-3">3.3</span> Conclusion</h3>
|
||||
<div id="outline-container-orgd53cc4e" class="outline-3">
|
||||
<h3 id="orgd53cc4e"><span class="section-number-3">3.3</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-3-3">
|
||||
<div class="important">
|
||||
<p>
|
||||
@@ -1285,12 +1051,12 @@ The actuator displacement can be measured with a capacitive sensor for instance.
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org6ab2a22" class="outline-3">
|
||||
<h3 id="org6ab2a22"><span class="section-number-3">4.1</span> Control Design</h3>
|
||||
<div id="outline-container-org22d12df" class="outline-3">
|
||||
<h3 id="org22d12df"><span class="section-number-3">4.1</span> Control Design</h3>
|
||||
<div class="outline-text-3" id="text-4-1">
|
||||
</div>
|
||||
<div id="outline-container-orged52a69" class="outline-4">
|
||||
<h4 id="orged52a69"><span class="section-number-4">4.1.1</span> Plant</h4>
|
||||
<div id="outline-container-org0b48ca9" class="outline-4">
|
||||
<h4 id="org0b48ca9"><span class="section-number-4">4.1.1</span> Plant</h4>
|
||||
<div class="outline-text-4" id="text-4-1-1">
|
||||
<p>
|
||||
Let’s load the undamped plant:
|
||||
@@ -1314,8 +1080,8 @@ Let’s look at the transfer function from actuator forces in the nano-hexap
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org44b5b14" class="outline-4">
|
||||
<h4 id="org44b5b14"><span class="section-number-4">4.1.2</span> Control Design</h4>
|
||||
<div id="outline-container-org59030a3" class="outline-4">
|
||||
<h4 id="org59030a3"><span class="section-number-4">4.1.2</span> Control Design</h4>
|
||||
<div class="outline-text-4" id="text-4-1-2">
|
||||
<p>
|
||||
The Direct Velocity Feedback is defined below.
|
||||
@@ -1339,8 +1105,8 @@ The obtained loop gains are shown in figure <a href="#org3568457">36</a>.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgfb28f7d" class="outline-4">
|
||||
<h4 id="orgfb28f7d"><span class="section-number-4">4.1.3</span> Diagonal Controller</h4>
|
||||
<div id="outline-container-org59cf352" class="outline-4">
|
||||
<h4 id="org59cf352"><span class="section-number-4">4.1.3</span> Diagonal Controller</h4>
|
||||
<div class="outline-text-4" id="text-4-1-3">
|
||||
<p>
|
||||
We create the diagonal controller and we add a minus sign as we have a positive feedback architecture.
|
||||
@@ -1361,12 +1127,12 @@ We save the controller for further analysis.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgdc93329" class="outline-3">
|
||||
<h3 id="orgdc93329"><span class="section-number-3">4.2</span> Tomography Experiment</h3>
|
||||
<div id="outline-container-org76bbcf0" class="outline-3">
|
||||
<h3 id="org76bbcf0"><span class="section-number-3">4.2</span> Tomography Experiment</h3>
|
||||
<div class="outline-text-3" id="text-4-2">
|
||||
</div>
|
||||
<div id="outline-container-orgaf91898" class="outline-4">
|
||||
<h4 id="orgaf91898"><span class="section-number-4">4.2.1</span> Initialize the Simulation</h4>
|
||||
<div id="outline-container-orge2c011b" class="outline-4">
|
||||
<h4 id="orge2c011b"><span class="section-number-4">4.2.1</span> Initialize the Simulation</h4>
|
||||
<div class="outline-text-4" id="text-4-2-1">
|
||||
<p>
|
||||
We initialize elements for the tomography experiment.
|
||||
@@ -1414,8 +1180,8 @@ save(<span class="org-string">'./mat/active_damping_tomo_exp.mat'</span>, <span
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orge68c2e6" class="outline-4">
|
||||
<h4 id="orge68c2e6"><span class="section-number-4">4.2.2</span> Compare with Undamped system</h4>
|
||||
<div id="outline-container-org8cb0050" class="outline-4">
|
||||
<h4 id="org8cb0050"><span class="section-number-4">4.2.2</span> Compare with Undamped system</h4>
|
||||
<div class="outline-text-4" id="text-4-2-2">
|
||||
|
||||
<div id="orgfe01054" class="figure">
|
||||
@@ -1441,8 +1207,8 @@ save(<span class="org-string">'./mat/active_damping_tomo_exp.mat'</span>, <span
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgdd6b994" class="outline-3">
|
||||
<h3 id="orgdd6b994"><span class="section-number-3">4.3</span> Conclusion</h3>
|
||||
<div id="outline-container-org5f85708" class="outline-3">
|
||||
<h3 id="org5f85708"><span class="section-number-3">4.3</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-4-3">
|
||||
<div class="important">
|
||||
<p>
|
||||
@@ -1474,12 +1240,12 @@ In Inertial Control, a feedback is applied between the measured <b>absolute</b>
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org78934a1" class="outline-3">
|
||||
<h3 id="org78934a1"><span class="section-number-3">5.1</span> Control Design</h3>
|
||||
<div id="outline-container-org9f4c2b3" class="outline-3">
|
||||
<h3 id="org9f4c2b3"><span class="section-number-3">5.1</span> Control Design</h3>
|
||||
<div class="outline-text-3" id="text-5-1">
|
||||
</div>
|
||||
<div id="outline-container-orga97b3aa" class="outline-4">
|
||||
<h4 id="orga97b3aa"><span class="section-number-4">5.1.1</span> Plant</h4>
|
||||
<div id="outline-container-org9ec605a" class="outline-4">
|
||||
<h4 id="org9ec605a"><span class="section-number-4">5.1.1</span> Plant</h4>
|
||||
<div class="outline-text-4" id="text-5-1-1">
|
||||
<p>
|
||||
Let’s load the undamped plant:
|
||||
@@ -1503,8 +1269,8 @@ Let’s look at the transfer function from actuator forces in the nano-hexap
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org92b0a5f" class="outline-4">
|
||||
<h4 id="org92b0a5f"><span class="section-number-4">5.1.2</span> Control Design</h4>
|
||||
<div id="outline-container-org94a1419" class="outline-4">
|
||||
<h4 id="org94a1419"><span class="section-number-4">5.1.2</span> Control Design</h4>
|
||||
<div class="outline-text-4" id="text-5-1-2">
|
||||
<p>
|
||||
The controller is defined below and the obtained loop gain is shown in figure <a href="#orga2f6fdb">41</a>.
|
||||
@@ -1524,8 +1290,8 @@ The controller is defined below and the obtained loop gain is shown in figure <a
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org9e08e48" class="outline-4">
|
||||
<h4 id="org9e08e48"><span class="section-number-4">5.1.3</span> Diagonal Controller</h4>
|
||||
<div id="outline-container-orgc596f9b" class="outline-4">
|
||||
<h4 id="orgc596f9b"><span class="section-number-4">5.1.3</span> Diagonal Controller</h4>
|
||||
<div class="outline-text-4" id="text-5-1-3">
|
||||
<p>
|
||||
We create the diagonal controller and we add a minus sign as we have a positive feedback architecture.
|
||||
@@ -1546,8 +1312,8 @@ We save the controller for further analysis.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org054aff8" class="outline-3">
|
||||
<h3 id="org054aff8"><span class="section-number-3">5.2</span> Conclusion</h3>
|
||||
<div id="outline-container-orgdc8e915" class="outline-3">
|
||||
<h3 id="orgdc8e915"><span class="section-number-3">5.2</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-5-2">
|
||||
<div class="important">
|
||||
<p>
|
||||
@@ -1723,9 +1489,9 @@ This Matlab function is accessible <a href="src/prepareLinearizeIdentification.m
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org6a968ef" class="outline-4">
|
||||
<h4 id="org6a968ef">Function Description</h4>
|
||||
<div class="outline-text-4" id="text-org6a968ef">
|
||||
<div id="outline-container-orga028903" class="outline-4">
|
||||
<h4 id="orga028903">Function Description</h4>
|
||||
<div class="outline-text-4" id="text-orga028903">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[]</span> = <span class="org-function-name">prepareLinearizeIdentification</span>(<span class="org-variable-name">args</span>)
|
||||
</pre>
|
||||
@@ -1733,9 +1499,9 @@ This Matlab function is accessible <a href="src/prepareLinearizeIdentification.m
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgc14eed3" class="outline-4">
|
||||
<h4 id="orgc14eed3">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-orgc14eed3">
|
||||
<div id="outline-container-orgbda1bf4" class="outline-4">
|
||||
<h4 id="orgbda1bf4">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-orgbda1bf4">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
args.nass_actuator char {mustBeMember(args.nass_actuator,{<span class="org-string">'piezo'</span>, <span class="org-string">'lorentz'</span>})} = <span class="org-string">'piezo'</span>
|
||||
@@ -1746,9 +1512,9 @@ This Matlab function is accessible <a href="src/prepareLinearizeIdentification.m
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgc7a07c5" class="outline-4">
|
||||
<h4 id="orgc7a07c5">Initialize the Simulation</h4>
|
||||
<div class="outline-text-4" id="text-orgc7a07c5">
|
||||
<div id="outline-container-org2131c58" class="outline-4">
|
||||
<h4 id="org2131c58">Initialize the Simulation</h4>
|
||||
<div class="outline-text-4" id="text-org2131c58">
|
||||
<p>
|
||||
We initialize all the stages with the default parameters.
|
||||
</p>
|
||||
@@ -1821,9 +1587,9 @@ This Matlab function is accessible <a href="src/prepareTomographyExperiment.m">h
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org34e8f09" class="outline-4">
|
||||
<h4 id="org34e8f09">Function Description</h4>
|
||||
<div class="outline-text-4" id="text-org34e8f09">
|
||||
<div id="outline-container-org889b896" class="outline-4">
|
||||
<h4 id="org889b896">Function Description</h4>
|
||||
<div class="outline-text-4" id="text-org889b896">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[]</span> = <span class="org-function-name">prepareTomographyExperiment</span>(<span class="org-variable-name">args</span>)
|
||||
</pre>
|
||||
@@ -1831,9 +1597,9 @@ This Matlab function is accessible <a href="src/prepareTomographyExperiment.m">h
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org82d8c08" class="outline-4">
|
||||
<h4 id="org82d8c08">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-org82d8c08">
|
||||
<div id="outline-container-orgf77fd6f" class="outline-4">
|
||||
<h4 id="orgf77fd6f">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-orgf77fd6f">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
args.nass_actuator char {mustBeMember(args.nass_actuator,{<span class="org-string">'piezo'</span>, <span class="org-string">'lorentz'</span>})} = <span class="org-string">'piezo'</span>
|
||||
@@ -1845,9 +1611,9 @@ This Matlab function is accessible <a href="src/prepareTomographyExperiment.m">h
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org2ece687" class="outline-4">
|
||||
<h4 id="org2ece687">Initialize the Simulation</h4>
|
||||
<div class="outline-text-4" id="text-org2ece687">
|
||||
<div id="outline-container-org45b5800" class="outline-4">
|
||||
<h4 id="org45b5800">Initialize the Simulation</h4>
|
||||
<div class="outline-text-4" id="text-org45b5800">
|
||||
<p>
|
||||
We initialize all the stages with the default parameters.
|
||||
</p>
|
||||
@@ -1915,7 +1681,7 @@ We log the signals.
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-03-26 jeu. 17:25</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 09:36</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@@ -4,237 +4,25 @@
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-04-01 mer. 16:16 -->
|
||||
<!-- 2020-04-17 ven. 09:35 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>Cascade Control applied on the Simscape Model</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Dehaeze Thomas" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||
<script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||
<script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&dn=gpl-3.0.txt GPL-v3-or-Later
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
// @license-end
|
||||
</script>
|
||||
<script>
|
||||
MathJax = {
|
||||
tex: { macros: {
|
||||
bm: ["\\boldsymbol{#1}",1],
|
||||
}
|
||||
}
|
||||
<script src="./js/jquery.min.js"></script>
|
||||
<script src="./js/bootstrap.min.js"></script>
|
||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="./js/readtheorg.js"></script>
|
||||
<script>MathJax = {
|
||||
tex: {
|
||||
tags: 'ams',
|
||||
macros: {bm: ["\\boldsymbol{#1}",1],}
|
||||
}
|
||||
};
|
||||
</script>
|
||||
<script type="text/javascript"
|
||||
src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
<script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
@@ -259,14 +47,14 @@
|
||||
<li><a href="#org101bfbc">3. High Authority Control in the joint space - \(\bm{K}_\mathcal{L}\)</a>
|
||||
<ul>
|
||||
<li><a href="#org259240d">3.1. Identification of the damped plant</a></li>
|
||||
<li><a href="#orgb574395">3.2. Obtained Plant</a></li>
|
||||
<li><a href="#orgfc86b4c">3.2. Obtained Plant</a></li>
|
||||
<li><a href="#orgdea5e17">3.3. Controller Design and Loop Gain</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org58f9f32">4. Primary Controller in the task space - \(\bm{K}_\mathcal{X}\)</a>
|
||||
<ul>
|
||||
<li><a href="#org82ca884">4.1. Identification of the linearized plant</a></li>
|
||||
<li><a href="#org3b0d2c2">4.2. Obtained Plant</a></li>
|
||||
<li><a href="#org6f5b22e">4.2. Obtained Plant</a></li>
|
||||
<li><a href="#org839cdb3">4.3. Controller Design</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
@@ -495,8 +283,8 @@ isstable(Gl)
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgb574395" class="outline-3">
|
||||
<h3 id="orgb574395"><span class="section-number-3">3.2</span> Obtained Plant</h3>
|
||||
<div id="outline-container-orgfc86b4c" class="outline-3">
|
||||
<h3 id="orgfc86b4c"><span class="section-number-3">3.2</span> Obtained Plant</h3>
|
||||
<div class="outline-text-3" id="text-3-2">
|
||||
<p>
|
||||
The obtain plant is shown in Figure <a href="#org455eb07">5</a>.
|
||||
@@ -593,8 +381,8 @@ isstable(Gx)
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org3b0d2c2" class="outline-3">
|
||||
<h3 id="org3b0d2c2"><span class="section-number-3">4.2</span> Obtained Plant</h3>
|
||||
<div id="outline-container-org6f5b22e" class="outline-3">
|
||||
<h3 id="org6f5b22e"><span class="section-number-3">4.2</span> Obtained Plant</h3>
|
||||
<div class="outline-text-3" id="text-4-2">
|
||||
|
||||
<div id="orge364e46" class="figure">
|
||||
@@ -704,7 +492,7 @@ Ts = t(2)<span class="org-type">-</span>t(1);
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-04-01 mer. 16:16</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 09:35</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@@ -4,259 +4,25 @@
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-03-26 jeu. 17:25 -->
|
||||
<!-- 2020-04-17 ven. 09:35 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>Control in the Frame of the Legs applied on the Simscape Model</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Dehaeze Thomas" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||
<script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||
<script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
/*
|
||||
@licstart The following is the entire license notice for the
|
||||
JavaScript code in this tag.
|
||||
|
||||
Copyright (C) 2012-2020 Free Software Foundation, Inc.
|
||||
|
||||
The JavaScript code in this tag is free software: you can
|
||||
redistribute it and/or modify it under the terms of the GNU
|
||||
General Public License (GNU GPL) as published by the Free Software
|
||||
Foundation, either version 3 of the License, or (at your option)
|
||||
any later version. The code is distributed WITHOUT ANY WARRANTY;
|
||||
without even the implied warranty of MERCHANTABILITY or FITNESS
|
||||
FOR A PARTICULAR PURPOSE. See the GNU GPL for more details.
|
||||
|
||||
As additional permission under GNU GPL version 3 section 7, you
|
||||
may distribute non-source (e.g., minimized or compacted) forms of
|
||||
that code without the copy of the GNU GPL normally required by
|
||||
section 4, provided you include this license notice and a URL
|
||||
through which recipients can access the Corresponding Source.
|
||||
|
||||
|
||||
@licend The above is the entire license notice
|
||||
for the JavaScript code in this tag.
|
||||
*/
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
</script>
|
||||
<script>
|
||||
MathJax = {
|
||||
tex: { macros: {
|
||||
bm: ["\\boldsymbol{#1}",1],
|
||||
}
|
||||
}
|
||||
<script src="./js/jquery.min.js"></script>
|
||||
<script src="./js/bootstrap.min.js"></script>
|
||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="./js/readtheorg.js"></script>
|
||||
<script>MathJax = {
|
||||
tex: {
|
||||
tags: 'ams',
|
||||
macros: {bm: ["\\boldsymbol{#1}",1],}
|
||||
}
|
||||
};
|
||||
</script>
|
||||
<script type="text/javascript"
|
||||
src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
<script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
@@ -271,26 +37,26 @@ for the JavaScript code in this tag.
|
||||
<ul>
|
||||
<li><a href="#org1f22cdb">1. Decentralized Control</a>
|
||||
<ul>
|
||||
<li><a href="#orgcd58f5e">1.1. Control Schematic</a></li>
|
||||
<li><a href="#org4318f13">1.2. Initialize the Simscape Model</a></li>
|
||||
<li><a href="#org01937c0">1.1. Control Schematic</a></li>
|
||||
<li><a href="#orgc9e3b66">1.2. Initialize the Simscape Model</a></li>
|
||||
<li><a href="#org42afc36">1.3. Identification of the plant</a></li>
|
||||
<li><a href="#org871560e">1.4. Plant Analysis</a></li>
|
||||
<li><a href="#orgdf3c9aa">1.5. Controller Design</a></li>
|
||||
<li><a href="#org753f2c4">1.6. Simulation</a></li>
|
||||
<li><a href="#orgd8c14ee">1.7. Results</a></li>
|
||||
<li><a href="#org296e3de">1.5. Controller Design</a></li>
|
||||
<li><a href="#orgb7afa1e">1.6. Simulation</a></li>
|
||||
<li><a href="#orgbb1dc16">1.7. Results</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#orgfa4be92">2. HAC-LAC (IFF) Decentralized Control</a>
|
||||
<ul>
|
||||
<li><a href="#org744f1a3">2.1. Control Schematic</a></li>
|
||||
<li><a href="#org0e6472e">2.2. Initialize the Simscape Model</a></li>
|
||||
<li><a href="#orgbc4af09">2.1. Control Schematic</a></li>
|
||||
<li><a href="#org5ac6c37">2.2. Initialize the Simscape Model</a></li>
|
||||
<li><a href="#org0903106">2.3. Initialization</a></li>
|
||||
<li><a href="#orge739f61">2.4. Identification for IFF</a></li>
|
||||
<li><a href="#org08b6a99">2.5. Integral Force Feedback Controller</a></li>
|
||||
<li><a href="#org06b5c75">2.6. Identification of the damped plant</a></li>
|
||||
<li><a href="#orgf258d8b">2.7. Controller Design</a></li>
|
||||
<li><a href="#org5f74b9e">2.8. Simulation</a></li>
|
||||
<li><a href="#org42ecd75">2.9. Results</a></li>
|
||||
<li><a href="#org85a0730">2.7. Controller Design</a></li>
|
||||
<li><a href="#org58ffd80">2.8. Simulation</a></li>
|
||||
<li><a href="#orga01ccc6">2.9. Results</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org21a9294">3. Conclusion</a></li>
|
||||
@@ -306,11 +72,11 @@ In this document, we apply some decentralized control to the NASS and see what l
|
||||
<h2 id="org1f22cdb"><span class="section-number-2">1</span> Decentralized Control</h2>
|
||||
<div class="outline-text-2" id="text-1">
|
||||
</div>
|
||||
<div id="outline-container-orgcd58f5e" class="outline-3">
|
||||
<h3 id="orgcd58f5e"><span class="section-number-3">1.1</span> Control Schematic</h3>
|
||||
<div id="outline-container-org01937c0" class="outline-3">
|
||||
<h3 id="org01937c0"><span class="section-number-3">1.1</span> Control Schematic</h3>
|
||||
<div class="outline-text-3" id="text-1-1">
|
||||
<p>
|
||||
The control architecture is shown in Figure <a href="#org5b991df">1</a>.
|
||||
The control architecture is shown in Figure <a href="#org5b9133f">1</a>.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
@@ -326,7 +92,7 @@ The signals are:
|
||||
</ul>
|
||||
|
||||
|
||||
<div id="org5b991df" class="figure">
|
||||
<div id="org5b9133f" class="figure">
|
||||
<p><img src="figs/decentralized_reference_tracking_L.png" alt="decentralized_reference_tracking_L.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 1: </span>Decentralized control for reference tracking</p>
|
||||
@@ -334,8 +100,8 @@ The signals are:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org4318f13" class="outline-3">
|
||||
<h3 id="org4318f13"><span class="section-number-3">1.2</span> Initialize the Simscape Model</h3>
|
||||
<div id="outline-container-orgc9e3b66" class="outline-3">
|
||||
<h3 id="orgc9e3b66"><span class="section-number-3">1.2</span> Initialize the Simscape Model</h3>
|
||||
<div class="outline-text-3" id="text-1-2">
|
||||
<p>
|
||||
We initialize all the stages with the default parameters.
|
||||
@@ -449,8 +215,8 @@ We can see that:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgdf3c9aa" class="outline-3">
|
||||
<h3 id="orgdf3c9aa"><span class="section-number-3">1.5</span> Controller Design</h3>
|
||||
<div id="outline-container-org296e3de" class="outline-3">
|
||||
<h3 id="org296e3de"><span class="section-number-3">1.5</span> Controller Design</h3>
|
||||
<div class="outline-text-3" id="text-1-5">
|
||||
<p>
|
||||
The controller consists of:
|
||||
@@ -496,8 +262,8 @@ We add a minus sign to the controller as it is not included in the Simscape mode
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org753f2c4" class="outline-3">
|
||||
<h3 id="org753f2c4"><span class="section-number-3">1.6</span> Simulation</h3>
|
||||
<div id="outline-container-orgb7afa1e" class="outline-3">
|
||||
<h3 id="orgb7afa1e"><span class="section-number-3">1.6</span> Simulation</h3>
|
||||
<div class="outline-text-3" id="text-1-6">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeController(<span class="org-string">'type'</span>, <span class="org-string">'ref-track-L'</span>);
|
||||
@@ -523,8 +289,8 @@ save(<span class="org-string">'./mat/tomo_exp_decentalized.mat'</span>, <span cl
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgd8c14ee" class="outline-3">
|
||||
<h3 id="orgd8c14ee"><span class="section-number-3">1.7</span> Results</h3>
|
||||
<div id="outline-container-orgbb1dc16" class="outline-3">
|
||||
<h3 id="orgbb1dc16"><span class="section-number-3">1.7</span> Results</h3>
|
||||
<div class="outline-text-3" id="text-1-7">
|
||||
<p>
|
||||
The reference path and the position of the mobile platform are shown in Figure <a href="#org247b3a0">4</a>.
|
||||
@@ -554,11 +320,11 @@ We here add an Active Damping Loop (Integral Force Feedback) prior to using the
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org744f1a3" class="outline-3">
|
||||
<h3 id="org744f1a3"><span class="section-number-3">2.1</span> Control Schematic</h3>
|
||||
<div id="outline-container-orgbc4af09" class="outline-3">
|
||||
<h3 id="orgbc4af09"><span class="section-number-3">2.1</span> Control Schematic</h3>
|
||||
<div class="outline-text-3" id="text-2-1">
|
||||
<p>
|
||||
The control architecture is shown in Figure <a href="#org5b991df">1</a>.
|
||||
The control architecture is shown in Figure <a href="#org5b9133f">1</a>.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
@@ -574,7 +340,7 @@ The signals are:
|
||||
</ul>
|
||||
|
||||
|
||||
<div id="orgda1b906" class="figure">
|
||||
<div id="org657383b" class="figure">
|
||||
<p><img src="figs/decentralized_reference_tracking_L.png" alt="decentralized_reference_tracking_L.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 5: </span>Decentralized control for reference tracking</p>
|
||||
@@ -582,8 +348,8 @@ The signals are:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org0e6472e" class="outline-3">
|
||||
<h3 id="org0e6472e"><span class="section-number-3">2.2</span> Initialize the Simscape Model</h3>
|
||||
<div id="outline-container-org5ac6c37" class="outline-3">
|
||||
<h3 id="org5ac6c37"><span class="section-number-3">2.2</span> Initialize the Simscape Model</h3>
|
||||
<div class="outline-text-3" id="text-2-2">
|
||||
<p>
|
||||
We initialize all the stages with the default parameters.
|
||||
@@ -719,8 +485,8 @@ Gd.OutputName = {<span class="org-string">'El1'</span>, <span class="org-string"
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgf258d8b" class="outline-3">
|
||||
<h3 id="orgf258d8b"><span class="section-number-3">2.7</span> Controller Design</h3>
|
||||
<div id="outline-container-org85a0730" class="outline-3">
|
||||
<h3 id="org85a0730"><span class="section-number-3">2.7</span> Controller Design</h3>
|
||||
<div class="outline-text-3" id="text-2-7">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">wc = 2<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>300;
|
||||
@@ -748,8 +514,8 @@ Kl = diag(1<span class="org-type">./</span>diag(abs(freqresp(Gd, wc)))) <span cl
|
||||
</div>
|
||||
|
||||
|
||||
<div id="outline-container-org5f74b9e" class="outline-3">
|
||||
<h3 id="org5f74b9e"><span class="section-number-3">2.8</span> Simulation</h3>
|
||||
<div id="outline-container-org58ffd80" class="outline-3">
|
||||
<h3 id="org58ffd80"><span class="section-number-3">2.8</span> Simulation</h3>
|
||||
<div class="outline-text-3" id="text-2-8">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeController(<span class="org-string">'type'</span>, <span class="org-string">'ref-track-iff-L'</span>);
|
||||
@@ -775,8 +541,8 @@ save(<span class="org-string">'./mat/tomo_exp_decentalized.mat'</span>, <span cl
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org42ecd75" class="outline-3">
|
||||
<h3 id="org42ecd75"><span class="section-number-3">2.9</span> Results</h3>
|
||||
<div id="outline-container-orga01ccc6" class="outline-3">
|
||||
<h3 id="orga01ccc6"><span class="section-number-3">2.9</span> Results</h3>
|
||||
</div>
|
||||
</div>
|
||||
<div id="outline-container-org21a9294" class="outline-2">
|
||||
@@ -785,7 +551,7 @@ save(<span class="org-string">'./mat/tomo_exp_decentalized.mat'</span>, <span cl
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-03-26 jeu. 17:25</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 09:35</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@@ -1,263 +1,28 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-03-26 jeu. 17:25 -->
|
||||
<!-- 2020-04-17 ven. 09:35 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>Force Control applied on the Simscape Model</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Dehaeze Thomas" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||
<script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||
<script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
/*
|
||||
@licstart The following is the entire license notice for the
|
||||
JavaScript code in this tag.
|
||||
|
||||
Copyright (C) 2012-2020 Free Software Foundation, Inc.
|
||||
|
||||
The JavaScript code in this tag is free software: you can
|
||||
redistribute it and/or modify it under the terms of the GNU
|
||||
General Public License (GNU GPL) as published by the Free Software
|
||||
Foundation, either version 3 of the License, or (at your option)
|
||||
any later version. The code is distributed WITHOUT ANY WARRANTY;
|
||||
without even the implied warranty of MERCHANTABILITY or FITNESS
|
||||
FOR A PARTICULAR PURPOSE. See the GNU GPL for more details.
|
||||
|
||||
As additional permission under GNU GPL version 3 section 7, you
|
||||
may distribute non-source (e.g., minimized or compacted) forms of
|
||||
that code without the copy of the GNU GPL normally required by
|
||||
section 4, provided you include this license notice and a URL
|
||||
through which recipients can access the Corresponding Source.
|
||||
|
||||
|
||||
@licend The above is the entire license notice
|
||||
for the JavaScript code in this tag.
|
||||
*/
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
</script>
|
||||
<script>
|
||||
MathJax = {
|
||||
tex: { macros: {
|
||||
bm: ["\\boldsymbol{#1}",1],
|
||||
}
|
||||
}
|
||||
<script src="./js/jquery.min.js"></script>
|
||||
<script src="./js/bootstrap.min.js"></script>
|
||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="./js/readtheorg.js"></script>
|
||||
<script>MathJax = {
|
||||
tex: {
|
||||
tags: 'ams',
|
||||
macros: {bm: ["\\boldsymbol{#1}",1],}
|
||||
}
|
||||
};
|
||||
</script>
|
||||
<script type="text/javascript"
|
||||
src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
<script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
@@ -266,7 +31,6 @@ for the JavaScript code in this tag.
|
||||
<a accesskey="H" href="./index.html"> HOME </a>
|
||||
</div><div id="content">
|
||||
<h1 class="title">Force Control applied on the Simscape Model</h1>
|
||||
|
||||
<p>
|
||||
Cascade Control where the inner loop goal is to control the total wrench (forces and torques) applied to the upper part of the nano-hexapod.
|
||||
</p>
|
||||
@@ -296,7 +60,7 @@ Ideas:
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-03-26 jeu. 17:25</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 09:35</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@@ -4,259 +4,25 @@
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-03-25 mer. 19:23 -->
|
||||
<!-- 2020-04-17 ven. 09:35 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>HAC-LAC applied on the Simscape Model</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Dehaeze Thomas" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||
<script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||
<script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
/*
|
||||
@licstart The following is the entire license notice for the
|
||||
JavaScript code in this tag.
|
||||
|
||||
Copyright (C) 2012-2020 Free Software Foundation, Inc.
|
||||
|
||||
The JavaScript code in this tag is free software: you can
|
||||
redistribute it and/or modify it under the terms of the GNU
|
||||
General Public License (GNU GPL) as published by the Free Software
|
||||
Foundation, either version 3 of the License, or (at your option)
|
||||
any later version. The code is distributed WITHOUT ANY WARRANTY;
|
||||
without even the implied warranty of MERCHANTABILITY or FITNESS
|
||||
FOR A PARTICULAR PURPOSE. See the GNU GPL for more details.
|
||||
|
||||
As additional permission under GNU GPL version 3 section 7, you
|
||||
may distribute non-source (e.g., minimized or compacted) forms of
|
||||
that code without the copy of the GNU GPL normally required by
|
||||
section 4, provided you include this license notice and a URL
|
||||
through which recipients can access the Corresponding Source.
|
||||
|
||||
|
||||
@licend The above is the entire license notice
|
||||
for the JavaScript code in this tag.
|
||||
*/
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
</script>
|
||||
<script>
|
||||
MathJax = {
|
||||
tex: { macros: {
|
||||
bm: ["\\boldsymbol{#1}",1],
|
||||
}
|
||||
}
|
||||
<script src="./js/jquery.min.js"></script>
|
||||
<script src="./js/bootstrap.min.js"></script>
|
||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="./js/readtheorg.js"></script>
|
||||
<script>MathJax = {
|
||||
tex: {
|
||||
tags: 'ams',
|
||||
macros: {bm: ["\\boldsymbol{#1}",1],}
|
||||
}
|
||||
};
|
||||
</script>
|
||||
<script type="text/javascript"
|
||||
src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
<script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
@@ -584,7 +350,7 @@ load(<span class="org-string">'./mat/tomo_exp_hac_lac.mat'</span>, <span class="
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-03-25 mer. 19:23</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 09:35</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@@ -4,259 +4,25 @@
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-03-26 jeu. 17:25 -->
|
||||
<!-- 2020-04-17 ven. 09:36 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>Control Requirements</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Dehaeze Thomas" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||
<script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||
<script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
/*
|
||||
@licstart The following is the entire license notice for the
|
||||
JavaScript code in this tag.
|
||||
|
||||
Copyright (C) 2012-2020 Free Software Foundation, Inc.
|
||||
|
||||
The JavaScript code in this tag is free software: you can
|
||||
redistribute it and/or modify it under the terms of the GNU
|
||||
General Public License (GNU GPL) as published by the Free Software
|
||||
Foundation, either version 3 of the License, or (at your option)
|
||||
any later version. The code is distributed WITHOUT ANY WARRANTY;
|
||||
without even the implied warranty of MERCHANTABILITY or FITNESS
|
||||
FOR A PARTICULAR PURPOSE. See the GNU GPL for more details.
|
||||
|
||||
As additional permission under GNU GPL version 3 section 7, you
|
||||
may distribute non-source (e.g., minimized or compacted) forms of
|
||||
that code without the copy of the GNU GPL normally required by
|
||||
section 4, provided you include this license notice and a URL
|
||||
through which recipients can access the Corresponding Source.
|
||||
|
||||
|
||||
@licend The above is the entire license notice
|
||||
for the JavaScript code in this tag.
|
||||
*/
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
</script>
|
||||
<script>
|
||||
MathJax = {
|
||||
tex: { macros: {
|
||||
bm: ["\\boldsymbol{#1}",1],
|
||||
}
|
||||
}
|
||||
<script src="./js/jquery.min.js"></script>
|
||||
<script src="./js/bootstrap.min.js"></script>
|
||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="./js/readtheorg.js"></script>
|
||||
<script>MathJax = {
|
||||
tex: {
|
||||
tags: 'ams',
|
||||
macros: {bm: ["\\boldsymbol{#1}",1],}
|
||||
}
|
||||
};
|
||||
</script>
|
||||
<script type="text/javascript"
|
||||
src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
<script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
@@ -281,13 +47,13 @@ for the JavaScript code in this tag.
|
||||
<li><a href="#org19b83b7">2.1. Definition of the values</a></li>
|
||||
<li><a href="#org0e9811a">2.2. Control using \(d\)</a>
|
||||
<ul>
|
||||
<li><a href="#org9828aed">2.2.1. Control Architecture</a></li>
|
||||
<li><a href="#org47fb453">2.2.1. Control Architecture</a></li>
|
||||
<li><a href="#org5a120e1">2.2.2. Analytical Analysis</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#orga741e48">2.3. Control using \(F_m\)</a>
|
||||
<ul>
|
||||
<li><a href="#org4c74e08">2.3.1. Control Architecture</a></li>
|
||||
<li><a href="#org691c845">2.3.1. Control Architecture</a></li>
|
||||
<li><a href="#orgdd5134e">2.3.2. Pure Integrator</a></li>
|
||||
<li><a href="#org5011ab0">2.3.3. Low pass filter</a></li>
|
||||
</ul>
|
||||
@@ -297,7 +63,7 @@ for the JavaScript code in this tag.
|
||||
<ul>
|
||||
<li><a href="#orgfab8395">2.5.1. Analytical analysis</a></li>
|
||||
<li><a href="#org625e3c2">2.5.2. Control implementation</a></li>
|
||||
<li><a href="#org3db77f5">2.5.3. Results</a></li>
|
||||
<li><a href="#org38d941f">2.5.3. Results</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -312,7 +78,7 @@ for the JavaScript code in this tag.
|
||||
<li><a href="#org50054f2">5.4. Generalized Weighted plant</a></li>
|
||||
<li><a href="#org949ab66">5.5. Synthesis</a></li>
|
||||
<li><a href="#orgfe970e4">5.6. Loop Gain</a></li>
|
||||
<li><a href="#org5211e8c">5.7. Results</a></li>
|
||||
<li><a href="#org387a405">5.7. Results</a></li>
|
||||
<li><a href="#orgb18d7df">5.8. Requirements</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
@@ -608,8 +374,8 @@ Gpz = connect(Gn, S, Wsplit, Tw, Tmu, Sw, {<span class="org-string">'Fd'</span>,
|
||||
<h3 id="org0e9811a"><span class="section-number-3">2.2</span> Control using \(d\)</h3>
|
||||
<div class="outline-text-3" id="text-2-2">
|
||||
</div>
|
||||
<div id="outline-container-org9828aed" class="outline-4">
|
||||
<h4 id="org9828aed"><span class="section-number-4">2.2.1</span> Control Architecture</h4>
|
||||
<div id="outline-container-org47fb453" class="outline-4">
|
||||
<h4 id="org47fb453"><span class="section-number-4">2.2.1</span> Control Architecture</h4>
|
||||
<div class="outline-text-4" id="text-2-2-1">
|
||||
<p>
|
||||
Let’s consider a feedback loop using \(d\) as shown in Figure <a href="#orgb50386a">4</a>.
|
||||
@@ -692,8 +458,8 @@ And \(\epsilon = r - x\):
|
||||
<h3 id="orga741e48"><span class="section-number-3">2.3</span> Control using \(F_m\)</h3>
|
||||
<div class="outline-text-3" id="text-2-3">
|
||||
</div>
|
||||
<div id="outline-container-org4c74e08" class="outline-4">
|
||||
<h4 id="org4c74e08"><span class="section-number-4">2.3.1</span> Control Architecture</h4>
|
||||
<div id="outline-container-org691c845" class="outline-4">
|
||||
<h4 id="org691c845"><span class="section-number-4">2.3.1</span> Control Architecture</h4>
|
||||
<div class="outline-text-4" id="text-2-3-1">
|
||||
<p>
|
||||
Let’s consider a feedback loop using \(Fm\) as shown in Figure <a href="#org5012ef2">5</a>.
|
||||
@@ -1004,8 +770,8 @@ Gpz_fb_iff = connect(Gpz_iff, Kpz_iff, R, Sfb, F, {<span class="org-string">'r'<
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org3db77f5" class="outline-4">
|
||||
<h4 id="org3db77f5"><span class="section-number-4">2.5.3</span> Results</h4>
|
||||
<div id="outline-container-org38d941f" class="outline-4">
|
||||
<h4 id="org38d941f"><span class="section-number-4">2.5.3</span> Results</h4>
|
||||
<div class="outline-text-4" id="text-2-5-3">
|
||||
|
||||
<div id="org2b4e783" class="figure">
|
||||
@@ -1486,8 +1252,8 @@ Gvc_fb_dvf = connect(Gvc_dvf, <span class="org-type">-</span>Kvc_dvf, R, Sfb, F,
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org5211e8c" class="outline-3">
|
||||
<h3 id="org5211e8c"><span class="section-number-3">5.7</span> Results</h3>
|
||||
<div id="outline-container-org387a405" class="outline-3">
|
||||
<h3 id="org387a405"><span class="section-number-3">5.7</span> Results</h3>
|
||||
</div>
|
||||
<div id="outline-container-orgb18d7df" class="outline-3">
|
||||
<h3 id="orgb18d7df"><span class="section-number-3">5.8</span> Requirements</h3>
|
||||
@@ -1528,7 +1294,7 @@ Gvc_fb_dvf = connect(Gvc_dvf, <span class="org-type">-</span>Kvc_dvf, R, Sfb, F,
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-03-26 jeu. 17:25</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 09:36</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@@ -4,237 +4,25 @@
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-04-01 mer. 16:16 -->
|
||||
<!-- 2020-04-17 ven. 09:35 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>Control of the NASS with Voice coil actuators</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Dehaeze Thomas" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||
<script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||
<script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&dn=gpl-3.0.txt GPL-v3-or-Later
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
// @license-end
|
||||
</script>
|
||||
<script>
|
||||
MathJax = {
|
||||
tex: { macros: {
|
||||
bm: ["\\boldsymbol{#1}",1],
|
||||
}
|
||||
}
|
||||
<script src="./js/jquery.min.js"></script>
|
||||
<script src="./js/bootstrap.min.js"></script>
|
||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="./js/readtheorg.js"></script>
|
||||
<script>MathJax = {
|
||||
tex: {
|
||||
tags: 'ams',
|
||||
macros: {bm: ["\\boldsymbol{#1}",1],}
|
||||
}
|
||||
};
|
||||
</script>
|
||||
<script type="text/javascript"
|
||||
src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
<script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
@@ -249,10 +37,10 @@
|
||||
<ul>
|
||||
<li><a href="#orge379987">1. HAC-LAC + Cascade Control Topology</a>
|
||||
<ul>
|
||||
<li><a href="#org6d5d6b2">1.1. Initialization</a></li>
|
||||
<li><a href="#orgf283080">1.1. Initialization</a></li>
|
||||
<li><a href="#orgf95b045">1.2. Low Authority Control - Integral Force Feedback \(\bm{K}_\text{IFF}\)</a>
|
||||
<ul>
|
||||
<li><a href="#orge9b2f08">1.2.1. Identification</a></li>
|
||||
<li><a href="#orgac9efbf">1.2.1. Identification</a></li>
|
||||
<li><a href="#org203d651">1.2.2. Plant</a></li>
|
||||
<li><a href="#orgccc21d2">1.2.3. Root Locus</a></li>
|
||||
<li><a href="#org1a8ee8a">1.2.4. Controller and Loop Gain</a></li>
|
||||
@@ -261,49 +49,49 @@
|
||||
<li><a href="#org2a44e66">1.3. High Authority Control in the joint space - \(\bm{K}_\mathcal{L}\)</a>
|
||||
<ul>
|
||||
<li><a href="#org989c2e9">1.3.1. Identification of the damped plant</a></li>
|
||||
<li><a href="#org45829b7">1.3.2. Obtained Plant</a></li>
|
||||
<li><a href="#org8d7c208">1.3.2. Obtained Plant</a></li>
|
||||
<li><a href="#orgd1632cf">1.3.3. Controller Design and Loop Gain</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org0cd0c63">1.4. Primary Controller in the task space - \(\bm{K}_\mathcal{X}\)</a>
|
||||
<ul>
|
||||
<li><a href="#orga960106">1.4.1. Identification of the linearized plant</a></li>
|
||||
<li><a href="#org40a9335">1.4.2. Obtained Plant</a></li>
|
||||
<li><a href="#org6b17d02">1.4.2. Obtained Plant</a></li>
|
||||
<li><a href="#org16f56fa">1.4.3. Controller Design</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org0b05a3a">1.5. Simulation</a></li>
|
||||
<li><a href="#orga259533">1.5. Simulation</a></li>
|
||||
<li><a href="#org16024e0">1.6. Results</a>
|
||||
<ul>
|
||||
<li><a href="#orge126fd7">1.6.1. Load the simulation results</a></li>
|
||||
<li><a href="#orgf2436dc">1.6.1. Load the simulation results</a></li>
|
||||
<li><a href="#org0f974ff">1.6.2. Control effort</a></li>
|
||||
<li><a href="#org83a367c">1.6.3. Load the simulation results</a></li>
|
||||
<li><a href="#org8e90e5a">1.6.3. Load the simulation results</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org74d9dc7">1.7. Compliance of the nano-hexapod</a>
|
||||
<ul>
|
||||
<li><a href="#orgbdd14c0">1.7.1. Identification</a></li>
|
||||
<li><a href="#orgc6f70c3">1.7.1. Identification</a></li>
|
||||
<li><a href="#org1a1ad20">1.7.2. Obtained Compliance</a></li>
|
||||
<li><a href="#org5b81db9">1.7.3. Comparison with Piezo</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org3652c0c">1.8. Robustness to Payload Variability</a>
|
||||
<li><a href="#org36ac22b">1.8. Robustness to Payload Variability</a>
|
||||
<ul>
|
||||
<li><a href="#orgecf0445">1.8.1. Initialization</a></li>
|
||||
<li><a href="#orgcaec167">1.8.1. Initialization</a></li>
|
||||
<li><a href="#org0d97c55">1.8.2. Low Authority Control</a></li>
|
||||
<li><a href="#orgab3ab98">1.8.3. High Authority Control</a></li>
|
||||
<li><a href="#org176695a">1.8.4. Primary Plant</a></li>
|
||||
<li><a href="#org049fbc5">1.8.5. Simulation</a></li>
|
||||
<li><a href="#org9406388">1.8.5. Simulation</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#orgd649256">2. Other analysis</a>
|
||||
<ul>
|
||||
<li><a href="#orgcc14bbe">2.1. Robustness to Payload Variability</a></li>
|
||||
<li><a href="#org3c7ca09">2.1. Robustness to Payload Variability</a></li>
|
||||
<li><a href="#org18b00fa">2.2. Direct HAC control in the task space - \(\bm{K}_\mathcal{X}\)</a>
|
||||
<ul>
|
||||
<li><a href="#org14729d2">2.2.1. Identification</a></li>
|
||||
<li><a href="#org5fd28fd">2.2.1. Identification</a></li>
|
||||
<li><a href="#org1387536">2.2.2. Obtained Plant in the Task Space</a></li>
|
||||
<li><a href="#org50b9f75">2.2.3. Obtained Plant in the Joint Space</a></li>
|
||||
<li><a href="#org19db2cd">2.2.4. Controller Design in the Joint Space</a></li>
|
||||
@@ -311,7 +99,7 @@
|
||||
</li>
|
||||
<li><a href="#org5e26e70">2.3. On the usefulness of the High Authority Control loop / Linearization loop</a>
|
||||
<ul>
|
||||
<li><a href="#orga867ed3">2.3.1. Identification</a></li>
|
||||
<li><a href="#org63f831b">2.3.1. Identification</a></li>
|
||||
<li><a href="#orgfab8847">2.3.2. Plant in the Task space</a></li>
|
||||
<li><a href="#org18aeea5">2.3.3. Plant in the Leg’s space</a></li>
|
||||
</ul>
|
||||
@@ -319,7 +107,7 @@
|
||||
<li><a href="#org015f992">2.4. DVF instead of IFF?</a>
|
||||
<ul>
|
||||
<li><a href="#org17cfb9d">2.4.1. Initialization and Identification</a></li>
|
||||
<li><a href="#org1144ed5">2.4.2. Obtained Plant</a></li>
|
||||
<li><a href="#orgc3f6788">2.4.2. Obtained Plant</a></li>
|
||||
<li><a href="#org51c8027">2.4.3. Controller</a></li>
|
||||
<li><a href="#org33637f1">2.4.4. HAC Identification</a></li>
|
||||
<li><a href="#orgec66083">2.4.5. Conclusion</a></li>
|
||||
@@ -342,8 +130,8 @@
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org6d5d6b2" class="outline-3">
|
||||
<h3 id="org6d5d6b2"><span class="section-number-3">1.1</span> Initialization</h3>
|
||||
<div id="outline-container-orgf283080" class="outline-3">
|
||||
<h3 id="orgf283080"><span class="section-number-3">1.1</span> Initialization</h3>
|
||||
<div class="outline-text-3" id="text-1-1">
|
||||
<p>
|
||||
We initialize all the stages with the default parameters.
|
||||
@@ -416,8 +204,8 @@ Kiff = tf(zeros(6));
|
||||
<a id="org224edef"></a>
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-orge9b2f08" class="outline-4">
|
||||
<h4 id="orge9b2f08"><span class="section-number-4">1.2.1</span> Identification</h4>
|
||||
<div id="outline-container-orgac9efbf" class="outline-4">
|
||||
<h4 id="orgac9efbf"><span class="section-number-4">1.2.1</span> Identification</h4>
|
||||
<div class="outline-text-4" id="text-1-2-1">
|
||||
<p>
|
||||
Let’s first identify the plant for the IFF controller.
|
||||
@@ -542,8 +330,8 @@ isstable(Gl)
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org45829b7" class="outline-4">
|
||||
<h4 id="org45829b7"><span class="section-number-4">1.3.2</span> Obtained Plant</h4>
|
||||
<div id="outline-container-org8d7c208" class="outline-4">
|
||||
<h4 id="org8d7c208"><span class="section-number-4">1.3.2</span> Obtained Plant</h4>
|
||||
<div class="outline-text-4" id="text-1-3-2">
|
||||
<p>
|
||||
The obtained dynamics is shown in Figure <a href="#orgd1818fd">5</a>.
|
||||
@@ -640,8 +428,8 @@ Gpl.OutputName = {<span class="org-string">'El1'</span>, <span class="org-strin
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org40a9335" class="outline-4">
|
||||
<h4 id="org40a9335"><span class="section-number-4">1.4.2</span> Obtained Plant</h4>
|
||||
<div id="outline-container-org6b17d02" class="outline-4">
|
||||
<h4 id="org6b17d02"><span class="section-number-4">1.4.2</span> Obtained Plant</h4>
|
||||
<div class="outline-text-4" id="text-1-4-2">
|
||||
|
||||
<div id="org8e042d5" class="figure">
|
||||
@@ -697,8 +485,8 @@ And now we include the Jacobian inside the controller.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org0b05a3a" class="outline-3">
|
||||
<h3 id="org0b05a3a"><span class="section-number-3">1.5</span> Simulation</h3>
|
||||
<div id="outline-container-orga259533" class="outline-3">
|
||||
<h3 id="orga259533"><span class="section-number-3">1.5</span> Simulation</h3>
|
||||
<div class="outline-text-3" id="text-1-5">
|
||||
<p>
|
||||
Let’s first save the 3 controllers for further analysis:
|
||||
@@ -734,8 +522,8 @@ save(<span class="org-string">'./mat/cascade_hac_lac.mat'</span>, <span class="o
|
||||
<h3 id="org16024e0"><span class="section-number-3">1.6</span> Results</h3>
|
||||
<div class="outline-text-3" id="text-1-6">
|
||||
</div>
|
||||
<div id="outline-container-orge126fd7" class="outline-4">
|
||||
<h4 id="orge126fd7"><span class="section-number-4">1.6.1</span> Load the simulation results</h4>
|
||||
<div id="outline-container-orgf2436dc" class="outline-4">
|
||||
<h4 id="orgf2436dc"><span class="section-number-4">1.6.1</span> Load the simulation results</h4>
|
||||
<div class="outline-text-4" id="text-1-6-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'tomo_align_dist'</span>);
|
||||
@@ -757,8 +545,8 @@ load(<span class="org-string">'./mat/cascade_hac_lac.mat'</span>, <span class="o
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org83a367c" class="outline-4">
|
||||
<h4 id="org83a367c"><span class="section-number-4">1.6.3</span> Load the simulation results</h4>
|
||||
<div id="outline-container-org8e90e5a" class="outline-4">
|
||||
<h4 id="org8e90e5a"><span class="section-number-4">1.6.3</span> Load the simulation results</h4>
|
||||
<div class="outline-text-4" id="text-1-6-3">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">n_av = 4;
|
||||
@@ -805,8 +593,8 @@ Ts = t(2)<span class="org-type">-</span>t(1);
|
||||
<h3 id="org74d9dc7"><span class="section-number-3">1.7</span> Compliance of the nano-hexapod</h3>
|
||||
<div class="outline-text-3" id="text-1-7">
|
||||
</div>
|
||||
<div id="outline-container-orgbdd14c0" class="outline-4">
|
||||
<h4 id="orgbdd14c0"><span class="section-number-4">1.7.1</span> Identification</h4>
|
||||
<div id="outline-container-orgc6f70c3" class="outline-4">
|
||||
<h4 id="orgc6f70c3"><span class="section-number-4">1.7.1</span> Identification</h4>
|
||||
<div class="outline-text-4" id="text-1-7-1">
|
||||
<p>
|
||||
Let’s identify the Compliance of the NASS:
|
||||
@@ -942,12 +730,12 @@ Gc_pz.OutputName = {<span class="org-string">'Ex'</span>, <span class="org-strin
|
||||
</div>
|
||||
|
||||
|
||||
<div id="outline-container-org3652c0c" class="outline-3">
|
||||
<h3 id="org3652c0c"><span class="section-number-3">1.8</span> Robustness to Payload Variability</h3>
|
||||
<div id="outline-container-org36ac22b" class="outline-3">
|
||||
<h3 id="org36ac22b"><span class="section-number-3">1.8</span> Robustness to Payload Variability</h3>
|
||||
<div class="outline-text-3" id="text-1-8">
|
||||
</div>
|
||||
<div id="outline-container-orgecf0445" class="outline-4">
|
||||
<h4 id="orgecf0445"><span class="section-number-4">1.8.1</span> Initialization</h4>
|
||||
<div id="outline-container-orgcaec167" class="outline-4">
|
||||
<h4 id="orgcaec167"><span class="section-number-4">1.8.1</span> Initialization</h4>
|
||||
<div class="outline-text-4" id="text-1-8-1">
|
||||
<p>
|
||||
Let’s change the payload mass, and see if the controller design for a payload mass of 1 still gives good performance.
|
||||
@@ -1174,8 +962,8 @@ Kp = Kp<span class="org-type">.*</span>diag(1<span class="org-type">./</span>dia
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org049fbc5" class="outline-4">
|
||||
<h4 id="org049fbc5"><span class="section-number-4">1.8.5</span> Simulation</h4>
|
||||
<div id="outline-container-org9406388" class="outline-4">
|
||||
<h4 id="org9406388"><span class="section-number-4">1.8.5</span> Simulation</h4>
|
||||
<div class="outline-text-4" id="text-1-8-5">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load(<span class="org-string">'mat/conf_simulink.mat'</span>);
|
||||
@@ -1210,8 +998,8 @@ save(<span class="org-string">'./mat/cascade_hac_lac.mat'</span>, <span class="o
|
||||
<h2 id="orgd649256"><span class="section-number-2">2</span> Other analysis</h2>
|
||||
<div class="outline-text-2" id="text-2">
|
||||
</div>
|
||||
<div id="outline-container-orgcc14bbe" class="outline-3">
|
||||
<h3 id="orgcc14bbe"><span class="section-number-3">2.1</span> Robustness to Payload Variability</h3>
|
||||
<div id="outline-container-org3c7ca09" class="outline-3">
|
||||
<h3 id="org3c7ca09"><span class="section-number-3">2.1</span> Robustness to Payload Variability</h3>
|
||||
<div class="outline-text-3" id="text-2-1">
|
||||
<ul class="org-ul">
|
||||
<li class="off"><code>[ ]</code> For 3/masses (1kg, 10kg, 50kg), plot each of the 3 plants</li>
|
||||
@@ -1230,8 +1018,8 @@ save(<span class="org-string">'./mat/cascade_hac_lac.mat'</span>, <span class="o
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org14729d2" class="outline-4">
|
||||
<h4 id="org14729d2"><span class="section-number-4">2.2.1</span> Identification</h4>
|
||||
<div id="outline-container-org5fd28fd" class="outline-4">
|
||||
<h4 id="org5fd28fd"><span class="section-number-4">2.2.1</span> Identification</h4>
|
||||
<div class="outline-text-4" id="text-2-2-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeController(<span class="org-string">'type'</span>, <span class="org-string">'hac-iff'</span>);
|
||||
@@ -1346,8 +1134,8 @@ We can do that in two different ways:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orga867ed3" class="outline-4">
|
||||
<h4 id="orga867ed3"><span class="section-number-4">2.3.1</span> Identification</h4>
|
||||
<div id="outline-container-org63f831b" class="outline-4">
|
||||
<h4 id="org63f831b"><span class="section-number-4">2.3.1</span> Identification</h4>
|
||||
<div class="outline-text-4" id="text-2-3-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeController(<span class="org-string">'type'</span>, <span class="org-string">'hac-iff'</span>);
|
||||
@@ -1435,8 +1223,8 @@ G_dvf.OutputName = {<span class="org-string">'Dlm1'</span>, <span class="org-str
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org1144ed5" class="outline-4">
|
||||
<h4 id="org1144ed5"><span class="section-number-4">2.4.2</span> Obtained Plant</h4>
|
||||
<div id="outline-container-orgc3f6788" class="outline-4">
|
||||
<h4 id="orgc3f6788"><span class="section-number-4">2.4.2</span> Obtained Plant</h4>
|
||||
</div>
|
||||
<div id="outline-container-org51c8027" class="outline-4">
|
||||
<h4 id="org51c8027"><span class="section-number-4">2.4.3</span> Controller</h4>
|
||||
@@ -1503,7 +1291,7 @@ DVF can be used instead of IFF.
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-04-01 mer. 16:16</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 09:35</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@@ -4,237 +4,25 @@
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-03-17 mar. 17:31 -->
|
||||
<!-- 2020-04-17 ven. 09:35 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>Identification of the disturbances</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Dehaeze Thomas" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||
<script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||
<script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&dn=gpl-3.0.txt GPL-v3-or-Later
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
// @license-end
|
||||
</script>
|
||||
<script>
|
||||
MathJax = {
|
||||
tex: { macros: {
|
||||
bm: ["\\boldsymbol{#1}",1],
|
||||
}
|
||||
}
|
||||
<script src="./js/jquery.min.js"></script>
|
||||
<script src="./js/bootstrap.min.js"></script>
|
||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="./js/readtheorg.js"></script>
|
||||
<script>MathJax = {
|
||||
tex: {
|
||||
tags: 'ams',
|
||||
macros: {bm: ["\\boldsymbol{#1}",1],}
|
||||
}
|
||||
};
|
||||
</script>
|
||||
<script type="text/javascript"
|
||||
src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
<script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
@@ -393,7 +181,6 @@ io(io_i) = linio([mdl, <span class="org-string">'/Disturbances'</span>], 1, <spa
|
||||
|
||||
io(io_i) = linio([mdl, <span class="org-string">'/Micro-Station/Granite/Modal Analysis/accelerometer'</span>], 1, <span class="org-string">'openoutput'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Absolute motion - Granite</span>
|
||||
io(io_i) = linio([mdl, <span class="org-string">'/Micro-Station/Micro Hexapod/Modal Analysis/accelerometer'</span>], 1, <span class="org-string">'openoutput'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Absolute Motion - Hexapod</span>
|
||||
<span class="org-comment">% io(io_i) = linio([mdl, '/Vm'], 1, 'openoutput'); io_i = io_i + 1; % Relative Velocity hexapod/granite</span>
|
||||
|
||||
<span class="org-comment">% Run the linearization</span>
|
||||
G = linearize(mdl, io, 0);
|
||||
@@ -493,6 +280,18 @@ tyx = load(<span class="org-string">'./mat/pxe_ty_r.mat'</span>, <span class="or
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
Because some 50Hz and harmonics were present in the ground motion measurement, we remove these peaks with the following code:
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">f0s = [50, 100, 150, 200, 250, 350, 450];
|
||||
<span class="org-keyword">for</span> <span class="org-variable-name">f0</span> = <span class="org-constant">f0s</span>
|
||||
<span class="org-constant">i</span> = find(gm.f <span class="org-type">></span> f0<span class="org-type">-</span>0.5 <span class="org-type">&</span> gm.f <span class="org-type"><</span> f0<span class="org-type">+</span>0.5);
|
||||
gm.psd_gm(<span class="org-constant">i</span>) = linspace(gm.psd_gm(<span class="org-constant">i</span>(1)), gm.psd_gm(<span class="org-constant">i</span>(end)), length(<span class="org-constant">i</span>));
|
||||
<span class="org-keyword">end</span>
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
We now compute the relative velocity between the hexapod and the granite due to ground motion.
|
||||
</p>
|
||||
@@ -768,7 +567,7 @@ Let’s now compare the effect of those perturbations on the position error
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-03-17 mar. 17:31</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 09:35</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@@ -4,227 +4,17 @@
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-03-17 mar. 12:32 -->
|
||||
<!-- 2020-04-17 ven. 10:25 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>Simulation of Scientific Experiments</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Dehaeze Thomas" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||
<script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||
<script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&dn=gpl-3.0.txt GPL-v3-or-Later
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
// @license-end
|
||||
</script>
|
||||
<script src="./js/jquery.min.js"></script>
|
||||
<script src="./js/bootstrap.min.js"></script>
|
||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="./js/readtheorg.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
@@ -240,30 +30,37 @@
|
||||
<li><a href="#org03b2a76">1. Simscape Model</a></li>
|
||||
<li><a href="#org6ed78a0">2. Tomography Experiment with no disturbances</a>
|
||||
<ul>
|
||||
<li><a href="#org0ba0ddd">2.1. Simulation Setup</a></li>
|
||||
<li><a href="#org140576f">2.2. Analysis</a></li>
|
||||
<li><a href="#org26e3394">2.3. Conclusion</a></li>
|
||||
<li><a href="#orgdebc736">2.1. Simulation Setup</a></li>
|
||||
<li><a href="#orge0e2e88">2.2. Analysis</a></li>
|
||||
<li><a href="#org38ba07f">2.3. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org16d8e58">3. Tomography Experiment with included perturbations</a>
|
||||
<ul>
|
||||
<li><a href="#org3da7cb0">3.1. Simulation Setup</a></li>
|
||||
<li><a href="#orgdb56a7f">3.2. Analysis</a></li>
|
||||
<li><a href="#org722f52a">3.3. Conclusion</a></li>
|
||||
<li><a href="#orgc2a0926">3.1. Simulation Setup</a></li>
|
||||
<li><a href="#org388be58">3.2. Analysis</a></li>
|
||||
<li><a href="#org51b3617">3.3. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org72f01ab">4. Tomography when the micro-hexapod is not centered</a>
|
||||
<li><a href="#org7202245">4. Tomography Experiment with Ty raster scans</a>
|
||||
<ul>
|
||||
<li><a href="#org6137b17">4.1. Simulation Setup</a></li>
|
||||
<li><a href="#org92c4f21">4.2. Analysis</a></li>
|
||||
<li><a href="#org92f12cd">4.3. Conclusion</a></li>
|
||||
<li><a href="#org94c3461">4.1. Simulation Setup</a></li>
|
||||
<li><a href="#org65d4246">4.2. Analysis</a></li>
|
||||
<li><a href="#org41a2a1d">4.3. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org8fa1632">5. Raster Scans with the translation stage</a>
|
||||
<li><a href="#org72f01ab">5. Tomography when the micro-hexapod is not centered</a>
|
||||
<ul>
|
||||
<li><a href="#org4110173">5.1. Simulation Setup</a></li>
|
||||
<li><a href="#org1e50cb1">5.2. Analysis</a></li>
|
||||
<li><a href="#org98199a0">5.3. Conclusion</a></li>
|
||||
<li><a href="#org8a5fae6">5.1. Simulation Setup</a></li>
|
||||
<li><a href="#orgf8b4f39">5.2. Analysis</a></li>
|
||||
<li><a href="#orgdd34703">5.3. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org8fa1632">6. Raster Scans with the translation stage</a>
|
||||
<ul>
|
||||
<li><a href="#orge3f0741">6.1. Simulation Setup</a></li>
|
||||
<li><a href="#org1836f98">6.2. Analysis</a></li>
|
||||
<li><a href="#org8cf54cb">6.3. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -291,8 +88,8 @@ The document in organized as follow:
|
||||
<li>In section <a href="#orgfc7d050">1</a> the Simscape model is initialized</li>
|
||||
<li>In section <a href="#org3effbb8">2</a> a tomography experiment is performed where the sample is aligned with the rotation axis. No disturbance is included</li>
|
||||
<li>In section <a href="#org4e7f626">3</a>, the same is done but with disturbance included</li>
|
||||
<li>In section <a href="#orgb31e3fb">4</a> the micro-hexapod translate the sample such that its center of mass is no longer aligned with the rotation axis. No disturbance is included</li>
|
||||
<li>In section <a href="#org6aaeb53">5</a>, scans with the translation stage are simulated with no perturbation included</li>
|
||||
<li>In section <a href="#orgb31e3fb">5</a> the micro-hexapod translate the sample such that its center of mass is no longer aligned with the rotation axis. No disturbance is included</li>
|
||||
<li>In section <a href="#org6aaeb53">6</a>, scans with the translation stage are simulated with no perturbation included</li>
|
||||
</ul>
|
||||
|
||||
<div id="outline-container-org03b2a76" class="outline-2">
|
||||
@@ -329,15 +126,6 @@ initializeSample(<span class="org-string">'mass'</span>, 1);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
We initialize the reference path for all the stages.
|
||||
All stage is set to its zero position except the Spindle which is rotating at 60rpm.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeReferences(<span class="org-string">'Rz_type'</span>, <span class="org-string">'rotating'</span>, <span class="org-string">'Rz_period'</span>, 1);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
No controller is used (Open Loop).
|
||||
</p>
|
||||
@@ -347,7 +135,7 @@ No controller is used (Open Loop).
|
||||
</div>
|
||||
|
||||
<p>
|
||||
And we put some gravity.
|
||||
We don’t gravity.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeSimscapeConfiguration(<span class="org-string">'gravity'</span>, <span class="org-constant">false</span>);
|
||||
@@ -375,8 +163,8 @@ In this section, a tomography experiment is performed with the sample aligned wi
|
||||
No disturbance is included.
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-org0ba0ddd" class="outline-3">
|
||||
<h3 id="org0ba0ddd"><span class="section-number-3">2.1</span> Simulation Setup</h3>
|
||||
<div id="outline-container-orgdebc736" class="outline-3">
|
||||
<h3 id="orgdebc736"><span class="section-number-3">2.1</span> Simulation Setup</h3>
|
||||
<div class="outline-text-3" id="text-2-1">
|
||||
<p>
|
||||
And we initialize the disturbances to be equal to zero.
|
||||
@@ -393,6 +181,15 @@ And we initialize the disturbances to be equal to zero.
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
We initialize the reference path for all the stages.
|
||||
All stage is set to its zero position except the Spindle which is rotating at 60rpm.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeReferences(<span class="org-string">'Rz_type'</span>, <span class="org-string">'rotating'</span>, <span class="org-string">'Rz_period'</span>, 1);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
We simulate the model.
|
||||
</p>
|
||||
@@ -412,8 +209,8 @@ save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span cl
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org140576f" class="outline-3">
|
||||
<h3 id="org140576f"><span class="section-number-3">2.2</span> Analysis</h3>
|
||||
<div id="outline-container-orge0e2e88" class="outline-3">
|
||||
<h3 id="orge0e2e88"><span class="section-number-3">2.2</span> Analysis</h3>
|
||||
<div class="outline-text-3" id="text-2-2">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'tomo_align_no_dist'</span>);
|
||||
@@ -429,8 +226,8 @@ save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span cl
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org26e3394" class="outline-3">
|
||||
<h3 id="org26e3394"><span class="section-number-3">2.3</span> Conclusion</h3>
|
||||
<div id="outline-container-org38ba07f" class="outline-3">
|
||||
<h3 id="org38ba07f"><span class="section-number-3">2.3</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-2-3">
|
||||
<div class="important">
|
||||
<p>
|
||||
@@ -454,8 +251,8 @@ In this section, we also perform a tomography experiment with the sample’s
|
||||
However this time, we include perturbations such as ground motion and stage vibrations.
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-org3da7cb0" class="outline-3">
|
||||
<h3 id="org3da7cb0"><span class="section-number-3">3.1</span> Simulation Setup</h3>
|
||||
<div id="outline-container-orgc2a0926" class="outline-3">
|
||||
<h3 id="orgc2a0926"><span class="section-number-3">3.1</span> Simulation Setup</h3>
|
||||
<div class="outline-text-3" id="text-3-1">
|
||||
<p>
|
||||
We now activate the disturbances.
|
||||
@@ -465,13 +262,22 @@ We now activate the disturbances.
|
||||
<span class="org-string">'Dwx'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Ground Motion - X direction</span>
|
||||
<span class="org-string">'Dwy'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Ground Motion - Y direction</span>
|
||||
<span class="org-string">'Dwz'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Ground Motion - Z direction</span>
|
||||
<span class="org-string">'Fty_x'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Translation Stage - X direction</span>
|
||||
<span class="org-string">'Fty_z'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Translation Stage - Z direction</span>
|
||||
<span class="org-string">'Fty_x'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Translation Stage - X direction</span>
|
||||
<span class="org-string">'Fty_z'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Translation Stage - Z direction</span>
|
||||
<span class="org-string">'Frz_z'</span>, <span class="org-constant">true</span> ...<span class="org-comment"> % Spindle - Z direction</span>
|
||||
);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
We initialize the reference path for all the stages.
|
||||
All stage is set to its zero position except the Spindle which is rotating at 60rpm.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeReferences(<span class="org-string">'Rz_type'</span>, <span class="org-string">'rotating'</span>, <span class="org-string">'Rz_period'</span>, 1);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
We simulate the model.
|
||||
</p>
|
||||
@@ -491,8 +297,8 @@ save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span cl
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgdb56a7f" class="outline-3">
|
||||
<h3 id="orgdb56a7f"><span class="section-number-3">3.2</span> Analysis</h3>
|
||||
<div id="outline-container-org388be58" class="outline-3">
|
||||
<h3 id="org388be58"><span class="section-number-3">3.2</span> Analysis</h3>
|
||||
<div class="outline-text-3" id="text-3-2">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'tomo_align_dist'</span>, <span class="org-string">'tomo_align_no_dist'</span>);
|
||||
@@ -508,12 +314,12 @@ save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span cl
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org722f52a" class="outline-3">
|
||||
<h3 id="org722f52a"><span class="section-number-3">3.3</span> Conclusion</h3>
|
||||
<div id="outline-container-org51b3617" class="outline-3">
|
||||
<h3 id="org51b3617"><span class="section-number-3">3.3</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-3-3">
|
||||
<div class="important">
|
||||
<p>
|
||||
Error motion is what expected from the disturbance measurements.
|
||||
Here, no vibration is included in the X and Y directions.
|
||||
</p>
|
||||
|
||||
</div>
|
||||
@@ -521,10 +327,90 @@ Error motion is what expected from the disturbance measurements.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org72f01ab" class="outline-2">
|
||||
<h2 id="org72f01ab"><span class="section-number-2">4</span> Tomography when the micro-hexapod is not centered</h2>
|
||||
<div id="outline-container-org7202245" class="outline-2">
|
||||
<h2 id="org7202245"><span class="section-number-2">4</span> Tomography Experiment with Ty raster scans</h2>
|
||||
<div class="outline-text-2" id="text-4">
|
||||
<p>
|
||||
<a id="orgd4f0240"></a>
|
||||
</p>
|
||||
<p>
|
||||
In this section, we also perform a tomography experiment with scans of the Translation stage.
|
||||
All the perturbations are included.
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-org94c3461" class="outline-3">
|
||||
<h3 id="org94c3461"><span class="section-number-3">4.1</span> Simulation Setup</h3>
|
||||
<div class="outline-text-3" id="text-4-1">
|
||||
<p>
|
||||
We now activate the disturbances.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeDisturbances(...
|
||||
<span class="org-string">'Dwx'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Ground Motion - X direction</span>
|
||||
<span class="org-string">'Dwy'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Ground Motion - Y direction</span>
|
||||
<span class="org-string">'Dwz'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Ground Motion - Z direction</span>
|
||||
<span class="org-string">'Fty_x'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Translation Stage - X direction</span>
|
||||
<span class="org-string">'Fty_z'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Translation Stage - Z direction</span>
|
||||
<span class="org-string">'Frz_z'</span>, <span class="org-constant">true</span> ...<span class="org-comment"> % Spindle - Z direction</span>
|
||||
);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
We initialize the reference path for all the stages.
|
||||
The Spindle which is rotating at 60rpm and the translation stage not moving as it would take a long time to simulate.
|
||||
However, vibrations of the Ty stage are included.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeReferences(<span class="org-string">'Rz_type'</span>, <span class="org-string">'rotating'</span>, <span class="org-string">'Rz_period'</span>, 1);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
We simulate the model.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-matlab-simulink-keyword">sim</span>(<span class="org-string">'nass_model'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
And we save the obtained data.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">scans_rz_align_dist = simout;
|
||||
save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'scans_rz_align_dist'</span>, <span class="org-string">'-append'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org65d4246" class="outline-3">
|
||||
<h3 id="org65d4246"><span class="section-number-3">4.2</span> Analysis</h3>
|
||||
<div class="outline-text-3" id="text-4-2">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'scans_rz_align_dist'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org38e229c" class="figure">
|
||||
<p><img src="figs/exp_scans_rz_dist.png" alt="exp_scans_rz_dist.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 3: </span>X-Y-Z translations and rotations of the sample w.r.t. the granite when performing tomography experiment and scans with the translation stage at the same time</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org41a2a1d" class="outline-3">
|
||||
<h3 id="org41a2a1d"><span class="section-number-3">4.3</span> Conclusion</h3>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org72f01ab" class="outline-2">
|
||||
<h2 id="org72f01ab"><span class="section-number-2">5</span> Tomography when the micro-hexapod is not centered</h2>
|
||||
<div class="outline-text-2" id="text-5">
|
||||
<p>
|
||||
<a id="orgb31e3fb"></a>
|
||||
</p>
|
||||
<p>
|
||||
@@ -536,9 +422,9 @@ This is due to the fact that the micro-hexapod has performed some displacement.
|
||||
No disturbances are included.
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-org6137b17" class="outline-3">
|
||||
<h3 id="org6137b17"><span class="section-number-3">4.1</span> Simulation Setup</h3>
|
||||
<div class="outline-text-3" id="text-4-1">
|
||||
<div id="outline-container-org8a5fae6" class="outline-3">
|
||||
<h3 id="org8a5fae6"><span class="section-number-3">5.1</span> Simulation Setup</h3>
|
||||
<div class="outline-text-3" id="text-5-1">
|
||||
<p>
|
||||
We first set the wanted translation of the Micro Hexapod.
|
||||
</p>
|
||||
@@ -597,9 +483,9 @@ save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span cl
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org92c4f21" class="outline-3">
|
||||
<h3 id="org92c4f21"><span class="section-number-3">4.2</span> Analysis</h3>
|
||||
<div class="outline-text-3" id="text-4-2">
|
||||
<div id="outline-container-orgf8b4f39" class="outline-3">
|
||||
<h3 id="orgf8b4f39"><span class="section-number-3">5.2</span> Analysis</h3>
|
||||
<div class="outline-text-3" id="text-5-2">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'tomo_not_align'</span>, <span class="org-string">'tomo_align_no_dist'</span>);
|
||||
</pre>
|
||||
@@ -609,14 +495,14 @@ save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span cl
|
||||
<div id="orgb824a01" class="figure">
|
||||
<p><img src="figs/exp_tomo_offset.png" alt="exp_tomo_offset.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 3: </span>X-Y-Z translation of the sample w.r.t. granite when performing tomography experiment with no disturbances (<a href="./figs/exp_tomo_offset.png">png</a>, <a href="./figs/exp_tomo_offset.pdf">pdf</a>)</p>
|
||||
<p><span class="figure-number">Figure 4: </span>X-Y-Z translation of the sample w.r.t. granite when performing tomography experiment with no disturbances (<a href="./figs/exp_tomo_offset.png">png</a>, <a href="./figs/exp_tomo_offset.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org92f12cd" class="outline-3">
|
||||
<h3 id="org92f12cd"><span class="section-number-3">4.3</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-4-3">
|
||||
<div id="outline-container-orgdd34703" class="outline-3">
|
||||
<h3 id="orgdd34703"><span class="section-number-3">5.3</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-5-3">
|
||||
<div class="important">
|
||||
<p>
|
||||
The main motion error are 1Hz X-Y translations and constant Ry error.
|
||||
@@ -629,8 +515,8 @@ This is mainly due to finite stiffness of the elements.
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org8fa1632" class="outline-2">
|
||||
<h2 id="org8fa1632"><span class="section-number-2">5</span> Raster Scans with the translation stage</h2>
|
||||
<div class="outline-text-2" id="text-5">
|
||||
<h2 id="org8fa1632"><span class="section-number-2">6</span> Raster Scans with the translation stage</h2>
|
||||
<div class="outline-text-2" id="text-6">
|
||||
<p>
|
||||
<a id="org6aaeb53"></a>
|
||||
</p>
|
||||
@@ -638,9 +524,9 @@ This is mainly due to finite stiffness of the elements.
|
||||
In this section, scans with the translation stage are performed.
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-org4110173" class="outline-3">
|
||||
<h3 id="org4110173"><span class="section-number-3">5.1</span> Simulation Setup</h3>
|
||||
<div class="outline-text-3" id="text-5-1">
|
||||
<div id="outline-container-orge3f0741" class="outline-3">
|
||||
<h3 id="orge3f0741"><span class="section-number-3">6.1</span> Simulation Setup</h3>
|
||||
<div class="outline-text-3" id="text-6-1">
|
||||
<p>
|
||||
We initialize the stages.
|
||||
</p>
|
||||
@@ -725,9 +611,9 @@ save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span cl
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org1e50cb1" class="outline-3">
|
||||
<h3 id="org1e50cb1"><span class="section-number-3">5.2</span> Analysis</h3>
|
||||
<div class="outline-text-3" id="text-5-2">
|
||||
<div id="outline-container-org1836f98" class="outline-3">
|
||||
<h3 id="org1836f98"><span class="section-number-3">6.2</span> Analysis</h3>
|
||||
<div class="outline-text-3" id="text-6-2">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'ty_scan_triangle'</span>, <span class="org-string">'ty_scan_sinus'</span>);
|
||||
</pre>
|
||||
@@ -737,14 +623,14 @@ save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span cl
|
||||
<div id="org888f0bf" class="figure">
|
||||
<p><img src="figs/exp_ty_scan.png" alt="exp_ty_scan.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 4: </span>X-Y-Z translation of the sample w.r.t. granite when performing tomography experiment with no disturbances (<a href="./figs/exp_ty_scan.png">png</a>, <a href="./figs/exp_ty_scan.pdf">pdf</a>)</p>
|
||||
<p><span class="figure-number">Figure 5: </span>X-Y-Z translation of the sample w.r.t. granite when performing tomography experiment with no disturbances (<a href="./figs/exp_ty_scan.png">png</a>, <a href="./figs/exp_ty_scan.pdf">pdf</a>)</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org98199a0" class="outline-3">
|
||||
<h3 id="org98199a0"><span class="section-number-3">5.3</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-5-3">
|
||||
<div id="outline-container-org8cf54cb" class="outline-3">
|
||||
<h3 id="org8cf54cb"><span class="section-number-3">6.3</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-6-3">
|
||||
<div class="important">
|
||||
<p>
|
||||
Scans with the translation stage induces some errors in the Y direction and Rx translations.
|
||||
@@ -762,7 +648,7 @@ Thus, this should be preferred.
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-03-17 mar. 12:32</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 10:25</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
BIN
docs/figs/exp_scans_rz_dist.pdf
Normal file
BIN
docs/figs/exp_scans_rz_dist.pdf
Normal file
Binary file not shown.
BIN
docs/figs/exp_scans_rz_dist.png
Normal file
BIN
docs/figs/exp_scans_rz_dist.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 109 KiB |
@@ -3,7 +3,7 @@
|
||||
1 0 obj
|
||||
<<
|
||||
/Producer (Apache FOP Version 2.4.0-SNAPSHOT: PDFDocumentGraphics2D)
|
||||
/CreationDate (D:20200415181200+02'00')
|
||||
/CreationDate (D:20200417102501+02'00')
|
||||
>>
|
||||
endobj
|
||||
2 0 obj
|
||||
@@ -2061,274 +2061,284 @@ endobj
|
||||
344 0 obj
|
||||
<< /Length 345 0 R /Filter /FlateDecode >>
|
||||
stream
|
||||
x<EFBFBD>Ľɮ%<25>r 8<>_q~<7E>mz<6D> <00>D<>" @<40>94<>I<14> <1C><><EFBFBD>Z<EFBFBD><5A>︙<19>O<EFBFBD>^5<>vv<76><76>7<EFBFBD><37>l<EFBFBD><6C><EFBFBD><EFBFBD>?<3F><><EFBFBD><EFBFBD><EFBFBD><17> k<><6B><EFBFBD><EFBFBD><EFBFBD>?<3F>K/Oǿ<4F><C7BF><EFBFBD>a<EFBFBD><61><EFBFBD><EFBFBD>/&<26>W <16><><EFBFBD><19><>9<EFBFBD><18><> <1F><><EFBFBD>C}<7D><> F<>/<2F><><EFBFBD><EFBFBD><EFBFBD>p<EFBFBD>ȿ<EFBFBD>*<2A><> <1E><>P<EFBFBD><50><EFBFBD><EFBFBD><7F> <1F>ׯ<EFBFBD><D7AF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʠ<11><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>?<3F><EFBFBD>_<EFBFBD><5F><0F><><EFBFBD><EFBFBD><EFBFBD>_V<5F><56><EFBFBD><EFBFBD>A<EFBFBD><41><EFBFBD><EFBFBD> <09>e|<7C><>k]UZ <1E>"<22>|S
|
||||
S<EFBFBD>p<EFBFBD><EFBFBD>1tЛ
|
||||
J<EFBFBD><EFBFBD>W09%<25><>ˣ#%<25><><EFBFBD>hc<68><63>>><3E>[uG<75>ڜ^)k<>R<EFBFBD><52><EFBFBD><EFBFBD><EFBFBD>}=<3D><> <09>&<1B>ϭ<1B>G<EFBFBD><47><08>z<EFBFBD>WL&<26><>z̏<7F><CC8F><11><><EFBFBD><EFBFBD>e<EFBFBD>7
|
||||
<EFBFBD>_<EFBFBD>c~t_<74>t<EFBFBD>>>z<><7A><EFBFBD>]<5D><><EFBFBD>}=<3D><> !<21>rT<72>y<EFBFBD><79><EFBFBD><EFBFBD><EFBFBD><EFBFBD> X<>g<EFBFBD><67>W<EFBFBD><57><EFBFBD><EFBFBD>\Wdzt<7A><74>}<7D>Y<14>0<EFBFBD>h<EFBFBD>κ+2=:PĜ)<29><>K<EFBFBD><4B><EFBFBD>Ϲ)2?:P<>̂Z<CC82>V<EFBFBD> f<><66><EFBFBD>с"<22>FոWv<57>'7<><37><EFBFBD><EFBFBD>@<40>C<EFBFBD><43><EFBFBD><EFBFBD>9<EFBFBD><39>S}<7D>̏94<39><34><EFBFBD><EFBFBD><EFBFBD>ӹ<EFBFBD><D3B9><EFBFBD>с"<22>vU뗶![c<>}<7D> (rhXU|%<25><><EFBFBD><EFBFBD>G<EFBFBD>G<07> ZV<5A>q<EFBFBD>6<EFBFBD><36>mWdzt <00>-<2D>2<EFBFBD><32><01>uE<75>G<07><>YV<59> C<><43>ٸTY (rfY<66>ۿ<EFBFBD><0E><1B>ّ<EFBFBD>с"g<>Մ<EFBFBD><D584>:<3A><>;J\ (rfYa<59>_<01><>c<EFBFBD>tE<74>G<07><>YV<59><56><EFBFBD>*+w<18><:P<>̲<1A>^V%;<3B>{d~t<>șe5Ѩ<F09B948A><D1A8>"ӣE<>,+<2B>(~<7E><6<><36>j<EFBFBD>G<07><>YVc<56><63>
|
||||
<EFBFBD><EFBFBD><EFBFBD><EFBFBD> x<>g<EFBFBD><EFBFBD>h<EFBFBD><EFBFBD>:WˣE-+<2B>ZWJ[<5B><>"ӣE-<2D><><EFBFBD>af<61>jyt<79>ȡeU<65>N <1D>f<EFBFBD>}<7D>G<07><>YV<59><56><EFBFBD><EFBFBD>7}j<><6A><EFBFBD><EFBFBD>@<40>3<EFBFBD>
|
||||
8<EFBFBD>ҫ<EFBFBD><EFBFBD><:P<>̲zxS<78><53>bWdzt<7A>șe<C899>)<29><02><><EFBFBD>k<0E><><EFBFBD>@<40>3˪<33><CBAA>{<7B>uX#m<>.<2E>9<><39>:<3A>U<EFBFBD><55><18> Y D<EFBFBD><EFBFBD>,<EFBFBD><EFBFBD>V<EFBFBD><EFBFBD><EFBFBD>)e<> Y (rfY5v8xS <08>O<EFBFBD><4F>с"g<>U;~<7E><><EFBFBD>-<2D>9<><39>کWX=<3D><>с"<22><><EFBFBD>Ɨ<EFBFBD>[\K,<2C>9<><39><16> <00><0E>~<7E><><EFBFBD>с"<22><><15>&SJ<53><4A>;?:P<>в<EFBFBD>э<EFBFBD><D18D>t<EFBFBD>m~t<>șe<C899>N<1B>L<EFBFBD><4C><EFBFBD><EFBFBD><EFBFBD><EFBFBD>@<40>3<EFBFBD><EFBFBD>
|
||||
=<18>l[<5B>Ӄ&<26>̦<EFBFBD>HΩ<7F><CEA9>,<2C><> <1C>qfQ<66>}%e}RWczr<7A>ƙ=M<><4D>W<EFBFBD>j~r<>ƙ5<C699> @<40><04><> <1C>qfKc<4B><63>#b<>7<EFBFBD><37><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>|~<7E>}-<2D><0E>j<18>_ݯ<5F> 4 <1A>V<EFBFBD><56>]<5D>rˣ<72>j<EFBFBD><6A>e<EFBFBD>'-_<><5F>O<EFBFBD>#<23><><EFBFBD><EFBFBD>O<EFBFBD><4F>3<EFBFBD><19><>|<>}C{<7B><>|<7C><>$<24><><EFBFBD><02><>h<EFBFBD><68><EFBFBD>?<3F><> <10><>^i6<69><36>k WaOqؓ <1E>+*t ||<7C><xS<78><53><EFBFBD><EFBFBD>6<EFBFBD>aV8<EFBFBD><EFBFBD><EFBFBD>_<EFBFBD><1A><><EFBFBD>UL<55><4C><EFBFBD><EFBFBD>
|
||||
<EFBFBD><EFBFBD>ǗR*f<>$m<><6D><EFBFBD>e<EFBFBD><65><EFBFBD>E<EFBFBD><45>U<><55><EFBFBD><16><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߾<EFBFBD><EFBFBD><EFBFBD><EFBFBD>_<EFBFBD><EFBFBD><EFBFBD><EFBFBD>~<EFBFBD><EFBFBD><EFBFBD><EFBFBD> <1F>E<EFBFBD><45><EFBFBD><05>><3E><>37P<37>I<14><><EFBFBD>%
|
||||
>0<>1<><06>E<EFBFBD>&S<><53><06><><EFBFBD><EFBFBD>
|
||||
<EFBFBD><EFBFBD>
|
||||
<07>M <09>`<60><>O<EFBFBD><4F><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <00><19>hZ<68><5A><EFBFBD>;<3B>F <>t<EFBFBD><74><EFBFBD><EFBFBD><EFBFBD>_pJC<4A><43><EFBFBD><EFBFBD>--<2D><07>އp<EFBFBD>
|
||||
<EFBFBD>[Z<><5A>Kx<4B><78><14>-<2D>oi<6F><69><13><><EFBFBD><EFBFBD>^ʯ<><CAAF>$<24>E<03>;/뽏W<EBBD8F><57><EFBFBD><EFBFBD><EFBFBD><EFBFBD><1A> <09><08>ａ<EFBFBD><EFBD81><EFBFBD> ^<5E>5l<35>E<03><>
|
||||
x<03><02>}<7D>E<EFBFBD><45>;<EFBFBD><EFBFBD>A<EFBFBD><EFBFBD>^u<>?~G<03>͒<EFBFBD><CD92>|5<><35><EFBFBD><EFBFBD><EFBFBD>S<EFBFBD><EFBFBD> <EFBFBD><EFBFBD>fFjޣ<08>ͭ<EFBFBD>gŗ<67><C597>Iй<49><D0B9> 7T^<5E><><EFBFBD><EFBFBD><EFBFBD>q<EFBFBD><71>7cj<63>7<EFBFBD>N<>Si<53><69><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>d<EFBFBD>_8wKۿ<4B><DBBF><13><><01>gݽ<67><DDBD>ש<EFBFBD>Or_侮g<EFA8B0><67>*|<7C><>zK<7A>-<2D>uQ<75><<EFBFBD><EFBFBD><EFBFBD>
|
||||
{<7B><><EFBFBD><EFBFBD>ɮ<>T<EFBFBD><54>[<15><>\侮g<EFA8B0><67>*|<7C><>zK<7A>-<2D>uQ<75><<3C><EFBFBD><EFBFBD>
|
||||
[6<EFBFBD><EFBFBD><EFBFBD>yZ<EFBFBD>'<27><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>~<7E>Rig>ȩ<><C8A9>D;<3B><>A6<41> <15><><EFBFBD>Y<EFBFBD><0F>h侮'<27><>*|<7C>A{K<>-evQ<76><w<><EFBFBD>
|
||||
[<5B><><EFBFBD><EFBFBD>y<EFBFBD><79> <15>4<EFBFBD>Y<EFBFBD><0F>eo<65><6F>%<25>.*<2A>g<EFBFBD><67>RaK<61>]T8ϑ<38><CF91><19>I<EFBFBD><EFBFBD>
|
||||
<EFBFBD>d<EFBFBD><EFBFBD>QaO<EFBFBD><EFBFBD>U<EFBFBD> /<2F><EFBFBD>
|
||||
{"<22><><EFBFBD><19><>T<EFBFBD>R`<15>sa侮'<27><>*|<7C>{K<>-<2D>uQ<75><<3C><><EFBFBD>
|
||||
[<5B><><EFBFBD><EFBFBD>y<EFBFBD><79>-w}Ku<4B>U<EFBFBD> <20><>(b<><62><EFBFBD>l<EFBFBD><6C>-<2D>vn<76><6E><14>;*<2A>9<EFBFBD><EFBFBD>
|
||||
$<24><>Ra˦]T8O<38><4F><EFBFBD>G;<3B><>AB<41>-<15> <0C>E<EFBFBD><45>T<EFBFBD>;<01>=wvR<76><52>$<24>[*lY<EFBFBD><EFBFBD>
|
||||
<EFBFBD>鳷T<EFBFBD><EFBFBD>e<15>g侮g<EFA8B0><67>*|<7C>2{G<>=GvV<76><56>d<EFBFBD>;*<2A>ٱ<EFBFBD>
|
||||
<1F><><EFBFBD>Qaϋ<61>U<EFBFBD> A<><41>
|
||||
{F<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>T<EFBFBD>raΓbo<62><6F>e<EFBFBD>.*<2A><><EFBFBD><EFBFBD>
|
||||
<EFBFBD>o<EFBFBD><EFBFBD><EFBFBD>
|
||||
$<24><>Ra<52>|]T8O<38><4F><EFBFBD><EFBFBD>XT<58>-<2D><><EFBFBD><EFBFBD><EFBFBD>Y<EFBFBD><0F>o侮'<27><>*|<7C>y{C<>=<3D>v<EFBFBD><76><EFBFBD><EFBFBD><EFBFBD>;
|
||||
<EFBFBD>I<EFBFBD>s<EFBFBD><EFBFBD>ٶ7<EFBFBD><EFBFBD><EFBFBD>k<EFBFBD><EFBFBD>?ȳ<><C8B3><EFBFBD><EFBFBD>X;+p<>a{G<>-<2D>vV<76><<3C><>N<EFBFBD><4E><EFBFBD>L;)<29>AV<41>ǵ<DD8C><C7B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.<2E>+y<>⻨j<E2BBA8><6A><EFBFBD>(<28><><EFBFBD>6<EFBFBD>
|
||||
<EFBFBD>S|<17>l6 <1E><>.<2E>ج*<O<>]T<><54>Tx<54><78><EFBFBD>(^<5E><><EFBFBD><<3C>wQ<77>fS<66>q<EFBFBD><71><EFBFBD>`ͦ<><CDA6><14>U<EFBFBD>Ǣ<EFBFBD><C7A2>I<EFBFBD><49>(<28>U<EFBFBD><55>)<29><>:9<>
|
||||
<EFBFBD>S|rV<15><><EFBFBD>.j<><6A>*<O<>]T<><54>Tx<54>⻨<EFBFBD><E2BBA8><EFBFBD><EFBFBD>8<EFBFBD>wQ gU<67>y<EFBFBD><79><EFBFBD>Φ<><CEA6><14>E<EFBFBD><45>M<EFBFBD><4D>)<29><><EFBFBD>7<EFBFBD>
|
||||
<EFBFBD><EFBFBD>⻨x<EFBFBD><EFBFBD><EFBFBD><<3C>wQ<77>fU<66>y<EFBFBD><79><EFBFBD><EFBFBD>ͦ<EFBFBD><CDA6><14>E}<7D>U<EFBFBD><55>)<29><><EFBFBD>6<EFBFBD>
|
||||
<EFBFBD>S|5m6 <1E><>.<2E>٬*<O<>-<2D><>k<EFBFBD><6B>f<EFBFBD>n<14><><EFBFBD><EFBFBD><14>EٜU<EFBFBD><EFBFBD>)<EFBFBD><EFBFBD><EFBFBD>9<EFBFBD>
|
||||
<EFBFBD>S|<17>rV<15><><EFBFBD>.<2E><>l*<N<>]<5D><>YT<59>
|
||||
<14>Ea<45>M<EFBFBD><4D>)<29><><EFBFBD>8<EFBFBD>
|
||||
<EFBFBD>S|<17>pV<15><><EFBFBD>.<2E><><EFBFBD>*<O<>]<14>YUx<55><78><EFBFBD>(}<7D><><EFBFBD><<3C>wQ<77>fU<66>y<EFBFBD><79><EFBFBD><EFBFBD>ͦ<EFBFBD><CDA6><14>E<EFBFBD><45>M<EFBFBD><4D>)<29><>7<>
|
||||
<EFBFBD>S|<17>m6 <1E><><EFBFBD>Ӭ*<2A><>sLŷ<><C5B7><<3C>wQSgU<67>y<EFBFBD>ｚ<EFBD9A><CEA2><14>[ <1D><><EFBFBD><EFBFBD>)<29><EFBFBD>
|
||||
:K<><4B>S|<7C><>sV <1E><>ޫ<EFBFBD><EFBFBD>
|
||||
<N<><4E><EFBFBD><EFBFBD>Yx<><78><EFBFBD><EFBFBD>r<EFBFBD>v<EFBFBD><76><EFBFBD><EFBFBD><EFBFBD><EFBFBD><05>76<03><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>r :y<><79><<3C><><EFBFBD><EFBFBD> ~<7E><>.<2E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>s<EFBFBD>Z<7F><5A><EFBFBD><1B>><3E><>E<EFBFBD><45><EFBFBD><EFBFBD>* f<><66><EFBFBD>~R@<40><>[4<>gM<67><4D>CO, <0C><><1B>*<2A><>K<EFBFBD><4B>k<EFBFBD><16><>9<EFBFBD><39><EFBFBD><EFBFBD> W<><57><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IF<07><><EFBFBD>?l<>x<EFBFBD>oc<6F>wN<77> <1F><><EFBFBD>A<EFBFBD><41>t<EFBFBD>t4<74><34>u<EFBFBD><75><EFBFBD><07><><EFBFBD>b<EFBFBD>~<EFBFBD><EFBFBD>#<23><><EFBFBD>4hW-<2D>U`<60><><EFBFBD><EFBFBD> <0C>4<EFBFBD>
|
||||
<EFBFBD><05>,<2C>0mh<13><1A><><EFBFBD>R<>%)'<27><><EFBFBD><EFBFBD><12><0E>} <1C><>I<EFBFBD><02><04><><EFBFBD>M<EFBFBD>L<EFBFBD>6<EFBFBD>͘<EFBFBD>U<EFBFBD><EFBFBD>#}<7D><><EFBFBD><EFBFBD><10>]<5D><>)%<25>W߬+U<><55>y<EFBFBD>]<5D><>b=<3D>'<27><><EFBFBD><EFBFBD>~ <1D>G<EFBFBD><47>|<7C>
|
||||
<EFBFBD><EFBFBD>{<7B><><EFBFBD><EFBFBD>M<EFBFBD>z<EFBFBD><7A>R<05>o<EFBFBD>!<21>%<25><>j|O<05>V<EFBFBD>ϭ<19><>ei<65><69><EFBFBD><F<><46>&6x<36><78>PC<50><43><1B><1B><03><><EFBFBD>Α?cDs<07><12><&V1<56><31><EFBFBD>^6<>bE<62><45>0<EFBFBD>^<5E>y|<7C><>d<EFBFBD>o䫴K<E4ABB4><4B>Wp9<70><39>
|
||||
" P^<1B>B4^<5E>$
|
||||
/cCU<43><55>!<21>0<14><>)<29><><EFBFBD>)~<7E><>
|
||||
s+<2B>Kև<4B>j<EFBFBD> <20><><EFBFBD>ϔ<13>}e<07>Nخa<D8AE><<3C>$<24>E'<27><>~<7E><>}Fk~<7E>U@<40><>|<7C><> 2z_ٛ<5F><D99B><EFBFBD>̤9e&<26><04>D<EFBFBD>_ v&<26>*rZ<72><5A><EFBFBD><EFBFBD>ꛂ[' gG<67>\L<><4C>R<EFBFBD><52>HW[m<>Cdz©"b<>(h!D<>r<EFBFBD>I<05><><EFBFBD><19>A#<23>I<14><>g<19>s li<6C>r<EFBFBD>5<EFBFBD><EFBFBD>3O EY<45>``VPf<50>7<EFBFBD><04>Si <05>(!ck<63>܉<EFBFBD>Y|<EFBFBD>
|
||||
Ҟ<EFBFBD>l<EFBFBD>ʡ<EFBFBD>0<EFBFBD>r̦<EFBFBD>3<EFBFBD> <0C>2$-A7k<37><6B>Lv<><76>hc<68><63>%֤<>ﳉ<16><><EFBFBD><EFBFBD><EFBFBD><<3C><><EFBFBD>}<7D>ٗJ:<3A>ʈ<EFBFBD><CA88>iX<69> f<><66>&b-<2D><>a<EFBFBD>^dxt*J<><4A> 9<><39>M<EFBFBD><4D>a-p<>w<06>(e<><65>t<EFBFBD><74> <0B><>?gx)Le<><65> <0B>YA<59>g<EFBFBD><67><EFBFBD>/<08>'<27><><EFBFBD><EFBFBD>Pg<50><67>|A_HZ&<26><><04><><EFBFBD> `<60><>{9K<39><4B>:5f<01><06>֔j<>:<3A>r<EFBFBD><72><EFBFBD>1 <0B><>+Eo}q]<5D>-<2D>g<EFBFBD>q<EFBFBD>=<3D>a<EFBFBD><61>ߏ<>h<F1A19098>f+><3E>unL <1E>-S<<3C>5a2<61>LS<4C>щ,<2C><><EFBFBD>*<2A>Y<>X<EFBFBD>_Yy˗<79>k<EFBFBD>zJ<7A>A<EFBFBD><41><EFBFBD>f<EFBFBD>)<29>qqqL:<3A><12><15>-<2D><><EFBFBD>ò<EFBFBD>ܾ<EFBFBD>' L _V.KP<4B> I<><49><EFBFBD><EFBFBD>\&2dpj<EFBFBD>
|
||||
T<EFBFBD>q<EFBFBD>4T<EFBFBD>, <18>>Y<><59>0<EFBFBD>FK<46> <1D>d<15>$g<>M<EFBFBD><4D><EFBFBD>ZYo<59>46 <09>0<EFBFBD>ڬwU<77><55><EFBFBD><EFBFBD><EFBFBD> 4 <00><>@<40><><EFBFBD>l<EFBFBD>↳ <1F>X<17>d<EFBFBD>Qkl<6B>I<EFBFBD><49>4:Z+<2B><><EFBFBD>37<33>?e<18><>i$ <1F><><EFBFBD>z<EFBFBD><7A>s<EFBFBD><73><02> <20>qQ3<51><33>a$<24>"<22><><EFBFBD>ʲK<CAB2>b<EFBFBD><62>,<2C><>ΖC<><43>uc0ٱ<30><D9B1>5<EFBFBD><35><EFBFBD>q<EFBFBD>%<25>#<23>4<0F>i<EFBFBD><69>@<40><>e<><65>M+<2B>+><3E>d(z߰W<DFB0><17>48<34>"1<><31>(2<>MaJ<61><4A><EFBFBD><EFBFBD><13>!<21>)<02>70<37><30><EFBFBD>,g <20><>E<EFBFBD>B<EFBFBD>z67Y<37><1A><><EFBFBD>b<EFBFBD>N<17><1B>|<7C>S<EFBFBD>R<EFBFBD>Йh<D099>,a<>3<EFBFBD><33><EFBFBD>(<28><16>ˀ;<3B>0e<30>d"<22><><EFBFBD> j<>5Sd&`@<40>|2fa[<5B>"<22> W<>̺<EFBFBD>,!|<7C><><EFBFBD>aYH<59>n,Z<>i<EFBFBD>C<EFBFBD>-k5<6B><17><>Љ0<D089>"<22><>D̩<44>ca<63> <0B>y<EFBFBD><79> e` <20>h3H<33> <0B><05>Jsq2<19><><EFBFBD><13><><EFBFBD>
|
||||
<EFBFBD>dN<64><4E>br<><72>+<2B>dN2<4E>be<1B><>d7<64><37><EFBFBD><EFBFBD><EFBFBD>]R<>:K<>3<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Yl7~<7E>`<60><>cj<63>L:<3A><><EFBFBD>q<><EFBFBD><EFBFBD>
|
||||
IBT<EFBFBD>aO%<25>&.<2E><><EFBFBD> <0B><><EFBFBD>
|
||||
eP<18>#D<>
|
||||
<EFBFBD>B#<23><> 6<>:!!<21><>Kd<4B><64>'E0<45><01>d<EFBFBD>rQ<><51>+<2B>Dݬ<44><DDAC>`ɕ<15>_<EFBFBD>HDS4<53><34>8<02>"<22>&Odإ<64><D8A5><EFBFBD><EFBFBD><EFBFBD>j<EFBFBD>A<EFBFBD><41>;<3B><><EFBFBD><EFBFBD>ɺ9<C9BA> +<0F><>VQb<51>Z<EFBFBD><5A><EFBFBD>H$:LZ<4C><5A>a))<29>$t<>d<EFBFBD>ʰ<EFBFBD>&<26>" <08>n<EFBFBD><6E>+
|
||||
T<EFBFBD>QuNni<6E>X<12><><EFBFBD>
|
||||
<EFBFBD>U/<2F><>&<26>IU<49>-,<2C>O<EFBFBD>w<EFBFBD>]|T<><10> kk<>@ Ⱥ<><C8BA>,'|x<><78>ʈ%@<40><>C <0C> }<7D>4L<34><4C>$*<2A><>T<EFBFBD> d ;p<><70>fvȹɺ<C8B9><19><><EFBFBD>PKw9<77>.GS<47> a(<28><><EFBFBD><EFBFBD>_6<06><>"L<><08><02><><EFBFBD>2<EFBFBD>.5<EFBFBD><EFBFBD> V k/<2F><>`^ʲ<> <0C><12>/<2F>"K<>p<02>)<29>;e<>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD>^<5E><>
|
||||
M<EFBFBD><19>
|
||||
<EFBFBD>LI<EFBFBD>#(<28><><EFBFBD>4M4<4D>z*/2X%<25><>0<EFBFBD>V<EFBFBD>d<EFBFBD>?(<28>t<EFBFBD><16><>Μ<03>)<29> 53<35><33>VF<56>ֶ<16>a<EFBFBD><61>P<EFBFBD>2<EFBFBD>P<>O1<19>,Zl<5A><6C><EFBFBD>P<EFBFBD><50><EFBFBD>c9q@QʊY<CA8A><59>g<EFBFBD><67>T<EFBFBD><54><EFBFBD>շ$<24>A<EFBFBD>r\<5C>"<22><><EFBFBD>r<EFBFBD>g<19>0S<><53>ح(<28><>4LYؼ<59>q<EFBFBD>C<EFBFBD><43>H<>k+<2B>d}'Y<>-<2D><><EFBFBD>Ȝl%<25>4/<1A><><19><><EFBFBD><08>#W<><57>}<10>vR<76>2G<32>L<><4C> Pd0&P<><50>`<60><>Dp(<28>'<02>]<5D>%<25><><EFBFBD>"|<7C>f<EFBFBD><66>*s<><73><EFBFBD>> e<><65><EFBFBD><EFBFBD><EFBFBD><EFBFBD>űoR<6F><52><EFBFBD><EFBFBD>/<06>{<7B><>'6<> <03><><EFBFBD>D<EFBFBD>ƞJ<19>3@F<><46> Ә<><D398><EFBFBD><EFBFBD>e<EFBFBD>lP<6C><50><EFBFBD>~k<>.<03>8X<38><58>y<19> &r2E<32>%<25><>OM<4F><4D>b<EFBFBD> , <1E>Z<EFBFBD>2<EFBFBD>tK<74>*2Lylz<6C><7A><EFBFBD>ا)<29><>#<23> <1F> ;<1B><1A>M<EFBFBD>"<22><>ܒ<EFBFBD><DC92><EFBFBD><EFBFBD>=<3D><><17>']<5D>"Dp)<29>ǺxZ X<><58><EFBFBD><EFBFBD><EFBFBD><19><07><>`<60> <0C><><EFBFBD>K<> ߉ݾ<DF89><DDBE><EFBFBD>o<07><><EFBFBD>PdS
|
||||
0<EFBFBD>2<EFBFBD> [겎 <0B> D<><44>PF<50> " (<g<><67><EFBFBD>n<EFBFBD> <09>%<03><><EFBFBD><19>/<2F>èWp<19><16>e<EFBFBD>/<2F>ǭ<EFBFBD>v<EFBFBD><76>p<EFBFBD><70><11>M[n<><6E>3MC~ J%<25><><EFBFBD><EFBFBD>4<EFBFBD><03><> <0B><> <0C>K<>C<EFBFBD>h0 J"e <1D><>S<EFBFBD><53>x,f<><66>Le<4C><65>ﰠc(*O
|
||||
<EFBFBD> <1C>8<EFBFBD><38><EFBFBD>~<7E>!E<><45>4;<3B>]GeO<65><4F><EFBFBD><17> <1C>^9<><39>; x<>-<2D>ƒ<EFBFBD><08><1B><><EFBFBD>m(<28><>(PDp=aĸ<61><C4B8>a<><61>֙~<7E> 8#pM<70>6l<36><6C>H[f)<29>k<EFBFBD><1B><01><1A><0E><><EFBFBD>0<EFBFBD>U<EFBFBD><55><EFBFBD>o<EFBFBD><6F><EFBFBD>e<EFBFBD>g<EFBFBD><67><EFBFBD>U6<55>dXd<58><64><EFBFBD>ʰ<EFBFBD>t<10>KG<05>u<> <09>qR<><52>hQm<51>..<2E>]b<><62><EFBFBD>`džy<C786><79> 2<><32>bE<62><45>E<EFBFBD>)<29>Z<EFBFBD> 'J<>M6 Ӄ<>Ѡ<EFBFBD>D<EFBFBD><11><>-<2D>Q<><10><>d<03><><EFBFBD><EFBFBD><EFBFBD>i<EFBFBD><69><EFBFBD><EFBFBD> <0B><>)2<><32><18>&<1B><>Keb<65><62><EFBFBD>Md<4D> Jn<4A><6E>0<EFBFBD>mIT<49>]<5D>@ <1D><><EFBFBD><EFBFBD>E؎*<03><>7<EFBFBD><37><EFBFBD>a<EFBFBD><61>ٴ<EFBFBD><D9B4><06><> <0C>w<><08><><EFBFBD>b-<19>f<>#딚<> eP;<3B><><EFBFBD>$r<><72><EFBFBD><EFBFBD>w<11><14>UW<55><57><EFBFBD><EFBFBD><EFBFBD>IO<49>W<EFBFBD>a<08>gLn<4C> <09><19>l`H<><48><EFBFBD>X<EFBFBD><58>S<EFBFBD><53><EFBFBD>&0<> )<29>E^R<><52><EFBFBD>AHU<48><19><><EFBFBD> <20>5Θ<35><CE98><EFBFBD><06><> s<>8<EFBFBD>VY<56><59><EFBFBD><EFBFBD>.<2E><>/Ѐ<>M6`<60><17>j<EFBFBD>΅fa<66><61>l<EFBFBD>"<22><><EFBFBD>s<EFBFBD><73>h VO<56>¶,y<>` <20><03><><EFBFBD>(<28>/<2F><07>e<EFBFBD><02>u<>0*<2A>u\^<5E><>SĪ<53><C4AA>`.eX<02><<3C>2C<32> |<7C><01>e%U6 <20><><EFBFBD>qIvl<76><EFBFBD>
|
||||
<EFBFBD><16>&X<>:<3A><><<3C>l<EFBFBD>H<EFBFBD>J<EFBFBD>)W<01><EFBFBD><EFBFBD>G<EFBFBD> f<EFBFBD><EFBFBD>v<><76>Ucؾʰ<D8BE>XX Sd<53>"<1B>2L<32>R<EFBFBD><52>Ȱ.<2E><><EFBFBD> C&<26>46<34>*<1B><EFBFBD><EFBFBD>
|
||||
l<EFBFBD><EFBFBD><03>=<3D>8<EFBFBD>
|
||||
<18>"Cob?m<><01>!Ë<04>Vl<03>k<EFBFBD>E<16>k<><6B><EFBFBD><EFBFBD>==E<>)ks<15>a<EFBFBD><61><EFBFBD>T<EFBFBD>]d<03>3l<02><>R(<28><>c<EFBFBD>w<EFBFBD>M<><4D><EFBFBD>ܩ<EFBFBD><DCA9><EFBFBD>!<21>ڡ<EFBFBD><11><>1*de%<25>la㵡<61>X<EFBFBD><58>`<60>Z%<25><>,QgA<01>2<EFBFBD>(<28><><EFBFBD>3(<28><02><>3A!<21><><EFBFBD>p):8<><38>TQ<54><19><>{<7B>k0<EFBFBD><EFBFBD>J<EFBFBD><EFBFBD><EFBFBD>L<EFBFBD>o<0E><><EFBFBD><EFBFBD>W<EFBFBD>p'<27><>sf<73><66><EFBFBD>[_<>giax"^<18><><EFBFBD><EFBFBD>iD<69>F{<7B>.<2E><><EFBFBD>;f<>p<EFBFBD><70>!<21><<3C>`\<EFBFBD>
|
||||
/<04>$<24>= <0C>2U)<29><>]8~<7E><>u<EFBFBD><75><EFBFBD>E<EFBFBD>3gU.(<EFBFBD>
|
||||
x<><78>Υ<EFBFBD><<3C>l<EFBFBD>/<<3C> <1C>e<EFBFBD>Id<19>kNq.0<EFBFBD>mt<EFBFBD><EFBFBD>5O<EFBFBD>
|
||||
= L<><4C><EFBFBD><EFBFBD><EFBFBD>ܒ<EFBFBD> \<5C>l@8<><38><EFBFBD>;=t<>H<EFBFBD><48>x<EFBFBD> twE&<26>~<7E><>l8D <0C>1<EFBFBD><31><EFBFBD><EFBFBD>3<EFBFBD>G<EFBFBD>K<EFBFBD><1A>a<EFBFBD>b<EFBFBD><62>*<1A><12>~<7E>p<EFBFBD><70>*<03><>V<EFBFBD>.q <0C>aI<61><49><EFBFBD><EFBFBD>GQ<47> <1E>2pUۅ<><DB85>F*If9<16>`dʆ<64><CA86>H"<22>U<EFBFBD><55><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2e<05><>K<><4B><EFBFBD>_<L<>Ţ0M<30> J<>
|
||||
<EFBFBD>C4<EFBFBD><EFBFBD><06><><EFBFBD>7<03><>؊<EFBFBD>0TF <1F>4<EFBFBD>X<EFBFBD><58>Ţl<7F>l<EFBFBD>m<EFBFBD><6D>S<1A>g<EFBFBD>%~ <1D>!-<16>j@ƃl,B^t<><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڑ<EFBFBD>"<22><><EFBFBD>TݶJ %<25>Р<EFBFBD><D0A0>XX<58>"<22>X><3E><><EFBFBD><EFBFBD><EFBFBD>#8<>XMB<4D>ͬ<EFBFBD>Ȱny <1C>kc<6B>(<28>Y&<16>va<76> <19><>PtF as<61><73>.)<29>3kGQ$Nѡ0sjր<6A> <20><0E>ћX;<3B><>6<EFBFBD><03>,<2C><>@a<><61><12><>Y;<3B><>H<EFBFBD><48><EFBFBD><EFBFBD><0F><><EFBFBD>x<14>6<EFBFBD>vY2<59>%J<>i<EFBFBD>'<27>x<EFBFBD>@<40><><EFBFBD><EFBFBD><EFBFBD>abc<62>ˋ&Ҏ"<22>P<EFBFBD>-?<3F>H;Kؤ
|
||||
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Q<EFBFBD>
|
||||
.\qv<71>h<>>,(w<><77>)<29><>h6v<36><76><EFBFBD>} <00>҄<EFBFBD><D284><1A>#<23>
|
||||
<05>,<2C><>J<>L<EFBFBD><EFBFBD>쨴 <0B>6Ϝ u<>t<EFBFBD>uq<75>g<EFBFBD>N<EFBFBD>Y<EFBFBD><59>pa
|
||||
e6qv<EFBFBD><17>QTO<> <1D><>rÂ.<2E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>թEx<><78><EFBFBD>'<0F><><EFBFBD>I;<3B>6<EFBFBD>i)<29>4sv<73><76>rF<72><46><EFBFBD><EFBFBD><EFBFBD><EFBFBD>L<EFBFBD>
|
||||
<EFBFBD>B)<29>
|
||||
Ύ<EFBFBD> <00>롉<EFBFBD><EBA189><EFBFBD><EFBFBD>кWgǿ<67>e1-n?svta-<2D>gS<67><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>u<EFBFBD>]K<><4B> A <09>2<EFBFBD><32><12><>ّ<EFBFBD><D991>O <0B><><EFBFBD><EFBFBD><EFBFBD>I4 <1E> <09><><EFBFBD>ycba<13><05><>6D6qv ƮDxg<78>NB<4E><42><EFBFBD>B<EFBFBD><42>5sv%l<>1f<31><0F>9;n<> VBY<42>d<03>c<13><><EFBFBD><EFBFBD>6<EFBFBD><0E>8;n<><6E><EFBFBD>B<EFBFBD>q֎ Ex<45><78><EFBFBD>f֮<66>5<><35><EFBFBD><EFBFBD><EFBFBD>Ɏ"<22><>Bk
|
||||
Ҏ <00><06>Ҏ{<7B>ƞ<EFBFBD>B<EFBFBD>}3i'<27><>/<2F> <20><><EFBFBD><EFBFBD>= ;y=<3D><><EFBFBD>v<05> <1C>m<EFBFBD><6D>+i'2Z K{q<12><><EFBFBD><14>\<11>y<EFBFBD><79>H<1A><><18>H;<3B>,<2C><><EFBFBD>K<>I<EFBFBD>Z<><5A>EJ <01>Đ<EFBFBD>i<> 4<><34><EFBFBD><EFBFBD>&<26>N<EFBFBD>x<EFBFBD><78><EFBFBD>j<EFBFBD><6A>F<EFBFBD><46><<3C>
|
||||
<EFBFBD>C1sv<14><>ғvU6b<36> <0C><> <08><><EFBFBD>3g'a5UT%<25>&Ύ<>H5<14>z<EFBFBD><7A>$r<>F8s<38><73>$p<><70><EFBFBD>UF"<22>8;<3B> <00>1
|
||||
<EFBFBD>:sv9K<39>pBaf<>Nbg<62><67>u<EFBFBD>$<24><><EFBFBD>(2m<32><6D>u<EFBFBD><75>(æ<>1+<2B><><EFBFBD><EFBFBD>1<EFBFBD>U\<5C><EFBFBD><EFBFBD>͜<EFBFBD><EFBFBD><EFBFBD>T$<24>l<EFBFBD>lD<6C>H<EFBFBD><EFBFBD>p<EFBFBD><EFBFBD>
|
||||
<EFBFBD><EFBFBD><05>Q<EFBFBD><51><EFBFBD><EFBFBD>1<EFBFBD>PŅ<D788><C585>F <17>Pv<50>l<EFBFBD>+!ÿn<C3BF> <1D>r(ی<>L<EFBFBD>1<AC?:WY<57>]<12><01>V<EFBFBD>qv<12><>#qf&<26><><EFBFBD>ΌO<CE8C>F<EFBFBD><46><EFBFBD><0E>+E<>I<17>w&<26><><EFBFBD><08>e<EFBFBD><65>3i'<27><1A><>ٰ<EFBFBD><D9B0>#<23>̌<EFBFBD><CC8C>a<EFBFBD><61> q<>풊 h<>2<EFBFBD>Y;x;<3B><><EFBFBD><EFBFBD><EFBFBD>n<EFBFBD> <1C>ad<61>ѭ <00><><EFBFBD><EFBFBD>?<3F>B><16><><EFBFBD><16><><EFBFBD><EFBFBD><EFBFBD>+(<15><>X(<28>V<EFBFBD>$J<>G<EFBFBD><47><EFBFBD><EFBFBD><EFBFBD><15>FI<06><<3C><>P* <1F>3<><33><EFBFBD>(<28>u؊<75><D88A><EFBFBD><EFBFBD>T<EFBFBD><54><EFBFBD>&<26><>Q<EFBFBD>C1oLl5<><35>oD<6F>Q<>D]L<>V<EFBFBD>BT<42><54>09p<39><70>D<><44><EFBFBD>b<EFBFBD><62><EFBFBD><EFBFBD> D<>t<EFBFBD>%<25><><03><>?<3F><14>e<EFBFBD><65>*e<<3C>V!<21> P)<29><>!O<>+B<>#|<7C>sF<73><46><05>R<EFBFBD><52><EFBFBD><EFBFBD><EFBFBD>v<EFBFBD><76><EFBFBD>K<EFBFBD><4B><EFBFBD><EFBFBD>B5r<35>+><3E><>(<28><10>90<39>{<7B><><EFBFBD>M<10>90<39><30><EFBFBD>;@e<> ><3E>AF<41>T<>xZ<78>L<EFBFBD><19>F<><19>K<EFBFBD><4B>T <09>(d<>;<e<><65><EFBFBD>F<EFBFBD><46>,<2C><>Dh<07><><ŷ(<28>zN<7A><4E>]<5D>)c<><63><EFBFBD>m<EFBFBD>
|
||||
<EFBFBD>f<EFBFBD>Xa<EFBFBD>T<EFBFBD> O<> <1E>><3E>bl<>J<EFBFBD><EFBFBD>N<EFBFBD><EFBFBD><EFBFBD>)<29>7cES<><53>SGS;Q<03> >udf0l<> f|ʚ x<>}<7D><><19><02>ŒQ<C592><51> *<2A>3<> <00><>@e쿅Mw<4D><77>m<c>#<23> U,<2C><>t,<2C>l<01><><EFBFBD><EFBFBD>Q<EFBFBD>w|<7C>@<10>><3E><><EFBFBD>><3E>0d<30><64>W|<7C>^<5E>GPY<50><15>2<EFBFBD><32>H/<2F>w|JD<4A>d'<27><><EFBFBD>&|<7C><><EFBFBD> (V<>ъOL<1A>!<21>[NYa<59>{<EFBFBD>
|
||||
<EFBFBD>¸ R<>r}çB
|
||||
<EFBFBD>
|
||||
{ç<><C3A7><EFBFBD>H<18>*<10><>1b/ U<><55><EFBFBD>]<5D> T<18>J<EFBFBD><4A>7<EFBFBD>J<EFBFBD><4A>0<EFBFBD>c!<21><16><>2<>4<EFBFBD>M<> <00>,<1B><EFBFBD><7F>O;T!<21>xң<78><D2A3><19>B<EFBFBD><42>iA<69><15>ʅ<EFBFBD><CA85>R<EFBFBD>~<7E> P<>h <05><13><>$kl<6B><6C><EFBFBD><EFBFBD>W<EFBFBD>J<EFBFBD>Kh<EFBFBD>
|
||||
<EFBFBD>xБlfp<06><17>V<EFBFBD>Қ3Bpk̻ow<6F>J<EFBFBD>@a 0I<30><10>0<0E>&<26>Ν<01><>
|
||||
<EFBFBD><EFBFBD>d+@%\al0<6C><30><EFBFBD> P<>PP<50>մ<EFBFBD> <09>J<EFBFBD> <1F><14><> <1D>J|<7C><><EFBFBD>
|
||||
<EFBFBD>N U<><55> tWR&<26>*A<EFBFBD><EFBFBD>i<EFBFBD><EFBFBD><EFBFBD>6T<><54><EFBFBD>##<23><>6<EFBFBD>*<2A>b<EFBFBD>M+G<><17>*q>X/<2F><>T[<0E> <1D>G<EFBFBD><47>LUpy<><12><>*E<>.Q<><51>3B%<25><>ʗ<EFBFBD><CA97><EFBFBD>Pm<><6D>b <1E>d<EFBFBD>K <EFBFBD><EFBFBD>h<EFBFBD><EFBFBD>5<EFBFBD>,<2C>p<EFBFBD><70>;<3B><>/<2F>-9<EFBFBD><EFBFBD>a<EFBFBD><EFBFBD>p<>[<5B>S<><04>V<EFBFBD>EY4<59>nꆷ<6E>=q<><71><EFBFBD><EFBFBD><EFBFBD>2<EFBFBD><EFBFBD>ŀ<EFBFBD><EFBFBD>ː<18><><EFBFBD><EFBFBD><EFBFBD>q&<26><01><>lA\<5C><>]x<><15><>@.#)<29><>~<7E>!vf<76><66>`<02><1B><>\|<7C><><EFBFBD>rY<72><59>R <1C>=*<2A>Lb<4C>ܖ<EFBFBD><DC96><06><>ƪ<EFBFBD><06><>t<EFBFBD><74><EFBFBD>b<EFBFBD><62>+<2B><><EFBFBD>".oZ@<17><><EFBFBD>܄*<2A>@y]8<13> <20>[Xp<58><70>ְ Y>罺
|
||||
<0B><>wB<77>j<EEA88B><6A><EFBFBD>S<EFBFBD><53><16>|<7C>0<EFBFBD><30><EFBFBD>KXPSM<53><4D><EFBFBD>G<EFBFBD><47>. !lm<6C> <0B><><EFBFBD><EFBFBD>.<16><04>V%0<><30>.<2E> Xk_<6B>l<EFBFBD>]<5D>i<EFBFBD><69>T<EFBFBD><54><EFBFBD> Ӫ]<5D>5<EFBFBD>1<EFBFBD>.<2E><>iÙh<C399>p<EFBFBD>c6<63>*<2A>r+<2B>"J<>3%1d<31>]<5D><><EFBFBD>`xS<78><53>W<EFBFBD>U<>[<5B><>7<16><>= 69<36>23f܅<66><DC85>Àw<C380>7<EFBFBD><37><EFBFBD>Z`j<><6A><EFBFBD><EFBFBD>1<>m<EFBFBD>O <0B>b<EFBFBD> <18><><EFBFBD>l<EFBFBD> <0B>T<EFBFBD><54>y<EFBFBD>]><3E><><EFBFBD><EFBFBD>pɆ<D7AC>X!IW_c<5F>]<5D><><EFBFBD><EFBFBD>i<> <0B> "<22><><EFBFBD>HQ<07><><EFBFBD>u<1B><> <00><>K`|<7C>]%<25>ż<EFBFBD><C5BC> <0B><><EFBFBD>g}<17><>z<>~<7E>]Jz8߰Մ<DFB0><D584><EFBFBD><1A><>-f8<66>y<><03><><EFBFBD>o_p<5F><70>Ђ<>+<2B>"<22><><EFBFBD>q6<71><36>.<2E>(<28><>l<EFBFBD>w<EFBFBD>EG'9<>y<>]<5D> ;
|
||||
'<27>e_N<18>
|
||||
g<><67>h<11>$ճ
|
||||
<0B>"<22><><EFBFBD><08><><EFBFBD>5Q<35>e%<25>w<EFBFBD>%<25>wZw1<31><7F>.<2E><><EFBFBD><EFBFBD>e<EFBFBD>V|j<>]X<><58>2-ĸ<>y<>0<EFBFBD>M.n<><18>:۬* t<>] d`<60><>L<EFBFBD>v)Rޚ9)<29><> sˍ\<5C>wi<77>mz<6D>~x<>]0<> <05>e<65>0<>z<EFBFBD>p<EFBFBD>]<<05>%<07> w<><77><EFBFBD>w<>
|
||||
w<EFBFBD><EFBFBD><04><><EFBFBD>,<2C><>t<EFBFBD><74><EFBFBD><EFBFBD>.<2E><08>2;o<><6F><EFBFBD><EFBFBD><EFBFBD> ^<5E>.<2E><>X'<27><><EFBFBD>Aal<61><6C><EFBFBD>w<EFBFBD><77>.<2E>R<EFBFBD><18>u<><1B><>~<EFBFBD>
|
||||
<EFBFBD><EFBFBD>iZS$<24><><06><>@<40><><EFBFBD><EFBFBD>K`<60><><10>[Y<><59> J <0C><>g<EFBFBD><67>K`<60><>1<EFBFBD>X<EFBFBD>Ԃ<EFBFBD>#0<><30>N<EFBFBD><4E>Tމ<54>ǐs<>?<3F><EFBFBD>P<><EFBFBD>7<EFBFBD>ӵ<EFBFBD>}i<><69><EFBFBD><EFBFBD>@B<><42><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>;/<2F><><EFBFBD>g<EFBFBD><67><EFBFBD><EFBFBD>? 4<>2퐨<32><ED90A8>[<5B><> f<><66><EFBFBD><EFBFBD><03><0E><><EFBFBD><<3C>_<EFBFBD><5F>z<EFBFBD><7A><07><><12><>5IB<EFBFBD><EFBFBD>
|
||||
I nZ̏<5A><CC8F><EFBFBD>a<EFBFBD><61>m8<6D>և<EFBFBD><D687>Y}<7D><>v+<01><><EFBFBD>2*b<>Y<>&E><3E><><EFBFBD><EFBFBD><EFBFBD>CE<EFBFBD>
|
||||
<EFBFBD>"<22>Pw<><77>zO<7A>(<28><><EFBFBD>T<> *<2A><>VP9<><39><EFBFBD><EFBFBD><EFBFBD>3E<33>; D<><0F>*<2A>"<22>P<EFBFBD><50>悢<EFBFBD><E682A2><EFBFBD>T<><EFBFBD>
|
||||
-<2D>,<2C>Eί-<2D>"<22>L<EFBFBD><EFBFBD>
|
||||
Q䃛<03>H<<3C><><EFBFBD>E<02><><07>P<>C˺^' <20>|p<> 9<><39><EFBFBD><EFBFBD><02><>w P<>C˺^-P9<>Q<EFBFBD><51> Z<><5A><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>T<>в<EFBFBD><D0B2> <0C>" <1F>.@E-<2D>z<EFBFBD>@Q<><51><EFBFBD>*rhY<68>+<07>"<22>7
|
||||
P<EFBFBD>3˺]<@E><3E>o<EFBFBD><6F><EFBFBD>Y<EFBFBD><59><EFBFBD>Q<><51>[<07>H:<3A><><EFBFBD>%<04><>wP<>3˺]EP9<><39><EFBFBD><EFBFBD><EFBFBD>Y<EFBFBD><59>BQ<><51>{<08>șeݮ%(<28><><EFBFBD>F@E<>,<2C>v9AQ<41><51>N*rfY<66>+
|
||||
D<EFBFBD>n&<26>"g<>u<EFBFBD>3@<14><><EFBFBD> *rfY<66><59>D<>. <0C>"<22><>u<EFBFBD>?<3F>(r~m 9<><39><EFBFBD>-<02><><07>@<40>|hY<04>"<22>WP<>3˺<33>(@E><3E>H<EFBFBD><48><EFBFBD>Y<EFBFBD><59>^<5E><><EFBFBD><EFBFBD>uT<>̲n<CCB2> E<>/<15>"g<>u<EFBFBD>c@<14><>j*rfY<66><59>D<>.<18>"g<>u<EFBFBD>o@<14><><EFBFBD>*rfY<66>[D<>.<1B>"g<>u<EFBFBD>{@<14><><EFBFBD>*rfY<66><08>"<22>@l܇<6C>,M<><4D> Mm<>z <1F>h<EFBFBD><68>5<04>ɡq]<5D>%(<28><><EFBFBD>F <20> Z<><5A>j <00><><EFBFBD>D<>C<EFBFBD><43><EFBFBD> <20>|p1<70>hrf_<02><><07><03> g<>u<EFBFBD>/@<40>8<EFBFBD>&@<40>8<EFBFBD><38><EFBFBD><EFBFBD>T<><54><EFBFBD>D<>3Ӻ<33> z<>_ z<>Y<EFBFBD><59><01><><EFBFBD><EFBFBD> <00><><EFBFBD><EFBFBD><EFBFBD>z<EFBFBD><7A><EFBFBD><EFBFBD><EFBFBD>W<08> gV5<56>n8<6E><38>X<EFBFBD><58> eXjw,7<>J<EFBFBD>ꃋzE{<7B>G<EFBFBD><03>8<EFBFBD>W<>I<EFBFBD><49><EFBFBD><EFBFBD><EFBFBD>V<EFBFBD><56><EFBFBD><~<7E><><>T;2<>:9<>D+?#<23><><EFBFBD><EFBFBD>Y]#<v/<2F>Nv<4E><76>7OiP<69><50>1<EFBFBD>_U<5F>'i ̖0<CC96>'b<><62><19><>U<EFBFBD>2 <1F>\V<><56>RR<52><EFBFBD><xS<78>'7=<3D><>s<EFBFBD><73><EFBFBD><EFBFBD><10><>_<EFBFBD>'W<><57><0F>#{<7B>ܸ<EFBFBD><DCB8>N<13>}<7D>{ We<57><65><EFBFBD><EFBFBD><EFBFBD>M&<26><>N<EFBFBD>hxv*<2A>t<EFBFBD> |o1<6F>.<2E>e<16><>w<EFBFBD><77><EFBFBD><EFBFBD>9<><39><EFBFBD><EFBFBD>ۤ<EFBFBD>Y<>֦<EFBFBD>A?<3F>hB<68>s`]<5D><>&<26><>4<EFBFBD><34>1<EFBFBD><31><EFBFBD><EFBFBD>{<13>{<7B>`<60>,<2C>y4<79><34><EFBFBD><EFBFBD>=MXV<58><56>b1<62>M<EFBFBD><4D>i<EFBFBD> <0B>?z<><7A><EFBFBD><EFBFBD><EFBFBD><EFBFBD>|-<2D>oi!<21><><EFBFBD>J9<EFBFBD>
|
||||
<EFBFBD><EFBFBD>oi@c]<5D>"<22><>h<EFBFBD>￥<05><>z<EFBFBD>jK<6A>-<2D>÷<EFBFBD><C3B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>W<EFBFBD><57><EFBFBD><EFBFBD><EFBFBD><05><07><>^<5E><>oi<6F><69><EFBFBD>y<EFBFBD><79>j*}<7D>m?G<>g.<2E>/63<36><33> E<>o<EFBFBD>?K
|
||||
<EFBFBD>H<EFBFBD><EFBFBD>GN<EFBFBD>
|
||||
<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>o<EFBFBD><EFBFBD><EFBFBD><EFBFBD>op=.ܾ(<28>=j.<2E>o<EFBFBD><6F><EFBFBD><EFBFBD>[<5B>~<7E><>/<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>yg<04>ꨞv<EAA89E><76><EFBFBD>b<EFBFBD><62>?ɏ<><C98F>;<3B><>Af<41>-<15>T<EFBFBD>E<EFBFBD><45><EFBFBD><EFBFBD>;*<2A>I<EFBFBD><49>
|
||||
d<><64>RaK]T8σ<38><CF83><EFBFBD>:<3A><>A<06>-<15><><EFBFBD>E<EFBFBD><45><EFBFBD><EFBFBD>[*lɮ<EFBFBD>
|
||||
<EFBFBD>Y<EFBFBD><EFBFBD>l<EFBFBD><EFBFBD>
|
||||
<EFBFBD>g<EFBFBD>}˴<>U<EFBFBD> <20><><EFBFBD>
|
||||
{<7B><><EFBFBD><EFBFBD>ɶwTسkg>H<><48><EFBFBD>W;<3B><>A<EFBFBD><41>-<15><><EFBFBD>E<EFBFBD><45><EFBFBD><EFBFBD>[*l<><6C><EFBFBD>
|
||||
<EFBFBD>I<EFBFBD>wTسhg>H<><48><EFBFBD>?<3F><>p<EFBFBD>H{K<>-svQ<76><<3C><><EFBFBD>g<EFBFBD><67><EFBFBD>N*|<7C><{G<>=[vVჴ<56>;*<2A>y<EFBFBD><EFBFBD>
|
||||
$<24><>Raː]T8O<38><4F><EFBFBD>;<3B><>A<EFBFBD><41>-<15><EFBFBD><EFBFBD>E<EFBFBD><EFBFBD><EFBFBD><EFBFBD>[*l<><EFBFBD><EFBFBD>
|
||||
牱<EFBFBD><EFBFBD><EFBFBD>-vVეأ<E18394><D8A3><EFBFBD><EFBFBD><EFBFBD><11><><EFBFBD>۹<EFBFBD>2p侮<70><EFA8B0><EFBFBD>*|<7C>{{K<>-<2D>vQ<76><<3C><><EFBFBD>
|
||||
{<7B><><EFBFBD><EFBFBD><07><><EFBFBD>T<EFBFBD>l<15>3m<33><04><><EFBFBD><EFBFBD>I<EFBFBD>Orlo<6C><6F>%<25>.*<2A>g<EFBFBD><67>RaK<61>]T8ϫ<38><CFAB>H;<3B><>AF<41> <15><14>Y<EFBFBD>ri侮'<27><>*|<7C>E{G<>=mvV<76><56><EFBFBD><EFBFBD>;*<2A> <09><>
|
||||
d<><64>RaK<61>]T8ϙ<38><CF99>#<23><>p<EFBFBD>,{+<2B><>%<25><>*|<7C>%{K<>-+vQ<76><=<3D><13>cQ<63><51>D<EFBFBD><44>2rg>Hͽ<48><EFBFBD>;<3B><>AN<41>
|
||||
<15> <1C>I<EFBFBD><0F>q<EFBFBD>(<EFBFBD>&<26><><EFBFBD> g<><67>h~Ϻ<><CFBA><EFBFBD> <20><><EFBFBD>[<5B><EFBFBD><EFBFBD><EFBFBD>y<EFBFBD><EFBFBD> <05><<3C>Y<EFBFBD><59><EFBFBD><EFBFBD>; <09>[<EFBFBD><EFBFBD><EFBFBD><EFBFBD><07><>w3 <20>vλ<7F>]<5D>W<EFBFBD> <20>wQ<77>fi<66>7P|5oV<15><><EFBFBD>.<2E><>l*<N<>]ԹYUx<55>⻨p<E2BBA8><70><EFBFBD>8<EFBFBD>wQ<77>fU<66>y<EFBFBD>ͦ<EFA2AA><CDA6><14>E=<3D>M<EFBFBD><4D>)<29><>4<EFBFBD>Y<EFBFBD>ߓ<EFBFBD><DF93>Q|<7C>
|
||||
<EFBFBD>S|etV<15><><EFBFBD>.
|
||||
<EFBFBD><EFBFBD>*<O<>]<5D><>YUx<55><78><EFBFBD>(<EFBFBD><EFBFBD><EFBFBD><EFBFBD>8<EFBFBD>wQ.gS<67>q<EFBFBD><71><EFBFBD>PΪ<50><CEAA><14>E<EFBFBD><45>M<EFBFBD><4D>)<29><><EFBFBD>8<EFBFBD>
|
||||
<EFBFBD>S|eq~<03>wQgU<67>y<EFBFBD><79><EFBFBD>Ϊ<><CEAA><14>E<11>M<EFBFBD><4D>)<29><><EFBFBD>7<EFBFBD>
|
||||
<EFBFBD>S|<17>o6 <1E><>.J<>l*<N<>]<14>YUx<55><78>[3S<33><53><EFBFBD><EFBFBD>L<EFBFBD>(<28><><EFBFBD><EFBFBD>)<29><><EFBFBD>:<EFBFBD>
|
||||
<EFBFBD>S|<17>t6 <1E><>.*<2A><>*<O<>]<5D><><EFBFBD>Tx<54>⻨<EFBFBD><E2BBA8><EFBFBD><EFBFBD>(<28><><EFBFBD>9<EFBFBD>
|
||||
<EFBFBD>S|s6 <1E><>.j<><6A>*<O<>]T<>YUx<55>⻨<EFBFBD><E2BBA8><EFBFBD><EFBFBD><<3C>wQgU<67>y<EFBFBD><79><EFBFBD>&Ϊ<><CEAA><14>E5<45>M<EFBFBD><4D>)<29><>28<EFBFBD>
|
||||
<EFBFBD>S|<17>oV<15><><EFBFBD>.
|
||||
<EFBFBD>l*<N<>] <1E>YT<59>-<2D><>6<EFBFBD>oU<6F>y<EFBFBD><79><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><14>{<7B><>E<EFBFBD><45>)<29><><EFBFBD>:k<>OS|<7C><>u<EFBFBD><75><EFBFBD><EFBFBD><EFBFBD><EFBFBD>+<2B><>
|
||||
<N<><4E><EFBFBD><EFBFBD>Yx<><78>{<7B><><EFBFBD>(<28><<3C><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Y<EFBFBD><07> fl<EFBFBD><EFBFBD>{<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <0B>y<EFBFBD>\<5C><15><>w<EFBFBD><77><06><EFBFBD>:<3A><><EFBFBD><EFBFBD>{y<07><><EFBFBD> ~<7E>El<15>\<5C><> <0B>x<>O<EFBFBD><4F>g%~<7E>I<EFBFBD>~<7E><><EFBFBD><EFBFBD><EFBFBD>@ <05>[<5B><><EFBFBD><EFBFBD>ks<6B><73> <1C><><EFBFBD><15>{<7B>^ːE<CB90><45><EFBFBD><EFBFBD>a6<>A<><41>s<EFBFBD><73>-<1A>in<69><6E><EFBFBD>9<EFBFBD><39>&0pZ <0F><>F<EFBFBD><46>.<2E><EFBFBD>
|
||||
<EFBFBD><EFBFBD> <19> <1F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
<EFBFBD>U<EFBFBD>{}<7D><>(<28>/â
|
||||
x<03><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>n-M k<><6B>oz<6F><7A>k<18><><EFBFBD><EFBFBD><0F>U<EFBFBD><55>"<22>}<<3C><>]<5D><><EFBFBD>Fe<46>U<EFBFBD><55><EFBFBD>vyG$ <1C><14><>uo <1E><><EFBFBD><EFBFBD>M<EFBFBD>W<EFBFBD>~1<><31><07><>=<04><1B><><EFBFBD>Kx<4B><78><EFBFBD>7<EFBFBD>5<EFBFBD><35><EFBFBD><EFBFBD>6<EFBFBD>bT)\
|
||||
<EFBFBD>ZE<EFBFBD><EFBFBD>aq<EFBFBD>a0<EFBFBD>lӅ <1E>R<EFBFBD><52><EFBFBD><EFBFBD><EFBFBD><EFBFBD>t<EFBFBD><74><EFBFBD><EFBFBD> <1E>R/<2F><><EFBFBD>ߖ<EFBFBD> <1D>w!i<>:<3A>y <20>j<EFBFBD><6A><EFBFBD>_<EFBFBD><5F><EFBFBD>ȕ<EFBFBD><C895>d<EFBFBD><64>a6<61><36>[<5B>G<EFBFBD><47>%a<><61>;唗xJ<78>g<><67>:D<>=<3D>t<EFBFBD>?<0E><>*|1<>8ނ<38>W<EFBFBD>
|
||||
t7<EFBFBD><EFBFBD>N )o<>T<EFBFBD>ο<EFBFBD>W<EFBFBD>Sm<53><6D><EFBFBD>Q<EFBFBD><51>X<EFBFBD>4<EFBFBD><34><EFBFBD>CMйh˅<68><CB85><EFBFBD>I<05>$<24>+<2B><>\<5C><1B><>;<3B><o<><6F>c<>O<EFBFBD>V<EFBFBD><56>F/N<>%^ȋ<13>jft<66><74>ȓ2<C893>)&'<27>D<EFBFBD>'<27>yqh<71><68><EFBFBD>2g<EFBFBD>
|
||||
<EFBFBD>"<22>R<EFBFBD>y<><79><EFBFBD>>ˊ<><13><><EFBFBD>͓"<22><>%<25>?<3F><><EFBFBD><EFBFBD>)<EFBFBD>
|
||||
<EFBFBD><EFBFBD>|o mw:B<><17>"k<><6B>N<EFBFBD>>"c<><63><EFBFBD><EFBFBD>~\<5C>(2<>&h<><68><EFBFBD><EFBFBD>( !gS:çq<C3A7><71>Ȱy<C8B0>vb<76>X ht"<22>x<EFBFBD><78><EFBFBD>r<EFBFBD>j`2<>S<EFBFBD><53><EFBFBD>R<EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݫl}<7D>><3E>!<21><>P)<29><>c )+"?<3F>=<3D><>5<EFBFBD> <1E>]<5D>^<5E>[M<><4D><EFBFBD><EFBFBD>α<EFBFBD>]*oLӰh^<5E><><EFBFBD>S&pȼ<70>S<13><>2x<32>
|
||||
<EFBFBD>^F:<3A><><EFBFBD> ʕ<>Q<EFBFBD>T헌j8<6A><38><EFBFBD><EFBFBD><EFBFBD>r<EFBFBD>l<EFBFBD>v O<>{ <1E>֖W9<57>-<2D><>W<>xg<78><67>(Y<>'<27><>1<EFBFBD>Y.~O1<4F><31><EFBFBD>0<EFBFBD><30>$<24><01>b<EFBFBD><62><EFBFBD>S<03><>n<EFBFBD><6E>h<EFBFBD><68>Ew<45><77><EFBFBD>4.<2E><>]<5D>)aɄ2<13><0E> ټ<><17>e<16><> SM&<26><0F><>Z<EFBFBD><5A>W6<57>Xdz<64> <1F>yݬ.H<7F><19>j<EFBFBD><6A>
|
||||
<EFBFBD> <09>8Se}n<><6E>l&qE)<29><> ӨĒs<C492>0XL<58><4C>-"sc<73> <09> S<><53>{`<60><>[a<7F>^<5E>-<2D>\5 RS<>Wrg<72><<3C>Pe<50><65><EFBFBD>&d<>v<EFBFBD>m)<29><><EFBFBD>z<EFBFBD>t5<74><35>R5z0<7A>OOr<4F><72>%<25><> <0C>g<EFBFBD><67><EFBFBD>vaP<61><50><EFBFBD>!<21>(<28><>䪌<EFBFBD><E4AA8C>* *2L<15><12>eէ<65><D5A7><EFBFBD><EFBFBD>dߠH˥<48>P<50>[aa<61>(<28>K@d v9<76><15>{~ۥ<>"K<><4B>^<5E>$B<>cyP<79>?<3F><>ݺ<EFBFBD><DDBA><EFBFBD><EFBFBD><EFBFBD>Etz<><7A>[<5B>i a~<7E>-<2D>8{<7B><>דa04D0_X<5F>M<EFBFBD><4D>e<><65> <0B><>2<EFBFBD><32><EFBFBD>U<EFBFBD><55><EFBFBD> <20>ޜ<EFBFBD><DE9C><13><J<11>7<EFBFBD><37><EFBFBD>Q.<2E>u<EFBFBD><75>2m<32><6D>*<2A><> a<>_<EFBFBD><16><>$TY<54><59>Wd<57>d<EFBFBD><64><EFBFBD><EFBFBD><ݶNY<4E><59><EFBFBD>1Wo<><6F><EFBFBD><EFBFBD>(3x<33>+<2B>jTj<54><6A>"<22><>%<25>X<EFBFBD><58>~<7E><><EFBFBD><EFBFBD>0<EFBFBD>!<21>L<EFBFBD>5.2<EFBFBD>9<EFBFBD><EFBFBD><EFBFBD>\<5C>ڵ<EFBFBD>"<22><><EFBFBD><EFBFBD><EFBFBD>"2<><32><EFBFBD> Z<>z<EFBFBD>2e<32><65>_ʸ<5F>s1˘<31><CB98>iH<69><48><EFBFBD><EFBFBD>F<EFBFBD>\e<><65>_<EFBFBD><5F>a<EFBFBD>O)<>j`i<02>`<1A>Te <09>Go[<5B>I<EFBFBD><49><EFBFBD>ܣ<><DCA3>E<EFBFBD> <0C>.ڤ\<5C>%tF<><46><EFBFBD>^<5E>-<2D>0YfC+ oB<6F><42><EFBFBD>
|
||||
o<EFBFBD>Fo<EFBFBD>u<EFBFBD><14><><EFBFBD>zE<7A><45>b<EFBFBD><62>*<2A>7<EFBFBD>2a<32> ]`_-<2D>K<EFBFBD><4B><EFBFBD><EFBFBD>Zk}<7D><><EFBFBD>)<EFBFBD>
|
||||
<EFBFBD>N<EFBFBD>nIÀ<EFBFBD> "N9<4E><39>q<EFBFBD>/e<>R<EFBFBD>NY<4E><59>u<EFBFBD>&2+6Qd<51><1B><><EFBFBD><EFBFBD>?<15>W} <1C>l\w^nfV1<56><31><EFBFBD>Xf<58>y<EFBFBD><79>
|
||||
0[<5B>1<1B><><EFBFBD><EFBFBD>!<21>Yg%<25>K<19>0<EFBFBD>/]~<7E>0s <20>I<EFBFBD>'<27>#C <0B><>l@<40>? Ƙ,2T/怜[S<><53><EFBFBD>`<60>H<EFBFBD><48><EFBFBD><EFBFBD><EFBFBD>\'<27>c<EFBFBD><63>х:WQ7<51><16> B<>Q~<7E>^<5E><16><>%#<10><12><><EFBFBD><EFBFBD>a<><61><EFBFBD><EFBFBD>}<7D>U<EFBFBD>uX<75> <09>a i<EFBFBD><EFBFBD><EFBFBD><EFBFBD>VvfZ<><5A>
|
||||
<EFBFBD><EFBFBD><EFBFBD>cE<EFBFBD>~<7E>"<22><EFBFBD><7F>R֍<52><D68D>2<16>)<29>uhJrb<72><62>(<28>S<7F>/s<><73>a<EFBFBD><17>G<11>L<EFBFBD><4C><EFBFBD><11>/<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"{ r<>0<>9!0<><30><EFBFBD>#聲<> <1F> &(<28>b<06><>b\p<>W<EFBFBD>G<EFBFBD><47>25<19><><EFBFBD><EFBFBD>SF<53><46>U<EFBFBD>Q<EFBFBD><51>ʋk<>.Yya <1E>eh
|
||||
=T? <20><><EFBFBD>c<EFBFBD><63>"<22><><EFBFBD>8WٸU 2G<32><47><EFBFBD>F<_{<7B>?<3F>E<EFBFBD>I<EFBFBD><19><><EFBFBD><EFBFBD>8O<38>e*<2A>p<EFBFBD>%<25>YX<59><58>3<EFBFBD>
|
||||
2J<EFBFBD>.FelL"<03><><EFBFBD><EFBFBD>*<2A>X<EFBFBD>Q<EFBFBD><51>;<3B>B<>
|
||||
<EFBFBD><EFBFBD>MKd<EFBFBD><07><><EFBFBD><EFBFBD><EFBFBD>ƍ<EFBFBD>(<28><>n<EFBFBD>P $}7<11><>I<EFBFBD>^<5E>"S<><53> <20><><08><><EFBFBD><EFBFBD>є60<36><30>)<29> /KIp<11><06>j/<2F> <1D><><EFBFBD><<3C>Y<EFBFBD><59>(K<>A<EFBFBD>WY<><59><EFBFBD><EFBFBD>h<EFBFBD><68> )<29>z4@<40><><EFBFBD> f~$<24> @<40>$7<>NE<>R<EFBFBD> <09><>#jd<6A>b<EFBFBD><62>+<2B><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,h<>@<40><><EFBFBD>K4<4B>ˀ<EFBFBD>0<10><0E> [.e<65><D880>P0<>1<EFBFBD><31>t= ûs<C3BB>UYߎ)<29>Ǻȡ<C7BA>6#l<>E<EFBFBD> <0C><><EFBFBD><EFBFBD>}<EFBFBD><EFBFBD>0<EFBFBD>
|
||||
vs<><73>/<2F>cG<63><47>\<5C><>`<60>M<EFBFBD><4D>!<21><>8e<16><>0<EFBFBD>Pd<50><11>I<7F><49><EFBFBD><EFBFBD><EFBFBD><EFBFBD>U<EFBFBD>vx+7<><37>
|
||||
|
||||
<EFBFBD>k<>9lb_i<5F><69>Ψ<EFBFBD><CEA8>6i<36><69><EFBFBD><EFBFBD><EFBFBD><EFBFBD>?<<3C>*<03><>z`<60>h<EFBFBD><10>g8<67>U֑<55>5<EFBFBD><35>ڂ<EFBFBD><EFBFBD>
|
||||
<EFBFBD><03><>p3<70>a<EFBFBD>)<29><><EFBFBD>l<EFBFBD>u<EFBFBD>`<60>Uc<55><63>Y<EFBFBD><59><11><><EFBFBD>0<EFBFBD><30>OtC\d
|
||||
P <18><>\M <1E> <09><><EFBFBD>/-<2D>ք<14><>:g<D880><67><03>-<2D>e<><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƈg[<5B><18><><EFBFBD>C0<43><30><13>Q1Q݉<51><DD89><08>;<3B>gwU<77><11>u^r<><72><11>* \<5C><10>0<EFBFBD><30><<3C>u(<28>^(<28><><02>/F<>G$<24>w<EFBFBD><77>9<EFBFBD><39>0u<> <20><>6<12><>&Ū
|
||||
vT<EFBFBD>?<3F>ˬ<EFBFBD>jŌ<6A><C58C>Te
|
||||
<EFBFBD><EFBFBD>C<EFBFBD>J`<60>PV<50>e9hl[<5B>#G<>,<EFBFBD><EFBFBD>b<EFBFBD><EFBFBD><EFBFBD> <00><14>ݨL0K'<15> :2<><<3C>7<EFBFBD>
|
||||
<EFBFBD><19><EFBFBD><7F><17>,<2C><>YK<><4B><EFBFBD>X<EFBFBD>䁣<<3C>7<EFBFBD>,3r<33>l<EFBFBD> <12><><EFBFBD>b <0B>Rkˋ<>/A<>*C_{U><3E><12>cPd}Q<>-T<><54> y<>Js<4A><73><EFBFBD><EFBFBD>U4p<34>g$.%<25>Se<53>U0{C<>ģsuq<75>)<EFBFBD>
|
||||
<EFBFBD><EFBFBD>X <0B><> > <0C>q<05><><EFBFBD>,Lp2Xn<><6E>ʜ<EFBFBD>)<29>4<EFBFBD><34>/<2F><>h =<3D><><EFBFBD>8]P d0<64><30>ڴ<EFBFBD><DAB4><EFBFBD>"<22><><EFBFBD>R<EFBFBD>qB<71><42><EFBFBD><EFBFBD>gs<67><19>Φ<EFBFBD><CEA6>5 +e<><65>B<><42><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,h<>(<28><><EFBFBD> #1I<31><49>z<> <1F>+<2B><>I<EFBFBD>bD<06><><EFBFBD><EFBFBD>b<EFBFBD>
|
||||
dIY<EFBFBD><EFBFBD><13><>2B&x<><78>=#<11>j҄:)<29>gil<69>U36<33><36><EFBFBD><EFBFBD> <09><>u<EFBFBD><75>*<1B><><EFBFBD>g<EFBFBD>*p
|
||||
J{0?<3F><><EFBFBD>W<19><>2<EFBFBD>~C<><43>*e<>9<EFBFBD><39>T<19>"6 UtA<74><41><EFBFBD><EFBFBD>Te<03>R<18><><EFBFBD>2blYO"<22><>$<24><>̩ <09>R{<18>2<EFBFBD><32>bk<62>`<60><><EFBFBD>n<EFBFBD><6E><EFBFBD><EFBFBD>otn<12><2,Q$<24>c<EFBFBD>95<39>c<EFBFBD>S.2-<2D> <1F><><EFBFBD><EFBFBD>T<18><>T<EFBFBD> Δ%<25><>*<2A><>;<3B>u(<28><><EFBFBD><EFBFBD><EFBFBD>@6@5d<35><0E>*<2A>.a<EFBFBD><EFBFBD><EFBFBD><EFBFBD>`<EFBFBD><EFBFBD><EFBFBD>t<EFBFBD>e n<>_@<40>X<EFBFBD>e&9<EFBFBD><EFBFBD><EFBFBD><EFBFBD>V<EFBFBD>2Iw/<2F><08><><EFBFBD>!ÿ<><1A><><EFBFBD><EFBFBD>b<EFBFBD>.<2E><>6<EFBFBD>^<5E>U<EFBFBD>q:D<>t]jm<6A>f<EFBFBD>$<24><><EFBFBD>xg& Y<>o<EFBFBD>s<EFBFBD>6v<36><76><EFBFBD><EFBFBD><EFBFBD><EFBFBD>v
|
||||
2 M6<4D>=C`ހ̕ <1D>:ӷ-<2D><06><>߄<><DF84><EFBFBD><EFBFBD>60:<3A> <1C>DGFv^<EFBFBD>
|
||||
<EFBFBD><EFBFBD>Q|N <20>n<EFBFBD><12>@<40>e<<3C><>>_<02><>/lvpԵ<70>C<EFBFBD>w<EFBFBD>6<EFBFBD>!<21>qc._<><5F><EFBFBD>%?<3F><><EFBFBD>",1<><31>'<27><><EFBFBD><EFBFBD><EFBFBD>)~F<>b<EFBFBD><62>E<EFBFBD><45><EFBFBD>0<EFBFBD>0<1A><>$<24>s<EFBFBD>RZj7e<37><07><>X<EFBFBD>.<2E>N<EFBFBD>ʰ_&8P%b lݮ@Ȇ9<>J <20><> #<23>y<EFBFBD>a<EFBFBD> ュ<><E383A5>;<3B><><19>_<>U1+a<>r<EFBFBD>s<EFBFBD>0<EFBFBD><30><EFBFBD>:ark j<><6A>-ndؓ1ul<75>y˹<79><CBB9>+<2B><><EFBFBD>kY<02>8<EFBFBD><38>J <0C>V<EFBFBD><56><EFBFBD>t<EFBFBD>9<EFBFBD><39>^9ܡ<18>Z}s@`<60>azD<7A>H <1E>+<2B><><EFBFBD><EFBFBD>W<>bi<62> &*(UE<55><45>0Ѷ<30><D1B6>EY<45><59>"<22>!<21><>,<2C><> <00><>?4M<34><4D><15>Z6<5A>*<2A>TaFx)<29><08><>K<EFBFBD><4B><EFBFBD><EFBFBD>olweq<>P<EFBFBD>Ѭ<><D1AC> <20>]U%M<><4D>P5<50><10><>3!<21><><EFBFBD>)D<EFBFBD><EFBFBD>mAae<>k<EFBFBD>8ė<38><C497><EFBFBD><EFBFBD><17><>@R<>X<EFBFBD><58>99z<39><7A><EFBFBD>j<EFBFBD> <1F>=<3D><><EFBFBD><EFBFBD><7F>1 w#1"_ٻ<5F>;<3B><><EFBFBD><EFBFBD><EFBFBD>w"#\Q<>]<5D><><EFBFBD>G0m0<6D><30><EFBFBD><EFBFBD>P1e<31>FC,<2C><><EFBFBD>މ <0C>ld<6C>-<2D> p<><70>G<EFBFBD>M<EFBFBD><4D><EFBFBD>U<EFBFBD><55>C<EFBFBD><43><EFBFBD><EFBFBD> <0C>$/VdqVp<08>]&Aڙ<41><DA99>,f<><66><EFBFBD>,<2C> ^ <08>y<>gyG<11><<08><><EFBFBD>;<3B> <00>dU<64>䝑<EFBFBD> ,<2C>!˄<><CB84><EFBFBD><EFBFBD>+v<>kc<6B>(<28>&<26>\9<16><>w<EFBFBD><77>ZexY"<22><>;<3B> a<>$и<>w<EFBFBD><04><> m<><6D><EFBFBD><EFBFBD>Q <10><>;<3B><>Q<EFBFBD>+<2B><>ťX<C5A5>;<3B><04>x<EFBFBD>U<EFBFBD>-<2D><>;<06>J<EFBFBD><4A><14>mb<6D><62>E<06>Ȃ<EFBFBD><16><>>+6 /<2F>X<EFBFBD>;<3B><>e) <1C>L<EFBFBD>Y<EFBFBD>,<2C>C<EFBFBD>T<EFBFBD>6<EFBFBD><0E><<3C>@ߡp<DFA1><70><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ũ<EFBFBD>7<EFBFBD><37>g<EFBFBD>鰖 ?<3F><>e<EFBFBD><11>8<EFBFBD>f3u<07><>!xO<13><>Qw<51>X<EFBFBD>c<EFBFBD>-kdf<64>,qw<02>ι<EFBFBD>&掲D<E68EB2>۔<EFBFBD><DB94><EFBFBD>;K<><4B><EFBFBD><04>ea
|
||||
'<EFBFBD><EFBFBD>n1L<<3C><>2<EFBFBD>iv<69><19>Ue~<7E><> <1D>J <<3C><><EFBFBD><EFBFBD>^sG <1F><>&UIΙ<49><13><>xחi<D797><69><EFBFBD><EFBFBD>1+<2B><><EFBFBD>ژ;B<<EFBFBD><EFBFBD>
|
||||
<EFBFBD><EFBFBD> e<>l<01> sW
|
||||
*<2A><><EFBFBD><EFBFBD><EFBFBD><05><>$<24><>sc>rTIyU鹉<55>C;<3B><><EFBFBD>
|
||||
`[<5B>;<3B> z<><15>.<2E> !<21> ^<5E>B<EFBFBD>Y<EFBFBD>8<>Q寍<51><E5AF8D>}X<><58>-?<3F><>;<3B>qx7<>n<EFBFBD>0w<30>q<EFBFBD><71>)S9<53><39><EFBFBD><EFBFBD>Blc@u.<2E><><EFBFBD><EFBFBD>QF<51><46><EFBFBD>bQg<51><0E><><EFBFBD>T<><54><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Y<EFBFBD><59>h<EFBFBD>@<40>ke<6B><65><EFBFBD>a'<27><>T8ĉ<38><C489> CsM6<4D>; <1D>7<EFBFBD>º<EFBFBD>ĝT<C49D> <09>ީ<EFBFBD>+wm<77><6D> Z<><5A><EFBFBD>x;<3B><><EFBFBD>S<EFBFBD><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>I) 82<38><32>Xx;<3B><><EFBFBD><EFBFBD>D<EFBFBD><44><EFBFBD>x;Gk<06><><EFBFBD>䋙<EFBFBD>sB<73>`><3E><>& o<07>36<33>\<5C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><0E>
|
||||
<17><><EFBFBD>9ZH<5A>E@_e-<2D>GQ<47><51><EFBFBD>b[3oGYF<59><04>U֣sNa<4E>,#VdoG<19>K">]x;<3B><>W#<23>#<23><><EFBFBD>sd*<14>K<EFBFBD><4B>ͼ<EFBFBD>##<23> <09>+a9<61>v<EFBFBD><76>趤<><E8B6A4>u<EFBFBD><75>xA"<22>X<>Ä<F2BB89B6>I<EFBFBD>X<58><7F>EL<45>S% <0B><> <1C><05> ϟq><3E><><EFBFBD>m<EFBFBD><6D>U<>&(<28><>`e~ =E^<5E><07>ݗ<EFBFBD><DD97>DO<44>(K<><4B>
|
||||
=Q<> J<4A>'><3E><><EFBFBD><EFBFBD><EFBFBD>}L<07><>7<EFBFBD><14><><02> <13><><EFBFBD>H?<1A>7<EFBFBD>\<5C><>*@B8*%O`AO4Rf<>[<5B>epv<70><76>Ӱ<><D3B0>H<EFBFBD>nR<6E>UW<55><14>T<EFBFBD><54>lz<6C>O<EFBFBD><18>5<EFBFBD>\<5C><><02> <20>dzC<7A><43>g<EFBFBD>+<10><>'<<3C><><EFBFBD>-QjFOm<><6D>ȅc_<63><13>_<EFBFBD>̖4<CC96><34><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ռο<D58C><CEBF>(<28><><EFBFBD><EFBFBD>{<7B>}2RqJs<>w<EFBFBD>y<> <00><>d<EFBFBD>,<2C>I2* %kbFOF <0C>D2̎<32>L6<4C> <1F>A$<24><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>q<EFBFBD><71><13><>P<EFBFBD><EFBFBD>
|
||||
>1<><31>*<2A><><EFBFBD>'<27><>j <20><><EFBFBD>' 8&<26>A<EFBFBD>|<7C><><EFBFBD><15><><EFBFBD><EFBFBD> |"<22><>a<08>~J0F<30><46>Z<EFBFBD>C<IGx<EFBFBD><EFBFBD>
|
||||
@<40><>W،^{Ppa<70>H<EFBFBD>7 <00><>d£<64>e<EFBFBD>- <00><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><1B><><EFBFBD>h<EFBFBD>[<5B>A y C~<7E>O<EFBFBD><4F><EFBFBD>\<5C>u+z
|
||||
9k[Ck+z<> <0C><><EFBFBD>+x
|
||||
<EFBFBD><EFBFBD><EFBFBD>w<EFBFBD>N<EFBFBD>
|
||||
<EFBFBD><02><>m<EFBFBD><6D>T3x
|
||||
<04><0E><><EFBFBD>`<60><> #<23><><EFBFBD><EFBFBD>M<EFBFBD>
|
||||
<E<05><>}ˉ<1A><><03><><EFBFBD>P<><50>'<27>6<EFBFBD><36><15><><EFBFBD> z<><7A><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>C<05><>R<EFBFBD>a'<27>L&zþa<C3BE><61><17>a<EFBFBD>N\3<><33>t<EFBFBD>LY<4C>Vv˻[<5B>d<>h<EFBFBD><68>Ӿa'<27><><EFBFBD>uF<75><46>)3<><33><EFBFBD><EFBFBD><EFBFBD>7<EFBFBD><37><EFBFBD><13><><EFBFBD>0o<30>I<EFBFBD>dM<64><4D><EFBFBD><EFBFBD>Ɗ<EFBFBD><C68A>z<><7A><<01><>v<EFBFBD>j.X<14><><EFBFBD>[<5B>j<EFBFBD>f<EFBFBD>D<EFBFBD>¬&L<4C>'<27> <0B>{Li|GOX'<27>ȱ.<2E>=<3D>(<28>v<EFBFBD>+<2B>Z<EFBFBD>S<><53><EFBFBD><EFBFBD> =i<><69>e<EFBFBD><65>j z"<22><><EFBFBD>B<EFBFBD>
|
||||
f<><66><EFBFBD>$J6<4A><36><EFBFBD>4MK<4D>v<><76><><D7AC><13><>e̢4 z<>.<2E>X<1B><>=<3D><>"<22><><EFBFBD><03>
|
||||
=1a<31><61><EFBFBD> X<> <15><>d<><64>&W|<1B><>&t<><15>b<EFBFBD>K<EFBFBD><4B>c<EFBFBD>n<EFBFBD><6E>E <1E>x<EFBFBD>ZDF<44>,&T@<40><><EFBFBD><EFBFBD><EFBFBD>[,<2C>Z<><5A>b<EFBFBD>n*<2A>}-<2D><>T`<60><>7<EFBFBD>"<22><10><><EFBFBD>dD<64>Wa<57><61><EFBFBD>2<EFBFBD><17>b<EFBFBD>N<EFBFBD><4E>><3E><>v<14>'W<>Y@ <0B> <09><><EFBFBD><EFBFBD>x=<3D>ғ<>'8<><38>[@ <0B>>6O<36><05>o<EFBFBD>E<EFBFBD>md.<2E><05>!fZ0<30>m*<2A><>-<2D><><16>7<EFBFBD>ȸ@-<2D><>@l
|
||||
,<2C><>f4<66>t<EFBFBD> <1D><>S<><53><16>U<EFBFBD>u<EFBFBD>;h<>ޅ<EFBFBD>k$<24><>nJ9Wr<57>,<2C><>[Ѹ`Z><3E>l<EFBFBD>H۪<48>Y<>X<01>ka<EFBFBD><05><>6
|
||||
<EFBFBD>_<EFBFBD>X<17>°<06><18><><EFBFBD>͝<18><06>8<EFBFBD>3d <1F><><EFBFBD>Y!K<>5B<35><42><EFBFBD>YDQz<51>e<EFBFBD>-<2D>%<25><EFBFBD><EFBFBD>8<EFBFBD><EFBFBD> <1E> d<>R<EFBFBD><52><EFBFBD>+f<><66>,]x f<>t<EFBFBD>f<EFBFBD><66>){<7B><>Y<EFBFBD>$<24>(U<>mV<6D>$O<08><><19>D9%<25><>"<22>1 <0B>5,iR5<52>z-P,<2C><><EFBFBD>s<EFBFBD>l<>B <1D>g<>Q S<>aA<61><41><EFBFBD><EFBFBD><EFBFBD><EFBFBD>YY<EFBFBD><EFBFBD>
|
||||
<EFBFBD>D<EFBFBD><EFBFBD>`<60>M<EFBFBD><17>"<22><>@d5<EFBFBD><EFBFBD><EFBFBD><EFBFBD>W*<2A><>7<EFBFBD><37>?<3F><>՝vA-<2D> @<40>洞<EFBFBD><05>V<EFBFBD><56>[<5B>6<EFBFBD><04>y\<5C>&<26>O<EFBFBD><EFBFBD>n<EFBFBD><EFBFBD>L16Y<EFBFBD>-<2D><>(I`<60><15><10><05><>Ov
|
||||
<EFBFBD>ϣ:I<>6<EFBFBD><EFBFBD><EFBFBD>
|
||||
<EFBFBD>B<EFBFBD><EFBFBD>O<<14>?<3F><><EFBFBD><EFBFBD><7F><EFBFBD><EFBFBD><EFBFBD><EFBFBD>f<7F>ؿ<EFBFBD><D8BF> L\2<>L<10>o<EFBFBD>2f;+<2B><>&<26>>sX r<>U<EFBFBD><55><EFBFBD><EFBFBD><EFBFBD>ТH<D0A2><48><EFBFBD><EFBFBD>^<5E>u<EFBFBD><75>uh,$<24>d<EFBFBD><64> *o<>H <1F><><EFBFBD><EFBFBD>:i8<69>5<EFBFBD>U<EFBFBD><55><06><14>U<><55>*kkQ<6B><51><EFBFBD><EFBFBD>TŨSU<53>J<EFBFBD>E<EFBFBD><45>֢<>>Te<54>h-<2D>|P<>ZT1<54><31>,<2C><>S<EFBFBD><53>O Z<>*<2A>P<EFBFBD><50><EFBFBD>u<EFBFBD><75><EFBFBD>iakQŝ<51><C59D>T<EFBFBD>.<2E><><17>U<><55>ժ<EFBFBD>R<EFBFBD><52><EFBFBD>r^<5E>ZT <09><><EFBFBD>e<EFBFBD>E<EFBFBD><0F>M<EFBFBD>*<2A><>u+?-<2D>|PuZT9<54><39>kjQ<6A><51><EFBFBD>Ӣʩ<D3A2>]<5D>Q<EFBFBD>* T<><54>*<2A><>ڮe<DAAE><65>*<2A>ըE<D5A8>Sk<EFBFBD><EFBFBD><EFBFBD>.<EFBFBD><EFBFBD>W<EFBFBD>UN<55><4E>Z<EFBFBD>:<3A>3%<25>թE<D5A9>Sk<53><6B><EFBFBD>.<2E><>W<EFBFBD>UN<55><4E>Z<EFBFBD><5A><EFBFBD>r^<5E>ZT9<54><39>[<5B><>$'<27>ΫV<CEAB>*<2A><>v+c-<2D>|P<>ZT9<54><39>[9kQ<6B><51>*֢ʡ<D6A2><CAA1><EFBFBD>ZUΫY<CEAB>*<2A><>v+o-<2D>|P՚<50><D59A>Ck<43><6B><EFBFBD>.<2E><>W<EFBFBD>U<0E><>Vr^<5E>ZT9<54><39>[<5B>kQ<6B><51>jעʡ<D7A2><CAA1>*Q<>* <14>U<0E><>V<EFBFBD>ZT<5A><54><10><>rjm<6A><6D><EFBFBD>E<EFBFBD><45><EFBFBD>Ԣʩ<D4A2>]+T<>* <14>UN<55><4E>Z<EFBFBD>:<3A><>
|
||||
<EFBFBD><05>E<EFBFBD>Ck<43>U<EFBFBD><55>*<2A><14>U<0E><>V<EFBFBD><56><EFBFBD>r^<5E><><EFBFBD><EFBFBD>Ck<43>U<EFBFBD>.<2E><><17>U<0E><>V<EFBFBD>ZT<5A><54><EFBFBD><EFBFBD><EFBFBD>rhm<68><6D>֢<EFBFBD><07><>E<EFBFBD>Ck<43>U<EFBFBD>U>(h-<2D> Zۭµ<DBAD><C2B5>AakQ<6B><51><EFBFBD>n<EFBFBD><6E>E<EFBFBD>
|
||||
\<5C>*<2A><>v<EFBFBD>x]T9/t-<2D> Zۭ<5A>uQ<75><51>൨rjm<6A>
|
||||
آ<EFBFBD><07><>E<EFBFBD>Sk<53>V<EFBFBD>.<2E><><17><>*<2A><>ڮ<EFBFBD><DAAE>E<EFBFBD><0F>P<EFBFBD>*<2A><>v-K-<2D>|P<>ZT9<54><39>kyjj<6A>AUjQ<6A><51><EFBFBD>.e<>E<EFBFBD><45><EFBFBD>Ԣơ<D4A2>]<5D>US<55><0F>T<EFBFBD>"<22>Vv-[-<2D><>W<EFBFBD>Em<>Z<EFBFBD>Z9<>Z-<2D> Zص<5A><D8B5>p<EFBFBD><70>իE<D5AB>C<EFBFBD>[G<><47><EFBFBD><EFBFBD><EFBFBD><EFBFBD>_'$<24> <09><05>}rK$<15><>D<EFBFBD>vSq<53>.^<5E><><EFBFBD>I<EFBFBD>ۥe7y<37>.<2E>K<EFBFBD><4B><EFBFBD><EFBFBD>dn
|
||||
<06><>f~<7E>oK<6F><1B><><EFBFBD>cW<03><11>o <1C><><EFBFBD><EFBFBD>
|
||||
<EFBFBD>]-<2D><>tfᱢ<66><E1B1A2><EFBFBD>)~e( Wbϱس.<2E><>̭<EFBFBD><CCAD>&<26><>s<EFBFBD>M<EFBFBD><EFBFBD>T7I<19>7<EFBFBD><37>2)Z<EFBFBD><EFBFBD><EFBFBD><EFBFBD>R<EFBFBD>^<5E>ܨI<>Qk<51>N<13>}<7D>{ W<><57><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>&<26><>f9T<39><54><EFBFBD><11><>N<EFBFBD><4E><EFBFBD>b<EFBFBD>S#!<21><>%\ <0C><>I<EFBFBD>qIB<49><<3C>nX<6E>Bȟ<42>"<22><>MD<4D>]b<><62><EFBFBD>&<26><>4x|<7C><15>{<7B>`
|
||||
<0B>Y
|
||||
<EFBFBD><EFBFBD><EFBFBD><EFBFBD>=MXI<58><49><EFBFBD><EFBFBD><EFBFBD>D<EFBFBD><44>&<26>ԣ<EFBFBD>k~<7E><>XzH*<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> mcUߋ<06>ӷ4<D3B7>Ju,<e/Z<><5A>oiA<69>^h <1E>xo<78> <1F><>/uHT<48><54><EFBFBD><EFBFBD><EFBFBD>--`<0F> n<>z<EFBFBD> <1F><><EFBFBD><EFBFBD>z<EFBFBD><lu<6C>·:<3A>9v<<3C>~y<07>y<EFBFBD><79>b<EFBFBD>7<EFBFBD> <1F>*ת<><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߱<EFBFBD><DFB1><EFBFBD>-<2D>o<EFBFBD><6F><EFBFBD><EFBFBD>opC<70><43>@<+H=<3D>d~G<>/ <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>V?0<>h7 <00> <1C><EFBFBD> |<7C><><EFBFBD>Z<EFBFBD>$<19><>
|
||||
{<7B><><EFBFBD><EFBFBD>I<><49>T<EFBFBD>rnΓo侮<6F><EFA8B0><EFBFBD>*|<7C>t{K<>-<2D>vQ<76><<3C><><EFBFBD>
|
||||
{n<><6E><EFBFBD>I<><49>T<EFBFBD>rjΓko<6B><6F><EFBFBD><EFBFBD>.*<2A>'<27>~<7E> /*<2A><>M<EFBFBD>-<2D>wV<77><56>|<7C>;*<2A>黳
|
||||
<1F><><EFBFBD>QaOU<DB9D> <><7F>
|
||||
{<7B><><EFBFBD><EFBFBD>y<><79>T<EFBFBD><54>t<15><>uo<75><6F><EFBFBD><EFBFBD>.*<2A><><EFBFBD><EFBFBD>QaO˝U<CB9D> ?<3F><>
|
||||
[:<3A><><EFBFBD>y^<5E>-<15>4<EFBFBD>E<EFBFBD><45>|<7C>;<3B><><EFBFBD>~;<3B><>I <1E> <15><><EFBFBD>Y<EFBFBD><0F>o侮<6F><EFA8B0><EFBFBD>*|<7C>w{K<>-<2D>vQ<76><<3C><><EFBFBD>
|
||||
{z<><7A><EFBFBD>y<><79>T<EFBFBD><54>j<15><>ko<6B><6F><EFBFBD><EFBFBD>.*<EFBFBD><EFBFBD><EFBFBD><EFBFBD>rڷ4<EFBFBD>Y<EFBFBD><0F>iO<69>k<><6B><EFBFBD>
|
||||
<EFBFBD>rv<EFBFBD><EFBFBD>?H<48><EFBFBD>;<3B><>A<EFBFBD><41>-<15> <1C>E<EFBFBD><45>d<EFBFBD>;*칹<EFBFBD>
|
||||
$<24><>Ra<52><61>]T8Oν<13><>sq'>Iʽ<49><EFBFBD><C296><EFBFBD>p<EFBFBD><70>{K<>-<2D>vQ<76>< <09><EFBFBD>
|
||||
{<7B><><EFBFBD><EFBFBD>ɷwT<77>smg>H<><48><EFBFBD>c;<3B><>A<EFBFBD><41> <15><><EFBFBD>Y<EFBFBD><0F>l侮<6C><EFA8B0><EFBFBD>*|<7C>\{K<>-<2D>vQ<76><<3C><><EFBFBD>
|
||||
[<0E><><EFBFBD>y2<79><32> <20><>;;<3B><>A<12>-<15><><EFBFBD>E<EFBFBD><45><EFBFBD><EFBFBD><0F><>U<EFBFBD><55>iKםU<D79D> o<><6F>
|
||||
{<7B><><EFBFBD><EFBFBD><07><>7T<37><54>s'
|
||||
><3E>ӽ<EFBFBD><D3BD><EFBFBD><EFBFBD>;<3B><EFBFBD><7F>{<7B><>= wj<77><6A><EFBFBD><EFBFBD>;
|
||||
li<EFBFBD><EFBFBD><02><><EFBFBD>w<14><>og<05><>p<EFBFBD>d$ni<6E><69> <1F><><EFBFBD>M<EFBFBD>\<5C><>=<zɼs<16><> <1C>wUigm<67>7<EFBFBD>|W5v6%<25>'<27><><EFBFBD><EFBFBD><EFBFBD>J<N<>]<5D><>ٔx<D994>컪<EFBFBD><ECBBAA>+<2B>8<EFBFBD>wUKgS<67>y<EFBFBD>慠ή<EFAA8A><CEAE><EFBFBD><EFBFBD>U<EFBFBD><55>]<5D><>I<EFBFBD>?I<><49><EFBFBD><EFBFBD>M<EFBFBD> <1B><>)<29><<3C>wU<77>gS<67>y<EFBFBD><79><EFBFBD>dϦ<64><CFA6><EFBFBD><EFBFBD>U<EFBFBD><55>M<EFBFBD><4D>鿫2=<3D><12><13>Wzv% <1E> <00>J<EFBFBD>lJ<O^<15>ٕx<D995><06>*dz+<2B>8xU<78>gU<67>7P<37>W%x6%<25>'<03><><EFBFBD>lJ<O^<5E><>ٕx<D995><10>*<2A><>)<29><%xUjgW<67>qR<71><52><EFBFBD>ή<EFBFBD><CEAE><EFBFBD><EFBFBD>Uy<55>M<EFBFBD><4D><EFBFBD><EFBFBD>=<3D>ui<75><69><EFBFBD>֍<1B>Z<5A> <1C><><EFBFBD><EFBFBD>)<29><=xU<78>gW<67>q<EFBFBD><71><EFBFBD>zϦ<7A><CFA6><14>Uݞ]<5D><>I«<49>=<3D><12><>&<26><>ճ+<2B>8QxU<78>gW<67>q<EFBFBD><71><EFBFBD>>Ϧ<><CFA6>d<EFBFBD>Ue<55>M<EFBFBD><4D><EFBFBD>«<EFBFBD><<3C><12><13>W<EFBFBD>x6%<25><> <0C><><EFBFBD>lJ<O^U<>ٕx<D995>6<EFBFBD><36><EFBFBD><EFBFBD>+<2B>8qxUugS<67>y<EFBFBD><79><EFBFBD><EFBFBD>ή<EFBFBD><CEAE><EFBFBD><EFBFBD><EFBFBD> <1C>Y<EFBFBD><59>='<27>6<EFBFBD>pS<70>y<02><><EFBFBD>Ϧ<EFBFBD><CFA6><14>E<EFBFBD><45>U<EFBFBD><55>I<EFBFBD><49><EFBFBD>><3E>Oӈe}V
|
||||
<EFBFBD>'/
|
||||
<EFBFBD>l*<N%^<5E><><EFBFBD>Tx<54>L<EFBFBD><4C>E|V<15><><13><>ط<EFBFBD><EFBFBD>7<EFBFBD><EFBFBD><EFBFBD><EFBFBD>5<EFBFBD><EFBFBD>><3E><><EFBFBD><EFBFBD>¬E<C2AC><45>I<EFBFBD> <11><<3C>x<EFBFBD>2<EFBFBD><32><EFBFBD><12><> o^<5E><>J轁<4A><E8BD81><12>ϋJ<CF8B>z<EFBFBD><7A>><<3C><>{<7B>NP<><50>|<7C><><EFBFBD>X<EFBFBD>z<EFBFBD>F<EFBFBD><46><EFBFBD><EFBFBD>Wk%<25>
|
||||
<EFBFBD><EFBFBD>pU<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>nJ<EFBFBD>l<>&<26><>!<21><><EFBFBD>9<EFBFBD><39>l<><11><><1B><>[4^.[6<>[<5B><><0F><><EFBFBD><EFBFBD>iu<p:i<><69>d<EFBFBD>7 <0C>xd<78>~<7E><>3<03><>&4pWM<57>Ui<55><EFBFBD><EFBFBD><EFBFBD>
|
||||
KE<EFBFBD>
|
||||
<EFBFBD><14><07>^_!)x<><78>M<EFBFBD>@<40><><EFBFBD><EFBFBD><EFBFBD>o<><6F>1<EFBFBD>J>(^><3E>1<><31><EFBFBD>]<5D><><EFBFBD>r<EFBFBD><72>@]4k<34>k<EFBFBD>ziָ<69>v<EFBFBD>[<5B><><EFBFBD><EFBFBD> <1D>M<EFBFBD>q<EFBFBD>w=.<2E> a/<2F><> Z<>"<22>{<7B><>ń<EFBFBD><C584>."<22><>,<2C><><EFBFBD>?T<><54><EFBFBD><EFBFBD>}<7D>=:^<5E>~<7E>ǯԊ<C7AF>&=<3D>z9<39><DEB3><EFBFBD><EFBFBD><EFBFBD>-ow<6F><77><EFBFBD><EFBFBD><EFBFBD><EFBFBD>n<EFBFBD><6E>9<EFBFBD>r:Q<><51><EFBFBD>J<EFBFBD>9<EFBFBD> <0B>݀<EFBFBD><DD80><c'<27>N<EFBFBD><4E><EFBFBD>V}i<>{U<><55><0F><>Q7%j<><6A><EFBFBD>t<04>%<25><><EFBFBD>O<EFBFBD><4F>r h<><68>=<3D>-<2D><>J<EFBFBD><4A> v<><76>t<19>^<5E>JXj\<5C><><EFBFBD><EFBFBD>/<2F><><EFBFBD><EFBFBD><EFBFBD> ܤ = m<>Z<EFBFBD><5A>73c<33>ݫ<EFBFBD><DDAB><EFBFBD><EFBFBD>ݨ<>~<7E><>j:]9<>`<60>X)<29><16><>n6<6E><EFBFBD><CDB8>,Q<> <1C><><EFBFBD>(l<> -z<><7A>ꍛMo<><6F>G%<25>_3<5F>d<08> <1D>><3E>rCc&$<24>7<EFBFBD><37><EFBFBD>ʘB<CA98>l<EFBFBD><6C><EFBFBD>fS̐<53>c<EFBFBD><63><EFBFBD>f^<5E>د6<D8AF>ԎwK*N敉<4E>jS-<1B><>Adf<64>ڔs<13><><15>"<22><>զ<EFBFBD><D5A6><EFBFBD><EFBFBD>e<<3C><><EFBFBD>6ռ7 <1E><>rig<69>G=.7e<EFBFBD>><3E><>9<EFBFBD>Ŝ<EFBFBD><C59C>"<22><><EFBFBD>!<21>
|
||||
<EFBFBD><EFBFBD><EFBFBD>@<40>RS3><EFBFBD><EFBFBD>
|
||||
<EFBFBD><10>~<7E><>ў<EFBFBD>c<EFBFBD><18>6q<36><71><EFBFBD><EFBFBD><EFBFBD><12><><EFBFBD>U<EFBFBD>7<>R<EFBFBD><52><EFBFBD>
|
||||
]W<>~<7E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Yw<>R<EFBFBD><52><EFBFBD> )C<>i<EFBFBD>W<><57>q˩a<CBA9>I<EFBFBD><49><EFBFBD>2<EFBFBD>5<16>4<EFBFBD><34>W<0F>3*<2A><>C<EFBFBD><43>=<3D><>)<29><Oj<4F><6A>p<EFBFBD>;|1( <0B><><EFBFBD>-ڎ<>N<EFBFBD><4E><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>C<EFBFBD><43>}V <00><><EFBFBD>01R<31><52> w<>RTc<>/<2F>|70<37>(/T<0F>j<1B>m<EFBFBD><14>df<a<>f<14>Xp>zU<7A><55><EFBFBD><EFBFBD>Sr{*<2A><><EFBFBD><EFBFBD>M8<4D>9<EFBFBD>^<5E>9|Q<>%z<>_yJ!<21><02><>/<2F><> <1B><><10>8<EFBFBD><38><EFBFBD>3.=54<35>0<EFBFBD>)<29>2*<2A><><EFBFBD>.c<><63><EFBFBD><EFBFBD><EFBFBD>܄<EFBFBD><DC84>S<EFBFBD>7̎<37><CC8E>R覉ly76<10>1<EFBFBD><31><EFBFBD>,<2C>ŧ<EFBFBD>!ٺص <09> <1C><><EFBFBD>#i<>l<EFBFBD><6C>_|<7C>Wcva6<61>X<EFBFBD><58>C<EFBFBD><16><><15>rMx<4D>%<25><> <1D>Y<EFBFBD><59>E<16>47<34>X VnF<6E>r<EFBFBD><72><08><><EFBFBD>]<5D>9<EFBFBD>z<EFBFBD><7A>V萱t,<2C>̠<><CCA0>G<EFBFBD><47><EFBFBD>S<D7B6><53><EFBFBD> <1F><>Z<EFBFBD>וb]{
|
||||
yղnKݥaf`}<7D>#<23><>G<EFBFBD><47>p<EFBFBD>: <0B><><1B>C]u<><75>~w;<3B><1B><><EFBFBD><EFBFBD><EFBFBD>:L)<29><>w<>SV.<2E><>eY<65>cE<63>m<EFBFBD>B<EFBFBD><42><EFBFBD><EFBFBD>h<EFBFBD><68>+ua*!<21>,<2C><>+g<>0LKY
|
||||
<EFBFBD><EFBFBD><Ӆ<><D385>v
|
||||
<EFBFBD><EFBFBD>y<EFBFBD>eb0<06><>9<EFBFBD>Ζ<EFBFBD>m<EFBFBD>~<7E><><08><><EFBFBD>v<EFBFBD><76>I<EFBFBD> ;F<>0tn<74>M<EFBFBD><4D>p<17><><16><><EFBFBD>0O<06>BLbU.q!,<2C>u<EFBFBD><75><01><><EFBFBD>E<EFBFBD><02>ɀ<EFBFBD>@Q<><51><EFBFBD>6!oqWe<57>dX #<23><>E<EFBFBD>ŰЈ|<19><><EFBFBD><EFBFBD>S<EFBFBD>;=1Y<31>!<21> &K<13><>ꐴ<EFBFBD><EA90B4>g|5<>ҟ~<7E> 3^<5E><><EFBFBD>b<EFBFBD><62><EFBFBD>j<EFBFBD><6A>K<EFBFBD>|<7C>0@R<>B<><42><06><10>g<EFBFBD>2s<32>koYݏ<59>8j<16>mB<6D> <0C>*<2A><>РCG<43><47><EFBFBD><EFBFBD> <1E><><0F><><EFBFBD><EFBFBD>̚<EFBFBD><1B>+<2B><>V<><56><EFBFBD> a<>tV<74>Xsݬb<EFBFBD><EFBFBD><EFBFBD>7`<60>OR<4F>2<EFBFBD>>t<>iU8<55><38><EFBFBD><EFBFBD><EFBFBD>iB<>=<3D><><1B>t<02><>i<EFBFBD><69><EFBFBD>M( <0B><>4<EFBFBD>@ Q<>:`X5<1A>M<EFBFBD><4D><01><>0;<3B>}<0E><>9` <15>0aK<><4B>"<22>A<EFBFBD><41>q<EFBFBD><71><EFBFBD>1<>b" <09><><16>ٮ <09><><EFBFBD>Ht<48>4<EFBFBD>h<EFBFBD>EV<45>&<26>ᅅ(<EFBFBD><EFBFBD>3
|
||||
<EFBFBD><EFBFBD><EFBFBD>E<EFBFBD>7a<EFBFBD>2DX<10><>y <0B>tl<74>a<EFBFBD><61>Bbr)<29><>"<22> o3<6F><EFBFBD>Q<EFBFBD>d<EFBFBD>n<EFBFBD>n<EFBFBD>!<21>dF/w<19><><EFBFBD>$(<28>X<EFBFBD><58>_<EFBFBD>Po<50><6F>ޱg<DEB1><67>uw<75><77><EFBFBD> <1E><>8g=& <0C>>5<><35><EFBFBD><EFBFBD>c<EFBFBD>Zi<5A> H<><48> B<><42><EFBFBD>k<EFBFBD>C<EFBFBD>w<02><<3C><04><>m2<6D>'<27>_a<5F><61><EFBFBD><EFBFBD>TuܴM|'l<>A<EFBFBD>& <0C>3<EFBFBD><33>Bإ<42><D8A5>rM8<4D>x<>:T@"B<>1L8Xj+B<0F>ͧM86<08><> <0C>B|!<21>t<EFBFBD>D<EFBFBD><44>],<2C>ô<>@h-Vi<56><69><19>`
|
||||
%<EFBFBD>
|
||||
<EFBFBD> C<>R<EFBFBD><52><EFBFBD><EFBFBD><EFBFBD>H`<60><><EFBFBD><EFBFBD>U0<12>o<><6F><EFBFBD>d<EFBFBD>/<2F><>m<05>~<7E><><EFBFBD><EFBFBD>i<EFBFBD><69>T<EFBFBD>Yy<13><07>YM8<4D>0M{=<15><>J<EFBFBD><4A><04><>[Z<08><>l<08><>& |@쾘<><ECBE98><1<><31><EFBFBD><EFBFBD>(i;10K<30>p<EFBFBD><70><11>$D<EFBFBD>]<EFBFBD><EFBFBD>P<>q0<11>f&<26><><EFBFBD><19><ÄG<C384><47>Yx<><78>fx0c<1B><><EFBFBD>M8vR<76>B<EFBFBD>8^<5E>.K<>bA<62><41>c<EFBFBD>.H<> }<7D><><EFBFBD><EFBFBD> <1E><>,<16>ؽ-|C+d5<>#ӧagr<67><72>b<>i8<69><38><EFBFBD> <0C>8pl<70><6C>L<EFBFBD>sd<73>O<05><>Ԅ<18>Tv`<60><><EFBFBD>vq<76><71>p<EFBFBD><70><0E><><EFBFBD><EFBFBD><0E>[<5B><>ѧ<EFBFBD><D1A7>]hU7<55><37><EFBFBD>! <0C><>&va`<60><>/eo<65><6F>A<EFBFBD><41>_:<3A>|<7C><>tp<74>wկD?<3F>J2<4A><32>1<><31>ST@<10>+`쁵m<06>^ <20>Յ<EFBFBD><D585><EFBFBD><EFBFBD>b<EFBFBD><62>XHD<48> n<><6E>z<>8H<38>G"C<7F>_g1<67>I$<24><><EFBFBD><EFBFBD>O<EFBFBD><4F><EFBFBD>G[N^<08>D<EFBFBD><44><EFBFBD><EFBFBD><EFBFBD><17>3<>s<EFBFBD><73>3'<27>@\<5C>=`h<>B<EFBFBD><42><EFBFBD><0F><03>dN-<2D>|<7C><>U<18><><EFBFBD><EFBFBD>C<EFBFBD><43><EFBFBD><EFBFBD>/T<>aG(<16> <1C><04> W!# <09><><EFBFBD>HV<>Wu<01>_,<2C>$<24>!<21><>5a`<60>,<18><>c <1F><>C<EFBFBD><43>
|
||||
;<3B><>ـ<EFBFBD><D980><11>t<EFBFBD>0<10><>.tv<>-\3ׄ <1D>Pag<61><06>_<><5F> <1F><>I V<> TaGErm<01><>O<EFBFBD>\<19><><EFBFBD>a<>tiH <>xR#$<24>N<EFBFBD><4E>_z<5F>!<21>ن<EFBFBD> o5E<35>嫰*<2A>y <19><>3<EFBFBD><33><EFBFBD>0<EFBFBD><30>#*0
|
||||
ō+<2B> <00><><EFBFBD><16>-]Y <0B>b<13>/<2F><>: <0B>_<EFBFBD>UUm<55>0V(<28>}<7D>E<EFBFBD>#<23>:"-<2D>C<EFBFBD>F
|
||||
=1w<31>SD<53>N<><4E> 0dׄ<16>j<EFBFBD>]<5D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݛ<EFBFBD>\
|
||||
<EFBFBD>YFɰ<EFBFBD>᷶ Y<><59>ɧr:<3A><><EFBFBD><EFBFBD> <1D>Q<08>C<EFBFBD>[b<><62> <20>8r0<>s-<2D>a<><EFBFBD>x;<3B>Ku<4B><75>Z<EFBFBD><5A><EFBFBD><EFBFBD><EFBFBD>U<02> <00><>&<26><><EFBFBD>8b<38><62><EFBFBD><EFBFBD>##$ \<5C><><EFBFBD>B<EFBFBD>ES<>W<EFBFBD>8R,&<26>݄N6'<27>6Ꮱ<36>Xp<58> <1B><> 4
|
||||
B+v<><76><0F>"d<>s<>,l<18>9)<29><EFBFBD>ЋiB#<23><>!<21><>R<EFBFBD>&<26>x<EFBFBD><EFBFBD>]<5D><>d<EFBFBD><64><EFBFBD>BUP<14>S<EFBFBD><53>v<>J!^<5E>7ץ<37>M<EFBFBD><4D> <1C><>"<22><>iT<05><>'<1A><>D<EFBFBD>xb{<11>Yl<59>!<14><><EFBFBD><EFBFBD>1<EFBFBD>F<EFBFBD>`.<2E>ؤB<D8A4>M!?<16><08> T<><54>c`
|
||||
-/3<><33>^<5E>N<EFBFBD>5<EFBFBD>S<EFBFBD>%z <1D>J<EFBFBD>&<26> Y<>i<EFBFBD>w <20><><06>$C<><43><EFBFBD> -<2D>=<3D><>L4<4C>,B<18><><EFBFBD>2<EFBFBD> UC<55><43>;<3B>yc 3<>S<EFBFBD><53><EFBFBD>"<22><><EFBFBD><EFBFBD><EFBFBD>Mh<4D>u<EFBFBD>LaH<61><48>Mv<>-B̑<42><CC91>4<EFBFBD><34>Ś<EFBFBD>Y<EFBFBD><59><EFBFBD>z+7a<37><61>"<22><><EFBFBD>[H<08> ,D<> <0C>P<EFBFBD> <00><>&
|
||||
<EFBFBD><0E>E<EFBFBD><45><EFBFBD>[<5B>.J<>9MIyk<79><6B>2^7a<37><61>P&*tT<74>}<7D>%o<><6F>C<06>`6<>&<26>X<EFBFBD>BZDX<44>:<3A>_<>q<EFBFBD>Y<EFBFBD> jއ<6A><DE87><EFBFBD>;zFC|<7C>A!<21>RI)<29>t<EFBFBD>n<EFBFBD><6E>^<5E>n6 tc<><63>7<EFBFBD><37>ݣWg<57><67><EFBFBD><EFBFBD><EFBFBD><EFBFBD>a<02><>2^<5E> <0C><>W<11><>p<EFBFBD>/)<29><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>t`"<22>&t <15><><EFBFBD>O/V.<2E>_v<5F><76>!ζ<><CEB6><08>pa<70><61><08><><EFBFBD>o힉<6F>O<03>Cݑ a<>C<> &+<2B>P<EFBFBD>u<EFBFBD><75><12>W<EFBFBD>Մ0 u%J<13><>!<21><><EFBFBD>4<EFBFBD>.<04><> <1C>Yb <0C>S <1D>I <0E>{52vw<76><77>vэ<76>! *<2A><> S<><53><18>0<EFBFBD> En<45><6E> a <09>J$<24><>)<29><><14><>A<EFBFBD> <09>3O<33>4as<61> 1<>u<EFBFBD>y<>"<22><01><><EFBFBD><EFBFBD><EFBFBD><18><><EFBFBD>қ<EFBFBD>^<5E><><<3C>K<><4B>g <0C>́#F+ <00><>j<EFBFBD>!<21> <16>pg25!6yY'"<22><17><><EFBFBD><EFBFBD>aw<61>(<28>%p<> &Fn<<3C>8<EFBFBD><38><EFBFBD>G<08><><EFBFBD><EFBFBD><EFBFBD>fZ<>lg<6C>3<EFBFBD>ǎ=<3D><>/a<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
<17><><EFBFBD><EFBFBD>`;<3B><>!W+a1j<31> <1C>g0<67><30><EFBFBD> <09>Wgi <00><>hSm{<7B>7<EFBFBD>?6<>{<7B><><EFBFBD><EFBFBD>M<EFBFBD>]>
|
||||
#<23><02>-<+|<11>q<EFBFBD>
|
||||
<EFBFBD>o<EFBFBD>O<EFBFBD><EFBFBD>M~<7E><><EFBFBD>v#@<40><>>γ|A><3E><>4<><34><EFBFBD>6b~8<>V81lE<6C><45><EFBFBD>K<EFBFBD>^@@<40>p 6<>.<2E>~$ #<23>h<EFBFBD>y<EFBFBD>f B<>d<EFBFBD> <20> <0C>e<EFBFBD><65><EFBFBD>4<02><><EFBFBD> <0C>`<60><><EFBFBD><EFBFBD>Ӗ <06>N#[Uh<55><68>(0p#$<24>L[) <0C>I[<5B>#<23>><3E>m<EFBFBD>Q<EFBFBD><51><EFBFBD><EFBFBD><EFBFBD>5<EFBFBD>bڲ<><DAB2>We<EFBFBD>-<EFBFBD><EFBFBD>Ȃ<EFBFBD>Ԏ<EFBFBD><EFBFBD>[<EFBFBD>#<EFBFBD>ח<EFBFBD><EFBFBD>B\<5C>,<2C><>
|
||||
fޒ"<22> X<><58>?μ%C<> <00>0<07>cԳv<D4B3><76>+[<5B><><EFBFBD>[<5B>v
|
||||
E<EFBFBD>L<EFBFBD>U o<><6F> <0B>n<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.p<>6_<36><5F><EFBFBD> xm*߹<EFBFBD><EFBFBD><EFBFBD><EFBFBD><18>uT<><54><EFBFBD><12><>
|
||||
{<7B><><EFBFBD><EFBFBD>|'\<5C><><15><>%e<>(D'_;o <09><>[<5B><>yK<79><4B>U<EFBFBD>R<EFBFBD> o<><6F>J<EFBFBD><4A><EFBFBD><EFBFBD>[z^<5E>?8Tu<>-%<25><>n<EFBFBD><11><><EFBFBD><EFBFBD><EFBFBD>ӛ<EFBFBD><D39B>}<7D>hK<68>2ן<32>[<5B>B[rZ 39<33> E8Ӗfl<66>X<EFBFBD>e<EFBFBD>ϴ%%Q<><18>(<28>iK<69>;<3B>8<14><>,HK<48>JnĪ<6E><C4AA>L[<06>gKF<4B>2v3m<33>h<EFBFBD><68>e3<11>L[2Z<32><5A>N<EFBFBD><4E><EFBFBD>3mə ` ]%Cg֒!<21><18><><EFBFBD> άe`<60>%<25><>X <1D><><EFBFBD><EFBFBD><10> <1C>*<2A>YK
|
||||
<EFBFBD>I<EFBFBD>A<EFBFBD><EFBFBD><EFBFBD>d<EFBFBD>n<>Ս{<7B>YK#T<><12>Kf֒B <1D> <0B>20p <0C><><EFBFBD>ƅ<EFBFBD>d<EFBFBD>c<><0E>`-)moӖNXXK<58>O<EFBFBD><4F><EFBFBD>N"ά%<25> 0c@p<> k<>`l$z<>t<EFBFBD>B[G<10><><16>]hK<68><08>/<2F><><EFBFBD> .$0xՙi<D599>ʦÍInZ<6E>|&.<2E>h Z<><17>%<25>b<EFBFBD> <20><><EFBFBD><EFBFBD>[BhqB<71><42><17>R<EFBFBD><52>ht <0B>/<2F>%<25><><EFBFBD><EFBFBD>|* <0B><><EFBFBD><EFBFBD><EFBFBD> L<><4C>-<2D>Q˾\<5C>z<EFBFBD>-<2D>zH<7A>Ě<EFBFBD><C49A><EFBFBD><EFBFBD><EFBFBD>Q<EFBFBD><7:t<>-!$<24>w<EFBFBD>Q&qI+
|
||||
c<EFBFBD>Q<>0<EFBFBD><30>~r|U<><55><EFBFBD><EFBFBD>d<EFBFBD><64><EFBFBD>`<60><>撡H4<48><34><EFBFBD>k<EFBFBD><1A>Ma<4D><61><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD>p[<11>5<EFBFBD>IW<10><>sIa<49><61><14><>\F<><46><EFBFBD>˴<EFBFBD><CBB4>fFRD<> <20><><EFBFBD>%<25>X<EFBFBD>غ<EFBFBD>p<EFBFBD>)D <0B>6 q<>.<05>i<EFBFBD>St<53>]R<>5<EFBFBD>*<2A>Z<EFBFBD>KV9<56><39><EFBFBD>c<EFBFBD>5u)%<25>TA<54>"<22><>Kz<4B><7A><EFBFBD>X<11><> <1C>%<25>:aX<61>wI!lVhFk<46>.)<29>#8<>P<EFBFBD><50>9<>X<EFBFBD><58>B]R<><52><EFBFBD>\<5C><><EFBFBD><EFBFBD><10>
|
||||
<EFBFBD><EFBFBD>7<EFBFBD><EFBFBD>.<2E><><EFBFBD>a~3u<33>X,g<07> u)7Vb,U<><55>a
|
||||
<EFBFBD><EFBFBD>a<EFBFBD>: ]<5D>Kb<>ĶW<C4B6><57>%=w ɍ<13><>K:簗p;<3B>9L(3^s/E<>1<EFBFBD><31>1 <00><0E>}<7D><>\F"<22><>=<3D><> sI<73> <1C>z<>s<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> fH<66><48><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>|z<>8X<38>K<EFBFBD><4B><EFBFBD><EFBFBD><08><>rf.)<29>W<EFBFBD>u<EFBFBD><75>p<EFBFBD>m
|
||||
<EFBFBD>2<EFBFBD><EFBFBD> wI!<21><>m<EFBFBD><6D>]R<08>><3E>k<EFBFBD><6B>]Ra<><61>鿜 ~&<1B> V<17><>]Ru<>VC<13><> +We<57><65>d<EFBFBD>h<><68><EFBFBD>"<22><>K<EFBFBD><4B>#[Z<03> w)<29>
|
||||
cz<EFBFBD><EFBFBD><EFBFBD>]RHǰ%+,<2C>% <1F> B<>5<EFBFBD>=<3D>#<23>xj<1B><><EFBFBD>L<EFBFBD><4C>j+<2B>]D8S<38>2!g<><67><EFBFBD><EFBFBD>d0<05>A<EFBFBD>T<EFBFBD><54><EFBFBD><EFBFBD><EFBFBD><10>)w<>\<5C><>L<>3m<33><6D><EFBFBD>e<13>}<7D>" s <09>~ ,}<7D>0撡
|
||||
<EFBFBD><EFBFBD>l<><6C>\J<>b<EFBFBD><62>Z<EFBFBD>K<EFBFBD>и<>Ք.<2E>%<25>MB<4D><42>y{<7B>HG<48><47><EFBFBD><EFBFBD><EFBFBD>'<27><><EFBFBD><EFBFBD>FQ<46> <0C><><06>$3s <09>Ϙp<CF98>5<EFBFBD>NJG7<47>`<60><><EFBFBD>A]&U<>G+k5S<35>)Ȫ<> <1F>& <1C>e<EFBFBD><65>Ajr<6A><72>]<5D><><EFBFBD> YcOf<4F><66>'<27>ta<74><61>p<EFBFBD>.<13><>`Ό<><CE8C><EFBFBD>]<5D>s<EFBFBD><10>:<3A>96o<36>"<06><><EFBFBD>'<27>2<><32><EFBFBD><EFBFBD><EFBFBD><16>2I<32>+<2B>z3s<33>]<5D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>UsؘRE<52> q<>5<EFBFBD>x<><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD>L<EFBFBD>5<EFBFBD><35>f<EFBFBD>2;&<26>JW5Y<EFBFBD>
|
||||
=<3D><>ؘ"<22><><EFBFBD>LfK2/uv <20>9<EFBFBD>b<EFBFBD>
|
||||
<EFBFBD><EFBFBD>6a'.<2E><> <09><>Q<EFBFBD>qi<15><><EFBFBD><EFBFBD><EFBFBD>E81<38><31>/<2F><>D<EFBFBD><44> ;<04>1~<7E><><EFBFBD><EFBFBD><1B>;1<><31>9<EFBFBD>\K<><4B>q <09><0E>T;<3B>8<EFBFBD>K<EFBFBD>O<EFBFBD><4F>7<EFBFBD><37> <1C>><3E><>x<0E>h<><68><EFBFBD>s<EFBFBD>3m <09><>W=<3D>t<EFBFBD>--<2D><><EFBFBD><EFBFBD><EFBFBD>L[2<>p<EFBFBD><70><16>RR <00>?5n<35><6E><EFBFBD>@<40>X<EFBFBD><58>K<EFBFBD>Ӌ<EFBFBD><D38B>$<24><>5-j<><6A><EFBFBD><3<><33>E<EFBFBD><EFBFBD>
|
||||
kɴ4<C9B4>y
|
||||
G,<2C>%<25> 6<><36>b<EFBFBD><62>3kI<6B><05><17>;<3B><><EFBFBD><-<2D><><EFBFBD><EFBFBD><08><><EFBFBD><04>QdX[<5B>pa-IVah;<3B>ZXK<58>
|
||||
Lt<EFBFBD>B<EFBFBD> k<>%<1A><><EFBFBD>tzq<7A><71><EFBFBD><EFBFBD>`<60>J<EFBFBD><4A>
|
||||
k<><6B><06><19>C<0E><><EFBFBD>LX<4C>g<EFBFBD>l<EFBFBD><6C> G<><47>ZV<5A><56>Y#-<2D>N-<0E>V<><56><13>O<EFBFBD><4F> <1C>e<EFBFBD><10>IM8K<EFBFBD><EFBFBD><EFBFBD>ͬ<EFBFBD><EFBFBD>X<EFBFBD>
|
||||
<EFBFBD><11><>
|
||||
g<EFBFBD>20<EFBFBD><EFBFBD>U8<18><><EFBFBD>TE<17>7ag,<2C>Fs`FV<46>:c<>5*<2A>|<7C><>3a<19>m<EFBFBD><6D>!v<>q<10>f<>f<07>8K9<><39>e<EFBFBD>.<2E>%<25>~0<>x<EFBFBD>FX<06><><EFBFBD>Eo:'9K
|
||||
>ȍ<07> K
|
||||
<EFBFBD>q<EFBFBD> KIU<49><55><EFBFBD><EFBFBD><EFBFBD><EFBFBD>AXR<58><52>c<EFBFBD>e<EFBFBD><65>S<><53>`<60>g<EFBFBD>2<10>[m:s8<73>J<EFBFBD>,3P[<5B><>l%<25><>2݅<32><DD85> $p<><70><EFBFBD>.<2E><> <20>%4O<34>4<EFBFBD>`+i%U<>Q<EFBFBD>3[<19><>0<0F><>J
|
||||
#
|
||||
`<60><> +)<29>Ь%<25>-d%
|
||||
.<2E>\<18>* d%<25><>\<5C><>g<><67><EFBFBD>j<EFBFBD>6腬<36><E885AC><EFBFBD>m\<5C>p<EFBFBD><70><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>i<EFBFBD>AV2| <0C>2<19>_;<3B><>@<40>*$<24><>7<EFBFBD>`+i<> )fZ<11>le`*)<29><>leXb<58>[I<><49>gkt
|
||||
<13>le`&2<>T<EFBFBD><EFBFBD><EFBFBD><EFBFBD>VB<EFBFBD><EFBFBD>;:<3A>M8<4D><38>H <0E><><EFBFBD>H/le$;i<06><><EFBFBD><EFBFBD>4<EFBFBD><EFBFBD>
|
||||
<EFBFBD><EFBFBD><EFBFBD><EFBFBD>9`/<2F> <09><>V2<56><32><EFBFBD><06>5<EFBFBD>`+a<>W <0C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>")<29>+<2B><><EFBFBD>J}<7D><>]<5D>JY<17>ͬ/t%<25> <1B><><EFBFBD>S<EFBFBD><53><EFBFBD><EFBFBD>ga{<7B>
|
||||
<EFBFBD>,|%<25><><EFBFBD><EFBFBD>k<EFBFBD><6B><EFBFBD>W<EFBFBD><57><EFBFBD>e<>+<19><>L<EFBFBD>q0M8<4D>J<EFBFBD>ueY<65><59> _I<5F>KG<4B>k<EFBFBD> ;_I, m[<5B><><EFBFBD>W<EFBFBD>
|
||||
<EFBFBD><EFBFBD>'<27><>[_)TI<><49>tN|%dvN|\<5C>J<EFBFBD><4A>`<60><><EFBFBD>? |%<25>]<5D>Śp<C59A><70>Φk<CEA6>+S<>:<3A><><EFBFBD><EFBFBD>.teb<65><06><><05><16><><EFBFBD><EFBFBD>g.~ݩ<>AW<41>iW<69><57>AWf<57>"<22>g<EFBFBD>-t%<25>)L<> ]<5D>3<><33>(P<><50><EFBFBD>s<EFBFBD>U2<55><11>(<28>LW<4C><57> ٣<> <1F>p<EFBFBD>+<2B><>z<7A><D7BC><EFBFBD>bC?3<0F>
|
||||
<EFBFBD>DW:"o<><6F>C<EFBFBD>\f<>+ O<><4F>=<3D><><EFBFBD><EFBFBD><EFBFBD>э<EFBFBD><D18D>s< <0C>wW<77><EFBFBD><7F><EFBFBD><EFBFBD><EFBFBD>/<2F> <1E><>Y<EFBFBD><59><EFBFBD><7F><EFBFBD><EFBFBD>N 'Z<12>§<12>}<7D>%<25>)<29>8<EFBFBD>נ%Y7<03>WNL<4E><4C>$ ]ػ<>Ӕ"<22>p%9덖<39><EB8D96>/<2F><><EFBFBD>J<EFBFBD><4A><12>uAJro<<3C><>J<07>B<EFBFBD>r
|
||||
sa%<25>Z<EFBFBD>P<EFBFBD>趒<EFBFBD><E8B692><EFBFBD>!<21><>*[HI<48>? + m<>$APVh<>r<EFBFBD><72>$?<1B>7
|
||||
'<27><> '<27>7<EFBFBD><37>$wN4<4E>m<EFBFBD>-<2D>$<24> <1C><><EFBFBD><EFBFBD>̅<EFBFBD>d*|4_Ψ<CEA8><EE9CA4>2+% <11><><EFBFBD>ܱQ<DCB1><ڦ<1B><>Q<EFBFBD>dZ1Q<31>v<EFBFBD>Q<EFBFBD><51><EFBFBD><EFBFBD><EFBFBD>\e^<5E><>db<64>ι<EFBFBD> <09><>$6<04>o=<3D><>q<EFBFBD> <0C>+q<><71>l<EFBFBD>$<19>1<EFBFBD><31><EFBFBD>*<2A>8s<38><73>f&<26><>T8͏^9I-P<><50><EFBFBD>E<EFBFBD>
|
||||
<EFBFBD> 褛g<E8A49B>r<EFBFBD><72>i TͿY9I<39> <1C>]X[<5B><>[8I<38><49>!u<>Z I<>sIX<49><58><EFBFBD><EFBFBD><EFBFBD><EFBFBD>^<5E><>FҾ<46>[<5B>~<7E>0<EFBFBD><30>˘<EFBFBD>p<1B><> # !<21>5<EFBFBD>a%:F<>4 <00><>vve$<19><> <1E>*<2A>ZIf<49><66><EFBFBD>v5<76><35>2<EFBFBD>b S<><53>L<EFBFBD><4C>H<EFBFBD>B<>=<3D>qe$<24>#b<C<><43>XI<> <0B>Ѷ<EFBFBD><D1B6><EFBFBD>#<23>
|
||||
<16><><12>WB<57>A<13><><EFBFBD>!<19><>XQ.<2E>db<64>Ñh<C391>>gB<67>1t]+ <EFBFBD>
|
||||
<EFBFBD> <00>[<5B>:<3A><>b<EFBFBD><01><>!<21>y<EFBFBD> #<23>>r!$I<15><>R<EFBFBD>|$]px<70><78><EFBFBD>[<5B>H<EFBFBD>Xa<1A><><EFBFBD><EFBFBD>\<07>_<EFBFBD><5F>Z<EFBFBD>H<EFBFBD><48><EFBFBD>xB<78><42><EFBFBD>\<5C>H<EFBFBD> <1F><><EFBFBD>k<EFBFBD>|$<24>.7<><08>vr<76><72>u;<3B>脢<EFBFBD><E884A2>|a<>E<>ґ<EFBFBD>O
|
||||
<EFBFBD><EFBFBD>Dž<>T<EFBFBD>#g;W<>Б<EFBFBD>3<EFBFBD>LԦ6:;o<><6F>uMG<16>q<EFBFBD>T<EFBFBD>FG.<2E><>; <19> <1F>c<EFBFBD>+ <1D>a <1F><><EFBFBD>BG<42><15><><EFBFBD><EFBFBD>BG<42><47><EFBFBD>z <1C>Y<EFBFBD>H <1E><>ץlg ':<3A>3<EFBFBD>t:)<29>ё<EFBFBD>Y[<5B><>1<EFBFBD><31>H=<3D><>w>@<40>bm<62>Ӓ i<><69><EFBFBD><EE9D8F><EFBFBD>=<3D><><EFBFBD><EFBFBD><EFBFBD>&5<><EFBFBD>#y <0C>>pn<>$cɦw<C9A6>FH<02>46ju'$K<>`?h<><10>,<2C>ȂM<><11><l<><6C> Iz6<7A>(<28>NHb<48><62>0<EFBFBD>~\r"$I<>(敽<><E695BD><EFBFBD><12><><19><>,<2C>$<24>6H<36>2<EFBFBD>pb$<24> <1C><><EFBFBD>n<EFBFBD> #)<29>i<EFBFBD>=Ssa$<24>}Fڐ<46>hό$ L;<3B>9I<><49><EFBFBD><0E><><10>䅰<EFBFBD><E485B0>fCB2I9<18>J(<28>|<7C>x<EFBFBD><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>H
|
||||
yΥ<EFBFBD>{/|$<24><02><><EFBFBD>d<EFBFBD>|$}Z@<40> <1E>[<5B>H
|
||||
C<EFBFBD><EFBFBD>* Br<}S<>3 Io<49>D<EFBFBD><44><EFBFBD>ɾ<1B>r<EFBFBD>ʽ8LIgK<>;<3B> Ig80<38>tu<74><75>ΰ<EFBFBD><CEB0>7egB2<42><32>& w!$<24><>u<EFBFBD>NW<4E><57>e<EFBFBD><65><EFBFBD><EFBFBD>3<EFBFBD>KF<><46> <00><><EFBFBD><vF<76>@<40>tl<74>pP<70> <19><>r<EFBFBD>$<24>!0 <1F> (](Iz<49><7A>)<29><>@+%<25>נw<D7A0>8i9Q<39>X <1E><>^R<><52><EFBFBD>
|
||||
G<><47><EFBFBD><EFBFBD><EFBFBD><EFBFBD><12><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>BCy<43><79><EFBFBD>3%<25><>x h<>7<EFBFBD><37>3a8<61>^K%X(<28>\2<>z0<7A><30>d&;<3B>GB<47>LI<4C>_3PfJ<66>B/<2F><><EFBFBD><EFBFBD><EFBFBD>NIR<49><52><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>$<24>e<EFBFBD><65><EFBFBD>Q<EFBFBD><51><EFBFBD><EFBFBD><EFBFBD>1<EFBFBD><31>%<25>͔$<EFBFBD><EFBFBD>1<EFBFBD>F<EFBFBD>ϔ<EFBFBD>d<><64>a <0B><><EFBFBD>DIR<49>Ez<>u<EFBFBD>$y<> f5<66>Y<EFBFBD>1Μ<31><CE9C>v<02><07><>v<EFBFBD><76>2B<32><42><EFBFBD>0<EFBFBD><30>r<><72>{<7B>) #<23>R-Pe}<7D><><EFBFBD>Z<><13><><EFBFBD><EFBFBD>
|
||||
0<EFBFBD>Ž<EFBFBD><EFBFBD><EFBFBD><02><01><>oc<6F>3+ɳ<><C9B3><EFBFBD>1<EFBFBD>[<5B>
|
||||
V<EFBFBD> !<21>e6
|
||||
<EFBFBD>ά$<24><19>R
|
||||
c/<2F>SZ<EFBFBD><EFBFBD><EFBFBD> ,<2C>Ѳ3+<2B><>
|
||||
<EFBFBD>V<>p<EFBFBD>Y<EFBFBD> <1F> +<2B>ӂ<EFBFBD>;ej<65><6A><EFBFBD>Ja!<21>R[<5B>3+ɓ{<7B><><EFBFBD> <00>LK<4C>4I<34>r<EFBFBD><72><EFBFBD><EFBFBD>iIˀ<49><CB80>b,<2C>$0 <0B><>z<EFBFBD><7A><EFBFBD>K\0<>B<EFBFBD><42><EFBFBD><EFBFBD>Ĥc<14>O<EFBFBD><4F>LL?`<60><><EFBFBD>ab<>H <1C>.<1B><> rVl΅<6C><CE85><EFBFBD>4<01>M8<13>N<EFBFBD>3xk<78><6B> <1C>$<24><06><><EFBFBD><EFBFBD>D<EFBFBD><10><4#<23><>Z <1F><>$<24> <1D><>cK Z<>I<EFBFBD>8<EFBFBD>O<EFBFBD> <0C> &y<><79><EFBFBD><EFBFBD><EFBFBD>e<EFBFBD>0<F092B4B6>=<02><><EFBFBD><EFBFBD><EFBFBD>i*<2A><><EFBFBD><EFBFBD><<3C>"<22>Hu<48>q<71>!*<2A>x<EFBFBD><78>K<EFBFBD>+#<06><><EFBFBD>Yx<59>ȉI5u<35>s<EFBFBD><73> cjT<6A>ڈI<DA88><1B><> L.NS2Ҭ<32> <1F><><EFBFBD><EFBFBD>&<26><><EFBFBD><03><><EFBFBD> <1C>$<24>\nP!&3Y<33><59><EFBFBD><EFBFBD><EFBFBD>KfL|<7C> <20><>/<>Ğ ك<><D983><EFBFBD><EFBFBD>K<EFBFBD><4B><EFBFBD>wa<77><61><EFBFBD>xI<78>+(<28>d<EFBFBD>i<EFBFBD><69>K:<3A><>$tq<74>Z31Ia<49>`6<>m"&<26>b<EFBFBD>iʒ<69><CA92>I<EFBFBD>_Y<5F><59><EFBFBD>`ϼ$eX<65>õ<EFBFBD>yIl2<6C><32><EFBFBD><EFBFBD>N=v^<5E>B<EFBFBD><42>a<EFBFBD><61></Ia<49>?<3F><<3C><>f<>꺿<EFBFBD>c\<5C>"<22>|<7C><>s<EFBFBD><73>Yj3<><33>b/m<><6D>Vf<56><66><EFBFBD>6<EFBFBD>*<2A><><EFBFBD>B<EFBFBD>&u#<23>'f<>B<EFBFBD><42> <00><><EFBFBD><EFBFBD>Cg<06>5<EFBFBD>n<EFBFBD><6E>]O<>$<24><>@<40><> 31IY<49><59>U؉I<D889>S<EFBFBD>{<06><>5a<07>Nd<><18>LLRf<52><66><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>#<23>m{<7B><>KRV.]i}7<11>h<>q<EFBFBD>xI<78>r<EFBFBD><1A>o<EFBFBD>@<40>i<EFBFBD> ^<5E>xI<78>?<3F>pp0m<30>eG<65><47><EFBFBD>Ow=<3D><><EFBFBD>cI:<3A>K<EFBFBD><EFBFBD>
|
||||
<EFBFBD> ऴܔ<E0A4B4>2<32><18><>G>/I` <00><><EFBFBD>yI<79><1A><>; <1F>$l<>~<7E>Cp<43><EFBFBD><7F><EFBFBD>c& <EFBFBD>
|
||||
<13><>M̄<4D><CC84>|<7C><<3C>U<EFBFBD><55>}<7D><11><><EFBFBD>H<EFBFBD><17>A<EFBFBD>G<EFBFBD><EFBFBD>
|
||||
(Y<><08>y ʕm+!<21>,<2C><><EFBFBD>NDX)/<14>Ng"<22>(2<>]<5D>-Te<><65><EFBFBD>C<EFBFBD><43>UV<><56><EFBFBD>t<EFBFBD>FEA<>B<EFBFBD>o\)4<><14><><10><>E<EFBFBD>=U <09><><EFBFBD><08>ރwS<77><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɞBF0a +4<> 2B<32>ÝϕpX<70>&<26>x<EFBFBD>G<EFBFBD>+^<05><><EFBFBD> ,dD<64><44>J<EFBFBD><4A>c<EFBFBD><63><11><><EFBFBD>IX<49>\<5C>l<04>U|<7C><><EFBFBD>mlMU<4D>?<3F><><EFBFBD>nҘ<6E><D298> [<5B><08>!<16><><EFBFBD>ze#X
|
||||
<EFBFBD><EFBFBD><EFBFBD><EFBFBD>^<5E><>sK<73>ݵ<EFBFBD><DDB5>v@<40><EFBFBD>d<EFBFBD><64><EFBFBD><EFBFBD>y4c<1A><<3C><11>8b<38><62>E6<45>><3E><>T9<54>E<EFBFBD>]<5D><><[<5B>v:<3A><><EFBFBD>.<2E>JF<4A><46>j.d<04>7<EFBFBD><37>\?n<>#
|
||||
a=<3D><> <1F>|<04><>b h-<2D><><EFBFBD>t<>Н
|
||||
k<EFBFBD>|#<23><>Ж<EFBFBD><D096><EFBFBD><<3C>ȪI<C8AA>WY<57>:<3A>%<25>[<5B> <1F>e<EFBFBD><65><EFBFBD><EFBFBD><EFBFBD><EFBFBD>GhzD#V<><56><11><>X<19><><06>UJ<55><4A>Y<EFBFBD>#<10><><EFBFBD>"\<5C>B$<24> ]<5D><><EFBFBD>G8rxѴJ<D1B4>;!̑S;k<><6B><EFBFBD><EFBFBD>>6<>B<><42>$؋Y<D88B><59><08>R<><19>d<EFBFBD>CN<><4E>`<60>t}BJj<4A><6A>ij<EFBFBD><C4B3><EFBFBD>5<EFBFBD><35>53<35>pIm<49><6D><01><><EFBFBD><EFBFBD>5}<7D><><EFBFBD>n<EFBFBD>n+%<25><><13><>5<EFBFBD><35>Ԓ<EFBFBD><D492><EFBFBD><7F>=-<2D>D<EFBFBD>;0<><30> %<25>0<EFBFBD><30>}<7D><><17> <19><><EFBFBD><EFBFBD>Q`ה<><D794>h|3 <20>$h [<5B><><<3C>8 <09>4<EFBFBD><14>tkS3'<01><><EFBFBD>m<EFBFBD><6D>;'<27><><06><><EFBFBD><D78D>9 <09>:د<>)<29><><EFBFBD><06>ql$I<><49>d<02><>m<EFBFBD>)2<11>k<EFBFBD><6B><EFBFBD>=s<12> <20><>)<29>JS<4A><53>)<29>6U<36><55><EFBFBD>IX<49><58>9}<7D>$(<04>b}<7D>wN<77>B1 -<2D>2s<12><><EFBFBD>#<23>*<2A>s<12><><EFBFBD>N<EFBFBD>"fNB" <1E>p<EFBFBD>"<22>3'A<><41>~x<0E>[<5B><>k<EFBFBD><6B><EFBFBD>ډ<EFBFBD><DA89>0<EFBFBD>Ii<49><69>?K5<4B><35> <1F>!mTs<54>gN<67><4E><<3C><>ϔ<04><> <09>z<EFBFBD>a<EFBFBD>$J<><4A>eR<65>;%A!<21><>`<60>fJ<66>Q |<7C><><EFBFBD>7<EFBFBD><37>;<3B>4<EFBFBD><34><EFBFBD>o<EFBFBD>N<EFBFBD>/<2F><>`<60><>ĉ<EFBFBD><C489><EFBFBD> <09>M'F<><46>d<EFBFBD>O<EFBFBD><4F><EFBFBD>H<EFBFBD><48><EFBFBD>м<>t<EFBFBD><74>?e<><08><13>o<EFBFBD>#<23> X<><58><EFBFBD><EFBFBD>& Y<><59>`<60>zlk<6C>$(<28><>R<><52>߉<EFBFBD><DF89>,<2C><>g<EFBFBD>U;3"<22>P<EFBFBD>'J<><4A><EFBFBD>azF<7A>L<EFBFBD>LI<4C><49><EFBFBD><12>n{3%!B<>j<EFBFBD><6A>v<EFBFBD>$DH*<2A><>wJ<77>B<EFBFBD><42>{<7B><><EFBFBD><EFBFBD>!x<>m<>( Ψg<CEA8>$DƚήN<CEAE><4E><EFBFBD>!<21>YM\Y)
|
||||
k0<EFBFBD>6<EFBFBD><EFBFBD>Y4R<EFBFBD>f<EFBFBD><EFBFBD>3%!Btr/^3S"dD<64>UW<55>)<29>"<22><>;O3%Q<>Rů
|
||||
'J<><08><>uJ<><4A>l<><6C>)<29>"<22>bb3%!B`*̯wJ<77><08> j:<3A>1<EFBFBD><31>(d<><64><EFBFBD>\<5C>LI<4C>WP<57><50><EFBFBD><EFBFBD><08><><EFBFBD>3#A<><41>-<2D><><EFBFBD><EFBFBD>(<28>!<EFBFBD>
|
||||
` l<><6C><EFBFBD><EFBFBD><10><><EFBFBD>}͌<><08>\A<><41>X<EFBFBD>-<2D>ҙ<EFBFBD><D299>0<EFBFBD>qᙑ0lW<6C><57>U7F<37>B͈h; 23F*G<><47><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>5g{<7B>f$(<28><>h<EFBFBD>[!A<19>;<3B><>^<5E>q<EFBFBD>І<EFBFBD>&$<24><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>3<12><>pl<70>Fj!<21>c<EFBFBD>;!A<>$<14><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>!<04> E<>fB°2&x+=<3D><12>U<EFBFBD><EFBFBD>q<EFBFBD><EFBFBD><EFBFBD><EFBFBD> $ <20><><EFBFBD><EFBFBD>҄X<>;N,j<>يNHX"<22><><EFBFBD>b<EFBFBD><62> /<EFBFBD><EFBFBD>8<EFBFBD><EFBFBD><EFBFBD><EFBFBD>BHX <1E>ô<EFBFBD>m̄<>%<25>><3E><>^ Bl<><6C> !<08><>G݂.<2E><>Ӗ<><D396>Z '<27><>0%<25><><EFBFBD>LH8<48><38>M<EFBFBD><4D>B<>3C<33><43><EFBFBD>v<EFBFBD>j&$<24>T
|
||||
!u<>a<EFBFBD><17><>9<EFBFBD>x<EFBFBD>#<23><><EFBFBD>G<EFBFBD>w݄<03>H<EFBFBD>Y.<2E>ş<><08>k<EFBFBD>Pg<50>q<EFBFBD>|<<3C><02>8 <1F><>\<5C>ч_><3E> 3,<2C>3<EFBFBD>3 Ar!lf><3E><><EFBFBD>>EK<45>_<EFBFBD>N<><4E><EFBFBD><EFBFBD><EFBFBD><11>M<EFBFBD><05><><EFBFBD><EFBFBD>G<EFBFBD>r <00><>@<40><>GH?ê<>*p3!<21><><EFBFBD>S<EFBFBD><53>BH<42>/<2F>T<EFBFBD><54><EFBFBD>?<12>s<EFBFBD>j<EFBFBD><6A><EFBFBD>O4
|
||||
<EFBFBD><EFBFBD><EFBFBD>O<EFBFBD><EFBFBD>ٚp<12><>e<>W<EFBFBD> <1D>O<><4F><EFBFBD><EFBFBD>3!A<><41>J<EFBFBD><4A><EFBFBD><EFBFBD># $h<>m<EFBFBD><6D>8<12><><11><>^ 95)<29>z<EFBFBD><7A><EFBFBD>HH=WQ?<0F>pd<>G<EFBFBD>y!%$<24><>6۾ra<><61>c;+<2B>Y<EFBFBD>
|
||||
<EFBFBD>@<40>.젒<><ECA092>)<29><>M6<4D>JA<4A><41>!#<23>: <1F><>0I<30>i<EFBFBD><69>I<EFBFBD>#<23><><EFBFBD><EFBFBD>܄<03>f <11><><02><><04>q\,<2C> <1D><>[9
|
||||
~<7E><>g<EFBFBD>2<EFBFBD>nX<6E><58> <1D>Y8 <09>U<EFBFBD><07><>p<12>ެ<EFBFBD>u<>&NBɑ<42>ZLj'%h<><68>^w<><77>z<7A>J<EFBFBD><4A><EFBFBD>s}0<><30>u<EFBFBD>b"%ȅ1<1A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ઙK<E0AA99>.<2E><04><>J<EFBFBD><4A>&<26>H <09>E<EFBFBD>V<>{:<3A><><EFBFBD>:e1X <09>Z<EFBFBD>A<>,+!<21><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>l<EFBFBD>aVB2&'s<>%(d<><64><EFBFBD><EFBFBD>/<2F><04>ĉ<EFBFBD><C489><EFBFBD><EFBFBD><EFBFBD>P OX<4F><58>Ʀμ<04>"Sy]?5x <09>%<25>t<EFBFBD>b<EFBFBD>%<25>vP<76><04>ʹ<EFBFBD>b<EFBFBD>:F0G<30><47>AK(4<>W悖 <20><><EFBFBD>s<><73>C<EFBFBD>%<18>HX3<58>R
|
||||
ZB<EFBFBD>4Ӓ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>@%<25><><EFBFBD>t?<3F>ԏK<D48F><4B>è2@ݻ<D885><DDBB><1A><><EFBFBD>P<><50>K a(<11>V<EFBFBD>n:.Ef<0F>:<3A>~<06> <1F>^S<><53>Vχ<56>H<EFBFBD>EL`(<28>K4<4B><34>Rd<52>x<EFBFBD>)<29><><EFBFBD><EFBFBD><14><><EFBFBD><EFBFBD><EFBFBD>&쇥H<EC87A5><48>d)\<5C>^<5E><11> <1F><>J <1F>6<EFBFBD><36><EFBFBD><EFBFBD><EFBFBD>- <20>/<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>p(<28><>W<EFBFBD><57><EFBFBD><EFBFBD>Ei<45><EFBFBD><D7BF><EFBFBD>w^<5E>w<EFBFBD><77><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <><7F>7<EFBFBD><37>/l
|
||||
<EFBFBD>2<><32><EFBFBD>_<EFBFBD><5F><0F>f<EFBFBD><14><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>r<EFBFBD>CE[5<><35>/<2F><><EFBFBD>Z)<29><><EFBFBD>"N<>z,<2C>N<EFBFBD>p<EFBFBD>{<7B><><EFBFBD><EFBFBD><EFBFBD>H<EFBFBD><48><EFBFBD><EFBFBD><EFBFBD>e<EFBFBD>u. <09>M<EFBFBD><4D>щ&<26>LzFh<><68><EFBFBD><EFBFBD><EFBFBD>D<EFBFBD>x<EFBFBD> Y6<59>9<>]5<> <1F>h<EFBFBD>5,^<5E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>D<EFBFBD>|<7C><><EFBFBD><EFBFBD>$<24><17><>><3E> h<>ԡ&Zp<03>W<EFBFBD><57>L<EFBFBD>N4<4E>g<EFBFBD>X<EFBFBD><58><03><EFBFBD><DEB9><EFBFBD><EFBFBD>D<EFBFBD><44><EFBFBD><EFBFBD>hB <1A><>M<EFBFBD><4D>щ&<26>L<13>Wr<>i2?:<3A><>Т;<EFBFBD>
|
||||
A<EFBFBD>&<26><>M<>ll<6C><6C>[Z
|
||||
M<>G'<27><><EFBFBD>ؘI<D898><49><EFBFBD><EFBFBD>7M<37>G'<27><><EFBFBD><EFBFBD><EFBFBD>@N<>S<>&<26><>M<>ll<6C><01><><10>љ <1F>hrfc#Ͼ;FϺ<46>] h<><68>ll<6C>7<EFBFBD>KS<><53>3?:<3A><><EFBFBD><EFBFBD>F)8g<><67><EFBFBD>5<EFBFBD> <1E>hrfc#<23><><02>3E<33>i2?:<3A><><EFBFBD><EFBFBD>F<EFBFBD>^Z<0E><>y2?:<3A><><EFBFBD><EFBFBD>FW<46><57>F<EFBFBD>m<EFBFBD><6D><EFBFBD>D<EFBFBD>Ck<><6B><EFBFBD>X<1B><><EFBFBD>ˣMm,<2C><0F>e<EFBFBD>:*X <1E>hrhc<68>zJ`+<2B>љ <1F>hrhc<68>g<EFBFBD><67> <20>ʦ<EFBFBD><CAA6><EFBFBD>D<EFBFBD>C<1B>k<EFBFBD><6B><EFBFBD><EFBFBD><EFBFBD>;<3B><><EFBFBD>zuha<19>Y<EFBFBD><59><EFBFBD>щ&g60ʻ<30>]ˣM<>,l`5<><35><EFBFBD>Z <1E>hrfa<03><>V<EFBFBD>kyt<79>ə<EFBFBD>
|
||||
|
||||
x<EFBFBD>Ľ<EFBFBD><EFBFBD><EFBFBD>:r-8?O<>_<EFBFBD>v<EFBFBD><76>$`p<>U x<><78>gfxԍ*<EFBFBD><EFBFBD>5<EFBFBD><EFBFBD><EFBFBD>_<EFBFBD><EFBFBD>
|
||||
<EFBFBD><12><>ɓ<EFBFBD><C993><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Σ<EFBFBD>m1$<24><><EFBFBD>X<11><><EFBFBD><EFBFBD>ym<79><6D><EFBFBD><EFBFBD><EFBFBD><EFBFBD>\|<7C><><EFBFBD>e{<1B><><EFBFBD>/\<5C>߿8<DFBF><38>{<7B><>&<26>N<EFBFBD><4E>=<3D><><EFBFBD>w)Ť<>9<EFBFBD><39>y<EFBFBD><79><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϳ<EFBFBD><CDBF><EFBFBD><EFBFBD><EFBFBD>⍕}<7D><EFBFBD><7F><10><EFBFBD><7F>/<><7F><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>_<EFBFBD><03><>
|
||||
<EFBFBD>Y <0C>a<EFBFBD><61>4/<2F>_<EFBFBD><5F><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>_<EFBFBD><5F><EFBFBD><EFBFBD>ż<EFBFBD><C5BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>4<EFBFBD><34><EFBFBD><EFBFBD><EFBFBD>mCI.<18>DR<44>D<EFBFBD><44><EFBFBD>)<29>mb<6D><62><EFBFBD>8d0<64> <1B><>H<EFBFBD>hK<68>6w!ԥ%!<21><>wѿ<77><D1BF><EFBFBD><EFBFBD>sT<7F>4<EFBFBD>+<2B><><EFBFBD><EFBFBD>><3E>ԆW<D486><57><EFBFBD><11><><EFBFBD>4<><34><EFBFBD><EFBFBD>_<EFBFBD><5F>t_<74><5F>(<28>y<EFBFBD>l<EFBFBD><6C>~ <1F><><EFBFBD>r<EFBFBD>59R|<7C><14><><EFBFBD><EFBFBD><EFBFBD>1^<5E>/G^<5E><0F><EFBFBD><0F> å<>r<EFBFBD>59bz<62><7A>Y <1F>>?<3F>K<EFBFBD><4B><EFBFBD><EFBFBD>_Ŀc<C4BF>.%<25>wA<77>K <0B><>םU|<7C><><EFBFBD>1<EFBFBD><31><EFBFBD> <0C><04>k<EFBFBD>x<EFBFBD><78>B6.<2E><>/-<08><>A<EFBFBD>㨛<EFBFBD><E3A89B><EFBFBD><EFBFBD><EFBFBD><EFBFBD>A<16><><EFBFBD><EFBFBD><EFBFBD>K<EFBFBD><4B>Pf<50><66>A<16><>)o<>M<EFBFBD>~<7E><><EFBFBD>xiA<69>E<EFBFBD>j<EFBFBD><6A>&yS<79>U3^ZdQ<64><1A>6.gݮ<67><DDAE>K <0B>,*<2A>-<2D><>7<EFBFBD>s<EFBFBD>/-<08><>Y7|<07>r<EFBFBD><72><EFBFBD><EFBFBD> <0C><16><>EͺY<CDBA><59>a<EFBFBD><61><EFBFBD> <0C>YӬ6<D3AC> <0C>><15>sD]ZdM<64>b<EFBFBD>[<13>7|<7C>#<23>҂ k<><6B><EFBFBD><EFBFBD>6&<26>dv+Q]ZdM<64>B<EFBFBD><42>#,<2C><>U<EFBFBD> 2\ZdM<64>ڀ<EFBFBD><DA80>2l<32><6C> P<>YӬ6<D3AC><36><EFBFBD>`%{<7B><><EFBFBD><EFBFBD>҂ k<><6B><EFBFBD>oڶ<6F><DAB6>V<EFBFBD>.<2E>piA<69>5͊%<25><>lܾj<DCBE>K <0B><>iVk<56><6B><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>f<EFBFBD><66><EFBFBD>Y<EFBFBD>iVk0<6B>v<EFBFBD>ԥA5+<2B>Z W<>8kvA<76>K <0B>,j<>-Ї<19>+uiA<69>Eͺ:u<><75><EFBFBD><EFBFBD><EFBFBD>.-<08><>Y<EFBFBD><59><EFBFBD> <1E>T
|
||||
<EFBFBD>oz<EFBFBD>҂ k<><15><><EFBFBD>hK]ZdM<64>z[xS<78><53><EFBFBD>.<2E>piA<69>5<EFBFBD>jr~G<>O<EFBFBD><4F>;X<>҂ k<><6B><EFBFBD><EFBFBD>p<><70>F<EFBFBD>dU<64>YӬ&rT<72>̔<EFBFBD> Q<><16>gk<67><6B>`<60><>p<EFBFBD><70><EFBFBD>v=<3D>.-<08><>Y
|
||||
v8xS<16>>Y<>K <0B><>iV<69><EFBFBD><EFBFBD><EFBFBD><EFBFBD>S<EFBFBD>YӬ<59>o<EFBFBD><6F>==uiA<69>E<EFBFBD><45><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>~K<>K <0B>,jV<6A><56> <00><0E><><EFBFBD>F<EFBFBD>K <0B>,jV<6A><56> 6ٶ<36>}<7D><><EFBFBD>YԬpt<13>)<29>w<EFBFBD>6^ZdM<64>b<EFBFBD><62>p<EFBFBD>B<EFBFBD><42><EFBFBD>xeA<65>5<EFBFBD>Z,=<3D><>]_<>Å&`M<><4D>D<44>oq<6F><71>t<EFBFBD><74> ƚF<C69A><46><EFBFBD>7<07>'<27>b W<16>Xӧy{<07>U<EFBFBD>W<16>XӦ<58><D3A6> &iJ<69><19>,<2C><><EFBFBD>KS K<>\<5C>z<EFBFBD>G<EFBFBD>A K<><4B>6<EFBFBD><36>R<EFBFBD>Ĉ bX _-<2D>^8- l<>yg<79><67>r<EFBFBD><72>M16=<3D><><EFBFBD><EFBFBD><EFBFBD>x<EFBFBD><78>ƑI<C691><49><EFBFBD>O<EFBFBD><4F>{43<><7F><1B><><EFBFBD>vEyb}%<25><>F<01><07>~<7E>M<EFBFBD><0E><>a<01>6<>A<EFBFBD>O}<7D><>E<EFBFBD>S 椇<>N[<5B>t<><74><EFBFBD><EFBFBD>yp<12><>1<7F>0<EFBFBD>
|
||||
<EFBFBD>3<EFBFBD>~<7E>+$<24>0]<5D><>%!%g<>6O!<21><>mK<6D>yI[<5B>ӯG.<2E> <1F><><EFBFBD>i<EFBFBD>/<2F><> ;t<><74><7F><7F>?<3F><17> _<><5F><EFBFBD><EFBFBD><EFBFBD>~<EFBFBD><EFBFBD><EFBFBD><EFBFBD>̋#<23><><EFBFBD><EFBFBD><01>8@{&<11><>g<EFBFBD>D6<44>lX<6C> <0B><><0F>.<06><><02><07>><3E><>.bXS82lJ<6C> zz~<7E><12>%<07><> <0B><><11><><0F><EFBFBD>%<25>!<21>/<EFBFBD><EFBFBD>x<EFBFBD><EFBFBD><08>KF<EFBFBD><EFBFBD>
|
||||
<EFBFBD>4<EFBFBD><EFBFBD>g<EFBFBD>_2|<7C>B<>Wϐ<57>d<04><><EFBFBD>G <0B><><B<><42><11><>1<EFBFBD><31>\ zK<7A>]<,<2C>x1@<40><><01>ۅ<10><>G<EFBFBD><47><EFBFBD><EFBFBD><EFBFBD><EFBFBD>r<EFBFBD><<3C><>;<0F><><EFBFBD><18><><EFBFBD><EFBFBD>@<40>^ <0C><>_1@<40>p)<29><><EFBFBD>^ѿ|<7C> <00>2<EFBFBD>S<EFBFBD><53>W<EFBFBD><57><EFBFBD> <00>Yvp<EFBFBD><EFBFBD>&<EFBFBD>_<EFBFBD> OY<4F>k<EFBFBD><6B>s<><73>=j!<21><EFBFBD>
|
||||
>Vz{Ý/<2F><13><><EFBFBD><08><>1<EFBFBD><31><EFBFBD>n<EFBFBD><18><>a c<>W<><57><EFBFBD><EFBFBD>[><3E><><EFBFBD><EFBFBD><EFBFBD>GO<><4F>䫿p<E4ABBF><70><EFBFBD>?<3F><><13><><1B>Ϻ{<7B><><EFBFBD>a<EFBFBD>Or_<72><5F>0g<30><67>"|<7C><>zK<7A>)<29>U<EFBFBD><55><EFBFBD><EFBFBD>zG<7A>9<EFBFBD>u<14><>d<EFBFBD>["L<><4C>J<EFBFBD><4A><<3C>;"̙<><CC99> <1F><><EFBFBD>a<>iU"<22>'<27><>a<>fU"<22><><EFBFBD>~<7E><><EFBFBD>"<22><><EFBFBD><EFBFBD><EFBFBD>J;<3B><>AN<41> <11>$<24>Q<EFBFBD><0F>i<EFBFBD><69>0<EFBFBD>ώ"|<7C>G{G<>9qv<14><> <0C>["L)<29>J<EFBFBD><4A><EFBFBD><EFBFBD>["LɲJ<C9B2><4A><EFBFBD><EFBFBD>;"<22>i<EFBFBD><69> <1F><><EFBFBD>aJ<61>U"<22>g<EFBFBD><67>aJ<61>U"<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD>A<EFBFBD>O<EFBFBD>c<EFBFBD><EFBFBD>0<EFBFBD>Î"|<7C>{G<>9v<>["L)<29>J<EFBFBD><4A>\<5C>;"<22>ɯ<EFBFBD> d<><64>aJ{U"<22><><EFBFBD><EFBFBD>aJxU"<22>g<EFBFBD><67>rקT<D7A7>Q<EFBFBD>r^<5E>"j<>g#<06><><EFBFBD>q<EFBFBD>Rl<52><6C>0<EFBFBD>Ԏ"|<7C>\{K<>)<29>V<EFBFBD><56><EFBFBD>V{G<>9<EFBFBD>vჄ<>["L<19>J<EFBFBD><4A>T<EFBFBD>;<01>9wv<10><>$<24>["LY<4C>J<EFBFBD><4A><EFBFBD><EFBFBD>["L<><4C>J<EFBFBD><EFBFBD><EFBFBD><EFBFBD>;"̙<><CC99> <1F><><EFBFBD>aΑ E<> Y<><59>sv<73>(<28>i<>wD<77><44>bG>H<><48>#;<3B><>Aj<41>-<11>\X%<25>zR<7A>-<11>,X%<25>z:<3A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>:<3A><>A"<22>-<11><>W%<25>z
|
||||
<EFBFBD>'$<24><12><>D<EFBFBD>Oi<4F><69> <1F><><EFBFBD>aN<61> E<> <20><><EFBFBD>s<><73> <20>9<>w<04>I<EFBFBD><49><EFBFBD><EFBFBD>ٶ7<D9B6><37><EFBFBD>k<EFBFBD><6B>?ȳ<>#<23><>X;
|
||||
<EFBFBD><EFBFBD>a{G<>)<29>v`=<3D><>N<EFBFBD><4E><EFBFBD>L;<08>AV<41>G=<3D><><EFBFBD>Ϸ<EFBFBD>-<2D><>+y<><79><EFBFBD><EFBFBD>j<EFBFBD>F<EFBFBD> <14>EC-<2D><><14>E/<2F>I<EFBFBD><49>)<29><>66Z<36><5A>)<29><>6<><08>S|<17>k<EFBFBD><08>S|mk& <1E><>.<1A>L"<N<>]<5D>y(~N<><4E>D<EFBFBD>i<11><><EFBFBD>.<2E><>h<11><><EFBFBD>.:<3A>h<11><><EFBFBD>.z<>h<11><><EFBFBD>.<2E><>L"<N<>]<5D>ÙDx<44><78><EFBFBD>脣Ex<45><78><EFBFBD><EFBFBD><EFBFBD>3<EFBFBD><33>8<EFBFBD>w<EFBFBD><77>f<12>q<EFBFBD><71><EFBFBD><EFBFBD><EFBFBD><12>'P| o<><08>S|<17>n<EFBFBD><08>S|]n& <1E><>.<2E><>h<11><><EFBFBD>.:<3A>L"<N<>]<5D><><EFBFBD>Dx<44><78><EFBFBD><EFBFBD>f<EFBFBD>Ex<45><78>S<EFBFBD><53>z<EFBFBD>g3S'<27>O<EFBFBD><4F><<3C>w<EFBFBD>6G<36><47><<3C>w<EFBFBD>0g<12>q<EFBFBD><71><EFBFBD>U<EFBFBD><16>y<EFBFBD><79><EFBFBD>I<EFBFBD>$<24><><14>E{ %<25>O<EFBFBD><4F>.<1A>L"<N<>]<5D>ęDx<44><78><EFBFBD>h<EFBFBD><68>Ex<45><78><EFBFBD>h<EFBFBD><68>Ex<45><78><EFBFBD>h<EFBFBD><68>Ex<45><78><EFBFBD>h}<7D>Ex<45><78><EFBFBD>hz<68>Ex<45><78><EFBFBD>hw3<77><33>8<EFBFBD>w<EFBFBD><77>f<12>q<EFBFBD><71><EFBFBD>ō<16>y<EFBFBD><EFBFBD>$<24><><14>U1<55><16><><EFBFBD>1M<14><16>y<EFBFBD><EFBFBD><16>y<EFBFBD><79><EFBFBD>MGI<47><<3C>w꣣<77><EFBFBD><7F>;w<>Q<EFBFBD>?O<><4F>{<7B>h <1E><><EFBFBD>]s<> <00>S|<7C>~9J<39><4A>)<29><>S<EFBFBD> <1E>?<3F><>ttp0ꭋ<30>Bg<42>0U<30><55>~<7E><EFBFBD>
|
||||
<EFBFBD><03>pVz<56>p?<3F> <1F><>O<EFBFBD> L<><4C>|<7C>s;<3B><><EFBFBD><EFBFBD> ~|@<40>O<02> <09><02><>o<<3C><>4<EFBFBD><34><EFBFBD><11><>{C<><43><19><><EFBFBD>0<EFBFBD>;p<> C0<43>#f<>J:<3A><18>|<7C>d֧<64>w<EFBFBD><77><EFBFBD>| _7 <1D>;<EFBFBD>
|
||||
<EFBFBD><EFBFBD>ֺ<EFBFBD><EFBFBD><0E> <1D>; <1F>l<EFBFBD> <1F>$+#^w<><77><EFBFBD><EFBFBD>}<7D><>O|<7C><><0E><>G<EFBFBD><47><EFBFBD><EFBFBD><EFBFBD>hW#<23>]`<60><>I<19>i<EFBFBD> <1D> h<>`<60>t<EFBFBD>O g7<67>N2HӖ<48>y<EFBFBD>&D̖<44><CC96>`<60><><EFBFBD>+<2B><>(<28><>p,.<2E>tό<74>"<22>L<EFBFBD>\<5C><>O<EFBFBD>:><3E><>12<31>;= q1<71> <04>ꋅ`<60><>1ϱ <0B>٬'<27><>v<EFBFBD><76><EFBFBD> <00><0E>#bw<62>x
|
||||
<EFBFBD><EFBFBD>s<EFBFBD><EFBFBD>o<><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>L_ C"KZ<4B><5A>2<EFBFBD><32>(<28>;<3B><><19>0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><12><><EFBFBD>m<EFBFBD>u [7<>zX<7A><58><EFBFBD><EFBFBD> <00>>-<2D><><EFBFBD>p5<70><0E><><EFBFBD>g<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
<EFBFBD><EFBFBD><EFBFBD>.Aa%S^<5E>Po<02><>F?<3F><>y'<27>31<33>N<EFBFBD>D<EFBFBD>993.E<>n<EFBFBD>7<EFBFBD>AL <0C>͔-d <09><><EFBFBD>HU<48>j<EFBFBD>%<25>(<28>ʐ<EFBFBD><CA90><EFBFBD>Oj҆<6A><17>h#<23>D<EFBFBD>l<EFBFBD> _v+<<3C>"<22>{<0F>N<EFBFBD><4E>@<40> >y|<7C>C<EFBFBD> !<19>mxKp|mHY0Z<30>[i<> $'f7W<37>w<16>j<06>U<EFBFBD>9<EFBFBD><39>D<EFBFBD><44><EFBFBD><EFBFBD><14>ۊDv <1C><><EFBFBD>w<EFBFBD>r<EFBFBD>Xv6<76>!<05><>J<><4A>l<EFBFBD>h )~<7E><>A0<41>1<EFBFBD>D<EFBFBD><44><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>&<26>;<3B><> v,<2C>U <1E><><EFBFBD>e<EFBFBD>b<EFBFBD><62>5<EFBFBD><35>p<EFBFBD>'by<0F><><EFBFBD><EFBFBD>}m<>J<EFBFBD><4A><15>A-<2D><><7F>a<EFBFBD><0E>Eb<45><62><EFBFBD><EFBFBD><EFBFBD>a<EFBFBD>t<EFBFBD><74><EFBFBD>&<26><06><>~ <1D>6<><36><05><><EFBFBD>I<EFBFBD>"<06>6f#<23><><EFBFBD><EFBFBD>ͻ7^fi<66>*<0E><>?<3F><> <09> Y<13>{vf<76>*X<><58>`<60>G<11><>cl<08>E<EFBFBD>[ed/\<5C>3ި<33>K0<12><>3fb<66><62><EFBFBD>Ӑ$<0E>}<7D><><EFBFBD> <01>R<>Uz<55>h<EFBFBD><68><EFBFBD>ߕwL<77>b(<28><><EFBFBD>C<17>BJ2<4A>b: &Ć7<C486><37><EFBFBD><EFBFBD>|<7C><1A>g~;&<01>ۛ<EFBFBD> ~<7E><<3C>7o<37><6F>O<06><><EFBFBD>9<EFBFBD>o<EFBFBD><6F><08>c~p<>'<27> <1F><>N<C287>И <1D> &tR<74>@|<7C><>?<EFBFBD><EFBFBD>
|
||||
<EFBFBD><EFBFBD><EFBFBD>V <1B><>Q<EFBFBD>3^<10><><EFBFBD>Բ<EFBFBD><D4B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>+^<5E><>ۓW<DB93>#<23>A6<41>J$<24><>!<21><>kX:f <1C>ĺ(x}<7D><><EFBFBD><EFBFBD>U<EFBFBD><55><EFBFBD>eC<65>M<EFBFBD>w<EFBFBD>"<22><>ݧ<EFBFBD>l<EFBFBD>b<EFBFBD>xY<78>l <1D>^<5E>4P <0C>^x_&X<><58><EFBFBD><EFBFBD><EFBFBD>L<EFBFBD><4C>A<EFBFBD><41>1<EFBFBD>ûĊŔd%qzS<7A><53> q(<28><17><>b<EFBFBD>H.<2E>_<EFBFBD><5F><EFBFBD><EFBFBD><EFBFBD><10><01><>A<EFBFBD>`<60><> n<><6E>Vt<12><10>Z#?m<><6D>g<EFBFBD><67>h<EFBFBD><68><EFBFBD>M<EFBFBD>a<EFBFBD><61>'Ƶ <0B>S<EFBFBD> <00><12><<EFBFBD>
|
||||
<EFBFBD><EFBFBD><EFBFBD>+Ե<><17><> b<>Zl<5A><6C>c<EFBFBD>c<EFBFBD><63>c+.<2E>X|}<7D><><EFBFBD><1A><><EFBFBD>]{{<7B>`<60>A<EFBFBD>L}m%%4<><34><EFBFBD><EFBFBD><EFBFBD>NJ<EFBFBD>&<26>"5<><01><><15> ž`<60>`<60>b<EFBFBD>!~\<5C>p<EFBFBD><70>'J<>@<40><><0E>H<EFBFBD>q<EFBFBD>p<EFBFBD>FY<><59><EFBFBD> B_<42><5F>b<EFBFBD><62><EFBFBD><EFBFBD><EFBFBD>Y<EFBFBD>X<EFBFBD><16>R<EFBFBD><52>% <1D><><EFBFBD>6<EFBFBD>/S+Q<EFBFBD>
|
||||
<EFBFBD>^B<>Ġ40{<7B>ێD<>ː7 ݱ<>+V\<5C>%5 3<>;nH<6E>ካ$3<>$<24><><08><><EFBFBD>t<EFBFBD><74><EFBFBD>25F <20><><EFBFBD><EFBFBD><EFBFBD>Dl<44><6C><EFBFBD>V<12>D(<28>a<EFBFBD><61>%<25>ķ<EFBFBD><C4B7><06>9<EFBFBD>\<5C>J <1C>0<>F<EFBFBD><07>0,# <1F><>c<EFBFBD><05>}<EFBFBD>
|
||||
<EFBFBD>l<0F>,<1A><>L<>2VN<56>-<2D>\<5C>B<EFBFBD><42><EFBFBD>L<EFBFBD>D<EFBFBD><44>6햙<36><01>qV<>ưs<C6B0>]9M<> <1E><>TBnHb<EFBFBD>
|
||||
> 4;<3B>N<EFBFBD><4E>S<EFBFBD>/<2F><>]q<>ݠ<r<>p<EFBFBD><70><EFBFBD>`FH<46><03>^<5E>Q"rK!<21><>"<22>0<EFBFBD>M<EFBFBD>0"1<><31>ؗ<EFBFBD><13><><EFBFBD><EFBFBD>T<EFBFBD>
|
||||
ە<EFBFBD>`ܡL<DCA1>p<> <EFBFBD><EFBFBD>
|
||||
T<EFBFBD>`PA<50><41><0F><><EFBFBD><EFBFBD><04><><EFBFBD>S}a<><61>%V_<56>U<16>I<EFBFBD><49>:ف<>J<EFBFBD>X<EFBFBD>B<EFBFBD>&<26>rB<72><42><EFBFBD>YҴ<59>a<EFBFBD>ao<EFBFBD>
|
||||
<EFBFBD><15>`<05><13><06>6~ [K+<2B><>o&U]<5D>) <1C><><10>q
|
||||
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>I<><49><EFBFBD><EFBFBD>0]<5D>v=
|
||||
<EFBFBD>Falk 6 f><3E><><EFBFBD>+<2B>Ɍ<EFBFBD>><3E><><EFBFBD><EFBFBD>б4|`<60>%j:<3A>&194<39>`<60>y`~T<EFBFBD>
|
||||
خ<EFBFBD>A<EFBFBD>'_<>ka<6B>_<EFBFBD><5F>b<>Q]<5D><>u<><75>f<EFBFBD><66>p<EFBFBD> m<>vل<76>'L<><4C>+<2B>Il<49>ۂ<EFBFBD>[%W<><0F>qذ<71><D8B0>5ˑ<35>B<EFBFBD><42><EFBFBD>֕<>@[d<>[u|b<>W<EFBFBD>0<EFBFBD>&<26><>2<EFBFBD><32>]<5D> ä= <20>S<><53><EFBFBD><EFBFBD>K<><4B><EFBFBD>@<40>-
|
||||
)<29> RB CUǎ$<24>X<EFBFBD>
|
||||
<EFBFBD>w b<>+H_<48> 0|W<><57><05><>J<EFBFBD><4A><EFBFBD>)M-<2D>wbXipir<69><72><EFBFBD>y<EFBFBD><79><EFBFBD>B<EFBFBD>ⷜ|<7C><>ͅf
|
||||
<EFBFBD>H}n<><6E><EFBFBD>;<3B>T*<2A><>LS<4C><53><EFBFBD>m<EFBFBD>h<>CDMṉ<6E>?<3F><>`i<7F><69>Ǧ$ <ت
|
||||
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>r<EFBFBD>}<7D> 1|D<>_<> <09><0F>(<28><>x<EFBFBD><78>*s<> <0C>훙`<60>{U<><55>KL<4B><4C><EFBFBD>=<3D>2<>s}<7D><><EFBFBD>{<7B>UZ<><5A><EFBFBD><7F>~s<>|<15>w@A<><41><EFBFBD>w <1D>]%|C<>@u<04><><EFBFBD>M<EFBFBD><4D>(<18><1A>T<EFBFBD>0<EFBFBD><30><EFBFBD>a#<23><>f<EFBFBD><66><EFBFBD>MT[ؾs<12>?<3F><><EFBFBD>oY<15><>(+lr<6C>U<EFBFBD>cS%1<>`愆ag[g8<67>#t<>w<EFBFBD><77><EFBFBD><EFBFBD><EFBFBD><12>K<EFBFBD>[_Jy<4A><79>Ҍ'<01> <00>ciؾ<13><>i;<3B><>E<V<><15><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>}<7D>&dǫk<C7AB><6B>u<EFBFBD>x<EFBFBD><78> O<><4F><EFBFBD><EFBFBD><EFBFBD> N<><4E>j<EFBFBD>:<3A><01><><EFBFBD>X<EFBFBD><58>e<EFBFBD>
|
||||
<EFBFBD><0E><15><>;<3B>2L+<2B><>j<EFBFBD>,Lf<4C><66><EFBFBD><EFBFBD>c<EFBFBD><63><EFBFBD>}<7D>A<EFBFBD>֏U <1F>QI<51> <0B>#/<18>W<EFBFBD>v<EFBFBD><1B><><05><><EFBFBD><EFBFBD><EFBFBD><7F>$}<7D><><11>}<7D>`Y<>-ٴ<07><><EFBFBD><EFBFBD><18><>ykk<6B>*<2A>X,{<7B><>_P<10>V<06>nN<6E>/<2F>ޅ<EFBFBD><DE85><EFBFBD><EFBFBD><EFBFBD>j<EFBFBD><EFBFBD><EFBFBD>&<26><>2<EFBFBD><32><EFBFBD><04>[<1A>a<EFBFBD> a<><61><EFBFBD>g<EFBFBD> <20>L <00>0<EFBFBD><30>r<EFBFBD> ۭ:1<05>j۪<6A><DBAA>$<24><>{<7B>w<EFBFBD><77>r
|
||||
Q<EFBFBD><EFBFBD>D<EFBFBD><EFBFBD><01>`W<07><><16>6<EFBFBD>!<21>+<2B>͕fBTl7_<37>(<28><>3 <11>%PU<50> <1F><07>e<EFBFBD>rúiC(1<01>51<35><31>Z<EFBFBD>F<EFBFBD>u<EFBFBD><75><EFBFBD><EFBFBD>ذ<EFBFBD><D8B0>[<5B>v#4<>}]<07>ܝ"<22> &<26>R̙<><CC99>8<EFBFBD>D<EFBFBD>F<EFBFBD>c<EFBFBD><63>ZĜ<5A>Ӆ(<18>O<EFBFBD>Fڰ<46>^
|
||||
t<EFBFBD><EFBFBD>&K<><18><><EFBFBD><EFBFBD>~<7E>L0<4C>!<21><><EFBFBD><EFBFBD><EFBFBD><02><15>UR<55>6`<60><>.QU<51><55><EFBFBD><EFBFBD><EFBFBD>C<EFBFBD>; ~<7E><06>Ju<4A><75>q<15><><EFBFBD><EFBFBD>k<EFBFBD>96<39>0<EFBFBD><30>?FXO<58><4F>S
|
||||
M<EFBFBD><16><10> <09><><EFBFBD>t
|
||||
;<3B>3b<33>c<EFBFBD>o%<25><>s<EFBFBD>
|
||||
<EFBFBD>=&T<>{<04><>p<13> <0C>=<3D><17><>C<EFBFBD>K<12>1T<31>nY<06>.<2E><> <0C>ٖ9<D996> <1D> g<><67>a<EFBFBD><1A><><EFBFBD> <1D> 1(;<3B><>5<EFBFBD><35>>Q 2ö<32><06><><EFBFBD>-$Ƃ<>@<40> /a<>ba<62>U;E<><45>B<><42>h<17> <1E><><EFBFBD>"<22>>y}`<60>X<EFBFBD><58>;,Hz<48>P<EFBFBD><50><EFBFBD> F3<46><33> 7Gx<47><78><EFBFBD><EFBFBD>ȡc<C8A1>yI <0C>4<EFBFBD>M<EFBFBD>X<EFBFBD><58> E<><EFBFBD><EFBFBD>
|
||||
;LO @yתOb<EFBFBD>A<EFBFBD><EFBFBD><EFBFBD>xX-|{}<7D><>,
|
||||
<EFBFBD>~0<><30><EFBFBD><08>5ԑsL<<17>S<EFBFBD>Us<55><73>a<EFBFBD>ҋ6<D28B>s<><73>^<5E><><16><>{<7B><><EFBFBD>e<EFBFBD>f$v<><76><EFBFBD><EFBFBD>kB<6B>Z<EFBFBD>0<EFBFBD>a(<28>X<EFBFBD><58>]<5D>}Y<<3C>`<60><12><><EFBFBD>Sl<53><6C> <07>aG<61><47><EFBFBD>a <0B><><EFBFBD>b<11>6<EFBFBD><36><EFBFBD>0<08>Be<42> v<><76><EFBFBD> <0C>1ػ<31>a!<21><><18><>G<EFBFBD><15>[l<>a>c<16>q
|
||||
<EFBFBD>f<EFBFBD><EFBFBD>.<2E>- <0B>1<EFBFBD>
|
||||
;,<2C><>=<0F>Ӗ<EFBFBD><D396>
|
||||
<EFBFBD>&CE ĸ<><C4B8>W찹C<><43><EFBFBD><EFBFBD><EFBFBD>R7X<37><58>T K<16><>6<EFBFBD><36>lje*#<23>=<11><>ʌ<EFBFBD>J<04><><EFBFBD> [<5B><><EFBFBD>}<7D>N2<4E>|h1<68>IL@<>g<EFBFBD> <16><17><><18>ȋ<02><><EFBFBD>-<2D>؋R<D88B>?$<24>V<EFBFBD>S<EFBFBD>G<EFBFBD>;<3B><>Z<EFBFBD>U<>ԋ<EFBFBD> C<>ѹ؞ <00><>(C 2<><32><EFBFBD><EFBFBD> :\<5C>H<><48><EFBFBD>nu4<75><34> 2<><32>Ҹ<1B>D<EFBFBD><44> <00> <1D>G<EFBFBD><47>_<>DT<><54>]v<>p<>c<EFBFBD>~<7E>M<EFBFBD>"<22>g<>D<EFBFBD>y<EFBFBD><79>M
|
||||
;|<7C>$<24>6<>R<EFBFBD> <09><><EFBFBD><EFBFBD>B@<40><18><> L<>?%<25>L<><4C><EFBFBD>HKd<19>%<25>_<EFBFBD><5F>+<2B><><EFBFBD><EFBFBD><EFBFBD><1B><05><>S<EFBFBD>R.<2E><><12><>a<EFBFBD>AA<41>><3E><><EFBFBD><EFBFBD>0̅<30><CC85><EFBFBD>Q<EFBFBD>K<EFBFBD><4B><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <05>$!4<>pnMǟA<C79F><41>a<61>\<5C><>os<6F><73><EFBFBD> <0C>p|ކ<><DE86><EFBFBD><EFBFBD><EFBFBD>7<EFBFBD>z<EFBFBD><7A>z<EFBFBD><7A><EFBFBD>fs<66><73>p<EFBFBD><70><A<><41>`b$ 1<>%<25><>$<24><><EFBFBD>T)<29><><EFBFBD><EFBFBD>cL<63>nU<6E><55>0<11>PH<><48><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>T<EFBFBD><54><EFBFBD><EFBFBD>mtRp<52>Z<EFBFBD><5A>؆5<0E>v<>Y<EFBFBD>?<3F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>]a <1E>{¤<><C2A4><EFBFBD>?qn<71>Fw<46><77>oC<>d<>D<><44><19>1<EFBFBD><31><EFBFBD>;<3B>3<EFBFBD>U<>~<7E> ņ}<7D>u<EFBFBD><75><EFBFBD>P_<50>8<EFBFBD><38>s<EFBFBD>}<7D><>G ݰ̇+B<> MW<4D><12><18>DŽ<EFBFBD>@<40>}<7D><><EFBFBD><EFBFBD><EFBFBD>X8[<16><>o'<27>"<22>+/P<><50>`<60><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>I<EFBFBD><49>0<EFBFBD><30><EFBFBD><EFBFBD> $<24><>F<EFBFBD><46><18><><EFBFBD>UJm$<24>H.pfC<66><43>0#qg-<2D><01>37y t<><74><EFBFBD><10><>(<28>鑸<EFBFBD><E991B8><08><><EFBFBD><11>q$<24>`2<><32>؈J+(<28><17><>ybG>w<> <09><><EFBFBD><EFBFBD><EFBFBD>6<EFBFBD>H<EFBFBD>a<EFBFBD>B<EFBFBD><42><EFBFBD> '<27>N <20>W<EFBFBD><57><EFBFBD> <09>ȍ<EFBFBD>;<3B><1B>><3E><>*<2A>6<EFBFBD>vy+1<16><0E>N<EFBFBD><14>1Fڎf <1C><1A>i;b4Q<34>n<EFBFBD>x;b,_<><5F>W<19>2<EFBFBD>&҄pL*<2A><>x;<3B><>|`<60>Wn<6E><18><>Fr<46><72><EFBFBD>`b<>ۊE<DB8A>z<EFBFBD><7A><EFBFBD><EFBFBD>*;ww<>`cecj@q$<24><>mA<6D>D<EFBFBD><44>?w<><<3C>Dר<44><D7A8><EFBFBD>#<23><>gׂ<67>#qG <0C><19>J<EFBFBD>y<EFBFBD><79><EFBFBD>:<3A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>c<11>~<7E>U <1C>'6]<5D>h<EFBFBD><68>l <20>,<2C><>a<EFBFBD><61>E4<07>ΒV<CE92><56><EFBFBD><EFBFBD> E<><45><EFBFBD><EFBFBD><0F><>V<EFBFBD>fE<66><45>/<2F>&<26><>e<EFBFBD><65><EFBFBD><EFBFBD><EFBFBD>Y)Qld<6C>`E<><45>SN<53><4E><EFBFBD><EFBFBD><EFBFBD><EFBFBD>{I<>hd<68><64><EFBFBD><EFBFBD>>3<><33><EFBFBD>#w<17>8c<38><63>N<EFBFBD> +<2B>A*QB?<3F>&<26>&Ad<41><64><EFBFBD>hꎡwr<77><72><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <1E>ћ<EFBFBD><D19B>u<>3&<15>vl<76>@<40>e<EFBFBD><65><EFBFBD>W<7F>KQw<51><08>|<7C><>;<3B><><15><><EFBFBD>61w<31><77>Z<EFBFBD><5A>m<EFBFBD><0E>#n<><1B>;<3B>g<EFBFBD>\o<><6F>L<EFBFBD>a0<61>%uI<75><49><EFBFBD><EFBFBD>ĭK<C4AD>D<EFBFBD><44>7=<3D>4Sw$s:<3A>9Sw j<10>b<EFBFBD><62>Hݑ<48><EFBFBD>5m<EFBFBD><EFBFBD><EFBFBD><EFBFBD> <1D><><EFBFBD>C~<7E><>;<06><>ꂿ`<60>$,<2C><>V<15>0w<30><05>t<EFBFBD><74>45s<35>i<EFBFBD><69>m<EFBFBD> <0B><>!o|[<5B><>f<EFBFBD><66><EFBFBD><1A><>;@^j<>D<EFBFBD>&<26><><EFBFBD>>j:Dw<><77><EFBFBD><EFBFBD><EFBFBD><EFBFBD>%<25>7<12><><>|<7C><>)ގP<DE8E>Կͼ <1D>'|<7C><><EFBFBD>N<EFBFBD><4E>aB?<3F><><EFBFBD>;<3B><>㦱<><E3A6B1><EFBFBD> <1D> <1D> <1D><>P<EFBFBD>M<EFBFBD>vش<03>H<EFBFBD><48><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD>9<EFBFBD>
|
||||
<EFBFBD>ĝ<15><><EFBFBD><05>x;<3B>w<EFBFBD>b0t<30>$o'1k<<3C><>3q<07>߲A9SY<53><59><EFBFBD><EFBFBD>Y<EFBFBD><59><EFBFBD>c<EFBFBD><63>)<29><>;<3B><>C<1B>N<EFBFBD>
|
||||
<EFBFBD> <1D>{<7B>\<5C>J2k⎾?<3F><>Z 1wV҈:<3A><>x;<3B>0^<5E><>Y<EFBFBD>v<EFBFBD><76><EFBFBD>=P<>i;K<><4B><EFBFBD>t
|
||||
h;F<1A><>5<EFBFBD>0<EFBFBD>v<EFBFBD>rb<72>H1<48>v<EFBFBD>W|<7C>T<EFBFBD>akG<6B><14><>1^<5E><>ì7<C3AC><37><EFBFBD>y<EFBFBD>I;LzNJ<7A><C78A><15>I;<3B><>0fi<66> iG<69>C#<23>ن Qzt<7A>a+Ҏ a<><61> vD+6<>lV<6C><56> 9;:X<>LHl<><6C><EFBFBD><EFBFBD>lX<6C>e<EFBFBD><65><EFBFBD><EFBFBD><EFBFBD> <1E>7;v<><0F><>1<EFBFBD><31>U<EFBFBD>[qv<71>2I<><49>FΎ><3E>D<EFBFBD><44><EFBFBD><EFBFBD><EFBFBD><EFBFBD>'k&heFΎ <1C>ќ<>0<EFBFBD><30> <1F><>T<EFBFBD> <1D>T<EFBFBD>e<EFBFBD>Ύ"<22>U<EFBFBD><55>-9;:<3A><EFBFBD><EFBFBD>f<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>7<EFBFBD><EFBFBD><EFBFBD>hI<EFBFBD><EFBFBD>;|ez<EFBFBD><EFBFBD>
|
||||
<EFBFBD>ٰ<EFBFBD> <1F><><EFBFBD><EFBFBD>4lo$<24><>A?2<><32>ٷï%<06>'<27><>E<>1K<><4B>W<EFBFBD><57><EFBFBD>h<13><>W<EFBFBD><57><03>ol<17>8;<3B><><EFBFBD>䂝<EFBFBD>8;<3B><>a2<61>gG<67><19>% <1D><>iKIsv<73>l<EFBFBD><6C> V<EFBFBD>
|
||||
s <1F>nl4<6C>H<EFBFBD><48>%`l<><6C><10><><EFBFBD>t<EFBFBD><74>aս<61><D5BD><EFBFBD> qL<71><4C>5mG<6D><03><>6<EFBFBD>mGۃ<47><DB83><EFBFBD>amG;<3B><><EFBFBD><EFBFBD>)<29><><EFBFBD><EFBFBD><EFBFBD>e<EFBFBD><65>+<2B><><EFBFBD>dK<64><1A> x;<3B>U<EFBFBD><55><EFBFBD>Mk<4D><6B>0<EFBFBD>QLK)Ҽ }P<7F><50><EFBFBD><EFBFBD>疹6<E796B9> Ҽ<><D2BC><EFBFBD><EFBFBD>FZ-GM<47><4D>u<EFBFBD>X!<21><><EFBFBD><EFBFBD> <1D>*<2A>ñ<EFBFBD><C3B1>G<EFBFBD>n<EFBFBD><6E>~<7E><>;<3B> Н<><D09D><EFBFBD>m"<22>0Ӱ<30><D3B0><EFBFBD>T&CwP<77><50>R.
|
||||
;<3B>;:<3A><><03> <0B><>q <0B><><EFBFBD> <0B><>9B<39><42><EFBFBD>\0w<30><12><0E>f<EFBFBD>`<60><><0F>M؆
|
||||
<EFBFBD> <1D>*蟸<>nd<6E><64>E<EFBFBD>q/<2F><><EFBFBD>E<EFBFBD>/<2F>V]<5D><>;<3B><>i<EFBFBD><69><EFBFBD><7F>b<12><>4l<34><6C> l:<3A>-)v<><76><EFBFBD>=<1A>p<EFBFBD><70><EFBFBD>g<>/<2F><><EFBFBD>;k<> W<><57>u<><75>Q:<3A><SwCc<43><63><EFBFBD><EFBFBD>Y :<3A><><EFBFBD>;<3B>}B <09><><EFBFBD>ԝ<EFBFBD>c۬M<><4D><EFBFBD>:M<>a)<29><><EFBFBD><EFBFBD>+
|
||||
S<EFBFBD> <1D>:<3A>6
|
||||
|
||||
<1B>;|I<>|><3E>0Eݵl<DDB5>K<EFBFBD><4B>$<24>N<EFBFBD>N<EFBFBD>]
|
||||
<EFBFBD>n<EFBFBD><EFBFBD><1B>;|fO<>P<EFBFBD>ԝ<EFBFBD>b<EFBFBD><62><EFBFBD>lE<6C><45>a
|
||||
d<EFBFBD><EFBFBD><EFBFBD>U<EFBFBD>ܝ{<7B>o<EFBFBD>7<EFBFBD>:<3A>6pw<70><77><EFBFBD><EFBFBD>0<EFBFBD><30>mV<6D>hL<68>{<7B><>E<EFBFBD>s<EFBFBD><73><EFBFBD><EFBFBD><EFBFBD>a#<23>?R̓<52><CD83><EFBFBD><EFBFBD>a<EFBFBD>!9<>w0<77>`ė<><C497>)<29>B<>m<EFBFBD>
|
||||
S<EFBFBD><EFBFBD><EFBFBD>M<EFBFBD>/<2F>;<3B><>s2<EFBFBD><EFBFBD><EFBFBD> <EFBFBD> <1E><>yb<79>x<EFBFBD>x<EFBFBD>e'<27><><EFBFBD><13>Ⓘ<EFBFBD><E292BE>؈މ<EFBFBD><EFBFBD>=
|
||||
<1D><>}<7D><>;<3B><>g1y_'<27><><EFBFBD>$<24><><EFBFBD>x<EFBFBD><78><EFBFBD>]<5D><>@<40>1E<><45>.<2E>@<40>1 [<5B><>i<EFBFBD><69><EFBFBD>#<23><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> F<><46>{<7B>v<><76><EFBFBD><EFBFBD><EFBFBD>
|
||||
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>[5<>'<27><> <1B>\<5C><>"<22><>V 4QyG<79><04>2o䝘.)WG`"<22><>tէ<74><D5A7>;BIء<EFBFBD><EFBFBD><EFBFBD><EFBFBD><<3C><>CU<43> <1D><04><>\pw~<7E><><EFBFBD><EFBFBD>;<3B><>16<31>-<2D>N<EFBFBD>]<5D>45<34>R n`<60>Y<19><>N<EFBFBD>
|
||||
<EFBFBD> <1D>^<5E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><05>g膦<E886A6>cE<63><45> <1F><>;ػ W#<23>T^'<27><>J<1B><><EFBFBD><EFBFBD>g{H~<7E><><EFBFBD><EFBFBD><EFBFBD>#K*Rvfo`<60>H\z21<32>w{Eۧ<45><DBA7><EFBFBD>]<5D>~<7E>0<EFBFBD><30><EFBFBD><EFBFBD>@<40>1#<23><>B<EFBFBD><EFBFBD>
|
||||
<EFBFBD> <1D>8<EFBFBD>A5(<28><>;,<2C><1A>~M<> ^ ]<5D>Ԉq<D488><71><EFBFBD>7_)<29>x^'<27>.<2E>S [<5B><><EFBFBD>E<EFBFBD><45>`<1A><><EFBFBD>y<EFBFBD> <1D>v" W) <20><>m<EFBFBD><6D><EFBFBD>ڭst<07><>ٰ<EFBFBD><> mOЛ<4F>;<3B>@<40><>3<EFBFBD>{<07><12><>ö <09><><EFBFBD>KY<><59>N<EFBFBD> <1D> ]Kn<4B><6E><EFBFBD><EFBFBD>f<EFBFBD><12>>o<> <20>5<EFBFBD>w<EFBFBD><11>;h<68>yVh<56>.<2E><><EFBFBD><EFBFBD>B<EFBFBD><<3C><> %<25>0bI<62><49>R<EFBFBD>]<5D>M<EFBFBD><4D>s<EFBFBD>t<EFBFBD><74>8<EFBFBD><38>Ć<EFBFBD>O<EFBFBD>鴝<EFBFBD>#Ԟ<>5<EFBFBD>wR|<7C><> <1C>><3E><><EFBFBD>чs<D187><73>wBp`<60><>Ta<54><61><EFBFBD><13>{G<>wO<>w<EFBFBD>L`q<><EFBFBD>3T|<7C>ɿN<C9BF> w<>@<40><><EFBFBD><EFBFBD> <20><><EFBFBD>0<EFBFBD>Բ@4yM<>ة<<3C><EFBFBD>
|
||||
<EFBFBD> <1D>PB<50><42>۰<EFBFBD>Q1d<31>A<EFBFBD><41><EFBFBD>4?<3F><><EFBFBD><12><19><06><0E><12><>X0'<27>.<2E> t<>*}W<>:ԏPm3}e <09><>TvG<76><47>2C<32><16><><EFBFBD>;&<26>n57<35><37>w<EFBFBD>3<><33><EFBFBD><EFBFBD>;cXؐ.<2E>;K<><4B><EFBFBD><EFBFBD>8<EFBFBD>wpx<13><> <0B><><EFBFBD><EFBFBD><EFBFBD>n<EFBFBD>4<EFBFBD>b<EFBFBD><62><EFBFBD>Ҋ<EFBFBD>~<7E><><EFBFBD>A<EFBFBD>`<60>3}Gz)sZ<73><5A><EFBFBD><EFBFBD>;<3B><>1-j<><6A>;ǂAh<41>r<EFBFBD><72><EFBFBD>T<EFBFBD><54><EFBFBD>k&<26><>n|<7C>(<28><><EFBFBD><EFBFBD>1<EFBFBD><01>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD>p<EFBFBD><70><EFBFBD>u<EFBFBD><75>|<7C><><13>f]M<><4D><EFBFBD> <1D><06><>j<EFBFBD><6A><EFBFBD><EFBFBD><<3C>Md<4D>|<7C><>;َ<><PMߑ+, <1E>t<EFBFBD>H<EFBFBD><05><>rr֒<E<>1i <16><><EFBFBD><EFBFBD><EFBFBD>]d<>3<EFBFBD><33> <1C><>;<3B>$<24>A|<7C><><EFBFBD>)<29>ۡg<DBA1>A%<25>H<EFBFBD>%<25>I<EFBFBD>k'5{G<0F>xu&{<7B>Ƀ<EFBFBD> ]M<>U<EFBFBD><55><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>l<><6C>X<EFBFBD>̙f<CC99>uw<75>] <1C>ӝ<EFBFBD><D39D><EFBFBD>D<EFBFBD>s<EFBFBD><73>)<29><>atVg<56>U<> C<>ǺW<C7BA>]
|
||||
Ǿ<EFBFBD>m"<22><>t<EFBFBD>p<EFBFBD>R<EFBFBD>4y'<27>g<EFBFBD>S<EFBFBD><EFBFBD><EFBFBD>+<EFBFBD><EFBFBD><EFBFBD><EFBFBD>o<><6F>#{<7B>ɐ<EFBFBD><C990><EFBFBD>R<EFBFBD>]<17><>z}<7D><><EFBFBD>c<EFBFBD><63><EFBFBD>n5<6E>\x<07><>G<EFBFBD>x|<7C><0E><>'<27>#<23>%S<> G<>=<3D><><EFBFBD>;)<29><><EFBFBD>v<EFBFBD>n<EFBFBD><6E><EFBFBD><EFBFBD>B<EFBFBD>)4l<34><6C><EFBFBD>|.S<><53><EFBFBD>c,<2C>0hXAE<41>I,
|
||||
֠<EFBFBD><EFBFBD><EFBFBD>@<40><1A><><EFBFBD>A<EFBFBD>w<EFBFBD><77><EFBFBD>k<EFBFBD>5ԭٻ"<19><><EFBFBD><EFBFBD>h<EFBFBD><68>0<EFBFBD><08>v{<7B><><EFBFBD><03><><EFBFBD><EFBFBD>{<7B><> /,5l<35><6C>$<24>[7<>o3}G<><47><EFBFBD>G]$<EFBFBD><EFBFBD>
|
||||
<EFBFBD>R<EFBFBD><EFBFBD><EFBFBD><EFBFBD>{W<>ٙ<17><><11><><EFBFBD>fj<66><6A><EFBFBD> <09><><EFBFBD><EFBFBD><EFBFBD>N<EFBFBD>w<EFBFBD><77>'<27>6<EFBFBD>w<EFBFBD>8]<5D><><EFBFBD><13><>Y<EFBFBD>mb<6D><04> Tl`<60>
|
||||
<EFBFBD><EFBFBD>#{W$<24>L<EFBFBD><4C><EFBFBD>?<3F>w<EFBFBD><77><11>Q<EFBFBD> 1,<2C>Xw E<><15><><EFBFBD><EFBFBD>7<EFBFBD>c;yG(<28><>l<EFBFBD>K<EFBFBD>w<EFBFBD>M}<7D><>;<3B>*W<F194BD84>w<EFBFBD><77><EFBFBD>AB<41>Uw<0E>f<EFBFBD> <1F><>;F<>B˫<42>Ew<45><77> v~<7E><>s<EFBFBD>]<5D><><13><>zw<><18><>ww<07><>9|<7C>~ <00><>ѥ<EFBFBD><13><19><><EFBFBD><12><><EFBFBD><EFBFBD>)<29>X<><58><EFBFBD>4s<34>$<24><>7Xy E<>1P<31><50>T M<>%<25>I<EFBFBD>ܝ<EFBFBD><1B>;@<40>ݺ<EFBFBD><DDBA><EFBFBD> Cg<43><67><EFBFBD>J<EFBFBD><06>.q<><71>,<2C><>sw<>5<EFBFBD>7_<>W㩊;Z`<60><>{.<2E> <0B>Gk<47>Ks<4B> <1D><><EFBFBD><EFBFBD>:<3A>7<14>1<EFBFBD><31>A<EFBFBD><41><EFBFBD><EFBFBD>
|
||||
w<><77>¶<EFBFBD>R<EFBFBD>t<EFBFBD> K<>`<60>w<EFBFBD>L<15>q<EFBFBD><71><EFBFBD><EFBFBD>P<15>UX<55> <0B><>a<EFBFBD>1=<3D>aC<61> 9*<2A>^S<><53><EFBFBD>
|
||||
|
||||
<EFBFBD><16><><EFBFBD><EFBFBD><EFBFBD>2m7<6D><37>z;,~<7E>ӆ<EFBFBD>z;<3B><><EFBFBD><EFBFBD>=ܑ8ôcC<63> ى<>lM<6C>Sw$<24><>E:O<>
|
||||
<EFBFBD><18><><EFBFBD>w<EFBFBD>Lޑ<4C><DE91><EFBFBD><EFBFBD>~<7E><>
|
||||
<EFBFBD>, <18>e<EFBFBD><65><EFBFBD>+<2B><><EFBFBD>&^<5E>w<EFBFBD>`<60>t&AWܱ/<11><>-<2D><>;<3B>v<EFBFBD><76><EFBFBD><EFBFBD><EFBFBD>D<EFBFBD>Yv<59>I<EFBFBD><49><EFBFBD>j<EFBFBD><6A><EFBFBD>6Ǿ<36><C7BE>a{W;h<><68><EFBFBD><EFBFBD><06><>2<EFBFBD> <1E>GS<>wLM<4C>3{{nj6|t<><74>8<EFBFBD><38>1<EFBFBD> <1A>U<EFBFBD> <20><>"+<2B>iQrGcԐ5<D490>(<28>c<EFBFBD>c<>[g<><06><><EFBFBD>ˡ<EFBFBD>4{G3<04>Jg<4A><67><EFBFBD>;<3B><><EFBFBD><EFBFBD>I<EFBFBD>wNY욽sL<73><4C>ϳ]T<><54><EFBFBD>)\e<>a{<7B>XEփ<45>{<7B><>d<EFBFBD><64><EFBFBD>
|
||||
6Uݱ<EFBFBD> &<26>E<EFBFBD> 4<><34>U<EFBFBD>.<2E>;O<><<3C><>M<><4D>wM <00>: 7<>wP<77>c<EFBFBD>_W<5F><57>!<21>B<EFBFBD>wܵaS<61><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><02><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>T<EFBFBD>Y{C]u'<27>&<26><>*uw<>g<EFBFBD>5]FswQ<77>{<05><><EFBFBD><EFBFBD>氉署<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>T<07><><EFBFBD>;&f<>L<EFBFBD><4C> <1D> <1D>9<EFBFBD>&9u8<75><38>e<EFBFBD><65>X<EFBFBD><58><EFBFBD><EFBFBD>cU<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
<1B>;ȅE<C885><45>⦉<EFBFBD><E2A689><EFBFBD><EFBFBD>!<21>#L<> <1D>8ނ<38>%yw$<24><><EFBFBD>m<EFBFBD><06>.b<1A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>#
|
||||
<EFBFBD>g{O<> <1D>!<21><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>n<EFBFBD><EFBFBD><EFBFBD>94u<07>?<3F><><EFBFBD>Hݱ<48><0F><><EFBFBD>2<EFBFBD><32>y<EFBFBD> <00>嶎<0E><><EFBFBD>w<EFBFBD><77><EFBFBD><EFBFBD>㘘;<12><>X|<7C><><EFBFBD><EFBFBD><EFBFBD>Iz]`9A<39><06><><EFBFBD>l坆R̝y<CC9D>܋<C299>掆U<E68E86>v60w<30><77><EFBFBD><EFBFBD><19><>I]3l<33><6C>70w5ë<35><C3AB><EFBFBD>f<EFBFBD>Xs,;Cg<43><06><>[24M<34>E4s<34>5S<35><53>60w<30><77><EFBFBD> E<>aӅ<61><D385><EFBFBD><18>q'<27>OA<01>N<EFBFBD>
|
||||
<EFBFBD> 7<><37>Xn<58>@<40>Y 1a<31>u2p <20>X<19><>͵ <20>"<22><>-
|
||||
Z<EFBFBD><EFBFBD>p<EFBFBD>H<EFBFBD>q<EFBFBD>o<EFBFBD><EFBFBD><EFBFBD>q<>] <1E>z<><7A>zqg<71>`[<5B><>D<EFBFBD>1<EFBFBD><<3C>8<EFBFBD><38><EFBFBD><EFBFBD>]<5D>xh,<2C>qG<71><01>e<EFBFBD><65><EFBFBD><1B>;,t<><17>\<5C><><1B>;<3B><>m0<6D><30><EFBFBD>
|
||||
<EFBFBD> <1D>y<EFBFBD>3<EFBFBD>gP<67> <1D><><EFBFBD>57<35>vl<76>5<EFBFBD><35>)<29><><16>=*<2A>qǮX\<5C><>$Jw<><77>\<1A><><EFBFBD>;Z <00><> <17> M<01><><EFBFBD>t<EFBFBD>m`<60><>K x<><78>Ya<59><61><EFBFBD><EFBFBD>{<0E> 1̩<31>:<3A>7Pw4/z}<7D><>܉<EFBFBD> 5<>zE<7A><45><EFBFBD>Ѻ<10><>cuGC<47><43>ys<><73>K<EFBFBD>[R n`<60><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
<EFBFBD> _<> V<><56>;`<60>RΝ<52><1B>;%I̒<CC92>Îا<><D8A7>'#s'%<25><>.<2E><><EFBFBD><EFBFBD>ag<61><67><EFBFBD><EFBFBD>:80w$<24><>O<EFBFBD>]0w<30><77>e<EFBFBD>9<EFBFBD>_'<27><>S<EFBFBD><53>L<EFBFBD><4C><EFBFBD> tƎ5<C68E><35>;<3B><><05>'<27><><EFBFBD><EFBFBD>P<EFBFBD><50>3"<22><>sg<73>=<3D><><EFBFBD>F<EFBFBD>.<2E>b<EFBFBD><62>δ
|
||||
<EFBFBD> ,<EFBFBD>
|
||||
<EFBFBD>ݿN<EFBFBD> <1D>9W<39>;<07><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>r<EFBFBD><EFBFBD><EFBFBD><EFBFBD>";d<><64><EFBFBD><06><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> w<><77>[<5B><><EFBFBD>w<><77>#<23>><3E><>Oqw|{<7B><>e: 7<>w<14> <1F><>b<EFBFBD>p<EFBFBD>L<0F>v q`<EFBFBD><EFBFBD> <EFBFBD><EFBFBD>P<EFBFBD><EFBFBD><EFBFBD>ػ<>&xT<78>k<EFBFBD><06><EFBFBD><EFBFBD>5a<EFBFBD>.<2E> <0B>.<2E>)<29><><EFBFBD><EFBFBD><1B>;<3B>ܖ-=<3D>ޑ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>uQ<EFBFBD><EFBFBD>;({<7B><><EFBFBD><EFBFBD>4<EFBFBD><34>1<EFBFBD><31><EFBFBD>љ<EFBFBD><D199><EFBFBD> <09>!<21><>y<EFBFBD><79><EFBFBD>ncӞЎ<D39E><D08E><EFBFBD><EFBFBD>=M[3<>O<EFBFBD> \<14>J<EFBFBD><4A>}<7D>z%[<5B><>L<EFBFBD> M<>Z<EFBFBD><5A>:<3A>w <0C>cΔұ<CE94><D2B1>c<EFBFBD><63><EFBFBD><EFBFBD><EFBFBD>~<7E><>
|
||||
Cg<EFBFBD><0E>8<EFBFBD>tM<>q<01>7<EFBFBD>U}Ǎ<>u<EFBFBD><75>&}W<>_<EFBFBD>]<5D> <1D><><EFBFBD>+<2B><02><><EFBFBD>`<60>Ю<EFBFBD>}3<>
|
||||
^<5E>KS<4B><53>$<24>Y<EFBFBD>k<EFBFBD><6B>4<EFBFBD><34>%(<28><><EFBFBD>6<EFBFBD>q&0&<26><><1B>7<EFBFBD><37>11<31>TO<54>w<EFBFBD>`<60>c
|
||||
Tޏm3i<EFBFBD><EFBFBD>,)ܯ<>mf<6D>
|
||||
<EFBFBD>5<EFBFBD>A<EFBFBD>w4(<28>c<EFBFBD>Vh<>N<1A>@ <0B>t<EFBFBD><74><EFBFBD><EFBFBD>> <1F>Ɗ<EFBFBD>c"Hȡ<48><C8A1><EFBFBD>ɻH<C9BB><48><EFBFBD><EFBFBD> ɻ(}<7D>z<0E><>w<EFBFBD>u<EFBFBD>0<EFBFBD><30><15><>;<3B>P<EFBFBD>Rw<52>c$<24>x<EFBFBD>^<5E>sފ<73>F<EFBFBD>.I^lm<6C>w<><18><>T<EFBFBD><54><EFBFBD><EFBFBD><EFBFBD> <1D><19>Ѵ# 4w<34>XCJ<43><4A>sF<73>A
|
||||
䒢 <1C>*<2A><>F<EFBFBD>=<3D><>5Asw<<3C><>v<06>T<EFBFBD><54><EFBFBD>%.<2E><EFBFBD>
|
||||
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>7<EFBFBD><EFBFBD>256<EFBFBD><EFBFBD><EFBFBD>$!'8<>s<EFBFBD>L"<22>U<EFBFBD><55>F<EFBFBD>s<>h<EFBFBD><68><10><><EFBFBD> <0B><><EFBFBD>O<EFBFBD>J<EFBFBD>P<EFBFBD>]b;\<5C><><EFBFBD><EFBFBD>eu<><75><EFBFBD>üo<C3BC>M<EFBFBD><4D>KA<4B>n<>zY#u<>P&|˭Uq(<28>z <07>Pu<w<><77><EFBFBD><EFBFBD><EFBFBD>G
|
||||
)<29><>e<EFBFBD>PY<50><59><EFBFBD><EFBFBD> Kb<4B><62><EFBFBD>өgf<16>aoz<6F>Ȼ<EFBFBD>U <1D>"<22><18><>R<EFBFBD>ab<61><62>q<EFBFBD><71>zj<7A><6A><EFBFBD><EFBFBD><EFBFBD> <1F><>ʾ<EFBFBD>z<EFBFBD><7A><EFBFBD><EFBFBD><EFBFBD><EFBFBD>d6qw<71>,U <0C><>i&<26>;r<><72><EFBFBD>5w<35><77>g<EFBFBD><67><EFBFBD>Nqw<71><77><EFBFBD>k<EFBFBD>@SwI<77><49>><3E><> <EFBFBD><EFBFBD><EFBFBD>R'<27>.<2E> {<7B><>K*<2A>]w<>Q<EFBFBD>u[<5B>6w ^<5E><>T<EFBFBD>B3w<2<><32><EFBFBD>ԙ<EFBFBD><D499><EFBFBD><EFBFBD>(<28>a筆
|
||||
<EFBFBD> 0L<30><4C> <1D><><EFBFBD><EFBFBD><EFBFBD>HU.<2E>;a<><61>31w<31><06>Q1w<31><77>ZRV<52>g<EFBFBD><67>hC<68>xQxǐ<78><C790>1<EFBFBD><31><EFBFBD>C<EFBFBD> {M`[<5B>ձׅw<D785>m6JS<<3C><>N:+`3m|<7C>*<2A><>c)<29><><EFBFBD>#T<><54>.<2E>ef<65><66>ancd<><64>c<EFBFBD>s<EFBFBD>i<EFBFBD><69><EFBFBD><EFBFBD>H<EFBFBD><48>Rew<65>T<EFBFBD><54><EFBFBD>F<EFBFBD><46><EFBFBD>.s<0E>^o<><6F><EFBFBD><EFBFBD><0E>d<EFBFBD>'<27><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>-1<><31><EFBFBD><7F>ܠ,<2C><>iＦ<69><EFBCA6><EFBFBD>Th<54><68>D0UvG<76><47><EFBFBD>]<5D><><EFBFBD>;<3B>>K<><4B><1B><><EFBFBD><EFBFBD><EFBFBD>Ys<59><73><EFBFBD><EFBFBD><EFBFBD>5<EFBFBD>TSw<EFBFBD>
|
||||
fk.<2E>D<EFBFBD>1<EFBFBD><31>/<2F><>E<>1C<31>ek<17>2<19><>~<7E>JN5w<35> )<29>_<EFBFBD><5F>ez<65>i<EFBFBD>Q<EFBFBD><17>2y<<3C><><EFBFBD>zA<7A>y<EFBFBD>\<5C>G<EFBFBD>6<EFBFBD>w<EFBFBD><77><EFBFBD><07>4yG<79>»<EFBFBD>
|
||||
5w7x<EFBFBD><EFBFBD>f<EFBFBD><EFBFBD>yͶ<EFBFBD>C<EFBFBD><EFBFBD><EFBFBD> s<><73><EFBFBD><EFBFBD><EFBFBD>w<><77>`<60>3<EFBFBD> <1D>&<26><> q<><71><EFBFBD>.J<>c<D7AD><63>n<EFBFBD>{ <1D>\xgXgR<52><C299><EFBFBD>&=R<>^<5E><>*<2A>><3E>{q<>Pxǣ7<C7A3><37>Ro<52>9ޑ<DE91>И/]x <0C><><EFBFBD>
|
||||
Ӆw<EFBFBD>
|
||||
<EFBFBD>*N<>2 A6<41><36><EFBFBD><EFBFBD><EFBFBD>;<16><>=<3D><> ]x<>%J<>Uر<55><D8B1><0E>%<06><>ԕwylt<6C>*<2A>j<EFBFBD><6A><EFBFBD>L<EFBFBD><4C><EFBFBD><EFBFBD>;<3B><>e<EFBFBD><65><EFBFBD>+<2B>0iM<69><4D>Εw<CE95><77><EFBFBD>v.<2E><><EFBFBD><EFBFBD>-<2D>v*<2A><EFBFBD>
|
||||
<EFBFBD>nة<EFBFBD>S <09>Bkj8pw<70>,<2C><><EFBFBD>g<EFBFBD><67><&6dl<><6C><EFBFBD>ѶC<D1B6>5u'><3E>뽦4uG<75>0 /<2F> <0B><>O㟥<4F>3uG,2<><32><EFBFBD>% <1D>;bߦm<6D>>U E<>#<23><>rYuG <0C><>gw(<28><>><3E><19>G<><47>+<2B><><EFBFBD>tuG_<1A><>3u'Ւe<D592>:<3A> <0B>$<13><>6*<2A><>!<21><>?m=Nu<>|<7C>M2<4D>6PwA<>mf<6D><66><EFBFBD> <0B><>sG<73> <1F><>ͽ^o`<60> }v<>Q<EFBFBD><51><EFBFBD>3<EFBFBD><33><EFBFBD>u_Pw<50><77>D<EFBFBD><44><EFBFBD>L<EFBFBD><4C><EFBFBD>hhK7<4B>Р<EFBFBD><D0A0>c<EFBFBD>BvB<76><42><EFBFBD><0E><>]<5D><>_<EFBFBD>*<2A><><EFBFBD><0E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>iьo3wG <20><>o<EFBFBD><6F><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>U1<55>uw<75><77>x<EFBFBD><78>T<><54><EFBFBD><EFBFBD> <08>]<5D><06>σ<><CF83>4sMqw<71><77><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>]r5u<35>8<14>vn<76> <09><><EFBFBD>v߫s<07>(1<><31>ŋ<EFBFBD><C58B><EFBFBD>]<5D><><EFBFBD>]T<>I{ <1F><>X <1C><>ID,<2C>ul`<60>,w<17>;<3B>j<EFBFBD><6A><EFBFBD>U<EFBFBD>o<EFBFBD><6F>D<EFBFBD><44><EFBFBD><EFBFBD><EFBFBD><C288>a<EFBFBD>㮄 l{<7B><>A<EFBFBD><41>d<EFBFBD>#gIsw䔡)̹_&}0 <0C><>fu<><75>U<EFBFBD>m<EFBFBD>ҹ莧&<26>\<5C>f<EFBFBD>(<28>γ<EFBFBD>Z<EFBFBD><5A>e;<3B>v<EFBFBD>Rt<52><74>f<EFBFBD> J<><4A>;Ҡt<D2A0>l<EFBFBD><6C>u<EFBFBD><75><EFBFBD>%<25><><12>s<EFBFBD>Lv4<76><34>-r<><72>;<3B>v<EFBFBD>G
|
||||
<EFBFBD><EFBFBD><EFBFBD><EFBFBD>9.<2E> :<3A>3B<33>{<7B><>F⎐<04>m/<2F>;L7b <0C>6zd<7A><64><EFBFBD>Ұ<EFBFBD><D2B0>|d<><EFBFBD>
|
||||
<EFBFBD><EFBFBD><EFBFBD><EFBFBD>#1XSb<53><62>#<23>5<EFBFBD><1B>+<2B><>=<3D><>;<3B>v<EFBFBD><76><EFBFBD><EFBFBD><EFBFBD>+?<3F><EFBFBD><EFBFBD>;<EFBFBD><EFBFBD><EFBFBD>k<EFBFBD><EFBFBD>X`<60>v'<27><0E><><18> [:v<><76><EFBFBD><EFBFBD>k/<2F>Τ <1D> 1<><31>N<EFBFBD><4E>̝
|
||||
<EFBFBD><EFBFBD>2<EFBFBD><EFBFBD>;bI<12>{Y<>a~2@`0W<30><57><EFBFBD><EFBFBD><EFBFBD><EFBFBD>#z<0E>&<26>j\<5C>J<EFBFBD><4A><EFBFBD>c<>4<EFBFBD>Wg<57><0E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>^Vw0w<30><77>S<>`<60><>I <1C>U/<2F><> 1<><z]<5D><>ܑ<EFBFBD><DC91><EFBFBD>cf<63><66><>z<EFBFBD>%LL<4C>(;<3B>w0w<30>햷f<ED96B7><04><><EFBFBD>QM<51><11><><EFBFBD>[<5B>)<29><>K<>B<EFBFBD><42><EFBFBD>A<EFBFBD>y<EFBFBD>X<EFBFBD>y<EFBFBD>Uo<55><6F> 1<16><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>y<EFBFBD><79>Ts<54>Ӂ<EFBFBD><D381>M<EFBFBD>3<EFBFBD><33><EFBFBD>iwG /<02><><EFBFBD>a<EFBFBD>K<EFBFBD><4B><EFBFBD>6<EFBFBD><36><EFBFBD><EFBFBD>3<><33>ꁺ<EFBFBD><EA81BA>]$<24><>;=wPw<50><77><EFBFBD>ߛw Ƽ<><<3C><><EFBFBD>i<EFBFBD><69> K<>#O<>(<28><>;<3B><>,<2C>w<EFBFBD>kd<6B><<3C>}<7D><><EFBFBD>01w<31><77><EFBFBD><EFBFBD>)g<><67>Iϛ6<CF9B>Gڎ<05>l<EFBFBD>]O<>R<EFBFBD>]<5D><><EFBFBD>ag <0F>.<2E><>pb:<3A>vr<76>Vbǎ3m<18><EFBFBD>
|
||||
<EFBFBD>s<EFBFBD>m<17>Tا<><D8A7><EFBFBD>N<EFBFBD><4E><EFBFBD>Uh<55>.<2E>8.~_3mǚA2⽿<32>H۱4<DBB1>E<EFBFBD>9<EFBFBD>[f2<14>YQ<59>N<EFBFBD> <1D> <1D>E<EFBFBD><45>N<EFBFBD>\t3;<0E><0F><>i;<3B>B<EFBFBD>SD<44><7F><EFBFBD>S <0C><>uwҴ<77><D2B4>I<EFBFBD>({ <1D>@<40>IwR %zA<7A>A<EFBFBD>1<EFBFBD> x<><78>^<5E>wxFdAa<41><61>#<23>4m%<25> $<24>i<EFBFBD>H7<48>n<EFBFBD><6E> <1C>N۱<19>&<26><><EFBFBD><EFBFBD>𨈑<EFBFBD>+<2B><17> <1D> <1D><>6é<36><C3A9><EFBFBD><EFBFBD><18><><EFBFBD><EFBFBD>I<0F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>a<EFBFBD><61>duM<75>1<10><>ڻ6+<2B>.<2E><><17><>s<EFBFBD><73>;<3B>4<EFBFBD>]<5D><><EFBFBD>q<EFBFBD><0E>.<2E><>@<40>S<EFBFBD><53><EFBFBD>Á<EFBFBD><C381> ÷<><C3B7>9<EFBFBD><39><EFBFBD><EFBFBD>(<28>g<><67><17>x;<3B><><EFBFBD> p<>M<EFBFBD>f<EFBFBD><66><EFBFBD><7F>R
|
||||
<18>K<EFBFBD>2A<32><41><EFBFBD><7F><EFBFBD>;7<><37><EFBFBD><EFBFBD><07><><EFBFBD><EFBFBD><EFBFBD><17><03>~<7E> <1E><> <04>t`<60><><EFBFBD><EFBFBD>l鄽7rqU<71>ԥt<D4A5><74><EFBFBD> <1C>Ɂg<C981>d%<25>S<EFBFBD>c<EFBFBD><63>*c<>b<EFBFBD><62>$E<>n<EFBFBD><6E><EFBFBD>9<EFBFBD><39><EFBFBD><7F>a<EFBFBD>Ұ<EFBFBD>6a<36>ҷKm|uiA<10>&<08>s<EFBFBD>At
|
||||
<EFBFBD> <20><>Aܢ <s<04>X<EFBFBD><58>/-<08><>a<>6<EFBFBD> <1F> <1C> <20><>A¢ <20>Y_<<3C>7<EFBFBD><37> <0C><04>k<EFBFBD>D<EFBFBD>&<01><><EFBFBD>Xd<><64> HZ<14><><EFBFBD>w<EFBFBD><77>Qd<><64> <20>} Za<>A<EFBFBD>&d<><64> HY<13>1
|
||||
<EFBFBD>c<EFBFBD><EFBFBD>ꂌ<EFBFBD><EFBFBD> <0B><><EFBFBD>(Iv<49>x<EFBFBD> <20>&<26>xiA<69>E<EFBFBD>j=cd<63>q<0E>6^ZdQ<64><12><>)|<7C> /-<EFBFBD><EFBFBD>Y
|
||||
ƚ)<29><>/-<08><>Yi<59><69>vLkd<><64> Ȣf<C8A2><66>s<><73>Ud<><64> Ȣf<C8A2>O<EFBFBD>ZBAd<><64> Ȣfe<66><04><>wA<77>K <0B><>iV戰<56><E688B0>0;UuiA<69>5<EFBFBD><35> <0C><><EFBFBD>Zd<>t_<74><5F><EFBFBD>Y%/ <0C>"<22><>.<2E>xiA<69>5<EFBFBD><35>^<5E>p<EFBFBD><70><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <0C>YӬ<59><D3AC>)r<><72>n<06>K <0B><>iV<69> =n<>~uA<75>K <0B><>iVx<>cJF<><46> <0C>YӬ<59>!<21><>fuA<75>K <0B><>iVk<56>_<EFBFBD><5F><EFBFBD>낌<EFBFBD>YӬ<59><D3AC>㴃<EFBFBD>.-<08><>YF<>9<EFBFBD> uA<75>K <0B>,j֍<6A>X<EFBFBD><58><EFBFBD>.<2E><17>,jVI<>+<2B><><EFBFBD>xiA<69>5<EFBFBD><35>Dg<44><67>S<EFBFBD>}<7D>S<EFBFBD>YӬ<EFBFBD><EFBFBD>6<EFBFBD><EFBFBD>R<EFBFBD>YӬp<D3AC>xl<78>e><3E>.<2E>piA<69>5<EFBFBD>j<EFBFBD><6A><EFBFBD>C<><43><EFBFBD>R<EFBFBD>YӬ<59><D3AC>l<EFBFBD><6C>Ƥ>YեA<>4<EFBFBD><34> <1C>'<02><>GԥA<>4<EFBFBD><34><EFBFBD>e<>/-<08><>Y<EFBFBD>'<27><><EFBFBD>+v<><76><EFBFBD><EFBFBD>A<>4<EFBFBD>a<EFBFBD><61><EFBFBD><EFBFBD>ԥ<EFBFBD><D4A5>`<60>^<5E><>9<1A><>S<EFBFBD>V$YԭLˇc<17> <1E>P<EFBFBD>V$YT<59><54><EFBFBD>ƞ<EFBFBD><C69E>Z<EFBFBD><5A> <0C>V$YԮ<<3C>vٶ<76>} <09><>V$YT<59>$<24><>R<EFBFBD>*m<><6D><EFBFBD>V$Yӯ<59><D3AF>ц<>k<EFBFBD><6B>ʊ k<><6B>i\<5C>ﺾ<EFBFBD><EFBABE> +R<><52>V:<3A>sU<73><55>T <1D><>ȱ<EFBFBD>Z<EFBFBD><0F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><18><>ȱ<EFBFBD>YY <0B><><EFBFBD><EFBFBD>ʂ fM<66><4D> <1C><><14><><EFBFBD>r<EFBFBD>WV<57>XӪ<58><D3AA><EFBFBD>%<25>Θ<EFBFBD>A<41>2<EFBFBD><32><16><>hSL]Z<><5A>-<2D><><EFBFBD><EFBFBD><EFBFBD>˖<CB96><7F><EFBFBD>F6<:Щ(<28><>t<EFBFBD>PG5<47><35><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƒy<C691><79><EFBFBD>O<EFBFBD><4F>{<7B><>gW(fS<EFBFBD><EFBFBD>
|
||||
wEyb}<7D>U=<14>~L<>G<05><>4 oj<6F>~<7E><>c"<22><>gx^<5E>)<29>a΅`<60>T<EFBFBD>=t<> <0C><>yp<12><><EFBFBD><7F>!6<>J<EFBFBD><4A><EFBFBD>_!<11><>R<EFBFBD>Ĝs<C49C><73><EFBFBD><07><>b<><62>-<2D>S <1E><>ӯ<EFBFBD><D3AF><EFBFBD><07><> <1F>G<EFBFBD>ZV<5A>K<EFBFBD><4B><EFBFBD><7F><7F>?<3F><17> _<><5F><EFBFBD><EFBFBD><EFBFBD>~<7E><><EFBFBD><EFBFBD>ЫC<D0AB><43><EFBFBD><EFBFBD><11>8B{*<2A>賧<EFBFBD>D6jE<6A>z <1C>#<23><>m<><6D>#<23>(-1k<31> C<>w<><77><EFBFBD>e~H<>ng $<24><> 6}L<><4C><EFBFBD>xc<08>%e u1D<31><44>!bz<62>S<EFBFBD><53><EFBFBD>)<29><> QϬ<51><CFAC><EFBFBD>)<29><> <0C><>N<EFBFBD><4E><06><><EFBFBD>_3<5F><33><0E><><EFBFBD><EFBFBD><EFBFBD><17>}Vc\<5C>P<EFBFBD>d<EFBFBD><64>v<EFBFBD>
|
||||
<EFBFBD>.<06><>/<19><><EFBFBD>y<EFBFBD><79><EFBFBD><18>O_2<02>]
|
||||
|
||||
<EFBFBD>b<EFBFBD><EFBFBD><EFBFBD><11><03>ƶW<C6B6><11><>KF`<EFBFBD>&t<EFBFBD><EFBFBD>zK<EFBFBD><EFBFBD><11>$<24><>#<23>E<EFBFBD><45><EFBFBD>Ÿ<EFBFBD>"<22><>0G<30>ޣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>cy<EFBFBD><EFBFBD>X<EFBFBD><EFBFBD><EFBFBD>rC<72><43><EFBFBD><18>^<5E>?n z<>8<EFBFBD><38><EFBFBD><EFBFBD>q<EFBFBD><EFBFBD>%>q?I<>'<27><><EFBFBD><EFBFBD>Sc?<3F><>/<2F>=5<>O<EFBFBD><4F><EFBFBD><EFBFBD>b<EFBFBD>v@}<7D><>;<3B><>#<> {G<>9!v<14><><EFBFBD><EFBFBD>["L<><4C>J<EFBFBD><4A><EFBFBD><EFBFBD>;"<22>I<EFBFBD><49> d<><64>aJU"<22><><EFBFBD><EFBFBD>aN| E<> <03><>Sʫa=<3D><><EFBFBD>S<><53>a=<3D><><EFBFBD><EFBFBD>w<14><>l<EFBFBD><6C>L<EFBFBD>Q<EFBFBD>Rn<52><6E>0<EFBFBD>؎"|<7C>l{G<>9<EFBFBD>v<14><>4<EFBFBD>;"<22>y<EFBFBD><79> $<24><>aʨU"<22><><EFBFBD><EFBFBD>aʥU"<22>'<27><>a E<> <20><><EFBFBD>S<><53>a=<3D><><EFBFBD>S<><53>a=<3D><><EFBFBD>g0<67><30>"|<7C><{G<>9[vჴ<>;"<22>y<EFBFBD><79> $<24><>aʐU"<22><><EFBFBD><EFBFBD>a E<> I<><49>SV<53>a==<3D><>S><3E>a=1<><31><EFBFBD>>e"|<7C><12>1Pc?18%ގc<63><7F>{G<>9<EFBFBD>v<14><><EFBFBD><EFBFBD>["LɶJ<C9B6><4A><EFBFBD><EFBFBD>;"<22>i<EFBFBD><69> <1F><><EFBFBD>aJ<61>U"<22>g<EFBFBD><67> `ͩ<><CDA9><08><><EFBFBD><EFBFBD>aJ<61>U"<22>g<EFBFBD><67>aJ<61>U"<22><><EFBFBD><EFBFBD>aN<61> E<> <20><><EFBFBD>s
|
||||
<EFBFBD>(<28><07><>wD<77><44>gG>Ȣ<>#6;<3B><>A<EFBFBD><41> <11><><EFBFBD>Q<EFBFBD>2go<67>0<EFBFBD><30>*<11>sfo<66>0<EFBFBD><30>*֓eo<65><6F><EFBFBD><EFBFBD><EFBFBD>Q<EFBFBD><0F>do<64>0e<30>*<11><>c?!9<>?%<25>~<7E><> E<> 5<><35>s*<2A>(<28>9<>7D<37>sp >Hƽ#<23>N<EFBFBD> <1D>_<EFBFBD>½1<C2BD><31>u;<3B><>A<EFBFBD><41> <01>t<EFBFBD>Q<EFBFBD><51><EFBFBD><EFBFBD>;Ly<4C><79> <00> <09>w<10><04>A<EFBFBD>2m<32>f@<40>q<>x<EFBFBD>n<EFBFBD>W<EFBFBD> <20>w<EFBFBD><77>F<EFBFBD><46>(<28><><EFBFBD>7Z<37><5A>)<29><>n7<6E><08>S|}n<><08>S| n& <1E><>.z<>h<11><><EFBFBD>.<2E><>L"<N<>]<5D><><EFBFBD>Dx<44><78><EFBFBD>L<EFBFBD>E<>9i ŧEx<45><78><EFBFBD>h<EFBFBD><68>Ex<45><78><EFBFBD>h<EFBFBD><68>Ex<45><78><EFBFBD>h<EFBFBD><68>Ex<45><78><EFBFBD>h<EFBFBD>3<EFBFBD><33>8<EFBFBD>w<EFBFBD>.g<12>q<EFBFBD><71><EFBFBD>Q<EFBFBD><16>y<EFBFBD><79><EFBFBD>E<EFBFBD>$<24><><14>Es<45>I<EFBFBD><49>)<29><><EFBFBD>8J<38><4A>@<40>]4<><34>"<O<>]<5D><><EFBFBD>"<O<>]4<><34>Dx<44><78><EFBFBD>h<68>Ex<45><78><EFBFBD>h|3<><33>8<EFBFBD>w<EFBFBD><77>f<12>q<EFBFBD><71><EFBFBD>ٍ<16>y<EFBFBD>Og<4F><67><EFBFBD><EFBFBD><EFBFBD>L<EFBFBD>(>=<3D><><14>EW -<2D><><14>E?<3F>I<EFBFBD><49>)<29><>N:Z<><5A>)<29><> :<3A><08>S|<17>s<EFBFBD>?<3F><><EFBFBD><EFBFBD><EFBFBD>3<EFBFBD><33>8<EFBFBD>w<EFBFBD>1g<12>q<EFBFBD><71><EFBFBD>W<EFBFBD><16>y<EFBFBD><79><EFBFBD>K<EFBFBD><16>y<EFBFBD><79><EFBFBD>?<3F><16>y<EFBFBD><79><EFBFBD>3<EFBFBD><16>y<EFBFBD><79><EFBFBD>'<27><16>y<EFBFBD><79><EFBFBD><1B>$<24><><14>E<1B>I<EFBFBD><49>)<29><><EFBFBD>7Z<37><5A>)<29><><EFBFBD>7<EFBFBD><08>S|<7C><>4J<34><4A>R<EFBFBD>4Q|Z<><5A>)<29><>n;Z<><5A>)<29>s<EFBFBD> %<25><>ߩ<><DFA9> <1E>i<EFBFBD><69><EFBFBD>XG<58><47><<3C>wx<><78>;<3B><><EFBFBD><N<><4E>{<7B>(<01><><EFBFBD><EFBFBD><EFBFBD>9z<39><7A><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> ZM
|
||||
<EFBFBD><EFBFBD>0W<EFBFBD><EFBFBD>~<7E><><02>N<EFBFBD><><3E><><EFBFBD>?<3F><><EFBFBD><EFBFBD><07><>I<EFBFBD>[<5B><EFBFBD><EFBFBD>;<EFBFBD><EFBFBD>n<EFBFBD><EFBFBD><EFBFBD>#b<><08>gY<67><59>p,`<60><><EFBFBD>3<EFBFBD>^G<> <1F>n<EFBFBD>7<EFBFBD><37><EFBFBD>y<EFBFBD><0E>']<5D>p<EFBFBD> <1F><><EFBFBD>D0<<3C>~<7E>֕t2<18>d<EFBFBD>|0'<27>;<3B><><EFBFBD><EFBFBD><EFBFBD>|<7C><><EFBFBD><EFBFBD><EFBFBD>6p<36><70>ȩ<EFBFBD><C8A9><13> <1D>; <1F>l<EFBFBD> <1F><><EFBFBD><EFBFBD><EFBFBD>l<EFBFBD><6C> <1F><><<3C><><EFBFBD>;<3B>3 <1F><>C~<7E><>]
|
||||
9<EFBFBD><EFBFBD><EFBFBD><EFBFBD>&<26>eشw<><77>0\0<><07><><EFBFBD><EFBFBD><EFBFBD> <09>,O{<7B><>H<<12><><EFBFBD>V<EFBFBD><14><>.}]{<7B><>_5n<35><6E><EFBFBD>x<EFBFBD><78>Ÿ<EFBFBD><C5B8>qy:, <1C> <1C><><EFBFBD><EFBFBD> {<7B><<3C><><EFBFBD> <0C><> sr<><72> <1E>C<EFBFBD>}<7D><17>]<5D><><EFBFBD>><3E>^<5E> zv <1E><>Ni<4E><69><EFBFBD><EFBFBD><EFBFBD>.*<2A>~<16><>< ۛ+9~<7E>o<EFBFBD>ɑ69<36>Ӆ _<>/<2F><><EFBFBD><EFBFBD>s>v<><76><EFBFBD>6I9<49>zx<C29C>TJ(<28><0E>l<EFBFBD><6C>U_3<5F>=<3D>@4<>ȱ<EFBFBD><?<3F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>R<EFBFBD><52><EFBFBD> <20>q <20><>03]<5D>r<EFBFBD>%<25><<3C>*<2A>@lcm<63>#<23>#<0F>.ƚ<><C69A>6<EFBFBD>7<EFBFBD>Y=<3D><>ck<63><6B>mF<6D>J<><4A>ɉ<EFBFBD>r<EFBFBD>8<EFBFBD>/>I<><49><EFBFBD>F(
|
||||
<02><>ޠ<EFBFBD><DEA0><EFBFBD>ltr<74><EFBFBD>
|
||||
<<3C>Ҥ<EFBFBD>;<3B>@Tq<54><71><07><> <0C><19>N<EFBFBD>Q<EFBFBD><51><EFBFBD><EFBFBD>Rbx<62>ї-V<06>3O<33><4F>1<EFBFBD>c<EFBFBD><63> <1C>\<5C>[ۗ<><DB97><EFBFBD><EFBFBD>^<5E>93!<21><>qȹ`<60>,r<><72>F1<46><31><EFBFBD><EFBFBD> <1B>8<EFBFBD><38>9<EFBFBD><39>(<28> r<>a nx<17>, <1E>f<EFBFBD><66><EFBFBD><10>Ýkǎ <16><>D<EFBFBD>s<EFBFBD>ԏ<18>q<EFBFBD><71>`<60>[<5B><>L<EFBFBD>݁<EFBFBD>w<EFBFBD><77><EFBFBD><EFBFBD>c<EFBFBD>_#3y<33><79><EFBFBD><EFBFBD>r<EFBFBD><72>2x <20>`n|<7C><><EFBFBD><EFBFBD>l9><2 <09> <1D>J<EFBFBD><4A>M<EFBFBD>zǠ<7A><<3C><><EFBFBD><EFBFBD><EFBFBD>_<EFBFBD><5F>h<EFBFBD>;<2W0(<28>b<EFBFBD>hY}<7D>謃1 <20>%<16> )g<EFBFBD>
|
||||
<EFBFBD><EFBFBD><EFBFBD>Y/gg22`<60>"VG<56><47>>V6<>L 8'1<>+ <1E>?'<27><EFBFBD>
|
||||
<EFBFBD><EFBFBD><1B>y9`^ά7<CEAC><37>і<EFBFBD>$ <0C><>5|i9<69><39>6<EFBFBD>, '<27>[<5B>Ŝ<EFBFBD><C59C><EFBFBD>,X:<3A><>5<18>ل<EFBFBD>_%<25>Ǚ<EFBFBD><10><><EFBFBD><EFBFBD> 3<><33> L|?9<>zK<7A><1A><14>p<EFBFBD>gkb<6B>IR<>w<EFBFBD><77><EFBFBD>f!<21>2f{<7B><>m1<6D> <20><><EFBFBD><EFBFBD>
|
||||
<EFBFBD>'<27><><EFBFBD>>G<>Ú<55><CD81><EFBFBD><EFBFBD>L6;c<><63><EFBFBD>j<EFBFBD><6A><EFBFBD>Ig<49>D<EFBFBD><44> <>q<EFBFBD>45<34><35>SG<53>ߘ<EFBFBD>1!at<61><74>wQB <0C>x<EFBFBD>s<EFBFBD>!(<28><>"<22><><EFBFBD>J <1F><>$<24>6<EFBFBD><*Y<><59>%<25>S}<13><>c"<13>$r*m<>x<04>札X
|
||||
T<EFBFBD><EFBFBD>|<EFBFBD><EFBFBD>}<7D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>b<EFBFBD>p_<EFBFBD>*<2A>m$9<><39>ؾ<04> b<>ގ<EFBFBD> G<EFBFBD>
|
||||
<EFBFBD><EFBFBD><EFBFBD>M]<01> <1D><><18>J<0E>m<EFBFBD>~$-1<>WT<54><7F>uC<75>L<>R<EFBFBD>F r<>k <20>@,`E$S<>i ǚ"<22><13>]=<3D>8<EFBFBD><14><><EFBFBD>CĭL*<2A>`<60>
|
||||
<EFBFBD><EFBFBD>f<><66>F<EFBFBD>Q#z<>\q
|
||||
<EFBFBD> l<6C>r`{[<5B><>xZ;Odn<18>C<EFBFBD>X<EFBFBD><58><EFBFBD><EFBFBD>zo<7A>j-×̙]<5D><><EFBFBD>t<EFBFBD> .<2E>:^<5E><><EFBFBD><EFBFBD> <1D><16>,<2C>~H-<2D> <0C><>aW <0C><>8 ,% N<><17>`<60>,<2C><>B<>0\<5C>V<EFBFBD><56><EFBFBD><EFBFBD>@vX<76><58>0<EFBFBD>1z<31>
|
||||
<EFBFBD><EFBFBD><EFBFBD><EFBFBD>X<EFBFBD><EFBFBD>9<18><>z<EFBFBD>j<01><>D<EFBFBD> \<EFBFBD>
|
||||
Vt<EFBFBD>^ <17><>S<EFBFBD><53> 4F<34>.<2E><><EFBFBD>m<EFBFBD>𘘒<EFBFBD> <09><><EFBFBD>ݷ<EFBFBD>1 <0C><04>z<>p5,<2C><><EFBFBD>j<EFBFBD>X<EFBFBD><58>o<EFBFBD><6F><15><><EFBFBD><EFBFBD><EFBFBD>ڰZ<DAB0>y<EFBFBD><79><12>Z8C0<43><30><06>0$<14><><EFBFBD>B<EFBFBD><42><EFBFBD>{<7B>|à<1B><>0ј'<27><> <0B>@}<7D>|h(ɡ<><EFBFBD>
|
||||
<EFBFBD>5(<28>G<EFBFBD><47>U(ajv)y<F3A1BC88><13>]<5D><>r(2u<>)[<5B><>0:dW$<24>+6<><36><EFBFBD>MͣL<CDA3>;<3B><>`<60><><EFBFBD>% <1E>\<5C><>.cWz<57><7A><EFBFBD><EFBFBD>zv<> <0C>D6<44><36>.1<EFBFBD>s<>> <1E>%<EFBFBD>
|
||||
Q0<EFBFBD>J
|
||||
<EFBFBD>X<EFBFBD>VZ<EFBFBD><EFBFBD><EFBFBD>y<EFBFBD>g'3zPox<6F>&<26>X<EFBFBD>4<EFBFBD>,n93<39>s
|
||||
<EFBFBD>S<><53>nףL<D7A3><4C><EFBFBD>f<><66>P4<50>k<EFBFBD><6B> <0B>R<EFBFBD>*<2A><>+
|
||||
<EFBFBD>u<EFBFBD><EFBFBD>q<EFBFBD>/<2F><>*<2A><>1<EFBFBD>x<78>:β<>B<EFBFBD>v<EFBFBD>K,l<><6C><EFBFBD>-<2D>p=g<><67><EFBFBD>l<EFBFBD><6C>{<7B>~<7E><0Ld<4C>]$6<>8U<38>w<>z|7<>]m <0B><>(<28><>xq8 <1D><18>ޒi<DE92>~<<3C>1 <1D><14>A<EFBFBD>9<EFBFBD>İ=<3D>q<EFBFBD><71>ҡ<EFBFBD><05><>߶<EFBFBD> OC<4F><43>2Q<32>b<EFBFBD><62> l<EFBFBD>
|
||||
<04> <04><>>^<5E><>^<5E><><EFBFBD>\<5C>46
|
||||
9<EFBFBD>W'<03><>6<EFBFBD>8C<38><43><EFBFBD><EFBFBD><04><10>7(<28>B<>BY<42><59>b< <0B>m>+<2B><><EFBFBD>5cv<>wN,<2C>r<> 0<15>3<EFBFBD><33> v<><76>"<22><><EFBFBD><EFBFBD>s<EFBFBD>*a+rP=<3D><>lrbxXD<58><44><EFBFBD>ؖ<04><>qk<71>&<26><><EFBFBD>qb<71><62><EFBFBD>r<EFBFBD><72><EFBFBD>-<2D><EFBFBD><EFBFBD>Q<EFBFBD><EFBFBD>VgyX8,<2C>*
|
||||
^^<5E>2<EFBFBD>о<EFBFBD> <09><>)M]%<25><0E>~Þ<><C39E>Sފ<53><DE8A>PL<50><4C>6 <1C>'Y<>+x<>Q<EFBFBD>9b<39>.H <0C><11>1<EFBFBD>[a<><61><EFBFBD><EFBFBD>6L<36><4C><EFBFBD><17><><EFBFBD>c<EFBFBD><14><><EFBFBD>
|
||||
<EFBFBD>bp<EFBFBD><EFBFBD>&<26><><EFBFBD><EFBFBD>Ilbb<62><62>)<18>nF=<3D>R<EFBFBD><52>V<EFBFBD>0<0F><>mD<6D><44><EFBFBD>X<EFBFBD>ext<78>Z%<16>t<EFBFBD><74><EFBFBD>a<EFBFBD><61>#<23>+<2B>o<EFBFBD><6F><15><>n<EFBFBD>%<25><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>gb<67>Pv <1D>7db<64><62><EFBFBD>B:<14> ѫ˦<><CBA6>Nl߫<6C><DFAB><EFBFBD>-<2D><><EFBFBD>2XGI<47> ,<0E>5<EFBFBD>a<EFBFBD>6<EFBFBD><36><EFBFBD>{"<22>.}`<60>t<><74>\<5C><><EFBFBD> Ā
|
||||
<EFBFBD>[<5B>Ź{<7B><>b<EFBFBD><62><EFBFBD> k<><6B>&fۛ<66><DB9B><EFBFBD>?<3F><13>{q}<7D>`<60><><EFBFBD><EFBFBD><EFBFBD>~ ̓Pש͇i c<08>+<2B>M<EFBFBD>*
|
||||
^_ɘ<5F>xXh<58>w<EFBFBD><77>M<EFBFBD><4D>R<0E><01>4'V<><56><EFBFBD>a0<61><30>%<EFBFBD><EFBFBD><EFBFBD>
|
||||
J<EFBFBD><EFBFBD>)<29>I<EFBFBD> {<7B>Ⓡ<EFBFBD>c<EFBFBD><63><EFBFBD>}<7D>7<EFBFBD>L8<4C> <0C><><EFBFBD><EFBFBD>
|
||||
<EFBFBD><EFBFBD>
|
||||
<EFBFBD><EFBFBD><EFBFBD>bq'<27>c<EFBFBD>E<EFBFBD><45>"<><7F>46<34>Mu+p<>a<EFBFBD><61>rFc<46><63><EFBFBD><EFBFBD>E<EFBFBD> <00><>g<67>N<EFBFBD><10><><EFBFBD><EFBFBD>6<EFBFBD>5L<35>C g<>۵@<40><><EFBFBD>&6h7a<37>SAC<><43><EFBFBD><EFBFBD><EFBFBD>.U<><01>q<EFBFBD><71><EFBFBD>4l7o <1C>|LL<4C><4C>-<2D><>b+<15><>y<EFBFBD><79>=<3D><>mX<6D>|<7C> <20>3\<5C>Vޠ<02><12>\3,r<>=<3D><EFBFBD><EFBFBD>
|
||||
VQ<EFBFBD>3m<18><>
|
||||
<EFBFBD><EFBFBD>b Q0l<30>Лu/ vXL<58><4C><EFBFBD><EFBFBD>}SP<53>Z<05><>L<>f<03>ԓ`~0<>ع<EFBFBD>/<2F><><EFBFBD>.<2E>]5<><35>0 ?<3F><><EFBFBD>`g<01><16>Y<EFBFBD><1B>W<EFBFBD>m] O<>(6<><36><EFBFBD><18><>Xvu<76>:|ǦB+T5<54>o<EFBFBD>a<EFBFBD><01><><EFBFBD>c<EFBFBD>p<EFBFBD><EFBFBD> <EFBFBD><EFBFBD>X%<25><><EFBFBD><EFBFBD>,<2C>g<EFBFBD><67>F <0C><><EFBFBD><EFBFBD>5<EFBFBD>A2<41>r<EFBFBD>A<EFBFBD> <1C>c<EFBFBD><63><EFBFBD>#<04><><EFBFBD><EFBFBD>L<EFBFBD><4C><1B><><EFBFBD>%<25>0<EFBFBD><30>t<>{<7B><><EFBFBD>3V]h<18>J<>:<3A>X<EFBFBD><58> <0C><>2
|
||||
<EFBFBD> <20><>ɖ<EFBFBD>!%<25>+<2B>g[<5B><><EFBFBD>eeg<65><67>a'<12><>,}<7D><><EFBFBD> <0B><>)<29><>-<2D><> Fd<46><64><EFBFBD>R<EFBFBD>Ԩ<EFBFBD>6<><36>f<EFBFBD>2<EFBFBD><32>1<EFBFBD><31>67<><37><EFBFBD>aybֆ<62><D686><EFBFBD><EFBFBD><EFBFBD>%_X<>T<EFBFBD>͇<<18><><EFBFBD><EFBFBD><EFBFBD>r<EFBFBD>̄<EFBFBD>+<2B>WiYü)<29>$<24>Yʼ3l<1B>
|
||||
<EFBFBD><EFBFBD><EFBFBD>~ &5<><35><EFBFBD>a<EFBFBD>m<EFBFBD><6D>%v<><76><EFBFBD>PaW皯F <0C>n<>UI<55>0<><30><EFBFBD>ve0g<30>e(<28><><EFBFBD>)<29><><EFBFBD><EFBFBD><EFBFBD>Է<EFBFBD>߳q<DFB3>`~L]b<>?m<>g=#0 P<><50>0<EFBFBD>"<22><>m<EFBFBD>a<13>rzDl<18> 7מ {<7B><><EFBFBD>:LdB<64> <00><>V {<15><>Dw<05>K<EFBFBD><4B>ev<>όC<>rF4 #Q;<3B>{fj<66>X=oӚX<D39A><58><EFBFBD>ڳ^<j<>1<EFBFBD>>^1XB.<2E>{ f71<37>0<EFBFBD><30>zO&<26>XOc}B<><42>l<EFBFBD><0E><>&<26><>UUy<55>^PH4<34>TdI[<5B>vs=<3D><02> VJ .w-<2D>ջ<EFBFBD>{<7B>v< 芒j<E88A92>H<EFBFBD><48>~=<3D>)V(<28>c<EFBFBD>e<EFBFBD> <18>j<EFBFBD>ǁ<EFBFBD><C781>%SB<53>%<25><>!<21><EFBFBD><D4B0><0F><>$l&<26>G<EFBFBD> a<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>5<EFBFBD><EFBFBD><EFBFBD> <1D>A<EFBFBD>F<08>\{<02><><10>O<EFBFBD>p*<2A>=,ߠ<>4D<53xa<78>6ė>Ӂ<EFBFBD>
|
||||
c/<2F>F<EFBFBD>4<EFBFBD><34>E<>s3<><33>0ϙQ<CF99><51>c <EFBFBD>
|
||||
;<3B>7<EFBFBD><37>5<EFBFBD><35>u؆<75><D886><EFBFBD><EFBFBD> <0C><><EFBFBD><EFBFBD><14>z<EFBFBD><7A><EFBFBD><<3C>a<EFBFBD> <1F><>lb<6C><62>v<EFBFBD>@<40><02><05>Ƒ>`<60><>i3/ >J<>,<2C>s<EFBFBD><73><EFBFBD>z*<2A><>i<EFBFBD><08><><EFBFBD>6MK{`w_ e<1A><>M<EFBFBD><4D>I U<>T0<54>6-<2D>j<EFBFBD>:<`<60><>@<40>0<><30>t<EFBFBD>+<16>̠yn<79><6E><EFBFBD><EFBFBD>@<16><EFBFBD><7F><EFBFBD>y<EFBFBD>O <0C>%<25><18><><06>r<EFBFBD><72><EFBFBD><11><01>{<7B>}{8"<22><>1a<31>b J<> vxK<78>`<60><><EFBFBD>otTܶ
|
||||
1<EFBFBD>ơi<C6A1><69>H%a|6ל%O<><4F><EFBFBD><EFBFBD><EFBFBD>Ѻ<08>p<EFBFBD><70><EFBFBD><EFBFBD><EFBFBD>҉<EFBFBD><D289><EFBFBD><EFBFBD><03><><EFBFBD><EFBFBD> 1X<31><58>i~"<22>[<5B><03><18><><EFBFBD>`6<>4<06>2<EFBFBD><32><EFBFBD> s<>4<EFBFBD>pβp\0<><30><EFBFBD>a62X<0E>d*":u'v8nL<6E>㶔L<E3B694> <16>&86A<36>L<EFBFBD><4C><EFBFBD>$<24>B<EFBFBD><42><EFBFBD><EFBFBD>?<3F><><EFBFBD><EFBFBD>>sg<73>:<3A> }c<><63>M<>j<EFBFBD>*<2A><>f<wJ<77>D2w<32># <1E> Vvn0<6E>-}E<><45><EFBFBD><EFBFBD><EFBFBD>V<EFBFBD> f+<2B>K-<2D>|M<> <1D>L#<23>T<EFBFBD>@n<> o<><6F><1B>1Rw<52>
|
||||
<EFBFBD><EFBFBD><16> <1F>;)<29>٪<EFBFBD><D9AA><EFBFBD><EFBFBD>;Kgߜ<>r<EFBFBD><72><EFBFBD><EFBFBD>Y<EFBFBD>Ƽ<EFBFBD><C6BC><EFBFBD>9<EFBFBD><39>;bP둜<50>k<EFBFBD><6B>k{<7B><><EFBFBD><EFBFBD>`U]^<5E>;<3B>8E+4rw<72>a<EFBFBD><61>\9<><39><EFBFBD>#Y<><59>R%<25><06><>X<EFBFBD>v<EFBFBD><76><EFBFBD>"<22><>A?<16>a_y'X̴*_w'P!<21>R<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ã֧<1A>;<3B><> <1D><>+<2B>6pw<EFBFBD><EFBFBD><EFBFBD><EFBFBD>V<EFBFBD>9rw<EFBFBD><EFBFBD><EFBFBD>R<EFBFBD><0E><>6mٙ_yG<79>%l<>yG<79><47>NK<4E><4B><EFBFBD>]<5D><>Íw<C38D><77><18>;b$<24>`<60>VZ<56>E<><07>s<EFBFBD><73>f$<24>,<2C><11>yS<79>_E<5F><45>3x<33>: <1C>J<EFBFBD>
|
||||
䝥- <1D>_<EFBFBD><5F><EFBFBD>Y<EFBFBD>Z<EFBFBD><5A><EFBFBD>u<EFBFBD>x#{<7B>T)<29><>*<2A>7<EFBFBD>w<EFBFBD><77><EFBFBD><EFBFBD>Z<><1B>;Z<19><>շ<EFBFBD><D5B7><EFBFBD>H<EFBFBD>ve<76>4<EFBFBD><34>ޑN<DE91>{K<><4B>}ЗP<D097><50><EFBFBD><EFBFBD>+ݸxc<78><63><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>]bu<62>ߗ<EFBFBD>b<EFBFBD>*5<> :<3A>ޑB<DE91><42>ӂܚ<D382><DC9A>Z<EFBFBD><EFBFBD>{<7B><>p<EFBFBD><EFBFBD><1B>;<3B>!?<3F><> <1E>f<EFBFBD>2U<32>)͇<><CD87> <1D>" 2<>5<EFBFBD>w<EFBFBD>`C<><43><EFBFBD><EFBFBD>b<EFBFBD><62> ><3E><><EFBFBD>+<01>ٻ<EFBFBD>Σ<>L<> 7<><14><>*<2A>ػDR<13><>{<7B><><EFBFBD>R<EFBFBD>ҩ<EFBFBD><D2A9>D<EFBFBD>aR1<52><31><EFBFBD>zˑ<7A>Ö*<2A><>*<2A>b<EFBFBD><18><>$<24><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>B<07><><EFBFBD>;*<2A><>ln<6C><6E>Q<51><7F><12><>><3E>e<EFBFBD><65>;F\<5C>L<EFBFBD><4C>:*<2A>.s<15><>TBY<42>w<EFBFBD><77><EFBFBD><EFBFBD>j<EFBFBD><6A>f<EFBFBD>2<EFBFBD>;<3B><>x<EFBFBD><78><EFBFBD><EFBFBD>c<EFBFBD><63>5<><35> 1<>{d<><64>#<23><>WH<>w<EFBFBD><77><EFBFBD>F<EFBFBD>j<EFBFBD>Nx$l'<27>q<EFBFBD><71> <EFBFBD>
|
||||
,<08>('E<><45> <0C>L<>w|f<EFBFBD>)<29><>n0,<2C><>;G7<47>wl*D <1F>
|
||||
<EFBFBD><EFBFBD>;<3B>oȂU]<5D>S<EFBFBD> ^-&<26>V<EFBFBD><56>4W<7F><57><EFBFBD><EFBFBD>5:<3A>wŊ?]꾭<><EABEAD>(<28>/<2F><>J<EFBFBD>M<EFBFBD> <1D>(<28><><EFBFBD><EFBFBD>
|
||||
<EFBFBD><EFBFBD>ahs<>54gxl"<22><><EFBFBD>Ai<02><><EFBFBD><EFBFBD>S[<5B>pM<70>1uE<75>><3E><14>G <0C><>UFCxXќb<D19C>F<EFBFBD>4<EFBFBD>Ǵci<63>4l 𘍿<>yR<><52>!3!j<><6A>L<EFBFBD><01><16><>!<21><><EFBFBD>7<>Q<EFBFBD> 4Gc<47><63>H<><48><EFBFBD><06><>ek<65>V<EFBFBD>w<EFBFBD><77>E<EFBFBD>V<EFBFBD>g%<25><04><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <09><>4<1B>ǰ<13><><EFBFBD><EFBFBD><EFBFBD>`3C<33>2ְ<><D6B0>c<EFBFBD><08><> <09><><13>51<35>հ<EFBFBD><D5B0><EFBFBD><EFBFBD><EFBFBD>U<EFBFBD><55>m<EFBFBD><6D>=<3D><>jL<6A><4C><EFBFBD> aU`<60><> <1C>A<EFBFBD>1<EFBFBD>j<>1N<31><4E><16><>o<17> <1D><11>b<EFBFBD>;E7<45>w<EFBFBD>"<22>RZ<52>Q<EFBFBD>w<EFBFBD>3@<40><04><06><>Yp<06>M<EFBFBD><4D><EFBFBD><EFBFBD>b<EFBFBD>o<>!V<> t?<3F>J<EFBFBD><4A>6}ǘS<C798><53><EFBFBD>:<3A>7<EFBFBD>w %<25><>;6<>wR6<52><36><EFBFBD><EFBFBD>Y<EFBFBD>w a<><61><1A>R<EFBFBD><52>'C!<01>
|
||||
<EFBFBD> 0<>)Q<><51>f<EFBFBD>γ1Yj<59><6A>}<7D>yKJj<4A>@<40>ѝ 5B<35>m<EFBFBD><6D> <00><>0<EFBFBD>:E7<45>wAN<41>ċ<EFBFBD>
|
||||
<1B>;`~<7E>oE&<26><>D~<7E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>OSr<17>]`<60><>z<EFBFBD><7A>f<EFBFBD><66><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>8Mߑ<4D>n<>7l<37><6C><EFBFBD>R<EFBFBD>p<EFBFBD><70><EFBFBD><EFBFBD>F;<3B><><EFBFBD><EFBFBD><EFBFBD>S ={<7B>3<>j<EFBFBD><6A><EFBFBD><04><>q<EFBFBD><71><EFBFBD>6<EFBFBD>g}86H<>\<5C>@<40>1<EFBFBD> <1D>rh<72>@<40>E<EFBFBD>8FaJ<61><06><>A<EFBFBD><41>Ϟ<EFBFBD><CF9E>ȳ<19>Bշ<42><D5B7>;<3B>C<EFBFBD>z<EFBFBD>;<3B>w<EFBFBD>
|
||||
<EFBFBD>ў<EFBFBD>2<EFBFBD>wd<EFBFBD><13>awJp<4A><70><EFBFBD>-<2D><>h
|
||||
'<27>z<><7A>9m<39><6D><1B>;<3B><><06>3\<5C><06><><EFBFBD><EFBFBD>;<3B>|2<><32>a<EFBFBD>%<25>\=g<><67>`.<2E><><EFBFBD>9<EFBFBD>w<EFBFBD>9<EFBFBD>)Լ*<2A><><EFBFBD>`:<3A><1A>W<EFBFBD><57><EFBFBD><EFBFBD><EFBFBD>>Qj<51>\<5C>w<EFBFBD><77><EFBFBD><EFBFBD>z=<3D><>cD<63><44><EFBFBD>o3}'qi(<28>б<EFBFBD><D0B1>㢥9<E3A2A5><39>p}g<><67><EFBFBD>ۺN<EFBFBD>
|
||||
<EFBFBD> L$<24><>j<EFBFBD>*)<29><>*]<5D><>m<EFBFBD>@<40>aUԔ<55><D494>1(<28><>$<03><><EFBFBD>m}<7D><>N<03>5Ǚ<7F>`<<3C><> <1D>]<5D><>15<31><35><EFBFBD>;i֒<69>%|<7C><>;ƞr`<60>%7<>`<60>V<><56>FF<46>a<EFBFBD><61>D<EFBFBD><EFBFBD><EFBFBD>{
|
||||
<EFBFBD><EFBFBD><1B>;|G<>$<24><>N<EFBFBD>
|
||||
<EFBFBD> <1D>b<EFBFBD><62>~<7E><><EFBFBD>;|bn<62>6vn<><6E>h<EFBFBD><68>C<EFBFBD>킾۰|`<60>ƺuj<75><6A>A<EFBFBD><41>z<EFBFBD>L<EFBFBD>݆M{w'<27><><EFBFBD><EFBFBD>cO<63><4F><EFBFBD>Ʀ<EFBFBD><C6A6><EFBFBD><EFBFBD> <1C>;<3B><><EFBFBD>u_<75>6<EFBFBD>w<EFBFBD><77><EFBFBD>&n<>v<EFBFBD><76> <1D><>ؤ<EFBFBD><D8A4><EFBFBD><EFBFBD><EFBFBD>c<>M<EFBFBD><4D>M <0F>fJu<4A><75><EFBFBD>@<40><03>'<27>߱t<DFB1>H<EFBFBD>a<EFBFBD><06><>>>HK<48><4B><EFBFBD> <1D><>#aK<61>w<EFBFBD><77><EFBFBD>tfL<66>wb<77><62>.<2E><><EFBFBD>h<EFBFBD>b<EFBFBD>mM(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԡ<EFBFBD><D4A1><03><0F><><03><>Ѷ=<3D><>4{<7B><> j<><6A>W<EFBFBD> w{<7B>"<22>><3E><><EFBFBD><EFBFBD>9<EFBFBD>D
|
||||
<1A>;<3B>m<EFBFBD><6D><EFBFBD>&<26>X<><58>b;<3B>7<EFBFBD>w<EFBFBD><77><EFBFBD><EFBFBD>fJi<EFBFBD><EFBFBD>
|
||||
<06><><EFBFBD>0M<30><19>S<EFBFBD>f<EFBFBD>N<EFBFBD> <1D> 0&B<>4<EFBFBD><34><EFBFBD>+<2B>'<27>i<EFBFBD>N<02>x<EFBFBD>[g<><06><0E>$<24><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>a<EFBFBD> <09>W<EFBFBD><57>@ߙ7[j<>-wl<77><6C><EFBFBD><EFBFBD><EFBFBD>ͣr<CDA3><72><06>Nz<15>qR<71><07><>AH`u3<75><33> <1D><>P$<24>]<5D>w<EFBFBD><77><05>
|
||||
<1B>;Ͷ<><1A><><EFBFBD>L<EFBFBD>ptv<>w<EFBFBD>u<EFBFBD>Ax읣<>۸<EFBFBD>4d<34><64><EFBFBD>[MN<17> <1D>J <1C>D<EFBFBD>i<EFBFBD><69><EFBFBD>c<EFBFBD> <1F><><EFBFBD><1A><>cH<63>fI#W}G̈́-,<2C><14>Aߑ<41>K<EFBFBD>נ<><D7A0>ۘ<EFBFBD> 5<><18><><EFBFBD>c~<05>fcCv<43><76><EFBFBD><02><>L<EFBFBD><4C><EFBFBD>@<40><> <11>: 7<>w<EFBFBD><77><EFBFBD><EFBFBD>10Ұ<30><D2B0>cw'<27>Cy<43><EFBFBD>
|
||||
<EFBFBD> <14><><02><>FF<46>.<16>O n<>@<40>1h~d<>h<EFBFBD><68>J<EFBFBD>cnے&<26><>8<EFBFBD><38> <20><06><><EFBFBD><EFBFBD><EFBFBD><05>.<2E><><EFBFBD>1W <20><>o_ud<75><64>Ha<48>l悽# <09>O<EFBFBD><4F>Z<EFBFBD><5A><EFBFBD> <0B>'<27>yב<79> <0B><02><><EFBFBD><EFBFBD>ٻ<EFBFBD><D9BB>H<EFBFBD>fP<66> ^<03><>i<EFBFBD>R<EFBFBD>w5<77><35><EFBFBD>
|
||||
ػZ<D8BB><5A>Ӳ{
|
||||
<EFBFBD>֚<>C`k><3E><><EFBFBD><02>~J̡s~w<07>DO<44><4F>aw<>w<0E><15>_}<7D><><EFBFBD><EFBFBD>{
|
||||
TQ<EFBFBD><EFBFBD>lw'QT|<7C><>y<EFBFBD><79>3#<23>ǚ<EFBFBD>J1M<31> w3̍ܐ<CC8D>gc<67>˪<><EFBFBD><EFBFBD><EFBFBD>
|
||||
+<0E>߶<EFBFBD><DFB6>1$<24><>لAp|<7C> "<22><>&<26><><EFBFBD><EFBFBD><EFBFBD>uB<75><42>G5%&<26><>q<EFBFBD>Љ<EFBFBD><D089>ݑ<EFBFBD><DD91>t^% :sw0<77>`<EFBFBD><EFBFBD>B<EFBFBD><EFBFBD><EFBFBD><EFBFBD>5<EFBFBD>#[w<><77><EFBFBD> ,<2C><><EFBFBD>;rp<72>$<24><>Oew,$<24><>U 5<><35><EFBFBD>;<3B>Ř<C598><7F>3<EFBFBD><33>;q<><71>[<EFBFBD><EFBFBD><EFBFBD><EFBFBD>2VeMg}<7D><>;2?1T
|
||||
7Qw<EFBFBD><EFBFBD><EFBFBD><16>2&<26><><EFBFBD>$ذ'<27><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD>SV<EFBFBD>Msw<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <0B>NȐj<C890><6A><EFBFBD><EFBFBD><EFBFBD><0F>Z<EFBFBD><5A><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>-<2D>b<EFBFBD><62><EFBFBD><EFBFBD>Qꟾf<EA9FBE>{<7B><>Pb-<2D>Q<EFBFBD> M <0B>;TQQw<51>,
|
||||
<EFBFBD><EFBFBD>ۙ<EFBFBD><03><>渪<EFBFBD>5uG<75><02><><EFBFBD><0E><><EFBFBD><EFBFBD>n<EFBFBD>|YӪpuG/r<>a[M<EFBFBD><EFBFBD>
|
||||
`Q<><51>sݝ<73>F $<24>R%<19>;<3B>ذ<EFBFBD><D8B0><EFBFBD><EFBFBD><EFBFBD>$%<s<><73><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ί<EFBFBD><CE8A><EFBFBD>k<EFBFBD><6B>QԝgJ{<7B>Зg<D097><67>V1<56>8<18>g<EFBFBD><67>Yf<59><06>_3u<33><75><EFBFBD>jBo<42><6F>H<EFBFBD>E<EFBFBD>~<7E>Jn)<29><>0DZ<44>iM<69>I><02><><EFBFBD>?h<>.<2E><><18>kVrk<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Xv<><76>HR<48>%<25><><EFBFBD>5<EFBFBD>wd.<2E>,b5~5yWX<57>'<27>ҹ<EFBFBD><D2B9><EFBFBD>G ˩<>9<EFBFBD>w<EFBFBD>*<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>+<2B>ᛦs<E19BA6>]aLv]<5D>Gꮐ<47>s5<73>1Swİ\\<5C>#<23><>Z<><5A>J[E<>:
|
||||
#qv
|
||||
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><15><>0<EFBFBD>ٯx;b<11><><06>5o<07>&d<>V<> 1HI<48><49>5wİ<77>Bm<42>{<0E> <19>X<EFBFBD><58><EFBFBD>f<EFBFBD><66>Џ<EFBFBD>j<EFBFBD>纻<EFBFBD>T x]<5D>q<EFBFBD>#s <1B>dc<64>s<>KL<4B>k<17>ܱ<EFBFBD>%|<7C>Z<EFBFBD><5A><EFBFBD>;B<>P<EFBFBD><50><EFBFBD>5w<><l <0B><><EFBFBD> <1D><><EFBFBD><EFBFBD>ܱ<EFBFBD><DCB1>#<16>˶트 v<>s<EFBFBD><73>;<3B>;<3B><><EFBFBD><EFBFBD>-<2D>x;<3B>ˉ<EFBFBD><CB89><EFBFBD>GގP<0E><>X<EFBFBD><58><EFBFBD>+<2B><>ӳ<>|<7C><> 1Ҧ[8<>v<EFBFBD>-<2D><>ϩ<><CFA9><EFBFBD><EFBFBD> <1D>
|
||||
k<><6B><EFBFBD><EFBFBD>
|
||||
-<16>7<EFBFBD>
|
||||
;x;<3B>uX<75><58>xU<78> <1D>1I <0C>T<EFBFBD>H<EFBFBD>v<EFBFBD><EFBFBD>M,<EFBFBD><EFBFBD>R<0E> <1D> <1D><EFBFBD><EFBFBD><EFBFBD><EFBFBD> c<><63><EFBFBD>7&? 4<>vd<76>j r<><72>(<14> 8T4<54><34>$#kg<6B><67><EFBFBD><EFBFBD><EFBFBD>"<22><08><> <0C>^<5E>w<EFBFBD><77><EFBFBD>G<EFBFBD>:<3A>3iG<69><47>V<EFBFBD>&<26><>A:K<><4B>
|
||||
<EFBFBD> ku<6B><75><EFBFBD><EFBFBD>l<EFBFBD>P:9;B<><42><EFBFBD><06>I;`<60>Ҝ !<21><>#<23>i<EFBFBD>8;<3B><><EFBFBD><EFBFBD><EFBFBD>I9rv<72><76>
|
||||
<EFBFBD><EFBFBD>L<EFBFBD><EFBFBD>;<3B>#$<24><>A<EFBFBD><41>RE<52>2<15><><EFBFBD>7<EFBFBD>r ˰?q<>\rg"c<><19>66<36><36>V<18>5<EFBFBD>;<3B><><EFBFBD>3L<33>p~k<>e#e<EFBFBD><EFBFBD>B<EFBFBD><EFBFBD>Qv<16>|<7C><><EFBFBD><EFBFBD>);`<60><1B><><EFBFBD>FΎ<46>ÞJ<><4A>( !<21><-
|
||||
<EFBFBD>(;B<><42>0<15>Í<EFBFBD> o<>I
|
||||
ə<EFBFBD>#<23>`f<08><1A><><EFBFBD>
|
||||
<EFBFBD>9<<3C>V<EFBFBD>;PvD2Y<32>6F<><46>D<EFBFBD>+<2B>(;bبؽW<D8BD><57><EFBFBD><EFBFBD><EFBFBD>9J0eg<65>P<EFBFBD><50>UwRQv<51>(<28><><EFBFBD>@Qv<51><76>R<u@<40>v<EFBFBD><76><10><><EFBFBD>w<EFBFBD><77> 1<>ϸ<EFBFBD>`#eG,<2C>^Z<>;#*Ŧ<><C5A6><EFBFBD>;bp&<26>/wZn<5A><19>[<5B><>#<23>;Bx<42><78>3<EFBFBD><33>v<EFBFBD>`GӰ:H+<2B><>usaG<61><47><EFBFBD>΄<><CE84><07><>5<EFBFBD>r$<24><><EFBFBD>+<2B>5<EFBFBD>Vv<><02><><EFBFBD>uR<75> <20><>q<EFBFBD><71>zE<>qz.<2E><><EFBFBD>yv<><76>6w.<2E>F+
|
||||
<1B>m<EFBFBD>A<EFBFBD>a<EFBFBD>m<EFBFBD>.m93v<33><76><EFBFBD>s5<73>4cg<63><67>K<<3C>cc'<27><><EFBFBD>Lʙ<4C>3bc<>h<14><><EFBFBD>ɜ<EFBFBD>{J<><4A><EFBFBD>0w
|
||||
#<23><>*S<><53><EFBFBD>~<7E>]<5D><>0T<30> 5?,<2C><16> );<3B><>-l<>azY<7A>A<EFBFBD>q<EFBFBD>4<EFBFBD>Ұ<EFBFBD><D2B0><EFBFBD>'q<> ک<><DAA9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>jdmVÆ<56>;1<>c<EFBFBD><63>V<EFBFBD> Y%F<>l+<2B> ;G<><47> <00>^<5E>7T<37><54> <0B><1A><>g;a<><61><EFBFBD><EFBFBD> +®<>]<5D><><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD>NgJ<67><4A><EFBFBD><EFBFBD>;nژ<6E><DA98>\<14><><13><>Y<EFBFBD><59>w<><77>0<EFBFBD><30><EFBFBD><EFBFBD><EFBFBD>;<3B><03><> 7<>m`<60>^J[3
|
||||
:;`<60>e<>M<EFBFBD> <EFBFBD><EFBFBD>؛<EFBFBD><EFBFBD>!<21><><EFBFBD>/ 8<>S<EFBFBD><0E>N
|
||||
<EFBFBD><EFBFBD>H<EFBFBD><EFBFBD> #aH<>q<><71>ر>SC<><43>T<EFBFBD> <1D>$L<>j<EFBFBD>NwT<77>n<EFBFBD> <20> <0B>[ <1E>SYj<59>@<40><><EFBFBD><EFBFBD>{&<26><>쨫,<2C>N<EFBFBD><4E><EFBFBD>);h<15>o<EFBFBD>vZn<5A><6E>d<EFBFBD>`><3E>~ǁ<><C781>b<EFBFBD><62>2k<32>.ѡ<>ĵf<C4B5><66><EFBFBD>.սo`<60><><EFBFBD><EFBFBD><EFBFBD>^<5E>+<2B>Ǝ 3*<2A>N<EFBFBD>
|
||||
<EFBFBD> S
|
||||
<EFBFBD>
|
||||
<EFBFBD>^<5E>70v j9*<2A>μ
|
||||
<EFBFBD>]f&<19><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>}<7D>cc<>9k<39>Y_<59><5F>qC<71>1<EFBFBD>_<EFBFBD><5F><EFBFBD><EFBFBD>A<10>r<EFBFBD>4e<34>TF<54><46><EFBFBD>S}e<><65>r!<21>(W<><57>d&oz<11>@<40><>V<EFBFBD><56><EFBFBD><EFBFBD>:<3A>6vY<76><59><EFBFBD><EFBFBD><EFBFBD> ;F_<46><5F>Fӱ<46><D3B1><EFBFBD>>c<><63><EFBFBD>7Pv<50><76>1<EFBFBD>S<EFBFBD><53>ʎ<0E>m&<26><><05><>*{q<>@ر<05>&<26>Y<EFBFBD>Ǝ[۳o<DBB3>wcG<63><47>1<EFBFBD><31><EFBFBD>rc<><63><1B>_<EFBFBD>t<EFBFBD>o`<60> <20><><EFBFBD>&5<><35>;<3B>ֹ<EFBFBD><D6B9>Д]fI$,<2C>V<EFBFBD><56>(;b<>z<EFBFBD><7A>t<EFBFBD>@<40>K<>i<EFBFBD>D<EFBFBD><44>mL<04><>"<22>
|
||||
;3 <1C>R<EFBFBD><52><03>#ne.<2E><><EFBFBD>&<26><0E>Ev<>B<EFBFBD><42>j<EFBFBD><6A><>Q"<22><>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>-<2D><05>cǴP<C7B4><50><EFBFBD>I<EFBFBD><49><EFBFBD>ç<EFBFBD>.<06><>Y<EFBFBD><59><EFBFBD>c<EFBFBD><02>m{
|
||||
<EFBFBD><EFBFBD>ر<EFBFBD><EFBFBD>aS
|
||||
<EFBFBD>]dS<64>mO<6D>R<EFBFBD>]d<><64>쾳<EFBFBD><ECBEB3><EFBFBD><05>J6<4A>Nqv<71>o玼<03><><EFBFBD><EFBFBD><04>S~<7E><> <1D>d<7F><64><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Tr<17><><EFBFBD>UĆ
|
||||
<EFBFBD> -1آ<31><D8A2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>+l<>#L<><4C>א.<2E>m k<>H<EFBFBD>3<0F><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>qo<EFBFBD><EFBFBD>X<EFBFBD>dy,<2C>o<EFBFBD><6F>"<22><>o[H7otŝ<74><C59D> p<><70>1F<31> <13>g<07>(:<3A><>T<EFBFBD>]<5D><><EFBFBD>Ρ<EFBFBD><CEA1> U<>bw<62>v<EFBFBD>줯<EFBFBD>^s<>(;<3B><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Dٱ' <1E><>tA<74>I<EFBFBD>:֝<><D69D><EFBFBD>>[<5B>A<EFBFBD><41>/yd<79>X°<58><C2B0>sf<73><66>o4~*<2A>D;;<3B>f:<3A><02><>#<04><><1B><><EFBFBD>tt<74>;<3B>>2v<32><76>n<EFBFBD><6E>Yt6<74>`첔<>$r<>
|
||||
;<,6<><36><EFBFBD>P<EFBFBD><50>ڎ<EFBFBD> <EFBFBD><EFBFBD>ā<EFBFBD><EFBFBD><EFBFBD>V<EFBFBD><EFBFBD>c<><63>2<EFBFBD><32><EFBFBD>ɼ<EFBFBD>؎<EFBFBD><D88E><EFBFBD><EFBFBD>ZV<5A>&<26><18><> <0B><>n(<28><>4t<34>5<17>v<EFBFBD>]l<><6C>7 <09>BB <1E><1A><1B>ǐ<EFBFBD><C790><11><><EFBFBD>i<EFBFBD><69>mn<6D><6E><EFBFBD>TS<54>5u<35><75>#]<5D>պ<01><><EFBFBD><12><>V늳c<EFBFBD><EFBFBD><EFBFBD>
|
||||
՜ <1D>0өS&1<>.=?<<3C>[A;@<40><>֜ \<5C><>H"Z<>FΎQ<CE8E> <20>ٙ<EFBFBD><D999> kc<6B>m<EFBFBD>Ԝ <1D>l\<5C>9<EFBFBD>ʴ<EFBFBD><CAB4><EFBFBD>h{9<>v뗦<>9<EFBFBD><39>A-z<>I-<2D>ȉ<EFBFBD> <1D>!<21><>Z<EFBFBD><5A>9<EFBFBD><39>A<EFBFBD>J<><4A>Q<EFBFBD> 5[\P<> <1D><>F'߶Ɩ#gG<67>+<2B><>|)ʎ<><CA8E>0<EFBFBD>L=TSv<53>ll<18>\O<><4F>ep{<7B>Rsv<73><76><EFBFBD><EFBFBD>
|
||||
W<EFBFBD><EFBFBD>1[ <1F>˵vh<76><68>c<EFBFBD><63>C3/<2F>ى_
|
||||
?zk<7A>G<>N d<>0<EFBFBD>=_gGKbc<62><63>Ksv<73>0<0F><><EFBFBD> <0C> 1<><31>P<EFBFBD>$0><3E><>*F?<3F><><EFBFBD>D<EFBFBD><11><>R<EFBFBD><52><EFBFBD>H<EFBFBD>9Y<39>ε<EFBFBD>%E<EFBFBD><EFBFBD>
|
||||
g}zi<7A><69>H<EFBFBD>aCW<>Že<>d<EFBFBD><64><EFBFBD>RqeG <1D>֭=<3D><>dwv98v<><76><EFBFBD><EFBFBD><EFBFBD>X<EFBFBD><58> ={<7B>oЎ<6F>U<EFBFBD> 1VG<56>bؑ<62><D891>y<EFBFBD><79>A-mž&X<C28E>'WZ/Ɂ<>#<23><>#<23><>><3E><>c <1E><><EFBFBD>*=5v<><76>&<26><>*<2A>6v<>@<40>,u-<2D>E1v<31>`<60><><EFBFBD>Y<EFBFBD><59>(;I <0C>䱭c<E4B1AD>H<EFBFBD> J`<60><>k<EFBFBD><6B> <1C><>ډ<EFBFBD><DA89>><3E><>5<EFBFBD>$<06>HF%<25>Ҏ<10>!Up<55><70>8<EFBFBD>v<EFBFBD><76><EFBFBD><EFBFBD><EFBFBD>G<EFBFBD>XN<>ۉ}8^kG̒=<3D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> F <0B><>ӎ<EFBFBD><D38E>`<60>[g<><67><07>N <20>><3E><>b<EFBFBD>X;b<><62>C3<43>kG <0C><><EFBFBD>1v<31><76><EFBFBD>#<23>m<EFBFBD><6D>K<EFBFBD><4B><EFBFBD>%<25>ѭw<D1AD> Y;<3B><>~=7Nq<4E><71><04>嚃{M<><4D>@<40><>V<EFBFBD>|<7C><><11>\<5C><><EFBFBD>L<EFBFBD>]<5D>R`
|
||||
9<EFBFBD><EFBFBD><EFBFBD><EFBFBD><04><><EFBFBD>`X<><58><18>
|
||||
<EFBFBD><EFBFBD>`ʩ<>-
|
||||
<EFBFBD>]<5D><>VB<56><42><06>N0<4E><EFBFBD><7F>h;b<><62><EFBFBD><EFBFBD>9<EFBFBD><39><18><>Gh<47><68><EFBFBD><EFBFBD>v%
|
||||
<EFBFBD>Tn<EFBFBD><1A>dm<64><6D>Fڎ~[<5B>E<EFBFBD> <1D><><EFBFBD><EFBFBD>ey<><1A><>cR<D7BD>vta<>R<EFBFBD>4<EFBFBD>H:<3A>l<EFBFBD><6C><EFBFBD>ϼ<>$<24><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>;6<><36>-oCwl e<>-<2D>^<5E>7<04><><EFBFBD>r<EFBFBD><72>R<EFBFBD> <1D><><EFBFBD>R<EFBFBD> <1D>8<EFBFBD>5<EFBFBD><35> 1<><31>7<EFBFBD>Z;B<><42><EFBFBD>26DrxÑZ<C391><5A>;b <0C><><EFBFBD>Ԍ<EFBFBD> 1,<2C>VP<56><50>;bG ]<5D><>14YO8<4F><38>?a<>\<5C><>ر!JBZr<5A><72> <20>ӭ<EFBFBD>Z<EFBFBD><EFBFBD>^<EFBFBD>7D;»UWUl<55><6C><EFBFBD>Z<EFBFBD>i<EFBFBD><69>oÆ<6F>E`<60>}; P3w<33><02>h(<28>j;<3B>8<EFBFBD><38>{<7B>XQw<51><77><EFBFBD>>m<>w<EFBFBD> <1C><08><>{V<<3C><><11><>I<EFBFBD><49>,<2C><08>\/<2F>R<EFBFBD>]<5D> <1E><>H<EFBFBD>V<EFBFBD>#uG, <1C><17><>F <EFBFBD><EFBFBD>M
|
||||
;<3B><02><>1<EFBFBD><31>ag<61><67><08><>^V<><56>;<3B>ya<79>P<EFBFBD><50> <1D>4<EFBFBD><34><EFBFBD>Rsn<73><19>PŸ<50>
|
||||
;<3B>bi!<04><>c<><63>c<EFBFBD><63><EFBFBD><EFBFBD>*<2A><>#<04>7<EFBFBD><37>쑹#T<>^<5E><><EFBFBD>;<1A><>iV<69>g#s'Fmd<6D>d<EFBFBD><64><0E><>X1<58><31><EFBFBD><EFBFBD>zdž<15><>u<EFBFBD>E<EFBFBD>G<EFBFBD><47><EFBFBD>@2=!Cqw<71>pkܾ<6B><DCBE><EFBFBD><EFBFBD>#<23>i<EFBFBD>z5[ <05>v®<76><06>.<08><>\+<2B>Vܝ<56>ѷ<EFBFBD><D1B7>t<EFBFBD><74>I,<2C><><EFBFBD>T<EFBFBD> c얭<63><EC96AD><EFBFBD><10><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><19><><EFBFBD> )/fo<66>8rw<72>λMJ2<1B>;F<>و<EFBFBD>؎ <1D> <1D><>0|<7C><>:<3A>wl<77><6C><EFBFBD><EFBFBD><EFBFBD>&G<>N<EFBFBD><4E><EFBFBD>m<EFBFBD><6D><EFBFBD>I<EFBFBD>ٲ<EFBFBD>j<EFBFBD><6A>;<3B><> X<>] w$<24>?l<>s<EFBFBD><73><18><>]Sl<53>uw<>p<EFBFBD><70><EFBFBD>۩<EFBFBD>P<><50><EFBFBD><EFBFBD><EFBFBD><EFBFBD> ϼ;'<27><>3w<17>.O <1C>;<3B>Y}<7D>ږ<EFBFBD><DA96>;<3B><><EFBFBD>Sq ;l<>(<28>E<EFBFBD>k=<3D>yGo<47><6F><04><>P<EFBFBD>]"stT^(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>l Ȏ<>]<5D><>{˸<><CBB8><EFBFBD>IWvB<76>'9<>w4ۡv{<7B><>b<EFBFBD><62>8"<22><><EFBFBD>]<5D><><EFBFBD>ʄla<6C>T<EFBFBD><54><EFBFBD><EFBFBD>4 <1F>I<EFBFBD><49>I<EFBFBD>b<7F>q/<2F><><EFBFBD>;Z<><5A>e'<27><13>G<19>~l<><6C><EFBFBD><EFBFBD><EFBFBD><EFBFBD><15><><EFBFBD>?[<5B><>b<EFBFBD><62><EFBFBD><EFBFBD><EFBFBD><1B>)<29><>H<EFBFBD><18><><EFBFBD><EFBFBD><EFBFBD>M &*<2A><><EFBFBD>EH#}<07><>b<EFBFBD>睡;<3B>"@x#e<>;b <1E> m} <1E>al<61><6C>; <0C><>2<EFBFBD><32>=<3D><> O`<60><<3C>*Q<>w<EFBFBD><77><EFBFBD><EFBFBD><EFBFBD>,<2C>v<EFBFBD>L<EFBFBD><4C>rh<72>ag<01>%<25><><EFBFBD>U<EFBFBD> !2V-YN<59>w<EFBFBD><77>@O<>V<EFBFBD>#{Wؓ<57><D893>i<EFBFBD><69>{G<><47><EFBFBD>{'̓<>#T͝<><CD9D><EFBFBD>a<EFBFBD><61>d<EFBFBD><64><EFBFBD><15>~<7E><><EFBFBD>h<EFBFBD><68>ێ<><DB8E><EFBFBD>F<EFBFBD><46><18>Eh<45><68>#yG<79><47>J/<2F><1A>;bY<62><59>^Sw<53><77><EFBFBD>]jc4<63><34>usyG<79>'o<><6F>;LEbl<18>:<3A>)<29><>Og&}W<>t<1B>:<3A>wİ<77>{ AE<41><11>X<EFBFBD><58><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>a<EFBFBD><61><EFBFBD><06><>;b)<29>X<EFBFBD><19><><EFBFBD>n<EFBFBD>;i<><69>;b~<7E>Ɗ<EFBFBD><C68A><EFBFBD> 1ر<31>o<>a<EFBFBD><12>2<EFBFBD><32>.<2E><><EFBFBD><EFBFBD>KڲU<DAB2>+<2B><><EFBFBD>9*<2A>'q`<<3C><>熙<EFBFBD>|<0E>l ;<3B>;b<01><>fz9<7A>a <13><>Þ<EFBFBD>9<EFBFBD><39><EFBFBD><13><1B><><EFBFBD> f<>`0<><30><b<>ъ<EFBFBD><D18A>4<13>О><3E>Z<EFBFBD><5A><15><>fo<66>yXׄX<D784><58><03>#<23>l8_Gx<>0!z<>E<>ˌ$<24><><EFBFBD><EFBFBD><EFBFBD>+<2B>ls<6C>L<EFBFBD>K<1B><>Ls7<73><01>S<EFBFBD><53><EFBFBD>:<3A>W<0F><>7]W^<5E><>`<60><>eEx%<25><>B<EFBFBD>5lV 3<><33><0E>3Y#<23><><<3C><><0E>M^<5E>b<EFBFBD><62><EFBFBD><EFBFBD>ʺ<EFBFBD><CABA>c <10>b<EFBFBD>4<>w<EFBFBD><77>l<EFBFBD> <09><><EFBFBD>j<EFBFBD><6A><EFBFBD>a<05><>U<EFBFBD>g<EFBFBD> <1E><><EFBFBD><03><><EFBFBD>i<><69><EFBFBD>y<EFBFBD>`<60>w<EFBFBD>m1w<31><77>X<EFBFBD>7Ҋ<37><07><><10><><EFBFBD>In<49><6E>qx<71>=<3D><><EFBFBD>E<>y "<22><>96<EFBFBD>
|
||||
<EFBFBD><EFBFBD><1B><> <0B>M<EFBFBD>o<EFBFBD><6F><EFBFBD><EFBFBD>U X\<5C><<3C><><EFBFBD>#<06>ij*:M<>Sx<53><78>iD<EFBFBD><EFBFBD><EFBFBD><EFBFBD>{1<><13>:`<60><>֧<EFBFBD><D6A7><EFBFBD><EFBFBD>$<24>z<EFBFBD>]<5D><><EFBFBD>#<23><>*<2A><>#
|
||||
<EFBFBD>n<>R<EFBFBD><52><EFBFBD><EFBFBD>@3<>K<EFBFBD>N<EFBFBD><4E><14>7l<#<23><>'
|
||||
<EFBFBD><18>0<EFBFBD><30> 6Px<50><78><16><><EFBFBD><EFBFBD><EFBFBD>o9m<39>c<EFBFBD><63>;<3B>ޣv<DEA3><76><04>\<5C><>䕑<EFBFBD>#6<>69<b<><16>G<EFBFBD><47> <1E><>t<EFBFBD><74><10><>a^<5E>~l<>-?i<><69><<3C><><EFBFBD>ຣ<EFBFBD><E0BAA3><EFBFBD>Q<EFBFBD>9<EFBFBD>
|
||||
A<EFBFBD>_<EFBFBD>nRn<EFBFBD><EFBFBD>79<EFBFBD>.s6<1A>g<EFBFBD><67>:<3A><0E><>OY<08><> <1F><><EFBFBD>_<EFBFBD><5F><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <1F><><EFBFBD><EFBFBD>?<3F>l<EFBFBD>r<EFBFBD><72>;(<28><>γ<EFBFBD>iȯ<C8AF><7F>Ԓ-V<><56>&<26><><EFBFBD> <1F>|O<><4F><04><><EFBFBD>$<15>3<EFBFBD>!<21>,,<2C><><EFBFBD><EFBFBD>3^[$<24>~#<23>W<EFBFBD><57><EFBFBD><EFBFBD>V<06>kS=g,Gi<47>R%P<>VD)<29><>H<EFBFBD>4<EFBFBD>0<EFBFBD>sM<73><4D>҂(v[<15><><EFBFBD>0 x<>Je<><65>"<22>Y<14><05><><EFBFBD>e<EFBFBD>o<EFBFBD><6F><EFBFBD>VD<56><44><EFBFBD><EFBFBD>ܬ@<40>4<EFBFBD><34> <0C>VDq<44><71><EFBFBD>Ė#<23><14>&<26>xiE<14>*
|
||||
۹{<7B><><EFBFBD><EFBFBD>(åQ<><51><EFBFBD>&
|
||||
<EFBFBD><EFBFBD><EFBFBD>due<><65>"J\6'<27><>B 7Q<37>K+<2B>,<2C>V<EFBFBD><56><EFBFBD> /<2F>pe<><65>"ʪ<>e0F <20>d<EFBFBD>(<28><>QV<51><56>a<EFBFBD><61><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2^Zŭj[<5B>WP<1B><><EFBFBD> <0C>VDYն4<D5B6>],<2C>Ǵ<EFBFBD>2\ZeUۊ!<21><><EFBFBD><EFBFBD>2^ZeU۲e {lП<6C><D09F> <0C>VDYն< <10>Cz<43><7A><EFBFBD><EFBFBD>Q<16>-<2D> [<5B><>r<EFBFBD>kE]ZeQ<65>2qʲ<71>e<EFBFBD>]<5D><>K+<2B>,j[<16><> g<><67><EFBFBD><EFBFBD>ԥQ<16>-<2D>oG<6F>&<26>N<EFBFBD><4E> <0C>VDYԶr<D4B6><72>ԏ<EFBFBD>F<EFBFBD><46><EFBFBD> <20>_Զ<5F><D4B6><EFBFBD>)`<60>oe<><65>"ʢ<><CAA2><EFBFBD> .%<25><><EFBFBD>E.<2E><><EFBFBD><EFBFBD>m<EFBFBD><6D>d<><64>K+<2B>,j[9<><39> <1C><><EFBFBD>/<2F><><EFBFBD><EFBFBD>m% V<>d<EFBFBD>Ҋ(<28><>ְ<EFBFBD><D6B0>-<2D>Tje<><65>"ʪ<>eU풩K+<2B><>j[<5B><>f<EFBFBD><66><EFBFBD>wfuiE<69>Emk<6D><6B><EFBFBD>f<EFBFBD>UpE]ZeQ<65><1A><EFBFBD>%S<>D <09><>n<13>%Kie<><65>"ʢ<>5<EFBFBD>rO<72>%<25>K+<2B>,j[þs<C3BE>#o<>D/<2F><><EFBFBD><EFBFBD>m
|
||||
<EFBFBD><EFBFBD><EFBFBD>
|
||||
JzVe<><65>"ʢ<>5<<13>K<<3C><>uiE<69>Em -@<40>+Òݧ<C392>xiE<69>Emk<6D><6B>h<EFBFBD>P]ZeQ<65><12><>;T<>VDYնLj<4C><rj<>K+<2B><>j[G<><47>1N<31><4E><EFBFBD><EFBFBD>҂(qU<71>鎟y"Xe<><65>"ʪ<>.<2E><>NyWq<57><71>Q<16>-<2D> <1D>#<23><>$<24><>Au-<2D>qc<71><63><EFBFBD><EFBFBD><\XcQ<63><51><EFBFBD><EFBFBD>-<2D>-n}<7D><>WVYԲ<59><D4B2><EFBFBD>,Gyd<><64>"Ȣ<>e<EFBFBD><65><EFBFBD><EFBFBD><EFBFBD>++<2B>,j<EFBFBD><EFBFBD><EFBFBD>
|
||||
<EFBFBD><EFBFBD>M<EFBFBD><EFBFBD>ʊ <20><>5<EFBFBD><17><>ƮK<4B><7F><EFBFBD><EFBFBD>|Q<>-4uiA<69><41><EFBFBD>b<>ow<7F><77><EFBFBD><EF95A1><EFBFBD>F<EFBFBD>U<>O]<5D>}ƣ<1A><><EFBFBD>З$<24>S<03><>:<18>'<27><>}~<7E> #<23><>U<EFBFBD><55><EFBFBD>]<12>=<3D><>$<24><><10>~0<>E<><45>t<03>:)<29><>v<EFBFBD><12>G><3E><>B<EFBFBD>9s<>kÂ<6B><C382><EFBFBD> <1F> '<11><>c<>b<EFBFBD>i<>~<7E>+d<>@].<2E><>;<3B><06><>6/֒<><D692>A<EFBFBD><41>H<EFBFBD><48><EFBFBD>+<2B><>_<EFBFBD><5F><EFBFBD><EFBFBD><7F>e<EFBFBD>mH<6D>jR<6A><52><7F><7F>?0<><30> _<><5F><EFBFBD><EFBFBD><EFBFBD>~<7E><><EFBFBD><EFBFBD>ثC<D8AB><43><EFBFBD><EFBFBD><11>8B{*<2A>賧<EFBFBD>D<EFBFBD><44>d<EFBFBD>BKJb<4A><62><EFBFBD>bD6łx<C582>a<04><><EFBFBD><EFBFBD><EFBFBD>b.G`<60><>ާ<EFBFBD>d^af<61>%<25>
|
||||
p{<7B><><EFBFBD>c<EFBFBD><63><EFBFBD><EFBFBD>C<>KE<4B><01>C<><43>"<22>7s<37><73><EFBFBD>Sį<19>G<EFBFBD><47><10><>S<EFBFBD><53><19>IQ(=<3D><><10>k<EFBFBD><6B>R<EFBFBD><52><EFBFBD> {Q,<2C>b<EFBFBD><62><EFBFBD><08>KF`1<>tQ:<0F>O_2 <00><>j<EFBFBD><6A>y<EFBFBD>?}<7D><08><>j<EFBFBD>E<EFBFBD><<3C>?<>AR<41><52><EFBFBD>} <1E>_<EFBFBD>d<04><> ]<5D><><EFBFBD>ҟ<EFBFBD>d 5<> <1E>WS<57>/z<><7A>l<EFBFBD>5<35><7F>w<EFBFBD>=O<>Y<EFBFBD><59><EFBFBD>v<EFBFBD><76>ؗg<D897><67>z|<7C><><EFBFBD>a<>AƱ<41><C6B1><EFBFBD><1B><><EFBFBD><EFBFBD>8<EFBFBD>OpC<70><43>@ <1E>,<2C><>4<EFBFBD><34> /_y<5F>z<EFBFBD>'_<><5F><EFBFBD><EFBFBD>G<EFBFBD><47>~`NҮe<D2AE><65><EFBFBD><EFBFBD><EFBFBD>O9<4F><39>ȟ$<24><>aν E<> <09><>Sέa=<3D><><EFBFBD>s<><73>(<28>I<><49>D<EFBFBD>rl<72><08>ɶwD<77>skG>H<><48>%S<C294>DXO<58><4F>%K<C294>DXO<58><4F>`V"<22><>M<EFBFBD><4D><EFBFBD>;<3B><>A><3E> <11><><EFBFBD>Q<EFBFBD><0F>x<EFBFBD><78>0<EFBFBD><30><EFBFBD>"|<7C><>{G<>9]wჼ<>["Li<4C>J<EFBFBD><4A>|<7C>["L<><4C>J<EFBFBD><4A><<3C>;"<22>i<EFBFBD><69> <1F><><EFBFBD>aJ<61>U"<22><><EFBFBD><EFBFBD>aJ<61>U"<22><><EFBFBD><EFBFBD><EFBFBD><0F><><EFBFBD>A<EFBFBD>O<EFBFBD>p<EFBFBD><70>0<EFBFBD>ݎ"|<7C>{G<>9<EFBFBD>vჼ<>["Li<4C>J<EFBFBD><4A>|<7C>;"<22>鵣 <1F><><EFBFBD>aJ<61>U"<22><><EFBFBD><EFBFBD>aJ<61>U"<22><><EFBFBD><EFBFBD>rڧ4<DAA7>Q<EFBFBD><0F>iW<69>z<>g<EFBFBD><06><><EFBFBD>q<EFBFBD><0F>w<EFBFBD><77>0<EFBFBD><30><EFBFBD>"|<7C><>{K<>)GW<47><57><EFBFBD><EFBFBD>{G<>97w<14><>$<24>["L9<4C>J<EFBFBD><4A><EFBFBD><EFBFBD>;a<>9wᓤ<>["L9<4C>J<EFBFBD><4A>d<EFBFBD>["L<><4C>J<EFBFBD><4A>$<24>;"<22>9<EFBFBD><39> $<24><>aε E<> <20><><EFBFBD>s<><73>(<28>ɶwD<77>skG>H<><48>#S;<3B><>Ar<41>-<11>\Z%<25>zR<7A>-<11> Z%<25>z2<7A><32> <20><>;;<3B><>A<12>-<11><>Y%<25>z<EFBFBD><7A>T<><16><>D<EFBFBD>O麣 <1F><><EFBFBD>aN<61> E<> _<><5F>sz<73> <20>y<>w<04>i<EFBFBD><69><EFBFBD><EFBFBD><EFBFBD><EFBFBD>7<EFBFBD><37><EFBFBD>q<EFBFBD><71>?<3F>˽#<23><><EFBFBD>;
|
||||
<EFBFBD><EFBFBD><EFBFBD>{G<>)<29>v`=<0F>NF<4E><46>v;<08>A<EFBFBD><41>ݔH=<3D><><EFBFBD><EFBFBD>k<EFBFBD><6B><EFBFBD>)<29>ϑ|W<>v<EFBFBD><76>?<3F><><EFBFBD><EFBFBD><EFBFBD>3 <09><<3C>w<EFBFBD>]g<16>q<EFBFBD>絛<EFBFBD>$<24><>d<EFBFBD>UG<55>Y<EFBFBD><59>龫^:<3A><10>~W]tf! <1E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>B<N<><4E>F<EFBFBD><46>(<28>OJ<4F><4A>x<EFBFBD>I<EFBFBD>牿<EFBFBD><E789BF>=<3D><10>SW-{&!<21>'<27><><EFBFBD><EFBFBD>LB<O<>]<5D>际x<E99985> <00>j<EFBFBD>3 <0B>8x՚g<12>y<12><>)<29>,<2C><>4<EFBFBD>U;<3B>Y<EFBFBD>lj<EFBFBD><C789>F<Z<><5A>@^<5E><><EFBFBD><EFBFBD>x<EFBFBD> <0C>j<EFBFBD>3 <09>< x<>vg<16>qB<71><42><EFBFBD><EFBFBD>$<24><><EFBFBD><EFBFBD>U<EFBFBD><55>Y<EFBFBD><59>I<EFBFBD><49>&;<3B><10>ӂW<D382>u&!<21>'<06><>V5<56><35>9<EFBFBD>78<37><38><9x<39><78>g<12>yz<79><7A><EFBFBD><EFBFBD>,<2C><><04>U<EFBFBD><55>I<EFBFBD><49>)«<>=<3D><10><><EFBFBD>W {<7B>?<3F>&<26><><EFBFBD>3 <0B>8Qxեg<16>q<EFBFBD><71><EFBFBD>?<3F>$<24><>d<EFBFBD>Ug<55>I<EFBFBD><49><EFBFBD>«<EFBFBD><<3C><10><13>W<EFBFBD>x&!<21><> <0C><><EFBFBD>LB<O^u<><75><EFBFBD>x<EFBFBD>6<EFBFBD><36><EFBFBD>3 <0B>8qx<71>ug<12>y<EFBFBD><79><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD>o<14>(!~N<><4E><EFBFBD> NB<O ^5<><35><EFBFBD>x<EFBFBD>B<EFBFBD>h<EFBFBD><68>ex<65>D<7<><37>$x<>F<EFBFBD>h<EFBFBD><68>%x<>H<EFBFBD>h<EFBFBD>3<EFBFBD><33>8<EFBFBD>x<EFBFBD><78>g<12>q2ќ<32><D19C>h<11><>{q<>i<EFBFBD><69>̿<EFBFBD>W<EFBFBD><57><EFBFBD>[y<><79>a־<61>o<EFBFBD>|<7C>%b<> <1C><17>t<EFBFBD><74><EFBFBD>x<>L0Ŗ<30> <00><>ᷛJ<E1B79B><4A><EFBFBD>r<EFBFBD>]<5D><>m<6D><7F><EFBFBD><EFBFBD>z<7A><7F>~<7E><>ŏi<><69>k<><6B>F<18><><EFBFBD><11><>r<EFBFBD><i۲u%<25><> F>Y2 ̉<><0E>s<EFBFBD><73><EFBFBD><EFBFBD>|<7C><><EFBFBD>'<27> <1E><><EFBFBD>s<EFBFBD><73>C~<7E>Ùm<C399>Ùde<EFBFBD><EFBFBD><EFBFBD> _<><EFBFBD><EFBFBD>;<EFBFBD># <1F><>#><3E><><EFBFBD>;<3B><>><3E>ՐsW<73>?l<>Ն<EFBFBD>"pn
|
||||
<EFBFBD>r<><<17>8~<7E>&<26><><EFBFBD><EFBFBD>'9 <1E>c+<2B>"R<><52>6iĞ<><C49E>W<EFBFBD><57>Ç#<23><><EFBFBD><18>=7<> 2<><32>W<EFBFBD><57><EFBFBD>{<7B><><EFBFBD>w<EFBFBD>6'<27>q<EFBFBD>r\L9<06><><EFBFBD>9x<39>Z<EFBFBD><5A><EFBFBD> <1E>'٨<><D9A8><EFBFBD>г<EFBFBD><D0B3><EFBFBD>w<EFBFBD><77><EFBFBD><EFBFBD><EFBFBD>m<EFBFBD><6D><EFBFBD><EFBFBD>*pѓ<70>1<EFBFBD>Wr<57>H<EFBFBD><48>/<2F>#mo<6D><6F>NÕ _ң<5F><D2A3><16>s<EFBFBD>qڼ<71>WL<57><4C>l^B'<1B><>,<2C>K<EFBFBD><03>g<EFBFBD>_<>%<25>$n9L<39><4C><EFBFBD>e<EFBFBD><65><EFBFBD><EFBFBD> 7 <09>h<><68>dfL-<2D><>k|eՊíB|[<5B>9k2]<5D><><EFBFBD><EFBFBD>.<19>r[<5B><> <0C><><EFBFBD>W<EFBFBD><57>N[<5B>B䗸 <1D>wC<77><43><EFBFBD><EFBFBD>[;p<>D?<3F>@<40><><EFBFBD>\<5C><>X:<3A> 6<><EFBFBD>\<5C>Ng<17><>+<2B><><EFBFBD>ZI<5A>8:<3A>nP<6E><50><EFBFBD><03><>\R<D<>[<5B>i<EFBFBD><69>[<5B><><EFBFBD><EFBFBD>h<EFBFBD><68>s<EFBFBD><73>%R<>3d<33> "<22>r<EFBFBD><72><EFBFBD>q<EFBFBD>:Dy<44>.<2E><07><13><>c,H<><48>s<EFBFBD>b<EFBFBD>8<EFBFBD>۲<EFBFBD>>(<28>{<7B><>l<EFBFBD>۰2#<23> <09><>'<27>U<EFBFBD><55><EFBFBD><EFBFBD><EFBFBD>T<EFBFBD>X<0F>-|<01>MY<4D> <0C>b<EFBFBD><62><EFBFBD>> OW<4F><57> sљvr)<29>x<EFBFBD><78>ps<70>#<23><05><><01><>0<EFBFBD><30><10><>1<<3C>_1<5F>T<EFBFBD><54><EFBFBD><EFBFBD>bf?<3F><><EFBFBD>LH<4C><48><EFBFBD><EFBFBD><EFBFBD>j`vx<76><7p<37><70>*<2A><>8[<5B> <20><>A<EFBFBD>z<EFBFBD><7A><16><>c<18><><EFBFBD>Ѐ<EFBFBD>q<EFBFBD>%1<><31>mn<6D>֊<EFBFBD><08><1B>%<25><1A>V<EFBFBD>k<EFBFBD>D<04><><EFBFBD>7<EFBFBD>-<18><><EFBFBD>Y<EFBFBD><59>M<EFBFBD>X<14><>̘<EFBFBD><CC98>{k<>?<3F>~<7E><> ><3E><>x<EFBFBD><78>ٞ<1A><>3<EFBFBD>-<2D><>t O<><4F><EFBFBD>S<><53><EFBFBD><EFBFBD> <><01><><EFBFBD>v<EFBFBD><76>c<EFBFBD>N<EFBFBD><18> 0<><30>R}a|I<> tB%<25>dch` &<26><><0E> rm
|
||||
,<2C>!<21><04><>"O<><4F><EFBFBD>1<EFBFBD>,<2C><>4<EFBFBD><34><EFBFBD>>%<EFBFBD><EFBFBD>~<EFBFBD><EFBFBD>0<EFBFBD>뵤<><EBB5A4>0q<30><71><EFBFBD>E<EFBFBD>=Ƕ<>ڞ <1F>Hc<48>n<EFBFBD><6E><0E><><EFBFBD><18>u <1D>ϝ<EFBFBD><j <1E><><EFBFBD>m+<EFBFBD><EFBFBD>9<EFBFBD><EFBFBD><EFBFBD>R<EFBFBD><EFBFBD><EFBFBD>u<EFBFBD>ª<EFBFBD>Ot<EFBFBD><<3C> ?<3F><>d<05><><04>3i<^s<><73><EFBFBD><EFBFBD>a<EFBFBD><13><>&<26>1<EFBFBD>1<EFBFBD><31>$t|<7C>h<EFBFBD>]<5D> D<><44>X<EFBFBD><04><>mm<6D><<3C><O<> <20>4a<34>q<EFBFBD>/,<2C><>yc_<63><0F>ɱp BY<42><59><EFBFBD><0E>'<27>tЫ<74><D0AB><EFBFBD>FV<46>Ʈ<EFBFBD><04><>{oo/<2F>@<40><>nA@,!<<3C><> < <1D>=<3D><><EFBFBD>g<EFBFBD>2e<32>ݦ <1C>`,<06><><EFBFBD><EFBFBD>c:>]f. 4b<34><1A><>3<EFBFBD>dI<02><>ۦ<EFBFBD>~d<><16>~<7E><><EFBFBD><EFBFBD>g<EFBFBD><67><EFBFBD>%j]<5D><><EFBFBD>ٜ<EFBFBD>o<EFBFBD><6F><EFBFBD><EFBFBD><EFBFBD>+<19>w<EFBFBD>G<EFBFBD><47>f<><66>l<12><03><><EFBFBD><03><>2<07><><17>Q<EFBFBD><0E> ygc 2ƀ<C680>0<EFBFBD>
|
||||
<EFBFBD>k<EFBFBD><18>:<3A>NNJ<4E>0<EFBFBD>><0F><>I<EFBFBD>+<2B>v <20><>f<EFBFBD>f;<08><>|<7C>i<EFBFBD>t
|
||||
<EFBFBD><EFBFBD>j K<0E>#4<><34>s<EFBFBD>1<EFBFBD>S<EFBFBD><53> <00>֡<EFBFBD>8i<38> <1F><><EFBFBD><EFBFBD>bF<62>
|
||||
U<EFBFBD>`<60>?q<><71>+ɒ\<5C><><EFBFBD>+<2B><0F><18>o"E
|
||||
<10><><EFBFBD>3<EFBFBD>NI
|
||||
<EFBFBD>#<23>?p<>2ws7<73><37>>}2ve<76> <20>ur<75>̰<EFBFBD>p<EFBFBD><70>23<0F>'<08>K5EY<>w<EFBFBD>2<EFBFBD>`t]<12><>|L<><4C>û<EFBFBD><C3BB>ϼ$<24>_<EFBFBD><5F>H<EFBFBD><03><><EFBFBD>`s9<73>KVWKI<05>?<3F><>e<EFBFBD>+<2B><>2r<32><72>}<<3C><>C<EFBFBD><43>{r<<3C><>%<25>Z<EFBFBD><5A><EFBFBD> x<><78><18><>O{<07><>.c<>D<EFBFBD>zPY<50><EFBFBD><EFBFBD>'<EFBFBD><EFBFBD>h<EFBFBD><EFBFBD><EFBFBD>j<EFBFBD> <1C><><EFBFBD>sg?<3F><11>?<3F><<3C>\@l#(i&<26> <00><><EFBFBD><EFBFBD>3<13>J0q<30><04><>s>Z\<5C>#<23><08><>
|
||||
|
||||
dW<EFBFBD>r4zc<7A><63><EFBFBD><EFBFBD>qT<0(i<>_<EFBFBD>q<EFBFBD> <00>e<EFBFBD><15><><EFBFBD>V<EFBFBD><56><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>u<01>`7a<37><61><EFBFBD><EFBFBD><EFBFBD><EFBFBD>M<03><>1<EFBFBD>]<5D><><04>'p<>i% "<22> 筳<><06>A<EFBFBD><41><EFBFBD> o<><6F>t <1E>(ࠍ<><E0A08D>_<EFBFBD><5F><EFBFBD>
|
||||
<EFBFBD>́#<23>M<01>"*<2A><>r<EFBFBD><72><EFBFBD><EFBFBD><EFBFBD>67f<37><66><EFBFBD>&<26>y<03><><EFBFBD>4<EFBFBD> <00>ʖ<EFBFBD>LZ<4C>ʕ<EFBFBD><CA95><EFBFBD>FBB<42>s s<>B<EFBFBD><42><EFBFBD><01>?<3F>K<EFBFBD>
|
||||
<EFBFBD>i&8U@y<>uz% <00><><EFBFBD>r<EFBFBD>u<EFBFBD><75><EFBFBD>d&<07><>! <20><> <0C> \<5C> C<> <F{:I<><49>Q<EFBFBD><04> <1C><>!y<><79>JdZ <09><>;<3B><><EFBFBD>Lz<4C>oVQ<56><51>Qp<51><10>9<14>a~3<>|y<>C<EFBFBD><43><EFBFBD><EFBFBD>j<EFBFBD><03>'<27><> <0B><>B<EFBFBD><42>:<3A>y<EFBFBD>rX<<3C><>.`<60>w<><77> <1F><<3C> <1D><EFBFBD>
|
||||
<EFBFBD> <00><>,<2C>$<24>!@_<>6L+WL<57>><3E><>p<><70><EFBFBD>7<EFBFBD><EFBFBD><EFBFBD>
|
||||
n<EFBFBD>Ux<EFBFBD><^f<>Y<EFBFBD><59>YQ<59>9v<13> <05>o<EFBFBD>I3&<26><14><><0E>0<EFBFBD> <09>u<EFBFBD>z<EFBFBD><7A><03><><EFBFBD><EFBFBD><EFBFBD>m<EFBFBD><6D>D
|
||||
py<EFBFBD><EFBFBD><EFBFBD>jv#<08>!<21><10><><EFBFBD><EFBFBD>nk<6E><6B><05><><EFBFBD>]`e
|
||||
<EFBFBD>AM<14>;<3B><>x<EFBFBD><78><EFBFBD>Ϡ<EFBFBD>r<EFBFBD>WB,O<><4F> <<3C>q<03><><EFBFBD>i<EFBFBD> n3
|
||||
fw<66>*<2A>m<EFBFBD><6D><EFBFBD><EFBFBD><02><>OC`<60>X<EFBFBD> ޖZ<08>aU<61><55><EFBFBD>l<><6C><EFBFBD><EFBFBD>M<EFBFBD>,0"/ tK<>D<>q<EFBFBD><71><EFBFBD>^<5E><06>E<EFBFBD><19>}f̆<66> w5(<28><>LԎ<02>k m<><6D>xĮ<><C4AE> /<2F><EFBFBD><EFBFBD><EFBFBD>?<EFBFBD><EFBFBD>Wnt<EFBFBD>
|
||||
ܴb۰s<EFBFBD>+%<25>S<EFBFBD>nW<6E><57><<3C><>@x<>Ѣ<EFBFBD>6<EFBFBD><36><07>'<27><>s/c<><63><EFBFBD><EFBFBD>\<5C>T<08><><EFBFBD>F<05>K<EFBFBD><4B>n<12><><EFBFBD>%<25> d<>?lF<6C> D<>ꅗ<EFBFBD><EA8597>&<26>ia<69><61><EFBFBD>&<26>dp 8i<1B><18>AJU<4A><55>L4f<34><66>N<EFBFBD><4E> <00><><EFBFBD>)` <1C>>-<2D><><02><><EFBFBD><18><><EFBFBD><16>d<EFBFBD><64>5<EFBFBD> dv<>)!N<><14>vC:<3A><0F>X<><58>h<EFBFBD>6j<36>Ԕ\>JD<4A><44>[<5B> <09>.1 <09><>رa<14><><EFBFBD>c<EFBFBD><05>ò}xaIW, )<29>e%<25><><EFBFBD>Y<EFBFBD><59><EFBFBD>rn""<22>B'<27> B?Df<44>`"<03><>p<EFBFBD><70><EFBFBD>1<EFBFBD><12> <20>!<21>v\<5C>+<2B>* <20>g8<67><38>l9E<39><45><EFBFBD><EFBFBD><EFBFBD><EFBFBD>m<EFBFBD><6D>C<EFBFBD><43>נ4\<5C><><EFBFBD>:-%<25><>0<EFBFBD>G<03>\u2U|<7C>jc|<7C><>鿕<EFBFBD>}<7D><><EFBFBD>o<><6F> <09><04>4[Sh<53><68>d莭<64>v<EFBFBD>"<22><>v«<76>?˼"7Qs<51>[<5B><><EFBFBD>41
|
||||
./,Fj<46>Z<EFBFBD>g&<26>ōۮ<04>z<EFBFBD>T<EFBFBD>̟=<3D><><EFBFBD>X<12>7Ϫ`D<>ک<EFBFBD>"<22>lh<08>\ \d<> <0C>B<EFBFBD>n
|
||||
r<EFBFBD>m<EFBFBD>[<5B>G<EFBFBD><47>X<EFBFBD>\! <00>{<7B>> <20><><EFBFBD><04>k<EFBFBD><6B><EFBFBD><13><><EFBFBD>KFM<46>p<>~<7E>I<>Ψyjp<6A><18>%<25>,V3BC<42><43><EFBFBD><EFBFBD>r <0C>p) <1E>b<EFBFBD> <1D>+ <0B>2<>êHSP<><50><EFBFBD>H0a)<29><-He<48>E<EFBFBD>tF <0B><>1u@<40>(<28><><EFBFBD><EFBFBD>&(֘ <09>|<7C><>S<13>P<EFBFBD>w<EFBFBD><77><EFBFBD><EFBFBD>0
|
||||
<EFBFBD>
|
||||
<EFBFBD><EFBFBD>H<EFBFBD><05><>a`x<>4I<34>-O<><18>*8ze<7A>(<28>)4<><34>* :<3A>r<EFBFBD>D O7<4F><37>ز<EFBFBD>
|
||||
<EFBFBD><EFBFBD>O.<2E><>h=6%<25>K<><4B>T<EFBFBD>c}31Z<31><5A> `<60>F<EFBFBD><46><EFBFBD>rp <02>t<EFBFBD><14><>Î<EFBFBD>\<05>DI\<5C>u<EFBFBD><75><EFBFBD>d<>"<22>]<01><>j<EFBFBD>w0<77> oA_fٮ1<D9AE><31><EFBFBD>ԡ<EFBFBD>> <1C>T<EFBFBD><54>d<><64>M7<4D>GK<47><4B> <1C><>?<3F><>5Ű<35>biT<69><54><EFBFBD><10>Ny<4E><79><EFBFBD> <09><>7}<7D><<3C><>!0<<3C><<3C>d<EFBFBD><64><EFBFBD>S<EFBFBD><53>-<18>f?<3F>b 6 <1C><> <00><><EFBFBD><EFBFBD>ׯ.g<> <20>F<14>$ <20>ְ<EFBFBD><D6B0><EFBFBD>K<EFBFBD>>M<><04><>No<><6F><EFBFBD>
|
||||
<EFBFBD>.jd<6A>,l<1B>QX?<3F><>x<EFBFBD>]<5D>f<13> <><7F>A<>С/i<><69><EFBFBD><EFBFBD> b<><62>b<EFBFBD>w<EFBFBD>y<EFBFBD>4[<5B><02>1<EFBFBD>:Up <04>Ա$TZ<54>w<16>,<2C><>t<EFBFBD><14><><EFBFBD>X<EFBFBD>bczB<7A><42><EFBFBD> <1E>%.(<28><><EFBFBD>
|
||||
2K<32>*k<1B>)<29><1B>/A<>/(ְ<>X<10>e<EFBFBD>w~.<10>'UQ] <0C><EFBFBD><EFBFBD>j<EFBFBD><EFBFBD><02><>:"<22><><EFBFBD>V<EFBFBD>M<EFBFBD><4D>%N<>"<22><><14>|<7C><><EFBFBD>+$<24>H<>֩<><1B><><EFBFBD><EFBFBD>E X1g<31>F<EFBFBD>
|
||||
W"<22>o>fh<66>SAa1d+<2B><>F<EFBFBD>q<EFBFBD><71>EW,I><3E>(<28>8<EFBFBD> "((| <09><><EFBFBD><EFBFBD>cf̰~v:lօ<6C>><3E>A<EFBFBD>I<EFBFBD>/ Qad<61><64><EFBFBD><EFBFBD><EFBFBD>U<EFBFBD><02>Ѹ<EFBFBD>e<EFBFBD>s' <00>W<EFBFBD>%qP,<2C>Ӭ<10> <1F><><EFBFBD>aw{<7B><>`<60><18><><EFBFBD><EFBFBD><EFBFBD>Gc]?<3F>b<EFBFBD>H<EFBFBD><48><EFBFBD><EFBFBD><19>Р0<D0A0>I<EFBFBD>!<21>@Ē[qU<71><55>ʺ<><CABA>E<EFBFBD>V<EFBFBD><01>2 <1D> <09><><EFBFBD> <04>z<EFBFBD>0<EFBFBD>X4<58><34>K<EFBFBD><0F><>N<EFBFBD> <09>u4"<22>4,xΧ&oC> *
|
||||
<EFBFBD> <0C><> <16>µH}<7D>{<7B> :<3A>]<5D><>X<EFBFBD><58><EFBFBD><EFBFBD><EFBFBD>Ҏ<EFBFBD>V<><56> L<15><><EFBFBD><EFBFBD>0<EFBFBD><30>x2ME=<3D> d9<64> Y,
|
||||
<EFBFBD>x
|
||||
G<><47><C<><43>w<18>o<EFBFBD>J<EFBFBD><4A>+(><3E><><EFBFBD><EFBFBD>1l<><6C>Ay<41><79><EFBFBD><1A>ک*<2A><> <0C>g<07><>L ^g[<5B>\<5C>#<23><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>3<EFBFBD><33><EFBFBD>v~%<25>2<08><><EFBFBD><EFBFBD> &<19> <0C><><EFBFBD><EFBFBD><EFBFBD>ϿOU<4F><55><EFBFBD><EFBFBD>H<EFBFBD>?<3F>J<EFBFBD>$3Q6<51>'KU<12><>b˓$U)<29>Q<EFBFBD>͐<EFBFBD><CD90><EFBFBD>JB=<3D><EFBFBD><7F>T<EFBFBD><54><19>cl<><6C>>ds3"̕<>0Vr߱ȣvD%Y<><59>'<27><>hzGT<47>-TFc<46>;<3B><><EFBFBD><EFBFBD>%<25><><EFBFBD>֎<EFBFBD><D68E><k<>p߄<70><DF84>D%n<><6E>~<7E>^y<><79><0F>
|
||||
<EFBFBD><EFBFBD><EFBFBD> OI<4F>&0<0F>GxJ<78>
|
||||
\<a<L<>S<EFBFBD>|er<65><72>x<EFBFBD><%S<><53>:<3A>W<EFBFBD>2<EFBFBD><32>Fl<46>E<EFBFBD>u<EFBFBD>)<29>I.<2E><>W<EFBFBD><12>+<2B>H<EFBFBD>g<EFBFBD>Ӕ<EFBFBD><D394> b<><62>4e<34>΄@<40> <1C><><EFBFBD>)<29><>cB<63><42><EFBFBD><EFBFBD>hJ<68>!; FQ*<2A>Ҕb<D294><62><EFBFBD>a<EFBFBD> M<>4 <1E><><EFBFBD>\<5C>e)3<><33>|~Z<>2<EFBFBD>
|
||||
§-38<33>,%<13>|<7C>帡)<29><>k\<5C><><EFBFBD>MRrG<72><47><EFBFBD>SK9<4B>2<EFBFBD>y<EFBFBD>畦<EFBFBD><E795A6><EFBFBD><EFBFBD><EFBFBD>+6 <0B>XJiM+<19>H<EFBFBD><48>#<>z<EFBFBD><10><>d.<2E> <1C><> -G<>\<12>v<><76>m<EFBFBD>Ql<<3C>g<EFBFBD><67> GYX<59><58><EFBFBD><EFBFBD>ϟ<EFBFBD>,%A<>*<06><03>,%<25><>I<EFBFBD>МZ<><5A> 6<01><05>Jcr <0B><>t<EFBFBD> G <09>\*<2A><>$<24>,Gɼ ^Ĥ<>,I<><49><16>M<EFBFBD>Ѧ#) -2<><EFBFBD>Q2y<32>_
|
||||
<1A>9<EFBFBD><39>D<EFBFBD><44>`@<EFBFBD>
|
||||
G<EFBFBD><S<7F><53>q<EFBFBD> %<25>8<EFBFBD><38><EFBFBD>/ \<5C>o<1A>X<>憳<^<5E><>(<28><><EFBFBD><EFBFBD><11>$<05><>`Fv<0E>μ<EFBFBD><CEBC>(%]<5D>5<EFBFBD><35><18>B<EFBFBD>?<3F>q<EFBFBD>c( <0B>#,<2C><> 8<><38>Y&<26>%<25>zCP2<50>#<23>\GP<02>Ŭf<C5AC>P2U<><55><EFBFBD>d(<28><>#_CTf<54>2<EFBFBD><32>^<5E>L6L9,CIc<49>Վ<+<2B><13><><EFBFBD>s<EFBFBD><73>̋<EFBFBD><CC8B>ۘɧ<DB98><16><><EFBFBD><EFBFBD>rn<>,<2C><> -EI0<49>{<7B><14><>J<EFBFBD><4A>T<EFBFBD><54><EFBFBD><EFBFBD><EFBFBD>(<28><>:<3A>O:\IGb'<27>c<EFBFBD>
|
||||
IY<EFBFBD><EFBFBD>4<06>
|
||||
<EFBFBD><EFBFBD>!AĘ<41>e<EFBFBD><65><EFBFBD>$<24>d<EFBFBD>"<><C283>8<EFBFBD><38>P<EFBFBD><50>~Ѥ<>,KI/d<>q<EFBFBD><71>, @!y<><79><EFBFBD>c)%kTp<54><70><EFBFBD><EFBFBD><EFBFBD>#<23>}<7D>EDn<44><6E>i6<69>(<28><>p<EFBFBD><70>d&
|
||||
<EFBFBD>$ 3*q,%3i3A<33><41>f)B<>ט<EFBFBD><D798><EFBFBD>h<EFBFBD>*n<08><>\<08><>$<08>PZX$<24><>)Bc<> O) <09><><EFBFBD>܊ <1C>aQ<61><51><EFBFBD><EFBFBD> <1C><08>\<%Sp<53><70>sUv<55><76><EFBFBD>L<EFBFBD><05><08>M-MI&<26>y<EFBFBD><79><EFBFBD><EFBFBD>iJ<69><4A><EFBFBD><EFBFBD>x.4%<25>s<11>ߡ<EFBFBD><DFA1><EFBFBD>)+Y<05><><EFBFBD><EFBFBD>u4%<25>mڔG<DA94>,%SwPCI<13><><EFBFBD><EFBFBD>R <1C>r."r<><72><EFBFBD><EFBFBD><EFBFBD>ٕxܰ<78><04><>Xt<58>e) &8<>q<EFBFBD><12>R̙<>u<EFBFBD><75><EFBFBD>,%<25><>GL5<4C><35><EFBFBD>%<25><08><19>q,%#BȆ<42><C886>\<5C><>\z!<21>m<EFBFBD><6D>`<60>N(톦d<ED86A6>2<EFBFBD>a<EFBFBD><61>Bu4%<25><>O'<27><>cP<63>fjz#<23><>$h$<24><>o<EFBFBD><6F> K<><4B>u<EFBFBD>4 в<><04>8<EFBFBD>kb<6B><62>$<24>"t<>rՖ<72>d
|
||||
/<2F><EFBFBD><EFBFBD>1<EFBFBD> <09>'<EFBFBD>
|
||||
Ӱ<><D3B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(.<2E><><EFBFBD>Qww<77>(<><E2B9B2><EFBFBD><EFBFBD>F<>(<28><>Z<EFBFBD><5A>J;k<><6B><EFBFBD><EFBFBD>d<EFBFBD><64>C<06>
|
||||
CI<EFBFBD><EFBFBD><EFBFBD><z#<23><>dTg꘦RJ!mjW<6A><57>)<29>̍<EFBFBD><CC8D><EFBFBD>T<EFBFBD><54>(<28>] *ǶV<C7B6><56>R<EFBFBD><52><EFBFBD> <1C>d<EFBFBD>se<>2<EFBFBD>U<EFBFBD><55><EFBFBD><EFBFBD><EFBFBD>;<3B><><EFBFBD><EFBFBD><EFBFBD>4% 't{<7B>y<EFBFBD><79><EFBFBD>dN:<3A>=<3D><><EFBFBD>(<28>Ҁ<EFBFBD> i(J<>,R<>x*h(J<>C8&e. GQ<47>7<EFBFBD><37><EFBFBD>aa<61><61>l<EFBFBD>a
|
||||
<EFBFBD><EFBFBD>!7E<37>L<7F>q}<7D>P<EFBFBD>p<EFBFBD>j<0F><> <1E><>(<28>#<23>~^N<><4E>(<28><><EFBFBD>,<2C>,<2C><> E<><6<>~ꆢd<EA86A2><64> <09>9<EFBFBD><39>(J<><4A>
|
||||
<EFBFBD><EFBFBD>(<28><>(J<>9<EFBFBD><39><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> XD<58><EFBFBD><EFBFBD>R<EFBFBD> o vQ}<10>Pv<50><76><EFBFBD>#<23><>a(<28><><19>N<EFBFBD><4E>PBq<42><71><<3C><><EFBFBD>J6@=<3D><><EFBFBD>F<EFBFBD>P&,|/n<>0<EFBFBD><30>o<EFBFBD>2T<32><54>q<EFBFBD><EFBFBD>+YK<59><4B> %C<><43>U<EFBFBD> II<49><49><EFBFBD>Tt<54><74><<3C><>74<37>#)a<>B<EFBFBD>4<EFBFBD>+K<><17>L<EFBFBD><4C><EFBFBD><EFBFBD>)<29><><EFBFBD><11><>44%<25>d<EFBFBD>o|<7C>;<3B> <1E>T
|
||||
<1A>/<2F>(<28>t+<2B><>J<EFBFBD>3<EFBFBD><01>*+GT2<54>a<EFBFBD>$OR<4F><11><>`-pbk_<6B><5F>D%<25>P7<><EFBFBD><EFBFBD>
|
||||
n<EFBFBD><EFBFBD><EFBFBD><03>8<EFBFBD>{<7B><><EFBFBD>X<>b<EFBFBD><62><EFBFBD>=Qy<51>><11><><EFBFBD><EFBFBD><11><><10>+n<><6E><EFBFBD><EFBFBD><04>7߸<37><15>D%<25>!<21>a<EFBFBD><61><03>De<<3C><>k<EFBFBD>ݎ<EFBFBD>de,<2C><>n<>J<EFBFBD>x<EFBFBD>P&<26>g7QE<><45><EFBFBD><EFBFBD>
|
||||
n<EFBFBD><EFBFBD> ^<5E>r<EFBFBD> S<EFBFBD><EFBFBD>
|
||||
g?x<>T,<2C><>>GS)<29>s䣿a* b<>.<2E><><12><><EFBFBD>;<19>Y/<2F><>J<EFBFBD>,<2C>*<2A>I[<5B><> <20><>9<EFBFBD><39><EFBFBD>* <16> <09>2<EFBFBD>T%A[<5B><><EFBFBD>J<EFBFBD><08><><EFBFBD>d<EFBFBD><64>*#<23>R<EFBFBD>~X<><58>T%A<>UMW<4D><57>* <09>Bf'*<2A><>J<EFBFBD>
|
||||
<EFBFBD>7 <EFBFBD><EFBFBD><EFBFBD>T<EFBFBD>L48<EFBFBD>,~-UI<55><49>I<EFBFBD><49>Fn<46><6E><EFBFBD><EFBFBD>N-UY<><05>J<EFBFBD>GU <0C><>q<EFBFBD>p<EFBFBD><04><><EFBFBD><EFBFBD><17><><EFBFBD>J<EFBFBD>ИY<D098><59> WI<10>sVp<56><70>6<>A<EFBFBD>MV,td<74><64><EFBFBD>&+<14>j>KVF!<21>Nm$p\%y(<28>ŏZ<C58F><5A> <20>TԢ#7W<37><<3C><> <1E>p<EFBFBD>ىr<D989>%<25><>*Z
|
||||
<EFBFBD>w W <09><>̩<05><><EFBFBD><04><><EFBFBD>.{<7B><><EFBFBD>H<EFBFBD> <00>P<EFBFBD>0<EFBFBD><30>d<EFBFBD>G<EFBFBD>iy<69><79><EFBFBD><08><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>UF<55><46><EFBFBD>a87<38><37>*2<>g:I<><49>U<02><><EFBFBD><EFBFBD>óTed<18>v<EFBFBD><76><EFBFBD>*<2A><>/<2F>
|
||||
<EFBFBD>77U<19><14><>j<EFBFBD>6Y<36>r<EFBFBD>,<2C>2<EFBFBD><32>
|
||||
U<><18><>٤Y<D9A4><59><EFBFBD>J<EFBFBD>5<EFBFBD><35><0F>P<EFBFBD><50><EFBFBD> <20><><EFBFBD>G:<3A>2<EFBFBD><32>c%۹<><DBB9>MU2C0<43><30><1B><><EFBFBD><16><><EFBFBD><EFBFBD>ul<75><6C><EFBFBD>ؙ5v7[ɹya<79>9]<5D>J<EFBFBD><4A><EFBFBD>2e<32>M,[ɴ8<C9B4><38><EFBFBD>I ])<11><>͋<EFBFBD><CD8B>tef<65> N<>/<2F>V2<56><32>B<EFBFBD><42><EFBFBD><EFBFBD><EFBFBD>V<EFBFBD>ؕi<D895>8M<38>c+3<>b <0C><><EFBFBD>J&<26>'V<><56><EFBFBD><EFBFBD><EFBFBD>D,<2C>-!U<><55>V<EFBFBD>
|
||||
<EFBFBD><EFBFBD>́9<CD81>RB<52>tj<19>#+<2B><> nڔ<6E>&+3<><33>Xxڿ<78><DABF><EFBFBD>,<2C><>n<EFBFBD>rd%yp<79>le<6C><65><EFBFBD><EFBFBD><04>.7<EFBFBD>m<EFBFBD><EFBFBD><EFBFBD>*3<><33>b<>E*n<><6E>:<3A><><19>@<40>\%<25><EFBFBD>
|
||||
k <1E>"27W<37><57><EFBFBD>u<EFBFBD>X^<5E>r<EFBFBD>\%<25><<3C><>5x<35>*<2A>u;<3B><>-YI~4v<34><76><EFBFBD>`<60> <1E> <0B><>}<7D>E<EFBFBD>|<7C>?<3F>WB<57><06> z7<7A><37>A<EFBFBD>W<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>v <1C><><EFBFBD>Wb<EFBFBD><EFBFBD><EFBFBD><EFBFBD>-a<><61><EFBFBD><EFBFBD>˯<1B><><EFBFBD>Na<4E><61>|%<25>w<EFBFBD><77><EFBFBD>[s<EFBFBD><EFBFBD><EFBFBD><EFBFBD>e<14><><10><><EFBFBD>5K^K<><19>><18>+a<>t<EFBFBD>1<EFBFBD> <0C><>%#<23>Yw<59>BX<42>Ǡ<EFBFBD>{<7B><>d<EFBFBD><64><EFBFBD>
|
||||
e<EFBFBD>~a,<2C><><EFBFBD><EFBFBD><EFBFBD>2<EFBFBD><32><EFBFBD>w̄{e,<2C><>{<7B><><EFBFBD><EFBFBD><EFBFBD>X<EFBFBD><58>볗<EFBFBD>JYr<16>,ѾP<D1BE><50>
|
||||
o<EFBFBD><EFBFBD>&<26>x<EFBFBD>,<03>P<EFBFBD><50>%/<2F>e<EFBFBD>[<5B><>,Y<>[<06><>BYV<59><56>5<EFBFBD>P<DFBC><50><h<>'<27><>(<28>a1<61>f/<2F>%Bƣ<42><C6A3><EFBFBD>IKVY<56>1<EFBFBD> <0C><><EFBFBD>L!Y;oH<6F>af<61>V<EFBFBD>]I<><49>l<EFBFBD><6C> <1D>e<EFBFBD>[<5B><>4w<34><77><EFBFBD>d<EFBFBD><64><EFBFBD>SE^YKV# 3~<7E><><EFBFBD> <09>V<EFBFBD> <1E>+m<><6D><EFBFBD>+oI<6F>Pfp<>-;tה<74>JZ<4A>{<7B><><EFBFBD>$<24><08>u<7F>WIN0v<30><76><EFBFBD><EFBFBD>0<EFBFBD>'3;m<1A>+c <09>o<EFBFBD>\ K<><4B><10>N<EFBFBD>JY"<18>m<EFBFBD>~<7E> eY<65><59><EFBFBD><<3C><>=eI<65> 7<><37>WWʒ<05>ǩ݈<C7A9><DD88>d9H{<7B> g<><67><EFBFBD>f<EFBFBD>@<40> g٘<67>;<3B>j<EFBFBD>4<EFBFBD>% 4ĩ/<2F>s<EFBFBD><73>K8<4B>]<03>Y*Ծjv<g<>E<EFBFBD>m<EFBFBD>ĺ<EFBFBD><C4BA><EFBFBD><EFBFBD><EFBFBD>˻,<2C>s<EFBFBD><73>q<EFBFBD><71>K<>X<EFBFBD><58>I<EFBFBD><49><EFBFBD>4xֲ<78><D6B2><EFBFBD>w}z<><7A><EFBFBD><EFBFBD>
|
||||
x<EFBFBD><EFBFBD>uzڲ28<1A><> ڒ<>=<3D><>)O[<5B>Ĉw4<77>M<EFBFBD><4D><EFBFBD>2^<5E><><EFBFBD>-; <0B>Y<EFBFBD>pG[vN<76>c<EFBFBD>}T<>ЖX<D096>P<EFBFBD><50><EFBFBD>,kYz<><7A>$U mI<6D><49>MͲG[2<><32><EFBFBD><EFBFBD><EFBFBD>rC[dkF<6B>fTK[Vy1<79><31>Pp<50>J l9OJg;<3B>Rh<52><08>Q<EFBFBD>N<EFBFBD>Z<12>#<23>$<24>c-<2D>Q<EFBFBD><51>ֳrN<72><4E><EFBFBD>Rc<52>S<EFBFBD>9 <09>Z<EFBFBD><5A><EFBFBD>ߩ<EFBFBD>mҲr<D2B2><72>TZҒ<5A> t~t1<74><31><EFBFBD><EFBFBD><EFBFBD>-<2D>j<EFBFBD>q<EFBFBD>%<25>5,<2C>S͆#-<2D>b7<62>vy<><12>J<EFBFBD>g<EFBFBD><67><EFBFBD><EFBFBD>%<25>f<EFBFBD>G<EFBFBD><47><EFBFBD>'-٧T<D9A7><54><EFBFBD><EFBFBD><EFBFBD>4<EFBFBD>%l<><6C>^(hH<68><48>n3<6E>o<EFBFBD>u<EFBFBD>HKfg<>zGZ<47>99<39><39><EFBFBD>I<EFBFBD>ĉ,<19>6+<2B>IK<49>o%<25>%<25><>%{<7B>+e3<>%<25>{<7B><><EFBFBD>W<EFBFBD>7%<25> t<>8<EFBFBD>[&<26><>U<EFBFBD><55>q<EFBFBD><05><>N<EFBFBD><14>s<EFBFBD><73>O0<4F>zI<7A>Y2<59>|[4A<34>YVr̉ <1D>t<>%Sӈ+<2B><><<3C><> #<23><>Y9Wβ2<CEB2><32><EFBFBD>~<7E>G<1A>z0<7A><30>h<EFBFBD>YVf<56><66><EFBFBD><EFBFBD>9KR/ <1C><><EFBFBD><EFBFBD><EFBFBD>,<2C><>5<EFBFBD><EFBFBD><DC8E>v5<76><35>s<EFBFBD>,<2C><18><> g<>s<04>&<26>=g<><67>,5ޞ<35>l?F~f.YOZ6.<12><>
|
||||
iI߯<EFBFBD>Շ<EFBFBD>IK<EFBFBD>[5<>z<EFBFBD><7A><EFBFBD>d<EFBFBD>z<EFBFBD><EFBFBD><EFBFBD>۱<EFBFBD><EFBFBD>D <20>^Yl<59>a-<2D>Ԡ!<21>],frӖ<72>d<EFBFBD><64><EFBFBD><EFBFBD>
|
||||
n<EFBFBD><EFBFBD><EFBFBD>"<22><15>:ڒi:<<3C>4<EFBFBD><34><EFBFBD><EFBFBD><EFBFBD>?WqY<71>M[6r<36>2B<32>+<2B>M <1E>VY<56><59><EFBFBD>s<EFBFBD>%<25>DD<44><44>
|
||||
n{<7B>Р<EFBFBD>ꇮ<EFBFBD>&.ӊx~ewV<77>#<23><><EFBFBD><EFBFBD>
|
||||
mٸȇ<EFBFBD>Wp<EFBFBD><EFBFBD>Fǵ`<60>kC<6B><43>- 2<>ֽ<EFBFBD><D6BD>D<EFBFBD><44>,`ӚG[6<><36><08>4=<3D>h<EFBFBD><68><EFBFBD>><3E>.GK[2<>i<EFBFBD><69><EFBFBD>" <1F>}nl<6E>h<EFBFBD>v;<3B><12>k<16>m7OQ<4F>B<EFBFBD><42>;1<>%0(<28>Cҩ<13>v<EFBFBD>1<04>
|
||||
<EFBFBD>.ֲ<>?k<><08>m<EFBFBD><0F><>(_X<5F>.<2E><>`rۢ4<DBA2>C<EFBFBD><43><EFBFBD>#j<>:><3E>Zv<5A><76>Mw<4D>e-<11>5Qh<51><68>=<3D>Z2<5A><32><EFBFBD>P@<40><>JtR<74> <09>F{R-k<><6B>Z~<7E><>Ȏ<EFBFBD>dDˁ<18>{<7B>Җ<j<>Uz|<EFBFBD>
|
||||
.'$"<18>V,i<><69>Z<EFBFBD><12>t}<7D>ڒ<>c<EFBFBD><63><EFBFBD><EFBFBD>J,mI<6D>< bVpӖ<70><D396>q <1F><><EFBFBD> m<19> <09><>㮵R&<26><> <1D>9<EFBFBD>Rh.D<>UYBK[<5B>ɂo<C982><6F>5^n<>R8 Rd<52><64>47m)<29>y<EFBFBD><79><EFBFBD><EFBFBD><EFBFBD>Җ<EFBFBD>\g<0E>̫<EFBFBD>rӖ<72><R<15><><EFBFBD>-<2D> cݳ<63>j1<6A><31><EFBFBD><EFBFBD><EFBFBD>
|
||||
|jь<6A>-<2D>D<EFBFBD><44>Lt<>e"<22>`<60>D m<><6D>4<EFBFBD><34>><3E><><EFBFBD><EFBFBD>L<EFBFBD>Ho&<26>Exnڒ <09><><11><>Bܴ%<25>U<EFBFBD><55><EFBFBD>,br<62><72><EFBFBD><EFBFBD>p]l<><6C>E<EFBFBD>^<5E>X<04>;<3B><>w<EFBFBD><77>J(,Y
|
||||
<EFBFBD>|w%<25>A<14>r<EFBFBD>]ٙ<>crs<72><73><EFBFBD><12> <20> <1C><><EFBFBD><EFBFBD>Rƫ<52> &Mwe<77>!<21>M<EFBFBD><4D>#-<2D>PE<50>E<EFBFBD>쎴dC<15><>ϙ q<>%A<>+U<>iHK<48><4B>`<60>I<EFBFBD>'kI<6B>,ŀ<>u<EFBFBD>ELn<4C>r<EFBFBD>i<EFBFBD><69>Rp<52><70><04><>M<>8<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>a- 6<>p<EFBFBD> ܬ%<25><><EFBFBD><EFBFBD>)<29>XK<58>M<EFBFBD> <16><>YK&ݰmk<6D> ܬe
|
||||
cP7kI<10>:i<19>c-9{><3E><>P<EFBFBD><50>dZy<><02><>$<24><01>я<EFBFBD>}<7D>YK:<3A>A&f-<2D>q<EFBFBD><71><04><><EFBFBD><EFBFBD><EFBFBD>f-<01><><EFBFBD>v<EFBFBD>a- B3<42> A<>Z<12>?<3F><>֒` <09>hڱ<68>r<><72>[<5B><>e <1E><><04><> k<><6B>Й<EFBFBD><D099>R<EFBFBD><52><EFBFBD><EFBFBD><EFBFBD><EFBFBD>% i<><69> mI<6D>rΌR<CE8C><52><EFBFBD>dX@<40>; <1E>|ܴ%<25>B`<60>W<EFBFBD><57><EFBFBD>- 6S+<2B>hK&g<1B><>~<7E>b<EFBFBD>h㔚<68><E3949A><EFBFBD><EFBFBD>-<2D>m<EFBFBD>Ɛ7m<37>v<13><><EFBFBD><EFBFBD>&TC[J<> b<>Sw<53>k<EFBFBD>dA <14>yX<DEB5><58><EFBFBD>GC<47><43>!<21><16> <20><>V <00>K:E0/<2F><>M<>%<25>"q'<27>7M<37>%<25><>d<EFBFBD>۩K|<7C>e<EFBFBD>E<EFBFBD>f]_ܬ%<25><>v<EFBFBD><76>e-<2D><>A<EFBFBD><41>|,q<><71><EFBFBD><EFBFBD>ώc 9֒><3E>;<3B>
|
||||
<EFBFBD>K<>?C<><43>F<EFBFBD>7XN<>L<EFBFBD>YK <1E>`<60>8
|
||||
='<27>e-i%B <1E><>'<27>YK<59>O2<4F>u.K<>ZR<5A><52><EFBFBD>#RZ<52><5A><EFBFBD>ǒ1qa<71>r<EFBFBD>d<EFBFBD>,R<>h<EFBFBD>Ew<45>&KF<13>X<EFBFBD>ڲ <09>$<24><>b<EFBFBD><62><EFBFBD><EFBFBD>@<04><><EFBFBD>F<EFBFBD>YK<59><4B><EFBFBD><EFBFBD>OnΒux<75><78><EFBFBD>Zβ<5A><CEB2><18>,I<>Y<EFBFBD>Y<EFBFBD><59><EFBFBD><EFBFBD>a<EFBFBD>a<EFBFBD><61><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>c:<3A><> 7iɷϨ@<40><>$8<> 7i<37>X<EFBFBD>`<60>~GZ<12><>J<EFBFBD>(ݬ%_z<5F><7A>l<EFBFBD><6C>ܬ%<25>k<EFBFBD>FZ<46>Z6I<36><49><EFBFBD>7<EFBFBD>a<EFBFBD>E<EFBFBD>W<EFBFBD>+|<7C>%<25>r <09><>~<7E>tXr<58><72><EFBFBD>P<>tX2z<32><7A><EFBFBD>I`<60>b<EFBFBD> <1C>,<2C><07>e<EFBFBD>.<2E>r<EFBFBD>/ \<5C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>><3E>9<>i<EFBFBD><69>$<24>`f<>A6<17>2q
|
||||
<EFBFBD>D
|
||||
<EFBFBD>%<25>e<EFBFBD><65><EFBFBD><EFBFBD>텸<<3C><><EFBFBD><EFBFBD>Oy<4F><79>9xi ݔ<><DD94><EFBFBD> ]l<>p<EFBFBD><11><>\Fi<46><69><EFBFBD><EFBFBD>za.qM<71>ߍb<DF8D> s ]<5D><><EFBFBD>[<5B>za.<2E>< <1C><>\<5C><>ȱ<02><><EFBFBD><10>3<EFBFBD><33><EFBFBD><EFBFBD>LN<4C>za.I;<3B><>
|
||||
)%<25><>%b1<18><><EFBFBD> <1C>%<25><><EFBFBD>Q<EFBFBD>za.a<>a<EFBFBD>N<><4E>Zҳ<5A><D2B3><EFBFBD><EFBFBD><EFBFBD>g.<0F>bx<62><78>hp<68>4[&-<2D><>VG\2Y<32><59>Z5<><35><EFBFBD>SƔ@}<7D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>u<EFBFBD><75> q<><71>n<> J/<2F>%<25><>`2f_<66><5F>גe#M<>'<27><> <0C><>M<7F>K<EFBFBD>e<EFBFBD><65><EFBFBD><EFBFBD><EFBFBD>LX֜<58><D69C>9<EFBFBD>̄e'<27>m<EFBFBD><6D><EFBFBD>%C~S<>,<2C>% ă<>f\<5C>-و<><D988><EFBFBD>W<EFBFBD><57>,<2C>&<26><13><>)<29><>C<EFBFBD>x!.9,u9LW<4C><57><EFBFBD><EFBFBD>5<EFBFBD><35>%<25>'<27>O<EFBFBD>o<EFBFBD>di<64><19> }ɳR<C9B3> <1E>xm<78><6D>T<07>-})'B<>t3<16><><EFBFBD> <04><><EFBFBD><EFBFBD> <1D>kᕿt<05>W<EFBFBD><57>a<EFBFBD><61><EFBFBD>W<EFBFBD>2s"[S<><53><EFBFBD><EFBFBD><08><>:<1A><><EFBFBD><EFBFBD>%<25><>q<EFBFBD>7saI&bQ<62><51><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڑ<EFBFBD>v& i<>K2F<32><46>Tid<>M8<4D>M<EFBFBD>y&1,<><7F>
|
||||
<18><>)Y<>_V<5F><56><EFBFBD><EFBFBD>@&h2Ϝ)<29><><EFBFBD> <1C>_ʄ8E<38>m9<6D><39>t<><74>%p<><70><EFBFBD>L<EFBFBD>0U <20>_J<5F><03>ES#<23><><EFBFBD> ;=<3D>|<7C>vɜu<C99C><75>҄<EFBFBD><D284>/<2F><><EFBFBD><<3C>67٘*<19><15><>]g<>Ҕ<EFBFBD><D294><EFBFBD><EFBFBD>^<5E><><EFBFBD><EFBFBD>d<EFBFBD><64><EFBFBD>߰<><DFB0>%0;<3B><>ك1yG`<60><> <>9<EFBFBD><39><EFBFBD><EFBFBD>px<70>!<21><><EFBFBD>;<3B> <1B>3<10><><EFBFBD> <00><>WO<57>NIr<49>o<EFBFBD><6F><03>f'<27><><EFBFBD>s̅<73>L<><4C>V4*;e <09>^|[<5B>#0;<3B>brRb<52><62><EFBFBD><EFBFBD>ƙ<EFBFBD><C699>g<EFBFBD><67><11><><EFBFBD>aP<61><50><10>x<15>KqMB<4D>&<26>,<2C>tȌN<C88C><4E><10><>G<>wuYX<13>?c"KK`B<><42>:<3A><>:<3A><><12>L<EFBFBD>B3<42><33><EFBFBD><EFBFBD>!0 f<>M<EFBFBD><4D>-K`l<>(<28><>͝<EFBFBD>:i<>#<23>
|
||||
<EFBFBD>]<5D>:<3A><15><><EFBFBD>5:v<><76>X4V<34><56><EFBFBD>4&<26>֑<EFBFBD>K:"<22><10><><EFBFBD>#<23><>=<3D><><EFBFBD><13>b<EFBFBD>1 &<26>3<EFBFBD>~u<><75>e0ٝQ<D99D><51><EFBFBD>hL&<26>3<EFBFBD><33><0E><> &<26>3p<17>7 &A6<41><36>Y<EFBFBD>#
|
||||
<EFBFBD><EFBFBD><EFBFBD>
|
||||
N_<EFBFBD>~<7E><>0<EFBFBD><30><EFBFBD><EFBFBD>W<0E>R<EFBFBD>+<2B>N<EFBFBD><4E> <1C>3)<29><><0E><><EFBFBD>
|
||||
<EFBFBD>d A<<3C><>_g<5F>
|
||||
<EFBFBD><EFBFBD>ߍ<EFBFBD>Vs,@<40><><EFBFBD>@'<0E><>Jҍn<><6E>J<EFBFBD><4A>x<EFBFBD><78><EFBFBD><17><><EFBFBD>ߡ<06><><EFBFBD> <0C> <1F><>FVrY<72>ͤL<CDA4><4C><EFBFBD><EFBFBD><EFBFBD><EFBFBD><1B>a<EFBFBD><61><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>/<2F><>wy<77><79>#<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>8@}&Q<><51>3<EFBFBD><33>3[,<18><><EFBFBD>;<3B>><3E>;P<><50><EFBFBD>q<EFBFBD><71>d@;<3B><><EFBFBD> 6E~e}<7D><>"@^<5E><><EFBFBD><EFBFBD><EFBFBD>N<EFBFBD>}<1B><><EFBFBD>%^<18><>e<EFBFBD>Dy<44>u<EFBFBD><75>-#<23>B<EFBFBD>bc9{<7B><>-#H<>_Vɟ<56><C99F><EFBFBD>e<04>"<<3C>K<EFBFBD><4B>#<23>o<19><>M]<5D>`ﭷģ~l"{2@<40><><01>@<40><><07><><EFBFBD><EFBFBD>|<7C><>9<># = <0C><><EFBFBD><18>G<EFBFBD><47><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <><7F>xq<0F><><EFBFBD>+<2B><><EFBFBD><18>ΰ<><CEB0><EFBFBD><15><>w <0C><><EFBFBD>]<5D>K<EFBFBD><03><>y<EFBFBD><79><EFBFBD><EFBFBD>Mn<4D><6E><EFBFBD><EFBFBD>Z<EFBFBD>w<EFBFBD><77><EFBFBD>b<EFBFBD><62><EFBFBD><D882><04><> <09><><EFBFBD>B' <1C>ط<EFBFBD>DžA\c<18>H<> <09>cUq`)9O<39><4F><EFBFBD><EFBFBD> <1F><>4<EFBFBD><34><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Mc<4D>(߳<>ܓ<EFBFBD><DC93>h<EFBFBD><68><EFBFBD><EFBFBD>PB;<3B><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
<EFBFBD>ݦ<EFBFBD><EFBFBD>2<EFBFBD><02><><EFBFBD>8<16><><EFBFBD><1A><>nK,<2C>) V<1B>\<5C> <19>nZz-<2D>)` -<2D>4 <0C><><EFBFBD><EFBFBD><EFBFBD>_=<3D><>p<>V܉<EFBFBD><EFBFBD><EFBFBD><EFBFBD>XS@R<><52>^`<19>8<EFBFBD>şeqG<71>Ĥ,<2C><><EFBFBD>R<EFBFBD>p<EFBFBD>M<EFBFBD><1B>R (}<7D><>*<2A>#o<><6F>c<f<k<>Ks]D<><44>/G<>T<> `<60>Ke<><65>f(w ̹<>g\l<>e/<05>q<EFBFBD> X<>R@lB6<42> а<>Q<EFBFBD><51><EFBFBD><EFBFBD>e<EFBFBD>K<01>}t<><74><14>ʀ<EFBFBD>IN <1C><><EFBFBD>c<EFBFBD><63>b!9<7F><19><EFBFBD><EAABB7><EFBFBD>2r<32>}<7D><><EFBFBD>P<>o
|
||||
) <20><EFBFBD>~2<>_\<07>MpY`a<><61><EFBFBD><EFBFBD>Z<EFBFBD>R@<40><><EFBFBD><EFBFBD>_<EFBFBD><5F>$X8yO<79>*,<2C>)<29>[<5B><><EFBFBD>e<EFBFBD><65><EFBFBD><EFBFBD>U<EFBFBD>!c<><63><EFBFBD>$<06> M<><4D><EFBFBD><EFBFBD><04> <09><>x<EFBFBD><78>_<EFBFBD><5F><EFBFBD>(<28><><EFBFBD><EFBFBD><EFBFBD>Øõƻ.<2E><> 4^(<28><>WV<57>XU%<19>R<EFBFBD><52><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>u9Z<d<><64><EFBFBD> }ɦ <09>}<7D>ܤ<EFBFBD>/<2F>hA<68><41><EFBFBD>=K_<4B><5F>
|
||||
<EFBFBD> ±<><C2B1><EFBFBD> <0C><><EFBFBD>CxB<78><42>/9<><39><EFBFBD> <09><12><>%#<23><>ñ<EFBFBD><C3B1><EFBFBD>^&9<><39><EFBFBD><EFBFBD><EFBFBD><EFBFBD>f/<2F>ހ<EFBFBD>~<7E>I<12><>$<24>]<5D>W<03>e/<2F>ڻ<EFBFBD>lw<6C>%u05b<35>!/E<><45>aA<61><41><EFBFBD>28xw<78>8<38><EE928A>,<2C><06>q<EFBFBD>T<EFBFBD><15>!<21><><EFBFBD> cN<18>5<13>q<EFBFBD><71><EFBFBD><07><><EFBFBD>i<EFBFBD><69><EFBFBD><EFBFBD><b<>a<EFBFBD>ݵ\f<><66>J<EFBFBD>m5kn_<6E>z<EFBFBD>G<EFBFBD><47><EFBFBD><EFBFBD><EFBFBD>]<5D>^<5E>$;7<>avN<76>,:M<>r<EFBFBD><72> <1E><>I<EFBFBD>閻<EFBFBD>:<<3C>t<EFBFBD>Eln<6C>R*;<0F>hY<68><59>ov`Ue8<65><38><EFBFBD>EU<45><55><<3C><><EFBFBD>Lg<4C><67><EFBFBD>빹K<EBB9B9><4B><EFBFBD>w:<3A><>.<2E>};<3B>.݆<>"<22>%/Y<0E><><EFBFBD>S;<3B><>L<13>}S[<5B>&/k<>CP yY<79><59><EFBFBD>kt<6B>#/<2F><><EFBFBD><EFBFBD><EFBFBD>~C^<5E><><EFBFBD>'<27>,Ē<> <0C><><1B>,yI1 <16><><EFBFBD>M^<5E>N<EFBFBD>=<3D>Ǒ<EFBFBD> #<23><>Թ<07><>$;<03><>Jr y<><79>;<01><><EFBFBD><EFBFBD><EFBFBD>%<25><>X5<>_<EFBFBD>n*1D<31>XH7<48>a<EFBFBD><61><EFBFBD><EFBFBD> ʫ8,.<2E><14><>%A<>nǰ~v;<3B>L<EFBFBD><4C> ´<07>n<6E> =<3D><>K<EFBFBD><4B>j]<5D><><EFBFBD><EFBFBD>l<EFBFBD><6C><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.y<>-6<05><>
|
||||
u<EFBFBD>Ġ [ K]6<><36>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>l<EFBFBD><6C><EFBFBD>ݫ6<DDAB>Z<EFBFBD>Rx<52><78><EFBFBD><EFBFBD> sI<73><49>焼<EFBFBD><E784BC><EFBFBD>o<EFBFBD><6F><EFBFBD>א<EFBFBD> sI0p<30>-<2D>s<EFBFBD><73>Mj<4D><6A>&h-qI<10><><1A><><EFBFBD>KaHO5Z͘<5A><CD98>$<24><><EFBFBD><EFBFBD>n7<6E><37><17><><EFBFBD><EFBFBD>87qI拱<49>&R<><52>O<EFBFBD>or<6F>Ԏ<EFBFBD>l<EFBFBD>w<EFBFBD><77>%q<>%9lϕ<6C>r<EFBFBD><72><EFBFBD>UXg<58>yޒ<79>Ufѩ<66><D1A9><EFBFBD><EFBFBD>e<13><><EFBFBD>g}qG<0E><>#xR5ތ<35><15>
|
||||
@@ -3391,55 +3401,55 @@ xref
|
||||
0000001410 00000 n
|
||||
0000001463 00000 n
|
||||
0000001516 00000 n
|
||||
0000004382 00000 n
|
||||
0000004435 00000 n
|
||||
0000004488 00000 n
|
||||
0000004541 00000 n
|
||||
0000004594 00000 n
|
||||
0000004647 00000 n
|
||||
0000004700 00000 n
|
||||
0000004753 00000 n
|
||||
0000004806 00000 n
|
||||
0000004859 00000 n
|
||||
0000004912 00000 n
|
||||
0000004965 00000 n
|
||||
0000005018 00000 n
|
||||
0000005071 00000 n
|
||||
0000005124 00000 n
|
||||
0000005177 00000 n
|
||||
0000005230 00000 n
|
||||
0000005283 00000 n
|
||||
0000005336 00000 n
|
||||
0000005390 00000 n
|
||||
0000005444 00000 n
|
||||
0000005498 00000 n
|
||||
0000005552 00000 n
|
||||
0000005606 00000 n
|
||||
0000005660 00000 n
|
||||
0000005714 00000 n
|
||||
0000005768 00000 n
|
||||
0000005822 00000 n
|
||||
0000005876 00000 n
|
||||
0000005930 00000 n
|
||||
0000005984 00000 n
|
||||
0000006038 00000 n
|
||||
0000006093 00000 n
|
||||
0000006148 00000 n
|
||||
0000006203 00000 n
|
||||
0000006257 00000 n
|
||||
0000006312 00000 n
|
||||
0000006366 00000 n
|
||||
0000006420 00000 n
|
||||
0000006474 00000 n
|
||||
0000006528 00000 n
|
||||
0000006582 00000 n
|
||||
0000001569 00000 n
|
||||
0000001622 00000 n
|
||||
0000001675 00000 n
|
||||
0000001728 00000 n
|
||||
0000001781 00000 n
|
||||
0000001834 00000 n
|
||||
0000001887 00000 n
|
||||
0000001940 00000 n
|
||||
0000001993 00000 n
|
||||
0000002046 00000 n
|
||||
0000002099 00000 n
|
||||
0000002152 00000 n
|
||||
0000002205 00000 n
|
||||
0000002258 00000 n
|
||||
0000002311 00000 n
|
||||
0000002364 00000 n
|
||||
0000002417 00000 n
|
||||
0000002470 00000 n
|
||||
0000002523 00000 n
|
||||
0000002576 00000 n
|
||||
0000002629 00000 n
|
||||
0000002682 00000 n
|
||||
0000002735 00000 n
|
||||
0000002788 00000 n
|
||||
0000002841 00000 n
|
||||
0000002894 00000 n
|
||||
0000002947 00000 n
|
||||
0000003000 00000 n
|
||||
0000003054 00000 n
|
||||
0000003108 00000 n
|
||||
0000003162 00000 n
|
||||
0000003215 00000 n
|
||||
0000003269 00000 n
|
||||
0000003322 00000 n
|
||||
0000003375 00000 n
|
||||
0000003428 00000 n
|
||||
0000003481 00000 n
|
||||
0000003534 00000 n
|
||||
0000003587 00000 n
|
||||
0000003640 00000 n
|
||||
0000003693 00000 n
|
||||
0000003746 00000 n
|
||||
0000003799 00000 n
|
||||
0000003852 00000 n
|
||||
0000003905 00000 n
|
||||
0000003958 00000 n
|
||||
0000006852 00000 n
|
||||
0000004011 00000 n
|
||||
0000004064 00000 n
|
||||
0000004117 00000 n
|
||||
0000004170 00000 n
|
||||
0000007068 00000 n
|
||||
0000004223 00000 n
|
||||
0000004276 00000 n
|
||||
|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 153 KiB After Width: | Height: | Size: 154 KiB |
Binary file not shown.
Binary file not shown.
|
Before Width: | Height: | Size: 115 KiB After Width: | Height: | Size: 134 KiB |
Binary file not shown.
Binary file not shown.
|
Before Width: | Height: | Size: 173 KiB After Width: | Height: | Size: 196 KiB |
@@ -4,227 +4,17 @@
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-03-17 mar. 17:28 -->
|
||||
<!-- 2020-04-17 ven. 09:35 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>Matlab Functions used for the NASS Project</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Dehaeze Thomas" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||
<script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||
<script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&dn=gpl-3.0.txt GPL-v3-or-Later
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
// @license-end
|
||||
</script>
|
||||
<script src="./js/jquery.min.js"></script>
|
||||
<script src="./js/bootstrap.min.js"></script>
|
||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="./js/readtheorg.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
@@ -237,16 +27,332 @@
|
||||
<h2>Table of Contents</h2>
|
||||
<div id="text-table-of-contents">
|
||||
<ul>
|
||||
<li><a href="#orgdc168b9">1. computeReferencePose</a></li>
|
||||
<li><a href="#org493ab7f">2. Compute the Sample Position Error w.r.t. the NASS</a></li>
|
||||
<li><a href="#org3fa0f20">1. describeNassSetup</a>
|
||||
<ul>
|
||||
<li><a href="#org3615302">Function description</a></li>
|
||||
<li><a href="#org3b8c4f7">Simscape Configuration</a></li>
|
||||
<li><a href="#org5b65749">Disturbances</a></li>
|
||||
<li><a href="#org59f7825">References</a></li>
|
||||
<li><a href="#org90b1ac8">Controller</a></li>
|
||||
<li><a href="#orgdd5b7a5">Micro-Station</a></li>
|
||||
<li><a href="#org1687c05">Metrology</a></li>
|
||||
<li><a href="#orgee5944e">Nano Hexapod</a></li>
|
||||
<li><a href="#orga499c17">Sample</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#orgdc168b9">2. computeReferencePose</a></li>
|
||||
<li><a href="#org493ab7f">3. Compute the Sample Position Error w.r.t. the NASS</a></li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgdc168b9" class="outline-2">
|
||||
<h2 id="orgdc168b9"><span class="section-number-2">1</span> computeReferencePose</h2>
|
||||
<div id="outline-container-org3fa0f20" class="outline-2">
|
||||
<h2 id="org3fa0f20"><span class="section-number-2">1</span> describeNassSetup</h2>
|
||||
<div class="outline-text-2" id="text-1">
|
||||
<p>
|
||||
<a id="org0b9cc9d"></a>
|
||||
</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="outline-container-org3615302" class="outline-3">
|
||||
<h3 id="org3615302">Function description</h3>
|
||||
<div class="outline-text-3" id="text-org3615302">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[]</span> = <span class="org-function-name">describeNassSetup</span>()
|
||||
<span class="org-comment">% describeNassSetup -</span>
|
||||
<span class="org-comment">%</span>
|
||||
<span class="org-comment">% Syntax: [] = describeNassSetup()</span>
|
||||
<span class="org-comment">%</span>
|
||||
<span class="org-comment">% Inputs:</span>
|
||||
<span class="org-comment">% - -</span>
|
||||
<span class="org-comment">%</span>
|
||||
<span class="org-comment">% Outputs:</span>
|
||||
<span class="org-comment">% - -</span>
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org3b8c4f7" class="outline-3">
|
||||
<h3 id="org3b8c4f7">Simscape Configuration</h3>
|
||||
<div class="outline-text-3" id="text-org3b8c4f7">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load(<span class="org-string">'./mat/conf_simscape.mat'</span>, <span class="org-string">'conf_simscape'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">fprintf(<span class="org-string">'Simscape Configuration:\n'</span>);
|
||||
|
||||
<span class="org-keyword">if</span> conf_simscape.type <span class="org-type">==</span> 1
|
||||
fprintf(<span class="org-string">'- Gravity is included\n'</span>);
|
||||
<span class="org-keyword">else</span>
|
||||
fprintf(<span class="org-string">'- Gravity is not included\n'</span>);
|
||||
<span class="org-keyword">end</span>
|
||||
|
||||
fprintf(<span class="org-string">'\n'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org5b65749" class="outline-3">
|
||||
<h3 id="org5b65749">Disturbances</h3>
|
||||
<div class="outline-text-3" id="text-org5b65749">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load(<span class="org-string">'./mat/nass_disturbances.mat'</span>, <span class="org-string">'args'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">fprintf(<span class="org-string">'Disturbances:\n'</span>);
|
||||
<span class="org-keyword">if</span> <span class="org-type">~</span>args.enable
|
||||
fprintf(<span class="org-string">'- No disturbance is included\n'</span>);
|
||||
<span class="org-keyword">else</span>
|
||||
<span class="org-keyword">if</span> args.Dwx <span class="org-type">&&</span> args.Dwy <span class="org-type">&&</span> args.Dwz
|
||||
fprintf(<span class="org-string">'- Ground motion\n'</span>);
|
||||
<span class="org-keyword">end</span>
|
||||
<span class="org-keyword">if</span> args.Fty_x <span class="org-type">&&</span> args.Fty_z
|
||||
fprintf(<span class="org-string">'- Vibrations of the Translation Stage\n'</span>);
|
||||
<span class="org-keyword">end</span>
|
||||
<span class="org-keyword">if</span> args.Frz_z
|
||||
fprintf(<span class="org-string">'- Vibrations of the Spindle\n'</span>);
|
||||
<span class="org-keyword">end</span>
|
||||
<span class="org-keyword">end</span>
|
||||
fprintf(<span class="org-string">'\n'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org59f7825" class="outline-3">
|
||||
<h3 id="org59f7825">References</h3>
|
||||
<div class="outline-text-3" id="text-org59f7825">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load(<span class="org-string">'./mat/nass_references.mat'</span>, <span class="org-string">'args'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">fprintf(<span class="org-string">'Reference Tracking:\n'</span>);
|
||||
fprintf(<span class="org-string">'- Translation Stage:\n'</span>);
|
||||
<span class="org-keyword">switch</span> <span class="org-constant">args.Dy_type</span>
|
||||
<span class="org-keyword">case</span> <span class="org-string">'constant'</span>
|
||||
fprintf(<span class="org-string">' - Constant Position\n'</span>);
|
||||
fprintf(<span class="org-string">' - Dy = %.0f [mm]\n'</span>, args.Dy_amplitude<span class="org-type">*</span>1e3);
|
||||
<span class="org-keyword">case</span> <span class="org-string">'triangular'</span>
|
||||
fprintf(<span class="org-string">' - Triangular Path\n'</span>);
|
||||
fprintf(<span class="org-string">' - Amplitude = %.0f [mm]\n'</span>, args.Dy_amplitude<span class="org-type">*</span>1e3);
|
||||
fprintf(<span class="org-string">' - Period = %.0f [s]\n'</span>, args.Dy_period);
|
||||
<span class="org-keyword">case</span> <span class="org-string">'sinusoidal'</span>
|
||||
fprintf(<span class="org-string">' - Sinusoidal Path\n'</span>);
|
||||
fprintf(<span class="org-string">' - Amplitude = %.0f [mm]\n'</span>, args.Dy_amplitude<span class="org-type">*</span>1e3);
|
||||
fprintf(<span class="org-string">' - Period = %.0f [s]\n'</span>, args.Dy_period);
|
||||
<span class="org-keyword">end</span>
|
||||
|
||||
fprintf(<span class="org-string">'- Tilt Stage:\n'</span>);
|
||||
<span class="org-keyword">switch</span> <span class="org-constant">args.Ry_type</span>
|
||||
<span class="org-keyword">case</span> <span class="org-string">'constant'</span>
|
||||
fprintf(<span class="org-string">' - Constant Position\n'</span>);
|
||||
fprintf(<span class="org-string">' - Ry = %.0f [mm]\n'</span>, args.Ry_amplitude<span class="org-type">*</span>1e3);
|
||||
<span class="org-keyword">case</span> <span class="org-string">'triangular'</span>
|
||||
fprintf(<span class="org-string">' - Triangular Path\n'</span>);
|
||||
fprintf(<span class="org-string">' - Amplitude = %.0f [mm]\n'</span>, args.Ry_amplitude<span class="org-type">*</span>1e3);
|
||||
fprintf(<span class="org-string">' - Period = %.0f [s]\n'</span>, args.Ry_period);
|
||||
<span class="org-keyword">case</span> <span class="org-string">'sinusoidal'</span>
|
||||
fprintf(<span class="org-string">' - Sinusoidal Path\n'</span>);
|
||||
fprintf(<span class="org-string">' - Amplitude = %.0f [mm]\n'</span>, args.Ry_amplitude<span class="org-type">*</span>1e3);
|
||||
fprintf(<span class="org-string">' - Period = %.0f [s]\n'</span>, args.Ry_period);
|
||||
<span class="org-keyword">end</span>
|
||||
|
||||
fprintf(<span class="org-string">'- Spindle:\n'</span>);
|
||||
<span class="org-keyword">switch</span> <span class="org-constant">args.Rz_type</span>
|
||||
<span class="org-keyword">case</span> <span class="org-string">'constant'</span>
|
||||
fprintf(<span class="org-string">' - Constant Position\n'</span>);
|
||||
fprintf(<span class="org-string">' - Rz = %.0f [deg]\n'</span>, 180<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">*</span>args.Rz_amplitude);
|
||||
<span class="org-keyword">case</span> { <span class="org-string">'rotating'</span>, <span class="org-string">'rotating-not-filtered'</span> }
|
||||
fprintf(<span class="org-string">' - Rotating\n'</span>);
|
||||
fprintf(<span class="org-string">' - Speed = %.0f [rpm]\n'</span>, 60<span class="org-type">/</span>Rz_period);
|
||||
<span class="org-keyword">end</span>
|
||||
|
||||
|
||||
fprintf(<span class="org-string">'- Micro Hexapod:\n'</span>);
|
||||
<span class="org-keyword">switch</span> <span class="org-constant">args.Dh_type</span>
|
||||
<span class="org-keyword">case</span> <span class="org-string">'constant'</span>
|
||||
fprintf(<span class="org-string">' - Constant Position\n'</span>);
|
||||
fprintf(<span class="org-string">' - Dh = %.0f, %.0f, %.0f [mm]\n'</span>, args.Dh_pos(1), args.Dh_pos(2), args.Dh_pos(3));
|
||||
fprintf(<span class="org-string">' - Rh = %.0f, %.0f, %.0f [deg]\n'</span>, args.Dh_pos(4), args.Dh_pos(5), args.Dh_pos(6));
|
||||
<span class="org-keyword">end</span>
|
||||
|
||||
fprintf(<span class="org-string">'\n'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org90b1ac8" class="outline-3">
|
||||
<h3 id="org90b1ac8">Controller</h3>
|
||||
<div class="outline-text-3" id="text-org90b1ac8">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load(<span class="org-string">'./mat/controller.mat'</span>, <span class="org-string">'controller'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">fprintf(<span class="org-string">'Controller:\n'</span>);
|
||||
fprintf(<span class="org-string">'- %s\n'</span>, controller.name);
|
||||
fprintf(<span class="org-string">'\n'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgdd5b7a5" class="outline-3">
|
||||
<h3 id="orgdd5b7a5">Micro-Station</h3>
|
||||
<div class="outline-text-3" id="text-orgdd5b7a5">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load(<span class="org-string">'./mat/stages.mat'</span>, <span class="org-string">'ground'</span>, <span class="org-string">'granite'</span>, <span class="org-string">'ty'</span>, <span class="org-string">'ry'</span>, <span class="org-string">'rz'</span>, <span class="org-string">'micro_hexapod'</span>, <span class="org-string">'axisc'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">fprintf(<span class="org-string">'Micro Station:\n'</span>);
|
||||
|
||||
<span class="org-keyword">if</span> granite.type <span class="org-type">==</span> 1 <span class="org-type">&&</span> ...
|
||||
ty.type <span class="org-type">==</span> 1 <span class="org-type">&&</span> ...
|
||||
ry.type <span class="org-type">==</span> 1 <span class="org-type">&&</span> ...
|
||||
rz.type <span class="org-type">==</span> 1 <span class="org-type">&&</span> ...
|
||||
micro_hexapod.type <span class="org-type">==</span> 1;
|
||||
fprintf(<span class="org-string">'- All stages are rigid\n'</span>);
|
||||
<span class="org-keyword">elseif</span> granite.type <span class="org-type">==</span> 2 <span class="org-type">&&</span> ...
|
||||
ty.type <span class="org-type">==</span> 2 <span class="org-type">&&</span> ...
|
||||
ry.type <span class="org-type">==</span> 2 <span class="org-type">&&</span> ...
|
||||
rz.type <span class="org-type">==</span> 2 <span class="org-type">&&</span> ...
|
||||
micro_hexapod.type <span class="org-type">==</span> 2;
|
||||
fprintf(<span class="org-string">'- All stages are flexible\n'</span>);
|
||||
<span class="org-keyword">else</span>
|
||||
<span class="org-keyword">if</span> granite.type <span class="org-type">==</span> 1 <span class="org-type">||</span> granite.type <span class="org-type">==</span> 4
|
||||
fprintf(<span class="org-string">'- Granite is rigid\n'</span>);
|
||||
<span class="org-keyword">else</span>
|
||||
fprintf(<span class="org-string">'- Granite is flexible\n'</span>);
|
||||
<span class="org-keyword">end</span>
|
||||
<span class="org-keyword">if</span> ty.type <span class="org-type">==</span> 1 <span class="org-type">||</span> ty.type <span class="org-type">==</span> 4
|
||||
fprintf(<span class="org-string">'- Translation Stage is rigid\n'</span>);
|
||||
<span class="org-keyword">else</span>
|
||||
fprintf(<span class="org-string">'- Translation Stage is flexible\n'</span>);
|
||||
<span class="org-keyword">end</span>
|
||||
<span class="org-keyword">if</span> ry.type <span class="org-type">==</span> 1 <span class="org-type">||</span> ry.type <span class="org-type">==</span> 4
|
||||
fprintf(<span class="org-string">'- Tilt Stage is rigid\n'</span>);
|
||||
<span class="org-keyword">else</span>
|
||||
fprintf(<span class="org-string">'- Tilt Stage is flexible\n'</span>);
|
||||
<span class="org-keyword">end</span>
|
||||
<span class="org-keyword">if</span> rz.type <span class="org-type">==</span> 1 <span class="org-type">||</span> rz.type <span class="org-type">==</span> 4
|
||||
fprintf(<span class="org-string">'- Spindle is rigid\n'</span>);
|
||||
<span class="org-keyword">else</span>
|
||||
fprintf(<span class="org-string">'- Spindle is flexible\n'</span>);
|
||||
<span class="org-keyword">end</span>
|
||||
<span class="org-keyword">if</span> micro_hexapod.type <span class="org-type">==</span> 1 <span class="org-type">||</span> micro_hexapod.type <span class="org-type">==</span> 4
|
||||
fprintf(<span class="org-string">'- Micro Hexapod is rigid\n'</span>);
|
||||
<span class="org-keyword">else</span>
|
||||
fprintf(<span class="org-string">'- Micro Hexapod is flexible\n'</span>);
|
||||
<span class="org-keyword">end</span>
|
||||
|
||||
<span class="org-keyword">end</span>
|
||||
|
||||
fprintf(<span class="org-string">'\n'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org1687c05" class="outline-3">
|
||||
<h3 id="org1687c05">Metrology</h3>
|
||||
<div class="outline-text-3" id="text-org1687c05">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load(<span class="org-string">'./mat/stages.mat'</span>, <span class="org-string">'mirror'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">fprintf(<span class="org-string">'Reference Mirror:\n'</span>);
|
||||
|
||||
<span class="org-keyword">if</span> mirror.type <span class="org-type">==</span> 2;
|
||||
fprintf(<span class="org-string">'- flexible fixation\n'</span>);
|
||||
fprintf(<span class="org-string">'- w = %.0f [Hz]\n'</span>, mirror.freq(1));
|
||||
<span class="org-keyword">else</span>
|
||||
fprintf(<span class="org-string">'- rigidly attached to the nano-hexapod\n'</span>);
|
||||
<span class="org-keyword">end</span>
|
||||
fprintf(<span class="org-string">'- m = %.0f [kg]\n'</span>, mirror.mass);
|
||||
fprintf(<span class="org-string">'\n'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgee5944e" class="outline-3">
|
||||
<h3 id="orgee5944e">Nano Hexapod</h3>
|
||||
<div class="outline-text-3" id="text-orgee5944e">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load(<span class="org-string">'./mat/stages.mat'</span>, <span class="org-string">'nano_hexapod'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">fprintf(<span class="org-string">'Nano Hexapod:\n'</span>);
|
||||
|
||||
<span class="org-keyword">if</span> nano_hexapod.type <span class="org-type">==</span> 0;
|
||||
fprintf(<span class="org-string">'- no included\n'</span>);
|
||||
<span class="org-keyword">elseif</span> nano_hexapod.type <span class="org-type">==</span> 1 <span class="org-type">||</span> nano_hexapod.type <span class="org-type">==</span> 3;
|
||||
fprintf(<span class="org-string">'- rigid\n'</span>);
|
||||
<span class="org-keyword">elseif</span> nano_hexapod.type <span class="org-type">==</span> 2;
|
||||
fprintf(<span class="org-string">'- flexible\n'</span>);
|
||||
fprintf(<span class="org-string">'- Ki = %.0g [N/m]\n'</span>, nano_hexapod.Ki(1));
|
||||
<span class="org-keyword">end</span>
|
||||
|
||||
fprintf(<span class="org-string">'\n'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orga499c17" class="outline-3">
|
||||
<h3 id="orga499c17">Sample</h3>
|
||||
<div class="outline-text-3" id="text-orga499c17">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load(<span class="org-string">'./mat/stages.mat'</span>, <span class="org-string">'sample'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">fprintf(<span class="org-string">'Sample:\n'</span>);
|
||||
|
||||
<span class="org-keyword">if</span> sample.type <span class="org-type">==</span> 0;
|
||||
fprintf(<span class="org-string">'- no included\n'</span>);
|
||||
<span class="org-keyword">elseif</span> sample.type <span class="org-type">==</span> 1 <span class="org-type">||</span> sample.type <span class="org-type">==</span> 3;
|
||||
fprintf(<span class="org-string">'- rigid\n'</span>);
|
||||
fprintf(<span class="org-string">'- mass = %.0f [kg]\n'</span>, sample.mass);
|
||||
fprintf(<span class="org-string">'- moment of inertia = %.2f, %.2f, %.2f [kg m2]\n'</span>, sample.inertia(1), sample.inertia(2), sample.inertia(3));
|
||||
<span class="org-keyword">elseif</span> sample.type <span class="org-type">==</span> 2;
|
||||
fprintf(<span class="org-string">'- flexible\n'</span>);
|
||||
fprintf(<span class="org-string">'- mass = %.0f [kg]\n'</span>, sample.mass);
|
||||
fprintf(<span class="org-string">'- moment of inertia = %.2f, %.2f, %.2f [kg m2]\n'</span>, sample.inertia(1), sample.inertia(2), sample.inertia(3));
|
||||
<span class="org-comment">% fprintf('- Kt = %.0g, %.0g, %.0g [N/m]\n', sample.K(1), sample.K(2), sample.K(3));</span>
|
||||
<span class="org-comment">% fprintf('- Kr = %.0g, %.0g, %.0g [Nm/rad]\n', sample.K(4), sample.K(5), sample.K(6));</span>
|
||||
fprintf(<span class="org-string">'- wt(x,y,z) = %.0f, %.0f, %.0f [Hz]\n'</span>, 1<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">*</span>sqrt(sample.K(1)<span class="org-type">/</span>sample.mass), 1<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">*</span>sqrt(sample.K(1)<span class="org-type">/</span>sample.mass), 1<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">*</span>sqrt(sample.K(1)<span class="org-type">/</span>sample.mass));
|
||||
fprintf(<span class="org-string">'- wr(x,y,z) = %.0f, %.0f, %.0f [Hz]\n'</span>, 1<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">*</span>sqrt(sample.K(4)<span class="org-type">/</span>sample.inertia(1)), 1<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">*</span>sqrt(sample.K(5)<span class="org-type">/</span>sample.inertia(2)), 1<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">*</span>sqrt(sample.K(6)<span class="org-type">/</span>sample.inertia(3)));
|
||||
<span class="org-keyword">end</span>
|
||||
fprintf(<span class="org-string">'\n'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgdc168b9" class="outline-2">
|
||||
<h2 id="orgdc168b9"><span class="section-number-2">2</span> computeReferencePose</h2>
|
||||
<div class="outline-text-2" id="text-2">
|
||||
<p>
|
||||
<a id="org98cbe6e"></a>
|
||||
</p>
|
||||
|
||||
@@ -338,8 +444,8 @@ This Matlab function is accessible <a href="..//src/computeReferencePose.m">here
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org493ab7f" class="outline-2">
|
||||
<h2 id="org493ab7f"><span class="section-number-2">2</span> Compute the Sample Position Error w.r.t. the NASS</h2>
|
||||
<div class="outline-text-2" id="text-2">
|
||||
<h2 id="org493ab7f"><span class="section-number-2">3</span> Compute the Sample Position Error w.r.t. the NASS</h2>
|
||||
<div class="outline-text-2" id="text-3">
|
||||
<p>
|
||||
<a id="org6dcd4fb"></a>
|
||||
</p>
|
||||
@@ -376,7 +482,7 @@ MTr = [WTm(1<span class="org-type">:</span>3,1<span class="org-type">:</span>3)<
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-03-17 mar. 17:28</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 09:35</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@@ -4,237 +4,25 @@
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-04-01 mer. 16:14 -->
|
||||
<!-- 2020-04-17 ven. 09:35 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>Identification</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Dehaeze Thomas" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||
<script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||
<script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&dn=gpl-3.0.txt GPL-v3-or-Later
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
// @license-end
|
||||
</script>
|
||||
<script>
|
||||
MathJax = {
|
||||
tex: { macros: {
|
||||
bm: ["\\boldsymbol{#1}",1],
|
||||
}
|
||||
}
|
||||
<script src="./js/jquery.min.js"></script>
|
||||
<script src="./js/bootstrap.min.js"></script>
|
||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="./js/readtheorg.js"></script>
|
||||
<script>MathJax = {
|
||||
tex: {
|
||||
tags: 'ams',
|
||||
macros: {bm: ["\\boldsymbol{#1}",1],}
|
||||
}
|
||||
};
|
||||
</script>
|
||||
<script type="text/javascript"
|
||||
src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
<script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
@@ -815,7 +603,7 @@ For such a complex system, we believe that the Simscape Model represents the dyn
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-04-01 mer. 16:14</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 09:35</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
227
docs/index.html
227
docs/index.html
@@ -4,233 +4,23 @@
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-04-07 mar. 14:55 -->
|
||||
<!-- 2020-04-17 ven. 09:35 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>Simscape Model of the Nano-Active-Stabilization-System</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Dehaeze Thomas" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||
<script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||
<script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&dn=gpl-3.0.txt GPL-v3-or-Later
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
// @license-end
|
||||
</script>
|
||||
<script src="./js/jquery.min.js"></script>
|
||||
<script src="./js/bootstrap.min.js"></script>
|
||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="./js/readtheorg.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
<a accesskey="h" href="index.html"> UP </a>
|
||||
<a accesskey="h" href="./index.html"> UP </a>
|
||||
|
|
||||
<a accesskey="H" href="index.html"> HOME </a>
|
||||
<a accesskey="H" href="./index.html"> HOME </a>
|
||||
</div><div id="content">
|
||||
<h1 class="title">Simscape Model of the Nano-Active-Stabilization-System</h1>
|
||||
<div id="table-of-contents">
|
||||
@@ -256,7 +46,6 @@
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
Here are links to the documents related to the Simscape model of the Nano-Active-Stabilization-System.
|
||||
</p>
|
||||
@@ -444,7 +233,7 @@ These functions are all defined <a href="./functions.html">here</a>.
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-04-07 mar. 14:55</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 09:35</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@@ -4,237 +4,25 @@
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-03-06 ven. 15:09 -->
|
||||
<!-- 2020-04-17 ven. 09:35 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>Kinematics of the station</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Dehaeze Thomas" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||
<script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||
<script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&dn=gpl-3.0.txt GPL-v3-or-Later
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
// @license-end
|
||||
</script>
|
||||
<script>
|
||||
MathJax = {
|
||||
tex: { macros: {
|
||||
bm: ["\\boldsymbol{#1}",1],
|
||||
}
|
||||
}
|
||||
<script src="./js/jquery.min.js"></script>
|
||||
<script src="./js/bootstrap.min.js"></script>
|
||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="./js/readtheorg.js"></script>
|
||||
<script>MathJax = {
|
||||
tex: {
|
||||
tags: 'ams',
|
||||
macros: {bm: ["\\boldsymbol{#1}",1],}
|
||||
}
|
||||
};
|
||||
</script>
|
||||
<script type="text/javascript"
|
||||
src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
<script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
@@ -572,7 +360,7 @@ And we verify that we indeed succeed to go to the wanted position.
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-03-06 ven. 15:09</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 09:35</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
164
docs/metrology_frame.html
Normal file
164
docs/metrology_frame.html
Normal file
@@ -0,0 +1,164 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-04-17 ven. 09:35 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<title>Study of the Metrology Frame</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Dehaeze Thomas" />
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
<script src="./js/jquery.min.js"></script>
|
||||
<script src="./js/bootstrap.min.js"></script>
|
||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="./js/readtheorg.js"></script>
|
||||
<script>MathJax = {
|
||||
tex: {
|
||||
tags: 'ams',
|
||||
macros: {bm: ["\\boldsymbol{#1}",1],}
|
||||
}
|
||||
};
|
||||
</script>
|
||||
<script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
<a accesskey="h" href="./index.html"> UP </a>
|
||||
|
|
||||
<a accesskey="H" href="./index.html"> HOME </a>
|
||||
</div><div id="content">
|
||||
<h1 class="title">Study of the Metrology Frame</h1>
|
||||
<div id="table-of-contents">
|
||||
<h2>Table of Contents</h2>
|
||||
<div id="text-table-of-contents">
|
||||
<ul>
|
||||
<li><a href="#orgf049208">1. Flexibility of the reference mirror</a>
|
||||
<ul>
|
||||
<li><a href="#orgaec148c">1.1. Initialization</a></li>
|
||||
<li><a href="#orgaeca24e">1.2. Rigid fixation between the metrology frame and the nano-hexapod</a></li>
|
||||
<li><a href="#orgbe194f6">1.3. Flexible fixation between the metrology frame and the nano-hexapod</a></li>
|
||||
<li><a href="#org385c252">1.4. Comparison</a></li>
|
||||
<li><a href="#orgbe63408">1.5. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgf049208" class="outline-2">
|
||||
<h2 id="orgf049208"><span class="section-number-2">1</span> Flexibility of the reference mirror</h2>
|
||||
<div class="outline-text-2" id="text-1">
|
||||
<p>
|
||||
In this section we wish to see how a flexibility between the nano-hexapod’s top platform and the reference mirror will change the plant dynamics and limits the performance.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
First, we identify the dynamics of the system for an infinitely rigid reference mirror, and then for a reference mirror with a limited resonance frequency.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
We will compare the two dynamics and conclude.
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgaec148c" class="outline-3">
|
||||
<h3 id="orgaec148c"><span class="section-number-3">1.1</span> Initialization</h3>
|
||||
<div class="outline-text-3" id="text-1-1">
|
||||
<p>
|
||||
We initialize all the stages with the default parameters.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeGround();
|
||||
initializeGranite();
|
||||
initializeTy();
|
||||
initializeRy();
|
||||
initializeRz();
|
||||
initializeMicroHexapod();
|
||||
initializeAxisc();
|
||||
initializeNanoHexapod();
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
We first consider a rigid Sample to simplify the analysis.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeSample(<span class="org-string">'type'</span>, <span class="org-string">'rigid'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgaeca24e" class="outline-3">
|
||||
<h3 id="orgaeca24e"><span class="section-number-3">1.2</span> Rigid fixation between the metrology frame and the nano-hexapod</h3>
|
||||
<div class="outline-text-3" id="text-1-2">
|
||||
<p>
|
||||
Let’s first consider a rigid reference mirror and we identify the dynamics of the system.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeMirror(<span class="org-string">'type'</span>, <span class="org-string">'rigid'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgbe194f6" class="outline-3">
|
||||
<h3 id="orgbe194f6"><span class="section-number-3">1.3</span> Flexible fixation between the metrology frame and the nano-hexapod</h3>
|
||||
<div class="outline-text-3" id="text-1-3">
|
||||
<p>
|
||||
We now initialize a reference mirror with a main resonance frequency at \(200\ [Hz]\).
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeMirror(<span class="org-string">'type'</span>, <span class="org-string">'flexible'</span>, <span class="org-string">'freq'</span>, 200<span class="org-type">*</span>ones(6,1));
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
And we re identify the plant dynamics.
|
||||
</p>
|
||||
</div>
|
||||
</div>
|
||||
<div id="outline-container-org385c252" class="outline-3">
|
||||
<h3 id="org385c252"><span class="section-number-3">1.4</span> Comparison</h3>
|
||||
<div class="outline-text-3" id="text-1-4">
|
||||
<p>
|
||||
The obtained transfer functions from \(\mathcal{F}_z\) to \(\mathcal{X}_z\) when considering a rigid reference mirror and a flexible one are shown in Figure <a href="#orgfa25dbd">1</a>.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="orgfa25dbd" class="figure">
|
||||
<p><img src="figs/effect_mirror_flexibility_fz_dz.png" alt="effect_mirror_flexibility_fz_dz.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 1: </span>Effect of the mirror flexibility on the transfer function from \(\mathcal{F}_z\) to \(\mathcal{X}_z\)</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgbe63408" class="outline-3">
|
||||
<h3 id="orgbe63408"><span class="section-number-3">1.5</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-1-5">
|
||||
<div class="important">
|
||||
<p>
|
||||
A flexibility between the nano-hexapod top platform and the reference mirror will appear in the plant as two complex conjugate poles at the frequency of the resonance of the mirror on top of the nano-hexapod.
|
||||
This induces 180 degrees of phase drop on the plant and will limit the attainable controller bandwidth.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
This phase drop appears whatever the nano-hexapod stiffness.
|
||||
Thus, care should be taken when designing the fixation of the reference mirror on top of the nano-hexapod.
|
||||
</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 09:35</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
@@ -4,236 +4,31 @@
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-03-17 mar. 17:28 -->
|
||||
<!-- 2020-04-17 ven. 09:35 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>Motion and Force Requirements for the Nano-Hexapod</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Dehaeze Thomas" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<script type="text/javascript">
|
||||
// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&dn=gpl-3.0.txt GPL-v3-or-Later
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
// @license-end
|
||||
</script>
|
||||
<script>
|
||||
MathJax = {
|
||||
tex: { macros: {
|
||||
bm: ["\\boldsymbol{#1}",1],
|
||||
}
|
||||
}
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
<script src="./js/jquery.min.js"></script>
|
||||
<script src="./js/bootstrap.min.js"></script>
|
||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="./js/readtheorg.js"></script>
|
||||
<script>MathJax = {
|
||||
tex: {
|
||||
tags: 'ams',
|
||||
macros: {bm: ["\\boldsymbol{#1}",1],}
|
||||
}
|
||||
};
|
||||
</script>
|
||||
<script type="text/javascript"
|
||||
src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
<script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
<a accesskey="h" href="index.html"> UP </a>
|
||||
<a accesskey="h" href="./index.html"> UP </a>
|
||||
|
|
||||
<a accesskey="H" href="index.html"> HOME </a>
|
||||
<a accesskey="H" href="./index.html"> HOME </a>
|
||||
</div><div id="content">
|
||||
<h1 class="title">Motion and Force Requirements for the Nano-Hexapod</h1>
|
||||
<div id="table-of-contents">
|
||||
@@ -360,7 +155,7 @@ F = m<span class="org-type">*</span>d<span class="org-type">*</span>w<span class
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-03-17 mar. 17:28</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 09:35</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@@ -4,227 +4,25 @@
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-04-08 mer. 17:22 -->
|
||||
<!-- 2020-04-17 ven. 10:25 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>Control of the NASS with optimal stiffness</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Dehaeze Thomas" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||
<script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||
<script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&dn=gpl-3.0.txt GPL-v3-or-Later
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
// @license-end
|
||||
</script>
|
||||
<script src="./js/jquery.min.js"></script>
|
||||
<script src="./js/bootstrap.min.js"></script>
|
||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="./js/readtheorg.js"></script>
|
||||
<script>MathJax = {
|
||||
tex: {
|
||||
tags: 'ams',
|
||||
macros: {bm: ["\\boldsymbol{#1}",1],}
|
||||
}
|
||||
};
|
||||
</script>
|
||||
<script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
@@ -237,34 +35,58 @@
|
||||
<h2>Table of Contents</h2>
|
||||
<div id="text-table-of-contents">
|
||||
<ul>
|
||||
<li><a href="#orgb09af41">1. Low Authority Control - Decentralized Integral Force Feedback</a>
|
||||
<li><a href="#org99c5b6d">1. Low Authority Control - Decentralized Direct Velocity Feedback</a>
|
||||
<ul>
|
||||
<li><a href="#orgf3f8aed">1.1. Initialization</a></li>
|
||||
<li><a href="#org93676a4">1.2. Identification</a></li>
|
||||
<li><a href="#org1f2e125">1.3. Controller Design</a></li>
|
||||
<li><a href="#orgc5a1e81">1.2. Identification</a></li>
|
||||
<li><a href="#orgfef1a3f">1.3. Controller Design</a></li>
|
||||
<li><a href="#org3c73014">1.4. Effect of the Low Authority Control on the Primary Plant</a></li>
|
||||
<li><a href="#orgee5dbee">1.5. Effect of the Low Authority Control on the Sensibility to Disturbances</a></li>
|
||||
<li><a href="#org27f255e">1.6. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#orgf825c29">2. Primary Control</a>
|
||||
<li><a href="#org81dc0a8">2. Primary Control in the leg space</a>
|
||||
<ul>
|
||||
<li><a href="#org611a860">2.1. Identification</a></li>
|
||||
<li><a href="#orgfef1a3f">2.2. Controller Design</a></li>
|
||||
<li><a href="#org1e7a412">2.1. Plant in the leg space</a></li>
|
||||
<li><a href="#orgf39520c">2.2. Control in the leg space</a></li>
|
||||
<li><a href="#org16d192f">2.3. Sensibility to Disturbances and Noise Budget</a></li>
|
||||
<li><a href="#org84f68cc">2.4. Simulations</a></li>
|
||||
<li><a href="#orgbeadec8">2.5. Results</a></li>
|
||||
<li><a href="#org87fa1ac">2.6. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org9bd2bf8">3. Primary Control in the task space</a>
|
||||
<ul>
|
||||
<li><a href="#org07b4a9d">3.1. Plant in the task space</a></li>
|
||||
<li><a href="#org7d888f9">3.2. Control in the task space</a>
|
||||
<ul>
|
||||
<li><a href="#orgb28634b">3.2.1. Stability</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org57e2cfd">3.3. Simulation</a></li>
|
||||
<li><a href="#org882e1ac">3.4. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org84f68cc">3. Simulations</a></li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgb09af41" class="outline-2">
|
||||
<h2 id="orgb09af41"><span class="section-number-2">1</span> Low Authority Control - Decentralized Integral Force Feedback</h2>
|
||||
<div id="outline-container-org99c5b6d" class="outline-2">
|
||||
<h2 id="org99c5b6d"><span class="section-number-2">1</span> Low Authority Control - Decentralized Direct Velocity Feedback</h2>
|
||||
<div class="outline-text-2" id="text-1">
|
||||
<p>
|
||||
<a id="orgfec42cb"></a>
|
||||
</p>
|
||||
|
||||
<div id="org7f11a74" class="figure">
|
||||
<p><img src="figs/control_architecture_dvf.png" alt="control_architecture_dvf.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 1: </span>Low Authority Control: Decentralized Direct Velocity Feedback</p>
|
||||
</div>
|
||||
</div>
|
||||
<div id="outline-container-orgf3f8aed" class="outline-3">
|
||||
<h3 id="orgf3f8aed"><span class="section-number-3">1.1</span> Initialization</h3>
|
||||
<div class="outline-text-3" id="text-1-1">
|
||||
<p>
|
||||
We initialize all the stages with the default parameters.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeGround();
|
||||
initializeGranite();
|
||||
@@ -274,43 +96,45 @@ initializeRz();
|
||||
initializeMicroHexapod();
|
||||
initializeAxisc();
|
||||
initializeMirror();
|
||||
|
||||
initializeSimscapeConfiguration();
|
||||
initializeDisturbances(<span class="org-string">'enable'</span>, <span class="org-constant">false</span>);
|
||||
initializeLoggingConfiguration(<span class="org-string">'log'</span>, <span class="org-string">'none'</span>);
|
||||
|
||||
initializeController(<span class="org-string">'type'</span>, <span class="org-string">'hac-dvf'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
We set the references that corresponds to a tomography experiment.
|
||||
We set the stiffness of the payload fixation:
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeReferences(<span class="org-string">'Rz_type'</span>, <span class="org-string">'rotating-not-filtered'</span>, <span class="org-string">'Rz_period'</span>, 1);
|
||||
initializeSimscapeConfiguration();
|
||||
initializeDisturbances(<span class="org-string">'enable'</span>, <span class="org-constant">false</span>);
|
||||
initializeLoggingConfiguration(<span class="org-string">'log'</span>, <span class="org-string">'none'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeController(<span class="org-string">'type'</span>, <span class="org-string">'hac-iff'</span>);
|
||||
<pre class="src src-matlab">Kp = 1e8; <span class="org-comment">% [N/m]</span>
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org93676a4" class="outline-3">
|
||||
<h3 id="org93676a4"><span class="section-number-3">1.2</span> Identification</h3>
|
||||
<div id="outline-container-orgc5a1e81" class="outline-3">
|
||||
<h3 id="orgc5a1e81"><span class="section-number-3">1.2</span> Identification</h3>
|
||||
<div class="outline-text-3" id="text-1-2">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">Kx = tf(zeros(6));
|
||||
Kiff = tf(zeros(6));
|
||||
<pre class="src src-matlab">K = tf(zeros(6));
|
||||
Kdvf = tf(zeros(6));
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
We identify the system for the following payload masses:
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">Ms = [1, 10, 50];
|
||||
|
||||
Gm_iff = {zeros(length(Ms), 1)};
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
The nano-hexapod has the following leg’s stiffness and damping.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeNanoHexapod(<span class="org-string">'k'</span>, 1e5, <span class="org-string">'c'</span>, 2e2);
|
||||
</pre>
|
||||
@@ -318,45 +142,494 @@ Gm_iff = {zeros(length(Ms), 1)};
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org1f2e125" class="outline-3">
|
||||
<h3 id="org1f2e125"><span class="section-number-3">1.3</span> Controller Design</h3>
|
||||
<div id="outline-container-orgfef1a3f" class="outline-3">
|
||||
<h3 id="orgfef1a3f"><span class="section-number-3">1.3</span> Controller Design</h3>
|
||||
<div class="outline-text-3" id="text-1-3">
|
||||
<p>
|
||||
Root Locus
|
||||
The obtain dynamics from actuators forces \(\tau_i\) to the relative motion of the legs \(d\mathcal{L}_i\) is shown in Figure <a href="#orgdb7af3b">2</a> for the three considered payload masses.
|
||||
</p>
|
||||
|
||||
<div id="orgf657dfe" class="figure">
|
||||
<p><img src="figs/opt_stiff_iff_root_locus.png" alt="opt_stiff_iff_root_locus.png" />
|
||||
<p>
|
||||
The Root Locus is shown in Figure <a href="#org5814b4f">3</a> and wee see that we have unconditional stability.
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 1: </span>Root Locus for the</p>
|
||||
|
||||
<p>
|
||||
In order to choose the gain such that we obtain good damping for all the three payload masses, we plot the damping ration of the modes as a function of the gain for all three payload masses in Figure <a href="#orgb16b2c3">4</a>.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="orgdb7af3b" class="figure">
|
||||
<p><img src="figs/opt_stiff_dvf_plant.png" alt="opt_stiff_dvf_plant.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 2: </span>Dynamics for the Direct Velocity Feedback active damping for three payload masses</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org5814b4f" class="figure">
|
||||
<p><img src="figs/opt_stiff_dvf_root_locus.png" alt="opt_stiff_dvf_root_locus.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 3: </span>Root Locus for the DVF controll for three payload masses</p>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
Damping as function of the gain
|
||||
</p>
|
||||
|
||||
<div id="orgb16b2c3" class="figure">
|
||||
<p><img src="figs/opt_stiff_dvf_damping_gain.png" alt="opt_stiff_dvf_damping_gain.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 4: </span>Damping ratio of the poles as a function of the DVF gain</p>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
Finally, we use the following controller for the Decentralized Direct Velocity Feedback:
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">Kdvf = 5e3<span class="org-type">*</span>s<span class="org-type">/</span>(1<span class="org-type">+</span>s<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span>1e3)<span class="org-type">*</span>eye(6);
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div id="outline-container-orgf825c29" class="outline-2">
|
||||
<h2 id="orgf825c29"><span class="section-number-2">2</span> Primary Control</h2>
|
||||
|
||||
<div id="outline-container-org3c73014" class="outline-3">
|
||||
<h3 id="org3c73014"><span class="section-number-3">1.4</span> Effect of the Low Authority Control on the Primary Plant</h3>
|
||||
<div class="outline-text-3" id="text-1-4">
|
||||
<p>
|
||||
Let’s identify the dynamics from actuator forces \(\bm{\tau}\) to displacement as measured by the metrology \(\bm{\mathcal{X}}\):
|
||||
\[ \bm{G}(s) = \frac{\bm{\mathcal{X}}}{\bm{\tau}} \]
|
||||
We do so both when the DVF is applied and when it is not applied.
|
||||
</p>
|
||||
|
||||
|
||||
<p>
|
||||
Then, we compute the transfer function from forces applied by the actuators \(\bm{\mathcal{F}}\) to the measured position error in the frame of the nano-hexapod \(\bm{\epsilon}_{\mathcal{X}_n}\):
|
||||
\[ \bm{G}_\mathcal{X}(s) = \frac{\bm{\epsilon}_{\mathcal{X}_n}}{\bm{\mathcal{F}}} = \bm{G}(s) \bm{J}^{-T} \]
|
||||
The obtained dynamics is shown in Figure <a href="#org45c1265">5</a>.
|
||||
</p>
|
||||
|
||||
|
||||
<p>
|
||||
And we compute the transfer function from actuator forces \(\bm{\tau}\) to position error of each leg \(\bm{\epsilon}_\mathcal{L}\):
|
||||
\[ \bm{G}_\mathcal{L} = \frac{\bm{\epsilon}_\mathcal{L}}{\bm{\tau}} = \bm{J} \bm{G}(s) \]
|
||||
The obtained dynamics is shown in Figure <a href="#org069e296">6</a>.
|
||||
</p>
|
||||
|
||||
<div id="org45c1265" class="figure">
|
||||
<p><img src="figs/opt_stiff_primary_plant_damped_X.png" alt="opt_stiff_primary_plant_damped_X.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 5: </span>Primary plant in the task space with (dashed) and without (solid) Direct Velocity Feedback</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org069e296" class="figure">
|
||||
<p><img src="figs/opt_stiff_primary_plant_damped_L.png" alt="opt_stiff_primary_plant_damped_L.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 6: </span>Primary plant in the space of the legs with (dashed) and without (solid) Direct Velocity Feedback</p>
|
||||
</div>
|
||||
<p>
|
||||
The coupling (off diagonal elements) of \(\bm{G}_\mathcal{X}\) are shown in Figure <a href="#orgbb4e497">7</a> both when DVF is applied and when it is not.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
The coupling does not change a lot with DVF.
|
||||
</p>
|
||||
|
||||
|
||||
<p>
|
||||
The coupling in the space of the legs \(\bm{G}_\mathcal{L}\) are shown in Figure <a href="#orgc43d759">8</a>.
|
||||
The magnitude of the coupling around the resonance of the nano-hexapod (where the coupling is the highest) is considerably reduced when DVF is applied.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="orgbb4e497" class="figure">
|
||||
<p><img src="figs/opt_stiff_primary_plant_damped_coupling_X.png" alt="opt_stiff_primary_plant_damped_coupling_X.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 7: </span>Coupling in the primary plant in the task with (dashed) and without (solid) Direct Velocity Feedback</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orgc43d759" class="figure">
|
||||
<p><img src="figs/opt_stiff_primary_plant_damped_coupling_L.png" alt="opt_stiff_primary_plant_damped_coupling_L.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 8: </span>Coupling in the primary plant in the space of the legs with (dashed) and without (solid) Direct Velocity Feedback</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgee5dbee" class="outline-3">
|
||||
<h3 id="orgee5dbee"><span class="section-number-3">1.5</span> Effect of the Low Authority Control on the Sensibility to Disturbances</h3>
|
||||
<div class="outline-text-3" id="text-1-5">
|
||||
<p>
|
||||
We may now see how Decentralized Direct Velocity Feedback changes the sensibility to disturbances, namely:
|
||||
</p>
|
||||
<ul class="org-ul">
|
||||
<li>Ground motion</li>
|
||||
<li>Spindle and Translation stage vibrations</li>
|
||||
<li>Direct forces applied to the sample</li>
|
||||
</ul>
|
||||
|
||||
<p>
|
||||
To simplify the analysis, we here only consider the vertical direction, thus, we will look at the transfer functions:
|
||||
</p>
|
||||
<ul class="org-ul">
|
||||
<li>from vertical ground motion \(D_{w,z}\) to the vertical position error of the sample \(E_z\)</li>
|
||||
<li>from vertical vibration forces of the spindle \(F_{R_z,z}\) to \(E_z\)</li>
|
||||
<li>from vertical vibration forces of the translation stage \(F_{T_y,z}\) to \(E_z\)</li>
|
||||
<li>from vertical direct forces (such as cable forces) \(F_{d,z}\) to \(E_z\)</li>
|
||||
</ul>
|
||||
|
||||
<p>
|
||||
The norm of these transfer functions are shown in Figure <a href="#org199898b">9</a>.
|
||||
</p>
|
||||
|
||||
<div id="org199898b" class="figure">
|
||||
<p><img src="figs/opt_stiff_sensibility_dist_dvf.png" alt="opt_stiff_sensibility_dist_dvf.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 9: </span>Norm of the transfer function from vertical disturbances to vertical position error with (dashed) and without (solid) Direct Velocity Feedback applied</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org27f255e" class="outline-3">
|
||||
<h3 id="org27f255e"><span class="section-number-3">1.6</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-1-6">
|
||||
<div class="important">
|
||||
<p>
|
||||
|
||||
</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org81dc0a8" class="outline-2">
|
||||
<h2 id="org81dc0a8"><span class="section-number-2">2</span> Primary Control in the leg space</h2>
|
||||
<div class="outline-text-2" id="text-2">
|
||||
</div>
|
||||
<div id="outline-container-org611a860" class="outline-3">
|
||||
<h3 id="org611a860"><span class="section-number-3">2.1</span> Identification</h3>
|
||||
<p>
|
||||
<a id="orgd0beb6a"></a>
|
||||
</p>
|
||||
<p>
|
||||
In this section we implement the control architecture shown in Figure <a href="#org7d5c8bc">10</a> consisting of:
|
||||
</p>
|
||||
<ul class="org-ul">
|
||||
<li>an inner loop with a decentralized direct velocity feedback control</li>
|
||||
<li>an outer loop where the controller \(\bm{K}_\mathcal{L}\) is designed in the frame of the legs</li>
|
||||
</ul>
|
||||
|
||||
|
||||
<div id="org7d5c8bc" class="figure">
|
||||
<p><img src="figs/control_architecture_hac_dvf_pos_L.png" alt="control_architecture_hac_dvf_pos_L.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 10: </span>Cascade Control Architecture. The inner loop consist of a decentralized Direct Velocity Feedback. The outer loop consist of position control in the leg’s space</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgfef1a3f" class="outline-3">
|
||||
<h3 id="orgfef1a3f"><span class="section-number-3">2.2</span> Controller Design</h3>
|
||||
<p>
|
||||
The controller for decentralized direct velocity feedback is the one designed in Section <a href="#orgfec42cb">1</a>.
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-org1e7a412" class="outline-3">
|
||||
<h3 id="org1e7a412"><span class="section-number-3">2.1</span> Plant in the leg space</h3>
|
||||
<div class="outline-text-3" id="text-2-1">
|
||||
<p>
|
||||
We now loop at the transfer function matrix from \(\bm{\tau}^\prime\) to \(\bm{\epsilon}_{\mathcal{X}_n}\) for the design of \(\bm{K}_\mathcal{L}\).
|
||||
</p>
|
||||
|
||||
<p>
|
||||
The diagonal elements of the transfer function matrix from \(\bm{\tau}^\prime\) to \(\bm{\epsilon}_{\mathcal{X}_n}\) for the three considered masses are shown in Figure <a href="#org23d23ae">11</a>.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
The plant dynamics below \(100\ [Hz]\) is only slightly dependent on the payload mass.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="org23d23ae" class="figure">
|
||||
<p><img src="figs/opt_stiff_primary_plant_L.png" alt="opt_stiff_primary_plant_L.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 11: </span>Diagonal elements of the transfer function matrix from \(\bm{\tau}^\prime\) to \(\bm{\epsilon}_{\mathcal{X}_n}\) for the three considered masses</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org84f68cc" class="outline-2">
|
||||
<h2 id="org84f68cc"><span class="section-number-2">3</span> Simulations</h2>
|
||||
|
||||
<div id="outline-container-orgf39520c" class="outline-3">
|
||||
<h3 id="orgf39520c"><span class="section-number-3">2.2</span> Control in the leg space</h3>
|
||||
<div class="outline-text-3" id="text-2-2">
|
||||
<p>
|
||||
We design a diagonal controller with all the same diagonal elements.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
The requirements for the controller are:
|
||||
</p>
|
||||
<ul class="org-ul">
|
||||
<li>Crossover frequency of around 100Hz</li>
|
||||
<li>Stable for all the considered payload masses</li>
|
||||
<li>Sufficient phase and gain margin</li>
|
||||
<li>Integral action at low frequency</li>
|
||||
</ul>
|
||||
|
||||
<p>
|
||||
The design controller is as follows:
|
||||
</p>
|
||||
<ul class="org-ul">
|
||||
<li>Lead centered around the crossover</li>
|
||||
<li>An integrator below 10Hz</li>
|
||||
<li>A low pass filter at 250Hz</li>
|
||||
</ul>
|
||||
|
||||
<p>
|
||||
The loop gain is shown in Figure <a href="#orgbcc0acb">12</a>.
|
||||
</p>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">h = 2.0;
|
||||
Kl = 2e7 <span class="org-type">*</span> eye(6) <span class="org-type">*</span> ...
|
||||
1<span class="org-type">/</span>h<span class="org-type">*</span>(s<span class="org-type">/</span>(2<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>100<span class="org-type">/</span>h) <span class="org-type">+</span> 1)<span class="org-type">/</span>(s<span class="org-type">/</span>(2<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>100<span class="org-type">*</span>h) <span class="org-type">+</span> 1) <span class="org-type">*</span> ...
|
||||
1<span class="org-type">/</span>h<span class="org-type">*</span>(s<span class="org-type">/</span>(2<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>200<span class="org-type">/</span>h) <span class="org-type">+</span> 1)<span class="org-type">/</span>(s<span class="org-type">/</span>(2<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>200<span class="org-type">*</span>h) <span class="org-type">+</span> 1) <span class="org-type">*</span> ...
|
||||
(s<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span>10 <span class="org-type">+</span> 1)<span class="org-type">/</span>(s<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span>10) <span class="org-type">*</span> ...
|
||||
1<span class="org-type">/</span>(1 <span class="org-type">+</span> s<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span>300);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orgbcc0acb" class="figure">
|
||||
<p><img src="figs/opt_stiff_primary_loop_gain_L.png" alt="opt_stiff_primary_loop_gain_L.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 12: </span>Loop gain for the primary plant</p>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load(<span class="org-string">'mat/stages.mat'</span>, <span class="org-string">'nano_hexapod'</span>);
|
||||
K = Kl<span class="org-type">*</span>nano_hexapod.J<span class="org-type">*</span>diag([1, 1, 1, 1, 1, 0]);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
Check the MIMO stability
|
||||
</p>
|
||||
</div>
|
||||
</div>
|
||||
<div id="outline-container-org16d192f" class="outline-3">
|
||||
<h3 id="org16d192f"><span class="section-number-3">2.3</span> Sensibility to Disturbances and Noise Budget</h3>
|
||||
<div class="outline-text-3" id="text-2-3">
|
||||
<p>
|
||||
We identify the transfer function from disturbances to the position error of the sample when the HAC-LAC control is applied.
|
||||
</p>
|
||||
<p>
|
||||
We compare the norm of these transfer function for the vertical direction when no control is applied and when HAC-LAC control is applied: Figure <a href="#org9650e03">13</a>.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="org9650e03" class="figure">
|
||||
<p><img src="figs/opt_stiff_primary_control_L_senbility_dist.png" alt="opt_stiff_primary_control_L_senbility_dist.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 13: </span>Sensibility to disturbances when the HAC-LAC control is applied</p>
|
||||
</div>
|
||||
<p>
|
||||
Then, we load the Power Spectral Density of the perturbations and we look at the obtained PSD of the displacement error in the vertical direction due to the disturbances:
|
||||
</p>
|
||||
<ul class="org-ul">
|
||||
<li>Figure <a href="#org32928e0">14</a>: Amplitude Spectral Density of the vertical position error due to both the vertical ground motion and the vertical vibrations of the spindle</li>
|
||||
<li>Figure <a href="#org7fda8f7">15</a>: Comparison of the Amplitude Spectral Density of the vertical position error in Open Loop and with the HAC-DVF Control</li>
|
||||
<li>Figure <a href="#org073608b">16</a>: Comparison of the Cumulative Amplitude Spectrum of the vertical position error in Open Loop and with the HAC-DVF Control</li>
|
||||
</ul>
|
||||
|
||||
|
||||
<div id="org32928e0" class="figure">
|
||||
<p><img src="figs/opt_stiff_primary_control_L_psd_dist.png" alt="opt_stiff_primary_control_L_psd_dist.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 14: </span>Amplitude Spectral Density of the vertical position error of the sample when the HAC-DVF control is applied due to both the ground motion and spindle vibrations</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org7fda8f7" class="figure">
|
||||
<p><img src="figs/opt_stiff_primary_control_L_psd_tot.png" alt="opt_stiff_primary_control_L_psd_tot.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 15: </span>Amplitude Spectral Density of the vertical position error of the sample in Open-Loop and when the HAC-DVF control is applied</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org073608b" class="figure">
|
||||
<p><img src="figs/opt_stiff_primary_control_L_cas_tot.png" alt="opt_stiff_primary_control_L_cas_tot.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 16: </span>Cumulative Amplitude Spectrum of the vertical position error of the sample in Open-Loop and when the HAC-DVF control is applied</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org84f68cc" class="outline-3">
|
||||
<h3 id="org84f68cc"><span class="section-number-3">2.4</span> Simulations</h3>
|
||||
<div class="outline-text-3" id="text-2-4">
|
||||
<p>
|
||||
Let’s now simulate a tomography experiment.
|
||||
To do so, we include all disturbances except vibrations of the translation stage.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeDisturbances();
|
||||
initializeSimscapeConfiguration(<span class="org-string">'gravity'</span>, <span class="org-constant">false</span>);
|
||||
initializeLoggingConfiguration(<span class="org-string">'log'</span>, <span class="org-string">'all'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
And we run the simulation for all three payload Masses.
|
||||
</p>
|
||||
</div>
|
||||
</div>
|
||||
<div id="outline-container-orgbeadec8" class="outline-3">
|
||||
<h3 id="orgbeadec8"><span class="section-number-3">2.5</span> Results</h3>
|
||||
<div class="outline-text-3" id="text-2-5">
|
||||
<p>
|
||||
Let’s now see how this controller performs.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
First, we compute the Power Spectral Density of the sample’s position error and we compare it with the open loop case in Figure <a href="#org6cab6ef">17</a>.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
Similarly, the Cumulative Amplitude Spectrum is shown in Figure <a href="#org33e9f1a">18</a>.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
Finally, the time domain position error signals are shown in Figure <a href="#orgf0f1950">19</a>.
|
||||
</p>
|
||||
|
||||
<div id="org6cab6ef" class="figure">
|
||||
<p><img src="figs/opt_stiff_hac_dvf_L_psd_disp_error.png" alt="opt_stiff_hac_dvf_L_psd_disp_error.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 17: </span>Amplitude Spectral Density of the position error in Open Loop and with the HAC-LAC controller</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org33e9f1a" class="figure">
|
||||
<p><img src="figs/opt_stiff_hac_dvf_L_cas_disp_error.png" alt="opt_stiff_hac_dvf_L_cas_disp_error.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 18: </span>Cumulative Amplitude Spectrum of the position error in Open Loop and with the HAC-LAC controller</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orgf0f1950" class="figure">
|
||||
<p><img src="figs/opt_stiff_hac_dvf_L_pos_error.png" alt="opt_stiff_hac_dvf_L_pos_error.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 19: </span>Position Error of the sample during a tomography experiment when no control is applied and with the HAC-DVF control architecture</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org87fa1ac" class="outline-3">
|
||||
<h3 id="org87fa1ac"><span class="section-number-3">2.6</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-2-6">
|
||||
<div class="important">
|
||||
<p>
|
||||
|
||||
</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org9bd2bf8" class="outline-2">
|
||||
<h2 id="org9bd2bf8"><span class="section-number-2">3</span> Primary Control in the task space</h2>
|
||||
<div class="outline-text-2" id="text-3">
|
||||
<p>
|
||||
<a id="orge9c2f9a"></a>
|
||||
</p>
|
||||
<p>
|
||||
In this section, the control architecture shown in Figure <a href="#org7e70ccc">20</a> is applied and consists of:
|
||||
</p>
|
||||
<ul class="org-ul">
|
||||
<li>an inner Low Authority Control loop consisting of a decentralized direct velocity control controller</li>
|
||||
<li>an outer loop with the primary controller \(\bm{K}_\mathcal{X}\) designed in the task space</li>
|
||||
</ul>
|
||||
|
||||
|
||||
<div id="org7e70ccc" class="figure">
|
||||
<p><img src="figs/control_architecture_hac_dvf_pos_X.png" alt="control_architecture_hac_dvf_pos_X.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 20: </span>HAC-LAC architecture</p>
|
||||
</div>
|
||||
</div>
|
||||
<div id="outline-container-org07b4a9d" class="outline-3">
|
||||
<h3 id="org07b4a9d"><span class="section-number-3">3.1</span> Plant in the task space</h3>
|
||||
<div class="outline-text-3" id="text-3-1">
|
||||
<p>
|
||||
Let’s look \(\bm{G}_\mathcal{X}(s)\).
|
||||
</p>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org7d888f9" class="outline-3">
|
||||
<h3 id="org7d888f9"><span class="section-number-3">3.2</span> Control in the task space</h3>
|
||||
<div class="outline-text-3" id="text-3-2">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">Kx = tf(zeros(6));
|
||||
|
||||
h = 2.5;
|
||||
Kx<span class="org-type">(1,1) </span>= 3e7 <span class="org-type">*</span> ...
|
||||
1<span class="org-type">/</span>h<span class="org-type">*</span>(s<span class="org-type">/</span>(2<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>100<span class="org-type">/</span>h) <span class="org-type">+</span> 1)<span class="org-type">/</span>(s<span class="org-type">/</span>(2<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>100<span class="org-type">*</span>h) <span class="org-type">+</span> 1) <span class="org-type">*</span> ...
|
||||
(s<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span>1 <span class="org-type">+</span> 1)<span class="org-type">/</span>(s<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span>1);
|
||||
|
||||
Kx<span class="org-type">(2,2) </span>= Kx(1,1);
|
||||
|
||||
h = 2.5;
|
||||
Kx<span class="org-type">(3,3) </span>= 3e7 <span class="org-type">*</span> ...
|
||||
1<span class="org-type">/</span>h<span class="org-type">*</span>(s<span class="org-type">/</span>(2<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>100<span class="org-type">/</span>h) <span class="org-type">+</span> 1)<span class="org-type">/</span>(s<span class="org-type">/</span>(2<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>100<span class="org-type">*</span>h) <span class="org-type">+</span> 1) <span class="org-type">*</span> ...
|
||||
(s<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span>1 <span class="org-type">+</span> 1)<span class="org-type">/</span>(s<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span>1);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">h = 1.5;
|
||||
Kx<span class="org-type">(4,4) </span>= 5e5 <span class="org-type">*</span> ...
|
||||
1<span class="org-type">/</span>h<span class="org-type">*</span>(s<span class="org-type">/</span>(2<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>100<span class="org-type">/</span>h) <span class="org-type">+</span> 1)<span class="org-type">/</span>(s<span class="org-type">/</span>(2<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>100<span class="org-type">*</span>h) <span class="org-type">+</span> 1) <span class="org-type">*</span> ...
|
||||
(s<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span>1 <span class="org-type">+</span> 1)<span class="org-type">/</span>(s<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span>1);
|
||||
|
||||
Kx<span class="org-type">(5,5) </span>= Kx(4,4);
|
||||
|
||||
h = 1.5;
|
||||
Kx<span class="org-type">(6,6) </span>= 5e4 <span class="org-type">*</span> ...
|
||||
1<span class="org-type">/</span>h<span class="org-type">*</span>(s<span class="org-type">/</span>(2<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>30<span class="org-type">/</span>h) <span class="org-type">+</span> 1)<span class="org-type">/</span>(s<span class="org-type">/</span>(2<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>30<span class="org-type">*</span>h) <span class="org-type">+</span> 1) <span class="org-type">*</span> ...
|
||||
(s<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span>1 <span class="org-type">+</span> 1)<span class="org-type">/</span>(s<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span>1);
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgb28634b" class="outline-4">
|
||||
<h4 id="orgb28634b"><span class="section-number-4">3.2.1</span> Stability</h4>
|
||||
<div class="outline-text-4" id="text-3-2-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">for</span> <span class="org-variable-name"><span class="org-constant">i</span></span> = <span class="org-constant">1:length(Ms)</span>
|
||||
isstable(feedback(Gm_x{<span class="org-constant">i</span>}<span class="org-type">*</span>Kx, eye(6), <span class="org-type">-</span>1))
|
||||
<span class="org-keyword">end</span>
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org57e2cfd" class="outline-3">
|
||||
<h3 id="org57e2cfd"><span class="section-number-3">3.3</span> Simulation</h3>
|
||||
</div>
|
||||
<div id="outline-container-org882e1ac" class="outline-3">
|
||||
<h3 id="org882e1ac"><span class="section-number-3">3.4</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-3-4">
|
||||
<div class="important">
|
||||
<p>
|
||||
|
||||
</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-04-08 mer. 17:22</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 10:25</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@@ -4,245 +4,31 @@
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-04-08 mer. 17:20 -->
|
||||
<!-- 2020-04-17 ven. 09:35 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>Determination of the optimal nano-hexapod’s stiffness for reducing the effect of disturbances</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Dehaeze Thomas" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||
<script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||
<script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&dn=gpl-3.0.txt GPL-v3-or-Later
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
// @license-end
|
||||
</script>
|
||||
<script>
|
||||
MathJax = {
|
||||
<script src="./js/jquery.min.js"></script>
|
||||
<script src="./js/bootstrap.min.js"></script>
|
||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="./js/readtheorg.js"></script>
|
||||
<script>MathJax = {
|
||||
tex: {
|
||||
tags: 'ams',
|
||||
macros: {
|
||||
bm: ["\\boldsymbol{#1}",1],
|
||||
}
|
||||
}
|
||||
tags: 'ams',
|
||||
macros: {bm: ["\\boldsymbol{#1}",1],}
|
||||
}
|
||||
};
|
||||
</script>
|
||||
<script type="text/javascript"
|
||||
src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
<script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
<a accesskey="h" href="index.html"> UP </a>
|
||||
<a accesskey="h" href="./index.html"> UP </a>
|
||||
|
|
||||
<a accesskey="H" href="index.html"> HOME </a>
|
||||
<a accesskey="H" href="./index.html"> HOME </a>
|
||||
</div><div id="content">
|
||||
<h1 class="title">Determination of the optimal nano-hexapod’s stiffness for reducing the effect of disturbances</h1>
|
||||
<div id="table-of-contents">
|
||||
@@ -257,7 +43,7 @@
|
||||
<li><a href="#org78dd34d">2.3. Sensitivity to Stages vibration (Filtering)</a></li>
|
||||
<li><a href="#orgd4ea2f4">2.4. Effect of Ground motion (Transmissibility).</a></li>
|
||||
<li><a href="#org0448746">2.5. Direct Forces (Compliance).</a></li>
|
||||
<li><a href="#org08f24cd">2.6. Conclusion</a></li>
|
||||
<li><a href="#org626fe57">2.6. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org6527e58">3. Effect of granite stiffness</a>
|
||||
@@ -270,7 +56,7 @@
|
||||
</li>
|
||||
<li><a href="#org9215f81">3.2. Soft Granite</a></li>
|
||||
<li><a href="#org8878556">3.3. Effect of the Granite transfer function</a></li>
|
||||
<li><a href="#orgbc8931e">3.4. Conclusion</a></li>
|
||||
<li><a href="#orgf388e39">3.4. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org8a88fb0">4. Open Loop Budget Error</a>
|
||||
@@ -278,7 +64,7 @@
|
||||
<li><a href="#org6bd588f">4.1. Noise Budgeting - Theory</a></li>
|
||||
<li><a href="#orgcc86f59">4.2. Power Spectral Densities</a></li>
|
||||
<li><a href="#orgef96b89">4.3. Cumulative Amplitude Spectrum</a></li>
|
||||
<li><a href="#org18bab44">4.4. Conclusion</a></li>
|
||||
<li><a href="#org0be3c47">4.4. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org34c0f38">5. Closed Loop Budget Error</a>
|
||||
@@ -287,7 +73,7 @@
|
||||
<li><a href="#orgf2d36a1">5.2. Reduction thanks to feedback - Required bandwidth</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#orgd9198a1">6. Conclusion</a></li>
|
||||
<li><a href="#org08f4548">6. Conclusion</a></li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
@@ -497,8 +283,8 @@ The effect of direct forces/torques applied on the sample (cable forces for inst
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org08f24cd" class="outline-3">
|
||||
<h3 id="org08f24cd"><span class="section-number-3">2.6</span> Conclusion</h3>
|
||||
<div id="outline-container-org626fe57" class="outline-3">
|
||||
<h3 id="org626fe57"><span class="section-number-3">2.6</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-2-6">
|
||||
<div class="important">
|
||||
<p>
|
||||
@@ -678,8 +464,8 @@ From Figures <a href="#orgc4c14fb">11</a> and <a href="#org533cc4b">12</a>, we s
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgbc8931e" class="outline-3">
|
||||
<h3 id="orgbc8931e"><span class="section-number-3">3.4</span> Conclusion</h3>
|
||||
<div id="outline-container-orgf388e39" class="outline-3">
|
||||
<h3 id="orgf388e39"><span class="section-number-3">3.4</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-3-4">
|
||||
<div class="important">
|
||||
<p>
|
||||
@@ -848,8 +634,8 @@ The black dashed line corresponds to the performance objective of a sample vibra
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org18bab44" class="outline-3">
|
||||
<h3 id="org18bab44"><span class="section-number-3">4.4</span> Conclusion</h3>
|
||||
<div id="outline-container-org0be3c47" class="outline-3">
|
||||
<h3 id="org0be3c47"><span class="section-number-3">4.4</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-4-4">
|
||||
<div class="important">
|
||||
<p>
|
||||
@@ -975,13 +761,13 @@ The obtained required bandwidth (approximate upper and lower bounds) to obtained
|
||||
<thead>
|
||||
<tr>
|
||||
<th scope="col" class="org-left">Nano-Hexapod stiffness [N/m]</th>
|
||||
<th scope="col" class="org-right">10<sup>3</sup></th>
|
||||
<th scope="col" class="org-right">10<sup>4</sup></th>
|
||||
<th scope="col" class="org-right">10<sup>5</sup></th>
|
||||
<th scope="col" class="org-right">10<sup>6</sup></th>
|
||||
<th scope="col" class="org-right">10<sup>7</sup></th>
|
||||
<th scope="col" class="org-right">10<sup>8</sup></th>
|
||||
<th scope="col" class="org-right">10<sup>9</sup></th>
|
||||
<th scope="col" class="org-right">10^3</th>
|
||||
<th scope="col" class="org-right">10^4</th>
|
||||
<th scope="col" class="org-right">10^5</th>
|
||||
<th scope="col" class="org-right">10^6</th>
|
||||
<th scope="col" class="org-right">10^7</th>
|
||||
<th scope="col" class="org-right">10^8</th>
|
||||
<th scope="col" class="org-right">10^9</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
@@ -1012,8 +798,8 @@ The obtained required bandwidth (approximate upper and lower bounds) to obtained
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgd9198a1" class="outline-2">
|
||||
<h2 id="orgd9198a1"><span class="section-number-2">6</span> Conclusion</h2>
|
||||
<div id="outline-container-org08f4548" class="outline-2">
|
||||
<h2 id="org08f4548"><span class="section-number-2">6</span> Conclusion</h2>
|
||||
<div class="outline-text-2" id="text-6">
|
||||
<div class="important">
|
||||
<p>
|
||||
@@ -1031,7 +817,7 @@ From Figure <a href="#orgd677910">23</a> and Table <a href="#org5ab4860">1</a>,
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-04-08 mer. 17:20</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 09:35</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@@ -4,237 +4,25 @@
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-03-06 ven. 15:09 -->
|
||||
<!-- 2020-04-17 ven. 09:35 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>Computation of the Positioning Error with respect to the nano-hexapod</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Dehaeze Thomas" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||
<script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||
<script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&dn=gpl-3.0.txt GPL-v3-or-Later
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
// @license-end
|
||||
</script>
|
||||
<script>
|
||||
MathJax = {
|
||||
tex: { macros: {
|
||||
bm: ["\\boldsymbol{#1}",1],
|
||||
}
|
||||
}
|
||||
<script src="./js/jquery.min.js"></script>
|
||||
<script src="./js/bootstrap.min.js"></script>
|
||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="./js/readtheorg.js"></script>
|
||||
<script>MathJax = {
|
||||
tex: {
|
||||
tags: 'ams',
|
||||
macros: {bm: ["\\boldsymbol{#1}",1],}
|
||||
}
|
||||
};
|
||||
</script>
|
||||
<script type="text/javascript"
|
||||
src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
<script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
@@ -250,17 +38,17 @@
|
||||
<li><a href="#orgf8376ef">1. How do we measure the position of the sample with respect to the granite</a></li>
|
||||
<li><a href="#orgb3d760a">2. Verify that the function to compute the reference pose is correct</a>
|
||||
<ul>
|
||||
<li><a href="#org4efa9f2">2.1. Prepare the Simulation</a></li>
|
||||
<li><a href="#org824599b">2.1. Prepare the Simulation</a></li>
|
||||
<li><a href="#orgd2fa379">2.2. Verify that the pose of the sample is the same as the computed one</a></li>
|
||||
<li><a href="#orga90edfe">2.3. Conclusion</a></li>
|
||||
<li><a href="#org127e189">2.3. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#orgf6fa84d">3. Verify that the function to convert the position error in the frame fixed to the nano-hexapod is working</a>
|
||||
<ul>
|
||||
<li><a href="#orgcbcbd60">3.1. Prepare the Simulation</a></li>
|
||||
<li><a href="#orgf76b12a">3.1. Prepare the Simulation</a></li>
|
||||
<li><a href="#org4e6a2dc">3.2. Compute the wanted pose of the sample in the NASS Base from the metrology and the reference</a></li>
|
||||
<li><a href="#orga048dbb">3.3. Verify that be imposing the error motion on the nano-hexapod, we indeed have zero error at the end</a></li>
|
||||
<li><a href="#orgc1b5b33">3.4. Conclusion</a></li>
|
||||
<li><a href="#org1528ce4">3.4. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -348,8 +136,8 @@ We can then determine extract other orientation conventions such that Euler angl
|
||||
The goal here is to perfectly move the station and verify that there is no mismatch between the metrology measurement and the computation of the reference pose.
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-org4efa9f2" class="outline-3">
|
||||
<h3 id="org4efa9f2"><span class="section-number-3">2.1</span> Prepare the Simulation</h3>
|
||||
<div id="outline-container-org824599b" class="outline-3">
|
||||
<h3 id="org824599b"><span class="section-number-3">2.1</span> Prepare the Simulation</h3>
|
||||
<div class="outline-text-3" id="text-2-1">
|
||||
<p>
|
||||
We set a small <code>StopTime</code>.
|
||||
@@ -519,8 +307,8 @@ ans =
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orga90edfe" class="outline-3">
|
||||
<h3 id="orga90edfe"><span class="section-number-3">2.3</span> Conclusion</h3>
|
||||
<div id="outline-container-org127e189" class="outline-3">
|
||||
<h3 id="org127e189"><span class="section-number-3">2.3</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-2-3">
|
||||
<div class="important">
|
||||
<p>
|
||||
@@ -548,8 +336,8 @@ This will induce a global positioning error of the sample with respect to the de
|
||||
We want to verify that we are able to measure this positioning error and convert it in the frame attached to the Nano-hexapod.
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-orgcbcbd60" class="outline-3">
|
||||
<h3 id="orgcbcbd60"><span class="section-number-3">3.1</span> Prepare the Simulation</h3>
|
||||
<div id="outline-container-orgf76b12a" class="outline-3">
|
||||
<h3 id="orgf76b12a"><span class="section-number-3">3.1</span> Prepare the Simulation</h3>
|
||||
<div class="outline-text-3" id="text-3-1">
|
||||
<p>
|
||||
We set a small <code>StopTime</code>.
|
||||
@@ -873,8 +661,8 @@ Verify that the pose error is small.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgc1b5b33" class="outline-3">
|
||||
<h3 id="orgc1b5b33"><span class="section-number-3">3.4</span> Conclusion</h3>
|
||||
<div id="outline-container-org1528ce4" class="outline-3">
|
||||
<h3 id="org1528ce4"><span class="section-number-3">3.4</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-3-4">
|
||||
<div class="important">
|
||||
<p>
|
||||
@@ -888,7 +676,7 @@ Indeed, we are able to convert the position error in the frame of the NASS and t
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-03-06 ven. 15:09</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 09:35</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@@ -4,227 +4,17 @@
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-03-06 ven. 15:09 -->
|
||||
<!-- 2020-04-17 ven. 09:35 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>Simscape Model</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Dehaeze Thomas" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||
<script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||
<script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&dn=gpl-3.0.txt GPL-v3-or-Later
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
// @license-end
|
||||
</script>
|
||||
<script src="./js/jquery.min.js"></script>
|
||||
<script src="./js/bootstrap.min.js"></script>
|
||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="./js/readtheorg.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
@@ -753,7 +543,7 @@ Internal force, acting reciprocally between base and following origins is implem
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-03-06 ven. 15:09</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 09:35</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -4,227 +4,17 @@
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-03-06 ven. 15:10 -->
|
||||
<!-- 2020-04-17 ven. 09:36 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>Simulink Project for the NASS</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Dehaeze Thomas" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||
<script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||
<script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&dn=gpl-3.0.txt GPL-v3-or-Later
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
// @license-end
|
||||
</script>
|
||||
<script src="./js/jquery.min.js"></script>
|
||||
<script src="./js/bootstrap.min.js"></script>
|
||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="./js/readtheorg.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
@@ -233,7 +23,6 @@
|
||||
<a accesskey="H" href="./index.html"> HOME </a>
|
||||
</div><div id="content">
|
||||
<h1 class="title">Simulink Project for the NASS</h1>
|
||||
|
||||
<p>
|
||||
Simulink Project is used for the study of the NASS using Simscape.
|
||||
</p>
|
||||
@@ -300,7 +89,7 @@ The project also permits to automatically add defined folder to the path when th
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-03-06 ven. 15:10</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 09:36</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@@ -1,262 +1,28 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-02-25 mar. 18:08 -->
|
||||
<!-- 2020-04-17 ven. 09:36 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>Stewart Platform - Simscape Model</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Dehaeze Thomas" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
<script src="./js/jquery.min.js"></script>
|
||||
<script src="./js/bootstrap.min.js"></script>
|
||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="./js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
/*
|
||||
@licstart The following is the entire license notice for the
|
||||
JavaScript code in this tag.
|
||||
|
||||
Copyright (C) 2012-2020 Free Software Foundation, Inc.
|
||||
|
||||
The JavaScript code in this tag is free software: you can
|
||||
redistribute it and/or modify it under the terms of the GNU
|
||||
General Public License (GNU GPL) as published by the Free Software
|
||||
Foundation, either version 3 of the License, or (at your option)
|
||||
any later version. The code is distributed WITHOUT ANY WARRANTY;
|
||||
without even the implied warranty of MERCHANTABILITY or FITNESS
|
||||
FOR A PARTICULAR PURPOSE. See the GNU GPL for more details.
|
||||
|
||||
As additional permission under GNU GPL version 3 section 7, you
|
||||
may distribute non-source (e.g., minimized or compacted) forms of
|
||||
that code without the copy of the GNU GPL normally required by
|
||||
section 4, provided you include this license notice and a URL
|
||||
through which recipients can access the Corresponding Source.
|
||||
|
||||
|
||||
@licend The above is the entire license notice
|
||||
for the JavaScript code in this tag.
|
||||
*/
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
</script>
|
||||
<script>
|
||||
MathJax = {
|
||||
tex: { macros: {
|
||||
bm: ["\\boldsymbol{#1}",1],
|
||||
}
|
||||
}
|
||||
<script>MathJax = {
|
||||
tex: {
|
||||
tags: 'ams',
|
||||
macros: {bm: ["\\boldsymbol{#1}",1],}
|
||||
}
|
||||
};
|
||||
</script>
|
||||
<script type="text/javascript"
|
||||
src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
<script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
@@ -271,9 +37,9 @@ for the JavaScript code in this tag.
|
||||
<ul>
|
||||
<li><a href="#orgac25f89">1. <code>initializeFramesPositions</code>: Initialize the positions of frames {A}, {B}, {F} and {M}</a>
|
||||
<ul>
|
||||
<li><a href="#org17eec4d">1.1. Function description</a></li>
|
||||
<li><a href="#org93cf646">1.2. Documentation</a></li>
|
||||
<li><a href="#org142c995">1.3. Optional Parameters</a></li>
|
||||
<li><a href="#org5cdd36d">1.1. Function description</a></li>
|
||||
<li><a href="#orge837700">1.2. Documentation</a></li>
|
||||
<li><a href="#org312e9a7">1.3. Optional Parameters</a></li>
|
||||
<li><a href="#org3622825">1.4. Initialize the Stewart structure</a></li>
|
||||
<li><a href="#org7d50d54">1.5. Compute the position of each frame</a></li>
|
||||
</ul>
|
||||
@@ -282,27 +48,27 @@ for the JavaScript code in this tag.
|
||||
<ul>
|
||||
<li><a href="#org65fc289">2.1. <code>generateCubicConfiguration</code>: Generate a Cubic Configuration</a>
|
||||
<ul>
|
||||
<li><a href="#org7e1a61c">2.1.1. Function description</a></li>
|
||||
<li><a href="#org9d47e7c">2.1.2. Documentation</a></li>
|
||||
<li><a href="#orgf3ef9f0">2.1.3. Optional Parameters</a></li>
|
||||
<li><a href="#org5a5b987">2.1.1. Function description</a></li>
|
||||
<li><a href="#org40ea23a">2.1.2. Documentation</a></li>
|
||||
<li><a href="#org37651aa">2.1.3. Optional Parameters</a></li>
|
||||
<li><a href="#orge94a885">2.1.4. Position of the Cube</a></li>
|
||||
<li><a href="#orge025784">2.1.5. Compute the pose</a></li>
|
||||
<li><a href="#org789a28b">2.1.5. Compute the pose</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#orgccb31c6">2.2. <code>generateGeneralConfiguration</code>: Generate a Very General Configuration</a>
|
||||
<ul>
|
||||
<li><a href="#org7c192dc">2.2.1. Function description</a></li>
|
||||
<li><a href="#org542739a">2.2.2. Documentation</a></li>
|
||||
<li><a href="#org2f3445e">2.2.3. Optional Parameters</a></li>
|
||||
<li><a href="#orga173176">2.2.4. Compute the pose</a></li>
|
||||
<li><a href="#org0ba3fa4">2.2.1. Function description</a></li>
|
||||
<li><a href="#org839cae7">2.2.2. Documentation</a></li>
|
||||
<li><a href="#org2e06fba">2.2.3. Optional Parameters</a></li>
|
||||
<li><a href="#orgfac23f3">2.2.4. Compute the pose</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org9944c04">3. <code>computeJointsPose</code>: Compute the Pose of the Joints</a>
|
||||
<ul>
|
||||
<li><a href="#org8036919">3.1. Function description</a></li>
|
||||
<li><a href="#orgae953ca">3.2. Documentation</a></li>
|
||||
<li><a href="#org465ebb2">3.1. Function description</a></li>
|
||||
<li><a href="#orgc11609b">3.2. Documentation</a></li>
|
||||
<li><a href="#orge87b302">3.3. Compute the position of the Joints</a></li>
|
||||
<li><a href="#org3a7e3c5">3.4. Compute the strut length and orientation</a></li>
|
||||
<li><a href="#org9e1258f">3.5. Compute the orientation of the Joints</a></li>
|
||||
@@ -310,14 +76,14 @@ for the JavaScript code in this tag.
|
||||
</li>
|
||||
<li><a href="#orgae8d0dc">4. <code>initializeStrutDynamics</code>: Add Stiffness and Damping properties of each strut</a>
|
||||
<ul>
|
||||
<li><a href="#org422cb52">4.1. Function description</a></li>
|
||||
<li><a href="#orge6db36d">4.2. Optional Parameters</a></li>
|
||||
<li><a href="#org9af8ca0">4.1. Function description</a></li>
|
||||
<li><a href="#org335e959">4.2. Optional Parameters</a></li>
|
||||
<li><a href="#org3c2e550">4.3. Add Stiffness and Damping properties of each strut</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org9e8cbfa">5. <code>computeJacobian</code>: Compute the Jacobian Matrix</a>
|
||||
<ul>
|
||||
<li><a href="#org0e1dad9">5.1. Function description</a></li>
|
||||
<li><a href="#org64e795c">5.1. Function description</a></li>
|
||||
<li><a href="#org9bcd9b9">5.2. Compute Jacobian Matrix</a></li>
|
||||
<li><a href="#orgf08eda6">5.3. Compute Stiffness Matrix</a></li>
|
||||
<li><a href="#orgd164132">5.4. Compute Compliance Matrix</a></li>
|
||||
@@ -327,16 +93,16 @@ for the JavaScript code in this tag.
|
||||
<ul>
|
||||
<li><a href="#org4674203">6.1. <code>initializeCylindricalPlatforms</code>: Initialize the geometry of the Fixed and Mobile Platforms</a>
|
||||
<ul>
|
||||
<li><a href="#org3f9ec54">6.1.1. Function description</a></li>
|
||||
<li><a href="#org079557b">6.1.2. Optional Parameters</a></li>
|
||||
<li><a href="#org1af6832">6.1.1. Function description</a></li>
|
||||
<li><a href="#org12a2c2b">6.1.2. Optional Parameters</a></li>
|
||||
<li><a href="#org2965fe8">6.1.3. Create the <code>platforms</code> struct</a></li>
|
||||
<li><a href="#org7e1a4d4">6.1.4. Save the <code>platforms</code> struct</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org6b4f1ca">6.2. <code>initializeCylindricalStruts</code>: Define the mass and moment of inertia of cylindrical struts</a>
|
||||
<ul>
|
||||
<li><a href="#orgfa4c069">6.2.1. Function description</a></li>
|
||||
<li><a href="#org5a83934">6.2.2. Optional Parameters</a></li>
|
||||
<li><a href="#org407cf8c">6.2.1. Function description</a></li>
|
||||
<li><a href="#org420f14e">6.2.2. Optional Parameters</a></li>
|
||||
<li><a href="#org3f9f0ef">6.2.3. Create the <code>struts</code> structure</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
@@ -346,16 +112,16 @@ for the JavaScript code in this tag.
|
||||
<ul>
|
||||
<li><a href="#org03168fc">7.1. <code>inverseKinematics</code>: Compute Inverse Kinematics</a>
|
||||
<ul>
|
||||
<li><a href="#org76e188e">7.1.1. Function description</a></li>
|
||||
<li><a href="#org137ad87">7.1.2. Optional Parameters</a></li>
|
||||
<li><a href="#orgb7853bd">7.1.1. Function description</a></li>
|
||||
<li><a href="#orge9021eb">7.1.2. Optional Parameters</a></li>
|
||||
<li><a href="#orgbdc5fb1">7.1.3. Theory</a></li>
|
||||
<li><a href="#org8b70a76">7.1.4. Compute</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#orgf4ebfa3">7.2. <code>forwardKinematicsApprox</code>: Compute the Forward Kinematics</a>
|
||||
<ul>
|
||||
<li><a href="#org1b067b0">7.2.1. Function description</a></li>
|
||||
<li><a href="#org8283c6b">7.2.2. Optional Parameters</a></li>
|
||||
<li><a href="#org37e6edf">7.2.1. Function description</a></li>
|
||||
<li><a href="#org6441308">7.2.2. Optional Parameters</a></li>
|
||||
<li><a href="#orgf17cab9">7.2.3. Computation</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
@@ -443,8 +209,8 @@ This Matlab function is accessible <a href="src/initializeFramesPositions.m">her
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org17eec4d" class="outline-3">
|
||||
<h3 id="org17eec4d"><span class="section-number-3">1.1</span> Function description</h3>
|
||||
<div id="outline-container-org5cdd36d" class="outline-3">
|
||||
<h3 id="org5cdd36d"><span class="section-number-3">1.1</span> Function description</h3>
|
||||
<div class="outline-text-3" id="text-1-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeFramesPositions</span>(<span class="org-variable-name">args</span>)
|
||||
@@ -468,8 +234,8 @@ This Matlab function is accessible <a href="src/initializeFramesPositions.m">her
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org93cf646" class="outline-3">
|
||||
<h3 id="org93cf646"><span class="section-number-3">1.2</span> Documentation</h3>
|
||||
<div id="outline-container-orge837700" class="outline-3">
|
||||
<h3 id="orge837700"><span class="section-number-3">1.2</span> Documentation</h3>
|
||||
<div class="outline-text-3" id="text-1-2">
|
||||
|
||||
<div id="orgebd0f49" class="figure">
|
||||
@@ -480,8 +246,8 @@ This Matlab function is accessible <a href="src/initializeFramesPositions.m">her
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org142c995" class="outline-3">
|
||||
<h3 id="org142c995"><span class="section-number-3">1.3</span> Optional Parameters</h3>
|
||||
<div id="outline-container-org312e9a7" class="outline-3">
|
||||
<h3 id="org312e9a7"><span class="section-number-3">1.3</span> Optional Parameters</h3>
|
||||
<div class="outline-text-3" id="text-1-3">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
@@ -536,8 +302,8 @@ This Matlab function is accessible <a href="src/generateCubicConfiguration.m">he
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org7e1a61c" class="outline-4">
|
||||
<h4 id="org7e1a61c"><span class="section-number-4">2.1.1</span> Function description</h4>
|
||||
<div id="outline-container-org5a5b987" class="outline-4">
|
||||
<h4 id="org5a5b987"><span class="section-number-4">2.1.1</span> Function description</h4>
|
||||
<div class="outline-text-4" id="text-2-1-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">generateCubicConfiguration</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
|
||||
@@ -563,8 +329,8 @@ This Matlab function is accessible <a href="src/generateCubicConfiguration.m">he
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org9d47e7c" class="outline-4">
|
||||
<h4 id="org9d47e7c"><span class="section-number-4">2.1.2</span> Documentation</h4>
|
||||
<div id="outline-container-org40ea23a" class="outline-4">
|
||||
<h4 id="org40ea23a"><span class="section-number-4">2.1.2</span> Documentation</h4>
|
||||
<div class="outline-text-4" id="text-2-1-2">
|
||||
|
||||
<div id="org70070f0" class="figure">
|
||||
@@ -575,8 +341,8 @@ This Matlab function is accessible <a href="src/generateCubicConfiguration.m">he
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgf3ef9f0" class="outline-4">
|
||||
<h4 id="orgf3ef9f0"><span class="section-number-4">2.1.3</span> Optional Parameters</h4>
|
||||
<div id="outline-container-org37651aa" class="outline-4">
|
||||
<h4 id="org37651aa"><span class="section-number-4">2.1.3</span> Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-2-1-3">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
@@ -618,8 +384,8 @@ CCm = [Cc(<span class="org-type">:</span>,2), Cc(<span class="org-type">:</span>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orge025784" class="outline-4">
|
||||
<h4 id="orge025784"><span class="section-number-4">2.1.5</span> Compute the pose</h4>
|
||||
<div id="outline-container-org789a28b" class="outline-4">
|
||||
<h4 id="org789a28b"><span class="section-number-4">2.1.5</span> Compute the pose</h4>
|
||||
<div class="outline-text-4" id="text-2-1-5">
|
||||
<p>
|
||||
We can compute the vector of each leg \({}^{C}\hat{\bm{s}}_{i}\) (unit vector from \({}^{C}C_{f}\) to \({}^{C}C_{m}\)).
|
||||
@@ -653,8 +419,8 @@ This Matlab function is accessible <a href="src/generateGeneralConfiguration.m">
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org7c192dc" class="outline-4">
|
||||
<h4 id="org7c192dc"><span class="section-number-4">2.2.1</span> Function description</h4>
|
||||
<div id="outline-container-org0ba3fa4" class="outline-4">
|
||||
<h4 id="org0ba3fa4"><span class="section-number-4">2.2.1</span> Function description</h4>
|
||||
<div class="outline-text-4" id="text-2-2-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">generateGeneralConfiguration</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
|
||||
@@ -680,8 +446,8 @@ This Matlab function is accessible <a href="src/generateGeneralConfiguration.m">
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org542739a" class="outline-4">
|
||||
<h4 id="org542739a"><span class="section-number-4">2.2.2</span> Documentation</h4>
|
||||
<div id="outline-container-org839cae7" class="outline-4">
|
||||
<h4 id="org839cae7"><span class="section-number-4">2.2.2</span> Documentation</h4>
|
||||
<div class="outline-text-4" id="text-2-2-2">
|
||||
<p>
|
||||
Joints are positions on a circle centered with the Z axis of {F} and {M} and at a chosen distance from {F} and {M}.
|
||||
@@ -690,8 +456,8 @@ The radius of the circles can be chosen as well as the angles where the joints a
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org2f3445e" class="outline-4">
|
||||
<h4 id="org2f3445e"><span class="section-number-4">2.2.3</span> Optional Parameters</h4>
|
||||
<div id="outline-container-org2e06fba" class="outline-4">
|
||||
<h4 id="org2e06fba"><span class="section-number-4">2.2.3</span> Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-2-2-3">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
@@ -708,8 +474,8 @@ The radius of the circles can be chosen as well as the angles where the joints a
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orga173176" class="outline-4">
|
||||
<h4 id="orga173176"><span class="section-number-4">2.2.4</span> Compute the pose</h4>
|
||||
<div id="outline-container-orgfac23f3" class="outline-4">
|
||||
<h4 id="orgfac23f3"><span class="section-number-4">2.2.4</span> Compute the pose</h4>
|
||||
<div class="outline-text-4" id="text-2-2-4">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">stewart.Fa = zeros(3,6);
|
||||
@@ -741,8 +507,8 @@ This Matlab function is accessible <a href="src/computeJointsPose.m">here</a>.
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org8036919" class="outline-3">
|
||||
<h3 id="org8036919"><span class="section-number-3">3.1</span> Function description</h3>
|
||||
<div id="outline-container-org465ebb2" class="outline-3">
|
||||
<h3 id="org465ebb2"><span class="section-number-3">3.1</span> Function description</h3>
|
||||
<div class="outline-text-3" id="text-3-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">computeJointsPose</span>(<span class="org-variable-name">stewart</span>)
|
||||
@@ -774,8 +540,8 @@ This Matlab function is accessible <a href="src/computeJointsPose.m">here</a>.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgae953ca" class="outline-3">
|
||||
<h3 id="orgae953ca"><span class="section-number-3">3.2</span> Documentation</h3>
|
||||
<div id="outline-container-orgc11609b" class="outline-3">
|
||||
<h3 id="orgc11609b"><span class="section-number-3">3.2</span> Documentation</h3>
|
||||
<div class="outline-text-3" id="text-3-2">
|
||||
|
||||
<div id="org20f7106" class="figure">
|
||||
@@ -849,8 +615,8 @@ This Matlab function is accessible <a href="src/initializeStrutDynamics.m">here<
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org422cb52" class="outline-3">
|
||||
<h3 id="org422cb52"><span class="section-number-3">4.1</span> Function description</h3>
|
||||
<div id="outline-container-org9af8ca0" class="outline-3">
|
||||
<h3 id="org9af8ca0"><span class="section-number-3">4.1</span> Function description</h3>
|
||||
<div class="outline-text-3" id="text-4-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeStrutDynamics</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
|
||||
@@ -872,8 +638,8 @@ This Matlab function is accessible <a href="src/initializeStrutDynamics.m">here<
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orge6db36d" class="outline-3">
|
||||
<h3 id="orge6db36d"><span class="section-number-3">4.2</span> Optional Parameters</h3>
|
||||
<div id="outline-container-org335e959" class="outline-3">
|
||||
<h3 id="org335e959"><span class="section-number-3">4.2</span> Optional Parameters</h3>
|
||||
<div class="outline-text-3" id="text-4-2">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
@@ -910,8 +676,8 @@ This Matlab function is accessible <a href="src/computeJacobian.m">here</a>.
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org0e1dad9" class="outline-3">
|
||||
<h3 id="org0e1dad9"><span class="section-number-3">5.1</span> Function description</h3>
|
||||
<div id="outline-container-org64e795c" class="outline-3">
|
||||
<h3 id="org64e795c"><span class="section-number-3">5.1</span> Function description</h3>
|
||||
<div class="outline-text-3" id="text-5-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">computeJacobian</span>(<span class="org-variable-name">stewart</span>)
|
||||
@@ -981,8 +747,8 @@ This Matlab function is accessible <a href="src/initializeCylindricalPlatforms.m
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org3f9ec54" class="outline-4">
|
||||
<h4 id="org3f9ec54"><span class="section-number-4">6.1.1</span> Function description</h4>
|
||||
<div id="outline-container-org1af6832" class="outline-4">
|
||||
<h4 id="org1af6832"><span class="section-number-4">6.1.1</span> Function description</h4>
|
||||
<div class="outline-text-4" id="text-6-1-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeCylindricalPlatforms</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
|
||||
@@ -1015,8 +781,8 @@ This Matlab function is accessible <a href="src/initializeCylindricalPlatforms.m
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org079557b" class="outline-4">
|
||||
<h4 id="org079557b"><span class="section-number-4">6.1.2</span> Optional Parameters</h4>
|
||||
<div id="outline-container-org12a2c2b" class="outline-4">
|
||||
<h4 id="org12a2c2b"><span class="section-number-4">6.1.2</span> Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-6-1-2">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
@@ -1080,8 +846,8 @@ This Matlab function is accessible <a href="src/initializeCylindricalStruts.m">h
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgfa4c069" class="outline-4">
|
||||
<h4 id="orgfa4c069"><span class="section-number-4">6.2.1</span> Function description</h4>
|
||||
<div id="outline-container-org407cf8c" class="outline-4">
|
||||
<h4 id="org407cf8c"><span class="section-number-4">6.2.1</span> Function description</h4>
|
||||
<div class="outline-text-4" id="text-6-2-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeCylindricalStruts</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
|
||||
@@ -1114,8 +880,8 @@ This Matlab function is accessible <a href="src/initializeCylindricalStruts.m">h
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org5a83934" class="outline-4">
|
||||
<h4 id="org5a83934"><span class="section-number-4">6.2.2</span> Optional Parameters</h4>
|
||||
<div id="outline-container-org420f14e" class="outline-4">
|
||||
<h4 id="org420f14e"><span class="section-number-4">6.2.2</span> Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-6-2-2">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
@@ -1184,8 +950,8 @@ This Matlab function is accessible <a href="src/inverseKinematics.m">here</a>.
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org76e188e" class="outline-4">
|
||||
<h4 id="org76e188e"><span class="section-number-4">7.1.1</span> Function description</h4>
|
||||
<div id="outline-container-orgb7853bd" class="outline-4">
|
||||
<h4 id="orgb7853bd"><span class="section-number-4">7.1.1</span> Function description</h4>
|
||||
<div class="outline-text-4" id="text-7-1-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[Li, dLi]</span> = <span class="org-function-name">inverseKinematics</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
|
||||
@@ -1209,8 +975,8 @@ This Matlab function is accessible <a href="src/inverseKinematics.m">here</a>.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org137ad87" class="outline-4">
|
||||
<h4 id="org137ad87"><span class="section-number-4">7.1.2</span> Optional Parameters</h4>
|
||||
<div id="outline-container-orge9021eb" class="outline-4">
|
||||
<h4 id="orge9021eb"><span class="section-number-4">7.1.2</span> Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-7-1-2">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
@@ -1287,8 +1053,8 @@ This Matlab function is accessible <a href="src/forwardKinematicsApprox.m">here<
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org1b067b0" class="outline-4">
|
||||
<h4 id="org1b067b0"><span class="section-number-4">7.2.1</span> Function description</h4>
|
||||
<div id="outline-container-org37e6edf" class="outline-4">
|
||||
<h4 id="org37e6edf"><span class="section-number-4">7.2.1</span> Function description</h4>
|
||||
<div class="outline-text-4" id="text-7-2-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[P, R]</span> = <span class="org-function-name">forwardKinematicsApprox</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
|
||||
@@ -1311,8 +1077,8 @@ This Matlab function is accessible <a href="src/forwardKinematicsApprox.m">here<
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org8283c6b" class="outline-4">
|
||||
<h4 id="org8283c6b"><span class="section-number-4">7.2.2</span> Optional Parameters</h4>
|
||||
<div id="outline-container-org6441308" class="outline-4">
|
||||
<h4 id="org6441308"><span class="section-number-4">7.2.2</span> Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-7-2-2">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
@@ -1371,7 +1137,7 @@ We then compute the corresponding rotation matrix.
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-02-25 mar. 18:08</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 09:36</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@@ -1,241 +1,28 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-04-01 mer. 16:16 -->
|
||||
<!-- 2020-04-17 ven. 09:35 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>Evaluating the Plant Uncertainty in various experimental conditions</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Dehaeze Thomas" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||
<script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||
<script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&dn=gpl-3.0.txt GPL-v3-or-Later
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
// @license-end
|
||||
</script>
|
||||
<script>
|
||||
MathJax = {
|
||||
tex: { macros: {
|
||||
bm: ["\\boldsymbol{#1}",1],
|
||||
}
|
||||
}
|
||||
<script src="./js/jquery.min.js"></script>
|
||||
<script src="./js/bootstrap.min.js"></script>
|
||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="./js/readtheorg.js"></script>
|
||||
<script>MathJax = {
|
||||
tex: {
|
||||
tags: 'ams',
|
||||
macros: {bm: ["\\boldsymbol{#1}",1],}
|
||||
}
|
||||
};
|
||||
</script>
|
||||
<script type="text/javascript"
|
||||
src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
<script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
@@ -252,13 +39,13 @@
|
||||
<li><a href="#orga0077c1">2. Variation of the Sample Resonance Frequency</a></li>
|
||||
<li><a href="#orgb49a967">3. Variation of the Spindle Angle</a>
|
||||
<ul>
|
||||
<li><a href="#org63447f1">3.1. Identification</a></li>
|
||||
<li><a href="#org07d9092">3.1. Identification</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org9081b0f">4. Variation of the Spindle Rotation Speed</a>
|
||||
<ul>
|
||||
<li><a href="#orgd625617">4.1. Initialization of gravity compensation forces</a></li>
|
||||
<li><a href="#org54babd6">4.2. Identification</a></li>
|
||||
<li><a href="#org027e6cb">4.2. Identification</a></li>
|
||||
<li><a href="#org70dd336">4.3. Plots</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
@@ -513,8 +300,8 @@ Let’s note \(\omega_m\) the frequency of the resonance of the Payload.
|
||||
<a id="org58b9cae"></a>
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-org63447f1" class="outline-3">
|
||||
<h3 id="org63447f1"><span class="section-number-3">3.1</span> Identification</h3>
|
||||
<div id="outline-container-org07d9092" class="outline-3">
|
||||
<h3 id="org07d9092"><span class="section-number-3">3.1</span> Identification</h3>
|
||||
<div class="outline-text-3" id="text-3-1">
|
||||
<p>
|
||||
We identify the dynamics for the following Tilt stage angles.
|
||||
@@ -592,8 +379,8 @@ Finally, we simulate the system and same the forces/torques applied in each join
|
||||
</p>
|
||||
</div>
|
||||
</div>
|
||||
<div id="outline-container-org54babd6" class="outline-3">
|
||||
<h3 id="org54babd6"><span class="section-number-3">4.2</span> Identification</h3>
|
||||
<div id="outline-container-org027e6cb" class="outline-3">
|
||||
<h3 id="org027e6cb"><span class="section-number-3">4.2</span> Identification</h3>
|
||||
<div class="outline-text-3" id="text-4-2">
|
||||
<p>
|
||||
We initialize the stages with forces/torques compensating the gravity forces.
|
||||
@@ -816,7 +603,7 @@ From all the experimental condition studied, the only ones that have significant
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-04-01 mer. 16:16</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 09:35</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@@ -4,245 +4,31 @@
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-04-08 mer. 12:12 -->
|
||||
<!-- 2020-04-17 ven. 09:35 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>Determination of the optimal nano-hexapod’s stiffness</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Dehaeze Thomas" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||
<script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||
<script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&dn=gpl-3.0.txt GPL-v3-or-Later
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
// @license-end
|
||||
</script>
|
||||
<script>
|
||||
MathJax = {
|
||||
<script src="./js/jquery.min.js"></script>
|
||||
<script src="./js/bootstrap.min.js"></script>
|
||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="./js/readtheorg.js"></script>
|
||||
<script>MathJax = {
|
||||
tex: {
|
||||
tags: 'ams',
|
||||
macros: {
|
||||
bm: ["\\boldsymbol{#1}",1],
|
||||
}
|
||||
}
|
||||
tags: 'ams',
|
||||
macros: {bm: ["\\boldsymbol{#1}",1],}
|
||||
}
|
||||
};
|
||||
</script>
|
||||
<script type="text/javascript"
|
||||
src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
<script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
<a accesskey="h" href="index.html"> UP </a>
|
||||
<a accesskey="h" href="./index.html"> UP </a>
|
||||
|
|
||||
<a accesskey="H" href="index.html"> HOME </a>
|
||||
<a accesskey="H" href="./index.html"> HOME </a>
|
||||
</div><div id="content">
|
||||
<h1 class="title">Determination of the optimal nano-hexapod’s stiffness</h1>
|
||||
<div id="table-of-contents">
|
||||
@@ -251,7 +37,7 @@
|
||||
<ul>
|
||||
<li><a href="#org157c07d">1. Spindle Rotation Speed</a>
|
||||
<ul>
|
||||
<li><a href="#org67607c3">1.1. Initialization</a></li>
|
||||
<li><a href="#orgf8f2ffc">1.1. Initialization</a></li>
|
||||
<li><a href="#org687bdef">1.2. Identification when rotating at maximum speed</a></li>
|
||||
<li><a href="#org7dcfddb">1.3. Change of dynamics</a></li>
|
||||
</ul>
|
||||
@@ -266,7 +52,7 @@
|
||||
</li>
|
||||
<li><a href="#org19559b0">3. Payload “Impedance” Effect</a>
|
||||
<ul>
|
||||
<li><a href="#org64a8be3">3.1. Initialization</a></li>
|
||||
<li><a href="#orgd45a5be">3.1. Initialization</a></li>
|
||||
<li><a href="#org73f1c6e">3.2. Identification of the dynamics while change the payload dynamics</a></li>
|
||||
<li><a href="#orgd7a519b">3.3. Change of dynamics for the primary controller</a>
|
||||
<ul>
|
||||
@@ -323,8 +109,8 @@ The rotation speed will have an effect due to the Coriolis effect.
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org67607c3" class="outline-3">
|
||||
<h3 id="org67607c3"><span class="section-number-3">1.1</span> Initialization</h3>
|
||||
<div id="outline-container-orgf8f2ffc" class="outline-3">
|
||||
<h3 id="orgf8f2ffc"><span class="section-number-3">1.1</span> Initialization</h3>
|
||||
<div class="outline-text-3" id="text-1-1">
|
||||
<p>
|
||||
We initialize all the stages with the default parameters.
|
||||
@@ -600,8 +386,8 @@ When the nano-hexapod is stiff (\(k>10^7\ [N/m]\)), the compliance of the micro-
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org64a8be3" class="outline-3">
|
||||
<h3 id="org64a8be3"><span class="section-number-3">3.1</span> Initialization</h3>
|
||||
<div id="outline-container-orgd45a5be" class="outline-3">
|
||||
<h3 id="orgd45a5be"><span class="section-number-3">3.1</span> Initialization</h3>
|
||||
<div class="outline-text-3" id="text-3-1">
|
||||
<p>
|
||||
We initialize all the stages with the default parameters.
|
||||
@@ -843,7 +629,7 @@ And finally, in Figures <a href="#orge05feb5">21</a> and <a href="#org17c5c95">2
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-04-08 mer. 12:12</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 09:35</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@@ -4,239 +4,25 @@
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-04-07 mar. 16:17 -->
|
||||
<!-- 2020-04-17 ven. 09:35 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>Effect of Uncertainty on the payload’s dynamics on the isolation platform dynamics</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Dehaeze Thomas" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||
<script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||
<script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&dn=gpl-3.0.txt GPL-v3-or-Later
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
// @license-end
|
||||
</script>
|
||||
<script>
|
||||
MathJax = {
|
||||
<script src="./js/jquery.min.js"></script>
|
||||
<script src="./js/bootstrap.min.js"></script>
|
||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="./js/readtheorg.js"></script>
|
||||
<script>MathJax = {
|
||||
tex: {
|
||||
tags: 'ams',
|
||||
macros: {
|
||||
bm: ["\\boldsymbol{#1}",1],
|
||||
}
|
||||
}
|
||||
tags: 'ams',
|
||||
macros: {bm: ["\\boldsymbol{#1}",1],}
|
||||
}
|
||||
};
|
||||
</script>
|
||||
<script type="text/javascript"
|
||||
src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
<script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
@@ -251,17 +37,17 @@
|
||||
<ul>
|
||||
<li><a href="#orgcc5f0ec">1. Simple Introductory Example</a>
|
||||
<ul>
|
||||
<li><a href="#org1f20d62">1.1. Equations of motion</a></li>
|
||||
<li><a href="#orgf75e223">1.1. Equations of motion</a></li>
|
||||
<li><a href="#org4efccbf">1.2. Initialization of the payload dynamics</a></li>
|
||||
<li><a href="#orgb400ca3">1.3. Initialization of the isolation platform</a></li>
|
||||
<li><a href="#orgd0dd88b">1.4. Comparison</a></li>
|
||||
<li><a href="#org1637b13">1.5. Conclusion</a></li>
|
||||
<li><a href="#orgd1e600e">1.5. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org1f8e63e">2. Generalization to arbitrary dynamics</a>
|
||||
<ul>
|
||||
<li><a href="#orgc4fa63e">2.1. Introduction</a></li>
|
||||
<li><a href="#orgd6da9a7">2.2. Equations of motion</a></li>
|
||||
<li><a href="#org5ed1517">2.2. Equations of motion</a></li>
|
||||
<li><a href="#orge217a33">2.3. Impedance \(G^\prime(s)\) of a mass-spring-damper payload</a></li>
|
||||
<li><a href="#org0ee44da">2.4. First Analytical analysis</a></li>
|
||||
<li><a href="#orgfe81c1c">2.5. Impedance of the Payload and Dynamical Uncertainty</a></li>
|
||||
@@ -274,7 +60,7 @@
|
||||
<li><a href="#org9086831">2.8.3. Effect of the platform’s mass \(m\)</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org3a1ebf1">2.9. Conclusion</a></li>
|
||||
<li><a href="#org3f697cc">2.9. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -328,8 +114,8 @@ The goal is to stabilize \(x\) using \(F\) in spite of uncertainty on the payloa
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org1f20d62" class="outline-3">
|
||||
<h3 id="org1f20d62"><span class="section-number-3">1.1</span> Equations of motion</h3>
|
||||
<div id="outline-container-orgf75e223" class="outline-3">
|
||||
<h3 id="orgf75e223"><span class="section-number-3">1.1</span> Equations of motion</h3>
|
||||
<div class="outline-text-3" id="text-1-1">
|
||||
<p>
|
||||
If we write the equation of motion of the system in Figure <a href="#orgaa77a57">1</a>, we obtain:
|
||||
@@ -436,8 +222,8 @@ The obtained dynamics from \(F\) to \(x\) for the three isolation platform are s
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org1637b13" class="outline-3">
|
||||
<h3 id="org1637b13"><span class="section-number-3">1.5</span> Conclusion</h3>
|
||||
<div id="outline-container-orgd1e600e" class="outline-3">
|
||||
<h3 id="orgd1e600e"><span class="section-number-3">1.5</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-1-5">
|
||||
<div class="important">
|
||||
<p>
|
||||
@@ -489,8 +275,8 @@ Now let’s consider the system consisting of a mass-spring-system (the isol
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgd6da9a7" class="outline-3">
|
||||
<h3 id="orgd6da9a7"><span class="section-number-3">2.2</span> Equations of motion</h3>
|
||||
<div id="outline-container-org5ed1517" class="outline-3">
|
||||
<h3 id="org5ed1517"><span class="section-number-3">2.2</span> Equations of motion</h3>
|
||||
<div class="outline-text-3" id="text-2-2">
|
||||
<p>
|
||||
We have to following equations of motion:
|
||||
@@ -946,8 +732,8 @@ Let’s fix \(k = 10^7\ [N/m]\), \(\xi = \frac{c}{2\sqrt{km}} = 0.1\) and se
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org3a1ebf1" class="outline-3">
|
||||
<h3 id="org3a1ebf1"><span class="section-number-3">2.9</span> Conclusion</h3>
|
||||
<div id="outline-container-org3f697cc" class="outline-3">
|
||||
<h3 id="org3f697cc"><span class="section-number-3">2.9</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-2-9">
|
||||
<div class="important">
|
||||
<p>
|
||||
@@ -971,7 +757,7 @@ In that case, maximizing the stiffness of the payload is a good idea.
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-04-07 mar. 16:17</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 09:35</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@@ -4,237 +4,25 @@
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-04-01 mer. 16:14 -->
|
||||
<!-- 2020-04-17 ven. 09:35 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>Effect of Uncertainty on the support’s dynamics on the isolation platform dynamics</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Dehaeze Thomas" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||
<script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||
<script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&dn=gpl-3.0.txt GPL-v3-or-Later
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
// @license-end
|
||||
</script>
|
||||
<script>
|
||||
MathJax = {
|
||||
tex: { macros: {
|
||||
bm: ["\\boldsymbol{#1}",1],
|
||||
}
|
||||
}
|
||||
<script src="./js/jquery.min.js"></script>
|
||||
<script src="./js/bootstrap.min.js"></script>
|
||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="./js/readtheorg.js"></script>
|
||||
<script>MathJax = {
|
||||
tex: {
|
||||
tags: 'ams',
|
||||
macros: {bm: ["\\boldsymbol{#1}",1],}
|
||||
}
|
||||
};
|
||||
</script>
|
||||
<script type="text/javascript"
|
||||
src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
<script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
@@ -249,17 +37,17 @@
|
||||
<ul>
|
||||
<li><a href="#orgbe6e0b8">1. Simple Introductory Example</a>
|
||||
<ul>
|
||||
<li><a href="#org283e8c3">1.1. Equations of motion</a></li>
|
||||
<li><a href="#orgf4562a5">1.1. Equations of motion</a></li>
|
||||
<li><a href="#org8bd2a4a">1.2. Initialization of the support dynamics</a></li>
|
||||
<li><a href="#orgefb9b71">1.3. Initialization of the isolation platform</a></li>
|
||||
<li><a href="#org3bc4ad1">1.4. Comparison</a></li>
|
||||
<li><a href="#orgd28ebd8">1.5. Conclusion</a></li>
|
||||
<li><a href="#org2a9bf99">1.5. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#orge1d3484">2. Generalization to arbitrary dynamics</a>
|
||||
<ul>
|
||||
<li><a href="#org3948d1f">2.1. Introduction</a></li>
|
||||
<li><a href="#org28c48e3">2.2. Equations of motion</a></li>
|
||||
<li><a href="#org3d4902a">2.2. Equations of motion</a></li>
|
||||
<li><a href="#orgc20cabb">2.3. Compliance of the Support</a></li>
|
||||
<li><a href="#org67810a4">2.4. Equivalent Inverse Multiplicative Uncertainty</a></li>
|
||||
<li><a href="#orge950395">2.5. Effect of the Isolation platform Stiffness</a></li>
|
||||
@@ -270,7 +58,7 @@
|
||||
<li><a href="#orgd2fc303">2.6.3. Effect of the platform’s mass \(m\)</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org718f0f1">2.7. Conclusion</a></li>
|
||||
<li><a href="#org999e1c5">2.7. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -324,8 +112,8 @@ The goal is to stabilize \(x\) using \(F\) in spite of uncertainty on the suppor
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org283e8c3" class="outline-3">
|
||||
<h3 id="org283e8c3"><span class="section-number-3">1.1</span> Equations of motion</h3>
|
||||
<div id="outline-container-orgf4562a5" class="outline-3">
|
||||
<h3 id="orgf4562a5"><span class="section-number-3">1.1</span> Equations of motion</h3>
|
||||
<div class="outline-text-3" id="text-1-1">
|
||||
<p>
|
||||
If we write the equation of motion of the system in Figure <a href="#org41bc770">1</a>, we obtain:
|
||||
@@ -429,8 +217,8 @@ The obtained dynamics from \(F\) to \(x\) for the three isolation platform are s
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgd28ebd8" class="outline-3">
|
||||
<h3 id="orgd28ebd8"><span class="section-number-3">1.5</span> Conclusion</h3>
|
||||
<div id="outline-container-org2a9bf99" class="outline-3">
|
||||
<h3 id="org2a9bf99"><span class="section-number-3">1.5</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-1-5">
|
||||
<div class="important">
|
||||
<p>
|
||||
@@ -475,8 +263,8 @@ Now let’s consider the system consisting of a mass-spring-system (the isol
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org28c48e3" class="outline-3">
|
||||
<h3 id="org28c48e3"><span class="section-number-3">2.2</span> Equations of motion</h3>
|
||||
<div id="outline-container-org3d4902a" class="outline-3">
|
||||
<h3 id="org3d4902a"><span class="section-number-3">2.2</span> Equations of motion</h3>
|
||||
<div class="outline-text-3" id="text-2-2">
|
||||
<p>
|
||||
We have to following equations of motion:
|
||||
@@ -812,8 +600,8 @@ Let’s fix \(k = 10^7\ [N/m]\), \(\xi = \frac{c}{2\sqrt{km}} = 0.1\) and se
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org718f0f1" class="outline-3">
|
||||
<h3 id="org718f0f1"><span class="section-number-3">2.7</span> Conclusion</h3>
|
||||
<div id="outline-container-org999e1c5" class="outline-3">
|
||||
<h3 id="org999e1c5"><span class="section-number-3">2.7</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-2-7">
|
||||
<div class="important">
|
||||
<p>
|
||||
@@ -841,7 +629,7 @@ Thus, if a stiff isolation platform is used, the recommendation is to have the l
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-04-01 mer. 16:14</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 09:35</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@@ -4,237 +4,25 @@
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-03-13 ven. 17:39 -->
|
||||
<!-- 2020-04-17 ven. 09:35 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>Simscape Uniaxial Model</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Dehaeze Thomas" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
||||
<script type="text/javascript" src="./js/jquery.min.js"></script>
|
||||
<script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
||||
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script type="text/javascript" src="./js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&dn=gpl-3.0.txt GPL-v3-or-Later
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
// @license-end
|
||||
</script>
|
||||
<script>
|
||||
MathJax = {
|
||||
tex: { macros: {
|
||||
bm: ["\\boldsymbol{#1}",1],
|
||||
}
|
||||
}
|
||||
<script src="./js/jquery.min.js"></script>
|
||||
<script src="./js/bootstrap.min.js"></script>
|
||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="./js/readtheorg.js"></script>
|
||||
<script>MathJax = {
|
||||
tex: {
|
||||
tags: 'ams',
|
||||
macros: {bm: ["\\boldsymbol{#1}",1],}
|
||||
}
|
||||
};
|
||||
</script>
|
||||
<script type="text/javascript"
|
||||
src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
<script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
@@ -250,69 +38,69 @@
|
||||
<li><a href="#org227ba84">1. Simscape Model</a></li>
|
||||
<li><a href="#org6bfb35d">2. Undamped System</a>
|
||||
<ul>
|
||||
<li><a href="#org006e24f">2.1. Init</a></li>
|
||||
<li><a href="#org4fbbce9">2.2. Identification</a></li>
|
||||
<li><a href="#org49ca9ab">2.3. Sensitivity to Disturbances</a></li>
|
||||
<li><a href="#org346ebf3">2.4. Noise Budget</a></li>
|
||||
<li><a href="#org4609941">2.1. Init</a></li>
|
||||
<li><a href="#org294eb39">2.2. Identification</a></li>
|
||||
<li><a href="#org7a1cc07">2.3. Sensitivity to Disturbances</a></li>
|
||||
<li><a href="#orga53aea9">2.4. Noise Budget</a></li>
|
||||
<li><a href="#orgdb3535a">2.5. Plant</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org33c3829">3. Integral Force Feedback</a>
|
||||
<li><a href="#org1cbdf7c">3. Integral Force Feedback</a>
|
||||
<ul>
|
||||
<li><a href="#org326d925">3.1. Control Design</a></li>
|
||||
<li><a href="#org86f3473">3.2. Identification</a></li>
|
||||
<li><a href="#org68c471e">3.3. Sensitivity to Disturbance</a></li>
|
||||
<li><a href="#org5edf015">3.4. Damped Plant</a></li>
|
||||
<li><a href="#orgfc93a1c">3.5. Conclusion</a></li>
|
||||
<li><a href="#org2eefec2">3.1. Control Design</a></li>
|
||||
<li><a href="#org1a0f43f">3.2. Identification</a></li>
|
||||
<li><a href="#orgc9a5688">3.3. Sensitivity to Disturbance</a></li>
|
||||
<li><a href="#org681a4b5">3.4. Damped Plant</a></li>
|
||||
<li><a href="#org7dff1b8">3.5. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org07ff58f">4. Relative Motion Control</a>
|
||||
<ul>
|
||||
<li><a href="#org5704583">4.1. Control Design</a></li>
|
||||
<li><a href="#orga436aa7">4.2. Identification</a></li>
|
||||
<li><a href="#org133268a">4.3. Sensitivity to Disturbance</a></li>
|
||||
<li><a href="#org2f974d4">4.4. Damped Plant</a></li>
|
||||
<li><a href="#orgfdbd543">4.5. Conclusion</a></li>
|
||||
<li><a href="#orgb8526dc">4.1. Control Design</a></li>
|
||||
<li><a href="#org08507fd">4.2. Identification</a></li>
|
||||
<li><a href="#org0f3fad3">4.3. Sensitivity to Disturbance</a></li>
|
||||
<li><a href="#org652a3fa">4.4. Damped Plant</a></li>
|
||||
<li><a href="#orgae3868e">4.5. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#orgc9b3622">5. Direct Velocity Feedback</a>
|
||||
<ul>
|
||||
<li><a href="#org2050b01">5.1. Control Design</a></li>
|
||||
<li><a href="#orgc946d88">5.2. Identification</a></li>
|
||||
<li><a href="#orgde4b14e">5.3. Sensitivity to Disturbance</a></li>
|
||||
<li><a href="#org640c7d9">5.4. Damped Plant</a></li>
|
||||
<li><a href="#org94e9d5f">5.5. Conclusion</a></li>
|
||||
<li><a href="#orgf39d565">5.1. Control Design</a></li>
|
||||
<li><a href="#org5546bc6">5.2. Identification</a></li>
|
||||
<li><a href="#orgd944a62">5.3. Sensitivity to Disturbance</a></li>
|
||||
<li><a href="#org7dee42a">5.4. Damped Plant</a></li>
|
||||
<li><a href="#orgd0c02fb">5.5. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org5ac7dda">6. With Cedrat Piezo-electric Actuators</a>
|
||||
<ul>
|
||||
<li><a href="#org1bfaed7">6.1. Identification</a></li>
|
||||
<li><a href="#orgf32651c">6.2. Control Design</a></li>
|
||||
<li><a href="#orgc7383cd">6.3. Identification</a></li>
|
||||
<li><a href="#org34de1fd">6.4. Sensitivity to Disturbance</a></li>
|
||||
<li><a href="#org609c873">6.5. Damped Plant</a></li>
|
||||
<li><a href="#org3c4f6ff">6.6. Conclusion</a></li>
|
||||
<li><a href="#orgb02fbb6">6.1. Identification</a></li>
|
||||
<li><a href="#orge2bfe04">6.2. Control Design</a></li>
|
||||
<li><a href="#org53cc9c6">6.3. Identification</a></li>
|
||||
<li><a href="#orgd6515d0">6.4. Sensitivity to Disturbance</a></li>
|
||||
<li><a href="#orgc6d991d">6.5. Damped Plant</a></li>
|
||||
<li><a href="#org8c680f2">6.6. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org77a79e6">7. Comparison of Active Damping Techniques</a>
|
||||
<ul>
|
||||
<li><a href="#orgb0afe4f">7.1. Load the plants</a></li>
|
||||
<li><a href="#orge08556d">7.2. Sensitivity to Disturbance</a></li>
|
||||
<li><a href="#orgfff33b9">7.3. Noise Budget</a></li>
|
||||
<li><a href="#orgc582849">7.4. Damped Plant</a></li>
|
||||
<li><a href="#orgde3c3e7">7.5. Conclusion</a></li>
|
||||
<li><a href="#orgcb13f9e">7.2. Sensitivity to Disturbance</a></li>
|
||||
<li><a href="#org5cadbe8">7.3. Noise Budget</a></li>
|
||||
<li><a href="#org8fede67">7.4. Damped Plant</a></li>
|
||||
<li><a href="#orgd8ddad5">7.5. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org15965e0">8. Voice Coil</a>
|
||||
<ul>
|
||||
<li><a href="#orge0ae68a">8.1. Init</a></li>
|
||||
<li><a href="#orgd0cdd7a">8.2. Identification</a></li>
|
||||
<li><a href="#orgea2fb03">8.3. Sensitivity to Disturbances</a></li>
|
||||
<li><a href="#org88de5a5">8.4. Noise Budget</a></li>
|
||||
<li><a href="#org241513b">8.5. Integral Force Feedback</a></li>
|
||||
<li><a href="#org33240ce">8.1. Init</a></li>
|
||||
<li><a href="#org1533141">8.2. Identification</a></li>
|
||||
<li><a href="#orgb814bd8">8.3. Sensitivity to Disturbances</a></li>
|
||||
<li><a href="#org790a719">8.4. Noise Budget</a></li>
|
||||
<li><a href="#orgfa698bd">8.5. Integral Force Feedback</a></li>
|
||||
<li><a href="#org2a655f7">8.6. Identification of the Damped Plant</a></li>
|
||||
<li><a href="#orgb7cef4c">8.7. Noise Budget</a></li>
|
||||
<li><a href="#orga9d9dce">8.8. Conclusion</a></li>
|
||||
<li><a href="#org1ecc3e1">8.7. Noise Budget</a></li>
|
||||
<li><a href="#org229e708">8.8. Conclusion</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -410,8 +198,8 @@ Schematics of the active damping techniques are displayed in figure <a href="#or
|
||||
Let’s start by study the undamped system.
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-org006e24f" class="outline-3">
|
||||
<h3 id="org006e24f"><span class="section-number-3">2.1</span> Init</h3>
|
||||
<div id="outline-container-org4609941" class="outline-3">
|
||||
<h3 id="org4609941"><span class="section-number-3">2.1</span> Init</h3>
|
||||
<div class="outline-text-3" id="text-2-1">
|
||||
<p>
|
||||
We initialize all the stages with the default parameters.
|
||||
@@ -423,8 +211,8 @@ All the controllers are set to 0 (Open Loop).
|
||||
</p>
|
||||
</div>
|
||||
</div>
|
||||
<div id="outline-container-org4fbbce9" class="outline-3">
|
||||
<h3 id="org4fbbce9"><span class="section-number-3">2.2</span> Identification</h3>
|
||||
<div id="outline-container-org294eb39" class="outline-3">
|
||||
<h3 id="org294eb39"><span class="section-number-3">2.2</span> Identification</h3>
|
||||
<div class="outline-text-3" id="text-2-2">
|
||||
<p>
|
||||
We identify the dynamics of the system.
|
||||
@@ -487,8 +275,8 @@ Finally, we save the identified system dynamics for further analysis.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org49ca9ab" class="outline-3">
|
||||
<h3 id="org49ca9ab"><span class="section-number-3">2.3</span> Sensitivity to Disturbances</h3>
|
||||
<div id="outline-container-org7a1cc07" class="outline-3">
|
||||
<h3 id="org7a1cc07"><span class="section-number-3">2.3</span> Sensitivity to Disturbances</h3>
|
||||
<div class="outline-text-3" id="text-2-3">
|
||||
<p>
|
||||
We show several plots representing the sensitivity to disturbances:
|
||||
@@ -515,8 +303,8 @@ We show several plots representing the sensitivity to disturbances:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org346ebf3" class="outline-3">
|
||||
<h3 id="org346ebf3"><span class="section-number-3">2.4</span> Noise Budget</h3>
|
||||
<div id="outline-container-orga53aea9" class="outline-3">
|
||||
<h3 id="orga53aea9"><span class="section-number-3">2.4</span> Noise Budget</h3>
|
||||
<div class="outline-text-3" id="text-2-4">
|
||||
<p>
|
||||
We first load the measured PSD of the disturbance.
|
||||
@@ -575,8 +363,8 @@ It corresponds to the plant to control.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org33c3829" class="outline-2">
|
||||
<h2 id="org33c3829"><span class="section-number-2">3</span> Integral Force Feedback</h2>
|
||||
<div id="outline-container-org1cbdf7c" class="outline-2">
|
||||
<h2 id="org1cbdf7c"><span class="section-number-2">3</span> Integral Force Feedback</h2>
|
||||
<div class="outline-text-2" id="text-3">
|
||||
<p>
|
||||
<a id="org37f1b7d"></a>
|
||||
@@ -588,8 +376,8 @@ It corresponds to the plant to control.
|
||||
<p><span class="figure-number">Figure 8: </span>Uniaxial IFF Control Schematic</p>
|
||||
</div>
|
||||
</div>
|
||||
<div id="outline-container-org326d925" class="outline-3">
|
||||
<h3 id="org326d925"><span class="section-number-3">3.1</span> Control Design</h3>
|
||||
<div id="outline-container-org2eefec2" class="outline-3">
|
||||
<h3 id="org2eefec2"><span class="section-number-3">3.1</span> Control Design</h3>
|
||||
<div class="outline-text-3" id="text-3-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load(<span class="org-string">'./mat/uniaxial_plants.mat'</span>, <span class="org-string">'G'</span>);
|
||||
@@ -624,8 +412,8 @@ The controller for each pair of actuator/sensor is:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org86f3473" class="outline-3">
|
||||
<h3 id="org86f3473"><span class="section-number-3">3.2</span> Identification</h3>
|
||||
<div id="outline-container-org1a0f43f" class="outline-3">
|
||||
<h3 id="org1a0f43f"><span class="section-number-3">3.2</span> Identification</h3>
|
||||
<div class="outline-text-3" id="text-3-2">
|
||||
<p>
|
||||
Let’s initialize the system prior to identification.
|
||||
@@ -708,8 +496,8 @@ G_iff.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org68c471e" class="outline-3">
|
||||
<h3 id="org68c471e"><span class="section-number-3">3.3</span> Sensitivity to Disturbance</h3>
|
||||
<div id="outline-container-orgc9a5688" class="outline-3">
|
||||
<h3 id="orgc9a5688"><span class="section-number-3">3.3</span> Sensitivity to Disturbance</h3>
|
||||
<div class="outline-text-3" id="text-3-3">
|
||||
|
||||
<div id="orge528565" class="figure">
|
||||
@@ -727,8 +515,8 @@ G_iff.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org5edf015" class="outline-3">
|
||||
<h3 id="org5edf015"><span class="section-number-3">3.4</span> Damped Plant</h3>
|
||||
<div id="outline-container-org681a4b5" class="outline-3">
|
||||
<h3 id="org681a4b5"><span class="section-number-3">3.4</span> Damped Plant</h3>
|
||||
<div class="outline-text-3" id="text-3-4">
|
||||
|
||||
<div id="org57280cb" class="figure">
|
||||
@@ -739,8 +527,8 @@ G_iff.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgfc93a1c" class="outline-3">
|
||||
<h3 id="orgfc93a1c"><span class="section-number-3">3.5</span> Conclusion</h3>
|
||||
<div id="outline-container-org7dff1b8" class="outline-3">
|
||||
<h3 id="org7dff1b8"><span class="section-number-3">3.5</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-3-5">
|
||||
<div class="important">
|
||||
<p>
|
||||
@@ -769,8 +557,8 @@ In the Relative Motion Control (RMC), a derivative feedback is applied between t
|
||||
<p><span class="figure-number">Figure 14: </span>Uniaxial RMC Control Schematic</p>
|
||||
</div>
|
||||
</div>
|
||||
<div id="outline-container-org5704583" class="outline-3">
|
||||
<h3 id="org5704583"><span class="section-number-3">4.1</span> Control Design</h3>
|
||||
<div id="outline-container-orgb8526dc" class="outline-3">
|
||||
<h3 id="orgb8526dc"><span class="section-number-3">4.1</span> Control Design</h3>
|
||||
<div class="outline-text-3" id="text-4-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load(<span class="org-string">'./mat/uniaxial_plants.mat'</span>, <span class="org-string">'G'</span>);
|
||||
@@ -806,8 +594,8 @@ A Low pass Filter is added to make the controller transfer function proper.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orga436aa7" class="outline-3">
|
||||
<h3 id="orga436aa7"><span class="section-number-3">4.2</span> Identification</h3>
|
||||
<div id="outline-container-org08507fd" class="outline-3">
|
||||
<h3 id="org08507fd"><span class="section-number-3">4.2</span> Identification</h3>
|
||||
<div class="outline-text-3" id="text-4-2">
|
||||
<p>
|
||||
Let’s initialize the system prior to identification.
|
||||
@@ -891,8 +679,8 @@ G_rmc.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
|
||||
</div>
|
||||
|
||||
|
||||
<div id="outline-container-org133268a" class="outline-3">
|
||||
<h3 id="org133268a"><span class="section-number-3">4.3</span> Sensitivity to Disturbance</h3>
|
||||
<div id="outline-container-org0f3fad3" class="outline-3">
|
||||
<h3 id="org0f3fad3"><span class="section-number-3">4.3</span> Sensitivity to Disturbance</h3>
|
||||
<div class="outline-text-3" id="text-4-3">
|
||||
|
||||
<div id="org9e0dde4" class="figure">
|
||||
@@ -910,8 +698,8 @@ G_rmc.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org2f974d4" class="outline-3">
|
||||
<h3 id="org2f974d4"><span class="section-number-3">4.4</span> Damped Plant</h3>
|
||||
<div id="outline-container-org652a3fa" class="outline-3">
|
||||
<h3 id="org652a3fa"><span class="section-number-3">4.4</span> Damped Plant</h3>
|
||||
<div class="outline-text-3" id="text-4-4">
|
||||
|
||||
<div id="org18786e8" class="figure">
|
||||
@@ -922,8 +710,8 @@ G_rmc.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgfdbd543" class="outline-3">
|
||||
<h3 id="orgfdbd543"><span class="section-number-3">4.5</span> Conclusion</h3>
|
||||
<div id="outline-container-orgae3868e" class="outline-3">
|
||||
<h3 id="orgae3868e"><span class="section-number-3">4.5</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-4-5">
|
||||
<div class="important">
|
||||
<p>
|
||||
@@ -952,8 +740,8 @@ In the Relative Motion Control (RMC), a feedback is applied between the measured
|
||||
<p><span class="figure-number">Figure 20: </span>Uniaxial DVF Control Schematic</p>
|
||||
</div>
|
||||
</div>
|
||||
<div id="outline-container-org2050b01" class="outline-3">
|
||||
<h3 id="org2050b01"><span class="section-number-3">5.1</span> Control Design</h3>
|
||||
<div id="outline-container-orgf39d565" class="outline-3">
|
||||
<h3 id="orgf39d565"><span class="section-number-3">5.1</span> Control Design</h3>
|
||||
<div class="outline-text-3" id="text-5-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load(<span class="org-string">'./mat/uniaxial_plants.mat'</span>, <span class="org-string">'G'</span>);
|
||||
@@ -981,8 +769,8 @@ In the Relative Motion Control (RMC), a feedback is applied between the measured
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgc946d88" class="outline-3">
|
||||
<h3 id="orgc946d88"><span class="section-number-3">5.2</span> Identification</h3>
|
||||
<div id="outline-container-org5546bc6" class="outline-3">
|
||||
<h3 id="org5546bc6"><span class="section-number-3">5.2</span> Identification</h3>
|
||||
<div class="outline-text-3" id="text-5-2">
|
||||
<p>
|
||||
Let’s initialize the system prior to identification.
|
||||
@@ -1065,8 +853,8 @@ G_dvf.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgde4b14e" class="outline-3">
|
||||
<h3 id="orgde4b14e"><span class="section-number-3">5.3</span> Sensitivity to Disturbance</h3>
|
||||
<div id="outline-container-orgd944a62" class="outline-3">
|
||||
<h3 id="orgd944a62"><span class="section-number-3">5.3</span> Sensitivity to Disturbance</h3>
|
||||
<div class="outline-text-3" id="text-5-3">
|
||||
|
||||
<div id="orgf9d4052" class="figure">
|
||||
@@ -1084,8 +872,8 @@ G_dvf.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org640c7d9" class="outline-3">
|
||||
<h3 id="org640c7d9"><span class="section-number-3">5.4</span> Damped Plant</h3>
|
||||
<div id="outline-container-org7dee42a" class="outline-3">
|
||||
<h3 id="org7dee42a"><span class="section-number-3">5.4</span> Damped Plant</h3>
|
||||
<div class="outline-text-3" id="text-5-4">
|
||||
|
||||
<div id="orgbc9c953" class="figure">
|
||||
@@ -1096,8 +884,8 @@ G_dvf.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org94e9d5f" class="outline-3">
|
||||
<h3 id="org94e9d5f"><span class="section-number-3">5.5</span> Conclusion</h3>
|
||||
<div id="outline-container-orgd0c02fb" class="outline-3">
|
||||
<h3 id="orgd0c02fb"><span class="section-number-3">5.5</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-5-5">
|
||||
<div class="important">
|
||||
<p>
|
||||
@@ -1125,8 +913,8 @@ The model used for the Cedrat actuator is shown in figure <a href="#org83591fa">
|
||||
<p><span class="figure-number">Figure 26: </span>Schematic of the model used for the Cedrat Actuator</p>
|
||||
</div>
|
||||
</div>
|
||||
<div id="outline-container-org1bfaed7" class="outline-3">
|
||||
<h3 id="org1bfaed7"><span class="section-number-3">6.1</span> Identification</h3>
|
||||
<div id="outline-container-orgb02fbb6" class="outline-3">
|
||||
<h3 id="orgb02fbb6"><span class="section-number-3">6.1</span> Identification</h3>
|
||||
<div class="outline-text-3" id="text-6-1">
|
||||
<p>
|
||||
Let’s initialize the system prior to identification.
|
||||
@@ -1214,8 +1002,8 @@ G.OutputName = {<span class="org-string">'D'</span>, ...<span class="org-comm
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgf32651c" class="outline-3">
|
||||
<h3 id="orgf32651c"><span class="section-number-3">6.2</span> Control Design</h3>
|
||||
<div id="outline-container-orge2bfe04" class="outline-3">
|
||||
<h3 id="orge2bfe04"><span class="section-number-3">6.2</span> Control Design</h3>
|
||||
<div class="outline-text-3" id="text-6-2">
|
||||
<p>
|
||||
Let’s look at the transfer function from actuator forces in the nano-hexapod to the force sensor in the nano-hexapod legs for all 6 pairs of actuator/sensor.
|
||||
@@ -1245,8 +1033,8 @@ The controller for each pair of actuator/sensor is:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgc7383cd" class="outline-3">
|
||||
<h3 id="orgc7383cd"><span class="section-number-3">6.3</span> Identification</h3>
|
||||
<div id="outline-container-org53cc9c6" class="outline-3">
|
||||
<h3 id="org53cc9c6"><span class="section-number-3">6.3</span> Identification</h3>
|
||||
<div class="outline-text-3" id="text-6-3">
|
||||
<p>
|
||||
Let’s initialize the system prior to identification.
|
||||
@@ -1330,8 +1118,8 @@ G_cedrat.OutputName = {<span class="org-string">'D'</span>, ...<span class="o
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org34de1fd" class="outline-3">
|
||||
<h3 id="org34de1fd"><span class="section-number-3">6.4</span> Sensitivity to Disturbance</h3>
|
||||
<div id="outline-container-orgd6515d0" class="outline-3">
|
||||
<h3 id="orgd6515d0"><span class="section-number-3">6.4</span> Sensitivity to Disturbance</h3>
|
||||
<div class="outline-text-3" id="text-6-4">
|
||||
|
||||
<div id="org90f5c2b" class="figure">
|
||||
@@ -1349,8 +1137,8 @@ G_cedrat.OutputName = {<span class="org-string">'D'</span>, ...<span class="o
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org609c873" class="outline-3">
|
||||
<h3 id="org609c873"><span class="section-number-3">6.5</span> Damped Plant</h3>
|
||||
<div id="outline-container-orgc6d991d" class="outline-3">
|
||||
<h3 id="orgc6d991d"><span class="section-number-3">6.5</span> Damped Plant</h3>
|
||||
<div class="outline-text-3" id="text-6-5">
|
||||
|
||||
<div id="org0c4e61a" class="figure">
|
||||
@@ -1361,8 +1149,8 @@ G_cedrat.OutputName = {<span class="org-string">'D'</span>, ...<span class="o
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org3c4f6ff" class="outline-3">
|
||||
<h3 id="org3c4f6ff"><span class="section-number-3">6.6</span> Conclusion</h3>
|
||||
<div id="outline-container-org8c680f2" class="outline-3">
|
||||
<h3 id="org8c680f2"><span class="section-number-3">6.6</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-6-6">
|
||||
<div class="important">
|
||||
<p>
|
||||
@@ -1391,8 +1179,8 @@ This gives similar results than with a classical force sensor.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orge08556d" class="outline-3">
|
||||
<h3 id="orge08556d"><span class="section-number-3">7.2</span> Sensitivity to Disturbance</h3>
|
||||
<div id="outline-container-orgcb13f9e" class="outline-3">
|
||||
<h3 id="orgcb13f9e"><span class="section-number-3">7.2</span> Sensitivity to Disturbance</h3>
|
||||
<div class="outline-text-3" id="text-7-2">
|
||||
|
||||
<div id="org8c59440" class="figure">
|
||||
@@ -1425,8 +1213,8 @@ This gives similar results than with a classical force sensor.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgfff33b9" class="outline-3">
|
||||
<h3 id="orgfff33b9"><span class="section-number-3">7.3</span> Noise Budget</h3>
|
||||
<div id="outline-container-org5cadbe8" class="outline-3">
|
||||
<h3 id="org5cadbe8"><span class="section-number-3">7.3</span> Noise Budget</h3>
|
||||
<div class="outline-text-3" id="text-7-3">
|
||||
<p>
|
||||
We first load the measured PSD of the disturbance.
|
||||
@@ -1493,8 +1281,8 @@ It is important to note that the effect of direct forces applied to the sample a
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgc582849" class="outline-3">
|
||||
<h3 id="orgc582849"><span class="section-number-3">7.4</span> Damped Plant</h3>
|
||||
<div id="outline-container-org8fede67" class="outline-3">
|
||||
<h3 id="org8fede67"><span class="section-number-3">7.4</span> Damped Plant</h3>
|
||||
<div class="outline-text-3" id="text-7-4">
|
||||
|
||||
<div id="orga0c1298" class="figure">
|
||||
@@ -1505,8 +1293,8 @@ It is important to note that the effect of direct forces applied to the sample a
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgde3c3e7" class="outline-3">
|
||||
<h3 id="orgde3c3e7"><span class="section-number-3">7.5</span> Conclusion</h3>
|
||||
<div id="outline-container-orgd8ddad5" class="outline-3">
|
||||
<h3 id="orgd8ddad5"><span class="section-number-3">7.5</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-7-5">
|
||||
<table id="org46e95c2" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
|
||||
<caption class="t-above"><span class="table-number">Table 2:</span> Comparison of proposed active damping techniques</caption>
|
||||
@@ -1582,8 +1370,8 @@ It is important to note that the effect of direct forces applied to the sample a
|
||||
<a id="orgf9e9d51"></a>
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-orge0ae68a" class="outline-3">
|
||||
<h3 id="orge0ae68a"><span class="section-number-3">8.1</span> Init</h3>
|
||||
<div id="outline-container-org33240ce" class="outline-3">
|
||||
<h3 id="org33240ce"><span class="section-number-3">8.1</span> Init</h3>
|
||||
<div class="outline-text-3" id="text-8-1">
|
||||
<p>
|
||||
We initialize all the stages with the default parameters.
|
||||
@@ -1595,8 +1383,8 @@ All the controllers are set to 0 (Open Loop).
|
||||
</p>
|
||||
</div>
|
||||
</div>
|
||||
<div id="outline-container-orgd0cdd7a" class="outline-3">
|
||||
<h3 id="orgd0cdd7a"><span class="section-number-3">8.2</span> Identification</h3>
|
||||
<div id="outline-container-org1533141" class="outline-3">
|
||||
<h3 id="org1533141"><span class="section-number-3">8.2</span> Identification</h3>
|
||||
<div class="outline-text-3" id="text-8-2">
|
||||
<p>
|
||||
We identify the dynamics of the system.
|
||||
@@ -1659,8 +1447,8 @@ Finally, we save the identified system dynamics for further analysis.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgea2fb03" class="outline-3">
|
||||
<h3 id="orgea2fb03"><span class="section-number-3">8.3</span> Sensitivity to Disturbances</h3>
|
||||
<div id="outline-container-orgb814bd8" class="outline-3">
|
||||
<h3 id="orgb814bd8"><span class="section-number-3">8.3</span> Sensitivity to Disturbances</h3>
|
||||
<div class="outline-text-3" id="text-8-3">
|
||||
<p>
|
||||
We load the dynamics when using a piezo-electric nano hexapod to compare the results.
|
||||
@@ -1694,8 +1482,8 @@ We show several plots representing the sensitivity to disturbances:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org88de5a5" class="outline-3">
|
||||
<h3 id="org88de5a5"><span class="section-number-3">8.4</span> Noise Budget</h3>
|
||||
<div id="outline-container-org790a719" class="outline-3">
|
||||
<h3 id="org790a719"><span class="section-number-3">8.4</span> Noise Budget</h3>
|
||||
<div class="outline-text-3" id="text-8-4">
|
||||
<p>
|
||||
We first load the measured PSD of the disturbance.
|
||||
@@ -1744,8 +1532,8 @@ Thus, it may be desirable to use voice coil actuators.
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div id="outline-container-org241513b" class="outline-3">
|
||||
<h3 id="org241513b"><span class="section-number-3">8.5</span> Integral Force Feedback</h3>
|
||||
<div id="outline-container-orgfa698bd" class="outline-3">
|
||||
<h3 id="orgfa698bd"><span class="section-number-3">8.5</span> Integral Force Feedback</h3>
|
||||
<div class="outline-text-3" id="text-8-5">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">K_iff = <span class="org-type">-</span>20<span class="org-type">/</span>s;
|
||||
@@ -1840,8 +1628,8 @@ G_vc_iff.OutputName = {<span class="org-string">'D'</span>, ...<span class="o
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgb7cef4c" class="outline-3">
|
||||
<h3 id="orgb7cef4c"><span class="section-number-3">8.7</span> Noise Budget</h3>
|
||||
<div id="outline-container-org1ecc3e1" class="outline-3">
|
||||
<h3 id="org1ecc3e1"><span class="section-number-3">8.7</span> Noise Budget</h3>
|
||||
<div class="outline-text-3" id="text-8-7">
|
||||
<p>
|
||||
We compute the obtain PSD of the displacement \(D\) when using IFF.
|
||||
@@ -1855,8 +1643,8 @@ We compute the obtain PSD of the displacement \(D\) when using IFF.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orga9d9dce" class="outline-3">
|
||||
<h3 id="orga9d9dce"><span class="section-number-3">8.8</span> Conclusion</h3>
|
||||
<div id="outline-container-org229e708" class="outline-3">
|
||||
<h3 id="org229e708"><span class="section-number-3">8.8</span> Conclusion</h3>
|
||||
<div class="outline-text-3" id="text-8-8">
|
||||
<div class="important">
|
||||
<p>
|
||||
@@ -1874,7 +1662,7 @@ Similarly, it would require much lower bandwidth to attain the same level of dis
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-03-13 ven. 17:39</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 09:35</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
Reference in New Issue
Block a user