tdehaeze/phd-control
Archived
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add complementary filter section

Browse Source
This commit is contained in:
Thomas Dehaeze 2025-04-03 15:25:11 +02:00
parent eb59823cb3
commit f3bf64da95
81 changed files with 11828 additions and 38 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
.latexmkrc
View File

@ -11,7 +11,7 @@
# PDF Generation/Building/Compilation
# ======================================================================================
@default_files=('nass-fem.tex');
@default_files=('nass-control.tex');
# PDF-generating modes are:
# 1: pdflatex, as specified by $pdflatex variable (still largely in use)

BIN
figs/detail_control_architecture_hac_lac.pdf Normal file
View File

Binary file not shown.

BIN
figs/detail_control_architecture_hac_lac.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 14 KiB

174
figs/detail_control_architecture_hac_lac.svg Normal file
View File

@ -0,0 +1,174 @@
<?xml version="1.0" encoding="UTF-8"?>
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="178.135" height="120.286" viewBox="0 0 178.135 120.286">
<defs>
<g>
<g id="glyph-0-0">
<path d="M 5.46875 -2.328125 C 5.46875 -3.65625 4.421875 -4.734375 3.140625 -4.734375 L 0.40625 -4.734375 L 0.40625 -4.484375 L 0.5625 -4.484375 C 1.109375 -4.484375 1.109375 -4.421875 1.109375 -4.171875 L 1.109375 -0.5625 C 1.109375 -0.328125 1.109375 -0.25 0.5625 -0.25 L 0.40625 -0.25 L 0.40625 0 L 3.140625 0 C 4.40625 0 5.46875 -1.03125 5.46875 -2.328125 Z M 4.765625 -2.328125 C 4.765625 -1.53125 4.5625 -1.109375 4.3125 -0.8125 C 4 -0.46875 3.5 -0.25 2.953125 -0.25 L 2.078125 -0.25 C 1.75 -0.25 1.75 -0.3125 1.75 -0.515625 L 1.75 -4.21875 C 1.75 -4.4375 1.75 -4.484375 2.078125 -4.484375 L 2.9375 -4.484375 C 3.53125 -4.484375 4.046875 -4.25 4.359375 -3.84375 C 4.640625 -3.46875 4.765625 -2.9375 4.765625 -2.328125 Z M 4.765625 -2.328125 "/>
</g>
<g id="glyph-0-1">
<path d="M 3.78125 -0.625 L 3.78125 -1 L 3.53125 -1 L 3.53125 -0.625 C 3.53125 -0.5625 3.53125 -0.234375 3.28125 -0.234375 C 3.03125 -0.234375 3.03125 -0.5625 3.03125 -0.640625 L 3.03125 -1.859375 C 3.03125 -2.234375 3.03125 -2.484375 2.703125 -2.75 C 2.421875 -2.984375 2.09375 -3.09375 1.671875 -3.09375 C 1.015625 -3.09375 0.5625 -2.84375 0.5625 -2.421875 C 0.5625 -2.203125 0.703125 -2.078125 0.890625 -2.078125 C 1.078125 -2.078125 1.21875 -2.21875 1.21875 -2.40625 C 1.21875 -2.53125 1.15625 -2.671875 0.96875 -2.71875 C 1.21875 -2.90625 1.625 -2.90625 1.671875 -2.90625 C 2.046875 -2.90625 2.484375 -2.640625 2.484375 -2.0625 L 2.484375 -1.84375 C 2.09375 -1.828125 1.640625 -1.8125 1.125 -1.625 C 0.5 -1.390625 0.3125 -1.015625 0.3125 -0.703125 C 0.3125 -0.109375 1.03125 0.0625 1.53125 0.0625 C 2.078125 0.0625 2.40625 -0.25 2.546875 -0.515625 C 2.578125 -0.234375 2.765625 0.03125 3.09375 0.03125 C 3.09375 0.03125 3.78125 0.03125 3.78125 -0.625 Z M 2.484375 -0.984375 C 2.484375 -0.3125 1.890625 -0.125 1.578125 -0.125 C 1.234375 -0.125 0.890625 -0.359375 0.890625 -0.703125 C 0.890625 -1.078125 1.234375 -1.609375 2.484375 -1.671875 Z M 2.484375 -0.984375 "/>
</g>
<g id="glyph-0-2">
<path d="M 6.21875 0 L 6.21875 -0.25 C 5.765625 -0.25 5.703125 -0.25 5.703125 -0.546875 L 5.703125 -2.109375 C 5.703125 -2.703125 5.40625 -3.0625 4.65625 -3.0625 C 4.109375 -3.0625 3.734375 -2.765625 3.546875 -2.421875 C 3.40625 -2.90625 3.03125 -3.0625 2.53125 -3.0625 C 1.96875 -3.0625 1.59375 -2.75 1.40625 -2.390625 L 1.390625 -2.390625 L 1.390625 -3.0625 L 0.375 -2.984375 L 0.375 -2.734375 C 0.84375 -2.734375 0.890625 -2.6875 0.890625 -2.34375 L 0.890625 -0.546875 C 0.890625 -0.25 0.828125 -0.25 0.375 -0.25 L 0.375 0 C 0.375 0 0.875 -0.03125 1.171875 -0.03125 C 1.421875 -0.03125 1.90625 0 1.96875 0 L 1.96875 -0.25 C 1.515625 -0.25 1.4375 -0.25 1.4375 -0.546875 L 1.4375 -1.796875 C 1.4375 -2.53125 2.015625 -2.859375 2.484375 -2.859375 C 2.96875 -2.859375 3.03125 -2.484375 3.03125 -2.125 L 3.03125 -0.546875 C 3.03125 -0.25 2.953125 -0.25 2.5 -0.25 L 2.5 0 C 2.5 0 3 -0.03125 3.296875 -0.03125 C 3.546875 -0.03125 4.03125 0 4.09375 0 L 4.09375 -0.25 C 3.640625 -0.25 3.578125 -0.25 3.578125 -0.546875 L 3.578125 -1.796875 C 3.578125 -2.53125 4.15625 -2.859375 4.609375 -2.859375 C 5.09375 -2.859375 5.15625 -2.484375 5.15625 -2.125 L 5.15625 -0.546875 C 5.15625 -0.25 5.078125 -0.25 4.640625 -0.25 L 4.640625 0 C 4.640625 0 5.140625 -0.03125 5.421875 -0.03125 C 5.6875 -0.03125 6.15625 0 6.21875 0 Z M 6.21875 0 "/>
</g>
<g id="glyph-0-3">
<path d="M 4.046875 -1.5 C 4.046875 -2.359375 3.34375 -3.0625 2.46875 -3.0625 C 2.0625 -3.0625 1.671875 -2.90625 1.375 -2.640625 L 1.375 -3.0625 L 0.34375 -2.984375 L 0.34375 -2.734375 C 0.828125 -2.734375 0.859375 -2.703125 0.859375 -2.40625 L 0.859375 0.796875 C 0.859375 1.09375 0.796875 1.09375 0.34375 1.09375 L 0.34375 1.34375 C 0.34375 1.34375 0.84375 1.3125 1.125 1.3125 C 1.390625 1.3125 1.859375 1.34375 1.921875 1.34375 L 1.921875 1.09375 C 1.484375 1.09375 1.40625 1.09375 1.40625 0.796875 L 1.40625 -0.328125 C 1.4375 -0.296875 1.765625 0.0625 2.359375 0.0625 C 3.265625 0.0625 4.046875 -0.625 4.046875 -1.5 Z M 3.421875 -1.5 C 3.421875 -0.703125 2.90625 -0.125 2.3125 -0.125 C 1.703125 -0.125 1.421875 -0.65625 1.40625 -0.703125 L 1.40625 -2.3125 C 1.609375 -2.65625 2.015625 -2.84375 2.390625 -2.84375 C 2.96875 -2.84375 3.421875 -2.234375 3.421875 -1.5 Z M 3.421875 -1.5 "/>
</g>
<g id="glyph-0-4">
<path d="M 3.25 -0.828125 C 3.25 -0.859375 3.234375 -0.921875 3.125 -0.921875 C 3.03125 -0.921875 3.03125 -0.890625 3 -0.8125 C 2.78125 -0.25 2.265625 -0.15625 2.015625 -0.15625 C 1.6875 -0.15625 1.375 -0.296875 1.171875 -0.5625 C 0.90625 -0.890625 0.90625 -1.3125 0.90625 -1.578125 L 3.046875 -1.578125 C 3.203125 -1.578125 3.25 -1.578125 3.25 -1.734375 C 3.25 -2.34375 2.90625 -3.09375 1.875 -3.09375 C 0.96875 -3.09375 0.265625 -2.375 0.265625 -1.515625 C 0.265625 -0.640625 1.046875 0.0625 1.96875 0.0625 C 2.90625 0.0625 3.25 -0.6875 3.25 -0.828125 Z M 2.765625 -1.765625 L 0.90625 -1.765625 C 0.984375 -2.734375 1.609375 -2.90625 1.875 -2.90625 C 2.71875 -2.90625 2.75 -1.9375 2.765625 -1.765625 Z M 2.765625 -1.765625 "/>
</g>
<g id="glyph-0-5">
<path d="M 4.03125 0 L 4.03125 -0.25 C 3.5625 -0.25 3.515625 -0.296875 3.515625 -0.640625 L 3.515625 -4.8125 L 2.46875 -4.734375 L 2.46875 -4.484375 C 2.9375 -4.484375 2.984375 -4.4375 2.984375 -4.09375 L 2.984375 -2.65625 C 2.734375 -2.90625 2.40625 -3.0625 2.015625 -3.0625 C 1.09375 -3.0625 0.3125 -2.359375 0.3125 -1.484375 C 0.3125 -0.625 1.046875 0.0625 1.9375 0.0625 C 2.5 0.0625 2.84375 -0.234375 2.96875 -0.359375 L 2.96875 0.0625 Z M 2.96875 -0.734375 C 2.78125 -0.40625 2.421875 -0.125 1.984375 -0.125 C 1.59375 -0.125 1.3125 -0.359375 1.171875 -0.5625 C 1.03125 -0.765625 0.953125 -1.046875 0.953125 -1.484375 C 0.953125 -1.640625 0.953125 -2.171875 1.234375 -2.484375 C 1.515625 -2.796875 1.859375 -2.859375 2.046875 -2.859375 C 2.390625 -2.859375 2.6875 -2.71875 2.875 -2.46875 C 2.96875 -2.359375 2.96875 -2.34375 2.96875 -2.21875 Z M 2.96875 -0.734375 "/>
</g>
<g id="glyph-0-6">
<path d="M 4.828125 -3.4375 C 4.828125 -4.125 4.0625 -4.734375 3.03125 -4.734375 L 0.40625 -4.734375 L 0.40625 -4.484375 L 0.5625 -4.484375 C 1.109375 -4.484375 1.109375 -4.421875 1.109375 -4.171875 L 1.109375 -0.5625 C 1.109375 -0.328125 1.109375 -0.25 0.5625 -0.25 L 0.40625 -0.25 L 0.40625 0 L 1.4375 -0.03125 L 2.484375 0 L 2.484375 -0.25 L 2.328125 -0.25 C 1.796875 -0.25 1.78125 -0.3125 1.78125 -0.5625 L 1.78125 -2.15625 L 3.03125 -2.15625 C 4.046875 -2.15625 4.828125 -2.734375 4.828125 -3.4375 Z M 4.09375 -3.4375 C 4.09375 -3.125 4.09375 -2.375 2.859375 -2.375 L 1.75 -2.375 L 1.75 -4.21875 C 1.75 -4.4375 1.75 -4.484375 2.078125 -4.484375 L 2.859375 -4.484375 C 4.03125 -4.484375 4.09375 -3.84375 4.09375 -3.4375 Z M 4.09375 -3.4375 "/>
</g>
<g id="glyph-0-7">
<path d="M 1.953125 0 L 1.953125 -0.25 C 1.5 -0.25 1.421875 -0.25 1.421875 -0.546875 L 1.421875 -4.8125 L 0.390625 -4.734375 L 0.390625 -4.484375 C 0.859375 -4.484375 0.90625 -4.4375 0.90625 -4.09375 L 0.90625 -0.546875 C 0.90625 -0.25 0.84375 -0.25 0.390625 -0.25 L 0.390625 0 C 0.390625 0 0.890625 -0.03125 1.171875 -0.03125 C 1.421875 -0.03125 1.6875 -0.015625 1.953125 0 Z M 1.953125 0 "/>
</g>
<g id="glyph-0-8">
<path d="M 4.09375 0 L 4.09375 -0.25 C 3.640625 -0.25 3.578125 -0.25 3.578125 -0.546875 L 3.578125 -2.109375 C 3.578125 -2.703125 3.28125 -3.0625 2.53125 -3.0625 C 1.96875 -3.0625 1.59375 -2.75 1.40625 -2.390625 L 1.390625 -2.390625 L 1.390625 -3.0625 L 0.375 -2.984375 L 0.375 -2.734375 C 0.84375 -2.734375 0.890625 -2.6875 0.890625 -2.34375 L 0.890625 -0.546875 C 0.890625 -0.25 0.828125 -0.25 0.375 -0.25 L 0.375 0 C 0.375 0 0.875 -0.03125 1.171875 -0.03125 C 1.421875 -0.03125 1.90625 0 1.96875 0 L 1.96875 -0.25 C 1.515625 -0.25 1.4375 -0.25 1.4375 -0.546875 L 1.4375 -1.796875 C 1.4375 -2.53125 2.015625 -2.859375 2.484375 -2.859375 C 2.96875 -2.859375 3.03125 -2.484375 3.03125 -2.125 L 3.03125 -0.546875 C 3.03125 -0.25 2.953125 -0.25 2.5 -0.25 L 2.5 0 C 2.5 0 3 -0.03125 3.296875 -0.03125 C 3.546875 -0.03125 4.03125 0 4.09375 0 Z M 4.09375 0 "/>
</g>
<g id="glyph-0-9">
<path d="M 2.609375 -0.875 L 2.609375 -1.25 L 2.359375 -1.25 L 2.359375 -0.875 C 2.359375 -0.40625 2.140625 -0.15625 1.875 -0.15625 C 1.390625 -0.15625 1.390625 -0.734375 1.390625 -0.859375 L 1.390625 -2.734375 L 2.484375 -2.734375 L 2.484375 -2.984375 L 1.390625 -2.984375 L 1.390625 -4.265625 L 1.15625 -4.265625 C 1.15625 -3.640625 0.875 -2.953125 0.203125 -2.9375 L 0.203125 -2.734375 L 0.84375 -2.734375 L 0.84375 -0.875 C 0.84375 -0.09375 1.421875 0.0625 1.8125 0.0625 C 2.28125 0.0625 2.609375 -0.328125 2.609375 -0.875 Z M 2.609375 -0.875 "/>
</g>
<g id="glyph-0-10">
<path d="M 4.515625 -1.828125 L 4.28125 -1.828125 C 4.203125 -1.140625 4.09375 -0.25 2.78125 -0.25 L 2.09375 -0.25 C 1.765625 -0.25 1.765625 -0.3125 1.765625 -0.515625 L 1.765625 -4.171875 C 1.765625 -4.390625 1.765625 -4.484375 2.421875 -4.484375 L 2.65625 -4.484375 L 2.65625 -4.734375 L 1.4375 -4.703125 L 0.390625 -4.734375 L 0.390625 -4.484375 L 0.5625 -4.484375 C 1.09375 -4.484375 1.109375 -4.421875 1.109375 -4.171875 L 1.109375 -0.5625 C 1.109375 -0.328125 1.09375 -0.25 0.5625 -0.25 L 0.390625 -0.25 L 0.390625 0 L 4.3125 0 Z M 4.515625 -1.828125 "/>
</g>
<g id="glyph-0-11">
<path d="M 5.53125 0 L 5.53125 -0.25 L 5.390625 -0.25 C 4.921875 -0.25 4.875 -0.3125 4.796875 -0.515625 L 3.109375 -4.78125 C 3.078125 -4.890625 3.046875 -4.953125 2.921875 -4.953125 C 2.78125 -4.953125 2.765625 -4.890625 2.71875 -4.78125 L 1.125 -0.734375 C 1.046875 -0.5625 0.9375 -0.25 0.3125 -0.25 L 0.3125 0 C 0.546875 -0.015625 0.796875 -0.03125 1.03125 -0.03125 C 1.296875 -0.03125 1.8125 0 1.859375 0 L 1.859375 -0.25 C 1.546875 -0.25 1.359375 -0.390625 1.359375 -0.578125 C 1.359375 -0.640625 1.359375 -0.65625 1.390625 -0.71875 L 1.734375 -1.578125 L 3.703125 -1.578125 L 4.09375 -0.5625 C 4.109375 -0.53125 4.140625 -0.484375 4.140625 -0.4375 C 4.140625 -0.25 3.765625 -0.25 3.578125 -0.25 L 3.578125 0 L 4.609375 -0.03125 C 4.9375 -0.03125 5.453125 0 5.53125 0 Z M 3.59375 -1.828125 L 1.828125 -1.828125 L 2.71875 -4.078125 Z M 3.59375 -1.828125 "/>
</g>
<g id="glyph-0-12">
<path d="M 5.15625 -1.625 C 5.15625 -1.703125 5.15625 -1.75 5.046875 -1.75 C 5 -1.75 4.9375 -1.75 4.921875 -1.671875 C 4.875 -0.546875 3.921875 -0.109375 3.234375 -0.109375 C 2.5 -0.109375 1.234375 -0.5625 1.234375 -2.359375 C 1.234375 -4.25 2.578125 -4.625 3.21875 -4.625 C 3.90625 -4.625 4.734375 -4.171875 4.90625 -2.96875 C 4.921875 -2.890625 4.984375 -2.890625 5.03125 -2.890625 C 5.15625 -2.890625 5.15625 -2.9375 5.15625 -3.078125 L 5.15625 -4.703125 C 5.15625 -4.8125 5.15625 -4.875 5.0625 -4.875 C 5.03125 -4.875 5 -4.875 4.953125 -4.796875 L 4.578125 -4.265625 C 4.28125 -4.5625 3.8125 -4.875 3.140625 -4.875 C 1.6875 -4.875 0.484375 -3.75 0.484375 -2.375 C 0.484375 -0.96875 1.703125 0.140625 3.140625 0.140625 C 4.375 0.140625 5.15625 -0.78125 5.15625 -1.625 Z M 5.15625 -1.625 "/>
</g>
<g id="glyph-0-13">
<path d="M 5.453125 0 L 5.453125 -0.25 L 5.28125 -0.25 C 4.75 -0.25 4.734375 -0.3125 4.734375 -0.5625 L 4.734375 -4.171875 C 4.734375 -4.40625 4.75 -4.484375 5.28125 -4.484375 L 5.453125 -4.484375 L 5.453125 -4.734375 L 4.40625 -4.703125 L 3.359375 -4.734375 L 3.359375 -4.484375 L 3.53125 -4.484375 C 4.0625 -4.484375 4.078125 -4.421875 4.078125 -4.171875 L 4.078125 -2.59375 L 1.765625 -2.59375 L 1.765625 -4.171875 C 1.765625 -4.40625 1.78125 -4.484375 2.3125 -4.484375 L 2.484375 -4.484375 L 2.484375 -4.734375 L 1.4375 -4.703125 L 0.390625 -4.734375 L 0.390625 -4.484375 L 0.5625 -4.484375 C 1.09375 -4.484375 1.109375 -4.421875 1.109375 -4.171875 L 1.109375 -0.5625 C 1.109375 -0.328125 1.09375 -0.25 0.5625 -0.25 L 0.390625 -0.25 L 0.390625 0 L 1.421875 -0.03125 L 2.484375 0 L 2.484375 -0.25 L 2.3125 -0.25 C 1.78125 -0.25 1.765625 -0.3125 1.765625 -0.5625 L 1.765625 -2.34375 L 4.078125 -2.34375 L 4.078125 -0.5625 C 4.078125 -0.328125 4.0625 -0.25 3.53125 -0.25 L 3.359375 -0.25 L 3.359375 0 L 4.40625 -0.03125 Z M 5.453125 0 "/>
</g>
<g id="glyph-1-0">
<path d="M 6.1875 -4.921875 C 6.1875 -5.890625 5.203125 -6.765625 3.84375 -6.765625 L 0.34375 -6.765625 L 0.34375 -6.453125 L 0.578125 -6.453125 C 1.34375 -6.453125 1.359375 -6.34375 1.359375 -6 L 1.359375 -0.765625 C 1.359375 -0.421875 1.34375 -0.3125 0.578125 -0.3125 L 0.34375 -0.3125 L 0.34375 0 C 0.6875 -0.03125 1.421875 -0.03125 1.796875 -0.03125 C 2.171875 -0.03125 2.921875 -0.03125 3.265625 0 L 3.265625 -0.3125 L 3.03125 -0.3125 C 2.265625 -0.3125 2.25 -0.421875 2.25 -0.765625 L 2.25 -3.125 L 3.921875 -3.125 C 5.109375 -3.125 6.1875 -3.9375 6.1875 -4.921875 Z M 5.15625 -4.921875 C 5.15625 -4.453125 5.15625 -3.390625 3.59375 -3.390625 L 2.21875 -3.390625 L 2.21875 -6.0625 C 2.21875 -6.390625 2.234375 -6.453125 2.703125 -6.453125 L 3.59375 -6.453125 C 5.15625 -6.453125 5.15625 -5.40625 5.15625 -4.921875 Z M 5.15625 -4.921875 "/>
</g>
<g id="glyph-1-1">
<path d="M 2.53125 0 L 2.53125 -0.3125 C 1.859375 -0.3125 1.75 -0.3125 1.75 -0.75 L 1.75 -6.875 L 0.328125 -6.765625 L 0.328125 -6.453125 C 1.015625 -6.453125 1.09375 -6.390625 1.09375 -5.90625 L 1.09375 -0.75 C 1.09375 -0.3125 0.984375 -0.3125 0.328125 -0.3125 L 0.328125 0 L 1.421875 -0.03125 Z M 2.53125 0 "/>
</g>
<g id="glyph-1-2">
<path d="M 4.78125 -0.875 L 4.78125 -1.4375 L 4.53125 -1.4375 L 4.53125 -0.875 C 4.53125 -0.3125 4.296875 -0.25 4.1875 -0.25 C 3.859375 -0.25 3.8125 -0.6875 3.8125 -0.75 L 3.8125 -2.71875 C 3.8125 -3.140625 3.8125 -3.53125 3.453125 -3.890625 C 3.078125 -4.28125 2.578125 -4.4375 2.09375 -4.4375 C 1.28125 -4.4375 0.609375 -3.96875 0.609375 -3.3125 C 0.609375 -3.015625 0.796875 -2.859375 1.0625 -2.859375 C 1.34375 -2.859375 1.515625 -3.046875 1.515625 -3.3125 C 1.515625 -3.421875 1.46875 -3.75 1.015625 -3.765625 C 1.28125 -4.109375 1.765625 -4.21875 2.078125 -4.21875 C 2.5625 -4.21875 3.125 -3.828125 3.125 -2.953125 L 3.125 -2.578125 C 2.625 -2.5625 1.9375 -2.53125 1.3125 -2.234375 C 0.5625 -1.890625 0.3125 -1.375 0.3125 -0.9375 C 0.3125 -0.140625 1.28125 0.109375 1.90625 0.109375 C 2.5625 0.109375 3.015625 -0.28125 3.203125 -0.75 C 3.234375 -0.359375 3.5 0.0625 3.96875 0.0625 C 4.1875 0.0625 4.78125 -0.078125 4.78125 -0.875 Z M 3.125 -1.390625 C 3.125 -0.453125 2.421875 -0.109375 1.96875 -0.109375 C 1.484375 -0.109375 1.078125 -0.453125 1.078125 -0.953125 C 1.078125 -1.5 1.5 -2.3125 3.125 -2.375 Z M 3.125 -1.390625 "/>
</g>
<g id="glyph-1-3">
<path d="M 5.296875 0 L 5.296875 -0.3125 C 4.78125 -0.3125 4.53125 -0.3125 4.53125 -0.609375 L 4.53125 -2.5 C 4.53125 -3.34375 4.53125 -3.65625 4.21875 -4.015625 C 4.078125 -4.1875 3.75 -4.375 3.1875 -4.375 C 2.453125 -4.375 1.984375 -3.953125 1.71875 -3.34375 L 1.71875 -4.375 L 0.3125 -4.265625 L 0.3125 -3.96875 C 1.015625 -3.96875 1.09375 -3.890625 1.09375 -3.40625 L 1.09375 -0.75 C 1.09375 -0.3125 0.984375 -0.3125 0.3125 -0.3125 L 0.3125 0 L 1.4375 -0.03125 L 2.546875 0 L 2.546875 -0.3125 C 1.875 -0.3125 1.765625 -0.3125 1.765625 -0.75 L 1.765625 -2.578125 C 1.765625 -3.609375 2.484375 -4.15625 3.109375 -4.15625 C 3.734375 -4.15625 3.84375 -3.625 3.84375 -3.0625 L 3.84375 -0.75 C 3.84375 -0.3125 3.734375 -0.3125 3.078125 -0.3125 L 3.078125 0 L 4.1875 -0.03125 Z M 5.296875 0 "/>
</g>
<g id="glyph-1-4">
<path d="M 3.28125 -1.234375 L 3.28125 -1.796875 L 3.046875 -1.796875 L 3.046875 -1.25 C 3.046875 -0.515625 2.75 -0.140625 2.375 -0.140625 C 1.71875 -0.140625 1.71875 -1.046875 1.71875 -1.203125 L 1.71875 -3.96875 L 3.125 -3.96875 L 3.125 -4.265625 L 1.71875 -4.265625 L 1.71875 -6.09375 L 1.46875 -6.09375 C 1.453125 -5.28125 1.15625 -4.21875 0.1875 -4.1875 L 0.1875 -3.96875 L 1.03125 -3.96875 L 1.03125 -1.234375 C 1.03125 -0.015625 1.953125 0.109375 2.3125 0.109375 C 3.015625 0.109375 3.28125 -0.59375 3.28125 -1.234375 Z M 3.28125 -1.234375 "/>
</g>
<g id="glyph-2-0">
<path d="M 7.328125 -0.203125 C 7.328125 -0.3125 7.21875 -0.3125 7.125 -0.3125 C 6.71875 -0.3125 6.59375 -0.40625 6.453125 -0.75 L 5.046875 -4 C 5.03125 -4.03125 5 -4.109375 5 -4.140625 C 5 -4.140625 5.171875 -4.296875 5.28125 -4.375 L 7.015625 -5.703125 C 7.9375 -6.390625 8.328125 -6.421875 8.625 -6.453125 C 8.703125 -6.46875 8.8125 -6.484375 8.8125 -6.65625 C 8.8125 -6.703125 8.78125 -6.765625 8.703125 -6.765625 C 8.484375 -6.765625 8.234375 -6.734375 8 -6.734375 C 7.640625 -6.734375 7.25 -6.765625 6.890625 -6.765625 C 6.828125 -6.765625 6.703125 -6.765625 6.703125 -6.5625 C 6.703125 -6.5 6.75 -6.46875 6.828125 -6.453125 C 7.046875 -6.4375 7.125 -6.390625 7.125 -6.25 C 7.125 -6.078125 6.828125 -5.84375 6.78125 -5.796875 L 2.90625 -2.828125 L 3.703125 -6 C 3.796875 -6.359375 3.8125 -6.453125 4.53125 -6.453125 C 4.78125 -6.453125 4.875 -6.453125 4.875 -6.65625 C 4.875 -6.75 4.796875 -6.765625 4.734375 -6.765625 L 3.46875 -6.734375 L 2.1875 -6.765625 C 2.125 -6.765625 1.984375 -6.765625 1.984375 -6.578125 C 1.984375 -6.453125 2.078125 -6.453125 2.28125 -6.453125 C 2.40625 -6.453125 2.578125 -6.453125 2.703125 -6.4375 C 2.859375 -6.421875 2.921875 -6.390625 2.921875 -6.28125 C 2.921875 -6.234375 2.90625 -6.21875 2.875 -6.09375 L 1.5625 -0.765625 C 1.453125 -0.390625 1.4375 -0.3125 0.65625 -0.3125 C 0.484375 -0.3125 0.375 -0.3125 0.375 -0.125 C 0.375 0 0.5 0 0.53125 0 L 1.78125 -0.03125 L 2.421875 -0.015625 C 2.640625 -0.015625 2.859375 0 3.0625 0 C 3.125 0 3.265625 0 3.265625 -0.203125 C 3.265625 -0.3125 3.171875 -0.3125 2.984375 -0.3125 C 2.609375 -0.3125 2.34375 -0.3125 2.34375 -0.484375 C 2.34375 -0.5625 2.390625 -0.765625 2.421875 -0.921875 L 2.828125 -2.484375 L 4.296875 -3.625 L 5.453125 -0.953125 C 5.5625 -0.6875 5.5625 -0.671875 5.5625 -0.609375 C 5.5625 -0.3125 5.140625 -0.3125 5.046875 -0.3125 C 4.9375 -0.3125 4.828125 -0.3125 4.828125 -0.109375 C 4.828125 0 4.96875 0 4.96875 0 C 5.375 0 5.78125 -0.03125 6.1875 -0.03125 C 6.40625 -0.03125 6.9375 0 7.15625 0 C 7.203125 0 7.328125 0 7.328125 -0.203125 Z M 7.328125 -0.203125 "/>
</g>
<g id="glyph-2-1">
<path d="M 4.90625 -1.421875 C 4.90625 -1.515625 4.828125 -1.515625 4.796875 -1.515625 C 4.703125 -1.515625 4.6875 -1.46875 4.671875 -1.40625 C 4.34375 -0.34375 3.671875 -0.109375 3.34375 -0.109375 C 2.96875 -0.109375 2.796875 -0.421875 2.796875 -0.765625 C 2.796875 -0.984375 2.859375 -1.203125 2.96875 -1.640625 L 3.3125 -2.984375 C 3.375 -3.25 3.59375 -4.15625 4.296875 -4.15625 C 4.34375 -4.15625 4.578125 -4.15625 4.78125 -4.03125 C 4.5 -3.984375 4.3125 -3.734375 4.3125 -3.5 C 4.3125 -3.34375 4.421875 -3.15625 4.6875 -3.15625 C 4.90625 -3.15625 5.21875 -3.328125 5.21875 -3.71875 C 5.21875 -4.234375 4.640625 -4.375 4.296875 -4.375 C 3.71875 -4.375 3.375 -3.859375 3.265625 -3.625 C 3.015625 -4.28125 2.484375 -4.375 2.1875 -4.375 C 1.15625 -4.375 0.59375 -3.09375 0.59375 -2.859375 C 0.59375 -2.75 0.71875 -2.75 0.71875 -2.75 C 0.796875 -2.75 0.828125 -2.78125 0.84375 -2.859375 C 1.171875 -3.90625 1.828125 -4.15625 2.171875 -4.15625 C 2.359375 -4.15625 2.703125 -4.078125 2.703125 -3.5 C 2.703125 -3.1875 2.53125 -2.53125 2.171875 -1.140625 C 2.015625 -0.53125 1.671875 -0.109375 1.234375 -0.109375 C 1.171875 -0.109375 0.9375 -0.109375 0.734375 -0.234375 C 0.984375 -0.28125 1.203125 -0.5 1.203125 -0.765625 C 1.203125 -1.046875 0.984375 -1.125 0.828125 -1.125 C 0.53125 -1.125 0.28125 -0.859375 0.28125 -0.546875 C 0.28125 -0.09375 0.78125 0.109375 1.21875 0.109375 C 1.875 0.109375 2.234375 -0.578125 2.265625 -0.640625 C 2.375 -0.28125 2.734375 0.109375 3.328125 0.109375 C 4.34375 0.109375 4.90625 -1.171875 4.90625 -1.421875 Z M 4.90625 -1.421875 "/>
</g>
<g id="glyph-2-2">
<path d="M 5.375 -1.421875 C 5.375 -1.515625 5.296875 -1.515625 5.265625 -1.515625 C 5.15625 -1.515625 5.15625 -1.46875 5.125 -1.34375 C 4.984375 -0.78125 4.796875 -0.109375 4.375 -0.109375 C 4.171875 -0.109375 4.078125 -0.234375 4.078125 -0.5625 C 4.078125 -0.78125 4.1875 -1.25 4.265625 -1.59375 L 4.546875 -2.671875 C 4.578125 -2.8125 4.671875 -3.1875 4.71875 -3.34375 C 4.765625 -3.5625 4.859375 -3.9375 4.859375 -4 C 4.859375 -4.1875 4.71875 -4.265625 4.578125 -4.265625 C 4.53125 -4.265625 4.265625 -4.265625 4.1875 -3.921875 L 3.453125 -0.9375 C 3.4375 -0.90625 3.046875 -0.109375 2.3125 -0.109375 C 1.796875 -0.109375 1.703125 -0.5625 1.703125 -0.921875 C 1.703125 -1.46875 1.984375 -2.265625 2.234375 -2.9375 C 2.359375 -3.234375 2.40625 -3.375 2.40625 -3.5625 C 2.40625 -4.015625 2.09375 -4.375 1.59375 -4.375 C 0.65625 -4.375 0.28125 -2.9375 0.28125 -2.859375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.78125 0.5625 -2.9375 C 0.8125 -3.796875 1.1875 -4.15625 1.5625 -4.15625 C 1.65625 -4.15625 1.8125 -4.15625 1.8125 -3.828125 C 1.8125 -3.59375 1.703125 -3.3125 1.640625 -3.15625 C 1.28125 -2.171875 1.0625 -1.5625 1.0625 -1.078125 C 1.0625 -0.140625 1.75 0.109375 2.28125 0.109375 C 2.9375 0.109375 3.296875 -0.34375 3.46875 -0.5625 C 3.578125 -0.15625 3.921875 0.109375 4.34375 0.109375 C 4.703125 0.109375 4.921875 -0.125 5.078125 -0.4375 C 5.25 -0.796875 5.375 -1.421875 5.375 -1.421875 Z M 5.375 -1.421875 "/>
</g>
<g id="glyph-3-0">
<path d="M 11.515625 -4.265625 C 11.515625 -4.5625 11.234375 -4.5625 10.984375 -4.5625 L 6.453125 -4.5625 L 6.453125 -9.109375 C 6.453125 -9.34375 6.453125 -9.625 6.15625 -9.625 C 5.84375 -9.625 5.84375 -9.359375 5.84375 -9.109375 L 5.84375 -4.5625 L 1.3125 -4.5625 C 1.078125 -4.5625 0.78125 -4.5625 0.78125 -4.28125 C 0.78125 -3.96875 1.0625 -3.96875 1.3125 -3.96875 L 5.84375 -3.96875 L 5.84375 0.5625 C 5.84375 0.796875 5.84375 1.09375 6.140625 1.09375 C 6.453125 1.09375 6.453125 0.828125 6.453125 0.5625 L 6.453125 -3.96875 L 10.984375 -3.96875 C 11.21875 -3.96875 11.515625 -3.96875 11.515625 -4.265625 Z M 11.515625 -4.265625 "/>
</g>
<g id="glyph-4-0">
<path d="M 2.078125 -3.5 C 2.078125 -3.71875 1.890625 -3.875 1.671875 -3.875 C 1.390625 -3.875 1.3125 -3.65625 1.296875 -3.5625 L 0.375 -0.5625 L 0.328125 -0.4375 C 0.328125 -0.359375 0.546875 -0.28125 0.609375 -0.28125 C 0.65625 -0.28125 0.6875 -0.3125 0.703125 -0.390625 L 2.015625 -3.28125 C 2.046875 -3.34375 2.078125 -3.40625 2.078125 -3.5 Z M 2.078125 -3.5 "/>
</g>
</g>
<clipPath id="clip-0">
<path clip-rule="nonzero" d="M 0.09375 81 L 173 81 L 173 119.578125 L 0.09375 119.578125 Z M 0.09375 81 "/>
</clipPath>
<clipPath id="clip-1">
<path clip-rule="nonzero" d="M 0.09375 65 L 28 65 L 28 98 L 0.09375 98 Z M 0.09375 65 "/>
</clipPath>
</defs>
<path fill-rule="nonzero" fill="rgb(79.998779%, 79.998779%, 79.998779%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-dasharray="2.98883 2.98883" stroke-miterlimit="10" d="M -66.930892 -32.828466 L 47.003132 -32.828466 L 47.003132 67.843708 L -66.930892 67.843708 Z M -66.930892 -32.828466 " transform="matrix(0.994099, 0, 0, -0.994099, 129.461726, 81.654312)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="94.388913" y="8.573111"/>
<use xlink:href="#glyph-0-1" x="100.351684" y="8.573111"/>
<use xlink:href="#glyph-0-2" x="104.299134" y="8.573111"/>
<use xlink:href="#glyph-0-3" x="110.805425" y="8.573111"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-4" x="115.394839" y="8.573111"/>
<use xlink:href="#glyph-0-5" x="118.915931" y="8.573111"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-6" x="125.959502" y="8.573111"/>
<use xlink:href="#glyph-0-7" x="131.283083" y="8.573111"/>
<use xlink:href="#glyph-0-1" x="133.525102" y="8.573111"/>
<use xlink:href="#glyph-0-8" x="137.472552" y="8.573111"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-9" x="141.632142" y="8.573111"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -28.347751 -28.344978 L 28.346165 -28.344978 L 28.346165 28.345008 L -28.347751 28.345008 Z M -28.347751 -28.344978 " transform="matrix(0.994099, 0, 0, -0.994099, 129.461726, 81.654312)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="117.701533" y="85.065066"/>
<use xlink:href="#glyph-1-1" x="124.442067" y="85.065066"/>
<use xlink:href="#glyph-1-2" x="127.193346" y="85.065066"/>
<use xlink:href="#glyph-1-3" x="132.145253" y="85.065066"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-4" x="137.370504" y="85.065066"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -17.007396 35.013263 L 17.009739 35.013263 L 17.009739 63.360221 L -17.007396 63.360221 Z M -17.007396 35.013263 " transform="matrix(0.994099, 0, 0, -0.994099, 129.461726, 81.654312)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="116.917188" y="35.399872"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-10" x="125.328261" y="36.885056"/>
<use xlink:href="#glyph-0-11" x="130.225485" y="36.885056"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-12" x="135.856875" y="36.885056"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -43.020268 -0.00194949 C -43.020268 5.503192 -47.480179 9.963103 -52.981391 9.963103 C -58.482603 9.963103 -62.942514 5.503192 -62.942514 -0.00194949 C -62.942514 -5.503161 -58.482603 -9.963072 -52.981391 -9.963072 C -47.480179 -9.963072 -43.020268 -5.503161 -43.020268 -0.00194949 Z M -43.020268 -0.00194949 " transform="matrix(0.994099, 0, 0, -0.994099, 129.461726, 81.654312)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="70.634913" y="85.795729"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -114.465291 -14.171499 L -80.452085 -14.171499 L -80.452085 14.17153 L -114.465291 14.17153 Z M -114.465291 -14.171499 " transform="matrix(0.994099, 0, 0, -0.994099, 129.461726, 81.654312)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="19.560086" y="84.294639"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-13" x="27.972153" y="85.780818"/>
<use xlink:href="#glyph-0-11" x="33.818456" y="85.780818"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-12" x="39.449846" y="85.780818"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 28.845203 17.30722 L 43.018682 17.30722 L 43.018682 49.186742 L 22.141584 49.186742 " transform="matrix(0.994099, 0, 0, -0.994099, 129.461726, 81.654312)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054885 -0.000991944 L 1.610692 1.684736 L 3.08816 -0.000991944 L 1.610692 -1.682791 Z M 6.054885 -0.000991944 " transform="matrix(-0.994099, 0, 0, 0.994099, 154.292593, 32.758799)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="161.932981" y="60.652973"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="167.592388" y="57.059304"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -17.506434 49.186742 L -52.981391 49.186742 L -52.981391 14.595909 " transform="matrix(0.994099, 0, 0, -0.994099, 129.461726, 81.654312)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053211 -0.000291062 L 1.609018 1.681508 L 3.086486 -0.000291062 L 1.609018 -1.68209 Z M 6.053211 -0.000291062 " transform="matrix(0, 0.994099, 0.994099, 0, 76.793258, 64.322352)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -43.020268 -0.00194949 L -33.479596 -0.00194949 " transform="matrix(0.994099, 0, 0, -0.994099, 129.461726, 81.654312)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.051684 -0.00194949 L 1.607491 1.683779 L 3.088888 -0.00194949 L 1.607491 -1.683748 Z M 6.051684 -0.00194949 " transform="matrix(0.994099, 0, 0, -0.994099, 93.359026, 81.654312)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-2" x="91.322117" y="77.857847"/>
</g>
<g clip-path="url(#clip-0)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 28.845203 -17.30719 L 43.018682 -17.30719 L 43.018682 -37.150846 L -129.137808 -37.150846 L -129.137808 -0.00194949 L -119.597135 -0.00194949 " transform="matrix(0.994099, 0, 0, -0.994099, 129.461726, 81.654312)"/>
</g>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 13.765625 81.65625 L 9.347656 79.980469 L 10.816406 81.65625 L 9.347656 83.328125 Z M 13.765625 81.65625 "/>
<g clip-path="url(#clip-1)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053694 -0.00194949 L 1.609501 1.683779 L 3.086969 -0.00194949 L 1.609501 -1.683748 Z M 6.053694 -0.00194949 " transform="matrix(0.994099, 0, 0, -0.994099, 7.747653, 81.654312)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="161.932981" y="95.062722"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -79.953046 -0.00194949 L -67.579249 -0.00194949 " transform="matrix(0.994099, 0, 0, -0.994099, 129.461726, 81.654312)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.0549 -0.00194949 L 1.606777 1.683779 L 3.088175 -0.00194949 L 1.606777 -1.683748 Z M 6.0549 -0.00194949 " transform="matrix(0.994099, 0, 0, -0.994099, 59.461298, 81.654312)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-2" x="53.778968" y="77.857847"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="59.448315" y="74.264179"/>
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 30 KiB

BIN
figs/detail_control_architecture_sensor_fusion.pdf Normal file
View File

Binary file not shown.

BIN
figs/detail_control_architecture_sensor_fusion.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 14 KiB

195
figs/detail_control_architecture_sensor_fusion.svg Normal file
View File

@ -0,0 +1,195 @@
<?xml version="1.0" encoding="UTF-8"?>
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="233.678" height="95.257" viewBox="0 0 233.678 95.257">
<defs>
<g>
<g id="glyph-0-0">
<path d="M 3.875 -1.28125 C 3.875 -1.90625 3.4375 -2.484375 2.75 -2.65625 L 1.71875 -2.890625 C 1.109375 -3.03125 0.921875 -3.453125 0.921875 -3.75 C 0.921875 -4.203125 1.34375 -4.640625 1.984375 -4.640625 C 2.921875 -4.640625 3.3125 -4.015625 3.421875 -3.296875 C 3.4375 -3.1875 3.453125 -3.15625 3.546875 -3.15625 C 3.671875 -3.15625 3.671875 -3.203125 3.671875 -3.34375 L 3.671875 -4.6875 C 3.671875 -4.796875 3.671875 -4.859375 3.578125 -4.859375 C 3.515625 -4.859375 3.5 -4.84375 3.453125 -4.765625 L 3.203125 -4.375 C 2.75 -4.84375 2.171875 -4.859375 1.984375 -4.859375 C 1.109375 -4.859375 0.484375 -4.25 0.484375 -3.546875 C 0.484375 -3.15625 0.65625 -2.859375 0.90625 -2.625 C 1.1875 -2.359375 1.40625 -2.3125 2.15625 -2.140625 C 2.796875 -2 2.921875 -1.96875 3.125 -1.78125 C 3.28125 -1.625 3.4375 -1.390625 3.4375 -1.09375 C 3.4375 -0.609375 3.03125 -0.109375 2.375 -0.109375 C 1.703125 -0.109375 0.765625 -0.375 0.71875 -1.421875 C 0.71875 -1.53125 0.71875 -1.578125 0.609375 -1.578125 C 0.484375 -1.578125 0.484375 -1.515625 0.484375 -1.390625 L 0.484375 -0.046875 C 0.484375 0.078125 0.484375 0.140625 0.578125 0.140625 C 0.640625 0.140625 0.65625 0.125 0.6875 0.0625 C 0.75 -0.03125 0.890625 -0.25 0.953125 -0.34375 C 1.390625 0.046875 1.921875 0.140625 2.375 0.140625 C 3.28125 0.140625 3.875 -0.546875 3.875 -1.28125 Z M 3.875 -1.28125 "/>
</g>
<g id="glyph-0-1">
<path d="M 3.234375 -0.828125 C 3.234375 -0.859375 3.21875 -0.921875 3.125 -0.921875 C 3.03125 -0.921875 3.015625 -0.890625 3 -0.8125 C 2.78125 -0.25 2.25 -0.15625 2 -0.15625 C 1.6875 -0.15625 1.375 -0.296875 1.15625 -0.5625 C 0.90625 -0.890625 0.90625 -1.3125 0.90625 -1.578125 L 3.046875 -1.578125 C 3.1875 -1.578125 3.234375 -1.578125 3.234375 -1.734375 C 3.234375 -2.34375 2.90625 -3.09375 1.875 -3.09375 C 0.96875 -3.09375 0.265625 -2.375 0.265625 -1.515625 C 0.265625 -0.640625 1.03125 0.0625 1.953125 0.0625 C 2.890625 0.0625 3.234375 -0.671875 3.234375 -0.828125 Z M 2.75 -1.765625 L 0.90625 -1.765625 C 0.984375 -2.734375 1.609375 -2.890625 1.875 -2.890625 C 2.71875 -2.890625 2.75 -1.9375 2.75 -1.765625 Z M 2.75 -1.765625 "/>
</g>
<g id="glyph-0-2">
<path d="M 4.078125 0 L 4.078125 -0.25 C 3.640625 -0.25 3.5625 -0.25 3.5625 -0.546875 L 3.5625 -2.09375 C 3.5625 -2.703125 3.265625 -3.046875 2.53125 -3.046875 C 1.953125 -3.046875 1.59375 -2.734375 1.390625 -2.375 L 1.390625 -3.046875 L 0.375 -2.96875 L 0.375 -2.734375 C 0.84375 -2.734375 0.890625 -2.671875 0.890625 -2.34375 L 0.890625 -0.546875 C 0.890625 -0.25 0.828125 -0.25 0.375 -0.25 L 0.375 0 C 0.375 0 0.875 -0.03125 1.15625 -0.03125 C 1.421875 -0.03125 1.890625 0 1.953125 0 L 1.953125 -0.25 C 1.515625 -0.25 1.4375 -0.25 1.4375 -0.546875 L 1.4375 -1.796875 C 1.4375 -2.515625 2.015625 -2.859375 2.46875 -2.859375 C 2.953125 -2.859375 3.015625 -2.484375 3.015625 -2.125 L 3.015625 -0.546875 C 3.015625 -0.25 2.953125 -0.25 2.5 -0.25 L 2.5 0 C 2.5 0 3 -0.03125 3.28125 -0.03125 C 3.546875 -0.03125 4.015625 0 4.078125 0 Z M 4.078125 0 "/>
</g>
<g id="glyph-0-3">
<path d="M 2.8125 -0.90625 C 2.8125 -1.171875 2.703125 -1.375 2.515625 -1.546875 C 2.25 -1.78125 1.9375 -1.84375 1.703125 -1.875 C 1.140625 -1.984375 0.6875 -2.0625 0.6875 -2.421875 C 0.6875 -2.65625 0.875 -2.921875 1.53125 -2.921875 C 2.34375 -2.921875 2.375 -2.359375 2.390625 -2.15625 C 2.390625 -2.078125 2.484375 -2.078125 2.5 -2.078125 C 2.625 -2.078125 2.625 -2.125 2.625 -2.265625 L 2.625 -2.90625 C 2.625 -3.03125 2.625 -3.09375 2.53125 -3.09375 C 2.484375 -3.09375 2.484375 -3.09375 2.390625 -3 C 2.375 -3 2.3125 -2.9375 2.265625 -2.90625 C 2.0625 -3.046875 1.796875 -3.09375 1.53125 -3.09375 C 0.546875 -3.09375 0.3125 -2.5625 0.3125 -2.21875 C 0.3125 -2 0.40625 -1.828125 0.578125 -1.6875 C 0.84375 -1.453125 1.09375 -1.40625 1.53125 -1.328125 C 1.875 -1.28125 2.4375 -1.171875 2.4375 -0.71875 C 2.4375 -0.4375 2.25 -0.125 1.578125 -0.125 C 0.921875 -0.125 0.671875 -0.5625 0.546875 -1.03125 C 0.53125 -1.125 0.53125 -1.15625 0.421875 -1.15625 C 0.3125 -1.15625 0.3125 -1.09375 0.3125 -0.96875 L 0.3125 -0.109375 C 0.3125 0 0.3125 0.0625 0.40625 0.0625 C 0.46875 0.0625 0.609375 -0.078125 0.734375 -0.234375 C 1.046875 0.0625 1.421875 0.0625 1.578125 0.0625 C 2.484375 0.0625 2.8125 -0.421875 2.8125 -0.90625 Z M 2.8125 -0.90625 "/>
</g>
<g id="glyph-0-4">
<path d="M 3.65625 -1.46875 C 3.65625 -2.34375 2.921875 -3.09375 1.96875 -3.09375 C 1.015625 -3.09375 0.265625 -2.34375 0.265625 -1.46875 C 0.265625 -0.609375 1.03125 0.0625 1.96875 0.0625 C 2.90625 0.0625 3.65625 -0.609375 3.65625 -1.46875 Z M 3.03125 -1.53125 C 3.03125 -1.203125 3.015625 -0.84375 2.8125 -0.546875 C 2.625 -0.296875 2.3125 -0.15625 1.96875 -0.15625 C 1.703125 -0.15625 1.328125 -0.234375 1.109375 -0.578125 C 0.921875 -0.859375 0.90625 -1.21875 0.90625 -1.53125 C 0.90625 -1.828125 0.90625 -2.25 1.15625 -2.546875 C 1.328125 -2.734375 1.609375 -2.890625 1.96875 -2.890625 C 2.375 -2.890625 2.671875 -2.703125 2.8125 -2.484375 C 3.015625 -2.21875 3.03125 -1.875 3.03125 -1.53125 Z M 3.03125 -1.53125 "/>
</g>
<g id="glyph-0-5">
<path d="M 2.8125 -2.609375 C 2.8125 -2.84375 2.59375 -3.046875 2.265625 -3.046875 C 1.921875 -3.046875 1.546875 -2.84375 1.328125 -2.3125 L 1.328125 -3.046875 L 0.34375 -2.96875 L 0.34375 -2.734375 C 0.796875 -2.734375 0.859375 -2.671875 0.859375 -2.34375 L 0.859375 -0.546875 C 0.859375 -0.25 0.796875 -0.25 0.34375 -0.25 L 0.34375 0 C 0.375 0 0.84375 -0.03125 1.125 -0.03125 L 2.03125 0 L 2.03125 -0.25 L 1.890625 -0.25 C 1.375 -0.25 1.375 -0.328125 1.375 -0.5625 L 1.375 -1.578125 C 1.375 -2.15625 1.640625 -2.859375 2.3125 -2.859375 C 2.25 -2.8125 2.1875 -2.71875 2.1875 -2.609375 C 2.1875 -2.375 2.375 -2.296875 2.5 -2.296875 C 2.671875 -2.296875 2.8125 -2.40625 2.8125 -2.609375 Z M 2.8125 -2.609375 "/>
</g>
<g id="glyph-0-6">
<path d="M 4.71875 -3.109375 L 4.515625 -4.703125 L 0.390625 -4.703125 L 0.390625 -4.453125 L 0.546875 -4.453125 C 1.09375 -4.453125 1.09375 -4.375 1.09375 -4.140625 L 1.09375 -0.5625 C 1.09375 -0.328125 1.09375 -0.25 0.546875 -0.25 L 0.390625 -0.25 L 0.390625 0 L 1.4375 -0.03125 L 2.65625 0 L 2.65625 -0.25 L 2.40625 -0.25 C 1.765625 -0.25 1.765625 -0.34375 1.765625 -0.5625 L 1.765625 -2.234375 L 2.421875 -2.234375 C 3.125 -2.234375 3.21875 -2.015625 3.21875 -1.421875 L 3.453125 -1.421875 L 3.453125 -3.28125 L 3.21875 -3.28125 C 3.21875 -2.6875 3.125 -2.484375 2.421875 -2.484375 L 1.765625 -2.484375 L 1.765625 -4.1875 C 1.765625 -4.390625 1.765625 -4.453125 2.09375 -4.453125 L 3.0625 -4.453125 C 4.171875 -4.453125 4.359375 -4.078125 4.484375 -3.109375 Z M 4.71875 -3.109375 "/>
</g>
<g id="glyph-0-7">
<path d="M 4.078125 0 L 4.078125 -0.25 C 3.625 -0.25 3.5625 -0.296875 3.5625 -0.640625 L 3.5625 -3.046875 L 2.5 -2.96875 L 2.5 -2.734375 C 2.96875 -2.734375 3.015625 -2.671875 3.015625 -2.34375 L 3.015625 -1.15625 C 3.015625 -0.546875 2.625 -0.125 2.09375 -0.125 C 1.46875 -0.125 1.4375 -0.421875 1.4375 -0.78125 L 1.4375 -3.046875 L 0.375 -2.96875 L 0.375 -2.734375 C 0.890625 -2.734375 0.890625 -2.703125 0.890625 -2.09375 L 0.890625 -1.046875 C 0.890625 -0.578125 0.890625 0.0625 2.046875 0.0625 C 2.203125 0.0625 2.703125 0.0625 3.03125 -0.515625 L 3.046875 -0.515625 L 3.046875 0.0625 Z M 4.078125 0 "/>
</g>
<g id="glyph-0-8">
<path d="M 1.890625 0 L 1.890625 -0.25 C 1.5 -0.25 1.421875 -0.25 1.421875 -0.546875 L 1.421875 -3.046875 L 0.40625 -2.96875 L 0.40625 -2.734375 C 0.84375 -2.734375 0.90625 -2.6875 0.90625 -2.34375 L 0.90625 -0.546875 C 0.90625 -0.25 0.84375 -0.25 0.390625 -0.25 L 0.390625 0 C 0.390625 0 0.890625 -0.03125 1.15625 -0.03125 C 1.40625 -0.03125 1.65625 -0.015625 1.890625 0 Z M 1.515625 -4.171875 C 1.515625 -4.390625 1.34375 -4.5625 1.125 -4.5625 C 0.890625 -4.5625 0.734375 -4.375 0.734375 -4.171875 C 0.734375 -3.953125 0.90625 -3.765625 1.125 -3.765625 C 1.359375 -3.765625 1.515625 -3.96875 1.515625 -4.171875 Z M 1.515625 -4.171875 "/>
</g>
<g id="glyph-0-9">
<path d="M 5.4375 0 L 5.4375 -0.25 L 5.28125 -0.25 C 4.734375 -0.25 4.734375 -0.3125 4.734375 -0.5625 L 4.734375 -4.171875 C 4.734375 -4.40625 4.734375 -4.484375 5.28125 -4.484375 L 5.4375 -4.484375 L 5.4375 -4.734375 L 4.40625 -4.703125 L 3.359375 -4.734375 L 3.359375 -4.484375 L 3.515625 -4.484375 C 4.0625 -4.484375 4.0625 -4.40625 4.0625 -4.171875 L 4.0625 -2.578125 L 1.765625 -2.578125 L 1.765625 -4.171875 C 1.765625 -4.40625 1.765625 -4.484375 2.3125 -4.484375 L 2.46875 -4.484375 L 2.46875 -4.734375 L 1.4375 -4.703125 L 0.390625 -4.734375 L 0.390625 -4.484375 L 0.546875 -4.484375 C 1.09375 -4.484375 1.09375 -4.40625 1.09375 -4.171875 L 1.09375 -0.5625 C 1.09375 -0.328125 1.09375 -0.25 0.546875 -0.25 L 0.390625 -0.25 L 0.390625 0 L 1.421875 -0.03125 L 2.46875 0 L 2.46875 -0.25 L 2.3125 -0.25 C 1.765625 -0.25 1.765625 -0.3125 1.765625 -0.5625 L 1.765625 -2.328125 L 4.0625 -2.328125 L 4.0625 -0.5625 C 4.0625 -0.328125 4.0625 -0.25 3.515625 -0.25 L 3.359375 -0.25 L 3.359375 0 L 4.390625 -0.03125 Z M 5.4375 0 "/>
</g>
<g id="glyph-0-10">
<path d="M 4.828125 -3.421875 C 4.828125 -4.109375 4.046875 -4.734375 3.03125 -4.734375 L 0.40625 -4.734375 L 0.40625 -4.484375 L 0.5625 -4.484375 C 1.09375 -4.484375 1.109375 -4.40625 1.109375 -4.171875 L 1.109375 -0.5625 C 1.109375 -0.328125 1.09375 -0.25 0.5625 -0.25 L 0.40625 -0.25 L 0.40625 0 L 1.4375 -0.03125 L 2.484375 0 L 2.484375 -0.25 L 2.3125 -0.25 C 1.78125 -0.25 1.765625 -0.3125 1.765625 -0.5625 L 1.765625 -2.140625 L 3.03125 -2.140625 C 4.03125 -2.140625 4.828125 -2.734375 4.828125 -3.421875 Z M 4.078125 -3.421875 C 4.078125 -3.125 4.078125 -2.375 2.859375 -2.375 L 1.75 -2.375 L 1.75 -4.203125 C 1.75 -4.421875 1.75 -4.484375 2.078125 -4.484375 L 2.859375 -4.484375 C 4.015625 -4.484375 4.078125 -3.828125 4.078125 -3.421875 Z M 4.078125 -3.421875 "/>
</g>
<g id="glyph-0-11">
<path d="M 4.5 -1.828125 L 4.265625 -1.828125 C 4.1875 -1.140625 4.09375 -0.25 2.78125 -0.25 L 2.09375 -0.25 C 1.765625 -0.25 1.765625 -0.296875 1.765625 -0.515625 L 1.765625 -4.15625 C 1.765625 -4.390625 1.765625 -4.484375 2.40625 -4.484375 L 2.65625 -4.484375 L 2.65625 -4.734375 L 1.4375 -4.703125 L 0.390625 -4.734375 L 0.390625 -4.484375 L 0.546875 -4.484375 C 1.09375 -4.484375 1.09375 -4.40625 1.09375 -4.171875 L 1.09375 -0.5625 C 1.09375 -0.328125 1.09375 -0.25 0.546875 -0.25 L 0.390625 -0.25 L 0.390625 0 L 4.296875 0 Z M 4.5 -1.828125 "/>
</g>
<g id="glyph-1-0">
<path d="M 6.171875 -4.921875 C 6.171875 -5.890625 5.1875 -6.75 3.84375 -6.75 L 0.34375 -6.75 L 0.34375 -6.453125 L 0.578125 -6.453125 C 1.34375 -6.453125 1.359375 -6.34375 1.359375 -5.984375 L 1.359375 -0.765625 C 1.359375 -0.421875 1.34375 -0.3125 0.578125 -0.3125 L 0.34375 -0.3125 L 0.34375 0 C 0.6875 -0.03125 1.421875 -0.03125 1.796875 -0.03125 C 2.171875 -0.03125 2.921875 -0.03125 3.265625 0 L 3.265625 -0.3125 L 3.03125 -0.3125 C 2.265625 -0.3125 2.25 -0.421875 2.25 -0.765625 L 2.25 -3.125 L 3.921875 -3.125 C 5.109375 -3.125 6.171875 -3.921875 6.171875 -4.921875 Z M 5.15625 -4.921875 C 5.15625 -4.453125 5.15625 -3.375 3.578125 -3.375 L 2.21875 -3.375 L 2.21875 -6.046875 C 2.21875 -6.375 2.234375 -6.453125 2.703125 -6.453125 L 3.578125 -6.453125 C 5.15625 -6.453125 5.15625 -5.40625 5.15625 -4.921875 Z M 5.15625 -4.921875 "/>
</g>
<g id="glyph-1-1">
<path d="M 2.515625 0 L 2.515625 -0.3125 C 1.859375 -0.3125 1.75 -0.3125 1.75 -0.75 L 1.75 -6.859375 L 0.328125 -6.75 L 0.328125 -6.453125 C 1.015625 -6.453125 1.09375 -6.375 1.09375 -5.890625 L 1.09375 -0.75 C 1.09375 -0.3125 0.984375 -0.3125 0.328125 -0.3125 L 0.328125 0 L 1.421875 -0.03125 Z M 2.515625 0 "/>
</g>
<g id="glyph-1-2">
<path d="M 4.78125 -0.875 L 4.78125 -1.4375 L 4.53125 -1.4375 L 4.53125 -0.875 C 4.53125 -0.3125 4.28125 -0.25 4.171875 -0.25 C 3.84375 -0.25 3.8125 -0.6875 3.8125 -0.734375 L 3.8125 -2.71875 C 3.8125 -3.140625 3.8125 -3.515625 3.453125 -3.890625 C 3.0625 -4.265625 2.578125 -4.4375 2.09375 -4.4375 C 1.28125 -4.4375 0.609375 -3.96875 0.609375 -3.3125 C 0.609375 -3.015625 0.796875 -2.84375 1.0625 -2.84375 C 1.328125 -2.84375 1.515625 -3.046875 1.515625 -3.296875 C 1.515625 -3.421875 1.46875 -3.75 1.015625 -3.765625 C 1.28125 -4.109375 1.765625 -4.21875 2.078125 -4.21875 C 2.5625 -4.21875 3.125 -3.828125 3.125 -2.953125 L 3.125 -2.578125 C 2.625 -2.546875 1.921875 -2.515625 1.3125 -2.21875 C 0.5625 -1.890625 0.3125 -1.375 0.3125 -0.9375 C 0.3125 -0.140625 1.28125 0.109375 1.90625 0.109375 C 2.546875 0.109375 3 -0.28125 3.1875 -0.75 C 3.234375 -0.359375 3.5 0.0625 3.96875 0.0625 C 4.171875 0.0625 4.78125 -0.078125 4.78125 -0.875 Z M 3.125 -1.390625 C 3.125 -0.4375 2.40625 -0.109375 1.96875 -0.109375 C 1.484375 -0.109375 1.078125 -0.453125 1.078125 -0.953125 C 1.078125 -1.5 1.5 -2.3125 3.125 -2.375 Z M 3.125 -1.390625 "/>
</g>
<g id="glyph-1-3">
<path d="M 5.296875 0 L 5.296875 -0.3125 C 4.78125 -0.3125 4.53125 -0.3125 4.515625 -0.609375 L 4.515625 -2.5 C 4.515625 -3.34375 4.515625 -3.65625 4.21875 -4 C 4.078125 -4.171875 3.75 -4.375 3.171875 -4.375 C 2.453125 -4.375 1.984375 -3.953125 1.71875 -3.328125 L 1.71875 -4.375 L 0.3125 -4.265625 L 0.3125 -3.953125 C 1.015625 -3.953125 1.09375 -3.890625 1.09375 -3.40625 L 1.09375 -0.75 C 1.09375 -0.3125 0.984375 -0.3125 0.3125 -0.3125 L 0.3125 0 L 1.4375 -0.03125 L 2.546875 0 L 2.546875 -0.3125 C 1.875 -0.3125 1.765625 -0.3125 1.765625 -0.75 L 1.765625 -2.578125 C 1.765625 -3.59375 2.46875 -4.15625 3.109375 -4.15625 C 3.734375 -4.15625 3.84375 -3.625 3.84375 -3.0625 L 3.84375 -0.75 C 3.84375 -0.3125 3.734375 -0.3125 3.0625 -0.3125 L 3.0625 0 L 4.1875 -0.03125 Z M 5.296875 0 "/>
</g>
<g id="glyph-1-4">
<path d="M 3.28125 -1.21875 L 3.28125 -1.796875 L 3.03125 -1.796875 L 3.03125 -1.25 C 3.03125 -0.515625 2.734375 -0.140625 2.375 -0.140625 C 1.71875 -0.140625 1.71875 -1.03125 1.71875 -1.203125 L 1.71875 -3.953125 L 3.125 -3.953125 L 3.125 -4.265625 L 1.71875 -4.265625 L 1.71875 -6.078125 L 1.46875 -6.078125 C 1.453125 -5.265625 1.15625 -4.21875 0.1875 -4.171875 L 0.1875 -3.953125 L 1.03125 -3.953125 L 1.03125 -1.21875 C 1.03125 -0.015625 1.953125 0.109375 2.296875 0.109375 C 3 0.109375 3.28125 -0.59375 3.28125 -1.21875 Z M 3.28125 -1.21875 "/>
</g>
<g id="glyph-2-0">
<path d="M 7.09375 -0.203125 C 7.09375 -0.3125 7.015625 -0.3125 6.828125 -0.3125 C 6.453125 -0.3125 6.1875 -0.3125 6.1875 -0.484375 C 6.1875 -0.546875 6.203125 -0.59375 6.21875 -0.65625 L 7.546875 -6 C 7.640625 -6.34375 7.65625 -6.453125 8.375 -6.453125 C 8.640625 -6.453125 8.71875 -6.453125 8.71875 -6.640625 C 8.71875 -6.75 8.609375 -6.75 8.578125 -6.75 L 7.3125 -6.71875 L 6.03125 -6.75 C 5.953125 -6.75 5.84375 -6.75 5.84375 -6.5625 C 5.84375 -6.453125 5.9375 -6.453125 6.125 -6.453125 C 6.125 -6.453125 6.328125 -6.453125 6.5 -6.421875 C 6.671875 -6.40625 6.765625 -6.40625 6.765625 -6.265625 C 6.765625 -6.234375 6.75 -6.21875 6.71875 -6.078125 L 6.125 -3.671875 L 3.109375 -3.671875 L 3.703125 -6 C 3.78125 -6.34375 3.8125 -6.453125 4.53125 -6.453125 C 4.78125 -6.453125 4.859375 -6.453125 4.859375 -6.640625 C 4.859375 -6.75 4.75 -6.75 4.734375 -6.75 L 3.46875 -6.71875 L 2.1875 -6.75 C 2.109375 -6.75 2 -6.75 2 -6.5625 C 2 -6.453125 2.09375 -6.453125 2.28125 -6.453125 C 2.28125 -6.453125 2.484375 -6.453125 2.65625 -6.421875 C 2.828125 -6.40625 2.921875 -6.40625 2.921875 -6.265625 C 2.921875 -6.234375 2.90625 -6.203125 2.875 -6.078125 L 1.546875 -0.765625 C 1.453125 -0.390625 1.4375 -0.3125 0.65625 -0.3125 C 0.46875 -0.3125 0.390625 -0.3125 0.390625 -0.109375 C 0.390625 0 0.53125 0 0.53125 0 L 1.78125 -0.03125 L 2.40625 -0.015625 C 2.625 -0.015625 2.84375 0 3.0625 0 C 3.140625 0 3.25 0 3.25 -0.203125 C 3.25 -0.3125 3.171875 -0.3125 2.984375 -0.3125 C 2.609375 -0.3125 2.328125 -0.3125 2.328125 -0.484375 C 2.328125 -0.546875 2.359375 -0.59375 2.359375 -0.65625 L 3.03125 -3.359375 L 6.046875 -3.359375 L 5.375 -0.640625 C 5.265625 -0.3125 5.078125 -0.3125 4.46875 -0.3125 C 4.328125 -0.3125 4.234375 -0.3125 4.234375 -0.109375 C 4.234375 0 4.375 0 4.375 0 L 5.625 -0.03125 L 6.265625 -0.015625 C 6.484375 -0.015625 6.703125 0 6.90625 0 C 6.984375 0 7.09375 0 7.09375 -0.203125 Z M 7.09375 -0.203125 "/>
</g>
<g id="glyph-2-1">
<path d="M 7.3125 -0.203125 C 7.3125 -0.3125 7.203125 -0.3125 7.125 -0.3125 C 6.71875 -0.3125 6.59375 -0.40625 6.4375 -0.75 L 5.03125 -4 C 5.03125 -4.03125 4.984375 -4.109375 4.984375 -4.140625 C 4.984375 -4.140625 5.15625 -4.28125 5.265625 -4.359375 L 7 -5.703125 C 7.9375 -6.375 8.3125 -6.421875 8.609375 -6.453125 C 8.6875 -6.453125 8.796875 -6.46875 8.796875 -6.640625 C 8.796875 -6.6875 8.765625 -6.75 8.6875 -6.75 C 8.46875 -6.75 8.21875 -6.71875 7.984375 -6.71875 C 7.625 -6.71875 7.234375 -6.75 6.890625 -6.75 C 6.8125 -6.75 6.703125 -6.75 6.703125 -6.5625 C 6.703125 -6.484375 6.75 -6.453125 6.8125 -6.453125 C 7.03125 -6.421875 7.125 -6.375 7.125 -6.234375 C 7.125 -6.0625 6.828125 -5.828125 6.765625 -5.78125 L 2.90625 -2.8125 L 3.703125 -6 C 3.78125 -6.34375 3.8125 -6.453125 4.53125 -6.453125 C 4.78125 -6.453125 4.859375 -6.453125 4.859375 -6.640625 C 4.859375 -6.734375 4.78125 -6.75 4.734375 -6.75 L 3.46875 -6.71875 L 2.1875 -6.75 C 2.109375 -6.75 1.984375 -6.75 1.984375 -6.5625 C 1.984375 -6.453125 2.078125 -6.453125 2.28125 -6.453125 C 2.40625 -6.453125 2.578125 -6.4375 2.703125 -6.421875 C 2.859375 -6.40625 2.921875 -6.375 2.921875 -6.265625 C 2.921875 -6.234375 2.90625 -6.203125 2.875 -6.078125 L 1.546875 -0.765625 C 1.453125 -0.390625 1.4375 -0.3125 0.65625 -0.3125 C 0.484375 -0.3125 0.375 -0.3125 0.375 -0.125 C 0.375 0 0.5 0 0.53125 0 L 1.78125 -0.03125 L 2.40625 -0.015625 C 2.625 -0.015625 2.84375 0 3.0625 0 C 3.125 0 3.25 0 3.25 -0.203125 C 3.25 -0.3125 3.171875 -0.3125 2.984375 -0.3125 C 2.609375 -0.3125 2.328125 -0.3125 2.328125 -0.484375 C 2.328125 -0.546875 2.390625 -0.765625 2.421875 -0.921875 L 2.8125 -2.46875 L 4.296875 -3.625 L 5.4375 -0.953125 C 5.5625 -0.6875 5.5625 -0.671875 5.5625 -0.609375 C 5.5625 -0.3125 5.140625 -0.3125 5.046875 -0.3125 C 4.9375 -0.3125 4.828125 -0.3125 4.828125 -0.109375 C 4.828125 0 4.96875 0 4.96875 0 C 5.359375 0 5.78125 -0.03125 6.171875 -0.03125 C 6.390625 -0.03125 6.921875 0 7.140625 0 C 7.1875 0 7.3125 0 7.3125 -0.203125 Z M 7.3125 -0.203125 "/>
</g>
<g id="glyph-2-2">
<path d="M 4.90625 -1.421875 C 4.90625 -1.515625 4.8125 -1.515625 4.78125 -1.515625 C 4.703125 -1.515625 4.671875 -1.46875 4.65625 -1.40625 C 4.328125 -0.34375 3.65625 -0.109375 3.34375 -0.109375 C 2.953125 -0.109375 2.796875 -0.421875 2.796875 -0.765625 C 2.796875 -0.984375 2.859375 -1.203125 2.96875 -1.625 L 3.296875 -2.984375 C 3.359375 -3.25 3.59375 -4.15625 4.28125 -4.15625 C 4.328125 -4.15625 4.5625 -4.15625 4.78125 -4.03125 C 4.5 -3.96875 4.296875 -3.734375 4.296875 -3.484375 C 4.296875 -3.328125 4.40625 -3.140625 4.671875 -3.140625 C 4.890625 -3.140625 5.21875 -3.328125 5.21875 -3.71875 C 5.21875 -4.234375 4.625 -4.375 4.296875 -4.375 C 3.71875 -4.375 3.375 -3.84375 3.25 -3.625 C 3 -4.265625 2.46875 -4.375 2.1875 -4.375 C 1.15625 -4.375 0.59375 -3.09375 0.59375 -2.84375 C 0.59375 -2.75 0.71875 -2.75 0.71875 -2.75 C 0.796875 -2.75 0.828125 -2.765625 0.84375 -2.859375 C 1.171875 -3.90625 1.828125 -4.15625 2.171875 -4.15625 C 2.359375 -4.15625 2.703125 -4.0625 2.703125 -3.484375 C 2.703125 -3.1875 2.53125 -2.515625 2.171875 -1.140625 C 2 -0.53125 1.65625 -0.109375 1.21875 -0.109375 C 1.171875 -0.109375 0.9375 -0.109375 0.734375 -0.234375 C 0.984375 -0.28125 1.203125 -0.5 1.203125 -0.765625 C 1.203125 -1.03125 0.984375 -1.125 0.828125 -1.125 C 0.53125 -1.125 0.28125 -0.859375 0.28125 -0.546875 C 0.28125 -0.09375 0.78125 0.109375 1.21875 0.109375 C 1.875 0.109375 2.21875 -0.578125 2.25 -0.640625 C 2.375 -0.28125 2.734375 0.109375 3.328125 0.109375 C 4.34375 0.109375 4.90625 -1.171875 4.90625 -1.421875 Z M 4.90625 -1.421875 "/>
</g>
<g id="glyph-2-3">
<path d="M 5.375 -1.421875 C 5.375 -1.515625 5.28125 -1.515625 5.25 -1.515625 C 5.15625 -1.515625 5.140625 -1.46875 5.109375 -1.328125 C 4.96875 -0.78125 4.78125 -0.109375 4.375 -0.109375 C 4.15625 -0.109375 4.0625 -0.234375 4.0625 -0.5625 C 4.0625 -0.78125 4.1875 -1.25 4.265625 -1.59375 L 4.546875 -2.65625 C 4.5625 -2.8125 4.671875 -3.1875 4.703125 -3.328125 C 4.75 -3.5625 4.859375 -3.9375 4.859375 -4 C 4.859375 -4.171875 4.71875 -4.265625 4.5625 -4.265625 C 4.515625 -4.265625 4.265625 -4.25 4.1875 -3.921875 L 3.4375 -0.9375 C 3.4375 -0.90625 3.03125 -0.109375 2.3125 -0.109375 C 1.796875 -0.109375 1.703125 -0.546875 1.703125 -0.921875 C 1.703125 -1.46875 1.984375 -2.25 2.234375 -2.9375 C 2.359375 -3.234375 2.40625 -3.375 2.40625 -3.5625 C 2.40625 -4 2.09375 -4.375 1.59375 -4.375 C 0.65625 -4.375 0.28125 -2.9375 0.28125 -2.84375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.765625 0.5625 -2.921875 C 0.8125 -3.78125 1.1875 -4.15625 1.5625 -4.15625 C 1.65625 -4.15625 1.8125 -4.140625 1.8125 -3.828125 C 1.8125 -3.59375 1.703125 -3.296875 1.640625 -3.15625 C 1.28125 -2.171875 1.0625 -1.5625 1.0625 -1.078125 C 1.0625 -0.140625 1.75 0.109375 2.28125 0.109375 C 2.9375 0.109375 3.296875 -0.34375 3.46875 -0.546875 C 3.578125 -0.140625 3.921875 0.109375 4.34375 0.109375 C 4.6875 0.109375 4.921875 -0.125 5.078125 -0.4375 C 5.234375 -0.796875 5.375 -1.421875 5.375 -1.421875 Z M 5.375 -1.421875 "/>
</g>
<g id="glyph-3-0">
<path d="M 11.5 -4.25 C 11.5 -4.5625 11.21875 -4.5625 10.96875 -4.5625 L 6.4375 -4.5625 L 6.4375 -9.078125 C 6.4375 -9.328125 6.4375 -9.609375 6.140625 -9.609375 C 5.84375 -9.609375 5.84375 -9.34375 5.84375 -9.078125 L 5.84375 -4.5625 L 1.3125 -4.5625 C 1.078125 -4.5625 0.78125 -4.5625 0.78125 -4.265625 C 0.78125 -3.96875 1.0625 -3.96875 1.3125 -3.96875 L 5.84375 -3.96875 L 5.84375 0.5625 C 5.84375 0.796875 5.84375 1.09375 6.125 1.09375 C 6.4375 1.09375 6.4375 0.8125 6.4375 0.5625 L 6.4375 -3.96875 L 10.96875 -3.96875 C 11.203125 -3.96875 11.5 -3.96875 11.5 -4.25 Z M 11.5 -4.25 "/>
</g>
<g id="glyph-4-0">
<path d="M 3.109375 -1.078125 C 3.109375 -1.703125 2.421875 -1.828125 2.15625 -1.875 C 2.09375 -1.890625 1.921875 -1.921875 1.875 -1.9375 C 1.625 -1.984375 1.5 -2.125 1.5 -2.28125 C 1.5 -2.4375 1.625 -2.625 1.78125 -2.734375 C 1.96875 -2.84375 2.203125 -2.859375 2.328125 -2.859375 C 2.46875 -2.859375 2.828125 -2.84375 2.984375 -2.609375 C 2.796875 -2.5625 2.6875 -2.421875 2.6875 -2.28125 C 2.6875 -2.125 2.828125 -2.0625 2.921875 -2.0625 C 2.984375 -2.0625 3.25 -2.09375 3.25 -2.453125 C 3.25 -2.90625 2.75 -3.046875 2.328125 -3.046875 C 1.25 -3.046875 1.0625 -2.25 1.0625 -2.046875 C 1.0625 -1.78125 1.203125 -1.625 1.296875 -1.53125 C 1.484375 -1.390625 1.609375 -1.375 2.078125 -1.28125 C 2.234375 -1.265625 2.671875 -1.171875 2.671875 -0.828125 C 2.671875 -0.71875 2.59375 -0.453125 2.3125 -0.28125 C 2.03125 -0.125 1.703125 -0.125 1.609375 -0.125 C 1.328125 -0.125 0.9375 -0.1875 0.78125 -0.421875 C 1.015625 -0.4375 1.15625 -0.609375 1.15625 -0.8125 C 1.15625 -0.984375 1.03125 -1.0625 0.890625 -1.0625 C 0.6875 -1.0625 0.484375 -0.90625 0.484375 -0.609375 C 0.484375 -0.1875 0.9375 0.0625 1.609375 0.0625 C 2.875 0.0625 3.109375 -0.796875 3.109375 -1.078125 Z M 3.109375 -1.078125 "/>
</g>
<g id="glyph-4-1">
<path d="M 4.984375 -1.71875 C 4.984375 -1.75 4.984375 -1.828125 4.875 -1.828125 C 4.796875 -1.828125 4.78125 -1.78125 4.734375 -1.671875 C 4.46875 -1.015625 4.171875 -0.25 2.90625 -0.25 L 2.125 -0.25 C 1.90625 -0.25 1.890625 -0.25 1.890625 -0.3125 C 1.890625 -0.3125 1.890625 -0.359375 1.921875 -0.46875 L 2.859375 -4.15625 C 2.921875 -4.40625 2.9375 -4.484375 3.578125 -4.484375 C 3.78125 -4.484375 3.859375 -4.484375 3.859375 -4.625 C 3.859375 -4.625 3.84375 -4.734375 3.734375 -4.734375 C 3.578125 -4.734375 3.390625 -4.71875 3.21875 -4.703125 L 2.1875 -4.703125 C 2.046875 -4.703125 1.875 -4.734375 1.75 -4.734375 C 1.703125 -4.734375 1.59375 -4.734375 1.59375 -4.578125 C 1.59375 -4.484375 1.6875 -4.484375 1.828125 -4.484375 C 1.828125 -4.484375 1.953125 -4.484375 2.078125 -4.46875 C 2.234375 -4.453125 2.25 -4.4375 2.25 -4.375 C 2.25 -4.375 2.25 -4.3125 2.21875 -4.21875 L 1.296875 -0.546875 C 1.234375 -0.296875 1.21875 -0.25 0.6875 -0.25 C 0.5625 -0.25 0.484375 -0.25 0.484375 -0.109375 C 0.484375 0 0.5625 0 0.6875 0 L 4.171875 0 C 4.34375 0 4.34375 0 4.40625 -0.140625 C 4.46875 -0.328125 4.984375 -1.671875 4.984375 -1.71875 Z M 4.984375 -1.71875 "/>
</g>
<g id="glyph-4-2">
<path d="M 5.53125 -0.140625 C 5.53125 -0.25 5.453125 -0.25 5.296875 -0.25 C 5.1875 -0.25 5.15625 -0.25 5.03125 -0.265625 C 4.875 -0.28125 4.875 -0.296875 4.875 -0.359375 C 4.875 -0.40625 4.90625 -0.484375 4.90625 -0.515625 L 5.828125 -4.171875 C 5.890625 -4.421875 5.890625 -4.484375 6.40625 -4.484375 C 6.5625 -4.484375 6.640625 -4.484375 6.640625 -4.625 C 6.640625 -4.65625 6.625 -4.734375 6.53125 -4.734375 C 6.328125 -4.734375 5.828125 -4.703125 5.625 -4.703125 C 5.515625 -4.703125 5.265625 -4.703125 5.15625 -4.703125 C 5.015625 -4.71875 4.84375 -4.734375 4.71875 -4.734375 C 4.671875 -4.734375 4.5625 -4.734375 4.5625 -4.578125 C 4.5625 -4.484375 4.65625 -4.484375 4.796875 -4.484375 C 4.796875 -4.484375 4.921875 -4.484375 5.046875 -4.46875 C 5.203125 -4.453125 5.21875 -4.4375 5.21875 -4.375 C 5.21875 -4.375 5.21875 -4.3125 5.1875 -4.21875 L 4.78125 -2.578125 L 2.453125 -2.578125 L 2.859375 -4.1875 C 2.921875 -4.421875 2.9375 -4.484375 3.46875 -4.484375 C 3.578125 -4.484375 3.671875 -4.484375 3.671875 -4.625 C 3.671875 -4.65625 3.65625 -4.734375 3.5625 -4.734375 C 3.359375 -4.734375 2.859375 -4.703125 2.65625 -4.703125 C 2.546875 -4.703125 2.296875 -4.703125 2.1875 -4.703125 C 2.046875 -4.71875 1.875 -4.734375 1.75 -4.734375 C 1.703125 -4.734375 1.59375 -4.734375 1.59375 -4.578125 C 1.59375 -4.484375 1.6875 -4.484375 1.828125 -4.484375 C 1.828125 -4.484375 1.953125 -4.484375 2.078125 -4.46875 C 2.234375 -4.453125 2.25 -4.4375 2.25 -4.375 C 2.25 -4.375 2.25 -4.3125 2.21875 -4.21875 L 1.296875 -0.546875 C 1.234375 -0.296875 1.21875 -0.25 0.6875 -0.25 C 0.5625 -0.25 0.484375 -0.25 0.484375 -0.109375 C 0.484375 -0.03125 0.53125 0 0.59375 0 C 0.796875 0 1.28125 -0.03125 1.484375 -0.03125 C 1.609375 -0.03125 1.84375 -0.03125 1.96875 -0.015625 C 2.109375 -0.015625 2.28125 0 2.40625 0 C 2.4375 0 2.546875 0 2.546875 -0.140625 C 2.546875 -0.25 2.484375 -0.25 2.328125 -0.25 C 2.21875 -0.25 2.1875 -0.25 2.0625 -0.265625 C 1.90625 -0.28125 1.90625 -0.296875 1.90625 -0.359375 C 1.90625 -0.359375 1.90625 -0.421875 1.9375 -0.515625 L 2.390625 -2.328125 L 4.71875 -2.328125 L 4.265625 -0.546875 C 4.203125 -0.296875 4.1875 -0.25 3.65625 -0.25 C 3.53125 -0.25 3.453125 -0.25 3.453125 -0.109375 C 3.453125 -0.03125 3.5 0 3.5625 0 C 3.765625 0 4.25 -0.03125 4.453125 -0.03125 C 4.578125 -0.03125 4.8125 -0.03125 4.9375 -0.015625 C 5.078125 -0.015625 5.25 0 5.375 0 C 5.40625 0 5.53125 0 5.53125 -0.140625 Z M 5.53125 -0.140625 "/>
</g>
</g>
<clipPath id="clip-0">
<path clip-rule="nonzero" d="M 211 32 L 232.613281 32 L 232.613281 65 L 211 65 Z M 211 32 "/>
</clipPath>
<clipPath id="clip-1">
<path clip-rule="nonzero" d="M 1 48 L 221 48 L 221 94.519531 L 1 94.519531 Z M 1 48 "/>
</clipPath>
<clipPath id="clip-2">
<path clip-rule="nonzero" d="M 0.746094 32 L 29 32 L 29 65 L 0.746094 65 Z M 0.746094 32 "/>
</clipPath>
</defs>
<path fill-rule="nonzero" fill="rgb(79.998779%, 79.998779%, 79.998779%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-dasharray="2.98883 2.98883" stroke-miterlimit="10" d="M 47.537701 -35.963779 L 115.119348 -35.963779 L 115.119348 35.964006 L 47.537701 35.964006 Z M 47.537701 -35.963779 " transform="matrix(0.99226, 0, 0, -0.99226, 96.037253, 48.525503)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="152.946364" y="8.557254"/>
<use xlink:href="#glyph-0-1" x="157.312774" y="8.557254"/>
<use xlink:href="#glyph-0-2" x="160.827354" y="8.557254"/>
<use xlink:href="#glyph-0-3" x="165.193764" y="8.557254"/>
<use xlink:href="#glyph-0-4" x="168.325677" y="8.557254"/>
<use xlink:href="#glyph-0-5" x="172.265826" y="8.557254"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-6" x="178.018969" y="8.557254"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-7" x="182.482948" y="8.557254"/>
<use xlink:href="#glyph-0-3" x="186.849358" y="8.557254"/>
<use xlink:href="#glyph-0-8" x="189.981271" y="8.557254"/>
<use xlink:href="#glyph-0-4" x="192.219143" y="8.557254"/>
<use xlink:href="#glyph-0-2" x="196.159292" y="8.557254"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -28.346486 -28.346228 L 28.346198 -28.346228 L 28.346198 28.346456 L -28.346486 28.346456 Z M -28.346486 -28.346228 " transform="matrix(0.99226, 0, 0, -0.99226, 96.037253, 48.525503)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="84.29782" y="51.930941"/>
<use xlink:href="#glyph-1-1" x="91.025887" y="51.930941"/>
<use xlink:href="#glyph-1-2" x="93.772077" y="51.930941"/>
<use xlink:href="#glyph-1-3" x="98.714824" y="51.930941"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-4" x="103.93041" y="51.930941"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 52.021623 -31.479856 L 86.034871 -31.479856 L 86.034871 -3.135483 L 52.021623 -3.135483 Z M 52.021623 -31.479856 " transform="matrix(0.99226, 0, 0, -0.99226, 96.037253, 48.525503)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="152.050353" y="68.33499"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-9" x="160.267262" y="69.817427"/>
<use xlink:href="#glyph-0-10" x="166.102751" y="69.817427"/>
<use xlink:href="#glyph-0-6" x="171.416485" y="69.817427"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 52.021623 3.131773 L 86.034871 3.131773 L 86.034871 31.480084 L 52.021623 31.480084 Z M 52.021623 3.131773 " transform="matrix(0.99226, 0, 0, -0.99226, 96.037253, 48.525503)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="152.523661" y="33.988888"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-11" x="160.74057" y="35.472318"/>
<use xlink:href="#glyph-0-10" x="165.628735" y="35.472318"/>
<use xlink:href="#glyph-0-6" x="170.942469" y="35.472318"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 111.131452 -0.00185469 C 111.131452 5.501678 106.67115 9.96198 101.171554 9.96198 C 95.668022 9.96198 91.20772 5.501678 91.20772 -0.00185469 C 91.20772 -5.501451 95.668022 -9.961753 101.171554 -9.961753 C 106.67115 -9.961753 111.131452 -5.501451 111.131452 -0.00185469 Z M 111.131452 -0.00185469 " transform="matrix(0.99226, 0, 0, -0.99226, 96.037253, 48.525503)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="190.275201" y="52.660253"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -80.366285 -14.174042 L -46.353037 -14.174042 L -46.353037 14.174269 L -80.366285 14.174269 Z M -80.366285 -14.174042 " transform="matrix(0.99226, 0, 0, -0.99226, 96.037253, 48.525503)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="24.992399" y="51.161939"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="33.388907" y="52.644376"/>
<use xlink:href="#glyph-4-0" x="37.120077" y="52.644376"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 28.846161 17.307897 L 46.888142 17.307897 " transform="matrix(0.99226, 0, 0, -0.99226, 96.037253, 48.525503)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054071 0.000756826 L 1.609516 1.681736 L 3.085785 0.000756826 L 1.609516 -1.684159 Z M 6.054071 0.000756826 " transform="matrix(0.99226, 0, 0, -0.99226, 139.746691, 31.352313)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 28.846161 -17.307669 L 46.888142 -17.307669 " transform="matrix(0.99226, 0, 0, -0.99226, 96.037253, 48.525503)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054071 -0.000529484 L 1.609516 1.684386 L 3.085785 -0.000529484 L 1.609516 -1.681508 Z M 6.054071 -0.000529484 " transform="matrix(0.99226, 0, 0, -0.99226, 139.746691, 65.698693)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-2" x="128.447455" y="26.080573"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-1" x="134.097385" y="27.564002"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-2" x="128.447455" y="60.426675"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-2" x="134.097385" y="61.910104"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 86.534835 17.307897 L 101.171554 17.307897 L 101.171554 14.595498 " transform="matrix(0.99226, 0, 0, -0.99226, 96.037253, 48.525503)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.051705 0.0009543 L 1.607149 1.681933 L 3.087356 0.0009543 L 1.607149 -1.683961 Z M 6.051705 0.0009543 " transform="matrix(0, 0.99226, 0.99226, 0, 196.424834, 31.225602)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 86.534835 -17.307669 L 101.171554 -17.307669 L 101.171554 -14.59527 " transform="matrix(0.99226, 0, 0, -0.99226, 96.037253, 48.525503)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.051932 -0.0009543 L 1.607377 1.683961 L 3.087583 -0.0009543 L 1.607377 -1.681933 Z M 6.051932 -0.0009543 " transform="matrix(0, -0.99226, -0.99226, 0, 196.424834, 65.825405)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 111.131452 -0.00185469 L 132.011808 -0.00185469 " transform="matrix(0.99226, 0, 0, -0.99226, 96.037253, 48.525503)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 230.21875 48.527344 L 225.808594 46.855469 L 227.273438 48.527344 L 225.808594 50.195312 Z M 230.21875 48.527344 "/>
<g clip-path="url(#clip-0)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054887 -0.00185469 L 1.610331 1.683061 L 3.086601 -0.00185469 L 1.610331 -1.682834 Z M 6.054887 -0.00185469 " transform="matrix(0.99226, 0, 0, -0.99226, 224.210726, 48.525503)"/>
</g>
<g clip-path="url(#clip-1)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 125.307576 -0.00185469 L 125.307576 -45.356789 L -95.038436 -45.356789 L -95.038436 -0.00185469 L -85.499766 -0.00185469 " transform="matrix(0.99226, 0, 0, -0.99226, 96.037253, 48.525503)"/>
</g>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 14.390625 48.527344 L 9.980469 46.855469 L 11.445312 48.527344 L 9.980469 50.195312 Z M 14.390625 48.527344 "/>
<g clip-path="url(#clip-2)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054163 -0.00185469 L 1.609607 1.683061 L 3.085877 -0.00185469 L 1.609607 -1.682834 Z M 6.054163 -0.00185469 " transform="matrix(0.99226, 0, 0, -0.99226, 8.383319, 48.525503)"/>
</g>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 222.351562 48.527344 C 222.351562 47.433594 221.464844 46.546875 220.375 46.546875 C 219.28125 46.546875 218.398438 47.433594 218.398438 48.527344 C 218.398438 49.617188 219.28125 50.503906 220.375 50.503906 C 221.464844 50.503906 222.351562 49.617188 222.351562 48.527344 Z M 222.351562 48.527344 "/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-2" x="213.569507" y="43.253624"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="219.219438" y="44.737053"/>
<use xlink:href="#glyph-4-0" x="222.950608" y="44.737053"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -45.853074 -0.00185469 L -33.479967 -0.00185469 " transform="matrix(0.99226, 0, 0, -0.99226, 96.037253, 48.525503)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053332 -0.00185469 L 1.608776 1.683061 L 3.088983 -0.00185469 L 1.608776 -1.682834 Z M 6.053332 -0.00185469 " transform="matrix(0.99226, 0, 0, -0.99226, 60.001331, 48.525503)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-3" x="57.967197" y="44.737053"/>
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 38 KiB

BIN
figs/detail_control_architecture_two_sensor_control.pdf Normal file
View File

Binary file not shown.

BIN
figs/detail_control_architecture_two_sensor_control.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 12 KiB

185
figs/detail_control_architecture_two_sensor_control.svg Normal file
View File

@ -0,0 +1,185 @@
<?xml version="1.0" encoding="UTF-8"?>
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="179.322" height="98.972" viewBox="0 0 179.322 98.972">
<defs>
<g>
<g id="glyph-0-0">
<path d="M 5.328125 -3.09375 L 5.1875 -4.703125 L 0.484375 -4.703125 L 0.328125 -3.09375 L 0.5625 -3.09375 C 0.671875 -4.296875 0.875 -4.453125 1.9375 -4.453125 C 2.078125 -4.453125 2.28125 -4.453125 2.34375 -4.4375 C 2.5 -4.421875 2.5 -4.34375 2.5 -4.171875 L 2.5 -0.5625 C 2.5 -0.34375 2.5 -0.25 1.78125 -0.25 L 1.484375 -0.25 L 1.484375 0 C 1.828125 -0.03125 2.46875 -0.03125 2.84375 -0.03125 C 3.203125 -0.03125 3.84375 -0.03125 4.171875 0 L 4.171875 -0.25 L 3.890625 -0.25 C 3.15625 -0.25 3.15625 -0.34375 3.15625 -0.5625 L 3.15625 -4.171875 C 3.15625 -4.34375 3.15625 -4.421875 3.3125 -4.4375 C 3.390625 -4.453125 3.59375 -4.453125 3.734375 -4.453125 C 4.109375 -4.453125 4.421875 -4.453125 4.65625 -4.3125 C 4.96875 -4.125 5.015625 -3.671875 5.03125 -3.640625 L 5.09375 -3.09375 Z M 5.328125 -3.09375 "/>
</g>
<g id="glyph-0-1">
<path d="M 5.453125 -2.75 L 5.453125 -3 C 5.265625 -2.96875 5.15625 -2.96875 4.953125 -2.96875 C 4.734375 -2.96875 4.484375 -2.96875 4.265625 -3 L 4.265625 -2.75 C 4.515625 -2.734375 4.625 -2.609375 4.625 -2.4375 C 4.625 -2.390625 4.625 -2.375 4.59375 -2.28125 L 3.921875 -0.546875 L 3.15625 -2.4375 C 3.15625 -2.46875 3.125 -2.53125 3.125 -2.578125 C 3.125 -2.71875 3.3125 -2.75 3.5 -2.75 L 3.5 -3 C 3.25 -2.96875 3 -2.96875 2.75 -2.96875 C 2.546875 -2.96875 2.34375 -2.984375 2.140625 -3 L 2.140625 -2.75 C 2.296875 -2.75 2.453125 -2.75 2.53125 -2.6875 C 2.640625 -2.625 2.703125 -2.390625 2.703125 -2.390625 C 2.703125 -2.390625 2.6875 -2.328125 2.671875 -2.296875 L 2.015625 -0.640625 L 1.3125 -2.4375 C 1.265625 -2.53125 1.265625 -2.546875 1.265625 -2.578125 C 1.265625 -2.75 1.515625 -2.75 1.640625 -2.75 L 1.640625 -3 C 1.640625 -3 1.140625 -2.96875 0.859375 -2.96875 C 0.640625 -2.96875 0.421875 -2.96875 0.203125 -3 L 0.203125 -2.75 C 0.484375 -2.75 0.625 -2.75 0.703125 -2.546875 L 1.671875 -0.09375 C 1.71875 0.015625 1.734375 0.0625 1.859375 0.0625 C 1.984375 0.0625 2.015625 0.015625 2.046875 -0.078125 L 2.828125 -2.0625 L 3.609375 -0.09375 C 3.640625 0 3.671875 0.0625 3.796875 0.0625 C 3.921875 0.0625 3.9375 0.015625 3.984375 -0.09375 L 4.875 -2.328125 C 5 -2.671875 5.234375 -2.734375 5.453125 -2.75 Z M 5.453125 -2.75 "/>
</g>
<g id="glyph-0-2">
<path d="M 3.671875 -1.484375 C 3.671875 -2.34375 2.9375 -3.09375 1.96875 -3.09375 C 1.015625 -3.09375 0.265625 -2.34375 0.265625 -1.484375 C 0.265625 -0.625 1.03125 0.0625 1.96875 0.0625 C 2.90625 0.0625 3.671875 -0.625 3.671875 -1.484375 Z M 3.046875 -1.546875 C 3.046875 -1.203125 3.03125 -0.84375 2.828125 -0.5625 C 2.640625 -0.296875 2.3125 -0.15625 1.96875 -0.15625 C 1.71875 -0.15625 1.34375 -0.234375 1.109375 -0.578125 C 0.921875 -0.859375 0.90625 -1.21875 0.90625 -1.546875 C 0.90625 -1.84375 0.90625 -2.25 1.15625 -2.546875 C 1.328125 -2.75 1.625 -2.90625 1.96875 -2.90625 C 2.390625 -2.90625 2.671875 -2.71875 2.828125 -2.5 C 3.03125 -2.21875 3.046875 -1.875 3.046875 -1.546875 Z M 3.046875 -1.546875 "/>
</g>
<g id="glyph-0-3">
<path d="M 2.1875 -1.265625 L 2.1875 -1.734375 L 0.140625 -1.734375 L 0.140625 -1.265625 Z M 2.1875 -1.265625 "/>
</g>
<g id="glyph-0-4">
<path d="M 3.890625 -1.28125 C 3.890625 -1.90625 3.453125 -2.5 2.765625 -2.65625 L 1.734375 -2.90625 C 1.125 -3.03125 0.9375 -3.484375 0.9375 -3.765625 C 0.9375 -4.234375 1.359375 -4.671875 1.984375 -4.671875 C 2.921875 -4.671875 3.328125 -4.046875 3.4375 -3.3125 C 3.453125 -3.203125 3.46875 -3.171875 3.5625 -3.171875 C 3.6875 -3.171875 3.6875 -3.21875 3.6875 -3.34375 L 3.6875 -4.703125 C 3.6875 -4.828125 3.6875 -4.890625 3.59375 -4.890625 C 3.53125 -4.890625 3.515625 -4.875 3.46875 -4.796875 L 3.21875 -4.40625 C 2.765625 -4.875 2.1875 -4.890625 1.984375 -4.890625 C 1.109375 -4.890625 0.484375 -4.265625 0.484375 -3.5625 C 0.484375 -3.171875 0.65625 -2.875 0.90625 -2.640625 C 1.1875 -2.359375 1.421875 -2.3125 2.171875 -2.15625 C 2.796875 -2.015625 2.9375 -1.984375 3.140625 -1.78125 C 3.296875 -1.625 3.453125 -1.40625 3.453125 -1.09375 C 3.453125 -0.609375 3.046875 -0.109375 2.375 -0.109375 C 1.703125 -0.109375 0.765625 -0.375 0.71875 -1.421875 C 0.71875 -1.53125 0.71875 -1.578125 0.609375 -1.578125 C 0.484375 -1.578125 0.484375 -1.53125 0.484375 -1.390625 L 0.484375 -0.046875 C 0.484375 0.078125 0.484375 0.140625 0.578125 0.140625 C 0.640625 0.140625 0.65625 0.125 0.703125 0.0625 C 0.765625 -0.03125 0.890625 -0.25 0.953125 -0.34375 C 1.390625 0.046875 1.921875 0.140625 2.375 0.140625 C 3.296875 0.140625 3.890625 -0.546875 3.890625 -1.28125 Z M 3.890625 -1.28125 "/>
</g>
<g id="glyph-0-5">
<path d="M 3.25 -0.828125 C 3.25 -0.859375 3.234375 -0.9375 3.140625 -0.9375 C 3.046875 -0.9375 3.03125 -0.890625 3.015625 -0.828125 C 2.796875 -0.25 2.265625 -0.15625 2.015625 -0.15625 C 1.6875 -0.15625 1.375 -0.296875 1.171875 -0.5625 C 0.90625 -0.890625 0.90625 -1.3125 0.90625 -1.578125 L 3.0625 -1.578125 C 3.203125 -1.578125 3.25 -1.578125 3.25 -1.734375 C 3.25 -2.34375 2.90625 -3.09375 1.875 -3.09375 C 0.96875 -3.09375 0.265625 -2.375 0.265625 -1.515625 C 0.265625 -0.640625 1.046875 0.0625 1.96875 0.0625 C 2.90625 0.0625 3.25 -0.6875 3.25 -0.828125 Z M 2.765625 -1.765625 L 0.90625 -1.765625 C 0.984375 -2.75 1.609375 -2.90625 1.875 -2.90625 C 2.734375 -2.90625 2.765625 -1.9375 2.765625 -1.765625 Z M 2.765625 -1.765625 "/>
</g>
<g id="glyph-0-6">
<path d="M 4.109375 0 L 4.109375 -0.25 C 3.65625 -0.25 3.578125 -0.25 3.578125 -0.546875 L 3.578125 -2.109375 C 3.578125 -2.71875 3.28125 -3.0625 2.53125 -3.0625 C 1.96875 -3.0625 1.59375 -2.75 1.40625 -2.390625 L 1.390625 -2.390625 L 1.390625 -3.0625 L 0.375 -2.984375 L 0.375 -2.734375 C 0.84375 -2.734375 0.890625 -2.6875 0.890625 -2.34375 L 0.890625 -0.546875 C 0.890625 -0.25 0.828125 -0.25 0.375 -0.25 L 0.375 0 C 0.375 0 0.875 -0.03125 1.171875 -0.03125 C 1.421875 -0.03125 1.90625 0 1.96875 0 L 1.96875 -0.25 C 1.515625 -0.25 1.453125 -0.25 1.453125 -0.546875 L 1.453125 -1.796875 C 1.453125 -2.53125 2.015625 -2.875 2.484375 -2.875 C 2.96875 -2.875 3.03125 -2.484375 3.03125 -2.140625 L 3.03125 -0.546875 C 3.03125 -0.25 2.96875 -0.25 2.515625 -0.25 L 2.515625 0 C 2.515625 0 3.015625 -0.03125 3.296875 -0.03125 C 3.5625 -0.03125 4.046875 0 4.109375 0 Z M 4.109375 0 "/>
</g>
<g id="glyph-0-7">
<path d="M 2.828125 -0.90625 C 2.828125 -1.171875 2.71875 -1.390625 2.53125 -1.546875 C 2.265625 -1.796875 1.953125 -1.84375 1.703125 -1.890625 C 1.140625 -1.984375 0.703125 -2.078125 0.703125 -2.4375 C 0.703125 -2.65625 0.890625 -2.9375 1.546875 -2.9375 C 2.34375 -2.9375 2.390625 -2.375 2.40625 -2.171875 C 2.40625 -2.09375 2.484375 -2.09375 2.515625 -2.09375 C 2.640625 -2.09375 2.640625 -2.140625 2.640625 -2.28125 L 2.640625 -2.921875 C 2.640625 -3.03125 2.640625 -3.09375 2.53125 -3.09375 C 2.5 -3.09375 2.484375 -3.09375 2.40625 -3.015625 C 2.390625 -3.015625 2.3125 -2.953125 2.28125 -2.90625 C 2.0625 -3.0625 1.796875 -3.09375 1.546875 -3.09375 C 0.546875 -3.09375 0.3125 -2.578125 0.3125 -2.234375 C 0.3125 -2.015625 0.40625 -1.828125 0.578125 -1.6875 C 0.84375 -1.453125 1.109375 -1.40625 1.53125 -1.34375 C 1.890625 -1.28125 2.453125 -1.1875 2.453125 -0.71875 C 2.453125 -0.4375 2.265625 -0.125 1.59375 -0.125 C 0.921875 -0.125 0.6875 -0.5625 0.5625 -1.03125 C 0.53125 -1.125 0.53125 -1.15625 0.4375 -1.15625 C 0.3125 -1.15625 0.3125 -1.109375 0.3125 -0.96875 L 0.3125 -0.109375 C 0.3125 0 0.3125 0.0625 0.40625 0.0625 C 0.46875 0.0625 0.609375 -0.078125 0.75 -0.234375 C 1.046875 0.0625 1.421875 0.0625 1.59375 0.0625 C 2.5 0.0625 2.828125 -0.421875 2.828125 -0.90625 Z M 2.828125 -0.90625 "/>
</g>
<g id="glyph-0-8">
<path d="M 2.828125 -2.625 C 2.828125 -2.859375 2.609375 -3.0625 2.28125 -3.0625 C 1.9375 -3.0625 1.546875 -2.84375 1.34375 -2.328125 L 1.328125 -2.328125 L 1.328125 -3.0625 L 0.34375 -2.984375 L 0.34375 -2.734375 C 0.8125 -2.734375 0.859375 -2.6875 0.859375 -2.34375 L 0.859375 -0.546875 C 0.859375 -0.25 0.796875 -0.25 0.34375 -0.25 L 0.34375 0 C 0.375 0 0.84375 -0.03125 1.140625 -0.03125 L 2.03125 0 L 2.03125 -0.25 L 1.890625 -0.25 C 1.390625 -0.25 1.390625 -0.328125 1.390625 -0.5625 L 1.390625 -1.578125 C 1.390625 -2.171875 1.65625 -2.875 2.3125 -2.875 C 2.25 -2.828125 2.203125 -2.734375 2.203125 -2.625 C 2.203125 -2.390625 2.375 -2.296875 2.515625 -2.296875 C 2.671875 -2.296875 2.828125 -2.40625 2.828125 -2.625 Z M 2.828125 -2.625 "/>
</g>
<g id="glyph-0-9">
<path d="M 5.171875 -1.625 C 5.171875 -1.703125 5.171875 -1.765625 5.0625 -1.765625 C 5.015625 -1.765625 4.9375 -1.765625 4.9375 -1.671875 C 4.875 -0.546875 3.9375 -0.109375 3.25 -0.109375 C 2.5 -0.109375 1.234375 -0.5625 1.234375 -2.375 C 1.234375 -4.25 2.578125 -4.640625 3.234375 -4.640625 C 3.921875 -4.640625 4.734375 -4.171875 4.921875 -2.984375 C 4.9375 -2.90625 5 -2.90625 5.046875 -2.90625 C 5.171875 -2.90625 5.171875 -2.9375 5.171875 -3.078125 L 5.171875 -4.703125 C 5.171875 -4.828125 5.171875 -4.890625 5.078125 -4.890625 C 5.046875 -4.890625 5.015625 -4.890625 4.953125 -4.8125 L 4.59375 -4.28125 C 4.296875 -4.5625 3.8125 -4.890625 3.15625 -4.890625 C 1.6875 -4.890625 0.484375 -3.765625 0.484375 -2.375 C 0.484375 -0.96875 1.703125 0.140625 3.15625 0.140625 C 4.375 0.140625 5.171875 -0.78125 5.171875 -1.625 Z M 5.171875 -1.625 "/>
</g>
<g id="glyph-0-10">
<path d="M 2.609375 -0.875 L 2.609375 -1.265625 L 2.375 -1.265625 L 2.375 -0.890625 C 2.375 -0.40625 2.15625 -0.15625 1.875 -0.15625 C 1.390625 -0.15625 1.390625 -0.734375 1.390625 -0.859375 L 1.390625 -2.75 L 2.484375 -2.75 L 2.484375 -3 L 1.390625 -3 L 1.390625 -4.28125 L 1.15625 -4.28125 C 1.15625 -3.65625 0.875 -2.96875 0.203125 -2.9375 L 0.203125 -2.75 L 0.84375 -2.75 L 0.84375 -0.875 C 0.84375 -0.09375 1.4375 0.0625 1.828125 0.0625 C 2.28125 0.0625 2.609375 -0.328125 2.609375 -0.875 Z M 2.609375 -0.875 "/>
</g>
<g id="glyph-0-11">
<path d="M 1.953125 0 L 1.953125 -0.25 C 1.5 -0.25 1.4375 -0.25 1.4375 -0.546875 L 1.4375 -4.828125 L 0.390625 -4.75 L 0.390625 -4.5 C 0.859375 -4.5 0.90625 -4.453125 0.90625 -4.109375 L 0.90625 -0.546875 C 0.90625 -0.25 0.84375 -0.25 0.390625 -0.25 L 0.390625 0 C 0.390625 0 0.890625 -0.03125 1.171875 -0.03125 C 1.4375 -0.03125 1.6875 -0.015625 1.953125 0 Z M 1.953125 0 "/>
</g>
<g id="glyph-0-12">
<path d="M 3.28125 0 L 3.28125 -0.25 L 3.03125 -0.25 C 2.328125 -0.25 2.328125 -0.34375 2.328125 -0.5625 L 2.328125 -4.421875 C 2.328125 -4.609375 2.3125 -4.609375 2.125 -4.609375 C 1.671875 -4.171875 1.046875 -4.171875 0.765625 -4.171875 L 0.765625 -3.921875 C 0.921875 -3.921875 1.390625 -3.921875 1.765625 -4.109375 L 1.765625 -0.5625 C 1.765625 -0.34375 1.765625 -0.25 1.078125 -0.25 L 0.8125 -0.25 L 0.8125 0 L 2.046875 -0.03125 Z M 3.28125 0 "/>
</g>
<g id="glyph-0-13">
<path d="M 3.515625 -1.265625 L 3.28125 -1.265625 C 3.25 -1.109375 3.1875 -0.703125 3.09375 -0.625 C 3.03125 -0.59375 2.5 -0.59375 2.40625 -0.59375 L 1.125 -0.59375 C 1.859375 -1.234375 2.09375 -1.4375 2.515625 -1.765625 C 3.03125 -2.171875 3.515625 -2.59375 3.515625 -3.265625 C 3.515625 -4.109375 2.78125 -4.609375 1.890625 -4.609375 C 1.015625 -4.609375 0.4375 -4.015625 0.4375 -3.375 C 0.4375 -3.015625 0.734375 -2.984375 0.8125 -2.984375 C 0.96875 -2.984375 1.171875 -3.09375 1.171875 -3.34375 C 1.171875 -3.484375 1.125 -3.71875 0.765625 -3.71875 C 0.984375 -4.21875 1.453125 -4.359375 1.78125 -4.359375 C 2.46875 -4.359375 2.84375 -3.828125 2.84375 -3.265625 C 2.84375 -2.65625 2.40625 -2.171875 2.1875 -1.921875 L 0.5 -0.265625 C 0.4375 -0.203125 0.4375 -0.1875 0.4375 0 L 3.296875 0 Z M 3.515625 -1.265625 "/>
</g>
<g id="glyph-1-0">
<path d="M 6.1875 -4.9375 C 6.1875 -5.90625 5.203125 -6.78125 3.84375 -6.78125 L 0.34375 -6.78125 L 0.34375 -6.46875 L 0.578125 -6.46875 C 1.34375 -6.46875 1.375 -6.359375 1.375 -6 L 1.375 -0.78125 C 1.375 -0.421875 1.34375 -0.3125 0.578125 -0.3125 L 0.34375 -0.3125 L 0.34375 0 C 0.6875 -0.03125 1.421875 -0.03125 1.8125 -0.03125 C 2.1875 -0.03125 2.921875 -0.03125 3.28125 0 L 3.28125 -0.3125 L 3.03125 -0.3125 C 2.265625 -0.3125 2.25 -0.421875 2.25 -0.78125 L 2.25 -3.140625 L 3.921875 -3.140625 C 5.125 -3.140625 6.1875 -3.9375 6.1875 -4.9375 Z M 5.171875 -4.9375 C 5.171875 -4.46875 5.171875 -3.390625 3.59375 -3.390625 L 2.21875 -3.390625 L 2.21875 -6.078125 C 2.21875 -6.40625 2.25 -6.46875 2.703125 -6.46875 L 3.59375 -6.46875 C 5.171875 -6.46875 5.171875 -5.421875 5.171875 -4.9375 Z M 5.171875 -4.9375 "/>
</g>
<g id="glyph-1-1">
<path d="M 2.53125 0 L 2.53125 -0.3125 C 1.859375 -0.3125 1.75 -0.3125 1.75 -0.75 L 1.75 -6.890625 L 0.328125 -6.78125 L 0.328125 -6.46875 C 1.015625 -6.46875 1.09375 -6.40625 1.09375 -5.90625 L 1.09375 -0.75 C 1.09375 -0.3125 0.984375 -0.3125 0.328125 -0.3125 L 0.328125 0 L 1.421875 -0.03125 Z M 2.53125 0 "/>
</g>
<g id="glyph-1-2">
<path d="M 4.796875 -0.890625 L 4.796875 -1.4375 L 4.546875 -1.4375 L 4.546875 -0.890625 C 4.546875 -0.3125 4.296875 -0.25 4.1875 -0.25 C 3.859375 -0.25 3.8125 -0.6875 3.8125 -0.75 L 3.8125 -2.734375 C 3.8125 -3.140625 3.8125 -3.53125 3.46875 -3.90625 C 3.078125 -4.28125 2.578125 -4.4375 2.109375 -4.4375 C 1.296875 -4.4375 0.609375 -3.984375 0.609375 -3.328125 C 0.609375 -3.03125 0.796875 -2.859375 1.0625 -2.859375 C 1.34375 -2.859375 1.515625 -3.0625 1.515625 -3.3125 C 1.515625 -3.4375 1.46875 -3.765625 1.015625 -3.765625 C 1.28125 -4.125 1.765625 -4.234375 2.078125 -4.234375 C 2.5625 -4.234375 3.140625 -3.84375 3.140625 -2.953125 L 3.140625 -2.59375 C 2.625 -2.5625 1.9375 -2.53125 1.3125 -2.234375 C 0.5625 -1.890625 0.3125 -1.375 0.3125 -0.9375 C 0.3125 -0.140625 1.28125 0.109375 1.90625 0.109375 C 2.5625 0.109375 3.015625 -0.28125 3.203125 -0.75 C 3.25 -0.359375 3.515625 0.0625 3.984375 0.0625 C 4.1875 0.0625 4.796875 -0.078125 4.796875 -0.890625 Z M 3.140625 -1.390625 C 3.140625 -0.453125 2.421875 -0.109375 1.96875 -0.109375 C 1.484375 -0.109375 1.078125 -0.453125 1.078125 -0.953125 C 1.078125 -1.5 1.5 -2.328125 3.140625 -2.375 Z M 3.140625 -1.390625 "/>
</g>
<g id="glyph-1-3">
<path d="M 5.3125 0 L 5.3125 -0.3125 C 4.796875 -0.3125 4.546875 -0.3125 4.53125 -0.609375 L 4.53125 -2.5 C 4.53125 -3.359375 4.53125 -3.65625 4.234375 -4.015625 C 4.09375 -4.1875 3.765625 -4.390625 3.1875 -4.390625 C 2.453125 -4.390625 2 -3.953125 1.71875 -3.34375 L 1.71875 -4.390625 L 0.3125 -4.28125 L 0.3125 -3.96875 C 1.015625 -3.96875 1.09375 -3.90625 1.09375 -3.40625 L 1.09375 -0.75 C 1.09375 -0.3125 0.984375 -0.3125 0.3125 -0.3125 L 0.3125 0 L 1.4375 -0.03125 L 2.546875 0 L 2.546875 -0.3125 C 1.890625 -0.3125 1.78125 -0.3125 1.78125 -0.75 L 1.78125 -2.578125 C 1.78125 -3.609375 2.484375 -4.171875 3.109375 -4.171875 C 3.734375 -4.171875 3.84375 -3.625 3.84375 -3.0625 L 3.84375 -0.75 C 3.84375 -0.3125 3.734375 -0.3125 3.078125 -0.3125 L 3.078125 0 L 4.203125 -0.03125 Z M 5.3125 0 "/>
</g>
<g id="glyph-1-4">
<path d="M 3.296875 -1.234375 L 3.296875 -1.796875 L 3.046875 -1.796875 L 3.046875 -1.25 C 3.046875 -0.515625 2.75 -0.140625 2.375 -0.140625 C 1.71875 -0.140625 1.71875 -1.046875 1.71875 -1.203125 L 1.71875 -3.96875 L 3.140625 -3.96875 L 3.140625 -4.28125 L 1.71875 -4.28125 L 1.71875 -6.109375 L 1.46875 -6.109375 C 1.453125 -5.28125 1.15625 -4.234375 0.1875 -4.1875 L 0.1875 -3.96875 L 1.03125 -3.96875 L 1.03125 -1.234375 C 1.03125 -0.015625 1.953125 0.109375 2.3125 0.109375 C 3.015625 0.109375 3.296875 -0.59375 3.296875 -1.234375 Z M 3.296875 -1.234375 "/>
</g>
<g id="glyph-2-0">
<path d="M 11.546875 -4.265625 C 11.546875 -4.578125 11.265625 -4.578125 11.015625 -4.578125 L 6.46875 -4.578125 L 6.46875 -9.125 C 6.46875 -9.375 6.46875 -9.65625 6.171875 -9.65625 C 5.875 -9.65625 5.875 -9.390625 5.875 -9.125 L 5.875 -4.578125 L 1.328125 -4.578125 C 1.078125 -4.578125 0.796875 -4.578125 0.796875 -4.296875 C 0.796875 -3.984375 1.0625 -3.984375 1.328125 -3.984375 L 5.875 -3.984375 L 5.875 0.5625 C 5.875 0.8125 5.875 1.09375 6.15625 1.09375 C 6.46875 1.09375 6.46875 0.828125 6.46875 0.5625 L 6.46875 -3.984375 L 11.015625 -3.984375 C 11.25 -3.984375 11.546875 -3.984375 11.546875 -4.265625 Z M 11.546875 -4.265625 "/>
</g>
<g id="glyph-3-0">
<path d="M 7.34375 -0.203125 C 7.34375 -0.3125 7.234375 -0.3125 7.140625 -0.3125 C 6.734375 -0.3125 6.609375 -0.40625 6.453125 -0.75 L 5.046875 -4.015625 C 5.046875 -4.03125 5 -4.125 5 -4.140625 C 5 -4.140625 5.171875 -4.296875 5.28125 -4.375 L 7.03125 -5.71875 C 7.953125 -6.40625 8.34375 -6.4375 8.640625 -6.46875 C 8.71875 -6.484375 8.828125 -6.484375 8.828125 -6.671875 C 8.828125 -6.703125 8.796875 -6.78125 8.71875 -6.78125 C 8.5 -6.78125 8.25 -6.75 8 -6.75 C 7.65625 -6.75 7.265625 -6.78125 6.90625 -6.78125 C 6.84375 -6.78125 6.71875 -6.78125 6.71875 -6.578125 C 6.71875 -6.515625 6.765625 -6.484375 6.84375 -6.46875 C 7.046875 -6.453125 7.140625 -6.40625 7.140625 -6.265625 C 7.140625 -6.078125 6.84375 -5.859375 6.78125 -5.796875 L 2.921875 -2.828125 L 3.703125 -6.015625 C 3.796875 -6.375 3.8125 -6.46875 4.546875 -6.46875 C 4.796875 -6.46875 4.875 -6.46875 4.875 -6.671875 C 4.875 -6.75 4.796875 -6.78125 4.75 -6.78125 L 3.46875 -6.75 L 2.1875 -6.78125 C 2.125 -6.78125 2 -6.78125 2 -6.59375 C 2 -6.46875 2.078125 -6.46875 2.28125 -6.46875 C 2.40625 -6.46875 2.59375 -6.453125 2.703125 -6.453125 C 2.875 -6.421875 2.921875 -6.40625 2.921875 -6.296875 C 2.921875 -6.25 2.921875 -6.21875 2.890625 -6.109375 L 1.5625 -0.78125 C 1.453125 -0.390625 1.4375 -0.3125 0.65625 -0.3125 C 0.484375 -0.3125 0.375 -0.3125 0.375 -0.125 C 0.375 0 0.5 0 0.53125 0 L 1.78125 -0.03125 L 2.421875 -0.015625 C 2.640625 -0.015625 2.859375 0 3.0625 0 C 3.140625 0 3.265625 0 3.265625 -0.203125 C 3.265625 -0.3125 3.171875 -0.3125 2.984375 -0.3125 C 2.625 -0.3125 2.34375 -0.3125 2.34375 -0.484375 C 2.34375 -0.5625 2.40625 -0.78125 2.4375 -0.921875 L 2.828125 -2.484375 L 4.3125 -3.625 L 5.453125 -0.96875 C 5.578125 -0.6875 5.578125 -0.671875 5.578125 -0.609375 C 5.578125 -0.3125 5.15625 -0.3125 5.0625 -0.3125 C 4.953125 -0.3125 4.84375 -0.3125 4.84375 -0.109375 C 4.84375 0 4.984375 0 4.984375 0 C 5.375 0 5.796875 -0.03125 6.1875 -0.03125 C 6.40625 -0.03125 6.9375 0 7.15625 0 C 7.21875 0 7.34375 0 7.34375 -0.203125 Z M 7.34375 -0.203125 "/>
</g>
<g id="glyph-3-1">
<path d="M 5.390625 -1.421875 C 5.390625 -1.515625 5.296875 -1.515625 5.265625 -1.515625 C 5.171875 -1.515625 5.15625 -1.484375 5.125 -1.34375 C 4.984375 -0.78125 4.796875 -0.109375 4.390625 -0.109375 C 4.171875 -0.109375 4.078125 -0.234375 4.078125 -0.5625 C 4.078125 -0.78125 4.203125 -1.25 4.28125 -1.59375 L 4.546875 -2.671875 C 4.578125 -2.8125 4.6875 -3.1875 4.71875 -3.34375 C 4.765625 -3.578125 4.875 -3.953125 4.875 -4.015625 C 4.875 -4.1875 4.734375 -4.28125 4.578125 -4.28125 C 4.53125 -4.28125 4.28125 -4.265625 4.203125 -3.921875 L 3.453125 -0.9375 C 3.4375 -0.90625 3.046875 -0.109375 2.328125 -0.109375 C 1.8125 -0.109375 1.703125 -0.5625 1.703125 -0.921875 C 1.703125 -1.484375 1.984375 -2.265625 2.25 -2.953125 C 2.359375 -3.25 2.40625 -3.390625 2.40625 -3.578125 C 2.40625 -4.015625 2.09375 -4.390625 1.59375 -4.390625 C 0.65625 -4.390625 0.28125 -2.953125 0.28125 -2.859375 C 0.28125 -2.765625 0.40625 -2.765625 0.40625 -2.765625 C 0.5 -2.765625 0.515625 -2.78125 0.5625 -2.9375 C 0.8125 -3.796875 1.1875 -4.171875 1.5625 -4.171875 C 1.65625 -4.171875 1.8125 -4.15625 1.8125 -3.84375 C 1.8125 -3.609375 1.703125 -3.3125 1.640625 -3.171875 C 1.28125 -2.1875 1.078125 -1.5625 1.078125 -1.078125 C 1.078125 -0.140625 1.75 0.109375 2.296875 0.109375 C 2.953125 0.109375 3.296875 -0.34375 3.46875 -0.5625 C 3.578125 -0.15625 3.921875 0.109375 4.359375 0.109375 C 4.703125 0.109375 4.9375 -0.125 5.09375 -0.4375 C 5.265625 -0.796875 5.390625 -1.421875 5.390625 -1.421875 Z M 5.390625 -1.421875 "/>
</g>
<g id="glyph-3-2">
<path d="M 4.921875 -1.421875 C 4.921875 -1.515625 4.828125 -1.515625 4.796875 -1.515625 C 4.71875 -1.515625 4.6875 -1.484375 4.671875 -1.40625 C 4.34375 -0.34375 3.671875 -0.109375 3.359375 -0.109375 C 2.96875 -0.109375 2.8125 -0.421875 2.8125 -0.765625 C 2.8125 -0.984375 2.875 -1.203125 2.96875 -1.640625 L 3.3125 -3 C 3.375 -3.25 3.609375 -4.171875 4.296875 -4.171875 C 4.34375 -4.171875 4.578125 -4.171875 4.796875 -4.03125 C 4.515625 -3.984375 4.3125 -3.734375 4.3125 -3.5 C 4.3125 -3.34375 4.421875 -3.15625 4.6875 -3.15625 C 4.90625 -3.15625 5.234375 -3.328125 5.234375 -3.734375 C 5.234375 -4.25 4.640625 -4.390625 4.3125 -4.390625 C 3.734375 -4.390625 3.390625 -3.859375 3.265625 -3.625 C 3.015625 -4.28125 2.484375 -4.390625 2.1875 -4.390625 C 1.15625 -4.390625 0.59375 -3.109375 0.59375 -2.859375 C 0.59375 -2.765625 0.71875 -2.765625 0.71875 -2.765625 C 0.796875 -2.765625 0.828125 -2.78125 0.84375 -2.875 C 1.1875 -3.921875 1.828125 -4.171875 2.171875 -4.171875 C 2.359375 -4.171875 2.703125 -4.078125 2.703125 -3.5 C 2.703125 -3.1875 2.546875 -2.53125 2.171875 -1.140625 C 2.015625 -0.53125 1.671875 -0.109375 1.234375 -0.109375 C 1.171875 -0.109375 0.9375 -0.109375 0.734375 -0.234375 C 0.984375 -0.28125 1.203125 -0.5 1.203125 -0.78125 C 1.203125 -1.046875 0.984375 -1.125 0.828125 -1.125 C 0.53125 -1.125 0.28125 -0.859375 0.28125 -0.546875 C 0.28125 -0.09375 0.78125 0.109375 1.21875 0.109375 C 1.875 0.109375 2.234375 -0.578125 2.265625 -0.640625 C 2.375 -0.28125 2.734375 0.109375 3.328125 0.109375 C 4.359375 0.109375 4.921875 -1.171875 4.921875 -1.421875 Z M 4.921875 -1.421875 "/>
</g>
<g id="glyph-4-0">
<path d="M 3.28125 0 L 3.28125 -0.25 L 3.03125 -0.25 C 2.328125 -0.25 2.328125 -0.34375 2.328125 -0.5625 L 2.328125 -4.421875 C 2.328125 -4.609375 2.3125 -4.609375 2.125 -4.609375 C 1.671875 -4.171875 1.046875 -4.171875 0.765625 -4.171875 L 0.765625 -3.921875 C 0.921875 -3.921875 1.390625 -3.921875 1.765625 -4.109375 L 1.765625 -0.5625 C 1.765625 -0.34375 1.765625 -0.25 1.078125 -0.25 L 0.8125 -0.25 L 0.8125 0 L 2.046875 -0.03125 Z M 3.28125 0 "/>
</g>
<g id="glyph-4-1">
<path d="M 3.515625 -1.265625 L 3.28125 -1.265625 C 3.25 -1.109375 3.1875 -0.703125 3.09375 -0.625 C 3.03125 -0.59375 2.5 -0.59375 2.40625 -0.59375 L 1.125 -0.59375 C 1.859375 -1.234375 2.09375 -1.4375 2.515625 -1.765625 C 3.03125 -2.171875 3.515625 -2.59375 3.515625 -3.265625 C 3.515625 -4.109375 2.78125 -4.609375 1.890625 -4.609375 C 1.015625 -4.609375 0.4375 -4.015625 0.4375 -3.375 C 0.4375 -3.015625 0.734375 -2.984375 0.8125 -2.984375 C 0.96875 -2.984375 1.171875 -3.09375 1.171875 -3.34375 C 1.171875 -3.484375 1.125 -3.71875 0.765625 -3.71875 C 0.984375 -4.21875 1.453125 -4.359375 1.78125 -4.359375 C 2.46875 -4.359375 2.84375 -3.828125 2.84375 -3.265625 C 2.84375 -2.65625 2.40625 -2.171875 2.1875 -1.921875 L 0.5 -0.265625 C 0.4375 -0.203125 0.4375 -0.1875 0.4375 0 L 3.296875 0 Z M 3.515625 -1.265625 "/>
</g>
</g>
<clipPath id="clip-0">
<path clip-rule="nonzero" d="M 0 0.171875 L 178.648438 0.171875 L 178.648438 36 L 0 36 Z M 0 0.171875 "/>
</clipPath>
<clipPath id="clip-1">
<path clip-rule="nonzero" d="M 0 69 L 178.648438 69 L 178.648438 98.773438 L 0 98.773438 Z M 0 69 "/>
</clipPath>
</defs>
<path fill-rule="nonzero" fill="rgb(79.998779%, 79.998779%, 79.998779%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-dasharray="2.98883 2.98883" stroke-miterlimit="10" d="M -121.284332 -35.965091 L -47.537804 -35.965091 L -47.537804 35.962085 L -121.284332 35.962085 Z M -121.284332 -35.965091 " transform="matrix(0.996233, 0, 0, -0.996233, 131.972026, 52.295378)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="13.640427" y="12.167099"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-1" x="18.666966" y="12.167099"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-2" x="24.117305" y="12.167099"/>
<use xlink:href="#glyph-0-3" x="28.07323" y="12.167099"/>
<use xlink:href="#glyph-0-4" x="30.747335" y="12.167099"/>
<use xlink:href="#glyph-0-5" x="35.131228" y="12.167099"/>
<use xlink:href="#glyph-0-6" x="38.659879" y="12.167099"/>
<use xlink:href="#glyph-0-7" x="43.043772" y="12.167099"/>
<use xlink:href="#glyph-0-2" x="46.188225" y="12.167099"/>
<use xlink:href="#glyph-0-8" x="50.14415" y="12.167099"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-9" x="55.920328" y="12.167099"/>
<use xlink:href="#glyph-0-2" x="61.58604" y="12.167099"/>
<use xlink:href="#glyph-0-6" x="65.541965" y="12.167099"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-10" x="69.710484" y="12.167099"/>
<use xlink:href="#glyph-0-8" x="72.811862" y="12.167099"/>
<use xlink:href="#glyph-0-2" x="75.913241" y="12.167099"/>
<use xlink:href="#glyph-0-11" x="79.869165" y="12.167099"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -28.348336 -28.34655 L 28.34568 -28.34655 L 28.34568 28.347466 L -28.348336 28.347466 Z M -28.348336 -28.34655 " transform="matrix(0.996233, 0, 0, -0.996233, 131.972026, 52.295378)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="120.185589" y="55.714451"/>
<use xlink:href="#glyph-1-1" x="126.940595" y="55.714451"/>
<use xlink:href="#glyph-1-2" x="129.69778" y="55.714451"/>
<use xlink:href="#glyph-1-3" x="134.660318" y="55.714451"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-4" x="139.896787" y="55.714451"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -51.521559 -0.00150266 C -51.521559 5.503608 -55.983679 9.961807 -61.484869 9.961807 C -66.986059 9.961807 -71.448179 5.503608 -71.448179 -0.00150266 C -71.448179 -5.502693 -66.986059 -9.960891 -61.484869 -9.960891 C -55.983679 -9.960891 -51.521559 -5.502693 -51.521559 -0.00150266 Z M -51.521559 -0.00150266 " transform="matrix(0.996233, 0, 0, -0.996233, 131.972026, 52.295378)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="64.545958" y="56.446682"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -116.802607 3.135313 L -82.787766 3.135313 L -82.787766 31.48036 L -116.802607 31.48036 Z M -116.802607 3.135313 " transform="matrix(0.996233, 0, 0, -0.996233, 131.972026, 52.295378)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="26.113268" y="37.699563"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-12" x="34.542398" y="39.188932"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -116.802607 -31.479445 L -82.787766 -31.479445 L -82.787766 -3.134397 L -116.802607 -3.134397 Z M -116.802607 -31.479445 " transform="matrix(0.996233, 0, 0, -0.996233, 131.972026, 52.295378)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="26.113268" y="72.18418"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-13" x="34.542398" y="73.672553"/>
</g>
<g clip-path="url(#clip-0)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 28.84365 17.305876 L 45.853031 17.305876 L 45.853031 51.324638 L -131.475061 51.324638 L -131.475061 17.305876 L -121.935221 17.305876 " transform="matrix(0.996233, 0, 0, -0.996233, 131.972026, 52.295378)"/>
</g>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053074 -0.00126403 L 1.61056 1.684774 L 3.088784 -0.00126403 L 1.61056 -1.683381 Z M 6.053074 -0.00126403 " transform="matrix(0.996233, 0, 0, -0.996233, 7.668944, 35.053428)"/>
<g clip-path="url(#clip-1)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 28.84365 -17.308881 L 45.853031 -17.308881 L 45.853031 -45.653929 L -131.475061 -45.653929 L -131.475061 -17.308881 L -121.935221 -17.308881 " transform="matrix(0.996233, 0, 0, -0.996233, 131.972026, 52.295378)"/>
</g>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053074 -0.00174129 L 1.61056 1.684297 L 3.088784 -0.00174129 L 1.61056 -1.683859 Z M 6.053074 -0.00174129 " transform="matrix(0.996233, 0, 0, -0.996233, 7.668944, 69.537328)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -82.289797 17.305876 L -61.484869 17.305876 L -61.484869 14.596452 " transform="matrix(0.996233, 0, 0, -0.996233, 131.972026, 52.295378)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053624 0.000341094 L 1.607188 1.682458 L 3.089334 0.000341094 L 1.607188 -1.681776 Z M 6.053624 0.000341094 " transform="matrix(0, 0.996233, 0.996233, 0, 70.71841, 34.926209)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="53.798592" y="29.761576"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="59.480111" y="31.249949"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -82.289797 -17.308881 L -61.484869 -17.308881 L -61.484869 -14.595536 " transform="matrix(0.996233, 0, 0, -0.996233, 131.972026, 52.295378)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.05454 -0.000341094 L 1.608104 1.681776 L 3.086328 -0.000341094 L 1.608104 -1.682458 Z M 6.05454 -0.000341094 " transform="matrix(0, -0.996233, -0.996233, 0, 70.71841, 69.664547)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="53.798592" y="64.244201"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-1" x="59.480111" y="65.733569"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -51.521559 -0.00150266 L -33.477029 -0.00150266 " transform="matrix(0.996233, 0, 0, -0.996233, 131.972026, 52.295378)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.055207 -0.00150266 L 1.608771 1.684536 L 3.086995 -0.00150266 L 1.608771 -1.68362 Z M 6.055207 -0.00150266 " transform="matrix(0.996233, 0, 0, -0.996233, 95.79182, 52.295378)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="88.101895" y="48.491759"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-2" x="164.511995" y="29.761576"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="170.184548" y="31.249949"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-2" x="164.511995" y="64.243204"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-1" x="170.184548" y="65.732573"/>
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 31 KiB

BIN
figs/detail_control_comp_filter_three_hinf_fb.pdf Normal file
View File

Binary file not shown.

BIN
figs/detail_control_comp_filter_three_hinf_fb.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 19 KiB

267
figs/detail_control_comp_filter_three_hinf_fb.svg Normal file
View File

@ -0,0 +1,267 @@
<?xml version="1.0" encoding="UTF-8"?>
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="184.799" height="186.709" viewBox="0 0 184.799 186.709">
<defs>
<g>
<g id="glyph-0-0">
<path d="M 7.5 -5.296875 C 7.5 -6.0625 6.84375 -6.796875 5.546875 -6.796875 L 2.3125 -6.796875 C 2.125 -6.796875 2.015625 -6.796875 2.015625 -6.609375 C 2.015625 -6.484375 2.109375 -6.484375 2.3125 -6.484375 C 2.4375 -6.484375 2.625 -6.484375 2.734375 -6.46875 C 2.890625 -6.453125 2.953125 -6.421875 2.953125 -6.3125 C 2.953125 -6.265625 2.953125 -6.234375 2.921875 -6.125 L 1.578125 -0.78125 C 1.484375 -0.390625 1.46875 -0.3125 0.671875 -0.3125 C 0.5 -0.3125 0.390625 -0.3125 0.390625 -0.125 C 0.390625 0 0.515625 0 0.546875 0 L 1.8125 -0.03125 L 2.453125 -0.015625 C 2.671875 -0.015625 2.890625 0 3.09375 0 C 3.171875 0 3.296875 0 3.296875 -0.203125 C 3.296875 -0.3125 3.203125 -0.3125 3.015625 -0.3125 C 2.640625 -0.3125 2.375 -0.3125 2.375 -0.484375 C 2.375 -0.546875 2.390625 -0.59375 2.40625 -0.65625 L 3.015625 -3.140625 L 4.703125 -3.140625 C 6.125 -3.140625 7.5 -4.1875 7.5 -5.296875 Z M 6.578125 -5.53125 C 6.578125 -5.140625 6.375 -4.296875 5.984375 -3.9375 C 5.5 -3.484375 4.890625 -3.40625 4.453125 -3.40625 L 3.0625 -3.40625 L 3.734375 -6.109375 C 3.828125 -6.453125 3.84375 -6.484375 4.265625 -6.484375 L 5.21875 -6.484375 C 6.046875 -6.484375 6.578125 -6.21875 6.578125 -5.53125 Z M 6.578125 -5.53125 "/>
</g>
<g id="glyph-0-1">
<path d="M 3.9375 -1.546875 C 3.9375 -1.90625 3.75 -2.15625 3.640625 -2.265625 C 3.359375 -2.546875 3.078125 -2.59375 2.640625 -2.6875 C 2.28125 -2.765625 1.875 -2.84375 1.875 -3.28125 C 1.875 -3.578125 2.125 -4.1875 3 -4.1875 C 3.25 -4.1875 3.75 -4.109375 3.890625 -3.71875 C 3.609375 -3.71875 3.40625 -3.5 3.40625 -3.28125 C 3.40625 -3.140625 3.5 -2.984375 3.71875 -2.984375 C 3.9375 -2.984375 4.1875 -3.15625 4.1875 -3.546875 C 4.1875 -3.984375 3.75 -4.40625 3 -4.40625 C 1.6875 -4.40625 1.3125 -3.390625 1.3125 -2.953125 C 1.3125 -2.171875 2.046875 -2.015625 2.34375 -1.953125 C 2.859375 -1.859375 3.375 -1.75 3.375 -1.203125 C 3.375 -0.953125 3.140625 -0.109375 1.953125 -0.109375 C 1.8125 -0.109375 1.046875 -0.109375 0.8125 -0.640625 C 1.1875 -0.59375 1.4375 -0.890625 1.4375 -1.171875 C 1.4375 -1.390625 1.28125 -1.515625 1.078125 -1.515625 C 0.8125 -1.515625 0.515625 -1.296875 0.515625 -0.859375 C 0.515625 -0.28125 1.078125 0.109375 1.9375 0.109375 C 3.546875 0.109375 3.9375 -1.09375 3.9375 -1.546875 Z M 3.9375 -1.546875 "/>
</g>
<g id="glyph-0-2">
<path d="M 10.4375 -6.6875 C 10.4375 -6.734375 10.390625 -6.796875 10.3125 -6.796875 C 10.078125 -6.796875 9.796875 -6.765625 9.546875 -6.765625 C 9.203125 -6.765625 8.84375 -6.796875 8.515625 -6.796875 C 8.453125 -6.796875 8.328125 -6.796875 8.328125 -6.609375 C 8.328125 -6.5 8.40625 -6.484375 8.46875 -6.484375 C 8.703125 -6.484375 9.0625 -6.40625 9.0625 -6.09375 C 9.0625 -5.984375 9 -5.90625 8.921875 -5.765625 L 6.234375 -1.078125 L 5.875 -6.015625 C 5.859375 -6.21875 5.84375 -6.484375 6.5625 -6.484375 C 6.734375 -6.484375 6.84375 -6.484375 6.84375 -6.6875 C 6.84375 -6.78125 6.734375 -6.796875 6.6875 -6.796875 C 6.296875 -6.796875 5.875 -6.765625 5.46875 -6.765625 C 5.25 -6.765625 4.65625 -6.796875 4.421875 -6.796875 C 4.375 -6.796875 4.234375 -6.796875 4.234375 -6.59375 C 4.234375 -6.484375 4.34375 -6.484375 4.484375 -6.484375 C 4.921875 -6.484375 4.984375 -6.421875 5 -6.234375 L 5.0625 -5.46875 L 2.546875 -1.078125 L 2.171875 -6.125 C 2.171875 -6.25 2.171875 -6.484375 2.921875 -6.484375 C 3.03125 -6.484375 3.140625 -6.484375 3.140625 -6.6875 C 3.140625 -6.796875 3 -6.796875 3 -6.796875 C 2.59375 -6.796875 2.1875 -6.765625 1.765625 -6.765625 C 1.421875 -6.765625 1.0625 -6.796875 0.734375 -6.796875 C 0.671875 -6.796875 0.546875 -6.796875 0.546875 -6.609375 C 0.546875 -6.484375 0.640625 -6.484375 0.796875 -6.484375 C 1.296875 -6.484375 1.296875 -6.40625 1.328125 -6.125 L 1.765625 -0.046875 C 1.78125 0.140625 1.796875 0.21875 1.9375 0.21875 C 2.046875 0.21875 2.078125 0.15625 2.171875 0.015625 L 5.09375 -5.0625 L 5.46875 -0.046875 C 5.484375 0.171875 5.5 0.21875 5.625 0.21875 C 5.75 0.21875 5.8125 0.125 5.859375 0.03125 L 9.125 -5.640625 C 9.375 -6.078125 9.609375 -6.4375 10.234375 -6.484375 C 10.328125 -6.5 10.4375 -6.5 10.4375 -6.6875 Z M 10.4375 -6.6875 "/>
</g>
<g id="glyph-0-3">
<path d="M 7.140625 -0.203125 C 7.140625 -0.3125 7.0625 -0.3125 6.875 -0.3125 C 6.5 -0.3125 6.21875 -0.3125 6.21875 -0.484375 C 6.21875 -0.546875 6.234375 -0.59375 6.25 -0.65625 L 7.59375 -6.03125 C 7.6875 -6.390625 7.703125 -6.484375 8.4375 -6.484375 C 8.6875 -6.484375 8.765625 -6.484375 8.765625 -6.6875 C 8.765625 -6.796875 8.65625 -6.796875 8.625 -6.796875 L 7.359375 -6.765625 L 6.078125 -6.796875 C 5.984375 -6.796875 5.875 -6.796875 5.875 -6.59375 C 5.875 -6.484375 5.96875 -6.484375 6.15625 -6.484375 C 6.15625 -6.484375 6.375 -6.484375 6.546875 -6.46875 C 6.71875 -6.453125 6.8125 -6.4375 6.8125 -6.3125 C 6.8125 -6.265625 6.796875 -6.25 6.765625 -6.125 L 6.171875 -3.6875 L 3.140625 -3.6875 L 3.71875 -6.03125 C 3.8125 -6.390625 3.84375 -6.484375 4.5625 -6.484375 C 4.8125 -6.484375 4.890625 -6.484375 4.890625 -6.6875 C 4.890625 -6.796875 4.78125 -6.796875 4.75 -6.796875 L 3.484375 -6.765625 L 2.203125 -6.796875 C 2.125 -6.796875 2.015625 -6.796875 2.015625 -6.59375 C 2.015625 -6.484375 2.09375 -6.484375 2.296875 -6.484375 C 2.296875 -6.484375 2.5 -6.484375 2.671875 -6.46875 C 2.84375 -6.453125 2.9375 -6.4375 2.9375 -6.3125 C 2.9375 -6.265625 2.921875 -6.234375 2.890625 -6.125 L 1.5625 -0.78125 C 1.46875 -0.390625 1.4375 -0.3125 0.65625 -0.3125 C 0.484375 -0.3125 0.390625 -0.3125 0.390625 -0.109375 C 0.390625 0 0.53125 0 0.53125 0 L 1.796875 -0.03125 L 2.421875 -0.015625 C 2.640625 -0.015625 2.859375 0 3.078125 0 C 3.15625 0 3.28125 0 3.28125 -0.203125 C 3.28125 -0.3125 3.1875 -0.3125 3 -0.3125 C 2.625 -0.3125 2.34375 -0.3125 2.34375 -0.484375 C 2.34375 -0.546875 2.375 -0.59375 2.375 -0.65625 L 3.0625 -3.390625 L 6.09375 -3.390625 L 5.40625 -0.640625 C 5.3125 -0.3125 5.109375 -0.3125 4.5 -0.3125 C 4.34375 -0.3125 4.265625 -0.3125 4.265625 -0.109375 C 4.265625 0 4.40625 0 4.40625 0 L 5.65625 -0.03125 L 6.296875 -0.015625 C 6.515625 -0.015625 6.734375 0 6.953125 0 C 7.03125 0 7.140625 0 7.140625 -0.203125 Z M 7.140625 -0.203125 "/>
</g>
<g id="glyph-0-4">
<path d="M 6.875 -3.703125 C 6.875 -4.25 6.609375 -4.40625 6.4375 -4.40625 C 6.1875 -4.40625 5.9375 -4.140625 5.9375 -3.921875 C 5.9375 -3.796875 6 -3.734375 6.09375 -3.65625 C 6.203125 -3.546875 6.453125 -3.28125 6.453125 -2.8125 C 6.453125 -2.46875 6.15625 -1.5 5.90625 -0.984375 C 5.640625 -0.453125 5.296875 -0.109375 4.8125 -0.109375 C 4.34375 -0.109375 4.078125 -0.40625 4.078125 -0.96875 C 4.078125 -1.25 4.140625 -1.5625 4.1875 -1.703125 L 4.59375 -3.375 C 4.640625 -3.59375 4.75 -3.96875 4.75 -4.015625 C 4.75 -4.203125 4.609375 -4.296875 4.453125 -4.296875 C 4.34375 -4.296875 4.15625 -4.203125 4.09375 -4.015625 C 4.0625 -3.9375 3.59375 -2.046875 3.515625 -1.78125 C 3.453125 -1.484375 3.4375 -1.296875 3.4375 -1.125 C 3.4375 -1.015625 3.4375 -1 3.4375 -0.953125 C 3.21875 -0.421875 2.921875 -0.109375 2.53125 -0.109375 C 1.734375 -0.109375 1.734375 -0.84375 1.734375 -1.015625 C 1.734375 -1.328125 1.78125 -1.71875 2.25 -2.953125 C 2.359375 -3.25 2.421875 -3.390625 2.421875 -3.578125 C 2.421875 -4.03125 2.09375 -4.40625 1.609375 -4.40625 C 0.65625 -4.40625 0.28125 -2.953125 0.28125 -2.859375 C 0.28125 -2.765625 0.40625 -2.765625 0.40625 -2.765625 C 0.5 -2.765625 0.515625 -2.78125 0.5625 -2.953125 C 0.84375 -3.875 1.21875 -4.1875 1.578125 -4.1875 C 1.65625 -4.1875 1.828125 -4.171875 1.828125 -3.859375 C 1.828125 -3.609375 1.71875 -3.328125 1.640625 -3.15625 C 1.203125 -1.984375 1.078125 -1.515625 1.078125 -1.140625 C 1.078125 -0.234375 1.75 0.109375 2.5 0.109375 C 2.671875 0.109375 3.140625 0.109375 3.53125 -0.59375 C 3.796875 0.046875 4.484375 0.109375 4.78125 0.109375 C 5.53125 0.109375 5.96875 -0.515625 6.21875 -1.109375 C 6.5625 -1.890625 6.875 -3.21875 6.875 -3.703125 Z M 6.875 -3.703125 "/>
</g>
<g id="glyph-0-5">
<path d="M 4.328125 -1.421875 C 4.328125 -1.46875 4.296875 -1.515625 4.203125 -1.515625 C 4.125 -1.515625 4.09375 -1.46875 4.078125 -1.390625 C 3.84375 -0.75 3.203125 -0.5625 2.875 -0.5625 C 2.671875 -0.5625 2.5 -0.609375 2.296875 -0.6875 C 1.953125 -0.8125 1.796875 -0.859375 1.59375 -0.859375 C 1.59375 -0.859375 1.40625 -0.859375 1.328125 -0.828125 C 1.859375 -1.40625 2.15625 -1.65625 2.515625 -1.953125 C 2.515625 -1.953125 3.125 -2.5 3.484375 -2.859375 C 4.421875 -3.78125 4.640625 -4.265625 4.640625 -4.296875 C 4.640625 -4.40625 4.53125 -4.40625 4.53125 -4.40625 C 4.46875 -4.40625 4.4375 -4.375 4.390625 -4.296875 C 4.09375 -3.8125 3.875 -3.65625 3.640625 -3.65625 C 3.40625 -3.65625 3.28125 -3.796875 3.140625 -3.96875 C 2.953125 -4.203125 2.78125 -4.40625 2.453125 -4.40625 C 1.703125 -4.40625 1.25 -3.46875 1.25 -3.265625 C 1.25 -3.21875 1.28125 -3.15625 1.359375 -3.15625 C 1.453125 -3.15625 1.46875 -3.203125 1.5 -3.265625 C 1.6875 -3.71875 2.265625 -3.734375 2.34375 -3.734375 C 2.546875 -3.734375 2.734375 -3.65625 2.96875 -3.578125 C 3.359375 -3.4375 3.46875 -3.4375 3.734375 -3.4375 C 3.375 -3 2.53125 -2.296875 2.34375 -2.125 L 1.453125 -1.296875 C 0.78125 -0.625 0.421875 -0.0625 0.421875 0.015625 C 0.421875 0.109375 0.546875 0.109375 0.546875 0.109375 C 0.625 0.109375 0.640625 0.09375 0.703125 -0.015625 C 0.9375 -0.375 1.234375 -0.640625 1.546875 -0.640625 C 1.78125 -0.640625 1.875 -0.546875 2.125 -0.265625 C 2.296875 -0.046875 2.484375 0.109375 2.765625 0.109375 C 3.75 0.109375 4.328125 -1.15625 4.328125 -1.421875 Z M 4.328125 -1.421875 "/>
</g>
<g id="glyph-0-6">
<path d="M 5.40625 -1.421875 C 5.40625 -1.515625 5.3125 -1.515625 5.28125 -1.515625 C 5.1875 -1.515625 5.171875 -1.484375 5.140625 -1.34375 C 5 -0.78125 4.8125 -0.109375 4.40625 -0.109375 C 4.1875 -0.109375 4.09375 -0.234375 4.09375 -0.5625 C 4.09375 -0.78125 4.203125 -1.25 4.296875 -1.609375 L 4.5625 -2.671875 C 4.59375 -2.828125 4.703125 -3.203125 4.734375 -3.359375 C 4.78125 -3.578125 4.890625 -3.96875 4.890625 -4.015625 C 4.890625 -4.203125 4.75 -4.296875 4.59375 -4.296875 C 4.546875 -4.296875 4.296875 -4.28125 4.203125 -3.9375 L 3.46875 -0.953125 C 3.453125 -0.90625 3.0625 -0.109375 2.328125 -0.109375 C 1.8125 -0.109375 1.71875 -0.5625 1.71875 -0.921875 C 1.71875 -1.484375 1.984375 -2.265625 2.25 -2.953125 C 2.375 -3.25 2.421875 -3.390625 2.421875 -3.578125 C 2.421875 -4.03125 2.09375 -4.40625 1.609375 -4.40625 C 0.65625 -4.40625 0.28125 -2.953125 0.28125 -2.859375 C 0.28125 -2.765625 0.40625 -2.765625 0.40625 -2.765625 C 0.5 -2.765625 0.515625 -2.78125 0.5625 -2.953125 C 0.8125 -3.8125 1.1875 -4.1875 1.578125 -4.1875 C 1.65625 -4.1875 1.828125 -4.171875 1.828125 -3.859375 C 1.828125 -3.609375 1.71875 -3.328125 1.65625 -3.171875 C 1.28125 -2.1875 1.078125 -1.578125 1.078125 -1.078125 C 1.078125 -0.140625 1.765625 0.109375 2.296875 0.109375 C 2.953125 0.109375 3.3125 -0.34375 3.484375 -0.5625 C 3.59375 -0.15625 3.9375 0.109375 4.375 0.109375 C 4.71875 0.109375 4.953125 -0.125 5.109375 -0.4375 C 5.28125 -0.796875 5.40625 -1.421875 5.40625 -1.421875 Z M 5.40625 -1.421875 "/>
</g>
<g id="glyph-0-7">
<path d="M 4.65625 -3.703125 C 4.65625 -4.234375 4.40625 -4.40625 4.21875 -4.40625 C 3.96875 -4.40625 3.734375 -4.140625 3.734375 -3.921875 C 3.734375 -3.796875 3.78125 -3.734375 3.890625 -3.625 C 4.09375 -3.421875 4.234375 -3.171875 4.234375 -2.8125 C 4.234375 -2.390625 3.625 -0.109375 2.453125 -0.109375 C 1.953125 -0.109375 1.71875 -0.453125 1.71875 -0.96875 C 1.71875 -1.53125 1.984375 -2.265625 2.296875 -3.078125 C 2.375 -3.25 2.421875 -3.390625 2.421875 -3.578125 C 2.421875 -4.03125 2.09375 -4.40625 1.609375 -4.40625 C 0.671875 -4.40625 0.28125 -2.953125 0.28125 -2.859375 C 0.28125 -2.765625 0.40625 -2.765625 0.40625 -2.765625 C 0.5 -2.765625 0.515625 -2.78125 0.5625 -2.953125 C 0.859375 -3.953125 1.28125 -4.1875 1.578125 -4.1875 C 1.65625 -4.1875 1.828125 -4.1875 1.828125 -3.859375 C 1.828125 -3.609375 1.71875 -3.34375 1.65625 -3.171875 C 1.21875 -2.015625 1.078125 -1.546875 1.078125 -1.125 C 1.078125 -0.046875 1.953125 0.109375 2.421875 0.109375 C 4.09375 0.109375 4.65625 -3.1875 4.65625 -3.703125 Z M 4.65625 -3.703125 "/>
</g>
<g id="glyph-1-0">
<path d="M 3.578125 -1.203125 C 3.578125 -1.75 3.140625 -2.296875 2.375 -2.453125 C 3.09375 -2.71875 3.359375 -3.234375 3.359375 -3.671875 C 3.359375 -4.21875 2.734375 -4.625 1.953125 -4.625 C 1.1875 -4.625 0.59375 -4.25 0.59375 -3.6875 C 0.59375 -3.453125 0.75 -3.328125 0.953125 -3.328125 C 1.171875 -3.328125 1.3125 -3.484375 1.3125 -3.671875 C 1.3125 -3.875 1.171875 -4.03125 0.953125 -4.046875 C 1.203125 -4.34375 1.671875 -4.421875 1.9375 -4.421875 C 2.25 -4.421875 2.6875 -4.265625 2.6875 -3.671875 C 2.6875 -3.375 2.59375 -3.046875 2.40625 -2.84375 C 2.1875 -2.578125 1.984375 -2.5625 1.640625 -2.53125 C 1.46875 -2.515625 1.453125 -2.515625 1.421875 -2.515625 C 1.421875 -2.515625 1.34375 -2.5 1.34375 -2.421875 C 1.34375 -2.328125 1.40625 -2.328125 1.53125 -2.328125 L 1.90625 -2.328125 C 2.453125 -2.328125 2.84375 -1.953125 2.84375 -1.203125 C 2.84375 -0.34375 2.328125 -0.078125 1.9375 -0.078125 C 1.65625 -0.078125 1.03125 -0.15625 0.75 -0.578125 C 1.078125 -0.578125 1.15625 -0.8125 1.15625 -0.96875 C 1.15625 -1.1875 0.984375 -1.34375 0.765625 -1.34375 C 0.578125 -1.34375 0.375 -1.21875 0.375 -0.9375 C 0.375 -0.28125 1.09375 0.140625 1.9375 0.140625 C 2.90625 0.140625 3.578125 -0.515625 3.578125 -1.203125 Z M 3.578125 -1.203125 "/>
</g>
<g id="glyph-1-1">
<path d="M 3.296875 0 L 3.296875 -0.25 L 3.03125 -0.25 C 2.328125 -0.25 2.328125 -0.34375 2.328125 -0.578125 L 2.328125 -4.4375 C 2.328125 -4.625 2.328125 -4.625 2.125 -4.625 C 1.671875 -4.1875 1.046875 -4.1875 0.765625 -4.1875 L 0.765625 -3.9375 C 0.921875 -3.9375 1.390625 -3.9375 1.765625 -4.125 L 1.765625 -0.578125 C 1.765625 -0.34375 1.765625 -0.25 1.078125 -0.25 L 0.8125 -0.25 L 0.8125 0 L 2.046875 -0.03125 Z M 3.296875 0 "/>
</g>
<g id="glyph-1-2">
<path d="M 3.515625 -1.265625 L 3.28125 -1.265625 C 3.265625 -1.109375 3.1875 -0.703125 3.09375 -0.640625 C 3.046875 -0.59375 2.515625 -0.59375 2.40625 -0.59375 L 1.125 -0.59375 C 1.859375 -1.234375 2.109375 -1.4375 2.515625 -1.765625 C 3.03125 -2.171875 3.515625 -2.609375 3.515625 -3.265625 C 3.515625 -4.109375 2.78125 -4.625 1.890625 -4.625 C 1.03125 -4.625 0.4375 -4.015625 0.4375 -3.375 C 0.4375 -3.03125 0.734375 -2.984375 0.8125 -2.984375 C 0.96875 -2.984375 1.171875 -3.109375 1.171875 -3.359375 C 1.171875 -3.484375 1.125 -3.734375 0.765625 -3.734375 C 0.984375 -4.21875 1.453125 -4.375 1.78125 -4.375 C 2.484375 -4.375 2.84375 -3.828125 2.84375 -3.265625 C 2.84375 -2.65625 2.40625 -2.1875 2.1875 -1.9375 L 0.515625 -0.265625 C 0.4375 -0.203125 0.4375 -0.1875 0.4375 0 L 3.3125 0 Z M 3.515625 -1.265625 "/>
</g>
<g id="glyph-2-0">
<path d="M 3.296875 2.390625 C 3.296875 2.359375 3.296875 2.34375 3.125 2.171875 C 1.875 0.921875 1.5625 -0.96875 1.5625 -2.484375 C 1.5625 -4.21875 1.9375 -5.953125 3.171875 -7.203125 C 3.296875 -7.3125 3.296875 -7.328125 3.296875 -7.359375 C 3.296875 -7.4375 3.25 -7.46875 3.1875 -7.46875 C 3.09375 -7.46875 2.203125 -6.78125 1.609375 -5.53125 C 1.109375 -4.421875 0.984375 -3.328125 0.984375 -2.484375 C 0.984375 -1.71875 1.09375 -0.5 1.640625 0.609375 C 2.234375 1.84375 3.09375 2.484375 3.1875 2.484375 C 3.25 2.484375 3.296875 2.453125 3.296875 2.390625 Z M 3.296875 2.390625 "/>
</g>
<g id="glyph-2-1">
<path d="M 2.875 -2.484375 C 2.875 -3.265625 2.765625 -4.46875 2.21875 -5.59375 C 1.625 -6.8125 0.765625 -7.46875 0.671875 -7.46875 C 0.609375 -7.46875 0.5625 -7.421875 0.5625 -7.359375 C 0.5625 -7.328125 0.5625 -7.3125 0.75 -7.140625 C 1.734375 -6.15625 2.296875 -4.5625 2.296875 -2.484375 C 2.296875 -0.78125 1.9375 0.96875 0.703125 2.21875 C 0.5625 2.34375 0.5625 2.359375 0.5625 2.390625 C 0.5625 2.453125 0.609375 2.484375 0.671875 2.484375 C 0.765625 2.484375 1.65625 1.8125 2.25 0.546875 C 2.75 -0.546875 2.875 -1.65625 2.875 -2.484375 Z M 2.875 -2.484375 "/>
</g>
<g id="glyph-3-0">
<path d="M 8.09375 -3 C 8.09375 -3.21875 7.90625 -3.21875 7.71875 -3.21875 L 4.53125 -3.21875 L 4.53125 -6.40625 C 4.53125 -6.5625 4.53125 -6.78125 4.328125 -6.78125 C 4.109375 -6.78125 4.109375 -6.578125 4.109375 -6.40625 L 4.109375 -3.21875 L 0.921875 -3.21875 C 0.765625 -3.21875 0.546875 -3.21875 0.546875 -3.015625 C 0.546875 -2.796875 0.75 -2.796875 0.921875 -2.796875 L 4.109375 -2.796875 L 4.109375 0.390625 C 4.109375 0.5625 4.109375 0.765625 4.3125 0.765625 C 4.53125 0.765625 4.53125 0.578125 4.53125 0.390625 L 4.53125 -2.796875 L 7.71875 -2.796875 C 7.890625 -2.796875 8.09375 -2.796875 8.09375 -3 Z M 8.09375 -3 "/>
</g>
<g id="glyph-4-0">
<path d="M 6.90625 -2.484375 C 6.90625 -2.6875 6.71875 -2.6875 6.578125 -2.6875 L 1.15625 -2.6875 C 1.015625 -2.6875 0.828125 -2.6875 0.828125 -2.484375 C 0.828125 -2.296875 1.015625 -2.296875 1.15625 -2.296875 L 6.578125 -2.296875 C 6.71875 -2.296875 6.90625 -2.296875 6.90625 -2.484375 Z M 6.90625 -2.484375 "/>
</g>
<g id="glyph-5-0">
<path d="M 5.109375 23.484375 L 5.109375 22.9375 L 3.03125 22.9375 L 3.03125 0.15625 L 5.109375 0.15625 L 5.109375 -0.390625 L 2.484375 -0.390625 L 2.484375 23.484375 Z M 5.109375 23.484375 "/>
</g>
<g id="glyph-5-1">
<path d="M 2.75 23.484375 L 2.75 -0.390625 L 0.140625 -0.390625 L 0.140625 0.15625 L 2.203125 0.15625 L 2.203125 22.9375 L 0.140625 22.9375 L 0.140625 23.484375 Z M 2.75 23.484375 "/>
</g>
</g>
<clipPath id="clip-0">
<path clip-rule="nonzero" d="M 0.0429688 42 L 45 42 L 45 44 L 0.0429688 44 Z M 0.0429688 42 "/>
</clipPath>
<clipPath id="clip-1">
<path clip-rule="nonzero" d="M 33 42 L 184.554688 42 L 184.554688 171 L 33 171 Z M 33 42 "/>
</clipPath>
<clipPath id="clip-2">
<path clip-rule="nonzero" d="M 0.0429688 74 L 106 74 L 106 165 L 0.0429688 165 Z M 0.0429688 74 "/>
</clipPath>
<clipPath id="clip-3">
<path clip-rule="nonzero" d="M 163 27 L 184.554688 27 L 184.554688 59 L 163 59 Z M 163 27 "/>
</clipPath>
<clipPath id="clip-4">
<path clip-rule="nonzero" d="M 163 59 L 184.554688 59 L 184.554688 92 L 163 92 Z M 163 59 "/>
</clipPath>
<clipPath id="clip-5">
<path clip-rule="nonzero" d="M 163 91 L 184.554688 91 L 184.554688 124 L 163 124 Z M 163 91 "/>
</clipPath>
</defs>
<path fill-rule="nonzero" fill="rgb(89.99939%, 89.99939%, 89.99939%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -70.86535 -63.781263 L 70.866926 -63.781263 L 70.866926 63.780524 L -70.86535 63.780524 Z M -70.86535 -63.781263 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="80.86947" y="11.275426"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="87.255517" y="12.767102"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="91.718561" y="11.275426"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-1" x="95.586987" y="11.275426"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="100.250186" y="11.275426"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 18.085571 27.227548 L 51.023547 27.227548 L 51.023547 49.907372 L 18.085571 49.907372 Z M 18.085571 27.227548 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-2" x="113.866043" y="45.731724"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-1" x="123.260401" y="47.224397"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="127.723445" y="45.731724"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-1" x="131.591871" y="45.731724"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="136.25507" y="45.731724"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 18.085571 -4.91231 L 51.023547 -4.91231 L 51.023547 17.767514 L 18.085571 17.767514 Z M 18.085571 -4.91231 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-2" x="113.866043" y="77.820711"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-2" x="123.260401" y="79.312386"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="127.723445" y="77.820711"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-1" x="131.591871" y="77.820711"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="136.25507" y="77.820711"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 18.085571 -37.048256 L 51.023547 -37.048256 L 51.023547 -14.372344 L 18.085571 -14.372344 Z M 18.085571 -37.048256 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-2" x="113.866043" y="109.909697"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="123.260401" y="111.401373"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="127.723445" y="109.909697"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-1" x="131.591871" y="109.909697"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="136.25507" y="109.909697"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 0.577858 38.569416 C 0.577858 42.419157 -2.544188 45.541203 -6.393929 45.541203 C -10.247582 45.541203 -13.369628 42.419157 -13.369628 38.569416 C -13.369628 34.715763 -10.247582 31.593717 -6.393929 31.593717 C -2.544188 31.593717 0.577858 34.715763 0.577858 38.569416 Z M 0.577858 38.569416 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="81.778054" y="46.157061"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="76.382464" y="57.999603"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -30.376562 38.569416 C -30.376562 42.419157 -33.498608 45.541203 -37.352261 45.541203 C -41.202001 45.541203 -44.324047 42.419157 -44.324047 38.569416 C -44.324047 34.715763 -41.202001 31.593717 -37.352261 31.593717 C -33.498608 31.593717 -30.376562 34.715763 -30.376562 38.569416 Z M -30.376562 38.569416 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="50.871225" y="46.157061"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="45.475634" y="57.999603"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -21.163005 -103.831869 L 21.164582 -103.831869 L 21.164582 -73.28042 L -21.163005 -73.28042 Z M -21.163005 -103.831869 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-0" x="74.679119" y="158.630762"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-3" x="79.928936" y="166.58836"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-2" x="88.19705" y="168.081033"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="92.659095" y="166.58836"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-1" x="96.527521" y="166.58836"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="101.19072" y="166.58836"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-3" x="79.928936" y="178.525754"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="88.19705" y="180.017429"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="92.659095" y="178.525754"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-1" x="96.527521" y="178.525754"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="101.19072" y="178.525754"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-1" x="105.05877" y="158.630762"/>
</g>
<g clip-path="url(#clip-0)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -91.209508 38.569416 L -48.960168 38.569416 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
</g>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052524 0.0019463 L 1.608108 1.684252 L 3.086972 0.0019463 L 1.608108 -1.684271 Z M 6.052524 0.0019463 " transform="matrix(0.998444, 0, 0, -0.998444, 40.777207, 43.244131)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-4" x="5.241343" y="39.432541"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -6.393929 -25.7103 L -6.393929 26.961509 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052039 -0.000801368 L 1.607622 1.681504 L 3.086486 -0.000801368 L 1.607622 -1.683107 Z M 6.052039 -0.000801368 " transform="matrix(0, -0.998444, -0.998444, 0, 86.108575, 57.667621)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 88.097656 107.421875 C 88.097656 106.324219 87.207031 105.433594 86.109375 105.433594 C 85.011719 105.433594 84.117188 106.324219 84.117188 107.421875 C 84.117188 108.519531 85.011719 109.410156 86.109375 109.410156 C 87.207031 109.410156 88.097656 108.519531 88.097656 107.421875 Z M 88.097656 107.421875 "/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -37.352261 6.429558 L -37.352261 26.961509 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052039 0.00148068 L 1.607622 1.683786 L 3.086486 0.00148068 L 1.607622 -1.684737 Z M 6.052039 0.00148068 " transform="matrix(0, -0.998444, -0.998444, 0, 55.200697, 57.667621)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 57.191406 75.332031 C 57.191406 74.234375 56.300781 73.34375 55.199219 73.34375 C 54.101562 73.34375 53.210938 74.234375 53.210938 75.332031 C 53.210938 76.433594 54.101562 77.324219 55.199219 77.324219 C 56.300781 77.324219 57.191406 76.433594 57.191406 75.332031 Z M 57.191406 75.332031 "/>
<g clip-path="url(#clip-1)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -58.498449 38.569416 L -58.498449 -51.422187 L 91.207172 -51.422187 L 91.207172 -88.558101 L 26.293657 -88.558101 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
</g>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052273 0.00137065 L 1.607857 1.683676 L 3.08672 0.00137065 L 1.607857 -1.684847 Z M 6.052273 0.00137065 " transform="matrix(-0.998444, 0, 0, 0.998444, 121.581917, 170.170506)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 36.074219 43.242188 C 36.074219 42.144531 35.183594 41.253906 34.085938 41.253906 C 32.988281 41.253906 32.097656 42.144531 32.097656 43.242188 C 32.097656 44.34375 32.988281 45.234375 34.085938 45.234375 C 35.183594 45.234375 36.074219 44.34375 36.074219 43.242188 Z M 36.074219 43.242188 "/>
<g clip-path="url(#clip-2)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -21.659872 -82.247499 L -91.209508 -82.247499 L -91.209508 6.429558 L 12.952584 6.429558 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
</g>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053196 0.00131812 L 1.608779 1.683624 L 3.087643 0.00131812 L 1.608779 -1.6849 Z M 6.053196 0.00131812 " transform="matrix(0.998444, 0, 0, -0.998444, 102.592943, 75.333347)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -21.659872 -94.86479 L -79.86764 -94.86479 L -79.86764 -25.7103 L 12.952584 -25.7103 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053196 0.000679939 L 1.608779 1.682985 L 3.087643 0.000679939 L 1.608779 -1.681625 Z M 6.053196 0.000679939 " transform="matrix(0.998444, 0, 0, -0.998444, 102.592943, 107.422554)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -30.376562 38.569416 L -18.001836 38.569416 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054806 0.0019463 L 1.61039 1.684252 L 3.089254 0.0019463 L 1.61039 -1.684271 Z M 6.054806 0.0019463 " transform="matrix(0.998444, 0, 0, -0.998444, 71.685085, 43.244131)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 0.577858 38.569416 L 12.952584 38.569416 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053196 0.0019463 L 1.608779 1.684252 L 3.087643 0.0019463 L 1.608779 -1.684271 Z M 6.053196 0.0019463 " transform="matrix(0.998444, 0, 0, -0.998444, 102.592943, 43.244131)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 51.524326 38.569416 L 86.574964 38.569416 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 182.144531 43.242188 L 177.703125 41.5625 L 179.179688 43.242188 L 177.703125 44.925781 Z M 182.144531 43.242188 "/>
<g clip-path="url(#clip-3)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.055146 0.0019463 L 1.606817 1.684252 L 3.085681 0.0019463 L 1.606817 -1.684271 Z M 6.055146 0.0019463 " transform="matrix(0.998444, 0, 0, -0.998444, 176.098808, 43.244131)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-5" x="170.657529" y="37.939868"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-1" x="175.283319" y="39.432541"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 51.524326 6.429558 L 86.574964 6.429558 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 182.144531 75.332031 L 177.703125 73.652344 L 179.179688 75.332031 L 177.703125 77.015625 Z M 182.144531 75.332031 "/>
<g clip-path="url(#clip-4)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.055146 0.00131812 L 1.606817 1.683624 L 3.085681 0.00131812 L 1.606817 -1.6849 Z M 6.055146 0.00131812 " transform="matrix(0.998444, 0, 0, -0.998444, 176.098808, 75.333347)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-5" x="170.657529" y="70.028855"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-2" x="175.283319" y="71.521528"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 51.524326 -25.7103 L 86.574964 -25.7103 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 182.144531 107.421875 L 177.703125 105.742188 L 179.179688 107.421875 L 177.703125 109.101562 Z M 182.144531 107.421875 "/>
<g clip-path="url(#clip-5)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.055146 0.000679939 L 1.606817 1.682985 L 3.085681 0.000679939 L 1.606817 -1.681625 Z M 6.055146 0.000679939 " transform="matrix(0.998444, 0, 0, -0.998444, 176.098808, 107.422554)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-5" x="170.657529" y="102.117842"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="175.283319" y="103.609517"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-6" x="3.857499" y="70.028855"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-1" x="9.552623" y="71.521528"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-6" x="3.857499" y="102.117842"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-2" x="9.552623" y="103.609517"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-7" x="172.612482" y="129.280507"/>
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 35 KiB

BIN
figs/detail_control_comp_filter_three_hinf_gen_plant.pdf Normal file
View File

Binary file not shown.

BIN
figs/detail_control_comp_filter_three_hinf_gen_plant.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 16 KiB

227
figs/detail_control_comp_filter_three_hinf_gen_plant.svg Normal file
View File

@ -0,0 +1,227 @@
<?xml version="1.0" encoding="UTF-8"?>
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="184.799" height="186.709" viewBox="0 0 184.799 186.709">
<defs>
<g>
<g id="glyph-0-0">
<path d="M 7.5 -5.296875 C 7.5 -6.0625 6.84375 -6.796875 5.546875 -6.796875 L 2.3125 -6.796875 C 2.125 -6.796875 2.015625 -6.796875 2.015625 -6.609375 C 2.015625 -6.484375 2.109375 -6.484375 2.3125 -6.484375 C 2.4375 -6.484375 2.625 -6.484375 2.734375 -6.46875 C 2.890625 -6.453125 2.953125 -6.421875 2.953125 -6.3125 C 2.953125 -6.265625 2.953125 -6.234375 2.921875 -6.125 L 1.578125 -0.78125 C 1.484375 -0.390625 1.46875 -0.3125 0.671875 -0.3125 C 0.5 -0.3125 0.390625 -0.3125 0.390625 -0.125 C 0.390625 0 0.515625 0 0.546875 0 L 1.8125 -0.03125 L 2.453125 -0.015625 C 2.671875 -0.015625 2.890625 0 3.09375 0 C 3.171875 0 3.296875 0 3.296875 -0.203125 C 3.296875 -0.3125 3.203125 -0.3125 3.015625 -0.3125 C 2.640625 -0.3125 2.375 -0.3125 2.375 -0.484375 C 2.375 -0.546875 2.390625 -0.59375 2.40625 -0.65625 L 3.015625 -3.140625 L 4.703125 -3.140625 C 6.125 -3.140625 7.5 -4.1875 7.5 -5.296875 Z M 6.578125 -5.53125 C 6.578125 -5.140625 6.375 -4.296875 5.984375 -3.9375 C 5.5 -3.484375 4.890625 -3.40625 4.453125 -3.40625 L 3.0625 -3.40625 L 3.734375 -6.109375 C 3.828125 -6.453125 3.84375 -6.484375 4.265625 -6.484375 L 5.21875 -6.484375 C 6.046875 -6.484375 6.578125 -6.21875 6.578125 -5.53125 Z M 6.578125 -5.53125 "/>
</g>
<g id="glyph-0-1">
<path d="M 3.9375 -1.546875 C 3.9375 -1.90625 3.75 -2.15625 3.640625 -2.265625 C 3.359375 -2.546875 3.078125 -2.59375 2.640625 -2.6875 C 2.28125 -2.765625 1.875 -2.84375 1.875 -3.28125 C 1.875 -3.578125 2.125 -4.1875 3 -4.1875 C 3.25 -4.1875 3.75 -4.109375 3.890625 -3.71875 C 3.609375 -3.71875 3.40625 -3.5 3.40625 -3.28125 C 3.40625 -3.140625 3.5 -2.984375 3.71875 -2.984375 C 3.9375 -2.984375 4.1875 -3.15625 4.1875 -3.546875 C 4.1875 -3.984375 3.75 -4.40625 3 -4.40625 C 1.6875 -4.40625 1.3125 -3.390625 1.3125 -2.953125 C 1.3125 -2.171875 2.046875 -2.015625 2.34375 -1.953125 C 2.859375 -1.859375 3.375 -1.75 3.375 -1.203125 C 3.375 -0.953125 3.140625 -0.109375 1.953125 -0.109375 C 1.8125 -0.109375 1.046875 -0.109375 0.8125 -0.640625 C 1.1875 -0.59375 1.4375 -0.890625 1.4375 -1.171875 C 1.4375 -1.390625 1.28125 -1.515625 1.078125 -1.515625 C 0.8125 -1.515625 0.515625 -1.296875 0.515625 -0.859375 C 0.515625 -0.28125 1.078125 0.109375 1.9375 0.109375 C 3.546875 0.109375 3.9375 -1.09375 3.9375 -1.546875 Z M 3.9375 -1.546875 "/>
</g>
<g id="glyph-0-2">
<path d="M 10.4375 -6.6875 C 10.4375 -6.734375 10.390625 -6.796875 10.3125 -6.796875 C 10.078125 -6.796875 9.796875 -6.765625 9.546875 -6.765625 C 9.203125 -6.765625 8.84375 -6.796875 8.515625 -6.796875 C 8.453125 -6.796875 8.328125 -6.796875 8.328125 -6.609375 C 8.328125 -6.5 8.40625 -6.484375 8.46875 -6.484375 C 8.703125 -6.484375 9.0625 -6.40625 9.0625 -6.09375 C 9.0625 -5.984375 9 -5.90625 8.921875 -5.765625 L 6.234375 -1.078125 L 5.875 -6.015625 C 5.859375 -6.21875 5.84375 -6.484375 6.5625 -6.484375 C 6.734375 -6.484375 6.84375 -6.484375 6.84375 -6.6875 C 6.84375 -6.78125 6.734375 -6.796875 6.6875 -6.796875 C 6.296875 -6.796875 5.875 -6.765625 5.46875 -6.765625 C 5.25 -6.765625 4.65625 -6.796875 4.421875 -6.796875 C 4.375 -6.796875 4.234375 -6.796875 4.234375 -6.59375 C 4.234375 -6.484375 4.34375 -6.484375 4.484375 -6.484375 C 4.921875 -6.484375 4.984375 -6.421875 5 -6.234375 L 5.0625 -5.46875 L 2.546875 -1.078125 L 2.171875 -6.125 C 2.171875 -6.25 2.171875 -6.484375 2.921875 -6.484375 C 3.03125 -6.484375 3.140625 -6.484375 3.140625 -6.6875 C 3.140625 -6.796875 3 -6.796875 3 -6.796875 C 2.59375 -6.796875 2.1875 -6.765625 1.765625 -6.765625 C 1.421875 -6.765625 1.0625 -6.796875 0.734375 -6.796875 C 0.671875 -6.796875 0.546875 -6.796875 0.546875 -6.609375 C 0.546875 -6.484375 0.640625 -6.484375 0.796875 -6.484375 C 1.296875 -6.484375 1.296875 -6.40625 1.328125 -6.125 L 1.765625 -0.046875 C 1.78125 0.140625 1.796875 0.21875 1.9375 0.21875 C 2.046875 0.21875 2.078125 0.15625 2.171875 0.015625 L 5.09375 -5.0625 L 5.46875 -0.046875 C 5.484375 0.171875 5.5 0.21875 5.625 0.21875 C 5.75 0.21875 5.8125 0.125 5.859375 0.03125 L 9.125 -5.640625 C 9.375 -6.078125 9.609375 -6.4375 10.234375 -6.484375 C 10.328125 -6.5 10.4375 -6.5 10.4375 -6.6875 Z M 10.4375 -6.6875 "/>
</g>
<g id="glyph-0-3">
<path d="M 6.875 -3.703125 C 6.875 -4.25 6.609375 -4.40625 6.4375 -4.40625 C 6.1875 -4.40625 5.9375 -4.140625 5.9375 -3.921875 C 5.9375 -3.796875 6 -3.734375 6.09375 -3.65625 C 6.203125 -3.546875 6.453125 -3.28125 6.453125 -2.8125 C 6.453125 -2.46875 6.15625 -1.5 5.90625 -0.984375 C 5.640625 -0.453125 5.296875 -0.109375 4.8125 -0.109375 C 4.34375 -0.109375 4.078125 -0.40625 4.078125 -0.96875 C 4.078125 -1.25 4.140625 -1.5625 4.1875 -1.703125 L 4.59375 -3.375 C 4.640625 -3.59375 4.75 -3.96875 4.75 -4.015625 C 4.75 -4.203125 4.609375 -4.296875 4.453125 -4.296875 C 4.34375 -4.296875 4.15625 -4.203125 4.09375 -4.015625 C 4.0625 -3.9375 3.59375 -2.046875 3.515625 -1.78125 C 3.453125 -1.484375 3.4375 -1.296875 3.4375 -1.125 C 3.4375 -1.015625 3.4375 -1 3.4375 -0.953125 C 3.21875 -0.421875 2.921875 -0.109375 2.53125 -0.109375 C 1.734375 -0.109375 1.734375 -0.84375 1.734375 -1.015625 C 1.734375 -1.328125 1.78125 -1.71875 2.25 -2.953125 C 2.359375 -3.25 2.421875 -3.390625 2.421875 -3.578125 C 2.421875 -4.03125 2.09375 -4.40625 1.609375 -4.40625 C 0.65625 -4.40625 0.28125 -2.953125 0.28125 -2.859375 C 0.28125 -2.765625 0.40625 -2.765625 0.40625 -2.765625 C 0.5 -2.765625 0.515625 -2.78125 0.5625 -2.953125 C 0.84375 -3.875 1.21875 -4.1875 1.578125 -4.1875 C 1.65625 -4.1875 1.828125 -4.171875 1.828125 -3.859375 C 1.828125 -3.609375 1.71875 -3.328125 1.640625 -3.15625 C 1.203125 -1.984375 1.078125 -1.515625 1.078125 -1.140625 C 1.078125 -0.234375 1.75 0.109375 2.5 0.109375 C 2.671875 0.109375 3.140625 0.109375 3.53125 -0.59375 C 3.796875 0.046875 4.484375 0.109375 4.78125 0.109375 C 5.53125 0.109375 5.96875 -0.515625 6.21875 -1.109375 C 6.5625 -1.890625 6.875 -3.21875 6.875 -3.703125 Z M 6.875 -3.703125 "/>
</g>
<g id="glyph-0-4">
<path d="M 4.328125 -1.421875 C 4.328125 -1.46875 4.296875 -1.515625 4.203125 -1.515625 C 4.125 -1.515625 4.09375 -1.46875 4.078125 -1.390625 C 3.84375 -0.75 3.203125 -0.5625 2.875 -0.5625 C 2.671875 -0.5625 2.5 -0.609375 2.296875 -0.6875 C 1.953125 -0.8125 1.796875 -0.859375 1.59375 -0.859375 C 1.59375 -0.859375 1.40625 -0.859375 1.328125 -0.828125 C 1.859375 -1.40625 2.15625 -1.65625 2.515625 -1.953125 C 2.515625 -1.953125 3.125 -2.5 3.484375 -2.859375 C 4.421875 -3.78125 4.640625 -4.265625 4.640625 -4.296875 C 4.640625 -4.40625 4.53125 -4.40625 4.53125 -4.40625 C 4.46875 -4.40625 4.4375 -4.375 4.390625 -4.296875 C 4.09375 -3.8125 3.875 -3.65625 3.640625 -3.65625 C 3.40625 -3.65625 3.28125 -3.796875 3.140625 -3.96875 C 2.953125 -4.203125 2.78125 -4.40625 2.453125 -4.40625 C 1.703125 -4.40625 1.25 -3.46875 1.25 -3.265625 C 1.25 -3.21875 1.28125 -3.15625 1.359375 -3.15625 C 1.453125 -3.15625 1.46875 -3.203125 1.5 -3.265625 C 1.6875 -3.71875 2.265625 -3.734375 2.34375 -3.734375 C 2.546875 -3.734375 2.734375 -3.65625 2.96875 -3.578125 C 3.359375 -3.4375 3.46875 -3.4375 3.734375 -3.4375 C 3.375 -3 2.53125 -2.296875 2.34375 -2.125 L 1.453125 -1.296875 C 0.78125 -0.625 0.421875 -0.0625 0.421875 0.015625 C 0.421875 0.109375 0.546875 0.109375 0.546875 0.109375 C 0.625 0.109375 0.640625 0.09375 0.703125 -0.015625 C 0.9375 -0.375 1.234375 -0.640625 1.546875 -0.640625 C 1.78125 -0.640625 1.875 -0.546875 2.125 -0.265625 C 2.296875 -0.046875 2.484375 0.109375 2.765625 0.109375 C 3.75 0.109375 4.328125 -1.15625 4.328125 -1.421875 Z M 4.328125 -1.421875 "/>
</g>
<g id="glyph-0-5">
<path d="M 5.40625 -1.421875 C 5.40625 -1.515625 5.3125 -1.515625 5.28125 -1.515625 C 5.1875 -1.515625 5.171875 -1.484375 5.140625 -1.34375 C 5 -0.78125 4.8125 -0.109375 4.40625 -0.109375 C 4.1875 -0.109375 4.09375 -0.234375 4.09375 -0.5625 C 4.09375 -0.78125 4.203125 -1.25 4.296875 -1.609375 L 4.5625 -2.671875 C 4.59375 -2.828125 4.703125 -3.203125 4.734375 -3.359375 C 4.78125 -3.578125 4.890625 -3.96875 4.890625 -4.015625 C 4.890625 -4.203125 4.75 -4.296875 4.59375 -4.296875 C 4.546875 -4.296875 4.296875 -4.28125 4.203125 -3.9375 L 3.46875 -0.953125 C 3.453125 -0.90625 3.0625 -0.109375 2.328125 -0.109375 C 1.8125 -0.109375 1.71875 -0.5625 1.71875 -0.921875 C 1.71875 -1.484375 1.984375 -2.265625 2.25 -2.953125 C 2.375 -3.25 2.421875 -3.390625 2.421875 -3.578125 C 2.421875 -4.03125 2.09375 -4.40625 1.609375 -4.40625 C 0.65625 -4.40625 0.28125 -2.953125 0.28125 -2.859375 C 0.28125 -2.765625 0.40625 -2.765625 0.40625 -2.765625 C 0.5 -2.765625 0.515625 -2.78125 0.5625 -2.953125 C 0.8125 -3.8125 1.1875 -4.1875 1.578125 -4.1875 C 1.65625 -4.1875 1.828125 -4.171875 1.828125 -3.859375 C 1.828125 -3.609375 1.71875 -3.328125 1.65625 -3.171875 C 1.28125 -2.1875 1.078125 -1.578125 1.078125 -1.078125 C 1.078125 -0.140625 1.765625 0.109375 2.296875 0.109375 C 2.953125 0.109375 3.3125 -0.34375 3.484375 -0.5625 C 3.59375 -0.15625 3.9375 0.109375 4.375 0.109375 C 4.71875 0.109375 4.953125 -0.125 5.109375 -0.4375 C 5.28125 -0.796875 5.40625 -1.421875 5.40625 -1.421875 Z M 5.40625 -1.421875 "/>
</g>
<g id="glyph-0-6">
<path d="M 4.65625 -3.703125 C 4.65625 -4.234375 4.40625 -4.40625 4.21875 -4.40625 C 3.96875 -4.40625 3.734375 -4.140625 3.734375 -3.921875 C 3.734375 -3.796875 3.78125 -3.734375 3.890625 -3.625 C 4.09375 -3.421875 4.234375 -3.171875 4.234375 -2.8125 C 4.234375 -2.390625 3.625 -0.109375 2.453125 -0.109375 C 1.953125 -0.109375 1.71875 -0.453125 1.71875 -0.96875 C 1.71875 -1.53125 1.984375 -2.265625 2.296875 -3.078125 C 2.375 -3.25 2.421875 -3.390625 2.421875 -3.578125 C 2.421875 -4.03125 2.09375 -4.40625 1.609375 -4.40625 C 0.671875 -4.40625 0.28125 -2.953125 0.28125 -2.859375 C 0.28125 -2.765625 0.40625 -2.765625 0.40625 -2.765625 C 0.5 -2.765625 0.515625 -2.78125 0.5625 -2.953125 C 0.859375 -3.953125 1.28125 -4.1875 1.578125 -4.1875 C 1.65625 -4.1875 1.828125 -4.1875 1.828125 -3.859375 C 1.828125 -3.609375 1.71875 -3.34375 1.65625 -3.171875 C 1.21875 -2.015625 1.078125 -1.546875 1.078125 -1.125 C 1.078125 -0.046875 1.953125 0.109375 2.421875 0.109375 C 4.09375 0.109375 4.65625 -3.1875 4.65625 -3.703125 Z M 4.65625 -3.703125 "/>
</g>
<g id="glyph-1-0">
<path d="M 3.578125 -1.203125 C 3.578125 -1.75 3.140625 -2.296875 2.375 -2.453125 C 3.09375 -2.71875 3.359375 -3.234375 3.359375 -3.671875 C 3.359375 -4.21875 2.734375 -4.625 1.953125 -4.625 C 1.1875 -4.625 0.59375 -4.25 0.59375 -3.6875 C 0.59375 -3.453125 0.75 -3.328125 0.953125 -3.328125 C 1.171875 -3.328125 1.3125 -3.484375 1.3125 -3.671875 C 1.3125 -3.875 1.171875 -4.03125 0.953125 -4.046875 C 1.203125 -4.34375 1.671875 -4.421875 1.9375 -4.421875 C 2.25 -4.421875 2.6875 -4.265625 2.6875 -3.671875 C 2.6875 -3.375 2.59375 -3.046875 2.40625 -2.84375 C 2.1875 -2.578125 1.984375 -2.5625 1.640625 -2.53125 C 1.46875 -2.515625 1.453125 -2.515625 1.421875 -2.515625 C 1.421875 -2.515625 1.34375 -2.5 1.34375 -2.421875 C 1.34375 -2.328125 1.40625 -2.328125 1.53125 -2.328125 L 1.90625 -2.328125 C 2.453125 -2.328125 2.84375 -1.953125 2.84375 -1.203125 C 2.84375 -0.34375 2.328125 -0.078125 1.9375 -0.078125 C 1.65625 -0.078125 1.03125 -0.15625 0.75 -0.578125 C 1.078125 -0.578125 1.15625 -0.8125 1.15625 -0.96875 C 1.15625 -1.1875 0.984375 -1.34375 0.765625 -1.34375 C 0.578125 -1.34375 0.375 -1.21875 0.375 -0.9375 C 0.375 -0.28125 1.09375 0.140625 1.9375 0.140625 C 2.90625 0.140625 3.578125 -0.515625 3.578125 -1.203125 Z M 3.578125 -1.203125 "/>
</g>
<g id="glyph-1-1">
<path d="M 3.296875 0 L 3.296875 -0.25 L 3.03125 -0.25 C 2.328125 -0.25 2.328125 -0.34375 2.328125 -0.578125 L 2.328125 -4.4375 C 2.328125 -4.625 2.328125 -4.625 2.125 -4.625 C 1.671875 -4.1875 1.046875 -4.1875 0.765625 -4.1875 L 0.765625 -3.9375 C 0.921875 -3.9375 1.390625 -3.9375 1.765625 -4.125 L 1.765625 -0.578125 C 1.765625 -0.34375 1.765625 -0.25 1.078125 -0.25 L 0.8125 -0.25 L 0.8125 0 L 2.046875 -0.03125 Z M 3.296875 0 "/>
</g>
<g id="glyph-1-2">
<path d="M 3.515625 -1.265625 L 3.28125 -1.265625 C 3.265625 -1.109375 3.1875 -0.703125 3.09375 -0.640625 C 3.046875 -0.59375 2.515625 -0.59375 2.40625 -0.59375 L 1.125 -0.59375 C 1.859375 -1.234375 2.109375 -1.4375 2.515625 -1.765625 C 3.03125 -2.171875 3.515625 -2.609375 3.515625 -3.265625 C 3.515625 -4.109375 2.78125 -4.625 1.890625 -4.625 C 1.03125 -4.625 0.4375 -4.015625 0.4375 -3.375 C 0.4375 -3.03125 0.734375 -2.984375 0.8125 -2.984375 C 0.96875 -2.984375 1.171875 -3.109375 1.171875 -3.359375 C 1.171875 -3.484375 1.125 -3.734375 0.765625 -3.734375 C 0.984375 -4.21875 1.453125 -4.375 1.78125 -4.375 C 2.484375 -4.375 2.84375 -3.828125 2.84375 -3.265625 C 2.84375 -2.65625 2.40625 -2.1875 2.1875 -1.9375 L 0.515625 -0.265625 C 0.4375 -0.203125 0.4375 -0.1875 0.4375 0 L 3.3125 0 Z M 3.515625 -1.265625 "/>
</g>
<g id="glyph-2-0">
<path d="M 3.296875 2.390625 C 3.296875 2.359375 3.296875 2.34375 3.125 2.171875 C 1.875 0.921875 1.5625 -0.96875 1.5625 -2.484375 C 1.5625 -4.21875 1.9375 -5.953125 3.171875 -7.203125 C 3.296875 -7.3125 3.296875 -7.328125 3.296875 -7.359375 C 3.296875 -7.4375 3.25 -7.46875 3.1875 -7.46875 C 3.09375 -7.46875 2.203125 -6.78125 1.609375 -5.53125 C 1.109375 -4.421875 0.984375 -3.328125 0.984375 -2.484375 C 0.984375 -1.71875 1.09375 -0.5 1.640625 0.609375 C 2.234375 1.84375 3.09375 2.484375 3.1875 2.484375 C 3.25 2.484375 3.296875 2.453125 3.296875 2.390625 Z M 3.296875 2.390625 "/>
</g>
<g id="glyph-2-1">
<path d="M 2.875 -2.484375 C 2.875 -3.265625 2.765625 -4.46875 2.21875 -5.59375 C 1.625 -6.8125 0.765625 -7.46875 0.671875 -7.46875 C 0.609375 -7.46875 0.5625 -7.421875 0.5625 -7.359375 C 0.5625 -7.328125 0.5625 -7.3125 0.75 -7.140625 C 1.734375 -6.15625 2.296875 -4.5625 2.296875 -2.484375 C 2.296875 -0.78125 1.9375 0.96875 0.703125 2.21875 C 0.5625 2.34375 0.5625 2.359375 0.5625 2.390625 C 0.5625 2.453125 0.609375 2.484375 0.671875 2.484375 C 0.765625 2.484375 1.65625 1.8125 2.25 0.546875 C 2.75 -0.546875 2.875 -1.65625 2.875 -2.484375 Z M 2.875 -2.484375 "/>
</g>
<g id="glyph-3-0">
<path d="M 8.09375 -3 C 8.09375 -3.21875 7.90625 -3.21875 7.71875 -3.21875 L 4.53125 -3.21875 L 4.53125 -6.40625 C 4.53125 -6.5625 4.53125 -6.78125 4.328125 -6.78125 C 4.109375 -6.78125 4.109375 -6.578125 4.109375 -6.40625 L 4.109375 -3.21875 L 0.921875 -3.21875 C 0.765625 -3.21875 0.546875 -3.21875 0.546875 -3.015625 C 0.546875 -2.796875 0.75 -2.796875 0.921875 -2.796875 L 4.109375 -2.796875 L 4.109375 0.390625 C 4.109375 0.5625 4.109375 0.765625 4.3125 0.765625 C 4.53125 0.765625 4.53125 0.578125 4.53125 0.390625 L 4.53125 -2.796875 L 7.71875 -2.796875 C 7.890625 -2.796875 8.09375 -2.796875 8.09375 -3 Z M 8.09375 -3 "/>
</g>
<g id="glyph-4-0">
<path d="M 6.90625 -2.484375 C 6.90625 -2.6875 6.71875 -2.6875 6.578125 -2.6875 L 1.15625 -2.6875 C 1.015625 -2.6875 0.828125 -2.6875 0.828125 -2.484375 C 0.828125 -2.296875 1.015625 -2.296875 1.15625 -2.296875 L 6.578125 -2.296875 C 6.71875 -2.296875 6.90625 -2.296875 6.90625 -2.484375 Z M 6.90625 -2.484375 "/>
</g>
</g>
<clipPath id="clip-0">
<path clip-rule="nonzero" d="M 0.0429688 42 L 45 42 L 45 44 L 0.0429688 44 Z M 0.0429688 42 "/>
</clipPath>
<clipPath id="clip-1">
<path clip-rule="nonzero" d="M 163 117 L 184.554688 117 L 184.554688 149 L 163 149 Z M 163 117 "/>
</clipPath>
<clipPath id="clip-2">
<path clip-rule="nonzero" d="M 0.0429688 74 L 106 74 L 106 76 L 0.0429688 76 Z M 0.0429688 74 "/>
</clipPath>
<clipPath id="clip-3">
<path clip-rule="nonzero" d="M 0.0429688 106 L 106 106 L 106 108 L 0.0429688 108 Z M 0.0429688 106 "/>
</clipPath>
<clipPath id="clip-4">
<path clip-rule="nonzero" d="M 163 27 L 184.554688 27 L 184.554688 59 L 163 59 Z M 163 27 "/>
</clipPath>
<clipPath id="clip-5">
<path clip-rule="nonzero" d="M 163 59 L 184.554688 59 L 184.554688 92 L 163 92 Z M 163 59 "/>
</clipPath>
<clipPath id="clip-6">
<path clip-rule="nonzero" d="M 163 91 L 184.554688 91 L 184.554688 124 L 163 124 Z M 163 91 "/>
</clipPath>
</defs>
<path fill-rule="nonzero" fill="rgb(89.99939%, 89.99939%, 89.99939%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -70.86535 -63.781263 L 70.866926 -63.781263 L 70.866926 63.780524 L -70.86535 63.780524 Z M -70.86535 -63.781263 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="80.86947" y="11.275426"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="87.255517" y="12.767102"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="91.718561" y="11.275426"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-1" x="95.586987" y="11.275426"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="100.250186" y="11.275426"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 18.085571 27.227548 L 51.023547 27.227548 L 51.023547 49.907372 L 18.085571 49.907372 Z M 18.085571 27.227548 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-2" x="113.866043" y="45.731724"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-1" x="123.260401" y="47.224397"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="127.723445" y="45.731724"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-1" x="131.591871" y="45.731724"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="136.25507" y="45.731724"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 18.085571 -4.91231 L 51.023547 -4.91231 L 51.023547 17.767514 L 18.085571 17.767514 Z M 18.085571 -4.91231 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-2" x="113.866043" y="77.820711"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-2" x="123.260401" y="79.312386"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="127.723445" y="77.820711"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-1" x="131.591871" y="77.820711"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="136.25507" y="77.820711"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 18.085571 -37.048256 L 51.023547 -37.048256 L 51.023547 -14.372344 L 18.085571 -14.372344 Z M 18.085571 -37.048256 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-2" x="113.866043" y="109.909697"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="123.260401" y="111.401373"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="127.723445" y="109.909697"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-1" x="131.591871" y="109.909697"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="136.25507" y="109.909697"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 0.577858 38.569416 C 0.577858 42.419157 -2.544188 45.541203 -6.393929 45.541203 C -10.247582 45.541203 -13.369628 42.419157 -13.369628 38.569416 C -13.369628 34.715763 -10.247582 31.593717 -6.393929 31.593717 C -2.544188 31.593717 0.577858 34.715763 0.577858 38.569416 Z M 0.577858 38.569416 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="81.778054" y="46.157061"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="76.382464" y="57.999603"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -30.376562 38.569416 C -30.376562 42.419157 -33.498608 45.541203 -37.352261 45.541203 C -41.202001 45.541203 -44.324047 42.419157 -44.324047 38.569416 C -44.324047 34.715763 -41.202001 31.593717 -37.352261 31.593717 C -33.498608 31.593717 -30.376562 34.715763 -30.376562 38.569416 Z M -30.376562 38.569416 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="50.871225" y="46.157061"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="45.475634" y="57.999603"/>
</g>
<g clip-path="url(#clip-0)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -91.209508 38.569416 L -48.960168 38.569416 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
</g>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052524 0.0019463 L 1.608108 1.684252 L 3.086972 0.0019463 L 1.608108 -1.684271 Z M 6.052524 0.0019463 " transform="matrix(0.998444, 0, 0, -0.998444, 40.777207, 43.244131)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-3" x="5.241343" y="39.432541"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -6.393929 -25.7103 L -6.393929 26.961509 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052039 -0.000801368 L 1.607622 1.681504 L 3.086486 -0.000801368 L 1.607622 -1.683107 Z M 6.052039 -0.000801368 " transform="matrix(0, -0.998444, -0.998444, 0, 86.108575, 57.667621)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 88.097656 107.421875 C 88.097656 106.324219 87.207031 105.433594 86.109375 105.433594 C 85.011719 105.433594 84.117188 106.324219 84.117188 107.421875 C 84.117188 108.519531 85.011719 109.410156 86.109375 109.410156 C 87.207031 109.410156 88.097656 108.519531 88.097656 107.421875 Z M 88.097656 107.421875 "/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -37.352261 6.429558 L -37.352261 26.961509 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052039 0.00148068 L 1.607622 1.683786 L 3.086486 0.00148068 L 1.607622 -1.684737 Z M 6.052039 0.00148068 " transform="matrix(0, -0.998444, -0.998444, 0, 55.200697, 57.667621)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 57.191406 75.332031 C 57.191406 74.234375 56.300781 73.34375 55.199219 73.34375 C 54.101562 73.34375 53.210938 74.234375 53.210938 75.332031 C 53.210938 76.433594 54.101562 77.324219 55.199219 77.324219 C 56.300781 77.324219 57.191406 76.433594 57.191406 75.332031 Z M 57.191406 75.332031 "/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -58.498449 38.569416 L -58.498449 -51.422187 L 86.574964 -51.422187 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 182.144531 133.09375 L 177.703125 131.414062 L 179.179688 133.09375 L 177.703125 134.773438 Z M 182.144531 133.09375 "/>
<g clip-path="url(#clip-1)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.055146 -0.000186606 L 1.606817 1.682119 L 3.085681 -0.000186606 L 1.606817 -1.682492 Z M 6.055146 -0.000186606 " transform="matrix(0.998444, 0, 0, -0.998444, 176.098808, 133.093564)"/>
</g>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 36.074219 43.242188 C 36.074219 42.144531 35.183594 41.253906 34.085938 41.253906 C 32.988281 41.253906 32.097656 42.144531 32.097656 43.242188 C 32.097656 44.34375 32.988281 45.234375 34.085938 45.234375 C 35.183594 45.234375 36.074219 44.34375 36.074219 43.242188 Z M 36.074219 43.242188 "/>
<g clip-path="url(#clip-2)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -91.209508 6.429558 L 12.952584 6.429558 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
</g>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053196 0.00131812 L 1.608779 1.683624 L 3.087643 0.00131812 L 1.608779 -1.6849 Z M 6.053196 0.00131812 " transform="matrix(0.998444, 0, 0, -0.998444, 102.592943, 75.333347)"/>
<g clip-path="url(#clip-3)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -91.209508 -25.7103 L 12.952584 -25.7103 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
</g>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053196 0.000679939 L 1.608779 1.682985 L 3.087643 0.000679939 L 1.608779 -1.681625 Z M 6.053196 0.000679939 " transform="matrix(0.998444, 0, 0, -0.998444, 102.592943, 107.422554)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -30.376562 38.569416 L -18.001836 38.569416 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054806 0.0019463 L 1.61039 1.684252 L 3.089254 0.0019463 L 1.61039 -1.684271 Z M 6.054806 0.0019463 " transform="matrix(0.998444, 0, 0, -0.998444, 71.685085, 43.244131)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 0.577858 38.569416 L 12.952584 38.569416 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053196 0.0019463 L 1.608779 1.684252 L 3.087643 0.0019463 L 1.608779 -1.684271 Z M 6.053196 0.0019463 " transform="matrix(0.998444, 0, 0, -0.998444, 102.592943, 43.244131)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 51.524326 38.569416 L 86.574964 38.569416 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 182.144531 43.242188 L 177.703125 41.5625 L 179.179688 43.242188 L 177.703125 44.925781 Z M 182.144531 43.242188 "/>
<g clip-path="url(#clip-4)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.055146 0.0019463 L 1.606817 1.684252 L 3.085681 0.0019463 L 1.606817 -1.684271 Z M 6.055146 0.0019463 " transform="matrix(0.998444, 0, 0, -0.998444, 176.098808, 43.244131)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-4" x="170.657529" y="37.939868"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-1" x="175.283319" y="39.432541"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 51.524326 6.429558 L 86.574964 6.429558 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 182.144531 75.332031 L 177.703125 73.652344 L 179.179688 75.332031 L 177.703125 77.015625 Z M 182.144531 75.332031 "/>
<g clip-path="url(#clip-5)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.055146 0.00131812 L 1.606817 1.683624 L 3.085681 0.00131812 L 1.606817 -1.6849 Z M 6.055146 0.00131812 " transform="matrix(0.998444, 0, 0, -0.998444, 176.098808, 75.333347)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-4" x="170.657529" y="70.028855"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-2" x="175.283319" y="71.521528"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 51.524326 -25.7103 L 86.574964 -25.7103 " transform="matrix(0.998444, 0, 0, -0.998444, 92.493354, 81.751584)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 182.144531 107.421875 L 177.703125 105.742188 L 179.179688 107.421875 L 177.703125 109.101562 Z M 182.144531 107.421875 "/>
<g clip-path="url(#clip-6)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.055146 0.000679939 L 1.606817 1.682985 L 3.085681 0.000679939 L 1.606817 -1.681625 Z M 6.055146 0.000679939 " transform="matrix(0.998444, 0, 0, -0.998444, 176.098808, 107.422554)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-4" x="170.657529" y="102.117842"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="175.283319" y="103.609517"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-5" x="3.857499" y="70.028855"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-1" x="9.552623" y="71.521528"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-5" x="3.857499" y="102.117842"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-2" x="9.552623" y="103.609517"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-6" x="172.612482" y="129.280507"/>
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 31 KiB

BIN
figs/detail_control_feedback_sensor_fusion.pdf Normal file
View File

Binary file not shown.

BIN
figs/detail_control_feedback_sensor_fusion.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 7.4 KiB

116
figs/detail_control_feedback_sensor_fusion.svg Normal file
View File

@ -0,0 +1,116 @@
<?xml version="1.0" encoding="UTF-8"?>
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="181.452" height="65.971" viewBox="0 0 181.452 65.971">
<defs>
<g>
<g id="glyph-0-0">
<path d="M 8.09375 -2.984375 C 8.09375 -3.203125 7.890625 -3.203125 7.71875 -3.203125 L 4.53125 -3.203125 L 4.53125 -6.390625 C 4.53125 -6.5625 4.53125 -6.765625 4.328125 -6.765625 C 4.109375 -6.765625 4.109375 -6.578125 4.109375 -6.390625 L 4.109375 -3.203125 L 0.921875 -3.203125 C 0.75 -3.203125 0.546875 -3.203125 0.546875 -3 C 0.546875 -2.78125 0.75 -2.78125 0.921875 -2.78125 L 4.109375 -2.78125 L 4.109375 0.390625 C 4.109375 0.5625 4.109375 0.765625 4.3125 0.765625 C 4.53125 0.765625 4.53125 0.578125 4.53125 0.390625 L 4.53125 -2.78125 L 7.71875 -2.78125 C 7.875 -2.78125 8.09375 -2.78125 8.09375 -2.984375 Z M 8.09375 -2.984375 "/>
</g>
<g id="glyph-1-0">
<path d="M 6.890625 -2.484375 C 6.890625 -2.6875 6.703125 -2.6875 6.5625 -2.6875 L 1.15625 -2.6875 C 1.015625 -2.6875 0.828125 -2.6875 0.828125 -2.484375 C 0.828125 -2.28125 1.015625 -2.28125 1.15625 -2.28125 L 6.5625 -2.28125 C 6.703125 -2.28125 6.890625 -2.28125 6.890625 -2.484375 Z M 6.890625 -2.484375 "/>
</g>
<g id="glyph-2-0">
<path d="M 6.390625 -2.453125 C 6.390625 -2.5 6.359375 -2.5625 6.265625 -2.5625 C 6.1875 -2.5625 6.171875 -2.515625 6.109375 -2.359375 C 5.765625 -1.4375 5.328125 -0.3125 3.609375 -0.3125 L 2.671875 -0.3125 C 2.53125 -0.3125 2.515625 -0.3125 2.453125 -0.3125 C 2.359375 -0.328125 2.328125 -0.34375 2.328125 -0.421875 C 2.328125 -0.453125 2.328125 -0.46875 2.375 -0.640625 L 3.71875 -6.015625 C 3.8125 -6.375 3.828125 -6.484375 4.765625 -6.484375 C 5.0625 -6.484375 5.140625 -6.484375 5.140625 -6.671875 C 5.140625 -6.78125 5.03125 -6.78125 4.984375 -6.78125 L 3.515625 -6.75 L 2.203125 -6.78125 C 2.125 -6.78125 2 -6.78125 2 -6.59375 C 2 -6.484375 2.09375 -6.484375 2.28125 -6.484375 C 2.28125 -6.484375 2.5 -6.484375 2.65625 -6.453125 C 2.84375 -6.4375 2.9375 -6.421875 2.9375 -6.296875 C 2.9375 -6.265625 2.921875 -6.234375 2.890625 -6.109375 L 1.5625 -0.78125 C 1.453125 -0.390625 1.4375 -0.3125 0.65625 -0.3125 C 0.484375 -0.3125 0.390625 -0.3125 0.390625 -0.109375 C 0.390625 0 0.484375 0 0.65625 0 L 5.25 0 C 5.5 0 5.5 0 5.5625 -0.171875 L 6.34375 -2.3125 C 6.390625 -2.421875 6.390625 -2.453125 6.390625 -2.453125 Z M 6.390625 -2.453125 "/>
</g>
<g id="glyph-2-1">
<path d="M 3.9375 -1.546875 C 3.9375 -1.890625 3.75 -2.140625 3.625 -2.265625 C 3.359375 -2.546875 3.078125 -2.59375 2.640625 -2.6875 C 2.28125 -2.765625 1.875 -2.828125 1.875 -3.28125 C 1.875 -3.5625 2.109375 -4.171875 2.984375 -4.171875 C 3.234375 -4.171875 3.734375 -4.109375 3.890625 -3.71875 C 3.609375 -3.703125 3.40625 -3.484375 3.40625 -3.265625 C 3.40625 -3.125 3.5 -2.984375 3.71875 -2.984375 C 3.9375 -2.984375 4.171875 -3.15625 4.171875 -3.53125 C 4.171875 -3.984375 3.75 -4.390625 2.984375 -4.390625 C 1.671875 -4.390625 1.3125 -3.375 1.3125 -2.9375 C 1.3125 -2.171875 2.046875 -2.015625 2.328125 -1.953125 C 2.859375 -1.859375 3.375 -1.75 3.375 -1.203125 C 3.375 -0.9375 3.140625 -0.109375 1.953125 -0.109375 C 1.8125 -0.109375 1.046875 -0.109375 0.8125 -0.640625 C 1.1875 -0.59375 1.4375 -0.890625 1.4375 -1.15625 C 1.4375 -1.390625 1.28125 -1.515625 1.078125 -1.515625 C 0.8125 -1.515625 0.515625 -1.296875 0.515625 -0.859375 C 0.515625 -0.28125 1.078125 0.109375 1.9375 0.109375 C 3.546875 0.109375 3.9375 -1.09375 3.9375 -1.546875 Z M 3.9375 -1.546875 "/>
</g>
<g id="glyph-2-2">
<path d="M 4.921875 -1.421875 C 4.921875 -1.515625 4.84375 -1.515625 4.8125 -1.515625 C 4.71875 -1.515625 4.703125 -1.484375 4.6875 -1.40625 C 4.359375 -0.34375 3.671875 -0.109375 3.359375 -0.109375 C 2.96875 -0.109375 2.8125 -0.421875 2.8125 -0.765625 C 2.8125 -0.984375 2.875 -1.203125 2.984375 -1.640625 L 3.3125 -3 C 3.375 -3.265625 3.609375 -4.171875 4.296875 -4.171875 C 4.359375 -4.171875 4.59375 -4.171875 4.796875 -4.046875 C 4.515625 -4 4.328125 -3.75 4.328125 -3.515625 C 4.328125 -3.34375 4.4375 -3.15625 4.703125 -3.15625 C 4.921875 -3.15625 5.234375 -3.34375 5.234375 -3.734375 C 5.234375 -4.25 4.65625 -4.390625 4.3125 -4.390625 C 3.734375 -4.390625 3.390625 -3.859375 3.265625 -3.640625 C 3.015625 -4.296875 2.484375 -4.390625 2.203125 -4.390625 C 1.15625 -4.390625 0.59375 -3.109375 0.59375 -2.859375 C 0.59375 -2.765625 0.71875 -2.765625 0.71875 -2.765625 C 0.796875 -2.765625 0.828125 -2.78125 0.84375 -2.875 C 1.1875 -3.921875 1.84375 -4.171875 2.171875 -4.171875 C 2.359375 -4.171875 2.71875 -4.078125 2.71875 -3.515625 C 2.71875 -3.203125 2.546875 -2.53125 2.171875 -1.140625 C 2.015625 -0.53125 1.671875 -0.109375 1.234375 -0.109375 C 1.171875 -0.109375 0.9375 -0.109375 0.734375 -0.234375 C 0.984375 -0.28125 1.203125 -0.5 1.203125 -0.78125 C 1.203125 -1.046875 0.984375 -1.125 0.828125 -1.125 C 0.53125 -1.125 0.28125 -0.859375 0.28125 -0.546875 C 0.28125 -0.09375 0.78125 0.109375 1.21875 0.109375 C 1.875 0.109375 2.234375 -0.59375 2.265625 -0.640625 C 2.390625 -0.28125 2.75 0.109375 3.34375 0.109375 C 4.359375 0.109375 4.921875 -1.171875 4.921875 -1.421875 Z M 4.921875 -1.421875 "/>
</g>
<g id="glyph-3-0">
<path d="M 3.296875 2.390625 C 3.296875 2.359375 3.296875 2.328125 3.125 2.171875 C 1.875 0.921875 1.5625 -0.96875 1.5625 -2.484375 C 1.5625 -4.21875 1.9375 -5.9375 3.15625 -7.1875 C 3.296875 -7.296875 3.296875 -7.328125 3.296875 -7.359375 C 3.296875 -7.421875 3.25 -7.453125 3.1875 -7.453125 C 3.09375 -7.453125 2.203125 -6.78125 1.609375 -5.515625 C 1.109375 -4.421875 0.984375 -3.3125 0.984375 -2.484375 C 0.984375 -1.703125 1.09375 -0.5 1.640625 0.609375 C 2.234375 1.84375 3.09375 2.484375 3.1875 2.484375 C 3.25 2.484375 3.296875 2.453125 3.296875 2.390625 Z M 3.296875 2.390625 "/>
</g>
<g id="glyph-3-1">
<path d="M 2.875 -2.484375 C 2.875 -3.265625 2.765625 -4.46875 2.21875 -5.578125 C 1.625 -6.8125 0.765625 -7.453125 0.671875 -7.453125 C 0.609375 -7.453125 0.5625 -7.40625 0.5625 -7.359375 C 0.5625 -7.328125 0.5625 -7.296875 0.75 -7.125 C 1.734375 -6.140625 2.296875 -4.5625 2.296875 -2.484375 C 2.296875 -0.78125 1.921875 0.96875 0.703125 2.21875 C 0.5625 2.328125 0.5625 2.359375 0.5625 2.390625 C 0.5625 2.4375 0.609375 2.484375 0.671875 2.484375 C 0.765625 2.484375 1.65625 1.8125 2.25 0.546875 C 2.75 -0.546875 2.875 -1.65625 2.875 -2.484375 Z M 2.875 -2.484375 "/>
</g>
<g id="glyph-3-2">
<path d="M 4 -5.265625 L 2.484375 -6.875 L 0.96875 -5.265625 L 1.109375 -5.125 L 2.484375 -6.203125 L 3.859375 -5.125 Z M 4 -5.265625 "/>
</g>
<g id="glyph-4-0">
<path d="M 3.515625 -1.265625 L 3.28125 -1.265625 C 3.25 -1.109375 3.1875 -0.703125 3.09375 -0.625 C 3.03125 -0.59375 2.5 -0.59375 2.40625 -0.59375 L 1.125 -0.59375 C 1.859375 -1.234375 2.09375 -1.4375 2.515625 -1.765625 C 3.03125 -2.171875 3.515625 -2.59375 3.515625 -3.265625 C 3.515625 -4.109375 2.78125 -4.609375 1.890625 -4.609375 C 1.015625 -4.609375 0.4375 -4.015625 0.4375 -3.375 C 0.4375 -3.015625 0.734375 -2.984375 0.8125 -2.984375 C 0.96875 -2.984375 1.171875 -3.09375 1.171875 -3.34375 C 1.171875 -3.484375 1.125 -3.71875 0.765625 -3.71875 C 0.984375 -4.21875 1.453125 -4.359375 1.78125 -4.359375 C 2.46875 -4.359375 2.84375 -3.828125 2.84375 -3.265625 C 2.84375 -2.65625 2.40625 -2.171875 2.1875 -1.921875 L 0.5 -0.265625 C 0.4375 -0.203125 0.4375 -0.1875 0.4375 0 L 3.296875 0 Z M 3.515625 -1.265625 "/>
</g>
<g id="glyph-4-1">
<path d="M 3.28125 0 L 3.28125 -0.25 L 3.03125 -0.25 C 2.328125 -0.25 2.328125 -0.34375 2.328125 -0.5625 L 2.328125 -4.421875 C 2.328125 -4.609375 2.3125 -4.609375 2.125 -4.609375 C 1.671875 -4.171875 1.046875 -4.171875 0.765625 -4.171875 L 0.765625 -3.921875 C 0.921875 -3.921875 1.390625 -3.921875 1.765625 -4.109375 L 1.765625 -0.5625 C 1.765625 -0.34375 1.765625 -0.25 1.078125 -0.25 L 0.8125 -0.25 L 0.8125 0 L 2.046875 -0.03125 Z M 3.28125 0 "/>
</g>
</g>
<clipPath id="clip-0">
<path clip-rule="nonzero" d="M 22 18 L 161 18 L 161 65.855469 L 22 65.855469 Z M 22 18 "/>
</clipPath>
<clipPath id="clip-1">
<path clip-rule="nonzero" d="M 160 20 L 180.90625 20 L 180.90625 53 L 160 53 Z M 160 20 "/>
</clipPath>
<clipPath id="clip-2">
<path clip-rule="nonzero" d="M 132 0.0859375 L 134 0.0859375 L 134 26 L 132 26 Z M 132 0.0859375 "/>
</clipPath>
</defs>
<path fill-rule="nonzero" fill="rgb(89.99939%, 89.99939%, 89.99939%)" fill-opacity="1" d="M 23.296875 64.863281 L 160.4375 64.863281 L 160.4375 18.53125 L 23.296875 18.53125 Z M 23.296875 64.863281 "/>
<g clip-path="url(#clip-0)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -12.950767 -28.656055 L 124.604034 -28.656055 L 124.604034 17.815903 L -12.950767 17.815903 Z M -12.950767 -28.656055 " transform="matrix(0.996989, 0, 0, -0.996989, 36.208647, 36.29351)"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.972503 0.000542422 C 6.972503 3.851983 3.84982 6.974666 -0.00162053 6.974666 C -3.853061 6.974666 -6.975745 3.851983 -6.975745 0.000542422 C -6.975745 -3.850898 -3.853061 -6.973582 -0.00162053 -6.973582 C 3.84982 -6.973582 6.972503 -3.850898 6.972503 0.000542422 Z M 6.972503 0.000542422 " transform="matrix(0.996989, 0, 0, -0.996989, 36.208647, 36.29351)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="31.884706" y="39.200729"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="26.496977" y="51.027013"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 35.817167 -11.338286 L 61.660606 -11.338286 L 61.660606 11.339371 L 35.817167 11.339371 Z M 35.817167 -11.338286 " transform="matrix(0.996989, 0, 0, -0.996989, 36.208647, 36.29351)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="75.2298" y="38.777009"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="81.989929" y="38.777009"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="85.852718" y="38.777009"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="90.509123" y="38.777009"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 104.453518 0.000542422 C 104.453518 3.851983 101.330834 6.974666 97.479394 6.974666 C 93.627953 6.974666 90.50527 3.851983 90.50527 0.000542422 C 90.50527 -3.850898 93.627953 -6.973582 97.479394 -6.973582 C 101.330834 -6.973582 104.453518 -3.850898 104.453518 0.000542422 Z M 104.453518 0.000542422 " transform="matrix(0.996989, 0, 0, -0.996989, 36.208647, 36.29351)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="129.068203" y="39.200729"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -11.606876 0.000542422 L -35.318898 0.000542422 " transform="matrix(0.996989, 0, 0, -0.996989, 36.208647, 36.29351)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.051892 0.000542422 L 1.608827 1.681385 L 3.085931 0.000542422 L 1.608827 -1.684218 Z M 6.051892 0.000542422 " transform="matrix(0.996989, 0, 0, -0.996989, 21.806174, 36.29351)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-2" x="5.43359" y="30.996507"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-2" x="4.797904" y="30.996507"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="10.479351" y="32.486009"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.972503 0.000542422 L 30.688443 0.000542422 " transform="matrix(0.996989, 0, 0, -0.996989, 36.208647, 36.29351)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052612 0.000542422 L 1.609546 1.681385 L 3.08665 0.000542422 L 1.609546 -1.684218 Z M 6.052612 0.000542422 " transform="matrix(0.996989, 0, 0, -0.996989, 63.973425, 36.29351)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 62.158198 0.000542422 L 85.87022 0.000542422 " transform="matrix(0.996989, 0, 0, -0.996989, 36.208647, 36.29351)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054737 0.000542422 L 1.607753 1.681385 L 3.088775 0.000542422 L 1.607753 -1.684218 Z M 6.054737 0.000542422 " transform="matrix(0.996989, 0, 0, -0.996989, 118.990838, 36.29351)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 104.453518 0.000542422 L 139.504368 0.000542422 " transform="matrix(0.996989, 0, 0, -0.996989, 36.208647, 36.29351)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 178.496094 36.292969 L 174.066406 34.617188 L 175.539062 36.292969 L 174.066406 37.972656 Z M 178.496094 36.292969 "/>
<g clip-path="url(#clip-1)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.051807 0.000542422 L 1.608741 1.681385 L 3.085845 0.000542422 L 1.608741 -1.684218 Z M 6.051807 0.000542422 " transform="matrix(0.996989, 0, 0, -0.996989, 172.462509, 36.29351)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-2" x="171.057393" y="32.486009"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-2" x="170.421706" y="32.486009"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 118.625094 0.000542422 L 118.625094 -22.677115 L -0.00162053 -22.677115 L -0.00162053 -11.608631 " transform="matrix(0.996989, 0, 0, -0.996989, 36.208647, 36.29351)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054055 0.00162053 L 1.607072 1.682463 L 3.088094 0.00162053 L 1.607072 -1.68314 Z M 6.054055 0.00162053 " transform="matrix(0, -0.996989, -0.996989, 0, 36.208647, 50.695983)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 156.464844 36.292969 C 156.464844 35.195312 155.574219 34.308594 154.476562 34.308594 C 153.378906 34.308594 152.492188 35.195312 152.492188 36.292969 C 152.492188 37.390625 153.378906 38.28125 154.476562 38.28125 C 155.574219 38.28125 156.464844 37.390625 156.464844 36.292969 Z M 156.464844 36.292969 "/>
<g clip-path="url(#clip-2)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 97.479394 11.605798 L 97.479394 35.321738 " transform="matrix(0.996989, 0, 0, -0.996989, 36.208647, 36.29351)"/>
</g>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.05298 0.00123373 L 1.609915 1.682076 L 3.087019 0.00123373 L 1.609915 -1.683527 Z M 6.05298 0.00123373 " transform="matrix(0, 0.996989, 0.996989, 0, 133.393301, 21.891026)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-2" x="137.83074" y="11.728697"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-2" x="137.195053" y="11.728697"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-1" x="142.876501" y="13.219196"/>
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 16 KiB

BIN
figs/detail_control_feedback_sensor_fusion_arch.pdf Normal file
View File

Binary file not shown.

BIN
figs/detail_control_feedback_sensor_fusion_arch.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 19 KiB

295
figs/detail_control_feedback_sensor_fusion_arch.svg Normal file
View File

@ -0,0 +1,295 @@
<?xml version="1.0" encoding="UTF-8"?>
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="273.547" height="89.455" viewBox="0 0 273.547 89.455">
<defs>
<g>
<g id="glyph-0-0">
<path d="M 4.4375 -3.171875 L 4.4375 -3.390625 C 4.21875 -3.375 4 -3.359375 3.78125 -3.359375 C 3.640625 -3.359375 3.3125 -3.375 3.109375 -3.390625 L 3.109375 -3.171875 C 3.671875 -3.171875 3.671875 -2.96875 3.671875 -2.828125 L 3.671875 -0.78125 L 1.53125 -3.328125 C 1.484375 -3.390625 1.46875 -3.390625 1.375 -3.390625 L 0.40625 -3.390625 L 0.40625 -3.171875 L 0.609375 -3.171875 C 0.65625 -3.171875 0.890625 -3.15625 0.9375 -3.140625 C 0.953125 -3.140625 0.953125 -3.125 0.953125 -3.046875 L 0.953125 -0.546875 C 0.953125 -0.421875 0.953125 -0.21875 0.40625 -0.21875 L 0.40625 0 C 0.640625 -0.015625 0.859375 -0.015625 1.078125 -0.015625 C 1.21875 -0.015625 1.53125 -0.015625 1.734375 0 L 1.734375 -0.21875 C 1.1875 -0.21875 1.1875 -0.421875 1.1875 -0.546875 L 1.1875 -3 L 3.65625 -0.0625 C 3.703125 0 3.71875 0 3.78125 0 C 3.890625 0 3.890625 -0.046875 3.890625 -0.15625 L 3.890625 -2.828125 C 3.890625 -2.96875 3.890625 -3.171875 4.4375 -3.171875 Z M 4.4375 -3.171875 "/>
</g>
<g id="glyph-0-1">
<path d="M 3.046875 -1.0625 C 3.046875 -1.671875 2.46875 -2.21875 1.6875 -2.21875 C 0.90625 -2.21875 0.328125 -1.671875 0.328125 -1.0625 C 0.328125 -0.453125 0.90625 0.046875 1.6875 0.046875 C 2.46875 0.046875 3.046875 -0.453125 3.046875 -1.0625 Z M 2.546875 -1.109375 C 2.546875 -0.859375 2.546875 -0.125 1.6875 -0.125 C 0.8125 -0.125 0.8125 -0.859375 0.8125 -1.109375 C 0.8125 -1.328125 0.8125 -2.0625 1.6875 -2.0625 C 2.546875 -2.0625 2.546875 -1.328125 2.546875 -1.109375 Z M 2.546875 -1.109375 "/>
</g>
<g id="glyph-0-2">
<path d="M 2.375 -1.84375 C 2.375 -2.03125 2.1875 -2.1875 1.9375 -2.1875 C 1.6875 -2.1875 1.359375 -2.0625 1.171875 -1.640625 L 1.171875 -2.1875 L 0.375 -2.140625 L 0.375 -1.921875 C 0.75 -1.921875 0.78125 -1.875 0.78125 -1.640625 L 0.78125 -0.421875 C 0.78125 -0.265625 0.78125 -0.21875 0.46875 -0.21875 L 0.375 -0.21875 L 0.375 0 C 0.578125 -0.015625 0.8125 -0.015625 1.015625 -0.015625 L 1.71875 0 L 1.71875 -0.21875 L 1.59375 -0.21875 C 1.203125 -0.21875 1.203125 -0.265625 1.203125 -0.421875 L 1.203125 -1.109375 C 1.203125 -1.5625 1.46875 -2.015625 1.9375 -2.03125 C 1.9375 -2.03125 1.875 -1.953125 1.875 -1.84375 C 1.875 -1.671875 2.015625 -1.59375 2.125 -1.59375 C 2.25 -1.59375 2.375 -1.671875 2.375 -1.84375 Z M 2.375 -1.84375 "/>
</g>
<g id="glyph-0-3">
<path d="M 5.109375 0 L 5.109375 -0.21875 L 5.015625 -0.21875 C 4.703125 -0.21875 4.703125 -0.265625 4.703125 -0.421875 L 4.703125 -1.5 C 4.703125 -2.109375 4.234375 -2.1875 3.859375 -2.1875 C 3.375 -2.1875 3.09375 -1.953125 2.953125 -1.734375 C 2.828125 -2.1875 2.328125 -2.1875 2.140625 -2.1875 C 1.625 -2.1875 1.34375 -1.921875 1.21875 -1.703125 L 1.21875 -2.1875 L 0.40625 -2.140625 L 0.40625 -1.921875 C 0.765625 -1.921875 0.8125 -1.875 0.8125 -1.640625 L 0.8125 -0.421875 C 0.8125 -0.265625 0.8125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.625 -0.015625 0.828125 -0.015625 1.046875 -0.015625 C 1.25 -0.015625 1.46875 -0.015625 1.671875 0 L 1.671875 -0.21875 L 1.578125 -0.21875 C 1.265625 -0.21875 1.265625 -0.265625 1.265625 -0.421875 L 1.265625 -1.28125 C 1.265625 -1.828125 1.765625 -2.03125 2.078125 -2.03125 C 2.453125 -2.03125 2.53125 -1.828125 2.53125 -1.5 L 2.53125 -0.421875 C 2.53125 -0.265625 2.53125 -0.21875 2.21875 -0.21875 L 2.125 -0.21875 L 2.125 0 C 2.34375 -0.015625 2.546875 -0.015625 2.765625 -0.015625 C 2.96875 -0.015625 3.1875 -0.015625 3.390625 0 L 3.390625 -0.21875 L 3.296875 -0.21875 C 2.984375 -0.21875 2.984375 -0.265625 2.984375 -0.421875 L 2.984375 -1.28125 C 2.984375 -1.828125 3.484375 -2.03125 3.796875 -2.03125 C 4.171875 -2.03125 4.25 -1.828125 4.25 -1.5 L 4.25 -0.421875 C 4.25 -0.265625 4.25 -0.21875 3.9375 -0.21875 L 3.84375 -0.21875 L 3.84375 0 C 4.0625 -0.015625 4.265625 -0.015625 4.484375 -0.015625 C 4.6875 -0.015625 4.90625 -0.015625 5.109375 0 Z M 5.109375 0 "/>
</g>
<g id="glyph-0-4">
<path d="M 3.140625 -0.453125 L 3.140625 -0.71875 L 2.9375 -0.71875 L 2.9375 -0.453125 C 2.9375 -0.40625 2.9375 -0.1875 2.734375 -0.1875 C 2.546875 -0.1875 2.546875 -0.40625 2.546875 -0.453125 L 2.546875 -1.46875 C 2.546875 -1.953125 2.046875 -2.21875 1.421875 -2.21875 C 1.125 -2.21875 0.546875 -2.203125 0.546875 -1.78125 C 0.546875 -1.59375 0.6875 -1.515625 0.8125 -1.515625 C 0.953125 -1.515625 1.078125 -1.609375 1.078125 -1.78125 C 1.078125 -1.890625 1 -1.96875 0.953125 -2 C 1.125 -2.0625 1.359375 -2.0625 1.421875 -2.0625 C 1.84375 -2.0625 2.09375 -1.828125 2.09375 -1.46875 L 2.09375 -1.34375 C 1.625 -1.3125 1.359375 -1.296875 0.96875 -1.15625 C 0.640625 -1.046875 0.359375 -0.84375 0.359375 -0.515625 C 0.359375 -0.046875 0.9375 0.046875 1.328125 0.046875 C 1.703125 0.046875 2 -0.09375 2.15625 -0.359375 C 2.171875 -0.171875 2.296875 0.03125 2.546875 0.03125 C 2.578125 0.03125 3.140625 0.03125 3.140625 -0.453125 Z M 2.09375 -0.703125 C 2.09375 -0.15625 1.5 -0.109375 1.375 -0.109375 C 1.09375 -0.109375 0.8125 -0.265625 0.8125 -0.515625 C 0.8125 -0.6875 0.921875 -1.140625 2.09375 -1.1875 Z M 2.09375 -0.703125 "/>
</g>
<g id="glyph-0-5">
<path d="M 1.65625 0 L 1.65625 -0.21875 L 1.5625 -0.21875 C 1.25 -0.21875 1.25 -0.265625 1.25 -0.421875 L 1.25 -3.4375 L 0.40625 -3.390625 L 0.40625 -3.171875 C 0.78125 -3.171875 0.828125 -3.125 0.828125 -2.890625 L 0.828125 -0.421875 C 0.828125 -0.265625 0.828125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.625 -0.015625 0.828125 -0.015625 1.03125 -0.015625 C 1.234375 -0.015625 1.453125 -0.015625 1.65625 0 Z M 1.65625 0 "/>
</g>
<g id="glyph-0-6">
<path d="M 1.609375 0 L 1.609375 -0.21875 C 1.28125 -0.21875 1.25 -0.21875 1.25 -0.421875 L 1.25 -2.1875 L 0.4375 -2.140625 L 0.4375 -1.921875 C 0.78125 -1.921875 0.828125 -1.875 0.828125 -1.640625 L 0.828125 -0.421875 C 0.828125 -0.265625 0.828125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.609375 -0.015625 0.828125 -0.015625 1.03125 -0.015625 C 1.21875 -0.015625 1.4375 -0.015625 1.609375 0 Z M 1.296875 -2.96875 C 1.296875 -3.140625 1.15625 -3.28125 1 -3.28125 C 0.828125 -3.28125 0.6875 -3.140625 0.6875 -2.96875 C 0.6875 -2.796875 0.828125 -2.671875 1 -2.671875 C 1.15625 -2.671875 1.296875 -2.796875 1.296875 -2.96875 Z M 1.296875 -2.96875 "/>
</g>
<g id="glyph-0-7">
<path d="M 2.625 -0.984375 L 2.421875 -0.984375 C 2.359375 -0.421875 2.265625 -0.171875 1.5625 -0.171875 L 0.90625 -0.171875 L 2.546875 -1.9375 C 2.59375 -1.984375 2.609375 -2 2.609375 -2.046875 C 2.609375 -2.140625 2.546875 -2.140625 2.453125 -2.140625 L 0.453125 -2.140625 L 0.390625 -1.28125 L 0.609375 -1.28125 C 0.640625 -1.828125 0.796875 -1.96875 1.375 -1.96875 L 2.015625 -1.96875 L 0.359375 -0.203125 C 0.3125 -0.15625 0.3125 -0.15625 0.3125 -0.09375 C 0.3125 0 0.375 0 0.453125 0 L 2.53125 0 Z M 2.625 -0.984375 "/>
</g>
<g id="glyph-0-8">
<path d="M 2.703125 -0.59375 C 2.703125 -0.671875 2.625 -0.671875 2.609375 -0.671875 C 2.53125 -0.671875 2.515625 -0.65625 2.484375 -0.578125 C 2.359375 -0.25 1.984375 -0.125 1.703125 -0.125 C 1.3125 -0.125 1.078125 -0.34375 1.015625 -0.4375 C 0.8125 -0.671875 0.8125 -0.984375 0.8125 -1.109375 L 2.5625 -1.109375 C 2.671875 -1.109375 2.703125 -1.109375 2.703125 -1.234375 C 2.703125 -1.5625 2.53125 -2.21875 1.609375 -2.21875 C 0.859375 -2.21875 0.328125 -1.671875 0.328125 -1.09375 C 0.328125 -0.453125 0.921875 0.046875 1.671875 0.046875 C 2.46875 0.046875 2.703125 -0.5 2.703125 -0.59375 Z M 2.328125 -1.265625 L 0.828125 -1.265625 C 0.890625 -1.921875 1.359375 -2.0625 1.59375 -2.0625 C 2.28125 -2.0625 2.328125 -1.40625 2.328125 -1.265625 Z M 2.328125 -1.265625 "/>
</g>
<g id="glyph-0-9">
<path d="M 3.328125 0 L 3.328125 -0.21875 C 2.96875 -0.21875 2.921875 -0.25 2.921875 -0.5 L 2.921875 -3.4375 L 2.09375 -3.390625 L 2.09375 -3.171875 C 2.453125 -3.171875 2.5 -3.125 2.5 -2.890625 L 2.5 -1.921875 C 2.390625 -2.015625 2.125 -2.1875 1.71875 -2.1875 C 0.96875 -2.1875 0.359375 -1.6875 0.359375 -1.0625 C 0.359375 -0.46875 0.921875 0.046875 1.65625 0.046875 C 2.0625 0.046875 2.34375 -0.125 2.484375 -0.25 L 2.484375 0.046875 Z M 2.484375 -0.546875 C 2.25 -0.171875 1.875 -0.109375 1.6875 -0.109375 C 1.4375 -0.109375 1.1875 -0.203125 1.03125 -0.421875 C 0.859375 -0.625 0.859375 -0.90625 0.859375 -1.0625 C 0.859375 -1.203125 0.859375 -1.53125 1.078125 -1.75 C 1.25 -1.9375 1.5 -2.03125 1.75 -2.03125 C 1.890625 -2.03125 2.25 -2 2.484375 -1.65625 Z M 2.484375 -0.546875 "/>
</g>
<g id="glyph-0-10">
<path d="M 2.375 -0.625 C 2.375 -0.84375 2.25 -1.015625 2.0625 -1.125 C 1.859375 -1.25 1.703125 -1.265625 1.296875 -1.34375 C 0.96875 -1.390625 0.59375 -1.453125 0.59375 -1.703125 C 0.59375 -1.875 0.78125 -2.078125 1.328125 -2.078125 C 1.734375 -2.078125 1.96875 -1.90625 2 -1.5625 C 2.015625 -1.484375 2.015625 -1.46875 2.109375 -1.46875 C 2.21875 -1.46875 2.21875 -1.5 2.21875 -1.59375 L 2.21875 -2.078125 C 2.21875 -2.171875 2.21875 -2.21875 2.140625 -2.21875 C 2.109375 -2.21875 2.09375 -2.21875 2.046875 -2.1875 C 2.03125 -2.171875 1.9375 -2.078125 1.921875 -2.078125 C 1.921875 -2.078125 1.90625 -2.078125 1.875 -2.109375 C 1.765625 -2.171875 1.578125 -2.21875 1.328125 -2.21875 C 0.515625 -2.21875 0.34375 -1.84375 0.34375 -1.609375 C 0.34375 -1.15625 0.921875 -1.0625 1.375 -0.984375 C 1.671875 -0.953125 2.125 -0.875 2.125 -0.546875 C 2.125 -0.359375 1.96875 -0.109375 1.375 -0.109375 C 1.046875 -0.109375 0.71875 -0.234375 0.5625 -0.765625 C 0.546875 -0.84375 0.53125 -0.859375 0.453125 -0.859375 C 0.34375 -0.859375 0.34375 -0.828125 0.34375 -0.71875 L 0.34375 -0.078125 C 0.34375 0 0.34375 0.046875 0.421875 0.046875 C 0.46875 0.046875 0.46875 0.046875 0.5625 -0.046875 L 0.6875 -0.171875 C 0.9375 0.046875 1.25 0.046875 1.375 0.046875 C 2.203125 0.046875 2.375 -0.375 2.375 -0.625 Z M 2.375 -0.625 "/>
</g>
<g id="glyph-0-11">
<path d="M 3.390625 0 L 3.390625 -0.21875 L 3.296875 -0.21875 C 2.96875 -0.21875 2.96875 -0.265625 2.96875 -0.421875 L 2.96875 -1.5 C 2.96875 -2.046875 2.59375 -2.1875 2.140625 -2.1875 C 1.609375 -2.1875 1.328125 -1.890625 1.21875 -1.703125 L 1.21875 -2.1875 L 0.40625 -2.140625 L 0.40625 -1.921875 C 0.765625 -1.921875 0.8125 -1.875 0.8125 -1.640625 L 0.8125 -0.421875 C 0.8125 -0.265625 0.8125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.625 -0.015625 0.828125 -0.015625 1.046875 -0.015625 C 1.25 -0.015625 1.46875 -0.015625 1.671875 0 L 1.671875 -0.21875 L 1.578125 -0.21875 C 1.265625 -0.21875 1.265625 -0.265625 1.265625 -0.421875 L 1.265625 -1.28125 C 1.265625 -1.84375 1.765625 -2.03125 2.078125 -2.03125 C 2.453125 -2.03125 2.53125 -1.8125 2.53125 -1.5 L 2.53125 -0.421875 C 2.53125 -0.265625 2.53125 -0.21875 2.203125 -0.21875 L 2.125 -0.21875 L 2.125 0 C 2.328125 -0.015625 2.546875 -0.015625 2.75 -0.015625 C 2.96875 -0.015625 3.171875 -0.015625 3.390625 0 Z M 3.390625 0 "/>
</g>
<g id="glyph-0-12">
<path d="M 1.21875 -3.28125 C 1.234375 -3.390625 1.125 -3.484375 1 -3.484375 C 0.875 -3.484375 0.765625 -3.390625 0.78125 -3.28125 L 0.890625 -2.09375 L 1.09375 -2.09375 Z M 1.859375 -3.28125 C 1.875 -3.390625 1.765625 -3.484375 1.640625 -3.484375 C 1.515625 -3.484375 1.40625 -3.390625 1.421875 -3.28125 L 1.53125 -2.09375 L 1.75 -2.09375 Z M 1.859375 -3.28125 "/>
</g>
<g id="glyph-0-13">
<path d="M 4.265625 -1.15625 C 4.265625 -1.234375 4.234375 -1.265625 4.15625 -1.265625 C 4.09375 -1.265625 4.0625 -1.265625 4.046875 -1.171875 C 4.015625 -0.421875 3.296875 -0.109375 2.71875 -0.109375 C 2.015625 -0.109375 1.0625 -0.5 1.0625 -1.6875 C 1.0625 -2.875 1.984375 -3.28125 2.703125 -3.28125 C 3.15625 -3.28125 3.890625 -3.03125 4.046875 -2.109375 C 4.046875 -2.0625 4.109375 -2.0625 4.15625 -2.0625 C 4.265625 -2.0625 4.265625 -2.09375 4.265625 -2.1875 L 4.265625 -3.359375 C 4.265625 -3.4375 4.265625 -3.484375 4.1875 -3.484375 C 4.125 -3.484375 4.109375 -3.46875 4.09375 -3.4375 L 3.796875 -3.046875 C 3.484375 -3.3125 3.109375 -3.484375 2.625 -3.484375 C 1.421875 -3.484375 0.484375 -2.671875 0.484375 -1.6875 C 0.484375 -0.71875 1.421875 0.109375 2.625 0.109375 C 3.578125 0.109375 4.265625 -0.5 4.265625 -1.15625 Z M 4.265625 -1.15625 "/>
</g>
<g id="glyph-0-14">
<path d="M 1.859375 -0.875 L 1.859375 -1.265625 L 0.203125 -1.265625 L 0.203125 -0.875 Z M 1.859375 -0.875 "/>
</g>
<g id="glyph-0-15">
<path d="M 3.71875 -1.34375 L 3.5 -1.34375 C 3.4375 -0.765625 3.296875 -0.21875 2.34375 -0.21875 L 1.734375 -0.21875 C 1.484375 -0.21875 1.484375 -0.25 1.484375 -0.40625 L 1.484375 -2.953125 C 1.484375 -3.109375 1.484375 -3.171875 1.96875 -3.171875 L 2.171875 -3.171875 L 2.171875 -3.390625 C 1.890625 -3.359375 1.53125 -3.359375 1.25 -3.359375 L 0.40625 -3.390625 L 0.40625 -3.171875 L 0.5625 -3.171875 C 0.953125 -3.171875 0.953125 -3.109375 0.953125 -2.96875 L 0.953125 -0.421875 C 0.953125 -0.265625 0.953125 -0.21875 0.5625 -0.21875 L 0.40625 -0.21875 L 0.40625 0 L 3.546875 0 Z M 3.71875 -1.34375 "/>
</g>
<g id="glyph-0-16">
<path d="M 3.359375 -1.0625 C 3.359375 -1.671875 2.8125 -2.1875 2.078125 -2.1875 C 1.6875 -2.1875 1.375 -2.046875 1.203125 -1.90625 L 1.203125 -2.1875 L 0.375 -2.140625 L 0.375 -1.921875 C 0.734375 -1.921875 0.78125 -1.921875 0.78125 -1.703125 L 0.78125 0.546875 C 0.78125 0.703125 0.78125 0.75 0.46875 0.75 L 0.375 0.75 L 0.375 0.953125 C 0.59375 0.953125 0.796875 0.9375 1.015625 0.9375 C 1.21875 0.9375 1.4375 0.953125 1.640625 0.953125 L 1.640625 0.75 L 1.546875 0.75 C 1.234375 0.75 1.234375 0.703125 1.234375 0.546875 L 1.234375 -0.234375 C 1.4375 -0.046875 1.703125 0.046875 1.984375 0.046875 C 2.75 0.046875 3.359375 -0.453125 3.359375 -1.0625 Z M 2.859375 -1.0625 C 2.859375 -0.53125 2.453125 -0.109375 1.953125 -0.109375 C 1.734375 -0.109375 1.46875 -0.203125 1.296875 -0.421875 C 1.234375 -0.515625 1.234375 -0.515625 1.234375 -0.609375 L 1.234375 -1.640625 C 1.4375 -1.953125 1.8125 -2.015625 2.015625 -2.015625 C 2.5 -2.015625 2.859375 -1.5625 2.859375 -1.0625 Z M 2.859375 -1.0625 "/>
</g>
<g id="glyph-0-17">
<path d="M 2.703125 -0.59375 C 2.703125 -0.65625 2.640625 -0.65625 2.609375 -0.65625 C 2.53125 -0.65625 2.515625 -0.65625 2.5 -0.59375 C 2.328125 -0.171875 1.96875 -0.125 1.75 -0.125 C 1.328125 -0.125 0.859375 -0.40625 0.859375 -1.078125 C 0.859375 -1.296875 0.890625 -1.5625 1.078125 -1.765625 C 1.3125 -2.046875 1.609375 -2.046875 1.765625 -2.046875 C 1.90625 -2.046875 2.046875 -2.046875 2.21875 -2 C 2.15625 -1.953125 2.109375 -1.875 2.109375 -1.78125 C 2.109375 -1.609375 2.234375 -1.515625 2.375 -1.515625 C 2.5 -1.515625 2.640625 -1.59375 2.640625 -1.78125 C 2.640625 -2.203125 2.09375 -2.21875 1.75 -2.21875 C 0.765625 -2.21875 0.359375 -1.5625 0.359375 -1.0625 C 0.359375 -0.453125 0.9375 0.046875 1.6875 0.046875 C 2.546875 0.046875 2.703125 -0.546875 2.703125 -0.59375 Z M 2.703125 -0.59375 "/>
</g>
<g id="glyph-0-18">
<path d="M 2.203125 -0.625 L 2.203125 -0.890625 L 1.984375 -0.890625 L 1.984375 -0.640625 C 1.984375 -0.265625 1.765625 -0.125 1.59375 -0.125 C 1.21875 -0.125 1.21875 -0.515625 1.21875 -0.625 L 1.21875 -1.921875 L 2.09375 -1.921875 L 2.09375 -2.140625 L 1.21875 -2.140625 L 1.21875 -3.046875 L 1.015625 -3.046875 C 1 -2.578125 0.765625 -2.09375 0.25 -2.078125 L 0.25 -1.921875 L 0.78125 -1.921875 L 0.78125 -0.625 C 0.78125 -0.0625 1.25 0.046875 1.546875 0.046875 C 1.921875 0.046875 2.203125 -0.21875 2.203125 -0.625 Z M 2.203125 -0.625 "/>
</g>
<g id="glyph-0-19">
<path d="M 3.265625 -1.921875 L 3.265625 -2.140625 C 3.15625 -2.125 3.015625 -2.109375 2.828125 -2.109375 C 2.671875 -2.109375 2.484375 -2.125 2.328125 -2.140625 L 2.328125 -1.921875 C 2.453125 -1.921875 2.53125 -1.84375 2.53125 -1.75 C 2.53125 -1.703125 2.515625 -1.671875 2.5 -1.640625 L 1.890625 -0.453125 L 1.21875 -1.734375 C 1.1875 -1.78125 1.1875 -1.796875 1.1875 -1.8125 C 1.1875 -1.90625 1.328125 -1.921875 1.453125 -1.921875 L 1.453125 -2.140625 C 1.25 -2.125 1.046875 -2.109375 0.828125 -2.109375 C 0.625 -2.109375 0.5 -2.109375 0.28125 -2.140625 L 0.28125 -1.921875 C 0.625 -1.921875 0.65625 -1.890625 0.734375 -1.765625 L 1.65625 0 C 1.4375 0.4375 1.234375 0.859375 0.828125 0.859375 C 0.703125 0.859375 0.65625 0.828125 0.609375 0.796875 C 0.640625 0.78125 0.75 0.71875 0.75 0.578125 C 0.75 0.421875 0.625 0.328125 0.5 0.328125 C 0.390625 0.328125 0.25 0.40625 0.25 0.578125 C 0.25 0.828125 0.515625 1.015625 0.828125 1.015625 C 1.125 1.015625 1.453125 0.828125 1.671875 0.40625 L 2.734375 -1.609375 C 2.78125 -1.71875 2.890625 -1.90625 3.265625 -1.921875 Z M 3.265625 -1.921875 "/>
</g>
<g id="glyph-0-20">
<path d="M 3.78125 0 L 3.78125 -0.21875 C 3.453125 -0.21875 3.40625 -0.21875 3.40625 -0.421875 L 3.40625 -2.1875 L 2.59375 -2.140625 L 1.234375 -2.140625 L 1.234375 -2.671875 C 1.234375 -3.140625 1.890625 -3.328125 2.25 -3.328125 C 2.28125 -3.328125 2.734375 -3.328125 2.890625 -3.25 C 2.84375 -3.203125 2.8125 -3.125 2.8125 -3.046875 C 2.8125 -2.875 2.96875 -2.75 3.125 -2.75 C 3.28125 -2.75 3.421875 -2.890625 3.421875 -3.046875 C 3.421875 -3.15625 3.390625 -3.25 3.3125 -3.296875 C 3 -3.484375 2.53125 -3.484375 2.265625 -3.484375 C 1.65625 -3.484375 0.828125 -3.21875 0.828125 -2.671875 L 0.828125 -2.140625 L 0.34375 -2.140625 L 0.34375 -1.921875 L 0.828125 -1.921875 L 0.828125 -0.421875 C 0.828125 -0.265625 0.828125 -0.21875 0.5 -0.21875 L 0.421875 -0.21875 L 0.421875 0 C 0.625 -0.015625 0.84375 -0.015625 1.0625 -0.015625 L 1.765625 0 L 1.765625 -0.21875 L 1.625 -0.21875 C 1.25 -0.21875 1.25 -0.265625 1.25 -0.421875 L 1.25 -1.921875 L 2.59375 -1.921875 C 2.953125 -1.921875 2.984375 -1.875 2.984375 -1.640625 L 2.984375 -0.421875 C 2.984375 -0.265625 2.984375 -0.21875 2.671875 -0.21875 L 2.578125 -0.21875 L 2.578125 0 C 2.78125 -0.015625 2.984375 -0.015625 3.1875 -0.015625 C 3.390625 -0.015625 3.59375 -0.015625 3.78125 0 Z M 3.78125 0 "/>
</g>
<g id="glyph-1-0">
<path d="M 8.0625 -2.984375 C 8.0625 -3.203125 7.875 -3.203125 7.6875 -3.203125 L 4.515625 -3.203125 L 4.515625 -6.375 C 4.515625 -6.546875 4.515625 -6.75 4.3125 -6.75 C 4.09375 -6.75 4.09375 -6.5625 4.09375 -6.375 L 4.09375 -3.203125 L 0.921875 -3.203125 C 0.75 -3.203125 0.546875 -3.203125 0.546875 -3 C 0.546875 -2.78125 0.75 -2.78125 0.921875 -2.78125 L 4.09375 -2.78125 L 4.09375 0.390625 C 4.09375 0.5625 4.09375 0.765625 4.296875 0.765625 C 4.515625 0.765625 4.515625 0.578125 4.515625 0.390625 L 4.515625 -2.78125 L 7.6875 -2.78125 C 7.859375 -2.78125 8.0625 -2.78125 8.0625 -2.984375 Z M 8.0625 -2.984375 "/>
</g>
<g id="glyph-2-0">
<path d="M 6.875 -2.484375 C 6.875 -2.671875 6.6875 -2.671875 6.546875 -2.671875 L 1.15625 -2.671875 C 1.015625 -2.671875 0.828125 -2.671875 0.828125 -2.484375 C 0.828125 -2.28125 1.015625 -2.28125 1.15625 -2.28125 L 6.546875 -2.28125 C 6.6875 -2.28125 6.875 -2.28125 6.875 -2.484375 Z M 6.875 -2.484375 "/>
</g>
<g id="glyph-3-0">
<path d="M 6.375 -2.453125 C 6.375 -2.484375 6.34375 -2.5625 6.25 -2.5625 C 6.15625 -2.5625 6.15625 -2.5 6.078125 -2.34375 C 5.75 -1.4375 5.3125 -0.3125 3.59375 -0.3125 L 2.671875 -0.3125 C 2.53125 -0.3125 2.5 -0.3125 2.453125 -0.3125 C 2.34375 -0.328125 2.3125 -0.34375 2.3125 -0.421875 C 2.3125 -0.453125 2.3125 -0.46875 2.375 -0.640625 L 3.703125 -6 C 3.796875 -6.34375 3.828125 -6.453125 4.75 -6.453125 C 5.046875 -6.453125 5.125 -6.453125 5.125 -6.640625 C 5.125 -6.765625 5.015625 -6.765625 4.96875 -6.765625 L 3.5 -6.734375 L 2.1875 -6.765625 C 2.125 -6.765625 2 -6.765625 2 -6.5625 C 2 -6.453125 2.09375 -6.453125 2.28125 -6.453125 C 2.28125 -6.453125 2.484375 -6.453125 2.65625 -6.4375 C 2.828125 -6.421875 2.921875 -6.40625 2.921875 -6.28125 C 2.921875 -6.234375 2.90625 -6.21875 2.875 -6.09375 L 1.5625 -0.765625 C 1.453125 -0.390625 1.4375 -0.3125 0.65625 -0.3125 C 0.484375 -0.3125 0.390625 -0.3125 0.390625 -0.109375 C 0.390625 0 0.46875 0 0.65625 0 L 5.234375 0 C 5.484375 0 5.484375 0 5.546875 -0.171875 L 6.328125 -2.3125 C 6.375 -2.421875 6.375 -2.453125 6.375 -2.453125 Z M 6.375 -2.453125 "/>
</g>
<g id="glyph-3-1">
<path d="M 3.921875 -1.53125 C 3.921875 -1.890625 3.734375 -2.140625 3.609375 -2.265625 C 3.34375 -2.53125 3.0625 -2.578125 2.625 -2.671875 C 2.265625 -2.75 1.875 -2.828125 1.875 -3.265625 C 1.875 -3.5625 2.109375 -4.15625 2.984375 -4.15625 C 3.234375 -4.15625 3.71875 -4.09375 3.875 -3.703125 C 3.59375 -3.6875 3.390625 -3.484375 3.390625 -3.265625 C 3.390625 -3.125 3.484375 -2.96875 3.703125 -2.96875 C 3.921875 -2.96875 4.15625 -3.140625 4.15625 -3.53125 C 4.15625 -3.96875 3.734375 -4.375 2.984375 -4.375 C 1.671875 -4.375 1.3125 -3.375 1.3125 -2.9375 C 1.3125 -2.15625 2.046875 -2.015625 2.328125 -1.953125 C 2.84375 -1.859375 3.359375 -1.75 3.359375 -1.203125 C 3.359375 -0.9375 3.125 -0.109375 1.9375 -0.109375 C 1.796875 -0.109375 1.046875 -0.109375 0.8125 -0.640625 C 1.1875 -0.578125 1.4375 -0.875 1.4375 -1.15625 C 1.4375 -1.390625 1.28125 -1.5 1.0625 -1.5 C 0.8125 -1.5 0.515625 -1.296875 0.515625 -0.859375 C 0.515625 -0.28125 1.078125 0.109375 1.9375 0.109375 C 3.53125 0.109375 3.921875 -1.09375 3.921875 -1.53125 Z M 3.921875 -1.53125 "/>
</g>
<g id="glyph-3-2">
<path d="M 4.90625 -1.421875 C 4.90625 -1.515625 4.828125 -1.515625 4.796875 -1.515625 C 4.703125 -1.515625 4.6875 -1.46875 4.671875 -1.40625 C 4.34375 -0.34375 3.671875 -0.109375 3.34375 -0.109375 C 2.96875 -0.109375 2.796875 -0.421875 2.796875 -0.765625 C 2.796875 -0.984375 2.859375 -1.203125 2.96875 -1.640625 L 3.3125 -2.984375 C 3.375 -3.25 3.59375 -4.15625 4.296875 -4.15625 C 4.34375 -4.15625 4.578125 -4.15625 4.78125 -4.03125 C 4.5 -3.984375 4.3125 -3.734375 4.3125 -3.5 C 4.3125 -3.34375 4.421875 -3.15625 4.6875 -3.15625 C 4.90625 -3.15625 5.21875 -3.328125 5.21875 -3.71875 C 5.21875 -4.234375 4.640625 -4.375 4.296875 -4.375 C 3.71875 -4.375 3.375 -3.859375 3.265625 -3.625 C 3.015625 -4.28125 2.484375 -4.375 2.1875 -4.375 C 1.15625 -4.375 0.59375 -3.09375 0.59375 -2.859375 C 0.59375 -2.75 0.71875 -2.75 0.71875 -2.75 C 0.796875 -2.75 0.828125 -2.78125 0.84375 -2.859375 C 1.171875 -3.90625 1.828125 -4.15625 2.171875 -4.15625 C 2.359375 -4.15625 2.703125 -4.078125 2.703125 -3.5 C 2.703125 -3.1875 2.53125 -2.53125 2.171875 -1.140625 C 2.015625 -0.53125 1.671875 -0.109375 1.234375 -0.109375 C 1.171875 -0.109375 0.9375 -0.109375 0.734375 -0.234375 C 0.984375 -0.28125 1.203125 -0.5 1.203125 -0.765625 C 1.203125 -1.046875 0.984375 -1.125 0.828125 -1.125 C 0.53125 -1.125 0.28125 -0.859375 0.28125 -0.546875 C 0.28125 -0.09375 0.78125 0.109375 1.21875 0.109375 C 1.875 0.109375 2.234375 -0.578125 2.265625 -0.640625 C 2.375 -0.28125 2.734375 0.109375 3.328125 0.109375 C 4.34375 0.109375 4.90625 -1.171875 4.90625 -1.421875 Z M 4.90625 -1.421875 "/>
</g>
<g id="glyph-4-0">
<path d="M 3.28125 2.375 C 3.28125 2.34375 3.28125 2.328125 3.109375 2.15625 C 1.875 0.90625 1.5625 -0.953125 1.5625 -2.484375 C 1.5625 -4.203125 1.9375 -5.921875 3.15625 -7.15625 C 3.28125 -7.28125 3.28125 -7.296875 3.28125 -7.328125 C 3.28125 -7.40625 3.234375 -7.4375 3.1875 -7.4375 C 3.078125 -7.4375 2.1875 -6.75 1.609375 -5.5 C 1.09375 -4.40625 0.984375 -3.3125 0.984375 -2.484375 C 0.984375 -1.703125 1.09375 -0.5 1.640625 0.609375 C 2.234375 1.828125 3.078125 2.484375 3.1875 2.484375 C 3.234375 2.484375 3.28125 2.453125 3.28125 2.375 Z M 3.28125 2.375 "/>
</g>
<g id="glyph-4-1">
<path d="M 2.859375 -2.484375 C 2.859375 -3.25 2.75 -4.453125 2.203125 -5.5625 C 1.609375 -6.78125 0.765625 -7.4375 0.65625 -7.4375 C 0.609375 -7.4375 0.5625 -7.390625 0.5625 -7.328125 C 0.5625 -7.296875 0.5625 -7.28125 0.75 -7.109375 C 1.71875 -6.125 2.28125 -4.546875 2.28125 -2.484375 C 2.28125 -0.78125 1.921875 0.953125 0.6875 2.203125 C 0.5625 2.328125 0.5625 2.34375 0.5625 2.375 C 0.5625 2.4375 0.609375 2.484375 0.65625 2.484375 C 0.765625 2.484375 1.65625 1.796875 2.234375 0.546875 C 2.75 -0.546875 2.859375 -1.640625 2.859375 -2.484375 Z M 2.859375 -2.484375 "/>
</g>
<g id="glyph-4-2">
<path d="M 3.984375 -5.25 L 2.484375 -6.859375 L 0.96875 -5.25 L 1.09375 -5.109375 L 2.484375 -6.1875 L 3.859375 -5.109375 Z M 3.984375 -5.25 "/>
</g>
<g id="glyph-5-0">
<path d="M 4.9375 -1.84375 C 4.9375 -2.828125 4.296875 -3.640625 3.453125 -3.84375 L 2.1875 -4.15625 C 1.578125 -4.296875 1.1875 -4.828125 1.1875 -5.40625 C 1.1875 -6.109375 1.71875 -6.703125 2.5 -6.703125 C 4.15625 -6.703125 4.375 -5.078125 4.421875 -4.640625 C 4.4375 -4.578125 4.4375 -4.515625 4.546875 -4.515625 C 4.671875 -4.515625 4.671875 -4.5625 4.671875 -4.75 L 4.671875 -6.75 C 4.671875 -6.921875 4.671875 -6.984375 4.5625 -6.984375 C 4.5 -6.984375 4.484375 -6.96875 4.421875 -6.859375 L 4.078125 -6.296875 C 3.78125 -6.578125 3.375 -6.984375 2.484375 -6.984375 C 1.390625 -6.984375 0.5625 -6.109375 0.5625 -5.0625 C 0.5625 -4.234375 1.078125 -3.515625 1.859375 -3.25 C 1.96875 -3.203125 2.46875 -3.09375 3.15625 -2.921875 C 3.421875 -2.859375 3.71875 -2.78125 4 -2.421875 C 4.203125 -2.15625 4.3125 -1.828125 4.3125 -1.5 C 4.3125 -0.796875 3.8125 -0.09375 2.984375 -0.09375 C 2.6875 -0.09375 1.9375 -0.140625 1.421875 -0.625 C 0.84375 -1.15625 0.8125 -1.796875 0.796875 -2.15625 C 0.796875 -2.25 0.71875 -2.25 0.6875 -2.25 C 0.5625 -2.25 0.5625 -2.171875 0.5625 -2 L 0.5625 -0.015625 C 0.5625 0.15625 0.5625 0.21875 0.65625 0.21875 C 0.734375 0.21875 0.75 0.203125 0.8125 0.09375 C 0.8125 0.09375 0.84375 0.046875 1.171875 -0.46875 C 1.46875 -0.140625 2.109375 0.21875 2.984375 0.21875 C 4.15625 0.21875 4.9375 -0.75 4.9375 -1.84375 Z M 4.9375 -1.84375 "/>
</g>
<g id="glyph-5-1">
<path d="M 4.109375 -1.171875 C 4.109375 -1.28125 4.03125 -1.296875 3.984375 -1.296875 C 3.890625 -1.296875 3.875 -1.234375 3.859375 -1.15625 C 3.5 -0.140625 2.609375 -0.140625 2.515625 -0.140625 C 2.015625 -0.140625 1.625 -0.4375 1.390625 -0.796875 C 1.09375 -1.28125 1.09375 -1.9375 1.09375 -2.28125 L 3.859375 -2.28125 C 4.078125 -2.28125 4.109375 -2.28125 4.109375 -2.5 C 4.109375 -3.484375 3.578125 -4.4375 2.34375 -4.4375 C 1.1875 -4.4375 0.28125 -3.421875 0.28125 -2.171875 C 0.28125 -0.859375 1.3125 0.109375 2.453125 0.109375 C 3.671875 0.109375 4.109375 -0.984375 4.109375 -1.171875 Z M 3.453125 -2.5 L 1.109375 -2.5 C 1.171875 -3.96875 2 -4.21875 2.34375 -4.21875 C 3.359375 -4.21875 3.453125 -2.875 3.453125 -2.5 Z M 3.453125 -2.5 "/>
</g>
<g id="glyph-5-2">
<path d="M 5.296875 0 L 5.296875 -0.3125 C 4.78125 -0.3125 4.53125 -0.3125 4.53125 -0.609375 L 4.53125 -2.5 C 4.53125 -3.34375 4.53125 -3.65625 4.21875 -4.015625 C 4.078125 -4.1875 3.75 -4.375 3.1875 -4.375 C 2.453125 -4.375 1.984375 -3.953125 1.71875 -3.34375 L 1.71875 -4.375 L 0.3125 -4.265625 L 0.3125 -3.96875 C 1.015625 -3.96875 1.09375 -3.890625 1.09375 -3.40625 L 1.09375 -0.75 C 1.09375 -0.3125 0.984375 -0.3125 0.3125 -0.3125 L 0.3125 0 L 1.4375 -0.03125 L 2.546875 0 L 2.546875 -0.3125 C 1.875 -0.3125 1.765625 -0.3125 1.765625 -0.75 L 1.765625 -2.578125 C 1.765625 -3.609375 2.484375 -4.15625 3.109375 -4.15625 C 3.734375 -4.15625 3.84375 -3.625 3.84375 -3.0625 L 3.84375 -0.75 C 3.84375 -0.3125 3.734375 -0.3125 3.078125 -0.3125 L 3.078125 0 L 4.1875 -0.03125 Z M 5.296875 0 "/>
</g>
<g id="glyph-5-3">
<path d="M 3.5625 -1.265625 C 3.5625 -1.796875 3.265625 -2.09375 3.15625 -2.203125 C 2.828125 -2.53125 2.4375 -2.609375 2.015625 -2.6875 C 1.46875 -2.796875 0.796875 -2.921875 0.796875 -3.5 C 0.796875 -3.84375 1.0625 -4.25 1.90625 -4.25 C 3 -4.25 3.046875 -3.359375 3.078125 -3.046875 C 3.078125 -2.96875 3.1875 -2.96875 3.1875 -2.96875 C 3.3125 -2.96875 3.3125 -3.015625 3.3125 -3.203125 L 3.3125 -4.203125 C 3.3125 -4.375 3.3125 -4.4375 3.203125 -4.4375 C 3.15625 -4.4375 3.140625 -4.4375 3.015625 -4.3125 C 2.984375 -4.28125 2.875 -4.1875 2.84375 -4.15625 C 2.46875 -4.4375 2.0625 -4.4375 1.90625 -4.4375 C 0.703125 -4.4375 0.328125 -3.78125 0.328125 -3.21875 C 0.328125 -2.875 0.484375 -2.59375 0.75 -2.375 C 1.0625 -2.125 1.34375 -2.0625 2.0625 -1.921875 C 2.28125 -1.875 3.09375 -1.71875 3.09375 -1.015625 C 3.09375 -0.5 2.75 -0.109375 1.96875 -0.109375 C 1.140625 -0.109375 0.78125 -0.671875 0.59375 -1.515625 C 0.5625 -1.640625 0.5625 -1.6875 0.453125 -1.6875 C 0.328125 -1.6875 0.328125 -1.609375 0.328125 -1.4375 L 0.328125 -0.125 C 0.328125 0.046875 0.328125 0.109375 0.4375 0.109375 C 0.484375 0.109375 0.5 0.09375 0.6875 -0.09375 C 0.703125 -0.109375 0.703125 -0.125 0.875 -0.3125 C 1.3125 0.09375 1.765625 0.109375 1.96875 0.109375 C 3.109375 0.109375 3.5625 -0.5625 3.5625 -1.265625 Z M 3.5625 -1.265625 "/>
</g>
<g id="glyph-5-4">
<path d="M 4.671875 -2.125 C 4.671875 -3.390625 3.671875 -4.4375 2.484375 -4.4375 C 1.234375 -4.4375 0.28125 -3.359375 0.28125 -2.125 C 0.28125 -0.84375 1.3125 0.109375 2.46875 0.109375 C 3.671875 0.109375 4.671875 -0.859375 4.671875 -2.125 Z M 3.84375 -2.203125 C 3.84375 -1.84375 3.84375 -1.3125 3.625 -0.875 C 3.40625 -0.421875 2.96875 -0.140625 2.484375 -0.140625 C 2.046875 -0.140625 1.609375 -0.34375 1.34375 -0.796875 C 1.09375 -1.234375 1.09375 -1.84375 1.09375 -2.203125 C 1.09375 -2.578125 1.09375 -3.125 1.34375 -3.5625 C 1.609375 -4.015625 2.078125 -4.21875 2.46875 -4.21875 C 2.90625 -4.21875 3.328125 -4 3.59375 -3.578125 C 3.84375 -3.15625 3.84375 -2.578125 3.84375 -2.203125 Z M 3.84375 -2.203125 "/>
</g>
<g id="glyph-5-5">
<path d="M 3.609375 -3.78125 C 3.609375 -4.09375 3.296875 -4.375 2.875 -4.375 C 2.15625 -4.375 1.796875 -3.71875 1.65625 -3.28125 L 1.65625 -4.375 L 0.28125 -4.265625 L 0.28125 -3.96875 C 0.96875 -3.96875 1.046875 -3.890625 1.046875 -3.40625 L 1.046875 -0.75 C 1.046875 -0.3125 0.9375 -0.3125 0.28125 -0.3125 L 0.28125 0 L 1.40625 -0.03125 C 1.796875 -0.03125 2.265625 -0.03125 2.671875 0 L 2.671875 -0.3125 L 2.453125 -0.3125 C 1.71875 -0.3125 1.703125 -0.421875 1.703125 -0.765625 L 1.703125 -2.296875 C 1.703125 -3.28125 2.125 -4.15625 2.875 -4.15625 C 2.9375 -4.15625 2.96875 -4.15625 2.984375 -4.15625 C 2.953125 -4.140625 2.75 -4.015625 2.75 -3.765625 C 2.75 -3.484375 2.96875 -3.34375 3.1875 -3.34375 C 3.359375 -3.34375 3.609375 -3.453125 3.609375 -3.78125 Z M 3.609375 -3.78125 "/>
</g>
<g id="glyph-5-6">
<path d="M 4.453125 -1.71875 L 4.203125 -1.71875 C 4.15625 -1.421875 4.078125 -0.984375 3.984375 -0.84375 C 3.90625 -0.765625 3.265625 -0.765625 3.046875 -0.765625 L 1.265625 -0.765625 L 2.3125 -1.78125 C 3.859375 -3.15625 4.453125 -3.6875 4.453125 -4.671875 C 4.453125 -5.8125 3.5625 -6.59375 2.34375 -6.59375 C 1.234375 -6.59375 0.5 -5.6875 0.5 -4.796875 C 0.5 -4.25 0.984375 -4.25 1.015625 -4.25 C 1.1875 -4.25 1.53125 -4.375 1.53125 -4.78125 C 1.53125 -5.03125 1.359375 -5.296875 1.015625 -5.296875 C 0.9375 -5.296875 0.90625 -5.296875 0.875 -5.28125 C 1.109375 -5.921875 1.640625 -6.296875 2.21875 -6.296875 C 3.125 -6.296875 3.546875 -5.484375 3.546875 -4.671875 C 3.546875 -3.890625 3.046875 -3.09375 2.5 -2.484375 L 0.609375 -0.359375 C 0.5 -0.25 0.5 -0.234375 0.5 0 L 4.171875 0 Z M 4.453125 -1.71875 "/>
</g>
<g id="glyph-5-7">
<path d="M 4.15625 0 L 4.15625 -0.3125 L 3.828125 -0.3125 C 2.9375 -0.3125 2.90625 -0.421875 2.90625 -0.78125 L 2.90625 -6.34375 C 2.90625 -6.578125 2.90625 -6.59375 2.6875 -6.59375 C 2.078125 -5.96875 1.203125 -5.96875 0.875 -5.96875 L 0.875 -5.65625 C 1.078125 -5.65625 1.671875 -5.65625 2.171875 -5.90625 L 2.171875 -0.78125 C 2.171875 -0.421875 2.15625 -0.3125 1.265625 -0.3125 L 0.9375 -0.3125 L 0.9375 0 C 1.28125 -0.03125 2.15625 -0.03125 2.546875 -0.03125 C 2.9375 -0.03125 3.796875 -0.03125 4.15625 0 Z M 4.15625 0 "/>
</g>
<g id="glyph-6-0">
<path d="M 3.5 -1.265625 L 3.265625 -1.265625 C 3.25 -1.109375 3.171875 -0.703125 3.09375 -0.625 C 3.03125 -0.59375 2.5 -0.59375 2.40625 -0.59375 L 1.125 -0.59375 C 1.859375 -1.234375 2.09375 -1.421875 2.515625 -1.75 C 3.03125 -2.171875 3.5 -2.59375 3.5 -3.25 C 3.5 -4.09375 2.765625 -4.609375 1.875 -4.609375 C 1.015625 -4.609375 0.4375 -4 0.4375 -3.359375 C 0.4375 -3.015625 0.734375 -2.96875 0.8125 -2.96875 C 0.96875 -2.96875 1.171875 -3.09375 1.171875 -3.34375 C 1.171875 -3.46875 1.125 -3.71875 0.765625 -3.71875 C 0.984375 -4.203125 1.453125 -4.359375 1.78125 -4.359375 C 2.46875 -4.359375 2.828125 -3.8125 2.828125 -3.25 C 2.828125 -2.65625 2.40625 -2.171875 2.171875 -1.921875 L 0.5 -0.265625 C 0.4375 -0.203125 0.4375 -0.1875 0.4375 0 L 3.296875 0 Z M 3.5 -1.265625 "/>
</g>
<g id="glyph-6-1">
<path d="M 3.28125 0 L 3.28125 -0.25 L 3.015625 -0.25 C 2.328125 -0.25 2.328125 -0.34375 2.328125 -0.5625 L 2.328125 -4.40625 C 2.328125 -4.59375 2.3125 -4.609375 2.109375 -4.609375 C 1.671875 -4.171875 1.046875 -4.15625 0.75 -4.15625 L 0.75 -3.90625 C 0.921875 -3.90625 1.375 -3.90625 1.765625 -4.109375 L 1.765625 -0.5625 C 1.765625 -0.34375 1.765625 -0.25 1.0625 -0.25 L 0.8125 -0.25 L 0.8125 0 L 2.046875 -0.03125 Z M 3.28125 0 "/>
</g>
</g>
<clipPath id="clip-0">
<path clip-rule="nonzero" d="M 14 0 L 256 0 L 256 88.914062 L 14 88.914062 Z M 14 0 "/>
</clipPath>
<clipPath id="clip-1">
<path clip-rule="nonzero" d="M 251 40 L 272.492188 40 L 272.492188 73 L 251 73 Z M 251 40 "/>
</clipPath>
</defs>
<path fill-rule="nonzero" fill="rgb(89.99939%, 89.99939%, 89.99939%)" fill-opacity="1" d="M 15.222656 87.921875 L 255.058594 87.921875 L 255.058594 0.992188 L 15.222656 0.992188 Z M 15.222656 87.921875 "/>
<g clip-path="url(#clip-0)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -113.704386 -31.644535 L 127.59274 -31.644535 L 127.59274 55.814768 L -113.704386 55.814768 Z M -113.704386 -31.644535 " transform="matrix(0.993944, 0, 0, -0.993944, 128.238499, 56.468966)"/>
</g>
<path fill-rule="nonzero" fill="rgb(79.998779%, 79.998779%, 79.998779%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -12.949729 -28.653768 L 124.601973 -28.653768 L 124.601973 52.827931 L -12.949729 52.827931 Z M -12.949729 -28.653768 " transform="matrix(0.993944, 0, 0, -0.993944, 128.238499, 56.468966)"/>
<path fill-rule="nonzero" fill="rgb(79.998779%, 79.998779%, 79.998779%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -91.216648 -28.653768 L -35.013022 -28.653768 L -35.013022 52.827931 L -91.216648 52.827931 Z M -91.216648 -28.653768 " transform="matrix(0.993944, 0, 0, -0.993944, 128.238499, 56.468966)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="48.775623" y="74.71878"/>
<use xlink:href="#glyph-0-1" x="53.630706" y="74.71878"/>
<use xlink:href="#glyph-0-2" x="57.000449" y="74.71878"/>
<use xlink:href="#glyph-0-3" x="59.682479" y="74.71878"/>
<use xlink:href="#glyph-0-4" x="65.114865" y="74.71878"/>
<use xlink:href="#glyph-0-5" x="68.484607" y="74.71878"/>
<use xlink:href="#glyph-0-6" x="70.478925" y="74.71878"/>
<use xlink:href="#glyph-0-7" x="72.473242" y="74.71878"/>
<use xlink:href="#glyph-0-8" x="75.498881" y="74.71878"/>
<use xlink:href="#glyph-0-9" x="78.52452" y="74.71878"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-10" x="55.037473" y="81.650548"/>
<use xlink:href="#glyph-0-8" x="57.753665" y="81.650548"/>
<use xlink:href="#glyph-0-11" x="60.779304" y="81.650548"/>
<use xlink:href="#glyph-0-10" x="64.492656" y="81.650548"/>
<use xlink:href="#glyph-0-1" x="67.208849" y="81.650548"/>
<use xlink:href="#glyph-0-2" x="70.578592" y="81.650548"/>
<use xlink:href="#glyph-0-10" x="73.260622" y="81.650548"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-12" x="162.768129" y="10.673969"/>
<use xlink:href="#glyph-0-13" x="165.406094" y="10.673969"/>
<use xlink:href="#glyph-0-5" x="170.150767" y="10.673969"/>
<use xlink:href="#glyph-0-1" x="172.145085" y="10.673969"/>
<use xlink:href="#glyph-0-10" x="175.514827" y="10.673969"/>
<use xlink:href="#glyph-0-8" x="178.23102" y="10.673969"/>
<use xlink:href="#glyph-0-9" x="181.256659" y="10.673969"/>
<use xlink:href="#glyph-0-14" x="184.970011" y="10.673969"/>
<use xlink:href="#glyph-0-15" x="187.307937" y="10.673969"/>
<use xlink:href="#glyph-0-1" x="191.42035" y="10.673969"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-1" x="194.963383" y="10.673969"/>
<use xlink:href="#glyph-0-16" x="198.333125" y="10.673969"/>
<use xlink:href="#glyph-0-12" x="202.046477" y="10.673969"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-17" x="151.50972" y="17.605738"/>
<use xlink:href="#glyph-0-1" x="154.535359" y="17.605738"/>
<use xlink:href="#glyph-0-3" x="157.905102" y="17.605738"/>
<use xlink:href="#glyph-0-16" x="163.337488" y="17.605738"/>
<use xlink:href="#glyph-0-5" x="167.050839" y="17.605738"/>
<use xlink:href="#glyph-0-8" x="169.045157" y="17.605738"/>
<use xlink:href="#glyph-0-3" x="172.070796" y="17.605738"/>
<use xlink:href="#glyph-0-8" x="177.503182" y="17.605738"/>
<use xlink:href="#glyph-0-11" x="180.52882" y="17.605738"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-18" x="184.068882" y="17.605738"/>
<use xlink:href="#glyph-0-4" x="186.750912" y="17.605738"/>
<use xlink:href="#glyph-0-2" x="190.120655" y="17.605738"/>
<use xlink:href="#glyph-0-19" x="192.802685" y="17.605738"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-20" x="198.681168" y="17.605738"/>
<use xlink:href="#glyph-0-5" x="202.840122" y="17.605738"/>
<use xlink:href="#glyph-0-18" x="204.834439" y="17.605738"/>
<use xlink:href="#glyph-0-8" x="207.51647" y="17.605738"/>
<use xlink:href="#glyph-0-2" x="210.542108" y="17.605738"/>
<use xlink:href="#glyph-0-10" x="213.224139" y="17.605738"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.975617 0.000217036 C 6.975617 3.851665 3.851229 6.972123 -0.000219133 6.972123 C -3.851667 6.972123 -6.972125 3.851665 -6.972125 0.000217036 C -6.972125 -3.851231 -3.851667 -6.975619 -0.000219133 -6.975619 C 3.851229 -6.975619 6.975617 -3.851231 6.975617 0.000217036 Z M 6.975617 0.000217036 " transform="matrix(0.993944, 0, 0, -0.993944, 128.238499, 56.468966)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="123.927762" y="59.368302"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="118.556486" y="71.157477"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 35.818244 -11.337973 L 61.658314 -11.337973 L 61.658314 11.338407 L 35.818244 11.338407 Z M 35.818244 -11.337973 " transform="matrix(0.993944, 0, 0, -0.993944, 128.238499, 56.468966)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="167.140491" y="58.944881"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="173.879976" y="58.944881"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="177.730969" y="58.944881"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-1" x="182.373154" y="58.944881"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 104.452613 0.000217036 C 104.452613 3.851665 101.328225 6.972123 97.476777 6.972123 C 93.625329 6.972123 90.504871 3.851665 90.504871 0.000217036 C 90.504871 -3.851231 93.625329 -6.975619 97.476777 -6.975619 C 101.328225 -6.975619 104.452613 -3.851231 104.452613 0.000217036 Z M 104.452613 0.000217036 " transform="matrix(0.993944, 0, 0, -0.993944, 128.238499, 56.468966)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="220.814485" y="59.368302"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -84.743858 -11.337973 L -41.489742 -11.337973 L -41.489742 11.338407 L -84.743858 11.338407 Z M -84.743858 -11.337973 " transform="matrix(0.993944, 0, 0, -0.993944, 128.238499, 56.468966)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-0" x="47.311542" y="59.880183"/>
<use xlink:href="#glyph-5-1" x="52.813244" y="59.880183"/>
<use xlink:href="#glyph-5-2" x="57.214804" y="59.880183"/>
<use xlink:href="#glyph-5-3" x="62.716505" y="59.880183"/>
<use xlink:href="#glyph-5-4" x="66.622951" y="59.880183"/>
<use xlink:href="#glyph-5-5" x="71.574087" y="59.880183"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-6" x="78.750262" y="59.880183"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -84.743858 23.67483 L -41.489742 23.67483 L -41.489742 46.351211 L -84.743858 46.351211 Z M -84.743858 23.67483 " transform="matrix(0.993944, 0, 0, -0.993944, 128.238499, 56.468966)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-0" x="47.311542" y="25.0802"/>
<use xlink:href="#glyph-5-1" x="52.813244" y="25.0802"/>
<use xlink:href="#glyph-5-2" x="57.214804" y="25.0802"/>
<use xlink:href="#glyph-5-3" x="62.716505" y="25.0802"/>
<use xlink:href="#glyph-5-4" x="66.622951" y="25.0802"/>
<use xlink:href="#glyph-5-5" x="71.574087" y="25.0802"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-7" x="78.750262" y="25.0802"/>
</g>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 26.113281 56.46875 C 26.113281 55.375 25.226562 54.488281 24.132812 54.488281 C 23.039062 54.488281 22.152344 55.375 22.152344 56.46875 C 22.152344 57.5625 23.039062 58.449219 24.132812 58.449219 C 25.226562 58.449219 26.113281 57.5625 26.113281 56.46875 Z M 26.113281 56.46875 "/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.975617 0.000217036 L 30.685601 0.000217036 " transform="matrix(0.993944, 0, 0, -0.993944, 128.238499, 56.468966)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.05175 0.000217036 L 1.606865 1.682278 L 3.088494 0.000217036 L 1.606865 -1.681844 Z M 6.05175 0.000217036 " transform="matrix(0.993944, 0, 0, -0.993944, 155.91849, 56.468966)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 62.15743 0.000217036 L 85.871343 0.000217036 " transform="matrix(0.993944, 0, 0, -0.993944, 128.238499, 56.468966)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053923 0.000217036 L 1.609038 1.682278 L 3.086736 0.000217036 L 1.609038 -1.681844 Z M 6.053923 0.000217036 " transform="matrix(0.993944, 0, 0, -0.993944, 210.767893, 56.468966)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 104.452613 0.000217036 L 139.504717 0.000217036 " transform="matrix(0.993944, 0, 0, -0.993944, 128.238499, 56.468966)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 270.09375 56.46875 L 265.675781 54.796875 L 267.144531 56.46875 L 265.675781 58.140625 Z M 270.09375 56.46875 "/>
<g clip-path="url(#clip-1)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054137 0.000217036 L 1.609252 1.682278 L 3.08695 0.000217036 L 1.609252 -1.681844 Z M 6.054137 0.000217036 " transform="matrix(0.993944, 0, 0, -0.993944, 264.076274, 56.468966)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-2" x="262.676443" y="52.674086"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-2" x="262.042697" y="52.674086"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 118.624369 0.000217036 L 118.624369 -22.676164 L -0.000219133 -22.676164 L -0.000219133 -11.609147 " transform="matrix(0.993944, 0, 0, -0.993944, 128.238499, 56.468966)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.051603 0.000219133 L 1.610648 1.68228 L 3.088347 0.000219133 L 1.610648 -1.681842 Z M 6.051603 0.000219133 " transform="matrix(0, -0.993944, -0.993944, 0, 128.238499, 70.827457)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 248.125 56.46875 C 248.125 55.375 247.238281 54.488281 246.144531 54.488281 C 245.050781 54.488281 244.164062 55.375 244.164062 56.46875 C 244.164062 57.5625 245.050781 58.449219 246.144531 58.449219 C 247.238281 58.449219 248.125 57.5625 248.125 56.46875 Z M 248.125 56.46875 "/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -104.739945 0.000217036 L -104.739945 35.01302 L -89.872571 35.01302 " transform="matrix(0.993944, 0, 0, -0.993944, 128.238499, 56.468966)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054809 0.000680262 L 1.609924 1.682741 L 3.087622 0.000680262 L 1.609924 -1.681381 Z M 6.054809 0.000680262 " transform="matrix(0.993944, 0, 0, -0.993944, 36.087325, 21.668645)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -127.416326 0.000217036 L -89.872571 0.000217036 " transform="matrix(0.993944, 0, 0, -0.993944, 128.238499, 56.468966)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054809 0.000217036 L 1.609924 1.682278 L 3.087622 0.000217036 L 1.609924 -1.681844 Z M 6.054809 0.000217036 " transform="matrix(0.993944, 0, 0, -0.993944, 36.087325, 56.468966)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-2" x="5.390942" y="52.674086"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -40.990626 0.000217036 L -11.605653 0.000217036 " transform="matrix(0.993944, 0, 0, -0.993944, 128.238499, 56.468966)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.055097 0.000217036 L 1.610212 1.682278 L 3.08791 0.000217036 L 1.610212 -1.681844 Z M 6.055097 0.000217036 " transform="matrix(0.993944, 0, 0, -0.993944, 113.880007, 56.468966)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-2" x="98.965841" y="51.188139"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-2" x="98.332096" y="51.188139"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-6-0" x="103.996194" y="52.674086"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -40.990626 35.01302 L 97.476777 35.01302 L 97.476777 11.605651 " transform="matrix(0.993944, 0, 0, -0.993944, 128.238499, 56.468966)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.055109 -0.00138302 L 1.610224 1.684608 L 3.087922 -0.00138302 L 1.610224 -1.683444 Z M 6.055109 -0.00138302 " transform="matrix(0, 0.993944, 0.993944, 0, 225.126375, 42.110464)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-2" x="98.965841" y="16.388156"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-2" x="98.332096" y="16.388156"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-6-1" x="103.996194" y="17.874103"/>
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 48 KiB

BIN
figs/detail_control_feedback_synthesis_architecture.pdf Normal file
View File

Binary file not shown.

BIN
figs/detail_control_feedback_synthesis_architecture.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 9.3 KiB

162
figs/detail_control_feedback_synthesis_architecture.svg Normal file
View File

@ -0,0 +1,162 @@
<?xml version="1.0" encoding="UTF-8"?>
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="239.8" height="100.675" viewBox="0 0 239.8 100.675">
<defs>
<g>
<g id="glyph-0-0">
<path d="M 10.421875 -6.671875 C 10.421875 -6.71875 10.375 -6.78125 10.296875 -6.78125 C 10.0625 -6.78125 9.78125 -6.75 9.53125 -6.75 C 9.1875 -6.75 8.828125 -6.78125 8.5 -6.78125 C 8.4375 -6.78125 8.3125 -6.78125 8.3125 -6.59375 C 8.3125 -6.484375 8.390625 -6.484375 8.453125 -6.484375 C 8.703125 -6.46875 9.046875 -6.390625 9.046875 -6.09375 C 9.046875 -5.984375 9 -5.90625 8.90625 -5.765625 L 6.234375 -1.078125 L 5.859375 -6.015625 C 5.859375 -6.21875 5.828125 -6.46875 6.5625 -6.484375 C 6.734375 -6.484375 6.828125 -6.484375 6.828125 -6.671875 C 6.828125 -6.78125 6.71875 -6.78125 6.671875 -6.78125 C 6.28125 -6.78125 5.859375 -6.75 5.46875 -6.75 C 5.234375 -6.75 4.65625 -6.78125 4.421875 -6.78125 C 4.359375 -6.78125 4.234375 -6.78125 4.234375 -6.59375 C 4.234375 -6.484375 4.328125 -6.484375 4.46875 -6.484375 C 4.90625 -6.484375 4.984375 -6.421875 5 -6.234375 L 5.0625 -5.46875 L 2.546875 -1.078125 L 2.171875 -6.125 C 2.171875 -6.234375 2.171875 -6.46875 2.921875 -6.484375 C 3.015625 -6.484375 3.125 -6.484375 3.125 -6.671875 C 3.125 -6.78125 2.984375 -6.78125 2.984375 -6.78125 C 2.59375 -6.78125 2.171875 -6.75 1.765625 -6.75 C 1.421875 -6.75 1.0625 -6.78125 0.71875 -6.78125 C 0.671875 -6.78125 0.546875 -6.78125 0.546875 -6.59375 C 0.546875 -6.484375 0.640625 -6.484375 0.796875 -6.484375 C 1.296875 -6.484375 1.296875 -6.390625 1.328125 -6.109375 L 1.765625 -0.046875 C 1.78125 0.140625 1.78125 0.21875 1.921875 0.21875 C 2.046875 0.21875 2.078125 0.15625 2.171875 0.015625 L 5.09375 -5.0625 L 5.453125 -0.046875 C 5.46875 0.171875 5.5 0.21875 5.609375 0.21875 C 5.75 0.21875 5.796875 0.125 5.859375 0.03125 L 9.109375 -5.640625 C 9.359375 -6.078125 9.59375 -6.421875 10.21875 -6.484375 C 10.3125 -6.484375 10.421875 -6.484375 10.421875 -6.671875 Z M 10.421875 -6.671875 "/>
</g>
<g id="glyph-0-1">
<path d="M 3.9375 -1.546875 C 3.9375 -1.890625 3.75 -2.140625 3.625 -2.265625 C 3.359375 -2.546875 3.078125 -2.59375 2.640625 -2.6875 C 2.28125 -2.765625 1.875 -2.828125 1.875 -3.28125 C 1.875 -3.5625 2.109375 -4.171875 2.984375 -4.171875 C 3.234375 -4.171875 3.734375 -4.109375 3.890625 -3.71875 C 3.609375 -3.703125 3.40625 -3.484375 3.40625 -3.265625 C 3.40625 -3.125 3.5 -2.984375 3.71875 -2.984375 C 3.9375 -2.984375 4.171875 -3.15625 4.171875 -3.53125 C 4.171875 -3.984375 3.75 -4.390625 2.984375 -4.390625 C 1.671875 -4.390625 1.3125 -3.375 1.3125 -2.9375 C 1.3125 -2.171875 2.046875 -2.015625 2.328125 -1.953125 C 2.859375 -1.859375 3.375 -1.75 3.375 -1.203125 C 3.375 -0.9375 3.140625 -0.109375 1.953125 -0.109375 C 1.8125 -0.109375 1.046875 -0.109375 0.8125 -0.640625 C 1.1875 -0.59375 1.4375 -0.890625 1.4375 -1.15625 C 1.4375 -1.390625 1.28125 -1.515625 1.078125 -1.515625 C 0.8125 -1.515625 0.515625 -1.296875 0.515625 -0.859375 C 0.515625 -0.28125 1.078125 0.109375 1.9375 0.109375 C 3.546875 0.109375 3.9375 -1.09375 3.9375 -1.546875 Z M 3.9375 -1.546875 "/>
</g>
<g id="glyph-0-2">
<path d="M 6.859375 -3.703125 C 6.859375 -4.25 6.59375 -4.390625 6.421875 -4.390625 C 6.1875 -4.390625 5.9375 -4.140625 5.9375 -3.921875 C 5.9375 -3.78125 6 -3.734375 6.078125 -3.640625 C 6.1875 -3.53125 6.4375 -3.28125 6.4375 -2.796875 C 6.4375 -2.46875 6.15625 -1.484375 5.890625 -0.984375 C 5.640625 -0.453125 5.28125 -0.109375 4.796875 -0.109375 C 4.328125 -0.109375 4.0625 -0.40625 4.0625 -0.96875 C 4.0625 -1.25 4.140625 -1.5625 4.171875 -1.703125 L 4.59375 -3.375 C 4.640625 -3.59375 4.734375 -3.953125 4.734375 -4.015625 C 4.734375 -4.1875 4.59375 -4.28125 4.453125 -4.28125 C 4.328125 -4.28125 4.15625 -4.203125 4.078125 -4 C 4.046875 -3.9375 3.59375 -2.03125 3.515625 -1.78125 C 3.453125 -1.484375 3.421875 -1.296875 3.421875 -1.125 C 3.421875 -1.015625 3.421875 -1 3.4375 -0.9375 C 3.203125 -0.421875 2.90625 -0.109375 2.53125 -0.109375 C 1.734375 -0.109375 1.734375 -0.84375 1.734375 -1.015625 C 1.734375 -1.328125 1.78125 -1.71875 2.25 -2.9375 C 2.359375 -3.234375 2.421875 -3.375 2.421875 -3.578125 C 2.421875 -4.03125 2.09375 -4.390625 1.59375 -4.390625 C 0.65625 -4.390625 0.28125 -2.953125 0.28125 -2.859375 C 0.28125 -2.765625 0.40625 -2.765625 0.40625 -2.765625 C 0.5 -2.765625 0.515625 -2.78125 0.5625 -2.9375 C 0.828125 -3.859375 1.21875 -4.171875 1.5625 -4.171875 C 1.65625 -4.171875 1.8125 -4.15625 1.8125 -3.84375 C 1.8125 -3.59375 1.703125 -3.3125 1.640625 -3.15625 C 1.203125 -1.984375 1.078125 -1.515625 1.078125 -1.140625 C 1.078125 -0.234375 1.75 0.109375 2.5 0.109375 C 2.65625 0.109375 3.125 0.109375 3.53125 -0.59375 C 3.78125 0.046875 4.46875 0.109375 4.765625 0.109375 C 5.515625 0.109375 5.953125 -0.515625 6.21875 -1.109375 C 6.546875 -1.890625 6.859375 -3.21875 6.859375 -3.703125 Z M 6.859375 -3.703125 "/>
</g>
<g id="glyph-0-3">
<path d="M 4.65625 -3.703125 C 4.65625 -4.234375 4.390625 -4.390625 4.21875 -4.390625 C 3.96875 -4.390625 3.734375 -4.140625 3.734375 -3.921875 C 3.734375 -3.78125 3.78125 -3.734375 3.890625 -3.625 C 4.09375 -3.421875 4.21875 -3.15625 4.21875 -2.796875 C 4.21875 -2.390625 3.625 -0.109375 2.453125 -0.109375 C 1.953125 -0.109375 1.71875 -0.453125 1.71875 -0.96875 C 1.71875 -1.53125 1.984375 -2.25 2.296875 -3.078125 C 2.359375 -3.25 2.421875 -3.390625 2.421875 -3.578125 C 2.421875 -4.03125 2.09375 -4.390625 1.59375 -4.390625 C 0.671875 -4.390625 0.28125 -2.953125 0.28125 -2.859375 C 0.28125 -2.765625 0.40625 -2.765625 0.40625 -2.765625 C 0.5 -2.765625 0.515625 -2.78125 0.5625 -2.9375 C 0.859375 -3.9375 1.28125 -4.171875 1.5625 -4.171875 C 1.65625 -4.171875 1.8125 -4.171875 1.8125 -3.859375 C 1.8125 -3.609375 1.71875 -3.34375 1.65625 -3.15625 C 1.21875 -2 1.078125 -1.546875 1.078125 -1.125 C 1.078125 -0.046875 1.953125 0.109375 2.421875 0.109375 C 4.078125 0.109375 4.65625 -3.1875 4.65625 -3.703125 Z M 4.65625 -3.703125 "/>
</g>
<g id="glyph-0-4">
<path d="M 5.390625 -1.421875 C 5.390625 -1.515625 5.3125 -1.515625 5.28125 -1.515625 C 5.171875 -1.515625 5.171875 -1.484375 5.140625 -1.34375 C 5 -0.78125 4.8125 -0.109375 4.390625 -0.109375 C 4.1875 -0.109375 4.078125 -0.234375 4.078125 -0.5625 C 4.078125 -0.78125 4.203125 -1.25 4.28125 -1.59375 L 4.5625 -2.671875 C 4.59375 -2.828125 4.6875 -3.203125 4.734375 -3.34375 C 4.78125 -3.578125 4.875 -3.953125 4.875 -4.015625 C 4.875 -4.1875 4.734375 -4.28125 4.59375 -4.28125 C 4.546875 -4.28125 4.28125 -4.265625 4.203125 -3.9375 L 3.453125 -0.9375 C 3.453125 -0.90625 3.046875 -0.109375 2.328125 -0.109375 C 1.8125 -0.109375 1.703125 -0.5625 1.703125 -0.921875 C 1.703125 -1.484375 1.984375 -2.265625 2.25 -2.953125 C 2.359375 -3.25 2.421875 -3.390625 2.421875 -3.578125 C 2.421875 -4.03125 2.09375 -4.390625 1.59375 -4.390625 C 0.65625 -4.390625 0.28125 -2.953125 0.28125 -2.859375 C 0.28125 -2.765625 0.40625 -2.765625 0.40625 -2.765625 C 0.5 -2.765625 0.515625 -2.78125 0.5625 -2.9375 C 0.8125 -3.8125 1.1875 -4.171875 1.5625 -4.171875 C 1.65625 -4.171875 1.8125 -4.15625 1.8125 -3.84375 C 1.8125 -3.609375 1.703125 -3.3125 1.65625 -3.171875 C 1.28125 -2.1875 1.078125 -1.5625 1.078125 -1.078125 C 1.078125 -0.140625 1.765625 0.109375 2.296875 0.109375 C 2.953125 0.109375 3.3125 -0.34375 3.484375 -0.5625 C 3.59375 -0.15625 3.9375 0.109375 4.359375 0.109375 C 4.703125 0.109375 4.9375 -0.125 5.09375 -0.4375 C 5.265625 -0.796875 5.390625 -1.421875 5.390625 -1.421875 Z M 5.390625 -1.421875 "/>
</g>
<g id="glyph-0-5">
<path d="M 4.328125 -1.421875 C 4.328125 -1.46875 4.28125 -1.515625 4.203125 -1.515625 C 4.109375 -1.515625 4.09375 -1.453125 4.0625 -1.390625 C 3.828125 -0.75 3.203125 -0.5625 2.875 -0.5625 C 2.671875 -0.5625 2.5 -0.609375 2.28125 -0.6875 C 1.953125 -0.8125 1.796875 -0.859375 1.59375 -0.859375 C 1.59375 -0.859375 1.40625 -0.859375 1.328125 -0.828125 C 1.859375 -1.40625 2.140625 -1.65625 2.5 -1.953125 C 2.5 -1.953125 3.125 -2.5 3.484375 -2.859375 C 4.421875 -3.78125 4.640625 -4.25 4.640625 -4.296875 C 4.640625 -4.390625 4.53125 -4.390625 4.53125 -4.390625 C 4.46875 -4.390625 4.4375 -4.375 4.375 -4.28125 C 4.078125 -3.8125 3.875 -3.640625 3.640625 -3.640625 C 3.40625 -3.640625 3.28125 -3.796875 3.125 -3.96875 C 2.9375 -4.1875 2.765625 -4.390625 2.4375 -4.390625 C 1.703125 -4.390625 1.25 -3.46875 1.25 -3.265625 C 1.25 -3.203125 1.265625 -3.15625 1.359375 -3.15625 C 1.453125 -3.15625 1.46875 -3.203125 1.484375 -3.265625 C 1.671875 -3.71875 2.25 -3.734375 2.328125 -3.734375 C 2.546875 -3.734375 2.734375 -3.65625 2.96875 -3.578125 C 3.359375 -3.421875 3.46875 -3.421875 3.734375 -3.421875 C 3.375 -3 2.53125 -2.28125 2.34375 -2.125 L 1.453125 -1.296875 C 0.78125 -0.625 0.421875 -0.0625 0.421875 0.015625 C 0.421875 0.109375 0.546875 0.109375 0.546875 0.109375 C 0.625 0.109375 0.640625 0.09375 0.703125 -0.015625 C 0.9375 -0.375 1.234375 -0.640625 1.546875 -0.640625 C 1.78125 -0.640625 1.875 -0.546875 2.125 -0.265625 C 2.296875 -0.046875 2.46875 0.109375 2.765625 0.109375 C 3.75 0.109375 4.328125 -1.15625 4.328125 -1.421875 Z M 4.328125 -1.421875 "/>
</g>
<g id="glyph-1-0">
<path d="M 3.515625 -1.265625 L 3.28125 -1.265625 C 3.25 -1.109375 3.1875 -0.703125 3.09375 -0.625 C 3.03125 -0.59375 2.5 -0.59375 2.40625 -0.59375 L 1.125 -0.59375 C 1.859375 -1.234375 2.09375 -1.4375 2.515625 -1.765625 C 3.03125 -2.171875 3.515625 -2.59375 3.515625 -3.265625 C 3.515625 -4.109375 2.78125 -4.609375 1.890625 -4.609375 C 1.015625 -4.609375 0.4375 -4.015625 0.4375 -3.375 C 0.4375 -3.015625 0.734375 -2.984375 0.8125 -2.984375 C 0.96875 -2.984375 1.171875 -3.09375 1.171875 -3.34375 C 1.171875 -3.484375 1.125 -3.71875 0.765625 -3.71875 C 0.984375 -4.21875 1.453125 -4.359375 1.78125 -4.359375 C 2.46875 -4.359375 2.84375 -3.828125 2.84375 -3.265625 C 2.84375 -2.65625 2.40625 -2.171875 2.1875 -1.921875 L 0.5 -0.265625 C 0.4375 -0.203125 0.4375 -0.1875 0.4375 0 L 3.296875 0 Z M 3.515625 -1.265625 "/>
</g>
<g id="glyph-1-1">
<path d="M 3.28125 0 L 3.28125 -0.25 L 3.03125 -0.25 C 2.328125 -0.25 2.328125 -0.34375 2.328125 -0.5625 L 2.328125 -4.421875 C 2.328125 -4.609375 2.3125 -4.609375 2.125 -4.609375 C 1.671875 -4.171875 1.046875 -4.171875 0.765625 -4.171875 L 0.765625 -3.921875 C 0.921875 -3.921875 1.390625 -3.921875 1.765625 -4.109375 L 1.765625 -0.5625 C 1.765625 -0.34375 1.765625 -0.25 1.078125 -0.25 L 0.8125 -0.25 L 0.8125 0 L 2.046875 -0.03125 Z M 3.28125 0 "/>
</g>
<g id="glyph-2-0">
<path d="M 3.296875 2.390625 C 3.296875 2.359375 3.296875 2.328125 3.125 2.171875 C 1.875 0.921875 1.5625 -0.96875 1.5625 -2.484375 C 1.5625 -4.21875 1.9375 -5.9375 3.15625 -7.1875 C 3.296875 -7.296875 3.296875 -7.328125 3.296875 -7.359375 C 3.296875 -7.421875 3.25 -7.453125 3.1875 -7.453125 C 3.09375 -7.453125 2.203125 -6.78125 1.609375 -5.515625 C 1.109375 -4.421875 0.984375 -3.3125 0.984375 -2.484375 C 0.984375 -1.703125 1.09375 -0.5 1.640625 0.609375 C 2.234375 1.84375 3.09375 2.484375 3.1875 2.484375 C 3.25 2.484375 3.296875 2.453125 3.296875 2.390625 Z M 3.296875 2.390625 "/>
</g>
<g id="glyph-2-1">
<path d="M 2.875 -2.484375 C 2.875 -3.265625 2.765625 -4.46875 2.21875 -5.578125 C 1.625 -6.8125 0.765625 -7.453125 0.671875 -7.453125 C 0.609375 -7.453125 0.5625 -7.40625 0.5625 -7.359375 C 0.5625 -7.328125 0.5625 -7.296875 0.75 -7.125 C 1.734375 -6.140625 2.296875 -4.5625 2.296875 -2.484375 C 2.296875 -0.78125 1.921875 0.96875 0.703125 2.21875 C 0.5625 2.328125 0.5625 2.359375 0.5625 2.390625 C 0.5625 2.4375 0.609375 2.484375 0.671875 2.484375 C 0.765625 2.484375 1.65625 1.8125 2.25 0.546875 C 2.75 -0.546875 2.875 -1.65625 2.875 -2.484375 Z M 2.875 -2.484375 "/>
</g>
<g id="glyph-2-2">
<path d="M 4.140625 -6.3125 L 3.984375 -6.46875 C 3.984375 -6.46875 3.609375 -6 3.171875 -6 C 2.9375 -6 2.6875 -6.140625 2.53125 -6.234375 C 2.25 -6.40625 2.078125 -6.46875 1.90625 -6.46875 C 1.53125 -6.46875 1.34375 -6.25 0.828125 -5.6875 L 1 -5.546875 C 1 -5.546875 1.375 -6.015625 1.8125 -6.015625 C 2.03125 -6.015625 2.28125 -5.875 2.453125 -5.78125 C 2.71875 -5.609375 2.90625 -5.546875 3.078125 -5.546875 C 3.453125 -5.546875 3.640625 -5.765625 4.140625 -6.3125 Z M 4.140625 -6.3125 "/>
</g>
<g id="glyph-3-0">
<path d="M 8.09375 -2.984375 C 8.09375 -3.203125 7.890625 -3.203125 7.71875 -3.203125 L 4.53125 -3.203125 L 4.53125 -6.390625 C 4.53125 -6.5625 4.53125 -6.765625 4.328125 -6.765625 C 4.109375 -6.765625 4.109375 -6.578125 4.109375 -6.390625 L 4.109375 -3.203125 L 0.921875 -3.203125 C 0.75 -3.203125 0.546875 -3.203125 0.546875 -3 C 0.546875 -2.78125 0.75 -2.78125 0.921875 -2.78125 L 4.109375 -2.78125 L 4.109375 0.390625 C 4.109375 0.5625 4.109375 0.765625 4.3125 0.765625 C 4.53125 0.765625 4.53125 0.578125 4.53125 0.390625 L 4.53125 -2.78125 L 7.71875 -2.78125 C 7.875 -2.78125 8.09375 -2.78125 8.09375 -2.984375 Z M 8.09375 -2.984375 "/>
</g>
<g id="glyph-4-0">
<path d="M 6.890625 -2.484375 C 6.890625 -2.6875 6.703125 -2.6875 6.5625 -2.6875 L 1.15625 -2.6875 C 1.015625 -2.6875 0.828125 -2.6875 0.828125 -2.484375 C 0.828125 -2.28125 1.015625 -2.28125 1.15625 -2.28125 L 6.5625 -2.28125 C 6.703125 -2.28125 6.890625 -2.28125 6.890625 -2.484375 Z M 6.890625 -2.484375 "/>
</g>
</g>
<clipPath id="clip-0">
<path clip-rule="nonzero" d="M 0.285156 76 L 20 76 L 20 78 L 0.285156 78 Z M 0.285156 76 "/>
</clipPath>
<clipPath id="clip-1">
<path clip-rule="nonzero" d="M 218 61 L 239.316406 61 L 239.316406 93 L 218 93 Z M 218 61 "/>
</clipPath>
<clipPath id="clip-2">
<path clip-rule="nonzero" d="M 71 71 L 103 71 L 103 100.351562 L 71 100.351562 Z M 71 71 "/>
</clipPath>
</defs>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -16.468537 -11.338946 L 16.469483 -11.338946 L 16.469483 11.339497 L -16.468537 11.339497 Z M -16.468537 -11.338946 " transform="matrix(0.996782, 0, 0, -0.996782, 40.798357, 76.752228)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="27.691668" y="79.234215"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="37.070391" y="80.724405"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="41.525011" y="79.234215"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-1" x="45.386999" y="79.234215"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="50.042437" y="79.234215"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 53.592846 -0.00168395 C 53.592846 3.850556 50.469514 6.973887 46.617274 6.973887 C 42.768954 6.973887 39.645622 3.850556 39.645622 -0.00168395 C 39.645622 -3.850005 42.768954 -6.973336 46.617274 -6.973336 C 50.469514 -6.973336 53.592846 -3.850005 53.592846 -0.00168395 Z M 53.592846 -0.00168395 " transform="matrix(0.996782, 0, 0, -0.996782, 40.798357, 76.752228)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="82.943304" y="79.658845"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="77.556693" y="91.482675"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 158.47722 -0.00168395 C 158.47722 3.850556 155.353888 6.973887 151.501649 6.973887 C 147.649409 6.973887 144.529996 3.850556 144.529996 -0.00168395 C 144.529996 -3.850005 147.649409 -6.973336 151.501649 -6.973336 C 155.353888 -6.973336 158.47722 -3.850005 158.47722 -0.00168395 Z M 158.47722 -0.00168395 " transform="matrix(0.996782, 0, 0, -0.996782, 40.798357, 76.752228)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="187.486816" y="79.658845"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 135.034598 30.150026 L 167.972618 30.150026 L 167.972618 52.82847 L 135.034598 52.82847 Z M 135.034598 30.150026 " transform="matrix(0.996782, 0, 0, -0.996782, 40.798357, 76.752228)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="178.704168" y="37.880713"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-1" x="188.082891" y="39.369906"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="192.538508" y="37.880713"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-1" x="196.400496" y="37.880713"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="201.055934" y="37.880713"/>
</g>
<g clip-path="url(#clip-0)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -21.602244 -0.00168395 L -39.644676 -0.00168395 " transform="matrix(0.996782, 0, 0, -0.996782, 40.798357, 76.752228)"/>
</g>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.05474 -0.00168395 L 1.606834 1.683426 L 3.088163 -0.00168395 L 1.606834 -1.682875 Z M 6.05474 -0.00168395 " transform="matrix(0.996782, 0, 0, -0.996782, 16.437399, 76.752228)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-2" x="5.087638" y="71.456324"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="12.196689" y="72.945517"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 16.967178 -0.00168395 L 35.009611 -0.00168395 " transform="matrix(0.996782, 0, 0, -0.996782, 40.798357, 76.752228)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054025 -0.00168395 L 1.610037 1.683426 L 3.087448 -0.00168395 L 1.610037 -1.682875 Z M 6.054025 -0.00168395 " transform="matrix(0.996782, 0, 0, -0.996782, 72.8678, 76.752228)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-2" x="66.977844" y="71.456324"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-2" x="64.942083" y="71.456324"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="72.053459" y="72.945517"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 53.592846 -0.00168395 L 77.305869 -0.00168395 " transform="matrix(0.996782, 0, 0, -0.996782, 40.798357, 76.752228)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.051744 -0.00168395 L 1.607756 1.683426 L 3.089086 -0.00168395 L 1.607756 -1.682875 Z M 6.051744 -0.00168395 " transform="matrix(0.996782, 0, 0, -0.996782, 115.026323, 76.752228)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-3" x="113.496671" y="72.945517"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 139.893985 -0.00168395 L 116.180962 -0.00168395 " transform="matrix(0.996782, 0, 0, -0.996782, 40.798357, 76.752228)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.055279 -0.00168395 L 1.607373 1.683426 L 3.088702 -0.00168395 L 1.607373 -1.682875 Z M 6.055279 -0.00168395 " transform="matrix(0.996782, 0, 0, -0.996782, 177.413425, 76.752228)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-4" x="160.410225" y="72.945517"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 158.47722 -0.00168395 L 193.527505 -0.00168395 " transform="matrix(0.996782, 0, 0, -0.996782, 40.798357, 76.752228)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 236.90625 76.753906 L 232.476562 75.074219 L 233.953125 76.753906 L 232.476562 78.429688 Z M 236.90625 76.753906 "/>
<g clip-path="url(#clip-1)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.051731 -0.00168395 L 1.607743 1.683426 L 3.089072 -0.00168395 L 1.607743 -1.682875 Z M 6.051731 -0.00168395 " transform="matrix(0.996782, 0, 0, -0.996782, 230.873993, 76.752228)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-5" x="229.458323" y="72.945517"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 151.501649 29.652331 L 151.501649 11.60598 " transform="matrix(0.996782, 0, 0, -0.996782, 40.798357, 76.752228)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053465 -0.000411378 L 1.609478 1.684699 L 3.086888 -0.000411378 L 1.609478 -1.681602 Z M 6.053465 -0.000411378 " transform="matrix(0, 0.996782, 0.996782, 0, 191.81291, 62.352732)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-2" x="197.650007" y="64.504765"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-2" x="195.614246" y="64.504765"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-1" x="202.726618" y="65.993958"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 151.501649 57.958258 L 151.501649 76.00461 " transform="matrix(0.996782, 0, 0, -0.996782, 40.798357, 76.752228)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052507 -0.000411378 L 1.60852 1.684699 L 3.08593 -0.000411378 L 1.60852 -1.681602 Z M 6.052507 -0.000411378 " transform="matrix(0, 0.996782, 0.996782, 0, 191.81291, 16.150563)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-2" x="195.616571" y="9.076699"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-1" x="202.726618" y="10.565891"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 172.647818 -0.00168395 L 172.647818 -22.676209 L 46.617274 -22.676209 L 46.617274 -11.609348 " transform="matrix(0.996782, 0, 0, -0.996782, 40.798357, 76.752228)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 87.265625 85.117188 L 85.589844 89.546875 L 87.265625 88.074219 L 88.945312 89.546875 Z M 87.265625 85.117188 "/>
<g clip-path="url(#clip-2)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054006 0.0016656 L 1.610019 1.682857 L 3.087429 0.0016656 L 1.610019 -1.683444 Z M 6.054006 0.0016656 " transform="matrix(0, -0.996782, -0.996782, 0, 87.267285, 91.151713)"/>
</g>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 214.878906 76.753906 C 214.878906 75.65625 213.988281 74.765625 212.890625 74.765625 C 211.796875 74.765625 210.90625 75.65625 210.90625 76.753906 C 210.90625 77.847656 211.796875 78.738281 212.890625 78.738281 C 213.988281 78.738281 214.878906 77.847656 214.878906 76.753906 Z M 214.878906 76.753906 "/>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 24 KiB

BIN
figs/detail_control_feedback_synthesis_architecture_generalized_plant.pdf Normal file
View File

Binary file not shown.

BIN
figs/detail_control_feedback_synthesis_architecture_generalized_plant.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 11 KiB

173
figs/detail_control_feedback_synthesis_architecture_generalized_plant.svg Normal file
View File

@ -0,0 +1,173 @@
<?xml version="1.0" encoding="UTF-8"?>
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="170.236" height="104.137" viewBox="0 0 170.236 104.137">
<defs>
<g>
<g id="glyph-0-0">
<path d="M 7.453125 -5.25 C 7.453125 -6.015625 6.796875 -6.75 5.5 -6.75 L 2.296875 -6.75 C 2.109375 -6.75 2 -6.75 2 -6.5625 C 2 -6.4375 2.09375 -6.4375 2.296875 -6.4375 C 2.421875 -6.4375 2.59375 -6.421875 2.71875 -6.421875 C 2.875 -6.40625 2.9375 -6.375 2.9375 -6.265625 C 2.9375 -6.21875 2.921875 -6.1875 2.890625 -6.078125 L 1.5625 -0.765625 C 1.46875 -0.390625 1.453125 -0.3125 0.671875 -0.3125 C 0.5 -0.3125 0.390625 -0.3125 0.390625 -0.125 C 0.390625 0 0.515625 0 0.546875 0 L 1.796875 -0.03125 L 2.421875 -0.015625 C 2.640625 -0.015625 2.859375 0 3.078125 0 C 3.140625 0 3.265625 0 3.265625 -0.203125 C 3.265625 -0.3125 3.1875 -0.3125 2.984375 -0.3125 C 2.625 -0.3125 2.34375 -0.3125 2.34375 -0.484375 C 2.34375 -0.546875 2.375 -0.59375 2.375 -0.65625 L 2.984375 -3.125 L 4.671875 -3.125 C 6.078125 -3.125 7.453125 -4.140625 7.453125 -5.25 Z M 6.53125 -5.484375 C 6.53125 -5.109375 6.328125 -4.25 5.9375 -3.90625 C 5.453125 -3.453125 4.859375 -3.375 4.421875 -3.375 L 3.03125 -3.375 L 3.703125 -6.0625 C 3.796875 -6.40625 3.8125 -6.4375 4.234375 -6.4375 L 5.1875 -6.4375 C 6 -6.4375 6.53125 -6.171875 6.53125 -5.484375 Z M 6.53125 -5.484375 "/>
</g>
<g id="glyph-0-1">
<path d="M 3.90625 -1.53125 C 3.90625 -1.890625 3.71875 -2.140625 3.609375 -2.25 C 3.34375 -2.53125 3.046875 -2.578125 2.609375 -2.671875 C 2.265625 -2.75 1.859375 -2.8125 1.859375 -3.265625 C 1.859375 -3.546875 2.109375 -4.140625 2.96875 -4.140625 C 3.21875 -4.140625 3.71875 -4.078125 3.859375 -3.6875 C 3.578125 -3.6875 3.390625 -3.46875 3.390625 -3.25 C 3.390625 -3.109375 3.46875 -2.96875 3.6875 -2.96875 C 3.90625 -2.96875 4.140625 -3.125 4.140625 -3.515625 C 4.140625 -3.953125 3.71875 -4.359375 2.96875 -4.359375 C 1.671875 -4.359375 1.296875 -3.359375 1.296875 -2.921875 C 1.296875 -2.15625 2.03125 -2 2.328125 -1.953125 C 2.828125 -1.84375 3.34375 -1.734375 3.34375 -1.1875 C 3.34375 -0.9375 3.125 -0.109375 1.9375 -0.109375 C 1.796875 -0.109375 1.03125 -0.109375 0.8125 -0.625 C 1.1875 -0.578125 1.4375 -0.875 1.4375 -1.15625 C 1.4375 -1.375 1.28125 -1.5 1.0625 -1.5 C 0.8125 -1.5 0.515625 -1.296875 0.515625 -0.84375 C 0.515625 -0.28125 1.078125 0.109375 1.921875 0.109375 C 3.53125 0.109375 3.90625 -1.09375 3.90625 -1.53125 Z M 3.90625 -1.53125 "/>
</g>
<g id="glyph-0-2">
<path d="M 10.34375 -6.640625 C 10.34375 -6.671875 10.3125 -6.75 10.234375 -6.75 C 10 -6.75 9.71875 -6.71875 9.46875 -6.71875 C 9.140625 -6.71875 8.765625 -6.75 8.4375 -6.75 C 8.390625 -6.75 8.25 -6.75 8.25 -6.5625 C 8.25 -6.453125 8.34375 -6.4375 8.40625 -6.4375 C 8.640625 -6.421875 8.984375 -6.34375 8.984375 -6.046875 C 8.984375 -5.9375 8.9375 -5.859375 8.859375 -5.734375 L 6.1875 -1.078125 L 5.828125 -5.96875 C 5.8125 -6.171875 5.796875 -6.421875 6.515625 -6.4375 C 6.6875 -6.4375 6.78125 -6.4375 6.78125 -6.640625 C 6.78125 -6.734375 6.671875 -6.75 6.640625 -6.75 C 6.234375 -6.75 5.828125 -6.71875 5.4375 -6.71875 C 5.203125 -6.71875 4.625 -6.75 4.390625 -6.75 C 4.328125 -6.75 4.203125 -6.75 4.203125 -6.546875 C 4.203125 -6.4375 4.3125 -6.4375 4.4375 -6.4375 C 4.875 -6.4375 4.953125 -6.375 4.96875 -6.1875 L 5.03125 -5.4375 L 2.53125 -1.078125 L 2.15625 -6.078125 C 2.15625 -6.203125 2.15625 -6.421875 2.90625 -6.4375 C 3 -6.4375 3.109375 -6.4375 3.109375 -6.640625 C 3.109375 -6.75 2.96875 -6.75 2.96875 -6.75 C 2.578125 -6.75 2.15625 -6.71875 1.75 -6.71875 C 1.40625 -6.71875 1.0625 -6.75 0.71875 -6.75 C 0.671875 -6.75 0.546875 -6.75 0.546875 -6.5625 C 0.546875 -6.4375 0.625 -6.4375 0.796875 -6.4375 C 1.28125 -6.4375 1.296875 -6.34375 1.3125 -6.078125 L 1.75 -0.046875 C 1.765625 0.140625 1.78125 0.21875 1.921875 0.21875 C 2.03125 0.21875 2.0625 0.15625 2.15625 0.015625 L 5.0625 -5.03125 L 5.421875 -0.046875 C 5.4375 0.171875 5.453125 0.21875 5.578125 0.21875 C 5.703125 0.21875 5.765625 0.125 5.8125 0.03125 L 9.0625 -5.59375 C 9.296875 -6.03125 9.546875 -6.390625 10.15625 -6.4375 C 10.25 -6.453125 10.34375 -6.453125 10.34375 -6.640625 Z M 10.34375 -6.640625 "/>
</g>
<g id="glyph-0-3">
<path d="M 6.828125 -3.671875 C 6.828125 -4.21875 6.5625 -4.359375 6.390625 -4.359375 C 6.140625 -4.359375 5.890625 -4.109375 5.890625 -3.890625 C 5.890625 -3.765625 5.953125 -3.703125 6.046875 -3.625 C 6.15625 -3.515625 6.40625 -3.265625 6.40625 -2.78125 C 6.40625 -2.453125 6.109375 -1.484375 5.859375 -0.984375 C 5.59375 -0.453125 5.25 -0.109375 4.765625 -0.109375 C 4.3125 -0.109375 4.03125 -0.40625 4.03125 -0.96875 C 4.03125 -1.25 4.109375 -1.546875 4.140625 -1.6875 L 4.5625 -3.34375 C 4.609375 -3.5625 4.703125 -3.9375 4.703125 -3.984375 C 4.703125 -4.171875 4.578125 -4.25 4.421875 -4.25 C 4.3125 -4.25 4.125 -4.171875 4.0625 -3.984375 C 4.03125 -3.90625 3.5625 -2.03125 3.5 -1.765625 C 3.421875 -1.46875 3.40625 -1.296875 3.40625 -1.109375 C 3.40625 -1 3.40625 -0.984375 3.421875 -0.9375 C 3.1875 -0.421875 2.890625 -0.109375 2.515625 -0.109375 C 1.71875 -0.109375 1.71875 -0.84375 1.71875 -1 C 1.71875 -1.328125 1.765625 -1.703125 2.234375 -2.921875 C 2.34375 -3.21875 2.40625 -3.359375 2.40625 -3.5625 C 2.40625 -4 2.078125 -4.359375 1.59375 -4.359375 C 0.65625 -4.359375 0.28125 -2.9375 0.28125 -2.84375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.765625 0.5625 -2.921875 C 0.828125 -3.84375 1.21875 -4.140625 1.5625 -4.140625 C 1.65625 -4.140625 1.8125 -4.140625 1.8125 -3.828125 C 1.8125 -3.578125 1.703125 -3.296875 1.625 -3.125 C 1.1875 -1.96875 1.078125 -1.515625 1.078125 -1.140625 C 1.078125 -0.234375 1.734375 0.109375 2.484375 0.109375 C 2.640625 0.109375 3.109375 0.109375 3.5 -0.578125 C 3.765625 0.046875 4.4375 0.109375 4.734375 0.109375 C 5.484375 0.109375 5.921875 -0.515625 6.171875 -1.109375 C 6.5 -1.875 6.828125 -3.203125 6.828125 -3.671875 Z M 6.828125 -3.671875 "/>
</g>
<g id="glyph-0-4">
<path d="M 5.359375 -1.40625 C 5.359375 -1.515625 5.265625 -1.515625 5.25 -1.515625 C 5.140625 -1.515625 5.140625 -1.46875 5.109375 -1.328125 C 4.96875 -0.78125 4.78125 -0.109375 4.359375 -0.109375 C 4.15625 -0.109375 4.0625 -0.234375 4.0625 -0.5625 C 4.0625 -0.78125 4.171875 -1.25 4.25 -1.59375 L 4.53125 -2.65625 C 4.5625 -2.796875 4.65625 -3.1875 4.703125 -3.328125 C 4.75 -3.5625 4.84375 -3.9375 4.84375 -3.984375 C 4.84375 -4.171875 4.703125 -4.25 4.5625 -4.25 C 4.515625 -4.25 4.25 -4.25 4.171875 -3.90625 L 3.4375 -0.9375 C 3.421875 -0.90625 3.03125 -0.109375 2.3125 -0.109375 C 1.796875 -0.109375 1.703125 -0.546875 1.703125 -0.921875 C 1.703125 -1.46875 1.96875 -2.25 2.234375 -2.9375 C 2.34375 -3.234375 2.40625 -3.375 2.40625 -3.5625 C 2.40625 -4 2.078125 -4.359375 1.59375 -4.359375 C 0.65625 -4.359375 0.28125 -2.9375 0.28125 -2.84375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.765625 0.5625 -2.921875 C 0.8125 -3.78125 1.1875 -4.140625 1.5625 -4.140625 C 1.65625 -4.140625 1.8125 -4.140625 1.8125 -3.828125 C 1.8125 -3.578125 1.703125 -3.296875 1.640625 -3.15625 C 1.28125 -2.171875 1.0625 -1.5625 1.0625 -1.078125 C 1.0625 -0.140625 1.75 0.109375 2.28125 0.109375 C 2.9375 0.109375 3.28125 -0.328125 3.453125 -0.546875 C 3.5625 -0.140625 3.90625 0.109375 4.328125 0.109375 C 4.6875 0.109375 4.90625 -0.125 5.0625 -0.4375 C 5.234375 -0.796875 5.359375 -1.40625 5.359375 -1.40625 Z M 5.359375 -1.40625 "/>
</g>
<g id="glyph-0-5">
<path d="M 4.296875 -1.40625 C 4.296875 -1.46875 4.25 -1.515625 4.171875 -1.515625 C 4.09375 -1.515625 4.0625 -1.453125 4.03125 -1.375 C 3.8125 -0.734375 3.1875 -0.546875 2.859375 -0.546875 C 2.65625 -0.546875 2.484375 -0.609375 2.265625 -0.6875 C 1.9375 -0.8125 1.78125 -0.84375 1.578125 -0.84375 C 1.578125 -0.84375 1.40625 -0.84375 1.3125 -0.8125 C 1.84375 -1.390625 2.140625 -1.640625 2.484375 -1.953125 C 2.484375 -1.953125 3.09375 -2.484375 3.453125 -2.828125 C 4.390625 -3.75 4.609375 -4.21875 4.609375 -4.265625 C 4.609375 -4.359375 4.5 -4.359375 4.5 -4.359375 C 4.4375 -4.359375 4.40625 -4.34375 4.359375 -4.25 C 4.0625 -3.78125 3.84375 -3.625 3.609375 -3.625 C 3.375 -3.625 3.265625 -3.765625 3.109375 -3.9375 C 2.921875 -4.171875 2.75 -4.359375 2.421875 -4.359375 C 1.6875 -4.359375 1.234375 -3.453125 1.234375 -3.234375 C 1.234375 -3.1875 1.265625 -3.125 1.359375 -3.125 C 1.4375 -3.125 1.46875 -3.1875 1.484375 -3.234375 C 1.671875 -3.6875 2.234375 -3.703125 2.328125 -3.703125 C 2.53125 -3.703125 2.71875 -3.640625 2.9375 -3.5625 C 3.34375 -3.40625 3.453125 -3.40625 3.703125 -3.40625 C 3.34375 -2.984375 2.515625 -2.265625 2.328125 -2.109375 L 1.4375 -1.28125 C 0.765625 -0.625 0.421875 -0.0625 0.421875 0.015625 C 0.421875 0.109375 0.546875 0.109375 0.546875 0.109375 C 0.625 0.109375 0.640625 0.09375 0.703125 -0.015625 C 0.921875 -0.359375 1.21875 -0.625 1.546875 -0.625 C 1.765625 -0.625 1.859375 -0.546875 2.109375 -0.25 C 2.28125 -0.046875 2.453125 0.109375 2.75 0.109375 C 3.71875 0.109375 4.296875 -1.140625 4.296875 -1.40625 Z M 4.296875 -1.40625 "/>
</g>
<g id="glyph-0-6">
<path d="M 4.625 -3.671875 C 4.625 -4.203125 4.359375 -4.359375 4.1875 -4.359375 C 3.9375 -4.359375 3.703125 -4.109375 3.703125 -3.890625 C 3.703125 -3.765625 3.75 -3.703125 3.859375 -3.59375 C 4.0625 -3.390625 4.203125 -3.140625 4.203125 -2.78125 C 4.203125 -2.375 3.59375 -0.109375 2.4375 -0.109375 C 1.9375 -0.109375 1.703125 -0.453125 1.703125 -0.96875 C 1.703125 -1.515625 1.96875 -2.234375 2.28125 -3.0625 C 2.34375 -3.234375 2.40625 -3.375 2.40625 -3.5625 C 2.40625 -4 2.078125 -4.359375 1.59375 -4.359375 C 0.65625 -4.359375 0.28125 -2.9375 0.28125 -2.84375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.765625 0.5625 -2.921875 C 0.84375 -3.921875 1.28125 -4.140625 1.5625 -4.140625 C 1.640625 -4.140625 1.8125 -4.140625 1.8125 -3.828125 C 1.8125 -3.578125 1.703125 -3.3125 1.640625 -3.140625 C 1.203125 -2 1.078125 -1.546875 1.078125 -1.109375 C 1.078125 -0.046875 1.953125 0.109375 2.40625 0.109375 C 4.0625 0.109375 4.625 -3.15625 4.625 -3.671875 Z M 4.625 -3.671875 "/>
</g>
<g id="glyph-1-0">
<path d="M 4.984375 -1.71875 C 4.984375 -1.75 4.984375 -1.828125 4.875 -1.828125 C 4.796875 -1.828125 4.78125 -1.78125 4.734375 -1.671875 C 4.46875 -1.015625 4.171875 -0.25 2.90625 -0.25 L 2.125 -0.25 C 1.90625 -0.25 1.890625 -0.25 1.890625 -0.3125 C 1.890625 -0.3125 1.890625 -0.359375 1.921875 -0.46875 L 2.859375 -4.15625 C 2.921875 -4.40625 2.9375 -4.484375 3.578125 -4.484375 C 3.78125 -4.484375 3.859375 -4.484375 3.859375 -4.625 C 3.859375 -4.625 3.84375 -4.734375 3.734375 -4.734375 C 3.578125 -4.734375 3.390625 -4.71875 3.21875 -4.703125 L 2.1875 -4.703125 C 2.046875 -4.703125 1.875 -4.734375 1.75 -4.734375 C 1.703125 -4.734375 1.59375 -4.734375 1.59375 -4.578125 C 1.59375 -4.484375 1.6875 -4.484375 1.828125 -4.484375 C 1.828125 -4.484375 1.953125 -4.484375 2.078125 -4.46875 C 2.234375 -4.453125 2.25 -4.4375 2.25 -4.375 C 2.25 -4.375 2.25 -4.3125 2.21875 -4.21875 L 1.296875 -0.546875 C 1.234375 -0.296875 1.21875 -0.25 0.6875 -0.25 C 0.5625 -0.25 0.484375 -0.25 0.484375 -0.109375 C 0.484375 0 0.5625 0 0.6875 0 L 4.171875 0 C 4.34375 0 4.34375 0 4.40625 -0.140625 C 4.46875 -0.328125 4.984375 -1.671875 4.984375 -1.71875 Z M 4.984375 -1.71875 "/>
</g>
<g id="glyph-2-0">
<path d="M 3.265625 2.375 C 3.265625 2.34375 3.265625 2.328125 3.09375 2.15625 C 1.859375 0.90625 1.546875 -0.953125 1.546875 -2.46875 C 1.546875 -4.1875 1.921875 -5.90625 3.140625 -7.140625 C 3.265625 -7.265625 3.265625 -7.28125 3.265625 -7.3125 C 3.265625 -7.375 3.234375 -7.40625 3.171875 -7.40625 C 3.078125 -7.40625 2.1875 -6.734375 1.59375 -5.484375 C 1.09375 -4.390625 0.984375 -3.296875 0.984375 -2.46875 C 0.984375 -1.703125 1.09375 -0.5 1.625 0.609375 C 2.21875 1.828125 3.078125 2.46875 3.171875 2.46875 C 3.234375 2.46875 3.265625 2.4375 3.265625 2.375 Z M 3.265625 2.375 "/>
</g>
<g id="glyph-2-1">
<path d="M 2.859375 -2.46875 C 2.859375 -3.234375 2.75 -4.4375 2.203125 -5.546875 C 1.609375 -6.765625 0.765625 -7.40625 0.65625 -7.40625 C 0.609375 -7.40625 0.5625 -7.359375 0.5625 -7.3125 C 0.5625 -7.28125 0.5625 -7.265625 0.75 -7.078125 C 1.71875 -6.109375 2.28125 -4.53125 2.28125 -2.46875 C 2.28125 -0.78125 1.921875 0.953125 0.6875 2.203125 C 0.5625 2.328125 0.5625 2.34375 0.5625 2.375 C 0.5625 2.421875 0.609375 2.46875 0.65625 2.46875 C 0.765625 2.46875 1.65625 1.796875 2.234375 0.546875 C 2.734375 -0.546875 2.859375 -1.640625 2.859375 -2.46875 Z M 2.859375 -2.46875 "/>
</g>
<g id="glyph-3-0">
<path d="M 3.5 -1.265625 L 3.265625 -1.265625 C 3.234375 -1.109375 3.171875 -0.703125 3.078125 -0.625 C 3.03125 -0.59375 2.484375 -0.59375 2.390625 -0.59375 L 1.125 -0.59375 C 1.84375 -1.234375 2.09375 -1.421875 2.5 -1.75 C 3.015625 -2.15625 3.5 -2.59375 3.5 -3.25 C 3.5 -4.078125 2.765625 -4.59375 1.875 -4.59375 C 1.015625 -4.59375 0.4375 -4 0.4375 -3.359375 C 0.4375 -3 0.734375 -2.96875 0.796875 -2.96875 C 0.96875 -2.96875 1.171875 -3.09375 1.171875 -3.34375 C 1.171875 -3.453125 1.125 -3.703125 0.765625 -3.703125 C 0.96875 -4.1875 1.453125 -4.34375 1.765625 -4.34375 C 2.46875 -4.34375 2.828125 -3.8125 2.828125 -3.25 C 2.828125 -2.640625 2.390625 -2.171875 2.171875 -1.921875 L 0.5 -0.265625 C 0.4375 -0.203125 0.4375 -0.1875 0.4375 0 L 3.28125 0 Z M 3.5 -1.265625 "/>
</g>
<g id="glyph-3-1">
<path d="M 3.28125 0 L 3.28125 -0.25 L 3.015625 -0.25 C 2.3125 -0.25 2.3125 -0.34375 2.3125 -0.5625 L 2.3125 -4.40625 C 2.3125 -4.59375 2.3125 -4.59375 2.109375 -4.59375 C 1.671875 -4.15625 1.03125 -4.15625 0.75 -4.15625 L 0.75 -3.90625 C 0.921875 -3.90625 1.375 -3.90625 1.765625 -4.09375 L 1.765625 -0.5625 C 1.765625 -0.34375 1.765625 -0.25 1.0625 -0.25 L 0.796875 -0.25 L 0.796875 0 L 2.03125 -0.03125 Z M 3.28125 0 "/>
</g>
<g id="glyph-4-0">
<path d="M 8.046875 -2.96875 C 8.046875 -3.1875 7.859375 -3.1875 7.671875 -3.1875 L 4.5 -3.1875 L 4.5 -6.359375 C 4.5 -6.53125 4.5 -6.734375 4.296875 -6.734375 C 4.09375 -6.734375 4.09375 -6.53125 4.09375 -6.359375 L 4.09375 -3.1875 L 0.921875 -3.1875 C 0.75 -3.1875 0.546875 -3.1875 0.546875 -2.984375 C 0.546875 -2.765625 0.734375 -2.765625 0.921875 -2.765625 L 4.09375 -2.765625 L 4.09375 0.390625 C 4.09375 0.5625 4.09375 0.765625 4.296875 0.765625 C 4.5 0.765625 4.5 0.578125 4.5 0.390625 L 4.5 -2.765625 L 7.671875 -2.765625 C 7.84375 -2.765625 8.046875 -2.765625 8.046875 -2.96875 Z M 8.046875 -2.96875 "/>
</g>
<g id="glyph-5-0">
<path d="M 6.859375 -2.46875 C 6.859375 -2.671875 6.671875 -2.671875 6.53125 -2.671875 L 1.140625 -2.671875 C 1 -2.671875 0.8125 -2.671875 0.8125 -2.46875 C 0.8125 -2.265625 1 -2.265625 1.140625 -2.265625 L 6.53125 -2.265625 C 6.671875 -2.265625 6.859375 -2.265625 6.859375 -2.46875 Z M 6.859375 -2.46875 "/>
</g>
</g>
<clipPath id="clip-0">
<path clip-rule="nonzero" d="M 0.320312 68 L 31 68 L 31 70 L 0.320312 70 Z M 0.320312 68 "/>
</clipPath>
<clipPath id="clip-1">
<path clip-rule="nonzero" d="M 0.320312 38 L 31 38 L 31 40 L 0.320312 40 Z M 0.320312 38 "/>
</clipPath>
<clipPath id="clip-2">
<path clip-rule="nonzero" d="M 0.320312 49 L 99 49 L 99 91 L 0.320312 91 Z M 0.320312 49 "/>
</clipPath>
<clipPath id="clip-3">
<path clip-rule="nonzero" d="M 148 23 L 169.15625 23 L 169.15625 55 L 148 55 Z M 148 23 "/>
</clipPath>
<clipPath id="clip-4">
<path clip-rule="nonzero" d="M 148 53 L 169.15625 53 L 169.15625 85 L 148 85 Z M 148 53 "/>
</clipPath>
</defs>
<path fill-rule="nonzero" fill="rgb(89.99939%, 89.99939%, 89.99939%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -63.778967 -42.521687 L 63.781175 -42.521687 L 63.781175 42.521033 L -63.778967 42.521033 Z M -63.778967 -42.521687 " transform="matrix(0.991781, 0, 0, -0.991781, 84.73914, 60.12077)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="72.451965" y="11.199191"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="78.795396" y="12.680911"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="84.710378" y="11.199191"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-1" x="88.552989" y="11.199191"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="93.185069" y="11.199191"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -49.607806 -19.941569 L -16.669113 -19.941569 L -16.669113 2.733077 L -49.607806 2.733077 Z M -49.607806 -19.941569 " transform="matrix(0.991781, 0, 0, -0.991781, 84.73914, 60.12077)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-2" x="38.833567" y="71.124579"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="48.166225" y="72.6063"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="52.598494" y="71.124579"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-1" x="56.441105" y="71.124579"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="61.073185" y="71.124579"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -49.607806 10.169194 L -16.669113 10.169194 L -16.669113 32.847778 L -49.607806 32.847778 Z M -49.607806 10.169194 " transform="matrix(0.991781, 0, 0, -0.991781, 84.73914, 60.12077)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-2" x="38.833567" y="41.259079"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="48.166225" y="42.7408"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="52.598494" y="41.259079"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-1" x="56.441105" y="41.259079"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="61.073185" y="41.259079"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 20.456336 21.508486 C 20.456336 25.360458 17.333009 28.483785 13.481037 28.483785 C 9.629065 28.483785 6.505738 25.360458 6.505738 21.508486 C 6.505738 17.656514 9.629065 14.537126 13.481037 14.537126 C 17.333009 14.537126 20.456336 17.656514 20.456336 21.508486 Z M 20.456336 21.508486 " transform="matrix(0.991781, 0, 0, -0.991781, 84.73914, 60.12077)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="93.807985" y="41.681578"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 48.802596 -8.602277 C 48.802596 -4.754243 45.679269 -1.630916 41.827297 -1.630916 C 37.975325 -1.630916 34.855937 -4.754243 34.855937 -8.602277 C 34.855937 -12.454249 37.975325 -15.577576 41.827297 -15.577576 C 45.679269 -15.577576 48.802596 -12.454249 48.802596 -8.602277 Z M 48.802596 -8.602277 " transform="matrix(0.991781, 0, 0, -0.991781, 84.73914, 60.12077)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="121.921008" y="71.547078"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-0" x="128.198981" y="58.938567"/>
</g>
<g clip-path="url(#clip-0)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -84.121948 -8.602277 L -54.73983 -8.602277 " transform="matrix(0.991781, 0, 0, -0.991781, 84.73914, 60.12077)"/>
</g>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.055144 0.00191328 L 1.60844 1.683705 L 3.089362 0.00191328 L 1.60844 -1.683817 Z M 6.055144 0.00191328 " transform="matrix(0.991781, 0, 0, -0.991781, 27.635249, 68.654241)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-3" x="5.098137" y="63.384721"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="12.171519" y="64.867433"/>
</g>
<g clip-path="url(#clip-1)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -84.121948 21.508486 L -54.73983 21.508486 " transform="matrix(0.991781, 0, 0, -0.991781, 84.73914, 60.12077)"/>
</g>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.055144 -0.000703674 L 1.60844 1.681088 L 3.089362 -0.000703674 L 1.60844 -1.682495 Z M 6.055144 -0.000703674 " transform="matrix(0.991781, 0, 0, -0.991781, 27.635249, 38.788365)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-3" x="5.098137" y="33.519221"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="12.171519" y="35.001933"/>
</g>
<g clip-path="url(#clip-2)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -84.121948 -30.115029 L 13.481037 -30.115029 L 13.481037 9.901368 " transform="matrix(0.991781, 0, 0, -0.991781, 84.73914, 60.12077)"/>
</g>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052063 0.000393394 L 1.609298 1.682185 L 3.086281 0.000393394 L 1.609298 -1.681398 Z M 6.052063 0.000393394 " transform="matrix(0, -0.991781, -0.991781, 0, 98.109765, 53.115602)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-4" x="5.098137" y="86.198658"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -16.168908 -8.602277 L 30.220179 -8.602277 " transform="matrix(0.991781, 0, 0, -0.991781, 84.73914, 60.12077)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.051834 0.00191328 L 1.609069 1.683705 L 3.086052 0.00191328 L 1.609069 -1.683817 Z M 6.051834 0.00191328 " transform="matrix(0.991781, 0, 0, -0.991781, 111.896344, 68.654241)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -16.168908 21.508486 L 1.873918 21.508486 " transform="matrix(0.991781, 0, 0, -0.991781, 84.73914, 60.12077)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052354 -0.000703674 L 1.609588 1.681088 L 3.086572 -0.000703674 L 1.609588 -1.682495 Z M 6.052354 -0.000703674 " transform="matrix(0.991781, 0, 0, -0.991781, 83.782547, 38.788365)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 20.456336 21.508486 L 79.488398 21.508486 " transform="matrix(0.991781, 0, 0, -0.991781, 84.73914, 60.12077)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 166.761719 38.789062 L 162.355469 37.121094 L 163.820312 38.789062 L 162.355469 40.457031 Z M 166.761719 38.789062 "/>
<g clip-path="url(#clip-3)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053263 -0.000703674 L 1.610498 1.681088 L 3.087481 -0.000703674 L 1.610498 -1.682495 Z M 6.053263 -0.000703674 " transform="matrix(0.991781, 0, 0, -0.991781, 160.758207, 38.788365)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-5" x="159.350821" y="35.001933"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 48.802596 -8.602277 L 79.488398 -8.602277 " transform="matrix(0.991781, 0, 0, -0.991781, 84.73914, 60.12077)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 166.761719 68.652344 L 162.355469 66.984375 L 163.820312 68.652344 L 162.355469 70.324219 Z M 166.761719 68.652344 "/>
<g clip-path="url(#clip-4)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053263 0.00191328 L 1.610498 1.683705 L 3.087481 0.00191328 L 1.610498 -1.683817 Z M 6.053263 0.00191328 " transform="matrix(0.991781, 0, 0, -0.991781, 160.758207, 68.654241)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-6" x="159.236766" y="64.867433"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 41.827297 21.508486 L 41.827297 3.004841 " transform="matrix(0.991781, 0, 0, -0.991781, 84.73914, 60.12077)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054792 -0.000932879 L 1.608089 1.684797 L 3.08901 -0.000932879 L 1.608089 -1.682724 Z M 6.054792 -0.000932879 " transform="matrix(0, 0.991781, 0.991781, 0, 126.223581, 54.327003)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 128.199219 38.789062 C 128.199219 37.695312 127.316406 36.8125 126.222656 36.8125 C 125.132812 36.8125 124.246094 37.695312 124.246094 38.789062 C 124.246094 39.878906 125.132812 40.765625 126.222656 40.765625 C 127.316406 40.765625 128.199219 39.878906 128.199219 38.789062 Z M 128.199219 38.789062 "/>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 26 KiB

BIN
figs/detail_control_fusion_super_sensor.pdf Normal file
View File

Binary file not shown.

BIN
figs/detail_control_fusion_super_sensor.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 34 KiB

419
figs/detail_control_fusion_super_sensor.svg Normal file
View File

@ -0,0 +1,419 @@
<?xml version="1.0" encoding="UTF-8"?>
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="256.544" height="117.321" viewBox="0 0 256.544 117.321">
<defs>
<g>
<g id="glyph-0-0">
<path d="M 4.9375 -1.84375 C 4.9375 -2.828125 4.296875 -3.640625 3.453125 -3.84375 L 2.1875 -4.15625 C 1.578125 -4.296875 1.1875 -4.828125 1.1875 -5.40625 C 1.1875 -6.109375 1.71875 -6.703125 2.5 -6.703125 C 4.15625 -6.703125 4.375 -5.078125 4.421875 -4.640625 C 4.4375 -4.578125 4.4375 -4.515625 4.546875 -4.515625 C 4.671875 -4.515625 4.671875 -4.5625 4.671875 -4.75 L 4.671875 -6.75 C 4.671875 -6.921875 4.671875 -6.984375 4.5625 -6.984375 C 4.5 -6.984375 4.484375 -6.96875 4.421875 -6.859375 L 4.078125 -6.296875 C 3.78125 -6.578125 3.375 -6.984375 2.484375 -6.984375 C 1.390625 -6.984375 0.5625 -6.109375 0.5625 -5.0625 C 0.5625 -4.234375 1.078125 -3.515625 1.859375 -3.25 C 1.96875 -3.203125 2.46875 -3.09375 3.15625 -2.921875 C 3.421875 -2.859375 3.71875 -2.78125 4 -2.421875 C 4.203125 -2.15625 4.3125 -1.828125 4.3125 -1.5 C 4.3125 -0.796875 3.8125 -0.09375 2.984375 -0.09375 C 2.6875 -0.09375 1.9375 -0.140625 1.421875 -0.625 C 0.84375 -1.15625 0.8125 -1.796875 0.796875 -2.15625 C 0.796875 -2.25 0.71875 -2.25 0.6875 -2.25 C 0.5625 -2.25 0.5625 -2.171875 0.5625 -2 L 0.5625 -0.015625 C 0.5625 0.15625 0.5625 0.21875 0.65625 0.21875 C 0.734375 0.21875 0.75 0.203125 0.8125 0.09375 C 0.8125 0.09375 0.84375 0.046875 1.171875 -0.46875 C 1.46875 -0.140625 2.109375 0.21875 2.984375 0.21875 C 4.15625 0.21875 4.9375 -0.75 4.9375 -1.84375 Z M 4.9375 -1.84375 "/>
</g>
<g id="glyph-0-1">
<path d="M 5.296875 0 L 5.296875 -0.3125 C 4.609375 -0.3125 4.53125 -0.375 4.53125 -0.859375 L 4.53125 -4.375 L 3.078125 -4.265625 L 3.078125 -3.96875 C 3.765625 -3.96875 3.84375 -3.890625 3.84375 -3.40625 L 3.84375 -1.640625 C 3.84375 -0.78125 3.375 -0.109375 2.640625 -0.109375 C 1.8125 -0.109375 1.765625 -0.578125 1.765625 -1.09375 L 1.765625 -4.375 L 0.3125 -4.265625 L 0.3125 -3.96875 C 1.09375 -3.96875 1.09375 -3.9375 1.09375 -3.046875 L 1.09375 -1.5625 C 1.09375 -0.796875 1.09375 0.109375 2.59375 0.109375 C 3.15625 0.109375 3.59375 -0.171875 3.875 -0.78125 L 3.875 0.109375 Z M 5.296875 0 "/>
</g>
<g id="glyph-0-2">
<path d="M 5.15625 -2.140625 C 5.15625 -3.390625 4.203125 -4.375 3.09375 -4.375 C 2.3125 -4.375 1.90625 -3.9375 1.703125 -3.71875 L 1.703125 -4.375 L 0.28125 -4.265625 L 0.28125 -3.96875 C 0.984375 -3.96875 1.046875 -3.90625 1.046875 -3.46875 L 1.046875 1.171875 C 1.046875 1.609375 0.9375 1.609375 0.28125 1.609375 L 0.28125 1.921875 L 1.390625 1.890625 L 2.5 1.921875 L 2.5 1.609375 C 1.84375 1.609375 1.734375 1.609375 1.734375 1.171875 L 1.734375 -0.578125 C 1.78125 -0.421875 2.203125 0.109375 2.953125 0.109375 C 4.125 0.109375 5.15625 -0.859375 5.15625 -2.140625 Z M 4.34375 -2.140625 C 4.34375 -0.9375 3.640625 -0.109375 2.90625 -0.109375 C 2.515625 -0.109375 2.140625 -0.3125 1.875 -0.71875 C 1.734375 -0.921875 1.734375 -0.9375 1.734375 -1.125 L 1.734375 -3.34375 C 2.015625 -3.84375 2.5 -4.125 3.015625 -4.125 C 3.734375 -4.125 4.34375 -3.265625 4.34375 -2.140625 Z M 4.34375 -2.140625 "/>
</g>
<g id="glyph-0-3">
<path d="M 4.109375 -1.171875 C 4.109375 -1.28125 4.03125 -1.296875 3.984375 -1.296875 C 3.890625 -1.296875 3.875 -1.234375 3.859375 -1.15625 C 3.5 -0.140625 2.609375 -0.140625 2.515625 -0.140625 C 2.015625 -0.140625 1.625 -0.4375 1.390625 -0.796875 C 1.09375 -1.28125 1.09375 -1.9375 1.09375 -2.28125 L 3.859375 -2.28125 C 4.078125 -2.28125 4.109375 -2.28125 4.109375 -2.5 C 4.109375 -3.484375 3.578125 -4.4375 2.34375 -4.4375 C 1.1875 -4.4375 0.28125 -3.421875 0.28125 -2.171875 C 0.28125 -0.859375 1.3125 0.109375 2.453125 0.109375 C 3.671875 0.109375 4.109375 -0.984375 4.109375 -1.171875 Z M 3.453125 -2.5 L 1.109375 -2.5 C 1.171875 -3.96875 2 -4.21875 2.34375 -4.21875 C 3.359375 -4.21875 3.453125 -2.875 3.453125 -2.5 Z M 3.453125 -2.5 "/>
</g>
<g id="glyph-0-4">
<path d="M 3.609375 -3.78125 C 3.609375 -4.09375 3.296875 -4.375 2.875 -4.375 C 2.15625 -4.375 1.796875 -3.71875 1.65625 -3.28125 L 1.65625 -4.375 L 0.28125 -4.265625 L 0.28125 -3.96875 C 0.96875 -3.96875 1.046875 -3.890625 1.046875 -3.40625 L 1.046875 -0.75 C 1.046875 -0.3125 0.9375 -0.3125 0.28125 -0.3125 L 0.28125 0 L 1.40625 -0.03125 C 1.796875 -0.03125 2.265625 -0.03125 2.671875 0 L 2.671875 -0.3125 L 2.453125 -0.3125 C 1.71875 -0.3125 1.703125 -0.421875 1.703125 -0.765625 L 1.703125 -2.296875 C 1.703125 -3.28125 2.125 -4.15625 2.875 -4.15625 C 2.9375 -4.15625 2.96875 -4.15625 2.984375 -4.15625 C 2.953125 -4.140625 2.75 -4.015625 2.75 -3.765625 C 2.75 -3.484375 2.96875 -3.34375 3.1875 -3.34375 C 3.359375 -3.34375 3.609375 -3.453125 3.609375 -3.78125 Z M 3.609375 -3.78125 "/>
</g>
<g id="glyph-0-5">
<path d="M 5.296875 0 L 5.296875 -0.3125 C 4.78125 -0.3125 4.53125 -0.3125 4.53125 -0.609375 L 4.53125 -2.5 C 4.53125 -3.34375 4.53125 -3.65625 4.21875 -4.015625 C 4.078125 -4.1875 3.75 -4.375 3.1875 -4.375 C 2.453125 -4.375 1.984375 -3.953125 1.71875 -3.34375 L 1.71875 -4.375 L 0.3125 -4.265625 L 0.3125 -3.96875 C 1.015625 -3.96875 1.09375 -3.890625 1.09375 -3.40625 L 1.09375 -0.75 C 1.09375 -0.3125 0.984375 -0.3125 0.3125 -0.3125 L 0.3125 0 L 1.4375 -0.03125 L 2.546875 0 L 2.546875 -0.3125 C 1.875 -0.3125 1.765625 -0.3125 1.765625 -0.75 L 1.765625 -2.578125 C 1.765625 -3.609375 2.484375 -4.15625 3.109375 -4.15625 C 3.734375 -4.15625 3.84375 -3.625 3.84375 -3.0625 L 3.84375 -0.75 C 3.84375 -0.3125 3.734375 -0.3125 3.078125 -0.3125 L 3.078125 0 L 4.1875 -0.03125 Z M 5.296875 0 "/>
</g>
<g id="glyph-0-6">
<path d="M 3.5625 -1.265625 C 3.5625 -1.796875 3.265625 -2.09375 3.15625 -2.203125 C 2.828125 -2.53125 2.4375 -2.609375 2.015625 -2.6875 C 1.46875 -2.796875 0.796875 -2.921875 0.796875 -3.5 C 0.796875 -3.84375 1.0625 -4.25 1.90625 -4.25 C 3 -4.25 3.046875 -3.359375 3.078125 -3.046875 C 3.078125 -2.96875 3.1875 -2.96875 3.1875 -2.96875 C 3.3125 -2.96875 3.3125 -3.015625 3.3125 -3.203125 L 3.3125 -4.203125 C 3.3125 -4.375 3.3125 -4.4375 3.203125 -4.4375 C 3.15625 -4.4375 3.140625 -4.4375 3.015625 -4.3125 C 2.984375 -4.28125 2.875 -4.1875 2.84375 -4.15625 C 2.46875 -4.4375 2.0625 -4.4375 1.90625 -4.4375 C 0.703125 -4.4375 0.328125 -3.78125 0.328125 -3.21875 C 0.328125 -2.875 0.484375 -2.59375 0.75 -2.375 C 1.0625 -2.125 1.34375 -2.0625 2.0625 -1.921875 C 2.28125 -1.875 3.09375 -1.71875 3.09375 -1.015625 C 3.09375 -0.5 2.75 -0.109375 1.96875 -0.109375 C 1.140625 -0.109375 0.78125 -0.671875 0.59375 -1.515625 C 0.5625 -1.640625 0.5625 -1.6875 0.453125 -1.6875 C 0.328125 -1.6875 0.328125 -1.609375 0.328125 -1.4375 L 0.328125 -0.125 C 0.328125 0.046875 0.328125 0.109375 0.4375 0.109375 C 0.484375 0.109375 0.5 0.09375 0.6875 -0.09375 C 0.703125 -0.109375 0.703125 -0.125 0.875 -0.3125 C 1.3125 0.09375 1.765625 0.109375 1.96875 0.109375 C 3.109375 0.109375 3.5625 -0.5625 3.5625 -1.265625 Z M 3.5625 -1.265625 "/>
</g>
<g id="glyph-0-7">
<path d="M 4.671875 -2.125 C 4.671875 -3.390625 3.671875 -4.4375 2.484375 -4.4375 C 1.234375 -4.4375 0.28125 -3.359375 0.28125 -2.125 C 0.28125 -0.84375 1.3125 0.109375 2.46875 0.109375 C 3.671875 0.109375 4.671875 -0.859375 4.671875 -2.125 Z M 3.84375 -2.203125 C 3.84375 -1.84375 3.84375 -1.3125 3.625 -0.875 C 3.40625 -0.421875 2.96875 -0.140625 2.484375 -0.140625 C 2.046875 -0.140625 1.609375 -0.34375 1.34375 -0.796875 C 1.09375 -1.234375 1.09375 -1.84375 1.09375 -2.203125 C 1.09375 -2.578125 1.09375 -3.125 1.34375 -3.5625 C 1.609375 -4.015625 2.078125 -4.21875 2.46875 -4.21875 C 2.90625 -4.21875 3.328125 -4 3.59375 -3.578125 C 3.84375 -3.15625 3.84375 -2.578125 3.84375 -2.203125 Z M 3.84375 -2.203125 "/>
</g>
<g id="glyph-0-8">
<path d="M 4.15625 0 L 4.15625 -0.3125 L 3.828125 -0.3125 C 2.9375 -0.3125 2.90625 -0.421875 2.90625 -0.78125 L 2.90625 -6.34375 C 2.90625 -6.578125 2.90625 -6.59375 2.6875 -6.59375 C 2.078125 -5.96875 1.203125 -5.96875 0.875 -5.96875 L 0.875 -5.65625 C 1.078125 -5.65625 1.671875 -5.65625 2.171875 -5.90625 L 2.171875 -0.78125 C 2.171875 -0.421875 2.15625 -0.3125 1.265625 -0.3125 L 0.9375 -0.3125 L 0.9375 0 C 1.28125 -0.03125 2.15625 -0.03125 2.546875 -0.03125 C 2.9375 -0.03125 3.796875 -0.03125 4.15625 0 Z M 4.15625 0 "/>
</g>
<g id="glyph-0-9">
<path d="M 4.453125 -1.71875 L 4.203125 -1.71875 C 4.15625 -1.421875 4.078125 -0.984375 3.984375 -0.84375 C 3.90625 -0.765625 3.265625 -0.765625 3.046875 -0.765625 L 1.265625 -0.765625 L 2.3125 -1.78125 C 3.859375 -3.15625 4.453125 -3.6875 4.453125 -4.671875 C 4.453125 -5.8125 3.5625 -6.59375 2.34375 -6.59375 C 1.234375 -6.59375 0.5 -5.6875 0.5 -4.796875 C 0.5 -4.25 0.984375 -4.25 1.015625 -4.25 C 1.1875 -4.25 1.53125 -4.375 1.53125 -4.78125 C 1.53125 -5.03125 1.359375 -5.296875 1.015625 -5.296875 C 0.9375 -5.296875 0.90625 -5.296875 0.875 -5.28125 C 1.109375 -5.921875 1.640625 -6.296875 2.21875 -6.296875 C 3.125 -6.296875 3.546875 -5.484375 3.546875 -4.671875 C 3.546875 -3.890625 3.046875 -3.09375 2.5 -2.484375 L 0.609375 -0.359375 C 0.5 -0.25 0.5 -0.234375 0.5 0 L 4.171875 0 Z M 4.453125 -1.71875 "/>
</g>
<g id="glyph-1-0">
<path d="M 4.4375 -3.171875 L 4.4375 -3.390625 C 4.21875 -3.375 4 -3.359375 3.78125 -3.359375 C 3.640625 -3.359375 3.3125 -3.375 3.109375 -3.390625 L 3.109375 -3.171875 C 3.671875 -3.171875 3.671875 -2.96875 3.671875 -2.828125 L 3.671875 -0.78125 L 1.53125 -3.328125 C 1.484375 -3.390625 1.46875 -3.390625 1.375 -3.390625 L 0.40625 -3.390625 L 0.40625 -3.171875 L 0.609375 -3.171875 C 0.65625 -3.171875 0.890625 -3.15625 0.9375 -3.140625 C 0.953125 -3.140625 0.953125 -3.125 0.953125 -3.046875 L 0.953125 -0.546875 C 0.953125 -0.421875 0.953125 -0.21875 0.40625 -0.21875 L 0.40625 0 C 0.640625 -0.015625 0.859375 -0.015625 1.078125 -0.015625 C 1.21875 -0.015625 1.53125 -0.015625 1.734375 0 L 1.734375 -0.21875 C 1.1875 -0.21875 1.1875 -0.421875 1.1875 -0.546875 L 1.1875 -3 L 3.65625 -0.0625 C 3.703125 0 3.71875 0 3.78125 0 C 3.890625 0 3.890625 -0.046875 3.890625 -0.15625 L 3.890625 -2.828125 C 3.890625 -2.96875 3.890625 -3.171875 4.4375 -3.171875 Z M 4.4375 -3.171875 "/>
</g>
<g id="glyph-1-1">
<path d="M 3.046875 -1.0625 C 3.046875 -1.671875 2.46875 -2.21875 1.6875 -2.21875 C 0.90625 -2.21875 0.328125 -1.671875 0.328125 -1.0625 C 0.328125 -0.453125 0.90625 0.046875 1.6875 0.046875 C 2.46875 0.046875 3.046875 -0.453125 3.046875 -1.0625 Z M 2.546875 -1.109375 C 2.546875 -0.859375 2.546875 -0.125 1.6875 -0.125 C 0.8125 -0.125 0.8125 -0.859375 0.8125 -1.109375 C 0.8125 -1.328125 0.8125 -2.0625 1.6875 -2.0625 C 2.546875 -2.0625 2.546875 -1.328125 2.546875 -1.109375 Z M 2.546875 -1.109375 "/>
</g>
<g id="glyph-1-2">
<path d="M 2.375 -1.84375 C 2.375 -2.03125 2.1875 -2.1875 1.9375 -2.1875 C 1.6875 -2.1875 1.359375 -2.0625 1.171875 -1.640625 L 1.171875 -2.1875 L 0.375 -2.140625 L 0.375 -1.921875 C 0.75 -1.921875 0.78125 -1.875 0.78125 -1.640625 L 0.78125 -0.421875 C 0.78125 -0.265625 0.78125 -0.21875 0.46875 -0.21875 L 0.375 -0.21875 L 0.375 0 C 0.578125 -0.015625 0.8125 -0.015625 1.015625 -0.015625 L 1.71875 0 L 1.71875 -0.21875 L 1.59375 -0.21875 C 1.203125 -0.21875 1.203125 -0.265625 1.203125 -0.421875 L 1.203125 -1.109375 C 1.203125 -1.5625 1.46875 -2.015625 1.9375 -2.03125 C 1.9375 -2.03125 1.875 -1.953125 1.875 -1.84375 C 1.875 -1.671875 2.015625 -1.59375 2.125 -1.59375 C 2.25 -1.59375 2.375 -1.671875 2.375 -1.84375 Z M 2.375 -1.84375 "/>
</g>
<g id="glyph-1-3">
<path d="M 5.109375 0 L 5.109375 -0.21875 L 5.015625 -0.21875 C 4.703125 -0.21875 4.703125 -0.265625 4.703125 -0.421875 L 4.703125 -1.5 C 4.703125 -2.109375 4.234375 -2.1875 3.859375 -2.1875 C 3.375 -2.1875 3.09375 -1.953125 2.953125 -1.734375 C 2.828125 -2.1875 2.328125 -2.1875 2.140625 -2.1875 C 1.625 -2.1875 1.34375 -1.921875 1.21875 -1.703125 L 1.21875 -2.1875 L 0.40625 -2.140625 L 0.40625 -1.921875 C 0.765625 -1.921875 0.8125 -1.875 0.8125 -1.640625 L 0.8125 -0.421875 C 0.8125 -0.265625 0.8125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.625 -0.015625 0.828125 -0.015625 1.046875 -0.015625 C 1.25 -0.015625 1.46875 -0.015625 1.671875 0 L 1.671875 -0.21875 L 1.578125 -0.21875 C 1.265625 -0.21875 1.265625 -0.265625 1.265625 -0.421875 L 1.265625 -1.28125 C 1.265625 -1.828125 1.765625 -2.03125 2.078125 -2.03125 C 2.453125 -2.03125 2.53125 -1.828125 2.53125 -1.5 L 2.53125 -0.421875 C 2.53125 -0.265625 2.53125 -0.21875 2.21875 -0.21875 L 2.125 -0.21875 L 2.125 0 C 2.34375 -0.015625 2.546875 -0.015625 2.765625 -0.015625 C 2.96875 -0.015625 3.1875 -0.015625 3.390625 0 L 3.390625 -0.21875 L 3.296875 -0.21875 C 2.984375 -0.21875 2.984375 -0.265625 2.984375 -0.421875 L 2.984375 -1.28125 C 2.984375 -1.828125 3.484375 -2.03125 3.796875 -2.03125 C 4.171875 -2.03125 4.25 -1.828125 4.25 -1.5 L 4.25 -0.421875 C 4.25 -0.265625 4.25 -0.21875 3.9375 -0.21875 L 3.84375 -0.21875 L 3.84375 0 C 4.0625 -0.015625 4.265625 -0.015625 4.484375 -0.015625 C 4.6875 -0.015625 4.90625 -0.015625 5.109375 0 Z M 5.109375 0 "/>
</g>
<g id="glyph-1-4">
<path d="M 3.140625 -0.453125 L 3.140625 -0.71875 L 2.9375 -0.71875 L 2.9375 -0.453125 C 2.9375 -0.40625 2.9375 -0.1875 2.734375 -0.1875 C 2.546875 -0.1875 2.546875 -0.40625 2.546875 -0.453125 L 2.546875 -1.46875 C 2.546875 -1.953125 2.046875 -2.21875 1.421875 -2.21875 C 1.125 -2.21875 0.546875 -2.203125 0.546875 -1.78125 C 0.546875 -1.59375 0.6875 -1.515625 0.8125 -1.515625 C 0.953125 -1.515625 1.078125 -1.609375 1.078125 -1.78125 C 1.078125 -1.890625 1 -1.96875 0.953125 -2 C 1.125 -2.0625 1.359375 -2.0625 1.421875 -2.0625 C 1.84375 -2.0625 2.09375 -1.828125 2.09375 -1.46875 L 2.09375 -1.34375 C 1.625 -1.3125 1.359375 -1.296875 0.96875 -1.15625 C 0.640625 -1.046875 0.359375 -0.84375 0.359375 -0.515625 C 0.359375 -0.046875 0.9375 0.046875 1.328125 0.046875 C 1.703125 0.046875 2 -0.09375 2.15625 -0.359375 C 2.171875 -0.171875 2.296875 0.03125 2.546875 0.03125 C 2.578125 0.03125 3.140625 0.03125 3.140625 -0.453125 Z M 2.09375 -0.703125 C 2.09375 -0.15625 1.5 -0.109375 1.375 -0.109375 C 1.09375 -0.109375 0.8125 -0.265625 0.8125 -0.515625 C 0.8125 -0.6875 0.921875 -1.140625 2.09375 -1.1875 Z M 2.09375 -0.703125 "/>
</g>
<g id="glyph-1-5">
<path d="M 1.65625 0 L 1.65625 -0.21875 L 1.5625 -0.21875 C 1.25 -0.21875 1.25 -0.265625 1.25 -0.421875 L 1.25 -3.4375 L 0.40625 -3.390625 L 0.40625 -3.171875 C 0.78125 -3.171875 0.828125 -3.125 0.828125 -2.890625 L 0.828125 -0.421875 C 0.828125 -0.265625 0.828125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.625 -0.015625 0.828125 -0.015625 1.03125 -0.015625 C 1.234375 -0.015625 1.453125 -0.015625 1.65625 0 Z M 1.65625 0 "/>
</g>
<g id="glyph-1-6">
<path d="M 1.609375 0 L 1.609375 -0.21875 C 1.28125 -0.21875 1.25 -0.21875 1.25 -0.421875 L 1.25 -2.1875 L 0.4375 -2.140625 L 0.4375 -1.921875 C 0.78125 -1.921875 0.828125 -1.875 0.828125 -1.640625 L 0.828125 -0.421875 C 0.828125 -0.265625 0.828125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.609375 -0.015625 0.828125 -0.015625 1.03125 -0.015625 C 1.21875 -0.015625 1.4375 -0.015625 1.609375 0 Z M 1.296875 -2.96875 C 1.296875 -3.140625 1.15625 -3.28125 1 -3.28125 C 0.828125 -3.28125 0.6875 -3.140625 0.6875 -2.96875 C 0.6875 -2.796875 0.828125 -2.671875 1 -2.671875 C 1.15625 -2.671875 1.296875 -2.796875 1.296875 -2.96875 Z M 1.296875 -2.96875 "/>
</g>
<g id="glyph-1-7">
<path d="M 2.625 -0.984375 L 2.421875 -0.984375 C 2.359375 -0.421875 2.265625 -0.171875 1.5625 -0.171875 L 0.90625 -0.171875 L 2.546875 -1.9375 C 2.59375 -1.984375 2.609375 -2 2.609375 -2.046875 C 2.609375 -2.140625 2.546875 -2.140625 2.453125 -2.140625 L 0.453125 -2.140625 L 0.390625 -1.28125 L 0.609375 -1.28125 C 0.640625 -1.828125 0.796875 -1.96875 1.375 -1.96875 L 2.015625 -1.96875 L 0.359375 -0.203125 C 0.3125 -0.15625 0.3125 -0.15625 0.3125 -0.09375 C 0.3125 0 0.375 0 0.453125 0 L 2.53125 0 Z M 2.625 -0.984375 "/>
</g>
<g id="glyph-1-8">
<path d="M 2.703125 -0.59375 C 2.703125 -0.671875 2.625 -0.671875 2.609375 -0.671875 C 2.53125 -0.671875 2.515625 -0.65625 2.484375 -0.578125 C 2.359375 -0.25 1.984375 -0.125 1.703125 -0.125 C 1.3125 -0.125 1.078125 -0.34375 1.015625 -0.4375 C 0.8125 -0.671875 0.8125 -0.984375 0.8125 -1.109375 L 2.5625 -1.109375 C 2.671875 -1.109375 2.703125 -1.109375 2.703125 -1.234375 C 2.703125 -1.5625 2.53125 -2.21875 1.609375 -2.21875 C 0.859375 -2.21875 0.328125 -1.671875 0.328125 -1.09375 C 0.328125 -0.453125 0.921875 0.046875 1.671875 0.046875 C 2.46875 0.046875 2.703125 -0.5 2.703125 -0.59375 Z M 2.328125 -1.265625 L 0.828125 -1.265625 C 0.890625 -1.921875 1.359375 -2.0625 1.59375 -2.0625 C 2.28125 -2.0625 2.328125 -1.40625 2.328125 -1.265625 Z M 2.328125 -1.265625 "/>
</g>
<g id="glyph-1-9">
<path d="M 3.328125 0 L 3.328125 -0.21875 C 2.96875 -0.21875 2.921875 -0.25 2.921875 -0.5 L 2.921875 -3.4375 L 2.09375 -3.390625 L 2.09375 -3.171875 C 2.453125 -3.171875 2.5 -3.125 2.5 -2.890625 L 2.5 -1.921875 C 2.390625 -2.015625 2.125 -2.1875 1.71875 -2.1875 C 0.96875 -2.1875 0.359375 -1.6875 0.359375 -1.0625 C 0.359375 -0.46875 0.921875 0.046875 1.65625 0.046875 C 2.0625 0.046875 2.34375 -0.125 2.484375 -0.25 L 2.484375 0.046875 Z M 2.484375 -0.546875 C 2.25 -0.171875 1.875 -0.109375 1.6875 -0.109375 C 1.4375 -0.109375 1.1875 -0.203125 1.03125 -0.421875 C 0.859375 -0.625 0.859375 -0.90625 0.859375 -1.0625 C 0.859375 -1.203125 0.859375 -1.53125 1.078125 -1.75 C 1.25 -1.9375 1.5 -2.03125 1.75 -2.03125 C 1.890625 -2.03125 2.25 -2 2.484375 -1.65625 Z M 2.484375 -0.546875 "/>
</g>
<g id="glyph-1-10">
<path d="M 2.375 -0.625 C 2.375 -0.84375 2.25 -1.015625 2.0625 -1.125 C 1.859375 -1.25 1.703125 -1.265625 1.296875 -1.34375 C 0.96875 -1.390625 0.59375 -1.453125 0.59375 -1.703125 C 0.59375 -1.875 0.78125 -2.078125 1.328125 -2.078125 C 1.734375 -2.078125 1.96875 -1.90625 2 -1.5625 C 2.015625 -1.484375 2.015625 -1.46875 2.109375 -1.46875 C 2.21875 -1.46875 2.21875 -1.5 2.21875 -1.59375 L 2.21875 -2.078125 C 2.21875 -2.171875 2.21875 -2.21875 2.140625 -2.21875 C 2.109375 -2.21875 2.09375 -2.21875 2.046875 -2.1875 C 2.03125 -2.171875 1.9375 -2.078125 1.921875 -2.078125 C 1.921875 -2.078125 1.90625 -2.078125 1.875 -2.109375 C 1.765625 -2.171875 1.578125 -2.21875 1.328125 -2.21875 C 0.515625 -2.21875 0.34375 -1.84375 0.34375 -1.609375 C 0.34375 -1.15625 0.921875 -1.0625 1.375 -0.984375 C 1.671875 -0.953125 2.125 -0.875 2.125 -0.546875 C 2.125 -0.359375 1.96875 -0.109375 1.375 -0.109375 C 1.046875 -0.109375 0.71875 -0.234375 0.5625 -0.765625 C 0.546875 -0.84375 0.53125 -0.859375 0.453125 -0.859375 C 0.34375 -0.859375 0.34375 -0.828125 0.34375 -0.71875 L 0.34375 -0.078125 C 0.34375 0 0.34375 0.046875 0.421875 0.046875 C 0.46875 0.046875 0.46875 0.046875 0.5625 -0.046875 L 0.6875 -0.171875 C 0.9375 0.046875 1.25 0.046875 1.375 0.046875 C 2.203125 0.046875 2.375 -0.375 2.375 -0.625 Z M 2.375 -0.625 "/>
</g>
<g id="glyph-1-11">
<path d="M 3.390625 0 L 3.390625 -0.21875 L 3.296875 -0.21875 C 2.96875 -0.21875 2.96875 -0.265625 2.96875 -0.421875 L 2.96875 -1.5 C 2.96875 -2.046875 2.59375 -2.1875 2.140625 -2.1875 C 1.609375 -2.1875 1.328125 -1.890625 1.21875 -1.703125 L 1.21875 -2.1875 L 0.40625 -2.140625 L 0.40625 -1.921875 C 0.765625 -1.921875 0.8125 -1.875 0.8125 -1.640625 L 0.8125 -0.421875 C 0.8125 -0.265625 0.8125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.625 -0.015625 0.828125 -0.015625 1.046875 -0.015625 C 1.25 -0.015625 1.46875 -0.015625 1.671875 0 L 1.671875 -0.21875 L 1.578125 -0.21875 C 1.265625 -0.21875 1.265625 -0.265625 1.265625 -0.421875 L 1.265625 -1.28125 C 1.265625 -1.84375 1.765625 -2.03125 2.078125 -2.03125 C 2.453125 -2.03125 2.53125 -1.8125 2.53125 -1.5 L 2.53125 -0.421875 C 2.53125 -0.265625 2.53125 -0.21875 2.203125 -0.21875 L 2.125 -0.21875 L 2.125 0 C 2.328125 -0.015625 2.546875 -0.015625 2.75 -0.015625 C 2.96875 -0.015625 3.171875 -0.015625 3.390625 0 Z M 3.390625 0 "/>
</g>
<g id="glyph-2-0">
<path d="M 8.0625 -2.984375 C 8.0625 -3.203125 7.875 -3.203125 7.6875 -3.203125 L 4.515625 -3.203125 L 4.515625 -6.375 C 4.515625 -6.546875 4.515625 -6.75 4.3125 -6.75 C 4.09375 -6.75 4.09375 -6.5625 4.09375 -6.375 L 4.09375 -3.203125 L 0.921875 -3.203125 C 0.75 -3.203125 0.546875 -3.203125 0.546875 -3 C 0.546875 -2.78125 0.75 -2.78125 0.921875 -2.78125 L 4.09375 -2.78125 L 4.09375 0.390625 C 4.09375 0.5625 4.09375 0.765625 4.296875 0.765625 C 4.515625 0.765625 4.515625 0.578125 4.515625 0.390625 L 4.515625 -2.78125 L 7.6875 -2.78125 C 7.859375 -2.78125 8.0625 -2.78125 8.0625 -2.984375 Z M 8.0625 -2.984375 "/>
</g>
<g id="glyph-3-0">
<path d="M 7.140625 -2.59375 C 7.140625 -2.671875 7.09375 -2.703125 7.015625 -2.703125 C 6.78125 -2.703125 6.203125 -2.671875 5.96875 -2.671875 L 4.59375 -2.703125 C 4.5 -2.703125 4.375 -2.703125 4.375 -2.5 C 4.375 -2.390625 4.453125 -2.390625 4.671875 -2.390625 C 4.671875 -2.390625 4.96875 -2.390625 5.203125 -2.375 C 5.453125 -2.34375 5.515625 -2.3125 5.515625 -2.1875 C 5.515625 -2.09375 5.40625 -1.65625 5.296875 -1.28125 C 5.015625 -0.203125 3.734375 -0.09375 3.390625 -0.09375 C 2.4375 -0.09375 1.390625 -0.65625 1.390625 -2.171875 C 1.390625 -2.484375 1.5 -4.109375 2.53125 -5.40625 C 3.078125 -6.078125 4.03125 -6.671875 5.015625 -6.671875 C 6.015625 -6.671875 6.609375 -5.90625 6.609375 -4.765625 C 6.609375 -4.375 6.578125 -4.359375 6.578125 -4.265625 C 6.578125 -4.15625 6.6875 -4.15625 6.71875 -4.15625 C 6.859375 -4.15625 6.859375 -4.1875 6.90625 -4.359375 L 7.53125 -6.890625 C 7.53125 -6.921875 7.515625 -6.984375 7.421875 -6.984375 C 7.390625 -6.984375 7.375 -6.96875 7.265625 -6.859375 L 6.578125 -6.109375 C 6.484375 -6.234375 6.03125 -6.984375 4.9375 -6.984375 C 2.71875 -6.984375 0.5 -4.796875 0.5 -2.5 C 0.5 -0.921875 1.59375 0.21875 3.203125 0.21875 C 3.640625 0.21875 4.078125 0.125 4.4375 -0.015625 C 4.9375 -0.21875 5.125 -0.421875 5.296875 -0.625 C 5.390625 -0.375 5.640625 -0.015625 5.75 -0.015625 C 5.796875 -0.015625 5.8125 -0.046875 5.8125 -0.046875 C 5.828125 -0.0625 5.9375 -0.453125 5.984375 -0.65625 L 6.171875 -1.421875 C 6.21875 -1.578125 6.265625 -1.75 6.296875 -1.921875 C 6.40625 -2.375 6.421875 -2.390625 6.984375 -2.390625 C 7.03125 -2.390625 7.140625 -2.40625 7.140625 -2.59375 Z M 7.140625 -2.59375 "/>
</g>
<g id="glyph-3-1">
<path d="M 3.921875 -1.53125 C 3.921875 -1.890625 3.734375 -2.140625 3.609375 -2.265625 C 3.34375 -2.53125 3.0625 -2.578125 2.625 -2.671875 C 2.265625 -2.75 1.875 -2.828125 1.875 -3.265625 C 1.875 -3.5625 2.109375 -4.15625 2.984375 -4.15625 C 3.234375 -4.15625 3.71875 -4.09375 3.875 -3.703125 C 3.59375 -3.6875 3.390625 -3.484375 3.390625 -3.265625 C 3.390625 -3.125 3.484375 -2.96875 3.703125 -2.96875 C 3.921875 -2.96875 4.15625 -3.140625 4.15625 -3.53125 C 4.15625 -3.96875 3.734375 -4.375 2.984375 -4.375 C 1.671875 -4.375 1.3125 -3.375 1.3125 -2.9375 C 1.3125 -2.15625 2.046875 -2.015625 2.328125 -1.953125 C 2.84375 -1.859375 3.359375 -1.75 3.359375 -1.203125 C 3.359375 -0.9375 3.125 -0.109375 1.9375 -0.109375 C 1.796875 -0.109375 1.046875 -0.109375 0.8125 -0.640625 C 1.1875 -0.578125 1.4375 -0.875 1.4375 -1.15625 C 1.4375 -1.390625 1.28125 -1.5 1.0625 -1.5 C 0.8125 -1.5 0.515625 -1.296875 0.515625 -0.859375 C 0.515625 -0.28125 1.078125 0.109375 1.9375 0.109375 C 3.53125 0.109375 3.921875 -1.09375 3.921875 -1.53125 Z M 3.921875 -1.53125 "/>
</g>
<g id="glyph-3-2">
<path d="M 7.109375 -0.203125 C 7.109375 -0.3125 7.03125 -0.3125 6.828125 -0.3125 C 6.46875 -0.3125 6.1875 -0.3125 6.1875 -0.484375 C 6.1875 -0.546875 6.21875 -0.59375 6.21875 -0.65625 L 7.5625 -6 C 7.640625 -6.359375 7.671875 -6.453125 8.390625 -6.453125 C 8.640625 -6.453125 8.734375 -6.453125 8.734375 -6.65625 C 8.734375 -6.765625 8.625 -6.765625 8.59375 -6.765625 L 7.328125 -6.734375 L 6.046875 -6.765625 C 5.96875 -6.765625 5.859375 -6.765625 5.859375 -6.5625 C 5.859375 -6.453125 5.9375 -6.453125 6.125 -6.453125 C 6.125 -6.453125 6.34375 -6.453125 6.515625 -6.4375 C 6.6875 -6.421875 6.78125 -6.40625 6.78125 -6.28125 C 6.78125 -6.234375 6.765625 -6.21875 6.734375 -6.09375 L 6.140625 -3.671875 L 3.125 -3.671875 L 3.703125 -6 C 3.796875 -6.359375 3.828125 -6.453125 4.53125 -6.453125 C 4.796875 -6.453125 4.875 -6.453125 4.875 -6.65625 C 4.875 -6.765625 4.765625 -6.765625 4.734375 -6.765625 L 3.46875 -6.734375 L 2.1875 -6.765625 C 2.109375 -6.765625 2 -6.765625 2 -6.5625 C 2 -6.453125 2.09375 -6.453125 2.28125 -6.453125 C 2.28125 -6.453125 2.484375 -6.453125 2.65625 -6.4375 C 2.828125 -6.421875 2.921875 -6.40625 2.921875 -6.28125 C 2.921875 -6.234375 2.90625 -6.21875 2.875 -6.09375 L 1.5625 -0.765625 C 1.453125 -0.390625 1.4375 -0.3125 0.65625 -0.3125 C 0.46875 -0.3125 0.390625 -0.3125 0.390625 -0.109375 C 0.390625 0 0.53125 0 0.53125 0 L 1.78125 -0.03125 L 2.421875 -0.015625 C 2.640625 -0.015625 2.859375 0 3.0625 0 C 3.140625 0 3.265625 0 3.265625 -0.203125 C 3.265625 -0.3125 3.171875 -0.3125 2.984375 -0.3125 C 2.609375 -0.3125 2.34375 -0.3125 2.34375 -0.484375 C 2.34375 -0.546875 2.359375 -0.59375 2.375 -0.65625 L 3.046875 -3.375 L 6.0625 -3.375 L 5.375 -0.640625 C 5.28125 -0.3125 5.09375 -0.3125 4.484375 -0.3125 C 4.328125 -0.3125 4.234375 -0.3125 4.234375 -0.109375 C 4.234375 0 4.375 0 4.375 0 L 5.640625 -0.03125 L 6.265625 -0.015625 C 6.484375 -0.015625 6.703125 0 6.921875 0 C 7 0 7.109375 0 7.109375 -0.203125 Z M 7.109375 -0.203125 "/>
</g>
<g id="glyph-3-3">
<path d="M 4.90625 -1.421875 C 4.90625 -1.515625 4.828125 -1.515625 4.796875 -1.515625 C 4.703125 -1.515625 4.6875 -1.46875 4.671875 -1.40625 C 4.34375 -0.34375 3.671875 -0.109375 3.34375 -0.109375 C 2.96875 -0.109375 2.796875 -0.421875 2.796875 -0.765625 C 2.796875 -0.984375 2.859375 -1.203125 2.96875 -1.640625 L 3.3125 -2.984375 C 3.375 -3.25 3.59375 -4.15625 4.296875 -4.15625 C 4.34375 -4.15625 4.578125 -4.15625 4.78125 -4.03125 C 4.5 -3.984375 4.3125 -3.734375 4.3125 -3.5 C 4.3125 -3.34375 4.421875 -3.15625 4.6875 -3.15625 C 4.90625 -3.15625 5.21875 -3.328125 5.21875 -3.71875 C 5.21875 -4.234375 4.640625 -4.375 4.296875 -4.375 C 3.71875 -4.375 3.375 -3.859375 3.265625 -3.625 C 3.015625 -4.28125 2.484375 -4.375 2.1875 -4.375 C 1.15625 -4.375 0.59375 -3.09375 0.59375 -2.859375 C 0.59375 -2.75 0.71875 -2.75 0.71875 -2.75 C 0.796875 -2.75 0.828125 -2.78125 0.84375 -2.859375 C 1.171875 -3.90625 1.828125 -4.15625 2.171875 -4.15625 C 2.359375 -4.15625 2.703125 -4.078125 2.703125 -3.5 C 2.703125 -3.1875 2.53125 -2.53125 2.171875 -1.140625 C 2.015625 -0.53125 1.671875 -0.109375 1.234375 -0.109375 C 1.171875 -0.109375 0.9375 -0.109375 0.734375 -0.234375 C 0.984375 -0.28125 1.203125 -0.5 1.203125 -0.765625 C 1.203125 -1.046875 0.984375 -1.125 0.828125 -1.125 C 0.53125 -1.125 0.28125 -0.859375 0.28125 -0.546875 C 0.28125 -0.09375 0.78125 0.109375 1.21875 0.109375 C 1.875 0.109375 2.234375 -0.578125 2.265625 -0.640625 C 2.375 -0.28125 2.734375 0.109375 3.328125 0.109375 C 4.34375 0.109375 4.90625 -1.171875 4.90625 -1.421875 Z M 4.90625 -1.421875 "/>
</g>
<g id="glyph-3-4">
<path d="M 5.65625 -1.421875 C 5.65625 -1.515625 5.5625 -1.515625 5.53125 -1.515625 C 5.4375 -1.515625 5.4375 -1.484375 5.390625 -1.34375 C 5.1875 -0.65625 4.859375 -0.109375 4.375 -0.109375 C 4.203125 -0.109375 4.140625 -0.203125 4.140625 -0.4375 C 4.140625 -0.6875 4.234375 -0.921875 4.3125 -1.140625 C 4.5 -1.671875 4.921875 -2.75 4.921875 -3.3125 C 4.921875 -3.984375 4.5 -4.375 3.78125 -4.375 C 2.890625 -4.375 2.40625 -3.75 2.234375 -3.515625 C 2.1875 -4.078125 1.78125 -4.375 1.328125 -4.375 C 0.875 -4.375 0.6875 -4 0.578125 -3.8125 C 0.421875 -3.484375 0.28125 -2.890625 0.28125 -2.859375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.765625 0.578125 -2.984375 C 0.75 -3.6875 0.9375 -4.15625 1.296875 -4.15625 C 1.5 -4.15625 1.609375 -4.03125 1.609375 -3.703125 C 1.609375 -3.5 1.578125 -3.390625 1.453125 -2.875 L 0.875 -0.578125 C 0.84375 -0.4375 0.78125 -0.203125 0.78125 -0.15625 C 0.78125 0.015625 0.921875 0.109375 1.0625 0.109375 C 1.1875 0.109375 1.359375 0.03125 1.4375 -0.171875 C 1.453125 -0.1875 1.5625 -0.65625 1.625 -0.90625 L 1.84375 -1.796875 C 1.90625 -2.015625 1.96875 -2.234375 2.015625 -2.453125 L 2.140625 -2.953125 C 2.28125 -3.265625 2.8125 -4.15625 3.75 -4.15625 C 4.203125 -4.15625 4.296875 -3.796875 4.296875 -3.46875 C 4.296875 -2.859375 3.796875 -1.578125 3.640625 -1.15625 C 3.5625 -0.9375 3.546875 -0.8125 3.546875 -0.703125 C 3.546875 -0.234375 3.890625 0.109375 4.359375 0.109375 C 5.296875 0.109375 5.65625 -1.34375 5.65625 -1.421875 Z M 5.65625 -1.421875 "/>
</g>
<g id="glyph-4-0">
<path d="M 3.28125 0 L 3.28125 -0.25 L 3.015625 -0.25 C 2.328125 -0.25 2.328125 -0.34375 2.328125 -0.5625 L 2.328125 -4.40625 C 2.328125 -4.59375 2.3125 -4.609375 2.109375 -4.609375 C 1.671875 -4.171875 1.046875 -4.15625 0.75 -4.15625 L 0.75 -3.90625 C 0.921875 -3.90625 1.375 -3.90625 1.765625 -4.109375 L 1.765625 -0.5625 C 1.765625 -0.34375 1.765625 -0.25 1.0625 -0.25 L 0.8125 -0.25 L 0.8125 0 L 2.046875 -0.03125 Z M 3.28125 0 "/>
</g>
<g id="glyph-4-1">
<path d="M 3.5 -1.265625 L 3.265625 -1.265625 C 3.25 -1.109375 3.171875 -0.703125 3.09375 -0.625 C 3.03125 -0.59375 2.5 -0.59375 2.40625 -0.59375 L 1.125 -0.59375 C 1.859375 -1.234375 2.09375 -1.421875 2.515625 -1.75 C 3.03125 -2.171875 3.5 -2.59375 3.5 -3.25 C 3.5 -4.09375 2.765625 -4.609375 1.875 -4.609375 C 1.015625 -4.609375 0.4375 -4 0.4375 -3.359375 C 0.4375 -3.015625 0.734375 -2.96875 0.8125 -2.96875 C 0.96875 -2.96875 1.171875 -3.09375 1.171875 -3.34375 C 1.171875 -3.46875 1.125 -3.71875 0.765625 -3.71875 C 0.984375 -4.203125 1.453125 -4.359375 1.78125 -4.359375 C 2.46875 -4.359375 2.828125 -3.8125 2.828125 -3.25 C 2.828125 -2.65625 2.40625 -2.171875 2.171875 -1.921875 L 0.5 -0.265625 C 0.4375 -0.203125 0.4375 -0.1875 0.4375 0 L 3.296875 0 Z M 3.5 -1.265625 "/>
</g>
<g id="glyph-5-0">
<path d="M 3.28125 2.375 C 3.28125 2.34375 3.28125 2.328125 3.109375 2.15625 C 1.875 0.90625 1.5625 -0.953125 1.5625 -2.484375 C 1.5625 -4.203125 1.9375 -5.921875 3.15625 -7.15625 C 3.28125 -7.28125 3.28125 -7.296875 3.28125 -7.328125 C 3.28125 -7.40625 3.234375 -7.4375 3.1875 -7.4375 C 3.078125 -7.4375 2.1875 -6.75 1.609375 -5.5 C 1.09375 -4.40625 0.984375 -3.3125 0.984375 -2.484375 C 0.984375 -1.703125 1.09375 -0.5 1.640625 0.609375 C 2.234375 1.828125 3.078125 2.484375 3.1875 2.484375 C 3.234375 2.484375 3.28125 2.453125 3.28125 2.375 Z M 3.28125 2.375 "/>
</g>
<g id="glyph-5-1">
<path d="M 2.859375 -2.484375 C 2.859375 -3.25 2.75 -4.453125 2.203125 -5.5625 C 1.609375 -6.78125 0.765625 -7.4375 0.65625 -7.4375 C 0.609375 -7.4375 0.5625 -7.390625 0.5625 -7.328125 C 0.5625 -7.296875 0.5625 -7.28125 0.75 -7.109375 C 1.71875 -6.125 2.28125 -4.546875 2.28125 -2.484375 C 2.28125 -0.78125 1.921875 0.953125 0.6875 2.203125 C 0.5625 2.328125 0.5625 2.34375 0.5625 2.375 C 0.5625 2.4375 0.609375 2.484375 0.65625 2.484375 C 0.765625 2.484375 1.65625 1.796875 2.234375 0.546875 C 2.75 -0.546875 2.859375 -1.640625 2.859375 -2.484375 Z M 2.859375 -2.484375 "/>
</g>
<g id="glyph-5-2">
<path d="M 3.984375 -5.25 L 2.484375 -6.859375 L 0.96875 -5.25 L 1.09375 -5.109375 L 2.484375 -6.1875 L 3.859375 -5.109375 Z M 3.984375 -5.25 "/>
</g>
<g id="glyph-5-3">
<path d="M 4.125 -6.296875 L 3.96875 -6.453125 C 3.96875 -6.453125 3.59375 -5.96875 3.15625 -5.96875 C 2.9375 -5.96875 2.6875 -6.125 2.515625 -6.21875 C 2.25 -6.375 2.078125 -6.453125 1.90625 -6.453125 C 1.53125 -6.453125 1.34375 -6.234375 0.828125 -5.671875 L 0.984375 -5.53125 C 0.984375 -5.53125 1.359375 -6 1.796875 -6 C 2.03125 -6 2.28125 -5.859375 2.453125 -5.75 C 2.71875 -5.59375 2.890625 -5.53125 3.0625 -5.53125 C 3.4375 -5.53125 3.625 -5.75 4.125 -6.296875 Z M 4.125 -6.296875 "/>
</g>
<g id="glyph-6-0">
<path d="M 5.4375 -1.734375 C 5.4375 -1.90625 5.28125 -1.90625 5.1875 -1.90625 L 1 -1.90625 C 0.90625 -1.90625 0.75 -1.90625 0.75 -1.734375 C 0.75 -1.5625 0.921875 -1.5625 1 -1.5625 L 5.1875 -1.5625 C 5.265625 -1.5625 5.4375 -1.5625 5.4375 -1.734375 Z M 5.4375 -1.734375 "/>
</g>
</g>
<clipPath id="clip-0">
<path clip-rule="nonzero" d="M 11 0 L 245 0 L 245 116.644531 L 11 116.644531 Z M 11 0 "/>
</clipPath>
<clipPath id="clip-1">
<path clip-rule="nonzero" d="M 234 50 L 255.578125 50 L 255.578125 82 L 234 82 Z M 234 50 "/>
</clipPath>
</defs>
<path fill-rule="nonzero" fill="rgb(89.99939%, 89.99939%, 89.99939%)" fill-opacity="1" d="M 12.316406 115.652344 L 243.777344 115.652344 L 243.777344 0.992188 L 12.316406 0.992188 Z M 12.316406 115.652344 "/>
<g clip-path="url(#clip-0)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -8.967691 -50.171686 L 223.832836 -50.171686 L 223.832836 65.15207 L -8.967691 65.15207 Z M -8.967691 -50.171686 " transform="matrix(0.994246, 0, 0, -0.994246, 21.232495, 65.769357)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="183.957717" y="11.116662"/>
<use xlink:href="#glyph-0-1" x="189.461086" y="11.116662"/>
<use xlink:href="#glyph-0-2" x="194.964456" y="11.116662"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-3" x="200.745173" y="11.116662"/>
<use xlink:href="#glyph-0-4" x="205.148067" y="11.116662"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="212.326418" y="11.116662"/>
<use xlink:href="#glyph-0-3" x="217.829788" y="11.116662"/>
<use xlink:href="#glyph-0-5" x="222.232681" y="11.116662"/>
<use xlink:href="#glyph-0-6" x="227.736051" y="11.116662"/>
<use xlink:href="#glyph-0-7" x="231.643681" y="11.116662"/>
<use xlink:href="#glyph-0-4" x="236.596318" y="11.116662"/>
</g>
<path fill-rule="nonzero" fill="rgb(79.998779%, 88.941956%, 94.822693%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 7.91461 11.554595 L 150.115681 11.554595 L 150.115681 62.166138 L 7.91461 62.166138 Z M 7.91461 11.554595 " transform="matrix(0.994246, 0, 0, -0.994246, 21.232495, 65.769357)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="133.70953" y="10.677205"/>
<use xlink:href="#glyph-1-1" x="138.566085" y="10.677205"/>
<use xlink:href="#glyph-1-2" x="141.93685" y="10.677205"/>
<use xlink:href="#glyph-1-3" x="144.619693" y="10.677205"/>
<use xlink:href="#glyph-1-4" x="150.053726" y="10.677205"/>
<use xlink:href="#glyph-1-5" x="153.42449" y="10.677205"/>
<use xlink:href="#glyph-1-6" x="155.419412" y="10.677205"/>
<use xlink:href="#glyph-1-7" x="157.414334" y="10.677205"/>
<use xlink:href="#glyph-1-8" x="160.44089" y="10.677205"/>
<use xlink:href="#glyph-1-9" x="163.467446" y="10.677205"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-10" x="148.953306" y="17.611075"/>
<use xlink:href="#glyph-1-8" x="151.670322" y="17.611075"/>
<use xlink:href="#glyph-1-11" x="154.696879" y="17.611075"/>
<use xlink:href="#glyph-1-10" x="158.411356" y="17.611075"/>
<use xlink:href="#glyph-1-1" x="161.128372" y="17.611075"/>
<use xlink:href="#glyph-1-2" x="164.499137" y="17.611075"/>
</g>
<path fill-rule="nonzero" fill="rgb(69.999695%, 83.410645%, 92.234802%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 10.90447 14.544456 L 85.867073 14.544456 L 85.867073 59.176278 L 10.90447 59.176278 Z M 10.90447 14.544456 " transform="matrix(0.994246, 0, 0, -0.994246, 21.232495, 65.769357)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="66.898203" y="17.060263"/>
<use xlink:href="#glyph-0-3" x="72.401573" y="17.060263"/>
<use xlink:href="#glyph-0-5" x="76.804467" y="17.060263"/>
<use xlink:href="#glyph-0-6" x="82.307836" y="17.060263"/>
<use xlink:href="#glyph-0-7" x="86.215466" y="17.060263"/>
<use xlink:href="#glyph-0-4" x="91.168103" y="17.060263"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-8" x="98.346454" y="17.060263"/>
</g>
<path fill-rule="nonzero" fill="rgb(97.019958%, 86.431885%, 81.881714%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 7.91461 -47.185755 L 150.115681 -47.185755 L 150.115681 3.425789 L 7.91461 3.425789 Z M 7.91461 -47.185755 " transform="matrix(0.994246, 0, 0, -0.994246, 21.232495, 65.769357)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="133.70953" y="69.078207"/>
<use xlink:href="#glyph-1-1" x="138.566085" y="69.078207"/>
<use xlink:href="#glyph-1-2" x="141.93685" y="69.078207"/>
<use xlink:href="#glyph-1-3" x="144.619693" y="69.078207"/>
<use xlink:href="#glyph-1-4" x="150.053726" y="69.078207"/>
<use xlink:href="#glyph-1-5" x="153.42449" y="69.078207"/>
<use xlink:href="#glyph-1-6" x="155.419412" y="69.078207"/>
<use xlink:href="#glyph-1-7" x="157.414334" y="69.078207"/>
<use xlink:href="#glyph-1-8" x="160.44089" y="69.078207"/>
<use xlink:href="#glyph-1-9" x="163.467446" y="69.078207"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-10" x="148.953306" y="76.012077"/>
<use xlink:href="#glyph-1-8" x="151.670322" y="76.012077"/>
<use xlink:href="#glyph-1-11" x="154.696879" y="76.012077"/>
<use xlink:href="#glyph-1-10" x="158.411356" y="76.012077"/>
<use xlink:href="#glyph-1-1" x="161.128372" y="76.012077"/>
<use xlink:href="#glyph-1-2" x="164.499137" y="76.012077"/>
</g>
<path fill-rule="nonzero" fill="rgb(95.527649%, 79.647827%, 72.822571%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 10.90447 -44.195894 L 85.867073 -44.195894 L 85.867073 0.435928 L 10.90447 0.435928 Z M 10.90447 -44.195894 " transform="matrix(0.994246, 0, 0, -0.994246, 21.232495, 65.769357)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="66.898203" y="75.461265"/>
<use xlink:href="#glyph-0-3" x="72.401573" y="75.461265"/>
<use xlink:href="#glyph-0-5" x="76.804467" y="75.461265"/>
<use xlink:href="#glyph-0-6" x="82.307836" y="75.461265"/>
<use xlink:href="#glyph-0-7" x="86.215466" y="75.461265"/>
<use xlink:href="#glyph-0-4" x="91.168103" y="75.461265"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-9" x="98.346454" y="75.461265"/>
</g>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 23.214844 65.769531 C 23.214844 64.675781 22.328125 63.789062 21.234375 63.789062 C 20.136719 63.789062 19.25 64.675781 19.25 65.769531 C 19.25 66.863281 20.136719 67.75 21.234375 67.75 C 22.328125 67.75 23.214844 66.863281 23.214844 65.769531 Z M 23.214844 65.769531 "/>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 27.837846 29.368035 C 27.837846 33.222245 24.718333 36.345686 20.864124 36.345686 C 17.013844 36.345686 13.890402 33.222245 13.890402 29.368035 C 13.890402 25.517755 17.013844 22.394313 20.864124 22.394313 C 24.718333 22.394313 27.837846 25.517755 27.837846 29.368035 Z M 27.837846 29.368035 " transform="matrix(0.994246, 0, 0, -0.994246, 21.232495, 65.769357)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="37.665389" y="39.468574"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 27.837846 -29.368385 C 27.837846 -25.518105 24.718333 -22.394663 20.864124 -22.394663 C 17.013844 -22.394663 13.890402 -25.518105 13.890402 -29.368385 C 13.890402 -33.222595 17.013844 -36.342108 20.864124 -36.342108 C 24.718333 -36.342108 27.837846 -33.222595 27.837846 -29.368385 Z M 27.837846 -29.368385 " transform="matrix(0.994246, 0, 0, -0.994246, 21.232495, 65.769357)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="37.665389" y="97.869576"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 51.014177 18.029352 L 82.378247 18.029352 L 82.378247 40.710647 L 51.014177 40.710647 Z M 51.014177 18.029352 " transform="matrix(0.994246, 0, 0, -0.994246, 21.232495, 65.769357)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="75.254839" y="39.045025"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="83.042766" y="40.531423"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-0" x="87.48605" y="39.045025"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="91.338211" y="39.045025"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-1" x="95.981803" y="39.045025"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 51.014177 -40.707068 L 82.378247 -40.707068 L 82.378247 -18.029702 L 51.014177 -18.029702 Z M 51.014177 -40.707068 " transform="matrix(0.994246, 0, 0, -0.994246, 21.232495, 65.769357)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="75.254839" y="97.446027"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-1" x="83.042766" y="98.932425"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-0" x="87.48605" y="97.446027"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="91.338211" y="97.446027"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-1" x="95.981803" y="97.446027"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 106.053543 18.029352 L 143.640924 18.029352 L 143.640924 40.710647 L 106.053543 40.710647 Z M 106.053543 18.029352 " transform="matrix(0.994246, 0, 0, -0.994246, 21.232495, 65.769357)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-2" x="132.217167" y="37.408497"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="129.974149" y="39.912008"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-6-0" x="137.762076" y="35.674532"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="143.953151" y="35.674532"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="137.762076" y="42.552724"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-0" x="148.396528" y="39.912008"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="152.248689" y="39.912008"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-1" x="156.892281" y="39.912008"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 106.053543 -40.707068 L 143.640924 -40.707068 L 143.640924 -18.029702 L 106.053543 -18.029702 Z M 106.053543 -40.707068 " transform="matrix(0.994246, 0, 0, -0.994246, 21.232495, 65.769357)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-2" x="132.217167" y="95.809499"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="129.974149" y="98.31301"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-6-0" x="137.762076" y="94.075534"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-1" x="143.953151" y="94.075534"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-1" x="137.762076" y="100.954721"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-0" x="148.396528" y="98.31301"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="152.248689" y="98.31301"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-1" x="156.892281" y="98.31301"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 167.316219 18.029352 L 199.128179 18.029352 L 199.128179 40.710647 L 167.316219 40.710647 Z M 167.316219 18.029352 " transform="matrix(0.994246, 0, 0, -0.994246, 21.232495, 65.769357)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-2" x="190.883633" y="39.045025"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="199.117976" y="40.530429"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-0" x="203.56126" y="39.045025"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="207.413421" y="39.045025"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-1" x="212.057013" y="39.045025"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 167.316219 -40.707068 L 199.128179 -40.707068 L 199.128179 -18.029702 L 167.316219 -18.029702 Z M 167.316219 -40.707068 " transform="matrix(0.994246, 0, 0, -0.994246, 21.232495, 65.769357)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-2" x="190.883633" y="97.446027"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-1" x="199.117976" y="98.932425"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-0" x="203.56126" y="97.446027"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="207.413421" y="97.446027"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-1" x="212.057013" y="97.446027"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 214.867183 -0.000175054 C 214.867183 3.850105 211.743741 6.973547 207.89346 6.973547 C 204.039251 6.973547 200.919738 3.850105 200.919738 -0.000175054 C 200.919738 -3.850455 204.039251 -6.973897 207.89346 -6.973897 C 211.743741 -6.973897 214.867183 -3.850455 214.867183 -0.000175054 Z M 214.867183 -0.000175054 " transform="matrix(0.994246, 0, 0, -0.994246, 21.232495, 65.769357)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="223.613209" y="68.668578"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -19.842769 -0.000175054 L 0.00189045 -0.000175054 " transform="matrix(0.994246, 0, 0, -0.994246, 21.232495, 65.769357)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-3" x="5.300701" y="61.972333"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 0.00189045 -0.000175054 L 0.00189045 29.368035 L 9.258279 29.368035 " transform="matrix(0.994246, 0, 0, -0.994246, 21.232495, 65.769357)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052194 -0.00192465 L 1.608656 1.683555 L 3.085907 -0.00192465 L 1.608656 -1.683476 Z M 6.052194 -0.00192465 " transform="matrix(0.994246, 0, 0, -0.994246, 27.615444, 36.568399)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 0.00189045 -0.000175054 L 0.00189045 -29.368385 L 9.258279 -29.368385 " transform="matrix(0.994246, 0, 0, -0.994246, 21.232495, 65.769357)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052194 0.00161454 L 1.608656 1.683166 L 3.085907 0.00161454 L 1.608656 -1.683865 Z M 6.052194 0.00161454 " transform="matrix(0.994246, 0, 0, -0.994246, 27.615444, 94.970355)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 20.864124 40.977809 L 20.864124 56.186417 " transform="matrix(0.994246, 0, 0, -0.994246, 21.232495, 65.769357)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.051946 -0.00173581 L 1.608408 1.683744 L 3.085659 -0.00173581 L 1.608408 -1.683287 Z M 6.051946 -0.00173581 " transform="matrix(0, 0.994246, 0.994246, 0, 41.978288, 22.205535)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-4" x="45.774458" y="17.968009"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="51.720048" y="19.454407"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 27.837846 29.368035 L 45.883089 29.368035 " transform="matrix(0.994246, 0, 0, -0.994246, 21.232495, 65.769357)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.051685 -0.00192465 L 1.608147 1.683555 L 3.089326 -0.00192465 L 1.608147 -1.683476 Z M 6.051685 -0.00192465 " transform="matrix(0.994246, 0, 0, -0.994246, 64.030013, 36.568399)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 82.877212 29.368035 L 100.918526 29.368035 " transform="matrix(0.994246, 0, 0, -0.994246, 21.232495, 65.769357)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054501 -0.00192465 L 1.607034 1.683555 L 3.088213 -0.00192465 L 1.607034 -1.683476 Z M 6.054501 -0.00192465 " transform="matrix(0.994246, 0, 0, -0.994246, 118.74987, 36.568399)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-3" x="112.904937" y="31.285931"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-3" x="112.271" y="31.285931"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="117.936815" y="32.772329"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 144.139888 29.368035 L 162.185131 29.368035 " transform="matrix(0.994246, 0, 0, -0.994246, 21.232495, 65.769357)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053907 -0.00192465 L 1.610369 1.683555 L 3.087619 -0.00192465 L 1.610369 -1.683476 Z M 6.053907 -0.00192465 " transform="matrix(0.994246, 0, 0, -0.994246, 179.660616, 36.568399)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-2" x="173.815416" y="31.285931"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-3" x="173.181478" y="31.285931"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="178.847293" y="32.772329"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 20.864124 -17.76254 L 20.864124 -2.553932 " transform="matrix(0.994246, 0, 0, -0.994246, 21.232495, 65.769357)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052336 -0.00173581 L 1.608798 1.683744 L 3.086048 -0.00173581 L 1.608798 -1.683287 Z M 6.052336 -0.00173581 " transform="matrix(0, 0.994246, 0.994246, 0, 41.978288, 80.607491)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-4" x="45.774458" y="76.370006"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-1" x="51.720048" y="77.855409"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 27.837846 -29.368385 L 45.883089 -29.368385 " transform="matrix(0.994246, 0, 0, -0.994246, 21.232495, 65.769357)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.051685 0.00161454 L 1.608147 1.683166 L 3.089326 0.00161454 L 1.608147 -1.683865 Z M 6.051685 0.00161454 " transform="matrix(0.994246, 0, 0, -0.994246, 64.030013, 94.970355)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 82.877212 -29.368385 L 100.918526 -29.368385 " transform="matrix(0.994246, 0, 0, -0.994246, 21.232495, 65.769357)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054501 0.00161454 L 1.607034 1.683166 L 3.088213 0.00161454 L 1.607034 -1.683865 Z M 6.054501 0.00161454 " transform="matrix(0.994246, 0, 0, -0.994246, 118.74987, 94.970355)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-3" x="112.904937" y="89.687928"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-3" x="112.271" y="89.687928"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-1" x="117.936815" y="91.173331"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 144.139888 -29.368385 L 162.185131 -29.368385 " transform="matrix(0.994246, 0, 0, -0.994246, 21.232495, 65.769357)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053907 0.00161454 L 1.610369 1.683166 L 3.087619 0.00161454 L 1.610369 -1.683865 Z M 6.053907 0.00161454 " transform="matrix(0.994246, 0, 0, -0.994246, 179.660616, 94.970355)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-2" x="173.815416" y="89.687928"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-3" x="173.181478" y="89.687928"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-1" x="178.847293" y="91.173331"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 199.623215 29.368035 L 207.89346 29.368035 L 207.89346 11.60567 " transform="matrix(0.994246, 0, 0, -0.994246, 21.232495, 65.769357)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054115 0.00122037 L 1.610577 1.682771 L 3.087828 0.00122037 L 1.610577 -1.68426 Z M 6.054115 0.00122037 " transform="matrix(0, 0.994246, 0.994246, 0, 227.928474, 51.406503)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 199.623215 -29.368385 L 207.89346 -29.368385 L 207.89346 -11.60602 " transform="matrix(0.994246, 0, 0, -0.994246, 21.232495, 65.769357)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053755 -0.00122037 L 1.610217 1.68426 L 3.087468 -0.00122037 L 1.610217 -1.682771 Z M 6.053755 -0.00122037 " transform="matrix(0, -0.994246, -0.994246, 0, 227.928474, 80.132202)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 214.867183 -0.000175054 L 230.07579 -0.000175054 " transform="matrix(0.994246, 0, 0, -0.994246, 21.232495, 65.769357)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 253.179688 65.769531 L 248.761719 64.097656 L 250.230469 65.769531 L 248.761719 67.441406 Z M 253.179688 65.769531 "/>
<g clip-path="url(#clip-1)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052836 -0.000175054 L 1.609298 1.681376 L 3.086548 -0.000175054 L 1.609298 -1.681726 Z M 6.052836 -0.000175054 " transform="matrix(0.994246, 0, 0, -0.994246, 247.161681, 65.769357)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-2" x="245.759039" y="61.972333"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-3" x="245.125102" y="61.972333"/>
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 57 KiB

BIN
figs/detail_control_h_infinity_robust_fusion_fb.pdf Normal file
View File

Binary file not shown.

BIN
figs/detail_control_h_infinity_robust_fusion_fb.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 11 KiB

166
figs/detail_control_h_infinity_robust_fusion_fb.svg Normal file
View File

@ -0,0 +1,166 @@
<?xml version="1.0" encoding="UTF-8"?>
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="156.063" height="133.48" viewBox="0 0 156.063 133.48">
<defs>
<g>
<g id="glyph-0-0">
<path d="M 7.46875 -5.265625 C 7.46875 -6.03125 6.8125 -6.765625 5.515625 -6.765625 L 2.3125 -6.765625 C 2.125 -6.765625 2.015625 -6.765625 2.015625 -6.578125 C 2.015625 -6.453125 2.09375 -6.453125 2.296875 -6.453125 C 2.421875 -6.453125 2.609375 -6.453125 2.71875 -6.4375 C 2.875 -6.421875 2.9375 -6.390625 2.9375 -6.28125 C 2.9375 -6.234375 2.9375 -6.21875 2.90625 -6.09375 L 1.578125 -0.765625 C 1.46875 -0.390625 1.453125 -0.3125 0.671875 -0.3125 C 0.5 -0.3125 0.390625 -0.3125 0.390625 -0.125 C 0.390625 0 0.515625 0 0.546875 0 L 1.796875 -0.03125 L 2.4375 -0.015625 C 2.65625 -0.015625 2.875 0 3.078125 0 C 3.15625 0 3.28125 0 3.28125 -0.203125 C 3.28125 -0.3125 3.1875 -0.3125 3 -0.3125 C 2.640625 -0.3125 2.359375 -0.3125 2.359375 -0.484375 C 2.359375 -0.546875 2.375 -0.59375 2.390625 -0.65625 L 3 -3.125 L 4.6875 -3.125 C 6.09375 -3.125 7.46875 -4.15625 7.46875 -5.265625 Z M 6.546875 -5.515625 C 6.546875 -5.125 6.34375 -4.265625 5.96875 -3.90625 C 5.46875 -3.46875 4.875 -3.390625 4.4375 -3.390625 L 3.046875 -3.390625 L 3.71875 -6.078125 C 3.796875 -6.421875 3.828125 -6.453125 4.25 -6.453125 L 5.203125 -6.453125 C 6.015625 -6.453125 6.546875 -6.1875 6.546875 -5.515625 Z M 6.546875 -5.515625 "/>
</g>
<g id="glyph-0-1">
<path d="M 3.921875 -1.53125 C 3.921875 -1.890625 3.734375 -2.140625 3.609375 -2.265625 C 3.34375 -2.53125 3.0625 -2.578125 2.625 -2.671875 C 2.265625 -2.75 1.875 -2.828125 1.875 -3.265625 C 1.875 -3.5625 2.109375 -4.15625 2.984375 -4.15625 C 3.234375 -4.15625 3.71875 -4.09375 3.875 -3.703125 C 3.59375 -3.6875 3.390625 -3.484375 3.390625 -3.265625 C 3.390625 -3.125 3.484375 -2.96875 3.703125 -2.96875 C 3.921875 -2.96875 4.15625 -3.140625 4.15625 -3.53125 C 4.15625 -3.96875 3.734375 -4.375 2.984375 -4.375 C 1.671875 -4.375 1.3125 -3.375 1.3125 -2.9375 C 1.3125 -2.15625 2.046875 -2.015625 2.328125 -1.953125 C 2.84375 -1.859375 3.359375 -1.75 3.359375 -1.203125 C 3.359375 -0.9375 3.125 -0.109375 1.9375 -0.109375 C 1.796875 -0.109375 1.046875 -0.109375 0.8125 -0.640625 C 1.1875 -0.578125 1.4375 -0.875 1.4375 -1.15625 C 1.4375 -1.390625 1.28125 -1.5 1.0625 -1.5 C 0.8125 -1.5 0.515625 -1.296875 0.515625 -0.859375 C 0.515625 -0.28125 1.078125 0.109375 1.9375 0.109375 C 3.53125 0.109375 3.921875 -1.09375 3.921875 -1.53125 Z M 3.921875 -1.53125 "/>
</g>
<g id="glyph-0-2">
<path d="M 7.109375 -0.203125 C 7.109375 -0.3125 7.03125 -0.3125 6.828125 -0.3125 C 6.46875 -0.3125 6.1875 -0.3125 6.1875 -0.484375 C 6.1875 -0.546875 6.21875 -0.59375 6.21875 -0.65625 L 7.5625 -6 C 7.640625 -6.359375 7.671875 -6.453125 8.390625 -6.453125 C 8.640625 -6.453125 8.734375 -6.453125 8.734375 -6.65625 C 8.734375 -6.765625 8.625 -6.765625 8.59375 -6.765625 L 7.328125 -6.734375 L 6.046875 -6.765625 C 5.96875 -6.765625 5.859375 -6.765625 5.859375 -6.5625 C 5.859375 -6.453125 5.9375 -6.453125 6.125 -6.453125 C 6.125 -6.453125 6.34375 -6.453125 6.515625 -6.4375 C 6.6875 -6.421875 6.78125 -6.40625 6.78125 -6.28125 C 6.78125 -6.234375 6.765625 -6.21875 6.734375 -6.09375 L 6.140625 -3.671875 L 3.125 -3.671875 L 3.703125 -6 C 3.796875 -6.359375 3.828125 -6.453125 4.53125 -6.453125 C 4.796875 -6.453125 4.875 -6.453125 4.875 -6.65625 C 4.875 -6.765625 4.765625 -6.765625 4.734375 -6.765625 L 3.46875 -6.734375 L 2.1875 -6.765625 C 2.109375 -6.765625 2 -6.765625 2 -6.5625 C 2 -6.453125 2.09375 -6.453125 2.28125 -6.453125 C 2.28125 -6.453125 2.484375 -6.453125 2.65625 -6.4375 C 2.828125 -6.421875 2.921875 -6.40625 2.921875 -6.28125 C 2.921875 -6.234375 2.90625 -6.21875 2.875 -6.09375 L 1.5625 -0.765625 C 1.453125 -0.390625 1.4375 -0.3125 0.65625 -0.3125 C 0.46875 -0.3125 0.390625 -0.3125 0.390625 -0.109375 C 0.390625 0 0.53125 0 0.53125 0 L 1.78125 -0.03125 L 2.421875 -0.015625 C 2.640625 -0.015625 2.859375 0 3.0625 0 C 3.140625 0 3.265625 0 3.265625 -0.203125 C 3.265625 -0.3125 3.171875 -0.3125 2.984375 -0.3125 C 2.609375 -0.3125 2.34375 -0.3125 2.34375 -0.484375 C 2.34375 -0.546875 2.359375 -0.59375 2.375 -0.65625 L 3.046875 -3.375 L 6.0625 -3.375 L 5.375 -0.640625 C 5.28125 -0.3125 5.09375 -0.3125 4.484375 -0.3125 C 4.328125 -0.3125 4.234375 -0.3125 4.234375 -0.109375 C 4.234375 0 4.375 0 4.375 0 L 5.640625 -0.03125 L 6.265625 -0.015625 C 6.484375 -0.015625 6.703125 0 6.921875 0 C 7 0 7.109375 0 7.109375 -0.203125 Z M 7.109375 -0.203125 "/>
</g>
<g id="glyph-0-3">
<path d="M 10.375 -6.65625 C 10.375 -6.703125 10.34375 -6.765625 10.265625 -6.765625 C 10.03125 -6.765625 9.75 -6.734375 9.5 -6.734375 C 9.15625 -6.734375 8.796875 -6.765625 8.46875 -6.765625 C 8.40625 -6.765625 8.28125 -6.765625 8.28125 -6.578125 C 8.28125 -6.46875 8.375 -6.453125 8.4375 -6.453125 C 8.671875 -6.453125 9.015625 -6.375 9.015625 -6.078125 C 9.015625 -5.96875 8.96875 -5.890625 8.890625 -5.75 L 6.21875 -1.078125 L 5.84375 -6 C 5.828125 -6.1875 5.8125 -6.453125 6.53125 -6.453125 C 6.703125 -6.453125 6.8125 -6.453125 6.8125 -6.65625 C 6.8125 -6.75 6.703125 -6.765625 6.65625 -6.765625 C 6.265625 -6.765625 5.84375 -6.734375 5.453125 -6.734375 C 5.21875 -6.734375 4.640625 -6.765625 4.40625 -6.765625 C 4.34375 -6.765625 4.21875 -6.765625 4.21875 -6.5625 C 4.21875 -6.453125 4.3125 -6.453125 4.453125 -6.453125 C 4.890625 -6.453125 4.96875 -6.40625 4.984375 -6.21875 L 5.046875 -5.453125 L 2.53125 -1.078125 L 2.15625 -6.109375 C 2.15625 -6.21875 2.15625 -6.453125 2.90625 -6.453125 C 3.015625 -6.453125 3.125 -6.453125 3.125 -6.65625 C 3.125 -6.765625 2.984375 -6.765625 2.984375 -6.765625 C 2.578125 -6.765625 2.171875 -6.734375 1.765625 -6.734375 C 1.421875 -6.734375 1.0625 -6.765625 0.71875 -6.765625 C 0.671875 -6.765625 0.546875 -6.765625 0.546875 -6.578125 C 0.546875 -6.453125 0.640625 -6.453125 0.796875 -6.453125 C 1.28125 -6.453125 1.296875 -6.375 1.3125 -6.09375 L 1.765625 -0.046875 C 1.765625 0.140625 1.78125 0.21875 1.921875 0.21875 C 2.046875 0.21875 2.078125 0.15625 2.15625 0.015625 L 5.078125 -5.046875 L 5.4375 -0.046875 C 5.453125 0.171875 5.484375 0.21875 5.59375 0.21875 C 5.71875 0.21875 5.78125 0.125 5.828125 0.03125 L 9.078125 -5.609375 C 9.328125 -6.046875 9.5625 -6.40625 10.1875 -6.453125 C 10.28125 -6.46875 10.375 -6.46875 10.375 -6.65625 Z M 10.375 -6.65625 "/>
</g>
<g id="glyph-0-4">
<path d="M 6.84375 -3.6875 C 6.84375 -4.234375 6.578125 -4.375 6.40625 -4.375 C 6.15625 -4.375 5.90625 -4.125 5.90625 -3.90625 C 5.90625 -3.78125 5.96875 -3.71875 6.0625 -3.640625 C 6.171875 -3.53125 6.421875 -3.265625 6.421875 -2.796875 C 6.421875 -2.453125 6.125 -1.484375 5.875 -0.984375 C 5.609375 -0.453125 5.265625 -0.109375 4.78125 -0.109375 C 4.3125 -0.109375 4.046875 -0.40625 4.046875 -0.96875 C 4.046875 -1.25 4.125 -1.5625 4.15625 -1.6875 L 4.578125 -3.359375 C 4.625 -3.578125 4.71875 -3.9375 4.71875 -4 C 4.71875 -4.1875 4.59375 -4.265625 4.4375 -4.265625 C 4.3125 -4.265625 4.140625 -4.1875 4.078125 -4 C 4.046875 -3.921875 3.578125 -2.03125 3.5 -1.765625 C 3.4375 -1.46875 3.421875 -1.296875 3.421875 -1.125 C 3.421875 -1.015625 3.421875 -0.984375 3.421875 -0.9375 C 3.203125 -0.421875 2.90625 -0.109375 2.515625 -0.109375 C 1.71875 -0.109375 1.71875 -0.84375 1.71875 -1.015625 C 1.71875 -1.328125 1.765625 -1.71875 2.234375 -2.9375 C 2.34375 -3.234375 2.40625 -3.375 2.40625 -3.5625 C 2.40625 -4.015625 2.078125 -4.375 1.59375 -4.375 C 0.65625 -4.375 0.28125 -2.9375 0.28125 -2.859375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.78125 0.5625 -2.9375 C 0.828125 -3.859375 1.21875 -4.15625 1.5625 -4.15625 C 1.65625 -4.15625 1.8125 -4.15625 1.8125 -3.828125 C 1.8125 -3.59375 1.703125 -3.3125 1.640625 -3.140625 C 1.203125 -1.96875 1.078125 -1.515625 1.078125 -1.140625 C 1.078125 -0.234375 1.75 0.109375 2.484375 0.109375 C 2.65625 0.109375 3.125 0.109375 3.515625 -0.578125 C 3.78125 0.046875 4.453125 0.109375 4.75 0.109375 C 5.5 0.109375 5.9375 -0.515625 6.1875 -1.109375 C 6.53125 -1.875 6.84375 -3.203125 6.84375 -3.6875 Z M 6.84375 -3.6875 "/>
</g>
<g id="glyph-0-5">
<path d="M 4.3125 -1.421875 C 4.3125 -1.46875 4.265625 -1.515625 4.1875 -1.515625 C 4.09375 -1.515625 4.078125 -1.453125 4.046875 -1.390625 C 3.828125 -0.75 3.1875 -0.5625 2.859375 -0.5625 C 2.671875 -0.5625 2.484375 -0.609375 2.28125 -0.6875 C 1.9375 -0.8125 1.796875 -0.859375 1.578125 -0.859375 C 1.578125 -0.859375 1.40625 -0.859375 1.3125 -0.828125 C 1.859375 -1.390625 2.140625 -1.640625 2.5 -1.953125 C 2.5 -1.953125 3.109375 -2.484375 3.46875 -2.84375 C 4.40625 -3.765625 4.625 -4.234375 4.625 -4.28125 C 4.625 -4.375 4.515625 -4.375 4.515625 -4.375 C 4.453125 -4.375 4.421875 -4.359375 4.375 -4.265625 C 4.078125 -3.796875 3.859375 -3.640625 3.625 -3.640625 C 3.390625 -3.640625 3.265625 -3.78125 3.125 -3.953125 C 2.9375 -4.1875 2.765625 -4.375 2.4375 -4.375 C 1.6875 -4.375 1.234375 -3.453125 1.234375 -3.25 C 1.234375 -3.203125 1.265625 -3.140625 1.359375 -3.140625 C 1.453125 -3.140625 1.46875 -3.1875 1.484375 -3.25 C 1.671875 -3.703125 2.25 -3.71875 2.328125 -3.71875 C 2.53125 -3.71875 2.71875 -3.640625 2.953125 -3.5625 C 3.34375 -3.421875 3.453125 -3.421875 3.71875 -3.421875 C 3.359375 -2.984375 2.53125 -2.28125 2.34375 -2.125 L 1.453125 -1.28125 C 0.765625 -0.625 0.421875 -0.0625 0.421875 0.015625 C 0.421875 0.109375 0.546875 0.109375 0.546875 0.109375 C 0.625 0.109375 0.640625 0.09375 0.703125 -0.015625 C 0.9375 -0.359375 1.234375 -0.640625 1.546875 -0.640625 C 1.765625 -0.640625 1.875 -0.546875 2.125 -0.25 C 2.28125 -0.046875 2.46875 0.109375 2.75 0.109375 C 3.734375 0.109375 4.3125 -1.15625 4.3125 -1.421875 Z M 4.3125 -1.421875 "/>
</g>
<g id="glyph-1-0">
<path d="M 3.28125 2.375 C 3.28125 2.34375 3.28125 2.328125 3.109375 2.15625 C 1.875 0.90625 1.5625 -0.953125 1.5625 -2.484375 C 1.5625 -4.203125 1.9375 -5.921875 3.15625 -7.15625 C 3.28125 -7.28125 3.28125 -7.296875 3.28125 -7.328125 C 3.28125 -7.40625 3.234375 -7.4375 3.1875 -7.4375 C 3.078125 -7.4375 2.1875 -6.75 1.609375 -5.5 C 1.09375 -4.40625 0.984375 -3.3125 0.984375 -2.484375 C 0.984375 -1.703125 1.09375 -0.5 1.640625 0.609375 C 2.234375 1.828125 3.078125 2.484375 3.1875 2.484375 C 3.234375 2.484375 3.28125 2.453125 3.28125 2.375 Z M 3.28125 2.375 "/>
</g>
<g id="glyph-1-1">
<path d="M 2.859375 -2.484375 C 2.859375 -3.25 2.75 -4.453125 2.203125 -5.5625 C 1.609375 -6.78125 0.765625 -7.4375 0.65625 -7.4375 C 0.609375 -7.4375 0.5625 -7.390625 0.5625 -7.328125 C 0.5625 -7.296875 0.5625 -7.28125 0.75 -7.109375 C 1.71875 -6.125 2.28125 -4.546875 2.28125 -2.484375 C 2.28125 -0.78125 1.921875 0.953125 0.6875 2.203125 C 0.5625 2.328125 0.5625 2.34375 0.5625 2.375 C 0.5625 2.4375 0.609375 2.484375 0.65625 2.484375 C 0.765625 2.484375 1.65625 1.796875 2.234375 0.546875 C 2.75 -0.546875 2.859375 -1.640625 2.859375 -2.484375 Z M 2.859375 -2.484375 "/>
</g>
<g id="glyph-2-0">
<path d="M 3.5 -1.265625 L 3.265625 -1.265625 C 3.25 -1.109375 3.171875 -0.703125 3.09375 -0.625 C 3.03125 -0.59375 2.5 -0.59375 2.40625 -0.59375 L 1.125 -0.59375 C 1.859375 -1.234375 2.09375 -1.421875 2.515625 -1.75 C 3.03125 -2.171875 3.5 -2.59375 3.5 -3.25 C 3.5 -4.09375 2.765625 -4.609375 1.875 -4.609375 C 1.015625 -4.609375 0.4375 -4 0.4375 -3.359375 C 0.4375 -3.015625 0.734375 -2.96875 0.8125 -2.96875 C 0.96875 -2.96875 1.171875 -3.09375 1.171875 -3.34375 C 1.171875 -3.46875 1.125 -3.71875 0.765625 -3.71875 C 0.984375 -4.203125 1.453125 -4.359375 1.78125 -4.359375 C 2.46875 -4.359375 2.828125 -3.8125 2.828125 -3.25 C 2.828125 -2.65625 2.40625 -2.171875 2.171875 -1.921875 L 0.5 -0.265625 C 0.4375 -0.203125 0.4375 -0.1875 0.4375 0 L 3.296875 0 Z M 3.5 -1.265625 "/>
</g>
<g id="glyph-2-1">
<path d="M 3.28125 0 L 3.28125 -0.25 L 3.015625 -0.25 C 2.328125 -0.25 2.328125 -0.34375 2.328125 -0.5625 L 2.328125 -4.40625 C 2.328125 -4.59375 2.3125 -4.609375 2.109375 -4.609375 C 1.671875 -4.171875 1.046875 -4.15625 0.75 -4.15625 L 0.75 -3.90625 C 0.921875 -3.90625 1.375 -3.90625 1.765625 -4.109375 L 1.765625 -0.5625 C 1.765625 -0.34375 1.765625 -0.25 1.0625 -0.25 L 0.8125 -0.25 L 0.8125 0 L 2.046875 -0.03125 Z M 3.28125 0 "/>
</g>
<g id="glyph-3-0">
<path d="M 8.0625 -2.984375 C 8.0625 -3.203125 7.875 -3.203125 7.6875 -3.203125 L 4.515625 -3.203125 L 4.515625 -6.375 C 4.515625 -6.546875 4.515625 -6.75 4.3125 -6.75 C 4.09375 -6.75 4.09375 -6.5625 4.09375 -6.375 L 4.09375 -3.203125 L 0.921875 -3.203125 C 0.75 -3.203125 0.546875 -3.203125 0.546875 -3 C 0.546875 -2.78125 0.75 -2.78125 0.921875 -2.78125 L 4.09375 -2.78125 L 4.09375 0.390625 C 4.09375 0.5625 4.09375 0.765625 4.296875 0.765625 C 4.515625 0.765625 4.515625 0.578125 4.515625 0.390625 L 4.515625 -2.78125 L 7.6875 -2.78125 C 7.859375 -2.78125 8.0625 -2.78125 8.0625 -2.984375 Z M 8.0625 -2.984375 "/>
</g>
<g id="glyph-4-0">
<path d="M 6.875 -2.484375 C 6.875 -2.671875 6.6875 -2.671875 6.546875 -2.671875 L 1.15625 -2.671875 C 1.015625 -2.671875 0.828125 -2.671875 0.828125 -2.484375 C 0.828125 -2.28125 1.015625 -2.28125 1.15625 -2.28125 L 6.546875 -2.28125 C 6.6875 -2.28125 6.875 -2.28125 6.875 -2.484375 Z M 6.875 -2.484375 "/>
</g>
</g>
<clipPath id="clip-0">
<path clip-rule="nonzero" d="M 61 108 L 94 108 L 94 132.824219 L 61 132.824219 Z M 61 108 "/>
</clipPath>
<clipPath id="clip-1">
<path clip-rule="nonzero" d="M 81 104 L 114 104 L 114 132.824219 L 81 132.824219 Z M 81 104 "/>
</clipPath>
<clipPath id="clip-2">
<path clip-rule="nonzero" d="M 134 23 L 155.132812 23 L 155.132812 55 L 134 55 Z M 134 23 "/>
</clipPath>
<clipPath id="clip-3">
<path clip-rule="nonzero" d="M 134 57 L 155.132812 57 L 155.132812 89 L 134 89 Z M 134 57 "/>
</clipPath>
</defs>
<path fill-rule="nonzero" fill="rgb(89.99939%, 89.99939%, 89.99939%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -56.693712 -42.52075 L 56.69394 -42.52075 L 56.69394 42.521954 L -56.693712 42.521954 Z M -56.693712 -42.52075 " transform="matrix(0.994032, 0, 0, -0.994032, 77.566293, 60.397083)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="67.526571" y="11.364474"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="75.260925" y="11.364474"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-1" x="79.112257" y="11.364474"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-1" x="83.75485" y="11.364474"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" d="M 61.753906 131.832031 L 93.375 131.832031 L 93.375 109.289062 L 61.753906 109.289062 Z M 61.753906 131.832031 "/>
<g clip-path="url(#clip-0)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -15.907324 -71.863843 L 15.903622 -71.863843 L 15.903622 -49.185526 L -15.907324 -49.185526 Z M -15.907324 -71.863843 " transform="matrix(0.994032, 0, 0, -0.994032, 77.566293, 60.397083)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-2" x="65.056402" y="123.036"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="73.28798" y="124.521083"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="77.730308" y="123.036"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-1" x="81.58164" y="123.036"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-1" x="86.224233" y="123.036"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 3.910168 10.168709 L 36.84894 10.168709 L 36.84894 32.847025 L 3.910168 32.847025 Z M 3.910168 10.168709 " transform="matrix(0.994032, 0, 0, -0.994032, 77.566293, 60.397083)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-3" x="84.755131" y="41.492585"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="94.107977" y="42.978663"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="98.551299" y="41.492585"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-1" x="102.402631" y="41.492585"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-1" x="107.045224" y="41.492585"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 3.910168 -24.243701 L 36.84894 -24.243701 L 36.84894 -1.565385 L 3.910168 -1.565385 Z M 3.910168 -24.243701 " transform="matrix(0.994032, 0, 0, -0.994032, 77.566293, 60.397083)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-3" x="84.755131" y="75.701197"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="94.107977" y="77.186281"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="98.551299" y="75.701197"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-1" x="102.402631" y="75.701197"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-1" x="107.045224" y="75.701197"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -13.592729 21.509832 C -13.592729 25.360941 -16.716843 28.485055 -20.567952 28.485055 C -24.419061 28.485055 -27.543175 25.360941 -27.543175 21.509832 C -27.543175 17.658723 -24.419061 14.534609 -20.567952 14.534609 C -16.716843 14.534609 -13.592729 17.658723 -13.592729 21.509832 Z M -13.592729 21.509832 " transform="matrix(0.994032, 0, 0, -0.994032, 77.566293, 60.397083)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="52.808936" y="41.915049"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="47.437188" y="53.70526"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -77.033855 21.509832 L -32.176295 21.509832 " transform="matrix(0.994032, 0, 0, -0.994032, 77.566293, 60.397083)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052312 0.000641747 L 1.607818 1.682555 L 3.089316 0.000641747 L 1.607818 -1.681271 Z M 6.052312 0.000641747 " transform="matrix(0.994032, 0, 0, -0.994032, 42.761153, 39.016263)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-4" x="4.788251" y="35.220244"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -20.567952 -12.906508 L -20.567952 9.901489 " transform="matrix(0.994032, 0, 0, -0.994032, 77.566293, 60.397083)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052766 -0.000197973 L 1.608272 1.681715 L 3.08584 -0.000197973 L 1.608272 -1.682111 Z M 6.052766 -0.000197973 " transform="matrix(0, -0.994032, -0.994032, 0, 57.120897, 53.376017)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 59.101562 73.226562 C 59.101562 72.132812 58.214844 71.246094 57.121094 71.246094 C 56.027344 71.246094 55.140625 72.132812 55.140625 73.226562 C 55.140625 74.320312 56.027344 75.207031 57.121094 75.207031 C 58.214844 75.207031 59.101562 74.320312 59.101562 73.226562 Z M 59.101562 73.226562 "/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -13.592729 21.509832 L -1.218094 21.509832 " transform="matrix(0.994032, 0, 0, -0.994032, 77.566293, 60.397083)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054473 0.000641747 L 1.609979 1.682555 L 3.087547 0.000641747 L 1.609979 -1.681271 Z M 6.054473 0.000641747 " transform="matrix(0.994032, 0, 0, -0.994032, 73.532442, 39.016263)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -44.55093 21.509832 L -44.55093 -34.413773 L 68.530206 -34.413773 L 68.530206 -60.52272 L 21.035814 -60.52272 " transform="matrix(0.994032, 0, 0, -0.994032, 77.566293, 60.397083)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 95.28125 120.558594 L 99.699219 122.234375 L 98.230469 120.558594 L 99.699219 118.886719 Z M 95.28125 120.558594 "/>
<g clip-path="url(#clip-1)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054433 -0.00180019 L 1.609939 1.684042 L 3.087507 -0.00180019 L 1.609939 -1.683713 Z M 6.054433 -0.00180019 " transform="matrix(-0.994032, 0, 0, 0.994032, 101.299549, 120.560383)"/>
</g>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 35.261719 39.015625 C 35.261719 37.921875 34.375 37.035156 33.28125 37.035156 C 32.1875 37.035156 31.300781 37.921875 31.300781 39.015625 C 31.300781 40.109375 32.1875 40.996094 33.28125 40.996094 C 34.375 40.996094 35.261719 40.109375 35.261719 39.015625 Z M 35.261719 39.015625 "/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -16.402467 -60.52272 L -68.529978 -60.52272 L -68.529978 -12.906508 L -1.218094 -12.906508 " transform="matrix(0.994032, 0, 0, -0.994032, 77.566293, 60.397083)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054473 -0.00152773 L 1.609979 1.684315 L 3.087547 -0.00152773 L 1.609979 -1.683441 Z M 6.054473 -0.00152773 " transform="matrix(0.994032, 0, 0, -0.994032, 73.532442, 73.225044)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 37.348012 21.509832 L 72.400963 21.509832 " transform="matrix(0.994032, 0, 0, -0.994032, 77.566293, 60.397083)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 152.730469 39.015625 L 148.3125 37.34375 L 149.78125 39.015625 L 148.3125 40.6875 Z M 152.730469 39.015625 "/>
<g clip-path="url(#clip-2)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.05311 0.000641747 L 1.608616 1.682555 L 3.086184 0.000641747 L 1.608616 -1.681271 Z M 6.05311 0.000641747 " transform="matrix(0.994032, 0, 0, -0.994032, 146.713484, 39.016263)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-5" x="141.295663" y="33.735161"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="145.901012" y="35.220244"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 37.348012 -12.906508 L 72.400963 -12.906508 " transform="matrix(0.994032, 0, 0, -0.994032, 77.566293, 60.397083)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 152.730469 73.226562 L 148.3125 71.550781 L 149.78125 73.226562 L 148.3125 74.898438 Z M 152.730469 73.226562 "/>
<g clip-path="url(#clip-3)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.05311 -0.00152773 L 1.608616 1.684315 L 3.086184 -0.00152773 L 1.608616 -1.683441 Z M 6.05311 -0.00152773 " transform="matrix(0.994032, 0, 0, -0.994032, 146.713484, 73.225044)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-5" x="141.295663" y="67.942779"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="145.901012" y="69.428856"/>
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 24 KiB

BIN
figs/detail_control_h_infinity_robust_fusion_plant.pdf Normal file
View File

Binary file not shown.

BIN
figs/detail_control_h_infinity_robust_fusion_plant.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 9.8 KiB

153
figs/detail_control_h_infinity_robust_fusion_plant.svg Normal file
View File

@ -0,0 +1,153 @@
<?xml version="1.0" encoding="UTF-8"?>
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="156.063" height="133.48" viewBox="0 0 156.063 133.48">
<defs>
<g>
<g id="glyph-0-0">
<path d="M 7.46875 -5.265625 C 7.46875 -6.03125 6.8125 -6.765625 5.515625 -6.765625 L 2.3125 -6.765625 C 2.125 -6.765625 2.015625 -6.765625 2.015625 -6.578125 C 2.015625 -6.453125 2.09375 -6.453125 2.296875 -6.453125 C 2.421875 -6.453125 2.609375 -6.453125 2.71875 -6.4375 C 2.875 -6.421875 2.9375 -6.390625 2.9375 -6.28125 C 2.9375 -6.234375 2.9375 -6.21875 2.90625 -6.09375 L 1.578125 -0.765625 C 1.46875 -0.390625 1.453125 -0.3125 0.671875 -0.3125 C 0.5 -0.3125 0.390625 -0.3125 0.390625 -0.125 C 0.390625 0 0.515625 0 0.546875 0 L 1.796875 -0.03125 L 2.4375 -0.015625 C 2.65625 -0.015625 2.875 0 3.078125 0 C 3.15625 0 3.28125 0 3.28125 -0.203125 C 3.28125 -0.3125 3.1875 -0.3125 3 -0.3125 C 2.640625 -0.3125 2.359375 -0.3125 2.359375 -0.484375 C 2.359375 -0.546875 2.375 -0.59375 2.390625 -0.65625 L 3 -3.125 L 4.6875 -3.125 C 6.09375 -3.125 7.46875 -4.15625 7.46875 -5.265625 Z M 6.546875 -5.515625 C 6.546875 -5.125 6.34375 -4.265625 5.96875 -3.90625 C 5.46875 -3.46875 4.875 -3.390625 4.4375 -3.390625 L 3.046875 -3.390625 L 3.71875 -6.078125 C 3.796875 -6.421875 3.828125 -6.453125 4.25 -6.453125 L 5.203125 -6.453125 C 6.015625 -6.453125 6.546875 -6.1875 6.546875 -5.515625 Z M 6.546875 -5.515625 "/>
</g>
<g id="glyph-0-1">
<path d="M 3.921875 -1.53125 C 3.921875 -1.890625 3.734375 -2.140625 3.609375 -2.265625 C 3.34375 -2.53125 3.0625 -2.578125 2.625 -2.671875 C 2.265625 -2.75 1.875 -2.828125 1.875 -3.265625 C 1.875 -3.5625 2.109375 -4.15625 2.984375 -4.15625 C 3.234375 -4.15625 3.71875 -4.09375 3.875 -3.703125 C 3.59375 -3.6875 3.390625 -3.484375 3.390625 -3.265625 C 3.390625 -3.125 3.484375 -2.96875 3.703125 -2.96875 C 3.921875 -2.96875 4.15625 -3.140625 4.15625 -3.53125 C 4.15625 -3.96875 3.734375 -4.375 2.984375 -4.375 C 1.671875 -4.375 1.3125 -3.375 1.3125 -2.9375 C 1.3125 -2.15625 2.046875 -2.015625 2.328125 -1.953125 C 2.84375 -1.859375 3.359375 -1.75 3.359375 -1.203125 C 3.359375 -0.9375 3.125 -0.109375 1.9375 -0.109375 C 1.796875 -0.109375 1.046875 -0.109375 0.8125 -0.640625 C 1.1875 -0.578125 1.4375 -0.875 1.4375 -1.15625 C 1.4375 -1.390625 1.28125 -1.5 1.0625 -1.5 C 0.8125 -1.5 0.515625 -1.296875 0.515625 -0.859375 C 0.515625 -0.28125 1.078125 0.109375 1.9375 0.109375 C 3.53125 0.109375 3.921875 -1.09375 3.921875 -1.53125 Z M 3.921875 -1.53125 "/>
</g>
<g id="glyph-0-2">
<path d="M 10.375 -6.65625 C 10.375 -6.703125 10.34375 -6.765625 10.265625 -6.765625 C 10.03125 -6.765625 9.75 -6.734375 9.5 -6.734375 C 9.15625 -6.734375 8.796875 -6.765625 8.46875 -6.765625 C 8.40625 -6.765625 8.28125 -6.765625 8.28125 -6.578125 C 8.28125 -6.46875 8.375 -6.453125 8.4375 -6.453125 C 8.671875 -6.453125 9.015625 -6.375 9.015625 -6.078125 C 9.015625 -5.96875 8.96875 -5.890625 8.890625 -5.75 L 6.21875 -1.078125 L 5.84375 -6 C 5.828125 -6.1875 5.8125 -6.453125 6.53125 -6.453125 C 6.703125 -6.453125 6.8125 -6.453125 6.8125 -6.65625 C 6.8125 -6.75 6.703125 -6.765625 6.65625 -6.765625 C 6.265625 -6.765625 5.84375 -6.734375 5.453125 -6.734375 C 5.21875 -6.734375 4.640625 -6.765625 4.40625 -6.765625 C 4.34375 -6.765625 4.21875 -6.765625 4.21875 -6.5625 C 4.21875 -6.453125 4.3125 -6.453125 4.453125 -6.453125 C 4.890625 -6.453125 4.96875 -6.40625 4.984375 -6.21875 L 5.046875 -5.453125 L 2.53125 -1.078125 L 2.15625 -6.109375 C 2.15625 -6.21875 2.15625 -6.453125 2.90625 -6.453125 C 3.015625 -6.453125 3.125 -6.453125 3.125 -6.65625 C 3.125 -6.765625 2.984375 -6.765625 2.984375 -6.765625 C 2.578125 -6.765625 2.171875 -6.734375 1.765625 -6.734375 C 1.421875 -6.734375 1.0625 -6.765625 0.71875 -6.765625 C 0.671875 -6.765625 0.546875 -6.765625 0.546875 -6.578125 C 0.546875 -6.453125 0.640625 -6.453125 0.796875 -6.453125 C 1.28125 -6.453125 1.296875 -6.375 1.3125 -6.09375 L 1.765625 -0.046875 C 1.765625 0.140625 1.78125 0.21875 1.921875 0.21875 C 2.046875 0.21875 2.078125 0.15625 2.15625 0.015625 L 5.078125 -5.046875 L 5.4375 -0.046875 C 5.453125 0.171875 5.484375 0.21875 5.59375 0.21875 C 5.71875 0.21875 5.78125 0.125 5.828125 0.03125 L 9.078125 -5.609375 C 9.328125 -6.046875 9.5625 -6.40625 10.1875 -6.453125 C 10.28125 -6.46875 10.375 -6.46875 10.375 -6.65625 Z M 10.375 -6.65625 "/>
</g>
<g id="glyph-0-3">
<path d="M 6.84375 -3.6875 C 6.84375 -4.234375 6.578125 -4.375 6.40625 -4.375 C 6.15625 -4.375 5.90625 -4.125 5.90625 -3.90625 C 5.90625 -3.78125 5.96875 -3.71875 6.0625 -3.640625 C 6.171875 -3.53125 6.421875 -3.265625 6.421875 -2.796875 C 6.421875 -2.453125 6.125 -1.484375 5.875 -0.984375 C 5.609375 -0.453125 5.265625 -0.109375 4.78125 -0.109375 C 4.3125 -0.109375 4.046875 -0.40625 4.046875 -0.96875 C 4.046875 -1.25 4.125 -1.5625 4.15625 -1.6875 L 4.578125 -3.359375 C 4.625 -3.578125 4.71875 -3.9375 4.71875 -4 C 4.71875 -4.1875 4.59375 -4.265625 4.4375 -4.265625 C 4.3125 -4.265625 4.140625 -4.1875 4.078125 -4 C 4.046875 -3.921875 3.578125 -2.03125 3.5 -1.765625 C 3.4375 -1.46875 3.421875 -1.296875 3.421875 -1.125 C 3.421875 -1.015625 3.421875 -0.984375 3.421875 -0.9375 C 3.203125 -0.421875 2.90625 -0.109375 2.515625 -0.109375 C 1.71875 -0.109375 1.71875 -0.84375 1.71875 -1.015625 C 1.71875 -1.328125 1.765625 -1.71875 2.234375 -2.9375 C 2.34375 -3.234375 2.40625 -3.375 2.40625 -3.5625 C 2.40625 -4.015625 2.078125 -4.375 1.59375 -4.375 C 0.65625 -4.375 0.28125 -2.9375 0.28125 -2.859375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.78125 0.5625 -2.9375 C 0.828125 -3.859375 1.21875 -4.15625 1.5625 -4.15625 C 1.65625 -4.15625 1.8125 -4.15625 1.8125 -3.828125 C 1.8125 -3.59375 1.703125 -3.3125 1.640625 -3.140625 C 1.203125 -1.96875 1.078125 -1.515625 1.078125 -1.140625 C 1.078125 -0.234375 1.75 0.109375 2.484375 0.109375 C 2.65625 0.109375 3.125 0.109375 3.515625 -0.578125 C 3.78125 0.046875 4.453125 0.109375 4.75 0.109375 C 5.5 0.109375 5.9375 -0.515625 6.1875 -1.109375 C 6.53125 -1.875 6.84375 -3.203125 6.84375 -3.6875 Z M 6.84375 -3.6875 "/>
</g>
<g id="glyph-0-4">
<path d="M 5.375 -1.421875 C 5.375 -1.515625 5.296875 -1.515625 5.265625 -1.515625 C 5.15625 -1.515625 5.15625 -1.46875 5.125 -1.34375 C 4.984375 -0.78125 4.796875 -0.109375 4.375 -0.109375 C 4.171875 -0.109375 4.078125 -0.234375 4.078125 -0.5625 C 4.078125 -0.78125 4.1875 -1.25 4.265625 -1.59375 L 4.546875 -2.671875 C 4.578125 -2.8125 4.671875 -3.1875 4.71875 -3.34375 C 4.765625 -3.5625 4.859375 -3.9375 4.859375 -4 C 4.859375 -4.1875 4.71875 -4.265625 4.578125 -4.265625 C 4.53125 -4.265625 4.265625 -4.265625 4.1875 -3.921875 L 3.453125 -0.9375 C 3.4375 -0.90625 3.046875 -0.109375 2.3125 -0.109375 C 1.796875 -0.109375 1.703125 -0.5625 1.703125 -0.921875 C 1.703125 -1.46875 1.984375 -2.265625 2.234375 -2.9375 C 2.359375 -3.234375 2.40625 -3.375 2.40625 -3.5625 C 2.40625 -4.015625 2.09375 -4.375 1.59375 -4.375 C 0.65625 -4.375 0.28125 -2.9375 0.28125 -2.859375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.78125 0.5625 -2.9375 C 0.8125 -3.796875 1.1875 -4.15625 1.5625 -4.15625 C 1.65625 -4.15625 1.8125 -4.15625 1.8125 -3.828125 C 1.8125 -3.59375 1.703125 -3.3125 1.640625 -3.15625 C 1.28125 -2.171875 1.0625 -1.5625 1.0625 -1.078125 C 1.0625 -0.140625 1.75 0.109375 2.28125 0.109375 C 2.9375 0.109375 3.296875 -0.34375 3.46875 -0.5625 C 3.578125 -0.15625 3.921875 0.109375 4.34375 0.109375 C 4.703125 0.109375 4.921875 -0.125 5.078125 -0.4375 C 5.25 -0.796875 5.375 -1.421875 5.375 -1.421875 Z M 5.375 -1.421875 "/>
</g>
<g id="glyph-0-5">
<path d="M 4.640625 -3.6875 C 4.640625 -4.21875 4.375 -4.375 4.203125 -4.375 C 3.953125 -4.375 3.71875 -4.125 3.71875 -3.90625 C 3.71875 -3.78125 3.765625 -3.71875 3.875 -3.609375 C 4.078125 -3.40625 4.203125 -3.15625 4.203125 -2.796875 C 4.203125 -2.375 3.609375 -0.109375 2.453125 -0.109375 C 1.9375 -0.109375 1.71875 -0.453125 1.71875 -0.96875 C 1.71875 -1.53125 1.984375 -2.25 2.28125 -3.078125 C 2.359375 -3.234375 2.40625 -3.375 2.40625 -3.5625 C 2.40625 -4.015625 2.09375 -4.375 1.59375 -4.375 C 0.65625 -4.375 0.28125 -2.9375 0.28125 -2.859375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.78125 0.5625 -2.9375 C 0.859375 -3.9375 1.28125 -4.15625 1.5625 -4.15625 C 1.640625 -4.15625 1.8125 -4.15625 1.8125 -3.84375 C 1.8125 -3.59375 1.71875 -3.328125 1.640625 -3.15625 C 1.203125 -2 1.078125 -1.546875 1.078125 -1.125 C 1.078125 -0.046875 1.953125 0.109375 2.40625 0.109375 C 4.078125 0.109375 4.640625 -3.171875 4.640625 -3.6875 Z M 4.640625 -3.6875 "/>
</g>
<g id="glyph-0-6">
<path d="M 4.3125 -1.421875 C 4.3125 -1.46875 4.265625 -1.515625 4.1875 -1.515625 C 4.09375 -1.515625 4.078125 -1.453125 4.046875 -1.390625 C 3.828125 -0.75 3.1875 -0.5625 2.859375 -0.5625 C 2.671875 -0.5625 2.484375 -0.609375 2.28125 -0.6875 C 1.9375 -0.8125 1.796875 -0.859375 1.578125 -0.859375 C 1.578125 -0.859375 1.40625 -0.859375 1.3125 -0.828125 C 1.859375 -1.390625 2.140625 -1.640625 2.5 -1.953125 C 2.5 -1.953125 3.109375 -2.484375 3.46875 -2.84375 C 4.40625 -3.765625 4.625 -4.234375 4.625 -4.28125 C 4.625 -4.375 4.515625 -4.375 4.515625 -4.375 C 4.453125 -4.375 4.421875 -4.359375 4.375 -4.265625 C 4.078125 -3.796875 3.859375 -3.640625 3.625 -3.640625 C 3.390625 -3.640625 3.265625 -3.78125 3.125 -3.953125 C 2.9375 -4.1875 2.765625 -4.375 2.4375 -4.375 C 1.6875 -4.375 1.234375 -3.453125 1.234375 -3.25 C 1.234375 -3.203125 1.265625 -3.140625 1.359375 -3.140625 C 1.453125 -3.140625 1.46875 -3.1875 1.484375 -3.25 C 1.671875 -3.703125 2.25 -3.71875 2.328125 -3.71875 C 2.53125 -3.71875 2.71875 -3.640625 2.953125 -3.5625 C 3.34375 -3.421875 3.453125 -3.421875 3.71875 -3.421875 C 3.359375 -2.984375 2.53125 -2.28125 2.34375 -2.125 L 1.453125 -1.28125 C 0.765625 -0.625 0.421875 -0.0625 0.421875 0.015625 C 0.421875 0.109375 0.546875 0.109375 0.546875 0.109375 C 0.625 0.109375 0.640625 0.09375 0.703125 -0.015625 C 0.9375 -0.359375 1.234375 -0.640625 1.546875 -0.640625 C 1.765625 -0.640625 1.875 -0.546875 2.125 -0.25 C 2.28125 -0.046875 2.46875 0.109375 2.75 0.109375 C 3.734375 0.109375 4.3125 -1.15625 4.3125 -1.421875 Z M 4.3125 -1.421875 "/>
</g>
<g id="glyph-1-0">
<path d="M 3.28125 2.375 C 3.28125 2.34375 3.28125 2.328125 3.109375 2.15625 C 1.875 0.90625 1.5625 -0.953125 1.5625 -2.484375 C 1.5625 -4.203125 1.9375 -5.921875 3.15625 -7.15625 C 3.28125 -7.28125 3.28125 -7.296875 3.28125 -7.328125 C 3.28125 -7.40625 3.234375 -7.4375 3.1875 -7.4375 C 3.078125 -7.4375 2.1875 -6.75 1.609375 -5.5 C 1.09375 -4.40625 0.984375 -3.3125 0.984375 -2.484375 C 0.984375 -1.703125 1.09375 -0.5 1.640625 0.609375 C 2.234375 1.828125 3.078125 2.484375 3.1875 2.484375 C 3.234375 2.484375 3.28125 2.453125 3.28125 2.375 Z M 3.28125 2.375 "/>
</g>
<g id="glyph-1-1">
<path d="M 2.859375 -2.484375 C 2.859375 -3.25 2.75 -4.453125 2.203125 -5.5625 C 1.609375 -6.78125 0.765625 -7.4375 0.65625 -7.4375 C 0.609375 -7.4375 0.5625 -7.390625 0.5625 -7.328125 C 0.5625 -7.296875 0.5625 -7.28125 0.75 -7.109375 C 1.71875 -6.125 2.28125 -4.546875 2.28125 -2.484375 C 2.28125 -0.78125 1.921875 0.953125 0.6875 2.203125 C 0.5625 2.328125 0.5625 2.34375 0.5625 2.375 C 0.5625 2.4375 0.609375 2.484375 0.65625 2.484375 C 0.765625 2.484375 1.65625 1.796875 2.234375 0.546875 C 2.75 -0.546875 2.859375 -1.640625 2.859375 -2.484375 Z M 2.859375 -2.484375 "/>
</g>
<g id="glyph-2-0">
<path d="M 3.28125 0 L 3.28125 -0.25 L 3.015625 -0.25 C 2.328125 -0.25 2.328125 -0.34375 2.328125 -0.5625 L 2.328125 -4.40625 C 2.328125 -4.59375 2.3125 -4.609375 2.109375 -4.609375 C 1.671875 -4.171875 1.046875 -4.15625 0.75 -4.15625 L 0.75 -3.90625 C 0.921875 -3.90625 1.375 -3.90625 1.765625 -4.109375 L 1.765625 -0.5625 C 1.765625 -0.34375 1.765625 -0.25 1.0625 -0.25 L 0.8125 -0.25 L 0.8125 0 L 2.046875 -0.03125 Z M 3.28125 0 "/>
</g>
<g id="glyph-2-1">
<path d="M 3.5 -1.265625 L 3.265625 -1.265625 C 3.25 -1.109375 3.171875 -0.703125 3.09375 -0.625 C 3.03125 -0.59375 2.5 -0.59375 2.40625 -0.59375 L 1.125 -0.59375 C 1.859375 -1.234375 2.09375 -1.421875 2.515625 -1.75 C 3.03125 -2.171875 3.5 -2.59375 3.5 -3.25 C 3.5 -4.09375 2.765625 -4.609375 1.875 -4.609375 C 1.015625 -4.609375 0.4375 -4 0.4375 -3.359375 C 0.4375 -3.015625 0.734375 -2.96875 0.8125 -2.96875 C 0.96875 -2.96875 1.171875 -3.09375 1.171875 -3.34375 C 1.171875 -3.46875 1.125 -3.71875 0.765625 -3.71875 C 0.984375 -4.203125 1.453125 -4.359375 1.78125 -4.359375 C 2.46875 -4.359375 2.828125 -3.8125 2.828125 -3.25 C 2.828125 -2.65625 2.40625 -2.171875 2.171875 -1.921875 L 0.5 -0.265625 C 0.4375 -0.203125 0.4375 -0.1875 0.4375 0 L 3.296875 0 Z M 3.5 -1.265625 "/>
</g>
<g id="glyph-3-0">
<path d="M 8.0625 -2.984375 C 8.0625 -3.203125 7.875 -3.203125 7.6875 -3.203125 L 4.515625 -3.203125 L 4.515625 -6.375 C 4.515625 -6.546875 4.515625 -6.75 4.3125 -6.75 C 4.09375 -6.75 4.09375 -6.5625 4.09375 -6.375 L 4.09375 -3.203125 L 0.921875 -3.203125 C 0.75 -3.203125 0.546875 -3.203125 0.546875 -3 C 0.546875 -2.78125 0.75 -2.78125 0.921875 -2.78125 L 4.09375 -2.78125 L 4.09375 0.390625 C 4.09375 0.5625 4.09375 0.765625 4.296875 0.765625 C 4.515625 0.765625 4.515625 0.578125 4.515625 0.390625 L 4.515625 -2.78125 L 7.6875 -2.78125 C 7.859375 -2.78125 8.0625 -2.78125 8.0625 -2.984375 Z M 8.0625 -2.984375 "/>
</g>
<g id="glyph-4-0">
<path d="M 6.875 -2.484375 C 6.875 -2.671875 6.6875 -2.671875 6.546875 -2.671875 L 1.15625 -2.671875 C 1.015625 -2.671875 0.828125 -2.671875 0.828125 -2.484375 C 0.828125 -2.28125 1.015625 -2.28125 1.15625 -2.28125 L 6.546875 -2.28125 C 6.6875 -2.28125 6.875 -2.28125 6.875 -2.484375 Z M 6.875 -2.484375 "/>
</g>
</g>
<clipPath id="clip-0">
<path clip-rule="nonzero" d="M 134 78 L 155.132812 78 L 155.132812 111 L 134 111 Z M 134 78 "/>
</clipPath>
<clipPath id="clip-1">
<path clip-rule="nonzero" d="M 134 23 L 155.132812 23 L 155.132812 55 L 134 55 Z M 134 23 "/>
</clipPath>
<clipPath id="clip-2">
<path clip-rule="nonzero" d="M 134 57 L 155.132812 57 L 155.132812 89 L 134 89 Z M 134 57 "/>
</clipPath>
</defs>
<path fill-rule="nonzero" fill="rgb(89.99939%, 89.99939%, 89.99939%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -56.693712 -42.52075 L 56.69394 -42.52075 L 56.69394 42.521954 L -56.693712 42.521954 Z M -56.693712 -42.52075 " transform="matrix(0.994032, 0, 0, -0.994032, 77.566293, 60.397083)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="67.526571" y="11.364474"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="75.260925" y="11.364474"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-1" x="79.112257" y="11.364474"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-1" x="83.75485" y="11.364474"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 3.910168 10.168709 L 36.84894 10.168709 L 36.84894 32.847025 L 3.910168 32.847025 Z M 3.910168 10.168709 " transform="matrix(0.994032, 0, 0, -0.994032, 77.566293, 60.397083)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-2" x="84.755131" y="41.492585"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="94.107977" y="42.978663"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="98.551299" y="41.492585"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-1" x="102.402631" y="41.492585"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-1" x="107.045224" y="41.492585"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 3.910168 -24.243701 L 36.84894 -24.243701 L 36.84894 -1.565385 L 3.910168 -1.565385 Z M 3.910168 -24.243701 " transform="matrix(0.994032, 0, 0, -0.994032, 77.566293, 60.397083)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-2" x="84.755131" y="75.701197"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="94.107977" y="77.186281"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="98.551299" y="75.701197"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-1" x="102.402631" y="75.701197"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-1" x="107.045224" y="75.701197"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -13.592729 21.509832 C -13.592729 25.360941 -16.716843 28.485055 -20.567952 28.485055 C -24.419061 28.485055 -27.543175 25.360941 -27.543175 21.509832 C -27.543175 17.658723 -24.419061 14.534609 -20.567952 14.534609 C -16.716843 14.534609 -13.592729 17.658723 -13.592729 21.509832 Z M -13.592729 21.509832 " transform="matrix(0.994032, 0, 0, -0.994032, 77.566293, 60.397083)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="52.808936" y="41.915049"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="47.437188" y="53.70526"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -77.033855 21.509832 L -32.176295 21.509832 " transform="matrix(0.994032, 0, 0, -0.994032, 77.566293, 60.397083)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052312 0.000641747 L 1.607818 1.682555 L 3.089316 0.000641747 L 1.607818 -1.681271 Z M 6.052312 0.000641747 " transform="matrix(0.994032, 0, 0, -0.994032, 42.761153, 39.016263)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-3" x="4.788251" y="35.220244"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -77.033855 -12.906508 L -1.218094 -12.906508 " transform="matrix(0.994032, 0, 0, -0.994032, 77.566293, 60.397083)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054473 -0.00152773 L 1.609979 1.684315 L 3.087547 -0.00152773 L 1.609979 -1.683441 Z M 6.054473 -0.00152773 " transform="matrix(0.994032, 0, 0, -0.994032, 73.532442, 73.225044)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-4" x="4.788251" y="69.428856"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -20.567952 -12.906508 L -20.567952 9.901489 " transform="matrix(0.994032, 0, 0, -0.994032, 77.566293, 60.397083)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052766 -0.000197973 L 1.608272 1.681715 L 3.08584 -0.000197973 L 1.608272 -1.682111 Z M 6.052766 -0.000197973 " transform="matrix(0, -0.994032, -0.994032, 0, 57.120897, 53.376017)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 59.101562 73.226562 C 59.101562 72.132812 58.214844 71.246094 57.121094 71.246094 C 56.027344 71.246094 55.140625 72.132812 55.140625 73.226562 C 55.140625 74.320312 56.027344 75.207031 57.121094 75.207031 C 58.214844 75.207031 59.101562 74.320312 59.101562 73.226562 Z M 59.101562 73.226562 "/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -13.592729 21.509832 L -1.218094 21.509832 " transform="matrix(0.994032, 0, 0, -0.994032, 77.566293, 60.397083)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054473 0.000641747 L 1.609979 1.682555 L 3.087547 0.000641747 L 1.609979 -1.681271 Z M 6.054473 0.000641747 " transform="matrix(0.994032, 0, 0, -0.994032, 73.532442, 39.016263)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -44.55093 21.509832 L -44.55093 -34.413773 L 72.400963 -34.413773 " transform="matrix(0.994032, 0, 0, -0.994032, 77.566293, 60.397083)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 152.730469 94.605469 L 148.3125 92.933594 L 149.78125 94.605469 L 148.3125 96.277344 Z M 152.730469 94.605469 "/>
<g clip-path="url(#clip-0)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.05311 0.000397378 L 1.608616 1.68231 L 3.086184 0.000397378 L 1.608616 -1.681516 Z M 6.05311 0.000397378 " transform="matrix(0.994032, 0, 0, -0.994032, 146.713484, 94.605864)"/>
</g>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 35.261719 39.015625 C 35.261719 37.921875 34.375 37.035156 33.28125 37.035156 C 32.1875 37.035156 31.300781 37.921875 31.300781 39.015625 C 31.300781 40.109375 32.1875 40.996094 33.28125 40.996094 C 34.375 40.996094 35.261719 40.109375 35.261719 39.015625 Z M 35.261719 39.015625 "/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-5" x="145.188292" y="90.809487"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 37.348012 21.509832 L 72.400963 21.509832 " transform="matrix(0.994032, 0, 0, -0.994032, 77.566293, 60.397083)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 152.730469 39.015625 L 148.3125 37.34375 L 149.78125 39.015625 L 148.3125 40.6875 Z M 152.730469 39.015625 "/>
<g clip-path="url(#clip-1)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.05311 0.000641747 L 1.608616 1.682555 L 3.086184 0.000641747 L 1.608616 -1.681271 Z M 6.05311 0.000641747 " transform="matrix(0.994032, 0, 0, -0.994032, 146.713484, 39.016263)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-6" x="141.295663" y="33.735161"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="145.901012" y="35.220244"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 37.348012 -12.906508 L 72.400963 -12.906508 " transform="matrix(0.994032, 0, 0, -0.994032, 77.566293, 60.397083)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 152.730469 73.226562 L 148.3125 71.550781 L 149.78125 73.226562 L 148.3125 74.898438 Z M 152.730469 73.226562 "/>
<g clip-path="url(#clip-2)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.05311 -0.00152773 L 1.608616 1.684315 L 3.086184 -0.00152773 L 1.608616 -1.683441 Z M 6.05311 -0.00152773 " transform="matrix(0.994032, 0, 0, -0.994032, 146.713484, 73.225044)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-6" x="141.295663" y="67.942779"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="145.901012" y="69.428856"/>
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 24 KiB

BIN
figs/detail_control_hinf_filters_results.pdf Normal file
View File

Binary file not shown.

BIN
figs/detail_control_hinf_filters_results.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 99 KiB

1801
figs/detail_control_hinf_filters_results_mixed_sensitivity.pdf Normal file
View File

File diff suppressed because it is too large Load Diff

BIN
figs/detail_control_hinf_filters_results_mixed_sensitivity.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 102 KiB

BIN
figs/detail_control_sensor_fusion_dynamic_uncertainty.pdf Normal file
View File

Binary file not shown.

BIN
figs/detail_control_sensor_fusion_dynamic_uncertainty.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 31 KiB

397
figs/detail_control_sensor_fusion_dynamic_uncertainty.svg Normal file
View File

@ -0,0 +1,397 @@
<?xml version="1.0" encoding="UTF-8"?>
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="256.544" height="127.413" viewBox="0 0 256.544 127.413">
<defs>
<g>
<g id="glyph-0-0">
<path d="M 4.953125 -1.84375 C 4.953125 -2.84375 4.296875 -3.65625 3.46875 -3.84375 L 2.1875 -4.15625 C 1.578125 -4.3125 1.1875 -4.84375 1.1875 -5.421875 C 1.1875 -6.109375 1.71875 -6.71875 2.5 -6.71875 C 4.15625 -6.71875 4.375 -5.09375 4.4375 -4.640625 C 4.4375 -4.578125 4.4375 -4.53125 4.546875 -4.53125 C 4.6875 -4.53125 4.6875 -4.578125 4.6875 -4.765625 L 4.6875 -6.75 C 4.6875 -6.921875 4.6875 -7 4.578125 -7 C 4.5 -7 4.5 -6.984375 4.421875 -6.859375 L 4.078125 -6.296875 C 3.78125 -6.59375 3.375 -7 2.484375 -7 C 1.390625 -7 0.5625 -6.125 0.5625 -5.0625 C 0.5625 -4.25 1.078125 -3.515625 1.859375 -3.25 C 1.96875 -3.21875 2.46875 -3.09375 3.171875 -2.921875 C 3.4375 -2.859375 3.734375 -2.78125 4.015625 -2.421875 C 4.21875 -2.15625 4.3125 -1.828125 4.3125 -1.515625 C 4.3125 -0.796875 3.8125 -0.09375 2.984375 -0.09375 C 2.703125 -0.09375 1.9375 -0.140625 1.421875 -0.625 C 0.84375 -1.15625 0.8125 -1.796875 0.796875 -2.15625 C 0.796875 -2.25 0.71875 -2.25 0.6875 -2.25 C 0.5625 -2.25 0.5625 -2.1875 0.5625 -2 L 0.5625 -0.015625 C 0.5625 0.15625 0.5625 0.21875 0.671875 0.21875 C 0.734375 0.21875 0.75 0.203125 0.8125 0.09375 C 0.8125 0.09375 0.84375 0.046875 1.171875 -0.46875 C 1.484375 -0.140625 2.109375 0.21875 3 0.21875 C 4.15625 0.21875 4.953125 -0.75 4.953125 -1.84375 Z M 4.953125 -1.84375 "/>
</g>
<g id="glyph-0-1">
<path d="M 5.3125 0 L 5.3125 -0.3125 C 4.609375 -0.3125 4.53125 -0.375 4.53125 -0.859375 L 4.53125 -4.390625 L 3.078125 -4.28125 L 3.078125 -3.96875 C 3.765625 -3.96875 3.84375 -3.90625 3.84375 -3.40625 L 3.84375 -1.640625 C 3.84375 -0.78125 3.375 -0.109375 2.65625 -0.109375 C 1.8125 -0.109375 1.78125 -0.578125 1.78125 -1.09375 L 1.78125 -4.390625 L 0.3125 -4.28125 L 0.3125 -3.96875 C 1.09375 -3.96875 1.09375 -3.9375 1.09375 -3.0625 L 1.09375 -1.5625 C 1.09375 -0.796875 1.09375 0.109375 2.59375 0.109375 C 3.15625 0.109375 3.59375 -0.171875 3.875 -0.78125 L 3.875 0.109375 Z M 5.3125 0 "/>
</g>
<g id="glyph-0-2">
<path d="M 5.171875 -2.140625 C 5.171875 -3.40625 4.203125 -4.390625 3.09375 -4.390625 C 2.328125 -4.390625 1.90625 -3.953125 1.703125 -3.734375 L 1.703125 -4.390625 L 0.28125 -4.28125 L 0.28125 -3.96875 C 0.984375 -3.96875 1.046875 -3.90625 1.046875 -3.46875 L 1.046875 1.171875 C 1.046875 1.625 0.9375 1.625 0.28125 1.625 L 0.28125 1.921875 L 1.390625 1.890625 L 2.515625 1.921875 L 2.515625 1.625 C 1.84375 1.625 1.734375 1.625 1.734375 1.171875 L 1.734375 -0.578125 C 1.78125 -0.421875 2.203125 0.109375 2.953125 0.109375 C 4.140625 0.109375 5.171875 -0.859375 5.171875 -2.140625 Z M 4.34375 -2.140625 C 4.34375 -0.9375 3.65625 -0.109375 2.921875 -0.109375 C 2.515625 -0.109375 2.140625 -0.3125 1.875 -0.71875 C 1.734375 -0.921875 1.734375 -0.9375 1.734375 -1.125 L 1.734375 -3.34375 C 2.03125 -3.84375 2.515625 -4.140625 3.015625 -4.140625 C 3.734375 -4.140625 4.34375 -3.265625 4.34375 -2.140625 Z M 4.34375 -2.140625 "/>
</g>
<g id="glyph-0-3">
<path d="M 4.125 -1.1875 C 4.125 -1.28125 4.03125 -1.296875 3.984375 -1.296875 C 3.90625 -1.296875 3.875 -1.234375 3.859375 -1.15625 C 3.515625 -0.140625 2.625 -0.140625 2.515625 -0.140625 C 2.03125 -0.140625 1.625 -0.4375 1.40625 -0.796875 C 1.09375 -1.28125 1.09375 -1.9375 1.09375 -2.296875 L 3.875 -2.296875 C 4.09375 -2.296875 4.125 -2.296875 4.125 -2.5 C 4.125 -3.484375 3.578125 -4.4375 2.34375 -4.4375 C 1.1875 -4.4375 0.28125 -3.421875 0.28125 -2.1875 C 0.28125 -0.859375 1.3125 0.109375 2.453125 0.109375 C 3.671875 0.109375 4.125 -0.984375 4.125 -1.1875 Z M 3.46875 -2.5 L 1.109375 -2.5 C 1.171875 -3.984375 2 -4.234375 2.34375 -4.234375 C 3.359375 -4.234375 3.46875 -2.890625 3.46875 -2.5 Z M 3.46875 -2.5 "/>
</g>
<g id="glyph-0-4">
<path d="M 3.609375 -3.78125 C 3.609375 -4.09375 3.296875 -4.390625 2.875 -4.390625 C 2.15625 -4.390625 1.796875 -3.71875 1.65625 -3.296875 L 1.65625 -4.390625 L 0.28125 -4.28125 L 0.28125 -3.96875 C 0.96875 -3.96875 1.046875 -3.90625 1.046875 -3.40625 L 1.046875 -0.75 C 1.046875 -0.3125 0.9375 -0.3125 0.28125 -0.3125 L 0.28125 0 L 1.40625 -0.03125 C 1.8125 -0.03125 2.265625 -0.03125 2.671875 0 L 2.671875 -0.3125 L 2.453125 -0.3125 C 1.71875 -0.3125 1.703125 -0.421875 1.703125 -0.78125 L 1.703125 -2.296875 C 1.703125 -3.28125 2.125 -4.171875 2.875 -4.171875 C 2.953125 -4.171875 2.96875 -4.171875 2.984375 -4.15625 C 2.953125 -4.140625 2.765625 -4.03125 2.765625 -3.765625 C 2.765625 -3.5 2.96875 -3.34375 3.1875 -3.34375 C 3.359375 -3.34375 3.609375 -3.46875 3.609375 -3.78125 Z M 3.609375 -3.78125 "/>
</g>
<g id="glyph-0-5">
<path d="M 5.3125 0 L 5.3125 -0.3125 C 4.796875 -0.3125 4.546875 -0.3125 4.53125 -0.609375 L 4.53125 -2.5 C 4.53125 -3.359375 4.53125 -3.65625 4.234375 -4.015625 C 4.09375 -4.1875 3.765625 -4.390625 3.1875 -4.390625 C 2.453125 -4.390625 2 -3.953125 1.71875 -3.34375 L 1.71875 -4.390625 L 0.3125 -4.28125 L 0.3125 -3.96875 C 1.015625 -3.96875 1.09375 -3.90625 1.09375 -3.40625 L 1.09375 -0.75 C 1.09375 -0.3125 0.984375 -0.3125 0.3125 -0.3125 L 0.3125 0 L 1.4375 -0.03125 L 2.546875 0 L 2.546875 -0.3125 C 1.890625 -0.3125 1.78125 -0.3125 1.78125 -0.75 L 1.78125 -2.578125 C 1.78125 -3.609375 2.484375 -4.171875 3.109375 -4.171875 C 3.734375 -4.171875 3.84375 -3.625 3.84375 -3.0625 L 3.84375 -0.75 C 3.84375 -0.3125 3.734375 -0.3125 3.078125 -0.3125 L 3.078125 0 L 4.203125 -0.03125 Z M 5.3125 0 "/>
</g>
<g id="glyph-0-6">
<path d="M 3.578125 -1.265625 C 3.578125 -1.796875 3.28125 -2.09375 3.15625 -2.21875 C 2.828125 -2.53125 2.4375 -2.609375 2.03125 -2.6875 C 1.46875 -2.796875 0.796875 -2.921875 0.796875 -3.5 C 0.796875 -3.84375 1.0625 -4.25 1.921875 -4.25 C 3 -4.25 3.0625 -3.359375 3.078125 -3.0625 C 3.078125 -2.96875 3.1875 -2.96875 3.1875 -2.96875 C 3.328125 -2.96875 3.328125 -3.015625 3.328125 -3.203125 L 3.328125 -4.203125 C 3.328125 -4.375 3.328125 -4.4375 3.21875 -4.4375 C 3.171875 -4.4375 3.140625 -4.4375 3.015625 -4.328125 C 2.984375 -4.28125 2.890625 -4.203125 2.84375 -4.171875 C 2.46875 -4.4375 2.0625 -4.4375 1.921875 -4.4375 C 0.703125 -4.4375 0.328125 -3.78125 0.328125 -3.21875 C 0.328125 -2.875 0.484375 -2.59375 0.75 -2.375 C 1.078125 -2.125 1.34375 -2.0625 2.0625 -1.921875 C 2.28125 -1.890625 3.09375 -1.71875 3.09375 -1.015625 C 3.09375 -0.5 2.75 -0.109375 1.96875 -0.109375 C 1.140625 -0.109375 0.78125 -0.671875 0.59375 -1.515625 C 0.5625 -1.640625 0.5625 -1.6875 0.453125 -1.6875 C 0.328125 -1.6875 0.328125 -1.625 0.328125 -1.4375 L 0.328125 -0.125 C 0.328125 0.046875 0.328125 0.109375 0.4375 0.109375 C 0.484375 0.109375 0.5 0.09375 0.6875 -0.09375 C 0.703125 -0.109375 0.703125 -0.125 0.890625 -0.3125 C 1.3125 0.09375 1.765625 0.109375 1.96875 0.109375 C 3.109375 0.109375 3.578125 -0.5625 3.578125 -1.265625 Z M 3.578125 -1.265625 "/>
</g>
<g id="glyph-0-7">
<path d="M 4.671875 -2.125 C 4.671875 -3.390625 3.6875 -4.4375 2.484375 -4.4375 C 1.234375 -4.4375 0.28125 -3.359375 0.28125 -2.125 C 0.28125 -0.84375 1.3125 0.109375 2.46875 0.109375 C 3.671875 0.109375 4.671875 -0.859375 4.671875 -2.125 Z M 3.84375 -2.203125 C 3.84375 -1.84375 3.84375 -1.3125 3.625 -0.875 C 3.40625 -0.421875 2.96875 -0.140625 2.484375 -0.140625 C 2.046875 -0.140625 1.625 -0.34375 1.34375 -0.796875 C 1.09375 -1.234375 1.09375 -1.84375 1.09375 -2.203125 C 1.09375 -2.59375 1.09375 -3.125 1.34375 -3.5625 C 1.609375 -4.015625 2.078125 -4.234375 2.46875 -4.234375 C 2.90625 -4.234375 3.328125 -4.015625 3.59375 -3.578125 C 3.84375 -3.15625 3.84375 -2.578125 3.84375 -2.203125 Z M 3.84375 -2.203125 "/>
</g>
<g id="glyph-1-0">
<path d="M 4.4375 -3.171875 L 4.4375 -3.390625 C 4.21875 -3.375 4 -3.359375 3.78125 -3.359375 C 3.640625 -3.359375 3.3125 -3.375 3.109375 -3.390625 L 3.109375 -3.171875 C 3.671875 -3.171875 3.671875 -2.96875 3.671875 -2.828125 L 3.671875 -0.78125 L 1.53125 -3.328125 C 1.484375 -3.390625 1.46875 -3.390625 1.375 -3.390625 L 0.40625 -3.390625 L 0.40625 -3.171875 L 0.609375 -3.171875 C 0.65625 -3.171875 0.890625 -3.15625 0.9375 -3.140625 C 0.953125 -3.140625 0.953125 -3.125 0.953125 -3.046875 L 0.953125 -0.546875 C 0.953125 -0.421875 0.953125 -0.21875 0.40625 -0.21875 L 0.40625 0 C 0.640625 -0.015625 0.859375 -0.015625 1.078125 -0.015625 C 1.21875 -0.015625 1.53125 -0.015625 1.734375 0 L 1.734375 -0.21875 C 1.1875 -0.21875 1.1875 -0.421875 1.1875 -0.546875 L 1.1875 -3 L 3.65625 -0.0625 C 3.703125 0 3.71875 0 3.78125 0 C 3.890625 0 3.890625 -0.046875 3.890625 -0.15625 L 3.890625 -2.828125 C 3.890625 -2.96875 3.890625 -3.171875 4.4375 -3.171875 Z M 4.4375 -3.171875 "/>
</g>
<g id="glyph-1-1">
<path d="M 3.046875 -1.0625 C 3.046875 -1.671875 2.46875 -2.21875 1.6875 -2.21875 C 0.90625 -2.21875 0.328125 -1.671875 0.328125 -1.0625 C 0.328125 -0.453125 0.90625 0.046875 1.6875 0.046875 C 2.46875 0.046875 3.046875 -0.453125 3.046875 -1.0625 Z M 2.546875 -1.109375 C 2.546875 -0.859375 2.546875 -0.125 1.6875 -0.125 C 0.8125 -0.125 0.8125 -0.859375 0.8125 -1.109375 C 0.8125 -1.328125 0.8125 -2.0625 1.6875 -2.0625 C 2.546875 -2.0625 2.546875 -1.328125 2.546875 -1.109375 Z M 2.546875 -1.109375 "/>
</g>
<g id="glyph-1-2">
<path d="M 2.375 -1.84375 C 2.375 -2.03125 2.1875 -2.1875 1.9375 -2.1875 C 1.6875 -2.1875 1.359375 -2.0625 1.171875 -1.640625 L 1.171875 -2.1875 L 0.375 -2.140625 L 0.375 -1.921875 C 0.75 -1.921875 0.78125 -1.875 0.78125 -1.640625 L 0.78125 -0.421875 C 0.78125 -0.265625 0.78125 -0.21875 0.46875 -0.21875 L 0.375 -0.21875 L 0.375 0 C 0.578125 -0.015625 0.8125 -0.015625 1.015625 -0.015625 L 1.71875 0 L 1.71875 -0.21875 L 1.59375 -0.21875 C 1.203125 -0.21875 1.203125 -0.265625 1.203125 -0.421875 L 1.203125 -1.109375 C 1.203125 -1.5625 1.46875 -2.015625 1.9375 -2.03125 C 1.9375 -2.03125 1.875 -1.953125 1.875 -1.84375 C 1.875 -1.671875 2.015625 -1.59375 2.125 -1.59375 C 2.25 -1.59375 2.375 -1.671875 2.375 -1.84375 Z M 2.375 -1.84375 "/>
</g>
<g id="glyph-1-3">
<path d="M 5.109375 0 L 5.109375 -0.21875 L 5.015625 -0.21875 C 4.703125 -0.21875 4.703125 -0.265625 4.703125 -0.421875 L 4.703125 -1.5 C 4.703125 -2.109375 4.234375 -2.1875 3.859375 -2.1875 C 3.375 -2.1875 3.09375 -1.953125 2.953125 -1.734375 C 2.828125 -2.1875 2.328125 -2.1875 2.140625 -2.1875 C 1.625 -2.1875 1.34375 -1.921875 1.21875 -1.703125 L 1.21875 -2.1875 L 0.40625 -2.140625 L 0.40625 -1.921875 C 0.765625 -1.921875 0.8125 -1.875 0.8125 -1.640625 L 0.8125 -0.421875 C 0.8125 -0.265625 0.8125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.625 -0.015625 0.828125 -0.015625 1.046875 -0.015625 C 1.25 -0.015625 1.46875 -0.015625 1.671875 0 L 1.671875 -0.21875 L 1.578125 -0.21875 C 1.265625 -0.21875 1.265625 -0.265625 1.265625 -0.421875 L 1.265625 -1.28125 C 1.265625 -1.828125 1.765625 -2.03125 2.078125 -2.03125 C 2.453125 -2.03125 2.53125 -1.828125 2.53125 -1.5 L 2.53125 -0.421875 C 2.53125 -0.265625 2.53125 -0.21875 2.21875 -0.21875 L 2.125 -0.21875 L 2.125 0 C 2.34375 -0.015625 2.546875 -0.015625 2.765625 -0.015625 C 2.96875 -0.015625 3.1875 -0.015625 3.390625 0 L 3.390625 -0.21875 L 3.296875 -0.21875 C 2.984375 -0.21875 2.984375 -0.265625 2.984375 -0.421875 L 2.984375 -1.28125 C 2.984375 -1.828125 3.484375 -2.03125 3.796875 -2.03125 C 4.171875 -2.03125 4.25 -1.828125 4.25 -1.5 L 4.25 -0.421875 C 4.25 -0.265625 4.25 -0.21875 3.9375 -0.21875 L 3.84375 -0.21875 L 3.84375 0 C 4.0625 -0.015625 4.265625 -0.015625 4.484375 -0.015625 C 4.6875 -0.015625 4.90625 -0.015625 5.109375 0 Z M 5.109375 0 "/>
</g>
<g id="glyph-1-4">
<path d="M 3.140625 -0.453125 L 3.140625 -0.71875 L 2.9375 -0.71875 L 2.9375 -0.453125 C 2.9375 -0.40625 2.9375 -0.1875 2.734375 -0.1875 C 2.546875 -0.1875 2.546875 -0.40625 2.546875 -0.453125 L 2.546875 -1.46875 C 2.546875 -1.953125 2.046875 -2.21875 1.421875 -2.21875 C 1.125 -2.21875 0.546875 -2.203125 0.546875 -1.78125 C 0.546875 -1.59375 0.6875 -1.515625 0.8125 -1.515625 C 0.953125 -1.515625 1.078125 -1.609375 1.078125 -1.78125 C 1.078125 -1.890625 1 -1.96875 0.953125 -2 C 1.125 -2.0625 1.359375 -2.0625 1.421875 -2.0625 C 1.84375 -2.0625 2.09375 -1.828125 2.09375 -1.46875 L 2.09375 -1.34375 C 1.625 -1.3125 1.359375 -1.296875 0.96875 -1.15625 C 0.640625 -1.046875 0.359375 -0.84375 0.359375 -0.515625 C 0.359375 -0.046875 0.9375 0.046875 1.328125 0.046875 C 1.703125 0.046875 2 -0.09375 2.15625 -0.359375 C 2.171875 -0.171875 2.296875 0.03125 2.546875 0.03125 C 2.578125 0.03125 3.140625 0.03125 3.140625 -0.453125 Z M 2.09375 -0.703125 C 2.09375 -0.15625 1.5 -0.109375 1.375 -0.109375 C 1.09375 -0.109375 0.8125 -0.265625 0.8125 -0.515625 C 0.8125 -0.6875 0.921875 -1.140625 2.09375 -1.1875 Z M 2.09375 -0.703125 "/>
</g>
<g id="glyph-1-5">
<path d="M 1.65625 0 L 1.65625 -0.21875 L 1.5625 -0.21875 C 1.25 -0.21875 1.25 -0.265625 1.25 -0.421875 L 1.25 -3.4375 L 0.40625 -3.390625 L 0.40625 -3.171875 C 0.78125 -3.171875 0.828125 -3.125 0.828125 -2.890625 L 0.828125 -0.421875 C 0.828125 -0.265625 0.828125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.625 -0.015625 0.828125 -0.015625 1.03125 -0.015625 C 1.234375 -0.015625 1.453125 -0.015625 1.65625 0 Z M 1.65625 0 "/>
</g>
<g id="glyph-1-6">
<path d="M 1.609375 0 L 1.609375 -0.21875 C 1.28125 -0.21875 1.25 -0.21875 1.25 -0.421875 L 1.25 -2.1875 L 0.4375 -2.140625 L 0.4375 -1.921875 C 0.78125 -1.921875 0.828125 -1.875 0.828125 -1.640625 L 0.828125 -0.421875 C 0.828125 -0.265625 0.828125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.609375 -0.015625 0.828125 -0.015625 1.03125 -0.015625 C 1.21875 -0.015625 1.4375 -0.015625 1.609375 0 Z M 1.296875 -2.96875 C 1.296875 -3.140625 1.15625 -3.28125 1 -3.28125 C 0.828125 -3.28125 0.6875 -3.140625 0.6875 -2.96875 C 0.6875 -2.796875 0.828125 -2.671875 1 -2.671875 C 1.15625 -2.671875 1.296875 -2.796875 1.296875 -2.96875 Z M 1.296875 -2.96875 "/>
</g>
<g id="glyph-1-7">
<path d="M 2.625 -0.984375 L 2.421875 -0.984375 C 2.359375 -0.421875 2.265625 -0.171875 1.5625 -0.171875 L 0.90625 -0.171875 L 2.546875 -1.9375 C 2.59375 -1.984375 2.609375 -2 2.609375 -2.046875 C 2.609375 -2.140625 2.546875 -2.140625 2.453125 -2.140625 L 0.453125 -2.140625 L 0.390625 -1.28125 L 0.609375 -1.28125 C 0.640625 -1.828125 0.796875 -1.96875 1.375 -1.96875 L 2.015625 -1.96875 L 0.359375 -0.203125 C 0.3125 -0.15625 0.3125 -0.15625 0.3125 -0.09375 C 0.3125 0 0.375 0 0.453125 0 L 2.53125 0 Z M 2.625 -0.984375 "/>
</g>
<g id="glyph-1-8">
<path d="M 2.703125 -0.59375 C 2.703125 -0.671875 2.625 -0.671875 2.609375 -0.671875 C 2.53125 -0.671875 2.515625 -0.65625 2.484375 -0.578125 C 2.359375 -0.25 1.984375 -0.125 1.703125 -0.125 C 1.3125 -0.125 1.078125 -0.34375 1.015625 -0.4375 C 0.8125 -0.671875 0.8125 -0.984375 0.8125 -1.109375 L 2.5625 -1.109375 C 2.671875 -1.109375 2.703125 -1.109375 2.703125 -1.234375 C 2.703125 -1.5625 2.53125 -2.21875 1.609375 -2.21875 C 0.859375 -2.21875 0.328125 -1.671875 0.328125 -1.09375 C 0.328125 -0.453125 0.921875 0.046875 1.671875 0.046875 C 2.46875 0.046875 2.703125 -0.5 2.703125 -0.59375 Z M 2.328125 -1.265625 L 0.828125 -1.265625 C 0.890625 -1.921875 1.359375 -2.0625 1.59375 -2.0625 C 2.28125 -2.0625 2.328125 -1.40625 2.328125 -1.265625 Z M 2.328125 -1.265625 "/>
</g>
<g id="glyph-1-9">
<path d="M 3.328125 0 L 3.328125 -0.21875 C 2.96875 -0.21875 2.921875 -0.25 2.921875 -0.5 L 2.921875 -3.4375 L 2.09375 -3.390625 L 2.09375 -3.171875 C 2.453125 -3.171875 2.5 -3.125 2.5 -2.890625 L 2.5 -1.921875 C 2.390625 -2.015625 2.125 -2.1875 1.71875 -2.1875 C 0.96875 -2.1875 0.359375 -1.6875 0.359375 -1.0625 C 0.359375 -0.46875 0.921875 0.046875 1.65625 0.046875 C 2.0625 0.046875 2.34375 -0.125 2.484375 -0.25 L 2.484375 0.046875 Z M 2.484375 -0.546875 C 2.25 -0.171875 1.875 -0.109375 1.6875 -0.109375 C 1.4375 -0.109375 1.1875 -0.203125 1.03125 -0.421875 C 0.859375 -0.625 0.859375 -0.90625 0.859375 -1.0625 C 0.859375 -1.203125 0.859375 -1.53125 1.078125 -1.75 C 1.25 -1.9375 1.5 -2.03125 1.75 -2.03125 C 1.890625 -2.03125 2.25 -2 2.484375 -1.65625 Z M 2.484375 -0.546875 "/>
</g>
<g id="glyph-1-10">
<path d="M 2.375 -0.625 C 2.375 -0.84375 2.25 -1.015625 2.0625 -1.125 C 1.859375 -1.25 1.703125 -1.265625 1.296875 -1.34375 C 0.96875 -1.390625 0.59375 -1.453125 0.59375 -1.703125 C 0.59375 -1.875 0.78125 -2.078125 1.328125 -2.078125 C 1.734375 -2.078125 1.96875 -1.90625 2 -1.5625 C 2.015625 -1.484375 2.015625 -1.46875 2.109375 -1.46875 C 2.21875 -1.46875 2.21875 -1.5 2.21875 -1.59375 L 2.21875 -2.078125 C 2.21875 -2.171875 2.21875 -2.21875 2.140625 -2.21875 C 2.109375 -2.21875 2.09375 -2.21875 2.046875 -2.1875 C 2.03125 -2.171875 1.9375 -2.078125 1.921875 -2.078125 C 1.921875 -2.078125 1.90625 -2.078125 1.875 -2.109375 C 1.765625 -2.171875 1.578125 -2.21875 1.328125 -2.21875 C 0.515625 -2.21875 0.34375 -1.84375 0.34375 -1.609375 C 0.34375 -1.15625 0.921875 -1.0625 1.375 -0.984375 C 1.671875 -0.953125 2.125 -0.875 2.125 -0.546875 C 2.125 -0.359375 1.96875 -0.109375 1.375 -0.109375 C 1.046875 -0.109375 0.71875 -0.234375 0.5625 -0.765625 C 0.546875 -0.84375 0.53125 -0.859375 0.453125 -0.859375 C 0.34375 -0.859375 0.34375 -0.828125 0.34375 -0.71875 L 0.34375 -0.078125 C 0.34375 0 0.34375 0.046875 0.421875 0.046875 C 0.46875 0.046875 0.46875 0.046875 0.5625 -0.046875 L 0.6875 -0.171875 C 0.9375 0.046875 1.25 0.046875 1.375 0.046875 C 2.203125 0.046875 2.375 -0.375 2.375 -0.625 Z M 2.375 -0.625 "/>
</g>
<g id="glyph-1-11">
<path d="M 3.390625 0 L 3.390625 -0.21875 L 3.296875 -0.21875 C 2.96875 -0.21875 2.96875 -0.265625 2.96875 -0.421875 L 2.96875 -1.5 C 2.96875 -2.046875 2.59375 -2.1875 2.140625 -2.1875 C 1.609375 -2.1875 1.328125 -1.890625 1.21875 -1.703125 L 1.21875 -2.1875 L 0.40625 -2.140625 L 0.40625 -1.921875 C 0.765625 -1.921875 0.8125 -1.875 0.8125 -1.640625 L 0.8125 -0.421875 C 0.8125 -0.265625 0.8125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.625 -0.015625 0.828125 -0.015625 1.046875 -0.015625 C 1.25 -0.015625 1.46875 -0.015625 1.671875 0 L 1.671875 -0.21875 L 1.578125 -0.21875 C 1.265625 -0.21875 1.265625 -0.265625 1.265625 -0.421875 L 1.265625 -1.28125 C 1.265625 -1.84375 1.765625 -2.03125 2.078125 -2.03125 C 2.453125 -2.03125 2.53125 -1.8125 2.53125 -1.5 L 2.53125 -0.421875 C 2.53125 -0.265625 2.53125 -0.21875 2.203125 -0.21875 L 2.125 -0.21875 L 2.125 0 C 2.328125 -0.015625 2.546875 -0.015625 2.75 -0.015625 C 2.96875 -0.015625 3.171875 -0.015625 3.390625 0 Z M 3.390625 0 "/>
</g>
<g id="glyph-1-12">
<path d="M 2.75 0 L 2.75 -0.21875 L 2.5 -0.21875 C 1.96875 -0.21875 1.96875 -0.265625 1.96875 -0.421875 L 1.96875 -3.15625 C 1.96875 -3.296875 1.953125 -3.296875 1.796875 -3.296875 C 1.4375 -2.984375 0.890625 -2.984375 0.796875 -2.984375 L 0.703125 -2.984375 L 0.703125 -2.765625 L 0.796875 -2.765625 C 0.90625 -2.765625 1.234375 -2.78125 1.515625 -2.90625 L 1.515625 -0.421875 C 1.515625 -0.265625 1.515625 -0.21875 0.984375 -0.21875 L 0.75 -0.21875 L 0.75 0 C 1.015625 -0.015625 1.453125 -0.015625 1.75 -0.015625 C 2.03125 -0.015625 2.46875 -0.015625 2.75 0 Z M 2.75 0 "/>
</g>
<g id="glyph-1-13">
<path d="M 2.921875 -0.953125 L 2.703125 -0.953125 C 2.6875 -0.859375 2.640625 -0.5625 2.5625 -0.5 C 2.53125 -0.46875 2.109375 -0.46875 2.03125 -0.46875 L 1.0625 -0.46875 C 1.390625 -0.71875 1.765625 -1 2.0625 -1.1875 C 2.5 -1.5 2.921875 -1.78125 2.921875 -2.3125 C 2.921875 -2.953125 2.3125 -3.296875 1.609375 -3.296875 C 0.9375 -3.296875 0.453125 -2.90625 0.453125 -2.421875 C 0.453125 -2.171875 0.671875 -2.125 0.734375 -2.125 C 0.875 -2.125 1.03125 -2.21875 1.03125 -2.421875 C 1.03125 -2.59375 0.90625 -2.6875 0.75 -2.703125 C 0.890625 -2.9375 1.171875 -3.078125 1.5 -3.078125 C 1.984375 -3.078125 2.390625 -2.796875 2.390625 -2.3125 C 2.390625 -1.890625 2.09375 -1.578125 1.71875 -1.25 L 0.515625 -0.234375 C 0.453125 -0.1875 0.453125 -0.1875 0.453125 -0.15625 L 0.453125 0 L 2.75 0 Z M 2.921875 -0.953125 "/>
</g>
<g id="glyph-2-0">
<path d="M 6.859375 -3.6875 C 6.859375 -4.234375 6.59375 -4.390625 6.421875 -4.390625 C 6.171875 -4.390625 5.921875 -4.125 5.921875 -3.90625 C 5.921875 -3.78125 5.984375 -3.71875 6.078125 -3.640625 C 6.1875 -3.53125 6.421875 -3.28125 6.421875 -2.796875 C 6.421875 -2.453125 6.140625 -1.484375 5.890625 -0.984375 C 5.625 -0.453125 5.28125 -0.109375 4.796875 -0.109375 C 4.328125 -0.109375 4.0625 -0.40625 4.0625 -0.96875 C 4.0625 -1.25 4.125 -1.5625 4.171875 -1.703125 L 4.578125 -3.359375 C 4.640625 -3.578125 4.734375 -3.953125 4.734375 -4.015625 C 4.734375 -4.1875 4.59375 -4.28125 4.4375 -4.28125 C 4.328125 -4.28125 4.140625 -4.203125 4.078125 -4 C 4.046875 -3.921875 3.578125 -2.03125 3.515625 -1.78125 C 3.4375 -1.484375 3.421875 -1.296875 3.421875 -1.125 C 3.421875 -1.015625 3.421875 -0.984375 3.4375 -0.9375 C 3.203125 -0.421875 2.90625 -0.109375 2.515625 -0.109375 C 1.71875 -0.109375 1.71875 -0.84375 1.71875 -1.015625 C 1.71875 -1.328125 1.78125 -1.71875 2.25 -2.9375 C 2.34375 -3.234375 2.40625 -3.375 2.40625 -3.578125 C 2.40625 -4.015625 2.078125 -4.390625 1.59375 -4.390625 C 0.65625 -4.390625 0.28125 -2.953125 0.28125 -2.859375 C 0.28125 -2.765625 0.40625 -2.765625 0.40625 -2.765625 C 0.5 -2.765625 0.515625 -2.78125 0.5625 -2.9375 C 0.828125 -3.859375 1.21875 -4.171875 1.5625 -4.171875 C 1.65625 -4.171875 1.8125 -4.15625 1.8125 -3.84375 C 1.8125 -3.59375 1.703125 -3.3125 1.640625 -3.140625 C 1.203125 -1.96875 1.078125 -1.515625 1.078125 -1.140625 C 1.078125 -0.234375 1.75 0.109375 2.484375 0.109375 C 2.65625 0.109375 3.125 0.109375 3.515625 -0.578125 C 3.78125 0.046875 4.46875 0.109375 4.765625 0.109375 C 5.5 0.109375 5.9375 -0.515625 6.203125 -1.109375 C 6.53125 -1.890625 6.859375 -3.21875 6.859375 -3.6875 Z M 6.859375 -3.6875 "/>
</g>
<g id="glyph-2-1">
<path d="M 3.921875 -1.53125 C 3.921875 -1.890625 3.734375 -2.140625 3.625 -2.265625 C 3.359375 -2.546875 3.0625 -2.59375 2.625 -2.671875 C 2.265625 -2.765625 1.875 -2.828125 1.875 -3.28125 C 1.875 -3.5625 2.109375 -4.171875 2.984375 -4.171875 C 3.234375 -4.171875 3.734375 -4.09375 3.875 -3.703125 C 3.609375 -3.703125 3.40625 -3.484375 3.40625 -3.265625 C 3.40625 -3.125 3.5 -2.96875 3.703125 -2.96875 C 3.921875 -2.96875 4.171875 -3.140625 4.171875 -3.53125 C 4.171875 -3.984375 3.734375 -4.390625 2.984375 -4.390625 C 1.671875 -4.390625 1.3125 -3.375 1.3125 -2.9375 C 1.3125 -2.15625 2.046875 -2.015625 2.328125 -1.953125 C 2.84375 -1.859375 3.359375 -1.75 3.359375 -1.203125 C 3.359375 -0.9375 3.140625 -0.109375 1.9375 -0.109375 C 1.8125 -0.109375 1.046875 -0.109375 0.8125 -0.640625 C 1.1875 -0.578125 1.4375 -0.890625 1.4375 -1.15625 C 1.4375 -1.390625 1.28125 -1.515625 1.078125 -1.515625 C 0.8125 -1.515625 0.515625 -1.296875 0.515625 -0.859375 C 0.515625 -0.28125 1.078125 0.109375 1.9375 0.109375 C 3.546875 0.109375 3.921875 -1.09375 3.921875 -1.53125 Z M 3.921875 -1.53125 "/>
</g>
<g id="glyph-2-2">
<path d="M 7.125 -0.203125 C 7.125 -0.3125 7.03125 -0.3125 6.84375 -0.3125 C 6.484375 -0.3125 6.203125 -0.3125 6.203125 -0.484375 C 6.203125 -0.546875 6.21875 -0.59375 6.234375 -0.65625 L 7.578125 -6.015625 C 7.65625 -6.375 7.671875 -6.46875 8.40625 -6.46875 C 8.65625 -6.46875 8.734375 -6.46875 8.734375 -6.671875 C 8.734375 -6.78125 8.625 -6.78125 8.609375 -6.78125 L 7.328125 -6.75 L 6.046875 -6.78125 C 5.96875 -6.78125 5.859375 -6.78125 5.859375 -6.578125 C 5.859375 -6.46875 5.953125 -6.46875 6.140625 -6.46875 C 6.140625 -6.46875 6.34375 -6.46875 6.515625 -6.453125 C 6.703125 -6.421875 6.78125 -6.421875 6.78125 -6.296875 C 6.78125 -6.25 6.78125 -6.234375 6.75 -6.109375 L 6.15625 -3.6875 L 3.125 -3.6875 L 3.703125 -6.015625 C 3.796875 -6.375 3.828125 -6.46875 4.546875 -6.46875 C 4.796875 -6.46875 4.875 -6.46875 4.875 -6.671875 C 4.875 -6.78125 4.765625 -6.78125 4.75 -6.78125 L 3.46875 -6.75 L 2.1875 -6.78125 C 2.109375 -6.78125 2 -6.78125 2 -6.578125 C 2 -6.46875 2.09375 -6.46875 2.28125 -6.46875 C 2.28125 -6.46875 2.484375 -6.46875 2.65625 -6.453125 C 2.84375 -6.421875 2.921875 -6.421875 2.921875 -6.296875 C 2.921875 -6.25 2.921875 -6.21875 2.890625 -6.109375 L 1.5625 -0.78125 C 1.453125 -0.390625 1.4375 -0.3125 0.65625 -0.3125 C 0.46875 -0.3125 0.390625 -0.3125 0.390625 -0.109375 C 0.390625 0 0.53125 0 0.53125 0 L 1.78125 -0.03125 L 2.421875 -0.015625 C 2.640625 -0.015625 2.859375 0 3.0625 0 C 3.140625 0 3.265625 0 3.265625 -0.203125 C 3.265625 -0.3125 3.171875 -0.3125 2.984375 -0.3125 C 2.625 -0.3125 2.34375 -0.3125 2.34375 -0.484375 C 2.34375 -0.546875 2.359375 -0.59375 2.375 -0.65625 L 3.046875 -3.375 L 6.078125 -3.375 L 5.390625 -0.640625 C 5.28125 -0.3125 5.09375 -0.3125 4.484375 -0.3125 C 4.328125 -0.3125 4.25 -0.3125 4.25 -0.109375 C 4.25 0 4.390625 0 4.390625 0 L 5.640625 -0.03125 L 6.28125 -0.015625 C 6.5 -0.015625 6.71875 0 6.921875 0 C 7 0 7.125 0 7.125 -0.203125 Z M 7.125 -0.203125 "/>
</g>
<g id="glyph-2-3">
<path d="M 4.921875 -1.421875 C 4.921875 -1.515625 4.828125 -1.515625 4.796875 -1.515625 C 4.71875 -1.515625 4.6875 -1.484375 4.671875 -1.40625 C 4.34375 -0.34375 3.671875 -0.109375 3.359375 -0.109375 C 2.96875 -0.109375 2.8125 -0.421875 2.8125 -0.765625 C 2.8125 -0.984375 2.875 -1.203125 2.96875 -1.640625 L 3.3125 -3 C 3.375 -3.25 3.609375 -4.171875 4.296875 -4.171875 C 4.34375 -4.171875 4.578125 -4.171875 4.796875 -4.03125 C 4.515625 -3.984375 4.3125 -3.734375 4.3125 -3.5 C 4.3125 -3.34375 4.421875 -3.15625 4.6875 -3.15625 C 4.90625 -3.15625 5.234375 -3.328125 5.234375 -3.734375 C 5.234375 -4.25 4.640625 -4.390625 4.3125 -4.390625 C 3.734375 -4.390625 3.390625 -3.859375 3.265625 -3.625 C 3.015625 -4.28125 2.484375 -4.390625 2.1875 -4.390625 C 1.15625 -4.390625 0.59375 -3.109375 0.59375 -2.859375 C 0.59375 -2.765625 0.71875 -2.765625 0.71875 -2.765625 C 0.796875 -2.765625 0.828125 -2.78125 0.84375 -2.875 C 1.1875 -3.921875 1.828125 -4.171875 2.171875 -4.171875 C 2.359375 -4.171875 2.703125 -4.078125 2.703125 -3.5 C 2.703125 -3.1875 2.546875 -2.53125 2.171875 -1.140625 C 2.015625 -0.53125 1.671875 -0.109375 1.234375 -0.109375 C 1.171875 -0.109375 0.9375 -0.109375 0.734375 -0.234375 C 0.984375 -0.28125 1.203125 -0.5 1.203125 -0.78125 C 1.203125 -1.046875 0.984375 -1.125 0.828125 -1.125 C 0.53125 -1.125 0.28125 -0.859375 0.28125 -0.546875 C 0.28125 -0.09375 0.78125 0.109375 1.21875 0.109375 C 1.875 0.109375 2.234375 -0.578125 2.265625 -0.640625 C 2.375 -0.28125 2.734375 0.109375 3.328125 0.109375 C 4.359375 0.109375 4.921875 -1.171875 4.921875 -1.421875 Z M 4.921875 -1.421875 "/>
</g>
<g id="glyph-2-4">
<path d="M 5.671875 -1.421875 C 5.671875 -1.515625 5.578125 -1.515625 5.546875 -1.515625 C 5.453125 -1.515625 5.453125 -1.484375 5.390625 -1.34375 C 5.203125 -0.671875 4.875 -0.109375 4.390625 -0.109375 C 4.21875 -0.109375 4.140625 -0.203125 4.140625 -0.4375 C 4.140625 -0.6875 4.234375 -0.921875 4.328125 -1.140625 C 4.515625 -1.671875 4.9375 -2.765625 4.9375 -3.328125 C 4.9375 -3.984375 4.5 -4.390625 3.796875 -4.390625 C 2.890625 -4.390625 2.40625 -3.75 2.25 -3.515625 C 2.1875 -4.078125 1.78125 -4.390625 1.328125 -4.390625 C 0.875 -4.390625 0.6875 -4 0.578125 -3.8125 C 0.421875 -3.484375 0.28125 -2.890625 0.28125 -2.859375 C 0.28125 -2.765625 0.40625 -2.765625 0.40625 -2.765625 C 0.5 -2.765625 0.515625 -2.765625 0.578125 -2.984375 C 0.75 -3.6875 0.9375 -4.171875 1.296875 -4.171875 C 1.5 -4.171875 1.609375 -4.03125 1.609375 -3.703125 C 1.609375 -3.5 1.578125 -3.390625 1.453125 -2.875 L 0.875 -0.578125 C 0.84375 -0.4375 0.78125 -0.203125 0.78125 -0.15625 C 0.78125 0.015625 0.921875 0.109375 1.078125 0.109375 C 1.1875 0.109375 1.375 0.03125 1.4375 -0.171875 C 1.453125 -0.1875 1.5625 -0.65625 1.625 -0.90625 L 1.84375 -1.796875 C 1.90625 -2.015625 1.96875 -2.234375 2.015625 -2.453125 L 2.140625 -2.953125 C 2.296875 -3.265625 2.8125 -4.171875 3.765625 -4.171875 C 4.203125 -4.171875 4.296875 -3.796875 4.296875 -3.46875 C 4.296875 -2.859375 3.8125 -1.59375 3.65625 -1.15625 C 3.5625 -0.9375 3.546875 -0.8125 3.546875 -0.703125 C 3.546875 -0.234375 3.90625 0.109375 4.359375 0.109375 C 5.296875 0.109375 5.671875 -1.34375 5.671875 -1.421875 Z M 5.671875 -1.421875 "/>
</g>
<g id="glyph-3-0">
<path d="M 3.28125 0 L 3.28125 -0.25 L 3.015625 -0.25 C 2.328125 -0.25 2.328125 -0.34375 2.328125 -0.5625 L 2.328125 -4.40625 C 2.328125 -4.59375 2.3125 -4.609375 2.109375 -4.609375 C 1.671875 -4.171875 1.046875 -4.15625 0.75 -4.15625 L 0.75 -3.90625 C 0.921875 -3.90625 1.375 -3.90625 1.765625 -4.109375 L 1.765625 -0.5625 C 1.765625 -0.34375 1.765625 -0.25 1.0625 -0.25 L 0.8125 -0.25 L 0.8125 0 L 2.046875 -0.03125 Z M 3.28125 0 "/>
</g>
<g id="glyph-3-1">
<path d="M 3.5 -1.265625 L 3.265625 -1.265625 C 3.25 -1.109375 3.171875 -0.703125 3.09375 -0.625 C 3.03125 -0.59375 2.5 -0.59375 2.40625 -0.59375 L 1.125 -0.59375 C 1.859375 -1.234375 2.09375 -1.421875 2.515625 -1.75 C 3.03125 -2.171875 3.5 -2.59375 3.5 -3.25 C 3.5 -4.09375 2.765625 -4.609375 1.875 -4.609375 C 1.015625 -4.609375 0.4375 -4 0.4375 -3.359375 C 0.4375 -3.015625 0.734375 -2.96875 0.8125 -2.96875 C 0.96875 -2.96875 1.171875 -3.09375 1.171875 -3.34375 C 1.171875 -3.46875 1.125 -3.71875 0.765625 -3.71875 C 0.984375 -4.203125 1.453125 -4.359375 1.78125 -4.359375 C 2.46875 -4.359375 2.828125 -3.8125 2.828125 -3.25 C 2.828125 -2.65625 2.40625 -2.171875 2.171875 -1.921875 L 0.5 -0.265625 C 0.4375 -0.203125 0.4375 -0.1875 0.4375 0 L 3.296875 0 Z M 3.5 -1.265625 "/>
</g>
<g id="glyph-4-0">
<path d="M 3.28125 2.375 C 3.28125 2.34375 3.28125 2.328125 3.109375 2.15625 C 1.875 0.90625 1.5625 -0.96875 1.5625 -2.484375 C 1.5625 -4.203125 1.9375 -5.9375 3.15625 -7.171875 C 3.28125 -7.296875 3.28125 -7.3125 3.28125 -7.34375 C 3.28125 -7.40625 3.25 -7.4375 3.1875 -7.4375 C 3.078125 -7.4375 2.1875 -6.765625 1.609375 -5.5 C 1.09375 -4.421875 0.984375 -3.3125 0.984375 -2.484375 C 0.984375 -1.703125 1.09375 -0.5 1.640625 0.609375 C 2.234375 1.828125 3.078125 2.484375 3.1875 2.484375 C 3.25 2.484375 3.28125 2.453125 3.28125 2.375 Z M 3.28125 2.375 "/>
</g>
<g id="glyph-4-1">
<path d="M 2.875 -2.484375 C 2.875 -3.25 2.765625 -4.453125 2.21875 -5.578125 C 1.625 -6.796875 0.765625 -7.4375 0.671875 -7.4375 C 0.609375 -7.4375 0.5625 -7.40625 0.5625 -7.34375 C 0.5625 -7.3125 0.5625 -7.296875 0.75 -7.109375 C 1.71875 -6.125 2.296875 -4.546875 2.296875 -2.484375 C 2.296875 -0.78125 1.921875 0.96875 0.6875 2.21875 C 0.5625 2.328125 0.5625 2.34375 0.5625 2.375 C 0.5625 2.4375 0.609375 2.484375 0.671875 2.484375 C 0.765625 2.484375 1.65625 1.8125 2.25 0.546875 C 2.75 -0.546875 2.875 -1.640625 2.875 -2.484375 Z M 2.875 -2.484375 "/>
</g>
<g id="glyph-4-2">
<path d="M 7.78125 -0.078125 C 7.78125 -0.078125 7.78125 -0.109375 7.734375 -0.203125 L 4.390625 -6.921875 C 4.3125 -7.046875 4.296875 -7.109375 4.125 -7.109375 C 3.953125 -7.109375 3.9375 -7.046875 3.875 -6.921875 L 0.515625 -0.203125 C 0.46875 -0.109375 0.46875 -0.078125 0.46875 -0.078125 C 0.46875 0 0.53125 0 0.6875 0 L 7.578125 0 C 7.734375 0 7.78125 0 7.78125 -0.078125 Z M 6.484375 -0.75 L 1.125 -0.75 L 3.8125 -6.109375 Z M 6.484375 -0.75 "/>
</g>
<g id="glyph-4-3">
<path d="M 3.984375 -5.265625 L 2.484375 -6.859375 L 0.96875 -5.265625 L 1.09375 -5.125 L 2.484375 -6.1875 L 3.859375 -5.125 Z M 3.984375 -5.265625 "/>
</g>
<g id="glyph-5-0">
<path d="M 8.078125 -2.984375 C 8.078125 -3.203125 7.890625 -3.203125 7.703125 -3.203125 L 4.53125 -3.203125 L 4.53125 -6.390625 C 4.53125 -6.546875 4.53125 -6.75 4.3125 -6.75 C 4.109375 -6.75 4.109375 -6.5625 4.109375 -6.390625 L 4.109375 -3.203125 L 0.921875 -3.203125 C 0.75 -3.203125 0.546875 -3.203125 0.546875 -3 C 0.546875 -2.78125 0.75 -2.78125 0.921875 -2.78125 L 4.109375 -2.78125 L 4.109375 0.390625 C 4.109375 0.5625 4.109375 0.765625 4.3125 0.765625 C 4.53125 0.765625 4.53125 0.578125 4.53125 0.390625 L 4.53125 -2.78125 L 7.703125 -2.78125 C 7.875 -2.78125 8.078125 -2.78125 8.078125 -2.984375 Z M 8.078125 -2.984375 "/>
</g>
</g>
<clipPath id="clip-0">
<path clip-rule="nonzero" d="M 11 0 L 245 0 L 245 126.828125 L 11 126.828125 Z M 11 0 "/>
</clipPath>
<clipPath id="clip-1">
<path clip-rule="nonzero" d="M 109 89 L 152 89 L 152 126.828125 L 109 126.828125 Z M 109 89 "/>
</clipPath>
<clipPath id="clip-2">
<path clip-rule="nonzero" d="M 134 89 L 177 89 L 177 126.828125 L 134 126.828125 Z M 134 89 "/>
</clipPath>
<clipPath id="clip-3">
<path clip-rule="nonzero" d="M 0.359375 77 L 22 77 L 22 79 L 0.359375 79 Z M 0.359375 77 "/>
</clipPath>
<clipPath id="clip-4">
<path clip-rule="nonzero" d="M 234 62 L 255.730469 62 L 255.730469 94 L 234 94 Z M 234 62 "/>
</clipPath>
</defs>
<path fill-rule="nonzero" fill="rgb(89.99939%, 89.99939%, 89.99939%)" fill-opacity="1" d="M 12.179688 125.835938 L 243.914062 125.835938 L 243.914062 0.992188 L 12.179688 0.992188 Z M 12.179688 125.835938 "/>
<g clip-path="url(#clip-0)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -8.968157 -47.809672 L 223.833833 -47.809672 L 223.833833 77.609241 L -8.968157 77.609241 Z M -8.968157 -47.809672 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="184.023151" y="11.129725"/>
<use xlink:href="#glyph-0-1" x="189.532987" y="11.129725"/>
<use xlink:href="#glyph-0-2" x="195.042824" y="11.129725"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-3" x="200.830334" y="11.129725"/>
<use xlink:href="#glyph-0-4" x="205.238401" y="11.129725"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="212.425187" y="11.129725"/>
<use xlink:href="#glyph-0-3" x="217.935024" y="11.129725"/>
<use xlink:href="#glyph-0-5" x="222.343091" y="11.129725"/>
<use xlink:href="#glyph-0-6" x="227.852927" y="11.129725"/>
<use xlink:href="#glyph-0-7" x="231.765149" y="11.129725"/>
<use xlink:href="#glyph-0-4" x="236.723605" y="11.129725"/>
</g>
<path fill-rule="nonzero" fill="rgb(79.998779%, 88.941956%, 94.822693%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 3.558037 18.918213 L 150.528911 18.918213 L 150.528911 74.618966 L 3.558037 74.618966 Z M 3.558037 18.918213 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="134.125035" y="10.689752"/>
<use xlink:href="#glyph-1-1" x="138.987297" y="10.689752"/>
<use xlink:href="#glyph-1-2" x="142.362022" y="10.689752"/>
<use xlink:href="#glyph-1-3" x="145.048018" y="10.689752"/>
<use xlink:href="#glyph-1-4" x="150.488436" y="10.689752"/>
<use xlink:href="#glyph-1-5" x="153.863161" y="10.689752"/>
<use xlink:href="#glyph-1-6" x="155.860427" y="10.689752"/>
<use xlink:href="#glyph-1-7" x="157.857693" y="10.689752"/>
<use xlink:href="#glyph-1-8" x="160.887805" y="10.689752"/>
<use xlink:href="#glyph-1-9" x="163.917918" y="10.689752"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-10" x="143.67006" y="17.630774"/>
<use xlink:href="#glyph-1-8" x="146.390269" y="17.630774"/>
<use xlink:href="#glyph-1-11" x="149.420382" y="17.630774"/>
<use xlink:href="#glyph-1-10" x="153.139224" y="17.630774"/>
<use xlink:href="#glyph-1-1" x="155.859433" y="17.630774"/>
<use xlink:href="#glyph-1-2" x="159.234158" y="17.630774"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-12" x="164.260545" y="17.630774"/>
</g>
<path fill-rule="nonzero" fill="rgb(97.019958%, 86.431885%, 81.881714%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 3.558037 -44.819396 L 150.528911 -44.819396 L 150.528911 10.881357 L 3.558037 10.881357 Z M 3.558037 -44.819396 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="134.125035" y="74.134458"/>
<use xlink:href="#glyph-1-1" x="138.987297" y="74.134458"/>
<use xlink:href="#glyph-1-2" x="142.362022" y="74.134458"/>
<use xlink:href="#glyph-1-3" x="145.048018" y="74.134458"/>
<use xlink:href="#glyph-1-4" x="150.488436" y="74.134458"/>
<use xlink:href="#glyph-1-5" x="153.863161" y="74.134458"/>
<use xlink:href="#glyph-1-6" x="155.860427" y="74.134458"/>
<use xlink:href="#glyph-1-7" x="157.857693" y="74.134458"/>
<use xlink:href="#glyph-1-8" x="160.887805" y="74.134458"/>
<use xlink:href="#glyph-1-9" x="163.917918" y="74.134458"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-10" x="143.67006" y="81.076475"/>
<use xlink:href="#glyph-1-8" x="146.390269" y="81.076475"/>
<use xlink:href="#glyph-1-11" x="149.420382" y="81.076475"/>
<use xlink:href="#glyph-1-10" x="153.139224" y="81.076475"/>
<use xlink:href="#glyph-1-1" x="155.859433" y="81.076475"/>
<use xlink:href="#glyph-1-2" x="159.234158" y="81.076475"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-13" x="164.260545" y="81.076475"/>
</g>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 23.089844 78.246094 C 23.089844 77.148438 22.203125 76.261719 21.105469 76.261719 C 20.011719 76.261719 19.125 77.148438 19.125 78.246094 C 19.125 79.339844 20.011719 80.230469 21.105469 80.230469 C 22.203125 80.230469 23.089844 79.339844 23.089844 78.246094 Z M 23.089844 78.246094 "/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 35.0625 46.523438 C 35.0625 45.425781 34.171875 44.539062 33.078125 44.539062 C 31.984375 44.539062 31.09375 45.425781 31.09375 46.523438 C 31.09375 47.617188 31.984375 48.507812 33.078125 48.507812 C 34.171875 48.507812 35.0625 47.617188 35.0625 46.523438 Z M 35.0625 46.523438 "/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 35.0625 109.96875 C 35.0625 108.875 34.171875 107.984375 33.078125 107.984375 C 31.984375 107.984375 31.09375 108.875 31.09375 109.96875 C 31.09375 111.0625 31.984375 111.953125 33.078125 111.953125 C 34.171875 111.953125 35.0625 111.0625 35.0625 109.96875 Z M 35.0625 109.96875 "/>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 22.790768 45.46574 L 53.450905 45.46574 L 53.450905 68.143959 L 22.790768 68.143959 Z M 22.790768 45.46574 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="47.096979" y="24.180598"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="54.196272" y="25.667747"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="58.644777" y="24.180598"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="62.501464" y="24.180598"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-1" x="67.150513" y="24.180598"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 22.790768 -18.27187 L 53.450905 -18.27187 L 53.450905 4.40635 L 22.790768 4.40635 Z M 22.790768 -18.27187 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="47.096979" y="87.625305"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="54.196272" y="89.112453"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="58.644777" y="87.625305"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="62.501464" y="87.625305"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-1" x="67.150513" y="87.625305"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 65.784811 45.46574 L 97.618298 45.46574 L 97.618298 68.143959 L 65.784811 68.143959 Z M 65.784811 45.46574 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-2" x="89.895802" y="24.180598"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="98.159729" y="25.667747"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="102.608235" y="24.180598"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="106.464922" y="24.180598"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-1" x="111.11397" y="24.180598"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 65.784811 -18.27187 L 97.618298 -18.27187 L 97.618298 4.40635 L 65.784811 4.40635 Z M 65.784811 -18.27187 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-2" x="89.895802" y="87.625305"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="98.159729" y="89.112453"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="102.608235" y="87.625305"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="106.464922" y="87.625305"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-1" x="111.11397" y="87.625305"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 116.42721 31.868226 C 116.42721 35.721836 113.307435 38.841612 109.453825 38.841612 C 105.604139 38.841612 102.480439 35.721836 102.480439 31.868226 C 102.480439 28.01854 105.604139 24.89484 109.453825 24.89484 C 113.307435 24.89484 116.42721 28.01854 116.42721 31.868226 Z M 116.42721 31.868226 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-0" x="125.740662" y="49.425294"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" d="M 137 109.96875 C 137 106.132812 133.894531 103.027344 130.058594 103.027344 C 126.226562 103.027344 123.117188 106.132812 123.117188 109.96875 C 123.117188 113.800781 126.226562 116.910156 130.058594 116.910156 C 133.894531 116.910156 137 113.800781 137 109.96875 Z M 137 109.96875 "/>
<g clip-path="url(#clip-1)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 116.42721 -31.869383 C 116.42721 -28.015773 113.307435 -24.895997 109.453825 -24.895997 C 105.604139 -24.895997 102.480439 -28.015773 102.480439 -31.869383 C 102.480439 -35.719069 105.604139 -38.842769 109.453825 -38.842769 C 113.307435 -38.842769 116.42721 -35.719069 116.42721 -31.869383 Z M 116.42721 -31.869383 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-0" x="125.740662" y="112.870996"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 141.715054 31.868226 C 141.715054 35.721836 138.591354 38.841612 134.741668 38.841612 C 130.888058 38.841612 127.768282 35.721836 127.768282 31.868226 C 127.768282 28.01854 130.888058 24.89484 134.741668 24.89484 C 138.591354 24.89484 141.715054 28.01854 141.715054 31.868226 Z M 141.715054 31.868226 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-0" x="150.910702" y="49.425294"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" d="M 162.171875 109.96875 C 162.171875 106.132812 159.0625 103.027344 155.230469 103.027344 C 151.394531 103.027344 148.289062 106.132812 148.289062 109.96875 C 148.289062 113.800781 151.394531 116.910156 155.230469 116.910156 C 159.0625 116.910156 162.171875 113.800781 162.171875 109.96875 Z M 162.171875 109.96875 "/>
<g clip-path="url(#clip-2)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 141.715054 -31.869383 C 141.715054 -28.015773 138.591354 -24.895997 134.741668 -24.895997 C 130.888058 -24.895997 127.768282 -28.015773 127.768282 -31.869383 C 127.768282 -35.719069 130.888058 -38.842769 134.741668 -38.842769 C 138.591354 -38.842769 141.715054 -35.719069 141.715054 -31.869383 Z M 141.715054 -31.869383 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-0" x="150.910702" y="112.870996"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 167.724959 20.531078 L 199.5349 20.531078 L 199.5349 43.209298 L 167.724959 43.209298 Z M 167.724959 20.531078 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-2" x="191.365325" y="49.002243"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="199.609344" y="50.489392"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="204.05785" y="49.002243"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="207.914537" y="49.002243"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-1" x="212.563585" y="49.002243"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 167.724959 -43.206531 L 199.5349 -43.206531 L 199.5349 -20.532236 L 167.724959 -20.532236 Z M 167.724959 -43.206531 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-2" x="191.365325" y="112.44695"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="199.609344" y="113.935094"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="204.05785" y="112.44695"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="207.914537" y="112.44695"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-1" x="212.563585" y="112.44695"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 214.86693 -0.000578607 C 214.86693 3.853031 211.74323 6.972807 207.893544 6.972807 C 204.039934 6.972807 200.920159 3.853031 200.920159 -0.000578607 C 200.920159 -3.850264 204.039934 -6.973964 207.893544 -6.973964 C 211.74323 -6.973964 214.86693 -3.850264 214.86693 -0.000578607 Z M 214.86693 -0.000578607 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-0" x="223.725241" y="81.148145"/>
</g>
<g clip-path="url(#clip-3)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -19.842244 -0.000578607 L -0.00125445 -0.000578607 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-3" x="5.156203" y="74.444031"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -0.00125445 -0.000578607 L -0.00125445 31.868226 L 97.845904 31.868226 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054816 -0.000934011 L 1.608645 1.682568 L 3.088086 -0.000934011 L 1.608645 -1.684436 Z M 6.054816 -0.000934011 " transform="matrix(0.995414, 0, 0, -0.995414, 115.679982, 46.522508)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -0.00125445 -0.000578607 L -0.00125445 -31.869383 L 97.845904 -31.869383 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054816 -0.000223203 L 1.608645 1.683278 L 3.088086 -0.000223203 L 1.608645 -1.683725 Z M 6.054816 -0.000223203 " transform="matrix(0.995414, 0, 0, -0.995414, 115.679982, 109.968528)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 12.026561 31.868226 L 12.026561 56.806812 L 17.657854 56.806812 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052112 0.00102153 L 1.609865 1.684523 L 3.089306 0.00102153 L 1.609865 -1.68248 Z M 6.052112 0.00102153 " transform="matrix(0.995414, 0, 0, -0.995414, 35.858455, 21.700236)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 53.949284 56.806812 L 60.655821 56.806812 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053219 0.00102153 L 1.607048 1.684523 L 3.086489 0.00102153 L 1.607048 -1.68248 Z M 6.053219 0.00102153 " transform="matrix(0.995414, 0, 0, -0.995414, 78.658134, 21.700236)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 98.116677 56.806812 L 109.453825 56.806812 L 109.453825 43.476147 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052951 -0.0011153 L 1.60678 1.682386 L 3.086221 -0.0011153 L 1.60678 -1.684617 Z M 6.052951 -0.0011153 " transform="matrix(0, 0.995414, 0.995414, 0, 130.059704, 32.142776)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 116.42721 31.868226 L 123.133747 31.868226 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052385 -0.000934011 L 1.610138 1.682568 L 3.085655 -0.000934011 L 1.610138 -1.684436 Z M 6.052385 -0.000934011 " transform="matrix(0.995414, 0, 0, -0.995414, 140.850371, 46.522508)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 134.741668 43.476147 L 134.741668 55.85322 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052951 0.000378174 L 1.60678 1.68388 L 3.086221 0.000378174 L 1.60678 -1.683124 Z M 6.052951 0.000378174 " transform="matrix(0, 0.995414, 0.995414, 0, 155.230092, 32.142776)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-4" x="159.029299" y="30.721464"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="164.981875" y="32.209608"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 12.026561 -31.869383 L 12.026561 -6.930798 L 17.657854 -6.930798 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052112 0.00174234 L 1.609865 1.68132 L 3.089306 0.00174234 L 1.609865 -1.681759 Z M 6.052112 0.00174234 " transform="matrix(0.995414, 0, 0, -0.995414, 35.858455, 85.146266)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 53.949284 -6.930798 L 60.655821 -6.930798 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053219 0.00174234 L 1.607048 1.68132 L 3.086489 0.00174234 L 1.607048 -1.681759 Z M 6.053219 0.00174234 " transform="matrix(0.995414, 0, 0, -0.995414, 78.658134, 85.146266)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 98.116677 -6.930798 L 109.453825 -6.930798 L 109.453825 -20.261463 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.05225 -0.0011153 L 1.610003 1.682386 L 3.089444 -0.0011153 L 1.610003 -1.684617 Z M 6.05225 -0.0011153 " transform="matrix(0, 0.995414, 0.995414, 0, 130.059704, 95.588786)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 116.42721 -31.869383 L 123.133747 -31.869383 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052385 -0.000223203 L 1.610138 1.683278 L 3.085655 -0.000223203 L 1.610138 -1.683725 Z M 6.052385 -0.000223203 " transform="matrix(0.995414, 0, 0, -0.995414, 140.850371, 109.968528)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 134.741668 -20.261463 L 134.741668 -7.888314 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.05225 0.000378174 L 1.610003 1.68388 L 3.089444 0.000378174 L 1.610003 -1.683124 Z M 6.05225 0.000378174 " transform="matrix(0, 0.995414, 0.995414, 0, 155.230092, 95.588786)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-4" x="159.029299" y="94.167166"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="164.981875" y="95.654314"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 141.715054 31.868226 L 162.592045 31.868226 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054857 -0.000934011 L 1.608685 1.682568 L 3.088126 -0.000934011 L 1.608685 -1.684436 Z M 6.054857 -0.000934011 " transform="matrix(0.995414, 0, 0, -0.995414, 180.129161, 46.522508)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-3" x="174.277052" y="41.234032"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-3" x="173.642369" y="41.234032"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="179.314842" y="42.722176"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 141.715054 -31.869383 L 162.592045 -31.869383 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054857 -0.000223203 L 1.608685 1.683278 L 3.088126 -0.000223203 L 1.608685 -1.683725 Z M 6.054857 -0.000223203 " transform="matrix(0.995414, 0, 0, -0.995414, 180.129161, 109.968528)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-3" x="174.277052" y="104.679734"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-3" x="173.642369" y="104.679734"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="179.314842" y="106.166882"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 200.033279 31.868226 L 207.893544 31.868226 L 207.893544 11.607342 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052596 0.00130436 L 1.610349 1.684806 L 3.085865 0.00130436 L 1.610349 -1.682197 Z M 6.052596 0.00130436 " transform="matrix(0, 0.995414, 0.995414, 0, 228.045577, 63.865786)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 200.033279 -31.869383 L 207.893544 -31.869383 L 207.893544 -11.608499 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.051428 -0.00130436 L 1.609182 1.682197 L 3.088622 -0.00130436 L 1.609182 -1.684806 Z M 6.051428 -0.00130436 " transform="matrix(0, -0.995414, -0.995414, 0, 228.045577, 92.625239)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 214.86693 -0.000578607 L 230.073385 -0.000578607 " transform="matrix(0.995414, 0, 0, -0.995414, 21.106717, 78.245518)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 253.328125 78.246094 L 248.902344 76.570312 L 250.375 78.246094 L 248.902344 79.921875 Z M 253.328125 78.246094 "/>
<g clip-path="url(#clip-4)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054507 -0.000578607 L 1.608336 1.682923 L 3.087776 -0.000578607 L 1.608336 -1.68408 Z M 6.054507 -0.000578607 " transform="matrix(0.995414, 0, 0, -0.995414, 247.301384, 78.245518)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-3" x="245.897094" y="74.444031"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-3" x="245.262411" y="74.444031"/>
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 60 KiB

BIN
figs/detail_control_sensor_fusion_overview.pdf Normal file
View File

Binary file not shown.

BIN
figs/detail_control_sensor_fusion_overview.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 20 KiB

299
figs/detail_control_sensor_fusion_overview.svg Normal file
View File

@ -0,0 +1,299 @@
<?xml version="1.0" encoding="UTF-8"?>
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="205.521" height="104.506" viewBox="0 0 205.521 104.506">
<defs>
<g>
<g id="glyph-0-0">
<path d="M 4.953125 -1.84375 C 4.953125 -2.84375 4.296875 -3.65625 3.46875 -3.84375 L 2.1875 -4.15625 C 1.578125 -4.3125 1.1875 -4.84375 1.1875 -5.421875 C 1.1875 -6.109375 1.71875 -6.71875 2.5 -6.71875 C 4.15625 -6.71875 4.375 -5.09375 4.4375 -4.640625 C 4.4375 -4.578125 4.4375 -4.53125 4.546875 -4.53125 C 4.6875 -4.53125 4.6875 -4.578125 4.6875 -4.765625 L 4.6875 -6.75 C 4.6875 -6.921875 4.6875 -7 4.578125 -7 C 4.5 -7 4.5 -6.984375 4.421875 -6.859375 L 4.078125 -6.296875 C 3.78125 -6.59375 3.375 -7 2.484375 -7 C 1.390625 -7 0.5625 -6.125 0.5625 -5.0625 C 0.5625 -4.25 1.078125 -3.515625 1.859375 -3.25 C 1.96875 -3.21875 2.46875 -3.09375 3.171875 -2.921875 C 3.4375 -2.859375 3.734375 -2.78125 4.015625 -2.421875 C 4.21875 -2.15625 4.3125 -1.828125 4.3125 -1.515625 C 4.3125 -0.796875 3.8125 -0.09375 2.984375 -0.09375 C 2.703125 -0.09375 1.9375 -0.140625 1.421875 -0.625 C 0.84375 -1.15625 0.8125 -1.796875 0.796875 -2.15625 C 0.796875 -2.25 0.71875 -2.25 0.6875 -2.25 C 0.5625 -2.25 0.5625 -2.1875 0.5625 -2 L 0.5625 -0.015625 C 0.5625 0.15625 0.5625 0.21875 0.671875 0.21875 C 0.734375 0.21875 0.75 0.203125 0.8125 0.09375 C 0.8125 0.09375 0.84375 0.046875 1.171875 -0.46875 C 1.484375 -0.140625 2.109375 0.21875 3 0.21875 C 4.15625 0.21875 4.953125 -0.75 4.953125 -1.84375 Z M 4.953125 -1.84375 "/>
</g>
<g id="glyph-0-1">
<path d="M 5.3125 0 L 5.3125 -0.3125 C 4.609375 -0.3125 4.53125 -0.375 4.53125 -0.859375 L 4.53125 -4.390625 L 3.078125 -4.28125 L 3.078125 -3.96875 C 3.765625 -3.96875 3.84375 -3.90625 3.84375 -3.40625 L 3.84375 -1.640625 C 3.84375 -0.78125 3.375 -0.109375 2.65625 -0.109375 C 1.8125 -0.109375 1.78125 -0.578125 1.78125 -1.09375 L 1.78125 -4.390625 L 0.3125 -4.28125 L 0.3125 -3.96875 C 1.09375 -3.96875 1.09375 -3.9375 1.09375 -3.0625 L 1.09375 -1.5625 C 1.09375 -0.796875 1.09375 0.109375 2.59375 0.109375 C 3.15625 0.109375 3.59375 -0.171875 3.875 -0.78125 L 3.875 0.109375 Z M 5.3125 0 "/>
</g>
<g id="glyph-0-2">
<path d="M 5.171875 -2.140625 C 5.171875 -3.40625 4.203125 -4.390625 3.09375 -4.390625 C 2.328125 -4.390625 1.90625 -3.953125 1.703125 -3.734375 L 1.703125 -4.390625 L 0.28125 -4.28125 L 0.28125 -3.96875 C 0.984375 -3.96875 1.046875 -3.90625 1.046875 -3.46875 L 1.046875 1.171875 C 1.046875 1.625 0.9375 1.625 0.28125 1.625 L 0.28125 1.921875 L 1.390625 1.890625 L 2.515625 1.921875 L 2.515625 1.625 C 1.84375 1.625 1.734375 1.625 1.734375 1.171875 L 1.734375 -0.578125 C 1.78125 -0.421875 2.203125 0.109375 2.953125 0.109375 C 4.140625 0.109375 5.171875 -0.859375 5.171875 -2.140625 Z M 4.34375 -2.140625 C 4.34375 -0.9375 3.65625 -0.109375 2.921875 -0.109375 C 2.515625 -0.109375 2.140625 -0.3125 1.875 -0.71875 C 1.734375 -0.921875 1.734375 -0.9375 1.734375 -1.125 L 1.734375 -3.34375 C 2.03125 -3.84375 2.515625 -4.140625 3.015625 -4.140625 C 3.734375 -4.140625 4.34375 -3.265625 4.34375 -2.140625 Z M 4.34375 -2.140625 "/>
</g>
<g id="glyph-0-3">
<path d="M 4.125 -1.1875 C 4.125 -1.28125 4.03125 -1.296875 3.984375 -1.296875 C 3.90625 -1.296875 3.875 -1.234375 3.859375 -1.15625 C 3.515625 -0.140625 2.625 -0.140625 2.515625 -0.140625 C 2.03125 -0.140625 1.625 -0.4375 1.40625 -0.796875 C 1.09375 -1.28125 1.09375 -1.9375 1.09375 -2.296875 L 3.875 -2.296875 C 4.09375 -2.296875 4.125 -2.296875 4.125 -2.5 C 4.125 -3.484375 3.578125 -4.4375 2.34375 -4.4375 C 1.1875 -4.4375 0.28125 -3.421875 0.28125 -2.1875 C 0.28125 -0.859375 1.3125 0.109375 2.453125 0.109375 C 3.671875 0.109375 4.125 -0.984375 4.125 -1.1875 Z M 3.46875 -2.5 L 1.109375 -2.5 C 1.171875 -3.984375 2 -4.234375 2.34375 -4.234375 C 3.359375 -4.234375 3.46875 -2.890625 3.46875 -2.5 Z M 3.46875 -2.5 "/>
</g>
<g id="glyph-0-4">
<path d="M 3.609375 -3.78125 C 3.609375 -4.09375 3.296875 -4.390625 2.875 -4.390625 C 2.15625 -4.390625 1.796875 -3.71875 1.65625 -3.296875 L 1.65625 -4.390625 L 0.28125 -4.28125 L 0.28125 -3.96875 C 0.96875 -3.96875 1.046875 -3.90625 1.046875 -3.40625 L 1.046875 -0.75 C 1.046875 -0.3125 0.9375 -0.3125 0.28125 -0.3125 L 0.28125 0 L 1.40625 -0.03125 C 1.8125 -0.03125 2.265625 -0.03125 2.671875 0 L 2.671875 -0.3125 L 2.453125 -0.3125 C 1.71875 -0.3125 1.703125 -0.421875 1.703125 -0.78125 L 1.703125 -2.296875 C 1.703125 -3.28125 2.125 -4.171875 2.875 -4.171875 C 2.953125 -4.171875 2.96875 -4.171875 2.984375 -4.15625 C 2.953125 -4.140625 2.765625 -4.03125 2.765625 -3.765625 C 2.765625 -3.5 2.96875 -3.34375 3.1875 -3.34375 C 3.359375 -3.34375 3.609375 -3.46875 3.609375 -3.78125 Z M 3.609375 -3.78125 "/>
</g>
<g id="glyph-0-5">
<path d="M 5.3125 0 L 5.3125 -0.3125 C 4.796875 -0.3125 4.546875 -0.3125 4.53125 -0.609375 L 4.53125 -2.5 C 4.53125 -3.359375 4.53125 -3.65625 4.234375 -4.015625 C 4.09375 -4.1875 3.765625 -4.390625 3.1875 -4.390625 C 2.453125 -4.390625 2 -3.953125 1.71875 -3.34375 L 1.71875 -4.390625 L 0.3125 -4.28125 L 0.3125 -3.96875 C 1.015625 -3.96875 1.09375 -3.90625 1.09375 -3.40625 L 1.09375 -0.75 C 1.09375 -0.3125 0.984375 -0.3125 0.3125 -0.3125 L 0.3125 0 L 1.4375 -0.03125 L 2.546875 0 L 2.546875 -0.3125 C 1.890625 -0.3125 1.78125 -0.3125 1.78125 -0.75 L 1.78125 -2.578125 C 1.78125 -3.609375 2.484375 -4.171875 3.109375 -4.171875 C 3.734375 -4.171875 3.84375 -3.625 3.84375 -3.0625 L 3.84375 -0.75 C 3.84375 -0.3125 3.734375 -0.3125 3.078125 -0.3125 L 3.078125 0 L 4.203125 -0.03125 Z M 5.3125 0 "/>
</g>
<g id="glyph-0-6">
<path d="M 3.578125 -1.265625 C 3.578125 -1.796875 3.28125 -2.09375 3.15625 -2.21875 C 2.828125 -2.53125 2.4375 -2.609375 2.03125 -2.6875 C 1.46875 -2.796875 0.796875 -2.921875 0.796875 -3.5 C 0.796875 -3.84375 1.0625 -4.25 1.921875 -4.25 C 3 -4.25 3.0625 -3.359375 3.078125 -3.0625 C 3.078125 -2.96875 3.1875 -2.96875 3.1875 -2.96875 C 3.328125 -2.96875 3.328125 -3.015625 3.328125 -3.203125 L 3.328125 -4.203125 C 3.328125 -4.375 3.328125 -4.4375 3.21875 -4.4375 C 3.171875 -4.4375 3.140625 -4.4375 3.015625 -4.328125 C 2.984375 -4.28125 2.890625 -4.203125 2.84375 -4.171875 C 2.46875 -4.4375 2.0625 -4.4375 1.921875 -4.4375 C 0.703125 -4.4375 0.328125 -3.78125 0.328125 -3.21875 C 0.328125 -2.875 0.484375 -2.59375 0.75 -2.375 C 1.078125 -2.125 1.34375 -2.0625 2.0625 -1.921875 C 2.28125 -1.890625 3.09375 -1.71875 3.09375 -1.015625 C 3.09375 -0.5 2.75 -0.109375 1.96875 -0.109375 C 1.140625 -0.109375 0.78125 -0.671875 0.59375 -1.515625 C 0.5625 -1.640625 0.5625 -1.6875 0.453125 -1.6875 C 0.328125 -1.6875 0.328125 -1.625 0.328125 -1.4375 L 0.328125 -0.125 C 0.328125 0.046875 0.328125 0.109375 0.4375 0.109375 C 0.484375 0.109375 0.5 0.09375 0.6875 -0.09375 C 0.703125 -0.109375 0.703125 -0.125 0.890625 -0.3125 C 1.3125 0.09375 1.765625 0.109375 1.96875 0.109375 C 3.109375 0.109375 3.578125 -0.5625 3.578125 -1.265625 Z M 3.578125 -1.265625 "/>
</g>
<g id="glyph-0-7">
<path d="M 4.671875 -2.125 C 4.671875 -3.390625 3.6875 -4.4375 2.484375 -4.4375 C 1.234375 -4.4375 0.28125 -3.359375 0.28125 -2.125 C 0.28125 -0.84375 1.3125 0.109375 2.46875 0.109375 C 3.671875 0.109375 4.671875 -0.859375 4.671875 -2.125 Z M 3.84375 -2.203125 C 3.84375 -1.84375 3.84375 -1.3125 3.625 -0.875 C 3.40625 -0.421875 2.96875 -0.140625 2.484375 -0.140625 C 2.046875 -0.140625 1.625 -0.34375 1.34375 -0.796875 C 1.09375 -1.234375 1.09375 -1.84375 1.09375 -2.203125 C 1.09375 -2.59375 1.09375 -3.125 1.34375 -3.5625 C 1.609375 -4.015625 2.078125 -4.234375 2.46875 -4.234375 C 2.90625 -4.234375 3.328125 -4.015625 3.59375 -3.578125 C 3.84375 -3.15625 3.84375 -2.578125 3.84375 -2.203125 Z M 3.84375 -2.203125 "/>
</g>
<g id="glyph-0-8">
<path d="M 4.15625 0 L 4.15625 -0.3125 L 3.84375 -0.3125 C 2.953125 -0.3125 2.921875 -0.421875 2.921875 -0.78125 L 2.921875 -6.34375 C 2.921875 -6.59375 2.921875 -6.609375 2.6875 -6.609375 C 2.078125 -5.96875 1.203125 -5.96875 0.890625 -5.96875 L 0.890625 -5.671875 C 1.078125 -5.671875 1.671875 -5.671875 2.1875 -5.921875 L 2.1875 -0.78125 C 2.1875 -0.421875 2.15625 -0.3125 1.265625 -0.3125 L 0.9375 -0.3125 L 0.9375 0 C 1.296875 -0.03125 2.15625 -0.03125 2.546875 -0.03125 C 2.953125 -0.03125 3.8125 -0.03125 4.15625 0 Z M 4.15625 0 "/>
</g>
<g id="glyph-0-9">
<path d="M 4.453125 -1.71875 L 4.203125 -1.71875 C 4.15625 -1.421875 4.09375 -0.984375 3.984375 -0.84375 C 3.921875 -0.765625 3.265625 -0.765625 3.046875 -0.765625 L 1.265625 -0.765625 L 2.3125 -1.78125 C 3.859375 -3.15625 4.453125 -3.6875 4.453125 -4.6875 C 4.453125 -5.8125 3.5625 -6.609375 2.34375 -6.609375 C 1.234375 -6.609375 0.5 -5.6875 0.5 -4.8125 C 0.5 -4.25 0.984375 -4.25 1.015625 -4.25 C 1.1875 -4.25 1.53125 -4.375 1.53125 -4.78125 C 1.53125 -5.046875 1.359375 -5.296875 1.015625 -5.296875 C 0.9375 -5.296875 0.90625 -5.296875 0.890625 -5.28125 C 1.109375 -5.9375 1.640625 -6.296875 2.21875 -6.296875 C 3.125 -6.296875 3.546875 -5.5 3.546875 -4.6875 C 3.546875 -3.890625 3.0625 -3.109375 2.515625 -2.484375 L 0.609375 -0.359375 C 0.5 -0.265625 0.5 -0.234375 0.5 0 L 4.171875 0 Z M 4.453125 -1.71875 "/>
</g>
<g id="glyph-1-0">
<path d="M 4.4375 -3.171875 L 4.4375 -3.390625 C 4.21875 -3.375 4 -3.359375 3.78125 -3.359375 C 3.640625 -3.359375 3.3125 -3.375 3.109375 -3.390625 L 3.109375 -3.171875 C 3.671875 -3.171875 3.671875 -2.96875 3.671875 -2.828125 L 3.671875 -0.78125 L 1.53125 -3.328125 C 1.484375 -3.390625 1.46875 -3.390625 1.375 -3.390625 L 0.40625 -3.390625 L 0.40625 -3.171875 L 0.609375 -3.171875 C 0.65625 -3.171875 0.890625 -3.15625 0.9375 -3.140625 C 0.953125 -3.140625 0.953125 -3.125 0.953125 -3.046875 L 0.953125 -0.546875 C 0.953125 -0.421875 0.953125 -0.21875 0.40625 -0.21875 L 0.40625 0 C 0.640625 -0.015625 0.859375 -0.015625 1.078125 -0.015625 C 1.21875 -0.015625 1.53125 -0.015625 1.734375 0 L 1.734375 -0.21875 C 1.1875 -0.21875 1.1875 -0.421875 1.1875 -0.546875 L 1.1875 -3 L 3.65625 -0.0625 C 3.703125 0 3.71875 0 3.78125 0 C 3.890625 0 3.890625 -0.046875 3.890625 -0.15625 L 3.890625 -2.828125 C 3.890625 -2.96875 3.890625 -3.171875 4.4375 -3.171875 Z M 4.4375 -3.171875 "/>
</g>
<g id="glyph-1-1">
<path d="M 3.046875 -1.0625 C 3.046875 -1.671875 2.46875 -2.21875 1.6875 -2.21875 C 0.90625 -2.21875 0.328125 -1.671875 0.328125 -1.0625 C 0.328125 -0.453125 0.90625 0.046875 1.6875 0.046875 C 2.46875 0.046875 3.046875 -0.453125 3.046875 -1.0625 Z M 2.546875 -1.109375 C 2.546875 -0.859375 2.546875 -0.125 1.6875 -0.125 C 0.8125 -0.125 0.8125 -0.859375 0.8125 -1.109375 C 0.8125 -1.328125 0.8125 -2.0625 1.6875 -2.0625 C 2.546875 -2.0625 2.546875 -1.328125 2.546875 -1.109375 Z M 2.546875 -1.109375 "/>
</g>
<g id="glyph-1-2">
<path d="M 2.375 -1.84375 C 2.375 -2.03125 2.1875 -2.1875 1.9375 -2.1875 C 1.6875 -2.1875 1.359375 -2.0625 1.171875 -1.640625 L 1.171875 -2.1875 L 0.375 -2.140625 L 0.375 -1.921875 C 0.75 -1.921875 0.78125 -1.875 0.78125 -1.640625 L 0.78125 -0.421875 C 0.78125 -0.265625 0.78125 -0.21875 0.46875 -0.21875 L 0.375 -0.21875 L 0.375 0 C 0.578125 -0.015625 0.8125 -0.015625 1.015625 -0.015625 L 1.71875 0 L 1.71875 -0.21875 L 1.59375 -0.21875 C 1.203125 -0.21875 1.203125 -0.265625 1.203125 -0.421875 L 1.203125 -1.109375 C 1.203125 -1.5625 1.46875 -2.015625 1.9375 -2.03125 C 1.9375 -2.03125 1.875 -1.953125 1.875 -1.84375 C 1.875 -1.671875 2.015625 -1.59375 2.125 -1.59375 C 2.25 -1.59375 2.375 -1.671875 2.375 -1.84375 Z M 2.375 -1.84375 "/>
</g>
<g id="glyph-1-3">
<path d="M 5.109375 0 L 5.109375 -0.21875 L 5.015625 -0.21875 C 4.703125 -0.21875 4.703125 -0.265625 4.703125 -0.421875 L 4.703125 -1.5 C 4.703125 -2.109375 4.234375 -2.1875 3.859375 -2.1875 C 3.375 -2.1875 3.09375 -1.953125 2.953125 -1.734375 C 2.828125 -2.1875 2.328125 -2.1875 2.140625 -2.1875 C 1.625 -2.1875 1.34375 -1.921875 1.21875 -1.703125 L 1.21875 -2.1875 L 0.40625 -2.140625 L 0.40625 -1.921875 C 0.765625 -1.921875 0.8125 -1.875 0.8125 -1.640625 L 0.8125 -0.421875 C 0.8125 -0.265625 0.8125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.625 -0.015625 0.828125 -0.015625 1.046875 -0.015625 C 1.25 -0.015625 1.46875 -0.015625 1.671875 0 L 1.671875 -0.21875 L 1.578125 -0.21875 C 1.265625 -0.21875 1.265625 -0.265625 1.265625 -0.421875 L 1.265625 -1.28125 C 1.265625 -1.828125 1.765625 -2.03125 2.078125 -2.03125 C 2.453125 -2.03125 2.53125 -1.828125 2.53125 -1.5 L 2.53125 -0.421875 C 2.53125 -0.265625 2.53125 -0.21875 2.21875 -0.21875 L 2.125 -0.21875 L 2.125 0 C 2.34375 -0.015625 2.546875 -0.015625 2.765625 -0.015625 C 2.96875 -0.015625 3.1875 -0.015625 3.390625 0 L 3.390625 -0.21875 L 3.296875 -0.21875 C 2.984375 -0.21875 2.984375 -0.265625 2.984375 -0.421875 L 2.984375 -1.28125 C 2.984375 -1.828125 3.484375 -2.03125 3.796875 -2.03125 C 4.171875 -2.03125 4.25 -1.828125 4.25 -1.5 L 4.25 -0.421875 C 4.25 -0.265625 4.25 -0.21875 3.9375 -0.21875 L 3.84375 -0.21875 L 3.84375 0 C 4.0625 -0.015625 4.265625 -0.015625 4.484375 -0.015625 C 4.6875 -0.015625 4.90625 -0.015625 5.109375 0 Z M 5.109375 0 "/>
</g>
<g id="glyph-1-4">
<path d="M 3.140625 -0.453125 L 3.140625 -0.71875 L 2.9375 -0.71875 L 2.9375 -0.453125 C 2.9375 -0.40625 2.9375 -0.1875 2.734375 -0.1875 C 2.546875 -0.1875 2.546875 -0.40625 2.546875 -0.453125 L 2.546875 -1.46875 C 2.546875 -1.953125 2.046875 -2.21875 1.421875 -2.21875 C 1.125 -2.21875 0.546875 -2.203125 0.546875 -1.78125 C 0.546875 -1.59375 0.6875 -1.515625 0.8125 -1.515625 C 0.953125 -1.515625 1.078125 -1.609375 1.078125 -1.78125 C 1.078125 -1.890625 1 -1.96875 0.953125 -2 C 1.125 -2.0625 1.359375 -2.0625 1.421875 -2.0625 C 1.84375 -2.0625 2.09375 -1.828125 2.09375 -1.46875 L 2.09375 -1.34375 C 1.625 -1.3125 1.359375 -1.296875 0.96875 -1.15625 C 0.640625 -1.046875 0.359375 -0.84375 0.359375 -0.515625 C 0.359375 -0.046875 0.9375 0.046875 1.328125 0.046875 C 1.703125 0.046875 2 -0.09375 2.15625 -0.359375 C 2.171875 -0.171875 2.296875 0.03125 2.546875 0.03125 C 2.578125 0.03125 3.140625 0.03125 3.140625 -0.453125 Z M 2.09375 -0.703125 C 2.09375 -0.15625 1.5 -0.109375 1.375 -0.109375 C 1.09375 -0.109375 0.8125 -0.265625 0.8125 -0.515625 C 0.8125 -0.6875 0.921875 -1.140625 2.09375 -1.1875 Z M 2.09375 -0.703125 "/>
</g>
<g id="glyph-1-5">
<path d="M 1.65625 0 L 1.65625 -0.21875 L 1.5625 -0.21875 C 1.25 -0.21875 1.25 -0.265625 1.25 -0.421875 L 1.25 -3.4375 L 0.40625 -3.390625 L 0.40625 -3.171875 C 0.78125 -3.171875 0.828125 -3.125 0.828125 -2.890625 L 0.828125 -0.421875 C 0.828125 -0.265625 0.828125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.625 -0.015625 0.828125 -0.015625 1.03125 -0.015625 C 1.234375 -0.015625 1.453125 -0.015625 1.65625 0 Z M 1.65625 0 "/>
</g>
<g id="glyph-1-6">
<path d="M 1.609375 0 L 1.609375 -0.21875 C 1.28125 -0.21875 1.25 -0.21875 1.25 -0.421875 L 1.25 -2.1875 L 0.4375 -2.140625 L 0.4375 -1.921875 C 0.78125 -1.921875 0.828125 -1.875 0.828125 -1.640625 L 0.828125 -0.421875 C 0.828125 -0.265625 0.828125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.609375 -0.015625 0.828125 -0.015625 1.03125 -0.015625 C 1.21875 -0.015625 1.4375 -0.015625 1.609375 0 Z M 1.296875 -2.96875 C 1.296875 -3.140625 1.15625 -3.28125 1 -3.28125 C 0.828125 -3.28125 0.6875 -3.140625 0.6875 -2.96875 C 0.6875 -2.796875 0.828125 -2.671875 1 -2.671875 C 1.15625 -2.671875 1.296875 -2.796875 1.296875 -2.96875 Z M 1.296875 -2.96875 "/>
</g>
<g id="glyph-1-7">
<path d="M 2.625 -0.984375 L 2.421875 -0.984375 C 2.359375 -0.421875 2.265625 -0.171875 1.5625 -0.171875 L 0.90625 -0.171875 L 2.546875 -1.9375 C 2.59375 -1.984375 2.609375 -2 2.609375 -2.046875 C 2.609375 -2.140625 2.546875 -2.140625 2.453125 -2.140625 L 0.453125 -2.140625 L 0.390625 -1.28125 L 0.609375 -1.28125 C 0.640625 -1.828125 0.796875 -1.96875 1.375 -1.96875 L 2.015625 -1.96875 L 0.359375 -0.203125 C 0.3125 -0.15625 0.3125 -0.15625 0.3125 -0.09375 C 0.3125 0 0.375 0 0.453125 0 L 2.53125 0 Z M 2.625 -0.984375 "/>
</g>
<g id="glyph-1-8">
<path d="M 2.703125 -0.59375 C 2.703125 -0.671875 2.625 -0.671875 2.609375 -0.671875 C 2.53125 -0.671875 2.515625 -0.65625 2.484375 -0.578125 C 2.359375 -0.25 1.984375 -0.125 1.703125 -0.125 C 1.3125 -0.125 1.078125 -0.34375 1.015625 -0.4375 C 0.8125 -0.671875 0.8125 -0.984375 0.8125 -1.109375 L 2.5625 -1.109375 C 2.671875 -1.109375 2.703125 -1.109375 2.703125 -1.234375 C 2.703125 -1.5625 2.53125 -2.21875 1.609375 -2.21875 C 0.859375 -2.21875 0.328125 -1.671875 0.328125 -1.09375 C 0.328125 -0.453125 0.921875 0.046875 1.671875 0.046875 C 2.46875 0.046875 2.703125 -0.5 2.703125 -0.59375 Z M 2.328125 -1.265625 L 0.828125 -1.265625 C 0.890625 -1.921875 1.359375 -2.0625 1.59375 -2.0625 C 2.28125 -2.0625 2.328125 -1.40625 2.328125 -1.265625 Z M 2.328125 -1.265625 "/>
</g>
<g id="glyph-1-9">
<path d="M 3.328125 0 L 3.328125 -0.21875 C 2.96875 -0.21875 2.921875 -0.25 2.921875 -0.5 L 2.921875 -3.4375 L 2.09375 -3.390625 L 2.09375 -3.171875 C 2.453125 -3.171875 2.5 -3.125 2.5 -2.890625 L 2.5 -1.921875 C 2.390625 -2.015625 2.125 -2.1875 1.71875 -2.1875 C 0.96875 -2.1875 0.359375 -1.6875 0.359375 -1.0625 C 0.359375 -0.46875 0.921875 0.046875 1.65625 0.046875 C 2.0625 0.046875 2.34375 -0.125 2.484375 -0.25 L 2.484375 0.046875 Z M 2.484375 -0.546875 C 2.25 -0.171875 1.875 -0.109375 1.6875 -0.109375 C 1.4375 -0.109375 1.1875 -0.203125 1.03125 -0.421875 C 0.859375 -0.625 0.859375 -0.90625 0.859375 -1.0625 C 0.859375 -1.203125 0.859375 -1.53125 1.078125 -1.75 C 1.25 -1.9375 1.5 -2.03125 1.75 -2.03125 C 1.890625 -2.03125 2.25 -2 2.484375 -1.65625 Z M 2.484375 -0.546875 "/>
</g>
<g id="glyph-1-10">
<path d="M 3.234375 -0.890625 C 3.234375 -1.265625 3 -1.484375 2.90625 -1.5625 C 2.671875 -1.796875 2.40625 -1.84375 2 -1.921875 C 1.734375 -1.984375 1.4375 -2.03125 1.390625 -2.046875 C 1.1875 -2.09375 0.78125 -2.28125 0.78125 -2.65625 C 0.78125 -2.984375 1.15625 -3.28125 1.6875 -3.28125 C 2.578125 -3.28125 2.78125 -2.703125 2.84375 -2.34375 C 2.859375 -2.28125 2.875 -2.265625 2.953125 -2.265625 C 3.0625 -2.265625 3.0625 -2.296875 3.0625 -2.390625 L 3.0625 -3.359375 C 3.0625 -3.4375 3.0625 -3.484375 2.984375 -3.484375 C 2.953125 -3.484375 2.921875 -3.484375 2.875 -3.421875 L 2.6875 -3.140625 C 2.453125 -3.359375 2.140625 -3.484375 1.6875 -3.484375 C 0.984375 -3.484375 0.484375 -3.0625 0.484375 -2.5625 C 0.484375 -2.28125 0.625 -2.0625 0.78125 -1.9375 C 1.03125 -1.71875 1.28125 -1.671875 1.515625 -1.625 L 2.296875 -1.46875 C 2.625 -1.390625 2.921875 -1.15625 2.921875 -0.8125 C 2.921875 -0.453125 2.578125 -0.109375 2 -0.109375 C 1.78125 -0.109375 1.359375 -0.140625 1.0625 -0.34375 C 0.828125 -0.5 0.703125 -0.71875 0.6875 -1.015625 C 0.6875 -1.09375 0.6875 -1.125 0.578125 -1.125 C 0.484375 -1.125 0.484375 -1.078125 0.484375 -0.984375 L 0.484375 -0.03125 C 0.484375 0.046875 0.484375 0.109375 0.5625 0.109375 C 0.609375 0.109375 0.625 0.09375 0.65625 0.046875 C 0.671875 0.015625 0.84375 -0.234375 0.84375 -0.234375 C 1.203125 0.046875 1.671875 0.109375 2 0.109375 C 2.75 0.109375 3.234375 -0.375 3.234375 -0.890625 Z M 3.234375 -0.890625 "/>
</g>
<g id="glyph-1-11">
<path d="M 3.390625 0 L 3.390625 -0.21875 L 3.296875 -0.21875 C 2.96875 -0.21875 2.96875 -0.265625 2.96875 -0.421875 L 2.96875 -1.5 C 2.96875 -2.046875 2.59375 -2.1875 2.140625 -2.1875 C 1.609375 -2.1875 1.328125 -1.890625 1.21875 -1.703125 L 1.21875 -2.1875 L 0.40625 -2.140625 L 0.40625 -1.921875 C 0.765625 -1.921875 0.8125 -1.875 0.8125 -1.640625 L 0.8125 -0.421875 C 0.8125 -0.265625 0.8125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.625 -0.015625 0.828125 -0.015625 1.046875 -0.015625 C 1.25 -0.015625 1.46875 -0.015625 1.671875 0 L 1.671875 -0.21875 L 1.578125 -0.21875 C 1.265625 -0.21875 1.265625 -0.265625 1.265625 -0.421875 L 1.265625 -1.28125 C 1.265625 -1.84375 1.765625 -2.03125 2.078125 -2.03125 C 2.453125 -2.03125 2.53125 -1.8125 2.53125 -1.5 L 2.53125 -0.421875 C 2.53125 -0.265625 2.53125 -0.21875 2.203125 -0.21875 L 2.125 -0.21875 L 2.125 0 C 2.328125 -0.015625 2.546875 -0.015625 2.75 -0.015625 C 2.96875 -0.015625 3.171875 -0.015625 3.390625 0 Z M 3.390625 0 "/>
</g>
<g id="glyph-1-12">
<path d="M 2.375 -0.625 C 2.375 -0.84375 2.25 -1.015625 2.0625 -1.125 C 1.859375 -1.25 1.703125 -1.265625 1.296875 -1.34375 C 0.96875 -1.390625 0.59375 -1.453125 0.59375 -1.703125 C 0.59375 -1.875 0.78125 -2.078125 1.328125 -2.078125 C 1.734375 -2.078125 1.96875 -1.90625 2 -1.5625 C 2.015625 -1.484375 2.015625 -1.46875 2.109375 -1.46875 C 2.21875 -1.46875 2.21875 -1.5 2.21875 -1.59375 L 2.21875 -2.078125 C 2.21875 -2.171875 2.21875 -2.21875 2.140625 -2.21875 C 2.109375 -2.21875 2.09375 -2.21875 2.046875 -2.1875 C 2.03125 -2.171875 1.9375 -2.078125 1.921875 -2.078125 C 1.921875 -2.078125 1.90625 -2.078125 1.875 -2.109375 C 1.765625 -2.171875 1.578125 -2.21875 1.328125 -2.21875 C 0.515625 -2.21875 0.34375 -1.84375 0.34375 -1.609375 C 0.34375 -1.15625 0.921875 -1.0625 1.375 -0.984375 C 1.671875 -0.953125 2.125 -0.875 2.125 -0.546875 C 2.125 -0.359375 1.96875 -0.109375 1.375 -0.109375 C 1.046875 -0.109375 0.71875 -0.234375 0.5625 -0.765625 C 0.546875 -0.84375 0.53125 -0.859375 0.453125 -0.859375 C 0.34375 -0.859375 0.34375 -0.828125 0.34375 -0.71875 L 0.34375 -0.078125 C 0.34375 0 0.34375 0.046875 0.421875 0.046875 C 0.46875 0.046875 0.46875 0.046875 0.5625 -0.046875 L 0.6875 -0.171875 C 0.9375 0.046875 1.25 0.046875 1.375 0.046875 C 2.203125 0.046875 2.375 -0.375 2.375 -0.625 Z M 2.375 -0.625 "/>
</g>
<g id="glyph-1-13">
<path d="M 4.265625 -1.15625 C 4.265625 -1.234375 4.234375 -1.265625 4.15625 -1.265625 C 4.09375 -1.265625 4.0625 -1.265625 4.046875 -1.171875 C 4.015625 -0.421875 3.296875 -0.109375 2.71875 -0.109375 C 2.015625 -0.109375 1.0625 -0.5 1.0625 -1.6875 C 1.0625 -2.875 1.984375 -3.28125 2.703125 -3.28125 C 3.15625 -3.28125 3.890625 -3.03125 4.046875 -2.109375 C 4.046875 -2.0625 4.109375 -2.0625 4.15625 -2.0625 C 4.265625 -2.0625 4.265625 -2.09375 4.265625 -2.1875 L 4.265625 -3.359375 C 4.265625 -3.4375 4.265625 -3.484375 4.1875 -3.484375 C 4.125 -3.484375 4.109375 -3.46875 4.09375 -3.4375 L 3.796875 -3.046875 C 3.484375 -3.3125 3.109375 -3.484375 2.625 -3.484375 C 1.421875 -3.484375 0.484375 -2.671875 0.484375 -1.6875 C 0.484375 -0.71875 1.421875 0.109375 2.625 0.109375 C 3.578125 0.109375 4.265625 -0.5 4.265625 -1.15625 Z M 4.265625 -1.15625 "/>
</g>
<g id="glyph-1-14">
<path d="M 3.359375 -1.0625 C 3.359375 -1.671875 2.8125 -2.1875 2.078125 -2.1875 C 1.6875 -2.1875 1.375 -2.046875 1.203125 -1.90625 L 1.203125 -2.1875 L 0.375 -2.140625 L 0.375 -1.921875 C 0.734375 -1.921875 0.78125 -1.921875 0.78125 -1.703125 L 0.78125 0.546875 C 0.78125 0.703125 0.78125 0.75 0.46875 0.75 L 0.375 0.75 L 0.375 0.953125 C 0.59375 0.953125 0.796875 0.9375 1.015625 0.9375 C 1.21875 0.9375 1.4375 0.953125 1.640625 0.953125 L 1.640625 0.75 L 1.546875 0.75 C 1.234375 0.75 1.234375 0.703125 1.234375 0.546875 L 1.234375 -0.234375 C 1.4375 -0.046875 1.703125 0.046875 1.984375 0.046875 C 2.75 0.046875 3.359375 -0.453125 3.359375 -1.0625 Z M 2.859375 -1.0625 C 2.859375 -0.53125 2.453125 -0.109375 1.953125 -0.109375 C 1.734375 -0.109375 1.46875 -0.203125 1.296875 -0.421875 C 1.234375 -0.515625 1.234375 -0.515625 1.234375 -0.609375 L 1.234375 -1.640625 C 1.4375 -1.953125 1.8125 -2.015625 2.015625 -2.015625 C 2.5 -2.015625 2.859375 -1.5625 2.859375 -1.0625 Z M 2.859375 -1.0625 "/>
</g>
<g id="glyph-1-15">
<path d="M 2.203125 -0.625 L 2.203125 -0.890625 L 1.984375 -0.890625 L 1.984375 -0.640625 C 1.984375 -0.265625 1.765625 -0.125 1.59375 -0.125 C 1.21875 -0.125 1.21875 -0.515625 1.21875 -0.625 L 1.21875 -1.921875 L 2.09375 -1.921875 L 2.09375 -2.140625 L 1.21875 -2.140625 L 1.21875 -3.046875 L 1.015625 -3.046875 C 1 -2.578125 0.765625 -2.09375 0.25 -2.078125 L 0.25 -1.921875 L 0.78125 -1.921875 L 0.78125 -0.625 C 0.78125 -0.0625 1.25 0.046875 1.546875 0.046875 C 1.921875 0.046875 2.203125 -0.21875 2.203125 -0.625 Z M 2.203125 -0.625 "/>
</g>
<g id="glyph-1-16">
<path d="M 3.265625 -1.921875 L 3.265625 -2.140625 C 3.15625 -2.125 3.015625 -2.109375 2.828125 -2.109375 C 2.671875 -2.109375 2.484375 -2.125 2.328125 -2.140625 L 2.328125 -1.921875 C 2.453125 -1.921875 2.53125 -1.84375 2.53125 -1.75 C 2.53125 -1.703125 2.515625 -1.671875 2.5 -1.640625 L 1.890625 -0.453125 L 1.21875 -1.734375 C 1.1875 -1.78125 1.1875 -1.796875 1.1875 -1.8125 C 1.1875 -1.90625 1.328125 -1.921875 1.453125 -1.921875 L 1.453125 -2.140625 C 1.25 -2.125 1.046875 -2.109375 0.828125 -2.109375 C 0.625 -2.109375 0.5 -2.109375 0.28125 -2.140625 L 0.28125 -1.921875 C 0.625 -1.921875 0.65625 -1.890625 0.734375 -1.765625 L 1.65625 0 C 1.4375 0.4375 1.234375 0.859375 0.828125 0.859375 C 0.703125 0.859375 0.65625 0.828125 0.609375 0.796875 C 0.640625 0.78125 0.75 0.71875 0.75 0.578125 C 0.75 0.421875 0.625 0.328125 0.5 0.328125 C 0.390625 0.328125 0.25 0.40625 0.25 0.578125 C 0.25 0.828125 0.515625 1.015625 0.828125 1.015625 C 1.125 1.015625 1.453125 0.828125 1.671875 0.40625 L 2.734375 -1.609375 C 2.78125 -1.71875 2.890625 -1.90625 3.265625 -1.921875 Z M 3.265625 -1.921875 "/>
</g>
<g id="glyph-1-17">
<path d="M 3.890625 -2.1875 L 3.71875 -3.359375 L 0.40625 -3.359375 L 0.40625 -3.140625 L 0.5625 -3.140625 C 0.953125 -3.140625 0.953125 -3.09375 0.953125 -2.9375 L 0.953125 -0.421875 C 0.953125 -0.265625 0.953125 -0.21875 0.5625 -0.21875 L 0.40625 -0.21875 L 0.40625 0 L 1.25 -0.015625 C 1.53125 -0.015625 1.890625 -0.015625 2.171875 0 L 2.171875 -0.21875 L 1.96875 -0.21875 C 1.484375 -0.21875 1.484375 -0.265625 1.484375 -0.421875 L 1.484375 -1.578125 L 2.046875 -1.578125 C 2.53125 -1.578125 2.65625 -1.46875 2.65625 -1 L 2.875 -1 L 2.875 -2.375 L 2.65625 -2.375 C 2.65625 -1.90625 2.53125 -1.796875 2.046875 -1.796875 L 1.484375 -1.796875 L 1.484375 -2.953125 C 1.484375 -3.109375 1.484375 -3.140625 1.734375 -3.140625 L 2.546875 -3.140625 C 3.34375 -3.140625 3.578125 -2.953125 3.671875 -2.1875 Z M 3.890625 -2.1875 "/>
</g>
<g id="glyph-2-0">
<path d="M 7.125 -0.203125 C 7.125 -0.3125 7.03125 -0.3125 6.84375 -0.3125 C 6.484375 -0.3125 6.203125 -0.3125 6.203125 -0.484375 C 6.203125 -0.546875 6.21875 -0.59375 6.234375 -0.65625 L 7.578125 -6.015625 C 7.65625 -6.375 7.671875 -6.46875 8.40625 -6.46875 C 8.65625 -6.46875 8.734375 -6.46875 8.734375 -6.671875 C 8.734375 -6.78125 8.625 -6.78125 8.609375 -6.78125 L 7.328125 -6.75 L 6.046875 -6.78125 C 5.96875 -6.78125 5.859375 -6.78125 5.859375 -6.578125 C 5.859375 -6.46875 5.953125 -6.46875 6.140625 -6.46875 C 6.140625 -6.46875 6.34375 -6.46875 6.515625 -6.453125 C 6.703125 -6.421875 6.78125 -6.421875 6.78125 -6.296875 C 6.78125 -6.25 6.78125 -6.234375 6.75 -6.109375 L 6.15625 -3.6875 L 3.125 -3.6875 L 3.703125 -6.015625 C 3.796875 -6.375 3.828125 -6.46875 4.546875 -6.46875 C 4.796875 -6.46875 4.875 -6.46875 4.875 -6.671875 C 4.875 -6.78125 4.765625 -6.78125 4.75 -6.78125 L 3.46875 -6.75 L 2.1875 -6.78125 C 2.109375 -6.78125 2 -6.78125 2 -6.578125 C 2 -6.46875 2.09375 -6.46875 2.28125 -6.46875 C 2.28125 -6.46875 2.484375 -6.46875 2.65625 -6.453125 C 2.84375 -6.421875 2.921875 -6.421875 2.921875 -6.296875 C 2.921875 -6.25 2.921875 -6.21875 2.890625 -6.109375 L 1.5625 -0.78125 C 1.453125 -0.390625 1.4375 -0.3125 0.65625 -0.3125 C 0.46875 -0.3125 0.390625 -0.3125 0.390625 -0.109375 C 0.390625 0 0.53125 0 0.53125 0 L 1.78125 -0.03125 L 2.421875 -0.015625 C 2.640625 -0.015625 2.859375 0 3.0625 0 C 3.140625 0 3.265625 0 3.265625 -0.203125 C 3.265625 -0.3125 3.171875 -0.3125 2.984375 -0.3125 C 2.625 -0.3125 2.34375 -0.3125 2.34375 -0.484375 C 2.34375 -0.546875 2.359375 -0.59375 2.375 -0.65625 L 3.046875 -3.375 L 6.078125 -3.375 L 5.390625 -0.640625 C 5.28125 -0.3125 5.09375 -0.3125 4.484375 -0.3125 C 4.328125 -0.3125 4.25 -0.3125 4.25 -0.109375 C 4.25 0 4.390625 0 4.390625 0 L 5.640625 -0.03125 L 6.28125 -0.015625 C 6.5 -0.015625 6.71875 0 6.921875 0 C 7 0 7.125 0 7.125 -0.203125 Z M 7.125 -0.203125 "/>
</g>
<g id="glyph-2-1">
<path d="M 3.921875 -1.53125 C 3.921875 -1.890625 3.734375 -2.140625 3.625 -2.265625 C 3.359375 -2.546875 3.0625 -2.59375 2.625 -2.671875 C 2.265625 -2.765625 1.875 -2.828125 1.875 -3.28125 C 1.875 -3.5625 2.109375 -4.171875 2.984375 -4.171875 C 3.234375 -4.171875 3.734375 -4.09375 3.875 -3.703125 C 3.609375 -3.703125 3.40625 -3.484375 3.40625 -3.265625 C 3.40625 -3.125 3.5 -2.96875 3.703125 -2.96875 C 3.921875 -2.96875 4.171875 -3.140625 4.171875 -3.53125 C 4.171875 -3.984375 3.734375 -4.390625 2.984375 -4.390625 C 1.671875 -4.390625 1.3125 -3.375 1.3125 -2.9375 C 1.3125 -2.15625 2.046875 -2.015625 2.328125 -1.953125 C 2.84375 -1.859375 3.359375 -1.75 3.359375 -1.203125 C 3.359375 -0.9375 3.140625 -0.109375 1.9375 -0.109375 C 1.8125 -0.109375 1.046875 -0.109375 0.8125 -0.640625 C 1.1875 -0.578125 1.4375 -0.890625 1.4375 -1.15625 C 1.4375 -1.390625 1.28125 -1.515625 1.078125 -1.515625 C 0.8125 -1.515625 0.515625 -1.296875 0.515625 -0.859375 C 0.515625 -0.28125 1.078125 0.109375 1.9375 0.109375 C 3.546875 0.109375 3.921875 -1.09375 3.921875 -1.53125 Z M 3.921875 -1.53125 "/>
</g>
<g id="glyph-2-2">
<path d="M 4.921875 -1.421875 C 4.921875 -1.515625 4.828125 -1.515625 4.796875 -1.515625 C 4.71875 -1.515625 4.6875 -1.484375 4.671875 -1.40625 C 4.34375 -0.34375 3.671875 -0.109375 3.359375 -0.109375 C 2.96875 -0.109375 2.8125 -0.421875 2.8125 -0.765625 C 2.8125 -0.984375 2.875 -1.203125 2.96875 -1.640625 L 3.3125 -3 C 3.375 -3.25 3.609375 -4.171875 4.296875 -4.171875 C 4.34375 -4.171875 4.578125 -4.171875 4.796875 -4.03125 C 4.515625 -3.984375 4.3125 -3.734375 4.3125 -3.5 C 4.3125 -3.34375 4.421875 -3.15625 4.6875 -3.15625 C 4.90625 -3.15625 5.234375 -3.328125 5.234375 -3.734375 C 5.234375 -4.25 4.640625 -4.390625 4.3125 -4.390625 C 3.734375 -4.390625 3.390625 -3.859375 3.265625 -3.625 C 3.015625 -4.28125 2.484375 -4.390625 2.1875 -4.390625 C 1.15625 -4.390625 0.59375 -3.109375 0.59375 -2.859375 C 0.59375 -2.765625 0.71875 -2.765625 0.71875 -2.765625 C 0.796875 -2.765625 0.828125 -2.78125 0.84375 -2.875 C 1.1875 -3.921875 1.828125 -4.171875 2.171875 -4.171875 C 2.359375 -4.171875 2.703125 -4.078125 2.703125 -3.5 C 2.703125 -3.1875 2.546875 -2.53125 2.171875 -1.140625 C 2.015625 -0.53125 1.671875 -0.109375 1.234375 -0.109375 C 1.171875 -0.109375 0.9375 -0.109375 0.734375 -0.234375 C 0.984375 -0.28125 1.203125 -0.5 1.203125 -0.78125 C 1.203125 -1.046875 0.984375 -1.125 0.828125 -1.125 C 0.53125 -1.125 0.28125 -0.859375 0.28125 -0.546875 C 0.28125 -0.09375 0.78125 0.109375 1.21875 0.109375 C 1.875 0.109375 2.234375 -0.578125 2.265625 -0.640625 C 2.375 -0.28125 2.734375 0.109375 3.328125 0.109375 C 4.359375 0.109375 4.921875 -1.171875 4.921875 -1.421875 Z M 4.921875 -1.421875 "/>
</g>
<g id="glyph-3-0">
<path d="M 3.28125 0 L 3.28125 -0.25 L 3.015625 -0.25 C 2.328125 -0.25 2.328125 -0.34375 2.328125 -0.5625 L 2.328125 -4.40625 C 2.328125 -4.59375 2.3125 -4.609375 2.109375 -4.609375 C 1.671875 -4.171875 1.046875 -4.15625 0.75 -4.15625 L 0.75 -3.90625 C 0.921875 -3.90625 1.375 -3.90625 1.765625 -4.109375 L 1.765625 -0.5625 C 1.765625 -0.34375 1.765625 -0.25 1.0625 -0.25 L 0.8125 -0.25 L 0.8125 0 L 2.046875 -0.03125 Z M 3.28125 0 "/>
</g>
<g id="glyph-3-1">
<path d="M 3.5 -1.265625 L 3.265625 -1.265625 C 3.25 -1.109375 3.171875 -0.703125 3.09375 -0.625 C 3.03125 -0.59375 2.5 -0.59375 2.40625 -0.59375 L 1.125 -0.59375 C 1.859375 -1.234375 2.09375 -1.421875 2.515625 -1.75 C 3.03125 -2.171875 3.5 -2.59375 3.5 -3.25 C 3.5 -4.09375 2.765625 -4.609375 1.875 -4.609375 C 1.015625 -4.609375 0.4375 -4 0.4375 -3.359375 C 0.4375 -3.015625 0.734375 -2.96875 0.8125 -2.96875 C 0.96875 -2.96875 1.171875 -3.09375 1.171875 -3.34375 C 1.171875 -3.46875 1.125 -3.71875 0.765625 -3.71875 C 0.984375 -4.203125 1.453125 -4.359375 1.78125 -4.359375 C 2.46875 -4.359375 2.828125 -3.8125 2.828125 -3.25 C 2.828125 -2.65625 2.40625 -2.171875 2.171875 -1.921875 L 0.5 -0.265625 C 0.4375 -0.203125 0.4375 -0.1875 0.4375 0 L 3.296875 0 Z M 3.5 -1.265625 "/>
</g>
<g id="glyph-4-0">
<path d="M 3.28125 2.375 C 3.28125 2.34375 3.28125 2.328125 3.109375 2.15625 C 1.875 0.90625 1.5625 -0.96875 1.5625 -2.484375 C 1.5625 -4.203125 1.9375 -5.9375 3.15625 -7.171875 C 3.28125 -7.296875 3.28125 -7.3125 3.28125 -7.34375 C 3.28125 -7.40625 3.25 -7.4375 3.1875 -7.4375 C 3.078125 -7.4375 2.1875 -6.765625 1.609375 -5.5 C 1.09375 -4.421875 0.984375 -3.3125 0.984375 -2.484375 C 0.984375 -1.703125 1.09375 -0.5 1.640625 0.609375 C 2.234375 1.828125 3.078125 2.484375 3.1875 2.484375 C 3.25 2.484375 3.28125 2.453125 3.28125 2.375 Z M 3.28125 2.375 "/>
</g>
<g id="glyph-4-1">
<path d="M 2.875 -2.484375 C 2.875 -3.25 2.765625 -4.453125 2.21875 -5.578125 C 1.625 -6.796875 0.765625 -7.4375 0.671875 -7.4375 C 0.609375 -7.4375 0.5625 -7.40625 0.5625 -7.34375 C 0.5625 -7.3125 0.5625 -7.296875 0.75 -7.109375 C 1.71875 -6.125 2.296875 -4.546875 2.296875 -2.484375 C 2.296875 -0.78125 1.921875 0.96875 0.6875 2.21875 C 0.5625 2.328125 0.5625 2.34375 0.5625 2.375 C 0.5625 2.4375 0.609375 2.484375 0.671875 2.484375 C 0.765625 2.484375 1.65625 1.8125 2.25 0.546875 C 2.75 -0.546875 2.875 -1.640625 2.875 -2.484375 Z M 2.875 -2.484375 "/>
</g>
<g id="glyph-4-2">
<path d="M 3.984375 -5.265625 L 2.484375 -6.859375 L 0.96875 -5.265625 L 1.09375 -5.125 L 2.484375 -6.1875 L 3.859375 -5.125 Z M 3.984375 -5.265625 "/>
</g>
<g id="glyph-5-0">
<path d="M 8.078125 -2.984375 C 8.078125 -3.203125 7.890625 -3.203125 7.703125 -3.203125 L 4.53125 -3.203125 L 4.53125 -6.390625 C 4.53125 -6.546875 4.53125 -6.75 4.3125 -6.75 C 4.109375 -6.75 4.109375 -6.5625 4.109375 -6.390625 L 4.109375 -3.203125 L 0.921875 -3.203125 C 0.75 -3.203125 0.546875 -3.203125 0.546875 -3 C 0.546875 -2.78125 0.75 -2.78125 0.921875 -2.78125 L 4.109375 -2.78125 L 4.109375 0.390625 C 4.109375 0.5625 4.109375 0.765625 4.3125 0.765625 C 4.53125 0.765625 4.53125 0.578125 4.53125 0.390625 L 4.53125 -2.78125 L 7.703125 -2.78125 C 7.875 -2.78125 8.078125 -2.78125 8.078125 -2.984375 Z M 8.078125 -2.984375 "/>
</g>
</g>
<clipPath id="clip-0">
<path clip-rule="nonzero" d="M 0.246094 57 L 22 57 L 22 59 L 0.246094 59 Z M 0.246094 57 "/>
</clipPath>
<clipPath id="clip-1">
<path clip-rule="nonzero" d="M 183 41 L 204.800781 41 L 204.800781 74 L 183 74 Z M 183 41 "/>
</clipPath>
</defs>
<path fill-rule="nonzero" fill="rgb(89.99939%, 89.99939%, 89.99939%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -5.977097 -45.584505 L 169.818731 -45.584505 L 169.818731 56.925122 L -5.977097 56.925122 Z M -5.977097 -45.584505 " transform="matrix(0.995295, 0, 0, -0.995295, 20.988039, 57.649491)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="74.234343" y="11.129391"/>
<use xlink:href="#glyph-0-1" x="79.743522" y="11.129391"/>
<use xlink:href="#glyph-0-2" x="85.252701" y="11.129391"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-3" x="91.03952" y="11.129391"/>
<use xlink:href="#glyph-0-4" x="95.447061" y="11.129391"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="102.632989" y="11.129391"/>
<use xlink:href="#glyph-0-3" x="108.142168" y="11.129391"/>
<use xlink:href="#glyph-0-5" x="112.549709" y="11.129391"/>
<use xlink:href="#glyph-0-6" x="118.058888" y="11.129391"/>
<use xlink:href="#glyph-0-7" x="121.970643" y="11.129391"/>
<use xlink:href="#glyph-0-4" x="126.928507" y="11.129391"/>
</g>
<path fill-rule="nonzero" fill="rgb(79.998779%, 79.998779%, 79.998779%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 9.957245 -39.917216 L 66.163087 -39.917216 L 66.163087 39.915408 L 9.957245 39.915408 Z M 9.957245 -39.917216 " transform="matrix(0.995295, 0, 0, -0.995295, 20.988039, 57.649491)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="42.114175" y="55.886823"/>
<use xlink:href="#glyph-1-1" x="46.975857" y="55.886823"/>
<use xlink:href="#glyph-1-2" x="50.350179" y="55.886823"/>
<use xlink:href="#glyph-1-3" x="53.035854" y="55.886823"/>
<use xlink:href="#glyph-1-4" x="58.475623" y="55.886823"/>
<use xlink:href="#glyph-1-5" x="61.849945" y="55.886823"/>
<use xlink:href="#glyph-1-6" x="63.846973" y="55.886823"/>
<use xlink:href="#glyph-1-7" x="65.844001" y="55.886823"/>
<use xlink:href="#glyph-1-8" x="68.873751" y="55.886823"/>
<use xlink:href="#glyph-1-9" x="71.903502" y="55.886823"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-10" x="47.884897" y="62.828012"/>
<use xlink:href="#glyph-1-8" x="51.603295" y="62.828012"/>
<use xlink:href="#glyph-1-11" x="54.633046" y="62.828012"/>
<use xlink:href="#glyph-1-12" x="58.351444" y="62.828012"/>
<use xlink:href="#glyph-1-1" x="61.071328" y="62.828012"/>
<use xlink:href="#glyph-1-2" x="64.445651" y="62.828012"/>
<use xlink:href="#glyph-1-12" x="67.131326" y="62.828012"/>
</g>
<path fill-rule="nonzero" fill="rgb(79.998779%, 79.998779%, 79.998779%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 85.390265 -39.917216 L 164.151442 -39.917216 L 164.151442 39.915408 L 85.390265 39.915408 Z M 85.390265 -39.917216 " transform="matrix(0.995295, 0, 0, -0.995295, 20.988039, 57.649491)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-13" x="113.39523" y="55.886823"/>
<use xlink:href="#glyph-1-1" x="118.146351" y="55.886823"/>
<use xlink:href="#glyph-1-3" x="121.520673" y="55.886823"/>
<use xlink:href="#glyph-1-14" x="126.960442" y="55.886823"/>
<use xlink:href="#glyph-1-5" x="130.67884" y="55.886823"/>
<use xlink:href="#glyph-1-8" x="132.675868" y="55.886823"/>
<use xlink:href="#glyph-1-3" x="135.705618" y="55.886823"/>
<use xlink:href="#glyph-1-8" x="141.145387" y="55.886823"/>
<use xlink:href="#glyph-1-11" x="144.175138" y="55.886823"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-15" x="147.720011" y="55.886823"/>
<use xlink:href="#glyph-1-4" x="150.405686" y="55.886823"/>
<use xlink:href="#glyph-1-2" x="153.780008" y="55.886823"/>
<use xlink:href="#glyph-1-16" x="156.465683" y="55.886823"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-17" x="127.001911" y="62.828012"/>
<use xlink:href="#glyph-1-6" x="131.291951" y="62.828012"/>
<use xlink:href="#glyph-1-5" x="133.288978" y="62.828012"/>
<use xlink:href="#glyph-1-15" x="135.286006" y="62.828012"/>
<use xlink:href="#glyph-1-8" x="137.971681" y="62.828012"/>
<use xlink:href="#glyph-1-2" x="141.001432" y="62.828012"/>
<use xlink:href="#glyph-1-12" x="143.687107" y="62.828012"/>
</g>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 22.972656 57.648438 C 22.972656 56.554688 22.082031 55.667969 20.988281 55.667969 C 19.894531 55.667969 19.003906 56.554688 19.003906 57.648438 C 19.003906 58.746094 19.894531 59.632812 20.988281 59.632812 C 22.082031 59.632812 22.972656 58.746094 22.972656 57.648438 Z M 22.972656 57.648438 "/>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 16.433025 10.762626 L 59.687307 10.762626 L 59.687307 33.439629 L 16.433025 33.439629 Z M 16.433025 10.762626 " transform="matrix(0.995295, 0, 0, -0.995295, 20.988039, 57.649491)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="40.648105" y="39.067329"/>
<use xlink:href="#glyph-0-3" x="46.157284" y="39.067329"/>
<use xlink:href="#glyph-0-5" x="50.564825" y="39.067329"/>
<use xlink:href="#glyph-0-6" x="56.074004" y="39.067329"/>
<use xlink:href="#glyph-0-7" x="59.985759" y="39.067329"/>
<use xlink:href="#glyph-0-4" x="64.943623" y="39.067329"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-8" x="72.129551" y="39.067329"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 16.433025 -33.441437 L 59.687307 -33.441437 L 59.687307 -10.764435 L 16.433025 -10.764435 Z M 16.433025 -33.441437 " transform="matrix(0.995295, 0, 0, -0.995295, 20.988039, 57.649491)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="40.648105" y="83.063359"/>
<use xlink:href="#glyph-0-3" x="46.157284" y="83.063359"/>
<use xlink:href="#glyph-0-5" x="50.564825" y="83.063359"/>
<use xlink:href="#glyph-0-6" x="56.074004" y="83.063359"/>
<use xlink:href="#glyph-0-7" x="59.985759" y="83.063359"/>
<use xlink:href="#glyph-0-4" x="64.943623" y="83.063359"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-9" x="72.129551" y="83.063359"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 91.866044 10.762626 L 123.675858 10.762626 L 123.675858 33.439629 L 91.866044 33.439629 Z M 91.866044 10.762626 " transform="matrix(0.995295, 0, 0, -0.995295, 20.988039, 57.649491)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="115.72422" y="38.130756"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="123.96626" y="39.618722"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="128.41523" y="38.130756"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="132.271457" y="38.130756"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-1" x="136.91995" y="38.130756"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 91.866044 -33.441437 L 123.675858 -33.441437 L 123.675858 -10.764435 L 91.866044 -10.764435 Z M 91.866044 -33.441437 " transform="matrix(0.995295, 0, 0, -0.995295, 20.988039, 57.649491)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="115.72422" y="82.126787"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="123.96626" y="83.613758"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="128.41523" y="82.126787"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="132.271457" y="82.126787"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-1" x="136.91995" y="82.126787"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 158.174102 0.00105826 C 158.174102 3.851204 155.050029 6.975277 151.199883 6.975277 C 147.345813 6.975277 144.225665 3.851204 144.225665 0.00105826 C 144.225665 -3.853012 147.345813 -6.97316 151.199883 -6.97316 C 155.050029 -6.97316 158.174102 -3.853012 158.174102 0.00105826 Z M 158.174102 0.00105826 " transform="matrix(0.995295, 0, 0, -0.995295, 20.988039, 57.649491)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-0" x="167.156102" y="60.552767"/>
</g>
<g clip-path="url(#clip-0)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -19.843114 0.00105826 L 0.000243864 0.00105826 " transform="matrix(0.995295, 0, 0, -0.995295, 20.988039, 57.649491)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-2" x="5.039428" y="53.849454"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 0.000243864 0.00105826 L 0.000243864 22.101128 L 11.299498 22.101128 " transform="matrix(0.995295, 0, 0, -0.995295, 20.988039, 57.649491)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.055264 -0.00106243 L 1.608562 1.68264 L 3.08818 -0.00106243 L 1.608562 -1.684765 Z M 6.055264 -0.00106243 " transform="matrix(0.995295, 0, 0, -0.995295, 29.410724, 35.651286)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 0.000243864 0.00105826 L 0.000243864 -22.102936 L 11.299498 -22.102936 " transform="matrix(0.995295, 0, 0, -0.995295, 20.988039, 57.649491)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.055264 -0.000745769 L 1.608562 1.682957 L 3.08818 -0.000745769 L 1.608562 -1.684448 Z M 6.055264 -0.000745769 " transform="matrix(0.995295, 0, 0, -0.995295, 29.410724, 79.647695)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 60.185746 22.101128 L 86.732517 22.101128 " transform="matrix(0.995295, 0, 0, -0.995295, 20.988039, 57.649491)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052149 -0.00106243 L 1.609372 1.68264 L 3.088989 -0.00106243 L 1.609372 -1.684765 Z M 6.052149 -0.00106243 " transform="matrix(0.995295, 0, 0, -0.995295, 104.488044, 35.651286)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-2" x="91.978467" y="30.363472"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-2" x="91.34386" y="30.363472"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="97.015656" y="31.851438"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 60.185746 -22.102936 L 86.732517 -22.102936 " transform="matrix(0.995295, 0, 0, -0.995295, 20.988039, 57.649491)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052149 -0.000745769 L 1.609372 1.682957 L 3.088989 -0.000745769 L 1.609372 -1.684448 Z M 6.052149 -0.000745769 " transform="matrix(0.995295, 0, 0, -0.995295, 104.488044, 79.647695)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-2" x="91.978467" y="74.359503"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-2" x="91.34386" y="74.359503"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="97.015656" y="75.847469"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 124.174297 22.101128 L 151.199883 22.101128 L 151.199883 11.60644 " transform="matrix(0.995295, 0, 0, -0.995295, 20.988039, 57.649491)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053881 0.00126342 L 1.607179 1.684966 L 3.086797 0.00126342 L 1.607179 -1.682439 Z M 6.053881 0.00126342 " transform="matrix(0, 0.995295, 0.995295, 0, 171.475305, 43.271476)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 124.174297 -22.102936 L 151.199883 -22.102936 L 151.199883 -11.608248 " transform="matrix(0.995295, 0, 0, -0.995295, 20.988039, 57.649491)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052063 -0.00126342 L 1.609286 1.682439 L 3.088903 -0.00126342 L 1.609286 -1.684966 Z M 6.052063 -0.00126342 " transform="matrix(0, -0.995295, -0.995295, 0, 171.475305, 72.027496)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 158.174102 0.00105826 L 179.04966 0.00105826 " transform="matrix(0.995295, 0, 0, -0.995295, 20.988039, 57.649491)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 202.394531 57.648438 L 197.972656 55.972656 L 199.445312 57.648438 L 197.972656 59.324219 Z M 202.394531 57.648438 "/>
<g clip-path="url(#clip-1)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.051601 0.00105826 L 1.608824 1.684761 L 3.088442 0.00105826 L 1.608824 -1.682644 Z M 6.051601 0.00105826 " transform="matrix(0.995295, 0, 0, -0.995295, 196.371401, 57.649491)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-2" x="194.967637" y="53.849454"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-2" x="194.33303" y="53.849454"/>
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 48 KiB

BIN
figs/detail_control_sensor_fusion_three_parallel.pdf Normal file
View File

Binary file not shown.

BIN
figs/detail_control_sensor_fusion_three_parallel.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 18 KiB

221
figs/detail_control_sensor_fusion_three_parallel.svg Normal file
View File

@ -0,0 +1,221 @@
<?xml version="1.0" encoding="UTF-8"?>
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="200.374" height="101.98" viewBox="0 0 200.374 101.98">
<defs>
<g>
<g id="glyph-0-0">
<path d="M 4.953125 -1.84375 C 4.953125 -2.84375 4.296875 -3.65625 3.46875 -3.859375 L 2.203125 -4.15625 C 1.578125 -4.3125 1.1875 -4.84375 1.1875 -5.421875 C 1.1875 -6.125 1.734375 -6.734375 2.5 -6.734375 C 4.15625 -6.734375 4.375 -5.09375 4.4375 -4.65625 C 4.453125 -4.59375 4.453125 -4.53125 4.5625 -4.53125 C 4.6875 -4.53125 4.6875 -4.578125 4.6875 -4.765625 L 4.6875 -6.765625 C 4.6875 -6.9375 4.6875 -7 4.578125 -7 C 4.515625 -7 4.5 -7 4.4375 -6.875 L 4.078125 -6.3125 C 3.78125 -6.59375 3.375 -7 2.5 -7 C 1.390625 -7 0.5625 -6.125 0.5625 -5.078125 C 0.5625 -4.25 1.078125 -3.53125 1.859375 -3.265625 C 1.96875 -3.21875 2.46875 -3.09375 3.171875 -2.9375 C 3.4375 -2.859375 3.734375 -2.796875 4.015625 -2.421875 C 4.21875 -2.171875 4.328125 -1.84375 4.328125 -1.515625 C 4.328125 -0.8125 3.828125 -0.09375 2.984375 -0.09375 C 2.703125 -0.09375 1.953125 -0.140625 1.421875 -0.625 C 0.84375 -1.15625 0.8125 -1.796875 0.8125 -2.15625 C 0.796875 -2.25 0.71875 -2.25 0.6875 -2.25 C 0.5625 -2.25 0.5625 -2.1875 0.5625 -2 L 0.5625 -0.015625 C 0.5625 0.15625 0.5625 0.21875 0.671875 0.21875 C 0.734375 0.21875 0.75 0.203125 0.8125 0.09375 C 0.8125 0.09375 0.84375 0.046875 1.171875 -0.484375 C 1.484375 -0.140625 2.109375 0.21875 3 0.21875 C 4.15625 0.21875 4.953125 -0.75 4.953125 -1.84375 Z M 4.953125 -1.84375 "/>
</g>
<g id="glyph-0-1">
<path d="M 4.125 -1.1875 C 4.125 -1.28125 4.046875 -1.296875 4 -1.296875 C 3.90625 -1.296875 3.890625 -1.25 3.859375 -1.15625 C 3.515625 -0.140625 2.625 -0.140625 2.53125 -0.140625 C 2.03125 -0.140625 1.625 -0.4375 1.40625 -0.8125 C 1.109375 -1.28125 1.109375 -1.9375 1.109375 -2.296875 L 3.875 -2.296875 C 4.09375 -2.296875 4.125 -2.296875 4.125 -2.5 C 4.125 -3.484375 3.59375 -4.453125 2.34375 -4.453125 C 1.1875 -4.453125 0.28125 -3.421875 0.28125 -2.1875 C 0.28125 -0.859375 1.328125 0.109375 2.46875 0.109375 C 3.671875 0.109375 4.125 -1 4.125 -1.1875 Z M 3.46875 -2.5 L 1.109375 -2.5 C 1.171875 -3.984375 2 -4.234375 2.34375 -4.234375 C 3.375 -4.234375 3.46875 -2.890625 3.46875 -2.5 Z M 3.46875 -2.5 "/>
</g>
<g id="glyph-0-2">
<path d="M 5.3125 0 L 5.3125 -0.3125 C 4.796875 -0.3125 4.546875 -0.3125 4.546875 -0.609375 L 4.546875 -2.5 C 4.546875 -3.359375 4.546875 -3.671875 4.234375 -4.03125 C 4.09375 -4.1875 3.765625 -4.390625 3.1875 -4.390625 C 2.46875 -4.390625 2 -3.96875 1.71875 -3.34375 L 1.71875 -4.390625 L 0.3125 -4.28125 L 0.3125 -3.96875 C 1.015625 -3.96875 1.09375 -3.90625 1.09375 -3.421875 L 1.09375 -0.75 C 1.09375 -0.3125 0.984375 -0.3125 0.3125 -0.3125 L 0.3125 0 L 1.4375 -0.03125 L 2.546875 0 L 2.546875 -0.3125 C 1.890625 -0.3125 1.78125 -0.3125 1.78125 -0.75 L 1.78125 -2.578125 C 1.78125 -3.625 2.484375 -4.171875 3.125 -4.171875 C 3.75 -4.171875 3.859375 -3.640625 3.859375 -3.078125 L 3.859375 -0.75 C 3.859375 -0.3125 3.75 -0.3125 3.078125 -0.3125 L 3.078125 0 L 4.203125 -0.03125 Z M 5.3125 0 "/>
</g>
<g id="glyph-0-3">
<path d="M 3.578125 -1.265625 C 3.578125 -1.796875 3.28125 -2.09375 3.15625 -2.21875 C 2.828125 -2.53125 2.4375 -2.609375 2.03125 -2.6875 C 1.46875 -2.796875 0.8125 -2.9375 0.8125 -3.515625 C 0.8125 -3.859375 1.0625 -4.265625 1.921875 -4.265625 C 3.015625 -4.265625 3.0625 -3.375 3.078125 -3.0625 C 3.09375 -2.96875 3.203125 -2.96875 3.203125 -2.96875 C 3.328125 -2.96875 3.328125 -3.015625 3.328125 -3.203125 L 3.328125 -4.21875 C 3.328125 -4.375 3.328125 -4.453125 3.21875 -4.453125 C 3.171875 -4.453125 3.15625 -4.453125 3.015625 -4.328125 C 2.984375 -4.296875 2.890625 -4.203125 2.859375 -4.171875 C 2.46875 -4.453125 2.0625 -4.453125 1.921875 -4.453125 C 0.703125 -4.453125 0.328125 -3.78125 0.328125 -3.234375 C 0.328125 -2.875 0.484375 -2.609375 0.75 -2.390625 C 1.078125 -2.125 1.34375 -2.0625 2.0625 -1.921875 C 2.28125 -1.890625 3.09375 -1.734375 3.09375 -1.015625 C 3.09375 -0.5 2.75 -0.109375 1.984375 -0.109375 C 1.140625 -0.109375 0.78125 -0.671875 0.59375 -1.515625 C 0.5625 -1.65625 0.5625 -1.6875 0.453125 -1.6875 C 0.328125 -1.6875 0.328125 -1.625 0.328125 -1.4375 L 0.328125 -0.125 C 0.328125 0.046875 0.328125 0.109375 0.4375 0.109375 C 0.484375 0.109375 0.5 0.09375 0.6875 -0.09375 C 0.703125 -0.109375 0.703125 -0.125 0.890625 -0.3125 C 1.328125 0.09375 1.765625 0.109375 1.984375 0.109375 C 3.125 0.109375 3.578125 -0.5625 3.578125 -1.265625 Z M 3.578125 -1.265625 "/>
</g>
<g id="glyph-0-4">
<path d="M 4.6875 -2.125 C 4.6875 -3.40625 3.6875 -4.453125 2.484375 -4.453125 C 1.25 -4.453125 0.28125 -3.375 0.28125 -2.125 C 0.28125 -0.84375 1.3125 0.109375 2.46875 0.109375 C 3.671875 0.109375 4.6875 -0.859375 4.6875 -2.125 Z M 3.859375 -2.203125 C 3.859375 -1.84375 3.859375 -1.3125 3.640625 -0.875 C 3.421875 -0.421875 2.984375 -0.140625 2.484375 -0.140625 C 2.0625 -0.140625 1.625 -0.34375 1.34375 -0.8125 C 1.109375 -1.25 1.109375 -1.84375 1.109375 -2.203125 C 1.109375 -2.59375 1.109375 -3.125 1.34375 -3.5625 C 1.609375 -4.03125 2.078125 -4.234375 2.46875 -4.234375 C 2.90625 -4.234375 3.34375 -4.015625 3.59375 -3.59375 C 3.859375 -3.15625 3.859375 -2.578125 3.859375 -2.203125 Z M 3.859375 -2.203125 "/>
</g>
<g id="glyph-0-5">
<path d="M 3.625 -3.78125 C 3.625 -4.109375 3.3125 -4.390625 2.875 -4.390625 C 2.15625 -4.390625 1.796875 -3.734375 1.65625 -3.296875 L 1.65625 -4.390625 L 0.28125 -4.28125 L 0.28125 -3.96875 C 0.96875 -3.96875 1.046875 -3.90625 1.046875 -3.421875 L 1.046875 -0.75 C 1.046875 -0.3125 0.9375 -0.3125 0.28125 -0.3125 L 0.28125 0 L 1.40625 -0.03125 C 1.8125 -0.03125 2.28125 -0.03125 2.671875 0 L 2.671875 -0.3125 L 2.46875 -0.3125 C 1.734375 -0.3125 1.703125 -0.421875 1.703125 -0.78125 L 1.703125 -2.3125 C 1.703125 -3.296875 2.125 -4.171875 2.875 -4.171875 C 2.953125 -4.171875 2.96875 -4.171875 2.984375 -4.15625 C 2.96875 -4.15625 2.765625 -4.03125 2.765625 -3.78125 C 2.765625 -3.5 2.96875 -3.34375 3.1875 -3.34375 C 3.375 -3.34375 3.625 -3.46875 3.625 -3.78125 Z M 3.625 -3.78125 "/>
</g>
<g id="glyph-0-6">
<path d="M 4.46875 -1.734375 L 4.21875 -1.734375 C 4.15625 -1.4375 4.09375 -1 4 -0.84375 C 3.921875 -0.765625 3.265625 -0.765625 3.046875 -0.765625 L 1.265625 -0.765625 L 2.3125 -1.78125 C 3.859375 -3.15625 4.46875 -3.703125 4.46875 -4.6875 C 4.46875 -5.828125 3.5625 -6.625 2.359375 -6.625 C 1.234375 -6.625 0.5 -5.703125 0.5 -4.8125 C 0.5 -4.265625 1 -4.265625 1.03125 -4.265625 C 1.1875 -4.265625 1.546875 -4.375 1.546875 -4.796875 C 1.546875 -5.046875 1.359375 -5.3125 1.015625 -5.3125 C 0.9375 -5.3125 0.921875 -5.3125 0.890625 -5.296875 C 1.109375 -5.9375 1.65625 -6.3125 2.21875 -6.3125 C 3.125 -6.3125 3.5625 -5.5 3.5625 -4.6875 C 3.5625 -3.890625 3.0625 -3.109375 2.515625 -2.5 L 0.609375 -0.375 C 0.5 -0.265625 0.5 -0.234375 0.5 0 L 4.1875 0 Z M 4.46875 -1.734375 "/>
</g>
<g id="glyph-0-7">
<path d="M 4.15625 0 L 4.15625 -0.3125 L 3.84375 -0.3125 C 2.953125 -0.3125 2.921875 -0.421875 2.921875 -0.78125 L 2.921875 -6.359375 C 2.921875 -6.59375 2.921875 -6.625 2.6875 -6.625 C 2.078125 -5.984375 1.203125 -5.984375 0.890625 -5.984375 L 0.890625 -5.671875 C 1.078125 -5.671875 1.671875 -5.671875 2.1875 -5.9375 L 2.1875 -0.78125 C 2.1875 -0.421875 2.15625 -0.3125 1.265625 -0.3125 L 0.9375 -0.3125 L 0.9375 0 C 1.296875 -0.03125 2.15625 -0.03125 2.546875 -0.03125 C 2.953125 -0.03125 3.8125 -0.03125 4.15625 0 Z M 4.15625 0 "/>
</g>
<g id="glyph-0-8">
<path d="M 4.546875 -1.703125 C 4.546875 -2.515625 3.921875 -3.296875 2.875 -3.5 C 3.703125 -3.765625 4.265625 -4.46875 4.265625 -5.25 C 4.265625 -6.0625 3.40625 -6.625 2.4375 -6.625 C 1.4375 -6.625 0.6875 -6.015625 0.6875 -5.265625 C 0.6875 -4.9375 0.90625 -4.75 1.1875 -4.75 C 1.5 -4.75 1.703125 -4.96875 1.703125 -5.25 C 1.703125 -5.75 1.234375 -5.75 1.078125 -5.75 C 1.390625 -6.234375 2.046875 -6.375 2.40625 -6.375 C 2.8125 -6.375 3.359375 -6.15625 3.359375 -5.25 C 3.359375 -5.140625 3.34375 -4.5625 3.078125 -4.125 C 2.78125 -3.640625 2.4375 -3.625 2.203125 -3.609375 C 2.109375 -3.59375 1.875 -3.578125 1.8125 -3.578125 C 1.734375 -3.5625 1.65625 -3.5625 1.65625 -3.453125 C 1.65625 -3.34375 1.734375 -3.34375 1.890625 -3.34375 L 2.328125 -3.34375 C 3.15625 -3.34375 3.515625 -2.671875 3.515625 -1.703125 C 3.515625 -0.34375 2.828125 -0.0625 2.390625 -0.0625 C 1.96875 -0.0625 1.21875 -0.234375 0.875 -0.8125 C 1.21875 -0.765625 1.53125 -0.984375 1.53125 -1.359375 C 1.53125 -1.71875 1.265625 -1.921875 0.96875 -1.921875 C 0.734375 -1.921875 0.421875 -1.78125 0.421875 -1.34375 C 0.421875 -0.4375 1.34375 0.21875 2.421875 0.21875 C 3.640625 0.21875 4.546875 -0.6875 4.546875 -1.703125 Z M 4.546875 -1.703125 "/>
</g>
<g id="glyph-1-0">
<path d="M 7.140625 -0.203125 C 7.140625 -0.3125 7.046875 -0.3125 6.859375 -0.3125 C 6.484375 -0.3125 6.21875 -0.3125 6.21875 -0.484375 C 6.21875 -0.546875 6.234375 -0.59375 6.234375 -0.65625 L 7.578125 -6.015625 C 7.671875 -6.375 7.6875 -6.484375 8.421875 -6.484375 C 8.671875 -6.484375 8.75 -6.484375 8.75 -6.671875 C 8.75 -6.78125 8.640625 -6.78125 8.609375 -6.78125 L 7.34375 -6.75 L 6.0625 -6.78125 C 5.984375 -6.78125 5.875 -6.78125 5.875 -6.59375 C 5.875 -6.484375 5.96875 -6.484375 6.15625 -6.484375 C 6.15625 -6.484375 6.359375 -6.484375 6.53125 -6.453125 C 6.703125 -6.4375 6.796875 -6.421875 6.796875 -6.296875 C 6.796875 -6.265625 6.78125 -6.234375 6.75 -6.109375 L 6.15625 -3.6875 L 3.125 -3.6875 L 3.71875 -6.015625 C 3.8125 -6.375 3.828125 -6.484375 4.546875 -6.484375 C 4.8125 -6.484375 4.890625 -6.484375 4.890625 -6.671875 C 4.890625 -6.78125 4.78125 -6.78125 4.75 -6.78125 L 3.484375 -6.75 L 2.203125 -6.78125 C 2.109375 -6.78125 2 -6.78125 2 -6.59375 C 2 -6.484375 2.09375 -6.484375 2.28125 -6.484375 C 2.28125 -6.484375 2.5 -6.484375 2.65625 -6.453125 C 2.84375 -6.4375 2.9375 -6.421875 2.9375 -6.296875 C 2.9375 -6.265625 2.921875 -6.234375 2.890625 -6.109375 L 1.5625 -0.78125 C 1.453125 -0.390625 1.4375 -0.3125 0.65625 -0.3125 C 0.484375 -0.3125 0.390625 -0.3125 0.390625 -0.109375 C 0.390625 0 0.53125 0 0.53125 0 L 1.78125 -0.03125 L 2.421875 -0.015625 C 2.640625 -0.015625 2.859375 0 3.078125 0 C 3.15625 0 3.265625 0 3.265625 -0.203125 C 3.265625 -0.3125 3.1875 -0.3125 2.984375 -0.3125 C 2.625 -0.3125 2.34375 -0.3125 2.34375 -0.484375 C 2.34375 -0.546875 2.359375 -0.59375 2.375 -0.65625 L 3.046875 -3.375 L 6.078125 -3.375 L 5.390625 -0.640625 C 5.296875 -0.3125 5.109375 -0.3125 4.484375 -0.3125 C 4.34375 -0.3125 4.25 -0.3125 4.25 -0.109375 C 4.25 0 4.390625 0 4.390625 0 L 5.65625 -0.03125 L 6.296875 -0.015625 C 6.515625 -0.015625 6.734375 0 6.9375 0 C 7.015625 0 7.140625 0 7.140625 -0.203125 Z M 7.140625 -0.203125 "/>
</g>
<g id="glyph-1-1">
<path d="M 3.9375 -1.546875 C 3.9375 -1.890625 3.75 -2.140625 3.625 -2.265625 C 3.359375 -2.546875 3.078125 -2.59375 2.640625 -2.6875 C 2.28125 -2.765625 1.875 -2.828125 1.875 -3.28125 C 1.875 -3.5625 2.109375 -4.171875 2.984375 -4.171875 C 3.234375 -4.171875 3.734375 -4.109375 3.890625 -3.71875 C 3.609375 -3.703125 3.40625 -3.484375 3.40625 -3.265625 C 3.40625 -3.125 3.5 -2.984375 3.71875 -2.984375 C 3.9375 -2.984375 4.171875 -3.15625 4.171875 -3.53125 C 4.171875 -3.984375 3.75 -4.390625 2.984375 -4.390625 C 1.671875 -4.390625 1.3125 -3.375 1.3125 -2.9375 C 1.3125 -2.171875 2.046875 -2.015625 2.328125 -1.953125 C 2.859375 -1.859375 3.375 -1.75 3.375 -1.203125 C 3.375 -0.9375 3.140625 -0.109375 1.953125 -0.109375 C 1.8125 -0.109375 1.046875 -0.109375 0.8125 -0.640625 C 1.1875 -0.59375 1.4375 -0.890625 1.4375 -1.15625 C 1.4375 -1.390625 1.28125 -1.515625 1.078125 -1.515625 C 0.8125 -1.515625 0.515625 -1.296875 0.515625 -0.859375 C 0.515625 -0.28125 1.078125 0.109375 1.9375 0.109375 C 3.546875 0.109375 3.9375 -1.09375 3.9375 -1.546875 Z M 3.9375 -1.546875 "/>
</g>
<g id="glyph-1-2">
<path d="M 4.921875 -1.421875 C 4.921875 -1.515625 4.84375 -1.515625 4.8125 -1.515625 C 4.71875 -1.515625 4.703125 -1.484375 4.6875 -1.40625 C 4.359375 -0.34375 3.671875 -0.109375 3.359375 -0.109375 C 2.96875 -0.109375 2.8125 -0.421875 2.8125 -0.765625 C 2.8125 -0.984375 2.875 -1.203125 2.984375 -1.640625 L 3.3125 -3 C 3.375 -3.265625 3.609375 -4.171875 4.296875 -4.171875 C 4.359375 -4.171875 4.59375 -4.171875 4.796875 -4.046875 C 4.515625 -4 4.328125 -3.75 4.328125 -3.515625 C 4.328125 -3.34375 4.4375 -3.15625 4.703125 -3.15625 C 4.921875 -3.15625 5.234375 -3.34375 5.234375 -3.734375 C 5.234375 -4.25 4.65625 -4.390625 4.3125 -4.390625 C 3.734375 -4.390625 3.390625 -3.859375 3.265625 -3.640625 C 3.015625 -4.296875 2.484375 -4.390625 2.203125 -4.390625 C 1.15625 -4.390625 0.59375 -3.109375 0.59375 -2.859375 C 0.59375 -2.765625 0.71875 -2.765625 0.71875 -2.765625 C 0.796875 -2.765625 0.828125 -2.78125 0.84375 -2.875 C 1.1875 -3.921875 1.84375 -4.171875 2.171875 -4.171875 C 2.359375 -4.171875 2.71875 -4.078125 2.71875 -3.515625 C 2.71875 -3.203125 2.546875 -2.53125 2.171875 -1.140625 C 2.015625 -0.53125 1.671875 -0.109375 1.234375 -0.109375 C 1.171875 -0.109375 0.9375 -0.109375 0.734375 -0.234375 C 0.984375 -0.28125 1.203125 -0.5 1.203125 -0.78125 C 1.203125 -1.046875 0.984375 -1.125 0.828125 -1.125 C 0.53125 -1.125 0.28125 -0.859375 0.28125 -0.546875 C 0.28125 -0.09375 0.78125 0.109375 1.21875 0.109375 C 1.875 0.109375 2.234375 -0.59375 2.265625 -0.640625 C 2.390625 -0.28125 2.75 0.109375 3.34375 0.109375 C 4.359375 0.109375 4.921875 -1.171875 4.921875 -1.421875 Z M 4.921875 -1.421875 "/>
</g>
<g id="glyph-2-0">
<path d="M 3.28125 0 L 3.28125 -0.25 L 3.03125 -0.25 C 2.328125 -0.25 2.328125 -0.34375 2.328125 -0.5625 L 2.328125 -4.421875 C 2.328125 -4.609375 2.3125 -4.609375 2.125 -4.609375 C 1.671875 -4.171875 1.046875 -4.171875 0.765625 -4.171875 L 0.765625 -3.921875 C 0.921875 -3.921875 1.390625 -3.921875 1.765625 -4.109375 L 1.765625 -0.5625 C 1.765625 -0.34375 1.765625 -0.25 1.078125 -0.25 L 0.8125 -0.25 L 0.8125 0 L 2.046875 -0.03125 Z M 3.28125 0 "/>
</g>
<g id="glyph-2-1">
<path d="M 3.515625 -1.265625 L 3.28125 -1.265625 C 3.25 -1.109375 3.1875 -0.703125 3.09375 -0.625 C 3.03125 -0.59375 2.5 -0.59375 2.40625 -0.59375 L 1.125 -0.59375 C 1.859375 -1.234375 2.09375 -1.4375 2.515625 -1.765625 C 3.03125 -2.171875 3.515625 -2.59375 3.515625 -3.265625 C 3.515625 -4.109375 2.78125 -4.609375 1.890625 -4.609375 C 1.015625 -4.609375 0.4375 -4.015625 0.4375 -3.375 C 0.4375 -3.015625 0.734375 -2.984375 0.8125 -2.984375 C 0.96875 -2.984375 1.171875 -3.09375 1.171875 -3.34375 C 1.171875 -3.484375 1.125 -3.71875 0.765625 -3.71875 C 0.984375 -4.21875 1.453125 -4.359375 1.78125 -4.359375 C 2.46875 -4.359375 2.84375 -3.828125 2.84375 -3.265625 C 2.84375 -2.65625 2.40625 -2.171875 2.1875 -1.921875 L 0.5 -0.265625 C 0.4375 -0.203125 0.4375 -0.1875 0.4375 0 L 3.296875 0 Z M 3.515625 -1.265625 "/>
</g>
<g id="glyph-2-2">
<path d="M 3.578125 -1.203125 C 3.578125 -1.75 3.125 -2.28125 2.359375 -2.453125 C 3.09375 -2.71875 3.359375 -3.234375 3.359375 -3.65625 C 3.359375 -4.203125 2.71875 -4.609375 1.953125 -4.609375 C 1.1875 -4.609375 0.59375 -4.234375 0.59375 -3.6875 C 0.59375 -3.453125 0.75 -3.3125 0.953125 -3.3125 C 1.171875 -3.3125 1.3125 -3.484375 1.3125 -3.671875 C 1.3125 -3.875 1.171875 -4.015625 0.953125 -4.03125 C 1.203125 -4.34375 1.671875 -4.421875 1.9375 -4.421875 C 2.25 -4.421875 2.6875 -4.265625 2.6875 -3.65625 C 2.6875 -3.359375 2.59375 -3.046875 2.40625 -2.828125 C 2.171875 -2.5625 1.984375 -2.546875 1.640625 -2.53125 C 1.453125 -2.515625 1.453125 -2.515625 1.40625 -2.515625 C 1.40625 -2.515625 1.34375 -2.5 1.34375 -2.421875 C 1.34375 -2.328125 1.40625 -2.328125 1.515625 -2.328125 L 1.890625 -2.328125 C 2.4375 -2.328125 2.828125 -1.953125 2.828125 -1.203125 C 2.828125 -0.34375 2.328125 -0.078125 1.921875 -0.078125 C 1.640625 -0.078125 1.03125 -0.15625 0.75 -0.5625 C 1.078125 -0.578125 1.140625 -0.8125 1.140625 -0.953125 C 1.140625 -1.1875 0.984375 -1.34375 0.765625 -1.34375 C 0.5625 -1.34375 0.375 -1.21875 0.375 -0.9375 C 0.375 -0.28125 1.09375 0.140625 1.9375 0.140625 C 2.90625 0.140625 3.578125 -0.5 3.578125 -1.203125 Z M 3.578125 -1.203125 "/>
</g>
<g id="glyph-3-0">
<path d="M 3.296875 2.390625 C 3.296875 2.359375 3.296875 2.328125 3.125 2.171875 C 1.875 0.921875 1.5625 -0.96875 1.5625 -2.484375 C 1.5625 -4.21875 1.9375 -5.9375 3.15625 -7.1875 C 3.296875 -7.296875 3.296875 -7.328125 3.296875 -7.359375 C 3.296875 -7.421875 3.25 -7.453125 3.1875 -7.453125 C 3.09375 -7.453125 2.203125 -6.78125 1.609375 -5.515625 C 1.109375 -4.421875 0.984375 -3.3125 0.984375 -2.484375 C 0.984375 -1.703125 1.09375 -0.5 1.640625 0.609375 C 2.234375 1.84375 3.09375 2.484375 3.1875 2.484375 C 3.25 2.484375 3.296875 2.453125 3.296875 2.390625 Z M 3.296875 2.390625 "/>
</g>
<g id="glyph-3-1">
<path d="M 2.875 -2.484375 C 2.875 -3.265625 2.765625 -4.46875 2.21875 -5.578125 C 1.625 -6.8125 0.765625 -7.453125 0.671875 -7.453125 C 0.609375 -7.453125 0.5625 -7.40625 0.5625 -7.359375 C 0.5625 -7.328125 0.5625 -7.296875 0.75 -7.125 C 1.734375 -6.140625 2.296875 -4.5625 2.296875 -2.484375 C 2.296875 -0.78125 1.921875 0.96875 0.703125 2.21875 C 0.5625 2.328125 0.5625 2.359375 0.5625 2.390625 C 0.5625 2.4375 0.609375 2.484375 0.671875 2.484375 C 0.765625 2.484375 1.65625 1.8125 2.25 0.546875 C 2.75 -0.546875 2.875 -1.65625 2.875 -2.484375 Z M 2.875 -2.484375 "/>
</g>
<g id="glyph-3-2">
<path d="M 4 -5.265625 L 2.484375 -6.875 L 0.96875 -5.265625 L 1.109375 -5.125 L 2.484375 -6.203125 L 3.859375 -5.125 Z M 4 -5.265625 "/>
</g>
<g id="glyph-4-0">
<path d="M 8.09375 -2.984375 C 8.09375 -3.203125 7.890625 -3.203125 7.71875 -3.203125 L 4.53125 -3.203125 L 4.53125 -6.390625 C 4.53125 -6.5625 4.53125 -6.765625 4.328125 -6.765625 C 4.109375 -6.765625 4.109375 -6.578125 4.109375 -6.390625 L 4.109375 -3.203125 L 0.921875 -3.203125 C 0.75 -3.203125 0.546875 -3.203125 0.546875 -3 C 0.546875 -2.78125 0.75 -2.78125 0.921875 -2.78125 L 4.109375 -2.78125 L 4.109375 0.390625 C 4.109375 0.5625 4.109375 0.765625 4.3125 0.765625 C 4.53125 0.765625 4.53125 0.578125 4.53125 0.390625 L 4.53125 -2.78125 L 7.71875 -2.78125 C 7.875 -2.78125 8.09375 -2.78125 8.09375 -2.984375 Z M 8.09375 -2.984375 "/>
</g>
</g>
<clipPath id="clip-0">
<path clip-rule="nonzero" d="M 17 0.148438 L 183 0.148438 L 183 101.8125 L 17 101.8125 Z M 17 0.148438 "/>
</clipPath>
<clipPath id="clip-1">
<path clip-rule="nonzero" d="M 178 35 L 199.75 35 L 199.75 67 L 178 67 Z M 178 35 "/>
</clipPath>
</defs>
<path fill-rule="nonzero" fill="rgb(89.99939%, 89.99939%, 89.99939%)" fill-opacity="1" d="M 17.640625 100.816406 L 182.109375 100.816406 L 182.109375 1.144531 L 17.640625 1.144531 Z M 17.640625 100.816406 "/>
<g clip-path="url(#clip-0)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -5.979263 -49.992072 L 159.003313 -49.992072 L 159.003313 49.991194 L -5.979263 49.991194 Z M -5.979263 -49.992072 " transform="matrix(0.996886, 0, 0, -0.996886, 23.601266, 50.980031)"/>
</g>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 25.585938 50.980469 C 25.585938 49.882812 24.699219 48.992188 23.601562 48.992188 C 22.503906 48.992188 21.613281 49.882812 21.613281 50.980469 C 21.613281 52.078125 22.503906 52.964844 23.601562 52.964844 C 24.699219 52.964844 25.585938 52.078125 25.585938 50.980469 Z M 25.585938 50.980469 "/>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 14.326164 -11.340444 L 57.581975 -11.340444 L 57.581975 11.339566 L 14.326164 11.339566 Z M 14.326164 -11.340444 " transform="matrix(0.996886, 0, 0, -0.996886, 23.601266, 50.980031)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="41.194302" y="54.401342"/>
<use xlink:href="#glyph-0-1" x="46.712284" y="54.401342"/>
<use xlink:href="#glyph-0-2" x="51.126868" y="54.401342"/>
<use xlink:href="#glyph-0-3" x="56.644849" y="54.401342"/>
<use xlink:href="#glyph-0-4" x="60.562855" y="54.401342"/>
<use xlink:href="#glyph-0-5" x="65.528641" y="54.401342"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-6" x="72.726051" y="54.401342"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 14.326164 20.837898 L 57.581975 20.837898 L 57.581975 43.517908 L 14.326164 43.517908 Z M 14.326164 20.837898 " transform="matrix(0.996886, 0, 0, -0.996886, 23.601266, 50.980031)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="41.194302" y="22.323558"/>
<use xlink:href="#glyph-0-1" x="46.712284" y="22.323558"/>
<use xlink:href="#glyph-0-2" x="51.126868" y="22.323558"/>
<use xlink:href="#glyph-0-3" x="56.644849" y="22.323558"/>
<use xlink:href="#glyph-0-4" x="60.562855" y="22.323558"/>
<use xlink:href="#glyph-0-5" x="65.528641" y="22.323558"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-7" x="72.726051" y="22.323558"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 14.326164 -43.514868 L 57.581975 -43.514868 L 57.581975 -20.838776 L 14.326164 -20.838776 Z M 14.326164 -43.514868 " transform="matrix(0.996886, 0, 0, -0.996886, 23.601266, 50.980031)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="41.194302" y="86.478129"/>
<use xlink:href="#glyph-0-1" x="46.712284" y="86.478129"/>
<use xlink:href="#glyph-0-2" x="51.126868" y="86.478129"/>
<use xlink:href="#glyph-0-3" x="56.644849" y="86.478129"/>
<use xlink:href="#glyph-0-4" x="60.562855" y="86.478129"/>
<use xlink:href="#glyph-0-5" x="65.528641" y="86.478129"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-8" x="72.726051" y="86.478129"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 89.760317 20.837898 L 121.570325 20.837898 L 121.570325 43.517908 L 89.760317 43.517908 Z M 89.760317 20.837898 " transform="matrix(0.996886, 0, 0, -0.996886, 23.601266, 50.980031)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="116.390378" y="21.385489"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="124.646584" y="22.875833"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="129.101666" y="21.385489"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-1" x="132.964054" y="21.385489"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="137.619975" y="21.385489"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 89.760317 -11.340444 L 121.570325 -11.340444 L 121.570325 11.339566 L 89.760317 11.339566 Z M 89.760317 -11.340444 " transform="matrix(0.996886, 0, 0, -0.996886, 23.601266, 50.980031)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="116.390378" y="53.463273"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="124.646584" y="54.95262"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="129.101666" y="53.463273"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-1" x="132.964054" y="53.463273"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="137.619975" y="53.463273"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 89.760317 -43.514868 L 121.570325 -43.514868 L 121.570325 -20.838776 L 89.760317 -20.838776 Z M 89.760317 -43.514868 " transform="matrix(0.996886, 0, 0, -0.996886, 23.601266, 50.980031)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="116.390378" y="85.54006"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-2" x="124.646584" y="87.030404"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="129.101666" y="85.54006"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-1" x="132.964054" y="85.54006"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="137.619975" y="85.54006"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 153.023753 -0.000438973 C 153.023753 3.851401 149.900745 6.974409 146.052824 6.974409 C 142.200984 6.974409 139.077976 3.851401 139.077976 -0.000438973 C 139.077976 -3.852279 142.200984 -6.975287 146.052824 -6.975287 C 149.900745 -6.975287 153.023753 -3.852279 153.023753 -0.000438973 Z M 153.023753 -0.000438973 " transform="matrix(0.996886, 0, 0, -0.996886, 23.601266, 50.980031)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="164.871914" y="53.886949"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 0.000297506 -0.000438973 L 0.000297506 32.177903 L 9.196908 32.177903 " transform="matrix(0.996886, 0, 0, -0.996886, 23.601266, 50.980031)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052881 -0.0000168476 L 1.609354 1.684918 L 3.086611 -0.0000168476 L 1.609354 -1.684952 Z M 6.052881 -0.0000168476 " transform="matrix(0.996886, 0, 0, -0.996886, 29.938627, 18.902327)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -22.675794 -0.000438973 L 13.828521 -0.000438973 " transform="matrix(0.996886, 0, 0, -0.996886, 23.601266, 50.980031)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-2" x="4.801998" y="47.172925"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 0.000297506 -0.000438973 L 0.000297506 -32.178781 L 9.196908 -32.178781 " transform="matrix(0.996886, 0, 0, -0.996886, 23.601266, 50.980031)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052881 -0.000861098 L 1.609354 1.684074 L 3.086611 -0.000861098 L 1.609354 -1.681878 Z M 6.052881 -0.000861098 " transform="matrix(0.996886, 0, 0, -0.996886, 29.938627, 83.057735)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 58.079619 32.177903 L 84.627143 32.177903 " transform="matrix(0.996886, 0, 0, -0.996886, 23.601266, 50.980031)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054823 -0.0000168476 L 1.607378 1.684918 L 3.088554 -0.0000168476 L 1.607378 -1.684952 Z M 6.054823 -0.0000168476 " transform="matrix(0.996886, 0, 0, -0.996886, 105.135909, 18.902327)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-2" x="99.276843" y="13.605794"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-2" x="98.641223" y="13.605794"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="104.322081" y="15.096138"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 58.079619 -0.000438973 L 84.627143 -0.000438973 " transform="matrix(0.996886, 0, 0, -0.996886, 23.601266, 50.980031)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054823 -0.000438973 L 1.607378 1.684496 L 3.088554 -0.000438973 L 1.607378 -1.681456 Z M 6.054823 -0.000438973 " transform="matrix(0.996886, 0, 0, -0.996886, 105.135909, 50.980031)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-2" x="99.276843" y="45.683578"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-2" x="98.641223" y="45.683578"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="104.322081" y="47.172925"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 58.079619 -32.178781 L 84.627143 -32.178781 " transform="matrix(0.996886, 0, 0, -0.996886, 23.601266, 50.980031)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054823 -0.000861098 L 1.607378 1.684074 L 3.088554 -0.000861098 L 1.607378 -1.681878 Z M 6.054823 -0.000861098 " transform="matrix(0.996886, 0, 0, -0.996886, 105.135909, 83.057735)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-2" x="99.276843" y="77.760365"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-2" x="98.641223" y="77.760365"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-2" x="104.322081" y="79.250709"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 122.067968 32.177903 L 146.052824 32.177903 L 146.052824 11.606021 " transform="matrix(0.996886, 0, 0, -0.996886, 23.601266, 50.980031)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053091 0.00187381 L 1.609565 1.68289 L 3.086822 0.00187381 L 1.609565 -1.683061 Z M 6.053091 0.00187381 " transform="matrix(0, 0.996886, 0.996886, 0, 169.197351, 36.579042)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 122.067968 -0.000438973 L 134.442445 -0.000438973 " transform="matrix(0.996886, 0, 0, -0.996886, 23.601266, 50.980031)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054516 -0.000438973 L 1.607071 1.684496 L 3.088246 -0.000438973 L 1.607071 -1.681456 Z M 6.054516 -0.000438973 " transform="matrix(0.996886, 0, 0, -0.996886, 154.796372, 50.980031)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 122.067968 -32.178781 L 146.052824 -32.178781 L 146.052824 -11.606899 " transform="matrix(0.996886, 0, 0, -0.996886, 23.601266, 50.980031)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052203 -0.00187381 L 1.608677 1.683061 L 3.085934 -0.00187381 L 1.608677 -1.68289 Z M 6.052203 -0.00187381 " transform="matrix(0, -0.996886, -0.996886, 0, 169.197351, 65.38101)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 153.023753 -0.000438973 L 171.068232 -0.000438973 " transform="matrix(0.996886, 0, 0, -0.996886, 23.601266, 50.980031)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 197.34375 50.980469 L 192.910156 49.300781 L 194.386719 50.980469 L 192.910156 52.65625 Z M 197.34375 50.980469 "/>
<g clip-path="url(#clip-1)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054983 -0.000438973 L 1.607538 1.684496 L 3.088714 -0.000438973 L 1.607538 -1.681456 Z M 6.054983 -0.000438973 " transform="matrix(0.996886, 0, 0, -0.996886, 191.307625, 50.980031)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-2" x="189.902714" y="47.172925"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-2" x="189.267093" y="47.172925"/>
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 33 KiB

BIN
figs/detail_control_sensor_fusion_three_sequential.pdf Normal file
View File

Binary file not shown.

BIN
figs/detail_control_sensor_fusion_three_sequential.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 23 KiB

265
figs/detail_control_sensor_fusion_three_sequential.svg Normal file
View File

@ -0,0 +1,265 @@
<?xml version="1.0" encoding="UTF-8"?>
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="272.866" height="107.649" viewBox="0 0 272.866 107.649">
<defs>
<g>
<g id="glyph-0-0">
<path d="M 4.953125 -1.84375 C 4.953125 -2.84375 4.296875 -3.65625 3.46875 -3.859375 L 2.203125 -4.15625 C 1.578125 -4.3125 1.1875 -4.84375 1.1875 -5.421875 C 1.1875 -6.125 1.734375 -6.734375 2.5 -6.734375 C 4.15625 -6.734375 4.375 -5.09375 4.4375 -4.65625 C 4.453125 -4.59375 4.453125 -4.53125 4.5625 -4.53125 C 4.6875 -4.53125 4.6875 -4.578125 4.6875 -4.765625 L 4.6875 -6.765625 C 4.6875 -6.9375 4.6875 -7 4.578125 -7 C 4.515625 -7 4.5 -7 4.4375 -6.875 L 4.078125 -6.3125 C 3.78125 -6.59375 3.375 -7 2.5 -7 C 1.390625 -7 0.5625 -6.125 0.5625 -5.078125 C 0.5625 -4.25 1.078125 -3.53125 1.859375 -3.265625 C 1.96875 -3.21875 2.46875 -3.09375 3.171875 -2.9375 C 3.4375 -2.859375 3.734375 -2.796875 4.015625 -2.421875 C 4.21875 -2.171875 4.328125 -1.84375 4.328125 -1.515625 C 4.328125 -0.8125 3.828125 -0.09375 2.984375 -0.09375 C 2.703125 -0.09375 1.953125 -0.140625 1.421875 -0.625 C 0.84375 -1.15625 0.8125 -1.796875 0.8125 -2.15625 C 0.796875 -2.25 0.71875 -2.25 0.6875 -2.25 C 0.5625 -2.25 0.5625 -2.1875 0.5625 -2 L 0.5625 -0.015625 C 0.5625 0.15625 0.5625 0.21875 0.671875 0.21875 C 0.734375 0.21875 0.75 0.203125 0.8125 0.09375 C 0.8125 0.09375 0.84375 0.046875 1.171875 -0.484375 C 1.484375 -0.140625 2.109375 0.21875 3 0.21875 C 4.15625 0.21875 4.953125 -0.75 4.953125 -1.84375 Z M 4.953125 -1.84375 "/>
</g>
<g id="glyph-0-1">
<path d="M 4.125 -1.1875 C 4.125 -1.28125 4.046875 -1.296875 4 -1.296875 C 3.90625 -1.296875 3.890625 -1.25 3.859375 -1.15625 C 3.515625 -0.140625 2.625 -0.140625 2.53125 -0.140625 C 2.03125 -0.140625 1.625 -0.4375 1.40625 -0.8125 C 1.109375 -1.28125 1.109375 -1.9375 1.109375 -2.296875 L 3.875 -2.296875 C 4.09375 -2.296875 4.125 -2.296875 4.125 -2.5 C 4.125 -3.484375 3.59375 -4.453125 2.34375 -4.453125 C 1.1875 -4.453125 0.28125 -3.421875 0.28125 -2.1875 C 0.28125 -0.859375 1.328125 0.109375 2.46875 0.109375 C 3.671875 0.109375 4.125 -1 4.125 -1.1875 Z M 3.46875 -2.5 L 1.109375 -2.5 C 1.171875 -3.984375 2 -4.234375 2.34375 -4.234375 C 3.375 -4.234375 3.46875 -2.890625 3.46875 -2.5 Z M 3.46875 -2.5 "/>
</g>
<g id="glyph-0-2">
<path d="M 5.3125 0 L 5.3125 -0.3125 C 4.796875 -0.3125 4.546875 -0.3125 4.546875 -0.609375 L 4.546875 -2.5 C 4.546875 -3.359375 4.546875 -3.671875 4.234375 -4.03125 C 4.09375 -4.1875 3.765625 -4.390625 3.1875 -4.390625 C 2.46875 -4.390625 2 -3.96875 1.71875 -3.34375 L 1.71875 -4.390625 L 0.3125 -4.28125 L 0.3125 -3.96875 C 1.015625 -3.96875 1.09375 -3.90625 1.09375 -3.421875 L 1.09375 -0.75 C 1.09375 -0.3125 0.984375 -0.3125 0.3125 -0.3125 L 0.3125 0 L 1.4375 -0.03125 L 2.546875 0 L 2.546875 -0.3125 C 1.890625 -0.3125 1.78125 -0.3125 1.78125 -0.75 L 1.78125 -2.578125 C 1.78125 -3.625 2.484375 -4.171875 3.125 -4.171875 C 3.75 -4.171875 3.859375 -3.640625 3.859375 -3.078125 L 3.859375 -0.75 C 3.859375 -0.3125 3.75 -0.3125 3.078125 -0.3125 L 3.078125 0 L 4.203125 -0.03125 Z M 5.3125 0 "/>
</g>
<g id="glyph-0-3">
<path d="M 3.578125 -1.265625 C 3.578125 -1.796875 3.28125 -2.09375 3.15625 -2.21875 C 2.828125 -2.53125 2.4375 -2.609375 2.03125 -2.6875 C 1.46875 -2.796875 0.8125 -2.9375 0.8125 -3.515625 C 0.8125 -3.859375 1.0625 -4.265625 1.921875 -4.265625 C 3.015625 -4.265625 3.0625 -3.375 3.078125 -3.0625 C 3.09375 -2.96875 3.203125 -2.96875 3.203125 -2.96875 C 3.328125 -2.96875 3.328125 -3.015625 3.328125 -3.203125 L 3.328125 -4.21875 C 3.328125 -4.375 3.328125 -4.453125 3.21875 -4.453125 C 3.171875 -4.453125 3.15625 -4.453125 3.015625 -4.328125 C 2.984375 -4.296875 2.890625 -4.203125 2.859375 -4.171875 C 2.46875 -4.453125 2.0625 -4.453125 1.921875 -4.453125 C 0.703125 -4.453125 0.328125 -3.78125 0.328125 -3.234375 C 0.328125 -2.875 0.484375 -2.609375 0.75 -2.390625 C 1.078125 -2.125 1.34375 -2.0625 2.0625 -1.921875 C 2.28125 -1.890625 3.09375 -1.734375 3.09375 -1.015625 C 3.09375 -0.5 2.75 -0.109375 1.984375 -0.109375 C 1.140625 -0.109375 0.78125 -0.671875 0.59375 -1.515625 C 0.5625 -1.65625 0.5625 -1.6875 0.453125 -1.6875 C 0.328125 -1.6875 0.328125 -1.625 0.328125 -1.4375 L 0.328125 -0.125 C 0.328125 0.046875 0.328125 0.109375 0.4375 0.109375 C 0.484375 0.109375 0.5 0.09375 0.6875 -0.09375 C 0.703125 -0.109375 0.703125 -0.125 0.890625 -0.3125 C 1.328125 0.09375 1.765625 0.109375 1.984375 0.109375 C 3.125 0.109375 3.578125 -0.5625 3.578125 -1.265625 Z M 3.578125 -1.265625 "/>
</g>
<g id="glyph-0-4">
<path d="M 4.6875 -2.125 C 4.6875 -3.40625 3.6875 -4.453125 2.484375 -4.453125 C 1.25 -4.453125 0.28125 -3.375 0.28125 -2.125 C 0.28125 -0.84375 1.3125 0.109375 2.46875 0.109375 C 3.671875 0.109375 4.6875 -0.859375 4.6875 -2.125 Z M 3.859375 -2.203125 C 3.859375 -1.84375 3.859375 -1.3125 3.640625 -0.875 C 3.421875 -0.421875 2.984375 -0.140625 2.484375 -0.140625 C 2.0625 -0.140625 1.625 -0.34375 1.34375 -0.8125 C 1.109375 -1.25 1.109375 -1.84375 1.109375 -2.203125 C 1.109375 -2.59375 1.109375 -3.125 1.34375 -3.5625 C 1.609375 -4.03125 2.078125 -4.234375 2.46875 -4.234375 C 2.90625 -4.234375 3.34375 -4.015625 3.59375 -3.59375 C 3.859375 -3.15625 3.859375 -2.578125 3.859375 -2.203125 Z M 3.859375 -2.203125 "/>
</g>
<g id="glyph-0-5">
<path d="M 3.625 -3.78125 C 3.625 -4.109375 3.3125 -4.390625 2.875 -4.390625 C 2.15625 -4.390625 1.796875 -3.734375 1.65625 -3.296875 L 1.65625 -4.390625 L 0.28125 -4.28125 L 0.28125 -3.96875 C 0.96875 -3.96875 1.046875 -3.90625 1.046875 -3.421875 L 1.046875 -0.75 C 1.046875 -0.3125 0.9375 -0.3125 0.28125 -0.3125 L 0.28125 0 L 1.40625 -0.03125 C 1.8125 -0.03125 2.28125 -0.03125 2.671875 0 L 2.671875 -0.3125 L 2.46875 -0.3125 C 1.734375 -0.3125 1.703125 -0.421875 1.703125 -0.78125 L 1.703125 -2.3125 C 1.703125 -3.296875 2.125 -4.171875 2.875 -4.171875 C 2.953125 -4.171875 2.96875 -4.171875 2.984375 -4.15625 C 2.96875 -4.15625 2.765625 -4.03125 2.765625 -3.78125 C 2.765625 -3.5 2.96875 -3.34375 3.1875 -3.34375 C 3.375 -3.34375 3.625 -3.46875 3.625 -3.78125 Z M 3.625 -3.78125 "/>
</g>
<g id="glyph-0-6">
<path d="M 4.46875 -1.734375 L 4.21875 -1.734375 C 4.15625 -1.4375 4.09375 -1 4 -0.84375 C 3.921875 -0.765625 3.265625 -0.765625 3.046875 -0.765625 L 1.265625 -0.765625 L 2.3125 -1.78125 C 3.859375 -3.15625 4.46875 -3.703125 4.46875 -4.6875 C 4.46875 -5.828125 3.5625 -6.625 2.359375 -6.625 C 1.234375 -6.625 0.5 -5.703125 0.5 -4.8125 C 0.5 -4.265625 1 -4.265625 1.03125 -4.265625 C 1.1875 -4.265625 1.546875 -4.375 1.546875 -4.796875 C 1.546875 -5.046875 1.359375 -5.3125 1.015625 -5.3125 C 0.9375 -5.3125 0.921875 -5.3125 0.890625 -5.296875 C 1.109375 -5.9375 1.65625 -6.3125 2.21875 -6.3125 C 3.125 -6.3125 3.5625 -5.5 3.5625 -4.6875 C 3.5625 -3.890625 3.0625 -3.109375 2.515625 -2.5 L 0.609375 -0.375 C 0.5 -0.265625 0.5 -0.234375 0.5 0 L 4.1875 0 Z M 4.46875 -1.734375 "/>
</g>
<g id="glyph-0-7">
<path d="M 4.15625 0 L 4.15625 -0.3125 L 3.84375 -0.3125 C 2.953125 -0.3125 2.921875 -0.421875 2.921875 -0.78125 L 2.921875 -6.359375 C 2.921875 -6.59375 2.921875 -6.625 2.6875 -6.625 C 2.078125 -5.984375 1.203125 -5.984375 0.890625 -5.984375 L 0.890625 -5.671875 C 1.078125 -5.671875 1.671875 -5.671875 2.1875 -5.9375 L 2.1875 -0.78125 C 2.1875 -0.421875 2.15625 -0.3125 1.265625 -0.3125 L 0.9375 -0.3125 L 0.9375 0 C 1.296875 -0.03125 2.15625 -0.03125 2.546875 -0.03125 C 2.953125 -0.03125 3.8125 -0.03125 4.15625 0 Z M 4.15625 0 "/>
</g>
<g id="glyph-0-8">
<path d="M 4.546875 -1.703125 C 4.546875 -2.515625 3.921875 -3.296875 2.875 -3.5 C 3.703125 -3.765625 4.265625 -4.46875 4.265625 -5.25 C 4.265625 -6.0625 3.40625 -6.625 2.4375 -6.625 C 1.4375 -6.625 0.6875 -6.015625 0.6875 -5.265625 C 0.6875 -4.9375 0.90625 -4.75 1.1875 -4.75 C 1.5 -4.75 1.703125 -4.96875 1.703125 -5.25 C 1.703125 -5.75 1.234375 -5.75 1.078125 -5.75 C 1.390625 -6.234375 2.046875 -6.375 2.40625 -6.375 C 2.8125 -6.375 3.359375 -6.15625 3.359375 -5.25 C 3.359375 -5.140625 3.34375 -4.5625 3.078125 -4.125 C 2.78125 -3.640625 2.4375 -3.625 2.203125 -3.609375 C 2.109375 -3.59375 1.875 -3.578125 1.8125 -3.578125 C 1.734375 -3.5625 1.65625 -3.5625 1.65625 -3.453125 C 1.65625 -3.34375 1.734375 -3.34375 1.890625 -3.34375 L 2.328125 -3.34375 C 3.15625 -3.34375 3.515625 -2.671875 3.515625 -1.703125 C 3.515625 -0.34375 2.828125 -0.0625 2.390625 -0.0625 C 1.96875 -0.0625 1.21875 -0.234375 0.875 -0.8125 C 1.21875 -0.765625 1.53125 -0.984375 1.53125 -1.359375 C 1.53125 -1.71875 1.265625 -1.921875 0.96875 -1.921875 C 0.734375 -1.921875 0.421875 -1.78125 0.421875 -1.34375 C 0.421875 -0.4375 1.34375 0.21875 2.421875 0.21875 C 3.640625 0.21875 4.546875 -0.6875 4.546875 -1.703125 Z M 4.546875 -1.703125 "/>
</g>
<g id="glyph-1-0">
<path d="M 7.140625 -0.203125 C 7.140625 -0.3125 7.046875 -0.3125 6.859375 -0.3125 C 6.484375 -0.3125 6.21875 -0.3125 6.21875 -0.484375 C 6.21875 -0.546875 6.234375 -0.59375 6.234375 -0.65625 L 7.578125 -6.015625 C 7.671875 -6.375 7.6875 -6.484375 8.421875 -6.484375 C 8.671875 -6.484375 8.75 -6.484375 8.75 -6.671875 C 8.75 -6.78125 8.640625 -6.78125 8.609375 -6.78125 L 7.34375 -6.75 L 6.0625 -6.78125 C 5.984375 -6.78125 5.875 -6.78125 5.875 -6.59375 C 5.875 -6.484375 5.96875 -6.484375 6.15625 -6.484375 C 6.15625 -6.484375 6.359375 -6.484375 6.53125 -6.453125 C 6.703125 -6.4375 6.796875 -6.421875 6.796875 -6.296875 C 6.796875 -6.265625 6.78125 -6.234375 6.75 -6.109375 L 6.15625 -3.6875 L 3.125 -3.6875 L 3.71875 -6.015625 C 3.8125 -6.375 3.828125 -6.484375 4.546875 -6.484375 C 4.8125 -6.484375 4.890625 -6.484375 4.890625 -6.671875 C 4.890625 -6.78125 4.78125 -6.78125 4.75 -6.78125 L 3.484375 -6.75 L 2.203125 -6.78125 C 2.109375 -6.78125 2 -6.78125 2 -6.59375 C 2 -6.484375 2.09375 -6.484375 2.28125 -6.484375 C 2.28125 -6.484375 2.5 -6.484375 2.65625 -6.453125 C 2.84375 -6.4375 2.9375 -6.421875 2.9375 -6.296875 C 2.9375 -6.265625 2.921875 -6.234375 2.890625 -6.109375 L 1.5625 -0.78125 C 1.453125 -0.390625 1.4375 -0.3125 0.65625 -0.3125 C 0.484375 -0.3125 0.390625 -0.3125 0.390625 -0.109375 C 0.390625 0 0.53125 0 0.53125 0 L 1.78125 -0.03125 L 2.421875 -0.015625 C 2.640625 -0.015625 2.859375 0 3.078125 0 C 3.15625 0 3.265625 0 3.265625 -0.203125 C 3.265625 -0.3125 3.1875 -0.3125 2.984375 -0.3125 C 2.625 -0.3125 2.34375 -0.3125 2.34375 -0.484375 C 2.34375 -0.546875 2.359375 -0.59375 2.375 -0.65625 L 3.046875 -3.375 L 6.078125 -3.375 L 5.390625 -0.640625 C 5.296875 -0.3125 5.109375 -0.3125 4.484375 -0.3125 C 4.34375 -0.3125 4.25 -0.3125 4.25 -0.109375 C 4.25 0 4.390625 0 4.390625 0 L 5.65625 -0.03125 L 6.296875 -0.015625 C 6.515625 -0.015625 6.734375 0 6.9375 0 C 7.015625 0 7.140625 0 7.140625 -0.203125 Z M 7.140625 -0.203125 "/>
</g>
<g id="glyph-1-1">
<path d="M 3.9375 -1.546875 C 3.9375 -1.890625 3.75 -2.140625 3.625 -2.265625 C 3.359375 -2.546875 3.078125 -2.59375 2.640625 -2.6875 C 2.28125 -2.765625 1.875 -2.828125 1.875 -3.28125 C 1.875 -3.5625 2.109375 -4.171875 2.984375 -4.171875 C 3.234375 -4.171875 3.734375 -4.109375 3.890625 -3.71875 C 3.609375 -3.703125 3.40625 -3.484375 3.40625 -3.265625 C 3.40625 -3.125 3.5 -2.984375 3.71875 -2.984375 C 3.9375 -2.984375 4.171875 -3.15625 4.171875 -3.53125 C 4.171875 -3.984375 3.75 -4.390625 2.984375 -4.390625 C 1.671875 -4.390625 1.3125 -3.375 1.3125 -2.9375 C 1.3125 -2.171875 2.046875 -2.015625 2.328125 -1.953125 C 2.859375 -1.859375 3.375 -1.75 3.375 -1.203125 C 3.375 -0.9375 3.140625 -0.109375 1.953125 -0.109375 C 1.8125 -0.109375 1.046875 -0.109375 0.8125 -0.640625 C 1.1875 -0.59375 1.4375 -0.890625 1.4375 -1.15625 C 1.4375 -1.390625 1.28125 -1.515625 1.078125 -1.515625 C 0.8125 -1.515625 0.515625 -1.296875 0.515625 -0.859375 C 0.515625 -0.28125 1.078125 0.109375 1.9375 0.109375 C 3.546875 0.109375 3.9375 -1.09375 3.9375 -1.546875 Z M 3.9375 -1.546875 "/>
</g>
<g id="glyph-1-2">
<path d="M 4.921875 -1.421875 C 4.921875 -1.515625 4.84375 -1.515625 4.8125 -1.515625 C 4.71875 -1.515625 4.703125 -1.484375 4.6875 -1.40625 C 4.359375 -0.34375 3.671875 -0.109375 3.359375 -0.109375 C 2.96875 -0.109375 2.8125 -0.421875 2.8125 -0.765625 C 2.8125 -0.984375 2.875 -1.203125 2.984375 -1.640625 L 3.3125 -3 C 3.375 -3.265625 3.609375 -4.171875 4.296875 -4.171875 C 4.359375 -4.171875 4.59375 -4.171875 4.796875 -4.046875 C 4.515625 -4 4.328125 -3.75 4.328125 -3.515625 C 4.328125 -3.34375 4.4375 -3.15625 4.703125 -3.15625 C 4.921875 -3.15625 5.234375 -3.34375 5.234375 -3.734375 C 5.234375 -4.25 4.65625 -4.390625 4.3125 -4.390625 C 3.734375 -4.390625 3.390625 -3.859375 3.265625 -3.640625 C 3.015625 -4.296875 2.484375 -4.390625 2.203125 -4.390625 C 1.15625 -4.390625 0.59375 -3.109375 0.59375 -2.859375 C 0.59375 -2.765625 0.71875 -2.765625 0.71875 -2.765625 C 0.796875 -2.765625 0.828125 -2.78125 0.84375 -2.875 C 1.1875 -3.921875 1.84375 -4.171875 2.171875 -4.171875 C 2.359375 -4.171875 2.71875 -4.078125 2.71875 -3.515625 C 2.71875 -3.203125 2.546875 -2.53125 2.171875 -1.140625 C 2.015625 -0.53125 1.671875 -0.109375 1.234375 -0.109375 C 1.171875 -0.109375 0.9375 -0.109375 0.734375 -0.234375 C 0.984375 -0.28125 1.203125 -0.5 1.203125 -0.78125 C 1.203125 -1.046875 0.984375 -1.125 0.828125 -1.125 C 0.53125 -1.125 0.28125 -0.859375 0.28125 -0.546875 C 0.28125 -0.09375 0.78125 0.109375 1.21875 0.109375 C 1.875 0.109375 2.234375 -0.59375 2.265625 -0.640625 C 2.390625 -0.28125 2.75 0.109375 3.34375 0.109375 C 4.359375 0.109375 4.921875 -1.171875 4.921875 -1.421875 Z M 4.921875 -1.421875 "/>
</g>
<g id="glyph-2-0">
<path d="M 3.28125 0 L 3.28125 -0.25 L 3.03125 -0.25 C 2.328125 -0.25 2.328125 -0.34375 2.328125 -0.5625 L 2.328125 -4.421875 C 2.328125 -4.609375 2.3125 -4.609375 2.125 -4.609375 C 1.671875 -4.171875 1.046875 -4.171875 0.765625 -4.171875 L 0.765625 -3.921875 C 0.921875 -3.921875 1.390625 -3.921875 1.765625 -4.109375 L 1.765625 -0.5625 C 1.765625 -0.34375 1.765625 -0.25 1.078125 -0.25 L 0.8125 -0.25 L 0.8125 0 L 2.046875 -0.03125 Z M 3.28125 0 "/>
</g>
<g id="glyph-2-1">
<path d="M 3.515625 -1.265625 L 3.28125 -1.265625 C 3.25 -1.109375 3.1875 -0.703125 3.09375 -0.625 C 3.03125 -0.59375 2.5 -0.59375 2.40625 -0.59375 L 1.125 -0.59375 C 1.859375 -1.234375 2.09375 -1.4375 2.515625 -1.765625 C 3.03125 -2.171875 3.515625 -2.59375 3.515625 -3.265625 C 3.515625 -4.109375 2.78125 -4.609375 1.890625 -4.609375 C 1.015625 -4.609375 0.4375 -4.015625 0.4375 -3.375 C 0.4375 -3.015625 0.734375 -2.984375 0.8125 -2.984375 C 0.96875 -2.984375 1.171875 -3.09375 1.171875 -3.34375 C 1.171875 -3.484375 1.125 -3.71875 0.765625 -3.71875 C 0.984375 -4.21875 1.453125 -4.359375 1.78125 -4.359375 C 2.46875 -4.359375 2.84375 -3.828125 2.84375 -3.265625 C 2.84375 -2.65625 2.40625 -2.171875 2.1875 -1.921875 L 0.5 -0.265625 C 0.4375 -0.203125 0.4375 -0.1875 0.4375 0 L 3.296875 0 Z M 3.515625 -1.265625 "/>
</g>
<g id="glyph-2-2">
<path d="M 3.578125 -1.203125 C 3.578125 -1.75 3.125 -2.28125 2.359375 -2.453125 C 3.09375 -2.71875 3.359375 -3.234375 3.359375 -3.65625 C 3.359375 -4.203125 2.71875 -4.609375 1.953125 -4.609375 C 1.1875 -4.609375 0.59375 -4.234375 0.59375 -3.6875 C 0.59375 -3.453125 0.75 -3.3125 0.953125 -3.3125 C 1.171875 -3.3125 1.3125 -3.484375 1.3125 -3.671875 C 1.3125 -3.875 1.171875 -4.015625 0.953125 -4.03125 C 1.203125 -4.34375 1.671875 -4.421875 1.9375 -4.421875 C 2.25 -4.421875 2.6875 -4.265625 2.6875 -3.65625 C 2.6875 -3.359375 2.59375 -3.046875 2.40625 -2.828125 C 2.171875 -2.5625 1.984375 -2.546875 1.640625 -2.53125 C 1.453125 -2.515625 1.453125 -2.515625 1.40625 -2.515625 C 1.40625 -2.515625 1.34375 -2.5 1.34375 -2.421875 C 1.34375 -2.328125 1.40625 -2.328125 1.515625 -2.328125 L 1.890625 -2.328125 C 2.4375 -2.328125 2.828125 -1.953125 2.828125 -1.203125 C 2.828125 -0.34375 2.328125 -0.078125 1.921875 -0.078125 C 1.640625 -0.078125 1.03125 -0.15625 0.75 -0.5625 C 1.078125 -0.578125 1.140625 -0.8125 1.140625 -0.953125 C 1.140625 -1.1875 0.984375 -1.34375 0.765625 -1.34375 C 0.5625 -1.34375 0.375 -1.21875 0.375 -0.9375 C 0.375 -0.28125 1.09375 0.140625 1.9375 0.140625 C 2.90625 0.140625 3.578125 -0.5 3.578125 -1.203125 Z M 3.578125 -1.203125 "/>
</g>
<g id="glyph-3-0">
<path d="M 3.296875 2.390625 C 3.296875 2.359375 3.296875 2.328125 3.125 2.171875 C 1.875 0.921875 1.5625 -0.96875 1.5625 -2.484375 C 1.5625 -4.21875 1.9375 -5.9375 3.15625 -7.1875 C 3.296875 -7.296875 3.296875 -7.328125 3.296875 -7.359375 C 3.296875 -7.421875 3.25 -7.453125 3.1875 -7.453125 C 3.09375 -7.453125 2.203125 -6.78125 1.609375 -5.515625 C 1.109375 -4.421875 0.984375 -3.3125 0.984375 -2.484375 C 0.984375 -1.703125 1.09375 -0.5 1.640625 0.609375 C 2.234375 1.84375 3.09375 2.484375 3.1875 2.484375 C 3.25 2.484375 3.296875 2.453125 3.296875 2.390625 Z M 3.296875 2.390625 "/>
</g>
<g id="glyph-3-1">
<path d="M 2.875 -2.484375 C 2.875 -3.265625 2.765625 -4.46875 2.21875 -5.578125 C 1.625 -6.8125 0.765625 -7.453125 0.671875 -7.453125 C 0.609375 -7.453125 0.5625 -7.40625 0.5625 -7.359375 C 0.5625 -7.328125 0.5625 -7.296875 0.75 -7.125 C 1.734375 -6.140625 2.296875 -4.5625 2.296875 -2.484375 C 2.296875 -0.78125 1.921875 0.96875 0.703125 2.21875 C 0.5625 2.328125 0.5625 2.359375 0.5625 2.390625 C 0.5625 2.4375 0.609375 2.484375 0.671875 2.484375 C 0.765625 2.484375 1.65625 1.8125 2.25 0.546875 C 2.75 -0.546875 2.875 -1.65625 2.875 -2.484375 Z M 2.875 -2.484375 "/>
</g>
<g id="glyph-3-2">
<path d="M 4 -5.265625 L 2.484375 -6.875 L 0.96875 -5.265625 L 1.109375 -5.125 L 2.484375 -6.203125 L 3.859375 -5.125 Z M 4 -5.265625 "/>
</g>
<g id="glyph-4-0">
<path d="M 8.09375 -2.984375 C 8.09375 -3.203125 7.890625 -3.203125 7.71875 -3.203125 L 4.53125 -3.203125 L 4.53125 -6.390625 C 4.53125 -6.5625 4.53125 -6.765625 4.328125 -6.765625 C 4.109375 -6.765625 4.109375 -6.578125 4.109375 -6.390625 L 4.109375 -3.203125 L 0.921875 -3.203125 C 0.75 -3.203125 0.546875 -3.203125 0.546875 -3 C 0.546875 -2.78125 0.75 -2.78125 0.921875 -2.78125 L 4.109375 -2.78125 L 4.109375 0.390625 C 4.109375 0.5625 4.109375 0.765625 4.3125 0.765625 C 4.53125 0.765625 4.53125 0.578125 4.53125 0.390625 L 4.53125 -2.78125 L 7.71875 -2.78125 C 7.875 -2.78125 8.09375 -2.78125 8.09375 -2.984375 Z M 8.09375 -2.984375 "/>
</g>
<g id="glyph-5-0">
<path d="M 2.078125 -3.5 C 2.078125 -3.71875 1.890625 -3.890625 1.671875 -3.890625 C 1.390625 -3.890625 1.328125 -3.65625 1.296875 -3.5625 L 0.375 -0.5625 L 0.328125 -0.4375 C 0.328125 -0.359375 0.546875 -0.28125 0.609375 -0.28125 C 0.65625 -0.28125 0.6875 -0.3125 0.703125 -0.390625 L 2.015625 -3.28125 C 2.046875 -3.359375 2.078125 -3.40625 2.078125 -3.5 Z M 2.078125 -3.5 "/>
</g>
</g>
<clipPath id="clip-0">
<path clip-rule="nonzero" d="M 0.375 53 L 34 53 L 34 55 L 0.375 55 Z M 0.375 53 "/>
</clipPath>
<clipPath id="clip-1">
<path clip-rule="nonzero" d="M 251 46 L 272.355469 46 L 272.355469 79 L 251 79 Z M 251 46 "/>
</clipPath>
</defs>
<path fill-rule="nonzero" fill="rgb(89.99939%, 89.99939%, 89.99939%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -8.467043 -52.826304 L 231.496432 -52.826304 L 231.496432 52.825658 L -8.467043 52.825658 Z M -8.467043 -52.826304 " transform="matrix(0.99675, 0, 0, -0.99675, 23.974681, 53.650069)"/>
<path fill-rule="nonzero" fill="rgb(79.998779%, 79.998779%, 79.998779%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -5.480775 -14.82389 L 149.040952 -14.82389 L 149.040952 49.839391 L -5.480775 49.839391 Z M -5.480775 -14.82389 " transform="matrix(0.99675, 0, 0, -0.99675, 23.974681, 53.650069)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 25.960938 53.648438 C 25.960938 52.554688 25.070312 51.664062 23.976562 51.664062 C 22.878906 51.664062 21.988281 52.554688 21.988281 53.648438 C 21.988281 54.746094 22.878906 55.636719 23.976562 55.636719 C 25.070312 55.636719 25.960938 54.746094 25.960938 53.648438 Z M 25.960938 53.648438 "/>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 14.325784 -11.339911 L 57.583559 -11.339911 L 57.583559 11.339265 L 14.325784 11.339265 Z M 14.325784 -11.339911 " transform="matrix(0.99675, 0, 0, -0.99675, 23.974681, 53.650069)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="41.565325" y="57.069918"/>
<use xlink:href="#glyph-0-1" x="47.082556" y="57.069918"/>
<use xlink:href="#glyph-0-2" x="51.49654" y="57.069918"/>
<use xlink:href="#glyph-0-3" x="57.013771" y="57.069918"/>
<use xlink:href="#glyph-0-4" x="60.931243" y="57.069918"/>
<use xlink:href="#glyph-0-5" x="65.896354" y="57.069918"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-6" x="73.092786" y="57.069918"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 14.325784 23.672316 L 57.583559 23.672316 L 57.583559 46.351492 L 14.325784 46.351492 Z M 14.325784 23.672316 " transform="matrix(0.99675, 0, 0, -0.99675, 23.974681, 53.650069)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="41.565325" y="22.171707"/>
<use xlink:href="#glyph-0-1" x="47.082556" y="22.171707"/>
<use xlink:href="#glyph-0-2" x="51.49654" y="22.171707"/>
<use xlink:href="#glyph-0-3" x="57.013771" y="22.171707"/>
<use xlink:href="#glyph-0-4" x="60.931243" y="22.171707"/>
<use xlink:href="#glyph-0-5" x="65.896354" y="22.171707"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-7" x="73.092786" y="22.171707"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 14.325784 -46.352138 L 57.583559 -46.352138 L 57.583559 -23.672962 L 14.325784 -23.672962 Z M 14.325784 -46.352138 " transform="matrix(0.99675, 0, 0, -0.99675, 23.974681, 53.650069)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="41.565325" y="91.968129"/>
<use xlink:href="#glyph-0-1" x="47.082556" y="91.968129"/>
<use xlink:href="#glyph-0-2" x="51.49654" y="91.968129"/>
<use xlink:href="#glyph-0-3" x="57.013771" y="91.968129"/>
<use xlink:href="#glyph-0-4" x="60.931243" y="91.968129"/>
<use xlink:href="#glyph-0-5" x="65.896354" y="91.968129"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-8" x="73.092786" y="91.968129"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 89.75844 23.672316 L 121.568855 23.672316 L 121.568855 46.351492 L 89.75844 46.351492 Z M 89.75844 23.672316 " transform="matrix(0.99675, 0, 0, -0.99675, 23.974681, 53.650069)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="116.751174" y="21.233765"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="125.006258" y="22.723906"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="129.460734" y="21.233765"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-1" x="133.322597" y="21.233765"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="137.977885" y="21.233765"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 89.75844 -11.339911 L 121.568855 -11.339911 L 121.568855 11.339265 L 89.75844 11.339265 Z M 89.75844 -11.339911 " transform="matrix(0.99675, 0, 0, -0.99675, 23.974681, 53.650069)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="116.751174" y="56.131976"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="125.006258" y="57.622118"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="129.460734" y="56.131976"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-1" x="133.322597" y="56.131976"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="137.977885" y="56.131976"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 146.050765 17.50775 C 146.050765 21.356195 142.927333 24.479628 139.078888 24.479628 C 135.226524 24.479628 132.103091 21.356195 132.103091 17.50775 C 132.103091 13.655386 135.226524 10.531954 139.078888 10.531954 C 142.927333 10.531954 146.050765 13.655386 146.050765 17.50775 Z M 146.050765 17.50775 " transform="matrix(0.99675, 0, 0, -0.99675, 23.974681, 53.650069)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="158.274783" y="39.107486"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 169.227652 6.166203 L 201.038067 6.166203 L 201.038067 28.845379 L 169.227652 28.845379 Z M 169.227652 6.166203 " transform="matrix(0.99675, 0, 0, -0.99675, 23.974681, 53.650069)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="195.95891" y="38.691842"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-0" x="205.020364" y="35.08859"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="204.213994" y="41.156804"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="208.668469" y="38.691842"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-1" x="212.530332" y="38.691842"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="217.18562" y="38.691842"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 169.227652 -46.352138 L 201.038067 -46.352138 L 201.038067 -23.672962 L 169.227652 -23.672962 Z M 169.227652 -46.352138 " transform="matrix(0.99675, 0, 0, -0.99675, 23.974681, 53.650069)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="195.95891" y="91.039158"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-0" x="205.020364" y="87.435907"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="204.213994" y="93.504121"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="208.668469" y="91.039158"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-1" x="212.530332" y="91.039158"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="217.18562" y="91.039158"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 225.516058 -8.75338 C 225.516058 -4.901016 222.396545 -1.777583 218.544181 -1.777583 C 214.691817 -1.777583 211.568385 -4.901016 211.568385 -8.75338 C 211.568385 -12.605744 214.691817 -15.725257 218.544181 -15.725257 C 222.396545 -15.725257 225.516058 -12.605744 225.516058 -8.75338 Z M 225.516058 -8.75338 " transform="matrix(0.99675, 0, 0, -0.99675, 23.974681, 53.650069)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="237.482518" y="65.281145"/>
</g>
<g clip-path="url(#clip-0)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -22.677289 0.00163657 L 9.19583 0.00163657 " transform="matrix(0.99675, 0, 0, -0.99675, 23.974681, 53.650069)"/>
</g>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052239 0.00163657 L 1.608108 1.682882 L 3.089485 0.00163657 L 1.608108 -1.683528 Z M 6.052239 0.00163657 " transform="matrix(0.99675, 0, 0, -0.99675, 30.31118, 53.650069)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-2" x="5.17797" y="49.843481"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 0.00188738 0.00163657 L 0.00188738 35.013864 L 9.19583 35.013864 " transform="matrix(0.99675, 0, 0, -0.99675, 23.974681, 53.650069)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052239 0.00152381 L 1.608108 1.682769 L 3.089485 0.00152381 L 1.608108 -1.68364 Z M 6.052239 0.00152381 " transform="matrix(0.99675, 0, 0, -0.99675, 30.31118, 18.751519)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 0.00188738 0.00163657 L 0.00188738 -35.010591 L 9.19583 -35.010591 " transform="matrix(0.99675, 0, 0, -0.99675, 23.974681, 53.650069)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052239 0.00174933 L 1.608108 1.682995 L 3.089485 0.00174933 L 1.608108 -1.683415 Z M 6.052239 0.00174933 " transform="matrix(0.99675, 0, 0, -0.99675, 30.31118, 88.548619)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 58.08127 35.013864 L 84.628486 35.013864 " transform="matrix(0.99675, 0, 0, -0.99675, 23.974681, 53.650069)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052685 0.00152381 L 1.608555 1.682769 L 3.086012 0.00152381 L 1.608555 -1.68364 Z M 6.052685 0.00152381 " transform="matrix(0.99675, 0, 0, -0.99675, 105.498236, 18.751519)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-2" x="99.639967" y="13.456125"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-2" x="99.004433" y="13.456125"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="104.684519" y="14.94527"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 58.08127 0.00163657 L 84.628486 0.00163657 " transform="matrix(0.99675, 0, 0, -0.99675, 23.974681, 53.650069)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052685 0.00163657 L 1.608555 1.682882 L 3.086012 0.00163657 L 1.608555 -1.683528 Z M 6.052685 0.00163657 " transform="matrix(0.99675, 0, 0, -0.99675, 105.498236, 53.650069)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-2" x="99.639967" y="48.354336"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-2" x="99.004433" y="48.354336"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="104.684519" y="49.843481"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 58.08127 -35.010591 L 164.09378 -35.010591 " transform="matrix(0.99675, 0, 0, -0.99675, 23.974681, 53.650069)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054858 0.00174933 L 1.606808 1.682995 L 3.088185 0.00174933 L 1.606808 -1.683415 Z M 6.054858 0.00174933 " transform="matrix(0.99675, 0, 0, -0.99675, 184.707008, 88.548619)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-2" x="178.847703" y="83.252547"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-2" x="178.212169" y="83.252547"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-2" x="183.892254" y="84.741692"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 122.070485 35.013864 L 139.078888 35.013864 L 139.078888 29.11187 " transform="matrix(0.99675, 0, 0, -0.99675, 23.974681, 53.650069)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053849 0.00182763 L 1.609718 1.683073 L 3.087176 0.00182763 L 1.609718 -1.683337 Z M 6.053849 0.00182763 " transform="matrix(0, 0.99675, 0.99675, 0, 162.599741, 21.801763)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 122.070485 0.00163657 L 139.078888 0.00163657 L 139.078888 5.899712 " transform="matrix(0.99675, 0, 0, -0.99675, 23.974681, 53.650069)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053081 -0.00182763 L 1.60895 1.683337 L 3.086408 -0.00182763 L 1.60895 -1.683073 Z M 6.053081 -0.00182763 " transform="matrix(0, -0.99675, -0.99675, 0, 162.599741, 50.599814)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 146.050765 17.50775 L 164.09378 17.50775 " transform="matrix(0.99675, 0, 0, -0.99675, 23.974681, 53.650069)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054858 0.00159019 L 1.606808 1.682835 L 3.088185 0.00159019 L 1.606808 -1.683574 Z M 6.054858 0.00159019 " transform="matrix(0.99675, 0, 0, -0.99675, 184.707008, 36.200804)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-2" x="174.889609" y="30.905231"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-2" x="174.254074" y="30.905231"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="179.93416" y="32.394375"/>
<use xlink:href="#glyph-2-1" x="183.892137" y="32.394375"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 201.535779 17.50775 L 218.544181 17.50775 L 218.544181 2.854659 " transform="matrix(0.99675, 0, 0, -0.99675, 23.974681, 53.650069)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.0518 0.000101089 L 1.607669 1.681346 L 3.089046 0.000101089 L 1.607669 -1.681144 Z M 6.0518 0.000101089 " transform="matrix(0, 0.99675, 0.99675, 0, 241.808493, 47.975681)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 201.535779 -35.010591 L 218.544181 -35.010591 L 218.544181 -20.361418 " transform="matrix(0.99675, 0, 0, -0.99675, 23.974681, 53.650069)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.05512 -0.000101089 L 1.60707 1.681144 L 3.088447 -0.000101089 L 1.60707 -1.681346 Z M 6.05512 -0.000101089 " transform="matrix(0, -0.99675, -0.99675, 0, 241.808493, 76.773722)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 225.516058 -8.75338 L 243.562992 -8.75338 " transform="matrix(0.99675, 0, 0, -0.99675, 23.974681, 53.650069)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 269.949219 62.375 L 265.519531 60.695312 L 266.992188 62.375 L 265.519531 64.050781 Z M 269.949219 62.375 "/>
<g clip-path="url(#clip-1)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053131 -0.000299734 L 1.609 1.684865 L 3.086458 -0.000299734 L 1.609 -1.681545 Z M 6.053131 -0.000299734 " transform="matrix(0.99675, 0, 0, -0.99675, 263.91576, 62.374701)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-2" x="262.509914" y="58.568033"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-2" x="261.87438" y="58.568033"/>
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 37 KiB

BIN
figs/detail_control_sensor_model.pdf Normal file
View File

Binary file not shown.

BIN
figs/detail_control_sensor_model.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 6.8 KiB

136
figs/detail_control_sensor_model.svg Normal file
View File

@ -0,0 +1,136 @@
<?xml version="1.0" encoding="UTF-8"?>
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="109.512" height="46.627" viewBox="0 0 109.512 46.627">
<defs>
<g>
<g id="glyph-0-0">
<path d="M 4.9375 -1.84375 C 4.9375 -2.828125 4.28125 -3.640625 3.453125 -3.84375 L 2.1875 -4.140625 C 1.578125 -4.296875 1.1875 -4.828125 1.1875 -5.40625 C 1.1875 -6.09375 1.71875 -6.703125 2.5 -6.703125 C 4.140625 -6.703125 4.359375 -5.078125 4.421875 -4.625 C 4.4375 -4.5625 4.4375 -4.515625 4.546875 -4.515625 C 4.671875 -4.515625 4.671875 -4.5625 4.671875 -4.75 L 4.671875 -6.734375 C 4.671875 -6.90625 4.671875 -6.96875 4.5625 -6.96875 C 4.484375 -6.96875 4.484375 -6.96875 4.40625 -6.84375 L 4.0625 -6.28125 C 3.765625 -6.5625 3.359375 -6.96875 2.484375 -6.96875 C 1.390625 -6.96875 0.546875 -6.109375 0.546875 -5.046875 C 0.546875 -4.234375 1.078125 -3.515625 1.84375 -3.25 C 1.953125 -3.203125 2.46875 -3.078125 3.15625 -2.921875 C 3.421875 -2.84375 3.71875 -2.78125 4 -2.40625 C 4.203125 -2.15625 4.296875 -1.828125 4.296875 -1.5 C 4.296875 -0.796875 3.8125 -0.09375 2.984375 -0.09375 C 2.6875 -0.09375 1.9375 -0.140625 1.421875 -0.625 C 0.84375 -1.15625 0.8125 -1.796875 0.796875 -2.140625 C 0.796875 -2.25 0.71875 -2.25 0.6875 -2.25 C 0.546875 -2.25 0.546875 -2.171875 0.546875 -2 L 0.546875 -0.015625 C 0.546875 0.140625 0.546875 0.21875 0.65625 0.21875 C 0.734375 0.21875 0.734375 0.203125 0.8125 0.09375 C 0.8125 0.09375 0.84375 0.046875 1.171875 -0.46875 C 1.46875 -0.140625 2.109375 0.21875 2.984375 0.21875 C 4.140625 0.21875 4.9375 -0.75 4.9375 -1.84375 Z M 4.9375 -1.84375 "/>
</g>
<g id="glyph-0-1">
<path d="M 4.109375 -1.171875 C 4.109375 -1.28125 4.03125 -1.296875 3.96875 -1.296875 C 3.890625 -1.296875 3.875 -1.234375 3.84375 -1.15625 C 3.5 -0.140625 2.609375 -0.140625 2.515625 -0.140625 C 2.015625 -0.140625 1.625 -0.4375 1.390625 -0.796875 C 1.09375 -1.28125 1.09375 -1.921875 1.09375 -2.28125 L 3.859375 -2.28125 C 4.078125 -2.28125 4.109375 -2.28125 4.109375 -2.5 C 4.109375 -3.46875 3.578125 -4.4375 2.328125 -4.4375 C 1.1875 -4.4375 0.28125 -3.40625 0.28125 -2.171875 C 0.28125 -0.84375 1.3125 0.109375 2.453125 0.109375 C 3.65625 0.109375 4.109375 -0.984375 4.109375 -1.171875 Z M 3.453125 -2.5 L 1.109375 -2.5 C 1.171875 -3.96875 2 -4.21875 2.328125 -4.21875 C 3.359375 -4.21875 3.453125 -2.875 3.453125 -2.5 Z M 3.453125 -2.5 "/>
</g>
<g id="glyph-0-2">
<path d="M 5.296875 0 L 5.296875 -0.3125 C 4.78125 -0.3125 4.53125 -0.3125 4.515625 -0.609375 L 4.515625 -2.5 C 4.515625 -3.34375 4.515625 -3.65625 4.21875 -4 C 4.078125 -4.171875 3.75 -4.375 3.171875 -4.375 C 2.453125 -4.375 1.984375 -3.953125 1.71875 -3.328125 L 1.71875 -4.375 L 0.3125 -4.265625 L 0.3125 -3.953125 C 1.015625 -3.953125 1.09375 -3.890625 1.09375 -3.40625 L 1.09375 -0.75 C 1.09375 -0.3125 0.984375 -0.3125 0.3125 -0.3125 L 0.3125 0 L 1.4375 -0.03125 L 2.546875 0 L 2.546875 -0.3125 C 1.875 -0.3125 1.765625 -0.3125 1.765625 -0.75 L 1.765625 -2.578125 C 1.765625 -3.59375 2.46875 -4.15625 3.109375 -4.15625 C 3.734375 -4.15625 3.84375 -3.625 3.84375 -3.0625 L 3.84375 -0.75 C 3.84375 -0.3125 3.734375 -0.3125 3.0625 -0.3125 L 3.0625 0 L 4.1875 -0.03125 Z M 5.296875 0 "/>
</g>
<g id="glyph-0-3">
<path d="M 3.5625 -1.265625 C 3.5625 -1.796875 3.265625 -2.09375 3.140625 -2.203125 C 2.8125 -2.515625 2.4375 -2.59375 2.015625 -2.6875 C 1.46875 -2.796875 0.796875 -2.921875 0.796875 -3.484375 C 0.796875 -3.84375 1.0625 -4.25 1.90625 -4.25 C 3 -4.25 3.046875 -3.359375 3.0625 -3.046875 C 3.078125 -2.953125 3.1875 -2.953125 3.1875 -2.953125 C 3.3125 -2.953125 3.3125 -3 3.3125 -3.1875 L 3.3125 -4.1875 C 3.3125 -4.359375 3.3125 -4.4375 3.203125 -4.4375 C 3.15625 -4.4375 3.140625 -4.4375 3 -4.3125 C 2.984375 -4.265625 2.875 -4.1875 2.84375 -4.15625 C 2.46875 -4.4375 2.0625 -4.4375 1.90625 -4.4375 C 0.703125 -4.4375 0.328125 -3.765625 0.328125 -3.21875 C 0.328125 -2.875 0.484375 -2.59375 0.75 -2.375 C 1.0625 -2.109375 1.34375 -2.0625 2.0625 -1.921875 C 2.28125 -1.875 3.078125 -1.71875 3.078125 -1.015625 C 3.078125 -0.5 2.734375 -0.109375 1.96875 -0.109375 C 1.140625 -0.109375 0.78125 -0.671875 0.59375 -1.515625 C 0.5625 -1.640625 0.546875 -1.6875 0.453125 -1.6875 C 0.328125 -1.6875 0.328125 -1.609375 0.328125 -1.4375 L 0.328125 -0.125 C 0.328125 0.046875 0.328125 0.109375 0.4375 0.109375 C 0.484375 0.109375 0.5 0.09375 0.6875 -0.09375 C 0.703125 -0.109375 0.703125 -0.125 0.875 -0.3125 C 1.3125 0.09375 1.765625 0.109375 1.96875 0.109375 C 3.109375 0.109375 3.5625 -0.546875 3.5625 -1.265625 Z M 3.5625 -1.265625 "/>
</g>
<g id="glyph-0-4">
<path d="M 4.65625 -2.109375 C 4.65625 -3.375 3.671875 -4.4375 2.46875 -4.4375 C 1.234375 -4.4375 0.28125 -3.359375 0.28125 -2.109375 C 0.28125 -0.84375 1.3125 0.109375 2.46875 0.109375 C 3.65625 0.109375 4.65625 -0.859375 4.65625 -2.109375 Z M 3.84375 -2.203125 C 3.84375 -1.84375 3.84375 -1.3125 3.625 -0.875 C 3.40625 -0.421875 2.96875 -0.140625 2.46875 -0.140625 C 2.046875 -0.140625 1.609375 -0.34375 1.34375 -0.796875 C 1.09375 -1.234375 1.09375 -1.84375 1.09375 -2.203125 C 1.09375 -2.578125 1.09375 -3.109375 1.328125 -3.546875 C 1.609375 -4 2.0625 -4.21875 2.46875 -4.21875 C 2.890625 -4.21875 3.328125 -4 3.578125 -3.578125 C 3.84375 -3.140625 3.84375 -2.578125 3.84375 -2.203125 Z M 3.84375 -2.203125 "/>
</g>
<g id="glyph-0-5">
<path d="M 3.59375 -3.765625 C 3.59375 -4.078125 3.296875 -4.375 2.875 -4.375 C 2.140625 -4.375 1.796875 -3.703125 1.65625 -3.28125 L 1.65625 -4.375 L 0.28125 -4.265625 L 0.28125 -3.953125 C 0.96875 -3.953125 1.046875 -3.890625 1.046875 -3.40625 L 1.046875 -0.75 C 1.046875 -0.3125 0.9375 -0.3125 0.28125 -0.3125 L 0.28125 0 L 1.40625 -0.03125 C 1.796875 -0.03125 2.265625 -0.03125 2.65625 0 L 2.65625 -0.3125 L 2.453125 -0.3125 C 1.71875 -0.3125 1.703125 -0.421875 1.703125 -0.765625 L 1.703125 -2.296875 C 1.703125 -3.28125 2.109375 -4.15625 2.875 -4.15625 C 2.9375 -4.15625 2.953125 -4.15625 2.984375 -4.140625 C 2.953125 -4.140625 2.75 -4.015625 2.75 -3.765625 C 2.75 -3.484375 2.953125 -3.328125 3.171875 -3.328125 C 3.359375 -3.328125 3.59375 -3.453125 3.59375 -3.765625 Z M 3.59375 -3.765625 "/>
</g>
<g id="glyph-1-0">
<path d="M 8.046875 -2.96875 C 8.046875 -3.1875 7.859375 -3.1875 7.671875 -3.1875 L 4.5 -3.1875 L 4.5 -6.359375 C 4.5 -6.53125 4.5 -6.734375 4.296875 -6.734375 C 4.09375 -6.734375 4.09375 -6.53125 4.09375 -6.359375 L 4.09375 -3.1875 L 0.921875 -3.1875 C 0.75 -3.1875 0.546875 -3.1875 0.546875 -2.984375 C 0.546875 -2.765625 0.734375 -2.765625 0.921875 -2.765625 L 4.09375 -2.765625 L 4.09375 0.390625 C 4.09375 0.5625 4.09375 0.765625 4.296875 0.765625 C 4.5 0.765625 4.5 0.578125 4.5 0.390625 L 4.5 -2.765625 L 7.671875 -2.765625 C 7.84375 -2.765625 8.046875 -2.765625 8.046875 -2.96875 Z M 8.046875 -2.96875 "/>
</g>
<g id="glyph-2-0">
<path d="M 7.125 -2.59375 C 7.125 -2.65625 7.078125 -2.703125 7 -2.703125 C 6.78125 -2.703125 6.1875 -2.671875 5.96875 -2.671875 L 4.578125 -2.703125 C 4.484375 -2.703125 4.375 -2.703125 4.375 -2.5 C 4.375 -2.390625 4.453125 -2.390625 4.671875 -2.390625 C 4.671875 -2.390625 4.96875 -2.390625 5.1875 -2.375 C 5.453125 -2.34375 5.5 -2.3125 5.5 -2.1875 C 5.5 -2.09375 5.390625 -1.65625 5.296875 -1.28125 C 5.015625 -0.203125 3.734375 -0.09375 3.375 -0.09375 C 2.4375 -0.09375 1.390625 -0.65625 1.390625 -2.171875 C 1.390625 -2.46875 1.5 -4.109375 2.53125 -5.390625 C 3.0625 -6.0625 4.03125 -6.671875 5 -6.671875 C 6.015625 -6.671875 6.59375 -5.90625 6.59375 -4.75 C 6.59375 -4.359375 6.5625 -4.359375 6.5625 -4.25 C 6.5625 -4.15625 6.671875 -4.15625 6.71875 -4.15625 C 6.84375 -4.15625 6.84375 -4.171875 6.890625 -4.359375 L 7.515625 -6.875 C 7.515625 -6.90625 7.5 -6.96875 7.40625 -6.96875 C 7.375 -6.96875 7.375 -6.96875 7.265625 -6.859375 L 6.5625 -6.09375 C 6.484375 -6.234375 6.015625 -6.96875 4.921875 -6.96875 C 2.71875 -6.96875 0.5 -4.78125 0.5 -2.5 C 0.5 -0.921875 1.59375 0.21875 3.1875 0.21875 C 3.625 0.21875 4.078125 0.125 4.4375 -0.015625 C 4.921875 -0.21875 5.109375 -0.421875 5.296875 -0.625 C 5.375 -0.375 5.640625 -0.015625 5.734375 -0.015625 C 5.78125 -0.015625 5.8125 -0.046875 5.8125 -0.046875 C 5.828125 -0.0625 5.921875 -0.4375 5.96875 -0.65625 L 6.15625 -1.421875 C 6.203125 -1.578125 6.25 -1.75 6.296875 -1.921875 C 6.40625 -2.359375 6.40625 -2.390625 6.96875 -2.390625 C 7.015625 -2.390625 7.125 -2.40625 7.125 -2.59375 Z M 7.125 -2.59375 "/>
</g>
<g id="glyph-2-1">
<path d="M 3.921875 -1.53125 C 3.921875 -1.890625 3.734375 -2.140625 3.609375 -2.25 C 3.34375 -2.53125 3.0625 -2.578125 2.625 -2.671875 C 2.265625 -2.75 1.875 -2.8125 1.875 -3.265625 C 1.875 -3.546875 2.109375 -4.15625 2.984375 -4.15625 C 3.21875 -4.15625 3.71875 -4.078125 3.875 -3.703125 C 3.59375 -3.6875 3.390625 -3.46875 3.390625 -3.25 C 3.390625 -3.109375 3.484375 -2.96875 3.703125 -2.96875 C 3.921875 -2.96875 4.15625 -3.140625 4.15625 -3.515625 C 4.15625 -3.96875 3.734375 -4.375 2.984375 -4.375 C 1.671875 -4.375 1.3125 -3.359375 1.3125 -2.921875 C 1.3125 -2.15625 2.03125 -2 2.328125 -1.953125 C 2.84375 -1.84375 3.359375 -1.734375 3.359375 -1.203125 C 3.359375 -0.9375 3.125 -0.109375 1.9375 -0.109375 C 1.796875 -0.109375 1.03125 -0.109375 0.8125 -0.640625 C 1.1875 -0.578125 1.4375 -0.875 1.4375 -1.15625 C 1.4375 -1.390625 1.28125 -1.5 1.0625 -1.5 C 0.8125 -1.5 0.515625 -1.296875 0.515625 -0.84375 C 0.515625 -0.28125 1.078125 0.109375 1.921875 0.109375 C 3.53125 0.109375 3.921875 -1.09375 3.921875 -1.53125 Z M 3.921875 -1.53125 "/>
</g>
<g id="glyph-2-2">
<path d="M 4.90625 -1.421875 C 4.90625 -1.515625 4.8125 -1.515625 4.78125 -1.515625 C 4.703125 -1.515625 4.671875 -1.46875 4.65625 -1.40625 C 4.328125 -0.34375 3.65625 -0.109375 3.34375 -0.109375 C 2.953125 -0.109375 2.796875 -0.421875 2.796875 -0.765625 C 2.796875 -0.984375 2.859375 -1.203125 2.96875 -1.625 L 3.296875 -2.984375 C 3.359375 -3.25 3.59375 -4.15625 4.28125 -4.15625 C 4.328125 -4.15625 4.5625 -4.15625 4.78125 -4.03125 C 4.5 -3.96875 4.296875 -3.734375 4.296875 -3.484375 C 4.296875 -3.328125 4.40625 -3.140625 4.671875 -3.140625 C 4.890625 -3.140625 5.21875 -3.328125 5.21875 -3.71875 C 5.21875 -4.234375 4.625 -4.375 4.296875 -4.375 C 3.71875 -4.375 3.375 -3.84375 3.25 -3.625 C 3 -4.265625 2.46875 -4.375 2.1875 -4.375 C 1.15625 -4.375 0.59375 -3.09375 0.59375 -2.84375 C 0.59375 -2.75 0.71875 -2.75 0.71875 -2.75 C 0.796875 -2.75 0.828125 -2.765625 0.84375 -2.859375 C 1.171875 -3.90625 1.828125 -4.15625 2.171875 -4.15625 C 2.359375 -4.15625 2.703125 -4.0625 2.703125 -3.484375 C 2.703125 -3.1875 2.53125 -2.515625 2.171875 -1.140625 C 2 -0.53125 1.65625 -0.109375 1.21875 -0.109375 C 1.171875 -0.109375 0.9375 -0.109375 0.734375 -0.234375 C 0.984375 -0.28125 1.203125 -0.5 1.203125 -0.765625 C 1.203125 -1.03125 0.984375 -1.125 0.828125 -1.125 C 0.53125 -1.125 0.28125 -0.859375 0.28125 -0.546875 C 0.28125 -0.09375 0.78125 0.109375 1.21875 0.109375 C 1.875 0.109375 2.21875 -0.578125 2.25 -0.640625 C 2.375 -0.28125 2.734375 0.109375 3.328125 0.109375 C 4.34375 0.109375 4.90625 -1.171875 4.90625 -1.421875 Z M 4.90625 -1.421875 "/>
</g>
<g id="glyph-2-3">
<path d="M 5.640625 -1.421875 C 5.640625 -1.515625 5.5625 -1.515625 5.53125 -1.515625 C 5.4375 -1.515625 5.4375 -1.484375 5.375 -1.328125 C 5.1875 -0.65625 4.859375 -0.109375 4.375 -0.109375 C 4.203125 -0.109375 4.140625 -0.203125 4.140625 -0.4375 C 4.140625 -0.6875 4.21875 -0.921875 4.3125 -1.140625 C 4.5 -1.65625 4.921875 -2.75 4.921875 -3.3125 C 4.921875 -3.96875 4.484375 -4.375 3.78125 -4.375 C 2.890625 -4.375 2.40625 -3.734375 2.234375 -3.515625 C 2.1875 -4.0625 1.78125 -4.375 1.328125 -4.375 C 0.875 -4.375 0.6875 -3.984375 0.578125 -3.8125 C 0.421875 -3.46875 0.28125 -2.890625 0.28125 -2.84375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.765625 0.578125 -2.984375 C 0.734375 -3.671875 0.9375 -4.15625 1.296875 -4.15625 C 1.5 -4.15625 1.609375 -4.03125 1.609375 -3.703125 C 1.609375 -3.484375 1.578125 -3.375 1.4375 -2.875 L 0.875 -0.578125 C 0.84375 -0.4375 0.78125 -0.203125 0.78125 -0.15625 C 0.78125 0.015625 0.921875 0.109375 1.0625 0.109375 C 1.1875 0.109375 1.359375 0.03125 1.4375 -0.171875 C 1.4375 -0.1875 1.5625 -0.65625 1.625 -0.90625 L 1.84375 -1.796875 C 1.90625 -2 1.953125 -2.21875 2 -2.453125 L 2.140625 -2.953125 C 2.28125 -3.25 2.8125 -4.15625 3.75 -4.15625 C 4.1875 -4.15625 4.28125 -3.78125 4.28125 -3.46875 C 4.28125 -2.84375 3.796875 -1.578125 3.640625 -1.15625 C 3.546875 -0.9375 3.546875 -0.8125 3.546875 -0.703125 C 3.546875 -0.234375 3.890625 0.109375 4.359375 0.109375 C 5.28125 0.109375 5.640625 -1.328125 5.640625 -1.421875 Z M 5.640625 -1.421875 "/>
</g>
<g id="glyph-3-0">
<path d="M 2.25 -4.328125 C 2.25 -4.4375 2.15625 -4.59375 1.96875 -4.59375 C 1.78125 -4.59375 1.578125 -4.40625 1.578125 -4.203125 C 1.578125 -4.09375 1.671875 -3.953125 1.859375 -3.953125 C 2.0625 -3.953125 2.25 -4.140625 2.25 -4.328125 Z M 2.421875 -0.984375 C 2.421875 -1.078125 2.328125 -1.078125 2.3125 -1.078125 C 2.21875 -1.078125 2.203125 -1.03125 2.1875 -0.96875 C 2.015625 -0.40625 1.71875 -0.125 1.453125 -0.125 C 1.3125 -0.125 1.28125 -0.21875 1.28125 -0.359375 C 1.28125 -0.53125 1.328125 -0.65625 1.390625 -0.8125 L 1.609375 -1.359375 L 1.9375 -2.25 C 1.96875 -2.3125 1.984375 -2.390625 1.984375 -2.46875 C 1.984375 -2.796875 1.703125 -3.046875 1.328125 -3.046875 C 0.640625 -3.046875 0.328125 -2.109375 0.328125 -2 C 0.328125 -1.90625 0.421875 -1.90625 0.4375 -1.90625 C 0.546875 -1.90625 0.546875 -1.9375 0.5625 -2.015625 C 0.75 -2.609375 1.046875 -2.859375 1.3125 -2.859375 C 1.421875 -2.859375 1.484375 -2.796875 1.484375 -2.609375 C 1.484375 -2.453125 1.4375 -2.359375 1.265625 -1.921875 L 0.828125 -0.8125 C 0.796875 -0.71875 0.765625 -0.640625 0.765625 -0.515625 C 0.765625 -0.1875 1.046875 0.0625 1.421875 0.0625 C 2.125 0.0625 2.421875 -0.890625 2.421875 -0.984375 Z M 2.421875 -0.984375 "/>
</g>
<g id="glyph-4-0">
<path d="M 3.28125 2.375 C 3.28125 2.34375 3.28125 2.328125 3.109375 2.15625 C 1.875 0.90625 1.546875 -0.953125 1.546875 -2.46875 C 1.546875 -4.1875 1.921875 -5.921875 3.140625 -7.15625 C 3.28125 -7.265625 3.28125 -7.296875 3.28125 -7.3125 C 3.28125 -7.390625 3.234375 -7.421875 3.171875 -7.421875 C 3.078125 -7.421875 2.1875 -6.75 1.609375 -5.484375 C 1.09375 -4.40625 0.984375 -3.296875 0.984375 -2.46875 C 0.984375 -1.703125 1.09375 -0.5 1.625 0.609375 C 2.21875 1.828125 3.078125 2.46875 3.171875 2.46875 C 3.234375 2.46875 3.28125 2.4375 3.28125 2.375 Z M 3.28125 2.375 "/>
</g>
<g id="glyph-4-1">
<path d="M 2.859375 -2.46875 C 2.859375 -3.25 2.75 -4.4375 2.203125 -5.5625 C 1.609375 -6.78125 0.765625 -7.421875 0.65625 -7.421875 C 0.609375 -7.421875 0.5625 -7.375 0.5625 -7.3125 C 0.5625 -7.296875 0.5625 -7.265625 0.75 -7.09375 C 1.71875 -6.109375 2.28125 -4.546875 2.28125 -2.46875 C 2.28125 -0.78125 1.921875 0.953125 0.6875 2.203125 C 0.5625 2.328125 0.5625 2.34375 0.5625 2.375 C 0.5625 2.4375 0.609375 2.46875 0.65625 2.46875 C 0.765625 2.46875 1.65625 1.796875 2.234375 0.546875 C 2.734375 -0.546875 2.859375 -1.640625 2.859375 -2.46875 Z M 2.859375 -2.46875 "/>
</g>
<g id="glyph-4-2">
<path d="M 4.125 -6.296875 L 3.96875 -6.4375 C 3.96875 -6.4375 3.59375 -5.96875 3.15625 -5.96875 C 2.921875 -5.96875 2.6875 -6.109375 2.515625 -6.21875 C 2.25 -6.375 2.0625 -6.4375 1.90625 -6.4375 C 1.515625 -6.4375 1.328125 -6.21875 0.828125 -5.671875 L 0.984375 -5.515625 C 0.984375 -5.515625 1.359375 -6 1.796875 -6 C 2.03125 -6 2.28125 -5.84375 2.4375 -5.75 C 2.703125 -5.59375 2.890625 -5.515625 3.0625 -5.515625 C 3.4375 -5.515625 3.625 -5.734375 4.125 -6.296875 Z M 4.125 -6.296875 "/>
</g>
</g>
<clipPath id="clip-0">
<path clip-rule="nonzero" d="M 6 9 L 49 9 L 49 46.257812 L 6 46.257812 Z M 6 9 "/>
</clipPath>
<clipPath id="clip-1">
<path clip-rule="nonzero" d="M 0.191406 30 L 17 30 L 17 32 L 0.191406 32 Z M 0.191406 30 "/>
</clipPath>
<clipPath id="clip-2">
<path clip-rule="nonzero" d="M 1 14 L 34 14 L 34 46.257812 L 1 46.257812 Z M 1 14 "/>
</clipPath>
<clipPath id="clip-3">
<path clip-rule="nonzero" d="M 37 14 L 70 14 L 70 46.257812 L 37 46.257812 Z M 37 14 "/>
</clipPath>
<clipPath id="clip-4">
<path clip-rule="nonzero" d="M 88 14 L 108.835938 14 L 108.835938 46.257812 L 88 46.257812 Z M 88 14 "/>
</clipPath>
</defs>
<path fill-rule="nonzero" fill="rgb(79.998779%, 79.998779%, 79.998779%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -9.962473 -14.824734 L 63.84594 -14.824734 L 63.84594 29.806813 L -9.962473 29.806813 Z M -9.962473 -14.824734 " transform="matrix(0.992064, 0, 0, -0.992064, 27.785753, 30.558542)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="59.745089" y="11.093258"/>
<use xlink:href="#glyph-0-1" x="65.236381" y="11.093258"/>
<use xlink:href="#glyph-0-2" x="69.629612" y="11.093258"/>
<use xlink:href="#glyph-0-3" x="75.120905" y="11.093258"/>
<use xlink:href="#glyph-0-4" x="79.019959" y="11.093258"/>
<use xlink:href="#glyph-0-5" x="83.961727" y="11.093258"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" d="M 34.703125 30.558594 C 34.703125 26.738281 31.605469 23.640625 27.785156 23.640625 C 23.964844 23.640625 20.867188 26.738281 20.867188 30.558594 C 20.867188 34.378906 23.964844 37.476562 27.785156 37.476562 C 31.605469 37.476562 34.703125 34.378906 34.703125 30.558594 Z M 34.703125 30.558594 "/>
<g clip-path="url(#clip-0)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.972709 -0.0000520139 C 6.972709 3.850822 3.850272 6.973258 -0.000601245 6.973258 C -3.851475 6.973258 -6.973911 3.850822 -6.973911 -0.0000520139 C -6.973911 -3.850926 -3.851475 -6.973362 -0.000601245 -6.973362 C 3.850272 -6.973362 6.972709 -3.850926 6.972709 -0.0000520139 Z M 6.972709 -0.0000520139 " transform="matrix(0.992064, 0, 0, -0.992064, 27.785753, 30.558542)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="23.483172" y="33.452392"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 30.148826 -11.340048 L 60.361253 -11.340048 L 60.361253 11.339944 L 30.148826 11.339944 Z M 30.148826 -11.340048 " transform="matrix(0.992064, 0, 0, -0.992064, 27.785753, 30.558542)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="60.990129" y="33.029773"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="68.760965" y="34.511917"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="72.051641" y="33.029773"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="75.895348" y="33.029773"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-1" x="80.528749" y="33.029773"/>
</g>
<g clip-path="url(#clip-1)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -26.814967 -0.0000520139 L -11.608347 -0.0000520139 " transform="matrix(0.992064, 0, 0, -0.992064, 27.785753, 30.558542)"/>
</g>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 19.460938 30.558594 L 15.050781 28.890625 L 16.515625 30.558594 L 15.050781 32.226562 Z M 19.460938 30.558594 "/>
<g clip-path="url(#clip-2)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054559 -0.0000520139 L 1.609123 1.68126 L 3.085685 -0.0000520139 L 1.609123 -1.681364 Z M 6.054559 -0.0000520139 " transform="matrix(0.992064, 0, 0, -0.992064, 13.454428, 30.558542)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-2" x="4.971261" y="26.770842"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -0.000601245 11.607694 L -0.000601245 26.818251 " transform="matrix(0.992064, 0, 0, -0.992064, 27.785753, 30.558542)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.055222 -0.000601245 L 1.609786 1.684648 L 3.086348 -0.000601245 L 1.609786 -1.681913 Z M 6.055222 -0.000601245 " transform="matrix(0, 0.992064, 0.992064, 0, 27.785753, 16.227208)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-3" x="31.574444" y="11.999012"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="37.506986" y="13.482147"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.972709 -0.0000520139 L 25.018265 -0.0000520139 " transform="matrix(0.992064, 0, 0, -0.992064, 27.785753, 30.558542)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 55.792969 30.558594 L 51.386719 28.890625 L 52.851562 30.558594 L 51.386719 32.226562 Z M 55.792969 30.558594 "/>
<g clip-path="url(#clip-3)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.051914 -0.0000520139 L 1.610416 1.68126 L 3.086978 -0.0000520139 L 1.610416 -1.681364 Z M 6.051914 -0.0000520139 " transform="matrix(0.992064, 0, 0, -0.992064, 49.789084, 30.558542)"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 60.857378 -0.0000520139 L 76.067935 -0.0000520139 " transform="matrix(0.992064, 0, 0, -0.992064, 27.785753, 30.558542)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 106.4375 30.558594 L 102.027344 28.890625 L 103.496094 30.558594 L 102.027344 32.226562 Z M 106.4375 30.558594 "/>
<g clip-path="url(#clip-4)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052294 -0.0000520139 L 1.606858 1.68126 L 3.087358 -0.0000520139 L 1.606858 -1.681364 Z M 6.052294 -0.0000520139 " transform="matrix(0.992064, 0, 0, -0.992064, 100.433238, 30.558542)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-2" x="95.746093" y="25.287707"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-2" x="95.113547" y="25.287707"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="100.766928" y="26.770842"/>
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 22 KiB

BIN
figs/detail_control_sensor_model_calibrated.pdf Normal file
View File

Binary file not shown.

BIN
figs/detail_control_sensor_model_calibrated.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 12 KiB

226
figs/detail_control_sensor_model_calibrated.svg Normal file
View File

@ -0,0 +1,226 @@
<?xml version="1.0" encoding="UTF-8"?>
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="173.609" height="52.604" viewBox="0 0 173.609 52.604">
<defs>
<g>
<g id="glyph-0-0">
<path d="M 4.421875 -3.15625 L 4.421875 -3.375 C 4.203125 -3.359375 3.984375 -3.359375 3.765625 -3.359375 C 3.625 -3.359375 3.3125 -3.359375 3.109375 -3.375 L 3.109375 -3.15625 C 3.65625 -3.15625 3.65625 -2.953125 3.65625 -2.828125 L 3.65625 -0.78125 L 1.53125 -3.3125 C 1.46875 -3.375 1.46875 -3.375 1.375 -3.375 L 0.40625 -3.375 L 0.40625 -3.15625 L 0.609375 -3.15625 C 0.65625 -3.15625 0.890625 -3.15625 0.9375 -3.140625 C 0.953125 -3.125 0.953125 -3.125 0.953125 -3.046875 L 0.953125 -0.546875 C 0.953125 -0.421875 0.953125 -0.21875 0.40625 -0.21875 L 0.40625 0 C 0.625 -0.015625 0.84375 -0.015625 1.078125 -0.015625 C 1.203125 -0.015625 1.53125 -0.015625 1.734375 0 L 1.734375 -0.21875 C 1.1875 -0.21875 1.1875 -0.421875 1.1875 -0.546875 L 1.1875 -2.984375 L 3.640625 -0.0625 C 3.6875 0 3.71875 0 3.765625 0 C 3.875 0 3.875 -0.046875 3.875 -0.140625 L 3.875 -2.828125 C 3.875 -2.953125 3.875 -3.15625 4.421875 -3.15625 Z M 4.421875 -3.15625 "/>
</g>
<g id="glyph-0-1">
<path d="M 3.03125 -1.046875 C 3.03125 -1.671875 2.453125 -2.21875 1.671875 -2.21875 C 0.90625 -2.21875 0.328125 -1.671875 0.328125 -1.046875 C 0.328125 -0.453125 0.90625 0.046875 1.671875 0.046875 C 2.453125 0.046875 3.03125 -0.453125 3.03125 -1.046875 Z M 2.546875 -1.09375 C 2.546875 -0.859375 2.546875 -0.125 1.671875 -0.125 C 0.8125 -0.125 0.8125 -0.859375 0.8125 -1.09375 C 0.8125 -1.328125 0.8125 -2.046875 1.671875 -2.046875 C 2.546875 -2.046875 2.546875 -1.328125 2.546875 -1.09375 Z M 2.546875 -1.09375 "/>
</g>
<g id="glyph-0-2">
<path d="M 2.359375 -1.84375 C 2.359375 -2.03125 2.1875 -2.1875 1.921875 -2.1875 C 1.671875 -2.1875 1.359375 -2.046875 1.171875 -1.640625 L 1.171875 -2.1875 L 0.375 -2.125 L 0.375 -1.90625 C 0.734375 -1.90625 0.78125 -1.875 0.78125 -1.640625 L 0.78125 -0.421875 C 0.78125 -0.265625 0.78125 -0.21875 0.46875 -0.21875 L 0.375 -0.21875 L 0.375 0 C 0.578125 -0.015625 0.8125 -0.015625 1.015625 -0.015625 L 1.71875 0 L 1.71875 -0.21875 L 1.578125 -0.21875 C 1.203125 -0.21875 1.203125 -0.265625 1.203125 -0.421875 L 1.203125 -1.109375 C 1.203125 -1.5625 1.46875 -2.015625 1.9375 -2.015625 C 1.9375 -2.015625 1.859375 -1.953125 1.859375 -1.84375 C 1.859375 -1.65625 2 -1.59375 2.109375 -1.59375 C 2.234375 -1.59375 2.359375 -1.671875 2.359375 -1.84375 Z M 2.359375 -1.84375 "/>
</g>
<g id="glyph-0-3">
<path d="M 5.09375 0 L 5.09375 -0.21875 L 5 -0.21875 C 4.6875 -0.21875 4.6875 -0.265625 4.6875 -0.421875 L 4.6875 -1.484375 C 4.6875 -2.09375 4.21875 -2.1875 3.84375 -2.1875 C 3.359375 -2.1875 3.078125 -1.9375 2.9375 -1.71875 C 2.8125 -2.171875 2.3125 -2.1875 2.140625 -2.1875 C 1.625 -2.1875 1.34375 -1.90625 1.21875 -1.703125 L 1.21875 -2.1875 L 0.40625 -2.125 L 0.40625 -1.90625 C 0.765625 -1.90625 0.8125 -1.875 0.8125 -1.640625 L 0.8125 -0.421875 C 0.8125 -0.265625 0.8125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.609375 -0.015625 0.828125 -0.015625 1.03125 -0.015625 C 1.25 -0.015625 1.453125 -0.015625 1.65625 0 L 1.65625 -0.21875 L 1.578125 -0.21875 C 1.25 -0.21875 1.25 -0.265625 1.25 -0.421875 L 1.25 -1.28125 C 1.25 -1.828125 1.75 -2.015625 2.078125 -2.015625 C 2.4375 -2.015625 2.53125 -1.8125 2.53125 -1.5 L 2.53125 -0.421875 C 2.53125 -0.265625 2.53125 -0.21875 2.203125 -0.21875 L 2.125 -0.21875 L 2.125 0 C 2.328125 -0.015625 2.53125 -0.015625 2.75 -0.015625 C 2.953125 -0.015625 3.171875 -0.015625 3.375 0 L 3.375 -0.21875 L 3.28125 -0.21875 C 2.96875 -0.21875 2.96875 -0.265625 2.96875 -0.421875 L 2.96875 -1.28125 C 2.96875 -1.828125 3.46875 -2.015625 3.796875 -2.015625 C 4.15625 -2.015625 4.234375 -1.8125 4.234375 -1.5 L 4.234375 -0.421875 C 4.234375 -0.265625 4.234375 -0.21875 3.921875 -0.21875 L 3.828125 -0.21875 L 3.828125 0 C 4.046875 -0.015625 4.25 -0.015625 4.46875 -0.015625 C 4.671875 -0.015625 4.890625 -0.015625 5.09375 0 Z M 5.09375 0 "/>
</g>
<g id="glyph-0-4">
<path d="M 3.140625 -0.4375 L 3.140625 -0.71875 L 2.921875 -0.71875 L 2.921875 -0.453125 C 2.921875 -0.40625 2.921875 -0.1875 2.734375 -0.1875 C 2.53125 -0.1875 2.53125 -0.40625 2.53125 -0.453125 L 2.53125 -1.46875 C 2.53125 -1.9375 2.03125 -2.21875 1.421875 -2.21875 C 1.125 -2.21875 0.546875 -2.203125 0.546875 -1.78125 C 0.546875 -1.59375 0.6875 -1.515625 0.8125 -1.515625 C 0.9375 -1.515625 1.078125 -1.609375 1.078125 -1.765625 C 1.078125 -1.890625 1 -1.96875 0.953125 -2 C 1.125 -2.046875 1.359375 -2.046875 1.40625 -2.046875 C 1.828125 -2.046875 2.09375 -1.8125 2.09375 -1.46875 L 2.09375 -1.328125 C 1.609375 -1.3125 1.34375 -1.296875 0.96875 -1.15625 C 0.640625 -1.046875 0.359375 -0.84375 0.359375 -0.515625 C 0.359375 -0.046875 0.921875 0.046875 1.328125 0.046875 C 1.703125 0.046875 2 -0.09375 2.15625 -0.34375 C 2.171875 -0.171875 2.28125 0.03125 2.53125 0.03125 C 2.578125 0.03125 3.140625 0.03125 3.140625 -0.4375 Z M 2.09375 -0.703125 C 2.09375 -0.15625 1.5 -0.109375 1.375 -0.109375 C 1.09375 -0.109375 0.8125 -0.265625 0.8125 -0.515625 C 0.8125 -0.6875 0.90625 -1.140625 2.09375 -1.1875 Z M 2.09375 -0.703125 "/>
</g>
<g id="glyph-0-5">
<path d="M 1.65625 0 L 1.65625 -0.21875 L 1.5625 -0.21875 C 1.234375 -0.21875 1.234375 -0.265625 1.234375 -0.421875 L 1.234375 -3.421875 L 0.40625 -3.375 L 0.40625 -3.15625 C 0.78125 -3.15625 0.8125 -3.125 0.8125 -2.875 L 0.8125 -0.421875 C 0.8125 -0.265625 0.8125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.609375 -0.015625 0.8125 -0.015625 1.03125 -0.015625 C 1.234375 -0.015625 1.4375 -0.015625 1.65625 0 Z M 1.65625 0 "/>
</g>
<g id="glyph-0-6">
<path d="M 1.609375 0 L 1.609375 -0.21875 C 1.28125 -0.21875 1.234375 -0.21875 1.234375 -0.421875 L 1.234375 -2.1875 L 0.421875 -2.125 L 0.421875 -1.90625 C 0.78125 -1.90625 0.8125 -1.875 0.8125 -1.640625 L 0.8125 -0.421875 C 0.8125 -0.265625 0.8125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.609375 -0.015625 0.8125 -0.015625 1.015625 -0.015625 C 1.203125 -0.015625 1.421875 -0.015625 1.609375 0 Z M 1.296875 -2.96875 C 1.296875 -3.125 1.15625 -3.265625 1 -3.265625 C 0.828125 -3.265625 0.6875 -3.125 0.6875 -2.96875 C 0.6875 -2.796875 0.828125 -2.65625 1 -2.65625 C 1.15625 -2.65625 1.296875 -2.796875 1.296875 -2.96875 Z M 1.296875 -2.96875 "/>
</g>
<g id="glyph-0-7">
<path d="M 2.609375 -0.984375 L 2.40625 -0.984375 C 2.34375 -0.421875 2.265625 -0.171875 1.5625 -0.171875 L 0.90625 -0.171875 L 2.546875 -1.9375 C 2.59375 -1.984375 2.59375 -1.984375 2.59375 -2.03125 C 2.59375 -2.125 2.53125 -2.125 2.453125 -2.125 L 0.453125 -2.125 L 0.390625 -1.28125 L 0.609375 -1.28125 C 0.640625 -1.828125 0.796875 -1.96875 1.375 -1.96875 L 2.015625 -1.96875 L 0.359375 -0.203125 C 0.3125 -0.15625 0.3125 -0.140625 0.3125 -0.09375 C 0.3125 0 0.375 0 0.453125 0 L 2.515625 0 Z M 2.609375 -0.984375 "/>
</g>
<g id="glyph-0-8">
<path d="M 2.703125 -0.59375 C 2.703125 -0.671875 2.625 -0.671875 2.59375 -0.671875 C 2.515625 -0.671875 2.515625 -0.65625 2.484375 -0.578125 C 2.34375 -0.234375 1.984375 -0.125 1.703125 -0.125 C 1.296875 -0.125 1.078125 -0.34375 1 -0.421875 C 0.8125 -0.671875 0.8125 -0.984375 0.8125 -1.109375 L 2.546875 -1.109375 C 2.65625 -1.109375 2.703125 -1.109375 2.703125 -1.234375 C 2.703125 -1.5625 2.515625 -2.21875 1.59375 -2.21875 C 0.84375 -2.21875 0.328125 -1.671875 0.328125 -1.09375 C 0.328125 -0.453125 0.921875 0.046875 1.671875 0.046875 C 2.453125 0.046875 2.703125 -0.5 2.703125 -0.59375 Z M 2.328125 -1.265625 L 0.828125 -1.265625 C 0.890625 -1.921875 1.359375 -2.046875 1.59375 -2.046875 C 2.28125 -2.046875 2.3125 -1.40625 2.328125 -1.265625 Z M 2.328125 -1.265625 "/>
</g>
<g id="glyph-0-9">
<path d="M 3.328125 0 L 3.328125 -0.21875 C 2.953125 -0.21875 2.90625 -0.25 2.90625 -0.5 L 2.90625 -3.421875 L 2.078125 -3.375 L 2.078125 -3.15625 C 2.453125 -3.15625 2.5 -3.125 2.5 -2.875 L 2.5 -1.921875 C 2.390625 -2.015625 2.125 -2.1875 1.703125 -2.1875 C 0.96875 -2.1875 0.359375 -1.6875 0.359375 -1.0625 C 0.359375 -0.46875 0.90625 0.046875 1.65625 0.046875 C 2.046875 0.046875 2.328125 -0.125 2.46875 -0.234375 L 2.46875 0.046875 Z M 2.46875 -0.53125 C 2.234375 -0.171875 1.875 -0.109375 1.671875 -0.109375 C 1.4375 -0.109375 1.1875 -0.203125 1.015625 -0.421875 C 0.859375 -0.625 0.84375 -0.90625 0.84375 -1.0625 C 0.84375 -1.1875 0.859375 -1.515625 1.078125 -1.75 C 1.25 -1.921875 1.5 -2.015625 1.75 -2.015625 C 1.890625 -2.015625 2.234375 -1.984375 2.46875 -1.65625 Z M 2.46875 -0.53125 "/>
</g>
<g id="glyph-0-10">
<path d="M 2.359375 -0.625 C 2.359375 -0.84375 2.234375 -1 2.046875 -1.125 C 1.84375 -1.25 1.703125 -1.265625 1.28125 -1.328125 C 0.96875 -1.375 0.59375 -1.4375 0.59375 -1.703125 C 0.59375 -1.875 0.78125 -2.0625 1.328125 -2.0625 C 1.734375 -2.0625 1.96875 -1.90625 2 -1.5625 C 2 -1.484375 2.015625 -1.453125 2.109375 -1.453125 C 2.203125 -1.453125 2.203125 -1.484375 2.203125 -1.59375 L 2.203125 -2.078125 C 2.203125 -2.15625 2.203125 -2.21875 2.125 -2.21875 C 2.109375 -2.21875 2.078125 -2.203125 2.046875 -2.171875 C 2.03125 -2.15625 1.9375 -2.078125 1.921875 -2.078125 C 1.921875 -2.078125 1.90625 -2.078125 1.875 -2.09375 C 1.75 -2.15625 1.578125 -2.21875 1.328125 -2.21875 C 0.515625 -2.21875 0.34375 -1.84375 0.34375 -1.609375 C 0.34375 -1.140625 0.921875 -1.0625 1.375 -0.984375 C 1.65625 -0.9375 2.109375 -0.875 2.109375 -0.53125 C 2.109375 -0.359375 1.96875 -0.109375 1.375 -0.109375 C 1.03125 -0.109375 0.71875 -0.234375 0.5625 -0.75 C 0.53125 -0.84375 0.53125 -0.859375 0.453125 -0.859375 C 0.34375 -0.859375 0.34375 -0.8125 0.34375 -0.71875 L 0.34375 -0.078125 C 0.34375 0 0.34375 0.046875 0.421875 0.046875 C 0.46875 0.046875 0.46875 0.046875 0.5625 -0.046875 L 0.6875 -0.171875 C 0.9375 0.046875 1.25 0.046875 1.375 0.046875 C 2.203125 0.046875 2.359375 -0.375 2.359375 -0.625 Z M 2.359375 -0.625 "/>
</g>
<g id="glyph-0-11">
<path d="M 3.375 0 L 3.375 -0.21875 L 3.28125 -0.21875 C 2.96875 -0.21875 2.96875 -0.265625 2.96875 -0.421875 L 2.96875 -1.484375 C 2.96875 -2.03125 2.59375 -2.1875 2.140625 -2.1875 C 1.609375 -2.1875 1.328125 -1.890625 1.21875 -1.703125 L 1.21875 -2.1875 L 0.40625 -2.125 L 0.40625 -1.90625 C 0.765625 -1.90625 0.8125 -1.875 0.8125 -1.640625 L 0.8125 -0.421875 C 0.8125 -0.265625 0.8125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.609375 -0.015625 0.828125 -0.015625 1.03125 -0.015625 C 1.25 -0.015625 1.453125 -0.015625 1.65625 0 L 1.65625 -0.21875 L 1.578125 -0.21875 C 1.25 -0.21875 1.25 -0.265625 1.25 -0.421875 L 1.25 -1.28125 C 1.25 -1.828125 1.765625 -2.015625 2.078125 -2.015625 C 2.4375 -2.015625 2.515625 -1.8125 2.515625 -1.5 L 2.515625 -0.421875 C 2.515625 -0.265625 2.515625 -0.21875 2.203125 -0.21875 L 2.109375 -0.21875 L 2.109375 0 C 2.328125 -0.015625 2.53125 -0.015625 2.75 -0.015625 C 2.953125 -0.015625 3.171875 -0.015625 3.375 0 Z M 3.375 0 "/>
</g>
<g id="glyph-1-0">
<path d="M 4.9375 -1.84375 C 4.9375 -2.828125 4.28125 -3.640625 3.453125 -3.84375 L 2.1875 -4.140625 C 1.578125 -4.296875 1.1875 -4.828125 1.1875 -5.40625 C 1.1875 -6.09375 1.71875 -6.703125 2.5 -6.703125 C 4.140625 -6.703125 4.359375 -5.078125 4.421875 -4.625 C 4.4375 -4.5625 4.4375 -4.515625 4.546875 -4.515625 C 4.671875 -4.515625 4.671875 -4.5625 4.671875 -4.75 L 4.671875 -6.734375 C 4.671875 -6.90625 4.671875 -6.96875 4.5625 -6.96875 C 4.484375 -6.96875 4.484375 -6.96875 4.40625 -6.84375 L 4.0625 -6.28125 C 3.765625 -6.5625 3.359375 -6.96875 2.484375 -6.96875 C 1.390625 -6.96875 0.546875 -6.109375 0.546875 -5.046875 C 0.546875 -4.234375 1.078125 -3.515625 1.84375 -3.25 C 1.953125 -3.203125 2.46875 -3.078125 3.15625 -2.921875 C 3.421875 -2.84375 3.71875 -2.78125 4 -2.40625 C 4.203125 -2.15625 4.296875 -1.828125 4.296875 -1.5 C 4.296875 -0.796875 3.8125 -0.09375 2.984375 -0.09375 C 2.6875 -0.09375 1.9375 -0.140625 1.421875 -0.625 C 0.84375 -1.15625 0.8125 -1.796875 0.796875 -2.140625 C 0.796875 -2.25 0.71875 -2.25 0.6875 -2.25 C 0.546875 -2.25 0.546875 -2.171875 0.546875 -2 L 0.546875 -0.015625 C 0.546875 0.140625 0.546875 0.21875 0.65625 0.21875 C 0.734375 0.21875 0.734375 0.203125 0.8125 0.09375 C 0.8125 0.09375 0.84375 0.046875 1.171875 -0.46875 C 1.46875 -0.140625 2.109375 0.21875 2.984375 0.21875 C 4.140625 0.21875 4.9375 -0.75 4.9375 -1.84375 Z M 4.9375 -1.84375 "/>
</g>
<g id="glyph-1-1">
<path d="M 4.109375 -1.171875 C 4.109375 -1.28125 4.03125 -1.296875 3.96875 -1.296875 C 3.890625 -1.296875 3.875 -1.234375 3.84375 -1.15625 C 3.5 -0.140625 2.609375 -0.140625 2.515625 -0.140625 C 2.015625 -0.140625 1.625 -0.4375 1.390625 -0.796875 C 1.09375 -1.28125 1.09375 -1.921875 1.09375 -2.28125 L 3.859375 -2.28125 C 4.078125 -2.28125 4.109375 -2.28125 4.109375 -2.5 C 4.109375 -3.46875 3.578125 -4.4375 2.328125 -4.4375 C 1.1875 -4.4375 0.28125 -3.40625 0.28125 -2.171875 C 0.28125 -0.84375 1.3125 0.109375 2.453125 0.109375 C 3.65625 0.109375 4.109375 -0.984375 4.109375 -1.171875 Z M 3.453125 -2.5 L 1.109375 -2.5 C 1.171875 -3.96875 2 -4.21875 2.328125 -4.21875 C 3.359375 -4.21875 3.453125 -2.875 3.453125 -2.5 Z M 3.453125 -2.5 "/>
</g>
<g id="glyph-1-2">
<path d="M 5.296875 0 L 5.296875 -0.3125 C 4.78125 -0.3125 4.53125 -0.3125 4.515625 -0.609375 L 4.515625 -2.5 C 4.515625 -3.34375 4.515625 -3.65625 4.21875 -4 C 4.078125 -4.171875 3.75 -4.375 3.171875 -4.375 C 2.453125 -4.375 1.984375 -3.953125 1.71875 -3.328125 L 1.71875 -4.375 L 0.3125 -4.265625 L 0.3125 -3.953125 C 1.015625 -3.953125 1.09375 -3.890625 1.09375 -3.40625 L 1.09375 -0.75 C 1.09375 -0.3125 0.984375 -0.3125 0.3125 -0.3125 L 0.3125 0 L 1.4375 -0.03125 L 2.546875 0 L 2.546875 -0.3125 C 1.875 -0.3125 1.765625 -0.3125 1.765625 -0.75 L 1.765625 -2.578125 C 1.765625 -3.59375 2.46875 -4.15625 3.109375 -4.15625 C 3.734375 -4.15625 3.84375 -3.625 3.84375 -3.0625 L 3.84375 -0.75 C 3.84375 -0.3125 3.734375 -0.3125 3.0625 -0.3125 L 3.0625 0 L 4.1875 -0.03125 Z M 5.296875 0 "/>
</g>
<g id="glyph-1-3">
<path d="M 3.5625 -1.265625 C 3.5625 -1.796875 3.265625 -2.09375 3.140625 -2.203125 C 2.8125 -2.515625 2.4375 -2.59375 2.015625 -2.6875 C 1.46875 -2.796875 0.796875 -2.921875 0.796875 -3.484375 C 0.796875 -3.84375 1.0625 -4.25 1.90625 -4.25 C 3 -4.25 3.046875 -3.359375 3.0625 -3.046875 C 3.078125 -2.953125 3.1875 -2.953125 3.1875 -2.953125 C 3.3125 -2.953125 3.3125 -3 3.3125 -3.1875 L 3.3125 -4.1875 C 3.3125 -4.359375 3.3125 -4.4375 3.203125 -4.4375 C 3.15625 -4.4375 3.140625 -4.4375 3 -4.3125 C 2.984375 -4.265625 2.875 -4.1875 2.84375 -4.15625 C 2.46875 -4.4375 2.0625 -4.4375 1.90625 -4.4375 C 0.703125 -4.4375 0.328125 -3.765625 0.328125 -3.21875 C 0.328125 -2.875 0.484375 -2.59375 0.75 -2.375 C 1.0625 -2.109375 1.34375 -2.0625 2.0625 -1.921875 C 2.28125 -1.875 3.078125 -1.71875 3.078125 -1.015625 C 3.078125 -0.5 2.734375 -0.109375 1.96875 -0.109375 C 1.140625 -0.109375 0.78125 -0.671875 0.59375 -1.515625 C 0.5625 -1.640625 0.546875 -1.6875 0.453125 -1.6875 C 0.328125 -1.6875 0.328125 -1.609375 0.328125 -1.4375 L 0.328125 -0.125 C 0.328125 0.046875 0.328125 0.109375 0.4375 0.109375 C 0.484375 0.109375 0.5 0.09375 0.6875 -0.09375 C 0.703125 -0.109375 0.703125 -0.125 0.875 -0.3125 C 1.3125 0.09375 1.765625 0.109375 1.96875 0.109375 C 3.109375 0.109375 3.5625 -0.546875 3.5625 -1.265625 Z M 3.5625 -1.265625 "/>
</g>
<g id="glyph-1-4">
<path d="M 4.65625 -2.109375 C 4.65625 -3.375 3.671875 -4.4375 2.46875 -4.4375 C 1.234375 -4.4375 0.28125 -3.359375 0.28125 -2.109375 C 0.28125 -0.84375 1.3125 0.109375 2.46875 0.109375 C 3.65625 0.109375 4.65625 -0.859375 4.65625 -2.109375 Z M 3.84375 -2.203125 C 3.84375 -1.84375 3.84375 -1.3125 3.625 -0.875 C 3.40625 -0.421875 2.96875 -0.140625 2.46875 -0.140625 C 2.046875 -0.140625 1.609375 -0.34375 1.34375 -0.796875 C 1.09375 -1.234375 1.09375 -1.84375 1.09375 -2.203125 C 1.09375 -2.578125 1.09375 -3.109375 1.328125 -3.546875 C 1.609375 -4 2.0625 -4.21875 2.46875 -4.21875 C 2.890625 -4.21875 3.328125 -4 3.578125 -3.578125 C 3.84375 -3.140625 3.84375 -2.578125 3.84375 -2.203125 Z M 3.84375 -2.203125 "/>
</g>
<g id="glyph-1-5">
<path d="M 3.59375 -3.765625 C 3.59375 -4.078125 3.296875 -4.375 2.875 -4.375 C 2.140625 -4.375 1.796875 -3.703125 1.65625 -3.28125 L 1.65625 -4.375 L 0.28125 -4.265625 L 0.28125 -3.953125 C 0.96875 -3.953125 1.046875 -3.890625 1.046875 -3.40625 L 1.046875 -0.75 C 1.046875 -0.3125 0.9375 -0.3125 0.28125 -0.3125 L 0.28125 0 L 1.40625 -0.03125 C 1.796875 -0.03125 2.265625 -0.03125 2.65625 0 L 2.65625 -0.3125 L 2.453125 -0.3125 C 1.71875 -0.3125 1.703125 -0.421875 1.703125 -0.765625 L 1.703125 -2.296875 C 1.703125 -3.28125 2.109375 -4.15625 2.875 -4.15625 C 2.9375 -4.15625 2.953125 -4.15625 2.984375 -4.140625 C 2.953125 -4.140625 2.75 -4.015625 2.75 -3.765625 C 2.75 -3.484375 2.953125 -3.328125 3.171875 -3.328125 C 3.359375 -3.328125 3.59375 -3.453125 3.59375 -3.765625 Z M 3.59375 -3.765625 "/>
</g>
<g id="glyph-2-0">
<path d="M 8.046875 -2.96875 C 8.046875 -3.1875 7.859375 -3.1875 7.671875 -3.1875 L 4.5 -3.1875 L 4.5 -6.359375 C 4.5 -6.53125 4.5 -6.734375 4.296875 -6.734375 C 4.09375 -6.734375 4.09375 -6.53125 4.09375 -6.359375 L 4.09375 -3.1875 L 0.921875 -3.1875 C 0.75 -3.1875 0.546875 -3.1875 0.546875 -2.984375 C 0.546875 -2.765625 0.734375 -2.765625 0.921875 -2.765625 L 4.09375 -2.765625 L 4.09375 0.390625 C 4.09375 0.5625 4.09375 0.765625 4.296875 0.765625 C 4.5 0.765625 4.5 0.578125 4.5 0.390625 L 4.5 -2.765625 L 7.671875 -2.765625 C 7.84375 -2.765625 8.046875 -2.765625 8.046875 -2.96875 Z M 8.046875 -2.96875 "/>
</g>
<g id="glyph-3-0">
<path d="M 7.125 -2.59375 C 7.125 -2.65625 7.078125 -2.703125 7 -2.703125 C 6.78125 -2.703125 6.1875 -2.671875 5.96875 -2.671875 L 4.578125 -2.703125 C 4.484375 -2.703125 4.375 -2.703125 4.375 -2.5 C 4.375 -2.390625 4.453125 -2.390625 4.671875 -2.390625 C 4.671875 -2.390625 4.96875 -2.390625 5.1875 -2.375 C 5.453125 -2.34375 5.5 -2.3125 5.5 -2.1875 C 5.5 -2.09375 5.390625 -1.65625 5.296875 -1.28125 C 5.015625 -0.203125 3.734375 -0.09375 3.375 -0.09375 C 2.4375 -0.09375 1.390625 -0.65625 1.390625 -2.171875 C 1.390625 -2.46875 1.5 -4.109375 2.53125 -5.390625 C 3.0625 -6.0625 4.03125 -6.671875 5 -6.671875 C 6.015625 -6.671875 6.59375 -5.90625 6.59375 -4.75 C 6.59375 -4.359375 6.5625 -4.359375 6.5625 -4.25 C 6.5625 -4.15625 6.671875 -4.15625 6.71875 -4.15625 C 6.84375 -4.15625 6.84375 -4.171875 6.890625 -4.359375 L 7.515625 -6.875 C 7.515625 -6.90625 7.5 -6.96875 7.40625 -6.96875 C 7.375 -6.96875 7.375 -6.96875 7.265625 -6.859375 L 6.5625 -6.09375 C 6.484375 -6.234375 6.015625 -6.96875 4.921875 -6.96875 C 2.71875 -6.96875 0.5 -4.78125 0.5 -2.5 C 0.5 -0.921875 1.59375 0.21875 3.1875 0.21875 C 3.625 0.21875 4.078125 0.125 4.4375 -0.015625 C 4.921875 -0.21875 5.109375 -0.421875 5.296875 -0.625 C 5.375 -0.375 5.640625 -0.015625 5.734375 -0.015625 C 5.78125 -0.015625 5.8125 -0.046875 5.8125 -0.046875 C 5.828125 -0.0625 5.921875 -0.4375 5.96875 -0.65625 L 6.15625 -1.421875 C 6.203125 -1.578125 6.25 -1.75 6.296875 -1.921875 C 6.40625 -2.359375 6.40625 -2.390625 6.96875 -2.390625 C 7.015625 -2.390625 7.125 -2.40625 7.125 -2.59375 Z M 7.125 -2.59375 "/>
</g>
<g id="glyph-3-1">
<path d="M 3.921875 -1.53125 C 3.921875 -1.890625 3.734375 -2.140625 3.609375 -2.25 C 3.34375 -2.53125 3.0625 -2.578125 2.625 -2.671875 C 2.265625 -2.75 1.875 -2.8125 1.875 -3.265625 C 1.875 -3.546875 2.109375 -4.15625 2.984375 -4.15625 C 3.21875 -4.15625 3.71875 -4.078125 3.875 -3.703125 C 3.59375 -3.6875 3.390625 -3.46875 3.390625 -3.25 C 3.390625 -3.109375 3.484375 -2.96875 3.703125 -2.96875 C 3.921875 -2.96875 4.15625 -3.140625 4.15625 -3.515625 C 4.15625 -3.96875 3.734375 -4.375 2.984375 -4.375 C 1.671875 -4.375 1.3125 -3.359375 1.3125 -2.921875 C 1.3125 -2.15625 2.03125 -2 2.328125 -1.953125 C 2.84375 -1.84375 3.359375 -1.734375 3.359375 -1.203125 C 3.359375 -0.9375 3.125 -0.109375 1.9375 -0.109375 C 1.796875 -0.109375 1.03125 -0.109375 0.8125 -0.640625 C 1.1875 -0.578125 1.4375 -0.875 1.4375 -1.15625 C 1.4375 -1.390625 1.28125 -1.5 1.0625 -1.5 C 0.8125 -1.5 0.515625 -1.296875 0.515625 -0.84375 C 0.515625 -0.28125 1.078125 0.109375 1.921875 0.109375 C 3.53125 0.109375 3.921875 -1.09375 3.921875 -1.53125 Z M 3.921875 -1.53125 "/>
</g>
<g id="glyph-3-2">
<path d="M 4.90625 -1.421875 C 4.90625 -1.515625 4.8125 -1.515625 4.78125 -1.515625 C 4.703125 -1.515625 4.671875 -1.46875 4.65625 -1.40625 C 4.328125 -0.34375 3.65625 -0.109375 3.34375 -0.109375 C 2.953125 -0.109375 2.796875 -0.421875 2.796875 -0.765625 C 2.796875 -0.984375 2.859375 -1.203125 2.96875 -1.625 L 3.296875 -2.984375 C 3.359375 -3.25 3.59375 -4.15625 4.28125 -4.15625 C 4.328125 -4.15625 4.5625 -4.15625 4.78125 -4.03125 C 4.5 -3.96875 4.296875 -3.734375 4.296875 -3.484375 C 4.296875 -3.328125 4.40625 -3.140625 4.671875 -3.140625 C 4.890625 -3.140625 5.21875 -3.328125 5.21875 -3.71875 C 5.21875 -4.234375 4.625 -4.375 4.296875 -4.375 C 3.71875 -4.375 3.375 -3.84375 3.25 -3.625 C 3 -4.265625 2.46875 -4.375 2.1875 -4.375 C 1.15625 -4.375 0.59375 -3.09375 0.59375 -2.84375 C 0.59375 -2.75 0.71875 -2.75 0.71875 -2.75 C 0.796875 -2.75 0.828125 -2.765625 0.84375 -2.859375 C 1.171875 -3.90625 1.828125 -4.15625 2.171875 -4.15625 C 2.359375 -4.15625 2.703125 -4.0625 2.703125 -3.484375 C 2.703125 -3.1875 2.53125 -2.515625 2.171875 -1.140625 C 2 -0.53125 1.65625 -0.109375 1.21875 -0.109375 C 1.171875 -0.109375 0.9375 -0.109375 0.734375 -0.234375 C 0.984375 -0.28125 1.203125 -0.5 1.203125 -0.765625 C 1.203125 -1.03125 0.984375 -1.125 0.828125 -1.125 C 0.53125 -1.125 0.28125 -0.859375 0.28125 -0.546875 C 0.28125 -0.09375 0.78125 0.109375 1.21875 0.109375 C 1.875 0.109375 2.21875 -0.578125 2.25 -0.640625 C 2.375 -0.28125 2.734375 0.109375 3.328125 0.109375 C 4.34375 0.109375 4.90625 -1.171875 4.90625 -1.421875 Z M 4.90625 -1.421875 "/>
</g>
<g id="glyph-3-3">
<path d="M 5.640625 -1.421875 C 5.640625 -1.515625 5.5625 -1.515625 5.53125 -1.515625 C 5.4375 -1.515625 5.4375 -1.484375 5.375 -1.328125 C 5.1875 -0.65625 4.859375 -0.109375 4.375 -0.109375 C 4.203125 -0.109375 4.140625 -0.203125 4.140625 -0.4375 C 4.140625 -0.6875 4.21875 -0.921875 4.3125 -1.140625 C 4.5 -1.65625 4.921875 -2.75 4.921875 -3.3125 C 4.921875 -3.96875 4.484375 -4.375 3.78125 -4.375 C 2.890625 -4.375 2.40625 -3.734375 2.234375 -3.515625 C 2.1875 -4.0625 1.78125 -4.375 1.328125 -4.375 C 0.875 -4.375 0.6875 -3.984375 0.578125 -3.8125 C 0.421875 -3.46875 0.28125 -2.890625 0.28125 -2.84375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.765625 0.578125 -2.984375 C 0.734375 -3.671875 0.9375 -4.15625 1.296875 -4.15625 C 1.5 -4.15625 1.609375 -4.03125 1.609375 -3.703125 C 1.609375 -3.484375 1.578125 -3.375 1.4375 -2.875 L 0.875 -0.578125 C 0.84375 -0.4375 0.78125 -0.203125 0.78125 -0.15625 C 0.78125 0.015625 0.921875 0.109375 1.0625 0.109375 C 1.1875 0.109375 1.359375 0.03125 1.4375 -0.171875 C 1.4375 -0.1875 1.5625 -0.65625 1.625 -0.90625 L 1.84375 -1.796875 C 1.90625 -2 1.953125 -2.21875 2 -2.453125 L 2.140625 -2.953125 C 2.28125 -3.25 2.8125 -4.15625 3.75 -4.15625 C 4.1875 -4.15625 4.28125 -3.78125 4.28125 -3.46875 C 4.28125 -2.84375 3.796875 -1.578125 3.640625 -1.15625 C 3.546875 -0.9375 3.546875 -0.8125 3.546875 -0.703125 C 3.546875 -0.234375 3.890625 0.109375 4.359375 0.109375 C 5.28125 0.109375 5.640625 -1.328125 5.640625 -1.421875 Z M 5.640625 -1.421875 "/>
</g>
<g id="glyph-4-0">
<path d="M 2.25 -4.328125 C 2.25 -4.4375 2.15625 -4.59375 1.96875 -4.59375 C 1.78125 -4.59375 1.578125 -4.40625 1.578125 -4.203125 C 1.578125 -4.09375 1.671875 -3.953125 1.859375 -3.953125 C 2.0625 -3.953125 2.25 -4.140625 2.25 -4.328125 Z M 2.421875 -0.984375 C 2.421875 -1.078125 2.328125 -1.078125 2.3125 -1.078125 C 2.21875 -1.078125 2.203125 -1.03125 2.1875 -0.96875 C 2.015625 -0.40625 1.71875 -0.125 1.453125 -0.125 C 1.3125 -0.125 1.28125 -0.21875 1.28125 -0.359375 C 1.28125 -0.53125 1.328125 -0.65625 1.390625 -0.8125 L 1.609375 -1.359375 L 1.9375 -2.25 C 1.96875 -2.3125 1.984375 -2.390625 1.984375 -2.46875 C 1.984375 -2.796875 1.703125 -3.046875 1.328125 -3.046875 C 0.640625 -3.046875 0.328125 -2.109375 0.328125 -2 C 0.328125 -1.90625 0.421875 -1.90625 0.4375 -1.90625 C 0.546875 -1.90625 0.546875 -1.9375 0.5625 -2.015625 C 0.75 -2.609375 1.046875 -2.859375 1.3125 -2.859375 C 1.421875 -2.859375 1.484375 -2.796875 1.484375 -2.609375 C 1.484375 -2.453125 1.4375 -2.359375 1.265625 -1.921875 L 0.828125 -0.8125 C 0.796875 -0.71875 0.765625 -0.640625 0.765625 -0.515625 C 0.765625 -0.1875 1.046875 0.0625 1.421875 0.0625 C 2.125 0.0625 2.421875 -0.890625 2.421875 -0.984375 Z M 2.421875 -0.984375 "/>
</g>
<g id="glyph-5-0">
<path d="M 3.28125 2.375 C 3.28125 2.34375 3.28125 2.328125 3.109375 2.15625 C 1.875 0.90625 1.546875 -0.953125 1.546875 -2.46875 C 1.546875 -4.1875 1.921875 -5.921875 3.140625 -7.15625 C 3.28125 -7.265625 3.28125 -7.296875 3.28125 -7.3125 C 3.28125 -7.390625 3.234375 -7.421875 3.171875 -7.421875 C 3.078125 -7.421875 2.1875 -6.75 1.609375 -5.484375 C 1.09375 -4.40625 0.984375 -3.296875 0.984375 -2.46875 C 0.984375 -1.703125 1.09375 -0.5 1.625 0.609375 C 2.21875 1.828125 3.078125 2.46875 3.171875 2.46875 C 3.234375 2.46875 3.28125 2.4375 3.28125 2.375 Z M 3.28125 2.375 "/>
</g>
<g id="glyph-5-1">
<path d="M 2.859375 -2.46875 C 2.859375 -3.25 2.75 -4.4375 2.203125 -5.5625 C 1.609375 -6.78125 0.765625 -7.421875 0.65625 -7.421875 C 0.609375 -7.421875 0.5625 -7.375 0.5625 -7.3125 C 0.5625 -7.296875 0.5625 -7.265625 0.75 -7.09375 C 1.71875 -6.109375 2.28125 -4.546875 2.28125 -2.46875 C 2.28125 -0.78125 1.921875 0.953125 0.6875 2.203125 C 0.5625 2.328125 0.5625 2.34375 0.5625 2.375 C 0.5625 2.4375 0.609375 2.46875 0.65625 2.46875 C 0.765625 2.46875 1.65625 1.796875 2.234375 0.546875 C 2.734375 -0.546875 2.859375 -1.640625 2.859375 -2.46875 Z M 2.859375 -2.46875 "/>
</g>
<g id="glyph-5-2">
<path d="M 3.96875 -5.234375 L 2.46875 -6.84375 L 0.96875 -5.234375 L 1.09375 -5.109375 L 2.46875 -6.171875 L 3.84375 -5.109375 Z M 3.96875 -5.234375 "/>
</g>
<g id="glyph-5-3">
<path d="M 4.125 -6.296875 L 3.96875 -6.4375 C 3.96875 -6.4375 3.59375 -5.96875 3.15625 -5.96875 C 2.921875 -5.96875 2.6875 -6.109375 2.515625 -6.21875 C 2.25 -6.375 2.0625 -6.4375 1.90625 -6.4375 C 1.515625 -6.4375 1.328125 -6.21875 0.828125 -5.671875 L 0.984375 -5.515625 C 0.984375 -5.515625 1.359375 -6 1.796875 -6 C 2.03125 -6 2.28125 -5.84375 2.4375 -5.75 C 2.703125 -5.59375 2.890625 -5.515625 3.0625 -5.515625 C 3.4375 -5.515625 3.625 -5.734375 4.125 -6.296875 Z M 4.125 -6.296875 "/>
</g>
<g id="glyph-6-0">
<path d="M 5.421875 -1.734375 C 5.421875 -1.90625 5.265625 -1.90625 5.171875 -1.90625 L 1 -1.90625 C 0.90625 -1.90625 0.75 -1.90625 0.75 -1.734375 C 0.75 -1.5625 0.90625 -1.5625 1 -1.5625 L 5.171875 -1.5625 C 5.265625 -1.5625 5.421875 -1.5625 5.421875 -1.734375 Z M 5.421875 -1.734375 "/>
</g>
<g id="glyph-7-0">
<path d="M 3.28125 0 L 3.28125 -0.25 L 3.015625 -0.25 C 2.3125 -0.25 2.3125 -0.34375 2.3125 -0.5625 L 2.3125 -4.40625 C 2.3125 -4.59375 2.3125 -4.59375 2.109375 -4.59375 C 1.671875 -4.15625 1.03125 -4.15625 0.75 -4.15625 L 0.75 -3.90625 C 0.921875 -3.90625 1.375 -3.90625 1.765625 -4.09375 L 1.765625 -0.5625 C 1.765625 -0.34375 1.765625 -0.25 1.0625 -0.25 L 0.796875 -0.25 L 0.796875 0 L 2.03125 -0.03125 Z M 3.28125 0 "/>
</g>
</g>
<clipPath id="clip-0">
<path clip-rule="nonzero" d="M 7 12 L 49 12 L 49 52.210938 L 7 52.210938 Z M 7 12 "/>
</clipPath>
<clipPath id="clip-1">
<path clip-rule="nonzero" d="M 0.453125 33 L 18 33 L 18 35 L 0.453125 35 Z M 0.453125 33 "/>
</clipPath>
<clipPath id="clip-2">
<path clip-rule="nonzero" d="M 151 17 L 172.765625 17 L 172.765625 50 L 151 50 Z M 151 17 "/>
</clipPath>
</defs>
<path fill-rule="nonzero" fill="rgb(89.99939%, 89.99939%, 89.99939%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -12.950451 -17.816258 L 128.099526 -17.816258 L 128.099526 32.792343 L -12.950451 32.792343 Z M -12.950451 -17.816258 " transform="matrix(0.992528, 0, 0, -0.992528, 28.06072, 33.539516)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="118.490966" y="7.692094"/>
<use xlink:href="#glyph-0-1" x="123.339132" y="7.692094"/>
<use xlink:href="#glyph-0-2" x="126.704074" y="7.692094"/>
<use xlink:href="#glyph-0-3" x="129.382283" y="7.692094"/>
<use xlink:href="#glyph-0-4" x="134.806929" y="7.692094"/>
<use xlink:href="#glyph-0-5" x="138.17187" y="7.692094"/>
<use xlink:href="#glyph-0-6" x="140.163346" y="7.692094"/>
<use xlink:href="#glyph-0-7" x="142.154822" y="7.692094"/>
<use xlink:href="#glyph-0-8" x="145.17615" y="7.692094"/>
<use xlink:href="#glyph-0-9" x="148.197478" y="7.692094"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-10" x="133.70841" y="14.613987"/>
<use xlink:href="#glyph-0-8" x="136.420733" y="14.613987"/>
<use xlink:href="#glyph-0-11" x="139.442061" y="14.613987"/>
<use xlink:href="#glyph-0-10" x="143.150122" y="14.613987"/>
<use xlink:href="#glyph-0-1" x="145.862445" y="14.613987"/>
<use xlink:href="#glyph-0-2" x="149.227387" y="14.613987"/>
</g>
<path fill-rule="nonzero" fill="rgb(79.998779%, 79.998779%, 79.998779%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -9.963288 -14.825159 L 63.846006 -14.825159 L 63.846006 29.80518 L -9.963288 29.80518 Z M -9.963288 -14.825159 " transform="matrix(0.992528, 0, 0, -0.992528, 28.06072, 33.539516)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="60.035019" y="14.064126"/>
<use xlink:href="#glyph-1-1" x="65.528882" y="14.064126"/>
<use xlink:href="#glyph-1-2" x="69.92417" y="14.064126"/>
<use xlink:href="#glyph-1-3" x="75.418034" y="14.064126"/>
<use xlink:href="#glyph-1-4" x="79.318914" y="14.064126"/>
<use xlink:href="#glyph-1-5" x="84.262995" y="14.064126"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" d="M 34.984375 33.539062 C 34.984375 29.714844 31.882812 26.617188 28.0625 26.617188 C 24.238281 26.617188 21.140625 29.714844 21.140625 33.539062 C 21.140625 37.363281 24.238281 40.460938 28.0625 40.460938 C 31.882812 40.460938 34.984375 37.363281 34.984375 33.539062 Z M 34.984375 33.539062 "/>
<g clip-path="url(#clip-0)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.975776 0.000457294 C 6.975776 3.853465 3.850865 6.97444 0.00179348 6.97444 C -3.851214 6.97444 -6.972189 3.853465 -6.972189 0.000457294 C -6.972189 -3.85255 -3.851214 -6.973525 0.00179348 -6.973525 C 3.850865 -6.973525 6.975776 -3.85255 6.975776 0.000457294 Z M 6.975776 0.000457294 " transform="matrix(0.992528, 0, 0, -0.992528, 28.06072, 33.539516)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="23.756125" y="36.433729"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 30.148919 -11.338168 L 60.359014 -11.338168 L 60.359014 11.339082 L 30.148919 11.339082 Z M 30.148919 -11.338168 " transform="matrix(0.992528, 0, 0, -0.992528, 28.06072, 33.539516)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="61.280642" y="36.010912"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="69.055116" y="37.494742"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-0" x="72.347333" y="36.010912"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="76.192839" y="36.010912"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-1" x="80.82841" y="36.010912"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 84.031985 -11.338168 L 121.621436 -11.338168 L 121.621436 11.339082 L 84.031985 11.339082 Z M 84.031985 -11.338168 " transform="matrix(0.992528, 0, 0, -0.992528, 28.06072, 33.539516)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-2" x="117.001181" y="34.316666"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="114.761045" y="36.816845"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-6-0" x="122.536511" y="32.586689"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-7-0" x="128.716892" y="32.586689"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="122.536511" y="39.573096"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-0" x="133.151602" y="36.816845"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="136.997108" y="36.816845"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-1" x="141.632679" y="36.816845"/>
</g>
<g clip-path="url(#clip-1)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -26.815767 0.000457294 L -11.608392 0.000457294 " transform="matrix(0.992528, 0, 0, -0.992528, 28.06072, 33.539516)"/>
</g>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053009 0.000457294 L 1.609653 1.684918 L 3.08946 0.000457294 L 1.609653 -1.684003 Z M 6.053009 0.000457294 " transform="matrix(0.992528, 0, 0, -0.992528, 13.722686, 33.539516)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-2" x="5.235547" y="29.749051"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 0.00179348 11.606707 L 0.00179348 26.818018 " transform="matrix(0.992528, 0, 0, -0.992528, 28.06072, 33.539516)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054704 0.00179348 L 1.607413 1.682319 L 3.087219 0.00179348 L 1.607413 -1.682667 Z M 6.054704 0.00179348 " transform="matrix(0, 0.992528, 0.992528, 0, 28.06072, 19.201472)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-3" x="31.851186" y="14.970304"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="37.786505" y="16.454134"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.975776 0.000457294 L 25.016823 0.000457294 " transform="matrix(0.992528, 0, 0, -0.992528, 28.06072, 33.539516)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052904 0.000457294 L 1.609549 1.684918 L 3.089355 0.000457294 L 1.609549 -1.684003 Z M 6.052904 0.000457294 " transform="matrix(0.992528, 0, 0, -0.992528, 50.074353, 33.539516)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 60.858843 0.000457294 L 78.903826 0.000457294 " transform="matrix(0.992528, 0, 0, -0.992528, 28.06072, 33.539516)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.051831 0.000457294 L 1.608475 1.684918 L 3.088282 0.000457294 L 1.608475 -1.684003 Z M 6.051831 0.000457294 " transform="matrix(0.992528, 0, 0, -0.992528, 103.555886, 33.539516)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-3" x="98.865704" y="28.266214"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-2" x="98.24275" y="28.266214"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="103.88889" y="29.749051"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 122.121265 0.000457294 L 140.166247 0.000457294 " transform="matrix(0.992528, 0, 0, -0.992528, 28.06072, 33.539516)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 170.371094 33.539062 L 165.957031 31.867188 L 167.425781 33.539062 L 165.957031 35.210938 Z M 170.371094 33.539062 "/>
<g clip-path="url(#clip-2)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054908 0.000457294 L 1.607617 1.684918 L 3.087424 0.000457294 L 1.607617 -1.684003 Z M 6.054908 0.000457294 " transform="matrix(0.992528, 0, 0, -0.992528, 164.361426, 33.539516)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-2" x="159.670965" y="28.266214"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-2" x="159.038123" y="28.266214"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="164.694151" y="29.749051"/>
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 37 KiB

BIN
figs/detail_control_sensor_model_uncertainty.pdf Normal file
View File

Binary file not shown.

BIN
figs/detail_control_sensor_model_uncertainty.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 16 KiB

278
figs/detail_control_sensor_model_uncertainty.svg Normal file
View File

@ -0,0 +1,278 @@
<?xml version="1.0" encoding="UTF-8"?>
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="281.997" height="62.561" viewBox="0 0 281.997 62.561">
<defs>
<g>
<g id="glyph-0-0">
<path d="M 4.4375 -3.171875 L 4.4375 -3.390625 C 4.21875 -3.375 4 -3.359375 3.78125 -3.359375 C 3.640625 -3.359375 3.3125 -3.375 3.109375 -3.390625 L 3.109375 -3.171875 C 3.671875 -3.171875 3.671875 -2.96875 3.671875 -2.828125 L 3.671875 -0.78125 L 1.53125 -3.328125 C 1.484375 -3.390625 1.46875 -3.390625 1.375 -3.390625 L 0.40625 -3.390625 L 0.40625 -3.171875 L 0.609375 -3.171875 C 0.65625 -3.171875 0.890625 -3.15625 0.9375 -3.140625 C 0.953125 -3.140625 0.953125 -3.125 0.953125 -3.046875 L 0.953125 -0.546875 C 0.953125 -0.421875 0.953125 -0.21875 0.40625 -0.21875 L 0.40625 0 C 0.640625 -0.015625 0.859375 -0.015625 1.078125 -0.015625 C 1.21875 -0.015625 1.53125 -0.015625 1.734375 0 L 1.734375 -0.21875 C 1.1875 -0.21875 1.1875 -0.421875 1.1875 -0.546875 L 1.1875 -3 L 3.65625 -0.0625 C 3.703125 0 3.71875 0 3.78125 0 C 3.890625 0 3.890625 -0.046875 3.890625 -0.15625 L 3.890625 -2.828125 C 3.890625 -2.96875 3.890625 -3.171875 4.4375 -3.171875 Z M 4.4375 -3.171875 "/>
</g>
<g id="glyph-0-1">
<path d="M 3.046875 -1.0625 C 3.046875 -1.671875 2.46875 -2.21875 1.6875 -2.21875 C 0.90625 -2.21875 0.328125 -1.671875 0.328125 -1.0625 C 0.328125 -0.453125 0.90625 0.046875 1.6875 0.046875 C 2.46875 0.046875 3.046875 -0.453125 3.046875 -1.0625 Z M 2.546875 -1.109375 C 2.546875 -0.859375 2.546875 -0.125 1.6875 -0.125 C 0.8125 -0.125 0.8125 -0.859375 0.8125 -1.109375 C 0.8125 -1.328125 0.8125 -2.0625 1.6875 -2.0625 C 2.546875 -2.0625 2.546875 -1.328125 2.546875 -1.109375 Z M 2.546875 -1.109375 "/>
</g>
<g id="glyph-0-2">
<path d="M 2.375 -1.84375 C 2.375 -2.03125 2.1875 -2.1875 1.9375 -2.1875 C 1.6875 -2.1875 1.359375 -2.0625 1.171875 -1.640625 L 1.171875 -2.1875 L 0.375 -2.140625 L 0.375 -1.921875 C 0.75 -1.921875 0.78125 -1.875 0.78125 -1.640625 L 0.78125 -0.421875 C 0.78125 -0.265625 0.78125 -0.21875 0.46875 -0.21875 L 0.375 -0.21875 L 0.375 0 C 0.578125 -0.015625 0.8125 -0.015625 1.015625 -0.015625 L 1.71875 0 L 1.71875 -0.21875 L 1.59375 -0.21875 C 1.203125 -0.21875 1.203125 -0.265625 1.203125 -0.421875 L 1.203125 -1.109375 C 1.203125 -1.5625 1.46875 -2.015625 1.9375 -2.03125 C 1.9375 -2.03125 1.875 -1.953125 1.875 -1.84375 C 1.875 -1.671875 2.015625 -1.59375 2.125 -1.59375 C 2.25 -1.59375 2.375 -1.671875 2.375 -1.84375 Z M 2.375 -1.84375 "/>
</g>
<g id="glyph-0-3">
<path d="M 5.109375 0 L 5.109375 -0.21875 L 5.015625 -0.21875 C 4.703125 -0.21875 4.703125 -0.265625 4.703125 -0.421875 L 4.703125 -1.5 C 4.703125 -2.109375 4.234375 -2.1875 3.859375 -2.1875 C 3.375 -2.1875 3.09375 -1.953125 2.953125 -1.734375 C 2.828125 -2.1875 2.328125 -2.1875 2.140625 -2.1875 C 1.625 -2.1875 1.34375 -1.921875 1.21875 -1.703125 L 1.21875 -2.1875 L 0.40625 -2.140625 L 0.40625 -1.921875 C 0.765625 -1.921875 0.8125 -1.875 0.8125 -1.640625 L 0.8125 -0.421875 C 0.8125 -0.265625 0.8125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.625 -0.015625 0.828125 -0.015625 1.046875 -0.015625 C 1.25 -0.015625 1.46875 -0.015625 1.671875 0 L 1.671875 -0.21875 L 1.578125 -0.21875 C 1.265625 -0.21875 1.265625 -0.265625 1.265625 -0.421875 L 1.265625 -1.28125 C 1.265625 -1.828125 1.765625 -2.03125 2.078125 -2.03125 C 2.453125 -2.03125 2.53125 -1.828125 2.53125 -1.5 L 2.53125 -0.421875 C 2.53125 -0.265625 2.53125 -0.21875 2.21875 -0.21875 L 2.125 -0.21875 L 2.125 0 C 2.34375 -0.015625 2.546875 -0.015625 2.765625 -0.015625 C 2.96875 -0.015625 3.1875 -0.015625 3.390625 0 L 3.390625 -0.21875 L 3.296875 -0.21875 C 2.984375 -0.21875 2.984375 -0.265625 2.984375 -0.421875 L 2.984375 -1.28125 C 2.984375 -1.828125 3.484375 -2.03125 3.796875 -2.03125 C 4.171875 -2.03125 4.25 -1.828125 4.25 -1.5 L 4.25 -0.421875 C 4.25 -0.265625 4.25 -0.21875 3.9375 -0.21875 L 3.84375 -0.21875 L 3.84375 0 C 4.0625 -0.015625 4.265625 -0.015625 4.484375 -0.015625 C 4.6875 -0.015625 4.90625 -0.015625 5.109375 0 Z M 5.109375 0 "/>
</g>
<g id="glyph-0-4">
<path d="M 3.140625 -0.453125 L 3.140625 -0.71875 L 2.9375 -0.71875 L 2.9375 -0.453125 C 2.9375 -0.40625 2.9375 -0.1875 2.734375 -0.1875 C 2.546875 -0.1875 2.546875 -0.40625 2.546875 -0.453125 L 2.546875 -1.46875 C 2.546875 -1.953125 2.046875 -2.21875 1.421875 -2.21875 C 1.125 -2.21875 0.546875 -2.203125 0.546875 -1.78125 C 0.546875 -1.59375 0.6875 -1.515625 0.8125 -1.515625 C 0.953125 -1.515625 1.078125 -1.609375 1.078125 -1.78125 C 1.078125 -1.890625 1 -1.96875 0.953125 -2 C 1.125 -2.0625 1.359375 -2.0625 1.421875 -2.0625 C 1.84375 -2.0625 2.09375 -1.828125 2.09375 -1.46875 L 2.09375 -1.34375 C 1.625 -1.3125 1.359375 -1.296875 0.96875 -1.15625 C 0.640625 -1.046875 0.359375 -0.84375 0.359375 -0.515625 C 0.359375 -0.046875 0.9375 0.046875 1.328125 0.046875 C 1.703125 0.046875 2 -0.09375 2.15625 -0.359375 C 2.171875 -0.171875 2.296875 0.03125 2.546875 0.03125 C 2.578125 0.03125 3.140625 0.03125 3.140625 -0.453125 Z M 2.09375 -0.703125 C 2.09375 -0.15625 1.5 -0.109375 1.375 -0.109375 C 1.09375 -0.109375 0.8125 -0.265625 0.8125 -0.515625 C 0.8125 -0.6875 0.921875 -1.140625 2.09375 -1.1875 Z M 2.09375 -0.703125 "/>
</g>
<g id="glyph-0-5">
<path d="M 1.65625 0 L 1.65625 -0.21875 L 1.5625 -0.21875 C 1.25 -0.21875 1.25 -0.265625 1.25 -0.421875 L 1.25 -3.4375 L 0.40625 -3.390625 L 0.40625 -3.171875 C 0.78125 -3.171875 0.828125 -3.125 0.828125 -2.890625 L 0.828125 -0.421875 C 0.828125 -0.265625 0.828125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.625 -0.015625 0.828125 -0.015625 1.03125 -0.015625 C 1.234375 -0.015625 1.453125 -0.015625 1.65625 0 Z M 1.65625 0 "/>
</g>
<g id="glyph-0-6">
<path d="M 1.609375 0 L 1.609375 -0.21875 C 1.28125 -0.21875 1.25 -0.21875 1.25 -0.421875 L 1.25 -2.1875 L 0.4375 -2.140625 L 0.4375 -1.921875 C 0.78125 -1.921875 0.828125 -1.875 0.828125 -1.640625 L 0.828125 -0.421875 C 0.828125 -0.265625 0.828125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.609375 -0.015625 0.828125 -0.015625 1.03125 -0.015625 C 1.21875 -0.015625 1.4375 -0.015625 1.609375 0 Z M 1.296875 -2.96875 C 1.296875 -3.140625 1.15625 -3.28125 1 -3.28125 C 0.828125 -3.28125 0.6875 -3.140625 0.6875 -2.96875 C 0.6875 -2.796875 0.828125 -2.671875 1 -2.671875 C 1.15625 -2.671875 1.296875 -2.796875 1.296875 -2.96875 Z M 1.296875 -2.96875 "/>
</g>
<g id="glyph-0-7">
<path d="M 2.625 -0.984375 L 2.421875 -0.984375 C 2.359375 -0.421875 2.265625 -0.171875 1.5625 -0.171875 L 0.90625 -0.171875 L 2.546875 -1.9375 C 2.59375 -1.984375 2.609375 -2 2.609375 -2.046875 C 2.609375 -2.140625 2.546875 -2.140625 2.453125 -2.140625 L 0.453125 -2.140625 L 0.390625 -1.28125 L 0.609375 -1.28125 C 0.640625 -1.828125 0.796875 -1.96875 1.375 -1.96875 L 2.015625 -1.96875 L 0.359375 -0.203125 C 0.3125 -0.15625 0.3125 -0.15625 0.3125 -0.09375 C 0.3125 0 0.375 0 0.453125 0 L 2.53125 0 Z M 2.625 -0.984375 "/>
</g>
<g id="glyph-0-8">
<path d="M 2.703125 -0.59375 C 2.703125 -0.671875 2.625 -0.671875 2.609375 -0.671875 C 2.53125 -0.671875 2.515625 -0.65625 2.484375 -0.578125 C 2.359375 -0.25 1.984375 -0.125 1.703125 -0.125 C 1.3125 -0.125 1.078125 -0.34375 1.015625 -0.4375 C 0.8125 -0.671875 0.8125 -0.984375 0.8125 -1.109375 L 2.5625 -1.109375 C 2.671875 -1.109375 2.703125 -1.109375 2.703125 -1.234375 C 2.703125 -1.5625 2.53125 -2.21875 1.609375 -2.21875 C 0.859375 -2.21875 0.328125 -1.671875 0.328125 -1.09375 C 0.328125 -0.453125 0.921875 0.046875 1.671875 0.046875 C 2.46875 0.046875 2.703125 -0.5 2.703125 -0.59375 Z M 2.328125 -1.265625 L 0.828125 -1.265625 C 0.890625 -1.921875 1.359375 -2.0625 1.59375 -2.0625 C 2.28125 -2.0625 2.328125 -1.40625 2.328125 -1.265625 Z M 2.328125 -1.265625 "/>
</g>
<g id="glyph-0-9">
<path d="M 3.328125 0 L 3.328125 -0.21875 C 2.96875 -0.21875 2.921875 -0.25 2.921875 -0.5 L 2.921875 -3.4375 L 2.09375 -3.390625 L 2.09375 -3.171875 C 2.453125 -3.171875 2.5 -3.125 2.5 -2.890625 L 2.5 -1.921875 C 2.390625 -2.015625 2.125 -2.1875 1.71875 -2.1875 C 0.96875 -2.1875 0.359375 -1.6875 0.359375 -1.0625 C 0.359375 -0.46875 0.921875 0.046875 1.65625 0.046875 C 2.0625 0.046875 2.34375 -0.125 2.484375 -0.25 L 2.484375 0.046875 Z M 2.484375 -0.546875 C 2.25 -0.171875 1.875 -0.109375 1.6875 -0.109375 C 1.4375 -0.109375 1.1875 -0.203125 1.03125 -0.421875 C 0.859375 -0.625 0.859375 -0.90625 0.859375 -1.0625 C 0.859375 -1.203125 0.859375 -1.53125 1.078125 -1.75 C 1.25 -1.9375 1.5 -2.03125 1.75 -2.03125 C 1.890625 -2.03125 2.25 -2 2.484375 -1.65625 Z M 2.484375 -0.546875 "/>
</g>
<g id="glyph-0-10">
<path d="M 2.375 -0.625 C 2.375 -0.84375 2.25 -1.015625 2.0625 -1.125 C 1.859375 -1.25 1.703125 -1.265625 1.296875 -1.34375 C 0.96875 -1.390625 0.59375 -1.453125 0.59375 -1.703125 C 0.59375 -1.875 0.78125 -2.078125 1.328125 -2.078125 C 1.734375 -2.078125 1.96875 -1.90625 2 -1.5625 C 2.015625 -1.484375 2.015625 -1.46875 2.109375 -1.46875 C 2.21875 -1.46875 2.21875 -1.5 2.21875 -1.59375 L 2.21875 -2.078125 C 2.21875 -2.171875 2.21875 -2.21875 2.140625 -2.21875 C 2.109375 -2.21875 2.09375 -2.21875 2.046875 -2.1875 C 2.03125 -2.171875 1.9375 -2.078125 1.921875 -2.078125 C 1.921875 -2.078125 1.90625 -2.078125 1.875 -2.109375 C 1.765625 -2.171875 1.578125 -2.21875 1.328125 -2.21875 C 0.515625 -2.21875 0.34375 -1.84375 0.34375 -1.609375 C 0.34375 -1.15625 0.921875 -1.0625 1.375 -0.984375 C 1.671875 -0.953125 2.125 -0.875 2.125 -0.546875 C 2.125 -0.359375 1.96875 -0.109375 1.375 -0.109375 C 1.046875 -0.109375 0.71875 -0.234375 0.5625 -0.765625 C 0.546875 -0.84375 0.53125 -0.859375 0.453125 -0.859375 C 0.34375 -0.859375 0.34375 -0.828125 0.34375 -0.71875 L 0.34375 -0.078125 C 0.34375 0 0.34375 0.046875 0.421875 0.046875 C 0.46875 0.046875 0.46875 0.046875 0.5625 -0.046875 L 0.6875 -0.171875 C 0.9375 0.046875 1.25 0.046875 1.375 0.046875 C 2.203125 0.046875 2.375 -0.375 2.375 -0.625 Z M 2.375 -0.625 "/>
</g>
<g id="glyph-0-11">
<path d="M 3.390625 0 L 3.390625 -0.21875 L 3.296875 -0.21875 C 2.96875 -0.21875 2.96875 -0.265625 2.96875 -0.421875 L 2.96875 -1.5 C 2.96875 -2.046875 2.59375 -2.1875 2.140625 -2.1875 C 1.609375 -2.1875 1.328125 -1.890625 1.21875 -1.703125 L 1.21875 -2.1875 L 0.40625 -2.140625 L 0.40625 -1.921875 C 0.765625 -1.921875 0.8125 -1.875 0.8125 -1.640625 L 0.8125 -0.421875 C 0.8125 -0.265625 0.8125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.625 -0.015625 0.828125 -0.015625 1.046875 -0.015625 C 1.25 -0.015625 1.46875 -0.015625 1.671875 0 L 1.671875 -0.21875 L 1.578125 -0.21875 C 1.265625 -0.21875 1.265625 -0.265625 1.265625 -0.421875 L 1.265625 -1.28125 C 1.265625 -1.84375 1.765625 -2.03125 2.078125 -2.03125 C 2.453125 -2.03125 2.53125 -1.8125 2.53125 -1.5 L 2.53125 -0.421875 C 2.53125 -0.265625 2.53125 -0.21875 2.203125 -0.21875 L 2.125 -0.21875 L 2.125 0 C 2.328125 -0.015625 2.546875 -0.015625 2.75 -0.015625 C 2.96875 -0.015625 3.171875 -0.015625 3.390625 0 Z M 3.390625 0 "/>
</g>
<g id="glyph-1-0">
<path d="M 4.9375 -1.84375 C 4.9375 -2.828125 4.28125 -3.640625 3.453125 -3.84375 L 2.1875 -4.140625 C 1.578125 -4.296875 1.1875 -4.828125 1.1875 -5.40625 C 1.1875 -6.09375 1.71875 -6.703125 2.5 -6.703125 C 4.140625 -6.703125 4.359375 -5.078125 4.421875 -4.625 C 4.4375 -4.5625 4.4375 -4.515625 4.546875 -4.515625 C 4.671875 -4.515625 4.671875 -4.5625 4.671875 -4.75 L 4.671875 -6.734375 C 4.671875 -6.90625 4.671875 -6.96875 4.5625 -6.96875 C 4.484375 -6.96875 4.484375 -6.96875 4.40625 -6.84375 L 4.0625 -6.28125 C 3.765625 -6.5625 3.359375 -6.96875 2.484375 -6.96875 C 1.390625 -6.96875 0.546875 -6.109375 0.546875 -5.046875 C 0.546875 -4.234375 1.078125 -3.515625 1.84375 -3.25 C 1.953125 -3.203125 2.46875 -3.078125 3.15625 -2.921875 C 3.421875 -2.84375 3.71875 -2.78125 4 -2.40625 C 4.203125 -2.15625 4.296875 -1.828125 4.296875 -1.5 C 4.296875 -0.796875 3.8125 -0.09375 2.984375 -0.09375 C 2.6875 -0.09375 1.9375 -0.140625 1.421875 -0.625 C 0.84375 -1.15625 0.8125 -1.796875 0.796875 -2.140625 C 0.796875 -2.25 0.71875 -2.25 0.6875 -2.25 C 0.546875 -2.25 0.546875 -2.171875 0.546875 -2 L 0.546875 -0.015625 C 0.546875 0.140625 0.546875 0.21875 0.65625 0.21875 C 0.734375 0.21875 0.734375 0.203125 0.8125 0.09375 C 0.8125 0.09375 0.84375 0.046875 1.171875 -0.46875 C 1.46875 -0.140625 2.109375 0.21875 2.984375 0.21875 C 4.140625 0.21875 4.9375 -0.75 4.9375 -1.84375 Z M 4.9375 -1.84375 "/>
</g>
<g id="glyph-1-1">
<path d="M 4.109375 -1.171875 C 4.109375 -1.28125 4.03125 -1.296875 3.96875 -1.296875 C 3.890625 -1.296875 3.875 -1.234375 3.84375 -1.15625 C 3.5 -0.140625 2.609375 -0.140625 2.515625 -0.140625 C 2.015625 -0.140625 1.625 -0.4375 1.390625 -0.796875 C 1.09375 -1.28125 1.09375 -1.921875 1.09375 -2.28125 L 3.859375 -2.28125 C 4.078125 -2.28125 4.109375 -2.28125 4.109375 -2.5 C 4.109375 -3.46875 3.578125 -4.4375 2.328125 -4.4375 C 1.1875 -4.4375 0.28125 -3.40625 0.28125 -2.171875 C 0.28125 -0.84375 1.3125 0.109375 2.453125 0.109375 C 3.65625 0.109375 4.109375 -0.984375 4.109375 -1.171875 Z M 3.453125 -2.5 L 1.109375 -2.5 C 1.171875 -3.96875 2 -4.21875 2.328125 -4.21875 C 3.359375 -4.21875 3.453125 -2.875 3.453125 -2.5 Z M 3.453125 -2.5 "/>
</g>
<g id="glyph-1-2">
<path d="M 5.296875 0 L 5.296875 -0.3125 C 4.78125 -0.3125 4.53125 -0.3125 4.515625 -0.609375 L 4.515625 -2.5 C 4.515625 -3.34375 4.515625 -3.65625 4.21875 -4 C 4.078125 -4.171875 3.75 -4.375 3.171875 -4.375 C 2.453125 -4.375 1.984375 -3.953125 1.71875 -3.328125 L 1.71875 -4.375 L 0.3125 -4.265625 L 0.3125 -3.953125 C 1.015625 -3.953125 1.09375 -3.890625 1.09375 -3.40625 L 1.09375 -0.75 C 1.09375 -0.3125 0.984375 -0.3125 0.3125 -0.3125 L 0.3125 0 L 1.4375 -0.03125 L 2.546875 0 L 2.546875 -0.3125 C 1.875 -0.3125 1.765625 -0.3125 1.765625 -0.75 L 1.765625 -2.578125 C 1.765625 -3.59375 2.46875 -4.15625 3.109375 -4.15625 C 3.734375 -4.15625 3.84375 -3.625 3.84375 -3.0625 L 3.84375 -0.75 C 3.84375 -0.3125 3.734375 -0.3125 3.0625 -0.3125 L 3.0625 0 L 4.1875 -0.03125 Z M 5.296875 0 "/>
</g>
<g id="glyph-1-3">
<path d="M 3.5625 -1.265625 C 3.5625 -1.796875 3.265625 -2.09375 3.140625 -2.203125 C 2.8125 -2.515625 2.4375 -2.59375 2.015625 -2.6875 C 1.46875 -2.796875 0.796875 -2.921875 0.796875 -3.484375 C 0.796875 -3.84375 1.0625 -4.25 1.90625 -4.25 C 3 -4.25 3.046875 -3.359375 3.0625 -3.046875 C 3.078125 -2.953125 3.1875 -2.953125 3.1875 -2.953125 C 3.3125 -2.953125 3.3125 -3 3.3125 -3.1875 L 3.3125 -4.1875 C 3.3125 -4.359375 3.3125 -4.4375 3.203125 -4.4375 C 3.15625 -4.4375 3.140625 -4.4375 3 -4.3125 C 2.984375 -4.265625 2.875 -4.1875 2.84375 -4.15625 C 2.46875 -4.4375 2.0625 -4.4375 1.90625 -4.4375 C 0.703125 -4.4375 0.328125 -3.765625 0.328125 -3.21875 C 0.328125 -2.875 0.484375 -2.59375 0.75 -2.375 C 1.0625 -2.109375 1.34375 -2.0625 2.0625 -1.921875 C 2.28125 -1.875 3.078125 -1.71875 3.078125 -1.015625 C 3.078125 -0.5 2.734375 -0.109375 1.96875 -0.109375 C 1.140625 -0.109375 0.78125 -0.671875 0.59375 -1.515625 C 0.5625 -1.640625 0.546875 -1.6875 0.453125 -1.6875 C 0.328125 -1.6875 0.328125 -1.609375 0.328125 -1.4375 L 0.328125 -0.125 C 0.328125 0.046875 0.328125 0.109375 0.4375 0.109375 C 0.484375 0.109375 0.5 0.09375 0.6875 -0.09375 C 0.703125 -0.109375 0.703125 -0.125 0.875 -0.3125 C 1.3125 0.09375 1.765625 0.109375 1.96875 0.109375 C 3.109375 0.109375 3.5625 -0.546875 3.5625 -1.265625 Z M 3.5625 -1.265625 "/>
</g>
<g id="glyph-1-4">
<path d="M 4.65625 -2.109375 C 4.65625 -3.375 3.671875 -4.4375 2.46875 -4.4375 C 1.234375 -4.4375 0.28125 -3.359375 0.28125 -2.109375 C 0.28125 -0.84375 1.3125 0.109375 2.46875 0.109375 C 3.65625 0.109375 4.65625 -0.859375 4.65625 -2.109375 Z M 3.84375 -2.203125 C 3.84375 -1.84375 3.84375 -1.3125 3.625 -0.875 C 3.40625 -0.421875 2.96875 -0.140625 2.46875 -0.140625 C 2.046875 -0.140625 1.609375 -0.34375 1.34375 -0.796875 C 1.09375 -1.234375 1.09375 -1.84375 1.09375 -2.203125 C 1.09375 -2.578125 1.09375 -3.109375 1.328125 -3.546875 C 1.609375 -4 2.0625 -4.21875 2.46875 -4.21875 C 2.890625 -4.21875 3.328125 -4 3.578125 -3.578125 C 3.84375 -3.140625 3.84375 -2.578125 3.84375 -2.203125 Z M 3.84375 -2.203125 "/>
</g>
<g id="glyph-1-5">
<path d="M 3.59375 -3.765625 C 3.59375 -4.078125 3.296875 -4.375 2.875 -4.375 C 2.140625 -4.375 1.796875 -3.703125 1.65625 -3.28125 L 1.65625 -4.375 L 0.28125 -4.265625 L 0.28125 -3.953125 C 0.96875 -3.953125 1.046875 -3.890625 1.046875 -3.40625 L 1.046875 -0.75 C 1.046875 -0.3125 0.9375 -0.3125 0.28125 -0.3125 L 0.28125 0 L 1.40625 -0.03125 C 1.796875 -0.03125 2.265625 -0.03125 2.65625 0 L 2.65625 -0.3125 L 2.453125 -0.3125 C 1.71875 -0.3125 1.703125 -0.421875 1.703125 -0.765625 L 1.703125 -2.296875 C 1.703125 -3.28125 2.109375 -4.15625 2.875 -4.15625 C 2.9375 -4.15625 2.953125 -4.15625 2.984375 -4.140625 C 2.953125 -4.140625 2.75 -4.015625 2.75 -3.765625 C 2.75 -3.484375 2.953125 -3.328125 3.171875 -3.328125 C 3.359375 -3.328125 3.59375 -3.453125 3.59375 -3.765625 Z M 3.59375 -3.765625 "/>
</g>
<g id="glyph-2-0">
<path d="M 6.828125 -3.671875 C 6.828125 -4.21875 6.5625 -4.375 6.40625 -4.375 C 6.15625 -4.375 5.90625 -4.109375 5.90625 -3.890625 C 5.90625 -3.765625 5.96875 -3.703125 6.046875 -3.625 C 6.15625 -3.515625 6.40625 -3.265625 6.40625 -2.796875 C 6.40625 -2.453125 6.125 -1.484375 5.859375 -0.984375 C 5.609375 -0.453125 5.265625 -0.109375 4.78125 -0.109375 C 4.3125 -0.109375 4.046875 -0.40625 4.046875 -0.96875 C 4.046875 -1.25 4.109375 -1.546875 4.15625 -1.6875 L 4.5625 -3.359375 C 4.625 -3.578125 4.71875 -3.9375 4.71875 -4 C 4.71875 -4.171875 4.578125 -4.265625 4.4375 -4.265625 C 4.3125 -4.265625 4.140625 -4.1875 4.0625 -3.984375 C 4.03125 -3.921875 3.578125 -2.03125 3.5 -1.765625 C 3.4375 -1.46875 3.40625 -1.296875 3.40625 -1.125 C 3.40625 -1.015625 3.40625 -0.984375 3.421875 -0.9375 C 3.1875 -0.421875 2.890625 -0.109375 2.515625 -0.109375 C 1.71875 -0.109375 1.71875 -0.84375 1.71875 -1.015625 C 1.71875 -1.328125 1.765625 -1.71875 2.234375 -2.921875 C 2.34375 -3.21875 2.40625 -3.359375 2.40625 -3.5625 C 2.40625 -4 2.078125 -4.375 1.59375 -4.375 C 0.65625 -4.375 0.28125 -2.9375 0.28125 -2.84375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.765625 0.5625 -2.921875 C 0.828125 -3.84375 1.21875 -4.15625 1.5625 -4.15625 C 1.65625 -4.15625 1.8125 -4.140625 1.8125 -3.828125 C 1.8125 -3.578125 1.703125 -3.296875 1.625 -3.140625 C 1.203125 -1.96875 1.078125 -1.515625 1.078125 -1.140625 C 1.078125 -0.234375 1.734375 0.109375 2.484375 0.109375 C 2.65625 0.109375 3.109375 0.109375 3.515625 -0.578125 C 3.765625 0.046875 4.453125 0.109375 4.75 0.109375 C 5.484375 0.109375 5.921875 -0.515625 6.1875 -1.109375 C 6.515625 -1.875 6.828125 -3.203125 6.828125 -3.671875 Z M 6.828125 -3.671875 "/>
</g>
<g id="glyph-2-1">
<path d="M 3.921875 -1.53125 C 3.921875 -1.890625 3.734375 -2.140625 3.609375 -2.25 C 3.34375 -2.53125 3.0625 -2.578125 2.625 -2.671875 C 2.265625 -2.75 1.875 -2.8125 1.875 -3.265625 C 1.875 -3.546875 2.109375 -4.15625 2.984375 -4.15625 C 3.21875 -4.15625 3.71875 -4.078125 3.875 -3.703125 C 3.59375 -3.6875 3.390625 -3.46875 3.390625 -3.25 C 3.390625 -3.109375 3.484375 -2.96875 3.703125 -2.96875 C 3.921875 -2.96875 4.15625 -3.140625 4.15625 -3.515625 C 4.15625 -3.96875 3.734375 -4.375 2.984375 -4.375 C 1.671875 -4.375 1.3125 -3.359375 1.3125 -2.921875 C 1.3125 -2.15625 2.03125 -2 2.328125 -1.953125 C 2.84375 -1.84375 3.359375 -1.734375 3.359375 -1.203125 C 3.359375 -0.9375 3.125 -0.109375 1.9375 -0.109375 C 1.796875 -0.109375 1.03125 -0.109375 0.8125 -0.640625 C 1.1875 -0.578125 1.4375 -0.875 1.4375 -1.15625 C 1.4375 -1.390625 1.28125 -1.5 1.0625 -1.5 C 0.8125 -1.5 0.515625 -1.296875 0.515625 -0.84375 C 0.515625 -0.28125 1.078125 0.109375 1.921875 0.109375 C 3.53125 0.109375 3.921875 -1.09375 3.921875 -1.53125 Z M 3.921875 -1.53125 "/>
</g>
<g id="glyph-2-2">
<path d="M 7.125 -2.59375 C 7.125 -2.65625 7.078125 -2.703125 7 -2.703125 C 6.78125 -2.703125 6.1875 -2.671875 5.96875 -2.671875 L 4.578125 -2.703125 C 4.484375 -2.703125 4.375 -2.703125 4.375 -2.5 C 4.375 -2.390625 4.453125 -2.390625 4.671875 -2.390625 C 4.671875 -2.390625 4.96875 -2.390625 5.1875 -2.375 C 5.453125 -2.34375 5.5 -2.3125 5.5 -2.1875 C 5.5 -2.09375 5.390625 -1.65625 5.296875 -1.28125 C 5.015625 -0.203125 3.734375 -0.09375 3.375 -0.09375 C 2.4375 -0.09375 1.390625 -0.65625 1.390625 -2.171875 C 1.390625 -2.46875 1.5 -4.109375 2.53125 -5.390625 C 3.0625 -6.0625 4.03125 -6.671875 5 -6.671875 C 6.015625 -6.671875 6.59375 -5.90625 6.59375 -4.75 C 6.59375 -4.359375 6.5625 -4.359375 6.5625 -4.25 C 6.5625 -4.15625 6.671875 -4.15625 6.71875 -4.15625 C 6.84375 -4.15625 6.84375 -4.171875 6.890625 -4.359375 L 7.515625 -6.875 C 7.515625 -6.90625 7.5 -6.96875 7.40625 -6.96875 C 7.375 -6.96875 7.375 -6.96875 7.265625 -6.859375 L 6.5625 -6.09375 C 6.484375 -6.234375 6.015625 -6.96875 4.921875 -6.96875 C 2.71875 -6.96875 0.5 -4.78125 0.5 -2.5 C 0.5 -0.921875 1.59375 0.21875 3.1875 0.21875 C 3.625 0.21875 4.078125 0.125 4.4375 -0.015625 C 4.921875 -0.21875 5.109375 -0.421875 5.296875 -0.625 C 5.375 -0.375 5.640625 -0.015625 5.734375 -0.015625 C 5.78125 -0.015625 5.8125 -0.046875 5.8125 -0.046875 C 5.828125 -0.0625 5.921875 -0.4375 5.96875 -0.65625 L 6.15625 -1.421875 C 6.203125 -1.578125 6.25 -1.75 6.296875 -1.921875 C 6.40625 -2.359375 6.40625 -2.390625 6.96875 -2.390625 C 7.015625 -2.390625 7.125 -2.40625 7.125 -2.59375 Z M 7.125 -2.59375 "/>
</g>
<g id="glyph-2-3">
<path d="M 4.90625 -1.421875 C 4.90625 -1.515625 4.8125 -1.515625 4.78125 -1.515625 C 4.703125 -1.515625 4.671875 -1.46875 4.65625 -1.40625 C 4.328125 -0.34375 3.65625 -0.109375 3.34375 -0.109375 C 2.953125 -0.109375 2.796875 -0.421875 2.796875 -0.765625 C 2.796875 -0.984375 2.859375 -1.203125 2.96875 -1.625 L 3.296875 -2.984375 C 3.359375 -3.25 3.59375 -4.15625 4.28125 -4.15625 C 4.328125 -4.15625 4.5625 -4.15625 4.78125 -4.03125 C 4.5 -3.96875 4.296875 -3.734375 4.296875 -3.484375 C 4.296875 -3.328125 4.40625 -3.140625 4.671875 -3.140625 C 4.890625 -3.140625 5.21875 -3.328125 5.21875 -3.71875 C 5.21875 -4.234375 4.625 -4.375 4.296875 -4.375 C 3.71875 -4.375 3.375 -3.84375 3.25 -3.625 C 3 -4.265625 2.46875 -4.375 2.1875 -4.375 C 1.15625 -4.375 0.59375 -3.09375 0.59375 -2.84375 C 0.59375 -2.75 0.71875 -2.75 0.71875 -2.75 C 0.796875 -2.75 0.828125 -2.765625 0.84375 -2.859375 C 1.171875 -3.90625 1.828125 -4.15625 2.171875 -4.15625 C 2.359375 -4.15625 2.703125 -4.0625 2.703125 -3.484375 C 2.703125 -3.1875 2.53125 -2.515625 2.171875 -1.140625 C 2 -0.53125 1.65625 -0.109375 1.21875 -0.109375 C 1.171875 -0.109375 0.9375 -0.109375 0.734375 -0.234375 C 0.984375 -0.28125 1.203125 -0.5 1.203125 -0.765625 C 1.203125 -1.03125 0.984375 -1.125 0.828125 -1.125 C 0.53125 -1.125 0.28125 -0.859375 0.28125 -0.546875 C 0.28125 -0.09375 0.78125 0.109375 1.21875 0.109375 C 1.875 0.109375 2.21875 -0.578125 2.25 -0.640625 C 2.375 -0.28125 2.734375 0.109375 3.328125 0.109375 C 4.34375 0.109375 4.90625 -1.171875 4.90625 -1.421875 Z M 4.90625 -1.421875 "/>
</g>
<g id="glyph-2-4">
<path d="M 5.640625 -1.421875 C 5.640625 -1.515625 5.5625 -1.515625 5.53125 -1.515625 C 5.4375 -1.515625 5.4375 -1.484375 5.375 -1.328125 C 5.1875 -0.65625 4.859375 -0.109375 4.375 -0.109375 C 4.203125 -0.109375 4.140625 -0.203125 4.140625 -0.4375 C 4.140625 -0.6875 4.21875 -0.921875 4.3125 -1.140625 C 4.5 -1.65625 4.921875 -2.75 4.921875 -3.3125 C 4.921875 -3.96875 4.484375 -4.375 3.78125 -4.375 C 2.890625 -4.375 2.40625 -3.734375 2.234375 -3.515625 C 2.1875 -4.0625 1.78125 -4.375 1.328125 -4.375 C 0.875 -4.375 0.6875 -3.984375 0.578125 -3.8125 C 0.421875 -3.46875 0.28125 -2.890625 0.28125 -2.84375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.765625 0.578125 -2.984375 C 0.734375 -3.671875 0.9375 -4.15625 1.296875 -4.15625 C 1.5 -4.15625 1.609375 -4.03125 1.609375 -3.703125 C 1.609375 -3.484375 1.578125 -3.375 1.4375 -2.875 L 0.875 -0.578125 C 0.84375 -0.4375 0.78125 -0.203125 0.78125 -0.15625 C 0.78125 0.015625 0.921875 0.109375 1.0625 0.109375 C 1.1875 0.109375 1.359375 0.03125 1.4375 -0.171875 C 1.4375 -0.1875 1.5625 -0.65625 1.625 -0.90625 L 1.84375 -1.796875 C 1.90625 -2 1.953125 -2.21875 2 -2.453125 L 2.140625 -2.953125 C 2.28125 -3.25 2.8125 -4.15625 3.75 -4.15625 C 4.1875 -4.15625 4.28125 -3.78125 4.28125 -3.46875 C 4.28125 -2.84375 3.796875 -1.578125 3.640625 -1.15625 C 3.546875 -0.9375 3.546875 -0.8125 3.546875 -0.703125 C 3.546875 -0.234375 3.890625 0.109375 4.359375 0.109375 C 5.28125 0.109375 5.640625 -1.328125 5.640625 -1.421875 Z M 5.640625 -1.421875 "/>
</g>
<g id="glyph-3-0">
<path d="M 3.28125 0 L 3.28125 -0.25 L 3.015625 -0.25 C 2.3125 -0.25 2.3125 -0.34375 2.3125 -0.5625 L 2.3125 -4.40625 C 2.3125 -4.59375 2.3125 -4.59375 2.109375 -4.59375 C 1.671875 -4.15625 1.03125 -4.15625 0.75 -4.15625 L 0.75 -3.90625 C 0.921875 -3.90625 1.375 -3.90625 1.765625 -4.09375 L 1.765625 -0.5625 C 1.765625 -0.34375 1.765625 -0.25 1.0625 -0.25 L 0.796875 -0.25 L 0.796875 0 L 2.03125 -0.03125 Z M 3.28125 0 "/>
</g>
<g id="glyph-4-0">
<path d="M 3.28125 2.375 C 3.28125 2.34375 3.28125 2.328125 3.109375 2.15625 C 1.875 0.90625 1.546875 -0.953125 1.546875 -2.46875 C 1.546875 -4.1875 1.921875 -5.921875 3.140625 -7.15625 C 3.28125 -7.265625 3.28125 -7.296875 3.28125 -7.3125 C 3.28125 -7.390625 3.234375 -7.421875 3.171875 -7.421875 C 3.078125 -7.421875 2.1875 -6.75 1.609375 -5.484375 C 1.09375 -4.40625 0.984375 -3.296875 0.984375 -2.46875 C 0.984375 -1.703125 1.09375 -0.5 1.625 0.609375 C 2.21875 1.828125 3.078125 2.46875 3.171875 2.46875 C 3.234375 2.46875 3.28125 2.4375 3.28125 2.375 Z M 3.28125 2.375 "/>
</g>
<g id="glyph-4-1">
<path d="M 2.859375 -2.46875 C 2.859375 -3.25 2.75 -4.4375 2.203125 -5.5625 C 1.609375 -6.78125 0.765625 -7.421875 0.65625 -7.421875 C 0.609375 -7.421875 0.5625 -7.375 0.5625 -7.3125 C 0.5625 -7.296875 0.5625 -7.265625 0.75 -7.09375 C 1.71875 -6.109375 2.28125 -4.546875 2.28125 -2.46875 C 2.28125 -0.78125 1.921875 0.953125 0.6875 2.203125 C 0.5625 2.328125 0.5625 2.34375 0.5625 2.375 C 0.5625 2.4375 0.609375 2.46875 0.65625 2.46875 C 0.765625 2.46875 1.65625 1.796875 2.234375 0.546875 C 2.734375 -0.546875 2.859375 -1.640625 2.859375 -2.46875 Z M 2.859375 -2.46875 "/>
</g>
<g id="glyph-4-2">
<path d="M 7.765625 -0.078125 C 7.765625 -0.078125 7.765625 -0.109375 7.71875 -0.203125 L 4.375 -6.90625 C 4.296875 -7.03125 4.28125 -7.078125 4.109375 -7.078125 C 3.953125 -7.078125 3.921875 -7.03125 3.859375 -6.90625 L 0.515625 -0.203125 C 0.46875 -0.109375 0.46875 -0.078125 0.46875 -0.078125 C 0.46875 0 0.53125 0 0.6875 0 L 7.546875 0 C 7.703125 0 7.765625 0 7.765625 -0.078125 Z M 6.453125 -0.75 L 1.125 -0.75 L 3.796875 -6.09375 Z M 6.453125 -0.75 "/>
</g>
<g id="glyph-4-3">
<path d="M 3.96875 -5.234375 L 2.46875 -6.84375 L 0.96875 -5.234375 L 1.09375 -5.109375 L 2.46875 -6.171875 L 3.84375 -5.109375 Z M 3.96875 -5.234375 "/>
</g>
<g id="glyph-4-4">
<path d="M 4.125 -6.296875 L 3.96875 -6.4375 C 3.96875 -6.4375 3.59375 -5.96875 3.15625 -5.96875 C 2.921875 -5.96875 2.6875 -6.109375 2.515625 -6.21875 C 2.25 -6.375 2.0625 -6.4375 1.90625 -6.4375 C 1.515625 -6.4375 1.328125 -6.21875 0.828125 -5.671875 L 0.984375 -5.515625 C 0.984375 -5.515625 1.359375 -6 1.796875 -6 C 2.03125 -6 2.28125 -5.84375 2.4375 -5.75 C 2.703125 -5.59375 2.890625 -5.515625 3.0625 -5.515625 C 3.4375 -5.515625 3.625 -5.734375 4.125 -6.296875 Z M 4.125 -6.296875 "/>
</g>
<g id="glyph-5-0">
<path d="M 8.0625 -2.984375 C 8.0625 -3.203125 7.859375 -3.203125 7.6875 -3.203125 L 4.515625 -3.203125 L 4.515625 -6.375 C 4.515625 -6.53125 4.515625 -6.734375 4.3125 -6.734375 C 4.09375 -6.734375 4.09375 -6.546875 4.09375 -6.375 L 4.09375 -3.203125 L 0.921875 -3.203125 C 0.75 -3.203125 0.546875 -3.203125 0.546875 -3 C 0.546875 -2.78125 0.734375 -2.78125 0.921875 -2.78125 L 4.09375 -2.78125 L 4.09375 0.390625 C 4.09375 0.5625 4.09375 0.765625 4.296875 0.765625 C 4.515625 0.765625 4.515625 0.578125 4.515625 0.390625 L 4.515625 -2.78125 L 7.6875 -2.78125 C 7.859375 -2.78125 8.0625 -2.78125 8.0625 -2.984375 Z M 8.0625 -2.984375 "/>
</g>
<g id="glyph-6-0">
<path d="M 5.421875 -1.734375 C 5.421875 -1.90625 5.265625 -1.90625 5.171875 -1.90625 L 1 -1.90625 C 0.90625 -1.90625 0.75 -1.90625 0.75 -1.734375 C 0.75 -1.5625 0.90625 -1.5625 1 -1.5625 L 5.171875 -1.5625 C 5.265625 -1.5625 5.421875 -1.5625 5.421875 -1.734375 Z M 5.421875 -1.734375 "/>
</g>
</g>
<clipPath id="clip-0">
<path clip-rule="nonzero" d="M 100 22 L 143 22 L 143 62.125 L 100 62.125 Z M 100 22 "/>
</clipPath>
<clipPath id="clip-1">
<path clip-rule="nonzero" d="M 125 22 L 168 22 L 168 62.125 L 125 62.125 Z M 125 22 "/>
</clipPath>
<clipPath id="clip-2">
<path clip-rule="nonzero" d="M 260 27 L 281.011719 27 L 281.011719 60 L 260 60 Z M 260 27 "/>
</clipPath>
</defs>
<path fill-rule="nonzero" fill="rgb(89.99939%, 89.99939%, 89.99939%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -8.470196 -17.812791 L 243.461107 -17.812791 L 243.461107 42.74985 L -8.470196 42.74985 Z M -8.470196 -17.812791 " transform="matrix(0.993032, 0, 0, -0.993032, 21.676798, 43.444146)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="226.709056" y="7.695996"/>
<use xlink:href="#glyph-0-1" x="231.559681" y="7.695996"/>
<use xlink:href="#glyph-0-2" x="234.92633" y="7.695996"/>
<use xlink:href="#glyph-0-3" x="237.605897" y="7.695996"/>
<use xlink:href="#glyph-0-4" x="243.033295" y="7.695996"/>
<use xlink:href="#glyph-0-5" x="246.399943" y="7.695996"/>
<use xlink:href="#glyph-0-6" x="248.392429" y="7.695996"/>
<use xlink:href="#glyph-0-7" x="250.384915" y="7.695996"/>
<use xlink:href="#glyph-0-8" x="253.407776" y="7.695996"/>
<use xlink:href="#glyph-0-9" x="256.430636" y="7.695996"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-10" x="241.934219" y="14.621399"/>
<use xlink:href="#glyph-0-8" x="244.647918" y="14.621399"/>
<use xlink:href="#glyph-0-11" x="247.670778" y="14.621399"/>
<use xlink:href="#glyph-0-10" x="251.38072" y="14.621399"/>
<use xlink:href="#glyph-0-1" x="254.094419" y="14.621399"/>
<use xlink:href="#glyph-0-2" x="257.461067" y="14.621399"/>
</g>
<path fill-rule="nonzero" fill="rgb(79.998779%, 79.998779%, 79.998779%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -5.480614 -14.827142 L 179.208692 -14.827142 L 179.208692 39.764202 L -5.480614 39.764202 Z M -5.480614 -14.827142 " transform="matrix(0.993032, 0, 0, -0.993032, 21.676798, 43.444146)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="168.224451" y="14.07126"/>
<use xlink:href="#glyph-1-1" x="173.721101" y="14.07126"/>
<use xlink:href="#glyph-1-2" x="178.118619" y="14.07126"/>
<use xlink:href="#glyph-1-3" x="183.615269" y="14.07126"/>
<use xlink:href="#glyph-1-4" x="187.518127" y="14.07126"/>
<use xlink:href="#glyph-1-5" x="192.464716" y="14.07126"/>
</g>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 23.65625 43.445312 C 23.65625 42.351562 22.769531 41.464844 21.675781 41.464844 C 20.585938 41.464844 19.699219 42.351562 19.699219 43.445312 C 19.699219 44.535156 20.585938 45.421875 21.675781 45.421875 C 22.769531 45.421875 23.65625 44.535156 23.65625 43.445312 Z M 23.65625 43.445312 "/>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 13.597641 13.59749 L 44.260526 13.59749 L 44.260526 36.275045 L 13.597641 36.275045 Z M 13.597641 13.59749 " transform="matrix(0.993032, 0, 0, -0.993032, 21.676798, 43.444146)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="38.47691" y="21.154555"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="45.559212" y="22.638145"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="49.997071" y="21.154555"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="53.844528" y="21.154555"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-1" x="58.48245" y="21.154555"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 56.596487 13.59749 L 88.427669 13.59749 L 88.427669 36.275045 L 56.596487 36.275045 Z M 56.596487 13.59749 " transform="matrix(0.993032, 0, 0, -0.993032, 21.676798, 43.444146)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-2" x="81.173302" y="21.154555"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="89.417452" y="22.638145"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="93.855311" y="21.154555"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="97.702768" y="21.154555"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-1" x="102.34069" y="21.154555"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" d="M 128.167969 43.445312 C 128.167969 39.621094 125.066406 36.519531 121.242188 36.519531 C 117.417969 36.519531 114.316406 39.621094 114.316406 43.445312 C 114.316406 47.269531 117.417969 50.371094 121.242188 50.371094 C 125.066406 50.371094 128.167969 47.269531 128.167969 43.445312 Z M 128.167969 43.445312 "/>
<g clip-path="url(#clip-0)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 107.238435 -0.00117483 C 107.238435 3.849879 104.115108 6.973206 100.264054 6.973206 C 96.413001 6.973206 93.289674 3.849879 93.289674 -0.00117483 C 93.289674 -3.852229 96.413001 -6.975555 100.264054 -6.975555 C 104.115108 -6.975555 107.238435 -3.852229 107.238435 -0.00117483 Z M 107.238435 -0.00117483 " transform="matrix(0.993032, 0, 0, -0.993032, 21.676798, 43.444146)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-0" x="116.932376" y="46.339826"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" d="M 153.277344 43.445312 C 153.277344 39.621094 150.175781 36.519531 146.351562 36.519531 C 142.527344 36.519531 139.425781 39.621094 139.425781 43.445312 C 139.425781 47.269531 142.527344 50.371094 146.351562 50.371094 C 150.175781 50.371094 153.277344 47.269531 153.277344 43.445312 Z M 153.277344 43.445312 "/>
<g clip-path="url(#clip-1)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 132.524006 -0.00117483 C 132.524006 3.849879 129.40068 6.973206 125.549626 6.973206 C 121.698572 6.973206 118.575245 3.849879 118.575245 -0.00117483 C 118.575245 -3.852229 121.698572 -6.975555 125.549626 -6.975555 C 129.40068 -6.975555 132.524006 -3.852229 132.524006 -0.00117483 Z M 132.524006 -0.00117483 " transform="matrix(0.993032, 0, 0, -0.993032, 21.676798, 43.444146)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-0" x="142.042176" y="46.339826"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 144.360391 -11.337985 L 175.723469 -11.337985 L 175.723469 11.339569 L 144.360391 11.339569 Z M 144.360391 -11.337985 " transform="matrix(0.993032, 0, 0, -0.993032, 21.676798, 43.444146)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-3" x="170.56602" y="44.364686"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-2" x="168.325741" y="46.86514"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="176.104158" y="48.34873"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="180.542017" y="46.86514"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="184.389474" y="46.86514"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-1" x="189.027396" y="46.86514"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 199.396239 -11.337985 L 236.986301 -11.337985 L 236.986301 11.339569 L 199.396239 11.339569 Z M 199.396239 -11.337985 " transform="matrix(0.993032, 0, 0, -0.993032, 21.676798, 43.444146)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-3" x="225.218515" y="44.282265"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-2" x="222.978236" y="46.782719"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-6-0" x="230.756653" y="42.550417"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="236.940169" y="42.550417"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="230.756653" y="49.421204"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="241.378121" y="46.782719"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="245.225578" y="46.782719"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-1" x="249.8635" y="46.782719"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -19.842409 -0.00117483 L 88.655822 -0.00117483 " transform="matrix(0.993032, 0, 0, -0.993032, 21.676798, 43.444146)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052712 -0.00117483 L 1.607676 1.682432 L 3.086732 -0.00117483 L 1.607676 -1.684782 Z M 6.052712 -0.00117483 " transform="matrix(0.993032, 0, 0, -0.993032, 106.895714, 43.444146)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-3" x="5.764458" y="39.651758"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -0.00102432 -0.00117483 L -0.00102432 24.938234 L 8.464214 24.938234 " transform="matrix(0.993032, 0, 0, -0.993032, 21.676798, 43.444146)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054308 0.00162431 L 1.609271 1.681297 L 3.088328 0.00162431 L 1.609271 -1.681982 Z M 6.054308 0.00162431 " transform="matrix(0.993032, 0, 0, -0.993032, 27.265224, 18.6813)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 44.756168 24.938234 L 51.463059 24.938234 " transform="matrix(0.993032, 0, 0, -0.993032, 21.676798, 43.444146)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.05236 0.00162431 L 1.607323 1.681297 L 3.08638 0.00162431 L 1.607323 -1.681982 Z M 6.05236 0.00162431 " transform="matrix(0.993032, 0, 0, -0.993032, 69.962471, 18.6813)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 88.923311 24.938234 L 100.264054 24.938234 L 100.264054 11.607058 " transform="matrix(0.993032, 0, 0, -0.993032, 21.676798, 43.444146)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052723 0.00117447 L 1.607686 1.684781 L 3.086743 0.00117447 L 1.607686 -1.682432 Z M 6.052723 0.00117447 " transform="matrix(0, 0.993032, 0.993032, 0, 121.241021, 29.098829)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 107.238435 -0.00117483 L 113.941393 -0.00117483 " transform="matrix(0.993032, 0, 0, -0.993032, 21.676798, 43.444146)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.051934 -0.00117483 L 1.606897 1.682432 L 3.085954 -0.00117483 L 1.606897 -1.684782 Z M 6.051934 -0.00117483 " transform="matrix(0.993032, 0, 0, -0.993032, 132.005863, 43.444146)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 132.524006 -0.00117483 L 139.226964 -0.00117483 " transform="matrix(0.993032, 0, 0, -0.993032, 21.676798, 43.444146)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.055099 -0.00117483 L 1.610062 1.682432 L 3.089118 -0.00117483 L 1.610062 -1.684782 Z M 6.055099 -0.00117483 " transform="matrix(0.993032, 0, 0, -0.993032, 157.116001, 43.444146)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 125.549626 11.607058 L 125.549626 26.818524 " transform="matrix(0.993032, 0, 0, -0.993032, 21.676798, 43.444146)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052723 0.000405749 L 1.607686 1.684013 L 3.086743 0.000405749 L 1.607686 -1.683201 Z M 6.052723 0.000405749 " transform="matrix(0, 0.993032, 0.993032, 0, 146.35116, 29.098829)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-4" x="150.141343" y="24.866508"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="156.079673" y="26.350097"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 176.21911 -0.00117483 L 194.262812 -0.00117483 " transform="matrix(0.993032, 0, 0, -0.993032, 21.676798, 43.444146)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054396 -0.00117483 L 1.60936 1.682432 L 3.088416 -0.00117483 L 1.60936 -1.684782 Z M 6.054396 -0.00117483 " transform="matrix(0.993032, 0, 0, -0.993032, 211.769042, 43.444146)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-4" x="205.93086" y="38.168168"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-3" x="205.297696" y="38.168168"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="210.9556" y="39.651758"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 237.485876 -0.00117483 L 255.529578 -0.00117483 " transform="matrix(0.993032, 0, 0, -0.993032, 21.676798, 43.444146)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 278.617188 43.445312 L 274.203125 41.773438 L 275.671875 43.445312 L 274.203125 45.117188 Z M 278.617188 43.445312 "/>
<g clip-path="url(#clip-2)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053959 -0.00117483 L 1.608922 1.682432 L 3.087978 -0.00117483 L 1.608922 -1.684782 Z M 6.053959 -0.00117483 " transform="matrix(0.993032, 0, 0, -0.993032, 272.605414, 43.444146)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-3" x="266.765971" y="38.168168"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-3" x="266.132807" y="38.168168"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="271.791704" y="39.651758"/>
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 44 KiB

BIN
figs/detail_control_sensor_model_uncertainty_simplified.pdf Normal file
View File

Binary file not shown.

BIN
figs/detail_control_sensor_model_uncertainty_simplified.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 10 KiB

202
figs/detail_control_sensor_model_uncertainty_simplified.svg Normal file
View File

@ -0,0 +1,202 @@
<?xml version="1.0" encoding="UTF-8"?>
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="182.707" height="57.698" viewBox="0 0 182.707 57.698">
<defs>
<g>
<g id="glyph-0-0">
<path d="M 4.4375 -3.171875 L 4.4375 -3.390625 C 4.21875 -3.375 4 -3.359375 3.78125 -3.359375 C 3.640625 -3.359375 3.3125 -3.375 3.109375 -3.390625 L 3.109375 -3.171875 C 3.671875 -3.171875 3.671875 -2.96875 3.671875 -2.828125 L 3.671875 -0.78125 L 1.53125 -3.328125 C 1.484375 -3.390625 1.46875 -3.390625 1.375 -3.390625 L 0.40625 -3.390625 L 0.40625 -3.171875 L 0.609375 -3.171875 C 0.65625 -3.171875 0.890625 -3.15625 0.9375 -3.140625 C 0.953125 -3.140625 0.953125 -3.125 0.953125 -3.046875 L 0.953125 -0.546875 C 0.953125 -0.421875 0.953125 -0.21875 0.40625 -0.21875 L 0.40625 0 C 0.640625 -0.015625 0.859375 -0.015625 1.078125 -0.015625 C 1.21875 -0.015625 1.53125 -0.015625 1.734375 0 L 1.734375 -0.21875 C 1.1875 -0.21875 1.1875 -0.421875 1.1875 -0.546875 L 1.1875 -3 L 3.65625 -0.0625 C 3.703125 0 3.71875 0 3.78125 0 C 3.890625 0 3.890625 -0.046875 3.890625 -0.15625 L 3.890625 -2.828125 C 3.890625 -2.96875 3.890625 -3.171875 4.4375 -3.171875 Z M 4.4375 -3.171875 "/>
</g>
<g id="glyph-0-1">
<path d="M 3.046875 -1.0625 C 3.046875 -1.671875 2.46875 -2.21875 1.6875 -2.21875 C 0.90625 -2.21875 0.328125 -1.671875 0.328125 -1.0625 C 0.328125 -0.453125 0.90625 0.046875 1.6875 0.046875 C 2.46875 0.046875 3.046875 -0.453125 3.046875 -1.0625 Z M 2.546875 -1.109375 C 2.546875 -0.859375 2.546875 -0.125 1.6875 -0.125 C 0.8125 -0.125 0.8125 -0.859375 0.8125 -1.109375 C 0.8125 -1.328125 0.8125 -2.0625 1.6875 -2.0625 C 2.546875 -2.0625 2.546875 -1.328125 2.546875 -1.109375 Z M 2.546875 -1.109375 "/>
</g>
<g id="glyph-0-2">
<path d="M 2.375 -1.84375 C 2.375 -2.03125 2.1875 -2.1875 1.9375 -2.1875 C 1.6875 -2.1875 1.359375 -2.0625 1.171875 -1.640625 L 1.171875 -2.1875 L 0.375 -2.140625 L 0.375 -1.921875 C 0.75 -1.921875 0.78125 -1.875 0.78125 -1.640625 L 0.78125 -0.421875 C 0.78125 -0.265625 0.78125 -0.21875 0.46875 -0.21875 L 0.375 -0.21875 L 0.375 0 C 0.578125 -0.015625 0.8125 -0.015625 1.015625 -0.015625 L 1.71875 0 L 1.71875 -0.21875 L 1.59375 -0.21875 C 1.203125 -0.21875 1.203125 -0.265625 1.203125 -0.421875 L 1.203125 -1.109375 C 1.203125 -1.5625 1.46875 -2.015625 1.9375 -2.03125 C 1.9375 -2.03125 1.875 -1.953125 1.875 -1.84375 C 1.875 -1.671875 2.015625 -1.59375 2.125 -1.59375 C 2.25 -1.59375 2.375 -1.671875 2.375 -1.84375 Z M 2.375 -1.84375 "/>
</g>
<g id="glyph-0-3">
<path d="M 5.109375 0 L 5.109375 -0.21875 L 5.015625 -0.21875 C 4.703125 -0.21875 4.703125 -0.265625 4.703125 -0.421875 L 4.703125 -1.5 C 4.703125 -2.109375 4.234375 -2.1875 3.859375 -2.1875 C 3.375 -2.1875 3.09375 -1.953125 2.953125 -1.734375 C 2.828125 -2.1875 2.328125 -2.1875 2.140625 -2.1875 C 1.625 -2.1875 1.34375 -1.921875 1.21875 -1.703125 L 1.21875 -2.1875 L 0.40625 -2.140625 L 0.40625 -1.921875 C 0.765625 -1.921875 0.8125 -1.875 0.8125 -1.640625 L 0.8125 -0.421875 C 0.8125 -0.265625 0.8125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.625 -0.015625 0.828125 -0.015625 1.046875 -0.015625 C 1.25 -0.015625 1.46875 -0.015625 1.671875 0 L 1.671875 -0.21875 L 1.578125 -0.21875 C 1.265625 -0.21875 1.265625 -0.265625 1.265625 -0.421875 L 1.265625 -1.28125 C 1.265625 -1.828125 1.765625 -2.03125 2.078125 -2.03125 C 2.453125 -2.03125 2.53125 -1.828125 2.53125 -1.5 L 2.53125 -0.421875 C 2.53125 -0.265625 2.53125 -0.21875 2.21875 -0.21875 L 2.125 -0.21875 L 2.125 0 C 2.34375 -0.015625 2.546875 -0.015625 2.765625 -0.015625 C 2.96875 -0.015625 3.1875 -0.015625 3.390625 0 L 3.390625 -0.21875 L 3.296875 -0.21875 C 2.984375 -0.21875 2.984375 -0.265625 2.984375 -0.421875 L 2.984375 -1.28125 C 2.984375 -1.828125 3.484375 -2.03125 3.796875 -2.03125 C 4.171875 -2.03125 4.25 -1.828125 4.25 -1.5 L 4.25 -0.421875 C 4.25 -0.265625 4.25 -0.21875 3.9375 -0.21875 L 3.84375 -0.21875 L 3.84375 0 C 4.0625 -0.015625 4.265625 -0.015625 4.484375 -0.015625 C 4.6875 -0.015625 4.90625 -0.015625 5.109375 0 Z M 5.109375 0 "/>
</g>
<g id="glyph-0-4">
<path d="M 3.140625 -0.453125 L 3.140625 -0.71875 L 2.9375 -0.71875 L 2.9375 -0.453125 C 2.9375 -0.40625 2.9375 -0.1875 2.734375 -0.1875 C 2.546875 -0.1875 2.546875 -0.40625 2.546875 -0.453125 L 2.546875 -1.46875 C 2.546875 -1.953125 2.046875 -2.21875 1.421875 -2.21875 C 1.125 -2.21875 0.546875 -2.203125 0.546875 -1.78125 C 0.546875 -1.59375 0.6875 -1.515625 0.8125 -1.515625 C 0.953125 -1.515625 1.078125 -1.609375 1.078125 -1.78125 C 1.078125 -1.890625 1 -1.96875 0.953125 -2 C 1.125 -2.0625 1.359375 -2.0625 1.421875 -2.0625 C 1.84375 -2.0625 2.09375 -1.828125 2.09375 -1.46875 L 2.09375 -1.34375 C 1.625 -1.3125 1.359375 -1.296875 0.96875 -1.15625 C 0.640625 -1.046875 0.359375 -0.84375 0.359375 -0.515625 C 0.359375 -0.046875 0.9375 0.046875 1.328125 0.046875 C 1.703125 0.046875 2 -0.09375 2.15625 -0.359375 C 2.171875 -0.171875 2.296875 0.03125 2.546875 0.03125 C 2.578125 0.03125 3.140625 0.03125 3.140625 -0.453125 Z M 2.09375 -0.703125 C 2.09375 -0.15625 1.5 -0.109375 1.375 -0.109375 C 1.09375 -0.109375 0.8125 -0.265625 0.8125 -0.515625 C 0.8125 -0.6875 0.921875 -1.140625 2.09375 -1.1875 Z M 2.09375 -0.703125 "/>
</g>
<g id="glyph-0-5">
<path d="M 1.65625 0 L 1.65625 -0.21875 L 1.5625 -0.21875 C 1.25 -0.21875 1.25 -0.265625 1.25 -0.421875 L 1.25 -3.4375 L 0.40625 -3.390625 L 0.40625 -3.171875 C 0.78125 -3.171875 0.828125 -3.125 0.828125 -2.890625 L 0.828125 -0.421875 C 0.828125 -0.265625 0.828125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.625 -0.015625 0.828125 -0.015625 1.03125 -0.015625 C 1.234375 -0.015625 1.453125 -0.015625 1.65625 0 Z M 1.65625 0 "/>
</g>
<g id="glyph-0-6">
<path d="M 1.609375 0 L 1.609375 -0.21875 C 1.28125 -0.21875 1.25 -0.21875 1.25 -0.421875 L 1.25 -2.1875 L 0.4375 -2.140625 L 0.4375 -1.921875 C 0.78125 -1.921875 0.828125 -1.875 0.828125 -1.640625 L 0.828125 -0.421875 C 0.828125 -0.265625 0.828125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.609375 -0.015625 0.828125 -0.015625 1.03125 -0.015625 C 1.21875 -0.015625 1.4375 -0.015625 1.609375 0 Z M 1.296875 -2.96875 C 1.296875 -3.140625 1.15625 -3.28125 1 -3.28125 C 0.828125 -3.28125 0.6875 -3.140625 0.6875 -2.96875 C 0.6875 -2.796875 0.828125 -2.671875 1 -2.671875 C 1.15625 -2.671875 1.296875 -2.796875 1.296875 -2.96875 Z M 1.296875 -2.96875 "/>
</g>
<g id="glyph-0-7">
<path d="M 2.625 -0.984375 L 2.421875 -0.984375 C 2.359375 -0.421875 2.265625 -0.171875 1.5625 -0.171875 L 0.90625 -0.171875 L 2.546875 -1.9375 C 2.59375 -1.984375 2.609375 -2 2.609375 -2.046875 C 2.609375 -2.140625 2.546875 -2.140625 2.453125 -2.140625 L 0.453125 -2.140625 L 0.390625 -1.28125 L 0.609375 -1.28125 C 0.640625 -1.828125 0.796875 -1.96875 1.375 -1.96875 L 2.015625 -1.96875 L 0.359375 -0.203125 C 0.3125 -0.15625 0.3125 -0.15625 0.3125 -0.09375 C 0.3125 0 0.375 0 0.453125 0 L 2.53125 0 Z M 2.625 -0.984375 "/>
</g>
<g id="glyph-0-8">
<path d="M 2.703125 -0.59375 C 2.703125 -0.671875 2.625 -0.671875 2.609375 -0.671875 C 2.53125 -0.671875 2.515625 -0.65625 2.484375 -0.578125 C 2.359375 -0.25 1.984375 -0.125 1.703125 -0.125 C 1.3125 -0.125 1.078125 -0.34375 1.015625 -0.4375 C 0.8125 -0.671875 0.8125 -0.984375 0.8125 -1.109375 L 2.5625 -1.109375 C 2.671875 -1.109375 2.703125 -1.109375 2.703125 -1.234375 C 2.703125 -1.5625 2.53125 -2.21875 1.609375 -2.21875 C 0.859375 -2.21875 0.328125 -1.671875 0.328125 -1.09375 C 0.328125 -0.453125 0.921875 0.046875 1.671875 0.046875 C 2.46875 0.046875 2.703125 -0.5 2.703125 -0.59375 Z M 2.328125 -1.265625 L 0.828125 -1.265625 C 0.890625 -1.921875 1.359375 -2.0625 1.59375 -2.0625 C 2.28125 -2.0625 2.328125 -1.40625 2.328125 -1.265625 Z M 2.328125 -1.265625 "/>
</g>
<g id="glyph-0-9">
<path d="M 3.328125 0 L 3.328125 -0.21875 C 2.96875 -0.21875 2.921875 -0.25 2.921875 -0.5 L 2.921875 -3.4375 L 2.09375 -3.390625 L 2.09375 -3.171875 C 2.453125 -3.171875 2.5 -3.125 2.5 -2.890625 L 2.5 -1.921875 C 2.390625 -2.015625 2.125 -2.1875 1.71875 -2.1875 C 0.96875 -2.1875 0.359375 -1.6875 0.359375 -1.0625 C 0.359375 -0.46875 0.921875 0.046875 1.65625 0.046875 C 2.0625 0.046875 2.34375 -0.125 2.484375 -0.25 L 2.484375 0.046875 Z M 2.484375 -0.546875 C 2.25 -0.171875 1.875 -0.109375 1.6875 -0.109375 C 1.4375 -0.109375 1.1875 -0.203125 1.03125 -0.421875 C 0.859375 -0.625 0.859375 -0.90625 0.859375 -1.0625 C 0.859375 -1.203125 0.859375 -1.53125 1.078125 -1.75 C 1.25 -1.9375 1.5 -2.03125 1.75 -2.03125 C 1.890625 -2.03125 2.25 -2 2.484375 -1.65625 Z M 2.484375 -0.546875 "/>
</g>
<g id="glyph-0-10">
<path d="M 2.375 -0.625 C 2.375 -0.84375 2.25 -1.015625 2.0625 -1.125 C 1.859375 -1.25 1.703125 -1.265625 1.296875 -1.34375 C 0.96875 -1.390625 0.59375 -1.453125 0.59375 -1.703125 C 0.59375 -1.875 0.78125 -2.078125 1.328125 -2.078125 C 1.734375 -2.078125 1.96875 -1.90625 2 -1.5625 C 2.015625 -1.484375 2.015625 -1.46875 2.109375 -1.46875 C 2.21875 -1.46875 2.21875 -1.5 2.21875 -1.59375 L 2.21875 -2.078125 C 2.21875 -2.171875 2.21875 -2.21875 2.140625 -2.21875 C 2.109375 -2.21875 2.09375 -2.21875 2.046875 -2.1875 C 2.03125 -2.171875 1.9375 -2.078125 1.921875 -2.078125 C 1.921875 -2.078125 1.90625 -2.078125 1.875 -2.109375 C 1.765625 -2.171875 1.578125 -2.21875 1.328125 -2.21875 C 0.515625 -2.21875 0.34375 -1.84375 0.34375 -1.609375 C 0.34375 -1.15625 0.921875 -1.0625 1.375 -0.984375 C 1.671875 -0.953125 2.125 -0.875 2.125 -0.546875 C 2.125 -0.359375 1.96875 -0.109375 1.375 -0.109375 C 1.046875 -0.109375 0.71875 -0.234375 0.5625 -0.765625 C 0.546875 -0.84375 0.53125 -0.859375 0.453125 -0.859375 C 0.34375 -0.859375 0.34375 -0.828125 0.34375 -0.71875 L 0.34375 -0.078125 C 0.34375 0 0.34375 0.046875 0.421875 0.046875 C 0.46875 0.046875 0.46875 0.046875 0.5625 -0.046875 L 0.6875 -0.171875 C 0.9375 0.046875 1.25 0.046875 1.375 0.046875 C 2.203125 0.046875 2.375 -0.375 2.375 -0.625 Z M 2.375 -0.625 "/>
</g>
<g id="glyph-0-11">
<path d="M 3.390625 0 L 3.390625 -0.21875 L 3.296875 -0.21875 C 2.96875 -0.21875 2.96875 -0.265625 2.96875 -0.421875 L 2.96875 -1.5 C 2.96875 -2.046875 2.59375 -2.1875 2.140625 -2.1875 C 1.609375 -2.1875 1.328125 -1.890625 1.21875 -1.703125 L 1.21875 -2.1875 L 0.40625 -2.140625 L 0.40625 -1.921875 C 0.765625 -1.921875 0.8125 -1.875 0.8125 -1.640625 L 0.8125 -0.421875 C 0.8125 -0.265625 0.8125 -0.21875 0.5 -0.21875 L 0.40625 -0.21875 L 0.40625 0 C 0.625 -0.015625 0.828125 -0.015625 1.046875 -0.015625 C 1.25 -0.015625 1.46875 -0.015625 1.671875 0 L 1.671875 -0.21875 L 1.578125 -0.21875 C 1.265625 -0.21875 1.265625 -0.265625 1.265625 -0.421875 L 1.265625 -1.28125 C 1.265625 -1.84375 1.765625 -2.03125 2.078125 -2.03125 C 2.453125 -2.03125 2.53125 -1.8125 2.53125 -1.5 L 2.53125 -0.421875 C 2.53125 -0.265625 2.53125 -0.21875 2.203125 -0.21875 L 2.125 -0.21875 L 2.125 0 C 2.328125 -0.015625 2.546875 -0.015625 2.75 -0.015625 C 2.96875 -0.015625 3.171875 -0.015625 3.390625 0 Z M 3.390625 0 "/>
</g>
<g id="glyph-1-0">
<path d="M 6.84375 -3.6875 C 6.84375 -4.234375 6.578125 -4.375 6.40625 -4.375 C 6.15625 -4.375 5.90625 -4.125 5.90625 -3.90625 C 5.90625 -3.78125 5.96875 -3.71875 6.0625 -3.640625 C 6.171875 -3.53125 6.421875 -3.265625 6.421875 -2.796875 C 6.421875 -2.453125 6.125 -1.484375 5.875 -0.984375 C 5.609375 -0.453125 5.265625 -0.109375 4.78125 -0.109375 C 4.3125 -0.109375 4.046875 -0.40625 4.046875 -0.96875 C 4.046875 -1.25 4.125 -1.5625 4.15625 -1.6875 L 4.578125 -3.359375 C 4.625 -3.578125 4.71875 -3.9375 4.71875 -4 C 4.71875 -4.1875 4.59375 -4.265625 4.4375 -4.265625 C 4.3125 -4.265625 4.140625 -4.1875 4.078125 -4 C 4.046875 -3.921875 3.578125 -2.03125 3.5 -1.765625 C 3.4375 -1.46875 3.421875 -1.296875 3.421875 -1.125 C 3.421875 -1.015625 3.421875 -0.984375 3.421875 -0.9375 C 3.203125 -0.421875 2.90625 -0.109375 2.515625 -0.109375 C 1.71875 -0.109375 1.71875 -0.84375 1.71875 -1.015625 C 1.71875 -1.328125 1.765625 -1.71875 2.234375 -2.9375 C 2.34375 -3.234375 2.40625 -3.375 2.40625 -3.5625 C 2.40625 -4.015625 2.078125 -4.375 1.59375 -4.375 C 0.65625 -4.375 0.28125 -2.9375 0.28125 -2.859375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.78125 0.5625 -2.9375 C 0.828125 -3.859375 1.21875 -4.15625 1.5625 -4.15625 C 1.65625 -4.15625 1.8125 -4.15625 1.8125 -3.828125 C 1.8125 -3.59375 1.703125 -3.3125 1.640625 -3.140625 C 1.203125 -1.96875 1.078125 -1.515625 1.078125 -1.140625 C 1.078125 -0.234375 1.75 0.109375 2.484375 0.109375 C 2.65625 0.109375 3.125 0.109375 3.515625 -0.578125 C 3.78125 0.046875 4.453125 0.109375 4.75 0.109375 C 5.5 0.109375 5.9375 -0.515625 6.1875 -1.109375 C 6.53125 -1.875 6.84375 -3.203125 6.84375 -3.6875 Z M 6.84375 -3.6875 "/>
</g>
<g id="glyph-1-1">
<path d="M 3.921875 -1.53125 C 3.921875 -1.890625 3.734375 -2.140625 3.609375 -2.265625 C 3.34375 -2.53125 3.0625 -2.578125 2.625 -2.671875 C 2.265625 -2.75 1.875 -2.828125 1.875 -3.265625 C 1.875 -3.5625 2.109375 -4.15625 2.984375 -4.15625 C 3.234375 -4.15625 3.71875 -4.09375 3.875 -3.703125 C 3.59375 -3.6875 3.390625 -3.484375 3.390625 -3.265625 C 3.390625 -3.125 3.484375 -2.96875 3.703125 -2.96875 C 3.921875 -2.96875 4.15625 -3.140625 4.15625 -3.53125 C 4.15625 -3.96875 3.734375 -4.375 2.984375 -4.375 C 1.671875 -4.375 1.3125 -3.375 1.3125 -2.9375 C 1.3125 -2.15625 2.046875 -2.015625 2.328125 -1.953125 C 2.84375 -1.859375 3.359375 -1.75 3.359375 -1.203125 C 3.359375 -0.9375 3.125 -0.109375 1.9375 -0.109375 C 1.796875 -0.109375 1.046875 -0.109375 0.8125 -0.640625 C 1.1875 -0.578125 1.4375 -0.875 1.4375 -1.15625 C 1.4375 -1.390625 1.28125 -1.5 1.0625 -1.5 C 0.8125 -1.5 0.515625 -1.296875 0.515625 -0.859375 C 0.515625 -0.28125 1.078125 0.109375 1.9375 0.109375 C 3.53125 0.109375 3.921875 -1.09375 3.921875 -1.53125 Z M 3.921875 -1.53125 "/>
</g>
<g id="glyph-1-2">
<path d="M 4.90625 -1.421875 C 4.90625 -1.515625 4.828125 -1.515625 4.796875 -1.515625 C 4.703125 -1.515625 4.6875 -1.46875 4.671875 -1.40625 C 4.34375 -0.34375 3.671875 -0.109375 3.34375 -0.109375 C 2.96875 -0.109375 2.796875 -0.421875 2.796875 -0.765625 C 2.796875 -0.984375 2.859375 -1.203125 2.96875 -1.640625 L 3.3125 -2.984375 C 3.375 -3.25 3.59375 -4.15625 4.296875 -4.15625 C 4.34375 -4.15625 4.578125 -4.15625 4.78125 -4.03125 C 4.5 -3.984375 4.3125 -3.734375 4.3125 -3.5 C 4.3125 -3.34375 4.421875 -3.15625 4.6875 -3.15625 C 4.90625 -3.15625 5.21875 -3.328125 5.21875 -3.71875 C 5.21875 -4.234375 4.640625 -4.375 4.296875 -4.375 C 3.71875 -4.375 3.375 -3.859375 3.265625 -3.625 C 3.015625 -4.28125 2.484375 -4.375 2.1875 -4.375 C 1.15625 -4.375 0.59375 -3.09375 0.59375 -2.859375 C 0.59375 -2.75 0.71875 -2.75 0.71875 -2.75 C 0.796875 -2.75 0.828125 -2.78125 0.84375 -2.859375 C 1.171875 -3.90625 1.828125 -4.15625 2.171875 -4.15625 C 2.359375 -4.15625 2.703125 -4.078125 2.703125 -3.5 C 2.703125 -3.1875 2.53125 -2.53125 2.171875 -1.140625 C 2.015625 -0.53125 1.671875 -0.109375 1.234375 -0.109375 C 1.171875 -0.109375 0.9375 -0.109375 0.734375 -0.234375 C 0.984375 -0.28125 1.203125 -0.5 1.203125 -0.765625 C 1.203125 -1.046875 0.984375 -1.125 0.828125 -1.125 C 0.53125 -1.125 0.28125 -0.859375 0.28125 -0.546875 C 0.28125 -0.09375 0.78125 0.109375 1.21875 0.109375 C 1.875 0.109375 2.234375 -0.578125 2.265625 -0.640625 C 2.375 -0.28125 2.734375 0.109375 3.328125 0.109375 C 4.34375 0.109375 4.90625 -1.171875 4.90625 -1.421875 Z M 4.90625 -1.421875 "/>
</g>
<g id="glyph-1-3">
<path d="M 5.65625 -1.421875 C 5.65625 -1.515625 5.5625 -1.515625 5.53125 -1.515625 C 5.4375 -1.515625 5.4375 -1.484375 5.390625 -1.34375 C 5.1875 -0.65625 4.859375 -0.109375 4.375 -0.109375 C 4.203125 -0.109375 4.140625 -0.203125 4.140625 -0.4375 C 4.140625 -0.6875 4.234375 -0.921875 4.3125 -1.140625 C 4.5 -1.671875 4.921875 -2.75 4.921875 -3.3125 C 4.921875 -3.984375 4.5 -4.375 3.78125 -4.375 C 2.890625 -4.375 2.40625 -3.75 2.234375 -3.515625 C 2.1875 -4.078125 1.78125 -4.375 1.328125 -4.375 C 0.875 -4.375 0.6875 -4 0.578125 -3.8125 C 0.421875 -3.484375 0.28125 -2.890625 0.28125 -2.859375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.765625 0.578125 -2.984375 C 0.75 -3.6875 0.9375 -4.15625 1.296875 -4.15625 C 1.5 -4.15625 1.609375 -4.03125 1.609375 -3.703125 C 1.609375 -3.5 1.578125 -3.390625 1.453125 -2.875 L 0.875 -0.578125 C 0.84375 -0.4375 0.78125 -0.203125 0.78125 -0.15625 C 0.78125 0.015625 0.921875 0.109375 1.0625 0.109375 C 1.1875 0.109375 1.359375 0.03125 1.4375 -0.171875 C 1.453125 -0.1875 1.5625 -0.65625 1.625 -0.90625 L 1.84375 -1.796875 C 1.90625 -2.015625 1.96875 -2.234375 2.015625 -2.453125 L 2.140625 -2.953125 C 2.28125 -3.265625 2.8125 -4.15625 3.75 -4.15625 C 4.203125 -4.15625 4.296875 -3.796875 4.296875 -3.46875 C 4.296875 -2.859375 3.796875 -1.578125 3.640625 -1.15625 C 3.5625 -0.9375 3.546875 -0.8125 3.546875 -0.703125 C 3.546875 -0.234375 3.890625 0.109375 4.359375 0.109375 C 5.296875 0.109375 5.65625 -1.34375 5.65625 -1.421875 Z M 5.65625 -1.421875 "/>
</g>
<g id="glyph-2-0">
<path d="M 3.28125 0 L 3.28125 -0.25 L 3.015625 -0.25 C 2.328125 -0.25 2.328125 -0.34375 2.328125 -0.5625 L 2.328125 -4.40625 C 2.328125 -4.59375 2.3125 -4.609375 2.109375 -4.609375 C 1.671875 -4.171875 1.046875 -4.15625 0.75 -4.15625 L 0.75 -3.90625 C 0.921875 -3.90625 1.375 -3.90625 1.765625 -4.109375 L 1.765625 -0.5625 C 1.765625 -0.34375 1.765625 -0.25 1.0625 -0.25 L 0.8125 -0.25 L 0.8125 0 L 2.046875 -0.03125 Z M 3.28125 0 "/>
</g>
<g id="glyph-3-0">
<path d="M 3.28125 2.375 C 3.28125 2.34375 3.28125 2.328125 3.109375 2.15625 C 1.875 0.90625 1.5625 -0.953125 1.5625 -2.484375 C 1.5625 -4.203125 1.9375 -5.921875 3.15625 -7.15625 C 3.28125 -7.28125 3.28125 -7.296875 3.28125 -7.328125 C 3.28125 -7.40625 3.234375 -7.4375 3.1875 -7.4375 C 3.078125 -7.4375 2.1875 -6.75 1.609375 -5.5 C 1.09375 -4.40625 0.984375 -3.3125 0.984375 -2.484375 C 0.984375 -1.703125 1.09375 -0.5 1.640625 0.609375 C 2.234375 1.828125 3.078125 2.484375 3.1875 2.484375 C 3.234375 2.484375 3.28125 2.453125 3.28125 2.375 Z M 3.28125 2.375 "/>
</g>
<g id="glyph-3-1">
<path d="M 2.859375 -2.484375 C 2.859375 -3.25 2.75 -4.453125 2.203125 -5.5625 C 1.609375 -6.78125 0.765625 -7.4375 0.65625 -7.4375 C 0.609375 -7.4375 0.5625 -7.390625 0.5625 -7.328125 C 0.5625 -7.296875 0.5625 -7.28125 0.75 -7.109375 C 1.71875 -6.125 2.28125 -4.546875 2.28125 -2.484375 C 2.28125 -0.78125 1.921875 0.953125 0.6875 2.203125 C 0.5625 2.328125 0.5625 2.34375 0.5625 2.375 C 0.5625 2.4375 0.609375 2.484375 0.65625 2.484375 C 0.765625 2.484375 1.65625 1.796875 2.234375 0.546875 C 2.75 -0.546875 2.859375 -1.640625 2.859375 -2.484375 Z M 2.859375 -2.484375 "/>
</g>
<g id="glyph-3-2">
<path d="M 7.78125 -0.078125 C 7.78125 -0.078125 7.78125 -0.109375 7.734375 -0.203125 L 4.375 -6.921875 C 4.3125 -7.046875 4.296875 -7.09375 4.125 -7.09375 C 3.953125 -7.09375 3.9375 -7.046875 3.859375 -6.921875 L 0.515625 -0.203125 C 0.46875 -0.109375 0.46875 -0.078125 0.46875 -0.078125 C 0.46875 0 0.53125 0 0.6875 0 L 7.5625 0 C 7.71875 0 7.78125 0 7.78125 -0.078125 Z M 6.46875 -0.75 L 1.125 -0.75 L 3.796875 -6.109375 Z M 6.46875 -0.75 "/>
</g>
<g id="glyph-3-3">
<path d="M 3.984375 -5.25 L 2.484375 -6.859375 L 0.96875 -5.25 L 1.09375 -5.109375 L 2.484375 -6.1875 L 3.859375 -5.109375 Z M 3.984375 -5.25 "/>
</g>
<g id="glyph-4-0">
<path d="M 8.0625 -2.984375 C 8.0625 -3.203125 7.875 -3.203125 7.6875 -3.203125 L 4.515625 -3.203125 L 4.515625 -6.375 C 4.515625 -6.546875 4.515625 -6.75 4.3125 -6.75 C 4.09375 -6.75 4.09375 -6.5625 4.09375 -6.375 L 4.09375 -3.203125 L 0.921875 -3.203125 C 0.75 -3.203125 0.546875 -3.203125 0.546875 -3 C 0.546875 -2.78125 0.75 -2.78125 0.921875 -2.78125 L 4.09375 -2.78125 L 4.09375 0.390625 C 4.09375 0.5625 4.09375 0.765625 4.296875 0.765625 C 4.515625 0.765625 4.515625 0.578125 4.515625 0.390625 L 4.515625 -2.78125 L 7.6875 -2.78125 C 7.859375 -2.78125 8.0625 -2.78125 8.0625 -2.984375 Z M 8.0625 -2.984375 "/>
</g>
</g>
<clipPath id="clip-0">
<path clip-rule="nonzero" d="M 102 22 L 145 22 L 145 57.398438 L 102 57.398438 Z M 102 22 "/>
</clipPath>
<clipPath id="clip-1">
<path clip-rule="nonzero" d="M 127 22 L 170 22 L 170 57.398438 L 127 57.398438 Z M 127 22 "/>
</clipPath>
<clipPath id="clip-2">
<path clip-rule="nonzero" d="M 0.328125 43 L 113 43 L 113 45 L 0.328125 45 Z M 0.328125 43 "/>
</clipPath>
<clipPath id="clip-3">
<path clip-rule="nonzero" d="M 96 27 L 130 27 L 130 57.398438 L 96 57.398438 Z M 96 27 "/>
</clipPath>
<clipPath id="clip-4">
<path clip-rule="nonzero" d="M 121 27 L 155 27 L 155 57.398438 L 121 57.398438 Z M 121 27 "/>
</clipPath>
<clipPath id="clip-5">
<path clip-rule="nonzero" d="M 161 27 L 182.085938 27 L 182.085938 57.398438 L 161 57.398438 Z M 161 27 "/>
</clipPath>
</defs>
<path fill-rule="nonzero" fill="rgb(89.99939%, 89.99939%, 89.99939%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -8.468722 -12.953489 L 141.334726 -12.953489 L 141.334726 42.750619 L -8.468722 42.750619 Z M -8.468722 -12.953489 " transform="matrix(0.994793, 0, 0, -0.994793, 23.881658, 43.520209)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="127.685334" y="7.709647"/>
<use xlink:href="#glyph-0-1" x="132.544563" y="7.709647"/>
<use xlink:href="#glyph-0-2" x="135.917183" y="7.709647"/>
<use xlink:href="#glyph-0-3" x="138.601503" y="7.709647"/>
<use xlink:href="#glyph-0-4" x="144.038527" y="7.709647"/>
<use xlink:href="#glyph-0-5" x="147.411147" y="7.709647"/>
<use xlink:href="#glyph-0-6" x="149.407167" y="7.709647"/>
<use xlink:href="#glyph-0-7" x="151.403187" y="7.709647"/>
<use xlink:href="#glyph-0-8" x="154.431409" y="7.709647"/>
<use xlink:href="#glyph-0-9" x="157.459632" y="7.709647"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-10" x="142.937502" y="14.647334"/>
<use xlink:href="#glyph-0-8" x="145.656014" y="14.647334"/>
<use xlink:href="#glyph-0-11" x="148.684236" y="14.647334"/>
<use xlink:href="#glyph-0-10" x="152.400758" y="14.647334"/>
<use xlink:href="#glyph-0-1" x="155.11927" y="14.647334"/>
<use xlink:href="#glyph-0-2" x="158.49189" y="14.647334"/>
</g>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 25.863281 43.519531 C 25.863281 42.425781 24.976562 41.539062 23.882812 41.539062 C 22.785156 41.539062 21.898438 42.425781 21.898438 43.519531 C 21.898438 44.613281 22.785156 45.503906 23.882812 45.503906 C 24.976562 45.503906 25.863281 44.613281 25.863281 43.519531 Z M 25.863281 43.519531 "/>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 13.599309 13.598829 L 44.25895 13.598829 L 44.25895 36.275498 L 13.599309 36.275498 Z M 13.599309 13.598829 " transform="matrix(0.994793, 0, 0, -0.994793, 23.881658, 43.520209)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="40.712562" y="21.192077"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="47.807427" y="22.678298"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="52.253157" y="21.192077"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-1" x="56.107438" y="21.192077"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="60.753587" y="21.192077"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 56.596629 13.598829 L 88.426426 13.598829 L 88.426426 36.275498 L 56.596629 36.275498 Z M 56.596629 13.598829 " transform="matrix(0.994793, 0, 0, -0.994793, 23.881658, 43.520209)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-2" x="83.484687" y="21.192077"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="91.743459" y="22.678298"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="96.189189" y="21.192077"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-1" x="100.043471" y="21.192077"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="104.689619" y="21.192077"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" d="M 130.558594 43.519531 C 130.558594 39.6875 127.453125 36.582031 123.621094 36.582031 C 119.789062 36.582031 116.683594 39.6875 116.683594 43.519531 C 116.683594 47.351562 119.789062 50.457031 123.621094 50.457031 C 127.453125 50.457031 130.558594 47.351562 130.558594 43.519531 Z M 130.558594 43.519531 "/>
<g clip-path="url(#clip-0)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 107.235299 0.000680985 C 107.235299 3.85277 104.113576 6.974493 100.261487 6.974493 C 96.409399 6.974493 93.287675 3.85277 93.287675 0.000680985 C 93.287675 -3.851408 96.409399 -6.973131 100.261487 -6.973131 C 104.113576 -6.973131 107.235299 -3.851408 107.235299 0.000680985 Z M 107.235299 0.000680985 " transform="matrix(0.994793, 0, 0, -0.994793, 23.881658, 43.520209)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="119.307186" y="46.42202"/>
</g>
<path fill-rule="nonzero" fill="rgb(100%, 100%, 100%)" fill-opacity="1" d="M 155.714844 43.519531 C 155.714844 39.6875 152.609375 36.582031 148.777344 36.582031 C 144.945312 36.582031 141.839844 39.6875 141.839844 43.519531 C 141.839844 47.351562 144.945312 50.457031 148.777344 50.457031 C 152.609375 50.457031 155.714844 47.351562 155.714844 43.519531 Z M 155.714844 43.519531 "/>
<g clip-path="url(#clip-1)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 132.523221 0.000680985 C 132.523221 3.85277 129.401497 6.974493 125.549409 6.974493 C 121.69732 6.974493 118.575597 3.85277 118.575597 0.000680985 C 118.575597 -3.851408 121.69732 -6.973131 125.549409 -6.973131 C 129.401497 -6.973131 132.523221 -3.851408 132.523221 0.000680985 Z M 132.523221 0.000680985 " transform="matrix(0.994793, 0, 0, -0.994793, 23.881658, 43.520209)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="144.461525" y="46.42202"/>
</g>
<g clip-path="url(#clip-2)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -22.679435 0.000680985 L 88.654174 0.000680985 " transform="matrix(0.994793, 0, 0, -0.994793, 23.881658, 43.520209)"/>
</g>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 115.273438 43.519531 L 110.851562 41.847656 L 112.324219 43.519531 L 110.851562 45.195312 Z M 115.273438 43.519531 "/>
<g clip-path="url(#clip-3)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053228 0.000680985 L 1.608208 1.681307 L 3.088573 0.000680985 L 1.608208 -1.683872 Z M 6.053228 0.000680985 " transform="matrix(0.994793, 0, 0, -0.994793, 109.251728, 43.520209)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-2" x="5.121849" y="39.722089"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 0.00116079 0.000680985 L 0.00116079 24.9352 L 8.467117 24.9352 " transform="matrix(0.994793, 0, 0, -0.994793, 23.881658, 43.520209)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.051514 -0.00141005 L 1.610421 1.683142 L 3.086859 -0.00141005 L 1.610421 -1.682036 Z M 6.051514 -0.00141005 " transform="matrix(0.994793, 0, 0, -0.994793, 29.479995, 18.713441)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 44.757641 24.9352 L 51.464437 24.9352 " transform="matrix(0.994793, 0, 0, -0.994793, 23.881658, 43.520209)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.051974 -0.00141005 L 1.606955 1.683142 L 3.087319 -0.00141005 L 1.606955 -1.682036 Z M 6.051974 -0.00141005 " transform="matrix(0.994793, 0, 0, -0.994793, 72.252975, 18.713441)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 88.925116 24.9352 L 100.261487 24.9352 L 100.261487 11.607994 " transform="matrix(0.994793, 0, 0, -0.994793, 23.881658, 43.520209)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.05395 -0.00139282 L 1.60893 1.68316 L 3.089294 -0.00139282 L 1.60893 -1.682019 Z M 6.05395 -0.00139282 " transform="matrix(0, 0.994793, 0.994793, 0, 123.622479, 29.149447)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 107.235299 0.000680985 L 113.942096 0.000680985 " transform="matrix(0.994793, 0, 0, -0.994793, 23.881658, 43.520209)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 140.429688 43.519531 L 136.007812 41.847656 L 137.476562 43.519531 L 136.007812 45.195312 Z M 140.429688 43.519531 "/>
<g clip-path="url(#clip-4)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.0548 0.000680985 L 1.60978 1.681307 L 3.086218 0.000680985 L 1.60978 -1.683872 Z M 6.0548 0.000680985 " transform="matrix(0.994793, 0, 0, -0.994793, 134.406415, 43.520209)"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 125.549409 11.607994 L 125.549409 23.981013 " transform="matrix(0.994793, 0, 0, -0.994793, 23.881658, 43.520209)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.05395 0.000188775 L 1.60893 1.684741 L 3.089294 0.000188775 L 1.60893 -1.684364 Z M 6.05395 0.000188775 " transform="matrix(0, 0.994793, 0.994793, 0, 148.777156, 29.149447)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-3" x="152.575057" y="27.729858"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="158.52392" y="29.216079"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 132.523221 0.000680985 L 153.401463 0.000680985 " transform="matrix(0.994793, 0, 0, -0.994793, 23.881658, 43.520209)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 179.683594 43.519531 L 175.261719 41.847656 L 176.730469 43.519531 L 175.261719 45.195312 Z M 179.683594 43.519531 "/>
<g clip-path="url(#clip-5)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054427 0.000680985 L 1.609407 1.681307 L 3.085845 0.000680985 L 1.609407 -1.683872 Z M 6.054427 0.000680985 " transform="matrix(0.994793, 0, 0, -0.994793, 173.660692, 43.520209)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-3" x="167.813298" y="38.234873"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-2" x="167.179011" y="38.234873"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="172.847946" y="39.722089"/>
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 32 KiB

1832
figs/detail_control_three_complementary_filters_results.pdf Normal file
View File

File diff suppressed because it is too large Load Diff

BIN
figs/detail_control_three_complementary_filters_results.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 125 KiB

BIN
figs/detail_control_uncertainty_set_super_sensor.pdf Normal file
View File

Binary file not shown.

BIN
figs/detail_control_uncertainty_set_super_sensor.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 27 KiB

191
figs/detail_control_uncertainty_set_super_sensor.svg Normal file
View File

@ -0,0 +1,191 @@
<?xml version="1.0" encoding="UTF-8"?>
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="218.962" height="104.044" viewBox="0 0 218.962 104.044">
<defs>
<g>
<g id="glyph-0-0">
<path d="M 4.140625 0 L 4.140625 -0.3125 L 3.828125 -0.3125 C 2.9375 -0.3125 2.90625 -0.421875 2.90625 -0.78125 L 2.90625 -6.3125 C 2.90625 -6.5625 2.90625 -6.578125 2.671875 -6.578125 C 2.0625 -5.9375 1.1875 -5.9375 0.875 -5.9375 L 0.875 -5.640625 C 1.078125 -5.640625 1.65625 -5.640625 2.171875 -5.890625 L 2.171875 -0.78125 C 2.171875 -0.421875 2.140625 -0.3125 1.25 -0.3125 L 0.9375 -0.3125 L 0.9375 0 C 1.28125 -0.03125 2.140625 -0.03125 2.53125 -0.03125 C 2.9375 -0.03125 3.796875 -0.03125 4.140625 0 Z M 4.140625 0 "/>
</g>
<g id="glyph-0-1">
<path d="M 7.125 -2.46875 C 7.125 -2.671875 6.9375 -2.671875 6.796875 -2.671875 L 4.03125 -2.671875 L 4.03125 -5.4375 C 4.03125 -5.5625 4.03125 -5.75 3.84375 -5.75 C 3.640625 -5.75 3.640625 -5.5625 3.640625 -5.4375 L 3.640625 -2.671875 L 0.875 -2.671875 C 0.734375 -2.671875 0.546875 -2.671875 0.546875 -2.46875 C 0.546875 -2.265625 0.734375 -2.265625 0.875 -2.265625 L 3.640625 -2.265625 L 3.640625 0.5 C 3.640625 0.625 3.640625 0.8125 3.84375 0.8125 C 4.03125 0.8125 4.03125 0.625 4.03125 0.5 L 4.03125 -2.265625 L 6.796875 -2.265625 C 6.9375 -2.265625 7.125 -2.265625 7.125 -2.46875 Z M 7.125 -2.46875 "/>
</g>
<g id="glyph-0-2">
<path d="M 7.75 -0.078125 C 7.75 -0.078125 7.75 -0.109375 7.703125 -0.203125 L 4.359375 -6.890625 C 4.296875 -7.015625 4.28125 -7.078125 4.109375 -7.078125 C 3.9375 -7.078125 3.921875 -7.015625 3.84375 -6.890625 L 0.515625 -0.203125 C 0.46875 -0.109375 0.46875 -0.078125 0.46875 -0.078125 C 0.46875 0 0.515625 0 0.6875 0 L 7.53125 0 C 7.6875 0 7.75 0 7.75 -0.078125 Z M 6.453125 -0.75 L 1.125 -0.75 L 3.796875 -6.078125 Z M 6.453125 -0.75 "/>
</g>
<g id="glyph-1-0">
<path d="M 1.5625 2.140625 L 1.5625 -7.078125 C 1.5625 -7.21875 1.5625 -7.40625 1.375 -7.40625 C 1.171875 -7.40625 1.171875 -7.21875 1.171875 -7.078125 L 1.171875 2.140625 C 1.171875 2.28125 1.171875 2.46875 1.375 2.46875 C 1.5625 2.46875 1.5625 2.28125 1.5625 2.140625 Z M 1.5625 2.140625 "/>
</g>
<g id="glyph-2-0">
<path d="M 6.828125 -3.671875 C 6.828125 -4.21875 6.5625 -4.359375 6.390625 -4.359375 C 6.140625 -4.359375 5.890625 -4.109375 5.890625 -3.890625 C 5.890625 -3.765625 5.953125 -3.703125 6.046875 -3.625 C 6.15625 -3.515625 6.40625 -3.265625 6.40625 -2.78125 C 6.40625 -2.453125 6.109375 -1.484375 5.859375 -0.984375 C 5.59375 -0.453125 5.25 -0.109375 4.765625 -0.109375 C 4.3125 -0.109375 4.03125 -0.40625 4.03125 -0.96875 C 4.03125 -1.25 4.109375 -1.546875 4.140625 -1.6875 L 4.5625 -3.34375 C 4.609375 -3.5625 4.703125 -3.9375 4.703125 -3.984375 C 4.703125 -4.171875 4.578125 -4.25 4.421875 -4.25 C 4.3125 -4.25 4.125 -4.171875 4.0625 -3.984375 C 4.03125 -3.90625 3.5625 -2.03125 3.5 -1.765625 C 3.421875 -1.46875 3.40625 -1.296875 3.40625 -1.109375 C 3.40625 -1 3.40625 -0.984375 3.421875 -0.9375 C 3.1875 -0.421875 2.890625 -0.109375 2.515625 -0.109375 C 1.71875 -0.109375 1.71875 -0.84375 1.71875 -1 C 1.71875 -1.328125 1.765625 -1.703125 2.234375 -2.921875 C 2.34375 -3.21875 2.40625 -3.359375 2.40625 -3.5625 C 2.40625 -4 2.078125 -4.359375 1.59375 -4.359375 C 0.65625 -4.359375 0.28125 -2.9375 0.28125 -2.84375 C 0.28125 -2.75 0.40625 -2.75 0.40625 -2.75 C 0.5 -2.75 0.515625 -2.765625 0.5625 -2.921875 C 0.828125 -3.84375 1.21875 -4.140625 1.5625 -4.140625 C 1.65625 -4.140625 1.8125 -4.140625 1.8125 -3.828125 C 1.8125 -3.578125 1.703125 -3.296875 1.625 -3.125 C 1.1875 -1.96875 1.078125 -1.515625 1.078125 -1.140625 C 1.078125 -0.234375 1.734375 0.109375 2.484375 0.109375 C 2.640625 0.109375 3.109375 0.109375 3.5 -0.578125 C 3.765625 0.046875 4.4375 0.109375 4.734375 0.109375 C 5.484375 0.109375 5.921875 -0.515625 6.171875 -1.109375 C 6.5 -1.875 6.828125 -3.203125 6.828125 -3.671875 Z M 6.828125 -3.671875 "/>
</g>
<g id="glyph-2-1">
<path d="M 7.09375 -0.203125 C 7.09375 -0.3125 7 -0.3125 6.8125 -0.3125 C 6.453125 -0.3125 6.171875 -0.3125 6.171875 -0.484375 C 6.171875 -0.546875 6.1875 -0.59375 6.203125 -0.65625 L 7.53125 -5.984375 C 7.625 -6.34375 7.640625 -6.4375 8.359375 -6.4375 C 8.625 -6.4375 8.703125 -6.4375 8.703125 -6.640625 C 8.703125 -6.75 8.59375 -6.75 8.5625 -6.75 L 7.296875 -6.71875 L 6.03125 -6.75 C 5.9375 -6.75 5.84375 -6.75 5.84375 -6.546875 C 5.84375 -6.4375 5.921875 -6.4375 6.109375 -6.4375 C 6.109375 -6.4375 6.3125 -6.4375 6.484375 -6.421875 C 6.671875 -6.40625 6.75 -6.390625 6.75 -6.265625 C 6.75 -6.21875 6.75 -6.203125 6.71875 -6.078125 L 6.125 -3.65625 L 3.109375 -3.65625 L 3.6875 -5.984375 C 3.78125 -6.34375 3.8125 -6.4375 4.515625 -6.4375 C 4.78125 -6.4375 4.859375 -6.4375 4.859375 -6.640625 C 4.859375 -6.75 4.75 -6.75 4.71875 -6.75 L 3.453125 -6.71875 L 2.1875 -6.75 C 2.109375 -6.75 2 -6.75 2 -6.546875 C 2 -6.4375 2.078125 -6.4375 2.265625 -6.4375 C 2.265625 -6.4375 2.484375 -6.4375 2.640625 -6.421875 C 2.828125 -6.40625 2.90625 -6.390625 2.90625 -6.265625 C 2.90625 -6.21875 2.90625 -6.1875 2.875 -6.078125 L 1.546875 -0.765625 C 1.453125 -0.390625 1.4375 -0.3125 0.65625 -0.3125 C 0.46875 -0.3125 0.390625 -0.3125 0.390625 -0.109375 C 0.390625 0 0.515625 0 0.515625 0 L 1.78125 -0.03125 L 2.40625 -0.015625 C 2.625 -0.015625 2.84375 0 3.046875 0 C 3.125 0 3.25 0 3.25 -0.203125 C 3.25 -0.3125 3.15625 -0.3125 2.96875 -0.3125 C 2.609375 -0.3125 2.328125 -0.3125 2.328125 -0.484375 C 2.328125 -0.546875 2.34375 -0.59375 2.359375 -0.65625 L 3.03125 -3.359375 L 6.046875 -3.359375 L 5.359375 -0.625 C 5.265625 -0.3125 5.078125 -0.3125 4.46875 -0.3125 C 4.3125 -0.3125 4.21875 -0.3125 4.21875 -0.109375 C 4.21875 0 4.359375 0 4.359375 0 L 5.625 -0.03125 L 6.25 -0.015625 C 6.46875 -0.015625 6.6875 0 6.890625 0 C 6.96875 0 7.09375 0 7.09375 -0.203125 Z M 7.09375 -0.203125 "/>
</g>
<g id="glyph-2-2">
<path d="M 5.65625 -2.59375 C 5.65625 -3.375 5.140625 -4.28125 3.765625 -4.375 L 4.3125 -6.609375 L 4.34375 -6.75 C 4.34375 -6.75 4.34375 -6.859375 4.21875 -6.859375 C 4.125 -6.859375 4.125 -6.828125 4.078125 -6.65625 L 3.5 -4.375 C 1.9375 -4.328125 0.484375 -3.015625 0.484375 -1.671875 C 0.484375 -0.734375 1.171875 0.046875 2.375 0.125 L 2.15625 1.046875 C 2.03125 1.515625 1.9375 1.890625 1.9375 1.921875 C 1.9375 2.015625 2 2.03125 2.046875 2.03125 C 2.109375 2.03125 2.125 2.015625 2.15625 1.984375 C 2.171875 1.96875 2.234375 1.734375 2.265625 1.59375 L 2.640625 0.125 C 4.21875 0.0625 5.65625 -1.265625 5.65625 -2.59375 Z M 3.453125 -4.15625 L 2.421875 -0.09375 C 1.84375 -0.125 1.125 -0.46875 1.125 -1.46875 C 1.125 -2.640625 1.96875 -4.03125 3.453125 -4.15625 Z M 5.015625 -2.796875 C 5.015625 -1.625 4.171875 -0.21875 2.6875 -0.09375 L 3.703125 -4.15625 C 4.453125 -4.125 5.015625 -3.65625 5.015625 -2.796875 Z M 5.015625 -2.796875 "/>
</g>
<g id="glyph-3-0">
<path d="M 3.265625 0 L 3.265625 -0.25 L 3 -0.25 C 2.3125 -0.25 2.3125 -0.34375 2.3125 -0.5625 L 2.3125 -4.390625 C 2.3125 -4.578125 2.296875 -4.578125 2.109375 -4.578125 C 1.671875 -4.15625 1.03125 -4.140625 0.75 -4.140625 L 0.75 -3.890625 C 0.921875 -3.890625 1.375 -3.890625 1.75 -4.09375 L 1.75 -0.5625 C 1.75 -0.34375 1.75 -0.25 1.0625 -0.25 L 0.796875 -0.25 L 0.796875 0 L 2.03125 -0.03125 Z M 3.265625 0 "/>
</g>
<g id="glyph-3-1">
<path d="M 3.484375 -1.25 L 3.25 -1.25 C 3.234375 -1.109375 3.15625 -0.703125 3.078125 -0.625 C 3.015625 -0.59375 2.484375 -0.59375 2.390625 -0.59375 L 1.125 -0.59375 C 1.84375 -1.234375 2.078125 -1.421875 2.5 -1.75 C 3.015625 -2.15625 3.484375 -2.578125 3.484375 -3.234375 C 3.484375 -4.078125 2.75 -4.578125 1.875 -4.578125 C 1.015625 -4.578125 0.4375 -3.984375 0.4375 -3.34375 C 0.4375 -3 0.734375 -2.96875 0.796875 -2.96875 C 0.96875 -2.96875 1.171875 -3.078125 1.171875 -3.328125 C 1.171875 -3.453125 1.125 -3.6875 0.765625 -3.6875 C 0.96875 -4.1875 1.4375 -4.34375 1.765625 -4.34375 C 2.453125 -4.34375 2.8125 -3.796875 2.8125 -3.234375 C 2.8125 -2.640625 2.390625 -2.15625 2.171875 -1.90625 L 0.5 -0.265625 C 0.4375 -0.203125 0.4375 -0.1875 0.4375 0 L 3.28125 0 Z M 3.484375 -1.25 "/>
</g>
<g id="glyph-4-0">
<path d="M 7.234375 -0.875 C 7.234375 -0.921875 7.234375 -1.03125 7.09375 -1.03125 C 6.984375 -1.03125 6.984375 -0.953125 6.984375 -0.875 C 6.921875 -0.171875 6.578125 0 6.328125 0 C 5.84375 0 5.765625 -0.5 5.625 -1.421875 L 5.5 -2.21875 C 5.328125 -2.84375 4.84375 -3.171875 4.296875 -3.359375 C 5.25 -3.59375 6.03125 -4.203125 6.03125 -4.96875 C 6.03125 -5.921875 4.890625 -6.75 3.453125 -6.75 L 0.34375 -6.75 L 0.34375 -6.4375 L 0.578125 -6.4375 C 1.34375 -6.4375 1.359375 -6.328125 1.359375 -5.96875 L 1.359375 -0.765625 C 1.359375 -0.421875 1.34375 -0.3125 0.578125 -0.3125 L 0.34375 -0.3125 L 0.34375 0 C 0.703125 -0.03125 1.40625 -0.03125 1.78125 -0.03125 C 2.171875 -0.03125 2.875 -0.03125 3.234375 0 L 3.234375 -0.3125 L 2.984375 -0.3125 C 2.234375 -0.3125 2.21875 -0.421875 2.21875 -0.765625 L 2.21875 -3.265625 L 3.34375 -3.265625 C 3.5 -3.265625 3.921875 -3.265625 4.265625 -2.9375 C 4.640625 -2.578125 4.640625 -2.265625 4.640625 -1.609375 C 4.640625 -0.96875 4.640625 -0.578125 5.046875 -0.203125 C 5.453125 0.15625 6 0.21875 6.296875 0.21875 C 7.0625 0.21875 7.234375 -0.59375 7.234375 -0.875 Z M 5 -4.96875 C 5 -4.28125 4.765625 -3.484375 3.3125 -3.484375 L 2.21875 -3.484375 L 2.21875 -6.046875 C 2.21875 -6.265625 2.21875 -6.390625 2.421875 -6.421875 C 2.53125 -6.4375 2.8125 -6.4375 3.015625 -6.4375 C 3.90625 -6.4375 5 -6.40625 5 -4.96875 Z M 5 -4.96875 "/>
</g>
<g id="glyph-4-1">
<path d="M 4.09375 -1.171875 C 4.09375 -1.28125 4.015625 -1.296875 3.96875 -1.296875 C 3.875 -1.296875 3.859375 -1.234375 3.84375 -1.15625 C 3.5 -0.140625 2.609375 -0.140625 2.515625 -0.140625 C 2.015625 -0.140625 1.625 -0.4375 1.390625 -0.796875 C 1.09375 -1.28125 1.09375 -1.921875 1.09375 -2.28125 L 3.84375 -2.28125 C 4.0625 -2.28125 4.09375 -2.28125 4.09375 -2.484375 C 4.09375 -3.46875 3.5625 -4.421875 2.328125 -4.421875 C 1.1875 -4.421875 0.28125 -3.40625 0.28125 -2.171875 C 0.28125 -0.84375 1.3125 0.109375 2.453125 0.109375 C 3.65625 0.109375 4.09375 -0.984375 4.09375 -1.171875 Z M 3.453125 -2.484375 L 1.109375 -2.484375 C 1.171875 -3.953125 2 -4.203125 2.328125 -4.203125 C 3.34375 -4.203125 3.453125 -2.875 3.453125 -2.484375 Z M 3.453125 -2.484375 "/>
</g>
<g id="glyph-4-2">
<path d="M 3.28125 0 L 3.28125 -0.3125 L 3.03125 -0.3125 C 2.25 -0.3125 2.21875 -0.421875 2.21875 -0.765625 L 2.21875 -5.96875 C 2.21875 -6.328125 2.25 -6.4375 3.03125 -6.4375 L 3.28125 -6.4375 L 3.28125 -6.75 C 2.9375 -6.71875 2.15625 -6.71875 1.78125 -6.71875 C 1.40625 -6.71875 0.625 -6.71875 0.28125 -6.75 L 0.28125 -6.4375 L 0.53125 -6.4375 C 1.3125 -6.4375 1.34375 -6.328125 1.34375 -5.96875 L 1.34375 -0.765625 C 1.34375 -0.421875 1.3125 -0.3125 0.53125 -0.3125 L 0.28125 -0.3125 L 0.28125 0 C 0.625 -0.03125 1.40625 -0.03125 1.78125 -0.03125 C 2.15625 -0.03125 2.9375 -0.03125 3.28125 0 Z M 3.28125 0 "/>
</g>
<g id="glyph-4-3">
<path d="M 8.03125 0 L 8.03125 -0.3125 C 7.515625 -0.3125 7.265625 -0.3125 7.265625 -0.609375 L 7.265625 -2.484375 C 7.265625 -3.34375 7.265625 -3.640625 6.953125 -4 C 6.8125 -4.171875 6.484375 -4.359375 5.921875 -4.359375 C 5.078125 -4.359375 4.65625 -3.765625 4.484375 -3.390625 C 4.34375 -4.25 3.609375 -4.359375 3.171875 -4.359375 C 2.453125 -4.359375 1.984375 -3.9375 1.703125 -3.328125 L 1.703125 -4.359375 L 0.3125 -4.25 L 0.3125 -3.953125 C 1 -3.953125 1.09375 -3.875 1.09375 -3.390625 L 1.09375 -0.75 C 1.09375 -0.3125 0.984375 -0.3125 0.3125 -0.3125 L 0.3125 0 L 1.4375 -0.03125 L 2.53125 0 L 2.53125 -0.3125 C 1.875 -0.3125 1.765625 -0.3125 1.765625 -0.75 L 1.765625 -2.5625 C 1.765625 -3.59375 2.46875 -4.140625 3.09375 -4.140625 C 3.71875 -4.140625 3.828125 -3.609375 3.828125 -3.046875 L 3.828125 -0.75 C 3.828125 -0.3125 3.71875 -0.3125 3.0625 -0.3125 L 3.0625 0 L 4.171875 -0.03125 L 5.28125 0 L 5.28125 -0.3125 C 4.625 -0.3125 4.515625 -0.3125 4.515625 -0.75 L 4.515625 -2.5625 C 4.515625 -3.59375 5.21875 -4.140625 5.84375 -4.140625 C 6.46875 -4.140625 6.578125 -3.609375 6.578125 -3.046875 L 6.578125 -0.75 C 6.578125 -0.3125 6.46875 -0.3125 5.8125 -0.3125 L 5.8125 0 L 6.921875 -0.03125 Z M 8.03125 0 "/>
</g>
<g id="glyph-5-0">
<path d="M 6.1875 0 L 6.1875 -0.25 C 5.75 -0.25 5.671875 -0.25 5.671875 -0.546875 L 5.671875 -2.09375 C 5.671875 -2.6875 5.375 -3.046875 4.640625 -3.046875 C 4.09375 -3.046875 3.71875 -2.75 3.53125 -2.40625 C 3.390625 -2.890625 3.03125 -3.046875 2.515625 -3.046875 C 1.953125 -3.046875 1.59375 -2.734375 1.390625 -2.375 L 1.390625 -3.046875 L 0.375 -2.96875 L 0.375 -2.71875 C 0.828125 -2.71875 0.890625 -2.671875 0.890625 -2.328125 L 0.890625 -0.546875 C 0.890625 -0.25 0.828125 -0.25 0.375 -0.25 L 0.375 0 C 0.375 0 0.875 -0.03125 1.15625 -0.03125 C 1.421875 -0.03125 1.890625 0 1.953125 0 L 1.953125 -0.25 C 1.5 -0.25 1.4375 -0.25 1.4375 -0.546875 L 1.4375 -1.78125 C 1.4375 -2.515625 2.015625 -2.859375 2.46875 -2.859375 C 2.953125 -2.859375 3.015625 -2.46875 3.015625 -2.125 L 3.015625 -0.546875 C 3.015625 -0.25 2.9375 -0.25 2.5 -0.25 L 2.5 0 C 2.5 0 2.984375 -0.03125 3.28125 -0.03125 C 3.53125 -0.03125 4.015625 0 4.078125 0 L 4.078125 -0.25 C 3.625 -0.25 3.5625 -0.25 3.5625 -0.546875 L 3.5625 -1.78125 C 3.5625 -2.515625 4.125 -2.859375 4.578125 -2.859375 C 5.0625 -2.859375 5.125 -2.46875 5.125 -2.125 L 5.125 -0.546875 C 5.125 -0.25 5.0625 -0.25 4.609375 -0.25 L 4.609375 0 C 4.609375 0 5.109375 -0.03125 5.40625 -0.03125 C 5.65625 -0.03125 6.125 0 6.1875 0 Z M 6.1875 0 "/>
</g>
<g id="glyph-5-1">
<path d="M 3.75 -0.625 L 3.75 -1 L 3.515625 -1 L 3.515625 -0.625 C 3.515625 -0.5625 3.515625 -0.234375 3.265625 -0.234375 C 3.015625 -0.234375 3.015625 -0.546875 3.015625 -0.640625 L 3.015625 -1.84375 C 3.015625 -2.21875 3.015625 -2.484375 2.6875 -2.734375 C 2.40625 -2.96875 2.078125 -3.078125 1.671875 -3.078125 C 1.015625 -3.078125 0.546875 -2.828125 0.546875 -2.40625 C 0.546875 -2.1875 0.703125 -2.078125 0.890625 -2.078125 C 1.078125 -2.078125 1.203125 -2.203125 1.203125 -2.390625 C 1.203125 -2.515625 1.15625 -2.65625 0.96875 -2.71875 C 1.21875 -2.890625 1.609375 -2.890625 1.65625 -2.890625 C 2.046875 -2.890625 2.46875 -2.625 2.46875 -2.046875 L 2.46875 -1.84375 C 2.078125 -1.828125 1.625 -1.796875 1.125 -1.609375 C 0.5 -1.390625 0.3125 -1.015625 0.3125 -0.703125 C 0.3125 -0.109375 1.03125 0.0625 1.515625 0.0625 C 2.078125 0.0625 2.390625 -0.234375 2.546875 -0.515625 C 2.5625 -0.234375 2.75 0.03125 3.078125 0.03125 C 3.078125 0.03125 3.75 0.03125 3.75 -0.625 Z M 2.46875 -0.96875 C 2.46875 -0.3125 1.890625 -0.125 1.578125 -0.125 C 1.21875 -0.125 0.890625 -0.359375 0.890625 -0.703125 C 0.890625 -1.078125 1.21875 -1.609375 2.46875 -1.65625 Z M 2.46875 -0.96875 "/>
</g>
<g id="glyph-5-2">
<path d="M 3.96875 0 L 3.96875 -0.25 C 3.5 -0.25 3.453125 -0.296875 3.28125 -0.46875 L 2.34375 -1.546875 L 2.28125 -1.609375 C 2.28125 -1.640625 2.734375 -2.125 2.796875 -2.1875 C 3.046875 -2.453125 3.28125 -2.71875 3.828125 -2.734375 L 3.828125 -2.984375 C 3.640625 -2.96875 3.4375 -2.953125 3.25 -2.953125 C 3.046875 -2.953125 2.78125 -2.953125 2.5625 -2.984375 L 2.5625 -2.734375 C 2.6875 -2.703125 2.703125 -2.625 2.703125 -2.5625 C 2.703125 -2.5625 2.703125 -2.453125 2.609375 -2.328125 L 2.125 -1.78125 L 1.546875 -2.4375 C 1.484375 -2.515625 1.46875 -2.5625 1.46875 -2.578125 C 1.46875 -2.6875 1.5625 -2.734375 1.65625 -2.734375 L 1.65625 -2.984375 C 1.40625 -2.953125 1.140625 -2.953125 0.890625 -2.953125 C 0.671875 -2.953125 0.421875 -2.953125 0.21875 -2.984375 L 0.21875 -2.734375 C 0.53125 -2.734375 0.71875 -2.734375 0.890625 -2.515625 L 1.75 -1.53125 L 1.8125 -1.453125 C 1.8125 -1.4375 1.296875 -0.875 1.21875 -0.796875 C 0.96875 -0.515625 0.734375 -0.265625 0.171875 -0.25 L 0.171875 0 C 0.390625 -0.015625 0.53125 -0.03125 0.75 -0.03125 C 0.953125 -0.03125 1.234375 -0.015625 1.4375 0 L 1.4375 -0.25 C 1.359375 -0.265625 1.3125 -0.3125 1.3125 -0.40625 C 1.3125 -0.53125 1.375 -0.625 1.484375 -0.75 L 1.96875 -1.28125 L 2.578125 -0.59375 C 2.703125 -0.453125 2.703125 -0.4375 2.703125 -0.390625 C 2.703125 -0.25 2.546875 -0.25 2.515625 -0.25 L 2.515625 0 C 2.578125 0 3.078125 -0.03125 3.296875 -0.03125 C 3.515625 -0.03125 3.75 -0.015625 3.96875 0 Z M 3.96875 0 "/>
</g>
</g>
<clipPath id="clip-0">
<path clip-rule="nonzero" d="M 68 0 L 198 0 L 198 103.097656 L 68 103.097656 Z M 68 0 "/>
</clipPath>
<clipPath id="clip-1">
<path clip-rule="nonzero" d="M 197 35 L 217.945312 35 L 217.945312 68 L 197 68 Z M 197 35 "/>
</clipPath>
</defs>
<path fill-rule="nonzero" fill="rgb(79.998779%, 79.998779%, 79.998779%)" fill-opacity="1" d="M 183.253906 51.546875 C 183.253906 23.625 160.617188 0.988281 132.695312 0.988281 C 104.769531 0.988281 82.132812 23.625 82.132812 51.546875 C 82.132812 79.472656 104.769531 102.109375 132.695312 102.109375 C 160.617188 102.109375 183.253906 79.472656 183.253906 51.546875 Z M 183.253906 51.546875 "/>
<g clip-path="url(#clip-0)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 164.411763 0.00149065 C 164.411763 28.179924 141.567048 51.024638 113.388615 51.024638 C 85.20624 51.024638 62.361526 28.179924 62.361526 0.00149065 C 62.361526 -28.180884 85.20624 -51.025599 113.388615 -51.025599 C 141.567048 -51.025599 164.411763 -28.180884 164.411763 0.00149065 Z M 164.411763 0.00149065 " transform="matrix(0.990895, 0, 0, -0.990895, 20.339073, 51.548352)"/>
</g>
<path fill-rule="nonzero" fill="rgb(79.998779%, 88.941956%, 94.822693%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 141.732618 0.00149065 C 141.732618 15.655738 129.042862 28.345494 113.388615 28.345494 C 97.730426 28.345494 85.04067 15.655738 85.04067 0.00149065 C 85.04067 -15.656698 97.730426 -28.346454 113.388615 -28.346454 C 129.042862 -28.346454 141.732618 -15.656698 141.732618 0.00149065 Z M 141.732618 0.00149065 " transform="matrix(0.990895, 0, 0, -0.990895, 20.339073, 51.548352)"/>
<path fill-rule="nonzero" fill="rgb(97.019958%, 86.431885%, 81.881714%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 116.021966 20.043342 C 116.021966 32.567528 105.867008 42.722486 93.342822 42.722486 C 80.818636 42.722486 70.663677 32.567528 70.663677 20.043342 C 70.663677 7.519156 80.818636 -2.63186 93.342822 -2.63186 C 105.867008 -2.63186 116.021966 7.519156 116.021966 20.043342 Z M 116.021966 20.043342 " transform="matrix(0.990895, 0, 0, -0.990895, 20.339073, 51.548352)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-dasharray="2.98883 2.98883" stroke-miterlimit="10" d="M 141.732618 0.00149065 C 141.732618 15.655738 129.042862 28.345494 113.388615 28.345494 C 97.730426 28.345494 85.04067 15.655738 85.04067 0.00149065 C 85.04067 -15.656698 97.730426 -28.346454 113.388615 -28.346454 C 129.042862 -28.346454 141.732618 -15.656698 141.732618 0.00149065 Z M 141.732618 0.00149065 " transform="matrix(0.990895, 0, 0, -0.990895, 20.339073, 51.548352)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-0" x="130.224401" y="61.549458"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 116.664536 3.277411 L 130.154546 16.767422 " transform="matrix(0.990895, 0, 0, -0.990895, 20.339073, 51.548352)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054035 -0.0000885931 L 1.610692 1.683587 L 3.08809 -0.0000885931 L 1.610692 -1.683764 Z M 6.054035 -0.0000885931 " transform="matrix(-0.700662, 0.700662, 0.700662, 0.700662, 137.929394, 46.312917)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.054738 0.0000885931 L 1.608608 1.680977 L 3.088793 0.0000885931 L 1.608608 -1.680799 Z M 6.054738 0.0000885931 " transform="matrix(0.700662, -0.700662, -0.700662, -0.700662, 147.320237, 36.922074)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 134.667969 51.546875 C 134.667969 50.457031 133.785156 49.574219 132.695312 49.574219 C 131.601562 49.574219 130.71875 50.457031 130.71875 51.546875 C 130.71875 52.640625 131.601562 53.523438 132.695312 53.523438 C 133.785156 53.523438 134.667969 52.640625 134.667969 51.546875 Z M 134.667969 51.546875 "/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 90.066902 23.319262 L 80.58605 32.804056 " transform="matrix(0.990895, 0, 0, -0.990895, 20.339073, 51.548352)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053776 0.00204074 L 1.607646 1.682929 L 3.087831 0.00204074 L 1.607646 -1.684422 Z M 6.053776 0.00204074 " transform="matrix(0.700662, 0.700662, 0.700662, -0.700662, 107.596763, 26.451185)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052239 0.000746807 L 1.608897 1.684422 L 3.086294 0.000746807 L 1.608897 -1.682929 Z M 6.052239 0.000746807 " transform="matrix(-0.700662, -0.700662, -0.700662, 0.700662, 102.178598, 21.03302)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 114.804688 31.6875 C 114.804688 30.597656 113.921875 29.710938 112.832031 29.710938 C 111.742188 29.710938 110.859375 30.597656 110.859375 31.6875 C 110.859375 32.777344 111.742188 33.660156 112.832031 33.660156 C 113.921875 33.660156 114.804688 32.777344 114.804688 31.6875 Z M 114.804688 31.6875 "/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="174.061606" y="11.883807"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="176.804018" y="11.883807"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="183.870478" y="13.365195"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="188.29978" y="11.883807"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="196.505383" y="13.365195"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="200.933694" y="11.883807"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 170.080563 33.718633 C 170.080563 14.808177 147.582757 10.601911 128.033674 10.081548 " transform="matrix(0.990895, 0, 0, -0.990895, 20.339073, 51.548352)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052525 -0.00000760552 L 1.609188 1.6831 L 3.087597 -0.0015659 L 1.609018 -1.683959 Z M 6.052525 -0.00000760552 " transform="matrix(-0.990757, 0.0139716, 0.0139716, 0.990757, 150.027829, 41.5131)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="28.001666" y="20.31038"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="30.744078" y="20.31038"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="37.811529" y="21.791768"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="42.23984" y="20.31038"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="50.446434" y="21.791768"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="54.874745" y="20.31038"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 41.440577 34.014294 C 57.146072 34.014294 66.216941 29.118153 80.688545 28.207519 " transform="matrix(0.990895, 0, 0, -0.990895, 20.339073, 51.548352)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.055046 -0.00106914 L 1.607372 1.681432 L 3.088698 0.000304617 L 1.607752 -1.683255 Z M 6.055046 -0.00106914 " transform="matrix(0.990291, 0.0337796, 0.0337796, -0.990291, 97.488155, 23.489717)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 109.032548 -1.583251 L 69.792464 -15.865632 " transform="matrix(0.990895, 0, 0, -0.990895, 20.339073, 51.548352)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.052245 0.0023508 L 1.608588 1.682611 L 3.089032 -0.00150623 L 1.60896 -1.682072 Z M 6.052245 0.0023508 " transform="matrix(0.931124, -0.338896, -0.338896, -0.931124, 125.736498, 54.080615)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053324 -0.000935202 L 1.607337 1.684481 L 3.087748 0.000326407 L 1.609991 -1.685264 Z M 6.053324 -0.000935202 " transform="matrix(-0.931115, 0.338916, 0.338916, 0.931115, 92.140561, 66.308678)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="26.823492" y="96.148547"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="29.565904" y="96.148547"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="36.633355" y="97.629935"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="41.061666" y="96.148547"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-0" x="49.267269" y="97.629935"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="53.696571" y="96.148547"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-1" x="58.630543" y="96.148547"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="68.500461" y="96.148547"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-0" x="71.242873" y="96.148547"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="78.313381" y="97.629935"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-1" x="82.742683" y="96.148547"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-3-1" x="90.948286" y="97.629935"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-1-0" x="95.376597" y="96.148547"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 42.520724 -33.719594 C 42.520724 -19.673741 69.997455 -26.77354 76.194503 -17.497679 " transform="matrix(0.990895, 0, 0, -0.990895, 20.339073, 51.548352)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.055619 -0.000848272 L 1.609944 1.682068 L 3.089065 0.000944328 L 1.607721 -1.684761 Z M 6.055619 -0.000848272 " transform="matrix(0.291749, -0.946929, -0.946929, -0.291749, 94.880912, 71.59337)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -14.175166 0.00149065 L 193.792549 0.00149065 " transform="matrix(0.990895, 0, 0, -0.990895, 20.339073, 51.548352)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 215.554688 51.546875 L 211.148438 49.878906 L 212.617188 51.546875 L 211.148438 53.214844 Z M 215.554688 51.546875 "/>
<g clip-path="url(#clip-1)">
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053757 0.00149065 L 1.607021 1.684785 L 3.089266 0.00149065 L 1.607021 -1.681804 Z M 6.053757 0.00149065 " transform="matrix(0.990895, 0, 0, -0.990895, 209.556048, 51.548352)"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-0" x="201.519313" y="62.133095"/>
<use xlink:href="#glyph-4-1" x="208.786014" y="62.133095"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 0.000777342 -48.191199 L 0.000777342 43.554278 " transform="matrix(0.990895, 0, 0, -0.990895, 20.339073, 51.548352)"/>
<path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 6.053677 -0.000777342 L 1.60694 1.682517 L 3.089186 -0.000777342 L 1.60694 -1.684072 Z M 6.053677 -0.000777342 " transform="matrix(0, -0.990895, -0.990895, 0, 20.339073, 11.201684)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-4-2" x="4.764182" y="14.382844"/>
<use xlink:href="#glyph-4-3" x="8.328923" y="14.382844"/>
</g>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-dasharray="2.98883 2.98883" stroke-miterlimit="10" d="M 0.000777342 0.00149065 L 89.976232 45.895911 " transform="matrix(0.990895, 0, 0, -0.990895, 20.339073, 51.548352)"/>
<path fill="none" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-dasharray="2.98883 2.98883" stroke-miterlimit="10" d="M 28.348722 0.00149065 C 28.348722 4.641392 27.205501 9.210335 25.029439 13.306221 " transform="matrix(0.990895, 0, 0, -0.990895, 20.339073, 51.548352)"/>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-0-2" x="51.376885" y="47.328129"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-2-2" x="59.603133" y="47.328129"/>
</g>
<g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
<use xlink:href="#glyph-5-0" x="65.485251" y="48.808527"/>
<use xlink:href="#glyph-5-1" x="71.970573" y="48.808527"/>
<use xlink:href="#glyph-5-2" x="75.905301" y="48.808527"/>
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 30 KiB

BIN
figs/detail_control_weight_formula.pdf Normal file
View File

Binary file not shown.

BIN
figs/detail_control_weight_formula.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 64 KiB

BIN
figs/detail_control_weights_W1_W2.pdf Normal file
View File

Binary file not shown.

BIN
figs/detail_control_weights_W1_W2.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 48 KiB

239
matlab/detail_control_1_complementary_filtering.m Normal file
View File

@ -0,0 +1,239 @@
%% Clear Workspace and Close figures
clear; close all; clc;
%% Intialize Laplace variable
s = zpk('s');
%% Path for functions, data and scripts
addpath('./src/'); % Path for functions
%% Colors for the figures
colors = colororder;
%% Initialize Frequency Vector
freqs = logspace(-1, 3, 1000);
%% Weighting Function Design
% Parameters
n = 3; w0 = 2*pi*10; G0 = 1e-3; G1 = 1e1; Gc = 2;
% Formulas
W = (((1/w0)*sqrt((1-(G0/Gc)^(2/n))/(1-(Gc/G1)^(2/n)))*s + (G0/Gc)^(1/n))/((1/G1)^(1/n)*(1/w0)*sqrt((1-(G0/Gc)^(2/n))/(1-(Gc/G1)^(2/n)))*s + (1/Gc)^(1/n)))^n;
% Function generateWF can be used to easily design the weighting filters
% W = generateWF('n', 3, 'w0', 2*pi*10, 'G0', 1e-3, 'Ginf', 10, 'Gc', 2);
%% Magnitude of the weighting function with parameters
figure;
hold on;
plot(freqs, abs(squeeze(freqresp(W, freqs, 'Hz'))), 'k-');
plot([1e-3 1e0], [G0 G0], 'k--', 'LineWidth', 1)
text(1e0, G0, '$\quad G_0$')
plot([1e1 1e3], [G1 G1], 'k--', 'LineWidth', 1)
text(1e1,G1,'$G_{\infty}\quad$','HorizontalAlignment', 'right')
plot([w0/2/pi w0/2/pi], [1 2*Gc], 'k--', 'LineWidth', 1)
text(w0/2/pi,1,'$\omega_c$','VerticalAlignment', 'top', 'HorizontalAlignment', 'center')
plot([w0/2/pi/2 2*w0/2/pi], [Gc Gc], 'k--', 'LineWidth', 1)
text(w0/2/pi/2, Gc, '$G_c \quad$','HorizontalAlignment', 'right')
text(w0/5/pi/2, abs(evalfr(W, j*w0/5)), 'Slope: $n \quad$', 'HorizontalAlignment', 'right')
text(w0/2/pi, abs(evalfr(W, j*w0)), '$\bullet$', 'HorizontalAlignment', 'center')
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
xlabel('Frequency [Hz]'); ylabel('Magnitude');
hold off;
xlim([freqs(1), freqs(end)]);
ylim([5e-4, 20]);
yticks([1e-4, 1e-3, 1e-2, 1e-1, 1, 1e1]);
%% Synthesis of Complementary Filters using H-infinity synthesis
% Design of the Weighting Functions
W1 = generateWF('n', 3, 'w0', 2*pi*10, 'G0', 1000, 'Ginf', 1/10, 'Gc', 0.45);
W2 = generateWF('n', 2, 'w0', 2*pi*10, 'G0', 1/10, 'Ginf', 1000, 'Gc', 0.45);
% Generalized Plant
P = [W1 -W1;
0 W2;
1 0];
% H-Infinity Synthesis
[H2, ~, gamma, ~] = hinfsyn(P, 1, 1,'TOLGAM', 0.001, 'METHOD', 'ric', 'DISPLAY', 'on');
% Define H1 to be the complementary of H2
H1 = 1 - H2;
% The function generateCF can also be used to synthesize the complementary filters.
% [H1, H2] = generateCF(W1, W2);
%% Bode plot of the obtained complementary filters
figure;
tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None');
% Magnitude
ax1 = nexttile([2, 1]);
hold on;
set(gca,'ColorOrderIndex',1)
plot(freqs, 1./abs(squeeze(freqresp(W1, freqs, 'Hz'))), '--', 'DisplayName', '$|W_1|^{-1}$');
set(gca,'ColorOrderIndex',2)
plot(freqs, 1./abs(squeeze(freqresp(W2, freqs, 'Hz'))), '--', 'DisplayName', '$|W_2|^{-1}$');
set(gca,'ColorOrderIndex',1)
plot(freqs, abs(squeeze(freqresp(H1, freqs, 'Hz'))), '-', 'DisplayName', '$H_1$');
set(gca,'ColorOrderIndex',2)
plot(freqs, abs(squeeze(freqresp(H2, freqs, 'Hz'))), '-', 'DisplayName', '$H_2$');
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
set(gca, 'XTickLabel',[]); ylabel('Magnitude');
ylim([8e-4, 20]);
yticks([1e-3, 1e-2, 1e-1, 1, 1e1]);
yticklabels({'', '$10^{-2}$', '', '$10^0$', ''})
leg = legend('location', 'south', 'FontSize', 8, 'NumColumns', 2);
leg.ItemTokenSize(1) = 18;
% Phase
ax2 = nexttile;
hold on;
set(gca,'ColorOrderIndex',1)
plot(freqs, 180/pi*phase(squeeze(freqresp(H1, freqs, 'Hz'))), '-');
set(gca,'ColorOrderIndex',2)
plot(freqs, 180/pi*phase(squeeze(freqresp(H2, freqs, 'Hz'))), '-');
hold off;
set(gca, 'XScale', 'log');
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
yticks([-180:90:180]);
ylim([-180, 200])
yticklabels({'-180', '', '0', '', '180'})
linkaxes([ax1,ax2],'x');
xlim([freqs(1), freqs(end)]);
%% Design of "Closed-loop" complementary filters
% Design of the Weighting Functions
W1 = generateWF('n', 3, 'w0', 2*pi*10, 'G0', 1000, 'Ginf', 1/10, 'Gc', 0.45);
W2 = generateWF('n', 2, 'w0', 2*pi*10, 'G0', 1/10, 'Ginf', 1000, 'Gc', 0.45);
% Generalized plant for "closed-loop" complementary filter synthesis
P = [ W1 0 1;
-W1 W2 -1];
% Standard H-Infinity Synthesis
[L, ~, gamma, ~] = hinfsyn(P, 1, 1,'TOLGAM', 0.001, 'METHOD', 'ric', 'DISPLAY', 'on');
% Complementary filters
H1 = inv(1 + L);
H2 = 1 - H1;
%% Bode plot of the obtained complementary filters after H-infinity mixed-sensitivity synthesis
figure;
tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None');
% Magnitude
ax1 = nexttile([2, 1]);
hold on;
set(gca,'ColorOrderIndex',1)
plot(freqs, 1./abs(squeeze(freqresp(W1, freqs, 'Hz'))), '--', 'DisplayName', '$|W_1|^{-1}$');
set(gca,'ColorOrderIndex',2)
plot(freqs, 1./abs(squeeze(freqresp(W2, freqs, 'Hz'))), '--', 'DisplayName', '$|W_2|^{-1}$');
set(gca,'ColorOrderIndex',1)
plot(freqs, abs(squeeze(freqresp(H1, freqs, 'Hz'))), '-', 'DisplayName', '$H_1$');
set(gca,'ColorOrderIndex',2)
plot(freqs, abs(squeeze(freqresp(H2, freqs, 'Hz'))), '-', 'DisplayName', '$H_2$');
plot(freqs, abs(squeeze(freqresp(L, freqs, 'Hz'))), 'k--', 'DisplayName', '$|L|$');
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
set(gca, 'XTickLabel',[]); ylabel('Magnitude');
ylim([1e-3, 1e3]);
yticks([1e-3, 1e-2, 1e-1, 1, 1e1, 1e2, 1e3]);
yticklabels({'', '$10^{-2}$', '', '$10^0$', '', '$10^2$', ''});
leg = legend('location', 'northeast', 'FontSize', 8, 'NumColumns', 3);
leg.ItemTokenSize(1) = 18;
% Phase
ax2 = nexttile;
hold on;
set(gca,'ColorOrderIndex',1)
plot(freqs, 180/pi*phase(squeeze(freqresp(H1, freqs, 'Hz'))), '-');
set(gca,'ColorOrderIndex',2)
plot(freqs, 180/pi*phase(squeeze(freqresp(H2, freqs, 'Hz'))), '-');
hold off;
set(gca, 'XScale', 'log');
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
yticks([-180:90:180]);
ylim([-180, 200])
yticklabels({'-180', '', '0', '', '180'})
linkaxes([ax1,ax2],'x');
xlim([freqs(1), freqs(end)]);
%% Synthesis of a set of three complementary filters
% Design of the Weighting Functions
W1 = generateWF('n', 2, 'w0', 2*pi*1, 'G0', 1/10, 'Ginf', 1000, 'Gc', 0.5);
W2 = 0.22*(1 + s/2/pi/1)^2/(sqrt(1e-4) + s/2/pi/1)^2*(1 + s/2/pi/10)^2/(1 + s/2/pi/1000)^2;
W3 = generateWF('n', 3, 'w0', 2*pi*10, 'G0', 1000, 'Ginf', 1/10, 'Gc', 0.5);
% Generalized plant for the synthesis of 3 complementary filters
P = [W1 -W1 -W1;
0 W2 0 ;
0 0 W3;
1 0 0];
% Standard H-Infinity Synthesis
[H, ~, gamma, ~] = hinfsyn(P, 1, 2,'TOLGAM', 0.001, 'METHOD', 'ric', 'DISPLAY', 'on');
% Synthesized H2 and H3 filters
H2 = tf(H(1));
H3 = tf(H(2));
% H1 is defined as the complementary filter of H2 and H3
H1 = 1 - H2 - H3;
%% Bode plot of the inverse weighting functions and of the three complementary filters obtained using the H-infinity synthesis
figure;
tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None');
% Magnitude
ax1 = nexttile([2, 1]);
hold on;
set(gca,'ColorOrderIndex',1)
plot(freqs, 1./abs(squeeze(freqresp(W1, freqs, 'Hz'))), '--', 'DisplayName', '$|W_1|^{-1}$');
set(gca,'ColorOrderIndex',2)
plot(freqs, 1./abs(squeeze(freqresp(W2, freqs, 'Hz'))), '--', 'DisplayName', '$|W_2|^{-1}$');
set(gca,'ColorOrderIndex',3)
plot(freqs, 1./abs(squeeze(freqresp(W3, freqs, 'Hz'))), '--', 'DisplayName', '$|W_3|^{-1}$');
set(gca,'ColorOrderIndex',1)
plot(freqs, abs(squeeze(freqresp(H1, freqs, 'Hz'))), '-', 'DisplayName', '$H_1$');
set(gca,'ColorOrderIndex',2)
plot(freqs, abs(squeeze(freqresp(H2, freqs, 'Hz'))), '-', 'DisplayName', '$H_2$');
set(gca,'ColorOrderIndex',3)
plot(freqs, abs(squeeze(freqresp(H3, freqs, 'Hz'))), '-', 'DisplayName', '$H_3$');
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ylabel('Magnitude');
set(gca, 'XTickLabel',[]);
ylim([1e-4, 20]);
leg = legend('location', 'northeast', 'FontSize', 8);
leg.ItemTokenSize(1) = 18;
% Phase
ax2 = nexttile;
hold on;
set(gca,'ColorOrderIndex',1)
plot(freqs, 180/pi*phase(squeeze(freqresp(H1, freqs, 'Hz'))));
set(gca,'ColorOrderIndex',2)
plot(freqs, 180/pi*phase(squeeze(freqresp(H2, freqs, 'Hz'))));
set(gca,'ColorOrderIndex',3)
plot(freqs, 180/pi*phase(squeeze(freqresp(H3, freqs, 'Hz'))));
hold off;
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
set(gca, 'XScale', 'log');
yticks([-180:90:180]); ylim([-220, 220]);
linkaxes([ax1,ax2],'x');
xlim([freqs(1), freqs(end)]);

34
matlab/src/generateCF.m Normal file
View File

@ -0,0 +1,34 @@
function [H1, H2] = generateCF(W1, W2, args)
% generateCF -
%
% Syntax: [H1, H2] = generateCF(W1, W2, args)
%
% Inputs:
% - W1 - Weighting Function for H1
% - W2 - Weighting Function for H2
% - args:
% - method - H-Infinity solver ('lmi' or 'ric')
% - display - Display synthesis results ('on' or 'off')
%
% Outputs:
% - H1 - Generated H1 Filter
% - H2 - Generated H2 Filter
%% Argument validation
arguments
W1
W2
args.method char {mustBeMember(args.method,{'lmi', 'ric'})} = 'ric'
args.display char {mustBeMember(args.display,{'on', 'off'})} = 'on'
end
%% The generalized plant is defined
P = [W1 -W1;
0 W2;
1 0];
%% The standard H-infinity synthesis is performed
[H2, ~, gamma, ~] = hinfsyn(P, 1, 1,'TOLGAM', 0.001, 'METHOD', args.method, 'DISPLAY', args.display);
%% H1 is defined as the complementary of H2
H1 = 1 - H2;

43
matlab/src/generateWF.m Normal file
View File

@ -0,0 +1,43 @@
function [W] = generateWF(args)
% generateWF -
%
% Syntax: [W] = generateWeight(args)
%
% Inputs:
% - n - Weight Order (integer)
% - G0 - Low frequency Gain
% - G1 - High frequency Gain
% - Gc - Gain of the weight at frequency w0
% - w0 - Frequency at which |W(j w0)| = Gc [rad/s]
%
% Outputs:
% - W - Generated Weighting Function
%% Argument validation
arguments
args.n (1,1) double {mustBeInteger, mustBePositive} = 1
args.G0 (1,1) double {mustBeNumeric, mustBePositive} = 0.1
args.Ginf (1,1) double {mustBeNumeric, mustBePositive} = 10
args.Gc (1,1) double {mustBeNumeric, mustBePositive} = 1
args.w0 (1,1) double {mustBeNumeric, mustBePositive} = 1
end
% Verification of correct relation between G0, Gc and Ginf
mustBeBetween(args.G0, args.Gc, args.Ginf);
%% Initialize the Laplace variable
s = zpk('s');
%% Create the weighting function according to formula
W = (((1/args.w0)*sqrt((1-(args.G0/args.Gc)^(2/args.n))/(1-(args.Gc/args.Ginf)^(2/args.n)))*s + ...
(args.G0/args.Gc)^(1/args.n))/...
((1/args.Ginf)^(1/args.n)*(1/args.w0)*sqrt((1-(args.G0/args.Gc)^(2/args.n))/(1-(args.Gc/args.Ginf)^(2/args.n)))*s + ...
(1/args.Gc)^(1/args.n)))^args.n;
%% Custom validation function
function mustBeBetween(a,b,c)
if ~((a > b && b > c) || (c > b && b > a))
eid = 'createWeight:inputError';
msg = 'Gc should be between G0 and Ginf.';
throwAsCaller(MException(eid,msg))
end

426
nass-control.bib Normal file
View File

@ -0,0 +1,426 @@
@article{beijen14_two_sensor_contr_activ_vibrat,
author = {Michiel A. Beijen and Dirk Tjepkema and Johannes van Dijk},
title = {Two-Sensor Control in Active Vibration Isolation Using Hard
Mounts},
journal = {Control Engineering Practice},
volume = 26,
pages = {82-90},
year = 2014,
doi = {10.1016/j.conengprac.2013.12.015},
url = {https://doi.org/10.1016/j.conengprac.2013.12.015},
keywords = {complementary filters},
}
@article{yong16_high_speed_vertic_posit_stage,
author = "Yuen K. Yong and Andrew J. Fleming",
title = {High-Speed Vertical Positioning Stage With Integrated
Dual-Sensor Arrangement},
journal = "Sensors and Actuators A: Physical",
volume = 248,
pages = "184 - 192",
year = 2016,
doi = {10.1016/j.sna.2016.06.042},
url = {https://doi.org/https://doi.org/10.1016/j.sna.2016.06.042},
issn = "0924-4247",
keywords = {sesnsor fusion, complementary filters},
}
@article{bendat57_optim_filter_indep_measur_two,
author = {J. Bendat},
title = {Optimum Filters for Independent Measurements of Two Related
Perturbed Messages},
journal = {IRE Transactions on Circuit Theory},
year = 1957,
doi = {10.1109/tct.1957.1086345},
url = {https://doi.org/10.1109/tct.1957.1086345},
page = {--},
}
@article{shaw90_bandw_enhan_posit_measur_using_measur_accel,
author = {F.R. Shaw and K. Srinivasan},
title = {Bandwidth Enhancement of Position Measurements Using
Measured Acceleration},
journal = {Mechanical Systems and Signal Processing},
volume = 4,
number = 1,
pages = {23-38},
year = 1990,
doi = {10.1016/0888-3270(90)90038-m},
url = {https://doi.org/10.1016/0888-3270(90)90038-m},
keywords = {complementary filters},
}
@article{zimmermann92_high_bandw_orien_measur_contr,
author = {M. Zimmermann and W. Sulzer},
title = {High Bandwidth Orientation Measurement and Control Based on
Complementary Filtering},
journal = {Robot Control 1991},
pages = {525-530},
year = 1992,
doi = {10.1016/b978-0-08-041276-4.50093-5},
url = {https://doi.org/10.1016/b978-0-08-041276-4.50093-5},
keywords = {complementary filters},
publisher = {Elsevier},
series = {Robot Control 1991},
}
@article{min15_compl_filter_desig_angle_estim,
author = {Min, Hyung Gi and Jeung, Eun Tae},
title = {Complementary Filter Design for Angle Estimation Using Mems
Accelerometer and Gyroscope},
journal = {Department of Control and Instrumentation, Changwon
National University, Changwon, Korea},
pages = {641--773},
year = 2015,
keywords = {complementary filters},
}
@phdthesis{hua05_low_ligo,
author = {Hua, Wensheng},
school = {stanford university},
title = {Low frequency vibration isolation and alignment system for
advanced LIGO},
year = 2005,
}
@inproceedings{hua04_polyp_fir_compl_filter_contr_system,
author = {Wensheng Hua and Dan B. Debra and Corwin T. Hardham and
Brian T. Lantz and Joseph A. Giaime},
title = {Polyphase FIR Complementary Filters for Control Systems},
booktitle = {Proceedings of ASPE Spring Topical Meeting on Control of
Precision Systems},
year = 2004,
pages = {109--114},
keywords = {complementary filters},
}
@article{plummer06_optim_compl_filter_their_applic_motion_measur,
author = {A. R. Plummer},
title = {Optimal Complementary Filters and Their Application in
Motion Measurement},
journal = {Proceedings of the Institution of Mechanical Engineers,
Part I: Journal of Systems and Control Engineering},
volume = 220,
number = 6,
pages = {489-507},
year = 2006,
doi = {10.1243/09596518JSCE229},
url = {https://doi.org/10.1243/09596518JSCE229},
keywords = {complementary filters},
}
@book{robert12_introd_random_signal_applied_kalman,
author = {Robert Grover Brown, Patrick Y. C. Hwang},
title = {Introduction to Random Signals and Applied Kalman Filtering
with Matlab Exercises},
year = 2012,
publisher = {Wiley},
edition = 4,
isbn = {0470609699,9780470609699},
}
@article{collette15_sensor_fusion_method_high_perfor,
author = {C. Collette and F. Matichard},
title = {Sensor Fusion Methods for High Performance Active Vibration
Isolation Systems},
journal = {Journal of Sound and Vibration},
volume = 342,
pages = {1-21},
year = 2015,
doi = {10.1016/j.jsv.2015.01.006},
url = {https://doi.org/10.1016/j.jsv.2015.01.006},
keywords = {complementary filters},
}
@inproceedings{baerveldt97_low_cost_low_weigh_attit,
author = {A.-J. Baerveldt and R. Klang},
title = {A Low-Cost and Low-Weight Attitude Estimation System for an
Autonomous Helicopter},
booktitle = {Proceedings of IEEE International Conference on Intelligent
Engineering Systems},
year = 1997,
doi = {10.1109/ines.1997.632450},
url = {https://doi.org/10.1109/ines.1997.632450},
keywords = {complementary filters},
}
@article{corke04_inert_visual_sensin_system_small_auton_helic,
author = {Peter Corke},
title = {An Inertial and Visual Sensing System for a Small
Autonomous Helicopter},
journal = {Journal of Robotic Systems},
volume = 21,
number = 2,
pages = {43-51},
year = 2004,
doi = {10.1002/rob.10127},
url = {https://doi.org/10.1002/rob.10127},
}
@inproceedings{jensen13_basic_uas,
author = {Austin Jensen and Cal Coopmans and YangQuan Chen},
title = {Basics and guidelines of complementary filters for small
UAS navigation},
booktitle = {2013 International Conference on Unmanned Aircraft Systems
(ICUAS)},
year = 2013,
doi = {10.1109/icuas.2013.6564726},
url = {https://doi.org/10.1109/icuas.2013.6564726},
keywords = {complementary filters},
month = 5,
}
@inproceedings{pascoal99_navig_system_desig_using_time,
author = {A. Pascoal and I. Kaminer and P. Oliveira},
title = {Navigation System Design Using Time-Varying Complementary
Filters},
booktitle = {Guidance, Navigation, and Control Conference and Exhibit},
year = 1999,
doi = {10.2514/6.1999-4290},
url = {https://doi.org/10.2514/6.1999-4290},
keywords = {complementary filters},
}
@article{batista10_optim_posit_veloc_navig_filter_auton_vehic,
author = {Batista, Pedro and Silvestre, Carlos and Oliveira, Paulo},
title = {Optimal Position and Velocity Navigation Filters for
Autonomous Vehicles},
journal = {Automatica},
volume = 46,
number = 4,
pages = {767--774},
year = 2010,
publisher = {Elsevier},
}
@article{tjepkema12_sensor_fusion_activ_vibrat_isolat_precis_equip,
author = {D. Tjepkema and J. van Dijk and H.M.J.R. Soemers},
title = {Sensor Fusion for Active Vibration Isolation in Precision
Equipment},
journal = {Journal of Sound and Vibration},
volume = 331,
number = 4,
pages = {735-749},
year = 2012,
doi = {10.1016/j.jsv.2011.09.022},
url = {https://doi.org/10.1016/j.jsv.2011.09.022},
keywords = {complementary filters},
}
@phdthesis{heijningen18_low,
author = {van Heijningen, JV},
school = {Vrije Universiteit},
title = {Low-frequency performance improvement of seismic
attenuation systems and vibration sensors for next generation
gravitational wave detectors},
year = 2018,
}
@phdthesis{lucia18_low_frequen_optim_perfor_advan,
author = {Trozzo Lucia},
school = {University of Siena},
title = {Low Frequency Optimization and Performance of Advanced
Virgo Seismic Isolation System},
year = 2018,
}
@article{anderson53_instr_approac_system_steer_comput,
author = {Anderson, WG and Fritze, EH},
title = {Instrument Approach System Steering Computer},
journal = {Proceedings of the IRE},
volume = 41,
number = 2,
pages = {219--228},
year = 1953,
doi = {10.1109/JRPROC.1953.274209},
url = {https://doi.org/10.1109/JRPROC.1953.274209},
publisher = {IEEE},
}
@article{brown72_integ_navig_system_kalman_filter,
author = {R. G. Brown},
title = {Integrated Navigation Systems and Kalman Filtering: a
Perspective},
journal = {Navigation},
volume = 19,
number = 4,
pages = {355-362},
year = 1972,
doi = {10.1002/j.2161-4296.1972.tb01706.x},
url = {https://doi.org/10.1002/j.2161-4296.1972.tb01706.x},
keywords = {complementary filters},
}
@article{higgins75_compar_compl_kalman_filter,
author = {Higgins, Walter T},
title = {A Comparison of Complementary and Kalman Filtering},
journal = {IEEE Transactions on Aerospace and Electronic Systems},
number = 3,
pages = {321--325},
year = 1975,
keywords = {sensor fusion, complementary filters},
publisher = {IEEE},
}
@inproceedings{fonseca15_compl,
author = {da Fonseca Cardoso, Fernando Paulo Neves and Calado,
Jo{\~a}o Manuel Ferreira and Cardeira, Carlos Batista and
Oliveira, Paulo Jorge Coelho Ramalho and others},
title = {Complementary filter design with three frequency bands:
Robot attitude estimation},
booktitle = {2015 IEEE International Conference on Autonomous Robot
Systems and Competitions},
year = 2015,
pages = {168--173},
organization = {IEEE},
}
@article{moore19_capac_instr_sensor_fusion_high_bandw_nanop,
author = {Steven Ian Moore and Andrew J. Fleming and Yuen Kuan Yong},
title = {Capacitive Instrumentation and Sensor Fusion for
High-Bandwidth Nanopositioning},
journal = {IEEE Sensors Letters},
volume = 3,
number = 8,
pages = {1-3},
year = 2019,
doi = {10.1109/lsens.2019.2933065},
url = {https://doi.org/10.1109/lsens.2019.2933065},
keywords = {complementary filters},
}
@article{yeh05_model_contr_hydraul_actuat_two,
author = {T-J Yeh and C-Y Su and W-J Wang},
title = {Modelling and Control of a Hydraulically Actuated
Two-Degree-Of-Freedom Inertial Platform},
journal = {Proceedings of the Institution of Mechanical Engineers,
Part I: Journal of Systems and Control Engineering},
volume = 219,
number = 6,
pages = {405-417},
year = 2005,
doi = {10.1243/095965105x33527},
url = {https://doi.org/10.1243/095965105x33527},
}
@article{stoten01_fusion_kinet_data_using_compos_filter,
author = {Stoten, DP},
title = {Fusion of Kinetic Data Using Composite Filters},
journal = {Proceedings of the Institution of Mechanical Engineers,
Part I: Journal of Systems and Control Engineering},
volume = 215,
number = 5,
pages = {483--497},
year = 2001,
keywords = {sensor fusion, complementary filters},
publisher = {SAGE Publications Sage UK: London, England},
}
@article{matichard15_seism_isolat_advan_ligo,
author = {Matichard, F and Lantz, B and Mittleman, R and Mason, K and
Kissel, J and Abbott, B and Biscans, S and McIver, J and
Abbott, R and Abbott, S and others},
title = {Seismic Isolation of Advanced Ligo: Review of Strategy,
Instrumentation and Performance},
journal = {Classical and Quantum Gravity},
volume = 32,
number = 18,
pages = 185003,
year = 2015,
publisher = {IOP Publishing},
}
@inproceedings{dehaeze19_compl_filter_shapin_using_synth,
author = {Dehaeze, Thomas and Vermat, Mohit and Collette, Christophe},
title = {Complementary Filters Shaping Using $\mathcal{H}_\infty$
Synthesis},
booktitle = {7th International Conference on Control, Mechatronics and
Automation (ICCMA)},
year = 2019,
pages = {459-464},
doi = {10.1109/ICCMA46720.2019.8988642},
url = {https://doi.org/10.1109/ICCMA46720.2019.8988642},
keywords = {complementary filters, sensor fusion},
language = {english},
}
@book{skogestad07_multiv_feedb_contr,
author = {Skogestad, Sigurd and Postlethwaite, Ian},
title = {Multivariable Feedback Control: Analysis and Design -
Second Edition},
year = 2007,
publisher = {John Wiley},
isbn = 978-0470011683,
keywords = {favorite},
}
@inproceedings{mahony05_compl_filter_desig_special_orthog,
author = {R. Mahony and T. Hamel and J.-M. Pflimlin},
title = {Complementary Filter Design on the Special Orthogonal Group
SO(3)},
booktitle = {Proceedings of the 44th IEEE Conference on Decision and
Control},
year = 2005,
doi = {10.1109/cdc.2005.1582367},
url = {https://doi.org/10.1109/cdc.2005.1582367},
keywords = {complementary filters},
}

1955
nass-control.org
View File

File diff suppressed because it is too large Load Diff

BIN
nass-control.pdf Normal file
View File

Binary file not shown.

787
nass-control.tex Normal file
View File

@ -0,0 +1,787 @@
% Created 2025-04-03 Thu 15:24
% Intended LaTeX compiler: pdflatex
\documentclass[a4paper, 10pt, DIV=12, parskip=full, bibliography=totoc]{scrreprt}
\input{preamble.tex}
\input{preamble_extra.tex}
\bibliography{nass-control.bib}
\author{Dehaeze Thomas}
\date{\today}
\title{Control Optimization}
\usepackage{biblatex}
\begin{document}
\maketitle
\tableofcontents
\clearpage
When controlling a MIMO system (specifically parallel manipulator such as the Stewart platform?)
Several considerations:
\begin{itemize}
\item Section \ref{sec:detail_control_multiple_sensor}: How to most effectively use/combine multiple sensors
\item Section \ref{sec:detail_control_decoupling}: How to decouple a system
\item Section \ref{sec:detail_control_optimization}: How to design the controller
\end{itemize}
\chapter{Multiple Sensor Control}
\label{sec:detail_control_multiple_sensor}
\textbf{Look at what was done in the introduction \href{file:///home/thomas/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/A0-nass-introduction/nass-introduction.org}{Stewart platforms: Control architecture}}
Explain why multiple sensors are sometimes beneficial:
\begin{itemize}
\item collocated sensor that guarantee stability, but is still useful to damp modes outside the bandwidth of the controller using sensor measuring the performance objective
\item Review for Stewart platform => Table
\href{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/bibliography.org}{Multi Sensor Control}
Several sensors:
\begin{itemize}
\item force sensor, inertial, strain \ldots{}
\end{itemize}
Several architectures:
\begin{itemize}
\item Sensor fusion
\item Cascaded control
\item Two sensor control
\end{itemize}
\cite{beijen14_two_sensor_contr_activ_vibrat}
\cite{yong16_high_speed_vertic_posit_stage}
\end{itemize}
\begin{figure}[htbp]
\begin{subfigure}{0.48\textwidth}
\begin{center}
\includegraphics[scale=1,scale=1]{figs/detail_control_architecture_hac_lac.png}
\end{center}
\subcaption{\label{fig:detail_control_architecture_hac_lac} HAC-LAC}
\end{subfigure}
\begin{subfigure}{0.48\textwidth}
\begin{center}
\includegraphics[scale=1,scale=1]{figs/detail_control_architecture_two_sensor_control.png}
\end{center}
\subcaption{\label{fig:detail_control_architecture_two_sensor_control} Two Sensor Control}
\end{subfigure}
\bigskip
\begin{subfigure}{0.95\textwidth}
\begin{center}
\includegraphics[scale=1,scale=1]{figs/detail_control_architecture_sensor_fusion.png}
\end{center}
\subcaption{\label{fig:detail_control_architecture_sensor_fusion} Sensor Fusion}
\end{subfigure}
\caption{\label{fig:detail_control_control_multiple_sensors}Different control strategies when using multiple sensors. High Authority Control / Low Authority Control (\subref{fig:detail_control_architecture_hac_lac}). Sensor Fusion (\subref{fig:detail_control_architecture_sensor_fusion}). Two-Sensor Control (\subref{fig:detail_control_architecture_two_sensor_control})}
\end{figure}
Cascaded control / HAC-LAC Architecture was already discussed during the conceptual phase.
This is a very comprehensive approach that proved to give good performances.
On the other hand of the spectrum, the two sensor approach yields to more control design freedom.
But it is also more complex.
In this section, we wish to study if sensor fusion can be an option for multi-sensor control:
\begin{itemize}
\item may be used to optimize the noise characteristics
\item optimize the dynamical uncertainty
\end{itemize}
While there are different ways to fuse sensors:
\begin{itemize}
\item complementary filters
\item kalman filtering
\end{itemize}
The focus is made here on complementary filters, as they give a simple frequency analysis.
Measuring a physical quantity using sensors is always subject to several limitations.
First, the accuracy of the measurement is affected by several noise sources, such as electrical noise of the conditioning electronics being used.
Second, the frequency range in which the measurement is relevant is bounded by the bandwidth of the sensor.
One way to overcome these limitations is to combine several sensors using a technique called ``sensor fusion'' \cite{bendat57_optim_filter_indep_measur_two}.
Fortunately, a wide variety of sensors exists, each with different characteristics.
By carefully choosing the fused sensors, a so called ``super sensor'' is obtained that can combines benefits of the individual sensors.
In some situations, sensor fusion is used to increase the bandwidth of the measurement \cite{shaw90_bandw_enhan_posit_measur_using_measur_accel,zimmermann92_high_bandw_orien_measur_contr,min15_compl_filter_desig_angle_estim}.
For instance, in \cite{shaw90_bandw_enhan_posit_measur_using_measur_accel} the bandwidth of a position sensor is increased by fusing it with an accelerometer providing the high frequency motion information.
For other applications, sensor fusion is used to obtain an estimate of the measured quantity with lower noise \cite{hua05_low_ligo,hua04_polyp_fir_compl_filter_contr_system,plummer06_optim_compl_filter_their_applic_motion_measur,robert12_introd_random_signal_applied_kalman}.
More recently, the fusion of sensors measuring different physical quantities has been proposed to obtain interesting properties for control \cite{collette15_sensor_fusion_method_high_perfor,yong16_high_speed_vertic_posit_stage}.
In \cite{collette15_sensor_fusion_method_high_perfor}, an inertial sensor used for active vibration isolation is fused with a sensor collocated with the actuator for improving the stability margins of the feedback controller.
Practical applications of sensor fusion are numerous.
It is widely used for the attitude estimation of several autonomous vehicles such as unmanned aerial vehicle \cite{baerveldt97_low_cost_low_weigh_attit,corke04_inert_visual_sensin_system_small_auton_helic,jensen13_basic_uas} and underwater vehicles \cite{pascoal99_navig_system_desig_using_time,batista10_optim_posit_veloc_navig_filter_auton_vehic}.
Naturally, it is of great benefits for high performance positioning control as shown in \cite{shaw90_bandw_enhan_posit_measur_using_measur_accel,zimmermann92_high_bandw_orien_measur_contr,min15_compl_filter_desig_angle_estim,yong16_high_speed_vertic_posit_stage}.
Sensor fusion was also shown to be a key technology to improve the performance of active vibration isolation systems \cite{tjepkema12_sensor_fusion_activ_vibrat_isolat_precis_equip}.
Emblematic examples are the isolation stages of gravitational wave detectors \cite{collette15_sensor_fusion_method_high_perfor,heijningen18_low} such as the ones used at the LIGO \cite{hua05_low_ligo,hua04_polyp_fir_compl_filter_contr_system} and at the Virgo \cite{lucia18_low_frequen_optim_perfor_advan}.
There are mainly two ways to perform sensor fusion: either using a set of complementary filters \cite{anderson53_instr_approac_system_steer_comput} or using Kalman filtering \cite{brown72_integ_navig_system_kalman_filter}.
For sensor fusion applications, both methods are sharing many relationships \cite{brown72_integ_navig_system_kalman_filter,higgins75_compar_compl_kalman_filter,robert12_introd_random_signal_applied_kalman,fonseca15_compl}.
However, for Kalman filtering, assumptions must be made about the probabilistic character of the sensor noises \cite{robert12_introd_random_signal_applied_kalman} whereas it is not the case with complementary filters.
Furthermore, the advantages of complementary filters over Kalman filtering for sensor fusion are their general applicability, their low computational cost \cite{higgins75_compar_compl_kalman_filter}, and the fact that they are intuitive as their effects can be easily interpreted in the frequency domain.
A set of filters is said to be complementary if the sum of their transfer functions is equal to one at all frequencies.
In the early days of complementary filtering, analog circuits were employed to physically realize the filters \cite{anderson53_instr_approac_system_steer_comput}.
Analog complementary filters are still used today \cite{yong16_high_speed_vertic_posit_stage,moore19_capac_instr_sensor_fusion_high_bandw_nanop}, but most of the time they are now implemented digitally as it allows for much more flexibility.
Several design methods have been developed over the years to optimize complementary filters.
The easiest way to design complementary filters is to use analytical formulas.
Depending on the application, the formulas used are of first order \cite{corke04_inert_visual_sensin_system_small_auton_helic,yeh05_model_contr_hydraul_actuat_two,yong16_high_speed_vertic_posit_stage}, second order \cite{baerveldt97_low_cost_low_weigh_attit,stoten01_fusion_kinet_data_using_compos_filter,jensen13_basic_uas} or even higher orders \cite{shaw90_bandw_enhan_posit_measur_using_measur_accel,zimmermann92_high_bandw_orien_measur_contr,stoten01_fusion_kinet_data_using_compos_filter,collette15_sensor_fusion_method_high_perfor,matichard15_seism_isolat_advan_ligo}.
As the characteristics of the super sensor depends on the proper design of the complementary filters \cite{dehaeze19_compl_filter_shapin_using_synth}, several optimization techniques have been developed.
Some are based on the finding of optimal parameters of analytical formulas \cite{jensen13_basic_uas,min15_compl_filter_desig_angle_estim,fonseca15_compl}, while other are using convex optimization tools \cite{hua04_polyp_fir_compl_filter_contr_system,hua05_low_ligo} such as linear matrix inequalities \cite{pascoal99_navig_system_desig_using_time}.
As shown in \cite{plummer06_optim_compl_filter_their_applic_motion_measur}, the design of complementary filters can also be linked to the standard mixed-sensitivity control problem.
Therefore, all the powerful tools developed for the classical control theory can also be used for the design of complementary filters.
For instance, in \cite{jensen13_basic_uas} the two gains of a Proportional Integral (PI) controller are optimized to minimize the noise of the super sensor.
The common objective of all these complementary filters design methods is to obtain a super sensor that has desired characteristics, usually in terms of noise and dynamics.
Moreover, as reported in \cite{zimmermann92_high_bandw_orien_measur_contr,plummer06_optim_compl_filter_their_applic_motion_measur}, phase shifts and magnitude bumps of the super sensors dynamics can be observed if either the complementary filters are poorly designed or if the sensors are not well calibrated.
Hence, the robustness of the fusion is also of concern when designing the complementary filters.
Although many design methods of complementary filters have been proposed in the literature, no simple method that allows to specify the desired super sensor characteristic while ensuring good fusion robustness has been proposed.
Fortunately, both the robustness of the fusion and the super sensor characteristics can be linked to the magnitude of the complementary filters \cite{dehaeze19_compl_filter_shapin_using_synth}.
Based on that, this paper introduces a new way to design complementary filters using the \(\mathcal{H}_\infty\) synthesis which allows to shape the complementary filters' magnitude in an easy and intuitive way.
\section{Sensor Fusion and Complementary Filters Requirements}
\label{sec:detail_control_sensor_fusion_requirements}
Complementary filtering provides a framework for fusing signals from different sensors.
As the effectiveness of the fusion depends on the proper design of the complementary filters, they are expected to fulfill certain requirements.
These requirements are discussed in this section.
\subsection{Sensor Fusion Architecture}
\label{sec:detail_control_sensor_fusion}
A general sensor fusion architecture using complementary filters is shown in Fig. \ref{fig:detail_control_sensor_fusion_overview} where several sensors (here two) are measuring the same physical quantity \(x\).
The two sensors output signals \(\hat{x}_1\) and \(\hat{x}_2\) are estimates of \(x\).
These estimates are then filtered out by complementary filters and combined to form a new estimate \(\hat{x}\).
The resulting sensor, termed as super sensor, can have larger bandwidth and better noise characteristics in comparison to the individual sensors.
This means that the super sensor provides an estimate \(\hat{x}\) of \(x\) which can be more accurate over a larger frequency band than the outputs of the individual sensors.
\begin{figure}[htbp]
\centering
\includegraphics[scale=1]{figs/detail_control_sensor_fusion_overview.png}
\caption{\label{fig:detail_control_sensor_fusion_overview}Schematic of a sensor fusion architecture using complementary filters.}
\end{figure}
The complementary property of filters \(H_1(s)\) and \(H_2(s)\) implies that the sum of their transfer functions is equal to one.
That is, unity magnitude and zero phase at all frequencies.
Therefore, a pair of complementary filter needs to satisfy the following condition:
\begin{equation}\label{eq:detail_control_comp_filter}
H_1(s) + H_2(s) = 1
\end{equation}
It will soon become clear why the complementary property is important for the sensor fusion architecture.
\subsection{Sensor Models and Sensor Normalization}
\label{sec:detail_control_sensor_models}
In order to study such sensor fusion architecture, a model for the sensors is required.
Such model is shown in Fig. \ref{fig:detail_control_sensor_model} and consists of a linear time invariant (LTI) system \(G_i(s)\) representing the sensor dynamics and an input \(n_i\) representing the sensor noise.
The model input \(x\) is the measured physical quantity and its output \(\tilde{x}_i\) is the ``raw'' output of the sensor.
Before filtering the sensor outputs \(\tilde{x}_i\) by the complementary filters, the sensors are usually normalized to simplify the fusion.
This normalization consists of using an estimate \(\hat{G}_i(s)\) of the sensor dynamics \(G_i(s)\), and filtering the sensor output by the inverse of this estimate \(\hat{G}_i^{-1}(s)\) as shown in Fig. \ref{fig:detail_control_sensor_model_calibrated}.
It is here supposed that the sensor inverse \(\hat{G}_i^{-1}(s)\) is proper and stable.
This way, the units of the estimates \(\hat{x}_i\) are equal to the units of the physical quantity \(x\).
The sensor dynamics estimate \(\hat{G}_i(s)\) can be a simple gain or a more complex transfer function.
\begin{figure}[htbp]
\begin{subfigure}{0.48\textwidth}
\begin{center}
\includegraphics[scale=1,scale=1]{figs/detail_control_sensor_model.png}
\end{center}
\subcaption{\label{fig:detail_control_sensor_model}Basic sensor model consisting of a noise input $n_i$ and a linear time invariant transfer function $G_i(s)$}
\end{subfigure}
\begin{subfigure}{0.48\textwidth}
\begin{center}
\includegraphics[scale=1,scale=1]{figs/detail_control_sensor_model_calibrated.png}
\end{center}
\subcaption{\label{fig:detail_control_sensor_model_calibrated}Normalized sensors using the inverse of an estimate $\hat{G}}
\end{subfigure}
\caption{\label{fig:detail_control_sensor_models}Sensor models with and without normalization.}
\end{figure}
Two normalized sensors are then combined to form a super sensor as shown in Fig. \ref{fig:detail_control_fusion_super_sensor}.
The two sensors are measuring the same physical quantity \(x\) with dynamics \(G_1(s)\) and \(G_2(s)\), and with \emph{uncorrelated} noises \(n_1\) and \(n_2\).
The signals from both normalized sensors are fed into two complementary filters \(H_1(s)\) and \(H_2(s)\) and then combined to yield an estimate \(\hat{x}\) of \(x\).
The super sensor output is therefore equal to:
\begin{equation}\label{eq:detail_control_comp_filter_estimate}
\hat{x} = \Big( H_1(s) \hat{G}_1^{-1}(s) G_1(s) + H_2(s) \hat{G}_2^{-1}(s) G_2(s) \Big) x + H_1(s) \hat{G}_1^{-1}(s) G_1(s) n_1 + H_2(s) \hat{G}_2^{-1}(s) G_2(s) n_2
\end{equation}
\begin{figure}[htbp]
\centering
\includegraphics[scale=1]{figs/detail_control_fusion_super_sensor.png}
\caption{\label{fig:detail_control_fusion_super_sensor}Sensor fusion architecture with two normalized sensors.}
\end{figure}
\subsection{Noise Sensor Filtering}
\label{sec:detail_control_noise_filtering}
In this section, it is supposed that all the sensors are perfectly normalized, such that:
\begin{equation}\label{eq:detail_control_perfect_dynamics}
\frac{\hat{x}_i}{x} = \hat{G}_i(s) G_i(s) = 1
\end{equation}
The effect of a non-perfect normalization will be discussed in the next section.
Provided \eqref{eq:detail_control_perfect_dynamics} is verified, the super sensor output \(\hat{x}\) is then equal to:
\begin{equation}\label{eq:detail_control_estimate_perfect_dyn}
\hat{x} = x + H_1(s) n_1 + H_2(s) n_2
\end{equation}
From \eqref{eq:detail_control_estimate_perfect_dyn}, the complementary filters \(H_1(s)\) and \(H_2(s)\) are shown to only operate on the noise of the sensors.
Thus, this sensor fusion architecture permits to filter the noise of both sensors without introducing any distortion in the physical quantity to be measured.
This is why the two filters must be complementary.
The estimation error \(\delta x\), defined as the difference between the sensor output \(\hat{x}\) and the measured quantity \(x\), is computed for the super sensor \eqref{eq:detail_control_estimate_error}.
\begin{equation}\label{eq:detail_control_estimate_error}
\delta x \triangleq \hat{x} - x = H_1(s) n_1 + H_2(s) n_2
\end{equation}
As shown in \eqref{eq:detail_control_noise_filtering_psd}, the Power Spectral Density (PSD) of the estimation error \(\Phi_{\delta x}\) depends both on the norm of the two complementary filters and on the PSD of the noise sources \(\Phi_{n_1}\) and \(\Phi_{n_2}\).
\begin{equation}\label{eq:detail_control_noise_filtering_psd}
\Phi_{\delta x}(\omega) = \left|H_1(j\omega)\right|^2 \Phi_{n_1}(\omega) + \left|H_2(j\omega)\right|^2 \Phi_{n_2}(\omega)
\end{equation}
If the two sensors have identical noise characteristics, \(\Phi_{n_1}(\omega) = \Phi_{n_2}(\omega)\), a simple averaging (\(H_1(s) = H_2(s) = 0.5\)) is what would minimize the super sensor noise.
This is the simplest form of sensor fusion with complementary filters.
However, the two sensors have usually high noise levels over distinct frequency regions.
In such case, to lower the noise of the super sensor, the norm \(|H_1(j\omega)|\) has to be small when \(\Phi_{n_1}(\omega)\) is larger than \(\Phi_{n_2}(\omega)\) and the norm \(|H_2(j\omega)|\) has to be small when \(\Phi_{n_2}(\omega)\) is larger than \(\Phi_{n_1}(\omega)\).
Hence, by properly shaping the norm of the complementary filters, it is possible to reduce the noise of the super sensor.
\subsection{Sensor Fusion Robustness}
\label{sec:detail_control_fusion_robustness}
In practical systems the sensor normalization is not perfect and condition \eqref{eq:detail_control_perfect_dynamics} is not verified.
In order to study such imperfection, a multiplicative input uncertainty is added to the sensor dynamics (Fig. \ref{fig:detail_control_sensor_model_uncertainty}).
The nominal model is the estimated model used for the normalization \(\hat{G}_i(s)\), \(\Delta_i(s)\) is any stable transfer function satisfying \(|\Delta_i(j\omega)| \le 1,\ \forall\omega\), and \(w_i(s)\) is a weighting transfer function representing the magnitude of the uncertainty.
The weight \(w_i(s)\) is chosen such that the real sensor dynamics \(G_i(j\omega)\) is contained in the uncertain region represented by a circle in the complex plane, centered on \(1\) and with a radius equal to \(|w_i(j\omega)|\).
As the nominal sensor dynamics is taken as the normalized filter, the normalized sensor can be further simplified as shown in Fig. \ref{fig:detail_control_sensor_model_uncertainty_simplified}.
\begin{figure}[htbp]
\begin{subfigure}{0.58\textwidth}
\begin{center}
\includegraphics[scale=1,width=0.95\linewidth]{figs/detail_control_sensor_model_uncertainty.png}
\end{center}
\subcaption{\label{fig:detail_control_sensor_model_uncertainty}Sensor with multiplicative input uncertainty}
\end{subfigure}
\begin{subfigure}{0.38\textwidth}
\begin{center}
\includegraphics[scale=1,width=0.95\linewidth]{figs/detail_control_sensor_model_uncertainty_simplified.png}
\end{center}
\subcaption{\label{fig:detail_control_sensor_model_uncertainty_simplified}Simplified sensor model}
\end{subfigure}
\caption{\label{fig:detail_control_sensor_models_uncertainty}Sensor models with dynamical uncertainty}
\end{figure}
The sensor fusion architecture with the sensor models including dynamical uncertainty is shown in Fig. \ref{fig:detail_control_sensor_fusion_dynamic_uncertainty}.
\begin{figure}[htbp]
\centering
\includegraphics[scale=1]{figs/detail_control_sensor_fusion_dynamic_uncertainty.png}
\caption{\label{fig:detail_control_sensor_fusion_dynamic_uncertainty}Sensor fusion architecture with sensor dynamics uncertainty}
\end{figure}
The super sensor dynamics \eqref{eq:detail_control_super_sensor_dyn_uncertainty} is no longer equal to \(1\) and now depends on the sensor dynamical uncertainty weights \(w_i(s)\) as well as on the complementary filters \(H_i(s)\).
\begin{equation}\label{eq:detail_control_super_sensor_dyn_uncertainty}
\frac{\hat{x}}{x} = 1 + w_1(s) H_1(s) \Delta_1(s) + w_2(s) H_2(s) \Delta_2(s)
\end{equation}
The dynamical uncertainty of the super sensor can be graphically represented in the complex plane by a circle centered on \(1\) with a radius equal to \(|w_1(j\omega) H_1(j\omega)| + |w_2(j\omega) H_2(j\omega)|\) (Fig. \ref{fig:detail_control_uncertainty_set_super_sensor}).
\begin{figure}[htbp]
\centering
\includegraphics[scale=1]{figs/detail_control_uncertainty_set_super_sensor.png}
\caption{\label{fig:detail_control_uncertainty_set_super_sensor}Uncertainty region of the super sensor dynamics in the complex plane (grey circle). The contribution of both sensors 1 and 2 to the total uncertainty are represented respectively by a blue circle and a red circle. The frequency dependency \(\omega\) is here omitted.}
\end{figure}
The super sensor dynamical uncertainty, and hence the robustness of the fusion, clearly depends on the complementary filters' norm.
For instance, the phase \(\Delta\phi(\omega)\) added by the super sensor dynamics at frequency \(\omega\) is bounded by \(\Delta\phi_{\text{max}}(\omega)\) which can be found by drawing a tangent from the origin to the uncertainty circle of the super sensor (Fig. \ref{fig:detail_control_uncertainty_set_super_sensor}) and that is mathematically described by \eqref{eq:detail_control_max_phase_uncertainty}.
\begin{equation}\label{eq:detail_control_max_phase_uncertainty}
\Delta\phi_\text{max}(\omega) = \arcsin\big( |w_1(j\omega) H_1(j\omega)| + |w_2(j\omega) H_2(j\omega)| \big)
\end{equation}
As it is generally desired to limit the maximum phase added by the super sensor, \(H_1(s)\) and \(H_2(s)\) should be designed such that \(\Delta \phi\) is bounded to acceptable values.
Typically, the norm of the complementary filter \(|H_i(j\omega)|\) should be made small when \(|w_i(j\omega)|\) is large, i.e., at frequencies where the sensor dynamics is uncertain.
\section{Complementary Filters Shaping}
\label{sec:detail_control_hinf_method}
As shown in Section \ref{sec:detail_control_sensor_fusion_requirements}, the noise and robustness of the super sensor are a function of the complementary filters' norm.
Therefore, a synthesis method of complementary filters that allows to shape their norm would be of great use.
In this section, such synthesis is proposed by writing the synthesis objective as a standard \(\mathcal{H}_\infty\) optimization problem.
As weighting functions are used to represent the wanted complementary filters' shape during the synthesis, their proper design is discussed.
Finally, the synthesis method is validated on an simple example.
\subsection{Synthesis Objective}
\label{sec:detail_control_synthesis_objective}
The synthesis objective is to shape the norm of two filters \(H_1(s)\) and \(H_2(s)\) while ensuring their complementary property \eqref{eq:detail_control_comp_filter}.
This is equivalent as to finding proper and stable transfer functions \(H_1(s)\) and \(H_2(s)\) such that conditions \eqref{eq:detail_control_hinf_cond_complementarity}, \eqref{eq:detail_control_hinf_cond_h1} and \eqref{eq:detail_control_hinf_cond_h2} are satisfied.
\begin{subequations}\label{eq:detail_control_comp_filter_problem_form}
\begin{align}
& H_1(s) + H_2(s) = 1 \label{eq:detail_control_hinf_cond_complementarity} \\
& |H_1(j\omega)| \le \frac{1}{|W_1(j\omega)|} \quad \forall\omega \label{eq:detail_control_hinf_cond_h1} \\
& |H_2(j\omega)| \le \frac{1}{|W_2(j\omega)|} \quad \forall\omega \label{eq:detail_control_hinf_cond_h2}
\end{align}
\end{subequations}
\(W_1(s)\) and \(W_2(s)\) are two weighting transfer functions that are carefully chosen to specify the maximum wanted norm of the complementary filters during the synthesis.
\subsection{Shaping of Complementary Filters using \(\mathcal{H}_\infty\) synthesis}
\label{sec:detail_control_hinf_synthesis}
In this section, it is shown that the synthesis objective can be easily expressed as a standard \(\mathcal{H}_\infty\) optimization problem and therefore solved using convenient tools readily available.
Consider the generalized plant \(P(s)\) shown in Fig. \ref{fig:detail_control_h_infinity_robust_fusion_plant} and mathematically described by \eqref{eq:detail_control_generalized_plant}.
\begin{equation}\label{eq:detail_control_generalized_plant}
\begin{bmatrix} z_1 \\ z_2 \\ v \end{bmatrix} = P(s) \begin{bmatrix} w\\u \end{bmatrix}; \quad P(s) = \begin{bmatrix}W_1(s) & -W_1(s) \\ 0 & \phantom{+}W_2(s) \\ 1 & 0 \end{bmatrix}
\end{equation}
\begin{figure}[htbp]
\begin{subfigure}{0.49\textwidth}
\begin{center}
\includegraphics[scale=1,scale=1]{figs/detail_control_h_infinity_robust_fusion_plant.png}
\end{center}
\subcaption{\label{fig:detail_control_h_infinity_robust_fusion_plant}Generalized plant}
\end{subfigure}
\begin{subfigure}{0.49\textwidth}
\begin{center}
\includegraphics[scale=1,scale=1]{figs/detail_control_h_infinity_robust_fusion_fb.png}
\end{center}
\subcaption{\label{fig:detail_control_h_infinity_robust_fusion_fb}Generalized plant with the synthesized filter}
\end{subfigure}
\caption{\label{fig:detail_control_h_infinity_robust_fusion}Architecture for the \(\mathcal{H}_\infty\) synthesis of complementary filters}
\end{figure}
Applying the standard \(\mathcal{H}_\infty\) synthesis to the generalized plant \(P(s)\) is then equivalent as finding a stable filter \(H_2(s)\) which based on \(v\), generates a signal \(u\) such that the \(\mathcal{H}_\infty\) norm of the system in Fig. \ref{fig:detail_control_h_infinity_robust_fusion_fb} from \(w\) to \([z_1, \ z_2]\) is less than one \eqref{eq:detail_control_hinf_syn_obj}.
\begin{equation}\label{eq:detail_control_hinf_syn_obj}
\left\|\begin{matrix} \left(1 - H_2(s)\right) W_1(s) \\ H_2(s) W_2(s) \end{matrix}\right\|_\infty \le 1
\end{equation}
By then defining \(H_1(s)\) to be the complementary of \(H_2(s)\) \eqref{eq:detail_control_definition_H1}, the \(\mathcal{H}_\infty\) synthesis objective becomes equivalent to \eqref{eq:detail_control_hinf_problem} which ensures that \eqref{eq:detail_control_hinf_cond_h1} and \eqref{eq:detail_control_hinf_cond_h2} are satisfied.
\begin{equation}\label{eq:detail_control_definition_H1}
H_1(s) \triangleq 1 - H_2(s)
\end{equation}
\begin{equation}\label{eq:detail_control_hinf_problem}
\left\|\begin{matrix} H_1(s) W_1(s) \\ H_2(s) W_2(s) \end{matrix}\right\|_\infty \le 1
\end{equation}
Therefore, applying the \(\mathcal{H}_\infty\) synthesis to the standard plant \(P(s)\) \eqref{eq:detail_control_generalized_plant} will generate two filters \(H_2(s)\) and \(H_1(s) \triangleq 1 - H_2(s)\) that are complementary \eqref{eq:detail_control_comp_filter_problem_form} and such that there norms are bellow specified bounds \eqref{eq:detail_control_hinf_cond_h1}, \eqref{eq:detail_control_hinf_cond_h2}.
Note that there is only an implication between the \(\mathcal{H}_\infty\) norm condition \eqref{eq:detail_control_hinf_problem} and the initial synthesis objectives \eqref{eq:detail_control_hinf_cond_h1} and \eqref{eq:detail_control_hinf_cond_h2} and not an equivalence.
Hence, the optimization may be a little bit conservative with respect to the set of filters on which it is performed, see \cite[Chap. 2.8.3]{skogestad07_multiv_feedb_contr}.
In practice, this is however not an found to be an issue.
\subsection{Weighting Functions Design}
\label{sec:detail_control_hinf_weighting_func}
Weighting functions are used during the synthesis to specify the maximum allowed complementary filters' norm.
The proper design of these weighting functions is of primary importance for the success of the presented \(\mathcal{H}_\infty\) synthesis of complementary filters.
First, only proper and stable transfer functions should be used.
Second, the order of the weighting functions should stay reasonably small in order to reduce the computational costs associated with the solving of the optimization problem and for the physical implementation of the filters (the synthesized filters' order being equal to the sum of the weighting functions' order).
Third, one should not forget the fundamental limitations imposed by the complementary property \eqref{eq:detail_control_comp_filter}.
This implies for instance that \(|H_1(j\omega)|\) and \(|H_2(j\omega)|\) cannot be made small at the same frequency.
When designing complementary filters, it is usually desired to specify their slopes, their ``blending'' frequency and their maximum gains at low and high frequency.
To easily express these specifications, formula \eqref{eq:detail_control_weight_formula} is proposed to help with the design of weighting functions.
\begin{equation}\label{eq:detail_control_weight_formula}
W(s) = \left( \frac{
\hfill{} \frac{1}{\omega_c} \sqrt{\frac{1 - \left(\frac{G_0}{G_c}\right)^{\frac{2}{n}}}{1 - \left(\frac{G_c}{G_\infty}\right)^{\frac{2}{n}}}} s + \left(\frac{G_0}{G_c}\right)^{\frac{1}{n}}
}{
\left(\frac{1}{G_\infty}\right)^{\frac{1}{n}} \frac{1}{\omega_c} \sqrt{\frac{1 - \left(\frac{G_0}{G_c}\right)^{\frac{2}{n}}}{1 - \left(\frac{G_c}{G_\infty}\right)^{\frac{2}{n}}}} s + \left(\frac{1}{G_c}\right)^{\frac{1}{n}}
}\right)^n
\end{equation}
The parameters in formula \eqref{eq:detail_control_weight_formula} are:
\begin{itemize}
\item \(G_0 = \lim_{\omega \to 0} |W(j\omega)|\): the low frequency gain
\item \(G_\infty = \lim_{\omega \to \infty} |W(j\omega)|\): the high frequency gain
\item \(G_c = |W(j\omega_c)|\): the gain at a specific frequency \(\omega_c\) in \(\si{rad/s}\).
\item \(n\): the slope between high and low frequency. It also corresponds to the order of the weighting function.
\end{itemize}
The parameters \(G_0\), \(G_c\) and \(G_\infty\) should either satisfy \eqref{eq:detail_control_cond_formula_1} or \eqref{eq:detail_control_cond_formula_2}.
\begin{subequations}\label{eq:detail_control_condition_params_formula}
\begin{align}
G_0 < 1 < G_\infty \text{ and } G_0 < G_c < G_\infty \label{eq:detail_control_cond_formula_1}\\
G_\infty < 1 < G_0 \text{ and } G_\infty < G_c < G_0 \label{eq:detail_control_cond_formula_2}
\end{align}
\end{subequations}
The typical magnitude of a weighting function generated using \eqref{eq:detail_control_weight_formula} is shown in Fig. \ref{fig:detail_control_weight_formula}.
\begin{figure}[htbp]
\centering
\includegraphics[scale=1]{figs/detail_control_weight_formula.png}
\caption{\label{fig:detail_control_weight_formula}Magnitude of a weighting function generated using formula \eqref{eq:detail_control_weight_formula}, \(G_0 = 1e^{-3}\), \(G_\infty = 10\), \(\omega_c = \SI{10}{Hz}\), \(G_c = 2\), \(n = 3\).}
\end{figure}
\subsection{Validation of the proposed synthesis method}
\label{sec:detail_control_hinf_example}
The proposed methodology for the design of complementary filters is now applied on a simple example.
Let's suppose two complementary filters \(H_1(s)\) and \(H_2(s)\) have to be designed such that:
\begin{itemize}
\item the blending frequency is around \(\SI{10}{Hz}\).
\item the slope of \(|H_1(j\omega)|\) is \(+2\) below \(\SI{10}{Hz}\).
Its low frequency gain is \(10^{-3}\).
\item the slope of \(|H_2(j\omega)|\) is \(-3\) above \(\SI{10}{Hz}\).
Its high frequency gain is \(10^{-3}\).
\end{itemize}
The first step is to translate the above requirements by properly designing the weighting functions.
The proposed formula \eqref{eq:detail_control_weight_formula} is here used for such purpose.
Parameters used are summarized in Table \ref{tab:detail_control_weights_params}.
The inverse magnitudes of the designed weighting functions, which are representing the maximum allowed norms of the complementary filters, are shown by the dashed lines in Fig. \ref{fig:detail_control_weights_W1_W2}.
\begin{minipage}[b]{0.44\linewidth}
\begin{center}
\begin{tabularx}{0.7\linewidth}{ccc}
\toprule
Parameter & \(W_1(s)\) & \(W_2(s)\)\\
\midrule
\(G_0\) & \(0.1\) & \(1000\)\\
\(G_{\infty}\) & \(1000\) & \(0.1\)\\
\(\omega_c\) & \(2 \pi \cdot 10\) & \(2 \pi \cdot 10\)\\
\(G_c\) & \(0.45\) & \(0.45\)\\
\(n\) & \(2\) & \(3\)\\
\bottomrule
\end{tabularx}
\end{center}
\captionof{table}{\label{tab:detail_control_weights_params}Parameters for \(W_1(s)\) and \(W_2(s)\)}
\end{minipage}
\hfill
\begin{minipage}[b]{0.52\linewidth}
\begin{center}
\includegraphics[scale=1,scale=1]{figs/detail_control_weights_W1_W2.png}
\captionof{figure}{\label{fig:detail_control_weights_W1_W2}Inverse magnitude of the weights}
\end{center}
\end{minipage}
The standard \(\mathcal{H}_\infty\) synthesis is then applied to the generalized plant of Fig. \ref{fig:detail_control_h_infinity_robust_fusion_plant}.
The filter \(H_2(s)\) that minimizes the \(\mathcal{H}_\infty\) norm between \(w\) and \([z_1,\ z_2]^T\) is obtained.
The \(\mathcal{H}_\infty\) norm is here found to be close to one \eqref{eq:detail_control_hinf_synthesis_result} which indicates that the synthesis is successful: the complementary filters norms are below the maximum specified upper bounds.
This is confirmed by the bode plots of the obtained complementary filters in Fig. \ref{fig:detail_control_hinf_filters_results}.
\begin{equation}\label{eq:detail_control_hinf_synthesis_result}
\left\|\begin{matrix} \left(1 - H_2(s)\right) W_1(s) \\ H_2(s) W_2(s) \end{matrix}\right\|_\infty \approx 1
\end{equation}
The transfer functions in the Laplace domain of the complementary filters are given in \eqref{eq:detail_control_hinf_synthesis_result_tf}.
As expected, the obtained filters are of order \(5\), that is the sum of the weighting functions' order.
\begin{subequations}\label{eq:detail_control_hinf_synthesis_result_tf}
\begin{align}
H_2(s) &= \frac{(s+6.6e^4) (s+160) (s+4)^3}{(s+6.6e^4) (s^2 + 106 s + 3e^3) (s^2 + 72s + 3580)} \\
H_1(s) &\triangleq H_2(s) - 1 = \frac{10^{-8} (s+6.6e^9) (s+3450)^2 (s^2 + 49s + 895)}{(s+6.6e^4) (s^2 + 106 s + 3e^3) (s^2 + 72s + 3580)}
\end{align}
\end{subequations}
\begin{figure}[htbp]
\centering
\includegraphics[scale=1]{figs/detail_control_hinf_filters_results.png}
\caption{\label{fig:detail_control_hinf_filters_results}Bode plot of the obtained complementary filters}
\end{figure}
This simple example illustrates the fact that the proposed methodology for complementary filters shaping is easy to use and effective.
A more complex real life example is taken up in the next section.
\section{``Closed-Loop'' complementary filters}
\label{sec:detail_control_closed_loop_complementary_filters}
An alternative way to implement complementary filters is by using a fundamental property of the classical feedback architecture shown in Fig. \ref{fig:detail_control_feedback_sensor_fusion}.
This idea is discussed in \cite{mahony05_compl_filter_desig_special_orthog,plummer06_optim_compl_filter_their_applic_motion_measur,jensen13_basic_uas}.
\begin{figure}[htbp]
\centering
\includegraphics[scale=1]{figs/detail_control_feedback_sensor_fusion.png}
\caption{\label{fig:detail_control_feedback_sensor_fusion}``Closed-Loop'' complementary filters.}
\end{figure}
Consider the feedback architecture of Fig. \ref{fig:detail_control_feedback_sensor_fusion}, with two inputs \(\hat{x}_1\) and \(\hat{x}_2\), and one output \(\hat{x}\).
The output \(\hat{x}\) is linked to the inputs by \eqref{eq:detail_control_closed_loop_complementary_filters}.
\begin{equation}\label{eq:detail_control_closed_loop_complementary_filters}
\hat{x} = \underbrace{\frac{1}{1 + L(s)}}_{S(s)} \hat{x}_1 + \underbrace{\frac{L(s)}{1 + L(s)}}_{T(s)} \hat{x}_2
\end{equation}
As for any classical feedback architecture, we have that the sum of the sensitivity transfer function \(S(s)\) and complementary sensitivity transfer function \(T_(s)\) is equal to one \eqref{eq:detail_control_sensitivity_sum}.
\begin{equation}\label{eq:detail_control_sensitivity_sum}
S(s) + T(s) = 1
\end{equation}
Therefore, provided that the the closed-loop system in Fig. \ref{fig:detail_control_feedback_sensor_fusion} is stable, it can be used as a set of two complementary filters.
Two sensors can then be merged as shown in Fig. \ref{fig:detail_control_feedback_sensor_fusion_arch}.
\begin{figure}[htbp]
\centering
\includegraphics[scale=1]{figs/detail_control_feedback_sensor_fusion_arch.png}
\caption{\label{fig:detail_control_feedback_sensor_fusion_arch}Classical feedback architecture used for sensor fusion.}
\end{figure}
One of the main advantage of implementing and designing complementary filters using the feedback architecture of Fig. \ref{fig:detail_control_feedback_sensor_fusion} is that all the tools of the linear control theory can be applied for the design of the filters.
If one want to shape both \(\frac{\hat{x}}{\hat{x}_1}(s) = S(s)\) and \(\frac{\hat{x}}{\hat{x}_2}(s) = T(s)\), the \(\mathcal{H}_\infty\) mixed-sensitivity synthesis can be easily applied.
To do so, weighting functions \(W_1(s)\) and \(W_2(s)\) are added to respectively shape \(S(s)\) and \(T(s)\) (Fig. \ref{fig:detail_control_feedback_synthesis_architecture}).
Then the system is rearranged to form the generalized plant \(P_L(s)\) shown in Fig. \ref{fig:detail_control_feedback_synthesis_architecture_generalized_plant}.
The \(\mathcal{H}_\infty\) mixed-sensitivity synthesis can finally be performed by applying the standard \(\mathcal{H}_\infty\) synthesis to the generalized plant \(P_L(s)\) which is described by \eqref{eq:detail_control_generalized_plant_mixed_sensitivity}.
\begin{equation}\label{eq:detail_control_generalized_plant_mixed_sensitivity}
\begin{bmatrix} z \\ v \end{bmatrix} = P_L(s) \begin{bmatrix} w_1 \\ w_2 \\ u \end{bmatrix}; \quad P_L(s) = \begin{bmatrix}
\phantom{+}W_1(s) & 0 & \phantom{+}1 \\
-W_1(s) & W_2(s) & -1
\end{bmatrix}
\end{equation}
The output of the synthesis is a filter \(L(s)\) such that the ``closed-loop'' \(\mathcal{H}_\infty\) norm from \([w_1,\ w_2]\) to \(z\) of the system in Fig. \ref{fig:detail_control_feedback_sensor_fusion} is less than one \eqref{eq:detail_control_comp_filters_feedback_obj}.
\begin{equation}\label{eq:detail_control_comp_filters_feedback_obj}
\left\| \begin{matrix} \frac{z}{w_1} \\ \frac{z}{w_2} \end{matrix} \right\|_\infty = \left\| \begin{matrix} \frac{1}{1 + L(s)} W_1(s) \\ \frac{L(s)}{1 + L(s)} W_2(s) \end{matrix} \right\|_\infty \le 1
\end{equation}
If the synthesis is successful, the transfer functions from \(\hat{x}_1\) to \(\hat{x}\) and from \(\hat{x}_2\) to \(\hat{x}\) have their magnitude bounded by the inverse magnitude of the corresponding weighting functions.
The sensor fusion can then be implemented using the feedback architecture in Fig. \ref{fig:detail_control_feedback_sensor_fusion_arch} or more classically as shown in Fig. \ref{fig:detail_control_sensor_fusion_overview} by defining the two complementary filters using \eqref{eq:detail_control_comp_filters_feedback}.
The two architectures are equivalent regarding their inputs/outputs relationships.
\begin{equation}\label{eq:detail_control_comp_filters_feedback}
H_1(s) = \frac{1}{1 + L(s)}; \quad H_2(s) = \frac{L(s)}{1 + L(s)}
\end{equation}
\begin{figure}[htbp]
\begin{subfigure}{0.58\textwidth}
\begin{center}
\includegraphics[scale=1,scale=1]{figs/detail_control_feedback_synthesis_architecture.png}
\end{center}
\subcaption{\label{fig:detail_control_feedback_synthesis_architecture}Feedback architecture with included weights}
\end{subfigure}
\begin{subfigure}{0.38\textwidth}
\begin{center}
\includegraphics[scale=1,scale=1]{figs/detail_control_feedback_synthesis_architecture_generalized_plant.png}
\end{center}
\subcaption{\label{fig:detail_control_feedback_synthesis_architecture_generalized_plant}Generalized plant}
\end{subfigure}
\caption{\label{fig:detail_control_h_inf_mixed_sensitivity_synthesis}\(\mathcal{H}_\infty\) mixed-sensitivity synthesis}
\end{figure}
As an example, two ``closed-loop'' complementary filters are designed using the \(\mathcal{H}_\infty\) mixed-sensitivity synthesis.
The weighting functions are designed using formula \eqref{eq:detail_control_weight_formula} with parameters shown in Table \ref{tab:detail_control_weights_params}.
After synthesis, a filter \(L(s)\) is obtained whose magnitude is shown in Fig. \ref{fig:detail_control_hinf_filters_results_mixed_sensitivity} by the black dashed line.
The ``closed-loop'' complementary filters are compared with the inverse magnitude of the weighting functions in Fig. \ref{fig:detail_control_hinf_filters_results_mixed_sensitivity} confirming that the synthesis is successful.
The obtained ``closed-loop'' complementary filters are indeed equal to the ones obtained in Section \ref{sec:detail_control_hinf_example}.
\begin{figure}[htbp]
\centering
\includegraphics[scale=1]{figs/detail_control_hinf_filters_results_mixed_sensitivity.png}
\caption{\label{fig:detail_control_hinf_filters_results_mixed_sensitivity}Bode plot of the obtained complementary filters after \(\mathcal{H}_\infty\) mixed-sensitivity synthesis}
\end{figure}
\section{Synthesis of a set of three complementary filters}
\label{sec:detail_control_hinf_three_comp_filters}
Some applications may require to merge more than two sensors \cite{stoten01_fusion_kinet_data_using_compos_filter,fonseca15_compl}.
For instance at the LIGO, three sensors (an LVDT, a seismometer and a geophone) are merged to form a super sensor \cite{matichard15_seism_isolat_advan_ligo}.
When merging \(n>2\) sensors using complementary filters, two architectures can be used as shown in Fig. \ref{fig:detail_control_sensor_fusion_three}.
The fusion can either be done in a ``sequential'' way where \(n-1\) sets of two complementary filters are used (Fig. \ref{fig:detail_control_sensor_fusion_three_sequential}), or in a ``parallel'' way where one set of \(n\) complementary filters is used (Fig. \ref{fig:detail_control_sensor_fusion_three_parallel}).
In the first case, typical sensor fusion synthesis techniques can be used.
However, when a parallel architecture is used, a new synthesis method for a set of more than two complementary filters is required as only simple analytical formulas have been proposed in the literature \cite{stoten01_fusion_kinet_data_using_compos_filter,fonseca15_compl}.
A generalization of the proposed synthesis method of complementary filters is presented in this section.
\begin{figure}[htbp]
\begin{subfigure}{0.58\textwidth}
\begin{center}
\includegraphics[scale=1,scale=0.9]{figs/detail_control_sensor_fusion_three_sequential.png}
\end{center}
\subcaption{\label{fig:detail_control_sensor_fusion_three_sequential}Sequential fusion}
\end{subfigure}
\begin{subfigure}{0.38\textwidth}
\begin{center}
\includegraphics[scale=1,scale=0.9]{figs/detail_control_sensor_fusion_three_parallel.png}
\end{center}
\subcaption{\label{fig:detail_control_sensor_fusion_three_parallel}Parallel fusion}
\end{subfigure}
\caption{\label{fig:detail_control_sensor_fusion_three}Possible sensor fusion architecture when more than two sensors are to be merged}
\end{figure}
The synthesis objective is to compute a set of \(n\) stable transfer functions \([H_1(s),\ H_2(s),\ \dots,\ H_n(s)]\) such that conditions \eqref{eq:detail_control_hinf_cond_compl_gen} and \eqref{eq:detail_control_hinf_cond_perf_gen} are satisfied.
\begin{subequations}\label{eq:detail_control_hinf_problem_gen}
\begin{align}
& \sum_{i=1}^n H_i(s) = 1 \label{eq:detail_control_hinf_cond_compl_gen} \\
& \left| H_i(j\omega) \right| < \frac{1}{\left| W_i(j\omega) \right|}, \quad \forall \omega,\ i = 1 \dots n \label{eq:detail_control_hinf_cond_perf_gen}
\end{align}
\end{subequations}
\([W_1(s),\ W_2(s),\ \dots,\ W_n(s)]\) are weighting transfer functions that are chosen to specify the maximum complementary filters' norm during the synthesis.
Such synthesis objective is closely related to the one described in Section \ref{sec:detail_control_synthesis_objective}, and indeed the proposed synthesis method is a generalization of the one presented in Section \ref{sec:detail_control_hinf_synthesis}.
A set of \(n\) complementary filters can be shaped by applying the standard \(\mathcal{H}_\infty\) synthesis to the generalized plant \(P_n(s)\) described by \eqref{eq:detail_control_generalized_plant_n_filters}.
\begin{equation}\label{eq:detail_control_generalized_plant_n_filters}
\begin{bmatrix} z_1 \\ \vdots \\ z_n \\ v \end{bmatrix} = P_n(s) \begin{bmatrix} w \\ u_1 \\ \vdots \\ u_{n-1} \end{bmatrix}; \quad
P_n(s) = \begin{bmatrix}
W_1 & -W_1 & \dots & \dots & -W_1 \\
0 & W_2 & 0 & \dots & 0 \\
\vdots & \ddots & \ddots & \ddots & \vdots \\
\vdots & & \ddots & \ddots & 0 \\
0 & \dots & \dots & 0 & W_n \\
1 & 0 & \dots & \dots & 0
\end{bmatrix}
\end{equation}
If the synthesis if successful, a set of \(n-1\) filters \([H_2(s),\ H_3(s),\ \dots,\ H_n(s)]\) are obtained such that \eqref{eq:detail_control_hinf_syn_obj_gen} is verified.
\begin{equation}\label{eq:detail_control_hinf_syn_obj_gen}
\left\|\begin{matrix} \left(1 - \left[ H_2(s) + H_3(s) + \dots + H_n(s) \right]\right) W_1(s) \\ H_2(s) W_2(s) \\ \vdots \\ H_n(s) W_n(s) \end{matrix}\right\|_\infty \le 1
\end{equation}
\(H_1(s)\) is then defined using \eqref{eq:detail_control_h1_comp_h2_hn} which is ensuring the complementary property for the set of \(n\) filters \eqref{eq:detail_control_hinf_cond_compl_gen}.
Condition \eqref{eq:detail_control_hinf_cond_perf_gen} is satisfied thanks to \eqref{eq:detail_control_hinf_syn_obj_gen}.
\begin{equation}\label{eq:detail_control_h1_comp_h2_hn}
H_1(s) \triangleq 1 - \big[ H_2(s) + H_3(s) + \dots + H_n(s) \big]
\end{equation}
An example is given to validate the proposed method for the synthesis of a set of three complementary filters.
The sensors to be merged are a displacement sensor from DC up to \(\SI{1}{Hz}\), a geophone from \(1\) to \(\SI{10}{Hz}\) and an accelerometer above \(\SI{10}{Hz}\).
Three weighting functions are designed using formula \eqref{eq:detail_control_weight_formula} and their inverse magnitude are shown in Fig. \ref{fig:detail_control_three_complementary_filters_results} (dashed curves).
Consider the generalized plant \(P_3(s)\) shown in Fig. \ref{fig:detail_control_comp_filter_three_hinf_gen_plant} which is also described by \eqref{eq:detail_control_generalized_plant_three_filters}.
\begin{equation}\label{eq:detail_control_generalized_plant_three_filters}
\begin{bmatrix} z_1 \\ z_2 \\ z_3 \\ v \end{bmatrix} = P_3(s) \begin{bmatrix} w \\ u_1 \\ u_2 \end{bmatrix}; \quad P_3(s) = \begin{bmatrix}W_1(s) & -W_1(s) & -W_1(s) \\ 0 & \phantom{+}W_2(s) & 0 \\ 0 & 0 & \phantom{+}W_3(s) \\ 1 & 0 & 0 \end{bmatrix}
\end{equation}
\begin{figure}[htbp]
\begin{subfigure}{0.48\textwidth}
\begin{center}
\includegraphics[scale=1,scale=1]{figs/detail_control_comp_filter_three_hinf_gen_plant.png}
\end{center}
\subcaption{\label{fig:detail_control_comp_filter_three_hinf_gen_plant}Generalized plant}
\end{subfigure}
\begin{subfigure}{0.48\textwidth}
\begin{center}
\includegraphics[scale=1,scale=1]{figs/detail_control_comp_filter_three_hinf_fb.png}
\end{center}
\subcaption{\label{fig:detail_control_comp_filter_three_hinf_fb}Generalized plant with the synthesized filter}
\end{subfigure}
\caption{\label{fig:detail_control_comp_filter_three_hinf}Architecture for the \(\mathcal{H}_\infty\) synthesis of three complementary filters}
\end{figure}
The standard \(\mathcal{H}_\infty\) synthesis is performed on the generalized plant \(P_3(s)\).
Two filters \(H_2(s)\) and \(H_3(s)\) are obtained such that the \(\mathcal{H}_\infty\) norm of the closed-loop transfer from \(w\) to \([z_1,\ z_2,\ z_3]\) of the system in Fig. \ref{fig:detail_control_comp_filter_three_hinf_fb} is less than one.
Filter \(H_1(s)\) is defined using \eqref{eq:detail_control_h1_compl_h2_h3} thus ensuring the complementary property of the obtained set of filters.
\begin{equation}\label{eq:detail_control_h1_compl_h2_h3}
H_1(s) \triangleq 1 - \big[ H_2(s) + H_3(s) \big]
\end{equation}
Figure \ref{fig:detail_control_three_complementary_filters_results} displays the three synthesized complementary filters (solid lines) which confirms that the synthesis is successful.
\begin{figure}[htbp]
\centering
\includegraphics[scale=1]{figs/detail_control_three_complementary_filters_results.png}
\caption{\label{fig:detail_control_three_complementary_filters_results}Bode plot of the inverse weighting functions and of the three complementary filters obtained using the \(\mathcal{H}_\infty\) synthesis}
\end{figure}
\section*{Conclusion}
A new method for designing complementary filters using the \(\mathcal{H}_\infty\) synthesis has been proposed.
It allows to shape the magnitude of the filters by the use of weighting functions during the synthesis.
This is very valuable in practice as the characteristics of the super sensor are linked to the complementary filters' magnitude.
Therefore typical sensor fusion objectives can be translated into requirements on the magnitudes of the filters.
Several examples were used to emphasize the simplicity and the effectiveness of the proposed method.
However, the shaping of the complementary filters' magnitude does not allow to directly optimize the super sensor noise and dynamical characteristics.
Future work will aim at developing a complementary filter synthesis method that minimizes the super sensor noise while ensuring the robustness of the fusion.
\chapter{Decoupling Strategies}
\label{sec:detail_control_decoupling}
When dealing with MIMO systems, a typical strategy is to:
\begin{itemize}
\item first decouple the plant dynamics
\item apply SISO control for the decoupled plant
\end{itemize}
Assumptions:
\begin{itemize}
\item parallel manipulators
\end{itemize}
Review of decoupling strategies for Stewart platforms:
\begin{itemize}
\item \href{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/bibliography.org}{Decoupling Strategies}
\end{itemize}
\begin{itemize}
\item[{$\square$}] What example should be taken?
\textbf{3dof system}? stewart platform?
Maybe simpler.
\end{itemize}
\section{Interaction Analysis}
\section{Decentralized Control (actuator frame)}
\section{Center of Stiffness and center of Mass}
\begin{itemize}
\item Example
\item Show
\end{itemize}
\section{Modal Decoupling}
\section{Data Based Decoupling}
\begin{itemize}
\item Static decoupling
\item SVD
\end{itemize}
\section*{Conclusion}
Table that compares all the strategies.
\chapter{Closed-Loop Shaping using Complementary Filters}
\label{sec:detail_control_optimization}
Performance of a feedback control is dictated by closed-loop transfer functions.
For instance sensitivity, transmissibility, etc\ldots{} Gang of Four.
There are several ways to design a controller to obtain a given performance.
Decoupled Open-Loop Shaping:
\begin{itemize}
\item As shown in previous section, once the plant is decoupled: open loop shaping
\item Explain procedure when applying open-loop shaping
\item Lead, Lag, Notches, Check Stability, c2d, etc\ldots{}
\item But this is open-loop shaping, and it does not directly work on the closed loop transfer functions
\end{itemize}
Other strategy: Model Based Design:
\begin{itemize}
\item \href{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/bibliography.org}{Multivariable Control}
\item Talk about Caio's thesis?
\item Review of model based design (LQG, H-Infinity) applied to Stewart platform
\item Difficulty to specify robustness to change of payload mass
\end{itemize}
In this section, an alternative is proposed in which complementary filters are used for closed-loop shaping.
It is presented for a SISO system, but can be generalized to MIMO if decoupling is sufficient.
It will be experimentally demonstrated with the NASS.
\section*{Conclusion}
\chapter*{Conclusion}
\label{sec:detail_control_conclusion}
\printbibliography[heading=bibintoc,title={Bibliography}]
\end{document}