Add control kinematics block diagram

2025-02-12 15:40:46 +01:00 · 2025-02-12 15:40:46 +01:00 · c81cd4fbb6
commit c81cd4fbb6
parent 0bc6857290
14 changed files with 2372 additions and 80 deletions
--- a/figs/nass_concept_schematic.pdf
+++ b/figs/nass_concept_schematic.pdf
--- a/figs/nass_concept_schematic.png
+++ b/figs/nass_concept_schematic.png
--- a/figs/nass_concept_schematic.svg
+++ b/figs/nass_concept_schematic.svg
--- a/figs/nass_control_architecture.pdf
+++ b/figs/nass_control_architecture.pdf
--- a/figs/nass_control_architecture.png
+++ b/figs/nass_control_architecture.png
--- a/figs/nass_control_architecture.svg
+++ b/figs/nass_control_architecture.svg
@ -0,0 +1,592 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="488.983" height="202.876" viewBox="0 0 488.983 202.876">
 <defs>
 <g>
 <g id="glyph-0-0">
 <path d="M 6.203125 -4.953125 C 6.203125 -5.921875 5.21875 -6.796875 3.859375 -6.796875 L 0.34375 -6.796875 L 0.34375 -6.484375 L 0.59375 -6.484375 C 1.359375 -6.484375 1.375 -6.375 1.375 -6.015625 L 1.375 -0.78125 C 1.375 -0.421875 1.359375 -0.3125 0.59375 -0.3125 L 0.34375 -0.3125 L 0.34375 0 C 0.703125 -0.03125 1.4375 -0.03125 1.8125 -0.03125 C 2.1875 -0.03125 2.9375 -0.03125 3.28125 0 L 3.28125 -0.3125 L 3.046875 -0.3125 C 2.28125 -0.3125 2.265625 -0.421875 2.265625 -0.78125 L 2.265625 -3.140625 L 3.9375 -3.140625 C 5.140625 -3.140625 6.203125 -3.953125 6.203125 -4.953125 Z M 5.1875 -4.953125 C 5.1875 -4.484375 5.1875 -3.40625 3.609375 -3.40625 L 2.234375 -3.40625 L 2.234375 -6.09375 C 2.234375 -6.421875 2.25 -6.484375 2.71875 -6.484375 L 3.609375 -6.484375 C 5.1875 -6.484375 5.1875 -5.4375 5.1875 -4.953125 Z M 5.1875 -4.953125 "/>
 </g>
 <g id="glyph-0-1">
 <path d="M 2.53125 0 L 2.53125 -0.3125 C 1.875 -0.3125 1.765625 -0.3125 1.765625 -0.75 L 1.765625 -6.90625 L 0.328125 -6.796875 L 0.328125 -6.484375 C 1.03125 -6.484375 1.109375 -6.421875 1.109375 -5.9375 L 1.109375 -0.75 C 1.109375 -0.3125 1 -0.3125 0.328125 -0.3125 L 0.328125 0 L 1.4375 -0.03125 Z M 2.53125 0 "/>
 </g>
 <g id="glyph-0-2">
 <path d="M 4.8125 -0.890625 L 4.8125 -1.4375 L 4.5625 -1.4375 L 4.5625 -0.890625 C 4.5625 -0.3125 4.3125 -0.25 4.203125 -0.25 C 3.875 -0.25 3.828125 -0.703125 3.828125 -0.75 L 3.828125 -2.734375 C 3.828125 -3.15625 3.828125 -3.546875 3.46875 -3.90625 C 3.078125 -4.296875 2.59375 -4.453125 2.109375 -4.453125 C 1.296875 -4.453125 0.609375 -3.984375 0.609375 -3.328125 C 0.609375 -3.03125 0.8125 -2.859375 1.0625 -2.859375 C 1.34375 -2.859375 1.515625 -3.0625 1.515625 -3.328125 C 1.515625 -3.4375 1.46875 -3.765625 1.015625 -3.78125 C 1.28125 -4.125 1.765625 -4.234375 2.09375 -4.234375 C 2.578125 -4.234375 3.140625 -3.859375 3.140625 -2.96875 L 3.140625 -2.59375 C 2.640625 -2.5625 1.9375 -2.53125 1.3125 -2.234375 C 0.5625 -1.90625 0.3125 -1.390625 0.3125 -0.953125 C 0.3125 -0.140625 1.28125 0.109375 1.90625 0.109375 C 2.5625 0.109375 3.03125 -0.28125 3.21875 -0.75 C 3.25 -0.359375 3.515625 0.0625 3.984375 0.0625 C 4.203125 0.0625 4.8125 -0.078125 4.8125 -0.890625 Z M 3.140625 -1.390625 C 3.140625 -0.453125 2.421875 -0.109375 1.984375 -0.109375 C 1.5 -0.109375 1.078125 -0.453125 1.078125 -0.953125 C 1.078125 -1.5 1.5 -2.328125 3.140625 -2.390625 Z M 3.140625 -1.390625 "/>
 </g>
 <g id="glyph-0-3">
 <path d="M 5.328125 0 L 5.328125 -0.3125 C 4.8125 -0.3125 4.5625 -0.3125 4.546875 -0.609375 L 4.546875 -2.515625 C 4.546875 -3.359375 4.546875 -3.671875 4.234375 -4.03125 C 4.09375 -4.203125 3.765625 -4.40625 3.1875 -4.40625 C 2.46875 -4.40625 2 -3.96875 1.71875 -3.359375 L 1.71875 -4.40625 L 0.3125 -4.296875 L 0.3125 -3.984375 C 1.015625 -3.984375 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 2.5625 0 L 2.5625 -0.3125 C 1.890625 -0.3125 1.78125 -0.3125 1.78125 -0.75 L 1.78125 -2.59375 C 1.78125 -3.625 2.484375 -4.1875 3.125 -4.1875 C 3.75 -4.1875 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 5.328125 0 "/>
 </g>
 <g id="glyph-0-4">
 <path d="M 3.296875 -1.234375 L 3.296875 -1.796875 L 3.0625 -1.796875 L 3.0625 -1.25 C 3.0625 -0.515625 2.75 -0.140625 2.390625 -0.140625 C 1.71875 -0.140625 1.71875 -1.046875 1.71875 -1.21875 L 1.71875 -3.984375 L 3.140625 -3.984375 L 3.140625 -4.296875 L 1.71875 -4.296875 L 1.71875 -6.125 L 1.46875 -6.125 C 1.46875 -5.3125 1.171875 -4.234375 0.1875 -4.203125 L 0.1875 -3.984375 L 1.03125 -3.984375 L 1.03125 -1.234375 C 1.03125 -0.015625 1.953125 0.109375 2.3125 0.109375 C 3.03125 0.109375 3.296875 -0.59375 3.296875 -1.234375 Z M 3.296875 -1.234375 "/>
 </g>
 <g id="glyph-0-5">
 <path d="M 7.03125 -3.34375 C 7.03125 -5.234375 5.6875 -6.796875 3.984375 -6.796875 L 0.34375 -6.796875 L 0.34375 -6.484375 L 0.59375 -6.484375 C 1.359375 -6.484375 1.375 -6.375 1.375 -6.015625 L 1.375 -0.78125 C 1.375 -0.421875 1.359375 -0.3125 0.59375 -0.3125 L 0.34375 -0.3125 L 0.34375 0 L 3.984375 0 C 5.65625 0 7.03125 -1.46875 7.03125 -3.34375 Z M 6.046875 -3.34375 C 6.046875 -2.234375 5.859375 -1.640625 5.5 -1.15625 C 5.296875 -0.890625 4.734375 -0.3125 3.71875 -0.3125 L 2.71875 -0.3125 C 2.25 -0.3125 2.234375 -0.375 2.234375 -0.703125 L 2.234375 -6.09375 C 2.234375 -6.421875 2.25 -6.484375 2.71875 -6.484375 L 3.71875 -6.484375 C 4.328125 -6.484375 5.015625 -6.265625 5.53125 -5.5625 C 5.953125 -4.96875 6.046875 -4.125 6.046875 -3.34375 Z M 6.046875 -3.34375 "/>
 </g>
 <g id="glyph-0-6">
 <path d="M 8.09375 0 L 8.09375 -0.3125 C 7.578125 -0.3125 7.328125 -0.3125 7.3125 -0.609375 L 7.3125 -2.515625 C 7.3125 -3.359375 7.3125 -3.671875 7 -4.03125 C 6.875 -4.203125 6.546875 -4.40625 5.96875 -4.40625 C 5.125 -4.40625 4.6875 -3.796875 4.515625 -3.421875 C 4.375 -4.296875 3.640625 -4.40625 3.1875 -4.40625 C 2.46875 -4.40625 2 -3.96875 1.71875 -3.359375 L 1.71875 -4.40625 L 0.3125 -4.296875 L 0.3125 -3.984375 C 1.015625 -3.984375 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 2.5625 0 L 2.5625 -0.3125 C 1.890625 -0.3125 1.78125 -0.3125 1.78125 -0.75 L 1.78125 -2.59375 C 1.78125 -3.625 2.484375 -4.1875 3.125 -4.1875 C 3.75 -4.1875 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 L 5.328125 0 L 5.328125 -0.3125 C 4.65625 -0.3125 4.546875 -0.3125 4.546875 -0.75 L 4.546875 -2.59375 C 4.546875 -3.625 5.25 -4.1875 5.890625 -4.1875 C 6.515625 -4.1875 6.625 -3.640625 6.625 -3.078125 L 6.625 -0.75 C 6.625 -0.3125 6.515625 -0.3125 5.859375 -0.3125 L 5.859375 0 L 6.984375 -0.03125 Z M 8.09375 0 "/>
 </g>
 <g id="glyph-0-7">
 <path d="M 5.1875 -2.15625 C 5.1875 -3.40625 4.21875 -4.40625 3.109375 -4.40625 C 2.328125 -4.40625 1.90625 -3.96875 1.71875 -3.75 L 1.71875 -4.40625 L 0.28125 -4.296875 L 0.28125 -3.984375 C 0.984375 -3.984375 1.0625 -3.921875 1.0625 -3.484375 L 1.0625 1.171875 C 1.0625 1.625 0.953125 1.625 0.28125 1.625 L 0.28125 1.9375 L 1.390625 1.90625 L 2.515625 1.9375 L 2.515625 1.625 C 1.84375 1.625 1.734375 1.625 1.734375 1.171875 L 1.734375 -0.59375 C 1.796875 -0.421875 2.203125 0.109375 2.96875 0.109375 C 4.15625 0.109375 5.1875 -0.859375 5.1875 -2.15625 Z M 4.359375 -2.15625 C 4.359375 -0.953125 3.65625 -0.109375 2.921875 -0.109375 C 2.53125 -0.109375 2.15625 -0.3125 1.875 -0.71875 C 1.734375 -0.921875 1.734375 -0.9375 1.734375 -1.140625 L 1.734375 -3.359375 C 2.03125 -3.859375 2.515625 -4.15625 3.03125 -4.15625 C 3.75 -4.15625 4.359375 -3.28125 4.359375 -2.15625 Z M 4.359375 -2.15625 "/>
 </g>
 <g id="glyph-0-8">
 <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 3.875 -1.171875 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 -2.515625 C 4.125 -3.5 3.59375 -4.453125 2.34375 -4.453125 C 1.1875 -4.453125 0.28125 -3.4375 0.28125 -2.1875 C 0.28125 -0.859375 1.328125 0.109375 2.46875 0.109375 C 3.6875 0.109375 4.125 -1 4.125 -1.1875 Z M 3.46875 -2.515625 L 1.109375 -2.515625 C 1.171875 -3.984375 2.015625 -4.234375 2.34375 -4.234375 C 3.375 -4.234375 3.46875 -2.890625 3.46875 -2.515625 Z M 3.46875 -2.515625 "/>
 </g>
 <g id="glyph-0-9">
 <path d="M 5.25 0 L 5.25 -0.3125 C 4.546875 -0.3125 4.46875 -0.375 4.46875 -0.859375 L 4.46875 -6.90625 L 3.03125 -6.796875 L 3.03125 -6.484375 C 3.734375 -6.484375 3.8125 -6.421875 3.8125 -5.9375 L 3.8125 -3.78125 C 3.515625 -4.140625 3.09375 -4.40625 2.5625 -4.40625 C 1.390625 -4.40625 0.34375 -3.421875 0.34375 -2.140625 C 0.34375 -0.875 1.3125 0.109375 2.453125 0.109375 C 3.078125 0.109375 3.53125 -0.234375 3.78125 -0.546875 L 3.78125 0.109375 Z M 3.78125 -1.171875 C 3.78125 -1 3.78125 -0.96875 3.671875 -0.8125 C 3.375 -0.328125 2.921875 -0.109375 2.5 -0.109375 C 2.046875 -0.109375 1.6875 -0.375 1.453125 -0.75 C 1.1875 -1.15625 1.171875 -1.71875 1.171875 -2.125 C 1.171875 -2.5 1.1875 -3.09375 1.46875 -3.546875 C 1.6875 -3.859375 2.0625 -4.1875 2.59375 -4.1875 C 2.953125 -4.1875 3.359375 -4.03125 3.671875 -3.578125 C 3.78125 -3.40625 3.78125 -3.390625 3.78125 -3.21875 Z M 3.78125 -1.171875 "/>
 </g>
 <g id="glyph-0-10">
 <path d="M 8.75 0 L 8.75 -0.3125 L 8.515625 -0.3125 C 7.75 -0.3125 7.71875 -0.421875 7.71875 -0.78125 L 7.71875 -6.015625 C 7.71875 -6.375 7.75 -6.484375 8.515625 -6.484375 L 8.75 -6.484375 L 8.75 -6.796875 L 7.0625 -6.796875 C 6.8125 -6.796875 6.8125 -6.78125 6.734375 -6.609375 L 4.5625 -1 L 2.40625 -6.578125 C 2.3125 -6.796875 2.28125 -6.796875 2.046875 -6.796875 L 0.375 -6.796875 L 0.375 -6.484375 L 0.609375 -6.484375 C 1.375 -6.484375 1.390625 -6.375 1.390625 -6.015625 L 1.390625 -1.046875 C 1.390625 -0.78125 1.390625 -0.3125 0.375 -0.3125 L 0.375 0 L 1.53125 -0.03125 L 2.703125 0 L 2.703125 -0.3125 C 1.671875 -0.3125 1.671875 -0.78125 1.671875 -1.046875 L 1.671875 -6.40625 L 1.6875 -6.40625 L 4.078125 -0.21875 C 4.125 -0.09375 4.1875 0 4.28125 0 C 4.390625 0 4.421875 -0.078125 4.453125 -0.1875 L 6.90625 -6.484375 L 6.921875 -6.484375 L 6.921875 -0.78125 C 6.921875 -0.421875 6.890625 -0.3125 6.125 -0.3125 L 5.890625 -0.3125 L 5.890625 0 C 6.265625 -0.03125 6.9375 -0.03125 7.328125 -0.03125 C 7.71875 -0.03125 8.375 -0.03125 8.75 0 Z M 8.75 0 "/>
 </g>
 <g id="glyph-0-11">
 <path d="M 3.625 -3.796875 C 3.625 -4.109375 3.3125 -4.40625 2.890625 -4.40625 C 2.15625 -4.40625 1.796875 -3.734375 1.65625 -3.296875 L 1.65625 -4.40625 L 0.28125 -4.296875 L 0.28125 -3.984375 C 0.96875 -3.984375 1.0625 -3.90625 1.0625 -3.421875 L 1.0625 -0.75 C 1.0625 -0.3125 0.953125 -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 1.71875 -0.421875 1.71875 -0.78125 L 1.71875 -2.3125 C 1.71875 -3.296875 2.125 -4.1875 2.890625 -4.1875 C 2.953125 -4.1875 2.96875 -4.1875 3 -4.171875 C 2.96875 -4.15625 2.765625 -4.046875 2.765625 -3.78125 C 2.765625 -3.5 2.96875 -3.359375 3.1875 -3.359375 C 3.375 -3.359375 3.625 -3.46875 3.625 -3.796875 Z M 3.625 -3.796875 "/>
 </g>
 <g id="glyph-0-12">
 <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 2.484375 0.109375 C 3.6875 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 1.359375 -0.8125 C 1.109375 -1.25 1.109375 -1.84375 1.109375 -2.203125 C 1.109375 -2.59375 1.109375 -3.140625 1.34375 -3.578125 C 1.609375 -4.03125 2.078125 -4.234375 2.484375 -4.234375 C 2.921875 -4.234375 3.34375 -4.015625 3.609375 -3.59375 C 3.859375 -3.171875 3.859375 -2.59375 3.859375 -2.203125 Z M 3.859375 -2.203125 "/>
 </g>
 <g id="glyph-0-13">
 <path d="M 4.828125 -4.015625 C 4.828125 -4.1875 4.703125 -4.515625 4.3125 -4.515625 C 4.125 -4.515625 3.6875 -4.453125 3.265625 -4.046875 C 2.84375 -4.375 2.421875 -4.40625 2.203125 -4.40625 C 1.28125 -4.40625 0.59375 -3.71875 0.59375 -2.953125 C 0.59375 -2.515625 0.8125 -2.125 1.0625 -1.921875 C 0.9375 -1.765625 0.75 -1.4375 0.75 -1.09375 C 0.75 -0.78125 0.890625 -0.40625 1.1875 -0.203125 C 0.59375 -0.046875 0.28125 0.390625 0.28125 0.78125 C 0.28125 1.5 1.265625 2.046875 2.484375 2.046875 C 3.65625 2.046875 4.6875 1.546875 4.6875 0.765625 C 4.6875 0.421875 4.546875 -0.09375 4.046875 -0.375 C 3.515625 -0.640625 2.9375 -0.640625 2.328125 -0.640625 C 2.078125 -0.640625 1.65625 -0.640625 1.578125 -0.65625 C 1.265625 -0.703125 1.0625 -1 1.0625 -1.328125 C 1.0625 -1.359375 1.0625 -1.59375 1.21875 -1.796875 C 1.609375 -1.515625 2.015625 -1.484375 2.203125 -1.484375 C 3.140625 -1.484375 3.828125 -2.171875 3.828125 -2.9375 C 3.828125 -3.296875 3.65625 -3.671875 3.40625 -3.90625 C 3.765625 -4.234375 4.125 -4.296875 4.3125 -4.296875 C 4.3125 -4.296875 4.375 -4.296875 4.40625 -4.28125 C 4.296875 -4.234375 4.25 -4.125 4.25 -4.015625 C 4.25 -3.84375 4.375 -3.71875 4.53125 -3.71875 C 4.640625 -3.71875 4.828125 -3.796875 4.828125 -4.015625 Z M 3.078125 -2.953125 C 3.078125 -2.671875 3.0625 -2.359375 2.921875 -2.109375 C 2.84375 -1.984375 2.609375 -1.71875 2.203125 -1.71875 C 1.34375 -1.71875 1.34375 -2.703125 1.34375 -2.9375 C 1.34375 -3.203125 1.359375 -3.515625 1.5 -3.765625 C 1.578125 -3.890625 1.8125 -4.171875 2.203125 -4.171875 C 3.078125 -4.171875 3.078125 -3.171875 3.078125 -2.953125 Z M 4.171875 0.78125 C 4.171875 1.328125 3.46875 1.828125 2.484375 1.828125 C 1.484375 1.828125 0.796875 1.3125 0.796875 0.78125 C 0.796875 0.328125 1.171875 -0.046875 1.609375 -0.0625 L 2.203125 -0.0625 C 3.0625 -0.0625 4.171875 -0.0625 4.171875 0.78125 Z M 4.171875 0.78125 "/>
 </g>
 <g id="glyph-0-14">
 <path d="M 5.0625 -3.984375 L 5.0625 -4.296875 C 4.828125 -4.265625 4.53125 -4.265625 4.3125 -4.265625 L 3.4375 -4.296875 L 3.4375 -3.984375 C 3.75 -3.96875 3.90625 -3.796875 3.90625 -3.546875 C 3.90625 -3.453125 3.90625 -3.4375 3.859375 -3.3125 L 2.84375 -0.859375 L 1.734375 -3.546875 C 1.703125 -3.640625 1.6875 -3.6875 1.6875 -3.71875 C 1.6875 -3.984375 2.046875 -3.984375 2.234375 -3.984375 L 2.234375 -4.296875 L 1.15625 -4.265625 C 0.890625 -4.265625 0.484375 -4.265625 0.1875 -4.296875 L 0.1875 -3.984375 C 0.671875 -3.984375 0.859375 -3.984375 1 -3.640625 L 2.484375 0 L 2.234375 0.59375 C 2.015625 1.140625 1.734375 1.828125 1.109375 1.828125 C 1.0625 1.828125 0.828125 1.828125 0.640625 1.640625 C 0.953125 1.609375 1.03125 1.390625 1.03125 1.21875 C 1.03125 0.96875 0.84375 0.8125 0.609375 0.8125 C 0.40625 0.8125 0.1875 0.9375 0.1875 1.234375 C 0.1875 1.6875 0.609375 2.046875 1.109375 2.046875 C 1.734375 2.046875 2.140625 1.46875 2.375 0.90625 L 4.125 -3.34375 C 4.390625 -3.96875 4.890625 -3.984375 5.0625 -3.984375 Z M 5.0625 -3.984375 "/>
 </g>
 <g id="glyph-0-15">
 <path d="M 7.125 -6.484375 L 7.125 -6.796875 L 5.96875 -6.765625 L 4.796875 -6.796875 L 4.796875 -6.484375 C 5.828125 -6.484375 5.828125 -6.015625 5.828125 -5.75 L 5.828125 -1.5 L 2.3125 -6.671875 C 2.21875 -6.78125 2.203125 -6.796875 2.015625 -6.796875 L 0.328125 -6.796875 L 0.328125 -6.484375 L 0.609375 -6.484375 C 0.765625 -6.484375 0.96875 -6.484375 1.109375 -6.46875 C 1.34375 -6.4375 1.359375 -6.421875 1.359375 -6.234375 L 1.359375 -1.046875 C 1.359375 -0.78125 1.359375 -0.3125 0.328125 -0.3125 L 0.328125 0 L 1.5 -0.03125 L 2.65625 0 L 2.65625 -0.3125 C 1.625 -0.3125 1.625 -0.78125 1.625 -1.046875 L 1.625 -6.21875 C 1.6875 -6.171875 1.6875 -6.15625 1.734375 -6.09375 L 5.796875 -0.125 C 5.875 -0.015625 5.890625 0 5.96875 0 C 6.09375 0 6.09375 -0.0625 6.09375 -0.265625 L 6.09375 -5.75 C 6.09375 -6.015625 6.09375 -6.484375 7.125 -6.484375 Z M 7.125 -6.484375 "/>
 </g>
 <g id="glyph-0-16">
 <path d="M 7.125 0 L 7.125 -0.3125 L 6.890625 -0.3125 C 6.125 -0.3125 6.09375 -0.421875 6.09375 -0.78125 L 6.09375 -6.015625 C 6.09375 -6.375 6.125 -6.484375 6.890625 -6.484375 L 7.125 -6.484375 L 7.125 -6.796875 C 6.78125 -6.765625 6.046875 -6.765625 5.65625 -6.765625 C 5.28125 -6.765625 4.53125 -6.765625 4.1875 -6.796875 L 4.1875 -6.484375 L 4.421875 -6.484375 C 5.203125 -6.484375 5.21875 -6.375 5.21875 -6.015625 L 5.21875 -3.6875 L 2.234375 -3.6875 L 2.234375 -6.015625 C 2.234375 -6.375 2.265625 -6.484375 3.03125 -6.484375 L 3.265625 -6.484375 L 3.265625 -6.796875 C 2.921875 -6.765625 2.1875 -6.765625 1.796875 -6.765625 C 1.421875 -6.765625 0.671875 -6.765625 0.328125 -6.796875 L 0.328125 -6.484375 L 0.5625 -6.484375 C 1.328125 -6.484375 1.359375 -6.375 1.359375 -6.015625 L 1.359375 -0.78125 C 1.359375 -0.421875 1.328125 -0.3125 0.5625 -0.3125 L 0.328125 -0.3125 L 0.328125 0 C 0.671875 -0.03125 1.40625 -0.03125 1.796875 -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 2.234375 -0.421875 2.234375 -0.78125 L 2.234375 -3.390625 L 5.21875 -3.390625 L 5.21875 -0.78125 C 5.21875 -0.421875 5.203125 -0.3125 4.421875 -0.3125 L 4.1875 -0.3125 L 4.1875 0 C 4.53125 -0.03125 5.28125 -0.03125 5.65625 -0.03125 C 6.03125 -0.03125 6.78125 -0.03125 7.125 0 Z M 7.125 0 "/>
 </g>
 <g id="glyph-0-17">
 <path d="M 5.140625 0 L 5.140625 -0.3125 C 4.59375 -0.3125 4.421875 -0.328125 4.1875 -0.609375 L 2.859375 -2.34375 C 3.15625 -2.71875 3.53125 -3.203125 3.765625 -3.46875 C 4.078125 -3.828125 4.484375 -3.96875 4.953125 -3.984375 L 4.953125 -4.296875 C 4.703125 -4.265625 4.40625 -4.265625 4.140625 -4.265625 C 3.84375 -4.265625 3.3125 -4.28125 3.1875 -4.296875 L 3.1875 -3.984375 C 3.390625 -3.96875 3.46875 -3.828125 3.46875 -3.671875 C 3.46875 -3.515625 3.375 -3.390625 3.328125 -3.328125 L 2.703125 -2.546875 L 1.9375 -3.546875 C 1.84375 -3.65625 1.84375 -3.671875 1.84375 -3.734375 C 1.84375 -3.875 1.984375 -3.96875 2.1875 -3.984375 L 2.1875 -4.296875 L 1.109375 -4.265625 C 0.90625 -4.265625 0.4375 -4.265625 0.171875 -4.296875 L 0.171875 -3.984375 C 0.859375 -3.984375 0.875 -3.96875 1.34375 -3.375 L 2.328125 -2.09375 C 1.859375 -1.5 1.859375 -1.46875 1.390625 -0.90625 C 0.921875 -0.328125 0.328125 -0.3125 0.125 -0.3125 L 0.125 0 C 0.375 -0.015625 0.6875 -0.03125 0.953125 -0.03125 L 1.890625 0 L 1.890625 -0.3125 C 1.671875 -0.34375 1.609375 -0.46875 1.609375 -0.609375 C 1.609375 -0.84375 1.890625 -1.171875 2.5 -1.875 L 3.25 -0.890625 C 3.328125 -0.78125 3.46875 -0.609375 3.46875 -0.5625 C 3.46875 -0.46875 3.375 -0.3125 3.109375 -0.3125 L 3.109375 0 L 4.1875 -0.03125 C 4.453125 -0.03125 4.84375 -0.015625 5.140625 0 Z M 5.140625 0 "/>
 </g>
 <g id="glyph-0-18">
 <path d="M 2.453125 0 L 2.453125 -0.3125 C 1.796875 -0.3125 1.765625 -0.359375 1.765625 -0.75 L 1.765625 -4.40625 L 0.375 -4.296875 L 0.375 -3.984375 C 1.015625 -3.984375 1.109375 -3.921875 1.109375 -3.4375 L 1.109375 -0.75 C 1.109375 -0.3125 1 -0.3125 0.328125 -0.3125 L 0.328125 0 L 1.421875 -0.03125 C 1.765625 -0.03125 2.125 -0.015625 2.453125 0 Z M 1.90625 -6.015625 C 1.90625 -6.28125 1.6875 -6.546875 1.390625 -6.546875 C 1.046875 -6.546875 0.84375 -6.265625 0.84375 -6.015625 C 0.84375 -5.75 1.078125 -5.484375 1.375 -5.484375 C 1.71875 -5.484375 1.90625 -5.765625 1.90625 -6.015625 Z M 1.90625 -6.015625 "/>
 </g>
 <g id="glyph-0-19">
 <path d="M 4.125 -1.1875 C 4.125 -1.28125 4.03125 -1.28125 4 -1.28125 C 3.90625 -1.28125 3.890625 -1.25 3.875 -1.1875 C 3.578125 -0.265625 2.9375 -0.140625 2.5625 -0.140625 C 2.046875 -0.140625 1.171875 -0.5625 1.171875 -2.171875 C 1.171875 -3.796875 1.984375 -4.203125 2.515625 -4.203125 C 2.59375 -4.203125 3.21875 -4.203125 3.578125 -3.84375 C 3.171875 -3.8125 3.109375 -3.515625 3.109375 -3.390625 C 3.109375 -3.125 3.28125 -2.921875 3.5625 -2.921875 C 3.828125 -2.921875 4.015625 -3.09375 4.015625 -3.390625 C 4.015625 -4.078125 3.265625 -4.453125 2.5 -4.453125 C 1.25 -4.453125 0.34375 -3.390625 0.34375 -2.15625 C 0.34375 -0.875 1.328125 0.109375 2.484375 0.109375 C 3.8125 0.109375 4.125 -1.078125 4.125 -1.1875 Z M 4.125 -1.1875 "/>
 </g>
 <g id="glyph-0-20">
 <path d="M 4.96875 -1.84375 C 4.96875 -2.84375 4.3125 -3.65625 3.46875 -3.859375 L 2.203125 -4.171875 C 1.578125 -4.3125 1.1875 -4.859375 1.1875 -5.4375 C 1.1875 -6.125 1.734375 -6.734375 2.515625 -6.734375 C 4.171875 -6.734375 4.390625 -5.109375 4.453125 -4.65625 C 4.453125 -4.59375 4.453125 -4.53125 4.5625 -4.53125 C 4.703125 -4.53125 4.703125 -4.59375 4.703125 -4.78125 L 4.703125 -6.78125 C 4.703125 -6.953125 4.703125 -7.015625 4.59375 -7.015625 C 4.515625 -7.015625 4.515625 -7 4.4375 -6.890625 L 4.09375 -6.3125 C 3.796875 -6.609375 3.390625 -7.015625 2.5 -7.015625 C 1.390625 -7.015625 0.5625 -6.140625 0.5625 -5.09375 C 0.5625 -4.265625 1.078125 -3.53125 1.859375 -3.265625 C 1.96875 -3.21875 2.484375 -3.109375 3.171875 -2.9375 C 3.4375 -2.859375 3.75 -2.796875 4.015625 -2.421875 C 4.234375 -2.171875 4.328125 -1.84375 4.328125 -1.515625 C 4.328125 -0.8125 3.828125 -0.09375 3 -0.09375 C 2.703125 -0.09375 1.953125 -0.140625 1.421875 -0.625 C 0.84375 -1.171875 0.8125 -1.796875 0.8125 -2.15625 C 0.796875 -2.265625 0.71875 -2.265625 0.6875 -2.265625 C 0.5625 -2.265625 0.5625 -2.1875 0.5625 -2.015625 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 2.125 0.21875 3 0.21875 C 4.171875 0.21875 4.96875 -0.75 4.96875 -1.84375 Z M 4.96875 -1.84375 "/>
 </g>
 <g id="glyph-0-21">
 <path d="M 6.625 -2.3125 C 6.625 -2.421875 6.625 -2.484375 6.484375 -2.484375 C 6.375 -2.484375 6.375 -2.421875 6.375 -2.328125 C 6.296875 -0.90625 5.21875 -0.09375 4.140625 -0.09375 C 3.53125 -0.09375 1.578125 -0.421875 1.578125 -3.390625 C 1.578125 -6.375 3.515625 -6.703125 4.125 -6.703125 C 5.21875 -6.703125 6.09375 -5.796875 6.296875 -4.34375 C 6.3125 -4.203125 6.3125 -4.1875 6.453125 -4.1875 C 6.625 -4.1875 6.625 -4.203125 6.625 -4.421875 L 6.625 -6.78125 C 6.625 -6.953125 6.625 -7.015625 6.515625 -7.015625 C 6.46875 -7.015625 6.421875 -7.015625 6.34375 -6.890625 L 5.859375 -6.15625 C 5.484375 -6.515625 4.96875 -7.015625 4.015625 -7.015625 C 2.15625 -7.015625 0.5625 -5.4375 0.5625 -3.40625 C 0.5625 -1.34375 2.171875 0.21875 4.015625 0.21875 C 5.640625 0.21875 6.625 -1.171875 6.625 -2.3125 Z M 6.625 -2.3125 "/>
 </g>
 <g id="glyph-0-22">
 <path d="M 5.328125 0 L 5.328125 -0.3125 C 4.625 -0.3125 4.546875 -0.375 4.546875 -0.859375 L 4.546875 -4.40625 L 3.078125 -4.296875 L 3.078125 -3.984375 C 3.78125 -3.984375 3.859375 -3.90625 3.859375 -3.421875 L 3.859375 -1.65625 C 3.859375 -0.78125 3.390625 -0.109375 2.65625 -0.109375 C 1.828125 -0.109375 1.78125 -0.578125 1.78125 -1.09375 L 1.78125 -4.40625 L 0.3125 -4.296875 L 0.3125 -3.984375 C 1.09375 -3.984375 1.09375 -3.953125 1.09375 -3.0625 L 1.09375 -1.578125 C 1.09375 -0.796875 1.09375 0.109375 2.609375 0.109375 C 3.171875 0.109375 3.609375 -0.171875 3.890625 -0.78125 L 3.890625 0.109375 Z M 5.328125 0 "/>
 </g>
 <g id="glyph-0-23">
 <path d="M 7.28125 -0.875 C 7.28125 -0.9375 7.28125 -1.046875 7.15625 -1.046875 C 7.046875 -1.046875 7.046875 -0.953125 7.03125 -0.890625 C 6.984375 -0.171875 6.625 0 6.375 0 C 5.890625 0 5.8125 -0.5 5.671875 -1.4375 L 5.546875 -2.234375 C 5.359375 -2.859375 4.875 -3.1875 4.328125 -3.390625 C 5.296875 -3.625 6.078125 -4.234375 6.078125 -5 C 6.078125 -5.96875 4.9375 -6.796875 3.46875 -6.796875 L 0.34375 -6.796875 L 0.34375 -6.484375 L 0.59375 -6.484375 C 1.359375 -6.484375 1.375 -6.375 1.375 -6.015625 L 1.375 -0.78125 C 1.375 -0.421875 1.359375 -0.3125 0.59375 -0.3125 L 0.34375 -0.3125 L 0.34375 0 C 0.703125 -0.03125 1.40625 -0.03125 1.796875 -0.03125 C 2.1875 -0.03125 2.890625 -0.03125 3.25 0 L 3.25 -0.3125 L 3.015625 -0.3125 C 2.25 -0.3125 2.234375 -0.421875 2.234375 -0.78125 L 2.234375 -3.296875 L 3.375 -3.296875 C 3.53125 -3.296875 3.953125 -3.296875 4.296875 -2.953125 C 4.671875 -2.59375 4.671875 -2.296875 4.671875 -1.625 C 4.671875 -0.96875 4.671875 -0.578125 5.09375 -0.203125 C 5.5 0.15625 6.046875 0.21875 6.34375 0.21875 C 7.109375 0.21875 7.28125 -0.59375 7.28125 -0.875 Z M 5.046875 -5 C 5.046875 -4.3125 4.8125 -3.515625 3.328125 -3.515625 L 2.234375 -3.515625 L 2.234375 -6.09375 C 2.234375 -6.3125 2.234375 -6.4375 2.453125 -6.46875 C 2.546875 -6.484375 2.84375 -6.484375 3.03125 -6.484375 C 3.9375 -6.484375 5.046875 -6.453125 5.046875 -5 Z M 5.046875 -5 "/>
 </g>
 <g id="glyph-0-24">
 <path d="M 3.546875 -6.3125 C 3.546875 -6.6875 3.1875 -7.015625 2.65625 -7.015625 C 1.953125 -7.015625 1.109375 -6.484375 1.109375 -5.4375 L 1.109375 -4.296875 L 0.328125 -4.296875 L 0.328125 -3.984375 L 1.109375 -3.984375 L 1.109375 -0.75 C 1.109375 -0.3125 1 -0.3125 0.34375 -0.3125 L 0.34375 0 L 1.46875 -0.03125 C 1.875 -0.03125 2.34375 -0.03125 2.734375 0 L 2.734375 -0.3125 L 2.53125 -0.3125 C 1.796875 -0.3125 1.765625 -0.421875 1.765625 -0.78125 L 1.765625 -3.984375 L 2.90625 -3.984375 L 2.90625 -4.296875 L 1.734375 -4.296875 L 1.734375 -5.4375 C 1.734375 -6.3125 2.21875 -6.796875 2.65625 -6.796875 C 2.6875 -6.796875 2.84375 -6.796875 2.984375 -6.734375 C 2.859375 -6.6875 2.6875 -6.5625 2.6875 -6.3125 C 2.6875 -6.078125 2.84375 -5.875 3.109375 -5.875 C 3.40625 -5.875 3.546875 -6.078125 3.546875 -6.3125 Z M 3.546875 -6.3125 "/>
 </g>
 <g id="glyph-0-25">
 <path d="M 3.578125 -1.28125 C 3.578125 -1.796875 3.28125 -2.09375 3.171875 -2.21875 C 2.84375 -2.53125 2.453125 -2.625 2.03125 -2.703125 C 1.46875 -2.8125 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 -3.03125 3.328125 -3.21875 L 3.328125 -4.21875 C 3.328125 -4.390625 3.328125 -4.453125 3.21875 -4.453125 C 3.171875 -4.453125 3.15625 -4.453125 3.03125 -4.34375 C 3 -4.296875 2.890625 -4.203125 2.859375 -4.1875 C 2.484375 -4.453125 2.0625 -4.453125 1.921875 -4.453125 C 0.703125 -4.453125 0.328125 -3.796875 0.328125 -3.234375 C 0.328125 -2.890625 0.484375 -2.609375 0.75 -2.390625 C 1.078125 -2.125 1.359375 -2.0625 2.0625 -1.9375 C 2.296875 -1.890625 3.109375 -1.734375 3.109375 -1.015625 C 3.109375 -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 -1.28125 Z M 3.578125 -1.28125 "/>
 </g>
 <g id="glyph-0-26">
 <path d="M 6.484375 -2.5625 L 6.234375 -2.5625 C 5.984375 -1.03125 5.765625 -0.3125 4.046875 -0.3125 L 2.734375 -0.3125 C 2.265625 -0.3125 2.234375 -0.375 2.234375 -0.703125 L 2.234375 -3.359375 L 3.140625 -3.359375 C 4.09375 -3.359375 4.203125 -3.046875 4.203125 -2.203125 L 4.453125 -2.203125 L 4.453125 -4.84375 L 4.203125 -4.84375 C 4.203125 -3.984375 4.09375 -3.671875 3.140625 -3.671875 L 2.234375 -3.671875 L 2.234375 -6.0625 C 2.234375 -6.390625 2.265625 -6.453125 2.734375 -6.453125 L 4.015625 -6.453125 C 5.53125 -6.453125 5.796875 -5.90625 5.96875 -4.53125 L 6.203125 -4.53125 L 5.9375 -6.765625 L 0.328125 -6.765625 L 0.328125 -6.453125 L 0.5625 -6.453125 C 1.328125 -6.453125 1.359375 -6.34375 1.359375 -5.984375 L 1.359375 -0.78125 C 1.359375 -0.421875 1.328125 -0.3125 0.5625 -0.3125 L 0.328125 -0.3125 L 0.328125 0 L 6.078125 0 Z M 6.484375 -2.5625 "/>
 </g>
 <g id="glyph-1-0">
 <path d="M 5.984375 -6.171875 C 6.03125 -6.3125 6.046875 -6.328125 6.109375 -6.34375 C 6.234375 -6.359375 6.375 -6.359375 6.484375 -6.359375 C 6.75 -6.359375 6.90625 -6.359375 6.90625 -6.65625 C 6.90625 -6.671875 6.890625 -6.828125 6.703125 -6.828125 C 6.5 -6.828125 6.28125 -6.8125 6.078125 -6.8125 C 5.859375 -6.8125 5.609375 -6.796875 5.390625 -6.796875 C 5 -6.796875 4.046875 -6.828125 3.65625 -6.828125 C 3.53125 -6.828125 3.359375 -6.828125 3.359375 -6.546875 C 3.359375 -6.359375 3.515625 -6.359375 3.6875 -6.359375 L 4.046875 -6.359375 C 4.421875 -6.359375 4.453125 -6.359375 4.6875 -6.328125 L 3.484375 -1.5 C 3.234375 -0.484375 2.609375 -0.1875 2.15625 -0.1875 C 2.0625 -0.1875 1.625 -0.203125 1.328125 -0.421875 C 1.875 -0.5625 2.046875 -1.03125 2.046875 -1.296875 C 2.046875 -1.625 1.78125 -1.859375 1.4375 -1.859375 C 1.046875 -1.859375 0.5625 -1.546875 0.5625 -0.921875 C 0.5625 -0.234375 1.25 0.171875 2.203125 0.171875 C 3.3125 0.171875 4.515625 -0.28125 4.8125 -1.453125 Z M 5.984375 -6.171875 "/>
 </g>
 <g id="glyph-1-1">
 <path d="M 5.75 -3.75 C 5.796875 -3.9375 5.796875 -3.953125 5.796875 -3.984375 C 5.796875 -4.203125 5.640625 -4.421875 5.328125 -4.421875 C 4.8125 -4.421875 4.6875 -3.953125 4.625 -3.6875 L 4.359375 -2.640625 C 4.234375 -2.171875 4.046875 -1.40625 3.9375 -1 C 3.890625 -0.78125 3.578125 -0.53125 3.546875 -0.515625 C 3.4375 -0.453125 3.203125 -0.28125 2.875 -0.28125 C 2.296875 -0.28125 2.28125 -0.78125 2.28125 -1 C 2.28125 -1.609375 2.59375 -2.390625 2.859375 -3.109375 C 2.96875 -3.359375 3 -3.4375 3 -3.609375 C 3 -4.1875 2.421875 -4.5 1.875 -4.5 C 0.8125 -4.5 0.3125 -3.140625 0.3125 -2.953125 C 0.3125 -2.8125 0.46875 -2.8125 0.5625 -2.8125 C 0.671875 -2.8125 0.75 -2.8125 0.78125 -2.9375 C 1.109375 -4.046875 1.65625 -4.140625 1.8125 -4.140625 C 1.875 -4.140625 1.984375 -4.140625 1.984375 -3.9375 C 1.984375 -3.703125 1.875 -3.4375 1.8125 -3.28125 C 1.421875 -2.296875 1.21875 -1.71875 1.21875 -1.21875 C 1.21875 -0.078125 2.203125 0.078125 2.796875 0.078125 C 3.046875 0.078125 3.390625 0.046875 3.75 -0.21875 C 3.46875 1 2.734375 1.65625 2.046875 1.65625 C 1.90625 1.65625 1.625 1.625 1.4375 1.515625 C 1.75 1.390625 1.90625 1.109375 1.90625 0.84375 C 1.90625 0.484375 1.625 0.390625 1.421875 0.390625 C 1.0625 0.390625 0.703125 0.703125 0.703125 1.140625 C 0.703125 1.65625 1.234375 2.015625 2.046875 2.015625 C 3.1875 2.015625 4.5 1.25 4.8125 0.015625 Z M 5.75 -3.75 "/>
 </g>
 <g id="glyph-1-2">
 <path d="M 4.421875 -4 C 3.875 -3.890625 3.8125 -3.40625 3.8125 -3.296875 C 3.8125 -3.078125 3.984375 -2.84375 4.3125 -2.84375 C 4.640625 -2.84375 5.03125 -3.125 5.03125 -3.640625 C 5.03125 -4.09375 4.671875 -4.5 4.046875 -4.5 C 3.5 -4.5 3.03125 -4.21875 2.734375 -3.90625 C 2.484375 -4.359375 1.921875 -4.5 1.5625 -4.5 C 1.1875 -4.5 0.921875 -4.296875 0.703125 -3.9375 C 0.453125 -3.546875 0.3125 -3 0.3125 -2.953125 C 0.3125 -2.8125 0.46875 -2.8125 0.5625 -2.8125 C 0.671875 -2.8125 0.703125 -2.8125 0.75 -2.859375 C 0.78125 -2.875 0.78125 -2.890625 0.84375 -3.140625 C 1.03125 -3.90625 1.25 -4.140625 1.515625 -4.140625 C 1.65625 -4.140625 1.734375 -4.046875 1.734375 -3.78125 C 1.734375 -3.609375 1.71875 -3.5 1.609375 -3.03125 C 1.546875 -2.859375 1.390625 -2.203125 1.328125 -1.953125 C 1.28125 -1.765625 1.171875 -1.3125 1.125 -1.140625 C 1.0625 -0.875 0.953125 -0.421875 0.953125 -0.359375 C 0.953125 -0.15625 1.109375 0.078125 1.40625 0.078125 C 1.609375 0.078125 1.953125 -0.046875 2.0625 -0.453125 C 2.078125 -0.484375 2.75 -3.1875 2.765625 -3.25 C 2.8125 -3.390625 2.8125 -3.40625 2.9375 -3.5625 C 3.171875 -3.859375 3.53125 -4.140625 4.03125 -4.140625 C 4.28125 -4.140625 4.390625 -4.03125 4.421875 -4 Z M 4.421875 -4 "/>
 </g>
 <g id="glyph-1-3">
 <path d="M 3.578125 -2.125 C 3.71875 -2.125 3.96875 -2.125 3.96875 -2.375 C 3.96875 -2.59375 3.765625 -2.59375 3.578125 -2.59375 L 1.875 -2.59375 C 2.046875 -3.203125 2.40625 -3.953125 3.59375 -3.953125 L 4.015625 -3.953125 C 4.15625 -3.953125 4.421875 -3.953125 4.421875 -4.203125 C 4.421875 -4.296875 4.375 -4.40625 4.21875 -4.421875 L 3.796875 -4.421875 C 3.265625 -4.421875 2.203125 -4.421875 1.34375 -3.640625 C 0.875 -3.21875 0.5 -2.5625 0.5 -1.78125 C 0.5 -0.421875 1.640625 0.078125 2.8125 0.078125 C 2.953125 0.078125 3.28125 0.078125 3.75 -0.09375 C 3.78125 -0.09375 4.34375 -0.3125 4.34375 -0.46875 C 4.34375 -0.578125 4.28125 -0.765625 4.15625 -0.765625 C 4.109375 -0.765625 4.09375 -0.765625 3.984375 -0.703125 C 3.390625 -0.34375 3.078125 -0.28125 2.84375 -0.28125 C 2.59375 -0.28125 1.65625 -0.328125 1.65625 -1.359375 C 1.65625 -1.625 1.703125 -1.875 1.765625 -2.125 Z M 3.578125 -2.125 "/>
 </g>
 <g id="glyph-1-4">
 <path d="M 4.265625 -3.953125 L 5.4375 -3.953125 C 5.625 -3.953125 5.796875 -3.953125 5.796875 -4.234375 C 5.796875 -4.421875 5.640625 -4.421875 5.46875 -4.421875 L 4.34375 -4.421875 L 4.671875 -6.21875 C 4.703125 -6.40625 4.703125 -6.421875 4.8125 -6.515625 C 4.9375 -6.625 5.046875 -6.625 5.09375 -6.625 C 5.234375 -6.625 5.328125 -6.609375 5.4375 -6.5625 C 5.203125 -6.4375 5.03125 -6.1875 5.03125 -5.90625 C 5.03125 -5.609375 5.265625 -5.453125 5.515625 -5.453125 C 5.921875 -5.453125 6.234375 -5.8125 6.234375 -6.1875 C 6.234375 -6.703125 5.71875 -6.984375 5.09375 -6.984375 C 4.625 -6.984375 4.078125 -6.796875 3.71875 -6.234375 C 3.5 -5.875 3.4375 -5.484375 3.25 -4.421875 L 2.265625 -4.421875 C 2.078125 -4.421875 1.90625 -4.421875 1.90625 -4.125 C 1.90625 -3.953125 2.078125 -3.953125 2.234375 -3.953125 L 3.15625 -3.953125 L 2.40625 0.28125 C 2.375 0.375 2.265625 1 2.21875 1.140625 C 2.203125 1.1875 2.046875 1.65625 1.71875 1.65625 C 1.53125 1.65625 1.453125 1.625 1.390625 1.59375 C 1.625 1.46875 1.828125 1.21875 1.828125 0.9375 C 1.828125 0.640625 1.578125 0.484375 1.328125 0.484375 C 0.921875 0.484375 0.609375 0.84375 0.609375 1.21875 C 0.609375 1.75 1.1875 2.015625 1.703125 2.015625 C 2.453125 2.015625 2.96875 1.28125 3.046875 1.140625 C 3.46875 0.484375 3.703125 -0.78125 3.734375 -0.953125 Z M 4.265625 -3.953125 "/>
 </g>
 <g id="glyph-1-5">
 <path d="M 5.859375 -4.1875 C 6.53125 -4.640625 8.34375 -5.9375 8.703125 -6.109375 C 8.921875 -6.234375 9.140625 -6.34375 9.640625 -6.359375 C 9.828125 -6.375 9.984375 -6.375 9.984375 -6.65625 C 9.984375 -6.734375 9.90625 -6.828125 9.796875 -6.828125 C 9.5625 -6.828125 9.265625 -6.796875 9 -6.796875 C 8.59375 -6.796875 8.171875 -6.828125 7.765625 -6.828125 C 7.6875 -6.828125 7.484375 -6.828125 7.484375 -6.546875 C 7.484375 -6.359375 7.65625 -6.359375 7.71875 -6.359375 C 7.796875 -6.359375 8.015625 -6.34375 8.1875 -6.296875 L 3.640625 -3.15625 L 4.421875 -6.3125 C 4.640625 -6.359375 5 -6.359375 5.109375 -6.359375 C 5.234375 -6.359375 5.4375 -6.359375 5.46875 -6.390625 C 5.578125 -6.453125 5.578125 -6.640625 5.578125 -6.65625 C 5.578125 -6.78125 5.484375 -6.828125 5.359375 -6.828125 C 5.109375 -6.828125 4.859375 -6.8125 4.609375 -6.8125 C 4.359375 -6.8125 4.109375 -6.796875 3.859375 -6.796875 C 3.609375 -6.796875 3.34375 -6.8125 3.09375 -6.8125 C 2.84375 -6.8125 2.5625 -6.828125 2.3125 -6.828125 C 2.21875 -6.828125 2.015625 -6.828125 2.015625 -6.546875 C 2.015625 -6.359375 2.15625 -6.359375 2.4375 -6.359375 C 2.640625 -6.359375 2.84375 -6.34375 3.046875 -6.34375 L 1.625 -0.671875 C 1.578125 -0.5 1.578125 -0.5 1.390625 -0.484375 C 1.21875 -0.46875 1.03125 -0.46875 0.859375 -0.46875 C 0.609375 -0.46875 0.59375 -0.46875 0.546875 -0.453125 C 0.421875 -0.375 0.421875 -0.21875 0.421875 -0.171875 C 0.421875 -0.15625 0.4375 0 0.640625 0 C 0.890625 0 1.15625 -0.015625 1.40625 -0.015625 C 1.65625 -0.015625 1.90625 -0.03125 2.15625 -0.03125 C 2.421875 -0.03125 2.671875 -0.015625 2.921875 -0.015625 C 3.1875 -0.015625 3.453125 0 3.703125 0 C 3.796875 0 3.875 0 3.9375 -0.0625 C 3.96875 -0.125 3.984375 -0.265625 3.984375 -0.28125 C 3.984375 -0.46875 3.859375 -0.46875 3.578125 -0.46875 C 3.375 -0.46875 3.1875 -0.484375 2.96875 -0.484375 L 3.5 -2.5625 L 4.734375 -3.40625 L 6.203125 -0.53125 C 6.015625 -0.46875 5.71875 -0.46875 5.671875 -0.46875 C 5.546875 -0.46875 5.484375 -0.46875 5.421875 -0.390625 C 5.390625 -0.34375 5.359375 -0.203125 5.359375 -0.171875 C 5.359375 -0.171875 5.359375 0 5.578125 0 C 5.90625 0 6.71875 -0.03125 7.046875 -0.03125 C 7.25 -0.03125 7.46875 -0.015625 7.6875 -0.015625 C 7.875 -0.015625 8.09375 0 8.28125 0 C 8.34375 0 8.546875 0 8.546875 -0.28125 C 8.546875 -0.46875 8.375 -0.46875 8.234375 -0.46875 C 7.765625 -0.46875 7.75 -0.5 7.671875 -0.671875 Z M 5.859375 -4.1875 "/>
 </g>
 <g id="glyph-2-0">
 <path d="M 5.46875 -1.734375 C 5.46875 -1.921875 5.296875 -1.921875 5.203125 -1.921875 L 1.015625 -1.921875 C 0.90625 -1.921875 0.75 -1.921875 0.75 -1.734375 C 0.75 -1.578125 0.921875 -1.578125 1.015625 -1.578125 L 5.203125 -1.578125 C 5.296875 -1.578125 5.46875 -1.578125 5.46875 -1.734375 Z M 5.46875 -1.734375 "/>
 </g>
 <g id="glyph-2-1">
 <path d="M 5.328125 -0.6875 C 5.328125 -0.734375 5.28125 -0.734375 5.234375 -0.734375 C 5.140625 -0.734375 4.84375 -0.625 4.703125 -0.421875 C 4.484375 -0.421875 4.21875 -0.421875 4.09375 -1.0625 L 3.890625 -2.484375 C 3.890625 -2.5 3.890625 -2.515625 3.921875 -2.53125 L 4.15625 -2.65625 C 6.234375 -3.796875 6.234375 -4.109375 6.234375 -4.34375 C 6.234375 -4.546875 6.125 -4.765625 5.84375 -4.765625 C 5.609375 -4.765625 5.28125 -4.515625 5.28125 -4.390625 C 5.28125 -4.34375 5.3125 -4.34375 5.359375 -4.328125 C 5.53125 -4.3125 5.59375 -4.15625 5.59375 -4.03125 C 5.59375 -3.875 5.59375 -3.796875 4.953125 -3.40625 C 4.8125 -3.3125 4.671875 -3.234375 3.859375 -2.78125 C 3.765625 -3.296875 3.703125 -3.859375 3.65625 -4.09375 C 3.515625 -4.671875 3.265625 -4.765625 2.96875 -4.765625 C 2.1875 -4.765625 1.78125 -4.25 1.78125 -4.078125 C 1.78125 -4.015625 1.828125 -4.015625 1.875 -4.015625 C 2 -4.015625 2.265625 -4.140625 2.40625 -4.328125 C 2.640625 -4.328125 2.875 -4.328125 3.015625 -3.765625 L 3.203125 -2.4375 C 2.796875 -2.234375 2.0625 -1.828125 1.640625 -1.578125 C 0.546875 -0.90625 0.484375 -0.625 0.484375 -0.40625 C 0.484375 -0.203125 0.59375 0 0.890625 0 C 1.09375 0 1.453125 -0.234375 1.453125 -0.375 C 1.453125 -0.421875 1.40625 -0.421875 1.359375 -0.421875 C 1.203125 -0.4375 1.140625 -0.578125 1.140625 -0.734375 C 1.140625 -0.890625 1.140625 -0.984375 2 -1.484375 L 3.234375 -2.171875 C 3.328125 -1.625 3.40625 -0.921875 3.4375 -0.78125 C 3.546875 -0.328125 3.65625 0 4.15625 0 C 4.90625 0 5.328125 -0.5 5.328125 -0.6875 Z M 5.328125 -0.6875 "/>
 </g>
 <g id="glyph-2-2">
 <path d="M 2.078125 -3.515625 C 2.078125 -3.734375 1.890625 -3.890625 1.671875 -3.890625 C 1.390625 -3.890625 1.328125 -3.671875 1.296875 -3.578125 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 -0.328125 0.703125 -0.390625 L 2.03125 -3.296875 C 2.0625 -3.359375 2.078125 -3.421875 2.078125 -3.515625 Z M 2.078125 -3.515625 "/>
 </g>
 <g id="glyph-3-0">
 <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-4-0">
 <path d="M 4.984375 -3.796875 C 4.984375 -3.5 4.859375 -3.0625 4.53125 -2.8125 C 4.25 -2.59375 3.8125 -2.484375 3.328125 -2.484375 L 2.4375 -2.484375 L 2.875 -4.265625 C 2.921875 -4.46875 2.9375 -4.484375 3.09375 -4.515625 L 3.546875 -4.515625 C 4.1875 -4.515625 4.984375 -4.515625 4.984375 -3.796875 Z M 5.921875 -0.671875 C 5.921875 -0.6875 5.90625 -0.765625 5.796875 -0.765625 C 5.703125 -0.765625 5.6875 -0.71875 5.671875 -0.640625 C 5.578125 -0.34375 5.3125 -0.0625 5.03125 -0.0625 C 4.84375 -0.0625 4.703125 -0.125 4.703125 -0.515625 C 4.703125 -0.6875 4.75 -1.046875 4.78125 -1.234375 C 4.8125 -1.421875 4.8125 -1.484375 4.8125 -1.5625 C 4.8125 -1.640625 4.8125 -1.875 4.609375 -2.078125 C 4.484375 -2.21875 4.296875 -2.3125 4.140625 -2.375 C 4.96875 -2.5625 5.703125 -3.0625 5.703125 -3.6875 C 5.703125 -4.28125 5 -4.765625 3.984375 -4.765625 L 1.84375 -4.765625 C 1.71875 -4.765625 1.625 -4.765625 1.625 -4.609375 C 1.625 -4.515625 1.703125 -4.515625 1.84375 -4.515625 C 1.84375 -4.515625 1.984375 -4.515625 2.109375 -4.5 C 2.265625 -4.484375 2.265625 -4.46875 2.265625 -4.390625 C 2.265625 -4.390625 2.265625 -4.34375 2.25 -4.25 L 1.3125 -0.546875 C 1.265625 -0.3125 1.25 -0.25 0.703125 -0.25 C 0.578125 -0.25 0.5 -0.25 0.5 -0.109375 C 0.5 -0.03125 0.546875 0 0.609375 0 C 0.734375 0 0.90625 -0.015625 1.03125 -0.015625 L 1.5 -0.03125 L 1.9375 -0.015625 C 2.09375 -0.015625 2.265625 0 2.40625 0 C 2.453125 0 2.5625 0 2.5625 -0.140625 C 2.5625 -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 -0.375 C 1.90625 -0.375 1.90625 -0.421875 1.9375 -0.515625 L 2.375 -2.28125 L 3.328125 -2.28125 C 3.921875 -2.28125 4.1875 -1.984375 4.1875 -1.65625 C 4.1875 -1.5625 4.125 -1.328125 4.078125 -1.171875 C 4 -0.84375 3.96875 -0.75 3.96875 -0.625 C 3.96875 -0.078125 4.484375 0.140625 5 0.140625 C 5.640625 0.140625 5.921875 -0.546875 5.921875 -0.671875 Z M 5.921875 -0.671875 "/>
 </g>
 <g id="glyph-4-1">
 <path d="M 6.21875 -2.9375 C 6.21875 -3.953125 5.515625 -4.765625 4.390625 -4.765625 L 1.84375 -4.765625 C 1.703125 -4.765625 1.625 -4.765625 1.625 -4.609375 C 1.625 -4.515625 1.703125 -4.515625 1.859375 -4.515625 C 1.96875 -4.515625 2 -4.515625 2.125 -4.5 C 2.265625 -4.484375 2.265625 -4.46875 2.265625 -4.390625 C 2.265625 -4.390625 2.265625 -4.34375 2.25 -4.25 L 1.3125 -0.546875 C 1.265625 -0.3125 1.25 -0.25 0.703125 -0.25 C 0.578125 -0.25 0.5 -0.25 0.5 -0.09375 C 0.5 0 0.578125 0 0.703125 0 L 3.1875 0 C 4.734375 0 6.21875 -1.421875 6.21875 -2.9375 Z M 5.5625 -3.171875 C 5.5625 -3.015625 5.484375 -1.8125 4.796875 -1.015625 C 4.515625 -0.703125 3.921875 -0.25 3.0625 -0.25 L 2.125 -0.25 C 1.90625 -0.25 1.890625 -0.265625 1.890625 -0.328125 C 1.890625 -0.328125 1.890625 -0.359375 1.921875 -0.46875 L 2.875 -4.265625 C 2.9375 -4.484375 2.9375 -4.515625 3.234375 -4.515625 L 4.125 -4.515625 C 4.90625 -4.515625 5.5625 -4.125 5.5625 -3.171875 Z M 5.5625 -3.171875 "/>
 </g>
 <g id="glyph-4-2">
 <path d="M 3.90625 -1 C 3.90625 -1.09375 3.8125 -1.09375 3.796875 -1.09375 C 3.6875 -1.09375 3.6875 -1.046875 3.65625 -0.96875 C 3.515625 -0.484375 3.09375 -0.125 2.703125 -0.125 C 2.421875 -0.125 2.28125 -0.3125 2.28125 -0.578125 C 2.28125 -0.765625 2.453125 -1.390625 2.640625 -2.171875 C 2.78125 -2.703125 3.09375 -2.875 3.328125 -2.875 C 3.328125 -2.875 3.546875 -2.875 3.703125 -2.78125 C 3.484375 -2.71875 3.390625 -2.515625 3.390625 -2.390625 C 3.390625 -2.25 3.515625 -2.140625 3.671875 -2.140625 C 3.828125 -2.140625 4.0625 -2.265625 4.0625 -2.5625 C 4.0625 -2.953125 3.609375 -3.078125 3.34375 -3.078125 C 2.984375 -3.078125 2.703125 -2.84375 2.5625 -2.578125 C 2.4375 -2.859375 2.109375 -3.078125 1.71875 -3.078125 C 0.9375 -3.078125 0.5 -2.21875 0.5 -2 C 0.5 -1.921875 0.59375 -1.921875 0.609375 -1.921875 C 0.703125 -1.921875 0.703125 -1.9375 0.75 -2.03125 C 0.921875 -2.578125 1.359375 -2.875 1.703125 -2.875 C 1.9375 -2.875 2.125 -2.75 2.125 -2.421875 C 2.125 -2.28125 2.03125 -1.9375 1.96875 -1.6875 L 1.734375 -0.734375 C 1.671875 -0.5 1.4375 -0.125 1.078125 -0.125 C 1.0625 -0.125 0.84375 -0.125 0.703125 -0.21875 C 0.984375 -0.3125 1.015625 -0.5625 1.015625 -0.609375 C 1.015625 -0.765625 0.890625 -0.859375 0.734375 -0.859375 C 0.53125 -0.859375 0.328125 -0.703125 0.328125 -0.4375 C 0.328125 -0.09375 0.71875 0.0625 1.0625 0.0625 C 1.390625 0.0625 1.671875 -0.125 1.84375 -0.421875 C 2.015625 -0.0625 2.390625 0.0625 2.671875 0.0625 C 3.484375 0.0625 3.90625 -0.796875 3.90625 -1 Z M 3.90625 -1 "/>
 </g>
 <g id="glyph-4-3">
 <path d="M 3.875 -2.625 C 3.90625 -2.71875 3.90625 -2.734375 3.90625 -2.78125 C 3.90625 -2.921875 3.796875 -3 3.671875 -3 C 3.59375 -3 3.46875 -2.96875 3.390625 -2.84375 C 3.359375 -2.796875 3.3125 -2.578125 3.28125 -2.4375 L 3.125 -1.859375 L 2.84375 -0.734375 C 2.84375 -0.734375 2.53125 -0.125 2 -0.125 C 1.515625 -0.125 1.515625 -0.578125 1.515625 -0.703125 C 1.515625 -1.078125 1.671875 -1.515625 1.890625 -2.0625 C 1.96875 -2.28125 2 -2.359375 2 -2.484375 C 2 -2.8125 1.71875 -3.078125 1.34375 -3.078125 C 0.640625 -3.078125 0.328125 -2.125 0.328125 -2 C 0.328125 -1.921875 0.421875 -1.921875 0.453125 -1.921875 C 0.546875 -1.921875 0.546875 -1.953125 0.578125 -2.03125 C 0.75 -2.609375 1.046875 -2.875 1.328125 -2.875 C 1.4375 -2.875 1.5 -2.796875 1.5 -2.640625 C 1.5 -2.46875 1.4375 -2.328125 1.40625 -2.234375 C 1.0625 -1.375 1 -1.125 1 -0.8125 C 1 -0.703125 1 -0.375 1.265625 -0.140625 C 1.484375 0.03125 1.78125 0.0625 1.96875 0.0625 C 2.25 0.0625 2.5 -0.03125 2.71875 -0.25 C 2.640625 0.140625 2.5625 0.4375 2.265625 0.78125 C 2.078125 1 1.796875 1.21875 1.421875 1.21875 C 1.375 1.21875 1.046875 1.21875 0.90625 1 C 1.28125 0.953125 1.28125 0.609375 1.28125 0.609375 C 1.28125 0.390625 1.078125 0.34375 1.015625 0.34375 C 0.84375 0.34375 0.609375 0.484375 0.609375 0.8125 C 0.609375 1.15625 0.9375 1.421875 1.4375 1.421875 C 2.140625 1.421875 3 0.875 3.21875 0 Z M 3.875 -2.625 "/>
 </g>
 <g id="glyph-4-4">
 <path d="M 3.46875 -1.015625 C 3.46875 -1.09375 3.390625 -1.09375 3.359375 -1.09375 C 3.265625 -1.09375 3.25 -1.0625 3.21875 -0.984375 C 3.09375 -0.640625 2.6875 -0.46875 2.34375 -0.46875 C 2.1875 -0.46875 2 -0.515625 1.828125 -0.546875 C 1.515625 -0.625 1.453125 -0.625 1.328125 -0.625 C 1.328125 -0.625 1.21875 -0.625 1.171875 -0.609375 C 1.359375 -0.796875 1.484375 -0.921875 2.0625 -1.40625 C 2.21875 -1.515625 2.734375 -1.9375 2.9375 -2.125 C 3.359375 -2.546875 3.625 -2.90625 3.625 -2.984375 C 3.625 -3.078125 3.546875 -3.078125 3.515625 -3.078125 C 3.453125 -3.078125 3.421875 -3.0625 3.390625 -3 C 3.171875 -2.6875 3.03125 -2.578125 2.859375 -2.578125 C 2.78125 -2.578125 2.671875 -2.578125 2.46875 -2.78125 C 2.234375 -3.03125 2.078125 -3.078125 1.921875 -3.078125 C 1.359375 -3.078125 0.984375 -2.46875 0.984375 -2.265625 C 0.984375 -2.1875 1.046875 -2.171875 1.09375 -2.171875 C 1.1875 -2.171875 1.203125 -2.1875 1.21875 -2.265625 C 1.328125 -2.515625 1.71875 -2.53125 1.828125 -2.53125 C 2 -2.53125 2.171875 -2.484375 2.265625 -2.46875 C 2.65625 -2.390625 2.703125 -2.390625 2.875 -2.390625 C 2.703125 -2.1875 2.578125 -2.0625 1.90625 -1.546875 C 1.359375 -1.109375 1.171875 -0.9375 1.046875 -0.796875 C 0.625 -0.390625 0.421875 -0.078125 0.421875 -0.015625 C 0.421875 0.0625 0.515625 0.0625 0.546875 0.0625 C 0.609375 0.0625 0.625 0.0625 0.65625 0 C 0.84375 -0.265625 1.0625 -0.421875 1.296875 -0.421875 C 1.390625 -0.421875 1.484375 -0.421875 1.671875 -0.25 C 1.890625 -0.03125 2.03125 0.0625 2.265625 0.0625 C 3 0.0625 3.46875 -0.78125 3.46875 -1.015625 Z M 3.46875 -1.015625 "/>
 </g>
 <g id="glyph-4-5">
 <path d="M 4.578125 -1 C 4.578125 -1.09375 4.5 -1.09375 4.46875 -1.09375 C 4.375 -1.09375 4.375 -1.046875 4.34375 -0.96875 C 4.1875 -0.40625 3.875 -0.125 3.609375 -0.125 C 3.453125 -0.125 3.421875 -0.21875 3.421875 -0.375 C 3.421875 -0.53125 3.46875 -0.625 3.59375 -0.9375 C 3.671875 -1.15625 3.953125 -1.890625 3.953125 -2.28125 C 3.953125 -2.953125 3.421875 -3.078125 3.046875 -3.078125 C 2.46875 -3.078125 2.078125 -2.71875 1.875 -2.4375 C 1.828125 -2.921875 1.421875 -3.078125 1.125 -3.078125 C 0.828125 -3.078125 0.671875 -2.859375 0.578125 -2.703125 C 0.421875 -2.4375 0.328125 -2.046875 0.328125 -2 C 0.328125 -1.921875 0.421875 -1.921875 0.453125 -1.921875 C 0.546875 -1.921875 0.546875 -1.9375 0.59375 -2.125 C 0.703125 -2.53125 0.84375 -2.875 1.109375 -2.875 C 1.296875 -2.875 1.34375 -2.71875 1.34375 -2.53125 C 1.34375 -2.40625 1.28125 -2.140625 1.21875 -1.953125 L 1.078125 -1.328125 L 0.84375 -0.4375 C 0.828125 -0.34375 0.78125 -0.171875 0.78125 -0.15625 C 0.78125 0 0.90625 0.0625 1.015625 0.0625 C 1.140625 0.0625 1.25 -0.015625 1.296875 -0.078125 C 1.328125 -0.140625 1.375 -0.375 1.421875 -0.515625 L 1.5625 -1.140625 C 1.609375 -1.296875 1.65625 -1.453125 1.6875 -1.609375 C 1.765625 -1.890625 1.78125 -1.953125 1.984375 -2.234375 C 2.171875 -2.515625 2.5 -2.875 3.03125 -2.875 C 3.421875 -2.875 3.4375 -2.515625 3.4375 -2.390625 C 3.4375 -1.96875 3.140625 -1.203125 3.03125 -0.90625 C 2.953125 -0.703125 2.921875 -0.640625 2.921875 -0.53125 C 2.921875 -0.15625 3.21875 0.0625 3.578125 0.0625 C 4.28125 0.0625 4.578125 -0.890625 4.578125 -1 Z M 4.578125 -1 "/>
 </g>
 <g id="glyph-5-0">
 <path d="M 2.984375 -0.734375 C 2.984375 -0.8125 2.90625 -0.8125 2.875 -0.8125 C 2.796875 -0.8125 2.796875 -0.78125 2.765625 -0.734375 C 2.65625 -0.421875 2.265625 -0.375 2.078125 -0.375 C 1.96875 -0.375 1.84375 -0.390625 1.6875 -0.40625 C 1.421875 -0.453125 1.328125 -0.453125 1.265625 -0.453125 C 1.1875 -0.453125 1.171875 -0.453125 1.140625 -0.453125 C 1.34375 -0.640625 1.59375 -0.828125 1.875 -1.03125 C 2.21875 -1.265625 2.421875 -1.4375 2.640625 -1.625 C 2.890625 -1.859375 3.0625 -2.078125 3.0625 -2.140625 C 3.0625 -2.203125 2.984375 -2.203125 2.953125 -2.203125 C 2.875 -2.203125 2.875 -2.203125 2.84375 -2.140625 C 2.640625 -1.875 2.53125 -1.859375 2.453125 -1.859375 C 2.375 -1.859375 2.296875 -1.875 2.140625 -1.984375 C 1.96875 -2.125 1.859375 -2.203125 1.671875 -2.203125 C 1.21875 -2.203125 0.921875 -1.765625 0.921875 -1.609375 C 0.921875 -1.53125 0.984375 -1.53125 1.03125 -1.53125 C 1.078125 -1.53125 1.109375 -1.546875 1.125 -1.59375 C 1.15625 -1.65625 1.203125 -1.78125 1.59375 -1.78125 C 1.734375 -1.78125 1.84375 -1.765625 2.109375 -1.71875 C 2.28125 -1.6875 2.34375 -1.6875 2.4375 -1.6875 C 2.28125 -1.5625 2.140625 -1.4375 1.765625 -1.15625 C 1.40625 -0.90625 1.1875 -0.75 0.953125 -0.53125 C 0.75 -0.359375 0.515625 -0.078125 0.515625 -0.015625 C 0.515625 0.0625 0.59375 0.0625 0.625 0.0625 C 0.6875 0.0625 0.703125 0.046875 0.734375 0.015625 C 0.875 -0.1875 1.0625 -0.296875 1.234375 -0.296875 C 1.375 -0.296875 1.4375 -0.234375 1.625 -0.09375 C 1.765625 0 1.875 0.0625 2.015625 0.0625 C 2.609375 0.0625 2.984375 -0.53125 2.984375 -0.734375 Z M 2.984375 -0.734375 "/>
 </g>
 <g id="glyph-5-1">
 <path d="M 3.296875 -1.859375 C 3.3125 -1.9375 3.3125 -1.96875 3.3125 -1.96875 C 3.3125 -2.078125 3.234375 -2.140625 3.140625 -2.140625 C 2.9375 -2.140625 2.890625 -1.96875 2.859375 -1.84375 L 2.75 -1.421875 L 2.609375 -0.796875 C 2.578125 -0.734375 2.5625 -0.640625 2.546875 -0.609375 C 2.546875 -0.578125 2.28125 -0.109375 1.859375 -0.109375 C 1.625 -0.109375 1.453125 -0.21875 1.453125 -0.546875 C 1.453125 -0.8125 1.59375 -1.1875 1.734375 -1.546875 C 1.765625 -1.59375 1.796875 -1.6875 1.796875 -1.765625 C 1.796875 -2.015625 1.5625 -2.203125 1.25 -2.203125 C 0.734375 -2.203125 0.453125 -1.5625 0.453125 -1.4375 C 0.453125 -1.359375 0.53125 -1.359375 0.5625 -1.359375 C 0.640625 -1.359375 0.640625 -1.390625 0.671875 -1.453125 C 0.78125 -1.796875 1.015625 -2.03125 1.234375 -2.03125 C 1.328125 -2.03125 1.390625 -1.984375 1.390625 -1.84375 C 1.390625 -1.75 1.359375 -1.671875 1.328125 -1.578125 C 1.078125 -0.984375 1.03125 -0.8125 1.03125 -0.609375 C 1.03125 -0.0625 1.5 0.0625 1.828125 0.0625 C 2.109375 0.0625 2.328125 -0.078125 2.453125 -0.1875 C 2.375 0.09375 2.328125 0.3125 2.09375 0.546875 C 1.96875 0.65625 1.734375 0.859375 1.4375 0.859375 C 1.34375 0.859375 1.15625 0.84375 1.046875 0.734375 C 1.265625 0.671875 1.296875 0.484375 1.296875 0.4375 C 1.296875 0.296875 1.171875 0.234375 1.078125 0.234375 C 0.921875 0.234375 0.75 0.34375 0.75 0.578125 C 0.75 0.828125 1.015625 1.015625 1.4375 1.015625 C 2 1.015625 2.671875 0.640625 2.828125 0 Z M 3.296875 -1.859375 "/>
 </g>
 <g id="glyph-6-0">
 <path d="M 11.578125 -4.28125 C 11.578125 -4.59375 11.296875 -4.59375 11.046875 -4.59375 L 6.484375 -4.59375 L 6.484375 -9.15625 C 6.484375 -9.390625 6.484375 -9.6875 6.1875 -9.6875 C 5.890625 -9.6875 5.890625 -9.40625 5.890625 -9.15625 L 5.890625 -4.59375 L 1.328125 -4.59375 C 1.078125 -4.59375 0.796875 -4.59375 0.796875 -4.296875 C 0.796875 -3.984375 1.0625 -3.984375 1.328125 -3.984375 L 5.890625 -3.984375 L 5.890625 0.5625 C 5.890625 0.8125 5.890625 1.09375 6.171875 1.09375 C 6.484375 1.09375 6.484375 0.828125 6.484375 0.5625 L 6.484375 -3.984375 L 11.046875 -3.984375 C 11.28125 -3.984375 11.578125 -3.984375 11.578125 -4.28125 Z M 11.578125 -4.28125 "/>
 </g>
 <g id="glyph-7-0">
 <path d="M 4.34375 -3.75 C 4.34375 -4.09375 4.015625 -4.40625 3.515625 -4.40625 C 2.859375 -4.40625 2.421875 -3.90625 2.234375 -3.640625 C 2.15625 -4.078125 1.796875 -4.40625 1.328125 -4.40625 C 0.875 -4.40625 0.6875 -4.015625 0.59375 -3.828125 C 0.421875 -3.5 0.28125 -2.890625 0.28125 -2.859375 C 0.28125 -2.765625 0.40625 -2.765625 0.40625 -2.765625 C 0.5 -2.765625 0.515625 -2.78125 0.578125 -3 C 0.75 -3.703125 0.953125 -4.1875 1.296875 -4.1875 C 1.46875 -4.1875 1.609375 -4.09375 1.609375 -3.71875 C 1.609375 -3.515625 1.578125 -3.40625 1.453125 -2.890625 L 0.875 -0.59375 C 0.84375 -0.4375 0.78125 -0.203125 0.78125 -0.15625 C 0.78125 0.015625 0.921875 0.109375 1.078125 0.109375 C 1.1875 0.109375 1.375 0.03125 1.4375 -0.171875 C 1.46875 -0.203125 1.796875 -1.5625 1.84375 -1.734375 L 2.15625 -3.03125 C 2.203125 -3.171875 2.484375 -3.640625 2.71875 -3.859375 C 2.796875 -3.921875 3.078125 -4.1875 3.515625 -4.1875 C 3.765625 -4.1875 3.9375 -4.0625 3.9375 -4.0625 C 3.640625 -4.015625 3.40625 -3.765625 3.40625 -3.515625 C 3.40625 -3.359375 3.515625 -3.171875 3.796875 -3.171875 C 4.0625 -3.171875 4.34375 -3.390625 4.34375 -3.75 Z M 4.34375 -3.75 "/>
 </g>
 <g id="glyph-7-1">
 <path d="M 8 -4.28125 C 8 -5.6875 7.15625 -6.796875 5.65625 -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 0.484375 0 0.671875 0 L 3.96875 0 C 6.046875 0 8 -2.09375 8 -4.28125 Z M 7.140625 -4.640625 C 7.140625 -4.15625 6.9375 -2.53125 6.09375 -1.4375 C 5.796875 -1.0625 5.015625 -0.3125 3.796875 -0.3125 L 2.671875 -0.3125 C 2.53125 -0.3125 2.515625 -0.3125 2.453125 -0.3125 C 2.34375 -0.328125 2.3125 -0.34375 2.3125 -0.421875 C 2.3125 -0.453125 2.3125 -0.46875 2.375 -0.640625 L 3.734375 -6.109375 C 3.828125 -6.453125 3.84375 -6.484375 4.265625 -6.484375 L 5.328125 -6.484375 C 6.3125 -6.484375 7.140625 -5.96875 7.140625 -4.640625 Z M 7.140625 -4.640625 "/>
 </g>
 <g id="glyph-7-2">
 <path d="M 2.015625 -0.015625 C 2.015625 -0.671875 1.765625 -1.0625 1.390625 -1.0625 C 1.0625 -1.0625 0.859375 -0.8125 0.859375 -0.53125 C 0.859375 -0.265625 1.0625 0 1.390625 0 C 1.5 0 1.625 -0.046875 1.734375 -0.125 C 1.765625 -0.15625 1.78125 -0.15625 1.78125 -0.15625 C 1.78125 -0.15625 1.796875 -0.15625 1.796875 -0.015625 C 1.796875 0.734375 1.453125 1.328125 1.125 1.65625 C 1.015625 1.765625 1.015625 1.78125 1.015625 1.8125 C 1.015625 1.875 1.0625 1.921875 1.109375 1.921875 C 1.21875 1.921875 2.015625 1.15625 2.015625 -0.015625 Z M 2.015625 -0.015625 "/>
 </g>
 <g id="glyph-7-3">
 <path d="M 6.421875 -5.5 C 6.421875 -5.171875 6.265625 -4.484375 5.875 -4.09375 C 5.625 -3.828125 5.09375 -3.515625 4.203125 -3.515625 L 3.078125 -3.515625 L 3.734375 -6.109375 C 3.796875 -6.34375 3.828125 -6.453125 4.015625 -6.484375 C 4.09375 -6.484375 4.421875 -6.484375 4.625 -6.484375 C 5.328125 -6.484375 6.421875 -6.484375 6.421875 -5.5 Z M 7.515625 -0.921875 C 7.515625 -1.046875 7.390625 -1.046875 7.390625 -1.046875 C 7.3125 -1.046875 7.28125 -0.96875 7.265625 -0.90625 C 7.015625 -0.171875 6.59375 0 6.359375 0 C 6.03125 0 5.96875 -0.21875 5.96875 -0.609375 C 5.96875 -0.921875 6.015625 -1.421875 6.0625 -1.734375 C 6.078125 -1.875 6.09375 -2.0625 6.09375 -2.203125 C 6.09375 -2.96875 5.4375 -3.28125 5.171875 -3.390625 C 6.171875 -3.609375 7.359375 -4.296875 7.359375 -5.3125 C 7.359375 -6.15625 6.453125 -6.796875 5.15625 -6.796875 L 2.3125 -6.796875 C 2.125 -6.796875 2.03125 -6.796875 2.03125 -6.59375 C 2.03125 -6.484375 2.125 -6.484375 2.3125 -6.484375 C 2.3125 -6.484375 2.515625 -6.484375 2.6875 -6.46875 C 2.859375 -6.453125 2.953125 -6.4375 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 0.40625 -0.3125 0.40625 -0.109375 C 0.40625 0 0.546875 0 0.546875 0 L 1.796875 -0.03125 L 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 3.03125 -3.296875 L 4.203125 -3.296875 C 5.109375 -3.296875 5.296875 -2.734375 5.296875 -2.390625 C 5.296875 -2.234375 5.21875 -1.9375 5.15625 -1.703125 C 5.09375 -1.421875 5 -1.0625 5 -0.859375 C 5 0.21875 6.1875 0.21875 6.3125 0.21875 C 7.171875 0.21875 7.515625 -0.78125 7.515625 -0.921875 Z M 7.515625 -0.921875 "/>
 </g>
 <g id="glyph-8-0">
 <path d="M 2.53125 2.484375 L 2.53125 2.09375 L 1.578125 2.09375 L 1.578125 -7.0625 L 2.53125 -7.0625 L 2.53125 -7.46875 L 1.171875 -7.46875 L 1.171875 2.484375 Z M 2.53125 2.484375 "/>
 </g>
 <g id="glyph-8-1">
 <path d="M 1.578125 2.484375 L 1.578125 -7.46875 L 0.21875 -7.46875 L 0.21875 -7.0625 L 1.1875 -7.0625 L 1.1875 2.09375 L 0.21875 2.09375 L 0.21875 2.484375 Z M 1.578125 2.484375 "/>
 </g>
 <g id="glyph-9-0">
 <path d="M 7.46875 -1.546875 C 7.46875 -1.65625 7.34375 -1.65625 7.3125 -1.65625 C 7 -1.65625 6.125 -1.265625 6.015625 -0.75 C 5.53125 -0.75 5.1875 -0.8125 4.390625 -0.953125 C 4.015625 -1.03125 3.234375 -1.171875 2.671875 -1.171875 C 2.59375 -1.171875 2.484375 -1.171875 2.40625 -1.171875 C 2.734375 -1.71875 2.859375 -2.1875 3.03125 -2.84375 C 3.21875 -3.640625 3.625 -5.03125 4.375 -5.875 C 4.515625 -6.015625 4.546875 -6.078125 4.8125 -6.078125 C 5.265625 -6.078125 5.4375 -5.71875 5.4375 -5.390625 C 5.4375 -5.28125 5.421875 -5.171875 5.421875 -5.125 C 5.421875 -5.015625 5.53125 -5 5.578125 -5 C 5.71875 -5 6.015625 -5.078125 6.40625 -5.328125 C 6.8125 -5.609375 6.859375 -5.78125 6.859375 -6.078125 C 6.859375 -6.578125 6.5625 -7 5.890625 -7 C 5.265625 -7 4.359375 -6.6875 3.546875 -5.96875 C 2.40625 -4.96875 1.90625 -3.328125 1.609375 -2.1875 C 1.46875 -1.59375 1.25 -0.78125 0.828125 -0.453125 C 0.734375 -0.375 0.390625 -0.109375 0.390625 0.046875 C 0.390625 0.15625 0.5 0.171875 0.5625 0.171875 C 0.640625 0.171875 0.953125 0.15625 1.5 -0.25 C 1.875 -0.25 2.203125 -0.234375 3.109375 -0.0625 C 3.5625 0.03125 4.296875 0.171875 4.859375 0.171875 C 6.1875 0.171875 7.46875 -1 7.46875 -1.546875 Z M 7.46875 -1.546875 "/>
 </g>
 <g id="glyph-9-1">
 <path d="M 7.75 -1.0625 C 7.75 -1.171875 7.640625 -1.1875 7.5625 -1.1875 C 7.40625 -1.1875 7.0625 -1.078125 6.78125 -0.859375 C 6.390625 -0.859375 6.078125 -0.859375 5.90625 -2.09375 L 5.75 -3.640625 C 8.375 -5.0625 9.03125 -5.71875 9.03125 -6.25 C 9.03125 -6.65625 8.65625 -6.828125 8.359375 -6.828125 C 7.90625 -6.828125 7.21875 -6.34375 7.21875 -6.09375 C 7.21875 -6.046875 7.25 -5.96875 7.390625 -5.96875 C 7.71875 -5.9375 7.734375 -5.6875 7.734375 -5.625 C 7.734375 -5.515625 7.6875 -5.453125 7.46875 -5.28125 C 7.046875 -4.96875 6.34375 -4.5625 5.6875 -4.203125 C 5.546875 -5.109375 5.546875 -5.59375 5.421875 -6.046875 C 5.203125 -6.828125 4.671875 -6.828125 4.375 -6.828125 C 3.015625 -6.828125 2.421875 -6.015625 2.421875 -5.765625 C 2.421875 -5.65625 2.53125 -5.640625 2.59375 -5.640625 C 2.59375 -5.640625 2.9375 -5.640625 3.375 -5.96875 C 3.6875 -5.96875 4.078125 -5.96875 4.203125 -4.984375 L 4.390625 -3.5 C 3.71875 -3.125 2.796875 -2.625 2.0625 -2.15625 C 1.609375 -1.859375 0.5625 -1.1875 0.5625 -0.578125 C 0.5625 -0.171875 0.90625 0 1.21875 0 C 1.65625 0 2.34375 -0.484375 2.34375 -0.734375 C 2.34375 -0.84375 2.234375 -0.859375 2.15625 -0.859375 C 1.984375 -0.890625 1.84375 -1.03125 1.84375 -1.203125 C 1.84375 -1.328125 1.890625 -1.375 2.15625 -1.578125 C 2.640625 -1.921875 3.390625 -2.34375 4.453125 -2.921875 C 4.65625 -1.125 4.671875 -1 4.703125 -0.890625 C 4.9375 0 5.46875 0 5.796875 0 C 7.171875 0 7.75 -0.828125 7.75 -1.0625 Z M 7.75 -1.0625 "/>
 </g>
 <g id="glyph-10-0">
 <path d="M 2.515625 0 L 2.515625 -0.25 L 2.34375 -0.25 C 1.765625 -0.25 1.765625 -0.328125 1.765625 -0.578125 L 1.765625 -4.1875 C 1.765625 -4.421875 1.765625 -4.515625 2.34375 -4.515625 L 2.515625 -4.515625 L 2.515625 -4.765625 L 1.4375 -4.734375 L 0.359375 -4.765625 L 0.359375 -4.515625 L 0.53125 -4.515625 C 1.109375 -4.515625 1.109375 -4.421875 1.109375 -4.1875 L 1.109375 -0.578125 C 1.109375 -0.328125 1.109375 -0.25 0.53125 -0.25 L 0.359375 -0.25 L 0.359375 0 L 1.4375 -0.03125 Z M 2.515625 0 "/>
 </g>
 <g id="glyph-10-1">
 <path d="M 4.75 -3.125 L 4.546875 -4.734375 L 0.390625 -4.734375 L 0.390625 -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 0.390625 -0.25 L 0.390625 0 L 1.453125 -0.03125 L 2.671875 0 L 2.671875 -0.25 L 2.421875 -0.25 C 1.765625 -0.25 1.765625 -0.34375 1.765625 -0.578125 L 1.765625 -2.25 L 2.453125 -2.25 C 3.140625 -2.25 3.234375 -2.03125 3.234375 -1.421875 L 3.484375 -1.421875 L 3.484375 -3.3125 L 3.234375 -3.3125 C 3.234375 -2.703125 3.140625 -2.5 2.453125 -2.5 L 1.765625 -2.5 L 1.765625 -4.203125 C 1.765625 -4.421875 1.78125 -4.484375 2.109375 -4.484375 L 3.078125 -4.484375 C 4.203125 -4.484375 4.390625 -4.109375 4.515625 -3.125 Z M 4.75 -3.125 "/>
 </g>
 <g id="glyph-10-2">
 <path d="M 5.484375 0 L 5.484375 -0.25 L 5.3125 -0.25 C 4.78125 -0.25 4.765625 -0.328125 4.765625 -0.5625 L 4.765625 -4.1875 C 4.765625 -4.4375 4.78125 -4.515625 5.3125 -4.515625 L 5.484375 -4.515625 L 5.484375 -4.765625 L 4.4375 -4.734375 L 3.375 -4.765625 L 3.375 -4.515625 L 3.546875 -4.515625 C 4.078125 -4.515625 4.09375 -4.4375 4.09375 -4.1875 L 4.09375 -2.59375 L 1.765625 -2.59375 L 1.765625 -4.1875 C 1.765625 -4.4375 1.78125 -4.515625 2.328125 -4.515625 L 2.484375 -4.515625 L 2.484375 -4.765625 L 1.4375 -4.734375 L 0.390625 -4.765625 L 0.390625 -4.515625 L 0.5625 -4.515625 C 1.09375 -4.515625 1.109375 -4.4375 1.109375 -4.1875 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 1.4375 -0.03125 L 2.484375 0 L 2.484375 -0.25 L 2.328125 -0.25 C 1.78125 -0.25 1.765625 -0.328125 1.765625 -0.5625 L 1.765625 -2.34375 L 4.09375 -2.34375 L 4.09375 -0.5625 C 4.09375 -0.328125 4.078125 -0.25 3.546875 -0.25 L 3.375 -0.25 L 3.375 0 L 4.421875 -0.03125 Z M 5.484375 0 "/>
 </g>
 <g id="glyph-10-3">
 <path d="M 5.546875 0 L 5.546875 -0.25 L 5.421875 -0.25 C 4.953125 -0.25 4.90625 -0.328125 4.828125 -0.515625 L 3.125 -4.8125 C 3.09375 -4.921875 3.0625 -4.96875 2.9375 -4.96875 C 2.796875 -4.96875 2.78125 -4.921875 2.734375 -4.8125 L 1.125 -0.734375 C 1.0625 -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 1.3125 -0.03125 1.828125 0 1.875 0 L 1.875 -0.25 C 1.5625 -0.25 1.359375 -0.390625 1.359375 -0.578125 C 1.359375 -0.640625 1.375 -0.65625 1.40625 -0.71875 L 1.734375 -1.578125 L 3.71875 -1.578125 L 4.125 -0.5625 C 4.125 -0.53125 4.15625 -0.484375 4.15625 -0.453125 C 4.15625 -0.25 3.78125 -0.25 3.59375 -0.25 L 3.59375 0 L 4.625 -0.03125 C 4.953125 -0.03125 5.484375 0 5.546875 0 Z M 3.609375 -1.828125 L 1.828125 -1.828125 L 2.71875 -4.09375 Z M 3.609375 -1.828125 "/>
 </g>
 <g id="glyph-10-4">
 <path d="M 5.1875 -1.625 C 5.1875 -1.703125 5.171875 -1.765625 5.0625 -1.765625 C 5.03125 -1.765625 4.953125 -1.765625 4.953125 -1.671875 C 4.890625 -0.546875 3.9375 -0.109375 3.25 -0.109375 C 2.515625 -0.109375 1.234375 -0.5625 1.234375 -2.375 C 1.234375 -4.265625 2.578125 -4.640625 3.234375 -4.640625 C 3.9375 -4.640625 4.75 -4.1875 4.9375 -2.984375 C 4.953125 -2.90625 5.015625 -2.90625 5.0625 -2.90625 C 5.1875 -2.90625 5.1875 -2.953125 5.1875 -3.09375 L 5.1875 -4.71875 C 5.1875 -4.84375 5.1875 -4.90625 5.09375 -4.90625 C 5.0625 -4.90625 5.03125 -4.90625 4.96875 -4.8125 L 4.59375 -4.28125 C 4.3125 -4.578125 3.828125 -4.90625 3.15625 -4.90625 C 1.6875 -4.90625 0.484375 -3.765625 0.484375 -2.390625 C 0.484375 -0.96875 1.71875 0.140625 3.15625 0.140625 C 4.390625 0.140625 5.1875 -0.78125 5.1875 -1.625 Z M 5.1875 -1.625 "/>
 </g>
 </g>
 <clipPath id="clip-0">
 <path clip-rule="nonzero" d="M 467 143 L 488.824219 143 L 488.824219 175 L 467 175 Z M 467 143 "/>
 </clipPath>
 <clipPath id="clip-1">
 <path clip-rule="nonzero" d="M 0.140625 104 L 477 104 L 477 202.753906 L 0.140625 202.753906 Z M 0.140625 104 "/>
 </clipPath>
 <clipPath id="clip-2">
 <path clip-rule="nonzero" d="M 0.140625 89 L 26 89 L 26 122 L 0.140625 122 Z M 0.140625 89 "/>
 </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-dasharray="2.98883 2.98883" stroke-miterlimit="10" d="M -47.003186 -132.620484 L 299.442811 -132.620484 L 299.442811 18.655515 L -47.003186 18.655515 Z M -47.003186 -132.620484 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-0-0" x="413.852984" y="50.645045"/>
 <use xlink:href="#glyph-0-1" x="420.629388" y="50.645045"/>
 <use xlink:href="#glyph-0-2" x="423.395308" y="50.645045"/>
 <use xlink:href="#glyph-0-3" x="428.373565" y="50.645045"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-0-4" x="433.626622" y="50.645045"/>
 </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-dasharray="2.98883 2.98883" stroke-miterlimit="10" d="M -75.434616 -137.103691 L 327.792159 -137.103691 L 327.792159 58.152297 L -75.434616 58.152297 Z M -75.434616 -137.103691 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-0-5" x="402.218096" y="11.17417"/>
 <use xlink:href="#glyph-0-2" x="409.823877" y="11.17417"/>
 <use xlink:href="#glyph-0-6" x="414.802134" y="11.17417"/>
 <use xlink:href="#glyph-0-7" x="423.098898" y="11.17417"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-0-8" x="428.90952" y="11.17417"/>
 <use xlink:href="#glyph-0-9" x="433.33519" y="11.17417"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-0-0" x="442.182549" y="11.17417"/>
 <use xlink:href="#glyph-0-1" x="448.958953" y="11.17417"/>
 <use xlink:href="#glyph-0-2" x="451.724873" y="11.17417"/>
 <use xlink:href="#glyph-0-3" x="456.70313" y="11.17417"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-0-4" x="461.956187" y="11.17417"/>
 </g>
 <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-dasharray="2.98883 2.98883" stroke-miterlimit="10" d="M -47.003186 -132.620484 L 299.442811 -132.620484 L 299.442811 18.655515 L -47.003186 18.655515 Z M -47.003186 -132.620484 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-0-0" x="413.852984" y="50.645045"/>
 <use xlink:href="#glyph-0-1" x="420.629388" y="50.645045"/>
 <use xlink:href="#glyph-0-2" x="423.395308" y="50.645045"/>
 <use xlink:href="#glyph-0-3" x="428.373565" y="50.645045"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-0-4" x="433.626622" y="50.645045"/>
 </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 -28.347259 -14.173132 L 28.347528 -14.173132 L 28.347528 14.172308 L -28.347259 14.172308 Z M -28.347259 -14.173132 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-0-10" x="119.420944" y="61.574365"/>
 <use xlink:href="#glyph-0-8" x="128.548081" y="61.574365"/>
 <use xlink:href="#glyph-0-4" x="132.973752" y="61.574365"/>
 <use xlink:href="#glyph-0-11" x="136.84584" y="61.574365"/>
 <use xlink:href="#glyph-0-12" x="140.745807" y="61.574365"/>
 <use xlink:href="#glyph-0-1" x="145.724064" y="61.574365"/>
 <use xlink:href="#glyph-0-12" x="148.489984" y="61.574365"/>
 <use xlink:href="#glyph-0-13" x="153.468241" y="61.574365"/>
 <use xlink:href="#glyph-0-14" x="158.446499" y="61.574365"/>
 </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 -28.347259 -74.698384 L 28.347528 -74.698384 L 28.347528 -18.003596 L -28.347259 -18.003596 Z M -28.347259 -74.698384 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-0-15" x="130.083427" y="101.922704"/>
 <use xlink:href="#glyph-0-2" x="137.550813" y="101.922704"/>
 <use xlink:href="#glyph-0-3" x="142.529071" y="101.922704"/>
 <use xlink:href="#glyph-0-12" x="148.06091" y="101.922704"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-0-16" x="122.200246" y="113.871401"/>
 <use xlink:href="#glyph-0-8" x="129.667632" y="113.871401"/>
 <use xlink:href="#glyph-0-17" x="134.093302" y="113.871401"/>
 <use xlink:href="#glyph-0-2" x="139.348351" y="113.871401"/>
 <use xlink:href="#glyph-0-7" x="144.326608" y="113.871401"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-0-12" x="150.13723" y="113.871401"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-0-9" x="155.394269" y="113.871401"/>
 </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 -42.519979 -121.050917 L 42.520248 -121.050917 L 42.520248 -78.528849 L -42.519979 -78.528849 Z M -42.519979 -121.050917 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-0-10" x="128.963112" y="156.295471"/>
 <use xlink:href="#glyph-0-18" x="138.090249" y="156.295471"/>
 <use xlink:href="#glyph-0-19" x="140.856169" y="156.295471"/>
 <use xlink:href="#glyph-0-11" x="145.281839" y="156.295471"/>
 <use xlink:href="#glyph-0-12" x="149.181806" y="156.295471"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-0-20" x="125.796048" y="168.243168"/>
 <use xlink:href="#glyph-0-4" x="131.327887" y="168.243168"/>
 <use xlink:href="#glyph-0-2" x="135.199976" y="168.243168"/>
 <use xlink:href="#glyph-0-4" x="140.178233" y="168.243168"/>
 <use xlink:href="#glyph-0-18" x="144.050322" y="168.243168"/>
 <use xlink:href="#glyph-0-12" x="146.816241" y="168.243168"/>
 <use xlink:href="#glyph-0-3" x="151.794499" y="168.243168"/>
 </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 43.51695 -48.987366 L 71.86239 -48.987366 L 71.86239 -20.641927 L 43.51695 -20.641927 Z M 43.51695 -48.987366 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-1-0" x="190.225668" y="96.319129"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-2-0" x="197.513214" y="92.059732"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-3-0" x="203.73641" y="92.059732"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-4-0" x="196.510826" y="99.24534"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-5-0" x="202.50916" y="100.240732"/>
 </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 105.879262 -128.137276 L 162.57405 -128.137276 L 162.57405 -71.442489 L 105.879262 -71.442489 Z M 105.879262 -128.137276 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-0-21" x="255.790594" y="150.322121"/>
 <use xlink:href="#glyph-0-12" x="262.981189" y="150.322121"/>
 <use xlink:href="#glyph-0-6" x="267.959446" y="150.322121"/>
 <use xlink:href="#glyph-0-7" x="276.256209" y="150.322121"/>
 <use xlink:href="#glyph-0-22" x="281.788049" y="150.322121"/>
 <use xlink:href="#glyph-0-4" x="287.319888" y="150.322121"/>
 <use xlink:href="#glyph-0-8" x="291.191977" y="150.322121"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-0-23" x="254.739236" y="162.269819"/>
 <use xlink:href="#glyph-0-8" x="262.068227" y="162.269819"/>
 <use xlink:href="#glyph-0-24" x="266.493897" y="162.269819"/>
 <use xlink:href="#glyph-0-8" x="269.536608" y="162.269819"/>
 <use xlink:href="#glyph-0-11" x="273.962279" y="162.269819"/>
 <use xlink:href="#glyph-0-8" x="277.862246" y="162.269819"/>
 <use xlink:href="#glyph-0-3" x="282.287916" y="162.269819"/>
 <use xlink:href="#glyph-0-19" x="287.819756" y="162.269819"/>
 <use xlink:href="#glyph-0-8" x="292.245426" y="162.269819"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-0-0" x="258.044216" y="174.217516"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-0-12" x="264.541838" y="174.217516"/>
 <use xlink:href="#glyph-0-25" x="269.520095" y="174.217516"/>
 <use xlink:href="#glyph-0-18" x="273.44794" y="174.217516"/>
 <use xlink:href="#glyph-0-4" x="276.21386" y="174.217516"/>
 <use xlink:href="#glyph-0-18" x="280.085948" y="174.217516"/>
 <use xlink:href="#glyph-0-12" x="282.851868" y="174.217516"/>
 <use xlink:href="#glyph-0-3" x="287.830125" y="174.217516"/>
 </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 186.248668 -128.137276 L 242.939546 -128.137276 L 242.939546 -71.442489 L 186.248668 -71.442489 Z M 186.248668 -128.137276 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-0-21" x="336.107503" y="150.322121"/>
 <use xlink:href="#glyph-0-12" x="343.298098" y="150.322121"/>
 <use xlink:href="#glyph-0-6" x="348.276355" y="150.322121"/>
 <use xlink:href="#glyph-0-7" x="356.573119" y="150.322121"/>
 <use xlink:href="#glyph-0-22" x="362.104958" y="150.322121"/>
 <use xlink:href="#glyph-0-4" x="367.636798" y="150.322121"/>
 <use xlink:href="#glyph-0-8" x="371.508886" y="150.322121"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-0-26" x="344.2935" y="162.269819"/>
 <use xlink:href="#glyph-0-11" x="351.069904" y="162.269819"/>
 <use xlink:href="#glyph-0-11" x="354.96987" y="162.269819"/>
 <use xlink:href="#glyph-0-12" x="358.869837" y="162.269819"/>
 <use xlink:href="#glyph-0-11" x="363.848094" y="162.269819"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-0-0" x="338.361126" y="174.217516"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-0-12" x="344.858747" y="174.217516"/>
 <use xlink:href="#glyph-0-25" x="349.837004" y="174.217516"/>
 <use xlink:href="#glyph-0-18" x="353.764849" y="174.217516"/>
 <use xlink:href="#glyph-0-4" x="356.530769" y="174.217516"/>
 <use xlink:href="#glyph-0-18" x="360.402858" y="174.217516"/>
 <use xlink:href="#glyph-0-12" x="363.168777" y="174.217516"/>
 <use xlink:href="#glyph-0-3" x="368.147035" y="174.217516"/>
 </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 186.248668 -47.767871 L 242.939546 -47.767871 L 242.939546 8.923008 L 186.248668 8.923008 Z M 186.248668 -47.767871 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-0-21" x="336.107503" y="70.004213"/>
 <use xlink:href="#glyph-0-12" x="343.298098" y="70.004213"/>
 <use xlink:href="#glyph-0-6" x="348.276355" y="70.004213"/>
 <use xlink:href="#glyph-0-7" x="356.573119" y="70.004213"/>
 <use xlink:href="#glyph-0-22" x="362.104958" y="70.004213"/>
 <use xlink:href="#glyph-0-4" x="367.636798" y="70.004213"/>
 <use xlink:href="#glyph-0-8" x="371.508886" y="70.004213"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-0-20" x="340.255968" y="81.95191"/>
 <use xlink:href="#glyph-0-2" x="345.787807" y="81.95191"/>
 <use xlink:href="#glyph-0-6" x="350.766064" y="81.95191"/>
 <use xlink:href="#glyph-0-7" x="359.062828" y="81.95191"/>
 <use xlink:href="#glyph-0-1" x="364.594667" y="81.95191"/>
 <use xlink:href="#glyph-0-8" x="367.360587" y="81.95191"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-0-0" x="338.361126" y="93.900607"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-0-12" x="344.858747" y="93.900607"/>
 <use xlink:href="#glyph-0-25" x="349.837004" y="93.900607"/>
 <use xlink:href="#glyph-0-18" x="353.764849" y="93.900607"/>
 <use xlink:href="#glyph-0-4" x="356.530769" y="93.900607"/>
 <use xlink:href="#glyph-0-18" x="360.402858" y="93.900607"/>
 <use xlink:href="#glyph-0-12" x="363.168777" y="93.900607"/>
 <use xlink:href="#glyph-0-3" x="368.147035" y="93.900607"/>
 </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 266.614164 -113.964557 L 294.959604 -113.964557 L 294.959604 -85.615209 L 266.614164 -85.615209 Z M 266.614164 -113.964557 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-1-0" x="418.529126" y="162.255827"/>
 </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 103.623979 -34.814647 C 103.623979 -29.311285 99.164223 -24.851529 93.660861 -24.851529 C 88.161408 -24.851529 83.701653 -29.311285 83.701653 -34.814647 C 83.701653 -40.3141 88.161408 -44.777764 93.660861 -44.777764 C 99.164223 -44.777764 103.623979 -40.3141 103.623979 -34.814647 Z M 103.623979 -34.814647 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-6-0" x="228.971986" y="98.06806"/>
 </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 72.362696 -34.814647 L 79.066009 -34.814647 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <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 6.054958 -0.00114651 L 1.606928 1.683476 L 3.088302 -0.00114651 L 1.606928 -1.681861 Z M 6.054958 -0.00114651 " transform="matrix(0.999389, 0, 0, -0.999389, 217.74171, 93.905104)"/>
 <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 93.660861 -82.382765 L 93.660861 -49.409499 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <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 6.051751 0.00183853 L 1.60763 1.682553 L 3.089004 0.00183853 L 1.60763 -1.682784 Z M 6.051751 0.00183853 " transform="matrix(0, -0.999389, -0.999389, 0, 235.1659, 111.329304)"/>
 <path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 237.15625 141.445312 C 237.15625 140.347656 236.265625 139.453125 235.164062 139.453125 C 234.066406 139.453125 233.175781 140.347656 233.175781 141.445312 C 233.175781 142.546875 234.066406 143.4375 235.164062 143.4375 C 236.265625 143.4375 237.15625 142.546875 237.15625 141.445312 Z M 237.15625 141.445312 "/>
 <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 43.016645 -117.197 L 100.747221 -117.197 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <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 6.05487 -0.00131999 L 1.606841 1.683303 L 3.088214 -0.00131999 L 1.606841 -1.682034 Z M 6.05487 -0.00131999 " transform="matrix(0.999389, 0, 0, -0.999389, 239.409766, 176.236962)"/>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-7-0" x="188.368803" y="168.962728"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-4-1" x="192.860058" y="170.455816"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-5-1" x="199.370079" y="171.451207"/>
 </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 43.016645 -99.787928 L 100.747221 -99.787928 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <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 6.05487 0.00142162 L 1.606841 1.682136 L 3.088214 0.00142162 L 1.606841 -1.683201 Z M 6.05487 0.00142162 " transform="matrix(0.999389, 0, 0, -0.999389, 239.409766, 158.841265)"/>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-7-0" x="188.368803" y="151.566361"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-4-0" x="192.860058" y="153.060448"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-5-1" x="198.858391" y="154.055839"/>
 </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 43.016645 -82.382765 L 100.747221 -82.382765 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <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 6.05487 0.000264599 L 1.606841 1.684887 L 3.088214 0.000264599 L 1.606841 -1.684358 Z M 6.05487 0.000264599 " transform="matrix(0.999389, 0, 0, -0.999389, 239.409766, 141.445577)"/>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-7-0" x="188.368803" y="135.139401"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-4-0" x="192.860058" y="136.632489"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-5-0" x="198.858391" y="137.62888"/>
 </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 28.843925 -0.000411925 L 181.116626 -0.000411925 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <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 6.052947 -0.000411925 L 1.608826 1.684211 L 3.086291 -0.000411925 L 1.608826 -1.681126 Z M 6.052947 -0.000411925 " transform="matrix(0.999389, 0, 0, -0.999389, 319.728095, 59.11287)"/>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-8-0" x="174.203461" y="52.447943"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-7-1" x="177.019739" y="52.447943"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-4-2" x="185.262701" y="53.94203"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-7-2" x="190.275637" y="52.447943"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-7-1" x="196.357076" y="52.447943"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-4-3" x="204.60288" y="53.94203"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-7-2" x="209.388955" y="52.447943"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-7-1" x="215.470394" y="52.447943"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-4-4" x="223.716198" y="53.94203"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-7-2" x="228.304394" y="52.447943"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-7-3" x="234.385833" y="52.447943"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-4-2" x="241.949054" y="53.94203"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-7-2" x="246.96199" y="52.447943"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-7-3" x="253.043429" y="52.447943"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-4-3" x="260.605651" y="53.94203"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-8-1" x="265.391726" y="52.447943"/>
 </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 103.623979 -34.814647 L 181.116626 -34.814647 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <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 6.052947 -0.00114651 L 1.608826 1.683476 L 3.086291 -0.00114651 L 1.608826 -1.681861 Z M 6.052947 -0.00114651 " transform="matrix(0.999389, 0, 0, -0.999389, 319.728095, 93.905104)"/>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-7-3" x="248.937782" y="88.59485"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-4-4" x="256.498161" y="90.088937"/>
 </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 214.594107 -48.268177 L 214.594107 -66.310448 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <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 6.054917 0.000497024 L 1.606887 1.681211 L 3.088261 0.000497024 L 1.606887 -1.684126 Z M 6.054917 0.000497024 " transform="matrix(0, 0.999389, 0.999389, 0, 356.022941, 122.546438)"/>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-1-1" x="359.837" y="124.26105"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-2-1" x="365.713408" y="125.754138"/>
 </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 28.843925 -34.814647 L 38.384909 -34.814647 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <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 6.051559 -0.00114651 L 1.607439 1.683476 L 3.088812 -0.00114651 L 1.607439 -1.681861 Z M 6.051559 -0.00114651 " transform="matrix(0.999389, 0, 0, -0.999389, 177.08495, 93.905104)"/>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-9-0" x="172.888265" y="90.088937"/>
 </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 163.070447 -99.787928 L 181.116626 -99.787928 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <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 6.052947 0.00144162 L 1.608826 1.682156 L 3.086291 0.00144162 L 1.608826 -1.683181 Z M 6.052947 0.00144162 " transform="matrix(0.999389, 0, 0, -0.999389, 319.728095, 158.841284)"/>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-1-2" x="310.887918" y="153.530161"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-2-1" x="316.151701" y="155.024248"/>
 </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 243.439852 -99.787928 L 261.482123 -99.787928 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <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 6.054922 0.00144162 L 1.606892 1.682156 L 3.088266 0.00144162 L 1.606892 -1.683181 Z M 6.054922 0.00144162 " transform="matrix(0.999389, 0, 0, -0.999389, 400.046433, 158.841284)"/>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-1-3" x="389.286999" y="155.024248"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-9-1" x="394.099058" y="155.024248"/>
 </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 295.459909 -99.787928 L 341.851528 -99.787928 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 486.414062 158.839844 L 481.972656 157.160156 L 483.449219 158.839844 L 481.972656 160.523438 Z M 486.414062 158.839844 "/>
 <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 6.053018 0.00144162 L 1.608897 1.682156 L 3.086362 0.00144162 L 1.608897 -1.683181 Z M 6.053018 0.00144162 " transform="matrix(0.999389, 0, 0, -0.999389, 480.364742, 158.841284)"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-1-3" x="471.351841" y="155.024248"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-9-0" x="476.163899" y="155.024248"/>
 </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 28.843925 -57.887334 L 319.173613 -57.887334 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <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 6.052613 0.00177608 L 1.608492 1.68249 L 3.085957 0.00177608 L 1.608492 -1.682847 Z M 6.052613 0.00177608 " transform="matrix(0.999389, 0, 0, -0.999389, 457.701084, 116.966619)"/>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-1-4" x="450.272724" y="111.214025"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-4-5" x="455.928268" y="112.707112"/>
 </g>
 <path fill-rule="nonzero" fill="rgb(98.50769%, 93.80188%, 82.429504%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M 109.21333 25.323651 L 143.230203 25.323651 L 143.230203 53.66909 L 109.21333 53.66909 Z M 109.21333 25.323651 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-1-5" x="256.04244" y="22.311363"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-10-0" x="265.712529" y="23.80445"/>
 <use xlink:href="#glyph-10-1" x="268.588859" y="23.80445"/>
 <use xlink:href="#glyph-10-1" x="273.726107" y="23.80445"/>
 </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 306.798867 -57.887334 L 306.798867 39.49637 L 148.358335 39.49637 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <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 6.053215 -0.000780438 L 1.609094 1.683842 L 3.086559 -0.000780438 L 1.609094 -1.681495 Z M 6.053215 -0.000780438 " transform="matrix(-0.999389, 0, 0, 0.999389, 292.666705, 19.641405)"/>
 <path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 450.160156 116.964844 C 450.160156 115.867188 449.269531 114.976562 448.171875 114.976562 C 447.070312 114.976562 446.179688 115.867188 446.179688 116.964844 C 446.179688 118.066406 447.070312 118.957031 448.171875 118.957031 C 449.269531 118.957031 450.160156 118.066406 450.160156 116.964844 Z M 450.160156 116.964844 "/>
 <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 -51.521571 -46.352945 C -51.521571 -40.849583 -55.981327 -36.389827 -61.484688 -36.389827 C -66.98805 -36.389827 -71.447806 -40.849583 -71.447806 -46.352945 C -71.447806 -51.852398 -66.98805 -56.312153 -61.484688 -56.312153 C -55.981327 -56.312153 -51.521571 -51.852398 -51.521571 -46.352945 Z M -51.521571 -46.352945 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-6-0" x="73.921754" y="109.599012"/>
 </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 108.713025 39.49637 L -61.484688 39.49637 L -61.484688 -31.754183 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <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 6.054502 0.000521509 L 1.610381 1.681236 L 3.087846 0.000521509 L 1.610381 -1.684101 Z M 6.054502 0.000521509 " transform="matrix(0, 0.999389, 0.999389, 0, 80.11276, 88.011696)"/>
 <path fill-rule="nonzero" fill="rgb(89.332581%, 93.409729%, 83.686829%)" fill-opacity="1" stroke-width="0.99628" stroke-linecap="butt" stroke-linejoin="miter" stroke="rgb(0%, 0%, 0%)" stroke-opacity="1" stroke-miterlimit="10" d="M -128.674168 -60.525664 L -94.622118 -60.525664 L -94.622118 -32.176316 L -128.674168 -32.176316 Z M -128.674168 -60.525664 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-1-5" x="16.285982" y="108.104925"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-10-2" x="25.956071" y="109.598013"/>
 <use xlink:href="#glyph-10-3" x="31.833484" y="109.598013"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-10-4" x="37.494842" y="109.598013"/>
 </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 335.144306 -99.787928 L 335.144306 -142.732129 L -140.509522 -142.732129 L -140.509522 -46.352945 L -133.806209 -46.352945 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 </g>
 <path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 11.050781 105.4375 L 6.609375 103.753906 L 8.085938 105.4375 L 6.609375 107.117188 Z M 11.050781 105.4375 "/>
 <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 6.0541 -0.00161454 L 1.609979 1.683008 L 3.087444 -0.00161454 L 1.609979 -1.682329 Z M 6.0541 -0.00161454 " transform="matrix(0.999389, 0, 0, -0.999389, 5.00038, 105.435886)"/>
 </g>
 <path fill-rule="nonzero" fill="rgb(0%, 0%, 0%)" fill-opacity="1" d="M 478.492188 158.839844 C 478.492188 157.742188 477.601562 156.851562 476.5 156.851562 C 475.402344 156.851562 474.507812 157.742188 474.507812 158.839844 C 474.507812 159.941406 475.402344 160.832031 476.5 160.832031 C 477.601562 160.832031 478.492188 159.941406 478.492188 158.839844 Z M 478.492188 158.839844 "/>
 <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 -94.125721 -46.352945 L -76.08345 -46.352945 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <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 6.053419 -0.00161454 L 1.609298 1.683008 L 3.086763 -0.00161454 L 1.609298 -1.682329 Z M 6.053419 -0.00161454 " transform="matrix(0.999389, 0, 0, -0.999389, 62.68856, 105.435886)"/>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-1-4" x="54.050899" y="99.683073"/>
 </g>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-2-2" x="60.80677" y="96.070281"/>
 </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 -51.521571 -46.352945 L -33.479301 -46.352945 " transform="matrix(0.999389, 0, 0, -0.999389, 141.560413, 59.11287)"/>
 <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 6.054508 -0.00161454 L 1.610387 1.683008 L 3.087852 -0.00161454 L 1.610387 -1.682329 Z M 6.054508 -0.00161454 " transform="matrix(0.999389, 0, 0, -0.999389, 105.265596, 105.435886)"/>
 <g fill="rgb(0%, 0%, 0%)" fill-opacity="1">
 <use xlink:href="#glyph-1-4" x="102.162493" y="99.683073"/>
 </g>
 </svg>
--- a/matlab/nass_model.slx
+++ b/matlab/nass_model.slx
--- a/matlab/src/initializeSimplifiedNanoHexapod.m
+++ b/matlab/src/initializeSimplifiedNanoHexapod.m
@ -1,6 +1,7 @@
 function [nano_hexapod] = initializeSimplifiedNanoHexapod(args)
    arguments
        args.type char {mustBeMember(args.type,{'none', 'stewart'})} = 'stewart'
        %% initializeFramesPositions
        args.H    (1,1) double {mustBeNumeric, mustBePositive} = 95e-3 % Height of the nano-hexapod [m]
        args.MO_B (1,1) double {mustBeNumeric} = 150e-3  % Height of {B} w.r.t. {M} [m]
@ -61,6 +62,13 @@ function [nano_hexapod] = initializeSimplifiedNanoHexapod(args)
    stewart = initializeStewartPlatform();
    switch args.type
      case 'none'
        stewart.type = 0;
      case 'stewart'
        stewart.type = 1;
    end
    stewart = initializeFramesPositions(stewart, ...
                                        'H', args.H, ...
                                        'MO_B', args.MO_B);
--- a/matlab/subsystems/micro_hexapod_bot_plate.slx
+++ b/matlab/subsystems/micro_hexapod_bot_plate.slx
--- a/matlab/subsystems/micro_hexapod_strut.slx
+++ b/matlab/subsystems/micro_hexapod_strut.slx
--- a/matlab/subsystems/micro_hexapod_top_plate.slx
+++ b/matlab/subsystems/micro_hexapod_top_plate.slx
--- a/simscape-nass.org
+++ b/simscape-nass.org
@ -219,8 +219,8 @@ CLOSED: [2025-02-12 Wed 12:10] SCHEDULED: <2025-02-12 Wed>
 - [X] Remove nano-hexapod model and add simplified model
 - [ ] Add "cylindrical" payloads (configurable in mass)
-** TODO [#B] Add payload configurable subsystem
+** DONE [#B] Add payload configurable subsystem
-SCHEDULED: <2025-02-12 Wed>
+CLOSED: [2025-02-12 Wed 14:17] SCHEDULED: <2025-02-12 Wed>
 ** TODO [#B] Discuss the necessity of estimated Rz?
@ -231,6 +231,16 @@ Here it can be reminded when doing the control in the cartesian frame.
 ** TODO [#B] Check if things are compatible to results of uniaxial model
 ** TODO [#C] Check if it would be interesting to show soft/stiff nano-hexapod plants
 - [ ] Would we see u-station dynamics with very stiff nano-hexapod?
 - [ ] Would rotation be difficult to handle with soft nano-hexapod?
 ** DONE [#A] Add possibility to configure the nano-hexapod to be fully rigid
 CLOSED: [2025-02-12 Wed 14:46]
 - Use to compare TF without the NASS
 ** CANC [#C] What performance metric can we use?                   :@christophe:
 CLOSED: [2024-11-12 Tue 09:22]
 - State "CANC"       from "QUES"       [2024-11-12 Tue 09:22]
@ -264,16 +274,21 @@ In this section:
 <<sec:nass_kinematics>>
 ** Introduction                                                      :ignore:
- Explain how the position error can be expressed in the frame of the nano-hexapod
+- Explained during the last section: HAC-IFF
- [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/positioning_error.org][positioning_error]]: Explain how the NASS control is made (computation of the wanted position, measurement of the sample position, computation of the errors)
+  Decentralized IFF
- Control architecture, block diagram
+  Centralized HAC, control in the frame of the struts
 - To compute the positioning errors in the frame of the struts
  - Compute the wanted pose of the sample with respect to the granite using the micro-station kinematics (Section ref:ssec:nass_ustation_kinematics)
  - Measure the sample pose with respect to the granite using the external metrology and internal metrology for Rz (Section ref:ssec:nass_sample_pose_error)
  - Compute the sample pose error and map these errors in the frame of the struts (Section ref:ssec:nass_error_struts)
 - The complete control architecture is shown in Section ref:ssec:nass_control_architecture
- Schematic with micro-station + nass + metrology + control system
+- [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/positioning_error.org][positioning_error]]: Explain how the NASS control is made (computation of the wanted position, measurement of the sample position, computation of the errors)
- Zoom in the control system with blocs
+
- Then explain all the blocs
+- [ ] Schematic with micro-station + nass + metrology + control system => explain what is inside the control system
- Say that there are many control strategies.
+#+name: fig:nass_concept_schematic
-  It will be the topic of chapter 2.3.
+#+caption: Figure caption
-  Here, we start with something simple: control in the frame of the struts
+[[file:figs/nass_concept_schematic.png]]
 ** Matlab Init                                              :noexport:ignore:
 #+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
@ -301,17 +316,112 @@ In this section:
 #+end_src
 ** Micro Station Kinematics
 <<ssec:nass_ustation_kinematics>>
 - from ref:ssec:ustation_kinematics, computation of the wanted sample pose from the setpoint of each stage.
 wanted pose = Tdy * Try * Trz * Tu
 ** Computation of the sample's pose error
 <<ssec:nass_sample_pose_error>>
 From metrology (here supposed to be perfect 6-DoF), compute the sample's pose error.
 Has to invert the homogeneous transformation.
-** Position error in the frame of the nano-hexapod
+In reality, 5DoF metrology => have to estimate the Rz using spindle encoder + nano-hexapod internal metrology (micro-hexapod does not perform Rz rotation).
-Explain how to compute the errors in the frame of the struts (rotating)
+** Position error in the frame of the struts
 <<ssec:nass_error_struts>>
 Explain how to compute the errors in the frame of the struts (rotating):
 - Errors in the granite frame
 - Errors in the frame of the nano-hexapod
 - Errors in the frame of the struts => used for control
 ** Control Architecture
 <<ssec:nass_control_architecture>>
 - Say that there are many control strategies.
  It will be the topic of chapter 2.3.
  Here, we start with something simple: control in the frame of the struts
 #+begin_src latex :file nass_control_architecture.pdf
 \begin{tikzpicture}
  % Blocs
  \node[block={2.0cm}{1.0cm}, fill=colorblue!20!white] (metrology) {Metrology};
  \node[block={2.0cm}{2.0cm}, below=0.1 of metrology, align=center, fill=colorblue!20!white] (nhexa) {Nano\\Hexapod};
  \node[block={3.0cm}{1.5cm}, below=0.1 of nhexa, align=center, fill=colorblue!20!white] (ustation) {Micro\\Station};
  \coordinate[] (inputf)  at ($(nhexa.south west)!0.5!(nhexa.north west)$);
  \coordinate[] (outputfn) at ($(nhexa.south east)!0.3!(nhexa.north east)$);
  \coordinate[] (outputde) at ($(nhexa.south east)!0.7!(nhexa.north east)$);
  \coordinate[] (outputDy) at ($(ustation.south east)!0.1!(ustation.north east)$);
  \coordinate[] (outputRy) at ($(ustation.south east)!0.5!(ustation.north east)$);
  \coordinate[] (outputRz) at ($(ustation.south east)!0.9!(ustation.north east)$);
  \node[block={1.0cm}{1.0cm}, right=0.5 of outputde, fill=colorred!20!white] (Rz_kinematics) {$\bm{J}_{R_z}^{-1}$};
  \node[block={2.0cm}{2.0cm}, right=2.2 of ustation, align=center, fill=colorred!20!white] (ustation_kinematics) {Compute\\Reference\\Position};
  \node[block={2.0cm}{2.0cm}, right=0.8 of ustation_kinematics, align=center, fill=colorred!20!white] (compute_error) {Compute\\Error\\Position};
  \node[block={2.0cm}{2.0cm}, above=0.8 of compute_error, align=center, fill=colorred!20!white] (compute_pos) {Compute\\Sample\\Position};
  \node[block={1.0cm}{1.0cm}, right=0.8 of compute_error, fill=colorred!20!white] (hexa_jacobian) {$\bm{J}$};
  \coordinate[] (inputMetrology) at ($(compute_error.north east)!0.3!(compute_error.north west)$);
  \coordinate[] (inputRz) at ($(compute_error.north east)!0.7!(compute_error.north west)$);
  \node[addb={+}{}{}{}{}, right=0.4 of Rz_kinematics, fill=colorred!20!white] (addRz) {};
  \draw[->] (Rz_kinematics.east) -- (addRz.west);
  \draw[->] (outputRz-|addRz)node[branch]{} -- (addRz.south);
  \draw[->] (outputDy) node[above right]{$r_{D_y}$} -- (outputDy-|ustation_kinematics.west);
  \draw[->] (outputRy) node[above right]{$r_{R_y}$} -- (outputRy-|ustation_kinematics.west);
  \draw[->] (outputRz) node[above right]{$r_{R_z}$} -- (outputRz-|ustation_kinematics.west);
  \draw[->] (metrology.east)node[above right]{$[D_x,\,D_y,\,D_z,\,R_x,\,R_y]$} -- (compute_pos.west|-metrology);
  \draw[->] (addRz.east)node[above right]{$R_z$} -- (compute_pos.west|-addRz);
  \draw[->] (compute_pos.south)node -- (compute_error.north)node[above right]{$\bm{y}_{\mathcal{X}}$};
  \draw[->] (outputde) -- (Rz_kinematics.west) node[above left]{$\bm{\mathcal{L}}$};
  \draw[->] (ustation_kinematics.east) -- (compute_error.west) node[above left]{$\bm{r}_{\mathcal{X}}$};
  \draw[->] (compute_error.east) -- (hexa_jacobian.west) node[above left]{$\bm{\epsilon\mathcal{X}}$};
  \draw[->] (hexa_jacobian.east) -- ++(1.8, 0) node[above left]{$\bm{\epsilon\mathcal{L}}$};
  \draw[->] (outputfn) -- ($(outputfn-|hexa_jacobian.east) + (1.0, 0)$)coordinate(fn) node[above left]{$\bm{f}_n$};
  \begin{scope}[on background layer]
    \node[fit={(metrology.north-|ustation.west) (hexa_jacobian.east|-compute_error.south)}, fill=black!10!white, draw, dashed, inner sep=4pt] (plant) {};
    \node[anchor={north east}] at (plant.north east){$\text{Plant}$};
  \end{scope}
  \node[block, above=0.2 of plant, fill=coloryellow!20!white] (Kiff) {$\bm{K}_{\text{IFF}}$};
  \draw[->] ($(fn)-(0.6,0)$)node[branch]{} |- (Kiff.east);
  \node[addb={+}{}{}{}{}, left=0.8 of inputf] (addf) {};
  \draw[->] (Kiff.west) -| (addf.north);
  \begin{scope}[on background layer]
    \node[fit={(plant.south-|fn) (addf.west|-Kiff.north)}, fill=black!20!white, draw, dashed, inner sep=4pt] (damped_plant) {};
    \node[anchor={north east}] at (damped_plant.north east){$\text{Damped Plant}$};
  \end{scope}
  \begin{scope}[on background layer]
    \node[fit={(metrology.north-|ustation.west) (hexa_jacobian.east|-compute_error.south)}, fill=black!10!white, draw, dashed, inner sep=4pt] (plant) {};
    \node[anchor={north east}] at (plant.north east){$\text{Plant}$};
  \end{scope}
  \node[block, left=0.8 of addf, fill=colorgreen!20!white] (Khac) {$\bm{K}_{\text{HAC}}$};
  \draw[->] ($(hexa_jacobian.east)+(1.4,0)$)node[branch]{} |- ($(Khac.west)+(-0.4, -3.4)$) |- (Khac.west);
  \draw[->] (Khac.east) -- node[midway, above]{$\bm{f}^{\prime}$} (addf.west);
  \draw[->] (addf.east) -- (inputf) node[above left]{$\bm{f}$};
 \end{tikzpicture}
 #+end_src
 #+name: fig:nass_control_architecture
 #+caption: The physical systems are shown in blue, the control kinematics in red, the decentralized Integral Force Feedback in yellow and the centralized High Authority Controller in green.
 #+attr_latex: :width \linewidth
 #+RESULTS:
 [[file:figs/nass_control_architecture.png]]
 * Decentralized Active Damping
 :PROPERTIES:
@ -320,14 +430,18 @@ Explain how to compute the errors in the frame of the struts (rotating)
 <<sec:nass_active_damping>>
 ** Introduction                                                      :ignore:
- How to apply/optimize IFF on an hexapod? ()
+- How to apply/optimize IFF on an hexapod?
 - Robustness to payload mass
 - Root Locus
 - Damping optimization
- [ ][[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/control_active_damping.org][control_active_damping]]
+Explain which samples are tested:
- [ ][[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/control-active-damping.org][active damping for stewart platforms]]
+- 1kg, 25kg, 50kg
- [ ][[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/bibliography.org::*Vibration Control and Active Damping][Vibration Control and Active Damping]]
+- cylindrical, 200mm height?
 - [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/control_active_damping.org][control_active_damping]]
 - [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/control-active-damping.org][active damping for stewart platforms]]
 - [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/bibliography.org::*Vibration Control and Active Damping][Vibration Control and Active Damping]]
 ** Matlab Init                                              :noexport:ignore:
 #+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
@ -356,6 +470,10 @@ Explain how to compute the errors in the frame of the struts (rotating)
 ** IFF Plant
 - [ ] Show how it changes with the payload mass (1, 25, 50)
 - [ ] Effect of rotation (no rotation - 60rpm)
 - [ ] Added parallel stiffness
 #+begin_src matlab
 %% Identify the plant dynamics using the Simscape model
@ -388,23 +506,25 @@ initializeReferences();
 %                  'eL1', 'eL2', 'eL3', 'eL4', 'eL5', 'eL6'};
 #+end_src
 - Show how it changes with the payload mass (1, 25, 50)
 - Effect of rotation (1rpm, 60rpm)
 ** Controller Design
- Apply IFF
+- Use Integral controller (with parallel stiffness)
- Show Root Locus
+- Show Root Locus (show that without parallel stiffness => unstable?)
 - Choose optimal gain.
  Here in MIMO, cannot have optimal damping for all modes. (there is a paper that tries to optimize that)
- Show robustness to change of payload (loci?)
+- Show robustness to change of payload (loci?) / Change of rotating velocity ?
 - Reference to paper showing stability in MIMO for decentralized IFF
 ** Sensitivity to disturbances
- Compute transfer functions from spindle vertical error to sample vertical error with IFF (and compare without the NASS)
+Disturbances:
- Same for horizontal
+- floor motion
- Maybe noise budgeting, but may be complex in MIMO...
+- Spindle X and Z
 - Direct forces?
 - Compute sensitivity to disturbances with and without IFF (and compare without the NASS)
 - Maybe noise budgeting, but may be complex in MIMO... ?
 * Centralized Active Vibration Control
 :PROPERTIES:
@ -451,22 +571,21 @@ From control kinematics:
 ** HAC Plant
- Compute transfer function from u to dL (with IFF applied)
+- [ ] Compute transfer function from $\bm{f}$ to $\bm{\epsilon\mathcal{L}}$ (with IFF applied) for all masses
-
+- [ ] Show effect of rotation
-** Effect of Payload mass
+- [ ] Show effect of payload mass
-
+- [ ] Compare with undamped plants
 - Show effect of payload mass + rotation
 ** Controller design
- Show robustness with Loci
+- [ ] Show design HAC with formulas and parameters
 - [ ] Show robustness with Loci for all masses
 ** Sensitivity to disturbances
 - Compute transfer functions from spindle vertical error to sample vertical error with HAC-IFF
  Compare without the NASS, and with just IFF
 - Same for horizontal
 - Maybe noise budgeting, but may be complex in MIMO...
 ** Tomography experiment
@ -1802,6 +1921,7 @@ end
 function [nano_hexapod] = initializeSimplifiedNanoHexapod(args)
    arguments
        args.type char {mustBeMember(args.type,{'none', 'stewart'})} = 'stewart'
        %% initializeFramesPositions
        args.H    (1,1) double {mustBeNumeric, mustBePositive} = 95e-3 % Height of the nano-hexapod [m]
        args.MO_B (1,1) double {mustBeNumeric} = 150e-3  % Height of {B} w.r.t. {M} [m]
@ -1862,6 +1982,13 @@ function [nano_hexapod] = initializeSimplifiedNanoHexapod(args)
    stewart = initializeStewartPlatform();
    switch args.type
      case 'none'
        stewart.type = 0;
      case 'stewart'
        stewart.type = 1;
    end
    stewart = initializeFramesPositions(stewart, ...
                                        'H', args.H, ...
                                        'MO_B', args.MO_B);
--- a/simscape-nass.pdf
+++ b/simscape-nass.pdf
--- a/simscape-nass.tex
+++ b/simscape-nass.tex
@ -1,4 +1,4 @@
-% Created 2025-02-12 Wed 11:34
+% Created 2025-02-12 Wed 15:35
 % Intended LaTeX compiler: pdflatex
 \documentclass[a4paper, 10pt, DIV=12, parskip=full, bibliography=totoc]{scrreprt}
@ -39,84 +39,121 @@ In this section:
 \item Simulation of experiments
 \end{itemize}
 \begin{table}[htbp]
 \centering
 \begin{tabularx}{0.6\linewidth}{lX}
 \toprule
 \textbf{Sections} & \textbf{Matlab File}\\
 \midrule
 Section \ref{sec:nass_1_a} & \texttt{nass\_1\_.m}\\
 \bottomrule
 \end{tabularx}
 \caption{\label{tab:nass_section_matlab_code}Report sections and corresponding Matlab files}
 \end{table}
 \chapter{Control Kinematics}
 \label{sec:nass_kinematics}
 \begin{itemize}
-\item Explain how the position error can be expressed in the frame of the nano-hexapod
+\item Explained during the last section: HAC-IFF
-\item[{$\square$}] \href{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/positioning\_error.org}{positioning\_error}: Explain how the NASS control is made (computation of the wanted position, measurement of the sample position, computation of the errors)
+Decentralized IFF
-\item Control architecture, block diagram
+Centralized HAC, control in the frame of the struts
-
+\item To compute the positioning errors in the frame of the struts
-\item Schematic with micro-station + nass + metrology + control system
+\begin{itemize}
-\item Zoom in the control system with blocs
+\item Compute the wanted pose of the sample with respect to the granite using the micro-station kinematics (Section \ref{ssec:nass_ustation_kinematics})
-\item Then explain all the blocs
+\item Measure the sample pose with respect to the granite using the external metrology and internal metrology for Rz (Section \ref{ssec:nass_sample_pose_error})
-\item Say that there are many control strategies.
+\item Compute the sample pose error and map these errors in the frame of the struts (Section \ref{ssec:nass_error_struts})
 It will be the topic of chapter 2.3.
 Here, we start with something simple: control in the frame of the struts
 \end{itemize}
 \item The complete control architecture is shown in Section \ref{ssec:nass_control_architecture}
 \item[{$\square$}] \href{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/positioning\_error.org}{positioning\_error}: Explain how the NASS control is made (computation of the wanted position, measurement of the sample position, computation of the errors)
 \item[{$\square$}] Schematic with micro-station + nass + metrology + control system => explain what is inside the control system
 \end{itemize}
 \begin{figure}[htbp]
 \centering
 \includegraphics[scale=1]{figs/nass_concept_schematic.png}
 \caption{\label{fig:nass_concept_schematic}Figure caption}
 \end{figure}
 \section{Micro Station Kinematics}
 \label{ssec:nass_ustation_kinematics}
 \begin{itemize}
 \item from \ref{ssec:ustation_kinematics}, computation of the wanted sample pose from the setpoint of each stage.
 \end{itemize}
 wanted pose = Tdy * Try * Trz * Tu
 \section{Computation of the sample's pose error}
 \label{ssec:nass_sample_pose_error}
 From metrology (here supposed to be perfect 6-DoF), compute the sample's pose error.
 Has to invert the homogeneous transformation.
-\section{Position error in the frame of the nano-hexapod}
+In reality, 5DoF metrology => have to estimate the Rz using spindle encoder + nano-hexapod internal metrology (micro-hexapod does not perform Rz rotation).
-Explain how to compute the errors in the frame of the struts (rotating)
+\section{Position error in the frame of the struts}
 \label{ssec:nass_error_struts}
 Explain how to compute the errors in the frame of the struts (rotating):
 \begin{itemize}
 \item Errors in the granite frame
 \item Errors in the frame of the nano-hexapod
 \item Errors in the frame of the struts => used for control
 \end{itemize}
 \section{Control Architecture}
 \label{ssec:nass_control_architecture}
 \begin{itemize}
 \item Say that there are many control strategies.
 It will be the topic of chapter 2.3.
 Here, we start with something simple: control in the frame of the struts
 \item[{$\square$}] block diagram of the complete control architecture
 \end{itemize}
 \begin{figure}[htbp]
 \centering
 \includegraphics[scale=1,width=\linewidth]{figs/nass_control_architecture.png}
 \caption{\label{fig:nass_control_architecture}Figure caption}
 \end{figure}
 \chapter{Decentralized Active Damping}
 \label{sec:nass_active_damping}
 \begin{itemize}
-\item How to apply/optimize IFF on an hexapod? ()
+\item How to apply/optimize IFF on an hexapod?
 \item Robustness to payload mass
 \item Root Locus
 \item Damping optimization
 \end{itemize}
-\item\relax [ ]\href{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/control\_active\_damping.org}{control\_active\_damping}
+Explain which samples are tested:
-\item\relax [ ]\href{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/control-active-damping.org}{active damping for stewart platforms}
+\begin{itemize}
-\item\relax [ ]\href{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/bibliography.org}{Vibration Control and Active Damping}
+\item 1kg, 25kg, 50kg
 \item cylindrical, 200mm height?
 \item[{$\square$}] \href{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/control\_active\_damping.org}{control\_active\_damping}
 \item[{$\square$}] \href{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/control-active-damping.org}{active damping for stewart platforms}
 \item[{$\square$}] \href{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/bibliography.org}{Vibration Control and Active Damping}
 \end{itemize}
 \section{IFF Plant}
 \begin{itemize}
-\item Show how it changes with the payload mass (1, 25, 50)
+\item[{$\square$}] Show how it changes with the payload mass (1, 25, 50)
-\item Effect of rotation (1rpm, 60rpm)
+\item[{$\square$}] Effect of rotation (no rotation - 60rpm)
 \item[{$\square$}] Added parallel stiffness
 \end{itemize}
 \section{Controller Design}
 \begin{itemize}
-\item Apply IFF
+\item Use Integral controller (with parallel stiffness)
-\item Show Root Locus
+\item Show Root Locus (show that without parallel stiffness => unstable?)
 \item Choose optimal gain.
 Here in MIMO, cannot have optimal damping for all modes. (there is a paper that tries to optimize that)
-\item Show robustness to change of payload (loci?)
+\item Show robustness to change of payload (loci?) / Change of rotating velocity ?
 \item Reference to paper showing stability in MIMO for decentralized IFF
 \end{itemize}
 \section{Sensitivity to disturbances}
 Disturbances:
 \begin{itemize}
-\item Compute transfer functions from spindle vertical error to sample vertical error with IFF (and compare without the NASS)
+\item floor motion
-\item Same for horizontal
+\item Spindle X and Z
-\item Maybe noise budgeting, but may be complex in MIMO\ldots{}
+\item Direct forces?
 \item Compute sensitivity to disturbances with and without IFF (and compare without the NASS)
 \item Maybe noise budgeting, but may be complex in MIMO\ldots{} ?
 \end{itemize}
 \chapter{Centralized Active Vibration Control}
@ -138,19 +175,17 @@ From control kinematics:
 \section{HAC Plant}
 \begin{itemize}
-\item Compute transfer function from u to dL (with IFF applied)
+\item[{$\square$}] Compute transfer function from \(\bm{f}\) to \(\bm{\epsilon\mathcal{L}}\) (with IFF applied) for all masses
-\end{itemize}
+\item[{$\square$}] Show effect of rotation
-
+\item[{$\square$}] Show effect of payload mass
-\section{Effect of Payload mass}
+\item[{$\square$}] Compare with undamped plants
 \begin{itemize}
 \item Show effect of payload mass + rotation
 \end{itemize}
 \section{Controller design}
 \begin{itemize}
-\item Show robustness with Loci
+\item[{$\square$}] Show design HAC with formulas and parameters
 \item[{$\square$}] Show robustness with Loci for all masses
 \end{itemize}
 \section{Sensitivity to disturbances}
@ -159,7 +194,6 @@ From control kinematics:
 \item Compute transfer functions from spindle vertical error to sample vertical error with HAC-IFF
 Compare without the NASS, and with just IFF
 \item Same for horizontal
 \item Maybe noise budgeting, but may be complex in MIMO\ldots{}
 \end{itemize}
 \section{Tomography experiment}