Compute sensor/actuator constants

matlab/frf_setup.m

@@ -27,7 +27,7 @@ V_noise = generateShapedNoise('Ts', 1/Fs, ...
 %% Sweep Sine
 gc = 0.1;
 xi = 0.5;
-wn = 2*pi*92.7;
+wn = 2*pi*94.3;
 
 % Notch filter at the resonance of the APA
 G_sweep = 0.2*(s^2 + 2*gc*xi*wn*s + wn^2)/(s^2 + 2*xi*wn*s + wn^2);
@@ -41,15 +41,6 @@ V_sweep = generateSweepExc('Ts',      Ts, ...
                            'sweep_type',   'log', ...
                            'V_exc', G_sweep*1/(1 + s/2/pi/500));
 
-V_sweep_lf = generateSweepExc('Ts',      Ts, ...
-                           'f_start', 0.1, ...
-                           'f_end',   10, ...
-                           'V_mean',  3.25, ...
-                           't_start', Trec_start, ...
-                           'exc_duration', Trec_dur, ...
-                           'sweep_type',   'log', ...
-                           'V_exc', 0.2);
-
 %% High Frequency Shaped Noise
 [b,a] = cheby1(10, 2, 2*pi*[300 2e3], 'bandpass', 's');
 wL = 0.005*tf(b, a);
@@ -70,19 +61,6 @@ V_sin = generateSinIncreasingAmpl('Ts', 1/Fs, ...
                                   't_start', Trec_start, ...
                                   'smooth_ends', true);
 
-%% Zero Excitation
-% Trec_start = 10;  % Start time for Recording [s]
-% Trec_dur   = 40; % Recording Duration [s]
-% 
-% Tsim = 2*Trec_start + Trec_dur;  % Simulation Time [s]
-
-V_zero = generateShapedNoise('Ts', 1/Fs, ...
-                             'V_mean', 3.25, ...
-                             't_start', Trec_start, ...
-                             'exc_duration', Trec_dur, ...
-                             'smooth_ends', true, ...
-                             'V_exc', tf(0));
-
 %% Select the excitation signal
 V_exc = timeseries(V_noise(2,:), V_noise(1,:));
 
@@ -91,12 +69,12 @@ figure;
 tiledlayout(1, 2, 'TileSpacing', 'Normal', 'Padding', 'None');
 
 ax1 = nexttile;
-plot(V_exc.Time, squeeze(V_exc.Data));
+plot(V_exc(1,:), V_exc(2,:));
 xlabel('Time [s]'); ylabel('Amplitude [V]');
 
 ax2 = nexttile;
-win = hanning(floor(length(squeeze(V_exc.Data))/8));
+win = hanning(floor(length(V_exc)/8));
-[pxx, f] = pwelch(squeeze(V_exc.Data), win, 0, [], Fs);
+[pxx, f] = pwelch(V_exc(2,:), win, 0, [], Fs);
 plot(f, pxx)
 xlabel('Frequency [Hz]'); ylabel('Power Spectral Density [$V^2/Hz$]');
 set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');

matlab/mat/full_APA300ML_K.CSV

@@ -0,0 +1,36 @@
+1.7025906652166748e+08,-5.0847898776903749e+03,-1.7824821763551235e+05,-1.3466069715889171e+02,-2.5055546540293694e+06,-3.4394740807618946e+03,1.6611123384494107e+07,-2.0265744364734564e+03,2.3453712127264356e+04,4.2503680078144953e+01,2.4562537687728583e+05,-2.6047031936489020e+01,-9.3271694320415661e+07,-4.8050791696289554e+04,-1.4158079942445016e+07,3.2969659612063697e+02,-5.9350973070021451e+05,1.1040980022378790e+02,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,-9.3598495585884690e+07,5.5162155885093205e+04,1.4312874447986556e+07,-3.2316960961190051e+02,-5.9457478563968907e+05,2.5872288588175991e+02,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+-5.0847898776903749e+03,3.3000521201255798e+07,-4.6625887869000435e+03,6.2813704113283753e+05,9.8897688304306939e+01,-1.6211858590666205e+04,-3.7328181189559400e+03,2.0452885612800443e+06,-2.6927212193122250e+02,-3.5249547860599487e+04,-5.5407845259685018e+01,-1.1589028298781486e+03,1.5739445750852115e+04,-1.7813529953522753e+07,2.1166006582895061e+03,1.3873194662253163e+05,1.0616004697843164e+02,-1.0802934700983943e+05,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,-6.9218378760760634e+03,-1.7232279808969740e+07,2.8152604645506885e+03,1.3512707751998931e+05,-9.0834888107377822e+01,1.0796260409338921e+05,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+-1.7824821763551235e+05,-4.6625887869000435e+03,6.9466510183792114e+06,-9.0491115236654878e+01,2.9935294508822262e+03,-4.5264037723653018e+01,-2.3542868553834036e+04,3.7106963442063352e+02,-6.7077704072018107e+05,-7.1945905481356931e+00,-3.6055338420181943e+02,8.1156535669581444e+00,-1.9381469898353927e+07,9.6799457536824048e+02,-3.1306125947831445e+06,-1.0258494452622472e+01,-1.1824896021391597e+05,-2.8158813312093116e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,1.9583260984568525e+07,3.3235247861480475e+03,-3.1452613827058780e+06,-3.2998239573319822e+01,1.1950827030106378e+05,-3.0701641339988768e+01,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+-1.3466069715889171e+02,6.2813704113283753e+05,-9.0491115236654878e+01,1.2287872421521693e+04,2.4815133320953464e+00,-2.9768581304418331e+02,-5.9801708979422983e+01,3.5262560071851534e+04,-3.8708226026650436e+00,-6.0188601063060833e+02,-8.8767102771797113e-01,-2.0162284029800531e+01,3.1968646322918357e+02,-3.3702578732469940e+05,4.4113325226706365e+01,2.4900424310874064e+03,2.2097922638899945e+00,-1.4252305956964549e+03,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,-1.2522405834563742e+02,-3.2637381388066086e+05,5.0248615148269451e+01,2.4244566947484113e+03,-1.5235242118520218e+00,1.4235194894431104e+03,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+-2.5055546540293694e+06,9.8897688304306939e+01,2.9935294508822262e+03,2.4815133320953464e+00,3.7161761043426581e+04,5.2366505079909984e+01,-2.4564178405920847e+05,3.0992853197055183e+01,-3.5786829937546281e+02,-6.4524157566870244e-01,-3.6322681570599866e+03,3.9411283835644451e-01,1.3727513926213938e+06,7.2163097494532121e+02,2.0235330589570518e+05,-4.9453238270903057e+00,8.7536664065023506e+03,-1.6917724842787720e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,1.3784450454659571e+06,-8.5152151465541294e+02,-2.0498896704830742e+05,5.0103874290666832e+00,8.7741331332713198e+03,-3.8742707544350909e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+-3.4394740807618946e+03,-1.6211858590666205e+04,-4.5264037723653018e+01,-2.9768581304418331e+02,5.2366505079909984e+01,1.9997054942304268e+04,-3.8236978668157462e+02,-1.1794838685545437e+03,6.2055264004134187e+00,2.0421366380802340e+01,-5.6513392744064959e+00,1.7929648338712792e+02,2.0553456617532138e+03,3.2507221408888244e+05,2.6843655548975676e+02,-2.1797734255538971e+03,1.2792351026492042e+01,-5.5658261123028251e+02,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,1.7664982058661433e+03,-3.0768087162978854e+05,-2.2937804486865491e+02,2.0361313783030594e+03,1.1156965742554387e+01,-6.3717624293345079e+02,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+1.6611123384494107e+07,-3.7328181189559400e+03,-2.3542868553834036e+04,-5.9801708979422983e+01,-2.4564178405920847e+05,-3.8236978668157462e+02,1.6996549791094971e+08,-5.0489899688214064e+03,1.9248716556513309e+05,1.0628453893103870e+02,2.5010658933376074e+06,6.1041730500757694e+02,-9.3087030151883289e+07,9.7765030273124084e+03,1.4127564165360071e+07,1.4791213598331390e+02,5.9206795672574569e+05,8.0715631976160523e+01,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,-9.3489591143607020e+07,-9.9469490208033312e+02,-1.4296508462275315e+07,-1.5754215382160368e+02,5.9370825923807942e+05,1.4372786302541769e+01,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+-2.0265744364734564e+03,2.0452885612800443e+06,3.7106963442063352e+02,3.5262560071851534e+04,3.0992853197055183e+01,-1.1794838685545437e+03,-5.0489899688214064e+03,3.2966102000411987e+07,2.0634926947616041e+03,-6.2746484599816799e+05,-7.8304031046223827e+01,-1.6609391113463789e+04,7.9337503945138697e+03,-1.7798862772643398e+07,-1.4406953362980364e+03,-1.3859197836656496e+05,-6.3142917231971417e+01,-1.0777182706961897e+05,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,-8.5818598961646967e+02,-1.7212527789031286e+07,-9.9386701299186655e+02,-1.3498851549567757e+05,3.9231309383947938e+01,1.0797065254365717e+05,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+2.3453712127264356e+04,-2.6927212193122250e+02,-6.7077704072018107e+05,-3.8708226026650436e+00,-3.5786829937546281e+02,6.2055264004134187e+00,1.9248716556513309e+05,2.0634926947616041e+03,6.9434985789718628e+06,-3.6250569502823055e+01,3.2170988347418606e+03,-1.1041595019865781e+01,1.9366005346220493e+07,-1.1813533226154452e+03,-3.1280299608677011e+06,-1.0342695875792852e+01,-1.1812666660302464e+05,-1.6810206926531841e+01,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,-1.9581946223828707e+07,-6.1286727063225408e+02,-3.1446915775327585e+06,-1.4853329911141653e+01,1.1950052428133486e+05,4.5916946012839821e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+4.2503680078144953e+01,-3.5249547860599487e+04,-7.1945905481356931e+00,-6.0188601063060833e+02,-6.4524157566870244e-01,2.0421366380802340e+01,1.0628453893103870e+02,-6.2746484599816799e+05,-3.6250569502823055e+01,1.2274659215539228e+04,1.6512593089046277e+00,3.0589136407109618e+02,-1.5011021146964637e+02,3.3674860222162626e+05,2.6233135104656071e+01,2.4876057241309536e+03,1.1677252743417590e+00,1.4208683950402876e+03,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,1.3219922474057739e+00,3.2596579163732857e+05,1.7212022752649787e+01,2.4216494857525390e+03,-6.5851232482028477e-01,-1.4236968079694655e+03,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+2.4562537687728583e+05,-5.5407845259685018e+01,-3.6055338420181943e+02,-8.8767102771797113e-01,-3.6322681570599866e+03,-5.6513392744064959e+00,2.5010658933376074e+06,-7.8304031046223827e+01,3.2170988347418606e+03,1.6512593089046277e+00,3.7093043936732225e+04,9.1138924046717875e+00,-1.3699061939106337e+06,1.4774361372482107e+02,2.0188730839755369e+05,2.2020177914469263e+00,8.7316431010803844e+03,1.1867731976393239e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,-1.3767850763014846e+06,-1.4031737263792536e+01,-2.0474385384726617e+05,-2.3245128778272086e+00,8.7609809675618581e+03,2.0393417911566214e-01,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+-2.6047031936489020e+01,-1.1589028298781486e+03,8.1156535669581444e+00,-2.0162284029800531e+01,3.9411283835644451e-01,1.7929648338712792e+02,6.1041730500757694e+02,-1.6609391113463789e+04,-1.1041595019865781e+01,3.0589136407109618e+02,9.1138924046717875e+00,1.9989800859937444e+04,-3.6125822717223366e+02,3.2511290745118458e+05,5.7469046449823885e+01,2.1806838256750889e+03,2.6670404146188469e+00,-5.5803183278930885e+02,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,-2.2311204612688221e+02,-3.0734461350761738e+05,-5.4543104321051004e+01,-2.0337992320273754e+03,2.2855913310116369e+00,-6.3733988177648257e+02,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+-9.3271694320415661e+07,1.5739445750852115e+04,-1.9381469898353927e+07,3.1968646322918357e+02,1.3727513926213938e+06,2.0553456617532138e+03,-9.3087030151883289e+07,7.9337503945138697e+03,1.9366005346220493e+07,-1.5011021146964637e+02,-1.3699061939106337e+06,-3.6125822717223366e+02,3.2653317307847595e+08,1.3664833454787731e+04,2.2195694948650897e+04,-2.4215488532703603e+02,1.0462063770201057e+03,-1.3143843847302378e+02,-1.2592844028090753e+08,-1.3768377136834442e+02,2.8264040093985386e+01,-2.1005020846723710e-01,-4.7124722581702372e-01,3.4548874511400491e+00,-1.4246008325244695e+07,-3.7200345900375338e+04,-6.7594068641783670e+03,2.9134815475064715e+02,4.1129248464910415e+02,-3.8771663917003309e+01,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+-4.8050791696289554e+04,-1.7813529953522753e+07,9.6799457536824048e+02,-3.3702578732469940e+05,7.2163097494532121e+02,3.2507221408888244e+05,9.7765030273124084e+03,-1.7798862772643398e+07,-1.1813533226154452e+03,3.3674860222162626e+05,1.4774361372482107e+02,3.2511290745118458e+05,1.3664833454787731e+04,3.9217765664362907e+07,5.1699728447189555e+03,-9.8344415942206979e+01,2.3403729702869896e+02,3.5932778186744149e+05,-1.3768377203355158e+02,-6.7156838913089959e+06,-7.0923934332007775e+01,-9.1385129181816183e-02,-1.6133831849190869e+00,1.3435871164860413e+05,2.4747138943955884e+04,3.1103109531188570e+06,-4.8856900854961714e+03,-3.5060161622472151e+01,2.1498662966066968e+02,6.5088651944340691e+03,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+-1.4158079942445016e+07,2.1166006582895061e+03,-3.1306125947831445e+06,4.4113325226706365e+01,2.0235330589570518e+05,2.6843655548975676e+02,1.4127564165360071e+07,-1.4406953362980364e+03,-3.1280299608677011e+06,2.6233135104656071e+01,2.0188730839755369e+05,5.7469046449823885e+01,2.2195694948650897e+04,5.1699728447189555e+03,1.2750633750903606e+07,-5.1528166346251965e+00,9.1303203407119494e+04,9.3662843426363906e+00,2.8264039984438568e+01,-7.0923934307720629e+01,-6.7185430763565497e+06,-1.3274884386919439e-01,-1.3442922835287070e+05,1.6891145616016274e+00,8.2918181144081755e+03,-5.7749541459458778e+03,2.2655188104430289e+05,3.4543393848089636e+01,-1.2024437994397756e+04,-7.9039530925386785e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+3.2969659612063697e+02,1.3873194662253163e+05,-1.0258494452622472e+01,2.4900424310874064e+03,-4.9453238270903057e+00,-2.1797734255538971e+03,1.4791213598331390e+02,-1.3859197836656496e+05,-1.0342695875792852e+01,2.4876057241309536e+03,2.2020177914469263e+00,2.1806838256750889e+03,-2.4215488532703603e+02,-9.8344415942206979e+01,-5.1528166346251965e+00,3.3060434833522959e+03,-2.8973523282240876e-01,-2.5850833722611242e+00,-2.1005020779739425e-01,-9.1385127273667877e-02,-1.3274884497513995e-01,-6.7048789378194203e+02,-5.2906718379972517e-03,1.7751305023283592e-03,-2.3524379620762556e+02,-4.1532454443207826e+01,2.5886756223447037e+01,1.5186618624156316e+02,-1.1217732581587398e+00,-3.0536893475190396e-02,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+-5.9350973070021451e+05,1.0616004697843164e+02,-1.1824896021391597e+05,2.2097922638899945e+00,8.7536664065023506e+03,1.2792351026492042e+01,5.9206795672574569e+05,-6.3142917231971417e+01,-1.1812666660302464e+05,1.1677252743417590e+00,8.7316431010803844e+03,2.6670404146188469e+00,1.0462063770201057e+03,2.3403729702869896e+02,9.1303203407119494e+04,-2.8973523282240876e-01,1.3568836696495229e+04,3.0439355361376386e-01,-1.6018088321770847e+00,1.2235743797251644e+00,1.3431249470137287e+05,1.9281881805000012e-05,1.6418458349179132e+03,-2.6214261458592958e-02,3.9716940617149885e+02,-2.7827800201026957e+02,1.0759928708644262e+04,1.6526814312394755e+00,-5.7298995105635686e+02,-3.8034747391322954e-01,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+1.1040980022378790e+02,-1.0802934700983943e+05,-2.8158813312093116e+00,-1.4252305956964549e+03,-1.6917724842787720e+00,-5.5658261123028251e+02,8.0715631976160523e+01,-1.0777182706961897e+05,-1.6810206926531841e+01,1.4208683950402876e+03,1.1867731976393239e+00,-5.5803183278930885e+02,-1.3143843847302378e+02,3.5932778186744149e+05,9.3662843426363906e+00,-2.5850833722611242e+00,3.0439355361376386e-01,1.1881858791756793e+04,-2.0524632067078699e+00,-1.3426864400377535e+05,-1.1478430021013537e+00,-1.8802745402259902e-03,-2.3185006366695404e-02,1.6407703176186919e+03,-5.7634531015922221e+01,-9.2579637837766822e+03,1.1407647738919763e+01,-2.6139405569571306e-01,-5.5788347415443695e-01,-7.7558557980834451e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,-1.2592844028090753e+08,-1.3768377203355158e+02,2.8264039984438568e+01,-2.1005020779739425e-01,-1.6018088321770847e+00,-2.0524632067078699e+00,3.8229699806751347e+08,-4.2871255339623895e+02,-4.4835699737351388e+02,1.3226522274683248e+00,9.6517108890411691e+00,-8.0140834241869925e+00,-2.5636855778661054e+08,5.6639630396474240e+02,4.2009295734576881e+02,-1.1126020260044243e+00,-7.7860452535060176e-01,-6.7687299029671522e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,-1.3768377136834442e+02,-6.7156838913089959e+06,-7.0923934307720629e+01,-9.1385127273667877e-02,1.2235743797251644e+00,-1.3426864400377535e+05,-4.2871255339623895e+02,4.3502248164357185e+07,7.2214138879302482e+01,-7.2952342913777102e-01,9.6721518714508647e-01,2.3373782020688383e+05,5.6639630429754470e+02,-3.6786564273042187e+07,-1.2901814964134246e+00,8.2090856077900298e-01,6.2036464767766120e-01,3.6763475360534718e+05,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,2.8264040093985386e+01,-7.0923934332007775e+01,-6.7185430763565497e+06,-1.3274884497513995e-01,1.3431249470137287e+05,-1.1478430021013537e+00,-4.4835699737351388e+02,7.2214138879302482e+01,4.3537821186278343e+07,-4.2250833160323964e-01,-2.3408698529634357e+05,-1.5415835546447454e+00,4.2009295731782913e+02,-1.2901814733922947e+00,-3.6819278109927163e+07,5.5525716221018229e-01,-3.6786934854931670e+05,-1.2172764450042450e-01,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,-2.1005020846723710e-01,-9.1385129181816183e-02,-1.3274884386919439e-01,-6.7048789378194203e+02,1.9281881805000012e-05,-1.8802745402259902e-03,1.3226522274683248e+00,-7.2952342913777102e-01,-4.2250833160323964e-01,2.0244550349436540e+03,1.4170592490408751e-02,-1.4852975622863362e-02,-1.1126020263400278e+00,8.2090856118202282e-01,5.5525716279953485e-01,-1.3539671411616607e+03,2.2252224827070677e-03,-3.3403259928128648e-03,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,-4.7124722581702372e-01,-1.6133831849190869e+00,-1.3442922835287070e+05,-5.2906718379972517e-03,1.6418458349179132e+03,-2.3185006366695404e-02,9.6517108890411691e+00,9.6721518714508647e-01,-2.3408698529634357e+05,1.4170592490408751e-02,9.5440737838923887e+03,-4.8009355072240023e-02,-9.1804636713959553e+00,6.4616825396478816e-01,3.6851621364921500e+05,-8.8799207717897843e-03,1.5615737882883211e+03,-6.2643347197663957e-03,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,3.4548874511400491e+00,1.3435871164860413e+05,1.6891145616016274e+00,1.7751305023283592e-03,-2.6214261458592958e-02,1.6407703176186919e+03,-8.0140834241869925e+00,2.3373782020688383e+05,-1.5415835546447454e+00,-1.4852975622863362e-02,-4.8009355072240023e-02,9.5371359597100600e+03,4.5591961783537158e+00,-3.6809653185550950e+05,-1.4753125090737740e-01,1.3077845200438531e-02,3.7084053440565867e-03,1.5583728257261700e+03,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+-9.3598495585884690e+07,-6.9218378760760634e+03,1.9583260984568525e+07,-1.2522405834563742e+02,1.3784450454659571e+06,1.7664982058661433e+03,-9.3489591143607020e+07,-8.5818598961646967e+02,-1.9581946223828707e+07,1.3219922474057739e+00,-1.3767850763014846e+06,-2.2311204612688221e+02,-1.4246008325244695e+07,2.4747138943955884e+04,8.2918181144081755e+03,-2.3524379620762556e+02,3.9716940617149885e+02,-5.7634531015922221e+01,-2.5636855778661054e+08,5.6639630429754470e+02,4.2009295731782913e+02,-1.1126020263400278e+00,-9.1804636713959553e+00,4.5591961783537158e+00,4.5770265284134865e+08,-1.7533511432856903e+04,-1.0026671802727971e+04,1.9047621042148057e+02,4.5601252127503631e+02,-2.2755527824563251e+02,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+5.5162155885093205e+04,-1.7232279808969740e+07,3.3235247861480475e+03,-3.2637381388066086e+05,-8.5152151465541294e+02,-3.0768087162978854e+05,-9.9469490208033312e+02,-1.7212527789031286e+07,-6.1286727063225408e+02,3.2596579163732857e+05,-1.4031737263792536e+01,-3.0734461350761738e+05,-3.7200345900375338e+04,3.1103109531188570e+06,-5.7749541459458778e+03,-4.1532454443207826e+01,-2.7827800201026957e+02,-9.2579637837766822e+03,5.6639630396474240e+02,-3.6786564273042187e+07,-1.2901814733922947e+00,8.2090856118202282e-01,6.4616825396478816e-01,-3.6809653185550950e+05,-1.7533511432856903e+04,6.8121060917848587e+07,3.0655867085456848e+03,-1.0432277045148135e+02,-1.6400341496442923e+02,-5.9007687543661089e+05,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+1.4312874447986556e+07,2.8152604645506885e+03,-3.1452613827058780e+06,5.0248615148269451e+01,-2.0498896704830742e+05,-2.2937804486865491e+02,-1.4296508462275315e+07,-9.9386701299186655e+02,-3.1446915775327585e+06,1.7212022752649787e+01,-2.0474385384726617e+05,-5.4543104321051004e+01,-6.7594068641783670e+03,-4.8856900854961714e+03,2.2655188104430289e+05,2.5886756223447037e+01,1.0759928708644262e+04,1.1407647738919763e+01,4.2009295734576881e+02,-1.2901814964134246e+00,-3.6819278109927163e+07,5.5525716279953485e-01,3.6851621364921500e+05,-1.4753125090737740e-01,-1.0026671802727971e+04,3.0655867085456848e+03,4.2882679189051628e+07,1.2752918449696153e+01,1.4088499196085893e+05,3.4135627126539475e+01,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+-3.2316960961190051e+02,1.3512707751998931e+05,-3.2998239573319822e+01,2.4244566947484113e+03,5.0103874290666832e+00,2.0361313783030594e+03,-1.5754215382160368e+02,-1.3498851549567757e+05,-1.4853329911141653e+01,2.4216494857525390e+03,-2.3245128778272086e+00,-2.0337992320273754e+03,2.9134815475064715e+02,-3.5060161622472151e+01,3.4543393848089636e+01,1.5186618624156316e+02,1.6526814312394755e+00,-2.6139405569571306e-01,-1.1126020260044243e+00,8.2090856077900298e-01,5.5525716221018229e-01,-1.3539671411616607e+03,-8.8799207717897843e-03,1.3077845200438531e-02,1.9047621042148057e+02,-1.0432277045148135e+02,1.2752918449696153e+01,3.9192314093739624e+03,-3.4026897070248197e-01,-1.4160863000824975e-02,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+-5.9457478563968907e+05,-9.0834888107377822e+01,1.1950827030106378e+05,-1.5235242118520218e+00,8.7741331332713198e+03,1.1156965742554387e+01,5.9370825923807942e+05,3.9231309383947938e+01,1.1950052428133486e+05,-6.5851232482028477e-01,8.7609809675618581e+03,2.2855913310116369e+00,4.1129248464910415e+02,2.1498662966066968e+02,-1.2024437994397756e+04,-1.1217732581587398e+00,-5.7298995105635686e+02,-5.5788347415443695e-01,-7.7860452535060176e-01,6.2036464767766120e-01,-3.6786934854931670e+05,2.2252224827070677e-03,1.5615737882883211e+03,3.7084053440565867e-03,4.5601252127503631e+02,-1.6400341496442923e+02,1.4088499196085893e+05,-3.4026897070248197e-01,1.5656816865946283e+04,-1.5248842872024397e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+2.5872288588175991e+02,1.0796260409338921e+05,-3.0701641339988768e+01,1.4235194894431104e+03,-3.8742707544350909e+00,-6.3717624293345079e+02,1.4372786302541769e+01,1.0797065254365717e+05,4.5916946012839821e+00,-1.4236968079694655e+03,2.0393417911566214e-01,-6.3733988177648257e+02,-3.8771663917003309e+01,6.5088651944340691e+03,-7.9039530925386785e+00,-3.0536893475190396e-02,-3.8034747391322954e-01,-7.7558557980834451e+00,-6.7687299029671522e+00,3.6763475360534718e+05,-1.2172764450042450e-01,-3.3403259928128648e-03,-6.2643347197663957e-03,1.5583728257261700e+03,-2.2755527824563251e+02,-5.9007687543661089e+05,3.4135627126539475e+01,-1.4160863000824975e-02,-1.5248842872024397e+00,1.3945123837670268e+04,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,1.3974673037696464e+09,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,1.4005803161441824e+09,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,1.5467219899890506e+09,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,1.5519699693777258e+09,0.0000000000000000e+00,0.0000000000000000e+00
+0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,3.1577419286910529e+09,0.0000000000000000e+00
+0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,3.1947677687320404e+09

matlab/mat/full_APA300ML_M.CSV

@@ -0,0 +1,36 @@
+1.9180403993491284e-02,-3.5386817430971208e-06,-6.7297245558294700e-04,-5.9305032031174675e-08,-2.0917129701773958e-04,-3.1953279954968467e-07,-7.3703812971727509e-04,1.2159833297457929e-07,6.2664683414278804e-05,-1.7254537300219426e-09,-1.2034776837696835e-05,2.7759586988002370e-09,1.4522190859414183e-03,-3.6924847849543856e-07,-1.9291750485168107e-04,-1.3840108292319532e-08,1.4829401193142106e-05,3.4794567991193249e-09,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,1.7588310237202792e-03,4.0473919133306971e-06,-8.4558635740781293e-05,-9.2804884781376160e-10,1.6343982920173760e-05,1.7828026365384081e-08,1.2443642889233273e-02,2.3674999813816777e-02,-1.2665814760891294e-02,1.2392503509052711e-02,-1.5877997525629387e-05,-4.6812045940282448e-06
+-3.5386817430971208e-06,1.9245697421385901e-02,-4.4462619918322048e-06,2.0910984685882405e-04,1.0497073477235194e-07,-2.3288930059227873e-05,7.3775584654009794e-08,-1.9328024899023462e-04,1.0579960373506816e-07,2.9196346123969380e-06,1.0582870798545778e-09,9.1453950516632311e-08,1.3248643670910008e-06,1.0499997770173687e-03,1.0360811703473718e-06,-9.3814868656836301e-06,6.8923936630335974e-09,1.2568911794690208e-07,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,-1.5946142842221646e-07,1.1133585922969182e-03,-1.1903131302821071e-06,-9.9176308427033486e-06,-8.9790911190861651e-10,-2.4491820723842003e-07,-2.2643886423869724e-05,-4.6463671672752870e-05,1.4929863741048841e-06,-1.3743410251703281e-07,-1.4825615960744499e-03,-3.1025104691272919e-03
+-6.7297245558294700e-04,-4.4462619918322048e-06,1.8559711193814249e-02,-9.7647420117926748e-08,3.1581465599071445e-05,-9.4818531291554368e-08,-6.1303199905766602e-05,-2.4142111033987330e-07,6.4429146692036762e-05,4.1170926247766793e-09,-9.2044628310053792e-07,-1.3155578680369567e-09,1.5041115178310452e-03,7.7724324973885628e-07,1.0653062019777401e-03,-6.7295127217258424e-09,1.0450613926187926e-05,3.5455330096916955e-09,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,-8.0289711729186752e-04,2.9516953113228149e-06,9.6769358026596152e-04,-2.2030882961226875e-08,-5.8193109905064128e-06,4.8077311716313397e-10,7.3014689962518399e-03,1.3829548038409705e-02,2.8550602200522721e-02,-2.5513651731172409e-02,-1.3684696973552163e-05,-1.5377698713734422e-05
+-5.9305032031174675e-08,2.0910984685882405e-04,-9.7647420117926748e-08,3.6422848848281323e-06,2.0084950438439435e-09,-1.3335120575121601e-07,1.6037078381414454e-09,-2.9195410249562311e-06,2.1644885844376347e-09,4.2566094848208201e-08,2.3025623350555871e-11,1.7169742520458830e-09,3.1440300617591096e-08,1.8448928470584108e-05,2.1728011271818810e-08,-1.2576653717492951e-07,1.7568374821966115e-10,-2.9907460839393344e-08,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,-1.9662990459606614e-08,1.8604997224757686e-05,-2.4277560657754693e-08,-1.2794363402458843e-07,-1.2174372459054723e-10,2.6012824175730070e-08,-4.3414578938503394e-07,-8.8819978178299776e-07,2.5774124427060330e-08,-1.7688582760618006e-09,-1.2250482029118142e-04,-1.6353201310745618e-04
+-2.0917129701773958e-04,1.0497073477235194e-07,3.1581465599071445e-05,2.0084950438439435e-09,3.5343699396833916e-06,7.8543278208058049e-09,1.2005333520784251e-05,1.1642414309312913e-10,-9.3885370143720548e-07,-6.0789727752709912e-12,1.9441057248415325e-07,-1.4703661203299254e-11,-2.4036216506425352e-05,2.7607670325765945e-08,1.4565420285543838e-05,6.0887651445545538e-11,-2.3449247367903781e-07,-1.7823405635535703e-10,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,-2.7531349874821373e-05,-1.3215923073995517e-07,-1.0547021838479215e-05,4.8637277703907580e-10,-2.5164931481923190e-07,-3.5780709150316614e-10,-4.2555343598068418e-04,-8.3920678929678375e-04,3.4451743146389919e-04,-3.2518160080507547e-04,2.0333629489585635e-07,2.5623725204854869e-08
+-3.1953279954968467e-07,-2.3288930059227873e-05,-9.4818531291554368e-08,-1.3335120575121601e-07,7.8543278208058049e-09,7.6785383776932988e-07,2.0330185900233611e-08,9.2290079281005149e-08,-2.0509281271962773e-09,-1.7205906294329353e-09,3.2815275288705596e-10,-1.0920681892441675e-08,-2.1548996123798089e-08,-1.4724731406063522e-05,6.6759991310553265e-08,1.0972990545130489e-07,-2.6295387509679688e-10,5.1460228466660863e-08,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,-1.8601654381262720e-08,1.3894025678912365e-05,-7.9625845047835227e-08,-9.1808942751358736e-08,-2.3333252770135892e-10,5.6432011340062909e-08,-1.7218986433125755e-06,-3.4380302439433343e-06,8.9412622862594666e-07,-8.3345933502319242e-07,-6.7368153553254133e-05,-1.0685663395275263e-04
+-7.3703812971727509e-04,7.3775584654009794e-08,-6.1303199905766602e-05,1.6037078381414454e-09,1.2005333520784251e-05,2.0330185900233611e-08,1.9140593210326590e-02,-8.6246718740360451e-07,6.8464695573844066e-04,2.6835922707036862e-08,2.0827706840634839e-04,4.1504909460972788e-08,1.4649245839530242e-03,-4.5753640465918114e-08,1.8260265066020006e-04,4.0299903620547377e-09,-1.4872710931274880e-05,4.6137860029852969e-09,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,1.7667748075557634e-03,-5.4819133618285368e-07,9.4215092581346660e-05,7.1669501117728774e-09,-1.6373895730074586e-05,-1.3160457495372054e-10,-2.3889520659404521e-02,1.1176595390426626e-02,1.1517387162601905e-02,1.3339549888966882e-02,-6.9763994143242040e-06,7.6080554131145197e-06
+1.2159833297457929e-07,-1.9328024899023462e-04,-2.4142111033987330e-07,-2.9195410249562311e-06,1.1642414309312913e-10,9.2290079281005149e-08,-8.6246718740360451e-07,1.9236527617681361e-02,7.3292226479170124e-07,-2.0890431182484249e-04,-2.2195314622744124e-08,-2.3417298525557104e-05,2.7384251278942907e-07,1.0486963188593541e-03,-3.8285108988677245e-07,9.3935451038551473e-06,-2.1550955847546005e-09,1.4464397482521205e-07,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,-1.7703626949991876e-07,1.1168555280145966e-03,-2.8090478191373935e-09,9.9466907193319597e-06,-7.5798124308786279e-11,-2.5969121980411849e-07,6.7836178728686985e-06,-6.6783238233488808e-06,-7.0450284360939704e-07,1.6739977008106364e-07,1.7046317853673409e-03,-2.9982630133594734e-03
+6.2664683414278804e-05,1.0579960373506816e-07,6.4429146692036762e-05,2.1644885844376347e-09,-9.3885370143720548e-07,-2.0509281271962773e-09,6.8464695573844066e-04,7.3292226479170124e-07,1.8556422915840642e-02,-1.8255314287718399e-08,3.1800884379729219e-05,-3.5761210354286607e-09,-1.5150087047357604e-03,-2.5525484445683029e-07,1.0674438006863774e-03,-3.6268985549557349e-09,1.0514847510213745e-05,5.6811843090504947e-10,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,8.0073592354441240e-04,-2.4195740347652436e-07,9.6702570622137125e-04,-1.7264584136738321e-09,-5.8032587878764967e-06,7.8416166288207537e-10,1.4203654857645194e-02,-6.5940698325439176e-03,2.6324082796649471e-02,2.7809119115105248e-02,3.0822636920965325e-08,-6.8311288952693023e-07
+-1.7254537300219426e-09,2.9196346123969380e-06,4.1170926247766793e-09,4.2566094848208201e-08,-6.0789727752709912e-12,-1.7205906294329353e-09,2.6835922707036862e-08,-2.0890431182484249e-04,-1.8255314287718399e-08,3.6376297364109821e-06,6.0057261896472878e-10,1.3589887457611765e-07,-1.2010462498576637e-08,-1.8439729397549356e-05,7.6306507429295390e-09,-1.2604440667374669e-07,8.6846588475788689e-11,2.9560043607251709e-08,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,-4.4801316747056921e-10,-1.8684539128456464e-05,-1.7312066406894035e-09,-1.2858507492534756e-07,1.7891374247785721e-11,-2.5779443973740474e-08,-1.3285138021445834e-07,1.1923842887080725e-07,-1.8717415093643504e-08,-3.8359469805443676e-08,-1.3503500869595041e-04,1.5652172827044340e-04
+-1.2034776837696835e-05,1.0582870798545778e-09,-9.2044628310053792e-07,2.3025623350555871e-11,1.9441057248415325e-07,3.2815275288705596e-10,2.0827706840634839e-04,-2.2195314622744124e-08,3.1800884379729219e-05,6.0057261896472878e-10,3.5159954895798427e-06,8.4817073776560698e-10,2.4440827800707464e-05,7.5748829887754229e-09,1.4379949172805848e-05,1.1831788736570021e-10,-2.3650282933059881e-07,5.4059477890173564e-11,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,2.7746838303401700e-05,-7.6442767326631317e-09,-1.0387048457562033e-05,1.0746858886167557e-10,-2.5273735484222652e-07,-1.0073277922273370e-11,-8.4160580990647028e-04,4.0810143801751122e-04,3.1514819424967918e-04,3.5179661055869099e-04,-1.3154249441709622e-07,1.4050703116567984e-07
+2.7759586988002370e-09,9.1453950516632311e-08,-1.3155578680369567e-09,1.7169742520458830e-09,-1.4703661203299254e-11,-1.0920681892441675e-08,4.1504909460972788e-08,-2.3417298525557104e-05,-3.5761210354286607e-09,1.3589887457611765e-07,8.4817073776560698e-10,7.6734768162841015e-07,-3.4681457632350992e-09,-1.4715164334140992e-05,1.3079026957811009e-08,-1.0979462829277434e-07,-1.4708341189654716e-11,5.1396876004238176e-08,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,3.7669541453423736e-09,1.3894536402242100e-05,-4.0871573450819118e-09,9.1847805211491326e-08,-6.3748730241823205e-11,5.6366196180689756e-08,-2.5096760682066648e-07,8.3815465610236449e-08,2.1621817296699036e-07,2.2514785285960931e-07,7.4155141157064021e-05,-1.0149600219414910e-04
+1.4522190859414183e-03,1.3248643670910008e-06,1.5041115178310452e-03,3.1440300617591096e-08,-2.4036216506425352e-05,-2.1548996123798089e-08,1.4649245839530242e-03,2.7384251278942907e-07,-1.5150087047357604e-03,-1.2010462498576637e-08,2.4440827800707464e-05,-3.4681457632350992e-09,2.9784689969598672e-02,-1.1779634348095709e-06,7.2091341634949752e-06,1.7532579179120565e-08,-1.4680548888225959e-10,-9.0225338718335632e-09,5.0911316601190033e-03,-4.1437424205521909e-08,-6.8053992402115557e-08,-8.4361104130144485e-11,-4.6569645579044860e-10,2.4226386986399002e-10,-2.2280927891340011e-04,3.5228761620069934e-06,-6.4071842708615851e-06,-2.5636867082473507e-08,-2.7315354575856875e-08,1.1643532467258393e-08,-3.5216199283537994e-03,9.7467035325089785e-03,1.6906857532482836e-03,-3.9339196972392070e-02,1.3723632457380850e-06,-2.2532949574989803e-05
+-3.6924847849543856e-07,1.0499997770173687e-03,7.7724324973885628e-07,1.8448928470584108e-05,2.7607670325765945e-08,-1.4724731406063522e-05,-4.5753640465918114e-08,1.0486963188593541e-03,-2.5525484445683029e-07,-1.8439729397549356e-05,7.5748829887754229e-09,-1.4715164334140992e-05,-1.1779634348095709e-06,3.1977544335630631e-02,5.5044954464311146e-07,4.2199930654966855e-09,-2.4984700894225287e-08,-2.0206698455898684e-05,1.6534649376374411e-08,4.0544652148671954e-03,-2.0376056873049790e-08,-3.7870852109581315e-12,1.0614497120210831e-10,-4.1355618793143265e-05,-1.9897246566788684e-06,-3.3831914736732951e-04,-1.7973104305694709e-07,1.2132194952007389e-10,-1.8976108568854482e-08,-2.6744192499979445e-07,-2.2534462134192864e-05,-2.0578419948292292e-05,1.9265376581661267e-05,-1.0354996039260608e-05,2.1256445770437125e-04,-6.4121834046156857e-03
+-1.9291750485168107e-04,1.0360811703473718e-06,1.0653062019777401e-03,2.1728011271818810e-08,1.4565420285543838e-05,6.6759991310553265e-08,1.8260265066020006e-04,-3.8285108988677245e-07,1.0674438006863774e-03,7.6306507429295390e-09,1.4379949172805848e-05,1.3079026957811009e-08,7.2091341634949752e-06,5.5044954464311146e-07,3.2208260914758841e-02,6.6224233485887039e-09,2.4480819195440862e-05,4.6464326672529102e-09,7.5139014394059837e-08,-6.2761560056553804e-09,4.0533547295304286e-03,-7.8942277599231068e-11,4.1365899075929789e-05,-2.7764914499663005e-10,1.6738427761483978e-06,-1.1288307556597044e-06,1.9098974082736459e-04,6.9883018200074241e-09,-3.4365284155697740e-06,-8.9211460899106898e-10,-1.8241686655288705e-02,-6.1887544718480245e-03,5.3358689150398465e-02,2.2225778688082982e-03,-6.6920089040385829e-06,-3.5374676331005905e-06
+-1.3840108292319532e-08,-9.3814868656836301e-06,-6.7295127217258424e-09,-1.2576653717492951e-07,6.0887651445545538e-11,1.0972990545130489e-07,4.0299903620547377e-09,9.3935451038551473e-06,-3.6268985549557349e-09,-1.2604440667374669e-07,1.1831788736570021e-10,-1.0979462829277434e-07,1.7532579179120565e-08,4.2199930654966855e-09,6.6224233485887039e-09,1.1838818723415583e-06,2.5404890376725599e-10,-5.8728710637934867e-10,5.2167149611783209e-11,-1.7162339838086894e-11,6.2775453276522647e-14,8.5919276935128224e-08,5.6571746528584443e-13,1.8960235911998903e-14,2.6600611610123000e-08,5.1672913276929128e-09,-1.1857938513011843e-09,-2.9680455181253399e-08,1.2208865688358232e-10,2.8100830753871640e-11,1.4434270917625216e-08,2.1098552250521460e-07,-9.2523181038276382e-08,1.1829265269312945e-07,1.3338369972974633e-04,6.6709676252477444e-06
+1.4829401193142106e-05,6.8923936630335974e-09,1.0450613926187926e-05,1.7568374821966115e-10,-2.3449247367903781e-07,-2.6295387509679688e-10,-1.4872710931274880e-05,-2.1550955847546005e-09,1.0514847510213745e-05,8.6846588475788689e-11,-2.3650282933059881e-07,-1.4708341189654716e-11,-1.4680548888225959e-10,-2.4984700894225287e-08,2.4480819195440862e-05,2.5404890376725599e-10,1.1643251800594459e-06,1.9175072254843817e-10,-4.8213031934121397e-10,1.5030664459912337e-11,-4.1263734675535483e-05,7.7114261862789552e-13,-3.9153535737770948e-07,3.2305945952911957e-12,-2.6190556977141870e-08,2.6368390135037619e-08,6.1432046612156366e-06,-1.3443466396538433e-10,5.6025084077921977e-10,6.8744841896691323e-11,5.3628479941231250e-05,1.6568605125362163e-05,2.7846239084985009e-04,1.1305939844471519e-05,-1.0440932326420343e-07,-3.8462217010480574e-08
+3.4794567991193249e-09,1.2568911794690208e-07,3.5455330096916955e-09,-2.9907460839393344e-08,-1.7823405635535703e-10,5.1460228466660863e-08,4.6137860029852969e-09,1.4464397482521205e-07,5.6811843090504947e-10,2.9560043607251709e-08,5.4059477890173564e-11,5.1396876004238176e-08,-9.0225338718335632e-09,-2.0206698455898684e-05,4.6464326672529102e-09,-5.8728710637934867e-10,1.9175072254843817e-10,1.3838069370274971e-06,1.7242630570630055e-10,4.1283180666424899e-05,-1.3598435706217641e-10,3.3983769469905402e-14,1.6838959108669086e-12,-3.9148639119402698e-07,3.8899405831883296e-09,7.2747473427265298e-07,3.6780358620406335e-09,2.5763832486765300e-11,2.9628576318016861e-11,2.7627234437565930e-10,9.8683889189486147e-08,1.4100571342910795e-07,-4.1434277942299052e-08,3.3876137309898650e-08,2.5893198656537459e-07,-2.6782154632106800e-05
+0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,5.0911316601190033e-03,1.6534649376374411e-08,7.5139014394059837e-08,5.2167149611783209e-11,-4.8213031934121397e-10,1.7242630570630055e-10,1.5838140724835414e-02,4.6792987380017302e-08,5.0559806397704079e-08,1.9091449354176659e-10,1.1201180027165710e-09,-5.9706090517186022e-10,2.4775576487408605e-03,1.3055495124542592e-08,-1.5486603538505326e-08,9.0434715350633260e-12,-6.9046718060170632e-11,-7.3851264192454854e-12,4.9438528515937297e-15,1.3610321938035977e-15,-4.1357329724553186e-15,-7.6970165626223539e-15,-2.4258848831309949e-12,5.4339287700903742e-12
+0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,-4.1437424205521909e-08,4.0544652148671954e-03,-6.2761560056553804e-09,-1.7162339838086894e-11,1.5030664459912337e-11,4.1283180666424899e-05,4.6792987380017302e-08,1.7218187570649340e-02,4.8026797828336722e-08,-1.4666712775410590e-10,5.2649907409685185e-10,-4.9375767802099400e-05,9.0387718997323417e-09,2.1415008885718018e-03,-6.5479155755539340e-09,6.6832417733352129e-11,-3.5053911013654051e-11,-1.1936193963848113e-05,8.5337456866444873e-15,5.1074558077970226e-15,-9.0495997073290111e-15,-1.6844224714733814e-14,-2.1109127182877665e-12,4.4210887013055602e-12
+0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,-6.8053992402115557e-08,-2.0376056873049790e-08,4.0533547295304286e-03,6.2775453276522647e-14,-4.1263734675535483e-05,-1.3598435706217641e-10,5.0559806397704079e-08,4.8026797828336722e-08,1.7226062988559193e-02,1.1437809253970023e-11,4.9407519675482629e-05,-9.9396440298130193e-10,1.3699147297410155e-08,4.9699685811851590e-09,2.1399832958746813e-03,2.1093863558312420e-11,1.1928513482238625e-05,-5.5858578368626676e-12,-2.0386174888479484e-15,3.6536175488511800e-16,1.7237953511911040e-15,-2.4443150616442523e-15,1.0511624056904027e-12,-5.0324569727524429e-12
+0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,-8.4361104130144485e-11,-3.7870852109581315e-12,-7.8942277599231068e-11,8.5919276935128224e-08,7.7114261862789552e-13,3.3983769469905402e-14,1.9091449354176659e-10,-1.4666712775410590e-10,1.1437809253970023e-11,2.6169177981036018e-07,2.3406625199199758e-12,-2.3576555754302375e-12,-4.8210859079293268e-11,3.7022181812964561e-11,2.1377115976110194e-11,4.2663118169011185e-08,1.3615930920763346e-13,2.6830981552151709e-14,-2.3773042040314455e-17,-1.4506508102878551e-17,2.2928517333650290e-17,6.5520581181426056e-17,1.0055631250783132e-14,-8.2525429972158425e-15
+0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,-4.6569645579044860e-10,1.0614497120210831e-10,4.1365899075929789e-05,5.6571746528584443e-13,-3.9153535737770948e-07,1.6838959108669086e-12,1.1201180027165710e-09,5.2649907409685185e-10,4.9407519675482629e-05,2.3406625199199758e-12,5.8279728253066206e-07,-9.9015023481763857e-12,-1.8223239883418740e-11,-4.3179555216183687e-11,-1.1977394054433592e-05,9.5342702851480413e-14,-5.3683229492860376e-08,1.6602468379509925e-13,1.3647281594365435e-18,1.3847487421315232e-18,-2.4518395459434443e-18,1.7542881376587629e-18,1.1918708608799692e-15,-7.6662395153113809e-16
+0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,2.4226386986399002e-10,-4.1355618793143265e-05,-2.7764914499663005e-10,1.8960235911998903e-14,3.2305945952911957e-12,-3.9148639119402698e-07,-5.9706090517186022e-10,-4.9375767802099400e-05,-9.9396440298130193e-10,-2.3576555754302375e-12,-9.9015023481763857e-12,5.8193477585627729e-07,9.2213137191309433e-12,1.1973839422768796e-05,-2.7580916873239485e-11,-2.6428344165305951e-13,-1.6830176894599173e-13,-5.3653882225437740e-08,2.4728530947840425e-17,1.6751746635333189e-17,-2.6752289572637881e-17,-5.7499315552852813e-17,-6.8917232252527251e-15,7.6185318466825709e-15
+1.7588310237202792e-03,-1.5946142842221646e-07,-8.0289711729186752e-04,-1.9662990459606614e-08,-2.7531349874821373e-05,-1.8601654381262720e-08,1.7667748075557634e-03,-1.7703626949991876e-07,8.0073592354441240e-04,-4.4801316747056921e-10,2.7746838303401700e-05,3.7669541453423736e-09,-2.2280927891340011e-04,-1.9897246566788684e-06,1.6738427761483978e-06,2.6600611610123000e-08,-2.6190556977141870e-08,3.8899405831883296e-09,2.4775576487408605e-03,9.0387718997323417e-09,1.3699147297410155e-08,-4.8210859079293268e-11,-1.8223239883418740e-11,9.2213137191309433e-12,2.3844843740275984e-02,-5.3980517851666643e-07,-1.8508557580562050e-06,-2.8124976762155787e-08,-2.3613744949676837e-08,-3.9956704099087598e-08,5.1400833644824669e-03,-1.5558684622866895e-02,-9.6814722815906265e-04,2.3919535133556782e-02,3.0804109352445127e-05,2.3913388184361028e-05
+4.0473919133306971e-06,1.1133585922969182e-03,2.9516953113228149e-06,1.8604997224757686e-05,-1.3215923073995517e-07,1.3894025678912365e-05,-5.4819133618285368e-07,1.1168555280145966e-03,-2.4195740347652436e-07,-1.8684539128456464e-05,-7.6442767326631317e-09,1.3894536402242100e-05,3.5228761620069934e-06,-3.3831914736732951e-04,-1.1288307556597044e-06,5.1672913276929128e-09,2.6368390135037619e-08,7.2747473427265298e-07,1.3055495124542592e-08,2.1415008885718018e-03,4.9699685811851590e-09,3.7022181812964561e-11,-4.3179555216183687e-11,1.1973839422768796e-05,-5.3980517851666643e-07,2.6227343649495510e-02,1.8954425943683126e-06,9.0946404389049521e-09,1.6569734329975856e-09,6.9200247432634862e-05,4.3233606789047737e-05,9.0249102014144009e-05,-2.0760469627625316e-05,1.1528043443648827e-05,-3.4886283215487736e-04,1.0855537718400844e-02
+-8.4558635740781293e-05,-1.1903131302821071e-06,9.6769358026596152e-04,-2.4277560657754693e-08,-1.0547021838479215e-05,-7.9625845047835227e-08,9.4215092581346660e-05,-2.8090478191373935e-09,9.6702570622137125e-04,-1.7312066406894035e-09,-1.0387048457562033e-05,-4.0871573450819118e-09,-6.4071842708615851e-06,-1.7973104305694709e-07,1.9098974082736459e-04,-1.1857938513011843e-09,6.1432046612156366e-06,3.6780358620406335e-09,-1.5486603538505326e-08,-6.5479155755539340e-09,2.1399832958746813e-03,2.1377115976110194e-11,-1.1977394054433592e-05,-2.7580916873239485e-11,-1.8508557580562050e-06,1.8954425943683126e-06,2.6308944024227086e-02,-2.0813984774814473e-10,-7.1417682966145034e-05,1.5643254887016203e-08,4.7274882017703149e-02,1.5963605116052819e-02,2.4542545638085618e-02,1.0323207797784809e-03,7.1066892489960303e-06,2.5591847524782320e-06
+-9.2804884781376160e-10,-9.9176308427033486e-06,-2.2030882961226875e-08,-1.2794363402458843e-07,4.8637277703907580e-10,-9.1808942751358736e-08,7.1669501117728774e-09,9.9466907193319597e-06,-1.7264584136738321e-09,-1.2858507492534756e-07,1.0746858886167557e-10,9.1847805211491326e-08,-2.5636867082473507e-08,1.2132194952007389e-10,6.9883018200074241e-09,-2.9680455181253399e-08,-1.3443466396538433e-10,2.5763832486765300e-11,9.0434715350633260e-12,6.6832417733352129e-11,2.1093863558312420e-11,4.2663118169011185e-08,9.5342702851480413e-14,-2.6428344165305951e-13,-2.8124976762155787e-08,9.0946404389049521e-09,-2.0813984774814473e-10,1.1134104737899188e-06,-2.6770657790971538e-10,-9.1549075245360975e-11,-2.2746595471083301e-07,-5.5440105502280843e-07,1.0644559644311949e-07,-1.2727795977359786e-07,-4.0087268452467515e-04,-1.3726013554048109e-05
+1.6343982920173760e-05,-8.9790911190861651e-10,-5.8193109905064128e-06,-1.2174372459054723e-10,-2.5164931481923190e-07,-2.3333252770135892e-10,-1.6373895730074586e-05,-7.5798124308786279e-11,-5.8032587878764967e-06,1.7891374247785721e-11,-2.5273735484222652e-07,-6.3748730241823205e-11,-2.7315354575856875e-08,-1.8976108568854482e-08,-3.4365284155697740e-06,1.2208865688358232e-10,5.6025084077921977e-10,2.9628576318016861e-11,-6.9046718060170632e-11,-3.5053911013654051e-11,1.1928513482238625e-05,1.3615930920763346e-13,-5.3683229492860376e-08,-1.6830176894599173e-13,-2.3613744949676837e-08,1.6569734329975856e-09,-7.1417682966145034e-05,-2.6770657790971538e-10,7.0750152731787393e-07,-2.0276161487202595e-10,-1.2094497818069785e-04,-4.1545474024475742e-05,-1.6185862173618542e-04,-6.9731489837877039e-06,1.6791991440856165e-07,1.7732917063774981e-07
+1.7828026365384081e-08,-2.4491820723842003e-07,4.8077311716313397e-10,2.6012824175730070e-08,-3.5780709150316614e-10,5.6432011340062909e-08,-1.3160457495372054e-10,-2.5969121980411849e-07,7.8416166288207537e-10,-2.5779443973740474e-08,-1.0073277922273370e-11,5.6366196180689756e-08,1.1643532467258393e-08,-2.6744192499979445e-07,-8.9211460899106898e-10,2.8100830753871640e-11,6.8744841896691323e-11,2.7627234437565930e-10,-7.3851264192454854e-12,-1.1936193963848113e-05,-5.5858578368626676e-12,2.6830981552151709e-14,1.6602468379509925e-13,-5.3653882225437740e-08,-3.9956704099087598e-08,6.9200247432634862e-05,1.5643254887016203e-08,-9.1549075245360975e-11,-2.0276161487202595e-10,9.5752606365202938e-07,8.1652766316775640e-08,1.8338734344352090e-07,-2.3414727196993738e-08,2.9607839458613745e-09,5.8192164593301554e-06,-1.5917184658560470e-04
+1.2443642889233273e-02,-2.2643886423869724e-05,7.3014689962518399e-03,-4.3414578938503394e-07,-4.2555343598068418e-04,-1.7218986433125755e-06,-2.3889520659404521e-02,6.7836178728686985e-06,1.4203654857645194e-02,-1.3285138021445834e-07,-8.4160580990647028e-04,-2.5096760682066648e-07,-3.5216199283537994e-03,-2.2534462134192864e-05,-1.8241686655288705e-02,1.4434270917625216e-08,5.3628479941231250e-05,9.8683889189486147e-08,4.9438528515937297e-15,8.5337456866444873e-15,-2.0386174888479484e-15,-2.3773042040314455e-17,1.3647281594365435e-18,2.4728530947840425e-17,5.1400833644824669e-03,4.3233606789047737e-05,4.7274882017703149e-02,-2.2746595471083301e-07,-1.2094497818069785e-04,8.1652766316775640e-08,1.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+2.3674999813816777e-02,-4.6463671672752870e-05,1.3829548038409705e-02,-8.8819978178299776e-07,-8.3920678929678375e-04,-3.4380302439433343e-06,1.1176595390426626e-02,-6.6783238233488808e-06,-6.5940698325439176e-03,1.1923842887080725e-07,4.0810143801751122e-04,8.3815465610236449e-08,9.7467035325089785e-03,-2.0578419948292292e-05,-6.1887544718480245e-03,2.1098552250521460e-07,1.6568605125362163e-05,1.4100571342910795e-07,1.3610321938035977e-15,5.1074558077970226e-15,3.6536175488511800e-16,-1.4506508102878551e-17,1.3847487421315232e-18,1.6751746635333189e-17,-1.5558684622866895e-02,9.0249102014144009e-05,1.5963605116052819e-02,-5.5440105502280843e-07,-4.1545474024475742e-05,1.8338734344352090e-07,0.0000000000000000e+00,1.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+-1.2665814760891294e-02,1.4929863741048841e-06,2.8550602200522721e-02,2.5774124427060330e-08,3.4451743146389919e-04,8.9412622862594666e-07,1.1517387162601905e-02,-7.0450284360939704e-07,2.6324082796649471e-02,-1.8717415093643504e-08,3.1514819424967918e-04,2.1621817296699036e-07,1.6906857532482836e-03,1.9265376581661267e-05,5.3358689150398465e-02,-9.2523181038276382e-08,2.7846239084985009e-04,-4.1434277942299052e-08,-4.1357329724553186e-15,-9.0495997073290111e-15,1.7237953511911040e-15,2.2928517333650290e-17,-2.4518395459434443e-18,-2.6752289572637881e-17,-9.6814722815906265e-04,-2.0760469627625316e-05,2.4542545638085618e-02,1.0644559644311949e-07,-1.6185862173618542e-04,-2.3414727196993738e-08,0.0000000000000000e+00,0.0000000000000000e+00,1.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+1.2392503509052711e-02,-1.3743410251703281e-07,-2.5513651731172409e-02,-1.7688582760618006e-09,-3.2518160080507547e-04,-8.3345933502319242e-07,1.3339549888966882e-02,1.6739977008106364e-07,2.7809119115105248e-02,-3.8359469805443676e-08,3.5179661055869099e-04,2.2514785285960931e-07,-3.9339196972392070e-02,-1.0354996039260608e-05,2.2225778688082982e-03,1.1829265269312945e-07,1.1305939844471519e-05,3.3876137309898650e-08,-7.6970165626223539e-15,-1.6844224714733814e-14,-2.4443150616442523e-15,6.5520581181426056e-17,1.7542881376587629e-18,-5.7499315552852813e-17,2.3919535133556782e-02,1.1528043443648827e-05,1.0323207797784809e-03,-1.2727795977359786e-07,-6.9731489837877039e-06,2.9607839458613745e-09,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,1.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00
+-1.5877997525629387e-05,-1.4825615960744499e-03,-1.3684696973552163e-05,-1.2250482029118142e-04,2.0333629489585635e-07,-6.7368153553254133e-05,-6.9763994143242040e-06,1.7046317853673409e-03,3.0822636920965325e-08,-1.3503500869595041e-04,-1.3154249441709622e-07,7.4155141157064021e-05,1.3723632457380850e-06,2.1256445770437125e-04,-6.6920089040385829e-06,1.3338369972974633e-04,-1.0440932326420343e-07,2.5893198656537459e-07,-2.4258848831309949e-12,-2.1109127182877665e-12,1.0511624056904027e-12,1.0055631250783132e-14,1.1918708608799692e-15,-6.8917232252527251e-15,3.0804109352445127e-05,-3.4886283215487736e-04,7.1066892489960303e-06,-4.0087268452467515e-04,1.6791991440856165e-07,5.8192164593301554e-06,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,1.0000000000000000e+00,0.0000000000000000e+00
+-4.6812045940282448e-06,-3.1025104691272919e-03,-1.5377698713734422e-05,-1.6353201310745618e-04,2.5623725204854869e-08,-1.0685663395275263e-04,7.6080554131145197e-06,-2.9982630133594734e-03,-6.8311288952693023e-07,1.5652172827044340e-04,1.4050703116567984e-07,-1.0149600219414910e-04,-2.2532949574989803e-05,-6.4121834046156857e-03,-3.5374676331005905e-06,6.6709676252477444e-06,-3.8462217010480574e-08,-2.6782154632106800e-05,5.4339287700903742e-12,4.4210887013055602e-12,-5.0324569727524429e-12,-8.2525429972158425e-15,-7.6662395153113809e-16,7.6185318466825709e-15,2.3913388184361028e-05,1.0855537718400844e-02,2.5591847524782320e-06,-1.3726013554048109e-05,1.7732917063774981e-07,-1.5917184658560470e-04,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,1.0000000000000000e+00

matlab/mat/full_APA300ML_out_nodes_3D.txt

@@ -0,0 +1,61 @@
+
+ LIST ALL SELECTED NODES.   DSYS=      0
+
+ *** ANSYS - ENGINEERING ANALYSIS SYSTEM  RELEASE 2020 R2          20.2     ***
+ DISTRIBUTED ANSYS Mechanical Enterprise                       
+
+ 00208316  VERSION=WINDOWS x64   10:10:05  MAR 26, 2021 CP=      2.188
+
+ Unknown                                                                       
+
+
+
+    NODE        X             Y             Z           THXY     THYZ     THZX
+        1   0.0000        0.0000       0.28000E-001     0.00     0.00     0.00
+  1228810   0.0000        0.0000      -0.28000E-001     0.00     0.00     0.00
+  1228811 -0.30000E-001   0.0000        0.0000          0.00     0.00     0.00
+  1228812  0.10000E-001   0.0000        0.0000          0.00     0.00     0.00
+  1228813  0.30000E-001   0.0000        0.0000          0.00     0.00     0.00
+
+ LIST MASTERS ON ALL SELECTED NODES.
+ CURRENT DOF SET= UX   UY   UZ   ROTX ROTY ROTZ
+
+ *** ANSYS - ENGINEERING ANALYSIS SYSTEM  RELEASE 2020 R2          20.2     ***
+ DISTRIBUTED ANSYS Mechanical Enterprise                       
+
+ 00208316  VERSION=WINDOWS x64   10:10:05  MAR 26, 2021 CP=      2.188
+
+ Unknown                                                                       
+
+
+     NODE  LABEL     SUPPORT
+         1  UX  
+         1  UY  
+         1  UZ  
+         1  ROTX
+         1  ROTY
+         1  ROTZ
+   1228810  UX  
+   1228810  UY  
+   1228810  UZ  
+   1228810  ROTX
+   1228810  ROTY
+   1228810  ROTZ
+   1228811  UX  
+   1228811  UY  
+   1228811  UZ  
+   1228811  ROTX
+   1228811  ROTY
+   1228811  ROTZ
+   1228812  UX  
+   1228812  UY  
+   1228812  UZ  
+   1228812  ROTX
+   1228812  ROTY
+   1228812  ROTZ
+   1228813  UX  
+   1228813  UY  
+   1228813  UZ  
+   1228813  ROTX
+   1228813  ROTY
+   1228813  ROTZ

matlab/src/initializeAPA.m

@@ -0,0 +1,98 @@
+function [actuator] = initializeAPA(args)
+% initializeAPA -
+%
+% Syntax: [actuator] = initializeAPA(args)
+%
+% Inputs:
+%    - args -
+%
+% Outputs:
+%    - actuator -
+
+arguments
+    args.type      char   {mustBeMember(args.type,{'2dof', 'flexible frame', 'flexible'})} = '2dof'
+
+    args.Ga  (1,1) double {mustBeNumeric} = 0
+    args.Gs  (1,1) double {mustBeNumeric} = 0
+
+    % For 2DoF
+    args.k   (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.35e6
+    args.ke  (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*1.5e6
+    args.ka  (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*43e6
+
+    args.c   (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*3e1
+    args.ce  (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*2e1
+    args.ca  (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*2e1
+
+    args.Leq (6,1) double {mustBeNumeric} = ones(6,1)*0.056
+
+    % Force Flexible APA
+    args.xi (1,1) double {mustBeNumeric, mustBePositive} = 0.5
+
+    % For Flexible Frame
+    args.ks (1,1) double {mustBeNumeric, mustBePositive} = 235e6
+    args.cs (1,1) double {mustBeNumeric, mustBePositive} = 1e1
+end
+
+actuator = struct();
+
+switch args.type
+  case '2dof'
+    actuator.type = 1;
+  case 'flexible frame'
+    actuator.type = 2;
+  case 'flexible'
+    actuator.type = 3;
+end
+
+if args.Ga == 0
+    switch args.type
+      case '2dof'
+        actuator.Ga = -46.4;
+      case 'flexible frame'
+        actuator.Ga = 1; % TODO
+      case 'flexible'
+        actuator.Ga = 23.4;
+    end
+else
+    actuator.Ga = args.Ga; % Actuator gain [N/V]
+end
+
+if args.Gs == 0
+    switch args.type
+      case '2dof'
+        actuator.Gs = 0.098;
+      case 'flexible frame'
+        actuator.Gs = 1; % TODO
+      case 'flexible'
+        actuator.Gs = -4674824;
+    end
+else
+    actuator.Gs = args.Gs; % Sensor gain [V/m]
+end
+
+actuator.k  = args.k;  % [N/m]
+actuator.ke = args.ke; % [N/m]
+actuator.ka = args.ka; % [N/m]
+
+actuator.c  = args.c;  % [N/(m/s)]
+actuator.ce = args.ce; % [N/(m/s)]
+actuator.ca = args.ca; % [N/(m/s)]
+
+actuator.Leq = args.Leq; % [m]
+
+switch args.type
+  case 'flexible frame'
+    actuator.K = readmatrix('APA300ML_b_mat_K.CSV'); % Stiffness Matrix
+    actuator.M = readmatrix('APA300ML_b_mat_M.CSV'); % Mass Matrix
+    actuator.P = extractNodes('APA300ML_b_out_nodes_3D.txt'); % Node coordinates [m]
+  case 'flexible'
+    actuator.K = readmatrix('full_APA300ML_K.CSV'); % Stiffness Matrix
+    actuator.M = readmatrix('full_APA300ML_M.CSV'); % Mass Matrix
+    actuator.P = extractNodes('full_APA300ML_out_nodes_3D.txt'); % Node coordiantes [m]
+end
+
+actuator.xi = args.xi; % Damping ratio
+
+actuator.ks = args.ks; % Stiffness of one stack [N/m]
+actuator.cs = args.cs; % Damping of one stack [N/m]

matlab/src/initializeBotFlexibleJoint.m

@@ -0,0 +1,45 @@
+function [flex_bot] = initializeBotFlexibleJoint(args)
+% initializeBotFlexibleJoint -
+%
+% Syntax: [flex_bot] = initializeBotFlexibleJoint(args)
+%
+% Inputs:
+%    - args -
+%
+% Outputs:
+%    - flex_bot -
+
+arguments
+    args.type      char   {mustBeMember(args.type,{'2dof', '3dof', '4dof'})} = '2dof'
+
+    args.kRx (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*5
+    args.kRy (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*5
+    args.kRz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*260
+    args.kz  (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*1e8
+
+    args.cRx (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.1
+    args.cRy (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.1
+    args.cRz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.1
+    args.cz  (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*1e2
+end
+
+flex_bot = struct();
+
+switch args.type
+  case '2dof'
+    flex_bot.type = 1;
+  case '3dof'
+    flex_bot.type = 2;
+  case '4dof'
+    flex_bot.type = 3;
+end
+
+flex_bot.kRx = args.kRx;
+flex_bot.kRy = args.kRy;
+flex_bot.kRz = args.kRz;
+flex_bot.kz  = args.kz;
+
+flex_bot.cRx = args.cRx;
+flex_bot.cRy = args.cRy;
+flex_bot.cRz = args.cRz;
+flex_bot.cz  = args.cz;

matlab/src/initializeTopFlexibleJoint.m

@@ -0,0 +1,45 @@
+function [flex_top] = initializeTopFlexibleJoint(args)
+% initializeTopFlexibleJoint -
+%
+% Syntax: [flex_top] = initializeTopFlexibleJoint(args)
+%
+% Inputs:
+%    - args -
+%
+% Outputs:
+%    - flex_top -
+
+arguments
+    args.type      char   {mustBeMember(args.type,{'2dof', '3dof', '4dof'})} = '2dof'
+
+    args.kRx (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*5
+    args.kRy (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*5
+    args.kRz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*260
+    args.kz  (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*1e8
+
+    args.cRx (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.1
+    args.cRy (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.1
+    args.cRz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.1
+    args.cz  (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*1e2
+end
+
+flex_top = struct();
+
+switch args.type
+  case '2dof'
+    flex_top.type = 1;
+  case '3dof'
+    flex_top.type = 2;
+  case '4dof'
+    flex_top.type = 3;
+end
+
+flex_top.kRx = args.kRx;
+flex_top.kRy = args.kRy;
+flex_top.kRz = args.kRz;
+flex_top.kz  = args.kz;
+
+flex_top.cRx = args.cRx;
+flex_top.cRy = args.cRy;
+flex_top.cRz = args.cRz;
+flex_top.cz  = args.cz;