figures/control-system.svg

<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<!-- Created with Inkscape (http://www.inkscape.org/) -->

<svg
   xmlns:ns0="http://www.iki.fi/pav/software/textext/"
   xmlns:dc="http://purl.org/dc/elements/1.1/"
   xmlns:cc="http://creativecommons.org/ns#"
   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
   xmlns:svg="http://www.w3.org/2000/svg"
   xmlns="http://www.w3.org/2000/svg"
   xmlns:xlink="http://www.w3.org/1999/xlink"
   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
   width="528.31042"
   height="233.39418"
   id="svg2"
   version="1.1"
   inkscape:version="0.48.4 r9939"
   sodipodi:docname="control-system.svg"
   inkscape:export-filename="/home/moorepants/Presentations/2014/tu-delft-robotics-talk-2014/img/control-system-detailed.png"
   inkscape:export-xdpi="200"
   inkscape:export-ydpi="200">
  <sodipodi:namedview
     id="base"
     pagecolor="#ffffff"
     bordercolor="#666666"
     borderopacity="1.0"
     inkscape:pageopacity="0.0"
     inkscape:pageshadow="2"
     inkscape:zoom="1.8275928"
     inkscape:cx="276.27146"
     inkscape:cy="126.6979"
     inkscape:document-units="px"
     inkscape:current-layer="layer1"
     showgrid="false"
     units="in"
     inkscape:window-width="1440"
     inkscape:window-height="876"
     inkscape:window-x="0"
     inkscape:window-y="24"
     inkscape:window-maximized="1"
     showguides="true"
     inkscape:guide-bbox="true"
     fit-margin-top="0"
     fit-margin-left="0"
     fit-margin-right="0"
     fit-margin-bottom="0" />
  <defs
     id="defs4">
    <marker
       style="overflow:visible"
       id="Arrow1Send"
       refX="0"
       refY="0"
       orient="auto"
       inkscape:stockid="Arrow1Send">
      <path
         inkscape:connector-curvature="0"
         transform="matrix(-0.2,0,0,-0.2,-1.2,0)"
         style="fill-rule:evenodd;stroke:#000000;stroke-width:1pt"
         d="M 0,0 5,-5 -12.5,0 5,5 0,0 z"
         id="path3821" />
    </marker>
    <marker
       style="overflow:visible"
       id="Arrow1Mend"
       refX="0"
       refY="0"
       orient="auto"
       inkscape:stockid="Arrow1Mend">
      <path
         inkscape:connector-curvature="0"
         transform="matrix(-0.4,0,0,-0.4,-4,0)"
         style="fill-rule:evenodd;stroke:#000000;stroke-width:1pt"
         d="M 0,0 5,-5 -12.5,0 5,5 0,0 z"
         id="path3815" />
    </marker>
    <marker
       style="overflow:visible"
       id="Arrow1Send-7"
       refX="0"
       refY="0"
       orient="auto"
       inkscape:stockid="Arrow1Send">
      <path
         transform="matrix(-0.2,0,0,-0.2,-1.2,0)"
         style="fill-rule:evenodd;stroke:#000000;stroke-width:1pt"
         d="M 0,0 5,-5 -12.5,0 5,5 0,0 z"
         id="path3821-7"
         inkscape:connector-curvature="0" />
    </marker>
    <marker
       style="overflow:visible"
       id="Arrow1Send-2"
       refX="0"
       refY="0"
       orient="auto"
       inkscape:stockid="Arrow1Send">
      <path
         transform="matrix(-0.2,0,0,-0.2,-1.2,0)"
         style="fill-rule:evenodd;stroke:#000000;stroke-width:1pt"
         d="M 0,0 5,-5 -12.5,0 5,5 0,0 z"
         id="path3821-1"
         inkscape:connector-curvature="0" />
    </marker>
    <marker
       style="overflow:visible"
       id="Arrow1Send-8"
       refX="0"
       refY="0"
       orient="auto"
       inkscape:stockid="Arrow1Send">
      <path
         transform="matrix(-0.2,0,0,-0.2,-1.2,0)"
         style="fill-rule:evenodd;stroke:#000000;stroke-width:1pt"
         d="M 0,0 5,-5 -12.5,0 5,5 0,0 z"
         id="path3821-5"
         inkscape:connector-curvature="0" />
    </marker>
    <marker
       style="overflow:visible"
       id="Arrow1Send-1"
       refX="0"
       refY="0"
       orient="auto"
       inkscape:stockid="Arrow1Send">
      <path
         transform="matrix(-0.2,0,0,-0.2,-1.2,0)"
         style="fill-rule:evenodd;stroke:#000000;stroke-width:1pt"
         d="M 0,0 5,-5 -12.5,0 5,5 0,0 z"
         id="path3821-6"
         inkscape:connector-curvature="0" />
    </marker>
    <marker
       style="overflow:visible"
       id="Arrow1Send-78"
       refX="0"
       refY="0"
       orient="auto"
       inkscape:stockid="Arrow1Send">
      <path
         transform="matrix(-0.2,0,0,-0.2,-1.2,0)"
         style="fill-rule:evenodd;stroke:#000000;stroke-width:1pt"
         d="M 0,0 5,-5 -12.5,0 5,5 0,0 z"
         id="path3821-16"
         inkscape:connector-curvature="0" />
    </marker>
    <marker
       style="overflow:visible"
       id="Arrow1Send-24"
       refX="0"
       refY="0"
       orient="auto"
       inkscape:stockid="Arrow1Send">
      <path
         transform="matrix(-0.2,0,0,-0.2,-1.2,0)"
         style="fill-rule:evenodd;stroke:#000000;stroke-width:1pt"
         d="M 0,0 5,-5 -12.5,0 5,5 0,0 z"
         id="path3821-12"
         inkscape:connector-curvature="0" />
    </marker>
    <marker
       style="overflow:visible"
       id="Arrow1Send-1-5"
       refX="0"
       refY="0"
       orient="auto"
       inkscape:stockid="Arrow1Send">
      <path
         transform="matrix(-0.2,0,0,-0.2,-1.2,0)"
         style="fill-rule:evenodd;stroke:#000000;stroke-width:1pt"
         d="M 0,0 5,-5 -12.5,0 5,5 0,0 z"
         id="path3821-6-2"
         inkscape:connector-curvature="0" />
    </marker>
    <marker
       style="overflow:visible"
       id="Arrow1Send-3"
       refX="0"
       refY="0"
       orient="auto"
       inkscape:stockid="Arrow1Send">
      <path
         inkscape:connector-curvature="0"
         transform="matrix(-0.2,0,0,-0.2,-1.2,0)"
         style="fill-rule:evenodd;stroke:#000000;stroke-width:1pt"
         d="M 0,0 5,-5 -12.5,0 5,5 0,0 z"
         id="path3821-64" />
    </marker>
    <marker
       style="overflow:visible"
       id="Arrow1Send-6"
       refX="0"
       refY="0"
       orient="auto"
       inkscape:stockid="Arrow1Send">
      <path
         inkscape:connector-curvature="0"
         transform="matrix(-0.2,0,0,-0.2,-1.2,0)"
         style="fill-rule:evenodd;stroke:#000000;stroke-width:1pt"
         d="M 0,0 5,-5 -12.5,0 5,5 0,0 z"
         id="path3821-72" />
    </marker>
    <marker
       style="overflow:visible"
       id="Arrow1Send-32"
       refX="0"
       refY="0"
       orient="auto"
       inkscape:stockid="Arrow1Send">
      <path
         inkscape:connector-curvature="0"
         transform="matrix(-0.2,0,0,-0.2,-1.2,0)"
         style="fill-rule:evenodd;stroke:#000000;stroke-width:1pt"
         d="M 0,0 5,-5 -12.5,0 5,5 0,0 z"
         id="path3821-728" />
    </marker>
    <marker
       style="overflow:visible"
       id="Arrow1Send-67"
       refX="0"
       refY="0"
       orient="auto"
       inkscape:stockid="Arrow1Send">
      <path
         inkscape:connector-curvature="0"
         transform="matrix(-0.2,0,0,-0.2,-1.2,0)"
         style="fill-rule:evenodd;stroke:#000000;stroke-width:1pt"
         d="M 0,0 5,-5 -12.5,0 5,5 0,0 z"
         id="path3821-9" />
    </marker>
    <marker
       style="overflow:visible"
       id="Arrow1Send-9"
       refX="0"
       refY="0"
       orient="auto"
       inkscape:stockid="Arrow1Send">
      <path
         inkscape:connector-curvature="0"
         transform="matrix(-0.2,0,0,-0.2,-1.2,0)"
         style="fill-rule:evenodd;stroke:#000000;stroke-width:1pt"
         d="M 0,0 5,-5 -12.5,0 5,5 0,0 z"
         id="path3821-79" />
    </marker>
  </defs>
  <metadata
     id="metadata7">
    <rdf:RDF>
      <cc:Work
         rdf:about="">
        <dc:format>image/svg+xml</dc:format>
        <dc:type
           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
        <dc:title />
      </cc:Work>
    </rdf:RDF>
  </metadata>
  <g
     style="display:inline"
     transform="translate(83.731411,-748.17421)"
     id="layer1"
     inkscape:groupmode="layer"
     inkscape:label="Diagram">
    <rect
       y="809.9837"
       x="289.77893"
       height="87.572266"
       width="99.842934"
       id="rect3004"
       style="fill:none;stroke:#000000;stroke-width:2;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0" />
    <path
       transform="matrix(1.7362199,0,0,1.7362199,-66.52666,689.09603)"
       d="m 169.84616,94.846153 c 0,2.931358 -2.37633,5.307697 -5.30769,5.307697 -2.93136,0 -5.3077,-2.376339 -5.3077,-5.307697 0,-2.931357 2.37634,-5.307692 5.3077,-5.307692 2.93136,0 5.30769,2.376335 5.30769,5.307692 z"
       sodipodi:ry="5.3076925"
       sodipodi:rx="5.3076925"
       sodipodi:cy="94.846153"
       sodipodi:cx="164.53847"
       id="path3780"
       style="fill:none;stroke:#000000;stroke-width:1.15192783;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0"
       sodipodi:type="arc" />
    <path
       d="m 169.84616,94.846153 c 0,2.931358 -2.37633,5.307697 -5.30769,5.307697 -2.93136,0 -5.3077,-2.376339 -5.3077,-5.307697 0,-2.931357 2.37634,-5.307692 5.3077,-5.307692 2.93136,0 5.30769,2.376335 5.30769,5.307692 z"
       sodipodi:ry="5.3076925"
       sodipodi:rx="5.3076925"
       sodipodi:cy="94.846153"
       sodipodi:cx="164.53847"
       id="path3780-4"
       style="fill:none;stroke:#000000;stroke-width:1.15192783;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0"
       sodipodi:type="arc"
       transform="matrix(1.7362199,0,0,1.7362199,-277.76798,662.71103)" />
    <path
       sodipodi:nodetypes="cc"
       inkscape:connector-curvature="0"
       id="path3800"
       d="m 390.77329,853.76981 50.9557,0"
       style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0;marker-end:url(#Arrow1Send)" />
    <path
       sodipodi:nodetypes="cc"
       inkscape:connector-curvature="0"
       id="path3800-5"
       d="m 228.35337,853.76981 58.08188,0"
       style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0;marker-end:url(#Arrow1Send)" />
    <path
       sodipodi:nodetypes="cc"
       inkscape:connector-curvature="0"
       id="path3800-4"
       d="m 163.73487,853.76981 42.87427,0"
       style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0;marker-end:url(#Arrow1Send)" />
    <path
       sodipodi:nodetypes="cc"
       inkscape:connector-curvature="0"
       id="path3800-3"
       d="m -34.860072,827.38481 29.905483,0"
       style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0;marker-end:url(#Arrow1Send)" />
    <path
       sodipodi:nodetypes="ccc"
       inkscape:connector-curvature="0"
       id="path4489"
       d="m 416.99315,853.40808 0,100.71326 -116.974,0"
       style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;marker-end:url(#Arrow1Send-1)" />
    <path
       sodipodi:nodetypes="ccc"
       inkscape:connector-curvature="0"
       id="path4491"
       d="m 200.6606,954.92266 -192.8375529,-0.54717 0,-114.63285"
       style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;marker-end:url(#Arrow1Send-1)" />
    <path
       sodipodi:nodetypes="cc"
       inkscape:connector-curvature="0"
       id="path3800-3-5"
       d="m 219.1483,810.28264 0,29.37506"
       style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0;marker-end:url(#Arrow1Send)" />
    <path
       sodipodi:nodetypes="cc"
       inkscape:connector-curvature="0"
       id="path3800-3-6"
       d="m 339.7004,778.47087 0,25.6161"
       style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0;marker-end:url(#Arrow1Send)" />
    <rect
       y="930.36847"
       x="200.45724"
       height="50.199913"
       width="95.886047"
       id="rect3004-7"
       style="fill:none;stroke:#000000;stroke-width:2;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0" />
    <rect
       y="793.16193"
       x="34.954659"
       height="121.21576"
       width="141.51633"
       id="rect3004-5"
       style="fill:none;stroke:#000000;stroke-width:2;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:4, 2;stroke-dashoffset:0" />
    <g
       id="g11778"
       style="stroke-width:0.0000001"
       ns0:page_width="10cm"
       ns0:preamble=""
       ns0:text="$+$"
       transform="matrix(0.72542551,0,0,0.72542551,-0.221747,821.64634)">
      <defs
         id="defs11780">
        <g
           id="g11782">
          <symbol
             style="overflow:visible"
             id="textext-aa8f7f73-0"
             overflow="visible">
            <path
               inkscape:connector-curvature="0"
               id="path11785"
               d=""
               style="stroke:none" />
          </symbol>
          <symbol
             style="overflow:visible"
             id="textext-aa8f7f73-1"
             overflow="visible">
            <path
               inkscape:connector-curvature="0"
               id="path11788"
               d="m 4.078125,-2.296875 2.78125,0 C 7,-2.296875 7.1875,-2.296875 7.1875,-2.5 7.1875,-2.6875 7,-2.6875 6.859375,-2.6875 l -2.78125,0 0,-2.796875 c 0,-0.140625 0,-0.328125 -0.203125,-0.328125 -0.203125,0 -0.203125,0.1875 -0.203125,0.328125 l 0,2.796875 -2.78125,0 c -0.140625,0 -0.328125,0 -0.328125,0.1875 0,0.203125 0.1875,0.203125 0.328125,0.203125 l 2.78125,0 0,2.796875 c 0,0.140625 0,0.328125 0.203125,0.328125 0.203125,0 0.203125,-0.1875 0.203125,-0.328125 z"
               style="stroke:none" />
          </symbol>
        </g>
      </defs>
      <g
         id="textext-aa8f7f73-2">
        <g
           id="g11791"
           style="fill:#000000;fill-opacity:1">
          <use
             height="270"
             width="360"
             id="use11793"
             y="9.9630003"
             x="0"
             xlink:href="#textext-aa8f7f73-1" />
        </g>
      </g>
    </g>
    <g
       transform="matrix(0.94816816,0,0,-0.94816816,4.414002,840.14403)"
       ns0:text="$-$"
       ns0:preamble=""
       ns0:page_width="10cm"
       style="stroke-width:0.0000001"
       id="g12625">
      <defs
         id="defs12627">
        <g
           id="g12629">
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-87afb035-0">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d=""
               id="path12632" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-87afb035-1">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d="m 6.5625,-2.296875 c 0.171875,0 0.359375,0 0.359375,-0.203125 0,-0.1875 -0.1875,-0.1875 -0.359375,-0.1875 l -5.390625,0 c -0.171875,0 -0.34375,0 -0.34375,0.1875 0,0.203125 0.171875,0.203125 0.34375,0.203125 z"
               id="path12635" />
          </symbol>
        </g>
      </defs>
      <g
         id="textext-87afb035-2">
        <g
           style="fill:#000000;fill-opacity:1"
           id="g12638">
          <use
             height="270"
             width="360"
             xlink:href="#textext-87afb035-1"
             x="0"
             y="9.9630003"
             id="use12640" />
        </g>
      </g>
    </g>
    <rect
       y="808.26886"
       x="72.120346"
       height="39.091675"
       width="56.775616"
       id="rect4498"
       style="fill:none;stroke:#000000;stroke-width:2;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0" />
    <path
       transform="matrix(1.7362199,0,0,1.7362199,-131.55705,689.09603)"
       d="m 169.84616,94.846153 c 0,2.931358 -2.37633,5.307697 -5.30769,5.307697 -2.93136,0 -5.3077,-2.376339 -5.3077,-5.307697 0,-2.931357 2.37634,-5.307692 5.3077,-5.307692 2.93136,0 5.30769,2.376335 5.30769,5.307692 z"
       sodipodi:ry="5.3076925"
       sodipodi:rx="5.3076925"
       sodipodi:cy="94.846153"
       sodipodi:cx="164.53847"
       id="path3780-2"
       style="fill:none;stroke:#000000;stroke-width:1.15192783;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0;display:inline"
       sodipodi:type="arc" />
    <path
       sodipodi:nodetypes="ccc"
       transform="translate(0,782.35975)"
       inkscape:connector-curvature="0"
       id="path4592"
       d="m 129.92065,42.79141 24.10073,0 0,15.913477"
       style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;marker-start:none;marker-end:url(#Arrow1Send-32)" />
    <path
       sodipodi:nodetypes="ccc"
       transform="translate(0,782.35975)"
       inkscape:connector-curvature="0"
       id="path4594"
       d="m 128.43159,97.710159 26.05858,0 0,-13.424696"
       style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;marker-end:url(#Arrow1Send-32)" />
    <path
       sodipodi:nodetypes="cc"
       inkscape:connector-curvature="0"
       id="path3800-3-3"
       d="m 17.97845,827.38481 48.59576,0"
       style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0;marker-end:url(#Arrow1Send);display:inline" />
    <rect
       style="fill:none;stroke:#000000;stroke-width:2;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;stroke-dashoffset:0"
       id="rect6854"
       width="55.915863"
       height="39.951416"
       x="72.980103"
       y="861.40912" />
    <path
       sodipodi:nodetypes="ccc"
       inkscape:connector-curvature="0"
       id="path9856"
       d="m 53.494336,827.03424 0,55.88382 13.3436,0.14826"
       style="fill:none;stroke:#000000;stroke-width:2;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;marker-end:url(#Arrow1Send-32)" />
    <g
       transform="matrix(1.9443622,-1.9443622,1.9443622,1.9443622,216.45961,866.14993)"
       style="fill:#000000;fill-opacity:1;stroke-width:0.0000001"
       id="use11793-8-59-0">
      <path
         style="stroke:none"
         d="m 4.078125,-2.296875 2.78125,0 C 7,-2.296875 7.1875,-2.296875 7.1875,-2.5 7.1875,-2.6875 7,-2.6875 6.859375,-2.6875 l -2.78125,0 0,-2.796875 c 0,-0.140625 0,-0.328125 -0.203125,-0.328125 -0.203125,0 -0.203125,0.1875 -0.203125,0.328125 l 0,2.796875 -2.78125,0 c -0.140625,0 -0.328125,0 -0.328125,0.1875 0,0.203125 0.1875,0.203125 0.328125,0.203125 l 2.78125,0 0,2.796875 c 0,0.140625 0,0.328125 0.203125,0.328125 0.203125,0 0.203125,-0.1875 0.203125,-0.328125 z"
         id="path13498"
         inkscape:connector-curvature="0" />
    </g>
    <g
       transform="matrix(1.9443622,-1.9443622,1.9443622,1.9443622,151.42922,866.14993)"
       style="fill:#000000;fill-opacity:1;stroke-width:0.0000001"
       id="use11793-8-59-0-3">
      <path
         style="stroke:none"
         d="m 4.078125,-2.296875 2.78125,0 C 7,-2.296875 7.1875,-2.296875 7.1875,-2.5 7.1875,-2.6875 7,-2.6875 6.859375,-2.6875 l -2.78125,0 0,-2.796875 c 0,-0.140625 0,-0.328125 -0.203125,-0.328125 -0.203125,0 -0.203125,0.1875 -0.203125,0.328125 l 0,2.796875 -2.78125,0 c -0.140625,0 -0.328125,0 -0.328125,0.1875 0,0.203125 0.1875,0.203125 0.328125,0.203125 l 2.78125,0 0,2.796875 c 0,0.140625 0,0.328125 0.203125,0.328125 0.203125,0 0.203125,-0.1875 0.203125,-0.328125 z"
         id="path13502"
         inkscape:connector-curvature="0" />
    </g>
    <g
       transform="matrix(1.9443622,-1.9443622,1.9443622,1.9443622,5.218293,839.76493)"
       style="fill:#000000;fill-opacity:1;stroke-width:0.0000001"
       id="use11793-8-59-0-4">
      <path
         style="stroke:none"
         d="m 4.078125,-2.296875 2.78125,0 C 7,-2.296875 7.1875,-2.296875 7.1875,-2.5 7.1875,-2.6875 7,-2.6875 6.859375,-2.6875 l -2.78125,0 0,-2.796875 c 0,-0.140625 0,-0.328125 -0.203125,-0.328125 -0.203125,0 -0.203125,0.1875 -0.203125,0.328125 l 0,2.796875 -2.78125,0 c -0.140625,0 -0.328125,0 -0.328125,0.1875 0,0.203125 0.1875,0.203125 0.328125,0.203125 l 2.78125,0 0,2.796875 c 0,0.140625 0,0.328125 0.203125,0.328125 0.203125,0 0.203125,-0.1875 0.203125,-0.328125 z"
         id="path13506"
         inkscape:connector-curvature="0" />
    </g>
    <g
       id="g11778-32"
       style="stroke-width:0.0000001;display:inline"
       ns0:page_width="10cm"
       ns0:preamble=""
       ns0:text="$+$"
       transform="matrix(0.72542551,0,0,0.72542551,151.2378,842.94729)">
      <defs
         id="defs11780-9">
        <g
           id="g11782-3">
          <symbol
             style="overflow:visible"
             id="textext-aa8f7f73-0-8"
             overflow="visible">
            <path
               inkscape:connector-curvature="0"
               id="path11785-8"
               d=""
               style="stroke:none" />
          </symbol>
          <symbol
             style="overflow:visible"
             id="textext-aa8f7f73-1-5"
             overflow="visible">
            <path
               inkscape:connector-curvature="0"
               id="path11788-40"
               d="m 4.078125,-2.296875 2.78125,0 C 7,-2.296875 7.1875,-2.296875 7.1875,-2.5 7.1875,-2.6875 7,-2.6875 6.859375,-2.6875 l -2.78125,0 0,-2.796875 c 0,-0.140625 0,-0.328125 -0.203125,-0.328125 -0.203125,0 -0.203125,0.1875 -0.203125,0.328125 l 0,2.796875 -2.78125,0 c -0.140625,0 -0.328125,0 -0.328125,0.1875 0,0.203125 0.1875,0.203125 0.328125,0.203125 l 2.78125,0 0,2.796875 c 0,0.140625 0,0.328125 0.203125,0.328125 0.203125,0 0.203125,-0.1875 0.203125,-0.328125 z"
               style="stroke:none" />
          </symbol>
        </g>
      </defs>
      <g
         id="textext-aa8f7f73-2-99">
        <g
           id="g11791-7"
           style="fill:#000000;fill-opacity:1">
          <use
             height="270"
             width="360"
             id="use11793-3"
             y="9.9630003"
             x="0"
             xlink:href="#textext-aa8f7f73-1-5" />
        </g>
      </g>
    </g>
    <g
       id="g11778-7"
       style="stroke-width:0.0000001;display:inline"
       ns0:page_width="10cm"
       ns0:preamble=""
       ns0:text="$+$"
       transform="matrix(0.72542551,0,0,0.72542551,151.43431,853.45709)">
      <defs
         id="defs11780-2">
        <g
           id="g11782-02">
          <symbol
             style="overflow:visible"
             id="textext-aa8f7f73-0-3"
             overflow="visible">
            <path
               inkscape:connector-curvature="0"
               id="path11785-0"
               d=""
               style="stroke:none" />
          </symbol>
          <symbol
             style="overflow:visible"
             id="textext-aa8f7f73-1-0"
             overflow="visible">
            <path
               inkscape:connector-curvature="0"
               id="path11788-2"
               d="m 4.078125,-2.296875 2.78125,0 C 7,-2.296875 7.1875,-2.296875 7.1875,-2.5 7.1875,-2.6875 7,-2.6875 6.859375,-2.6875 l -2.78125,0 0,-2.796875 c 0,-0.140625 0,-0.328125 -0.203125,-0.328125 -0.203125,0 -0.203125,0.1875 -0.203125,0.328125 l 0,2.796875 -2.78125,0 c -0.140625,0 -0.328125,0 -0.328125,0.1875 0,0.203125 0.1875,0.203125 0.328125,0.203125 l 2.78125,0 0,2.796875 c 0,0.140625 0,0.328125 0.203125,0.328125 0.203125,0 0.203125,-0.1875 0.203125,-0.328125 z"
               style="stroke:none" />
          </symbol>
        </g>
      </defs>
      <g
         id="textext-aa8f7f73-2-4">
        <g
           id="g11791-0"
           style="fill:#000000;fill-opacity:1">
          <use
             height="270"
             width="360"
             id="use11793-0"
             y="9.9630003"
             x="0"
             xlink:href="#textext-aa8f7f73-1-0" />
        </g>
      </g>
    </g>
    <g
       id="g11778-8"
       style="stroke-width:0.0000001;display:inline"
       ns0:page_width="10cm"
       ns0:preamble=""
       ns0:text="$+$"
       transform="matrix(0.72542551,0,0,0.72542551,211.26383,848.34495)">
      <defs
         id="defs11780-3">
        <g
           id="g11782-2">
          <symbol
             style="overflow:visible"
             id="textext-aa8f7f73-0-31"
             overflow="visible">
            <path
               inkscape:connector-curvature="0"
               id="path11785-7"
               d=""
               style="stroke:none" />
          </symbol>
          <symbol
             style="overflow:visible"
             id="textext-aa8f7f73-1-8"
             overflow="visible">
            <path
               inkscape:connector-curvature="0"
               id="path11788-6"
               d="m 4.078125,-2.296875 2.78125,0 C 7,-2.296875 7.1875,-2.296875 7.1875,-2.5 7.1875,-2.6875 7,-2.6875 6.859375,-2.6875 l -2.78125,0 0,-2.796875 c 0,-0.140625 0,-0.328125 -0.203125,-0.328125 -0.203125,0 -0.203125,0.1875 -0.203125,0.328125 l 0,2.796875 -2.78125,0 c -0.140625,0 -0.328125,0 -0.328125,0.1875 0,0.203125 0.1875,0.203125 0.328125,0.203125 l 2.78125,0 0,2.796875 c 0,0.140625 0,0.328125 0.203125,0.328125 0.203125,0 0.203125,-0.1875 0.203125,-0.328125 z"
               style="stroke:none" />
          </symbol>
        </g>
      </defs>
      <g
         id="textext-aa8f7f73-2-999">
        <g
           id="g11791-9"
           style="fill:#000000;fill-opacity:1">
          <use
             height="270"
             width="360"
             id="use11793-7"
             y="9.9630003"
             x="0"
             xlink:href="#textext-aa8f7f73-1-8" />
        </g>
      </g>
    </g>
    <g
       id="g11778-5"
       style="stroke-width:0.0000001;display:inline"
       ns0:page_width="10cm"
       ns0:preamble=""
       ns0:text="$+$"
       transform="matrix(0.72542551,0,0,0.72542551,216.28377,843.53679)">
      <defs
         id="defs11780-4">
        <g
           id="g11782-9">
          <symbol
             style="overflow:visible"
             id="textext-aa8f7f73-0-6"
             overflow="visible">
            <path
               inkscape:connector-curvature="0"
               id="path11785-38"
               d=""
               style="stroke:none" />
          </symbol>
          <symbol
             style="overflow:visible"
             id="textext-aa8f7f73-1-9"
             overflow="visible">
            <path
               inkscape:connector-curvature="0"
               id="path11788-00"
               d="m 4.078125,-2.296875 2.78125,0 C 7,-2.296875 7.1875,-2.296875 7.1875,-2.5 7.1875,-2.6875 7,-2.6875 6.859375,-2.6875 l -2.78125,0 0,-2.796875 c 0,-0.140625 0,-0.328125 -0.203125,-0.328125 -0.203125,0 -0.203125,0.1875 -0.203125,0.328125 l 0,2.796875 -2.78125,0 c -0.140625,0 -0.328125,0 -0.328125,0.1875 0,0.203125 0.1875,0.203125 0.328125,0.203125 l 2.78125,0 0,2.796875 c 0,0.140625 0,0.328125 0.203125,0.328125 0.203125,0 0.203125,-0.1875 0.203125,-0.328125 z"
               style="stroke:none" />
          </symbol>
        </g>
      </defs>
      <g
         id="textext-aa8f7f73-2-1">
        <g
           id="g11791-4"
           style="fill:#000000;fill-opacity:1">
          <use
             height="270"
             width="360"
             id="use11793-33"
             y="9.9630003"
             x="0"
             xlink:href="#textext-aa8f7f73-1-9" />
        </g>
      </g>
    </g>
  </g>
  <g
     transform="translate(-60.490419,-19.999209)"
     inkscape:label="Measurements"
     id="layer4"
     inkscape:groupmode="layer" />
  <g
     transform="translate(83.731411,34.18479)"
     style="display:inline"
     inkscape:label="Words"
     id="layer2"
     inkscape:groupmode="layer">
    <g
       id="g5697"
       style="stroke-width:0.0000001;display:inline"
       ns0:page_width="10cm"
       ns0:preamble=""
       ns0:text="Controller"
       transform="matrix(1.25,0,0,1.25,55.493215,-10.703607)">
      <defs
         id="defs5699">
        <g
           id="g5701">
          <symbol
             style="overflow:visible"
             id="textext-c17b5052-0"
             overflow="visible">
            <path
               inkscape:connector-curvature="0"
               id="path5704"
               d=""
               style="stroke:none" />
          </symbol>
          <symbol
             style="overflow:visible"
             id="textext-c17b5052-1"
             overflow="visible">
            <path
               inkscape:connector-curvature="0"
               id="path5707"
               d="m 0.5625,-3.40625 c 0,2.0625 1.609375,3.625 3.46875,3.625 1.625,0 2.59375,-1.390625 2.59375,-2.546875 C 6.625,-2.421875 6.625,-2.5 6.5,-2.5 6.390625,-2.5 6.390625,-2.4375 6.375,-2.328125 6.296875,-0.90625 5.234375,-0.09375 4.140625,-0.09375 c -0.609375,0 -2.5625,-0.328125 -2.5625,-3.3125 0,-2.96875 1.953125,-3.3125 2.5625,-3.3125 1.078125,0 1.96875,0.90625 2.171875,2.359375 0.015625,0.140625 0.015625,0.171875 0.15625,0.171875 0.15625,0 0.15625,-0.03125 0.15625,-0.234375 l 0,-2.359375 c 0,-0.171875 0,-0.25 -0.109375,-0.25 -0.03125,0 -0.078125,0 -0.15625,0.125 l -0.5,0.734375 C 5.5,-6.53125 4.984375,-7.03125 4.03125,-7.03125 c -1.875,0 -3.46875,1.59375 -3.46875,3.625 z"
               style="stroke:none" />
          </symbol>
          <symbol
             style="overflow:visible"
             id="textext-c17b5052-2"
             overflow="visible">
            <path
               inkscape:connector-curvature="0"
               id="path5710"
               d="M 4.6875,-2.140625 C 4.6875,-3.40625 3.703125,-4.46875 2.5,-4.46875 c -1.25,0 -2.21875,1.09375 -2.21875,2.328125 0,1.296875 1.03125,2.25 2.203125,2.25 1.203125,0 2.203125,-0.984375 2.203125,-2.25 z m -2.1875,2 c -0.4375,0 -0.875,-0.203125 -1.140625,-0.671875 -0.25,-0.4375 -0.25,-1.046875 -0.25,-1.40625 0,-0.390625 0,-0.921875 0.234375,-1.359375 C 1.609375,-4.03125 2.078125,-4.25 2.484375,-4.25 c 0.4375,0 0.859375,0.21875 1.125,0.65625 0.265625,0.421875 0.265625,1 0.265625,1.375 0,0.359375 0,0.90625 -0.21875,1.34375 C 3.421875,-0.421875 2.984375,-0.140625 2.5,-0.140625 z"
               style="stroke:none" />
          </symbol>
          <symbol
             style="overflow:visible"
             id="textext-c17b5052-3"
             overflow="visible">
            <path
               inkscape:connector-curvature="0"
               id="path5713"
               d="m 1.09375,-3.421875 0,2.671875 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.359375,-0.015625 0.859375,-0.03125 1.140625,-0.03125 0.25,0 0.765625,0.015625 1.109375,0.03125 l 0,-0.3125 c -0.671875,0 -0.78125,0 -0.78125,-0.4375 l 0,-1.84375 C 1.78125,-3.625 2.5,-4.1875 3.125,-4.1875 c 0.640625,0 0.75,0.53125 0.75,1.109375 l 0,2.328125 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.34375,-0.015625 0.859375,-0.03125 1.125,-0.03125 0.25,0 0.78125,0.015625 1.109375,0.03125 l 0,-0.3125 c -0.515625,0 -0.765625,0 -0.765625,-0.296875 l 0,-1.90625 c 0,-0.859375 0,-1.15625 -0.3125,-1.515625 -0.140625,-0.171875 -0.46875,-0.375 -1.046875,-0.375 C 2.46875,-4.40625 2,-3.984375 1.71875,-3.359375 l 0,-1.046875 -1.40625,0.109375 0,0.3125 c 0.703125,0 0.78125,0.0625 0.78125,0.5625 z"
               style="stroke:none" />
          </symbol>
          <symbol
             style="overflow:visible"
             id="textext-c17b5052-4"
             overflow="visible">
            <path
               inkscape:connector-curvature="0"
               id="path5716"
               d="m 1.71875,-3.984375 1.4375,0 0,-0.3125 -1.4375,0 0,-1.828125 -0.25,0 c 0,0.8125 -0.296875,1.875 -1.28125,1.921875 l 0,0.21875 0.84375,0 0,2.75 c 0,1.21875 0.9375,1.34375 1.296875,1.34375 0.703125,0 0.984375,-0.703125 0.984375,-1.34375 l 0,-0.5625 -0.25,0 0,0.546875 c 0,0.734375 -0.296875,1.109375 -0.671875,1.109375 -0.671875,0 -0.671875,-0.90625 -0.671875,-1.078125 z"
               style="stroke:none" />
          </symbol>
          <symbol
             style="overflow:visible"
             id="textext-c17b5052-5"
             overflow="visible">
            <path
               inkscape:connector-curvature="0"
               id="path5719"
               d="m 1.671875,-3.3125 0,-1.09375 -1.390625,0.109375 0,0.3125 c 0.703125,0 0.78125,0.0625 0.78125,0.5625 l 0,2.671875 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.390625,-0.015625 0.859375,-0.03125 1.140625,-0.03125 0.390625,0 0.859375,0 1.265625,0.03125 l 0,-0.3125 -0.21875,0 c -0.734375,0 -0.75,-0.109375 -0.75,-0.46875 l 0,-1.53125 c 0,-0.984375 0.421875,-1.875 1.171875,-1.875 0.0625,0 0.09375,0 0.109375,0.015625 -0.03125,0 -0.234375,0.125 -0.234375,0.390625 0,0.265625 0.21875,0.421875 0.4375,0.421875 0.171875,0 0.421875,-0.125 0.421875,-0.4375 0,-0.3125 -0.3125,-0.609375 -0.734375,-0.609375 -0.734375,0 -1.09375,0.671875 -1.21875,1.09375 z"
               style="stroke:none" />
          </symbol>
          <symbol
             style="overflow:visible"
             id="textext-c17b5052-6"
             overflow="visible">
            <path
               inkscape:connector-curvature="0"
               id="path5722"
               d="m 1.765625,-6.921875 -1.4375,0.109375 0,0.3125 c 0.703125,0 0.78125,0.0625 0.78125,0.5625 l 0,5.1875 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 C 0.65625,-0.015625 1.1875,-0.03125 1.4375,-0.03125 c 0.25,0 0.734375,0.015625 1.109375,0.03125 l 0,-0.3125 c -0.671875,0 -0.78125,0 -0.78125,-0.4375 z"
               style="stroke:none" />
          </symbol>
          <symbol
             style="overflow:visible"
             id="textext-c17b5052-7"
             overflow="visible">
            <path
               inkscape:connector-curvature="0"
               id="path5725"
               d="M 1.109375,-2.515625 C 1.171875,-4 2.015625,-4.25 2.359375,-4.25 c 1.015625,0 1.125,1.34375 1.125,1.734375 z m 0,0.21875 2.78125,0 c 0.21875,0 0.25,0 0.25,-0.21875 0,-0.984375 -0.546875,-1.953125 -1.78125,-1.953125 -1.15625,0 -2.078125,1.03125 -2.078125,2.28125 0,1.328125 1.046875,2.296875 2.1875,2.296875 C 3.6875,0.109375 4.140625,-1 4.140625,-1.1875 4.140625,-1.28125 4.0625,-1.3125 4,-1.3125 c -0.078125,0 -0.109375,0.0625 -0.125,0.140625 -0.34375,1.03125 -1.25,1.03125 -1.34375,1.03125 -0.5,0 -0.890625,-0.296875 -1.125,-0.671875 -0.296875,-0.46875 -0.296875,-1.125 -0.296875,-1.484375 z"
               style="stroke:none" />
          </symbol>
        </g>
      </defs>
      <g
         id="textext-c17b5052-8">
        <g
           id="g5728"
           style="fill:#000000;fill-opacity:1">
          <use
             height="270"
             width="360"
             id="use5730"
             y="9.9630003"
             x="0"
             xlink:href="#textext-c17b5052-1" />
          <use
             height="270"
             width="360"
             id="use5732"
             y="9.9630003"
             x="7.1949902"
             xlink:href="#textext-c17b5052-2" />
          <use
             height="270"
             width="360"
             id="use5734"
             y="9.9630003"
             x="12.17629"
             xlink:href="#textext-c17b5052-3" />
        </g>
        <g
           id="g5736"
           style="fill:#000000;fill-opacity:1">
          <use
             height="270"
             width="360"
             id="use5738"
             y="9.9630003"
             x="17.432556"
             xlink:href="#textext-c17b5052-4" />
          <use
             height="270"
             width="360"
             id="use5740"
             y="9.9630003"
             x="21.307013"
             xlink:href="#textext-c17b5052-5" />
          <use
             height="270"
             width="360"
             id="use5742"
             y="9.9630003"
             x="25.209364"
             xlink:href="#textext-c17b5052-2" />
          <use
             height="270"
             width="360"
             id="use5744"
             y="9.9630003"
             x="30.190662"
             xlink:href="#textext-c17b5052-6" />
          <use
             height="270"
             width="360"
             id="use5746"
             y="9.9630003"
             x="32.958275"
             xlink:href="#textext-c17b5052-6" />
          <use
             height="270"
             width="360"
             id="use5748"
             y="9.9630003"
             x="35.725883"
             xlink:href="#textext-c17b5052-7" />
          <use
             height="270"
             width="360"
             id="use5750"
             y="9.9630003"
             x="40.153263"
             xlink:href="#textext-c17b5052-5" />
        </g>
      </g>
    </g>
    <g
       id="g6430"
       style="stroke-width:0.0000001;display:inline"
       ns0:page_width="10cm"
       ns0:preamble=""
       ns0:text="Sensors"
       transform="matrix(1.25,0,0,1.25,226.23591,163.96595)">
      <defs
         id="defs6432">
        <g
           id="g6434">
          <symbol
             id="textext-a1b3b69b-0"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path6437"
               d=""
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-a1b3b69b-1"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path6440"
               d="m 3.484375,-3.875 -1.28125,-0.296875 c -0.625,-0.15625 -1,-0.6875 -1,-1.265625 0,-0.703125 0.53125,-1.3125 1.3125,-1.3125 1.65625,0 1.875,1.640625 1.9375,2.078125 0.015625,0.0625 0.015625,0.125 0.125,0.125 0.125,0 0.125,-0.046875 0.125,-0.234375 l 0,-2 c 0,-0.171875 0,-0.25 -0.109375,-0.25 -0.0625,0 -0.078125,0.015625 -0.140625,0.140625 l -0.359375,0.5625 C 3.796875,-6.625 3.390625,-7.03125 2.5,-7.03125 c -1.109375,0 -1.9375,0.875 -1.9375,1.9375 0,0.828125 0.53125,1.5625 1.296875,1.828125 0.109375,0.03125 0.625,0.15625 1.328125,0.328125 0.265625,0.0625 0.5625,0.140625 0.84375,0.5 0.203125,0.265625 0.3125,0.59375 0.3125,0.921875 0,0.703125 -0.5,1.421875 -1.34375,1.421875 -0.28125,0 -1.046875,-0.046875 -1.578125,-0.53125 C 0.84375,-1.171875 0.8125,-1.796875 0.8125,-2.15625 0.796875,-2.265625 0.71875,-2.265625 0.6875,-2.265625 c -0.125,0 -0.125,0.078125 -0.125,0.25 l 0,2 c 0,0.171875 0,0.234375 0.109375,0.234375 0.0625,0 0.078125,-0.015625 0.140625,-0.125 0,-0.015625 0.03125,-0.046875 0.359375,-0.578125 0.3125,0.34375 0.953125,0.703125 1.84375,0.703125 1.15625,0 1.953125,-0.96875 1.953125,-2.078125 0,-0.984375 -0.65625,-1.8125 -1.484375,-2.015625 z"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-a1b3b69b-2"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path6443"
               d="M 1.109375,-2.515625 C 1.171875,-4 2.015625,-4.25 2.359375,-4.25 c 1.015625,0 1.125,1.34375 1.125,1.734375 z m 0,0.21875 2.78125,0 c 0.21875,0 0.25,0 0.25,-0.21875 0,-0.984375 -0.546875,-1.953125 -1.78125,-1.953125 -1.15625,0 -2.078125,1.03125 -2.078125,2.28125 0,1.328125 1.046875,2.296875 2.1875,2.296875 C 3.6875,0.109375 4.140625,-1 4.140625,-1.1875 4.140625,-1.28125 4.0625,-1.3125 4,-1.3125 c -0.078125,0 -0.109375,0.0625 -0.125,0.140625 -0.34375,1.03125 -1.25,1.03125 -1.34375,1.03125 -0.5,0 -0.890625,-0.296875 -1.125,-0.671875 -0.296875,-0.46875 -0.296875,-1.125 -0.296875,-1.484375 z"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-a1b3b69b-3"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path6446"
               d="m 1.09375,-3.421875 0,2.671875 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.359375,-0.015625 0.859375,-0.03125 1.140625,-0.03125 0.25,0 0.765625,0.015625 1.109375,0.03125 l 0,-0.3125 c -0.671875,0 -0.78125,0 -0.78125,-0.4375 l 0,-1.84375 C 1.78125,-3.625 2.5,-4.1875 3.125,-4.1875 c 0.640625,0 0.75,0.53125 0.75,1.109375 l 0,2.328125 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.34375,-0.015625 0.859375,-0.03125 1.125,-0.03125 0.25,0 0.78125,0.015625 1.109375,0.03125 l 0,-0.3125 c -0.515625,0 -0.765625,0 -0.765625,-0.296875 l 0,-1.90625 c 0,-0.859375 0,-1.15625 -0.3125,-1.515625 -0.140625,-0.171875 -0.46875,-0.375 -1.046875,-0.375 C 2.46875,-4.40625 2,-3.984375 1.71875,-3.359375 l 0,-1.046875 -1.40625,0.109375 0,0.3125 c 0.703125,0 0.78125,0.0625 0.78125,0.5625 z"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-a1b3b69b-4"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path6449"
               d="m 2.078125,-1.9375 c 0.21875,0.046875 1.03125,0.203125 1.03125,0.921875 0,0.5 -0.34375,0.90625 -1.125,0.90625 -0.84375,0 -1.203125,-0.5625 -1.390625,-1.421875 C 0.5625,-1.65625 0.5625,-1.6875 0.453125,-1.6875 c -0.125,0 -0.125,0.0625 -0.125,0.234375 l 0,1.328125 c 0,0.171875 0,0.234375 0.109375,0.234375 0.046875,0 0.0625,-0.015625 0.25,-0.203125 0.015625,-0.015625 0.015625,-0.03125 0.203125,-0.21875 0.4375,0.40625 0.890625,0.421875 1.09375,0.421875 1.140625,0 1.609375,-0.671875 1.609375,-1.390625 0,-0.515625 -0.296875,-0.828125 -0.421875,-0.9375 C 2.84375,-2.546875 2.453125,-2.625 2.03125,-2.703125 1.46875,-2.8125 0.8125,-2.9375 0.8125,-3.515625 c 0,-0.359375 0.25,-0.765625 1.109375,-0.765625 1.09375,0 1.15625,0.90625 1.171875,1.203125 0,0.09375 0.09375,0.09375 0.109375,0.09375 0.140625,0 0.140625,-0.046875 0.140625,-0.234375 l 0,-1.015625 c 0,-0.15625 0,-0.234375 -0.109375,-0.234375 -0.046875,0 -0.078125,0 -0.203125,0.125 -0.03125,0.03125 -0.125,0.125 -0.171875,0.15625 -0.375,-0.28125 -0.78125,-0.28125 -0.9375,-0.28125 -1.21875,0 -1.59375,0.671875 -1.59375,1.234375 0,0.34375 0.15625,0.625 0.421875,0.84375 0.328125,0.25 0.609375,0.3125 1.328125,0.453125 z"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-a1b3b69b-5"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path6452"
               d="M 4.6875,-2.140625 C 4.6875,-3.40625 3.703125,-4.46875 2.5,-4.46875 c -1.25,0 -2.21875,1.09375 -2.21875,2.328125 0,1.296875 1.03125,2.25 2.203125,2.25 1.203125,0 2.203125,-0.984375 2.203125,-2.25 z m -2.1875,2 c -0.4375,0 -0.875,-0.203125 -1.140625,-0.671875 -0.25,-0.4375 -0.25,-1.046875 -0.25,-1.40625 0,-0.390625 0,-0.921875 0.234375,-1.359375 C 1.609375,-4.03125 2.078125,-4.25 2.484375,-4.25 c 0.4375,0 0.859375,0.21875 1.125,0.65625 0.265625,0.421875 0.265625,1 0.265625,1.375 0,0.359375 0,0.90625 -0.21875,1.34375 C 3.421875,-0.421875 2.984375,-0.140625 2.5,-0.140625 z"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-a1b3b69b-6"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path6455"
               d="m 1.671875,-3.3125 0,-1.09375 -1.390625,0.109375 0,0.3125 c 0.703125,0 0.78125,0.0625 0.78125,0.5625 l 0,2.671875 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.390625,-0.015625 0.859375,-0.03125 1.140625,-0.03125 0.390625,0 0.859375,0 1.265625,0.03125 l 0,-0.3125 -0.21875,0 c -0.734375,0 -0.75,-0.109375 -0.75,-0.46875 l 0,-1.53125 c 0,-0.984375 0.421875,-1.875 1.171875,-1.875 0.0625,0 0.09375,0 0.109375,0.015625 -0.03125,0 -0.234375,0.125 -0.234375,0.390625 0,0.265625 0.21875,0.421875 0.4375,0.421875 0.171875,0 0.421875,-0.125 0.421875,-0.4375 0,-0.3125 -0.3125,-0.609375 -0.734375,-0.609375 -0.734375,0 -1.09375,0.671875 -1.21875,1.09375 z"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
        </g>
      </defs>
      <g
         id="textext-a1b3b69b-7">
        <g
           id="g6458"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use6460"
             y="9.9630003"
             x="0"
             xlink:href="#textext-a1b3b69b-1"
             width="360"
             height="270" />
          <use
             id="use6462"
             y="9.9630003"
             x="5.5352211"
             xlink:href="#textext-a1b3b69b-2"
             width="360"
             height="270" />
          <use
             id="use6464"
             y="9.9630003"
             x="9.9625998"
             xlink:href="#textext-a1b3b69b-3"
             width="360"
             height="270" />
          <use
             id="use6466"
             y="9.9630003"
             x="15.497821"
             xlink:href="#textext-a1b3b69b-4"
             width="360"
             height="270" />
          <use
             id="use6468"
             y="9.9630003"
             x="19.427071"
             xlink:href="#textext-a1b3b69b-5"
             width="360"
             height="270" />
          <use
             id="use6470"
             y="9.9630003"
             x="24.408369"
             xlink:href="#textext-a1b3b69b-6"
             width="360"
             height="270" />
          <use
             id="use6472"
             y="9.9630003"
             x="28.31072"
             xlink:href="#textext-a1b3b69b-4"
             width="360"
             height="270" />
        </g>
      </g>
    </g>
    <g
       transform="matrix(1.25,0,0,1.25,239.07817,19.278389)"
       ns0:text="\\begin{center}\nSystem \\\\\nState\n\\end{center}"
       ns0:preamble=""
       ns0:page_width="10cm"
       style="stroke-width:0.0000001;display:inline"
       id="g9271">
      <defs
         id="defs9273">
        <g
           id="g9275">
          <symbol
             overflow="visible"
             id="textext-55f2bfa2-0"
             style="overflow:visible">
            <path
               style="stroke:none"
               d=""
               id="path9278"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             overflow="visible"
             id="textext-55f2bfa2-1"
             style="overflow:visible">
            <path
               style="stroke:none"
               d="m 3.484375,-3.875 -1.28125,-0.296875 c -0.625,-0.15625 -1,-0.6875 -1,-1.265625 0,-0.703125 0.53125,-1.3125 1.3125,-1.3125 1.65625,0 1.875,1.640625 1.9375,2.078125 0.015625,0.0625 0.015625,0.125 0.125,0.125 0.125,0 0.125,-0.046875 0.125,-0.234375 l 0,-2 c 0,-0.171875 0,-0.25 -0.109375,-0.25 -0.0625,0 -0.078125,0.015625 -0.140625,0.140625 l -0.359375,0.5625 C 3.796875,-6.625 3.390625,-7.03125 2.5,-7.03125 c -1.109375,0 -1.9375,0.875 -1.9375,1.9375 0,0.828125 0.53125,1.5625 1.296875,1.828125 0.109375,0.03125 0.625,0.15625 1.328125,0.328125 0.265625,0.0625 0.5625,0.140625 0.84375,0.5 0.203125,0.265625 0.3125,0.59375 0.3125,0.921875 0,0.703125 -0.5,1.421875 -1.34375,1.421875 -0.28125,0 -1.046875,-0.046875 -1.578125,-0.53125 C 0.84375,-1.171875 0.8125,-1.796875 0.8125,-2.15625 0.796875,-2.265625 0.71875,-2.265625 0.6875,-2.265625 c -0.125,0 -0.125,0.078125 -0.125,0.25 l 0,2 c 0,0.171875 0,0.234375 0.109375,0.234375 0.0625,0 0.078125,-0.015625 0.140625,-0.125 0,-0.015625 0.03125,-0.046875 0.359375,-0.578125 0.3125,0.34375 0.953125,0.703125 1.84375,0.703125 1.15625,0 1.953125,-0.96875 1.953125,-2.078125 0,-0.984375 -0.65625,-1.8125 -1.484375,-2.015625 z"
               id="path9281"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             overflow="visible"
             id="textext-55f2bfa2-2"
             style="overflow:visible">
            <path
               style="stroke:none"
               d="m 4.140625,-3.34375 c 0.25,-0.640625 0.765625,-0.640625 0.921875,-0.640625 l 0,-0.3125 c -0.234375,0.015625 -0.515625,0.03125 -0.75,0.03125 -0.171875,0 -0.640625,-0.015625 -0.859375,-0.03125 l 0,0.3125 c 0.3125,0 0.46875,0.171875 0.46875,0.421875 0,0.109375 -0.015625,0.125 -0.0625,0.25 L 2.84375,-0.875 1.75,-3.546875 C 1.703125,-3.65625 1.6875,-3.6875 1.6875,-3.734375 c 0,-0.25 0.359375,-0.25 0.5625,-0.25 l 0,-0.3125 c -0.265625,0.015625 -0.921875,0.03125 -1.09375,0.03125 -0.265625,0 -0.671875,-0.015625 -0.96875,-0.03125 l 0,0.3125 c 0.484375,0 0.671875,0 0.8125,0.34375 L 2.5,0 C 2.4375,0.125 2.296875,0.453125 2.25,0.59375 2.03125,1.140625 1.75,1.828125 1.109375,1.828125 c -0.046875,0 -0.28125,0 -0.46875,-0.1875 0.3125,-0.03125 0.390625,-0.25 0.390625,-0.421875 0,-0.25 -0.1875,-0.40625 -0.421875,-0.40625 -0.203125,0 -0.421875,0.125 -0.421875,0.421875 0,0.453125 0.421875,0.8125 0.921875,0.8125 0.625,0 1.03125,-0.578125 1.265625,-1.140625 z"
               id="path9284"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             overflow="visible"
             id="textext-55f2bfa2-3"
             style="overflow:visible">
            <path
               style="stroke:none"
               d="m 2.078125,-1.9375 c 0.21875,0.046875 1.03125,0.203125 1.03125,0.921875 0,0.5 -0.34375,0.90625 -1.125,0.90625 -0.84375,0 -1.203125,-0.5625 -1.390625,-1.421875 C 0.5625,-1.65625 0.5625,-1.6875 0.453125,-1.6875 c -0.125,0 -0.125,0.0625 -0.125,0.234375 l 0,1.328125 c 0,0.171875 0,0.234375 0.109375,0.234375 0.046875,0 0.0625,-0.015625 0.25,-0.203125 0.015625,-0.015625 0.015625,-0.03125 0.203125,-0.21875 0.4375,0.40625 0.890625,0.421875 1.09375,0.421875 1.140625,0 1.609375,-0.671875 1.609375,-1.390625 0,-0.515625 -0.296875,-0.828125 -0.421875,-0.9375 C 2.84375,-2.546875 2.453125,-2.625 2.03125,-2.703125 1.46875,-2.8125 0.8125,-2.9375 0.8125,-3.515625 c 0,-0.359375 0.25,-0.765625 1.109375,-0.765625 1.09375,0 1.15625,0.90625 1.171875,1.203125 0,0.09375 0.09375,0.09375 0.109375,0.09375 0.140625,0 0.140625,-0.046875 0.140625,-0.234375 l 0,-1.015625 c 0,-0.15625 0,-0.234375 -0.109375,-0.234375 -0.046875,0 -0.078125,0 -0.203125,0.125 -0.03125,0.03125 -0.125,0.125 -0.171875,0.15625 -0.375,-0.28125 -0.78125,-0.28125 -0.9375,-0.28125 -1.21875,0 -1.59375,0.671875 -1.59375,1.234375 0,0.34375 0.15625,0.625 0.421875,0.84375 0.328125,0.25 0.609375,0.3125 1.328125,0.453125 z"
               id="path9287"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             overflow="visible"
             id="textext-55f2bfa2-4"
             style="overflow:visible">
            <path
               style="stroke:none"
               d="m 1.71875,-3.984375 1.4375,0 0,-0.3125 -1.4375,0 0,-1.828125 -0.25,0 c 0,0.8125 -0.296875,1.875 -1.28125,1.921875 l 0,0.21875 0.84375,0 0,2.75 c 0,1.21875 0.9375,1.34375 1.296875,1.34375 0.703125,0 0.984375,-0.703125 0.984375,-1.34375 l 0,-0.5625 -0.25,0 0,0.546875 c 0,0.734375 -0.296875,1.109375 -0.671875,1.109375 -0.671875,0 -0.671875,-0.90625 -0.671875,-1.078125 z"
               id="path9290"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             overflow="visible"
             id="textext-55f2bfa2-5"
             style="overflow:visible">
            <path
               style="stroke:none"
               d="M 1.109375,-2.515625 C 1.171875,-4 2.015625,-4.25 2.359375,-4.25 c 1.015625,0 1.125,1.34375 1.125,1.734375 z m 0,0.21875 2.78125,0 c 0.21875,0 0.25,0 0.25,-0.21875 0,-0.984375 -0.546875,-1.953125 -1.78125,-1.953125 -1.15625,0 -2.078125,1.03125 -2.078125,2.28125 0,1.328125 1.046875,2.296875 2.1875,2.296875 C 3.6875,0.109375 4.140625,-1 4.140625,-1.1875 4.140625,-1.28125 4.0625,-1.3125 4,-1.3125 c -0.078125,0 -0.109375,0.0625 -0.125,0.140625 -0.34375,1.03125 -1.25,1.03125 -1.34375,1.03125 -0.5,0 -0.890625,-0.296875 -1.125,-0.671875 -0.296875,-0.46875 -0.296875,-1.125 -0.296875,-1.484375 z"
               id="path9293"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             overflow="visible"
             id="textext-55f2bfa2-6"
             style="overflow:visible">
            <path
               style="stroke:none"
               d="m 1.09375,-3.421875 0,2.671875 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.359375,-0.015625 0.859375,-0.03125 1.140625,-0.03125 0.25,0 0.765625,0.015625 1.109375,0.03125 l 0,-0.3125 c -0.671875,0 -0.78125,0 -0.78125,-0.4375 l 0,-1.84375 C 1.78125,-3.625 2.5,-4.1875 3.125,-4.1875 c 0.640625,0 0.75,0.53125 0.75,1.109375 l 0,2.328125 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.34375,-0.015625 0.859375,-0.03125 1.125,-0.03125 0.25,0 0.78125,0.015625 1.109375,0.03125 l 0,-0.3125 c -0.65625,0 -0.765625,0 -0.765625,-0.4375 l 0,-1.84375 c 0,-1.03125 0.703125,-1.59375 1.34375,-1.59375 0.625,0 0.734375,0.53125 0.734375,1.109375 l 0,2.328125 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.34375,-0.015625 0.859375,-0.03125 1.125,-0.03125 0.265625,0 0.78125,0.015625 1.125,0.03125 l 0,-0.3125 c -0.515625,0 -0.765625,0 -0.78125,-0.296875 l 0,-1.90625 c 0,-0.859375 0,-1.15625 -0.3125,-1.515625 -0.140625,-0.171875 -0.46875,-0.375 -1.046875,-0.375 -0.828125,0 -1.28125,0.59375 -1.4375,0.984375 C 4.390625,-4.296875 3.65625,-4.40625 3.203125,-4.40625 2.46875,-4.40625 2,-3.984375 1.71875,-3.359375 l 0,-1.046875 -1.40625,0.109375 0,0.3125 c 0.703125,0 0.78125,0.0625 0.78125,0.5625 z"
               id="path9296"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             overflow="visible"
             id="textext-55f2bfa2-7"
             style="overflow:visible">
            <path
               style="stroke:none"
               d="m 3.3125,-0.75 c 0.046875,0.390625 0.3125,0.8125 0.78125,0.8125 0.21875,0 0.828125,-0.140625 0.828125,-0.953125 l 0,-0.5625 -0.25,0 0,0.5625 c 0,0.578125 -0.25,0.640625 -0.359375,0.640625 -0.328125,0 -0.375,-0.453125 -0.375,-0.5 l 0,-1.984375 c 0,-0.421875 0,-0.8125 -0.359375,-1.1875 C 3.1875,-4.3125 2.6875,-4.46875 2.21875,-4.46875 c -0.828125,0 -1.515625,0.46875 -1.515625,1.125 0,0.296875 0.203125,0.46875 0.46875,0.46875 0.28125,0 0.453125,-0.203125 0.453125,-0.453125 0,-0.125 -0.046875,-0.453125 -0.515625,-0.453125 C 1.390625,-4.140625 1.875,-4.25 2.1875,-4.25 c 0.5,0 1.0625,0.390625 1.0625,1.28125 l 0,0.359375 c -0.515625,0.03125 -1.203125,0.0625 -1.828125,0.359375 -0.75,0.34375 -1,0.859375 -1,1.296875 0,0.8125 0.96875,1.0625 1.59375,1.0625 0.65625,0 1.109375,-0.40625 1.296875,-0.859375 z M 3.25,-2.390625 l 0,1 c 0,0.9375 -0.71875,1.28125 -1.171875,1.28125 -0.484375,0 -0.890625,-0.34375 -0.890625,-0.84375 0,-0.546875 0.421875,-1.375 2.0625,-1.4375 z"
               id="path9299"
               inkscape:connector-curvature="0" />
          </symbol>
        </g>
      </defs>
      <g
         id="textext-55f2bfa2-8">
        <g
           style="fill:#000000;fill-opacity:1"
           id="g9302">
          <use
             xlink:href="#textext-55f2bfa2-1"
             x="126.069"
             y="9.9630003"
             id="use9304"
             width="360"
             height="270" />
          <use
             xlink:href="#textext-55f2bfa2-2"
             x="131.60422"
             y="9.9630003"
             id="use9306"
             width="360"
             height="270" />
          <use
             xlink:href="#textext-55f2bfa2-3"
             x="136.86249"
             y="9.9630003"
             id="use9308"
             width="360"
             height="270" />
          <use
             xlink:href="#textext-55f2bfa2-4"
             x="140.79173"
             y="9.9630003"
             id="use9310"
             width="360"
             height="270" />
          <use
             xlink:href="#textext-55f2bfa2-5"
             x="144.66618"
             y="9.9630003"
             id="use9312"
             width="360"
             height="270" />
          <use
             xlink:href="#textext-55f2bfa2-6"
             x="149.09357"
             y="9.9630003"
             id="use9314"
             width="360"
             height="270" />
        </g>
        <g
           style="fill:#000000;fill-opacity:1"
           id="g9316">
          <use
             xlink:href="#textext-55f2bfa2-1"
             x="130.386"
             y="21.917999"
             id="use9318"
             width="360"
             height="270" />
          <use
             xlink:href="#textext-55f2bfa2-4"
             x="135.92122"
             y="21.917999"
             id="use9320"
             width="360"
             height="270" />
          <use
             xlink:href="#textext-55f2bfa2-7"
             x="139.79567"
             y="21.917999"
             id="use9322"
             width="360"
             height="270" />
          <use
             xlink:href="#textext-55f2bfa2-4"
             x="144.77698"
             y="21.917999"
             id="use9324"
             width="360"
             height="270" />
          <use
             xlink:href="#textext-55f2bfa2-5"
             x="148.65143"
             y="21.917999"
             id="use9326"
             width="360"
             height="270" />
        </g>
      </g>
    </g>
    <g
       id="g7359"
       style="stroke-width:0.0000001"
       ns0:page_width="10cm"
       ns0:preamble=""
       ns0:text="Passive"
       transform="matrix(1.25,0,0,1.25,79.030608,89.888725)">
      <defs
         id="defs7361">
        <g
           id="g7363">
          <symbol
             id="textext-660454d9-0"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path7367"
               d=""
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-660454d9-1"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path7370"
               d="m 2.265625,-3.15625 1.6875,0 c 1.1875,0 2.265625,-0.796875 2.265625,-1.796875 C 6.21875,-5.9375 5.234375,-6.8125 3.875,-6.8125 l -3.53125,0 0,0.3125 0.25,0 c 0.765625,0 0.78125,0.109375 0.78125,0.46875 l 0,5.25 c 0,0.359375 -0.015625,0.46875 -0.78125,0.46875 l -0.25,0 0,0.3125 c 0.359375,-0.03125 1.09375,-0.03125 1.46875,-0.03125 0.375,0 1.125,0 1.484375,0.03125 l 0,-0.3125 -0.25,0 c -0.765625,0 -0.78125,-0.109375 -0.78125,-0.46875 z m -0.03125,-0.25 0,-2.6875 C 2.234375,-6.4375 2.25,-6.5 2.71875,-6.5 l 0.890625,0 c 1.578125,0 1.578125,1.0625 1.578125,1.546875 0,0.46875 0,1.546875 -1.578125,1.546875 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-660454d9-2"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path7373"
               d="m 3.3125,-0.75 c 0.046875,0.390625 0.3125,0.8125 0.78125,0.8125 0.21875,0 0.828125,-0.140625 0.828125,-0.953125 l 0,-0.5625 -0.25,0 0,0.5625 c 0,0.578125 -0.25,0.640625 -0.359375,0.640625 -0.328125,0 -0.375,-0.453125 -0.375,-0.5 l 0,-1.984375 c 0,-0.421875 0,-0.8125 -0.359375,-1.1875 C 3.1875,-4.3125 2.6875,-4.46875 2.21875,-4.46875 c -0.828125,0 -1.515625,0.46875 -1.515625,1.125 0,0.296875 0.203125,0.46875 0.46875,0.46875 0.28125,0 0.453125,-0.203125 0.453125,-0.453125 0,-0.125 -0.046875,-0.453125 -0.515625,-0.453125 C 1.390625,-4.140625 1.875,-4.25 2.1875,-4.25 c 0.5,0 1.0625,0.390625 1.0625,1.28125 l 0,0.359375 c -0.515625,0.03125 -1.203125,0.0625 -1.828125,0.359375 -0.75,0.34375 -1,0.859375 -1,1.296875 0,0.8125 0.96875,1.0625 1.59375,1.0625 0.65625,0 1.109375,-0.40625 1.296875,-0.859375 z M 3.25,-2.390625 l 0,1 c 0,0.9375 -0.71875,1.28125 -1.171875,1.28125 -0.484375,0 -0.890625,-0.34375 -0.890625,-0.84375 0,-0.546875 0.421875,-1.375 2.0625,-1.4375 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-660454d9-3"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path7376"
               d="m 2.078125,-1.9375 c 0.21875,0.046875 1.03125,0.203125 1.03125,0.921875 0,0.5 -0.34375,0.90625 -1.125,0.90625 -0.84375,0 -1.203125,-0.5625 -1.390625,-1.421875 C 0.5625,-1.65625 0.5625,-1.6875 0.453125,-1.6875 c -0.125,0 -0.125,0.0625 -0.125,0.234375 l 0,1.328125 c 0,0.171875 0,0.234375 0.109375,0.234375 0.046875,0 0.0625,-0.015625 0.25,-0.203125 0.015625,-0.015625 0.015625,-0.03125 0.203125,-0.21875 0.4375,0.40625 0.890625,0.421875 1.09375,0.421875 1.140625,0 1.609375,-0.671875 1.609375,-1.390625 0,-0.515625 -0.296875,-0.828125 -0.421875,-0.9375 C 2.84375,-2.546875 2.453125,-2.625 2.03125,-2.703125 1.46875,-2.8125 0.8125,-2.9375 0.8125,-3.515625 c 0,-0.359375 0.25,-0.765625 1.109375,-0.765625 1.09375,0 1.15625,0.90625 1.171875,1.203125 0,0.09375 0.09375,0.09375 0.109375,0.09375 0.140625,0 0.140625,-0.046875 0.140625,-0.234375 l 0,-1.015625 c 0,-0.15625 0,-0.234375 -0.109375,-0.234375 -0.046875,0 -0.078125,0 -0.203125,0.125 -0.03125,0.03125 -0.125,0.125 -0.171875,0.15625 -0.375,-0.28125 -0.78125,-0.28125 -0.9375,-0.28125 -1.21875,0 -1.59375,0.671875 -1.59375,1.234375 0,0.34375 0.15625,0.625 0.421875,0.84375 0.328125,0.25 0.609375,0.3125 1.328125,0.453125 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-660454d9-4"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path7379"
               d="M 1.765625,-4.40625 0.375,-4.296875 l 0,0.3125 c 0.640625,0 0.734375,0.0625 0.734375,0.546875 l 0,2.6875 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 C 0.640625,-0.015625 1.1875,-0.03125 1.421875,-0.03125 1.78125,-0.03125 2.125,-0.015625 2.46875,0 l 0,-0.3125 c -0.671875,0 -0.703125,-0.046875 -0.703125,-0.4375 z m 0.03125,-1.734375 c 0,-0.3125 -0.234375,-0.53125 -0.515625,-0.53125 -0.3125,0 -0.53125,0.265625 -0.53125,0.53125 0,0.265625 0.21875,0.53125 0.53125,0.53125 0.28125,0 0.515625,-0.21875 0.515625,-0.53125 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-660454d9-5"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path7382"
               d="M 4.140625,-3.3125 C 4.234375,-3.546875 4.40625,-3.984375 5.0625,-3.984375 l 0,-0.3125 c -0.234375,0.015625 -0.515625,0.03125 -0.75,0.03125 -0.234375,0 -0.6875,-0.015625 -0.859375,-0.03125 l 0,0.3125 c 0.359375,0 0.46875,0.234375 0.46875,0.421875 0,0.09375 -0.015625,0.140625 -0.046875,0.25 L 2.84375,-0.78125 1.734375,-3.5625 c -0.0625,-0.125 -0.0625,-0.140625 -0.0625,-0.171875 0,-0.25 0.390625,-0.25 0.578125,-0.25 l 0,-0.3125 c -0.3125,0.015625 -0.859375,0.03125 -1.09375,0.03125 -0.265625,0 -0.671875,-0.015625 -0.96875,-0.03125 l 0,0.3125 c 0.625,0 0.671875,0.0625 0.796875,0.359375 l 1.4375,3.546875 C 2.484375,0.0625 2.5,0.109375 2.625,0.109375 c 0.140625,0 0.171875,-0.09375 0.21875,-0.1875 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-660454d9-6"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path7385"
               d="M 1.109375,-2.515625 C 1.171875,-4 2.015625,-4.25 2.359375,-4.25 c 1.015625,0 1.125,1.34375 1.125,1.734375 z m 0,0.21875 2.78125,0 c 0.21875,0 0.25,0 0.25,-0.21875 0,-0.984375 -0.546875,-1.953125 -1.78125,-1.953125 -1.15625,0 -2.078125,1.03125 -2.078125,2.28125 0,1.328125 1.046875,2.296875 2.1875,2.296875 C 3.6875,0.109375 4.140625,-1 4.140625,-1.1875 4.140625,-1.28125 4.0625,-1.3125 4,-1.3125 c -0.078125,0 -0.109375,0.0625 -0.125,0.140625 -0.34375,1.03125 -1.25,1.03125 -1.34375,1.03125 -0.5,0 -0.890625,-0.296875 -1.125,-0.671875 -0.296875,-0.46875 -0.296875,-1.125 -0.296875,-1.484375 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
        </g>
      </defs>
      <g
         id="textext-660454d9-7">
        <g
           id="g7388"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use7390"
             y="9.9630003"
             x="0"
             xlink:href="#textext-660454d9-1"
             width="450"
             height="270" />
        </g>
        <g
           id="g7392"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use7394"
             y="9.9630003"
             x="6.5015931"
             xlink:href="#textext-660454d9-2"
             width="450"
             height="270" />
          <use
             id="use7396"
             y="9.9630003"
             x="11.482893"
             xlink:href="#textext-660454d9-3"
             width="450"
             height="270" />
          <use
             id="use7399"
             y="9.9630003"
             x="15.412142"
             xlink:href="#textext-660454d9-3"
             width="450"
             height="270" />
          <use
             id="use7401"
             y="9.9630003"
             x="19.341393"
             xlink:href="#textext-660454d9-4"
             width="450"
             height="270" />
          <use
             id="use7403"
             y="9.9630003"
             x="22.109001"
             xlink:href="#textext-660454d9-5"
             width="450"
             height="270" />
        </g>
        <g
           id="g7405"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use7407"
             y="9.9630003"
             x="27.088308"
             xlink:href="#textext-660454d9-6"
             width="450"
             height="270" />
        </g>
      </g>
    </g>
    <g
       transform="matrix(1.25,0,0,1.25,81.030609,34.27917)"
       ns0:text="Active"
       ns0:preamble=""
       ns0:page_width="10cm"
       style="stroke-width:0.0000001"
       id="g8863">
      <defs
         id="defs8865">
        <g
           id="g8867">
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-099a7a3b-0">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d=""
               id="path8870" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-099a7a3b-1">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d="m 3.96875,-6.9375 c -0.046875,-0.125 -0.078125,-0.203125 -0.234375,-0.203125 -0.15625,0 -0.1875,0.0625 -0.234375,0.203125 L 1.4375,-0.984375 C 1.25,-0.46875 0.859375,-0.3125 0.3125,-0.3125 l 0,0.3125 c 0.234375,-0.015625 0.671875,-0.03125 1.015625,-0.03125 0.3125,0 0.828125,0.015625 1.15625,0.03125 l 0,-0.3125 c -0.5,0 -0.75,-0.25 -0.75,-0.5 0,-0.03125 0.015625,-0.140625 0.015625,-0.15625 l 0.46875,-1.296875 2.453125,0 0.53125,1.515625 c 0.015625,0.046875 0.03125,0.109375 0.03125,0.140625 0,0.296875 -0.5625,0.296875 -0.828125,0.296875 l 0,0.3125 c 0.359375,-0.03125 1.0625,-0.03125 1.4375,-0.03125 0.421875,0 0.890625,0.015625 1.296875,0.03125 l 0,-0.3125 -0.171875,0 C 6.375,-0.3125 6.234375,-0.375 6.125,-0.703125 z m -0.53125,1.109375 1.125,3.25 -2.234375,0 z m 0,0"
               id="path8873" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-099a7a3b-2">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d="m 1.171875,-2.171875 c 0,-1.625 0.8125,-2.046875 1.34375,-2.046875 0.09375,0 0.71875,0.015625 1.0625,0.375 -0.40625,0.03125 -0.46875,0.328125 -0.46875,0.453125 0,0.265625 0.1875,0.453125 0.453125,0.453125 0.265625,0 0.46875,-0.15625 0.46875,-0.46875 0,-0.671875 -0.765625,-1.0625 -1.53125,-1.0625 -1.25,0 -2.15625,1.078125 -2.15625,2.3125 0,1.28125 0.984375,2.265625 2.140625,2.265625 1.328125,0 1.65625,-1.203125 1.65625,-1.296875 0,-0.09375 -0.109375,-0.09375 -0.140625,-0.09375 -0.078125,0 -0.109375,0.03125 -0.125,0.09375 -0.28125,0.921875 -0.9375,1.046875 -1.296875,1.046875 -0.53125,0 -1.40625,-0.421875 -1.40625,-2.03125 z m 0,0"
               id="path8876" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-099a7a3b-3">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d="m 1.71875,-3.984375 1.4375,0 0,-0.3125 -1.4375,0 0,-1.828125 -0.25,0 c 0,0.8125 -0.296875,1.875 -1.28125,1.921875 l 0,0.21875 0.84375,0 0,2.75 c 0,1.21875 0.9375,1.34375 1.296875,1.34375 0.703125,0 0.984375,-0.703125 0.984375,-1.34375 l 0,-0.5625 -0.25,0 0,0.546875 c 0,0.734375 -0.296875,1.109375 -0.671875,1.109375 -0.671875,0 -0.671875,-0.90625 -0.671875,-1.078125 z m 0,0"
               id="path8879" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-099a7a3b-4">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d="M 1.765625,-4.40625 0.375,-4.296875 l 0,0.3125 c 0.640625,0 0.734375,0.0625 0.734375,0.546875 l 0,2.6875 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 C 0.640625,-0.015625 1.1875,-0.03125 1.421875,-0.03125 1.78125,-0.03125 2.125,-0.015625 2.46875,0 l 0,-0.3125 c -0.671875,0 -0.703125,-0.046875 -0.703125,-0.4375 z m 0.03125,-1.734375 c 0,-0.3125 -0.234375,-0.53125 -0.515625,-0.53125 -0.3125,0 -0.53125,0.265625 -0.53125,0.53125 0,0.265625 0.21875,0.53125 0.53125,0.53125 0.28125,0 0.515625,-0.21875 0.515625,-0.53125 z m 0,0"
               id="path8882" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-099a7a3b-5">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d="M 4.140625,-3.3125 C 4.234375,-3.546875 4.40625,-3.984375 5.0625,-3.984375 l 0,-0.3125 c -0.234375,0.015625 -0.515625,0.03125 -0.75,0.03125 -0.234375,0 -0.6875,-0.015625 -0.859375,-0.03125 l 0,0.3125 c 0.359375,0 0.46875,0.234375 0.46875,0.421875 0,0.09375 -0.015625,0.140625 -0.046875,0.25 L 2.84375,-0.78125 1.734375,-3.5625 c -0.0625,-0.125 -0.0625,-0.140625 -0.0625,-0.171875 0,-0.25 0.390625,-0.25 0.578125,-0.25 l 0,-0.3125 c -0.3125,0.015625 -0.859375,0.03125 -1.09375,0.03125 -0.265625,0 -0.671875,-0.015625 -0.96875,-0.03125 l 0,0.3125 c 0.625,0 0.671875,0.0625 0.796875,0.359375 l 1.4375,3.546875 C 2.484375,0.0625 2.5,0.109375 2.625,0.109375 c 0.140625,0 0.171875,-0.09375 0.21875,-0.1875 z m 0,0"
               id="path8885" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-099a7a3b-6">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d="M 1.109375,-2.515625 C 1.171875,-4 2.015625,-4.25 2.359375,-4.25 c 1.015625,0 1.125,1.34375 1.125,1.734375 z m 0,0.21875 2.78125,0 c 0.21875,0 0.25,0 0.25,-0.21875 0,-0.984375 -0.546875,-1.953125 -1.78125,-1.953125 -1.15625,0 -2.078125,1.03125 -2.078125,2.28125 0,1.328125 1.046875,2.296875 2.1875,2.296875 C 3.6875,0.109375 4.140625,-1 4.140625,-1.1875 4.140625,-1.28125 4.0625,-1.3125 4,-1.3125 c -0.078125,0 -0.109375,0.0625 -0.125,0.140625 -0.34375,1.03125 -1.25,1.03125 -1.34375,1.03125 -0.5,0 -0.890625,-0.296875 -1.125,-0.671875 -0.296875,-0.46875 -0.296875,-1.125 -0.296875,-1.484375 z m 0,0"
               id="path8888" />
          </symbol>
        </g>
      </defs>
      <g
         id="textext-099a7a3b-7">
        <g
           style="fill:#000000;fill-opacity:1"
           id="g8891">
          <use
             height="270"
             width="450"
             xlink:href="#textext-099a7a3b-1"
             x="0"
             y="9.9630003"
             id="use8893" />
          <use
             height="270"
             width="450"
             xlink:href="#textext-099a7a3b-2"
             x="7.4719501"
             y="9.9630003"
             id="use8895" />
          <use
             height="270"
             width="450"
             xlink:href="#textext-099a7a3b-3"
             x="11.899329"
             y="9.9630003"
             id="use8897" />
          <use
             height="270"
             width="450"
             xlink:href="#textext-099a7a3b-4"
             x="15.773785"
             y="9.9630003"
             id="use8899" />
          <use
             height="270"
             width="450"
             xlink:href="#textext-099a7a3b-5"
             x="18.541395"
             y="9.9630003"
             id="use8901" />
        </g>
        <g
           style="fill:#000000;fill-opacity:1"
           id="g8903">
          <use
             height="270"
             width="450"
             xlink:href="#textext-099a7a3b-6"
             x="23.520702"
             y="9.9630003"
             id="use8905" />
        </g>
      </g>
    </g>
    <g
       id="g10600"
       style="stroke-width:0.0000001;display:inline"
       ns0:page_width="10cm"
       ns0:preamble=""
       ns0:text="External Perturbation"
       transform="matrix(1.25,0,0,1.25,279.2103,-37.986197)">
      <defs
         id="defs10602">
        <g
           id="g10604">
          <symbol
             id="textext-ee472922-0"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path10607"
               d=""
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-ee472922-1"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path10610"
               d="m 1.359375,-0.78125 c 0,0.359375 -0.03125,0.46875 -0.796875,0.46875 l -0.234375,0 0,0.3125 5.75,0 L 6.5,-2.578125 l -0.25,0 C 6,-1.03125 5.765625,-0.3125 4.0625,-0.3125 l -1.328125,0 C 2.265625,-0.3125 2.25,-0.375 2.25,-0.703125 l 0,-2.671875 0.890625,0 c 0.96875,0 1.078125,0.328125 1.078125,1.171875 l 0.25,0 0,-2.640625 -0.25,0 c 0,0.859375 -0.109375,1.171875 -1.078125,1.171875 l -0.890625,0 0,-2.40625 c 0,-0.328125 0.015625,-0.390625 0.484375,-0.390625 l 1.28125,0 c 1.53125,0 1.796875,0.546875 1.953125,1.9375 l 0.25,0 -0.28125,-2.25 -5.609375,0 0,0.3125 0.234375,0 c 0.765625,0 0.796875,0.109375 0.796875,0.46875 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-ee472922-2"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path10613"
               d="M 2.859375,-2.34375 C 3.15625,-2.71875 3.53125,-3.203125 3.78125,-3.46875 4.09375,-3.828125 4.5,-3.984375 4.96875,-3.984375 l 0,-0.3125 c -0.265625,0.015625 -0.5625,0.03125 -0.828125,0.03125 -0.296875,0 -0.828125,-0.015625 -0.953125,-0.03125 l 0,0.3125 c 0.21875,0.015625 0.296875,0.140625 0.296875,0.3125 0,0.15625 -0.109375,0.28125 -0.15625,0.34375 L 2.71875,-2.546875 1.9375,-3.5625 C 1.84375,-3.65625 1.84375,-3.671875 1.84375,-3.734375 c 0,-0.15625 0.15625,-0.25 0.34375,-0.25 l 0,-0.3125 c -0.25,0.015625 -0.90625,0.03125 -1.078125,0.03125 -0.203125,0 -0.671875,-0.015625 -0.9375,-0.03125 l 0,0.3125 c 0.703125,0 0.703125,0 1.171875,0.609375 l 0.984375,1.28125 -0.9375,1.1875 C 0.921875,-0.328125 0.328125,-0.3125 0.125,-0.3125 L 0.125,0 c 0.25,-0.015625 0.5625,-0.03125 0.828125,-0.03125 0.28125,0 0.703125,0.015625 0.9375,0.03125 l 0,-0.3125 c -0.21875,-0.03125 -0.28125,-0.15625 -0.28125,-0.3125 0,-0.21875 0.28125,-0.546875 0.890625,-1.265625 l 0.765625,1 C 3.34375,-0.78125 3.46875,-0.625 3.46875,-0.5625 c 0,0.09375 -0.09375,0.25 -0.359375,0.25 l 0,0.3125 C 3.40625,-0.015625 3.96875,-0.03125 4.1875,-0.03125 c 0.265625,0 0.65625,0.015625 0.953125,0.03125 l 0,-0.3125 c -0.53125,0 -0.71875,-0.015625 -0.9375,-0.3125 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-ee472922-3"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path10616"
               d="m 1.71875,-3.984375 1.4375,0 0,-0.3125 -1.4375,0 0,-1.828125 -0.25,0 c 0,0.8125 -0.296875,1.875 -1.28125,1.921875 l 0,0.21875 0.84375,0 0,2.75 c 0,1.21875 0.9375,1.34375 1.296875,1.34375 0.703125,0 0.984375,-0.703125 0.984375,-1.34375 l 0,-0.5625 -0.25,0 0,0.546875 c 0,0.734375 -0.296875,1.109375 -0.671875,1.109375 -0.671875,0 -0.671875,-0.90625 -0.671875,-1.078125 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-ee472922-4"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path10619"
               d="M 1.109375,-2.515625 C 1.171875,-4 2.015625,-4.25 2.359375,-4.25 c 1.015625,0 1.125,1.34375 1.125,1.734375 z m 0,0.21875 2.78125,0 c 0.21875,0 0.25,0 0.25,-0.21875 0,-0.984375 -0.546875,-1.953125 -1.78125,-1.953125 -1.15625,0 -2.078125,1.03125 -2.078125,2.28125 0,1.328125 1.046875,2.296875 2.1875,2.296875 C 3.6875,0.109375 4.140625,-1 4.140625,-1.1875 4.140625,-1.28125 4.0625,-1.3125 4,-1.3125 c -0.078125,0 -0.109375,0.0625 -0.125,0.140625 -0.34375,1.03125 -1.25,1.03125 -1.34375,1.03125 -0.5,0 -0.890625,-0.296875 -1.125,-0.671875 -0.296875,-0.46875 -0.296875,-1.125 -0.296875,-1.484375 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-ee472922-5"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path10622"
               d="m 1.671875,-3.3125 0,-1.09375 -1.390625,0.109375 0,0.3125 c 0.703125,0 0.78125,0.0625 0.78125,0.5625 l 0,2.671875 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.390625,-0.015625 0.859375,-0.03125 1.140625,-0.03125 0.390625,0 0.859375,0 1.265625,0.03125 l 0,-0.3125 -0.21875,0 c -0.734375,0 -0.75,-0.109375 -0.75,-0.46875 l 0,-1.53125 c 0,-0.984375 0.421875,-1.875 1.171875,-1.875 0.0625,0 0.09375,0 0.109375,0.015625 -0.03125,0 -0.234375,0.125 -0.234375,0.390625 0,0.265625 0.21875,0.421875 0.4375,0.421875 0.171875,0 0.421875,-0.125 0.421875,-0.4375 0,-0.3125 -0.3125,-0.609375 -0.734375,-0.609375 -0.734375,0 -1.09375,0.671875 -1.21875,1.09375 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-ee472922-6"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path10625"
               d="m 1.09375,-3.421875 0,2.671875 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.359375,-0.015625 0.859375,-0.03125 1.140625,-0.03125 0.25,0 0.765625,0.015625 1.109375,0.03125 l 0,-0.3125 c -0.671875,0 -0.78125,0 -0.78125,-0.4375 l 0,-1.84375 C 1.78125,-3.625 2.5,-4.1875 3.125,-4.1875 c 0.640625,0 0.75,0.53125 0.75,1.109375 l 0,2.328125 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.34375,-0.015625 0.859375,-0.03125 1.125,-0.03125 0.25,0 0.78125,0.015625 1.109375,0.03125 l 0,-0.3125 c -0.515625,0 -0.765625,0 -0.765625,-0.296875 l 0,-1.90625 c 0,-0.859375 0,-1.15625 -0.3125,-1.515625 -0.140625,-0.171875 -0.46875,-0.375 -1.046875,-0.375 C 2.46875,-4.40625 2,-3.984375 1.71875,-3.359375 l 0,-1.046875 -1.40625,0.109375 0,0.3125 c 0.703125,0 0.78125,0.0625 0.78125,0.5625 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-ee472922-7"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path10628"
               d="m 3.3125,-0.75 c 0.046875,0.390625 0.3125,0.8125 0.78125,0.8125 0.21875,0 0.828125,-0.140625 0.828125,-0.953125 l 0,-0.5625 -0.25,0 0,0.5625 c 0,0.578125 -0.25,0.640625 -0.359375,0.640625 -0.328125,0 -0.375,-0.453125 -0.375,-0.5 l 0,-1.984375 c 0,-0.421875 0,-0.8125 -0.359375,-1.1875 C 3.1875,-4.3125 2.6875,-4.46875 2.21875,-4.46875 c -0.828125,0 -1.515625,0.46875 -1.515625,1.125 0,0.296875 0.203125,0.46875 0.46875,0.46875 0.28125,0 0.453125,-0.203125 0.453125,-0.453125 0,-0.125 -0.046875,-0.453125 -0.515625,-0.453125 C 1.390625,-4.140625 1.875,-4.25 2.1875,-4.25 c 0.5,0 1.0625,0.390625 1.0625,1.28125 l 0,0.359375 c -0.515625,0.03125 -1.203125,0.0625 -1.828125,0.359375 -0.75,0.34375 -1,0.859375 -1,1.296875 0,0.8125 0.96875,1.0625 1.59375,1.0625 0.65625,0 1.109375,-0.40625 1.296875,-0.859375 z M 3.25,-2.390625 l 0,1 c 0,0.9375 -0.71875,1.28125 -1.171875,1.28125 -0.484375,0 -0.890625,-0.34375 -0.890625,-0.84375 0,-0.546875 0.421875,-1.375 2.0625,-1.4375 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-ee472922-8"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path10631"
               d="m 1.765625,-6.921875 -1.4375,0.109375 0,0.3125 c 0.703125,0 0.78125,0.0625 0.78125,0.5625 l 0,5.1875 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 C 0.65625,-0.015625 1.1875,-0.03125 1.4375,-0.03125 c 0.25,0 0.734375,0.015625 1.109375,0.03125 l 0,-0.3125 c -0.671875,0 -0.78125,0 -0.78125,-0.4375 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-ee472922-9"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path10634"
               d="m 2.265625,-3.15625 1.6875,0 c 1.1875,0 2.265625,-0.796875 2.265625,-1.796875 C 6.21875,-5.9375 5.234375,-6.8125 3.875,-6.8125 l -3.53125,0 0,0.3125 0.25,0 c 0.765625,0 0.78125,0.109375 0.78125,0.46875 l 0,5.25 c 0,0.359375 -0.015625,0.46875 -0.78125,0.46875 l -0.25,0 0,0.3125 c 0.359375,-0.03125 1.09375,-0.03125 1.46875,-0.03125 0.375,0 1.125,0 1.484375,0.03125 l 0,-0.3125 -0.25,0 c -0.765625,0 -0.78125,-0.109375 -0.78125,-0.46875 z m -0.03125,-0.25 0,-2.6875 C 2.234375,-6.4375 2.25,-6.5 2.71875,-6.5 l 0.890625,0 c 1.578125,0 1.578125,1.0625 1.578125,1.546875 0,0.46875 0,1.546875 -1.578125,1.546875 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-ee472922-10"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path10637"
               d="m 3.890625,-0.78125 0,0.890625 L 5.328125,0 l 0,-0.3125 C 4.640625,-0.3125 4.5625,-0.375 4.5625,-0.875 l 0,-3.53125 -1.46875,0.109375 0,0.3125 c 0.6875,0 0.78125,0.0625 0.78125,0.5625 l 0,1.765625 c 0,0.875 -0.484375,1.546875 -1.21875,1.546875 -0.828125,0 -0.875,-0.46875 -0.875,-0.984375 l 0,-3.3125 -1.46875,0.109375 0,0.3125 c 0.78125,0 0.78125,0.03125 0.78125,0.90625 l 0,1.5 c 0,0.78125 0,1.6875 1.515625,1.6875 0.5625,0 1,-0.28125 1.28125,-0.890625 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-ee472922-11"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path10640"
               d="m 1.71875,-3.765625 0,-3.15625 -1.4375,0.109375 0,0.3125 c 0.703125,0 0.78125,0.0625 0.78125,0.5625 l 0,5.9375 0.25,0 c 0,-0.015625 0.078125,-0.15625 0.359375,-0.625 0.140625,0.234375 0.5625,0.734375 1.296875,0.734375 1.1875,0 2.21875,-0.984375 2.21875,-2.265625 0,-1.265625 -0.96875,-2.25 -2.109375,-2.25 -0.78125,0 -1.203125,0.46875 -1.359375,0.640625 z m 0.03125,2.625 0,-2.046875 c 0,-0.1875 0,-0.203125 0.109375,-0.359375 C 2.25,-4.109375 2.796875,-4.1875 3.03125,-4.1875 c 0.453125,0 0.8125,0.265625 1.046875,0.640625 0.265625,0.40625 0.28125,0.96875 0.28125,1.390625 0,0.359375 -0.015625,0.953125 -0.296875,1.40625 -0.21875,0.3125 -0.59375,0.640625 -1.125,0.640625 -0.453125,0 -0.8125,-0.234375 -1.046875,-0.609375 C 1.75,-0.921875 1.75,-0.953125 1.75,-1.140625 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-ee472922-12"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path10643"
               d="M 1.765625,-4.40625 0.375,-4.296875 l 0,0.3125 c 0.640625,0 0.734375,0.0625 0.734375,0.546875 l 0,2.6875 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 C 0.640625,-0.015625 1.1875,-0.03125 1.421875,-0.03125 1.78125,-0.03125 2.125,-0.015625 2.46875,0 l 0,-0.3125 c -0.671875,0 -0.703125,-0.046875 -0.703125,-0.4375 z m 0.03125,-1.734375 c 0,-0.3125 -0.234375,-0.53125 -0.515625,-0.53125 -0.3125,0 -0.53125,0.265625 -0.53125,0.53125 0,0.265625 0.21875,0.53125 0.53125,0.53125 0.28125,0 0.515625,-0.21875 0.515625,-0.53125 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-ee472922-13"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path10646"
               d="M 4.6875,-2.140625 C 4.6875,-3.40625 3.703125,-4.46875 2.5,-4.46875 c -1.25,0 -2.21875,1.09375 -2.21875,2.328125 0,1.296875 1.03125,2.25 2.203125,2.25 1.203125,0 2.203125,-0.984375 2.203125,-2.25 z m -2.1875,2 c -0.4375,0 -0.875,-0.203125 -1.140625,-0.671875 -0.25,-0.4375 -0.25,-1.046875 -0.25,-1.40625 0,-0.390625 0,-0.921875 0.234375,-1.359375 C 1.609375,-4.03125 2.078125,-4.25 2.484375,-4.25 c 0.4375,0 0.859375,0.21875 1.125,0.65625 0.265625,0.421875 0.265625,1 0.265625,1.375 0,0.359375 0,0.90625 -0.21875,1.34375 C 3.421875,-0.421875 2.984375,-0.140625 2.5,-0.140625 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
        </g>
      </defs>
      <g
         id="textext-ee472922-14">
        <g
           id="g10649"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use10651"
             y="9.9630003"
             x="0"
             xlink:href="#textext-ee472922-1"
             width="625.46887"
             height="280.98642" />
          <use
             id="use10653"
             y="9.9630003"
             x="6.7805462"
             xlink:href="#textext-ee472922-2"
             width="625.46887"
             height="280.98642" />
          <use
             id="use10655"
             y="9.9630003"
             x="12.038806"
             xlink:href="#textext-ee472922-3"
             width="625.46887"
             height="280.98642" />
          <use
             id="use10657"
             y="9.9630003"
             x="15.913261"
             xlink:href="#textext-ee472922-4"
             width="625.46887"
             height="280.98642" />
          <use
             id="use10659"
             y="9.9630003"
             x="20.340639"
             xlink:href="#textext-ee472922-5"
             width="625.46887"
             height="280.98642" />
          <use
             id="use10661"
             y="9.9630003"
             x="24.24299"
             xlink:href="#textext-ee472922-6"
             width="625.46887"
             height="280.98642" />
          <use
             id="use10663"
             y="9.9630003"
             x="29.778212"
             xlink:href="#textext-ee472922-7"
             width="625.46887"
             height="280.98642" />
          <use
             id="use10665"
             y="9.9630003"
             x="34.75951"
             xlink:href="#textext-ee472922-8"
             width="625.46887"
             height="280.98642" />
        </g>
        <g
           id="g10667"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use10669"
             y="9.9630003"
             x="40.844666"
             xlink:href="#textext-ee472922-9"
             width="625.46887"
             height="280.98642" />
        </g>
        <g
           id="g10671"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use10673"
             y="9.9630003"
             x="47.34626"
             xlink:href="#textext-ee472922-4"
             width="625.46887"
             height="280.98642" />
          <use
             id="use10675"
             y="9.9630003"
             x="51.77364"
             xlink:href="#textext-ee472922-5"
             width="625.46887"
             height="280.98642" />
          <use
             id="use10677"
             y="9.9630003"
             x="55.675991"
             xlink:href="#textext-ee472922-3"
             width="625.46887"
             height="280.98642" />
          <use
             id="use10679"
             y="9.9630003"
             x="59.550446"
             xlink:href="#textext-ee472922-10"
             width="625.46887"
             height="280.98642" />
          <use
             id="use10681"
             y="9.9630003"
             x="65.085663"
             xlink:href="#textext-ee472922-5"
             width="625.46887"
             height="280.98642" />
          <use
             id="use10683"
             y="9.9630003"
             x="68.988014"
             xlink:href="#textext-ee472922-11"
             width="625.46887"
             height="280.98642" />
          <use
             id="use10685"
             y="9.9630003"
             x="74.523239"
             xlink:href="#textext-ee472922-7"
             width="625.46887"
             height="280.98642" />
          <use
             id="use10687"
             y="9.9630003"
             x="79.504539"
             xlink:href="#textext-ee472922-3"
             width="625.46887"
             height="280.98642" />
          <use
             id="use10689"
             y="9.9630003"
             x="83.37899"
             xlink:href="#textext-ee472922-12"
             width="625.46887"
             height="280.98642" />
          <use
             id="use10691"
             y="9.9630003"
             x="86.146599"
             xlink:href="#textext-ee472922-13"
             width="625.46887"
             height="280.98642" />
          <use
             id="use10693"
             y="9.9630003"
             x="91.127899"
             xlink:href="#textext-ee472922-6"
             width="625.46887"
             height="280.98642" />
        </g>
      </g>
    </g>
    <g
       id="g14061"
       style="stroke-width:0.0000001;display:inline"
       ns0:page_width="10cm"
       ns0:preamble=""
       ns0:text="\\begin{center}\nJoint \\\\\nTorques\n\\end{center}"
       transform="matrix(1.25,0,0,1.25,80.234622,35.954472)">
      <defs
         id="defs14063">
        <g
           id="g14065">
          <symbol
             id="textext-5e2f8739-0"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path14068"
               d=""
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-5e2f8739-1"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path14071"
               d="M 3.015625,-1.46875 C 3.015625,-0.5625 2.515625,0 1.984375,0 1.921875,0 1.25,0 0.890625,-0.578125 1.40625,-0.578125 1.53125,-0.875 1.53125,-1.140625 1.53125,-1.5 1.25,-1.6875 0.96875,-1.6875 c -0.21875,0 -0.5625,0.125 -0.5625,0.578125 0,0.734375 0.703125,1.328125 1.59375,1.328125 1.015625,0 1.75,-0.703125 1.859375,-1.4375 C 3.875,-1.3125 3.875,-1.328125 3.875,-1.671875 l 0,-4.421875 C 3.875,-6.5 4,-6.5 4.640625,-6.5 l 0,-0.3125 c -0.4375,0.03125 -0.828125,0.03125 -1.296875,0.03125 -0.40625,0 -1.296875,0 -1.671875,-0.03125 l 0,0.3125 0.359375,0 c 0.984375,0 0.984375,0.125 0.984375,0.484375 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-5e2f8739-2"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path14074"
               d="M 4.6875,-2.140625 C 4.6875,-3.40625 3.703125,-4.46875 2.5,-4.46875 c -1.25,0 -2.21875,1.09375 -2.21875,2.328125 0,1.296875 1.03125,2.25 2.203125,2.25 1.203125,0 2.203125,-0.984375 2.203125,-2.25 z m -2.1875,2 c -0.4375,0 -0.875,-0.203125 -1.140625,-0.671875 -0.25,-0.4375 -0.25,-1.046875 -0.25,-1.40625 0,-0.390625 0,-0.921875 0.234375,-1.359375 C 1.609375,-4.03125 2.078125,-4.25 2.484375,-4.25 c 0.4375,0 0.859375,0.21875 1.125,0.65625 0.265625,0.421875 0.265625,1 0.265625,1.375 0,0.359375 0,0.90625 -0.21875,1.34375 C 3.421875,-0.421875 2.984375,-0.140625 2.5,-0.140625 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-5e2f8739-3"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path14077"
               d="M 1.765625,-4.40625 0.375,-4.296875 l 0,0.3125 c 0.640625,0 0.734375,0.0625 0.734375,0.546875 l 0,2.6875 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 C 0.640625,-0.015625 1.1875,-0.03125 1.421875,-0.03125 1.78125,-0.03125 2.125,-0.015625 2.46875,0 l 0,-0.3125 c -0.671875,0 -0.703125,-0.046875 -0.703125,-0.4375 z m 0.03125,-1.734375 c 0,-0.3125 -0.234375,-0.53125 -0.515625,-0.53125 -0.3125,0 -0.53125,0.265625 -0.53125,0.53125 0,0.265625 0.21875,0.53125 0.53125,0.53125 0.28125,0 0.515625,-0.21875 0.515625,-0.53125 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-5e2f8739-4"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path14080"
               d="m 1.09375,-3.421875 0,2.671875 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.359375,-0.015625 0.859375,-0.03125 1.140625,-0.03125 0.25,0 0.765625,0.015625 1.109375,0.03125 l 0,-0.3125 c -0.671875,0 -0.78125,0 -0.78125,-0.4375 l 0,-1.84375 C 1.78125,-3.625 2.5,-4.1875 3.125,-4.1875 c 0.640625,0 0.75,0.53125 0.75,1.109375 l 0,2.328125 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.34375,-0.015625 0.859375,-0.03125 1.125,-0.03125 0.25,0 0.78125,0.015625 1.109375,0.03125 l 0,-0.3125 c -0.515625,0 -0.765625,0 -0.765625,-0.296875 l 0,-1.90625 c 0,-0.859375 0,-1.15625 -0.3125,-1.515625 -0.140625,-0.171875 -0.46875,-0.375 -1.046875,-0.375 C 2.46875,-4.40625 2,-3.984375 1.71875,-3.359375 l 0,-1.046875 -1.40625,0.109375 0,0.3125 c 0.703125,0 0.78125,0.0625 0.78125,0.5625 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-5e2f8739-5"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path14083"
               d="m 1.71875,-3.984375 1.4375,0 0,-0.3125 -1.4375,0 0,-1.828125 -0.25,0 c 0,0.8125 -0.296875,1.875 -1.28125,1.921875 l 0,0.21875 0.84375,0 0,2.75 c 0,1.21875 0.9375,1.34375 1.296875,1.34375 0.703125,0 0.984375,-0.703125 0.984375,-1.34375 l 0,-0.5625 -0.25,0 0,0.546875 c 0,0.734375 -0.296875,1.109375 -0.671875,1.109375 -0.671875,0 -0.671875,-0.90625 -0.671875,-1.078125 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-5e2f8739-6"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path14086"
               d="m 6.640625,-6.75 -6.09375,0 -0.1875,2.25 0.25,0 C 0.75,-6.109375 0.890625,-6.4375 2.40625,-6.4375 c 0.171875,0 0.4375,0 0.53125,0.015625 0.21875,0.046875 0.21875,0.15625 0.21875,0.375 l 0,5.265625 c 0,0.328125 0,0.46875 -1.046875,0.46875 l -0.40625,0 0,0.3125 C 2.109375,-0.03125 3.125,-0.03125 3.59375,-0.03125 c 0.453125,0 1.484375,0 1.890625,0.03125 l 0,-0.3125 -0.40625,0 c -1.046875,0 -1.046875,-0.140625 -1.046875,-0.46875 l 0,-5.265625 c 0,-0.1875 0,-0.328125 0.1875,-0.375 0.109375,-0.015625 0.375,-0.015625 0.5625,-0.015625 1.515625,0 1.65625,0.328125 1.796875,1.9375 l 0.25,0 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-5e2f8739-7"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path14089"
               d="m 1.671875,-3.3125 0,-1.09375 -1.390625,0.109375 0,0.3125 c 0.703125,0 0.78125,0.0625 0.78125,0.5625 l 0,2.671875 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.390625,-0.015625 0.859375,-0.03125 1.140625,-0.03125 0.390625,0 0.859375,0 1.265625,0.03125 l 0,-0.3125 -0.21875,0 c -0.734375,0 -0.75,-0.109375 -0.75,-0.46875 l 0,-1.53125 c 0,-0.984375 0.421875,-1.875 1.171875,-1.875 0.0625,0 0.09375,0 0.109375,0.015625 -0.03125,0 -0.234375,0.125 -0.234375,0.390625 0,0.265625 0.21875,0.421875 0.4375,0.421875 0.171875,0 0.421875,-0.125 0.421875,-0.4375 0,-0.3125 -0.3125,-0.609375 -0.734375,-0.609375 -0.734375,0 -1.09375,0.671875 -1.21875,1.09375 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-5e2f8739-8"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path14092"
               d="m 3.78125,-0.609375 0,1.78125 C 3.78125,1.625 3.671875,1.625 3.015625,1.625 l 0,0.3125 C 3.34375,1.921875 3.875,1.90625 4.125,1.90625 c 0.265625,0 0.78125,0.015625 1.125,0.03125 l 0,-0.3125 c -0.671875,0 -0.78125,0 -0.78125,-0.453125 l 0,-5.578125 -0.21875,0 L 3.875,-3.5 C 3.75,-3.78125 3.34375,-4.40625 2.546875,-4.40625 c -1.15625,0 -2.203125,0.96875 -2.203125,2.265625 0,1.25 0.96875,2.25 2.125,2.25 0.6875,0 1.09375,-0.421875 1.3125,-0.71875 z m 0.03125,-2.15625 0,1.40625 C 3.8125,-1.03125 3.640625,-0.75 3.421875,-0.515625 3.296875,-0.375 2.96875,-0.109375 2.5,-0.109375 1.78125,-0.109375 1.171875,-1 1.171875,-2.140625 c 0,-1.1875 0.6875,-2.015625 1.4375,-2.015625 0.796875,0 1.203125,0.859375 1.203125,1.390625 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-5e2f8739-9"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path14095"
               d="m 3.890625,-0.78125 0,0.890625 L 5.328125,0 l 0,-0.3125 C 4.640625,-0.3125 4.5625,-0.375 4.5625,-0.875 l 0,-3.53125 -1.46875,0.109375 0,0.3125 c 0.6875,0 0.78125,0.0625 0.78125,0.5625 l 0,1.765625 c 0,0.875 -0.484375,1.546875 -1.21875,1.546875 -0.828125,0 -0.875,-0.46875 -0.875,-0.984375 l 0,-3.3125 -1.46875,0.109375 0,0.3125 c 0.78125,0 0.78125,0.03125 0.78125,0.90625 l 0,1.5 c 0,0.78125 0,1.6875 1.515625,1.6875 0.5625,0 1,-0.28125 1.28125,-0.890625 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-5e2f8739-10"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path14098"
               d="M 1.109375,-2.515625 C 1.171875,-4 2.015625,-4.25 2.359375,-4.25 c 1.015625,0 1.125,1.34375 1.125,1.734375 z m 0,0.21875 2.78125,0 c 0.21875,0 0.25,0 0.25,-0.21875 0,-0.984375 -0.546875,-1.953125 -1.78125,-1.953125 -1.15625,0 -2.078125,1.03125 -2.078125,2.28125 0,1.328125 1.046875,2.296875 2.1875,2.296875 C 3.6875,0.109375 4.140625,-1 4.140625,-1.1875 4.140625,-1.28125 4.0625,-1.3125 4,-1.3125 c -0.078125,0 -0.109375,0.0625 -0.125,0.140625 -0.34375,1.03125 -1.25,1.03125 -1.34375,1.03125 -0.5,0 -0.890625,-0.296875 -1.125,-0.671875 -0.296875,-0.46875 -0.296875,-1.125 -0.296875,-1.484375 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-5e2f8739-11"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path14101"
               d="m 2.078125,-1.9375 c 0.21875,0.046875 1.03125,0.203125 1.03125,0.921875 0,0.5 -0.34375,0.90625 -1.125,0.90625 -0.84375,0 -1.203125,-0.5625 -1.390625,-1.421875 C 0.5625,-1.65625 0.5625,-1.6875 0.453125,-1.6875 c -0.125,0 -0.125,0.0625 -0.125,0.234375 l 0,1.328125 c 0,0.171875 0,0.234375 0.109375,0.234375 0.046875,0 0.0625,-0.015625 0.25,-0.203125 0.015625,-0.015625 0.015625,-0.03125 0.203125,-0.21875 0.4375,0.40625 0.890625,0.421875 1.09375,0.421875 1.140625,0 1.609375,-0.671875 1.609375,-1.390625 0,-0.515625 -0.296875,-0.828125 -0.421875,-0.9375 C 2.84375,-2.546875 2.453125,-2.625 2.03125,-2.703125 1.46875,-2.8125 0.8125,-2.9375 0.8125,-3.515625 c 0,-0.359375 0.25,-0.765625 1.109375,-0.765625 1.09375,0 1.15625,0.90625 1.171875,1.203125 0,0.09375 0.09375,0.09375 0.109375,0.09375 0.140625,0 0.140625,-0.046875 0.140625,-0.234375 l 0,-1.015625 c 0,-0.15625 0,-0.234375 -0.109375,-0.234375 -0.046875,0 -0.078125,0 -0.203125,0.125 -0.03125,0.03125 -0.125,0.125 -0.171875,0.15625 -0.375,-0.28125 -0.78125,-0.28125 -0.9375,-0.28125 -1.21875,0 -1.59375,0.671875 -1.59375,1.234375 0,0.34375 0.15625,0.625 0.421875,0.84375 0.328125,0.25 0.609375,0.3125 1.328125,0.453125 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
        </g>
      </defs>
      <g
         id="textext-5e2f8739-12">
        <g
           id="g14104"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use14106"
             y="9.9630003"
             x="130.73199"
             xlink:href="#textext-5e2f8739-1"
             width="625.46887"
             height="280.98642" />
          <use
             id="use14108"
             y="9.9630003"
             x="135.85178"
             xlink:href="#textext-5e2f8739-2"
             width="625.46887"
             height="280.98642" />
          <use
             id="use14110"
             y="9.9630003"
             x="140.83308"
             xlink:href="#textext-5e2f8739-3"
             width="625.46887"
             height="280.98642" />
          <use
             id="use14112"
             y="9.9630003"
             x="143.60069"
             xlink:href="#textext-5e2f8739-4"
             width="625.46887"
             height="280.98642" />
        </g>
        <g
           id="g14114"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use14116"
             y="9.9630003"
             x="148.85696"
             xlink:href="#textext-5e2f8739-5"
             width="625.46887"
             height="280.98642" />
        </g>
        <g
           id="g14118"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use14120"
             y="21.917999"
             x="124.533"
             xlink:href="#textext-5e2f8739-6"
             width="625.46887"
             height="280.98642" />
        </g>
        <g
           id="g14122"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use14124"
             y="21.917999"
             x="130.90109"
             xlink:href="#textext-5e2f8739-2"
             width="625.46887"
             height="280.98642" />
          <use
             id="use14126"
             y="21.917999"
             x="135.8824"
             xlink:href="#textext-5e2f8739-7"
             width="625.46887"
             height="280.98642" />
          <use
             id="use14128"
             y="21.917999"
             x="139.78474"
             xlink:href="#textext-5e2f8739-8"
             width="625.46887"
             height="280.98642" />
          <use
             id="use14130"
             y="21.917999"
             x="145.043"
             xlink:href="#textext-5e2f8739-9"
             width="625.46887"
             height="280.98642" />
          <use
             id="use14132"
             y="21.917999"
             x="150.57823"
             xlink:href="#textext-5e2f8739-10"
             width="625.46887"
             height="280.98642" />
          <use
             id="use14134"
             y="21.917999"
             x="155.0056"
             xlink:href="#textext-5e2f8739-11"
             width="625.46887"
             height="280.98642" />
        </g>
      </g>
    </g>
    <g
       id="g17284"
       style="stroke-width:0.0000001;display:inline"
       ns0:page_width="10cm"
       ns0:preamble=""
       ns0:text="\\begin{center}\nOptimal Open Loop \\\\\nJoint Torques\n\\end{center}"
       transform="matrix(1.25,0,0,1.25,42.346889,-24.8221)">
      <defs
         id="defs17286">
        <g
           id="g17288">
          <symbol
             id="textext-c486d56b-0"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path17291"
               d=""
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c486d56b-1"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path17294"
               d="m 7.1875,-3.375 c 0,-2.03125 -1.5,-3.65625 -3.3125,-3.65625 -1.796875,0 -3.3125,1.59375 -3.3125,3.65625 0,2.046875 1.53125,3.59375 3.3125,3.59375 1.8125,0 3.3125,-1.578125 3.3125,-3.59375 z M 3.875,-0.046875 c -0.953125,0 -2.296875,-0.875 -2.296875,-3.46875 0,-2.578125 1.46875,-3.265625 2.296875,-3.265625 0.859375,0 2.28125,0.703125 2.28125,3.265625 0,2.640625 -1.359375,3.46875 -2.28125,3.46875 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c486d56b-2"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path17297"
               d="m 1.71875,-3.75 0,-0.65625 -1.4375,0.109375 0,0.3125 c 0.703125,0 0.78125,0.0625 0.78125,0.5 l 0,4.65625 C 1.0625,1.625 0.953125,1.625 0.28125,1.625 l 0,0.3125 C 0.625,1.921875 1.140625,1.90625 1.390625,1.90625 c 0.28125,0 0.78125,0.015625 1.125,0.03125 l 0,-0.3125 C 1.859375,1.625 1.75,1.625 1.75,1.171875 l 0,-1.765625 c 0.046875,0.171875 0.46875,0.703125 1.21875,0.703125 1.1875,0 2.21875,-0.984375 2.21875,-2.265625 0,-1.265625 -0.953125,-2.25 -2.078125,-2.25 -0.78125,0 -1.203125,0.4375 -1.390625,0.65625 z m 0.03125,2.609375 0,-2.21875 C 2.03125,-3.875 2.515625,-4.15625 3.03125,-4.15625 c 0.734375,0 1.328125,0.875 1.328125,2 0,1.203125 -0.6875,2.046875 -1.421875,2.046875 -0.40625,0 -0.78125,-0.203125 -1.046875,-0.609375 C 1.75,-0.921875 1.75,-0.9375 1.75,-1.140625 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c486d56b-3"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path17300"
               d="m 1.71875,-3.984375 1.4375,0 0,-0.3125 -1.4375,0 0,-1.828125 -0.25,0 c 0,0.8125 -0.296875,1.875 -1.28125,1.921875 l 0,0.21875 0.84375,0 0,2.75 c 0,1.21875 0.9375,1.34375 1.296875,1.34375 0.703125,0 0.984375,-0.703125 0.984375,-1.34375 l 0,-0.5625 -0.25,0 0,0.546875 c 0,0.734375 -0.296875,1.109375 -0.671875,1.109375 -0.671875,0 -0.671875,-0.90625 -0.671875,-1.078125 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c486d56b-4"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path17303"
               d="M 1.765625,-4.40625 0.375,-4.296875 l 0,0.3125 c 0.640625,0 0.734375,0.0625 0.734375,0.546875 l 0,2.6875 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 C 0.640625,-0.015625 1.1875,-0.03125 1.421875,-0.03125 1.78125,-0.03125 2.125,-0.015625 2.46875,0 l 0,-0.3125 c -0.671875,0 -0.703125,-0.046875 -0.703125,-0.4375 z m 0.03125,-1.734375 c 0,-0.3125 -0.234375,-0.53125 -0.515625,-0.53125 -0.3125,0 -0.53125,0.265625 -0.53125,0.53125 0,0.265625 0.21875,0.53125 0.53125,0.53125 0.28125,0 0.515625,-0.21875 0.515625,-0.53125 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c486d56b-5"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path17306"
               d="m 1.09375,-3.421875 0,2.671875 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.359375,-0.015625 0.859375,-0.03125 1.140625,-0.03125 0.25,0 0.765625,0.015625 1.109375,0.03125 l 0,-0.3125 c -0.671875,0 -0.78125,0 -0.78125,-0.4375 l 0,-1.84375 C 1.78125,-3.625 2.5,-4.1875 3.125,-4.1875 c 0.640625,0 0.75,0.53125 0.75,1.109375 l 0,2.328125 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.34375,-0.015625 0.859375,-0.03125 1.125,-0.03125 0.25,0 0.78125,0.015625 1.109375,0.03125 l 0,-0.3125 c -0.65625,0 -0.765625,0 -0.765625,-0.4375 l 0,-1.84375 c 0,-1.03125 0.703125,-1.59375 1.34375,-1.59375 0.625,0 0.734375,0.53125 0.734375,1.109375 l 0,2.328125 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.34375,-0.015625 0.859375,-0.03125 1.125,-0.03125 0.265625,0 0.78125,0.015625 1.125,0.03125 l 0,-0.3125 c -0.515625,0 -0.765625,0 -0.78125,-0.296875 l 0,-1.90625 c 0,-0.859375 0,-1.15625 -0.3125,-1.515625 -0.140625,-0.171875 -0.46875,-0.375 -1.046875,-0.375 -0.828125,0 -1.28125,0.59375 -1.4375,0.984375 C 4.390625,-4.296875 3.65625,-4.40625 3.203125,-4.40625 2.46875,-4.40625 2,-3.984375 1.71875,-3.359375 l 0,-1.046875 -1.40625,0.109375 0,0.3125 c 0.703125,0 0.78125,0.0625 0.78125,0.5625 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c486d56b-6"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path17309"
               d="m 3.3125,-0.75 c 0.046875,0.390625 0.3125,0.8125 0.78125,0.8125 0.21875,0 0.828125,-0.140625 0.828125,-0.953125 l 0,-0.5625 -0.25,0 0,0.5625 c 0,0.578125 -0.25,0.640625 -0.359375,0.640625 -0.328125,0 -0.375,-0.453125 -0.375,-0.5 l 0,-1.984375 c 0,-0.421875 0,-0.8125 -0.359375,-1.1875 C 3.1875,-4.3125 2.6875,-4.46875 2.21875,-4.46875 c -0.828125,0 -1.515625,0.46875 -1.515625,1.125 0,0.296875 0.203125,0.46875 0.46875,0.46875 0.28125,0 0.453125,-0.203125 0.453125,-0.453125 0,-0.125 -0.046875,-0.453125 -0.515625,-0.453125 C 1.390625,-4.140625 1.875,-4.25 2.1875,-4.25 c 0.5,0 1.0625,0.390625 1.0625,1.28125 l 0,0.359375 c -0.515625,0.03125 -1.203125,0.0625 -1.828125,0.359375 -0.75,0.34375 -1,0.859375 -1,1.296875 0,0.8125 0.96875,1.0625 1.59375,1.0625 0.65625,0 1.109375,-0.40625 1.296875,-0.859375 z M 3.25,-2.390625 l 0,1 c 0,0.9375 -0.71875,1.28125 -1.171875,1.28125 -0.484375,0 -0.890625,-0.34375 -0.890625,-0.84375 0,-0.546875 0.421875,-1.375 2.0625,-1.4375 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c486d56b-7"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path17312"
               d="m 1.765625,-6.921875 -1.4375,0.109375 0,0.3125 c 0.703125,0 0.78125,0.0625 0.78125,0.5625 l 0,5.1875 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 C 0.65625,-0.015625 1.1875,-0.03125 1.4375,-0.03125 c 0.25,0 0.734375,0.015625 1.109375,0.03125 l 0,-0.3125 c -0.671875,0 -0.78125,0 -0.78125,-0.4375 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c486d56b-8"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path17315"
               d="M 1.109375,-2.515625 C 1.171875,-4 2.015625,-4.25 2.359375,-4.25 c 1.015625,0 1.125,1.34375 1.125,1.734375 z m 0,0.21875 2.78125,0 c 0.21875,0 0.25,0 0.25,-0.21875 0,-0.984375 -0.546875,-1.953125 -1.78125,-1.953125 -1.15625,0 -2.078125,1.03125 -2.078125,2.28125 0,1.328125 1.046875,2.296875 2.1875,2.296875 C 3.6875,0.109375 4.140625,-1 4.140625,-1.1875 4.140625,-1.28125 4.0625,-1.3125 4,-1.3125 c -0.078125,0 -0.109375,0.0625 -0.125,0.140625 -0.34375,1.03125 -1.25,1.03125 -1.34375,1.03125 -0.5,0 -0.890625,-0.296875 -1.125,-0.671875 -0.296875,-0.46875 -0.296875,-1.125 -0.296875,-1.484375 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c486d56b-9"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path17318"
               d="m 1.09375,-3.421875 0,2.671875 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.359375,-0.015625 0.859375,-0.03125 1.140625,-0.03125 0.25,0 0.765625,0.015625 1.109375,0.03125 l 0,-0.3125 c -0.671875,0 -0.78125,0 -0.78125,-0.4375 l 0,-1.84375 C 1.78125,-3.625 2.5,-4.1875 3.125,-4.1875 c 0.640625,0 0.75,0.53125 0.75,1.109375 l 0,2.328125 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.34375,-0.015625 0.859375,-0.03125 1.125,-0.03125 0.25,0 0.78125,0.015625 1.109375,0.03125 l 0,-0.3125 c -0.515625,0 -0.765625,0 -0.765625,-0.296875 l 0,-1.90625 c 0,-0.859375 0,-1.15625 -0.3125,-1.515625 -0.140625,-0.171875 -0.46875,-0.375 -1.046875,-0.375 C 2.46875,-4.40625 2,-3.984375 1.71875,-3.359375 l 0,-1.046875 -1.40625,0.109375 0,0.3125 c 0.703125,0 0.78125,0.0625 0.78125,0.5625 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c486d56b-10"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path17321"
               d="m 5.796875,-2.578125 -0.25,0 c -0.109375,1.015625 -0.25,2.265625 -2,2.265625 l -0.8125,0 C 2.265625,-0.3125 2.25,-0.375 2.25,-0.703125 l 0,-5.3125 C 2.25,-6.359375 2.25,-6.5 3.1875,-6.5 l 0.328125,0 0,-0.3125 C 3.15625,-6.78125 2.25,-6.78125 1.84375,-6.78125 c -0.390625,0 -1.171875,0 -1.515625,-0.03125 l 0,0.3125 0.234375,0 c 0.765625,0 0.796875,0.109375 0.796875,0.46875 l 0,5.25 c 0,0.359375 -0.03125,0.46875 -0.796875,0.46875 l -0.234375,0 0,0.3125 5.1875,0 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c486d56b-11"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path17324"
               d="M 4.6875,-2.140625 C 4.6875,-3.40625 3.703125,-4.46875 2.5,-4.46875 c -1.25,0 -2.21875,1.09375 -2.21875,2.328125 0,1.296875 1.03125,2.25 2.203125,2.25 1.203125,0 2.203125,-0.984375 2.203125,-2.25 z m -2.1875,2 c -0.4375,0 -0.875,-0.203125 -1.140625,-0.671875 -0.25,-0.4375 -0.25,-1.046875 -0.25,-1.40625 0,-0.390625 0,-0.921875 0.234375,-1.359375 C 1.609375,-4.03125 2.078125,-4.25 2.484375,-4.25 c 0.4375,0 0.859375,0.21875 1.125,0.65625 0.265625,0.421875 0.265625,1 0.265625,1.375 0,0.359375 0,0.90625 -0.21875,1.34375 C 3.421875,-0.421875 2.984375,-0.140625 2.5,-0.140625 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c486d56b-12"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path17327"
               d="M 3.015625,-1.46875 C 3.015625,-0.5625 2.515625,0 1.984375,0 1.921875,0 1.25,0 0.890625,-0.578125 1.40625,-0.578125 1.53125,-0.875 1.53125,-1.140625 1.53125,-1.5 1.25,-1.6875 0.96875,-1.6875 c -0.21875,0 -0.5625,0.125 -0.5625,0.578125 0,0.734375 0.703125,1.328125 1.59375,1.328125 1.015625,0 1.75,-0.703125 1.859375,-1.4375 C 3.875,-1.3125 3.875,-1.328125 3.875,-1.671875 l 0,-4.421875 C 3.875,-6.5 4,-6.5 4.640625,-6.5 l 0,-0.3125 c -0.4375,0.03125 -0.828125,0.03125 -1.296875,0.03125 -0.40625,0 -1.296875,0 -1.671875,-0.03125 l 0,0.3125 0.359375,0 c 0.984375,0 0.984375,0.125 0.984375,0.484375 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c486d56b-13"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path17330"
               d="m 6.640625,-6.75 -6.09375,0 -0.1875,2.25 0.25,0 C 0.75,-6.109375 0.890625,-6.4375 2.40625,-6.4375 c 0.171875,0 0.4375,0 0.53125,0.015625 0.21875,0.046875 0.21875,0.15625 0.21875,0.375 l 0,5.265625 c 0,0.328125 0,0.46875 -1.046875,0.46875 l -0.40625,0 0,0.3125 C 2.109375,-0.03125 3.125,-0.03125 3.59375,-0.03125 c 0.453125,0 1.484375,0 1.890625,0.03125 l 0,-0.3125 -0.40625,0 c -1.046875,0 -1.046875,-0.140625 -1.046875,-0.46875 l 0,-5.265625 c 0,-0.1875 0,-0.328125 0.1875,-0.375 0.109375,-0.015625 0.375,-0.015625 0.5625,-0.015625 1.515625,0 1.65625,0.328125 1.796875,1.9375 l 0.25,0 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c486d56b-14"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path17333"
               d="m 1.671875,-3.3125 0,-1.09375 -1.390625,0.109375 0,0.3125 c 0.703125,0 0.78125,0.0625 0.78125,0.5625 l 0,2.671875 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.390625,-0.015625 0.859375,-0.03125 1.140625,-0.03125 0.390625,0 0.859375,0 1.265625,0.03125 l 0,-0.3125 -0.21875,0 c -0.734375,0 -0.75,-0.109375 -0.75,-0.46875 l 0,-1.53125 c 0,-0.984375 0.421875,-1.875 1.171875,-1.875 0.0625,0 0.09375,0 0.109375,0.015625 -0.03125,0 -0.234375,0.125 -0.234375,0.390625 0,0.265625 0.21875,0.421875 0.4375,0.421875 0.171875,0 0.421875,-0.125 0.421875,-0.4375 0,-0.3125 -0.3125,-0.609375 -0.734375,-0.609375 -0.734375,0 -1.09375,0.671875 -1.21875,1.09375 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c486d56b-15"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path17336"
               d="m 3.78125,-0.609375 0,1.78125 C 3.78125,1.625 3.671875,1.625 3.015625,1.625 l 0,0.3125 C 3.34375,1.921875 3.875,1.90625 4.125,1.90625 c 0.265625,0 0.78125,0.015625 1.125,0.03125 l 0,-0.3125 c -0.671875,0 -0.78125,0 -0.78125,-0.453125 l 0,-5.578125 -0.21875,0 L 3.875,-3.5 C 3.75,-3.78125 3.34375,-4.40625 2.546875,-4.40625 c -1.15625,0 -2.203125,0.96875 -2.203125,2.265625 0,1.25 0.96875,2.25 2.125,2.25 0.6875,0 1.09375,-0.421875 1.3125,-0.71875 z m 0.03125,-2.15625 0,1.40625 C 3.8125,-1.03125 3.640625,-0.75 3.421875,-0.515625 3.296875,-0.375 2.96875,-0.109375 2.5,-0.109375 1.78125,-0.109375 1.171875,-1 1.171875,-2.140625 c 0,-1.1875 0.6875,-2.015625 1.4375,-2.015625 0.796875,0 1.203125,0.859375 1.203125,1.390625 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c486d56b-16"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path17339"
               d="m 3.890625,-0.78125 0,0.890625 L 5.328125,0 l 0,-0.3125 C 4.640625,-0.3125 4.5625,-0.375 4.5625,-0.875 l 0,-3.53125 -1.46875,0.109375 0,0.3125 c 0.6875,0 0.78125,0.0625 0.78125,0.5625 l 0,1.765625 c 0,0.875 -0.484375,1.546875 -1.21875,1.546875 -0.828125,0 -0.875,-0.46875 -0.875,-0.984375 l 0,-3.3125 -1.46875,0.109375 0,0.3125 c 0.78125,0 0.78125,0.03125 0.78125,0.90625 l 0,1.5 c 0,0.78125 0,1.6875 1.515625,1.6875 0.5625,0 1,-0.28125 1.28125,-0.890625 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c486d56b-17"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path17342"
               d="m 2.078125,-1.9375 c 0.21875,0.046875 1.03125,0.203125 1.03125,0.921875 0,0.5 -0.34375,0.90625 -1.125,0.90625 -0.84375,0 -1.203125,-0.5625 -1.390625,-1.421875 C 0.5625,-1.65625 0.5625,-1.6875 0.453125,-1.6875 c -0.125,0 -0.125,0.0625 -0.125,0.234375 l 0,1.328125 c 0,0.171875 0,0.234375 0.109375,0.234375 0.046875,0 0.0625,-0.015625 0.25,-0.203125 0.015625,-0.015625 0.015625,-0.03125 0.203125,-0.21875 0.4375,0.40625 0.890625,0.421875 1.09375,0.421875 1.140625,0 1.609375,-0.671875 1.609375,-1.390625 0,-0.515625 -0.296875,-0.828125 -0.421875,-0.9375 C 2.84375,-2.546875 2.453125,-2.625 2.03125,-2.703125 1.46875,-2.8125 0.8125,-2.9375 0.8125,-3.515625 c 0,-0.359375 0.25,-0.765625 1.109375,-0.765625 1.09375,0 1.15625,0.90625 1.171875,1.203125 0,0.09375 0.09375,0.09375 0.109375,0.09375 0.140625,0 0.140625,-0.046875 0.140625,-0.234375 l 0,-1.015625 c 0,-0.15625 0,-0.234375 -0.109375,-0.234375 -0.046875,0 -0.078125,0 -0.203125,0.125 -0.03125,0.03125 -0.125,0.125 -0.171875,0.15625 -0.375,-0.28125 -0.78125,-0.28125 -0.9375,-0.28125 -1.21875,0 -1.59375,0.671875 -1.59375,1.234375 0,0.34375 0.15625,0.625 0.421875,0.84375 0.328125,0.25 0.609375,0.3125 1.328125,0.453125 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
        </g>
      </defs>
      <g
         id="textext-c486d56b-18">
        <g
           id="g17345"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use17347"
             y="9.9630003"
             x="97.661003"
             xlink:href="#textext-c486d56b-1"
             width="625.46887"
             height="280.98642" />
          <use
             id="use17349"
             y="9.9630003"
             x="105.40991"
             xlink:href="#textext-c486d56b-2"
             width="625.46887"
             height="280.98642" />
          <use
             id="use17351"
             y="9.9630003"
             x="110.94513"
             xlink:href="#textext-c486d56b-3"
             width="625.46887"
             height="280.98642" />
          <use
             id="use17353"
             y="9.9630003"
             x="114.81959"
             xlink:href="#textext-c486d56b-4"
             width="625.46887"
             height="280.98642" />
          <use
             id="use17355"
             y="9.9630003"
             x="117.5872"
             xlink:href="#textext-c486d56b-5"
             width="625.46887"
             height="280.98642" />
          <use
             id="use17357"
             y="9.9630003"
             x="125.88903"
             xlink:href="#textext-c486d56b-6"
             width="625.46887"
             height="280.98642" />
          <use
             id="use17359"
             y="9.9630003"
             x="130.87033"
             xlink:href="#textext-c486d56b-7"
             width="625.46887"
             height="280.98642" />
        </g>
        <g
           id="g17361"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use17363"
             y="9.9630003"
             x="136.95549"
             xlink:href="#textext-c486d56b-1"
             width="625.46887"
             height="280.98642" />
          <use
             id="use17365"
             y="9.9630003"
             x="144.70439"
             xlink:href="#textext-c486d56b-2"
             width="625.46887"
             height="280.98642" />
        </g>
        <g
           id="g17367"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use17369"
             y="9.9630003"
             x="150.51857"
             xlink:href="#textext-c486d56b-8"
             width="625.46887"
             height="280.98642" />
          <use
             id="use17371"
             y="9.9630003"
             x="154.94595"
             xlink:href="#textext-c486d56b-9"
             width="625.46887"
             height="280.98642" />
        </g>
        <g
           id="g17373"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use17375"
             y="9.9630003"
             x="163.79872"
             xlink:href="#textext-c486d56b-10"
             width="625.46887"
             height="280.98642" />
          <use
             id="use17377"
             y="9.9630003"
             x="170.02534"
             xlink:href="#textext-c486d56b-11"
             width="625.46887"
             height="280.98642" />
        </g>
        <g
           id="g17379"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use17381"
             y="9.9630003"
             x="175.2856"
             xlink:href="#textext-c486d56b-11"
             width="625.46887"
             height="280.98642" />
          <use
             id="use17383"
             y="9.9630003"
             x="180.26689"
             xlink:href="#textext-c486d56b-2"
             width="625.46887"
             height="280.98642" />
        </g>
        <g
           id="g17385"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use17387"
             y="21.917999"
             x="111.872"
             xlink:href="#textext-c486d56b-12"
             width="625.46887"
             height="280.98642" />
          <use
             id="use17389"
             y="21.917999"
             x="116.99178"
             xlink:href="#textext-c486d56b-11"
             width="625.46887"
             height="280.98642" />
          <use
             id="use17391"
             y="21.917999"
             x="121.97308"
             xlink:href="#textext-c486d56b-4"
             width="625.46887"
             height="280.98642" />
          <use
             id="use17393"
             y="21.917999"
             x="124.74069"
             xlink:href="#textext-c486d56b-9"
             width="625.46887"
             height="280.98642" />
        </g>
        <g
           id="g17395"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use17397"
             y="21.917999"
             x="129.99696"
             xlink:href="#textext-c486d56b-3"
             width="625.46887"
             height="280.98642" />
        </g>
        <g
           id="g17399"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use17401"
             y="21.917999"
             x="137.18896"
             xlink:href="#textext-c486d56b-13"
             width="625.46887"
             height="280.98642" />
        </g>
        <g
           id="g17403"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use17405"
             y="21.917999"
             x="143.55705"
             xlink:href="#textext-c486d56b-11"
             width="625.46887"
             height="280.98642" />
          <use
             id="use17407"
             y="21.917999"
             x="148.53836"
             xlink:href="#textext-c486d56b-14"
             width="625.46887"
             height="280.98642" />
          <use
             id="use17409"
             y="21.917999"
             x="152.4407"
             xlink:href="#textext-c486d56b-15"
             width="625.46887"
             height="280.98642" />
          <use
             id="use17411"
             y="21.917999"
             x="157.69896"
             xlink:href="#textext-c486d56b-16"
             width="625.46887"
             height="280.98642" />
          <use
             id="use17413"
             y="21.917999"
             x="163.23418"
             xlink:href="#textext-c486d56b-8"
             width="625.46887"
             height="280.98642" />
          <use
             id="use17415"
             y="21.917999"
             x="167.66156"
             xlink:href="#textext-c486d56b-17"
             width="625.46887"
             height="280.98642" />
        </g>
      </g>
    </g>
    <g
       id="g20444"
       style="stroke-width:0.0000001"
       ns0:page_width="10cm"
       ns0:preamble=""
       ns0:text="\\begin{center}\nOptimal Open Loop \\\\\nSensor Trajectories\n\\end{center}"
       transform="matrix(1.25,0,0,1.25,-206.51079,-13.995835)">
      <defs
         id="defs20446">
        <g
           id="g20448">
          <symbol
             id="textext-c2d44df4-0"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path20451"
               d=""
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c2d44df4-1"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path20454"
               d="m 7.1875,-3.375 c 0,-2.03125 -1.5,-3.65625 -3.3125,-3.65625 -1.796875,0 -3.3125,1.59375 -3.3125,3.65625 0,2.046875 1.53125,3.59375 3.3125,3.59375 1.8125,0 3.3125,-1.578125 3.3125,-3.59375 z M 3.875,-0.046875 c -0.953125,0 -2.296875,-0.875 -2.296875,-3.46875 0,-2.578125 1.46875,-3.265625 2.296875,-3.265625 0.859375,0 2.28125,0.703125 2.28125,3.265625 0,2.640625 -1.359375,3.46875 -2.28125,3.46875 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c2d44df4-2"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path20457"
               d="m 1.71875,-3.75 0,-0.65625 -1.4375,0.109375 0,0.3125 c 0.703125,0 0.78125,0.0625 0.78125,0.5 l 0,4.65625 C 1.0625,1.625 0.953125,1.625 0.28125,1.625 l 0,0.3125 C 0.625,1.921875 1.140625,1.90625 1.390625,1.90625 c 0.28125,0 0.78125,0.015625 1.125,0.03125 l 0,-0.3125 C 1.859375,1.625 1.75,1.625 1.75,1.171875 l 0,-1.765625 c 0.046875,0.171875 0.46875,0.703125 1.21875,0.703125 1.1875,0 2.21875,-0.984375 2.21875,-2.265625 0,-1.265625 -0.953125,-2.25 -2.078125,-2.25 -0.78125,0 -1.203125,0.4375 -1.390625,0.65625 z m 0.03125,2.609375 0,-2.21875 C 2.03125,-3.875 2.515625,-4.15625 3.03125,-4.15625 c 0.734375,0 1.328125,0.875 1.328125,2 0,1.203125 -0.6875,2.046875 -1.421875,2.046875 -0.40625,0 -0.78125,-0.203125 -1.046875,-0.609375 C 1.75,-0.921875 1.75,-0.9375 1.75,-1.140625 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c2d44df4-3"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path20460"
               d="m 1.71875,-3.984375 1.4375,0 0,-0.3125 -1.4375,0 0,-1.828125 -0.25,0 c 0,0.8125 -0.296875,1.875 -1.28125,1.921875 l 0,0.21875 0.84375,0 0,2.75 c 0,1.21875 0.9375,1.34375 1.296875,1.34375 0.703125,0 0.984375,-0.703125 0.984375,-1.34375 l 0,-0.5625 -0.25,0 0,0.546875 c 0,0.734375 -0.296875,1.109375 -0.671875,1.109375 -0.671875,0 -0.671875,-0.90625 -0.671875,-1.078125 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c2d44df4-4"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path20463"
               d="M 1.765625,-4.40625 0.375,-4.296875 l 0,0.3125 c 0.640625,0 0.734375,0.0625 0.734375,0.546875 l 0,2.6875 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 C 0.640625,-0.015625 1.1875,-0.03125 1.421875,-0.03125 1.78125,-0.03125 2.125,-0.015625 2.46875,0 l 0,-0.3125 c -0.671875,0 -0.703125,-0.046875 -0.703125,-0.4375 z m 0.03125,-1.734375 c 0,-0.3125 -0.234375,-0.53125 -0.515625,-0.53125 -0.3125,0 -0.53125,0.265625 -0.53125,0.53125 0,0.265625 0.21875,0.53125 0.53125,0.53125 0.28125,0 0.515625,-0.21875 0.515625,-0.53125 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c2d44df4-5"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path20466"
               d="m 1.09375,-3.421875 0,2.671875 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.359375,-0.015625 0.859375,-0.03125 1.140625,-0.03125 0.25,0 0.765625,0.015625 1.109375,0.03125 l 0,-0.3125 c -0.671875,0 -0.78125,0 -0.78125,-0.4375 l 0,-1.84375 C 1.78125,-3.625 2.5,-4.1875 3.125,-4.1875 c 0.640625,0 0.75,0.53125 0.75,1.109375 l 0,2.328125 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.34375,-0.015625 0.859375,-0.03125 1.125,-0.03125 0.25,0 0.78125,0.015625 1.109375,0.03125 l 0,-0.3125 c -0.65625,0 -0.765625,0 -0.765625,-0.4375 l 0,-1.84375 c 0,-1.03125 0.703125,-1.59375 1.34375,-1.59375 0.625,0 0.734375,0.53125 0.734375,1.109375 l 0,2.328125 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.34375,-0.015625 0.859375,-0.03125 1.125,-0.03125 0.265625,0 0.78125,0.015625 1.125,0.03125 l 0,-0.3125 c -0.515625,0 -0.765625,0 -0.78125,-0.296875 l 0,-1.90625 c 0,-0.859375 0,-1.15625 -0.3125,-1.515625 -0.140625,-0.171875 -0.46875,-0.375 -1.046875,-0.375 -0.828125,0 -1.28125,0.59375 -1.4375,0.984375 C 4.390625,-4.296875 3.65625,-4.40625 3.203125,-4.40625 2.46875,-4.40625 2,-3.984375 1.71875,-3.359375 l 0,-1.046875 -1.40625,0.109375 0,0.3125 c 0.703125,0 0.78125,0.0625 0.78125,0.5625 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c2d44df4-6"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path20469"
               d="m 3.3125,-0.75 c 0.046875,0.390625 0.3125,0.8125 0.78125,0.8125 0.21875,0 0.828125,-0.140625 0.828125,-0.953125 l 0,-0.5625 -0.25,0 0,0.5625 c 0,0.578125 -0.25,0.640625 -0.359375,0.640625 -0.328125,0 -0.375,-0.453125 -0.375,-0.5 l 0,-1.984375 c 0,-0.421875 0,-0.8125 -0.359375,-1.1875 C 3.1875,-4.3125 2.6875,-4.46875 2.21875,-4.46875 c -0.828125,0 -1.515625,0.46875 -1.515625,1.125 0,0.296875 0.203125,0.46875 0.46875,0.46875 0.28125,0 0.453125,-0.203125 0.453125,-0.453125 0,-0.125 -0.046875,-0.453125 -0.515625,-0.453125 C 1.390625,-4.140625 1.875,-4.25 2.1875,-4.25 c 0.5,0 1.0625,0.390625 1.0625,1.28125 l 0,0.359375 c -0.515625,0.03125 -1.203125,0.0625 -1.828125,0.359375 -0.75,0.34375 -1,0.859375 -1,1.296875 0,0.8125 0.96875,1.0625 1.59375,1.0625 0.65625,0 1.109375,-0.40625 1.296875,-0.859375 z M 3.25,-2.390625 l 0,1 c 0,0.9375 -0.71875,1.28125 -1.171875,1.28125 -0.484375,0 -0.890625,-0.34375 -0.890625,-0.84375 0,-0.546875 0.421875,-1.375 2.0625,-1.4375 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c2d44df4-7"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path20472"
               d="m 1.765625,-6.921875 -1.4375,0.109375 0,0.3125 c 0.703125,0 0.78125,0.0625 0.78125,0.5625 l 0,5.1875 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 C 0.65625,-0.015625 1.1875,-0.03125 1.4375,-0.03125 c 0.25,0 0.734375,0.015625 1.109375,0.03125 l 0,-0.3125 c -0.671875,0 -0.78125,0 -0.78125,-0.4375 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c2d44df4-8"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path20475"
               d="M 1.109375,-2.515625 C 1.171875,-4 2.015625,-4.25 2.359375,-4.25 c 1.015625,0 1.125,1.34375 1.125,1.734375 z m 0,0.21875 2.78125,0 c 0.21875,0 0.25,0 0.25,-0.21875 0,-0.984375 -0.546875,-1.953125 -1.78125,-1.953125 -1.15625,0 -2.078125,1.03125 -2.078125,2.28125 0,1.328125 1.046875,2.296875 2.1875,2.296875 C 3.6875,0.109375 4.140625,-1 4.140625,-1.1875 4.140625,-1.28125 4.0625,-1.3125 4,-1.3125 c -0.078125,0 -0.109375,0.0625 -0.125,0.140625 -0.34375,1.03125 -1.25,1.03125 -1.34375,1.03125 -0.5,0 -0.890625,-0.296875 -1.125,-0.671875 -0.296875,-0.46875 -0.296875,-1.125 -0.296875,-1.484375 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c2d44df4-9"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path20478"
               d="m 1.09375,-3.421875 0,2.671875 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.359375,-0.015625 0.859375,-0.03125 1.140625,-0.03125 0.25,0 0.765625,0.015625 1.109375,0.03125 l 0,-0.3125 c -0.671875,0 -0.78125,0 -0.78125,-0.4375 l 0,-1.84375 C 1.78125,-3.625 2.5,-4.1875 3.125,-4.1875 c 0.640625,0 0.75,0.53125 0.75,1.109375 l 0,2.328125 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.34375,-0.015625 0.859375,-0.03125 1.125,-0.03125 0.25,0 0.78125,0.015625 1.109375,0.03125 l 0,-0.3125 c -0.515625,0 -0.765625,0 -0.765625,-0.296875 l 0,-1.90625 c 0,-0.859375 0,-1.15625 -0.3125,-1.515625 -0.140625,-0.171875 -0.46875,-0.375 -1.046875,-0.375 C 2.46875,-4.40625 2,-3.984375 1.71875,-3.359375 l 0,-1.046875 -1.40625,0.109375 0,0.3125 c 0.703125,0 0.78125,0.0625 0.78125,0.5625 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c2d44df4-10"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path20481"
               d="m 5.796875,-2.578125 -0.25,0 c -0.109375,1.015625 -0.25,2.265625 -2,2.265625 l -0.8125,0 C 2.265625,-0.3125 2.25,-0.375 2.25,-0.703125 l 0,-5.3125 C 2.25,-6.359375 2.25,-6.5 3.1875,-6.5 l 0.328125,0 0,-0.3125 C 3.15625,-6.78125 2.25,-6.78125 1.84375,-6.78125 c -0.390625,0 -1.171875,0 -1.515625,-0.03125 l 0,0.3125 0.234375,0 c 0.765625,0 0.796875,0.109375 0.796875,0.46875 l 0,5.25 c 0,0.359375 -0.03125,0.46875 -0.796875,0.46875 l -0.234375,0 0,0.3125 5.1875,0 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c2d44df4-11"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path20484"
               d="M 4.6875,-2.140625 C 4.6875,-3.40625 3.703125,-4.46875 2.5,-4.46875 c -1.25,0 -2.21875,1.09375 -2.21875,2.328125 0,1.296875 1.03125,2.25 2.203125,2.25 1.203125,0 2.203125,-0.984375 2.203125,-2.25 z m -2.1875,2 c -0.4375,0 -0.875,-0.203125 -1.140625,-0.671875 -0.25,-0.4375 -0.25,-1.046875 -0.25,-1.40625 0,-0.390625 0,-0.921875 0.234375,-1.359375 C 1.609375,-4.03125 2.078125,-4.25 2.484375,-4.25 c 0.4375,0 0.859375,0.21875 1.125,0.65625 0.265625,0.421875 0.265625,1 0.265625,1.375 0,0.359375 0,0.90625 -0.21875,1.34375 C 3.421875,-0.421875 2.984375,-0.140625 2.5,-0.140625 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c2d44df4-12"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path20487"
               d="m 3.484375,-3.875 -1.28125,-0.296875 c -0.625,-0.15625 -1,-0.6875 -1,-1.265625 0,-0.703125 0.53125,-1.3125 1.3125,-1.3125 1.65625,0 1.875,1.640625 1.9375,2.078125 0.015625,0.0625 0.015625,0.125 0.125,0.125 0.125,0 0.125,-0.046875 0.125,-0.234375 l 0,-2 c 0,-0.171875 0,-0.25 -0.109375,-0.25 -0.0625,0 -0.078125,0.015625 -0.140625,0.140625 l -0.359375,0.5625 C 3.796875,-6.625 3.390625,-7.03125 2.5,-7.03125 c -1.109375,0 -1.9375,0.875 -1.9375,1.9375 0,0.828125 0.53125,1.5625 1.296875,1.828125 0.109375,0.03125 0.625,0.15625 1.328125,0.328125 0.265625,0.0625 0.5625,0.140625 0.84375,0.5 0.203125,0.265625 0.3125,0.59375 0.3125,0.921875 0,0.703125 -0.5,1.421875 -1.34375,1.421875 -0.28125,0 -1.046875,-0.046875 -1.578125,-0.53125 C 0.84375,-1.171875 0.8125,-1.796875 0.8125,-2.15625 0.796875,-2.265625 0.71875,-2.265625 0.6875,-2.265625 c -0.125,0 -0.125,0.078125 -0.125,0.25 l 0,2 c 0,0.171875 0,0.234375 0.109375,0.234375 0.0625,0 0.078125,-0.015625 0.140625,-0.125 0,-0.015625 0.03125,-0.046875 0.359375,-0.578125 0.3125,0.34375 0.953125,0.703125 1.84375,0.703125 1.15625,0 1.953125,-0.96875 1.953125,-2.078125 0,-0.984375 -0.65625,-1.8125 -1.484375,-2.015625 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c2d44df4-13"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path20490"
               d="m 2.078125,-1.9375 c 0.21875,0.046875 1.03125,0.203125 1.03125,0.921875 0,0.5 -0.34375,0.90625 -1.125,0.90625 -0.84375,0 -1.203125,-0.5625 -1.390625,-1.421875 C 0.5625,-1.65625 0.5625,-1.6875 0.453125,-1.6875 c -0.125,0 -0.125,0.0625 -0.125,0.234375 l 0,1.328125 c 0,0.171875 0,0.234375 0.109375,0.234375 0.046875,0 0.0625,-0.015625 0.25,-0.203125 0.015625,-0.015625 0.015625,-0.03125 0.203125,-0.21875 0.4375,0.40625 0.890625,0.421875 1.09375,0.421875 1.140625,0 1.609375,-0.671875 1.609375,-1.390625 0,-0.515625 -0.296875,-0.828125 -0.421875,-0.9375 C 2.84375,-2.546875 2.453125,-2.625 2.03125,-2.703125 1.46875,-2.8125 0.8125,-2.9375 0.8125,-3.515625 c 0,-0.359375 0.25,-0.765625 1.109375,-0.765625 1.09375,0 1.15625,0.90625 1.171875,1.203125 0,0.09375 0.09375,0.09375 0.109375,0.09375 0.140625,0 0.140625,-0.046875 0.140625,-0.234375 l 0,-1.015625 c 0,-0.15625 0,-0.234375 -0.109375,-0.234375 -0.046875,0 -0.078125,0 -0.203125,0.125 -0.03125,0.03125 -0.125,0.125 -0.171875,0.15625 -0.375,-0.28125 -0.78125,-0.28125 -0.9375,-0.28125 -1.21875,0 -1.59375,0.671875 -1.59375,1.234375 0,0.34375 0.15625,0.625 0.421875,0.84375 0.328125,0.25 0.609375,0.3125 1.328125,0.453125 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c2d44df4-14"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path20493"
               d="m 1.671875,-3.3125 0,-1.09375 -1.390625,0.109375 0,0.3125 c 0.703125,0 0.78125,0.0625 0.78125,0.5625 l 0,2.671875 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.390625,-0.015625 0.859375,-0.03125 1.140625,-0.03125 0.390625,0 0.859375,0 1.265625,0.03125 l 0,-0.3125 -0.21875,0 c -0.734375,0 -0.75,-0.109375 -0.75,-0.46875 l 0,-1.53125 c 0,-0.984375 0.421875,-1.875 1.171875,-1.875 0.0625,0 0.09375,0 0.109375,0.015625 -0.03125,0 -0.234375,0.125 -0.234375,0.390625 0,0.265625 0.21875,0.421875 0.4375,0.421875 0.171875,0 0.421875,-0.125 0.421875,-0.4375 0,-0.3125 -0.3125,-0.609375 -0.734375,-0.609375 -0.734375,0 -1.09375,0.671875 -1.21875,1.09375 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c2d44df4-15"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path20496"
               d="m 6.640625,-6.75 -6.09375,0 -0.1875,2.25 0.25,0 C 0.75,-6.109375 0.890625,-6.4375 2.40625,-6.4375 c 0.171875,0 0.4375,0 0.53125,0.015625 0.21875,0.046875 0.21875,0.15625 0.21875,0.375 l 0,5.265625 c 0,0.328125 0,0.46875 -1.046875,0.46875 l -0.40625,0 0,0.3125 C 2.109375,-0.03125 3.125,-0.03125 3.59375,-0.03125 c 0.453125,0 1.484375,0 1.890625,0.03125 l 0,-0.3125 -0.40625,0 c -1.046875,0 -1.046875,-0.140625 -1.046875,-0.46875 l 0,-5.265625 c 0,-0.1875 0,-0.328125 0.1875,-0.375 0.109375,-0.015625 0.375,-0.015625 0.5625,-0.015625 1.515625,0 1.65625,0.328125 1.796875,1.9375 l 0.25,0 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c2d44df4-16"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path20499"
               d="m 2.09375,-4.40625 -1.515625,0.109375 0,0.3125 c 0.765625,0 0.859375,0.0625 0.859375,0.5625 l 0,3.9375 c 0,0.453125 -0.09375,1.3125 -0.734375,1.3125 -0.046875,0 -0.28125,0 -0.53125,-0.140625 C 0.3125,1.65625 0.515625,1.515625 0.515625,1.25 0.515625,0.984375 0.34375,0.78125 0.0625,0.78125 c -0.28125,0 -0.46875,0.203125 -0.46875,0.46875 0,0.515625 0.5625,0.796875 1.140625,0.796875 C 1.46875,2.046875 2.09375,1.40625 2.09375,0.5 z m 0,-1.734375 c 0,-0.296875 -0.234375,-0.53125 -0.53125,-0.53125 -0.28125,0 -0.53125,0.234375 -0.53125,0.53125 0,0.28125 0.25,0.53125 0.53125,0.53125 0.296875,0 0.53125,-0.25 0.53125,-0.53125 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-c2d44df4-17"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path20502"
               d="m 1.171875,-2.171875 c 0,-1.625 0.8125,-2.046875 1.34375,-2.046875 0.09375,0 0.71875,0.015625 1.0625,0.375 -0.40625,0.03125 -0.46875,0.328125 -0.46875,0.453125 0,0.265625 0.1875,0.453125 0.453125,0.453125 0.265625,0 0.46875,-0.15625 0.46875,-0.46875 0,-0.671875 -0.765625,-1.0625 -1.53125,-1.0625 -1.25,0 -2.15625,1.078125 -2.15625,2.3125 0,1.28125 0.984375,2.265625 2.140625,2.265625 1.328125,0 1.65625,-1.203125 1.65625,-1.296875 0,-0.09375 -0.109375,-0.09375 -0.140625,-0.09375 -0.078125,0 -0.109375,0.03125 -0.125,0.09375 -0.28125,0.921875 -0.9375,1.046875 -1.296875,1.046875 -0.53125,0 -1.40625,-0.421875 -1.40625,-2.03125 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
        </g>
      </defs>
      <g
         id="textext-c2d44df4-18">
        <g
           id="g20505"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use20507"
             y="9.9630003"
             x="97.661003"
             xlink:href="#textext-c2d44df4-1"
             width="675.91083"
             height="239.45714" />
          <use
             id="use20509"
             y="9.9630003"
             x="105.40991"
             xlink:href="#textext-c2d44df4-2"
             width="675.91083"
             height="239.45714" />
          <use
             id="use20511"
             y="9.9630003"
             x="110.94513"
             xlink:href="#textext-c2d44df4-3"
             width="675.91083"
             height="239.45714" />
          <use
             id="use20513"
             y="9.9630003"
             x="114.81959"
             xlink:href="#textext-c2d44df4-4"
             width="675.91083"
             height="239.45714" />
          <use
             id="use20515"
             y="9.9630003"
             x="117.5872"
             xlink:href="#textext-c2d44df4-5"
             width="675.91083"
             height="239.45714" />
          <use
             id="use20517"
             y="9.9630003"
             x="125.88903"
             xlink:href="#textext-c2d44df4-6"
             width="675.91083"
             height="239.45714" />
          <use
             id="use20519"
             y="9.9630003"
             x="130.87033"
             xlink:href="#textext-c2d44df4-7"
             width="675.91083"
             height="239.45714" />
        </g>
        <g
           id="g20521"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use20523"
             y="9.9630003"
             x="136.95549"
             xlink:href="#textext-c2d44df4-1"
             width="675.91083"
             height="239.45714" />
          <use
             id="use20525"
             y="9.9630003"
             x="144.70439"
             xlink:href="#textext-c2d44df4-2"
             width="675.91083"
             height="239.45714" />
        </g>
        <g
           id="g20527"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use20529"
             y="9.9630003"
             x="150.51857"
             xlink:href="#textext-c2d44df4-8"
             width="675.91083"
             height="239.45714" />
          <use
             id="use20531"
             y="9.9630003"
             x="154.94595"
             xlink:href="#textext-c2d44df4-9"
             width="675.91083"
             height="239.45714" />
        </g>
        <g
           id="g20533"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use20535"
             y="9.9630003"
             x="163.79872"
             xlink:href="#textext-c2d44df4-10"
             width="675.91083"
             height="239.45714" />
          <use
             id="use20537"
             y="9.9630003"
             x="170.02534"
             xlink:href="#textext-c2d44df4-11"
             width="675.91083"
             height="239.45714" />
        </g>
        <g
           id="g20539"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use20541"
             y="9.9630003"
             x="175.2856"
             xlink:href="#textext-c2d44df4-11"
             width="675.91083"
             height="239.45714" />
          <use
             id="use20543"
             y="9.9630003"
             x="180.26689"
             xlink:href="#textext-c2d44df4-2"
             width="675.91083"
             height="239.45714" />
        </g>
        <g
           id="g20545"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use20547"
             y="21.917999"
             x="100.124"
             xlink:href="#textext-c2d44df4-12"
             width="675.91083"
             height="239.45714" />
          <use
             id="use20549"
             y="21.917999"
             x="105.65922"
             xlink:href="#textext-c2d44df4-8"
             width="675.91083"
             height="239.45714" />
          <use
             id="use20551"
             y="21.917999"
             x="110.0866"
             xlink:href="#textext-c2d44df4-9"
             width="675.91083"
             height="239.45714" />
          <use
             id="use20553"
             y="21.917999"
             x="115.62182"
             xlink:href="#textext-c2d44df4-13"
             width="675.91083"
             height="239.45714" />
          <use
             id="use20555"
             y="21.917999"
             x="119.55107"
             xlink:href="#textext-c2d44df4-11"
             width="675.91083"
             height="239.45714" />
          <use
             id="use20557"
             y="21.917999"
             x="124.53237"
             xlink:href="#textext-c2d44df4-14"
             width="675.91083"
             height="239.45714" />
        </g>
        <g
           id="g20559"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use20561"
             y="21.917999"
             x="131.75227"
             xlink:href="#textext-c2d44df4-15"
             width="675.91083"
             height="239.45714" />
        </g>
        <g
           id="g20563"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use20565"
             y="21.917999"
             x="138.12036"
             xlink:href="#textext-c2d44df4-14"
             width="675.91083"
             height="239.45714" />
          <use
             id="use20567"
             y="21.917999"
             x="142.02271"
             xlink:href="#textext-c2d44df4-6"
             width="675.91083"
             height="239.45714" />
        </g>
        <g
           id="g20569"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use20571"
             y="21.917999"
             x="147.56192"
             xlink:href="#textext-c2d44df4-16"
             width="675.91083"
             height="239.45714" />
          <use
             id="use20573"
             y="21.917999"
             x="150.60649"
             xlink:href="#textext-c2d44df4-8"
             width="675.91083"
             height="239.45714" />
          <use
             id="use20575"
             y="21.917999"
             x="155.03386"
             xlink:href="#textext-c2d44df4-17"
             width="675.91083"
             height="239.45714" />
          <use
             id="use20577"
             y="21.917999"
             x="159.46124"
             xlink:href="#textext-c2d44df4-3"
             width="675.91083"
             height="239.45714" />
          <use
             id="use20579"
             y="21.917999"
             x="163.33571"
             xlink:href="#textext-c2d44df4-11"
             width="675.91083"
             height="239.45714" />
          <use
             id="use20581"
             y="21.917999"
             x="168.317"
             xlink:href="#textext-c2d44df4-14"
             width="675.91083"
             height="239.45714" />
          <use
             id="use20583"
             y="21.917999"
             x="172.21935"
             xlink:href="#textext-c2d44df4-4"
             width="675.91083"
             height="239.45714" />
          <use
             id="use20585"
             y="21.917999"
             x="174.98695"
             xlink:href="#textext-c2d44df4-8"
             width="675.91083"
             height="239.45714" />
          <use
             id="use20587"
             y="21.917999"
             x="179.41434"
             xlink:href="#textext-c2d44df4-13"
             width="675.91083"
             height="239.45714" />
        </g>
      </g>
    </g>
    <g
       id="g4303"
       style="stroke-width:0.0000001;display:inline"
       ns0:page_width="10cm"
       ns0:preamble=""
       ns0:text="\\begin{center}\nHuman\\\\\nMusculoskeletal\\\\\nSystem\n\\end{center}"
       transform="matrix(1.25,0,0,1.25,162.89465,46.248527)">
      <defs
         id="defs4305">
        <g
           id="g4307">
          <symbol
             id="textext-15314c5d-0"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path4310"
               d=""
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-15314c5d-1"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path4313"
               d="M 6.109375,-6.03125 C 6.109375,-6.390625 6.125,-6.5 6.890625,-6.5 l 0.25,0 0,-0.3125 c -0.359375,0.03125 -1.09375,0.03125 -1.46875,0.03125 -0.375,0 -1.125,0 -1.46875,-0.03125 l 0,0.3125 0.234375,0 c 0.765625,0 0.78125,0.109375 0.78125,0.46875 l 0,2.328125 -2.96875,0 0,-2.328125 C 2.25,-6.390625 2.265625,-6.5 3.03125,-6.5 l 0.234375,0 0,-0.3125 c -0.34375,0.03125 -1.078125,0.03125 -1.46875,0.03125 -0.375,0 -1.125,0 -1.46875,-0.03125 l 0,0.3125 0.234375,0 c 0.765625,0 0.796875,0.109375 0.796875,0.46875 l 0,5.25 c 0,0.359375 -0.03125,0.46875 -0.796875,0.46875 l -0.234375,0 0,0.3125 c 0.34375,-0.03125 1.09375,-0.03125 1.46875,-0.03125 0.375,0 1.125,0 1.46875,0.03125 l 0,-0.3125 -0.234375,0 C 2.265625,-0.3125 2.25,-0.421875 2.25,-0.78125 l 0,-2.609375 2.96875,0 0,2.609375 c 0,0.359375 -0.015625,0.46875 -0.78125,0.46875 l -0.234375,0 0,0.3125 c 0.34375,-0.03125 1.078125,-0.03125 1.453125,-0.03125 0.390625,0 1.125,0 1.484375,0.03125 l 0,-0.3125 -0.25,0 c -0.765625,0 -0.78125,-0.109375 -0.78125,-0.46875 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-15314c5d-2"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path4316"
               d="m 3.890625,-0.78125 0,0.890625 L 5.328125,0 l 0,-0.3125 C 4.640625,-0.3125 4.5625,-0.375 4.5625,-0.875 l 0,-3.53125 -1.46875,0.109375 0,0.3125 c 0.6875,0 0.78125,0.0625 0.78125,0.5625 l 0,1.765625 c 0,0.875 -0.484375,1.546875 -1.21875,1.546875 -0.828125,0 -0.875,-0.46875 -0.875,-0.984375 l 0,-3.3125 -1.46875,0.109375 0,0.3125 c 0.78125,0 0.78125,0.03125 0.78125,0.90625 l 0,1.5 c 0,0.78125 0,1.6875 1.515625,1.6875 0.5625,0 1,-0.28125 1.28125,-0.890625 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-15314c5d-3"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path4319"
               d="m 1.09375,-3.421875 0,2.671875 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.359375,-0.015625 0.859375,-0.03125 1.140625,-0.03125 0.25,0 0.765625,0.015625 1.109375,0.03125 l 0,-0.3125 c -0.671875,0 -0.78125,0 -0.78125,-0.4375 l 0,-1.84375 C 1.78125,-3.625 2.5,-4.1875 3.125,-4.1875 c 0.640625,0 0.75,0.53125 0.75,1.109375 l 0,2.328125 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.34375,-0.015625 0.859375,-0.03125 1.125,-0.03125 0.25,0 0.78125,0.015625 1.109375,0.03125 l 0,-0.3125 c -0.65625,0 -0.765625,0 -0.765625,-0.4375 l 0,-1.84375 c 0,-1.03125 0.703125,-1.59375 1.34375,-1.59375 0.625,0 0.734375,0.53125 0.734375,1.109375 l 0,2.328125 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.34375,-0.015625 0.859375,-0.03125 1.125,-0.03125 0.265625,0 0.78125,0.015625 1.125,0.03125 l 0,-0.3125 c -0.515625,0 -0.765625,0 -0.78125,-0.296875 l 0,-1.90625 c 0,-0.859375 0,-1.15625 -0.3125,-1.515625 -0.140625,-0.171875 -0.46875,-0.375 -1.046875,-0.375 -0.828125,0 -1.28125,0.59375 -1.4375,0.984375 C 4.390625,-4.296875 3.65625,-4.40625 3.203125,-4.40625 2.46875,-4.40625 2,-3.984375 1.71875,-3.359375 l 0,-1.046875 -1.40625,0.109375 0,0.3125 c 0.703125,0 0.78125,0.0625 0.78125,0.5625 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-15314c5d-4"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path4322"
               d="m 3.3125,-0.75 c 0.046875,0.390625 0.3125,0.8125 0.78125,0.8125 0.21875,0 0.828125,-0.140625 0.828125,-0.953125 l 0,-0.5625 -0.25,0 0,0.5625 c 0,0.578125 -0.25,0.640625 -0.359375,0.640625 -0.328125,0 -0.375,-0.453125 -0.375,-0.5 l 0,-1.984375 c 0,-0.421875 0,-0.8125 -0.359375,-1.1875 C 3.1875,-4.3125 2.6875,-4.46875 2.21875,-4.46875 c -0.828125,0 -1.515625,0.46875 -1.515625,1.125 0,0.296875 0.203125,0.46875 0.46875,0.46875 0.28125,0 0.453125,-0.203125 0.453125,-0.453125 0,-0.125 -0.046875,-0.453125 -0.515625,-0.453125 C 1.390625,-4.140625 1.875,-4.25 2.1875,-4.25 c 0.5,0 1.0625,0.390625 1.0625,1.28125 l 0,0.359375 c -0.515625,0.03125 -1.203125,0.0625 -1.828125,0.359375 -0.75,0.34375 -1,0.859375 -1,1.296875 0,0.8125 0.96875,1.0625 1.59375,1.0625 0.65625,0 1.109375,-0.40625 1.296875,-0.859375 z M 3.25,-2.390625 l 0,1 c 0,0.9375 -0.71875,1.28125 -1.171875,1.28125 -0.484375,0 -0.890625,-0.34375 -0.890625,-0.84375 0,-0.546875 0.421875,-1.375 2.0625,-1.4375 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-15314c5d-5"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path4325"
               d="m 1.09375,-3.421875 0,2.671875 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.359375,-0.015625 0.859375,-0.03125 1.140625,-0.03125 0.25,0 0.765625,0.015625 1.109375,0.03125 l 0,-0.3125 c -0.671875,0 -0.78125,0 -0.78125,-0.4375 l 0,-1.84375 C 1.78125,-3.625 2.5,-4.1875 3.125,-4.1875 c 0.640625,0 0.75,0.53125 0.75,1.109375 l 0,2.328125 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.34375,-0.015625 0.859375,-0.03125 1.125,-0.03125 0.25,0 0.78125,0.015625 1.109375,0.03125 l 0,-0.3125 c -0.515625,0 -0.765625,0 -0.765625,-0.296875 l 0,-1.90625 c 0,-0.859375 0,-1.15625 -0.3125,-1.515625 -0.140625,-0.171875 -0.46875,-0.375 -1.046875,-0.375 C 2.46875,-4.40625 2,-3.984375 1.71875,-3.359375 l 0,-1.046875 -1.40625,0.109375 0,0.3125 c 0.703125,0 0.78125,0.0625 0.78125,0.5625 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-15314c5d-6"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path4328"
               d="M 2.40625,-6.59375 C 2.3125,-6.8125 2.28125,-6.8125 2.046875,-6.8125 l -1.671875,0 0,0.3125 0.234375,0 c 0.765625,0 0.78125,0.109375 0.78125,0.46875 l 0,4.984375 c 0,0.265625 0,0.734375 -1.015625,0.734375 L 0.375,0 c 0.34375,-0.015625 0.828125,-0.03125 1.15625,-0.03125 0.328125,0 0.828125,0.015625 1.171875,0.03125 l 0,-0.3125 c -1.03125,0 -1.03125,-0.46875 -1.03125,-0.734375 l 0,-5.375 0.015625,0 2.40625,6.203125 C 4.140625,-0.09375 4.1875,0 4.28125,0 4.390625,0 4.421875,-0.078125 4.46875,-0.1875 L 6.921875,-6.5 l 0,5.71875 c 0,0.359375 -0.015625,0.46875 -0.78125,0.46875 l -0.234375,0 0,0.3125 c 0.359375,-0.03125 1.046875,-0.03125 1.4375,-0.03125 0.375,0 1.046875,0 1.421875,0.03125 l 0,-0.3125 -0.25,0 c -0.765625,0 -0.78125,-0.109375 -0.78125,-0.46875 l 0,-5.25 C 7.734375,-6.390625 7.75,-6.5 8.515625,-6.5 l 0.25,0 0,-0.3125 -1.6875,0 C 6.8125,-6.8125 6.8125,-6.796875 6.75,-6.625 L 4.5625,-1 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-15314c5d-7"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path4331"
               d="m 2.078125,-1.9375 c 0.21875,0.046875 1.03125,0.203125 1.03125,0.921875 0,0.5 -0.34375,0.90625 -1.125,0.90625 -0.84375,0 -1.203125,-0.5625 -1.390625,-1.421875 C 0.5625,-1.65625 0.5625,-1.6875 0.453125,-1.6875 c -0.125,0 -0.125,0.0625 -0.125,0.234375 l 0,1.328125 c 0,0.171875 0,0.234375 0.109375,0.234375 0.046875,0 0.0625,-0.015625 0.25,-0.203125 0.015625,-0.015625 0.015625,-0.03125 0.203125,-0.21875 0.4375,0.40625 0.890625,0.421875 1.09375,0.421875 1.140625,0 1.609375,-0.671875 1.609375,-1.390625 0,-0.515625 -0.296875,-0.828125 -0.421875,-0.9375 C 2.84375,-2.546875 2.453125,-2.625 2.03125,-2.703125 1.46875,-2.8125 0.8125,-2.9375 0.8125,-3.515625 c 0,-0.359375 0.25,-0.765625 1.109375,-0.765625 1.09375,0 1.15625,0.90625 1.171875,1.203125 0,0.09375 0.09375,0.09375 0.109375,0.09375 0.140625,0 0.140625,-0.046875 0.140625,-0.234375 l 0,-1.015625 c 0,-0.15625 0,-0.234375 -0.109375,-0.234375 -0.046875,0 -0.078125,0 -0.203125,0.125 -0.03125,0.03125 -0.125,0.125 -0.171875,0.15625 -0.375,-0.28125 -0.78125,-0.28125 -0.9375,-0.28125 -1.21875,0 -1.59375,0.671875 -1.59375,1.234375 0,0.34375 0.15625,0.625 0.421875,0.84375 0.328125,0.25 0.609375,0.3125 1.328125,0.453125 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-15314c5d-8"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path4334"
               d="m 1.171875,-2.171875 c 0,-1.625 0.8125,-2.046875 1.34375,-2.046875 0.09375,0 0.71875,0.015625 1.0625,0.375 -0.40625,0.03125 -0.46875,0.328125 -0.46875,0.453125 0,0.265625 0.1875,0.453125 0.453125,0.453125 0.265625,0 0.46875,-0.15625 0.46875,-0.46875 0,-0.671875 -0.765625,-1.0625 -1.53125,-1.0625 -1.25,0 -2.15625,1.078125 -2.15625,2.3125 0,1.28125 0.984375,2.265625 2.140625,2.265625 1.328125,0 1.65625,-1.203125 1.65625,-1.296875 0,-0.09375 -0.109375,-0.09375 -0.140625,-0.09375 -0.078125,0 -0.109375,0.03125 -0.125,0.09375 -0.28125,0.921875 -0.9375,1.046875 -1.296875,1.046875 -0.53125,0 -1.40625,-0.421875 -1.40625,-2.03125 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-15314c5d-9"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path4337"
               d="m 1.765625,-6.921875 -1.4375,0.109375 0,0.3125 c 0.703125,0 0.78125,0.0625 0.78125,0.5625 l 0,5.1875 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 C 0.65625,-0.015625 1.1875,-0.03125 1.4375,-0.03125 c 0.25,0 0.734375,0.015625 1.109375,0.03125 l 0,-0.3125 c -0.671875,0 -0.78125,0 -0.78125,-0.4375 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-15314c5d-10"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path4340"
               d="M 4.6875,-2.140625 C 4.6875,-3.40625 3.703125,-4.46875 2.5,-4.46875 c -1.25,0 -2.21875,1.09375 -2.21875,2.328125 0,1.296875 1.03125,2.25 2.203125,2.25 1.203125,0 2.203125,-0.984375 2.203125,-2.25 z m -2.1875,2 c -0.4375,0 -0.875,-0.203125 -1.140625,-0.671875 -0.25,-0.4375 -0.25,-1.046875 -0.25,-1.40625 0,-0.390625 0,-0.921875 0.234375,-1.359375 C 1.609375,-4.03125 2.078125,-4.25 2.484375,-4.25 c 0.4375,0 0.859375,0.21875 1.125,0.65625 0.265625,0.421875 0.265625,1 0.265625,1.375 0,0.359375 0,0.90625 -0.21875,1.34375 C 3.421875,-0.421875 2.984375,-0.140625 2.5,-0.140625 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-15314c5d-11"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path4343"
               d="m 1.0625,-0.75 c 0,0.4375 -0.109375,0.4375 -0.78125,0.4375 l 0,0.3125 c 0.328125,-0.015625 0.796875,-0.03125 1.078125,-0.03125 0.3125,0 0.703125,0.015625 1.109375,0.03125 l 0,-0.3125 c -0.671875,0 -0.78125,0 -0.78125,-0.4375 l 0,-1.03125 0.640625,-0.546875 c 0.765625,1.046875 1.1875,1.609375 1.1875,1.796875 0,0.1875 -0.171875,0.21875 -0.359375,0.21875 l 0,0.3125 c 0.265625,-0.015625 0.859375,-0.03125 1.078125,-0.03125 0.28125,0 0.578125,0.015625 0.859375,0.03125 l 0,-0.3125 c -0.375,0 -0.59375,0 -0.96875,-0.53125 L 2.859375,-2.625 c -0.015625,-0.015625 -0.0625,-0.078125 -0.0625,-0.109375 0,-0.03125 0.71875,-0.640625 0.8125,-0.71875 0.625,-0.5 1.046875,-0.53125 1.25,-0.53125 l 0,-0.3125 c -0.28125,0.03125 -0.40625,0.03125 -0.6875,0.03125 -0.359375,0 -0.984375,-0.015625 -1.125,-0.03125 l 0,0.3125 c 0.1875,0 0.296875,0.109375 0.296875,0.25 0,0.203125 -0.140625,0.3125 -0.21875,0.390625 l -1.40625,1.203125 0,-4.78125 -1.4375,0.109375 0,0.3125 c 0.703125,0 0.78125,0.0625 0.78125,0.5625 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-15314c5d-12"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path4346"
               d="M 1.109375,-2.515625 C 1.171875,-4 2.015625,-4.25 2.359375,-4.25 c 1.015625,0 1.125,1.34375 1.125,1.734375 z m 0,0.21875 2.78125,0 c 0.21875,0 0.25,0 0.25,-0.21875 0,-0.984375 -0.546875,-1.953125 -1.78125,-1.953125 -1.15625,0 -2.078125,1.03125 -2.078125,2.28125 0,1.328125 1.046875,2.296875 2.1875,2.296875 C 3.6875,0.109375 4.140625,-1 4.140625,-1.1875 4.140625,-1.28125 4.0625,-1.3125 4,-1.3125 c -0.078125,0 -0.109375,0.0625 -0.125,0.140625 -0.34375,1.03125 -1.25,1.03125 -1.34375,1.03125 -0.5,0 -0.890625,-0.296875 -1.125,-0.671875 -0.296875,-0.46875 -0.296875,-1.125 -0.296875,-1.484375 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-15314c5d-13"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path4349"
               d="m 1.71875,-3.984375 1.4375,0 0,-0.3125 -1.4375,0 0,-1.828125 -0.25,0 c 0,0.8125 -0.296875,1.875 -1.28125,1.921875 l 0,0.21875 0.84375,0 0,2.75 c 0,1.21875 0.9375,1.34375 1.296875,1.34375 0.703125,0 0.984375,-0.703125 0.984375,-1.34375 l 0,-0.5625 -0.25,0 0,0.546875 c 0,0.734375 -0.296875,1.109375 -0.671875,1.109375 -0.671875,0 -0.671875,-0.90625 -0.671875,-1.078125 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-15314c5d-14"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path4352"
               d="m 3.484375,-3.875 -1.28125,-0.296875 c -0.625,-0.15625 -1,-0.6875 -1,-1.265625 0,-0.703125 0.53125,-1.3125 1.3125,-1.3125 1.65625,0 1.875,1.640625 1.9375,2.078125 0.015625,0.0625 0.015625,0.125 0.125,0.125 0.125,0 0.125,-0.046875 0.125,-0.234375 l 0,-2 c 0,-0.171875 0,-0.25 -0.109375,-0.25 -0.0625,0 -0.078125,0.015625 -0.140625,0.140625 l -0.359375,0.5625 C 3.796875,-6.625 3.390625,-7.03125 2.5,-7.03125 c -1.109375,0 -1.9375,0.875 -1.9375,1.9375 0,0.828125 0.53125,1.5625 1.296875,1.828125 0.109375,0.03125 0.625,0.15625 1.328125,0.328125 0.265625,0.0625 0.5625,0.140625 0.84375,0.5 0.203125,0.265625 0.3125,0.59375 0.3125,0.921875 0,0.703125 -0.5,1.421875 -1.34375,1.421875 -0.28125,0 -1.046875,-0.046875 -1.578125,-0.53125 C 0.84375,-1.171875 0.8125,-1.796875 0.8125,-2.15625 0.796875,-2.265625 0.71875,-2.265625 0.6875,-2.265625 c -0.125,0 -0.125,0.078125 -0.125,0.25 l 0,2 c 0,0.171875 0,0.234375 0.109375,0.234375 0.0625,0 0.078125,-0.015625 0.140625,-0.125 0,-0.015625 0.03125,-0.046875 0.359375,-0.578125 0.3125,0.34375 0.953125,0.703125 1.84375,0.703125 1.15625,0 1.953125,-0.96875 1.953125,-2.078125 0,-0.984375 -0.65625,-1.8125 -1.484375,-2.015625 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-15314c5d-15"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path4355"
               d="m 4.140625,-3.34375 c 0.25,-0.640625 0.765625,-0.640625 0.921875,-0.640625 l 0,-0.3125 c -0.234375,0.015625 -0.515625,0.03125 -0.75,0.03125 -0.171875,0 -0.640625,-0.015625 -0.859375,-0.03125 l 0,0.3125 c 0.3125,0 0.46875,0.171875 0.46875,0.421875 0,0.109375 -0.015625,0.125 -0.0625,0.25 L 2.84375,-0.875 1.75,-3.546875 C 1.703125,-3.65625 1.6875,-3.6875 1.6875,-3.734375 c 0,-0.25 0.359375,-0.25 0.5625,-0.25 l 0,-0.3125 c -0.265625,0.015625 -0.921875,0.03125 -1.09375,0.03125 -0.265625,0 -0.671875,-0.015625 -0.96875,-0.03125 l 0,0.3125 c 0.484375,0 0.671875,0 0.8125,0.34375 L 2.5,0 C 2.4375,0.125 2.296875,0.453125 2.25,0.59375 2.03125,1.140625 1.75,1.828125 1.109375,1.828125 c -0.046875,0 -0.28125,0 -0.46875,-0.1875 0.3125,-0.03125 0.390625,-0.25 0.390625,-0.421875 0,-0.25 -0.1875,-0.40625 -0.421875,-0.40625 -0.203125,0 -0.421875,0.125 -0.421875,0.421875 0,0.453125 0.421875,0.8125 0.921875,0.8125 0.625,0 1.03125,-0.578125 1.265625,-1.140625 z m 0,0"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
        </g>
      </defs>
      <g
         id="textext-15314c5d-16">
        <g
           id="g4358"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use4360"
             y="9.9630003"
             x="125.82"
             xlink:href="#textext-15314c5d-1"
             width="687.78998"
             height="253.39343" />
          <use
             id="use4362"
             y="9.9630003"
             x="133.29195"
             xlink:href="#textext-15314c5d-2"
             width="687.78998"
             height="253.39343" />
          <use
             id="use4364"
             y="9.9630003"
             x="138.82716"
             xlink:href="#textext-15314c5d-3"
             width="687.78998"
             height="253.39343" />
          <use
             id="use4366"
             y="9.9630003"
             x="147.129"
             xlink:href="#textext-15314c5d-4"
             width="687.78998"
             height="253.39343" />
          <use
             id="use4368"
             y="9.9630003"
             x="152.11031"
             xlink:href="#textext-15314c5d-5"
             width="687.78998"
             height="253.39343" />
        </g>
        <g
           id="g4370"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use4372"
             y="21.917999"
             x="107.499"
             xlink:href="#textext-15314c5d-6"
             width="687.78998"
             height="253.39343" />
          <use
             id="use4374"
             y="21.917999"
             x="116.63171"
             xlink:href="#textext-15314c5d-2"
             width="687.78998"
             height="253.39343" />
          <use
             id="use4376"
             y="21.917999"
             x="122.16694"
             xlink:href="#textext-15314c5d-7"
             width="687.78998"
             height="253.39343" />
          <use
             id="use4378"
             y="21.917999"
             x="126.09618"
             xlink:href="#textext-15314c5d-8"
             width="687.78998"
             height="253.39343" />
          <use
             id="use4380"
             y="21.917999"
             x="130.52356"
             xlink:href="#textext-15314c5d-2"
             width="687.78998"
             height="253.39343" />
          <use
             id="use4382"
             y="21.917999"
             x="136.05879"
             xlink:href="#textext-15314c5d-9"
             width="687.78998"
             height="253.39343" />
          <use
             id="use4384"
             y="21.917999"
             x="138.8264"
             xlink:href="#textext-15314c5d-10"
             width="687.78998"
             height="253.39343" />
          <use
             id="use4386"
             y="21.917999"
             x="143.80769"
             xlink:href="#textext-15314c5d-7"
             width="687.78998"
             height="253.39343" />
          <use
             id="use4388"
             y="21.917999"
             x="147.73694"
             xlink:href="#textext-15314c5d-11"
             width="687.78998"
             height="253.39343" />
        </g>
        <g
           id="g4390"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use4392"
             y="21.917999"
             x="152.71625"
             xlink:href="#textext-15314c5d-12"
             width="687.78998"
             height="253.39343" />
          <use
             id="use4394"
             y="21.917999"
             x="157.14363"
             xlink:href="#textext-15314c5d-9"
             width="687.78998"
             height="253.39343" />
          <use
             id="use4396"
             y="21.917999"
             x="159.91124"
             xlink:href="#textext-15314c5d-12"
             width="687.78998"
             height="253.39343" />
          <use
             id="use4398"
             y="21.917999"
             x="164.33862"
             xlink:href="#textext-15314c5d-13"
             width="687.78998"
             height="253.39343" />
          <use
             id="use4400"
             y="21.917999"
             x="168.21307"
             xlink:href="#textext-15314c5d-4"
             width="687.78998"
             height="253.39343" />
          <use
             id="use4402"
             y="21.917999"
             x="173.19438"
             xlink:href="#textext-15314c5d-9"
             width="687.78998"
             height="253.39343" />
        </g>
        <g
           id="g4404"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use4406"
             y="33.873001"
             x="126.069"
             xlink:href="#textext-15314c5d-14"
             width="687.78998"
             height="253.39343" />
          <use
             id="use4408"
             y="33.873001"
             x="131.60422"
             xlink:href="#textext-15314c5d-15"
             width="687.78998"
             height="253.39343" />
          <use
             id="use4410"
             y="33.873001"
             x="136.86249"
             xlink:href="#textext-15314c5d-7"
             width="687.78998"
             height="253.39343" />
          <use
             id="use4412"
             y="33.873001"
             x="140.79173"
             xlink:href="#textext-15314c5d-13"
             width="687.78998"
             height="253.39343" />
          <use
             id="use4414"
             y="33.873001"
             x="144.66618"
             xlink:href="#textext-15314c5d-12"
             width="687.78998"
             height="253.39343" />
          <use
             id="use4416"
             y="33.873001"
             x="149.09357"
             xlink:href="#textext-15314c5d-3"
             width="687.78998"
             height="253.39343" />
        </g>
      </g>
    </g>
  </g>
  <g
     transform="translate(83.731411,34.18479)"
     style="display:inline"
     inkscape:label="Variables"
     id="layer3"
     inkscape:groupmode="layer">
    <g
       id="g17858"
       style="stroke-width:0.0000001;display:inline"
       ns0:page_width="10cm"
       ns0:preamble=""
       ns0:text="$\\mathbf{K}(\\varphi)$"
       transform="matrix(1.25,0,0,1.25,116.19158,-11.307882)">
      <defs
         id="defs17860">
        <g
           id="g17862">
          <symbol
             id="textext-261d3a4d-0"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path17865"
               d=""
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-261d3a4d-1"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path17868"
               d="M 4.828125,-4.203125 7.234375,-6.1875 c 0.21875,-0.1875 0.625,-0.1875 0.9375,-0.1875 l 0.15625,0 0,-0.46875 C 7.9375,-6.8125 7.359375,-6.8125 7.3125,-6.8125 c -0.375,0 -1.09375,0 -1.453125,-0.03125 l 0,0.46875 c 0.125,0 0.328125,0 0.578125,0.0625 0.15625,0.03125 0.046875,0.015625 0.125,0.046875 L 2.875,-3.1875 l 0,-3.1875 1.078125,0 0,-0.46875 c -0.375,0.03125 -1.34375,0.03125 -1.78125,0.03125 -0.421875,0 -1.40625,0 -1.78125,-0.03125 l 0,0.46875 1.078125,0 0,5.90625 -1.078125,0 0,0.46875 c 0.375,-0.03125 1.359375,-0.03125 1.78125,-0.03125 0.4375,0 1.40625,0 1.78125,0.03125 l 0,-0.46875 -1.078125,0 0,-2.09375 1,-0.828125 2.0625,2.703125 C 5.984375,-0.625 5.984375,-0.609375 6.015625,-0.546875 5.828125,-0.46875 5.625,-0.46875 5.28125,-0.46875 l 0,0.46875 c 0.40625,-0.03125 1.3125,-0.03125 1.75,-0.03125 0.40625,0 1.09375,0 1.46875,0.03125 l 0,-0.46875 -0.296875,0 c -0.53125,0 -0.5625,-0.046875 -0.671875,-0.203125 z"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-261d3a4d-2"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path17871"
               d=""
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-261d3a4d-3"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path17874"
               d="m 3.296875,2.390625 c 0,-0.03125 0,-0.046875 -0.171875,-0.21875 C 1.890625,0.921875 1.5625,-0.96875 1.5625,-2.5 c 0,-1.734375 0.375,-3.46875 1.609375,-4.703125 0.125,-0.125 0.125,-0.140625 0.125,-0.171875 0,-0.078125 -0.03125,-0.109375 -0.09375,-0.109375 -0.109375,0 -1,0.6875 -1.59375,1.953125 -0.5,1.09375 -0.625,2.203125 -0.625,3.03125 0,0.78125 0.109375,1.984375 0.65625,3.125 C 2.25,1.84375 3.09375,2.5 3.203125,2.5 c 0.0625,0 0.09375,-0.03125 0.09375,-0.109375 z"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-261d3a4d-4"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path17877"
               d="m 2.875,-2.5 c 0,-0.765625 -0.109375,-1.96875 -0.65625,-3.109375 -0.59375,-1.21875 -1.453125,-1.875 -1.546875,-1.875 -0.0625,0 -0.109375,0.046875 -0.109375,0.109375 0,0.03125 0,0.046875 0.1875,0.234375 0.984375,0.984375 1.546875,2.5625 1.546875,4.640625 0,1.71875 -0.359375,3.46875 -1.59375,4.71875 C 0.5625,2.34375 0.5625,2.359375 0.5625,2.390625 0.5625,2.453125 0.609375,2.5 0.671875,2.5 0.765625,2.5 1.671875,1.8125 2.25,0.546875 2.765625,-0.546875 2.875,-1.65625 2.875,-2.5 z"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-261d3a4d-5"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path17880"
               d=""
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-261d3a4d-6"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path17883"
               d="M 1.6875,1.6875 C 1.65625,1.828125 1.640625,1.84375 1.640625,1.890625 c 0,0.21875 0.1875,0.28125 0.296875,0.28125 0.046875,0 0.265625,-0.03125 0.359375,-0.265625 C 2.328125,1.828125 2.375,1.5 2.65625,0.09375 c 0.078125,0 0.15625,0.015625 0.328125,0.015625 1.65625,0 3.1875,-1.5625 3.1875,-3.140625 0,-0.78125 -0.390625,-1.375 -1.140625,-1.375 -1.4375,0 -2.046875,1.9375 -2.640625,3.875 C 1.3125,-0.734375 0.75,-1.28125 0.75,-2 c 0,-0.28125 0.234375,-1.375 0.828125,-2.0625 0.09375,-0.09375 0.09375,-0.109375 0.09375,-0.140625 0,-0.03125 -0.03125,-0.09375 -0.125,-0.09375 -0.28125,0 -1.046875,1.453125 -1.046875,2.40625 0,0.9375 0.65625,1.65625 1.71875,1.90625 z m 1.390625,-2.15625 c -0.09375,0 -0.109375,0 -0.1875,-0.015625 -0.125,0 -0.125,0 -0.125,-0.03125 0,-0.015625 0.171875,-0.9375 0.1875,-1.078125 0.3125,-1.28125 1.09375,-2.234375 1.984375,-2.234375 0.6875,0 0.953125,0.53125 0.953125,1.015625 0,1.125 -1.28125,2.34375 -2.8125,2.34375 z"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
        </g>
      </defs>
      <g
         id="textext-261d3a4d-7">
        <g
           id="g17886"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use17888"
             y="9.9630003"
             x="0"
             xlink:href="#textext-261d3a4d-1"
             width="450"
             height="270" />
        </g>
        <g
           id="g17890"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use17892"
             y="9.9630003"
             x="8.9799995"
             xlink:href="#textext-261d3a4d-3"
             width="450"
             height="270" />
        </g>
        <g
           id="g17894"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use17896"
             y="9.9630003"
             x="12.855"
             xlink:href="#textext-261d3a4d-6"
             width="450"
             height="270" />
        </g>
        <g
           id="g17898"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use17900"
             y="9.9630003"
             x="19.372"
             xlink:href="#textext-261d3a4d-4"
             width="450"
             height="270" />
        </g>
      </g>
    </g>
    <g
       id="g22415"
       style="stroke-width:0.0000001"
       ns0:page_width="10cm"
       ns0:preamble=""
       ns0:text="$\\mathbf{s}_0(\\varphi)$"
       transform="matrix(1.25,0,0,1.25,-48.638141,22.311364)">
      <defs
         id="defs22417">
        <g
           id="g22419">
          <symbol
             id="textext-2f7f543c-0"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path22422"
               d=""
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-2f7f543c-1"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path22425"
               d="M 2.109375,-2.9375 C 1.734375,-3 1.09375,-3.109375 1.09375,-3.578125 c 0,-0.625 0.921875,-0.625 1.109375,-0.625 0.75,0 1.125,0.296875 1.171875,0.84375 0.015625,0.15625 0.03125,0.203125 0.234375,0.203125 0.234375,0 0.234375,-0.046875 0.234375,-0.28125 l 0,-0.796875 c 0,-0.1875 0,-0.28125 -0.171875,-0.28125 -0.046875,0 -0.0625,0 -0.453125,0.1875 -0.265625,-0.125 -0.609375,-0.1875 -1,-0.1875 -0.3125,0 -1.84375,0 -1.84375,1.3125 0,0.390625 0.203125,0.65625 0.40625,0.828125 0.390625,0.34375 0.78125,0.40625 1.546875,0.546875 0.359375,0.0625 1.09375,0.1875 1.09375,0.78125 0,0.75 -0.90625,0.75 -1.125,0.75 -1.0625,0 -1.3125,-0.734375 -1.4375,-1.15625 C 0.8125,-1.59375 0.75,-1.59375 0.625,-1.59375 c -0.25,0 -0.25,0.0625 -0.25,0.28125 l 0,1.09375 c 0,0.1875 0,0.28125 0.1875,0.28125 0.0625,0 0.078125,0 0.296875,-0.15625 0.015625,0 0.234375,-0.140625 0.25,-0.171875 0.46875,0.328125 0.984375,0.328125 1.1875,0.328125 0.3125,0 1.84375,0 1.84375,-1.453125 0,-0.4375 -0.203125,-0.78125 -0.546875,-1.0625 C 3.203125,-2.734375 2.875,-2.796875 2.109375,-2.9375 z"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-2f7f543c-2"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path22428"
               d=""
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-2f7f543c-3"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path22431"
               d="M 3.59375,-2.21875 C 3.59375,-2.984375 3.5,-3.546875 3.1875,-4.03125 2.96875,-4.34375 2.53125,-4.625 1.984375,-4.625 c -1.625,0 -1.625,1.90625 -1.625,2.40625 0,0.5 0,2.359375 1.625,2.359375 1.609375,0 1.609375,-1.859375 1.609375,-2.359375 z M 1.984375,-0.0625 c -0.328125,0 -0.75,-0.1875 -0.890625,-0.75 C 1,-1.21875 1,-1.796875 1,-2.3125 1,-2.828125 1,-3.359375 1.09375,-3.734375 1.25,-4.28125 1.6875,-4.4375 1.984375,-4.4375 c 0.375,0 0.734375,0.234375 0.859375,0.640625 0.109375,0.375 0.125,0.875 0.125,1.484375 0,0.515625 0,1.03125 -0.09375,1.46875 -0.140625,0.640625 -0.609375,0.78125 -0.890625,0.78125 z"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-2f7f543c-4"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path22434"
               d=""
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-2f7f543c-5"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path22437"
               d="m 3.296875,2.390625 c 0,-0.03125 0,-0.046875 -0.171875,-0.21875 C 1.890625,0.921875 1.5625,-0.96875 1.5625,-2.5 c 0,-1.734375 0.375,-3.46875 1.609375,-4.703125 0.125,-0.125 0.125,-0.140625 0.125,-0.171875 0,-0.078125 -0.03125,-0.109375 -0.09375,-0.109375 -0.109375,0 -1,0.6875 -1.59375,1.953125 -0.5,1.09375 -0.625,2.203125 -0.625,3.03125 0,0.78125 0.109375,1.984375 0.65625,3.125 C 2.25,1.84375 3.09375,2.5 3.203125,2.5 c 0.0625,0 0.09375,-0.03125 0.09375,-0.109375 z"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-2f7f543c-6"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path22440"
               d="m 2.875,-2.5 c 0,-0.765625 -0.109375,-1.96875 -0.65625,-3.109375 -0.59375,-1.21875 -1.453125,-1.875 -1.546875,-1.875 -0.0625,0 -0.109375,0.046875 -0.109375,0.109375 0,0.03125 0,0.046875 0.1875,0.234375 0.984375,0.984375 1.546875,2.5625 1.546875,4.640625 0,1.71875 -0.359375,3.46875 -1.59375,4.71875 C 0.5625,2.34375 0.5625,2.359375 0.5625,2.390625 0.5625,2.453125 0.609375,2.5 0.671875,2.5 0.765625,2.5 1.671875,1.8125 2.25,0.546875 2.765625,-0.546875 2.875,-1.65625 2.875,-2.5 z"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-2f7f543c-7"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path22443"
               d=""
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
          <symbol
             id="textext-2f7f543c-8"
             overflow="visible"
             style="overflow:visible">
            <path
               id="path22446"
               d="M 1.6875,1.6875 C 1.65625,1.828125 1.640625,1.84375 1.640625,1.890625 c 0,0.21875 0.1875,0.28125 0.296875,0.28125 0.046875,0 0.265625,-0.03125 0.359375,-0.265625 C 2.328125,1.828125 2.375,1.5 2.65625,0.09375 c 0.078125,0 0.15625,0.015625 0.328125,0.015625 1.65625,0 3.1875,-1.5625 3.1875,-3.140625 0,-0.78125 -0.390625,-1.375 -1.140625,-1.375 -1.4375,0 -2.046875,1.9375 -2.640625,3.875 C 1.3125,-0.734375 0.75,-1.28125 0.75,-2 c 0,-0.28125 0.234375,-1.375 0.828125,-2.0625 0.09375,-0.09375 0.09375,-0.109375 0.09375,-0.140625 0,-0.03125 -0.03125,-0.09375 -0.125,-0.09375 -0.28125,0 -1.046875,1.453125 -1.046875,2.40625 0,0.9375 0.65625,1.65625 1.71875,1.90625 z m 1.390625,-2.15625 c -0.09375,0 -0.109375,0 -0.1875,-0.015625 -0.125,0 -0.125,0 -0.125,-0.03125 0,-0.015625 0.171875,-0.9375 0.1875,-1.078125 0.3125,-1.28125 1.09375,-2.234375 1.984375,-2.234375 0.6875,0 0.953125,0.53125 0.953125,1.015625 0,1.125 -1.28125,2.34375 -2.8125,2.34375 z"
               style="stroke:none"
               inkscape:connector-curvature="0" />
          </symbol>
        </g>
      </defs>
      <g
         id="textext-2f7f543c-9">
        <g
           id="g22449"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use22451"
             y="9.9630003"
             x="0"
             xlink:href="#textext-2f7f543c-1"
             width="450"
             height="270" />
        </g>
        <g
           id="g22453"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use22455"
             y="11.457"
             x="4.5190001"
             xlink:href="#textext-2f7f543c-3"
             width="450"
             height="270" />
        </g>
        <g
           id="g22457"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use22459"
             y="9.9630003"
             x="8.9879999"
             xlink:href="#textext-2f7f543c-5"
             width="450"
             height="270" />
        </g>
        <g
           id="g22461"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use22463"
             y="9.9630003"
             x="12.863"
             xlink:href="#textext-2f7f543c-8"
             width="450"
             height="270" />
        </g>
        <g
           id="g22465"
           style="fill:#000000;fill-opacity:1">
          <use
             id="use22467"
             y="9.9630003"
             x="19.379999"
             xlink:href="#textext-2f7f543c-6"
             width="450"
             height="270" />
        </g>
      </g>
    </g>
    <g
       transform="matrix(1.25,0,0,1.25,201.41877,8.895908)"
       ns0:text="$\\mathbf{m}_0(\\varphi)$"
       ns0:preamble=""
       ns0:page_width="10cm"
       style="stroke-width:0.0000001"
       id="g23667">
      <defs
         id="defs23669">
        <g
           id="g23671">
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-65901ecd-0">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d=""
               id="path23674" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-65901ecd-1">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d="m 1.140625,-3.546875 0,3.078125 -0.6875,0 0,0.46875 c 0.28125,-0.015625 0.875,-0.03125 1.25,-0.03125 0.390625,0 0.984375,0.015625 1.25,0.03125 l 0,-0.46875 -0.6875,0 0,-2.078125 c 0,-1.09375 0.875,-1.578125 1.5,-1.578125 0.328125,0 0.546875,0.203125 0.546875,0.96875 l 0,2.6875 -0.6875,0 0,0.46875 c 0.28125,-0.015625 0.875,-0.03125 1.265625,-0.03125 0.390625,0 0.96875,0.015625 1.25,0.03125 l 0,-0.46875 -0.6875,0 0,-2.078125 C 5.453125,-3.640625 6.3125,-4.125 6.9375,-4.125 7.28125,-4.125 7.5,-3.921875 7.5,-3.15625 l 0,2.6875 -0.6875,0 0,0.46875 c 0.28125,-0.015625 0.875,-0.03125 1.25,-0.03125 0.390625,0 0.984375,0.015625 1.265625,0.03125 l 0,-0.46875 -0.6875,0 0,-2.578125 c 0,-1.03125 -0.515625,-1.4375 -1.546875,-1.4375 -0.90625,0 -1.421875,0.5 -1.6875,0.953125 -0.1875,-0.921875 -1.109375,-0.953125 -1.484375,-0.953125 -0.875,0 -1.4375,0.453125 -1.765625,1.078125 l 0,-1.078125 -1.703125,0.078125 0,0.46875 c 0.609375,0 0.6875,0 0.6875,0.390625 z"
               id="path23677" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-65901ecd-2">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d=""
               id="path23680" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-65901ecd-3">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d="M 3.59375,-2.21875 C 3.59375,-2.984375 3.5,-3.546875 3.1875,-4.03125 2.96875,-4.34375 2.53125,-4.625 1.984375,-4.625 c -1.625,0 -1.625,1.90625 -1.625,2.40625 0,0.5 0,2.359375 1.625,2.359375 1.609375,0 1.609375,-1.859375 1.609375,-2.359375 z M 1.984375,-0.0625 c -0.328125,0 -0.75,-0.1875 -0.890625,-0.75 C 1,-1.21875 1,-1.796875 1,-2.3125 1,-2.828125 1,-3.359375 1.09375,-3.734375 1.25,-4.28125 1.6875,-4.4375 1.984375,-4.4375 c 0.375,0 0.734375,0.234375 0.859375,0.640625 0.109375,0.375 0.125,0.875 0.125,1.484375 0,0.515625 0,1.03125 -0.09375,1.46875 -0.140625,0.640625 -0.609375,0.78125 -0.890625,0.78125 z"
               id="path23683" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-65901ecd-4">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d=""
               id="path23686" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-65901ecd-5">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d="m 3.296875,2.390625 c 0,-0.03125 0,-0.046875 -0.171875,-0.21875 C 1.890625,0.921875 1.5625,-0.96875 1.5625,-2.5 c 0,-1.734375 0.375,-3.46875 1.609375,-4.703125 0.125,-0.125 0.125,-0.140625 0.125,-0.171875 0,-0.078125 -0.03125,-0.109375 -0.09375,-0.109375 -0.109375,0 -1,0.6875 -1.59375,1.953125 -0.5,1.09375 -0.625,2.203125 -0.625,3.03125 0,0.78125 0.109375,1.984375 0.65625,3.125 C 2.25,1.84375 3.09375,2.5 3.203125,2.5 c 0.0625,0 0.09375,-0.03125 0.09375,-0.109375 z"
               id="path23689" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-65901ecd-6">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d="m 2.875,-2.5 c 0,-0.765625 -0.109375,-1.96875 -0.65625,-3.109375 -0.59375,-1.21875 -1.453125,-1.875 -1.546875,-1.875 -0.0625,0 -0.109375,0.046875 -0.109375,0.109375 0,0.03125 0,0.046875 0.1875,0.234375 0.984375,0.984375 1.546875,2.5625 1.546875,4.640625 0,1.71875 -0.359375,3.46875 -1.59375,4.71875 C 0.5625,2.34375 0.5625,2.359375 0.5625,2.390625 0.5625,2.453125 0.609375,2.5 0.671875,2.5 0.765625,2.5 1.671875,1.8125 2.25,0.546875 2.765625,-0.546875 2.875,-1.65625 2.875,-2.5 z"
               id="path23692" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-65901ecd-7">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d=""
               id="path23695" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-65901ecd-8">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d="M 1.6875,1.6875 C 1.65625,1.828125 1.640625,1.84375 1.640625,1.890625 c 0,0.21875 0.1875,0.28125 0.296875,0.28125 0.046875,0 0.265625,-0.03125 0.359375,-0.265625 C 2.328125,1.828125 2.375,1.5 2.65625,0.09375 c 0.078125,0 0.15625,0.015625 0.328125,0.015625 1.65625,0 3.1875,-1.5625 3.1875,-3.140625 0,-0.78125 -0.390625,-1.375 -1.140625,-1.375 -1.4375,0 -2.046875,1.9375 -2.640625,3.875 C 1.3125,-0.734375 0.75,-1.28125 0.75,-2 c 0,-0.28125 0.234375,-1.375 0.828125,-2.0625 0.09375,-0.09375 0.09375,-0.109375 0.09375,-0.140625 0,-0.03125 -0.03125,-0.09375 -0.125,-0.09375 -0.28125,0 -1.046875,1.453125 -1.046875,2.40625 0,0.9375 0.65625,1.65625 1.71875,1.90625 z m 1.390625,-2.15625 c -0.09375,0 -0.109375,0 -0.1875,-0.015625 -0.125,0 -0.125,0 -0.125,-0.03125 0,-0.015625 0.171875,-0.9375 0.1875,-1.078125 0.3125,-1.28125 1.09375,-2.234375 1.984375,-2.234375 0.6875,0 0.953125,0.53125 0.953125,1.015625 0,1.125 -1.28125,2.34375 -2.8125,2.34375 z"
               id="path23698" />
          </symbol>
        </g>
      </defs>
      <g
         id="textext-65901ecd-9">
        <g
           style="fill:#000000;fill-opacity:1"
           id="g23701">
          <use
             height="270"
             width="450"
             xlink:href="#textext-65901ecd-1"
             x="0"
             y="9.9630003"
             id="use23703" />
        </g>
        <g
           style="fill:#000000;fill-opacity:1"
           id="g23705">
          <use
             height="270"
             width="450"
             xlink:href="#textext-65901ecd-3"
             x="9.5469999"
             y="11.457"
             id="use23707" />
        </g>
        <g
           style="fill:#000000;fill-opacity:1"
           id="g23709">
          <use
             height="270"
             width="450"
             xlink:href="#textext-65901ecd-5"
             x="14.017"
             y="9.9630003"
             id="use23711" />
        </g>
        <g
           style="fill:#000000;fill-opacity:1"
           id="g23713">
          <use
             height="270"
             width="450"
             xlink:href="#textext-65901ecd-8"
             x="17.891001"
             y="9.9630003"
             id="use23715" />
        </g>
        <g
           style="fill:#000000;fill-opacity:1"
           id="g23717">
          <use
             height="270"
             width="450"
             xlink:href="#textext-65901ecd-6"
             x="24.408001"
             y="9.9630003"
             id="use23719" />
        </g>
      </g>
    </g>
    <g
       transform="matrix(1.25,0,0,1.25,328.42235,-22.151495)"
       ns0:text="$w(t)$"
       ns0:preamble=""
       ns0:page_width="10cm"
       style="stroke-width:0.0000001"
       id="g26470">
      <defs
         id="defs26472">
        <g
           id="g26474">
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-a043d3b4-0">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d=""
               id="path26477" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-a043d3b4-1">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d="M 4.609375,-3.375 C 4.65625,-3.59375 4.75,-3.96875 4.75,-4.03125 c 0,-0.171875 -0.140625,-0.265625 -0.28125,-0.265625 -0.125,0 -0.296875,0.078125 -0.375,0.28125 -0.03125,0.0625 -0.5,1.96875 -0.5625,2.234375 C 3.453125,-1.484375 3.4375,-1.3125 3.4375,-1.125 c 0,0.109375 0,0.125 0.015625,0.171875 -0.234375,0.53125 -0.53125,0.84375 -0.921875,0.84375 -0.796875,0 -0.796875,-0.734375 -0.796875,-0.90625 0,-0.3125 0.046875,-0.703125 0.515625,-1.9375 0.109375,-0.296875 0.171875,-0.4375 0.171875,-0.640625 0,-0.4375 -0.328125,-0.8125 -0.8125,-0.8125 -0.953125,0 -1.3125,1.453125 -1.3125,1.53125 0,0.109375 0.09375,0.109375 0.109375,0.109375 0.109375,0 0.109375,-0.03125 0.15625,-0.1875 C 0.84375,-3.875 1.21875,-4.1875 1.578125,-4.1875 c 0.09375,0 0.25,0.015625 0.25,0.328125 0,0.25 -0.109375,0.53125 -0.1875,0.703125 -0.4375,1.171875 -0.546875,1.625 -0.546875,2.015625 0,0.90625 0.65625,1.25 1.40625,1.25 0.171875,0 0.640625,0 1.03125,-0.703125 0.265625,0.640625 0.953125,0.703125 1.25,0.703125 0.75,0 1.1875,-0.625 1.453125,-1.21875 0.328125,-0.78125 0.65625,-2.125 0.65625,-2.59375 0,-0.546875 -0.265625,-0.703125 -0.4375,-0.703125 -0.25,0 -0.5,0.265625 -0.5,0.484375 0,0.125 0.0625,0.1875 0.140625,0.265625 0.109375,0.109375 0.359375,0.359375 0.359375,0.84375 0,0.34375 -0.28125,1.3125 -0.546875,1.828125 -0.25,0.53125 -0.609375,0.875 -1.09375,0.875 -0.46875,0 -0.734375,-0.296875 -0.734375,-0.875 0,-0.265625 0.0625,-0.578125 0.109375,-0.71875 z"
               id="path26480" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-a043d3b4-2">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d="m 2.046875,-3.984375 0.9375,0 c 0.203125,0 0.3125,0 0.3125,-0.203125 0,-0.109375 -0.109375,-0.109375 -0.28125,-0.109375 l -0.875,0 C 2.5,-5.71875 2.546875,-5.90625 2.546875,-5.96875 c 0,-0.171875 -0.125,-0.265625 -0.296875,-0.265625 -0.03125,0 -0.3125,0 -0.390625,0.359375 l -0.390625,1.578125 -0.9375,0 c -0.203125,0 -0.296875,0 -0.296875,0.1875 0,0.125 0.078125,0.125 0.28125,0.125 l 0.875,0 C 0.671875,-1.15625 0.625,-0.984375 0.625,-0.8125 0.625,-0.265625 1,0.109375 1.546875,0.109375 2.5625,0.109375 3.125,-1.34375 3.125,-1.421875 3.125,-1.53125 3.046875,-1.53125 3.015625,-1.53125 2.921875,-1.53125 2.90625,-1.5 2.859375,-1.390625 2.4375,-0.34375 1.90625,-0.109375 1.5625,-0.109375 c -0.203125,0 -0.3125,-0.125 -0.3125,-0.453125 0,-0.25 0.03125,-0.3125 0.0625,-0.484375 z"
               id="path26483" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-a043d3b4-3">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d=""
               id="path26486" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-a043d3b4-4">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d="m 3.296875,2.390625 c 0,-0.03125 0,-0.046875 -0.171875,-0.21875 C 1.890625,0.921875 1.5625,-0.96875 1.5625,-2.5 c 0,-1.734375 0.375,-3.46875 1.609375,-4.703125 0.125,-0.125 0.125,-0.140625 0.125,-0.171875 0,-0.078125 -0.03125,-0.109375 -0.09375,-0.109375 -0.109375,0 -1,0.6875 -1.59375,1.953125 -0.5,1.09375 -0.625,2.203125 -0.625,3.03125 0,0.78125 0.109375,1.984375 0.65625,3.125 C 2.25,1.84375 3.09375,2.5 3.203125,2.5 c 0.0625,0 0.09375,-0.03125 0.09375,-0.109375 z"
               id="path26489" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-a043d3b4-5">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d="m 2.875,-2.5 c 0,-0.765625 -0.109375,-1.96875 -0.65625,-3.109375 -0.59375,-1.21875 -1.453125,-1.875 -1.546875,-1.875 -0.0625,0 -0.109375,0.046875 -0.109375,0.109375 0,0.03125 0,0.046875 0.1875,0.234375 0.984375,0.984375 1.546875,2.5625 1.546875,4.640625 0,1.71875 -0.359375,3.46875 -1.59375,4.71875 C 0.5625,2.34375 0.5625,2.359375 0.5625,2.390625 0.5625,2.453125 0.609375,2.5 0.671875,2.5 0.765625,2.5 1.671875,1.8125 2.25,0.546875 2.765625,-0.546875 2.875,-1.65625 2.875,-2.5 z"
               id="path26492" />
          </symbol>
        </g>
      </defs>
      <g
         id="textext-a043d3b4-6">
        <g
           style="fill:#000000;fill-opacity:1"
           id="g26495">
          <use
             height="270"
             width="450"
             xlink:href="#textext-a043d3b4-1"
             x="0"
             y="9.9630003"
             id="use26497" />
        </g>
        <g
           style="fill:#000000;fill-opacity:1"
           id="g26499">
          <use
             height="270"
             width="450"
             xlink:href="#textext-a043d3b4-4"
             x="7.401"
             y="9.9630003"
             id="use26501" />
        </g>
        <g
           style="fill:#000000;fill-opacity:1"
           id="g26503">
          <use
             height="270"
             width="450"
             xlink:href="#textext-a043d3b4-2"
             x="11.275"
             y="9.9630003"
             id="use26505" />
        </g>
        <g
           style="fill:#000000;fill-opacity:1"
           id="g26507">
          <use
             height="270"
             width="450"
             xlink:href="#textext-a043d3b4-5"
             x="14.873"
             y="9.9630003"
             id="use26509" />
        </g>
      </g>
    </g>
    <g
       transform="matrix(1.25,0,0,1.25,79.361172,176.13551)"
       ns0:text="$\\mathbf{s}(t)$"
       ns0:preamble=""
       ns0:page_width="10cm"
       style="stroke-width:0.0000001"
       id="g5711">
      <defs
         id="defs5713">
        <g
           id="g5715">
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-98ec218f-0">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d=""
               id="path5718" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-98ec218f-1">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d="M 2.109375,-2.9375 C 1.734375,-3 1.09375,-3.109375 1.09375,-3.578125 c 0,-0.625 0.921875,-0.625 1.109375,-0.625 0.75,0 1.125,0.296875 1.171875,0.84375 0.015625,0.15625 0.03125,0.203125 0.234375,0.203125 0.234375,0 0.234375,-0.046875 0.234375,-0.28125 l 0,-0.796875 c 0,-0.1875 0,-0.28125 -0.171875,-0.28125 -0.046875,0 -0.0625,0 -0.453125,0.1875 -0.265625,-0.125 -0.609375,-0.1875 -1,-0.1875 -0.3125,0 -1.84375,0 -1.84375,1.3125 0,0.390625 0.203125,0.65625 0.40625,0.828125 0.390625,0.34375 0.78125,0.40625 1.546875,0.546875 0.359375,0.0625 1.09375,0.1875 1.09375,0.78125 0,0.75 -0.90625,0.75 -1.125,0.75 -1.0625,0 -1.3125,-0.734375 -1.4375,-1.15625 C 0.8125,-1.59375 0.75,-1.59375 0.625,-1.59375 c -0.25,0 -0.25,0.0625 -0.25,0.28125 l 0,1.09375 c 0,0.1875 0,0.28125 0.1875,0.28125 0.0625,0 0.078125,0 0.296875,-0.15625 0.015625,0 0.234375,-0.140625 0.25,-0.171875 0.46875,0.328125 0.984375,0.328125 1.1875,0.328125 0.3125,0 1.84375,0 1.84375,-1.453125 0,-0.4375 -0.203125,-0.78125 -0.546875,-1.0625 C 3.203125,-2.734375 2.875,-2.796875 2.109375,-2.9375 z"
               id="path5721" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-98ec218f-2">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d=""
               id="path5724" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-98ec218f-3">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d="m 3.296875,2.390625 c 0,-0.03125 0,-0.046875 -0.171875,-0.21875 C 1.890625,0.921875 1.5625,-0.96875 1.5625,-2.5 c 0,-1.734375 0.375,-3.46875 1.609375,-4.703125 0.125,-0.125 0.125,-0.140625 0.125,-0.171875 0,-0.078125 -0.03125,-0.109375 -0.09375,-0.109375 -0.109375,0 -1,0.6875 -1.59375,1.953125 -0.5,1.09375 -0.625,2.203125 -0.625,3.03125 0,0.78125 0.109375,1.984375 0.65625,3.125 C 2.25,1.84375 3.09375,2.5 3.203125,2.5 c 0.0625,0 0.09375,-0.03125 0.09375,-0.109375 z"
               id="path5727" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-98ec218f-4">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d="m 2.875,-2.5 c 0,-0.765625 -0.109375,-1.96875 -0.65625,-3.109375 -0.59375,-1.21875 -1.453125,-1.875 -1.546875,-1.875 -0.0625,0 -0.109375,0.046875 -0.109375,0.109375 0,0.03125 0,0.046875 0.1875,0.234375 0.984375,0.984375 1.546875,2.5625 1.546875,4.640625 0,1.71875 -0.359375,3.46875 -1.59375,4.71875 C 0.5625,2.34375 0.5625,2.359375 0.5625,2.390625 0.5625,2.453125 0.609375,2.5 0.671875,2.5 0.765625,2.5 1.671875,1.8125 2.25,0.546875 2.765625,-0.546875 2.875,-1.65625 2.875,-2.5 z"
               id="path5730" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-98ec218f-5">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d=""
               id="path5733" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-98ec218f-6">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d="m 2.046875,-3.984375 0.9375,0 c 0.203125,0 0.3125,0 0.3125,-0.203125 0,-0.109375 -0.109375,-0.109375 -0.28125,-0.109375 l -0.875,0 C 2.5,-5.71875 2.546875,-5.90625 2.546875,-5.96875 c 0,-0.171875 -0.125,-0.265625 -0.296875,-0.265625 -0.03125,0 -0.3125,0 -0.390625,0.359375 l -0.390625,1.578125 -0.9375,0 c -0.203125,0 -0.296875,0 -0.296875,0.1875 0,0.125 0.078125,0.125 0.28125,0.125 l 0.875,0 C 0.671875,-1.15625 0.625,-0.984375 0.625,-0.8125 0.625,-0.265625 1,0.109375 1.546875,0.109375 2.5625,0.109375 3.125,-1.34375 3.125,-1.421875 3.125,-1.53125 3.046875,-1.53125 3.015625,-1.53125 2.921875,-1.53125 2.90625,-1.5 2.859375,-1.390625 2.4375,-0.34375 1.90625,-0.109375 1.5625,-0.109375 c -0.203125,0 -0.3125,-0.125 -0.3125,-0.453125 0,-0.25 0.03125,-0.3125 0.0625,-0.484375 z"
               id="path5736" />
          </symbol>
        </g>
      </defs>
      <g
         id="textext-98ec218f-7">
        <g
           style="fill:#000000;fill-opacity:1"
           id="g5739">
          <use
             height="270"
             width="450"
             xlink:href="#textext-98ec218f-1"
             x="0"
             y="9.9630003"
             id="use5741" />
        </g>
        <g
           style="fill:#000000;fill-opacity:1"
           id="g5743">
          <use
             height="270"
             width="450"
             xlink:href="#textext-98ec218f-3"
             x="4.5190001"
             y="9.9630003"
             id="use5745" />
        </g>
        <g
           style="fill:#000000;fill-opacity:1"
           id="g5747">
          <use
             height="270"
             width="450"
             xlink:href="#textext-98ec218f-6"
             x="8.3929996"
             y="9.9630003"
             id="use5749" />
        </g>
        <g
           style="fill:#000000;fill-opacity:1"
           id="g5751">
          <use
             height="270"
             width="450"
             xlink:href="#textext-98ec218f-4"
             x="11.991"
             y="9.9630003"
             id="use5753" />
        </g>
      </g>
    </g>
    <g
       id="g23899"
       style="stroke-width:0.0000001"
       ns0:page_width="10cm"
       ns0:preamble=""
       ns0:text="$\\mathbf{m}(t)$"
       transform="matrix(1.25,0,0,1.25,247.97685,73.63373)">
      <defs
         id="defs23901">
        <g
           id="g23903">
          <symbol
             style="overflow:visible"
             id="textext-5707b556-0"
             overflow="visible">
            <path
               inkscape:connector-curvature="0"
               id="path23906"
               d=""
               style="stroke:none" />
          </symbol>
          <symbol
             style="overflow:visible"
             id="textext-5707b556-1"
             overflow="visible">
            <path
               inkscape:connector-curvature="0"
               id="path23909"
               d="m 1.140625,-3.546875 0,3.078125 -0.6875,0 0,0.46875 c 0.28125,-0.015625 0.875,-0.03125 1.25,-0.03125 0.390625,0 0.984375,0.015625 1.25,0.03125 l 0,-0.46875 -0.6875,0 0,-2.078125 c 0,-1.09375 0.875,-1.578125 1.5,-1.578125 0.328125,0 0.546875,0.203125 0.546875,0.96875 l 0,2.6875 -0.6875,0 0,0.46875 c 0.28125,-0.015625 0.875,-0.03125 1.265625,-0.03125 0.390625,0 0.96875,0.015625 1.25,0.03125 l 0,-0.46875 -0.6875,0 0,-2.078125 C 5.453125,-3.640625 6.3125,-4.125 6.9375,-4.125 7.28125,-4.125 7.5,-3.921875 7.5,-3.15625 l 0,2.6875 -0.6875,0 0,0.46875 c 0.28125,-0.015625 0.875,-0.03125 1.25,-0.03125 0.390625,0 0.984375,0.015625 1.265625,0.03125 l 0,-0.46875 -0.6875,0 0,-2.578125 c 0,-1.03125 -0.515625,-1.4375 -1.546875,-1.4375 -0.90625,0 -1.421875,0.5 -1.6875,0.953125 -0.1875,-0.921875 -1.109375,-0.953125 -1.484375,-0.953125 -0.875,0 -1.4375,0.453125 -1.765625,1.078125 l 0,-1.078125 -1.703125,0.078125 0,0.46875 c 0.609375,0 0.6875,0 0.6875,0.390625 z m 0,0"
               style="stroke:none" />
          </symbol>
          <symbol
             style="overflow:visible"
             id="textext-5707b556-2"
             overflow="visible">
            <path
               inkscape:connector-curvature="0"
               id="path23912"
               d=""
               style="stroke:none" />
          </symbol>
          <symbol
             style="overflow:visible"
             id="textext-5707b556-3"
             overflow="visible">
            <path
               inkscape:connector-curvature="0"
               id="path23915"
               d="m 3.296875,2.390625 c 0,-0.03125 0,-0.046875 -0.171875,-0.21875 C 1.890625,0.921875 1.5625,-0.96875 1.5625,-2.5 c 0,-1.734375 0.375,-3.46875 1.609375,-4.703125 0.125,-0.125 0.125,-0.140625 0.125,-0.171875 0,-0.078125 -0.03125,-0.109375 -0.09375,-0.109375 -0.109375,0 -1,0.6875 -1.59375,1.953125 -0.5,1.09375 -0.625,2.203125 -0.625,3.03125 0,0.78125 0.109375,1.984375 0.65625,3.125 C 2.25,1.84375 3.09375,2.5 3.203125,2.5 c 0.0625,0 0.09375,-0.03125 0.09375,-0.109375 z m 0,0"
               style="stroke:none" />
          </symbol>
          <symbol
             style="overflow:visible"
             id="textext-5707b556-4"
             overflow="visible">
            <path
               inkscape:connector-curvature="0"
               id="path23918"
               d="m 2.875,-2.5 c 0,-0.765625 -0.109375,-1.96875 -0.65625,-3.109375 -0.59375,-1.21875 -1.453125,-1.875 -1.546875,-1.875 -0.0625,0 -0.109375,0.046875 -0.109375,0.109375 0,0.03125 0,0.046875 0.1875,0.234375 0.984375,0.984375 1.546875,2.5625 1.546875,4.640625 0,1.71875 -0.359375,3.46875 -1.59375,4.71875 C 0.5625,2.34375 0.5625,2.359375 0.5625,2.390625 0.5625,2.453125 0.609375,2.5 0.671875,2.5 0.765625,2.5 1.671875,1.8125 2.25,0.546875 2.765625,-0.546875 2.875,-1.65625 2.875,-2.5 z m 0,0"
               style="stroke:none" />
          </symbol>
          <symbol
             style="overflow:visible"
             id="textext-5707b556-5"
             overflow="visible">
            <path
               inkscape:connector-curvature="0"
               id="path23921"
               d=""
               style="stroke:none" />
          </symbol>
          <symbol
             style="overflow:visible"
             id="textext-5707b556-6"
             overflow="visible">
            <path
               inkscape:connector-curvature="0"
               id="path23924"
               d="m 2.046875,-3.984375 0.9375,0 c 0.203125,0 0.3125,0 0.3125,-0.203125 0,-0.109375 -0.109375,-0.109375 -0.28125,-0.109375 l -0.875,0 C 2.5,-5.71875 2.546875,-5.90625 2.546875,-5.96875 c 0,-0.171875 -0.125,-0.265625 -0.296875,-0.265625 -0.03125,0 -0.3125,0 -0.390625,0.359375 l -0.390625,1.578125 -0.9375,0 c -0.203125,0 -0.296875,0 -0.296875,0.1875 0,0.125 0.078125,0.125 0.28125,0.125 l 0.875,0 C 0.671875,-1.15625 0.625,-0.984375 0.625,-0.8125 0.625,-0.265625 1,0.109375 1.546875,0.109375 2.5625,0.109375 3.125,-1.34375 3.125,-1.421875 3.125,-1.53125 3.046875,-1.53125 3.015625,-1.53125 2.921875,-1.53125 2.90625,-1.5 2.859375,-1.390625 2.4375,-0.34375 1.90625,-0.109375 1.5625,-0.109375 c -0.203125,0 -0.3125,-0.125 -0.3125,-0.453125 0,-0.25 0.03125,-0.3125 0.0625,-0.484375 z m 0,0"
               style="stroke:none" />
          </symbol>
        </g>
      </defs>
      <g
         id="textext-5707b556-7">
        <g
           id="g23927"
           style="fill:#000000;fill-opacity:1">
          <use
             height="239.45714"
             width="675.91083"
             id="use23929"
             y="9.9630003"
             x="0"
             xlink:href="#textext-5707b556-1" />
        </g>
        <g
           id="g23931"
           style="fill:#000000;fill-opacity:1">
          <use
             height="239.45714"
             width="675.91083"
             id="use23933"
             y="9.9630003"
             x="9.5469999"
             xlink:href="#textext-5707b556-3" />
        </g>
        <g
           id="g23935"
           style="fill:#000000;fill-opacity:1">
          <use
             height="239.45714"
             width="675.91083"
             id="use23937"
             y="9.9630003"
             x="13.422"
             xlink:href="#textext-5707b556-6" />
        </g>
        <g
           id="g23939"
           style="fill:#000000;fill-opacity:1">
          <use
             height="239.45714"
             width="675.91083"
             id="use23941"
             y="9.9630003"
             x="17.018999"
             xlink:href="#textext-5707b556-4" />
        </g>
      </g>
    </g>
    <g
       transform="matrix(1.25,0,0,1.25,408.24594,49.210411)"
       ns0:text="$\\mathbf{x}(t)$"
       ns0:preamble=""
       ns0:page_width="10cm"
       style="stroke-width:0.0000001"
       id="g25471">
      <defs
         id="defs25473">
        <g
           id="g25475">
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-1a0b763a-0">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d=""
               id="path25478" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-1a0b763a-1">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d="M 3.453125,-2.453125 4.609375,-3.75 C 4.75,-3.890625 4.8125,-3.953125 5.625,-3.953125 l 0,-0.46875 c -0.34375,0.015625 -0.859375,0.03125 -0.90625,0.03125 -0.25,0 -0.75,-0.03125 -1.03125,-0.03125 l 0,0.46875 c 0.140625,0 0.265625,0.015625 0.375,0.078125 -0.03125,0.0625 -0.03125,0.09375 -0.078125,0.125 l -0.828125,0.9375 -0.984375,-1.140625 0.40625,0 0,-0.46875 c -0.265625,0 -0.890625,0.03125 -1.21875,0.03125 -0.3125,0 -0.765625,-0.03125 -1.09375,-0.03125 l 0,0.46875 0.71875,0 1.546875,1.828125 -1.3125,1.46875 c -0.15625,0.1875 -0.515625,0.1875 -1,0.1875 l 0,0.46875 c 0.34375,-0.015625 0.875,-0.03125 0.921875,-0.03125 0.25,0 0.828125,0.015625 1.015625,0.03125 l 0,-0.46875 c -0.171875,0 -0.359375,-0.046875 -0.359375,-0.109375 0,-0.015625 0,-0.015625 0.0625,-0.09375 l 0.96875,-1.09375 1.09375,1.296875 -0.390625,0 0,0.46875 c 0.265625,-0.015625 0.875,-0.03125 1.203125,-0.03125 0.3125,0 0.765625,0.015625 1.09375,0.03125 l 0,-0.46875 -0.703125,0 z m 0,0"
               id="path25481" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-1a0b763a-2">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d=""
               id="path25484" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-1a0b763a-3">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d="m 3.296875,2.390625 c 0,-0.03125 0,-0.046875 -0.171875,-0.21875 C 1.890625,0.921875 1.5625,-0.96875 1.5625,-2.5 c 0,-1.734375 0.375,-3.46875 1.609375,-4.703125 0.125,-0.125 0.125,-0.140625 0.125,-0.171875 0,-0.078125 -0.03125,-0.109375 -0.09375,-0.109375 -0.109375,0 -1,0.6875 -1.59375,1.953125 -0.5,1.09375 -0.625,2.203125 -0.625,3.03125 0,0.78125 0.109375,1.984375 0.65625,3.125 C 2.25,1.84375 3.09375,2.5 3.203125,2.5 c 0.0625,0 0.09375,-0.03125 0.09375,-0.109375 z m 0,0"
               id="path25487" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-1a0b763a-4">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d="m 2.875,-2.5 c 0,-0.765625 -0.109375,-1.96875 -0.65625,-3.109375 -0.59375,-1.21875 -1.453125,-1.875 -1.546875,-1.875 -0.0625,0 -0.109375,0.046875 -0.109375,0.109375 0,0.03125 0,0.046875 0.1875,0.234375 0.984375,0.984375 1.546875,2.5625 1.546875,4.640625 0,1.71875 -0.359375,3.46875 -1.59375,4.71875 C 0.5625,2.34375 0.5625,2.359375 0.5625,2.390625 0.5625,2.453125 0.609375,2.5 0.671875,2.5 0.765625,2.5 1.671875,1.8125 2.25,0.546875 2.765625,-0.546875 2.875,-1.65625 2.875,-2.5 z m 0,0"
               id="path25490" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-1a0b763a-5">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d=""
               id="path25493" />
          </symbol>
          <symbol
             style="overflow:visible"
             overflow="visible"
             id="textext-1a0b763a-6">
            <path
               inkscape:connector-curvature="0"
               style="stroke:none"
               d="m 2.046875,-3.984375 0.9375,0 c 0.203125,0 0.3125,0 0.3125,-0.203125 0,-0.109375 -0.109375,-0.109375 -0.28125,-0.109375 l -0.875,0 C 2.5,-5.71875 2.546875,-5.90625 2.546875,-5.96875 c 0,-0.171875 -0.125,-0.265625 -0.296875,-0.265625 -0.03125,0 -0.3125,0 -0.390625,0.359375 l -0.390625,1.578125 -0.9375,0 c -0.203125,0 -0.296875,0 -0.296875,0.1875 0,0.125 0.078125,0.125 0.28125,0.125 l 0.875,0 C 0.671875,-1.15625 0.625,-0.984375 0.625,-0.8125 0.625,-0.265625 1,0.109375 1.546875,0.109375 2.5625,0.109375 3.125,-1.34375 3.125,-1.421875 3.125,-1.53125 3.046875,-1.53125 3.015625,-1.53125 2.921875,-1.53125 2.90625,-1.5 2.859375,-1.390625 2.4375,-0.34375 1.90625,-0.109375 1.5625,-0.109375 c -0.203125,0 -0.3125,-0.125 -0.3125,-0.453125 0,-0.25 0.03125,-0.3125 0.0625,-0.484375 z m 0,0"
               id="path25496" />
          </symbol>
        </g>
      </defs>
      <g
         id="textext-1a0b763a-7">
        <g
           style="fill:#000000;fill-opacity:1"
           id="g25499">
          <use
             height="239.45714"
             width="675.91083"
             xlink:href="#textext-1a0b763a-1"
             x="0"
             y="9.9630003"
             id="use25501" />
        </g>
        <g
           style="fill:#000000;fill-opacity:1"
           id="g25503">
          <use
             height="239.45714"
             width="675.91083"
             xlink:href="#textext-1a0b763a-3"
             x="6.0469999"
             y="9.9630003"
             id="use25505" />
        </g>
        <g
           style="fill:#000000;fill-opacity:1"
           id="g25507">
          <use
             height="239.45714"
             width="675.91083"
             xlink:href="#textext-1a0b763a-6"
             x="9.9209995"
             y="9.9630003"
             id="use25509" />
        </g>
        <g
           style="fill:#000000;fill-opacity:1"
           id="g25511">
          <use
             height="239.45714"
             width="675.91083"
             xlink:href="#textext-1a0b763a-4"
             x="13.519"
             y="9.9630003"
             id="use25513" />
        </g>
      </g>
    </g>
  </g>
</svg>