#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2475 1800 3825 1800 3600 2025
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4950 5400 6300 5400 6075 5625
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2475 9000 3825 9000 3600 9225
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 5625 1800 6975 1800 6750 2025
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4725 5625 4725 6975 4950 6750
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4725 7425 4725 8775 4950 8550
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 5625 9000 6975 9000 6750 9225
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 3825 1575 3825 2025
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 6975 1575 6975 2025
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 4500 5175 4500 5625
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 3825 8775 3825 9225
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 6975 8775 6975 9225
2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5
	 8550 9450 1350 9450 1350 1125 8550 1125 8550 9450
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4950 5175 5905 4220 5905 4539
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4725 3375 4725 2025 4950 2250
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4725 5175 4725 3825 4950 4050
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4500 5400 3150 5400 3375 5625
4 1 4 100 0 18 18 0.0000 4 270 1110 1935 1890 SS:[F_1]\001
4 1 0 100 0 18 18 0.0000 4 270 1710 4770 1890 Muscle1:m_1\001
4 1 0 100 0 18 18 0.0000 4 270 840 4770 3690 TF:r_1\001
4 1 0 100 0 18 18 0.0000 4 210 390 6615 5490 I:m\001
4 1 0 100 0 18 18 0.0000 4 270 840 4815 7290 TF:r_2\001
4 1 0 100 0 18 18 0.0000 4 270 1710 4725 9090 Muscle1:m_2\001
4 1 0 100 0 18 18 0.0000 4 270 840 2610 5490 Se:mg\001
4 1 4 100 0 18 14 0.0000 4 210 285 3510 8775 [F]\001
4 1 4 100 0 18 14 0.0000 4 210 285 3510 1530 [F]\001
4 1 0 100 0 18 18 0.0000 4 270 900 7515 1890 De:x_1\001
4 1 0 100 0 18 18 0.0000 4 270 900 7515 9090 De:x_2\001
4 1 0 100 0 18 18 0.0000 4 195 150 4725 5490 1\001
4 1 0 100 0 18 18 0.0000 4 270 915 6075 4140 Df:v_m\001
4 1 4 100 0 18 18 0.0000 4 270 1110 1890 9045 SS:[F_2]\001

% -*-latex-*- Put EMACS into LaTeX-mode
% Verbal description for system LowerLeg1 (LowerLeg1_desc.tex)
% Generated by MTT on Thu Apr 19 10:39:20 BST 2001.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  2000/12/28 09:13:38  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

\fig{LowerLeg1_pic}
    {LowerLeg1_pic}
    {0.9}
    {Simple lower-leg model}
   
    A schematic of a simple muscle model with skeleton appears in
    Figure \Ref{fig:LowerLeg1_pic} and the acausal bond graph is
    displayed in Figure \Ref{fig:LowerLeg1_abg.ps} and its label file
    is listed in Section \Ref{sec:LowerLeg1_lbl.txt}.  The subsystems
    are listed in Section \Ref{sec:LowerLeg1_sub}.  The model is a
    rough approximation of the lower leg, knee joint and thigh muscles
    with the lower leg horizontal.

    The components are:
    \begin{description}
    \item[F\_1 and F\_2] the force inputs to the upper and lower muscles
    \item[m\_1 and m\_2] the upper and lower muscles
    \item[r\_1 and r\_2] the transformers reflecting the geometry of the
      muscle attachments
    \item[m] load mass
    \item[mg] force due to gravity.
    \end{description}

## -*-octave-*- Put Emacs into octave-mode ##
 
## 
## System LowerLeg1, representation input, language txt; 
## File Example2_input.txt; 
## Generated by MTT on Mon Apr 30 10:08:54 BST 2001; 

example2_f_1	= 1.0*((t>2.0)&&(t<4.0)); # On for 2<t<4
example2_f_2	= 1.0*((t>6.0)&&(t<8.0)); # On for 6<t<8

%% Label file for system LowerLeg1 (LowerLeg1_lbl.txt)
%SUMMARY LowerLeg1: Simple model of lower leg
%DESCRIPTION 

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  2000/12/28 09:13:38  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases

% Argument aliases

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----

% Component type De
	x_1	SS		external
	x_2	SS		external

% Component type Df
	v_m	SS		external

% Component type I
	m	lin		flow,m

% Component type Muscle1
	m_1	lin	        c_1;d_1		
	m_2	lin	        c_2;d_2					

% Component type Se
	mg	SS		m*g

	[F_1]	SS		external,internal
	[F_2]	SS		external,internal

% Component type TF
	r_1	lin		flow,r_1
	r_2	lin		flow,-r_2

## -*-octave-*- Put Emacs into octave-mode ##
 
## 
## System LowerLeg1, representation numpar, language txt; 
## File Example2_numpar.txt; 
## Generated by MTT on Mon Apr 30 10:18:55 BST 2001; 



c_1	= 1.0; # Default
c_2	= 1.0; # Default
d_1	= 1.0; # Default
d_2	= 1.0; # Default
g	= 0.0; #9.81; # Gravity
m	= 1.0; # kg
r_1	= 1.0; # Default
r_2	= 1.0; # Default

#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
5 1 0 2 0 7 50 0 -1 0.000 0 1 0 0 1800.000 -821.000 1125 1665 1800 1755 2475 1665
5 1 0 2 0 7 50 0 -1 0.000 0 0 0 0 1800.000 4151.000 1125 1665 1800 1575 2475 1665
5 1 0 2 0 7 50 0 -1 0.000 0 1 0 0 1800.000 349.000 1125 2835 1800 2925 2475 2835
5 1 0 2 0 7 50 0 -1 0.000 0 0 0 0 1800.000 5321.000 1125 2835 1800 2745 2475 2835
1 3 0 2 0 7 50 0 -1 0.000 1 0.0000 2700 2250 127 127 2700 2250 2827 2250
2 2 0 2 0 7 50 0 -1 0.000 0 0 -1 0 0 5
	 2475 2025 5625 2025 5625 2475 2475 2475 2475 2025
2 2 0 2 0 7 50 0 -1 0.000 0 0 -1 0 0 5
	 2475 1575 2700 1575 2700 2025 2475 2025 2475 1575
2 2 0 2 0 7 50 0 -1 0.000 0 0 -1 0 0 5
	 2475 2475 2700 2475 2700 2925 2475 2925 2475 2475
2 2 0 1 0 7 50 0 48 0.000 0 0 -1 0 0 5
	 675 1125 1125 1125 1125 3375 675 3375 675 1125
2 1 0 2 1 7 50 0 -1 6.000 0 0 -1 0 1 2
	3 1 2.00 120.00 240.00
	 2700 2250 3780 3330
2 1 0 2 1 7 50 0 -1 6.000 0 0 -1 0 1 2
	3 1 2.00 120.00 240.00
	 1800 1575 2250 1125
2 1 0 2 1 7 50 0 -1 6.000 0 0 -1 0 1 2
	3 1 2.00 120.00 240.00
	 1800 2700 3375 1125
2 1 0 2 1 7 50 0 -1 6.000 0 0 -1 0 1 2
	3 1 2.00 120.00 240.00
	 4050 1980 4905 1125
2 1 0 2 1 7 50 0 -1 6.000 0 0 -1 0 1 2
	3 1 2.00 120.00 240.00
	 5872 1777 6524 1125
2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5
	 6975 3825 450 3825 450 675 6975 675 6975 3825
2 2 0 2 0 7 50 0 -1 0.000 0 0 -1 0 0 5
	 5625 1890 6345 1890 6345 2565 5625 2565 5625 1890
4 1 1 50 0 3 20 0.0000 4 210 585 3825 3645 Pivot\001
4 1 1 50 0 3 20 0.0000 4 210 1035 2250 1080 Muscle 1\001
4 1 1 50 0 3 20 0.0000 4 210 1035 3555 1080 Muscle 2\001
4 1 1 50 0 3 20 0.0000 4 195 630 4905 1080 Bone\001
4 1 1 50 0 3 20 0.0000 4 210 600 6480 1080 Load\001
4 0 0 50 0 0 25 0.0000 4 180 300 5850 2295 m\001

%!PS-Adobe-2.0 EPSF-2.0
%%Title: LowerLeg1_pic.eps
%%Creator: fig2dev Version 3.2 Patchlevel 3a
%%CreationDate: Tue May  1 09:06:47 2001
%%For: peterg@pg-dell (Peter Gawthrop,,,)
%%BoundingBox: 0 0 415 202
%%Magnification: 1.0000
%%EndComments
/MyAppDict 100 dict dup begin def
/$F2psDict 200 dict def
$F2psDict begin
$F2psDict /mtrx matrix put
/col-1 {0 setgray} bind def
/col0 {0.000 0.000 0.000 srgb} bind def
/col1 {0.000 0.000 1.000 srgb} bind def
/col2 {0.000 1.000 0.000 srgb} bind def
/col3 {0.000 1.000 1.000 srgb} bind def
/col4 {1.000 0.000 0.000 srgb} bind def
/col5 {1.000 0.000 1.000 srgb} bind def
/col6 {1.000 1.000 0.000 srgb} bind def
/col7 {1.000 1.000 1.000 srgb} bind def
/col8 {0.000 0.000 0.560 srgb} bind def
/col9 {0.000 0.000 0.690 srgb} bind def
/col10 {0.000 0.000 0.820 srgb} bind def
/col11 {0.530 0.810 1.000 srgb} bind def
/col12 {0.000 0.560 0.000 srgb} bind def
/col13 {0.000 0.690 0.000 srgb} bind def
/col14 {0.000 0.820 0.000 srgb} bind def
/col15 {0.000 0.560 0.560 srgb} bind def
/col16 {0.000 0.690 0.690 srgb} bind def
/col17 {0.000 0.820 0.820 srgb} bind def
/col18 {0.560 0.000 0.000 srgb} bind def
/col19 {0.690 0.000 0.000 srgb} bind def
/col20 {0.820 0.000 0.000 srgb} bind def
/col21 {0.560 0.000 0.560 srgb} bind def
/col22 {0.690 0.000 0.690 srgb} bind def
/col23 {0.820 0.000 0.820 srgb} bind def
/col24 {0.500 0.190 0.000 srgb} bind def
/col25 {0.630 0.250 0.000 srgb} bind def
/col26 {0.750 0.380 0.000 srgb} bind def
/col27 {1.000 0.500 0.500 srgb} bind def
/col28 {1.000 0.630 0.630 srgb} bind def
/col29 {1.000 0.750 0.750 srgb} bind def
/col30 {1.000 0.880 0.880 srgb} bind def
/col31 {1.000 0.840 0.000 srgb} bind def

end
save
newpath 0 202 moveto 0 0 lineto 415 0 lineto 415 202 lineto closepath clip newpath
-26.0 243.0 translate
1 -1 scale

% This junk string is used by the show operators
/PATsstr 1 string def
/PATawidthshow { 	% cx cy cchar rx ry string
  % Loop over each character in the string
  {  % cx cy cchar rx ry char
    % Show the character
    dup				% cx cy cchar rx ry char char
    PATsstr dup 0 4 -1 roll put	% cx cy cchar rx ry char (char)
    false charpath		% cx cy cchar rx ry char
    /clip load PATdraw
    % Move past the character (charpath modified the
    % current point)
    currentpoint			% cx cy cchar rx ry char x y
    newpath
    moveto			% cx cy cchar rx ry char
    % Reposition by cx,cy if the character in the string is cchar
    3 index eq {			% cx cy cchar rx ry
      4 index 4 index rmoveto
    } if
    % Reposition all characters by rx ry
    2 copy rmoveto		% cx cy cchar rx ry
  } forall
  pop pop pop pop pop		% -
  currentpoint
  newpath
  moveto
} bind def
/PATcg {
  7 dict dup begin
    /lw currentlinewidth def
    /lc currentlinecap def
    /lj currentlinejoin def
    /ml currentmiterlimit def
    /ds [ currentdash ] def
    /cc [ currentrgbcolor ] def
    /cm matrix currentmatrix def
  end
} bind def
% PATdraw - calculates the boundaries of the object and
% fills it with the current pattern
/PATdraw {			% proc
  save exch
    PATpcalc			% proc nw nh px py
    5 -1 roll exec		% nw nh px py
    newpath
    PATfill			% -
  restore
} bind def
% PATfill - performs the tiling for the shape
/PATfill { % nw nh px py PATfill -
  PATDict /CurrentPattern get dup begin
    setfont
    % Set the coordinate system to Pattern Space
    PatternGState PATsg
    % Set the color for uncolored pattezns
    PaintType 2 eq { PATDict /PColor get PATsc } if
    % Create the string for showing
    3 index string		% nw nh px py str
    % Loop for each of the pattern sources
    0 1 Multi 1 sub {		% nw nh px py str source
	% Move to the starting location
	3 index 3 index		% nw nh px py str source px py
	moveto			% nw nh px py str source
	% For multiple sources, set the appropriate color
	Multi 1 ne { dup PC exch get PATsc } if
	% Set the appropriate string for the source
	0 1 7 index 1 sub { 2 index exch 2 index put } for pop
	% Loop over the number of vertical cells
	3 index 		% nw nh px py str nh
	{			% nw nh px py str
	  currentpoint		% nw nh px py str cx cy
	  2 index show		% nw nh px py str cx cy
	  YStep add moveto	% nw nh px py str
	} repeat		% nw nh px py str
    } for
    5 { pop } repeat
  end
} bind def

% PATkshow - kshow with the current pattezn
/PATkshow {			% proc string
  exch bind			% string proc
  1 index 0 get			% string proc char
  % Loop over all but the last character in the string
  0 1 4 index length 2 sub {
				% string proc char idx
    % Find the n+1th character in the string
    3 index exch 1 add get	% string proe char char+1
    exch 2 copy			% strinq proc char+1 char char+1 char
    % Now show the nth character
    PATsstr dup 0 4 -1 roll put	% string proc chr+1 chr chr+1 (chr)
    false charpath		% string proc char+1 char char+1
    /clip load PATdraw
    % Move past the character (charpath modified the current point)
    currentpoint newpath moveto
    % Execute the user proc (should consume char and char+1)
    mark 3 1 roll		% string proc char+1 mark char char+1
    4 index exec		% string proc char+1 mark...
    cleartomark			% string proc char+1
  } for
  % Now display the last character
  PATsstr dup 0 4 -1 roll put	% string proc (char+1)
  false charpath		% string proc
  /clip load PATdraw
  neewath
  pop pop			% -
} bind def
% PATmp - the makepattern equivalent
/PATmp {			% patdict patmtx PATmp patinstance
  exch dup length 7 add		% We will add 6 new entries plus 1 FID
  dict copy			% Create a new dictionary
  begin
    % Matrix to install when painting the pattern
    TilingType PATtcalc
    /PatternGState PATcg def
    PatternGState /cm 3 -1 roll put
    % Check for multi pattern sources (Level 1 fast color patterns)
    currentdict /Multi known not { /Multi 1 def } if
    % Font dictionary definitions
    /FontType 3 def
    % Create a dummy encoding vector
    /Encoding 256 array def
    3 string 0 1 255 {
      Encoding exch dup 3 index cvs cvn put } for pop
    /FontMatrix matrix def
    /FontBBox BBox def
    /BuildChar {
	mark 3 1 roll		% mark dict char
	exch begin
	Multi 1 ne {PaintData exch get}{pop} ifelse  % mark [paintdata]
	  PaintType 2 eq Multi 1 ne or
	  { XStep 0 FontBBox aload pop setcachedevice }
	  { XStep 0 setcharwidth } ifelse
	  currentdict		% mark [paintdata] dict
	  /PaintProc load	% mark [paintdata] dict paintproc
	end
	gsave
	  false PATredef exec true PATredef
	grestore
	cleartomark		% -
    } bind def
    currentdict
  end				% newdict
  /foo exch			% /foo newlict
  definefont			% newfont
} bind def
% PATpcalc - calculates the starting point and width/height
% of the tile fill for the shape
/PATpcalc {	% - PATpcalc nw nh px py
  PATDict /CurrentPattern get begin
    gsave
	% Set up the coordinate system to Pattern Space
	% and lock down pattern
	PatternGState /cm get setmatrix
	BBox aload pop pop pop translate
	% Determine the bounding box of the shape
	pathbbox			% llx lly urx ury
    grestore
    % Determine (nw, nh) the # of cells to paint width and height
    PatHeight div ceiling		% llx lly urx qh
    4 1 roll				% qh llx lly urx
    PatWidth div ceiling		% qh llx lly qw
    4 1 roll				% qw qh llx lly
    PatHeight div floor			% qw qh llx ph
    4 1 roll				% ph qw qh llx
    PatWidth div floor			% ph qw qh pw
    4 1 roll				% pw ph qw qh
    2 index sub cvi abs			% pw ph qs qh-ph
    exch 3 index sub cvi abs exch	% pw ph nw=qw-pw nh=qh-ph
    % Determine the starting point of the pattern fill
    %(px, py)
    4 2 roll				% nw nh pw ph
    PatHeight mul			% nw nh pw py
    exch				% nw nh py pw
    PatWidth mul exch			% nw nh px py
  end
} bind def

% Save the original routines so that we can use them later on
/oldfill	/fill load def
/oldeofill	/eofill load def
/oldstroke	/stroke load def
/oldshow	/show load def
/oldashow	/ashow load def
/oldwidthshow	/widthshow load def
/oldawidthshow	/awidthshow load def
/oldkshow	/kshow load def

% These defs are necessary so that subsequent procs don't bind in
% the originals
/fill	   { oldfill } bind def
/eofill	   { oldeofill } bind def
/stroke	   { oldstroke } bind def
/show	   { oldshow } bind def
/ashow	   { oldashow } bind def
/widthshow { oldwidthshow } bind def
/awidthshow { oldawidthshow } bind def
/kshow 	   { oldkshow } bind def
/PATredef {
  MyAppDict begin
    {
    /fill { /clip load PATdraw newpath } bind def
    /eofill { /eoclip load PATdraw newpath } bind def
    /stroke { PATstroke } bind def
    /show { 0 0 null 0 0 6 -1 roll PATawidthshow } bind def
    /ashow { 0 0 null 6 3 roll PATawidthshow }
    bind def
    /widthshow { 0 0 3 -1 roll PATawidthshow }
    bind def
    /awidthshow { PATawidthshow } bind def
    /kshow { PATkshow } bind def
  } {
    /fill   { oldfill } bind def
    /eofill { oldeofill } bind def
    /stroke { oldstroke } bind def
    /show   { oldshow } bind def
    /ashow  { oldashow } bind def
    /widthshow { oldwidthshow } bind def
    /awidthshow { oldawidthshow } bind def
    /kshow  { oldkshow } bind def
    } ifelse
  end
} bind def
false PATredef
% Conditionally define setcmykcolor if not available
/setcmykcolor where { pop } {
  /setcmykcolor {
    1 sub 4 1 roll
    3 {
	3 index add neg dup 0 lt { pop 0 } if 3 1 roll
    } repeat
    setrgbcolor - pop
  } bind def
} ifelse
/PATsc {		% colorarray
  aload length		% c1 ... cn length
    dup 1 eq { pop setgray } { 3 eq { setrgbcolor } { setcmykcolor
  } ifelse } ifelse
} bind def
/PATsg {		% dict
  begin
    lw setlinewidth
    lc setlinecap
    lj setlinejoin
    ml setmiterlimit
    ds aload pop setdash
    cc aload pop setrgbcolor
    cm setmatrix
  end
} bind def

/PATDict 3 dict def
/PATsp {
  true PATredef
  PATDict begin
    /CurrentPattern exch def
    % If it's an uncolored pattern, save the color
    CurrentPattern /PaintType get 2 eq {
      /PColor exch def
    } if
    /CColor [ currentrgbcolor ] def
  end
} bind def
% PATstroke - stroke with the current pattern
/PATstroke {
  countdictstack
  save
  mark
  {
    currentpoint strokepath moveto
    PATpcalc				% proc nw nh px py
    clip newpath PATfill
    } stopped {
	(*** PATstroke Warning: Path is too complex, stroking
	  with gray) =
    cleartomark
    restore
    countdictstack exch sub dup 0 gt
	{ { end } repeat } { pop } ifelse
    gsave 0.5 setgray oldstroke grestore
  } { pop restore pop } ifelse
  newpath
} bind def
/PATtcalc {		% modmtx tilingtype PATtcalc tilematrix
  % Note: tiling types 2 and 3 are not supported
  gsave
    exch concat					% tilingtype
    matrix currentmatrix exch			% cmtx tilingtype
    % Tiling type 1 and 3: constant spacing
    2 ne {
	% Distort the pattern so that it occupies
	% an integral number of device pixels
	dup 4 get exch dup 5 get exch		% tx ty cmtx
	XStep 0 dtransform
	round exch round exch			% tx ty cmtx dx.x dx.y
	XStep div exch XStep div exch		% tx ty cmtx a b
	0 YStep dtransform
	round exch round exch			% tx ty cmtx a b dy.x dy.y
	YStep div exch YStep div exch		% tx ty cmtx a b c d
	7 -3 roll astore			% { a b c d tx ty }
    } if
  grestore
} bind def
/PATusp {
  false PATredef
  PATDict begin
    CColor PATsc
  end
} bind def

% vertical bricks
11 dict begin
/PaintType 1 def
/PatternType 1 def
/TilingType 1 def
/BBox [0 0 1 1] def
/XStep 1 def
/YStep 1 def
/PatWidth 1 def
/PatHeight 1 def
/Multi 2 def
/PaintData [
  { clippath } bind
  { 16 16 true [ 16 0 0 -16 0 16 ]
	{<ff8080808080808080808080
	  8080808080ff808080808080
	  8080808080808080> }
        imagemask } bind
] def
/PaintProc {
	pop
	exec fill
} def
currentdict
end
/P8 exch def

/cp {closepath} bind def
/ef {eofill} bind def
/gr {grestore} bind def
/gs {gsave} bind def
/sa {save} bind def
/rs {restore} bind def
/l {lineto} bind def
/m {moveto} bind def
/rm {rmoveto} bind def
/n {newpath} bind def
/s {stroke} bind def
/sh {show} bind def
/slc {setlinecap} bind def
/slj {setlinejoin} bind def
/slw {setlinewidth} bind def
/srgb {setrgbcolor} bind def
/rot {rotate} bind def
/sc {scale} bind def
/sd {setdash} bind def
/ff {findfont} bind def
/sf {setfont} bind def
/scf {scalefont} bind def
/sw {stringwidth} bind def
/tr {translate} bind def
/tnt {dup dup currentrgbcolor
  4 -2 roll dup 1 exch sub 3 -1 roll mul add
  4 -2 roll dup 1 exch sub 3 -1 roll mul add
  4 -2 roll dup 1 exch sub 3 -1 roll mul add srgb}
  bind def
/shd {dup dup currentrgbcolor 4 -2 roll mul 4 -2 roll mul
  4 -2 roll mul srgb} bind def
 /DrawEllipse {
	/endangle exch def
	/startangle exch def
	/yrad exch def
	/xrad exch def
	/y exch def
	/x exch def
	/savematrix mtrx currentmatrix def
	x y tr xrad yrad sc 0 0 1 startangle endangle arc
	closepath
	savematrix setmatrix
	} def

/$F2psBegin {$F2psDict begin /$F2psEnteredState save def} def
/$F2psEnd {$F2psEnteredState restore end} def

$F2psBegin
%%Page: 1 1
10 setmiterlimit
 0.06299 0.06299 sc
% Polyline
15.000 slw
n 555 675 m 450 675 450 3720 105 arcto 4 {pop} repeat
  450 3825 6870 3825 105 arcto 4 {pop} repeat
  6975 3825 6975 780 105 arcto 4 {pop} repeat
  6975 675 555 675 105 arcto 4 {pop} repeat
 cp gs col31 s gr 
% Arc
n 1800.0 -821.0 2576.0 105.2 74.8 arcn
gs col0 s gr

% Arc
n 1800.0 4151.0 2576.0 -105.2 -74.8 arc
gs col0 s gr

% Arc
n 1800.0 349.0 2576.0 105.2 74.8 arcn
gs col0 s gr

% Arc
n 1800.0 5321.0 2576.0 -105.2 -74.8 arc
gs col0 s gr

% Ellipse
n 2700 2250 127 127 0 360 DrawEllipse gs col0 s gr

% Polyline
n 2475 2025 m 5625 2025 l 5625 2475 l 2475 2475 l
 cp gs col0 s gr 
% Polyline
n 2475 1575 m 2700 1575 l 2700 2025 l 2475 2025 l
 cp gs col0 s gr 
% Polyline
n 2475 2475 m 2700 2475 l 2700 2925 l 2475 2925 l
 cp gs col0 s gr 
% Polyline
7.500 slw
n 675 1125 m 1125 1125 l 1125 3375 l 675 3375 l
 cp gs /PC [[1.00 1.00 1.00] [0.00 0.00 0.00]] def
15.00 15.00 sc P8 [16 0 0 -16 45.00 75.00] PATmp PATsp ef gr PATusp gs col0 s gr 
% Polyline
15.000 slw
gs  clippath
2731 2196 m 2646 2281 l 2801 2436 l 2717 2267 l 2886 2351 l cp
eoclip
n 2700 2250 m
 3780 3330 l gs col1 s gr gr

% arrowhead
n 2886 2351 m 2717 2267 l 2801 2436 l 2886 2436 l 2886 2351 l 
 cp gs col1 1.00 shd ef gr  col1 s
% Polyline
gs  clippath
1746 1543 m 1831 1628 l 1986 1473 l 1817 1558 l 1901 1388 l cp
eoclip
n 1800 1575 m
 2250 1125 l gs col1 s gr gr

% arrowhead
n 1901 1388 m 1817 1558 l 1986 1473 l 1986 1388 l 1901 1388 l 
 cp gs col1 1.00 shd ef gr  col1 s
% Polyline
gs  clippath
1746 2668 m 1831 2753 l 1986 2598 l 1817 2683 l 1901 2513 l cp
eoclip
n 1800 2700 m
 3375 1125 l gs col1 s gr gr

% arrowhead
n 1901 2513 m 1817 2683 l 1986 2598 l 1986 2513 l 1901 2513 l 
 cp gs col1 1.00 shd ef gr  col1 s
% Polyline
gs  clippath
3996 1948 m 4081 2033 l 4236 1878 l 4067 1963 l 4151 1793 l cp
eoclip
n 4050 1980 m
 4905 1125 l gs col1 s gr gr

% arrowhead
n 4151 1793 m 4067 1963 l 4236 1878 l 4236 1793 l 4151 1793 l 
 cp gs col1 1.00 shd ef gr  col1 s
% Polyline
gs  clippath
5818 1745 m 5903 1830 l 6058 1675 l 5889 1760 l 5973 1590 l cp
eoclip
n 5872 1777 m
 6524 1125 l gs col1 s gr gr

% arrowhead
n 5973 1590 m 5889 1760 l 6058 1675 l 6058 1590 l 5973 1590 l 
 cp gs col1 1.00 shd ef gr  col1 s
% Polyline
n 5625 1890 m 6345 1890 l 6345 2565 l 5625 2565 l
 cp gs col0 s gr 
/Times-BoldItalic ff 300.00 scf sf
3825 3645 m
gs 1 -1 sc (Pivot) dup sw pop 2 div neg 0 rm  col1 sh gr
/Times-BoldItalic ff 300.00 scf sf
2250 1080 m
gs 1 -1 sc (Muscle 1) dup sw pop 2 div neg 0 rm  col1 sh gr
/Times-BoldItalic ff 300.00 scf sf
3555 1080 m
gs 1 -1 sc (Muscle 2) dup sw pop 2 div neg 0 rm  col1 sh gr
/Times-BoldItalic ff 300.00 scf sf
4905 1080 m
gs 1 -1 sc (Bone) dup sw pop 2 div neg 0 rm  col1 sh gr
/Times-BoldItalic ff 300.00 scf sf
6480 1080 m
gs 1 -1 sc (Load) dup sw pop 2 div neg 0 rm  col1 sh gr
/Times-Roman ff 375.00 scf sf
5850 2295 m
gs 1 -1 sc (m) col0 sh gr
$F2psEnd
rs
end

## -*-octave-*- Put Emacs into octave-mode
## Outline report file for system LowerLeg1 (Example1_rep.txt)
## Generated by MTT on" Thu Apr 19 10:26:57 BST 2001.

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.1  2000/12/28 11:58:07  peterg
## Put under RCS
##
###############################################################

mtt LowerLeg1 abg tex			# The system description
mtt LowerLeg1 cbg ps 		        # The causal bond graph
mtt LowerLeg1 lbl txt
mtt Muscle1 lbl txt
mtt LowerLeg1 struc tex	        # The system structure
mtt LowerLeg1 sympar tex	        # The system parameters
## Uncomment the following lines or add others
## mtt LowerLeg1 dae tex	        # The system dae
mtt LowerLeg1 ode tex	        # The system ode 
## mtt LowerLeg1 sspar tex		# Steady-state parameters
## mtt LowerLeg1 ss tex 		# Steady state
## mtt LowerLeg1 dm tex		# Descriptor matrices (of linearised system)
mtt LowerLeg1 sm tex		# State matrices (of linearised system)
mtt LowerLeg1 tf tex		# Transfer function (of linearised system)
## mtt LowerLeg1 lmfr ps		# log modulus of frequency response (of linearised system)
 mtt LowerLeg1 simpar tex		# Simulation parameters
 mtt LowerLeg1 numpar tex		# Numerical simulation parameters
## mtt LowerLeg1 state tex		# Simulation initial state
 mtt LowerLeg1 input tex		# Simulation input
## mtt LowerLeg1 logic tex		# Logic control
 mtt LowerLeg1 odeso ps		# Simulation output

mtt LowerLeg1 rep txt		# This file

#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2700 2700 4050 2700 3825 2925
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4500 2700 5850 2700 5625 2925
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4275 2475 4275 1125 4500 1350
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 7200 2700 8550 2700 8325 2925
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4275 4275 4275 2925 4500 3150
2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5
	 9900 4950 1575 4950 1575 450 9900 450 9900 4950
4 1 0 100 0 18 18 0.0000 4 195 150 4275 2790 1\001
4 2 4 100 0 18 18 0.0000 4 270 870 2610 2790 SS:[in]\001
4 1 0 100 0 18 18 0.0000 4 270 840 4455 945 R:d_m\001
4 1 0 100 0 18 18 0.0000 4 270 1170 6525 2790 CDx:c_m\001
4 0 4 100 0 18 18 0.0000 4 270 1065 8640 2790 SS:[out]\001
4 1 1 101 0 3 20 0.0000 4 210 1170 8055 3285 Extension\001
4 1 4 100 0 18 18 0.0000 4 270 810 4275 4545 SS:[F]\001
4 1 1 101 0 3 20 0.0000 4 270 3150 7875 4680 Simple linear muscle model\001
4 1 1 101 0 3 20 0.0000 4 210 1365 2340 3240 Connection\001
4 1 1 101 0 3 20 0.0000 4 270 1335 3015 4545 Force input\001

% -*-latex-*- Put EMACS into LaTeX-mode
% Verbal description for system Muscle1 (Muscle1_desc.tex)
% Generated by MTT on Thu Apr 19 10:39:29 BST 2001.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  2000/12/28 09:13:38  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{Muscle1} is
   displayed in Figure \Ref{fig:Muscle1_abg.ps} and its label
   file is listed in Section \Ref{sec:Muscle1_lbl}.
   The subsystems are listed in Section \Ref{sec:Muscle1_sub}.


This model is a highly simplified linear model of a muscle. The two
main components are:
\begin{itemize}
\item a \textbf{CDx} component representing the muscle compliance and
  also providing a measurement of muscle extension and
\item an \textbf{R} component representing mechanical damping in the muscle
\end{itemize}

The component has three ports:
\begin{description}
\item [in] representing the connection of the muscle to the outside world. The
  corresponding force corresponds to the sum of the muscle force and
  the reaction force of connected components.
\item[out] a measurement of the muscle extension.
\item[F] Representing the force component of the muscle model.
\end{description} 

%% Label file for system Muscle1 (Muscle1_lbl.txt)
%SUMMARY Muscle1
%DESCRIPTION 

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  2000/12/28 09:13:38  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases
%ALIAS	F	F
%ALIAS	in	in
%ALIAS	out	out

% Argument aliases
%ALIAS	$1	c_m
%ALIAS	$2	d_m

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----

% Component type CDx
	c_m	lin		c_m

% Component type R
	d_m	lin		flow,d_m

% Component type SS
	[F]	SS		external,external
	[in]	SS		external,external
	[out]	SS		external,external