Overview
Comment:A passive multiple trailer system dor indoor service robots.
Downloads: Tarball | ZIP archive | SQL archive
Timelines: family | ancestors | descendants | both | origin/master | trunk
Files: files | file ages | folders
SHA3-256: 09dab38f4a2bede1451dc665a874c9dd6a336ad007c391bfb0fe91235466011e
User & Date: geraint@users.sourceforge.net on 2004-09-12 23:16:24
Other Links: branch diff | manifest | tags
Context
2004-09-13
10:50:36
Minor formatting. check-in: fc177d09e6 user: geraint@users.sourceforge.net tags: origin/master, trunk
2004-09-12
23:16:24
A passive multiple trailer system dor indoor service robots. check-in: 09dab38f4a user: geraint@users.sourceforge.net tags: origin/master, trunk
22:27:27
Appended 't' to fopen mode string to open in text mode. check-in: 1459f7b012 user: geraint@users.sourceforge.net tags: origin/master, trunk
Changes
Hide Diffs Unified Diffs Ignore Whitespace Patch

Added mttroot/mtt/lib/examples/Dia/robotrain/make_trajectory.sh version [4193eb4c97]. 













































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#! /bin/sh
mtt -cc -no-reduce robotrain odeso ps
cd MTT_work
#set data style lines
cat <<EOF | gnuplot
set timestamp
set key left
set xlabel 'x'
set ylabel 'y'
set grid 
set title 'MTT model "robotrain": trajectory of trailer links'
plot   'robotrain_odes.dat2' using 4:5   title 'front'
replot 'robotrain_odes.dat2' using 8:9   title 'middle'
replot 'robotrain_odes.dat2' using 12:13 title 'rear'
set terminal postscript eps
set output "trajectory.ps"
replot
EOF
cd ..
cp MTT_work/trajectory.ps .
gv trajectory.ps

Added mttroot/mtt/lib/examples/Dia/robotrain/robotrain_abg.dia version [ead8854105]. 

















































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































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      <dia:attribute name="obj_bb">
        <dia:rectangle val="48.1316,32.0536;57.0035,34.7469"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="61.3169,33.9036"/>
        <dia:point val="44.5982,33.9036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="object_edge_start">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="effort_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="show_labels">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O17" connection="0"/>
        <dia:connection handle="1" to="O18" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O22">
      <dia:attribute name="obj_pos">
        <dia:point val="44.5982,33.9036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="31.946,32.0536;40.9996,34.7469"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="44.5982,33.9036"/>
        <dia:point val="28.0044,33.9036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="object_edge_start">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="effort_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="show_labels">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O18" connection="0"/>
        <dia:connection handle="1" to="O20" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O23">
      <dia:attribute name="obj_pos">
        <dia:point val="28.0044,33.9036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="14.7593,32.0536;24.0012,34.7469"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="28.0044,33.9036"/>
        <dia:point val="11.4107,33.9036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="object_edge_start">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="effort_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="show_labels">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O20" connection="0"/>
        <dia:connection handle="1" to="O19" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT port" version="0" id="O24">
      <dia:attribute name="obj_pos">
        <dia:point val="3,28"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="2.95,27.95;7.05888,29.8571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="3,28"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="4.0088834764831835"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.8071067811866759"/>
      </dia:attribute>
      <dia:attribute name="line_width">
        <dia:real val="0.10000000000000001"/>
      </dia:attribute>
      <dia:attribute name="line_colour">
        <dia:color val="#000000"/>
      </dia:attribute>
      <dia:attribute name="fill_colour">
        <dia:color val="#ffffff"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="line_style">
        <dia:enum val="0"/>
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="text">
        <dia:composite type="text">
          <dia:attribute name="string">
            <dia:string>#SS:Fx#</dia:string>
          </dia:attribute>
          <dia:attribute name="font">
            <dia:font family="serif" style="80" name="Times-Roman"/>
          </dia:attribute>
          <dia:attribute name="height">
            <dia:real val="1"/>
          </dia:attribute>
          <dia:attribute name="pos">
            <dia:point val="5.00444,29.2036"/>
          </dia:attribute>
          <dia:attribute name="color">
            <dia:color val="#000000"/>
          </dia:attribute>
          <dia:attribute name="alignment">
            <dia:enum val="1"/>
          </dia:attribute>
        </dia:composite>
      </dia:attribute>
      <dia:attribute name="flip_horizontal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="flip_vertical">
        <dia:boolean val="false"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="BondGraph - MTT port" version="0" id="O25">
      <dia:attribute name="obj_pos">
        <dia:point val="5,39"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="4.95,38.95;9.05888,40.8571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="5,39"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="4.0088834764831835"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.8071067811865476"/>
      </dia:attribute>
      <dia:attribute name="line_width">
        <dia:real val="0.10000000000000001"/>
      </dia:attribute>
      <dia:attribute name="line_colour">
        <dia:color val="#000000"/>
      </dia:attribute>
      <dia:attribute name="fill_colour">
        <dia:color val="#ffffff"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="line_style">
        <dia:enum val="0"/>
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="text">
        <dia:composite type="text">
          <dia:attribute name="string">
            <dia:string>#SS:Fy#</dia:string>
          </dia:attribute>
          <dia:attribute name="font">
            <dia:font family="serif" style="80" name="Times-Roman"/>
          </dia:attribute>
          <dia:attribute name="height">
            <dia:real val="1"/>
          </dia:attribute>
          <dia:attribute name="pos">
            <dia:point val="7.00444,40.2036"/>
          </dia:attribute>
          <dia:attribute name="color">
            <dia:color val="#000000"/>
          </dia:attribute>
          <dia:attribute name="alignment">
            <dia:enum val="1"/>
          </dia:attribute>
        </dia:composite>
      </dia:attribute>
      <dia:attribute name="flip_horizontal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="flip_vertical">
        <dia:boolean val="false"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O26">
      <dia:attribute name="obj_pos">
        <dia:point val="11.4107,33.9036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="6.14248,28.2613;12.1275,33.6511"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="11.4107,33.9036"/>
        <dia:point val="5.00444,28.9036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="object_edge_start">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="effort_causality">
        <dia:enum val="0"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="0"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="start_label">
        <dia:string>#[x2]#</dia:string>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O19" connection="0"/>
        <dia:connection handle="1" to="O24" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O27">
      <dia:attribute name="obj_pos">
        <dia:point val="11.4107,33.9036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="7.59255,34.313;12.8781,39.861"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="11.4107,33.9036"/>
        <dia:point val="7.00444,39.9036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="object_edge_start">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="effort_causality">
        <dia:enum val="0"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="0"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="start_label">
        <dia:string>#[y2]#</dia:string>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O19" connection="0"/>
        <dia:connection handle="1" to="O25" connection="0"/>
      </dia:connections>
    </dia:object>
  </dia:layer>
</dia:diagram>

Added mttroot/mtt/lib/examples/Dia/robotrain/robotrain_abg.ps version [489ef30f5a]. 

















































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































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%!PS-Adobe-2.0 EPSF-2.0
%%Title: robotrain_abg.dia
%%Creator: Dia v0.94+bondgraph
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n 56.850700 27.764300 m 56.850700 27.764300 0.000000 0.000000 90.000000 180.000000 ellipse f
n 68.850700 27.764300 m 68.850700 27.764300 0.000000 0.000000 0.000000 90.000000 ellipse f
0.100000 slw
[] 0 sd
[] 0 sd
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0.000000 0.000000 0.000000 srgb
n 56.850700 25.914300 m 68.850700 25.914300 l s
n 56.850700 27.764300 m 68.850700 27.764300 l s
n 56.850700 25.914300 0.000000 0.000000 180.000000 270.000000 ellipse s
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1.000000 1.000000 1.000000 srgb
n 41.630000 16.085000 m 41.630000 17.985000 l 54.930000 17.985000 l 54.930000 16.085000 l f
0.100000 slw
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0.000000 0.000000 0.000000 srgb
n 41.630000 16.085000 m 41.630000 17.985000 l 54.930000 17.985000 l 54.930000 16.085000 l cp s
1.000000 1.000000 1.000000 srgb
n 42.650000 17.050000 0.500000 0.500000 0 360 ellipse f
0.100000 slw
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[] 0 sd
0.000000 0.000000 0.000000 srgb
n 42.650000 17.050000 0.500000 0.500000 0 360 ellipse cp s
0.100000 slw
[] 0 sd
[] 0 sd
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/Times-Roman-latin1 ff 0.700000 scf sf
(tractor:tractor) dup sw 2 div 61.316942 ex sub 34.203553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
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[] 0 sd
/Times-Roman-latin1 ff 0.700000 scf sf
(trailer:front) dup sw 2 div 44.598192 ex sub 34.203553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
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0 slj
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0 slj
[] 0 sd
/Times-Roman-latin1 ff 0.700000 scf sf
(trailer:rear) dup sw 2 div 11.410692 ex sub 34.203553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Times-Roman-latin1 ff 0.700000 scf sf
(trailer:middle) dup sw 2 div 28.004442 ex sub 34.203553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 55.953548 33.903600 m 49.243170 33.903600 l s
/Helvetica-latin1 ff 0.560000 scf sf
n 49.243170 33.903600 m 50.542209 34.653600 l s
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 39.949569 33.903600 m 33.057646 33.903600 l s
/Helvetica-latin1 ff 0.560000 scf sf
n 33.057646 33.903600 m 34.356684 34.653600 l s
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 22.951178 33.903600 m 15.870928 33.903600 l s
/Helvetica-latin1 ff 0.560000 scf sf
n 15.870928 33.903600 m 17.169966 34.653600 l s
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Times-Roman-latin1 ff 0.700000 scf sf
(SS:Fx) dup sw 2 div 5.004442 ex sub 29.203553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Times-Roman-latin1 ff 0.700000 scf sf
(SS:Fy) dup sw 2 div 7.004442 ex sub 40.203553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 9.400878 32.334961 m 7.014653 30.472545 l s
n 9.400878 32.334961 m 8.939425 32.926198 l s
n 9.400878 32.334961 m 9.862330 31.743723 l s
n 7.014653 30.472545 m 7.577254 31.863041 l s
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 10.119016 35.662485 m 8.296124 38.144715 l s
n 10.119016 35.662485 m 10.723519 36.106417 l s
n 10.119016 35.662485 m 9.514513 35.218552 l s
n 8.296124 38.144715 m 9.669541 37.541618 l s
showpage

Added mttroot/mtt/lib/examples/Dia/robotrain/robotrain_desc.tex version [0e2575aeb0]. 

































































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% -*-latex-*- Put EMACS into LaTeX-mode
% Verbal description for system robotrain (robotrain_desc.tex)
% Generated by MTT on Sun Sep 12 20:03:30 BST 2004.

The acausal bond graph of system \textbf{robotrain} is
displayed in Figure \Ref{fig:robotrain_abg.ps}.
The model is based on an off-hooked design of a passive multiple
trailer system for indoor service robots
\footnote{{Jaehyoung Lee, Woojin Chung, Munsang Kim, Chongwon Lee and Jeabok-Song,
    A passive multiple trailer system for indoor service robots,
    \emph{Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems},
    Maui, Hawaii, USA, 2001}}
The equations of motion for each trailer are given by:
\begin{align}
  v_i &= v_{i-1}\cos \phi_i+D_{i-1}\dot\theta_{i-1}\sin \phi_i\\
  \dot\theta_i &= \frac{1}{L_i}\left(v_{i-1}\sin \phi_i+D_{i-1}\dot\theta_{i-1}\cos \phi_i\right)\\
  \phi_i &= \theta_{i-1}-\theta_i
\end{align}
where $v$ and $\dot\theta$ are the translational and rotational velocity of each trailer (in the body axis system), $L$ and $D$ are the lengths of the front and rear moment arms, and the subscripts $_i$ and $_{i-1}$ refer to any trailer and the one in front of it.

The label file is listed in Section \Ref{sec:robotrain_lbl} and the
subsystems are listed in Section \Ref{sec:robotrain_sub}.

\subsection{Trajectory}
The trajectory of each of the trailer hooks in response to a constant forward and rotational velocity is shown in figure \Ref{fig:trajectory.ps}. 
\fig{trajectory}{trajectory.ps}{0.9}{Trajectory of trailer links}
The plot was generated with the following script:
\footnotesize
\verbatiminput{make_trajectory.sh}
\normalsize

Added mttroot/mtt/lib/examples/Dia/robotrain/robotrain_input.txt version [f3726c6409]. 





























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## -*-octave-*- Put Emacs into octave-mode ##
 
## 
## System robotrain, representation input, language txt; 
## File robotrain_input.txt; 
## Generated by MTT on Fri Sep 10 00:39:34 BST 2004; 



robotrain__Fx			= 0.0;
robotrain__Fy			= 0.0;
robotrain__tractor__omega__u	= 1.0;
robotrain__tractor__v__u		= 1.0;

Added mttroot/mtt/lib/examples/Dia/robotrain/robotrain_lbl.txt version [c96da6fc3e]. 











































































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#SUMMARY robotrain
#DESCRIPTION Detailed description here

## System robotrain, representation lbl, language txt
## File robotrain_lbl.txt
## Generated by MTT on Sun Sep 12 19:26:13 BST 2004

  ###################################### 
  ##### Model Transformation Tools #####
  ######################################

## Port aliases

## Argument aliases
#ALIAS	$1	D
#ALIAS	$2	L

## 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 SS
	Fx	SS		external,external		
	Fy	SS		external,external		

## Component type tractor
	tractor	lin		D

## Component type trailer
	front	lin		D;L
	middle	lin		D;L
	rear	lin		D;L

Added mttroot/mtt/lib/examples/Dia/robotrain/robotrain_rep.pdf version [befc3b00a1].

cannot compute difference between binary files

Added mttroot/mtt/lib/examples/Dia/robotrain/robotrain_rep.txt version [9f54dfcd22]. 





















































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## -*-octave-*- Put Emacs into octave-mode
## Outline report file for system robotrain (robotrain_rep.txt)
## Generated by MTT on" Sun Sep 12 20:02:40 BST 2004.

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

## mtt robotrain rep txt		# This file

Added mttroot/mtt/lib/examples/Dia/robotrain/robotrain_simpar.txt version [9624a81d99]. 



























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# -*-octave-*- Put Emacs into octave-mode
# Simulation parameters for system robotrain (robotrain_simpar.txt)
# Generated by MTT on Sun Sep 12 18:45:47 BST 2004.

FIRST        = 0.0;       # First time in simulation output
DT          = 0.1;        # Print interval
LAST        = 10.0;       # Last time in simulation
STEPFACTOR  = 10;          # Integration steps per print interval
WMIN        = -1;         # Minimum frequency = 10^WMIN
WMAX        = 2;          # Maximum frequency = 10^WMAX
WSTEPS      = 100;        # Number of frequency steps
INPUT       = 1;          # Index of the input

Added mttroot/mtt/lib/examples/Dia/robotrain/robotrain_state.txt version [341d93c3fd]. 





































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## -*-octave-*- Put Emacs into octave-mode ##
 
## 
## System robotrain, representation state, language txt; 
## File robotrain_state.txt; 
## Generated by MTT on Sun Sep 12 18:46:40 BST 2004; 

robotrain__tractor__yaw__mttC		= 0.0;
robotrain__front__mttINTF__mttC		= -D;
robotrain__front__mttINTF_2__mttC	= 0.0;
robotrain__front__yaw__mttC		= 0.0;
robotrain__middle__mttINTF__mttC	= -(D+L+D);
robotrain__middle__mttINTF_2__mttC	= 0.0;
robotrain__middle__yaw__mttC		= 0.0;
robotrain__rear__mttINTF__mttC		= -(D+L+D+L+D);
robotrain__rear__mttINTF_2__mttC	= 0.0;
robotrain__rear__yaw__mttC		= 0.0;

Added mttroot/mtt/lib/examples/Dia/robotrain/rotate_z.cr version [b08e480b1c]. 

























































































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operator rotate_z;

let rotate_z (R,~out_causality,1,
   ~x1,~causality1,1,
   ~y1,~causality2,2,
   ~x2,~causality3,3,
   ~y2,~causality4,4,
   ~psi,~causality5,5) =>		% x1
      x2*cos(psi)-y2*sin(psi);

let rotate_z (R,~out_causality,2,
   ~x1,~causality1,1,
   ~y1,~causality2,2,
   ~x2,~causality3,3,
   ~y2,~causality4,4,
   ~psi,~causality5,5) =>		% y1
      x2*sin(psi)+y2*sin(psi);

let rotate_z (R,~out_causality,3,
   ~x1,~causality1,1,
   ~y1,~causality2,2,
   ~x2,~causality3,3,
   ~y2,~causality4,4,
   ~psi,~causality5,5) =>		% x2
      x1*cos(psi)+y1*sin(psi);

let rotate_z (R,~out_causality,4,
   ~x1,~causality1,1,
   ~y1,~causality2,2,
   ~x2,~causality3,3,
   ~y2,~causality4,4,
   ~psi,~causality5,5) =>		% y2
      -x1*sin(psi)+y1*cos(psi);

let rotate_z (R,~out_causality,5,
   ~x1,~causality1,1,
   ~y1,~causality2,2,
   ~x2,~causality3,3,
   ~y2,~causality4,4,
   ~psi,~causality5,5) =>		% x1
      0;

;end;

Added mttroot/mtt/lib/examples/Dia/robotrain/rotate_z.pm version [1022fea680]. 











































































































































































































































































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#-------------------------------------------------------------------------------
#			Model Transformation Tools
#-------------------------------------------------------------------------------


package rotate_z;

#-------------------------------------------------------------------------------
#		rotation of x-y plane about z
#-------------------------------------------------------------------------------

use strict;
use warnings;

#-------------------------------------------------------------------------------
# standard module header (see perlmod for explanation)
#-------------------------------------------------------------------------------
BEGIN {
    use Exporter   ();
    our ($VERSION, @ISA, @EXPORT, @EXPORT_OK, %EXPORT_TAGS);

    $VERSION     = 1.00;

    @ISA         = qw(Exporter);
    @EXPORT      = qw(&rotate_z);	# CR name
    %EXPORT_TAGS = ( );
}

#-------------------------------------------------------------------------------
# declaration of specific component implementations
#-------------------------------------------------------------------------------
sub rotate_z_R(@);		# R

#-------------------------------------------------------------------------------
# main function: selects which subfunction to call
#-------------------------------------------------------------------------------
sub rotate_z (@) {

    my $retval;

    $_ = $_[0];

    s/\((.*)\)/$1/;		# strip brackets
    my @args = split (/,/);	# split arguments

    $_ = $args[0];		# get component type

    # select rule to use
    if (/^R|r$/)	{ $retval = rotate_z_R	(@args); }
    
    # if a substitution has been made ($retval)
    if ($retval)
    {
	return $retval;		# return substituted expression
    }
    else			# return nothing
    {
	return;
    }
}

#-------------------------------------------------------------------------------
# R
#-------------------------------------------------------------------------------
sub rotate_z_R (@) {

    my @args = @_;
    my $retval = '';

    if ($#args == 18-1)
    {
	my ($component,
	    $out_causality,
	    $out_port,
	    $x1,
	    $causality1,
	    $port1,
	    $y1,
	    $causality2,
	    $port2,
	    $x2,
	    $causality3,
	    $port3,
	    $y2,
	    $causality4,
	    $port4,
	    $psi,
	    $causality5,
	    $port5) = @args;

	# [ x2 ]   [ +cos(psi) +sin(psi) 0 ] [ x1 ]
	# [ y2 ] = [ -sin(psi) +cos(psi) 0 ] [ y1 ]
	# [ z2 ]   [    0          0     1 ] [ z1 ]

	# for reverse transformation (x2->x1) use psi=-psi
	# note that cos(-psi)=cos(psi) and sin(-psi)=-sin(psi)

	if ($out_port == 1)	# x1
	{
	    $retval = "(($x2)*(+cos($psi))+($y2)*(-sin($psi)))";
	}
	elsif ($out_port == 2)	# y1
	{
	    $retval = "(($x2)*(+sin($psi))+($y2)*(+cos($psi)))";
	}
	elsif ($out_port == 3)	# x2
	{
	    $retval = "(($x1)*(+cos($psi))+($y1)*(+sin($psi)))";
	}
	elsif ($out_port == 4)	# y2
	{
	    $retval = "(($x1)*(-sin($psi))+($y1)*(+cos($psi)))";
	}
	elsif ($out_port == 5)
	{
	    $retval = "(0)";
	}
    }
    
    if ($retval)
    {
	return $retval;
    }
    else
    {
	return;
    }
}

#-------------------------------------------------------------------------------
1;				# return true

Added mttroot/mtt/lib/examples/Dia/robotrain/rotation_abg.dia version [df991c37a8]. 









































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































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        <dia:point val="0.9,-1.0125"/>
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      <dia:attribute name="text">
        <dia:composite type="text">
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            <dia:string>#Rotation about Z#</dia:string>
          </dia:attribute>
          <dia:attribute name="font">
            <dia:font family="sans" style="0" name="Helvetica"/>
          </dia:attribute>
          <dia:attribute name="height">
            <dia:real val="2"/>
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        </dia:composite>
      </dia:attribute>
    </dia:object>
  </dia:layer>
  <dia:layer name="Bond Graph" visible="true">
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        <dia:point val="2.14556,1.95"/>
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      <dia:attribute name="obj_bb">
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        <dia:point val="2.14556,1.95"/>
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      <dia:attribute name="elem_width">
        <dia:real val="5.3838834764831835"/>
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      <dia:attribute name="elem_height">
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        <dia:enum val="0"/>
        <dia:real val="1"/>
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      <dia:attribute name="text">
        <dia:composite type="text">
          <dia:attribute name="string">
            <dia:string>#SS:[x_1]#</dia:string>
          </dia:attribute>
          <dia:attribute name="font">
            <dia:font family="sans" style="80" name="Helvetica"/>
          </dia:attribute>
          <dia:attribute name="height">
            <dia:real val="1"/>
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          <dia:attribute name="pos">
            <dia:point val="4.8375,3.10355"/>
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        <dia:boolean val="false"/>
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      <dia:attribute name="obj_bb">
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        <dia:enum val="0"/>
        <dia:real val="1"/>
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      <dia:attribute name="text">
        <dia:composite type="text">
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            <dia:string>#SS:[y_1]#</dia:string>
          </dia:attribute>
          <dia:attribute name="font">
            <dia:font family="sans" style="80" name="Helvetica"/>
          </dia:attribute>
          <dia:attribute name="height">
            <dia:real val="1"/>
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          <dia:attribute name="pos">
            <dia:point val="6.94819,23.6536"/>
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            <dia:color val="#0000ff"/>
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            <dia:enum val="1"/>
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        </dia:composite>
      </dia:attribute>
      <dia:attribute name="flip_horizontal">
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      <dia:attribute name="flip_vertical">
        <dia:boolean val="false"/>
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    </dia:object>
    <dia:object type="BondGraph - MTT port" version="0" id="O3">
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      <dia:attribute name="obj_bb">
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      <dia:attribute name="elem_width">
        <dia:real val="5.3838834764832004"/>
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        <dia:real val="0.10000000000000001"/>
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        <dia:color val="#000000"/>
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        <dia:color val="#ffffff"/>
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      <dia:attribute name="line_style">
        <dia:enum val="0"/>
        <dia:real val="1"/>
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      <dia:attribute name="text">
        <dia:composite type="text">
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            <dia:string>#SS:[x_2]#</dia:string>
          </dia:attribute>
          <dia:attribute name="font">
            <dia:font family="sans" style="80" name="Helvetica"/>
          </dia:attribute>
          <dia:attribute name="height">
            <dia:real val="1"/>
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          <dia:attribute name="pos">
            <dia:point val="36.3044,12.2536"/>
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          <dia:attribute name="color">
            <dia:color val="#ff0000"/>
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      </dia:attribute>
      <dia:attribute name="flip_horizontal">
        <dia:boolean val="false"/>
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      <dia:attribute name="flip_vertical">
        <dia:boolean val="false"/>
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    <dia:object type="BondGraph - MTT port" version="0" id="O4">
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        <dia:point val="15.75,-2.05"/>
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      <dia:attribute name="obj_bb">
        <dia:rectangle val="15.7,-2.1;21.1214,-0.192893"/>
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        <dia:point val="15.75,-2.05"/>
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      <dia:attribute name="elem_width">
        <dia:real val="5.321383476483188"/>
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      <dia:attribute name="elem_height">
        <dia:real val="1.8071067811865476"/>
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        <dia:real val="0.10000000000000001"/>
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      <dia:attribute name="line_colour">
        <dia:color val="#000000"/>
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      <dia:attribute name="fill_colour">
        <dia:color val="#ffffff"/>
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      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
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      <dia:attribute name="line_style">
        <dia:enum val="0"/>
        <dia:real val="1"/>
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      <dia:attribute name="text">
        <dia:composite type="text">
          <dia:attribute name="string">
            <dia:string>#SS:[y_2]#</dia:string>
          </dia:attribute>
          <dia:attribute name="font">
            <dia:font family="sans" style="80" name="Helvetica"/>
          </dia:attribute>
          <dia:attribute name="height">
            <dia:real val="1"/>
          </dia:attribute>
          <dia:attribute name="pos">
            <dia:point val="18.4107,-0.896447"/>
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          <dia:attribute name="color">
            <dia:color val="#ff0000"/>
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          <dia:attribute name="alignment">
            <dia:enum val="1"/>
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        </dia:composite>
      </dia:attribute>
      <dia:attribute name="flip_horizontal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="flip_vertical">
        <dia:boolean val="false"/>
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    </dia:object>
    <dia:object type="BondGraph - MTT port" version="0" id="O5">
      <dia:attribute name="obj_pos">
        <dia:point val="16.1562,24.45"/>
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      <dia:attribute name="obj_bb">
        <dia:rectangle val="16.1062,24.4;20.7776,26.3071"/>
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        <dia:point val="16.1562,24.45"/>
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      <dia:attribute name="elem_width">
        <dia:real val="4.5713834764831827"/>
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      <dia:attribute name="elem_height">
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        <dia:real val="0.10000000000000001"/>
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      <dia:attribute name="line_colour">
        <dia:color val="#000000"/>
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      <dia:attribute name="fill_colour">
        <dia:color val="#ffffff"/>
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      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
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      <dia:attribute name="line_style">
        <dia:enum val="0"/>
        <dia:real val="1"/>
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      <dia:attribute name="text">
        <dia:composite type="text">
          <dia:attribute name="string">
            <dia:string>#SS:[psi]#</dia:string>
          </dia:attribute>
          <dia:attribute name="font">
            <dia:font family="sans" style="0" name="Helvetica"/>
          </dia:attribute>
          <dia:attribute name="height">
            <dia:real val="1"/>
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          <dia:attribute name="pos">
            <dia:point val="18.4419,25.6036"/>
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          <dia:attribute name="color">
            <dia:color val="#a020f0"/>
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          <dia:attribute name="alignment">
            <dia:enum val="1"/>
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      </dia:attribute>
      <dia:attribute name="flip_horizontal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="flip_vertical">
        <dia:boolean val="false"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="BondGraph - MTT port" version="0" id="O6">
      <dia:attribute name="obj_pos">
        <dia:point val="15.3831,11.05"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="15.3331,11;21.567,12.9071"/>
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      <dia:attribute name="elem_corner">
        <dia:point val="15.3831,11.05"/>
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      <dia:attribute name="elem_width">
        <dia:real val="6.1338834764831853"/>
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      <dia:attribute name="elem_height">
        <dia:real val="1.807106781186546"/>
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      <dia:attribute name="line_width">
        <dia:real val="0.10000000000000001"/>
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      <dia:attribute name="line_colour">
        <dia:color val="#000000"/>
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      <dia:attribute name="fill_colour">
        <dia:color val="#ffffff"/>
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      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
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        <dia:enum val="0"/>
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="text">
        <dia:composite type="text">
          <dia:attribute name="string">
            <dia:string>#R:rotation#</dia:string>
          </dia:attribute>
          <dia:attribute name="font">
            <dia:font family="sans" style="80" name="Helvetica"/>
          </dia:attribute>
          <dia:attribute name="height">
            <dia:real val="1"/>
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          <dia:attribute name="pos">
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          <dia:attribute name="color">
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      <dia:attribute name="flip_horizontal">
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      <dia:attribute name="flip_vertical">
        <dia:boolean val="false"/>
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    <dia:object type="BondGraph - MTT bond" version="0" id="O7">
      <dia:attribute name="obj_pos">
        <dia:point val="4.8375,2.85355"/>
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      <dia:attribute name="obj_bb">
        <dia:rectangle val="7.06373,2.70029;10.6949,6.32361"/>
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        <dia:point val="11.7419,7.36855"/>
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      <dia:attribute name="numcp">
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      <dia:attribute name="effort_causality">
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      <dia:attribute name="arrow_on_start">
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      <dia:attribute name="signal">
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        <dia:connection handle="0" to="O1" connection="0"/>
        <dia:connection handle="1" to="O9" connection="0"/>
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      <dia:attribute name="obj_bb">
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        <dia:composite type="text">
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          <dia:attribute name="font">
            <dia:font family="sans" style="80" name="Helvetica"/>
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          <dia:attribute name="pos">
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            <dia:font family="sans" style="80" name="Helvetica"/>
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        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="flip_vertical">
        <dia:boolean val="false"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O12">
      <dia:attribute name="obj_pos">
        <dia:point val="6.94819,23.4036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="8.53478,18.9813;12.1152,22.7979"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="6.94819,23.4036"/>
        <dia:point val="12.8419,17.5186"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="line_color">
        <dia:color val="#0000ff"/>
      </dia:attribute>
      <dia:attribute name="absolute_start_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="absolute_end_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="object_edge_start">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="effort_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O2" connection="0"/>
        <dia:connection handle="1" to="O10" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O13">
      <dia:attribute name="obj_pos">
        <dia:point val="27.9169,12.0036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="29.7336,10.1536;32.6739,12.8469"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="27.9169,12.0036"/>
        <dia:point val="36.3044,12.0036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="line_color">
        <dia:color val="#ff0000"/>
      </dia:attribute>
      <dia:attribute name="absolute_start_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="absolute_end_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="object_edge_start">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="effort_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O8" connection="0"/>
        <dia:connection handle="1" to="O3" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O14">
      <dia:attribute name="obj_pos">
        <dia:point val="18.3919,5.46855"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="18.312,0.16061;19.6051,3.71831"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="18.3919,5.46855"/>
        <dia:point val="18.4107,-1.14645"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="line_color">
        <dia:color val="#ff0000"/>
      </dia:attribute>
      <dia:attribute name="absolute_start_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="absolute_end_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="object_edge_start">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="effort_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O11" connection="0"/>
        <dia:connection handle="1" to="O4" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O15">
      <dia:attribute name="obj_pos">
        <dia:point val="11.7419,7.36855"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="12.498,6.29215;19.2016,11.4588"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="11.7419,7.36855"/>
        <dia:point val="18.45,11.9536"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="line_color">
        <dia:color val="#0000ff"/>
      </dia:attribute>
      <dia:attribute name="absolute_start_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="absolute_end_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="object_edge_start">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="effort_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="end_label">
        <dia:string>#[1]#</dia:string>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O9" connection="0"/>
        <dia:connection handle="1" to="O6" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O16">
      <dia:attribute name="obj_pos">
        <dia:point val="12.8419,17.5186"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="13.481,12.5484;19.4854,17.866"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="12.8419,17.5186"/>
        <dia:point val="18.45,11.9536"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="line_color">
        <dia:color val="#0000ff"/>
      </dia:attribute>
      <dia:attribute name="absolute_start_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="absolute_end_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="object_edge_start">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="effort_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="end_label">
        <dia:string>#[2]#</dia:string>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O10" connection="0"/>
        <dia:connection handle="1" to="O6" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O17">
      <dia:attribute name="obj_pos">
        <dia:point val="18.45,11.9536"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="19.3997,10.1089;27.0286,12.8344"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="18.45,11.9536"/>
        <dia:point val="27.9169,12.0036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="line_color">
        <dia:color val="#ff0000"/>
      </dia:attribute>
      <dia:attribute name="absolute_start_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="absolute_end_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="object_edge_start">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="effort_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="start_label">
        <dia:string>#[3]#</dia:string>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O6" connection="0"/>
        <dia:connection handle="1" to="O8" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O18">
      <dia:attribute name="obj_pos">
        <dia:point val="18.45,11.9536"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="18.307,5.80776;20.541,11.1429"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="18.45,11.9536"/>
        <dia:point val="18.3919,5.46855"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="line_color">
        <dia:color val="#ff0000"/>
      </dia:attribute>
      <dia:attribute name="absolute_start_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="absolute_end_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="object_edge_start">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="effort_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="start_label">
        <dia:string>#[4]#</dia:string>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O6" connection="0"/>
        <dia:connection handle="1" to="O11" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT port" version="0" id="O19">
      <dia:attribute name="obj_pos">
        <dia:point val="17.3,17.8"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="17.25,17.75;19.6714,19.6571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="17.3,17.8"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="2.3213834764831809"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.80710678118655"/>
      </dia:attribute>
      <dia:attribute name="line_width">
        <dia:real val="0.10000000000000001"/>
      </dia:attribute>
      <dia:attribute name="line_colour">
        <dia:color val="#000000"/>
      </dia:attribute>
      <dia:attribute name="fill_colour">
        <dia:color val="#ffffff"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="line_style">
        <dia:enum val="0"/>
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="text">
        <dia:composite type="text">
          <dia:attribute name="string">
            <dia:string>#AE#</dia:string>
          </dia:attribute>
          <dia:attribute name="font">
            <dia:font family="sans" style="0" name="Helvetica"/>
          </dia:attribute>
          <dia:attribute name="height">
            <dia:real val="1"/>
          </dia:attribute>
          <dia:attribute name="pos">
            <dia:point val="18.4607,18.9536"/>
          </dia:attribute>
          <dia:attribute name="color">
            <dia:color val="#a020f0"/>
          </dia:attribute>
          <dia:attribute name="alignment">
            <dia:enum val="1"/>
          </dia:attribute>
        </dia:composite>
      </dia:attribute>
      <dia:attribute name="flip_horizontal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="flip_vertical">
        <dia:boolean val="false"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O20">
      <dia:attribute name="obj_pos">
        <dia:point val="18.4419,25.3536"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="17.6575,19.057;19.6579,24.557"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="18.4419,25.3536"/>
        <dia:point val="18.4607,18.7036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="line_color">
        <dia:color val="#a020f0"/>
      </dia:attribute>
      <dia:attribute name="line_width">
        <dia:real val="0.050000000000000003"/>
      </dia:attribute>
      <dia:attribute name="absolute_start_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="absolute_end_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="object_edge_start">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="effort_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O5" connection="0"/>
        <dia:connection handle="1" to="O19" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O21">
      <dia:attribute name="obj_pos">
        <dia:point val="18.4607,18.7036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="17.657,12.3017;20.5516,17.9017"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="18.4607,18.7036"/>
        <dia:point val="18.45,11.9536"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="line_color">
        <dia:color val="#a020f0"/>
      </dia:attribute>
      <dia:attribute name="line_width">
        <dia:real val="0.050000000000000003"/>
      </dia:attribute>
      <dia:attribute name="absolute_start_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="absolute_end_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="object_edge_start">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="effort_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="end_label">
        <dia:string>#[5]#</dia:string>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O19" connection="0"/>
        <dia:connection handle="1" to="O6" connection="0"/>
      </dia:connections>
    </dia:object>
  </dia:layer>
</dia:diagram>

Added mttroot/mtt/lib/examples/Dia/robotrain/rotation_abg.ps version [aeb5619686]. 

















































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































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showpage

Added mttroot/mtt/lib/examples/Dia/robotrain/rotation_desc.tex version [585cc1ed33]. 















































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% -*-latex-*- Put EMACS into LaTeX-mode
% Verbal description for system rotation (rotation_desc.tex)
% Generated by MTT on Sun Sep 12 22:06:34 BST 2004.

The acausal bond graph of system \textbf{rotation} is
displayed in Figure \Ref{fig:rotation_abg.ps}  
.
The label file is listed in Section \Ref{sec:rotation_lbl} and the
subsystems are listed in Section \Ref{sec:rotation_sub}.

\subsubsection{rotate\_z constitutive relationship}
The rotation between body and Earth axes is achieved using the ``rotate\_z'' constitutive relationship which is implemented as a Reduce file (.cr) and a Perl module (.pm) to permit the model to be built with or without MTT's -no-reduce option.

\paragraph{rotate\_z.cr}
\footnotesize
\verbatiminput{rotate_z.cr}
\normalsize

\paragraph{rotate\_z.pm}
\footnotesize
\verbatiminput{rotate_z.pm}
\normalsize

Added mttroot/mtt/lib/examples/Dia/robotrain/rotation_lbl.txt version [6ff5537fca]. 



























































































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#SUMMARY rotation
#DESCRIPTION Detailed description here

## System rotation, representation lbl, language txt
## File rotation_lbl.txt
## Generated by MTT on Tue Sep  7 16:59:01 BST 2004

  ###################################### 
  ##### Model Transformation Tools #####
  ######################################

## Port aliases
#ALIAS	in	x_earth,y_earth
#ALIAS	out	x_body,y_body

## 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 0 (anonymous => default parameters)
	# 0							
	# 0							
	# 0							
	# 0							
	# 0							

## Component type AF (anonymous => default parameters)
	# AF							

## Component type R
	rotation	rotate_z

## Component type SS
	[psi]		SS	external,external		
	[x_body]	SS	external,external		
	[x_earth]	SS	external,external		
	[y_body]	SS	external,external		
	[y_earth]	SS	external,external

Added mttroot/mtt/lib/examples/Dia/robotrain/tractor_abg.dia version [68d89c2e44]. 







































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































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      <dia:attribute name="text">
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            <dia:font family="serif" style="80" name="Times-Roman"/>
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            <dia:real val="1"/>
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            <dia:point val="23.8169,36.2036"/>
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            <dia:color val="#000000"/>
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        <dia:point val="23.4,50.65"/>
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            <dia:point val="24.2169,51.8536"/>
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            <dia:color val="#000000"/>
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        <dia:boolean val="false"/>
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        <dia:point val="23.8169,35.9036"/>
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      <dia:attribute name="obj_bb">
        <dia:rectangle val="12.7216,33.9821;22.0006,36.6842"/>
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        <dia:point val="23.8169,35.9036"/>
        <dia:point val="8.46694,35.8036"/>
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        <dia:int val="1"/>
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        <dia:real val="1"/>
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        <dia:boolean val="true"/>
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      <dia:attribute name="arrow_on_start">
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        <dia:boolean val="false"/>
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      <dia:attribute name="end_label">
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        <dia:connection handle="1" to="O8" connection="0"/>
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        <dia:point val="24.2169,51.5536"/>
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      <dia:attribute name="obj_bb">
        <dia:rectangle val="16.6078,42.558;24.3542,50.9191"/>
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        <dia:point val="24.2169,51.5536"/>
        <dia:point val="15.9732,43.3536"/>
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        <dia:real val="1"/>
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        <dia:enum val="1"/>
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      <dia:attribute name="show_labels">
        <dia:boolean val="true"/>
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        <dia:point val="15.9732,43.3536"/>
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      <dia:attribute name="obj_bb">
        <dia:rectangle val="10.0103,35.9701;15.1712,41.7617"/>
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        <dia:point val="15.9732,43.3536"/>
        <dia:point val="8.46694,35.8036"/>
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        <dia:point val="8.46694,35.8036"/>
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        <dia:rectangle val="0.759721,33.9931;5.58945,36.7033"/>
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        <dia:point val="8.46694,35.8036"/>
        <dia:point val="-2.58931,35.9036"/>
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        <dia:int val="1"/>
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        <dia:real val="1"/>
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      <dia:attribute name="start_label">
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        <dia:point val="8.46694,35.8036"/>
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        <dia:point val="8.46694,35.8036"/>
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        <dia:boolean val="false"/>
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      <dia:attribute name="start_label">
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        <dia:point val="32,35"/>
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      <dia:attribute name="obj_bb">
        <dia:rectangle val="31.95,34.95;35.1839,36.8571"/>
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        <dia:real val="1"/>
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            <dia:font family="serif" style="80" name="Times-Roman"/>
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        <dia:point val="30.45,50.65"/>
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        <dia:point val="21.25,46.25"/>
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        <dia:rectangle val="21.2,46.2;27.1839,48.1071"/>
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        <dia:point val="24.2169,51.5536"/>
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        <dia:point val="24.2169,51.5536"/>
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      <dia:attribute name="arrow_on_start">
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      <dia:attribute name="show_labels">
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      <dia:connections>
        <dia:connection handle="0" to="O21" connection="0"/>
        <dia:connection handle="1" to="O23" connection="0"/>
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    <dia:object type="BondGraph - MTT bond" version="0" id="O25">
      <dia:attribute name="obj_pos">
        <dia:point val="18.2857,39.9036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="9.05839,34.4316;17.8253,39.551"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="18.2857,39.9036"/>
        <dia:point val="8.46694,35.8036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="line_width">
        <dia:real val="0.050000000000000003"/>
      </dia:attribute>
      <dia:attribute name="absolute_start_gap">
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      <dia:attribute name="absolute_end_gap">
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      <dia:attribute name="object_edge_end">
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      <dia:attribute name="effort_causality">
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      <dia:attribute name="flow_causality">
        <dia:enum val="2"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="end_label">
        <dia:string>#[psi]#</dia:string>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O28" connection="0"/>
        <dia:connection handle="1" to="O8" connection="0"/>
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    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O26">
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      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
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      <dia:attribute name="effort_causality">
        <dia:enum val="1"/>
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      <dia:attribute name="flow_causality">
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      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
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      <dia:attribute name="signal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="show_labels">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O19" connection="0"/>
        <dia:connection handle="1" to="O12" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O27">
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        <dia:point val="33.4232,51.5536"/>
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      <dia:attribute name="obj_bb">
        <dia:rectangle val="25.1053,49.7036;32.4732,52.3969"/>
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      <dia:attribute name="conn_endpoints">
        <dia:point val="33.4232,51.5536"/>
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      <dia:attribute name="numcp">
        <dia:int val="1"/>
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      <dia:attribute name="signal">
        <dia:boolean val="false"/>
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      <dia:attribute name="show_labels">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O20" connection="0"/>
        <dia:connection handle="1" to="O13" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT port" version="0" id="O28">
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      <dia:attribute name="obj_bb">
        <dia:rectangle val="14.7937,38.95;21.7776,40.8571"/>
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      <dia:attribute name="elem_corner">
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      <dia:attribute name="elem_width">
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      <dia:attribute name="elem_height">
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      </dia:attribute>
      <dia:attribute name="line_width">
        <dia:real val="0.10000000000000001"/>
      </dia:attribute>
      <dia:attribute name="line_colour">
        <dia:color val="#000000"/>
      </dia:attribute>
      <dia:attribute name="fill_colour">
        <dia:color val="#ffffff"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="line_style">
        <dia:enum val="0"/>
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="text">
        <dia:composite type="text">
          <dia:attribute name="string">
            <dia:string>#AE:negative#</dia:string>
          </dia:attribute>
          <dia:attribute name="font">
            <dia:font family="serif" style="0" name="Times-Roman"/>
          </dia:attribute>
          <dia:attribute name="height">
            <dia:real val="1"/>
          </dia:attribute>
          <dia:attribute name="pos">
            <dia:point val="18.2856,40.1536"/>
          </dia:attribute>
          <dia:attribute name="color">
            <dia:color val="#000000"/>
          </dia:attribute>
          <dia:attribute name="alignment">
            <dia:enum val="1"/>
          </dia:attribute>
        </dia:composite>
      </dia:attribute>
      <dia:attribute name="flip_horizontal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="flip_vertical">
        <dia:boolean val="false"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O29">
      <dia:attribute name="obj_pos">
        <dia:point val="24.2169,42.9036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="19.1267,38.6341;23.8662,42.4858"/>
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      <dia:attribute name="conn_endpoints">
        <dia:point val="24.2169,42.9036"/>
        <dia:point val="18.2857,39.9036"/>
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      <dia:attribute name="numcp">
        <dia:int val="1"/>
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      <dia:attribute name="line_width">
        <dia:real val="0.050000000000000003"/>
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      <dia:attribute name="absolute_start_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="absolute_end_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="object_edge_start">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="effort_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="show_labels">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O23" connection="0"/>
        <dia:connection handle="1" to="O28" connection="0"/>
      </dia:connections>
    </dia:object>
  </dia:layer>
</dia:diagram>

Added mttroot/mtt/lib/examples/Dia/robotrain/tractor_abg.ps version [9f0629015e]. 







































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































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%!PS-Adobe-2.0 EPSF-2.0
%%Title: tractor_abg.dia
%%Creator: Dia v0.94+bondgraph
%%CreationDate: Sun Sep 12 21:15:57 2004
%%For: geraint
%%Orientation: Portrait
%%Magnification: 1.0000
%%BoundingBox: 0 0 1177 1288
%%BeginSetup
%%EndSetup
%%EndComments
%%BeginProlog
[ /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef
/.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef
/.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef
/.notdef /.notdef /space /exclam /quotedbl /numbersign /dollar /percent /ampersand /quoteright
/parenleft /parenright /asterisk /plus /comma /hyphen /period /slash /zero /one
/two /three /four /five /six /seven /eight /nine /colon /semicolon
/less /equal /greater /question /at /A /B /C /D /E
/F /G /H /I /J /K /L /M /N /O
/P /Q /R /S /T /U /V /W /X /Y
/Z /bracketleft /backslash /bracketright /asciicircum /underscore /quoteleft /a /b /c
/d /e /f /g /h /i /j /k /l /m
/n /o /p /q /r /s /t /u /v /w
/x /y /z /braceleft /bar /braceright /asciitilde /.notdef /.notdef /.notdef
/.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef
/.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef
/.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef
/space /exclamdown /cent /sterling /currency /yen /brokenbar /section /dieresis /copyright
/ordfeminine /guillemotleft /logicalnot /hyphen /registered /macron /degree /plusminus /twosuperior /threesuperior
/acute /mu /paragraph /periodcentered /cedilla /onesuperior /ordmasculine /guillemotright /onequarter /onehalf
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Added mttroot/mtt/lib/examples/Dia/robotrain/tractor_lbl.txt version [9aa5974a3e]. 





































































































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#SUMMARY tractor
#DESCRIPTION Detailed description here

## System tractor, representation lbl, language txt
## File tractor_lbl.txt
## Generated by MTT on Wed Sep  8 00:42:45 BST 2004

  ###################################### 
  ##### Model Transformation Tools #####
  ######################################

## Port aliases
#ALIAS	out	x2,y2

## Argument aliases
#ALIAS	$1	D

## 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 1 (anonymous => default parameters)
	# 1							
	# 1							
	# 1							

## Component type AE
	negative  lin		effort,-1

## Component type INTF
	yaw	  none				

## Component type SS
	[x2]	  SS		external,external		
	[y2]	  SS		external,external		

## Component type Sf
	omega	  SS		external		
	v	  SS		external		

## Component type TF
	D	  lin		flow,-D		

## Component type rotation
	z2	  rotate_z

Added mttroot/mtt/lib/examples/Dia/robotrain/trailer_abg.dia version [0050075c63]. 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        <dia:point val="6,28"/>
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        <dia:rectangle val="5.95,27.95;10.8714,29.8571"/>
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        <dia:real val="1"/>
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            <dia:font family="serif" style="80" name="Times-Roman"/>
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            <dia:real val="1"/>
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            <dia:point val="8.41069,29.2036"/>
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            <dia:color val="#000000"/>
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        <dia:boolean val="false"/>
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        <dia:point val="47.4169,36.0036"/>
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        <dia:rectangle val="41.5718,34.0969;45.6004,36.8035"/>
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        <dia:point val="47.4169,36.0036"/>
        <dia:point val="37.3169,35.9036"/>
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        <dia:real val="1"/>
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        <dia:enum val="1"/>
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        <dia:point val="37.3084,28.9743"/>
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        <dia:real val="1"/>
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        <dia:color val="#ffffff"/>
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        <dia:real val="1"/>
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            <dia:font family="serif" style="80" name="Times-Roman"/>
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            <dia:point val="23.8169,36.2036"/>
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        <dia:boolean val="false"/>
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        <dia:point val="23,52"/>
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      <dia:attribute name="obj_bb">
        <dia:rectangle val="22.95,51.95;24.6839,53.8571"/>
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        <dia:point val="23,52"/>
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        <dia:real val="1.8071067811865476"/>
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        <dia:real val="0.10000000000000001"/>
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        <dia:color val="#000000"/>
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        <dia:color val="#ffffff"/>
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        <dia:enum val="0"/>
        <dia:real val="1"/>
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            <dia:font family="serif" style="80" name="Times-Roman"/>
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          <dia:attribute name="pos">
            <dia:point val="23.8169,53.2036"/>
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            <dia:color val="#000000"/>
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        <dia:boolean val="false"/>
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        <dia:point val="37.3169,35.9036"/>
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      <dia:attribute name="obj_bb">
        <dia:rectangle val="25.5726,34.0536;34.4497,36.7536"/>
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        <dia:point val="37.3169,35.9036"/>
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        <dia:real val="1"/>
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        <dia:point val="23.8169,35.9036"/>
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        <dia:point val="30.6607,43.9036"/>
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        <dia:rectangle val="24.3106,44.6295;31.0106,53.034"/>
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        <dia:real val="1"/>
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        <dia:point val="8.31694,35.9036"/>
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      <dia:attribute name="obj_bb">
        <dia:rectangle val="7.47974,29.2696;11.0302,35.1198"/>
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        <dia:point val="8.31694,35.9036"/>
        <dia:point val="8.41069,28.9036"/>
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        <dia:real val="1"/>
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        <dia:real val="1"/>
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        <dia:boolean val="true"/>
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      <dia:attribute name="signal">
        <dia:boolean val="false"/>
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      <dia:attribute name="start_label">
        <dia:string>#[y_2]#</dia:string>
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        <dia:point val="21.8438,29"/>
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      <dia:attribute name="obj_bb">
        <dia:rectangle val="21.7938,28.95;25.3402,30.8571"/>
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        <dia:point val="21.8438,29"/>
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        <dia:real val="3.4463834764831862"/>
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        <dia:real val="1.8071067811865476"/>
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        <dia:real val="0.10000000000000001"/>
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        <dia:enum val="0"/>
        <dia:real val="1"/>
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            <dia:font family="serif" style="80" name="Times-Roman"/>
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            <dia:real val="1"/>
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          <dia:attribute name="pos">
            <dia:point val="23.567,30.2036"/>
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        <dia:boolean val="false"/>
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        <dia:point val="20.9,56"/>
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      <dia:attribute name="obj_bb">
        <dia:rectangle val="20.85,55.95;26.8339,57.8571"/>
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        <dia:real val="1"/>
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        <dia:composite type="text">
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            <dia:font family="serif" style="80" name="Times-Roman"/>
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            <dia:real val="1"/>
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            <dia:point val="23.8419,57.2036"/>
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          <dia:attribute name="color">
            <dia:color val="#000000"/>
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        <dia:boolean val="false"/>
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        <dia:point val="23.8169,35.9036"/>
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      <dia:attribute name="obj_bb">
        <dia:rectangle val="23.5525,31.1557;24.9346,34.1016"/>
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        <dia:point val="23.8169,35.9036"/>
        <dia:point val="23.567,29.9036"/>
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        <dia:real val="1"/>
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        <dia:real val="1"/>
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        <dia:point val="23.8169,52.9036"/>
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        <dia:rectangle val="23.7295,53.2461;25.0356,56.0961"/>
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        <dia:point val="23.8169,52.9036"/>
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        <dia:real val="1"/>
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        <dia:point val="20.8,47.05"/>
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      <dia:attribute name="obj_bb">
        <dia:rectangle val="20.75,47;26.7339,48.9071"/>
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        <dia:enum val="0"/>
        <dia:real val="1"/>
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            <dia:point val="23.7419,48.2536"/>
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          <dia:attribute name="color">
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        <dia:point val="23,42"/>
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        <dia:rectangle val="22.95,41.95;24.6839,43.8571"/>
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Added mttroot/mtt/lib/examples/Dia/robotrain/trailer_abg.ps version [a0fab52c92]. 















































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































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%!PS-Adobe-2.0 EPSF-2.0
%%Title: trailer_abg.dia
%%Creator: Dia v0.94+bondgraph
%%CreationDate: Sun Sep 12 21:16:23 2004
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/acute /mu /paragraph /periodcentered /cedilla /onesuperior /ordmasculine /guillemotright /onequarter /onehalf
/threequarters /questiondown /Agrave /Aacute /Acircumflex /Atilde /Adieresis /Aring /AE /Ccedilla
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[] 0 sd
1 slc
n 15.214768 38.274599 m 12.037872 37.182601 l s
n 12.037872 37.182601 m 13.022564 38.314140 l s
n 12.037872 37.182601 m 13.510160 36.895602 l s
n 12.037872 37.182601 m 11.794074 37.891870 l s
n 12.037872 37.182601 m 12.281670 36.473332 l s
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Times-Roman-latin1 ff 0.700000 scf sf
(AE:negative) dup sw 2 div 18.935642 ex sub 39.803553 m gs 1 -1 sc sh gr
0.050000 slw
[] 0 sd
[] 0 sd
1 slc
n 22.129609 41.745601 m 21.148531 41.072280 l s
/Helvetica-latin1 ff 0.560000 scf sf
n 21.148531 41.072280 m 21.795193 42.425730 l s
n 21.148531 41.072280 m 22.643984 41.188979 l s
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Times-Roman-latin1 ff 0.700000 scf sf
(1) dup sw 2 div 47.416942 ex sub 36.303553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Times-Roman-latin1 ff 0.700000 scf sf
(1) dup sw 2 div 37.308342 ex sub 29.274253 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Times-Roman-latin1 ff 0.700000 scf sf
(INTF) dup sw 2 div 47.435692 ex sub 40.903553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Times-Roman-latin1 ff 0.700000 scf sf
(INTF) dup sw 2 div 42.499992 ex sub 29.253553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Times-Roman-latin1 ff 0.700000 scf sf
(SS:[y1]) dup sw 2 div 37.260692 ex sub 21.703553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Times-Roman-latin1 ff 0.700000 scf sf
(SS:[x1]) dup sw 2 div 56.110692 ex sub 36.153553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 52.650329 35.913304 m 49.283266 35.971398 l s
/Helvetica-latin1 ff 0.560000 scf sf
n 52.650329 35.913304 m 52.663268 36.663193 l s
n 52.650329 35.913304 m 52.637391 35.163416 l s
n 49.283266 35.971398 m 50.595049 36.698877 l s
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 37.272986 23.353614 m 37.296114 27.024286 l s
/Helvetica-latin1 ff 0.560000 scf sf
n 37.272986 23.353614 m 38.022971 23.348889 l s
n 37.272986 23.353614 m 36.523001 23.358340 l s
n 37.296114 27.024286 m 38.037914 25.720548 l s
0.050000 slw
[] 0 sd
[] 0 sd
1 slc
n 39.172814 28.966866 m 39.664062 28.964907 l s
/Helvetica-latin1 ff 0.560000 scf sf
n 39.664062 28.964907 m 38.368025 29.720081 l s
n 39.664062 28.964907 m 38.362044 28.220093 l s
0.050000 slw
[] 0 sd
[] 0 sd
1 slc
n 47.424885 37.957339 m 47.427716 38.650142 l s
/Helvetica-latin1 ff 0.560000 scf sf
n 47.427716 38.650142 m 48.172401 37.348049 l s
n 47.427716 38.650142 m 46.672413 37.354179 l s
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Times-Roman-latin1 ff 0.700000 scf sf
(De:y) dup sw 2 div 48.321492 ex sub 29.353553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Times-Roman-latin1 ff 0.700000 scf sf
(De:x) dup sw 2 div 47.421442 ex sub 45.253553 m gs 1 -1 sc sh gr
0.050000 slw
[] 0 sd
[] 0 sd
1 slc
n 45.333284 29.002269 m 45.570649 29.006347 l s
/Helvetica-latin1 ff 0.560000 scf sf
n 45.570649 29.006347 m 44.258922 29.733925 l s
n 45.570649 29.006347 m 44.284684 28.234146 l s
0.050000 slw
[] 0 sd
[] 0 sd
1 slc
n 47.429326 42.556219 m 47.427874 43.000981 l s
/Helvetica-latin1 ff 0.560000 scf sf
n 47.427874 43.000981 m 48.182111 41.704398 l s
n 47.427874 43.000981 m 46.682119 41.699501 l s
showpage

Added mttroot/mtt/lib/examples/Dia/robotrain/trailer_lbl.txt version [b833a95bcb]. 

























































































































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#SUMMARY trailer
#DESCRIPTION Detailed description here

## System trailer, representation lbl, language txt
## File trailer_lbl.txt
## Generated by MTT on Wed Sep  8 00:41:53 BST 2004

  ###################################### 
  ##### Model Transformation Tools #####
  ######################################

## Port aliases
#ALIAS	in	x1,y1
#ALIAS	out	x2,y2

## Argument aliases
#ALIAS	$1	D
#ALIAS	$2	L

## 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 1 (anonymous => default parameters)
	# 1							
	# 1							
	# 1							

## Component type AE
	negative  lin		effort,-1

## Component type De
	x	  SS		external		
	y	  SS		external		

## Component type Df
	omega	  SS		external		
	v	  SS		external		

## Component type INTF
	yaw	  none				

## Component type SS
	[x1]	  SS		external,external		
	[x2]	  SS		external,external		
	[y1]	  SS		external,external		
	[y2]	  SS		external,external		

## Component type TF
	D	  lin		flow,-D		
	L	  lin		effort,L		

## Component type rotation
	z1	  rotate_z		
	z2	  rotate_z

Added mttroot/mtt/lib/examples/Dia/robotrain/trajectory.ps version [a9bf91e4a0]. 

































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































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%!PS-Adobe-2.0 EPSF-2.0
%%Title: trajectory.eps
%%Creator: gnuplot 4.0 patchlevel 0
%%CreationDate: Sun Sep 12 19:59:53 2004
%%DocumentFonts: (atend)
%%BoundingBox: 50 50 410 302
%%Orientation: Portrait
%%EndComments
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/V {rlineto} bind def
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/f {rlineto fill} bind def
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/hpt2 hpt 2 mul def
/Lshow { currentpoint stroke M
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/Cshow { currentpoint stroke M
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/LT3 { PL [1 dl 1.5 dl] 1 0 1 DL } def
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/LT5 { PL [4 dl 3 dl 1 dl 3 dl] 1 1 0 DL } def
/LT6 { PL [2 dl 2 dl 2 dl 4 dl] 0 0 0 DL } def
/LT7 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 1 0.3 0 DL } def
/LT8 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 0.5 0.5 0.5 DL } def
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  hpt neg vpt neg V hpt vpt neg V
  hpt vpt V hpt neg vpt V closepath stroke
  Pnt } def
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  currentpoint stroke M
  hpt neg vpt neg R hpt2 0 V stroke
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  Pnt } def
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  hpt neg vpt -1.62 mul V
  hpt 2 mul 0 V
  hpt neg vpt 1.62 mul V closepath stroke
  Pnt  } def
/Star { 2 copy Pls Crs } def
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  hpt 2 mul 0 V
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  Pnt  } def
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  hpt 2 mul 0 V
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  hpt neg vpt neg V hpt vpt neg V
  hpt vpt V hpt neg vpt V closepath fill } def
/Pent { stroke [] 0 setdash 2 copy gsave
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  closepath stroke grestore Pnt } def
/PentF { stroke [] 0 setdash gsave
  translate 0 hpt M 4 {72 rotate 0 hpt L} repeat
  closepath fill grestore } def
/Circle { stroke [] 0 setdash 2 copy
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/CircleF { stroke [] 0 setdash hpt 0 360 arc fill } def
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/C2 { BL [] 0 setdash 2 copy moveto
       2 copy  vpt 90 180 arc closepath fill
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/C3 { BL [] 0 setdash 2 copy moveto
       2 copy  vpt 0 180 arc closepath fill
               vpt 0 360 arc closepath } bind def
/C4 { BL [] 0 setdash 2 copy moveto
       2 copy  vpt 180 270 arc closepath fill
               vpt 0 360 arc closepath } bind def
/C5 { BL [] 0 setdash 2 copy moveto
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       2 copy moveto
       2 copy  vpt 180 270 arc closepath fill
               vpt 0 360 arc } bind def
/C6 { BL [] 0 setdash 2 copy moveto
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              vpt 0 360 arc closepath } bind def
/C7 { BL [] 0 setdash 2 copy moveto
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/C8 { BL [] 0 setdash 2 copy moveto
      2 copy vpt 270 360 arc closepath fill
              vpt 0 360 arc closepath } bind def
/C9 { BL [] 0 setdash 2 copy moveto
      2 copy  vpt 270 450 arc closepath fill
              vpt 0 360 arc closepath } bind def
/C10 { BL [] 0 setdash 2 copy 2 copy moveto vpt 270 360 arc closepath fill
       2 copy moveto
       2 copy vpt 90 180 arc closepath fill
               vpt 0 360 arc closepath } bind def
/C11 { BL [] 0 setdash 2 copy moveto
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       2 copy moveto
       2 copy  vpt 270 360 arc closepath fill
               vpt 0 360 arc closepath } bind def
/C12 { BL [] 0 setdash 2 copy moveto
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               vpt 0 360 arc closepath } bind def
/C13 { BL [] 0 setdash  2 copy moveto
       2 copy  vpt 0 90 arc closepath fill
       2 copy moveto
       2 copy  vpt 180 360 arc closepath fill
               vpt 0 360 arc closepath } bind def
/C14 { BL [] 0 setdash 2 copy moveto
       2 copy  vpt 90 360 arc closepath fill
               vpt 0 360 arc } bind def
/C15 { BL [] 0 setdash 2 copy vpt 0 360 arc closepath fill
               vpt 0 360 arc closepath } bind def
/Rec   { newpath 4 2 roll moveto 1 index 0 rlineto 0 exch rlineto
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/Square { dup Rec } bind def
/Bsquare { vpt sub exch vpt sub exch vpt2 Square } bind def
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/S1 { BL [] 0 setdash 2 copy vpt Square fill Bsquare } bind def
/S2 { BL [] 0 setdash 2 copy exch vpt sub exch vpt Square fill Bsquare } bind def
/S3 { BL [] 0 setdash 2 copy exch vpt sub exch vpt2 vpt Rec fill Bsquare } bind def
/S4 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def
/S5 { BL [] 0 setdash 2 copy 2 copy vpt Square fill
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/S6 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill Bsquare } bind def
/S7 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill
       2 copy vpt Square fill
       Bsquare } bind def
/S8 { BL [] 0 setdash 2 copy vpt sub vpt Square fill Bsquare } bind def
/S9 { BL [] 0 setdash 2 copy vpt sub vpt vpt2 Rec fill Bsquare } bind def
/S10 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt Square fill
       Bsquare } bind def
/S11 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt2 vpt Rec fill
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/S12 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill Bsquare } bind def
/S13 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill
       2 copy vpt Square fill Bsquare } bind def
/S14 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill
       2 copy exch vpt sub exch vpt Square fill Bsquare } bind def
/S15 { BL [] 0 setdash 2 copy Bsquare fill Bsquare } bind def
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/D2 { gsave translate 45 rotate 0 0 S2 stroke grestore } bind def
/D3 { gsave translate 45 rotate 0 0 S3 stroke grestore } bind def
/D4 { gsave translate 45 rotate 0 0 S4 stroke grestore } bind def
/D5 { gsave translate 45 rotate 0 0 S5 stroke grestore } bind def
/D6 { gsave translate 45 rotate 0 0 S6 stroke grestore } bind def
/D7 { gsave translate 45 rotate 0 0 S7 stroke grestore } bind def
/D8 { gsave translate 45 rotate 0 0 S8 stroke grestore } bind def
/D9 { gsave translate 45 rotate 0 0 S9 stroke grestore } bind def
/D10 { gsave translate 45 rotate 0 0 S10 stroke grestore } bind def
/D11 { gsave translate 45 rotate 0 0 S11 stroke grestore } bind def
/D12 { gsave translate 45 rotate 0 0 S12 stroke grestore } bind def
/D13 { gsave translate 45 rotate 0 0 S13 stroke grestore } bind def
/D14 { gsave translate 45 rotate 0 0 S14 stroke grestore } bind def
/D15 { gsave translate 45 rotate 0 0 S15 stroke grestore } bind def
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/TriUE { stroke [] 0 setdash vpt 1.12 mul add M
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/TriDE { stroke [] 0 setdash vpt 1.12 mul sub M
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/PentE { stroke [] 0 setdash gsave
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/CircE { stroke [] 0 setdash 
  hpt 0 360 arc stroke } def
/Opaque { gsave closepath 1 setgray fill grestore 0 setgray closepath } def
/DiaW { stroke [] 0 setdash vpt add M
  hpt neg vpt neg V hpt vpt neg V
  hpt vpt V hpt neg vpt V Opaque stroke } def
/BoxW { stroke [] 0 setdash exch hpt sub exch vpt add M
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  hpt2 neg 0 V Opaque stroke } def
/TriUW { stroke [] 0 setdash vpt 1.12 mul add M
  hpt neg vpt -1.62 mul V
  hpt 2 mul 0 V
  hpt neg vpt 1.62 mul V Opaque stroke } def
/TriDW { stroke [] 0 setdash vpt 1.12 mul sub M
  hpt neg vpt 1.62 mul V
  hpt 2 mul 0 V
  hpt neg vpt -1.62 mul V Opaque stroke } def
/PentW { stroke [] 0 setdash gsave
  translate 0 hpt M 4 {72 rotate 0 hpt L} repeat
  Opaque stroke grestore } def
/CircW { stroke [] 0 setdash 
  hpt 0 360 arc Opaque stroke } def
/BoxFill { gsave Rec 1 setgray fill grestore } def
/BoxColFill {
  gsave Rec
  /Fillden exch def
  currentrgbcolor
  /ColB exch def /ColG exch def /ColR exch def
  /ColR ColR Fillden mul Fillden sub 1 add def
  /ColG ColG Fillden mul Fillden sub 1 add def
  /ColB ColB Fillden mul Fillden sub 1 add def
  ColR ColG ColB setrgbcolor
  fill grestore } def
%
% PostScript Level 1 Pattern Fill routine
% Usage: x y w h s a XX PatternFill
%	x,y = lower left corner of box to be filled
%	w,h = width and height of box
%	  a = angle in degrees between lines and x-axis
%	 XX = 0/1 for no/yes cross-hatch
%
/PatternFill { gsave /PFa [ 9 2 roll ] def
    PFa 0 get PFa 2 get 2 div add PFa 1 get PFa 3 get 2 div add translate
    PFa 2 get -2 div PFa 3 get -2 div PFa 2 get PFa 3 get Rec
    gsave 1 setgray fill grestore clip
    currentlinewidth 0.5 mul setlinewidth
    /PFs PFa 2 get dup mul PFa 3 get dup mul add sqrt def
    0 0 M PFa 5 get rotate PFs -2 div dup translate
	0 1 PFs PFa 4 get div 1 add floor cvi
	{ PFa 4 get mul 0 M 0 PFs V } for
    0 PFa 6 get ne {
	0 1 PFs PFa 4 get div 1 add floor cvi
	{ PFa 4 get mul 0 2 1 roll M PFs 0 V } for
    } if
    stroke grestore } def
%
/Symbol-Oblique /Symbol findfont [1 0 .167 1 0 0] makefont
dup length dict begin {1 index /FID eq {pop pop} {def} ifelse} forall
currentdict end definefont pop
end
%%EndProlog
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2599 1820 Crs
2715 1882 Crs
2839 1910 Crs
2965 1909 Crs
3090 1884 Crs
3212 1840 Crs
3330 1784 Crs
3446 1719 Crs
3560 1647 Crs
3672 1573 Crs
3784 1497 Crs
3897 1423 Crs
4011 1352 Crs
4126 1285 Crs
4243 1223 Crs
4362 1168 Crs
4483 1121 Crs
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4730 1055 Crs
4855 1037 Crs
4981 1031 Crs
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5233 1054 Crs
5357 1085 Crs
5479 1128 Crs
5597 1184 Crs
5712 1253 Crs
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6325 2053 Crs
6377 2203 Crs
6417 2358 Crs
6446 2518 Crs
6463 2680 Crs
6468 2844 Crs
6461 3008 Crs
6442 3170 Crs
6410 3329 Crs
6368 3483 Crs
6313 3631 Crs
6248 3772 Crs
6173 3903 Crs
6088 4025 Crs
5995 4135 Crs
5893 4232 Crs
5785 4317 Crs
5671 4386 Crs
5552 4441 Crs
5430 4481 Crs
5305 4504 Crs
5179 4511 Crs
5053 4502 Crs
4928 4477 Crs
4806 4436 Crs
4688 4379 Crs
4574 4308 Crs
4467 4222 Crs
4366 4122 Crs
4274 4011 Crs
4191 3887 Crs
4117 3754 Crs
4055 3612 Crs
4003 3462 Crs
3963 3306 Crs
3935 3146 Crs
3920 2984 Crs
3917 2820 Crs
3927 2656 Crs
3950 2495 Crs
3984 2337 Crs
4031 2185 Crs
4089 2039 Crs
4157 1902 Crs
4237 1774 Crs
4325 1657 Crs
4422 1552 Crs
4527 1460 Crs
4638 1383 Crs
4754 1320 Crs
4875 1272 Crs
4999 1241 Crs
5124 1225 Crs
5251 1226 Crs
5376 1244 Crs
5500 1277 Crs
5620 1326 Crs
5736 1391 Crs
5846 1471 Crs
5950 1564 Crs
6046 1670 Crs
6133 1789 Crs
6211 1918 Crs
6279 2056 Crs
6335 2203 Crs
6380 2356 Crs
6413 2514 Crs
1585 4347 Crs
1.000 UP
1.000 UL
LT2
LTb
1302 4207 M
gsave 0 setgray
(rear) Rshow
grestore
LT2
714 1720 Star
819 1631 Star
942 1601 Star
1068 1614 Star
1190 1655 Star
1309 1711 Star
1426 1771 Star
1544 1830 Star
1664 1882 Star
1786 1925 Star
1910 1956 Star
2035 1973 Star
2161 1977 Star
2287 1968 Star
2412 1946 Star
2536 1912 Star
2658 1869 Star
2777 1817 Star
2895 1758 Star
3011 1694 Star
3126 1625 Star
3240 1554 Star
3353 1481 Star
3466 1409 Star
3579 1337 Star
3693 1267 Star
3809 1199 Star
3925 1136 Star
4043 1078 Star
4163 1025 Star
4284 979 Star
4406 940 Star
4530 909 Star
4655 887 Star
4781 874 Star
4907 871 Star
5033 879 Star
5159 897 Star
5283 927 Star
5405 968 Star
5524 1021 Star
5641 1085 Star
5752 1161 Star
5859 1249 Star
5960 1347 Star
6055 1455 Star
6142 1574 Star
6221 1702 Star
6292 1838 Star
6353 1981 Star
6404 2131 Star
6444 2287 Star
6474 2446 Star
6492 2608 Star
6499 2772 Star
6494 2936 Star
6478 3099 Star
6450 3259 Star
6411 3414 Star
6360 3565 Star
6299 3708 Star
6227 3843 Star
6146 3969 Star
6056 4084 Star
5958 4187 Star
5853 4278 Star
5742 4355 Star
5625 4417 Star
5504 4465 Star
5381 4497 Star
5255 4513 Star
5129 4513 Star
5003 4497 Star
4880 4465 Star
4759 4417 Star
4642 4355 Star
4531 4277 Star
4426 4186 Star
4329 4082 Star
4240 3965 Star
4160 3838 Star
4090 3702 Star
4031 3557 Star
3984 3405 Star
3948 3247 Star
3925 3086 Star
3914 2923 Star
3915 2759 Star
3929 2596 Star
3955 2436 Star
3994 2279 Star
4044 2129 Star
4106 1986 Star
4178 1851 Star
4260 1727 Star
4351 1614 Star
4451 1513 Star
4557 1425 Star
4670 1352 Star
4788 1294 Star
4910 1251 Star
1585 4207 Star
1.000 UL
LTb
714 560 M
6248 0 V
0 4060 V
-6248 0 V
714 560 L
1.000 UP
stroke
grestore
end
showpage
%%Trailer
%%DocumentFonts: Helvetica

MTT: Model Transformation Tools
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