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 Side-by-Side Diffs Ignore Whitespace Patch

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























1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21

+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

#! /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].



























































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
1001
1002
1003
1004
1005
1006
1007
1008
1009
1010
1011
1012
1013
1014
1015
1016
1017
1018
1019
1020
1021
1022
1023
1024
1025
1026
1027
1028
1029
1030
1031
1032
1033
1034
1035
1036
1037
1038
1039
1040
1041
1042
1043
1044
1045
1046
1047

+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

<?xml version="1.0" encoding="UTF-8"?>
<dia:diagram xmlns:dia="http://www.lysator.liu.se/~alla/dia/">
  <dia:diagramdata>
    <dia:attribute name="background">
      <dia:color val="#ffffff"/>
    </dia:attribute>
    <dia:attribute name="pagebreak">
      <dia:color val="#000099"/>
    </dia:attribute>
    <dia:attribute name="paper">
      <dia:composite type="paper">
        <dia:attribute name="name">
          <dia:string>#A4#</dia:string>
        </dia:attribute>
        <dia:attribute name="tmargin">
          <dia:real val="2.8222000598907471"/>
        </dia:attribute>
        <dia:attribute name="bmargin">
          <dia:real val="2.8222000598907471"/>
        </dia:attribute>
        <dia:attribute name="lmargin">
          <dia:real val="2.8222000598907471"/>
        </dia:attribute>
        <dia:attribute name="rmargin">
          <dia:real val="2.8222000598907471"/>
        </dia:attribute>
        <dia:attribute name="is_portrait">
          <dia:boolean val="true"/>
        </dia:attribute>
        <dia:attribute name="scaling">
          <dia:real val="1"/>
        </dia:attribute>
        <dia:attribute name="fitto">
          <dia:boolean val="false"/>
        </dia:attribute>
      </dia:composite>
    </dia:attribute>
    <dia:attribute name="grid">
      <dia:composite type="grid">
        <dia:attribute name="width_x">
          <dia:real val="1"/>
        </dia:attribute>
        <dia:attribute name="width_y">
          <dia:real val="1"/>
        </dia:attribute>
        <dia:attribute name="visible_x">
          <dia:int val="1"/>
        </dia:attribute>
        <dia:attribute name="visible_y">
          <dia:int val="1"/>
        </dia:attribute>
        <dia:composite type="color"/>
      </dia:composite>
    </dia:attribute>
    <dia:attribute name="color">
      <dia:color val="#d8e5e5"/>
    </dia:attribute>
    <dia:attribute name="guides">
      <dia:composite type="guides">
        <dia:attribute name="hguides"/>
        <dia:attribute name="vguides"/>
      </dia:composite>
    </dia:attribute>
  </dia:diagramdata>
  <dia:layer name="Background" visible="true">
    <dia:object type="Standard - Text" version="0" id="O0">
      <dia:attribute name="obj_pos">
        <dia:point val="1,5"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="1,3.6;39.6,6"/>
      </dia:attribute>
      <dia:attribute name="text">
        <dia:composite type="text">
          <dia:attribute name="string">
            <dia:string>#Train of passive off-hooked trailers pulled by a tractor#</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"/>
          </dia:attribute>
          <dia:attribute name="pos">
            <dia:point val="1,5"/>
          </dia:attribute>
          <dia:attribute name="color">
            <dia:color val="#000000"/>
          </dia:attribute>
          <dia:attribute name="alignment">
            <dia:enum val="0"/>
          </dia:attribute>
        </dia:composite>
      </dia:attribute>
    </dia:object>
    <dia:group>
      <dia:object type="Standard - Box" version="0" id="O1">
        <dia:attribute name="obj_pos">
          <dia:point val="21.15,25"/>
        </dia:attribute>
        <dia:attribute name="obj_bb">
          <dia:rectangle val="21.1,24.95;24.9,25.95"/>
        </dia:attribute>
        <dia:attribute name="elem_corner">
          <dia:point val="21.15,25"/>
        </dia:attribute>
        <dia:attribute name="elem_width">
          <dia:real val="3.6999999999999957"/>
        </dia:attribute>
        <dia:attribute name="elem_height">
          <dia:real val="0.90000000000000213"/>
        </dia:attribute>
        <dia:attribute name="border_color">
          <dia:color val="#bfbfbf"/>
        </dia:attribute>
        <dia:attribute name="inner_color">
          <dia:color val="#bfbfbf"/>
        </dia:attribute>
        <dia:attribute name="show_background">
          <dia:boolean val="true"/>
        </dia:attribute>
        <dia:attribute name="corner_radius">
          <dia:real val="1.1754943508222875e-38"/>
        </dia:attribute>
      </dia:object>
      <dia:object type="Standard - Box" version="0" id="O2">
        <dia:attribute name="obj_pos">
          <dia:point val="21.08,9.035"/>
        </dia:attribute>
        <dia:attribute name="obj_bb">
          <dia:rectangle val="21.03,8.985;24.83,9.985"/>
        </dia:attribute>
        <dia:attribute name="elem_corner">
          <dia:point val="21.08,9.035"/>
        </dia:attribute>
        <dia:attribute name="elem_width">
          <dia:real val="3.6999999999999957"/>
        </dia:attribute>
        <dia:attribute name="elem_height">
          <dia:real val="0.90000000000000213"/>
        </dia:attribute>
        <dia:attribute name="border_color">
          <dia:color val="#bfbfbf"/>
        </dia:attribute>
        <dia:attribute name="inner_color">
          <dia:color val="#bfbfbf"/>
        </dia:attribute>
        <dia:attribute name="show_background">
          <dia:boolean val="true"/>
        </dia:attribute>
        <dia:attribute name="corner_radius">
          <dia:real val="1.1754943508222875e-38"/>
        </dia:attribute>
      </dia:object>
      <dia:object type="Standard - Box" version="0" id="O3">
        <dia:attribute name="obj_pos">
          <dia:point val="15.1,10"/>
        </dia:attribute>
        <dia:attribute name="obj_bb">
          <dia:rectangle val="15.05,9.95;30.95,25"/>
        </dia:attribute>
        <dia:attribute name="elem_corner">
          <dia:point val="15.1,10"/>
        </dia:attribute>
        <dia:attribute name="elem_width">
          <dia:real val="15.799999999999999"/>
        </dia:attribute>
        <dia:attribute name="elem_height">
          <dia:real val="14.949999999999999"/>
        </dia:attribute>
        <dia:attribute name="show_background">
          <dia:boolean val="true"/>
        </dia:attribute>
      </dia:object>
      <dia:object type="Standard - Box" version="0" id="O4">
        <dia:attribute name="obj_pos">
          <dia:point val="17,7.15"/>
        </dia:attribute>
        <dia:attribute name="obj_bb">
          <dia:rectangle val="16.95,7.1;29.05,9.05"/>
        </dia:attribute>
        <dia:attribute name="elem_corner">
          <dia:point val="17,7.15"/>
        </dia:attribute>
        <dia:attribute name="elem_width">
          <dia:real val="12"/>
        </dia:attribute>
        <dia:attribute name="elem_height">
          <dia:real val="1.8499999999999996"/>
        </dia:attribute>
        <dia:attribute name="inner_color">
          <dia:color val="#bfbfbf"/>
        </dia:attribute>
        <dia:attribute name="show_background">
          <dia:boolean val="true"/>
        </dia:attribute>
        <dia:attribute name="corner_radius">
          <dia:real val="1.1754943508222875e-38"/>
        </dia:attribute>
      </dia:object>
      <dia:object type="Standard - Box" version="0" id="O5">
        <dia:attribute name="obj_pos">
          <dia:point val="17.0007,25.9143"/>
        </dia:attribute>
        <dia:attribute name="obj_bb">
          <dia:rectangle val="16.9507,25.8643;29.0507,27.8143"/>
        </dia:attribute>
        <dia:attribute name="elem_corner">
          <dia:point val="17.0007,25.9143"/>
        </dia:attribute>
        <dia:attribute name="elem_width">
          <dia:real val="12"/>
        </dia:attribute>
        <dia:attribute name="elem_height">
          <dia:real val="1.8499999999999996"/>
        </dia:attribute>
        <dia:attribute name="inner_color">
          <dia:color val="#bfbfbf"/>
        </dia:attribute>
        <dia:attribute name="show_background">
          <dia:boolean val="true"/>
        </dia:attribute>
        <dia:attribute name="corner_radius">
          <dia:real val="1.1754943508222875e-38"/>
        </dia:attribute>
      </dia:object>
      <dia:object type="Standard - Box" version="0" id="O6">
        <dia:attribute name="obj_pos">
          <dia:point val="30.9,16"/>
        </dia:attribute>
        <dia:attribute name="obj_bb">
          <dia:rectangle val="30.85,15.95;44.25,17.95"/>
        </dia:attribute>
        <dia:attribute name="elem_corner">
          <dia:point val="30.9,16"/>
        </dia:attribute>
        <dia:attribute name="elem_width">
          <dia:real val="13.299999999999997"/>
        </dia:attribute>
        <dia:attribute name="elem_height">
          <dia:real val="1.9000000000000021"/>
        </dia:attribute>
        <dia:attribute name="show_background">
          <dia:boolean val="true"/>
        </dia:attribute>
      </dia:object>
      <dia:object type="Standard - Box" version="0" id="O7">
        <dia:attribute name="obj_pos">
          <dia:point val="1.78,16.085"/>
        </dia:attribute>
        <dia:attribute name="obj_bb">
          <dia:rectangle val="1.73,16.035;15.13,18.035"/>
        </dia:attribute>
        <dia:attribute name="elem_corner">
          <dia:point val="1.78,16.085"/>
        </dia:attribute>
        <dia:attribute name="elem_width">
          <dia:real val="13.299999999999997"/>
        </dia:attribute>
        <dia:attribute name="elem_height">
          <dia:real val="1.9000000000000021"/>
        </dia:attribute>
        <dia:attribute name="show_background">
          <dia:boolean val="true"/>
        </dia:attribute>
      </dia:object>
      <dia:object type="Standard - Ellipse" version="0" id="O8">
        <dia:attribute name="obj_pos">
          <dia:point val="42.6,16.45"/>
        </dia:attribute>
        <dia:attribute name="obj_bb">
          <dia:rectangle val="42.55,16.4;43.65,17.5"/>
        </dia:attribute>
        <dia:attribute name="elem_corner">
          <dia:point val="42.6,16.45"/>
        </dia:attribute>
        <dia:attribute name="elem_width">
          <dia:real val="1"/>
        </dia:attribute>
        <dia:attribute name="elem_height">
          <dia:real val="1"/>
        </dia:attribute>
        <dia:attribute name="aspect">
          <dia:enum val="2"/>
        </dia:attribute>
      </dia:object>
      <dia:object type="Standard - Ellipse" version="0" id="O9">
        <dia:attribute name="obj_pos">
          <dia:point val="2.3,16.55"/>
        </dia:attribute>
        <dia:attribute name="obj_bb">
          <dia:rectangle val="2.25,16.5;3.35,17.6"/>
        </dia:attribute>
        <dia:attribute name="elem_corner">
          <dia:point val="2.3,16.55"/>
        </dia:attribute>
        <dia:attribute name="elem_width">
          <dia:real val="1"/>
        </dia:attribute>
        <dia:attribute name="elem_height">
          <dia:real val="1"/>
        </dia:attribute>
        <dia:attribute name="aspect">
          <dia:enum val="2"/>
        </dia:attribute>
      </dia:object>
    </dia:group>
    <dia:object type="Standard - Box" version="0" id="O10">
      <dia:attribute name="obj_pos">
        <dia:point val="61,25"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="60.95,24.95;64.75,25.95"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="61,25"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="3.6999999999999957"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="0.90000000000000213"/>
      </dia:attribute>
      <dia:attribute name="border_color">
        <dia:color val="#bfbfbf"/>
      </dia:attribute>
      <dia:attribute name="inner_color">
        <dia:color val="#bfbfbf"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="corner_radius">
        <dia:real val="1.1754943508222875e-38"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Box" version="0" id="O11">
      <dia:attribute name="obj_pos">
        <dia:point val="60.93,9.035"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="60.88,8.985;64.68,9.985"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="60.93,9.035"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="3.6999999999999957"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="0.90000000000000213"/>
      </dia:attribute>
      <dia:attribute name="border_color">
        <dia:color val="#bfbfbf"/>
      </dia:attribute>
      <dia:attribute name="inner_color">
        <dia:color val="#bfbfbf"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="corner_radius">
        <dia:real val="1.1754943508222875e-38"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Box" version="0" id="O12">
      <dia:attribute name="obj_pos">
        <dia:point val="54.95,10"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="54.9,9.95;70.8,25"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="54.95,10"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="15.799999999999999"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="14.949999999999999"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Box" version="0" id="O13">
      <dia:attribute name="obj_pos">
        <dia:point val="56.85,7.15"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="56.8,7.1;68.9,9.05"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="56.85,7.15"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="12"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.8499999999999996"/>
      </dia:attribute>
      <dia:attribute name="inner_color">
        <dia:color val="#bfbfbf"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="corner_radius">
        <dia:real val="1.1754943508222875e-38"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Box" version="0" id="O14">
      <dia:attribute name="obj_pos">
        <dia:point val="56.8507,25.9143"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="56.8007,25.8643;68.9007,27.8143"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="56.8507,25.9143"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="12"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.8499999999999996"/>
      </dia:attribute>
      <dia:attribute name="inner_color">
        <dia:color val="#bfbfbf"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="corner_radius">
        <dia:real val="1.1754943508222875e-38"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Box" version="0" id="O15">
      <dia:attribute name="obj_pos">
        <dia:point val="41.63,16.085"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="41.58,16.035;54.98,18.035"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="41.63,16.085"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="13.299999999999997"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.9000000000000021"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Ellipse" version="0" id="O16">
      <dia:attribute name="obj_pos">
        <dia:point val="42.15,16.55"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="42.1,16.5;43.2,17.6"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="42.15,16.55"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="aspect">
        <dia:enum val="2"/>
      </dia:attribute>
    </dia:object>
  </dia:layer>
  <dia:layer name="Bond Graph" visible="true">
    <dia:object type="BondGraph - MTT port" version="0" id="O17">
      <dia:attribute name="obj_pos">
        <dia:point val="57,33"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="56.95,32.95;65.6839,34.8571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="57,33"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="8.633883476483188"/>
      </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>#tractor:tractor#</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="61.3169,34.2036"/>
          </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="O18">
      <dia:attribute name="obj_pos">
        <dia:point val="41,33"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="40.95,32.95;48.2464,34.8571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="41,33"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="7.1963834764831862"/>
      </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>#trailer:front#</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="44.5982,34.2036"/>
          </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="O19">
      <dia:attribute name="obj_pos">
        <dia:point val="8,33"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="7.95,32.95;14.8714,34.8571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="8,33"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="6.8213834764831835"/>
      </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>#trailer:rear#</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="11.4107,34.2036"/>
          </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="O20">
      <dia:attribute name="obj_pos">
        <dia:point val="24,33"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="23.95,32.95;32.0589,34.8571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="24,33"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="8.0088834764831862"/>
      </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>#trailer:middle#</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="28.0044,34.2036"/>
          </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="O21">
      <dia:attribute name="obj_pos">
        <dia:point val="61.3169,33.9036"/>
      </dia:attribute>
      <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].



























































































































































































































































































































































































































































































































































































































































































1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663

+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

%!PS-Adobe-2.0 EPSF-2.0
%%Title: robotrain_abg.dia
%%Creator: Dia v0.94+bondgraph
%%CreationDate: Sun Sep 12 21:15:02 2004
%%For: geraint
%%Orientation: Portrait
%%Magnification: 1.0000
%%BoundingBox: 0 0 1979 1057
%%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
/threequarters /questiondown /Agrave /Aacute /Acircumflex /Atilde /Adieresis /Aring /AE /Ccedilla
/Egrave /Eacute /Ecircumflex /Edieresis /Igrave /Iacute /Icircumflex /Idieresis /Eth /Ntilde
/Ograve /Oacute /Ocircumflex /Otilde /Odieresis /multiply /Oslash /Ugrave /Uacute /Ucircumflex
/Udieresis /Yacute /Thorn /germandbls /agrave /aacute /acircumflex /atilde /adieresis /aring
/ae /ccedilla /egrave /eacute /ecircumflex /edieresis /igrave /iacute /icircumflex /idieresis
/eth /ntilde /ograve /oacute /ocircumflex /otilde /odieresis /divide /oslash /ugrave
/uacute /ucircumflex /udieresis /yacute /thorn /ydieresis] /isolatin1encoding exch def
/cp {closepath} bind def
/c {curveto} bind def
/f {fill} bind def
/a {arc} bind def
/ef {eofill} bind def
/ex {exch} bind def
/gr {grestore} bind def
/gs {gsave} bind def
/sa {save} bind def
/rs {restore} bind def
/l {lineto} bind def
/m {moveto} bind def
/rm {rmoveto} bind def
/n {newpath} bind def
/s {stroke} bind def
/sh {show} bind def
/slc {setlinecap} bind def
/slj {setlinejoin} bind def
/slw {setlinewidth} bind def
/srgb {setrgbcolor} bind def
/rot {rotate} bind def
/sc {scale} bind def
/sd {setdash} bind def
/ff {findfont} bind def
/sf {setfont} bind def
/scf {scalefont} bind def
/sw {stringwidth pop} bind def
/tr {translate} bind def

/ellipsedict 8 dict def
ellipsedict /mtrx matrix put
/ellipse
{ ellipsedict begin
   /endangle exch def
   /startangle exch def
   /yrad exch def
   /xrad exch def
   /y exch def
   /x exch def   /savematrix mtrx currentmatrix def
   x y tr xrad yrad sc
   0 0 1 startangle endangle arc
   savematrix setmatrix
   end
} def

/mergeprocs {
dup length
3 -1 roll
dup
length
dup
5 1 roll
3 -1 roll
add
array cvx
dup
3 -1 roll
0 exch
putinterval
dup
4 2 roll
putinterval
} bind def
/Times-Roman-latin1
    /Times-Roman findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Times-Italic-latin1
    /Times-Italic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Times-Bold-latin1
    /Times-Bold findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Times-BoldItalic-latin1
    /Times-BoldItalic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/AvantGarde-Book-latin1
    /AvantGarde-Book findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/AvantGarde-BookOblique-latin1
    /AvantGarde-BookOblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/AvantGarde-Demi-latin1
    /AvantGarde-Demi findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/AvantGarde-DemiOblique-latin1
    /AvantGarde-DemiOblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Bookman-Light-latin1
    /Bookman-Light findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Bookman-LightItalic-latin1
    /Bookman-LightItalic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Bookman-Demi-latin1
    /Bookman-Demi findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Bookman-DemiItalic-latin1
    /Bookman-DemiItalic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Courier-latin1
    /Courier findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Courier-Oblique-latin1
    /Courier-Oblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Courier-Bold-latin1
    /Courier-Bold findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Courier-BoldOblique-latin1
    /Courier-BoldOblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-latin1
    /Helvetica findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-Oblique-latin1
    /Helvetica-Oblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-Bold-latin1
    /Helvetica-Bold findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-BoldOblique-latin1
    /Helvetica-BoldOblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-Narrow-latin1
    /Helvetica-Narrow findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-Narrow-Oblique-latin1
    /Helvetica-Narrow-Oblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-Narrow-Bold-latin1
    /Helvetica-Narrow-Bold findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-Narrow-BoldOblique-latin1
    /Helvetica-Narrow-BoldOblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/NewCenturySchoolbook-Roman-latin1
    /NewCenturySchoolbook-Roman findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/NewCenturySchoolbook-Italic-latin1
    /NewCenturySchoolbook-Italic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/NewCenturySchoolbook-Bold-latin1
    /NewCenturySchoolbook-Bold findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/NewCenturySchoolbook-BoldItalic-latin1
    /NewCenturySchoolbook-BoldItalic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Palatino-Roman-latin1
    /Palatino-Roman findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Palatino-Italic-latin1
    /Palatino-Italic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Palatino-Bold-latin1
    /Palatino-Bold findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Palatino-BoldItalic-latin1
    /Palatino-BoldItalic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Symbol-latin1
    /Symbol findfont
definefont pop
/ZapfChancery-MediumItalic-latin1
    /ZapfChancery-MediumItalic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/ZapfDingbats-latin1
    /ZapfDingbats findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
28.346000 -28.346000 scale
-1.000000 -40.857107 translate
%%EndProlog


/Helvetica-latin1 ff 1.400000 scf sf
0.000000 0.000000 0.000000 srgb
(Train of passive off-hooked trailers pulled by a tractor) 1.000000 5.000000 m gs 1 -1 sc sh gr
0.749020 0.749020 0.749020 srgb
n 21.150000 25.000000 m 21.150000 25.900000 l 24.850000 25.900000 l 24.850000 25.000000 l f
n 21.150000 25.000000 m 21.150000 25.000000 0.000000 0.000000 180.000000 270.000000 ellipse f
n 24.850000 25.000000 m 24.850000 25.000000 0.000000 0.000000 270.000000 360.000000 ellipse f
n 21.150000 25.000000 m 21.150000 25.900000 l 24.850000 25.900000 l 24.850000 25.000000 l f
n 21.150000 25.900000 m 21.150000 25.900000 0.000000 0.000000 90.000000 180.000000 ellipse f
n 24.850000 25.900000 m 24.850000 25.900000 0.000000 0.000000 0.000000 90.000000 ellipse f
0.100000 slw
[] 0 sd
[] 0 sd
0 slj
n 21.150000 25.000000 m 24.850000 25.000000 l s
n 21.150000 25.900000 m 24.850000 25.900000 l s
n 21.150000 25.000000 0.000000 0.000000 180.000000 270.000000 ellipse s
n 24.850000 25.000000 0.000000 0.000000 270.000000 360.000000 ellipse s
n 21.150000 25.000000 m 21.150000 25.900000 l s
n 24.850000 25.000000 m 24.850000 25.900000 l s
n 21.150000 25.900000 0.000000 0.000000 90.000000 180.000000 ellipse s
n 24.850000 25.900000 0.000000 0.000000 0.000000 90.000000 ellipse s
n 21.080000 9.035000 m 21.080000 9.935000 l 24.780000 9.935000 l 24.780000 9.035000 l f
n 21.080000 9.035000 m 21.080000 9.035000 0.000000 0.000000 180.000000 270.000000 ellipse f
n 24.780000 9.035000 m 24.780000 9.035000 0.000000 0.000000 270.000000 360.000000 ellipse f
n 21.080000 9.035000 m 21.080000 9.935000 l 24.780000 9.935000 l 24.780000 9.035000 l f
n 21.080000 9.935000 m 21.080000 9.935000 0.000000 0.000000 90.000000 180.000000 ellipse f
n 24.780000 9.935000 m 24.780000 9.935000 0.000000 0.000000 0.000000 90.000000 ellipse f
0.100000 slw
[] 0 sd
[] 0 sd
0 slj
n 21.080000 9.035000 m 24.780000 9.035000 l s
n 21.080000 9.935000 m 24.780000 9.935000 l s
n 21.080000 9.035000 0.000000 0.000000 180.000000 270.000000 ellipse s
n 24.780000 9.035000 0.000000 0.000000 270.000000 360.000000 ellipse s
n 21.080000 9.035000 m 21.080000 9.935000 l s
n 24.780000 9.035000 m 24.780000 9.935000 l s
n 21.080000 9.935000 0.000000 0.000000 90.000000 180.000000 ellipse s
n 24.780000 9.935000 0.000000 0.000000 0.000000 90.000000 ellipse s
1.000000 1.000000 1.000000 srgb
n 15.100000 10.000000 m 15.100000 24.950000 l 30.900000 24.950000 l 30.900000 10.000000 l f
0.100000 slw
[] 0 sd
[] 0 sd
0 slj
0.000000 0.000000 0.000000 srgb
n 15.100000 10.000000 m 15.100000 24.950000 l 30.900000 24.950000 l 30.900000 10.000000 l cp s
0.749020 0.749020 0.749020 srgb
n 17.000000 7.150000 m 17.000000 9.000000 l 29.000000 9.000000 l 29.000000 7.150000 l f
n 17.000000 7.150000 m 17.000000 7.150000 0.000000 0.000000 180.000000 270.000000 ellipse f
n 29.000000 7.150000 m 29.000000 7.150000 0.000000 0.000000 270.000000 360.000000 ellipse f
n 17.000000 7.150000 m 17.000000 9.000000 l 29.000000 9.000000 l 29.000000 7.150000 l f
n 17.000000 9.000000 m 17.000000 9.000000 0.000000 0.000000 90.000000 180.000000 ellipse f
n 29.000000 9.000000 m 29.000000 9.000000 0.000000 0.000000 0.000000 90.000000 ellipse f
0.100000 slw
[] 0 sd
[] 0 sd
0 slj
0.000000 0.000000 0.000000 srgb
n 17.000000 7.150000 m 29.000000 7.150000 l s
n 17.000000 9.000000 m 29.000000 9.000000 l s
n 17.000000 7.150000 0.000000 0.000000 180.000000 270.000000 ellipse s
n 29.000000 7.150000 0.000000 0.000000 270.000000 360.000000 ellipse s
n 17.000000 7.150000 m 17.000000 9.000000 l s
n 29.000000 7.150000 m 29.000000 9.000000 l s
n 17.000000 9.000000 0.000000 0.000000 90.000000 180.000000 ellipse s
n 29.000000 9.000000 0.000000 0.000000 0.000000 90.000000 ellipse s
0.749020 0.749020 0.749020 srgb
n 17.000700 25.914300 m 17.000700 27.764300 l 29.000700 27.764300 l 29.000700 25.914300 l f
n 17.000700 25.914300 m 17.000700 25.914300 0.000000 0.000000 180.000000 270.000000 ellipse f
n 29.000700 25.914300 m 29.000700 25.914300 0.000000 0.000000 270.000000 360.000000 ellipse f
n 17.000700 25.914300 m 17.000700 27.764300 l 29.000700 27.764300 l 29.000700 25.914300 l f
n 17.000700 27.764300 m 17.000700 27.764300 0.000000 0.000000 90.000000 180.000000 ellipse f
n 29.000700 27.764300 m 29.000700 27.764300 0.000000 0.000000 0.000000 90.000000 ellipse f
0.100000 slw
[] 0 sd
[] 0 sd
0 slj
0.000000 0.000000 0.000000 srgb
n 17.000700 25.914300 m 29.000700 25.914300 l s
n 17.000700 27.764300 m 29.000700 27.764300 l s
n 17.000700 25.914300 0.000000 0.000000 180.000000 270.000000 ellipse s
n 29.000700 25.914300 0.000000 0.000000 270.000000 360.000000 ellipse s
n 17.000700 25.914300 m 17.000700 27.764300 l s
n 29.000700 25.914300 m 29.000700 27.764300 l s
n 17.000700 27.764300 0.000000 0.000000 90.000000 180.000000 ellipse s
n 29.000700 27.764300 0.000000 0.000000 0.000000 90.000000 ellipse s
1.000000 1.000000 1.000000 srgb
n 30.900000 16.000000 m 30.900000 17.900000 l 44.200000 17.900000 l 44.200000 16.000000 l f
0.100000 slw
[] 0 sd
[] 0 sd
0 slj
0.000000 0.000000 0.000000 srgb
n 30.900000 16.000000 m 30.900000 17.900000 l 44.200000 17.900000 l 44.200000 16.000000 l cp s
1.000000 1.000000 1.000000 srgb
n 1.780000 16.085000 m 1.780000 17.985000 l 15.080000 17.985000 l 15.080000 16.085000 l f
0.100000 slw
[] 0 sd
[] 0 sd
0 slj
0.000000 0.000000 0.000000 srgb
n 1.780000 16.085000 m 1.780000 17.985000 l 15.080000 17.985000 l 15.080000 16.085000 l cp s
1.000000 1.000000 1.000000 srgb
n 43.100000 16.950000 0.500000 0.500000 0 360 ellipse f
0.100000 slw
[] 0 sd
[] 0 sd
0.000000 0.000000 0.000000 srgb
n 43.100000 16.950000 0.500000 0.500000 0 360 ellipse cp s
1.000000 1.000000 1.000000 srgb
n 2.800000 17.050000 0.500000 0.500000 0 360 ellipse f
0.100000 slw
[] 0 sd
[] 0 sd
0.000000 0.000000 0.000000 srgb
n 2.800000 17.050000 0.500000 0.500000 0 360 ellipse cp s
0.749020 0.749020 0.749020 srgb
n 61.000000 25.000000 m 61.000000 25.900000 l 64.700000 25.900000 l 64.700000 25.000000 l f
n 61.000000 25.000000 m 61.000000 25.000000 0.000000 0.000000 180.000000 270.000000 ellipse f
n 64.700000 25.000000 m 64.700000 25.000000 0.000000 0.000000 270.000000 360.000000 ellipse f
n 61.000000 25.000000 m 61.000000 25.900000 l 64.700000 25.900000 l 64.700000 25.000000 l f
n 61.000000 25.900000 m 61.000000 25.900000 0.000000 0.000000 90.000000 180.000000 ellipse f
n 64.700000 25.900000 m 64.700000 25.900000 0.000000 0.000000 0.000000 90.000000 ellipse f
0.100000 slw
[] 0 sd
[] 0 sd
0 slj
n 61.000000 25.000000 m 64.700000 25.000000 l s
n 61.000000 25.900000 m 64.700000 25.900000 l s
n 61.000000 25.000000 0.000000 0.000000 180.000000 270.000000 ellipse s
n 64.700000 25.000000 0.000000 0.000000 270.000000 360.000000 ellipse s
n 61.000000 25.000000 m 61.000000 25.900000 l s
n 64.700000 25.000000 m 64.700000 25.900000 l s
n 61.000000 25.900000 0.000000 0.000000 90.000000 180.000000 ellipse s
n 64.700000 25.900000 0.000000 0.000000 0.000000 90.000000 ellipse s
n 60.930000 9.035000 m 60.930000 9.935000 l 64.630000 9.935000 l 64.630000 9.035000 l f
n 60.930000 9.035000 m 60.930000 9.035000 0.000000 0.000000 180.000000 270.000000 ellipse f
n 64.630000 9.035000 m 64.630000 9.035000 0.000000 0.000000 270.000000 360.000000 ellipse f
n 60.930000 9.035000 m 60.930000 9.935000 l 64.630000 9.935000 l 64.630000 9.035000 l f
n 60.930000 9.935000 m 60.930000 9.935000 0.000000 0.000000 90.000000 180.000000 ellipse f
n 64.630000 9.935000 m 64.630000 9.935000 0.000000 0.000000 0.000000 90.000000 ellipse f
0.100000 slw
[] 0 sd
[] 0 sd
0 slj
n 60.930000 9.035000 m 64.630000 9.035000 l s
n 60.930000 9.935000 m 64.630000 9.935000 l s
n 60.930000 9.035000 0.000000 0.000000 180.000000 270.000000 ellipse s
n 64.630000 9.035000 0.000000 0.000000 270.000000 360.000000 ellipse s
n 60.930000 9.035000 m 60.930000 9.935000 l s
n 64.630000 9.035000 m 64.630000 9.935000 l s
n 60.930000 9.935000 0.000000 0.000000 90.000000 180.000000 ellipse s
n 64.630000 9.935000 0.000000 0.000000 0.000000 90.000000 ellipse s
1.000000 1.000000 1.000000 srgb
n 54.950000 10.000000 m 54.950000 24.950000 l 70.750000 24.950000 l 70.750000 10.000000 l f
0.100000 slw
[] 0 sd
[] 0 sd
0 slj
0.000000 0.000000 0.000000 srgb
n 54.950000 10.000000 m 54.950000 24.950000 l 70.750000 24.950000 l 70.750000 10.000000 l cp s
0.749020 0.749020 0.749020 srgb
n 56.850000 7.150000 m 56.850000 9.000000 l 68.850000 9.000000 l 68.850000 7.150000 l f
n 56.850000 7.150000 m 56.850000 7.150000 0.000000 0.000000 180.000000 270.000000 ellipse f
n 68.850000 7.150000 m 68.850000 7.150000 0.000000 0.000000 270.000000 360.000000 ellipse f
n 56.850000 7.150000 m 56.850000 9.000000 l 68.850000 9.000000 l 68.850000 7.150000 l f
n 56.850000 9.000000 m 56.850000 9.000000 0.000000 0.000000 90.000000 180.000000 ellipse f
n 68.850000 9.000000 m 68.850000 9.000000 0.000000 0.000000 0.000000 90.000000 ellipse f
0.100000 slw
[] 0 sd
[] 0 sd
0 slj
0.000000 0.000000 0.000000 srgb
n 56.850000 7.150000 m 68.850000 7.150000 l s
n 56.850000 9.000000 m 68.850000 9.000000 l s
n 56.850000 7.150000 0.000000 0.000000 180.000000 270.000000 ellipse s
n 68.850000 7.150000 0.000000 0.000000 270.000000 360.000000 ellipse s
n 56.850000 7.150000 m 56.850000 9.000000 l s
n 68.850000 7.150000 m 68.850000 9.000000 l s
n 56.850000 9.000000 0.000000 0.000000 90.000000 180.000000 ellipse s
n 68.850000 9.000000 0.000000 0.000000 0.000000 90.000000 ellipse s
0.749020 0.749020 0.749020 srgb
n 56.850700 25.914300 m 56.850700 27.764300 l 68.850700 27.764300 l 68.850700 25.914300 l f
n 56.850700 25.914300 m 56.850700 25.914300 0.000000 0.000000 180.000000 270.000000 ellipse f
n 68.850700 25.914300 m 68.850700 25.914300 0.000000 0.000000 270.000000 360.000000 ellipse f
n 56.850700 25.914300 m 56.850700 27.764300 l 68.850700 27.764300 l 68.850700 25.914300 l f
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
0 slj
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
n 68.850700 25.914300 0.000000 0.000000 270.000000 360.000000 ellipse s
n 56.850700 25.914300 m 56.850700 27.764300 l s
n 68.850700 25.914300 m 68.850700 27.764300 l s
n 56.850700 27.764300 0.000000 0.000000 90.000000 180.000000 ellipse s
n 68.850700 27.764300 0.000000 0.000000 0.000000 90.000000 ellipse s
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
[] 0 sd
[] 0 sd
0 slj
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
[] 0 sd
[] 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
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/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
0 slc
0 slj
0 slc
0 slj
[] 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
0 slc
0 slj
0 slc
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].



































1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31

+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

% -*-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].

















1
2
3
4
5
6
7
8
9
10
11
12
13

+
+
+
+
+
+
+
+
+
+
+
+
+

## -*-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].








































1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36

+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

#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].





























1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25

+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

## -*-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].
















1
2
3
4
5
6
7
8
9
10
11
12

+
+
+
+
+
+
+
+
+
+
+
+

# -*-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].





















1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17

+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

## -*-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].















































1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43

+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

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].








































































































































1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132

+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

#-------------------------------------------------------------------------------
#			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].







































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
1001
1002
1003
1004
1005
1006
1007
1008
1009
1010
1011
1012
1013
1014
1015
1016
1017
1018
1019
1020
1021
1022
1023
1024
1025
1026
1027
1028
1029
1030
1031
1032
1033
1034
1035
1036
1037
1038
1039
1040
1041
1042
1043
1044
1045
1046
1047
1048
1049
1050
1051
1052
1053
1054
1055
1056
1057
1058
1059
1060
1061
1062
1063
1064
1065
1066
1067
1068
1069
1070
1071
1072
1073
1074
1075
1076
1077
1078
1079
1080
1081
1082
1083
1084
1085
1086
1087
1088
1089
1090
1091
1092
1093
1094
1095
1096
1097
1098
1099
1100
1101
1102
1103
1104
1105
1106
1107
1108
1109
1110
1111
1112
1113
1114
1115
1116
1117
1118
1119
1120
1121
1122
1123
1124
1125
1126
1127
1128
1129
1130
1131
1132
1133
1134
1135
1136
1137
1138
1139
1140
1141
1142
1143
1144
1145
1146
1147
1148
1149
1150
1151
1152
1153
1154
1155
1156
1157
1158
1159
1160
1161
1162
1163
1164
1165
1166
1167
1168
1169
1170
1171
1172
1173
1174
1175
1176
1177
1178
1179
1180
1181
1182
1183
1184
1185
1186
1187
1188
1189
1190
1191
1192
1193
1194
1195
1196
1197
1198
1199
1200
1201
1202
1203
1204
1205
1206
1207
1208
1209
1210
1211
1212
1213
1214
1215
1216
1217
1218
1219
1220
1221
1222
1223
1224
1225
1226
1227
1228
1229
1230
1231
1232
1233
1234
1235
1236
1237
1238
1239
1240
1241
1242
1243
1244
1245
1246
1247
1248
1249
1250
1251

+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

<?xml version="1.0" encoding="UTF-8"?>
<dia:diagram xmlns:dia="http://www.lysator.liu.se/~alla/dia/">
  <dia:diagramdata>
    <dia:attribute name="background">
      <dia:color val="#ffffff"/>
    </dia:attribute>
    <dia:attribute name="pagebreak">
      <dia:color val="#000099"/>
    </dia:attribute>
    <dia:attribute name="paper">
      <dia:composite type="paper">
        <dia:attribute name="name">
          <dia:string>#A4#</dia:string>
        </dia:attribute>
        <dia:attribute name="tmargin">
          <dia:real val="2.8222000598907471"/>
        </dia:attribute>
        <dia:attribute name="bmargin">
          <dia:real val="2.8222000598907471"/>
        </dia:attribute>
        <dia:attribute name="lmargin">
          <dia:real val="2.8222000598907471"/>
        </dia:attribute>
        <dia:attribute name="rmargin">
          <dia:real val="2.8222000598907471"/>
        </dia:attribute>
        <dia:attribute name="is_portrait">
          <dia:boolean val="true"/>
        </dia:attribute>
        <dia:attribute name="scaling">
          <dia:real val="1"/>
        </dia:attribute>
        <dia:attribute name="fitto">
          <dia:boolean val="false"/>
        </dia:attribute>
      </dia:composite>
    </dia:attribute>
    <dia:attribute name="grid">
      <dia:composite type="grid">
        <dia:attribute name="width_x">
          <dia:real val="1"/>
        </dia:attribute>
        <dia:attribute name="width_y">
          <dia:real val="1"/>
        </dia:attribute>
        <dia:attribute name="visible_x">
          <dia:int val="1"/>
        </dia:attribute>
        <dia:attribute name="visible_y">
          <dia:int val="1"/>
        </dia:attribute>
        <dia:composite type="color"/>
      </dia:composite>
    </dia:attribute>
    <dia:attribute name="color">
      <dia:color val="#d8e5e5"/>
    </dia:attribute>
    <dia:attribute name="guides">
      <dia:composite type="guides">
        <dia:attribute name="hguides"/>
        <dia:attribute name="vguides"/>
      </dia:composite>
    </dia:attribute>
  </dia:diagramdata>
  <dia:layer name="Background" visible="true">
    <dia:object type="Standard - Text" version="0" id="O0">
      <dia:attribute name="obj_pos">
        <dia:point val="0.9,-1.0125"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="0.9,-2.4125;13,-0.0125"/>
      </dia:attribute>
      <dia:attribute name="text">
        <dia:composite type="text">
          <dia:attribute name="string">
            <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"/>
          </dia:attribute>
          <dia:attribute name="pos">
            <dia:point val="0.9,-1.0125"/>
          </dia:attribute>
          <dia:attribute name="color">
            <dia:color val="#000000"/>
          </dia:attribute>
          <dia:attribute name="alignment">
            <dia:enum val="0"/>
          </dia:attribute>
        </dia:composite>
      </dia:attribute>
    </dia:object>
  </dia:layer>
  <dia:layer name="Bond Graph" visible="true">
    <dia:object type="BondGraph - MTT port" version="0" id="O1">
      <dia:attribute name="obj_pos">
        <dia:point val="2.14556,1.95"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="2.09556,1.9;7.57944,3.80711"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="2.14556,1.95"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="5.3838834764831835"/>
      </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="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>#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"/>
          </dia:attribute>
          <dia:attribute name="pos">
            <dia:point val="4.8375,3.10355"/>
          </dia:attribute>
          <dia:attribute name="color">
            <dia:color val="#0000ff"/>
          </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="O2">
      <dia:attribute name="obj_pos">
        <dia:point val="4.2875,22.5"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="4.2375,22.45;9.65888,24.3571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="4.2875,22.5"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="5.3213834764831835"/>
      </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="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>#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"/>
          </dia:attribute>
          <dia:attribute name="pos">
            <dia:point val="6.94819,23.6536"/>
          </dia:attribute>
          <dia:attribute name="color">
            <dia:color val="#0000ff"/>
          </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="O3">
      <dia:attribute name="obj_pos">
        <dia:point val="33.6125,11.1"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="33.5625,11.05;39.0464,12.9571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="33.6125,11.1"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="5.3838834764832004"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.8071067811865464"/>
      </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>#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"/>
          </dia:attribute>
          <dia:attribute name="pos">
            <dia:point val="36.3044,12.2536"/>
          </dia:attribute>
          <dia:attribute name="color">
            <dia:color val="#ff0000"/>
          </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="O4">
      <dia:attribute name="obj_pos">
        <dia:point val="15.75,-2.05"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="15.7,-2.1;21.1214,-0.192893"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="15.75,-2.05"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="5.321383476483188"/>
      </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="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>#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"/>
          </dia:attribute>
          <dia:attribute name="color">
            <dia:color val="#ff0000"/>
          </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="O5">
      <dia:attribute name="obj_pos">
        <dia:point val="16.1562,24.45"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="16.1062,24.4;20.7776,26.3071"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="16.1562,24.45"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="4.5713834764831827"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.8071067811865384"/>
      </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>#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"/>
          </dia:attribute>
          <dia:attribute name="pos">
            <dia:point val="18.4419,25.6036"/>
          </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 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"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="15.3831,11.05"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="6.1338834764831853"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.807106781186546"/>
      </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>#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"/>
          </dia:attribute>
          <dia:attribute name="pos">
            <dia:point val="18.45,12.2036"/>
          </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="O7">
      <dia:attribute name="obj_pos">
        <dia:point val="4.8375,2.85355"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="7.06373,2.70029;10.6949,6.32361"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="4.8375,2.85355"/>
        <dia:point val="11.7419,7.36855"/>
      </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="O1" connection="0"/>
        <dia:connection handle="1" to="O9" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT port" version="0" id="O8">
      <dia:attribute name="obj_pos">
        <dia:point val="27.1,11.1"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="27.05,11.05;28.7839,12.9571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="27.1,11.1"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="1.6338834764831678"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.8071067811865384"/>
      </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>#0#</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="27.9169,12.2536"/>
          </dia:attribute>
          <dia:attribute name="color">
            <dia:color val="#ff0000"/>
          </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="O9">
      <dia:attribute name="obj_pos">
        <dia:point val="10.925,6.465"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="10.875,6.415;12.6089,8.32211"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="10.925,6.465"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="1.6338834764831678"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.8071067811865384"/>
      </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>#0#</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="11.7419,7.61855"/>
          </dia:attribute>
          <dia:attribute name="color">
            <dia:color val="#0000ff"/>
          </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="O10">
      <dia:attribute name="obj_pos">
        <dia:point val="12.025,16.615"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="11.975,16.565;13.7089,18.4721"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="12.025,16.615"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="1.6338834764831678"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.8071067811865384"/>
      </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>#0#</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="12.8419,17.7686"/>
          </dia:attribute>
          <dia:attribute name="color">
            <dia:color val="#0000ff"/>
          </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="O11">
      <dia:attribute name="obj_pos">
        <dia:point val="17.575,4.565"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="17.525,4.515;19.2589,6.42211"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="17.575,4.565"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="1.6338834764831678"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.8071067811865384"/>
      </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>#0#</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="18.3919,5.71855"/>
          </dia:attribute>
          <dia:attribute name="color">
            <dia:color val="#ff0000"/>
          </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="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].



























































































































































































































































































































































































































































































































































1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535

+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

%!PS-Adobe-2.0 EPSF-2.0
%%Title: rotation_abg.dia
%%Creator: Dia v0.94+bondgraph
%%CreationDate: Sun Sep 12 21:15:37 2004
%%For: geraint
%%Orientation: Portrait
%%Magnification: 1.0000
%%BoundingBox: 0 0 1082 815
%%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
/threequarters /questiondown /Agrave /Aacute /Acircumflex /Atilde /Adieresis /Aring /AE /Ccedilla
/Egrave /Eacute /Ecircumflex /Edieresis /Igrave /Iacute /Icircumflex /Idieresis /Eth /Ntilde
/Ograve /Oacute /Ocircumflex /Otilde /Odieresis /multiply /Oslash /Ugrave /Uacute /Ucircumflex
/Udieresis /Yacute /Thorn /germandbls /agrave /aacute /acircumflex /atilde /adieresis /aring
/ae /ccedilla /egrave /eacute /ecircumflex /edieresis /igrave /iacute /icircumflex /idieresis
/eth /ntilde /ograve /oacute /ocircumflex /otilde /odieresis /divide /oslash /ugrave
/uacute /ucircumflex /udieresis /yacute /thorn /ydieresis] /isolatin1encoding exch def
/cp {closepath} bind def
/c {curveto} bind def
/f {fill} bind def
/a {arc} bind def
/ef {eofill} bind def
/ex {exch} bind def
/gr {grestore} bind def
/gs {gsave} bind def
/sa {save} bind def
/rs {restore} bind def
/l {lineto} bind def
/m {moveto} bind def
/rm {rmoveto} bind def
/n {newpath} bind def
/s {stroke} bind def
/sh {show} bind def
/slc {setlinecap} bind def
/slj {setlinejoin} bind def
/slw {setlinewidth} bind def
/srgb {setrgbcolor} bind def
/rot {rotate} bind def
/sc {scale} bind def
/sd {setdash} bind def
/ff {findfont} bind def
/sf {setfont} bind def
/scf {scalefont} bind def
/sw {stringwidth pop} bind def
/tr {translate} bind def

/ellipsedict 8 dict def
ellipsedict /mtrx matrix put
/ellipse
{ ellipsedict begin
   /endangle exch def
   /startangle exch def
   /yrad exch def
   /xrad exch def
   /y exch def
   /x exch def   /savematrix mtrx currentmatrix def
   x y tr xrad yrad sc
   0 0 1 startangle endangle arc
   savematrix setmatrix
   end
} def

/mergeprocs {
dup length
3 -1 roll
dup
length
dup
5 1 roll
3 -1 roll
add
array cvx
dup
3 -1 roll
0 exch
putinterval
dup
4 2 roll
putinterval
} bind def
/Times-Roman-latin1
    /Times-Roman findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Times-Italic-latin1
    /Times-Italic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Times-Bold-latin1
    /Times-Bold findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Times-BoldItalic-latin1
    /Times-BoldItalic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/AvantGarde-Book-latin1
    /AvantGarde-Book findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/AvantGarde-BookOblique-latin1
    /AvantGarde-BookOblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/AvantGarde-Demi-latin1
    /AvantGarde-Demi findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/AvantGarde-DemiOblique-latin1
    /AvantGarde-DemiOblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Bookman-Light-latin1
    /Bookman-Light findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Bookman-LightItalic-latin1
    /Bookman-LightItalic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Bookman-Demi-latin1
    /Bookman-Demi findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Bookman-DemiItalic-latin1
    /Bookman-DemiItalic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Courier-latin1
    /Courier findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Courier-Oblique-latin1
    /Courier-Oblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Courier-Bold-latin1
    /Courier-Bold findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Courier-BoldOblique-latin1
    /Courier-BoldOblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-latin1
    /Helvetica findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-Oblique-latin1
    /Helvetica-Oblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-Bold-latin1
    /Helvetica-Bold findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-BoldOblique-latin1
    /Helvetica-BoldOblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-Narrow-latin1
    /Helvetica-Narrow findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-Narrow-Oblique-latin1
    /Helvetica-Narrow-Oblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-Narrow-Bold-latin1
    /Helvetica-Narrow-Bold findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-Narrow-BoldOblique-latin1
    /Helvetica-Narrow-BoldOblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/NewCenturySchoolbook-Roman-latin1
    /NewCenturySchoolbook-Roman findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/NewCenturySchoolbook-Italic-latin1
    /NewCenturySchoolbook-Italic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/NewCenturySchoolbook-Bold-latin1
    /NewCenturySchoolbook-Bold findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/NewCenturySchoolbook-BoldItalic-latin1
    /NewCenturySchoolbook-BoldItalic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Palatino-Roman-latin1
    /Palatino-Roman findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Palatino-Italic-latin1
    /Palatino-Italic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Palatino-Bold-latin1
    /Palatino-Bold findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Palatino-BoldItalic-latin1
    /Palatino-BoldItalic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Symbol-latin1
    /Symbol findfont
definefont pop
/ZapfChancery-MediumItalic-latin1
    /ZapfChancery-MediumItalic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/ZapfDingbats-latin1
    /ZapfDingbats findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
28.346000 -28.346000 scale
-0.900000 -26.307107 translate
%%EndProlog


/Helvetica-latin1 ff 1.400000 scf sf
0.000000 0.000000 0.000000 srgb
(Rotation about Z) 0.900000 -1.012500 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Helvetica-latin1 ff 0.700000 scf sf
0.000000 0.000000 1.000000 srgb
(SS:[x_1]) dup sw 2 div 4.837502 ex sub 3.103553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Helvetica-latin1 ff 0.700000 scf sf
(SS:[y_1]) dup sw 2 div 6.948192 ex sub 23.653553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Helvetica-latin1 ff 0.700000 scf sf
1.000000 0.000000 0.000000 srgb
(SS:[x_2]) dup sw 2 div 36.304442 ex sub 12.253553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Helvetica-latin1 ff 0.700000 scf sf
(SS:[y_2]) dup sw 2 div 18.410692 ex sub -0.896447 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Helvetica-latin1 ff 0.700000 scf sf
0.627451 0.125490 0.941176 srgb
(SS:[psi]) dup sw 2 div 18.441892 ex sub 25.603553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Helvetica-latin1 ff 0.700000 scf sf
(R:rotation) dup sw 2 div 18.450042 ex sub 12.203553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
0.000000 0.000000 1.000000 srgb
n 7.132941 4.354610 m 10.038120 6.254396 l s
n 10.038120 6.254396 m 8.540433 6.171136 l s
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Helvetica-latin1 ff 0.700000 scf sf
1.000000 0.000000 0.000000 srgb
(0) dup sw 2 div 27.916942 ex sub 12.253553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Helvetica-latin1 ff 0.700000 scf sf
0.000000 0.000000 1.000000 srgb
(0) dup sw 2 div 11.741942 ex sub 7.618553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Helvetica-latin1 ff 0.700000 scf sf
(0) dup sw 2 div 12.841942 ex sub 17.768553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Helvetica-latin1 ff 0.700000 scf sf
1.000000 0.000000 0.000000 srgb
(0) dup sw 2 div 18.391942 ex sub 5.718553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
0.000000 0.000000 1.000000 srgb
n 8.605490 21.748750 m 11.267337 19.090836 l s
n 11.267337 19.090836 m 10.878037 20.539437 l s
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
1.000000 0.000000 0.000000 srgb
n 29.783602 12.003600 m 32.563514 12.003600 l s
n 32.563514 12.003600 m 31.264476 12.753600 l s
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 18.397452 3.514902 m 18.405148 0.807198 l s
n 18.405148 0.807198 m 19.151453 2.108362 l s
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
0.000000 0.000000 1.000000 srgb
n 13.434240 8.525280 m 16.232361 10.437823 l s
n 16.232361 10.437823 m 14.736688 10.323972 l s
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 14.418753 15.953866 m 16.780386 13.610382 l s
n 16.780386 13.610382 m 16.386571 15.057763 l s
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
1.000000 0.000000 0.000000 srgb
n 22.566713 11.975343 m 26.049616 11.993738 l s
n 26.049616 11.993738 m 24.746634 12.736867 l s
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 18.432499 10.000119 m 18.409401 7.422031 l s
n 18.409401 7.422031 m 19.171009 8.714298 l s
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Helvetica-latin1 ff 0.700000 scf sf
0.627451 0.125490 0.941176 srgb
(AE) dup sw 2 div 18.460692 ex sub 18.953553 m gs 1 -1 sc sh gr
0.050000 slw
[] 0 sd
[] 0 sd
1 slc
n 18.447422 23.400183 m 18.455178 20.657017 l s
n 18.455178 20.657017 m 19.201502 21.958170 l s
n 18.455178 20.657017 m 17.701508 21.953930 l s
0.050000 slw
[] 0 sd
[] 0 sd
1 slc
n 18.457604 16.750263 m 18.453096 13.906937 l s
n 18.453096 13.906937 m 19.205155 15.204785 l s
n 18.453096 13.906937 m 17.705157 15.207163 l s
showpage








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


























1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22

+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

% -*-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].
















































1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44

+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

#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].






















































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
1001
1002
1003
1004
1005
1006
1007
1008
1009
1010
1011
1012
1013
1014
1015
1016
1017
1018
1019
1020
1021
1022
1023
1024
1025
1026
1027
1028
1029
1030
1031
1032
1033
1034
1035
1036
1037
1038
1039
1040
1041
1042
1043
1044
1045
1046
1047
1048
1049
1050
1051
1052
1053
1054
1055
1056
1057
1058
1059
1060
1061
1062
1063
1064
1065
1066
1067
1068
1069
1070
1071
1072
1073
1074
1075
1076
1077
1078
1079
1080
1081
1082
1083
1084
1085
1086
1087
1088
1089
1090
1091
1092
1093
1094
1095
1096
1097
1098
1099
1100
1101
1102
1103
1104
1105
1106
1107
1108
1109
1110
1111
1112
1113
1114
1115
1116
1117
1118
1119
1120
1121
1122
1123
1124
1125
1126
1127
1128
1129
1130
1131
1132
1133
1134
1135
1136
1137
1138
1139
1140
1141
1142
1143
1144
1145
1146
1147
1148
1149
1150
1151
1152
1153
1154
1155
1156
1157
1158
1159
1160
1161
1162
1163
1164
1165
1166
1167
1168
1169
1170
1171
1172
1173
1174
1175
1176
1177
1178
1179
1180
1181
1182
1183
1184
1185
1186
1187
1188
1189
1190
1191
1192
1193
1194
1195
1196
1197
1198
1199
1200
1201
1202
1203
1204
1205
1206
1207
1208
1209
1210
1211
1212
1213
1214
1215
1216
1217
1218
1219
1220
1221
1222
1223
1224
1225
1226
1227
1228
1229
1230
1231
1232
1233
1234
1235
1236
1237
1238
1239
1240
1241
1242
1243
1244
1245
1246
1247
1248
1249
1250
1251
1252
1253
1254
1255
1256
1257
1258
1259
1260
1261
1262
1263
1264
1265
1266
1267
1268
1269
1270
1271
1272
1273
1274
1275
1276
1277
1278
1279
1280
1281
1282
1283
1284
1285
1286
1287
1288
1289
1290
1291
1292
1293
1294
1295
1296
1297
1298
1299
1300
1301
1302
1303
1304
1305
1306
1307
1308
1309
1310
1311
1312
1313
1314
1315
1316
1317
1318
1319
1320
1321
1322
1323
1324
1325
1326
1327
1328
1329
1330
1331
1332
1333
1334
1335
1336
1337
1338
1339
1340
1341
1342
1343
1344
1345
1346
1347
1348
1349
1350
1351
1352
1353
1354
1355
1356
1357
1358
1359
1360
1361
1362
1363
1364
1365
1366
1367
1368
1369
1370
1371
1372
1373
1374
1375
1376
1377
1378
1379
1380
1381
1382
1383
1384
1385
1386
1387
1388
1389
1390
1391
1392
1393
1394
1395
1396
1397
1398
1399
1400
1401
1402
1403
1404
1405
1406
1407
1408
1409
1410
1411
1412
1413
1414
1415
1416
1417
1418
1419
1420
1421
1422
1423
1424
1425
1426
1427
1428
1429
1430
1431
1432
1433
1434
1435
1436
1437
1438
1439
1440
1441
1442
1443
1444
1445
1446
1447
1448
1449
1450
1451
1452
1453
1454
1455
1456
1457
1458

+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

<?xml version="1.0" encoding="UTF-8"?>
<dia:diagram xmlns:dia="http://www.lysator.liu.se/~alla/dia/">
  <dia:diagramdata>
    <dia:attribute name="background">
      <dia:color val="#ffffff"/>
    </dia:attribute>
    <dia:attribute name="pagebreak">
      <dia:color val="#000099"/>
    </dia:attribute>
    <dia:attribute name="paper">
      <dia:composite type="paper">
        <dia:attribute name="name">
          <dia:string>#A4#</dia:string>
        </dia:attribute>
        <dia:attribute name="tmargin">
          <dia:real val="2.8222000598907471"/>
        </dia:attribute>
        <dia:attribute name="bmargin">
          <dia:real val="2.8222000598907471"/>
        </dia:attribute>
        <dia:attribute name="lmargin">
          <dia:real val="2.8222000598907471"/>
        </dia:attribute>
        <dia:attribute name="rmargin">
          <dia:real val="2.8222000598907471"/>
        </dia:attribute>
        <dia:attribute name="is_portrait">
          <dia:boolean val="true"/>
        </dia:attribute>
        <dia:attribute name="scaling">
          <dia:real val="1"/>
        </dia:attribute>
        <dia:attribute name="fitto">
          <dia:boolean val="false"/>
        </dia:attribute>
      </dia:composite>
    </dia:attribute>
    <dia:attribute name="grid">
      <dia:composite type="grid">
        <dia:attribute name="width_x">
          <dia:real val="1"/>
        </dia:attribute>
        <dia:attribute name="width_y">
          <dia:real val="1"/>
        </dia:attribute>
        <dia:attribute name="visible_x">
          <dia:int val="1"/>
        </dia:attribute>
        <dia:attribute name="visible_y">
          <dia:int val="1"/>
        </dia:attribute>
        <dia:composite type="color"/>
      </dia:composite>
    </dia:attribute>
    <dia:attribute name="color">
      <dia:color val="#d8e5e5"/>
    </dia:attribute>
    <dia:attribute name="guides">
      <dia:composite type="guides">
        <dia:attribute name="hguides"/>
        <dia:attribute name="vguides"/>
      </dia:composite>
    </dia:attribute>
  </dia:diagramdata>
  <dia:layer name="Background" visible="true">
    <dia:object type="Standard - Box" version="0" id="O0">
      <dia:attribute name="obj_pos">
        <dia:point val="21.15,25"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="21.1,24.95;24.9,25.95"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="21.15,25"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="3.6999999999999957"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="0.90000000000000213"/>
      </dia:attribute>
      <dia:attribute name="border_color">
        <dia:color val="#bfbfbf"/>
      </dia:attribute>
      <dia:attribute name="inner_color">
        <dia:color val="#bfbfbf"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="corner_radius">
        <dia:real val="1.1754943508222875e-38"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Box" version="0" id="O1">
      <dia:attribute name="obj_pos">
        <dia:point val="21.08,9.035"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="21.03,8.985;24.83,9.985"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="21.08,9.035"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="3.6999999999999957"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="0.90000000000000213"/>
      </dia:attribute>
      <dia:attribute name="border_color">
        <dia:color val="#bfbfbf"/>
      </dia:attribute>
      <dia:attribute name="inner_color">
        <dia:color val="#bfbfbf"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="corner_radius">
        <dia:real val="1.1754943508222875e-38"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Box" version="0" id="O2">
      <dia:attribute name="obj_pos">
        <dia:point val="15.1,10"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="15.05,9.95;30.95,25"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="15.1,10"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="15.799999999999999"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="14.949999999999999"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Box" version="0" id="O3">
      <dia:attribute name="obj_pos">
        <dia:point val="17,7.15"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="16.95,7.1;29.05,9.05"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="17,7.15"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="12"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.8499999999999996"/>
      </dia:attribute>
      <dia:attribute name="inner_color">
        <dia:color val="#bfbfbf"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="corner_radius">
        <dia:real val="1.1754943508222875e-38"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Box" version="0" id="O4">
      <dia:attribute name="obj_pos">
        <dia:point val="17.0007,25.9143"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="16.9507,25.8643;29.0507,27.8143"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="17.0007,25.9143"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="12"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.8499999999999996"/>
      </dia:attribute>
      <dia:attribute name="inner_color">
        <dia:color val="#bfbfbf"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="corner_radius">
        <dia:real val="1.1754943508222875e-38"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Box" version="0" id="O5">
      <dia:attribute name="obj_pos">
        <dia:point val="1.78,16.085"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="1.73,16.035;15.13,18.035"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="1.78,16.085"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="13.299999999999997"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.9000000000000021"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Ellipse" version="0" id="O6">
      <dia:attribute name="obj_pos">
        <dia:point val="2.3,16.55"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="2.25,16.5;3.35,17.6"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="2.3,16.55"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="aspect">
        <dia:enum val="2"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Text" version="0" id="O7">
      <dia:attribute name="obj_pos">
        <dia:point val="-3.80407,8.9651"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="-3.80407,7.5651;1.24593,9.9651"/>
      </dia:attribute>
      <dia:attribute name="text">
        <dia:composite type="text">
          <dia:attribute name="string">
            <dia:string>#Tractor#</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"/>
          </dia:attribute>
          <dia:attribute name="pos">
            <dia:point val="-3.80407,8.9651"/>
          </dia:attribute>
          <dia:attribute name="color">
            <dia:color val="#000000"/>
          </dia:attribute>
          <dia:attribute name="alignment">
            <dia:enum val="0"/>
          </dia:attribute>
        </dia:composite>
      </dia:attribute>
    </dia:object>
  </dia:layer>
  <dia:layer name="Bond Graph" visible="true">
    <dia:object type="BondGraph - MTT port" version="0" id="O8">
      <dia:attribute name="obj_pos">
        <dia:point val="5.15,34.9"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="5.1,34.85;11.8339,36.7571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="5.15,34.9"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="6.6338834764831844"/>
      </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="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>#rotation:z2#</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="8.46694,36.0536"/>
          </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="O9">
      <dia:attribute name="obj_pos">
        <dia:point val="14.25,42.45"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="14.2,42.4;17.7464,44.3071"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="14.25,42.45"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="3.4463834764831915"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.8071067811865451"/>
      </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>#TF:D#</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="15.9732,43.6536"/>
          </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="O10">
      <dia:attribute name="obj_pos">
        <dia:point val="-5,35"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="-5.05,34.95;-0.128617,36.8571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="-5,35"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="4.8213834764831835"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.8071067811865469"/>
      </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:[x2]#</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="-2.58931,36.2036"/>
          </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="O11">
      <dia:attribute name="obj_pos">
        <dia:point val="6,28"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="5.95,27.95;10.8714,29.8571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="6,28"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="4.8213834764831844"/>
      </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:[y2]#</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="8.41069,29.2036"/>
          </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="O12">
      <dia:attribute name="obj_pos">
        <dia:point val="23,35"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="22.95,34.95;24.6839,36.8571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="23,35"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="1.6338834764831902"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.807106781186548"/>
      </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>#1#</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="23.8169,36.2036"/>
          </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="O13">
      <dia:attribute name="obj_pos">
        <dia:point val="23.4,50.65"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="23.35,50.6;25.0839,52.5071"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="23.4,50.65"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="1.6338834764831902"/>
      </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>#1#</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="24.2169,51.8536"/>
          </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="O14">
      <dia:attribute name="obj_pos">
        <dia:point val="23.8169,35.9036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="12.7216,33.9821;22.0006,36.6842"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="23.8169,35.9036"/>
        <dia:point val="8.46694,35.8036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </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>#[x_1]#</dia:string>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O12" connection="0"/>
        <dia:connection handle="1" to="O8" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O15">
      <dia:attribute name="obj_pos">
        <dia:point val="24.2169,51.5536"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="16.6078,42.558;24.3542,50.9191"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="24.2169,51.5536"/>
        <dia:point val="15.9732,43.3536"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </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="show_labels">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O13" connection="0"/>
        <dia:connection handle="1" to="O9" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O16">
      <dia:attribute name="obj_pos">
        <dia:point val="15.9732,43.3536"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="10.0103,35.9701;15.1712,41.7617"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="15.9732,43.3536"/>
        <dia:point val="8.46694,35.8036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </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>#[y_1]#</dia:string>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O9" connection="0"/>
        <dia:connection handle="1" to="O8" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O17">
      <dia:attribute name="obj_pos">
        <dia:point val="8.46694,35.8036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="0.759721,33.9931;5.58945,36.7033"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="8.46694,35.8036"/>
        <dia:point val="-2.58931,35.9036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </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="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>#[x_2]#</dia:string>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O8" connection="0"/>
        <dia:connection handle="1" to="O10" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O18">
      <dia:attribute name="obj_pos">
        <dia:point val="8.46694,35.8036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="7.60063,30.1977;11.151,34.04"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="8.46694,35.8036"/>
        <dia:point val="8.41069,28.9036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </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="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>#[y_2]#</dia:string>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O8" 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="32,35"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="31.95,34.95;35.1839,36.8571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="32,35"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="3.1338834764831893"/>
      </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>#Sf:v#</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="33.5669,36.2036"/>
          </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="O20">
      <dia:attribute name="obj_pos">
        <dia:point val="30.45,50.65"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="30.4,50.6;36.4464,52.5071"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="30.45,50.65"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="5.9463834764831862"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.8071067811865469"/>
      </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>#Sf:omega#</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="33.4232,51.8536"/>
          </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="O21">
      <dia:attribute name="obj_pos">
        <dia:point val="21.25,46.25"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="21.2,46.2;27.1839,48.1071"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="21.25,46.25"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="5.8838834764831889"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.8071067811865469"/>
      </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>#INTF:yaw#</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="24.1919,47.4536"/>
          </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="O22">
      <dia:attribute name="obj_pos">
        <dia:point val="24.2169,51.5536"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="23.4085,47.4968;25.4112,50.7468"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="24.2169,51.5536"/>
        <dia:point val="24.1919,47.1536"/>
      </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">
        <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="O13" connection="0"/>
        <dia:connection handle="1" to="O21" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT port" version="0" id="O23">
      <dia:attribute name="obj_pos">
        <dia:point val="23.4,42"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="23.35,41.95;25.0839,43.8571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="23.4,42"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="1.633883476483186"/>
      </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>#0#</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="24.2169,43.2036"/>
          </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="O24">
      <dia:attribute name="obj_pos">
        <dia:point val="24.1919,47.1536"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="23.4066,43.2606;25.411,46.3607"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="24.1919,47.1536"/>
        <dia:point val="24.2169,42.9036"/>
      </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">
        <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="O21" connection="0"/>
        <dia:connection handle="1" to="O23" connection="0"/>
      </dia:connections>
    </dia:object>
    <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">
        <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="2"/>
      </dia:attribute>
      <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"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O26">
      <dia:attribute name="obj_pos">
        <dia:point val="33.5669,35.9036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="24.7053,34.0536;32.6169,36.7469"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="33.5669,35.9036"/>
        <dia:point val="23.8169,35.9036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </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="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">
      <dia:attribute name="obj_pos">
        <dia:point val="33.4232,51.5536"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="25.1053,49.7036;32.4732,52.3969"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="33.4232,51.5536"/>
        <dia:point val="24.2169,51.5536"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </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="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">
      <dia:attribute name="obj_pos">
        <dia:point val="14.8437,39"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="14.7937,38.95;21.7776,40.8571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="14.8437,39"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="6.8838834764831871"/>
      </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>#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"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="24.2169,42.9036"/>
        <dia:point val="18.2857,39.9036"/>
      </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">
        <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].






































































































































































































































































































































































































































































































































































































































































1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642

+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

%!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
/threequarters /questiondown /Agrave /Aacute /Acircumflex /Atilde /Adieresis /Aring /AE /Ccedilla
/Egrave /Eacute /Ecircumflex /Edieresis /Igrave /Iacute /Icircumflex /Idieresis /Eth /Ntilde
/Ograve /Oacute /Ocircumflex /Otilde /Odieresis /multiply /Oslash /Ugrave /Uacute /Ucircumflex
/Udieresis /Yacute /Thorn /germandbls /agrave /aacute /acircumflex /atilde /adieresis /aring
/ae /ccedilla /egrave /eacute /ecircumflex /edieresis /igrave /iacute /icircumflex /idieresis
/eth /ntilde /ograve /oacute /ocircumflex /otilde /odieresis /divide /oslash /ugrave
/uacute /ucircumflex /udieresis /yacute /thorn /ydieresis] /isolatin1encoding exch def
/cp {closepath} bind def
/c {curveto} bind def
/f {fill} bind def
/a {arc} bind def
/ef {eofill} bind def
/ex {exch} bind def
/gr {grestore} bind def
/gs {gsave} bind def
/sa {save} bind def
/rs {restore} bind def
/l {lineto} bind def
/m {moveto} bind def
/rm {rmoveto} bind def
/n {newpath} bind def
/s {stroke} bind def
/sh {show} bind def
/slc {setlinecap} bind def
/slj {setlinejoin} bind def
/slw {setlinewidth} bind def
/srgb {setrgbcolor} bind def
/rot {rotate} bind def
/sc {scale} bind def
/sd {setdash} bind def
/ff {findfont} bind def
/sf {setfont} bind def
/scf {scalefont} bind def
/sw {stringwidth pop} bind def
/tr {translate} bind def

/ellipsedict 8 dict def
ellipsedict /mtrx matrix put
/ellipse
{ ellipsedict begin
   /endangle exch def
   /startangle exch def
   /yrad exch def
   /xrad exch def
   /y exch def
   /x exch def   /savematrix mtrx currentmatrix def
   x y tr xrad yrad sc
   0 0 1 startangle endangle arc
   savematrix setmatrix
   end
} def

/mergeprocs {
dup length
3 -1 roll
dup
length
dup
5 1 roll
3 -1 roll
add
array cvx
dup
3 -1 roll
0 exch
putinterval
dup
4 2 roll
putinterval
} bind def
/Times-Roman-latin1
    /Times-Roman findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Times-Italic-latin1
    /Times-Italic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Times-Bold-latin1
    /Times-Bold findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Times-BoldItalic-latin1
    /Times-BoldItalic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/AvantGarde-Book-latin1
    /AvantGarde-Book findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/AvantGarde-BookOblique-latin1
    /AvantGarde-BookOblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/AvantGarde-Demi-latin1
    /AvantGarde-Demi findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/AvantGarde-DemiOblique-latin1
    /AvantGarde-DemiOblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Bookman-Light-latin1
    /Bookman-Light findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Bookman-LightItalic-latin1
    /Bookman-LightItalic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Bookman-Demi-latin1
    /Bookman-Demi findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Bookman-DemiItalic-latin1
    /Bookman-DemiItalic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Courier-latin1
    /Courier findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Courier-Oblique-latin1
    /Courier-Oblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Courier-Bold-latin1
    /Courier-Bold findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Courier-BoldOblique-latin1
    /Courier-BoldOblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-latin1
    /Helvetica findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-Oblique-latin1
    /Helvetica-Oblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-Bold-latin1
    /Helvetica-Bold findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-BoldOblique-latin1
    /Helvetica-BoldOblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-Narrow-latin1
    /Helvetica-Narrow findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-Narrow-Oblique-latin1
    /Helvetica-Narrow-Oblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-Narrow-Bold-latin1
    /Helvetica-Narrow-Bold findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-Narrow-BoldOblique-latin1
    /Helvetica-Narrow-BoldOblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/NewCenturySchoolbook-Roman-latin1
    /NewCenturySchoolbook-Roman findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/NewCenturySchoolbook-Italic-latin1
    /NewCenturySchoolbook-Italic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/NewCenturySchoolbook-Bold-latin1
    /NewCenturySchoolbook-Bold findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/NewCenturySchoolbook-BoldItalic-latin1
    /NewCenturySchoolbook-BoldItalic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Palatino-Roman-latin1
    /Palatino-Roman findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Palatino-Italic-latin1
    /Palatino-Italic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Palatino-Bold-latin1
    /Palatino-Bold findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Palatino-BoldItalic-latin1
    /Palatino-BoldItalic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Symbol-latin1
    /Symbol findfont
definefont pop
/ZapfChancery-MediumItalic-latin1
    /ZapfChancery-MediumItalic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/ZapfDingbats-latin1
    /ZapfDingbats findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
28.346000 -28.346000 scale
5.050000 -52.507107 translate
%%EndProlog


0.749020 0.749020 0.749020 srgb
n 21.150000 25.000000 m 21.150000 25.900000 l 24.850000 25.900000 l 24.850000 25.000000 l f
n 21.150000 25.000000 m 21.150000 25.000000 0.000000 0.000000 180.000000 270.000000 ellipse f
n 24.850000 25.000000 m 24.850000 25.000000 0.000000 0.000000 270.000000 360.000000 ellipse f
n 21.150000 25.000000 m 21.150000 25.900000 l 24.850000 25.900000 l 24.850000 25.000000 l f
n 21.150000 25.900000 m 21.150000 25.900000 0.000000 0.000000 90.000000 180.000000 ellipse f
n 24.850000 25.900000 m 24.850000 25.900000 0.000000 0.000000 0.000000 90.000000 ellipse f
0.100000 slw
[] 0 sd
[] 0 sd
0 slj
n 21.150000 25.000000 m 24.850000 25.000000 l s
n 21.150000 25.900000 m 24.850000 25.900000 l s
n 21.150000 25.000000 0.000000 0.000000 180.000000 270.000000 ellipse s
n 24.850000 25.000000 0.000000 0.000000 270.000000 360.000000 ellipse s
n 21.150000 25.000000 m 21.150000 25.900000 l s
n 24.850000 25.000000 m 24.850000 25.900000 l s
n 21.150000 25.900000 0.000000 0.000000 90.000000 180.000000 ellipse s
n 24.850000 25.900000 0.000000 0.000000 0.000000 90.000000 ellipse s
n 21.080000 9.035000 m 21.080000 9.935000 l 24.780000 9.935000 l 24.780000 9.035000 l f
n 21.080000 9.035000 m 21.080000 9.035000 0.000000 0.000000 180.000000 270.000000 ellipse f
n 24.780000 9.035000 m 24.780000 9.035000 0.000000 0.000000 270.000000 360.000000 ellipse f
n 21.080000 9.035000 m 21.080000 9.935000 l 24.780000 9.935000 l 24.780000 9.035000 l f
n 21.080000 9.935000 m 21.080000 9.935000 0.000000 0.000000 90.000000 180.000000 ellipse f
n 24.780000 9.935000 m 24.780000 9.935000 0.000000 0.000000 0.000000 90.000000 ellipse f
0.100000 slw
[] 0 sd
[] 0 sd
0 slj
n 21.080000 9.035000 m 24.780000 9.035000 l s
n 21.080000 9.935000 m 24.780000 9.935000 l s
n 21.080000 9.035000 0.000000 0.000000 180.000000 270.000000 ellipse s
n 24.780000 9.035000 0.000000 0.000000 270.000000 360.000000 ellipse s
n 21.080000 9.035000 m 21.080000 9.935000 l s
n 24.780000 9.035000 m 24.780000 9.935000 l s
n 21.080000 9.935000 0.000000 0.000000 90.000000 180.000000 ellipse s
n 24.780000 9.935000 0.000000 0.000000 0.000000 90.000000 ellipse s
1.000000 1.000000 1.000000 srgb
n 15.100000 10.000000 m 15.100000 24.950000 l 30.900000 24.950000 l 30.900000 10.000000 l f
0.100000 slw
[] 0 sd
[] 0 sd
0 slj
0.000000 0.000000 0.000000 srgb
n 15.100000 10.000000 m 15.100000 24.950000 l 30.900000 24.950000 l 30.900000 10.000000 l cp s
0.749020 0.749020 0.749020 srgb
n 17.000000 7.150000 m 17.000000 9.000000 l 29.000000 9.000000 l 29.000000 7.150000 l f
n 17.000000 7.150000 m 17.000000 7.150000 0.000000 0.000000 180.000000 270.000000 ellipse f
n 29.000000 7.150000 m 29.000000 7.150000 0.000000 0.000000 270.000000 360.000000 ellipse f
n 17.000000 7.150000 m 17.000000 9.000000 l 29.000000 9.000000 l 29.000000 7.150000 l f
n 17.000000 9.000000 m 17.000000 9.000000 0.000000 0.000000 90.000000 180.000000 ellipse f
n 29.000000 9.000000 m 29.000000 9.000000 0.000000 0.000000 0.000000 90.000000 ellipse f
0.100000 slw
[] 0 sd
[] 0 sd
0 slj
0.000000 0.000000 0.000000 srgb
n 17.000000 7.150000 m 29.000000 7.150000 l s
n 17.000000 9.000000 m 29.000000 9.000000 l s
n 17.000000 7.150000 0.000000 0.000000 180.000000 270.000000 ellipse s
n 29.000000 7.150000 0.000000 0.000000 270.000000 360.000000 ellipse s
n 17.000000 7.150000 m 17.000000 9.000000 l s
n 29.000000 7.150000 m 29.000000 9.000000 l s
n 17.000000 9.000000 0.000000 0.000000 90.000000 180.000000 ellipse s
n 29.000000 9.000000 0.000000 0.000000 0.000000 90.000000 ellipse s
0.749020 0.749020 0.749020 srgb
n 17.000700 25.914300 m 17.000700 27.764300 l 29.000700 27.764300 l 29.000700 25.914300 l f
n 17.000700 25.914300 m 17.000700 25.914300 0.000000 0.000000 180.000000 270.000000 ellipse f
n 29.000700 25.914300 m 29.000700 25.914300 0.000000 0.000000 270.000000 360.000000 ellipse f
n 17.000700 25.914300 m 17.000700 27.764300 l 29.000700 27.764300 l 29.000700 25.914300 l f
n 17.000700 27.764300 m 17.000700 27.764300 0.000000 0.000000 90.000000 180.000000 ellipse f
n 29.000700 27.764300 m 29.000700 27.764300 0.000000 0.000000 0.000000 90.000000 ellipse f
0.100000 slw
[] 0 sd
[] 0 sd
0 slj
0.000000 0.000000 0.000000 srgb
n 17.000700 25.914300 m 29.000700 25.914300 l s
n 17.000700 27.764300 m 29.000700 27.764300 l s
n 17.000700 25.914300 0.000000 0.000000 180.000000 270.000000 ellipse s
n 29.000700 25.914300 0.000000 0.000000 270.000000 360.000000 ellipse s
n 17.000700 25.914300 m 17.000700 27.764300 l s
n 29.000700 25.914300 m 29.000700 27.764300 l s
n 17.000700 27.764300 0.000000 0.000000 90.000000 180.000000 ellipse s
n 29.000700 27.764300 0.000000 0.000000 0.000000 90.000000 ellipse s
1.000000 1.000000 1.000000 srgb
n 1.780000 16.085000 m 1.780000 17.985000 l 15.080000 17.985000 l 15.080000 16.085000 l f
0.100000 slw
[] 0 sd
[] 0 sd
0 slj
0.000000 0.000000 0.000000 srgb
n 1.780000 16.085000 m 1.780000 17.985000 l 15.080000 17.985000 l 15.080000 16.085000 l cp s
1.000000 1.000000 1.000000 srgb
n 2.800000 17.050000 0.500000 0.500000 0 360 ellipse f
0.100000 slw
[] 0 sd
[] 0 sd
0.000000 0.000000 0.000000 srgb
n 2.800000 17.050000 0.500000 0.500000 0 360 ellipse cp s
/Helvetica-latin1 ff 1.400000 scf sf
(Tractor) -3.804070 8.965100 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Helvetica-latin1 ff 0.700000 scf sf
(rotation:z2) dup sw 2 div 8.466942 ex sub 36.053553 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
(TF:D) dup sw 2 div 15.973192 ex sub 43.653553 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:[x2]) dup sw 2 div -2.589308 ex sub 36.203553 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:[y2]) dup sw 2 div 8.410692 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
(1) dup sw 2 div 23.816942 ex sub 36.203553 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
(1) dup sw 2 div 24.216942 ex sub 51.853553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 21.950301 35.891440 m 12.833155 35.832044 l s
n 12.833155 35.832044 m 14.127279 36.590491 l s
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 22.641483 49.986534 m 17.640695 45.012255 l s
/Helvetica-latin1 ff 0.560000 scf sf
n 17.640695 45.012255 m 18.032772 46.460107 l s
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 14.320247 41.691015 m 10.119893 37.466185 l s
n 10.119893 37.466185 m 11.567648 37.858621 l s
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 4.100304 35.843095 m 0.871380 35.872299 l s
n 4.100304 35.843095 m 4.107087 36.593064 l s
n 4.100304 35.843095 m 4.093521 35.093125 l s
n 0.871380 35.872299 m 2.177148 36.610520 l s
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 8.451012 33.849745 m 8.426618 30.857455 l s
n 8.451012 33.849745 m 9.200987 33.843631 l s
n 8.451012 33.849745 m 7.701037 33.855859 l s
n 8.426618 30.857455 m 9.187183 32.150336 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
(Sf:v) dup sw 2 div 33.566942 ex sub 36.203553 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
(Sf:omega) dup sw 2 div 33.423192 ex sub 51.853553 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:yaw) dup sw 2 div 24.191942 ex sub 47.453553 m gs 1 -1 sc sh gr
0.050000 slw
[] 0 sd
[] 0 sd
1 slc
n 24.205823 49.604007 m 24.202977 49.103193 l s
/Helvetica-latin1 ff 0.560000 scf sf
n 24.202977 49.103193 m 24.960346 50.397949 l s
n 24.202977 49.103193 m 23.460370 50.406472 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
(0) dup sw 2 div 24.216942 ex sub 43.203553 m gs 1 -1 sc sh gr
0.050000 slw
[] 0 sd
[] 0 sd
1 slc
n 24.203373 45.203178 m 24.205412 44.856616 l s
/Helvetica-latin1 ff 0.560000 scf sf
n 24.205412 44.856616 m 24.947757 46.160043 l s
n 24.205412 44.856616 m 23.447783 46.151220 l s
0.050000 slw
[] 0 sd
[] 0 sd
1 slc
n 15.079625 38.564846 m 11.673015 37.142354 l s
n 11.673015 37.142354 m 12.582750 38.334991 l s
n 11.673015 37.142354 m 13.160736 36.950819 l s
n 11.673015 37.142354 m 11.384022 37.834440 l s
n 11.673015 37.142354 m 11.962008 36.450268 l s
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 30.950033 35.903600 m 25.683950 35.903600 l s
/Helvetica-latin1 ff 0.560000 scf sf
n 25.683950 35.903600 m 26.982988 36.653600 l s
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 29.399573 51.553600 m 26.082238 51.553600 l s
/Helvetica-latin1 ff 0.560000 scf sf
n 26.082238 51.553600 m 27.381276 52.303600 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 18.285642 ex sub 40.153553 m gs 1 -1 sc sh gr
0.050000 slw
[] 0 sd
[] 0 sd
1 slc
n 22.457897 42.013896 m 21.061956 41.307830 l s
/Helvetica-latin1 ff 0.560000 scf sf
n 21.061956 41.307830 m 21.882638 42.563410 l s
n 21.061956 41.307830 m 22.559662 41.224889 l s
showpage








Added mttroot/mtt/lib/examples/Dia/robotrain/tractor_lbl.txt version [9aa5974a3e].





















































1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49

+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

#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].




























































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
1001
1002
1003
1004
1005
1006
1007
1008
1009
1010
1011
1012
1013
1014
1015
1016
1017
1018
1019
1020
1021
1022
1023
1024
1025
1026
1027
1028
1029
1030
1031
1032
1033
1034
1035
1036
1037
1038
1039
1040
1041
1042
1043
1044
1045
1046
1047
1048
1049
1050
1051
1052
1053
1054
1055
1056
1057
1058
1059
1060
1061
1062
1063
1064
1065
1066
1067
1068
1069
1070
1071
1072
1073
1074
1075
1076
1077
1078
1079
1080
1081
1082
1083
1084
1085
1086
1087
1088
1089
1090
1091
1092
1093
1094
1095
1096
1097
1098
1099
1100
1101
1102
1103
1104
1105
1106
1107
1108
1109
1110
1111
1112
1113
1114
1115
1116
1117
1118
1119
1120
1121
1122
1123
1124
1125
1126
1127
1128
1129
1130
1131
1132
1133
1134
1135
1136
1137
1138
1139
1140
1141
1142
1143
1144
1145
1146
1147
1148
1149
1150
1151
1152
1153
1154
1155
1156
1157
1158
1159
1160
1161
1162
1163
1164
1165
1166
1167
1168
1169
1170
1171
1172
1173
1174
1175
1176
1177
1178
1179
1180
1181
1182
1183
1184
1185
1186
1187
1188
1189
1190
1191
1192
1193
1194
1195
1196
1197
1198
1199
1200
1201
1202
1203
1204
1205
1206
1207
1208
1209
1210
1211
1212
1213
1214
1215
1216
1217
1218
1219
1220
1221
1222
1223
1224
1225
1226
1227
1228
1229
1230
1231
1232
1233
1234
1235
1236
1237
1238
1239
1240
1241
1242
1243
1244
1245
1246
1247
1248
1249
1250
1251
1252
1253
1254
1255
1256
1257
1258
1259
1260
1261
1262
1263
1264
1265
1266
1267
1268
1269
1270
1271
1272
1273
1274
1275
1276
1277
1278
1279
1280
1281
1282
1283
1284
1285
1286
1287
1288
1289
1290
1291
1292
1293
1294
1295
1296
1297
1298
1299
1300
1301
1302
1303
1304
1305
1306
1307
1308
1309
1310
1311
1312
1313
1314
1315
1316
1317
1318
1319
1320
1321
1322
1323
1324
1325
1326
1327
1328
1329
1330
1331
1332
1333
1334
1335
1336
1337
1338
1339
1340
1341
1342
1343
1344
1345
1346
1347
1348
1349
1350
1351
1352
1353
1354
1355
1356
1357
1358
1359
1360
1361
1362
1363
1364
1365
1366
1367
1368
1369
1370
1371
1372
1373
1374
1375
1376
1377
1378
1379
1380
1381
1382
1383
1384
1385
1386
1387
1388
1389
1390
1391
1392
1393
1394
1395
1396
1397
1398
1399
1400
1401
1402
1403
1404
1405
1406
1407
1408
1409
1410
1411
1412
1413
1414
1415
1416
1417
1418
1419
1420
1421
1422
1423
1424
1425
1426
1427
1428
1429
1430
1431
1432
1433
1434
1435
1436
1437
1438
1439
1440
1441
1442
1443
1444
1445
1446
1447
1448
1449
1450
1451
1452
1453
1454
1455
1456
1457
1458
1459
1460
1461
1462
1463
1464
1465
1466
1467
1468
1469
1470
1471
1472
1473
1474
1475
1476
1477
1478
1479
1480
1481
1482
1483
1484
1485
1486
1487
1488
1489
1490
1491
1492
1493
1494
1495
1496
1497
1498
1499
1500
1501
1502
1503
1504
1505
1506
1507
1508
1509
1510
1511
1512
1513
1514
1515
1516
1517
1518
1519
1520
1521
1522
1523
1524
1525
1526
1527
1528
1529
1530
1531
1532
1533
1534
1535
1536
1537
1538
1539
1540
1541
1542
1543
1544
1545
1546
1547
1548
1549
1550
1551
1552
1553
1554
1555
1556
1557
1558
1559
1560
1561
1562
1563
1564
1565
1566
1567
1568
1569
1570
1571
1572
1573
1574
1575
1576
1577
1578
1579
1580
1581
1582
1583
1584
1585
1586
1587
1588
1589
1590
1591
1592
1593
1594
1595
1596
1597
1598
1599
1600
1601
1602
1603
1604
1605
1606
1607
1608
1609
1610
1611
1612
1613
1614
1615
1616
1617
1618
1619
1620
1621
1622
1623
1624
1625
1626
1627
1628
1629
1630
1631
1632
1633
1634
1635
1636
1637
1638
1639
1640
1641
1642
1643
1644
1645
1646
1647
1648
1649
1650
1651
1652
1653
1654
1655
1656
1657
1658
1659
1660
1661
1662
1663
1664
1665
1666
1667
1668
1669
1670
1671
1672
1673
1674
1675
1676
1677
1678
1679
1680
1681
1682
1683
1684
1685
1686
1687
1688
1689
1690
1691
1692
1693
1694
1695
1696
1697
1698
1699
1700
1701
1702
1703
1704
1705
1706
1707
1708
1709
1710
1711
1712
1713
1714
1715
1716
1717
1718
1719
1720
1721
1722
1723
1724
1725
1726
1727
1728
1729
1730
1731
1732
1733
1734
1735
1736
1737
1738
1739
1740
1741
1742
1743
1744
1745
1746
1747
1748
1749
1750
1751
1752
1753
1754
1755
1756
1757
1758
1759
1760
1761
1762
1763
1764
1765
1766
1767
1768
1769
1770
1771
1772
1773
1774
1775
1776
1777
1778
1779
1780
1781
1782
1783
1784
1785
1786
1787
1788
1789
1790
1791
1792
1793
1794
1795
1796
1797
1798
1799
1800
1801
1802
1803
1804
1805
1806
1807
1808
1809
1810
1811
1812
1813
1814
1815
1816
1817
1818
1819
1820
1821
1822
1823
1824
1825
1826
1827
1828
1829
1830
1831
1832
1833
1834
1835
1836
1837
1838
1839
1840
1841
1842
1843
1844
1845
1846
1847
1848
1849
1850
1851
1852
1853
1854
1855
1856
1857
1858
1859
1860
1861
1862
1863
1864
1865
1866
1867
1868
1869
1870
1871
1872
1873
1874
1875
1876
1877
1878
1879
1880
1881
1882
1883
1884
1885
1886
1887
1888
1889
1890
1891
1892
1893
1894
1895
1896
1897
1898
1899
1900
1901
1902
1903
1904
1905
1906
1907
1908
1909
1910
1911
1912
1913
1914
1915
1916
1917
1918
1919
1920
1921
1922
1923
1924
1925
1926
1927
1928
1929
1930
1931
1932
1933
1934
1935
1936
1937
1938
1939
1940
1941
1942
1943
1944
1945
1946
1947
1948
1949
1950
1951
1952
1953
1954
1955
1956
1957
1958
1959
1960
1961
1962
1963
1964
1965
1966
1967
1968
1969
1970
1971
1972
1973
1974
1975
1976
1977
1978
1979
1980
1981
1982
1983
1984
1985
1986
1987
1988
1989
1990
1991
1992
1993
1994
1995
1996
1997
1998
1999
2000
2001
2002
2003
2004
2005
2006
2007
2008
2009
2010
2011
2012
2013
2014
2015
2016
2017
2018
2019
2020
2021
2022
2023
2024
2025
2026
2027
2028
2029
2030
2031
2032
2033
2034
2035
2036
2037
2038
2039
2040
2041
2042
2043
2044
2045
2046
2047
2048
2049
2050
2051
2052
2053
2054
2055
2056
2057
2058
2059
2060
2061
2062
2063
2064
2065
2066
2067
2068
2069
2070
2071
2072
2073
2074
2075
2076
2077
2078
2079
2080
2081
2082
2083
2084
2085
2086
2087
2088
2089
2090
2091
2092
2093
2094
2095
2096
2097
2098
2099
2100
2101
2102
2103
2104
2105
2106
2107
2108
2109
2110
2111
2112
2113
2114
2115
2116
2117
2118
2119
2120
2121
2122
2123
2124
2125
2126
2127
2128
2129
2130
2131
2132
2133
2134
2135
2136
2137
2138
2139
2140
2141
2142
2143
2144
2145
2146
2147
2148
2149
2150
2151
2152
2153
2154
2155
2156
2157
2158
2159
2160
2161
2162
2163
2164
2165
2166
2167
2168
2169
2170
2171
2172
2173
2174
2175
2176
2177
2178
2179
2180
2181
2182
2183
2184
2185
2186
2187
2188
2189
2190
2191
2192
2193
2194
2195
2196
2197
2198
2199
2200
2201
2202
2203
2204
2205
2206
2207
2208
2209
2210
2211
2212
2213
2214
2215
2216
2217
2218
2219
2220
2221
2222
2223
2224
2225
2226
2227
2228
2229
2230
2231
2232
2233
2234
2235
2236
2237
2238
2239
2240
2241
2242
2243
2244
2245
2246
2247
2248
2249
2250
2251
2252
2253
2254
2255
2256
2257
2258
2259
2260
2261
2262
2263
2264
2265
2266
2267
2268
2269
2270
2271
2272
2273
2274
2275
2276
2277
2278
2279
2280
2281
2282
2283
2284
2285
2286
2287
2288
2289
2290
2291
2292
2293
2294
2295
2296
2297
2298
2299
2300
2301
2302
2303
2304
2305
2306
2307
2308
2309
2310
2311
2312
2313
2314
2315
2316
2317
2318
2319
2320
2321
2322
2323
2324
2325
2326
2327
2328
2329
2330
2331
2332
2333
2334
2335
2336
2337
2338
2339
2340
2341
2342
2343
2344
2345
2346
2347
2348
2349
2350
2351
2352
2353
2354
2355
2356
2357
2358
2359
2360
2361
2362
2363
2364
2365
2366
2367
2368
2369
2370
2371
2372
2373
2374
2375
2376
2377
2378
2379
2380
2381
2382
2383
2384
2385
2386
2387
2388
2389
2390
2391
2392
2393
2394
2395
2396
2397
2398
2399
2400
2401
2402
2403
2404
2405
2406
2407
2408
2409
2410
2411
2412
2413
2414
2415
2416
2417
2418
2419
2420
2421
2422
2423
2424
2425
2426
2427
2428
2429
2430
2431
2432
2433
2434
2435
2436
2437
2438
2439
2440
2441
2442
2443
2444
2445
2446
2447
2448
2449
2450
2451
2452
2453
2454
2455
2456
2457
2458
2459
2460
2461
2462
2463
2464
2465
2466
2467
2468
2469
2470
2471
2472
2473
2474
2475
2476
2477
2478
2479
2480
2481
2482
2483
2484
2485
2486
2487
2488
2489
2490
2491
2492
2493
2494
2495
2496
2497
2498
2499
2500
2501
2502
2503
2504
2505
2506
2507
2508
2509
2510
2511
2512
2513
2514
2515
2516
2517
2518
2519
2520
2521
2522
2523
2524
2525
2526
2527
2528
2529
2530
2531
2532
2533
2534
2535
2536
2537
2538
2539
2540
2541
2542
2543
2544
2545
2546
2547
2548
2549
2550
2551
2552
2553
2554
2555
2556
2557
2558
2559
2560
2561
2562
2563
2564
2565
2566
2567
2568
2569
2570
2571
2572
2573
2574
2575
2576
2577
2578
2579
2580
2581
2582
2583
2584
2585
2586
2587
2588
2589
2590
2591
2592
2593
2594
2595
2596
2597
2598
2599
2600
2601
2602
2603
2604
2605
2606
2607
2608
2609
2610
2611
2612
2613
2614
2615
2616
2617
2618
2619
2620
2621
2622
2623
2624
2625
2626
2627
2628
2629
2630
2631
2632
2633
2634
2635
2636
2637
2638
2639
2640
2641
2642
2643
2644
2645
2646
2647
2648

+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

<?xml version="1.0" encoding="UTF-8"?>
<dia:diagram xmlns:dia="http://www.lysator.liu.se/~alla/dia/">
  <dia:diagramdata>
    <dia:attribute name="background">
      <dia:color val="#ffffff"/>
    </dia:attribute>
    <dia:attribute name="pagebreak">
      <dia:color val="#000099"/>
    </dia:attribute>
    <dia:attribute name="paper">
      <dia:composite type="paper">
        <dia:attribute name="name">
          <dia:string>#A4#</dia:string>
        </dia:attribute>
        <dia:attribute name="tmargin">
          <dia:real val="2.8222000598907471"/>
        </dia:attribute>
        <dia:attribute name="bmargin">
          <dia:real val="2.8222000598907471"/>
        </dia:attribute>
        <dia:attribute name="lmargin">
          <dia:real val="2.8222000598907471"/>
        </dia:attribute>
        <dia:attribute name="rmargin">
          <dia:real val="2.8222000598907471"/>
        </dia:attribute>
        <dia:attribute name="is_portrait">
          <dia:boolean val="true"/>
        </dia:attribute>
        <dia:attribute name="scaling">
          <dia:real val="1"/>
        </dia:attribute>
        <dia:attribute name="fitto">
          <dia:boolean val="false"/>
        </dia:attribute>
      </dia:composite>
    </dia:attribute>
    <dia:attribute name="grid">
      <dia:composite type="grid">
        <dia:attribute name="width_x">
          <dia:real val="1"/>
        </dia:attribute>
        <dia:attribute name="width_y">
          <dia:real val="1"/>
        </dia:attribute>
        <dia:attribute name="visible_x">
          <dia:int val="1"/>
        </dia:attribute>
        <dia:attribute name="visible_y">
          <dia:int val="1"/>
        </dia:attribute>
        <dia:composite type="color"/>
      </dia:composite>
    </dia:attribute>
    <dia:attribute name="color">
      <dia:color val="#d8e5e5"/>
    </dia:attribute>
    <dia:attribute name="guides">
      <dia:composite type="guides">
        <dia:attribute name="hguides"/>
        <dia:attribute name="vguides"/>
      </dia:composite>
    </dia:attribute>
  </dia:diagramdata>
  <dia:layer name="Background" visible="true">
    <dia:object type="Standard - Box" version="0" id="O0">
      <dia:attribute name="obj_pos">
        <dia:point val="21.15,25"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="21.1,24.95;24.9,25.95"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="21.15,25"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="3.6999999999999957"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="0.90000000000000213"/>
      </dia:attribute>
      <dia:attribute name="border_color">
        <dia:color val="#bfbfbf"/>
      </dia:attribute>
      <dia:attribute name="inner_color">
        <dia:color val="#bfbfbf"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="corner_radius">
        <dia:real val="1.1754943508222875e-38"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Box" version="0" id="O1">
      <dia:attribute name="obj_pos">
        <dia:point val="21.08,9.035"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="21.03,8.985;24.83,9.985"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="21.08,9.035"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="3.6999999999999957"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="0.90000000000000213"/>
      </dia:attribute>
      <dia:attribute name="border_color">
        <dia:color val="#bfbfbf"/>
      </dia:attribute>
      <dia:attribute name="inner_color">
        <dia:color val="#bfbfbf"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="corner_radius">
        <dia:real val="1.1754943508222875e-38"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Box" version="0" id="O2">
      <dia:attribute name="obj_pos">
        <dia:point val="15.1,10"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="15.05,9.95;30.95,25"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="15.1,10"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="15.799999999999999"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="14.949999999999999"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Box" version="0" id="O3">
      <dia:attribute name="obj_pos">
        <dia:point val="17,7.15"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="16.95,7.1;29.05,9.05"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="17,7.15"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="12"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.8499999999999996"/>
      </dia:attribute>
      <dia:attribute name="inner_color">
        <dia:color val="#bfbfbf"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="corner_radius">
        <dia:real val="1.1754943508222875e-38"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Box" version="0" id="O4">
      <dia:attribute name="obj_pos">
        <dia:point val="17.0007,25.9143"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="16.9507,25.8643;29.0507,27.8143"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="17.0007,25.9143"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="12"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.8499999999999996"/>
      </dia:attribute>
      <dia:attribute name="inner_color">
        <dia:color val="#bfbfbf"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="corner_radius">
        <dia:real val="1.1754943508222875e-38"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Box" version="0" id="O5">
      <dia:attribute name="obj_pos">
        <dia:point val="30.9,16"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="30.85,15.95;44.25,17.95"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="30.9,16"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="13.299999999999997"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.9000000000000021"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Box" version="0" id="O6">
      <dia:attribute name="obj_pos">
        <dia:point val="1.78,16.085"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="1.73,16.035;15.13,18.035"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="1.78,16.085"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="13.299999999999997"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.9000000000000021"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Ellipse" version="0" id="O7">
      <dia:attribute name="obj_pos">
        <dia:point val="42.6,16.45"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="42.55,16.4;43.65,17.5"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="42.6,16.45"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="aspect">
        <dia:enum val="2"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Ellipse" version="0" id="O8">
      <dia:attribute name="obj_pos">
        <dia:point val="2.3,16.55"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="2.25,16.5;3.35,17.6"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="2.3,16.55"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="aspect">
        <dia:enum val="2"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="Standard - Text" version="0" id="O9">
      <dia:attribute name="obj_pos">
        <dia:point val="-3.80407,8.9651"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="-3.80407,7.5651;14.3959,9.9651"/>
      </dia:attribute>
      <dia:attribute name="text">
        <dia:composite type="text">
          <dia:attribute name="string">
            <dia:string>#Passive off-hooked trailer#</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"/>
          </dia:attribute>
          <dia:attribute name="pos">
            <dia:point val="-3.80407,8.9651"/>
          </dia:attribute>
          <dia:attribute name="color">
            <dia:color val="#000000"/>
          </dia:attribute>
          <dia:attribute name="alignment">
            <dia:enum val="0"/>
          </dia:attribute>
        </dia:composite>
      </dia:attribute>
    </dia:object>
  </dia:layer>
  <dia:layer name="Bond Graph" visible="true">
    <dia:object type="BondGraph - MTT port" version="0" id="O10">
      <dia:attribute name="obj_pos">
        <dia:point val="34,35"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="33.95,34.95;40.6839,36.8571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="34,35"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="6.6338834764831827"/>
      </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="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>#rotation:z1#</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="37.3169,36.1536"/>
          </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 port" version="0" id="O11">
      <dia:attribute name="obj_pos">
        <dia:point val="5,35"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="4.95,34.95;11.6839,36.8571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="5,35"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="6.6338834764831844"/>
      </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="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>#rotation:z2#</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="8.31694,36.1536"/>
          </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 port" version="0" id="O12">
      <dia:attribute name="obj_pos">
        <dia:point val="13,42"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="12.95,41.95;16.4964,43.8571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="13,42"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="3.4463834764831915"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.8071067811865451"/>
      </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>#TF:D#</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="14.7232,43.2036"/>
          </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="O13">
      <dia:attribute name="obj_pos">
        <dia:point val="29,43"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="28.95,42.95;32.3714,44.8571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="29,43"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="3.3213834764831964"/>
      </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>#TF:L#</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="30.6607,44.2036"/>
          </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="O14">
      <dia:attribute name="obj_pos">
        <dia:point val="-4,35"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="-4.05,34.95;0.871383,36.8571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="-4,35"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="4.8213834764831835"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.8071067811865469"/>
      </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:[x2]#</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="-1.58931,36.2036"/>
          </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="O15">
      <dia:attribute name="obj_pos">
        <dia:point val="6,28"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="5.95,27.95;10.8714,29.8571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="6,28"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="4.8213834764831844"/>
      </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:[y2]#</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="8.41069,29.2036"/>
          </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 bond" version="0" id="O16">
      <dia:attribute name="obj_pos">
        <dia:point val="47.4169,36.0036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="41.5718,34.0969;45.6004,36.8035"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="47.4169,36.0036"/>
        <dia:point val="37.3169,35.9036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </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>#[x_1]#</dia:string>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O40" connection="0"/>
        <dia:connection handle="1" to="O10" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O17">
      <dia:attribute name="obj_pos">
        <dia:point val="37.3084,28.9743"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="37.2213,30.2735;40.0145,34.1514"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="37.3084,28.9743"/>
        <dia:point val="37.3169,35.9036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </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>#[y_1]#</dia:string>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O41" connection="0"/>
        <dia:connection handle="1" to="O10" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT port" version="0" id="O18">
      <dia:attribute name="obj_pos">
        <dia:point val="23,35"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="22.95,34.95;24.6839,36.8571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="23,35"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="1.6338834764831902"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.807106781186548"/>
      </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>#1#</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="23.8169,36.2036"/>
          </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="O19">
      <dia:attribute name="obj_pos">
        <dia:point val="23,52"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="22.95,51.95;24.6839,53.8571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="23,52"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="1.6338834764831902"/>
      </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>#1#</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="23.8169,53.2036"/>
          </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="O20">
      <dia:attribute name="obj_pos">
        <dia:point val="37.3169,35.9036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="25.5726,34.0536;34.4497,36.7536"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="37.3169,35.9036"/>
        <dia:point val="23.8169,35.9036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </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="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>#[x_2]#</dia:string>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O10" connection="0"/>
        <dia:connection handle="1" to="O18" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O21">
      <dia:attribute name="obj_pos">
        <dia:point val="37.3169,35.9036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="31.1892,36.0902;39.0998,44.1024"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="37.3169,35.9036"/>
        <dia:point val="30.6607,43.9036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </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="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>#[y_2]#</dia:string>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O10" connection="0"/>
        <dia:connection handle="1" to="O13" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O22">
      <dia:attribute name="obj_pos">
        <dia:point val="23.8169,35.9036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="12.5695,34.0536;21.9999,36.7536"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="23.8169,35.9036"/>
        <dia:point val="8.31694,35.9036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </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="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="end_label">
        <dia:string>#[x_1]#</dia:string>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O18" connection="0"/>
        <dia:connection handle="1" to="O11" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O23">
      <dia:attribute name="obj_pos">
        <dia:point val="30.6607,43.9036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="24.3106,44.6295;31.0106,53.034"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="30.6607,43.9036"/>
        <dia:point val="23.8169,52.9036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </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="show_labels">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O13" connection="0"/>
        <dia:connection handle="1" to="O19" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O24">
      <dia:attribute name="obj_pos">
        <dia:point val="23.8169,52.9036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="15.2855,42.1861;24.0319,52.2344"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="23.8169,52.9036"/>
        <dia:point val="14.7232,42.9036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </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="O19" connection="0"/>
        <dia:connection handle="1" to="O12" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O25">
      <dia:attribute name="obj_pos">
        <dia:point val="14.7232,42.9036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="8.88165,35.1811;14.9333,42.7766"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="14.7232,42.9036"/>
        <dia:point val="8.31694,35.9036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </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="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="end_label">
        <dia:string>#[y_1]#</dia:string>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O12" connection="0"/>
        <dia:connection handle="1" to="O11" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O26">
      <dia:attribute name="obj_pos">
        <dia:point val="8.31694,35.9036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="-0.700913,34.0536;8.81694,36.7536"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="8.31694,35.9036"/>
        <dia:point val="-1.58931,35.9036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </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="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>#[x_2]#</dia:string>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O11" connection="0"/>
        <dia:connection handle="1" to="O14" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O27">
      <dia:attribute name="obj_pos">
        <dia:point val="8.31694,35.9036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="7.47974,29.2696;11.0302,35.1198"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="8.31694,35.9036"/>
        <dia:point val="8.41069,28.9036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </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="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>#[y_2]#</dia:string>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O11" connection="0"/>
        <dia:connection handle="1" to="O15" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT port" version="0" id="O28">
      <dia:attribute name="obj_pos">
        <dia:point val="21.8438,29"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="21.7938,28.95;25.3402,30.8571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="21.8438,29"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="3.4463834764831862"/>
      </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>#Df:v#</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="23.567,30.2036"/>
          </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="O29">
      <dia:attribute name="obj_pos">
        <dia:point val="20.9,56"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="20.85,55.95;26.8339,57.8571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="20.9,56"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="5.8838834764831844"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.8071067811865469"/>
      </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>#Df:omega#</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="23.8419,57.2036"/>
          </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="O30">
      <dia:attribute name="obj_pos">
        <dia:point val="23.8169,35.9036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="23.5525,31.1557;24.9346,34.1016"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="23.8169,35.9036"/>
        <dia:point val="23.567,29.9036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </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="show_labels">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O18" connection="0"/>
        <dia:connection handle="1" to="O28" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O31">
      <dia:attribute name="obj_pos">
        <dia:point val="23.8169,52.9036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="23.7295,53.2461;25.0356,56.0961"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="23.8169,52.9036"/>
        <dia:point val="23.8419,56.9036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </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="true"/>
      </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="O19" connection="0"/>
        <dia:connection handle="1" to="O29" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT port" version="0" id="O32">
      <dia:attribute name="obj_pos">
        <dia:point val="20.8,47.05"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="20.75,47;26.7339,48.9071"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="20.8,47.05"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="5.8838834764831889"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.8071067811865469"/>
      </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>#INTF:yaw#</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="23.7419,48.2536"/>
          </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="O33">
      <dia:attribute name="obj_pos">
        <dia:point val="23.8169,52.9036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="22.9806,48.2853;25.0016,52.0855"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="23.8169,52.9036"/>
        <dia:point val="23.7419,47.9536"/>
      </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">
        <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="O19" connection="0"/>
        <dia:connection handle="1" to="O32" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT port" version="0" id="O34">
      <dia:attribute name="obj_pos">
        <dia:point val="23,42"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="22.95,41.95;24.6839,43.8571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="23,42"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="1.633883476483186"/>
      </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>#0#</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="23.8169,43.2036"/>
          </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="O35">
      <dia:attribute name="obj_pos">
        <dia:point val="23.7419,47.9536"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="22.9857,43.2713;25.0019,47.1715"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="23.7419,47.9536"/>
        <dia:point val="23.8169,42.9036"/>
      </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">
        <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="O32" connection="0"/>
        <dia:connection handle="1" to="O34" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O36">
      <dia:attribute name="obj_pos">
        <dia:point val="23.8169,42.9036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="24.671,35.6422;38.3815,43.7086"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="23.8169,42.9036"/>
        <dia:point val="37.3169,35.9036"/>
      </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">
        <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="2"/>
      </dia:attribute>
      <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="O34" connection="0"/>
        <dia:connection handle="1" to="O10" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O37">
      <dia:attribute name="obj_pos">
        <dia:point val="18.9357,39.5536"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="8.97894,34.4438;18.3801,39.2603"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="18.9357,39.5536"/>
        <dia:point val="8.31694,35.9036"/>
      </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">
        <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="2"/>
      </dia:attribute>
      <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="O38" connection="0"/>
        <dia:connection handle="1" to="O11" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT port" version="0" id="O38">
      <dia:attribute name="obj_pos">
        <dia:point val="15.4937,38.65"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="15.4437,38.6;22.4276,40.5071"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="15.4937,38.65"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="6.8838834764831871"/>
      </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>#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="18.9356,39.8036"/>
          </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="O39">
      <dia:attribute name="obj_pos">
        <dia:point val="23.8169,42.9036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="19.7084,38.4801;23.6714,42.3725"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="23.8169,42.9036"/>
        <dia:point val="18.9357,39.5536"/>
      </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">
        <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="O34" connection="0"/>
        <dia:connection handle="1" to="O38" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT port" version="0" id="O40">
      <dia:attribute name="obj_pos">
        <dia:point val="46.6,35.1"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="46.55,35.05;48.2839,36.9571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="46.6,35.1"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="1.6338834764831902"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.807106781186548"/>
      </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>#1#</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="47.4169,36.3036"/>
          </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="O41">
      <dia:attribute name="obj_pos">
        <dia:point val="36.4914,28.0707"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="36.4414,28.0207;38.1753,29.9278"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="36.4914,28.0707"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="1.6338834764831902"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.807106781186548"/>
      </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>#1#</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="37.3084,29.2743"/>
          </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="O42">
      <dia:attribute name="obj_pos">
        <dia:point val="45.65,39.7"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="45.6,39.65;49.2714,41.5571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="45.65,39.7"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="3.5713834764831756"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.8071067811865469"/>
      </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>#INTF#</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="47.4357,40.9036"/>
          </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="O43">
      <dia:attribute name="obj_pos">
        <dia:point val="40.7143,28.05"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="40.6643,28;44.3357,29.9071"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="40.7143,28.05"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="3.5713834764831982"/>
      </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>#INTF#</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="42.5,29.2536"/>
          </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="O44">
      <dia:attribute name="obj_pos">
        <dia:point val="34.85,20.5"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="34.8,20.45;39.7214,22.3571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="34.85,20.5"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="4.821383476483188"/>
      </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:[y1]#</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="37.2607,21.7036"/>
          </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="O45">
      <dia:attribute name="obj_pos">
        <dia:point val="53.7,34.95"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="53.65,34.9;58.5714,36.8071"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="53.7,34.95"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="4.8213834764831871"/>
      </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:[x1]#</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="56.1107,36.1536"/>
          </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="O46">
      <dia:attribute name="obj_pos">
        <dia:point val="56.1107,35.8536"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="49.1716,34.0634;52.715,36.7911"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="56.1107,35.8536"/>
        <dia:point val="47.4169,36.0036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </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="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="show_labels">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O45" connection="0"/>
        <dia:connection handle="1" to="O40" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O47">
      <dia:attribute name="obj_pos">
        <dia:point val="37.2607,21.4036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="36.4227,22.696;38.4961,27.2167"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="37.2607,21.4036"/>
        <dia:point val="37.3084,28.9743"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </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="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="show_labels">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O44" connection="0"/>
        <dia:connection handle="1" to="O41" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O48">
      <dia:attribute name="obj_pos">
        <dia:point val="37.3084,28.9743"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="38.1477,27.1109;40.7199,29.7628"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="37.3084,28.9743"/>
        <dia:point val="42.5,28.9536"/>
      </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="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="O41" connection="0"/>
        <dia:connection handle="1" to="O43" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O49">
      <dia:attribute name="obj_pos">
        <dia:point val="47.4169,36.0036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="46.6297,36.3024;48.6318,39.8449"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="47.4169,36.0036"/>
        <dia:point val="47.4357,40.6036"/>
      </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="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="O40" connection="0"/>
        <dia:connection handle="1" to="O42" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT port" version="0" id="O50">
      <dia:attribute name="obj_pos">
        <dia:point val="46.5983,28.15"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="46.5483,28.1;50.0947,30.0071"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="46.5983,28.15"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="3.4463834764831773"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.8071067811865469"/>
      </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>#De:y#</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="48.3215,29.3536"/>
          </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="O51">
      <dia:attribute name="obj_pos">
        <dia:point val="45.667,44.05"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="45.617,44;49.2259,45.9071"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="45.667,44.05"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="3.5088834764831862"/>
      </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>#De:x#</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="47.4215,45.2536"/>
          </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="O52">
      <dia:attribute name="obj_pos">
        <dia:point val="42.5,28.9536"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="44.308,27.1352;46.6263,29.7972"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="42.5,28.9536"/>
        <dia:point val="48.3215,29.0536"/>
      </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="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="O43" connection="0"/>
        <dia:connection handle="1" to="O50" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O53">
      <dia:attribute name="obj_pos">
        <dia:point val="47.4357,40.6036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="46.6323,40.9101;48.6326,44.2048"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="47.4357,40.6036"/>
        <dia:point val="47.4215,44.9536"/>
      </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="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="O42" connection="0"/>
        <dia:connection handle="1" to="O51" connection="0"/>
      </dia:connections>
    </dia:object>
  </dia:layer>
</dia:diagram>








Added mttroot/mtt/lib/examples/Dia/robotrain/trailer_abg.ps version [a0fab52c92].


























































































































































































































































































































































































































































































































































































































































































































































































































































































1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854

+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

%!PS-Adobe-2.0 EPSF-2.0
%%Title: trailer_abg.dia
%%Creator: Dia v0.94+bondgraph
%%CreationDate: Sun Sep 12 21:16:23 2004
%%For: geraint
%%Orientation: Portrait
%%Magnification: 1.0000
%%BoundingBox: 0 0 1776 1439
%%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
/threequarters /questiondown /Agrave /Aacute /Acircumflex /Atilde /Adieresis /Aring /AE /Ccedilla
/Egrave /Eacute /Ecircumflex /Edieresis /Igrave /Iacute /Icircumflex /Idieresis /Eth /Ntilde
/Ograve /Oacute /Ocircumflex /Otilde /Odieresis /multiply /Oslash /Ugrave /Uacute /Ucircumflex
/Udieresis /Yacute /Thorn /germandbls /agrave /aacute /acircumflex /atilde /adieresis /aring
/ae /ccedilla /egrave /eacute /ecircumflex /edieresis /igrave /iacute /icircumflex /idieresis
/eth /ntilde /ograve /oacute /ocircumflex /otilde /odieresis /divide /oslash /ugrave
/uacute /ucircumflex /udieresis /yacute /thorn /ydieresis] /isolatin1encoding exch def
/cp {closepath} bind def
/c {curveto} bind def
/f {fill} bind def
/a {arc} bind def
/ef {eofill} bind def
/ex {exch} bind def
/gr {grestore} bind def
/gs {gsave} bind def
/sa {save} bind def
/rs {restore} bind def
/l {lineto} bind def
/m {moveto} bind def
/rm {rmoveto} bind def
/n {newpath} bind def
/s {stroke} bind def
/sh {show} bind def
/slc {setlinecap} bind def
/slj {setlinejoin} bind def
/slw {setlinewidth} bind def
/srgb {setrgbcolor} bind def
/rot {rotate} bind def
/sc {scale} bind def
/sd {setdash} bind def
/ff {findfont} bind def
/sf {setfont} bind def
/scf {scalefont} bind def
/sw {stringwidth pop} bind def
/tr {translate} bind def

/ellipsedict 8 dict def
ellipsedict /mtrx matrix put
/ellipse
{ ellipsedict begin
   /endangle exch def
   /startangle exch def
   /yrad exch def
   /xrad exch def
   /y exch def
   /x exch def   /savematrix mtrx currentmatrix def
   x y tr xrad yrad sc
   0 0 1 startangle endangle arc
   savematrix setmatrix
   end
} def

/mergeprocs {
dup length
3 -1 roll
dup
length
dup
5 1 roll
3 -1 roll
add
array cvx
dup
3 -1 roll
0 exch
putinterval
dup
4 2 roll
putinterval
} bind def
/Times-Roman-latin1
    /Times-Roman findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Times-Italic-latin1
    /Times-Italic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Times-Bold-latin1
    /Times-Bold findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Times-BoldItalic-latin1
    /Times-BoldItalic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/AvantGarde-Book-latin1
    /AvantGarde-Book findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/AvantGarde-BookOblique-latin1
    /AvantGarde-BookOblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/AvantGarde-Demi-latin1
    /AvantGarde-Demi findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/AvantGarde-DemiOblique-latin1
    /AvantGarde-DemiOblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Bookman-Light-latin1
    /Bookman-Light findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Bookman-LightItalic-latin1
    /Bookman-LightItalic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Bookman-Demi-latin1
    /Bookman-Demi findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Bookman-DemiItalic-latin1
    /Bookman-DemiItalic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Courier-latin1
    /Courier findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Courier-Oblique-latin1
    /Courier-Oblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Courier-Bold-latin1
    /Courier-Bold findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Courier-BoldOblique-latin1
    /Courier-BoldOblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-latin1
    /Helvetica findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-Oblique-latin1
    /Helvetica-Oblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-Bold-latin1
    /Helvetica-Bold findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-BoldOblique-latin1
    /Helvetica-BoldOblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-Narrow-latin1
    /Helvetica-Narrow findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-Narrow-Oblique-latin1
    /Helvetica-Narrow-Oblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-Narrow-Bold-latin1
    /Helvetica-Narrow-Bold findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Helvetica-Narrow-BoldOblique-latin1
    /Helvetica-Narrow-BoldOblique findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/NewCenturySchoolbook-Roman-latin1
    /NewCenturySchoolbook-Roman findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/NewCenturySchoolbook-Italic-latin1
    /NewCenturySchoolbook-Italic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/NewCenturySchoolbook-Bold-latin1
    /NewCenturySchoolbook-Bold findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/NewCenturySchoolbook-BoldItalic-latin1
    /NewCenturySchoolbook-BoldItalic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Palatino-Roman-latin1
    /Palatino-Roman findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Palatino-Italic-latin1
    /Palatino-Italic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Palatino-Bold-latin1
    /Palatino-Bold findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Palatino-BoldItalic-latin1
    /Palatino-BoldItalic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/Symbol-latin1
    /Symbol findfont
definefont pop
/ZapfChancery-MediumItalic-latin1
    /ZapfChancery-MediumItalic findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
/ZapfDingbats-latin1
    /ZapfDingbats findfont
    dup length dict begin
	{1 index /FID ne {def} {pop pop} ifelse} forall
	/Encoding isolatin1encoding def
    currentdict end
definefont pop
28.346000 -28.346000 scale
4.050000 -57.857107 translate
%%EndProlog


0.749020 0.749020 0.749020 srgb
n 21.150000 25.000000 m 21.150000 25.900000 l 24.850000 25.900000 l 24.850000 25.000000 l f
n 21.150000 25.000000 m 21.150000 25.000000 0.000000 0.000000 180.000000 270.000000 ellipse f
n 24.850000 25.000000 m 24.850000 25.000000 0.000000 0.000000 270.000000 360.000000 ellipse f
n 21.150000 25.000000 m 21.150000 25.900000 l 24.850000 25.900000 l 24.850000 25.000000 l f
n 21.150000 25.900000 m 21.150000 25.900000 0.000000 0.000000 90.000000 180.000000 ellipse f
n 24.850000 25.900000 m 24.850000 25.900000 0.000000 0.000000 0.000000 90.000000 ellipse f
0.100000 slw
[] 0 sd
[] 0 sd
0 slj
n 21.150000 25.000000 m 24.850000 25.000000 l s
n 21.150000 25.900000 m 24.850000 25.900000 l s
n 21.150000 25.000000 0.000000 0.000000 180.000000 270.000000 ellipse s
n 24.850000 25.000000 0.000000 0.000000 270.000000 360.000000 ellipse s
n 21.150000 25.000000 m 21.150000 25.900000 l s
n 24.850000 25.000000 m 24.850000 25.900000 l s
n 21.150000 25.900000 0.000000 0.000000 90.000000 180.000000 ellipse s
n 24.850000 25.900000 0.000000 0.000000 0.000000 90.000000 ellipse s
n 21.080000 9.035000 m 21.080000 9.935000 l 24.780000 9.935000 l 24.780000 9.035000 l f
n 21.080000 9.035000 m 21.080000 9.035000 0.000000 0.000000 180.000000 270.000000 ellipse f
n 24.780000 9.035000 m 24.780000 9.035000 0.000000 0.000000 270.000000 360.000000 ellipse f
n 21.080000 9.035000 m 21.080000 9.935000 l 24.780000 9.935000 l 24.780000 9.035000 l f
n 21.080000 9.935000 m 21.080000 9.935000 0.000000 0.000000 90.000000 180.000000 ellipse f
n 24.780000 9.935000 m 24.780000 9.935000 0.000000 0.000000 0.000000 90.000000 ellipse f
0.100000 slw
[] 0 sd
[] 0 sd
0 slj
n 21.080000 9.035000 m 24.780000 9.035000 l s
n 21.080000 9.935000 m 24.780000 9.935000 l s
n 21.080000 9.035000 0.000000 0.000000 180.000000 270.000000 ellipse s
n 24.780000 9.035000 0.000000 0.000000 270.000000 360.000000 ellipse s
n 21.080000 9.035000 m 21.080000 9.935000 l s
n 24.780000 9.035000 m 24.780000 9.935000 l s
n 21.080000 9.935000 0.000000 0.000000 90.000000 180.000000 ellipse s
n 24.780000 9.935000 0.000000 0.000000 0.000000 90.000000 ellipse s
1.000000 1.000000 1.000000 srgb
n 15.100000 10.000000 m 15.100000 24.950000 l 30.900000 24.950000 l 30.900000 10.000000 l f
0.100000 slw
[] 0 sd
[] 0 sd
0 slj
0.000000 0.000000 0.000000 srgb
n 15.100000 10.000000 m 15.100000 24.950000 l 30.900000 24.950000 l 30.900000 10.000000 l cp s
0.749020 0.749020 0.749020 srgb
n 17.000000 7.150000 m 17.000000 9.000000 l 29.000000 9.000000 l 29.000000 7.150000 l f
n 17.000000 7.150000 m 17.000000 7.150000 0.000000 0.000000 180.000000 270.000000 ellipse f
n 29.000000 7.150000 m 29.000000 7.150000 0.000000 0.000000 270.000000 360.000000 ellipse f
n 17.000000 7.150000 m 17.000000 9.000000 l 29.000000 9.000000 l 29.000000 7.150000 l f
n 17.000000 9.000000 m 17.000000 9.000000 0.000000 0.000000 90.000000 180.000000 ellipse f
n 29.000000 9.000000 m 29.000000 9.000000 0.000000 0.000000 0.000000 90.000000 ellipse f
0.100000 slw
[] 0 sd
[] 0 sd
0 slj
0.000000 0.000000 0.000000 srgb
n 17.000000 7.150000 m 29.000000 7.150000 l s
n 17.000000 9.000000 m 29.000000 9.000000 l s
n 17.000000 7.150000 0.000000 0.000000 180.000000 270.000000 ellipse s
n 29.000000 7.150000 0.000000 0.000000 270.000000 360.000000 ellipse s
n 17.000000 7.150000 m 17.000000 9.000000 l s
n 29.000000 7.150000 m 29.000000 9.000000 l s
n 17.000000 9.000000 0.000000 0.000000 90.000000 180.000000 ellipse s
n 29.000000 9.000000 0.000000 0.000000 0.000000 90.000000 ellipse s
0.749020 0.749020 0.749020 srgb
n 17.000700 25.914300 m 17.000700 27.764300 l 29.000700 27.764300 l 29.000700 25.914300 l f
n 17.000700 25.914300 m 17.000700 25.914300 0.000000 0.000000 180.000000 270.000000 ellipse f
n 29.000700 25.914300 m 29.000700 25.914300 0.000000 0.000000 270.000000 360.000000 ellipse f
n 17.000700 25.914300 m 17.000700 27.764300 l 29.000700 27.764300 l 29.000700 25.914300 l f
n 17.000700 27.764300 m 17.000700 27.764300 0.000000 0.000000 90.000000 180.000000 ellipse f
n 29.000700 27.764300 m 29.000700 27.764300 0.000000 0.000000 0.000000 90.000000 ellipse f
0.100000 slw
[] 0 sd
[] 0 sd
0 slj
0.000000 0.000000 0.000000 srgb
n 17.000700 25.914300 m 29.000700 25.914300 l s
n 17.000700 27.764300 m 29.000700 27.764300 l s
n 17.000700 25.914300 0.000000 0.000000 180.000000 270.000000 ellipse s
n 29.000700 25.914300 0.000000 0.000000 270.000000 360.000000 ellipse s
n 17.000700 25.914300 m 17.000700 27.764300 l s
n 29.000700 25.914300 m 29.000700 27.764300 l s
n 17.000700 27.764300 0.000000 0.000000 90.000000 180.000000 ellipse s
n 29.000700 27.764300 0.000000 0.000000 0.000000 90.000000 ellipse s
1.000000 1.000000 1.000000 srgb
n 30.900000 16.000000 m 30.900000 17.900000 l 44.200000 17.900000 l 44.200000 16.000000 l f
0.100000 slw
[] 0 sd
[] 0 sd
0 slj
0.000000 0.000000 0.000000 srgb
n 30.900000 16.000000 m 30.900000 17.900000 l 44.200000 17.900000 l 44.200000 16.000000 l cp s
1.000000 1.000000 1.000000 srgb
n 1.780000 16.085000 m 1.780000 17.985000 l 15.080000 17.985000 l 15.080000 16.085000 l f
0.100000 slw
[] 0 sd
[] 0 sd
0 slj
0.000000 0.000000 0.000000 srgb
n 1.780000 16.085000 m 1.780000 17.985000 l 15.080000 17.985000 l 15.080000 16.085000 l cp s
1.000000 1.000000 1.000000 srgb
n 43.100000 16.950000 0.500000 0.500000 0 360 ellipse f
0.100000 slw
[] 0 sd
[] 0 sd
0.000000 0.000000 0.000000 srgb
n 43.100000 16.950000 0.500000 0.500000 0 360 ellipse cp s
1.000000 1.000000 1.000000 srgb
n 2.800000 17.050000 0.500000 0.500000 0 360 ellipse f
0.100000 slw
[] 0 sd
[] 0 sd
0.000000 0.000000 0.000000 srgb
n 2.800000 17.050000 0.500000 0.500000 0 360 ellipse cp s
/Helvetica-latin1 ff 1.400000 scf sf
(Passive off-hooked trailer) -3.804070 8.965100 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Helvetica-latin1 ff 0.700000 scf sf
(rotation:z1) dup sw 2 div 37.316942 ex sub 36.153553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Helvetica-latin1 ff 0.700000 scf sf
(rotation:z2) dup sw 2 div 8.316942 ex sub 36.153553 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
(TF:D) dup sw 2 div 14.723192 ex sub 43.203553 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
(TF:L) dup sw 2 div 30.660692 ex sub 44.203553 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:[x2]) dup sw 2 div -1.589308 ex sub 36.203553 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:[y2]) dup sw 2 div 8.410692 ex sub 29.203553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 45.549905 35.985115 m 41.683312 35.946832 l s
n 41.683312 35.946832 m 42.974861 36.709656 l s
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 37.310793 30.925048 m 37.314507 33.952852 l s
n 37.314507 33.952852 m 38.062913 32.652895 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 23.816942 ex sub 36.203553 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
(1) dup sw 2 div 23.816942 ex sub 53.203553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 32.949728 35.903600 m 25.684133 35.903600 l s
n 32.949728 35.903600 m 32.949728 36.653600 l s
n 32.949728 35.903600 m 32.949728 35.153600 l s
n 25.684133 35.903600 m 26.983171 36.653600 l s
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 35.883879 37.625929 m 32.093721 42.181271 l s
n 35.883879 37.625929 m 36.460416 38.105622 l s
n 35.883879 37.625929 m 35.307342 37.146236 l s
n 32.093721 42.181271 m 33.501110 41.662373 l s
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 21.949852 35.903600 m 12.681067 35.903600 l s
n 21.949852 35.903600 m 21.949852 36.653600 l s
n 21.949852 35.903600 m 21.949852 35.153600 l s
n 12.681067 35.903600 m 13.980105 36.653600 l s
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 29.331926 45.651016 m 25.145674 51.156184 l s
/Helvetica-latin1 ff 0.560000 scf sf
n 25.145674 51.156184 m 26.528977 50.576121 l s
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 22.322407 51.260163 m 16.263229 44.597112 l s
n 16.263229 44.597112 m 17.692081 45.053599 l s
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 13.176908 41.213996 m 9.863232 37.593204 l s
n 13.176908 41.213996 m 13.730183 40.707649 l s
n 13.176908 41.213996 m 12.623633 41.720342 l s
n 9.863232 37.593204 m 11.293525 38.045159 l s
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 3.949758 35.903600 m 1.870928 35.903600 l s
n 3.949758 35.903600 m 3.949758 36.653600 l s
n 3.949758 35.903600 m 3.949758 35.153600 l s
n 1.870928 35.903600 m 3.169966 36.653600 l s
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 8.343080 33.951785 m 8.384550 30.855415 l s
n 8.343080 33.951785 m 9.093013 33.961829 l s
n 8.343080 33.951785 m 7.593148 33.941742 l s
n 8.384550 30.855415 m 9.117086 32.164380 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
(Df:v) dup sw 2 div 23.566992 ex sub 30.203553 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
(Df:omega) dup sw 2 div 23.841942 ex sub 57.203553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 23.735599 33.951585 m 23.648301 31.855615 l s
/Helvetica-latin1 ff 0.560000 scf sf
n 23.648301 31.855615 m 24.451710 33.122317 l s
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 23.829110 54.857194 m 23.829690 54.950006 l s
/Helvetica-latin1 ff 0.560000 scf sf
n 23.829110 54.857194 m 24.587214 56.151519 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
(INTF:yaw) dup sw 2 div 23.741942 ex sub 48.253553 m gs 1 -1 sc sh gr
0.050000 slw
[] 0 sd
[] 0 sd
1 slc
n 23.787299 50.949909 m 23.771501 49.907291 l s
/Helvetica-latin1 ff 0.560000 scf sf
n 23.771501 49.907291 m 24.541095 51.194817 l s
n 23.771501 49.907291 m 23.041268 51.217542 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
(0) dup sw 2 div 23.816942 ex sub 43.203553 m gs 1 -1 sc sh gr
0.050000 slw
[] 0 sd
[] 0 sd
1 slc
n 23.770904 46.000671 m 23.787896 44.856529 l s
/Helvetica-latin1 ff 0.560000 scf sf
n 23.787896 44.856529 m 24.518523 46.166562 l s
n 23.787896 44.856529 m 23.018688 46.144287 l s
0.050000 slw
[] 0 sd
[] 0 sd
1 slc
n 25.571888 41.993606 m 34.593330 37.315821 l s
n 34.593330 37.315821 m 33.785341 38.579607 l s
n 34.593330 37.315821 m 33.094865 37.247975 l s
n 34.593330 37.315821 m 34.938568 37.981637 l s
n 34.593330 37.315821 m 34.248092 36.650006 l s
0.050000 slw
[] 0 sd
[] 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].































































1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59

+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

#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].



































































































































































































































































































































































































































































































































































































































































































































































































































































































































































1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927

+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

%!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
/gnudict 256 dict def
gnudict begin
/Color false def
/Solid false def
/gnulinewidth 5.000 def
/userlinewidth gnulinewidth def
/vshift -46 def
/dl {10.0 mul} def
/hpt_ 31.5 def
/vpt_ 31.5 def
/hpt hpt_ def
/vpt vpt_ def
/Rounded false def
/M {moveto} bind def
/L {lineto} bind def
/R {rmoveto} bind def
/V {rlineto} bind def
/N {newpath moveto} bind def
/C {setrgbcolor} bind def
/f {rlineto fill} bind def
/vpt2 vpt 2 mul def
/hpt2 hpt 2 mul def
/Lshow { currentpoint stroke M
  0 vshift R show } def
/Rshow { currentpoint stroke M
  dup stringwidth pop neg vshift R show } def
/Cshow { currentpoint stroke M
  dup stringwidth pop -2 div vshift R show } def
/UP { dup vpt_ mul /vpt exch def hpt_ mul /hpt exch def
  /hpt2 hpt 2 mul def /vpt2 vpt 2 mul def } def
/DL { Color {setrgbcolor Solid {pop []} if 0 setdash }
 {pop pop pop 0 setgray Solid {pop []} if 0 setdash} ifelse } def
/BL { stroke userlinewidth 2 mul setlinewidth
      Rounded { 1 setlinejoin 1 setlinecap } if } def
/AL { stroke userlinewidth 2 div setlinewidth
      Rounded { 1 setlinejoin 1 setlinecap } if } def
/UL { dup gnulinewidth mul /userlinewidth exch def
      dup 1 lt {pop 1} if 10 mul /udl exch def } def
/PL { stroke userlinewidth setlinewidth
      Rounded { 1 setlinejoin 1 setlinecap } if } def
/LTw { PL [] 1 setgray } def
/LTb { BL [] 0 0 0 DL } def
/LTa { AL [1 udl mul 2 udl mul] 0 setdash 0 0 0 setrgbcolor } def
/LT0 { PL [] 1 0 0 DL } def
/LT1 { PL [4 dl 2 dl] 0 1 0 DL } def
/LT2 { PL [2 dl 3 dl] 0 0 1 DL } def
/LT3 { PL [1 dl 1.5 dl] 1 0 1 DL } def
/LT4 { PL [5 dl 2 dl 1 dl 2 dl] 0 1 1 DL } def
/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
/Pnt { stroke [] 0 setdash
   gsave 1 setlinecap M 0 0 V stroke grestore } def
/Dia { stroke [] 0 setdash 2 copy vpt add M
  hpt neg vpt neg V hpt vpt neg V
  hpt vpt V hpt neg vpt V closepath stroke
  Pnt } def
/Pls { stroke [] 0 setdash vpt sub M 0 vpt2 V
  currentpoint stroke M
  hpt neg vpt neg R hpt2 0 V stroke
  } def
/Box { stroke [] 0 setdash 2 copy exch hpt sub exch vpt add M
  0 vpt2 neg V hpt2 0 V 0 vpt2 V
  hpt2 neg 0 V closepath stroke
  Pnt } def
/Crs { stroke [] 0 setdash exch hpt sub exch vpt add M
  hpt2 vpt2 neg V currentpoint stroke M
  hpt2 neg 0 R hpt2 vpt2 V stroke } def
/TriU { stroke [] 0 setdash 2 copy 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 closepath stroke
  Pnt  } def
/Star { 2 copy Pls Crs } def
/BoxF { stroke [] 0 setdash exch hpt sub exch vpt add M
  0 vpt2 neg V  hpt2 0 V  0 vpt2 V
  hpt2 neg 0 V  closepath fill } def
/TriUF { 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 closepath fill } def
/TriD { stroke [] 0 setdash 2 copy 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 closepath stroke
  Pnt  } def
/TriDF { 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 closepath fill} def
/DiaF { stroke [] 0 setdash vpt add M
  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
  translate 0 hpt M 4 {72 rotate 0 hpt L} repeat
  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
  hpt 0 360 arc stroke Pnt } def
/CircleF { stroke [] 0 setdash hpt 0 360 arc fill } def
/C0 { BL [] 0 setdash 2 copy moveto vpt 90 450  arc } bind def
/C1 { BL [] 0 setdash 2 copy        moveto
       2 copy  vpt 0 90 arc closepath fill
               vpt 0 360 arc closepath } bind def
/C2 { BL [] 0 setdash 2 copy moveto
       2 copy  vpt 90 180 arc closepath fill
               vpt 0 360 arc closepath } bind def
/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
       2 copy  vpt 0 90 arc
       2 copy moveto
       2 copy  vpt 180 270 arc closepath fill
               vpt 0 360 arc } bind def
/C6 { BL [] 0 setdash 2 copy moveto
      2 copy  vpt 90 270 arc closepath fill
              vpt 0 360 arc closepath } bind def
/C7 { BL [] 0 setdash 2 copy moveto
      2 copy  vpt 0 270 arc closepath fill
              vpt 0 360 arc closepath } bind def
/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
       2 copy  vpt 0 180 arc closepath fill
       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
       2 copy  vpt 180 360 arc closepath fill
               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
       neg 0 rlineto closepath } bind def
/Square { dup Rec } bind def
/Bsquare { vpt sub exch vpt sub exch vpt2 Square } bind def
/S0 { BL [] 0 setdash 2 copy moveto 0 vpt rlineto BL Bsquare } bind def
/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
       exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def
/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
       Bsquare } bind def
/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
/D0 { gsave translate 45 rotate 0 0 S0 stroke grestore } bind def
/D1 { gsave translate 45 rotate 0 0 S1 stroke grestore } bind def
/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
/DiaE { stroke [] 0 setdash vpt add M
  hpt neg vpt neg V hpt vpt neg V
  hpt vpt V hpt neg vpt V closepath stroke } def
/BoxE { stroke [] 0 setdash exch hpt sub exch vpt add M
  0 vpt2 neg V hpt2 0 V 0 vpt2 V
  hpt2 neg 0 V closepath stroke } def
/TriUE { 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 closepath stroke } def
/TriDE { 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 closepath stroke } def
/PentE { stroke [] 0 setdash gsave
  translate 0 hpt M 4 {72 rotate 0 hpt L} repeat
  closepath stroke grestore } def
/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
  0 vpt2 neg V hpt2 0 V 0 vpt2 V
  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
gnudict begin
gsave
50 50 translate
0.050 0.050 scale
0 setgray
newpath
(Helvetica) findfont 140 scalefont setfont
1.000 UL
LTb
1.000 UL
LTa
714 560 M
6248 0 V
1.000 UL
LTb
714 560 M
63 0 V
6185 0 R
-63 0 V
630 560 M
gsave 0 setgray
(-1) Rshow
grestore
1.000 UL
LTb
1.000 UL
LTa
714 1140 M
6248 0 V
1.000 UL
LTb
714 1140 M
63 0 V
6185 0 R
-63 0 V
-6269 0 R
gsave 0 setgray
(-0.5) Rshow
grestore
1.000 UL
LTb
1.000 UL
LTa
714 1720 M
6248 0 V
1.000 UL
LTb
714 1720 M
63 0 V
6185 0 R
-63 0 V
-6269 0 R
gsave 0 setgray
( 0) Rshow
grestore
1.000 UL
LTb
1.000 UL
LTa
714 2300 M
6248 0 V
1.000 UL
LTb
714 2300 M
63 0 V
6185 0 R
-63 0 V
-6269 0 R
gsave 0 setgray
( 0.5) Rshow
grestore
1.000 UL
LTb
1.000 UL
LTa
714 2880 M
6248 0 V
1.000 UL
LTb
714 2880 M
63 0 V
6185 0 R
-63 0 V
-6269 0 R
gsave 0 setgray
( 1) Rshow
grestore
1.000 UL
LTb
1.000 UL
LTa
714 3460 M
6248 0 V
1.000 UL
LTb
714 3460 M
63 0 V
6185 0 R
-63 0 V
-6269 0 R
gsave 0 setgray
( 1.5) Rshow
grestore
1.000 UL
LTb
1.000 UL
LTa
714 4040 M
6248 0 V
1.000 UL
LTb
714 4040 M
63 0 V
6185 0 R
-63 0 V
-6269 0 R
gsave 0 setgray
( 2) Rshow
grestore
1.000 UL
LTb
1.000 UL
LTa
714 4620 M
6248 0 V
1.000 UL
LTb
714 4620 M
63 0 V
6185 0 R
-63 0 V
-6269 0 R
gsave 0 setgray
( 2.5) Rshow
grestore
1.000 UL
LTb
1.000 UL
LTa
714 560 M
0 4060 V
1.000 UL
LTb
714 560 M
0 63 V
0 3997 R
0 -63 V
714 420 M
gsave 0 setgray
(-5) Cshow
grestore
1.000 UL
LTb
1.000 UL
LTa
1607 560 M
0 3577 V
0 420 R
0 63 V
1.000 UL
LTb
1607 560 M
0 63 V
0 3997 R
0 -63 V
0 -4137 R
gsave 0 setgray
(-4) Cshow
grestore
1.000 UL
LTb
1.000 UL
LTa
2499 560 M
0 4060 V
1.000 UL
LTb
2499 560 M
0 63 V
0 3997 R
0 -63 V
0 -4137 R
gsave 0 setgray
(-3) Cshow
grestore
1.000 UL
LTb
1.000 UL
LTa
3392 560 M
0 4060 V
1.000 UL
LTb
3392 560 M
0 63 V
0 3997 R
0 -63 V
0 -4137 R
gsave 0 setgray
(-2) Cshow
grestore
1.000 UL
LTb
1.000 UL
LTa
4284 560 M
0 4060 V
1.000 UL
LTb
4284 560 M
0 63 V
0 3997 R
0 -63 V
0 -4137 R
gsave 0 setgray
(-1) Cshow
grestore
1.000 UL
LTb
1.000 UL
LTa
5177 560 M
0 4060 V
1.000 UL
LTb
5177 560 M
0 63 V
0 3997 R
0 -63 V
0 -4137 R
gsave 0 setgray
( 0) Cshow
grestore
1.000 UL
LTb
1.000 UL
LTa
6069 560 M
0 4060 V
1.000 UL
LTb
6069 560 M
0 63 V
0 3997 R
0 -63 V
0 -4137 R
gsave 0 setgray
( 1) Cshow
grestore
1.000 UL
LTb
1.000 UL
LTa
6962 560 M
0 4060 V
1.000 UL
LTb
6962 560 M
0 63 V
0 3997 R
0 -63 V
0 -4137 R
gsave 0 setgray
( 2) Cshow
grestore
1.000 UL
LTb
1.000 UL
LTb
714 560 M
6248 0 V
0 4060 V
-6248 0 V
714 560 L
LTb
140 2590 M
gsave 0 setgray
currentpoint gsave translate 90 rotate 0 0 M
(y) Cshow
grestore
grestore
LTb
3838 210 M
gsave 0 setgray
(x) Cshow
grestore
LTb
3838 4830 M
gsave 0 setgray
(MTT model "robotrain": trajectory of trailer links) Cshow
grestore
210 70 M
gsave 0 setgray
(Sun Sep 12 19:59:53 2004) Lshow
grestore
1.000 UP
1.000 UP
1.000 UL
LT0
LTb
1302 4487 M
gsave 0 setgray
(front) Rshow
grestore
LT0
4284 1720 Pls
4377 1609 Pls
4479 1511 Pls
4587 1427 Pls
4701 1357 Pls
4820 1302 Pls
4942 1263 Pls
5067 1240 Pls
5193 1234 Pls
5319 1244 Pls
5444 1270 Pls
5566 1312 Pls
5684 1369 Pls
5797 1442 Pls
5904 1529 Pls
6004 1630 Pls
6095 1743 Pls
6178 1867 Pls
6250 2001 Pls
6312 2144 Pls
6362 2294 Pls
6401 2451 Pls
6427 2611 Pls
6441 2774 Pls
6443 2938 Pls
6431 3101 Pls
6408 3262 Pls
6372 3419 Pls
6324 3571 Pls
6265 3716 Pls
6195 3852 Pls
6114 3979 Pls
6025 4094 Pls
5927 4198 Pls
5822 4288 Pls
5710 4364 Pls
5593 4425 Pls
5472 4471 Pls
5347 4500 Pls
5222 4514 Pls
5096 4511 Pls
4970 4492 Pls
4847 4456 Pls
4727 4405 Pls
4612 4338 Pls
4502 4257 Pls
4399 4162 Pls
4304 4054 Pls
4218 3935 Pls
4141 3804 Pls
4075 3665 Pls
4020 3517 Pls
3976 3363 Pls
3945 3205 Pls
3926 3043 Pls
3919 2879 Pls
3925 2715 Pls
3943 2553 Pls
3974 2394 Pls
4017 2240 Pls
4072 2092 Pls
4138 1952 Pls
4214 1821 Pls
4299 1701 Pls
4394 1592 Pls
4496 1496 Pls
4606 1414 Pls
4721 1347 Pls
4840 1295 Pls
4963 1258 Pls
5089 1238 Pls
5215 1234 Pls
5340 1247 Pls
5465 1276 Pls
5586 1320 Pls
5703 1381 Pls
5816 1456 Pls
5921 1545 Pls
6020 1648 Pls
6110 1763 Pls
6190 1889 Pls
6261 2025 Pls
6321 2169 Pls
6369 2320 Pls
6406 2477 Pls
6430 2638 Pls
6442 2801 Pls
6442 2965 Pls
6428 3128 Pls
6403 3289 Pls
6365 3445 Pls
6315 3596 Pls
6254 3740 Pls
6182 3874 Pls
6100 3999 Pls
6009 4113 Pls
5910 4214 Pls
5803 4302 Pls
5690 4375 Pls
5573 4434 Pls
5451 4477 Pls
1585 4487 Pls
1.000 UP
1.000 UL
LT1
LTb
1302 4347 M
gsave 0 setgray
(middle) Rshow
grestore
LT1
2499 1720 Crs
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
4605 1083 Crs
4730 1055 Crs
4855 1037 Crs
4981 1031 Crs
5107 1036 Crs
5233 1054 Crs
5357 1085 Crs
5479 1128 Crs
5597 1184 Crs
5712 1253 Crs
5821 1334 Crs
5925 1428 Crs
6022 1533 Crs
6111 1649 Crs
6192 1775 Crs
6264 1910 Crs
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
[ GitHub | SourceHut | Sourceforge | Fossil RSS ]