From 2488048005c34e14ffa45a5255427b45262901d8 Mon Sep 17 00:00:00 2001 From: James Goppert Date: Sat, 21 Sep 2019 00:08:04 -0400 Subject: [PATCH 1/6] Update rocket. --- lectures/4-Casadi-Transport.ipynb | 159 ++++++++++++++++++------------ lectures/4-Rocket.ipynb | 74 ++++++++++++++ 2 files changed, 172 insertions(+), 61 deletions(-) create mode 100644 lectures/4-Rocket.ipynb diff --git a/lectures/4-Casadi-Transport.ipynb b/lectures/4-Casadi-Transport.ipynb index 98b9480a..48e5e282 100644 --- a/lectures/4-Casadi-Transport.ipynb +++ b/lectures/4-Casadi-Transport.ipynb @@ -41,7 +41,7 @@ " iyy = 4.1e6\n", " tstat = 6.0e4\n", " dtdv = -38.0\n", - " ze = 2.0\n", + " ze = 0#2.0\n", " cdcls = 0.042\n", " cla = 0.085\n", " cma = -0.022\n", @@ -56,6 +56,7 @@ " elev_deg = u[1]\n", " xcg = u[2]\n", " land = u[3]\n", + " phi = u[4]\n", " \n", " vt = x[0] # velocity, ft/s\n", " alpha = x[1]\n", @@ -73,8 +74,8 @@ " qbar = 0.5*rho*vt**2\n", " \n", " qs = qbar*s\n", - " salp = ca.sin(alpha)\n", - " calp = ca.cos(alpha)\n", + " salp = ca.sin(alpha + phi)\n", + " calp = ca.cos(alpha + phi)\n", " gam = theta - alpha\n", " sgam = ca.sin(gam)\n", " cgam = ca.cos(gam)\n", @@ -118,6 +119,7 @@ " thtl = s[0]\n", " elev_deg = s[1]\n", " alpha = s[2]\n", + " phi = s[3]\n", " \n", " pos = 0 # we don't care what horiz. position we are at\n", " xcg = 0.25 # we assume xcg at 1/4 chord\n", @@ -128,16 +130,17 @@ " x = ca.vertcat(vt, alpha, theta, q, h, pos)\n", " \n", " # thtl, elev_deg, xcg, land\n", - " u = ca.vertcat(thtl, elev_deg, xcg, land)\n", + " u = ca.vertcat(thtl, elev_deg, xcg, land, phi)\n", " return x, u\n", "\n", - "def trim_cost(x, u):\n", + "def constraint(s, vt, h, q, gamma):\n", + " x, u = constrain(s, vt, h, q, gamma)\n", " x_dot = rhs(x, u)\n", - " return x_dot[0]**2 + 100*x_dot[1]**2 + 10*x_dot[3]**2\n", + " return ca.vertcat(x_dot[0], x_dot[1], x_dot[3]) # force/moment balance\n", "\n", "def objective(s, vt, h, q, gamma):\n", " x, u = constrain(s, vt, h, q, gamma)\n", - " return trim_cost(x, u)" + " return u[0]**2 # minimize throttle" ] }, { @@ -146,9 +149,11 @@ "metadata": {}, "outputs": [], "source": [ - "def trim(vt, h, q, gamma):\n", - " s = ca.SX.sym('s', 3)\n", - " nlp = {'x': s, 'f': objective(s, vt=vt, h=h, q=q, gamma=gamma)}\n", + "def trim(vt, h, q, gamma, s0=np.zeros(4)):\n", + " s = ca.SX.sym('s', 4)\n", + " nlp = {'x': s,\n", + " 'f': objective(s, vt=vt, h=h, q=q, gamma=gamma),\n", + " 'g': constraint(s, vt=vt, h=h, q=q, gamma=gamma)}\n", " S = ca.nlpsol('S', 'ipopt', nlp, {\n", " 'print_time': 0,\n", " 'ipopt': {\n", @@ -156,20 +161,20 @@ " 'print_level': 0,\n", " }\n", " })\n", - " # s = [thtl, elev_deg, alpha]\n", - " s0 = [0.293, 2.46, np.deg2rad(0.58)]\n", - " res = S(x0=s0, lbg=0, ubg=0, lbx=[0, -60, -np.deg2rad(5)], ubx=[1, 60, np.deg2rad(18)])\n", - " trim_cost = res['f']\n", - " trim_tol = 1e-10\n", - " if trim_cost > trim_tol:\n", - " raise ValueError('Trim failed to converge', trim_cost)\n", - " assert np.abs(float(res['f'])) < trim_tol\n", + " # s = [thtl, elev_deg, alpha, phi]\n", + " res = S(x0=s0, lbg=[0, 0, 0], ubg=[0, 0, 0],\n", + " lbx=[0, -20, -np.deg2rad(5), np.deg2rad(0)],\n", + " ubx=[10, 20, np.deg2rad(15), np.deg2rad(90)])\n", + " stats = S.stats()\n", + " if not stats['success']:\n", + " raise ValueError('Trim failed to converge', stats['return_status'])\n", " s_opt = res['x']\n", " x0, u0 = constrain(s_opt, vt, h, q, gamma)\n", " return {\n", " 'x0': np.array(x0).reshape(-1),\n", " 'u0': np.array(u0).reshape(-1),\n", - " 's': np.array(s_opt).reshape(-1)\n", + " 's': np.array(s_opt).reshape(-1),\n", + " 'g': np.array(res['g'])\n", " }" ] }, @@ -180,9 +185,9 @@ "outputs": [ { "data": { - "image/png": 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\n", + "image/png": 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\n", "text/plain": [ - "
" + "
" ] }, "metadata": { @@ -193,17 +198,47 @@ ], "source": [ "def power_required_curve():\n", - " throttle = []\n", - " vt_list = np.arange(190, 500, 5)\n", + " s_list = []\n", + " vt_list = np.arange(10, 1100, 10)\n", + " s0 = [0.23, 0, 0, 1]\n", " for vt in vt_list:\n", - " res = trim(vt=vt, h=0, q=0, gamma=0)\n", - " throttle.append(res['s'][0])\n", - " plt.plot(vt_list, 100*np.array(throttle))\n", + " res = trim(vt=vt, h=0, q=0, gamma=0, s0=s0)\n", + " s0 = res['s']\n", + " s_list.append(s0)\n", + " \n", + " s_list = np.array(s_list)\n", + " \n", + " plt.figure(figsize=(15, 10))\n", + " \n", + " plt.subplot(221)\n", + " plt.plot(vt_list, 100*s_list[:, 0])\n", " plt.grid()\n", " plt.ylabel(r'throttle, %')\n", " plt.xlabel('VT, ft/s')\n", " plt.title('power required curve')\n", " \n", + " plt.subplot(222)\n", + " plt.plot(vt_list, s_list[:, 1])\n", + " plt.grid()\n", + " plt.ylabel(r'elev, deg')\n", + " plt.xlabel('VT, ft/s')\n", + " plt.title('elevator angle')\n", + "\n", + " plt.subplot(223)\n", + " plt.plot(vt_list, np.rad2deg(s_list[:, 3]))\n", + " plt.grid()\n", + " plt.ylabel(r'tilt, deg')\n", + " plt.xlabel('VT, ft/s')\n", + " plt.title('tilt angle')\n", + " \n", + " plt.subplot(224)\n", + " plt.plot(vt_list, np.rad2deg(s_list[:, 2]))\n", + " plt.grid()\n", + " plt.ylabel(r'aoa, deg')\n", + " plt.xlabel('VT, ft/s')\n", + " plt.title('angle of attack')\n", + " plt.savefig('tilt_rotor.png')\n", + " \n", "power_required_curve()" ] }, @@ -217,7 +252,7 @@ " x0 = trim['x0']\n", " u0 = trim['u0']\n", " x = ca.SX.sym('x', 6)\n", - " u = ca.SX.sym('u', 4)\n", + " u = ca.SX.sym('u', 5)\n", " y = x\n", " A = ca.jacobian(rhs(x, u), x)\n", " B = ca.jacobian(rhs(x, u), u)\n", @@ -237,9 +272,9 @@ " trim_state = trim(vt=vt, h=0, q=0, gamma=0)\n", " print(trim_state)\n", " sys = linearize(trim_state)\n", - " G = control.minreal(control.tf(sys[3, 1]), 1e-2)\n", - " control.rlocus(G*H, kvect=np.linspace(0, 1, 1000), xlim=xlim, ylim=ylim);\n", + " G = control.tf(sys[3, 1])\n", " Go = G*H\n", + " control.rlocus(Go, kvect=np.linspace(0, 1, 1000), xlim=xlim, ylim=ylim);\n", " Gc = control.feedback(Go)\n", " plt.plot([0, -3], [0, 3*np.arccos(0.707)], '--')\n", " #plt.axis('equal')\n", @@ -276,28 +311,15 @@ "name": "stdout", "output_type": "stream", "text": [ - "{'x0': array([500. , 0.01, 0.01, 0. , 0. , 0. ]), 'u0': array([0.293, 2.461, 0.25 , 0. ]), 's': array([0.293, 2.461, 0.01 ])}\n", - "1 states have been removed from the model\n" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "/home/jgoppert/anaconda3/envs/aae497-f19/lib/python3.7/site-packages/control/xferfcn.py:896: ComplexWarning: Casting complex values to real discards the imaginary part\n", - " num[i, j, np + 1 - len(numpoly):np + 1] = numpoly[::-1]\n" - ] - }, - { - "name": "stdout", - "output_type": "stream", - "text": [ - "u_norm max 853.5644464374589\n" + "{'x0': array([500. , 0.01, 0.01, 0. , 0. , 0. ]), 'u0': array([0.293, 2.331, 0.25 , 0. , 0.011]), 's': array([0.293, 2.331, 0.01 , 0.011]), 'g': array([[0.],\n", + " [0.],\n", + " [0.]])}\n", + "u_norm max 851.0608199729088\n" ] }, { "data": { - "image/png": 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\n", 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\n", 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\n", + "image/png": 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\n", 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\n", 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\n", "text/plain": [ "
" ] @@ -335,7 +357,7 @@ "source": [ "s = control.tf([1, 0], [0, 1])\n", "# this is a PID controller with an extra pole at the origin\n", - "pitch_rate_control_design(500, -900*((s + 2 + 1j)*(s + 2 - 1j)/s**2), [-8, 2], [-4, 4])" + "pitch_rate_control_design(500, -900*((s + 2)/s), [-8, 2], [-4, 4])" ] }, { @@ -347,14 +369,29 @@ "name": "stdout", "output_type": "stream", "text": [ - "{'x0': array([200. , 0.273, 0.273, 0. , 0. , 0. ]), 'u0': array([ 0.233, -17.501, 0.25 , 0. ]), 's': array([ 0.233, -17.501, 0.273])}\n", - "1 states have been removed from the model\n", - "u_norm max 990.9811402666699\n" + "{'x0': array([100. , 0.262, 0.262, 0. , 0. , 0. ]), 'u0': array([ 2.186, -17.5 , 0.25 , 0. , 1.286]), 's': array([ 2.186, -17.5 , 0.262, 1.286]), 'g': array([[0.],\n", + " [0.],\n", + " [0.]])}\n" + ] + }, + { + "name": "stderr", + "output_type": "stream", + "text": [ + "/home/jgoppert/anaconda3/envs/aae497-f19/lib/python3.7/site-packages/control/xferfcn.py:896: ComplexWarning: Casting complex values to real discards the imaginary part\n", + " num[i, j, np + 1 - len(numpoly):np + 1] = numpoly[::-1]\n" + ] + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "u_norm max 9761.951314412308\n" ] }, { "data": { - "image/png": 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\n", + "image/png": 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\n", 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\n", + "image/png": 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\n", 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\n", 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\n", "text/plain": [ "
" ] @@ -390,7 +427,7 @@ } ], "source": [ - "pitch_rate_control_design(200, -1000*((s+0.5)/s)**2, [-3, 1], [-2, 2])" + "pitch_rate_control_design(100, -10000*(s+1+0.7j)*(s+1-0.7j)/(s+0.5)/s, [-2, 0.1], [-2, 2])" ] }, { @@ -439,12 +476,12 @@ "output_type": "stream", "text": [ "1 states have been removed from the model\n", - "u_norm max 324.04247010257035\n" + "u_norm max 324.1924984960579\n" ] }, { "data": { - "image/png": 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\n", 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\n", 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" ] @@ -476,12 +513,12 @@ "output_type": "stream", "text": [ "1 states have been removed from the model\n", - "u_norm max 61120.83319605678\n" + "u_norm max 63556.9186558776\n" ] }, { "data": { - "image/png": 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\n", + "image/png": 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\n", 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" ] diff --git a/lectures/4-Rocket.ipynb b/lectures/4-Rocket.ipynb new file mode 100644 index 00000000..d185419c --- /dev/null +++ b/lectures/4-Rocket.ipynb @@ -0,0 +1,74 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 1, + "metadata": {}, + "outputs": [], + "source": [ + "import casadi as ca\n", + "import numpy as np" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "metadata": {}, + "outputs": [], + "source": [ + "CL0 = 0.0\n", + "CLa = 2*np.pi\n", + "rho = 1.225\n", + "kclcd = 0.01\n", + "CD0 = 0.0\n", + "sf = 0.1 # area of fin\n", + "r = 0.1 # radius of body\n", + "sb = np.pi*r**2\n", + "lf = 1.0 # distance from cg to fin\n", + "\n", + "df = ca.SX.sym('df')\n", + "v = ca.SX.sym('v')\n", + "q = 0.5*rho*v**2\n", + "CL = CL0 + CLa*df\n", + "CD = CD0 + kclcd*CL**2\n", + "\n", + "Lf = CD*q*sf\n", + "Df = CD*q*sf\n", + "\n", + "CDb = 0.01\n", + "Db = CDb*q*sb\n", + "\n", + "\n", + "m_aero = lf*Lf" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.7.3" + } + }, + "nbformat": 4, + "nbformat_minor": 4 +} From 145a98974694cc20dc21927ebc94cfeff59be917 Mon Sep 17 00:00:00 2001 From: James Goppert Date: Sat, 21 Sep 2019 00:45:37 -0400 Subject: [PATCH 2/6] Update transport example. --- lectures/4-Casadi-Transport.ipynb | 91 ++++++++++++++++-------------- lectures/tilt_rotor.png | Bin 0 -> 50713 bytes 2 files changed, 50 insertions(+), 41 deletions(-) create mode 100644 lectures/tilt_rotor.png diff --git a/lectures/4-Casadi-Transport.ipynb b/lectures/4-Casadi-Transport.ipynb index 48e5e282..b63887d5 100644 --- a/lectures/4-Casadi-Transport.ipynb +++ b/lectures/4-Casadi-Transport.ipynb @@ -41,7 +41,7 @@ " iyy = 4.1e6\n", " tstat = 6.0e4\n", " dtdv = -38.0\n", - " ze = 0#2.0\n", + " ze = 0 #2.0 we are going to neglect the thrust moment\n", " cdcls = 0.042\n", " cla = 0.085\n", " cma = -0.022\n", @@ -56,7 +56,6 @@ " elev_deg = u[1]\n", " xcg = u[2]\n", " land = u[3]\n", - " phi = u[4]\n", " \n", " vt = x[0] # velocity, ft/s\n", " alpha = x[1]\n", @@ -74,8 +73,8 @@ " qbar = 0.5*rho*vt**2\n", " \n", " qs = qbar*s\n", - " salp = ca.sin(alpha + phi)\n", - " calp = ca.cos(alpha + phi)\n", + " salp = ca.sin(alpha)\n", + " calp = ca.cos(alpha)\n", " gam = theta - alpha\n", " sgam = ca.sin(gam)\n", " cgam = ca.cos(gam)\n", @@ -119,7 +118,6 @@ " thtl = s[0]\n", " elev_deg = s[1]\n", " alpha = s[2]\n", - " phi = s[3]\n", " \n", " pos = 0 # we don't care what horiz. position we are at\n", " xcg = 0.25 # we assume xcg at 1/4 chord\n", @@ -130,7 +128,7 @@ " x = ca.vertcat(vt, alpha, theta, q, h, pos)\n", " \n", " # thtl, elev_deg, xcg, land\n", - " u = ca.vertcat(thtl, elev_deg, xcg, land, phi)\n", + " u = ca.vertcat(thtl, elev_deg, xcg, land)\n", " return x, u\n", "\n", "def constraint(s, vt, h, q, gamma):\n", @@ -149,8 +147,8 @@ "metadata": {}, "outputs": [], "source": [ - "def trim(vt, h, q, gamma, s0=np.zeros(4)):\n", - " s = ca.SX.sym('s', 4)\n", + "def trim(vt, h, q, gamma, s0=np.zeros(3)):\n", + " s = ca.SX.sym('s', 3)\n", " nlp = {'x': s,\n", " 'f': objective(s, vt=vt, h=h, q=q, gamma=gamma),\n", " 'g': constraint(s, vt=vt, h=h, q=q, gamma=gamma)}\n", @@ -163,8 +161,8 @@ " })\n", " # s = [thtl, elev_deg, alpha, phi]\n", " res = S(x0=s0, lbg=[0, 0, 0], ubg=[0, 0, 0],\n", - " lbx=[0, -20, -np.deg2rad(5), np.deg2rad(0)],\n", - " ubx=[10, 20, np.deg2rad(15), np.deg2rad(90)])\n", + " lbx=[0, -20, -np.deg2rad(5)],\n", + " ubx=[10, 20, np.deg2rad(15)])\n", " stats = S.stats()\n", " if not stats['success']:\n", " raise ValueError('Trim failed to converge', stats['return_status'])\n", @@ -185,9 +183,9 @@ "outputs": [ { "data": { - "image/png": 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\n", 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\n", "text/plain": [ - "
" + "
" ] }, "metadata": { @@ -199,8 +197,8 @@ "source": [ "def power_required_curve():\n", " s_list = []\n", - " vt_list = np.arange(10, 1100, 10)\n", - " s0 = [0.23, 0, 0, 1]\n", + " vt_list = np.arange(210, 500, 10)\n", + " s0 = [0.23, 0, 0]\n", " for vt in vt_list:\n", " res = trim(vt=vt, h=0, q=0, gamma=0, s0=s0)\n", " s0 = res['s']\n", @@ -208,30 +206,23 @@ " \n", " s_list = np.array(s_list)\n", " \n", - " plt.figure(figsize=(15, 10))\n", + " plt.figure(figsize=(10, 15))\n", " \n", - " plt.subplot(221)\n", + " plt.subplot(311)\n", " plt.plot(vt_list, 100*s_list[:, 0])\n", " plt.grid()\n", " plt.ylabel(r'throttle, %')\n", " plt.xlabel('VT, ft/s')\n", " plt.title('power required curve')\n", " \n", - " plt.subplot(222)\n", + " plt.subplot(312)\n", " plt.plot(vt_list, s_list[:, 1])\n", " plt.grid()\n", " plt.ylabel(r'elev, deg')\n", " plt.xlabel('VT, ft/s')\n", " plt.title('elevator angle')\n", - "\n", - " plt.subplot(223)\n", - " plt.plot(vt_list, np.rad2deg(s_list[:, 3]))\n", - " plt.grid()\n", - " plt.ylabel(r'tilt, deg')\n", - " plt.xlabel('VT, ft/s')\n", - " plt.title('tilt angle')\n", " \n", - " plt.subplot(224)\n", + " plt.subplot(313)\n", " plt.plot(vt_list, np.rad2deg(s_list[:, 2]))\n", " plt.grid()\n", " plt.ylabel(r'aoa, deg')\n", @@ -252,7 +243,7 @@ " x0 = trim['x0']\n", " u0 = trim['u0']\n", " x = ca.SX.sym('x', 6)\n", - " u = ca.SX.sym('u', 5)\n", + " u = ca.SX.sym('u', 4)\n", " y = x\n", " A = ca.jacobian(rhs(x, u), x)\n", " B = ca.jacobian(rhs(x, u), u)\n", @@ -311,15 +302,33 @@ "name": "stdout", "output_type": "stream", "text": [ - "{'x0': array([500. , 0.01, 0.01, 0. , 0. , 0. ]), 'u0': array([0.293, 2.331, 0.25 , 0. , 0.011]), 's': array([0.293, 2.331, 0.01 , 0.011]), 'g': array([[0.],\n", + "{'x0': array([500. , 0.01, 0.01, 0. , 0. , 0. ]), 'u0': array([0.293, 2.328, 0.25 , 0. ]), 's': array([0.293, 2.328, 0.01 ]), 'g': array([[0.],\n", " [0.],\n", - " [0.]])}\n", - "u_norm max 851.0608199729088\n" + " [0.]])}\n" + ] + }, + { + "name": "stderr", + "output_type": "stream", + "text": [ + "/home/jgoppert/anaconda3/envs/aae497-f19/lib/python3.7/site-packages/control/freqplot.py:301: RuntimeWarning: divide by zero encountered in log10\n", + " [-20.*np.log10(gm), -1e5],\n", + "/home/jgoppert/anaconda3/envs/aae497-f19/lib/python3.7/site-packages/control/freqplot.py:304: RuntimeWarning: divide by zero encountered in log10\n", + " ax_mag.semilogx([Wcg, Wcg], [0,-20*np.log10(gm)],\n", + "/home/jgoppert/anaconda3/envs/aae497-f19/lib/python3.7/site-packages/control/freqplot.py:347: RuntimeWarning: divide by zero encountered in log10\n", + " (20*np.log10(gm) if dB else gm,\n" + ] + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "u_norm max 851.0608199728965\n" ] }, { "data": { - "image/png": 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\n", + "image/png": 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\n", 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\n", + "image/png": 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MTxaSpCEivwUmA7Eisg1IAl4FZgOPA18JxXGDaePecq754wc0K/z5azOPuycjUN+9YDxVdY08sryQpiblexdNICLCEocxpvcK1ZXGOao6UUTigL1Alqo2icgjwPpAdiAiu4CjQBPQqKozRCQNeAbIBXYBX1TVI8EOvr6xmRv+vIbYqEj+9LWZbXavDUREhHDvpacQKcIf3tnJ7sPV/PJLU0mMtYcLG2N6p1A1hNcCqGotsFtVm9xpBRo6sJ9zVHWqqs5wp28H/qOqY4D/uNNBFxMVwW+/Mo1//PesTieMFiLC3Qsm8YNLJvKfzQf4/MMr2VJcEaRIjTGme4XqK2+WiHwTEJ/3uNMnjDnbAZcCHvf9E0A+8N0u7M+vqcMGBG1fIsK1c0YyOiuJ//fMOhb8egW3XTCWr52ZR6RVVxljehEJRc8eEflBe8tV9Z4A9rETOAIo8IiqPioiZao6wGedI6o6sI1tFwGLAIYPHz599+42h7oNi9LKOr733AZe23SAyUNTuXvBJKYNP+G/YIwxYSUia3xqeY7N76ndQUVksKruE5Es4N/A/wAvBJI0fM2YMUNXr14d4mg7RlV5Yd0+7n95Mwcq6rhs2lD+33ljGDowIdyhGWMM4D9phKr31K/aW66qt5xsH6q6z/15UESeA2YCB0RkkKruF5FBQK8c9UhEuHTqEM6dkM1v3ijg8Xd28sK6vXzp9GHcfM5oBqXGhztEY4xpU6gawte4rzhgGrDdfU3F6Q3VLhFJFJHklvfA+cBG4AXgane1q4Hngx55N0qKjeL2+ePJ/7aHL84YxjOripj7k3zueHY92w4cDXd4xhhzgpBWT4nIm8D5qtrgTkcDr6vqOSfZLg94zp2MAv6qqj8SkXTgb8Bw4BPgC6ra7nPIe2L1lD97jlTzu/wd/PPDPdQ2NHPWmAyunZOLZ2yW3d9hjOlWYWnTEJGtwKyWD3YRGQi8p6rjQnbQVnpT0mhxpKqep1Z9wp9W7qa4opYhA+L5woyhXDZtKMPSrN3DGBN64Uoa1wJ3A2+6s+YCd6vqEyE7aCu9MWm0aGhq5rVNxTyzqoh3CkpQhTmj0/nC9GHMm5hNkt0kaIwJkbD1nhKRHOBT7uT7qloc0gO20puThq+9ZTX8c80e/r6miKLDNcRGRXDOuCwunjKIT4/PIiHGEogxJni6NWmISK6q7mpnuQBDVHVP0A/eSl9JGi2am5U1nxzhpfX7eWnDfg4drSMuOoJzx2dzwSk5zB2b2aEHKxpjTFu6O2n8Hadn1vM4vagO4fSkGg2cA5wL/EBV/x30g7fS15KGr6ZmZdWuw7y0fj+vbNxPSWU9URHC6blpnDshi3MnZDMyo+MPWjTGmG6vnhKRiThPs52DM3JfNbAZeBn4h/tcqpDry0nDV1OzsraojP9sPsB/Nh9kq9tlNy8zkXkTsjlrTAan56YRFx0Z5kiNMb1Br7sjPFj6S9JorehwtZNAthzkvcJSGpqU2KgITs9N48wxGZw5OoOJg1KsK68xpk2WNPqxqrpGPth5mLe3l/BOwSG2HagEID0xhtmjM5iVl87MkQMZlZlkA0UZY4BufoyI6VkSY6M4Z3wW54zPAuBARS0rCkp4Z3sJ7xSUsHTdPgDSEmM4PXcgp+emMXNkGhMHpRAVGaqHBhhjeiO70ujnVJVdpdWs2nmYD3Yd5oOdh/nkcDUAiTGRTBsxkKnDBjBl6AAmD0slKzkuzBEbY7pDuG7uE5zG8DxV/aGIDAdyVPWDkB20FUsaHXegopYPdh5m1a7DrNp1hG0HjtLU7Jwng1PjmDJsAFOGDWDy0FQmDUolNcG6+BrT14QrafwOaAY+raoT3MeIvK6qp4fsoK1Y0ui6mvomNu0rZ21RGev2lLN+Txm7S6u9ywelxjEuJ5nxOSmMz0lmXE4yozKTiImyqi1jeqtwtWl8SlWnichHAKp6RERiQnxME2TxMZHMyE1jRm6ad96RqnrW7SljS/FRthYfZfP+ClYUlNDQ5HwJiYwQhg2MZ0R6IiMzEhmRnkBuuvNz8IB46/prTC8V6qTRICKROKPvISKZOFceppcbmBiDZ1wWnnFZ3nkNTc3sLKli8/4Kth+oZGdpFbtLq1iz+wiVdY3HbZ8aH012SizZKXHkpMSRkxrHgIQYBsRHkxofTWpCtPd9Sny0JRljeohQJ41f4TziPEtEfgRcDtwZ4mOaMImOjGBsdjJjs5OPm6+qlFbVs6ukit2l1RRX1HKgopbicufntgNHOXS0juZ2akpjIiNIiY8iOS6alDj3Z3wUybHRbcyPZkBCNMPTEshKjrVuxMYEUUiThqr+RUTW4Dw2RIDPqurmUB7T9DwiQkZSLBlJscdVcflqalYqaxspq6mnvKaBsuoG52dNAxU1DRytbaSi9vj3xRW13umahrbH9oqLjiA3PZFRWUlMHpLKqUNTOXVIKslx1nhvTGeEarhX30+Gg8BTvstONnCS6X8iI4TUhOhO98RqaGp2kklNAxW1DRyuqqfocDW7SqvZVVLFuqIyXlq/H4AIgVOHpDJntHNn/LQRA636y5gAhepKYw1OO4bgjLJ3xH0/AGfEvZEhOq7pp6IjI0hLjCEt0X8/i8NV9azfU8aHn5SxsqCER94q5OH8HSTGROIZn8UFk3I4Z1ymXYUY045Qd7n9PfCCqr7sTs8H5qnqt0J20Fasy63x52htA+8XHuaNrQd5fVMxJZX1xERGcOaYDC6ePIjzJ+XYQFem3wrXfRprVHV6q3mr2wokVCxpmEA0NSsffnKEVzcW8+rGYvaW1RAXHcG8Cdl8duoQzh6bafedmH4lXEnjNeBt4Emc6qorgbNV9YKQHbQVSxqmo1SVNbuP8Pzafby4fh9HqhsYkBDNRacO4tIpgzk9N82eDmz6vHAljTTgB8DZ7qy3gHu6syHckobpioamZt7ZXsK/1u7l9U0HqGloYnBqHJdMHcyCKYOZOCjFuvSaPskejW5MF1XXN/Lvjw/w/Np9vLXtEI3NSl5mIpdMHswlUwYxOiv55DsxppcI15XGm7h3g/tS1U+H7KCtWNIwoXC4qp5XNu7nxXX7eW9nKaowPieZS6YM5uLJgxiRbsPsmt4tXEnDtxE8DrgMaFTV74TsoK1Y0jChdrCilpc27OfF9ftZs/sIAFOGpnLx5MF8ZvIgBg+ID3OExnRcj6meEpHlqjq3u45nScN0pz1HqnlpvZNANuwtB5wEcv6kHC6YlG1VWKbXCGdDeIsIYDrwK1UdF7KDtmJJw4TLzpIqXt6wn9c/PsC6ojIA8jITOX+ik0CmDB1gvbBMjxWupLGTY3eGNwI7gR+q6jshO2grljRMT7C/vIZlHx/gtU0HeK+wlMZmJTsllvMmZnPBpBxmjkwjNsoeZWJ6jnAljThVrW01L1ZV60J20FYsaZiepry6gf9sOcDrmw6wfNshahqaSIyJZM7oDD7tjuWenWLD6prwClfS+FBVp51sXihZ0jA9WU19EysKSnhj60He3HKQ/eXOd6xJg1M4Z5yTQKYOG0CkVWOZbtatI/eJSA4wBIgXkdNwqqcAUoCEUBzTmN4oPiaSeROzmTcxG1Vl64GjvLHFSSAP5xfwmzcLSEuMYe7YTM4Zn8XZYzIYkGCDX5rwCcmVhohcDVwDzAB8v+YfBZao6rNBP6gfdqVhequy6nqWbzvEm1sOsnzbIY5UNxAhMHnoAM4em8nZYzKYOmwAUZH2TCwTfOGqnrpMVf8ZsgMEwJKG6QuampW1RWUs33aIt7cfYl1RGc0KybFRzB6dzlljMpk7NpNhaXYhb4KjW5OGiFypqk+KyLdo+47wnwf9oH5Y0jB9UVl1PSt3lPL29kO8ta2EvWU1AOSmJ3D22EzOGpPJrFHp9mh302nd2qYBtDxDISlE+zemXxuQEMNFpw7iolMHoaoUllTx9rZDvLW9hL+v3sOf3t1NVIQwbcRA5o7N5KwxGUwanGoN6qbL7IGFxvQxdY1NfLi7jLe2O1VZG/dWAJAaH82svHTmjMlgzqh0RmYk2hN6jV/hatPIBK4HcvG5qlHVr4bsoK1Y0jD9XUllHSsKSlhZUMo7BceqsganxjHbHSd99uh0spLt3hBzTLiSxkqcQZjWAE0t87uzcdyShjHHqCq7S6tZsaPESSQ7SimrbgBgbHYSs0c5SeRTeWk2Vno/F66ksVZVp4bsAAGwpGGMf83Nysf7K1hRUMI7BSWs2nWY2oZmIiOEKUNTmTM6gzmjMzht+AB7zEk/E66kcR+wUlVfDtlBTsKShjGBa2kPWbnDSSLr95TT1KzERUcwc2Q6c0alM2d0BhMHpdjDFvu4cCWNozg9qeqABpw7w1VVU0J20FYsaRjTeRW1DbxfeJgVBU511vaDlQAMTIhm9iinLWTOqAxGpCdYo3of091dbgFQ1aAPHiAiFwIPAZHAH1T1gWAfwxjjSImL5ryJ2Zw3MRuAAxW1rNxRwoqCUlYUlPDShv0ADBkQz6xR6cwelc7sURnkpFqjel8V6iuNth5MWA7sVtXGTuwvEtgGnAfsAVYBV6jqx/62sSsNY0JDVdlZUsWKghLeLSzl3R2lHHEb1fMyEpk92kkgZ+Slk5Zoz8vqbfxdaYT6oTUPA+8Bi93Xe8DTwDYROb8T+5sJFKhqoarWu/u6tL0Ntm7dypIlSwBoaGjA4/Hw5JNPAlBdXY3H4+GZZ54BoLy8HI/Hw7PPOo/GKikpwePxsHTpUgCKi4vxeDy8+uqrABQVFeHxeFi2bBkAhYWFeDweli9f7j22x+Nh5cqVAGzcuBGPx8OqVasAWLt2LR6Ph7Vr1wKwatUqPB4PGzduBGDlypV4PB62bt0KwPLly/F4PBQWFgKwbNkyPB4PRUVFALz66qt4PB6Ki4sBWLp0KR6Ph5KSEgCeffZZPB4P5eXOiHLPPPMMHo+H6upqAJ588kk8Hg8NDc4f/pIlS/B4PN6yXLx4MfPmzfNOP/zww8yfP987/dBDD7FgwQLv9IMPPshll13mnX7ggQdYuHChd/ree+/lyiuv9E7fddddXHvttd7pO+64g0WLFnmnb7vtNm6++Wbv9K233sqtt97qnb755pu57bbbvNOLFi3ijjvu8E5fe+213HXXXd7pK6+8knvvvdc7vXDhQh544NiF62WXXcaDDz7onV6wYAEPPfSQd3r+/Pk8/PDD3ul58+axePFi77TH4+nT594555xDdO0RrpqVy4L0Q6S8cT9//soE7vzMBOKbKvnLigJu+suHTLv338z+4VImX30PL6zeydHaBjv3esG550+ok8Yu4DRVna6q04GpwEZgHvCTTuxvCFDkM73HnXccEVkkIqtFZHXLSWiMCS0BxmQmcN1Zedw4URm++tf88csT+fYF40iMgvLMydzyj4+Z+sN/89ut8RwZdibvFh6mtqHppPs2PUe3d7ltmdeZ7rgi8gXgAlW9zp2+Cpipqv/jbxurnjKmZ1j8+BL21ESTMmYGK3eUsq6ojMZmJSYygmkjBjgN66PSmTJsANH25N6wC0tDOLBVRH6HU40E8CWcqqlYnN5UHbUHGOYzPRTY17UQjTHd4fqvXuN9/y2gsq6RVbsO8+6OUlbuKOEXy7bx839DQkwkM0emeRvVJwxKsWdm9SChvtKIB24CzsS5en0Hp52jFkhQ1coO7i8KpyH8XGAvTkP4l1V1k79t7ErDmJ6hpao4OrrtO82PVNXz/s5SVu5wXgVu997U+GjOyEvzXomMzkqy7r3dICz3aYSCiFwE/BKny+3jqvqj9ta3pGFMz9DSuJqfnx/Q+gcranm3sNS9R6TU+8yszORY9yrEuRKxMURCIyzVUyIyBvgxMBHwdtxW1bzO7tO9uzxsd5gbYzrnuuuu69D6WSlxXDp1CJdOdfq6FB2uZuWOEu+VyPNrnZrpoQPjvQlk9qh0slLsHpFQCnX11DvAD4BfAJcA17rH/EHIDtqKXWkY0/eoKjsOVbKiwGkPea/wMOU1TvXX6Kwk75XIGXnpNqZ6J4XrMSJrVHW6iGxQ1VPdeW+r6lkhO2grljSM6Rla7slISAh+dVJTs7J5f4X3SuSDnYeprm9CBCYOSnGSyOgMTs9Ns9EMAxSupLECOAv4B9ZWCOQAACAASURBVPAGTuP1A6o6LmQHbcWShjE9Q0fbNLqivrGZ9XvK3KqsEj7cXUZ9UzNREcKUYQOYPSqdWaPSmTZ8IHHR9vTetoQraZwObAYGAPcCqcBPVPW9kB20FUsaxvQMLXcgf+lLX+r2Y9c2NLFm9xHvc7PW7ymjWSEmKoIZIwYyZ3QGs0alM3lIKlF2jwjQh3pPdZQlDWNMaxW1DazaedjbqL55vzMkblJslPcekVmj0pmQ038fAd+tvadE5IX2lqvqgvaWG2P6npZnnqWmpoY5EufpvedOyObcCc7Te0sr63iv8DArd5Tw7o5S3thyEHAeAX9GXrq3TSTPxlUPzZWGiBzCeUbUU8D7ODf2eanq8qAf1A+70jCmZ+jONo2u2l9e496pXsrKghL2ldcCkJ0Sy6w8p3vvrFHpffoeke6+TyMH5/HlVwBfBl4Cnmrvzm1jTN92yy23hDuEgA1Kjefz04by+WlDveOqv1voJJF3Ckr4l3uPyLC0eGbnOYNRzcrrH/eIhLxNw33O1BXAT4EfquqvQ3rAVuxKwxgTTKrK9oOVrCxwuve+V1hKRa0zPFBfukek2xvC3WTxGZyEkQu8gPPYj70hOaAfljSM6RlaxnXJyMgIcyTB1dSsfLzv2D0iq3a1cY/IqAxOH9m77hHp1qQhIk8ApwCvAE+r6sagHyRAljSM6Rl6U5tGV/i7RyQyQpgyNNX7uJNpI3r2PSLdnTSagSp30vcAAqiqpgT9oH5Y0jCmZ2gZhfCSSy4JcyTdy/cekZU7Slm/p5ymZiUmKoLpwwe6PbPSmTy0Z40jYvdpGGNMD3C0toFVuw6zssBpWP/YvUckISaS03OPjSMycXB4xxGxpGGMCauWsetzcnLCHEnP4m8ckZS4qOPuERnTzeOIWNIwxoRVf2nT6KqWcURWFpSysrCEosPOOCIZSbHM8o4jks7wtISQJpFwDfdqjDEA3H777eEOoVdoaxyRliFxV+4oZek65x6RIQPivUlk1qh0BqXGd0t8dqVhjDG9hDOOSBXvugnk3cJSyqqdcUTyMhLdJJLBGXlppCfFdulYVj1ljAmroqIiAIYNGxbmSPqO5mZlc3GF95En7xeWUlXfBMD4nGT+ev0ZpCV27gZDq54yxoTVVVddBVibRjBFRAiTBqcyaXAq152VR0NTMxv2lvPujlI27StnYEJ00I9pScMY0y3uvPPOcIfQ50VHRjBt+ECmDR8YsmNY0jDGdIt58+aFOwQTBD3n9kNjTJ9WWFhIYWFhuMMwXdTnG8LdsT12u5OpQHmrVXzntV6eAZSEKLS2YgnWNu2t52/ZycrG3zzfaSsvKy8rr46t15PLa4SqZp4wV1X7zQt4tL15rZcDq7szlmBt0956/padrGzaKSPf8rPysvKy8urj5dXfqqeWnmReW8tDpTPHCnSb9tbzt+xkZeNvXneVmZVXx1h5dYyVV4D6fPVUV4jIam2jn7Jpm5VXx1h5dYyVV8eEqrz625VGRz0a7gB6GSuvjrHy6hgrr44JSXnZlYYxxpiA2ZWGMcaYgFnSMMYYEzBLGsYYYwJmScMYY0zALGl0koh8VkQWi8jzInJ+uOPp6UQkT0QeE5F/hDuWnkpEEkXkCfe8+kq44+np7JzqmGB9ZvXLpCEij4vIQRHZ2Gr+hSKyVUQKRKTdYcZU9V+qej1wDfClEIYbdkEqr0JV/VpoI+15Olh2nwf+4Z5XC7o92B6gI+XVX88pXx0sr6B8ZvXLpAEsAS70nSEikcBvgfnAROAKEZkoIqeKyIutXlk+m97pbteXLSF45dXfLCHAsgOGAkXuak3dGGNPsoTAy8t0rry69JnVLx+NrqpviUhuq9kzgQJVLQQQkaeBS1X1x8DFrfchzojuDwCvqOqHoY04vIJRXv1VR8oO2IOTONbST7/QdbC8Pu7e6HqejpSXiGwmCJ9Z/fLE9GMIx77lgfMHPKSd9f8HmAdcLiI3hjKwHqpD5SUi6SLye+A0Ebkj1MH1cP7K7lngMhH5Hd37HLSers3ysnPKL3/nV1A+s/rllYYf0sY8v7fLq+qvgF+FLpwer6PlVQr0x+TaljbLTlWrgGu7O5hewF952TnVNn/lFZTPLLvSOGYP4Dvi/VBgX5hi6Q2svDrPyq5jrLw6JqTlZUnjmFXAGBEZKSIxwELghTDH1JNZeXWelV3HWHl1TEjLq18mDRF5CngXGCcie0Tka6raCHwdeA3YDPxNVTeFM86ewsqr86zsOsbKq2PCUV72lFtjjDEB6/MN4RkZGZqbm9upbauqqkhMTAxuQH2YlVfH9Lfy2rZtGwBjx47t1Pb9rby6qqvltWbNmhJtY4zwPp80cnNzWb16dae2zc/Px+PxBDegPszKq2P6W3ktXrwYgOuvv75T2/e38uqqrpaXiOxua36fTRoicglwyejRo8MdijGGzicL07P02YZwVV2qqotSU1M7tf2OQ5XUNVl7jzHG+OqzVxpddeOf17DzUDUzC99j4czhXHRKDlGRfTbHGhNyLVUl+fn5YY3DdI0lDT/uvHgiT73xEZvLarjlqY94bGgqP/viVEZnJYU7NGN6pWuuuSbcIZggsKThx9yxmei+GM4+ey5L1+/jnqUf84Xfr+Sv15/BhEEp4Q7PmF7Hkkbf0GfrW0TkEhF5tLy8vEv7iYgQLp06hOdumk1MVAQ3/eVDqusbgxSlMf1HQ0MDDQ0N4Q7DdFGfTRpdbQhvbUR6Ir/80mnsKq3i128UBGWfxvQn5513Huedd164wzBd1GOThohEishHIvKiO323iOwVkbXu66LujmnWqHQumTyYJ1buorzGvjEZ0xHXXXcd1113XbjDMF3Uk9s0voHz3BTfBoRfqOqDYYoHgOvOGskL6/axdN0+rjxjRDhDMaZXufLKK8MdggmCHnmlISJDgc8Afwh3LK2dOiSVMVlJvLR+f7hDMaZXqa6uprq6OtxhmC7qkUkD+CXwHaC51fyvi8h6dzD1gWGICxHh0+OzWL37MFV11iBuTKAuuugiLrqo22uVTZD1uKfcisjFwEWqepOIeIDbVPViEckGSnBGh7sXGKSqX/Wzj0XAIoDs7OzpTz/9dKdiqaysJCnpxPsyNpU08dPVtXxzeiyTM3tyDV/38ldepm39rbyOHDkCwMCBnfu+19/Kq6u6Wl7nnHPOGlWdccICVe1RL+DHOCNP7QKKgWrgyVbr5AIbA9nf9OnTtbPefPPNNudX1NTriO++qL/+z7ZO77sv8ldepm1WXh1j5dUxXS0vYLW28Zna46qnVPUOVR2qqrk4I069oapXisggn9U+B2wMS4BAclw0IzMS2bC3a/eAGNOflJeX09X7pkz49aa6lZ+IyFSc6qldwA3hDOaUIal89MmRcIZgTK9y6aWXAvbsqd6uRycNVc0H8t33V4U1mFZGZSby4vp91DY0ERcdGe5wjOnxbrnllnCHYIKgRyeNrgj1eBq56Ymowp4j1YzOSg7JMYzpSz7/+c+HOwQTBD2uTSNYNMiPEWltRHoCALtKrN+5MYEoKSmhpKQk3GGYLuqzVxqhlpvujL27q7QqzJEY0ztcfvnlgLVp9HaWNDppQEI0iTGR7CurDXcoxvQK3/rWt8IdggmCdpOG+ziPhcBZwGCgBqer60vAK6ra+o7tfkNEyE6J48BRSxrGBOKSSy4JdwgmCPwmDRH5IzAEeBH4P+AgEAeMBS4Evi8it6vqW90RaE+UlRLLwQpLGsYEori4GICcnJwwR2K6or0rjZ+pals30G0EnhWRGGB4aMLqulD3ngLITonjo0/KQrZ/Y/qShQsXAtam0dv5TRp+Eobv8nqg20cjEpELgYeASOAPqvpAW+up6lJg6YwZM64PVSzZKXEcqKhFVRGRUB3GmD7h9ttvD3cIJghO2hAuIhtw7sL2VQ6sBu5T1dJQBOYnlkjgt8B5OM+nWiUiL6jqx90Vg6+s5FjqGpupqGkkNSE6HCEY02tceOGF4Q7BBEEgvadeAZqAv7rTC92fFcASoDtbt2YCBapaCCAiTwOXAmFJGtkpcQAcOFprScOYkygqKgJg2LBhYY7EdEUgSWOOqs7xmd4gIitUdY6IdPdQXEOAIp/pPcCnujkGL2/SqKhlbLbdFW5Me666ynkSkLVp9G6BJI0kEfmUqr4PICIzgZaHtHf3KERtNRycMCBIq/E0On2SVlZWtrvtwWqnx3H++2tp2mtXGicrL3O8/lZeLfdphOrv0RwvVOUVSNK4DnhcRFoSxVHgOhFJxBn7ojvtAXyvbYcC+1qvpKqPAo8CzJgxQz0eT6cOlp+fT3vb1jY08Z23XiVtyEg8ntD10uotTlZe5nhWXh1j5dUxoSqvkyYNVV0FnCoiqTgj/fn2Mf1b0CNq3ypgjIiMBPbitK98uZtj8IqLjiQ5Lsru1TAmAIWFhQDk5eWFORLTFYH0nsoG7gcGq+p8EZkIzFLVx0IeXSuq2igiXwdew+ly+7iqburuOHxlp8Rx8GhdOEMwplf46led0Zmtiql3C6R6agnwR+D77vQ24Bmg25MGgKq+DLwcjmO3JSs5lgN2pWHMSd1zzz3hDsEEQSCPRs9Q1b8BzeB828fpgtujicglIvJoqIeXzEqOtSsNYwIwd+5c5s6dG+4wTBcFkjSqRCQdt5eSiJyBc3Nfjxbq8TRatFRPOeOwG2P82bp1K1u3bg13GKaLAqme+ibwAjBKRFYAmcDlIY2qF8lMjqW+sZnymgYGJMSEOxxjeqwbbrgBsDaN3i6Q3lMfishcYBzOfRJbVbUh5JH1ElnuDX4Hj9ZZ0jCmHffff3+4QzBB0N6j0f0N6DtWRFDVZ0MUU6+SnRwL2F3hxpzM7Nmzwx2CCYL2rjRanimVBcwG3nCnzwHyAUsa+FxpVFhjuDHt2bjReXD2KaecEuZITFe092j0awFE5EVgoqrud6cH4TxptkfrjvE0wOk9BVgPKmNO4utf/zpgbRq9XSAN4bktCcN1AGf0vh6tO8bTAEiMjSIpNsru1TDmJH7605+GOwQTBIEkjXwReQ14Cqfb7ULgzZBGBYjIbcBPgUxVLRGRXGAz0NJn7z1VvTHUcQQiOyWWfWU14Q7DmB7t9NNPD3cIJggC6T31dRH5HHC2O+tRVX0ulEGJyDCcgZY+abVoh6pODeWxOyM3PZFPDleHOwxjerS1a9cCMHVqj/sTNh3QXu8pUfeONTdJnJAofNcJsl8A3wGeD8G+gy43I5EVO0ps2Fdj2nHrrbcC1qbR24m/z3wRyQf+CTyvqp/4zI8BzgSuBt5U1SVBDUhkAXCuqn5DRHYBM3yqpzbhPPuqArhTVd/2sw/f8TSmP/30052KpbKykqSkpJOu98YnDfzp43p+4YlnYFwgN9n3TYGWl3H0t/KqqXGqcOPj4zu1fX8rr67qanmdc845a1R1xgkLVLXNFxAH3ASswBmz4mNgJ7AbWAxM9bftyV7AMmBjG69LgfeBVHe9XTjPvgKIBdLd99NxRvBLOdmxpk+frp315ptvBrTe29sO6Yjvvqgrth/q9LH6gkDLyzisvDrGyqtjulpewGpt4zO1vS63tcDDwMMiEg1kADV6/HganaKq89qaLyKnAiOBdW41z1DgQxGZqarFQJ27/RoR2YHTi2t1V+PpqgmDnJv6Nu4rZ/bojDBHY0zPtGrVKsAaxHu7QHpPoc5jQ/afdMUuUtUNODcTAtCqeioTOKyqTSKSB4wBCkMdUyDSk2IZnBrHhr0V4Q7FmB7r29/+NmBtGr1dQEmjhzgb+KGItDya/UZVPRzmmLxOHZrKuqIuX4T1G6rKoaN1bD9YSXF5LQeP1nHwaC2llfXUNDRR19hMXUMT0ZERxMdEkhgTSUZSLMPSEhielsCkwSneu/FN7/Cb3/wm3CGYIOjRSUNVc33e/xOnYb5HOiMvndc2HeCT0mqGpyeEO5wepa6xie0HKtlSfJQt+yvYXFzBlv1HKa2qP269pNgoMpJiiI+JIjYqgpioCKrrGymprKOqvpGDFXXUNTZ71x+cGsfMkWmcOyGbueMySYmL7u7/mukAe3xI3xBQ0hCREcAYVV0mIvFAlKoeDW1oXdNdjxFpcfbYTADe3HqQq2fndssxexpV5UBFLR/vd5LC5v0VbCmuYMehKpqanV56cdERjMtOZt6EbCYMSmZsTjKDU+PJSoklIab901FVOVRZx66SatbvKeOjojLe2l7Cv9buIzpSOG9iNgtPH86ZozOIiLCuzz3NypUrAXtwYW8XyBjh1+N0X00DRuE0Tv8eODe0oXWNdtNjRFrkZSQyNjuJ5z7a2y+SRm2Dc/XQctWweX8FG4qqqXztP951hgyIZ8KgZM6fmMOEQSmMH5RMbnoikZ38QBcRspLjyEp2rjAAmpqVtUVHeGl9Mc99tIeXNxQzLC2eG84exeXThxIXHRmU/6/puu9973uAtWn0doFcadwMzMTpCouqbheRrPY36X9EhC/OGMZ9L21mze7DTB+RFu6QgkJV2V9ey9bio84VRLGTIHaWtLp6yElhenYUn542jvE5yYwflEJqfOiriyIjhOkj0pg+Io3vzh/H65sO8Ng7O7nzXxt56D/buf6skfzXrFxLHj3AI488Eu4QTBAEkjTqVLW+5U5nEYnCHfrVHO/LnxrOI28Vcv/LW/jbDbM6/Y06XMqrG9hSXMHWA0fZWuy+DhzlaG2jd52hA+MZn5PCRafkMH5QCuNzkhnhXj3k5+fjCeNVVmxUJJdMGczFkwfx7o5SfptfwP0vb+Hxd3Zx67wxXD59KFGR/ffmy3AbN25cuEMwQRBI0lguIt8D4kXkPJwb/paGNqzeKSEmiu9eOJ7b/r6OB1/fyncvHB/ukE7Q3Kzsr6hl56EqdpZUUlhSxY5DVWwtruCAz5ggKXFRjM9J4dKpgxmXk8K47GTGD0ruFY3NIsLs0RnMHp3Be4WlPPDKFm5/dgOL3y7k2xeM54JJ2fa4lzBYvnw5AHPnzg1zJKYrAkkatwNfAzYANwAvA38IZVDB0N0N4S0umzaENbsP87v8HVTUNPC9iyaQGNu9ndRqG5rYV1bD3rIa9hypoehwNTtLqrwv3x5ICTGRjMxIZM6oDMblJHtfOSlxfeKD9Yy8dJ67aTavbTrAT17bwo1PruG04QO47fxxzB6V3if+j73FD37wA8DaNHq7QJ5y24zz2JDFIpIGDHVvMe/RurshvIWIcN9nTyUpNorFb+/k9Y8PcMXpw7jwlEGMz0nuUq8eVaWippFDlc59DYeO1lFSWc+Bilr2HqlhT1kNe4/UUFJ5/IBQ0ZHCsLQE8jISOWtMBiMzkhiZkUheZiJZybF9/oNTRLjwlBzmTcji72v28NCy7XzlD+8zc2Qa3zpvLJ/KSw93iP3C448/Hu4QTBAE0nsqH1jgrrsWOCQiy1X1m6EISESm4PTOSsJ59tRXVLXCXXYHzlVPE3CLqr4Wihi6KjJC+P5nJnLhKYP49Rvb+fWbBfzqjQKS46LIy0xi2MB4BibEkBgbRUJMJBECjc1KU7PS2KxU1zVSUdvI0doG92cj5dX1lFTWU9/UfMLxYqIiGDIgniED4pk3Ict5PzDe+zMnJc7q8oGoyAiumDmcz502hKc/+ITf5u/gS4++x5zR6fz33NHMGW1XHqGUl5cX7hBMEARSb5KqqhUich3wR1X9gYisD2FMfwBuU9XlIvJV4NvA/4rIRJwBoCYBg4FlIjJWVZtCGEuXTB8xkCXXzqS4vJZ3C0tYs/sIu0qq2bC3nIqaBqrqm6j3qSoSgagIISEmiuS4KJLjokmOi2LIgHgmDkohIzmGzKRYMpOdV1ZyLBlJsaTGR9uHXQfERUdyzZyRLJw5nCff283vl+/gysfeZ3RWElfPGsGlpw3pFW03vc2yZcsAmDevzUfPmV4ikKQR5Y4L/kXg+yGOB2Ac8Jb7/t/Aa8D/4jwB92lVrQN2ikgBTlfgd7shpi7JSY3jc6cN5XOnDT1hWYN75RApYjekdbO46EiuOyuPK88YwUvr97Nk5S7+9/lN3PviZjzjMrlkymA84zJJtgQSFPfddx9wfNJoblaa1LnKbm752cwJ85qalYPVzRQeqnTn4V0OoAqK0qzuk7tb5rV63+yu5/6jWdXdtuWJ385yZ313ubs93v0fW6f18Vsq7r0/aZnW46Z9JxRtc5vj5x2/znHrtdp3yzrbdzdwZlNz0GsZ/I6n4V1B5As4H9rvqOpN7sMCf6qqlwU1kmPHWwn8n6o+LyLfBO5R1WQR+Q3OEK9Puus9Bryiqv9oYx/dOp6GcfT28lJVdpY3897+Rj4obqKsTokQyE2JYGJ6JKMGRDA8OYK0OAnKlV0oy6tZlfomaGiG+ialofn49955TVDf3DIPGpqVxmZodD+4nZ/Q1AyNLR/W6i73mdfYah3vdu4HdbNCU3MzqoIiNOPMM6H16HkJxER27lz1N57GSZNGKIjIMiCnjUXfxxkD/FdAOvACTttFuoj8Fni3VdJ42X0mlV8zZszQ1as79/T0/Px8PB5Pp7btj/pSeTU1K2t2H+Ht7YdYuaOUdUVlNLqfcqnx0eRlJjLYbUcalBrHgIRokmOjSYl3qhRjoyKIjJDjXqrOlWVjk9LQ1My773/A1GnTaWhqpr5RqW1ooqahiZp652etz/sTp5up9VlWU99EXWMTtQ3N1DU20dDUtb/rmMgIoiOFqMgIot330ZERREUKMe7P6MgIoiMiiI4SoiJOXC86wvkZGSFEiPDsP/8B2syXr7iCyIhjV9fen77vxWkb9F2+fesWJk2c6J0XGeF0chCcnxHiVPEKAgIR3mXOvAgB3PfSstxZ1fnpsy/h2HLc5cfWb9kewHcf7jFczl6g9fcL32nv/W+tlglywvreOe0c49h+hBUrVnDxeZ5Of8ERkTaTRiAN4XE4jc+TcAZmAkBVv9qpSPA/noaP891jjwU+487bAwzzWWcozuBQxgRdZIQwc2Sa08MKqKprZEtxBR/vP8rH+yr45HAVH++r4N8fHziuXarDVq446SpREUJ8TCTx0ZHen3HRzs/M5FjioyOJjY4gLjqSuCj3vfenM79lXlx0JLFREcS6P+OiI4mLjiA26tjP6MjgXEm1lv/zmwG4ff49ndu+cgee04YEM6Q+LTkmNL/HQNo0/gxsAS4Afgh8Bdgc9EhcIpKlqgdFJAK4E6cnFThXHX8VkZ/jNISPAT4IVRzG+EqMjfI+rsSXqnK4qp7ymgaOuj3dKmobvFcULXXzjc1OVZfvN/Otmz9m6uRTiY5yvqH7JoX46Eji3PfR1vPN9CCBJI3RqvoFEblUVZ8Qkb/iNE6HyhUicrP7/lngjwCquklE/oYz7GwjcHNP7jll+gcRIT0plvSk2A5vm3xkG56J2SGIypjQCSRpNLg/y0TkFKAYyA1VQKr6EPCQn2U/An4UqmMbY4xpXyDXvY+KyECcHlQv4HzT/0lIowoCEblERB4tLy8PdyjGGNNnnDRpqOofVPWIqi5X1TxVzVLV359su3BT1aWquig1NTXcoRhjTJ8RSO+pWOAynCop7/qq+sPQhWWMMaYnCqRN43mgHFgD1J1kXWOMMX1YIEljqKpeGPJIjDHG9HiBNISvFJFTQx5JkFlDuDHGBJ/fpCEiG9yn2Z4JfCgiW0Vkvc/8Hs0awo0xJvjaq566OFQHdR+CeDcwAZipqqvd+TOBR1tWA+5W1efcZfnAIKDGXX6+qh4MVYzGGGNO1F7SOADcCIzGGer1MVVtDNJxNwKfBx5pY/4MVW10H8e+TkSW+hz3Ky0JxhhjTPdrL2k8gXM3+NvAfGAi8I1gHFRVNwMnPExLVat9JuNo9fh5Y4wx4eX30egiskFVT3XfRwEfqOq0oB7cqXK6zffqQUQ+BTwOjACualU9lY4z1Os/gfv8jVVu42mEh5VXx/S38tq2bRsAY8eO7dT2/a28uqqr5eVvPA13tKoTX8CH7U2f7AUsw6luav261GedfJzqqLa2n4DzFNs4d3qI+zMZeB34r0DimD59unbWm2++2elt+yMrr47pb+U1d+5cnTt3bqe372/l1VVdLS9gtbbxmdpe9dQUEalw3wsQ706Lk2s0pb0spScfM6NdqrpZRKqAU9zg97rzj7pP2p0J/KkrxzDGGNMxfpOGqkZ2ZyAAIjISKFKnIXwEznjhu9zqsQGqWiIi0Tg9u5Z1d3zGGNPfhWV0FxH5nIjsAWYBL4lIy/gcZ+L0mFoLPAfcpKolQCzwmnt/yFpgL7A4DKEbY0y/FshjRIJOncbt59qY/2eckQJbz68CpndDaMYYY9rRZ8eRtMeIGGNM8PXZpKH2GBFjjAm6Pps0jDHGBJ8lDWOMMQGzpGGMMSZgfTZpWEO4McYEX59NGtYQbowxwReum/u+ICKbRKRZRGb4zI8WkSfcgZ42i8gdPsumu/MLRORX0voRucYYY0IuXFcaLeNpvNVq/heAWHWerjsduEFEct1lv8N5cu0Y92XjlhtjTDcLS9JQ1c2qurWtRUCi+6ypeKAeqHAHZEpR1Xfdpy/+Cfhs90VsjDEGel6bxj+AKmA/8AnwoKoeBoYAe3zW2+POO6mtW7eyZMkSABoaGvB4PDz55JMAVFdX4/F4eOaZZwAoLy/H4/Hw7LPPAtDY2IjH42Hp0qUAFBcX4/F4ePXVVwEoKirC4/GwbJnz7MTCwkI8Hg/Lly/3Htvj8bBy5UoANm7ciMfjYdWqVQCsXbsWj8fD2rVrAVi1ahUej4eNGzcCsHLlSjweD1u3Ovl1+fLleDweCgsLAVi2bBkej4eioiIAXn31VTweD8XFxQAsXboUj8dDSUkJAM8++ywej4eWzgHPPPMMHo+H6mpn7Ksnn3wSj8dDQ0MDAEuWLMHj8XjLcvHixcybd+zhxQ8//DDz58/3Th88eJAFCxZ4px988EEuu+wyhQW3RgAACklJREFU7/QDDzzAwoULvdP33nsvV155pXf6rrvu4tprr/VO33HHHSxatMg7fdttt3HzzTd7p2+99VZuvfVW7/TNN9/Mbbfd5p1etGgRd9zhreHk2muv5a677vJOX3nlldx7773e6YULF/LAAw94py+77DIefPBB7/SCBQt46KGHvNPz58/n4Ycf9k7PmzePxYuPPRLN4/G0e+5t27bN77lXUlLS5869tWvX0tjoDMLZmXOvZTwOOPHce+ihh+zca3XulZaWAh3/3Gs59/zxOwhTV4nIMiCnjUXfV9Xn3XXy8RmESUTmADcB1wADOTZqYDrw45bHrYvIWcB3VPUSP8f2DsI0cODA6YsXLyY9PR1VZfv27WRkZJCWlkZzczMFBQVkZmYycOBAmpqa2LFjB1lZWQwYMICjR4+yf/9+srOzSU1NpbGxkcLCQnJyckhJSaGhoYGdO3cyaNAgkpOTqa+vZ9euXQwePJikpCTq6urYvXs3Q4YMITExkdraWj755BOGDh1KQkICNTU1FBUVMWzYMOLj46murmbPnj0MHz6cuLg4qqqq2Lt3LyNGjCA2NpbKykr27dtHbm4uMTEx3vhGjhxJdHQ0FRUVFBcXk5eXR1RUFOXl5Rw4cMA7XVZWxsH/3969x9hR1mEc/z7dWkpvNPRG77ddVIyVRmowGkKUEDUWQZFKVII0pJJAAokQFU00McFE/kKxAgXqH4RrRIoJAYxBCBIp1EJQStrSdu0l3VtLb2BT+vOPmW3H4zlnZ7Z79pzuPJ/kJGfeub3nybvzzpw5O29XF4sXL6atrY19+/bR3d1Ne3s7o0aNoq+vj56eHjo6OpBEb28vvb29JwbN6enpoa+v78R0d3c3+/fvp6OjA4B9+/bR29tLe3s7AHv37uXQoUMsXrwYSA58R44cYdGiRQDs2bOHDz74gIULFwKwe/dujh49yoIFCwDYtWsXx44dY/78+QDs3LmT48ePM2/ePIATB6y5c+cC0NnZyahRo5gzZw4AO3bsYPTo0cyenZxfbN++nTFjxjBr1iwAtm3bxtixY5k5cyaQHHjHjRvHOeckzXbr1q1MmDCBGTNmALBlyxYmTZrE9OnTAdi8eTOTJ09m2rRpQDLI0Nlnn83UqVNPTE+ZMqVm2+vr66Otra1q2+tvayOp7XV2djJ58mTmzZs3qLYHnMi2su11dXVx4MABt71M2+tvS0WPe/1tbdWqVcUGYRqOFxWDMAF3k4zW1z/9AHAVMBPYlCm/Grgnzz48CNPwcV7FOK9inFcxjRqEqdW+nuoEvqDEeOBCks5iD3BQ0oXpr6auAZ5qZkXNzMqo1cbTuBuYQPLrqvXAgxHxZjrvBmANsAXYCjwzvLU2M7NWG0/jEMnPbqut8xrJ0K9mZtYkTek0hoOk5cBykp/sbk6LzwIqnyuSLaucPxXoaVAVq9VlqNapt1yteQNlU6ssO+28nJfzKrZcK+c1v2pptRsdI/UF3FuvrHI+NW4ENaouQ7VOveVqzRsomzoZZfNzXs7LeY3wvFrtRnijPT1AWbX5jTKYfeVdp95yteYNlE2tsuHKzHkV47yKcV45Nez/NEYCSa9Ftd8pW1XOqxjnVYzzKqZReZXtSqOoe5tdgdOM8yrGeRXjvIppSF6+0jAzs9x8pWFmZrm50zAzs9zcaZiZWW7uNAZJ0uWS7pP0lKRLm12fVidpkaT7JT3R7Lq0Kknj05Er75P07WbXp9W5TRUzVMesUnYakh6Q1CXprYryL0l6Jx1S9of1thERf4yI60ke476igdVtuiHK692IWNnYmraegtl9HXgibVeX/d/GSqBIXmVtU1kF8xqSY1YpOw1gLRXDxUpqI3lg4peB84CrJZ0n6ZOS/lTxmp5Z9SfpeiPZWoYur7JZS87sgDnAv9PFPhzGOraSteTPywaX1ykds0bss6fqiYgXM2OP9/sMsCUi3gWQ9AjwtYi4A/hq5TbSR7T/EngmIjY0tsbNNRR5lVWR7EhGpJwDbKSkJ3QF8/rX8Nau9RTJS9LbDMExq5QNs4bZnDzLg4GHlL0JuAS4UtL3G1mxFlUoL0lTJP0OWCrpR7WWK4la2f0B+Iak1QzvI21aXdW83KZqqtW+huSYVcorjRpUpazmfz5GxF3AXY2rTssrmlcvUMbOtZqq2UXEYeB7VeaVXa283Kaqq5XXkByzfKVx0k5gbmZ6DrC7SXU5HTivwXN2xTivYhqalzuNk9YDHZIWShoDfAtY1+Q6tTLnNXjOrhjnVUxD8yplpyHpYeAV4KOSdkpaGRHHgBuBZ4G3gcci4p/NrGercF6D5+yKcV7FNCMvP7DQzMxyK+WVhpmZDY47DTMzy82dhpmZ5eZOw8zMcnOnYWZmubnTMDOz3NxpWClI+lDSxsxrQbPrNJQkLZW0Jn1/raTfVMx/QdIFddZ/RFJHo+tppz8/e8rK4v2IOL/WTEmj03+KOl39GPjFKay/GrgNuH5oqmMjla80rLTSM/LHJT0NPJeW3SppvaQ3Jf08s+zt6aA2f5b0sKQfpOUnzuAlTZW0PX3fJulXmW2tSssvTtd5QtImSQ+lj9lH0jJJf5P0hqRXJU2U9JKk8zP1eFnSkorPMRFYEhFv5PjMl2Wutt6RtC2d9RJwiSSfSFpdbiBWFmdK2pi+3xYRV6TvP0tywO1TMgRmB8l4BALWSboIOEzy/J6lJH8zG4DXB9jfSuC9iFgm6QzgZUnPpfOWAp8geYjcy8DnJL0KPAqsiIj1kiYB7wNrSEZau1nSucAZEfFmxb4uAN6qKFsh6fOZ6XaAiFhH+hwiSY8Bf03Lj0vaAnwqx2ezEnOnYWVR6+up5yOiL31/afr6Rzo9gaQTmQg8GRFHACTlefjbpcASSVem02el2zoKvBoRO9NtbQQWAO8BeyJiPUBEHEjnPw78VNKtwHUkI7VVmgl0V5Q9GhE39k9IeiE7U9JtJJlkR3DrAmbhTsPqcKdhZXc4817AHRFxT3YBSTdTe6yQY5z8mndsxbZuiohnK7Z1MfCfTNGHJH+HqraPiDgi6XmSkequIrmqqPR+xb7rkvRF4JvARRWzxqbbMqvJ9zTMTnoWuE7SBABJs5WMb/4icIWkM9P7B8sz62wHPp2+v7JiWzdI+ki6rXMlja+z703ALEnL0uUnZu4vrCEZPGd95qoo623Sr58GImk+8Fvgqoio7CDOBfz0WKvLVxpmqYh4TtLHgVfSe9OHgO9ExAZJj5KM3b2D5KZxvzuBxyR9F/hLpnwNyddOG9Ib3d3A5XX2fVTSCuDXks4kOeO/BDgUEa9LOgA8WGPdTZLOkjQxIg4O8DGvBaYAT6afcXdEfEXSDJKvq/YMsL6VnB+NblaQpJ+RHMzvHKb9zQJeAD4WEcdrLHMLcDAi1gxyH7cAByLi/kFX1ErBX0+ZtTBJ1wB/B26v1WGkVvO/90qK2g/8/hTWt5LwlYaZmeXmKw0zM8vNnYaZmeXmTsPMzHJzp2FmZrm50zAzs9zcaZiZWW7/BdEhO3/gW/aGAAAAAElFTkSuQmCC\n", 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" ] @@ -369,7 +378,7 @@ "name": "stdout", "output_type": "stream", "text": [ - "{'x0': array([100. , 0.262, 0.262, 0. , 0. , 0. ]), 'u0': array([ 2.186, -17.5 , 0.25 , 0. , 1.286]), 's': array([ 2.186, -17.5 , 0.262, 1.286]), 'g': array([[0.],\n", + "{'x0': array([220. , 0.22, 0.22, 0. , 0. , 0. ]), 'u0': array([ 0.207, -14.182, 0.25 , 0. ]), 's': array([ 0.207, -14.182, 0.22 ]), 'g': array([[0.],\n", " [0.],\n", " [0.]])}\n" ] @@ -386,12 +395,12 @@ "name": "stdout", "output_type": "stream", "text": [ - "u_norm max 9761.951314412308\n" + "u_norm max 989.5298689622605\n" ] }, { "data": { - "image/png": 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\n", 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\n", 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\n", 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\n", 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/Y8n08KOLdmwbXx/dLnye7PkG2Z/Zx0PPD7/vL9W28KdL8LhdeFyCxy3Zny4X7oL7nhHuf9yfYW/PAO7B9YaWuV2C1+XSv2IcpGSgG2M2iUjbGE0uBe4z2S8ifElEWkRkjjHmgE01Ttif37uCP+8Lc3ksPaH1E6kM/xRL0ljvoe7+8szvrkkk4NXJhVy1mIq+uIHG3M22DboBf/ahAYyBZDKBx+MlH+/GmOx9M9Qm90zufvbOYPs0kAaTyK6UPwqpcBvHPJ/b1tCWJ++PAV4Zepwri3hBGyn+rxQvKyLD1zmm7Rjry/D/jPkaxcvOTGeIvDD2YbjHbGukosZqb2XbNrz/NU6/ADo6Jr+hInbMoc8D9hY87sw9d0ygi8h6YD1Aa2sroVBoQi8YiUQsrbuDOP/Q5OOP/KeM+zXSGXjpQAq/G5bP8FCuv6aTySRer7c8G59i2hf7GAOZXPBnjBl808gMe0MZ/jPD0BuPMdlbKp3G5XYP257Jt8tvk+yThcuxcr/g9Yfu59+qGHqzKmyT34YZZXsF6+WfGfYmWDQ2K2xbuFrxG2K1fe91n7+VyATzbyx2BPpIUTfir88YswHYALBixQrTMcF3qFAohKV1783+mLf+wXG/xoZN7/P9Pe/w0I1/xPy26eNe3yrLfakB2pfq45R+gL19KXxDK3wTzJjCv7pGbmMK3h1GfUPJb2fYc0P3N7/8Yln2ix2B3gksKHg8H9hvw3YrJppIs2HTbs5ZOJMVZQxzpVRliEjBX91T/xlCnac8r2nHeeEbgWsk62ygtxrmzyfj4dc7ORxJ8LV1CytdilJKWWblsMVfAB3ATBHpBL4DeAGMMXcCT5I9ZHEX2cMWrytXsVPBGMP9L3/EKXOaWNlWPScPKaVUKVaOcrmqxHIDfNW2iipsW2cvOw708b0/XarHFSulaopeiq/ILzfvpc7r5tIz5la6FKWUGhcN9ALpjOHptz5m3cmzCQaccfidUur4oYFe4NU9PRyOJLho6ZxKl6KUUuN2XAS6sXhWwVPbP8bvcdGx2OIVq5RSqoocF4EeS8dKtjHG8MyOg5yzcNaEvqhCKaUq7bgI9IHkQMk2H/UM0HkkymcWzZyCipRSyn6ODXSTGbrM6kCqdKD/93uHAVj7KQ10pVRtcmygF7IyQv/9rsPMa6mjfWbDFFSklFL2c2ygG2N9hJ7JGF58v5u1n5qhJxMppWqWYwO9UKkR+q5DEXqjSVa1z5iiipRSyn6ODfTxjNDf+OgIAGee2FLWmpRSqpwcG+iFSo3Qt+w9SnOdl/YZOn+ulKpdjg30whF6f7J/zLZvfHSUMxa06HcrKqVqmmMDvdBYUy6ReIqdB8M63aKUqnmODXRDwRz6GFMub3b2YgycvkADXSlV2xwb6IWiqeioy975uA+AU+c0TVU5SilVFs4N9MzQBbnGmkPf+XGY6Q0+ZgX9U1GVUkqVjWMDfdiUyxhz6Ds+DrPkhKCeUKSUqnmODfRCo82hpzOGdz8Os/iE4BRXpJRS9nNsoFs5bPGjngGiyTQnn6Dz50qp2mcp0EXkQhHZKSK7ROTmEZY3i8jjIrJVRN4SkevsL3XiIsnIiM/vzH0gumSOjtCVUrWvZKCLiBv4MfA54BTgKhE5pajZV4G3jTGnAx3A/xYRn821jkvhCD2SGDnQ3z2YfX7hbA10pVTtszJCXwXsMsbsNsYkgAeAS4vaGCAo2U8WG4EeIGVrpZMQToZHfP6Dw/3MbQ5Q53NPcUVKKWU/K9+1Ng/YW/C4E1hd1OZfgY3AfiAIXGEKh8g5IrIeWA/Q2tpKKBSaQMkQiURKrpvKhbgbIZKI8Nxzzx1zJMvW3VFaPEy4DjtY6Uut0L5UH6f0A7QvVlgJ9JGO5yv+1uULgC3AOuCTwO9E5L+NMX3DVjJmA7ABYMWKFaajo2PcBUM2gEutGx3ogV9B0OXjaCbO6k+vpt5bP6zN15//LRcvmUNHx2kTqsMOVvpSK7Qv1ccp/QDtixVWplw6gQUFj+eTHYkXug54xGTtAj4AlthT4sTkj0MPurMnDIUTw6ddjvQn6I0m9RuKlFKOYSXQXwUWikh77oPOK8lOrxT6CPhjABFpBRYDu+0sdKIaXV7g2CNddh/OHsqoga6UcoqSUy7GmJSI3AQ8DbiBu40xb4nIjbnldwLfBe4RkTfJTtF8yxhzuIx1l5b7kugm18gj9D25QG/TQFdKOYSVOXSMMU8CTxY9d2fB/f3A/7C3tMnJT7k0urJHTxaP0D843I/bJSyYVn/MukopVYsce6ZoXtCdC/SiY9H3dPczr6UOn8fxvwKl1HHCsWlmTPZAnNFG6J1HoiyYXjfldSmlVLk4NtDzgrk59OIR+r6jUea1aKArpZzDsYGeP6+pweVFkGFni8ZTaQ6F48zVQFdKOYhjAz1PRGj0Ng4boR84GgPQEbpSylEcG+hDVx4QGn2Nw+bQ9x3NfiXdvGka6Eop53BsoOcJ0OhrHHYcej7Q57foIYtKKedwbKCbwcvNCEFvcNiXXOw7EkUETmgOVKY4pZQqA8cGep7IyCP02UG/HoOulHIU5yZa4Ry6d/gc+n49ZFEp5UDODfQcAYK+4LCjXPYfjeohi0opx3FsoOfPFAUh6AsSToQxxmCM4eO+GCc06fy5UspZLF2cqxYVfmFSs6+ZlEkRTUVJpb3EkhlaNdCVUg7j2EAfIjT7mwHojffSP9AIwOwmfyWLUkop2zk20POHLYpAk78JgKPxoxzpy37hxaygBrpSylkcO4c+RGj25UboiV66wnEAZgd1ykUp5SyODXST+8YigWFTLl3h7HVcWnXKRSnlMI4N9DwpmkPv6otT53XT6HfsbJNS6jjl2EDPfwUdQJMvO4fel+jjYDjO7CY/IlKp0pRSqiwcG+h5IkLAEyDgDuRG6DFm6weiSikHshToInKhiOwUkV0icvMobTpEZIuIvCUiz9tb5gQMnliU1eRvojfey6FwnNl6DLpSyoFKTiSLiBv4MfBZoBN4VUQ2GmPeLmjTAvwEuNAY85GIzC5XweMlZKdWmv3NuQ9F43xGR+hKKQeyMkJfBewyxuw2xiSAB4BLi9pcDTxijPkIwBjTZW+Z4zd4pmhuqrzZ18yR2FEi8ZQesqiUciQrh3rMA/YWPO4EVhe1WQR4RSQEBIF/McbcV7whEVkPrAdobW0lFApNoGSIRCIl140OfAjAwYNdhEIhEn0JDiSy7zPd+3YTCu0da/UpY6UvtUL7Un2c0g/QvlhhJdBHOhzEFD32AMuBPwbqgD+IyEvGmHeHrWTMBmADwIoVK0xHR8e4CwYIhUKUWrfr4HZ4ClpbT6Cjo4PQiyE++nAfAGuXn07HkuqYFbLSl1qhfak+TukHaF+ssBLoncCCgsfzgf0jtDlsjOkH+kVkE3A68C4Vkj9sMf9u1ORvIpLsAwzTGnyVKksppcrGyhz6q8BCEWkXER9wJbCxqM1jwDki4hGRerJTMjvsLXWCcsebZ6+4mARJMkMDXSnlQCVH6MaYlIjcBDwNuIG7jTFviciNueV3GmN2iMhTwDYgA/zUGLO9nIWXkv9QND9Cz58tKu4o0zXQlVIOZOn8d2PMk8CTRc/dWfT4n4B/sq80uwwdtgjg80Wp97krWZBSSpWFc88UzZ1YlB+hTw9MB6CpIa6n/SulHMm5gZ6TD+98oDfUxypZjlJKlY1jA73wK+hgKND9/oFKlKOUUmXn2EDPy5/63+RrAuPC69NAV0o5k2MD3RSd+yQimHQj4olUqCKllCovxwb6oNwcejyVJpNqwEi4wgUppVR5ODbQh+bQs4He05/ApBpJooGulHImxwd6/gDFnv4EJt1ILNNbuaKUUqqMHBvog6RwhN5Af0oDXSnlTI4NdFN0YtGRgSQm3Ug8E2UgqUe6KKWcx7GBPiQb6b3RJJlUIwBH4kcqWZBSSpWFgwM9P4eeDfS+aHaEDtAT7alYVUopVS4ODvSc3JxLbzSJ1wQB6IlpoCulnMexgT40h56bchlI0uhtAaA71l2xupRSqlwcG+hDhubQW3zZ67l0DVT8O6yVUsp2lq6HXovyI/S83miSlrp6Ev5pGuhKKUdybKDn5S+f2xtNMqc5APWzOTRwqMJVKaWU/Rw75VJ8+dzeaJLmOi+z6mdxcOBghapSSqnycWyg5xUetthU56W1vlWnXJRSjuTYKZfBy+eKkM4YwvEUzXVe/PWz6Yn1kMwk8bq8lS1SKaVsZGmELiIXishOEdklIjeP0W6liKRF5HL7SpyYwotz9UWTAINTLgZDd1QPXVRKOUvJQBcRN/Bj4HPAKcBVInLKKO1uA562u8jJ6i0I9Nb6VgCdR1dKOY6VEfoqYJcxZrcxJgE8AFw6QruvAQ8DVTJBPXRiUWGgz66fDeix6Eop57Eyhz4P2FvwuBNYXdhAROYBlwHrgJWjbUhE1gPrAVpbWwmFQuMsNysSiZRc92jvm9li9+3j/UObAdi9czvRA9krLf5+6+/xflD5OXQrfakV2pfq45R+gPbFCiuBLiM8Z4oe/x/gW8aYdP6475EYYzYAGwBWrFhhOjo6LJY5XCgUotS677+fhBdgwfz5JJtPgc1v0LFmFZ+a3cCt/3ErTfOa6Fg+sde3k5W+1ArtS/VxSj9A+2KFlUDvBBYUPJ4P7C9qswJ4IBfmM4GLRCRljHnUlionZfiUi0tctNa3crBf59CVUs5iJdBfBRaKSDuwD7gSuLqwgTGmPX9fRO4Bnqh0mJuCPyIKAx1gbuNc9keK35OUUqq2lfxQ1BiTAm4ie/TKDuCXxpi3RORGEbmx3AVOlojQF03ic7sIeN0AzG3QQFdKOY+lE4uMMU8CTxY9d+coba+dfFmTV3jqfzieoqluqKvzgvPoinYRT8fxu/2VKE8ppWx3XJz6H4mlaPQXBHrjPAAORA5UqiyllLKdYwO9cA49Ek/RMEKg74vsm/K6lFKqXJwb6PlT/8U16ghdA10p5SSODfRC4XiKYGAo0GfVzcLj8migK6UcxbmBXvCdopF4ctgI3e1y65EuSinHcW6g5wnZKZfA8AN65jbO1RG6UspRHBvohYctRuIpGv3Dr9tyYvBEPuz78JjvHlVKqVrl2EDPS2UgmTbD5tAB2prb6Ev0cSR+pEKVKaWUvRwb6PnDFlPp7M/COXSAtqY2APb07pnKspRSqmwcG+h5iXR26qU40Nubs5ef+aD3gymvSSmlysGxgZ6fG0+mso+LPxSd0zAHn8vHnr49U1yZUkqVh2MDPS+ZyQZ7sGiE7na5Oan5JB2hK6Ucw7GBbshOtSRSuSmXwLHXIWtratNAV0o5hmMDPS85yoeikJ1H3xfZRyKdmOqylFLKds4N9NwcenyMEfrCloWkTZrdvbuntDSllCoHxwZ6/sSiZCo/h37sF0Ivnr4YgHd63pm6wpRSqkwcG+h58XQat0sIeI/t6onBE6nz1LGzZ2cFKlNKKXs5NtDzZ/QnU4ZGv4fcF1gP43a5WThtoY7QlVKO4NhAz4unMyN+IJq3ZNoSdvbs1Gu6KKVqnmMDfeiwxWOv41Jo8fTFhJNh9vfrpXSVUrXNUqCLyIUislNEdonIzSMs/4KIbMvdXhSR0+0vdWISaTPs6+eKnTz9ZADeOvzWVJWklFJlUTLQRcQN/Bj4HHAKcJWInFLU7APgM8aYZcB3gQ12Fzpe+SmURCozZqAvmb4Ev9vPlkNbpqo0pZQqCysj9FXALmPMbmNMAngAuLSwgTHmRWNM/jq0LwHz7S1z4pJpQ4PPPepyr9vLqTNOZWvX1imsSiml7Df60HXIPGBvweNOYPUY7a8HfjPSAhFZD6wHaG1tJRQKWauySCQSKbluV3f2yJVoPEGs5/CY7WfEZvBs37P89tnf4nP5JlTTRFnpS63QvlQfp/QDtC9WWAn0Y4/3gxEPCRGR88gG+qdHWm6M2UBuOmbFihWmo6PDWpVFQqEQpdbdsn0/vAYGD588cR4dHUtHb7wXfvfs75hx6gyWty6fUE0TZaUvtUL7Un2c0g/QvlhhZcqlE1hQ8Hg+cMwhISKyDPgpcKkxptue8iYhP4eeyVA/xpQLwBmzzgDg9YOvl70spZQqFyuB/iqwUETaRcQHXNS+0mwAAAnLSURBVAlsLGwgIicCjwB/YYx51/4yJy6Vhnrf2H+ItARaWDxtMX848IcpqkoppexXMtCNMSngJuBpYAfwS2PMWyJyo4jcmGt2KzAD+ImIbBGRzWWr2KLCE4VKjdAB1sxdwxtdbzCQHChnWUopVTaWjkM3xjxpjFlkjPmkMeYfc8/daYy5M3f/BmPMNGPMGbnbinIWbUX+4lwg1PstBPq8NaQyKV75+JXyFqaUUmXi2DNFC1kZoZ81+yzqPHX8ft/vp6AipZSyn2MD3eQOxDGUnkMH8Ll9rJ6zmuf2PkdmcHSvlFK1w7GBXsjKCB3ggrYLODhwkK2H9CQjpVTtcWygD30oKpYD/bwF5+Fz+Xjqg6fKV5hSSpWJYwO9kJUpF4AGbwPnzD+Hp/c8TTKTLHNVSillL8cGev7yuWYcI3SAP/3Un9Id6ya0N1SmypRSqjwcG+iFrI7QAc6Zdw5zGubw4M4Hy1iRUkrZz7mBnp9DN+Mbobtdbi5fdDkvH3iZXUd2lak4pZSyn3MDfZBQ57Ue6AB/tujPqPfU8+/b/r1MNSmllP0cG+j549A9bsHlGumCkaObFpjG1SdfzdN7nua9I++VozyllLKdcwM9d3KQzzO+0XneX57ylzT6Grntldv0C6SVUjXBsYGe53NPrIstgRa+fubXefnjl/mvD/7L5qqUUsp+jg30/KjaO8EROsDliy5n2axl/ONL/0hnuNOu0pRSqiwcG+h5Ex2hQ/aIl9vOuQ1B+OvQXxNJRGysTCml7OXYQM9/KOpzT3yEDjA/OJ/bzr2N9468x9ee/RqxVMyO8pRSynaODfQ8r3t8R7iM5Jz55/DdT3+X1w6+xvW/vZ7D0cM2VKaUUvZybKBP9iiXYhd/4mLu6LiDd3ve5YrHr+D5vc/bsl2llLKLYwM9bzIfihY7/6Tz+flFP6c50MxNz97Ejb+7US+1q5QaZIwhnUmTzCRJpBPEUjEGkgP0J/sJJ8L0xns5GjtKPBMvy+tbv8hJrckd5eKfxIeiI1kyfQkP/smD/MeO/+Bn23/GF5/8IounLeZPPvEnrJ23loUtCxGZ/DSPcj5jDBmTIWMypE162H1jzOBzxY9HWme0bbwTfQfvPq+ldQZvZIbVZjCDjw3Dnx+8bwwZCu6Psp3i9qMuH+E1uw518fD/e9jy64y4fIy2Y/an6DVHa2vV+U3ncwEX2P5vyrGBns4FemCcp/1b4XV7uW7pdVyx+Aoee/8xNu7ayB2v3cEdr93B9MB0Fk9bzKJpi2hvbmd2/Wxm189mZt1Mgr4gPrfP9nomo/AfesZkSGfSGHLhkRn+/GC7TC4ICu4bDB/FP+LNQ28OPh5pncLnR9pG4bLRQuyYbRQFkpXgKxWQ3Ue6ufepe0fd9pj1WQzj/Af3ZffM1LwMgEtcuHAhItn74kLI3h98jlHui2toGwXr5dcdSA2QGkhl2+Mats18W4/LM+LyUWtCRnx+cN1R1itcbuV1il8r/mEFR+giciHwL4Ab+Kkx5gdFyyW3/CJgALjWGPO6zbWOy0AiBUBDoHwBWu+t56olV3HVkqs4EDnASwdeYvPBzbx35D0e2PkA8fSxO83j8tDgbaDeU4/f7ScejfOjjT/CLW7c4sblcuGW7JvQSCOC0UY5+ZArDOPB8BspnBkKF1s9ae/mrMj/D+MW9+D9Uo/d4kZERm2TMikMZjAgJrPtsV6ruF3hcqt9Guu1tm7ZyoqzVoxrG8cE0DhCrZxCoRAdHR1lfY2pEjoYKst2Swa6iLiBHwOfBTqBV0VkozHm7YJmnwMW5m6rgX/L/ayYaDINQIN/av4ImdM4h8sWXsZlCy8DIJ1Jc3DgIF0DXXQNdHEoemhwLq0/2c9AaoBYKsbB1EGmN04fHLXlR54Ig/8jHTMSKLhfPPpxixtBcLvcgyMGl7iGP3Yd2+6YQCrehqt0ELy9/W1OX3b6pAJoIiFWDk4Jj/5AP2fMPqPSZagpYiXtVgG7jDG7AUTkAeBSoDDQLwXuM9nTM18SkRYRmWOMOWB3wRseu4W7eh6BD8Zul0bAJQT9lZnicLvczG2cy9zGuWO2c0pwALh3uzl3/rmVLkOp45aVQJ8H7C143Mmxo++R2swDhgW6iKwH1uceRkRk57iqHTITsHQw+GXcANwwwZeZEpb7UgO0L9XHKf0A7UveSaMtsBLoI02MFX+aY6UNxpgNwAYLrzl2QSKbjTErJrudaqB9qU5O6YtT+gHaFyusTEB2AgsKHs8H9k+gjVJKqTKyEuivAgtFpF1EfMCVwMaiNhuBayTrbKC3HPPnSimlRldyysUYkxKRm4CnyR62eLcx5i0RuTG3/E6yB6tdBOwie9jideUrGbBh2qaKaF+qk1P64pR+gPalJNFv41FKKWdw/LVclFLqeKGBrpRSDlHVgS4iF4rIThHZJSI3j7BcROSHueXbROSsStRphYW+dIhIr4hsyd1urUSdpYjI3SLSJSLbR1leS/ukVF9qZZ8sEJHnRGSHiLwlIl8foU1N7BeLfamV/RIQkVdEZGuuL/8wQht794sxpipvZD+AfR/4BOADtgKnFLW5CPgN2ePgzwZernTdk+hLB/BEpWu10JdzgbOA7aMsr4l9YrEvtbJP5gBn5e4HgXdr+P8VK32plf0iQGPuvhd4GTi7nPulmkfog5ccMMYkgPwlBwoNXnLAGPMS0CIic6a6UAus9KUmGGM2AT1jNKmVfWKlLzXBGHPA5C6GZ4wJAzvInqldqCb2i8W+1ITc7zr/RcTe3K34KBRb90s1B/polxMYb5tqYLXOP8r9efYbETl1akqzXa3sE6tqap+ISBtwJtnRYKGa2y9j9AVqZL+IiFtEtgBdwO+MMWXdL9V8PXTbLjlQBazU+TpwkjEmIiIXAY+SvXplramVfWJFTe0TEWkEHgb+lzGmr3jxCKtU7X4p0Zea2S/GmDRwhoi0AL8WkaXGmMLPbGzdL9U8QnfSJQdK1mmM6cv/eWaMeRLwisjMqSvRNrWyT0qqpX0iIl6yAXi/MeaREZrUzH4p1Zda2i95xpijQAi4sGiRrfulmgPdSZccKNkXETlBJPsNASKyiuy+6Z7ySievVvZJSbWyT3I13gXsMMbcMUqzmtgvVvpSQ/tlVm5kjojUAecD7xQ1s3W/VO2Ui6nOSw5MiMW+XA58WURSQBS40uQ+Bq8mIvILskcZzBSRTuA7ZD/sqal9Apb6UhP7BFgL/AXwZm6+FuDbwIlQc/vFSl9qZb/MAe6V7JcEuYBfGmOeKGeG6an/SinlENU85aKUUmocNNCVUsohNNCVUsohNNCVUsohNNCVUsohNNCVUsohNNCVUsoh/j/nozQZZwhsuwAAAABJRU5ErkJggg==\n", 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\n", 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" ] @@ -427,7 +436,7 @@ } ], "source": [ - "pitch_rate_control_design(100, -10000*(s+1+0.7j)*(s+1-0.7j)/(s+0.5)/s, [-2, 0.1], [-2, 2])" + "pitch_rate_control_design(220, -1000*(s+1+0.7j)*(s+1-0.7j)/(s+0.5)/s, [-2, 0.1], [-2, 2])" ] }, { @@ -476,12 +485,12 @@ "output_type": "stream", "text": [ "1 states have been removed from the model\n", - "u_norm max 324.1924984960579\n" + "u_norm max 324.19387967995453\n" ] }, { "data": { - "image/png": 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\n", + "image/png": 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\n", 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" ] @@ -513,12 +522,12 @@ "output_type": "stream", "text": [ "1 states have been removed from the model\n", - "u_norm max 63556.9186558776\n" + "u_norm max 63670.60721560701\n" ] }, { "data": { - "image/png": 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\n", + "image/png": 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z4!s&txjq`~22h>$p`m!tES&@(O&btbUhwFdqEei%qEOVrs*0CxdODX^R5*cfp%rLG zfz-LWfuUjgGG_ZOj2YV7G9?B=@Dqb|FhK<3dG2_gfyrM6;^sJ*kAlmpDf0fn>)`|6 z_v9-3#LP(qL_aW7^kM8z-*Tt6X5S2r3^d@7ndI334Er+h7bk%>+5&V{hx}6?_|W@M z@)W`&D9H5pokXDy?zcgq_)jNNpc26Vl>AGxlMe`lNnr2qb=bmURD*^ntZw)R;so&m zd1YLYYP?{;J9k#t0nq=qz>T@Qyj&~03tV| z!pv4xRl!vA0 z8F1q|!2T6!%BfyaR(1kRKccu$AKe8|6i_$>0;U8cWo;niTLgmhH_t^v*PdJT!uj*h zA)^uiwTmyXqvJuHG8G1~>xt4x(Bz_eMFR|cJggez@4#0j%^-IY#3xjMp0H$fZ?H@R zS)~ZD6uNuX;A{iT0L?c*AKMf`G=$(NP1xPt1xN!Hju*9vZD4sHs?bDD9c+`Qy!t}! zeMquFZd!VJ`q>_2ygQ zvF!w7QzYXCY5w(r+l(AIBEnjg&CAXfFa?tRjvSg@@_r)wFkA%cz}$r80Cv5P5i4nH z4-QnTxDa#tvJL%*;<>rG&p>R91Y-MkahoW>HUI)Qg{;0&AxgmzSr6 vrAToI_6C(03U%c0*Z=?J|4+z2i(&m}^e1tg`?XwO6#S?vX(;AhHuL*8>#jOG literal 0 HcmV?d00001 From cc8c685f79fe7318f33539d51e269f7a85713c09 Mon Sep 17 00:00:00 2001 From: James Goppert Date: Mon, 23 Sep 2019 12:51:57 -0400 Subject: [PATCH 3/6] Improve rocket model. --- ros/src/f16/models/rocket/rocket.sdf | 100 ++++++++++-- ros/src/f16/src/RocketPlugin/RocketPlugin.cc | 158 +++---------------- ros/src/f16/src/RocketPlugin/RocketPlugin.hh | 45 +----- ros/src/f16/worlds/rocket.world | 119 +++++++++----- 4 files changed, 189 insertions(+), 233 deletions(-) diff --git a/ros/src/f16/models/rocket/rocket.sdf b/ros/src/f16/models/rocket/rocket.sdf index 9c7c443c..e77f8181 100644 --- a/ros/src/f16/models/rocket/rocket.sdf +++ b/ros/src/f16/models/rocket/rocket.sdf @@ -4,7 +4,13 @@ - 0 0 0 0 0 0 + 0.15 + + 1.0 + 1.0 + 1.0 + + 0 0 1.5 0 0 0 @@ -29,6 +35,16 @@ + + 0 0 2.9 0 0 0 + 0.01 + + 0.01 + 0.01 + 0.01 + + + 0 @@ -45,11 +61,21 @@ + 0 0 2.8 0 0 0 nose_cone body + + 0.2 0 0.2 0 0 0 + 0.01 + + 0.01 + 0.01 + 0.01 + + 0 @@ -68,7 +94,7 @@ fin1 body - 0 0 0 0 0 0 + 0 0 0.2 0 0 0 0 1 0 @@ -80,6 +106,15 @@ 0 0 0 0 0 1.57 + + 0.2 0 0.2 0 0 0 + 0.01 + + 0.01 + 0.01 + 0.01 + + 0 @@ -98,7 +133,7 @@ fin2 body - 0 0 0 0 0 0 + 0 0 0.2 0 0 0 1 0 0 @@ -110,6 +145,15 @@ 0 0 0 0 0 3.14 + + 0.2 0 0.2 0 0 0 + 0.01 + + 0.01 + 0.01 + 0.01 + + 0 @@ -128,7 +172,7 @@ fin3 body - 0 0 0 0 0 0 + 0 0 0.2 0 0 0 1 0 0 @@ -140,6 +184,15 @@ 0 0 0 0 0 -1.57 + + 0.2 0 0.2 0 0 0 + 0.01 + + 0.01 + 0.01 + 0.01 + + 0 @@ -158,7 +211,7 @@ fin4 body - 0 0 0 0 0 0 + 0 0 0.2 0 0 0 1 0 0 @@ -168,13 +221,36 @@ - - body - fin1 - fin2 - fin3 - fin4 - + + 0 0 0 0 0 0 + + 0.8 + + + 0 + + + 0.05 + 0.3 + + + + + + + + + + 0 0 0 0 0 0 + rocket_motor + body + + + + rocket_motor + diff --git a/ros/src/f16/src/RocketPlugin/RocketPlugin.cc b/ros/src/f16/src/RocketPlugin/RocketPlugin.cc index 87359d6a..6dc54ee8 100644 --- a/ros/src/f16/src/RocketPlugin/RocketPlugin.cc +++ b/ros/src/f16/src/RocketPlugin/RocketPlugin.cc @@ -33,17 +33,6 @@ GZ_REGISTER_MODEL_PLUGIN(RocketPlugin) //////////////////////////////////////////////////////////////////////////////// RocketPlugin::RocketPlugin() { - this->cmds.fill(0.0f); - - // PID default parameters. - this->propellerPID.Init(50.0, 0.1, 1, 0.0, 0.0, 20000.0, -20000.0); - this->propellerPID.SetCmd(0.0); - - for (auto &pid : this->controlSurfacesPID) - { - pid.Init(50.0, 0.1, 1, 0.0, 0.0, 20.0, -20.0); - pid.SetCmd(0.0); - } } ///////////////////////////////////////////////// @@ -103,77 +92,19 @@ void RocketPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) GZ_ASSERT(_sdf, "RocketPlugin _sdf pointer is NULL"); this->model = _model; - // Read the required parameter for the propeller max RPMs. - //if (!_sdf->HasElement("propeller_max_rpm")) - //{ - //gzerr << "Unable to find the parameter." << std::endl; - //return; - //} - //this->propellerMaxRpm = _sdf->Get("propeller_max_rpm"); - //if (this->propellerMaxRpm == 0) - //{ - //gzerr << "Maximum propeller RPMs cannot be 0" << std::endl; - //return; - //} - - // Read the required joint name parameters. - std::vector requiredParams = {"fin1", "fin2", "fin3", "fin4"}; - - for (size_t i = 0; i < requiredParams.size(); ++i) - { - if (!this->FindJoint(requiredParams[i], _sdf, this->joints[i])) - return; - } - - // Find body link to apply propulsion forces - if (!this->FindLink("body", _sdf, this->body)) { - return; - } - - // Overload the PID parameters if they are available. - if (_sdf->HasElement("propeller_p_gain")) - this->propellerPID.SetPGain(_sdf->Get("propeller_p_gain")); - - if (_sdf->HasElement("propeller_i_gain")) - this->propellerPID.SetIGain(_sdf->Get("propeller_i_gain")); - - if (_sdf->HasElement("propeller_d_gain")) - this->propellerPID.SetDGain(_sdf->Get("propeller_d_gain")); - - if (_sdf->HasElement("surfaces_p_gain")) - { - for (auto &pid : this->controlSurfacesPID) - pid.SetPGain(_sdf->Get("surfaces_p_gain")); - } - - if (_sdf->HasElement("surfaces_i_gain")) - { - for (auto &pid : this->controlSurfacesPID) - pid.SetIGain(_sdf->Get("surfaces_i_gain")); - } - - if (_sdf->HasElement("surfaces_d_gain")) - { - for (auto &pid : this->controlSurfacesPID) - pid.SetDGain(_sdf->Get("surfaces_d_gain")); + // Find motor link to apply propulsion forces + if (!this->FindLink("motor", _sdf, this->motor)) { + GZ_ASSERT(false, "RocketPlugin failed to find motor"); } - // Controller time control. - this->lastControllerUpdateTime = this->model->GetWorld()->SimTime(); + // Update time. + this->lastUpdateTime = this->model->GetWorld()->SimTime(); // Listen to the update event. This event is broadcast every simulation // iteration. this->updateConnection = event::Events::ConnectWorldUpdateBegin( std::bind(&RocketPlugin::Update, this, std::placeholders::_1)); - // Initialize transport. - this->node = transport::NodePtr(new transport::Node()); - this->node->Init(); - std::string prefix = "~/" + this->model->GetName() + "/"; - this->statePub = this->node->Advertise(prefix + "state"); - this->controlSub = this->node->Subscribe(prefix + "control", - &RocketPlugin::OnControl, this); - gzlog << "Rocket ready to fly. The force will be with you" << std::endl; } @@ -184,81 +115,28 @@ void RocketPlugin::Update(const common::UpdateInfo &/*_info*/) gazebo::common::Time curTime = this->model->GetWorld()->SimTime(); - if (curTime > this->lastControllerUpdateTime) + if (curTime > this->lastUpdateTime) { - // Update the control surfaces and publish the new state. - double dt = (curTime - this->lastControllerUpdateTime).Double(); - this->UpdatePIDs(dt); + double dt = (curTime - this->lastUpdateTime).Double(); - auto inertial = this->body->GetInertial(); + auto inertial = this->motor->GetInertial(); float m = inertial->Mass(); float m_dot = 0.1; - float m_empty = 0.2; + float m_empty = 0.0; m = m - m_dot*dt; + float P0 = 101325.0; // freestream pressure + float Pe = 1.0*P0; // disable effect for now if (m < m_empty) { m = m_empty; m_dot = 0; + Pe = P0; } - float ve = 2000; - this->body->AddRelativeForce(ignition::math::Vector3d(0, 0, m_dot*ve)); + float r = 0.1; // nozzle radius + float A = M_PI*r*r; // nozzle exit area + float ve = 300; // exit velocity, m/s, guess + this->motor->AddRelativeForce(ignition::math::Vector3d(0, 0, m_dot*ve + A*(Pe - P0))); inertial->SetMass(m); - inertial->SetInertiaMatrix(m, m, m, 0, 0, 0); - this->PublishState(); - this->lastControllerUpdateTime = curTime; + inertial->SetInertiaMatrix(0, 0, 0, 0, 0, 0); // treat as point mass + this->lastUpdateTime = curTime; } - - -} - -///////////////////////////////////////////////// -void RocketPlugin::OnControl(ConstRocketPtr &_msg) -{ - std::lock_guard lock(this->mutex); - - if (_msg->has_cmd_fin1()) - this->cmds[kFin1] = _msg->cmd_fin1(); - if (_msg->has_cmd_fin2()) - this->cmds[kFin2] = _msg->cmd_fin2(); - if (_msg->has_cmd_fin3()) - this->cmds[kFin3] = _msg->cmd_fin3(); - if (_msg->has_cmd_fin4()) - this->cmds[kFin4] = _msg->cmd_fin4(); -} - -///////////////////////////////////////////////// -void RocketPlugin::UpdatePIDs(double _dt) -{ - // Position PID for the control surfaces. - for (size_t i = 0; i < this->controlSurfacesPID.size(); ++i) - { - double pos = this->joints[i]->Position(0); - double error = pos - this->cmds[i]; - double force = this->controlSurfacesPID[i].Update(error, _dt); - this->joints[i]->SetForce(0, force); - } -} - -///////////////////////////////////////////////// -void RocketPlugin::PublishState() -{ - // Read the current state. - float fin1 = this->joints[kFin1]->Position(0); - float fin2 = this->joints[kFin2]->Position(0); - float fin3 = this->joints[kFin3]->Position(0); - float fin4 = this->joints[kFin4]->Position(0); - - msgs::Rocket msg; - // Set the observed state. - msg.set_fin1(fin1); - msg.set_fin2(fin2); - msg.set_fin3(fin3); - msg.set_fin4(fin4); - - // Set the target state. - msg.set_cmd_fin1(this->cmds[kFin1]); - msg.set_cmd_fin2(this->cmds[kFin2]); - msg.set_cmd_fin3(this->cmds[kFin3]); - msg.set_cmd_fin4(this->cmds[kFin4]); - - this->statePub->Publish(msg); } diff --git a/ros/src/f16/src/RocketPlugin/RocketPlugin.hh b/ros/src/f16/src/RocketPlugin/RocketPlugin.hh index 0e63a6ba..2070e5db 100644 --- a/ros/src/f16/src/RocketPlugin/RocketPlugin.hh +++ b/ros/src/f16/src/RocketPlugin/RocketPlugin.hh @@ -99,59 +99,20 @@ namespace gazebo /// \param[in] _info Update information provided by the server. private: void Update(const common::UpdateInfo &_info); - /// \brief Callback executed when a new message containing control commands - /// is received. - /// \param[in] _msg New message containing control commands. - private: void OnControl(ConstRocketPtr &_msg); - - /// \brief Update PID Joint controllers. - /// \param[in] _dt time step size since last update. - private: void UpdatePIDs(double _dt); - - /// \brief Publish Rocket state. - private: void PublishState(); - - /// \brief Joint indexes. - private: static const unsigned int kFin1 = 0; - private: static const unsigned int kFin2 = 1; - private: static const unsigned int kFin3 = 2; - private: static const unsigned int kFin4 = 3; - /// \brief Pointer to the update event connection. private: event::ConnectionPtr updateConnection; /// \brief Node used for using Gazebo communications. private: transport::NodePtr node; - /// \brief Subscriber pointer. - private: transport::SubscriberPtr controlSub; - - /// \brief Publisher pointer. - private: transport::PublisherPtr statePub; - /// \brief Pointer to the model; private: physics::ModelPtr model; - /// \brief Control surfaces joints. - private: std::array joints; - - /// \brief Body Link - private: physics::LinkPtr body; - - /// \brief Max propeller RPM. - private: int32_t propellerMaxRpm = 2500; - - /// \brief Next command to be applied to the propeller and control surfaces. - private: std::array cmds; - - /// \brief Velocity PID for the propeller. - private: common::PID propellerPID; - - /// \brief Position PID for the control surfaces. - private: std::array controlSurfacesPID; + /// \brief Motor Link + private: physics::LinkPtr motor; /// \brief keep track of controller update sim-time. - private: gazebo::common::Time lastControllerUpdateTime; + private: gazebo::common::Time lastUpdateTime; /// \brief Controller update mutex. private: std::mutex mutex; diff --git a/ros/src/f16/worlds/rocket.world b/ros/src/f16/worlds/rocket.world index 69d84bd0..1a038fc7 100644 --- a/ros/src/f16/worlds/rocket.world +++ b/ros/src/f16/worlds/rocket.world @@ -9,39 +9,78 @@ - - 29.4047089 - -82.1745834 - 100 - + + 29.4047089 + -82.1745834 + 100 + model://sun - - 0 0 1 0 1.0 0 - model://rocket - + + 0 0 1 0 1.0 0 + model://rocket + + + + true + + + + + 0 0 1 + 10000 10000 + + + + + + 1 + 1 + + + + - - - model://f16_mountains - + + 700 0 0.1 0 0 0 + false + + + 0 0 1 + 1829 45 + + + + + + - - model://powerplant - -110 98 0 0 0 0 - - - model://school - 631 467 0 0 0 0 - - - model://radio_tower - 736 114 0 0 -0 0 - + + 0 0 -0.1 0 0 0 + false + + + 0 0 1 + 10000 10000 + + + + + + + + + @@ -62,20 +101,22 @@ 1 250 - - - - 30 10 10 0 0 0 - orbit - perspective - - rocket - 1 - 1 - 100 - - - + + + + 30 10 10 0 0 0 + orbit + perspective + + rocket + 1 + 1 + 100 + + + + + From f2a7defa7a1902d43d2c1ed60c2c051930d79801 Mon Sep 17 00:00:00 2001 From: James Goppert Date: Mon, 23 Sep 2019 13:09:12 -0400 Subject: [PATCH 4/6] Improve rocket model. --- ros/src/f16/models/rocket/rocket.sdf | 2 +- ros/src/f16/src/RocketPlugin/RocketPlugin.cc | 2 +- ros/src/f16/worlds/rocket.world | 24 +++++--------------- 3 files changed, 8 insertions(+), 20 deletions(-) diff --git a/ros/src/f16/models/rocket/rocket.sdf b/ros/src/f16/models/rocket/rocket.sdf index e77f8181..7441cc85 100644 --- a/ros/src/f16/models/rocket/rocket.sdf +++ b/ros/src/f16/models/rocket/rocket.sdf @@ -96,7 +96,7 @@ body 0 0 0.2 0 0 0 - 0 1 0 + 1 0 0 -1 1 diff --git a/ros/src/f16/src/RocketPlugin/RocketPlugin.cc b/ros/src/f16/src/RocketPlugin/RocketPlugin.cc index 6dc54ee8..8e7bff9f 100644 --- a/ros/src/f16/src/RocketPlugin/RocketPlugin.cc +++ b/ros/src/f16/src/RocketPlugin/RocketPlugin.cc @@ -133,7 +133,7 @@ void RocketPlugin::Update(const common::UpdateInfo &/*_info*/) } float r = 0.1; // nozzle radius float A = M_PI*r*r; // nozzle exit area - float ve = 300; // exit velocity, m/s, guess + float ve = 320; // exit velocity, m/s, guess this->motor->AddRelativeForce(ignition::math::Vector3d(0, 0, m_dot*ve + A*(Pe - P0))); inertial->SetMass(m); inertial->SetInertiaMatrix(0, 0, 0, 0, 0, 0); // treat as point mass diff --git a/ros/src/f16/worlds/rocket.world b/ros/src/f16/worlds/rocket.world index 1a038fc7..692e5c5f 100644 --- a/ros/src/f16/worlds/rocket.world +++ b/ros/src/f16/worlds/rocket.world @@ -21,10 +21,15 @@ - 0 0 1 0 1.0 0 + 0 0 1 0 0 0 model://rocket + + model://radio_tower + 10 10 0 0 0 0 + + true @@ -45,23 +50,6 @@ - - 700 0 0.1 0 0 0 - false - - - 0 0 1 - 1829 45 - - - - - - - 0 0 -0.1 0 0 0 false From d3c3d50dc683506e7bebf71847863f7c38a1a2e4 Mon Sep 17 00:00:00 2001 From: James Goppert Date: Mon, 23 Sep 2019 14:22:59 -0400 Subject: [PATCH 5/6] Work on rocket aerodynamics. --- ros/src/f16/models/rocket/rocket.sdf | 111 ++++++++++++++++++++++++--- 1 file changed, 102 insertions(+), 9 deletions(-) diff --git a/ros/src/f16/models/rocket/rocket.sdf b/ros/src/f16/models/rocket/rocket.sdf index 7441cc85..5e08be28 100644 --- a/ros/src/f16/models/rocket/rocket.sdf +++ b/ros/src/f16/models/rocket/rocket.sdf @@ -4,13 +4,13 @@ + 0 0 1.5 0 0 0 0.15 1.0 1.0 1.0 - 0 0 1.5 0 0 0 @@ -34,6 +34,23 @@ + + 0.0 + 0.0 + 0.6417112299 + 0.0 + 0.3391428111 + -3.85 + -0.9233984055 + 0 + 0 0 1.5 + 0.03 + 1.2041 + 0 0 1 + 0 1 0 + body + + 0 0 2.9 0 0 0 @@ -98,12 +115,31 @@ 1 0 0 - -1 - 1 + 0 + 0 + + + + + + + + + + + + + + + + + + + 0 0 0 0 0 1.57 @@ -137,12 +173,31 @@ 1 0 0 - -1 - 1 + 0 + 0 + + + + + + + + + + + + + + + + + + + 0 0 0 0 0 3.14 @@ -176,12 +231,31 @@ 1 0 0 - -1 - 1 + 0 + 0 + + + + + + + + + + + + + + + + + + + 0 0 0 0 0 -1.57 @@ -215,12 +289,31 @@ 1 0 0 - -1 - 1 + 0 + 0 + + + + + + + + + + + + + + + + + + + 0 0 0 0 0 0 From 2ea51f597b2f94a9635df1907973711238197a92 Mon Sep 17 00:00:00 2001 From: James Goppert Date: Mon, 23 Sep 2019 14:26:40 -0400 Subject: [PATCH 6/6] Add rocket controller. --- ros/src/f16/scripts/rocket_controller.py | 112 +++++++++++++++++++++++ 1 file changed, 112 insertions(+) create mode 100755 ros/src/f16/scripts/rocket_controller.py diff --git a/ros/src/f16/scripts/rocket_controller.py b/ros/src/f16/scripts/rocket_controller.py new file mode 100755 index 00000000..2a920b35 --- /dev/null +++ b/ros/src/f16/scripts/rocket_controller.py @@ -0,0 +1,112 @@ +#!/usr/bin/env python + +import rospy +from geometry_msgs.msg import Wrench +from nav_msgs.msg import Odometry +from sensor_msgs.msg import LaserScan +import numpy as np +import tf +import nav_msgs.msg + + +class RocketController: + + + def __init__(self): + rospy.init_node('rocket_controller') + self.time_last_plan = rospy.Time.now() + self.pub_rear_left = rospy.Publisher('/rocket/force_rear_left', Wrench, queue_size=10) + self.pub_rear_right = rospy.Publisher('/rocket/force_rear_right', Wrench, queue_size=10) + self.pub_front_left = rospy.Publisher('/rocket/force_front_left', Wrench, queue_size=10) + self.pub_front_right = rospy.Publisher('/rocket/force_front_right', Wrench, queue_size=10) + self.sub_ground_truth = rospy.Subscriber('/rocket/ground_truth', Odometry, + self.control_callback) + + def control_callback(self, odom): + # position + position = odom.pose.pose.position + + # orientation + orientation = odom.pose.pose.orientation + euler = tf.transformations.euler_from_quaternion( + (orientation.x, orientation.y, orientation.z, orientation.w)) + yaw = euler[2] + + # rotation rate + rates = odom.twist.twist.angular + vel = odom.twist.twist.linear + yaw_rate = rates.z + + # publish fram for transform tree + br = tf.TransformBroadcaster() + br.sendTransform( + (position.x, position.y, position.z), + (orientation.x, orientation.y, orientation.z, orientation.w) , + rospy.Time.now(), + "base_link", + "map") + + #rospy.loginfo('position %f %f %f, m', position.x, position.y, position.z) + #rospy.loginfo('yaw %f, deg', np.rad2deg(yaw)) + #rospy.loginfo('yaw rate %f, deg/s', np.rad2deg(yaw_rate)) + + drive_torque = 0.1 + desired_yaw = np.deg2rad(90) + + # steering PD controller + steer_kP = 1 + steer_kD = 1 + yaw_error = desired_yaw - yaw + #rospy.loginfo("yaw error %f deg", np.rad2deg(yaw_error)) + yaw_rate_error = 0 - yaw_rate + steer_torque = steer_kP*yaw_error + steer_kD*yaw_rate_error + + # speed P controller + speed_kP = 1 + speed = np.sqrt(vel.x**2 + vel.y**2) + desired_speed = 0.1 + speed_error = desired_speed - speed + drive_torque = speed_kP*speed_error + #rospy.loginfo("speed error %f m/s", speed_error) + + # saturate torques + if np.abs(steer_torque) > 0.1: + steer_torque /= np.abs(steer_torque) + if np.abs(drive_torque) > 0.1: + drive_torque /= np.abs(drive_torque) + + # rear drive + msg = Wrench() + msg.force.x = 0 + msg.force.y = 0 + msg.force.z = 0 + msg.torque.x = -drive_torque + msg.torque.y = 0 + msg.torque.z = 0 + self.pub_rear_left.publish(msg) + self.pub_rear_right.publish(msg) + + # front left steering + msg = Wrench() + msg.force.x = 0 + msg.force.y = 0 + msg.force.z = 0 + msg.torque.x = 0 + msg.torque.y = 0 + msg.torque.z = steer_torque + self.pub_front_left.publish(msg) + + # front right steering + msg = Wrench() + msg.force.x = 0 + msg.force.y = 0 + msg.force.z = 0 + msg.torque.x = 0 + msg.torque.y = 0 + msg.torque.z = steer_torque + self.pub_front_right.publish(msg) + + +if __name__ == "__main__": + CarController() + rospy.spin()