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Pod_pull.mw
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<?xml version="1.0" encoding="UTF-8"?>
<Worksheet>
<Version major="2016" minor="2"/>
<Label-Scheme value="2" prefix=""/>
<View-Properties presentation="true" autoexpanding_sections="true" UserProfileName="Maple Default Profile" NumericFormat-ApplyInteger="true" NumericFormat-ApplyRational="true" NumericFormat-ApplyExponent="false">
<Hide name="Group Range"/>
</View-Properties>
<MapleNet-Properties prettyprint="3" warnlevel="3" preplot="" helpbrowser="standard" contextmenusize="automatic" displayprecision="-1" echo="1" unitattributes=""fontweight" = "bold"" imaginaryunit="I" longdelim="true" elisiontermsthreshold="10000" elisiondigitsafter="100" elisiondigitsbefore="100" plotdevice="inline" errorbreak="1" plotoptions="" plotdriver="opengl" quiet="false" elisiontermsbefore="100" elisiontermsafter="100" screenwidth="79" indentamount="4" plotoutput="terminal" screenpixelheight="1440" rtablesize="10" useclientjvm="true" labelwidth="20" postplot="" typesetting="standard" ansi="false" elisiondigitsthreshold="10000" showassumed="1" errorcursor="false" labelling="true" screenheight="25" prompt="> " verboseproc="1" latexwidth="8.0" ShowLabels="true"/>
<Styles>
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</Input>
</Group></Presentation-Block>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 2" layout="Heading 2"><Font size="20" foreground="[195,69,11]">Settings</Font></Text-field></Title>
<Group hide-input="false" hide-output="false" labelreference="L22" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">restart;
with(plots):
with(MBSymba_r6):
with(LinearAlgebra):
read("toolbox/DAE-toolbox.maplet");
read("lib/Group1-lib.maplet"):
#restart: <Font encoding="UTF-8">march('open',"C:\134\134Program Files\134\134Maple 2016\134\134lib\134\134MBSymba_r6\134\134lib\134\134MBSymba.mla"):</Font><Font bold="false">
#</Font><Font encoding="UTF-8">march('open',"C:\134\134Program Files\134\134Maple 2016\134\134lib\134\134MBSymbaRenderer\134\134lib\134\134MBSymbaRenderer.mla"):</Font><Font bold="false">
#</Font>with(MBSymba_r6): with(MBSymbaRenderer): with(LinearAlgebra): with(plots): read("Group1-lib.maplet"):
interface(rtablesize=30):
plots[setcolors]("spring"):
c_set := ColorTools:-GetPalette("spring");
plots[setoptions](axes=boxed,size=[800,300],axis[2]=[gridlines=[linestyle=dot]],
labelfont=[TIMES,12], axesfont=[TIMES,12], titlefont=[TIMES,12], captionfont=[TIMES,12],legendstyle=[font=[TIMES,12],location=right]);</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEobGlibmFtZUYnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1JI21vR0YkNi1RKn4mIzg3ODg7fkYnL0YzUSdub3JtYWxGJy8lJmZlbmNlR1EmZmFsc2VGJy8lKnNlcGFyYXRvckdGPS8lKXN0cmV0Y2h5R0Y9LyUqc3ltbWV0cmljR0Y9LyUobGFyZ2VvcEdGPS8lLm1vdmFibGVsaW1pdHNHRj0vJSdhY2NlbnRHRj0vJSdsc3BhY2VHUSYwLjBlbUYnLyUncnNwYWNlR0ZMLUYjNigtSSNtc0dGJDYjUUBDOlxQcm9ncmFtfkZpbGVzXE1hcGxlfjIwMTZcbGliRictRjY2LVEiLEYnRjlGOy9GP0YxRkBGQkZERkZGSEZKL0ZOUSwwLjMzMzMzMzNlbUYnLUZSNiNRZW5DOlxQcm9ncmFtfkZpbGVzXE1hcGxlfjIwMTZcbGliXE1CU3ltYmFfcjZcbGliXE1CU3ltYmEubWxhRicvJStmb3JlZ3JvdW5kR1EoWzAsMCwwXUYnLyUpcmVhZG9ubHlHRj1GOUZobkZbb0Y5">NiRRQEM6XFByb2dyYW1+RmlsZXNcTWFwbGV+MjAxNlxsaWI2IlFlbkM6XFByb2dyYW1+RmlsZXNcTWFwbGV+MjAxNlxsaWJcTUJTeW1iYV9yNlxsaWJcTUJTeW1iYS5tbGFGJA==</Equation></Text-field>
</Output>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEobGlibmFtZUYnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1JI21vR0YkNi1RKn4mIzg3ODg7fkYnL0YzUSdub3JtYWxGJy8lJmZlbmNlR1EmZmFsc2VGJy8lKnNlcGFyYXRvckdGPS8lKXN0cmV0Y2h5R0Y9LyUqc3ltbWV0cmljR0Y9LyUobGFyZ2VvcEdGPS8lLm1vdmFibGVsaW1pdHNHRj0vJSdhY2NlbnRHRj0vJSdsc3BhY2VHUSYwLjBlbUYnLyUncnNwYWNlR0ZMLUYjNiotSSNtc0dGJDYjUUBDOlxQcm9ncmFtfkZpbGVzXE1hcGxlfjIwMTZcbGliRictRjY2LVEiLEYnRjlGOy9GP0YxRkBGQkZERkZGSEZKL0ZOUSwwLjMzMzMzMzNlbUYnLUZSNiNRZW5DOlxQcm9ncmFtfkZpbGVzXE1hcGxlfjIwMTZcbGliXE1CU3ltYmFfcjZcbGliXE1CU3ltYmEubWxhRidGVS1GUjYjUWJvQzpcUHJvZ3JhbX5GaWxlc1xNYXBsZX4yMDE2XGxpYlxNQlN5bWJhUmVuZGVyZXJcbGliXE1CU3ltYmFSZW5kZXJlci5tbGFGJy8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGPUY5RltvRl5vRjk=">NiVRQEM6XFByb2dyYW1+RmlsZXNcTWFwbGV+MjAxNlxsaWI2IlFlbkM6XFByb2dyYW1+RmlsZXNcTWFwbGV+MjAxNlxsaWJcTUJTeW1iYV9yNlxsaWJcTUJTeW1iYS5tbGFGJFFib0M6XFByb2dyYW1+RmlsZXNcTWFwbGV+MjAxNlxsaWJcTUJTeW1iYVJlbmRlcmVyXGxpYlxNQlN5bWJhUmVuZGVyZXIubWxhRiQ=</Equation></Text-field>
</Output>
<Output><Text-field style="Line Printed Output" layout="Line Printed Output">Module 'MBSymbaRenderer',Copyright (C) F. Biral, University of Trento 2015</Text-field>
</Output>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEmY19zZXRGJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRictSSNtb0dGJDYtUSp+JiM4Nzg4O35GJy9GM1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRj0vJSlzdHJldGNoeUdGPS8lKnN5bW1ldHJpY0dGPS8lKGxhcmdlb3BHRj0vJS5tb3ZhYmxlbGltaXRzR0Y9LyUnYWNjZW50R0Y9LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGTC1JKG1mZW5jZWRHRiQ2Ji1GIzYwLUY2Ni1RMFBhbGV0dGV+U3ByaW5nOkYnRjlGO0Y+RkBGQkZERkZGSEZKRk0tRjY2LVExJkludmlzaWJsZVRpbWVzO0YnRjlGO0Y+RkBGQkZERkZGSEZKRk0tRjY2MFElQmx1ZUYnLyUrZm9yZWdyb3VuZEdRLlsyNTUsMjU1LDI1NV1GJy8lK2JhY2tncm91bmRHUSxbMCwxMTYsMjA0XUYnLyUnb3BhcXVlR0YxRjlGO0Y+RkBGQkZERkZGSEZKRk1GVy1GNjYwUSVSb3NlRidGZ24vRltvUSxbMjA0LDAsMTE2XUYnRl1vRjlGO0Y+RkBGQkZERkZGSEZKRk1GVy1GNjYwUSxZZWxsb3dHcmVlbkYnL0ZoblEoWzAsMCwwXUYnL0Zbb1EsWzExNiwyMDQsMF1GJ0Zdb0Y5RjtGPkZARkJGREZGRkhGSkZNRlctRjY2MFEqQmx1ZUdyZWVuRidGZ28vRltvUSxbMCwyMDQsMTkwXUYnRl1vRjlGO0Y+RkBGQkZERkZGSEZKRk1GVy1GNjYwUSdWaW9sZXRGJ0Znbi9GW29RK1s4OCwwLDIwNF1GJ0Zdb0Y5RjtGPkZARkJGREZGRkhGSkZNRlctRjY2MFEnQ29iYWx0RidGZ28vRltvUS1bNzUsMTI2LDE2Nl1GJ0Zdb0Y5RjtGPkZARkJGREZGRkhGSkZNRjlGOS8lJW9wZW5HUScmbGFuZztGJy8lJmNsb3NlR1EnJnJhbmc7RidGZ28vJSlyZWFkb25seUdGPUY5">YDYiSTBfbTE4Mzc2MTgwMTkxMzZHRiM2KUkrY29sb3JUYWJsZUc2JFFKQzpcUHJvZ3JhbX5GaWxlc1xNYXBsZX4yMDE2XGxpYlxtYXBsZS5tbGFGIy9JJ19sb2NhbEclKnByb3RlY3RlZEdJMF9uMTgzNzYxODIyMTg5NkdGI0krY29sb3JPcmRlckc2JEYoL0YqSTBfbjE4Mzc2MTgyMjE5MzZHRiNJLWNvbG9yQWxpYXNlc0dGI0ktcmV2ZXJzZVRhYmxlR0YjSS9leHBhbnNpb25DYWNoZUc2JEYoL0YqSTBfbjE4Mzc2MTgyMjIwNTZHRiNJLHBhbGV0dGVUeXBlRzYkRigvRipJMF9uMTgzNzYxODIyMjA5NkdGI0kscGFsZXR0ZU5hbWVHNiRGKC9GKkkwX24xODM3NjE4MjIyMTM2R0Yj</Equation></Text-field>
</Output>
</Group>
</Section>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 1" layout="Heading 1">Data</Text-field></Title><Presentation-Block>
<Group view="code" hide-input="false" hide-output="false" labelreference="L85133" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">Fixed system's parameters</Text-field><Text-field prompt="> " style="Maple Input" layout="Normal">data := {LF = 0.123, LFb = 0.059, psi = (15 * Pi / 180),x4 = 0.2095, y4 = 0.209, m3 = 2.876, Iz3 = 0.00368822, g = 9.81};
</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVElZGF0YUYnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1JI21vR0YkNi1RKn4mIzg3ODg7fkYnL0YzUSdub3JtYWxGJy8lJmZlbmNlR1EmZmFsc2VGJy8lKnNlcGFyYXRvckdGPS8lKXN0cmV0Y2h5R0Y9LyUqc3ltbWV0cmljR0Y9LyUobGFyZ2VvcEdGPS8lLm1vdmFibGVsaW1pdHNHRj0vJSdhY2NlbnRHRj0vJSdsc3BhY2VHUSYwLjBlbUYnLyUncnNwYWNlR0ZMLUkobWZlbmNlZEdGJDYmLUYjNjQtRiM2KC1GLDYlUSRJejNGJ0YvRjItRjY2LVEiPUYnRjlGO0Y+RkBGQkZERkZGSC9GS1EsMC4yNzc3Nzc4ZW1GJy9GTkZnbi1JI21uR0YkNiRRKzAuMDAzNjg4MjJGJ0Y5LyUrZm9yZWdyb3VuZEdRKFswLDAsMF1GJy8lKXJlYWRvbmx5R0Y9RjktRjY2LVEiLEYnRjlGOy9GP0YxRkBGQkZERkZGSEZKL0ZOUSwwLjMzMzMzMzNlbUYnLUYjNigtRiw2JVEjTEZGJ0YvRjJGWS1Gam42JFEmMC4xMjNGJ0Y5Rl1vRmBvRjlGYm8tRiM2KC1GLDYlUSRMRmJGJ0YvRjJGWS1Gam42JFEmMC4wNTlGJ0Y5Rl1vRmBvRjlGYm8tRiM2KC1GLDYlUSJnRidGL0YyRlktRmpuNiRRJTkuODFGJ0Y5Rl1vRmBvRjlGYm8tRiM2KC1GLDYlUSNtM0YnRi9GMkZZLUZqbjYkUSYyLjg3NkYnRjlGXW9GYG9GOUZiby1GIzYoLUYsNiVRJyYjOTY4O0YnL0YwRj1GOUZZLUYjNigtSSZtZnJhY0dGJDYoLUZqbjYkUSIxRidGOS1Gam42JFEjMTJGJ0Y5LyUubGluZXRoaWNrbmVzc0dGZXIvJStkZW5vbWFsaWduR1EnY2VudGVyRicvJSludW1hbGlnbkdGXXMvJSliZXZlbGxlZEdGPS1GNjYtUTEmSW52aXNpYmxlVGltZXM7RidGOUY7Rj5GQEZCRkRGRkZIRkpGTS1GIzYkLUYsNiVRJyYjOTYwO0YnRl1yRjlGOUZdb0Zgb0Y5Rl1vRmBvRjlGYm8tRiM2KC1GLDYlUSN4NEYnRi9GMkZZLUZqbjYkUScwLjIwOTVGJ0Y5Rl1vRmBvRjlGYm8tRiM2KC1GLDYlUSN5NEYnRi9GMkZZLUZqbjYkUSYwLjIwOUYnRjlGXW9GYG9GOUZdb0Zgb0Y5RjkvJSVvcGVuR1EifGZyRicvJSZjbG9zZUdRInxockYnRl1vRmBvRjk=">PCovSSRJejNHNiIkIidBKW8kISIpL0kjTEZHRiUkIiRCIiEiJC9JJExGYkdGJSQiI2ZGLS9JImdHRiUkIiQiKSohIiMvSSNtM0dGJSQiJXdHRi0vSSRwc2lHRiUsJComIyIiIiIjN0ZASSNQaUclKnByb3RlY3RlZEdGQEZAL0kjeDRHRiUkIiUmNCMhIiUvSSN5NEdGJSQiJDQjRi0=</Equation></Text-field>
</Output>
</Group>
<Group view="code" hide-input="false" hide-output="false" labelreference="L85135" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">Parameters to be further optimized</Text-field><Text-field prompt="> " style="Maple Input" layout="Normal">param_not_opt := {x1 = 0.029, y1 = 0.21, L1 = 0.01, LP = 0.09, anc = 0.10,s__closed=0.03};
</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEucGFyYW1fbm90X29wdEYnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1JI21vR0YkNi1RKn4mIzg3ODg7fkYnL0YzUSdub3JtYWxGJy8lJmZlbmNlR1EmZmFsc2VGJy8lKnNlcGFyYXRvckdGPS8lKXN0cmV0Y2h5R0Y9LyUqc3ltbWV0cmljR0Y9LyUobGFyZ2VvcEdGPS8lLm1vdmFibGVsaW1pdHNHRj0vJSdhY2NlbnRHRj0vJSdsc3BhY2VHUSYwLjBlbUYnLyUncnNwYWNlR0ZMLUkobWZlbmNlZEdGJDYmLUYjNjAtRiM2KC1GLDYlUSNMMUYnRi9GMi1GNjYtUSI9RidGOUY7Rj5GQEZCRkRGRkZIL0ZLUSwwLjI3Nzc3NzhlbUYnL0ZORmduLUkjbW5HRiQ2JFElMC4wMUYnRjkvJStmb3JlZ3JvdW5kR1EoWzAsMCwwXUYnLyUpcmVhZG9ubHlHRj1GOS1GNjYtUSIsRidGOUY7L0Y/RjFGQEZCRkRGRkZIRkovRk5RLDAuMzMzMzMzM2VtRictRiM2KC1GLDYlUSNMUEYnRi9GMkZZLUZqbjYkUSUwLjA5RidGOUZdb0Zgb0Y5RmJvLUYjNigtRiw2JVEkYW5jRidGL0YyRlktRmpuNiRRJTAuMTBGJ0Y5Rl1vRmBvRjlGYm8tRiM2KC1GLDYlUSN4MUYnRi9GMkZZLUZqbjYkUSYwLjAyOUYnRjlGXW9GYG9GOUZiby1GIzYoLUYsNiVRI3kxRidGL0YyRlktRmpuNiRRJTAuMjFGJ0Y5Rl1vRmBvRjlGYm8tRiM2KC1JKm1jb21wbGV0ZUdGJDYkLUklbXN1YkdGJDYmLUYsNiVRInNGJ0YvRjItSSptdmVyYmF0aW1HRiQ2I1FmcTYjLUkjbWlHNiMvSSttb2R1bGVuYW1lRzYiSSxUeXBlc2V0dGluZ0dJKF9zeXNsaWJHNiI2JVEnY2xvc2VkNiIvJSdpdGFsaWNHUSV0cnVlNiIvJSxtYXRodmFyaWFudEdRJ2l0YWxpYzYiRicvJS9zdWJzY3JpcHRzaGlmdEdRIjBGJy9JK21zZW1hbnRpY3NHRiRRJ2F0b21pY0YnLUYjNiYtRl5yNiYtRiw2J0ZickYvRl1vRmBvRjItRiw2J1EnY2xvc2VkRidGL0Zdb0Zgb0YyRmdyRmpyRl1vRmBvRjlGWS1Gam42JFElMC4wM0YnRjlGXW9GYG9GOUZdb0Zgb0Y5RjkvJSVvcGVuR1EifGZyRicvJSZjbG9zZUdRInxockYnRl1vRmBvRjk=">PCgvSSNMMUc2IiQiIiIhIiMvSSNMUEdGJSQiIipGKC9JJGFuY0dGJSQiIzVGKC9JI3gxR0YlJCIjSCEiJC9JI3kxR0YlJCIjQEYoL0kqc19fY2xvc2VkR0YlJCIiJEYo</Equation></Text-field>
</Output>
</Group>
<Group view="code" hide-input="false" hide-output="false" labelreference="L75392" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">Global parameters used for the analysis: actuation time, opening flap angle and closed flap angle</Text-field><Text-field prompt="> " style="Maple Input" layout="Normal">actuation_time := 0.150:
flap_open := ( 4.5+180)*Pi/180:
flap_closed := (37.5+180)*Pi/180:
</Text-field>
</Input>
<Input><Text-field style="Text" layout="Normal">Define the method/approach that you want to use</Text-field>
</Input>
</Group>
<Group view="code" hide-output="false" labelreference="L75393" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal"><Font opaque="true" background="[255,255,0]">mode := 0:</Font> <Font foreground="[153,51,102]"># 0: recursive approach
# 1: global approach
</Font></Text-field>
</Input>
</Group>
<Group view="code" labelreference="L85341" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">massless := 1: <Font foreground="[153,51,102]"> # 0: the POD is with mass</Font>
<Font foreground="[153,51,102]"># 1: the POD is with no mass</Font>
</Text-field>
</Input>
</Group>
<Group view="code" labelreference="L98647" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">dynamic_optimization := 0:</Text-field>
</Input>
</Group></Presentation-Block>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 2" layout="Heading 2">Aerodynamics forces definition</Text-field></Title><Presentation-Block>
<Group view="code" labelreference="L74992" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">From the paper given in class, we can identify specific points for the DRAG FORCE in the graph and try to fit a continuous curve</Text-field>
</Input>
</Group>
<Group hide-input="false" hide-output="false" labelreference="L74994" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">[[184.5*Pi/180, 10],[200*Pi/180, 50],[210*Pi/180, 85],[217.5*Pi/180,140]]:
drag := subs(gamma=gamma(t),CurveFitting:-PolynomialInterpolation(%,gamma)*(340/180)^2);
<Font foreground="[153,51,102]">
</Font>plot(drag, gamma=flap_open..flap_closed,labels=[typeset(theta3 (rad)),typeset(F__drag (N))],title="Drag force as function of time",color=c_set[1]);</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVElZHJhZ0YnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1JI21vR0YkNi1RKn4mIzg3ODg7fkYnL0YzUSdub3JtYWxGJy8lJmZlbmNlR1EmZmFsc2VGJy8lKnNlcGFyYXRvckdGPS8lKXN0cmV0Y2h5R0Y9LyUqc3ltbWV0cmljR0Y9LyUobGFyZ2VvcEdGPS8lLm1vdmFibGVsaW1pdHNHRj0vJSdhY2NlbnRHRj0vJSdsc3BhY2VHUSYwLjBlbUYnLyUncnNwYWNlR0ZMLUYjNistRjY2LVEqJnVtaW51czA7RidGOUY7Rj5GQEZCRkRGRkZIL0ZLUSwwLjIyMjIyMjJlbUYnL0ZORlUtRiM2Ji1JI21uR0YkNiRRLDEuNTAyMzA3NzI3RidGOS1GNjYtUTEmSW52aXNpYmxlVGltZXM7RidGOUY7Rj5GQEZCRkRGRkZIRkpGTS1JJW1zdXBHRiQ2JS1GWjYkUSMxMEYnRjktRlo2JFEiNUYnRjkvJTFzdXBlcnNjcmlwdHNoaWZ0R1EiMEYnRjktRjY2LVEiK0YnRjlGO0Y+RkBGQkZERkZGSEZURlYtRiM2Ji1GWjYkUSwzNzIxLjM4NjcwOEYnRjlGZ24tRltvNiUtRiM2KC1GLDYlUScmIzk0NztGJy9GMEY9RjktRjY2LVEwJkFwcGx5RnVuY3Rpb247RidGOUY7Rj5GQEZCRkRGRkZIRkpGTS1JKG1mZW5jZWRHRiQ2JC1GIzYmLUYsNiVRInRGJ0YvRjIvJStmb3JlZ3JvdW5kR1EoWzAsMCwwXUYnLyUpcmVhZG9ubHlHRj1GOUY5RmFxRmRxRjktRlo2JFEiM0YnRjlGY29GOS1GNjYtUSgmbWludXM7RidGOUY7Rj5GQEZCRkRGRkZIRlRGVi1GIzYmLUZaNiRRLDM4MTkwLjc2MjQ3RidGOUZnbi1GW282JUZgcC1GWjYkUSIyRidGOUZjb0Y5RmZvLUYjNiYtRiM2Ji1GWjYkUSwxLjMxMDU1OTkzN0YnRjlGZ25Gam5GOUZnbkZgcEY5RjlGYXFGZHFGOQ==">LCokIitGeEktOiEiJSEiIiomJCIrM25RQFAhIiciIiIpLUkmZ2FtbWFHJSpwcm90ZWN0ZWRHNiNJInRHRi8iIiRGK0YrKiYkIitaaTI+USEiJkYrKUYtIiIjRitGJiomJCIrUCpmMEoiRiVGK0YtRitGKw==</Equation></Text-field>
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<Group hide-input="false" hide-output="false" labelreference="L74995" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">From the paper given in class, we can identify specific points for the DOWN FORCE in the graph and try to fit a continuous curve</Text-field><Text-field prompt="> " style="Maple Input" layout="Normal">[[184.5*Pi/180,0],[200*Pi/180,-125],[210*Pi/180,-224],[217.5*Pi/180,-315]]:
down := subs(gamma=gamma(t),CurveFitting:-PolynomialInterpolation(%,gamma)*(340/180)^2);
plot(down, gamma=flap_open..flap_closed,labels=[typeset(theta3 (rad)),typeset(F__down (N))],title="Down force as function of time",color=c_set[1]);</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVElZG93bkYnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1JI21vR0YkNi1RKn4mIzg3ODg7fkYnL0YzUSdub3JtYWxGJy8lJmZlbmNlR1EmZmFsc2VGJy8lKnNlcGFyYXRvckdGPS8lKXN0cmV0Y2h5R0Y9LyUqc3ltbWV0cmljR0Y9LyUobGFyZ2VvcEdGPS8lLm1vdmFibGVsaW1pdHNHRj0vJSdhY2NlbnRHRj0vJSdsc3BhY2VHUSYwLjBlbUYnLyUncnNwYWNlR0ZMLUYjNiotSSNtbkdGJDYkUSw0MjQ0Ny4yMDk4MUYnRjktRjY2LVEoJm1pbnVzO0YnRjlGO0Y+RkBGQkZERkZGSC9GS1EsMC4yMjIyMjIyZW1GJy9GTkZZLUYjNiYtRlI2JFEsMTEzMS40ODQwMDFGJ0Y5LUY2Ni1RMSZJbnZpc2libGVUaW1lcztGJ0Y5RjtGPkZARkJGREZGRkhGSkZNLUklbXN1cEdGJDYlLUYjNigtRiw2JVEnJiM5NDc7RicvRjBGPUY5LUY2Ni1RMCZBcHBseUZ1bmN0aW9uO0YnRjlGO0Y+RkBGQkZERkZGSEZKRk0tSShtZmVuY2VkR0YkNiQtRiM2Ji1GLDYlUSJ0RidGL0YyLyUrZm9yZWdyb3VuZEdRKFswLDAsMF1GJy8lKXJlYWRvbmx5R0Y9RjlGOUZhcEZkcEY5LUZSNiRRIjNGJ0Y5LyUxc3VwZXJzY3JpcHRzaGlmdEdRIjBGJ0Y5LUY2Ni1RIitGJ0Y5RjtGPkZARkJGREZGRkhGWEZaLUYjNiYtRlI2JFEsMTA4OTcuMTc4NzJGJ0Y5RmpuLUZebzYlRmBvLUZSNiRRIjJGJ0Y5RmlwRjlGVS1GIzYmLUZSNiRRLDM2NTM5LjUzNjAwRidGOUZqbkZgb0Y5RjlGYXBGZHBGOQ==">LCokIisiKTRzV1UhIiYiIiIqJiQiKyxTW0o2ISInRiYpLUkmZ2FtbWFHJSpwcm90ZWN0ZWRHNiNJInRHRi4iIiRGJiEiIiomJCIrc3lyKjMiRiVGJilGLCIiI0YmRiYqJiQiKytPJlJsJEYlRiZGLEYmRjI=</Equation></Text-field>
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</Section>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 1" layout="Heading 1">Kinematic analysis</Text-field></Title>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 2" layout="Heading 2">Reference frames and chain loop</Text-field></Title>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 3" layout="Heading 3">Recursive approach</Text-field></Title><Presentation-Block>
<Group view="code" labelreference="L74" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">Define the actuator</Text-field>
</Input>
</Group>
<Group view="code" hide-input="false" hide-output="false" labelreference="L73" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">P0 := origin(ground): <Font foreground="[153,51,102]"> # point P0
</Font>RF1 := translate(x1 + <Font opaque="true" background="[255,255,0]">s(t)</Font>,y1,0); <Font foreground="[153,51,102]"> # reference frame body 1</Font>
P1 := origin(RF1): <Font foreground="[153,51,102]"># point P1
</Font>Gact := P1: <Font foreground="[153,51,102]"># center of mass actuator</Font></Text-field>
</Input>
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</Output>
</Group></Presentation-Block><Presentation-Block>
<Group view="code" labelreference="L63062" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">Define the pod</Text-field>
</Input>
</Group>
<Group view="code" hide-input="false" hide-output="false" labelreference="L63061" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">RF2 := RF1.translate(L1,0,0).rotate('Z',<Font opaque="true" background="[255,255,0]">theta1(t)</Font>); <Font foreground="[153,51,102]"># reference frame body 2
</Font>P2 := origin(RF2): <Font foreground="[153,51,102]"># point P2</Font>
P3 := make_POINT(RF2,LP,0,0): <Font foreground="[153,51,102]"># point P3</Font>
Pcurv1 := make_POINT(RF2,LP-0.03,0.01,0):
Pcurv2 := make_POINT(RF2,LP-0.02,0.01,0): <Font foreground="[153,51,102]">
</Font>Gpod := make_POINT(RF2,LP/2,0,0): <Font foreground="[153,51,102]"># center of mass pod</Font></Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="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">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</Equation></Text-field>
</Output>
</Group></Presentation-Block><Presentation-Block>
<Group view="code" labelreference="L63065" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal"></Text-field><Text-field style="Text" layout="Normal">Define the flap</Text-field>
</Input>
</Group>
<Group view="code" hide-input="false" hide-output="false" labelreference="L63064" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">RF3 := translate(x4,y4,0).rotate('Z',<Font opaque="true" background="[255,255,0]">theta3(t)</Font>); <Font foreground="[153,51,102]"># reference frame body 3
</Font>P4 := origin(RF3): <Font foreground="[153,51,102]"># point P4</Font>
P5 := make_POINT(RF3,LF,0,0): <Font foreground="[153,51,102]"># point P5
</Font>RF3_CoM := combine(RF3.rotate('Z', psi)); <Font foreground="[153,51,102]"># auxiliary reference frame
</Font>Gflap := make_POINT(RF3_CoM,LFb,0,0): <Font foreground="[153,51,102]"># center of mass flap
</Font>P3b := make_POINT(RF3,anc,0,0): <Font foreground="[153,51,102]"># point where the pod is attached to the flap</Font></Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEkUkYzRicvJSdpdGFsaWNHUSV0cnVlRicvJSxtYXRodmFyaWFudEdRJ2l0YWxpY0YnLUkjbW9HRiQ2LVEqfiYjODc4ODt+RicvRjNRJ25vcm1hbEYnLyUmZmVuY2VHUSZmYWxzZUYnLyUqc2VwYXJhdG9yR0Y9LyUpc3RyZXRjaHlHRj0vJSpzeW1tZXRyaWNHRj0vJShsYXJnZW9wR0Y9LyUubW92YWJsZWxpbWl0c0dGPS8lJ2FjY2VudEdGPS8lJ2xzcGFjZUdRJjAuMGVtRicvJSdyc3BhY2VHRkwtSShtYWN0aW9uR0YkNiUtSShtZmVuY2VkR0YkNigtRiM2Ji1JJ210YWJsZUdGJDY4LUkkbXRyR0YkNiktSSRtdGRHRiQ2KC1GIzYoLUYsNiVRJGNvc0YnL0YwRj1GOS1GNjYtUTAmQXBwbHlGdW5jdGlvbjtGJ0Y5RjtGPkZARkJGREZGRkhGSkZNLUZTNiQtRiM2Ji1GIzYoLUYsNiVRKCYjOTUyOzNGJ0YvRjJGYG8tRlM2JC1GIzYmLUYsNiVRInRGJ0YvRjIvJStmb3JlZ3JvdW5kR1EoWzAsMCwwXUYnLyUpcmVhZG9ubHlHRj1GOUY5RmNwRmZwRjlGY3BGZnBGOUY5RmNwRmZwRjkvJSlyb3dhbGlnbkdRIUYnLyUsY29sdW1uYWxpZ25HRmpwLyUrZ3JvdXBhbGlnbkdGanAvJShyb3dzcGFuR1EiMUYnLyUrY29sdW1uc3BhbkdGYXEtRmhuNigtRiM2Jy1GNjYtUSomdW1pbnVzMDtGJ0Y5RjtGPkZARkJGREZGRkgvRktRLDAuMjIyMjIyMmVtRicvRk5GXHItRiM2KC1GLDYlUSRzaW5GJ0Zfb0Y5RmBvRmNvRmNwRmZwRjlGY3BGZnBGOUZocEZbcUZdcUZfcUZicS1GaG42KC1JI21uR0YkNiRRIjBGJ0Y5RmhwRltxRl1xRl9xRmJxLUZobjYoLUYsNiVRI3g0RidGL0YyRmhwRltxRl1xRl9xRmJxRmhwRltxRl1xLUZlbjYpLUZobjYoRl5yRmhwRltxRl1xRl9xRmJxRmduRmNyLUZobjYoLUYsNiVRI3k0RidGL0YyRmhwRltxRl1xRl9xRmJxRmhwRltxRl1xLUZlbjYpRmNyRmNyLUZobjYoLUZmcjYkRmFxRjlGaHBGW3FGXXFGX3FGYnFGY3JGaHBGW3FGXXEtRmVuNilGY3JGY3JGY3JGaXNGaHBGW3FGXXEvJSZhbGlnbkdRJWF4aXNGJy9GaXBRKWJhc2VsaW5lRicvRlxxUSdjZW50ZXJGJy9GXnFRJ3xmcmxlZnR8aHJGJy8lL2FsaWdubWVudHNjb3BlR0YxLyUsY29sdW1ud2lkdGhHUSVhdXRvRicvJSZ3aWR0aEdGXHUvJStyb3dzcGFjaW5nR1EmMS4wZXhGJy8lLmNvbHVtbnNwYWNpbmdHUSYwLjhlbUYnLyUpcm93bGluZXNHUSVub25lRicvJSxjb2x1bW5saW5lc0dGZ3UvJSZmcmFtZUdGZ3UvJS1mcmFtZXNwYWNpbmdHUSwwLjRlbX4wLjVleEYnLyUqZXF1YWxyb3dzR0Y9LyUtZXF1YWxjb2x1bW5zR0Y9LyUtZGlzcGxheXN0eWxlR0Y9LyUlc2lkZUdRJnJpZ2h0RicvJTBtaW5sYWJlbHNwYWNpbmdHRmR1RmNwRmZwRjlGOS9JK21zZW1hbnRpY3NHRiRRJ01hdHJpeEYnLyUlb3BlbkdRIltGJy8lJmNsb3NlR1EiXUYnRmp2LyUrYWN0aW9udHlwZUdRLnJ0YWJsZWFkZHJlc3NGJy8lKXJ0YWJsZWlkR1E1MTg0NDY3NDYwNDM4NjMxNTUyOTRGJ0ZjcEZmcEY5">LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEkUkYzRicvJSdpdGFsaWNHUSV0cnVlRicvJSxtYXRodmFyaWFudEdRJ2l0YWxpY0YnLUkjbW9HRiQ2LVEqfiYjODc4ODt+RicvRjNRJ25vcm1hbEYnLyUmZmVuY2VHUSZmYWxzZUYnLyUqc2VwYXJhdG9yR0Y9LyUpc3RyZXRjaHlHRj0vJSpzeW1tZXRyaWNHRj0vJShsYXJnZW9wR0Y9LyUubW92YWJsZWxpbWl0c0dGPS8lJ2FjY2VudEdGPS8lJ2xzcGFjZUdRJjAuMGVtRicvJSdyc3BhY2VHRkwtSShtYWN0aW9uR0YkNiUtSShtZmVuY2VkR0YkNigtRiM2Ji1JJ210YWJsZUdGJDY4LUkkbXRyR0YkNiktSSRtdGRHRiQ2KC1GIzYoLUYsNiVRJGNvc0YnL0YwRj1GOS1GNjYtUTAmQXBwbHlGdW5jdGlvbjtGJ0Y5RjtGPkZARkJGREZGRkhGSkZNLUZTNiQtRiM2Ji1GIzYoLUYsNiVRKCYjOTUyOzNGJ0YvRjJGYG8tRlM2JC1GIzYmLUYsNiVRInRGJ0YvRjIvJStmb3JlZ3JvdW5kR1EoWzAsMCwwXUYnLyUpcmVhZG9ubHlHRj1GOUY5RmNwRmZwRjlGY3BGZnBGOUY5RmNwRmZwRjkvJSlyb3dhbGlnbkdRIUYnLyUsY29sdW1uYWxpZ25HRmpwLyUrZ3JvdXBhbGlnbkdGanAvJShyb3dzcGFuR1EiMUYnLyUrY29sdW1uc3BhbkdGYXEtRmhuNigtRiM2Jy1GNjYtUSomdW1pbnVzMDtGJ0Y5RjtGPkZARkJGREZGRkgvRktRLDAuMjIyMjIyMmVtRicvRk5GXHItRiM2KC1GLDYlUSRzaW5GJ0Zfb0Y5RmBvRmNvRmNwRmZwRjlGY3BGZnBGOUZocEZbcUZdcUZfcUZicS1GaG42KC1JI21uR0YkNiRRIjBGJ0Y5RmhwRltxRl1xRl9xRmJxLUZobjYoLUYsNiVRI3g0RidGL0YyRmhwRltxRl1xRl9xRmJxRmhwRltxRl1xLUZlbjYpLUZobjYoRl5yRmhwRltxRl1xRl9xRmJxRmduRmNyLUZobjYoLUYsNiVRI3k0RidGL0YyRmhwRltxRl1xRl9xRmJxRmhwRltxRl1xLUZlbjYpRmNyRmNyLUZobjYoLUZmcjYkRmFxRjlGaHBGW3FGXXFGX3FGYnFGY3JGaHBGW3FGXXEtRmVuNilGY3JGY3JGY3JGaXNGaHBGW3FGXXEvJSZhbGlnbkdRJWF4aXNGJy9GaXBRKWJhc2VsaW5lRicvRlxxUSdjZW50ZXJGJy9GXnFRJ3xmcmxlZnR8aHJGJy8lL2FsaWdubWVudHNjb3BlR0YxLyUsY29sdW1ud2lkdGhHUSVhdXRvRicvJSZ3aWR0aEdGXHUvJStyb3dzcGFjaW5nR1EmMS4wZXhGJy8lLmNvbHVtbnNwYWNpbmdHUSYwLjhlbUYnLyUpcm93bGluZXNHUSVub25lRicvJSxjb2x1bW5saW5lc0dGZ3UvJSZmcmFtZUdGZ3UvJS1mcmFtZXNwYWNpbmdHUSwwLjRlbX4wLjVleEYnLyUqZXF1YWxyb3dzR0Y9LyUtZXF1YWxjb2x1bW5zR0Y9LyUtZGlzcGxheXN0eWxlR0Y9LyUlc2lkZUdRJnJpZ2h0RicvJTBtaW5sYWJlbHNwYWNpbmdHRmR1RmNwRmZwRjlGOS9JK21zZW1hbnRpY3NHRiRRJ01hdHJpeEYnLyUlb3BlbkdRIltGJy8lJmNsb3NlR1EiXUYnRmp2LyUrYWN0aW9udHlwZUdRLnJ0YWJsZWFkZHJlc3NGJy8lKXJ0YWJsZWlkR1E1MTg0NDY3NDYwNDM4NjMxNTUyOTRGJ0ZjcEZmcEY5</Equation></Text-field>
</Output>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="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">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</Equation></Text-field>
</Output>
</Group></Presentation-Block>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 3" layout="Heading 3">Constraint equations</Text-field></Title><Presentation-Block>
<Group view="code" labelreference="L66915" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">Constraint equations : revolute joint point P3</Text-field>
</Input>
</Group>
<Group view="code" hide-input="false" hide-output="false" labelreference="L66910" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">join_points(P3,P3b):
Phi := [comp_X(%,ground),comp_Y(%,ground)]:<%>;</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="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">LSZJJ1ZlY3Rvckc2JCUqcHJvdGVjdGVkR0koX3N5c2xpYkc2IjYjSSdjb2x1bW5HRig2Iy9JJCVpZEdGKCI1TSZwWydRL1luVz0=</Equation></Text-field>
</Output>
</Group>
<Group view="code" labelreference="L66914" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">Define the list of variables</Text-field>
</Input>
</Group>
<Group view="code" hide-input="false" hide-output="false" labelreference="L66909" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">q_vars := {theta1(t), theta3(t), s(t)};</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEncV92YXJzRicvJSdpdGFsaWNHUSV0cnVlRicvJSxtYXRodmFyaWFudEdRJ2l0YWxpY0YnLUkjbW9HRiQ2LVEqfiYjODc4ODt+RicvRjNRJ25vcm1hbEYnLyUmZmVuY2VHUSZmYWxzZUYnLyUqc2VwYXJhdG9yR0Y9LyUpc3RyZXRjaHlHRj0vJSpzeW1tZXRyaWNHRj0vJShsYXJnZW9wR0Y9LyUubW92YWJsZWxpbWl0c0dGPS8lJ2FjY2VudEdGPS8lJ2xzcGFjZUdRJjAuMGVtRicvJSdyc3BhY2VHRkwtSShtZmVuY2VkR0YkNiYtRiM2Ki1GIzYoLUYsNiVRInNGJ0YvRjItRjY2LVEwJkFwcGx5RnVuY3Rpb247RidGOUY7Rj5GQEZCRkRGRkZIRkpGTS1GUDYkLUYjNiYtRiw2JVEidEYnRi9GMi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGPUY5RjlGXW9GYG9GOS1GNjYtUSIsRidGOUY7L0Y/RjFGQEZCRkRGRkZIRkovRk5RLDAuMzMzMzMzM2VtRictRiM2KC1GLDYlUSgmIzk1MjsxRidGL0YyRllGZm5GXW9GYG9GOUZiby1GIzYoLUYsNiVRKCYjOTUyOzNGJ0YvRjJGWUZmbkZdb0Zgb0Y5Rl1vRmBvRjlGOS8lJW9wZW5HUSJ8ZnJGJy8lJmNsb3NlR1EifGhyRidGXW9GYG9GOQ==">PCUtSSJzRzYiNiNJInRHJSpwcm90ZWN0ZWRHLUkndGhldGExR0YlRiYtSSd0aGV0YTNHRiVGJg==</Equation></Text-field>
</Output>
</Group></Presentation-Block>
</Section>
</Section>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 3" layout="Heading 3">Global approach</Text-field></Title>
<Group hide-input="false" hide-output="false" labelreference="L67216" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal"><Font foreground="[153,153,153]">if mode = 1 then</Font>
printf("THE GLOBAL APPROACH IS ADOPTED");
P0 := origin(ground): <Font foreground="[153,51,102]"># point P0</Font>
P40 := make_POINT(ground,x4,y4,0): <Font foreground="[153,51,102]"># point P4</Font>
<Font foreground="[153,153,153]">end if:</Font>
</Text-field>
</Input>
</Group>
<Group hide-input="false" hide-output="false" labelreference="L67218" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal"><Font foreground="[153,153,153]">if mode = 1 then</Font>
RF1 := combine(translate(x1+s(t),y1,0).rotate('Z',theta0(t))): <Font foreground="[153,51,102]"># reference frame body 1</Font>
Gact := origin(%): <Font foreground="[153,51,102]"># center of mass actuator</Font>
P1 := Gact: <Font foreground="[153,51,102]"># point P1</Font>
P2 := make_POINT(RF1,L1,0,0): <Font foreground="[153,51,102]"># point P2</Font>
print(RF1):
<Font foreground="[153,153,153]">end if:</Font>
</Text-field>
</Input>
</Group>
<Group hide-input="false" hide-output="false" labelreference="L67220" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal"><Font foreground="[153,153,153]">if mode = 1 then</Font>
RF2 := combine(translate(x2(t),y2(t),0).rotate('Z',theta1(t))); <Font foreground="[153,51,102]"># reference frame body 1</Font>
Gpod := origin(%): <Font foreground="[153,51,102]"># center of mass pod</Font>
Pcurv1 := make_POINT(RF2,LP/2-0.03,0.01,0):
Pcurv2 := make_POINT(RF2,LP/2-0.02,0.01,0):
P22 := make_POINT(RF2,-LP/2,0,0): <Font foreground="[153,51,102]"># point P2</Font>
P3 := make_POINT(RF2,LP/2,0,0): <Font foreground="[153,51,102]"># point P3</Font>
print(RF2):
<Font foreground="[153,153,153]">end if:</Font>
</Text-field>
</Input>
</Group>
<Group hide-input="false" hide-output="false" labelreference="L66898" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal"><Font foreground="[153,153,153]">if mode = 1 then</Font>
RF3 := combine(translate(x3(t),y3(t),0).rotate('Z',theta3(t))); <Font foreground="[153,51,102]"># reference frame body 3</Font>
P4 := make_POINT(RF3,-LF/2,0,0): <Font foreground="[153,51,102]"># point P4</Font>
P3b := make_POINT(RF3,-LF/2+anc,0,0): <Font foreground="[153,51,102]"># point P3</Font>
P5 := make_POINT(RF3,LF/2,0,0): <Font foreground="[153,51,102]"># point P5</Font>
RF3b := combine(RF3.translate(LF/2,0,0).rotate('Z',-psi)); <Font foreground="[153,51,102]"># auxiliary reference frame body 3</Font>
Gflap := make_POINT(RF3b,-LFb,0,0): <Font foreground="[153,51,102]"># center of mass flap</Font>
print(RF3):
<Font foreground="[153,153,153]">end if:
</Font></Text-field>
</Input>
</Group>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 4" layout="Heading 4">Constraint equations</Text-field></Title><Presentation-Block>
<Group view="code" labelreference="L67210" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">Constraint equations : revolute joint in P2</Text-field>
</Input>
</Group>
<Group view="code" hide-input="false" hide-output="false" labelreference="L67205" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal"><Font foreground="[153,153,153]">if mode = 1 then</Font>
join_points(P2,P22):
Phi1 := map(simplify,[comp_X(%,ground),comp_Y(%,ground)]):
print(<Phi1>);
<Font foreground="[153,153,153]">end if:</Font></Text-field>
</Input>
</Group></Presentation-Block><Presentation-Block>
<Group view="code" labelreference="L67207" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">Constraint equations : revolute joint in P3</Text-field>
</Input>
</Group>
<Group view="code" hide-input="false" hide-output="false" labelreference="L67206" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal"><Font foreground="[153,153,153]">if mode = 1 then</Font>
join_points(P3,P3b):
Phi2 := map(simplify,[comp_X(%,ground),comp_Y(%,ground)]):
print(<Phi2>);
<Font foreground="[153,153,153]">end if:</Font></Text-field>
</Input>
</Group></Presentation-Block><Presentation-Block>
<Group view="code" labelreference="L67213" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">Constraint equations : revolute joint in P4</Text-field>
</Input>
</Group>
<Group view="code" hide-input="false" hide-output="false" labelreference="L67212" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal"><Font foreground="[153,153,153]">if mode = 1 then</Font>
join_points(P4,P40):
Phi3 := map(simplify,[comp_X(%,ground),comp_Y(%,ground)]):
print(<Phi3>);
<Font foreground="[153,153,153]">end if:</Font></Text-field>
</Input>
</Group></Presentation-Block><Presentation-Block>
<Group view="code" hide-input="false" hide-output="false" labelreference="L67208" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">Constraint equations: prismatic joint in RF1</Text-field><Text-field prompt="> " style="Maple Input" layout="Normal"><Font foreground="[153,153,153]">if mode = 1 then</Font>
Phi4 := [dot_prod(uvec_Y(RF1),uvec_X(ground))];
print(<Phi4>);
<Font foreground="[153,153,153]">end if:</Font></Text-field>
</Input>
</Group>
<Group view="code" hide-input="false" hide-output="false" labelreference="L67211" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">Assembling the constraint equations</Text-field><Text-field prompt="> " style="Maple Input" layout="Normal"><Font foreground="[153,153,153]">if mode = 1 then</Font>
Phi := Phi1 union Phi2 union Phi3 union Phi4:print(<Phi>):
<Font foreground="[153,153,153]">end if:</Font></Text-field>
</Input>
</Group></Presentation-Block><Presentation-Block>
<Group view="code" labelreference="L67209" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">
Define the list of variables</Text-field>
</Input>
</Group>
<Group view="code" hide-input="false" hide-output="false" labelreference="L67204" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal"><Font foreground="[153,153,153]">if mode = 1 then</Font>
q_vars := {theta0(t), theta1(t),theta3(t), s(t),x2(t),y2(t),x3(t),y3(t)};
<Font foreground="[153,153,153]">end if;</Font></Text-field>
</Input>
</Group></Presentation-Block>
</Section>
</Section>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 3" layout="Heading 3">Degree of freedom</Text-field></Title><Presentation-Block>
<Group view="code" labelreference="L67189" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">Check jacobian of constraints for consistency</Text-field>
</Input>
</Group>
<Group view="code" hide-input="false" hide-output="false" labelreference="L67190" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">combine(jacobianF(Phi, q_vars)); Dimensions(%);
combine(GaussianElimination(%%)); Dimensions(%);
<Font foreground="[153,51,102]"># the system is consistent so i can apply the general formula to compute the degree of freedom of a body</Font></Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="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">LUknTWF0cml4RzYkJSpwcm90ZWN0ZWRHSShfc3lzbGliRzYiNiMvSSQlaWRHRiciNS1mOmpRL1luVz0=</Equation></Text-field>
</Output>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbW5HRiQ2JFEiMkYnLyUsbWF0aHZhcmlhbnRHUSdub3JtYWxGJy1JI21vR0YkNi1RIixGJ0YvLyUmZmVuY2VHUSZmYWxzZUYnLyUqc2VwYXJhdG9yR1EldHJ1ZUYnLyUpc3RyZXRjaHlHRjgvJSpzeW1tZXRyaWNHRjgvJShsYXJnZW9wR0Y4LyUubW92YWJsZWxpbWl0c0dGOC8lJ2FjY2VudEdGOC8lJ2xzcGFjZUdRJjAuMGVtRicvJSdyc3BhY2VHUSwwLjMzMzMzMzNlbUYnLUYsNiRRIjNGJ0YvLyUrZm9yZWdyb3VuZEdRKFswLDAsMF1GJy8lKXJlYWRvbmx5R0Y4Ri8=">LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYlLUkjbW5HRiQ2JFEiMkYnLyUsbWF0aHZhcmlhbnRHUSdub3JtYWxGJy1JI21vR0YkNi1RIixGJ0YvLyUmZmVuY2VHUSZmYWxzZUYnLyUqc2VwYXJhdG9yR1EldHJ1ZUYnLyUpc3RyZXRjaHlHRjgvJSpzeW1tZXRyaWNHRjgvJShsYXJnZW9wR0Y4LyUubW92YWJsZWxpbWl0c0dGOC8lJ2FjY2VudEdGOC8lJ2xzcGFjZUdRJjAuMGVtRicvJSdyc3BhY2VHUSwwLjMzMzMzMzNlbUYnLUYsNiRRIjNGJ0Yv</Equation></Text-field>
</Output>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="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">LUknTWF0cml4RzYkJSpwcm90ZWN0ZWRHSShfc3lzbGliRzYiNiMvSSQlaWRHRiciNWFnOmpRL1luVz0=</Equation></Text-field>
</Output>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbW5HRiQ2JFEiMkYnLyUsbWF0aHZhcmlhbnRHUSdub3JtYWxGJy1JI21vR0YkNi1RIixGJ0YvLyUmZmVuY2VHUSZmYWxzZUYnLyUqc2VwYXJhdG9yR1EldHJ1ZUYnLyUpc3RyZXRjaHlHRjgvJSpzeW1tZXRyaWNHRjgvJShsYXJnZW9wR0Y4LyUubW92YWJsZWxpbWl0c0dGOC8lJ2FjY2VudEdGOC8lJ2xzcGFjZUdRJjAuMGVtRicvJSdyc3BhY2VHUSwwLjMzMzMzMzNlbUYnLUYsNiRRIjNGJ0YvLyUrZm9yZWdyb3VuZEdRKFswLDAsMF1GJy8lKXJlYWRvbmx5R0Y4Ri8=">NiQiIiMiIiQ=</Equation></Text-field>
</Output>
</Group></Presentation-Block><Presentation-Block>
<Group view="code" labelreference="L67191" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">Number of degree of freedom</Text-field>
</Input>
</Group>
<Group view="code" hide-input="false" hide-output="false" labelreference="L67188" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">nq := nops(q_vars):
nc := nops(Phi):
n_dof = nq - nc;</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEmbl9kb2ZGJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRictSSNtb0dGJDYtUSI9RicvRjNRJ25vcm1hbEYnLyUmZmVuY2VHUSZmYWxzZUYnLyUqc2VwYXJhdG9yR0Y9LyUpc3RyZXRjaHlHRj0vJSpzeW1tZXRyaWNHRj0vJShsYXJnZW9wR0Y9LyUubW92YWJsZWxpbWl0c0dGPS8lJ2FjY2VudEdGPS8lJ2xzcGFjZUdRLDAuMjc3Nzc3OGVtRicvJSdyc3BhY2VHRkwtSSNtbkdGJDYkUSIxRidGOS8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGPUY5">L0kmbl9kb2ZHNiIiIiI=</Equation></Text-field>
</Output>
</Group></Presentation-Block>
</Section>
</Section>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 2" layout="Heading 2">Analytical solution</Text-field></Title><Presentation-Block>
<Group view="code" labelreference="L897" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">List of dependent and independent coordinate</Text-field>
</Input>
</Group>
<Group view="code" hide-input="false" hide-output="false" labelreference="L896" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">q_I := {theta3(t)}:
q_D := q_vars minus q_I;</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEkcV9ERicvJSdpdGFsaWNHUSV0cnVlRicvJSxtYXRodmFyaWFudEdRJ2l0YWxpY0YnLUkjbW9HRiQ2LVEqfiYjODc4ODt+RicvRjNRJ25vcm1hbEYnLyUmZmVuY2VHUSZmYWxzZUYnLyUqc2VwYXJhdG9yR0Y9LyUpc3RyZXRjaHlHRj0vJSpzeW1tZXRyaWNHRj0vJShsYXJnZW9wR0Y9LyUubW92YWJsZWxpbWl0c0dGPS8lJ2FjY2VudEdGPS8lJ2xzcGFjZUdRJjAuMGVtRicvJSdyc3BhY2VHRkwtSShtZmVuY2VkR0YkNiYtRiM2KC1GIzYoLUYsNiVRInNGJ0YvRjItRjY2LVEwJkFwcGx5RnVuY3Rpb247RidGOUY7Rj5GQEZCRkRGRkZIRkpGTS1GUDYkLUYjNiYtRiw2JVEidEYnRi9GMi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGPUY5RjlGXW9GYG9GOS1GNjYtUSIsRidGOUY7L0Y/RjFGQEZCRkRGRkZIRkovRk5RLDAuMzMzMzMzM2VtRictRiM2KC1GLDYlUSgmIzk1MjsxRidGL0YyRllGZm5GXW9GYG9GOUZdb0Zgb0Y5RjkvJSVvcGVuR1EifGZyRicvJSZjbG9zZUdRInxockYnRl1vRmBvRjk=">PCQtSSJzRzYiNiNJInRHJSpwcm90ZWN0ZWRHLUkndGhldGExR0YlRiY=</Equation></Text-field>
</Output>
</Group></Presentation-Block><Presentation-Block>
<Group view="code" labelreference="L949" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal"></Text-field>
</Input>
</Group></Presentation-Block><Presentation-Block>
<Group view="code" labelreference="L126" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">Analytic solution</Text-field>
</Input>
</Group>
<Group view="code" hide-input="false" hide-output="false" labelreference="L120" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">sol_kine := simplify(op(solve(Phi, convert(q_D,list), explicit=true))): <%>;</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="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">LSZJJ1ZlY3Rvckc2JCUqcHJvdGVjdGVkR0koX3N5c2xpYkc2IjYjSSdjb2x1bW5HRig2Iy9JJCVpZEdGKCI1IVIiKlsnUS9Zblc9</Equation></Text-field>
</Output>
</Group></Presentation-Block>
</Section>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 2" layout="Heading 2">Desidered time function for theta3(t)</Text-field></Title>
<Group hide-input="false" hide-output="false" labelreference="L65015" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">base_profile := piecewise(
T >= 0 and T <= T1, -qin - 0.091666666 * sin(41.8879020478638 * T) + 1.2222222 * Pi * T,
T > T1 and T <= T2, -qin + 0.575958653158127,
T > T2 and T <= T3, -qin + 0.575958653158127 + 0.091666666 * sin(41.8879020478638 * T -12.5663706143591) - 1.2222222 * Pi * (T - 0.3)):
q1_profile := subs(T1 = actuation_time, T2 = 2*actuation_time, T3 = 3*actuation_time, qin = flap_closed, -base_profile);</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVErcTFfcHJvZmlsZUYnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1JI21vR0YkNi1RKn4mIzg3ODg7fkYnL0YzUSdub3JtYWxGJy8lJmZlbmNlR1EmZmFsc2VGJy8lKnNlcGFyYXRvckdGPS8lKXN0cmV0Y2h5R0Y9LyUqc3ltbWV0cmljR0Y9LyUobGFyZ2VvcEdGPS8lLm1vdmFibGVsaW1pdHNHRj0vJSdhY2NlbnRHRj0vJSdsc3BhY2VHUSYwLjBlbUYnLyUncnNwYWNlR0ZMLUYjNictRjY2LVEqJnVtaW51czA7RidGOUY7Rj5GQEZCRkRGRkZIL0ZLUSwwLjIyMjIyMjJlbUYnL0ZORlUtSShtZmVuY2VkR0YkNiQtRiM2Jy1GNjYtUSJ8ZnJGJ0Y5L0Y8RjFGPi9GQUYxRkJGREZGRkgvRktRLDAuMTY2NjY2N2VtRicvRk5GXG8tSSdtdGFibGVHRiQ2Ny1JJG10ckdGJDYnLUkkbXRkR0YkNigtRiM2KUZRLUkjbW5HRiQ2JFEsMy43OTYwOTExMjNGJ0Y5LUY2Ni1RKCZtaW51cztGJ0Y5RjtGPkZARkJGREZGRkhGVEZWLUYjNiYtRmpvNiRRLDAuMDkxNjY2NjY2RidGOS1GNjYtUTEmSW52aXNpYmxlVGltZXM7RidGOUY7Rj5GQEZCRkRGRkZIRkpGTS1GIzYoLUYsNiVRJHNpbkYnL0YwRj1GOS1GNjYtUTAmQXBwbHlGdW5jdGlvbjtGJ0Y5RjtGPkZARkJGREZGRkhGSkZNLUZYNiQtRiM2Ji1GIzYmLUZqbzYkUTE0MS44ODc5MDIwNDc4NjM4RidGOUZlcC1GLDYlUSJURidGL0YyRjkvJStmb3JlZ3JvdW5kR1EoWzAsMCwwXUYnLyUpcmVhZG9ubHlHRj1GOUY5Rl1yRmByRjlGOS1GNjYtUSIrRidGOUY7Rj5GQEZCRkRGRkZIRlRGVi1GIzYmLUZqbzYkUSwzLjgzOTcyNDI4NUYnRjlGZXBGanFGOUY5LyUpcm93YWxpZ25HUSFGJy8lLGNvbHVtbmFsaWduR0Zccy8lK2dyb3VwYWxpZ25HRlxzLyUocm93c3BhbkdRIjFGJy8lK2NvbHVtbnNwYW5HRmNzLUZlbzYoLUYjNiotRiM2KC1Gam82JFEiMEYnRjktRjY2LVElJmxlO0YnRjlGO0Y+RkBGQkZERkZGSC9GS1EsMC4yNzc3Nzc4ZW1GJy9GTkZjdEZqcUZdckZgckY5LUknbXNwYWNlR0YkNiYvJSdoZWlnaHRHUSYwLjBleEYnLyUmd2lkdGhHUSYwLjVlbUYnLyUmZGVwdGhHRmp0LyUqbGluZWJyZWFrR1ElYXV0b0YnLUY2Ni9RJGFuZEYnLyUlYm9sZEdGMS9GM1ElYm9sZEYnLyUrZm9udHdlaWdodEdGaXVGO0Y+RkBGQkZERkZGSEZKRk1GZXQtRiM2KEZqcUZfdC1Gam82JFEmMC4xNTBGJ0Y5Rl1yRmByRjlGXXJGYHJGOUZqckZdc0Zfc0Zhc0Zkc0ZqckZdc0Zfcy1GYm82Jy1GZW82KC1GIzYlRlEtRmpvNiRRLDMuMjIwMTMyNDcwRidGOUY5RmpyRl1zRl9zRmFzRmRzLUZlbzYoLUYjNiotRiM2KEZedi1GNjYtUSI8RidGOUY7Rj5GQEZCRkRGRkZIRmJ0RmR0RmpxRl1yRmByRjlGZXRGY3VGZXQtRiM2KEZqcUZfdC1Gam82JFEmMC4zMDBGJ0Y5Rl1yRmByRjlGXXJGYHJGOUZqckZdc0Zfc0Zhc0Zkc0ZqckZdc0Zfcy1GYm82Jy1GZW82KC1GIzYpRlEtRmpvNiRRLDIuMDY4MjE1MTg0RidGOUZici1GIzYmRmJwRmVwLUYjNihGanBGXnEtRlg2JC1GIzYmLUYjNiZGZXFGXXAtRmpvNiRRMTEyLjU2NjM3MDYxNDM1OTFGJ0Y5RjlGXXJGYHJGOUY5Rl1yRmByRjlGOUZdcEZlckY5RmpyRl1zRl9zRmFzRmRzLUZlbzYoLUYjNiotRiM2KEZld0Zgd0ZqcUZdckZgckY5RmV0RmN1RmV0LUYjNihGanFGX3QtRmpvNiRRJjAuNDUwRidGOUZdckZgckY5Rl1yRmByRjlGanJGXXNGX3NGYXNGZHNGanJGXXNGX3MvJSZhbGlnbkdRJWF4aXNGJy9GW3NRKWJhc2VsaW5lRicvRl5zUSdjZW50ZXJGJy9GYHNRJ3xmcmxlZnR8aHJGJy8lL2FsaWdubWVudHNjb3BlR0YxLyUsY29sdW1ud2lkdGhHRmJ1L0ZcdUZidS8lK3Jvd3NwYWNpbmdHUSYxLjBleEYnLyUuY29sdW1uc3BhY2luZ0dRJDJlbUYnLyUpcm93bGluZXNHUSVub25lRicvJSxjb2x1bW5saW5lc0dGX1tsLyUmZnJhbWVHRl9bbC8lLWZyYW1lc3BhY2luZ0dRLDAuNGVtfjAuNWV4RicvJSplcXVhbHJvd3NHRj0vJS1lcXVhbGNvbHVtbnNHRj0vJS1kaXNwbGF5c3R5bGVHRj0vJSVzaWRlR1EmcmlnaHRGJy8lMG1pbmxhYmVsc3BhY2luZ0dRJjAuOGVtRidGXXJGYHJGOUY5Rl1yRmByRjlGXXJGYHJGOQ==">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</Equation></Text-field>
</Output>
</Group>
<Group hide-input="false" hide-output="false" labelreference="L77734" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">q1_profile_t := subs(T=t,T1 = actuation_time, T2 = 2*actuation_time, T3 = 3*actuation_time, qin = flap_closed, -base_profile);</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="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">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</Equation></Text-field>
</Output>
</Group><Presentation-Block>
<Group hide-input="false" hide-output="false" labelreference="L65018" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal"><Font encoding="UTF-8">plot(q1_profile * 180/Pi, T = 0..3*actuation_time, title = "Desired time function for theta3(t)", labels = [t (s), Angle (\302\260)]);</Font></Text-field>
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</Output>
</Group></Presentation-Block><Presentation-Block>
<Group view="code" hide-output="false" labelreference="L100184" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">D_base_profile := piecewise(
T >= 0 and T <= T1, 3.83972435438751 * cos(41.8879020478638 * T) - 3.83972435438751,
T > T1 and T <= T2, 0,
T > T2 and T <= T3, - 3.83972435438751 * cos(41.8879020478638 * T -12.5663706143591) +3.83972435438751):</Text-field>
</Input>
</Group>
<Group view="code" hide-input="false" hide-output="false" labelreference="L100181" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">D_q1_profile_t := subs(T1 = actuation_time, T2 = 2*actuation_time, T3 = 3*actuation_time, T=t,qin = flap_closed, -D_base_profile);</Text-field>
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<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" 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</Output>
</Group>
<Group view="code" hide-output="false" labelreference="L100180" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">DD_base_profile := piecewise(
T >= 0 and T <= T1, -160.837997647381 * sin(41.8879020478638 * T),
T > T1 and T <= T2, 0,
T > T2 and T <= T3, 160.837997647381 * sin(41.8879020478638 * T -12.5663706143591)):</Text-field>
</Input>
</Group>
<Group view="code" hide-input="false" hide-output="false" labelreference="L100182" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">DD_q1_profile_t := subs(T1 = actuation_time, T2 = 2*actuation_time, T3 = 3*actuation_time,T=t, qin = flap_closed, -DD_base_profile);</Text-field>
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<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 2" layout="Heading 2">Position analysis before optimization</Text-field></Title>
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<Input><Text-field prompt="> " style="Maple Input" layout="Normal">plot_position(data union param_not_opt);</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="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">LUkucGxvdF9wb3NpdGlvbkc2IjYjPDAvSSRJejNHRiQkIidBKW8kISIpL0kjTDFHRiQkIiIiISIjL0kjTEZHRiQkIiRCIiEiJC9JJExGYkdGJCQiI2ZGNS9JI0xQR0YkJCIiKkYwL0kkYW5jR0YkJCIjNUYwL0kiZ0dGJCQiJCIpKkYwL0kjbTNHRiQkIiV3R0Y1L0kkcHNpR0YkLCQqJiNGLyIjN0YvSSNQaUclKnByb3RlY3RlZEdGL0YvL0kjeDFHRiQkIiNIRjUvSSN4NEdGJCQiJSY0IyEiJS9JI3kxR0YkJCIjQEYwL0kjeTRHRiQkIiQ0I0Y1L0kqc19fY2xvc2VkR0YkJCIiJEYw</Equation></Text-field>
</Output>
</Group>
</Section>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 2" layout="Heading 2">Kinematic optimization</Text-field></Title>
<Group hide-input="false" hide-output="false" labelreference="L65004" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">prj_params := convert(map(lhs,param_not_opt),list); </Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVErcHJqX3BhcmFtc0YnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1JI21vR0YkNi1RKn4mIzg3ODg7fkYnL0YzUSdub3JtYWxGJy8lJmZlbmNlR1EmZmFsc2VGJy8lKnNlcGFyYXRvckdGPS8lKXN0cmV0Y2h5R0Y9LyUqc3ltbWV0cmljR0Y9LyUobGFyZ2VvcEdGPS8lLm1vdmFibGVsaW1pdHNHRj0vJSdhY2NlbnRHRj0vJSdsc3BhY2VHUSYwLjBlbUYnLyUncnNwYWNlR0ZMLUkobWZlbmNlZEdGJDYmLUYjNjAtRiw2JVEjTDFGJ0YvRjItRjY2LVEiLEYnRjlGOy9GP0YxRkBGQkZERkZGSEZKL0ZOUSwwLjMzMzMzMzNlbUYnLUYsNiVRI0xQRidGL0YyRlctRiw2JVEkYW5jRidGL0YyRlctRiw2JVEjeDFGJ0YvRjJGVy1GLDYlUSN5MUYnRi9GMkZXLUkqbWNvbXBsZXRlR0YkNiQtSSVtc3ViR0YkNiYtRiw2JVEic0YnRi9GMi1JKm12ZXJiYXRpbUdGJDYjUWZxNiMtSSNtaUc2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkc2IjYlUSdjbG9zZWQ2Ii8lJ2l0YWxpY0dRJXRydWU2Ii8lLG1hdGh2YXJpYW50R1EnaXRhbGljNiJGJy8lL3N1YnNjcmlwdHNoaWZ0R1EiMEYnL0krbXNlbWFudGljc0dGJFEnYXRvbWljRictRiM2Ji1GZ282Ji1GLDYnRltwRi8vJStmb3JlZ3JvdW5kR1EoWzAsMCwwXUYnLyUpcmVhZG9ubHlHRj1GMi1GLDYnUSdjbG9zZWRGJ0YvRlxxRl9xRjJGYHBGY3BGXHFGX3FGOUZccUZfcUY5RjkvJSVvcGVuR1EiW0YnLyUmY2xvc2VHUSJdRidGXHFGX3FGOQ==">NyhJI0wxRzYiSSNMUEdGJEkkYW5jR0YkSSN4MUdGJEkjeTFHRiRJKnNfX2Nsb3NlZEdGJA==</Equation></Text-field>
</Output>
</Group>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 3" layout="Heading 3">Definition of the desidered actuator motion</Text-field></Title>
<Group hide-input="false" hide-output="false" labelreference="L65047" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">bp := piecewise(T>=0 and T<=T1/2, qin+(1/2)*acc*(T)^2,T>T1/2 and T<=T1, qin+(acc*T1^2)/4-(1/2)*acc*(T1-T)^2):
<Font foreground="[153,51,102]">#Automatically find the needed acceleration to obtain the right motion profile</Font>
solve(evalf(subs(qin=s__closed,T1=actuation_time,T=actuation_time,bp))-0,acc):
Fd_s := subs(qin = s__closed,T1=actuation_time,acc=%,bp);</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="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">LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYlLUkjbWlHRiQ2JVElRmRfc0YnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1JI21vR0YkNi1RK34mQXNzaWduO35GJy9GM1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRj0vJSlzdHJldGNoeUdGPS8lKnN5bW1ldHJpY0dGPS8lKGxhcmdlb3BHRj0vJS5tb3ZhYmxlbGltaXRzR0Y9LyUnYWNjZW50R0Y9LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGTC1GIzYkLUY2Ni1RInxmckYnRjkvRjxGMUY+L0ZBRjFGQkZERkZGSC9GS1EsMC4xNjY2NjY3ZW1GJy9GTkZXLUknbXRhYmxlR0YkNjYtSSRtdHJHRiQ2Jy1JJG10ZEdGJDYoLUYjNiUtRiM2Iy1GLDYjUSxgc19fY2xvc2VkYEYnLUY2Ni1RKCZtaW51cztGJ0Y5RjtGPkZARkJGREZGRkgvRktRLDAuMjIyMjIyMmVtRicvRk5GZ28tRiM2Jy1JI21uR0YkNiRRLDg4Ljg4ODg4ODkwRidGOS1GNjYtUTEmSW52aXNpYmxlVGltZXM7RidGOUY7Rj5GQEZCRkRGRkZIRkpGTS1JJW1zdXBHRiQ2JS1GLDYlUSJURidGL0YyLUZccDYkUSIyRidGOS8lMXN1cGVyc2NyaXB0c2hpZnRHUSIwRidGX3BGXm8vJSlyb3dhbGlnbkdRIUYnLyUsY29sdW1uYWxpZ25HRmBxLyUrZ3JvdXBhbGlnbkdGYHEvJShyb3dzcGFuR1EiMUYnLyUrY29sdW1uc3BhbkdGZ3EtRmpuNigtRiM2Jy1GIzYlLUZccDYkRl1xRjktRjY2LVElJmxlO0YnRjlGO0Y+RkBGQkZERkZGSC9GS1EsMC4yNzc3Nzc4ZW1GJy9GTkZmckZlcC1JJ21zcGFjZUdGJDYmLyUnaGVpZ2h0R1EmMC4wZXhGJy8lJndpZHRoR1EmMC41ZW1GJy8lJmRlcHRoR0Zdcy8lKmxpbmVicmVha0dRJWF1dG9GJy1GNjYvUSRhbmRGJy8lJWJvbGRHRjEvRjNRJWJvbGRGJy8lK2ZvbnR3ZWlnaHRHRlx0RjtGPkZARkJGREZGRkhGSkZNRmhyLUYjNiVGZXBGYnItRlxwNiRRLjAuMDc1MDAwMDAwMDBGJ0Y5Rl5xRmFxRmNxRmVxRmhxRl5xRmFxRmNxLUZnbjYnLUZqbjYoLUYjNidGW3BGX3AtRmNwNiUtSShtZmVuY2VkR0YkNiQtRiM2JS1GXHA2JFEmMC4xNTBGJ0Y5RmNvRmVwRjlGaHBGW3FGX3BGXm9GXnFGYXFGY3FGZXFGaHEtRmpuNigtRiM2Jy1GIzYlRmF0LUY2Ni1RIjxGJ0Y5RjtGPkZARkJGREZGRkhGZXJGZ3JGZXBGaHJGZnNGaHItRiM2JUZlcEZickZhdUZecUZhcUZjcUZlcUZocUZecUZhcUZjcS8lJmFsaWduR1ElYXhpc0YnL0ZfcVEpYmFzZWxpbmVGJy9GYnFRJ2NlbnRlckYnL0ZkcVEnfGZybGVmdHxockYnLyUvYWxpZ25tZW50c2NvcGVHRjEvJSxjb2x1bW53aWR0aEdGZXMvRl9zRmVzLyUrcm93c3BhY2luZ0dRJjEuMGV4RicvJS5jb2x1bW5zcGFjaW5nR1EkMmVtRicvJSlyb3dsaW5lc0dRJW5vbmVGJy8lLGNvbHVtbmxpbmVzR0Zldy8lJmZyYW1lR0Zldy8lLWZyYW1lc3BhY2luZ0dRLDAuNGVtfjAuNWV4RicvJSplcXVhbHJvd3NHRj0vJS1lcXVhbGNvbHVtbnNHRj0vJS1kaXNwbGF5c3R5bGVHRj0vJSVzaWRlR1EmcmlnaHRGJy8lMG1pbmxhYmVsc3BhY2luZ0dRJjAuOGVtRic=</Equation></Text-field>
</Output>
</Group>
</Section>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 3" layout="Heading 3">Sampling the desidered motion with NP points</Text-field></Title>
<Group hide-input="false" hide-output="false" labelreference="L65056" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal"><Font foreground="[153,51,102]">#Number of sampling points</Font>
np := 100:
<Font foreground="[153,51,102]">#Sampling the points</Font>
delta__theta3 := [seq(evalf(subs(T=i/np*actuation_time,q1_profile)),i=1..np)]:
delta__s := [seq(evalf(subs(T=i/np*actuation_time,Fd_s)),i=1..np)]:
<Font foreground="[153,51,102]">#Plotting the sampled points</Font>
[seq([i,delta__theta3[i]],i=1..np)]:
plot(%,style=point,title="Sampled desidered motion for theta3(t)",labels=[points,theta3]);</Text-field>
</Input>
<Output><Text-field style="Maple Plot" layout="Maple Plot"><Plot height="300.0" type="two-dimensional" width="800.0" plot-scale="1.0" plot-xtrans="0.0" plot-ytrans="0.0" gridlinevisibility="5" legendvisibility="false">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Ig==</Plot></Text-field>
</Output>
</Group>
</Section>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 3" layout="Heading 3">Weights for optimization</Text-field></Title>
<Group hide-input="false" hide-output="false" labelreference="L65107" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">mygauss := -1/(sigma*(2*Pi))*a*exp(1)^(-1/2*(T-mu)^2/sigma);
<Font foreground="[153,51,102]">
#Find parameters a, mu, sigma such that the curve fits the desidered points</Font>
solve([subs(T=1/6*actuation_time,mygauss)-1,
subs(T=5/6*actuation_time,mygauss)-1,
subs(T=1/2*actuation_time,mygauss)-0.3],
{sigma,mu,a});
weights := subs(T1=actuation_time,piecewise(T>=0 and T<1/6*T1, 1,
T>=1/6*T1 and T<5/6*T1, subs(%,mygauss),
T>=5/6*T1 , 1)):
plot(weights,T=0..actuation_time,y=0..1.1,labels=[typeset(),Weights]);</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEobXlnYXVzc0YnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1JI21vR0YkNi1RKn4mIzg3ODg7fkYnL0YzUSdub3JtYWxGJy8lJmZlbmNlR1EmZmFsc2VGJy8lKnNlcGFyYXRvckdGPS8lKXN0cmV0Y2h5R0Y9LyUqc3ltbWV0cmljR0Y9LyUobGFyZ2VvcEdGPS8lLm1vdmFibGVsaW1pdHNHRj0vJSdhY2NlbnRHRj0vJSdsc3BhY2VHUSYwLjBlbUYnLyUncnNwYWNlR0ZMLUYjNictRjY2LVEqJnVtaW51czA7RidGOUY7Rj5GQEZCRkRGRkZIL0ZLUSwwLjIyMjIyMjJlbUYnL0ZORlUtRiM2KC1JJm1mcmFjR0YkNigtSSNtbkdGJDYkUSIxRidGOS1GZ242JFEiMkYnRjkvJS5saW5ldGhpY2tuZXNzR0Zpbi8lK2Rlbm9tYWxpZ25HUSdjZW50ZXJGJy8lKW51bWFsaWduR0Zhby8lKWJldmVsbGVkR0Y9LUY2Ni1RMSZJbnZpc2libGVUaW1lcztGJ0Y5RjtGPkZARkJGREZGRkhGSkZNLUZaNigtRiM2KC1JJW1zdXBHRiQ2JS1JKG1mZW5jZWRHRiQ2JC1GNjYtUS8mRXhwb25lbnRpYWxFO0YnRjlGO0Y+RkBGQkZERkZGSEZKL0ZOUSwwLjExMTExMTFlbUYnRjktRiM2J0ZRLUYjNihGWUZmby1GWjYoLUYjNiYtRl5wNiUtRmFwNiQtRiM2Ji1GLDYlUSJURidGL0YyLUY2Ni1RKCZtaW51cztGJ0Y5RjtGPkZARkJGREZGRkhGVEZWLUYsNiVRJyYjOTU2O0YnL0YwRj1GOUY5RjlGam4vJTFzdXBlcnNjcmlwdHNoaWZ0R1EiMEYnLyUrZm9yZWdyb3VuZEdRKFswLDAsMF1GJy8lKXJlYWRvbmx5R0Y9RjktRiM2Ji1GLDYlUScmIzk2MztGJ0ZfckY5RmNyRmZyRjlGXW9GX29GYm9GZG9GY3JGZnJGOUZjckZmckY5RmByRmZvLUYsNiVRImFGJ0YvRjJGY3JGZnJGOS1GIzYoLUYsNiVRJyYjOTYwO0YnRl9yRjlGZm9GanJGY3JGZnJGOUZdb0Zfb0Zib0Zkb0ZjckZmckY5RmNyRmZyRjlGY3JGZnJGOQ==">LCQqLCMiIiIiIiNGJSktSSRleHBHNiQlKnByb3RlY3RlZEdJKF9zeXNsaWJHNiI2I0YlLCQqKEYkRiVJJnNpZ21hR0YtISIiKSwmSSJUR0YtRiVJI211R0YtRjJGJkYlRjJGJUkiYUdGLUYlSSNQaUdGK0YyRjFGMkYy</Equation></Text-field>
</Output>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUkobWZlbmNlZEc2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYmLUklbXJvd0dGJDYqLUYsNigtSSNtaUdGJDYlUSJhRicvJSdpdGFsaWNHUSV0cnVlRicvJSxtYXRodmFyaWFudEdRJ2l0YWxpY0YnLUkjbW9HRiQ2LVEiPUYnL0Y4USdub3JtYWxGJy8lJmZlbmNlR1EmZmFsc2VGJy8lKnNlcGFyYXRvckdGQi8lKXN0cmV0Y2h5R0ZCLyUqc3ltbWV0cmljR0ZCLyUobGFyZ2VvcEdGQi8lLm1vdmFibGVsaW1pdHNHRkIvJSdhY2NlbnRHRkIvJSdsc3BhY2VHUSwwLjI3Nzc3NzhlbUYnLyUncnNwYWNlR0ZRLUkjbW5HRiQ2JFEvMC4wMDE5NTcwMTYzNzNGJ0Y+LyUrZm9yZWdyb3VuZEdRKFswLDAsMF1GJy8lKXJlYWRvbmx5R0ZCRj4tRjs2LVEiLEYnRj5GQC9GREY2RkVGR0ZJRktGTS9GUFEmMC4wZW1GJy9GU1EsMC4zMzMzMzMzZW1GJy1GLDYoLUYxNiVRJyYjOTU2O0YnL0Y1RkJGPkY6LUZVNiRRLjAuMDc1MDAwMDAwMDBGJ0Y+RlhGZW5GPkZnbi1GLDYoLUYxNiVRJyYjOTYzO0YnRmRvRj5GOi1GLDYlLUY7Ni1RKiZ1bWludXMwO0YnRj5GQEZDRkVGR0ZJRktGTS9GUFEsMC4yMjIyMjIyZW1GJy9GU0ZjcC1GVTYkUS8wLjAwMTAzODIyOTQzMUYnRj5GPkZYRmVuRj5GWEZlbkY+Rj4vJSVvcGVuR1EifGZyRicvJSZjbG9zZUdRInxockYn">PCUvSSJhRzYiJCIrdGosZD4hIzcvSSNtdUdGJSQiKysrKyt2ISM2L0kmc2lnbWFHRiUkIStKJUgjUTVGKA==</Equation></Text-field>
</Output>
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<Group hide-input="false" hide-output="false" labelreference="L65099" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">delta__w := [seq(evalf(subs(T=i/np*actuation_time,weights)),i=1..np)]:
W := add(delta__w[k]^2,k=1..np);
<Font foreground="[153,51,102]">#Plotting the sampled points</Font>
[seq([i,delta__w[i]],i=1..np)]:
plot(%,style=point,title="Sampled desidered weights",labels=[points,w]);</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEiV0YnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1JI21vR0YkNi1RKn4mIzg3ODg7fkYnL0YzUSdub3JtYWxGJy8lJmZlbmNlR1EmZmFsc2VGJy8lKnNlcGFyYXRvckdGPS8lKXN0cmV0Y2h5R0Y9LyUqc3ltbWV0cmljR0Y9LyUobGFyZ2VvcEdGPS8lLm1vdmFibGVsaW1pdHNHRj0vJSdhY2NlbnRHRj0vJSdsc3BhY2VHUSYwLjBlbUYnLyUncnNwYWNlR0ZMLUkjbW5HRiQ2JFEsNTEuMDkxMjk3MzBGJ0Y5LyUrZm9yZWdyb3VuZEdRKFswLDAsMF1GJy8lKXJlYWRvbmx5R0Y9Rjk=">JCIrSShIIjReISIp</Equation></Text-field>
</Output>
<Output><Text-field style="Maple Plot" layout="Maple Plot"><Plot height="300.0" type="two-dimensional" width="800.0" plot-scale="1.0" plot-xtrans="0.0" plot-ytrans="0.0" gridlinevisibility="5" legendvisibility="false">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</Output>
</Group>
</Section>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 3" layout="Heading 3">Cost function</Text-field></Title>
<Group hide-input="false" hide-output="false" labelreference="L65128" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal"><Font foreground="[153,51,102]">#cost function as the summation of errors between the desidered motion and the actual one</Font>
cost_fun :=1/W*add(subs(sol_kine,theta3(t)=delta__theta3[k],data,1/2*delta__w[k]^2*(delta__s[k]-s(t))^2),<Font foreground="[20,83,186]">k=1..np):
</Font></Text-field>
</Input>
</Group>
</Section>
<Group hide-input="false" hide-output="false" labelreference="L65006" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">Optimization:-NLPSolve(cost_fun,
{x1<=0.05,y1>=0.2,anc>=0.08,s__closed>=0},
initialpoint=param_not_opt,
L1=0..0.03,LP=0.1..0.15
):
param_opt := convert(%[2],set):<op(%)>;</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="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">LUknTWF0cml4RzYkJSpwcm90ZWN0ZWRHSShfc3lzbGliRzYiNiMvSSQlaWRHRiciNTFpOmpRL1luVz0=</Equation></Text-field>
</Output>
</Group>
<Group hide-output="false" labelreference="L94056" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">data_dae := data:
data := data union param_opt:</Text-field>
</Input>
</Group>
</Section>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 2" layout="Heading 2">Position analysis (analytic solution with Theta3(t) independent coordinate)</Text-field></Title>
<Group hide-input="false" hide-output="false" labelreference="L65134" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">plot_system(data);</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="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">LUkscGxvdF9zeXN0ZW1HNiI2IzwwL0kkSXozR0YkJCInQSlvJCEiKS9JI0wxR0YkXTNGN0EzMzAxMzZCQzhCNzcvSSNMRkdGJCQiJEIiISIkL0kkTEZiR0YkJCIjZkYzL0kjTFBHRiRdM0ZDMzMzMzMzMzMzMzMzMy9JJGFuY0dGJF0zRkI0N0FFMTQ3QUUxNDdCL0kiZ0dGJCQiJCIpKiEiIy9JI20zR0YkJCIld0dGMy9JJHBzaUdGJCwkKiYjIiIiIiM3RkxJI1BpRyUqcHJvdGVjdGVkR0ZMRkwvSSN4MUdGJF1CRjlDNUMwNTlGM0Q1RjUxL0kjeDRHRiQkIiUmNCMhIiUvSSN5MUdGJF0zRkM5OTk5OTk5OTk5OTlBL0kjeTRHRiQkIiQ0I0YzL0kqc19fY2xvc2VkR0YkXTNGOTZFRUQ0QUM4MEE2RjM=</Equation></Text-field>
</Output>
</Group>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 3" layout="Heading 3">Animation of the mechanism</Text-field></Title><Presentation-Block>
<Group view="code" hide-input="false" hide-output="false" labelreference="L64991" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">animate(draw_mech, [sol_kine, data, theta3(t) = q1_profile], T = 0..3*actuation_time);</Text-field>
</Input>
<Output><Text-field style="HyperlinkError" layout="HyperlinkError"><Hyperlink linktarget="http://www.maplesoft.com/support/help/errors/view.aspx?path=Error,%20(in%20plots%2Fanimate)%20plot%20command%20does%20not%20return%20a%20valid%20plot" hyperlink="true"><Font style="HyperlinkError">Error, (in plots/animate) plot command does not return a valid plot</Font></Hyperlink></Text-field>
</Output>
</Group></Presentation-Block>
</Section>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 3" layout="Heading 3">Plot position</Text-field></Title><Presentation-Block>
<Group view="code" hide-input="false" hide-output="false" labelreference="L64989" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">plot_position(data);</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEucGxvdF9wb3NpdGlvbkYnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1JI21vR0YkNi1RMCZBcHBseUZ1bmN0aW9uO0YnL0YzUSdub3JtYWxGJy8lJmZlbmNlR1EmZmFsc2VGJy8lKnNlcGFyYXRvckdGPS8lKXN0cmV0Y2h5R0Y9LyUqc3ltbWV0cmljR0Y9LyUobGFyZ2VvcEdGPS8lLm1vdmFibGVsaW1pdHNHRj0vJSdhY2NlbnRHRj0vJSdsc3BhY2VHUSYwLjBlbUYnLyUncnNwYWNlR0ZMLUkobWZlbmNlZEdGJDYkLUYjNiYtRlA2Ji1GIzZALUYjNigtRiw2JVEkSXozRidGL0YyLUY2Ni1RIj1GJ0Y5RjtGPkZARkJGREZGRkgvRktRLDAuMjc3Nzc3OGVtRicvRk5GW28tSSNtbkdGJDYkUSswLjAwMzY4ODIyRidGOS8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGPUY5LUY2Ni1RIixGJ0Y5RjsvRj9GMUZARkJGREZGRkhGSi9GTlEsMC4zMzMzMzMzZW1GJy1GIzYoLUYsNiVRI0wxRidGL0YyRmduLUZebzYkUTQwLjAwNjM5NjI5ODE2MTk0Nzk3RidGOUZhb0Zkb0Y5RmZvLUYjNigtRiw2JVEjTEZGJ0YvRjJGZ24tRl5vNiRRJjAuMTIzRidGOUZhb0Zkb0Y5RmZvLUYjNigtRiw2JVEkTEZiRidGL0YyRmduLUZebzYkUSYwLjA1OUYnRjlGYW9GZG9GOUZmby1GIzYoLUYsNiVRI0xQRidGL0YyRmduLUZebzYkUTIwLjE1MDAwMDAwMDAwMDAwMEYnRjlGYW9GZG9GOUZmby1GIzYoLUYsNiVRJGFuY0YnRi9GMkZnbi1GXm82JFEzMC4wODAwMDAwMDAwMDAwMDAwRidGOUZhb0Zkb0Y5RmZvLUYjNigtRiw2JVEiZ0YnRi9GMkZnbi1GXm82JFElOS44MUYnRjlGYW9GZG9GOUZmby1GIzYoLUYsNiVRI20zRidGL0YyRmduLUZebzYkUSYyLjg3NkYnRjlGYW9GZG9GOUZmby1GIzYoLUYsNiVRJyYjOTY4O0YnL0YwRj1GOUZnbi1GIzYoLUkmbWZyYWNHRiQ2KC1GXm82JFEiMUYnRjktRl5vNiRRIzEyRidGOS8lLmxpbmV0aGlja25lc3NHRmF0LyUrZGVub21hbGlnbkdRJ2NlbnRlckYnLyUpbnVtYWxpZ25HRml0LyUpYmV2ZWxsZWRHRj0tRjY2LVExJkludmlzaWJsZVRpbWVzO0YnRjlGO0Y+RkBGQkZERkZGSEZKRk0tRiM2JC1GLDYlUScmIzk2MDtGJ0Zpc0Y5RjlGYW9GZG9GOUZhb0Zkb0Y5RmZvLUYjNigtRiw2JVEjeDFGJ0YvRjJGZ24tRiM2JS1GNjYtUSomdW1pbnVzMDtGJ0Y5RjtGPkZARkJGREZGRkgvRktRLDAuMjIyMjIyMmVtRicvRk5GYXYtRl5vNiRRMzAuMDI3Njk0Nzg1OTIzMjE2MEYnRjlGOUZhb0Zkb0Y5RmZvLUYjNigtRiw2JVEjeDRGJ0YvRjJGZ24tRl5vNiRRJzAuMjA5NUYnRjlGYW9GZG9GOUZmby1GIzYoLUYsNiVRI3kxRidGL0YyRmduLUZebzYkUTIwLjIwMDAwMDAwMDAwMDAwMEYnRjlGYW9GZG9GOUZmby1GIzYoLUYsNiVRI3k0RidGL0YyRmduLUZebzYkUSYwLjIwOUYnRjlGYW9GZG9GOUZmby1GIzYoLUkqbWNvbXBsZXRlR0YkNiQtSSVtc3ViR0YkNiYtRiw2JVEic0YnRi9GMi1JKm12ZXJiYXRpbUdGJDYjUWZxNiMtSSNtaUc2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkc2IjYlUSdjbG9zZWQ2Ii8lJ2l0YWxpY0dRJXRydWU2Ii8lLG1hdGh2YXJpYW50R1EnaXRhbGljNiJGJy8lL3N1YnNjcmlwdHNoaWZ0R1EiMEYnL0krbXNlbWFudGljc0dGJFEnYXRvbWljRictRiM2Ji1GZHg2Ji1GLDYnRmh4Ri9GYW9GZG9GMi1GLDYnUSdjbG9zZWRGJ0YvRmFvRmRvRjJGXXlGYHlGYW9GZG9GOUZnbi1GXm82JFEzMC4wMjIzOTU0NDIwMzYzNjE2RidGOUZhb0Zkb0Y5RmFvRmRvRjlGOS8lJW9wZW5HUSJ8ZnJGJy8lJmNsb3NlR1EifGhyRidGYW9GZG9GOUY5RmFvRmRvRjk=">LUkucGxvdF9wb3NpdGlvbkc2IjYjPDAvSSRJejNHRiQkIidBKW8kISIpL0kjTDFHRiRdM0Y3QTMzMDEzNkJDOEI3Ny9JI0xGR0YkJCIkQiIhIiQvSSRMRmJHRiQkIiNmRjMvSSNMUEdGJF0zRkMzMzMzMzMzMzMzMzMzL0kkYW5jR0YkXTNGQjQ3QUUxNDdBRTE0N0IvSSJnR0YkJCIkIikqISIjL0kjbTNHRiQkIiV3R0YzL0kkcHNpR0YkLCQqJiMiIiIiIzdGTEkjUGlHJSpwcm90ZWN0ZWRHRkxGTC9JI3gxR0YkXUJGOUM1QzA1OUYzRDVGNTEvSSN4NEdGJCQiJSY0IyEiJS9JI3kxR0YkXTNGQzk5OTk5OTk5OTk5OUEvSSN5NEdGJCQiJDQjRjMvSSpzX19jbG9zZWRHRiRdM0Y5NkVFRDRBQzgwQTZGMw==</Equation></Text-field>
</Output>
</Group></Presentation-Block>
</Section>
</Section>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 2" layout="Heading 2">Velocity analysis</Text-field></Title>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 3" layout="Heading 3">Velocity ratio</Text-field></Title><Presentation-Block>
<Group view="code" hide-input="false" hide-output="false" labelreference="L252" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">JPhiD := jacobianF(Phi,q_D);
JPhiI := jacobianF(Phi, q_I);</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEmSlBoaURGJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRictSSNtb0dGJDYtUSp+JiM4Nzg4O35GJy9GM1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRj0vJSlzdHJldGNoeUdGPS8lKnN5bW1ldHJpY0dGPS8lKGxhcmdlb3BHRj0vJS5tb3ZhYmxlbGltaXRzR0Y9LyUnYWNjZW50R0Y9LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGTC1JKG1hY3Rpb25HRiQ2JS1JKG1mZW5jZWRHRiQ2KC1GIzYmLUknbXRhYmxlR0YkNjYtSSRtdHJHRiQ2Jy1JJG10ZEdGJDYoLUYjNiUtRjY2LVEqJnVtaW51czA7RidGOUY7Rj5GQEZCRkRGRkZIL0ZLUSwwLjIyMjIyMjJlbUYnL0ZORmBvLUkjbW5HRiQ2JFEiMUYnRjlGOS8lKXJvd2FsaWduR1EhRicvJSxjb2x1bW5hbGlnbkdGaG8vJStncm91cGFsaWduR0Zoby8lKHJvd3NwYW5HRmVvLyUrY29sdW1uc3BhbkdGZW8tRmhuNigtRiM2Ji1GLDYlUSNMUEYnRi9GMi1GNjYtUTEmSW52aXNpYmxlVGltZXM7RidGOUY7Rj5GQEZCRkRGRkZIRkpGTS1GIzYoLUYsNiVRJHNpbkYnL0YwRj1GOS1GNjYtUTAmQXBwbHlGdW5jdGlvbjtGJ0Y5RjtGPkZARkJGREZGRkhGSkZNLUZTNiQtRiM2Ji1GIzYoLUYsNiVRKCYjOTUyOzFGJ0YvRjJGYXEtRlM2JC1GIzYmLUYsNiVRInRGJ0YvRjIvJStmb3JlZ3JvdW5kR1EoWzAsMCwwXUYnLyUpcmVhZG9ubHlHRj1GOUY5RmRyRmdyRjlGZHJGZ3JGOUY5RmRyRmdyRjlGOUZmb0Zpb0ZbcEZdcEZfcEZmb0Zpb0ZbcC1GZW42Jy1GaG42KC1GY282JFEiMEYnRjlGZm9GaW9GW3BGXXBGX3AtRmhuNigtRiM2J0Zcby1GIzYmRmVwRmhwLUYjNigtRiw2JVEkY29zRidGYHFGOUZhcUZkcUZkckZnckY5RjlGZHJGZ3JGOUZmb0Zpb0ZbcEZdcEZfcEZmb0Zpb0ZbcC8lJmFsaWduR1ElYXhpc0YnL0Znb1EpYmFzZWxpbmVGJy9Gam9RJ2NlbnRlckYnL0ZccFEnfGZybGVmdHxockYnLyUvYWxpZ25tZW50c2NvcGVHRjEvJSxjb2x1bW53aWR0aEdRJWF1dG9GJy8lJndpZHRoR0ZodC8lK3Jvd3NwYWNpbmdHUSYxLjBleEYnLyUuY29sdW1uc3BhY2luZ0dRJjAuOGVtRicvJSlyb3dsaW5lc0dRJW5vbmVGJy8lLGNvbHVtbmxpbmVzR0ZjdS8lJmZyYW1lR0ZjdS8lLWZyYW1lc3BhY2luZ0dRLDAuNGVtfjAuNWV4RicvJSplcXVhbHJvd3NHRj0vJS1lcXVhbGNvbHVtbnNHRj0vJS1kaXNwbGF5c3R5bGVHRj0vJSVzaWRlR1EmcmlnaHRGJy8lMG1pbmxhYmVsc3BhY2luZ0dGYHVGZHJGZ3JGOUY5L0krbXNlbWFudGljc0dGJFEnTWF0cml4RicvJSVvcGVuR1EiW0YnLyUmY2xvc2VHUSJdRidGZnYvJSthY3Rpb250eXBlR1EucnRhYmxlYWRkcmVzc0YnLyUpcnRhYmxlaWRHUTUxODQ0Njc0NjA0Mzg2MzE1NjM1OEYnRmRyRmdyRjk=">LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEmSlBoaURGJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRictSSNtb0dGJDYtUSp+JiM4Nzg4O35GJy9GM1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRj0vJSlzdHJldGNoeUdGPS8lKnN5bW1ldHJpY0dGPS8lKGxhcmdlb3BHRj0vJS5tb3ZhYmxlbGltaXRzR0Y9LyUnYWNjZW50R0Y9LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGTC1JKG1hY3Rpb25HRiQ2JS1JKG1mZW5jZWRHRiQ2KC1GIzYmLUknbXRhYmxlR0YkNjYtSSRtdHJHRiQ2Jy1JJG10ZEdGJDYoLUYjNiUtRjY2LVEqJnVtaW51czA7RidGOUY7Rj5GQEZCRkRGRkZIL0ZLUSwwLjIyMjIyMjJlbUYnL0ZORmBvLUkjbW5HRiQ2JFEiMUYnRjlGOS8lKXJvd2FsaWduR1EhRicvJSxjb2x1bW5hbGlnbkdGaG8vJStncm91cGFsaWduR0Zoby8lKHJvd3NwYW5HRmVvLyUrY29sdW1uc3BhbkdGZW8tRmhuNigtRiM2Ji1GLDYlUSNMUEYnRi9GMi1GNjYtUTEmSW52aXNpYmxlVGltZXM7RidGOUY7Rj5GQEZCRkRGRkZIRkpGTS1GIzYoLUYsNiVRJHNpbkYnL0YwRj1GOS1GNjYtUTAmQXBwbHlGdW5jdGlvbjtGJ0Y5RjtGPkZARkJGREZGRkhGSkZNLUZTNiQtRiM2Ji1GIzYoLUYsNiVRKCYjOTUyOzFGJ0YvRjJGYXEtRlM2JC1GIzYmLUYsNiVRInRGJ0YvRjIvJStmb3JlZ3JvdW5kR1EoWzAsMCwwXUYnLyUpcmVhZG9ubHlHRj1GOUY5RmRyRmdyRjlGZHJGZ3JGOUY5RmRyRmdyRjlGOUZmb0Zpb0ZbcEZdcEZfcEZmb0Zpb0ZbcC1GZW42Jy1GaG42KC1GY282JFEiMEYnRjlGZm9GaW9GW3BGXXBGX3AtRmhuNigtRiM2J0Zcby1GIzYmRmVwRmhwLUYjNigtRiw2JVEkY29zRidGYHFGOUZhcUZkcUZkckZnckY5RjlGZHJGZ3JGOUZmb0Zpb0ZbcEZdcEZfcEZmb0Zpb0ZbcC8lJmFsaWduR1ElYXhpc0YnL0Znb1EpYmFzZWxpbmVGJy9Gam9RJ2NlbnRlckYnL0ZccFEnfGZybGVmdHxockYnLyUvYWxpZ25tZW50c2NvcGVHRjEvJSxjb2x1bW53aWR0aEdRJWF1dG9GJy8lJndpZHRoR0ZodC8lK3Jvd3NwYWNpbmdHUSYxLjBleEYnLyUuY29sdW1uc3BhY2luZ0dRJjAuOGVtRicvJSlyb3dsaW5lc0dRJW5vbmVGJy8lLGNvbHVtbmxpbmVzR0ZjdS8lJmZyYW1lR0ZjdS8lLWZyYW1lc3BhY2luZ0dRLDAuNGVtfjAuNWV4RicvJSplcXVhbHJvd3NHRj0vJS1lcXVhbGNvbHVtbnNHRj0vJS1kaXNwbGF5c3R5bGVHRj0vJSVzaWRlR1EmcmlnaHRGJy8lMG1pbmxhYmVsc3BhY2luZ0dGYHVGZHJGZ3JGOUY5L0krbXNlbWFudGljc0dGJFEnTWF0cml4RicvJSVvcGVuR1EiW0YnLyUmY2xvc2VHUSJdRidGZnYvJSthY3Rpb250eXBlR1EucnRhYmxlYWRkcmVzc0YnLyUpcnRhYmxlaWRHUTUxODQ0Njc0NjA0Mzg2MzE1NjM1OEYnRmRyRmdyRjk=</Equation></Text-field>
</Output>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEmSlBoaUlGJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRictSSNtb0dGJDYtUSp+JiM4Nzg4O35GJy9GM1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRj0vJSlzdHJldGNoeUdGPS8lKnN5bW1ldHJpY0dGPS8lKGxhcmdlb3BHRj0vJS5tb3ZhYmxlbGltaXRzR0Y9LyUnYWNjZW50R0Y9LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGTC1JKG1hY3Rpb25HRiQ2JS1JKG1mZW5jZWRHRiQ2KC1GIzYmLUknbXRhYmxlR0YkNjYtSSRtdHJHRiQ2Ji1JJG10ZEdGJDYoLUYjNictRjY2LVEqJnVtaW51czA7RidGOUY7Rj5GQEZCRkRGRkZIL0ZLUSwwLjIyMjIyMjJlbUYnL0ZORmBvLUYjNiYtRiM2KC1GLDYlUSRzaW5GJy9GMEY9RjktRjY2LVEwJkFwcGx5RnVuY3Rpb247RidGOUY7Rj5GQEZCRkRGRkZIRkpGTS1GUzYkLUYjNiYtRiM2KC1GLDYlUSgmIzk1MjszRidGL0YyRmpvLUZTNiQtRiM2Ji1GLDYlUSJ0RidGL0YyLyUrZm9yZWdyb3VuZEdRKFswLDAsMF1GJy8lKXJlYWRvbmx5R0Y9RjlGOUZdcUZgcUY5Rl1xRmBxRjlGOUZdcUZgcUY5LUY2Ni1RMSZJbnZpc2libGVUaW1lcztGJ0Y5RjtGPkZARkJGREZGRkhGSkZNLUYsNiVRJGFuY0YnRi9GMkY5Rl1xRmBxRjkvJSlyb3dhbGlnbkdRIUYnLyUsY29sdW1uYWxpZ25HRmpxLyUrZ3JvdXBhbGlnbkdGanEvJShyb3dzcGFuR1EiMUYnLyUrY29sdW1uc3BhbkdGYXJGaHFGW3JGXXItRmVuNiYtRmhuNigtRiM2Ji1GIzYoLUYsNiVRJGNvc0YnRmlvRjlGam9GXXBGXXFGYHFGOUZicUZlcUY5RmhxRltyRl1yRl9yRmJyRmhxRltyRl1yLyUmYWxpZ25HUSVheGlzRicvRmlxUSliYXNlbGluZUYnL0ZcclEnY2VudGVyRicvRl5yUSd8ZnJsZWZ0fGhyRicvJS9hbGlnbm1lbnRzY29wZUdGMS8lLGNvbHVtbndpZHRoR1ElYXV0b0YnLyUmd2lkdGhHRlx0LyUrcm93c3BhY2luZ0dRJjEuMGV4RicvJS5jb2x1bW5zcGFjaW5nR1EmMC44ZW1GJy8lKXJvd2xpbmVzR1Elbm9uZUYnLyUsY29sdW1ubGluZXNHRmd0LyUmZnJhbWVHRmd0LyUtZnJhbWVzcGFjaW5nR1EsMC40ZW1+MC41ZXhGJy8lKmVxdWFscm93c0dGPS8lLWVxdWFsY29sdW1uc0dGPS8lLWRpc3BsYXlzdHlsZUdGPS8lJXNpZGVHUSZyaWdodEYnLyUwbWlubGFiZWxzcGFjaW5nR0ZkdEZdcUZgcUY5RjkvSSttc2VtYW50aWNzR0YkUSdNYXRyaXhGJy8lJW9wZW5HUSJbRicvJSZjbG9zZUdRIl1GJ0ZqdS8lK2FjdGlvbnR5cGVHUS5ydGFibGVhZGRyZXNzRicvJSlydGFibGVpZEdRNTE4NDQ2NzQ2MDQzODYzMTU2NTEwRidGXXFGYHFGOQ==">LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEmSlBoaUlGJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRictSSNtb0dGJDYtUSp+JiM4Nzg4O35GJy9GM1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRj0vJSlzdHJldGNoeUdGPS8lKnN5bW1ldHJpY0dGPS8lKGxhcmdlb3BHRj0vJS5tb3ZhYmxlbGltaXRzR0Y9LyUnYWNjZW50R0Y9LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGTC1JKG1hY3Rpb25HRiQ2JS1JKG1mZW5jZWRHRiQ2KC1GIzYmLUknbXRhYmxlR0YkNjYtSSRtdHJHRiQ2Ji1JJG10ZEdGJDYoLUYjNictRjY2LVEqJnVtaW51czA7RidGOUY7Rj5GQEZCRkRGRkZIL0ZLUSwwLjIyMjIyMjJlbUYnL0ZORmBvLUYjNiYtRiM2KC1GLDYlUSRzaW5GJy9GMEY9RjktRjY2LVEwJkFwcGx5RnVuY3Rpb247RidGOUY7Rj5GQEZCRkRGRkZIRkpGTS1GUzYkLUYjNiYtRiM2KC1GLDYlUSgmIzk1MjszRidGL0YyRmpvLUZTNiQtRiM2Ji1GLDYlUSJ0RidGL0YyLyUrZm9yZWdyb3VuZEdRKFswLDAsMF1GJy8lKXJlYWRvbmx5R0Y9RjlGOUZdcUZgcUY5Rl1xRmBxRjlGOUZdcUZgcUY5LUY2Ni1RMSZJbnZpc2libGVUaW1lcztGJ0Y5RjtGPkZARkJGREZGRkhGSkZNLUYsNiVRJGFuY0YnRi9GMkY5Rl1xRmBxRjkvJSlyb3dhbGlnbkdRIUYnLyUsY29sdW1uYWxpZ25HRmpxLyUrZ3JvdXBhbGlnbkdGanEvJShyb3dzcGFuR1EiMUYnLyUrY29sdW1uc3BhbkdGYXJGaHFGW3JGXXItRmVuNiYtRmhuNigtRiM2Ji1GIzYoLUYsNiVRJGNvc0YnRmlvRjlGam9GXXBGXXFGYHFGOUZicUZlcUY5RmhxRltyRl1yRl9yRmJyRmhxRltyRl1yLyUmYWxpZ25HUSVheGlzRicvRmlxUSliYXNlbGluZUYnL0ZcclEnY2VudGVyRicvRl5yUSd8ZnJsZWZ0fGhyRicvJS9hbGlnbm1lbnRzY29wZUdGMS8lLGNvbHVtbndpZHRoR1ElYXV0b0YnLyUmd2lkdGhHRlx0LyUrcm93c3BhY2luZ0dRJjEuMGV4RicvJS5jb2x1bW5zcGFjaW5nR1EmMC44ZW1GJy8lKXJvd2xpbmVzR1Elbm9uZUYnLyUsY29sdW1ubGluZXNHRmd0LyUmZnJhbWVHRmd0LyUtZnJhbWVzcGFjaW5nR1EsMC40ZW1+MC41ZXhGJy8lKmVxdWFscm93c0dGPS8lLWVxdWFsY29sdW1uc0dGPS8lLWRpc3BsYXlzdHlsZUdGPS8lJXNpZGVHUSZyaWdodEYnLyUwbWlubGFiZWxzcGFjaW5nR0ZkdEZdcUZgcUY5RjkvSSttc2VtYW50aWNzR0YkUSdNYXRyaXhGJy8lJW9wZW5HUSJbRicvJSZjbG9zZUdRIl1GJ0ZqdS8lK2FjdGlvbnR5cGVHUS5ydGFibGVhZGRyZXNzRicvJSlydGFibGVpZEdRNTE4NDQ2NzQ2MDQzODYzMTU2NTEwRidGXXFGYHFGOQ==</Equation></Text-field>
</Output>
</Group>
<Group view="code" hide-input="false" hide-output="false" labelreference="L253" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">tau_mat := -MatrixInverse(JPhiD).JPhiI;</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="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">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</Equation></Text-field>
</Output>
</Group></Presentation-Block>
</Section>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 3" layout="Heading 3">Singular configuration</Text-field></Title><Presentation-Block>
<Group view="code" hide-input="false" hide-output="false" labelreference="L254" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">det_JPhiD := simplify(Determinant(JPhiD));</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEqZGV0X0pQaGlERicvJSdpdGFsaWNHUSV0cnVlRicvJSxtYXRodmFyaWFudEdRJ2l0YWxpY0YnLUkjbW9HRiQ2LVEqfiYjODc4ODt+RicvRjNRJ25vcm1hbEYnLyUmZmVuY2VHUSZmYWxzZUYnLyUqc2VwYXJhdG9yR0Y9LyUpc3RyZXRjaHlHRj0vJSpzeW1tZXRyaWNHRj0vJShsYXJnZW9wR0Y9LyUubW92YWJsZWxpbWl0c0dGPS8lJ2FjY2VudEdGPS8lJ2xzcGFjZUdRJjAuMGVtRicvJSdyc3BhY2VHRkwtRiM2Ji1GLDYlUSNMUEYnRi9GMi1GNjYtUTEmSW52aXNpYmxlVGltZXM7RidGOUY7Rj5GQEZCRkRGRkZIRkpGTS1GIzYoLUYsNiVRJGNvc0YnL0YwRj1GOS1GNjYtUTAmQXBwbHlGdW5jdGlvbjtGJ0Y5RjtGPkZARkJGREZGRkhGSkZNLUkobWZlbmNlZEdGJDYkLUYjNiYtRiM2KC1GLDYlUSgmIzk1MjsxRidGL0YyRmduLUZbbzYkLUYjNiYtRiw2JVEidEYnRi9GMi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGPUY5RjlGW3BGXnBGOUZbcEZecEY5RjlGW3BGXnBGOUY5RltwRl5wRjk=">KiZJI0xQRzYiIiIiLUkkY29zRzYkJSpwcm90ZWN0ZWRHSShfc3lzbGliR0YkNiMtSSd0aGV0YTFHRiQ2I0kidEdGKUYl</Equation></Text-field>
</Output>
</Group>
<Group view="code" labelreference="L255" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">Look for analytic singular configurations</Text-field>
</Input>
</Group>
<Group view="code" hide-input="false" hide-output="false" labelreference="L256" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">sol_SCs := solve(Phi union [det_JPhiD], q_vars): <%>;</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="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">LUknTWF0cml4RzYkJSpwcm90ZWN0ZWRHSShfc3lzbGliRzYiNiMvSSQlaWRHRiciNTlvOmpRL1luVz0=</Equation></Text-field>
</Output>
</Group>
<Group view="code" labelreference="L257" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">We check the singular configurations with the avaiable data</Text-field>
</Input>
</Group>
<Group view="code" hide-input="false" hide-output="false" labelreference="L258" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">allvalues(map2(subs,data, {sol_SCs})): <op(%)>;</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="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">LUknTWF0cml4RzYkJSpwcm90ZWN0ZWRHSShfc3lzbGliRzYiNiMvSSQlaWRHRiciNW1wOmpRL1luVz0=</Equation></Text-field>
</Output>
</Group></Presentation-Block>
</Section>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 3" layout="Heading 3">Plot velocity</Text-field></Title><Presentation-Block>
<Group view="code" labelreference="L58590" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">Plot velocity</Text-field>
</Input>
</Group></Presentation-Block><Presentation-Block>
<Group view="code" hide-input="false" hide-output="false" labelreference="L58609" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">diff(Phi, t):
sol_vel := op(solve(%, diff(q_D, t)));</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEoc29sX3ZlbEYnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1JI21vR0YkNi1RKn4mIzg3ODg7fkYnL0YzUSdub3JtYWxGJy8lJmZlbmNlR1EmZmFsc2VGJy8lKnNlcGFyYXRvckdGPS8lKXN0cmV0Y2h5R0Y9LyUqc3ltbWV0cmljR0Y9LyUobGFyZ2VvcEdGPS8lLm1vdmFibGVsaW1pdHNHRj0vJSdhY2NlbnRHRj0vJSdsc3BhY2VHUSYwLjBlbUYnLyUncnNwYWNlR0ZMLUYjNigtRiM2KC1GIzYoLUkmbWZyYWNHRiQ2KC1GIzYmLUY2Ni1RMCZEaWZmZXJlbnRpYWxEO0YnRjlGO0Y+RkBGQkZERkZGSEZKRk0vJStmb3JlZ3JvdW5kR1EoWzAsMCwwXUYnLyUpcmVhZG9ubHlHRj1GOS1GIzYmLUYjNidGWi1GLDYlUSJ0RidGL0YyRmduRmpuRjlGZ25Gam5GOS8lLmxpbmV0aGlja25lc3NHUSIxRicvJStkZW5vbWFsaWduR1EnY2VudGVyRicvJSludW1hbGlnbkdGaG8vJSliZXZlbGxlZEdGPS1GNjYtUTEmSW52aXNpYmxlVGltZXM7RidGOUY7Rj5GQEZCRkRGRkZIRkpGTS1GIzYoLUYsNiVRInNGJ0YvRjItRjY2LVEwJkFwcGx5RnVuY3Rpb247RidGOUY7Rj5GQEZCRkRGRkZIRkpGTS1JKG1mZW5jZWRHRiQ2JC1GIzYmRmBvRmduRmpuRjlGOUZnbkZqbkY5RmduRmpuRjktRjY2LVEiPUYnRjlGO0Y+RkBGQkZERkZGSC9GS1EsMC4yNzc3Nzc4ZW1GJy9GTkZhcS1GVjYoLUYjNiotRmlwNiQtRiM2KEZVRl1wLUYjNigtRiw2JVEoJiM5NTI7M0YnRi9GMkZlcEZocEZnbkZqbkY5RmduRmpuRjlGOUZdcC1GLDYlUSRhbmNGJ0YvRjJGXXAtRmlwNiQtRiM2Ji1GIzYmLUYjNigtRiw2JVEkY29zRicvRjBGPUY5RmVwLUZpcDYkLUYjNiZGW3JGZ25Gam5GOUY5RmduRmpuRjlGXXAtRiM2KC1GLDYlUSRzaW5GJ0Zec0Y5RmVwLUZpcDYkLUYjNiYtRiM2KC1GLDYlUSgmIzk1MjsxRidGL0YyRmVwRmhwRmduRmpuRjlGZ25Gam5GOUY5RmduRmpuRjlGOS1GNjYtUSgmbWludXM7RidGOUY7Rj5GQEZCRkRGRkZIL0ZLUSwwLjIyMjIyMjJlbUYnL0ZORmV0LUYjNiYtRiM2KEZlc0ZlcEZfc0ZnbkZqbkY5Rl1wLUYjNihGW3NGZXBGaHNGZ25Gam5GOUY5RjlGOUZnbkZqbkY5LUYjNiZGW3VGZ25Gam5GOUZjb0Zmb0Zpb0ZbcEZnbkZqbkY5LUY2Ni1RIixGJ0Y5RjsvRj9GMUZARkJGREZGRkhGSi9GTlEsMC4zMzMzMzMzZW1GJy1GIzYoLUYjNihGVUZdcEZcdEZnbkZqbkY5Rl1xLUZWNigtRiM2KkZncUZdcEZpckZdcEZgckZnbkZqbkY5LUYjNigtRiw2JVEjTFBGJ0YvRjJGXXBGW3VGZ25Gam5GOUZjb0Zmb0Zpb0ZbcEZnbkZqbkY5RmduRmpuRjlGZ25Gam5GOQ==">NiQvLUklZGlmZkclKnByb3RlY3RlZEc2JC1JInNHNiI2I0kidEdGJkYsKiotRiU2JC1JJ3RoZXRhM0dGKkYrRiwiIiJJJGFuY0dGKkYyLCYqJi1JJGNvc0c2JEYmSShfc3lzbGliR0YqNiNGMEYyLUkkc2luR0Y4NiMtSSd0aGV0YTFHRipGK0YyRjIqJi1GPEY6RjItRjdGPUYyISIiRjJGQkZDLy1GJTYkRj5GLCosSSNMUEdGKkZDRkJGQ0YuRjJGNkYyRjNGMg==</Equation></Text-field>
</Output>
</Group>
<Group view="code" hide-input="false" hide-output="false" labelreference="L58613" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">vel_theta1 := subs(sol_vel,diff(theta1(t),t));
vel_s := subs(sol_vel,diff(s(t),t));</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVErdmVsX3RoZXRhMUYnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1JI21vR0YkNi1RKn4mIzg3ODg7fkYnL0YzUSdub3JtYWxGJy8lJmZlbmNlR1EmZmFsc2VGJy8lKnNlcGFyYXRvckdGPS8lKXN0cmV0Y2h5R0Y9LyUqc3ltbWV0cmljR0Y9LyUobGFyZ2VvcEdGPS8lLm1vdmFibGVsaW1pdHNHRj0vJSdhY2NlbnRHRj0vJSdsc3BhY2VHUSYwLjBlbUYnLyUncnNwYWNlR0ZMLUkmbWZyYWNHRiQ2KC1GIzYqLUkobWZlbmNlZEdGJDYkLUYjNigtRlA2KC1GIzYmLUY2Ni1RMCZEaWZmZXJlbnRpYWxEO0YnRjlGO0Y+RkBGQkZERkZGSEZKRk0vJStmb3JlZ3JvdW5kR1EoWzAsMCwwXUYnLyUpcmVhZG9ubHlHRj1GOS1GIzYmLUYjNidGZ24tRiw2JVEidEYnRi9GMkZqbkZdb0Y5RmpuRl1vRjkvJS5saW5ldGhpY2tuZXNzR1EiMUYnLyUrZGVub21hbGlnbkdRJ2NlbnRlckYnLyUpbnVtYWxpZ25HRltwLyUpYmV2ZWxsZWRHRj0tRjY2LVExJkludmlzaWJsZVRpbWVzO0YnRjlGO0Y+RkBGQkZERkZGSEZKRk0tRiM2KC1GLDYlUSgmIzk1MjszRidGL0YyLUY2Ni1RMCZBcHBseUZ1bmN0aW9uO0YnRjlGO0Y+RkBGQkZERkZGSEZKRk0tRlU2JC1GIzYmRmNvRmpuRl1vRjlGOUZqbkZdb0Y5RmpuRl1vRjlGOUZgcC1GIzYoLUYsNiVRJGNvc0YnL0YwRj1GOUZocC1GVTYkLUYjNiZGY3BGam5GXW9GOUY5RmpuRl1vRjlGYHAtRiw2JVEkYW5jRidGL0YyRmpuRl1vRjktRiM2KC1GLDYlUSNMUEYnRi9GMkZgcC1GIzYoRmFxRmhwLUZVNiQtRiM2Ji1GIzYoLUYsNiVRKCYjOTUyOzFGJ0YvRjJGaHBGW3FGam5GXW9GOUZqbkZdb0Y5RjlGam5GXW9GOUZqbkZdb0Y5RmZvRmlvRlxwRl5wRmpuRl1vRjk=">KixJI0xQRzYiISIiLUkkY29zRzYkJSpwcm90ZWN0ZWRHSShfc3lzbGliR0YkNiMtSSd0aGV0YTFHRiQ2I0kidEdGKUYlLUklZGlmZkdGKTYkLUkndGhldGEzR0YkRi5GLyIiIi1GJzYjRjNGNUkkYW5jR0YkRjU=</Equation></Text-field>
</Output>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEmdmVsX3NGJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRictSSNtb0dGJDYtUSp+JiM4Nzg4O35GJy9GM1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRj0vJSlzdHJldGNoeUdGPS8lKnN5bW1ldHJpY0dGPS8lKGxhcmdlb3BHRj0vJS5tb3ZhYmxlbGltaXRzR0Y9LyUnYWNjZW50R0Y9LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGTC1JJm1mcmFjR0YkNigtRiM2Ki1JKG1mZW5jZWRHRiQ2JC1GIzYoLUZQNigtRiM2Ji1GNjYtUTAmRGlmZmVyZW50aWFsRDtGJ0Y5RjtGPkZARkJGREZGRkhGSkZNLyUrZm9yZWdyb3VuZEdRKFswLDAsMF1GJy8lKXJlYWRvbmx5R0Y9RjktRiM2Ji1GIzYnRmduLUYsNiVRInRGJ0YvRjJGam5GXW9GOUZqbkZdb0Y5LyUubGluZXRoaWNrbmVzc0dRIjFGJy8lK2Rlbm9tYWxpZ25HUSdjZW50ZXJGJy8lKW51bWFsaWduR0ZbcC8lKWJldmVsbGVkR0Y9LUY2Ni1RMSZJbnZpc2libGVUaW1lcztGJ0Y5RjtGPkZARkJGREZGRkhGSkZNLUYjNigtRiw2JVEoJiM5NTI7M0YnRi9GMi1GNjYtUTAmQXBwbHlGdW5jdGlvbjtGJ0Y5RjtGPkZARkJGREZGRkhGSkZNLUZVNiQtRiM2JkZjb0ZqbkZdb0Y5RjlGam5GXW9GOUZqbkZdb0Y5RjlGYHAtRiw2JVEkYW5jRidGL0YyRmBwLUZVNiQtRiM2Ji1GIzYmLUYjNigtRiw2JVEkY29zRicvRjBGPUY5RmhwLUZVNiQtRiM2JkZjcEZqbkZdb0Y5RjlGam5GXW9GOUZgcC1GIzYoLUYsNiVRJHNpbkYnRl1yRjlGaHAtRlU2JC1GIzYmLUYjNigtRiw2JVEoJiM5NTI7MUYnRi9GMkZocEZbcUZqbkZdb0Y5RmpuRl1vRjlGOUZqbkZdb0Y5RjktRjY2LVEoJm1pbnVzO0YnRjlGO0Y+RkBGQkZERkZGSC9GS1EsMC4yMjIyMjIyZW1GJy9GTkZkcy1GIzYmLUYjNihGZHJGaHBGXnJGam5GXW9GOUZgcC1GIzYoRmpxRmhwRmdyRmpuRl1vRjlGOUY5RjlGam5GXW9GOS1GIzYmRmpzRmpuRl1vRjlGZm9GaW9GXHBGXnBGam5GXW9GOQ==">KiotSSVkaWZmRyUqcHJvdGVjdGVkRzYkLUkndGhldGEzRzYiNiNJInRHRiVGKyIiIkkkYW5jR0YpRiwsJiomLUkkY29zRzYkRiVJKF9zeXNsaWJHRik2I0YnRiwtSSRzaW5HRjI2Iy1JJ3RoZXRhMUdGKUYqRixGLComLUY2RjRGLC1GMUY3RiwhIiJGLEY8Rj0=</Equation></Text-field>
</Output>
</Group>
<Group view="code" hide-input="false" hide-output="false" labelreference="L58612" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">theta_base := {theta3(t)=q1_profile, diff(theta3(t),t)=diff(q1_profile,T),diff(theta3(t),t,t)=diff(q1_profile,T,T)}:
</Text-field>
</Input>
</Group>
<Group view="code" hide-input="false" hide-output="false" labelreference="L58608" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">plot_velocity(data);
</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="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">LUkucGxvdF92ZWxvY2l0eUc2IjYjPDAvSSRJejNHRiQkIidBKW8kISIpL0kjTDFHRiRdM0Y3QTMzMDEzNkJDOEI3Ny9JI0xGR0YkJCIkQiIhIiQvSSRMRmJHRiQkIiNmRjMvSSNMUEdGJF0zRkMzMzMzMzMzMzMzMzMzL0kkYW5jR0YkXTNGQjQ3QUUxNDdBRTE0N0IvSSJnR0YkJCIkIikqISIjL0kjbTNHRiQkIiV3R0YzL0kkcHNpR0YkLCQqJiMiIiIiIzdGTEkjUGlHJSpwcm90ZWN0ZWRHRkxGTC9JI3gxR0YkXUJGOUM1QzA1OUYzRDVGNTEvSSN4NEdGJCQiJSY0IyEiJS9JI3kxR0YkXTNGQzk5OTk5OTk5OTk5OUEvSSN5NEdGJCQiJDQjRjMvSSpzX19jbG9zZWRHRiRdM0Y5NkVFRDRBQzgwQTZGMw==</Equation></Text-field>
</Output>
</Group></Presentation-Block>
</Section>
</Section>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 2" layout="Heading 2">Acceleration analysis </Text-field></Title><Presentation-Block>
<Group view="code" hide-input="false" hide-output="false" labelreference="L266" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">diff(Phi, t, t):
sol_acc := solve(%, diff(q_D, t, t)):
<%>;</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="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">LSZJJ1ZlY3Rvckc2JCUqcHJvdGVjdGVkR0koX3N5c2xpYkc2IjYjSSdjb2x1bW5HRig2Iy9JJCVpZEdGKCI1OUUqWydRL1luVz0=</Equation></Text-field>
</Output>
</Group>
<Group view="code" hide-input="false" hide-output="false" labelreference="L741" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">acc_theta1 := simplify(subs(sol_acc,diff(theta1(t),t,t)));
acc_s := simplify(subs(sol_acc,diff(s(t),t,t)));</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVErYWNjX3RoZXRhMUYnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1JI21vR0YkNi1RKn4mIzg3ODg7fkYnL0YzUSdub3JtYWxGJy8lJmZlbmNlR1EmZmFsc2VGJy8lKnNlcGFyYXRvckdGPS8lKXN0cmV0Y2h5R0Y9LyUqc3ltbWV0cmljR0Y9LyUobGFyZ2VvcEdGPS8lLm1vdmFibGVsaW1pdHNHRj0vJSdhY2NlbnRHRj0vJSdsc3BhY2VHUSYwLjBlbUYnLyUncnNwYWNlR0ZMLUkmbWZyYWNHRiQ2KC1GIzYmLUYjNigtRiM2KC1GLDYlUSNMUEYnRi9GMi1GNjYtUTEmSW52aXNpYmxlVGltZXM7RidGOUY7Rj5GQEZCRkRGRkZIRkpGTS1JJW1zdXBHRiQ2JS1JKG1mZW5jZWRHRiQ2JC1GIzYoLUZQNigtRiM2Ji1GNjYtUTAmRGlmZmVyZW50aWFsRDtGJ0Y5RjtGPkZARkJGREZGRkhGSkZNLyUrZm9yZWdyb3VuZEdRKFswLDAsMF1GJy8lKXJlYWRvbmx5R0Y9RjktRiM2Ji1GIzYnRmRvLUYsNiVRInRGJ0YvRjJGZ29Gam9GOUZnb0Zqb0Y5LyUubGluZXRoaWNrbmVzc0dRIjFGJy8lK2Rlbm9tYWxpZ25HUSdjZW50ZXJGJy8lKW51bWFsaWduR0ZocC8lKWJldmVsbGVkR0Y9RmVuLUYjNigtRiw2JVEoJiM5NTI7MUYnRi9GMi1GNjYtUTAmQXBwbHlGdW5jdGlvbjtGJ0Y5RjtGPkZARkJGREZGRkhGSkZNLUZcbzYkLUYjNiZGYHBGZ29Gam9GOUY5RmdvRmpvRjlGZ29Gam9GOUY5LUkjbW5HRiQ2JFEiMkYnRjkvJTFzdXBlcnNjcmlwdHNoaWZ0R1EiMEYnRmVuLUYjNigtRiw2JVEkc2luRicvRjBGPUY5RmJxLUZcbzYkLUYjNiZGXXFGZ29Gam9GOUY5RmdvRmpvRjlGOS1GNjYtUSgmbWludXM7RidGOUY7Rj5GQEZCRkRGRkZIL0ZLUSwwLjIyMjIyMjJlbUYnL0ZORl5zLUYjNigtRmluNiUtRlxvNiQtRiM2KEZgb0Zlbi1GIzYoLUYsNiVRKCYjOTUyOzNGJ0YvRjJGYnFGZXFGZ29Gam9GOUZnb0Zqb0Y5RjlGaXFGXXJGZW4tRiM2KEZickZicS1GXG82JC1GIzYmRmhzRmdvRmpvRjlGOUZnb0Zqb0Y5RmVuLUYsNiVRJGFuY0YnRi9GMkY5LUY2Ni1RIitGJ0Y5RjtGPkZARkJGREZGRkhGXXNGX3MtRiM2KC1GXG82JC1GIzYoLUZQNigtRiM2Ji1GaW42JUZkb0ZpcUZdckZnb0Zqb0Y5LUYjNiYtRiM2J0Zkby1GaW42JUZgcEZpcUZdckZnb0Zqb0Y5RmdvRmpvRjlGY3BGZnBGaXBGW3FGZW5GaHNGZ29Gam9GOUY5RmVuLUYjNigtRiw2JVEkY29zRidGZXJGOUZicUZfdEZnb0Zqb0Y5RmVuRmN0RjlGOUZnb0Zqb0Y5LUYjNihGWEZlbi1GIzYoRl12RmJxRmZyRmdvRmpvRjlGZ29Gam9GOUZjcEZmcEZpcEZbcUZnb0Zqb0Y5">KihJI0xQRzYiISIiLUkkY29zRzYkJSpwcm90ZWN0ZWRHSShfc3lzbGliR0YkNiMtSSd0aGV0YTFHRiQ2I0kidEdGKUYlLCgqKEYjIiIiKS1JJWRpZmZHRik2JEYsRi8iIiNGMi1JJHNpbkdGKEYrRjJGMiooKS1GNTYkLUkndGhldGEzR0YkRi5GL0Y3RjItRjk2I0Y+RjJJJGFuY0dGJEYyRiUqKC1GNTYkRjxGL0YyLUYnRkFGMkZCRjJGMkYy</Equation></Text-field>
</Output>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEmYWNjX3NGJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRictSSNtb0dGJDYtUSp+JiM4Nzg4O35GJy9GM1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRj0vJSlzdHJldGNoeUdGPS8lKnN5bW1ldHJpY0dGPS8lKGxhcmdlb3BHRj0vJS5tb3ZhYmxlbGltaXRzR0Y9LyUnYWNjZW50R0Y9LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGTC1JJm1mcmFjR0YkNigtRiM2Ji1GIzYpLUY2Ni1RKiZ1bWludXMwO0YnRjlGO0Y+RkBGQkZERkZGSC9GS1EsMC4yMjIyMjIyZW1GJy9GTkZaLUYjNigtRiw2JVEkYW5jRidGL0YyLUY2Ni1RMSZJbnZpc2libGVUaW1lcztGJ0Y5RjtGPkZARkJGREZGRkhGSkZNLUkobWZlbmNlZEdGJDYkLUYjNiYtRiM2Ji1GIzYoLUYsNiVRJHNpbkYnL0YwRj1GOS1GNjYtUTAmQXBwbHlGdW5jdGlvbjtGJ0Y5RjtGPkZARkJGREZGRkhGSkZNLUZfbzYkLUYjNiYtRiM2KC1GLDYlUSgmIzk1MjszRidGL0YyRltwLUZfbzYkLUYjNiYtRiw2JVEidEYnRi9GMi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGPUY5RjlGXnFGYXFGOUZecUZhcUY5RjlGXnFGYXFGOUZbby1GIzYoLUYsNiVRJGNvc0YnRmpvRjlGW3AtRl9vNiQtRiM2Ji1GIzYoLUYsNiVRKCYjOTUyOzFGJ0YvRjJGW3BGZ3BGXnFGYXFGOUZecUZhcUY5RjlGXnFGYXFGOUY5LUY2Ni1RKCZtaW51cztGJ0Y5RjtGPkZARkJGREZGRkhGWUZlbi1GIzYmLUYjNihGZXFGW3BGXnBGXnFGYXFGOUZbby1GIzYoRmdvRltwRmhxRl5xRmFxRjlGOUY5RjlGW28tRl9vNiQtRiM2KC1GUDYoLUYjNiYtSSVtc3VwR0YkNiUtRjY2LVEwJkRpZmZlcmVudGlhbEQ7RidGOUY7Rj5GQEZCRkRGRkZIRkpGTS1JI21uR0YkNiRRIjJGJ0Y5LyUxc3VwZXJzY3JpcHRzaGlmdEdRIjBGJ0ZecUZhcUY5LUYjNiYtRiM2J0Zlcy1GY3M2JUZbcUZoc0ZcdEZecUZhcUY5Rl5xRmFxRjkvJS5saW5ldGhpY2tuZXNzR1EiMUYnLyUrZGVub21hbGlnbkdRJ2NlbnRlckYnLyUpbnVtYWxpZ25HRmp0LyUpYmV2ZWxsZWRHRj1GW29GYnBGXnFGYXFGOUY5RjlGYXItRiM2KEZobkZbby1GX282JC1GIzYmLUYjNiZGZnJGW29GY3FGOS1GNjYtUSIrRidGOUY7Rj5GQEZCRkRGRkZIRllGZW4tRiM2JkZlb0Zbb0ZockY5RjlGOUZbby1GY3M2JS1GX282JC1GIzYoLUZQNigtRiM2JkZlc0ZecUZhcUY5LUYjNiYtRiM2J0Zlc0ZbcUZecUZhcUY5Rl5xRmFxRjlGZXRGaHRGW3VGXXVGW29GYnBGXnFGYXFGOUY5RmhzRlx0RjlGZ3UtRiM2Ji1GLDYlUSNMUEYnRi9GMkZbby1GY3M2JS1GX282JC1GIzYoRmJ2RltvRlxyRl5xRmFxRjlGOUZoc0ZcdEY5RjlGXnFGYXFGOS1GIzYmRmNxRl5xRmFxRjlGZXRGaHRGW3VGXXVGXnFGYXFGOQ==">KiYsKCooSSRhbmNHNiIiIiIsJiomLUkkc2luRzYkJSpwcm90ZWN0ZWRHSShfc3lzbGliR0YmNiMtSSd0aGV0YTNHRiY2I0kidEdGLUYnLUkkY29zR0YsNiMtSSd0aGV0YTFHRiZGMkYnRicqJi1GNUYvRictRitGNkYnISIiRictSSVkaWZmR0YtNiQtRj42JEYwRjNGM0YnRjwqKEYlRicsJiomRjpGJ0Y0RidGJyomRipGJ0Y7RidGJ0YnKUZAIiIjRidGPComSSNMUEdGJkYnKS1GPjYkRjdGM0ZHRidGJ0YnRjRGPA==</Equation></Text-field>
</Output>
</Group>
<Group view="code" hide-input="false" labelreference="L85340" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">plot_acceleration(data);</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="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">LUkycGxvdF9hY2NlbGVyYXRpb25HNiI2IzwwL0kkSXozR0YkJCInQSlvJCEiKS9JI0wxR0YkXTNGN0EzMzAxMzZCQzhCNzcvSSNMRkdGJCQiJEIiISIkL0kkTEZiR0YkJCIjZkYzL0kjTFBHRiRdM0ZDMzMzMzMzMzMzMzMzMy9JJGFuY0dGJF0zRkI0N0FFMTQ3QUUxNDdCL0kiZ0dGJCQiJCIpKiEiIy9JI20zR0YkJCIld0dGMy9JJHBzaUdGJCwkKiYjIiIiIiM3RkxJI1BpRyUqcHJvdGVjdGVkR0ZMRkwvSSN4MUdGJF1CRjlDNUMwNTlGM0Q1RjUxL0kjeDRHRiQkIiUmNCMhIiUvSSN5MUdGJF0zRkM5OTk5OTk5OTk5OTlBL0kjeTRHRiQkIiQ0I0YzL0kqc19fY2xvc2VkR0YkXTNGOTZFRUQ0QUM4MEE2RjM=</Equation></Text-field>
</Output>
</Group></Presentation-Block>
</Section>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 2" layout="Heading 2">Initial conditions from kinematics</Text-field></Title><Presentation-Block>
<Group hide-input="false" hide-output="false" labelreference="L74045" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">dof0 := theta3(t) = flap_closed;</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVElZG9mMEYnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1JI21vR0YkNi1RKn4mIzg3ODg7fkYnL0YzUSdub3JtYWxGJy8lJmZlbmNlR1EmZmFsc2VGJy8lKnNlcGFyYXRvckdGPS8lKXN0cmV0Y2h5R0Y9LyUqc3ltbWV0cmljR0Y9LyUobGFyZ2VvcEdGPS8lLm1vdmFibGVsaW1pdHNHRj0vJSdhY2NlbnRHRj0vJSdsc3BhY2VHUSYwLjBlbUYnLyUncnNwYWNlR0ZMLUYjNigtRiM2KC1GLDYlUSgmIzk1MjszRidGL0YyLUY2Ni1RMCZBcHBseUZ1bmN0aW9uO0YnRjlGO0Y+RkBGQkZERkZGSEZKRk0tSShtZmVuY2VkR0YkNiQtRiM2Ji1GLDYlUSJ0RidGL0YyLyUrZm9yZWdyb3VuZEdRKFswLDAsMF1GJy8lKXJlYWRvbmx5R0Y9RjlGOUZbb0Zeb0Y5LUY2Ni1RIj1GJ0Y5RjtGPkZARkJGREZGRkgvRktRLDAuMjc3Nzc3OGVtRicvRk5GZG8tSSNtbkdGJDYkUSwzLjc5NjA5MTEyM0YnRjlGW29GXm9GOUZbb0Zeb0Y5">Ly1JJ3RoZXRhM0c2IjYjSSJ0RyUqcHJvdGVjdGVkRyQiK0I2NCd6JCEiKg==</Equation></Text-field>
</Output>
</Group>
<Group hide-input="false" hide-output="false" labelreference="L74044" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">vel_dof0 := diff(theta3(t),t) = 0;</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEpdmVsX2RvZjBGJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRictSSNtb0dGJDYtUSp+JiM4Nzg4O35GJy9GM1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRj0vJSlzdHJldGNoeUdGPS8lKnN5bW1ldHJpY0dGPS8lKGxhcmdlb3BHRj0vJS5tb3ZhYmxlbGltaXRzR0Y9LyUnYWNjZW50R0Y9LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGTC1GIzYoLUYjNigtSSZtZnJhY0dGJDYoLUYjNiYtRjY2LVEwJkRpZmZlcmVudGlhbEQ7RidGOUY7Rj5GQEZCRkRGRkZIRkpGTS8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGPUY5LUYjNiYtRiM2J0ZYLUYsNiVRInRGJ0YvRjJGZW5GaG5GOUZlbkZobkY5LyUubGluZXRoaWNrbmVzc0dRIjFGJy8lK2Rlbm9tYWxpZ25HUSdjZW50ZXJGJy8lKW51bWFsaWduR0Zmby8lKWJldmVsbGVkR0Y9LUY2Ni1RMSZJbnZpc2libGVUaW1lcztGJ0Y5RjtGPkZARkJGREZGRkhGSkZNLUYjNigtRiw2JVEoJiM5NTI7M0YnRi9GMi1GNjYtUTAmQXBwbHlGdW5jdGlvbjtGJ0Y5RjtGPkZARkJGREZGRkhGSkZNLUkobWZlbmNlZEdGJDYkLUYjNiZGXm9GZW5GaG5GOUY5RmVuRmhuRjlGZW5GaG5GOS1GNjYtUSI9RidGOUY7Rj5GQEZCRkRGRkZIL0ZLUSwwLjI3Nzc3NzhlbUYnL0ZORl9xLUkjbW5HRiQ2JFEiMEYnRjlGZW5GaG5GOUZlbkZobkY5">Ly1JJWRpZmZHJSpwcm90ZWN0ZWRHNiQtSSd0aGV0YTNHNiI2I0kidEdGJUYrIiIh</Equation></Text-field>
</Output>
</Group>
<Group hide-input="false" hide-output="false" labelreference="L74043" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">qD0 := op(evalf(subs(dof0, data, sol_kine))): <%>;</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUkobWFjdGlvbkc2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYlLUkobWZlbmNlZEdGJDYoLUklbXJvd0dGJDYmLUknbXRhYmxlR0YkNjYtSSRtdHJHRiQ2Ji1JJG10ZEdGJDYoLUYvNigtRi82KC1JI21pR0YkNiVRInNGJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRictSSNtb0dGJDYtUTAmQXBwbHlGdW5jdGlvbjtGJy9GRlEnbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRlAvJSlzdHJldGNoeUdGUC8lKnN5bW1ldHJpY0dGUC8lKGxhcmdlb3BHRlAvJS5tb3ZhYmxlbGltaXRzR0ZQLyUnYWNjZW50R0ZQLyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGaW4tRiw2JC1GLzYmLUY/NiVRInRGJ0ZCRkUvJStmb3JlZ3JvdW5kR1EoWzAsMCwwXUYnLyUpcmVhZG9ubHlHRlBGTEZMRmNvRmZvRkwtRkk2LVEiPUYnRkxGTkZRRlNGVUZXRllGZW4vRmhuUSwwLjI3Nzc3NzhlbUYnL0Zbb0ZccC1JI21uR0YkNiRRMzAuMDIyNjc5NDc3NzAyMDEyNUYnRkxGY29GZm9GTC8lKXJvd2FsaWduR1EhRicvJSxjb2x1bW5hbGlnbkdGZHAvJStncm91cGFsaWduR0ZkcC8lKHJvd3NwYW5HUSIxRicvJStjb2x1bW5zcGFuR0ZbcUZicEZlcEZncC1GNTYmLUY4NigtRi82KC1GLzYoLUY/NiVRKCYjOTUyOzFGJ0ZCRkVGSEZcb0Zjb0Zmb0ZMRmhvLUYvNiUtRkk2LVEqJnVtaW51czA7RidGTEZORlFGU0ZVRldGWUZlbi9GaG5RLDAuMjIyMjIyMmVtRicvRltvRl9yLUZfcDYkUS0wLjI2Nzg2NDU2NzJGJ0ZMRkxGY29GZm9GTEZicEZlcEZncEZpcEZccUZicEZlcEZncC8lJmFsaWduR1ElYXhpc0YnL0ZjcFEpYmFzZWxpbmVGJy9GZnBRJ2NlbnRlckYnL0ZocFEnfGZybGVmdHxockYnLyUvYWxpZ25tZW50c2NvcGVHRkQvJSxjb2x1bW53aWR0aEdRJWF1dG9GJy8lJndpZHRoR0Zhcy8lK3Jvd3NwYWNpbmdHUSYxLjBleEYnLyUuY29sdW1uc3BhY2luZ0dRJjAuOGVtRicvJSlyb3dsaW5lc0dRJW5vbmVGJy8lLGNvbHVtbmxpbmVzR0ZcdC8lJmZyYW1lR0ZcdC8lLWZyYW1lc3BhY2luZ0dRLDAuNGVtfjAuNWV4RicvJSplcXVhbHJvd3NHRlAvJS1lcXVhbGNvbHVtbnNHRlAvJS1kaXNwbGF5c3R5bGVHRlAvJSVzaWRlR1EmcmlnaHRGJy8lMG1pbmxhYmVsc3BhY2luZ0dGaXNGY29GZm9GTEZML0krbXNlbWFudGljc0dGJFEnTWF0cml4RicvJSVvcGVuR1EiW0YnLyUmY2xvc2VHUSJdRidGX3UvJSthY3Rpb250eXBlR1EucnRhYmxlYWRkcmVzc0YnLyUpcnRhYmxlaWRHUTUxODQ0Njc0NjA0Mzg2MzE1NzU3NEYn">LUknTWF0cml4RzYkJSpwcm90ZWN0ZWRHSShfc3lzbGliRzYiNiMvSSQlaWRHRiciNXV2OmpRL1luVz0=</Equation></Text-field>
</Output>
</Group>
<Group hide-input="false" hide-output="false" labelreference="L74047" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">vel_qD0 := op(subs(vel_dof0, dof0, data, [sol_vel])): <%>;</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUkobWFjdGlvbkc2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYlLUkobWZlbmNlZEdGJDYoLUklbXJvd0dGJDYmLUknbXRhYmxlR0YkNjYtSSRtdHJHRiQ2Ji1JJG10ZEdGJDYoLUYvNigtRi82KC1JJm1mcmFjR0YkNigtRi82Ji1JI21vR0YkNi1RMCZEaWZmZXJlbnRpYWxEO0YnLyUsbWF0aHZhcmlhbnRHUSdub3JtYWxGJy8lJmZlbmNlR1EmZmFsc2VGJy8lKnNlcGFyYXRvckdGTC8lKXN0cmV0Y2h5R0ZMLyUqc3ltbWV0cmljR0ZMLyUobGFyZ2VvcEdGTC8lLm1vdmFibGVsaW1pdHNHRkwvJSdhY2NlbnRHRkwvJSdsc3BhY2VHUSYwLjBlbUYnLyUncnNwYWNlR0Zlbi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGTEZHLUYvNiYtRi82J0ZDLUkjbWlHRiQ2JVEidEYnLyUnaXRhbGljR1EldHJ1ZUYnL0ZIUSdpdGFsaWNGJ0ZobkZbb0ZHRmhuRltvRkcvJS5saW5ldGhpY2tuZXNzR1EiMUYnLyUrZGVub21hbGlnbkdRJ2NlbnRlckYnLyUpbnVtYWxpZ25HRl9wLyUpYmV2ZWxsZWRHRkwtRkQ2LVExJkludmlzaWJsZVRpbWVzO0YnRkdGSkZNRk9GUUZTRlVGV0ZZRmZuLUYvNigtRmJvNiVRInNGJ0Zlb0Zoby1GRDYtUTAmQXBwbHlGdW5jdGlvbjtGJ0ZHRkpGTUZPRlFGU0ZVRldGWUZmbi1GLDYkLUYvNiZGYW9GaG5GW29GR0ZHRmhuRltvRkdGaG5GW29GRy1GRDYtUSI9RidGR0ZKRk1GT0ZRRlNGVUZXL0ZaUSwwLjI3Nzc3NzhlbUYnL0ZnbkZncS1JI21uR0YkNiRRIjBGJ0ZHRmhuRltvRkcvJSlyb3dhbGlnbkdRIUYnLyUsY29sdW1uYWxpZ25HRl9yLyUrZ3JvdXBhbGlnbkdGX3IvJShyb3dzcGFuR0ZccC8lK2NvbHVtbnNwYW5HRlxwRl1yRmByRmJyLUY1NiYtRjg2KC1GLzYoLUYvNihGPkZkcC1GLzYoLUZibzYlUSgmIzk1MjsxRidGZW9GaG9GXHFGX3FGaG5GW29GR0ZobkZbb0ZHRmNxRmlxRmhuRltvRkdGXXJGYHJGYnJGZHJGZnJGXXJGYHJGYnIvJSZhbGlnbkdRJWF4aXNGJy9GXnJRKWJhc2VsaW5lRicvRmFyRl9wL0ZjclEnfGZybGVmdHxockYnLyUvYWxpZ25tZW50c2NvcGVHRmdvLyUsY29sdW1ud2lkdGhHUSVhdXRvRicvJSZ3aWR0aEdGYXQvJStyb3dzcGFjaW5nR1EmMS4wZXhGJy8lLmNvbHVtbnNwYWNpbmdHUSYwLjhlbUYnLyUpcm93bGluZXNHUSVub25lRicvJSxjb2x1bW5saW5lc0dGXHUvJSZmcmFtZUdGXHUvJS1mcmFtZXNwYWNpbmdHUSwwLjRlbX4wLjVleEYnLyUqZXF1YWxyb3dzR0ZMLyUtZXF1YWxjb2x1bW5zR0ZMLyUtZGlzcGxheXN0eWxlR0ZMLyUlc2lkZUdRJnJpZ2h0RicvJTBtaW5sYWJlbHNwYWNpbmdHRml0RmhuRltvRkdGRy9JK21zZW1hbnRpY3NHRiRRJ01hdHJpeEYnLyUlb3BlbkdRIltGJy8lJmNsb3NlR1EiXUYnRl92LyUrYWN0aW9udHlwZUdRLnJ0YWJsZWFkZHJlc3NGJy8lKXJ0YWJsZWlkR1E1MTg0NDY3NDYwNDM4NjMxNTc3MjZGJw==">LUknTWF0cml4RzYkJSpwcm90ZWN0ZWRHSShfc3lzbGliRzYiNiMvSSQlaWRHRiciNUV4OmpRL1luVz0=</Equation></Text-field>
</Output>
</Group>
<Group hide-input="false" hide-output="false" labelreference="L74046" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">ics0 := [dof0, vel_dof0, qD0, vel_qD0];</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVElaWNzMEYnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1JI21vR0YkNi1RKn4mIzg3ODg7fkYnL0YzUSdub3JtYWxGJy8lJmZlbmNlR1EmZmFsc2VGJy8lKnNlcGFyYXRvckdGPS8lKXN0cmV0Y2h5R0Y9LyUqc3ltbWV0cmljR0Y9LyUobGFyZ2VvcEdGPS8lLm1vdmFibGVsaW1pdHNHRj0vJSdhY2NlbnRHRj0vJSdsc3BhY2VHUSYwLjBlbUYnLyUncnNwYWNlR0ZMLUkobWZlbmNlZEdGJDYmLUYjNjAtRiM2KC1GIzYoLUYsNiVRKCYjOTUyOzNGJ0YvRjItRjY2LVEwJkFwcGx5RnVuY3Rpb247RidGOUY7Rj5GQEZCRkRGRkZIRkpGTS1GUDYkLUYjNiYtRiw2JVEidEYnRi9GMi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGPUY5RjlGX29GYm9GOS1GNjYtUSI9RidGOUY7Rj5GQEZCRkRGRkZIL0ZLUSwwLjI3Nzc3NzhlbUYnL0ZORmhvLUkjbW5HRiQ2JFEsMy43OTYwOTExMjNGJ0Y5Rl9vRmJvRjktRjY2LVEiLEYnRjlGOy9GP0YxRkBGQkZERkZGSEZKL0ZOUSwwLjMzMzMzMzNlbUYnLUYjNigtRiM2KC1JJm1mcmFjR0YkNigtRiM2Ji1GNjYtUTAmRGlmZmVyZW50aWFsRDtGJ0Y5RjtGPkZARkJGREZGRkhGSkZNRl9vRmJvRjktRiM2Ji1GIzYnRl1xRlxvRl9vRmJvRjlGX29GYm9GOS8lLmxpbmV0aGlja25lc3NHUSIxRicvJStkZW5vbWFsaWduR1EnY2VudGVyRicvJSludW1hbGlnbkdGaXEvJSliZXZlbGxlZEdGPS1GNjYtUTEmSW52aXNpYmxlVGltZXM7RidGOUY7Rj5GQEZCRkRGRkZIRkpGTUZWRl9vRmJvRjlGZG8tRltwNiRRIjBGJ0Y5Rl9vRmJvRjlGXnAtRiM2KC1GIzYoLUYsNiVRInNGJ0YvRjJGZW5GaG5GX29GYm9GOUZkby1GW3A2JFEzMC4wMjI2Nzk0Nzc3MDIwMTI1RidGOUZfb0Zib0Y5Rl5wLUYjNigtRiM2KC1GLDYlUSgmIzk1MjsxRidGL0YyRmVuRmhuRl9vRmJvRjlGZG8tRiM2JS1GNjYtUSomdW1pbnVzMDtGJ0Y5RjtGPkZARkJGREZGRkgvRktRLDAuMjIyMjIyMmVtRicvRk5GW3QtRltwNiRRLTAuMjY3ODY0NTY3MkYnRjlGOUZfb0Zib0Y5Rl5wLUYjNigtRiM2KEZocEZeckZmckZfb0Zib0Y5RmRvRmFyRl9vRmJvRjlGXnAtRiM2KC1GIzYoRmhwRl5yRmBzRl9vRmJvRjlGZG9GYXJGX29GYm9GOUZfb0Zib0Y5RjkvJSVvcGVuR1EiW0YnLyUmY2xvc2VHUSJdRidGX29GYm9GOQ==">NygvLUkndGhldGEzRzYiNiNJInRHJSpwcm90ZWN0ZWRHJCIrQjY0J3okISIqLy1JJWRpZmZHRik2JEYkRigiIiEvLUkic0dGJkYnXTNGOTczOTQ5RkMxNEZGMzgvLUkndGhldGExR0YmRickIStzY2t5RSEjNS8tRi82JEYzRihGMS8tRi82JEY3RihGMQ==</Equation></Text-field>
</Output>
</Group></Presentation-Block>
</Section>
</Section>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 1" layout="Heading 1">Dynamic analysis</Text-field></Title>
<Group hide-input="false" hide-output="false" labelreference="L71240" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">After the initial kinematic optimization, masses and intertias can be estimated</Text-field><Text-field prompt="> " style="Maple Input" layout="Normal">{m1 = subs(data,r=0.010,4510*(s__closed+L1)*r^2*Pi)};
{Iz1 = subs(data,%,r=0.010,1/12*m1*((s__closed+L1)^2+(2*r)^2))};
data := data union % union %%:
</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUkobWZlbmNlZEc2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYmLUklbXJvd0dGJDYmLUYsNigtSSNtaUdGJDYlUSNtMUYnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1JI21vR0YkNi1RIj1GJy9GOFEnbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRkIvJSlzdHJldGNoeUdGQi8lKnN5bW1ldHJpY0dGQi8lKGxhcmdlb3BHRkIvJS5tb3ZhYmxlbGltaXRzR0ZCLyUnYWNjZW50R0ZCLyUnbHNwYWNlR1EsMC4yNzc3Nzc4ZW1GJy8lJ3JzcGFjZUdGUS1JI21uR0YkNiRRMzAuMDQwNzkzODE1Njk1ODAxNkYnRj4vJStmb3JlZ3JvdW5kR1EoWzAsMCwwXUYnLyUpcmVhZG9ubHlHRkJGPkZYRmVuRj5GPi8lJW9wZW5HUSJ8ZnJGJy8lJmNsb3NlR1EifGhyRic=">PCMvSSNtMUc2Il0zRkE0RTJFRDUwOTVDNTE1</Equation></Text-field>
</Output>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUkobWZlbmNlZEc2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYmLUklbXJvd0dGJDYmLUYsNigtSSNtaUdGJDYlUSRJejFGJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRictSSNtb0dGJDYtUSI9RicvRjhRJ25vcm1hbEYnLyUmZmVuY2VHUSZmYWxzZUYnLyUqc2VwYXJhdG9yR0ZCLyUpc3RyZXRjaHlHRkIvJSpzeW1tZXRyaWNHRkIvJShsYXJnZW9wR0ZCLyUubW92YWJsZWxpbWl0c0dGQi8lJ2FjY2VudEdGQi8lJ2xzcGFjZUdRLDAuMjc3Nzc3OGVtRicvJSdyc3BhY2VHRlEtSSNtbkdGJDYkUTcwLjAwMDAwNDE3Nzg0NTI3NDk3NDQyRidGPi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGQkY+RlhGZW5GPkY+LyUlb3BlbkdRInxmckYnLyUmY2xvc2VHUSJ8aHJGJw==">PCMvSSRJejFHNiJdM0VEMTg1RUQ1RDVFNTg3QQ==</Equation></Text-field>
</Output>
</Group>
<Group hide-input="false" hide-output="false" labelreference="L70386" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">if massless = 0 then
{m2 = subs(data,sp=0.010,l=0.030,4510*LP*sp*l)};
{Iz2 = subs(data,%,l=0.030,1/12*m2*(LP^2+l^2))};
else
{m2 = 0}:
{Iz2 = 0}:
end if;
data := data union % union %%:</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUkobWZlbmNlZEc2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYmLUklbXJvd0dGJDYmLUYsNigtSSNtaUdGJDYlUSNtMkYnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1JI21vR0YkNi1RIj1GJy9GOFEnbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRkIvJSlzdHJldGNoeUdGQi8lKnN5bW1ldHJpY0dGQi8lKGxhcmdlb3BHRkIvJS5tb3ZhYmxlbGltaXRzR0ZCLyUnYWNjZW50R0ZCLyUnbHNwYWNlR1EsMC4yNzc3Nzc4ZW1GJy8lJ3JzcGFjZUdGUS1JI21uR0YkNiRRIjBGJ0Y+LyUrZm9yZWdyb3VuZEdRKFswLDAsMF1GJy8lKXJlYWRvbmx5R0ZCRj5GWEZlbkY+Rj4vJSVvcGVuR1EifGZyRicvJSZjbG9zZUdRInxockYn">PCMvSSNtMkc2IiIiIQ==</Equation></Text-field>
</Output>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUkobWZlbmNlZEc2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYmLUklbXJvd0dGJDYmLUYsNigtSSNtaUdGJDYlUSRJejJGJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRictSSNtb0dGJDYtUSI9RicvRjhRJ25vcm1hbEYnLyUmZmVuY2VHUSZmYWxzZUYnLyUqc2VwYXJhdG9yR0ZCLyUpc3RyZXRjaHlHRkIvJSpzeW1tZXRyaWNHRkIvJShsYXJnZW9wR0ZCLyUubW92YWJsZWxpbWl0c0dGQi8lJ2FjY2VudEdGQi8lJ2xzcGFjZUdRLDAuMjc3Nzc3OGVtRicvJSdyc3BhY2VHRlEtSSNtbkdGJDYkUSIwRidGPi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGQkY+RlhGZW5GPkY+LyUlb3BlbkdRInxmckYnLyUmY2xvc2VHUSJ8aHJGJw==">PCMvSSRJejJHNiIiIiE=</Equation></Text-field>
</Output>
</Group>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 2" layout="Heading 2">Definitions of the body</Text-field></Title><Presentation-Block>
<Group view="code" labelreference="L59316" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">Definition of the actuator as body</Text-field>
</Input>
</Group>
<Group view="code" hide-input="false" hide-output="false" labelreference="L59313" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">actuator := make_BODY(Gact,m1,0,0,Iz1); </Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="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">LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEpYWN0dWF0b3JGJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRictSSNtb0dGJDYtUSp+JiM4Nzg4O35GJy9GM1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRj0vJSlzdHJldGNoeUdGPS8lKnN5bW1ldHJpY0dGPS8lKGxhcmdlb3BHRj0vJS5tb3ZhYmxlbGltaXRzR0Y9LyUnYWNjZW50R0Y9LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGTC1GIzYnLUYsNiVRJnRhYmxlRidGL0YyLUkobWZlbmNlZEdGJDYkLUYjNiYtRlU2Ji1GIzYsLUYjNigtRiw2JVElbWFzc0YnRi9GMi1GNjYtUSI9RidGOUY7Rj5GQEZCRkRGRkZIL0ZLUSwwLjI3Nzc3NzhlbUYnL0ZORmBvLUYsNiVRI20xRidGL0YyLyUrZm9yZWdyb3VuZEdRKFswLDAsMF1GJy8lKXJlYWRvbmx5R0Y9RjktRjY2LVEiLEYnRjlGOy9GP0YxRkBGQkZERkZGSEZKL0ZOUSwwLjMzMzMzMzNlbUYnLUYjNigtRiw2JVEkb2JqRidGL0YyRlxvLUYsNiVRJUJPRFlGJ0YvRjJGZW9GaG9GOUZqby1GIzYoLUYsNiVRKGluZXJ0aWFGJ0YvRjJGXG8tSShtYWN0aW9uR0YkNiUtRlU2KC1GIzYmLUknbXRhYmxlR0YkNjctSSRtdHJHRiQ2KC1JJG10ZEdGJDYoLUkjbW5HRiQ2JFEiMEYnRjkvJSlyb3dhbGlnbkdRIUYnLyUsY29sdW1uYWxpZ25HRmNyLyUrZ3JvdXBhbGlnbkdGY3IvJShyb3dzcGFuR1EiMUYnLyUrY29sdW1uc3BhbkdGanJGanFGanFGYXJGZHJGZnJGZ3EtRmhxNihGanFGanEtRltyNigtRiw2JVEkSXoxRidGL0YyRmFyRmRyRmZyRmhyRltzRmFyRmRyRmZyLyUmYWxpZ25HUSVheGlzRicvRmJyUSliYXNlbGluZUYnL0ZlclEnY2VudGVyRicvRmdyUSd8ZnJsZWZ0fGhyRicvJS9hbGlnbm1lbnRzY29wZUdGMS8lLGNvbHVtbndpZHRoR1ElYXV0b0YnLyUmd2lkdGhHRmF0LyUrcm93c3BhY2luZ0dRJjEuMGV4RicvJS5jb2x1bW5zcGFjaW5nR1EmMC44ZW1GJy8lKXJvd2xpbmVzR1Elbm9uZUYnLyUsY29sdW1ubGluZXNHRlx1LyUmZnJhbWVHRlx1LyUtZnJhbWVzcGFjaW5nR1EsMC40ZW1+MC41ZXhGJy8lKmVxdWFscm93c0dGPS8lLWVxdWFsY29sdW1uc0dGPS8lLWRpc3BsYXlzdHlsZUdGPS8lJXNpZGVHUSZyaWdodEYnLyUwbWlubGFiZWxzcGFjaW5nR0ZpdEZlb0Zob0Y5RjkvSSttc2VtYW50aWNzR0YkUSdNYXRyaXhGJy8lJW9wZW5HUSJbRicvJSZjbG9zZUdRIl1GJ0Zfdi8lK2FjdGlvbnR5cGVHUS5ydGFibGVhZGRyZXNzRicvJSlydGFibGVpZEdRNTE4NDQ2NzQ2MDQzODYzMTU3ODc4RidGZW9GaG9GOUZqby1GIzYoLUYsNiVRJmZyYW1lRidGL0YyRlxvLUZecTYlLUZVNigtRiM2Ji1GZXE2OC1GaHE2KS1GW3I2KC1GXnI2JEZqckY5RmFyRmRyRmZyRmhyRltzRmpxRmpxLUZbcjYoLUYjNiYtRiw2JVEjeDFGJ0YvRjItRjY2LVEiK0YnRjlGO0Y+RkBGQkZERkZGSC9GS1EsMC4yMjIyMjIyZW1GJy9GTkZceS1GIzYoLUYsNiVRInNGJ0YvRjItRjY2LVEwJkFwcGx5RnVuY3Rpb247RidGOUY7Rj5GQEZCRkRGRkZIRkpGTS1GVTYkLUYjNiYtRiw2JVEidEYnRi9GMkZlb0Zob0Y5RjlGZW9GaG9GOUY5RmFyRmRyRmZyRmhyRltzRmFyRmRyRmZyLUZocTYpRmpxRl14RmpxLUZbcjYoLUYsNiVRI3kxRidGL0YyRmFyRmRyRmZyRmhyRltzRmFyRmRyRmZyLUZocTYpRmpxRmpxRl14RmpxRmFyRmRyRmZyLUZocTYpRmpxRmpxRmpxRl14RmFyRmRyRmZyRmRzRmdzRmlzRlt0Rl10Rl90RmJ0RmR0Rmd0Rmp0Rl11Rl91RmF1RmR1RmZ1Rmh1Rmp1Rl12RmVvRmhvRjlGOUZfdkZidkZldkZfdkZodi9GXHdRNTE4NDQ2NzQ2MDQzODYzMTU4MDMwRidGZW9GaG9GOUZlb0Zob0Y5RjlGYnZGZXZGZW9GaG9GOUY5RmVvRmhvRjlGZW9GaG9GOQ==</Equation></Text-field>
</Output>
</Group>
<Group view="code" labelreference="L59317" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">Definition of the pod as body</Text-field>
</Input>
</Group>
<Group view="code" hide-input="false" hide-output="false" labelreference="L59314" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">pod := make_BODY(Gpod,m2,0,0,Iz2);</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="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">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</Equation></Text-field>
</Output>
</Group>
<Group view="code" labelreference="L59318" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">Definition of the flap as body</Text-field>
</Input>
</Group>
<Group view="code" hide-input="false" hide-output="false" labelreference="L59315" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">flap := make_BODY(Gflap,m3,0,0,Iz3);</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="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">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</Equation></Text-field>
</Output>
</Group></Presentation-Block>
</Section>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 2" layout="Heading 2">Definitions of the forces</Text-field></Title>
<Group labelreference="L63497" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">Definition of the gravity as vector</Text-field>
</Input>
</Group>
<Group hide-input="false" hide-output="false" labelreference="L70740" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">_gravity := make_VECTOR(ground,0,-g,0);
</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="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">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</Equation></Text-field>
</Output>
</Group>
<Group hide-input="false" hide-output="false" labelreference="L70742" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">Definition of body weights as vectors</Text-field><Text-field prompt="> " style="Maple Input" layout="Normal">w__1 := make_VECTOR(ground,0,-m1*g,0):
w__2 := make_VECTOR(ground,0,-m2*g,0):
w__3 := make_VECTOR(ground,0,-m3*g,0):
</Text-field>
</Input>
</Group>
<Group hide-input="false" hide-output="false" labelreference="L63495" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">Definition of the external forces (directions and magnitudes)</Text-field><Text-field prompt="> " style="Maple Input" layout="Normal">F__act := make_VECTOR(ground, act(t), 0, 0):
F__drag := make_VECTOR(ground, p_drag, 0, 0):
F__down := make_VECTOR(ground, 0, p_down, 0):
</Text-field>
</Input>
</Group>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 3" layout="Heading 3">External forces</Text-field></Title><Presentation-Block>
<Group view="code" labelreference="L72852" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">Actuation force</Text-field>
</Input>
</Group>
<Group view="code" hide-input="false" hide-output="false" labelreference="L72855" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">actuation_force := make_FORCE(F__act, Gact, actuator);</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="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">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</Equation></Text-field>
</Output>
</Group>
<Group view="code" labelreference="L72851" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">Drag force</Text-field>
</Input>
</Group>
<Group view="code" hide-input="false" hide-output="false" labelreference="L72853" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">drag_force := make_FORCE(F__drag, Gflap, flap);</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="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">LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVErZHJhZ19mb3JjZUYnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1JI21vR0YkNi1RKn4mIzg3ODg7fkYnL0YzUSdub3JtYWxGJy8lJmZlbmNlR1EmZmFsc2VGJy8lKnNlcGFyYXRvckdGPS8lKXN0cmV0Y2h5R0Y9LyUqc3ltbWV0cmljR0Y9LyUobGFyZ2VvcEdGPS8lLm1vdmFibGVsaW1pdHNHRj0vJSdhY2NlbnRHRj0vJSdsc3BhY2VHUSYwLjBlbUYnLyUncnNwYWNlR0ZMLUYjNictRiw2JVEmdGFibGVGJ0YvRjItSShtZmVuY2VkR0YkNiQtRiM2Ji1GVTYmLUYjNi4tRiM2KC1GLDYlUSRvYmpGJ0YvRjItRjY2LVEiPUYnRjlGO0Y+RkBGQkZERkZGSC9GS1EsMC4yNzc3Nzc4ZW1GJy9GTkZgby1GLDYlUSZGT1JDRUYnRi9GMi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGPUY5LUY2Ni1RIixGJ0Y5RjsvRj9GMUZARkJGREZGRkhGSi9GTlEsMC4zMzMzMzMzZW1GJy1GIzYoLUYsNiVRJmNvbXBzRidGL0YyRlxvLUkobWFjdGlvbkdGJDYlLUZVNigtRiM2Ji1JJ210YWJsZUdGJDY4LUkkbXRyR0YkNiYtSSRtdGRHRiQ2KC1GLDYlUSdwX2RyYWdGJ0YvRjIvJSlyb3dhbGlnbkdRIUYnLyUsY29sdW1uYWxpZ25HRmpxLyUrZ3JvdXBhbGlnbkdGanEvJShyb3dzcGFuR1EiMUYnLyUrY29sdW1uc3BhbkdGYXJGaHFGW3JGXXItRmBxNiYtRmNxNigtSSNtbkdGJDYkUSIwRidGOUZocUZbckZdckZfckZickZocUZbckZdckZkckZkci8lJmFsaWduR1ElYXhpc0YnL0ZpcVEpYmFzZWxpbmVGJy9GXHJRJ2NlbnRlckYnL0ZeclEnfGZybGVmdHxockYnLyUvYWxpZ25tZW50c2NvcGVHRjEvJSxjb2x1bW53aWR0aEdRJWF1dG9GJy8lJndpZHRoR0Zpcy8lK3Jvd3NwYWNpbmdHUSYxLjBleEYnLyUuY29sdW1uc3BhY2luZ0dRJjAuOGVtRicvJSlyb3dsaW5lc0dRJW5vbmVGJy8lLGNvbHVtbmxpbmVzR0ZkdC8lJmZyYW1lR0ZkdC8lLWZyYW1lc3BhY2luZ0dRLDAuNGVtfjAuNWV4RicvJSplcXVhbHJvd3NHRj0vJS1lcXVhbGNvbHVtbnNHRj0vJS1kaXNwbGF5c3R5bGVHRj0vJSVzaWRlR1EmcmlnaHRGJy8lMG1pbmxhYmVsc3BhY2luZ0dGYXRGZW9GaG9GOUY5L0krbXNlbWFudGljc0dGJFEnTWF0cml4RicvJSVvcGVuR1EiW0YnLyUmY2xvc2VHUSJdRidGZ3UvJSthY3Rpb250eXBlR1EucnRhYmxlYWRkcmVzc0YnLyUpcnRhYmxlaWRHUTUxODQ0Njc0NjA0MzkwMTg2MjE5MEYnRmVvRmhvRjlGam8tRiM2KC1GLDYlUShhcHBsaWVkRidGL0YyRlxvLUYsNiVRJkdmbGFwRidGL0YyRmVvRmhvRjlGam8tRiM2KC1GLDYlUSZmcmFtZUYnRi9GMkZcby1GZnA2JS1GVTYoLUYjNiYtRl1xNjgtRmBxNiktRmNxNigtRmlyNiRGYXJGOUZocUZbckZdckZfckZickZmckZmckZmckZocUZbckZdci1GYHE2KUZmckZdeEZmckZmckZocUZbckZdci1GYHE2KUZmckZmckZdeEZmckZocUZbckZdci1GYHE2KUZmckZmckZmckZdeEZocUZbckZdckZcc0Zfcy9GXHJGZHVGY3NGZXNGZ3NGanNGXHRGX3RGYnRGZXRGZ3RGaXRGXHVGXnVGYHVGYnVGZXVGZW9GaG9GOUY5Rmd1Rmp1Rl12Rmd1RmB2L0ZkdlE1MTg0NDY3NDYwNDM5MDE4NjE4ODZGJ0Zlb0Zob0Y5RmpvLUYjNigtRiw2JVEnYWN0aW5nRidGL0YyRlxvLUYsNiVRJWZsYXBGJ0YvRjJGZW9GaG9GOUZlb0Zob0Y5RjlGanVGXXZGZW9GaG9GOUY5RmVvRmhvRjlGZW9GaG9GOQ==</Equation></Text-field>
</Output>
</Group>
<Group view="code" labelreference="L72850" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">Down force</Text-field>
</Input>
</Group>
<Group view="code" hide-input="false" hide-output="false" labelreference="L72849" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">down_force := make_FORCE(F__down, Gflap, flap);</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="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">LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVErZG93bl9mb3JjZUYnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1JI21vR0YkNi1RKn4mIzg3ODg7fkYnL0YzUSdub3JtYWxGJy8lJmZlbmNlR1EmZmFsc2VGJy8lKnNlcGFyYXRvckdGPS8lKXN0cmV0Y2h5R0Y9LyUqc3ltbWV0cmljR0Y9LyUobGFyZ2VvcEdGPS8lLm1vdmFibGVsaW1pdHNHRj0vJSdhY2NlbnRHRj0vJSdsc3BhY2VHUSYwLjBlbUYnLyUncnNwYWNlR0ZMLUYjNictRiw2JVEmdGFibGVGJ0YvRjItSShtZmVuY2VkR0YkNiQtRiM2Ji1GVTYmLUYjNi4tRiM2KC1GLDYlUSRvYmpGJ0YvRjItRjY2LVEiPUYnRjlGO0Y+RkBGQkZERkZGSC9GS1EsMC4yNzc3Nzc4ZW1GJy9GTkZgby1GLDYlUSZGT1JDRUYnRi9GMi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGPUY5LUY2Ni1RIixGJ0Y5RjsvRj9GMUZARkJGREZGRkhGSi9GTlEsMC4zMzMzMzMzZW1GJy1GIzYoLUYsNiVRJmNvbXBzRidGL0YyRlxvLUkobWFjdGlvbkdGJDYlLUZVNigtRiM2Ji1JJ210YWJsZUdGJDY4LUkkbXRyR0YkNiYtSSRtdGRHRiQ2KC1JI21uR0YkNiRRIjBGJ0Y5LyUpcm93YWxpZ25HUSFGJy8lLGNvbHVtbmFsaWduR0Zbci8lK2dyb3VwYWxpZ25HRltyLyUocm93c3BhbkdRIjFGJy8lK2NvbHVtbnNwYW5HRmJyRmlxRlxyRl5yLUZgcTYmLUZjcTYoLUYsNiVRJ3BfZG93bkYnRi9GMkZpcUZcckZeckZgckZjckZpcUZcckZeckZfcUZfcS8lJmFsaWduR1ElYXhpc0YnL0ZqcVEpYmFzZWxpbmVGJy9GXXJRJ2NlbnRlckYnL0ZfclEnfGZybGVmdHxockYnLyUvYWxpZ25tZW50c2NvcGVHRjEvJSxjb2x1bW53aWR0aEdRJWF1dG9GJy8lJndpZHRoR0Zpcy8lK3Jvd3NwYWNpbmdHUSYxLjBleEYnLyUuY29sdW1uc3BhY2luZ0dRJjAuOGVtRicvJSlyb3dsaW5lc0dRJW5vbmVGJy8lLGNvbHVtbmxpbmVzR0ZkdC8lJmZyYW1lR0ZkdC8lLWZyYW1lc3BhY2luZ0dRLDAuNGVtfjAuNWV4RicvJSplcXVhbHJvd3NHRj0vJS1lcXVhbGNvbHVtbnNHRj0vJS1kaXNwbGF5c3R5bGVHRj0vJSVzaWRlR1EmcmlnaHRGJy8lMG1pbmxhYmVsc3BhY2luZ0dGYXRGZW9GaG9GOUY5L0krbXNlbWFudGljc0dGJFEnTWF0cml4RicvJSVvcGVuR1EiW0YnLyUmY2xvc2VHUSJdRidGZ3UvJSthY3Rpb250eXBlR1EucnRhYmxlYWRkcmVzc0YnLyUpcnRhYmxlaWRHUTUxODQ0Njc0NjA0MzkwMTg2MjM0MkYnRmVvRmhvRjlGam8tRiM2KC1GLDYlUShhcHBsaWVkRidGL0YyRlxvLUYsNiVRJkdmbGFwRidGL0YyRmVvRmhvRjlGam8tRiM2KC1GLDYlUSZmcmFtZUYnRi9GMkZcby1GZnA2JS1GVTYoLUYjNiYtRl1xNjgtRmBxNiktRmNxNigtRmZxNiRGYnJGOUZpcUZcckZeckZgckZjckZicUZicUZicUZpcUZcckZeci1GYHE2KUZicUZdeEZicUZicUZpcUZcckZeci1GYHE2KUZicUZicUZdeEZicUZpcUZcckZeci1GYHE2KUZicUZicUZicUZdeEZpcUZcckZeckZcc0Zfcy9GXXJGZHVGY3NGZXNGZ3NGanNGXHRGX3RGYnRGZXRGZ3RGaXRGXHVGXnVGYHVGYnVGZXVGZW9GaG9GOUY5Rmd1Rmp1Rl12Rmd1RmB2L0ZkdlE1MTg0NDY3NDYwNDM5MDE4NjE4ODZGJ0Zlb0Zob0Y5RmpvLUYjNigtRiw2JVEnYWN0aW5nRidGL0YyRlxvLUYsNiVRJWZsYXBGJ0YvRjJGZW9GaG9GOUZlb0Zob0Y5RjlGanVGXXZGZW9GaG9GOUY5RmVvRmhvRjlGZW9GaG9GOQ==</Equation></Text-field>
</Output>
</Group></Presentation-Block>
</Section>
</Section>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 2" layout="Heading 2">Principle of Virtual Work</Text-field></Title>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 3" layout="Heading 3">Virtual Displacements</Text-field></Title>
<Group hide-input="false" hide-output="false" labelreference="L66878" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">nu__Gact := collect(subs(sol_vel, velocity(Gact )),{diff});
nu__Gpod := collect(subs(sol_vel, velocity(Gpod )),{diff});
nu__Gflap := collect(subs(sol_vel, velocity(Gflap)),{diff});</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="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">LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkqbWNvbXBsZXRlR0YkNiQtSSVtc3ViR0YkNiYtSSNtaUdGJDYlUScmIzk1NztGJy8lJ2l0YWxpY0dRJmZhbHNlRicvJSxtYXRodmFyaWFudEdRJ25vcm1hbEYnLUkqbXZlcmJhdGltR0YkNiNRZHE2Iy1JI21pRzYjL0krbW9kdWxlbmFtZUc2IkksVHlwZXNldHRpbmdHSShfc3lzbGliRzYiNiVRJUdhY3Q2Ii8lJ2l0YWxpY0dRJXRydWU2Ii8lLG1hdGh2YXJpYW50R1EnaXRhbGljNiJGJy8lL3N1YnNjcmlwdHNoaWZ0R1EiMEYnL0krbXNlbWFudGljc0dGJFEnYXRvbWljRictRiM2Ji1GLzYmLUYyNidGNEY1LyUrZm9yZWdyb3VuZEdRKFswLDAsMF1GJy8lKXJlYWRvbmx5R0Y3RjgtRjI2J1ElR2FjdEYnL0Y2USV0cnVlRidGS0ZOL0Y5USdpdGFsaWNGJ0Y/RkJGS0ZORjgtSSNtb0dGJDYtUSp+JiM4Nzg4O35GJ0Y4LyUmZmVuY2VHRjcvJSpzZXBhcmF0b3JHRjcvJSlzdHJldGNoeUdGNy8lKnN5bW1ldHJpY0dGNy8lKGxhcmdlb3BHRjcvJS5tb3ZhYmxlbGltaXRzR0Y3LyUnYWNjZW50R0Y3LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGZW8tRiM2Jy1GMjYlUSZ0YWJsZUYnRlNGVS1JKG1mZW5jZWRHRiQ2JC1GIzYmLUZecDYmLUYjNiotRiM2KC1GMjYlUSRvYmpGJ0ZTRlUtRlg2LVEiPUYnRjhGZW5GZ25GaW5GW29GXW9GX29GYW8vRmRvUSwwLjI3Nzc3NzhlbUYnL0Znb0ZfcS1GMjYlUSdWRUNUT1JGJ0ZTRlVGS0ZORjgtRlg2LVEiLEYnRjhGZW4vRmhuRlRGaW5GW29GXW9GX29GYW9GY28vRmdvUSwwLjMzMzMzMzNlbUYnLUYjNigtRjI2JVEmY29tcHNGJ0ZTRlVGW3EtSShtYWN0aW9uR0YkNiUtRl5wNigtRiM2Ji1JJ210YWJsZUdGJDY4LUkkbXRyR0YkNiYtSSRtdGRHRiQ2KC1JJm1mcmFjR0YkNigtRiM2Ki1GXnA2JC1GIzYoLUZgczYoLUYjNiYtRlg2LVEwJkRpZmZlcmVudGlhbEQ7RidGOEZlbkZnbkZpbkZbb0Zdb0Zfb0Zhb0Zjb0Zmb0ZLRk5GOC1GIzYmLUYjNidGXHQtRjI2JVEidEYnRlNGVUZLRk5GOEZLRk5GOC8lLmxpbmV0aGlja25lc3NHUSIxRicvJStkZW5vbWFsaWduR1EnY2VudGVyRicvJSludW1hbGlnbkdGW3UvJSliZXZlbGxlZEdGNy1GWDYtUTEmSW52aXNpYmxlVGltZXM7RidGOEZlbkZnbkZpbkZbb0Zdb0Zfb0Zhb0Zjb0Zmb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</Output>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" 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</Equation></Text-field>
</Output>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="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">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</Equation></Text-field>
</Output>
</Group>
<Group hide-input="false" hide-output="false" labelreference="L66882" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">omega__Gact := collect(subs(sol_vel, angular_velocity(RF1)), {diff} );
omega__Gpod := collect(subs(sol_vel, angular_velocity(RF2)), {diff} );
omega__Gflap := collect(subs(sol_vel, angular_velocity(RF3_CoM)), {diff} );</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="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">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</Output>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="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">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</Equation></Text-field>
</Output>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="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">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</Equation></Text-field>
</Output>
</Group>
</Section>
<Section collapsed="false" isCollapsible="true" drawButton="true" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title><Text-field style="Heading 3" layout="Heading 3">Static Condition with PVW principle</Text-field></Title><Presentation-Block>
<Group view="presentation" inline-output="false" labelreference="L66887" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal">For any arbitrary virtual displacement, the sum of the work must be zero (here NBSymba cannot help us, we need to apply our own method)</Text-field>
</Input>
</Group></Presentation-Block>
<Group hide-input="false" hide-output="false" labelreference="L66891" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">VW := dot_prod(w__1,nu__Gact)+
dot_prod(w__2,nu__Gpod)+
dot_prod(w__3,nu__Gflap)+
dot_prod(F__act,nu__Gact)+
dot_prod(F__drag,nu__Gflap)+
dot_prod(F__down,nu__Gflap);</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="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">LCwqLiMiIiIiIiNGJUkiZ0c2IkYlSSNtMkdGKEYlLUklZGlmZkclKnByb3RlY3RlZEc2JC1JJ3RoZXRhM0dGKDYjSSJ0R0YsRjFGJS1JJGNvc0c2JEYsSShfc3lzbGliR0YoNiNGLkYlSSRhbmNHRihGJSEiIiosRidGJUkjbTNHRihGJUYqRiUtRjM2IywmRi5GJUkkcHNpR0YoRiVGJUkkTEZiR0YoRiVGOCosLUkkYWN0R0YoRjBGJUYqRiVGN0YlLCYqJkYyRiUtSSRzaW5HRjQ2Iy1JJ3RoZXRhMUdGKEYwRiVGJSomLUZGRjZGJS1GM0ZHRiVGOEYlRkxGOEYlKipJJ3BfZHJhZ0dGKEYlRipGJS1GRkY8RiVGP0YlRjgqKkkncF9kb3duR0YoRiVGKkYlRjtGJUY/RiVGJQ==</Equation></Text-field>
</Output>
</Group>
<Group hide-input="false" hide-output="false" labelreference="L66886" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field style="Text" layout="Normal"></Text-field><Text-field prompt="> " style="Maple Input" layout="Normal"><Font foreground="[153,51,102]">#Solution of the Virtual Work Principle with respect to the actuation force</Font>
sol_act := solve(VW,{act(t)});</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEoc29sX2FjdEYnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1JI21vR0YkNi1RKn4mIzg3ODg7fkYnL0YzUSdub3JtYWxGJy8lJmZlbmNlR1EmZmFsc2VGJy8lKnNlcGFyYXRvckdGPS8lKXN0cmV0Y2h5R0Y9LyUqc3ltbWV0cmljR0Y9LyUobGFyZ2VvcEdGPS8lLm1vdmFibGVsaW1pdHNHRj0vJSdhY2NlbnRHRj0vJSdsc3BhY2VHUSYwLjBlbUYnLyUncnNwYWNlR0ZMLUkobWZlbmNlZEdGJDYmLUYjNiYtRiM2KC1GIzYoLUYsNiVRJGFjdEYnRi9GMi1GNjYtUTAmQXBwbHlGdW5jdGlvbjtGJ0Y5RjtGPkZARkJGREZGRkhGSkZNLUZQNiQtRiM2Ji1GLDYlUSJ0RidGL0YyLyUrZm9yZWdyb3VuZEdRKFswLDAsMF1GJy8lKXJlYWRvbmx5R0Y9RjlGOUZfb0Zib0Y5LUY2Ni1RIj1GJ0Y5RjtGPkZARkJGREZGRkgvRktRLDAuMjc3Nzc3OGVtRicvRk5GaG8tRiM2KC1JJm1mcmFjR0YkNigtSSNtbkdGJDYkUSIxRidGOS1GYHA2JFEiMkYnRjkvJS5saW5ldGhpY2tuZXNzR0ZicC8lK2Rlbm9tYWxpZ25HUSdjZW50ZXJGJy8lKW51bWFsaWduR0ZqcC8lKWJldmVsbGVkR0Y9LUY2Ni1RMSZJbnZpc2libGVUaW1lcztGJ0Y5RjtGPkZARkJGREZGRkhGSkZNLUZdcDYoLUYjNigtRiM2KC1GLDYlUSRjb3NGJy9GMEY9RjlGZW4tRlA2JC1GIzYmLUYjNigtRiw2JVEoJiM5NTI7MUYnRi9GMkZlbkZobkZfb0Zib0Y5Rl9vRmJvRjlGOUZfb0Zib0Y5Rl9xLUZQNiQtRiM2Ki1GIzYsRmNwRl9xLUYsNiVRJExGYkYnRi9GMkZfcS1GIzYoRmhxRmVuLUZQNiQtRiM2Ji1GIzYmLUYjNigtRiw2JVEoJiM5NTI7M0YnRi9GMkZlbkZobkZfb0Zib0Y5LUY2Ni1RIitGJ0Y5RjtGPkZARkJGREZGRkgvRktRLDAuMjIyMjIyMmVtRicvRk5GX3QtRiw2JVEnJiM5Njg7RidGW3JGOUY5Rl9vRmJvRjlGOUZfb0Zib0Y5Rl9xLUYsNiVRImdGJ0YvRjJGX3EtRiw2JVEjbTNGJ0YvRjJGOUZbdC1GIzYqLUYjNihGaHFGZW4tRlA2JC1GIzYmRmZzRl9vRmJvRjlGOUZfb0Zib0Y5Rl9xLUYsNiVRJGFuY0YnRi9GMkZfcUZkdEZfcS1GLDYlUSNtMkYnRi9GMkY5LUY2Ni1RKCZtaW51cztGJ0Y5RjtGPkZARkJGREZGRkhGXnRGYHQtRiM2KkZjcEZfcUZbc0ZfcUZec0ZfcS1GLDYlUSdwX2Rvd25GJ0YvRjJGOUZbdC1GIzYqRmNwRl9xRltzRl9xLUYjNigtRiw2JVEkc2luRidGW3JGOUZlbkZgc0Zfb0Zib0Y5Rl9xLUYsNiVRJ3BfZHJhZ0YnRi9GMkY5RjlGOUZfb0Zib0Y5LUYjNihGYnVGX3EtRlA2JC1GIzYmLUYjNiZGXHVGX3EtRiM2KEZkdkZlbkZcckZfb0Zib0Y5RjlGaHUtRiM2Ji1GIzYoRmR2RmVuRl51Rl9vRmJvRjlGX3FGZnFGOUY5RjlGX29GYm9GOUZmcEZocEZbcUZdcUZfb0Zib0Y5Rl9vRmJvRjlGX29GYm9GOUY5LyUlb3BlbkdRInxmckYnLyUmY2xvc2VHUSJ8aHJGJ0Zfb0Zib0Y5">PCMvLUkkYWN0RzYiNiNJInRHJSpwcm90ZWN0ZWRHLCQqLCMiIiIiIiMiIiItSSRjb3NHNiQlKnByb3RlY3RlZEdJKF9zeXNsaWJHNiI2Iy1JJ3RoZXRhMUc2IjYjSSJ0RyUqcHJvdGVjdGVkRyIiIiwqKiwiIiMiIiJJJExGYkc2IiIiIi1JJGNvc0c2JCUqcHJvdGVjdGVkR0koX3N5c2xpYkc2IjYjLCYtSSd0aGV0YTNHNiI2I0kidEclKnByb3RlY3RlZEciIiJJJHBzaUc2IiIiIiIiIkkiZ0c2IiIiIkkjbTNHNiIiIiIiIiIqKi1JJGNvc0c2JCUqcHJvdGVjdGVkR0koX3N5c2xpYkc2IjYjLUkndGhldGEzRzYiNiNJInRHJSpwcm90ZWN0ZWRHIiIiSSRhbmNHNiIiIiJJImdHNiIiIiJJI20yRzYiIiIiIiIiKioiIiMiIiJJJExGYkc2IiIiIi1JJGNvc0c2JCUqcHJvdGVjdGVkR0koX3N5c2xpYkc2IjYjLCYtSSd0aGV0YTNHNiI2I0kidEclKnByb3RlY3RlZEciIiJJJHBzaUc2IiIiIiIiIkkncF9kb3duRzYiIiIiISIiKioiIiMiIiJJJExGYkc2IiIiIi1JJHNpbkc2JCUqcHJvdGVjdGVkR0koX3N5c2xpYkc2IjYjLCYtSSd0aGV0YTNHNiI2I0kidEclKnByb3RlY3RlZEciIiJJJHBzaUc2IiIiIiIiIkkncF9kcmFnRzYiIiIiIiIiIiIiSSRhbmNHNiIhIiIsJiomLUkkY29zRzYkJSpwcm90ZWN0ZWRHSShfc3lzbGliRzYiNiMtSSd0aGV0YTNHNiI2I0kidEclKnByb3RlY3RlZEciIiItSSRzaW5HNiQlKnByb3RlY3RlZEdJKF9zeXNsaWJHNiI2Iy1JJ3RoZXRhMUc2IjYjSSJ0RyUqcHJvdGVjdGVkRyIiIiIiIiomLUkkc2luRzYkJSpwcm90ZWN0ZWRHSShfc3lzbGliRzYiNiMtSSd0aGV0YTNHNiI2I0kidEclKnByb3RlY3RlZEciIiItSSRjb3NHNiQlKnByb3RlY3RlZEdJKF9zeXNsaWJHNiI2Iy1JJ3RoZXRhMUc2IjYjSSJ0RyUqcHJvdGVjdGVkRyIiIiEiIiEiIiIiIg==</Equation></Text-field>
</Output>
</Group>
<Group hide-input="false" hide-output="false" labelreference="L77217" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">forcesub := [p_down = down, p_drag = drag];</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEpZm9yY2VzdWJGJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRictSSNtb0dGJDYtUSp+JiM4Nzg4O35GJy9GM1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRj0vJSlzdHJldGNoeUdGPS8lKnN5bW1ldHJpY0dGPS8lKGxhcmdlb3BHRj0vJS5tb3ZhYmxlbGltaXRzR0Y9LyUnYWNjZW50R0Y9LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGTC1JKG1mZW5jZWRHRiQ2Ji1GIzYoLUYjNigtRiw2JVEncF9kb3duRidGL0YyLUY2Ni1RIj1GJ0Y5RjtGPkZARkJGREZGRkgvRktRLDAuMjc3Nzc3OGVtRicvRk5GZ24tRiM2Ki1JI21uR0YkNiRRLDQyNDQ3LjIwOTgxRidGOS1GNjYtUSgmbWludXM7RidGOUY7Rj5GQEZCRkRGRkZIL0ZLUSwwLjIyMjIyMjJlbUYnL0ZORmNvLUYjNiYtRlxvNiRRLDExMzEuNDg0MDAxRidGOS1GNjYtUTEmSW52aXNpYmxlVGltZXM7RidGOUY7Rj5GQEZCRkRGRkZIRkpGTS1JJW1zdXBHRiQ2JS1GIzYoLUYsNiVRJyYjOTQ3O0YnL0YwRj1GOS1GNjYtUTAmQXBwbHlGdW5jdGlvbjtGJ0Y5RjtGPkZARkJGREZGRkhGSkZNLUZQNiQtRiM2Ji1GLDYlUSJ0RidGL0YyLyUrZm9yZWdyb3VuZEdRKFswLDAsMF1GJy8lKXJlYWRvbmx5R0Y9RjlGOUZgcUZjcUY5LUZcbzYkUSIzRidGOS8lMXN1cGVyc2NyaXB0c2hpZnRHUSIwRidGOS1GNjYtUSIrRidGOUY7Rj5GQEZCRkRGRkZIRmJvRmRvLUYjNiYtRlxvNiRRLDEwODk3LjE3ODcyRidGOUZqby1GXnA2JUZgcC1GXG82JFEiMkYnRjlGaHFGOUZfby1GIzYmLUZcbzYkUSwzNjUzOS41MzYwMEYnRjlGam9GYHBGOUY5RmBxRmNxRjktRjY2LVEiLEYnRjlGOy9GP0YxRkBGQkZERkZGSEZKL0ZOUSwwLjMzMzMzMzNlbUYnLUYjNigtRiw2JVEncF9kcmFnRidGL0YyRlktRiM2Ky1GNjYtUSomdW1pbnVzMDtGJ0Y5RjtGPkZARkJGREZGRkhGYm9GZG8tRiM2Ji1GXG82JFEsMS41MDIzMDc3MjdGJ0Y5RmpvLUZecDYlLUZcbzYkUSMxMEYnRjktRlxvNiRRIjVGJ0Y5RmhxRjlGW3ItRiM2Ji1GXG82JFEsMzcyMS4zODY3MDhGJ0Y5RmpvRl1wRjlGX28tRiM2Ji1GXG82JFEsMzgxOTAuNzYyNDdGJ0Y5RmpvRmNyRjlGW3ItRiM2Ji1GIzYmLUZcbzYkUSwxLjMxMDU1OTkzN0YnRjlGam9GYnRGOUZqb0ZgcEY5RjlGYHFGY3FGOUZgcUZjcUY5RjkvJSVvcGVuR1EiW0YnLyUmY2xvc2VHUSJdRidGYHFGY3FGOQ==">NyQvSSdwX2Rvd25HNiIsKiQiKyIpNHNXVSEiJiIiIiomJCIrLFNbSjYhIidGKiktSSZnYW1tYUclKnByb3RlY3RlZEc2I0kidEdGMiIiJEYqISIiKiYkIitzeXIqMyJGKUYqKUYwIiIjRipGKiomJCIrK08mUmwkRilGKkYwRipGNi9JJ3BfZHJhZ0dGJSwqJCIrRnhJLTohIiVGNiomJCIrM25RQFBGLkYqRi9GKkYqKiYkIitaaTI+UUYpRipGOkYqRjYqJiQiK1AqZjBKIkZERipGMEYqRio=</Equation></Text-field>
</Output>
</Group>
<Group hide-input="false" hide-output="false" labelreference="L66894" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">sol_act_num := subs(forcesub,sol_kine,data,sol_act):
evalf(subs(gamma(t) = theta3(t),theta3(t) = flap_closed,sol_act_num))[1];</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUYjNigtSSNtaUdGJDYlUSRhY3RGJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRictSSNtb0dGJDYtUTAmQXBwbHlGdW5jdGlvbjtGJy9GNVEnbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRj8vJSlzdHJldGNoeUdGPy8lKnN5bW1ldHJpY0dGPy8lKGxhcmdlb3BHRj8vJS5tb3ZhYmxlbGltaXRzR0Y/LyUnYWNjZW50R0Y/LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGTi1JKG1mZW5jZWRHRiQ2JC1GIzYmLUYuNiVRInRGJ0YxRjQvJStmb3JlZ3JvdW5kR1EoWzAsMCwwXUYnLyUpcmVhZG9ubHlHRj9GO0Y7RllGZm5GOy1GODYtUSI9RidGO0Y9RkBGQkZERkZGSEZKL0ZNUSwwLjI3Nzc3NzhlbUYnL0ZQRlxvLUYjNiUtRjg2LVEqJnVtaW51czA7RidGO0Y9RkBGQkZERkZGSEZKL0ZNUSwwLjIyMjIyMjJlbUYnL0ZQRmRvLUkjbW5HRiQ2JFExOTc5LjQzNjcxMTI4MDE4MEYnRjtGO0ZZRmZuRjs=">Ly1JJGFjdEc2IjYjSSJ0RyUqcHJvdGVjdGVkR11DMDhFOUI3RTYyN0JEMTU4</Equation></Text-field>
</Output>
</Group>
<Group hide-input="false" hide-output="false" labelreference="L77989" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">sol_act_dinam := subs(forcesub,gamma(t)=q1_profile_t,sol_kine,theta3(t)=q1_profile_t,data,sol_act):
evalf(subs(sol_kine,t=0,sol_act_dinam))[1];</Text-field>
</Input>
<Output><Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUYjNigtSSNtaUdGJDYlUSRhY3RGJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRictSSNtb0dGJDYtUTAmQXBwbHlGdW5jdGlvbjtGJy9GNVEnbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRj8vJSlzdHJldGNoeUdGPy8lKnN5bW1ldHJpY0dGPy8lKGxhcmdlb3BHRj8vJS5tb3ZhYmxlbGltaXRzR0Y/LyUnYWNjZW50R0Y/LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGTi1JKG1mZW5jZWRHRiQ2JC1GIzYmLUkjbW5HRiQ2JFEiMEYnRjsvJStmb3JlZ3JvdW5kR1EoWzAsMCwwXUYnLyUpcmVhZG9ubHlHRj9GO0Y7RlpGZ25GOy1GODYtUSI9RidGO0Y9RkBGQkZERkZGSEZKL0ZNUSwwLjI3Nzc3NzhlbUYnL0ZQRl1vLUYjNiUtRjg2LVEqJnVtaW51czA7RidGO0Y9RkBGQkZERkZGSEZKL0ZNUSwwLjIyMjIyMjJlbUYnL0ZQRmVvLUZXNiRRMTk3OS40MzY3MTEyODAxODBGJ0Y7RjtGWkZnbkY7">Ly1JJGFjdEc2IjYjIiIhXUMwOEU5QjdFNjI3QkQxNTg=</Equation></Text-field>
</Output>
</Group>
<Group hide-input="false" hide-output="false" labelreference="L75700" drawlabel="true" applyint="true" applyrational="true" applyexponent="false">
<Input><Text-field prompt="> " style="Maple Input" layout="Normal">plot(subs(sol_act_num,gamma(t)=theta3(t),act(t)),theta3=flap_open..flap_closed,labels=[typeset(theta3(t)),"Act [N]"],title="Actuation force plot as function of theta3(t)",color=c_set[1]);</Text-field>
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