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s rsa a105a115 a116a104a101 a116a114a117a101 a114a97a110a103a101 a98a101a116a119a101a101a110 a114a101a99a101a105a118a101a114 a a97a110a100 a115a97a116a101a108a108a105a116a101 s c a105a115 a116a104a101 a115a112a101a101a100 a111a102 a108a105a103a104a116 dta a105a115 a116a104a101 a114a101a99a101a105a118a101a114 a99a108a111a99a107 a98a105a97a115 dts a105a115 a116a104a101 a115a97a116a101a108a108a105a116a101 a99a108a111a99a107 a98a105a97a115 Tsa a105a115 a116a104a101 a116a114a111a112a111a115a112a104a101a114a105a99 a100a101a108a97a121 a98a101a116a119a101a101a110 a114a101a99a101a105a118a101a114 a a97a110a100 a115a97a116a101a108a108a105a116a101 s a105a110 a117a110a105a116a115 a111a102 a109a101a116a101a114a115 Isa a105a115 a116a104a101 a105a111a110a111a115a112a104a101a114a105a99 a100a101a108a97a121 a98a101a116a119a101a101a110 a114a101a99a101a105a118a101a114 a a97a110a100 a115a97a116a101a108a108a105a116a101 s a105a110 a117a110a105a116a115 a111a102 a109a101a116a101a114a115 a105a115 a116a104a101 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usbz 2 66 66 66 4 rsbx rsby rsbx 3 77 77 77 5 usax usay usaz 2 66 66 66 4 rsax rsay rsax 3 77 77 77 5 a40a50a46a57a41 usax usay usaz usbx usby usbz a40a50a46a49a48a41 rsab = usax usay usaz 2 66 66 66 4 rsbx rsax rsby rsay rsbx rsaz 3 77 77 77 5 a40a50a46a49a49a41 a84a111 a101a115a116a105a109a97a116a101 a116a104a101 a115a105a110a103a108a101 a100a105a27a101a114a101a110a99a101a100 a97a109a98a105a103a117a105a116a121a44 Nsaba44 a105a110 a69a113a117a97a116a105a111a110 a50a46a56a44 a105a116 a109a117a115a116 a98a101 a105a115a111a108a97a116a101a100 a102a114a111a109 a116a104a101 a114a97a110a103a101 a105a110a102a111a114a109a97a116a105a111a110 a99a111a110a116a97a105a110a101a100 a105a110 a116a104a101 a115a105a110a103a108a101 a100a105a27a101a114a101a110a99a101a100 a112a115a101a117a100a111a114a97a110a103a101 a97a110a100 a99a97a114a114a105a101a114 a112a104a97a115a101 a111a98a115a101a114a118a97a98a108a101a115a46 a84a104a105a115 a105a115 a100a111a110a101 a98a121 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a115a105a100a101 a111a102 a116a104a101 a101a113a117a97a116a105a111a110 a105a115 a114a101a109a111a118a101a100a46 L = leftnull 0 BB BB BB BB BB BB BB BB BB @ 2 66 66 66 66 66 66 66 66 66 4 u 1 m T ax u 1 m T ay u 1 m T az 1 u 1 m T ax u 1 m T ay u 1 m T az 1 u 1 m T ax u 1 m T ay u 1 m T az 1 u 1 m T ax u 1 m T ay u 1 m T az 1 3 77 77 77 77 77 77 77 77 77 5 1 CC CC CC CC CC CC CC CC CC A a40a50a46a49a50a41 a84a104a101 a109a101a97a115a117a114a101a109a101a110a116 a118a101a99a116a111a114 za44 a115a104a111a119a110 a105a110 a69a113a117a97a116a105a111a110 a50a46a49a51a44 a114a101a109a97a105a110a115 a111a110 a116a104a101 a108a101a102a116 a104a97a110a100 a115a105a100a101 a119a105a116a104 a116a104a101 a115a105a110a103a108a101 a100a105a27a101a114a101a110a99a101a100 a112a115a101a117a100a111a114a97a110a103a101 a97a110a100 a99a97a114a114a105a101a114 a112a104a97a115a101 a109a101a97a115a117a114a101a109a101a110a116a115 a109a117a108a116a105a112a108a105a101a100 a98a121 La46 a84a104a101 a49a53 a101a113a117a97a116a105a111a110 a115a104a111a119a115 a116a104a101 a118a101a99a116a111a114 a111a102 a115a105a110a103a108a101 a100a105a27a101a114a101a110a99a101a100 a76a49 a97a110a100 a76a50 a109a101a97a115a117a114a101a109a101a110a116a115 a102a114a111a109 a115a97a116a101a108a108a105a116a101a115 a49 a116a111 ma46 z = L 1 mabL1 1 mabL2 1 mabL1 1 mabL2 T a40a50a46a49a51a41 a84a104a101 a99a111a101a30a99a105a101a110a116 a109a97a116a114a105a120 a102a111a114 a116a104a101 a115a116a97a116a101 a118a101a99a116a111a114 a105a115 a110a111a119 L a116a105a109a101a115 a116a104a101 a109a97a116a114a105a120 a99a111a110a116a97a105a110a105a110a103 a114a111a119a115 a111a102 a122a101a114a111a115 a99a111a114a114a101a115a112a111a110a100a105a110a103 a116a111 a116a104a101 a115a105a110a103a108a101 a100a105a27a101a114a101a110a99a101a100 a112a115a101a117a100a111a114a97a110a103a101 a109a101a97a115a117a114a101a109a101a110a116 a97a110a100 a114a111a119a115 a99a111a110a116a97a105a110a105a110a103 a116a104a101 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a97a115a115a111a99a105a97a116a101a100 a119a105a116a104 a116a104a101a115a101 a97a110a103a108a101 a97a114a101 a115a104a111a119a110 a105a110 a109a97a116a114a105a120 a102a111a114a109 a105a110 a69a113a117a97a116a105a111a110a115 a40a51a46a49a41 a116a104a114a111a117a103a104 a40a51a46a51a41a46 R1 = 2 66 66 66 4 1 0 0 0 cos eb sin eb 0 sin eb cos eb 3 77 77 77 5 a40a51a46a49a41 R2 = 2 66 66 66 4 cos eb 0 sin eb 0 1 0 sin eb 0 cos eb 3 77 77 77 5 a40a51a46a50a41 a51a53 R3 = 2 66 66 66 4 cos eb sin eb 0 sin eb cos eb 0 0 0 1 3 77 77 77 5 a40a51a46a51a41 a84a104a101 a114a101a115a117a108a116a105a110a103 a116a114a97a110a115a102a111a114a109a97a116a105a111a110 a109a97a116a114a105a120a44 Ceba44 a105a115 a99a111a109a112a117a116a101a100 a97a115 a115a104a111a119a110 a105a110 a69a113a117a97a116a105a111a110 a40a51a46a52a41a46 Ceb = [R1][R2][R3] a40a51a46a52a41 a79a110 a101a97a99a104 a73a77a85 a109a101a97a115a117a114a101a109a101a110a116a44 a116a104a101 a116a114a97a110a115a102a111a114a109a97a116a105a111a110 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ib a97a110a100 ie a97a114a101 a99a111a110a115a116a97a110a116 a111a118a101a114 a116a104a101 a73a77a85 a109a101a97a115a117a114a101a45 a109a101a110a116 a105a110a116a101a114a118a97a108a44 ta44 a97a110a100 Ceb a105a115 a112a114a111a112a97a103a97a116a101a100 a117a115a105a110a103 a69a113a117a97a116a105a111a110 a40a51a46a55a41a46 Cebk = Cebk 1(I + ib t) ieCebk 1 t a40a51a46a55a41 a84a104a101 a99a117a114a114a101a110a116 a116a114a97a110a115a102a111a114a109a97a116a105a111a110 a109a97a116a114a105a120 a97a110a100 a116a104a101 a97a99a99a101a108a101a114a111a109a101a116a101a114 a109a101a97a115a117a114a101a109a101a110a116a115 a97a114a101 a116a104a101a110 a117a115a101a100 a116a111 a117a112a100a97a116a101 a116a104a101 a118a101a108a111a99a105a116a121 a101a115a116a105a109a97a116a101a46 a83a112a101a99a105a28a99 a102a111a114a99a101a115 a109a101a97a115a117a114a101a100 a98a121 a116a104a101 a73a77a85a44 a100a101a110a111a116a101a100 a97a115 fba44 a109a117a115a116 a98a101 a114a111a116a97a116a101a100 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a69a113a117a97a116a105a111a110 a40a51a46a57a41a46 Vek = Vek 1 + (fe +ge 2 ieVek 1) t a40a51a46a57a41 a84a104a101 a97a99a99a101a108a101a114a97a116a105a111a110 a100a117a101 a116a111 a103a114a97a118a105a116a121a44 gea44 a105a115 a99a97a108a99a117a108a97a116a101a100 a98a97a115a101a100 a111a110 a116a104a101 a69a67a69a70 a112a111a115a105a116a105a111a110 a111a102 a116a104a101 a112a108a97a116a102a111a114a109 a117a115a105a110a103 a116a104a101 a109a111a100a101a108 a100a101a115a99a114a105a98a101a100 a105a110 a91a51a55a93a46 a70a105a110a97a108a108a121a44 a116a104a101 a112a111a115a105a116a105a111a110 a101a115a116a105a109a97a116a101 a105a115 a117a112a100a97a116a101a100 a98a121 a69a117a108a101a114 a105a110a116a101a103a114a97a116a105a111a110 a117a115a105a110a103 a116a104a101 a99a117a114a114a101a110a116 a118a101a108a111a99a105a116a121 a101a115a116a105a109a97a116a101a115 a97a115 a103a105a118a101a110 a105a110 a69a113a117a97a116a105a111a110 a40a51a46a49a48a41a46 Pek = Pek 1 +Vek t a40a51a46a49a48a41 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a40a51a46a49a50a41 ^_ s = (Pe Pse)T (Ve Vse)q (Pe Pse) (Pe Pse)T +cd_t a40a51a46a49a51a41 a51a56 a84a104a101 a109a101a97a115a117a114a101a109a101a110a116 a118a101a99a116a111a114 a99a111a110a116a97a105a110a115 a116a104a101 a100a105a27a101a114a101a110a99a101 a98a101a116a119a101a101a110 a116a104a101 a71a80a83 a109a101a97a115a117a114a101a109a101a110a116a115 a97a110a100 a116a104a101 a73a78a83 a98a97a115a101a100 a112a114a101a100a105a99a116a105a111a110a115 a119a104a105a99a104 a97a114a101 a99a97a108a108a101a100 a116a104a101 a109a101a97a115a117a114a101a109a101a110a116 a105a110a110a111a118a97a116a105a111a110a115a44 za46 z = 2 66 66 66 66 66 4 z 1 a46a46a46 z_ 1 a46a46a46 3 77 77 77 77 77 5 = 2 66 66 66 66 66 4 1 ^ 1 a46a46a46 _ 1 ^_ 1 a46a46a46 3 77 77 77 77 77 5 a40a51a46a49a52a41 a84a104a101 a100a105a109a101a110a115a105a111a110a115 a111a102 a116a104a101 a109a101a97a115a117a114a101a109a101a110a116 a118a101a99a116a111a114 a97a114a101 4m 1 a119a105a116a104 m a101a113a117a97a108 a116a111 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H = 2 66 66 66 66 66 4 u1 0 0 0 0 1 0 a46a46a46 0 0 0 0 a46a46a46 0 0 u1 0 0 0 0 1 0 a46a46a46 0 0 0 0 a46a46a46 3 77 77 77 77 77 5 a40a51a46a49a54a41 a119a104a101a114a101 ui a105a115 a116a104a101 a117a110a105a116 a118a101a99a116a111a114 a102a114a111a109 a116a104a101 a71a80a83 a114a101a99a101a105a118a101a114 a116a111 a116a104a101 ith a115a97a116a101a108a108a105a116a101 a97a110a100 a116a104a101 a99a111a108a117a109a110 a111a102 a111a110a101a115 a99a111a114a114a101a115a112a111a110a100a105a110a103 a116a111 a116a104a101 a114a101a99a101a105a118a101a114 a99a108a111a99a107 a98a105a97a115 a102a111a114 a116a104a101 a28a114a115a116 2m a114a111a119a115 a97a110a100 a116a104a101 a114a101a99a101a105a118a101a114 a99a108a111a99a107 a100a114a105a102a116 a102a111a114 a116a104a101 a108a97a115a116 2m a114a111a119a115a46 a84a104a101 a75a97a108a109a97a110 a109a101a97a115a117a114a101a109a101a110a116 a117a112a100a97a116a101 a105a115 a112a101a114a102a111a114a109a101a100 a98a121 a28a114a115a116 a99a97a108a99a117a108a97a116a105a110a103 a116a104a101 a75a97a108a109a97a110 a103a97a105a110 a117a115a105a110a103 a116a104a101 a108a105a110a101a97a114a105a122a101a100 a109a101a97a115a117a114a101a109a101a110a116 a109a97a116a114a105a120a44 a116a104a101 a97 a112a114a105a111a114a105 a101a114a114a111a114 a99a111a118a97a114a105a97a110a99a101 a109a97a116a114a105a120a44 a97a110a100 a116a104a101 a109a101a97a45 a115a117a114a101a109a101a110a116 a110a111a105a115a101 a99a111a118a97a114a105a97a110a99a101 a109a97a116a114a105a120a46 Kk = PkHTk (HkPkHTk +Rk) 1 a40a51a46a49a55a41 a84a104a101 a101a114a114a111a114 a99a111a118a97a114a105a97a110a99a101 a109a97a116a114a105a120 a97a110a100 a116a104a101 a101a114a114a111a114 a115a116a97a116a101 a118a101a99a116a111a114 a97a114a101 a116a104a101a110 a117a112a100a97a116a101a100 a119a105a116a104 a69a113a117a97a116a105a111a110a115 a40a51a46a49a56a41 a97a110a100 a40a51a46a49a57a41a46 P+k = (I KkHk)P k a40a51a46a49a56a41 ^x+k = ^x k +Kkzk a40a51a46a49a57a41 a84a104a101 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66 4 cos 2 sin 2 0 sin 2 cos 2 0 0 0 0 3 77 77 77 5 2 66 66 66 4 0 0 0 0 cos 1 sin 1 0 sin 1 cos 1 3 77 77 77 5 a40a51a46a51a48a41 a52a51 a119a104a101a114a101 1a44 2a44 a97a110a100 3 a97a114a101 180oa44 90oa44 a97a110a100 a116a104a101 a121a97a119 a97a110a103a108a101 a114a101a115a112a101a99a116a105a118a101a108a121a46 a78a111a116a101 a116a104a97a116 a116a104a105a115 a97a115a115a117a109a101a115 a116a104a97a116 a116a104a101 a112a108a97a116a102a111a114a109 a98a111a100a121 a102a114a97a109a101 a105a115 a100a101a28a110a101a100 a97a115 x a102a111a114a119a97a114a100a44 y a114a105a103a104a116a44 a97a110a100 z a100a111a119a110a46 a78a111a119 a116a104a101 a114a111a116a97a116a105a111a110 a109a97a116a114a105a120 a114a101a108a97a116a105a110a103 a116a104a101 a108a111a99a97a108 a69a78a85 a102a114a97a109a101 a116a111 a116a104a101 a69a67a69a70 a102a114a97a109a101a44 Cel a105a115 a100a101a28a110a101a100 a97a115 a115a101a101a110 a105a110 a91a49a50a93 a97a110a100 a91a51a53a93 a117a115a105a110a103 a116a104a101 a101a115a116a105a109a97a116a101a100 a76a97a116a105a116a117a100a101 a97a110a100 a76a111a110a103a105a116a117a100a101a46 a70a105a110a97a108a108a121a44 a116a104a101 a105a110a105a116a105a97a108 a98a111a100a121 a102a114a97a109a101 a116a111 a69a67a69a70 a102a114a97a109a101 a116a114a97a110a115a102a111a114a109a97a116a105a111a110 a109a97a116a114a105a120 a105a115 a99a97a108a99a117a108a97a116a101a100 a117a115a105a110a103 a69a113a117a97a116a105a111a110 a40a51a46a51a49a41a46 Ceb = CelClb a40a51a46a51a49a41 a84a104a101 a75a97a108a109a97a110 a28a108a116a101a114 a115a116a97a116a101 a118a101a99a116a111a114 a97a110a100 a101a114a114a111a114 a99a111a118a97a114a105a97a110a99a101 a109a97a116a114a105a120 a97a114a101 a105a110a105a116a105a97a108a105a122a101a100 a109a111a114a101 a105a110a116a117a45 a105a116a105a118a101a108a121a46 a83a105a110a99a101 a116a104a101 a115a116a97a116a101 a118a101a99a116a111a114 a105a115 a99a111a109a112a114a105a115a101a100 a111a102 a101a114a114a111a114 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a40a51a46a51a50a41 FLL = 2 T s4B np c=n0 (1 + 1 Tc=n0 ) a40a51a46a51a51a41 a84a104a101 a112a97a114a97a109a101a116a101a114a115 a105a110 a116a104a101 a97a98a111a118a101 a101a113a117a97a116a105a111a110a115 a97a114a101 a100a101a28a110a101a100 a112a114a101a118a105a111a117a115a108a121 a105a110 a84a97a98a108a101 a50a46a49 a119a105a116a104 a116a104a101 a101a120a99a101a112a116a105a111a110 a111a102 fEa44 a116a104a101 a100a121a110a97a109a105a99 a115a116a114a101a115a115 a101a114a114a111a114a46 a65a115a115a117a109a105a110a103 a116a104a97a116 a116a104a101 a112a115a101a117a100a111a114a97a110a103a101 a118a97a114a105a97a110a99a101 a97a110a100 a116a104a101 a112a115a101a117a100a111a114a45 a97a110a103a101 a114a97a116a101 a118a97a114a105a97a110a99a101 a97a114a101 a117a110a99a111a114a114a101a108a97a116a101a100 a116a104a101 a110a111a105a115a101 a99a111a118a97a114a105a97a110a99a101 a109a97a116a114a105a120 a105a115 a97 a100a105a97a103a111a110a97a108 a109a97a116a114a105a120 a105a115 a103a105a118a101a110 a98a121 R = 2 66 4 2 0 0 2_ 3 77 5 a40a51a46a51a52a41 a52a52 a84a104a101 a112a114a111a99a101a115a115 a110a111a105a115a101 a99a111a118a97a114a105a97a110a99a101 a109a97a116a114a105a120a44 Qa44 a105a115 a97 a100a105a97a103a111a110a97a108 a109a97a116a114a105a120 a119a105a116a104 a97a112a112a114a111a120a105a109a97a116a105a111a110a115 a111a102 a116a104a101 a110a111a105a115a101 a118a97a114a105a97a110a99a101 a105a110a100a117a99a101a100 a116a104a114a111a117a103a104 a116a104a101 a110a97a118a105a103a97a116a105a111a110 a112a114a111a99a101a115a115a111a114 a97a110a100 a116a104a101 a118a97a114a105a97a110a99a101 a111a102 a119a104a105a116a101 a110a111a105a115a101 a111a102 a116a104a101 a71a80a83 a114a101a99a101a105a118a101a114 a99a108a111a99a107 a98a105a97a115 a97a110a100 a100a114a105a102a116a46 a73a110a105a116a105a97a108 a101a115a116a105a109a97a116a101a115 a111a102 a116a104a101 a110a111a105a115a101 a118a97a114a105a97a110a99a101a115 a97a114a101 a116a97a107a101a110 a102a114a111a109 a91a54a93 a97a110a100 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a114a97a110a103a101 a105a110 a116a104a101 a69a67a69a70 a102a114a97a109a101a46 sak ;k = Gsak 2 66 66 66 4 rsaxk rsayk rsazl 3 77 77 77 5 Gsak 2 66 66 66 4 rsaxk rsayk rsazk 3 77 77 77 5 +cdtak ;k +vsak ;k a40a52a46a52a41 a78a111a116a101 a116a104a97a116 a71 a105a115 a116a104a101 a103a101a111a109a101a116a114a121 a109a97a116a114a105a120 a103a105a118a101a110 a98a121 a116a104a101 a117a110a105a116 a118a101a99a116a111a114 a102a114a111a109 a114a101a99a101a105a118a101a114 a a116a111 a115a97a116a101a108a108a105a116a101 sa46 Gsak = usaxk usayk usazk a40a52a46a53a41 a84a104a101 a114a97a110a103a101 a116a101a114a109a115 a105a110 a69a113a117a97a116a105a111a110 a40a52a46a52a41 a97a114a101 a114a101a103a114a111a117a112a101a100 a105a110a116a111 a116a101a114a109a115 a97a115a115a111a99a105a97a116a101a100 a119a105a116a104 a116a104a101 a99a104a97a110a103a101 a105a110 a116a104a101 a115a97a116a101a108a108a105a116a101 a112a111a115a105a116a105a111a110 a97a110a100 a116a101a114a109a115 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