Escolar Documentos
Profissional Documentos
Cultura Documentos
Tutorial 02
Tutorial 02
u
n
d
a
m
e
n
t
a
l
s
o
f
M
e
c
h
a
n
i
c
a
l
V
i
b
r
a
t
i
o
n
s
-
V
i
b
r
a
t
o
r
y
r
e
s
p
o
n
s
e
o
f
m
a
c
h
i
n
e
/
s
p
i
n
d
l
e
/
t
o
o
l
/
w
o
r
k
p
i
e
c
e
c
r
i
t
i
c
a
l
t
o
m
a
c
h
i
n
i
n
g
s
t
a
b
i
l
i
t
y
i
n
H
S
M
-
A
p
p
l
i
c
a
t
i
o
n
o
f
m
e
c
h
a
n
i
c
a
l
v
i
b
r
a
t
i
o
n
s
t
o
c
h
a
r
a
c
t
e
r
i
z
i
n
g
d
y
n
a
m
i
c
s
T
o
p
i
c
s
:
B
a
c
k
g
r
o
u
n
d
c
o
n
c
e
p
t
s
S
D
O
F
f
r
e
e
v
i
b
r
a
t
i
o
n
S
D
O
F
f
o
r
c
e
d
v
i
b
r
a
t
i
o
n
F
R
F
E
x
p
e
r
i
m
e
n
t
a
l
p
a
r
a
m
e
t
e
r
e
s
t
i
m
a
t
i
o
n
2
D
O
F
f
r
e
e
v
i
b
r
a
t
i
o
n
M
o
d
a
l
a
n
a
l
y
s
i
s
b
a
s
i
c
s
2
D
O
F
f
o
r
c
e
d
v
i
b
r
a
t
i
o
n
D
i
r
e
c
t
/
c
r
o
s
s
F
R
F
s
M
o
d
e
l
i
n
g
p
h
y
s
i
c
a
l
s
y
s
t
e
m
s
T
y
p
e
s
o
f
M
e
c
h
a
n
i
c
a
l
V
i
b
r
a
t
i
o
n
s
t
(
s
e
c
)
x ( t )
1
)
F
r
e
e
v
i
b
r
a
t
i
o
n
I
n
i
t
i
a
l
c
o
n
d
i
t
i
o
n
s
a
p
p
l
i
e
d
t
o
b
o
d
y
(
p
o
s
s
e
s
s
i
n
g
m
a
s
s
/
e
l
a
s
t
i
c
i
t
y
)
l
e
a
d
s
t
o
e
x
p
o
n
e
n
t
i
a
l
d
e
c
a
y
o
f
p
e
r
i
o
d
i
c
v
i
b
r
a
t
i
o
n
a
t
d
a
m
p
e
d
n
a
t
u
r
a
l
f
r
e
q
u
e
n
c
y
.
2
)
F
o
r
c
e
d
v
i
b
r
a
t
i
o
n
C
o
n
t
i
n
u
i
n
g
p
e
r
i
o
d
i
c
f
o
r
c
e
e
x
c
i
t
e
s
s
y
s
t
e
m
.
S
t
e
a
d
y
-
s
t
a
t
e
r
e
s
p
o
n
s
e
m
a
t
c
h
e
s
f
o
r
c
i
n
g
f
u
n
c
t
i
o
n
f
r
e
q
u
e
n
c
y
w
i
t
h
m
a
g
n
i
t
u
d
e
a
n
d
p
h
a
s
e
g
o
v
e
r
n
e
d
b
y
s
y
s
t
e
m
c
h
a
r
a
c
t
e
r
i
s
t
i
c
s
.
D
e
s
c
r
i
b
e
b
e
h
a
v
i
o
r
u
s
i
n
g
F
R
F
.
M a g n i t u d e
n
R
e
s
o
n
a
n
c
e
T
y
p
e
s
o
f
M
e
c
h
a
n
i
c
a
l
V
i
b
r
a
t
i
o
n
s
3
)
S
e
l
f
-
e
x
c
i
t
e
d
v
i
b
r
a
t
i
o
n
S
t
e
a
d
y
i
n
p
u
t
f
o
r
c
e
i
s
m
o
d
u
l
a
t
e
d
i
n
t
o
v
i
b
r
a
t
i
o
n
a
t
t
h
e
s
y
s
t
e
m
n
a
t
u
r
a
l
f
r
e
q
u
e
n
c
y
.
E
x
a
m
p
l
e
s
i
n
c
l
u
d
e
:
w
h
i
s
t
l
e
-
s
t
e
a
d
y
a
i
r
f
l
o
w
p
r
o
d
u
c
e
s
a
c
o
u
s
t
i
c
v
i
b
r
a
t
i
o
n
v
i
o
l
i
n
-
b
o
w
a
c
r
o
s
s
s
t
r
i
n
g
p
r
o
d
u
c
e
s
v
i
b
r
a
t
i
o
n
a
t
f
r
e
q
u
e
n
c
y
t
h
a
t
d
e
p
e
n
d
s
o
n
s
t
r
i
n
g
l
e
n
g
t
h
c
h
a
t
t
e
r
i
n
m
a
c
h
i
n
i
n
g
-
s
t
e
a
d
y
e
x
c
i
t
a
t
i
o
n
o
f
t
e
e
t
h
i
m
p
a
c
t
i
n
g
w
o
r
k
l
e
a
d
s
t
o
l
a
r
g
e
t
o
o
l
v
i
b
r
a
t
i
o
n
s
a
t
s
y
s
t
e
m
n
a
t
u
r
a
l
f
r
e
q
u
e
n
c
y
t
(
s
e
c
)
x ( t )
M
o
d
e
l
i
n
g
V
i
b
r
a
t
i
n
g
S
y
s
t
e
m
s
E
l
a
s
t
i
c
b
o
d
i
e
s
p
o
s
s
e
s
s
i
n
f
i
n
i
t
e
D
O
F
s
(
i
.
e
,
n
u
m
b
e
r
o
f
i
n
d
e
p
e
n
d
e
n
t
c
o
o
r
d
i
n
a
t
e
s
t
o
c
o
m
p
l
e
t
e
l
y
d
e
s
c
r
i
b
e
m
o
t
i
o
n
)
.
W
e
m
o
d
e
l
a
f
i
n
i
t
e
n
u
m
b
e
r
o
f
D
O
F
s
(
w
i
t
h
i
n
B
W
o
f
i
n
t
e
r
e
s
t
)
a
n
d
a
c
c
e
p
t
d
e
g
r
a
d
a
t
i
o
n
i
n
a
c
c
u
r
a
c
y
.
E
x
.
C
a
n
t
i
l
e
v
e
r
b
e
a
m
M
o
d
e
l
f
r
e
e
-
e
n
d
r
e
s
p
o
n
s
e
:
1
( x )
2
( x )
3
( x )
x
4
( x )
x
m
k
n
=
w
h
e
r
e
,
3
3
L
E
I
k
=
e
t
c
.
b
e
a
m
m
.
m
=
2
4
0
P
e
r
i
o
d
i
c
M
o
t
i
o
n
I
m
p
o
r
t
a
n
t
c
o
n
c
e
p
t
i
n
m
e
c
h
a
n
i
c
a
l
v
i
b
r
a
t
i
o
n
s
i
s
p
e
r
i
o
d
i
c
m
o
t
i
o
n
.
t
(
s
e
c
)
x ( t )
(
)
(
)
t
x
t
x
=
+
S
i
m
p
l
e
s
t
f
o
r
m
o
f
p
e
r
i
o
d
i
c
m
o
t
i
o
n
i
s
h
a
r
m
o
n
i
c
m
o
t
i
o
n
(
s
i
n
e
s
/
c
o
s
i
n
e
s
)
.
P
e
r
i
o
d
i
c
c
u
r
v
e
s
r
e
s
o
l
v
e
d
i
n
t
o
s
e
r
i
e
s
o
f
s
i
n
e
/
c
o
s
i
n
e
f
u
n
c
t
i
o
n
s
(
F
o
u
r
i
e
r
)
.
E
x
.
S
i
g
n
a
l
a
b
o
v
e
m
a
y
b
e
e
x
p
r
e
s
s
e
d
a
s
:
(
)
(
)
(
)
t
s
i
n
X
t
s
i
n
X
t
x
2
2
1
+
=
P
e
r
i
o
d
i
c
M
o
t
i
o
n
C
o
n
s
i
d
e
r
t
h
e
h
a
r
m
o
n
i
c
m
o
t
i
o
n
:
(
)
(
)
t
s
i
n
X
t
x
2
=
(
r
a
d
/
s
)
1
2
=
=
f
w
h
e
r
e
,
t
(
s
e
c
)
x ( t )
+
X
-
X
(
c
y
c
l
e
/
s
o
r
H
z
)
X
-
m
a
g
n
i
t
u
d
e
V
e
l
o
c
i
t
y
A
c
c
e
l
e
r
a
t
i
o
n
(
)
(
)
| . |
\ |
+
=
=
2
t
s
i
n
X
t
c
o
s
X
d
t
d
x
t
v
(
)
(
)
(
)
=
=
t
s
i
n
X
t
s
i
n
X
d
t
d
v
t
a
2
2
S
D
O
F
F
r
e
e
V
i
b
r
a
t
i
o
n
C
o
n
s
i
d
e
r
o
n
l
y
d
a
m
p
e
d
s
y
s
t
e
m
s
(
s
t
r
u
c
t
u
r
a
l
,
s
l
i
d
i
n
g
f
r
i
c
t
i
o
n
,
v
i
s
c
o
u
s
)
.
M
o
d
e
l
b
y
l
u
m
p
e
d
p
a
r
a
m
e
t
e
r
s
.
E
q
u
a
t
i
o
n
o
f
m
o
t
i
o
n
f
r
o
m
f
r
e
e
b
o
d
y
d
i
a
g
r
a
m
. 0
=
+
+
=
k
x
x
c
x
m
F
&
&
&
A
s
s
u
m
e
h
a
r
m
o
n
i
c
s
o
l
u
t
i
o
n
:
(
)
s
t
X
e
t
x
=
T
h
i
s
s
o
l
u
t
i
o
n
i
n
t
r
o
d
u
c
e
s
L
a
p
l
a
c
e
n
o
t
a
t
i
o
n
i
n
t
h
e
v
a
r
i
a
b
l
e
s
=
i
.
T
h
e
L
a
p
l
a
c
e
t
r
a
n
s
f
o
r
m
a
l
l
o
w
s
u
s
t
o
m
a
p
f
r
o
m
t
h
e
t
i
m
e
t
o
f
r
e
q
u
e
n
c
y
d
o
m
a
i
n
b
y
:
(
)
(
)
(
)
(
)
=
=
0
d
t
t
f
e
s
F
t
f
s
t
L
a
p
l
a
c
e
o
f
S
D
O
F
F
r
e
e
V
i
b
r
a
t
i
o
n
S
u
b
s
t
i
t
u
t
i
o
n
o
f
t
h
e
a
s
s
u
m
e
s
o
l
u
t
i
o
n
i
n
t
h
e
E
O
M
g
i
v
e
s
t
h
e
c
h
a
r
a
c
t
e
r
i
s
t
i
c
e
q
u
a
t
i
o
n
:
0
2
=
+
+
k
c
s
m
s
(
)
i
s
=
(
)
0
2
2
=
+
+
=
+
+
s
t
s
t
s
t
s
t
X
e
k
c
s
m
s
k
X
e
c
s
X
e
X
e
m
s
T
r
i
v
i
a
l
s
o
l
u
t
i
o
n
(
n
o
m
o
t
i
o
n
)
C
h
a
r
a
c
t
e
r
i
s
t
i
c
e
q
u
a
t
i
o
n
i
s
q
u
a
d
r
a
t
i
c
i
n
L
a
p
l
a
c
e
v
a
r
i
a
b
l
e
s
.
0
2
=
+
+
m
k
s
m
c
s
D
e
t
e
r
m
i
n
e
s
s
y
s
t
e
m
b
e
h
a
v
i
o
r
;
u
n
d
e
r
d
a
m
p
e
d
i
f
:
0
2
2
<
| . |
\ |
m
k
m
c
R
o
o
t
s
:
m
k
m
c
m
c
s
,
| . |
\ |
=
2
2
1
2
2
U
n
d
e
r
d
a
m
p
e
d
S
D
O
F
F
r
e
e
V
i
b
r
a
t
i
o
n
T
i
m
e
d
o
m
a
i
n
s
o
l
u
t
i
o
n
:
(
)
+
=
+
=
| | . |
\ |
| . |
\ |
| | . |
\ |
| . |
\ |
t
m
k
m
c
t
m
k
m
c
t
m
c
t
s
t
s
B
e
A
e
e
B
e
A
e
t
x
2 1
2
2 1
2
2
1
2
2
2
d
a
m
p
i
n
g
e
n
v
e
l
o
p
e
o
s
c
i
l
l
a
t
o
r
y
p
a
r
t
R
e
w
r
i
t
e
i
n
m
o
r
e
f
a
m
i
l
i
a
r
f
o
r
m
:
(
)
|
|
t
i
t
i
t
d
d
n
B
e
A
e
e
t
x
+
=
k
m
c
2
=
m
k
n
=
w
h
e
r
e
;
2
1
=
n
d
(
)
(
)
c
d
t
t
c
o
s
C
e
t
x
n
+
=
(
)
(
)
s
d
t
t
s
i
n
C
e
t
x
n
+
=
(
)
(
)
(
)
(
)
t
s
i
n
E
t
c
o
s
D
e
t
x
d
d
t
n
+
=
w
h
e
r
e
;
A
,
B
-
c
o
m
p
l
e
x
c
o
n
j
u
g
a
t
e
s
C
,
D
,
E
-
r
e
a
l
E
q
u
i
v
a
l
e
n
t
f
o
r
m
s
:
U
n
d
e
r
d
a
m
p
e
d
S
D
O
F
F
r
e
e
V
i
b
r
a
t
i
o
n
N
u
m
e
r
i
c
a
l
E
x
a
m
p
l
e
:
m
=
1
k
g
,
k
=
1
x
1
0
7
N
/
m
,
c
=
1
2
6
.
5
N
-
s
/
m
,
x
0
=
1
0
0
u
m
,
=
0
0
x
&
C
a
l
c
u
l
a
t
e
:
0
2
0
1
1
0
1
2
5
1
2
6
2
7
.
.
k
m
c
=
=
=
s
r
a
d
n
3
1
6
2
1
1
0
1
7
=
s
r
a
d
.
.
n
d
6
3
1
6
1
0
2
0
1
3
1
6
2
1
2
2
=
S
e
l
e
c
t
f
o
r
m
f
o
r
t
i
m
e
-
d
o
m
a
i
n
s
o
l
u
t
i
o
n
:
(
)
(
)
s
d
t
t
s
i
n
C
e
t
x
n
+
=
w
h
e
r
e
C
a
n
d
a
r
e
d
e
t
e
r
m
i
n
e
d
f
r
o
m
i
n
i
t
i
a
l
c
o
n
d
i
t
i
o
n
s
s
U
n
d
e
r
d
a
m
p
e
d
S
D
O
F
F
r
e
e
V
i
b
r
a
t
i
o
n
N
u
m
e
r
i
c
a
l
E
x
a
m
p
l
e
:
0
0
0
1
x
x
x
t
a
n
n
d
s
+
=
&
s
s
i
n x
C
0
=
(
)
(
)
s
d
t
t
s
i
n
C
e
t
x
n
+
=
r
a
d
.
.
.
t
a
n
x
x
x
t
a
n
n
d
s
8
7
0
1
0
0
3
1
6
2
0
2
0
0
6
3
1
6
1
1
0
0
1
0
0
0
1
=
=
+
=
&
(
)
m
.
.
s
i
n
s
i
n x
C
s
u
6
1
3
0
8
7
0
1
0
0
0
=
=
=
(
)
(
)
m
.
t
.
s
i
n
e
.
t
x
t
.
u
8
7
0
6
3
1
6
1
6
1
3
0
2
6
3
+
=
O
s
c
i
l
l
a
t
e
s
a
t
d
a
m
p
e
d
n
a
t
u
r
a
l
f
r
e
q
u
e
n
c
y
S
D
O
F
F
o
r
c
e
d
V
i
b
r
a
t
i
o
n
C
o
n
s
i
d
e
r
o
n
l
y
d
a
m
p
e
d
s
y
s
t
e
m
s
.
M
o
d
e
l
b
y
l
u
m
p
e
d
p
a
r
a
m
e
t
e
r
s
.
E
x
t
e
r
n
a
l
f
o
r
c
e
e
x
c
i
t
e
s
s
y
s
t
e
m
a
t
f
r
e
q
u
e
n
c
y
(
r
a
d
/
s
)
.
t
i
F
e
k
x
x
c
x
m
F
=
+
+
=
&
&
&
T
o
t
a
l
s
o
l
u
t
i
o
n
=
h
o
m
o
g
e
n
e
o
u
s
+
p
a
r
t
i
c
u
l
a
r
(
)
t
i
X
e
t
x
=
S
S
s
o
l
u
t
i
o
n
h
a
s
s
a
m
e
f
o
r
m
a
s
e
x
c
i
t
a
t
i
o
n
;
s
u
b
s
t
i
t
u
t
i
n
g
g
i
v
e
s
:
(
)
t
i
t
i
F
e
X
e
k
i
c
m
=
+
+
2
(
)
k
i
c
m
F X
+
+
2
1
R
e
a
r
r
a
n
g
e
t
o
o
b
t
a
i
n
F
r
e
q
u
e
n
c
y
R
e
s
p
o
n
s
e
F
u
n
c
t
i
o
n
(
F
R
F
)
:
F
R
F
d
e
s
c
r
i
b
e
s
c
o
m
p
l
e
x
d
i
s
p
l
a
c
e
m
e
n
t
/
f
o
r
c
e
r
a
t
i
o
a
s
f
u
n
c
t
i
o
n
o
f
.
S
D
O
F
F
o
r
c
e
d
V
i
b
r
a
t
i
o
n
R
e
w
r
i
t
e
F
R
F
a
s
R
e
a
l
/
I
m
a
g
i
n
a
r
y
v
s
.
f
r
e
q
u
e
n
c
y
(
)
| | | | | | | | . |
\ |
| | . |
\ |
| | . |
\ |
+
| | | . |
\ |
| | . |
\ |
| | . |
\ |
=
2
2
2
2
2
1
1
1
n
n
n
k
F X
R
e
R e a l ( X / F )
n
(
)
| | | | | | | | . |
\ |
| | . |
\ |
| | . |
\ |
+
| | | . |
\ |
| | . |
\ |
=
2
2
2
2
1
2
1
n
n
n
k
F X
I
m
I m a g ( X / F )
n
S
D
O
F
F
o
r
c
e
d
V
i
b
r
a
t
i
o
n
M
a
y
a
l
s
o
w
r
i
t
e
F
R
F
a
s
M
a
g
n
i
t
u
d
e
/
P
h
a
s
e
v
s
.
f
r
e
q
u
e
n
c
y
(
)
2 1
2
2
2
2
1
1
1
| | | | | | | | . |
\ |
| | . |
\ |
| | . |
\ |
+
| | | . |
\ |
| | . |
\ |
=
n
n
k
F X
M a g n i t u d e ( X / F )
P h a s e ( d e g )
0
-
9
0
-
1
8
0
n
(
)
| | | | | | . |
\ |
| | . |
\ |
2
1
1
2
n
n
t
a
n
F X
S
D
O
F
F
o
r
c
e
d
V
i
b
r
a
t
i
o
n
A
l
t
e
r
n
a
t
e
l
y
,
c
a
n
c
o
m
b
i
n
e
R
e
a
l
a
n
d
I
m
a
g
i
n
a
r
y
p
a
r
t
s
t
o
o
b
t
a
i
n
N
y
q
u
i
s
t
d
i
a
g
r
a
m
-
-
c
o
n
t
a
i
n
s
R
e
/
I
m
/
M
a
g
/
i
n
f
o
r
m
a
t
i
o
n
.
R
e
a
l
(
X
/
F
)
I m a g ( X / F )
n
n
(
1
-
n
(
1
+
)
0
S
D
O
F
F
o
r
c
e
d
V
i
b
r
a
t
i
o
n
I
n
g
e
n
e
r
a
l
,
w
e
d
o
n
o
k
n
o
w
p
a
r
a
m
e
t
e
r
s
f
o
r
m
o
d
e
l
o
f
s
y
s
t
e
m
R
a
t
h
e
r
,
w
e
h
a
v
e
a
n
e
x
p
e
r
i
m
e
n
t
a
l
F
R
F
.
S
i
m
p
l
e
f
i
t
t
i
n
g
a
l
g
o
r
i
t
h
m
m
a
y
b
e
u
s
e
d
t
o
e
x
t
r
a
c
t
S
D
O
F
n
,
k
,
a
n
d
.
f
(
H
z
)
I m a g ( X / F )
1
f
(
H
z
)
R e a l ( X / F )
2
3
a
)
I
d
e
n
t
i
f
y
t
h
r
e
e
f
r
e
q
u
e
n
c
i
e
s
,
o
n
e
a
m
p
l
i
t
u
d
e
.
b
)
P
o
i
n
t
1
f
r
e
q
u
e
n
c
y
i
s
f
n
.
c
)
D
i
f
f
e
r
e
n
c
e
b
e
t
w
e
e
n
p
o
i
n
t
s
2
a
n
d
3
f
r
e
q
u
e
n
c
i
e
s
g
i
v
e
s
.
f
3
-
f
2
=
f
n
(
1
+
)
-
f
n
(
1
-
)
=
2
f
n
d
)
A
m
p
l
i
t
u
d
e
a
t
p
o
i
n
t
1
g
i
v
e
s
k
:
A
1
=
(
-
2
k
)
-
1
S
D
O
F
F
o
r
c
e
d
V
i
b
r
a
t
i
o
n
N
u
m
e
r
i
c
a
l
e
x
a
m
p
l
e
-
-
i
d
e
n
t
i
f
y
n
,
k
,
a
n
d
.
f
(
H
z
)
R e a l [ X / F ] ( m / N )
9
5
8
.
2
1
0
3
8
.
1
f
(
H
z
)
I m a g [ X / F ] ( m / N )
9
9
8
.
2
-
2
.
1
1
9
x
1
0
-
6
b
)
f
n
=
9
9
8
.
2
H
z
.
c
)
d
)
%
.
.
.
.
4
0
4
0
2
9
9
8
2
2
9
5
8
1
1
0
3
8
=
=
=
(
)
6
6
1
0
9
5
0
4
0
2
1
0
1
1
9
2
1
.
.
.
k
N
/
m
S
D
O
F
F
o
r
c
e
d
V
i
b
r
a
t
i
o
n
N
u
m
e
r
i
c
a
l
e
x
a
m
p
l
e
:
F
o
r
i
d
e
n
t
i
f
i
e
d
s
y
s
t
e
m
,
d
e
t
e
r
m
i
n
e
d
i
s
p
l
a
c
e
m
e
n
t
a
m
p
l
i
t
u
d
e
i
f
1
0
0
N
f
o
r
c
e
i
s
e
x
c
i
t
i
n
g
a
t
r
e
s
o
n
a
n
c
e
(
)
k
g
.
.
.
k
m
n
1
5
0
2
2
9
9
8
1
0
9
5
2
6
2
=
=
=
(
)
m
s
N
.
.
.
.
k
m
c
=
=
3
7
5
1
5
0
1
0
9
5
0
4
0
2
2
6
F
R
F
m
a
g
n
i
t
u
d
e
a
t
r
e
s
o
n
a
n
c
e
:
(
)
k
F X
n
2
1
=
=
D
i
s
p
l
a
c
e
m
e
n
t
a
m
p
l
i
t
u
d
e
a
t
r
e
s
o
n
a
n
c
e
:
m
m
.
.
.
k F
X
2
1
0
0
4
0
1
0
9
5
2
1
0
0
2
6
=
=
=
2
D
O
F
F
r
e
e
V
i
b
r
a
t
i
o
n
A
g
a
i
n
c
o
n
s
i
d
e
r
o
n
l
y
d
a
m
p
e
d
,
l
u
m
p
e
d
p
a
r
a
m
e
t
e
r
s
y
s
t
e
m
-
-
2
D
O
F
.
U
s
e
m
o
d
a
l
a
n
a
l
y
s
i
s
t
o
u
n
c
o
u
p
l
e
l
o
c
a
l
(
p
h
y
s
i
c
a
l
)
c
o
o
r
d
i
n
a
t
e
s
.
M
o
d
a
l
a
n
a
l
y
s
i
s
a
l
g
o
r
i
t
h
m
:
1
)
W
r
i
t
e
e
q
u
a
t
i
o
n
s
o
f
m
o
t
i
o
n
i
n
l
o
c
a
l
c
o
o
r
d
i
n
a
t
e
s
.
2
)
F
o
r
p
r
o
p
o
r
t
i
o
n
a
l
d
a
m
p
i
n
g
,
n
e
g
l
e
c
t
d
a
m
p
i
n
g
a
n
d
w
r
i
t
e
c
h
a
r
a
c
t
e
r
i
s
t
i
c
e
q
u
a
t
i
o
n
f
o
r
s
y
s
t
e
m
3
)
C
a
l
c
u
l
a
t
e
e
i
g
e
n
v
a
l
u
e
s
f
r
o
m
r
o
o
t
s
o
f
c
h
a
r
a
c
t
e
r
i
s
t
i
c
e
q
u
a
t
i
o
n
4
)
U
s
e
o
n
e
e
q
u
a
t
i
o
n
o
f
m
o
t
i
o
n
t
o
d
e
t
e
r
m
i
n
e
e
i
g
e
n
v
e
c
t
o
r
s
.
N
o
r
m
a
l
i
z
e
t
o
c
o
o
r
d
i
n
a
t
e
o
f
i
n
t
e
r
e
s
t
.
5
)
A
s
s
e
m
b
l
e
m
o
d
a
l
m
a
t
r
i
x
(
P
)
f
r
o
m
e
i
g
e
n
v
e
c
t
o
r
s
(
i
)
6
)
T
r
a
n
s
f
o
r
m
l
o
c
a
l
t
o
m
o
d
a
l
c
o
o
r
d
i
n
a
t
e
s
.
M
o
d
a
l
m
a
t
r
i
c
e
s
a
r
e
d
i
a
g
o
n
a
l
a
n
d
u
n
c
o
u
p
l
e
d
.
|
|
|
|
|
|
0
2
=
+
k
s
m
d
e
t
2
2
n
i
s
=
|
|
.
.
.
P
2
1
=
i
,
|
|
|
|
|
|
|
|
P
m
P
m
T
q
=
|
|
|
|
|
|
|
|
P
c
P
c
T
q
=
|
|
|
|
|
|
|
|
P
k
P
k
T
q
=
2
D
O
F
F
r
e
e
V
i
b
r
a
t
i
o
n
7
)
W
r
i
t
e
e
q
u
a
t
i
o
n
s
o
f
m
o
t
i
o
n
i
n
m
o
d
a
l
c
o
o
r
d
i
n
a
t
e
s
.
0
0
2
2
2
2
2
2
2
2
2
1
1
1
1
1
1
1
1
1
=
+
+
=
+
+
q
k
q
c
q
m
q
k
q
c
q
m
q
q
q
q
q
q
&
&
&
&
&
&
8
)
T
r
a
n
s
f
o
r
m
i
n
i
t
i
a
l
c
o
n
d
i
t
i
o
n
s
i
n
t
o
m
o
d
a
l
c
o
o
r
d
i
n
a
t
e
s
.
{
}
|
|
{
}
{
}
|
|
{
}
o
o
x
P
q
x
P
q
&
&
1
0
1
0
= =
9
)
D
e
t
e
r
m
i
n
e
s
o
l
u
t
i
o
n
s
t
o
u
n
c
o
u
p
l
e
d
(
S
D
O
F
)
e
q
u
a
t
i
o
n
s
o
f
m
o
t
i
o
n
.
1
0
)
T
r
a
n
s
f
o
r
m
f
r
o
m
m
o
d
a
l
t
o
l
o
c
a
l
c
o
o
r
d
i
n
a
t
e
s
.
{
}
|
|
{
}
q
P
x
=
2
D
O
F
F
r
e
e
V
i
b
r
a
t
i
o
n
C
o
n
s
i
d
e
r
2
D
O
F
c
h
a
i
n
-
t
y
p
e
l
u
m
p
e
d
p
a
r
a
m
e
t
e
r
m
o
d
e
l
.
C
o
u
p
l
e
d
e
q
u
a
t
i
o
n
s
o
f
m
o
t
i
o
n
a
r
e
:
(
)
(
)
0
0
1
2
1
2
2
2
2
2
2
2
2
2
2
2
1
2
1
1
2
1
1
1
=
+
+
=
+
+
+
+
x
k
x
c
x
k
x
c
x
m
x
k
x
c
x
k
k
x
c
c
x
m
&
&
&
&
&
&
&
&
I
n
m
a
t
r
i
x
f
o
r
m
:
+
) `
+
+
) `
2 1
2
2
2
2
1
2 1
2
1
0
0
x
x
c
c
c
c
c
x
x
m
m
&
&
&
&
&
&
) `
=
) `
+
0 0
2 1
2
2
2
2
1
x
x
k
k
k
k
k
2
D
O
F
s
y
s
t
e
m
h
a
s
2
n
a
t
u
r
a
l
f
r
e
q
u
e
n
c
i
e
s
/
2
m
o
d
e
s
h
a
p
e
s
.
I
n
g
e
n
e
r
a
l
,
c
o
m
p
l
e
x
m
o
d
e
s
h
a
p
e
s
(
r
a
t
i
o
o
f
a
m
p
l
i
t
u
d
e
s
a
n
d
p
h
a
s
e
b
e
t
w
e
e
n
X
1
a
n
d
X
2
i
n
e
a
c
h
m
o
d
e
)
.
2
D
O
F
F
r
e
e
V
i
b
r
a
t
i
o
n
F
o
r
l
i
g
h
t
d
a
m
p
i
n
g
,
p
h
a
s
e
s
h
i
f
t
i
s
s
m
a
l
l
-
-
s
o
w
e
c
h
o
o
s
e
t
o
s
o
l
v
e
e
i
g
e
n
-
p
r
o
b
l
e
m
a
s
s
u
m
i
n
g
n
o
d
a
m
p
i
n
g
o
r
p
r
o
p
o
r
t
i
o
n
a
l
d
a
m
p
i
n
g
.
|
|
|
|
|
|
k
m
c
+
=
A
s
i
n
S
D
O
F
c
a
s
e
,
a
s
s
u
m
e
h
a
r
m
o
n
i
c
s
o
l
u
t
i
o
n
a
n
d
s
u
b
s
t
i
t
u
t
e
:
(
)
s
t
X
e
t
x
=
|
|
|
|
|
|
{
}
{
}
0
2
=
+
s
t
e
X
k
s
m
T
r
i
v
i
a
l
s
o
l
u
t
i
o
n
F
o
r
n
o
n
-
t
r
i
v
i
a
l
s
o
l
u
t
i
o
n
t
o
e
x
i
s
t
,
d
e
t
e
r
m
i
n
a
n
t
o
f
L
H
S
m
u
s
t
b
e
z
e
r
o
-
-
l
e
a
d
s
t
o
c
h
a
r
a
c
t
e
r
i
s
t
i
c
e
q
u
a
t
i
o
n
:
|
|
|
|
|
|
0
2
=
+
k
s
m
d
e
t
(
)
(
)
(
)
(
)
0
2
2
2
2
1
2
2
1
2
2
1
4
2
1
=
+
+
+
+
+
k
k
k
k
s
k
m
m
k
k
s
m
m
Q
u
a
d
r
a
t
i
c
i
n
s
2
-
r
o
o
t
s
a
r
e
e
i
g
e
n
v
a
l
u
e
s
.
2
D
O
F
F
r
e
e
V
i
b
r
a
t
i
o
n
E
i
g
e
n
v
a
l
u
e
s
g
i
v
e
n
a
t
u
r
a
l
f
r
e
q
u
e
n
c
i
e
s
:
(
)
2
1
n
n
<
2
1
2
1
n
s
=
2
2
2
2
n
s
=
E
i
t
h
e
r
E
O
M
g
i
v
e
s
e
i
g
e
n
v
e
c
t
o
r
s
u
p
o
n
s
u
b
s
t
i
t
u
t
i
o
n
o
f
e
i
g
e
n
v
a
l
u
e
s
:
(
)
(
)
0
2
2
1
2
1
2
1
=
+
+
X
k
X
k
k
s
m
(
)
2
1
2
1
2
2 1
k
k
s
m
k
X
X
+
+
=
E
v
a
l
u
a
t
e
a
t
s
1
2
,
s
2
2
1
2 2
=
X X
N
o
r
m
a
l
i
z
e
d
t
o
c
o
o
r
d
i
n
a
t
e
2
.
) `
| | . |
\ |
=
1
1
2 1
1
X
X
) `
| | . |
\ |
=
1
2
2 1
2
X
X
|
|
2
1
=
P
I
n
g
e
n
e
r
a
l
,
s
y
s
t
e
m
v
i
b
r
a
t
e
s
i
n
l
i
n
e
a
r
c
o
m
b
i
n
a
t
i
o
n
o
f
m
o
d
e
s
h
a
p
e
s
.
2
D
O
F
F
r
e
e
V
i
b
r
a
t
i
o
n
T
r
a
n
s
f
o
r
m
t
o
m
o
d
a
l
c
o
o
r
d
i
n
a
t
e
s
(
d
i
a
g
o
n
a
l
i
z
e
m
,
c
,
a
n
d
k
m
a
t
r
i
c
e
s
)
.
|
|
|
|
|
|
|
|
=
=
2
2
1
1
0
0
q
q
T
q
m
m
P
m
P
m
|
|
|
|
|
|
|
|
=
=
2
2
1
1
0
0
q
q
T
q
k
k
P
k
P
k
|
|
|
|
|
|
|
|
|
|
|
|
=
+
=
=
2
2
1
1
0
0
q
q
q
q
T
q
c
c
k
m
P
c
P
c
U
n
c
o
u
p
l
e
d
e
q
u
a
t
i
o
n
s
o
f
m
o
t
i
o
n
(
i
n
m
o
d
a
l
c
o
o
r
d
i
n
a
t
e
s
)
.
0
0
2
2
2
2
2
2
2
2
2
1
1
1
1
1
1
1
1
1
=
+
+
=
+
+
q
k
q
c
q
m
q
k
q
c
q
m
q
q
q
q
q
q
&
&
&
&
&
&
W
e
m
a
y
w
r
i
t
e
s
o
l
u
t
i
o
n
s
o
f
t
h
e
f
o
r
m
:
(
)
(
)
(
)
(
)
t
s
i
n
E
t
c
o
s
D
e
t
q
d
i
i
d
i
i
t
i
n
i
q
i
+
=
i
=
1
,
2
2
D
O
F
F
r
e
e
V
i
b
r
a
t
i
o
n
P
a
r
a
m
e
t
e
r
s
f
o
r
s
o
l
u
t
i
o
n
o
f
d
e
c
o
u
p
l
e
d
m
o
d
a
l
e
q
u
a
t
i
o
n
s
:
i
i
q
D
0
=
d
i
i
n
i
q
i
i
i
q
q
E
0
0
+
=
&
q
i
i
q
i
i
q
i
i
q
i
m
k
c
2
=
2
1
q
i
n
i
d
i
=
i
=
1
,
2
|
|
) `
=
) `
0
2
0
1
1
0
2
0
1
x x
P
q q
|
|
) `
=
) `
0
2
0
1
1
0
2
0
1
x x
P
q q
& &
& &
F
i
n
a
l
l
y
,
t
r
a
n
s
f
o
r
m
b
a
c
k
i
n
t
o
l
o
c
a
l
c
o
o
r
d
i
n
a
t
e
s
.
(
)
(
)
|
|
(
)
(
)
) `
=
) `
t
q
t
q
P
t
x
t
x
2 1
2 1
(
)
(
)
(
)
(
)
(
)
(
)
t
q
t
q
t
x
t
q
p
t
q
p
t
x
2
1
2
2
2
2
1
1
1
1
+
=
+
=
S
u
m
o
f
m
o
d
a
l
r
e
s
p
o
n
s
e
s
2
D
O
F
F
r
e
e
V
i
b
r
a
t
i
o
n
N
u
m
e
r
i
c
a
l
E
x
a
m
p
l
e
:
m
1
=
1
k
g
,
k
1
=
1
x
1
0
7
N
/
m
,
m
2
=
0
.
5
k
g
,
k
2
=
2
x
1
0
7
N
/
m
,
x
1
(
0
)
=
1
m
m
,
x
2
(
0
)
=
-
1
m
m
,
(
)
(
)
0
0
0
2
1
=
=
x
x
&
&
M
a
s
s
a
n
d
s
t
i
f
f
n
e
s
s
m
a
t
r
i
c
e
s
a
r
e
:
|
|
k
g
.
m
m
m
=
=
5
0
0
0
1
0
0
2
1
|
|
m N
k
k
k
k
k
k
+
=
7
7
7
7
2
2
2
2
1
1
0
2
1
0
2
1
0
2
1
0
3
C
h
a
r
a
c
t
e
r
i
s
t
i
c
e
q
u
a
t
i
o
n
i
s
:
|
|
|
|
|
|
0
1
0
2
5
0
1
0
2
1
0
2
1
0
3
7
2
7
7
7
2
2
=
+
=
+
s
.
s
k
s
m
d
e
t
0
1
0
2
1
0
5
3
5
0
1
4
2
7
4
=
+
s
.
s
.
2
D
O
F
F
r
e
e
V
i
b
r
a
t
i
o
n
R
o
o
t
s
o
f
c
h
a
r
a
c
t
e
r
i
s
t
i
c
e
q
u
a
t
i
o
n
g
i
v
e
e
i
g
e
n
v
a
l
u
e
s
:
2
2
7
2
2
2
1
6
2
1
1
0
3
7
6
1
0
2
8
6
n
n
.
s
.
s
=
s
r
a
d
s
r
a
d
n n
7
9
8
1
2
5
0
6
2
1
=
=
E
i
g
e
n
v
e
c
t
o
r
s
(
n
o
r
m
a
l
i
z
e
d
t
o
X
2
)
:
8
4
3
0
1
0
3
1
0
2
8
6
1
0
2
1
0
3
1
0
2
7
6
7
7
2
1
7
1
2 1
.
.
s
X
X
=
=
| | . |
\ |
5
9
3
0
1
0
3
1
0
3
7
6
1
0
2
1
0
3
1
0
2
7
7
7
7
2
2
7
2
2 1
.
.
s
X
X
=
| | . |
\ |
M
o
d
e
s
h
a
p
e
s
:
M
o
d
a
l
m
a
t
r
i
x
:
) `
=
1
8
4
3
0
1
.
) `
=
1
5
9
3
0
2
.
=
1
1
5
9
3
0
8
4
3
0
.
.
P
2
D
O
F
F
r
e
e
V
i
b
r
a
t
i
o
n
T
r
a
n
s
f
o
r
m
t
o
u
n
c
o
u
p
l
e
d
m
o
d
a
l
c
o
o
r
d
i
n
a
t
e
s
u
s
i
n
g
m
o
d
a
l
m
a
t
r
i
x
:
|
|
|
|
|
|
|
|
k
g
.
.
P
m
P
m
T
q
=
=
8
5
2
0
0
0
2
1
1
1
|
|
|
|
|
|
|
|
m N
.
.
P
k
P
k
T
q
=
=
7
6
1
0
4
3
5
0
0
1
0
6
7
R
e
w
r
i
t
e
e
q
u
a
t
i
o
n
s
o
f
m
o
t
i
o
n
i
n
m
o
d
a
l
c
o
o
r
d
i
n
a
t
e
s
:
0
1
0
4
3
5
8
5
2
0
0
1
0
6
7
2
1
1
1
2
7
2
1
6
1
=
+
=
+
q
.
q
.
q
.
q
.
&
&
&
&
C
o
n
v
e
r
t
i
n
i
t
i
a
l
c
o
n
d
i
t
i
o
n
s
t
o
m
o
d
a
l
c
o
o
r
d
i
n
a
t
e
s
:
|
|
) `
=
) `
=
) `
0 0
0
2
0
1
1
0
2
0
1
x x
P
q q
& &
& &
|
|
m
m
.
.
x x
P
q q
) `
=
) `
=
) `
2
8
3
1
2
8
3
0
0
2
0
1
1
0
2
0
1
2
D
O
F
F
r
e
e
V
i
b
r
a
t
i
o
n
W
r
i
t
e
s
o
l
u
t
i
o
n
t
o
u
n
c
o
u
p
l
e
d
d
i
f
f
e
r
e
n
t
i
a
l
e
q
u
a
t
i
o
n
s
o
f
m
o
t
i
o
n
i
n
m
o
d
a
l
c
o
o
r
d
i
n
a
t
e
s
:
(
)
(
)
(
)
(
)
t
c
o
s
.
t
c
o
s
q
t
s
i
n
q
t
q
n
n
n
2
5
0
6
2
8
3
0
1
0
1
1
1
0
1
1
=
+
=
&
(
)
(
)
(
)
(
)
t
c
o
s
.
t
c
o
s
q
t
s
i
n
q
t
q
n
n
n
7
9
8
1
2
8
3
1
2
0
2
2
2
0
2
2
=
+
=
&
T
r
a
n
s
f
o
r
m
b
a
c
k
i
n
t
o
l
o
c
a
l
c
o
o
r
d
i
n
a
t
e
s
f
o
r
f
i
n
a
l
s
o
l
u
t
i
o
n
:
(
)
(
)
(
)
(
)
(
)
(
)
(
)
(
)
t
q
t
q
t
x
t
q
.
t
q
.
t
q
p
t
q
p
t
x
2
1
2
2
1
2
2
2
1
1
1
1
5
9
3
0
8
4
3
0
+
=
=
+
=
S
u
b
s
t
i
t
u
t
i
o
n
g
i
v
e
s
:
(
)
(
)
(
)
(
)
(
)
(
)
t
c
o
s
.
t
c
o
s
.
t
x
t
c
o
s
.
t
c
o
s
.
t
x
7
9
8
1
2
8
3
1
2
5
0
6
2
8
3
0
7
9
8
1
7
6
1
0
2
5
0
6
2
3
9
0
2
1
=
+
=
2
D
O
F
F
o
r
c
e
d
V
i
b
r
a
t
i
o
n
H
a
r
m
o
n
i
c
f
o
r
c
i
n
g
f
u
n
c
t
i
o
n
s
a
p
p
l
i
e
d
t
o
l
u
m
p
e
d
p
a
r
a
m
e
t
e
r
c
o
o
r
d
i
n
a
t
e
s
.
A
s
s
u
m
i
n
g
l
i
n
e
a
r
s
y
s
t
e
m
,
m
a
y
t
r
e
a
t
s
e
p
a
r
a
t
e
l
y
a
n
d
a
p
p
l
y
s
u
p
e
r
p
o
s
i
t
i
o
n
.
T
r
e
a
t
F
2
o
n
l
y
;
e
q
u
a
t
i
o
n
s
o
f
m
o
t
i
o
n
i
n
m
a
t
r
i
x
f
o
r
m
a
r
e
:
|
|
{
}
|
|
{
}
|
|
{
}
{
}
t
i
t
i
e
F
e
F
x
k
x
c
x
m
) `
=
=
+
+
2
0
&
&
&
A
s
s
u
m
e
p
r
o
p
o
r
t
i
o
n
a
l
d
a
m
p
i
n
g
,
d
e
t
e
r
m
i
n
e
e
i
g
e
n
v
a
l
u
e
s
/
v
e
c
t
o
r
s
f
r
o
m
h
o
m
o
g
e
n
e
o
u
s
c
a
s
e
.
|
|
|
|
|
|
0
2
=
+
k
s
m
d
e
t
O
b
t
a
i
n
u
n
c
o
u
p
l
e
d
e
q
u
a
t
i
o
n
s
o
f
m
o
t
i
o
n
i
n
m
o
d
a
l
c
o
o
r
d
i
n
a
t
e
s
:
|
|
{
}
|
|
{
}
|
|
{
}
{
}
t
i
q
q
q
e
R
q
k
q
c
q
m
=
+
+
&
&
&
w
h
e
r
e
R
i
s
t
h
e
m
o
d
a
l
f
o
r
c
e
v
e
c
t
o
r
2
D
O
F
F
o
r
c
e
d
V
i
b
r
a
t
i
o
n
M
o
d
a
l
f
o
r
c
e
v
e
c
t
o
r
R
i
s
w
r
i
t
t
e
n
a
s
:
w
h
e
r
e
t
h
e
e
i
g
e
n
v
e
c
t
o
r
s
h
a
v
e
b
e
e
n
n
o
r
m
a
l
i
z
e
d
t
o
f
o
r
c
e
l
o
c
a
t
i
o
n
{
}
|
|
{
}
) `
=
) `
=
=
2 2
2
1
2
1
1
0
1 1
F F
F
p p
F
P
R
T
T
h
e
F
R
F
s
f
o
r
t
h
e
t
w
o
u
n
c
o
u
p
l
e
d
(
m
o
d
a
l
)
s
y
s
t
e
m
s
a
r
e
:
(
)
(
)
(
)
(
)
(
)
| | | . |
\ |
+
=
2
2
2
2 2
1
1
1
i
q
i
i
i
q
i
i
i i
r
r
r
k
R
Q
R
e
w
h
e
r
e
r
i
=
n
i
a
n
d
i
=
1
,
2
(
)
(
)
(
)
(
)
| | | . |
\ |
+
=
2
2
2
2
1
2
1
i
q
i
i
i
q
i
q
i
i
i i
r
r
r
k
R
Q
I
m
2
D
O
F
F
o
r
c
e
d
V
i
b
r
a
t
i
o
n
F
i
n
a
l
l
y
,
t
r
a
n
s
f
o
r
m
b
a
c
k
i
n
t
o
l
o
c
a
l
c
o
o
r
d
i
n
a
t
e
s
.
C
r
o
s
s
F
R
F
-
m
o
d
a
l
F
R
F
s
s
c
a
l
e
d
b
y
m
o
d
e
s
h
a
p
e
s
(
)
2 2
1
2
1 1
1
1
2
2
1
2
1
1
1
2
1
R
Q
p
R
Q
p
F
Q
p
Q
p
F X
+
=
+
=
(
)
2 2
1 1
2
2
1
2
2
R
Q
R
Q
F
Q
Q
F
X
+
=
+
=
D
i
r
e
c
t
F
R
F
-
s
u
m
o
f
m
o
d
a
l
F
R
F
s
W
e
l
l
u
s
e
t
h
i
s
i
n
s
i
m
u
l
a
t
i
o
n
s
e
c
t
i
o
n
.
D
i
r
e
c
t
F
R
F
R e [ X
1
/ F
2
]
p
1
1
Q
1
/
R
1
p
1
2
Q
2
/
R
2
C
r
o
s
s
F
R
F
R e [ X
2
/ F
2
]
Q
1
/
R
1
Q
2
/
R
2
M
o
d
e
l
i
n
g
P
h
y
s
i
c
a
l
S
y
s
t
e
m
s
T
y
p
i
c
a
l
l
y
,
d
o
n
o
t
k
n
o
w
p
a
r
a
m
e
t
e
r
s
f
o
r
m
o
d
e
l
a
n
d
w
e
m
u
s
t
s
t
a
r
t
w
i
t
h
e
x
p
e
r
i
m
e
n
t
a
l
F
R
F
m
e
a
s
u
r
e
m
e
n
t
s
o
f
m
e
c
h
a
n
i
c
a
l
s
t
r
u
c
t
u
r
e
.
C
o
n
s
i
d
e
r
a
s
y
s
t
e
m
t
h
a
t
c
a
n
b
e
a
d
e
q
u
a
t
e
l
y
m
o
d
e
l
e
d
b
y
2
D
O
F
w
i
t
h
a
m
e
a
s
u
r
e
d
d
i
r
e
c
t
F
R
F
:
I m [ X
2
/ F
2
]
n
1
n
2
2
k
q
1
1
q
1
-
1
2
k
q
2
2
q
2
-
1
R e [ X
2
/ F
2
]
n
1
(
1
-
q
1
)
n
1
(
1
+
q
1
)
n
2
(
1
-
q
2
)
n
2
(
1
+
q
2
)
U
s
e
s
i
m
p
l
e
f
i
t
t
i
n
g
p
r
o
c
e
d
u
r
e
t
o
i
d
e
n
t
i
f
y
m
o
d
a
l
p
a
r
a
m
e
t
e
r
s
.
M
o
d
e
l
i
n
g
P
h
y
s
i
c
a
l
S
y
s
t
e
m
s
C
r
o
s
s
F
R
F
p
r
o
v
i
d
e
s
e
i
g
e
n
v
e
c
t
o
r
s
a
n
d
m
o
d
a
l
m
a
t
r
i
x
.
I m [ X
1
/ F
2
]
2
k
q
1
1
q
1
-
p
1
1
p
1
2
2
k
q
1
1
q
1
1
2
2
1
2
1
1
1
1
1
1
1
1
1
1
1
2
1
2
=
=
F
X
I
m
F X
I
m
k k
p
p
q
q
q
q
M
o
d
e
1
:
R
a
t
i
o
o
f
c
r
o
s
s
t
o
d
i
r
e
c
t
I
m
a
g
i
n
a
r
y
p
e
a
k
s
g
i
v
e
s
m
o
d
e
s
h
a
p
e
s
.
) `
=
1
1
2
2
p
) `
=
1
1
1
1
p
F
o
r
c
e
a
p
p
l
i
e
d
t
o
X
2
.
2
2
2
2
2
1
2
2
2
2
2
2
1
2
1
2
2
1
2
=
=
F
X
I
m
F X
I
m
k k
p
p
q
q
q
q
M
o
d
e
2
:
M
o
d
e
l
i
n
g
P
h
y
s
i
c
a
l
S
y
s
t
e
m
s
D
e
t
e
r
m
i
n
e
2
D
O
F
c
h
a
i
n
-
t
y
p
e
l
u
m
p
e
d
p
a
r
a
m
e
t
e
r
m
o
d
e
l
.
|
|
|
|
|
|
|
|
=
=
2
1
1
0
0
m
m
P
m
P
m
q
T
|
|
|
|
|
|
|
|
+
=
=
2
2
2
2
1
1
k
k
k
k
k
P
k
P
k
q
T
|
|
|
|
|
|
|
|
+
=
=
2
2
2
2
1
1
c
c
c
c
c
P
c
P
c
q
T
w
h
e
r
e
=
1
1
1
2
1
1
p
p
P
E
x
a
m
p
l
e
:
M
o
d
e
l
i
n
g
P
h
y
s
i
c
a
l
S
y
s
t
e
m
s
D
i
r
e
c
t
/
c
r
o
s
s
F
R
F
s
m
e
a
s
u
r
e
d
o
n
c
a
n
t
i
l
e
v
e
r
b
e
a
m
;
d
e
t
e
r
m
i
n
e
m
o
d
e
s
h
a
p
e
s
.
C
r
o
s
s
:
1
1
F
X
1
2
F
X
1
3
F
X
1
4
F
X
1
5
F
X
0
1
0
0
2
0
0
3
0
0
4
0
0
5
0
0
-
5 0 5
x
1
0
-
5
X
1
/
F
1
F
R
F
I m a g ( m / N )
f
(
H
z
)
D
i
r
e
c
t
:
F
r
o
m
d
i
r
e
c
t
F
R
F
,
w
e
s
e
e
t
h
r
e
e
m
o
d
e
s
w
i
t
h
i
n
t
h
e
m
e
a
s
u
r
e
m
e
n
t
b
a
n
d
w
i
d
t
h
(
a
t
1
0
0
,
3
0
0
,
a
n
d
4
0
0
H
z
)
,
a
l
t
h
o
u
g
h
a
n
i
n
f
i
n
i
t
e
n
u
m
b
e
r
a
c
t
u
a
l
l
y
e
x
i
s
t
.
E
x
a
m
p
l
e
:
D
e
t
e
r
m
i
n
i
n
g
1
s
t
M
o
d
e
S
h
a
p
e
0
1
0
0
2
0
0
3
0
0
4
0
0
5
0
0
-
5 0 5
x
1
0
-
5
X
1
/
F
1
F
R
F
I m a g ( m / N )
f
(
H
z
)
0
1
0
0
2
0
0
3
0
0
4
0
0
5
0
0
-
5 0 5
x
1
0
-
5
X
2
/
F
1
F
R
F
I m a g ( m / N )
f
(
H
z
)
0
1
0
0
2
0
0
3
0
0
4
0
0
5
0
0
-
5 0 5
x
1
0
-
5
X
3
/
F
1
F
R
F
I m a g ( m / N )
f
(
H
z
)
0
1
0
0
2
0
0
3
0
0
4
0
0
5
0
0
-
5 0 5
x
1
0
-
5
X
4
/
F
1
F
R
F
f
(
H
z
)
I m a g ( m / N )
0
1
0
0
2
0
0
3
0
0
4
0
0
5
0
0
-
5 0 5
x
1
0
-
5
X
5
/
F
1
F
R
F
f
(
H
z
)
I m a g ( m / N )
x
1
( x )
E
x
a
m
p
l
e
:
D
e
t
e
r
m
i
n
i
n
g
2
n
d
M
o
d
e
S
h
a
p
e
0
1
0
0
2
0
0
3
0
0
4
0
0
5
0
0
-
5 0 5
x
1
0
-
5
X
1
/
F
1
F
R
F
I m a g ( m / N )
f
(
H
z
)
0
1
0
0
2
0
0
3
0
0
4
0
0
5
0
0
-
5 0 5
x
1
0
-
5
X
2
/
F
1
F
R
F
I m a g ( m / N )
f
(
H
z
)
0
1
0
0
2
0
0
3
0
0
4
0
0
5
0
0
-
5 0 5
x
1
0
-
5
X
3
/
F
1
F
R
F
I m a g ( m / N )
f
(
H
z
)
0
1
0
0
2
0
0
3
0
0
4
0
0
5
0
0
-
5 0 5
x
1
0
-
5
X
4
/
F
1
F
R
F
f
(
H
z
)
I m a g ( m / N )
0
1
0
0
2
0
0
3
0
0
4
0
0
5
0
0
-
5 0 5
x
1
0
-
5
X
5
/
F
1
F
R
F
f
(
H
z
)
I m a g ( m / N )
x
2
( x )
E
x
a
m
p
l
e
:
D
e
t
e
r
m
i
n
i
n
g
3
r
d
M
o
d
e
S
h
a
p
e
0
1
0
0
2
0
0
3
0
0
4
0
0
5
0
0
-
5 0 5
x
1
0
-
5
X
1
/
F
1
F
R
F
I m a g ( m / N )
f
(
H
z
)
0
1
0
0
2
0
0
3
0
0
4
0
0
5
0
0
-
5 0 5
x
1
0
-
5
X
2
/
F
1
F
R
F
I m a g ( m / N )
f
(
H
z
)
0
1
0
0
2
0
0
3
0
0
4
0
0
5
0
0
-
5 0 5
x
1
0
-
5
X
3
/
F
1
F
R
F
I m a g ( m / N )
f
(
H
z
)
0
1
0
0
2
0
0
3
0
0
4
0
0
5
0
0
-
5 0 5
x
1
0
-
5
X
4
/
F
1
F
R
F
f
(
H
z
)
I m a g ( m / N )
0
1
0
0
2
0
0
3
0
0
4
0
0
5
0
0
-
5 0 5
x
1
0
-
5
X
5
/
F
1
F
R
F
f
(
H
z
)
I m a g ( m / N )
x
3
( x )