JACOBIANO v3

sin
cos
S
C
=
=

1 1 1 1 1 1 1
1 1 1 1 1 1 1 0
1
1 1 1
cos cos sin sin sin cos
sin cos cos sin cos sin
0 sin cos
0 0 0 1
a
a
A
d
u o u o u u
u o u o u u
o o
(
(
(
=
(
(

2 2 2 2 2 2 2
2 2 2 2 2 2 2 1
2
2 2 2
0 sin cos
0 0 0 1
a
a
A
d
u o u o u u
u o u o u u
o o
(
(
(
=
(
(

0 1 0
1 2 2
1 2 3 4
5 6 7 8
*
9 10 11 12
13 14 15 16
U U U U
U U U U
A A A
U U U U
U U U U
(
(
(
= =
(
(

( ) ( ) ( )
( ) ( )
1 2 1 1 2
1 2 2 1 1 2 2 1 1 2
1 2 2 1 1 2 2 1 1 2
1 2 2 1 1 2 2 2 1 1 1 1
1 2 1 1 2
1 2 2 1 1 2 2 1 1 2
1 2 2 1
1
2
3
4
5
6
7
U C C C S S
U C C S C S C S S S S
U C S S C S S C S S C
U C a C C S a S d S S a C
U S C C C S
U S C S C C C S S C S
U S S S C C
u u o u u
u o u o u o u o u o
u o u o u o u o u o
u u o u u o u u
u u o u u
u o u o u o u o u o
u o u o
=
= +
= + +
= + +
= +
= +
=
( ) ( ) ( )
( )
1 2 2 1 1 2
1 2 2 1 1 2 2 2 1 1 1 1
1 2
1 2 2 1 2
1 2 2 1 2
1 2 2 2 1
8
9
10
11
12
13 0
14 0
15 0
16 1
S C S C C
U S a C C C a S d S C a S
U S S
U S C S C S
U S S C C C
U S a S d C
U
U
U
U
u o u o u o
u u o u u o u u
o u
o o u o o
o o u o o
o u o
= + +
=
= +
= +
= +
=
=
=
=

0
2
3 3 3 3 3 3 3
3 3 3 3 3 3 3 2
3
3 3 3
0 2 0
2 3 3
1 2 3 4
5 6 7 8
9 10 11 12
13 14 15 16
0 sin cos
0 0 0 1
1 2 3 4
5 6 7 8
*
9 10 11 12
13 14
U U U U
U U U U
A
U U U U
U U U U
a
a
A
d
B B B B
B B B B
A A A
B B B B
B B B
u o u o u u
u o u o u u
o o
(
(
(
=
(
(

(
(
(
=
(
(

= =
15 16 B
(
(
(
(
(

( )
( ) ( ) ( )
( )( )
( ) ( ) ( ) ( )
( )
1 2 1 1 2 3
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3
1 ...
...
2 ...
... ...
...
3
B C C C S S C
C C S C S C S S S S S
B C C C S S C S
C C S C S C S S S S C C
C S S C S S C S S C S
B C
u u o u u u
u o u o u o u o u o u
u u o u u o u
u o u o u o u o u o o u
u
= (

+ + (

= (

+ + (

+ + +
= ( )( )
( ) ( ) ( ) ( )
( )
( )( )
( ) ( ) ( ) ( )
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
...
... ...
...
4 ...
... ...
...
C C S S S S
C C S C S C S S S S S C
C S S C S S C S S C C
B C C C S S a C
C C S C S C S S S S a S
u o u u o u
u u o u u u
(

+ + (

+ + +
= (

+ + (

( )
( ) ( )
( )
( )
( )( )
1 2 2 1 1 2 2 1 1 2 3
1 2 2 1 1 2 2 2 1 1 1 1
1 2 1 1 2 3
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2
....
...
5 ...
...
6 ...
...
C S S C S S C S S C d
C a C C S a S d S S a C
B S C C C S C
S C S C C C S S C S S
B S C C C S C S
S C S C C C S
u o u o u o u o u o
u u o u u o u u
u u o u u u
u u o u u o u
u o u o u o u
+ + +
+ + +
= +
+ +
= +
+ + ( )( )
( )
1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3
...
...
S C S C C
S S S C C S C S C C S
o u o o u
u o u o u o u o u o u +

( )( )
( )( )
( )
( )( )
( )( )
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2 2
7 ...
... ...
...
8 ...
... ...
...
B S C C C S S S
S C S C C C S S C S S C
S S S C C S C S C C C
B S C C C S a C
S C S C C C S S C S a S
S S S
u u o u u o u
u u o u u u
u o u
= +
+ +
+
= +
+ +
+ ( )
( ) ( ) ( )
( ) ( )
( )( ) ( )( )
( )
( )( ) ( )
1 1 2 2 1 1 2 3
1 2 2 1 1 2 2 2 1 1 1 1
1 2 3 1 2 2 1 2 3
1 2 3 3 1 2 2 1 2 3 3
1 2 2 1 2 3
1 2 3 3 1 2 2 1 2 3
...
9
10 ...
...
11
C C S C S C C d
S a C C C a S d S C a S
B S S C S C S C S S
B S S C S S C S C S C C
S S C C C S
B S S S S S C S C S S C
o u o u o u o
u u o u u o u u
o u u o o u o o u
o u o u o o u o o o u
o o u o o u
o u o u o o u o o o
+ + +
= + +
= + +
+ +
= + + ( )
( )
( )( ) ( )( )
( )
( )
3
1 2 2 1 2 3
1 2 3 3 1 2 2 1 2 3 3
1 2 2 1 2 3
1 2 2 2 1
...
...
12 ...
...
...
13 0
14 0
15 0
16 1
S S C C C C
B S S a C S C S C S a S
S S C C C d
S a S d C
B
B
B
B
u
o o u o o u
o u u o o u o o u
o o u o o
o u o
+ +
= + +
+ +
+ +
=
=
=
=

0
3
4 4 4 4 4 4 4
4 4 4 4 4 4 4 3
4
4 4 4
0 3 0
3 4 4
1 2 3 4
5 6 7 8
9 10 11 12
13 14 15 16
0 sin cos
0 0 0 1
1 2 3 4
5 6 7 8
*
9 10 11 12
13 14
B B B B
B B B B
A
B B B B
B B B B
a
a
A
d
C C C C
C C C C
A A A
C C C C
C C C
u o u o u u
u o u o u u
o o
(
(
(
=
(
(

(
(
(
=
(
(

= =
15 16 C
(
(
(
(
(

( )
( ) ( ) ( )
( )( )
( ) ( ) ( ) ( )
1 2 1 1 2 3
4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2 2 1 1 2 2
...
1 * ...
...
...
.... ... ...
...
C C C S S C
C C
C C C S S C S
C S S C S S C
u u o u u u
u
u u o u u o u
u o u o u o u
| | (

| =
|
+ + (
\ .
(

+ + + (

+ + + ( )
( )
( ) ( ) ( )
( )
( )( )
( ) ( ) ( )
4
1 1 2 3
1 2 1 1 2 3
4 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3
...
2 * ...
...
...
.... ...
S
S S C S
C C C S S C
C C S
C C C S S C S
u
o u o u
u u o u u u
o u
u u o u u o u
| |
|
|
|
|
\ .
| | (

| =
|
+ + (
\ .
(

+ + + (

( )
( )
( )
( )( )
( ) ( ) ( ) ( )
( )
3 4 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3 4
1 2 2 1 1 2 2 1 1 2 3
...
...
...
... ... ... *
...
C C
C C C S S S S
C C S C S C S S S S S C S
o u
u u o u u o u
u o u o u o u o u o o u o
| |
|
|
|
|
+ + +
\ .
| | (

|
| + + + (

|
|
+ + +
\ .
( )
( ) ( ) ( )
( )
( )( )
( ) ( ) ( ) ( )
1 2 1 1 2 3
4 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2 2 1 1 2
...
3 * ...
...
...
.... ... ...
...
C C C S S C
C S S
C C C S S C S
C S S C S S C
u u o u u u
o u
u u o u u o u
u o u o u o
| | (

| =
|
+ + (
\ .
(

+ + + (

+ + ( )
( )
( )( )
( ) ( ) ( ) ( )
( )
4 4
2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3 4
1 2 2 1 1 2 2 1 1 2 3
...
... ... ... *C
...
S C
S S C S
C C C S S S S
o u
u o u o u
u u o u u o u
| |
|
|
|
|
+
\ .
| | (

|
| + + + (

|
|
+ + +
\ .

( )
( ) ( ) ( )
( )
( )( )
( ) ( ) ( ) ( )
1 2 1 1 2 3
4 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2 2 1 1 2
...
4 * ...
...
...
.... ... ...
...
C C C S S C
C a C
C C C S S C S
C S S C S S C
u u o u u u
u
u u o u u o u
u o u o u o u
| | (

| =
|
+ + (
\ .
(

+ + + (

+ + ( )
( )
( )( )
( ) ( ) ( ) ( )
( )
( )( )
4 4
2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
...
... ... ... *d
...
..
...
a S
S S C S
C C C S S S S
C C C S S a C
u
o u o u
u u o u u o u
u u o u u u
| |
|
|
|
|
+
\ .
| | (

|
| + + + (

|
|
+ + +
\ .
(

+
( ) ( ) ( ) ( )
( )
( ) ( )
( )
1 2 2 1 1 2 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3
1 2 2 1 1 2 2 2 1 1 1 1
1 2 1 1 2 3
1 2 2 1 1 2 2
.
... ...
... ....
...
...
5
...
S C C C S C
C
S C S C C C S S
u o u o u o u o u o
u u o u u o u u
u u o u u u
u o u o u o u o
| |
|
| + + (

|
+ + +
|
|
+ + +
\ .
+
=
+ + ( )
( )( )
( )( )
( )
( )
4
1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3
1 2 2 1 1
* ...
...
... ... ...
...
...
6
...
C
C S S
S C C C S C S
S C S C C C S S C S C C S
S C C C S C
C
S C S C C C
u
u o u
u u o u u o u
u o u o u o u o u o o u u
u u o u u u
u o u o u
| |
|
|
\ .
+ | |
|
+ + +
|
|
+
\ .
+
=
+ + ( )
( )
( )( )
( )( )
( )
( )
( )( )
4 4
2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3 4 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
...
...
... ... ... ...
...
...
... .
C S
S S C S S
S C C C S C S
S C S C C C S S C S C C C C
S C C C S S S
o u
o u o u o u
u u o u u o u
u o u o u o u o u o o u o u
u u o u u o u
| |
|
|
\ .
+ | |
|
+ + +
|
|
+
\ .
+
+ ( )( )
( )
1 2 2 1 1 2 2 1 1 2 3 3 3
1 2 2 1 1 2 2 1 1 2 3
.. ... *
...
S C S C C C S S C S S C S
| |
|
+ +
|
|
+
\ .

( )
( )
( )
( )( )
( )( )
( )
1 2 1 1 2 3
4 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3
...
7 ...
...
...
... ... ...
...
S C C C S C
C S S
S C C C S C S
S C S C C C S S C S C C
u u o u u u
o u
u u o u u o u
+ | |
= |
|
+ +
\ .
+ |
+ + +
+
\
( )
( )( )
( )( )
( )
( )
4 4
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3
1 2 2 1 1 2 2
...
...
... ... ... *C
...
...
8
...
S C
S C C C S S S
S C C C S C
C
S C S C C C S S
o u
u u o u u o u
u u o u u u
u o u o u o u
|
|
|
|
.
+ | |
|
+ + +
|
|
+
\ .
+
=
+ + ( )
( )
( )( )
( )( )
( )
( )
( )( )
4 4
1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3 4 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2
...
...
... ... ... ...
...
...
... ...
a C
C S S
S C C C S C S
S C S C C C S S C S C C a S
S C C C S S S
S C
u
o u o u
u u o u u o u
u u o u u o u
u o
| |
|
|
\ .
+ | |
|
+ + +
|
|
+
\ .
+
+ + ( )( )
( )
( )( )
( )( )
( )
2 1 1 2 2 1 1 2 3 3 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3
... *d
...
...
... ...
...
...
.
S C C C S S C S S C
S C C C S a C
S S S C C S C S C C d
u o u o u o u o o u
u u o u u u
u o u o u o u o u o
| |
|
+
|
|
+
\ .
+
+ +
+
+
( ) ( ) ( )
( ) ( )
( )( ) ( )( )
( )
( )
1 2 2 1 1 2 2 2 1 1 1 1
1 2 3 1 2 2 1 2 3 4
1 2 3 3 1 2 2 1 2 3 3
4
1 2 2 1 2 3
1 2 3 1 2 2
..
9 * ...
...
.... *
...
10
C S S C S C S C S S C
S S C S S C S C S C C
S
S S C C C S
C S S C S C S C
u u o u u o u u
o u u o o u o o u u
u
o o u o o u
o u u o o u
| |
|
|
|
|
|
+ + +
\ .
= + + (

+ + | |
+ |
|
+ +
\ .
= + + ( ) ( )
( )( ) ( )( )
( )
( )
( )( ) ( )( )
( )
1 2 3 4 4
1 2 3 3 1 2 2 1 2 3 3
4 4
1 2 2 1 2 3
1 2 3 3 1 2 2 1 2 3 3
4
1 2 2 1 2 3
...
...
.... ...
...
...
... *
...
S S C S
C C
S S C C C S
S S S S S C S C S S C
S
S S C C C C
o o u o u
o u
o o u o o u
o
o o u o o u
(

+ + | |
+ |
|
+ +
\ .
+ + | |
+ |
|
+ +
\ .

( ) ( ) ( )
( )( ) ( )( )
( )
( )
( )( ) ( )( )
( )
1 2 3 1 2 2 1 2 3 4 4
1 2 3 3 1 2 2 1 2 3 3
4 4
1 2 2 1 2 3
1 2 3 3 1 2 2 1 2 3 3
1 2 2 1 2 3
11 ...
...
.... ...
...
...
...
...
C S S C S C S C S S S S
S C
S S C C C S
S S C C C C
o u u o o u o o u o u
o u
o o u o o u
o o u o o u
= + + (

+ + | |
+ |
|
+ +
\ .
+ + |
+
+ +
( ) ( ) ( )
( )( ) ( )( )
( )
( )
( )( ) ( )( )
4
1 2 3 1 2 2 1 2 3 4 4
1 2 3 3 1 2 2 1 2 3 3
4 4
1 2 2 1 2 3
1 2 3 3 1 2 2 1 2 3 3
1 2 2
*C
12 ...
...
.... ...
...
...
...
...
C S S C S C S C S S a C
a S
S S C C C S
S S C C
o
o u u o o u o o u u
u
o o u o o u
o o u o
|
|
|
\ .
= + + (

+ + | |
+ |
|
+ +
\ .
+ +
+
+ + ( )
( )( ) ( )( )
( )
( )
4
1 2 3
1 2 3 3 1 2 2 1 2 3 3
1 2 2 1 2 3
1 2 2 2 1
*d
...
... ...
...
13 0
14 0
15 0
16 1
C C
S S a C S C S C S a S
S S C C C d
S a S d C
C
C
C
C
o u
o u u o o u o o u
o o u o o
o u o
| |
|
|
\ .
+ + | |
|
+ + +
|
|
+ +
\ .
=
=
=
=

0
4
5 5 5 5 5 5 5
5 5 5 5 5 5 5 4
5
5 5 5
0 4 0
4 5 5
1 2 3 4
5 6 7 8
9 10 11 12
13 14 15 16
0 sin cos
0 0 0 1
1 2 3 4
5 6 7 8
*
9 10 11 12
13 14
C C C C
C C C C
A
C C C C
C C C C
a
a
A
d
D D D D
D D D D
A A A
D D D D
D D D
u o u o u u
u o u o u u
o o
(
(
(
=
(
(

(
(
(
=
(
(

= =
15 16 D
(
(
(
(
(

( )
( ) ( ) ( )
( )( )
( ) ( ) ( ) ( )
1 2 1 1 2 3
4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2 2 1 1 2 2
...
* ...
...
1 ...
.... ... ...
...
C C C S S C
C
D C C C S S C S
C S S C S S C
u u o u u u
u
u u o u u o u
u o u o u o u
| | (

|
|
+ + (
\ .
= (

+ + + (

+ + + ( )
( )
( ) ( ) ( )
( )
( )( )
( )
5
4
1 1 2 3
1 2 1 1 2 3
4 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1
* ...
...
* ...
...
...
.... ...
C
S
S S C S
C C C S S C
C S
C C C S S C S
C C S C S
u
u
o u o u
u u o u u u
o u
u u o u u o u
u o u o u
(
(
(
(
( | |
( |
( |
( |
|
(
\ .
| | (

|
|
+ + (
\ .
(

+ + + ( ) ( ) ( )
( )
( )
( )( )
( ) ( ) ( ) ( )
2 2 1 1 2 3 3 4 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2 2 1 1 2 2 1
...
...
...
... ... ...
...
C S S S S C C C C
C C C S S S S
C S S C S S C S
o u o u o o u o u
u u o u u o u
u o u o u o u o
| |
|
| + (

|
|
+ + +
\ .
(

+ + + (

+ + + ( )
5
4
1 2 3
*
*
S
S
S C C
u
o
u o u
(
(
(
(
(
(
(
(
(
(
(
(
| | (
|
(
|
(
|
(
|
(
\ .
( )
( ) ( ) ( )
( )( )
( ) ( ) ( ) ( )
1 2 1 1 2 3
4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2 2 1 1 2 2
...
* ...
...
2 ...
.... ... ...
...
C C C S S C
C
D C C C S S C S
C S S C S S C
u u o u u u
u
u u o u u o u
u o u o u o u
| | (

|
|
+ + (
\ .
= (

+ + + (

+ + + ( )
( )
( )
( ) ( ) ( )
( )
( )( )
( )
5 5
4
1 1 2 3
1 2 1 1 2 3
4 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1
...
* ...
...
...
.... ...
C S
S
S S C S
C C C S S C
C S
C C C S S C S
C C S C S
o u
u
o u o u
u u o u u u
o u
u u o u u o u
u o u o u
(
(
(
(
( | |
( |
( |
( |
|
(
\ .
| | (

|
|
+ + (
\ .
(

+ + + ( ) ( ) ( )
( )
( )
( )( )
( ) ( ) ( ) ( )
2 2 1 1 2 3 3 4 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2 2 1 1 2 2 1
...
...
...
... ... ...
...
C S S S S C C C C
C C C S S S S
C S S C S S C S
o u o u o o u o u
u u o u u o u
u o u o u o u o
| |
|
| + (

|
|
+ + +
\ .
(

+ + + (

+ + + ( )
( )
( )
( ) ( ) ( )
( )
( )( )
5 5
4
1 2 3
1 2 1 1 2 3
4 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1
*
...
* ...
...
...
.... ...
C C
S
S C C
C C C S S C
S S
C C C S S C S
C C
o u
o
u o u
u u o u u u
o u
u u o u u o u
u
(
(
(
(
(
(
(
(
(
(
(
(
| | (
|
(
|
(
|
(
|
(
\ .
| | (

|
|
+ + (
\ .
(

+ + + ( ) ( ) ( ) ( )
( )
( )
( )( )
( ) ( ) ( ) ( )
2 2 1 1 2 2 1 1 2 3 3 4 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2 2 1
...
...
...
... ... ...
...
S C S C S S S S C C S C
C C C S S S S
C S S C
o u o u o u o u o o u o u
u u o u u o u
u o u o
| |
|
| + (

|
|
+ + +
\ .
(

+ + + (

+ + ( )
5
4
1 2 2 1 1 2 3
*
*C
S
S S C S S C C
o
o
u o u o u o u
(
(
(
(
(
(
(
(
(
(
(
(
| | (
|
(
|
(
|
(
|
+
(
\ .

( )
( ) ( ) ( )
( )( )
( ) ( ) ( ) ( )
1 2 1 1 2 3
4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2 2 1 1 2 2
...
* ...
...
3 ...
.... ... ...
...
C C C S S C
C
D C C C S S C S
C S S C S S C
u u o u u u
u
u u o u u o u
u o u o u o u
| | (

|
|
+ + (
\ .
= (

+ + + (

+ + + ( )
( )
( )
( ) ( ) ( )
( )
( )( )
( )
5 5
4
1 1 2 3
1 2 1 1 2 3
4 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1
...
* ...
...
...
.... ...
S S
S
S S C S
C C C S S C
C S
C C C S S C S
C C S C S C
o u
u
o u o u
u u o u u u
o u
u u o u u o u
u o u o u
(
(
(
(
( | |
( |
( |
( |
|
(
\ .
| | (

|
|
+ + (
\ .
(

+ + + ( ) ( ) ( )
( )
( )
( )( )
( ) ( ) ( ) ( )
2 2 1 1 2 3 3 4 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2 2 1 1 2 2 1
...
...
...
... ... ...
...
S S S S C C C C
C C C S S S S
C S S C S S C S S
o u o u o o u o u
u u o u u o u
u o u o u o u o
| |
|
| + (

|
|
+ + +
\ .
(

+ + + (

+ + + ( )
( )
( )
( ) ( ) ( )
( )
( )( )
5 5
4
1 2 3
1 2 1 1 2 3
4 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1
*
...
* ...
...
...
.... ...
S C
S
C C
C C C S S C
S S
C C C S S C S
C C
o u
o
u o u
u u o u u u
o u
u u o u u o u
u
(
(
(
(
(
(
(
(
(
(
(
(
| | (
|
(
|
(
|
(
|
(
\ .
| | (

|
|
+ + (
\ .
(

+ + + ( ) ( ) ( ) ( )
( )
( )
( )( )
( ) ( ) ( ) ( )
2 2 1 1 2 2 1 1 2 3 3 4 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2 2 1
...
...
...
... ... ...
...
S C S C S S S S C C S C
C C C S S S S
C S S C
o u o u o u o u o o u o u
u u o u u o u
u o u o
| |
|
| + (

|
|
+ + +
\ .
(

+ + + (

+ + ( )
5
4
1 2 2 1 1 2 3
*C
*C
S S C S S C C
o
o
u o u o u o u
(
(
(
(
(
(
(
(
(
(
(
(
| | (
|
(
|
(
|
(
|
+
(
\ .

( )
( ) ( ) ( )
( )( )
( ) ( ) ( ) ( )
1 2 1 1 2 3
4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2 2 1 1 2 2
...
* ...
...
4 ...
.... ... ...
...
C C C S S C
C
D C C C S S C S
C S S C S S C
u u o u u u
u
u u o u u o u
u o u o u o u
| | (

|
|
+ + (
\ .
= (

+ + + (

+ + + ( )
( )
( )
( ) ( ) ( )
( )
( )( )
( )
5 5
4
1 1 2 3
1 2 1 1 2 3
4 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1
...
* ...
...
...
.... ...
a C
S
S S C S
C C C S S C
C S
C C C S S C S
C C S C S C
u
u
o u o u
u u o u u u
o u
u u o u u o u
u o u o u o
(
(
(
(
( | |
( |
( |
( |
|
(
\ .
| | (

|
|
+ + (
\ .
(

+ + + ( ) ( ) ( )
( )
( )
( )( )
( ) ( ) ( ) ( )
2 2 1 1 2 3 3 4 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2 2 1 1 2 2 1
...
...
...
... ... ...
...
S S S S C C C C
C C C S S S S
C S S C S S C S S
u o u o o u o u
u u o u u o u
u o u o u o u o u
| |
|
| + (

|
|
+ + +
\ .
(

+ + + (

+ + + ( )
( )
( )
( ) ( ) ( )
( )
( )( )
5 5
4
1 2 3
1 2 1 1 2 3
4 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2
*
...
* ...
...
...
.... ...
a S
S
C C
C C C S S C
S S
C C C S S C S
C C S
u
o
o u
u u o u u u
o u
u u o u u o u
u o
(
(
(
(
(
(
(
(
(
(
(
(
| | (
|
(
|
(
|
(
|
(
\ .
| | (

|
|
+ + (
\ .
(

+ + + ( ) ( ) ( ) ( )
( )
( )
( )( )
( ) ( ) ( ) ( )
2 1 1 2 2 1 1 2 3 3 4 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2 2 1 1
...
...
...
... ... ...
...
C S C S S S S C C S C
C C C S S S S
C S S C S
u o u o u o u o o u o u
u u o u u o u
u o u o u
| |
|
| + (

|
|
+ + +
\ .
(

+ + + (

+ + ( )
5
4
2 2 1 1 2 3
*d ...
*C
....
S C S S C C
o
o u o u o u
(
(
(
(
(
(
(
(
(
(
(
(
| | (
|
(
|
(
|
(
|
+
(
\ .

( )
( ) ( ) ( )
( )
( )( )
( ) ( ) ( ) ( )
1 2 1 1 2 3
4 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2 2 1 1 2
...
* ...
...
...
.... ... ...
...
...
C C C S S C
a C
C C C S S C S
C S S C S S C
u u o u u u
u
u u o u u o u
u o u o u o
| | (

|
|
+ + (
\ .
(

+ + + (

+ +
+
( )
( )
( )( )
( ) ( ) ( ) ( )
( )
( )( )
4 4
2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
...
... ... ... *d
...
.
...
a S
S S C S
C C C S S S S
C C C S S a C
u
u o u o u
u u o u u o u
u u o u u u
| |
|
|
|
|
+
\ .
| | (

|
| + + + (

|
|
+ + +
\ .
(

+
( ) ( ) ( ) ( )
( )
( ) ( )
1 2 2 1 1 2 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3
1 2 2 1 1 2 2 2 1 1 1 1
..
... ...
... ....
...
u o u o u o u o u o
u u o u u o u u
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
| | (
|
(
| + + ( (

|
(
+ + +
|
(
|
(
+ + +
\ .

( )
( )
( )( )
( )( )
( )
1 2 1 1 2 3
4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3
...
* ...
...
5 ...
... ... ...
...
S C C C S C
C
D S C C C S C S
u u o u u u
u
u u o u u o u
+ | |
|
|
+ +
\ .
= + |
+ + +
+
\
( )
( )
( )
( )( )
( )( )
5
4
1 2 1 1 2 3
4 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2 2
*
...
...
...
...
... ... ...
...
C
S
S C C C S C
C S
S C C C S C S
S S S
u
u
u u o u u u
o u
u u o u u o u
u o u
(
(
(
(
|
(
|
(
|
(
|
(
.
+ | |
|
|
+ +
\ .
+
+ + + +
+ ( )
( )
( )( )
( )( )
( )
4 4
1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3 3
1 2 2 1 1 2 2 1 1 2 3
...
...
... ... ... *
...
C C
C C S C S C C S
S C C C S S S
o u
o u o u o u o u
u u o u u o u
(
(
(
(
(
(
| |
(
|
(
|
(
|

\ .
+ | |
|
+ + +
|
+
\ .
5
* Su
(
(
(
(
(
(

( )
( )
( )( )
( )( )
( )
1 2 1 1 2 3
4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3
...
* ...
...
6 ...
... ... ...
...
S C C C S C
C
D S C C C S C S
u u o u u u
u
u u o u u o u
+ | |
|
|
+ +
\ .
= + |
+ + +
+
\
( )
( )
( )
( )
( )( )
( )( )
5 5
4
1 2 1 1 2 3
4 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2
...
...
...
...
... ... ...
...
C S
S
S C C C S C
C S
S C C C S C S
S S
o u
u
u u o u u u
o u
u u o u u o u
u o
(
(
(
(
|
(
|
(
|
(
|
(
.
+ | |
|
|
+ +
\ .
+
+ + + +
+ ( )
( )
( )( )
( )( )
( )
4 4
2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3 3
1 2 2 1 1 2 2 1 1 2 3
...
...
... ... ... *
...
C C
S C C S C S C C S
S C C C S S S
o u
u o u o u o u o u
u u o u u o u
(
(
(
(
(
(
| |
|

\ .
+ | |
|
+ + +
|
+
\ .
( )
( )
( )
( )
( )( )
( )( )
5 5
1 2 1 1 2 3
4 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2 2 1 1 2 2
...
...
...
...
... ... ...
...
C C
S C C C S C
S S
S C C C S C S
S S S C C S C S
o u
u u o u u u
o u
u u o u u o u
u o u o u o u o
(
(
(
(
(
(
(
(
(
+ | |
|
|
+ +
\ .
+
+ + + +
+ ( )
( )
( )( )
( )( )
( )
4 4 5
1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3 4
1 2 2 1 1 2 2 1 1 2 3
... *
...
... ... ... *C
...
S C S
C C S
S C C C S S S
o u o
u o u
u u o u u o u
(
(
(
(
(
(
| |
(
|
(
|
(
|
(
\ .
(
+ | | (
|
(
+ + +
|
(
|
(
+
\ .

( )
( )
( )( )
( ) ( )
( )
1 2 1 1 2 3
4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3
...
* ...
...
7 ...
... ... ...
...
S C C C S C
C
D S C C C S C S
u u o u u u
u
u u o u u o u
+ | |
|
|
+ +
\ .
= + |
+ + +
+
\
( )
( )
( )
( )
( ) ( )
( )( )
5 5
4
1 2 1 1 2 3
4 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2
...
...
...
...
... ... ...
...
S S
S
S C C C S C
C S
S C C C S C S
S S S
o u
u
u u o u u u
o u
u u o u u o u
u o
(
(
(
(
|
(
|
(
|
(
|
(
.
+ | |
|
|
+ +
\ .
+
+ + + +
+ ( )
( )
( ) ( )
( )( )
( )
4 4
2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3 3
1 2 2 1 1 2 2 1 1 2 3
...
...
... ... ... *
...
C C
C C S C S C C S
S C C C S S S
o u
u o u o u o u o u
u u o u u o u
(
(
(
(
(
(
| |
(
|
|

\ .
+ | |
|
+ + +
|
+
\ .
( )
( )
( )
( )
( ) ( )
( )( )
5 5
1 2 1 1 2 3
4 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2 2 1 1 2 2
...
...
...
...
... ... ...
...
S C
S C C C S C
S S
S C C C S C S
S S S C C S C S
o u
u u o u u u
o u
u u o u u o u
u o u o u o u o
(

(
(
(
(
(
(
(
+ | |
|
|
+ +
\ .
+
+ + + +
+ ( )
( )
( ) ( )
( )( )
( )
4 4 5
1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3 4
1 2 2 1 1 2 2 1 1 2 3
... *C
...
... ... ... *C
...
S C
C C S
S C C C S S S
o u o
u o u
u u o u u o u
(
(
(
(
(
(
| |
(
|
(
|
(
|
(
\ .
(
+ | | (
|
(
+ + +
|
(
|
(
+
\ .

( )
( )
( )( )
( )( )
( )
1 2 1 1 2 3
4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3
...
* ...
...
8 ...
... ... ...
...
S C C C S C
C
D S C C C S C S
u u o u u u
u
u u o u u o u
+ | |
|
|
+ +
\ .
= + |
+ + +
+
\
( )
( )
( )
( )
( )( )
( )( )
5 5
4
1 2 1 1 2 3
4 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2
...
...
...
...
... ... ...
...
a C
S
S C C C S C
C S
S C C C S C S
S S S
u
u
u u o u u u
o u
u u o u u o u
u o u
(
(
(
(
|
(
|
(
|
(
|
(
.
+ | |
|
|
+ +
\ .
+
+ + + +
+ ( )
( )
( )( )
( )( )
( )
4 4
2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3 3
1 2 2 1 1 2 2 1 1 2 3
...
...
... ... ... *
...
C C
C C S C S C C S
S C C C S S S
o u
o u o u o u o u
u u o u u o u
(
(
(
(
(
(
| |
(
|
(
|
|

\ .
+ | |
|
+ + +
|
+
\ .
( )
( )
( )
( )
( )( )
( )( )
5 5
1 2 1 1 2 3
4 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3
1 2 2 1 1 2 2 1
...
...
...
...
... ... ...
...
a S
S C C C S C
S S
S C C C S C S
S S S C C S C S C
u
u u o u u u
o u
u u o u u o u
u o u o u o u o u
(
(
(
(
(
(
(
+ | |
|
|
+ +
\ .
+
+ + + +
+ ( )
( )
( )( )
( )( )
( )
4 4 5
1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3 4
1 2 2 1 1 2 2 1 1 2 3
1 2
... *d
...
... ... ... *C
...
S C
C S
S C C C S S S
S C C
o u
o u
u u o u u o u
u u
(
(
(
(
(
(
| |
(
|
(
|
(
|
(
\ .
(
+ | | (
|
(
+ + +
|
(
|
(
+
\ .
+
+
( )
( )
( )
( )( )
( )( )
( )
( )
1 1 2 3
4 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3 4 4
1 2 2 1 1 2 2 1 1 2 3
...
...
...
...
... ... ...
...
C S C
a C
S C C C S C S
S C S C C C S S C S C C a S
o u u u
u
u u o u u o u
| |
|
|
+ +
\ .
+ | |
|
+ + +
|
|
+
\ .
( )( )
( )( )
( )
( )( )
( )
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3 3 4
1 2 2 1 1 2 2 1 1 2 3
1 2 1 1 2 3 3
1 2 2 1 1 2 2 1 1 2 3
...
...
... ... ... *d
...
...
...
...
S C C C S S S
S C C C S a C
u u o u u o u
u u o u u u
+ | |
|
+ + +
|
|
+
\ .
+
+ +
+
( )
( )
( ) ( ) ( )
3
1 2 2 1 1 2 2 1 1 2 3
1 2 2 1 1 2 2 2 1 1 1 1
...
...
...
S S S C C S C S C C d
u o u o u o u o u o
u u o u u o u u
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
| |
(
|
(
|
(
|
(
+
|
(
|
+ + +
(
\ .

( ) ( )
( )( ) ( )( )
( )
( ) ( ) ( )
( )
1 2 3 1 2 2 1 2 3 4
5 1 2 3 3 1 2 2 1 2 3 3
4
1 2 2 1 2 3
1 2 3 1 2 2 1 2 3 4 4
1 2
* ...
9 * ... ...
.... *
...
...
....
S S C S C S C S S C
D C S S C S S C S C S C C
S
S S C C C S
S S C S C S C S S C S
S S C
o u u o o u o o u u
u o u o u o o u o o o u
u
o o u o o u
o u o
( + + (

(
= + + | | (
+ | (
|
+ +
(
\ .
+ + (

+ +
( ) ( )( )
( )
( )
( )( ) ( )( )
( )
3 3 1 2 2 1 2 3 3
4 4 5
1 2 2 1 2 3
1 2 3 3 1 2 2 1 2 3 3
4
1 2 2 1 2 3
...
... *
...
...
... *
...
S S C S C S C C
C C S
S S C C C S
S
S S C C C C
u o o u o o o u
o u u
o o u o o u
o
o o u o o u
(
(
(
(
+ + | |
(
|
(
|
+ +
\ .
(
(
+ + | |
(
+ |
|
(
+ +
\ .

( ) ( )
( ) ( ) ( )( )
( )
( )
( ) ( ) ( )
( )
1 2 3 1 2 2 1 2 3 4
5 5 1 2 3 3 1 2 2 1 2 3 3
4
1 2 2 1 2 3
1 2 3 1 2 2 1 2 3 4 4
1 2
* ...
10 ...
.... *
...
...
....
S S C S C S C S S C
D C S S S C S S C S C S C C
S
S S C C C S
S S C
o u u o o u o o u u
o u o u o u o o u o o o u
u
o o u o o u
o u
( + + (

(
= + + | | (
+ | (
|
+ +
(
\ .
+ + (

+ +
( ) ( )( )
( )
( )
( )( ) ( )( )
( )
( )
( )
3 3 1 2 2 1 2 3 3
4 4 5 5
1 2 2 1 2 3
1 2 3 3 1 2 2 1 2 3 3
4
1 2 2 1 2 3
1 2 3 1 2 2
...
...
...
...
... *
...
S S C S C S C C
C C C C
S S C C C S
S
S S C C C C
S S C S C S
o u o o u o o o u
o u o u
o o u o o u
o
o o u o o u
o u u o o u
(
(
(
(
+ + | |
(
|
(
|
+ +
\ .
(
(
+ + | |
(
+ |
|
(
+ +
\ .
+ +
+
( ) ( )
( )( ) ( )( )
( )
( )
( )( ) ( )( )
( )
1 2 3 4 4
1 2 3 3 1 2 2 1 2 3 3
4 4
1 2 2 1 2 3
1 2 3 3 1 2 2 1 2 3 3
4
1 2 2 1 2 3
...
...
.... ...
...
...
... *C
...
C S S S S
S C
S S C C C S
S S C C C C
o o u o u
o u
o o u o o u
o
o o u o o u
(
+ + | |
+ |
|
+ +
\ .
+ + | |
+ |
|
+ +
\ .
5
* So
(
(
(
(
(
(
(
(
(

( ) ( )
( )( ) ( )( )
( )
( )
( ) ( ) ( )
( )
1 2 3 1 2 2 1 2 3 4
5 5 1 2 3 3 1 2 2 1 2 3 3
4
1 2 2 1 2 3
1 2 3 1 2 2 1 2 3 4 4
1 2
* ...
11 ...
.... *
...
...
....
S S C S C S C S S C
D S S S S C S S C S C S C C
S
S S C C C S
S S C
o u u o o u o o u u
o u o u o u o o u o o o u
u
o o u o o u
o u o
( + + (

(
= + + | | (
+ | (
|
+ +
(
\ .
+ + (

+ +
( ) ( )( )
( )
( )
( )( ) ( )( )
( )
( )
( )
3 3 1 2 2 1 2 3 3
4 4 5 5
1 2 2 1 2 3
1 2 3 3 1 2 2 1 2 3 3
4
1 2 2 1 2 3
1 2 3 1 2 2
...
...
...
...
... *
...
S S C S C S C C
C C S C
S S C C C S
S
S S C C C C
S S C S C S
u o o u o o o u
o u o u
o o u o o u
o
o o u o o u
o u u o o u
(
(
(
(
+ + | |
(
|
(
|
+ +
\ .
(
(
+ + | |
(
+ |
|
(
+ +
\ .
+ +
+
( ) ( )
( )( ) ( )( )
( )
( )
( )( ) ( )( )
( )
1 2 3 4 4
1 2 3 3 1 2 2 1 2 3 3
4 4
1 2 2 1 2 3
1 2 3 3 1 2 2 1 2 3 3
4
1 2 2 1 2 3
...
...
.... ...
...
...
... *C
...
C S S S S
S C
S S C C C S
S S C C C C
o o u o u
o u
o o u o o u
o
o o u o o u
(
+ + | |
+ |
|
+ +
\ .
+ + | |
+ |
|
+ +
\ .
5
*Co
(
(
(
(
(
(
(
(
(

( ) ( )
( )( ) ( )( )
( )
( )
( ) ( ) ( )
( )
1 2 3 1 2 2 1 2 3 4
5 5 1 2 3 3 1 2 2 1 2 3 3
4
1 2 2 1 2 3
1 2 3 1 2 2 1 2 3 4 4
1 2 3
* ...
12 ...
.... *
...
...
....
S S C S C S C S S C
D a C S S C S S C S C S C C
S
S S C C C S
S S C
o u u o o u o o u u
u o u o u o o u o o o u
u
o o u o o u
o u o
( + + (

(
= + + | | (
+ | (
|
+ +
(
\ .
+ + (

+ +
( ) ( )( )
( )
( )
( )( ) ( )( )
( )
( )
( )
3 1 2 2 1 2 3 3
4 4 5 5
1 2 2 1 2 3
1 2 3 3 1 2 2 1 2 3 3
4
1 2 2 1 2 3
1 2 3 1 2 2 1
...
...
...
...
... *
...
S S C S C S C C
C C a S
S S C C C S
S
S S C C C C
S S C S C S C
u o o u o o o u
o u u
o o u o o u
o
o o u o o u
o u u o o u o
(
(
(
(
+ + | |
(
|
(
|
+ +
\ .
(
(
+ + | |
(
+ |
|
(
+ +
\ .
+ +
+
( ) ( )
( )( ) ( )( )
( )
( )
( )( ) ( )( )
( )
2 3 4 4
1 2 3 3 1 2 2 1 2 3 3
4 4
1 2 2 1 2 3
1 2 3 3 1 2 2 1 2 3 3
4
1 2 2 1 2 3
...
...
.... ...
...
...
... *C
...
S S S S
S C
S S C C C S
S S C C C C
o u o u
o u
o o u o o u
o
o o u o o u
(
(
(
(

(
+ + | |
+ |
|
+ +
\ .
+ + | |
+ |
|
+ +
\ .
( ) ( ) ( )
( )( ) ( )( )
( )
( )
( )( ) ( )( )
( )
5
1 2 3 1 2 2 1 2 3 4 4
1 2 3 3 1 2 2 1 2 3 3
4 4
1 2 2 1 2 3
1 2 3 3 1 2 2 1 2 3 3
1 2 2 1 2
*d
...
...
.... ...
...
...
...
...
S S C S C S C S S a C
a S
S S C C C S
S S C C C C
o u u o o u o o u u
u
o o u o o u
o o u o o
(
(
(
(
(
(
+ + (

+ + | |
+ |
|
+ +
\ .
+ +
+ +
+ +
( )( ) ( )( )
( )
( )
4
3
1 2 3 3 1 2 2 1 2 3 3
1 2 2 1 2 3
1 2 2 2 1
*d
...
... ...
...
S S a C S C S C S a S
S S C C C d
S a S d C
u
o u u o o u o o u
o o u o o
o u o
(
(
(
(
(
(
| |
(
|
(
|
\ .
(
(
+ + | |
(
|
(
+ + +
|
(
|
+ +
(
\ .

13 0
14 0
15 0
16 1
D
D
D
D
=
=
=
=

Relacin de las velocidades articulares en la mquina herramienta.
La forma general de la ecuacin de Denavit-Hartenberg es la siguiente:
11 12 13
21 22 23
31 32 33
0 0 0 1
x
y F
T
z
r r r T
r r r T
A
r r r T
(
(
(
=
(
(

La matriz de rotacin est definida de la siguiente manera:
11 12 13
21 22 23
31 32 33
r r r
R r r r
r r r
(
(
=
(
(

La matriz de transformacin de Denavit-Hartenberg de la fresadora est representada
de la siguiente forma, donde los valores de Di se dan en el procedimiento anterior:
0
5
1 2 3 4
5 6 7 8
9 10 11 12
13 14 15 16
D D D D
D D D D
A
D D D D
D D D D
(
(
(
=
(
(

Donde,
11
12
13
4
8
12
1
2
3
x
y
z
T D
T D
T D
r D
r D
r D
=
=
=
=
=
=

21
22
23
31
32
33
5
6
7
9
10
11
r D
r D
r D
r D
r D
r D
=
=
=
=
=
=

Para el clculo del estado de velocidad de las articulaciones de la mquina herramienta
necesitamos calcular la matriz Jacobiana, teniendo en cuenta que nuestra fresadora tiene
cuatro grados de libertad, tres prismticas y una revoluta, la matriz Jacobiana est dada
por:
11 12 13 14
21 22 23 24
31 32 33 34
41 42 43 44
51 52 53 54
61 62 63 64
J J J J
J J J J
J J J J
J
J J J J
J J J J
J J J J
(
(
(
(
=
(
(
(
(

De la matriz
0
5
A obtenemos los componentes de la matriz Jacobiana caracterstica de la nuestra mquina herramienta, dndonos como resultado
la siguiente matriz:
4 1 2 2 3 4
4 1 1 2 3 4
4 1 2 3 3 4
1 2 2 3 4 4 5 5 1 2 3 4 5 5 1 2 3 3 4 5 5
0 0 0 cos sin sin sin cos
0 0 0 sin cos cos sin cos
0 0 0 sin sin cos sin cos
0 sin sin sin sin cos cos cos cos sin sin sin cos cos sin sin sin cos sin cos cos sin
a
a
a
J
u o u u u
o u o u u
o u o u u
o o u u o u o u o u u u o u o u o u u o u
=
1 2 2 3 4 4 5 1 2 3 4 5 2 2 3 3 4 5
61 62 63 64
0 sin sin sin sin cos cos sin sin sin sin cos cos sin sin cos sin cos cos
J J J J
o o u u o u u o u u u u o u o u u u
(
(
(
(
(
(
(
(
(

Reemplazando en la matriz anterior teniendo en cuenta los valores de
i
u y
i
o la matriz Jacobiana nos queda:
( ) ( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ( )
0 0 0 100.39 cos 0 sin 90 sin 90 sin 90 cos 0
0 0 0 100.39 sin 90 cos 0 cos 90 sin 90 cos 0
0 0 0 100.39 sin 90 sin 90 cos 0 sin 90 cos 0
0 sin(90 ) sin( 90 ) sin(90 ) sin(90 ) cos(0 ) cos(0 ) cos(0 ) cos(45 ) sin(90 ) sin(90 ) sin(
J
=
90 ) cos(0 ) cos(0 ) sin(45 ) sin(90 ) sin(90 ) cos(0 ) sin(90 ) cos(0 ) cos(0 ) sin(45 )
0 sin(90 ) sin( 90 ) sin(90 ) sin(90 ) cos(0 ) cos(0 ) sin(45 ) sin(90 ) sin(90 ) sin(90 ) cos(0 ) cos sin( 90 ) sin(90 ) cos(0 ) sin(9 u
61 62 63 64
0 ) cos(0 ) cos(45 )
J J J J
(
(
(
(
(
(
(
(
(

0 0 0 100.39
0 0 0 0
0 0 0 100.39
0 0.7071 0.7071 0.7071
0 0.7071 0.7071 0.7071
0.7071 0 0.7071 0.7071
J
(
(
(
(
=
(
(
(
(

Tenemos que
*
T
T
x
y
z
X J
X
Y
X
Z
w
w
w
u
- -
-

-
-
-
=
(
(
(
(
(
=
(
(
(
(
(

Si el centro de mecanizado se encuentra momento determinado con las siguientes
velocidades articulares:
1
2
3
4
1 /
1 /
0.5 /
/
4
S m s
S m s
S m s
rad s
t
u
-
-
-
-
=
=
=
=

Entonces n*1 4*1 u u
- -

=
1
2
4*1
3
4
1 /
1 /
0.5 /
/
4
m s S
m s
S
m s
S
rad s
u
t
u
-
-
-
-
-
(
(
(
(
(
(
(
= =
(
(
(
(
(
(
(

(

Teniendo en cuenta las constantes dimensionales de nuestra mquina herramienta, estos
sern los resultados con las velocidades modificadas:
0 0 0 100.39
1 /
0 0 0 0
1 /
0 0 0 100.39
0.5 /
0 0.7071 0.7071 0.7071
0 0.7071 0.7071 0.7071 /
4
0.7071 0 0.7071 0.7071
T
x
y
z
X
m s
Y
m s
X
Z m s
w
rad s
w
w
t
-
-
-
-
(
( (
( ( (
( ( (
( ( (
= =
( ( (

( ( (
( ( (

(
( (

(

( 100.39 ) /
4
0
( 100.39 ) /
4
0.35355 0.7071* /
4
0.7071* / 1.06065
4
1.06065 0.7071* /
4
T
x
y
z
mm rad s
X
mm rad s
Y
X
Z
rad s
w
w
rad s
w
rad s
t
t
t
t
t
-
-
-
-
( | |
| (
\ .
(
(

(

| |
(

|
(

\ .
(

= =
| | (

+
|
(

\ .
(

( | |
+
|
(

\ .

| |
+
|
\ .
78.846 /
0
78.846 /
0.2018 /
0.5052 /
1.6160 /
mm s
mm s
rad s
rad s
rad s
(
(
(
(
(
(
(
(
(
=
(
(
(
(
(
(
(
(

(
(
(
(

JACOBIANO v3

Uploaded by

Copyright:

Available Formats

You might also like

JACOBIANO v3

Uploaded by

Document Information

Original Description:

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

JACOBIANO v3

Uploaded by

Copyright:

Available Formats

sin

You might also like