{"id":1860,"date":"2022-09-20T11:14:16","date_gmt":"2022-09-20T11:14:16","guid":{"rendered":"https:\/\/wordpress.peters-research.com\/?page_id=1860"},"modified":"2022-09-20T11:19:59","modified_gmt":"2022-09-20T11:19:59","slug":"dynamic-extension-for-ideal-lift-kinematics-2","status":"publish","type":"page","link":"https:\/\/wordpress.peters-research.com\/index.php\/papers\/dynamic-extension-for-ideal-lift-kinematics-2\/","title":{"rendered":"Dynamic extension for Ideal Lift Kinematics"},"content":{"rendered":"\t\t<div data-elementor-type=\"wp-page\" data-elementor-id=\"1860\" class=\"elementor elementor-1860\">\n\t\t\t\t\t\t<section class=\"has_eae_slider elementor-section elementor-top-section elementor-element elementor-element-2bd44fca elementor-section-full_width elementor-section-height-default elementor-section-height-default\" data-eae-slider=\"57785\" data-id=\"2bd44fca\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container 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class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-624c56e elementor-widget elementor-widget-heading\" data-id=\"624c56e\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">Dynamic extension for Ideal Kinematics<\/h2>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-550f1783 elementor-widget elementor-widget-text-editor\" data-id=\"550f1783\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p><\/p>\n<p>Matthew Appleby<br \/>Richard Peters<\/p>\n<p><\/p>\n<p><\/p>\n<p>Peters Research Ltd, UK<\/p>\n<p style=\"line-height: normal; margin: 6.0pt 0cm 10.0pt 0cm;\"><b><span style=\"font-size: 11.0pt; font-family: 'Arial',sans-serif;\">Keywords:<\/span> <\/b>kinematics, lift, elevator, dynamic profile, ideal lift kinematics, twin lift system, 2 cars per shaft, multi, multi-dimensional lift system, simulation<\/p>\n<p><\/p>\n<p><\/p>\n<p><strong>Abstract. <\/strong>This paper presents a new set of equations for modelling kinematic profiles using a combination of mathematical and computational techniques. The implementation of these equations will extend the capabilities of the kinematic model to produce asymmetric and dynamic profiles. This will provide a more accurate model for standard lift systems as well as enable the modelling of more complex systems.<\/p>\n<h1>1\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 Introduction<\/h1>\n<p>Lift kinematics is the study of a lift car in a shaft without reference to mass or force. Variable speed drives can be programmed to match reference velocity profiles. This paper will show a set of equations which can be used to model a lift and produce a kinematic profile which can be used as a reference for lift simulations and physical lifts.<\/p>\n<p>In previous papers regarding lift kinematics, equations have been produced which model symmetric profiles [1] and asymmetric profiles [2]. This paper will show a new set of equations which will model dynamic profiles.<\/p>\n<h2><!-- [if !supportLists]-->1.1<span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span>Symbols<\/h2>\n<table style=\"width: 417.95pt; border: none;\" border=\"1\" width=\"557\" cellspacing=\"0\" cellpadding=\"0\">\n<tbody>\n<tr style=\"mso-yfti-irow: 0; mso-yfti-firstrow: yes; height: 19.85pt;\">\n<td style=\"width: 59.7pt; border-width: 1pt; border-color: #bfbfbf; padding: 0cm 5.4pt; height: 19.85pt;\" valign=\"top\" width=\"80\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">d<\/p>\n<\/td>\n<td style=\"width: 358.25pt; border-top-width: 1pt; border-right-width: 1pt; border-bottom-width: 1pt; border-top-color: #bfbfbf; border-right-color: #bfbfbf; border-bottom-color: #bfbfbf; border-left: none; padding: 0cm 5.4pt; height: 19.85pt;\" valign=\"top\" width=\"478\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">Lift journey distance (m)<\/p>\n<\/td>\n<\/tr>\n<tr style=\"mso-yfti-irow: 1; height: 19.85pt;\">\n<td style=\"width: 59.7pt; border-right-width: 1pt; border-bottom-width: 1pt; border-left-width: 1pt; border-right-color: #bfbfbf; border-bottom-color: #bfbfbf; border-left-color: #bfbfbf; border-top: none; padding: 0cm 5.4pt; height: 19.85pt;\" valign=\"top\" width=\"80\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">v<sub>phase<\/sub><\/p>\n<\/td>\n<td style=\"width: 358.25pt; border-top: none; border-left: none; border-bottom-width: 1pt; border-bottom-color: #bfbfbf; border-right-width: 1pt; border-right-color: #bfbfbf; padding: 0cm 5.4pt; height: 19.85pt;\" valign=\"top\" width=\"478\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">Velocity at end of given phase (m\/s)\u00a0<\/p>\n<\/td>\n<\/tr>\n<tr style=\"mso-yfti-irow: 2; height: 19.85pt;\">\n<td style=\"width: 59.7pt; border-right-width: 1pt; border-bottom-width: 1pt; border-left-width: 1pt; border-right-color: #bfbfbf; border-bottom-color: #bfbfbf; border-left-color: #bfbfbf; border-top: none; padding: 0cm 5.4pt; height: 19.85pt;\" valign=\"top\" width=\"80\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\"><sub>final_phase<\/sub><\/p>\n<\/td>\n<td style=\"width: 358.25pt; border-top: none; border-left: none; border-bottom-width: 1pt; border-bottom-color: #bfbfbf; border-right-width: 1pt; border-right-color: #bfbfbf; padding: 0cm 5.4pt; height: 19.85pt;\" valign=\"top\" width=\"478\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">Final phase\u00a0in car journey<\/p>\n<\/td>\n<\/tr>\n<tr style=\"mso-yfti-irow: 3; height: 19.85pt;\">\n<td style=\"width: 59.7pt; border-right-width: 1pt; border-bottom-width: 1pt; border-left-width: 1pt; border-right-color: #bfbfbf; border-bottom-color: #bfbfbf; border-left-color: #bfbfbf; border-top: none; padding: 0cm 5.4pt; height: 19.85pt;\" valign=\"top\" width=\"80\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">a<sub>phase<\/sub><\/p>\n<\/td>\n<td style=\"width: 358.25pt; border-top: none; border-left: none; border-bottom-width: 1pt; border-bottom-color: #bfbfbf; border-right-width: 1pt; border-right-color: #bfbfbf; padding: 0cm 5.4pt; height: 19.85pt;\" valign=\"top\" width=\"478\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">Maximum acceleration (m\/s<sup><span style=\"font-size: 8.0pt; mso-fareast-language: EN-GB;\">2<\/span><\/sup>)<\/p>\n<\/td>\n<\/tr>\n<tr style=\"mso-yfti-irow: 4; height: 19.85pt;\">\n<td style=\"width: 59.7pt; border-right-width: 1pt; border-bottom-width: 1pt; border-left-width: 1pt; border-right-color: #bfbfbf; border-bottom-color: #bfbfbf; border-left-color: #bfbfbf; border-top: none; padding: 0cm 5.4pt; height: 19.85pt;\" valign=\"top\" width=\"80\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">j<sub>phase,0<\/sub><\/p>\n<\/td>\n<td style=\"width: 358.25pt; border-top: none; border-left: none; border-bottom-width: 1pt; border-bottom-color: #bfbfbf; border-right-width: 1pt; border-right-color: #bfbfbf; padding: 0cm 5.4pt; height: 19.85pt;\" valign=\"top\" width=\"478\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">Maximum jerk0 in given phase (rate of<br \/>change of acceleration) (m\/s<sup><span style=\"font-size: 8.0pt; mso-fareast-language: EN-GB;\">3<\/span><\/sup>)<\/p>\n<\/td>\n<\/tr>\n<tr style=\"mso-yfti-irow: 5; height: 19.85pt;\">\n<td style=\"width: 59.7pt; border-right-width: 1pt; border-bottom-width: 1pt; border-left-width: 1pt; border-right-color: #bfbfbf; border-bottom-color: #bfbfbf; border-left-color: #bfbfbf; border-top: none; padding: 0cm 5.4pt; height: 19.85pt;\" valign=\"top\" width=\"80\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">j<sub>phase,1<\/sub><\/p>\n<\/td>\n<td style=\"width: 358.25pt; border-top: none; border-left: none; border-bottom-width: 1pt; border-bottom-color: #bfbfbf; border-right-width: 1pt; border-right-color: #bfbfbf; padding: 0cm 5.4pt; height: 19.85pt;\" valign=\"top\" width=\"478\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">Maximum jerk1 in given phase (rate of<br \/>change of acceleration) (m\/s<sup><span style=\"font-size: 8.0pt; mso-fareast-language: EN-GB;\">3<\/span><\/sup>)<\/p>\n<\/td>\n<\/tr>\n<tr style=\"mso-yfti-irow: 6; height: 19.85pt;\">\n<td style=\"width: 59.7pt; border-right-width: 1pt; border-bottom-width: 1pt; border-left-width: 1pt; border-right-color: #bfbfbf; border-bottom-color: #bfbfbf; border-left-color: #bfbfbf; border-top: none; padding: 0cm 5.4pt; height: 19.85pt;\" valign=\"top\" width=\"80\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">p<sub>phase,0<\/sub><\/p>\n<\/td>\n<td style=\"width: 358.25pt; border-top: none; border-left: none; border-bottom-width: 1pt; border-bottom-color: #bfbfbf; border-right-width: 1pt; border-right-color: #bfbfbf; padding: 0cm 5.4pt; height: 19.85pt;\" valign=\"top\" width=\"478\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">Phase start time\/period 0 start time<\/p>\n<\/td>\n<\/tr>\n<tr style=\"mso-yfti-irow: 7; height: 19.85pt;\">\n<td style=\"width: 59.7pt; border-right-width: 1pt; border-bottom-width: 1pt; border-left-width: 1pt; border-right-color: #bfbfbf; border-bottom-color: #bfbfbf; border-left-color: #bfbfbf; border-top: none; padding: 0cm 5.4pt; height: 19.85pt;\" valign=\"top\" width=\"80\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">p<sub>phase,1<\/sub><\/p>\n<\/td>\n<td style=\"width: 358.25pt; border-top: none; border-left: none; border-bottom-width: 1pt; border-bottom-color: #bfbfbf; border-right-width: 1pt; border-right-color: #bfbfbf; padding: 0cm 5.4pt; height: 19.85pt;\" valign=\"top\" width=\"478\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">Period 1 start time<\/p>\n<\/td>\n<\/tr>\n<tr style=\"mso-yfti-irow: 8; height: 19.85pt;\">\n<td style=\"width: 59.7pt; border-right-width: 1pt; border-bottom-width: 1pt; border-left-width: 1pt; border-right-color: #bfbfbf; border-bottom-color: #bfbfbf; border-left-color: #bfbfbf; border-top: none; padding: 0cm 5.4pt; height: 19.85pt;\" valign=\"top\" width=\"80\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">p<sub>phase,2<\/sub><\/p>\n<\/td>\n<td style=\"width: 358.25pt; border-top: none; border-left: none; border-bottom-width: 1pt; border-bottom-color: #bfbfbf; border-right-width: 1pt; border-right-color: #bfbfbf; padding: 0cm 5.4pt; height: 19.85pt;\" valign=\"top\" width=\"478\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">Period 2 start time<\/p>\n<\/td>\n<\/tr>\n<tr style=\"mso-yfti-irow: 9; height: 19.85pt;\">\n<td style=\"width: 59.7pt; border-right-width: 1pt; border-bottom-width: 1pt; border-left-width: 1pt; border-right-color: #bfbfbf; border-bottom-color: #bfbfbf; border-left-color: #bfbfbf; border-top: none; padding: 0cm 5.4pt; height: 19.85pt;\" valign=\"top\" width=\"80\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">p<sub>phase,3<\/sub><\/p>\n<\/td>\n<td style=\"width: 358.25pt; border-top: none; border-left: none; border-bottom-width: 1pt; border-bottom-color: #bfbfbf; border-right-width: 1pt; border-right-color: #bfbfbf; padding: 0cm 5.4pt; height: 19.85pt;\" valign=\"top\" width=\"478\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">Period 3 start time<\/p>\n<\/td>\n<\/tr>\n<tr style=\"mso-yfti-irow: 10; height: 19.85pt;\">\n<td style=\"width: 59.7pt; border-right-width: 1pt; border-bottom-width: 1pt; border-left-width: 1pt; border-right-color: #bfbfbf; border-bottom-color: #bfbfbf; border-left-color: #bfbfbf; border-top: none; padding: 0cm 5.4pt; height: 19.85pt;\" valign=\"top\" width=\"80\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">D(t)\u00a0<\/p>\n<\/td>\n<td style=\"width: 358.25pt; border-top: none; border-left: none; border-bottom-width: 1pt; border-bottom-color: #bfbfbf; border-right-width: 1pt; border-right-color: #bfbfbf; padding: 0cm 5.4pt; height: 19.85pt;\" valign=\"top\" width=\"478\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">Distance travelled at time t (m)\u00a0<\/p>\n<\/td>\n<\/tr>\n<tr style=\"mso-yfti-irow: 11; height: 19.85pt;\">\n<td style=\"width: 59.7pt; border-right-width: 1pt; border-bottom-width: 1pt; border-left-width: 1pt; border-right-color: #bfbfbf; border-bottom-color: #bfbfbf; border-left-color: #bfbfbf; border-top: none; padding: 0cm 5.4pt; height: 19.85pt;\" valign=\"top\" width=\"80\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">V(t)\u00a0<\/p>\n<\/td>\n<td style=\"width: 358.25pt; border-top: none; border-left: none; border-bottom-width: 1pt; border-bottom-color: #bfbfbf; border-right-width: 1pt; border-right-color: #bfbfbf; padding: 0cm 5.4pt; height: 19.85pt;\" valign=\"top\" width=\"478\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">Velocity at time t (m\/s)<\/p>\n<\/td>\n<\/tr>\n<tr style=\"mso-yfti-irow: 12; height: 19.85pt;\">\n<td style=\"width: 59.7pt; border-right-width: 1pt; border-bottom-width: 1pt; border-left-width: 1pt; border-right-color: #bfbfbf; border-bottom-color: #bfbfbf; border-left-color: #bfbfbf; border-top: none; padding: 0cm 5.4pt; height: 19.85pt;\" valign=\"top\" width=\"80\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">A(t)\u00a0<\/p>\n<\/td>\n<td style=\"width: 358.25pt; border-top: none; border-left: none; border-bottom-width: 1pt; border-bottom-color: #bfbfbf; border-right-width: 1pt; border-right-color: #bfbfbf; padding: 0cm 5.4pt; height: 19.85pt;\" valign=\"top\" width=\"478\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">Acceleration at time t (m\/s<sup><span style=\"font-size: 8.0pt; mso-fareast-language: EN-GB;\">2<\/span><\/sup>)\u00a0<\/p>\n<\/td>\n<\/tr>\n<tr style=\"mso-yfti-irow: 13; height: 19.85pt;\">\n<td style=\"width: 59.7pt; border-right-width: 1pt; border-bottom-width: 1pt; border-left-width: 1pt; border-right-color: #bfbfbf; border-bottom-color: #bfbfbf; border-left-color: #bfbfbf; border-top: none; padding: 0cm 5.4pt; height: 19.85pt;\" valign=\"top\" width=\"80\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">J(t)\u00a0<\/p>\n<\/td>\n<td style=\"width: 358.25pt; border-top: none; border-left: none; border-bottom-width: 1pt; border-bottom-color: #bfbfbf; border-right-width: 1pt; border-right-color: #bfbfbf; padding: 0cm 5.4pt; height: 19.85pt;\" valign=\"top\" width=\"478\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">Jerk at time t (m\/s<sup><span style=\"font-size: 8.0pt; mso-fareast-language: EN-GB;\">3<\/span><\/sup>)\u00a0<\/p>\n<\/td>\n<\/tr>\n<tr style=\"mso-yfti-irow: 14; mso-yfti-lastrow: yes; height: 19.85pt;\">\n<td style=\"width: 59.7pt; border-right-width: 1pt; border-bottom-width: 1pt; border-left-width: 1pt; border-right-color: #bfbfbf; border-bottom-color: #bfbfbf; border-left-color: #bfbfbf; border-top: none; padding: 0cm 5.4pt; height: 19.85pt;\" valign=\"top\" width=\"80\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">d<sub>min<\/sub><\/p>\n<\/td>\n<td style=\"width: 358.25pt; border-top: none; border-left: none; border-bottom-width: 1pt; border-bottom-color: #bfbfbf; border-right-width: 1pt; border-right-color: #bfbfbf; padding: 0cm 5.4pt; height: 19.85pt;\" valign=\"top\" width=\"478\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">Minimum displacement<\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h2><a><!-- [if !supportLists]-->1.2<span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span>Definitions<\/a><\/h2>\n<p><i>symmetric profile<\/i><b><br \/><\/b>the profile of a journey with one target velocity, the same acceleration as<br \/>deceleration and four identical jerk values. See <!-- [if supportFields]><span style='mso-element:field-begin'><\/span><span style='mso-spacerun:yes'>\u00a0<\/span>REF _Ref60910797 \\h <span style='mso-element: field-separator'><\/span><![endif]-->Fig. 1<!-- [if gte mso 9]><xml><br \/> <w:data>08D0C9EA79F9BACE118C8200AA004BA90B02000000080000000D0000005F00520065006600360030003900310030003700390037000000<\/w:data><br \/><\/xml><![endif]--><!-- [if supportFields]><span style='mso-element:field-end'><\/span><![endif]--><\/p>\n<p><i>asymmetric profile<\/i><b><br \/><\/b>the profile of a journey with one target velocity but different target<br \/>acceleration and deceleration or differing jerk values. See <!-- [if supportFields]><span style='mso-element:field-begin'><\/span><span style='mso-spacerun:yes'>\u00a0<\/span>REF _Ref60670377 \\h <span style='mso-element: field-separator'><\/span><![endif]-->Fig. 2<!-- [if gte mso 9]><xml><br \/> <w:data>08D0C9EA79F9BACE118C8200AA004BA90B02000000080000000D0000005F00520065006600360030003600370030003300370037000000<\/w:data><br \/><\/xml><![endif]--><!-- [if supportFields]><span style='mso-element:field-end'><\/span><![endif]--><\/p>\n<p><i>dynamic profile<\/i><b><br \/><\/b>the profile of a journey with multiple target velocity values. Acceleration<br \/>and jerk can also vary. See <!-- [if supportFields]><span style='mso-element: field-begin'><\/span><span style='mso-spacerun:yes'>\u00a0<\/span>REF _Ref60670390 \\h <span style='mso-element:field-separator'><\/span><![endif]-->Fig. 3<!-- [if gte mso 9]><xml><br \/> <w:data>08D0C9EA79F9BACE118C8200AA004BA90B02000000080000000D0000005F00520065006600360030003600370030003300390030000000<\/w:data><br \/><\/xml><![endif]--><!-- [if supportFields]><span style='mso-element:field-end'><\/span><![endif]--><\/p>\n<p><i>period<\/i><b><br \/><\/b>a section of time where the lift is at constant jerk. See <!-- [if supportFields]><span style='mso-element:field-begin'><\/span><span style='mso-spacerun:yes'>\u00a0<\/span>REF _Ref70063045 \\h <span style='mso-element: field-separator'><\/span><![endif]-->Fig. 4<!-- [if gte mso 9]><xml><br \/> <w:data>08D0C9EA79F9BACE118C8200AA004BA90B02000000080000000D0000005F00520065006600370030003000360033003000340035000000<\/w:data><br \/><\/xml><![endif]--><!-- [if supportFields]><span style='mso-element:field-end'><\/span><![endif]--><br \/>&amp; <!-- [if supportFields]><span style='mso-element:field-begin'><\/span><span style='mso-spacerun:yes'>\u00a0<\/span>REF _Ref70063565 \\h <span style='mso-element: field-separator'><\/span><![endif]-->Fig. 5<!-- [if gte mso 9]><xml><br \/> <w:data>08D0C9EA79F9BACE118C8200AA004BA90B02000000080000000D0000005F00520065006600370030003000360033003500360035000000<\/w:data><br \/><\/xml><![endif]--><!-- [if supportFields]><span style='mso-element:field-end'><\/span><![endif]--><\/p>\n<p><i>phase<\/i><b><br \/><\/b>a section of time where the lift is changing from one speed to another<br \/>including the time it remains at its final speed. A period starts and finishes<br \/>with acceleration of 0 and contains a maximum of four periods. See <!-- [if supportFields]><span style='mso-element:field-begin'><\/span><span style='mso-spacerun:yes'>\u00a0<\/span>REF _Ref70063045 \\h <span style='mso-element: field-separator'><\/span><![endif]-->Fig. 4<!-- [if gte mso 9]><xml><br \/> <w:data>08D0C9EA79F9BACE118C8200AA004BA90B02000000080000000D0000005F00520065006600370030003000360033003000340035000000<\/w:data><br \/><\/xml><![endif]--><!-- [if supportFields]><span style='mso-element:field-end'><\/span><![endif]--><br \/>&amp; <!-- [if supportFields]><span style='mso-element:field-begin'><\/span><span style='mso-spacerun:yes'>\u00a0<\/span>REF _Ref70063726 \\h <span style='mso-element: field-separator'><\/span><![endif]-->Fig. 6<!-- [if gte mso 9]><xml><br \/> <w:data>08D0C9EA79F9BACE118C8200AA004BA90B02000000080000000D0000005F00520065006600370030003000360033003700320036000000<\/w:data><br \/><\/xml><![endif]--><!-- [if supportFields]><span style='mso-element:field-end'><\/span><![endif]--><\/p>\n<p><i>journey<\/i><b><br \/><\/b>a section of time where the lift is changing displacement from when the<br \/>lift begins to move, to when it reaches its destination. Contains a minimum of<br \/>two phases. See <!-- [if supportFields]><span style='mso-element:field-begin'><\/span><span style='mso-spacerun:yes'>\u00a0<\/span>REF _Ref70063045 \\h <span style='mso-element: field-separator'><\/span><![endif]-->Fig. 4<\/p>\n<h2><!-- [if !supportLists]-->1.3<span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';\">\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0<\/span>Three types of profile<\/h2>\n<p style=\"page-break-after: avoid;\">There are three types of<br \/>kinematic profile that will be referred to in this paper:<\/p>\n<h3><!-- [if !supportLists]-->1.3.1<span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span>Symmetric Profile<\/h3>\n<p><img decoding=\"async\" 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\" alt=\"\" \/><\/p>\n<p><a>Fig. <\/a><!-- [if supportFields]><span style='mso-bookmark:_Ref60910797'><span style='mso-bookmark:_Ref60910842'><\/span><\/span><span style='mso-element:field-begin'><\/span><span style='mso-bookmark:_Ref60910797'><span style='mso-bookmark:_Ref60910842'><span style='mso-spacerun:yes'>\u00a0<\/span>SEQ<br \/>Figure \\* ARABIC <span style='mso-element:field-separator'><\/span><\/span><\/span><![endif]-->1<!-- [if supportFields]><span style='mso-bookmark:_Ref60910797'><span style='mso-bookmark:_Ref60910842'><\/span><\/span><span style='mso-element:field-end'><\/span><![endif]--> Symmetric Profile<\/p>\n<p>\u00a0<\/p>\n<p><!-- [if supportFields]><span style='mso-element:field-begin'><\/span><span style='mso-spacerun:yes'>\u00a0<\/span>REF _Ref60910797 \\h <span style='mso-element: field-separator'><\/span><![endif]-->Fig. 1 shows a profile produced when a symmetric model has been used to plot the<br \/>kinematic profile of a lift. This assumes that there will only be one target<br \/>velocity and thus the lift is unable to reduce or increase velocity even as the<br \/>surrounding environment changes. It also makes some assumptions about the<br \/>kinematic parameters:<\/p>\n<table style=\"border: none;\" border=\"0\" cellspacing=\"0\" cellpadding=\"0\">\n<tbody>\n<tr>\n<td style=\"width: 16.0cm; padding: 0cm 5.4pt 0cm 5.4pt;\" valign=\"top\" width=\"605\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">abs(j<sub>0,0<\/sub>) = abs(j<sub>0,1<\/sub>) = abs(j<sub>1,0<\/sub>) = abs(j<sub>1,1<\/sub>)<\/p>\n<\/td>\n<td style=\"width: 27.8pt; padding: 0cm 5.4pt 0cm 5.4pt;\" valign=\"top\" width=\"37\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">(1)<\/p>\n<\/td>\n<\/tr>\n<tr>\n<td style=\"width: 16.0cm; padding: 0cm 5.4pt 0cm 5.4pt;\" valign=\"top\" width=\"605\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">abs(a<sub>0<\/sub>) = abs(a<sub>1<\/sub>)<\/p>\n<\/td>\n<td style=\"width: 27.8pt; padding: 0cm 5.4pt 0cm 5.4pt;\" valign=\"top\" width=\"37\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">(2)<\/p>\n<\/td>\n<\/tr>\n<tr>\n<td style=\"width: 16.0cm; padding: 0cm 5.4pt 0cm 5.4pt;\" valign=\"top\" width=\"605\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">v<sub>0,0<\/sub> = v<sub>1,1 <\/sub>= v<sub>final_phase,1 \u00a0<\/sub>= 0<\/p>\n<\/td>\n<td style=\"width: 27.8pt; padding: 0cm 5.4pt 0cm 5.4pt;\" valign=\"top\" width=\"37\">\n<p style=\"margin-bottom: 0cm; line-height: normal;\">(3)<\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<div>\u00a0<span style=\"color: var( --e-global-color-text ); font-family: var( --e-global-typography-text-font-family ), Sans-serif; font-weight: var( --e-global-typography-text-font-weight ); font-size: 1rem;\">This is the most used profile model and the equations for it<br \/>can be found in \u2018Ideal Lift Kinematics\u2019 by Peters<\/span>\u00a0[1]<span style=\"color: var( --e-global-color-text ); font-family: var( --e-global-typography-text-font-family ), Sans-serif; font-weight: var( --e-global-typography-text-font-weight ); font-size: 1rem;\"> as well as CIBSE<br \/>Guide D Annex 2<\/span>\u00a0[3]<span style=\"color: var( --e-global-color-text ); font-family: var( --e-global-typography-text-font-family ), Sans-serif; font-weight: var( --e-global-typography-text-font-weight ); font-size: 1rem;\">. Most lift systems<br \/>aim for a symmetric profile to produce a smooth ride quality.<\/span><\/div>\n<p>\u00a0<\/p>\n<h3><!-- [if !supportLists]-->1.3.2<span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span>Asymmetric Profile<\/h3>\n<div><img decoding=\"async\" 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\" alt=\"\" \/><\/div>\n<div>\n<p><a>Fig. <\/a><!-- [if supportFields]><span style='mso-bookmark:_Ref60670377'><\/span><span style='mso-element:field-begin'><\/span><span style='mso-bookmark:_Ref60670377'><span style='mso-spacerun:yes'>\u00a0<\/span>SEQ<br \/>Figure \\* ARABIC <span style='mso-element:field-separator'><\/span><\/span><![endif]-->2<!-- [if supportFields]><span style='mso-bookmark:_Ref60670377'><\/span><span style='mso-element:field-end'><\/span><![endif]--> Asymmetric Profile<\/p>\n<p><!-- [if supportFields]><span style='mso-element:field-begin'><\/span><span style='mso-spacerun:yes'>\u00a0<\/span>REF _Ref60670377 \\h <span style='mso-element: field-separator'><\/span><![endif]-->Fig. 2 shows a profile when an asymmetric model has been used to plot the kinematic<br \/>profile of a lift. Like the symmetric profile, this model assumes that there<br \/>will only be one target velocity, however, it allows for different acceleration<br \/>and deceleration values as well as differing jerk values.<\/p>\n<p>These profiles can be produced using the equations given in<br \/>\u2018Quality and quantity of service in lift groups\u2019 by Gerstenmeyer<!-- [if supportFields]><span style='mso-element: field-begin'><\/span> CITATION Ste18 \\l 2057 <span style='mso-element:field-separator'><\/span><![endif]-->\u00a0[2]<!-- [if supportFields]><span style='mso-element:field-end'><\/span><![endif]-->. The equations are<br \/>an extension to the previous ideal lift kinematic equations meaning they can<br \/>model symmetric and asymmetric equations.<\/p>\n<p>Applications include the modelling of lift cars which have a<br \/>different acceleration to deceleration, often due to poor motor control. Asymmetric<br \/>profiles can also be applied to improve lift system performance where there are<br \/>two cars per shaft as cars sharing a shaft impose additional safety constraints.<br \/>For example, a lower deceleration may be used when the lower and upper cars<br \/>need to be moved closer than allowed by the preferred safety distance.<\/p>\n<h3><!-- [if !supportLists]-->1.3.3<span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span>Dynamic Profile<\/h3>\n<div><img decoding=\"async\" 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\" alt=\"\" \/><\/div>\n<div>\n<p><a>Fig. <\/a><!-- [if supportFields]><span style='mso-bookmark:_Ref60670390'><\/span><span style='mso-element:field-begin'><\/span><span style='mso-bookmark:_Ref60670390'><span style='mso-spacerun:yes'>\u00a0<\/span>SEQ<br \/>Figure \\* ARABIC <span style='mso-element:field-separator'><\/span><\/span><![endif]-->3<!-- [if supportFields]><span style='mso-bookmark:_Ref60670390'><\/span><span style='mso-element:field-end'><\/span><![endif]--> Dynamic Profile<\/p>\n<p><!-- [if supportFields]><span style='mso-element:field-begin'><\/span><span style='mso-spacerun:yes'>\u00a0<\/span>REF _Ref60670390 \\h <span style='mso-element: field-separator'><\/span><![endif]-->Fig. 3 shows a profile when a dynamic model has been used to plot the kinematic<br \/>profile of the lift. This level of complexity is achieved when the lift changes<br \/>its target velocity mid journey to slow down or speed up the car based on the<br \/>location of the other cars in the shaft. Each update contains a target<br \/>velocity, jerk0, jerk1, acceleration and a displacement. These update<br \/>parameters either replace current\/future parameters or create a new phase.<\/p>\n<p>This model provides more flexibility than the asymmetric<br \/>profile, giving more control of the location and motion of the lift car to<br \/>improve the performance of the system. For example, if a higher car traveling<br \/>up has been delayed longer than expected, a lower car might need to reduce its<br \/>velocity until the path is clear for it to accelerate back up to speed. This slow<br \/>down option makes it more acceptable to start the lower car before the upper<br \/>car is guaranteed to be moving out of the way. The increase in performance is<br \/>particularly valuable to multi-dimensional lift systems with more than two lift<br \/>cars per shaft.<!-- [if supportFields]><span style='mso-element:field-begin'><\/span> CITATION Ste18 \\l 2057 <span style='mso-element:field-separator'><\/span><![endif]-->\u00a0[2]<!-- [if supportFields]><span style='mso-element:field-end'><\/span><![endif]-->.<\/p>\n<h2><!-- [if !supportLists]-->1.4<span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span>Three segments of a profile<\/h2>\n<\/div>\n<div><img decoding=\"async\" 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\" alt=\"\" \/><\/div>\n<div>\n<p><a>Fig. <\/a><!-- [if supportFields]><span style='mso-bookmark:_Ref70063045'><\/span><span style='mso-element:field-begin'><\/span><span style='mso-bookmark:_Ref70063045'><span style='mso-spacerun:yes'>\u00a0<\/span>SEQ<br \/>Figure \\* ARABIC <span style='mso-element:field-separator'><\/span><\/span><![endif]-->4<!-- [if supportFields]><span style='mso-bookmark:_Ref70063045'><\/span><span style='mso-element:field-end'><\/span><![endif]--> <a>Period, Phase<br \/>and Profile labelled profile<\/a><\/p>\n<p><!-- [if supportFields]><span style='mso-element:field-begin'><\/span><span style='mso-spacerun:yes'>\u00a0<\/span>REF _Ref70063045 \\h <span style='mso-element: field-separator'><\/span><![endif]-->Fig. 4 shows the kinematic profile of one symmetric journey. The first period and<br \/>phase, and the journey are labelled.<\/p>\n<p>\u00a0<img decoding=\"async\" style=\"color: var( --e-global-color-text ); font-family: var( --e-global-typography-text-font-family ), Sans-serif; font-weight: var( --e-global-typography-text-font-weight ); font-size: 1rem;\" 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\" alt=\"\" \/><\/p>\n<p><a>Fig. <\/a><!-- [if supportFields]><span style='mso-bookmark:_Ref70063565'><\/span><span style='mso-element:field-begin'><\/span><span style='mso-bookmark:_Ref70063565'><span style='mso-spacerun:yes'>\u00a0<\/span>SEQ<br \/>Figure \\* ARABIC <span style='mso-element:field-separator'><\/span><\/span><![endif]-->5<!-- [if supportFields]><span style='mso-bookmark:_Ref70063565'><\/span><span style='mso-element:field-end'><\/span><![endif]--> period labelled profile<\/p>\n<p>\u00a0<\/p>\n<p><!-- [if supportFields]><span style='mso-no-proof:yes'><span style='mso-element:field-begin'><\/span><span style='mso-spacerun:yes'>\u00a0<\/span>REF _Ref70063565 \\h <span style='mso-element: field-separator'><\/span><\/span><![endif]-->Fig. 5<!-- [if gte mso 9]><xml><br \/> <w:data>08D0C9EA79F9BACE118C8200AA004BA90B02000000080000000D0000005F00520065006600370030003000360033003500360035000000<\/w:data><br \/><\/xml><![endif]--><!-- [if supportFields]><span style='mso-no-proof:yes'><span style='mso-element:field-end'><\/span><\/span><![endif]--> shows the jerk profile of one symmetric journey. Each period has a different jerk value and the period count resets to 0 when the car enters a new<br \/>phase.<\/p>\n<p><img decoding=\"async\" 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alt=\"\" \/><\/p>\n<p><a>Fig. <\/a><!-- [if supportFields]><span style='mso-bookmark:_Ref70063726'><\/span><span style='mso-element:field-begin'><\/span><span style='mso-bookmark:_Ref70063726'><span style='mso-spacerun:yes'>\u00a0<\/span>SEQ<br \/>Figure \\* ARABIC <span style='mso-element:field-separator'><\/span><\/span><![endif]-->6<!-- [if supportFields]><span style='mso-bookmark:_Ref70063726'><\/span><span style='mso-element:field-end'><\/span><![endif]--> phase labelled profile<\/p>\n<p>\u00a0<\/p>\n<p><!-- [if supportFields]><span style='mso-element:field-begin'><\/span><span style='mso-spacerun:yes'>\u00a0<\/span>REF _Ref70063726 \\h <span style='mso-element: field-separator'><\/span><![endif]-->Fig. 6 shows the velocity profile of a dynamic profile. The phases have been labelled to demonstrate where phases start and stop on dynamic profiles.<\/p>\n<h1><!-- [if !supportLists]-->2<span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span>Overview of previous research<\/h1>\n<h2><!-- [if !supportLists]-->2.1<span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span>Previous Work<\/h2>\n<h3><!-- [if !supportLists]-->2.1.1<span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span>Analytical Method<\/h3>\n<p>Peters provided a set of equations which model the kinematic<br \/>profile of a symmetric journey<!-- [if supportFields]><span style='mso-element:field-begin'><\/span>CITATION Ric95 \\l 2057 <span style='mso-element:field-separator'><\/span><![endif]-->\u00a0[1]<!-- [if supportFields]><span style='mso-element:field-end'><\/span><![endif]-->. Each journey is<br \/>divided into seven periods, each with their own set of equations. Each equation<br \/>does the entire integration including the addition of the starting value at the<br \/>previous period. This model provides a straightforward set of individual<br \/>equations which do not approximate each integration. These equations are<br \/>transparent and functional but very long and lack flexibility. This is also the<br \/>method described in Annex 2 of Guide D <!-- [if supportFields]><span style='mso-element:field-begin'><\/span><span style='mso-spacerun:yes'>\u00a0<\/span>CITATION CIB20 \\l 2057 <span style='mso-element:field-separator'><\/span><![endif]-->[3]<!-- [if supportFields]><span style='mso-element:field-end'><\/span><![endif]-->.<\/p>\n<p>Gerstenmeyer provided a set of equations which model the kinematic profile\u00a0<br \/><span style=\"color: var( --e-global-color-text ); font-family: var( --e-global-typography-text-font-family ), Sans-serif; font-weight: var( --e-global-typography-text-font-weight ); font-size: 1rem;\">of an asymmetric journey<\/span>\u00a0[2]<span style=\"color: var( --e-global-color-text ); font-family: var( --e-global-typography-text-font-family ), Sans-serif; font-weight: var( --e-global-typography-text-font-weight ); font-size: 1rem;\">. This uses similar<br \/><\/span><span style=\"color: var( --e-global-color-text ); font-family: var( --e-global-typography-text-font-family ), Sans-serif; font-weight: var( --e-global-typography-text-font-weight ); font-size: 1rem;\">logic to the symmetric model however allows four different jerk inputs and two<br \/><\/span><span style=\"color: var( --e-global-color-text ); font-family: var( --e-global-typography-text-font-family ), Sans-serif; font-weight: var( --e-global-typography-text-font-weight ); font-size: 1rem;\">different acceleration values for the two phases involved. Whilst this improves<br \/><\/span><span style=\"color: var( --e-global-color-text ); font-family: var( --e-global-typography-text-font-family ), Sans-serif; font-weight: var( --e-global-typography-text-font-weight ); font-size: 1rem;\">the flexibility of the model, it also makes the equations even longer and harder<br \/><\/span><span style=\"color: var( --e-global-color-text ); font-family: var( --e-global-typography-text-font-family ), Sans-serif; font-weight: var( --e-global-typography-text-font-weight ); font-size: 1rem;\">to implement.<\/span><\/p>\n<p>\u00a0<\/p>\n<p>In the cases where a lift cannot reach the inputted velocity<br \/>or acceleration, Peters proposed alternative models called \u2018case B\u2019 and \u2018case<br \/>C\u2019<!-- [if supportFields]><span style='mso-element:field-begin'><\/span>CITATION Ric95 \\l 2057 <span style='mso-element:field-separator'><\/span><![endif]-->\u00a0[1]<!-- [if supportFields]><span style='mso-element:field-end'><\/span><![endif]-->, Gerstenmeyer however proposed using the same<br \/>equations by first reducing the velocity and acceleration to the maximum<br \/>possible values that can be reached<!-- [if supportFields]><span style='mso-element:field-begin'><\/span> CITATION Ste18 \\l 2057 <span style='mso-element:field-separator'><\/span><![endif]-->\u00a0[2]<!-- [if supportFields]><span style='mso-element:field-end'><\/span><![endif]-->.<\/p>\n<h3><!-- [if !supportLists]-->2.1.2<span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span>Computational Method<\/h3>\n<p>Computational integration methods include quadrature rule,<br \/>generalised midpoint rule, adaptive algorithms and extrapolation. These methods<br \/>use calculations which approximate integration to find the profile values<br \/>without long equations. This method is far more flexible than the analytical<br \/>method as it does not rely on period separations. However, the approximation<br \/>required in the computational method decreases the accuracy of the profile. <!-- [if supportFields]><span style='mso-element: field-begin'><\/span><span style='mso-spacerun:yes'>\u00a0<\/span>CITATION Cro15 \\l<br \/> 2057 <span style='mso-element:field-separator'><\/span><![endif]-->[4]<!-- [if supportFields]><span style='mso-element:field-end'><\/span><![endif]--><\/p>\n<h2><!-- [if !supportLists]-->2.2<span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span>Authors\u2019 contribution<\/h2>\n<p>The authors have derived an alternative set of equations<br \/>which map onto the existing equations but allow for more flexible input<br \/>parameters thus allowing the controller to have more flexibility over the shape<br \/>of a lift\u2019s kinematic profile. The new equations use a combination of analytical<br \/>and computational techniques and use the Gerstenmeyer method for dealing with<br \/>invalid input parameters<!-- [if supportFields]><span style='mso-element:field-begin'><\/span> CITATION Ste18 \\l 2057 <span style='mso-element:field-separator'><\/span><![endif]-->\u00a0[2]<!-- [if supportFields]><span style='mso-element:field-end'><\/span><![endif]-->.<\/p>\n<p>\u00a0<\/p>\n<h1><!-- [if !supportLists]-->3<span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span>Functional Method<\/h1>\n<div><img decoding=\"async\" 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QhvX0HbbbRckJmL2ucKAa47vECJKu3bt1usXkkkIjCAx2AdDhgyx6zrRuQeJSXFQpUqVIDFJtve8+OKLQdmyZYOLLrrI7qXEgBokJtvBPvvsE3Tu3DlIDDp2jyQGo2D\/\/fe3dn8vJwYQu88SQmjdfUl\/SBv3CyQGZetfEhMNe54YcIJmzZrZ\/cVn2P7RRx9tfSL3ZjJ8B\/cY\/RNwH7Nf9evXt+1yLO+88469lhhwrb\/imLgXeSQGP3tPYkC09yQGwiAx0AeJwTdYsmSJ9VH0h\/Qx9BvAfU2\/nRh4rS9gOwMGDFiv\/+d8lStXLkgMvrYNHvTH7777rv0PnKc6deoECVFlz9kW5z8hfOxc+3NGf0lfzRjFd\/H5xEAdlC5d2o4F+C1r1apl\/QDnjD7dfz6OJCaGdt0IEaVv377rxu2cYE619dZbB1WrVg223HLLYNy4ceEr\/5IQHzY3Yz4E3PvbbrttcNppp1k\/xj1222232T2eECL2Hu5jtjl06FC7r7gHEwLI+pPEJNvew5yB76Q\/5XXG\/Bo1agS1a9ded9\/Tv\/AZ+i3gXh01atS6\/hDat28fHHLIIdYf+PlQ06ZNrW\/hu2mDxo0br5uzcq9w3AMHDrTv4cF8Lqd5Bq8xh2TfEiItSIiuICGG1p1X+r2EgAgOPPBA2y\/enxAlNm9h3unnSvRVCdFo44aHuSznyc\/bEqIqSIgZ+x84f5xrtgf8BpyPZ555Zr1j4ziYvzHW0M78i3PA+9k2\/SNzcPpAzjMkBJaNVffcc4+NFfSBCQEZtGrVyuae\/K7sf0JE2vuB4\/P7WtRwXSQEX\/isYBTYUgOs4ifEgilRFDCuCbiqoS5zInECLSMYapfPYjLFrIZbVtu2bc2ktueee5qpjJVGT3RFIa8cfvjhtqLH6gEmNbaNmkb9AqY1tssKhlfmmCf5n1VI9o\/3sD+JibupZKw0fCZxQdvqBK4TbNeb8XCHYBUA82VikmJtqeL3y++b\/9+bAvnr\/8+JxKTN9hX\/S1YvEpMZU+LASgsKHBMwYGHBPSQhfsxFZo899jBXM1xNWB3wxxDdJ84PD34fVndYfWb1BmsLVhieY1JMXGP2fs45qwSYYzkefn\/Mv1wv\/P60YXrk\/ViphEgHbr75ZrMgJAZSW01k9cv7m9Ov4B7FNYyrBq4VrLjxPjKn4V7BPYKLGCtwXNfcK8n3se93coPX6VNYXeNexi2BFU6sKKyMYqFIDEDhu\/+F7wH6W8CVgpVCVuBYoeWe4z4FVvL4H6vrxRdfbCubrHTS5vtgjhe3BvpB\/tLn0WdjrfdWWVzEuNdxj6MvYPURyzz7iYsI0G\/iEsf9zjZ40BfwnPcxjtBfc559AHC072G\/\/TnD8oIL7GGHHWbtbIs+Hxc++nH6E+Dz\/jehT9\/UORci0+Be4D5g3kV8CNYV7sWNwWfo15gL0Y9xj5H4CCuBv5+ZZ3A\/YQHgHsPSg9cHcwfczSExObb7mURD3KO4tHOP0n\/4fgDXd+ZS9KHAvcrrWGPo+5i\/0d\/S1\/Hw\/Wi0T\/B9XhTmYuy7\/24euJ\/ivpoTfhtYijgGvov+F7CE4FWClYN+j20RSkCf6PuajRHdP+a6HA9uy\/RV\/BZ4D3nrCMfm\/+Z0bLTxXj6Ptdq73DIWcay4xWEph4Qgsnkc4xDjAH0gvyPnlmPk\/BFzzZwQzyP6fI7P70OcKNSeHd9zgqswwzHIEUeRG1wADJLAieNE89y3gf8xPckXDT9yThdxFCbymDR5MNjhYhG9QPw2o9vmYuZiY588fAa\/dl5jkuA\/z8WQDBcEJla+c1P7lxvR\/cnp\/2hbbnBRImAQLXQWuK1wg2J2xt+SCQgXO24x3GCIC\/aXc8aNilDlwsdvFXL6Ts4H2+T88PC\/GRM9bvwo0d+WG4\/zS2fn8ecyv+dMiMKGGlOIcQQ79xELFVG4VrnePYgOBjofA+PBV9wPWpDKfcz2GXi4V\/z3+fsMscW9llNsELEvtONOBtxf+++\/v32GiQQDvf9+3Fu5P6N9Lq8jgljQiZLcR\/Pw9yyDrN9P2nkvvvUIsKiPN+coeuyIF1w4fF\/NOcf1jMEXou+N\/k\/fg6ttFAQXAzjnzMP+5NRXC5FN0AcRj4VrGOM+LlJ5ITpOI3K4n\/w9zwIxfQbP+cv9iWCgz4zGtETvW97LPcr8w\/cn0X4NWByh3\/B9Ag\/iT6L3sd9mdNvJ4ALGPkfjBzcG8zsW2Zm\/4urGo3sYo818B0HH9qLQT0X3Iaf98efLg4BgfuWPDWHizyNs6th4H\/vDXCo5sQOCkH6QfY0S7bvpg9mG3z7jCG6JiFP2hyQSfryKEwUWNVwAXsV6WrdubSqRE55XcvvhojBJj8INsWLFig0uFg8rmD5dIT8Uz\/EL5XMevpcHN5OHfWfFMDoo8h7ECgMoF4vf35z2myAsLjI6j5zwN21+8N8X3d8ovJ58IbIvCE46NH4vxAS+rcQAIFg4TlZvPFhTUOuscBAoTMwLItVPRKLnm4kPEydiauggsfDwwKeV1YLoTROFtuT2nN4nREnCoMPCACtx0QE6N7xQZ0UvCiuW3CfRiX1eob\/iPqPfIKEA1ld\/n3GfktksuW8ELK6sftIHRn27o\/h7DhHG9rGysl0y\/vCXe3\/vvfe29+QFFkawsLNffjtMoIjZwxrsSb7XsR7hZ4+ViAUh\/MSJDYyuJPs+g37Iw3ETkxOF\/oyYG588xqP+RYi1Cy\/cWyxacr9jVUmF5PuI+51FG\/oK5gDc8\/RR3PPJ92CUTd2PZHGlH6EPxoKM5wcT7+jE3PcJG1uwYD7H4gcxKlE29v30uYiqZPyxJosFhF10XsQckf2M7hfnne9k7sbcGGs51i5EE8eGtSY6NwXen9t8kdc4NuZ7WI+ix0P\/x0LVxjK2JR8\/1rM+ffrYeacfJg4RK3vcKLCoYUBh8srkmIkvgznBRwzsrAhGST6JyWzqdVyqCGJi0ON7uGn4AZJVs98OAyIXUqtWrcw0hwDCjBm9cBiECWglwJRAMy42XBmYgLB9TKFcIAR1+QAsvs9vI3mfucBw26DTYNs5wQSDlUlWNXFJ4YbzJG8v+Tmrr+wPwWUE1CULGEQLLh+YgBFx3DSIF1w6sL741QqUOBc9x4hQ4xwBEwJMlpwLjhFBxD5wc3Jz8f2YO8k4wm\/Aed1nn31MxPC7kDwAQciNiiUoSvKxQE5tQqQL9B+pwAol7lBM5JmYc\/\/h2kVgJ\/eYH+Rzu+5zamdwZJAkIQtuXWTKoe9gkCbjDf1NdKD3IKBIlMK9zCIGbiL0HTxnwYK+xw+Y3nJDMCn9IfcxfSJW96gb8ab2G1c9XBroD+if6Of4LqzEUWGVvB1eY4DmHDG44qZHUDL7x3uZMNBOH8MEgGPnt2EFlaBW3AI5LvolzjXfS1KF6EQjt30XIhvw17\/\/S9+A1wbzBR+cDzndJxtrY67DmE+GRfoK+jz6DtzbohaenLaxMZjbMAehT2BBhO0y94je0yxYs9gcnb95\/PfRDyBQEFocJ4\/Bgwebi2tO8DneTx\/Dd\/p5Gm30qbjO482CkOC46euY8\/q+ClgIol9CqLBfJA6gD2R+BhwX+7rvvvuaVQihg3CLLgJjgWGxiXbOa7Ioo8\/HbRfrO4lVmOOxv1jmOVbGIuZmntzOP9\/JtkhUw\/FgpOC8YkmLnuu4UGBRgxLkpKL6ycCAixcxNZgNGSiBH5IByK+w8RzBEbU2IDggehK5iKIrdUzUERtcpGTUYQBjNZL3+M\/57QATCAZzXOLwFySzAzcZF5QfzIkjYRtk68D9gYk6libc1Jg8EBuEyOEiYSWC7wW2wf4l\/+jcXAyofC4ZvpMHFzeigjgXtu3du6LHwfu40PieKLiJsWJMLA\/ZgZIvdMygbBfRg\/WF\/zkHnDN+E799UvXx3awgswrt4QbkPHG+EKWcA0ySfoWZbSEsOT7OKxMhVoIRN0xo+D7OEZMvJiHAzRQ9NvDnL3oNcLzcUPwVIt2hL0m+hhkM6Ce4vukLuR\/IcIMgoQ\/xfSD3d7KV2fdNHr99v9rHdtkeWXy4d7m\/mcyzzeg+RMGCygCOaCBzEJ9jv7h36YP8oIcFiMGZQZiVUb6HVTsWdRAbwH3JPkX3mbboPtIH0F+wCOSPnxVJvt8vPnHc9AnR7dCv0K8xhrCPWG5YEeX7PGwL6MvIlMmkgL6K80vsk\/8sizJkW\/PHxjmlX9nYaq4QmQ7XP\/MwP\/dhroAlhHuTlXngfo6Ov8n3N3A\/Rfsu5kv0bSyuMG\/g\/iQGh9hj\/12M\/8mTavaF7fv38Dptfs7H\/JH+C7cstos7G\/MN5o++v8M9GC8UsqTRDzB\/gehx4jHD3Ad3O+YtLEzTP0WP08NnsP4ieJhf0ef4B21M9Ol76BPp03kP7cnzPf8Z5pX0g1ihmWdiyef8cRz041hC2A59OXPHqDUbqxDHjhsc28f1Dvx82v8mWMRJ78y8i+\/knLEIhtBhvgx8Jjq2AG082A7nAssMn6cf5XrAQ4H5cdzYLHEh5SzfIpCODxMlJy86EEVh8EMQcLExOEVdNVCPXGxcXAzAWHQIQOVH9hceaptdieY2J+AW30DiQTxsh+\/ihkQxY23gh+FzwCSdHwj1C7zGyh7mQVRv48aNzYLB6z5mhtVLPsegy0Do2\/ke9pXtcTzR\/fDbxRoTdSlhIsBFzups1E0CGKA5JlYg\/GDNsbJdLCKs7KK8sYYA38\/AjU97dNLCOWA1lYuRlZZkSxWw0srn6VgI\/ud4vX+6B1MxPvOsiiJygA6F5z5dc07HzfljNRYLjz\/vWHj4DekgufFp56YEzh9CiOPi+IBJBtth2956xLHy3XRS\/O6FAb8fHQsWPSE8DJgsviTHvni4b1gVZLDw4jwZ+hT6PPq15HuL+4c+hcEnp\/uPz3J\/sn3uF6CfZEXO16nhHmPhhvs\/Kgj8\/cf2uM\/y4tLG\/cm26Hfpcxg8cS1lNTAKx8M9w\/dwv3Iv+n6Me5v7k36XQRP8fe8HbA\/Hzuom\/Rzfw6qh79c5bvoRFp18\/w+siNKv8Rrf6yc5vv9hUOa7WMjhnHLuOE\/0L5wTFpN4jssd4tKDJRyPAtr9uY4zfgLnretCAGM59yET7ZxAnDDHYEyP3h\/cU9w7XE8+MYiv48Q9z73Mvebvee5J+kbuJybnHvoO7m3uabbPXMvf3\/Q9bIvtAvc222UO4wP2uY+xfrBN+gzgM9y73MO00V9z\/7M\/ftvMh9hn+jLmb\/xlnsX8w28H6CPok+jPWISlD4z2Px5vzaEfik6Psb748YK+iv2iD6Z\/RtRhUWER2C8Cse9YTehL6TPp\/+hb2UffF3IO2H\/OLe\/hdfpdP+YwV+SccPycT\/aZY+D7+V4vbJg7sT\/8pY+LjivAOeMzWIY8jDdsi\/dyHPx+\/rg5d7TnNLcsCkj4wnyahbuCUmiiRqy9SLjQyPrDqkI6g6hg5ZaJApai5MlNpiBRI3JiU6JGiHRFokbkxKZEjSg6sN6wkB0VNSLvFKao2VCminzDCgaFmKLuXOkKK64kNKADzFRBI4QQQghRlDD345GT5UcUL\/oFChFMnVS\/jZo80xVcVghew39SCCGEEEKkDrF9xCT6GBZRckjUZCn4bVJzI6+524UQQgghxPoQdoBLsyw1JY9+ASGEEEIIIUSskagRQgghhBBCxBqJGiGEEEIIIUSskagRQgghhBBCxBqJGiGEEEIIIUSskagRQgghhBBCxBqJGiGEEEIIIUSskagRQgghhBBCxBqJGiGEEEIIIUSskagRQgghhBBCxBqJGiGEEEIIIUSskagRQgghhBBCxBqJGiGEEEIIIUSskagRQgghhBBCxBqJGiGEEEIIIUSskagRQgghhBBCxJrNggTh\/7ny+uuvu7feesvdfffdbrPNNgtb059\/\/vnHzZgxwy1dujRsEfmhcuXKrmbNmm6LLbYIW+LDb7\/95nr27OneeOONsEUI59q3b+9eeOEFt+2224YtQsSD\/\/znP+6MM85wrVq1CluEcO6qq65ye+yxhzvxxBPDFiHiwXPPPed+\/PFH93\/\/939hS\/7JaFHz0UcfuW7durkqVarEckJe0vBbr1ixwi1cuNANGjTItW3bNnwlPkjUlCx0L\/PmzUs78RBXUbNy5Uo3Z84cV7FiRTu3InU4b9tss034LH5I1IickKgRcUWiJo9MnDjRBgAmL1WrVtUkIEU233xzN336dHf++ee7\/v37uyZNmoSvxAeJmpJlzZo17uabb3YHHXSQ23\/\/\/cPWkieuombEiBHu2muvdVtvvbWdW5E6LHB16NDBXXHFFWFLvJCoETkhUSPiikRNHvn555\/d2Wef7YYNG2aTAJE6M2fONFFwyy23uN133z1sjQ8SNSXPpZde6r7++ms3cOBA17hx47C1ZImrqHnwwQfd\/fff7y6\/\/HJXvnz5sFWkAgPoBx984ObOnRu2xAuJGpETEjUirkjU5BEval577TVzQROpQ0zSOeecI1Ej8gXdC1Y+XKbmz59vq+M777xz+GrJEVdR8+STT9p+Dx8+3CypInVuvfVW9+ijj7pffvklbIkXEjUiJyRqRFwpTFGjUVEIUaQQB9KpUyeLb7vhhhvchAkTwldEqiASV69e7f7++++wRaTKqlWrwv+EEEJkEhI1QogiZ9myZa5du3aue\/fu7sYbb7RVGSGEEEKIwkKiRghR5Hi31YMPPtiddtpp5pI2fvx4axNCCCGEKCgSNUKIYqVjx44mbPr162cZCoUQQgghCkrWixpq2TzyyCNu0aJFYUtq4EZz7733ut9\/\/z1sSQ1SJt911135jjNYsmSJff\/HH38ctgiR\/hxyyCGuR48eJmx++umnsFUIIYQQIn9kvah58803zRWGzEz5gVS111xzjWXZyg9TpkyxrCVjx44NW1Jj8eLF7rrrrrPsdELECe+KRjYquaIJIYQQoiBkvai5\/vrr3bhx41y9evXCltTo2rWr+\/PPP91+++0XtqTGgQce6BYsWOCOPfbYsCU1atas6f744w87DiHiBq5op556qiUPUFa0grNixQrrU0jtmh+WL19uyRwqV67sZs+eHbamxpVXXukqVarkRo0aFbakxv\/+9z\/7\/H333Re2CCGEEJsm60XN1KlT3dtvv53vFKkUcKOOT34tPX\/99ZdZiyhymR9IT\/ruu++aMBMijiBsTj\/9dEv3TG0pkX9KlSrlDjroIEuhnR\/4PAs0xxxzjCtXrlzYmhrUs2KRhgWX\/LDTTjvZ5\/krhBBC5JWsFzUUZezTp49ZW\/LDd999Z8XQ8lvIDbc1CoSOGTMmbEkNYmouueQSK14kRFxB2FBQkOJbSvecf7bYYgsTh7fddlvYkhqlS5d25557rhs0aJBZa\/LDKaec4p544ol8W4u4Fvh8foWZEEKI7CTrRU2ZMmVcxYoV812dm0kErhKscOYHvpfvZzKRH0iVu+WWW7qyZcuGLULEE5IH4IpGjI1c0fIP4vCwww4Ln6XO3XffbdYWrND54ZlnnjFBQxKW\/EB84D777OOefPLJsEUIIYTYNFkvaoQQ6QOr8wgbYsSU7jl\/TJ48uUBufMToYS3Lb+X9efPm2edJYpIfFi5c6H744Qc3Z86csEUIIYTYNBI1SRDcetlll7lrr70233E2rHR+8MEH4bPU+PDDD+37BwwYYIN7qpBN7fLLL3f\/\/e9\/NSkUsQRhQ7A6yQMUK5Y6WI\/za\/kFrM5swxdMTRWsz3x\/fq3ffA4Len6t30IIIbITiZoQBlDqZVAzpmXLllZ3Bt90CILArVmzxv7fFL179zZhRPKAKJv6PAM5yQZI7bzXXnvZauv9998fvrr28+xHbjAB+eeff0xM4TpCkO4tt9wSvipEvPCuaFzDSh5QMOgXyIq2sf5jU+S1\/8uJ1atXW1a1\/G6D\/ebz+bUcCSGEyA4kahIwaPIg6J9V4i5dupi1hKxoDMgErTZu3HijyQD8hIFigoceeuh6q4wIjTp16rjRo0eHLRvC9xCYe84551ia6KOOOspcMIAkBtWqVbMiobnBhIHv7Ny5s\/mzb7PNNm7HHXcMXxUifhAwzr3APTVp0qSwVaQCll\/iU0jzTF2gVOppsdBCunnqcNWuXdu988474St5g89j7T7ggAMsIxuLNTNmzAhf3TQs1CBmjj76aPs8\/drQoUPDV4UQQoj1yXpRgxghyB53C3y4fRpTLB20MTDPmjXL\/m611Vb2WjK85j9XtWrVDdw2mBisXLlyo9mEypcvb6LEu408++yz7sQTT7T\/Fy1aZIN7lSpV7HkyHEOFChXsezmG22+\/3axFpETV6ubayZEoGTj3BTn\/LDKQ7pkYGyUPyDucc\/oc3FhZKGFhhf6MBZply5a54cOHu5deesn6ldygL8JiTP9CMhM+56F\/GTJkyCbjXnChJTvkJ5984mrVquXuvfdea\/\/0008tw9rGauHQr\/J5RA2fpz9877331i0gCSGEEFGyXtQw+CNIEDZYO\/wEDCGCXzfBriNHjrQ4lerVq9trURh4eZCBzMNzvx0mDS+\/\/LI788wz3W677WZtURAyftLgYSLSsGFDsxjB888\/b+44WICS8Z8nAxvwHU899ZR79NFHXf\/+\/fNdQC9T4HfgNyTWiEmxHsX7GD9+fL6zaHmw2HTr1s3SPbM9sWkQMAT8Y5np0KGD9U\/UnyGAn0USYgZxleX\/nKBPoe9q1qyZnXf6vqj7GH0LfdrGLGhYn7HwnHXWWbY9XOB87RoETY8ePczlNzdwm+P9pK0\/6aSTzHKNQPJ9qxBCCBFls8Rgs8llL+JDSLNJAHycBhR88akB89prr21g5WDAZcJP9WtOAYMsrg2PP\/64GzhwoHvxxRdtwG\/atKm1P\/TQQ+ulTWaAJwaGqtesen7++ee2skkszoMPPmh\/CXTGdeziiy+2FVJc0KKwCsm+ETdAAc0aNWq4Xr16mci68MIL1wkdVijvuecet+eee9pzD5N1YnBYyWb\/cPPgN6JOBBMaXOjYPq5o+QV3EVZ62UdideIG5wH3G1b8mSSJ4oX7BIsBE2DcnwoCNaVIF3zdddcVuDBj+\/bt3QsvvOC23XbbsCUe0I9QkworS3QhJArHhtvX4MGD3ZFHHumGDRvmGjVqZEIGcc9f7ombbrrJ+puoqyxcffXV1gciSnF7hRYtWlhfiVssvymurQgeviO5SCexgGyD723VqpW1sVCDOy\/9KvtNn4ag+frrr83KHMUvAmHVOe2000yYkVGNfhgXYa6B6CJSqtAvky46v7XFShqEHWm7\/bkVAq666ipz0fQeHkLEBcY0FtxYQCswiJpNMXLkyKBPnz5BYjALW+LB+PHjg0THHyQGxLDlX2hLDAxBogMIpk6dam2rVq0Kbr755qBjx47BEUccESQmwbkec2LSEPTr1y845JBDgsRAG7YGQWLAsc\/zuOCCC4Lly5eHr2zIww8\/bJ9PDP72fNq0abZPhx56qD34fEIU5boPiUHevicxYQhbguCxxx5b9\/0\/\/PBD2Jp\/pk+fHnTu3DlIiKewJV5wTjkXCRGrRwk9CpPXX389OPnkk4NJkyaFLfmjXbt2wZw5c8Jn8WHQoEF2PS9evDhs2ZCWLVsGbdu2DWbOnBnsvvvuwfvvv2\/t3bp1s\/7t4osvtnbf7yXTu3fvoG7dusH8+fPDlrXbHDVqlP1\/1113BdWrV1+v34uSEA1BzZo1g2+\/\/daeJwRSkBC0wYwZM+z5K6+8EiRESfDll1\/a82QSQilICJ\/gvffes330+\/nss88G9evXz7E\/TwX67YYNG4bP4kePHj2C0aNHh8+EWEvfvn2DxOQwfCZEfBgyZEiQEOXhs4KRtaJG5I1MEDWdOnUKn4lM4M033wxOPfXU4McffwxbUicTRc3EiROD0047LahSpYoteMD1118f7LHHHjYRbt68eTBhwgQTGV7oRJk7d25wzjnnBDVq1Aj69+9vizrc9yyuVK5cOTjssMNsu88\/\/3zw1FNPhZ\/6Fz5\/0003maBhO8uWLbOxg7Uz7kHE1B133BF8\/vnnwUMPPRSsWLEi\/ORali5davvWpEkTW+xBEI8ZMyZo3bq17QNC7ZprrglWrlwZfiJ\/SNSITESiRsSVwhQ1WRFTk+xeIfKOzp1INxKTenOxvPXWW5XuOQIutsSejBgxwtzOANdXXFePOeYYc7nCDe3cc891CYFgr0chWckRRxxhLmLnn3++3fu4nxGT8+qrr1obbn8nnHCCpdtOhs+TDh\/3MNwIcEvbZZddLAMb7rQJIen23Xdfi+3BLZiYxSi47+LuS1p93OyITcTt7bbbbrN9wG0OtzafTEUIIYSIktExNfiE43\/MAFmQuJJshsxvFPJkYtGkSZOwNT7gj9+zZ0+LxxCZBb8pSTHIjMZkPRUyOaZGbBzF1IhMRDE1Iq4UZkxNRosaqpGzqsjqIsGoeThUEYGVUpIlTJ8+3RIo7L333uEr8UGiJrOhX0LYUEtl5513Dls3TZxFDYKG5CTKApY\/yNxGzS+JGpFJSNSIuCJRk0fIrtO9e3dLx5xbjRmxcahDQWY1fnuJGpGOvPnmm1bXqW\/fvubulBfiKmpw7cJySu0WuWGlDgs11MjBAj1t2rSwNV5I1IickKgRcUWiJo\/gb+8ntMlpQ0XeoMYI9SRuvvlmuZ+JtIU+CmGDKxrphjdFXEUNnT81e3C3U7xb6jB+IWhIz48FOo5I1IickKgRcUWiJo9srE6NyBtxr1MjUZM98BvjikbMBMVrN0bcY2qo5VKQWi3ZDAMn51HuZyKTkKgRcaUwRU1WZD8TQmQ+hx56qFkxbrjhBjd+\/PiwNTPJw1qUyAWdOyGEyEwkaoQQGUOnTp0srTGWxYkTJ4atQgghhMh0JGqEEBnFYYcdZsKG+JrJkyeHrUIIIYTIZCRqhIgBTM4fe+wx9\/fff4cthc+vv\/5qsQaLFy8OW+ILwgZXtOuuu04FOoUQQogsQKJGiBxYvXq1u\/fee61q\/fLly8PWTfP555\/bZHpTMR1Ueb\/iiivcsmXLwpaN8\/XXX7uzzjrLzZ8\/P2z5F4LjTzvttBz3c968eVbNnSrzm4LvoAL9zJkzw5Z4gyta165dLXNfpsfYCCGEENmORI0QObBq1Sr39ttvu5EjR+ZZeAB1fT7++GMrWgqTJk1y++yzj7VFoTAsImLNmjVhy8ahJkm5cuVyzD7INp5++mn3zTffhC3\/8uWXX7qHH344T3Wa+A6q1GdSIDXJA3BFu+mmm2Kb7UoIIYQQm0aiRohcKFOmjNWzSIXDDz\/c3LhatGhhzxEhBKwn1xShoCmiKZW0vLmlU2fivuuuu5qwiYLYeffdd12dOnXcfvvtF7ZmH7iiYbHBFc0LG2XAEkIIITILiRoh8sh3333n7r\/\/fqvdc9ddd7nzzz\/fDRo0yP3111\/hO5z7\/fffrV4A9XHGjh3rrr76ardy5UrXv39\/d95557lXX33V3oegwb2N14BtvPjii+6SSy6x7Q4ZMiTPFqLq1au75s2bu1GjRrk\/\/\/wzbF1rNfrwww\/dCSecYOJsyZIl7qWXXnJ9+vRxF1xwgVWnX7FiRfjuDaG+E\/sdjeP56quvLJd89JgXLFhg54Hjw6Xu\/fffD19ZC+998MEH7XWq4VPRvbhB+J166qmuX79+JjqxegkhhBAic8h6UcOE7bbbbnNt2rSxYmbnnnvuuolmfmAiSXE0tteyZUubBGtVODMgLoNJ\/pFHHumGDx9ulckRB1gAPPz+pBMmsJ+JM3EuWEy4phAQ\/loYPXq0WWuWLl1qz5nsM+EmBobtUjT2jjvuyPO1c9xxx7m5c+e6Dz74IGxxbsKECbYfRx11lO0D+4ngIhHAtGnTXO\/eve3az+07EGAIL+9KBz\/88IMbMGDAutgexNvJJ59sMUKAu9vpp5++TrwRm9SjRw97nWNFGJLwoCRA2FCY7vbbbzeLzRZbbBG+knnwGy9cuNCELL9BQUGY+u0Jke1QjDyn+EYhRMmS1aKGydzgwYPddttt54YOHeqefPJJm4z5CVp+6Nu3r61Isz0mkQSaq5p9ZoC1A0vI0UcfbYMaVg\/Ex7Bhw2z1H3Azq1Chgl1bjRo1skKQuJhhgXnkkUfcMcccY+9jW\/59PJhsf\/bZZ5Z9jGrxBOxT8R6RlBcQ0dtss417880318XpsF\/E8+CaxsTWfwdWFaww7DvCKjdrDTE27GMU37b55mu7Dj6PQOC+ue++++z7O3bsaMH5WJoQabjAYcHhezlvAwcOtM+WBJ07d3bt2rUzoeaPIZPgnGMJww0SMbvbbrvZX6xp+QGhfO2115oLn9\/e3XffXShCSYi4Mnv2bIvVo38TQqQPWS1qiFE455xz3CmnnOK23npr16BBA5v4sZpMoHh+YOLatGlT2x6Tu8qVK9v2RGbARLhXr142uef64TfGChN1+0oFBA3badu2rU08cUtDjDA5ZZvekrMpEE5cu1hKcI\/7559\/LOPZAQccYMH\/xAcRV8MKPt+BpYn9ZrWR96YK54F9\/P777+0YsDJhoeR+IgECg\/706dPNNY59wLrDvYGFKNU4pcIEi8NPP\/2UkYIGsKTw++LKiOshbn+4AyI+8wPulAgYEmawPTLpXXTRRfY7CpGt0J\/yYOGSe0QIkR5ktagB3IOYkOFSdMQRR5iFhZXu6ESPSVtewZ2NbfntTZkyxdpS2YZIb6KCFxcmREluQfye3F737bhEYUU4\/vjjTZywGo5FZFPbjXLsscdaTRZcxIjnQRCxwg5cz1ggo9+BxYQJa24TfH\/NRvfBv5c27h1EAvtZq1YtV7t2bVezZk277nFzq1Klir2XiTWrmg888IBZEPI7wS4o\/l5HaO244475XrhIZ6pVq2YTLY6R369169ZmweOayA+77767ZY5jcYbt8RtzDSBmhchWmCO0b9\/eNWvWbJ3bsBCi5MlqUUPHxOryt99+a3EQTCSJq2ECyEo8K7p0XMTGUCNkY0HVQMfGJGL77be3eAgmkX5yAaygn3nmmeaKJPeNzKCgYpUJIrEvVL\/HwoelhTgVrsW8Wmk8uLvttddetlL\/+OOP23Pcz4DYGlzasJpQS4eVdlwjEWW5XYuVKlWyv1HR4+NrOO7y5cvbe7Bw4m5GAgEmwLjccb9su+229l7cO0mYQBwR9xdxPGSEK06wKuEayv3Ys2dP2\/eC\/nbpCEINK9xOO+1k\/RYWwKgVEUsdsWGc\/7xY6BCC11xzjdtjjz1se\/yO9JvR2Br6tfy6twkRR3zfccYZZ5iwISaSmDMhRMmS1aKGQR3\/c+IR8BVn8oXLDHERTChxl8HdYsyYMSZYXnjhBfsccQM5ZXDiszwQLkwqWM1m8Pcr3bhwMKnie33cg0hfGLiSJ76pToRx\/cJiwUSTiSTXRxS250VFkyZNLLnA1KlTLQ4L94Yom\/puVtOxiOC+hvsRlhsvSPwEluuSCT0WRJIK4IIWtcSA\/x4EOgLr+eeft\/cTc4YbGe5j7DP7etBBB9n3Pfroo\/YeYouICcLyBEx233nnHTt27iHq5SCkijP7GEKMuBCsSZdffrnd35m6qED8Eu60WOLot6iPRJ9Df4PFmEUc4ptI7nDppZduUjgTN4ZgJWEE20MIc03xGyKWEOMInhtvvDH8hBDZgR\/Duaf2339\/EzZ\/\/PGHtQkhSoasFjVYY8heRXFChAidExM6n6kKX1lf3wOLDZNNIMCa1ejkSWbDhg3NtYeUvGyPAR93EO\/mwgoxAkqCJv2JWieShUEUJsf8vr4ODb8t7\/OfQShT7R8XLFyvEMTAe\/z7EBpcG1j2qIJPzAKTxho1aqy7VvI6CccSgnhgIk+2L0+9evVs0MWCSBwQVhuERdSSyHdw3XNfwCGHHGKTYwQBQeIkA0DEgBdCZDbjXsBCg6sb6aNJd82+A4kO+C72hWND2GMxwZpZHDBpxwrL\/rAfmQ4xUlil9t13X3v+3HPPWRsugiSJIKkDSSJI2kBKb34fCsTSZ3300Uf2mShYavit69ata9fie++9Z3+5brnucTds3LjxBnWYhMgmmDtwzyHuiScUQpQQiQnNJklMRII+ffoEicEsbIkH48ePDxKTvCAxyQtbcuarr74KPvzww+DLL78M5s6dG\/z666\/BggULgsTkL5g1a5a957HHHgtuvfVW21ZiEho8\/fTT1p5MYhIVfPrpp7a9xGQhmD59ejBz5szw1SAYMWJEcN555wUJ4RS2pDfsf+fOnYOxY8eGLfFi2rRpQWIyHT7LO1zrCREbTJ48OUhM9q2Na+KHH34IEpM5ew5\/\/fVX8NNPPwV\/\/\/23Pecv52rJkiX2HLgmvvvuu+Dzzz+36wsSgjmYMGHCum0nBI5dr2PGjAkmTpxon+e7EyLDXvffvanrhtfZLu9NhtfGjRtn38G1uXjxYvsuvhsWLlwY\/Pjjj+u+ExIT5OD777+3ff\/zzz9tv9jP6H5wrthXtsu9FL3eOVeJiXSQmFDb6\/wexQX7mBAyQf\/+\/dc7JmjXrl2QmNCHz+JDQoxYv8RvlxMJMRskhGZQv3794MADDww6dOgQJIRHkBAtwcMPP2z9IeeC37ply5Z2jb\/\/\/vuo2uDee+8Nt\/IvvO+YY44J9tlnn6BFixa2vSZNmgQJQRS+IwiOPPLIICHEw2fpT79+\/YKGDRuGz+IHv+\/o0aPDZ6IkYPwfMGBA+Gwt9IPcY2eddVY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alt=\"\" \/><\/div>\n<div>\n<p><a>Fig. <\/a><!-- [if supportFields]><span style='mso-bookmark:_Ref70416863'><\/span><span style='mso-element:field-begin'><\/span><span style='mso-bookmark:_Ref70416863'><span style='mso-spacerun:yes'>\u00a0<\/span>SEQ<br \/>Figure \\* ARABIC <span style='mso-element:field-separator'><\/span><\/span><![endif]-->7<!-- [if supportFields]><span style='mso-bookmark:_Ref70416863'><\/span><span style='mso-element:field-end'><\/span><![endif]--> <a>Logic diagram instantiation<\/a><\/p>\n<p>The three boxes in <!-- [if supportFields]><span style='mso-element:field-begin'><\/span><span style='mso-spacerun:yes'>\u00a0<\/span>REF _Ref70416863 \\h <span style='mso-element: field-separator'><\/span><![endif]-->Fig. 7 represent the three coded classes. The first box represents the Simulator or<br \/>Lift System and will be the calling code. The Profile Generator is a class<br \/>which takes some parameters upon instantiation of an object. The resulting<br \/>object contains a set of public arrays which plot the profile and can be used<br \/>by the calling code. The Profile Generator uses the static functions from the<br \/>Kinematic Equations class to produce the profile. This Kinematic Equations<br \/>class can be used by other coded classes to perform all the calculations our<br \/>previous symmetric Kinematic Equations class could do and more.<\/p>\n<p><img decoding=\"async\" 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\" alt=\"\" \/><\/p>\n<p>Fig. <!-- [if supportFields]><span style='mso-element:field-begin'><\/span><span style='mso-spacerun:yes'>\u00a0<\/span>SEQ Figure \\* ARABIC <span style='mso-element: field-separator'><\/span><![endif]-->8<!-- [if supportFields]><span style='mso-no-proof:yes'><span style='mso-element:field-end'><\/span><\/span><![endif]--><br \/>Logic diagram update<\/p>\n<p>\u00a0<\/p>\n<p>For dynamic profiles, the calling code can invoke an update<br \/>method on the profile object with a new set of inputs including the time at<br \/>which the update was sent. This will modify the input parameters and then<br \/>modify the profile arrays.<\/p>\n<\/div>\n<\/div>\n<\/div>\n<div>\n<div>\n<div>\n<p><!-- [if !supportAnnotations]--><\/p>\n<\/div>\n<p><!--[endif]--><\/p>\n<p>\u00a0<\/p>\n<\/div>\n<\/div>\n<p><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"has_eae_slider elementor-section elementor-top-section elementor-element elementor-element-b98710c elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-eae-slider=\"61680\" data-id=\"b98710c\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"has_eae_slider elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-d351746\" data-eae-slider=\"47029\" data-id=\"d351746\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-e487ad3 elementor-widget elementor-widget-text-editor\" data-id=\"e487ad3\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h1>4\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0Mathematical Method<\/h1>\n<h2>4.1\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 Phase start times<\/h2>\n<div><img decoding=\"async\" src=\"data:image\/png;base64,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\" alt=\"\" \/><\/div>\n<div>\n<p style=\"page-break-after: avoid;\">p<sub>0<\/sub> will only equal<br \/>0 in the first phase. For all the middle phases in a dynamic profile, p<sub>0<\/sub><br \/>will be determined by the time at which the update is sent. For the final phase<br \/>p<sub>0<\/sub> is calculated by finding the difference between the target<br \/>displacement and the minimum displacement and then calculating how long the<br \/>lift must travel at its final velocity (v<sub>final_phase<\/sub>) to reach the<br \/>target displacement.<\/p>\n<p style=\"page-break-after: avoid;\"><img decoding=\"async\" src=\"data:image\/png;base64,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\" alt=\"\" \/><\/p>\n<p>The period start times p<sub>1-3<\/sub> are calculated using the<br \/>following equations which can be derived from equations (8-1\/2\/3) in <!-- [if supportFields]><span style='mso-element: field-begin'><\/span><span style='mso-spacerun:yes'>\u00a0<\/span>CITATION Ste18 \\l<br \/> 2057 <span style='mso-element:field-separator'><\/span><![endif]-->[2]<!-- [if supportFields]><span style='mso-element:field-end'><\/span><![endif]-->.<\/p>\n<p><img decoding=\"async\" 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kTEydOTFKEEEKI6iALhRANAK5OvXr1ir755htbC+FgpUCpePTRR5MUIYQQom2RhUKIBmDz5s3RuHHjop49eyYpQlwGZWL+\/PmR+o6EEEJUCykUQjQAa9asiYYPHx516tQpScmG3uqO3lPNCEjUU0cZBWnkyJHRt99+q1GfhBBCVA0pFELUObg7ITDefffdSUp+Pvnkk6h\/\/\/7JVmOBkoCyUIy9e\/fa+o477rB1o0MsBbE1n376aZIihBBCtC1SKISoc\/72t7\/ZuhQBGbeXF154IdnqmFD+jub+M2jQoOjw4cNyexJCCFEVpFAIkfDhhx9Gt9xyi\/V0s8Y16JVXXkn21i7Hjx+3HuhCUA7KdcMNNyQpHRPqgOXtt99OUjoGPXr0MCuWEEIIUQ2kUAgRwwRgDz74YPT8889bL+6KFSuiTZs2RbfffntyRHFQSJqamqw3+Fpy\/vx5c2spBL3yo0ePjgYPHpyklAZlQQCnbI3A7t27bV3Oc20UDh48mPwSQggh2hYpFKLDwwRgzzzzTLR06dLo6aeftrTrr7\/e1kOGDLF1KTzwwAPR3Llzr7lCcejQoeRXYSjniBEjkq3S+Pjjj21dizNvu9XFF2BCvzAt7eJz4cIFW2fN1UH8BQrh2bNnk5TG4Z577snVkRBCCNHWSKEQHR6GXP3555+jp556KkmJoo8++igaMGBA0Z7\/NAj3tRjsizJBD3Xfvn2TlNI4ceJE1LVr13YZjtYVPQRhXLWwIoV4LIQvgAUiTEsL0Xv27MnrHoaScenSpahbt25JihBCCCFKoe4VCnoV8XdH4GC0m1AI2b59e3KUwGecOvLec4aQZAhRr7eODC5D4MoDbWjVqlXRqFGjbBuor7CdUXe0MdpaCKMoIch6LEbaVYh83I2IY1jC+qfXnWv4fod7mjdvXm5fubEd+\/fvt3VocSE\/8sIyg7BO3izh8KKMiISblB\/LvbvwDtwXsSbs41z2h4J\/GJeSzps26fuozzBfYOZv6gaLwfr166Px48e3uq0y0lH4XB23dlAXQgghhCiPulco6EnG350e5jNnzliPKm4ruJ58\/fXXyVGFQSjC1QGBgt+Nhgtxs2fPzvlRU0\/vvvuuzapMvZWCC5WsGxGePQLrggULbLtz587R+++\/bwLyvn37TCinnaFEvPXWW6awong4Xs\/ff\/+9HUvMAgHTDnkzV8SkSZNMePb5ILz3n\/NffPHF6OTJkyZEYxlwxowZY0G17OO6O3bsSPZEUZcuXZJf+aFnnmftShP30q9fPxOgWc6dOxf99NNPdgxKkcPIQMy+zfXp\/U+7V7lS6kI\/7SuM03j88cft\/5PyhoI8bWjt2rXRli1b7NysIU0pIy5a3DPuZNzbF198kewtH54v90e502DtQLkpx4LTXjEzlXD69OnklxBCCNH21L1CsXjx4uRXFN18883mtoDLCYLQ3\/\/93yd7CoPAsm3bthYCVz3gE3QVWjiG+kDJwn+cMgLCLGVFSO3Tp4+lFYO6xl0kSyCrZ3B1ol5wdXn11VejhQsXWv0g3H\/11Vc2AzX150IZihhKgMdZOCgdpC9atMjqFgH2l7\/8ZbL3co87wnYYpxEK2Twn6nfatGl2rQMHDlg6Cg3PaeXKlZaOgB66IJUyr0S6Z57zKeORI0eiqVOn5u4p3f45j\/LwfxW2H0Cg5r6oL86jPOwP7428X3rpJTuWclBGlJmXX345Wr58eXTddddFr7\/+eotz8oHAf+rUqWSrfNxKkxWYzrOiLOXEirRXzEwlUG+lKJ5CCCFEJTREDAW9wKGft\/cUZwVe5qOUoTerBe4W+VxYEHTcDSYN5aPnt9AS1gG9y2EZcTnBalGOEkUPb6kKSL1A+emFp76wPLDNmm2UKBQzQGHA6uD1hTtQWJ\/Hjh0z5QO8NzwUXqn\/hx56KNmKot\/\/\/vcWRBxCEDQKApYMb8cIg1gPbrrpJrNu0GuPEO9gSQmtCmn8XoYNG5akXAGFwd23OA4LgPfSI\/hjkWGmZaC8\/hv4n0FJ8frYsGHDVe5EKCMzZ86Mpk+fnhuq1S1ilJ3juQb34fWcD55RqKClSbf3NG6lyVJeKo0Vae+YGZQ0FC0fvSofuPVlKVJCCCFEW9AQCgXWCP9YIhQhJNObi4CCUMYHF4EcASmf7\/vOnTtN2PD9abce8rnWvu9ck95qhAGErtaCsOi92eT9pz\/9KTfJGYIJ90j5jx49GvXu3dvul3THZyFG+OJYFnp1Q1zA4VzqK+y95Zq4zrAvnTd1Gfri12L8C23Ee3mpiyVLllgvu4NQ7KPpUEe0J4T9sJw8S28TCMjdu3fPtQlvN24xIQ8HRYWAYVywaO+hC4sPgUq+WeDChbAcKgPA86BdYSXgXI7j\/4ied6C9oDC5woDwjFLCPfi1cJUClAXKyXwHrHmePGvaEs8VxYHrOZQPVyesBtybuzJRF7RBICj+gw8+sGtxLm2tUqGY83FPmzx5cpLSEpSldFvledAWC703XJHzNn8tY2a4J9pTmF8+eHbUpxBCCFEVmhuA0aNH27J79+7mWABqPnLkSLKnuXn16tXNseBCtKcdEwslzbGwatsh8Yc7t3\/p0qX22yEtFnosL4g\/9M2xQGS\/IRaaLD+uw8I9OLEw0RwLg5bOdcN8Ha7Hkg\/K1RaPKhZM7DqUg\/vgnhzSuQ7HzJ071\/axDu+X88J64Nhdu3bZb6B87CcfoB6mTp1qvyEWLC1PIA\/Px+vX64BjCtVHe8E98tx5Fqwpr0N9UR+xkmDbtAmOD+uZ8no7pI3SNry+qAPPm4V68\/PYFwubuXPJOw35hPcD1CHn8ByyzvHnyZK+JvAcwucXC9N27IYNG2yb+2bb64Ljycefayzw2nbWfbNNOudu27YtSb18z95GuJfwuI0bN1p6ufBcuE\/PNwuuE7Y5ysD1\/d55BpSRbYfyhP8v6Tyq\/d5w0v+HWXAfYT0LIYQQbUlDKBQuyCD88BFPE364IS2gu2Dg55JfKEixHX7QERrC\/YAwgAAQCk0IQCgqP\/zwg6WTh5\/nwl7WEgolkL7fSnEBlvy9LkIQfCjHpUuXbJvjwnJTPr9\/zg8FaODc8N45NxQCEYyoDxewHPL063AMQpcLrbWCt6FahTpk8WdXCjzPdFtrbyhDVtusNjzbtMBd7L1BOw4VBNp\/2N6r8d7IophCQR7835OfEEKIxoPvEd+oUkHezScLVkpDKBTFoKLTH3Y+5A4f8HA7LRhwbigE01ucFnh5KOTLh9uFA7YRQFjIM9\/DI50lH22lUBQjLWBSboQiB+EJgR9YUw+hAMs9etlprGynFTzKQr5cy2Hb64nfYd3XCjx\/v79ahHql7ZWjUHA8ZSrWu93o8Gyz6q7YewOLjf9\/8H+dbu+cW833hlNMoahE2RRCCFH78G1Id0q5\/JVvcTnPzy30fSmHhoihKEYx3\/dYGGsRTOrBtB5ECtXwfS8VP8f91qsFMQA+chFlx699xowZto2fdtxIc\/MYEJCLTz6ByB5bARcvXrRj3decGALyoq5YEzQ7ceJEq+OQWPBCY4rmz58fvfPOO\/a7lmAUJO7JZ46uNahX2iztrFQI9KZM6cDwjkQsjEfLli2zdwS\/Q0qNmYFrFTPDPYb\/bx4\/4TOAp+Ha3M+sWbOuKp8QQoj65tlnn42eeOKJFoODMFpl165dbRCZ9AK+Jj5yzpw5Fo\/XJvJlLFA0PPT+0btOccNedgdXoLBXnGNYXOMLe6fb2vcd0BZdY0zj+fpCPtXoaeTeyN\/Lkr5fd0VyqC96Rumh9ftB0+Vc6oBzqSN6WKmHsNeVfMJnwG+O9XPbSlvuaFDntDe5trQNhd4btFHa\/7WOmSHNj2Ofn+9LGv4\/871bSoVytjYPIYQQbQvfmFAuA74PoWdJSFqOc\/j+IL+1lk78iT9EDQujrNx555011+Nda2A9YNQnJgpUT2b9Qm\/01q1bo1jh03NsBbX43mAEKSwRjJpVCrQFrH2ttaoxeR\/WGR8RTgghRPuCReHWW2+1oe2nTJmSpBaGUUOxuofztwFWbzwV8NYpNPR6MczlyYcuZPFhDxEwMckjlGCur1eBnLkDwIeiFNng3sEQmFnDU4r6AWHzN7\/5jbmOicqpxfcGw\/mWqkzwgWBSRiZhbC\/4lvg3xN8r3BeueaS1mZldCCE6GJs3b7Zh333Y+FKgkwkX2zSuRDCXVGtk\/U6JWT4aO3aszRS8dOnS6H\/\/939zsysjmKDNcKHx48fbSZXiWlA5cD\/qGRNCiPahEgsFFh46pZiAEcUBX11ip3bt2hX97ne\/s\/isf\/zHf7SeNSaRFEIIUTrM84T1mVi7UrwRUCZee+216MCBA0lKSwYNGmRxsnTyVOrd0ITSwOKTV61Zs8YmryIN+BiQOUG4rQUtCO2nnEXKhBBC1Bd0SPms8ywEpKNMkEbHlU+emO\/jJoQQIj8+qWqp\/PnPf44mTZqUbF0N72ksHuGgH+WSG+XJM8FEnWVWR3OpNVB0tDTugkJ5Lci6thYtjbxcS\/jwMaIY1oo0tfhdEUKIemDgwIHJr8JgdWDEwH\/4h39IUq6mZ8+eya\/KySkUe\/futfX06dNt7fhwhHfddZeta4m0NUNLYy35BB+U37SAVGwpFBuSdW0tWhp5yYL\/kaz\/HY5\/8cUXM\/cV683y\/VOnTs1ZwcFjJ4inEEIIUTr+Xg3fqYX4r\/\/6r2jAgAEFlYYePXokvyonp1Aw1jm4KdpB0eCD0rdvX9v2OQY82I41vlml0NaCoOiYyHVOiLaH\/5Gs\/x3ew8SyZe0rNiLI119\/bWv8fUP2799vaz5yDnEX+PFyPQYIIQZDCCFES\/y9iytpKbi7E+\/WapJTKJikaXQy2UUIZpKuXbvmFA2fsIwPwtmzZ83kQrC2T7BUCAmCQgjRcWD0OEgrHtu3b7f3+yOPPGLbWCyGDx8ePfzww5ZOrAUB2xwnhBDiakpxGS3F3Ql27NiR\/KocUyjoGSIYIw09RNzwyy+\/nNNsiCoPg+2YoQ+YIVkIIYRw6KhKw\/dm1apVNhu4z+7qQyB6BxJxfL169Yr++Mc\/moIhhBDiClkGgCxKcXcKKWZ1LoQpFCdOnLANzCduaUCZoIeIxUd8ymLbtm1mpQin\/RZCCNGx4VviHVXu88t6xIgR9oFbuXKlpQFKRjrAEHfac+fOJVtCCCGcJ5980jr6\/d2aDya6LcXdicEziHVrDaZQMJwfTJ482V7qXHjZsmU22y7WiHw3QuwEw\/61diZWIYQQjQVzTcDcuXNtDgq+I7\/+9a8twJtvBsPHOigfpQYYCiFER2fkyJEWjvD5558nKVdTqrsTHTrw2GOPFVU8CmEKBWZpFAnMzQzvh4kZa0WhWVl9kgw+DPoQCFFb+AAI\/qJoZDpSWesJ76iaMWOGfU\/4rvB94TuT\/mZ06dKl5ABDIYTo6PAOJRyBuePywTG8d3EfLcSmTZvMBbU17k7QhAZDnMSoUaOSpOJImRCiumSNpobFsFR8GOiO4IrYkcraHjATayWDY2C9pqOqlG9E\/\/797Tvkw8kCv9tibHQhhGhECEcglqI1I+Iha2BUePPNN5OUymny4fs6d+5s62LQG4igEyoT8+bNK+rHJYQonfRoagyniTnSY5yKgQDYUYJZO1JZ6wWUgYMHD5bc4TR27Fhbv\/7667b+8MMP7XxGEGyNCV4IIRoZFIFTp05VZKHnPf3qq69Ga9eubRPjQNOePXvsB2aTUpQCfGEJtMP\/lRc9C2YX0RIeFEKh1xHuY\/QyC1EKKOzhaGqPP\/64taNSRlNramqyYzvCOP7+\/6U5C2oL76gijqKUZ4MlgiFi8ffleTLBKha5oUOHJkcIIYTIYvHixTa4Ujkd+3ROMrrewoUL28y636lZXXttDsrE\/fffb79xD8N\/jR5mwA1AiHKZNm2aCWeltB9eKsOGDTMf9tb6RNY6lBWhc\/fu3Q1fViGEEKJWyU1sJ9qOdevWmT\/wRx99lAuGoZe5nDgV8FljMf+L+odZ371HPd+SBUopygTtyaF3gdmEs9rGhQsXbF2OgE0+XN8V31qD+8K1Mk0jllUIIYSoN6RQVIElS5bYeL7uk4bFgjF+7733XtsuFdxe4LbbbrO1qG\/c17\/QksYHQECZCIfZLARByozzXw7MhM\/wnvUmZOOymZ6\/oBj1WlYhhBCiVpFCUQWIMSHI3XucsVjAkCFDbF0q+MQxzrBGOumYFFImaBMMwYlwnIYRG8q1hsGhQ4fabaQkrAa9e\/e2\/xncBVHCQ3D1wk80TT2WFXi2xFRpMAshhBCNgBSKKnH+\/HnrcSYgcceOHUlqZMHZHmOB8IRAgSuHu2Awoo9DT\/PgwYNb7A8hH\/JjH+4v7EdQcRDSfNhR9h89ejTZc3kmdN\/n8R6idqBd+GhqrkzMnz+\/qABKm2B0nL59+yYplyet4VnTBnCV8rZH\/qFVBCsaeLtIu1O5EMw+2lrYHrluOAhBmDfXDNtpOl\/OJej8jTfeyLX\/BQsW2LoQXtZ+\/folKVeXdcyYMbn7CSlWVvKhfOzjGBbyg6yyOuzj\/5Xrsw83tzTUP+8H3CKFEEKIRkAKRRVYvXq1jXxFj2v37t2jpUuXmqUBC8WcOXNsBBTSGD+YUbMQehCk6DXFKuEcPnzYJntiP0GnCE8hpCO4cO769ettPwqIM2HChGjFihUm2HEtB4GHYcK2bNli57pwJWqHrNHUsnro0\/joOmE72Ldvn6WTH8Ivo0cxos6qVauSI67MlMnwcxxLezl+\/LilAQI3geF\/+MMfcopCqFAwWgRWBPahuGI9AYRwXJKYZ4B9uAKG+QJtnnvD2oKbIGXH8lCMUsq6cuVKKyv\/k06xsnLPw4cPjyZNmmT3zIQ\/4JZCLyvzM4RlBZQFFIWTJ0\/adcPOBAclkfHDhRBCiIYh\/mCKdiJWMppjoSPZam6OhcbmXbt2JVuX92\/cuNF+c1yvXr3sN7AdKxPNsUJg27HC0WI\/zJ07tzkW5pq3bduWpDQ3x8IO0qAdz2+OSZ8n6pdYWbTnGQu7ScplYsHXnnvYXtj242KBu0U7oN142wO2YyU42WpujoXwFvtpS7RX2pNfA2Kh3o4Fb8PhecC90Pb9XvzeiuFlTZNVVvJ3ipWVfP2egXLHilCydbms\/O+ly0oe1AFp3AN5hOel8f9DIYQQot6RhaKdoJfUe2XBXVn69Olja3pJ2T9y5EjbJvg09BWnR5V9Hvi9YcOGq3zJ6dGeOXNm9Nvf\/jY3FvyZM2dszVCbHM81SukNFrUPbQqrw+TJk82iEULPPT3x3l5wp8Ny4Bw7dizXE++uRGHPP9vevmibWLXC\/fTecwztCctc\/G6xdD+W+8FatmjRInN\/KsTp06dzo6PlIyxrmqyyhkHqnFuorFgKH3rooWTr8hw9DMPrUFYsFF5WB4sHaViVsG6MGDHCxvgWQgghGh0pFO0EQg9CEwINQteMGTNsdCj3l2eYUAQ+F4oQchBq8GPnHDh37pytURZI79Gjh63JD9cLBCeEN4QrfruQx3XPnj1r7h64YnEtUd8gsOOmM2XKlOj5559PUq+wc+fOqEuXLvYb5ZW2tnz58pzigVLpo5DhgkQbYWCBMCaHSfVoW7g+Aftpe+RHO0PQnjVrlgnVHOfgbkTbIwbknXfeSVIv3zPnuhLt19q6dWvBQGsm7vOyMnJWmnRZcS\/0GZihlLIS4+DxELgw4bpIPISX9Ve\/+pWVlf\/BsKwoKpSVCdpwWUQ5Au559+7d9hv8HB\/2VgghhKhr4o+faAdiwcPcLngEuEmE7iSAO0XoLsHv0AUKVwncLsgDVxKOJy\/cOQB3C7ZZ+H3kyBFLB9\/n54rGh7bj7S393HHRiYV7c+UB3HU4nnbiLj20V86lHfp+XIU4h7zYZj\/rsC2H+zg3dBEizbdp17Rn0rhWeFy5cL2wrKHLH\/mSnlXWH374wdL4H+IY0thPOTmG\/7lCZSVPv66f61C\/nr\/\/\/4WLEEIIUc9opux2gmDqv\/zlL5rdV1QdrFN33nlnzkJVCxDkTe98MfenculIZRVCCCFqBbk8tQMIPbiFEMcgRLXBvQ5qaXhgYoeqIWB3pLIKIYQQtYIsFEIIIYQQQoiKkYVCCCGEEEIIUTFSKIQQQgghhBAVI4VCCCGEEEIIUTFSKIQQQgghhBAVI4VCCCGEEEIIUTFSKIQQQgghhBAVI4VCCCGEEEIIUTFSKIQQQgghhBAVI4VCCCGEEEIIUTFSKIQQQgghhBAVI4VCCCGEEEIIUTFSKIQQQgghhBAVI4VCCCGEEEIIUTFSKIQQQgghhBAVI4VCCCGEEEIIUTFSKIQQQgghhBAVI4VCCCGEEEIIUTFSKIQQQgghhBAVI4VCiAbjxx9\/jN57771kS3REPvvss+jLL79MtoQQQojqIoVCiAbiu+++iyZMmBDddtttSYroiPTp0yeaNGmSFEshhBDXhE7NMclvIUQdg2VizJgx0WuvvRYNHTo0SRUdFdrD\/fffHy1fvjy67777klQhhBCi7ZGFQogGYd26ddHAgQMlPArjxhtvNGVi4sSJSYoQQghRHWShEKIBwNWpV69e0TfffGNrIRysFCgVjz76aJIihBBCtC2yUAjRAGzevDkaN25c1LNnzyRFiMugTMyfPz9S35EQQohqIYVCiAZgzZo10fDhw6NOnTolKdnQW93Re6oZAYl66iijII0cOTL69ttvNeqTEEKIqiGFQog6B3cnBMa77747ScnPJ598EvXv3z\/Z6pjs3bvX1nfccYetGx1iKYit+fTTT5MUIYQQom1RDIUQdc6HH34YPfjgg3JpEXl55plnop9++inauHFjUSuWEEIIUS6yUAiRgGB+yy23mMDFGtegV155Jdlbuxw\/ftx6oAtBOSjXDTfckKR0TKgDlrfffjtJ6Rj06NHDrFhCCCFENZBCIUQME4DRy\/\/8889bT\/+KFSuiTZs2RbfffntyRHFQSJqamqJBgwYlKdeG8+fPm1tLIV544YVo9OjR0eDBg5OU0qAsCOCUrRHYvXu3rct5ro3CwYMHk19CCCFE2yKFQnR4mAAMl5ClS5dGTz\/9tKVdf\/31th4yZIitS+GBBx6I5s6de80VikOHDiW\/CkM5R4wYkWyVxscff2zrWpx5260uhZa0G9iFCxdsnTVXB8HaKIRnz55NUhqHe+65x+pDCCGEqAZSKESHhyFXf\/755+ipp55KUqLoo48+igYMGFC05z8Nwn0tBvuiTNBD3bdv3ySlNE6cOBF17dq1XYajdUUPQRhXLaxIIVhdUBgKLWkhes+ePXndw1AyLl26FHXr1i1JEUIIIUQp1L1CQa8i\/u4IHIx2Ewoh27dvT44S+IxTR957zhCSDCHq9daRwWUIXHmgDa1atSoaNWqUbQP1FbYz6o42RlsLYRQlBFmPxUi7CpGPuxFxDEtY\/\/S6cw3f73BP8+bNy+0rN7Zj\/\/79tg4tLuRHXlhmENbJmyUcXpQRkXCT8mO5d8rncF\/EmrCPc9kfCv5hXEo6b9qk76M+w3yBmb+pGywG69evj8aPH9\/qtspIR+FzddzaQV0IIYQQojzqXqGgJxl\/d3qYz5w5Yz2quK3gevL1118nRxUGoQhXBwQKfjcaLsTNnj0750dNPb377rs2qzL1VgouVLJuRHj2CKwLFiyw7c6dO0fvv\/++Ccj79u0zoZx2hhLx1ltvmcKK4uF4PX\/\/\/fd2LDELBEw75M1cEZMmTTLh2eeD8N5\/zn\/xxRejkydPmhCNZcAZM2aMBdWyj+vu2LEj2RNFXbp0SX7lh555nrUrTdxLv379TIBmOXfunI0CxDEoRc7hw4dt9m2uT\/xB2r3KlVIX+mlfYZzG448\/bv+flDcU5GlDa9eujbZs2WLnZg1pShlx0eKecSfj3r744otkb\/nwfLk\/yp0GawfKTTkWnPaKmamE06dPJ7+EEEKIKhB\/6OueWMCia7M5FriSlObmWNBp3rVrV7JVHPKIBZZkqz6IBTwrd6GFY5xYiLuqjLHQ2hwLdMlWcQYOHNi8cePGZKsxoPzUC\/U1depU22bNdqyYNl+6dMmOO3r0qKV5fXn9O6tXr7Z8\/Ph0XZFXrGQkW83NsSBv1wnhnHHjxtm1HPKIhfbmH374wdLJIzyPfMJ8syDf9LUgVmpalJF8yM+hfXgZ+B+Jhe7csWyH7Yf6SLcv2hzX5liH\/1Nvm\/zm+mG9Oel7SW+XS9Z7wqEMsbLcHCtPSUppUL6seq01qDeeVbqOhRBCiLagIWIo6AWmNzfs6YWswMt8lDL0ZrXA3SKfCwu9qu4Gk4byxc+w4BLWAb3LYRlxOcFqUU6cAD28ffr0SbYaA8pPLzz1heWBbdZsL1682KwygJUiFmpz9YU7UFifx44di2JlwH57b3jYW0\/9P\/TQQ8lWFP3+97+Phg4dmmxdhiBoJp7DkuHt+NSpU2Y9uOmmm8y6Qa\/9woULbR9gSQmtCmn8XoYNG5akXAHLgLtvcRwWAO+lx4qBRYaZloHy+m\/gfwarg9fHhg0brnInWrRoUTRz5sxo+vTpuaFa3SJG2Tmea3AfXs\/54Bn98pe\/TLbKx600WfEglcaKtHfMDNYzLCuxcpakZINbX7kjfAkhhBCl0hAKBW4Z\/rFEKEJIXrlypQkoCGV8cBHIEZDy+b7v3LnThA3fn3brIZ9r7fvONadNm2bCAEJXa0FY9FmSyftPf\/qTuXqA+9BT\/qNHj0a9e\/e2+w394YlXAYQvjmXBDSfEBRzOpb5CdxCuiesM+9J5U5ehL\/72Gox\/oY24exF1sWTJkmj58uW2DQjFPpoOdUR7QtgPy8mz9DaBgNy9e\/dcm\/B2Q3A455KHg6Jy6dIlc8GivYcuLD4EKvlmgQsXwnKoDADPg3Z13XXX2bkcx\/8R7kVAe0FhcoUB4RmlhHvwa+EqBSgLlJP5DljzPHnWtCWeK4oD13Mo39mzZ801jHtzVybqgjYIBMV\/8MEHdi3Opa1VKhRzPu5pkydPTlJagrKUbqs8D9piofdGe8bMcE+0pzC\/fPDsqE8hhBCiKsQfw7oHVwgWXChwrzhy5Eiy57IbCu4MFJVjcHdw14eQ+MOd2592ISENdwHyAtwcYoHIfkPoCsPCPTixMGEuLKRz3TBfh+sVcuVIu9ZUSiyY2HUoB\/fBPTmkcx2OwQWFfWkXHc4L64FjQ7cyysd+8gHqIXQHcfcaIA\/Px+vX64BjCtVHe8E98tx5Fqwpr0N9UR\/uMkOb4Piwnimvt0PaKG3D64s68LxZqDc\/j32xsJk7l7zTkE94P0Adcg7PIescf54s6WsCzyF8frEwbcdu2LDBtrlvtr0uOJ58\/LnGAq9tZ90326Rz7rZt25LUy\/fsbYR7CY+r1NWO58J9er5ZcJ2wzVEGru\/3zjOgjGw7lCf8f0nnUe33hpP+P8yC+wjrWQghhGhLGkKhcEEG4YePeJrwww1pAd0FAz+X\/EJBiu3wg47QEO4HhIFyfN9d2MtaQqEE0vdbKS7Akr\/XRQiCD+VwP2uOC8tN+fz+OT8UoIFzw3vn3FAIRDCiPlzAcsjTr8MxCF0utNYK3oZqFeqQpRwfeZ5nuq21NygtWW2z2vBs0wJ3sfcG7Zi26nVO+w\/bezXeG1kUUyjIg\/978hNCCNF48D3iG1UqyLv5ZMFKaQiFohhUdPrDzofc4QMebqcFA84NhWB6i9MCLw+FfPlwu3DANgIIC3nme3iks+SjrRSKYqQFTMqNUOQgPCHwA2vqIRRguUcvO42V7bSCR1nIl2s5bHs98Tus+1qB5+\/3V4tQr7S9chQKjqdM5Qxe0IjwbLPqrth7A+WH\/w\/O4\/863d45t5rvDaeYQlGJsimEEKL24duQ7pQCvkWk+7cE+S38HoGfW+j7Ug4dYmK7Yr7vsTDWIpjUg2k9iBSq4fteKn6O+61XC2IAfIZoyo5f+4wZM2wbP+24gebmMSAgF598ApE9tgIuXrxox7qvOTEE5EVdsSZIfOLEiVbHIXFDR2OK5s+fH73zzjv2u5ZgKGLuyWeOrjWoV9os7axUCPSmTOnA8I5ELIxHy5Yts3cEv0NqMWaGa4X\/bx4\/4TOAp+Ha3M+sWbOuKp8QQoj65tlnn42eeOKJFoOD8N4fOHCgxeDFyoJ955Gr5s6d2yIej\/jIOXPmWDxem8iX8YUaHnr\/0M4oLmvvZXdwBQp7xTmGxTU+tDrOpcexrX3fgR5Iliw8X1\/Ipxo9jdwb+XtZ0vfrrkgO9RULKLkeWnBtmDrgXOqIHlbqIex1JZ\/wGfCbY\/3cSrVlfPa5744KdU57k2tL21DovUEbpf1f65gZ0vw49vn5vqTh\/zPfu6VUKGdr8xBCCNG28I0J5TLHvz1piOPjG5SG7w\/yW2vpxJ\/4wg0Lo6zceeedpqGJ\/GA9YNQnJgqs155MRhXiOdeqFeFaQG\/01q1bo1jhU490K6jF9wYjSGGJ8AkRi0FboFeqtf8PTN6HdcZHhBNCCNG+YFG49dZbbWj7KVOmJKmXwQrBJLlnz57NjdIIpK9Zs8as5SFYvfFUwFunnOkW0pjLExfBNMLiwx4iYGKSRyjBXF+vAjlzBwAmHZEf3DsYAjM0h4n6A2HzN7\/5jbmOSYmunFp8bzCcb6nKBB+Ir776ymbDby\/4lvg3xN8r3BeueaS1mZldCCE6GJs3b7Zh333Y+BBccSF8x7Jm7ivmhkrjSgRzSbVKbsA0woIZPd400zbmD9IAEwnpbTHqDqZ+8ipnkaldlEpHd3kSohrEwn\/Z72HctNyNC7dH\/i9xkyQNlzzcx8iXbSGEEOWBvIOMnM8Fnncr+3GJYtAOfwfng\/c07lCtcalvItiUxc0imEOYvIo0QMOhN4kg3NaCFhRfs6xFZnYhhKgvCBD0WedZMLHHHzVL69atW27yxAMHDthaCCFE6eBRUgjetQRhf\/vttybTDx8+vKCFm\/c0Fo9w0I9yyY3y5Jlgos66KDdVa6DoaGncBYXyWpB1bS1aGnm5Vv9bwIePEcUWLlyYpFyhFr8rQghRDzCSUz5wcUJBQKno2rVrNHv27Nzom1n07Nkz+VU5OYVi7969tp4+fbqtHR+O8K677rJ1LRFaMrQ03oLgkwXKb1pAYiH4FOEla1+h2JCsa2vR0sgL\/xNp+B9J\/9+wcDwBfln7ivVm+f6pU6e2CA50v17iKYQQQpSOv1fDd2oavIuwFBO0zTD9gwYNilatWmUx0Vn06NEj+VU5OYWCsc7BTdEOigYflL59+9o2gXZYMAjg5oOCRSMcd70Q+QTBQouChEWafK5z\/AONHj06c59c54QoDP8jWf87vIeXLl2aua\/YiCBff\/21rRmBLWT\/\/v22HjBggK2BkbX46HE9vi8MDCKEEKIl\/t5Nj9bk8O5EifDQBawPjODJ+\/Xll1\/OzV\/U1uQUCiZpQhhLw8RKmEtc0VixYoW97E+ePGlDUmFyGT9+vO0rhmIohBCi48DocZBWPLZv327v90ceecS2sVjg4\/vwww9bOv6\/DIXIcUIIIa4mn8soUwCk3aGwZvzbv\/2b\/T5z5oytQ3bs2JH8qhxTKOgZwtcqDVoON4xGQ68R4FYSBtv179\/fFA4hhBAihI6qNHxvML0zG7jP7upDIHoHElbwXr16RX\/84x9NwRBCCHGFLAOAg0UCC4W7ljrXX3+9rW+++WZbZ1HM6lwIUyhOnDhhG5hP3BSCMkEPEYubTUK4UVydPvjgg2j9+vVJqhBCCBHZt8Q7qtznl\/WIESPM1WnlypWWBigZ6R413GnPnTuXbAkhhHCefPJJ6+j3d2vIrFmzrKMfN3CX6XnHzpgxw+LZsgKwiT9lX2swhYLh\/GDy5Mn2Uucmly1bZrPtYo1w64RDXAND\/+HqRC\/S3\/3d3yV7hBBCiCj64osvbM0oIxMnTrTvyK9\/\/WsL8MbSzTfE4aNXKMBQCCHEFUaOHGlKw+eff56kXAGFAXdT5HMW3r3\/9E\/\/FI0dO9Zk+jQoG\/DYY49dJe+XgykUmKVRJDA3M7wfJmasFfnGrPXgPdyhiKfA97VaQR5CiPKh16KpqSn3omhkfLCHjlDWesI7qugV43vCN4PvC9+PtPLQpUuXvAGGQgghWsI7lHAE5o7LAndSvIh477pMny8medOmTeaC2hp3J2jCdQnFYNSoUUlSYfhou18WWhAaDWbtrCAPIa4ljGJAz2cjgILOmNG4fSAss8ZiWCo+Opv7qDcyPuR1Ryhre3Dp0qW8H6JCMGkdHVWlWB6IxeM7FPr88jvLNC+EECKycARiKVozIh6yBkaFN998M0mpnCYfvq9z5862Lgbm6gULFthvXvgbNmwws0uhIA8hRHn4BDT8fzKaGsO9obyXagl0K2JHoCOVtV7g20BQYKluTJji4fXXX7c1w5NzPm61rTHBCyFEI4MicOrUqYos9LynX3311Wjt2rVt4nLatGfPHvuB2SQruCMNE9\/R88RLHh9YTNj4aqknqSU8KIRC6okF9zF6mYUohfRoao8\/\/ri1o4sXLyZH5AdXJ45dvXp1ktK4+P+X5iyoLbyjijiKUp4N3w+GiGWYcp4n3xksckOHDk2OEEIIkQWT1zG4UikyvEPnJKPrLVy4sM2s+52a1bXX5qBMEF0P+LARFEMPM6CMCVEu06ZNM+GslPbDS2XYsGHRf\/\/3fze8QEZZKePu3btb7f8phBBCiMrITWwn2o5169aZPzA+\/SgTQC9zqXEqjs8ai\/lf1D+MjuY96vmWLFBKUSZoTw69CwyIkNU2Lly4YOtyBGzy4fqu+NYa3Ne8efOSrSs0YlmFEEKIekMKRRVYsmSJjefrPmlYLBjj995777XtUvEA49tuu83Wor5xX\/9CSxqUiddee82UiXCYzUIQpMw4\/+XATPgM71lvQjYum+n5C4pRr2UVQgghahUpFFWAUa8IcvceZywWMGTIEFuXCj5xBLwrPqVjUkiZoE0Qv4RwnIYRG8q1hsGhQ4fabaQkrAa9e\/e2\/xncBVHCQ3D1wk80TT2WFXi2xFSV4\/MqhBBC1CpSKKrE+fPnrceZgMQdO3YkqZEFZ3uMBcITAgWuHO6CwYg+Dj3NgwcPbrE\/hHx8FBTcX9iPoOIgpPmwo+w\/evRosufyTOi+z+M9RO1AuyCoP5wAbP78+UUFUNoEo+P07dvXni0w+gPPmjaAq5S3PfIPrSJY0cDbRdqdyoVg9tHWwvbIdcNBCMK8uSbtnvQsNy3OJej8jTfeyLV\/H0muEF7Wfv36JSlXl3XMmDG5+wkpVlbyoXzs4xgW8oOssjrs4\/+V67MPN7c01D\/vB9wihRBCiEZACkUVYHQdJhyhx7V79+7R0qVLzdKAhWLOnDk2AgppjB\/MDLIIPQhS9JpilXAOHz5sk5Gwn6BThKcQ0smXc9evX2\/7UUCcCRMmRCtWrDDBjms5CDwME7ZlyxY714UrUTvQLrB0oUy44JrVQ5\/GR9cJ28G+ffssnfwQfhk9ihF1Vq1alRxxZaZMhp\/jWNrL8ePHLQ0QuAkM\/8Mf\/pBTFEKFgtEisCKwD8UV6wkghOOSxDwD7MMVMMwXaPPcG9YW3AQpO5aHYpRS1pUrV1pZwxGvipWVe2ayzkmTJtk9M+EPuKXQy8r8DGFZAWUBReHkyZN23bAzwUFJZPxwIYQQomGIP5iinYiVgeZY6Ei2mptjobF5165dydbl\/Rs3brTfHNerVy\/7DWzfcMMNzT\/88INtxwpHi\/0wd+7c5liYa962bVuS0twcCztIg3Y8vzkmfZ6oX2Jl0Z5nLOwmKZeJBV977rECads8f7b9uFjgbtEOaDfe9oDtWAlOtpqbYyG8xX7aEu2V9uTXgFiot2PB23B4HnAvtH2\/F7+3YnhZ02SVlfydYmUlX79noNyxIpRsXS4r\/3vpspIHdUAa90Ae4Xlp\/P9QCCGEqHdkoWgn6CX1XllwV5Y+ffrYml5S9o8cOdK2CT4NfcXpUWWfB34zwWDal5we7ZkzZ0a\/\/e1vc2PB+4zmDLXJ8VyjlN5gUfvQprA6TJ482SwaIfTc0xPv7QV3OiwHzrFjx3I98e5KFPb8s+3ti7aJVSvcT+89x9CesMzF7xZL92O5H6xlixYtMvenQpw+fTo3Olo+wrKmySprGKTOuYXKiqXwoYceSrYuz9HDMLwOZcVCkS4rFg\/SsCph3RgxYoSN8S2EEEI0OlIo2gmEHoQmBBqErhkzZtjoUO4vzzChCHwuFCHkINTgx845cO7cOVujLJDeo0cPW5MfrhcITghvCFf8dsGH6549e9bcPXCZ4lqivkFgx01nypQp0fPPP5+kXoHJJ7t06WK\/UV5pa8uXL88pHiiVPgoZLki0EQYWCGNymFSPtoXrE7Cftkd+tDME7VmzZplQzXEO7ka0PWJA3nnnnST18j1zrivRfq2tW7cWDLRm4j4vKyNnpUmXFfdCn4EZSikrMQ4eD4ELE66LxEN4WX\/1q19ZWfkfDMuKokJZmaANl0WUI+Ced+\/ebb\/Bz\/Fhb4UQQoi6Jv74iXYgFjzM7YJHgJtE6E4CuFOE7hL8Dl2gcJXA7YI8cCXhePLCnQNwt2Cbhd9HjhyxdPB9fq5ofGg73t7Szx0XnVi4N1cewF2H42kn7tJDe+Vc2qHvx1WIc8iLbfazDttyuI9zQxch0nybdk17Jo1rhceVC9cLyxq6\/JEv6VlldfdB\/oc4hjT2U06O4X+uUFnJ06\/r5zrUr+fv\/3\/hIoQQQtQzmim7nWAUmL\/85S+a3VdUHaxTd955Z85CVQsQ5E3vfDH3p3LpSGUVQgghagW5PLUDCD24hRDHIES1wb0Oaml4YGKHqiFgd6SyCiGEELWCLBRCCCGEEEKIipGFQgghhBBCCFExUiiEEEIIIYQQFSOFQgghhBBCCFExUiiEEEIIIYQQFSOFQgghhBBCCFExUiiEEEIIIYQQFSOFQgghhBBCCFExUiiEEEIIIYQQFSOFQgghhBBCCFEhUfT\/s0+U5Eu90EUAAAAASUVORK5CYII=\" alt=\"\" \/><\/p>\n<h2>4.2<span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';\">\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0\u00a0<\/span><!--[endif]-->Kinematic equations<\/h2>\n<div><img decoding=\"async\" src=\"data:image\/png;base64,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\" alt=\"\" \/><\/div>\n<div>\n<p style=\"mso-pagination: widow-orphan lines-together; page-break-after: avoid;\">Starting with a constant jerk, acceleration can be<br \/>found by integrating the jerk value with respect to time and adding the<br \/>starting acceleration at the beginning of the current period (p<sub>this<\/sub>)<\/p>\n<p style=\"mso-pagination: widow-orphan lines-together; page-break-after: avoid;\"><img decoding=\"async\" src=\"data:image\/png;base64,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\" alt=\"\" \/><\/p>\n<p>Velocity can be calculated two ways, by either adding the<br \/>velocity change onto the starting velocity (V at p<sub>this<\/sub>), or by<br \/>removing the velocity change from the target velocity (V at p<sub>next<\/sub>).<\/p>\n<p><img decoding=\"async\" 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\" alt=\"\" \/><\/p>\n<p>Displacement is the integration of velocity plus the<br \/>displacement at the beginning of the current period.<\/p>\n<p><img decoding=\"async\" src=\"data:image\/png;base64,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\" alt=\"\" \/><\/p>\n<p>See <!-- [if supportFields]><span style='mso-element:field-begin'><\/span><span style='mso-spacerun:yes'>\u00a0<\/span>REF _Ref70077354 \\h <span style='mso-element: field-separator'><\/span><![endif]-->Appendix A for the full equations for each period.<\/p>\n<div>\n<h2>4.3<span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';\">\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0\u00a0<\/span><!--[endif]-->Allowed Updates<\/h2>\n<h2><img decoding=\"async\" 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\" alt=\"\" \/><\/h2>\n<\/div>\n<div>\u00a0<span style=\"color: var( --e-global-color-text ); font-family: var( --e-global-typography-text-font-family ), Sans-serif; font-weight: var( --e-global-typography-text-font-weight ); font-size: 1rem;\">If the car is in period 0 or 1, a command to increase the<br \/>velocity can be accepted. The lift will continue accelerating to the higher<br \/>speed. For example, in <\/span><span style=\"color: var( --e-global-color-text ); font-family: var( --e-global-typography-text-font-family ), Sans-serif; font-weight: var( --e-global-typography-text-font-weight ); font-size: 1rem;\">Fig. <\/span><span style=\"color: var( --e-global-color-text ); font-family: var( --e-global-typography-text-font-family ), Sans-serif; font-weight: var( --e-global-typography-text-font-weight ); font-size: 1rem;\">9<\/span><span style=\"color: var( --e-global-color-text ); font-family: var( --e-global-typography-text-font-family ), Sans-serif; font-weight: var( --e-global-typography-text-font-weight ); font-size: 1rem;\"><br \/>the initial profile was set to reach a velocity of 2m\/s. Because the target velocity<br \/>was changed to 2.5m\/s before the end of period 1, the new speed profile is the<br \/>same as if the higher speed had been commanded at the beginning of the trip,<br \/>see <\/span><span style=\"color: var( --e-global-color-text ); font-family: var( --e-global-typography-text-font-family ), Sans-serif; font-weight: var( --e-global-typography-text-font-weight ); font-size: 1rem;\">Fig. <\/span><span style=\"color: var( --e-global-color-text ); font-family: var( --e-global-typography-text-font-family ), Sans-serif; font-weight: var( --e-global-typography-text-font-weight ); font-size: 1rem;\">10<\/span><span style=\"color: var( --e-global-color-text ); font-family: var( --e-global-typography-text-font-family ), Sans-serif; font-weight: var( --e-global-typography-text-font-weight ); font-size: 1rem;\">.<\/span><\/div>\n<div>\n<p>If, however, the lift has entered period 2 and the same<br \/>command is sent to increase the velocity to 2.5m\/s, the lift must finish its<br \/>current phase before starting to accelerate again up to a higher velocity thus<br \/>creating a new phase, see <!-- [if supportFields]><span style='mso-element:field-begin'><\/span><span style='mso-spacerun:yes'>\u00a0<\/span>REF _Ref60671324 \\h <span style='mso-element: field-separator'><\/span><![endif]-->Fig. 11<!-- [if gte mso 9]><xml><br \/> <w:data>08D0C9EA79F9BACE118C8200AA004BA90B02000000080000000D0000005F00520065006600360030003600370031003300320034000000<\/w:data><br \/><\/xml><![endif]--><!-- [if supportFields]><span style='mso-element:field-end'><\/span><![endif]-->.<br \/>The reason for completing the period is to avoid the added complexities required<br \/>in changing the jerk mid-period whilst acceleration is not constant.<\/p>\n<p>If the update is sent when the lift is no longer<br \/>accelerating but is moving at a constant speed in period 3, a new phase is<br \/>created. The new phase starts at the time the update was sent as seen in <!-- [if supportFields]><span style='mso-element:field-begin'><\/span><span style='mso-spacerun:yes'>\u00a0<\/span>REF _Ref60671348 \\h <span style='mso-element: field-separator'><\/span><![endif]-->Fig. 12<!-- [if gte mso 9]><xml><br \/> <w:data>08D0C9EA79F9BACE118C8200AA004BA90B02000000080000000D0000005F00520065006600360030003600370031003300340038000000<\/w:data><br \/><\/xml><![endif]--><!-- [if supportFields]><span style='mso-element:field-end'><\/span><![endif]-->.<\/p>\n<p><img decoding=\"async\" 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\" alt=\"\" \/><\/p>\n<p>If a valid update is sent in period 0 to increase<br \/>acceleration, the car will continue to jerk up to a higher acceleration. For<br \/>example, in <!-- [if supportFields]><span style='mso-element:field-begin'><\/span><span style='mso-spacerun:yes'>\u00a0<\/span>REF _Ref60671505 \\h <span style='mso-element: field-separator'><\/span><![endif]-->Fig. 13<!-- [if gte mso 9]><xml><br \/> <w:data>08D0C9EA79F9BACE118C8200AA004BA90B02000000080000000D0000005F00520065006600360030003600370031003500300035000000<\/w:data><br \/><\/xml><![endif]--><!-- [if supportFields]><span style='mso-element:field-end'><\/span><![endif]--><br \/>the initial profile was set to reach an acceleration of 0.5m\/s<sup>2<\/sup>.<br \/>Because the acceleration was changed to 0.75m\/s<sup>2<\/sup> before the end of<br \/>period 0, the new acceleration profile will be the same as if the higher<br \/>acceleration has been commanded at the beginning of the trip, see <!-- [if supportFields]><span style='mso-element:field-begin'><\/span><span style='mso-spacerun:yes'>\u00a0<\/span>REF _Ref60671510 \\h <span style='mso-element: field-separator'><\/span><![endif]-->Fig. 14<!-- [if gte mso 9]><xml><br \/> <w:data>08D0C9EA79F9BACE118C8200AA004BA90B02000000080000000D0000005F00520065006600360030003600370031003500310030000000<\/w:data><br \/><\/xml><![endif]--><!-- [if supportFields]><span style='mso-element:field-end'><\/span><![endif]-->.<\/p>\n<p>If a valid update is sent to change the deceleration at any<br \/>time before the final phase, the working parameters will be updated, see <!-- [if supportFields]><span style='mso-element:field-begin'><\/span><span style='mso-spacerun:yes'>\u00a0<\/span>REF _Ref60671540 \\h <span style='mso-element: field-separator'><\/span><![endif]-->Fig. 15<!-- [if gte mso 9]><xml><br \/> <w:data>08D0C9EA79F9BACE118C8200AA004BA90B02000000080000000D0000005F00520065006600360030003600370031003500340030000000<\/w:data><br \/><\/xml><![endif]--><!-- [if supportFields]><span style='mso-element:field-end'><\/span><![endif]-->.<br \/>This update must arrive before the car enters period 3 and, if the deceleration<br \/>is decreased, before the car would have needed to enter period 3 with the new<br \/>deceleration.<\/p>\n<p>If an update is sent to increase the displacement and the<br \/>lift has not entered its final phase, this will always be valid, and the<br \/>profile should be adjusted accordingly. If the update requests a decreased displacement,<br \/>it must first be calculated if the lift can stop before the requested<br \/>displacement in the given jerk, acceleration and velocity.\u00a0<\/p>\n<h2>4.4<span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';\">\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0\u00a0<\/span><!--[endif]-->Adaptions and rejections<\/h2>\n<h3>4.4.1<span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span>High acceleration<\/h3>\n<p>\u00a0<\/p>\n<p>When the car cannot reach the input acceleration and then<br \/>return to constant velocity without surpassing the target velocity, the<br \/>acceleration is too high and must be reduced. This is done using equation 8-12 <!-- [if supportFields]><span style='mso-element: field-begin'><\/span><span style='mso-spacerun:yes'>\u00a0<\/span>CITATION Ste18 \\l<br \/> 2057 <span style='mso-element:field-separator'><\/span><![endif]-->[2]<!-- [if supportFields]><span style='mso-element:field-end'><\/span><![endif]-->.<\/p>\n<p><img decoding=\"async\" src=\"data:image\/png;base64,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\" alt=\"\" \/><\/p>\n<h3><!-- [if !supportLists]-->4.4.2<span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span>High velocity<\/h3>\n<p>When the car cannot reach the input velocity and then slow<br \/>down again without surpassing the destination displacement, the velocity is too<br \/>high and must be reduced.<\/p>\n<p>Due to the use of computational techniques in this method, an<br \/>analytical equation has not been produced to solve for the maximum possible<br \/>velocity. Instead, a computational method is used which implements trial and<br \/>improvement to find the new velocity value.<\/p>\n<h3><span style=\"font-size: 1.75rem;\">4.4.3<\/span><span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';\">\u00a0 \u00a0 \u00a0 \u00a0\u00a0<\/span><!--[endif]-->Low displacement<\/h3>\n<p>When the car is mid journey and is sent an update to stop at<br \/>a displacement lower than the minimum stopping distance, this kinematic update<br \/>must be rejected.<\/p>\n<h3><span style=\"font-size: 1.75rem;\">4.4.4<\/span><span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';\">\u00a0 \u00a0 \u00a0 \u00a0\u00a0<\/span><!--[endif]-->Late update<\/h3>\n<p>When the car is mid journey and is sent an update to change<br \/>a parameter that has already been used or is impossible to implement, this<br \/>kinematic update must be rejected. One example of this kind of update is when a<br \/>command is sent in the final phase of a lift\u2019s journey.<\/p>\n<h1><span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: normal;\">5<\/span><span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';\">\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0<\/span><!--[endif]-->Application<\/h1>\n<h2>5.1<span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span>More accurate lift traffic analysis<\/h2>\n<p>When modelling lift kinematics, it is currently assumed that<br \/>the acceleration is the same as the deceleration and that all four jerk values<br \/>are the same. In a real lift system, acceleration and deceleration can vary in<br \/>a single journey as seen by accelerometer data. As more data is analysed, more<br \/>accurate models can be produced when calculating lift system performance.<\/p>\n<h2>5.2<span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span>Lift systems with two cars per shaft<\/h2>\n<p>When two cars share a shaft, the system performance can be<br \/>improved by giving each car the option to follow a deliberate asymmetric<br \/>profile thus improving the performance of the system<!-- [if supportFields]><span style='mso-element:field-begin'><\/span><br \/> CITATION Ste18 \\l 2057 <span style='mso-element:field-separator'><\/span><![endif]-->\u00a0[2]<!-- [if supportFields]><span style='mso-element:field-end'><\/span><![endif]-->.<\/p>\n<h2>5.3<span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span>Multi-dimensional lift system<\/h2>\n<p>For multi-dimensional systems, cars can be given the option to<br \/>change velocity based on the location of other cars in the system. This can<br \/>prevent unnecessary stops, improving user experience, and can reduce waiting<br \/>times, improving performance.<\/p>\n<h2>5.4<span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';\">\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span>Improvements to monitoring<\/h2>\n<p>Lift performance measurement tools<!-- [if supportFields]><span style='mso-element:field-begin'><\/span>CITATION<br \/> Ric12 \\l 2057 <span style='mso-element:field-separator'><\/span><![endif]-->\u00a0[5]<!-- [if supportFields]><span style='mso-element:field-end'><\/span><![endif]--> currently try to map<br \/>the lift\u2019s motion to a symmetric profile. Not only will this new model allow<br \/>monitoring of deliberately asymmetric lifts, data from which will improve<br \/>simulation inputs, it will also allow for the monitoring of poorly adjusted<br \/>symmetric lifts thus enhancing maintenance.<\/p>\n<h1><span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: normal;\">6<\/span><span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';\">\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0<\/span><!--[endif]-->Conclusion<\/h1>\n<p>This paper provides a set of equations which accurately<br \/>model a lift\u2019s kinematic profile for symmetric, asymmetric and dynamic<br \/>journeys. This will enable simulations to model lift motion more accurately as<br \/>well as improve the performance of lift dispatchers. These improvements will be<br \/>most noticeable in lift systems with two lift cars per shaft and with multi-dimensional<br \/>lifts. The equations will also enable improvements in surveying, maintenance<br \/>and many more technologies.<\/p>\n<p>Currently the solution uses a computational brute force<br \/>technique to find the maximum velocity and quickest stop floor at any given<br \/>time slice. There are improvements which can be made to these solutions which<br \/>will save time and processing power. Although time is less of a concern when<br \/>simulating a lift system, the need for efficient algorithms becomes more<br \/>crucial for dispatching and monitoring technologies.<\/p>\n<h1><span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: normal;\">7<\/span><span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';\">\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0<\/span><!--[endif]-->ACKNOWLEDGEMENTS<\/h1>\n<p>The authors acknowledge the work of Gabrielle Anderson and<br \/>her research into the field of lift kinematics with multiple maximum velocities<br \/>and with separate acceleration and deceleration. The authors would like to<br \/>thank Nishad Deokar for checking the maths presented in this paper and continuing<br \/>the research surrounding dynamic kinematics.<\/p>\n<h1><span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; line-height: normal;\">8<\/span><span style=\"font-variant-numeric: normal; font-variant-east-asian: normal; font-stretch: normal; font-size: 7pt; line-height: normal; font-family: 'Times New Roman';\">\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0<\/span><!--[endif]-->BIOGRAPHY<\/h1>\n<p>Matthew Appleby is a Software Engineer with Peters Research<br \/>Ltd. He is part of the team working on enhancements to Elevate, elevator<br \/>traffic analysis and simulation software, and related software projects. He<br \/>joined Peters Research in 2019 and is studying part-time for a Digital Degree<br \/>Apprenticeship.<\/p>\n<p>Richard Peters has a degree in Electrical Engineering and a<br \/>Doctorate for research in Vertical Transportation. He is a director of Peters<br \/>Research Ltd and a Visiting Professor at the University of Northampton. He has<br \/>been awarded Fellowship of the Institution of Engineering and Technology, and<br \/>of the Chartered Institution of Building Services Engineers. Dr Peters is the<br \/>principal author of Elevate, elevator traffic analysis and simulation software.<\/p>\n<h1 style=\"mso-list: l0 level1 lfo1;\"><span style=\"mso-fareast-font-family: 'Times New Roman'; mso-bidi-font-family: 'Times New Roman';\"><span style=\"mso-list: Ignore;\"><span style=\"font-style: normal; font-variant: normal; font-stretch: normal; line-height: normal;\">9<\/span><span style=\"font: 7.0pt 'Times New Roman';\">\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0\u00a0<\/span><\/span><\/span><!--[endif]-->References<\/h1>\n<p><!-- [if supportFields]><span style='mso-element:field-begin'><\/span><span style='mso-spacerun:yes'>\u00a0<\/span>BIBLIOGRAPHY <span style='mso-element:field-separator'><\/span><![endif]--><\/p>\n<table style=\"width: 100.0%; mso-cellspacing: 1.5pt; mso-yfti-tbllook: 1184;\" border=\"0\" width=\"100%\" cellpadding=\"0\">\n<tbody>\n<tr style=\"mso-yfti-irow: 0; mso-yfti-firstrow: yes;\">\n<td style=\"width: 1.0%; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\" width=\"1%\">\n<p><span style=\"mso-no-proof: yes;\">[1] <\/span><\/p>\n<\/td>\n<td style=\"padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">\n<p><span style=\"mso-no-proof: yes;\">R. Peters, \u201cIdeal Lift Kinematics,\u201d in <i>Proceedings of ELEVCON \u201995<\/i>, Hong Kong, 1995. <\/span><\/p>\n<\/td>\n<\/tr>\n<tr style=\"mso-yfti-irow: 1;\">\n<td style=\"width: 1.0%; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\" width=\"1%\">\n<p><span style=\"mso-no-proof: yes;\">[2] <\/span><\/p>\n<\/td>\n<td style=\"padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">\n<p><span style=\"mso-no-proof: yes;\">S. Gerstenmeyer, Quality and quantity of service in lift groups, University of Northampton, 2018. <\/span><\/p>\n<\/td>\n<\/tr>\n<tr style=\"mso-yfti-irow: 2;\">\n<td style=\"width: 1.0%; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\" width=\"1%\">\n<p><span style=\"mso-no-proof: yes;\">[3] <\/span><\/p>\n<\/td>\n<td style=\"padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">\n<p><span style=\"mso-no-proof: yes;\">CIBSE, CIBSE Guide D: Transportation systems in buildings, 2020. <\/span><\/p>\n<\/td>\n<\/tr>\n<tr style=\"mso-yfti-irow: 3;\">\n<td style=\"width: 1.0%; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\" width=\"1%\">\n<p><span style=\"mso-no-proof: yes;\">[4] <\/span><\/p>\n<\/td>\n<td style=\"padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">\n<p><span style=\"mso-no-proof: yes;\">T. Croft, Mathematics for engineers, Pearson Prentice Hall, 2015. <\/span><\/p>\n<\/td>\n<\/tr>\n<tr style=\"mso-yfti-irow: 4; mso-yfti-lastrow: yes;\">\n<td style=\"width: 1.0%; padding: .75pt .75pt .75pt .75pt;\" valign=\"top\" width=\"1%\">\n<p><span style=\"mso-no-proof: yes;\">[5] <\/span><\/p>\n<\/td>\n<td style=\"padding: .75pt .75pt .75pt .75pt;\" valign=\"top\">\n<p><span style=\"mso-no-proof: yes;\">R. Peters, \u201cLift Performance Time,\u201d in <i>Proceedings of the 2nd Symposium on Lift and Escalator Technologies<\/i>, Northampton, 2012. <\/span><\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<div>\n<div>\n<div>\u00a0<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"has_eae_slider elementor-section elementor-top-section elementor-element elementor-element-b7fd450 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-eae-slider=\"61360\" data-id=\"b7fd450\" data-element_type=\"section\" data-e-type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"has_eae_slider elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-843e055\" data-eae-slider=\"59598\" data-id=\"843e055\" data-element_type=\"column\" data-e-type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap\">\n\t\t\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<\/div>\n\t\t","protected":false},"excerpt":{"rendered":"<p>Dynamic extension for Ideal Kinematics Matthew ApplebyRichard Peters Peters Research Ltd, UK Keywords: kinematics, lift, elevator, dynamic profile, ideal lift kinematics, twin lift system, 2 cars per shaft, multi, multi-dimensional lift system, simulation Abstract. This paper presents a new set of equations for modelling kinematic profiles using a combination of mathematical and computational techniques. The [&hellip;]<\/p>\n","protected":false},"author":2,"featured_media":0,"parent":860,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"elementor_canvas","meta":{"footnotes":""},"class_list":["post-1860","page","type-page","status-publish","hentry"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.4 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Dynamic extension for Ideal Lift Kinematics - Peters Research<\/title>\n<meta name=\"robots\" content=\"noindex, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<meta property=\"og:locale\" content=\"en_GB\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Dynamic extension for Ideal Lift Kinematics - Peters Research\" \/>\n<meta property=\"og:description\" content=\"Dynamic extension for Ideal Kinematics Matthew ApplebyRichard Peters Peters Research Ltd, UK Keywords: kinematics, lift, elevator, dynamic profile, ideal lift kinematics, twin lift system, 2 cars per shaft, multi, multi-dimensional lift system, simulation Abstract. 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