PID1.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 71,
   "id": "ed3ecf62",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/svg+xml": [
       "<?xml version=\"1.0\" encoding=\"utf-8\"?>\n",
       "<svg xmlns=\"http://www.w3.org/2000/svg\" xmlns:xlink=\"http://www.w3.org/1999/xlink\" width=\"600\" height=\"400\" viewBox=\"0 0 2400 1600\">\n",
       "<defs>\n",
       "  <clipPath id=\"clip820\">\n",
       "    <rect x=\"0\" y=\"0\" width=\"2400\" height=\"1600\"/>\n",
       "  </clipPath>\n",
       "</defs>\n",
       "<path clip-path=\"url(#clip820)\" d=\"M0 1600 L2400 1600 L2400 0 L0 0  Z\" fill=\"#ffffff\" fill-rule=\"evenodd\" fill-opacity=\"1\"/>\n",
       "<defs>\n",
       "  <clipPath id=\"clip821\">\n",
       "    <rect x=\"480\" y=\"0\" width=\"1681\" height=\"1600\"/>\n",
       "  </clipPath>\n",
       "</defs>\n",
       "<path clip-path=\"url(#clip820)\" d=\"M141.853 1486.45 L2352.76 1486.45 L2352.76 47.2441 L141.853 47.2441  Z\" fill=\"#ffffff\" fill-rule=\"evenodd\" fill-opacity=\"1\"/>\n",
       "<defs>\n",
       "  <clipPath id=\"clip822\">\n",
       "    <rect x=\"141\" y=\"47\" width=\"2212\" height=\"1440\"/>\n",
       "  </clipPath>\n",
       "</defs>\n",
       "<polyline clip-path=\"url(#clip822)\" style=\"stroke:#000000; stroke-linecap:round; stroke-linejoin:round; stroke-width:2; stroke-opacity:0.1; fill:none\" points=\"204.426,1486.45 204.426,47.2441 \"/>\n",
       "<polyline clip-path=\"url(#clip822)\" style=\"stroke:#000000; stroke-linecap:round; stroke-linejoin:round; stroke-width:2; stroke-opacity:0.1; fill:none\" points=\"576.882,1486.45 576.882,47.2441 \"/>\n",
       "<polyline clip-path=\"url(#clip822)\" style=\"stroke:#000000; stroke-linecap:round; stroke-linejoin:round; stroke-width:2; stroke-opacity:0.1; fill:none\" points=\"949.339,1486.45 949.339,47.2441 \"/>\n",
       "<polyline clip-path=\"url(#clip822)\" style=\"stroke:#000000; stroke-linecap:round; stroke-linejoin:round; stroke-width:2; stroke-opacity:0.1; fill:none\" points=\"1321.8,1486.45 1321.8,47.2441 \"/>\n",
       "<polyline clip-path=\"url(#clip822)\" style=\"stroke:#000000; stroke-linecap:round; stroke-linejoin:round; stroke-width:2; stroke-opacity:0.1; fill:none\" points=\"1694.25,1486.45 1694.25,47.2441 \"/>\n",
       "<polyline clip-path=\"url(#clip822)\" style=\"stroke:#000000; stroke-linecap:round; stroke-linejoin:round; stroke-width:2; stroke-opacity:0.1; fill:none\" points=\"2066.71,1486.45 2066.71,47.2441 \"/>\n",
       "<polyline clip-path=\"url(#clip820)\" style=\"stroke:#000000; stroke-linecap:round; stroke-linejoin:round; stroke-width:4; stroke-opacity:1; fill:none\" points=\"141.853,1486.45 2352.76,1486.45 \"/>\n",
       "<polyline clip-path=\"url(#clip820)\" style=\"stroke:#000000; stroke-linecap:round; stroke-linejoin:round; stroke-width:4; stroke-opacity:1; fill:none\" points=\"204.426,1486.45 204.426,1467.55 \"/>\n",
       "<polyline clip-path=\"url(#clip820)\" style=\"stroke:#000000; stroke-linecap:round; stroke-linejoin:round; stroke-width:4; stroke-opacity:1; fill:none\" points=\"576.882,1486.45 576.882,1467.55 \"/>\n",
       "<polyline clip-path=\"url(#clip820)\" style=\"stroke:#000000; stroke-linecap:round; stroke-linejoin:round; stroke-width:4; stroke-opacity:1; fill:none\" points=\"949.339,1486.45 949.339,1467.55 \"/>\n",
       "<polyline clip-path=\"url(#clip820)\" style=\"stroke:#000000; stroke-linecap:round; stroke-linejoin:round; stroke-width:4; stroke-opacity:1; fill:none\" points=\"1321.8,1486.45 1321.8,1467.55 \"/>\n",
       "<polyline clip-path=\"url(#clip820)\" style=\"stroke:#000000; stroke-linecap:round; stroke-linejoin:round; stroke-width:4; stroke-opacity:1; fill:none\" points=\"1694.25,1486.45 1694.25,1467.55 \"/>\n",
       "<polyline clip-path=\"url(#clip820)\" style=\"stroke:#000000; stroke-linecap:round; stroke-linejoin:round; stroke-width:4; stroke-opacity:1; fill:none\" points=\"2066.71,1486.45 2066.71,1467.55 \"/>\n",
       "<path clip-path=\"url(#clip820)\" d=\"M204.426 1517.37 Q200.815 1517.37 198.986 1520.93 Q197.18 1524.47 197.18 1531.6 Q197.18 1538.71 198.986 1542.27 Q200.815 1545.82 204.426 1545.82 Q208.06 1545.82 209.865 1542.27 Q211.694 1538.71 211.694 1531.6 Q211.694 1524.47 209.865 1520.93 Q208.06 1517.37 204.426 1517.37 M204.426 1513.66 Q210.236 1513.66 213.291 1518.27 Q216.37 1522.85 216.37 1531.6 Q216.37 1540.33 213.291 1544.94 Q210.236 1549.52 204.426 1549.52 Q198.616 1549.52 195.537 1544.94 Q192.481 1540.33 192.481 1531.6 Q192.481 1522.85 195.537 1518.27 Q198.616 1513.66 204.426 1513.66 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M567.16 1514.29 L585.517 1514.29 L585.517 1518.22 L571.443 1518.22 L571.443 1526.7 Q572.461 1526.35 573.48 1526.19 Q574.498 1526 575.517 1526 Q581.304 1526 584.683 1529.17 Q588.063 1532.34 588.063 1537.76 Q588.063 1543.34 584.591 1546.44 Q581.118 1549.52 574.799 1549.52 Q572.623 1549.52 570.355 1549.15 Q568.109 1548.78 565.702 1548.04 L565.702 1543.34 Q567.785 1544.47 570.007 1545.03 Q572.23 1545.58 574.706 1545.58 Q578.711 1545.58 581.049 1543.48 Q583.387 1541.37 583.387 1537.76 Q583.387 1534.15 581.049 1532.04 Q578.711 1529.94 574.706 1529.94 Q572.831 1529.94 570.956 1530.35 Q569.105 1530.77 567.16 1531.65 L567.16 1514.29 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M924.027 1544.91 L931.666 1544.91 L931.666 1518.55 L923.355 1520.21 L923.355 1515.95 L931.619 1514.29 L936.295 1514.29 L936.295 1544.91 L943.934 1544.91 L943.934 1548.85 L924.027 1548.85 L924.027 1544.91 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M963.378 1517.37 Q959.767 1517.37 957.939 1520.93 Q956.133 1524.47 956.133 1531.6 Q956.133 1538.71 957.939 1542.27 Q959.767 1545.82 963.378 1545.82 Q967.013 1545.82 968.818 1542.27 Q970.647 1538.71 970.647 1531.6 Q970.647 1524.47 968.818 1520.93 Q967.013 1517.37 963.378 1517.37 M963.378 1513.66 Q969.188 1513.66 972.244 1518.27 Q975.323 1522.85 975.323 1531.6 Q975.323 1540.33 972.244 1544.94 Q969.188 1549.52 963.378 1549.52 Q957.568 1549.52 954.49 1544.94 Q951.434 1540.33 951.434 1531.6 Q951.434 1522.85 954.49 1518.27 Q957.568 1513.66 963.378 1513.66 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M1296.98 1544.91 L1304.62 1544.91 L1304.62 1518.55 L1296.31 1520.21 L1296.31 1515.95 L1304.57 1514.29 L1309.25 1514.29 L1309.25 1544.91 L1316.89 1544.91 L1316.89 1548.85 L1296.98 1548.85 L1296.98 1544.91 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M1326.38 1514.29 L1344.74 1514.29 L1344.74 1518.22 L1330.66 1518.22 L1330.66 1526.7 Q1331.68 1526.35 1332.7 1526.19 Q1333.72 1526 1334.74 1526 Q1340.52 1526 1343.9 1529.17 Q1347.28 1532.34 1347.28 1537.76 Q1347.28 1543.34 1343.81 1546.44 Q1340.34 1549.52 1334.02 1549.52 Q1331.84 1549.52 1329.57 1549.15 Q1327.33 1548.78 1324.92 1548.04 L1324.92 1543.34 Q1327 1544.47 1329.23 1545.03 Q1331.45 1545.58 1333.93 1545.58 Q1337.93 1545.58 1340.27 1543.48 Q1342.61 1541.37 1342.61 1537.76 Q1342.61 1534.15 1340.27 1532.04 Q1337.93 1529.94 1333.93 1529.94 Q1332.05 1529.94 1330.18 1530.35 Q1328.32 1530.77 1326.38 1531.65 L1326.38 1514.29 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M1673.03 1544.91 L1689.35 1544.91 L1689.35 1548.85 L1667.4 1548.85 L1667.4 1544.91 Q1670.06 1542.16 1674.65 1537.53 Q1679.25 1532.88 1680.43 1531.53 Q1682.68 1529.01 1683.56 1527.27 Q1684.46 1525.51 1684.46 1523.82 Q1684.46 1521.07 1682.52 1519.33 Q1680.6 1517.6 1677.49 1517.6 Q1675.29 1517.6 1672.84 1518.36 Q1670.41 1519.13 1667.63 1520.68 L1667.63 1515.95 Q1670.46 1514.82 1672.91 1514.24 Q1675.36 1513.66 1677.4 1513.66 Q1682.77 1513.66 1685.97 1516.35 Q1689.16 1519.03 1689.16 1523.52 Q1689.16 1525.65 1688.35 1527.57 Q1687.56 1529.47 1685.46 1532.07 Q1684.88 1532.74 1681.78 1535.95 Q1678.67 1539.15 1673.03 1544.91 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M1709.16 1517.37 Q1705.55 1517.37 1703.72 1520.93 Q1701.91 1524.47 1701.91 1531.6 Q1701.91 1538.71 1703.72 1542.27 Q1705.55 1545.82 1709.16 1545.82 Q1712.79 1545.82 1714.6 1542.27 Q1716.43 1538.71 1716.43 1531.6 Q1716.43 1524.47 1714.6 1520.93 Q1712.79 1517.37 1709.16 1517.37 M1709.16 1513.66 Q1714.97 1513.66 1718.03 1518.27 Q1721.1 1522.85 1721.1 1531.6 Q1721.1 1540.33 1718.03 1544.94 Q1714.97 1549.52 1709.16 1549.52 Q1703.35 1549.52 1700.27 1544.94 Q1697.22 1540.33 1697.22 1531.6 Q1697.22 1522.85 1700.27 1518.27 Q1703.35 1513.66 1709.16 1513.66 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M2045.98 1544.91 L2062.3 1544.91 L2062.3 1548.85 L2040.36 1548.85 L2040.36 1544.91 Q2043.02 1542.16 2047.6 1537.53 Q2052.21 1532.88 2053.39 1531.53 Q2055.63 1529.01 2056.51 1527.27 Q2057.42 1525.51 2057.42 1523.82 Q2057.42 1521.07 2055.47 1519.33 Q2053.55 1517.6 2050.45 1517.6 Q2048.25 1517.6 2045.79 1518.36 Q2043.36 1519.13 2040.59 1520.68 L2040.59 1515.95 Q2043.41 1514.82 2045.86 1514.24 Q2048.32 1513.66 2050.36 1513.66 Q2055.73 1513.66 2058.92 1516.35 Q2062.11 1519.03 2062.11 1523.52 Q2062.11 1525.65 2061.3 1527.57 Q2060.52 1529.47 2058.41 1532.07 Q2057.83 1532.74 2054.73 1535.95 Q2051.63 1539.15 2045.98 1544.91 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M2072.16 1514.29 L2090.52 1514.29 L2090.52 1518.22 L2076.44 1518.22 L2076.44 1526.7 Q2077.46 1526.35 2078.48 1526.19 Q2079.5 1526 2080.52 1526 Q2086.3 1526 2089.68 1529.17 Q2093.06 1532.34 2093.06 1537.76 Q2093.06 1543.34 2089.59 1546.44 Q2086.12 1549.52 2079.8 1549.52 Q2077.62 1549.52 2075.35 1549.15 Q2073.11 1548.78 2070.7 1548.04 L2070.7 1543.34 Q2072.79 1544.47 2075.01 1545.03 Q2077.23 1545.58 2079.71 1545.58 Q2083.71 1545.58 2086.05 1543.48 Q2088.39 1541.37 2088.39 1537.76 Q2088.39 1534.15 2086.05 1532.04 Q2083.71 1529.94 2079.71 1529.94 Q2077.83 1529.94 2075.96 1530.35 Q2074.1 1530.77 2072.16 1531.65 L2072.16 1514.29 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><polyline clip-path=\"url(#clip822)\" style=\"stroke:#000000; stroke-linecap:round; stroke-linejoin:round; stroke-width:2; stroke-opacity:0.1; fill:none\" points=\"141.853,1445.72 2352.76,1445.72 \"/>\n",
       "<polyline clip-path=\"url(#clip822)\" style=\"stroke:#000000; stroke-linecap:round; stroke-linejoin:round; stroke-width:2; stroke-opacity:0.1; fill:none\" points=\"141.853,1137.14 2352.76,1137.14 \"/>\n",
       "<polyline clip-path=\"url(#clip822)\" style=\"stroke:#000000; stroke-linecap:round; stroke-linejoin:round; stroke-width:2; stroke-opacity:0.1; fill:none\" points=\"141.853,828.561 2352.76,828.561 \"/>\n",
       "<polyline clip-path=\"url(#clip822)\" style=\"stroke:#000000; stroke-linecap:round; stroke-linejoin:round; stroke-width:2; stroke-opacity:0.1; fill:none\" points=\"141.853,519.984 2352.76,519.984 \"/>\n",
       "<polyline clip-path=\"url(#clip822)\" style=\"stroke:#000000; stroke-linecap:round; stroke-linejoin:round; stroke-width:2; stroke-opacity:0.1; fill:none\" points=\"141.853,211.407 2352.76,211.407 \"/>\n",
       "<polyline clip-path=\"url(#clip820)\" style=\"stroke:#000000; stroke-linecap:round; stroke-linejoin:round; stroke-width:4; stroke-opacity:1; fill:none\" points=\"141.853,1486.45 141.853,47.2441 \"/>\n",
       "<polyline clip-path=\"url(#clip820)\" style=\"stroke:#000000; stroke-linecap:round; stroke-linejoin:round; stroke-width:4; stroke-opacity:1; fill:none\" points=\"141.853,1445.72 160.751,1445.72 \"/>\n",
       "<polyline clip-path=\"url(#clip820)\" style=\"stroke:#000000; stroke-linecap:round; stroke-linejoin:round; stroke-width:4; stroke-opacity:1; fill:none\" points=\"141.853,1137.14 160.751,1137.14 \"/>\n",
       "<polyline clip-path=\"url(#clip820)\" style=\"stroke:#000000; stroke-linecap:round; stroke-linejoin:round; stroke-width:4; stroke-opacity:1; fill:none\" points=\"141.853,828.561 160.751,828.561 \"/>\n",
       "<polyline clip-path=\"url(#clip820)\" style=\"stroke:#000000; stroke-linecap:round; stroke-linejoin:round; stroke-width:4; stroke-opacity:1; fill:none\" points=\"141.853,519.984 160.751,519.984 \"/>\n",
       "<polyline clip-path=\"url(#clip820)\" style=\"stroke:#000000; stroke-linecap:round; stroke-linejoin:round; stroke-width:4; stroke-opacity:1; fill:none\" points=\"141.853,211.407 160.751,211.407 \"/>\n",
       "<path clip-path=\"url(#clip820)\" d=\"M93.9086 1431.51 Q90.2975 1431.51 88.4688 1435.08 Q86.6632 1438.62 86.6632 1445.75 Q86.6632 1452.86 88.4688 1456.42 Q90.2975 1459.96 93.9086 1459.96 Q97.5428 1459.96 99.3483 1456.42 Q101.177 1452.86 101.177 1445.75 Q101.177 1438.62 99.3483 1435.08 Q97.5428 1431.51 93.9086 1431.51 M93.9086 1427.81 Q99.7187 1427.81 102.774 1432.42 Q105.853 1437 105.853 1445.75 Q105.853 1454.48 102.774 1459.08 Q99.7187 1463.67 93.9086 1463.67 Q88.0984 1463.67 85.0197 1459.08 Q81.9642 1454.48 81.9642 1445.75 Q81.9642 1437 85.0197 1432.42 Q88.0984 1427.81 93.9086 1427.81 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M54.5569 1150.48 L62.1958 1150.48 L62.1958 1124.12 L53.8856 1125.78 L53.8856 1121.53 L62.1495 1119.86 L66.8254 1119.86 L66.8254 1150.48 L74.4642 1150.48 L74.4642 1154.42 L54.5569 1154.42 L54.5569 1150.48 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M93.9086 1122.94 Q90.2975 1122.94 88.4688 1126.5 Q86.6632 1130.04 86.6632 1137.17 Q86.6632 1144.28 88.4688 1147.84 Q90.2975 1151.39 93.9086 1151.39 Q97.5428 1151.39 99.3483 1147.84 Q101.177 1144.28 101.177 1137.17 Q101.177 1130.04 99.3483 1126.5 Q97.5428 1122.94 93.9086 1122.94 M93.9086 1119.23 Q99.7187 1119.23 102.774 1123.84 Q105.853 1128.42 105.853 1137.17 Q105.853 1145.9 102.774 1150.51 Q99.7187 1155.09 93.9086 1155.09 Q88.0984 1155.09 85.0197 1150.51 Q81.9642 1145.9 81.9642 1137.17 Q81.9642 1128.42 85.0197 1123.84 Q88.0984 1119.23 93.9086 1119.23 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M57.7745 841.906 L74.0939 841.906 L74.0939 845.841 L52.1495 845.841 L52.1495 841.906 Q54.8115 839.152 59.3949 834.522 Q64.0013 829.869 65.1819 828.527 Q67.4272 826.004 68.3068 824.267 Q69.2096 822.508 69.2096 820.818 Q69.2096 818.064 67.2652 816.328 Q65.3439 814.592 62.2421 814.592 Q60.043 814.592 57.5893 815.355 Q55.1588 816.119 52.381 817.67 L52.381 812.948 Q55.2051 811.814 57.6588 811.235 Q60.1124 810.656 62.1495 810.656 Q67.5198 810.656 70.7142 813.342 Q73.9087 816.027 73.9087 820.517 Q73.9087 822.647 73.0985 824.568 Q72.3115 826.467 70.205 829.059 Q69.6263 829.73 66.5245 832.948 Q63.4226 836.142 57.7745 841.906 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M93.9086 814.36 Q90.2975 814.36 88.4688 817.925 Q86.6632 821.467 86.6632 828.596 Q86.6632 835.703 88.4688 839.267 Q90.2975 842.809 93.9086 842.809 Q97.5428 842.809 99.3483 839.267 Q101.177 835.703 101.177 828.596 Q101.177 821.467 99.3483 817.925 Q97.5428 814.36 93.9086 814.36 M93.9086 810.656 Q99.7187 810.656 102.774 815.263 Q105.853 819.846 105.853 828.596 Q105.853 837.323 102.774 841.929 Q99.7187 846.513 93.9086 846.513 Q88.0984 846.513 85.0197 841.929 Q81.9642 837.323 81.9642 828.596 Q81.9642 819.846 85.0197 815.263 Q88.0984 810.656 93.9086 810.656 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M67.9133 518.63 Q71.2698 519.348 73.1448 521.616 Q75.0429 523.885 75.0429 527.218 Q75.0429 532.334 71.5244 535.135 Q68.0059 537.936 61.5245 537.936 Q59.3486 537.936 57.0338 537.496 Q54.7421 537.079 52.2884 536.223 L52.2884 531.709 Q54.2328 532.843 56.5477 533.422 Q58.8625 534 61.3856 534 Q65.7837 534 68.0754 532.264 Q70.3902 530.528 70.3902 527.218 Q70.3902 524.162 68.2374 522.45 Q66.1078 520.713 62.2884 520.713 L58.2606 520.713 L58.2606 516.871 L62.4735 516.871 Q65.9226 516.871 67.7513 515.505 Q69.58 514.116 69.58 511.524 Q69.58 508.862 67.6819 507.45 Q65.8069 506.014 62.2884 506.014 Q60.3671 506.014 58.168 506.431 Q55.969 506.848 53.3301 507.727 L53.3301 503.561 Q55.9921 502.82 58.3069 502.45 Q60.6449 502.079 62.705 502.079 Q68.0291 502.079 71.1309 504.51 Q74.2327 506.917 74.2327 511.038 Q74.2327 513.908 72.5892 515.899 Q70.9457 517.866 67.9133 518.63 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M93.9086 505.783 Q90.2975 505.783 88.4688 509.348 Q86.6632 512.889 86.6632 520.019 Q86.6632 527.125 88.4688 530.69 Q90.2975 534.232 93.9086 534.232 Q97.5428 534.232 99.3483 530.69 Q101.177 527.125 101.177 520.019 Q101.177 512.889 99.3483 509.348 Q97.5428 505.783 93.9086 505.783 M93.9086 502.079 Q99.7187 502.079 102.774 506.686 Q105.853 511.269 105.853 520.019 Q105.853 528.746 102.774 533.352 Q99.7187 537.936 93.9086 537.936 Q88.0984 537.936 85.0197 533.352 Q81.9642 528.746 81.9642 520.019 Q81.9642 511.269 85.0197 506.686 Q88.0984 502.079 93.9086 502.079 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M66.5939 198.201 L54.7884 216.65 L66.5939 216.65 L66.5939 198.201 M65.367 194.127 L71.2466 194.127 L71.2466 216.65 L76.1772 216.65 L76.1772 220.539 L71.2466 220.539 L71.2466 228.687 L66.5939 228.687 L66.5939 220.539 L50.9921 220.539 L50.9921 216.025 L65.367 194.127 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M93.9086 197.206 Q90.2975 197.206 88.4688 200.771 Q86.6632 204.312 86.6632 211.442 Q86.6632 218.548 88.4688 222.113 Q90.2975 225.655 93.9086 225.655 Q97.5428 225.655 99.3483 222.113 Q101.177 218.548 101.177 211.442 Q101.177 204.312 99.3483 200.771 Q97.5428 197.206 93.9086 197.206 M93.9086 193.502 Q99.7187 193.502 102.774 198.109 Q105.853 202.692 105.853 211.442 Q105.853 220.169 102.774 224.775 Q99.7187 229.358 93.9086 229.358 Q88.0984 229.358 85.0197 224.775 Q81.9642 220.169 81.9642 211.442 Q81.9642 202.692 85.0197 198.109 Q88.0984 193.502 93.9086 193.502 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><polyline clip-path=\"url(#clip822)\" style=\"stroke:#0000ff; stroke-linecap:round; stroke-linejoin:round; stroke-width:4; stroke-opacity:1; fill:none\" points=\"204.426,1445.72 204.426,1322.28 204.426,1198.85 204.426,1075.42 204.426,951.992 204.426,828.561 204.426,705.131 204.426,581.7 502.391,458.269 502.391,334.838 502.391,211.407 800.356,87.9763 1098.32,87.9763 1396.29,87.9763 1694.25,87.9763 1992.22,87.9763 2290.18,87.9763 \"/>\n",
       "<polyline clip-path=\"url(#clip822)\" style=\"stroke:#0000ff; stroke-linecap:round; stroke-linejoin:round; stroke-width:4; stroke-opacity:1; fill:none\" points=\"502.391,1445.72 502.391,1322.28 502.391,1198.85 502.391,1075.42 502.391,951.992 502.391,828.561 800.356,828.561 800.356,705.131 800.356,581.7 800.356,458.269 800.356,334.838 800.356,211.407 1098.32,211.407 1396.29,211.407 1694.25,211.407 1992.22,211.407 2290.18,211.407 \"/>\n",
       "<polyline clip-path=\"url(#clip822)\" style=\"stroke:#3da44d; stroke-linecap:round; stroke-linejoin:round; stroke-width:4; stroke-opacity:1; fill:none\" points=\"353.408,1445.72 353.408,1322.28 353.408,1198.85 353.408,1075.42 353.408,951.992 353.408,828.561 502.391,766.846 513.989,643.415 616.397,519.984 674.752,458.269 \"/>\n",
       "<path clip-path=\"url(#clip820)\" d=\"M1581.91 1438.47 L2279.06 1438.47 L2279.06 1282.95 L1581.91 1282.95  Z\" fill=\"#ffffff\" fill-rule=\"evenodd\" fill-opacity=\"1\"/>\n",
       "<polyline clip-path=\"url(#clip820)\" style=\"stroke:#000000; stroke-linecap:round; stroke-linejoin:round; stroke-width:4; stroke-opacity:1; fill:none\" points=\"1581.91,1438.47 2279.06,1438.47 2279.06,1282.95 1581.91,1282.95 1581.91,1438.47 \"/>\n",
       "<polyline clip-path=\"url(#clip820)\" style=\"stroke:#0000ff; stroke-linecap:round; stroke-linejoin:round; stroke-width:4; stroke-opacity:1; fill:none\" points=\"1606.47,1334.79 1753.87,1334.79 \"/>\n",
       "<path clip-path=\"url(#clip820)\" d=\"M1790.33 1329.13 Q1786.9 1329.13 1784.91 1331.82 Q1782.92 1334.48 1782.92 1339.13 Q1782.92 1343.79 1784.89 1346.47 Q1786.88 1349.13 1790.33 1349.13 Q1793.73 1349.13 1795.72 1346.45 Q1797.71 1343.76 1797.71 1339.13 Q1797.71 1334.53 1795.72 1331.84 Q1793.73 1329.13 1790.33 1329.13 M1790.33 1325.52 Q1795.88 1325.52 1799.06 1329.13 Q1802.23 1332.75 1802.23 1339.13 Q1802.23 1345.5 1799.06 1349.13 Q1795.88 1352.75 1790.33 1352.75 Q1784.75 1352.75 1781.58 1349.13 Q1778.43 1345.5 1778.43 1339.13 Q1778.43 1332.75 1781.58 1329.13 Q1784.75 1325.52 1790.33 1325.52 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M1824.31 1330.13 Q1823.59 1329.71 1822.74 1329.53 Q1821.9 1329.32 1820.88 1329.32 Q1817.27 1329.32 1815.33 1331.68 Q1813.41 1334.02 1813.41 1338.42 L1813.41 1352.07 L1809.13 1352.07 L1809.13 1326.15 L1813.41 1326.15 L1813.41 1330.18 Q1814.75 1327.82 1816.9 1326.68 Q1819.06 1325.52 1822.13 1325.52 Q1822.57 1325.52 1823.11 1325.59 Q1823.64 1325.64 1824.29 1325.76 L1824.31 1330.13 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M1828.78 1326.15 L1833.04 1326.15 L1833.04 1352.07 L1828.78 1352.07 L1828.78 1326.15 M1828.78 1316.06 L1833.04 1316.06 L1833.04 1321.45 L1828.78 1321.45 L1828.78 1316.06 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M1859.01 1338.81 Q1859.01 1334.18 1857.09 1331.63 Q1855.19 1329.09 1851.74 1329.09 Q1848.32 1329.09 1846.39 1331.63 Q1844.5 1334.18 1844.5 1338.81 Q1844.5 1343.42 1846.39 1345.96 Q1848.32 1348.51 1851.74 1348.51 Q1855.19 1348.51 1857.09 1345.96 Q1859.01 1343.42 1859.01 1338.81 M1863.27 1348.86 Q1863.27 1355.48 1860.33 1358.69 Q1857.39 1361.94 1851.32 1361.94 Q1849.08 1361.94 1847.09 1361.59 Q1845.1 1361.26 1843.22 1360.57 L1843.22 1356.43 Q1845.1 1357.44 1846.93 1357.93 Q1848.75 1358.42 1850.65 1358.42 Q1854.84 1358.42 1856.93 1356.22 Q1859.01 1354.04 1859.01 1349.62 L1859.01 1347.51 Q1857.69 1349.81 1855.63 1350.94 Q1853.57 1352.07 1850.7 1352.07 Q1845.93 1352.07 1843.01 1348.44 Q1840.1 1344.81 1840.1 1338.81 Q1840.1 1332.79 1843.01 1329.16 Q1845.93 1325.52 1850.7 1325.52 Q1853.57 1325.52 1855.63 1326.66 Q1857.69 1327.79 1859.01 1330.08 L1859.01 1326.15 L1863.27 1326.15 L1863.27 1348.86 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M1872.04 1326.15 L1876.3 1326.15 L1876.3 1352.07 L1872.04 1352.07 L1872.04 1326.15 M1872.04 1316.06 L1876.3 1316.06 L1876.3 1321.45 L1872.04 1321.45 L1872.04 1316.06 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M1906.76 1336.43 L1906.76 1352.07 L1902.5 1352.07 L1902.5 1336.57 Q1902.5 1332.88 1901.07 1331.06 Q1899.63 1329.23 1896.76 1329.23 Q1893.31 1329.23 1891.32 1331.43 Q1889.33 1333.63 1889.33 1337.42 L1889.33 1352.07 L1885.05 1352.07 L1885.05 1326.15 L1889.33 1326.15 L1889.33 1330.18 Q1890.86 1327.84 1892.92 1326.68 Q1895 1325.52 1897.71 1325.52 Q1902.18 1325.52 1904.47 1328.3 Q1906.76 1331.06 1906.76 1336.43 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M1927.04 1339.04 Q1921.88 1339.04 1919.89 1340.22 Q1917.9 1341.4 1917.9 1344.25 Q1917.9 1346.52 1919.38 1347.86 Q1920.88 1349.18 1923.45 1349.18 Q1927 1349.18 1929.12 1346.68 Q1931.28 1344.16 1931.28 1339.99 L1931.28 1339.04 L1927.04 1339.04 M1935.54 1337.28 L1935.54 1352.07 L1931.28 1352.07 L1931.28 1348.14 Q1929.82 1350.5 1927.64 1351.63 Q1925.47 1352.75 1922.32 1352.75 Q1918.34 1352.75 1915.98 1350.52 Q1913.64 1348.28 1913.64 1344.53 Q1913.64 1340.15 1916.56 1337.93 Q1919.5 1335.71 1925.31 1335.71 L1931.28 1335.71 L1931.28 1335.29 Q1931.28 1332.35 1929.33 1330.76 Q1927.41 1329.13 1923.92 1329.13 Q1921.69 1329.13 1919.59 1329.67 Q1917.48 1330.2 1915.54 1331.26 L1915.54 1327.33 Q1917.87 1326.43 1920.07 1325.99 Q1922.27 1325.52 1924.36 1325.52 Q1929.98 1325.52 1932.76 1328.44 Q1935.54 1331.36 1935.54 1337.28 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M1944.31 1316.06 L1948.57 1316.06 L1948.57 1352.07 L1944.31 1352.07 L1944.31 1316.06 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M1976.67 1348.19 L1976.67 1361.94 L1972.39 1361.94 L1972.39 1326.15 L1976.67 1326.15 L1976.67 1330.08 Q1978.01 1327.77 1980.05 1326.66 Q1982.11 1325.52 1984.96 1325.52 Q1989.68 1325.52 1992.62 1329.27 Q1995.58 1333.02 1995.58 1339.13 Q1995.58 1345.25 1992.62 1349 Q1989.68 1352.75 1984.96 1352.75 Q1982.11 1352.75 1980.05 1351.63 Q1978.01 1350.5 1976.67 1348.19 M1991.16 1339.13 Q1991.16 1334.44 1989.22 1331.77 Q1987.3 1329.09 1983.92 1329.09 Q1980.54 1329.09 1978.59 1331.77 Q1976.67 1334.44 1976.67 1339.13 Q1976.67 1343.83 1978.59 1346.52 Q1980.54 1349.18 1983.92 1349.18 Q1987.3 1349.18 1989.22 1346.52 Q1991.16 1343.83 1991.16 1339.13 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M2014.43 1339.04 Q2009.26 1339.04 2007.27 1340.22 Q2005.28 1341.4 2005.28 1344.25 Q2005.28 1346.52 2006.76 1347.86 Q2008.27 1349.18 2010.84 1349.18 Q2014.38 1349.18 2016.51 1346.68 Q2018.66 1344.16 2018.66 1339.99 L2018.66 1339.04 L2014.43 1339.04 M2022.92 1337.28 L2022.92 1352.07 L2018.66 1352.07 L2018.66 1348.14 Q2017.2 1350.5 2015.03 1351.63 Q2012.85 1352.75 2009.7 1352.75 Q2005.72 1352.75 2003.36 1350.52 Q2001.02 1348.28 2001.02 1344.53 Q2001.02 1340.15 2003.94 1337.93 Q2006.88 1335.71 2012.69 1335.71 L2018.66 1335.71 L2018.66 1335.29 Q2018.66 1332.35 2016.72 1330.76 Q2014.8 1329.13 2011.3 1329.13 Q2009.08 1329.13 2006.97 1329.67 Q2004.87 1330.2 2002.92 1331.26 L2002.92 1327.33 Q2005.26 1326.43 2007.46 1325.99 Q2009.66 1325.52 2011.74 1325.52 Q2017.37 1325.52 2020.14 1328.44 Q2022.92 1331.36 2022.92 1337.28 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M2035.91 1318.79 L2035.91 1326.15 L2044.68 1326.15 L2044.68 1329.46 L2035.91 1329.46 L2035.91 1343.53 Q2035.91 1346.7 2036.76 1347.61 Q2037.64 1348.51 2040.3 1348.51 L2044.68 1348.51 L2044.68 1352.07 L2040.3 1352.07 Q2035.37 1352.07 2033.5 1350.25 Q2031.62 1348.39 2031.62 1343.53 L2031.62 1329.46 L2028.5 1329.46 L2028.5 1326.15 L2031.62 1326.15 L2031.62 1318.79 L2035.91 1318.79 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M2071.83 1336.43 L2071.83 1352.07 L2067.57 1352.07 L2067.57 1336.57 Q2067.57 1332.88 2066.14 1331.06 Q2064.7 1329.23 2061.83 1329.23 Q2058.38 1329.23 2056.39 1331.43 Q2054.4 1333.63 2054.4 1337.42 L2054.4 1352.07 L2050.12 1352.07 L2050.12 1316.06 L2054.4 1316.06 L2054.4 1330.18 Q2055.93 1327.84 2057.99 1326.68 Q2060.07 1325.52 2062.78 1325.52 Q2067.25 1325.52 2069.54 1328.3 Q2071.83 1331.06 2071.83 1336.43 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><polyline clip-path=\"url(#clip820)\" style=\"stroke:#3da44d; stroke-linecap:round; stroke-linejoin:round; stroke-width:4; stroke-opacity:1; fill:none\" points=\"1606.47,1386.63 1753.87,1386.63 \"/>\n",
       "<path clip-path=\"url(#clip820)\" d=\"M1790.33 1380.97 Q1786.9 1380.97 1784.91 1383.66 Q1782.92 1386.32 1782.92 1390.97 Q1782.92 1395.63 1784.89 1398.31 Q1786.88 1400.97 1790.33 1400.97 Q1793.73 1400.97 1795.72 1398.29 Q1797.71 1395.6 1797.71 1390.97 Q1797.71 1386.37 1795.72 1383.68 Q1793.73 1380.97 1790.33 1380.97 M1790.33 1377.36 Q1795.88 1377.36 1799.06 1380.97 Q1802.23 1384.59 1802.23 1390.97 Q1802.23 1397.34 1799.06 1400.97 Q1795.88 1404.59 1790.33 1404.59 Q1784.75 1404.59 1781.58 1400.97 Q1778.43 1397.34 1778.43 1390.97 Q1778.43 1384.59 1781.58 1380.97 Q1784.75 1377.36 1790.33 1377.36 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M1813.41 1400.03 L1813.41 1413.78 L1809.13 1413.78 L1809.13 1377.99 L1813.41 1377.99 L1813.41 1381.92 Q1814.75 1379.61 1816.79 1378.5 Q1818.85 1377.36 1821.69 1377.36 Q1826.42 1377.36 1829.36 1381.11 Q1832.32 1384.86 1832.32 1390.97 Q1832.32 1397.09 1829.36 1400.84 Q1826.42 1404.59 1821.69 1404.59 Q1818.85 1404.59 1816.79 1403.47 Q1814.75 1402.34 1813.41 1400.03 M1827.9 1390.97 Q1827.9 1386.28 1825.95 1383.61 Q1824.03 1380.93 1820.65 1380.93 Q1817.27 1380.93 1815.33 1383.61 Q1813.41 1386.28 1813.41 1390.97 Q1813.41 1395.67 1815.33 1398.36 Q1817.27 1401.02 1820.65 1401.02 Q1824.03 1401.02 1825.95 1398.36 Q1827.9 1395.67 1827.9 1390.97 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M1843.59 1370.63 L1843.59 1377.99 L1852.37 1377.99 L1852.37 1381.3 L1843.59 1381.3 L1843.59 1395.37 Q1843.59 1398.54 1844.45 1399.45 Q1845.33 1400.35 1847.99 1400.35 L1852.37 1400.35 L1852.37 1403.91 L1847.99 1403.91 Q1843.06 1403.91 1841.19 1402.09 Q1839.31 1400.23 1839.31 1395.37 L1839.31 1381.3 L1836.19 1381.3 L1836.19 1377.99 L1839.31 1377.99 L1839.31 1370.63 L1843.59 1370.63 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M1857.97 1377.99 L1862.23 1377.99 L1862.23 1403.91 L1857.97 1403.91 L1857.97 1377.99 M1857.97 1367.9 L1862.23 1367.9 L1862.23 1373.29 L1857.97 1373.29 L1857.97 1367.9 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M1891.32 1382.97 Q1892.92 1380.1 1895.14 1378.73 Q1897.37 1377.36 1900.38 1377.36 Q1904.43 1377.36 1906.63 1380.21 Q1908.82 1383.03 1908.82 1388.27 L1908.82 1403.91 L1904.54 1403.91 L1904.54 1388.41 Q1904.54 1384.68 1903.22 1382.87 Q1901.9 1381.07 1899.19 1381.07 Q1895.88 1381.07 1893.96 1383.27 Q1892.04 1385.47 1892.04 1389.26 L1892.04 1403.91 L1887.76 1403.91 L1887.76 1388.41 Q1887.76 1384.66 1886.44 1382.87 Q1885.12 1381.07 1882.37 1381.07 Q1879.1 1381.07 1877.18 1383.29 Q1875.26 1385.49 1875.26 1389.26 L1875.26 1403.91 L1870.98 1403.91 L1870.98 1377.99 L1875.26 1377.99 L1875.26 1382.02 Q1876.72 1379.63 1878.75 1378.5 Q1880.79 1377.36 1883.59 1377.36 Q1886.42 1377.36 1888.38 1378.8 Q1890.38 1380.23 1891.32 1382.97 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M1917.32 1377.99 L1921.58 1377.99 L1921.58 1403.91 L1917.32 1403.91 L1917.32 1377.99 M1917.32 1367.9 L1921.58 1367.9 L1921.58 1373.29 L1917.32 1373.29 L1917.32 1367.9 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M1928.64 1377.99 L1948.87 1377.99 L1948.87 1381.88 L1932.85 1400.51 L1948.87 1400.51 L1948.87 1403.91 L1928.06 1403.91 L1928.06 1400.03 L1944.08 1381.39 L1928.64 1381.39 L1928.64 1377.99 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M1977.55 1389.89 L1977.55 1391.97 L1957.97 1391.97 Q1958.25 1396.37 1960.61 1398.68 Q1962.99 1400.97 1967.23 1400.97 Q1969.68 1400.97 1971.97 1400.37 Q1974.29 1399.77 1976.56 1398.57 L1976.56 1402.59 Q1974.26 1403.57 1971.86 1404.08 Q1969.45 1404.59 1966.97 1404.59 Q1960.77 1404.59 1957.13 1400.97 Q1953.52 1397.36 1953.52 1391.21 Q1953.52 1384.84 1956.95 1381.11 Q1960.4 1377.36 1966.23 1377.36 Q1971.46 1377.36 1974.5 1380.74 Q1977.55 1384.1 1977.55 1389.89 M1973.29 1388.64 Q1973.25 1385.14 1971.32 1383.06 Q1969.43 1380.97 1966.28 1380.97 Q1962.71 1380.97 1960.56 1382.99 Q1958.43 1385 1958.11 1388.66 L1973.29 1388.64 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M2001.6 1381.92 L2001.6 1367.9 L2005.86 1367.9 L2005.86 1403.91 L2001.6 1403.91 L2001.6 1400.03 Q2000.26 1402.34 1998.2 1403.47 Q1996.16 1404.59 1993.29 1404.59 Q1988.59 1404.59 1985.63 1400.84 Q1982.69 1397.09 1982.69 1390.97 Q1982.69 1384.86 1985.63 1381.11 Q1988.59 1377.36 1993.29 1377.36 Q1996.16 1377.36 1998.2 1378.5 Q2000.26 1379.61 2001.6 1381.92 M1987.09 1390.97 Q1987.09 1395.67 1989.01 1398.36 Q1990.95 1401.02 1994.33 1401.02 Q1997.71 1401.02 1999.66 1398.36 Q2001.6 1395.67 2001.6 1390.97 Q2001.6 1386.28 1999.66 1383.61 Q1997.71 1380.93 1994.33 1380.93 Q1990.95 1380.93 1989.01 1383.61 Q1987.09 1386.28 1987.09 1390.97 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M2033.92 1370.63 L2033.92 1377.99 L2042.69 1377.99 L2042.69 1381.3 L2033.92 1381.3 L2033.92 1395.37 Q2033.92 1398.54 2034.77 1399.45 Q2035.65 1400.35 2038.31 1400.35 L2042.69 1400.35 L2042.69 1403.91 L2038.31 1403.91 Q2033.38 1403.91 2031.51 1402.09 Q2029.63 1400.23 2029.63 1395.37 L2029.63 1381.3 L2026.51 1381.3 L2026.51 1377.99 L2029.63 1377.99 L2029.63 1370.63 L2033.92 1370.63 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M2063.31 1381.97 Q2062.6 1381.55 2061.74 1381.37 Q2060.91 1381.16 2059.89 1381.16 Q2056.28 1381.16 2054.33 1383.52 Q2052.41 1385.86 2052.41 1390.26 L2052.41 1403.91 L2048.13 1403.91 L2048.13 1377.99 L2052.41 1377.99 L2052.41 1382.02 Q2053.75 1379.66 2055.91 1378.52 Q2058.06 1377.36 2061.14 1377.36 Q2061.58 1377.36 2062.11 1377.43 Q2062.64 1377.48 2063.29 1377.6 L2063.31 1381.97 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M2079.56 1390.88 Q2074.4 1390.88 2072.41 1392.06 Q2070.42 1393.24 2070.42 1396.09 Q2070.42 1398.36 2071.9 1399.7 Q2073.41 1401.02 2075.98 1401.02 Q2079.52 1401.02 2081.65 1398.52 Q2083.8 1396 2083.8 1391.83 L2083.8 1390.88 L2079.56 1390.88 M2088.06 1389.12 L2088.06 1403.91 L2083.8 1403.91 L2083.8 1399.98 Q2082.34 1402.34 2080.17 1403.47 Q2077.99 1404.59 2074.84 1404.59 Q2070.86 1404.59 2068.5 1402.36 Q2066.16 1400.12 2066.16 1396.37 Q2066.16 1391.99 2069.08 1389.77 Q2072.02 1387.55 2077.83 1387.55 L2083.8 1387.55 L2083.8 1387.13 Q2083.8 1384.19 2081.86 1382.6 Q2079.93 1380.97 2076.44 1380.97 Q2074.22 1380.97 2072.11 1381.51 Q2070 1382.04 2068.06 1383.1 L2068.06 1379.17 Q2070.4 1378.27 2072.6 1377.83 Q2074.8 1377.36 2076.88 1377.36 Q2082.5 1377.36 2085.28 1380.28 Q2088.06 1383.2 2088.06 1389.12 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M2096.83 1377.99 L2101.09 1377.99 L2101.09 1404.38 Q2101.09 1409.33 2099.19 1411.55 Q2097.32 1413.78 2093.13 1413.78 L2091.51 1413.78 L2091.51 1410.16 L2092.64 1410.16 Q2095.07 1410.16 2095.95 1409.03 Q2096.83 1407.92 2096.83 1404.38 L2096.83 1377.99 M2096.83 1367.9 L2101.09 1367.9 L2101.09 1373.29 L2096.83 1373.29 L2096.83 1367.9 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M2132.18 1389.89 L2132.18 1391.97 L2112.6 1391.97 Q2112.87 1396.37 2115.24 1398.68 Q2117.62 1400.97 2121.86 1400.97 Q2124.31 1400.97 2126.6 1400.37 Q2128.92 1399.77 2131.18 1398.57 L2131.18 1402.59 Q2128.89 1403.57 2126.48 1404.08 Q2124.08 1404.59 2121.6 1404.59 Q2115.4 1404.59 2111.76 1400.97 Q2108.15 1397.36 2108.15 1391.21 Q2108.15 1384.84 2111.58 1381.11 Q2115.03 1377.36 2120.86 1377.36 Q2126.09 1377.36 2129.12 1380.74 Q2132.18 1384.1 2132.18 1389.89 M2127.92 1388.64 Q2127.87 1385.14 2125.95 1383.06 Q2124.05 1380.97 2120.91 1380.97 Q2117.34 1380.97 2115.19 1382.99 Q2113.06 1385 2112.74 1388.66 L2127.92 1388.64 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M2157.83 1378.98 L2157.83 1382.97 Q2156.02 1381.97 2154.19 1381.48 Q2152.39 1380.97 2150.54 1380.97 Q2146.39 1380.97 2144.1 1383.61 Q2141.81 1386.23 2141.81 1390.97 Q2141.81 1395.72 2144.1 1398.36 Q2146.39 1400.97 2150.54 1400.97 Q2152.39 1400.97 2154.19 1400.49 Q2156.02 1399.98 2157.83 1398.98 L2157.83 1402.92 Q2156.05 1403.75 2154.12 1404.17 Q2152.23 1404.59 2150.07 1404.59 Q2144.22 1404.59 2140.77 1400.91 Q2137.32 1397.22 2137.32 1390.97 Q2137.32 1384.63 2140.79 1381 Q2144.29 1377.36 2150.35 1377.36 Q2152.32 1377.36 2154.19 1377.78 Q2156.07 1378.17 2157.83 1378.98 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M2169.45 1370.63 L2169.45 1377.99 L2178.22 1377.99 L2178.22 1381.3 L2169.45 1381.3 L2169.45 1395.37 Q2169.45 1398.54 2170.3 1399.45 Q2171.18 1400.35 2173.85 1400.35 L2178.22 1400.35 L2178.22 1403.91 L2173.85 1403.91 Q2168.92 1403.91 2167.04 1402.09 Q2165.17 1400.23 2165.17 1395.37 L2165.17 1381.3 L2162.04 1381.3 L2162.04 1377.99 L2165.17 1377.99 L2165.17 1370.63 L2169.45 1370.63 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M2193.87 1380.97 Q2190.44 1380.97 2188.45 1383.66 Q2186.46 1386.32 2186.46 1390.97 Q2186.46 1395.63 2188.43 1398.31 Q2190.42 1400.97 2193.87 1400.97 Q2197.27 1400.97 2199.26 1398.29 Q2201.25 1395.6 2201.25 1390.97 Q2201.25 1386.37 2199.26 1383.68 Q2197.27 1380.97 2193.87 1380.97 M2193.87 1377.36 Q2199.42 1377.36 2202.6 1380.97 Q2205.77 1384.59 2205.77 1390.97 Q2205.77 1397.34 2202.6 1400.97 Q2199.42 1404.59 2193.87 1404.59 Q2188.29 1404.59 2185.12 1400.97 Q2181.97 1397.34 2181.97 1390.97 Q2181.97 1384.59 2185.12 1380.97 Q2188.29 1377.36 2193.87 1377.36 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M2227.85 1381.97 Q2227.13 1381.55 2226.28 1381.37 Q2225.44 1381.16 2224.42 1381.16 Q2220.81 1381.16 2218.87 1383.52 Q2216.95 1385.86 2216.95 1390.26 L2216.95 1403.91 L2212.67 1403.91 L2212.67 1377.99 L2216.95 1377.99 L2216.95 1382.02 Q2218.29 1379.66 2220.44 1378.52 Q2222.6 1377.36 2225.67 1377.36 Q2226.11 1377.36 2226.65 1377.43 Q2227.18 1377.48 2227.83 1377.6 L2227.85 1381.97 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /><path clip-path=\"url(#clip820)\" d=\"M2243.1 1406.32 Q2241.3 1410.95 2239.59 1412.36 Q2237.87 1413.78 2235 1413.78 L2231.6 1413.78 L2231.6 1410.21 L2234.1 1410.21 Q2235.86 1410.21 2236.83 1409.38 Q2237.8 1408.54 2238.98 1405.44 L2239.75 1403.5 L2229.26 1377.99 L2233.78 1377.99 L2241.88 1398.27 L2249.98 1377.99 L2254.49 1377.99 L2243.1 1406.32 Z\" fill=\"#000000\" fill-rule=\"evenodd\" fill-opacity=\"1\" /></svg>\n"
      ]
     },
     "execution_count": 71,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "using CSV, JuMP, Ipopt, DelimitedFiles, LinearAlgebra, Plots, StatsPlots\n",
    "\n",
    "# Read data from CSV files\n",
    "left_boundary = readdlm(\"left2.csv\", ',', Float64)\n",
    "right_boundary = readdlm(\"right2.csv\", ',', Float64)\n",
    "\n",
    "# Extract x and y values\n",
    "using JuMP, Ipopt, CSV\n",
    "\n",
    "# Read in data from CSV files\n",
    "\n",
    "\n",
    "# Define a JuMP model\n",
    "model = Model(Ipopt.Optimizer)\n",
    "set_silent(model)\n",
    "# Define variables\n",
    "@variable(model, x[1:10])\n",
    "@variable(model, y[1:10])\n",
    "\n",
    "for i = :9\n",
    "    # Ensure the trajectory is smooth\n",
    "    @NLconstraint(model, (x[i+1]-x[i])*(y[i]-y[i-1]) - (x[i]-x[i-1])*(y[i+1]-y[i]) >= 0)\n",
    "end\n",
    "# Define objective function\n",
    "@NLobjective(model, Min, sum(((left_boundary[i,1] + right_boundary[i,1]) - x[i])^2 + ((left_boundary[i,2] + right_boundary[i,2]) - y[i])^2 for i=1:10))\n",
    "@NLobjective(model, Min, sum((left_boundary[i,2] - y[i])^2 + (right_boundary[i,2] - y[i])^2 for i=1:10))\n",
    "# Define constraints\n",
    "\n",
    "\n",
    "\n",
    "# Set initial guess\n",
    "for i = 1:10\n",
    "        set_start_value(x[i], (left_boundary[i,1] + right_boundary[i,1])/2)\n",
    "        set_start_value(y[i], (left_boundary[i,1] + right_boundary[i, 2])/2)\n",
    "     \n",
    "    \n",
    "end\n",
    "\n",
    "# Solve the optimization problem\n",
    "optimize!(model)\n",
    "\n",
    "# Print the optimal solution\n",
    "\n",
    "x_opt = value.(x)\n",
    "y_opt = value.(y)\n",
    "plot(left_boundary[:,1], left_boundary[:,2], label=\"original path\", c=:blue)\n",
    "plot!(right_boundary[:,1], right_boundary[:,2], c=:blue, label = nothing)\n",
    "plot!(x_opt, y_opt, label=\"optimized trajectory\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "f239972a",
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Julia 1.8.5",
   "language": "julia",
   "name": "julia-1.8"
  },
  "language_info": {
   "file_extension": ".jl",
   "mimetype": "application/julia",
   "name": "julia",
   "version": "1.8.5"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 5
}