rt1 V 3 15 rt2 V 33.5 10 rt3 V 60 10 rt4 V 30 V 30 rt5 V 33.5 10 xtos_inf 1 1 rt1 ytos_inf 1 1 rt2 xtof_inf xtos_inf ytof_inf ytos_inf rs_inf 1 1 rt2 txs 9 1 rt1 0.5 tys 3000 1 rt3 30 txf 3.5 rt4 1.5 tyf 20 1 rt5 20 time xtos xtos_inf xtos txs time ytos ytos_inf ytos tys time xtof xtof_inf xtof txf time ytof ytof_inf ytof tyf xitos gtos xtos ytos 0.5 rs_inf V ek xitof gtof xtof ytof V ek xito xitos xitof