수식 47: "Z" left parenthesis, "t" , right parenthesis equals 1.3 left parenthesis, "L" Subscript, 1 , Baseline "L" plus "d" "s" .count plus "r" Subscript, 1 , Baseline , right parenthesis mod left parenthesis, negative "t" , 1 , right parenthesis plus "z" Subscript, 0 , BaselineZt=1.3L1L+ds.count+r1mod−t,1+z0
47
수식 48: "Z" Subscript, 0 , Baseline equals random left parenthesis, "M" , right parenthesisZ0=randomM
수식 54: beta Subscript, 1 , Baseline equals tau random left parenthesis, "M" , right parenthesis plus 15 "t" Subscript, 0 , Baselineβ1=τrandomM+15t0
54
수식 55: beta Subscript, 2 , Baseline equals tau random left parenthesis, "M" , right parenthesisβ2=τrandomM
55
수식 56: "x" Subscript, "s" , Baseline equals 8 "l" sine left parenthesis, alpha , right parenthesis left parenthesis, random left parenthesis, "M" , right parenthesis minus 1 half , right parenthesisxs=8lsinαrandomM−12
56
수식 57: "y" Subscript, "s" , Baseline equals 8 "l" sine left parenthesis, alpha , right parenthesis left parenthesis, random left parenthesis, "M" , right parenthesis minus 1 half , right parenthesisys=8lsinαrandomM−12
57
수식 58: left parenthesis, "x" Subscript, "s" , Baseline plus sin left parenthesis, beta Subscript, 2 , Baseline , right parenthesis "x" Subscript, 1 , Baseline left parenthesis, "t" , right parenthesis , "y" Subscript, "s" , Baseline plus cos left parenthesis, beta Subscript, 2 , Baseline , right parenthesis "x" Subscript, 1 , Baseline left parenthesis, "t" , right parenthesis , "Z" left parenthesis, "t" Subscript, 0 , Baseline plus "Z" Subscript, 0 , Baseline , right parenthesis plus "y" Subscript, 1 , Baseline left parenthesis, "t" , right parenthesis , right parenthesisxs+sinβ2x1t,ys+cosβ2x1t,Zt0+Z0+y1t
58
수식 59: left parenthesis, "x" Subscript, "s" , Baseline plus sin left parenthesis, beta Subscript, 2 , Baseline , right parenthesis "x" Subscript, 2 , Baseline left parenthesis, "t" , right parenthesis , "y" Subscript, "s" , Baseline plus cos left parenthesis, beta Subscript, 2 , Baseline , right parenthesis "x" Subscript, 2 , Baseline left parenthesis, "t" , right parenthesis , "Z" left parenthesis, "t" Subscript, 0 , Baseline plus "Z" Subscript, 0 , Baseline , right parenthesis plus "y" Subscript, 2 , Baseline left parenthesis, "t" , right parenthesis , right parenthesisxs+sinβ2x2t,ys+cosβ2x2t,Zt0+Z0+y2t
