From 5b64cc40f67b2e7d6943d11af732bc2d1967058d Mon Sep 17 00:00:00 2001
From: Protsenko <protsenko@diakont.com>
Date: Fri, 9 Aug 2024 16:30:56 +0300
Subject: [PATCH] =?UTF-8?q?dev(SF-397):=20=D0=B7=D0=B0=D0=BA=D0=BE=D0=BD?=
 =?UTF-8?q?=D1=87=D0=B8=D0=BB=20=D0=B0=D0=BB=D0=B3=D0=BE=D1=80=D0=B8=D1=82?=
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MIME-Version: 1.0
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---
 algorithm_9/.$Алгоритм_9.drawio.bkp | 150 ++++++++++------------------
 algorithm_9/Алгоритм_9.drawio       | 148 ++++++++++-----------------
 2 files changed, 101 insertions(+), 197 deletions(-)

diff --git a/algorithm_9/.$Алгоритм_9.drawio.bkp b/algorithm_9/.$Алгоритм_9.drawio.bkp
index 38f18d8..f2fa31e 100644
--- a/algorithm_9/.$Алгоритм_9.drawio.bkp
+++ b/algorithm_9/.$Алгоритм_9.drawio.bkp
@@ -1,9 +1,14 @@
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+<mxfile host="Electron" modified="2024-08-09T13:29:58.911Z" agent="Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/21.1.2 Chrome/106.0.5249.199 Electron/21.4.3 Safari/537.36" etag="lDyXRe3sTgwEPbI_ArbE" version="21.1.2" type="device">
   <diagram id="gSyyY7gJ6ufjq6_XFINc" name="Алгоритм 8">
-    <mxGraphModel dx="1372" dy="843" grid="0" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="827" pageHeight="1169" math="0" shadow="0">
+    <mxGraphModel dx="1143" dy="703" grid="0" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="827" pageHeight="1169" math="0" shadow="0">
       <root>
         <mxCell id="0" />
         <mxCell id="1" parent="0" />
+        <UserObject label="&lt;div style=&quot;font-size: 1px&quot;&gt;&lt;font style=&quot;font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1&quot;&gt;&lt;i&gt;&lt;b&gt;РОБОТ&lt;/b&gt;&lt;/i&gt;&lt;/font&gt;&lt;/div&gt;" tags="Блок-схема" id="rXSbIlquuvR6_JU7jN9j-5">
+          <mxCell style="verticalAlign=top;align=center;overflow=width;vsdxID=7;fillColor=#f2f2f2;gradientColor=none;shape=stencil(nZBLDoAgDERP0z3SIyjew0SURgSD+Lu9kMZoXLhwN9O+tukAlrNpJg1SzDH4QW/URgNYgZTkjA4UkwJUgGXng+6DX1zLfmoymdXo17xh5zmRJ6Q42BWCfc2oJfdAr+Yv+AP9Cb7OJ3H/2JG1HNGz/84klThPVCc=);dashed=1;dashPattern=2.00 2.00;strokeColor=#000000;spacingTop=-1;spacingBottom=-1;spacingLeft=-1;spacingRight=-1;points=[[1,0.5,0],[0.5,0.5,0],[0.5,0,0]];labelBackgroundColor=none;rounded=0;html=1;whiteSpace=wrap;" vertex="1" parent="1">
+            <mxGeometry x="1057" y="240" width="239" height="1260" as="geometry" />
+          </mxCell>
+        </UserObject>
         <UserObject label="&lt;div style=&quot;font-size: 1px&quot;&gt;&lt;p style=&quot;text-align:center;margin-left:0;margin-right:0;margin-top:0px;margin-bottom:0px;text-indent:0;vertical-align:middle;direction:ltr;&quot;&gt;&lt;font style=&quot;font-size:16.93px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1&quot;&gt;&lt;b&gt;Алгоритм 9. Выполняет разжатие заготовок, контролирует усилие отрыва&lt;/b&gt;&lt;/font&gt;&lt;font style=&quot;font-size:16.93px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1&quot;&gt;&lt;b&gt;&lt;br/&gt;&lt;/b&gt;&lt;/font&gt;&lt;/p&gt;&lt;/div&gt;" tags="Фон" id="f65yGzDH3uQXDGXIQOhu-1">
           <mxCell style="verticalAlign=middle;align=center;overflow=width;vsdxID=1;fillColor=none;gradientColor=none;shape=stencil(nZBLDoAgDERP0z3SIyjew0SURgSD+Lu9kMZoXLhwN9O+tukAlrNpJg1SzDH4QW/URgNYgZTkjA4UkwJUgGXng+6DX1zLfmoymdXo17xh5zmRJ6Q42BWCfc2oJfdAr+Yv+AP9Cb7OJ3H/2JG1HNGz/84klThPVCc=);strokeColor=none;points=[];labelBackgroundColor=none;rounded=0;html=1;whiteSpace=wrap;" parent="1" vertex="1">
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@@ -26,7 +31,7 @@
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         <UserObject label="&lt;div style=&quot;font-size: 1px&quot;&gt;&lt;font style=&quot;font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1&quot;&gt;&lt;i&gt;&lt;b&gt;ТСК&lt;br/&gt;&lt;/b&gt;&lt;/i&gt;&lt;/font&gt;&lt;/div&gt;" tags="Блок-схема" id="f65yGzDH3uQXDGXIQOhu-5">
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+            <mxGeometry x="648" y="240" width="392" height="1260" as="geometry" />
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         <UserObject label="&lt;div style=&quot;font-size: 1px&quot;&gt;&lt;p style=&quot;text-align:center;margin-left:0;margin-right:0;margin-top:0px;margin-bottom:0px;text-indent:0;vertical-align:middle;direction:ltr;&quot;&gt;&lt;font style=&quot;font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1&quot;&gt;Сварка в точке завершена, сварочный контроллер передал сигнал о завершении сварки. Режим синхронного перемещения электродов с роботом выключен. И&lt;/font&gt;&lt;font style=&quot;font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1&quot;&gt;з управляющей программы загружены целевые координаты, в которые должен выйти каждый из электродов (получены при обучении)&lt;br/&gt;&lt;/font&gt;&lt;font style=&quot;font-size:11.29px;font-family:Calibri;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1&quot;&gt;&lt;br/&gt;&lt;/font&gt;&lt;/p&gt;&lt;/div&gt;" tags="Блок-схема" id="f65yGzDH3uQXDGXIQOhu-6">
@@ -47,7 +52,7 @@
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-        <mxCell id="f65yGzDH3uQXDGXIQOhu-10" value="&lt;div style=&quot;font-size: 1px&quot;&gt;&lt;p style=&quot;text-align:center;margin-left:0;margin-right:0;margin-top:0px;margin-bottom:0px;text-indent:0;vertical-align:middle;direction:ltr;&quot;&gt;&lt;font style=&quot;font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1&quot;&gt;Вычисляет начальную скорость и &lt;/font&gt;&lt;font style=&quot;font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1&quot;&gt;ускорения&lt;/font&gt;&lt;font style=&quot;font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1&quot;&gt; &lt;/font&gt;&lt;font style=&quot;font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1&quot;&gt;перемещения нижнего и верхнего электрода&lt;/font&gt;&lt;font style=&quot;font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1&quot;&gt;&lt;br/&gt;&lt;/font&gt;&lt;/p&gt;&lt;/div&gt;" style="verticalAlign=middle;align=center;overflow=width;vsdxID=14;fillColor=#FFFFFF;gradientColor=none;shape=stencil(nZBLDoAgDERP0z3SIyjew0SURgSD+Lu9kMZoXLhwN9O+tukAlrNpJg1SzDH4QW/URgNYgZTkjA4UkwJUgGXng+6DX1zLfmoymdXo17xh5zmRJ6Q42BWCfc2oJfdAr+Yv+AP9Cb7OJ3H/2JG1HNGz/84klThPVCc=);strokeColor=#000000;spacingTop=-1;spacingBottom=-1;spacingLeft=-1;spacingRight=-1;points=[[1,0.5,0],[0.5,0.5,0],[0.5,0,0]];labelBackgroundColor=none;rounded=0;html=1;whiteSpace=wrap;" parent="f65yGzDH3uQXDGXIQOhu-9" vertex="1">
+        <mxCell id="f65yGzDH3uQXDGXIQOhu-10" value="&lt;div style=&quot;font-size: 1px&quot;&gt;&lt;p style=&quot;text-align:center;margin-left:0;margin-right:0;margin-top:0px;margin-bottom:0px;text-indent:0;vertical-align:middle;direction:ltr;&quot;&gt;&lt;font style=&quot;font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1&quot;&gt;Принимает из внутренней базы данных ТСК парамтеры начальных скоростей и &lt;/font&gt;&lt;font style=&quot;font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1&quot;&gt;ускорений&lt;/font&gt;&lt;font style=&quot;font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1&quot;&gt;&amp;nbsp;&lt;/font&gt;&lt;font style=&quot;font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1&quot;&gt;перемещения нижнего и верхнего электрода, целевые координаты раскрытия, в которые нужно выйти.&lt;/font&gt;&lt;font style=&quot;font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1&quot;&gt;&lt;br&gt;&lt;/font&gt;&lt;/p&gt;&lt;/div&gt;" style="verticalAlign=middle;align=center;overflow=width;vsdxID=14;fillColor=#FFFFFF;gradientColor=none;shape=stencil(nZBLDoAgDERP0z3SIyjew0SURgSD+Lu9kMZoXLhwN9O+tukAlrNpJg1SzDH4QW/URgNYgZTkjA4UkwJUgGXng+6DX1zLfmoymdXo17xh5zmRJ6Q42BWCfc2oJfdAr+Yv+AP9Cb7OJ3H/2JG1HNGz/84klThPVCc=);strokeColor=#000000;spacingTop=-1;spacingBottom=-1;spacingLeft=-1;spacingRight=-1;points=[[1,0.5,0],[0.5,0.5,0],[0.5,0,0]];labelBackgroundColor=none;rounded=0;html=1;whiteSpace=wrap;" parent="f65yGzDH3uQXDGXIQOhu-9" vertex="1">
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         </mxCell>
         <mxCell id="f65yGzDH3uQXDGXIQOhu-11" value="&lt;div style=&quot;font-size: 1px&quot;&gt;&lt;font style=&quot;font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1&quot;&gt;&lt;b&gt;Контроллер ТСК&lt;br/&gt;&lt;/b&gt;&lt;/font&gt;&lt;/div&gt;" style="verticalAlign=middle;align=center;overflow=width;vsdxID=15;fillColor=#FFFFFF;gradientColor=none;shape=stencil(nZBLDoAgDERP0z3SIyjew0SURgSD+Lu9kMZoXLhwN9O+tukAlrNpJg1SzDH4QW/URgNYgZTkjA4UkwJUgGXng+6DX1zLfmoymdXo17xh5zmRJ6Q42BWCfc2oJfdAr+Yv+AP9Cb7OJ3H/2JG1HNGz/84klThPVCc=);strokeColor=#000000;spacingTop=-1;spacingBottom=-1;spacingLeft=-1;spacingRight=-1;points=[[1,0.5,0],[0.5,0.5,0],[0.5,0,0]];labelBackgroundColor=none;rounded=0;html=1;whiteSpace=wrap;" parent="f65yGzDH3uQXDGXIQOhu-9" vertex="1">
@@ -75,17 +80,6 @@
         <mxCell id="f65yGzDH3uQXDGXIQOhu-17" value="&lt;div style=&quot;font-size: 1px&quot;&gt;&lt;font style=&quot;font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1&quot;&gt;&lt;b&gt;ПЧ верхнего электрода&lt;br/&gt;&lt;/b&gt;&lt;/font&gt;&lt;/div&gt;" style="verticalAlign=middle;align=center;overflow=width;vsdxID=21;fillColor=#FFFFFF;gradientColor=none;shape=stencil(nZBLDoAgDERP0z3SIyjew0SURgSD+Lu9kMZoXLhwN9O+tukAlrNpJg1SzDH4QW/URgNYgZTkjA4UkwJUgGXng+6DX1zLfmoymdXo17xh5zmRJ6Q42BWCfc2oJfdAr+Yv+AP9Cb7OJ3H/2JG1HNGz/84klThPVCc=);strokeColor=#000000;spacingTop=-1;spacingBottom=-1;spacingLeft=-1;spacingRight=-1;points=[[1,0.5,0],[0.5,0.5,0],[0.5,0,0]];labelBackgroundColor=none;rounded=0;html=1;whiteSpace=wrap;" parent="f65yGzDH3uQXDGXIQOhu-15" vertex="1">
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-        <mxCell id="f65yGzDH3uQXDGXIQOhu-19" value="&lt;div style=&quot;font-size: 1px&quot;&gt;&lt;p style=&quot;text-align:center;margin-left:0;margin-right:0;margin-top:0px;margin-bottom:0px;text-indent:0;vertical-align:middle;direction:ltr;&quot;&gt;&lt;font style=&quot;font-size:11.29px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1&quot;&gt;После достижения координаты минимального раскрытия включает режим синхронного перемещения электродов с роботом&lt;br/&gt;&lt;/font&gt;&lt;/p&gt;&lt;/div&gt;" style="verticalAlign=middle;align=center;overflow=width;vsdxID=29;fillColor=#FFFFFF;gradientColor=none;shape=stencil(nZBLDoAgDERP0z3SIyjew0SURgSD+Lu9kMZoXLhwN9O+tukAlrNpJg1SzDH4QW/URgNYgZTkjA4UkwJUgGXng+6DX1zLfmoymdXo17xh5zmRJ6Q42BWCfc2oJfdAr+Yv+AP9Cb7OJ3H/2JG1HNGz/84klThPVCc=);strokeColor=#000000;spacingTop=-1;spacingBottom=-1;spacingLeft=-1;spacingRight=-1;points=[[1,0.5,0],[0.5,0.5,0],[0.5,0,0]];labelBackgroundColor=none;rounded=0;html=1;whiteSpace=wrap;" parent="f65yGzDH3uQXDGXIQOhu-18" vertex="1">
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@@ -102,11 +96,11 @@
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@@ -371,33 +321,22 @@
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@@ -425,7 +364,7 @@
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@@ -489,7 +428,7 @@
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-                <mxPoint x="1031" y="611.8" />
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@@ -518,14 +457,27 @@
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+              <mxPoint as="offset" />
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+                <mxPoint x="1187" y="965" />
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+        <mxCell id="rXSbIlquuvR6_JU7jN9j-1" value="" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" edge="1" parent="1" target="f65yGzDH3uQXDGXIQOhu-30">
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+        <mxCell id="rXSbIlquuvR6_JU7jN9j-4" value="" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;dashed=1;" edge="1" parent="1" source="rXSbIlquuvR6_JU7jN9j-3" target="f65yGzDH3uQXDGXIQOhu-2">
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+        <UserObject label="&lt;div style=&quot;&quot;&gt;&lt;p style=&quot;text-align: justify; margin: 0px; text-indent: 0px; vertical-align: middle; direction: ltr;&quot;&gt;&lt;font face=&quot;Century Gothic&quot;&gt;&lt;span style=&quot;font-size: 11.29px;&quot;&gt;Входные параметры:&lt;/span&gt;&lt;/font&gt;&lt;/p&gt;&lt;p style=&quot;text-align: justify; margin: 0px; text-indent: 0px; vertical-align: middle; direction: ltr;&quot;&gt;&lt;font face=&quot;Century Gothic&quot;&gt;&lt;span style=&quot;font-size: 11.29px;&quot;&gt;1) Начальные скорости и ускорения перемщеения нижнего и верхнего электрода&lt;/span&gt;&lt;/font&gt;&lt;/p&gt;&lt;p style=&quot;text-align: justify; margin: 0px; text-indent: 0px; vertical-align: middle; direction: ltr;&quot;&gt;&lt;font face=&quot;Century Gothic&quot;&gt;&lt;span style=&quot;font-size: 11.29px;&quot;&gt;2) Необходимые разъезды верхнего и нижнего электрода для отрыва заготовки (наименьшее малое перемещение для отрыва)&lt;/span&gt;&lt;/font&gt;&lt;/p&gt;&lt;p style=&quot;text-align: justify; margin: 0px; text-indent: 0px; vertical-align: middle; direction: ltr;&quot;&gt;&lt;font face=&quot;Century Gothic&quot;&gt;&lt;span style=&quot;font-size: 11.29px;&quot;&gt;3) Порог усилия для разъезда верхнего электрода&lt;/span&gt;&lt;/font&gt;&lt;/p&gt;&lt;p style=&quot;text-align: justify; margin: 0px; text-indent: 0px; vertical-align: middle; direction: ltr;&quot;&gt;&lt;font face=&quot;Century Gothic&quot;&gt;&lt;span style=&quot;font-size: 11.29px;&quot;&gt;4) Таймаут на снятие усилия&lt;/span&gt;&lt;/font&gt;&lt;/p&gt;&lt;p style=&quot;text-align: justify; margin: 0px; text-indent: 0px; vertical-align: middle; direction: ltr;&quot;&gt;&lt;font face=&quot;Century Gothic&quot;&gt;&lt;span style=&quot;font-size: 11.29px;&quot;&gt;5) Минимиальное отрицательное усилие&lt;/span&gt;&lt;/font&gt;&lt;/p&gt;&lt;p style=&quot;text-align: justify; margin: 0px; text-indent: 0px; vertical-align: middle; direction: ltr;&quot;&gt;&lt;font face=&quot;Century Gothic&quot;&gt;&lt;span style=&quot;font-size: 11.29px;&quot;&gt;6) Максимальное отрицательное усилие&lt;/span&gt;&lt;/font&gt;&lt;/p&gt;&lt;/div&gt;" tags="Блок-схема" id="rXSbIlquuvR6_JU7jN9j-3">
+          <mxCell style="verticalAlign=top;align=right;overflow=width;vsdxID=4;fillColor=#FFFFFF;gradientColor=none;shape=stencil(tZLdEoIgEIWfhkscfnLw3uo9mERlInBWSnv7IGxSG29quts9+x04DIt42beyU4iR3oM7q0FXvkV8jxjTtlWgfagQPyBe1g5UA+5qq9R3MpKxurhbPGFMPhIdjNxTV4gsfwrHxBptN1myDVLyNbpOIOEUhvCiqcgETQaYHPlOZIVI2oTlG2eSEctR9xicl147u3iWkdAoHO7DtZHNYtQPSnUf8i8J/xyQzgOG4v37tTYmLc98vt6WIKVN44cH);strokeColor=#000000;spacingTop=-1;spacingBottom=-1;spacingLeft=-1;spacingRight=-1;points=[[1,0.5,0],[0.5,0,0],[0.5,0.88,0]];labelBackgroundColor=none;rounded=0;html=1;whiteSpace=wrap;" vertex="1" parent="1">
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diff --git a/algorithm_9/Алгоритм_9.drawio b/algorithm_9/Алгоритм_9.drawio
index e06004c..132e70d 100644
--- a/algorithm_9/Алгоритм_9.drawio
+++ b/algorithm_9/Алгоритм_9.drawio
@@ -1,9 +1,14 @@
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+<mxfile host="Electron" modified="2024-08-09T13:29:59.451Z" agent="Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/21.1.2 Chrome/106.0.5249.199 Electron/21.4.3 Safari/537.36" etag="D7WrjgNqncyXaxJA9IGR" version="21.1.2" type="device">
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+    <mxGraphModel dx="1143" dy="703" grid="0" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="827" pageHeight="1169" math="0" shadow="0">
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         <mxCell id="0" />
         <mxCell id="1" parent="0" />
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+          <mxCell style="verticalAlign=top;align=center;overflow=width;vsdxID=7;fillColor=#f2f2f2;gradientColor=none;shape=stencil(nZBLDoAgDERP0z3SIyjew0SURgSD+Lu9kMZoXLhwN9O+tukAlrNpJg1SzDH4QW/URgNYgZTkjA4UkwJUgGXng+6DX1zLfmoymdXo17xh5zmRJ6Q42BWCfc2oJfdAr+Yv+AP9Cb7OJ3H/2JG1HNGz/84klThPVCc=);dashed=1;dashPattern=2.00 2.00;strokeColor=#000000;spacingTop=-1;spacingBottom=-1;spacingLeft=-1;spacingRight=-1;points=[[1,0.5,0],[0.5,0.5,0],[0.5,0,0]];labelBackgroundColor=none;rounded=0;html=1;whiteSpace=wrap;" vertex="1" parent="1">
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         <UserObject label="&lt;div style=&quot;font-size: 1px&quot;&gt;&lt;p style=&quot;text-align:center;margin-left:0;margin-right:0;margin-top:0px;margin-bottom:0px;text-indent:0;vertical-align:middle;direction:ltr;&quot;&gt;&lt;font style=&quot;font-size:16.93px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1&quot;&gt;&lt;b&gt;Алгоритм 9. Выполняет разжатие заготовок, контролирует усилие отрыва&lt;/b&gt;&lt;/font&gt;&lt;font style=&quot;font-size:16.93px;font-family:Century Gothic;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1&quot;&gt;&lt;b&gt;&lt;br/&gt;&lt;/b&gt;&lt;/font&gt;&lt;/p&gt;&lt;/div&gt;" tags="Фон" id="f65yGzDH3uQXDGXIQOhu-1">
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