# $Revision: 1.1.6.3 $
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		  SrcPort		  1
		  Points		  [5, 0]
		  Branch {
		    DstBlock		    "viscous friction"
		    DstPort		    1
		  }
		  Branch {
		    DstBlock		    "viscous friction1"
		    DstPort		    1
		  }
		}
		Line {
		  SrcBlock		  "vehicle\ncharacteristic\nfriction"
		  SrcPort		  1
		  Points		  [45, 0; 0, 120]
		  DstBlock		  "Product"
		  DstPort		  1
		}
		Line {
		  SrcBlock		  "viscous friction"
		  SrcPort		  1
		  DstBlock		  "Multiport\nSwitch1"
		  DstPort		  2
		}
		Line {
		  SrcBlock		  "Multiport\nSwitch1"
		  SrcPort		  1
		  Points		  [5, 0]
		  DstBlock		  "Sum1"
		  DstPort		  2
		}
		Line {
		  SrcBlock		  "viscous friction1"
		  SrcPort		  1
		  Points		  [0, 0]
		  Branch {
		    DstBlock		    "Multiport\nSwitch1"
		    DstPort		    3
		  }
		  Branch {
		    DstBlock		    "Multiport\nSwitch1"
		    DstPort		    4
		  }
		}
	      }
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "friction force\nactuation"
	      Description	      "Mechanical Blockset"
	      Ports		      [1, 0, 0, 0, 0, 0, 1]
	      Position		      [595, 74, 630, 106]
	      Orientation	      "left"
	      ForegroundColor	      "blue"
	      SourceBlock	      "mblibv1/Sensors & \nActuators/Joint Act"
"uator"
	      SourceType	      "msb"
	      ShowPortLabels	      "on"
	      Opaque		      "on"
	      PhysicalDomain	      "Mechanical"
	      PortType		      "blob"
	      ActuationStyle	      "Force"
	      AngleUnits	      "deg"
	      ArcVelocityUnits	      "deg/s"
	      ArcAccelerationUnits    "deg/s"
	      CoordPositionUnits      "m"
	      VelocityUnits	      "m/s"
	      AccelerationUnits	      "m/s"
	      ForceUnits	      "N"
	      TorqueUnits	      "N-m"
	      ActiveIO		      "off"
	      Width		      "1"
	      ClassName		      "JointActuator"
	      DialogClass	      "MechanicalActuatorBlock"
	      Primitive		      "P1"
	      ReferenceFrame	      "Absolute (INERTIAL)"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "main\ngear"
	      Tag		      "Factory generic"
	      Description	      "Mechanical Blockset"
	      Ports		      [0, 0, 0, 0, 0, 2, 1]
	      Position		      [205, 26, 265, 64]
	      ForegroundColor	      "red"
	      SourceBlock	      "mblibv1/Bodies/Body"
	      SourceType	      "msb"
	      PhysicalDomain	      "mechanical"
	      SubClassName	      "Unknown"
	      LeftPortType	      "workingframe"
	      RightPortType	      "workingframe"
	      LConnTagsString	      "CS3|CG"
	      RConnTagsString	      "CS1"
	      ClassName		      "Body"
	      DialogClass	      "MechanicalBodyBlock"
	      Mass		      "2"
	      MassUnits		      "kg"
	      InertiaUnits	      "kg*m^2"
	      Inertia		      "eye(3)"
	      Shape		      "Cylinder"
	      ShapeDims		      "[1 1]"
	      ShapeUnits	      "m"
	      ShapeUse		      "false"
	      Density		      "1"
	      DensityUnits	      "kg/m^3"
	      DensityUse	      "false"
	      CG		      "Left$CG$[17 0 0]$WORLD$WORLD$cm$[0 0 0]"
"$Euler X-Y-Z$deg$WORLD$true"
	      WorkingFrames	      "Left$CS3$[0 0 0]$CG$CG$cm$[0 0 0]$Euler"
" X-Y-Z$deg$WORLD$true#Right$CS1$[60 0 0]$CG$CG$cm$[0 0 0]$Euler X-Y-Z$deg$WOR"
"LD$true"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "position &\nvelocity\nmeasurement"
	      Description	      "Mechanical Blockset"
	      Ports		      [0, 1, 0, 0, 0, 1]
	      Position		      [470, 160, 500, 190]
	      ForegroundColor	      "blue"
	      SourceBlock	      "mblibv1/Sensors & \nActuators/Body Sens"
"or"
	      SourceType	      "msb"
	      ShowPortLabels	      "on"
	      Opaque		      "on"
	      PhysicalDomain	      "Mechanical"
	      PortType		      "blob"
	      Muxed		      "on"
	      Pose		      "off"
	      Angle		      "on"
	      AngleUnits	      "deg"
	      ArcVelocity	      "off"
	      ArcVelocityUnits	      "deg/s"
	      ArcAcceleration	      "off"
	      ArcAccelerationUnits    "deg/s"
	      CoordPosition	      "on"
	      CoordPositionUnits      "m"
	      Velocity		      "on"
	      VelocityUnits	      "m/s"
	      Acceleration	      "off"
	      AccelerationUnits	      "m/s"
	      Quaternion	      "on"
	      QuaternionDT	      "off"
	      QuaternionDDT	      "off"
	      QuaternionUnits	      "off"
	      OutputVector	      "[ 3 3 ]"
	      ActiveIO		      "off"
	      Width		      "6"
	      ClassName		      "BodySensor"
	      DialogClass	      "MechanicalSensorBlock"
	      ReferenceFrame	      "Absolute (World)"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "rotate & slide"
	      Tag		      "Factory generic"
	      Description	      "Mechanical Blockset"
	      Ports		      [0, 0, 0, 0, 0, 2, 1]
	      Position		      [300, 32, 350, 83]
	      ForegroundColor	      "red"
	      SourceBlock	      "mblibv1/Joints/Custom Joint"
	      SourceType	      "msb"
	      PhysicalDomain	      "mechanical"
	      SubClassName	      "custom_joint"
	      LeftPortType	      "blob"
	      RightPortType	      "blob"
	      LConnTagsString	      "__newl0|SA1"
	      RConnTagsString	      "__newr0"
	      NumSAPorts	      "1"
	      CutJoint		      "off"
	      MarkAsCut		      "off"
	      Primitives	      "revolute_prismatic"
	      PrimitiveProps	      "R1$Base$[0 0 1]$revolute#P1$Follower$[1"
" 0 0]$prismatic"
	      ClassName		      "Joint"
	      DialogClass	      "JointBlock"
	    }
	    Block {
	      BlockType		      Gain
	      Name		      "torque"
	      Position		      [120, 415, 150, 445]
	      Gain		      "10000"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "torque\nactuation"
	      Description	      "Mechanical Blockset"
	      Ports		      [1, 0, 0, 0, 0, 0, 1]
	      Position		      [300, 412, 335, 448]
	      ForegroundColor	      "blue"
	      SourceBlock	      "mblibv1/Sensors & \nActuators/Joint Act"
"uator"
	      SourceType	      "msb"
	      ShowPortLabels	      "on"
	      Opaque		      "on"
	      PhysicalDomain	      "Mechanical"
	      PortType		      "blob"
	      ActuationStyle	      "Force"
	      AngleUnits	      "deg"
	      ArcVelocityUnits	      "deg/s"
	      ArcAccelerationUnits    "deg/s"
	      CoordPositionUnits      "m"
	      VelocityUnits	      "m/s"
	      AccelerationUnits	      "m/s"
	      ForceUnits	      "N"
	      TorqueUnits	      "N-m"
	      ActiveIO		      "off"
	      Width		      "1"
	      ClassName		      "JointActuator"
	      DialogClass	      "MechanicalActuatorBlock"
	      Primitive		      "R1"
	      ReferenceFrame	      "Absolute (INERTIAL)"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "up & down"
	      Tag		      "Factory generic"
	      Description	      "Mechanical Blockset"
	      Ports		      [0, 0, 0, 0, 0, 2, 2]
	      Position		      [480, 41, 520, 74]
	      Orientation	      "left"
	      ForegroundColor	      "red"
	      SourceBlock	      "mblibv1/Joints/Prismatic"
	      SourceType	      "msb"
	      PhysicalDomain	      "mechanical"
	      SubClassName	      "Unknown"
	      LeftPortType	      "blob"
	      RightPortType	      "blob"
	      LConnTagsString	      "__newl0|SA1"
	      RConnTagsString	      "__newr0|SA1"
	      NumSAPorts	      "2"
	      CutJoint		      "on"
	      MarkAsCut		      "off"
	      Primitives	      "prismatic"
	      PrimitiveProps	      "P1$WORLD$[0 1 0]$prismatic"
	      ClassName		      "Joint"
	      DialogClass	      "JointBlock"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "window"
	      Tag		      "Factory generic"
	      Description	      "Mechanical Blockset"
	      Ports		      [0, 0, 0, 0, 0, 1, 2]
	      Position		      [375, 40, 435, 80]
	      ForegroundColor	      "red"
	      SourceBlock	      "mblibv1/Bodies/Body"
	      SourceType	      "msb"
	      PhysicalDomain	      "mechanical"
	      SubClassName	      "Unknown"
	      LeftPortType	      "workingframe"
	      RightPortType	      "workingframe"
	      LConnTagsString	      "CS1"
	      RConnTagsString	      "CS2|CS3"
	      ClassName		      "Body"
	      DialogClass	      "MechanicalBodyBlock"
	      Mass		      "5"
	      MassUnits		      "kg"
	      InertiaUnits	      "kg*m^2"
	      Inertia		      "eye(3)"
	      Shape		      "Cylinder"
	      ShapeDims		      "[1 1]"
	      ShapeUnits	      "m"
	      ShapeUse		      "false"
	      Density		      "1"
	      DensityUnits	      "kg/m^3"
	      DensityUse	      "false"
	      CG		      "Left$CG$[10 0 0]$WORLD$WORLD$cm$[0 0 0]"
"$Euler X-Y-Z$deg$WORLD$false"
	      WorkingFrames	      "Left$CS1$[0 0 0]$CG$CG$cm$[0 0 0]$Euler"
" X-Y-Z$deg$WORLD$true#Right$CS2$[0 0 0]$CG$CG$cm$[0 0 0]$Euler X-Y-Z$deg$WORL"
"D$true#Right$CS3$[-15 0 0]$CG$CG$cm$[0 0 0]$Euler X-Y-Z$deg$WORLD$true"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "worm"
	      Tag		      "Factory generic"
	      Description	      "Mechanical Blockset"
	      Ports		      [0, 0, 0, 0, 0, 2, 1]
	      Position		      [205, 340, 270, 380]
	      Orientation	      "left"
	      ForegroundColor	      "red"
	      SourceBlock	      "mblibv1/Bodies/Body"
	      SourceType	      "msb"
	      PhysicalDomain	      "mechanical"
	      SubClassName	      "Unknown"
	      LeftPortType	      "workingframe"
	      RightPortType	      "workingframe"
	      LConnTagsString	      "CS3|CS4"
	      RConnTagsString	      "CG"
	      ClassName		      "Body"
	      DialogClass	      "MechanicalBodyBlock"
	      Mass		      "0.5"
	      MassUnits		      "kg"
	      InertiaUnits	      "kg*m^2"
	      Inertia		      "eye(3)"
	      Shape		      "Cylinder"
	      ShapeDims		      "[1 1]"
	      ShapeUnits	      "m"
	      ShapeUse		      "false"
	      Density		      "1"
	      DensityUnits	      "kg/m^3"
	      DensityUse	      "false"
	      CG		      "Right$CG$[0 0 0]$WORLD$WORLD$cm$[0 0 0]"
"$Euler X-Y-Z$deg$WORLD$true"
	      WorkingFrames	      "Left$CS3$[0 0 0]$CG$CG$cm$[0 0 0]$Euler"
" X-Y-Z$deg$WORLD$true#Left$CS4$[0 0 0]$CG$CG$cm$[0 0 0]$Euler X-Y-Z$deg$WORLD"
"$true"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "worm gear"
	      Tag		      "Factory generic"
	      Description	      "Mechanical Blockset"
	      Ports		      [0, 0, 0, 0, 0, 1, 1]
	      Position		      [125, 260, 175, 310]
	      Orientation	      "left"
	      ForegroundColor	      "red"
	      SourceBlock	      "mblibv1/Constraints & \nDrivers/Gear Co"
"nstraint"
	      SourceType	      "GearConstraint"
	      PhysicalDomain	      "mechanical"
	      SubClassName	      "Unknown"
	      LeftPortType	      "blob"
	      RightPortType	      "blob"
	      LConnTagsString	      "__newl0"
	      RConnTagsString	      "__newr0"
	      ClassName		      "GearConstraint"
	      DialogClass	      "GearConstraint"
	      NumSAPorts	      "0"
	      BaseRadius	      "2"
	      BaseRadiusUnits	      "cm"
	      FollowerRadius	      "15"
	      FollowerRadiusUnits     "cm"
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "ti"
	      Position		      [15, 463, 45, 477]
	      Orientation	      "left"
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "F,d,v"
	      Position		      [615, 158, 645, 172]
	      Port		      "2"
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "q"
	      Position		      [365, 118, 395, 132]
	      Port		      "3"
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
	    }
	    Line {
	      SrcBlock		      "angle\nmeasurement"
	      SrcPort		      1
	      DstBlock		      "q"
	      DstPort		      1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "rotate & slide"
	      SrcPort		      LConn2
	      Points		      [-10, 0; 0, 55]
	      DstBlock		      "angle\nmeasurement"
	      DstPort		      LConn1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "force\nmeasurement"
	      SrcPort		      LConn1
	      Points		      [-40, 0]
	      DstBlock		      "up & down"
	      DstPort		      RConn2
	    }
	    Line {
	      SrcBlock		      "Mux"
	      SrcPort		      1
	      DstBlock		      "F,d,v"
	      DstPort		      1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "friction force\nactuation"
	      SrcPort		      RConn1
	      Points		      [-45, 0]
	      DstBlock		      "up & down"
	      DstPort		      LConn2
	    }
	    Line {
	      SrcBlock		      "force\nmeasurement"
	      SrcPort		      1
	      DstBlock		      "Mux"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "position &\nvelocity\nmeasurement"
	      SrcPort		      1
	      Points		      [0, 0; 35, 0]
	      Branch {
		DstBlock		"Mux"
		DstPort			2
	      }
	      Branch {
		Points			[0, 0; 0, 55]
		DstBlock		"Demux1"
		DstPort			1
	      }
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "Revolute8"
	      SrcPort		      RConn1
	      DstBlock		      "worm"
	      DstPort		      LConn2
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "worm"
	      SrcPort		      LConn1
	      Points		      [0, -65]
	      DstBlock		      "worm gear"
	      DstPort		      LConn1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "door"
	      SrcPort		      RConn1
	      DstBlock		      "Revolute1"
	      DstPort		      LConn1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "Revolute1"
	      SrcPort		      RConn1
	      Points		      [-5, 0; 0, -160]
	      DstBlock		      "main\ngear"
	      DstPort		      LConn2
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "worm gear"
	      SrcPort		      RConn1
	      Points		      [-5, 0; 0, -250]
	      DstBlock		      "main\ngear"
	      DstPort		      LConn1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "door"
	      SrcPort		      LConn1
	      Points		      [0, 0]
	      DstBlock		      "Revolute6"
	      DstPort		      RConn1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "GND2"
	      SrcPort		      RConn1
	      Points		      [0, 0]
	      DstBlock		      "Revolute6"
	      DstPort		      LConn1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "torque\nactuation"
	      SrcPort		      RConn1
	      Points		      [5, 0]
	      DstBlock		      "Revolute8"
	      DstPort		      LConn2
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "door"
	      SrcPort		      LConn2
	      Points		      [75, 0]
	      DstBlock		      "Revolute8"
	      DstPort		      LConn1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "main\ngear"
	      SrcPort		      RConn1
	      Points		      [0, 0]
	      DstBlock		      "rotate & slide"
	      DstPort		      LConn1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "rotate & slide"
	      SrcPort		      RConn1
	      Points		      [0, 0]
	      DstBlock		      "window"
	      DstPort		      LConn1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "window"
	      SrcPort		      RConn2
	      Points		      [0, 105]
	      DstBlock		      "position &\nvelocity\nmeasurement"
	      DstPort		      LConn1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "GND"
	      SrcPort		      RConn1
	      DstBlock		      "up & down"
	      DstPort		      LConn1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "up & down"
	      SrcPort		      RConn1
	      Points		      [0, 0]
	      DstBlock		      "window"
	      DstPort		      RConn1
	    }
	    Line {
	      SrcBlock		      "Demux1"
	      SrcPort		      2
	      DstBlock		      "friction"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Demux1"
	      SrcPort		      5
	      DstBlock		      "friction"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "torque"
	      SrcPort		      1
	      Points		      [10, 0]
	      Branch {
		Points			[0, 0; 0, 40]
		DstBlock		"ti"
		DstPort			1
	      }
	      Branch {
		DstBlock		"torque\nactuation"
		DstPort			1
	      }
	    }
	    Line {
	      SrcBlock		      "Sum2"
	      SrcPort		      1
	      DstBlock		      "torque"
	      DstPort		      1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "worm"
	      SrcPort		      RConn1
	      Points		      [0, 0]
	      DstBlock		      "angular\nvelocity"
	      DstPort		      LConn1
	    }
	    Line {
	      SrcBlock		      "angular\nvelocity"
	      SrcPort		      1
	      DstBlock		      "Demux2"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Demux2"
	      SrcPort		      3
	      Points		      [-25, 0]
	      DstBlock		      "Sum2"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "wi"
	      SrcPort		      1
	      DstBlock		      "Sum2"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "Fx"
	      SrcPort		      1
	      Points		      [635, 0]
	      DstBlock		      "Sum1"
	      DstPort		      2
	    }
	    Line {
	      SrcBlock		      "friction"
	      SrcPort		      1
	      DstBlock		      "Sum1"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Sum1"
	      SrcPort		      1
	      DstBlock		      "force"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "force"
	      SrcPort		      1
	      Points		      [0, -10]
	      DstBlock		      "friction force\nactuation"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Demux1"
	      SrcPort		      6
	      DstBlock		      "Terminator1"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Demux1"
	      SrcPort		      4
	      DstBlock		      "Terminator2"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Demux1"
	      SrcPort		      3
	      DstBlock		      "Terminator3"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Demux1"
	      SrcPort		      1
	      DstBlock		      "Terminator4"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Demux2"
	      SrcPort		      1
	      DstBlock		      "Terminator5"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Demux2"
	      SrcPort		      2
	      DstBlock		      "Terminator6"
	      DstPort		      1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "Machine\nEnvironment"
	      SrcPort		      RConn1
	      DstBlock		      "GND"
	      DstPort		      LConn1
	    }
	  }
	}
	Block {
	  BlockType		  Outport
	  Name			  "ti"
	  Position		  [235, 43, 265, 57]
	  ForegroundColor	  "red"
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "F, x, v"
	  Position		  [235, 98, 265, 112]
	  Port			  "2"
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "q"
	  Position		  [235, 133, 265, 147]
	  ForegroundColor	  "red"
	  Port			  "3"
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Line {
	  SrcBlock		  "window"
	  SrcPort		  1
	  DstBlock		  "ti"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "wi"
	  SrcPort		  1
	  DstBlock		  "window"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "object"
	  SrcPort		  1
	  DstBlock		  "window"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "window"
	  SrcPort		  3
	  DstBlock		  "q"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Demux1"
	  SrcPort		  4
	  Points		  [30, 0; 0, 70; -305, 0]
	  DstBlock		  "object"
	  DstPort		  2
	}
	Line {
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