Improved support for memebership functions with variables. Universe recalculation added

bin/.gitignore

@@ -0,0 +1 @@
+/net/

bin/net/sourceforge/jFuzzyLogic/demo/dynamics/FCLPanel.form

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bin/net/sourceforge/jFuzzyLogic/demo/dynamics/FuzzyDemoLayoutPanel.form

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bin/net/sourceforge/jFuzzyLogic/demo/dynamics/IP/about.html

@@ -1,99 +0,0 @@
-<H1> Fuzzy Control Demo </H1>
-
-
-
-<p> This demo simulates a cart with an inverted pendulum.
-The challenge is to keep the system stable by varying the force applied to the cart.
-This system is just like a unicycle or one of these segway bikes.</p>
-<br>
-
-<img  align="CENTRE" alt="i2.jpg" src="i2.jpg"></p>
-
-<br>
-  
-
-<h2> User control</h2>
-
-<p> 
-The user (that means you) can apply a force by clicking the mouse on the display.
-The force applied is proportional to the distance from the cart
-(like an elastic band). See if you can get home without falling over! </p>
-
-<h2> Fuzzy Logic</h2>
-
-<p> Fuzzy logic can be used for
-a wide range of practical applications ranging from what wash to use in your 
-washing machine to the control of robotic limbs. 
-    In this demo when the fuzzy logic is enabled the program attempts to 
-control the angle using a set of "fuzzy rules".
-
-The inputs are:
-<ul>
-<li> phi --
-the difference between the actual angle
-and the requested angle
-</li>
-<li>
-    dphidt -- rate of change of the angle.
-</li>
-</ul>
-
-
-The ouput of the system is the requested force value.
-
-
-The fuzzy inference system classifies the 
-input values into degree of membership of fuzzy sets.
-In this case the sets have names like
-PB (positive big) PS (positive small) Z (zero) etc.
-Unlike classical "crisp" logic
-which only uses 2 values; true and false, the 
-degree of membership of a fuzzy set can be any value between
-0 (not in the set e.g. false) and 1 (definately in the set e.g. true).</p>
-
-<p> In this demo the fuzzy controller is define by an FCL (fuzzy control logic) file.
-You can examine this in the Fuzzy Control Logic tab.
-In practice this file could be compiled into 
-a program for an embedded micro controller.
-</p>
-
-<h2> Why fuzzy logic</h2>
-
-<p> The big deal with fuzzy logic is that you can define
-your control system using rules that mean something to a human and avoid
-the complex maths required for some types of classical control. It is common
-to create fuzzy controllers by asking experts what rules they use.
-</p>
-
-<p>In this demo the rule. </p>
-
-<code>
- IF phi IS PS  AND dphidt IS PB  THEN force IS PB ;      
-</code>
-
- <p> says we should apply a positive big force if the 
- angle is positive small and the rate of change is positive big. </p>
- 
-<p> All the rules for the force are combined in a process called defuzzification which
-which creates a final real value for the force from the degree of membership functions.</p
-
-
-<H2> Graphs tab</H2>
-
-<p> The Graphs tab shows an animation of how the fuzzy system is working. The 
-coloured sections are the fuzzy sets which map the crisp value 
-into a degree of membership. The defuzzication of the force is done by taking the 
-centre of gravity of the force graph.
- </p>
-
-<p> The rule set for this demo was created in a hurry 
-by the author in order to get 
-the demo working. 
-The rules can be edited
-(and possibly saved but this feature is untested on windows) 
-using the Fuzzy Control Logic tab.
-If you manage to create a better system please let me have
-a copy :-)  
- </p>
-
-<p> PJ.Leonard</p>

bin/net/sourceforge/jFuzzyLogic/demo/dynamics/IP/credits.html

@@ -1,11 +0,0 @@
-<h2> Credits </h2>
-
-<p>  
- This demo was created by 
-PJ.Leonard  (Department of Electrical Engineering. Unversity of Bath).</p><p>
-The fuzzy logic engine is jFuzzyLogic an open source software maintained by
-Pablo Cingolani.</p><p> The inverted pendulum dynamic simulation is
-by Andrew Kaluzniacki. 
-</p>. 
-
-<br><p>This program is written in JAVA</p>

bin/net/sourceforge/jFuzzyLogic/demo/dynamics/IP/ip2.fcl

@@ -1,59 +0,0 @@
-FUNCTION_BLOCK IPController   // control block for the angle
-
-VAR_OUTPUT           // define output variables
-    force : REAL;
-END_VAR
-
-VAR_INPUT           // inputs
-    phi    : REAL;  // the difference between the requested and real angle. We want this to be zero
-    dphidt : REAL;  // rate of change of the real angle. We also want this to be zero.
-END_VAR
-
-
-FUZZIFY phi            // define the membership functions (see graph tab in the demo)
-    TERM Z   :=  TRIAN -5 0 5;    // zero (ish)
-    TERM PS  :=  TRIAN  0 5 10;   // positive small
-    TERM NS  :=  TRIAN -10 -5 0;  // neg small
-    TERM PB  :=  (5,0)  (10,1) (60,1) (70,0);  // pos big
-    TERM NB  :=  (-70,0) (-60,1) (-10, 1) (-5,0);  // neg big
-    
-END_FUZZIFY
-
-FUZZIFY dphidt            
-    TERM Z    := TRIAN -8 0 8;
-    TERM PS   := TRIAN  0  8 200 ;
-    TERM NS   := TRIAN  -200 -8 0 ;
-    TERM PB   := (8,0) (200,1) (500,1) ;
-    TERM NB   := (-500,1) (-200,1) (-8,0);
-END_FUZZIFY
-
-
-DEFUZZIFY force          
-    TERM Z   :=  0 ;  // TRIAN -20 0 20;
-    TERM PS  :=  50 ;// TRIAN  30 50 70;
-    TERM NS  :=  -50 ;//TRIAN  -70 -50 -30;
-    TERM PB  :=  200 ;// TRIAN  190 200 210;
-    TERM NB  :=  -200 ;// TRIAN  -210 -200 -190;
-
-    METHOD : COGS;        // Use 'Center Of Gravity' defuzzification method
-    DEFAULT := 0;        // Default value is 0 (if no rule activates defuzzifier)
-END_DEFUZZIFY
-
-RULEBLOCK No1     // Rules 
-    AND : MIN;    // defines how we combine sets 
-    ACT : MIN;    // how we activate outputs which have more than 1 rule 
-    ACCU : MAX;   // how we combine the membership functions of the output variables. 
-
-// now the rules . . .
-
-    RULE 1 : IF phi IS PS  AND (dphidt IS PS OR dphidt IS Z) THEN force IS PS;
-    RULE 2 : IF phi IS PS  AND dphidt IS PB  THEN force IS PB ;
-    RULE 3 : IF phi IS NS  AND (dphidt IS NS OR dphidt IS Z) THEN force IS NS;
-    RULE 4 : IF phi IS NS  AND dphidt IS NB  THEN force IS NB ;
-    RULE 5 : IF phi IS PB  AND (dphidt IS NOT NB) AND (dphidt IS NOT NS)  THEN force IS PB ;
-    RULE 6 : IF phi IS NB  AND (dphidt IS NOT PB) AND (dphidt IS NOT PS)  THEN force IS NB ;
-    RULE 7 : IF phi IS Z   AND dphidt IS Z THEN force IS Z;
-
-END_RULEBLOCK
-
-END_FUNCTION_BLOCK

bin/net/sourceforge/jFuzzyLogic/demo/dynamics/arm/about.html

@@ -1,49 +0,0 @@
-<H1> Fuzzy Control Demo </H1>
-
-
-
-<p> 
-
-This demo simulates a 2 link robot arm. 
-
-<p>
-<br>
-
-<img  align="CENTRE" alt="arm.png" src="arm.png"></p>
-
-<br>
-<p>  
-
-<h2> Control</h2>
-
-The user (that is you) can click on the screen to specify the desired location of the "hand".
-The controller works out the angles needed to achieve this "target" position and uses the 
-difference between the actual values and the target as inputs to the fuzzy control system. 
-The angular velocities are also used in the fuzzy control system to provide damping. 
-
-
-The inputs are:
-<ul>
-<li> phi1 and phi2 --
-the difference between the actual angle
-and the requested angle
-</li>
-<li>
-    dphi1dt and dphi2dt-- rate of change of the angles.
-</li>
-</ul>
-
-
-The ouput of the system is the torques for the joints torque1 and torque2
-
-
-<p> The rule set for this demo was created in a hurry 
-by the author in order to get the demo working. 
-The rules can be edited
-(and possibly saved but this feature is untested on windows) 
-using the Fuzzy Control Logic tab.
-If you manage to create a better system please let me have
-a copy :-)  
- </p>
-
-<p> PJ.Leonard</p>

bin/net/sourceforge/jFuzzyLogic/demo/dynamics/arm/arm.fcl

@@ -1,99 +0,0 @@
-FUNCTION_BLOCK arm    // Block definition (there may be more than one block per file)
-
-VAR_OUTPUT            // Define input variables
-    torque1 : REAL;
-    torque2 : REAL;
-END_VAR
-
-VAR_INPUT           // Define output variables
-    dphi1dt : REAL;
-    dphi2dt : REAL;
-    phi1: REAL;
-    phi2: REAL;
-END_VAR
-
-FUZZIFY phi1           
-    TERM nb    :=  (-2, 1) (-0.5 ,1) (-0.001,0);
-    TERM ns    :=  TRIAN  -0.5 -0.001  0; 
-    TERM ok    :=  TRIAN  -0.001 0 0.001;
-    TERM ps    :=  TRIAN  0 0.001  0.5;
-    TERM pb    :=  (0.001,0) (0.5,1) (2, 1);
-END_FUZZIFY
-
-FUZZIFY phi2     
-    TERM nb    :=  (-2, 1) (-0.5 ,1) (-0.001,0);
-    TERM ns    :=  TRIAN  -0.5 -0.001  0; 
-    TERM ok    :=  TRIAN  -0.001 0 0.01;
-    TERM ps    :=  TRIAN   0 0.001  0.5;
-    TERM pb    :=  (0.001,0) (0.5,1) (2, 1);
-END_FUZZIFY
-
-
-FUZZIFY dphi1dt           
-    TERM nb    :=  (-10, 1) (-1 ,1) (-0.3,0);
-    TERM ns    :=  TRIAN  -1 -0.3  0; 
-    TERM ok    :=  TRIAN  -0.3 0 0.3;
-    TERM ps    :=  TRIAN  0 0.3  1;
-    TERM pb    := (0.3,0) (1,1) (10, 1);
-END_FUZZIFY
-
-FUZZIFY dphi2dt     
-    TERM nb   :=  (-10, 1) (-1 ,1) (-0.3,0);
-    TERM ns   :=  TRIAN  -1 -0.3  0; 
-    TERM ok   :=  TRIAN  -0.3 0 0.3;
-    TERM ps   :=  TRIAN  0 0.3  1;
-    TERM pb   := (0.3,0) (1,1) (10, 1);
-END_FUZZIFY
-
-DEFUZZIFY torque1          
- 	TERM nb   := -800 ;
-    TERM ns   := -400 ;
-    TERM zero :=    0 ;
-    TERM ps   :=  400 ;
-    TERM pb   :=  800 ;
-    
-    METHOD    : COGS;      
-    DEFAULT   := 0;        
-END_DEFUZZIFY
-
-DEFUZZIFY torque2          
-    TERM nb   :=  -500 ;
-    TERM ns   :=  -200 ;
-    TERM zero :=     0 ;
-    TERM ps   :=   200 ;
-    TERM pb   :=   500 ;
-    
-    METHOD : COGS;       
-    DEFAULT := 0;            
-END_DEFUZZIFY
-
-
-RULEBLOCK No1
-    AND :  MIN;  
-    ACCU : MAX;
-    ACT : MIN;
-   
-    RULE 1 : IF phi1 IS  nb   THEN torque1 IS pb;
-/*
-    RULE 2 : IF phi1 IS  ns   THEN torque1 IS ps;
-    RULE 3 : IF phi1 IS  ok   THEN torque1 IS zero;
-    RULE 4 : IF phi1 IS  ps   THEN torque1 IS ns;
-    RULE 5 : IF phi1 IS  pb   THEN torque1 IS nb;
-    RULE 6 : IF dphi1dt IS nb   THEN torque1 IS pb;
-    RULE 7 : IF dphi1dt IS pb   THEN torque1 IS nb;
-    RULE 8 : IF dphi1dt IS ns AND phi1 is ok  THEN torque1 IS pb;
-    RULE 9 : IF dphi1dt IS ps AND phi1 is ok  THEN torque1 IS nb;
-   RULE 11 : IF phi2 IS  nb   THEN torque2 IS pb;
-    RULE 12 : IF phi2 IS  ns   THEN torque2 IS ps;
-    RULE 13 : IF phi2 IS  ok   THEN torque2 IS zero;
-    RULE 14 : IF phi2 IS  ps   THEN torque2 IS ns;
-    RULE 15 : IF phi2 IS  pb   THEN torque2 IS nb;
-    RULE 16 : IF dphi2dt IS nb   THEN torque2 IS pb;
-    RULE 17 : IF dphi2dt IS pb   THEN torque2 IS nb;
-    RULE 18 : IF dphi2dt IS ns AND phi2 is ok  THEN torque2 IS pb;
-    RULE 19 : IF dphi2dt IS ps AND phi2 is ok  THEN torque2 IS nb;
-*/
-END_RULEBLOCK
-
-
-END_FUNCTION_BLOCK

bin/net/sourceforge/jFuzzyLogic/demo/dynamics/arm/credits.html

@@ -1,14 +0,0 @@
-<h2> Credits </h2>
-
-<p>  
- This demo was created by 
-PJ.Leonard  (Department of Electrical Engineering. Unversity of Bath).</p>
-<p>
-The fuzzy logic engine is jFuzzyLogic an open source software maintained by
-Pablo Cingolani.</p>
-
-<p> 
-Thanks to Necip and Pejman for helping with the dynamic simulation.
-</p>. 
-
-<br><p>This program is written in JAVA</p>

bin/net/sourceforge/jFuzzyLogic/demo/dynamics/block/about.html

@@ -1,100 +0,0 @@
-<H1> Fuzzy Control Demo </H1>
-
-
-
-<p> 
-
-This demo simulates a 2 link robot arm. 
-
-<br>
-
-<img  align="CENTRE" alt="i2.jpg" src="i2.jpg"></p>
-
-<br>
-  
-
-<h2> User control</h2>
-
-<p> 
-The user (that means you) can apply a force by clicking the mouse on the display.
-The force applied is proportional to the distance from the cart
-(like an elastic band). See if you can get home without falling over! </p>
-
-<h2> Fuzzy Logic</h2>
-
-<p> Fuzzy logic can be used for
-a wide range of practical applications ranging from what wash to use in your 
-washing machine to the control of robotic limbs. 
-    In this demo when the fuzzy logic is enabled the program attempts to 
-control the angle using a set of "fuzzy rules".
-
-The inputs are:
-<ul>
-<li> phi --
-the difference between the actual angle
-and the requested angle
-</li>
-<li>
-    dphidt -- rate of change of the angle.
-</li>
-</ul>
-
-
-The ouput of the system is the requested force value.
-
-
-The fuzzy inference system classifies the 
-input values into degree of membership of fuzzy sets.
-In this case the sets have names like
-PB (positive big) PS (positive small) Z (zero) etc.
-Unlike classical "crisp" logic
-which only uses 2 values; true and false, the 
-degree of membership of a fuzzy set can be any value between
-0 (not in the set e.g. false) and 1 (definately in the set e.g. true).</p>
-
-<p> In this demo the fuzzy controller is define by an FCL (fuzzy control logic) file.
-You can examine this in the Fuzzy Control Logic tab.
-In practice this file could be compiled into 
-a program for an embedded micro controller.
-</p>
-
-<h2> Why fuzzy logic</h2>
-
-<p> The big deal with fuzzy logic is that you can define
-your control system using rules that mean something to a human and avoid
-the complex maths required for some types of classical control. It is common
-to create fuzzy controllers by asking experts what rules they use.
-</p>
-
-<p>In this demo the rule. </p>
-
-<code>
- IF phi IS PS  AND dphidt IS PB  THEN force IS PB ;      
-</code>
-
- <p> says we should apply a positive big force if the 
- angle is positive small and the rate of change is positive big. </p>
- 
-<p> All the rules for the force are combined in a process called defuzzification which
-which creates a final real value for the force from the degree of membership functions.</p
-
-
-<H2> Graphs tab</H2>
-
-<p> The Graphs tab shows an animation of how the fuzzy system is working. The 
-coloured sections are the fuzzy sets which map the crisp value 
-into a degree of membership. The defuzzication of the force is done by taking the 
-centre of gravity of the force graph.
- </p>
-
-<p> The rule set for this demo was created in a hurry 
-by the author in order to get 
-the demo working. 
-The rules can be edited
-(and possibly saved but this feature is untested on windows) 
-using the Fuzzy Control Logic tab.
-If you manage to create a better system please let me have
-a copy :-)  
- </p>
-
-<p> PJ.Leonard</p>

bin/net/sourceforge/jFuzzyLogic/demo/dynamics/block/block.fcl

@@ -1,50 +0,0 @@
-FUNCTION_BLOCK ip    // Block definition (there may be more than one block per file)
-
-VAR_OUTPUT            // Define input variables
-    force : REAL;
-END_VAR
-
-VAR_INPUT           // Define output variable
-    x : REAL;
-    dxdt : REAL;
-END_VAR
-
-FUZZIFY x           
-    TERM ok    :=  (-0.1,0)  (0,1) (0.1,0) ;
-    TERM left  :=  (-2,1)  (0,0);
-    TERM right := (  0, 0) (2,1) ;
-END_FUZZIFY
-
-FUZZIFY dxdt     
-    TERM  ok := TRIAN -1 0 1 ;   
-    TERM  left := (-1,1) (0,0);
-    TERM  right := (0,0) (1,1) ;
-    TERM  tooRight := (3,0) (4,1);
-    TERM  tooLeft  := (-4,1) (-3,0);
-
-END_FUZZIFY
-
-
-DEFUZZIFY force          
-    TERM zero  :=  TRIAN -1 0 1 ;
-    TERM left  :=  (-101,0) (-100,1) (-99,0);
-    TERM right :=   (99,0) (100,1) (101,0);
-
-    METHOD : COG;        // Use 'Center Of Gravity' defuzzification method
-    DEFAULT := 0;        // Default value is 0 (if no rule activates defuzzifier)
-END_DEFUZZIFY
-
-RULEBLOCK No1
-    AND : MIN;            // Use 'min' for 'and' (also implicit use 'max' for 'or' to fulfill DeMorgan's Law)
-    ACT : MIN;            // Use 'min' activation method
-    ACCU : MAX;            // Use 'max' accumulation method
-   
-    RULE 1 : IF x    IS  right AND dxdt IS  NOT  tooLeft  THEN force IS left  ;
-    RULE 2 : IF x    IS  left  AND dxdt IS  NOT  tooRight THEN force IS right  ;
-    RULE 3 : IF x    IS  ok    AND dxdt IS  right THEN force IS left ; 
-    RULE 4 : IF x    IS  ok    AND dxdt IS  left  THEN force IS right ; 
-    RULE 5 : IF x    IS  ok    AND dxdt IS ok THEN force IS zero ;
-
-END_RULEBLOCK
-
-END_FUNCTION_BLOCK

bin/net/sourceforge/jFuzzyLogic/demo/dynamics/block/credits.html

@@ -1,11 +0,0 @@
-<h2> Credits </h2>
-
-<p>  
- This demo was created by 
-PJ.Leonard  (Department of Electrical Engineering. Unversity of Bath).</p><p>
-The fuzzy logic engine is jFuzzyLogic an open source software maintained by
-Pablo Cingolani.</p><p> The inverted pendulum dynamic simulation is
-by Andrew Kaluzniacki. 
-</p>. 
-
-<br><p>This program is written in JAVA</p>

bin/net/sourceforge/jFuzzyLogic/demo/dynamics/tipper.fcl

@@ -1,54 +0,0 @@
-/*
-	Example: A tip calculation FIS (fuzzy inference system)
-	Calculates tip based on 'servie' and 'food'
-
-	If you want to about thIS example (and fuzzy logic), please 
-	read Matlab's tutorial on fuzzy logic toolbox 
-	http://www.mathworks.com/access/helpdesk/help/pdf_doc/fuzzy/fuzzy.pdf
-
-									Pablo Cingolani 
-									pcingola@users.sourceforge.net
-*/
-
-FUNCTION_BLOCK tipper	// Block definition (there may be more than one block per file)
-
-VAR_INPUT				// Define input variables
-	service : REAL;
-	food : REAL;
-END_VAR
-
-VAR_OUTPUT				// Define output variable
-	tip : REAL;
-END_VAR
-
-FUZZIFY service			// Fuzzify input variable 'service': {'poor', 'good' , 'excellent'}
-	TERM poor := (0, 1) (4, 0) ; 
-	TERM good := (1, 0) (4,1) (6,1) (9,0);
-	TERM excellent := (6, 0) (9, 1);
-END_FUZZIFY
-
-FUZZIFY food			// Fuzzify input variable 'food': { 'rancid', 'delicious' }
-	TERM rancid := (0, 1) (1, 1) (3,0) ;
-	TERM delicious := (7,0) (9,1);
-END_FUZZIFY
-
-DEFUZZIFY tip			// Defzzzify output variable 'tip' : {'cheap', 'average', 'generous' }
-	TERM cheap := (0,0) (5,1) (10,0);
-	TERM average := (10,0) (15,1) (20,0);
-	TERM generous := (20,0) (25,1) (30,0);
-	METHOD : COG;		// Use 'Center Of Gravity' defuzzification method
-	DEFAULT := 0;		// Default value IS 0 (if no rule activates defuzzifier)
-END_DEFUZZIFY
-
-RULEBLOCK No1
-	AND : MIN;			// Use 'min' for 'and' (also implicit use 'max' for 'or' to fulfill DeMorgan's Law)
-	ACT : MIN;			// Use 'min' activation method
-	ACCU : MAX;			// Use 'max' accumulation method
-
-	RULE 1 : IF service IS poor OR food IS rancid THEN tip IS cheap;
-	RULE 2 : IF service IS good THEN tip IS average; 
-	RULE 3 : IF service IS excellent AND food IS delicious THEN tip IS generous;
-END_RULEBLOCK
-
-END_FUNCTION_BLOCK
-

bin/net/sourceforge/jFuzzyLogic/fcl/Fcl.tokens

@@ -1,99 +0,0 @@
-FUNCTION=34
-SIGM=61
-STAR=91
-LN=43
-LETTER=96
-LM=42
-LOG=44
-EINSTEIN=26
-COG=17
-NOT=52
-COA=15
-HAT=81
-SIN=62
-EXP=32
-MM=50
-COS=20
-TAN=65
-LEFT_PARENTHESIS=83
-COMMENT=99
-GAUSS2=36
-NC=51
-END_RULEBLOCK=30
-VAR_OUTPUT=72
-ACT=10
-END_DEFUZZIFY=27
-RULE=59
-NUMBER=93
-GBELL=37
-SEMICOLON=89
-DMIN=24
-VALUE_REAL=6
-ALPHANUM=97
-TYPE_REAL=70
-ABS=8
-REAL=98
-WS=74
-NSUM=53
-LEFT_CURLY=82
-OR=54
-LOWER=94
-END_FUZZIFY=29
-UPPER=95
-TERM=66
-COGF=19
-PROBOR=55
-RIGHT_CURLY=87
-NIPMIN=48
-POINT=4
-RM=58
-MAX=45
-DOTS=80
-COGS=18
-ID=102
-AND=11
-SUM=64
-VALUE_ID=7
-DSIGM=25
-IF=40
-SLASH=90
-THEN=67
-RIGHT_PARENTHESIS=88
-COMMA=78
-IS=41
-DMAX=23
-TRAPE=68
-BDIF=13
-PROD=56
-COSINE=16
-PLUS=86
-DIGIT=92
-DOT=79
-FUNCTION_BLOCK=38
-WITH=73
-END_VAR=31
-ACCU=9
-ASUM=12
-PERCENT=85
-SINGLETONS=63
-NIPMAX=49
-ASSIGN_OPERATOR=76
-TRIAN=69
-DEFAULT=21
-HAMACHER=33
-COMMENT_C=100
-FCL=5
-RANGE=57
-MIN=47
-MINUS=84
-DEFUZZIFY=22
-COLON=77
-NEWLINE=75
-COMMENT_SL=101
-VAR_INPUT=71
-BSUM=14
-RULEBLOCK=60
-FUZZIFY=39
-END_FUNCTION_BLOCK=28
-METHOD=46
-GAUSS=35