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[AT] =

[A] =

-1

0 0 0 0 0 0 0 0

-3

0 0 0 0 0 0 0 0

0
0
0

0
0
0

1
0
0

0 0 0 0 0 0 0 0 0
0 -1 0 0 0 0 0 0 0
1 0 0 0 0 0 0 0 0

0
0
0

0
0
0

0
0
-5

0
1592
0

-5
0
1251

0
0
0

0
0
0

0
0
0

0
0
5

0
-1592
0

-5
0
625

0
0
0

0 1 0 0 0 0 0 0

625

0 0 0 -1 0 0 0 0

0
0
0

0
0
0

0
0
0

0
0
0

0 0 1 0 0 0 0 0
0 0 0 0 1 0 0 0
0 0 0 0 0 0 -1 0

0 0 0 0 0 1 0 0

0 0 0 0 0 0 0 1

0
-1
0
0
0

1
0
0
0
0

0
0
1
0
0

0
0
0
0
-1

0
0
0
1
0

0
0
0
0
0

0
0
0
0
0

0
0
0
0
0

0
0
0
0
0

0
0
0
0
0

0
0
0
0
0

0
0
0
0
0

0
0
0
0
0
0
0

0
0
0
0
0
0
0

0
0
0
0
0
0
0

0
0
0
0
0
0
0

0
0
0
0
0
0
0

1
0
0
0
0
0
0

0
0
-1
0
0
0
0

0
1
0
0
0
0
0

0
0
0
1
0
0
0

0
0
0
0
0
-1
0

0
0
0
0
1
0
0

0
0
0
0
0
0
1

[K] =

12x12

* E

12x12

[AT]*[K] =

1251

-5

-3

0
0
0

0
0
0

0
0
0

0
0
-1592

0
5
0

-5
0
0

0
0
0

0
0
0

0
0
0

0
0
1592

0
5
0

-5
0
0

-5

625

1251

625

-5

1251

0
3
0
0
0

0
0
0
0
0

0
0
0
5
0

0
0
0
0
1592

0
0
-5
-1251
0

-5
0
0
0
0

0
-3
0
0
0

0
0
0
0
0

0
0
0
0
0
0
-5
0
0 -1592

0
0
-5
-625
0

-5
0
0
0
0

0
0
-3
0
0
0
0

5
0
0
0
0
0
5

0
0
0
0
5
0
0

0
0
0
0
0
-1592
0

0
0
0
5
-625
0
0

1251
5
0
0
0
0
625

0
0
3
0
0
0
0

-5 0
0 0
0 0
0 0
0 -5
0 0
-5 0

0
0
0
5
-1251
0
0

625
5
0
0
0
0
1251

0
0
0
0
0
1592
0

12x12

12x12

PROCESO DE RETORNO