J: 3; T: 6; alpha: 20000,18000,800; beta: 3.5,4.0,5.5; v: 1.0,1.0,1.0; a: 10.5,10.5,10.5,10.5,10.5,10.5 4.5,4.5,4.5,4.5,4.5,4.5 3.5,3.5,3.5,3.5,3.5,3.5; h: 0.035,0.035,0.035,0.035,0.035,0.035 0.035,0.035,0.035,0.035,0.035,0.035 0.013,0.013,0.013,0.013,0.013,0.013; c: 3.0,3.0,3.0,3.0,3.0,3.0 3.0,3.0,3.0,3.0,3.0,3.0 1.1,1.1,1.1,1.1,1.1,1.1;