Example of Design Problem 

Hard Constraints (speed ratio and distance): 
ratio(<g1,g3>,<g5,g7>) = 1                                       (a) 
ratio(<g2,g4>,<g5,g7>) = 2                                       (b) 
ratio(<g1,g3>,<g6,g8>) = 4                                       (c) 
ratio(<g2,g4>,<g6,g8>) = 8                                       (d) 
x1 + x2 = 10                                                     (e) 

Soft Constraints (use of standard gear): 
The radius should preferably be 1, 2, 3, or 4. 

Result 




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