1 00:00:03,520 --> 00:00:04,070 all right um today i think is the last lecture at least for the while uh about origami and i'm gonna talk about where i got started thinking about origami mathematics which is the folding cut problem and this is sort of motivated by a magic trick the idea is you take a piece of paper you fold it flat you make one complete straight cut so you cut along a line and you unfold the pieces and the question is what shapes can you get by that process so this is like a magic trick i showed you making a swan which i have here just for jog your memory you have a rectangle paper and you can see the swan on there and you can see a bunch of creases you fold along all the creases not the swan lines and you end up with all the edges of the swan lying right along that line you cut along the line and you get your swan as we did before and you also get the anti-swan the other piece i didn't show that last time but it's really it's not like we're making we're not allowed to make any extra creases we really want this one all right so we cut we cut along exactly the edges of the swan by lining them up onto a line so really you can think of this as a magic trick in cutting but you can also think of it as an origami problem which is i want to line up all these edges by folding how do i do it and that way it connects to a lot of origami design problems this problem has an old history uh it goes back to 1721 this is the oldest reference we know this is a japanese puzzle book and i think this is kind of like it's called mathematical contests is the translation and it's sort of like uh the old version of uh like these big problem solving sessions that kids do these days for to get better at math and one of the pages poses this problem i have this japanese emblem shape can i make it from a piece of paper by folding in one straight cut and the answer is yes and this is a solution if you cheat and look in the back of the book so i'll let you read that for a minute and you're making folds along lines that end up lining up other parts of the the shape so that in the end everything lies along the line then you cut along the line uh we learned about this a bit later than the original our we learned about this problem from martin gardner originally and he knew about the magic world so houdini before he was an escape artist he was a general magician and in 1922 he he wrote or probably had ghost written this book houdini's paper magic and one of the pages is about folding and it says here you can take a square paper fold it flat make one straight cut and get a regular five-pointed star and that was pretty cool uh and then other magicians picked it up in particular this guy gerald lowe wrote this book paper capers or some more like it's a very small book magic book and he can make all sorts of different things and he would incorporate them into magic tricks and he was primarily using simple folds he would just fold along one line at a time and make all these make one straight cut and make all these cool patterns like here i have one of his examples redone to start from a rectangle i fold i fold i fold i fold these are all simple folds i take my scissors i make one complete straight cut and usually when i perform this trick i say look i made an isosceles triangle wow i made five isosceles triangles amazing and then i made everything except the five isosceles triangles right so you're you saw that coming so and you could make an arrangement of five of these if you want all that sort of very symmetric stuff is easy to do by simple folds i'll talk more about simple folds later but we were really curious about the the general challenge so this is the sort of you can download this from my webpage if you want to make one it's pretty it's a it's a fun trick um good but i have some more interesting examples so here i have a rectangle folded and i make one complete straight cut and this one has actually a line of symmetry so i fold it in half at the beginning so i get an angelfish all right you're not impressed keep going there's another one one straight cut can go all day here i mean the point of today's lecture is to see how this is done in general here we have a butterfly all right you guys are tough to impress here uh here we go here's the this one is is theme thematic it's almost october so it's sort of appropriate make one straight cut i haven't done this one in quite a while and get tons of pieces and if i'm lucky open it up the right way around so jack-o'-lantern wow it's amazing how is it possible so obviously you can make many shapes all at once that's the general idea here i i'll admit i cheated here because i wanted kids to be able to fold this the the outer octagon is cut initially okay so it's not from a rectangle just to make it easier to fold but you could do it all at once and now the big demo all right in fact it's so big i think i might want to use the x-acto knife uh we'll try we'll try with scissors it's got a lot of layers oh yeah so i usually bring my own scissors from the other side they're better scissors that's what's special about my scissors all right time for the x-acto knife make sure i'm only cutting along the boundary between red and white and my lecture notes yeah who needs those it's flat getting there a little more cutting i believe all the pieces in this case are rectangles that's exciting all right straight cut right i don't remember which way this one opens just like this this should be the mit logo this one i encourage you to try at home it's uh it's pretty crazy it's definitely hard folding i'm getting used to it now all right so you can make anything is the point some are a little more difficult because they have more layers and so on if i did made it out of thinner paper like some of the magicians do it is super easy onion skin paper or something i think i have some pictures of the crease patterns if you want to see what these look like and these are all available for download you want to impress your friends go for it all right they all use slightly different color coatings but it's mountain or valley and so we want to see how to how to make these so let me state the theorem first we have our good friend the universality result which is any set of line segments on your piece of paper can be i'll phrase it as can be aligned by flat folding aligned means when you make the flat folding all those segments come onto a common line nothing else comes to that line and therefore you cut along the line you get exactly those line segments and there are two methods for solving this problem the first one is what i call the straight skeleton method and second one i'll call the disc packing method by slightly different authors this one was me my dad and my advisor anna libu this one was marshall byrne me david epstein barry hayes this one slightly after this one this is sort of my first computational origami paper and they're quite different i mean at a high level this one's practical this one is theoretically good but impractical this one's actually theoretically bad in a few situations which we'll get to but it works very well almost always in a formal sense of almost always this one always works but it's a challenge to fold all of the examples i showed you are made with the straight skeleton method so that's the idea that's we're going to talk about both of them and first i have a warm-up three warm-ups all right suppose you had a square paper and you wanted to make a single cut what folding do i do nothing that was easy uh let's say i have two lines i want to make what should i do fold between them fold the lines onto each other which is angular bisector if i extend the lines and i bisect the angle there then i will fold one line to the other i brought one just so you totally obvious you have two lines you fold along the angular bisector of their extensions it lines up the lines and nothing else okay a little more exciting what if i had a triangle how would you line up the edges of the triangle and nothing else rabbit ear yes this rabbit ear is you fold along the three angular bisectors of the triangle this is something we talked about in the tree method this is one of the sort of gadgets we use in one of where these were active paths and so you fold along those angular bisectors angular bisectors intuitively are very good because locally they line up edges so if i fold along all three of them and you may know they always meet at a point uh then i kind of line up all those edges if i just fold along those three edges it won't be flat foldable it's like this floppy thing uh and so i've added in these perpendicular the purple lines to give me my hinges so i can manipulate these arms you don't have to use all of them but then you can flatten it and now along this line are all the black guys all the black lines you've got a bunch of flat foldings all right so general idea and in the straight skeleton method what we're going to use are angular bisectors and perpendicular folds perpendicular folds are also good because they locally locally folds a reflection if you fold flat so this line will fold on top of this line so perpendiculars are good angular bisectors are good if you fold along all of them you should line everything up that's the intuition and the question is how do i fold along enough angular bisectors in perpendicular so it actually folds flat and that is the straight skeleton or one way to do that is a straight skeleton and this actually was invented a few years earlier 95 96 by a couple of austrians i was an eye culture actually four people sorry so let me write down a definition and then we will i'll show you what it means we've seen a thing like this very briefly in the universal molecule but this is going to be more general in some sense and actually why don't i put up an image of one while we're on defining it all right so it is trajectory of the vertices of the desired cut pattern that's our input the graph of edges we want to cut out as we simultaneously shrink each region that's every face outlined by those cuts keeping edges parallel and a uniform perpendicular distance from the original edges so it's a bit of a mouthful let me uh draw some pictures well let's maybe start with a triangle so the idea with triangle is you shrink this is really the wrong order to do things i want to shrink there's two regions for the triangle is the inside and the outside if i shrink the inside i get these parallel lines all i want all of these distances to be equal those are the perpendicular distances i keep shrinking and at some point i can't shrink anymore because i get a single point the incenter of the triangle if i watch where did the vertices go during that time it's along angular bisectors hey our good friends angular bisectors now i do the same thing on the outside shrinking the outside region is like expanding the triangle because as i expand the triangle the outside gets smaller area so actually it's just the same thing i get concentric triangles and i just keep going along the angular bisectors so that's it it's not going to give us the perpendicular folds it's just the angular bisector parts you can still see the triangle in there somewhere okay that's a really simple example and the only event that happened is that the polygon disappeared when that happens you stop with that particular polygon in general there are three things that can happen call these vents three interesting things one is that an edge disappears so for example if locally i have a picture like this and i shrink and i shrink and i shrink at some point what's happening is these angular bisectors are meeting and now i've i lost this edge shrank to zero length so i just forget about the edge pretend it was never there just keep shrinking now what is these two edges so i shrink and i shrink and i shrink what happens is in some sense these vertices merge these edges merge and now i have one guy going straight up there and what is that edge doing it's not an angular bisector of this or this but it's an angular bisector of the extension of these two lines right because if you if you look at this one of these these two edges they are parallel to the two originals so if you bisect those parallel offsets it's the same thing as bisecting the original edges in extension okay so this looks good because these two folds will line up those two edges or this fold will line up these two edges this fold will line up those two edges this fold will line up these two edges and we're doing kind of extra alignment but everything looks kosher good so when an edge disappears you just forget about it all right forget let's probably forget about something like that all right then we have a region can disappear that's what happened with the triangle and then again you forget about it there may be many regions you have to keep shrinking the other regions but when one disappears you're done third thing that can happen is that a region splits so let's look at an interesting polygon this one with straight edges and when i shrink this guy see what's happening is this edge is approaching that vertex at some point they will meet and what we're left with are two triangles in this case in general you split into two parts you just keep shrinking the parts so it's it's not really like you're stopping at any point it's just the same thing over and over but if you're implementing this on a computer you really have to realize that that happens otherwise you'd shrink them beyond each other and it would be self-intersecting and ugly but you do the obvious thing which is you cut where they split and what will happen in this case with straight skeleton is you keep going along an angular bisector until that little triangle stops there's one more edge here so that's what the straight skeleton will look like this edge is an angular bisector of this one this one this edge is an angular bisector of this one and this one in general if you look at an edge and you see what original edge can i reach without crossing another skeleton edge those are the two that you bisect so it's really easy to see you look at this guy only two i can reach are this one and this one i look at this one the only two i can reach for that one and that one so it's an angular bisector of those two in fact in general if you finish the outside here too it's the same deal and then yeah all right enough here's a bigger example a little turtle drawn on a triangular grid and you can see there's angular bisectors this is the straight skeleton this guy for example bisects this horizontal edge and this horizontal edge that's a little bit of a boundary case you have to think about but this is the right interpretation it's like an angle of 180 so you bisect it to 90. there are fun features here we get a little bit of action on the outside of the polygon so far we haven't seen that so like these guys meet and there is some uh bigger sorry there's a bigger turtle here somewhere that's hard to draw anyway what's happening is this edge is shrinking to zero while this one is offsetting down this way and this one's offsetting down this way so the new turtle ends up being like that and so on you're shrinking every face so in general you have a whole bunch of polygons or i mean in general we're allowing crazy things like this as this pattern of cuts i want to make maybe you want to cut your square into five pieces i'm going to shrink each of them separately or in parallel it doesn't actually matter so in this case it's just going to be five angular bisectors in general there are several regions you shrink all of them a lot of the time we think about polygons and then there's two regions to shrink and it looks like you're expanding the turtle to go out but really you're shrinking the outside region just happens to be there's one infinite region that one looks weird a couple other special cases because i want to do any graph not just polygons you could have something that just terminates uh so a degree one vertex only has one edge incident to it in this case it's not quite well defined what to do because you offset this and you offset this but what happens here and there you it's sort of arbitrary you can do whatever you want but the simplest thing you can do is to make a imagine that there's a little vertical segment here that happens to be length zero and it expands into the edge of a rectangle so you end up with these two 45 degree angular bisect bisectors between this vertical edge and the horizontal one but it's you have some flexibility there you can design it how you want the other case you can have is a degree zero vertex there are no edges here this is a little funny and the way i defined it i just said i wanted to align line segments but you can also align points if you really feel like it and that would be represented by a dot that has no cuts next to it if you want to cut out just this point i need to make it something you could think of it as a tiny triangle for consistency with this picture we think of it as a little square and so we when you expand it or when you shrink the outside region you get four 45-degree folds this is actually how i culture it all defined it back in 96 and it's a fine definition but you have flexibility here in your design process they'll all work and this would let you take a whole bunch of points align them onto a common line and nothing else is on that line because these folds are going to push everything surrounding the point away from the line all right some fun facts straight skeleton is nice and small if you have an original points and line segments in your desired cut pattern the straight skeleton has a linear and n number of line segments linear number of creases so order n uh other fun facts there's a one-to-one correspondence between the edges you want to cut along like let me pick one over here maybe like this this is an edge i want to cut along and regions of the straight skeleton so here's a region a face of the straight skeleton this guy there's exactly one cut edge inside that this is always the case you look everywhere here every region of the straight skeleton it's more obvious if i color them different colors there's one cut edge inside and all of those guys that surround that cut edge bisect that edge and another one and the other one is the one on the other side and generally you take one of the straight skeleton edges there are two sides there's two faces of the straight skeleton this one's crazy non-convex this one's just a little infinite triangle down here and that edge bisects those two cut edges so it's very easy to walk around the structure see what it bisects lots of things get bisected but it's not flat foldable so we're not done and that's where we need the perpendiculars so so all right down in definition and maybe show picture we're going for there's a lot of structures here there's what i call the cut graph the things we're trying to make and then there's this straight skeleton which you can think of as a graph drawn on the paper there's vertices of straight skeleton which you call skeleton vertices regions of straight skeleton which we call skeleton regions edges of the cut graph which we call cut edges and so on we're going to add a new graph which is the perpendicular graph which you can think of as hinges from the tree method of origami design so what is this what does it mean we started a straight skeleton vertex usually there are three skeleton edges coming together at a vertex sometimes there are more like this guy there's four and there are three if there's three edges coming together there are three skeleton regions for each one each of those regions has one cut edge in it so we try to walk perpendicular and toward that cut edge so here i walk perpendicular i mean at right angles here i just go off to infinity here i walk perpendicular to this cut edge and that's that's cool but then i hit i leave the skeleton region at that point i enter a new skeleton region which is this one it's non-convex thing it contains one cut edge and when i where was i here i entered now i want to move perpendicular to that cut edge so that when i cross it i cross it perpendicularly now i enter a new region it contains this cut edge i move perpendicular to it and i don't actually cross it but i enter a new region now i'm in the region of this cut edge so i move perpendicular to that and wow i hit another skeleton vertex i stop okay this example is because it's on a triangular grid there's lots of degeneracies like that usually you'd eventually go off to infinity or come around and meet yourself here i happen to hit a different vertex you do that at all the vertices all the skeleton vertices now there are some weird ones like this one notice there are no no purple lines coming out from here and that's because every region you try to enter you immediately leave so if i tried there's four regions here try each one of them it's like this region has this cut edge if i tried to go perpendicular to it i'd enter a different region so i can't actually go at all it's like i i move and then i instantly stop so you can think of there being a very like a zero radius little uh thing there that's sort of the degenerate case of a river being a disk river being a circle same thing going on all of in general when you have reflex vertices in their angular bisectors meeting you're going to lose some perpendiculars because you can't enter them here's another one where i just have one perpendicular edge coming out this this one i can reach but if i try to be perpendicular to either these i enter the wrong region that's the perpendicular folds and that's pretty much the crease pattern there are technically a few other folds you have to deal with but that is if you want to make something right now just apply those two algorithms and you get your shape just fold along that crease pattern it will be flat foldable almost always why is it flat foldable so one thing we can check is local flat foldability at least satisfies kawasaki's condition because at a typical vertex you're going to have three skeleton edges coming together and so there are three faces here each of them has a cut edge somewhere hopefully i draw this reasonably well and should have the property that when i extend these it didn't draw it so well when i extend these these are angular bisectors that's we know these skeleton edges will angularly bisect two cut edges the two cut edges that are defined by these guys so i should get angular bisector here pretend those meet angular bisector here and then i also have perpendicular folds so they may not actually meet this guy but if they did they certainly meet the extension hey that's our good friend the rabbit ear just regular triangle fold and in particular you can see that these angles are equal i'll call this three prime it's it's like 180 minus that i think i'm mistaken and this is one prime not the best notation and these are two prime and two prime and so i've got these nice angle pairings that means if i add the odd angles i get the even angle same thing so i definitely have kawasaki's theorem everywhere you can check it works even when you have these degenerate situations where uh three or more than three skeleton edges come together for the same reason you still get a pairing just more than three of them all right but some exciting things can happen so i'm going to look at proving foldability but one exciting thing that can happen is you get a lot of perpendicular folds at a very few original cut lines so here i'm trying to make this weird pinwheel shape i want i want to cut out the bold lines of the cut lines so i want to cut out the square and then these four squares arranged in a pinwheel pattern around that one why you'd want to do that i don't know but we're mathematicians so we want to consider all the cases so the straight skeleton is the thin black lines and that's linear size that's nice but the perpendiculars if this piece of paper is infinite the number of perpendiculars is infinite if you have a finite piece of paper which is what you usually buy in the store then it's a finite number of creases so in any finite region this is a finite number of creases but it's a lot of them so that's one sad thing you can't bound the number of creases as a function of the number of cut lines but i think that's actually necessary i don't think it's possible to solve this problem while bounding the number of creases in terms of the number of cut lines but that's one of the open problems written down on one of these pictures one of these slot lecture notes something else even more annoying though it happens even in a finite piece of paper and it's even more obscure why you'd want to make this but the bold blue lines are the cuts and then the thin black lines are the straight skeleton you can tell this spans many years because i keep changing notational style and this is from the textbook and then you get these perpendicular folds i haven't drawn all of them but these dash lines the light blue and this example is set up so that let me get this right this width is an irrational multiple of this width or this width one of those things are irrational uh so they're not very nice numbers and and what i need to do to finish this picture is these guys go they enter a new skeleton region they're actually going to keep going straight because there's two cut lines that are parallel to each other it's going to go up there and it's going to cycle around let me do one round uh who did i move this guy so this guy i just extended down he's going to turn around make 180 degree turn and you can check that each of these you're set up to do 180 degree turn around this axis around this axis on the bottom and on the top around this axis and around this axis depending wherever you enter it's like a race track keep going around and around and if you follow that one guy a little bit farther it looks like that and a little bit farther it looks like that it never finishes so in fact you completely fill this region with creases it's like a dense region of creases now this would be a [ __ ] default i don't recommend you try it and this is really a situation where this algorithm fails the good news is if i move any of these vertices the cut vertices the tiniest amount this will disappear i really had to be very careful and get lots of degeneracy for this to happen we don't actually know how to prove that it's a conjecture that if you take any cut any graph of cuts you want to make and you perturb the vertices in a tiny epsilon disk then the resulting thing will not have this density behavior i'm totally sure it's true but we don't have a proof so that's life this is why i said skeleton method works almost always they're these in annoying situations where it doesn't really give you a crease pattern so you feel like unless you somehow think this is legitimate to make infinitely many creases but i don't think so um all right let me tell you a few more things to make this practical for you you wanna what you really want is a mountain valley assignment before i showed you lots of perpendiculars and skeleton edges and basically the way it works is if you look at any skeleton edge like this one it's bisecting in this case a convex angle so i make it a mountain here red is mountain blue is valley dot dash is mountain dash is valley as is standard whenever i'm bisecting a reflex angle then i make the uh skeleton edge valley and that's basically true convex angles mountains reflex angles valleys that's for the straight skeleton edges yeah uh like this fold or this one oh this guy yeah all right this is a bit of a special case here i'm really bisecting an angle of zero if you extend these guys out they meet at infinity and they form a zero angle because they're parallel and i call zero a convex angle but i just define it that way and so this is a mountain uh whereas like this guy it's bisecting it's barely convex is that really a mountain no it's a typo good this one should be a valley pretty sure yeah it should be about wow this is a weird crease pattern it's not a straight skeleton there never mind this picture i know there's always a bug i think there's a there's a typo in the book as we say how did you how did i make the initial pattern the turtle i just draw some do something look like a turtle anything i i happen to draw this on a grid but there's no reason i had to because the other one that you're explaining that they have so many increases happening and by moving them around vertices i mean then the increments that you're creating they're not uh what's the what's the relationship between those increments are you so in this example i designed the ratios to be really nasty like a root 2 over 10 ratio or something the whole thing will if i perturb these vertices at all the whole thing will fall apart i won't get these 180 degree turns things will end up going off to infinity i the hard part here is actually the irrational ratio is quite common what's uncommon in this picture is that this thing is closed up and you never escape almost always there'll be a little gap and you'll eventually reach the gap and then go off to infinity so that's what happens in the typical case oh if you drew a picture on the grid this would never happen that you can prove yeah uh square grid probably also the triangular grid you need to be a little careful because you want all these constructions to stay on the grid but i think something like that is true okay let's move on to how we construct a folded state when this algorithm works when it gives a valid crease pattern you know that's locally flat foldable because it satisfies kawasaki but how do we actually know that it globally folds flat to do that you have to describe what it looks like after it's folded and our the idea here is to look at what we call corridors but are essentially discrete versions of rivers from tree theory so you have these constant width strips that turn at skeleton edges and they could go off to infinity on both sides in general they could loop around and meet themselves again but in this case they actually all go to infinity and if you look at one of those strips you can actually just like cut this out of your your textbook just slice it up and uh look at how it's folding well i mean it meets a skeleton edge and then maybe it meets a cut edge usually you don't fold those then it meets another skeleton edge it just meets edges one at a time it's never complicated because we've divided along all these perpendicular folds you really only meet one edge at a time which is good in fact if you fold if you look at one of these skeleton edges it's creased along normally you think of that as an angular bisector of let's see these two cut edges but you can also think of it as an angular bisector of these two perpendicular folds because if you if you bisect these two things you also bisect two things that are perpendicular to them it's like two wrongs make a right somehow okay so this guy bisects those two creases so if you fold along here actually you align these creases it's kind of it's a duality you're aligning the perpendicular folds i fold along here you line up this fold with that one this fold with that one i fold here i line up this this fold with that one there's really there's like a zero length fold that's there you fold along all these things you line up this with itself and so on so you follow along this thing this corridor folds down to basically a rectangle it's got some rough edges on the top and the bottom but it lies in a in a strip in 3d i think i have a picture of that so i took the one over here this blue corridor and if you fold it up it looks like this okay now in particular you can check at this point it's pretty easy to check because of all this bisector-ness bisector goodness that you bring into alignment all the cut edges so for example this guy because it bisects that cut edge and that cut edge brings them into alignment and you can see that somewhere on this picture i think it's these two guys it can be a little more complicated like over here i have a cut edge then i have a bisector and then a bisector and then a bisector and then another cut edge but if you think about it right it's you know i don't happen to meet these uh cut edges but i'm effectively bringing this into alignment with this and then this into alignment with this and then this into alignment with that so in the end i aligned this with that and that's what's happening up here on the left where i don't quite come all the way down but i still end up lining everything up so this is a solution to the fold and cut problem as long as it actually folds and to show that it actually folds you just need to show that these uh corridors or i forget i think we call these accordions it's been a long time this is 98 for this paper you take these accordions and you just want to see how they fit together and lo and behold they fit together in a tree in this picture it gets more complicated in another picture which i will show you in a moment but in in this situation where every quarter goes off to infinity on both sides you get a nice tree structure and as long as you can fold this tree flat then you can fold this thing flat because each of these edges of the tree is this very simple accordion structure which is trivi trivially folds flat and if the other thing you have to check here is you actually alternate mountain valley that's a little more subtle especially when i don't draw the mountain valley assignment but it turns out you always alternate between mountain and valley in this picture which is great that's the thing we always we know always folds flat it's like a 1d folding so these are super easy to fold you can fold each of them if you cut along all the dashed lines you can fold each separately then you need to join them together and where the edges here just like entry theory the edges here correspond to these rivers and now you need to somehow attach them here check that where you attach them there's no crossings that's i'm not going to describe but it's pretty easy it's planarity essentially of that diagram and then you need to fold this tree flat folding a tree flat is actually kind of a segue into next lecture which will be about folding linkages in this case it's really easy you just pick up some root like the letter a over there and you hang the tree pull up technically this is like a depth-first search of the tree so you just walk down always walk down until you're finished then you go back up walk down some more branches you'll end up drawing everything downward away from a and it will be a flat folding there won't be any crossings here and then this is a 1d representation of what's really going on which is that above each of these edges are is really an accordion and you need to join them together there but we basically do this modular folding where you fold each accordion separately put them together according to this boom you get your flat folding from this picture you can read out the mountain valley assignments for the perpendicular folds this looks like a valley this looks like a valley this looks like a perpendicular fold i didn't use because there's no there's no crease there that's flat uh where's a mountain mountain's probably at the top at a what really happens if you want to know really what we're deciding is whether this starts mountain or valley then it will actually alternate back and forth but as you move along perpendicular that's basically how you construct a folded state in this situation of so-called linear corridors now there are a bunch of things i haven't mentioned but i think i don't want to talk about them too much so i get onto the other topics so uh what i just talked about is something called the linear corridor case which is really where it's the most beautiful this construction of a folded state and linear corridor intuitively something like this it goes off to infinity on both sides has constant width all the way of course it's really a discrete thing not a smooth thing uh let me say conjecture if your cut graph has a maximum degree two that means at most two edges at every vertex this is a very common scenario this is if you want to make a polygon every vertex has degree two you might make several polygons every vertex has degree two i'll even let you have vertices of degree one or zero for free but mainly we're thinking about degree 2 everywhere then we almost always have a linear quarters so this is why this situation is interesting although unfortunately this is still a conjecture i'm sure this is true but proving it i don't quite know the right techniques so in this typical situation you take any picture you want you slightly perturb every vertex randomly say then with probability one hundred percent probability you will get only linear quarters and that's the situation where it turns into a tree it's easy to fold life is good the annoying case is circular corridor case this takes a lot more work to prove and i'm not going to talk about it much circular corridor looks like this okay we had these in with rivers also so you just loop around still constant width everywhere but you meet yourself and you don't go out to infinity it's harder why is it harder well in particular if you look at how one quarter folds it's no longer it's like the same situation we had in like lectures two and three where we had on the one hand a 1d folding was really easy but then when you made it circular he's folding a circle instead of folding a line segment now you had this wrap around issue so like these guys would have to line up it turns out they will line up because everything is bisecting whatnot these edges will line up but now you have to join them together and if this part went all the way down here and came back up then you'd get an intersection and it turns out in general i get i get a choice of who's first and who's last i have a circular order of things and i get to choose where i break that circular order and make it a linear order where i do the wrap around there are some circular corridors you can't even break them and make it work it's kind of depressing so this is definitely harder in that sometimes it's not possible but we can save a little bit which is i don't have an example handy i wish i did i'll have to reconstruct it this is so long ago uh here's a way to make it definitely work fold all the cut edges okay so far in pictures i've been drawing i didn't fold along the cut edges because i really wanted to separate the green region here from the yellow region if i folded this up this is quite a complicated one to fold you get the cut lines somewhere like like over there and then the green stuff will be always above the cut line and the yellow stuff will be below the cut line in general this is called a side assignment you have a bunch of regions you decide which ones do you want to be above and which ones do you want to be below and usually you have polygons and you say the interiors are above and the exteriors are below but in general you could ask for anything you want you could say maybe i want both of these to be above if you make both of them above you have to valley fold along all of the cut lines so if you do that you say i want all regions to be above the cut line you can still line them up you end up folding along all the cut edges with valleys and then wrap around is super easy you take you take this thing in fact everyone's folding along the black lines so really everybody comes down to the floor and then the wrap around is just underneath the floor and life is good so that's one way to deal with this case and you have to prove that that works it's complicated uh i would rather go on to other topics i do think this would make a fun project it's not easy to make these crease patterns currently we draw them always by hand meaning with a fancy drawing program that knows how to do angular bisectors and it's it's an art to move around the points so that you get lots of alignments like when you get four straight skeleton edges coming together that means you get fewer creases that's a good thing whenever you can make that happen it's a win if you could give me software to help do that i would love you yeah so let's move on any questions about the straight skeleton method now i'm going to switch over to disk packing all right same problem but now i'll give you a method that always works in theory just uh difficult in practice i think this is good chalk because it's yellow generally if it's yellow on the outside it is a railroad shock which is the good stuff but what's the problem is we have bad erasers it's it's persistence of vision you just get to remember what i used to write uh i think i don't want to write down the algorithm it's complicated i want to give you a visual overview of the main steps because there's nice figures to do that for us so um we start with a very complicated shape we want to make like this quadrilateral and you can see disc packing is involved the very first thing we do and i'll tell you why in a moment is thicken the graph you want to build so maybe it's a polygon maybe it's a graph i'll think about the polygon case for now because it's easier then i'll come back to the general case i thicken it by a tiny epsilon just offset in both directions just like as if you're starting the straight skeleton method but then you stop after epsilon no events happen in epsilon time okay then i have this picture the purple stuff pink stuff whatever magenta 50 magenta i happen to know drew this figure now i'm going to take some 50 cyan discs and pack them to fill this region now what i want there's three properties i want one is that every vertex but you have to think about each region separately because a little bit confusing let's think about the outside it's a little easier bigger every vertex of this graph on the outside should be the center of a disc so there's a disc centered here there's a disc centered here so just centered here and just centered there on the inside it's also true they're just different disks then also i want the edges of the graph to be covered by radii of disks right so here's a radius of one disk here's a diameter of a disk here's a radius of a disk that covers the edge so in other words i want to fill along the edge i want to have a bunch of centers so that i completely cover that edge with blue we'll see why later questions uh the discs have to be non-overlapping so these properties are actually quite challenging to achieve your question is why do we use small discs this because if i had a big disc here it would intersect this disc uh now i didn't have to make that disc so big but if i made that one smaller i'd have to have more discs here so or here there's also two small discs that one i'm probably could have gotten away with a bigger disc uh oh no but then on the inside you have a problem so these guys actually have to match up that's another constraint and the inside and the outside have to match up here there's a slight change in radii to compensate for the epsilon along the edges they're exactly the same so if i made this one a big disc it would overlap this one so i could make that one smaller but then it's other problems so you have to simultaneously balance all these constraints which is a bit exciting um what else the distance overlap the last property is that the gaps between the disks have always three or four sides why because i want it to it'll make life easier you could try to deal with more sides but three and four is nice uh yeah i'll get to that why do we care about number of sides because i'm going to draw a graph i'm going to subdivide my original graph here with these red lines to say whenever disks kiss i will draw connect the centers of those disks and because these gaps always have three or four sides uh that's not the best example here's like three sides the the red lines i draw will outline a triangle whenever i have three sides whenever i have four sides i'll have a quadrilateral so i've subdivided my regions into triangles and quadrilaterals okay for you have to believe that this is possible i can sketch an algorithm for you uh which is you draw a tiny disk at each of the corners and then you draw lots of tiny discs along the edges to fill the edges and that will satisfy everything i mean the discs will be non-overlapping because they're super tiny they won't get near any other discs from some other side and what other good things oh the but the regions will be ginormous they won't have three or four sides they'll have hundred sides million sides who knows well uh whenever you have some crazy region outlined by disks might not be convex whatever just draw the biggest disc you can in there get turned into a disc eventually uh that does not intersect anybody but if it's the biggest possible it will actually touch at least three sides if your degenerate it might touch four but in general it will touch three sides which will subdivide that region into three pieces and you can show that those pieces are all a little bit smaller than what you had before in terms of number of sides except when you start with a quadrilateral when there's four sides you'll get quadrilaterals and triangles so you can't go below three and four be great if we could always get down to three sides in every region but we can get down to three or four anything bigger than three or four you can show this will make it strictly smaller so that is an algorithm it's not super efficient but it will find a disk packing with all these properties then we do the subdivision now what do you think we're going to do what do we do with the triangles gravity here that's the key phrase for today so remember our good friend the rabbit ear and then there was the universal molecule length the universal molecule for the quadrilateral we're going to use that for the quadrilaterals and it turns out there's some nice properties here which is uh the perpendicular folds of the rabbit ear will always hit right at the kissing point between the two discs and same thing in in here we've got these four discs we've got this quadrilateral region in between and the perpendicular folds that come out of these two points you may not remember exactly what's happening here is we shrink and then in in the tree method this became an active path there's no notion of activepads here but we just make that so that these perpendicular folds will end up hitting the kissing discs and we'll end up actually with a four-armed starfish in in terms of the tree you get and the articulatable flaps here it these guys will all meet at a point that's just the way this works with disc packing and you can think of that you can think of there being discs here and you're actually applying the tree method to that flap pattern and that's that's probably the easiest way to think about it but what's good for us do i have a picture not yet but the point is i perpendicular is coming out of here i have perpendiculars coming out of here they will meet because these discs kiss uh at the same point up from both viewed from both sides perpendicular is meet that's good that means i don't get perpendiculars bouncing out all over the place so all this work is to make sure perpendiculars are well behaved it's a lot of work to do it but it does it now when you fold this thing uh what we end up doing is lining up remember there was there was two copies of my polygon there's the inner copy in the outer copy i end up lining up all of these guys i got to go back to the other picture i'm sorry so we have this inner copy and what these molecules end up doing is lining up all the edges of this quad all the edges of this quad all the edges of this triangle all those edges on the inside will become lined up on one edge all the lines on the outside become lined up on another line turns out it will be parallel to that line but what we really wanted to line up were these edges and you can see why we had to do the offset at the beginning because otherwise we get tons of extra junk on our line we only want these edges on our line so we did the offset so that all this stuff will come to one line all this stuff on the outside will come to another line and then we get this picture so this is one line at the bottom another line at the top we really wanted to line up stuff uh the the blue stuff there and there's still some junk on our line these these uh cyan triangles represent things that come from down here but we really don't want them to cross our line they just happen to so we have to sink them repeatedly do lots of folds to make them underneath that epsilon line then we can cut along our line and we're done easy to prove that this works give you a little sketch this is kind of fun and it's it's one piece of what we're in the process of doing for tree maker this is sort of like a special case of tree maker you just have very simple molecules and relatively simple way in which they are combined so you have here i've done a simpler example i want to make a square and i end up decomposing in this case into nine molecules nine quadrilateral molecules very simple disc packing which i have not shown the disc packing here the idea is i'm gonna make some cuts in my paper to make my problem easier i'm gonna have to pay for that because later i really want those edges joined i have to glue them back together but to make it easier to think about i cut those four edges so that the way in which my molecules are connected to each other is a tree because i like trees they're easier to think about easier to do induction over so that's the blue lines are connecting the centers in a tree the other remaining edges in the grid have been cut away now the idea is it's kind of like what i was drawing for the linear corridor case you have a tree you pick up the tree from some node and just hang it down and in this case we hang it from this molecule the red edges are mountain so these three of these are going to be valley one mountain so the idea is this thing reaches around the next guy juices around the next guy which is around the next guy and there's actually there's two valleys here two little pockets each of this guy goes in that pocket this guy goes in that pocket and recursively it just works i think i have a picture of what's actually happening here yeah it's it's hard to really draw but each of these forearm starfish has one mountain and three valleys and you just nestle inside your parent in the tree and this is really easy to show that there's no crossings here because you just come you just join to your parent and it's a nice nesting structure it's just in the same way that trees can be folded flat uh you can fold all these molecules flat and and join them together in a tree but we didn't really have a tree we had all those extra cuts that we have to re-suture so we have this picture and now we really have to join up these edges and think about what the mountain valley assignment is there and it works uh this is this green thing is the boundary and then i've connected the dots each of these dots corresponds to one green edge here i forget whether it's this edge or what that one i think it's just a single edge and so yeah for example these two are these two joints and then the joins above that nestle around it and then the other branch at the top are these two joins and then the leftmost cut are these two joints you have to make these joins and really all you need to check is that these joints form a non-crossing picture like they do here and that's almost obvious because this is a planar diagram and we're cutting along a planar tree and so this is again a depth first search kind of thing so it's there's one tree we call the dual tree here that works because it's a tree then there's the cuts you make which are different trees primal tree if you want and that also works because of planarity and it all works that's the hand wavy version and you can read the textbook if you want more details uh oh gosh if you want to solve uh more general graphs you can do it in general you get you have to offset all of those cut lines and you get all these things and along the uh pink lines here you line things up but you really wanted to line up the these blue lines purple lines and so you have to do more sinking to get it to work now i have all the things i want to line up on this line and this line i fold in the middle and now they're lined up ah if i fold in the middle yeah that will work good we might have to do more sinking all right questions about the disc packing method so a bit of a whirlwind tour but i wanted to get through it quickly to tell you about a new result just got accepted to a conference to appear in october pretty soon and it's a project that started in this class in the problem session three years ago and we just solved it took a while took another co-author to join in and it goes back to the early history of folding cut which is simple folds all the magicians were using simple folds what can you make with simple folds now you've been wowed endowed that you can make anything with arbitrary folds but simple folds you cannot make anything because the first fold you make say this one has to be a line of symmetry of your diagram i've got to stop making my life hard if you can fold something you can never unfold it that's the usual simple fold model this has to line up the cuts you want to line up over here better exactly be the cuts you want to line up here so you can only make symmetric diagrams the first fold has to be a line of reflectional symmetry but is that the only property you need no you kind of have to have symmetry for a while until you're done how do you formalize that well we came up with an algorithm that in polynomial time so an efficient algorithm will tell you whether a given polygon can be made like this polygon looks good i think yeah i think this can be made so i think i would fold along angular bisector here and then this basically disappears folding over then i would fold along an angular bisector here and then this disappears into that and then maybe i can fold here does that work barely i mean i got to make sure this blank paper does not come onto that but if that's a problem i can probably make well i can make a fold here for example shrinks that up there's lots of things you can do and this is a borderline case whether it's yes or no i will give you an algorithm that does it for polygons with margin a bit of a technical condition something that is pretty typical what i mean is the thing you're trying to cut out does not meet the boundary of the paper there's no margin here it'd be hard to print out so i really want something that has margin that's the typical case we care about but you actually need this for the proof to work we also need that it's a single polygon uh it does not work with general graphs this algorithm because more complicated things can happen it might be np hard for all we know the general case so here's the algorithm maybe i'll give you number form first thing you do is guess the first fold this is a a powerful idea that even most algorithmicists don't necessarily know the idea is what could the first fold be has to be a line of reflectional symmetry turns out there's a linear number of them at most you can find them in linear time with all these good algorithms for finding them but which fold do i make first the answer is i don't care let's just try them all one at a time this is what i call guessing just imagine from now on that we made the right guess but if you end up failing later on in this algorithm just go back to here try the next one there's only n of them to try so you're going to multiply the running time of the rest of the algorithm by n and if this is n to like n squared say which i think the rest of the algorithm is n squared the whole algorithm will be n cubed because you just run this over and over for each possible first fold we don't have a great theory to find the first fold just try them all that's step one step two that's the only guess we're going to make fold down to convex hull this is a central idea so we have this this uh polygon we want to make there's all this extra blank paper i don't like extra black paper just get rid of it make lots of folds that fold the blank paper onto itself till it gets so tiny it just goes slightly around the convex hull convex hall is the smallest convex polygon that contains your shape so be like that it'll reduce the paper down to that i'm going to do this a lot i might as well it makes the problem easier because i have less blank space to worry about blank space is a problem because if i fold blank space onto a cut it's bad it's not allowed so the next thing we do is make the best possible safe fold i need to define that but a safe fold is just the folds we're trying to make which is line locally there are lines of symmetry so like this one was a good fold after i had made this fold so this is all all the right stuff here is gone it's a good good fold because it folds this onto this and it folds blank space onto this blank space so anything that comes into on top of each other is identical that's a safe fold and repeat that's the algorithm how does that work why does this work so it's the obvious algorithm basically it says make safe folds until you're done if you finish then you've you're done and then the answer is yes if you don't finish which is a little hard to check because you can always make microscopic folds but you sort of take the limit and uh it's possible to do this in polynomial time you find that oh turns out i can't finish by making say folds then you can show that actually there was no way to make that pattern by simple folds so let me give you an idea of why that's true after i make a single fold the first fold my picture looks like this it's no longer a polygon it's it's like half a polygon it ends at the boundary of the paper it begins and ends at the boundary paper and you have some chain in the middle call this a passage it's like path you wander along and i want to somehow bring all those edges into alignment this here i'm already using that it's a polygon if it weren't a polygon there might be more than one of these now i want to make a fold like for example this fold is safe because it folds this onto this and it folds blank space on the bank blank space if i drew it right and keep doing that now when i make a fold like this what happens is i can think of this region that i folded the smaller side as disappearing right it just got absorbed into the paper here so my the graph that i was trying to line up got smaller that's clearly a good thing makes my problem easier the piece of paper i was folding also got smaller that's a good thing but that's not always true suppose you had a piece of paper like this which could happen after a bunch of folding and then you fold along a long line like that because for example your passage looks like that or something when i make the fold this has to go off when i make the folds i get you know this crazy thing not drawn to scale and this polygon does not fit inside this polygon so my paper got bigger in some places and that's a worry because now i have this stuff maybe it happens to be blank space maybe there's other junk that got out here and now i have to worry about collisions with this bigger piece of paper and this is always our sticking point but there's some magic you can do in fact the picture cannot look like this because look you've got some portion of your passage to the left of the crease you've got some portion of the passage to the right one of them has to be shorter plus this is a line of symmetry so wherever i have a portion of my passage over here i will have a portion of my passage over here until i run out of length one of them is shorter so the shorter one like this one gets totally absorbed by the larger one so shorter side always disappears so in this picture i have the long side of my passage and it's really a subset of the original if i reduce this to the convex hull just like this this stuff disappears and in general if you do this fold down a convex hull this repeat it goes back to step two if you fold down to the convex hall you can show that not only does your passage the thing you want to cut out get smaller but your piece of paper also gets smaller guaranteed and once once you know the paper gets smaller and your the things you're trying to align get smaller you know that every move is safe so you never get stuck by following this algorithm this works for polygons with margin but not in any other situation as far as we can tell um cool the last thing i wanted to leave you on is going out a little a little away from regular 2d flat sheets of paper you can generalize and go up a dimension to a folding polyhedra surface here a surface of a polyhedron you've probably done this you take a cereal box you can collapse it flat is that always possible this is called the flattening problem and the answer is yes and you can think of it as a folding cut problem because with the fold and cut problem you have some polygon like this diamond you make some collection of folds that brings the boundary of the diamond to a line so if you forget about what's happening on the inside of the paper you just look at the boundary of the paper you're folding that one dimensional boundary so that it collapses down to a single line what i want to do is this upper dimension i take a 3d cube of paper solid cube i have would be embedded within it some some polygons that i want to bring to a common plane and i want to fold the solid cube through four dimensions mind you but flat so it ends up back in three dimensions i get a different 3d solid but there with multiple layers right on top of each other a little bit of fourth dimension hanging out there but if i just look at what's happening to the boundary of my polyhedron say i start with a dodecahedron or something embed it in there and i i want to fold this thing so that all the sides of the dodecahedron come to a common plane that is the 3d folding cut problem it remains unsolved i suspect it's possible to solve even with straight skeletons and perpendiculars but it's really hard to draw the pictures so we have not resolved that one way or the other but the boundary problem forget about what's happening to the interior and the exterior of the kedron if you just look at the surface of the dodecahedron that you can fold in 3d we think and you can show and burn in haze from the complexity proof couple lectures ago and also on this disc packing method their co-authors they proved just two years ago that if you have any orientable manifold which is things like polyhedra but no mobius strips no klein bottles and other ugly things they have to be manifolds so you're not allowed to say join three triangles together along a single edge that would be forbidden so it's locally flat in such a case you can flatten the thing and the proof is very similar to the disc packing method of folding cut and in the in the textbook we talk about how to apply that to do something that's just like a sphere a regular polyhedron that's pretty easy to do with the disc packing method they generalize it to the case where you have polyhedral doughnuts and all sorts of fun things but there's tons of open problems here so we know how to flatten surfaces and that's useful for things like folding airbags flat but can you fold the 3d solid flat uh you can think of where we're we have here 1d edges which we are collapsing to a 1d line there's also zero dimensional points here which we don't bring to a single point it'd be nice if you could the generalized fold and cut problem is you take a d dimensional thing and you have all of these uh there's zero one two three up to d dimensional parts to it or d minus one dimensional parts you wanna bring each of them down into alignment so that all the vertices come to a common point all the edges come to a common line all the faces two-dimensional faces come to a common plane and so on up the dimension hierarchy that is the ultimate open problem i think we end the book with it and it's totally unsolved any questions that's folding and cutting paper and next time we'll start linkages 2 00:00:04,070 --> 00:00:07,590 all right um today i think is the last lecture at least for the while uh about origami and i'm gonna talk about where i got started thinking about origami mathematics which is the folding cut problem and this is sort of motivated by a magic trick the idea is you take a piece of paper you fold it flat you make one complete straight cut so you cut along a line and you unfold the pieces and the question is what shapes can you get by that process so this is like a magic trick i showed you making a swan which i have here just for jog your memory you have a rectangle paper and you can see the swan on there and you can see a bunch of creases you fold along all the creases not the swan lines and you end up with all the edges of the swan lying right along that line you cut along the line and you get your swan as we did before and you also get the anti-swan the other piece i didn't show that last time but it's really it's not like we're making we're not allowed to make any extra creases we really want this one all right so we cut we cut along exactly the edges of the swan by lining them up onto a line so really you can think of this as a magic trick in cutting but you can also think of it as an origami problem which is i want to line up all these edges by folding how do i do it and that way it connects to a lot of origami design problems this problem has an old history uh it goes back to 1721 this is the oldest reference we know this is a japanese puzzle book and i think this is kind of like it's called mathematical contests is the translation and it's sort of like uh the old version of uh like these big problem solving sessions that kids do these days for to get better at math and one of the pages poses this problem i have this japanese emblem shape can i make it from a piece of paper by folding in one straight cut and the answer is yes and this is a solution if you cheat and look in the back of the book so i'll let you read that for a minute and you're making folds along lines that end up lining up other parts of the the shape so that in the end everything lies along the line then you cut along the line uh we learned about this a bit later than the original our we learned about this problem from martin gardner originally and he knew about the magic world so houdini before he was an escape artist he was a general magician and in 1922 he he wrote or probably had ghost written this book houdini's paper magic and one of the pages is about folding and it says here you can take a square paper fold it flat make one straight cut and get a regular five-pointed star and that was pretty cool uh and then other magicians picked it up in particular this guy gerald lowe wrote this book paper capers or some more like it's a very small book magic book and he can make all sorts of different things and he would incorporate them into magic tricks and he was primarily using simple folds he would just fold along one line at a time and make all these make one straight cut and make all these cool patterns like here i have one of his examples redone to start from a rectangle i fold i fold i fold i fold these are all simple folds i take my scissors i make one complete straight cut and usually when i perform this trick i say look i made an isosceles triangle wow i made five isosceles triangles amazing and then i made everything except the five isosceles triangles right so you're you saw that coming so and you could make an arrangement of five of these if you want all that sort of very symmetric stuff is easy to do by simple folds i'll talk more about simple folds later but we were really curious about the the general challenge so this is the sort of you can download this from my webpage if you want to make one it's pretty it's a it's a fun trick um good but i have some more interesting examples so here i have a rectangle folded and i make one complete straight cut and this one has actually a line of symmetry so i fold it in half at the beginning so i get an angelfish all right you're not impressed keep going there's another one one straight cut can go all day here i mean the point of today's lecture is to see how this is done in general here we have a butterfly all right you guys are tough to impress here uh here we go here's the this one is is theme thematic it's almost october so it's sort of appropriate make one straight cut i haven't done this one in quite a while and get tons of pieces and if i'm lucky open it up the right way around so jack-o'-lantern wow it's amazing how is it possible so obviously you can make many shapes all at once that's the general idea here i i'll admit i cheated here because i wanted kids to be able to fold this the the outer octagon is cut initially okay so it's not from a rectangle just to make it easier to fold but you could do it all at once and now the big demo all right in fact it's so big i think i might want to use the x-acto knife uh we'll try we'll try with scissors it's got a lot of layers oh yeah so i usually bring my own scissors from the other side they're better scissors that's what's special about my scissors all right time for the x-acto knife make sure i'm only cutting along the boundary between red and white and my lecture notes yeah who needs those it's flat getting there a little more cutting i believe all the pieces in this case are rectangles that's exciting all right straight cut right i don't remember which way this one opens just like this this should be the mit logo this one i encourage you to try at home it's uh it's pretty crazy it's definitely hard folding i'm getting used to it now all right so you can make anything is the point some are a little more difficult because they have more layers and so on if i did made it out of thinner paper like some of the magicians do it is super easy onion skin paper or something i think i have some pictures of the crease patterns if you want to see what these look like and these are all available for download you want to impress your friends go for it all right they all use slightly different color coatings but it's mountain or valley and so we want to see how to how to make these so let me state the theorem first we have our good friend the universality result which is any set of line segments on your piece of paper can be i'll phrase it as can be aligned by flat folding aligned means when you make the flat folding all those segments come onto a common line nothing else comes to that line and therefore you cut along the line you get exactly those line segments and there are two methods for solving this problem the first one is what i call the straight skeleton method and second one i'll call the disc packing method by slightly different authors this one was me my dad and my advisor anna libu this one was marshall byrne me david epstein barry hayes this one slightly after this one this is sort of my first computational origami paper and they're quite different i mean at a high level this one's practical this one is theoretically good but impractical this one's actually theoretically bad in a few situations which we'll get to but it works very well almost always in a formal sense of almost always this one always works but it's a challenge to fold all of the examples i showed you are made with the straight skeleton method so that's the idea that's we're going to talk about both of them and first i have a warm-up three warm-ups all right suppose you had a square paper and you wanted to make a single cut what folding do i do nothing that was easy uh let's say i have two lines i want to make what should i do fold between them fold the lines onto each other which is angular bisector if i extend the lines and i bisect the angle there then i will fold one line to the other i brought one just so you totally obvious you have two lines you fold along the angular bisector of their extensions it lines up the lines and nothing else okay a little more exciting what if i had a triangle how would you line up the edges of the triangle and nothing else rabbit ear yes this rabbit ear is you fold along the three angular bisectors of the triangle this is something we talked about in the tree method this is one of the sort of gadgets we use in one of where these were active paths and so you fold along those angular bisectors angular bisectors intuitively are very good because locally they line up edges so if i fold along all three of them and you may know they always meet at a point uh then i kind of line up all those edges if i just fold along those three edges it won't be flat foldable it's like this floppy thing uh and so i've added in these perpendicular the purple lines to give me my hinges so i can manipulate these arms you don't have to use all of them but then you can flatten it and now along this line are all the black guys all the black lines you've got a bunch of flat foldings all right so general idea and in the straight skeleton method what we're going to use are angular bisectors and perpendicular folds perpendicular folds are also good because they locally locally folds a reflection if you fold flat so this line will fold on top of this line so perpendiculars are good angular bisectors are good if you fold along all of them you should line everything up that's the intuition and the question is how do i fold along enough angular bisectors in perpendicular so it actually folds flat and that is the straight skeleton or one way to do that is a straight skeleton and this actually was invented a few years earlier 95 96 by a couple of austrians i was an eye culture actually four people sorry so let me write down a definition and then we will i'll show you what it means we've seen a thing like this very briefly in the universal molecule but this is going to be more general in some sense and actually why don't i put up an image of one while we're on defining it all right so it is trajectory of the vertices of the desired cut pattern that's our input the graph of edges we want to cut out as we simultaneously shrink each region that's every face outlined by those cuts keeping edges parallel and a uniform perpendicular distance from the original edges so it's a bit of a mouthful let me uh draw some pictures well let's maybe start with a triangle so the idea with triangle is you shrink this is really the wrong order to do things i want to shrink there's two regions for the triangle is the inside and the outside if i shrink the inside i get these parallel lines all i want all of these distances to be equal those are the perpendicular distances i keep shrinking and at some point i can't shrink anymore because i get a single point the incenter of the triangle if i watch where did the vertices go during that time it's along angular bisectors hey our good friends angular bisectors now i do the same thing on the outside shrinking the outside region is like expanding the triangle because as i expand the triangle the outside gets smaller area so actually it's just the same thing i get concentric triangles and i just keep going along the angular bisectors so that's it it's not going to give us the perpendicular folds it's just the angular bisector parts you can still see the triangle in there somewhere okay that's a really simple example and the only event that happened is that the polygon disappeared when that happens you stop with that particular polygon in general there are three things that can happen call these vents three interesting things one is that an edge disappears so for example if locally i have a picture like this and i shrink and i shrink and i shrink at some point what's happening is these angular bisectors are meeting and now i've i lost this edge shrank to zero length so i just forget about the edge pretend it was never there just keep shrinking now what is these two edges so i shrink and i shrink and i shrink what happens is in some sense these vertices merge these edges merge and now i have one guy going straight up there and what is that edge doing it's not an angular bisector of this or this but it's an angular bisector of the extension of these two lines right because if you if you look at this one of these these two edges they are parallel to the two originals so if you bisect those parallel offsets it's the same thing as bisecting the original edges in extension okay so this looks good because these two folds will line up those two edges or this fold will line up these two edges this fold will line up those two edges this fold will line up these two edges and we're doing kind of extra alignment but everything looks kosher good so when an edge disappears you just forget about it all right forget let's probably forget about something like that all right then we have a region can disappear that's what happened with the triangle and then again you forget about it there may be many regions you have to keep shrinking the other regions but when one disappears you're done third thing that can happen is that a region splits so let's look at an interesting polygon this one with straight edges and when i shrink this guy see what's happening is this edge is approaching that vertex at some point they will meet and what we're left with are two triangles in this case in general you split into two parts you just keep shrinking the parts so it's it's not really like you're stopping at any point it's just the same thing over and over but if you're implementing this on a computer you really have to realize that that happens otherwise you'd shrink them beyond each other and it would be self-intersecting and ugly but you do the obvious thing which is you cut where they split and what will happen in this case with straight skeleton is you keep going along an angular bisector until that little triangle stops there's one more edge here so that's what the straight skeleton will look like this edge is an angular bisector of this one this one this edge is an angular bisector of this one and this one in general if you look at an edge and you see what original edge can i reach without crossing another skeleton edge those are the two that you bisect so it's really easy to see you look at this guy only two i can reach are this one and this one i look at this one the only two i can reach for that one and that one so it's an angular bisector of those two in fact in general if you finish the outside here too it's the same deal and then yeah all right enough here's a bigger example a little turtle drawn on a triangular grid and you can see there's angular bisectors this is the straight skeleton this guy for example bisects this horizontal edge and this horizontal edge that's a little bit of a boundary case you have to think about but this is the right interpretation it's like an angle of 180 so you bisect it to 90. there are fun features here we get a little bit of action on the outside of the polygon so far we haven't seen that so like these guys meet and there is some uh bigger sorry there's a bigger turtle here somewhere that's hard to draw anyway what's happening is this edge is shrinking to zero while this one is offsetting down this way and this one's offsetting down this way so the new turtle ends up being like that and so on you're shrinking every face so in general you have a whole bunch of polygons or i mean in general we're allowing crazy things like this as this pattern of cuts i want to make maybe you want to cut your square into five pieces i'm going to shrink each of them separately or in parallel it doesn't actually matter so in this case it's just going to be five angular bisectors in general there are several regions you shrink all of them a lot of the time we think about polygons and then there's two regions to shrink and it looks like you're expanding the turtle to go out but really you're shrinking the outside region just happens to be there's one infinite region that one looks weird a couple other special cases because i want to do any graph not just polygons you could have something that just terminates uh so a degree one vertex only has one edge incident to it in this case it's not quite well defined what to do because you offset this and you offset this but what happens here and there you it's sort of arbitrary you can do whatever you want but the simplest thing you can do is to make a imagine that there's a little vertical segment here that happens to be length zero and it expands into the edge of a rectangle so you end up with these two 45 degree angular bisect bisectors between this vertical edge and the horizontal one but it's you have some flexibility there you can design it how you want the other case you can have is a degree zero vertex there are no edges here this is a little funny and the way i defined it i just said i wanted to align line segments but you can also align points if you really feel like it and that would be represented by a dot that has no cuts next to it if you want to cut out just this point i need to make it something you could think of it as a tiny triangle for consistency with this picture we think of it as a little square and so we when you expand it or when you shrink the outside region you get four 45-degree folds this is actually how i culture it all defined it back in 96 and it's a fine definition but you have flexibility here in your design process they'll all work and this would let you take a whole bunch of points align them onto a common line and nothing else is on that line because these folds are going to push everything surrounding the point away from the line all right some fun facts straight skeleton is nice and small if you have an original points and line segments in your desired cut pattern the straight skeleton has a linear and n number of line segments linear number of creases so order n uh other fun facts there's a one-to-one correspondence between the edges you want to cut along like let me pick one over here maybe like this this is an edge i want to cut along and regions of the straight skeleton so here's a region a face of the straight skeleton this guy there's exactly one cut edge inside that this is always the case you look everywhere here every region of the straight skeleton it's more obvious if i color them different colors there's one cut edge inside and all of those guys that surround that cut edge bisect that edge and another one and the other one is the one on the other side and generally you take one of the straight skeleton edges there are two sides there's two faces of the straight skeleton this one's crazy non-convex this one's just a little infinite triangle down here and that edge bisects those two cut edges so it's very easy to walk around the structure see what it bisects lots of things get bisected but it's not flat foldable so we're not done and that's where we need the perpendiculars so so all right down in definition and maybe show picture we're going for there's a lot of structures here there's what i call the cut graph the things we're trying to make and then there's this straight skeleton which you can think of as a graph drawn on the paper there's vertices of straight skeleton which you call skeleton vertices regions of straight skeleton which we call skeleton regions edges of the cut graph which we call cut edges and so on we're going to add a new graph which is the perpendicular graph which you can think of as hinges from the tree method of origami design so what is this what does it mean we started a straight skeleton vertex usually there are three skeleton edges coming together at a vertex sometimes there are more like this guy there's four and there are three if there's three edges coming together there are three skeleton regions for each one each of those regions has one cut edge in it so we try to walk perpendicular and toward that cut edge so here i walk perpendicular i mean at right angles here i just go off to infinity here i walk perpendicular to this cut edge and that's that's cool but then i hit i leave the skeleton region at that point i enter a new skeleton region which is this one it's non-convex thing it contains one cut edge and when i where was i here i entered now i want to move perpendicular to that cut edge so that when i cross it i cross it perpendicularly now i enter a new region it contains this cut edge i move perpendicular to it and i don't actually cross it but i enter a new region now i'm in the region of this cut edge so i move perpendicular to that and wow i hit another skeleton vertex i stop okay this example is because it's on a triangular grid there's lots of degeneracies like that usually you'd eventually go off to infinity or come around and meet yourself here i happen to hit a different vertex you do that at all the vertices all the skeleton vertices now there are some weird ones like this one notice there are no no purple lines coming out from here and that's because every region you try to enter you immediately leave so if i tried there's four regions here try each one of them it's like this region has this cut edge if i tried to go perpendicular to it i'd enter a different region so i can't actually go at all it's like i i move and then i instantly stop so you can think of there being a very like a zero radius little uh thing there that's sort of the degenerate case of a river being a disk river being a circle same thing going on all of in general when you have reflex vertices in their angular bisectors meeting you're going to lose some perpendiculars because you can't enter them here's another one where i just have one perpendicular edge coming out this this one i can reach but if i try to be perpendicular to either these i enter the wrong region that's the perpendicular folds and that's pretty much the crease pattern there are technically a few other folds you have to deal with but that is if you want to make something right now just apply those two algorithms and you get your shape just fold along that crease pattern it will be flat foldable almost always why is it flat foldable so one thing we can check is local flat foldability at least satisfies kawasaki's condition because at a typical vertex you're going to have three skeleton edges coming together and so there are three faces here each of them has a cut edge somewhere hopefully i draw this reasonably well and should have the property that when i extend these it didn't draw it so well when i extend these these are angular bisectors that's we know these skeleton edges will angularly bisect two cut edges the two cut edges that are defined by these guys so i should get angular bisector here pretend those meet angular bisector here and then i also have perpendicular folds so they may not actually meet this guy but if they did they certainly meet the extension hey that's our good friend the rabbit ear just regular triangle fold and in particular you can see that these angles are equal i'll call this three prime it's it's like 180 minus that i think i'm mistaken and this is one prime not the best notation and these are two prime and two prime and so i've got these nice angle pairings that means if i add the odd angles i get the even angle same thing so i definitely have kawasaki's theorem everywhere you can check it works even when you have these degenerate situations where uh three or more than three skeleton edges come together for the same reason you still get a pairing just more than three of them all right but some exciting things can happen so i'm going to look at proving foldability but one exciting thing that can happen is you get a lot of perpendicular folds at a very few original cut lines so here i'm trying to make this weird pinwheel shape i want i want to cut out the bold lines of the cut lines so i want to cut out the square and then these four squares arranged in a pinwheel pattern around that one why you'd want to do that i don't know but we're mathematicians so we want to consider all the cases so the straight skeleton is the thin black lines and that's linear size that's nice but the perpendiculars if this piece of paper is infinite the number of perpendiculars is infinite if you have a finite piece of paper which is what you usually buy in the store then it's a finite number of creases so in any finite region this is a finite number of creases but it's a lot of them so that's one sad thing you can't bound the number of creases as a function of the number of cut lines but i think that's actually necessary i don't think it's possible to solve this problem while bounding the number of creases in terms of the number of cut lines but that's one of the open problems written down on one of these pictures one of these slot lecture notes something else even more annoying though it happens even in a finite piece of paper and it's even more obscure why you'd want to make this but the bold blue lines are the cuts and then the thin black lines are the straight skeleton you can tell this spans many years because i keep changing notational style and this is from the textbook and then you get these perpendicular folds i haven't drawn all of them but these dash lines the light blue and this example is set up so that let me get this right this width is an irrational multiple of this width or this width one of those things are irrational uh so they're not very nice numbers and and what i need to do to finish this picture is these guys go they enter a new skeleton region they're actually going to keep going straight because there's two cut lines that are parallel to each other it's going to go up there and it's going to cycle around let me do one round uh who did i move this guy so this guy i just extended down he's going to turn around make 180 degree turn and you can check that each of these you're set up to do 180 degree turn around this axis around this axis on the bottom and on the top around this axis and around this axis depending wherever you enter it's like a race track keep going around and around and if you follow that one guy a little bit farther it looks like that and a little bit farther it looks like that it never finishes so in fact you completely fill this region with creases it's like a dense region of creases now this would be a [ __ ] default i don't recommend you try it and this is really a situation where this algorithm fails the good news is if i move any of these vertices the cut vertices the tiniest amount this will disappear i really had to be very careful and get lots of degeneracy for this to happen we don't actually know how to prove that it's a conjecture that if you take any cut any graph of cuts you want to make and you perturb the vertices in a tiny epsilon disk then the resulting thing will not have this density behavior i'm totally sure it's true but we don't have a proof so that's life this is why i said skeleton method works almost always they're these in annoying situations where it doesn't really give you a crease pattern so you feel like unless you somehow think this is legitimate to make infinitely many creases but i don't think so um all right let me tell you a few more things to make this practical for you you wanna what you really want is a mountain valley assignment before i showed you lots of perpendiculars and skeleton edges and basically the way it works is if you look at any skeleton edge like this one it's bisecting in this case a convex angle so i make it a mountain here red is mountain blue is valley dot dash is mountain dash is valley as is standard whenever i'm bisecting a reflex angle then i make the uh skeleton edge valley and that's basically true convex angles mountains reflex angles valleys that's for the straight skeleton edges yeah uh like this fold or this one oh this guy yeah all right this is a bit of a special case here i'm really bisecting an angle of zero if you extend these guys out they meet at infinity and they form a zero angle because they're parallel and i call zero a convex angle but i just define it that way and so this is a mountain uh whereas like this guy it's bisecting it's barely convex is that really a mountain no it's a typo good this one should be a valley pretty sure yeah it should be about wow this is a weird crease pattern it's not a straight skeleton there never mind this picture i know there's always a bug i think there's a there's a typo in the book as we say how did you how did i make the initial pattern the turtle i just draw some do something look like a turtle anything i i happen to draw this on a grid but there's no reason i had to because the other one that you're explaining that they have so many increases happening and by moving them around vertices i mean then the increments that you're creating they're not uh what's the what's the relationship between those increments are you so in this example i designed the ratios to be really nasty like a root 2 over 10 ratio or something the whole thing will if i perturb these vertices at all the whole thing will fall apart i won't get these 180 degree turns things will end up going off to infinity i the hard part here is actually the irrational ratio is quite common what's uncommon in this picture is that this thing is closed up and you never escape almost always there'll be a little gap and you'll eventually reach the gap and then go off to infinity so that's what happens in the typical case oh if you drew a picture on the grid this would never happen that you can prove yeah uh square grid probably also the triangular grid you need to be a little careful because you want all these constructions to stay on the grid but i think something like that is true okay let's move on to how we construct a folded state when this algorithm works when it gives a valid crease pattern you know that's locally flat foldable because it satisfies kawasaki but how do we actually know that it globally folds flat to do that you have to describe what it looks like after it's folded and our the idea here is to look at what we call corridors but are essentially discrete versions of rivers from tree theory so you have these constant width strips that turn at skeleton edges and they could go off to infinity on both sides in general they could loop around and meet themselves again but in this case they actually all go to infinity and if you look at one of those strips you can actually just like cut this out of your your textbook just slice it up and uh look at how it's folding well i mean it meets a skeleton edge and then maybe it meets a cut edge usually you don't fold those then it meets another skeleton edge it just meets edges one at a time it's never complicated because we've divided along all these perpendicular folds you really only meet one edge at a time which is good in fact if you fold if you look at one of these skeleton edges it's creased along normally you think of that as an angular bisector of let's see these two cut edges but you can also think of it as an angular bisector of these two perpendicular folds because if you if you bisect these two things you also bisect two things that are perpendicular to them it's like two wrongs make a right somehow okay so this guy bisects those two creases so if you fold along here actually you align these creases it's kind of it's a duality you're aligning the perpendicular folds i fold along here you line up this fold with that one this fold with that one i fold here i line up this this fold with that one there's really there's like a zero length fold that's there you fold along all these things you line up this with itself and so on so you follow along this thing this corridor folds down to basically a rectangle it's got some rough edges on the top and the bottom but it lies in a in a strip in 3d i think i have a picture of that so i took the one over here this blue corridor and if you fold it up it looks like this okay now in particular you can check at this point it's pretty easy to check because of all this bisector-ness bisector goodness that you bring into alignment all the cut edges so for example this guy because it bisects that cut edge and that cut edge brings them into alignment and you can see that somewhere on this picture i think it's these two guys it can be a little more complicated like over here i have a cut edge then i have a bisector and then a bisector and then a bisector and then another cut edge but if you think about it right it's you know i don't happen to meet these uh cut edges but i'm effectively bringing this into alignment with this and then this into alignment with this and then this into alignment with that so in the end i aligned this with that and that's what's happening up here on the left where i don't quite come all the way down but i still end up lining everything up so this is a solution to the fold and cut problem as long as it actually folds and to show that it actually folds you just need to show that these uh corridors or i forget i think we call these accordions it's been a long time this is 98 for this paper you take these accordions and you just want to see how they fit together and lo and behold they fit together in a tree in this picture it gets more complicated in another picture which i will show you in a moment but in in this situation where every quarter goes off to infinity on both sides you get a nice tree structure and as long as you can fold this tree flat then you can fold this thing flat because each of these edges of the tree is this very simple accordion structure which is trivi trivially folds flat and if the other thing you have to check here is you actually alternate mountain valley that's a little more subtle especially when i don't draw the mountain valley assignment but it turns out you always alternate between mountain and valley in this picture which is great that's the thing we always we know always folds flat it's like a 1d folding so these are super easy to fold you can fold each of them if you cut along all the dashed lines you can fold each separately then you need to join them together and where the edges here just like entry theory the edges here correspond to these rivers and now you need to somehow attach them here check that where you attach them there's no crossings that's i'm not going to describe but it's pretty easy it's planarity essentially of that diagram and then you need to fold this tree flat folding a tree flat is actually kind of a segue into next lecture which will be about folding linkages in this case it's really easy you just pick up some root like the letter a over there and you hang the tree pull up technically this is like a depth-first search of the tree so you just walk down always walk down until you're finished then you go back up walk down some more branches you'll end up drawing everything downward away from a and it will be a flat folding there won't be any crossings here and then this is a 1d representation of what's really going on which is that above each of these edges are is really an accordion and you need to join them together there but we basically do this modular folding where you fold each accordion separately put them together according to this boom you get your flat folding from this picture you can read out the mountain valley assignments for the perpendicular folds this looks like a valley this looks like a valley this looks like a perpendicular fold i didn't use because there's no there's no crease there that's flat uh where's a mountain mountain's probably at the top at a what really happens if you want to know really what we're deciding is whether this starts mountain or valley then it will actually alternate back and forth but as you move along perpendicular that's basically how you construct a folded state in this situation of so-called linear corridors now there are a bunch of things i haven't mentioned but i think i don't want to talk about them too much so i get onto the other topics so uh what i just talked about is something called the linear corridor case which is really where it's the most beautiful this construction of a folded state and linear corridor intuitively something like this it goes off to infinity on both sides has constant width all the way of course it's really a discrete thing not a smooth thing uh let me say conjecture if your cut graph has a maximum degree two that means at most two edges at every vertex this is a very common scenario this is if you want to make a polygon every vertex has degree two you might make several polygons every vertex has degree two i'll even let you have vertices of degree one or zero for free but mainly we're thinking about degree 2 everywhere then we almost always have a linear quarters so this is why this situation is interesting although unfortunately this is still a conjecture i'm sure this is true but proving it i don't quite know the right techniques so in this typical situation you take any picture you want you slightly perturb every vertex randomly say then with probability one hundred percent probability you will get only linear quarters and that's the situation where it turns into a tree it's easy to fold life is good the annoying case is circular corridor case this takes a lot more work to prove and i'm not going to talk about it much circular corridor looks like this okay we had these in with rivers also so you just loop around still constant width everywhere but you meet yourself and you don't go out to infinity it's harder why is it harder well in particular if you look at how one quarter folds it's no longer it's like the same situation we had in like lectures two and three where we had on the one hand a 1d folding was really easy but then when you made it circular he's folding a circle instead of folding a line segment now you had this wrap around issue so like these guys would have to line up it turns out they will line up because everything is bisecting whatnot these edges will line up but now you have to join them together and if this part went all the way down here and came back up then you'd get an intersection and it turns out in general i get i get a choice of who's first and who's last i have a circular order of things and i get to choose where i break that circular order and make it a linear order where i do the wrap around there are some circular corridors you can't even break them and make it work it's kind of depressing so this is definitely harder in that sometimes it's not possible but we can save a little bit which is i don't have an example handy i wish i did i'll have to reconstruct it this is so long ago uh here's a way to make it definitely work fold all the cut edges okay so far in pictures i've been drawing i didn't fold along the cut edges because i really wanted to separate the green region here from the yellow region if i folded this up this is quite a complicated one to fold you get the cut lines somewhere like like over there and then the green stuff will be always above the cut line and the yellow stuff will be below the cut line in general this is called a side assignment you have a bunch of regions you decide which ones do you want to be above and which ones do you want to be below and usually you have polygons and you say the interiors are above and the exteriors are below but in general you could ask for anything you want you could say maybe i want both of these to be above if you make both of them above you have to valley fold along all of the cut lines so if you do that you say i want all regions to be above the cut line you can still line them up you end up folding along all the cut edges with valleys and then wrap around is super easy you take you take this thing in fact everyone's folding along the black lines so really everybody comes down to the floor and then the wrap around is just underneath the floor and life is good so that's one way to deal with this case and you have to prove that that works it's complicated uh i would rather go on to other topics i do think this would make a fun project it's not easy to make these crease patterns currently we draw them always by hand meaning with a fancy drawing program that knows how to do angular bisectors and it's it's an art to move around the points so that you get lots of alignments like when you get four straight skeleton edges coming together that means you get fewer creases that's a good thing whenever you can make that happen it's a win if you could give me software to help do that i would love you yeah so let's move on any questions about the straight skeleton method now i'm going to switch over to disk packing all right same problem but now i'll give you a method that always works in theory just uh difficult in practice i think this is good chalk because it's yellow generally if it's yellow on the outside it is a railroad shock which is the good stuff but what's the problem is we have bad erasers it's it's persistence of vision you just get to remember what i used to write uh i think i don't want to write down the algorithm it's complicated i want to give you a visual overview of the main steps because there's nice figures to do that for us so um we start with a very complicated shape we want to make like this quadrilateral and you can see disc packing is involved the very first thing we do and i'll tell you why in a moment is thicken the graph you want to build so maybe it's a polygon maybe it's a graph i'll think about the polygon case for now because it's easier then i'll come back to the general case i thicken it by a tiny epsilon just offset in both directions just like as if you're starting the straight skeleton method but then you stop after epsilon no events happen in epsilon time okay then i have this picture the purple stuff pink stuff whatever magenta 50 magenta i happen to know drew this figure now i'm going to take some 50 cyan discs and pack them to fill this region now what i want there's three properties i want one is that every vertex but you have to think about each region separately because a little bit confusing let's think about the outside it's a little easier bigger every vertex of this graph on the outside should be the center of a disc so there's a disc centered here there's a disc centered here so just centered here and just centered there on the inside it's also true they're just different disks then also i want the edges of the graph to be covered by radii of disks right so here's a radius of one disk here's a diameter of a disk here's a radius of a disk that covers the edge so in other words i want to fill along the edge i want to have a bunch of centers so that i completely cover that edge with blue we'll see why later questions uh the discs have to be non-overlapping so these properties are actually quite challenging to achieve your question is why do we use small discs this because if i had a big disc here it would intersect this disc uh now i didn't have to make that disc so big but if i made that one smaller i'd have to have more discs here so or here there's also two small discs that one i'm probably could have gotten away with a bigger disc uh oh no but then on the inside you have a problem so these guys actually have to match up that's another constraint and the inside and the outside have to match up here there's a slight change in radii to compensate for the epsilon along the edges they're exactly the same so if i made this one a big disc it would overlap this one so i could make that one smaller but then it's other problems so you have to simultaneously balance all these constraints which is a bit exciting um what else the distance overlap the last property is that the gaps between the disks have always three or four sides why because i want it to it'll make life easier you could try to deal with more sides but three and four is nice uh yeah i'll get to that why do we care about number of sides because i'm going to draw a graph i'm going to subdivide my original graph here with these red lines to say whenever disks kiss i will draw connect the centers of those disks and because these gaps always have three or four sides uh that's not the best example here's like three sides the the red lines i draw will outline a triangle whenever i have three sides whenever i have four sides i'll have a quadrilateral so i've subdivided my regions into triangles and quadrilaterals okay for you have to believe that this is possible i can sketch an algorithm for you uh which is you draw a tiny disk at each of the corners and then you draw lots of tiny discs along the edges to fill the edges and that will satisfy everything i mean the discs will be non-overlapping because they're super tiny they won't get near any other discs from some other side and what other good things oh the but the regions will be ginormous they won't have three or four sides they'll have hundred sides million sides who knows well uh whenever you have some crazy region outlined by disks might not be convex whatever just draw the biggest disc you can in there get turned into a disc eventually uh that does not intersect anybody but if it's the biggest possible it will actually touch at least three sides if your degenerate it might touch four but in general it will touch three sides which will subdivide that region into three pieces and you can show that those pieces are all a little bit smaller than what you had before in terms of number of sides except when you start with a quadrilateral when there's four sides you'll get quadrilaterals and triangles so you can't go below three and four be great if we could always get down to three sides in every region but we can get down to three or four anything bigger than three or four you can show this will make it strictly smaller so that is an algorithm it's not super efficient but it will find a disk packing with all these properties then we do the subdivision now what do you think we're going to do what do we do with the triangles gravity here that's the key phrase for today so remember our good friend the rabbit ear and then there was the universal molecule length the universal molecule for the quadrilateral we're going to use that for the quadrilaterals and it turns out there's some nice properties here which is uh the perpendicular folds of the rabbit ear will always hit right at the kissing point between the two discs and same thing in in here we've got these four discs we've got this quadrilateral region in between and the perpendicular folds that come out of these two points you may not remember exactly what's happening here is we shrink and then in in the tree method this became an active path there's no notion of activepads here but we just make that so that these perpendicular folds will end up hitting the kissing discs and we'll end up actually with a four-armed starfish in in terms of the tree you get and the articulatable flaps here it these guys will all meet at a point that's just the way this works with disc packing and you can think of that you can think of there being discs here and you're actually applying the tree method to that flap pattern and that's that's probably the easiest way to think about it but what's good for us do i have a picture not yet but the point is i perpendicular is coming out of here i have perpendiculars coming out of here they will meet because these discs kiss uh at the same point up from both viewed from both sides perpendicular is meet that's good that means i don't get perpendiculars bouncing out all over the place so all this work is to make sure perpendiculars are well behaved it's a lot of work to do it but it does it now when you fold this thing uh what we end up doing is lining up remember there was there was two copies of my polygon there's the inner copy in the outer copy i end up lining up all of these guys i got to go back to the other picture i'm sorry so we have this inner copy and what these molecules end up doing is lining up all the edges of this quad all the edges of this quad all the edges of this triangle all those edges on the inside will become lined up on one edge all the lines on the outside become lined up on another line turns out it will be parallel to that line but what we really wanted to line up were these edges and you can see why we had to do the offset at the beginning because otherwise we get tons of extra junk on our line we only want these edges on our line so we did the offset so that all this stuff will come to one line all this stuff on the outside will come to another line and then we get this picture so this is one line at the bottom another line at the top we really wanted to line up stuff uh the the blue stuff there and there's still some junk on our line these these uh cyan triangles represent things that come from down here but we really don't want them to cross our line they just happen to so we have to sink them repeatedly do lots of folds to make them underneath that epsilon line then we can cut along our line and we're done easy to prove that this works give you a little sketch this is kind of fun and it's it's one piece of what we're in the process of doing for tree maker this is sort of like a special case of tree maker you just have very simple molecules and relatively simple way in which they are combined so you have here i've done a simpler example i want to make a square and i end up decomposing in this case into nine molecules nine quadrilateral molecules very simple disc packing which i have not shown the disc packing here the idea is i'm gonna make some cuts in my paper to make my problem easier i'm gonna have to pay for that because later i really want those edges joined i have to glue them back together but to make it easier to think about i cut those four edges so that the way in which my molecules are connected to each other is a tree because i like trees they're easier to think about easier to do induction over so that's the blue lines are connecting the centers in a tree the other remaining edges in the grid have been cut away now the idea is it's kind of like what i was drawing for the linear corridor case you have a tree you pick up the tree from some node and just hang it down and in this case we hang it from this molecule the red edges are mountain so these three of these are going to be valley one mountain so the idea is this thing reaches around the next guy juices around the next guy which is around the next guy and there's actually there's two valleys here two little pockets each of this guy goes in that pocket this guy goes in that pocket and recursively it just works i think i have a picture of what's actually happening here yeah it's it's hard to really draw but each of these forearm starfish has one mountain and three valleys and you just nestle inside your parent in the tree and this is really easy to show that there's no crossings here because you just come you just join to your parent and it's a nice nesting structure it's just in the same way that trees can be folded flat uh you can fold all these molecules flat and and join them together in a tree but we didn't really have a tree we had all those extra cuts that we have to re-suture so we have this picture and now we really have to join up these edges and think about what the mountain valley assignment is there and it works uh this is this green thing is the boundary and then i've connected the dots each of these dots corresponds to one green edge here i forget whether it's this edge or what that one i think it's just a single edge and so yeah for example these two are these two joints and then the joins above that nestle around it and then the other branch at the top are these two joins and then the leftmost cut are these two joints you have to make these joins and really all you need to check is that these joints form a non-crossing picture like they do here and that's almost obvious because this is a planar diagram and we're cutting along a planar tree and so this is again a depth first search kind of thing so it's there's one tree we call the dual tree here that works because it's a tree then there's the cuts you make which are different trees primal tree if you want and that also works because of planarity and it all works that's the hand wavy version and you can read the textbook if you want more details uh oh gosh if you want to solve uh more general graphs you can do it in general you get you have to offset all of those cut lines and you get all these things and along the uh pink lines here you line things up but you really wanted to line up the these blue lines purple lines and so you have to do more sinking to get it to work now i have all the things i want to line up on this line and this line i fold in the middle and now they're lined up ah if i fold in the middle yeah that will work good we might have to do more sinking all right questions about the disc packing method so a bit of a whirlwind tour but i wanted to get through it quickly to tell you about a new result just got accepted to a conference to appear in october pretty soon and it's a project that started in this class in the problem session three years ago and we just solved it took a while took another co-author to join in and it goes back to the early history of folding cut which is simple folds all the magicians were using simple folds what can you make with simple folds now you've been wowed endowed that you can make anything with arbitrary folds but simple folds you cannot make anything because the first fold you make say this one has to be a line of symmetry of your diagram i've got to stop making my life hard if you can fold something you can never unfold it that's the usual simple fold model this has to line up the cuts you want to line up over here better exactly be the cuts you want to line up here so you can only make symmetric diagrams the first fold has to be a line of reflectional symmetry but is that the only property you need no you kind of have to have symmetry for a while until you're done how do you formalize that well we came up with an algorithm that in polynomial time so an efficient algorithm will tell you whether a given polygon can be made like this polygon looks good i think yeah i think this can be made so i think i would fold along angular bisector here and then this basically disappears folding over then i would fold along an angular bisector here and then this disappears into that and then maybe i can fold here does that work barely i mean i got to make sure this blank paper does not come onto that but if that's a problem i can probably make well i can make a fold here for example shrinks that up there's lots of things you can do and this is a borderline case whether it's yes or no i will give you an algorithm that does it for polygons with margin a bit of a technical condition something that is pretty typical what i mean is the thing you're trying to cut out does not meet the boundary of the paper there's no margin here it'd be hard to print out so i really want something that has margin that's the typical case we care about but you actually need this for the proof to work we also need that it's a single polygon uh it does not work with general graphs this algorithm because more complicated things can happen it might be np hard for all we know the general case so here's the algorithm maybe i'll give you number form first thing you do is guess the first fold this is a a powerful idea that even most algorithmicists don't necessarily know the idea is what could the first fold be has to be a line of reflectional symmetry turns out there's a linear number of them at most you can find them in linear time with all these good algorithms for finding them but which fold do i make first the answer is i don't care let's just try them all one at a time this is what i call guessing just imagine from now on that we made the right guess but if you end up failing later on in this algorithm just go back to here try the next one there's only n of them to try so you're going to multiply the running time of the rest of the algorithm by n and if this is n to like n squared say which i think the rest of the algorithm is n squared the whole algorithm will be n cubed because you just run this over and over for each possible first fold we don't have a great theory to find the first fold just try them all that's step one step two that's the only guess we're going to make fold down to convex hull this is a central idea so we have this this uh polygon we want to make there's all this extra blank paper i don't like extra black paper just get rid of it make lots of folds that fold the blank paper onto itself till it gets so tiny it just goes slightly around the convex hull convex hall is the smallest convex polygon that contains your shape so be like that it'll reduce the paper down to that i'm going to do this a lot i might as well it makes the problem easier because i have less blank space to worry about blank space is a problem because if i fold blank space onto a cut it's bad it's not allowed so the next thing we do is make the best possible safe fold i need to define that but a safe fold is just the folds we're trying to make which is line locally there are lines of symmetry so like this one was a good fold after i had made this fold so this is all all the right stuff here is gone it's a good good fold because it folds this onto this and it folds blank space onto this blank space so anything that comes into on top of each other is identical that's a safe fold and repeat that's the algorithm how does that work why does this work so it's the obvious algorithm basically it says make safe folds until you're done if you finish then you've you're done and then the answer is yes if you don't finish which is a little hard to check because you can always make microscopic folds but you sort of take the limit and uh it's possible to do this in polynomial time you find that oh turns out i can't finish by making say folds then you can show that actually there was no way to make that pattern by simple folds so let me give you an idea of why that's true after i make a single fold the first fold my picture looks like this it's no longer a polygon it's it's like half a polygon it ends at the boundary of the paper it begins and ends at the boundary paper and you have some chain in the middle call this a passage it's like path you wander along and i want to somehow bring all those edges into alignment this here i'm already using that it's a polygon if it weren't a polygon there might be more than one of these now i want to make a fold like for example this fold is safe because it folds this onto this and it folds blank space on the bank blank space if i drew it right and keep doing that now when i make a fold like this what happens is i can think of this region that i folded the smaller side as disappearing right it just got absorbed into the paper here so my the graph that i was trying to line up got smaller that's clearly a good thing makes my problem easier the piece of paper i was folding also got smaller that's a good thing but that's not always true suppose you had a piece of paper like this which could happen after a bunch of folding and then you fold along a long line like that because for example your passage looks like that or something when i make the fold this has to go off when i make the folds i get you know this crazy thing not drawn to scale and this polygon does not fit inside this polygon so my paper got bigger in some places and that's a worry because now i have this stuff maybe it happens to be blank space maybe there's other junk that got out here and now i have to worry about collisions with this bigger piece of paper and this is always our sticking point but there's some magic you can do in fact the picture cannot look like this because look you've got some portion of your passage to the left of the crease you've got some portion of the passage to the right one of them has to be shorter plus this is a line of symmetry so wherever i have a portion of my passage over here i will have a portion of my passage over here until i run out of length one of them is shorter so the shorter one like this one gets totally absorbed by the larger one so shorter side always disappears so in this picture i have the long side of my passage and it's really a subset of the original if i reduce this to the convex hull just like this this stuff disappears and in general if you do this fold down a convex hull this repeat it goes back to step two if you fold down to the convex hall you can show that not only does your passage the thing you want to cut out get smaller but your piece of paper also gets smaller guaranteed and once once you know the paper gets smaller and your the things you're trying to align get smaller you know that every move is safe so you never get stuck by following this algorithm this works for polygons with margin but not in any other situation as far as we can tell um cool the last thing i wanted to leave you on is going out a little a little away from regular 2d flat sheets of paper you can generalize and go up a dimension to a folding polyhedra surface here a surface of a polyhedron you've probably done this you take a cereal box you can collapse it flat is that always possible this is called the flattening problem and the answer is yes and you can think of it as a folding cut problem because with the fold and cut problem you have some polygon like this diamond you make some collection of folds that brings the boundary of the diamond to a line so if you forget about what's happening on the inside of the paper you just look at the boundary of the paper you're folding that one dimensional boundary so that it collapses down to a single line what i want to do is this upper dimension i take a 3d cube of paper solid cube i have would be embedded within it some some polygons that i want to bring to a common plane and i want to fold the solid cube through four dimensions mind you but flat so it ends up back in three dimensions i get a different 3d solid but there with multiple layers right on top of each other a little bit of fourth dimension hanging out there but if i just look at what's happening to the boundary of my polyhedron say i start with a dodecahedron or something embed it in there and i i want to fold this thing so that all the sides of the dodecahedron come to a common plane that is the 3d folding cut problem it remains unsolved i suspect it's possible to solve even with straight skeletons and perpendiculars but it's really hard to draw the pictures so we have not resolved that one way or the other but the boundary problem forget about what's happening to the interior and the exterior of the kedron if you just look at the surface of the dodecahedron that you can fold in 3d we think and you can show and burn in haze from the complexity proof couple lectures ago and also on this disc packing method their co-authors they proved just two years ago that if you have any orientable manifold which is things like polyhedra but no mobius strips no klein bottles and other ugly things they have to be manifolds so you're not allowed to say join three triangles together along a single edge that would be forbidden so it's locally flat in such a case you can flatten the thing and the proof is very similar to the disc packing method of folding cut and in the in the textbook we talk about how to apply that to do something that's just like a sphere a regular polyhedron that's pretty easy to do with the disc packing method they generalize it to the case where you have polyhedral doughnuts and all sorts of fun things but there's tons of open problems here so we know how to flatten surfaces and that's useful for things like folding airbags flat but can you fold the 3d solid flat uh you can think of where we're we have here 1d edges which we are collapsing to a 1d line there's also zero dimensional points here which we don't bring to a single point it'd be nice if you could the generalized fold and cut problem is you take a d dimensional thing and you have all of these uh there's zero one two three up to d dimensional parts to it or d minus one dimensional parts you wanna bring each of them down into alignment so that all the vertices come to a common point all the edges come to a common line all the faces two-dimensional faces come to a common plane and so on up the dimension hierarchy that is the ultimate open problem i think we end the book with it and it's totally unsolved any questions that's folding and cutting paper and next time we'll start linkages 3 00:00:07,590 --> 00:00:10,790 4 00:00:10,790 --> 00:00:13,990 5 00:00:13,990 --> 00:00:15,270 6 00:00:15,270 --> 00:00:15,280 7 00:00:15,280 --> 00:00:20,550 8 00:00:20,550 --> 00:00:25,269 9 00:00:25,269 --> 00:00:29,589 10 00:00:29,589 --> 00:00:29,599 11 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--> 00:10:03,350 248 00:10:03,350 --> 00:10:05,350 249 00:10:05,350 --> 00:10:08,550 250 00:10:08,550 --> 00:10:11,190 251 00:10:11,190 --> 00:10:14,389 252 00:10:14,389 --> 00:10:16,550 253 00:10:16,550 --> 00:10:18,069 254 00:10:18,069 --> 00:10:21,750 255 00:10:21,750 --> 00:10:23,829 256 00:10:23,829 --> 00:10:26,069 257 00:10:26,069 --> 00:10:27,670 258 00:10:27,670 --> 00:10:27,680 259 00:10:27,680 --> 00:10:29,269 260 00:10:29,269 --> 00:10:30,949 261 00:10:30,949 --> 00:10:33,509 262 00:10:33,509 --> 00:10:36,069 263 00:10:36,069 --> 00:10:36,079 264 00:10:36,079 --> 00:10:36,630 265 00:10:36,630 --> 00:10:38,710 266 00:10:38,710 --> 00:10:40,310 267 00:10:40,310 --> 00:10:43,030 268 00:10:43,030 --> 00:10:44,550 269 00:10:44,550 --> 00:10:48,150 270 00:10:48,150 --> 00:10:50,870 271 00:10:50,870 --> 00:10:53,190 272 00:10:53,190 --> 00:10:55,990 273 00:10:55,990 --> 00:10:56,000 274 00:10:56,000 --> 00:10:57,430 275 00:10:57,430 --> 00:11:00,949 276 00:11:00,949 --> 00:11:03,430 277 00:11:03,430 --> 00:11:06,150 278 00:11:06,150 --> 00:11:09,590 279 00:11:09,590 --> 00:11:09,600 280 00:11:09,600 --> 00:11:10,710 281 00:11:10,710 --> 00:11:13,670 282 00:11:13,670 --> 00:11:13,680 283 00:11:13,680 --> 00:11:16,470 284 00:11:16,470 --> 00:11:18,870 285 00:11:18,870 --> 00:11:20,949 286 00:11:20,949 --> 00:11:24,389 287 00:11:24,389 --> 00:11:28,949 288 00:11:28,949 --> 00:11:31,190 289 00:11:31,190 --> 00:11:32,710 290 00:11:32,710 --> 00:11:35,750 291 00:11:35,750 --> 00:11:37,190 292 00:11:37,190 --> 00:11:37,200 293 00:11:37,200 --> 00:11:38,069 294 00:11:38,069 --> 00:11:43,269 295 00:11:43,269 --> 00:11:49,509 296 00:11:49,509 --> 00:11:53,269 297 00:11:53,269 --> 00:11:54,550 298 00:11:54,550 --> 00:11:57,509 299 00:11:57,509 --> 00:12:01,430 300 00:12:01,430 --> 00:12:04,710 301 00:12:04,710 --> 00:12:06,629 302 00:12:06,629 --> 00:12:07,829 303 00:12:07,829 --> 00:12:10,150 304 00:12:10,150 --> 00:12:11,829 305 00:12:11,829 --> 00:12:13,670 306 00:12:13,670 --> 00:12:13,680 307 00:12:13,680 --> 00:12:15,269 308 00:12:15,269 --> 00:12:17,829 309 00:12:17,829 --> 00:12:19,590 310 00:12:19,590 --> 00:12:21,350 311 00:12:21,350 --> 00:12:22,790 312 00:12:22,790 --> 00:12:24,550 313 00:12:24,550 --> 00:12:26,790 314 00:12:26,790 --> 00:12:28,389 315 00:12:28,389 --> 00:12:30,069 316 00:12:30,069 --> 00:12:31,670 317 00:12:31,670 --> 00:12:32,550 318 00:12:32,550 --> 00:12:35,750 319 00:12:35,750 --> 00:12:38,790 320 00:12:38,790 --> 00:12:41,990 321 00:12:41,990 --> 00:12:43,829 322 00:12:43,829 --> 00:12:45,430 323 00:12:45,430 --> 00:12:46,230 324 00:12:46,230 --> 00:12:48,790 325 00:12:48,790 --> 00:12:50,069 326 00:12:50,069 --> 00:12:53,430 327 00:12:53,430 --> 00:12:53,440 328 00:12:53,440 --> 00:12:53,670 329 00:12:53,670 --> 00:12:57,110 330 00:12:57,110 --> 00:12:58,870 331 00:12:58,870 --> 00:13:00,870 332 00:13:00,870 --> 00:13:03,670 333 00:13:03,670 --> 00:13:05,269 334 00:13:05,269 --> 00:13:06,550 335 00:13:06,550 --> 00:13:08,310 336 00:13:08,310 --> 00:13:09,829 337 00:13:09,829 --> 00:13:12,550 338 00:13:12,550 --> 00:13:13,750 339 00:13:13,750 --> 00:13:15,190 340 00:13:15,190 --> 00:13:15,750 341 00:13:15,750 --> 00:13:17,829 342 00:13:17,829 --> 00:13:17,839 343 00:13:17,839 --> 00:13:19,190 344 00:13:19,190 --> 00:13:23,350 345 00:13:23,350 --> 00:13:24,790 346 00:13:24,790 --> 00:13:26,310 347 00:13:26,310 --> 00:13:28,949 348 00:13:28,949 --> 00:13:31,750 349 00:13:31,750 --> 00:13:44,069 350 00:13:44,069 --> 00:13:47,030 351 00:13:47,030 --> 00:13:47,829 352 00:13:47,829 --> 00:13:52,069 353 00:13:52,069 --> 00:13:54,310 354 00:13:54,310 --> 00:13:59,829 355 00:13:59,829 --> 00:14:01,509 356 00:14:01,509 --> 00:14:03,590 357 00:14:03,590 --> 00:14:06,870 358 00:14:06,870 --> 00:14:08,550 359 00:14:08,550 --> 00:14:11,509 360 00:14:11,509 --> 00:14:13,430 361 00:14:13,430 --> 00:14:31,509 362 00:14:31,509 --> 00:14:33,590 363 00:14:33,590 --> 00:14:35,110 364 00:14:35,110 --> 00:15:19,910 365 00:15:19,910 --> 00:15:21,590 366 00:15:21,590 --> 00:15:23,430 367 00:15:23,430 --> 00:15:24,550 368 00:15:24,550 --> 00:15:28,150 369 00:15:28,150 --> 00:15:30,150 370 00:15:30,150 --> 00:15:31,590 371 00:15:31,590 --> 00:15:34,069 372 00:15:34,069 --> 00:15:34,079 373 00:15:34,079 --> 00:15:34,629 374 00:15:34,629 --> 00:15:36,310 375 00:15:36,310 --> 00:15:38,629 376 00:15:38,629 --> 00:15:43,910 377 00:15:43,910 --> 00:15:46,790 378 00:15:46,790 --> 00:15:48,470 379 00:15:48,470 --> 00:15:52,230 380 00:15:52,230 --> 00:15:53,910 381 00:15:53,910 --> 00:15:53,920 382 00:15:53,920 --> 00:15:56,870 383 00:15:56,870 --> 00:15:58,470 384 00:15:58,470 --> 00:15:59,590 385 00:15:59,590 --> 00:15:59,600 386 00:15:59,600 --> 00:16:00,310 387 00:16:00,310 --> 00:16:03,749 388 00:16:03,749 --> 00:16:05,829 389 00:16:05,829 --> 00:16:07,030 390 00:16:07,030 --> 00:16:09,910 391 00:16:09,910 --> 00:16:11,990 392 00:16:11,990 --> 00:16:13,590 393 00:16:13,590 --> 00:16:15,189 394 00:16:15,189 --> 00:16:17,189 395 00:16:17,189 --> 00:16:18,629 396 00:16:18,629 --> 00:16:18,639 397 00:16:18,639 --> 00:16:19,350 398 00:16:19,350 --> 00:16:22,389 399 00:16:22,389 --> 00:16:23,430 400 00:16:23,430 --> 00:16:25,269 401 00:16:25,269 --> 00:16:27,110 402 00:16:27,110 --> 00:16:29,189 403 00:16:29,189 --> 00:16:29,199 404 00:16:29,199 --> 00:16:30,150 405 00:16:30,150 --> 00:16:31,509 406 00:16:31,509 --> 00:16:35,030 407 00:16:35,030 --> 00:16:37,430 408 00:16:37,430 --> 00:16:38,949 409 00:16:38,949 --> 00:16:40,629 410 00:16:40,629 --> 00:16:42,310 411 00:16:42,310 --> 00:16:43,990 412 00:16:43,990 --> 00:16:45,749 413 00:16:45,749 --> 00:16:47,430 414 00:16:47,430 --> 00:16:48,870 415 00:16:48,870 --> 00:16:48,880 416 00:16:48,880 --> 00:16:51,590 417 00:16:51,590 --> 00:16:53,749 418 00:16:53,749 --> 00:16:55,030 419 00:16:55,030 --> 00:16:57,670 420 00:16:57,670 --> 00:16:59,350 421 00:16:59,350 --> 00:17:03,829 422 00:17:03,829 --> 00:17:06,390 423 00:17:06,390 --> 00:17:08,230 424 00:17:08,230 --> 00:17:11,990 425 00:17:11,990 --> 00:17:15,270 426 00:17:15,270 --> 00:17:15,280 427 00:17:15,280 --> 00:17:16,829 428 00:17:16,829 --> 00:17:16,839 429 00:17:16,839 --> 00:17:21,429 430 00:17:21,429 --> 00:17:23,110 431 00:17:23,110 --> 00:17:24,870 432 00:17:24,870 --> 00:17:29,590 433 00:17:29,590 --> 00:17:32,549 434 00:17:32,549 --> 00:17:33,350 435 00:17:33,350 --> 00:17:36,630 436 00:17:36,630 --> 00:17:39,110 437 00:17:39,110 --> 00:17:40,230 438 00:17:40,230 --> 00:17:41,990 439 00:17:41,990 --> 00:17:43,430 440 00:17:43,430 --> 00:17:43,440 441 00:17:43,440 --> 00:17:43,830 442 00:17:43,830 --> 00:17:47,590 443 00:17:47,590 --> 00:17:50,789 444 00:17:50,789 --> 00:17:52,950 445 00:17:52,950 --> 00:17:55,270 446 00:17:55,270 --> 00:17:58,070 447 00:17:58,070 --> 00:18:00,310 448 00:18:00,310 --> 00:18:01,990 449 00:18:01,990 --> 00:18:04,070 450 00:18:04,070 --> 00:18:05,669 451 00:18:05,669 --> 00:18:05,679 452 00:18:05,679 --> 00:18:07,430 453 00:18:07,430 --> 00:18:11,270 454 00:18:11,270 --> 00:18:14,310 455 00:18:14,310 --> 00:18:16,150 456 00:18:16,150 --> 00:18:17,909 457 00:18:17,909 --> 00:18:17,919 458 00:18:17,919 --> 00:18:18,870 459 00:18:18,870 --> 00:18:20,630 460 00:18:20,630 --> 00:18:21,909 461 00:18:21,909 --> 00:18:24,549 462 00:18:24,549 --> 00:18:26,230 463 00:18:26,230 --> 00:18:27,909 464 00:18:27,909 --> 00:18:27,919 465 00:18:27,919 --> 00:18:29,430 466 00:18:29,430 --> 00:18:30,630 467 00:18:30,630 --> 00:18:31,990 468 00:18:31,990 --> 00:18:33,190 469 00:18:33,190 --> 00:18:34,950 470 00:18:34,950 --> 00:18:36,710 471 00:18:36,710 --> 00:18:40,830 472 00:18:40,830 --> 00:18:45,430 473 00:18:45,430 --> 00:18:50,150 474 00:18:50,150 --> 00:18:52,950 475 00:18:52,950 --> 00:18:52,960 476 00:18:52,960 --> 00:18:53,430 477 00:18:53,430 --> 00:18:57,830 478 00:18:57,830 --> 00:19:05,590 479 00:19:05,590 --> 00:19:08,870 480 00:19:08,870 --> 00:19:15,190 481 00:19:15,190 --> 00:19:16,549 482 00:19:16,549 --> 00:19:17,990 483 00:19:17,990 --> 00:19:19,029 484 00:19:19,029 --> 00:19:23,430 485 00:19:23,430 --> 00:19:29,909 486 00:19:29,909 --> 00:19:36,150 487 00:19:36,150 --> 00:19:40,950 488 00:19:40,950 --> 00:19:43,590 489 00:19:43,590 --> 00:19:47,270 490 00:19:47,270 --> 00:19:48,870 491 00:19:48,870 --> 00:19:53,990 492 00:19:53,990 --> 00:20:00,470 493 00:20:00,470 --> 00:20:02,149 494 00:20:02,149 --> 00:20:03,990 495 00:20:03,990 --> 00:20:05,990 496 00:20:05,990 --> 00:20:08,230 497 00:20:08,230 --> 00:20:09,909 498 00:20:09,909 --> 00:20:11,350 499 00:20:11,350 --> 00:20:13,669 500 00:20:13,669 --> 00:20:14,870 501 00:20:14,870 --> 00:20:16,310 502 00:20:16,310 --> 00:20:17,990 503 00:20:17,990 --> 00:20:19,510 504 00:20:19,510 --> 00:20:22,390 505 00:20:22,390 --> 00:20:24,549 506 00:20:24,549 --> 00:20:26,630 507 00:20:26,630 --> 00:20:28,230 508 00:20:28,230 --> 00:20:29,750 509 00:20:29,750 --> 00:20:31,750 510 00:20:31,750 --> 00:20:40,070 511 00:20:40,070 --> 00:20:43,830 512 00:20:43,830 --> 00:20:45,029 513 00:20:45,029 --> 00:20:46,549 514 00:20:46,549 --> 00:20:48,390 515 00:20:48,390 --> 00:20:49,909 516 00:20:49,909 --> 00:20:52,070 517 00:20:52,070 --> 00:20:55,830 518 00:20:55,830 --> 00:20:58,310 519 00:20:58,310 --> 00:21:00,390 520 00:21:00,390 --> 00:21:01,990 521 00:21:01,990 --> 00:21:03,590 522 00:21:03,590 --> 00:21:03,600 523 00:21:03,600 --> 00:21:04,070 524 00:21:04,070 --> 00:21:05,510 525 00:21:05,510 --> 00:21:07,270 526 00:21:07,270 --> 00:21:08,549 527 00:21:08,549 --> 00:21:10,070 528 00:21:10,070 --> 00:21:11,270 529 00:21:11,270 --> 00:21:12,630 530 00:21:12,630 --> 00:21:16,950 531 00:21:16,950 --> 00:21:19,990 532 00:21:19,990 --> 00:21:21,430 533 00:21:21,430 --> 00:21:24,149 534 00:21:24,149 --> 00:21:24,159 535 00:21:24,159 --> 00:21:25,110 536 00:21:25,110 --> 00:21:26,230 537 00:21:26,230 --> 00:21:28,230 538 00:21:28,230 --> 00:21:29,830 539 00:21:29,830 --> 00:21:31,430 540 00:21:31,430 --> 00:21:32,870 541 00:21:32,870 --> 00:21:34,230 542 00:21:34,230 --> 00:21:37,430 543 00:21:37,430 --> 00:21:39,669 544 00:21:39,669 --> 00:21:41,669 545 00:21:41,669 --> 00:21:43,750 546 00:21:43,750 --> 00:21:45,110 547 00:21:45,110 --> 00:21:46,070 548 00:21:46,070 --> 00:21:48,310 549 00:21:48,310 --> 00:21:50,230 550 00:21:50,230 --> 00:21:54,070 551 00:21:54,070 --> 00:21:55,669 552 00:21:55,669 --> 00:21:58,549 553 00:21:58,549 --> 00:22:01,750 554 00:22:01,750 --> 00:22:03,990 555 00:22:03,990 --> 00:22:05,669 556 00:22:05,669 --> 00:22:07,190 557 00:22:07,190 --> 00:22:07,200 558 00:22:07,200 --> 00:22:07,510 559 00:22:07,510 --> 00:22:10,830 560 00:22:10,830 --> 00:22:10,840 561 00:22:10,840 --> 00:22:12,149 562 00:22:12,149 --> 00:22:16,630 563 00:22:16,630 --> 00:22:19,110 564 00:22:19,110 --> 00:22:20,230 565 00:22:20,230 --> 00:22:20,240 566 00:22:20,240 --> 00:22:21,270 567 00:22:21,270 --> 00:22:23,990 568 00:22:23,990 --> 00:22:25,590 569 00:22:25,590 --> 00:22:27,909 570 00:22:27,909 --> 00:22:27,919 571 00:22:27,919 --> 00:22:28,950 572 00:22:28,950 --> 00:22:30,710 573 00:22:30,710 --> 00:22:32,630 574 00:22:32,630 --> 00:22:34,390 575 00:22:34,390 --> 00:22:35,750 576 00:22:35,750 --> 00:22:35,760 577 00:22:35,760 --> 00:22:37,750 578 00:22:37,750 --> 00:22:39,110 579 00:22:39,110 --> 00:22:41,270 580 00:22:41,270 --> 00:22:42,630 581 00:22:42,630 --> 00:22:44,710 582 00:22:44,710 --> 00:22:46,230 583 00:22:46,230 --> 00:22:47,750 584 00:22:47,750 --> 00:22:49,430 585 00:22:49,430 --> 00:22:50,870 586 00:22:50,870 --> 00:22:52,230 587 00:22:52,230 --> 00:22:54,230 588 00:22:54,230 --> 00:22:58,789 589 00:22:58,789 --> 00:23:02,070 590 00:23:02,070 --> 00:23:03,909 591 00:23:03,909 --> 00:23:06,390 592 00:23:06,390 --> 00:23:08,390 593 00:23:08,390 --> 00:23:11,029 594 00:23:11,029 --> 00:23:12,470 595 00:23:12,470 --> 00:23:14,149 596 00:23:14,149 --> 00:23:16,549 597 00:23:16,549 --> 00:23:18,149 598 00:23:18,149 --> 00:23:20,310 599 00:23:20,310 --> 00:23:21,590 600 00:23:21,590 --> 00:23:23,590 601 00:23:23,590 --> 00:23:25,909 602 00:23:25,909 --> 00:23:27,110 603 00:23:27,110 --> 00:23:28,630 604 00:23:28,630 --> 00:23:31,830 605 00:23:31,830 --> 00:23:31,840 606 00:23:31,840 --> 00:23:34,390 607 00:23:34,390 --> 00:23:38,870 608 00:23:38,870 --> 00:23:41,269 609 00:23:41,269 --> 00:23:42,390 610 00:23:42,390 --> 00:23:45,430 611 00:23:45,430 --> 00:23:46,950 612 00:23:46,950 --> 00:23:48,549 613 00:23:48,549 --> 00:23:50,070 614 00:23:50,070 --> 00:23:51,990 615 00:23:51,990 --> 00:23:54,710 616 00:23:54,710 --> 00:23:56,149 617 00:23:56,149 --> 00:23:57,830 618 00:23:57,830 --> 00:23:59,510 619 00:23:59,510 --> 00:24:00,870 620 00:24:00,870 --> 00:24:02,870 621 00:24:02,870 --> 00:24:04,870 622 00:24:04,870 --> 00:24:07,350 623 00:24:07,350 --> 00:24:09,110 624 00:24:09,110 --> 00:24:10,549 625 00:24:10,549 --> 00:24:11,990 626 00:24:11,990 --> 00:24:14,549 627 00:24:14,549 --> 00:24:16,310 628 00:24:16,310 --> 00:24:18,870 629 00:24:18,870 --> 00:24:19,669 630 00:24:19,669 --> 00:24:23,430 631 00:24:23,430 --> 00:24:27,350 632 00:24:27,350 --> 00:24:30,549 633 00:24:30,549 --> 00:24:32,230 634 00:24:32,230 --> 00:24:32,240 635 00:24:32,240 --> 00:24:33,590 636 00:24:33,590 --> 00:24:36,390 637 00:24:36,390 --> 00:24:37,909 638 00:24:37,909 --> 00:24:39,430 639 00:24:39,430 --> 00:24:41,190 640 00:24:41,190 --> 00:24:42,390 641 00:24:42,390 --> 00:24:44,710 642 00:24:44,710 --> 00:24:47,750 643 00:24:47,750 --> 00:24:50,950 644 00:24:50,950 --> 00:24:53,430 645 00:24:53,430 --> 00:24:56,789 646 00:24:56,789 --> 00:24:56,799 647 00:24:56,799 --> 00:24:57,350 648 00:24:57,350 --> 00:24:59,190 649 00:24:59,190 --> 00:25:01,110 650 00:25:01,110 --> 00:25:03,669 651 00:25:03,669 --> 00:25:03,679 652 00:25:03,679 --> 00:25:04,390 653 00:25:04,390 --> 00:25:11,110 654 00:25:11,110 --> 00:25:14,230 655 00:25:14,230 --> 00:25:16,149 656 00:25:16,149 --> 00:25:19,990 657 00:25:19,990 --> 00:25:23,190 658 00:25:23,190 --> 00:25:25,190 659 00:25:25,190 --> 00:25:26,870 660 00:25:26,870 --> 00:25:28,710 661 00:25:28,710 --> 00:25:31,029 662 00:25:31,029 --> 00:25:34,070 663 00:25:34,070 --> 00:25:36,070 664 00:25:36,070 --> 00:25:37,430 665 00:25:37,430 --> 00:25:39,029 666 00:25:39,029 --> 00:25:40,310 667 00:25:40,310 --> 00:25:41,350 668 00:25:41,350 --> 00:25:44,310 669 00:25:44,310 --> 00:25:45,190 670 00:25:45,190 --> 00:25:48,630 671 00:25:48,630 --> 00:25:52,310 672 00:25:52,310 --> 00:25:53,510 673 00:25:53,510 --> 00:25:54,789 674 00:25:54,789 --> 00:25:56,070 675 00:25:56,070 --> 00:25:57,990 676 00:25:57,990 --> 00:25:59,590 677 00:25:59,590 --> 00:25:59,600 678 00:25:59,600 --> 00:26:00,630 679 00:26:00,630 --> 00:26:02,149 680 00:26:02,149 --> 00:26:03,830 681 00:26:03,830 --> 00:26:05,909 682 00:26:05,909 --> 00:26:07,750 683 00:26:07,750 --> 00:26:10,310 684 00:26:10,310 --> 00:26:13,190 685 00:26:13,190 --> 00:26:14,310 686 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--> 00:28:15,510 716 00:28:15,510 --> 00:28:16,870 717 00:28:16,870 --> 00:28:18,470 718 00:28:18,470 --> 00:28:19,909 719 00:28:19,909 --> 00:28:20,789 720 00:28:20,789 --> 00:28:24,070 721 00:28:24,070 --> 00:28:25,430 722 00:28:25,430 --> 00:28:27,110 723 00:28:27,110 --> 00:28:28,470 724 00:28:28,470 --> 00:28:30,389 725 00:28:30,389 --> 00:28:32,389 726 00:28:32,389 --> 00:28:35,590 727 00:28:35,590 --> 00:28:37,669 728 00:28:37,669 --> 00:28:38,950 729 00:28:38,950 --> 00:28:42,230 730 00:28:42,230 --> 00:28:44,870 731 00:28:44,870 --> 00:28:45,430 732 00:28:45,430 --> 00:28:48,310 733 00:28:48,310 --> 00:28:49,830 734 00:28:49,830 --> 00:28:51,510 735 00:28:51,510 --> 00:28:53,590 736 00:28:53,590 --> 00:28:55,750 737 00:28:55,750 --> 00:28:57,110 738 00:28:57,110 --> 00:28:59,510 739 00:28:59,510 --> 00:29:01,269 740 00:29:01,269 --> 00:29:03,430 741 00:29:03,430 --> 00:29:04,549 742 00:29:04,549 --> 00:29:06,789 743 00:29:06,789 --> 00:29:07,830 744 00:29:07,830 --> 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774 00:29:57,990 --> 00:29:59,830 775 00:29:59,830 --> 00:30:02,230 776 00:30:02,230 --> 00:30:05,269 777 00:30:05,269 --> 00:30:05,279 778 00:30:05,279 --> 00:30:05,830 779 00:30:05,830 --> 00:30:07,350 780 00:30:07,350 --> 00:30:10,310 781 00:30:10,310 --> 00:30:12,870 782 00:30:12,870 --> 00:30:14,470 783 00:30:14,470 --> 00:30:15,830 784 00:30:15,830 --> 00:30:17,430 785 00:30:17,430 --> 00:30:17,440 786 00:30:17,440 --> 00:30:18,310 787 00:30:18,310 --> 00:30:21,350 788 00:30:21,350 --> 00:30:23,269 789 00:30:23,269 --> 00:30:24,070 790 00:30:24,070 --> 00:30:26,710 791 00:30:26,710 --> 00:30:28,149 792 00:30:28,149 --> 00:30:31,510 793 00:30:31,510 --> 00:30:33,029 794 00:30:33,029 --> 00:30:34,070 795 00:30:34,070 --> 00:30:35,430 796 00:30:35,430 --> 00:30:37,190 797 00:30:37,190 --> 00:30:38,710 798 00:30:38,710 --> 00:30:40,389 799 00:30:40,389 --> 00:30:43,669 800 00:30:43,669 --> 00:30:44,870 801 00:30:44,870 --> 00:30:46,310 802 00:30:46,310 --> 00:30:49,190 803 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--> 00:31:53,350 833 00:31:53,350 --> 00:31:55,430 834 00:31:55,430 --> 00:31:59,269 835 00:31:59,269 --> 00:32:03,269 836 00:32:03,269 --> 00:32:06,389 837 00:32:06,389 --> 00:32:11,110 838 00:32:11,110 --> 00:32:15,430 839 00:32:15,430 --> 00:32:18,950 840 00:32:18,950 --> 00:32:18,960 841 00:32:18,960 --> 00:32:19,590 842 00:32:19,590 --> 00:32:22,549 843 00:32:22,549 --> 00:32:23,990 844 00:32:23,990 --> 00:32:25,830 845 00:32:25,830 --> 00:32:27,269 846 00:32:27,269 --> 00:32:29,750 847 00:32:29,750 --> 00:32:31,509 848 00:32:31,509 --> 00:32:32,630 849 00:32:32,630 --> 00:32:33,590 850 00:32:33,590 --> 00:32:36,389 851 00:32:36,389 --> 00:32:38,149 852 00:32:38,149 --> 00:32:39,430 853 00:32:39,430 --> 00:32:43,669 854 00:32:43,669 --> 00:32:46,710 855 00:32:46,710 --> 00:32:46,720 856 00:32:46,720 --> 00:32:47,830 857 00:32:47,830 --> 00:32:49,269 858 00:32:49,269 --> 00:32:51,269 859 00:32:51,269 --> 00:32:53,029 860 00:32:53,029 --> 00:32:54,310 861 00:32:54,310 --> 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891 00:33:43,430 --> 00:33:45,269 892 00:33:45,269 --> 00:33:45,909 893 00:33:45,909 --> 00:33:47,350 894 00:33:47,350 --> 00:33:48,950 895 00:33:48,950 --> 00:33:50,470 896 00:33:50,470 --> 00:33:52,710 897 00:33:52,710 --> 00:33:53,509 898 00:33:53,509 --> 00:33:56,710 899 00:33:56,710 --> 00:34:00,789 900 00:34:00,789 --> 00:34:02,950 901 00:34:02,950 --> 00:34:04,830 902 00:34:04,830 --> 00:34:04,840 903 00:34:04,840 --> 00:34:06,230 904 00:34:06,230 --> 00:34:08,950 905 00:34:08,950 --> 00:34:10,629 906 00:34:10,629 --> 00:34:10,639 907 00:34:10,639 --> 00:34:11,750 908 00:34:11,750 --> 00:34:14,629 909 00:34:14,629 --> 00:34:16,869 910 00:34:16,869 --> 00:34:18,149 911 00:34:18,149 --> 00:34:21,109 912 00:34:21,109 --> 00:34:24,149 913 00:34:24,149 --> 00:34:26,310 914 00:34:26,310 --> 00:34:27,990 915 00:34:27,990 --> 00:34:31,510 916 00:34:31,510 --> 00:34:34,230 917 00:34:34,230 --> 00:34:36,389 918 00:34:36,389 --> 00:34:39,669 919 00:34:39,669 --> 00:34:43,510 920 00:34:43,510 --> 00:34:46,829 921 00:34:46,829 --> 00:34:46,839 922 00:34:46,839 --> 00:34:47,990 923 00:34:47,990 --> 00:34:50,790 924 00:34:50,790 --> 00:34:52,310 925 00:34:52,310 --> 00:34:52,320 926 00:34:52,320 --> 00:34:53,030 927 00:34:53,030 --> 00:34:55,270 928 00:34:55,270 --> 00:34:56,310 929 00:34:56,310 --> 00:34:57,430 930 00:34:57,430 --> 00:34:58,950 931 00:34:58,950 --> 00:34:58,960 932 00:34:58,960 --> 00:34:59,589 933 00:34:59,589 --> 00:35:01,190 934 00:35:01,190 --> 00:35:03,670 935 00:35:03,670 --> 00:35:07,109 936 00:35:07,109 --> 00:35:09,030 937 00:35:09,030 --> 00:35:10,230 938 00:35:10,230 --> 00:35:12,790 939 00:35:12,790 --> 00:35:13,670 940 00:35:13,670 --> 00:35:15,270 941 00:35:15,270 --> 00:35:17,750 942 00:35:17,750 --> 00:35:17,760 943 00:35:17,760 --> 00:35:18,310 944 00:35:18,310 --> 00:35:20,390 945 00:35:20,390 --> 00:35:22,230 946 00:35:22,230 --> 00:35:23,430 947 00:35:23,430 --> 00:35:25,510 948 00:35:25,510 --> 00:35:26,870 949 00:35:26,870 --> 00:35:29,589 950 00:35:29,589 --> 00:35:30,950 951 00:35:30,950 --> 00:35:34,550 952 00:35:34,550 --> 00:35:36,310 953 00:35:36,310 --> 00:35:37,990 954 00:35:37,990 --> 00:35:40,390 955 00:35:40,390 --> 00:35:44,710 956 00:35:44,710 --> 00:35:46,950 957 00:35:46,950 --> 00:35:48,710 958 00:35:48,710 --> 00:35:48,720 959 00:35:48,720 --> 00:35:49,750 960 00:35:49,750 --> 00:35:52,150 961 00:35:52,150 --> 00:35:52,160 962 00:35:52,160 --> 00:35:53,430 963 00:35:53,430 --> 00:35:55,910 964 00:35:55,910 --> 00:35:57,109 965 00:35:57,109 --> 00:35:59,349 966 00:35:59,349 --> 00:36:04,150 967 00:36:04,150 --> 00:36:05,829 968 00:36:05,829 --> 00:36:07,270 969 00:36:07,270 --> 00:36:10,470 970 00:36:10,470 --> 00:36:12,470 971 00:36:12,470 --> 00:36:15,030 972 00:36:15,030 --> 00:36:15,040 973 00:36:15,040 --> 00:36:15,990 974 00:36:15,990 --> 00:36:17,349 975 00:36:17,349 --> 00:36:19,910 976 00:36:19,910 --> 00:36:20,470 977 00:36:20,470 --> 00:36:23,829 978 00:36:23,829 --> 00:36:26,230 979 00:36:26,230 --> 00:36:28,230 980 00:36:28,230 --> 00:36:31,109 981 00:36:31,109 --> 00:36:31,119 982 00:36:31,119 --> 00:36:31,670 983 00:36:31,670 --> 00:36:32,710 984 00:36:32,710 --> 00:36:35,589 985 00:36:35,589 --> 00:36:37,510 986 00:36:37,510 --> 00:36:39,030 987 00:36:39,030 --> 00:36:43,270 988 00:36:43,270 --> 00:36:47,109 989 00:36:47,109 --> 00:36:48,790 990 00:36:48,790 --> 00:36:51,030 991 00:36:51,030 --> 00:36:52,950 992 00:36:52,950 --> 00:36:54,390 993 00:36:54,390 --> 00:36:56,230 994 00:36:56,230 --> 00:36:59,349 995 00:36:59,349 --> 00:37:02,470 996 00:37:02,470 --> 00:37:03,030 997 00:37:03,030 --> 00:37:06,230 998 00:37:06,230 --> 00:37:08,390 999 00:37:08,390 --> 00:37:08,400 1000 00:37:08,400 --> 00:37:09,270 1001 00:37:09,270 --> 00:37:11,510 1002 00:37:11,510 --> 00:37:13,589 1003 00:37:13,589 --> 00:37:15,910 1004 00:37:15,910 --> 00:37:16,870 1005 00:37:16,870 --> 00:37:19,430 1006 00:37:19,430 --> 00:37:20,230 1007 00:37:20,230 --> 00:37:24,310 1008 00:37:24,310 --> 00:37:27,990 1009 00:37:27,990 --> 00:37:28,000 1010 00:37:28,000 --> 00:37:28,710 1011 00:37:28,710 --> 00:37:30,069 1012 00:37:30,069 --> 00:37:37,270 1013 00:37:37,270 --> 00:37:41,910 1014 00:37:41,910 --> 00:37:44,069 1015 00:37:44,069 --> 00:37:45,349 1016 00:37:45,349 --> 00:37:48,230 1017 00:37:48,230 --> 00:37:49,589 1018 00:37:49,589 --> 00:37:51,270 1019 00:37:51,270 --> 00:37:52,310 1020 00:37:52,310 --> 00:37:55,430 1021 00:37:55,430 --> 00:37:56,710 1022 00:37:56,710 --> 00:37:59,190 1023 00:37:59,190 --> 00:38:01,910 1024 00:38:01,910 --> 00:38:05,109 1025 00:38:05,109 --> 00:38:08,870 1026 00:38:08,870 --> 00:38:11,109 1027 00:38:11,109 --> 00:38:11,119 1028 00:38:11,119 --> 00:38:12,230 1029 00:38:12,230 --> 00:38:15,430 1030 00:38:15,430 --> 00:38:17,430 1031 00:38:17,430 --> 00:38:20,390 1032 00:38:20,390 --> 00:38:22,470 1033 00:38:22,470 --> 00:38:24,069 1034 00:38:24,069 --> 00:38:25,190 1035 00:38:25,190 --> 00:38:27,109 1036 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00:39:21,829 1065 00:39:21,829 --> 00:39:21,839 1066 00:39:21,839 --> 00:39:22,790 1067 00:39:22,790 --> 00:39:25,829 1068 00:39:25,829 --> 00:39:26,630 1069 00:39:26,630 --> 00:39:28,310 1070 00:39:28,310 --> 00:39:29,910 1071 00:39:29,910 --> 00:39:32,310 1072 00:39:32,310 --> 00:39:33,430 1073 00:39:33,430 --> 00:39:34,550 1074 00:39:34,550 --> 00:39:36,870 1075 00:39:36,870 --> 00:39:42,870 1076 00:39:42,870 --> 00:39:44,150 1077 00:39:44,150 --> 00:39:45,510 1078 00:39:45,510 --> 00:39:45,520 1079 00:39:45,520 --> 00:39:46,390 1080 00:39:46,390 --> 00:39:50,310 1081 00:39:50,310 --> 00:39:51,829 1082 00:39:51,829 --> 00:39:52,950 1083 00:39:52,950 --> 00:39:54,790 1084 00:39:54,790 --> 00:39:55,670 1085 00:39:55,670 --> 00:39:58,230 1086 00:39:58,230 --> 00:39:58,240 1087 00:39:58,240 --> 00:40:00,310 1088 00:40:00,310 --> 00:40:04,150 1089 00:40:04,150 --> 00:40:05,910 1090 00:40:05,910 --> 00:40:08,870 1091 00:40:08,870 --> 00:40:10,390 1092 00:40:10,390 --> 00:40:12,150 1093 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