mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 22:36:37 +00:00
Oleksandr Bezdieniezhnykh
357 lines
36 KiB
Plaintext
357 lines
36 KiB
Plaintext
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<mxGeometry relative="1" as="geometry"/>
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<mxCell id="arrow-6c-7" style="strokeColor=#FFFFFF;fontColor=#ffffff;" parent="gps-denied-lane" source="flow-6c" target="flow-7" edge="1">
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<mxGeometry relative="1" as="geometry"/>
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</mxCell>
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<mxCell id="arrow-7-8" style="strokeColor=#FFFFFF;fontColor=#ffffff;" parent="gps-denied-lane" source="flow-7" target="flow-8" edge="1">
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<mxGeometry relative="1" as="geometry"/>
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</mxCell>
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<mxCell id="arrow-8-9" style="strokeColor=#FFFFFF;fontColor=#ffffff;" parent="gps-denied-lane" source="flow-8" target="flow-9" edge="1">
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<mxCell id="chunk-title" value="Chunk Matching (Background - Atlas Multi-Map)" style="text;html=1;strokeColor=none;fillColor=none;align=left;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=14;fontStyle=1;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
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<mxGeometry x="40" y="1000" width="500" height="30" as="geometry"/>
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<mxCell id="chunk-1" value="F11 (background) → F12 get_chunks_for_matching() (unanchored, ready)" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#7B1FA2;strokeColor=#BA68C8;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
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<mxGeometry x="40" y="1040" width="220" height="80" as="geometry"/>
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</mxCell>
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<mxCell id="chunk-2" value="F11 → F08 Chunk semantic matching (aggregate DINOv2)" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#1E88E5;strokeColor=#42A5F5;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
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<mxGeometry x="290" y="1040" width="220" height="80" as="geometry"/>
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</mxCell>
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<mxCell id="chunk-3" value="F11 → F06 Chunk rotation sweeps (12 angles: 0°-330°)" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#CC6600;strokeColor=#FFB300;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
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</mxCell>
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<mxCell id="chunk-4" value="F11 → F09 Chunk LiteSAM matching (aggregate correspondences)" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#1E88E5;strokeColor=#42A5F5;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
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<mxGeometry x="790" y="1040" width="240" height="80" as="geometry"/>
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</mxCell>
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<mxCell id="chunk-5" value="F11 → F10 add_chunk_anchor() merge_chunks(Sim3)" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#388E3C;strokeColor=#66BB6A;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
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<mxGeometry x="1060" y="1040" width="200" height="80" as="geometry"/>
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</mxCell>
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<mxCell id="arrow-chunk-1-2" style="strokeColor=#FFFFFF;fontColor=#ffffff;" parent="gps-denied-lane" source="chunk-1" target="chunk-2" edge="1">
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<mxGeometry relative="1" as="geometry"/>
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</mxCell>
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<mxCell id="arrow-chunk-2-3" style="strokeColor=#FFFFFF;fontColor=#ffffff;" parent="gps-denied-lane" source="chunk-2" target="chunk-3" edge="1">
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<mxGeometry relative="1" as="geometry"/>
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</mxCell>
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<mxCell id="arrow-chunk-3-4" style="strokeColor=#FFFFFF;fontColor=#ffffff;" parent="gps-denied-lane" source="chunk-3" target="chunk-4" edge="1">
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<mxGeometry relative="1" as="geometry"/>
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</mxCell>
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<mxCell id="arrow-chunk-4-5" style="strokeColor=#FFFFFF;fontColor=#ffffff;" parent="gps-denied-lane" source="chunk-4" target="chunk-5" edge="1">
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<mxGeometry relative="1" as="geometry"/>
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</mxCell>
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<mxCell id="user-input-title" value="User Input Recovery (when all search fails)" style="text;html=1;strokeColor=none;fillColor=none;align=left;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=14;fontStyle=1;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
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<mxGeometry x="40" y="1160" width="400" height="30" as="geometry"/>
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</mxCell>
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<mxCell id="user-1" value="F11 exhausted (grid=25) → F15 send user_input_needed" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#8B1A1A;strokeColor=#EF5350;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
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<mxGeometry x="40" y="1200" width="240" height="70" as="geometry"/>
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</mxCell>
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<mxCell id="user-2" value="Client responds F01 → F11 apply_user_anchor" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#388E3C;strokeColor=#66BB6A;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
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<mxGeometry x="310" y="1200" width="240" height="70" as="geometry"/>
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</mxCell>
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<mxCell id="user-3" value="F11 → F10 add_absolute_factor (high confidence) Processing resumes" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#6A1B9A;strokeColor=#BA68C8;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
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<mxGeometry x="580" y="1200" width="240" height="70" as="geometry"/>
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<mxCell id="arrow-user-1-2" style="strokeColor=#FFFFFF;fontColor=#ffffff;" parent="gps-denied-lane" source="user-1" target="user-2" edge="1">
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<mxCell id="arrow-user-2-3" style="strokeColor=#FFFFFF;fontColor=#ffffff;" parent="gps-denied-lane" source="user-2" target="user-3" edge="1">
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<mxGeometry relative="1" as="geometry"/>
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</mxCell>
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<mxCell id="async-title" value="Asynchronous Trajectory Refinement" style="text;html=1;strokeColor=none;fillColor=none;align=left;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=14;fontStyle=1;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
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<mxGeometry x="40" y="1310" width="350" height="30" as="geometry"/>
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</mxCell>
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<mxCell id="async-1" value="F10 back-propagates new absolute factors (chunk + global optimization)" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#6A1B9A;strokeColor=#BA68C8;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
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<mxGeometry x="40" y="1350" width="220" height="80" as="geometry"/>
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</mxCell>
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<mxCell id="async-2" value="F14 detect changed frames → F03 batch_update_waypoints" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#E65100;strokeColor=#FFA726;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
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<mxGeometry x="290" y="1350" width="240" height="60" as="geometry"/>
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</mxCell>
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<mxCell id="async-3" value="F14 → F15 send frame_refined events" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#E65100;strokeColor=#FFA726;fontColor=#ffffff;" parent="gps-denied-lane" vertex="1">
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<mxGeometry x="560" y="1350" width="220" height="60" as="geometry"/>
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<mxCell id="arrow-async-1-2" style="strokeColor=#FFFFFF;fontColor=#ffffff;" parent="gps-denied-lane" source="async-1" target="async-2" edge="1">
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<mxGeometry relative="1" as="geometry"/>
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</mxCell>
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<mxCell id="arrow-async-2-3" style="strokeColor=#FFFFFF;fontColor=#ffffff;" parent="gps-denied-lane" source="async-2" target="async-3" edge="1">
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<mxGeometry relative="1" as="geometry"/>
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</mxCell>
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<mxCell id="client" value="Client (GPS-Denied UI)" style="shape=actor;whiteSpace=wrap;html=1;fillColor=#1565C0;strokeColor=#64B5F6;fontColor=#ffffff;" parent="1" vertex="1">
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<mxGeometry x="10" y="560" width="90" height="80" as="geometry"/>
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<mxCell id="satellite-provider" value="Satellite Provider API /api/satellite/tiles/..." style="ellipse;shape=cloud;whiteSpace=wrap;html=1;fillColor=#E65100;strokeColor=#FFB300;fontColor=#ffffff;" parent="1" vertex="1">
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<mxGeometry x="900" y="290" width="250" height="140" as="geometry"/>
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<mxCell id="external-detector" value="External<br>Object Detector (Azaion.Inference)<br>(provides pixel coords)" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#C62828;strokeColor=#EF5350;dashed=1;fontColor=#ffffff;" parent="1" vertex="1">
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<mxGeometry x="1340" y="800" width="160" height="80" as="geometry"/>
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<mxCell id="client-f01" value="HTTP REST" style="strokeColor=#FFFFFF;fontColor=#ffffff;" parent="1" source="client" target="f01" edge="1">
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<mxCell id="f14-route" value="Per-frame waypoint updates" style="edgeStyle=orthogonalEdgeStyle;curved=1;dashed=1;strokeColor=#FFFFFF;fontColor=#ffffff;" parent="1" source="f14" target="r01" edge="1">
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<mxGeometry relative="1" as="geometry"/>
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</mxCell>
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<mxCell id="f04-sat" value="Fetch tiles" style="strokeColor=#FFFFFF;fontColor=#ffffff;" parent="1" source="f04" target="satellite-provider" edge="1">
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<mxGeometry x="0.3759" y="-10" relative="1" as="geometry">
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<mxPoint as="offset"/>
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</mxGeometry>
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</mxCell>
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<mxCell id="f15-client" value="SSE Events" style="dashed=1;strokeColor=#FFFFFF;fontColor=#ffffff;" parent="1" source="f15" target="client" edge="1">
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<mxGeometry relative="1" as="geometry"/>
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</mxCell>
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<mxCell id="detector-f13" value="Object pixels → GPS" style="dashed=1;strokeColor=#FFFFFF;fontColor=#ffffff;" parent="1" source="external-detector" target="f13" edge="1">
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<mxGeometry relative="1" as="geometry"/>
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</mxCell>
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<mxCell id="f12-f10" value="Chunk lifecycle" style="strokeColor=#FFFFFF;fontColor=#ffffff;" parent="1" source="f12" target="f10" edge="1">
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<mxGeometry relative="1" as="geometry"/>
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</mxCell>
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<mxCell id="f12-f08" value="Chunk descriptors" style="strokeColor=#FFFFFF;fontColor=#ffffff;" parent="1" source="f12" target="f08" edge="1">
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<mxGeometry relative="1" as="geometry"/>
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</mxCell>
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<mxCell id="f11-f12" value="Chunk matching" style="strokeColor=#FFFFFF;fontColor=#ffffff;" parent="1" source="f11" target="f12" edge="1">
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<mxGeometry relative="1" as="geometry"/>
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<mxCell id="legend-title" value="Legend" style="text;html=1;strokeColor=none;fillColor=none;align=left;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontSize=16;fontStyle=1;fontColor=#ffffff;" parent="1" vertex="1">
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<mxGeometry x="100" y="2730" width="100" height="30" as="geometry"/>
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<mxCell id="legend-box" value="" style="rounded=0;whiteSpace=wrap;html=1;fillColor=#1E1E1E;strokeColor=#FFFFFF;" parent="1" vertex="1">
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<mxGeometry x="100" y="2770" width="700" height="120" as="geometry"/>
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<mxCell id="legend-1" value="Route API Components" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#B8860B;strokeColor=#FFD54F;fontColor=#ffffff;" parent="1" vertex="1">
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<mxGeometry x="120" y="2790" width="140" height="40" as="geometry"/>
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<mxCell id="legend-2" value="Flight API Core" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#8B1A1A;strokeColor=#EF5350;fontColor=#ffffff;" parent="1" vertex="1">
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<mxGeometry x="280" y="2790" width="140" height="40" as="geometry"/>
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<mxCell id="legend-8" value="Chunk Management" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#7B1FA2;strokeColor=#BA68C8;fontColor=#ffffff;" parent="1" vertex="1">
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<mxGeometry x="600" y="2840" width="140" height="40" as="geometry"/>
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</mxCell>
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<mxCell id="legend-3" value="Visual Processing" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#1E88E5;strokeColor=#42A5F5;fontColor=#ffffff;" parent="1" vertex="1">
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<mxGeometry x="440" y="2790" width="140" height="40" as="geometry"/>
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</mxCell>
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<mxCell id="legend-4" value="Helper Components" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#689F38;strokeColor=#9CCC65;fontColor=#ffffff;" parent="1" vertex="1">
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<mxGeometry x="120" y="2840" width="140" height="40" as="geometry"/>
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</mxCell>
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<mxCell id="legend-5" value="State Estimation" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#388E3C;strokeColor=#66BB6A;fontColor=#ffffff;" parent="1" vertex="1">
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<mxGeometry x="280" y="2840" width="140" height="40" as="geometry"/>
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</mxCell>
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<mxCell id="legend-6" value="Infrastructure" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#424242;strokeColor=#BDBDBD;fontColor=#ffffff;" parent="1" vertex="1">
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<mxGeometry x="440" y="2840" width="140" height="40" as="geometry"/>
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</mxCell>
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<mxCell id="legend-7" value="External Systems" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#C62828;strokeColor=#EF5350;fontColor=#ffffff;" vertex="1" parent="1">
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<mxGeometry x="600" y="2790" width="140" height="40" as="geometry"/>
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