k1 = 0;
k2 = 0;
k3 = 3;
k4 = 3/2;
k5 = 1;
k6 = 1/2;
k7 = 1/2;
k8 = 1/20;
k9 = 1/4;
k10 = 1/50;
k11 = 1/100;
k12 = 1/100;
k13 = 1/100;
k14 = 1/100;
k15 = 1/100;
k16 = 1;