[ (-1/72*r1 + 1/360*a)*b1*i + 1/360*(-a + 5)*r1 + 1/120*(a + 5), ((((1/1620*(a - 9)*r1 + 1/540*(a - 1))*t^2 + (1/6480*(-a + 15)*r1 + 1/1080*(-a - 1))*t + (1/3240*(-a + 9)*r1 + 1/1080*(-a + 1)))*b1 + (-1/90*t^2 + 1/360*t + 1/180))*b2^2 + (((1/540*(-a + 3)*r1 + 1/90)*t^2 + (-1/1080*a*r1 + 1/180)*t + (1/1080*(a - 3)*r1 - 1/180))*b1 + (1/90*t^2 + 1/360*(-a - 1)*t - 1/180))*b2 + (((1/270*(-4*a + 23)*r1 + 1/270*(-10*a + 21))*t^2 + (1/1080*(2*a - 35)*r1 + 1/1080*(13*a + 12))*t + (1/1080*(6*a - 31)*r1 + 1/1080*(14*a - 27)))*b1 + ((1/90*(-a + 5)*r1 + 1/90*(-a + 17))*t^2 + (1/360*(-a - 5)*r1 + 1/360*(a - 17))*t + (-1/36*r1 + 1/180*(a - 17)))))*i + (((1/1620*(-a - 3)*r1 + 1/270)*t^2 + (1/3240*(-a + 3)*r1 + 1/2160*(-a + 7))*t + (1/3240*(a + 3)*r1 - 1/540))*b1 + 1/360*r1*t)*b2^2 + (((1/90*r1 + 1/180*(-a + 1))*t^2 + (-1/180*r1 + 1/360*(a - 2))*t + (-1/180*r1 + 1/360*(a - 1)))*b1 + (-1/270*a*r1*t^2 + 1/1080*(a - 3)*r1*t + 1/540*a*r1))*b2 + ((1/270*(3*a + 1)*r1 + 1/135*(a - 6))*t^2 + (1/1080*(-a + 8)*r1 + 1/1080*(-2*a - 27))*t + (1/1080*(-a - 17)*r1 + 1/540*(a - 3)))*b1 + 1/45*a*t^2 + (1/360*(-a - 7)*r1 + 1/72*(-a + 3))*t + 1/360*(a - 5)*r1 + 1/360*(-a - 15), ((((1/6480*(5*a - 3)*r1 + 1/2160*(a - 17))*t^2 + (1/2592*(a - 3)*r1 + 1/4320*(3*a - 11))*t + (1/12960*(-5*a + 3)*r1 + 1/4320*(-a + 17)))*b1 + ((1/1080*a*r1 - 1/360)*t^2 + (1/2160*(a - 6)*r1 - 1/720)*t + (-1/2160*a*r1 + 1/720)))*b2^2 + (((1/1080*(a - 12)*r1 + 1/360*(2*a - 3))*t^2 + (1/2160*(-2*a + 15)*r1 + 1/240*(-a + 2))*t + (1/2160*(-a + 12)*r1 + 1/720*(-2*a + 3)))*b1 + ((1/360*(a - 5)*r1 + 1/360*(a + 1))*t^2 + (1/720*(-a + 7)*r1 + 1/720*(-a + 1))*t + (1/720*(-a + 5)*r1 + 1/720*(-a - 1))))*b2 + (((1/540*(-5*a + 8)*r1 + 1/540*(-4*a + 51))*t^2 + (1/1080*(-9*a + 35)*r1 + 1/1080*(-19*a + 63))*t + (1/2160*(14*a - 31)*r1 + 1/2160*(17*a - 132)))*b1 + ((1/180*(-3*a - 5)*r1 + 1/180*(a + 1))*t^2 + (1/180*(-2*a + 11)*r1 + 1/180*(-a + 8))*t + (1/720*(7*a - 5)*r1 + 1/720*(a - 17)))))*i + (((1/6480*(7*a - 39)*r1 + 1/2160*(5*a - 11))*t^2 + (1/2592*(-a + 9)*r1 + 1/4320*(-5*a + 7))*t + (1/12960*(-7*a + 39)*r1 + 1/4320*(-5*a + 11)))*b1 + ((-1/360*r1 + 1/360*(a - 4))*t^2 + (1/720*r1 + 1/720*(-a + 2))*t + (1/720*r1 + 1/720*(-a + 4))))*b2^2 + (((1/1080*(-4*a + 9)*r1 + 1/360*(-a + 6))*t^2 + (-1/2160*a*r1 + 1/240)*t + (1/2160*(4*a - 9)*r1 + 1/720*(a - 6)))*b1 + ((1/1080*(-a + 3)*r1 + 1/360*(-a + 9))*t^2 + (1/2160*(-a - 3)*r1 + 1/720*(-a + 3))*t + (1/2160*(a - 3)*r1 + 1/720*(a - 9))))*b2 + ((19/540*r1 + 1/540*(-7*a - 12))*t^2 + (1/1080*(a - 35)*r1 + 1/1080*(11*a + 9))*t + (1/2160*(-7*a - 8)*r1 + 1/2160*(2*a + 39)))*b1 + (1/180*(a + 1)*r1 + 1/180*(-a + 9))*t^2 + (-1/60*r1 + 1/180*(a - 6))*t + 1/240*(-a + 1)*r1 + 1/720*(-7*a - 3), (1/360*(-3*a + 10)*r1 + 1/360*(-4*a + 15))*b1 + 1/360*(-a + 5)*r1 + 1/120*(-3*a + 5), ((((1/3240*(-a + 3)*r1 + 1/270)*t^2 + (1/3240*(a - 9)*r1 + 1/1080*(a - 1))*t + (1/6480*(a - 3)*r1 - 1/540))*b1 + (1/180*t^2 - 1/180*t - 1/360))*b2^2 + (((1/540*(2*a - 3)*r1 - 1/45)*t^2 + (1/1080*(-a + 3)*r1 + 1/180)*t + (1/1080*(-2*a + 3)*r1 + 1/90))*b1 + (1/180*(a - 1)*t^2 + 1/180*t + 1/360*(-a + 1)))*b2 + (((1/540*(6*a - 11)*r1 + 1/540*(7*a - 54))*t^2 + (1/540*(-4*a + 23)*r1 + 1/540*(-10*a + 21))*t + (1/540*(-4*a + 13)*r1 + 1/1080*(-13*a + 69)))*b1 + ((1/180*(3*a - 5)*r1 + 1/180*(a - 17))*t^2 + (1/180*(-a + 5)*r1 + 1/180*(-a + 17))*t + (1/72*(-a + 1)*r1 + 1/360*(-a + 17)))))*i + (((1/810*a*r1 + 1/1080*(a - 11))*t^2 + (1/3240*(-a - 3)*r1 + 1/540)*t + (-1/1620*a*r1 + 1/2160*(-a + 11)))*b1 + (-1/180*r1*t^2 + 1/360*r1))*b2^2 + ((1/180*t^2 + (1/180*r1 + 1/360*(-a + 1))*t - 1/360)*b1 + (1/540*(a + 3)*r1*t^2 - 1/540*a*r1*t + 1/1080*(-a - 3)*r1))*b2 + ((1/108*(-a - 2)*r1 + 1/540*(-2*a + 51))*t^2 + (1/540*(3*a + 1)*r1 + 1/270*(a - 6))*t + (1/216*(2*a - 1)*r1 + 1/1080*(8*a - 81)))*b1 + (1/180*(a + 7)*r1 + 1/180*(a - 15))*t^2 + 1/90*a*t + -1/30*r1 + 1/180*a, ((((1/1296*(a - 3)*r1 + 1/2160*(3*a - 11))*t^2 + (1/6480*(-5*a + 9)*r1 + 1/1080*(-a + 7))*t + (1/2592*(-a + 3)*r1 + 1/4320*(-3*a + 11)))*b1 + ((1/1080*(a - 6)*r1 - 1/360)*t^2 + (1/1080*(-a + 3)*r1 + 1/360)*t + (1/2160*(-a + 6)*r1 + 1/720)))*b2^2 + (((1/1080*(-2*a + 15)*r1 + 1/120*(-a + 2))*t^2 + (1/2160*(a - 3)*r1 + 1/720*(a - 3))*t + (1/2160*(2*a - 15)*r1 + 1/240*(a - 2)))*b1 + ((1/360*(-a + 7)*r1 + 1/360*(-a + 1))*t^2 + (-1/360*r1 - 1/360)*t + (1/720*(a - 7)*r1 + 1/720*(a - 1))))*b2 + (((1/540*(-9*a + 35)*r1 + 1/540*(-19*a + 63))*t^2 + (1/1080*(14*a - 43)*r1 + 1/1080*(23*a - 114))*t + (1/2160*(22*a - 85)*r1 + 1/2160*(47*a - 156)))*b1 + ((1/90*(-2*a + 11)*r1 + 1/90*(-a + 8))*t^2 + (1/360*(7*a - 17)*r1 + 1/360*(a - 17))*t + (1/720*(9*a - 59)*r1 + 1/720*(7*a - 47)))))*i + (((1/1296*(-a + 9)*r1 + 1/2160*(-5*a + 7))*t^2 + (1/6480*(-a - 3)*r1 + 1/1080)*t + (1/2592*(a - 9)*r1 + 1/4320*(5*a - 7)))*b1 + ((1/360*r1 + 1/360*(-a + 2))*t^2 + 1/360*t + (-1/720*r1 + 1/720*(a - 2))))*b2^2 + (((-1/1080*a*r1 + 1/120)*t^2 + (1/2160*(5*a - 9)*r1 + 1/720*(a - 9))*t + (1/2160*a*r1 - 1/240))*b1 + ((1/1080*(-a - 3)*r1 + 1/360*(-a + 3))*t^2 + (1/1080*a*r1 + 1/360*(a - 6))*t + (1/2160*(a + 3)*r1 + 1/720*(a - 3))))*b2 + ((1/540*(a - 35)*r1 + 1/540*(11*a + 9))*t^2 + (1/1080*(-a + 16)*r1 + 1/1080*(-4*a + 3))*t + (1/2160*(-9*a + 100)*r1 + 1/2160*(-34*a - 3)))*b1 + (-1/30*r1 + 1/90*(a - 6))*t^2 + (1/360*(-a + 5)*r1 + 1/360*(-a + 3))*t + 1/720*(-a + 17)*r1 + 1/720*(-13*a + 39), (1/72*r1 - 1/360*a)*b1*i + (1/360*(3*a - 10)*r1 + 1/360*(4*a - 15))*b1 + 1/180*(a - 5)*r1 + 1/60*(a - 5), ((((1/3240*(-a + 15)*r1 + 1/540*(-a - 1))*t^2 + (1/6480*(-a + 3)*r1 + 1/540)*t + (1/6480*(a - 15)*r1 + 1/1080*(a + 1)))*b1 + (1/180*t^2 + 1/360*t - 1/360))*b2^2 + (((-1/540*a*r1 + 1/90)*t^2 + (1/1080*(2*a - 3)*r1 - 1/90)*t + (1/1080*a*r1 - 1/180))*b1 + (1/180*(-a - 1)*t^2 + 1/360*(a - 1)*t + 1/360*(a + 1)))*b2 + (((1/540*(2*a - 35)*r1 + 1/540*(13*a + 12))*t^2 + (1/1080*(6*a - 11)*r1 + 1/1080*(7*a - 54))*t + (1/540*(-2*a + 25)*r1 + 1/1080*(-19*a + 3)))*b1 + ((1/180*(-a - 5)*r1 + 1/180*(a - 17))*t^2 + (1/360*(3*a - 5)*r1 + 1/360*(a - 17))*t + (1/360*(-a + 5)*r1 + 1/360*(-a + 17)))))*i + (((1/1620*(-a + 3)*r1 + 1/1080*(-a + 7))*t^2 + (1/1620*a*r1 + 1/2160*(a - 11))*t + (1/3240*(a - 3)*r1 + 1/2160*(a - 7)))*b1 + (1/180*r1*t^2 - 1/360*r1*t - 1/360*r1))*b2^2 + (((-1/90*r1 + 1/180*(a - 2))*t^2 + 1/360*t + (1/180*r1 + 1/360*(-a + 2)))*b1 + (1/540*(a - 3)*r1*t^2 + 1/1080*(a + 3)*r1*t + 1/1080*(-a + 3)*r1))*b2 + ((1/540*(-a + 8)*r1 + 1/540*(-2*a - 27))*t^2 + (1/216*(-a - 2)*r1 + 1/1080*(-2*a + 51))*t + (1/1080*(6*a - 23)*r1 + 1/1080*(8*a - 3)))*b1 + (1/180*(-a - 7)*r1 + 1/36*(-a + 3))*t^2 + (1/360*(a + 7)*r1 + 1/360*(a - 15))*t + 1/180*(a + 1)*r1 + 1/180*(4*a - 15), ((((1/3240*(-5*a + 9)*r1 + 1/540*(-a + 7))*t^2 + (1/12960*(5*a - 3)*r1 + 1/4320*(a - 17))*t + (1/6480*(5*a - 9)*r1 + 1/1080*(a - 7)))*b1 + ((1/540*(-a + 3)*r1 + 1/180)*t^2 + (1/2160*a*r1 - 1/720)*t + (1/1080*(a - 3)*r1 - 1/360)))*b2^2 + (((1/1080*(a - 3)*r1 + 1/360*(a - 3))*t^2 + (1/2160*(a - 12)*r1 + 1/720*(2*a - 3))*t + (1/2160*(-a + 3)*r1 + 1/720*(-a + 3)))*b1 + ((-1/180*r1 - 1/180)*t^2 + (1/720*(a - 5)*r1 + 1/720*(a + 1))*t + (1/360*r1 + 1/360)))*b2 + (((1/540*(14*a - 43)*r1 + 1/540*(23*a - 114))*t^2 + (1/1080*(-5*a + 8)*r1 + 1/1080*(-4*a + 51))*t + (1/2160*(-24*a + 71)*r1 + 1/2160*(-37*a + 198)))*b1 + ((1/180*(7*a - 17)*r1 + 1/180*(a - 17))*t^2 + (1/360*(-3*a - 5)*r1 + 1/360*(a + 1))*t + (1/720*(-13*a + 19)*r1 + 1/720*(a + 19)))))*i + (((1/3240*(-a - 3)*r1 + 1/540)*t^2 + (1/12960*(7*a - 39)*r1 + 1/4320*(5*a - 11))*t + (1/6480*(a + 3)*r1 - 1/1080))*b1 + (1/180*t^2 + (-1/720*r1 + 1/720*(a - 4))*t - 1/360))*b2^2 + (((1/1080*(5*a - 9)*r1 + 1/360*(a - 9))*t^2 + (1/2160*(-4*a + 9)*r1 + 1/720*(-a + 6))*t + (1/2160*(-5*a + 9)*r1 + 1/720*(-a + 9)))*b1 + ((1/540*a*r1 + 1/180*(a - 6))*t^2 + (1/2160*(-a + 3)*r1 + 1/720*(-a + 9))*t + (-1/1080*a*r1 + 1/360*(-a + 6))))*b2 + ((1/540*(-a + 16)*r1 + 1/540*(-4*a + 3))*t^2 + (19/1080*r1 + 1/1080*(-7*a - 12))*t + (1/2160*(-5*a - 2)*r1 + 1/2160*(-4*a + 9)))*b1 + (1/180*(-a + 5)*r1 + 1/180*(-a + 3))*t^2 + (1/360*(a + 1)*r1 + 1/360*(-a + 9))*t + 1/720*(a - 5)*r1 + 1/720*(-7*a + 9) ]