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Oct 21st, 2017
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  1. Jy1_i = a0 + a1*cos(theta1) + a2*cos(theta1 + theta2) + a3*cos(theta1 + theta2 + theta3) + a4*cos(theta1 + theta2 + theta3 + theta4)
  2.  
  3. Jy2_i = a2*cos(theta1 + theta2) + a3*cos(theta1 + theta2 + theta3) + a4*cos(theta1 + theta2 + theta3 + theta4)
  4.  
  5. Jy3_i = a3*cos(theta1 + theta2 + theta3)+ a4*cos(theta1 + theta2 + theta3 + theta4)
  6.  
  7. Jy4_i = a4*cos(theta1 + theta2 + theta3 + theta4)
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