X = [
    3.8760   19.6208
   19.1326    5.8261
   -8.6445  -18.0353
   -8.5955  -18.0587
   18.3397   -7.9784
  -14.8771   13.3668
  -19.8514   -2.4339
    9.7412  -17.4674
];
