r_diff_v = min(0.05*r_ref, BETA_V*8*buffer_len*FPS)     (11) 
    r_diff_s = min(0.05*r_ref, BETA_S*8*buffer_len*FPS)     (12) 
    r_vin  = max(RMIN, r_ref - r_diff_v)                    (13) 
    r_send = min(RMAX, r_ref + r_diff_s)                    (14)