--- /dev/null
+\centering
+\begin{subfigure}[t]{0.4\textwidth}
+ \centering
+ \begin{tikzpicture}
+ \draw[->] (0,0) -- (4,0) node[right] {$t$};
+ \draw[->] (0,0) -- (0,1.5) node[above] {};
+ \draw[line,domain=0:1] plot ({\x},{0});
+ \draw[line,domain=1:2] plot ({\x},{\x-1});
+ %\draw[line,domain=2:4,dashed] plot ({\x},{2*\x-3});
+ \draw[line,domain=2:4] plot ({\x},{1});
+
+ \draw (1,2pt) -- (1,-2pt) node[
+ font=\small,
+ anchor=north
+ ]
+ {$s\vphantom{+}$};
+
+ \draw (2,2pt) -- (2,-2pt) node[
+ font=\small,
+ anchor=north
+ ]
+ {$s+r$};
+
+ \draw (2pt,1) -- (-2pt,1) node[
+ font=\small,
+ anchor=east
+ ]
+ {$1$};
+
+ \end{tikzpicture}
+ \caption{$\eta_r(t)$}
+ \label{fig:eta_r}
+\end{subfigure}
+~
+\begin{subfigure}[t]{0.4\textwidth}
+ \centering
+ \begin{tikzpicture}
+ \draw[->] (0,0) -- (4,0) node[right] {$t$};
+ \draw[->] (0,0) -- (0,1.5) node[above] {};
+ \draw[line,domain=0:1] plot ({\x},{0});
+ \draw[line,domain=1:2] plot ({\x},{1});
+ %\draw[line,domain=2:4,dashed] plot ({\x},{2*\x-3});
+ \draw[line,domain=2:4] plot ({\x},{0});
+
+ \draw (1,2pt) -- (1,-2pt) node[
+ font=\small,
+ anchor=north
+ ]
+ {$s\vphantom{+}$};
+
+ \draw (2,2pt) -- (2,-2pt) node[
+ font=\small,
+ anchor=north
+ ]
+ {$s+r$};
+
+ \end{tikzpicture}
+ \caption{$\eta_r'(t)$}
+ \label{fig:eta_r_diff}
+\end{subfigure}
+\caption{
+ Visualization of the cut-off function $\eta_r(t)$ and its derivative.
+}
+\label{fig:eta_r_both}
--- /dev/null
+\centering
+\begin{tikzpicture}
+
+ \newcommand{\pgfextractangle}[3]{%
+ \pgfmathanglebetweenpoints{\pgfpointanchor{#2}{center}}
+ {\pgfpointanchor{#3}{center}}
+ \global\let#1\pgfmathresult
+ }
+
+ \draw[->] (-0.5,0) -- (5,0) node[right] {$x$};
+ \draw[->] (0,-0.5) -- (0,4) node[above] {};
+
+ \node[] (a) at (-1, 4) {};
+ \node[] (b) at (5, -1) {};
+ \node[] (c) at ($(a)!(0,0)!(b)$) {};
+ \node[] (o) at (0,0) {};
+ \draw[line] (a) -- (b);
+ \draw[line,thin,black] ($(a)!(0,0)!(b)$) -- node[above] {$\rho$} (0,0);
+
+ \pgfextractangle{\angle}{o}{c}
+ \draw (0,0) +(0:1cm) arc (0:\angle:1cm);
+ \path (0,0) +(25:1.3cm) node {$\phi$};
+
+\end{tikzpicture}
+\caption{
+ The blue line is parametrized by the angle angle $\phi$ and the
+ distance from the origin to the line $\rho$.
+}
+\label{fig:line_param}
--- /dev/null
+\centering
+\begin{tikzpicture}
+ \draw[->] (0,0) -- (6,0) node[right] {$x$};
+ \draw[line,domain=0:3] plot ({\x},{(\x-3)*(\x-3)/9 + 0.5});
+ \draw[line,domain=3:6] plot ({\x},{3 - (5 - \x)*(5 - \x) / 5});
+
+ \node[
+ circle,
+ fill=blue,
+ draw=blue,
+ minimum size=7pt,
+ inner sep=0pt,
+ font=\footnotesize
+ ] (s) at (3, 0.52) {};
+ \node[
+ circle,
+ fill=white,
+ draw=blue,
+ minimum size=7pt,
+ inner sep=0pt,
+ font=\footnotesize
+ ] (s) at (3, 2.19) {};
+
+\end{tikzpicture}
+\caption{
+ A lower semicontinuous function $f : \mathbb{R} \to \mathbb{R}$ can
+ have discontinuities, but for a convergent sequence $x_k \to x$ we
+ always have $f(x) \leq \liminf_{k \to \infty} f(x_k)$.
+}
+\label{fig:lower_semicont}