[R1^4*S1^4*U^4-2*R1^2*S1^4*U^2-2*R1^4*S1^2*U^2+S1^4-2*R1^2*S1^2+R1^4];
[];
[P,U,X1,Y1,X2,Y2,R1,R2,S1,S2];
[[Y1^2-P^2*X1^2+X1^2+P^2-1,Y2^2-P^2*X2^2+X2^2+P^2-1,-Y1^2-X1^2-2*P*X1+R1^2-P^2,-Y2^2-X2^2-2*P*X2+S1^2-P^2,X1*Y2+P*Y2-X2*Y1-P*Y1,-P^2*U+U-2],[P,X2*Y2-X1*Y2-X2*Y1+X1*Y1]];