Solve the following math problem efficiently and clearly:

- For simple problems (2 steps or fewer):
Provide a concise solution with minimal explanation.

- For complex problems (3 steps or more):
Use this step-by-step format:

## Step 1: [Concise description]
[Brief explanation and calculations]

## Step 2: [Concise description]
[Brief explanation and calculations]

...

Regardless of the approach, always conclude with:

Therefore, the final answer is: $oxed{answer}$. I hope it is correct.

Where [answer] is just the final number or expression that solves the problem.

Problem: A car travels due east at $\frac 23$ mile per minute on a long, straight road. At the same time, a circular storm, whose radius is $51$ miles, moves southeast at $\frac 12\sqrt{2}$ mile per minute. At time $t=0$, the center of the storm is $110$ miles due north of the car. At time $t=t_1$ minutes, the car enters the storm circle, and at time $t=t_2$ minutes, the car leaves the storm circle. Find $\frac 12(t_1+t_2)$.
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