HAL Id: hal-00745649
https://hal.archives-ouvertes.fr/hal-00745649
Submitted on 26 Oct 2012
HAL is a multi-disciplinary open access
archive for the deposit and dissemination of sci-entific research documents, whether they are pub-lished or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers.
L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d’enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.
ArCo: an architecture for children to control a set of
robots
Céline Jost, Brigitte Le Pévédic, Dominique Duhaut
To cite this version:
Céline Jost, Brigitte Le Pévédic, Dominique Duhaut. ArCo: an architecture for children to control a set of robots. RO-MAN 2012 - 21st IEEE International Symposium on Robot and Human Interactive Communication, Sep 2012, France. �hal-00745649�
1
123456741 2 3456 2 7895ABC 2 D8C6CE96 2 F8 2 45A4 2 56 2 7E2
78A459CA98C2827E75E2725597B2CE58ECE925E272AE9C922 75CE925E9CBB5CEAC2F82A7E25E9C879C27BB2 5E622 CA9627E2 56 2 997BB 2 AE587BC 2 8CC8 2 59 2 D8D6C6 2 7 2 567B2 D8875E 2 5E9C87AC 2 F5!8 2 45A4 2 7BB6 2 AE98BB5E2 C7A4 2 5597B 2 CA9 2 45A4 2 AD6C6 2 7E 2 CE58ECE9 2 34C2 CA95C2294562D7DC82562927DD8756C2F5!82FE2CDC85CE92 7628C7B5"C25942#$2A45B8CE278E2#%2 C7862B234C 2C8C2 76 C 2 9 2 8C7B5"C 2 CC8A56C6 2 5E 2 7 2 B559C 2 DC85 2 2 95C 2 34C2 CA95C276292C9C85EC252D8875E2762C76 27E242 7E 295C6294C 2ECCC292BC78E26ACE78562A8C795E2&927DDC78C2 9479 2 94C 2 6AACC 2 976 6 2 7E 2 C8C 2 7BC 2 9 2 6C 2 F5!82 !8875E27E2CE58ECE92762C76 2762D5C 12 134567894163 9ABBCDEFECDCDEDECFFCDCC C BDCBD21E DEDFDCCAEF BE2 B E!EC AFED CD24CBC EC"FFDE#CC EC CFCBF E C FD FC2 $CD! ECDF B%C EC&AFEFC24CCDEDECFFCDCE#C D CBED B A&AEA AED D AD' DCDECBED()*24CAD AFCECBCEC EC (+* AE ABBCDEF! AD BC BEFF E#CD DE ADE24CBC EC"FFDE B%C AED EC "BCC EC(,*DECBC EC"FFDECFCE DF CAD- ED 24C CDF C CBEC ECE EEECA CB2.EAFF!ECCDEDECFFCDCDCBD CCECECDF(/*0"E%CBEEA CB "EAE D ECDF1 4A ! EC ECDF CD B ECEC2 ED CE 26 CE CCBCDBC CFCEBDD FCD FC2E # 24A !AD "D DACBA FC2 CFCEBD CE " "B# DC CDCDEFBCECB24CDCCEFCBD"EA C C CE23CDDCEE!DECAEABC! CB D"FF %C)4B+4BCECDEBF"FF" DECBED"E )4 B +4 CBCDE CE 2 4C FCBDD BC "FF C DBC DFB25BC%CB!DECBED "EEC C CE BC FEC E EC DAEABCB B F 2 4C C #D AED EC BC F C2 4C DDE C EFC2 4CDDE C%F%C "EEC D DC"ECDFC 2 6 ECDC" CE CEECCD%BDCDE!AD E FCBD"EA CE27AE!D CBDEEECAD AFC BEEC BB(8*!ECCDEDECFFCDC AFE#C ECA CB"FFDDEADE2.BE CEF(9*%C FCEC 1 :5C CB A BEC BCD3EDF5C CB.CD2 92; E "EEC<'$4199 AEDFBEBDEC8D%CB E $AE7BEED! BDC=C'F0CFDC2 E>F2?2
72 <C@A%A "E EC<'$4199 AED FBEBD EC 8D%CB E $AE 7BEED! BDC =C'F0 BEEC2FC' C%C>AD%' A 2B?2
72 7AAE "E EC <'$4199 AED FBEB D EC 8D%CB E $AE 7BEED! BDC =C'F0 7D&AC2AAE>AD%' A 2B?2
%CB%C"AECDEDECFFCDC24CC2 FDEEEBCC D DE A E C D CBC0 DECB CBFE! CECBCDCE D D 2 3C (B* BCEC AED EC"BC D EEC CEBCC DE 23CCDC ADED BEF=DECB CBFE?27CBCDE#D CE D ADEC ECECB E BD FCEC FED =CECBCDCE?2 6AB EC D BC%C DFF CE =D ?25BC%CB!ECA CBE%CF BE EC E EC CD%BDCDE C%FAED BCED DECBED CDB EBA% AF BBDDECBC2
B E!E CB BC CDE AB BC%A "B#DDAE CFF2 .E EC CDDD! E CF "E .B9! AB AED BECEABC!"DEBAC ECDEC2EE CB24CD! E A C D EC BBD FDAC " FF" DEBFFDECCD%BDCDE2.B EC2 CBCDE C%CBCCD BCF C D E DECBC2 4 CB BCD E CE%C DBC AFE 2
$CD! E CB BC CDE EC DC" C2 CBCDE " "CEE BBD C CDB C 29FBCD DE27ABDE C2 CBCDE!FBCDDEDFBCEC C DECBED CDB AE F FADC ECB DECB BCEED D " EC CD%BDCDE CE CD D ED2 112 @56C168$365D 12 13456789A7ABCD35BEAB87EFBFA3 .B9!" BC BC CDECD 2)! D F8ECEABC BDECBED"E DD 24C DDDC CE ADED CE 0%EB !BE !ECFC% DE4 CDED BC @C E CE F (F* " %C C D CBED AEECAEABCBCFED "EEC C#D DD 2 4CBC BC E" #D ADED CE D.B92FA97986#CED 24CCF C FC2 4C ADEC "E C FC2 4C %C DBED E C FC2'CE686BCBC D FCBDF DEC AED CD%BDCDE =CB! B! EC CBEABC CD BE?2 4C C BC"E CD D%CDBEDE.B92
FA97986D'CE686BC && (2 BC6251156
G5<' C BEFADED24C EFC "E.B9!CAFCA EC511565AFC!EE E BC CE EC ADED BAFC C EF C "E EC CB%CB=CDEED!DDCED! DDCEDE?2 && (2
BC6 BCDC CDCDE BB 24CDCC BC
G5<C B EDFC"DEC "E#DE EC D CD D "E #D ED EC D 2 4 C B ED FC FF" C FC #D"D EC FEC CAFC24 DBED A C &(!" BBDCD%BDCDE"FF" C FCDABD DA D && (2 BC62
F8)27E278A459CA98C282A45B8CE292AE98B2726C922896*
ABC)2 .B9BECEABCBD ED
2 1ED356789A7353FEEDB7ABCD35BEAB8
1E FCEBCEC CDECBED CDB EBA EC B F A CB DECBC .@B2 B C2 FC! D DECBED CDB AF C0 H1 EC ECDE DE E#C ICBCDC!EC%EBBCD EC ECDEDEJ2
.@B CE"D BE "D 2+2 6DECFCE! D8875E278C7 F B F BB CE"CCD EBE D E CFCCDE2 6D EC BE! EBCC DED D8875E2797 "BC CBC ED !ED D BB EBAEABC 2
!C8ACD95E6 BC EC C&A%FCDE %BFC D AECB
CDC24CBC CDEAFC " A CB% C CD B D BCEBC%C EC E2 . CBC ED D C EC EC CBEABC! EC FF ED C FC! EC FAD E %FACE FA95E6BCECC&A%FCDEADED D AECB CDC2 4CBC BC CDEECED "DCDCEAEB 2 BC2 FC!DEDDCHBE FC J!HEABDDEC FEJE !8872698A98C62BC BC CDEEC BBDFDAC21E B C DEDFCFCCDE =EECD!EECDECF C?! F =BC CE! "FC?! "E CFCCDE ! BC# CFCCDE! BFFCF CFCCDE DC%CDECFCCDE 2
ABC+2 .@BBD ED
.@B CBCDE B ECB % AF BBD FDAC F#C $BE! 9BCB C =3? D <C 5D EB3G42
1DCCECDE%CEC CADED 2.@B C DC E DEBF FCEC CD%BDCDE BCED DECBED CDB "CBC ECEBCCECB BC CF C2 $BE FF" BCED EBC 2 9BCB C FF" DEBFFD DF 3 BE 2 .D <C 5D EB 3G4 FF" BBD< CE D CD B 2 .@B CEBCECDECBEDCE"CCDFF#D EFC%C "BCAEEFFCE.@B = CBC ED DED ?21E DECDE DE2C2 42 57857D7F7ABF3D5 4BCEC CDB!A CB A EBDB EB BBDEE BBDBC2 2, " AB EC C2 FC2=)?8 CB %CE CFCE EDECEBCC2=+?3CDA CB F#DECE! CB BC FE CE"CCD EC EBE D E CFCCDE 2 1E BBC D E EC FED "CBC E D C FC2 =,? 8 CB B E2=/?4CB FBC BC CDEED CB D EC BBDBC2
1DE C2 FC!EC2BC BC CDE DED2
ABC,2 @BBD"EBDB
4C C BCABC FF" A CB D BB EBAEABC2 2 / " EC BC BC CDEED BFFCF CFCCDE"FF" EBCECEFC EE" A' CDBD BFFCF2
ABC/2 .D BB EBAEABC
6 BB EBAEABC CFED EB DC" E2 28 " 8 FCFED EB DED2
ABC82 C ACFCF EB DED
2 9A7 D387A A3DEAB867FDD8 7FB7FA8FDD8
.B EC2 CBCDE.@B C%CBCCDBCF C (B*24C CE%C" E EAEC0
2 8 FE .@B0 ECDECBC BD ED
CBEDCDEDC EADCB ED11 ECBDB BD FC AA E BBDE # 1
2 .C EFE.@B0EC BE DE "DE
E %C E #D DECBC E C D BCB E DEBFECBCD%BDCDE1.BCECBCFAEDEEE #DDECBC1
4 C2 CBCDEED" DEDECBC ECDECBCED CDB FEAEC BE DE "CBC #CEDC24C CE%C " E C%FAEC EC &AFE .@B AE DEC2E2 1E CBEDCDE E EA B E C EFE EC DECBCCBC EAD CDB BCED2
4 C2 CBCDEED BC AFE 2 4CBC "CBC D EE EF CBCDC CE"CCD AECB CDE E D ECB BE DE 2 DD"D AED D E D EC FCBDD BC EC DECBC ADEDD2 5BC%CB! .@B" E%CF CBC%C BE DE 24C DC%CB CCDECDECBCCBCECC2 CBCDE27AEC%CBDC " FCEBCECEC #C CDBDFC ED%CDAEC "EAE "DBCEAFEC 2@BE DE "CBC%BFC E A C E #D DECBC E C E DEBF ECB CD%BDCDE2 .@B EBAEABC " %FEC D "C CC E EA EC % AF FDAC E CF D D CDE DEC2E2
1112 6G@6515634.4163
4C CE%CE C2 CBCDEED" EC%FAECEC % AF BBDFDACDBCBE#D" C FCD C F FCBD " E DEBF ECB CD%BDCDE "E .B92 6 BE DEEBCEC CDB DEFADECB DECB BCEEDDBCBE CCEAEB #D #CED 2 12 !5F7A88DB @BE DE "CBC A F DECF EHFC%CFJCFCCDEB F=%CBCC0)42//CB F?24 C2 CBCDEED " BCF C)9FBCD=FBF DF ?ABDDC AB2 3C CAD C FCEEC E.B9CA C"C"DEC E C# "CECB EC BBD FDAC " C E D AFEC2 KAD C FC BC DE C2 CBE D AED! ECBC BC CDEB ' CED2
5BC%CB!"CCCEEC EB E"EFBCDCA C EC DE %C BC AC D E ECDF2 4A ! FBCD!"BC E%EC!DE AC E # !E DE "BEEC ED"EECCFCBF23CC2 CBCDE EC EC 2
29FFA EBEC ECC2 CBCDEF CEEDDECECBCF A CABDECC2 CBCDE24" BE DE "CBC FECD B"EDC2 CBCDECB24C BC CDCE" BE DE FF"C DEDD FC%CF DCDEBED CA C FBCD CFE D CEED2 L"C%CB! E% CEDB BC BFDFACDC !EC"CBCF E#E#2 4CEA C AECB" FC.@B24C D AFECBDB "EA CEFEECECE #2 4CEC FEEDEBFE"E%C3 EBE (),*DEFCE@924CBE "CBC FA97986 D"CBC FC E #C BCB C " CD 0 BEED CB ! EABDD D AB FC "E CBCDE FB D BDADD CDECDC 26 BE DEAFDEBFECEBE 24C EFCE@9" 'CE68 D FC B FA CB DECBC "E AB AEED 2 .D C DE FF"C ADEDCE"CCDEC C%CC%C 2
2 " A3DEAB8F8D5B735A #$ %8A7#67A FBF8D5B
4C C2 CBCDECB DEBAC EC E BE E EC BE DE 03D3CEEC24CD CC2 FDCEEEC EFCE @9 " $CD B FC E CD H@CBC ED J2 . CBC ED E AE EC CD%BDCDE2 1D E C2 CBCDEED! ECBC "CBC AB CBC ED 0 HF#C D FAC AEEDJ! HF#C D D# AEEDJ! HF#C D BCCD AEEDJDHF#CDF#AEEDJ2$CC2 FDCEE " FCEDEBFECBEBCED C CDB 2 B C2 FC0 H EC A CB F#C D EC BC AEED! 3CEEC CFFJ2
4CC2 CBCDECBC2 FDCEEE" FCEE"E .@B2 9FBCD BCC%C %C DAEC C2 FDED AE EC BD ED .@B2 1E " BECB C2 FDEDEDDECB EC2 CBCDE2
4A !ECC2 CBCDECBC2 FDCEC BC ""AFC A CABDFFECC2 CBCDE0=)?@BE DEEBCEC CDB"EBC CEEEC%CDD EBAED 2=+?@BE DE E H FCJ EC CDBM EE CD F#D D EC CDAD %DEC CDB BCCDC CFC2=,? @BE DEEAFC'F#DDC2CAEFCFCEFAD ECDECB BCEED2 &$ %8A7&67A A3DA @BE DE E 2 C2CB C F C D EBCC DC E 0 2 $C&ACDEFE0ED BCDCDCECBECECB2 2 @BFFCF 0 C%CBFED BCDC AFEDCA F2
2 6%CDE0 ED C CD D @CBC ED2 4C EC
"E B C CBC EDCBCDED 2 3CD CBEEECEBCCDC E F EEC C AFE FC%CF24A !EC%CD BCB C DEBC BC CDE BBC DAFE2L"C%CB!ECBC C%CBFAFE FC%CF BCDC E2
(DB7E795E 2 C8C 2 +6C,CE957B59 - 2 CC8A56C6) 24C
C2 CBCDECB C2 FDC EC BBD FDAC D C2 FC "D C&ACDEFE = CC 2 B?2 $C "BEC EC CDB0H3C ECBCB )DECDC EC BCB +J2
ABCB2 62 FDEDCBCC2CB C)
(C8A56C62E26C,CE957B59 ) 24 B EC2 FDEDCEC
EBD EDEECB E C2CB C2 4CEBCA CEC C DC E D E C ECB ED 2 1E FF"C C#D "CECB EC B E C2 FDED " ADCB E2 4C B E C2CB C= CC 2F?D ECD"BEDEC CDB0H3 CFFDECD CJ2 ABCF2 62CB C) 4C CDC2CB C FCECECB EDC= CC 2N?2 4C CDB" 0H3C ECBCB )!ECD CFF!ECDC ECBCB +!ECD CJ2 4 C2CB C" ECF EEC C&ACDEF BE2 ABCN2 62CB C+ (DB7E795E 2 C8C 2 +D787BBCB56- 2 CC8A56C6) 24C C2 CBCDECBDEBACEC BFFCF 21EDBC CFEEFC ECAFEFC%CFCA C BE DE EA C BB EBAEABC CFCCDE0 D787BBCB2 1E #C CD B CB! "#C FC E B DB E"ED DEC CEC24CC2 CBCDECB"BECEC CDB0H3C ECBCB )DDEC CEC3CEECC EC BCB )J= CC 2)4?
ABC)42 62 FDEDCBCC2CB C,
(C8A56C6 2 E 2 D787BBCB56) 24 C2 FDED C EC
EBD EDEECEBC2CB C24CEBCA CEC C DC E24CC2CB C,= CC 2))?D ECD"BEDEC CDB0H3CEEC CFFDC ECBCB )D EC CECJ2 ABC))2 62CB C, 4CABEC2CB C FCECEC BC%A DC= CC 2 )+?21E" #CE"BECEC CDB0H3CEEC CFF DC ECBCB )DEC CEC24CD3 CFFDC ECBCB )DEC CECJ2 4 C2CB C A C C&ACDEFE DC E D BFFCF DC E"DBC CECAFEFC%CF2
ABC)+2 62CB C/
4CEC2CB C FCECEC BC%A DC= CC 2 ),?21E" #CE"BECEC CDB0H3CEEC CFF DC ECBCB )DEC CEC24CD3 CFF D C EC BCB ) D EC C EC2
4CD3 FC C DC ECBCB +!D 3CEEC FC C D C EC BCB +2 4C C ABED BCDEC CECJ24CAFEFC%CF" DBC CCA C BE DE EA C BB EBAEABC CFCCDE087EA41E DC"BEECD787BBCBCFCCDE2 ABC),2 62CB C8
(DB7E795E 2 C8C 2 +CCE9- 2 CC8A56C6) 24C C2 CBCDECB
DEBAC EC C%CDE DC E2 @BE DE E A C BB EBAEABC CFCCDE0 CCE92 4 CFCCDE BC&ABC CBC ED D D ED2 4C C2 CBCDECB "BEC EC C2 FC CDB0H1ECA CB F#CDECFACAEED! 3C ECFACBCB J= CC 2)/?2 ABC)/2 62 FDEDCBCC2CB C9 (C8A56C2E2CCE9) 24 C2 FDEDCECEBD EDE ECF EC2CB C24CEA CECC%CDED BFFCF DC E 24C"CBC #CE"BECEC CDB0H1ECA CB F#CDECF#AEED!3 CFFDC EC BCB ,DEC CECJ= CC 2)8?2 ABC)82 62CB C9 42 "CFF8D5B
4CBC "CBC E" C%FAED 0 CB%ED C EC C2 CBCDECB ABD EC C2 CBCDE D AE'C%FAED &AC EDDBCFFCEC BE DE EECCD2
#$ 'A3CF8D5B
7ABD EC C2 CBCDE! EC C2 CBCDECB CB%C C DC D AFEC DCBDD EC DC E D EC C2CB C 2 $C DEC "CECB BE DE ADCB E0 B DB ! FED!D EBAED ! C&ACDEFE! BFFCF D C%CDE2 6 DC E " DEC ADCB E =)? B ADCB E=4?21 BE DE DCC CCF AEDC EC CDC E !E" DEC ADCB E21DE C! ECC2 CBCDECBCF CEC BE DEDBCBEECI C " FC E DEDAC EC C2 CBCDE2 LCF " DE CA CDC E" DEC ADCB E24CC2 CBCDECB DECEC AC BFABCCC2CB CDC CDCDEF DC EADCB EDD24CABEDECC2 CBCDE" DECE2
&$ (A8D5BBFD3A
.EECCD ECC2 CBCDE! BE DE EFF &AC EDDBC! " BBC D E EC 4FC 12 1E FF" %D EC CDEF BC BC CDEED FBCD D EC C%FAED D .@B2 4C .' &AC ED ! C2C E EC
&AC ED 7! "CBC C%FAEC "E <#CBE FC ()/*2 @BE DE E C D EC FF"D D "CB 0 $EBDF BCC!7 BCC!3CECBBCCB BCC!.BCC D$EBDFBCC21DBC AFE EA!"C EC%FACE EC C D "CB 2 4O$EBDF BCC! )O7 BCC! +O3CECB BCC B BCC! ,O.BCC D /O$EBDF BCC2 4C &AC ED 7 DE C C D "CB2 4C P'L &AC ED "CBCC 'D&AC ED 2 3456789A8 Q86$41633.156 .21DE%CD BFCEECC2CB C 2 72 B"C2CB CAED#A"CBCFCEBCEC CDB FDC1 921ED#E" C EBCEC CDB"EECB FDECBC2 721DBCECECB CDB 2 621F#CECB FDECBC2 21ED#1DDEBFECB BE "EE B FDECBC2 P23AFAF#CEDEDACA DECB FDECBC1 L23AFAF#CEDC CEDDECB FDECBC1 1C2 56$8<4$ 12 "B5B8A3A735AE #$ )B838D5B 4CF BE DE BCC%C"BEECDD EBAED 23C DECEEECFBCDE#FDECEC%CECE # 2 6 CB%ED D A D"EECCB DECEEEC BFC C B EC ADCB EDD D EBAED 2 9FBCD"CBCDCDEBECEBCDE" BFCE ADCB ED EC D EBAED 2 1E CCC E C E AB C2 CBCDE2 4 CD ABC EE EC BFC " DCC D EBAED ! EC CD F BE DE BCC%C BF D EBAED D"C BCECD EBAED ADCB EDD D EC E C 2 1E " BEDE E C# "CECB EC AFECBD EBAED BECBED.@B2
&$ DEA
1D BFFCF E BFC! "C EC BFC2 4CCB "CBCDEFCE%CFBCDEC CADE EC27CBCE D EBDE!ABC" ECBCCEC DE CB%C " DEC E E#B FBCD E E # 24C" DED CBEDDABC2 CBCDEED CA CAB CE%C" EC#FBCD"CBCFCE FCBD BBD24CD C&ACDCE ECD EBDE " EC FEEEC EECEBDC E2.D!"CE CFCBECFBCDCAED2 2 'A3CF8D5B
2 )9 " EC CBCDC CE"CCD DC E ADCB EDD BD E %CD D EBAED 2 4C B " EC%CBC%FACEDCC BE DE=)B ADCB E! 4 B ADCB E? 4C BC AFE BC%CFC EE BE DE CEECB ADCB EDD "CD D EBAED "CBC%CD%CBFF29DCBDDECBDB !)44244R BE DE CEBBCEFD EFB28R"E"BEECD D EBAED 2 4CBC D CBCDC DCBDD EC
FED =B8244R?2 ,B284R BE DE ADCB E "BEECD D EBAED "CBC FB284R BE DE ADCB E BF D EBAED 2 9+284R BE DE ADCB E C&ACDEFE D B8244R EC ADCB E BFFCF "E"BEECDD EBAED "FC)44244REC ADCB E E C&ACDEFE D BFFCF "E BF D EBAED 2 DFF!,B284RADCB EECC%CDEDC E D"BEECDDEDD E4244RDBFDED2 1 2 3 4 5 6 7 789 78A 78B 78C D EFFFFF 3 F F FF FF !F " ABC)92 9 B DCE"CCD"BEECDDBFD EBAED CCE 2. CD BDB 27CD 9 FED29CD 1D EBAED 27 CD $C&ACDEFE26CD @BFFCF 2 CD 6%CDE2
.F E FF EC BE DE FCEC C2CB C ECB E EE"CF 24CBC AFE BCCDACA CECBC " DEFEECEECC2 FDED DC2CB C 2 5#D 5#9 5#$ 5#A 5#% 5#B 7 789 78A 78B 78C D 5# !F " ABC)B2 9 B DCE"CCDC2CBC AC BDE%CD D EBAED 42 (A8D5BBFD3A 4CFBCDCDEFBC BC CDEED CCCCBCDEEEC CB%ED = CC 2 )F?2 7C EC EC F# FCEC DEBF.@B!EC BEECD CBC%D D BFC E EC C2CB C = BC /2//I8?2 4C BE EC AD EC BBD C = BC /2+8I8?2 4C CCF FC D ECB BB FDC = BC /289I8?2 4CB ACDE EC DECBC EBCCDA F E%C2 4C F#C EC B F DECBC = BC/2FFI8?DECEAEE" FCEDEBF ECBBE "EE= BC/I8?2
9DCBDD ECB AED! EC EAE EC "CBC FC E BCEC CDB FDC B EC CD B EB C2CB C=CD+2,)?2 1 3 4 5 6 7 D 9 $ A % &FFF ABC)F2 .D "CB E&AC ED .!9!7!6D
9DCBDD.@BC EFE! BC AFE BC E%C = CC 2 )N?2 .FF EC BE DE F#C EC DECBC D DEC EE EC "DEC E DEDAC A D E2 6DF DC BE DE "DEC E DC CED E EC DECBC! "EAE D BC D2 .FF EC ECB DEC EE EC DECBCDEDCCDC 2 ' ( 7 78% D &FFF ABC)N2 .D "CB E&AC ED PDL C2 71$98$$163 12 D A3ABA7A8AAB73D88AB7FB753F75BD8D5B 2)9D 2)B BCDC E ADCB EDDD C2CB C AC BDE"BEECDBBFD EBAED 21D EC B%CCDE DC E ADCB ED "E BF D EBAED ! EC C2CB C AC CCC E CBC C2 .EAFF! FBCD CEECB ACC EC C2CB C D BF D EBAED AEEC DE CBDEC EE E 21E C E C2 FD"21DEC"BEECDD EBAED !ECC2 CBCDECB BCEC0F EDCAB27AEECBFFBCD!ECECCB C2 FDC EE E " E FD2 4C FBCD C FCEC FC D D E " DDD2 .ECB EE! EC C2 CBCDECBDFFABEBBAEECC2 CBCDE2 $CDEFCEFBCDED#D"B#FEEC2$C &A#FDCC2CB C DEDECECC2CB C AD FCEC2 $! C2CB C ACC CC CEECB D EC "BEECDD EBAED AEE C2 FDCECEEE C ECE%CBCC2 FDED AEECD EBAED DEC P812 1E C E EC C2 CBCDE " AF C %C DAEABCC2 CBCDE25BC%CB! ECDFBC D " EC C%CDE DC E DE C ADCB E D EC BF DC E ECF#EC24CC2 CBCDECBDE%CEC ECEDEBACEEFBCD24E EBECBC AFE 2
.CC8 25927BB62EC8697E5E29479272#%2 C7862A45B2 ECC62#/25E9C6292EC8697E27E2F5!82AEACD9
4 EC AF C DBC D AEABC C2 CBCDE24% DEC'D ADC2 CBCDE!E AFCCEE#CBCFBCDABD)8DAEC DBCBE "ECDFDCDC E23CAFEC EC DC E C BECF2 2 D A3ABA7A8AAB7EAB8F73A3AAB8F8D5B7FB73AFD8 9FBCDCDEFBC BC CDEEDC DEBCFCEECBCFE2 4CEAEEC%CD BFCEDEBFECBE!D BFCEECC2CB C 21E C2EBCCF E%CCA C EC "CBC %FADEB D E%EC FEA EC FC2 E # E 2 .@B FF"C EC #D BB! C2CAED BB! DEBFD BE "EAE "DAFEC 21DFCBDD BC !E DE BFC EC#C E#C"CDECBCEC CDB27AEEC E BEDE ECB E%ED2 1 EC BC E%EC E A C .@B!EC"FFBCC FFCBD"E BBD DEBFECBCD%BDCDE2.@B C ECFBCD2 1E C ED AFEC.@B29FBCDDDEBF CE BE S
C12 9639<8$163.37@65$@6941C6$
4 CB BC CDEC AED BECEABC " DDCE CEC%C 0.B92.ADED BEF #C ECADED ECECB CD ABDDDECB' BCCD D2 5BC%CB! .B9 DED B F A CB DECBC!.@B!"FF" D AFEDDC"% AF BBD FDAC2 4D# E E FDAC! C%CBDC D BCEC D E%EC C DECBED CDB 2 B C2 FC! CDB D A CB% C CB D CFE! "FC DECBDCD A CB% CDCD!"FCDECBDCD A CB% CECE%EC E.@BC%F%C BDEEC CD%BDCDE C%C 2 1D EC E DEC2E! EE CD C FC DFC FCBDD BC "E .@B2 6 ECDC" CE CEECCD%BDCDE!E FC EDEBFEEBA.@B!"EEC CFDACED FFECB CE 21E C%CD FCEE#CDACBA CE DEADEDEDED CE"CCDEC C CE ! " DEABBCDEF FC2 4 CB BC CDEC C%FAED .@B2 4" C2 CBCDE "CEE.@B C EA CB C FC "DE%C AED #FF 2@C FC BC%BFCE %CE #D FEDECDBCBEDEBFECB CD%BDCDE2
.B9 " DEBAC E ED ABD BE CEED24CD EACDE "E AED #FF EC EC .@B"EECBE "DD +423C CB%CEE C%CBDC" FCEBCECDC2CAEC CDB "EFC ED)DAECC2 FDED24" BE DE C%CDBCECDC" BE EDDDCBE G5<FC"FF"C DECBEDAEEFFDC"ED DE.@B2.FFEC CB D "EC EC.@B"CBCFCEBCECDC2CAEC CDB "E FC ED ) DAEC C2 FDED2 4" BE DE C%CD BCEC DC" BE %CCDE D DECBECDC"ADEDFEC DE.@B2
ABC+42 5C E ED"E7FTBE
3C ED# EE .@B B C BBD FDAC F C B DEABF FDAC2 1E FF" C%CBDC ADCB EDD.@BDC E CA C CDB BCAFE F EF#C CDECDC 2 4CAEABC"B#"FFCECC2 CBCDE.B9EC2 3C"FFEC EABBECEABC"EECCFCBFDDEC2E ECCDEF%D2 .9D363<67P5634
3C "AF F#C E ED# ECCB D A F B ECB BE EDEABC2 CBCDE2 56 656396$ ()* 92;&ACE!H@BA CDEED BEAD ECCEAFEFC-DBED D FCBCCF-DECFFCDCDECJ2@7EC !8D%CB EA -6B @B '$A!+4492 (+* 524CBC!H3E AFCAEEC1J!1DECBED !=+44F?!/B'BN (,* 52PBDCBCD727AAE!HLAD'5E0B1DECBEDE 5CFED J!)/E1DECBDEDF9DCBCDCD9FDD 3F#D5E .DEC$A BE4CDFC B5FC5DC 9E'FE C ECCB!@B ! BDC!+4)) (/* P2@BA% EDK27CFF#!H.CDE5AFEFLAD9 AECB 1DECBEDJ!D BCCD EC ECB C DE4C6AB CD AEABC4CDFC 9DCBCDC 644N!@BAC !+44N (8* .26FF!HLAD'9CDECBC5AFEC05C BC CDEEDD 9FFCDC J!@BCCD EC) E.95DECBDEDF"B# D LAD'CDECBCAFEC!.95!))')F!+449 (9* 62.BE D523CBE!H.CDEDECFFCDCJD4CDF PAC!$ BDCB!+//'+/N!+44N (B* 92; E!72<C@A%AD727AAE!H9BCED1DECBED$CDB 3E3C"PB F8 CB1DECBCJ!DEC8E1DECBDEDF 3B# D1DECFFCDE1DECBC BLAD'9 AECB1DECBED! 1EF!+4)+ (F* $2@C ED727AAE!H.BEF9 DD0AFD ED BCFEDJ!D1666'5+4))7CCCBB'))!+4)) (N* 52KAD!72.BBD$2DA!H9DEE0% AF BBD CD%BDCDEBECDB ECJ!D.95$1PP5.@L9 AECB PB !%F+N!D+!.95!++'+/!)NN82 ()4* ;25FDC!525C D#!325A #!72$F%CBDD626 ED! H4C$BE@BBD<DACD6D%BDCDEJD.95 4BD ED D9 AED6AED=4696?!+4)42 ())* EE 0II D2B E2ICD'A IFBBI/F,4FF2 2 ()+* @23C"EDD;2927B"DC!H4C9676+24B F BFFCF (),* EE 0II"""2D E2 ()/* ;2$28CCB 2!H<#CBE FC 0 CFFDECDA DJ!D$EE EF CE BBECBBCCCDE!%F,)!+4492
