Asservissement visuel applique a un robot mobile : etat de l'art et modelisation cinematique

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(1)Asservissement visuel applique a un robot mobile : etat de l’art et modelisation cinematique Roger Pissard-Gibollet, Patrick Rives. To cite this version: Roger Pissard-Gibollet, Patrick Rives. Asservissement visuel applique a un robot mobile : etat de l’art et modelisation cinematique. [Rapport de recherche] RR-1577, INRIA. 1991. �inria-00074983�. HAL Id: inria-00074983 https://hal.inria.fr/inria-00074983 Submitted on 24 May 2006. HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published 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..

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(110) Q &/_-/_ &52, 1,Lx ;,' Q,Ltn,( Q -7,V

(111) y!4;-$"#$', /_-e,.-/_ & 1; &n,(Z-0/<>2,H1,.x n,Hw</ /,H

(112) w</ <F y!4;- 0- y+-, / Z-0 + -;,<_'/ ,9[ x4,.-/_ &Qw</ + K[< y!4;--6&/, &<-'C+-;,./_-@<B /_x ,.

(113) !";$ @ 2, 1Sx <,90 ye -H- /_- ,R e,.5 1C2,0/?6!+ ,(0w</ 0x <-t e !0/K-0/_ ! ,( Q,1; 1,.0- 0/KOQ .E<DnF o i #T" C+/0-/,+ x4,/

(114) 0< ,_/ 1;j-,0w</x <-10/K-Q,.-0/_ ! -;,.-0/ 1F_ < 3 ,(; x .w .2,0 <Q,0U3 ,16&/ /_-/_ &23 /_x4,.

(115) m, w T10$ LQ1;-/_ &7< 2,50/K-Q,.-0/_ ! 1; &n,(<-t0-Q1<Q,./ 5$ 6&<-/_ _x <-, w 1>_5@ 2, 1Sx <,4 yQ - Q ( (nT" ,t,Q,Lx /21 _ < 3 ,(; x .w G_/<,+ j -n, e50 !<- C)V 1;-j A0/Kx5.K-;,j x <Q $'$ {z * &74{z * ({ nT" #--0 -0T1</?6& ,S ], w ,(Z-;,.

(116) <> e !+w /_ +/Kw<0/< y!4;-l4x &w x <-#" (< /?6&x Z- *B e !4,.-0-/ ;<07.70/_-Q,L-/_ ! /_j *V_ /_-j n,.-0/_ ! 0T 1;n,L/_ *ex ,L/ @,. ,F ;,.-/?6& / E9 ,+- -/_1; xA -0<0>[M 5,

(117) C+-n,1;-/_ &23 ,L--0/_y-%, /_x ,L

(118) . *. *.

(119) Position objet. Position du robot reference. Position camera MOVE Position Objet/camera. Position du robot estime. Interpretation d’attributs. Extraction d’attributs. Camera. %/_

(120) !0 x."_z jw</ jx <-R0/_-Q,L-/_ ! 2, x @ _/ n,.-0/_ !A< 2, 1j,.xj n,* 2, x @ _/ n,.-0/_ !A,4 yQ -$" $B / <- -;,.-0/K &></ ,9[ 0x ,L-/_ !+wZ/ _ Q &'0-/_x jG ,u/_-e,.-/_ & B2, 1,.x n, T 1;/_-0 <1<,tw e -<-

(121) 019[ - -_'6&V2, 1; !e,./ ;,Q1;O<'</_x /_ &A< y!4;- & <12,'</ -;,Q1;41,.x n, y!4;-#"p</ !OD Q+-5 Q,F9[ 0x5_>< -0 _ <,tw e -<-

(122) 0T*. & -B,.[ y.K/_

(123) <,.-/_ &%<m0T1; &-0/_ Q,1; Q,. _x -< < / ;</?6& T 1E$ x x <-$" % !l/ 0-jO1S--0 , 0 1<+ * !V e- 1; !._-j> ,L-0/ 1:K &7$ *{ 7 -

(124) Kt1,( 1: ,91; &Z-0 !5G y!4;- ,1T 1S0/K-' < 1; & _02, 1,.x n,O,1

(125) . 2,0$"$', x !0-n,L-/_ !91S !0/0-4/_-J,

(126) +/Kw<0A_ 1; !<- &5< 1;- y!4;-t, w T1D yn,( x ,(/ 2,.-0$" 0 ,(-0C+xA .K@<1,( 1: \ Q &/_-/_ !H-@3 /_<-n,L-/_ !0G y!4;- ,. Q, 1S _ &Z- ;, e 0- ,. $%$ {z -/

(127) ,+ 1,Lx ;,EY+ 0 !<- -/ _/ I Q &w</Q,_/ j-_7x &w jx <G t-0n,./ ttx K

(128) _m$ ,/_-#"Z$X -/_x4,.-/_ &/<%;, -;,4;T1S- /_0-<n,OwZ/_-00 0- T ,_/ 7 ,D

(129) ],./?</G + ,.n1</_-0T1;-+1 / QK/ H-/+,>_Hy-/5n,./ 0/KFK -;,./ 44x &w x <-,F

(130) 4yn,(U,F

(131) ],L/8G yn,(x ,(/ 2,.-0#" l {z m -

(132) ,+91,.x n,( 0 !<- xtyQ,L 6& >_Hyn,(x4,/ . , -$"'$X -0/Kx4,.-0/K &R<F ,0 e !0/_-/_ ! <0 y!4;- -0/_<-1; xA -0/, y/_-% 2, x + x ,L/7,(0/[,4y/_-@_ e !0/_-/_ !+x <-@L 0 ye -Q 4,1; y+/K -0;,5,4 yQ - T" ] " {z ' 31

(133) :)VT1S- 0-x5+/K<0<,+ 1,.x n,( Q &9 ,L/_>2,>0- . w</ /_ !'*,< 1, +-%<9[ ;1; *+-%<1,( -l- # x -0/86&@2,0T*e1;T1;/,#Y; LOOK. . . . {.

(134) G C) T1;-0 ,Sn,L/0/_/G y!4;- Q & tw<$ </?6&5,. Q, 1; 0" # -0n, w ,./ - 40-6&-?,>

(135) -;, e 2,00/Kx5. ,L-/_ !I" .

(136) . . . Position objet. Motif reference. Position camera MOVE Position Objet/camera. Motif courant Extraction d’attributs. Camera. %/_

(137) !0 x." x +%0w</ 0x Z-lw</ R q ` `#qr ,r Ir >cl I^ r wT1 1;-0--0T1</?6& *. & 1<n1<5,

(138) ,.--0/ ;<0 x -0/Z9;,(B /_x ,.

(139) '-X !5 %,

(140) 1; !<-0W !M _X/_-Q,.-0/K & Z-0 , 1,Lx ;,l-B y!4;-uQ .E<DnFlo i2o#T".l/ /e !0 . /_x 2,V <Q,07< 0T1; &-0Q1;-0/_ ! G x Gj

(141) - & _/_x / A, x7M x 41; !. _ 0%+% -0/Kx% <>2,F/_-Q,L-/_ ! -%_1j,21C 1; xA _C+#-%_ & ,#" $ l-;, w ,,+4x ,( K 1,&<5<0 ,(0w</ 0x <-lwZ/ x -0-<- V x /

(142) 0 </*)j <-l-t, Q < y

(143) x ,G_%-;, w ,,+ 0<- B,( ! {+z * ! ;{ ,* &9{ ,Zj- ] 65 * { * _ C) 0- !<-A -> e 0- 2, x _/ n,L-/_ ! <- _ w ,L/2,.-0/K &BG A0/_

(144) !Q,(Q-_#x !+w x <-B< 2, 1,.x n,." #--04x _/ n,L-/_ ! 0-09 ,./_-0A &52,19 x AG 9-0 G / Z- n,1;-/_ & 1,(21C$ Q &@<B /_x /K-0/_w %

(145) B x -0/?6& Q,.;,.x -;,.y_ ,. /_x ,L

(146) . * 2, 1C2,0/*YV1,.-0/_ ! < -, M 1<1 T 1;/*Y% 1; x x 1<1_/ ,L/ !. w</_- _ <-0>2, 1,Lx ;, j- ,Fn1

(147) * / <-j

(148) n,L-/_ !5,5 0 y

(149) x %,.@2, 1; x x4,;<S C 9! 0Q1E S 1,( -#" # -t, Q>< 1; x x ,(;< 0- 1;/_-%,(>Q = { ,nT" -0/K-0%<% x &-0n,.-0/_ !'*tx ,(/ 2,.-0'l

(150) , M 1;/,

(151) +1,.x n,/_- yQ &-y;,-/ _/ _#-T1</?6&%3 ,(0w</ 0x <-#w</G e !X Q /<-0 4 y!4S- x !wx <--lT ,(K/ 0%<l-W, M 1<< e !/_-0/K &x <-mw</ >,H

(152) wZ/ G 1;/_y_!" z, . LOOK. . . . . . .

(153) -0n, w ,(,+ T 1E$ <<- *#<x4, Q &7 *{nT5-0/ K/ 07 - 0G /<- n,1;-/_ !Hx /

(154) B n,(; +/C6&- /<0-7C+ 0/Kx@ ./?6!+x <-I Q & D

(155) x <-70 > Q,.X1; < < & %LA e / <-7x / _/_'*# &t /_<-;,.-/_ &tn,D_ !+

(156) !+$" #H- > / Qjx j- 1; !<- !M _ 2,5 e !0/K-0/_ !O</2, 1,.x n, -4E<PQF><DH 0/_<-n,.-0/_ !#"'l5 T*I2,A +/ t 1; xD -5<H/_x ,L

(157) Q & 1,( 1:_5_ - 0 j-t@$ ,/_0R2, 1; x x ,(;<0D9 ,./_-/ x4,/

(158) 0 ,(t,< 1< &H-></ n1; &Z-0/ wI"Q$ Ft,-$

(159) x 5< 9[3M -;,.

(160) / K,.x %+, /Kx4,

(161) 0--/ _/ e !#$ L/_ _-jxA @1,( 1:"Zl% ..m/ ,7 -> j -0x / % ,( &7 {+z @Hx -< < !_

(162) /_ Q & Kt1< /*+ ,.x <0-/ R,4

(163) 1; &<-W &M _ w</ _x <-/_1 Q &/_-/_ &x <-U< C) T1;-0 wZ/ 7,

(164) w</ A<1 y!4;-#" #--0 K 1;-/_ ! - yQ,( 5>< 1S/_-$

(165) 05< 0T1; &Q,./ ;,Q1;1Q y-00 * /21;/_- * 1; xA #T 1;/_- *-xD A< 1j,21C?TH-1< 1; &Z-0W &M KVQH y0w ,Ly/ K/_- *71; !<-0W !M 2,Ly/ /_- *0/_y/ _/_-$ T" # -0n, w ,L/ x !<-01 /_xA e 0-n,(Q1;RL 1; !E</_-/_ !+x <-5< 2, x4,.-0/21;AG / <- ;, 1;-0/K & ,./_ 1S xA e 0-x <-/<1],0w</ 0x Z-#"[Hu x ,L-0/ 1Sy/_ 1; &;</_-/_ !. >< /_->M -0 -0 _ 6&- D Qj-/_-1<Q,

(166) x Z-%O1S--0 x ,L-0/ 1St-A, e !0/_-/_ !+x <-/A C)V 1;-+ / ;,/_->. e-/_-t1<e,

(167) x <,( /_x4,.

(168) &" $',1j x !.-;,.-0/K &1 0<- -F , T1S !Q,L/ n,(Q1;AG +/ /T

(169) 1S xT 1,+/86& Q 4S / <-\1,.0yn,L-+ T#-B2, 0/0<1S--0% /T

(170) 1; Q,.Xt yQ -px4,/ . ,L-+ BH=4 1; x x4,; Q,L45m,#+-" H -;, w ,./ 7/ <- 0;,<- -0 0<-7 +, & * (s -O

(171) & x !<-05 ,DS 1;/_-1 <H_/_>2,tw ,L/2,.-0/_ !'< / ,9 x4,.-0/K &#wZ/ _>, /_x ,.

(172) -FK x &w jx <-5<72, 1,Lx ;,"H , + 1< ,&, +-n,.-0/_w 4-1-0/ K/ ' Q &A2, 1; x x ,(;<!".$Xj -;<l0- _/_x /_- >,>

(173) < ye -s,#t<,<-Btx4,#+/_x/+x <-0 / <

(174) <_/Kye0-! " ,( n, 1; !e1C /_ !H/ 9 ,L/_-'jx ,.C6&B6& ,(0w</ 0x <w</ %- / <- 0;,<-% e !+%2, 1S x x4,; -jxA [3 . 0 ye -lx y+/_ ,5+/KwT,0_ 1,6*.-6!+ / <- j -n,.-0/_ !H

(175) !_ yQ,(_<2,n1

(176) % e-u9 ,./_0@ F /_ < 1 _w &" ,],.-0/21C_%< ,Ly3 , /! *;*-],0w</x <-mw</ + - T ,_/ n,( C+-;, 1;-0/_ ! < 1; &Z-0 !R< /_x ,L

(177) !"%$

(178) n,!/KZ-A' ,( _/21,.-0/_ ! 0- -/_x@ Q,LB x -<+ L%</_T1;-0< Qj-+yQ,L-/_ !#" <e,!6&/_

(179) &Q,;1; !<- !M _ 6&/p1S x x4,;%4x &w jx <-@<F ,t1j,.xj n,*<x </*YQ%0_x Z- 1S xt. e !n,(<-%,twT1;-m0 <-;,<- y!4;-B,( /_x ,L

(180) !" <Q,!6& ,#+ 0-m,./ 0/ 1; &Z-0W &M $t / ; Q;,.x x <- Q,.>. 1; x x ,(;< ,!,( -n,L-/_w &" #j-- -E< ,. e -/ _x !wx <-%< -;,2,.-/_ &7<>2,t1,Lx ;,A6&/- e0x -0-<->< 1; &Z-0W &M Kj2,S Q &/_-/_ !r- T 1<_/3 . y!4;j- +, /_x ,L

(181) !"<,. 1; &Z-0 * K 5 ex -> Q,( Q1; R5/_w<5 0/KZ-;,.-0/K &7G y!4;j- 91; x x ,(;,(Z_ x &w jx <- -n,L-/_ !1< ,H1,Lx ;," $',0 x !0-;,.-/_ &tT ,(K/ 1; !0/ -1,>

(182) e !/_w< y!4;j- 1; !<- !M 2,<-n,. e !/_-0/K &4- & 1<+ K0, /_x ,L

(183) .!" , Q,(/_3 &K & Q &_ !>,( ]e {z s:)VT1S-1_ -;<41; xD Q,.;,.-/_wU<'</*92 9! 0<-lx <%< 1; &<-W &M _%6&/-0 !<- z z. . . # !<-0n,./_0x <-4,,+. . .

(184)

(185) &2,.-0/K &A 0 ! e 0-/_ !+ KS / <-

(186) n,(KFQ Tj* yQ &Q1C_9[0x A,F

(187) 2, 1;x <-> [ !M _ * w /_ !tx </*Yu , 1; !<-0W !M _ $ Q6$ / T,LQ,&<n,L-/21 ,(0/ ,(;T -5

(188) K w T1S-< Q0-0yQ,.-0/_ ! j-B_w 1;-+G -;,.-B0 !<-#-0/Kx B Q,LB0Y;_-0 < ,_x ,(-" $ m _-;,.-<1;j--' -E<% &7x !<-0<-\6&- 1S !<- !M _--0/_/ n,Ly_ /,_%x %w</ _-0 !<-- +T 1;/ 0T*-[6&- / .w ,+-'x /_L+%-/ _/ I 1; !<- !M _ -0 1<e,-0/?6!+7Q6$ >TF Q &/<A< ! ty/_- #"7% !02,4x _/ n,L-/_ !%*Q/ -0/_/ 0_O$ 6&Q,L-/_ !. L Q - ! +-/?6& ,(;6& _ / m,4; &- *3 Q &><Hn,./ 0 ! <1 T 1;/ /_ !.T*B.4-T1</?6&73 ,( Q,L/_x xtZ- x x :+:N U;W\6Y[h;J.I U Qn0 x x ><></*) e1;t1,.0 5, e - ! -0/?6!+$T" #-0-t- 1<./?6!+A< :+:N U;W+\ Y hnJLI sU 90->@ -n,L/ # F Q,. C+xD _/,. &7$ { ,"KHut, _/21,L-/_ ! , +/Kw</ G -;,4;T1;-0 /_0x _ Q,L4yn,( x ,+/ .2,.-70-% <- R" {+z -0/_/ #,/_0$ 6&Q,L-/_ ! , Q - ! +-/?6&B e !71,( 1:_B2,#x ,L-/21; G / <- ;, 1;-0/K & e !4v WULY2P<\ RS7 /_x ,

(189) &"p$%, 1; x x ,E< 0-59 ,L/_-' Q,LA j- !+%G -n,L-$"<$B C+ 0/Kx <-n,L-/_ ! 1S !0/0- Q1S A,

(190) /_w<%2, -0n,4ST1;- /_x G 4 y!4S-$"$X / Q1S !<w@ /_<-mx4,4;+G -0/ K/ 0 Q / Z-s1S x x ,.x @,( /Kx4,.

(191) 0- 6&- / 9[ !+/ 0<->< / ,9[ x4,.-/_ &my+/_-j 1S xA e,.n,L/ ! ,

(192) < /_x /K-0/_w 7

(193) B x -0/?6!+ -0Q1S- - _ 6!+_% /_-0$" , ] *{ !2,_ 1,_/ n,L-/_ ! G y!4;- /x -/ _/ 7x -<+ L\ /_w@ < ,O-n,(9 x %< !+

(194) !<A + 0<- /+, =4l *;. " & _ - #n, +/8 * x ,L/ GT 1;/_-#x / _07/ /_-/2,_/ n,L-/_ ! <@2,u Q &/_-/_ !0<@ y!4S-,

(195) +/Kw<0!" $',0 e !++/K-0>< y!4;- 0- +/K-0 ,_/ A,0

(196) ],./?<%G DY;_-0>< ,(_x ,I" , v{+z [ / ,9[ 0x ,L-/ & w</ + KH1,21C# F /_x ,L

(197) . Q-/M -00 ,L/_ * _ x x <-p1;<-0n,L+3" " " ,_1,(m -A

(198) _%+ xty0%G /L9[ 0x ,.-0/_ !%wZ/ _ 0-7j

(199) Z,7,(R+ xty0 U<j

(200) /_/_yQj-0 , yQ ->Q61; x x +, & * (. Q,L C+xD _$T52, x ,L-0/ 1S23 / <-jn, 1S-/_ ! e-1 e !$$

(201) <j7< 1; &,YQ

(202) !+n,.-0/_ ! /

(203) &_/

(204) #"$B],+-X & Q &>G -/ _/ B< /L9[ 0x ,.-0/_ !%$< &;,(Z-0 Q & !E<t1;> 0 y

(205) x !" "7 e-H1;/_- _ -;, w ,,+7<0/_w</BG y!4;j->,. /_x ,L

(206) 6&- / %0 /_<-S 9[ x ,Ly_Q ] & {z nT7 & 0/_

(207) /?< Q H ( {+z nT" & ,YE'*_B0 -0n, w ,L/!6&/<,.ye C< KX y

(208) x <%N_/ ,L/ !.P 1,.x n, <w</_ &x <0- %H( {+z s -

(209) -5@C Y;/D 9 , 1SA< 1; &<-n,L/ Z-0tw</ _!" #-0-D 9 ,1;A ex -5< T ,_/ 0 Q,L C+xD _/.1 <Q,0RG],( 1<1G y!4;-AQ C + , . 1<5G w</ w j -0 !ET*E / 1; x x5-0t1; x x ,E<U,

(210) j- !+@G C) - e !%/ 0B2, w</ $" ##-;, w ,./ !- -@6&-],un, .<Q,0G -;<!" H T 1, +/K-2,.-0/K &R< -n, w ,(,+ ,x - <- U+,_-;,.y_T,( QD;Ji.J. E

(211) M JLP<R IKFHM UetJ.Y PQF MF;R J RnRTFjDi Y_R;RjFetFP<\ R>iTY RSEFjI]R" Y;><$ ,+/K0B_-xD -<7-0n,./_-0x <-G<B /_x ,.

(212) *_%-T1</?6& G],0wZ/ x <z$x . . .

(213) w</C) T1;-<-/0 !w<->_ -0n,L/K-0x Z- +09[-M -0 1; &<-Q,(<->_ ,.x jw</^ 0Q &7{+z nT" $ >/_w</B<0 ,U9[-jM -A+, /Kx4,.

(214) .-/ _/ ,(K 1YEK-00 S </21;-/*90Q &7 {z nT" #--0 x -< <A e-7M -0 ,./ , .K/?6& ,

(215) 2,V-j &n1; & /_ Q (" * *nT" ,B_#, _/21,L-/_ !@T 1;0/K-0 T 1E$ <jx x Z- *],0w</ 0x Z-#w</ Ej->,

(216) 1; &< - !M _G y;,'x4,/ . ,L-+$"CHm,(-0m1C2,@3 ,( _/21,.-0/_ ! 1S7-t, Q@3 ,(0w</ 0x <-2,H1; !E,/_-/w <+/ 1:_,(- & x $" BrVs^ l` > s cn lA xtyL+ $4S-t &Z- -' 2,Q1E ,#Y; G -;/Kj5 ,r ,_/ n,.-0/_ !J w <+/ 1:_ ,-0 ! x #" #/ + $4;j-0T 1;/_-Z-5_t;,0xty_x <- A</_w t1; xD -0Q1; 6&/mw !<-5<A / Z-0 _/K

(217) Q1; ,L-0/ZY 1;/_ K Q[0T1; !.Q,./ ;,Q1S7<D9[ 0x *';,./ &x <-T* 1; x x5/_1,.-0/K & Z-0 w <+/ 1:_ T0,>

(218) 2,H1; x x ,E< Q ,(jw</ jx <-w</ +6*<x _/^ n,L-/_ !-" " " T" "1 e-1S/K-01S-;,./ -0n, w ,(,+ - %6& $ 0 0 $4;-t@ =Hc uV= Q ]<v {+z nT%6&/ ex - 2, 1; &;,/_-t,+- x4,.-0/86&>G w@ </21C_R,4

(219) 2z *H3<x <I"Z$%,HwZ/ 0/K &'*,(1;> 0 $4;- *E- - Q,(%-0/ K/ *Q1ST1;/7,#Y; G w</_-D_1 y

(220) x A'n, x / 4 <+wZ0 M ,V

(221) C+- /_VQ xty0T* x ,(w ,./ 71; &Z-0n,(-D"" " T"<$ Q &/_-/_ &x <-m0-1,21C.$

(222) W, M 1SS,0

(223) <1j, -0 / 0-/_ -Dj wZ/_-0x <-5G y0-n,1C_'-/ _/ 1 1j, -0A2,( QTG mG u #@?[T T 1;/2,_x <- T ,(K/ e !+1; w@ </21C_!" ,. 1; !<-0>_ $4S-= u7c1-0/_/ 2, wZ/ 0/K &A e !l

(224) !/?<jK w </21C.K&"p, j - -;,.y_/_-54yQ,('< 1; !.Q,./ ;,Q1SJ,'

(225) ],./?<1G],.x w</ + A@T 1;0/Kw ,(<-5 &- Q 1,L:9[ ! *#wZ/_;,.

(226) &"" " T0, = "l * * "Hr/<-0 -n,L-/_ ! <'2, n1

(227) 0-9 ,L/_-% e,. 1,.x n,H1; & $ A,>

(228) .R2,( Q Hlv * *nT* _ e0x <@C Y;/_-2,X Q &/_-/_ & Lw <+/ 1:_!" --< &Q1 ,0w</x <- /_-Q,L-/_ ! 6&/'--0/_/ & " % !Atn,L/0 !A 1S !,YK<-/2,_/_- */ 0-A< / 1;/ _RG], w /_/<t0j/K

(229) &; x Z-@_#T1<;1< C) T1;- > Q,L@_ 1; &-0Q1;-0O,(- x y/ K$" v . - &[6&#'

(230) -'-0n, w ,./ _--F $4S-[<X/_w</wG],(- !+- Q,.,0wZ/ ; x Z- w</ pj- e,_- $ / <- 00 ,1

(231) <> + $4;j-/<0 ><e,- /_wT, -0 6&V , 1S x x5./21,.-0/K & <-0 w@ </21C_T*2,O0/_x52,.-/_ &'*G2, 0T1; !.Q,./ ;,Q1S G],.x Q ]7" v{ ,nT" " " . . z.

(232) (n, w ,(,+R,.K>< x ,L/+%<,(0w</ 0x <-w</ 1C 9!j Q1S "l

(233) <,/ 0x =4 _/ n,L-/_ ! &7{+z +" ,$%,#09 ,#H>t" --0 ZG, 1;A y0/_

(234) .x < ! {+z +vl<$6 <6j x , Z,1; ;"<F /_x /_-0/Kw

(235) B x -0/?6&#" < & *;( ,(=';<H & 4_/, ,L1S/ !y./_7w<+/K 0-_ e 9{+z =',e/ H,! < Z,1; y/_. G A e / < ! -0/21,'+ l /! *;* HF,."y. 9B3 =4, /2,.x / x n ,&-<</_ <<-@ e ,.. Qj-+yQ,L-/_ ! v {z <#,

(236) ,.-+ ,./_* x x <-T* "*"" {z "l,n,L<+3 ,/Kx -0 Z<, 1; Q. y/ /_Z-. $'$ {z # &_+ xty/2, Z,1;- ;j "&9[ ,.-+ &7 {+z HF" 0xA9 9< ,.-0 _ < %1/_0-wZe/ ,.-/_ &x < H ( {+z HF" 9 K/ / ,1; !< -09 , n,.1;>/ <<- wZ/ -" (l {+z =46( Z,1; ;", e / <l$6E" x / &/_- /_w</ /_x ,L

(237) l& {z ='<H

(238) /_w</ /_x ,L

(239) z?. . # x x4,#;< %t,Q1<0 ! </ n1; &Z-0/ w+ # x x4,#;<; C 9!& " 1,( -+ ,!,( -n,L-/*9. 6xA .$j x <-n,L-/_ ! Hlv *+5' BH=4 A ,;, ($(;,HxD Hlv *l A5, ( ;x ,HxD 5, 1,L- e --;,<- * A;* , ;, ( ;,HxD y;,x4,/ -". 2, 1;x <-6 [ !M _ +/Kw</%-n,4"x $ , _x ,( (Hz . ,HxA ,!,( -n,L-/_w !" z>, 1; !<- !M _>< $ 1<+ K y!4;%_

(240) /_-<x /?6!+ & -0xA .m -n,1< yQ (;,4 <9[T,.-. Q,. 0- & BH=4 . A;,*-;, -0 G -n,L_/2,./ & C x &x ( ;x . ,HxA Y;_- $ </21;-0/Z9 BH=4 . A;,. / e_/+ $ </$ ( ;x , ,HxA ,(_x , != *(n,( +- 9[-M -0 j-0/Kx4,.-0/K &5 Q &$" ( Hz AHxD %0 1;/2,.-/_ & & Q1; 0 , w T1 1; xA _/2,Q1S /_xA # x <- =4/ /_x / n,L-/_ ! & /_xD $ x <- . /_w</ x / /_x0 . </_x52,.-0/_ ! </ _/21; !4 n,( </21C.

(241) l/213<x4,-0/_/ 0<-0T1</?6&>G],0w</x <- wZ/ - e !+

(242) !+/8% 1;/_n1:/_->_tw@ </21C_ cQJ A ULD;R\4: 6&-?,D

(243) wZ/_-00R< { A 3<x <-" # -0n, w ,(,+ Q T 1;/_-2+, ]l /*;* nT0-/ _/ <-0KA -/_ !AA9 -M -0n,.

(244) 1 Q &5_1/_w</ G],.x *-<D _T1;-0/_ !JONx / _+P ,Lx $"'$ 1j,21C H-xD 66 @0 !<C) T1;- > ,Ln1</_- 1;-0> Q,Ln,

(245) _>$ </# ,( -0n,L/K-0x Z-G /_x ,L

(246) #" 5' </21C.K,+- !+ x 1: 9( Q1; "0

(247) Z,(/ x -t, e -v x ln1;0/ -/_ !. ]l /*;* H/210/_3<w x j,(/_-/ <>=1/21< w 5#,(,! =4 w<,/K-000wZ / x ,Wx + <-;{ w<AH/ 3<x6*(<'* 9[-jM -n,L

(248) *E0_T1;-/_ &Ug FnJ \ E<D;F;R ]<v {z </ ='

(249) !H < w ,( x ,W+ z *H3<x (<'* vl, w, ,Ly. Q &/_-/_ &A Q,L1, -0/ j-/_ *. y0-n,1C_j -T1;- Q,.2,( = "l *;* =H>",. (0-9\/ '= =,L,.t,0/K2j,-E-n,. ,Ly-" $.5 %0wZ/ x <-' e !0/_-/_ ! yQ,0/< 1; &Q,./ n,e1;/G],.x ]!7 {+z H>!m,L" (-9 < "n,L3 , 0 ye -#x y/ K w</0/_ ! ,1;-/_w , w T1 1,Lx ;,>-0 !0 _. Q &1,( 1:_% 0/KZ-;,.-0/K & 7( m{+z ,L <0 0 ye -#x y/ K ,_

(250) E"!_ 1,(K/ ;,.-/_ & 1; xA Q,Ln,(Z-#, w T1 1,L- G],.x S +

(251) /0-0 $ 7-;,.y_T,( c5F;f X<Y[hjEZI_F;R J.E\ ULPQUetFSR- <-Z-6!+?6!+7, _/21,L-/_ !G<B2,#w</ /_ ! -/ _/ ,( ,l1; !E,/_-%< x y/ _',(- & x $".% !71; xA # -071;-5j -n,.-B<],.0-T* / ; & ,> Q,L /<- n,(Z- *Q,( $

(252) 1S--07j -;< ,(0w</ 0x <-#w</6*,<9 ,./_ / <w Z-;,./_%% 0/ Q1;/ Q,L+ ye -x y/ _@6&/G-0/ K/ 0<- , w</ /_ !-" . F Q F 1 ¸ 1J(*)2C', 8MB 1 ¸ )Y5 88 (¶)2&$)213% . . . . . . . HA<@ 0x /_7 yQ -#x y/ K-9$M -B_ yQ -:XJ F

(253) <% / -0/K--B<0T1<;1<+/< <-n,(,9[ 4 zT{ (;,DQ = *;A* (& * AnT" # 0 ye - , j -5 @ w K & 5 ,._ y.G -E</_s,( _/21,.-0/_ !B e !+B / <-_/_

(254) Q1;,.0-/*YV1;/_ _!" $%, 1S x x4,;@, 0 ye x y/ K#- , w</ /_ ! -n,L/KZ-0T1; &;,./_0-l !<-A -> e :+L /_x Z- #" / Zw0 *E_ yQ - GmJLD;\[<0 /_w /_-0 < -n,L9[ C -n,L/_- -0/2 ,D

(255) -;/< 2, 1; x x ,(;</<t ye -tx y/ K e,.0 , wZ/ 0/K &-" _/$7 ,'

(256) .9

(257) 0 !H C</ Q,.-0T*/ . Qjx j--n,L/_-,(_,. $ *;,5< +/Kw<0> _/_

(258) !ly2,Q1< ,10 !', w 1 1,Lx ;,* z..

(259) +/Kw<0'1j /_7<'0

(260) x <-t0T1;-/ _/_

(261) !t yQ,(n,(Z-5R5 Q / Z-A<. : 9( Q1;7,F

(262) < / &'* ,.-0-/ ;>1 e / <-@0/_-R ,F

(263) 0</ -n,(Q1;></x , xV" % ! -0n, w jj% /T

(264) 1S *EKl yQ - x -0-n,./_@- .<-" ,0_A 0 !_ !

(265) x Z-0< -;< C)V 1;-j 15_4 yQ - GmJLD;\ *I /_w /_-1 < ,.

(266) /_;=4 _ !4, T ,_/ F /_ yQ - $ t0 ye -HBmIÊ \U.P 0-/< -A < 0 ! x -/21;j- /K0T1;-0/21;#" , - 1;G . e ! -E<< 2, 1; x x4,;< Q,L@2, w</ /_ !I" # 0

(267) ;,.x x B-],F ,LyQ &-/_ ,S9 ,./_-B<%2, 1; xA _C+/_- <%2, 1; x x ,(;<@L yQ -m, w 1-0 _-Q1;- x 1,/?6&!" $ 0 ye - @OF W\6E<PQF#0-%4-0/21Ct1C_ x5/G<><,+ 1,.x n,(m- G 1;/ <-0 </x ? 1j, -0A,F

(268) _-;, !I"Q& 1-0/_/ n,(<-@2,F-j &n1; & /_/_ x y/ K x - <+5 e ! -;, w F5 /T

(269) 1;&" wT1>_ 1,( -R,D

(270) _-0n, &'*E_1,(21C &<- x / X T 1S/lx ,L/</*+59[ / ;, /?<#" v *{ nT 0-@< -% <@ ? &7 xA/?</_0T1;-/_ &< $ 0 ye - 'D;J.PER' & 8jIKULPQJ \U.DXQ &7/ _#"Q,00-e1;-0txT 1j,/?6&, j -O -;</# > e !+' _/_x / XK1; &Z-0n,L/<-0 &< <+ !_ ! x #" #7 yQ -'0-B<-0/ ,1

(271) -E</_-_ 0 y

(272) x -<m1; x x4,;<&" $ 0 ye - FjDDnJ LJ \ ULD 0-< -% G Hx -+u,O

(273) 0Q1;!"<E Q,Ln1; &-@1; !0- </ -;,Q1S%0 !-0'

(274) !+/8+,<-mw</ + Kjx <-K ye CR2,H1<Q, &" %1=46( * &<-A - T ,(K/ yQ -#T ,1;-/*9n Q $ *;* * ]!# " *;A* {z nT6&/. !<-><t1; xD Q -0x <-O1S xA .K:+ - /6&50A 0 x w</K-;,<-/< y-;, 1C_t1; x x t= I2IKFjP4- OFjDTf;FjD;\ "% 0T1<n1<R0 !<-

(275) Z,(Kjx <- C) T1;- 1/2, x / /2,.-/ ;,.-/_ &U<x y/ _ 1; x x , w T1 U(e ,; <FDjD

(276) 6&/ 0 !<-<w /_-0 - #T 1S x x4,; >< !<->_t;,!</_ .1; &Z-0W &M K ,_ - xD 2, 1E5 Q,L/<te$X"7: F

(277) etU.E<D -D_ yQ -A_' w ! *#/ % e0x -A< --jR_41, +-' Q,(/*9n Q 1,Lx ;,* yQ,.0--0 "2""TB e !#C) T1;-2, 0- !;1; ! +/K*K%],Q,(t,0%<x !wx <- * < ,(0w</ 0x <- 4w</_-> e,.2, x +>,4-xD %< 1; &_/ /_ & ""2" $ 0 ye -A<O=4t,0-0Q <@ *;*nTS-/ _/ 1 1j,.xj n,V e !D ,Ve, wZ/_

(278) <,.-/_ &9-D 1,.x n,u Q &B_ / K -n,L

(279) !".$',u9[ &Q1;-0/K &U / K -n,L

(280) B ex -B,.B 1! &M %< /Kx4,

(281) < -T1S->< y-;, 1C_#"Q& D9 ,L/ n,<-B <,t, Q -<-

(282) 0>6!I / B0 !<-@4-jn,L/ R . ,L-T* / ; e- @ -jx / j ,0</ -;,Q1S x y/ KS y-;, 1C_!" & ;,Q1S * &A e-1S/K-01S x x mC 9! 0Q1; Y IKJ.D;F%L $ V<t( !.K &SQ ! *{ nT%6&/B+-/ _/0>2,50- !;1; ! /_D Q & _ 1,_/ . y!4;-lx ,./ @6&/',t1S x x ,#+ < T1<;1<5 / Q1S/ e,,+A2,0 0 .

(283) ;,.x x ,.-0/_ U< yQ - x y/ _#-2,> 2,(/*YV1,.-0/_ !-" ksUfnU \ i Y_R%<0 vl 6 <H< ! <+/ , <-/ Q &_/6&/- +> 2,.-0C9[ 0x >$ /$j 2,

(284) -; >2, w</ /_ ! Q6, w T1 t1,Lx ;, T" . . . . . . zA.

(285) $ t0 ye -tx y/ _>< - A< 1,Lx ;,H-A<0-/ O,'

(286) . , _/21,L-/_ ! / ;,.6 -0/K_ -0/_/ Z-0 !w<-<yQ,(K/ 0w</ _ ,.0-/*YV1;/_ _ e !HT1,(_-0 6&. Q,.lC+xA .K<H1; < yQ,L0 _ x5FQ l!/* (nT -7

(287) < x ,.C6&,(' & Q " * { nT" < _ 0 ye -%2,LyQ n,.-0 /_@ ew<-% 0 0 n,. yQ,_/ ,. Zw</_ &< x <--Q1;- '-0/_/ n,(<- , w</0/_ !-"+l !<-%0 !w<-1; x x -W,M 1<U 0T1; ! -0/K- <w</K0 !+x <- ,(_$6&%/G0 -0 !w!"Q$ - 1<./?6!+< T1; &-0/^ --0/_ !A0 !<-%</_w j _-/ _/ n,(Z-D2,V-j &n1; & /_d1C2,/?6& , wT17,+ & -0 / 1,Lx ;, !_K 1; & _s1j,.xj n, 2,0$" #-0- - 1<./?6!+ -7jxA _ t@7 ,t$ 5Q yQ - / ,L$Tj* ,0

(288) v 6 Q ye -0wZ/ *Z,(2= 6( *" " " T N Y;_-n,(<- /_x ,L

(289) Pt, w ,<-

(290) / -0x Z- Q,L>2, 1,Lx ;, /"%$ VNY;^ -0P' e- :M -0D x /_ /_ <-

(291) Q " v{z nTl !VH-0/2,

(292) &2,.-/_ &R e,0/_w Q ( {z nT" #B< ! 1,( 1:$ &Z-./_-#C+ _ /_- Q,.I_@ 2,(/*YV1,.-0 , 0 ye. Q & 1; x x4,;<j0 ! @ 2, 1Sx <-#" #1@ 2, 1Sx <->_ 1,(m0-/0 !w<- :)VT1S- n,( -0 ! w</ +B+> Zw</_ &x <-$" #T1;/#

(293) B -j

(294) 5tj /_xD Q -n,(<-> 2, yQ &lC+T 1C-0/K &'< ,O-n,4;T1;-0 /_!" ?6& xj -< < Q,L-/_ _ &Z-#/_xA 2,(< - e !+ C)V 1;-j/40- & <w</_ &x <-@ Q,L%2,Hw</ /_ ! ,1/_wT,'<>2, -;,4;T1;-0 /_ ,FK-0n, w ,(,+ <5 / -0/K-->< ,.0<,A 1;/_-5,( ( m{z *e & C92 9[T1S-O+ 1; xD Q,.;,./ & <-V_1

(295) x <- w j-/21,(,+ -1 1,.0-V S 0

(296) / 0-j U<%j

(297) x Z-$" _ +/Kw0/_-% G]"n,L3 ,0Q ]! {z nTX2,w</ /_ & , 1;-0/Kw0-@+-/ _/ R< -n,<-B2, 1,Lx ;, xtye,. 6&j _0 ye -G R

(298) _/_ye- 12, 1;j-$"$ / Q1S/ e 1; &/ -07,0

(299) Y+ Vj

(300) x Z-lw 0-/21,([ e,. 2, 1,Lx ;,H-n,E</ 6&0_ yQ - . ,1;>_%_ &

(301) U3 . -n,4;T1;-0 /_/T 1;/_w ,(Z-. ,Ln1 < 1;;1C_ !1+ /_-0!" $B],(

(302) !_0 -;,.-/_ &R< 2, 1j,.xj n,F Q0x -G 0-/_x /_<-;,.-/_ &A,4 ye -#" !7/_ 6&- -0/ K/ > Q,L>2, 1S !;,+/K-0A< w <+/ 1:_ ,+- !+ x *;_H,0w</ 0x Z- w</^ 0D !<-> e,t, _/?6& /+,0_A< x4,./ 5<A2, yQ -/?6& x y/ _!" #T1;/ 01; xD <0/Ky.K', 9 ,./_-A6&-],,+< / 1C_- / < 0<- ,V

(303) ],(jw</ jx <- w</ + w</K<-5

(304) 0C) A_D y

(305) x A 1; x x ,(;<A< 0 ye -tx y/ _!"& C) -A2, yQ -/?6& x y+/_%,29 ,./_-< 1; &Z-0n,L/<-0xT 1,+/86& Q,.0-/21C_/

(306) %96,./_-@ y!4S-%< xty+,+t-;, w ,,+'< T1<jn1<#" . . .