Accessibility region for a car that only moves forwards along optimal paths
23
0
0
Texte intégral
(2) INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET AUTOMATIQUE. Accessibility Region for a Car that Only Moves Forwards along Optimal Paths
(3) !"#. N˚ 2181 Janvier 1994. PROGRAMME 4 Robotique, image et vision. ISSN 0249-6399. apport de recherche. 1994.
(4)
(5)
(6) ! #"$ ! &% ' ( )*+-,. 0/1 ! 32'1 $ %546# 7 98: !#"'
(7) # !"#. =; <?>A@B<DCFE*EGHI ;`<OJ3>Bab>BG KLM>B;`MONQ<OPSNc\bRTEGVUWG NXECF@AGYG M[ZWNQ\]N^>A_ JdCeTef>A<?MgWG<?GhjikG <DhDiTG_lnmWopWoqI rC_WZnNXG<o sBsFH I osteuCF@AGv\ wh Cxz<Oy|X{N^}Gq~TA<?>A{VKf >AM>B_T_9X$ dCFnX^[>GsAgMOUf>MOiTEG>\bZWGd_nMO>BiT<OGv\]NcCF\<DgkeT\<O>BN^KT_.XG C E1ekcifCFCB_k\GKLGdG _'G <?G\]>BXZG+Ggh|>AE*>A<eTCXG M?_TG>B_TMOiTikG+>A\]XMO>BRu_TgW>AE*>Nch M?<?iTGCANc\[hDiTEGgq>AKkNX<?X>AGYE<O>AMOKfik>BGdMq>BKn<ONX@BNXh|_*>AE*h|>AeT_nRTfMO@AN^RT_T<@CFMOM?iTNX>AG_*n[;`NXMOCBi*h h|CFG_*\?\]>ANXeTKkM?NXXNXN^EMb CT<?G ef@ACFN^M?>Ai _f\d>z[XG ik_kNchD@Ai.MOiCF<?XGvG\O\M?iTM?GifCF\]_G M>B\3<>G0PeLRf>BCNXT_nMOMD> \ C>B<O@ANXGNXZ_WGM?_!GgZACefX>ARTNXGV_nM¢uCF>B_f<g£MOifCFC<O<?M NXUWZn0NX_TG@h >AC_fM\bCNcgW_TG >A<M?iTM?G iT<¢GdeLek>B<O>ANX_nKkMXG [ENXMO>i.z>A<OeTGM?G!NXE>A<ONQN^\]G NX_k_n@MDCFMOM?iTNX>BG_efCMO¤3if\[M?G \b<MDCFhD<?ifMOCFN^_T<@qCAh|M?<?G >A<OE¡NQ\]N^CF_T_ @ M?efiTCGMO\]ifG[\ Uf>BeTCF_fMON^gEfCF_fnCefXCX*MOif\ UWGfG_fh g>AMOEikeTGRk\bMOifGCFM?efiTGG[\ef>FC§<OMOMOiTN^MOG!N^>An_;`>F¨CAh M?iTh|GvG[\OeT\]N^QKTCFNX_T^NXG[Mb!<O < G¥@AMNX>BM?_fiT\|G[ MbWefG\`>F¦MOiTG[>BeTMON^ECF ©GgªS<«CA¬?gWN^Rf®f\}¯z>F0yAh RT°d<OZBekCFMOM?NXERT<OCFGVBU²h|>AiT_n>AMO<?<?MO>AG¨U\bM[;=ef<?>ACFKTM?if^G \ E±[N^MOiZBCF<?NcCKTXGG _fgneL>BNX_nM UAn_nMOiTG\bNc\²eT<?>AKT^G E.U >ARk_fgW ÁÂFÃÅÄÆ²Ç ÈÉÆÊDÄËBÊjÈÌÍÅÎ[ÄÏËËAÇ ÈÌÐ?ÑÒ ÎdÌÂÐÓTÄËÈÃÔÌzÕÕÕÖfÈÊ[×TÈÇOØÐ?ÙÌ#ÚÛ×fÜÝ`ÞÇ ÌÃÅÇ|ßYà|áDâàã. Unite´ de recherche INRIA Sophia-Antipolis 2004 route des Lucioles, BP 93, 06902 SOPHIA-ANTIPOLIS Cedex (France) Te´le´phone : (33) 93 65 77 77 – Te´le´copie : (33) 93 65 77 65. ³µ´!·¹¶ ¸¹º » ·¶ ¼½X¸b¾¿jÀ.
(8)
(9) 4' ! 2$ "$+7 6&% 46 F7 4 . 6$ $ § 6-( ! 3["$ [ .
(10) ªW y ª: d>BRf\ _k>ARf\NX_nM G <?G\O\b>A_f\CFR <O>AKf>BM.E>AKTN^XG$gWG6MbnefG6Z>BNXMORk<OG.G _±E*>ARTZG E*G|_nM gkgnG!CF_f\]\n_nXG.MOi ekG \bcCFG_¦efU>ARTRk_T<NQPSXGRT\[GhDEiTG G _nE*M!NX_fG _\>AEeTM?CFNX<EhjikCG.R C ZBG CF__nXM >A_k@ARTCG _fRk\
(11) <d G d_nnMO<?[G¢gWsAG R ¨U[ Cef>AG N^M_WG. M\d<G>A \]<?>BNXG XR _nM XG G.\ fekb<Oh|>ANKkUn_TG >AERfG\ ZC >BgnRTNXX<O>BG*_f\XGh ^CNXcG h|R£RkXgWG G<[\QCteL>B< G NX _n@AMDN^>A\!_'CMO g MO ÅGCANXh _nh|MDGv\\O\]gWN^G KTeTNX^RkNXM NcG\q efQCCF<h|>BgW_WGf\@BhjRTiT<DGCEMONXNX>B_f_ \>B>A<OeTNXM?@BNXNXE_TG*CR ef CF<¢ g RTRT_9_.hjMOiTGGE<O>ANXKf_>B>AM UzeTM? h NX ¥EGv\]CMO gE%nG G $ E^>A_TG@BekRT<OG >ARTKk< G NXE_n GG <OgWN^GG RT\b<OWG¢_nMO>Ai !R Gv \]G G@CEX"G CFNQC\=efRT>B_TRTG*<h|^>BG_f\\]hDMiTCFG _nEMOG*N^_fgW\>A>A_TeT#_ M?G NXGEC;R >B !RTG <¢_nh|MOG <OQGCWRTU²__T>BefRf>B\NX_nC MZ>A>A<?_fNX\G _n< M Gv G[\] >AG^MR6RT^_ G ef&g >B ÔCANX_nhh|MdG>&\O\bR NXKT'N^ ¥>BXN^<OM NXGYG_WgWMG¢CFMOh|N^G>A_<O>A_(Kf >BGM \] M0efCA\[NXEef>V\ G GUnef>ART<[f_fCXG EG_WMG _$g)G gWRTN^<OGQCq>A<?EGgWG\[<G @ANX>B_f\ ab* >B< ®TG GV{y|Uf¬;=, ^+ Rfª \[. h|>BRT-<O>AME*\[EhjiTCFG_fEgnNXGq_f\ >BeTMON^ECF^GUÛ;=<?>AKT' G E/G C G nMO< G ENXM G XN^KT<OGUn_WM?(i G \bG0U ->BRT<OKkRT<OGECF.
(12)
(13) !" # $% &#'() *+,-./102 435 6. & &7'98:; <= & ?>@ & $. . ` 2%63# TCB\#>B<M?iTCG_W\]G ME>>BKTefNX^>G\bNX\]MOkN^>A\]M?_fG \`E.>AUW<0[G!iTgWNQG hjfi!_TM?GiTG M?<OiTG[GDG C W>FNQ\]EGMD \§C\]ik >A
(14) <OM? G\]HMef ICMO iH>F¦J XG n_T; @BMOi>A<YXG\]\?ik\`>AMO<OifM?GC\]_ MY>Bef<#CFGvM?PSiLRfKNCTMHMO> O P <OGvCAhDiTNX_T@!N^M#<?>AE M?iTG>A<?NX@BNX_h|>A_nf@ART<CFM?NX>A_¦f¹_>BRT<[efCF<?MONQh|RTcC<h CA\bGUWM?iTGE>AKkNXXG\bT\bMOG E Nc\C hM?ifCF<OCFM0XN^MOiTGdG<?<O>AGKfNc>A\#M_k>A>!_k\]X^NXeTEekNX>_TZW@N^_T>F@zM?>AiT<OG[CFiT<gTG\G cNX\ _USM?CiTekGcWCFN^_k_TGG UTECMCMOC!Nchh|E>A_f>n\bgWMDG Cf_WM>z\beL>ARTGG<0g<O>AGKfPS>BRuM[CF²Nc\`M?MO>iToAGk¤>AX\O^\b>RT[ENX_TNXR@_k@ Q ST W V Z;[ ST h|>\ Y Z;[ J .o K U XY VV \^] U \]NX_ Y \ _:`ba [N^MD\[N^MOiENXJ _kWdNXcEX RTKEKfG MON^RT_T<?@_TNXM?_kiT@G<Dh|CB>gW>BNX<DRfgW\YN^_fCFCF_fM?g G\q>MOiTCG¢<O>AG|_T^G <?G h|_f>Ah|_nG!MO<?ef>A>B`NX_nefMC<D>AC_ EM?G iTMOGG <[<?Z>AG Kf<O>AN MWU N^_TY @7N^MDe \qe:>Bf<ON^G oA_W:MCFg'M?NXG>A_¦h U CF^a Co Ih9ij & Uf CF_u>g ¢>AMOiTRkG.<d>B<?>A<ONXKf@B>ANX_Mh|MO>Bik_WG.f_ MO@A<ORkN^eT<DCFXGM?MNX>B_k Ncw\] k9xJ WdcX:J;c y Y Ky y KDG _fh|GNXM\ Ih9li)_ / &; mn8% Nc\ ]qg'p rGs 0tH u@Qg v XNXGYMO>h|>BEeTRTM?G>A<C_WZBCF^RTG> P ] M?iTG!\bc ifCFc efG!>F0M?iTG n;`¨CAh h G\O\bNXKTN^XNXMb<?G @AN^>A_ A > T R M O >A<[M?iTNc\<?>AKf>AM ziTNQ\MbWefG[>²<?>AKf>AMNQ\>FM?G _h CF^XGg dRTKTN^_f\`<O>BKL>BM UAKfGhCFRf\bGdN^MD\z\]iT>B<OMOGv\]MefCFM?if\`KfG MbG G _¢Mb> h> >A_WCfM@BERT<D>VC\]MOMN^>A\]_fN \MbWG ef<?GG\ fn¨<Dz\bM0\bGMORfgWgnG NX_kG>Ag!MOGKW+ `CF| {[_ CFd<DhRTKT>§N^_fh|\`NX<NXh|_$XG d>FzRk:K<CA}gW~N^Rf\ dG[ekJ <ON >zZNXMGgNQ\MOgWiuGvCF\OMh|M?<?iTNXKfG G+g h|M?>ARTRT<OQ_TgtN^_TKf@G h \bG X>n@AhDE*WG [_WNQM\]GUMOJiT IG\bnG8dM]nh|ef>BGRT\[_nMOh G C<_h|XKf>nhDGW[[<ONQNX\]M?&G MOKG UT_NXMCB\3[M?N^XiTzGKfG>AXCF^>_ [r NX_T@¢J In>A8d< gT \ KQ aCF<h KU²C_fg C\]M?<DCNX@AinMXN^_TG QWMbnefG\ r r CF_fg r LCENX^ "QTMbnefG\ r r U U r CF_ug r LCENX^ £ _ G Wo U zf¤¢ G CF*gWG M?G <OEN^_TGg!MOiTGRf\bRfCF§CAhh|G\O\bNXKTN^XN^M]!<?G @AN^>A_f\ r J KN^_[iTNchDiMOiTG <?C>Ac\bKf>q>AMf_fNc\g!CvMOikM?GG \]<G[>A<?G ^X@A>N^[>A_fNX_k\ @)zCikefG CF_M?i ¢)J ¢_T>BWMdJ[_T>AGvKfh|G G<?\OMD\?\bCF>A<?_'NXX J3>A>BekK?MO~ NXyETCFek <O>KZ>Gg!XGMO_Tif@ACM?Mi \bRf UhDi>AC< <O >BfqKf>A M[a h) CFg'_G<OG[CBhjNX^i C@B<OGefC>MO\]G N^MO<YN^>AMOif_ CNX7_ _' NXM\q: NXg6_kNXG¢MONQ[CF`NXXM?RTek<O<O_k>NXZ_TG@'M?h|iTN^<DNc\[h|^<OGG\ \bRTJ XM>F[<DNXCBM?i.gWNXRuC_T\ >Aa M?iTKG <>B_T\bXNX.EeTN ^G MO<[iTGEefG M?CiTMOi>ng²X: G {[_k@AÛMOrTi'0 Nc-\¢>n\]hDM?B<OCvNch nMO_TXG Cef_f>Vg\]NXM?¢NX>Bw_f\ g >A_ -M?0iTa GCFKf^>B!RT _f-0gT1C~b<O}>Fh|q>BE\]RfeThD^i G MOC6Gg'<?G MO@AiTN^G$>A_ \]MOCFRu<OgWG. <?>FG¢CAhDMOiTiTGGg
(15) <OKnG 9@BNX>BC
(16) _f\ gWG r @BG J_TKG U<CF\biTMOG >[dNX_TRT@£KTN^_fMOif\!CefMCFCM?Xi GnNXNXMOGikcgWG N^<!_T@>FEMbnCef_W*G gWN²±G<O>BG < _fh G!\#Kf`G ¤MbXGM?G iT_G>A\bGRk<d<?>BG<O\]kRT\!^MgWCF>
(17) _fg_T>BMOMiTGvh\]CFG<OG>A_TCGvKL\|>B RTM>BeTMON^ECF^NXMb.>FM?iTGefCFM?if\|U ¤ S P k R G ] \ ? M X N A > _ b \ X N E ^ N c C < ? M > O M k i [ G A > T _ Y G F C f K > Z G h F C _ L K Y G A C b \ G ! g [ T i. G _ f K A C D h W F C < t g E B > O M ^ N A > f _ ` \ C O < Y G F C ^ X > G Û g <?VNcRf\bGhjg i*MO<Oik>AKfGq>BMbMDn\efCFG<O\#G>h `CFM?^iTXGGg>AJ[eTM?G NXGEgk\CLCFeu_uCFg$MOiuV\#iTG >AeT<[eMO<?ik>ANcKf\>AnMNX\|_fUWg >B><`rTE*Ô¤>AKTnN^J[XGG G<O>AgTKf\0>BCFMd_fN^g_'`¥JÔ¤¢nLs y iT%GzeTeiTG hDifCFeT<<?CA>h|ZM?GG g A. B. ÜzÜ ß" . /¡b .
(18) H. E= &1E i). M?Mb0ifCF>M0EMOiTCG_T!>G RTG Zn<?G[<OGE\ CA;gW`G[>>B§R(CFG M0<?GE\|>U§\brTM¥f!ZGYTCF>A<DhRT\=<PS>Rk§G h|M!NX<Ch|X_fG0g
(19) >FzrT<¥¨CA;gWzN^Rf\ CRTa E>A<>A_u^NXg _TG n\bG §@AE*sFHG _W0Mh|\`>ACFE*_ueTgRTCFMOM0GvgEMO>iT\bG M S;=¨g'CAhG[h|G[\O\bNX^NXAKTN^>AXN^XM]^!> <?G M?@AiTN^>AG[_f\?\CFE>AG0<EMOikG NcM?\[iTh >nCg<OCBXNX\NXG_<OÔ>BnKf`>AM sF HBTMO>\]MORugWMOiTG[<?G @AN^>A_f\M O >dRTKTN^_f\<O>BKf>AM z<?NXG <DG[\bMf_fCFGfhD>Bif<ONXCFG<_WCFMMOCFGMO<ON^Nc>A\b_G!j MOziTGiTGMb_ Wef0GG\h|>>B[EMOikeTGRTM?\]G[iTMO>BiT<OGYMOGv\]\]nM_neuMOiTCFMOGiu\bNc\\<O>A>B<0E MOiTk9Gv\]x¢GMO>A>.eTCM?NX_WE.CefT>Vef\]CFNXM?M?NXif>B\|_ UAJ<?W >AE¡cX K[[[iTNcN^MOhDii 0[GN^XÛh eLC_>BNX_ngWMdGgW>BRuRTh|M[GdEM?iTCG_W*\bifgWCFN efÛGG \<?G >_fzh|MOGviT\#GKfSG ;=Mb¨CAG hGh|_ G\O>B\bRTNXKT<N^<OXN^GM]\b¢RT<OXMG \[@BNXCF>B_f_fg\#MO[ikN^GqMOi>B_T<?GG\]\[ef>AGKTh|MMCFM?N^>!_TGefg CF<N^CF_'E SG `M?G < sFP Hj ¨g6G
(20) . % 4'# 7 94' !#"6 ->BEeTRTM?NX_T@MOiTGn;`¨CAh h|Gv\O\]N^KTNX^NXMb<?G @AN^>A_f\N^_WZ>BXZG\\]>BXZnNX_T@MOiTG>AX^>[NX_T@eT<O>BKTXG E Qf_fgWN^_T@ >BC!eTMOMO>N^E>B CFÛ<?>AefE CFM?if>B\[eTMOKLN^EGM]0CF¦G h|G >A__nCMO<?h|>A>B_WM?fiT@AG Rk>A<?<DCFM?MONX>B>!_.fCF_f_uggM?iTCGefM]>AnN^ef_WM[G\[>FiT=>VMO\]iTG¢G>A>A<ON^ekG MO_nNXEMDCFCFM?NX²>Beu_ CFNQMO\#iu\<OG <?GV>A)E g'k Gqx [MON^>*XÛCFRf_n\] G efiuCA>V\\]NXM?CNXX>B<?G_
(21) CAgW>F!M?KfiTG G G_!ekcRfCF\]_kGGg9 NXz_iT¥Nc \-0MO>>Bsno fNQ\CF_uM?iTg.HG j .z[C sn Wo|N^fE NX_!RTE->B<DgW;=G<?<NX_fMO>h NXeTeT^<?G!>ZW>FNQYgWG[;>B_T_WG M?9<OneTCF<O@B>NX>_ ¨\#¥;>F¦ MOiT7G<OAGvm\]RT^MDM\ >h >A _WfRT@BKTRTNX<D_uC\MON^>A d_f\ RTU²K <O}G~\b[efGCh|_fMOg
(22) N^Z>FG XJ3>BG<dGgT>B\RT<C_fEg >ngniTG ²G ek>e±<O>B JKLS>BsMy CF0_u>Ag _ MOikMOikG!Gh C\biT<O>AX<?NXMOGGY\b<OM!>AefKfCF>BM?MifCF\Q\]Kf>G MbCXXG >G0_
(23) GgMbMO>> KuCAhDW ;#RT e¦7BmF§CFc\b> @BNXZG\_kGh|G\?\OCF<?h|>A_fgnNXMON^>A_f\>A<MOikGqeuCFMOiu\dMO>KfG>AekMONXECF²[ikG _M?iTGqf_uCF >BRu<O\#N^G >A_W<OMECFM?RTNX>AQCF_*MOG[Nc\M?iT<OGG GVeT) <?z>AKTik^NcG \#Eek<ONX>A_*KkXMOG G E<?ENQ\\>Fh =CXh|X>BGv_WgtM?M?<OiT>AGfM?8 iT /G >A <? 4<L°35RT<0 $ eTif-
(24) CB \] 4G Z G h MO4>A<06Nc8%\ J ) TY RTKDMUnCFf^<D<O\bGMCBXgWG M @B\bTNXZ\bG MOG _'E-NX_ CF_fJ go.KMO9iTzG¢iTCAGgabCA>AgNXab_n>AMNX_n\]Mk\]ZM?GvG h|E1MO>BC<q<ONQG\MOgWiTGG_T>A>BM?XGX>g [N^_TJ H@ vQ c s c K5ziTG_
(25) MOiTG*CEWdNX^cMOX:>Ac _kNcCF_.>>ART< h|>V\ Y s \]NX_ Y _ ] x v. . . . . . V. . V . . . . . . . s ]. y X ]. . . ]v \ NX_ Y s h >\ Y ] v X V s W V g'G.gWGvgWRfh|G<O>BEMOikGCBgFab>AN^_WM*\]k\]M?G EM?ifCFM CFG_f>g s CC [M <OG$MOiTh|G>A_fN^_T\bNXMDM?CNc_WC²M*h CF>A_f_Wg f@BRT<DC]MON^>A_Ûv X T>A< v n U [ T i. G O < G Q N \ | h B > f _ ] \ M F C n _ [ M G P f R F C Û O M > O M T i G B Z C X T R x x W s . V. . . . ] Y ] . . . W ] ] y v . . . . . . . . . . . . . . . . . . . ÕcßÈà Ê.
(26)
(27) !" # $% &#'() *+,-./102 435 6. & &7'98:; <= & ?>@ & $ }. M?h iTNXeTG^Gek<O>F>A3Kk;XG >AE1_nMO<?[nNXCFM?@BiNX_'ZBCFCF<?_uNcCg6KTXEG¢>AG <?_fG gW>efZ>AG N^<_WCMUT_TMOGiTh|G¢Gv\O>A\OeTCM?<ONXE>ACeTM?efNXECFM?ifCX\dNXMbERfh \]>AM_fgW\?CFN^MOM?N^Nc>A\¹_UM?hiTCFG=X^G.g C W N^ E RT-.E I ;` &<O N^_T efM?iTG Nc%<?\[ef6h G ;>A_f _fgWgWNQh|N^ RTMOzN^c>ACiT_<NQ\dNcM?\>h|M?>BMOiT_fikGgWGN^MO>AiWNXX>Bn^_>ef[G \O<DNXC _T\bTRT@H\[<]¨Q MOCBiuh|CFGM UÛ[CFiTMNQhjMOi'ikGMOikZBGCF<?ZBNcCFCFKk<ONQXCFGKTG ^_fGgWG ef_f>BgnNX_neLM >BUTNX_nMOMikG!KfG CA^g>Aab_T>A@VNX_n\MMOZ>TG§h|MO_
(28) >B<>AERT<+Rf\]h M[CA\bKfGG U . ]. X. . . W. . . x ] y. [Ru\]ikGNcg.hDi6NX_9NQ\ M?iT-0GGsWPo|Rf¨U²CMOMOikNX>BNc_6\dNQ>\dYMOCiTG\bMO\b<DMOC<NXCF@BNXiW@BM¢iWMXNX^_kNXv _TG G+M?iTgWGtG _Tus >B_fMOCFG0geLx>BNX_nU²M[EikNcRfhD\]i.MYeTXNXcG!C k>B\_CF_'g NXEN^MOi'ef>BMO<OiTMDG*C_W_TM>AefMCFCMO<ON^M>A_fNX_ \ >BeTMON^ECFÛefCFM?if\| 0 ª ~
(29) }F® ®fy c{ ® ! 7 78:; <= & j8 & $ N & :#b<D4) R 6 #"#/ 8 j * 4; / |.$j" x zikNc\XG EE*C`ifCA\MOikG#>A^X>[NX_k@h|>A_f\bGPRTG _fh|Gv\²>A_M?iTG>AeTM?NXECAMbneLGv\ >TefCMOif\§gWG\Oh <ONXKfGgCKL>ZG Q " LCENX^ ziTG\]G¢efCFM?if\dKfGh|>BE= G 0f_fgWG GvgM?iTGM?<DC_f\]ZG <\OCXNXMbh >A_fgWN^MON^>A_N^EeT^NXG\`MOiuCFMM?iTGqf_uCF G E _fRfgW\befM>AXN^NX_WG[M¢>BE %_ Ru\]x MTXdN^G G _u>B_$h|G[MOiTx GYU§cCFCA_f\bg
(30) M[CM?<DiThdG _
(31) ERfKn\]
(32) M²KfGGE>zEXG C_Tmn@BXMOo i Kfy >B>AMOi<&m G `_f gWzef>BikNXNc_n\#MDQ\CA\b>FMefM?>iT\?G\]NXQKkCANX\]XN^MMb!C<DNch\ h|XGC<O^ _T>BMd>BeTMON^ECF¨ LCENX^ . . + (*). x k'&. +. N^@ART<?G oRQ,.-0/2143?65
(33) 657-98;:=<?>@/A>9BC/EDGF-0H dh|>AG _f<OgnGVNXU`MON^ef>ACF_ M?ifNX\ E[ekXNXNX^Gvd\KfMOGifC>FM+\]MOifikCGeffG _fCF G 5 _ugW[efNXM?>Ai NX_nM+JE I Ru\]`M^¤NXG.\ >AeT_K<?G ZnNXx >AU[Ru\]CFX_fVg U`MOMOiTiTGG _ MO<DC²_fG \]EZGE<D\OC.CXmWN^M]Xo NXEeT^NXG\MOifCM!KL>BMOi9G _fgWef>AN^_WM\>FM?iTGcCA\bMCF<h XN^G>A_L x 5zinRf\M?iTGcCA\bMCF<h E Ru\]MKfG ÜzÜ ß" . /¡b .
(34) E= &1E i) . >FKLGvh ^CFG Rf_T@A\bGdM?i 0Gy h>ACF<_G<?PSG RueTCFcCBh|M?G[>6NXM§M?iTKWGNXC¢_n\]MOiTG <?>BE<OMOGGgW<#NQeuCFCFM?GMOi CF<Dh^G 0_TU@A[M?iiT"G <?zGdiTM?NQiT\!Gd\]^>ANX_T^RTGMON^\b>AG _9@AE*Nc\G _W_TM§>BNcM!\`>AMDCeT_TM?NX@AEG _nCM MO>A>eTM?M?NXiTEG!C\bG\]h|N^>A_f_uh|gGN^CFM<hgW>CG_f\[g_TG >A_fMgTKf\G XCF>BMY_TMO@iTMOG>fCF_f_nCFzef>>AN^MO_WiTM GJ Mb\bG >G!¨zCENX@ARkNX^<ONXGG\Fo=KDwÛ RT_TM>AMO< iTNQ\3eu!CFMO iNc\[_T>AM ef>BNX_n_9MCFh|<O>AG _uQh|Xr Rf\b0NX>BU _ UM?U iTrG M]nCFef_fGg\>F Yr MO ikG >BeTMON^ECF0efCFM?if\q>A<MOikGeT<O>BKTXGE[NXM?i CZBC<ONcCKTXGf_uCF . #"$ F zikG!\]n_nMOiTG\bNc\#>B<dM?iTG>BeTMON^ENc\?CFMON^>A_eT<?>AKT^G E [NXM?iZBCF<?NcCKTXGf_fCG_fgWef>AN^_WMYh|>A_u\]Nc\bMD\[NX_$h|>AE ekN^_ RTMO dN^_Tn@[>A<sAGCAhDi!Gef[>AN^N^_WXzM \bJ>AWdXZcGX KÛM?>FiTNc\[M?iTeTG<O>BeTKTcXCG_TE.G[USMOfiTG<\]MbMWKnefG[>h|>BEMOikeTGRT\]M?iTNX_T>B@!<OMOGvM?iT\]MG!ef\bCFG M?MDi \[>F<O0>BefE >AN^k9_Wx0M\3MO> <?GJ CAWdhDciTX GKDgB¤Kn \ GvgnCA>AhDEiCMbNXW_fef\ ²Gd>FzG_fefh|CGMOifUT0\ UfGCF_f[gNX^gn>BGKTh|NcMDgnCNXNX_T_'@C [euiTCFNQhj<OiM?NXM?MbNXn>Aef_.Gd>NQ0\#MO>AiTekG¢MONXeTEcCCF_TTG!N^_NX_nMOiTMO>!GYNX>A_nRTMOG <Y<<O\]GG @Bh|M?NX>ANX>B_u_f\|\UKfh|>BG <OMb<?GG \]Gef_>A_uMOgWiTNX>V_T\]@G M?> M?ziTGiTNQ\d>ART\bMO<[RfMbgnnefGNc\[\\b>FNXE>BeTeT^MON fN^EGvgtCFÛKnefCFMOM?ikifG\| >BX^>F[N^_T@!eT<?>AefG <OMb }® ®Ly µ{ ® 0 $: 8% ; , = $: 8: : 6<= $:4; / |.$j( =J W K . R <=<D >( /b ->B_f\]NQgWG <!ef>AN^_WM ( ] J WdcX KDUM?iTG\]iT>B<OM?G\]M!efCMO i
(35) <O>BE k9xMO> ( CF_fg ( ] J W c X KM?iTG!ef>ANX_nM\bWEE*G MO<?NchdM?> ( < M ÛC nNc\ J W KdziTG _.efCMOi
(36) XU²M?iTG \](nEcUfE\]N^_fG M?h|<OG Nch
(37) '>C _f
(38) g
(39) T < iu M CvZCG WM?NQiT\ G¢J\OCFW E*KDGUzNcJ \>A_TeTGM?h NXGE\O\?CCF <OKN^X^.G _TM?@AiTM?Gi\b iT>A<?MOG\bM!efCFM?i6<O>BE k9x!M? > g'G[NXX0<OG\bMO<?Nch|M¢>ART<*\]M?RfgW
(40) M?>6M?iTGifCF eTQCF_T G 1CFKf>ZGC nNc\ J W K¢>FYGPRfCFM?NX>A_ X y °eT < M? M NXETC C WNQ\efCJMO if\!KDXUTGv<?CAG gWeTN^c_TCB@.h|NX_kMO>'@CFef<D>AhNX\_nMD\!KnNX_ M?CFiT<Gh \ >A MOikCFG _f< giuCFZW NQh|GeTQZCFG _T<G\OCn[ NX^[KfGgnGgWRfh|Gvg Kn \bWEE*G MO<? . . dG|f_TN^MON^>A_f\ . W. r. cN \M?iTG¢h|NX<h|XG>F0h G _WM?<OGM?iTGef>ANX_nM J;y c a KCF_fg<DCBgWNXRf\ a Nc\MOikGh NX<Dh XG>F0h|G_WM?<OGM?iTGeL>BNX_nM Jy ca KCF_ug <DCBgWNXRu\ a . ÕcßÈà Ê.
(41)
(42) !" # $% &#'() *+,-./102 435 6. & &7'98:; <= & ?>@ & $ ~. gnG\Oh|z<?iTNXKfGvG\]gGh|Mb^>n>'hjnh|[N^<DNch|\bG^G[\iTCF<OG G_M\]CFMCF_T<?@BMOG NX_W_kM!@tM?<?>.>AEMOiTG*k9x>AUf<ON^C@A_fN^_g h >A_W|hf>B@BRTRT_n<DMOCG MO<N^>Ah|X_ >nhDk9Wx [NQJ \]G\]GGNX@BRT<OGmLKD Nc\ .
(43) !"#$%&"' ( . 'M?ifGYCFMh|Mb>AnEeLekG[RT[MOG0N^MOMOi!iTM?GYiTgWG[>A>AEeTM?CFNXNXE_!C>XzN^M]C@Ah|N^>AZ_fG _!gnNXMbMOWN^>Aef_fG[\z>zG[efnCF_TM?i>U N¥RkGVe FM?M?iT>G_T\]>G M>UKWef>ANXN^_n_WMOMG\=@A<?<DGCCAMON^hD_TiT@Gg!MOikKnGd!nCNX_TefGCFEM?iCFM?>FNch GvCPSX>BRf_TC@MON^C!>A_f\b\G @A>FE*§\]G k_W\]MM?U G E J o.K§o>A_CXG>BCB_Thj@iCef_.>A<OCM?<DNXh>B_ [Cik_fG g <OGM?iTGYo¢h|>ACF_nX>BMO<?_T>A@*²CFeu_CF<DCFC<Eh G M?G f< __ MONQiT\NQh|\[>B\]_fG\]h MMOCFNX_n>BM _ _ G] gW>y _k>AM<OG\bMO<ONQh|M>BRT<Y\]MO_ RugW] MO>ifC eTcC_TG r _ ] g. . ng >AECNX_f\ M c N 0 \ ] \ *)h|NXG_WM`M?>!h|>B_f\]NQgWG <>A_kX!MbWefG + -, J Kn;=<?>Aef>\bNXM?NX>A_nXoAUnMOiTGYgW>BECFN^_ >MbWefG r R [NQ\ N^X.0Kf/ G! y gnGm gWRfWh|CFGv_ugg0Kn1 \bWEy E*VG MDCFMO<?<?!MON^_T>F@0C <O W>BNQE\ Jk9xAW UnK#MOiTKD:GzfiT<\]G¢MY>ACF_T<^h h|>B>_f`gW^NXG M?_TNX>B@B_MOi >A_. MOiT<?G+GCA\]hDG iT@BGE\G M?_niTMG^eLG _T>BNX@A_nM?M if\ Q c a ( 2 a a a h|\]>N^3_ \4.. v zikG _9CvMOG<gWGv\Oh|<?NXKTN^_T@M?iTGXNX_kG\]G @BEG _nM>^G _T@AM? i 1SU`M?iTGefCFM?i >MbneLG hCF_ <?GCAhDi CX ef>BNX_nMD\ Q ( 65 2 a aa \bh|NX>V_ \8. . 791!1¢h|\]>N^_:8\ .. [NXM?i .&/ y c m& CF_fg 1;/ p r=< T A > < C B @ X N Z. G _ B Z F C X k R ! G F > 1 C_f> g .?/ y c &m Ufef>AN^_WM ( @5 gnG\Oh|<?NXKfG\Ch|N^<Dh|^G>Fh|G _nMO<?G -A.CF_ug <M?>CAgWN^Rf\CCB _fg
(44) 1 s >FYa>As<ON^§G T_n>AMDCF<!M?NXC>BE_ @AN^Z.G _
(45) zZBiTCFG^RTgWG>BE>FCF.N^_
(46) CNc_f\g9MOiT1DG _ / M?p iTr=G< [UzNXiTM+>BXgWGG\OeTh c<OCNX_TKfGG\G M? kiTh|GG ekifMCMO ikXGNX_kNXG_nMOMDG C<?_TNX>B@A<G _n>FM h h NXX<D>nh hD XWG [NQ\]G J \]G G*NX@BRT<OG*m Kb\]>BgWNQ\]MCF_fh|Gh|RT<OZGv\CF<?Gh|XGvCF<O^N^_WZ>BXRTM?G\ v >F3h|NX<h|XG M?RT<O_TN^_T@ M?>BiTRTG _f_zg²iTNXT_nGZ>¢gn>A^>ANXRTEMMOGvNcC\`\#NX_'M?>FiT#h|G[h|>B[NX<O<<OiTh|GvX>A\]G ^efG>AeT_fQgnCFMONXRk_T_T<OG[@_TG N^MO k_T>*h|@G M]h|nek>AefM`RkG MO_WiTrM?GG 9<DNX_nh|^MONc>n\dGhj<OM?nNXiT>B[G<`Nc>F\b\]G§n Eh NX<DEh XG G M?<ON^ hdj >z[iTMOGikG!Nc\bgW>A>B¨gWENc\bCFMDN^C_._fh|GGh|iuRkCv<OZZGG\`abRuC<O\]GM ÐbßBÑ FHËAG Ç ÃÔß ËÌÈÊ ÇÙIfÌà ÊÙ]ÊDÄÍÛÌÈÙÃÔÇ|ßOßK[ÄÌÌÈÂBÏBÊjÙ¹ÌÌÃÔÇ Ç ßßÐ`Ç Æ²I¦Ç ÊjÏßÍ Ñ3ÃÔ6ß ÆJ 鬂 ÊDÍÔËÏÌÇ|ÐÈÇ ÏIß ÊÆÙȨÃÔÊDȨËÙ¹ÍÅÐÊjÈÃÔÇ ÄzÏFÌßBÂÑ[Ð ÌIXÂÇ Ð0ÍÔ ÇDÙÆÃÔȨÃÅÙ¹Lß ÍÅÐKP MAÃÔÌzÃÔÄzÌÂÐ[ÙÏNÈ J|ÐÑ ÐbÄÙÈÃÔÒAÐ?ÑÒ ÎYÌÂÐ . . . . . ÜzÜ ß" . /¡b . .
(47) p. E= &1E i). . k9x. . zNX@ARk<OG¢mQ > F-CDG< >/#B?: . Wg >BECFN^_f\ J \]G G;=<?>Aef>\bNXM?NX>A_*W^o#KDUGh|>B_f\]NQgWG <ziTG <OG[euCFMOiu\>F¦M]nefG r + 5 ^ N O M T i B > T R ` M X V > O \ ` \ F > Û B @. G T _. G < F C X ^ N b M zikGh|>B_fgWN^MONX>B_f\d>[>AekMONXECFXN^MbCF<?G .f + CF_fg + / c m& UL<?G\]efGh MONXZGXeT<?>ZGg N^_9¥dn[sBF C_fg
(48) -0sWo ¨ziTGf<\]MYCF<Dh r >F§XG _T@BMOi&. <?GCAhDiTG\M?iTG>A^X>[NX_T@!ef>BNX_nM[>A_.h NX<Dh XG Q ( 2 a m m a a h|\b>NX3_ \8.. v zikG _CvMOG<dM?iTG¢\]Gh|>B_fgCF<h>0h|N^<Dh|^G >`^G _T@AM?i + UnMOiTGefCMOi.hCF_<?GCAhDiCXef>AN^_WM1 \Q ( 2 a m m a a h \]>N^3_ \ . . a a h|\]>N^_ \ JJ .. ++ KK [NXM?i . / y c.+ ±C_fg + / c m g N^MOi.C@ANXZG_ZBCF^RTG> .6C_fg + ZBCF<?WN^_T@N^_ c &m Unef>ANX_nM ( gnG\Oh|<?NXKfG\C ifC ¨h|NX<h|XG>F <M?iTCAgWG*N^Rfh|NX\ <h|a XG¢CF_u>Fg.<Dh|CBG gW_nNXMORu<O\Gm M?iTG!CF_fefg£>ANX_nh|MG _n>FMO<OG h|> >A<gWNXT_u>ACF<+MOGvC\ @BJ m NXZa G _'\bNX3_ ZBCF. ^cRTG a > 9m Ca _fh|g?>V\ .6.?N^K_ UL[ y iTNQhjiUfefNc\[>ANXNX_nM\]MG ( `>B_ g\bniTG>\O[h|<?_NXKfN^G_ \@BCF<O_*G *CF<NXh3_>§NXh|@BNXRT<a h|<OXG¢GVUFn> zh|G _nMO<?G CF_ug <DCBgWNXRf\ B } H=h|>\ ++ ziTNc\`<?G\]RT^MD\`c.+NX_MOikGgW>BECF N^_ g'G¢\]MDCMOG¢MOiTG>A^X>[NX_k@CAgTgWN^MON^>A_fCzh|>A_fgnNXMON^>A_>A<YCefCMOi MO>KLG>BeTMON^ECF¨ g. . . . . . . . . . . r. ÕcßÈà Ê.
(49) s.
(50) !" # $% &#'() *+,-./102 435 6. & &7'98:; <= & ?>@ & $. . k9x. . }®®Ly µ{® C. zNX@ARk<OG¢Q > F-CDG< >/#B?: r D /21 . 9/ y c.+ - < + / c m& q8 & $ r &(8: <= & d 8% ). k9x ... . (. ( . i 6)
(51) / . .
(52). + +. N^@ART<?GH Q -03C: 1 :0< -?< r B-0/21D 3<4>0/ >9BC/EDGFA-@H >( /b RkeTef>\]G.M?ifCFM!ef>BNX_nM ( XN^G\q>BRTMD\bNcgWGh|N^<Dh|^G C_fg
(53) 9Nc\MOikG euCFMOi9>F M]MDnCF_kef@AG G r_nM+ MO> 5!<OGCBhjCFiT_uN^g_T@efCAM?iT\?\]NcNX\_kef@ >AM?N^iT_W<OM>BU RT[@AN^i MOi ( + I \]`RfhDdi.zikMOiuG CF_
(54) MMO0ikG G!<Oh G!CG_. nNcKT\bRTMD\NXQgC_TC>AM?efiTCG MO<+i h|
(55) NX<h|>FXG M]\]niTef>B<OG MOGr <d+M? ifCF5 _& \b .iT>AC<?_fMOG g <MOifTC _ RkM
(56)
(57) J Û\]h GCG_z_TNX>B@AM[Rk<OKfG GHH>AekKDkMONX¹E_ugWCFG GUng²\bNXU4_f. h|²G C_fg + `uCF <OG<?G\]efGh|M?NXZG ^ +. ÜzÜ ß" . /¡b . +.
(58) oy. E= &1E i). MbnefGg'r G¢ h CFNc_\MO_Tik>AGqM?NcN^h|_WGM?G M?if<ON^CF>AM<0MO>Fik0Nc\[h|N^h|<D>Bh|^_fG gW NXM?NX>BJ _ \bN^G EG¢eT^NXNX@BGRT\ <O.0G / }Ky c zCF_ug MOikGgn>AECNX_h|>B<O<?G\]ef>A_ugWNX_T@*MO> . . k9x. . N^@ART<?G }HQ > F-CDG< >/ B4: r Cef>B^cG CFb_T<Y\]@A>BCFM?i_kgnNc@A\]P XMG CFI _fP h a G
(59) h|J RkNcMO\<OiTZ>BGYGKT\>AMD<OCN^>ANX@A_T<N^G_ Mbg.W>efKn`G efr>B>AcCF^X<Y>CF[CF<?_kGNX_k@ACX@Gv<D\h MOiT\>AG!_ >Fef>BhNXCF_n<DKfM gnG U²NXNX>A_T[NQ@!gTiT\|NQefhjz>Bi.NX_nRfN^_TM hDNXi'M?JyNcCCy h|efK(RT><?KD\bZUWNXG!^M?WNX>Ah|N^_T>B_£@!<O<ONcGv>A\d\]_>Bef_ C>A_fh|gnNX<NX_Th|[X@GN^MOMO>Fi> <CAgWN^Rfn\ Ea E[GiTMONQ<OhjNQ` h|iaCNQX\^A<OUT>AM?^iTXN^G_T@!gW>Bh|E^>nhjCFnN^_[Nc\b>AG<UWMb[nN^efMOGiT>B RTMY\]NQX\N^eT M?eTiTN^G_T@TNX_nUnMO>AG _.<?NXh >ANX<Y<Dh >FXYG h| N^ <Dc h| ^G UC_fg6NQ\]>A¨gWNQ\]MDC_fh|G h h RTNX<D<Oh ZXGG\C<O G¢CFQ\]>CF<h \#>hCF<DgnNX>ANQgT\#KkRTNX^M#[N^MOir Ch NX<Dh XG>Fz<DCBgWNXRu\ a <O>A^XN^_T@! h| >BRT_nMOG <h|X>nhDW[NQ\]G[>B_ . . 88 (
(60) :# = %
(61) . TC_f<?>Ag E eT<?G h ZnCFNX_>ARu_T\3>A<?MGKf\]RTG^MD>A\ ekUTMOifNXECF CFeTUnQCCF_f_Tg G M?±iTGNc\[>Aef_T^C<OMOhN^MOCFN^_f>AgW_TNQGgTgCFM?CBG\\MO>B>XX>>AekMO\ NXE*QT>AXNXRTMbM\]NQCgW<OG¢Gh|MbNXW<efh|XGG \ 9MbnCef_fGg \ r N^M?_f>\]NQh|gW>AG_fr \bh|NcN^gW<Dh|G^<qG Mb nefGMb\WefG rCF_ugh CF_0_T>B9M[zKfinGqRf\>BeTMOiTMON^GE>ACF_TÛ^C_fN^g_WM?M]G n<Def\bGGh| MON^ >A_fgW\>MOGv>\_T\]M?>ARfMgWG. nNcNX\]_'MUnif\]C>! r eTGYcC>A_T_TG ^ ifC CZ<OGG KfG Mb0G G _ 9C_fg r £>ARTM\]Ncgnr G UfCF_fgKfG MbG G _ CF_fg NX_u\]NcgnG .
(62) . r. . r. r. . ¹ _nMOG<D\]Gvh|MON^>A_KfG MbGG _ r C_fg }®®Ly µ{® >@ & $ I8: r / I$% &18% ) $% & 4E8: & 3 &)I 1 $% D8 & $ I8:@ I/ $% &D $:# <D(8% ) b. 6 &Hi 6). . ÕcßÈà Ê.
(63) oAo.
(64) !" # $% &#'() *+,-./102 435 6. & &7'98:; <= & ?>@ & $. . . . . . . N^@ART<?G HQ,#-0/21 r D 3 H > < : 8 /21 - <'B-0/21 >( /b g'GgWG _T>BMOG r + -,[MOiTGu<D\]MefCMOi£CF_fg 5b
(65) MOiTG\bGh|>A_ug >B_TGUC_fg( M?iTG eL1 >BNX_nM<OCFG_fCBg&hjiT. GvgKW. M?iT>\bG Mb>efCMOif\ UzCA\\]iT>[_
(66) N^_
(67) zNX@ARk<OGRWdg'G [N^XzeT<O>ZG!M?ifCFM I I + 1 I g6G¢h C_.\bG G>A_NX@BRT<O G !MOifCM 1s ] (
(68) s s ] ( s. as. . as. ( iT GKTNcNc\[\bGCh|XMO>BCv<kX\N^_TXG>B_T>@A[Gef<d>AM?N^if_WCFM_\ XNX _kGC\]_fG g @BE G _nNQM \( C n Nc\ UfJCF_uW g KMOdinRfG \_fh 0GGqXN^iu_TCvGZG \]G1 @AEG _n M z. . . I. . RTI eTef+ >V \]Gdf<\]M`M?ifCFM + f`N^_fh|G ( XN^G\NX_ UG[ifC ZG . I `U[iTNchDi!NXEekXNXGv\ I + d> \]RTekeL>V\]GM?ifCFM +I `UVCA\#N^_zNX@ARk<OGWT;z>ANX_nM (nNc\`MOiTGY\]nEEGMO<ONQh`>F'( >F¥<ef¥M CFVM?iC nNc\ 5 J
(69) W ^GK&CAg6gnNX_TGY@gWG|M?>u_T(:G[MOiTG[G eu_fCFh|MOG i . r + , z<?GCANX_fhDh iTG N^_T( @ ( Nc\ CBCKL\#>MOZikG G\]( nE >BE_6G M?M?<OiTN^G h \MOOifCEC_ G!Z G <OM?Nch C^NX_TGVU²C_T@A^G .6NQ\dNX_ugWG Gg@B]<OGC+ MOG <MOiuCF_£CF_T@BXG . U²MOinRf\@A<?GCFM?G <. .. +. ÜzÜ ß" . /¡b .
(70) om. E= &1E i). ¤ \ C1_fg I >B RTMDC\b_fNcgWg G . IK + UTeuCFMOi r NQ\3^>A_T@BG <MOiuCF_.efCMOi 0Uu>B<CF_neL>BNX_nMXnNX_k@!NX _ g'G¢h CF_h|>B_fh|XRugWGMOiuCFM[MOikGq>BeTMON^ECFÛgW>BECFN^_ >A<[MbnefG
(71) NX_ifC eTcC_TG Nc\ l J l gnG _T>AM?G\dM?iTGN^_WM?G <ON^>A<[>Fh|N^<Dh|^G KDUÛCF_fgKn\]nEEGMO<O!M?iTG!l >AekMONXECFgn>AECNX_ >B<MbWefG r 9NX_ M?iTG>AM?iTG <[ifC eTcC_TG J XnNX_T@!KfG ^>F C nNc\ J W K KNc\ ¹_nMOG<D\]Gvh|MON^>A_KfG 0G G _ r 9CF_ug r g'Gh >A_f\bNcgWG <M?iTGdeuCFMOiu\ r + -,CF_fg r 5[^GCAgnNX_T@MO>¢MOiTGY\OCEG[ef>AN^_WM ( XnNX_T@YNX_f\bNcgWGYh|NX<h|XG d ziTNQ\dNXEekXNXGv\MOifC;M . I CF_f>g . I ¤Y\\]iT>[_
(72) N^_'NX@BRT<OG ~VU²+MO >gWGvh|NcgWG¢[ iTNchDi.efCMOi'Nc\ M?iTG¢\]iT>B<OM?G\]MUTGifC ZGMO>h|>BEefCF<?GMOikGq^G _T@BMOif\[>F§MOiTG¢\bRTKTefCFM?if\ -,[CF_fg 5 . r. . . .
(73) . . . . N^@ART<?G~. . !" # . . . .
(74) .
(75) . .
(76) . .
(77) . . . . Q,.-0/21 r D 3 3C1 >98 / : 8/21 - < B-0/21 r %$ > </21 :H : /'&B-0/21 3
(78) 5 - <
(79) & > < /21 :8 D 1@/ -)(> > F DG< > 8 : 8 /2>+*C>?F B-98;:-98,* >-*
(80) D 8,* H : / 5". 0 - <' H D;<4:'3C: 4F:0<C/ / 5( 1Q. 'G¢gWG|f_TGM?iTG>AX^>[NX_T@!ef>AN^_WM\ / 5Nc\MOikG3abRk_fh|MON^>A_ef>AN^_WMKfG MbG G _*MOiTG¢CF<h>F0h|N^<Dh|^GC_fg M?iTGXN^_TG\]G@AEG _nM>`euCFMOi r 0 21 Nc\MOikG3abRk_fh|MON^>A_ef>AN^_WM[KfG MbGG _MOiTGMb>C<Dh \>0h|NX<h|XG>F=efCFM?i r g. ÕcßÈà Ê.
(81) o 0 NQ\MOiTG\bWEE*G MO<?NXhef>AN^_WMM?>( ¥<¥MLM?iTG\bMO<CFNX@BiWM^NX_TG!MCF_T@BG _WMYMO>M?iTGh|N^<Dh|^G\d\bRTeT eL>B <OM?NX_T@
(82) M?iTGMb0>
(83) C<Dh \!>FeuCFMOi r 0dG _uh|GCF<Dh 1 . 0 gWG\?h|<ON^KLGvg h X>nhDW[NQ\]GifCA\XG _T@BMOi + RkeTef>\]G.M?ifCFM + f & ` mW"ziTG_ ef>AN^_WM / 5 ^NXG\>B_ M?iTGCF<Dh>F¢h NX<Dh XG gnG\Oh|<?NXKfGg hh XX>n>nhDhDWW[[NQNQ\]\]GG!kd<O>AG E _fh|G/ MO> / fU§.CFCF_f_fg
(84) gefef>ACN^_WMOi M 0 ^NXNcG\[\\b>AiT_>A<?MOMOG iT<GMOCFif<DCh _1 ef. / CMO5 i >F0h|N^<Dh|^G Cc\]>'gnG\Oh|<?NXKfGg + d> \bRTeTef>\bG + I & ` mWÛ;>AN^_WM\/5rCF_fg 0 CF<?G!CB\\]iT>[_.N^_.r N^@ART<?G ~V? zikGgWN ÛG <?G _fh|G>F ^G _T@BMOi!KfG MbG G_efCMOif\ r 'C_fg r Nc\zGPSRuCFnMO>MOiTGgnN ÛG <OG_fh|G>ÛXG _T@BMOi!KfG MbGG _^NX_TG\]G @BEG _nM /5 ( C_fgC<Dh / 5". 0':ziTG>AX^>[NX_T@!^G EECdek<O>ZG\MOiuCFMefCFM?i r Nc\\]iT>B<OMOG<[MOifC_efCMOi r 0 ª ~ b<D4) /5 ( &)I $% /5". 0 >( /b g'G¢h|>A_u\]NcgnG <[MOiTGN^_WZ>BXRTM?G>F0h NX<Dh XG \bMDC<OMON^_T@*CFMeL>BNX_nM 0 CF_ug MORk<O_TN^_T@ h|J >ART_n0MOGK<D?h|g6^>nG+hjngW[G|Ncf\b_kG9G z/ iTGCA\MCFMO_TiT@BG¢G NX_WEM!CM?@A>6GM?>iT Nc\!/ 5h RT>B<O_.ZGMOiTCG¢M NXef_nZ>BNX>A_nXRkM MO0G J NQ\]\GMOG!iTGN^@A\]M?RT<D<?CGDNX@A~inMK XQ NX_k/ G XNXGv \d>A_'MOiTG!^NX_TG!MCF_T@BG _nMqM?> CFMef>AN^_WM /5!CF_ug M?iTG ^G _T@BMOi.>F3\]G @BEG _nM /5"/ NQ\ G>FPS§RuMOiTCFTGM?N^>q_WZM?iT>BXG[RT>AM?G_kGd>A>^zX>CF<h\#M?/ if5. CF01M[efgW>AGN^\O_Wh M<ONX/KfG g!XN^Gh \#X>nM?hD>W[M?iTNQ\]GGX G M>A>F<?zG >M?iTZGG < \bU|MO<D<?C>ANXE@BiWMOM[ik^GNX_TgWG G|fJ _TN^MO0N^>AK_ RTM>A<C_W
(85) ZBCXRTG>F + N^_ Q& ` m c m U+0 XN^G\qKfG Mb0G G _ / CF_fg 1 U§CF_fg eL >BNX_nM ( XN^G\#M?> M?iTG<ON^@AinM[>F^NX_TG J 0KDf²N^_TG!\bG @AE*G _WM /5 ( Nc\M?iTG _X>A_k@AG <[M?ifCF_XNX_kG \]G @BEG _nM / 5"/ ^UTCF_ugh|>B_f\]GPRTG _nMO^ ^>A_T@BG <[MOiuCF_.C<Dh / 5". 06 M?efif>BCFNX_n_g'MM?G!XiTnifGNX_kC ef@qZGCN^MO_feTi \]<?NQ>gWr ZG±Gh|gN^^<DGMOh|CAif^GgnCNXM_TC @LefMO>.C>¢MOMOi MOikiTGrG\O>BCeTE^MOGN^EG CAgWefCFN^_TÛ>B@NXgW_n>BM M?E>5 zCFC N^ik_tefNc\>A>BN^eT_W<<?MMb>AnN^ef_.eLG G <OifMbCF' Nc\¢ekNcc\ C CF_kl G >A<O:M?CNX_f>BNcg<O\N[\]C\?nXCF[EM?C NcE\¹ku\G GM?g6\]<OikN^h >A>ACF<O<!M?^XG BC < U r M?iTG>AeTM?NXECgW>BECFN^_ >A<MbWefG
(86) NQ\ l
(87) !" # $% &#'() *+,-./102 435 6. & &7'98:; <= & ?>@ & $. . . . . . & (
(88) -
(89) % ( " % . TN^ _f<?\]>ANQE gWG!MOh iTNX<DGh X<OG G\bRTXM\qCF_u>g MO>BiT_6GM?eTiT<OG!GZWifN^CF>A Rf\¢h NX\]<DGh h|XGM?NX>B>F_ UG*h|>Bh <OCF<?_ G\]gnefG>AgW_uRfgWh|NX_TG*@MOiTMOG>ef\bMOCF<?<?NcMOh|N^M?MOXNX>B_
(90) _TG >F@VCFiuMON^CFZ G!eTCKfQCF\O_Th|G NQ\O\? CA\|UQ eu>BeTCFMOMOiuN^E\tCF>¨zMbWiTefGG _r [ NXM?iCF<?M?GiTG!>BeT\bWMON^EEE*CF¨G UMO<bC!_fg ¥>B<_¥Mf C nNc>B\ < J >BRTMDKD\bUTNcgWGG+MOh iTCFNQ_\!_Th|NX><±h|XG@AUN^ZefGCMOMOifiT\!G¢>FefCF<?M]MOnNXM?efNXG >B_ >F =MOCiT<OGG W [ik>AXGeTQCF_TGRQ ÜzÜ ß" . /¡b .
(91) o H. E= &1E i). . ° . . r . r . r. NX@BRT<OG¢pHQ ,.-98 /ED /ED > < >/21 :BCH - <4: ;`CFM?if\d>F0MbneLG r CF<OG¢>AeTM?NXECN^_ l CF_ug>A_.MOikGifC ¨h|NX<h|XG[iTNQhjiNc\[MOiTG¢eL>B<OM?NX>A_'>F \OCFM?Nc\WN^_T@ W y ;`CFM?if\d>F0MbneLG r CF<OG¢>AeTM?NXECNX_ l CF_fg>B_.MOiTG¢ifCF h|N^<Dh|^G[iTNchDiNc\[MOiTG¢eL>B<OM?NX>A_'>F \OCMONc\WN^_T@ W y ;`CFM?if\3>`MbnefG CF<OG¢>AeTM?NXEC²N^_ l _ l ;`CFM?if\3>`MbnefG r 9CF<OG>BeTMON^ECFÛNX >B>BeTeTMOMON^N^g'EEGCFCF¨zh :efCz_CiTMOif_kGq\>AuMO<O<DNQGh|\]CBMGhj\]M?iTG ifN^M_TCF@M!NQ\3M?\bEiTRfG hjCAi.<OgWGG¢efCF>B>F<ONX0G*_nMOMDM]iT\0G¢CF>'<?MbG!\]G >NXM_\qif¨CF>CAh Mefh|N^>A\b<DNXN^h|_T_W^M@BG\X\[G[>FC iT<DG h <?\G>FCMb_fh|g >N^<Dh|Mb ^nGef\OG GCN^\qMOMONciT>\GW< efN^_TC@ MO>BifW < \! C<OUGy [d KfiTz>ANciTM?hDii G CNQ\<OGC n<ONcG\ \befJG h|MON^KDZUG [XiTgW>V\]G G@AGef_T>AG N^<D_WCMMO\G!CF<O>AG<?E<OGv\dCA>FhDiTGefgCFM?Knif.\ >A eT M?NXEC_fCg `efr CF M?ifU \ >B< +r - ,CFCF_f_fgg +r -9 ,DzU[iTGNXM??i\bGr h|. >B_fg6y \bG N M W r ] W y >B<OG >ZG <UfCA\ +I .>A<¢CF_.>BeTMON^ECFefCMOi'>F0MbWefG\ r 5>B< r 5BU²G¢ifC ZGeT<?>FZGvgCF@VCFN^_ M?N^_fiT\]GNQgW<OG G\bRTXM!>B>< ¢" ERf\bMJ[Kf>AGKfG >F<?§MDX\bG >A_T_ @BMO¥i$J[>A\] KMO<?~ Ncyh|M?¨U`X!_f@BCF<OE*GCG MOX.G <M?MOififCFCM*_ CF_9`>A eTM?NXEC#euCFMOi9<OGCBhjikNX_T@'C.ef>ANX_nM . . a. ÕcßÈà Ê.
(92)
(93) !" # $% &#'() *+,-./102 435 6. & &7'98:; <= & ?>@ & $. o
(94) }. 8 f 3+ . . 0q ' g'G*h CF_'Cc\]>$gWG|f_kG!MOiTGn;`CBh h|G\?\]N^KTNX^NXMb<OG@ANX>B_
(95) h >A<O<?G\]ef>B_fgWNX_k@MO>CXG_T@AM?i P CA\MOiTGRT_TN^>A_ >h >AECXeT[RkNQMO\]G>Ag ¨gWNQM?\]iTMD>C\b_fG6h|GNQ\]>Ah|RT¨gW<?NQZ\]GMD\C_fh h|>AG£<O<?Gh|RT\]ef<?Z>B_fG\tgWNX[_k@6ikG M?_ >.0XG G
(96) _T@Bh MO>AifE\eT^GRk\OMO\Gg M?ifMOCFiT_ G£>BgW< >AEGPCFRfNXC_u\tMO> >A<P 5GCBg'hji GMbCFn^<OeLGG'CBgW>F euCFMOi¦:ziTG C<OG!\biT>[_N^_zNX@ARk<OGsn x nx nx s x. s. x x s. s nx x x. x. nx. x nx. N^@ART<?G¢sQ 3C> 0D 32/2- <'*C:-* 98
(97) : 3 > 8 /21 :B 8;> 0H :0F D /21
(98) 4- 8 D - 0H : <4-0H :0< B?> D;< / h PRTRT<OG Z_uGN^h|_f\Gh|UG!>AMO<YiTefGXC\bG MOG[_Tif@BNc\\bMO>Aif>¨[\[gWNcMbX\bGvWMD\OefCF\dG_uM?h|ifr GCF h|_ RT>A<?a <Z6G \`>Br _TCF<?X$G[ifC _Th|Z>A>AG!<?M0<O^h|GG ^\b_T>ef\b@A>AGM?_fg!ifg.\h|RT\bMOMO><?<OZNQeuGh|\|CFMOU^MOKTiuRT\d@AM`<O>FGvG0CF_fMbMOgTWG\`ef<qG>AM?_*ifr CFh| _ NX<h|>Ba X<`Gv\ U C0X`ÛCFNQ¤\]_f>A\g ¨gWCNQ\]h|MD>ACJ _u_f\]\]G h|G GG M?ziTNXG@ARkRk<O_TG*NX>Bs_KD>F9 =zMOiniTRfG\|\bUGM?ifiTCG Mb¨0h|NX><h|ifXGvC\ ¨h|ÛNX<h|_fXgWG\G GvNXg²_'UfMOh|iT>ANQ_uhj\]NcgnXNXG _k<GC!\efCF<O>AGN^_WXM >nh ( N#>[YN^gWMONci.\?h|C!>A_nefMO>N^\b_WNXRkMO N^NXZMbG!:Cg6Kf\OG*h|NQgW \OG \?Ct_T>B>BMO_ G h J NX<D[h iTXG NchD i'Ncf\qM[_k>ANc\M!<?>AGekCAMOhDNXiTEGgCFF KnKUMO[iTiTGG >B<?GeTMO. N^ECFÛefCFJ M?i 5
(99) K:U²xd>F>YXXG G_k_T@A@AMOM?i i a +J UT&m KT RTMCc\b> KnJ efCMOi rK +&K J s \]G G5 zCNXef@ARkCMO<Oi
(100) Go>y[MbKnd eLzG iTG _' C[efiT>A>VN^\]_WGMXN^G _f_T\]@BNQgWMOi'G!h Nc\NX<D] h ZXG G s<?. h|^Z>G \]G!+<?M?> h X>\bJ G!m&MO %> ( a [NX^KfJ G>A+ eTM?NXK#Es KDCU²X^[ik<ONXGX+ GCBhjCikGefg >ANXKn_n M >B^G RT_TMD@B\bMONcgWiG[h NXNX^<D²h KfXG GZrG <?ZG h <OX>\bh|GX>VMO\]> GM?> ( [NX^KfG!>AeTM?NXECXXa<OGvCAhDiTGg + Kns C efCMOi.+ >F0MbneLG [iT>\bG a+ . . . ÜzÜ ß" . /¡b . . . . . . . .
(101) o . E= &1E i). . . . . . z NX@ARk<OGo y Q ,.-0/21 3 - < r 8;:C-'* 10D;< - B?> D;< / D /21B?>03
(102) D / D
(103) :- 03 *
(104) D 323C-> < *
(105) D 8 * H : ziTG*\]iuCFefG\q>[M?iTG!Nc\b>A¨gWNc\bMDCF_uh|Gh RT<OZG\CF<?G _k>AM¢CA\¢\]NXE*eTXG¢CA\N^_ Ôn`sFHB(QMOiTG.CF<?G!_T>AM N^E CFKk^<ONcQVhCqCFMOefGv>Ag<?MOh|NX^>B>_\]Gv>Fg §h|CRk_ <OZNQ\]G>B\`gWefNQC\]<OMMOCF^_f!h|KfGGh|h RTCF<ORuZ\]GVGUA>\bzMDCFMO<?iTMOGN^_Tgn@qNc\Oh <?>A>A_nE¡MONXCq_nRTefN^>BM]VNX_nAM _!J ¨CAh|MyU ¡y Kh UT>Ah RTCQ_ gt<?KfGGCAhD\bi G G ef_*>BCANX_n\[MDC \ KfG ikzNX_fiTg NQ\ gWNQ\O>Ah|_T>B^_WM?NXN _nzRTN^MNXMbh|>Aif<?<OCBG\\befCF>Ac\b_f>gT\CA\MO>h|>BC_f\]\]Gv*R PS)RTh|GNX_fGh|_WG!M?X!MOiucCFCM<O@BM?GqiTG!ZBCKfXRT>ARTG_f>Fgk CFW P <OUT. NX_>c >A\]<>AgWE*G <[G MOn>;`Kn¨WCAefh h|CBGv\O\O\ \]N^KTNX^ N^gnMbN ÛG <O<OGG@A_fNX>Bh|_fG\[CFNX<?M?G i._TMOiT>BG¢M>A<OG_T\b^RT'XMCF<D>FhY\ -0>[1 NQ~b\]}A>AN¨gWQÛNQ\]CAMD\dC_fM?iTh|G*G!Ch|RTRT<?MOZiTG>B\d<D\KTgnRTNcM¢g C_kc\]>A>$MCFh|<>Bh _f\\]NQ>FgW G <*>A9eTzM?NXiTENc\CNc\efM?CFiTM?G!if\|EUÛMOCFiTN^_ G KfC<D>Bh RT\_f>gTC<OhCF<D>gn`NX>AM?iTNQgTG \NX<h <?>AG <O@A<?N^G>A\]_ ef>Br _fJg KM?CF>.<?G_T>ACF_^[>AC ekkMO\NXECF<CFh \#ef>`CFM?N^_WifZ\>BXRT¡M?G\<OG>BCB<hjh ikCFNX_T<gW@.NX>BefNc>AgTN^\ _WWM\qRkM?M[ifCF\]>BM!E^NXGG>F>BzRTMOMDik\bGNcgW\]GG h NX<Dh g'XG\ G @ANXZCFG_u_Tg > M?iTG\]iuCFefG\!>FYMOiTGS;=¨CAhh|G\O\bNXKTN^XN^M].<?G @AN^>A_f\ < M M?iTGef>\?\]N^KTXGZBCF^RTG\>F ^G _T@BMOi P!J \]GGzNX@ARk<OGoAo=K Q P / y ca ² ziTGKf>ART_ugTCF<?>FzM?iTGn;`¨CAh h|Gv\O\]N^KTNX^NXMb<?G @AN^>A_NQ\`>A_T^ ECBgWG[>F=CF<h \#>zNX_nZ>A^RTMOG\§CF_fg>F .o Kj P / a ca J >F²0G _Th @AC<DM?igWN^>AP NQgTNc\\s \]NXM?_f<O\bNQh|NcgWMO^Gqh|@BNX<<Oh|GXCGMO\ G <M?ifCFCF_f_ g a \]UT>MOiTM?iTGEGCF\]G <h ^Z\`G>F\`h|N^>B_W_fZh >BCXRTMOG M?_fG\zCMOCFG<OgGYh|MO>B>_fCh <DCFh M?\[G _f>FCMOGg! MO>¢CF<h \ . . . . ÕcßÈà Ê.
(106)
(107) !" # $% &#'() *+,-./102 435 6. & &7'98:; <= & ?>@ & $. bo K MOiTiTGGNX_n\bNXZM?>ARf^CFRTM?MONXGv>A\_'CFNc<?\GMOMDiTCFG*_k@A\OG C_nEMdGM?>!CA\MOiTeTG<?G _TZWGN^@>ACFRfM?\bNXXZGUfKTefRTCM<OM[a >FJ #C nNc\ obJK Nc\KDMO iTGZBCFXRkG!>F P >A<¢[iTNchDi s W P / a J .o K c m a ¤>Fd¢<Dh MO\iTG'>FÛns N^_W;`Z>BCBXh RTh|M?GG\?\\]N^CFKT<?NXG^NXMb\]
(108) Gh C<OG_W@AMzNX>BMO>Y_ MONQiT\tG[E_TGCB@gWCFGM?NX>ZGefMbC<O> M`h >X>C \b WGgNQ\ h JRT <OW ZKzG\ CU`_f>Ag_TMOG'inRf\b\|RTU<OMO<?ik>AG[RT_uKLgW>BNXRT_T_f@£gTCMOiT<O G >A>F0MOikCG <D < h \QWM?>iT GG Uf nh MOCG <D<?gW_fN^CF>AÛNQgTh|Rk\[<OCFZ_fGgNQ\#NX_nEZCB>AgW^RTGdMOG>\ C<Dh \>`N^_WZ>BXRTM?G\|UVCF_fgMOikGqN^_WM?G <O_uCFf>A_TGNQ\#ECBgWG P / m a c P EC G>F W0NX_fM?CG h _ <OG _u>BP CFeT§MOh|N^ERTm <Oa CFZÛ'GefNQMOCF\iTM?G¢i\]M?NXNXX_nMO EG <?>B_fCA< gWCFG¢¦ h|>FRT<OCFZ<Gh NQ\d\>F>A0_TN^^_W ZE>BXRTCAgWM?GG\|> 0P ECF<C h \[>FgW0G_Th C>A<DM?gWG\dN^>AMONQgTik\dGCE_fCg Wh N^ENX<Dh CFXÛGX\ G _Tz@BiTMOi G r r P P EC P NQ\ @B<OGCMOG <§MOifC_!MOiTG0EC nNXECXG _T@BMOi¢>F¦CF_!>BeTMON^ECFefCMOi r >A< r UAMOinRf\M?iTGG nMOG<O_fC h|RT<OZGYNc\MOikGq>B_TX*>A_TG¢MOifCM[<OG ECNX_f\ . P ] a J s z . . . . o.~. . . . . ' '# E*NQz\ ik>Fh GZ>AGE>AekeT>AMO^<ONXG E*MOCFGNc\OX<£CgTMO\|\]N^U>A>A_
(109) NQ^Z\ GeTCg <?_ >A¥KTdG^ kG nECF[E*eTsB>BXF< G¨M?>iT+¤G\C6WC6N^_T_T>A^G _k>AE@A^NQCNXh_TMONcGh|h!C>B<E_WM?\b>nNXT_ngW\bRfGMOCFG M?E>FNX>Bq_C6>BU#< h 0C[G<OiTifXNQN^hjC i9ZGGMO<OiT>B\]G$>BKLX>BZ\]M nGg_W>BM?_TiTNXX_99G\bMONcCiT\XNQXeT\t><?0<?>AG GKTefg6^G >AMOE<O> M M?h iT>AG!E>AeTekRkMOMONXGE*gNc\OMOCiTMOG!N^>Aef_C<OeTM?<ONX>BMON^KT>AX_.GE >[[MOikNXM?G!ieTZBcCFC<?_TNcCGKTCAXG!\MOG ik_uG!gWef<OG>A\bNX_nRT=MXMQf>[GM?iT>AGRT\]_fng._WM?MOiTikGG\bNcMb\dWeTef<?G>A\KT>F^G 0E.>AeTUfM?CNX_fEg6C\bMOefRfCFgnM?NXifG\|g U M?E*iT>AGKTNQN^\]X>BG[<OgW>BNQKf\]M>ACFM _ffh|G+Gvh|\]RTNcgn<?ZG\`G\NXMDNX\_MO>AiT<GgW>AG <O<GMOMONc>*hCFgWTG N^_WM?G M?<OG E<OGN^\b_TM GUMOM?ikiTNcG!\#n<?G;`\]RkCBXh M0h|h|G>A\?Rk\]NXcKkgtNXXfN^Mb_u g<?CFG _@AN^>ACF_fek\eTXNQ>Ah <CFM?MONXiT>ANQ_*\3NXn_NX_uefg CFM?>Fi ekM?> cCFKu_kCA_ThDNXW_TRT@ke¦UTCB\[ziTNQ) \<OGN^\b<ORTM?NcXhDM[iifCCB_f\dgCcrT\b>-0CCeT_TeT_nXNQh CFCFM?^NX<O>BG_fCB\gWNX_gnCNcg h|>BN^_'E eT XG-0MOG sB^mF!LgW>BN²<GM?<OiTG G_nM#Ef>BGKTcNXg7^G[QT<OMO>AiTKfG>BMM?iTCG X>AX><?0G>Fg gnN ÛG <OG_WM?NcCFÛ@CEG\|U>A<MOiTG¢\bNXERTcCMONX>B_ >eTQCF_TGeTRT<\]RTN^MD\ ->n
(110) h ~¨. ÜzÜ ß" . /¡b .
(111) op. E= &1E i). -40. -40. -40. -20. -20. -20. 60. 60. 40. 40. 20. 20. 0. 0. 20. 40. 60. 80. -40. 0. -20. -20. -20. -40. -40. -60. -60. 60. 60. 40. 40. 20. 20. 0. 0. 20. 40. 80. 60. -40. 0. -20. -20. -20. -40. -40. -60. -60. 60. 60. 40. 40. 20. 20. 0. 0. 20. 40. 80. 60. -40. 0. -20. -20. -20. -40. -40. -60. -60. NX@BRT<OGoBoDQ²n;`¨CAh h G\O\bNXKTN^XNXMb ?< G @AN^>A_f\ M U M
(112) U M FC _fgHM .
(113) . . s <. . M. 0. 20. 40. 60. 80. 0. 20. 40. 60. 80. 0. 20. 40. 60. 80. U M. . . . < v. U. ÕcßÈà Ê.
(114)
(115) !" # $% &#'() *+,-./102 435 6. & &7'98:; <= & ?>@ & $. o s. q 0+' -0sWo ZBrACF'M?RT²<OG>BNX_Nc\?\]M?>AiT_kG_feTCFcMCU²_T¤G" z- GG hj<ikG
(116) _T>kNch UfCCF_fJ[g.G rTeff>A²<?MGKTo X} >By _fng²U²d ikJ>Ab<O¤M?GUn\]rAMRTefCMOoifsA\dsnoA> Kf>ART_ugWGg.h|RT<? dn[sA\]n'_nMOiTBG\bRTNc\3NUB;>B<_T>A>BR _TG iT<O>BG\ X>AU_krA>A' ENQh>A<O>ANQ\OKf\b>B>AMD_T\q_fE*CM >FUZnCNX_f_kg@trA>B;z<O[C<DCFgTRT\ E*>AJ[_fGg²\]: GvzCF<DikhDGi'\]iTJ[>BG <OefMO>AGv<O\]M+M`efmWCo MO}AifW\ U J]¤¢UW[;sBWU y Bs y m$V>AeTiTNQCF¨¤d_nMONXef>BXNc\ UTT<DC_fh|GUosAsBW -01 ~b} {[h|RT<?ZBrTCF) MO-Rk<O>nG¢hjBh|C >An_u_T\]G.MO<CFCN^_f_Wg M\|(¢C5 ! g + -""CF^) &;` UcCo _T GJ .o EKQXo >BsMON^~>AS_
(117) mAm >y ¢UC o s eu~ CF}W<O M?Nch|^G\]RTKTabGh MMO> ->n
(118) h ~ {[+,Ô &rT ( $:- UW>neuhjCFB@AC Gvn\q_TG o }WoA;`ocfC o _T}WG!bo WeTURT<o\]&s RTN^~VM [NXM?i'h|RT<OZBCMORT<?Gh|>A_f\bMO<CFNX_nMD\ _ C! + dN88: dRT:K }~ MO`Rk| {[<OG0, CF_fRTgKT[NX_uN^MO\|i°deT<O_*Gv\Oh|h|RT<?<?NXZKfGG\gd>FN^_TNXE*M?NcNXCF_TVN^CFE_fCFgBMOXG G _T<?E@BMONXi_uCF[ NXefM?>i\bCqNXM?NXh >A>A_u_f\\bMOC<D_fCgqNX_nMM`CF>A_T_*@BG C _WZMG \|<D C<@AGDh|IRk <O ZB CF i) 4 & d + & $:4<= & I U?~vs)Q¥HVs~j}Wo WUo s }~V -0sAm CFE*5 >A_TN^@¢<OM?>ANcKfhDi
(119) \bMDCACh _fXg G\ rT`) _-0CF! _T_n \] .N^_T:@'i\]G<DXG M? UW>Aef_fC\@AG>A\[<!m _T}A>BB_T iTn>Am }F^>AH _Ty >BU(EdNcNchh GefUCFTM?<Di C_feTh|QGCF_TUj._TN^_TC @ o sBsAmn G no| z+,T &¤¢ $:) UTjs GQ¥HVmACm ²VzH;`BmWcCU_To Gs WEoA>B MONX>B_[NXM?ih|RT<?ZBCFMORk<OGXN^ENXMCFMON^>A_f\ C b. ! %6il4n?N88: ; #7BmF¢` $:f<=;>A &_n $:MO<?4n<=CF &@B;NX _U &
(120) ! d b $:¢/A 4=>BXMbnCF8:_f;\b W<=N^N &U J8 /
(121) !b& YbCFE `n<O_nG MO^NcG )g <\OGh|N^UDG CF_f_uh|g GY{[;`ART0KTb^Nc\]ikNcG \]<Diu\ hjU²iTo Gs _TAmn>T J3>B?K ~ y o s b ~ y BJ[>AKfG <OM\]>B_ -RT<OZBCFM?RT<OGCF_fg¢CF<h=^G _T@BMOi) C=! + F88: j+, & $: UAo)s Q|Bs ~j AsBsWU JSs y rTCF_uÔ¤¢g WKfJ[CBG hjGngk[\CCF<D_ugTg\ `>(Ť L hNViT G eTeij ° &eT 2MON^E#+,CFf &ef C$:MO4if<=\# &>B <I C!Uh o|CFlH <0} J MOm ifKDCU§M[o @AsA>s Gy \[ Kf>AMOi>B<O[C<DgT\ Ôn`sHA ;Cfh CF>A<R G ¹<O_ G\ !UnrT ¥ !n u >BRT <D P4RT;G MUn7CF_fgirT¥¨;;n<=C &RT ED>A"_ug²j`; /&G MUo >sBzsF<OHTG0CBhjMOiu>CFCFKTek^GdeLGvefCF>< \b NXM?NX>A_u\#>A< Ôj z[sWo >B0<OrT3GgVRf>B\ORT\bMEG CF k_TCF_ E*CeT_fXG^g >F0M?N iTzzG!CFRf_T\]@kG! >[ik@B>AG >A<OM?EG\]GMMO<OefNQhCMOMOifGhD\!iT_T>ANQ<PSRTMOGviT\3G$N^_J3G_TG>BgT_T\]XbN^_TiTGGCFeT<Ye >AeTh M?CFNX <EQCC h|>BrT_WUÛM?<Oo >AsA¨sn²oAJ[ G\bGCF<hjiJ[G ef>A<?M3 -[° dsno|?o y UTJ[RTMO@BG <D\ d_TN^ZG <D\bNXMbU dG 9<ORT_u\][NchDÛU.
(122) . ÜzÜ ß" . /¡b .
(123) Unite´ de recherche INRIA Lorraine, Technoˆpole de Nancy-Brabois, Campus scientifique, 615 rue de Jardin Botanique, BP 101, 54600 VILLERS LE`S NANCY Unite´ de recherche INRIA Rennes, IRISA, Campus universitaire de Beaulieu, 35042 RENNES Cedex Unite´ de recherche INRIA Rhoˆne-Alpes, 46 avenue Fe´lix Viallet, 38031 GRENOBLE Cedex 1 Unite´ de recherche INRIA Rocquencourt, Domaine de Voluceau, Rocquencourt, BP 105, 78153 LE CHESNAY Cedex Unite´ de recherche INRIA Sophia-Antipolis, 2004 route des Lucioles, BP 93, 06902 SOPHIA-ANTIPOLIS Cedex. E´diteur INRIA, Domaine de Voluceau, Rocquencourt, BP 105, 78153 LE CHESNAY Cedex (France) ISSN 0249-6399.
(124)
Documents relatifs
loppé, tandis que le kilométrage des lignes ferroviaires ouvertes au trafic fret se réduisait, ainsi, et beaucoup plus fortement encore, que le nombre de points d'accès (gares et
A partir des mêmes données de l’ OCDE , en appliquant la même spécification aux biens et aux services, Ceglowski [2006] obtient des coefficients plus élevés pour le PIB dans
Le document du MOFCOM précise ici le rôle de l’ACGP (planification préliminaire et coordination des grands projets guinéens ; contrôle de la qualité des projets) puis présente
antennal segment, body length of about 2–3 mm, uniformly dark brown scutellum, one pair of strong prescutellar setae, left ventral epandrial lobe with a row of about 18 teeth on
Dans le cadre de ce travail, l'analogie est d'ordre méthodologique : par « comme si », nous indiquons que nous avons soumis des programmes informatiques à des méthodes d'analyses
Ces métadiscours ainsi définis comme ayant pour seuls objets les codes linguistiques et leurs fonctionnements, leurs représentations aussi, souvent en termes de normes sociales,
La démarche de la présente étude a consisté, à partir de l’observation d’une même syllabe dans divers contextes, à relever les variations de quatre paramètres
Compte tenu de leurs spécificités, les entreprises publiques et celles qui relèvent du secteur de l’économie sociale et solidaire constituent un terrain idéal
