Le contrôleur du robot BIP2000

Texte intégral

(1)Le contrôleur du robot BIP2000 Christine Azevedo Coste, Roger Pissard-Gibollet. To cite this version: Christine Azevedo Coste, Roger Pissard-Gibollet. Le contrôleur du robot BIP2000. [Rapport de recherche] RT-0249, INRIA. 2001, pp.144. �inria-00069925�. HAL Id: inria-00069925 https://hal.inria.fr/inria-00069925 Submitted on 19 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..

(2) INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE. Le contrôleur du robot BIP 2000 Christine Azevedo et Roger Pissard-Gibollet. N° 0249 Avril 2001 THÈME 4. ISSN 0249-0803. apport technique.

(3)

(4)

(5) "!$#&%'%'% (&)*,+.-0/"+.1243562678269:;2</>=:8?@2A*CB+D-0-"E@*09GFIH$+DJK:8LDL.26/ MONQPIRTSVU&WYX[Z\R]Q^`_bacZed6fgSad<hiacZeRTZ`jk_lakZ\d<f m Sjkn[joakP0RTS0jpd6RThQêSIqiS0j rKskd<tuSawvZehgSaxXiSIscyAZ`pSzd6{|d<akZ`}A]QS~uzu zw_<hQh@d<skaacS0p NQfZ\}A]QSVf@AbUA WY

(6) y[scZe^

(7) <<wW0U<U&h_l6S0j. >[0'& uzuzNQ6fQS~w^\h@S0jSaêSG_l{@d<s _bakd6ZescS m S$,pI_lfZ\}A]QS m S0jX[d6êZ m S0j m S^D fQZey6SIs joZeak m S rd<ZeakZ\SIs jd<fAa m Iy6SI^\d<hQh@ m _lfj^\S'pI_ m skS m ]fhQscdltuSIaVpId<RTR]f ]Qfskd6{|d<aV_<f6acNQscd<h@d<RTd<schQNQS¡ }A]QZ\fQ¢0S m S0<sc0j m SOêZ\{@SIskakpI_<h_l{Q^\S m SR'_<scp NQS0s m nAf|_lRTZ\}A]QS0RTSIfAa_<Zef|joZi}A]QS m SO<s _"yAZ\s m S0jS0jcpI_<êZ\SIs j0£ ¤xSI]Qqghskd<akdlaun[h@S0jd<fAaxIak pId<f¥I]jwSIaxsc0_<êZ`jo,jwh_<s^\S G¦X8£8 uzu§_"yb_lZea^\_skS,joh@d<f|jk_<{QZe^\Zeak m S ^`_Csc0_<êZ`jc_bakZ\d<f m S^D _<skRTd<Z\scS m STpd<RTR'_lf m SSa m S,jxp0¨l{Q^`_l6S0j0|_lZ\fjkZ}A]QS m ] m Iy<S0êd6hQh@SIRTSIfAa m ]Qf pId<fAaksc<^\SI]s h@d<]QsT^\Sgskd6{|d<a0£K©ªSgsc_<hQh|d6soaThQsc0jkSIfAakS^`_¦h_<soacZeSg^\d<6Z\pIZeS0ê^\S m ]«pId<fAaksc<^\SI]QsT}A]QZ_ak hskd6<s _lRTRTSaRTZ\jS0f ¬]Qy[scSjk]Qs^\_{_6joS m SO^. SIf[y[Z\skd6fQfQSIRTS0f6aGakS0R&h|ju~sk0SI^®xs pIpI_ m £l©ªSOpId<fAaksc<^\SI]s _IakT]iakZ\^\Z\jk m _lf|jVêS'pI_ m scS m Sqih@IscZeRTS0f6a _bacZed6fj m STR'_ls p NQS'jua _bakZ`}A]QSIRTS0f6ajoac_<{QêS m _<fjV^\S&h^\_<f SIa m S RTd<]y<SIRTS0f6a jh@d6joak]sc_<]iq4¯<¤°jua _bacZ\}A]QS0R&S0fAaVjoac_<{QêS,jI£©ªS0jsc0jk]Qêac_ba jd6fAaxac hsk,joS0f6ac0jxêd6scj m Sx^D ±q[h@d6jkZeakZ\d<f>fQZ\y<SIs jkSI^\êS m S²x_lfQdby[scS<<<SaOd<fAaª³´_<Zµa^D d6{ituSa m ShQ^\]joZ\SI]scjªhQ]Q{Q^\Z`pI_bacZed6fj0£Q©ªS m d[pI]QRTSIfAa³´_lZeaVjk]QZeakST_l]¦zw_<hQh@d<skaVMGS0p NQfZ\}A]QS&6bUA¯C}A]QZhQsc0jkSIfAakS êS,j m Iac_<Ze^`jêZ\0j¡^D _lscR&d6ZescS m S pId<RTR'_lf m SSIa_l]gpI¨<{Q^\_<<S m ]gskd6{|d<a0£ ¶¸·¹,º »<¼´[>½zd6{|d<acjO{QZ\h|P m S0j0 ¾ ¿8À8ÀÁGÂQpd6fAaksc<^\S~pd<RTR'_lf m S. Unité de recherche INRIA Rhône-Alpes 655, avenue de l’Europe, 38330 Montbonnot-St-Martin (France) Téléphone : +33 4 76 61 52 00 — Télécopie +33 4 76 61 52 52.

(8) "!$#&%'%'%

(9) . 0¹ Q»<¹< uxzu zNQ6fQS~w^\h@S0j_<f m

(10) ¦X N_"y6S m SIy6SI^\d<h@S m _lf«_<f6acNQscd<h@d<RTd<schQNQZ`pO_l^[Zef cs d<{@dlaZeakN m SI6skS0S0jTd<³³ scSIS m d<R _l{Q^\S$acd _<^! m n[f_lRTZ`pI_l^\^\n<£ M"d hQskd<akd<aunAh@S0jCN_"y<S${@SIS0f m S0jkZe6fQS m _lf m {Q]ZeêaC{[nakNS4

(11) ¦X8£Kuzu#O_<jTZ\f«p N_lsc<S m d<³xacNQS m S0jkZ\<f;dl³_ pd<fAacskd6ê^\SIs ³ d<s acNQSCscd<{@dla,£MONQZ`jscSIh@d<skahQscS0jkSIfAacjakNQSjkdl³ a$O_lscSTh_lskad<³acNQSpId<fAakscd<^\êS0s%ªS'N|_"y<S m S0y<SI^\d<h@S m d6f acNQSC{_6joZ`jd<³ªacNQSscS0_<^µ~DakZ\RTS&S0f[yAZ\scd<fQRTSIfAa&®xs pIp0_ m £MONQZ\jpd<fAacskd6ê^\SIsN_6j{@SISIf½]joS m Zef acNQS'&s jua SIqih|S0skZ\RTSIfAac_lakZ\d<fj dl³Vjua _bakZ`pgl( ¤ O_l^ AZ\fQ_lf m jua _bakZ`pg¯<¤ h@d6joak]Qs _lÔRTdby<S0R&S0fAacj0£MONQS0jkSgskS,jo]Qêacj N|_"y<SO{|S0SIf'hQscS0jkSIfAacS m _baacNQS²_<fQdby<S0sSqih@d6jkZµacZed6f&*± )r®V<<<V_<f m ZefCjkSIy6SIs _lîhQ]Q{êZ`pI_lakZ\d<fj0£MONZ\j m d[pI]QRTSIfAawZ`j_³ d6ê^\d Z\fQTdl³

(12) acNQSMGS0p NQfQZ`pI_<^zSIh@d<skaw6lU6¯Q£ + ,.-80º /1· 2< vªZ\h@S m skd6{|d<acj08¾ ¿@À8À|Á

(13) ÂQpId<fAakscd<^.

(14) ¯.

(15) "!"!"!. 8. #. $&%('*). +,).-. 9;:=<>:=?"@ACBED:=F. /. $1032*4657).-. G. b [ ,LK8¹ i¹NM.·OK;P@LKG.Q¼ , Q 6£e

(16) ShQscdltuSawvRQ<<< £V££V££V£££££V££V£££V££V££££V£££V££V££V£££££ 6£e6£e rsk,joS0fAac_bacZed6f m S0j_<pakS0]Qscj m ]ghQscdltuSIa ££V££V££££V£££V££V££V£££££ 6£e6£ z0_<êZ`jk_lakZ\d<f m S^\_&h_<soacZeSVRT0p0_lfQZ`}A]QS m S0jwhQskd<akd<aunAh@S0j ££V££V££V£££££ , 6£e6£ ¯ z0_<êZ`jk_lakZ\d<f m S^\_&h_<soacZeSV0êS,p akscd<fZ\}A]QS m S,jOhQskd<akd<aunAh@S0j££V££V££V£££££ " 6£e6£ U R&hê0R&S0fAac_bacZed6f m ]gpId<fAaksc<^\SI]s ££V£££V££V££££V£££V££V££V£££££ ,¯ 6£e6£ ®x{ituS0pakZe³´j££V££V££V£££££V££V£££V££V££££V£££V££V££V£££££ ,¯ 6£ ¤xS0jcpscZ\hiakZ\d<f m ]$jonijoakP0R&SVscd<{@dlacZ\}A]QS4££V££V£££V££V££££V£££V££V££V£££££ 0U 6£ Q£e ws p NQZµacS0pak]QscSVR&,pI_<fQZ\}A]QS £££V££V£££V££V££££V£££V££V££V£££££ 0U 6£ Q£ p akZ\d<ffQSI]Qs jOSaOacsc_<fjoRTZ`jkjkZ\d<fj ££V£££V££V££££V£££V££V££V£££££ 6£ Q£ ¯ ©_lhiacSI]Qs j££V££V££V£££££V££V£££V££V££££V£££V££V££V£££££ 6£ Q£ U ws p NQZµacS0pak]QscSVZefi³ d6skR'_lakZ`}6]S ££V££V£££V££V££££V£££V££V££V£££££ S 6£ ¯ rKsk,joS0f6a _bacZed6f m S^D SIf[y[Zescd<fQfSIRTSIfAUa T¿8À8À|Á

(17) Â ££V££V££££V£££V££V££V£££££ WV 6£ ¯£e f6acskd m ]|p akZ\d<f ££V££V£££££V££V£££V££V££££V£££V££V££V£££££ WV 6£ ¯£ $acNQd m d<^\d<6ZeS ££V££V£££££V££V£££V££V££££V£££V££V££V£££££ , 6£ ¯£ ¯ ±f[yAZ\scd<fQfQS0RTSIfAa m ShQscd<<s _lRTR'_bacZed6f ££V££V££££V£££V££V££V£££££ < XZY [P "K\M´ iN¹ M.O· K¼.O· P]M´^» M ,[¼´¼ , X _ Q£e zwIh@SIskakd<Z\scaS `cbd £££V££V££V£££££V££V£££V££V££££V£££V££V££V£££££ lU Q£ zwIh@SIskakd<Z\scaS `ê[fhgciWeLjWk ££V££V£££££V££V£££V££V££££V£££V££V££V£££££ lU Q£ Q£e rskd6<s _lRTRTaS lOmce`^nfpo £££££V££V£££V££V££££V£££V££V££V£££££ lU Q£ Q£ rskd6<s _lRTRTqS `ê[gcnfo £££££V££V£££V££V££££V£££V££V££V£££££ r Q£ Q£ ¯ rskd6<s _lRTRTtS suiWvxw]nfo ££££V££V£££V££V££££V£££V££V££V£££££¯6 Q£ ¯ zwIh@SIskakd<Z\scqS w]yEf{z}|&£££V££V££V£££££V££V£££V££V££££V£££V££V££V£££££¯6 Q£ ¯£e ¤S,jkpIskZ\hiakZ\d<f<0fQIs _l^\S m S0jOscIh@SIskakd6ZescS0j £V££V££££V£££V££V££V£££££¯ Q£ U zwIh@SIskakd<Z\scaS b[ed~dmc`££V££V££V£££££V££V£££V££V££££V£££V££V££V£££££¯ Q£ U|£e zIh@SIskakd6ZescaS |N"|Y£V££V£££££V££V£££V££V££££V£££V££V££V£££££¯A Q£ U|£ zIh@SIskakd6ZescS0j wx|NiWe&SI>a w|WiWeLjWk ££V£££V££V££££V£££V££V££V£££££¯A HJI. " ~.

(18) U. W[ ~

(19) }. ,. ,. _O_. 243=F65? B87>D"B:9 <<;>=?59< DL?A@A:3= ?. BCB. _ ]· K LK8¹NM.·OK'

(20) ¹WM´¼ A. ¯£e 4d<]Qy6SIRTSIfAacjOSIa_lskakZ`p]Q^`_bacZed6fjx£££££V££V£££V££V££££V£££V££V££V£££££¯6¯ ¯£e6£e rdAjoZeakZ\d<f¢I0skdY££V££V£££££V££V£££V££V££££V£££V££V££V£££££¯6¯ ¯£e6£ $d<]Qy6SIRTSIfAa j££V££V£££££V££V£££V££V££££V£££V££V££V£££££¯<U ¯£e6£ ¯ r_<sc_<RTaks _l6S m S,j_lskakZ`p]Q^`_bacZed6fj'££V£££V££V££££V£££V££V££V£££££^¯ r ¯£e6£ U ©ªd<f[y<S0f6acZed6fj£V££V££V£££££V££V£££V££V££££V£££V££V££V£££££L¯ S ¯£ 4d<]Qy6SIRTSIfAacjOSIawRTdlakS0]Qs j ££V£££££V££V£££V££V££££V£££V££V££V£££££¯6 ¯£ ¯ z_lhQh@d<skacj m Ssc m ]p acZed6f £V££V£££££V££V£££V££V££££V£££V££V££V£££££ UA ¯£ U

(21) ZeRTZeac_lakZ\d<fj m S,jRTd<]Qy6SIRTSIfAa jO£££££V££V£££V££V££££V£££V££V££V£££££ UA ¯£ U|£e vª]QakIS,jORT0pI_<fQZ`}6]S0j m ]gscd<{@dlax£V££V£££V££V££££V£££V££V££V£££££ U[ ¯£ U|£ vª]QakIS,jOI^\S0pakscZ\}A]QS,j £V£££££V££V£££V££V££££V£££V££V££V£££££ U[ ¯£ U|£ ¯ vª]QakIS,jOêd6<Z`pZ\SI^\êS,j ££V£££££V££V£££V££V££££V£££V££V££V£££££ U[ ¶ · 2G[}¼ M. QN¹ M´]· K

(22) 2« -I¹ A

(23) , U|£e fAacskd m ]pakZ\d<f4££V£££V££V££V£££££V££V£££V££V££££V£££V££V££V£££££ U U|£e6£e zd<{@dlawjk]joh@SIf m ]$_l] m S0jcjo]|j m ]$jod6^£££V££V££££V£££V££V££V£££££ U U|£e6£ zd<{@dlaSIfgRTd<]y<SIRTS0f6awjk]Qs^\Sjod6^£V£££V££V££££V£££V££V££V£££££ U S U|£ 4akNd m d<^\d<<Z\S £V£££V££V££V£££££V££V£££V££V££££V£££V££V££V£££££ U S U|£ Q£e rN_<jkS0j m SjoZ\RThQêSjk]QhQh@d<skawSahQN_6joS m Sfd<f$jo]hQh|d6soa££V££V££V£££££ cU V U|£ Q£ z0jkd<^\]iakZ\d<fg££V££V££V£££££V££V£££V££V££££V£££V££V££V£££££ cU V U|£ ¯ !d<scR'_l^\Z\jc_bacZed6f m S "VN_<êZ\#^ "V^\SIZ\f &fQ6SIs¦£V££V£££V££V££££V£££V££V££V£££££ cU V U|£ U zw0jkd<^\]iakZ\d<f m ]gRTd m PI^\S m n[f_lRTZ`}6]S;££V££V£££V££V££££V£££V££V££V£££££ UA U|£ zwd<{@dlawSIfgjkZeRThQ^\Sjo]hQh|d6soa m scd<ZeaO££££V££V£££V££V££££V£££V££V££V£££££ < U|£ Q£e !GZ`p NQZ\SIs ]$% &(' )$%*] ££V££V£££V££V££££V£££V££V££V£££££ < U|£ Q£ !GZ`p NQZ\SIs +,-$.(' /)$01*x£££V££V£££V££V££££V£££V££V££V£££££ Q U|£ r zwd<{@dlajk]joh@SIf m ]£££V££V££V£££££V££V£££V££V££££V£££V££V££V£££££ 6 U|£ r£e !GZ`p NQZ\SIs ]$% &(' )$%*] ££V££V£££V££V££££V£££V££V££V£££££ 6 U|£ r£ !GZ`p NQZ\SIs +,-$.(' /)$01*x£££V££V£££V££V££££V£££V££V££V£££££ <¯. . 88. b[ ,LK8¹ i¹NM.·OK 6£e ®x{QtuS0p acZµ³ m ]$pd6fAaksc<^\SI]Qs°£V££V£££££V££V£££V££V££££V£££V££V££V£££££ 6£ 4akNd m S$££££V£££V££V££V£££££V££V£££V££V££££V£££V££V££V£££££ 6£ ¯ ¤xS0jcpscZ\hiakZ\d<f££V£££V££V££V£££££V££V£££V££V££££V£££V££V££V£££££ K\M´» QN¹ M´]· K

(24) G ,[»$¼ ,4 -0/¹ [ , XF ·@\ Q£e ©ªd6RTR]QfQZ`pI_lakZ\d<fg_"y<S,p^\S0j_6p akZ\d<ffQSI]Qs j m ]gscd<{@dla ££V££££V£££V££V££V£££££ Q£e6£e zS0jcjod6]Qs pSrN[n[jkZ`}6]S H * IGJ££V££V£££V££V££££V£££V££V££V£££££ Q£e6£ $d m ]Q^\S_l^\<d<scZeakNQRTZ`}6]US *K-O (IGJ ££V££V££££V£££V££V££V£££££ Q£ ©ªd6RTR]QfQZ`pI_lakZ\d<fg_"y<S,p^\S0jp0_lhiacSI]Qs j m ]gskd6{|d<a££V££V££££V£££V££V££V£££££ HJI. ED. cS cS cS Q. <. r6. r rA. LNM\#LPO.

(25) .

(26) "!"!"! _. b·»6.2",2 M}K\M ¹NM Q¼}M. Q¹NM´·]K. I. _. ¯£e rKsk,joS0f6a _bacZed6f££V£££V££V££V£££££V££V£££V££V££££V£££V££V££V£££££ r6¯ ¯£e6£e fQZµacZ\_<êZ`jc_bakZ\d<fg_l]Qakd<R'_lakZ`}6]S ££V££V£££V££V££££V£££V££V££V£££££ r. ¯£e6£ fQZµacZ\_<êZ`jc_bakZ\d<fR'_lf[]QS0ê^\S°££££V££V£££V££V££££V£££V££V££V£££££ r^r ¯£ ¤xS0jcpscZ\hiakZ\d<f m S0jwR&d m ]êS,jOZefAakS0sky6SIf_<fAa m _lfjO^` _ E ££££V£££V££V££V£££££ r^r ¯£ Q£e $d m ]Q^\S_l^\<d<scZeakNQRTZ`}6]US A 1 ~O ££V££V££££V£££V££V££V£££££ r^r ¯£ Q£ $d m ]Q^\S_l^\<d<scZeakNQRTZ`}6]US A *+ £V£££V££V££££V£££V££V££V£££££ rLS ¯£ Q£ ¯ $d m ]Q^\S_l]iacd<R'_bacUS A Nt '££V££V£££V££V££££V£££V££V££V£££££ r^V 2 ,K·@ b, M´¹ , 2 ,$¹ ,[»l¹,O· M ,[ OQ ZI b·»6. 2" ,[' U|£e rKskdip m ]QscSVrskdipIracj £V££V££V£££££V££V£££V££V££££V£££V££V££V£££££ r6 U|£e6£e ©ªd<RTR]QfZ\p0_bakZ\d<fg_"y<S,p^\SjonijoakP0R&ST£V£££V££V££££V£££V££V££V£££££ r6 U|£e6£ ¤IakS0pakZ\d<f m Sjk]QhQh@d<ska£££££V££V£££V££V££££V£££V££V££V£££££ S< U|£e6£ ¯ M

(27) s _btuS,p akd6ZescS0j m Ssc³ 0skS0fpSSapId<fjkZe6fQS£V££V££££V£££V££V££V£££££ Sr U|£e6£ U $d m ]Q^\S_l^\<d<scZeakNQRTZ`}6]US *] &

(28) £V£££V££V££££V£££V££V££V£££££ S^S U|£e6£ ©ªd<fAaksc<^\S~pd6R&R'_<f m S £££££V££V£££V££V££££V£££V££V££V£££££ SV U|£e6£ r X[]Qscy<SIZ\^\^\_<fpS £V££V££V£££££V££V£££V££V££££V£££V££V££V£££££ VA U|£ rKskdip m ]QscSVrskdip0$dby<S££V££V£££££V££V£££V££V££££V£££V££V££V£££££ V. U|£ Q£e M

(29) s _btuS,p akd6ZescS0j m Ssc³ 0skS0fpSSapId<fjkZe6fQS£V££V££££V£££V££V££V£££££ V^V U|£ Q£ $d m ]Q^\S_l^\<d<scZeakNQRTZ`}6]US $U["

(30) £££V££V££££V£££V££V££V£££££6 Q¼ M 2. ,[ Q _ ,A»<¹0]· M ,[0 Q£e MGs _btuS0pakd6ZescS0j £££V££V££V£££££V££V£££V££V££££V£££V££V££V£££££6¯ Q£ MGs _btuS0pakd6ZescS0j x§£££V££V££V£££££V££V£££V££V££££V£££V££V££V£££££6¯ Q£ Q£e rdAjuac]QscS0j'£££V££V££V£££££V££V£££V££V££££V£££V££V££V£££££6¯ Q£ Q£ $d<]Qy6SIRTSIfAa jªrdAjuac]Qsc_<]iq £££V££V£££V££V££££V£££V££V££V£££££^ r ]· KG»6¼Ń M.O· K Q D 888 H. ;< <3 3=F. KK , ,A ,[¼ Q¹NMN ,[·@ ,A

(31) ,cK8¹, 2 b· ·|¹. 6£e 6£ 6£ ¯ 6£ U X M´ Q£e Q£ Q£ ¯. H H. rdAjoZeakZ\d<f¢I0skd £V£££V££V££V£££££V££V£££V££V££££V£££V££V££V£££££x0A 4d<]Qy6SIRTSIfAacjjc_l6Zµakac_<]iq £V££V£££££V££V£££V££V££££V£££V££V££V£££££x06¯ 4d<]Qy6SIRTSIfAacj³ scd<fAa _l]iq £V££V£££££V££V£££V££V££££V£££V££V££V£££££x06¯ 4d<]Qy6SIRTSIfAacjOy6SIskakZ`pI_<]iq £V££V£££££V££V£££V££V££££V£££V££V££V£££££x0<U M´¹ iW¹ M´]· KG 2",[T·@ ,[ ,LK8¹0 H, v]iacIS,jRT0pI_<fQZ`}6]S0j m ]gskd6{|d<a'£££££V££V£££V££V££££V£££V££V££V£££££x0^ r v]iacIS,jI^\S0pakscZ\}A]QS,jK££V££V££V£££££V££V£££V££V££££V£££V££V££V£££££x0L S v]iacIS,jêd6<Z`pZ\SI^\êS,j££V££V££V£££££V££V£££V££V££££V£££V££V££V£££££x0^V. " ~.

(32) W[ ~

(33) } r. KK , ,A ,[¼ Q¹NMN ,[ ¼ ¦· 2[¼}M. i¹WM´·]K 2 "· ·|¹ _. . . D. H Q. ¯£e zwd<{@dlawSIfgjkZeRThQ^\Sjo]hQh|d6soa m scd<ZeaO££££V££V£££V££V££££V£££V££V££V£££££x<, ¯£e6£e X[ZeRThQ^\Sjk]QhQh@d<ska m skd6Zµa]$% &(' /)$01* £V££££V£££V££V££V£££££x<, ¯£e6£ X[ZeRThQ^\Sjk]QhQh@d<ska m skd6Zµa-+-$.('~ )$01*] g££V££££V£££V££V££V£££££x<0U ¯£ zwd<{@dlajk]joh@SIf m ]£££V££V££V£££££V££V£££V££V££££V£££V££V££V£££££x< S ¯£ Q£e zd<{@dlawjk]joh@SIf m ] $0 ('~ )$01*] ££V££V££££V£££V££V££V£££££x< S ¯£ Q£ zd<{@dlawjk]joh@SIf m ] -+,$ (' )$%*] ££V££V££££V£££V££V££V£££££x,6 KK , ,A ,[¼ QN¹ MN ,[ ¼ !,LK M b]· KK ,[ ,LK8¹¼´]· POM.» M ,A¼ H"XE KK , ,A ,[¼ QN¹ MN ,[ "K\M G¼ iN¹ M.O· K H"X Q Q£e ±q[,p]iacZed6f m S^\_&hQscdip m ]QscSxrscdipra j £V££V£££V££V££££V£££V££V££V£££££x,< Q£ ±q[,p]iacZed6f m S^\_&hQscdip m ]QscSxrscdipI$dby6S S0scjkZ\d<f £V££££V£££V££V££V£££££x0¯ Q£ ¯ ±q[,p]iacZed6f m S^\_&hQscdip m ]QscSxrscdipI$dby6S S0scjkZ\d<fg £V££££V£££V££V££V£££££x0¯6¯ KK , ,A ,[¼ QN¹ MN ,[ ¼ !,¼.O· M´¹ iW¹ M´]· K

(34) 2 ,['» ¹ ,[" "' 2 ,· "» , H_, r£e ¤x &|fQZµacZed6fjx£££V£££V££V££V£££££V££V£££V££V££££V£££V££V££V£££££x0.¯ r£e6£e zSIh@PIscSz ££V££V££V£££££V££V£££V££V££££V£££V££V££V£££££x0^¯ r r£e6£ rdAjoZeakZ\d<f m S,jpI_lhQakSI]scj m _<fjz ££V£££V££V££££V£££V££V££V£££££x0^¯ r r£e6£ ¯ 4_<jcjoSSaw6sc_"y[ZeakY££V£££££V££V£££V££V££££V£££V££V££V£££££x0^¯ r r£e6£ U fi³ d<scR'_bakZ\d<f|j m S0jwp0_lhiacSI]Qs j ££V££V£££V££V££££V£££V££V££V£££££x0^¯ r r£ vZ\^\_<f m S0jO³ d6scpIS0jSqiSIs p0S0jjk]Qs^`_&jkSIRTS0ê^\S½£V£££V££V££££V£££V££V££V£££££x0^¯ r r£ Q£e p akZ\d<f m S,jO³ d<s pS,j m ShQskS,jkjkZ\d<f ££V£££V££V££££V£££V££V££V£££££x0^¯ r r£ Q£ p akZ\d<f m S,jO³ d<s pS,jKa _lfQ6SIfAakZ\SI^\^\S0j m SV³ scdlakakSIRTS0f6a ££V£££V££V££V£££££x0^¯ r r£ Q£ ¯ rd6Z m j £V£££V££V££V£££££V££V£££V££V££££V£££V££V££V£££££x0L¯ S r£ Q£ U p akZ\d<f|j m ]akZ\{QZ\_'jk]Qs^\S0jp0_lhiacSI]Qs j £££V££V££££V£££V££V££V£££££x0L¯ S r£ ¯ ª}6]|_bakZ\d<f|j m ,}A]QZe^\Z\{QskS££V££V£££££V££V£££V££V££££V£££V££V££V£££££x0L¯ S r£ ¯£e X[d<RTRTS m S0jO³ d6scpIS0jf[]Q^\êS £££V££V£££V££V££££V£££V££V££V£££££x0L¯ S r£ ¯£ X[d<RTRTS m S0jRTd6R&S0fAacjOSIf¦® fA]ê^\S £££V££V££££V£££V££V££V£££££x0L¯ S r£ ¯£ ¯ ©ªSIfAakscS m SVhQskS,jkjkZ\d<f £V£££££V££V£££V££V££££V£££V££V££V£££££x0^¯ V r£ U ©_6jOh_lskakZ`p]êZ\SIs m SV^`_'joS0RTSI^\êSVNQd6skZ\¢Id6f6a _l^\S £££V££V££££V£££V££V££V£££££x0^¯ V r£ _<êS0]Qs jOfA]R&0skZ`}A]QS0j&£V££V££V£££££V££V£££V££V££££V£££V££V££V£££££x0^¯ V r£ Q£e rdAjoZeakZ\d<f|j m S0jp0_lhiacSI]Qs j§££££V££V£££V££V££££V£££V££V££V£££££x0^¯ V r£ Q£ 4_<jcjoSSapISIfAakscS m SR'_<jcjoS ££V££V£££V££V££££V£££V££V££V£££££x0^¯ V KK , ,A ,[¼ QN¹ MN ,[ ¼ e Q¼´ iW¹ M´]· K 2 ,[ b·|¹I¹ ,[ ,LK8¹, H_ Q. B tAB:9. ? @ 7

(35) B83. . LNM\#LPO.

(36)

(37) "!"!"!. S.

(38) . " ~. 53$. 'R20. -.

(39)

(40) .

(41) "!"!"!.

(42) . 5. . - ). . 03$. 032. . . 5 $. '*).

(43) > ¸"! . .

(44) SªhQscdltuSIaRv Q<<<wskS0<scd<]Qh@S m S0]iq^\_<{|d6sc_lakd6ZescS0j8³ s _lf|¥I_lZ`j0I^D 1 zNQ6fQS~w^\h@S0jSaêSR b£ K d6{ituS0pakZe³ m ];hQscdltuSIa&S,juaT^\_sc0_<êZ`jk_lakZ\d<f m ]Qf;scd<{@dlaT{QZeh@P m Sg_<fAakNQscd<h@d<RTd<schQNQS¡; m SI<sc0j m S ^\Z\{|S0soac mQm ^h|d6]Qyb_lfAajoS m IhQ^`_<pISIs m nAf|_lRTZ\}A]QS0RTSIfAaSIf R'_ls p N_<f6aSIa pI_<h_l{êS m ST³ s _lf|p NQZes m S0j S,jkp0_l^\ZeS0scj0£ ! ". # ?":FG3<D@\D"B:9< ;H3F @ 5]D 3=>? F ;= 7t? 9%$ 3xD. S _'^`_'scS0jkh|d6fjc_l{QZ\êZeak m S^`_'h_lskakZ\SRT0p0_lfQZ`}A]QS m ]$skd6{|d<a0£8©ªSaks _"yb_lZ\^

(45) __<{|d6]iakZ¡'^\_ pd6fpS0hiakZ\d<fSa¡^`_>pId<fjoaksc]p acZed6f m S m SI]iqhQskd<akd<aunAh@S0j0 _lZ\fjkZ}6]

(46) _<] m 0y<S0êd6hQh|S0RTSIfAa m ]Qf jonijoakP0R&S m Sxacsc_<fjkR&Z`jcjoZ\d<fjO}A]QZ

(47) _&Iak{QscSIy6Sak6£ &. S }' -+ ^ &(' )( } +* ,*-(

(48) ~ m ST^../> 10" ]&t * x_ ^\_ p N|_lsc<S m S4^`_ h_lskakZ\S$I^\S0pakscd<fQZ`}A]QS m ]«scd<{@dla0£O©ªSgaks _"y"_<Ze^wpId<scskS,joh@d<f m _<]p0¨l{Q^`_l6S m S0j m 3Z 2@0skS0f6a jR&d<akS0]QscjxSap0_lhiacSI]Qs jI8_lZ\fjkZ}A] ¡>^\_>sk,_l^\Z\jc_bacZed6f m S&^. _lscRTd<Z\skS m S&pId<RTR'_lf m S&Sa _l] m 0y<S0êd6hQh|S0RTSIfAa m S,jt P £Q©ªSacsc_"yb_lZ\^_V³´_<Zµaª^. d<{ituSIa m ]QfCs _lhQh@d<skaakS,p NQfQZ`}A]QS4 4zw<65D£ &. &. SThQscdltuSIa m S&^D. / + 10" &t *" x_>^\_>skS,joh@d<f|jk_<{QZe^\Zeak m ST^\_>h_lskakZ\STpd<fAacsk6êS0]Qs m ] skd6{|d<a0£,©ªSaks _"y"_<Ze^6_Oh|S0skRTZ`j m S m 0y<S0êd6hQh|S0s^`_h_lskakZ\S^\d<<Z`pZ\SI^\^\S m ]jonijoakP0R&SSIa m ZeRThQ^\IRTS0f6acSIs ]QfQS^\d<Z m SpId<RTR'_lf m Sh@SIscRTSakac_lfAa m SVh@d<]Qs jk]QZey[scS m S0jacsc_ltuS0p acd<Z\skS,jO_lskakZ`p]Q^`_lZ\skS,jI£. 798;:=< >@?9AB<;C?;DEABFG F"H I,J,<9K6D3LMNFG;FOPQ?9R D3G;FO!G;F!ST?9DECD3FAUO. " ~. VWCC XQY Z;Z\[][^[]_`R abOdceMWK6D3f_.XN?9DECD3FAUOdc gUA.

(49) ,. W[ ~

(50) }. *6£e

(51) . ! ". . . : @ACBCFc@\D"B:9< ;H3 A{@ 7 @ ?D"B:3 :5@< B =3 ;3=F 7t? 9D 9D 7 3=F.

(52) S ¦jI S0joaZefjkhQZ\sk m S,j m d<fQfIS0jpIZefIR'_bacZ\}A]QS,jVSa m S0jp0_lh_6pZeak,j m nAf|_lRTZ\}A]QS,j_lfAakNskd6h|d<~ RTd6skhQNS0jh@d<]Qsª^\_pId<fpISIhiacZed6f m ]'scd<{@dla0£<rd6]QsKhê]j m Zefi³ d6skR'_lakZ\d<fj^\Sw^\S0pakSI]sKh@d<]Qscsc_jkSscSIh@d<skakSIs ¡ 4 Xiz V 5£

(53) SpI_l^\SIf m skZ\SIs m S^`_&sk,_l^\Z\jc_bacZed6fRT0p0_lfQZ`}A]QS m S0j m SI]iq>hQskd<akd<aunAh@S0j_&Iak^\SVjk]QZ\yb_lfAa !. ]Ze^\êSIa¦06< pId<fjoaksc]pakZ\d<f m ]QfQS4hQscSIRTZ\PIscS$y<S0scjkZed6f;pId<RTh@d<skac_lfAa m S0]iqto_lR{@S0j _<jcjodipIZe0S0jO¡&]Qf$p N_lscZed<aw¡ scd<]S0j &|£e6£ ¯= £. &#". &. &#". $. }V. mQm ^. _<f[yAZ\SIs<<< ,pId<fjoaksc]p acZed6f m ]Qf&hQscdlacdlaun[h|SpId<RTh|d6soa _lfAaêS,j@to_lR{@S0jSIaêSO{_6jkjkZ\fo mQm ^` £ %. [X SIhQakSIR {QscS>l6< s _btud6]ia m ]Qf{_6jkjkZef _<] hQskS0RTZeS0shQscdlacdlaun[h|S'SIad<{QakSIfAacZed6f m ]f½joS,pd6f m hQscdlakd<aun[h|S¡ mQm ^b &|£e6£e £ $. LNM\#LPO.

(54) 6.

(55) "!"!"!. *6£ .

(56)

(57) . .

(58) S0j m Z32@0skS0f6a jh_ls _lRTPacskS,j m ]scd<{@dlajod6f6askS0<scd<]Qh@0j m _<fjK^\S m dip]QRTS0f6aakS,p NQfQZ`}A]QS 4 iX xzw<\5D£ Robot Chariot. Barre de torsion. 6£ ¯

(59) !" #

(60) $ % '&()

(61) *+,

(62) .-/0 1 ' 23 !4 ,56

(63) $789:5;' < =9'>

(64) @?

(65) BADC3 1 E'"F. *. " ~.

(66) " ! " . . W[ ~

(67) } : @ACBCFc@\D"B:9< ;H3 A{@ 7 @ ?D"B:3 :=A:3 5]DL?A9< B =3 ;3=F 7t? 9D 9D 7 3=F.

(68) S0j m EZ 28IscSIfAacjhQskd<akd<aunAh@S0jd<fAaacpI¨<{Qê,j_l]³ ]Qs Sa ¡gRTS,jo]QscS m SC^\SI]sRTZ\jkS¡ m Z`joh@d6jkZeakZ\d<f£ G _ghQscSIRTZeP0skS'y6SIs joZ\d<f }V mm â _lZea m dlacIS m ]QfQS>_lscR&d6ZescS m SCpd6RTRT_<f m S'scSI^\Ze0S'h_ls]Qfpd6s m d6f d6R{QZ\^\Z\p0_l^_l]scd<{@dla &|£e6£ U £. Power units VME boards Ethernet link . Robot. *. <£ U. . . ORCCAD. SUN workstation - conception - debugging. 5;9

(69) 5 9

(70) $ 1

(71) F+

(72)

(73)

(74)

(75) +-/8 1 ' 2.

(76) S0j'_lscRTd<Z\skS,j m S4pd<RTR'_lf m S0j m S,j m SI]Qq½hQscdlakd<aun[h|S,j &|f_l]iq;jod6f6a'Z\fAakI6sk0S0jT¡^\_ joaksc]p ac]QscS RT,pI_lfZ\}A]QSVSaacZeS0fQfQS0f6aw^\Z\SI] m Sakscd<fp &£\<£ £. . Power units VME boards. ORCCAD. Ethernet link SUN workstation - conception - debugging Robot. *.

(77) 6£ . . . 5;9

(78) 5 9

(79) 4 . < *. !. LNM\#LPO.

(80) ,¯.

(81) "!"!"!. ©ªSaks _"y"_<Ze^|S0joasc³ 0skS0fp m _lfjKêS m dip]R&S0fAa 4 4zw<6 5D£iwfSw³ d<Z`jpSwacsc_"yb_<Ze^|sk,_l^\Z\jk<6Ze^@fQSskS,jua _lZea hê]jV}A] ¡>pId<RThQ^\acSIsV^\_>hQ^`_bacS~D³ d<scR&S Sqih@IscZeRTSIfAa _l^\S S0f m 0y<S0êd6hQh_lfAaêSTpd6f6acsk6êS0]Qsh|S0skRTSakac_<f6a m SVpId<RTR'_lf m SIs^\Sskd6{|d<a0£ ! " . 8 7tAC:! 3=< D@D"B89< ;>=?59< DL?A@A:3= ?.

(82) SpId<fAaksc<^\SI]Qs&_4Iak m Iy6SI^\d<hQh@ m _<fj ]Qf½hQscSIRTZ\SIs akS0R&h|jh@d<]QsT^\ShQscdlacdlaun[h@S>¡ V mQm ^D£^_ IakpId<RThQ^\akSIaw]iakZ\^\Z\jkh@d<]Qsw^`_Tpd6R&R'_<f m S m ]ghQscdlacdlaun[h|SpId<RThQ^\Sa¡ mm ^.£8©ªSaoacSh_<soacZeSjkSIs _ m Iy<S0êd6hQh@ISVSIf m a _lZ\^ m _<fjpSs _lhQh@d<ska0£ ! "&B. $ 35]D"BF. K d6{ituS0pakZe³ &f_<^ m ]¦hQskd<tuSaS0joa m S h_lscy<S0fQZes¡C^`_Csc0_<êZ`jk_lakZ\d<f m S m IR'_ls p NQS,j m n[f_<R&Z`}A]QSIRTS0f6a oj ac_<{Q^\S0j m _lfj^D S,joh|_<pS6£AMGd<]QaS0f>pd6fjkSIscy"_<fAaªpSIaoakS m d6fQfQ0Sx¡ ^. S0jkhQscZµaOfQd<]|jKfQd6]jOjod6RTR&S,jKh@SIf|p NQ0j m _lfj]Qf hQscSIRTZ\SIsakS0R&h|jjo]s^\SThQscd<{Q^\PIRTS m S0jVRTd6]Qy<S0R&S0fAacjVjua _bacZ\}A]QS,jI£

(83) STpId<fAaksc<^\SI]sxhQsc0jkSIfAac Z`pZ m S0y"_<Zµa h|S0skRTSakakscS m S>h|d6]Qs jo]QZ\y[skS m S0jaks _btuS0pakd6ZescS0j_<soacZ\pI]Q^`_lZ\skS,jskd6{|d<a _l]jkd<^D£S0jhQscSIRTZeS0scj sc0jk]Qêac_lacjªSqih|0skZ\RTSIfAac_<]iq'd<fAaªIakhQsc0jkSIfAak,j^\d<s j m S^D ±qih@d6jkZµacZed6f>fQZey6SIs joS0ê^\Sx<<<¡²_<fQdby[skS b£ . ,[ ", M. K· ,¹ "K8¹ ,O» , 2·»6G ,LK8¹ M ¹$0\M ¹ , Q ª·1"¹ ,[» K\M , \¶ ,."¹ "M K",[ M K · b i¹NM.·OK$»<·]K» ,.K""K8¹¼ ,[ 2"MN ,.b,A¹¦¼ ,[ ,[,0·@""» ,[ -WM ,[¦,·OK8¹ , [M. ,[ 2" KGaK·¹ ,'2·»6G ,LK8¹ ,[aM}K ·1b i¹WM´·]KG 2G bA ,LK8¹ K· "¹ 2 , b·OK8¹ A¹, »6O· KW M 2 b ,[ »6·|½ ,b .,LK» , . . . . . . 8 !8 "!$#%'&(8 ). " ~. *%. .

(84) . . .

(85) 0U. W[ ~

(86) }. . GK 9 >

(87) V T. d<]jOfQSs _lhh|S0êd6fjZ\pIZ}6]S^\S0jp0_ls _<pakIscZ`juacZ\}A]QS,jKhQscZ\fpZ\h_l^\S0j m ]>scd<{@dla,ih|d6]Qs m SVhQ^\]j_lRThQ^\S0j Z\fi³ d6skR'_bacZed6fj0I^\SK^\S0p acSI]Qsh@d<]Qscsc_joSªskS0h|d6soacSIsG¡ 4 ±X[rK<"XQzw^V65£,d<]jGhQsc0jkSIfAakd6fjSIqipIê]|joZ\y<S0R&S0fAa ^\SVskd6{|d<awpd<RThQ^\Sa¡ mm ^ m _<fjpSVs _lhQh@d<ska0£ ! . ?A5 t BED 35]D =>?A3 . :5@< B =3.

(88) Sscd<{@dla_xak m Z\RTSIfjkZ\d<fQfQOh@d<]Qs^`_R'_<scp NQS m n[f_<R&Z`}A]QSSIfT¯ m Z\RTSIfjkZ\d<fjSIah@d<]s^`_xR&d6fAakIS SIaw^\_ m S,jkpISIfAakS m S0jcpI_<êZ\SIs j 4 ±X[rKcS 5D£ ^|h|S0]iaªjkS m IhQ^`_<pISIs m _<fj^\ShQ^`_lfT<s ¨<pISO¡^`_Vskd<ac_lakZ\d<f m SjkS0jp NQS0yAZ\^\êS,jIl6SIfQd6]iqSIaKN_lf|p NQS0j}A]QZ h@SIscRTSakakSIfAaO^\_ SqiZ\d<f bSq[akS0fjkZed6f m _lfjª^\SxhQ^`_lfjk_<<Zeaoa _l%^ &£\<£ S\£A

(89) S0jp N_lf<SIRTS0f6a j m S m Z\skS,p acZed6f jkd<fAawh@d6jcjoZ\{Q^\S0jh_lsw^`_'scdla _bakZ\d<fgZ\fAakSIscfQS "Sq[acSIscfQS m S0jwakscd<fp<{_6jkjkZefgSIaN_lf|p NQS0j0£|G_Tskd<ac_bacZed6f m S0j p NSIy[Ze^\^\S0j0N_lf|p NQS0j SIa

(90) y<S0soacPI{QscS^\d<R{|_lZ\skSh@SIscR&SIaoacSIfAaG^D _<{ m ]p acZed6f b_ mQm ]pakZ\d<f m _lf|j êSKhQ^\_<fV³ skd6fAac_l^ &£\<£ S\SIax_lZ\fjkZ^\SR'_lZ\f6acZeS0f m S^D ,}6]Ze^\Ze{skS^`_bacIs _l^D£Qwf m SI<sc m S^\Ze{@SIskak mQm `^ wjk]QhQhê0R&S0fAac_lZ\scS S0fAakscS^\Sakscd<fpSIawêS{_6jkjkZ\f>scSIf m ^\S0jjkn[joakP0RTS0j m S m 0hQ^`_<pS0RTSIfAaSa m 0}A]QZ\êZ\{QscSVZef m Ih@SIf m _<fAacj0£. *. <£ r $ . . . 6

(91) . . LNM\#LPO.

(92) .

(93) "!"!"!. tal. Plan frontal. Plan sagittal. orizon. Plan h. *G6£ S. F 1

(94) 5 '

(95) = %5 . a ! !"!RTS,jo]QscSNV<pR h@d<]s, [£S,j ^\d<f<]QS0]Qscj0R'_<jcjoS,jIh|dAjoZeakZ\d<f m S,j&pISIfAakscS0j m S R'_6jkjkSSaRTd6R&S0fAacj m Z\fQSIskakZ\S m S,jjkSI<RTS0f6a jwjkd<fAawhQscd[p NS0j m S pSI]Qq m S^D akscSN[]QR'_lZ\f£|rd6]QswhQ^\]j m S m ac_<Ze^`jwjkSVskS0h|d6soacSIs¡4 Xixzw<\5D£ ! . 5]D"B:9 < <H3 =>? F 3xD DL? @ <tF. ! . . . . . BFLFcB89< F.

(96) S0j_6p acZed6fQfQSI]scjjkd<fAa m S,jRTdlakS0]Qs jw¡Cpd6]Qs _lfAawpd<fAacZef[]$jk_<fj{_<^\_<Z\j0£@©ªZ\f}_<soacZ\pI]Q^`_bakZ\d<f|jwjod6fAa , }A]QZeh@IS,j m S$sc m ]|p akS0]Qs j 0 $UA}C P scdla _bacZed6fjT¢Nr¢[Si¢NV¢0¢< &|£\<£ rQ £

(97) S0jC_<]iakscS0j acsc_<fjkR&Z`jcjoZ\d<fjjod6f6a m S0j&jonijoakP0R&S,j m S>y[Z\jo~D,pscd<] ¡$scd<]Q^\S0_<]iq jk_lakSI^\^\ZµacS0j_"y6S0pT{QZ\SI^\^\SaoacS0j &|£\<£ VQ £ ©ªS,jaks _lfjkRTZ\jcjkZed6fjd<fAaO³´_lZeaw^. d<{ituSIa m ]Qfg{QskS0y<SIa0£

(98) S0j&p NQSIy[Z\ê^\S0j &|£e6£ = m ]scd<{@dla&Sa ^`_$^\Z\_<Z\jkd<f acskd6fp b{_<jcjkZef &|£\<£\0Qjod6f6a&pd<f|juacZµac]QIS,j m S m SI]iqSIfjkSIR {Q^\S0jCRTd<akSI]so~Daks _lfjkRTZ\jcjkZed6f S0f h_ls _l^\^\PI^\S<£©ªS,jCSIf|joS0R{Q^\S0j{|d6]Q<S0f6ajoZ\R]Qêac_<fQIRTS0f6a h@d<]s m d<fQfSIs]QfgRTd<]Qy6SIRTSIfAawjc_l<Zeaoa _l^8d<] "SaO³ scd<fAac_<^.£ . @ 7>D 3= ? F.

(99) S0j'pd m S0]Qs j m S0jTRTdlacSI]Qs jo~Dyb_lscZ`_bakS0]Qs j³ d6]QskfZ\jcjoS0fAaT^`_h|dAjoZeakZ\d<f_lf<]Q^`_lZ\skSscSI^`_bakZ\y<S m S,j'_bqiS0j RTd<akSI]scj0£|©ªd<fQf|_lZ`jkjc_lfAaO^\_&h@d6jkZµacZed6f>Z\fQZeakZ`_l^\S<Qd6f>h@SI]iaxSIf m m ]ZescS^\_&h@d6jkZµacZed6f_<{jkd<^\]QS<£ MGscd<Z`jp0_lhiacSI]Qs j m ;S 28d<skahQ^`_<pI0jjk]Qsp N_<}A]QShQZ\S m h|S0skRTSIaoakS0fAa m SRTS,jo]QscSIs^`_Vpd<RTh@d6jc_lfAakSªy<S0soacZ\p0_l^\S " ~.

(100) Wr. W[ ~

(101) }. *. <£ V 3

(102) =

(103) . . . *G6£ . *. %. . <£\0 .

(104) . . . 4

(105) 4

(106) . >E 6)

(107)

(108) F 5;

(109) , )

(110). . >E 6)

(111) 5. LNM\#LPO.

(112) S.

(113) "!"!"!. m Sx^`_³ d6scpIS m SVsc0_6p akZ\d<f m ]>jkd<^" ³ d6scpIS m SxhQscS0jcjkZed6f^ [^\S0j m SI]Qqpd<RTh@d6jc_lfAakS,j m ]RTd<RTSIfAa m SpSIaoakS ³ d6scpIS m _lfjO^\SVhQ^`_lfgNQd<scZ\¢Id<fAa _l^8Sa^`_Th|dAjoZeakZ\d<f m ]$pS0f6acskS m ShskS,jkjkZed6f£ ®xf]iacZe^\Z\jkSVIA_l^\SIRTSIfAaO]QfgZefpIêZ\fQd6R&PIakscS¡ m S0]iq_lqiS0jh|d6]Qswpd6fQf_\acskS^\_ m Z\skS,p acZed6f m ]gy6S0p acSI]Qs m S 6sc_"y[Zeak6£ f$pI_lhQakSI]sw¡ ]^µacsc_6jod6fjOjo]Qs^\S0jto_lR{@S0jOh@SIscRTSaw^`_&skS,pd<f|juacsk]pakZ\d<f m ]ghQskd &^ m ]$jkd<^D£ ! . ?A5 t BED 35]D =>?A37BC< 1 9?. . @D"B =3.

(114) Sacskd6fp m ]scd<{@dlaVpd<fAacZeS0f6aV]QfQS'_<skRTd<Z\scS}A]QZpd<RTh@d<skakS&^. I^\S0pakscd<fQZ`}A]QS m S&h]QZ\jcjc_lfpISSa m S Ip d<RTR'_lf m S<£ªG_½pId<RTR'_lf m S¦SIf«acSIRThjo~DscIS0^ m ] skd6{|d<a>joS¦³´_lZeajkd<]jêSjonijoakP0R&S m SqihQ^\d<Zeac_bacZed6f ( -GSIaK^D S0fAy[Z\skd6fQfQS0R&S0fAa¾ ¿8À8À|Á

(115) Â h

(116) £eWVQ m S0hQ]QZ`j]QfQSxjua _bakZ\d<f m Swaks _"y"_<Ze^ &£\<£ £<Sskd6{|d<a S,juaªskS0êZ\wh_<s]QfpId<s m d<fTd<R {QZ\êZ`pI_<^|¡V]QfQSjod6]Qs pS m SacSIfjkZ\d<f'SaO¡^`_jua _bacZed6f m Saks _"yb_lZ\^Qy[Z\_]QfC^\ZeS0f SIakNQS0skfSa0 £ ^. Z\fQZµacZ\_<êZ`jc_bakZ\d<f

(117) |^\S0j m 3Z 2@0skS0f6a jhQskd6<s _lRTRTS0j0^\_<{|d6sk,jxjk]Qs ¾ ¿@À8À|Á

(118) Â½jod6f6axaks _lfjo³ Isc0j jk]Qs êSChskdipS,jkjkSI]shQ^`_<pCjk]Qs êSakscd<fp<^\_¦jua _bakZ\d<f fS>jkSIskaSIfjk]QZeakS>}A] ¡$^`_$^\S0p ac]QscS m S0j joZ\<f|_l]iq S0fAakscIS~jkd<skakZ\S m ]gscd<{@dla0£. " ~.

(119) WV. W[ ~

(120) }.

(121) V u >

(122)

(123) T¿8À@À|Á

(124) Â+ Y h@SIfTCd6{|d<a d<fAakscd<^\^\SIs d6R&h]iakS0s Z m S m S0jkZe6f^

(125) S0joaG]Qf SIf[y[Zescd<fQfSIRTSIfAaG^\d<6Zµ~ pIZeS0^|}A]QZ|h|S0skRTSa m Spd6fpS0y<d6ZesSIa m SwRTSakakscSwSIf'¬]yAscS^\Spd6f6acsk6êSOSIaK^\_pd<RTR'_lf m S m ]QfCjonijoakP0R&S scd<{@dlacZ\}A]QSCpId<RThQ^\SqiS<£

(126) ^Kh@SIscR&SIaIA_l^\SIRTSIfAa m S>joh@0pIZ &S0sSIayb_l^\Z m S0s m S,jRTZ\jcjkZed6fjscd<{@dlakZ`}A]QS0j¡ sc0_<êZ`jkSIsOh_lsO^\SjonijoakP0R&S6£|©ªSawd6]iakZ\^

(127) _&ac m Iy6SI^\d<hQh@¡ ^D. / + 10" ]&t * +4 ®zw© VN5£ . ! . . 8^< D? 9 ;=>5]DB89<. fscd<{@dlaV{QZ\h|P m STS0joa]Qf jkn[joakP0RTS&pIskZeakZ`}A]QS<8Z\^S0joaZ\f m Z`joh@SIf|jk_<{QêS m S&6_<sc_<fAakZ\s]QfR'_bqiZeR ]QR m S &|_l{Ze^\Zµac_"yb_lfAa^D SIq[,p]iacZed6f m ]QfQS_6p akZ\d<fCpId<RTRTSw^`_VRT_<scp NSh_lsSIqiSIRThQ^\S<£<^|S0joaªfQ,pS,jkjc_lZ\skS m S j0 _<jcjo]QscSIs m S^`_pId<scskS,p akZ\d<f m S0jjoh@0pIZ &|p0_bacZed6fj m &fQZ\S0j0 m S^`_pId<fi³ d6skRTZeak m S^`_ChQscd<6sc_<R&R'_lakZ\d<f _"y6S0p êS,jjkh|,pZ!&|pI_lakZ\d<fj0Sa m S'^. _l{jkSIf|pS m S'hQscd<{êP0R&S,jVêZ\0j_l]iqpId<fAaks _lZ\fAakS,jakSIRThjsk0SI^D£

(128) ¤S0]iq _6joh@S0pacjjkd<fAaw¡ m Z\joakZ\fQ6]QSIs & ^\_'pId<RTR'_lf m Sh@d<]sêS,j_<jkh|S,p acjpId<fAakZ\f[]j0 & êSpId<fAaksc<^\Sh|d6]QsêS,jw_<jkh@S0p a j m Z`jkpIskSIacj0£ ®V¿8À8À|Á

(129) Â>S0joa]QfQSw_ls p NQZeakS,p ak]skS m SOaun[h@Spd6f6acsk6êSI~pId<RTR'_lf m S m d6f6a^D d<{ituS,p akZe³ S0joa m SO³´_<pIZe^\ZeakSIsK^. ZeR&~ hê0R&S0fAac_bacZed6f m S&êd6Z\j m STpd6R&R'_<f m SSIa^`_Chskd6<s _lRTR'_bakZ\d<f m SRTZ\jcjkZed6fjscd<{@dlacZ\}A]QS,jxpId<RThQ^\SqiS0j fdlac_<RTR&S0fAa m _lfj m S,jSIf[y[Z\skd6fQfQSIRTS0f6a jh|S0]gjoaksc]pak]Qsc0j0£ d<]j m d6fQfQd6fjZ\pIZ}6]SI^`}6]S0jfQdlacZed6fjskS0^\_lakZ\y<S,j_<]C³ d6fp acZed6fQfQSIRTS0f6a m uS T¿8À@À|Á

(130) Â[h|d6]QsOhQê]|j m Z\fi~ ³ d6skR'_lakZ\d<fj^\SêS,p akS0]QswjkSscSIh@d<skakS0sc_&¡ 4 xzu<\ 5D£ . *6£e6.

(131) 15

(132) = 1556

(133) 56

(134) 6!#"$"&%('. . N8;VWCC XQY Z;Z [][][ c.D3K6AUD3<9R XWFOdc g,A`Z DEAB<9a A`Z+* ABJ,J,<;GUZQ?;ABJ,JU<;G9_ g,AB<Nc VWCa R ). LNM\#LPO.

(135) ,.

(136) "!"!"!. ! . . :xD H 9 ;9A:9 B:3. G_ RTIakNQd m d6êd6<Z\S m T¿8À@À|Á

(137) ÂS,jua{_6jo0SVjk]Qs m S0]iq>fZey6S0_l]Qq m _<{joaks _<p acZed6f & êSfZey6S0_l]>³ d<f|p akZ\d<ffQSI^D & êSfZey6S0_l]gpd6fAaksc<^\S<£ G_xpId<RTR]fQZ\p0_bacZed6fSIfAacskSOpS,j m SI]iq fQZey6S0_<]iq m _l{joaks _<pakZ\d<fjkS³´_lZea¡^D _<Z m S m Iy6IfQS0RTSIfAacj m Z`jcpscSacj }A]QZh@SIscR&SIaoacSIfAa m S^\_<fpS0s m S,j _6p akZ\d<f|jd<] m S^\S0jZ\fAakS0skscd<RThQscS<SIa&}A]QZZefQ³ d<scR&S0fAa m S^D ac_la m S ^D Sqi0pI]iakZ\d<f m S0j_6p acZed6fjI£ M( , Q ]· KG»<N¹ M´]· K\K",[¼ ©ªS&fQZ\y<S0_<]¦R'_lfZehQ]êS&]QfQS&SIfAakZeakT_lhh|S0ê0S 0". ^ 1 , £8fQS , S0joaV^\_>joh@0pIZ &|p0_bacZed6f pId<RThQ^\PacSSah_<sc_<R&Iaks _l{Q^\S m ]QfQS

(138) !06+ (' m ]QfQqS -^. -$.$%]I<SIa m ]Qf -$. * E$U =(' I£ .

(139)

(140)

(141) _ ~

(142) !06+ (' TscSIhQsc0jkSIfAakSêSgjonijoakP0R&SRT0p0_lfQZ`}A]QS}A]QS^D d6f. jkd<]QN_<ZµacS>pId<RTR'_lf m S0s0£ ±Kê^\S'pd<fAacZeS0f6a^\S0jVZ\fi³ d<scR'_bacZed6fjhQskdby6SIf_<fAa m ]skd6{|d<a0£ ±^\^\STpId<fjoakZeak]S&^D ZefAakS0so³´_6pSTSIfAacskS&^\_^\d<Z m S pId<RTR'_lf m SxSIa^\SVskd6{|d<a0£A±ê^\SVh|S0skRTSIaO^D SIf[y<d6Z m SpId<fjkZe6fQS0j_l]Qq'_6p acZed6fQfQSI]scjSa³ d<]skfQZeaêS,jZefi³ d6so~ R'_lakZ\d<fjOZ`jkjk]QS,j m S0jp0_lhiacSI]Qs jI£. ! "#%$& '')(*+"#

(143) _ - ^ -$.$0 ]^ m. IakS0skRTZ\fQSV^\_Tpd6fjkZe6fQS¡&S0fAy6dbn<S0s¡Tp N_6}6]Sxh_6j m 0p N_<f6acZe^\^\d<f_<<Sx_<]iq _6p acZed6fQfQSI]scj m ]¦scd<{@dlaS0f$³ d<fpakZ\d<f m S,jZ\fi³ d6skR'_bacZed6fjwhskdby6SIf_<f6a m S^`_ ~

(144) !06+ (' £

(145) _ jkh@0p!Z &|p0_bakZ\d<f m Sª^\_ -x $ $0GjoS³´_<Zµa<s ¨<pIS¡w^. SIfp N|_ fQSIRTSIfAa m S1 Nt c 06$.('~ }A]QZpId<RTR]fQZ\}A]QS0fAa¡acsc_"y6SIs j m S0j>

(146) R ( &, O * £. , $& '/.0 1 ')*!1! 2 S -$"* hU$ =(' ªS0joapId<RTh|dAjo. m SjkZ\<f_<]iq&hsk m &fZ\j0£6^@<P0skSêSVpd6f6acsk6êS m S^`_ , V£ K ]QakZ\êZ`jk_lakS0]Qs m Z`joh@d6jkS m SVakscd<Z`jaun[h|S,j m SjoZ\<f|_l]iq <£OêS,j>

(147) *- }A |}6]Z m d<Z\y<S0fAa IakscSVy<IscZ!&IS,j_"yb_<f6aw}A]QSV^`_ E fQS m 0R'_lscskS+3 i£OêS,j

(148) > h]- }A

(149) }A]QZ[skS0hQsk,joS0fAakSIfAa^\S0jGIy6IfQS0R&S0fAacj0RTZ\jGh_ls^`_ , êd6scjc}A] SI^\êSKjkSacSIscRTZefQS fQd<scR'_l^\SIRTSIfA4a 3 ¯Q£OêS,6j 5 L * &} £

(150) S07j 5 L *] } Ojod6fAa m Zey[Z`jo0S0jOSIfacskd6Z\jOpI_lak0<d<scZ\S0j & 5 L * &} +1*" I @S0ê^\S0jjkd<fAa<0fQIscIS,jwh_<s^`_ , S0ê^\S~R IRTSSIajkZe6fQZ &|SIfAa¡^\_Ta ¨<p NQS pd6]Qsc_<fAakSV}6]

(151) S0ê^\S m d<Zeap N_<fQ<S0sOjkd<fRTd m S m SV³ d<fpakZ\d<fQfSIRTSIfAa0£ . . . " ~.

(152) <. W[ ~

(153) }. & 5 L * &} +1* [SI^\êS,jªjkZ\<fQZ!&SIfAaª¡^\_ac¨6p NQSxpId<]Qs _lfAakSx}6]

(154) S0ê^\S m d6ZµaO_lscs IakS0sªjkd<fCSIq[,p]i~ akZ\d<f£|Spd6f6acsk6êSVS,juaw_l^\d<s jªaks _lfjo³ Isc_l]fQZ\y<S0_<]jk]Qh@IscZeS0]Qs fZey6S0_l]gpd6fAaksc<^\SN £ & 5 L * &} +1*" QS0ê^\S0jOS0fAaks _ fQSIfAa^. _lscs aZeRTRT m Z\_la m ]$jonijoakPIRTS6£ M(. , Q«»6·OK8¹ @¼ ,. ©ªSCfZey6S0_l] R'_lfZehQ]êS m S0jS0fAakZeak0j _lhQh@SI^\IS,.j

(155) N * ^ ´d<]

(156) }6]ZKh@SIscR&SIaoacSIfAa m S Ip d<RTh@d6jkSIsw^\d<6Z\}A]QS0R&S0fAawSaNQZ\Is _ls p NQZ`}A]QSIRTSIfAa m S,j 0" t GSa m _l]QakscS0j

(157) h|d6]Qsjkh|,pZ!&SIs m S0j_6p acZed6fjSIa m S,j _<hQhQ^\Z\p0_bakZ\d<f|jI£©ªSCfQZ\y<S0_<] R'_lfQZ\hQ]Q^\S m S,j0y<IfSIRTSIfAacj m Z`jkpIskSIacj0£©ªSjkd<fAa pIS0j 0y<0fQSIRTSIfAa j´jkZe6f_l]Qq O}A]QZGh|S0skRTSIaoakS0fAax^`_'pd<RTR ]QfQZ`pI_bacZed6f$SIfAakscS^\S0jwfZey6S0_l]Qq³ d<f|p akZ\d<ffQSI^GSa m S pId<fAaksc<^\S<£ifQS_lhQhêZ`pI_lakZ\d<f4®V¿@À8À|Á

(158) ÂS0joa m &|fQZeSVS0f>acSIscRTS m Sjo,}A]QSIfpISVd<] m SRTZ\jkSSIfh_ls _l^\^\PI^\S m ]Qf¦SIfjkSIR {QêS m S , Sa m %S

(159) f0pS,jkjc_lZ\scS0jh@d<]Qsx^\_CR&Z`jkSSIf4¬]yAscS m S ^\_'RTZ`jkjkZ\d<f$scd<{@dlakZ`}A]QS<£ G_Tjoh@0pIZ &|p0_bacZed6fjkd<]j³ d6skRTS m SVrscdip m ]QskSzd6{|d<ajoS³´_<Zµa m _<fjO^\S^\_<fQ6_<<S± Q ¿

(160) A£ ! . <>BC? 9< <3! 3=< D ;H3 7 ?A9 ?"@. . . @D"B89<. ®xf m Z\joakZ\fQ6]QS}6]|_bakscSIac_<h|S,j m _lfj^\SpInip^\S m ShQscd<6sc_<R&R'_lakZ\d<f m ]QfQS_lhhQêZ`pI_lakZ\d<f>skd6{|d<akZ`}6]S. &£\<£\< . . < £O^\_ * * }| i£O^\_ ( *~ } ¯Q£O^\_ ,P$ ) } U£O^. 5 *~ }|£ ®V¿8À8À|Á

(161) ÂhQskd6h|dAjoSh@d<]Qswp N_6p]QfS m SpS0jwhQN_<jkS0jO]fQSZefAacSIsk³´_<pSV6sc_<hQNQZ`}6]S}A]QZZ\fAakP0<scS m S0jOd<]QakZ\^\j m m Z\0j0£ K[» M» iN¹ M.O· K " ( 2 1 ' . S,j &|p NQZ\SIs j m Spd m S_6jkjkdipZ\0jO¡&]QfgR&d m ]êS_<ê6d<scZµacNQRTZ\}A]QSVjod6fAa & fhv d l &@p NQZeS0sZef|p^\] m S pId<fAakZ\SIfAa^\S0j m ,p^`_ls _bakZ\d<f|jªSIq[akSIscfQS,jOSaw^\S0j*fhv dzw`ci6£ & gcmce d &|p NQZ\SIsxyb_lscZ\_<{QêS,j pId<fAakZ\SIfAa^\_ m 0p^`_ls _bacZed6f m S0jy"_<skZ`_l{êS,jwZ\f6acSIscfQS0j]iakZ\^\Z\jkIS,j m _<fjw^\S0j _l]iacskS,jpd m S,jI£ & fhvxf

(162) y d&|p NQZ\SIsZ\fQZµacZ\_<êZ`jc_bakZ\d<f QpISVhQskd6<s _lRTRTSxZ\fQZeakZ`_l^\Z\jkSVêS,jyb_lscZ\_<{Q^\S0j0£ & d~b[sUo"w]y{i d &|p NQZ\SIs m Sxp0_l^`p]Q^ lhQscd<<s _lRTRTS^D _<ê6d<scZµacNQRTSw}6]ZhQscd m ]QZeaª^\S0jyb_<skZ`_l{Q^\S0j m Sjkd<skakZ\S d<]g^\S0jOIy6PIfQS0RTSIfAacj¡&h_<soacZes m S,jOyb_lscZ\_<{QêS,j m S0fAakscIS<£ & iWv ` d &|p NQZ\SIs m S &f Q^\Z\{|P0skS^\S0j_<ê^\dipI_bacZed6fjRTIRTd<Z\skS6£ !. . . . . 8;VWCC XQY Z;Z [][][ ceFO,CFABFR cE?9A dZ. . LNM\#LPO.

(163) Q.

(164) "!"!"!. "

(165) 4/.