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Performance-Oriented View Planning for Model Acquisition
Scott, William; Roth, Gerhard; Rivest, J.F.
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Performance-Oriented View Planning for Model
Acquisition *
Scott, W., Roth, G., Rivest, J.F.
May 2000
* published in The International Symposium on Robotics (ISR 2000). pp. 212-219,
Montréal, Québec, Canada. May 2000. NRC 45872.
Copyright 2000 by
National Research Council of Canada
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✁✂✄ ☎✂ ✆ ✝✞✟✁ ✠✡ ✂ ☛✁✞ ☞ ✁ ✌ ✍☛✁✎ ✝✞✞☛✞✑ ✄ ☎✂ ✒✓ ☞ ☎✆ ✝ ☞ ☛✟ ✔☎✌✁ ✏ ✒ ✟✕ ✓ ☛✖☛ ☞ ☛☎✞ ✗✘✙✙✘ ✚ ✛ ✜✢✣✤✥ ✦✦✧ ★✩✪ ✫✬✭ ✚ ✬ ✮✜✥ ✦ ✭ ★✩✯ ✫ ✚ ✰ ✱✲ ✬ ✚ ✰✤✥✳ ✘ ✴ ✜ ✘✵ ✫ ✴✦✧ ✧ ✶ ✫✷ ✚ ✬ ✦ ✛✫✰ ✦ ✥ ✸✹✙ ✫ ✤ ✦ ✬ ✘ ✤ ✚✙✹ ✰✺ ✘ ✰✫✫✬ ✘ ✰✺ ✩ ✻ ✰ ✘✵ ✫✬ ✴✘✦ ✼✥ ✸✽✦✦✚ ✾ ✚✩✽✦✦✚ ✾ ✚✩✿✚ ✰ ✚ ✮ ✚✩❀❁❂❃❂ ❄ ✬ ✘✵ ✫ ✴✦❅✴✘✦ ✫✢❆✥ ✦✦✚ ✾ ✚ ✢✤ ✚ ★ ❇✘ ✴ ❆ ✚✙❈ ✰ ✸ ✥✬✛ ✚✦✘ ✥✰❉✫ ✤✭✰✥ ✙ ✥✺✼ ✪ ✬✥❆✷ ✩ ❂✚✦✘ ✥✰ ✚✙ ✜✫ ✴ ✫ ✚ ✬ ✤✭ ✿ ✥❆✰✤ ✘✙ ✥ ✸ ✿✚ ✰ ✚ ✮ ✚✩ ✽ ✦✦✚ ✾ ✚✩✿✚ ✰ ✚ ✮ ✚✩ ❀❁ ❊❋ ✜ ❃ ● ✾ ✘✙✙✘ ✚ ✛✢ ✴ ✤✥ ✦✦✩ ✺✫✬✭ ✚ ✬ ✮✢✬✥ ✦ ✭❍ ❅✘✘✦ ✢✰✬ ✤✢✤ ✚ ■❏ ❑ ▲▼◆❖▲ P ◗◗❘ ❙❚ ❯ ❱❙❲ ❳❨ ❩ ❲ ❬ ❭ ❪ ❫❲❴ ❵ ❘❨ ❲ ❩ ❲❛❜❵❚❱ ❨ ❯❳ ❴ ❨ ❚❵ ❳ ❵ ❨ ❯❬ ❵ ❬❯◗ ❙❴ ❘❝❞❬ ❲ ❡ ❙ ❳❞ ❙ ❳ ❳❢ ❫❛❵ ❬❣ P❚❱❙❤❵ ❨ ❵ ❳❨ ❲ ❬❨ ❯❬ ❵ ❱✐❵ ❫❲ ❨ ❱ ❚❲❫❫❲ ❳ ❘❝❢❨ ❵❴❫❵ ❯❳❨ ❲ ❩ ❯ ❚ ❥❢ ❙ ❬ ❙ ❳❞❞ ❵❲❫❵❱ ❬ ❙❚ ❫❲❴ ❵ ❘❨❣ ❦ ✐❵ ❚ ❢❬❬ ❵ ❳ ❱ ❯ ❚ ❥❢ ❙ ❨ ❙❱❙❲ ❳◗❬ ❲❚❵ ❨❨ ❲ ❩ ❤❙❵ ❡◗❘ ❯❳❳ ❙ ❳❞❧❨ ❵ ❳❨ ❙ ❳❞❧❬ ❵ ❞ ❙ ❨ ♠ ❱ ❬❯ ❱❙❲ ❳❯❳ ❴ ❙ ❳ ❱❵ ❞❬❯ ❱❙❲ ❳❬ ❵ ❥❢ ❙ ❬ ❵ ❨❯ ✐❙ ❞ ✐ ❘ ❵❤❵ ❘ ❲ ❩ ❙ ❳ ❱❵ ❬ ❤❵ ❳ ❱❙❲ ❳ ❛ ❝ ❙❫ ❯❞ ❙ ❳❞ ❨◗ ❵❚❙ ❯❘ ❙ ❨ ❱ ❨ ❡ ❙❱✐ ❵ ♥ ❱❵ ❳❨ ❙❤❵ ❱ ❬❯ ❙ ❳ ❙ ❳❞ ❯❳ ❴ ❵ ♥◗ ❵ ❬ ❙ ♠ ❵ ❳ ❚❵ ❣ P ❢ ❱❲❫ ❯ ❱❙❲ ❳❡ ❲ ❢ ❘ ❴❙❫ ◗❬ ❲❤❵ ◗❬ ❲❴ ❢ ❚❱❙❤❙❱ ❝❧❩❬ ❵❵❙ ❳❞ ✐ ❢ ♠ ❫ ❯❳❨❩ ❲ ❬ ✐❙ ❞ ✐❵ ❬❘ ❵❤❵ ❘ ❱ ❯❨ ♦ ❨❣ ♣ ✐❙ ❘ ❵ ◗❬ ❲ ❞❬ ❵ ❨❨ ✐ ❯❨ ❛❵❵ ❳ ❫ ❯ ❴ ❵ ❧ ❞ ❵ ❳ ❵ ❬❯❘◗❢❬◗ ❲ ❨ ❵ ❧ ❯❢ ❱❲❫ ❯ ❱❵❴ ❫❲❴ ❵ ❘❯ ❚ ❥❢ ❙ ❨ ❙❱❙❲ ❳ ❬ ❵❫ ❯ ❙ ❳❨ ❯❳ ❲ ◗ ❵ ❳◗❬ ❲❛ ❘ ❵❫ ❣ q ❙❵ ❡◗❘ ❯❳❳ ❙ ❳❞❧ ❱✐❵ ◗❬ ❲❚❵ ❨❨ ❲ ❩ ❴ ❵❱❵ ❬ ❫❙ ❳ ❙ ❳❞ ❯❨❢ ❙❱ ❯ ❛ ❘ ❵ ❨ ❵❱❲ ❩ ❨ ❵ ❳❨ ❲ ❬ ❤❙❵ ❡◗ ❲❙ ❳ ❱ ❨❧ ❙ ❨❨❢ ❛❜❵❚❱❱❲ ❳❢ ❫❵ ❬ ❲ ❢❨ ❚❲❫ ◗ ❵❱❙ ❳❞ ❚❲ ❳❨ ❱ ❬❯ ❙ ❳ ❱ ❨❣ ❦ ✐❙ ❨◗❯◗ ❵ ❬ ◗❬ ❵ ❨ ❵ ❳ ❱ ❨ ❯ ❱✐❵❲ ❬ ❵❱❙❚ ❯❘ ❩❬❯ ❫❵ ❡ ❲ ❬ ♦ ❯❳ ❴❚❲ ❳ ❚❵ ◗ ❱ ❩ ❲ ❬❯❢ ❱❲❫ ❯ ❱❵❴❤❙❵ ❡◗❘ ❯❳❳ ❙ ❳❞❣ ❦ ✐❵ ❞ ❲ ❯❘ ❙ ❨ ❱❲ ❯❢ ❱❲❫ ❯ ❱❙❚ ❯❘❘❝ ❲❛❱ ❯ ❙ ❳❞ ❵❲❫❵❱ ❬ ❙❚ ❫❲❴ ❵ ❘❨ ❲ ❩ ❯❨ ❙ ❳❞❘ ❵ ❲❛❜❵❚❱ ❡ ❙❱✐ ❯ ❱ ❬ ❙ ❯❳❞❢ ❘ ❯ ❱❙❲ ❳ ♠ ❛ ❯❨ ❵❴ ❯ ❚❱❙❤❵ ❬❯❳❞ ❵ ❨ ❵ ❳❨ ❲ ❬❣ rs❵ ❝❡ ❲ ❬ ❴ ❨t ❤❙❵ ❡ ◗❘ ❯❳❳ ❙ ❳❞❧ ❬❯❳❞ ❵ ❨ ❵ ❳❨ ❲ ❬❨❧ ❲❛❜❵❚❱ ❬ ❵❚❲ ❳ ♠ ❨ ❱ ❬❢ ❚❱❙❲ ❳❧❞ ❵❲❫❵❱ ❬ ❙❚❫❲❴ ❵ ❘❘ ❙ ❳❞ ✉ ✈ ✇ ①▲▼②③ ④❖▲⑤②① ⑥⑦⑧⑨⑩ ❶ ❷ ⑨❸ ❷ ⑧❸ ❹ ⑨ ❺ ❻ ❸⑩⑧❸❼ ❽ ❻ ⑩❾ ❺ ⑨❿⑧❿❼⑦ ❺ ⑧⑧⑩ ❶⑨❸⑧➀⑧⑩⑧❸❼❿➁ ❻➂ ➃⑧❽❼➄ ❷ ⑧ ❻ ⑩⑧❼ ❺ ⑨❽❿⑧❸❿ ❻❺ ❶❸ ➅❿⑧❸❿ ❻❺➆ ❻➂ ➃⑧❽❼❾ ❻ ❿⑨❼⑨ ❻ ❸⑨❸ ❷ ❿ ➇ ❿ ➆ ❼⑧⑩➈ ➉⑨⑧ ➊ ❾➀ ❶❸❸⑨❸ ❷ ➄ ❶➀❿ ❻ ➋ ❸ ❻➊ ❸ ❶❿ ❼⑦⑧ ❸⑧ ➌ ❼ ➆ ➂ ⑧❿❼ ➆❹ ⑨⑧ ➊ ➍➎ ➏➉➐ ❾ ❺ ❻➂ ➀⑧⑩➄⑨❸ ❹❻ ➀ ❹ ⑧❿❿⑧ ❹ ⑧ ❺ ❶➀❽⑦ ❶➀➀⑧❸ ❷ ⑧❿➄⑨❸❽➀➑ ➅⑨❸ ❷ ❼⑦⑧ ➒ ❻ ➀➀ ❻➊ ⑨❸ ❷ ➈ ⑥⑦⑧ ❻ ❾❼⑨❽❶➀ ➂ ❶❿⑧➀⑨❸⑧ ❻ ➒ ❶ ❼ ❺ ⑨ ❶❸ ❷ ➑➀ ❶❼⑨ ❻ ❸ ❿⑧❸❿ ❻❺ ⑨❿ ❻ ➒ ❼⑧❸❿⑨ ❷ ❸⑨➓ ❽❶❸❼ ➊ ⑨❼⑦ ❺ ⑧❿❾⑧❽❼ ❼ ❻ ❼⑦⑧❿❼❶❸ ➅ ➆ ❻ ➔ ➅⑨❿❼❶❸❽⑧➄ ➊ ⑨❼⑦❼⑦⑧ ❽ ❻ ❸❿⑧ →➑⑧❸❽⑧ ❼⑦ ❶❼ ❿⑦ ❶➅ ❻➊ ⑧➔⑧❽❼❿ ❶ ❺ ⑧ ❶❸ ⑨⑩❾ ❻❺➆ ❼❶❸❼ ❽ ❻ ❸❿⑨ ➅⑧ ❺ ❶❼⑨ ❻ ❸➈ ➣❶➀⑨ ➂❺ ❶❼⑨ ❻ ❸ ➊ ⑨➀➀ ❺ ⑧⑩ ❻❹ ⑧⑩ ❻ ❿❼❿ ➇ ❿❼⑧⑩ ➆ ❶❼⑨❽ ⑧ ❺❺ ❻❺ ❿ ➊ ⑨❼⑦⑨❸ ❼⑦⑧❽❶➀⑨ ➂❺ ❶❼⑧ ➅❿⑧❸❿ ❻❺ ➒ ❺ ➑❿❼➑⑩➄⑦ ❻➊ ⑧ ❹ ⑧ ❺ ❼⑦⑧ ❺ ⑧ ❶ ❺ ⑧ ❺ ⑧❿⑨ ➅➑ ❶➀ ❺ ❶❸ ➅ ❻ ⑩⑧ ❺❺ ❻❺ ❿ ❶❸ ➅ ➂ ⑨ ❶❿⑧❿➈ ⑥⑦⑧❿⑧ ❸ ❻ ❸ ➆ ⑨❿ ❻ ❼ ❺ ❻ ❾⑨❽ ⑧➔⑧❽❼❿ ❼ ➇ ❾⑨❽❶➀➀ ➇ ❹ ❶ ❺➇ →➑ ❶➅ ❺ ❶❼⑨❽❶➀➀ ➇ ➊ ⑨❼⑦ ❺ ❶❸ ❷ ⑧➄ ➀⑨❸⑧ ❶ ❺ ➀ ➇ ➊ ⑨❼⑦ ➀ ❶❼⑧ ❺ ❶➀ ➅⑨❿❾➀ ❶❽⑧⑩⑧❸❼ ➒ ❺ ❻ ⑩❼⑦⑧❽❶⑩⑧ ❺ ❶ ➂❻❺ ⑧ ➆ ❿⑨ ❷ ⑦❼❶❸ ➅⑨❸ ❹ ⑧ ❺ ❿⑧➀ ➇ ⑨❸❾ ❺ ❻ ❾ ❻❺ ❼⑨ ❻ ❸ ❼ ❻ ❼⑦⑧ ❽ ❻ ❿⑨❸⑧ ❻ ➒ ❼⑦⑧ ❷❺ ❶ ↔➆ ⑨❸ ❷ ❶❸ ❷ ➀⑧➈ ↕⑧➙⑧❽❼❶❸❽⑧ ❻❺ ❷ ⑧ ❻ ⑩⑧❼ ❺ ⑨❽ ➅⑨❿❽ ❻ ❸❼⑨❸➑⑨❼⑨⑧❿ ⑨❸❼ ❺ ❻➆ ➅➑ ❽ ⑧ ⑩⑧ ❶❿➑ ❺ ⑧⑩⑧❸ ❼ ➂ ⑨ ❶❿⑧❿➈ ➛ ⑨➀ ➅ ⑩⑧ ❶❿➑ ❺ ⑧⑩⑧❸ ❼ ❿ ➍ ❻ ➑ ❼ ➀⑨⑧ ❺ ❿➐ ❽❶❸ ❺ ⑧❿➑➀❼➒ ❺ ❻ ⑩❿⑧ ❹ ⑧ ❺ ❶➀❾⑦⑧❸ ❻ ⑩⑧❸ ❶➈ ➉⑨⑧ ➊ ⑨❸ ❷ ❾⑧ ❺ ❿❾⑧❽❼⑨ ❹ ⑧ ❽❶❸ ➂ ⑧ ❽⑦ ❶❸ ❷ ⑧ ➅ ➂➇ ❹ ❶ ❺➇ ⑨❸ ❷ ⑧⑨❼⑦⑧ ❺ ❼⑦⑧ ❿⑧❸❿ ❻❺ ❻❺ ❻➂ ➃⑧❽❼ ❾ ❻ ❿⑨❼⑨ ❻ ❸➈ ➜ ❻ ❿⑨❼⑨ ❻ ❸⑨❸ ❷ ❿ ➇ ❿❼⑧⑩❿ ❶ ❺ ⑧ ❿➑ ➂ ➃⑧❽❼ ❼ ❻ ⑩⑧❽⑦ ❶❸⑨❽❶➀❾ ❻ ❿⑨❼⑨ ❻ ❸⑨❸ ❷ ➑❸❽⑧ ❺ ❼❶⑨❸❼ ➇ ➍ ❷❺ ⑧ ❶❼⑧ ❺ ❻❺ ➀⑧❿❿⑧ ❺ ❼⑦ ❶❸❿⑧❸❿ ❻❺ ⑩⑧ ❶❿➑ ❺ ⑧⑩⑧❸❼ ❾ ❺ ⑧❽⑨❿⑨ ❻ ❸➐➄ ➀⑨⑩⑨❼⑧ ➅ ❺ ❶❸ ❷ ⑧ ➒⑩ ❼ ⑨ ❸❶❸ ➅ ➄ ➒ ⑧ →➑⑧❸ ❼ ➀ ➄ ➀⑨⑩⑨ ❼ ⑧ ➅➅⑧ ⑧⑧❿ ➒➒⑧⑧ ➅ ⑩➈ ➝ ➝ ➝ ➝ ➝ ➝ ➝ ➝ ➝ ➝ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞ ➞
Sensor
Frustum
Object
Fixture
Sensor-Object
Relative Positioning
System
Imaging Work Space
✲ ✘ ✺❆✬✫ ❁➟ ❉✭✫ ✪ ✫✥✛✫ ✦ ✬ ✘ ✤ ❈ ✛ ✚ ✺ ✘ ✰✺ ✹ ✰ ✵✘ ✬✥✰✛✫✰ ✦ ➠➑ ❺ ➒❶❽⑧ ❼ ❻ ❾ ❻ ➀ ❻❷➇ ❶❸ ➅ ❷ ⑧ ❻ ⑩⑧❼ ❺➇❻ ➒ ❺ ⑧ ❶➀❾⑦ ➇ ❿⑨❽❶➀ ❻➂ ➃⑧❽❼❿ ❽❶❸ ➂ ⑧ →➑⑨❼⑧ ❽ ❻ ⑩❾➀⑧ ➌ ➄ ➊ ⑨❼⑦ ⑩➑➀❼⑨❾➀⑧ ⑦ ❻ ➀⑧❿➄ ❽ ❻ ❸❽❶ ❹ ⑨❼⑨⑧❿➄ ❾ ❺ ❻ ❼ ❺ ➑❿⑨ ❻ ❸❿❶❸ ➅⑧ ➅ ❷ ⑧❿➈ ➣ ❻ ❸❿⑧ →➑⑧❸❼➀ ➇ ➄ ❼⑦⑧ ❻➂ ➃⑧❽❼ ➊ ⑨➀➀ ❿⑧➀➒ ➆ ❻ ❽❽➀➑ ➅⑧ ⑨❸ ❽ ❻ ⑩❾➀⑧ ➌ ➊ ❶ ➇ ❿ ➊ ⑨❼⑦ ❹ ❶ ❺ ⑨ ❶❼⑨ ❻ ❸ ⑨❸ ❿⑧❸❿ ❻❺ ❹ ⑨⑧ ➊➆ ❾ ❻ ⑨❸❼➈ ➡➑ ❺ ❼⑦⑧ ❺ ⑩ ❻❺ ⑧➄ ❿⑦ ❶❾⑧ ❽ ❻ ⑩❾➀⑧ ➌ ⑨❼ ➇ ➅⑨❽❼❶❼⑧❿ ⑩➑➀❼⑨❾➀⑧ ❻➂ ➃⑧❽❼ ❹ ⑨⑧ ➊ ❿ ➒ ❻❺ ❶➀➀❶❿❾⑧❽❼ ❽ ❻❹ ⑧ ❺ ❶ ❷ ⑧➈ ➡ ❻❺ ❶➀➀❼⑦⑧❿⑧ ❺ ⑧ ❶❿ ❻ ❸❿➄❶❸ ➇ ❿ ❻ ➀➑❼⑨ ❻ ❸ ❼ ❻ ❼⑦⑧➎ ➏➉❾ ❺ ❻➂ ➀⑧⑩ ⑩➑❿❼❿ ❶❼⑨❿➒ ➇ ❿⑧ ❹ ⑧ ❺ ❶➀ ❺ ⑧ →➑⑨ ❺ ⑧⑩⑧❸❼❿➄⑨❸❽➀➑ ➅⑨❸ ❷ ❼⑦⑧➒ ❻ ➀➀ ❻➊ ⑨❸ ❷ ➁ ➢ ⑩⑧⑧❼ ❿❾⑧❽⑨➓⑧ ➅ ⑩ ❻ ➅⑧➀⑨❸ ❷ ❷❻ ❶➀❿ ➊ ⑦⑨➀⑧ ➂ ⑧⑨❸ ❷ ⑧➤ ❽⑨⑧❸❼➄ ❺ ❻➂ ➑❿❼ ❶❸ ➅❿⑧➀➒ ➆ ❼⑧ ❺ ⑩⑨❸ ❶❼⑨❸ ❷ ➄ ➢ ➅⑧⑩ ❶❸ ➅➀⑨⑩⑨❼⑧ ➅❶❾ ❺ ⑨ ❻❺ ⑨ ❻➂ ➃⑧❽❼ ➋ ❸ ❻➊ ➀⑧ ➅ ❷ ⑧❶❸ ➅⑨⑩❾ ❻ ❿⑧ ➒⑧ ➊ ❽ ❻ ❸❿❼ ❺ ❶⑨❸❼❿ ❻ ❸ ❻➂ ➃⑧❽❼❿⑦ ❶❾⑧➄ ➢ ⑨❸ ❽ ❻❺ ❾ ❻❺ ❶ ❼ ⑧ ❶ ❺ ⑧ ❶➀⑨❿ ❼ ⑨ ❽ ❿⑧❸❿ ❻❺ ⑩⑧ ❶❿➑ ❺ ⑧⑩⑧❸ ❼ ❾⑧ ❺ ➒ ❻❺➆ ⑩ ❶❸❽⑧⑩ ❻ ➅⑧➀➄❶❸ ➅ ➢ ❶❽❽ ❻ ⑩⑩ ❻ ➅❶❼⑧❶❾ ❻ ❿⑨❼⑨ ❻ ❸⑨❸ ❷ ❿ ➇ ❿❼⑧⑩ ➊ ⑨❼⑦❶⑩ ❶❸ ➇ ➅⑧ ➆ ❷❺ ⑧⑧❿ ❻ ➒ ➒ ❺ ⑧⑧ ➅ ❻ ⑩ ❶❸ ➅ ⑨❸❽ ❻❺ ❾ ❻❺ ❶❼⑧ ❶❿❿ ❻ ❽⑨ ❶❼⑧ ➅ ❽ ❻ ❸ ➆ ❿ ❼ ❺ ❶⑨❸ ❼ ❿❶❸ ➅❶❾ ❻ ❿⑨ ❼ ⑨ ❻ ❸⑨❸ ❷ ❾⑧ ❺ ➒ ❻❺ ⑩ ❶❸ ❽ ⑧⑩ ❻ ➅⑧➀➈ ➎ ❻ ❽➑ ❺❺ ⑧❸❼⑩⑧❼⑦ ❻ ➅⑩⑧⑧❼❿❼⑦⑧❿⑧ ❺ ⑧ →➑⑨ ❺ ⑧⑩⑧❸❼❿➈ ➥ ➦⑤ ➧➨ ➩ ➫ ◆①①⑤① ➭ ➯ ④▼ ➲➧➳ ➣ ❻ ❸ ❹ ⑧❸❼⑨ ❻ ❸ ❶➀ ❸ ❻ ❸ ➆ ⑩ ❻ ➅⑧➀ ➆ ➂ ❶❿⑧ ➅ ❹ ⑨⑧ ➊ ❾➀ ❶❸❸⑨❸ ❷ ⑩⑧❼⑦ ❻ ➅❿ ➍➡⑨ ❷ ➑ ❺ ⑧➵➐❽❶❸❾⑧ ❺ ⑦ ❶❾❿ ➂ ⑧❿❼ ➂ ⑧❽❶❼⑧ ❷❻❺ ⑨ ↔ ⑧ ➅ ➂➇ ❼⑦⑧➅ ❻ ⑩ ❶⑨❸ ❻ ➒ ❺ ⑧ ❶❿ ❻ ❸⑨❸ ❷ ❶ ➂❻ ➑❼ ❹ ⑨⑧ ➊ ❾ ❻ ⑨❸❼❿ ➆ ❼⑦ ❶❼ ⑨❿➄ ➂ ❶❿⑧ ➅ ❻ ❸❿➑ ❺ ➒❶❽⑧➄ ⑨⑩ ❶ ❷ ⑨❸ ❷❹❻ ➀➑⑩⑧ ❻❺ ❷ ➀ ❻➂ ❶➀❶❼❼ ❺ ⑨ ➂ ➑❼⑧❿➈ ➠ ❻ ⑩⑧⑩⑧❼⑦ ❻ ➅❿ ❽ ❻ ⑩ ➆ ⑨❸⑧⑩➑➀ ❼ ⑨❾➀⑧ ❼ ⑧ ❽ ⑦❸⑨ →➑⑧❿➈
Volumetric
Surface-Based
Non-Model-Based
View Planning Algorithms
Global
Occlusion Edge
Contour Following
Voxel Occupancy
Solid Geometry
Mass Vector Chain
Intermediate Space
Parametric Surfaces
Expert System
Space Carving
✲ ✘ ✺❆✬✫ ➟ ❇✘ ✫✾✁ ✙ ✚ ✰✰ ✘ ✰✺ ❊✙ ✺✥✬ ✘✦ ✭✛ ✴Boundary Occlusion Edge
(Receiver)
Internal
Occlusion Edge
(Receiver)
R
S
✲ ✘ ✺❆✬✫✂ ➟ ✽ ✤✤ ✙ ❆✮ ✘ ✰✺ ✹ ✮✺✫ ✴✘ ✰ ✪ ✫✥✛✫ ✦ ✬ ✘ ✤ ❈ ✛ ✚ ✺✫ ✴ ✄ ☎✆ ✝✞✟✠ ✡☛ ✞☞✠✌ ✍✠ ✎ ✏✑ ✌☞ ⑥⑦⑧ ⑩ ❻ ❿❼ ❽ ❻ ⑩⑩ ❻ ❸➀ ➇ ⑧ ➌➆ ❾➀ ❻ ⑨❼⑧ ➅ ➎ ➏➉ ⑩⑧❽⑦ ❶❸⑨❿⑩ ⑨❿ ❶ ❷ ⑧ ❻ ⑩⑧❼ ❺ ⑨❽ ➃➑⑩❾ ❻❺ ❲❚❚ ❘❢ ♠ ❨ ❙❲ ❳ ❵❴ ❞ ❵ ✒✓✔➈ ✕❿ ⑨➀➀➑❿❼ ❺ ❶❼⑧ ➅ ⑨❸ ➡⑨ ❷ ➑ ❺ ⑧ ✖➄ ❼⑦⑧ ❾ ❺ ⑧⑩⑨❿⑧ ⑨❿ ❼⑦ ❶❼➃➑⑩❾⑧ ➅ ❷ ⑧❿⑨❸❼⑧ ❺ ❸ ❶➀ ❼ ❻ ❶❸⑨⑩ ❶ ❷ ⑧⑨❸ ➅⑨❽❶❼⑧❿➑ ❺ ➒❶❽⑧❶ ❺➆ ⑧ ❶❿❸ ❻ ❼ ➇ ⑧❼❿ ❶⑩❾➀⑧ ➅➄ ➊ ⑦⑨➀⑧ ➂❻ ➑❸ ➅❶ ❺➇ ➃➑⑩❾⑧ ➅ ❷ ⑧❿ ❺ ⑧❾ ❺ ⑧❿⑧❸❼ ❼⑦⑧ ➂❻ ➑❸ ➅❶ ❺➇❻ ➒❼⑦⑧➑❸ ❻➂ ❿⑧ ❺❹ ⑧ ➅ ❹❻ ➀➑⑩⑧➈ ✗❸❽⑧⑦ ❶ ❹ ⑨❸ ❷ ➀ ❻➆ ❽❶❼⑧ ➅❶❾ ❻❺ ❼⑨ ❻ ❸ ❻ ➒ ❼⑦⑧ ❻➂ ➃⑧❽❼➄❚❲ ❳ ❱❲ ❢❬❩ ❲ ❘❘ ❲ ❡ ❙ ❳❞ ✒✘✔ ⑨❸ ❹❻ ➀ ❹ ⑧❿ ✙❾ ❶⑨❸❼⑨❸ ❷✚ ❼⑦⑧ ❻➂ ➃⑧❽❼ ❿➑ ❺ ➒❶❽⑧ ➊ ⑨❼⑦❼⑦⑧❿⑧❸❿ ❻❺ ➂➇ ➋ ⑧⑧❾⑨❸ ❷ ⑨❼⑨❸❽➀ ❻ ❿⑧❾ ❺ ❻➌ ⑨⑩⑨❼ ➇ ❶❼❶➀➀❼⑨⑩⑧❿➈⑥⑦⑧❼⑧❽⑦❸⑨ →➑⑧⑦ ❶❿ ➂ ⑧⑧❸ ❶❾❾➀⑨⑧ ➅ ❼ ❻ ❶➑❸⑨ →➑⑧ ❺ ❶❸ ❷ ⑧ ❿⑧❸❿ ❻❺ ❿➑ ➂➆ ❽➀ ❶❿❿ ➊ ⑨❼⑦❶➀⑨⑩⑨❼⑧ ➅ ❿⑧❸❿⑨❸ ❷ ❹❻ ➀➑⑩⑧ ➊ ⑦⑧ ❺ ⑧ ❽ ❻ ➀➀⑨❿⑨ ❻ ❸ ❶ ❹❻ ⑨ ➅❶❸❽⑧ ⑨❿ ⑨❸⑦⑧ ❺ ⑧❸❼➀ ➇ ❶ ❾ ❺ ⑨⑩ ❶ ❺➇ ❽ ❻ ❸❽⑧ ❺ ❸➈ ✛❸❽⑧ ❺ ❼❶⑨❸❼ ➇ ⑨❸➓❼❼⑨❸ ❷◗❯❬❯ ❫❵❱❵ ❬ ❙ ✜ ❵❴ ❨❢ ♠ ◗ ❵ ❬❥❢❯ ❴ ❬ ❙❚ ❨ ❼ ❻ ❿⑧ ❷ ⑩⑧❸❼⑧ ➅ ❺ ❶❸ ❷ ⑧➅❶❼❶✒✢✢✔⑦ ❶❿ ➂ ⑧⑧❸➑❿⑧ ➅ ❼ ❻ ❷ ➑⑨ ➅⑧ ❹ ⑨⑧ ➊ ❾ ❻ ⑨❸❼ ❿⑧➀⑧❽❼⑨ ❻ ❸➈ ✣✑✤ ☎✥✠ ✎ ✆ ✦✟ ✥✠ ✎ ✏✑ ✌☞ ⑥ ➊❻ ❤❲ ♥ ❵ ❘ ❙ ✜❯ ❱❙❲ ❳ ❫❵❱✐❲❴ ❨ ❶ ❺ ⑧ ⑨❸ ➊ ⑨ ➅⑧ ➑❿ ❶ ❷ ⑧ ➆ ❹❻➌ ⑧➀ ❻ ❽❽➑❾ ❶❸❽ ➇ ❷❺ ⑨ ➅❿ ❶❸ ➅ ❻ ❽❼ ❺ ⑧⑧❿➈ ↕⑧ ➆ ❽⑧❸❼ ➊❻❺ ➋ ✒✢✔ ❿⑧➀⑧❽❼❿ ❼⑦⑧ ➎ ➏➉ ❻❺ ⑨⑧❸❼⑧ ➅ ❼ ❻ ❼⑦⑧ ❽⑧❸❼ ❺ ❻ ⑨ ➅ ❻ ➒ ❼⑦⑧❽➀➑❿❼⑧ ❺ ❽ ❻ ❸❼❶⑨❸⑨❸ ❷ ❼⑦⑧➀ ❶ ❺❷ ⑧❿❼ ❸➑⑩ ➂ ⑧ ❺ ❻ ➒ ➑❸ ➋ ❸ ❻➊ ❸ ❹❻➌ ⑧➀ ➒❶❽⑧❿➈ ➉ ❻➌ ⑧➀⑨ ↔ ❶❼⑨ ❻ ❸⑦ ❶❿ ❶➀❿ ❻➂ ⑧⑧❸⑧⑩❾➀ ❻➇ ⑧ ➅ ✒✧✔ ➊ ⑨❼⑦ ❶➎ ➏➉ ❻➂ ➃⑧❽❼⑨ ❹ ⑧ ➒➑❸❽❼⑨ ❻ ❸ ⑨❸❽ ❻❺ ❾ ❻❺ ❶❼⑨❸ ❷ ❶ ➊ ⑧⑨ ❷ ⑦❼⑧ ➅ ❿➑⑩ ❻ ➒ ❹ ⑨❿⑨ ➂ ⑨➀⑨ ❼ ➇ ❶❸ ➅ →➑ ❶➀⑨ ❼ ➇ ❼ ⑧ ❺ ⑩❿➈ ★❶ ❺ ➀⑨⑧ ❺ ➊❻❺ ➋ ✒➵✔ ⑧⑩❾➀ ❻➇ ❿ ❻ ❽❼ ❺ ❼ ❻ ❻❺ ➇ ❻ ❹❻➌ ❻ ➇ ⑩⑧❼⑦ ❻ ➅❿⑧➀⑧❽❼❿❶➎ ➏➉❶❿❼⑦⑧ ❻ ❸⑧❶ ➂ ➀⑧ ❼ ❻ ❶❽→➑⑨ ❺ ⑧❼⑦⑧⑩ ❻ ❿❼ ⑨❸➒ ❻❺ ⑩ ❶ ❼ ⑨ ❻ ❸❶ ➂❻ ➑ ❼❼ ⑦⑧➑❸❿⑧⑧❸⑨⑩ ❶ ❷ ⑨❸ ❷❹❻ ➀➑⑩⑧ ➂ ❶❿⑧ ➅ ❻ ❸⑧⑨ ➆ ❼⑦⑧ ❺ ❶ ❷ ➀ ❻➂ ❶➀ ❻❺ ➀ ❻ ❽❶➀ ❹ ⑨❿⑨ ➂ ⑨➀⑨❼ ➇ ❶❸ ❶➀ ➇ ❿⑨❿➈ ✩ ◗❯ ❚❵❚ ❯❬ ❤❙ ❳❞ ✒✪✔ ⑦ ❶❿ ➂ ⑧⑧❸❶❾❾➀⑨⑧ ➅ ❼ ❻ ❼ ⑦⑧❿ ❶⑩⑧ ❽ ➀ ❶❿❿ ❻ ➒ ❺ ⑧ ❽ ❻ ❸❿ ❼ ❺ ➑ ❽❼ ⑨ ❻ ❸❾ ❺ ❻➂➆ ➀⑧⑩❶❿ ❽ ❻ ❸❼ ❻ ➑ ❺ ➒ ❻ ➀➀ ❻➊ ⑨❸ ❷ ➈ ⑥⑦⑧❿⑧❸❿ ❻❺ ⑨❿❿ ➊ ⑧❾❼❼⑦ ❺ ❻ ➑ ❷ ⑦❼⑦⑧ ⑨⑩ ❶ ❷ ⑨❸ ❷➊❻❺ ➋ ❿❾ ❶❽⑧ ⑨❸❶❾ ❺ ⑧ ➆ ❾➀ ❶❸❸⑧ ➅⑩⑧❼⑦ ❻ ➅⑨❽❶➀⑩ ❶❸❸⑧ ❺ ➄ ➅⑨ ❹ ⑧ ❺ ❼⑨❸ ❷ ❶ ❺ ❻ ➑❸ ➅ ❻➂ ❿❼❶❽➀⑧❿➄ ➊ ⑨❼⑦ ❼⑦⑧ ❻➂ ➃⑧❽❼⑨ ❹ ⑧ ❻ ➒ ❺ ⑧➀⑨ ❶ ➂ ➀ ➇ ➀ ❶ ➂ ⑧➀⑨❸ ❷ ➊❻❺ ➋ ❿❾ ❶❽⑧ ❹❻➌ ⑧➀ ❻ ❽❽➑❾ ❶❸❽ ➇ ➈ ➠❼❶❸ ➅❶ ❺ ➅ ❨ ❲ ❘ ❙❴ ❞ ❵ ♠ ❲❫❵❱ ❬❝ ❶➀ ❷❻❺ ⑨❼⑦⑩❿❶ ❹ ❶⑨➀ ❶ ➂ ➀⑧ ➊ ⑨❼⑦⑩ ❻ ❿❼➣✕✫❾ ❶❽ ➋ ❶ ❷ ⑧❿⑦ ❶ ❹ ⑧ ➂ ⑧⑧❸➑❿⑧ ➅ ❼ ❻ ⑩ ❻ ➅⑧➀ ❻➂ ➃⑧❽❼ ➋ ❸ ❻➊ ➀⑧ ➅ ❷ ⑧ ✒✬✔➈ ✭✤✑✮ ✞ ✤ ✣ ✦✠✯ ✰ ✤ ✞✱✱✦✱✲ ✍✠ ✎ ✏✑ ✌☞ ✕ ➒⑧ ➊ ⑩⑧❼⑦ ❻ ➅❿ ➅⑧ ❺ ⑨ ❹ ⑧ ❹ ⑨⑧ ➊ ❾➀ ❶❸❸⑨❸ ❷ ❽➑⑧❿ ➒ ❺ ❻ ⑩ ❷ ➀ ❻➂ ❶➀ ❺ ❶❼⑦⑧ ❺ ❼⑦ ❶❸ ➀ ❻ ❽❶➀ ❽⑦ ❶ ❺ ❶❽❼⑧ ❺ ⑨❿❼⑨❽❿ ❻ ➒ ❼⑦⑧ ❷ ⑧ ❻ ⑩⑧❼ ❺ ⑨❽ ➅❶❼❶➈ ✳❸ ✒✢➵✔ ➄ ➎ ➏➉ ❿⑧➀⑧❽ ➆ ❼⑨ ❻ ❸⑨❿ ➂ ❶❿⑧ ➅ ❻ ❸❶ ❷ ➀ ❻➂ ❶➀❶❸ ❶➀ ➇ ❿⑨❿ ❻ ➒❼⑦⑧❫ ❯❨❨ ❤❵❚❱❲ ❬ ❚✐ ❯ ❙ ❳ ➒ ❻❺ ❼⑦⑧ ❻➂ ➃⑧❽❼ ❿➑ ❺ ➒❶❽⑧➈ ⑥⑦⑧ ❙ ❳ ❱❵ ❬ ❫❵❴❙ ❯ ❱❵ ❨◗❯ ❚❵ ❱❵❚✐ ❳ ❙ ❥❢ ❵ ✒✴✔ ⑦ ❶❿ ➂ ⑧⑧❸➑❿⑧ ➅ ❼ ❻ ❿⑧❾ ❶ ❺ ❶❼⑧ ❹ ⑨❿⑨ ➂ ⑨➀⑨❼ ➇ ❶❸ ❶➀ ➇ ❿⑨❿ ❻ ➒ ❼⑦⑧ ❻➂➆ ➃ ⑧❽❼❿➑ ❺ ➒❶❽⑧➒ ❺ ❻ ⑩❼⑦ ❶❼ ❻ ➒❼⑦⑧❿⑧❸❿ ❻❺ ➈✕❿ ➇ ⑧❼ ➄ ❵ ♥◗ ❵ ❬ ❱ ❨❝❨ ❱❵❫ ❶❾❾ ❺ ❻ ❶❽⑦⑧❿⑦ ❶ ❹ ⑧ ➂ ⑧⑧❸ ❺ ⑧❿❼ ❺ ⑨❽❼⑧ ➅⑩ ❶⑨❸➀ ➇ ❼ ❻❹ ⑨⑧ ➊ ❾➀ ❶❸❸⑨❸ ❷ ➒ ❻❺ ❽ ❻ ❸ ❹ ⑧❸❼⑨ ❻ ❸ ❶➀ ⑨❸❼⑧❸❿⑨❼ ➇ ⑨⑩ ❶ ❷ ⑨❸ ❷ ❼❶❿ ➋ ❿➈ ✳❸ ❶❾ ❺ ❻ ❼ ❻ ❼ ➇ ❾⑧ ⑨❸ ➅➑❿❼ ❺ ⑨ ❶➀➅⑨ ❷ ⑨❼⑨ ↔ ❶❼⑨ ❻ ❸❿ ➇ ❿❼⑧⑩ ✒✖✔ ➄ ❼⑦⑧ ❹ ⑨⑧ ➊ ❾➀ ❶❸❸⑨❸ ❷ ❿❼ ❺ ❶❼ ➆ ⑧ ❷➇ ➅⑧ ❹ ⑨❿⑧ ➅ ➂➇ ❶ ⑦➑⑩ ❶❸ ❻ ❾⑧ ❺ ❶❼ ❻❺ ⑨❿ ⑨⑩❾➀⑧⑩⑧❸❼⑧ ➅ ❿⑧⑩⑨ ➆ ❶➑❼ ❻ ⑩ ❻ ❸ ❻ ➑❿➀ ➇ ➂➇ ➀ ❻➊ ⑧ ❺ ➀⑧ ❹ ⑧➀ ❶➑❼ ❻ ⑩ ❶❼⑧ ➅ ❿❽❶❸❸⑨❸ ❷ ❾ ❺ ⑨⑩⑨ ➆ ❼⑨ ❹ ⑧❿ ➑❿⑨❸ ❷ ❶ ❽ ❻ ❸❼ ❻ ➑ ❺ ⑨❸ ❷ ➒ ❻ ➀➀ ❻➊ ⑨❸ ❷ ❿❽⑦⑧⑩⑧ ❶➒❼⑧ ❺ ❶ ❺ ❻ ➑ ❷ ⑦ ⑩ ❻ ➅⑧➀⑨❿ ➓ ❺ ❿❼ ❽ ❻ ❸❿❼ ❺ ➑❽❼⑧ ➅ ➂➇ ❿❾ ❶❽⑧❽❶ ❺❹ ⑨❸ ❷ ➈ ✵ ✶✠✱ ✰✆ ✑✮✤ ✠✥☞ ✕❿ ❾ ❺ ⑧❿⑧❸❼➀ ➇ ➅⑧ ❹ ⑧➀ ❻ ❾⑧ ➅➄❸ ❻ ❸⑧ ❻ ➒ ❼⑦⑧ ❽➑ ❺❺ ⑧❸❼ ❹ ⑨⑧ ➊ ❾➀ ❶❸❸⑨❸ ❷ ⑩⑧❼⑦ ❻ ➅❿❶ ❺ ⑧❿➑⑨❼❶ ➂ ➀⑧ ➒ ❻❺ ⑦⑨ ❷ ⑦❾⑧ ❺ ➒ ❻❺➆ ⑩ ❶❸❽⑧❶➑❼ ❻ ⑩ ❶❼⑧ ➅ ❻➂ ➃⑧❽❼ ❷ ⑧ ❻ ⑩⑧❼ ❺ ⑨❽ ❺ ⑧❽ ❻ ❸❿❼ ❺ ➑❽❼⑨ ❻ ❸➒ ❻❺ ❼⑦⑧ ➒ ❻ ➀➀ ❻➊ ⑨❸ ❷ ❾ ❺ ⑨❸ ❽ ⑨❾➀⑧ ❺ ⑧ ❶❿ ❻ ❸❿➁ ⑦⑨ ❷ ⑦➀ ➇ ❽ ❻ ❸❿ ❼ ❺ ❶⑨❸⑧ ➅ ❹ ⑨⑧ ➊ ❾ ❻ ⑨❸ ❼ ❿❾ ❶❽⑧➄ ⑨❸ ❶➅⑧ →➑ ❶❼⑧ ❿⑧❸❿ ❻❺ ❶❸ ➅ ❾ ❻ ❿⑨❼⑨ ❻ ❸⑨❸ ❷ ❿ ➇ ❿❼⑧⑩ ❾⑧ ❺ ➒ ❻❺➆ ⑩ ❶❸❽⑧❽⑦ ❶ ❺ ❶❽❼⑧ ❺ ⑨ ↔ ❶❼⑨ ❻ ❸➄ ❻❹ ⑧ ❺ ➀ ➇ ❿⑨⑩❾➀⑨❿❼⑨❽❿⑧❸❿ ❻❺ ❶❸ ➅❾ ❻ ❿⑨ ➆ ❼⑨ ❻ ❸⑨❸ ❷ ❿ ➇ ❿❼⑧⑩⑩ ❻ ➅⑧➀❿➄❶❸ ➅⑧ ➌ ❽⑧❿❿⑨ ❹ ⑧ ❽ ❻ ⑩❾➑❼❶❼⑨ ❻ ❸ ❶➀ ❽ ❻ ⑩ ➆ ❾➀⑧ ➌ ⑨❼ ➇ ➍⑧ ❹ ⑧❸ ➒ ❻❺ ❶ ⑦⑨ ❷ ⑦➀ ➇ ❽ ❻ ❸❿❼ ❺ ❶⑨❸⑧ ➅ ❹ ⑨⑧ ➊ ❾ ❻ ⑨❸❼ ❿❾ ❶❽⑧➐➈ ⑥⑦⑧⑩ ❶⑨❸ ❻ ❾⑧❸ ❹ ⑨⑧ ➊ ❾➀ ❶❸❸⑨❸ ❷ ❾ ❺ ❻➂ ➀⑧⑩❿❶ ❺ ⑧ ⑧➤ ❽⑨⑧❸❽ ➇ ➄ ❶❽ ➆ ❽➑ ❺ ❶❽ ➇ ❶❸ ➅ ❺ ❻➂ ➑❿❼❸⑧❿❿➈ ✷ ✸✹ ➧ ②▼ ➧ ▲⑤❖◆ ➫ ✺ ▼◆ ✻ ➧➨ ②▼✼ ➉⑨⑧ ➊ ❾➀ ❶❸❸⑨❸ ❷ ⑨❿ ❼⑦⑧ ❾ ❺ ❻ ❽⑧❿❿ ❻ ➒ ➅⑧❼⑧ ❺ ⑩⑨❸⑨❸ ❷ ❶ ❿➑⑨❼❶ ➂ ➀⑧ ❿⑧❼ ❻ ➒ ❹ ⑨⑧ ➊ ❾ ❻ ⑨❸❼❿ ❶❸ ➅ ❶❿❿ ❻ ❽⑨ ❶❼⑧ ➅ ⑨⑩ ❶ ❷ ⑨❸ ❷ ❾ ❶ ❺ ❶⑩⑧❼⑧ ❺ ❿ ➒ ❻❺ ❶ ❿❾⑧❽⑨➓⑧ ➅ ❻➂ ➃⑧❽❼ ❺ ⑧❽ ❻ ❸❿❼ ❺ ➑❽❼⑨ ❻ ❸ ❼❶❿ ➋ ➑❿⑨❸ ❷ ❶ ❷ ⑧ ❻ ⑩⑧❼ ❺ ⑨❽ ❿⑧❸❿ ❻❺ ➈ ⑥⑦⑧ ❾ ❺ ❻ ❽⑧❿❿ ❽ ❻ ❸❽⑧ ❺ ❸❿ ❷ ⑧ ❻ ⑩⑧❼ ❺ ⑨❽ ❺ ⑧➀ ❶❼⑨ ❻ ❸❿⑦⑨❾❿ ➂ ⑧ ➆ ❼ ➊ ⑧⑧❸ ❼ ➊❻ ❿❾ ❶❽⑧❿ ❻ ➒➅⑨➔⑧ ❺ ⑨❸ ❷ ➅⑨⑩⑧❸❿⑨ ❻ ❸❿ ➆ ❼⑦⑧ ❼ ➊❻ ➅⑨⑩⑧❸ ➆ ❿⑨ ❻ ❸ ❶➀ ✽ ❿➑ ❺ ➒❶ ❽ ⑧ ❿❾ ❶ ❽ ⑧ ✾ ✿❀ ❁ ❻ ➒ ❼ ⑦⑧ ❼ ❶ ❺❷ ⑧ ❼ ❻➂ ➃⑧ ❽❼ ❶❸ ➅❶ ⑩➑➀❼⑨ ➆ ➅⑨⑩⑧❸❿⑨ ❻ ❸ ❶➀⑨⑩ ❶ ❷ ⑨❸ ❷➊❻❺ ➋ ❿❾ ❶❽⑧➄ ❻❺ ❤❙❵ ❡◗ ❲❙ ❳ ❱ ❨◗❯ ❚❵ ❂ ➈ ➡ ❻❺ ❼⑦⑧ ❽➀ ❶❿❿ ❻ ➒ ❾ ❺ ❻➂ ➀⑧⑩ ❶➅➅ ❺ ⑧❿❿⑧ ➅ ➂➇ ❼⑦⑨❿ ➊❻❺ ➋ ➄ ✾ ➒ ❻❺ ⑩❿❶❽➀ ❻ ❿⑧ ➅❿❾ ❶❽⑧ ➊ ⑨❼⑦ ❽ ❻ ⑩❾➀⑧ ➌❷ ⑧ ❻ ⑩⑧❼ ❺➇ ❶❸ ➅❾ ❻ ❿❿⑨ ➂ ➀ ➇ ❽ ❻ ⑩❾➀⑧ ➌ ❷ ➀ ❻➂ ❶➀ ❼ ❻ ❾ ❻ ➀ ❻❷➇ ➈ ✕ ❷ ⑧❸⑧ ❺ ❶➀⑨ ↔ ⑧ ➅ ❹ ⑨⑧ ➊ ❾ ❻ ⑨❸❼ ➍ ❃❄❅ ❆ ➐ ⑨❸❽➀➑ ➅⑧❿❿⑧❸❿ ❻❺ ❾ ❻ ❿⑧ ❃ ➍ ❾ ❻ ❿⑨❼⑨ ❻ ❸❶❸ ➅ ❻❺ ⑨⑧❸❼❶❼⑨ ❻ ❸➐❾➀➑❿❶❿⑧❼ ➍ ❾ ❻ ❿❿⑨ ➂ ➀ ➇ ❸➑➀➀➐ ❻ ➒ ❽ ❻ ❸❼ ❺ ❻ ➀➀ ❶ ➂ ➀⑧ ❿⑧❸❿ ❻❺ ❾ ❶ ❺ ❶⑩⑧❼⑧ ❺ ❿ ❅ ❆ ❿➑❽⑦ ❶❿ ❾ ❻➊ ⑧ ❺ ❶❸ ➅❿ ❽ ❶❸➀⑧❸ ❷ ❼ ⑦➈ ✳❸ ❷ ⑧❸⑧ ❺ ❶➀ ➄❼ ⑦⑧ ❺ ⑧➒ ❻❺ ⑧ ➄ ❶ ❹ ⑨⑧ ➊➆ ❾ ❻ ⑨❸❼⑦ ❶❿❶⑩⑨❸⑨⑩➑⑩ ❻ ➒❿⑨ ➌ ❷ ⑧ ❻ ⑩⑧❼ ❺ ⑨❽➅⑧ ❷❺ ⑧⑧❿ ❻ ➒➒ ❺ ⑧⑧ ➅ ❻ ⑩➄ ✽❇ ❈❉❊❋● ❈❋ ❍■❏❑▲ ▼ ❋ ◆❑▲❖P◆◗❘❋ ▼ ●❉❍❍● ❏❉ ▼ ● ❊ ❙ ▲ ❍■◗❍❋● ◆❑❚❯❱ ▲ ❍❋❲❳❋❨● ❋❩ ❍■❏❑▲ ▼ ❋ ▲❊ ▲ ❍ ▲❩❳❉● ❍▲❭P❪ ▲❏▲❳❋● ❋❏❉❫▲● ❉◆❨❴➊ ➊ ❻➊ ❺ ❹ ➊ ❻ ❂ ⑨❿ ❿➑ ➂ ➃⑧❽❼ ❼ ❻ ❽ ❻ ❸❿❼ ❺ ❶⑨❸❼❿ ➆ ❼ ➇ ❾⑨❽❶➀➀ ➇ ➄ ❶❸ ⑨❸❸⑧ ❺ ➂❻ ➑❸ ➅ ➆ ❶ ❺➇ ➅⑧ ❼ ⑧ ❺ ⑩⑨❸⑧ ➅ ➂➇ ❽ ❻ ➀➀⑨❿⑨ ❻ ❸ ❶ ❹❻ ⑨ ➅❶❸ ❽ ⑧ ❽ ❻ ❸❿⑨ ➅⑧ ❺ ❶ ❼ ⑨ ❻ ❸❿ ➄ ❶❸ ❻ ➑❼⑧ ❺➂❻ ➑❸ ➅❶ ❺➇ ➅⑧❼⑧ ❺ ⑩⑨❸⑧ ➅ ➂➇ ❼⑦⑧❿⑧❸❿ ❻❺ ⑩ ❶ ➌ ⑨⑩➑⑩❿❼❶❸ ➅ ➆ ❻ ➔ ❺ ❶❸ ❷ ⑧ ❶❸ ➅❾ ❻ ❿⑨ ❼ ⑨ ❻ ❸⑨❸ ❷ ❿ ➇ ❿ ❼ ⑧⑩➀⑨⑩⑨ ❼ ❶ ❼ ⑨ ❻ ❸❿ ➊ ⑨ ❼ ⑦ ❺ ⑧❿❾⑧ ❽❼ ❼ ❻❺ ❶❸ ❷ ⑧ ❻ ➒⑩ ❻ ❼⑨ ❻ ❸❶❸ ➅❾ ❻ ❿❿⑨ ➂ ➀ ➇ ➅⑧ ❷❺ ⑧⑧❿ ❻ ➒➒ ❺ ⑧⑧ ➅ ❻ ⑩➈ ➉⑨❿⑨ ➂ ⑨➀⑨❼ ➇ ❶❸ ❶➀ ➇ ❿⑨❿⑨❿ ⑨⑩❾ ❻❺ ❼❶❸❼➄ ➂ ➑❼ ⑨❿ ❸ ❻ ❼ ❼⑦⑧ ❿ ❻ ➀⑧ ⑨❿ ➆ ❿➑⑧➈ ➠⑧ ❹ ⑧ ❺ ❶➀➒❶❽❼ ❻❺ ❿ ⑧ ➌ ❶❽⑧ ❺ ➂ ❶❼⑧❼⑦⑨❿ ❶➀ ❺ ⑧ ❶➅ ➇ ❽ ❻ ⑩❾➑❼❶❼⑨ ❻ ❸ ➆ ❶➀➀ ➇ ➅⑨➤❽➑➀❼ ❼❶❿ ➋ ➈ ➡⑨ ❺ ❿❼➄ ❼ ❺ ⑨ ❶❸ ❷ ➑➀ ❶❼⑨ ❻ ❸ ➆ ➂ ❶❿⑧ ➅ ❷ ⑧ ❻ ⑩⑧❼ ❺ ⑨❽ ❿⑧❸❿ ❻❺ ❿ ❶ ❺ ⑧ ⑨❸⑦⑧ ❺ ⑧❸❼➀ ➇ ➂ ⑨ ➆ ❿❼❶❼⑨❽➄ ❺ ⑧ →➑⑨ ❺ ⑨❸ ❷ ❶❼❶ ❺❷ ⑧❼ ❺ ⑧ ❷ ⑨ ❻ ❸ ❼ ❻➂ ⑧❿⑨⑩➑➀❼❶❸⑧ ❻ ➑❿➀ ➇❹ ⑨❿⑨ ➂ ➀⑧ ❼ ❻➂❻ ❼⑦❼⑦⑧ ❻ ❾❼⑨❽❶➀ ❼ ❺ ❶❸❿⑩⑨❼ ➆ ❼ ⑧ ❺ ❶❸ ➅ ❺ ⑧ ❽ ⑧⑨ ❹ ⑧ ❺ ➈ ✕➅➅⑨ ❼ ⑨ ❻ ❸ ❶➀➀ ➇ ➄ ❺ ⑧ ❽ ❻ ❸❿ ❼ ❺ ➑ ❽❼ ⑨ ❻ ❸ ❶❸ ➅⑦⑧❸ ❽ ⑧ ❹ ⑨⑧ ➊ ❾➀ ❶❸❸⑨❸ ❷ ⑨❸ ❹❻ ➀ ❹ ⑧❿⑩⑧ ❶❿➑ ❺ ❶ ➂ ⑨➀⑨❼ ➇ ❸ ❻ ❼ ❹ ⑨❿⑨ ➂ ⑨➀⑨❼ ➇ ➄ ❸⑧❽⑧❿ ➆ ❿⑨❼❶❼⑨❸ ❷ ⑩ ❻ ➅⑧➀❿ ❻ ➒❼⑦⑧⑩⑧ ❶❿➑ ❺ ⑧⑩⑧❸❼❾⑦ ➇ ❿⑨❽❿➄❶❸⑨❸⑦⑧ ❺ ⑧❸❼➀ ➇ ❸ ❻ ⑨❿ ➇ ❾ ❺ ❻ ❽⑧❿❿➈➡⑨❸ ❶➀➀ ➇ ➄ ➒ ❻❺ ⑩⑧❼ ❺ ❻ ➀ ❻❷➇ ❶❾❾➀⑨❽❶❼⑨ ❻ ❸❿➄⑨❼⑨❿❶❾ ➆ ❾ ❺ ❻ ❾ ❺ ⑨ ❶❼⑧ ❼ ❻ ❿❾⑧❽⑨➒ ➇ ❲❛❜ ❵❚❱❙❤❵⑩ ❻ ➅⑧➀⑨❸ ❷❷❻ ❶➀❿⑨❸❶➅➅⑨❼⑨ ❻ ❸ ❼ ❻ ❶➀➀ ➆ ❶❿❾⑧❽❼ ❽ ❻❹ ⑧ ❺ ❶ ❷ ⑧➈ ⑥⑦⑧ ❻➂ ➃⑧❽❼❿➑ ❺ ➒❶❽⑧❿❾ ❶❽⑧ ✾ ❶❸ ➅ ❹ ⑨⑧ ➊ ❾ ❻ ⑨❸❼ ❿❾ ❶❽⑧ ❂ ❽❶❸ ➂ ⑧ ➅⑨❿❽ ❺ ⑧❼⑨ ↔ ⑧ ➅ ⑨❸❼ ❻ ❿➑⑨❼❶ ➂ ➀ ➇ ❿⑩ ❶➀➀ ⑧➀⑧⑩⑧❸❼❶ ❺➇ ❺ ⑧ ❷ ⑨ ❻ ❸❿➄ ✂✄ ❶❸ ➅ ❃ ☎ ❺ ⑧❿❾⑧❽❼⑨ ❹ ⑧➀ ➇ ➈ ✆ ❻➊ ➅⑨❿❽ ❺ ⑧❼⑨ ↔ ❶❼⑨ ❻ ❸❼❶ ➋ ⑧❿❾➀ ❶❽⑧⑨❿⑨⑩ ➆ ❾ ❻❺ ❼❶❸❼ ➄ ➂ ➑❼ ➊ ⑧➀⑧ ❶ ❹ ⑧❼⑦ ❶❼❶❿⑨ ➅⑧➒ ❻❺ ❼⑦⑧⑩ ❻ ⑩⑧❸❼➈ ➏ ➇ ➅⑧➓❸⑨❼⑨ ❻ ❸➄ ❾⑧ ❺ ➒ ❻❺ ⑩ ❶❸❽⑧ ➆ ❻❺ ⑨⑧❸❼⑧ ➅ ❻➂ ➃⑧❽❼ ❺ ⑧❽ ❻ ❸❿❼ ❺ ➑❽ ➆ ❼⑨ ❻ ❸ ➂ ⑧ ❷ ⑨❸❿ ➊ ⑨❼⑦ ❶❿⑧❼ ✝ ✞ r ✟✠ ✡☛ ☞✌✉ ❻ ➒ →➑ ❶➀⑨❼ ➇ ➒❶❽ ➆ ❼ ❻❺ ❿❿➑❽⑦❶❿❿ ❶⑩❾➀⑨❸ ❷ ➅⑧❸❿⑨❼ ➇ ❶❸ ➅⑩⑧ ❶❿➑ ❺ ⑧⑩⑧❸❼❾ ❺ ⑧❽⑨❿⑨ ❻ ❸➈ ⑥⑦⑧ ❻❹ ⑧ ❺ ❶➀➀ ❺ ⑧❽ ❻ ❸❿❼ ❺ ➑❽❼⑨ ❻ ❸→➑ ❶➀⑨❼ ➇ ❿❾⑧❽⑨➓❽❶❼⑨ ❻ ❸ ✍ ➊ ⑨➀➀ ➂ ⑧ ❶➑❿⑧ ❺➆ ➅⑧➓❸⑧ ➅➒➑❸❽❼⑨ ❻ ❸ ❻ ➒ →➑ ❶➀⑨❼ ➇ ➒❶❽❼ ❻❺ ❿ ❶❾❾ ❺ ❻ ❾ ❺ ⑨ ❶❼⑧ ➒ ❻❺ ❼⑦⑧ ❶❾❾➀⑨❽❶❼⑨ ❻ ❸➈ ✎➑ ❶➀⑨❼ ➇ ➀⑨⑧❿ ⑨❸❼⑦⑧ ⑧ ➇ ⑧ ❻ ➒ ❼⑦⑧ ➂ ⑧⑦ ❻ ➀ ➅⑧ ❺ ❶❸ ➅ ❽ ❶❸ ➂ ⑧ ❿❾⑧ ❽ ⑨➓⑧ ➅ ⑨❸ ❶ ❹ ❶ ❺ ⑨⑧ ❼ ➇ ❻ ➒ ➊ ❶ ➇ ❿ ➆ ❶❸ ❶➀ ❻❷ ➑⑧ ❻❺ ➂ ⑨❸ ❶ ❺➇ ➄ ➀⑨❸⑧ ❶ ❺ ❻❺ ❸ ❻ ❸ ➆ ➀⑨❸⑧ ❶ ❺ ➄ ➑❸⑨➒ ❻❺ ⑩ ❻❺ ❸ ❻ ❸ ➆ ➑❸⑨➒ ❻❺ ⑩➈ ✳❸ ❼⑦⑧➑❸⑨➒ ❻❺ ⑩❽❶❿⑧➄ ✍ ✞ ✍➍✝➐➈ ➛ ⑦⑧ ❺ ⑧ →➑ ❶➀⑨❼ ➇ ❸⑧⑧ ➅❿ ❹ ❶ ❺➇ ➒ ❻❺ ❿❾⑧❽⑨ ❶➀ ⑨❸❼⑧ ❺ ⑧❿❼ ❺ ⑧ ❷ ⑨ ❻ ❸❿ ❿➑❽⑦ ❶❿ ⑦⑨ ❷ ⑦ ❽➑ ❺❹ ❶❼➑ ❺ ⑧ ↔❻ ❸⑧❿➄ ✍ ✞ ✍➍✝ ❄ ✾➐➈ ✕➅➅⑨❼⑨ ❻ ❸ ❶➀➀ ➇ ➄ ➊ ⑧ ❽❶❸ ❼⑦⑨❸ ➋ ❻ ➒ ❼⑦⑧ →➑ ❶➀⑨❼ ➇ ❿❾⑧❽⑨➓❽❶❼⑨ ❻ ❸ ❶❿❶➒➑❸❽❼⑨ ❻ ❸ ❻❺ ➓➀❼⑧ ❺❻ ❾⑧ ❺ ❶❼⑨❸ ❷❻ ❸⑨❸ ➅⑨ ❹ ⑨ ➅➑ ❶➀❿➑ ❺ ➒❶❽⑧⑩⑧ ❶ ➆ ❿➑ ❺ ⑧⑩⑧❸❼❿➈ ✏⑧❼ ✑ ✟ ✄ ☎✠ ➂ ⑧ ❼⑦⑧⑧❿❼⑨⑩ ❶❼⑧ ➅→➑ ❶➀⑨❼ ➇ ❻ ➒ ❶❸❿⑨❸ ❷ ➀⑧ ❿➑ ❺ ➒❶❽⑧❿ ❶⑩❾➀⑧ ✂✄ ➒ ❺ ❻ ⑩ ❹ ⑨⑧ ➊ ❾ ❻ ⑨❸❼ ❃ ☎ ➊ ⑨❼⑦ ❺ ⑧❿❾⑧❽❼ ❼ ❻ →➑ ❶➀⑨❼ ➇ ➒❶❽❼ ❻❺☛ ➈ ➡ ❻❺ ⑧ ➌ ❶⑩❾➀⑧➄ ✑ ✟ ✄ ☎ ✽ ❽ ❻ ➑➀ ➅ ➂ ⑧⑧❿❼⑨⑩ ❶❼⑧ ➅➀ ❻ ❽❶➀❿ ❶⑩ ➆ ❾➀⑨❸ ❷ ➅⑧❸❿⑨❼ ➇ ❶❸ ➅ ✑ ✟ ✄ ☎ ❁ ⑧❿❼⑨⑩ ❶❼⑧ ➅➀ ❻ ❽❶➀⑩⑧ ❶❿➑ ❺ ⑧⑩⑧❸❼❾ ❺ ⑧❽⑨ ➆ ❿⑨ ❻ ❸➈ ⑥⑦⑧❸➄❼⑦⑧ →➑ ❶➀⑨❼ ➇ ❻ ➒ ❶❿⑨❸ ❷ ➀⑧ ⑩⑧ ❶❿➑ ❺ ⑧⑩⑧❸❼ ➒ ❺ ❻ ⑩❶ ❿❾⑧❽⑨➓❽ ❹ ⑨⑧ ➊ ❾ ❻ ⑨❸❼❽❶❸ ➂ ⑧⑧ ➌ ❾ ❺ ⑧❿❿⑧ ➅❶❿➒ ❻ ➀➀ ❻➊ ❿➁ ✑ ✟ ✄ ☎ ✞ ✍➍r ✑ ✟ ✄ ☎ ✠✡☛☞✌✉ ➐ ➍✢➐ ★ ➌ ❶⑩❾➀⑧ ❿❾⑧ ❽ ⑨➓ ❽ ❶ ❼ ⑨ ❻ ❸❿ ⑨❸ ❽ ➀➑ ➅⑧ →➑ ❶➀⑨ ❼ ➇ ❶❿ ❶❸ ❶❸ ❶➀ ❻❷ ➑⑧ ➓ ❷ ➑ ❺ ⑧ ❻ ➒⑩⑧ ❺ ⑨❼ ➊ ⑨❼⑦ ➊ ⑧⑨ ❷ ⑦❼⑨❸ ❷ ➒❶❽❼ ❻❺ ❿ ✑ ✟ ✄ ☎ ✞✒ ✽ ✑ ✟ ✄ ☎ ✽ ✓ ✒ ❁ ✑ ✟ ✄ ☎ ❁ ➍➵➐ ❻❺ ❶❿❶ ❽ ❻ ⑩❾ ❻ ❿⑨❼⑧ ➂ ⑨❸ ❶ ❺➇ ❾ ❶❿❿✔➒❶⑨➀ ❹ ❶ ❺ ⑨ ❶ ➂ ➀⑧➁ ✑ ✟ ✄ ☎ ✞ ➍✑ ✟ ✄ ☎ ✽✕ ✟ ✽ ➐➍✑ ✟ ✄ ☎ ❁✕ ✟ ❁ ➐ ➍✖ ➐ ✖⑧ ❶❿➑ ❺ ❶ ➂ ⑨➀⑨❼ ➇ ⑨❸➒ ❻❺ ⑩ ❶❼⑨ ❻ ❸❽❶❸ ➂ ⑧❶❿❿⑧⑩ ➂ ➀⑧ ➅⑨❸❼ ❻ ❶⑩⑧ ❶ ➆ ❿➑ ❺ ❶ ➂ ⑨➀⑨ ❼ ➇ ⑩ ❶ ❼ ❺ ⑨ ➌ ✒✢✗✔ ✘❶❿⑨➀➀➑❿ ❼ ❺ ❶ ❼ ⑧ ➅⑨❸➡⑨ ❷ ➑ ❺ ⑧ ✧ ✘ ✞ ✘➍✾✙ ❂ ❄ ✍➐ ➍✧➐ ➊ ⑦⑧ ❺ ⑧✾✙❂ ✞ r➍ ✂✄ ❄❃☎ ➐ ✚ ✂✄ ☞ ✾ ❄❃☎ ☞ ❂ ✉ ❶❸ ➅✍⑨❿❼⑦⑧ →➑ ❶➀⑨❼ ➇ ❿❾⑧❽⑨➓ ❽❶❼⑨ ❻ ❸ ➒ ❻❺ ❼⑦⑧⑩ ❻ ➅⑧➀⑨❸ ❷ ❼❶❿ ➋ ➈⑥⑦⑧❸➄ ✘ ✞ ✒ ✛ ✄ ✔ ➍✓➐
Viewpoints
Surface
points
VISIBILITY / MEASURABILITY MATRIX
Visibility Matrix:
Bool Visible(S, VP)
Measurability Matrix:
Analogue [estimated_precision, estimated_sampling_density, ...] (S, VP)
Bool Spec_Compliant (S, VP)
✲ ✘ ✺❆✬✫✜ ➟ ✢ ✫ ✚✴ ❆✬ ✚✣✘✙✘✦ ✼ ✢✚✦ ✬ ✘ ✤ ➊ ⑦⑧ ❺ ⑧❼⑦⑧⑧➀⑧⑩⑧❸❼❿ ❻ ➒ ✘❶ ❺ ⑧⑩⑧ ❶❿➑ ❺ ❶ ➂ ⑨➀⑨❼ ➇ ⑧❿❼⑨⑩ ❶❼⑧❿ ✛ ✄ ☎ ✞ ✑ ✟ ✄ ☎ ➍✪➐ ✳❼ ⑨❿ ⑨❸❿❼ ❺ ➑❽❼⑨ ❹ ⑧ ❼ ❻ ❾ ❶ ❺ ❼⑨❼⑨ ❻ ❸ ✘ ⑨❸❼ ❻ ❶ ❿⑧❼ ❻ ➒ ❽ ❻ ➀➑⑩❸ ❹ ⑧❽❼ ❻❺ ❿ ✘✥ ✦ ☎ ❶❸ ➅ ❺ ❻➊❹ ⑧❽❼ ❻❺ ❿ ✘ ✄ ✦ ✧ ➈ ⑥⑦⑧❿⑧❼✾ ☎ ❻ ➒❿➑ ❺ ➒❶❽⑧ ⑧➀⑧⑩⑧❸❼❿⑩⑧ ❶❿➑ ❺ ❶ ➂ ➀⑧ ➂➇ ❶❿⑨❸ ❷ ➀⑧ ❹ ⑨⑧ ➊ ❾ ❻ ⑨❸❼ ❃☎ ⑨❿ ➅⑧➓❸⑧ ➅ ➂➇ ❼⑦⑧ ❽ ❻❺❺ ⑧❿❾ ❻ ❸ ➅⑨❸ ❷ ❽ ❻ ➀➑⑩❸ ❹ ⑧❽❼ ❻❺ ✘ ✥ ✦ ☎ ❻ ➒❼⑦⑧⑩⑧ ❶❿➑ ❺ ❶ ➂ ⑨➀⑨❼ ➇ ⑩ ❶❼ ❺ ⑨ ➌ ➈⑥⑦⑨❿❽❶❸ ➂ ⑧⑧ ➌ ❾ ❺ ⑧❿❿⑧ ➅❶❿❶❫❵ ❯❨❢❬❯ ❛❙ ❘ ❙❱ ❝ ❫ ❯◗◗ ❙ ❳❞ ❃☎ ★ ✩ ✪ ✾ ☎ ❶❿➒ ❻ ➀➀ ❻➊ ❿➁ ✾ ☎ ✞ r ✂✄ ✉ ☎ ➍✴➐ ✞ r ✂✄ ✚ ✛ ✄ ☎ ✕ ✟❄❃☎ ☞ ❂ ✉ ➍✘➐ ✞ ✫ ➍✾ ❄❃☎❄ ✍➐ ➍✬➐ ➠⑨⑩⑨➀ ❶ ❺ ➀ ➇ ➄ ❼⑦⑧ ❺ ⑧ ❷ ⑨ ❻ ❸❂✄ ❻ ➒ ❹ ⑨⑧ ➊ ❾ ❻ ⑨❸❼ ❿❾ ❶❽⑧ ➒ ❺ ❻ ⑩ ➊ ⑦⑨❽⑦ ❶ ❷ ⑨ ❹ ⑧❸❿➑ ❺ ➒❶❽⑧ ⑧➀⑧⑩⑧❸❼ ✂✄ ⑨❿⑩⑧ ❶❿➑ ❺ ❶ ➂ ➀⑧⑨❿ ➅⑧➓❸⑧ ➅ ➂➇ ❼⑦⑧ ❽ ❻❺❺ ⑧❿❾ ❻ ❸ ➅⑨❸ ❷❺ ❻➊ ❹ ⑧❽❼ ❻❺ ✘✄✦ ✧ ❻ ➒ ❼⑦⑧ ⑩⑧ ❶❿➑ ❺ ❶ ➂ ⑨➀⑨❼ ➇ ⑩ ❶ ➆ ❼ ❺ ⑨ ➌ ➈ ⑥⑦⑨❿ ❽❶❸ ➂ ⑧ ⑧ ➌ ❾ ❺ ⑧❿❿⑧ ➅ ❶❿ ❶❸ ❙ ❳ ❤❵ ❬❨ ❵ ❫❵ ❯❨❢❬❯ ❛❙ ❘ ❙❱ ❝ ❫ ❯◗◗ ❙ ❳❞ ✂✄ ★✬ ✽ ✩ ✪ ❂✄ ❿➑ ❽ ⑦ ❼ ⑦ ❶ ❼ ❂✄ ✞ r ❃ ☎ ✉✄ ➍✢✗➐ ✞ r ❃☎ ✚ ✛ ✄ ☎ ✕ ✟❄ ✂✄ ☞ ✾ ✉ ➍✢✢➐ ✞ ✫ ✬ ✽➍ ✂✄ ❄ ❂ ❄ ✍➐ ➍✢➵➐ ✕❿⑨➀➀➑❿❼ ❺ ❶❼⑧ ➅⑨❸➡⑨ ❷ ➑ ❺ ⑧✓➄ ➂❻ ❼⑦ ✫ ❶❸ ➅ ✫ ✬ ✽❶ ❺ ⑧ ❻ ❸⑧ ➆ ❼ ❻➆ ⑩ ❶❸ ➇ ➍ ❾ ❻ ❿❿⑨ ➂ ➀ ➇ ❸➑➀➀➐⑩ ❶❾❾⑨❸ ❷ ❿➈ ✫ ➅⑧➓❸⑧❿ ❺ ⑧ ❷ ⑨ ❻ ❸❿ ❻ ➒❼⑦⑧ ❻➂ ➃⑧ ❽❼ ❿➑ ❺ ➒❶ ❽ ⑧⑩⑧ ❶❿➑ ❺ ❶ ➂ ➀⑧➒ ❺ ❻ ⑩❶ ❷ ⑨ ❹ ⑧❸ ❹ ⑨⑧ ➊ ❾ ❻ ⑨❸ ❼➄ ➊ ⑦⑧ ❺ ⑧ ❶❿ ✫ ✬ ✽ ❽❶ ❺❹ ⑧❿ ❻ ➑❼ ❺ ⑧ ❷ ⑨ ❻ ❸❿ ❻ ➒ ❹ ⑨⑧ ➊ ❾ ❻ ⑨❸❼ ❿❾ ❶❽⑧ ➒ ❺ ❻ ⑩ ➊ ⑦⑨❽⑦❶ ❷ ⑨ ❹ ⑧❸❿➑ ❺ ➒❶❽⑧⑧➀⑧⑩⑧❸❼ ⑨❿⑩⑧ ❶❿➑ ❺ ❶ ➂ ➀⑧➈ ✫ ❾ ❶ ❺ ❼⑨❼⑨ ❻ ❸❿ ❂ ⑨❸❼ ❻ ❺ ⑧ ❷ ⑨ ❻ ❸❿ ❻ ➒⑧ →➑⑨ ❹ ❶➀⑧❸❼⑩⑧ ❶❿➑ ❺ ❶ ➂ ⑨➀⑨❼ ➇➊ ⑨❼⑦⑨❸ ➊ ⑦⑨❽⑦⑩⑧ ❶❿➑ ❺ ❶ ➆ ➂ ⑨➀⑨❼ ➇ ❼ ➇ ❾⑨❽❶➀➀ ➇❹ ❶ ❺ ⑨⑧❿❿⑩ ❻❻ ❼⑦➀ ➇➂ ➑❼❸ ❻ ❸ ➆ ➀⑨❸⑧ ❶ ❺ ➀ ➇ ❶❸ ➅ ➊ ⑦⑨❽⑦ ❶ ❺ ⑧ ➂❻ ➑❸ ➅⑧ ➅ ➂➇ ❶ ➂❺ ➑❾❼ ❼ ❺ ❶❸❿⑨❼⑨ ❻ ❸❿➅⑧➓❸⑧ ➅ ➂➇❻ ❽❽➀➑❿⑨ ❻ ❸❶❸ ➅ ⑩⑧ ❶❿➑ ❺ ⑧⑩⑧❸❼❾⑦⑧❸ ❻ ⑩⑧❸ ❶➈ ⑥⑦⑧⑨❸⑨❼⑨ ❶➀ ➊❻❺ ➋❻ ❸⑩⑧ ❶❿➑ ❺ ❶ ➂ ⑨➀⑨❼ ➇ ⑩ ❶❼ ❺ ⑨❽⑧❿ ➂➇ ⑥❶ ❺ ➂❻➌✭ ✮ ❻ ❼❼❿❽⑦➀⑨❽⑦✒✢✗✔ ➊ ❶❿❶❾❾➀⑨⑧ ➅ ❼ ❻ ⑨❸❿❾⑧❽❼⑨ ❻ ❸➄⑨❸ ➊ ⑦⑨❽⑦❽❶❿⑧❶ ➅⑧❼❶⑨➀⑧ ➅ ❻➂ ➃⑧❽❼ ⑩ ❻ ➅⑧➀⑨❿ ❶ ❹ ❶⑨➀ ❶ ➂ ➀⑧❶❾ ❺ ⑨ ❻❺ ⑨➈ ⑥⑦⑧ ➇ ❽ ❻ ⑩❾➑❼⑧ ❶⑩⑧ ❶❿➑ ❺ ❶ ➂ ⑨➀⑨❼ ➇ ⑩ ❶❼ ❺ ⑨ ➌ ⑧❸❽ ❻ ➅⑨❸ ❷ ❶ ❽ ❻ ⑩❾➀⑧❼⑧ ❹ ⑨❿⑨ ➂ ⑨➀⑨❼ ➇ ❶❸ ❶➀ ➆ ➇ ❿⑨❿ ❻❹ ⑧ ❺ ❼⑦⑧❿⑧❼ ❻ ➒ ❶➀➀ ❹ ⑨⑧ ➊ ❾ ❻ ⑨❸❼❿❶❸ ➅❶➀➀❿➑ ❺ ➒❶❽⑧ ⑧➀⑧⑩⑧❸❼❿➈ ⑥⑦⑨❿ ❽ ❻ ❸❽⑧❾❼➑ ❶➀➀ ➇ ❽ ❻ ⑩❾ ❶❽❼ ❺ ⑧❾ ❺ ⑧❿⑧❸❼❶❼⑨ ❻ ❸ ❻ ➔⑧ ❺ ❿❸➑⑩⑧ ❺ ❻ ➑❿ ❾ ❻ ❿❿⑨ ➂ ⑨➀⑨ ❼ ⑨⑧❿ ➒ ❻❺ ⑨❸ ❼ ⑧➀➀⑨ ❷ ⑧❸ ❼ ❹ ⑨⑧ ➊ ❾➀ ❶❸❸⑨❸ ❷ ➈ ✆ ❻➊ ⑧ ❹ ⑧ ❺ ➄ ❼ ⑦⑧✁ ✁ ✁ ✁ ✂ ✂ ✄ ✄ ✄ ✄ ☎ ☎ ☎ ☎ ✆ ✆ ✝ ✝ ✝ ✝ ✞ ✞ ✞ ✞ ✟ ✟ ✟ ✟ ✠ ✠ ✠ ✠
S
V
Μ
Μ
-1
v
j
S
j
V
i
s
i
✲ ✘ ✺❆✬✫ ❄➟ ✢ ✫ ✚✴ ❆✬ ✚✣✘✙✘✦ ✼ ✢✚ ✷✷ ✘ ✰✺ ❽ ❻ ❸ ❹ ⑧❸❼⑨ ❻ ❸ ❶➀ ➒ ❻❺ ⑩ ❻ ➒ ❶ ⑩⑧ ❶❿➑ ❺ ❶ ➂ ⑨➀⑨❼ ➇ ⑩ ❶❼ ❺ ⑨ ➌ ❿➑➔⑧ ❺ ❿ ➒ ❺ ❻ ⑩ ❾ ❺ ❻ ⑦⑨ ➂ ⑨❼⑨ ❹ ⑧ ❼⑨⑩⑧ ❶❸ ➅ ⑩⑧⑩ ❻❺➇ ❽ ❻ ⑩❾➀⑧ ➌ ⑨❼ ➇ ➄ ⑧ ❹ ⑧❸ ❶❼ ➒❶⑨ ❺ ➀ ➇ ❽ ❻ ❶ ❺ ❿⑧ ❺ ⑧❿ ❻ ➀➑ ❼ ⑨ ❻ ❸ ❻ ➒ ❻➂ ➃⑧ ❽❼ ❶❸ ➅ ❹ ⑨⑧ ➊ ❾ ❻ ⑨❸ ❼ ❿❾ ❶ ❽ ⑧➈ ➎ ❻ ❸⑧ ➆ ❼⑦⑧ ➆ ➀⑧❿❿➄❼⑦⑨❿ ❺ ⑧❾ ❺ ⑧❿⑧❸❼❶❼⑨ ❻ ❸ ❶➀➀ ❻➊ ❿ ➑❿ ❼ ❻ ⑨⑩⑩⑧ ➅⑨ ➆ ❶❼⑧➀ ➇ ➒ ❻❺ ⑩➑➀ ❶❼⑧❶ ❽ ❻ ⑩❾ ❶❽❼⑧ ➌ ❾ ❺ ⑧❿❿⑨ ❻ ❸➒ ❻❺ ❼⑦⑧ ❹ ⑨⑧ ➊ ❾➀ ❶❸❸⑨❸ ❷ ❾ ❺ ❻➂ ➀⑧⑩❶❸ ➅➒ ❺ ❻ ⑩⑨❼ ➅ ❺ ❶ ➊ ❶❸⑨⑩❾ ❻❺ ❼❶❸❼ ❽ ❻ ❸❽➀➑❿⑨ ❻ ❸➈ ⑥⑦⑧ ❹ ⑨⑧ ➊ ❾➀ ❶❸❸⑨❸ ❷ ❼❶❿ ➋ ➄ ❼⑦⑧❸➄ ⑨❿ ❼ ❻ ➓❸ ➅ ❶ ❿⑧❼ ❻ ➒ ❹ ⑨⑧ ➊ ❾ ❻ ⑨❸❼❿ ⑩⑧ ❶❿➑ ❺ ⑨❸ ❷ ➍ ❻❺ ❽ ❻❹ ⑧ ❺ ⑨❸ ❷ ➐❼⑦⑧ ❻➂ ➃⑧❽❼ ❿➑ ❺ ➒❶❽⑧➁ ✡☛☞✌ r ❃ ☎ ✉✍✎ ✏ ✎ r ✾ ☎ ✉ ✑ ✾ ➍✢✖ ➐ ➡ ❺ ❻ ⑩⑧ →➑ ❶❼⑨ ❻ ❸ ✢✖➄⑨❼ ⑨❿⑧ ❹ ⑨ ➅⑧❸❼❼⑦ ❶❼ ❼⑦⑧ ❹ ⑨⑧ ➊ ❾➀ ❶❸❸⑨❸ ❷ ❾ ❺ ❻➂ ➀⑧⑩ ⑨❿ ⑨❿ ❻ ⑩ ❻❺ ❾⑦⑨❽ ❼ ❻ ❶ ❿⑧❼ ❽ ❻❹ ⑧ ❺ ⑨❸ ❷ ❾ ❺ ❻➂ ➀⑧⑩ ❶❸ ➅ ⑨❿ ❼⑦⑧ ❺ ⑧➒ ❻❺ ⑧➎➜ ➆ ❽ ❻ ⑩❾➀⑧❼⑧➄❶❿⑦ ❶❿ ➂ ⑧⑧❸ ❻➂ ❿⑧ ❺❹ ⑧ ➅ ➂➇ ✒✢✗✔➈ ➣ ❻ ❸ ➆ ❿⑧ →➑⑧❸❼➀ ➇ ➄ ❶❸ ❻ ❾❼⑨⑩ ❶➀ ❿ ❻ ➀➑❼⑨ ❻ ❸ ⑨❿ ❶❽⑦⑨⑧ ❹ ❶ ➂ ➀⑧ ❻ ❸➀ ➇ ➂➇ ❶❸ ⑧ ➌ ⑦ ❶➑❿❼⑨ ❹ ⑧ ❿⑧ ❶ ❺ ❽⑦➄ ➊ ⑦⑨❽⑦ ⑨❿ ⑨⑩❾ ❺ ❶❽❼⑨❽❶➀➈ ⑥⑦⑨❿ ⑩ ❻ ❼⑨ ❹ ❶❼⑧❿ ❼⑦⑧ ❽ ❺ ⑧ ❶❼⑨ ❻ ❸ ❻ ➒❾ ❺ ❶❽❼⑨❽❶➀➄❿➑ ➂➆ ❻ ❾❼⑨⑩ ❶➀➎ ➏➉❶➀ ❷❻❺ ⑨❼⑦⑩❿❼⑦ ❶❼ ❿ ❶❼⑨❿➒ ➇ ❶❿⑧❼ ❻ ➒ ❷ ⑨ ❹ ⑧❸ ❺ ⑧❽ ❻ ❸❿❼ ❺ ➑❽❼⑨ ❻ ❸ ❻➂ ➃⑧❽❼⑨ ❹ ⑧❿➈ ⑥⑦⑧⑩⑧ ❶❿➑ ❺ ❶ ➂ ⑨➀⑨❼ ➇ ⑩ ❶❾❾⑨❸ ❷❃ ☎ ★ ✩ ✪ ✾ ☎ ⑧⑩ ➂ ⑧ ➅❿❶➀➀⑨❸➒ ❻❺➆ ⑩ ❶ ❼ ⑨ ❻ ❸⑧❿❿⑧❸ ❼ ⑨ ❶➀ ❼ ❻ ❿ ❻ ➀ ❹ ⑧ ❼ ⑦⑧ ❹ ⑨⑧ ➊ ❾➀ ❶❸❸⑨❸ ❷ ❼ ❶❿ ➋ ➈ ⑥⑦⑧⑨❿ ➆ ❿➑⑧ ⑨❿ ⑦ ❻➊ ❼ ❻ ⑧➤❽⑨⑧❸❼➀ ➇ ❺ ⑧❾ ❺ ⑧❿⑧❸❼ ❼⑦⑨❿ ❽ ❻ ❸❿❼ ❺ ➑❽❼ ⑨❸ ❽ ❻ ⑩ ➆ ❾➑❼❶❼⑨ ❻ ❸ ❶➀ ❼⑧ ❺ ⑩❿➄ ❸ ❻ ❼⑨❸ ❷ ❼⑦⑧ ❽ ❻ ⑩❾➀⑧ ➌ ⑨❼ ➇ ⑨❸⑦⑧ ❺ ⑧❸❼ ⑨❸ ❶ ❀✁ ✪ ❀ ❁ ⑩ ❶❾❾⑨❸ ❷ ❁➈ ➣ ❻ ❸❼ ❺ ❶❿❼⑨❸ ❷ ⑨❸❿❾⑧❽❼⑨ ❻ ❸➄⑨❸ ❺ ⑧❽ ❻ ❸ ➆ ❿❼ ❺ ➑❽❼⑨ ❻ ❸❼⑦⑧ ❻➂ ➃⑧❽❼❿➑ ❺ ➒❶❽⑧ ✾⑨❿❸ ❻ ❼ ❻ ❸➀ ➇ ➑❸ ➋ ❸ ❻➊ ❸ ➂ ➑❼⑨❿ ❼⑦⑧❼❶❿ ➋❻➂ ➃⑧❽❼⑨ ❹ ⑧➈ ➉⑨⑧ ➊ ❾ ❻ ⑨❸❼ ❿❾ ❶❽⑧❂ ⑨❿ ➅⑧➓❸⑧ ➅ ➂ ➑❼ ⑨❼ ⑨❿ ➑❸❽➀⑧ ❶ ❺ ⑦ ❻➊ ➂ ⑧❿❼ ❼ ❻ ❾ ❶ ❺ ❼⑨❼⑨ ❻ ❸ ⑨❼➈ ⑥⑦⑧❿⑧ ❶ ❺ ⑧ ❿ ❻ ⑩⑧ ❻ ➒ ❼⑦⑧ ⑨❿❿➑⑧❿ ❼ ❻ ➂ ⑧❶➅➅ ❺ ⑧❿❿⑧ ➅ ❼ ❻ ❶❾❾➀ ➇ ❼⑦⑧ ⑩⑧ ❶❿➑ ❺ ❶ ➂ ⑨➀⑨❼ ➇ ⑩ ❶❼ ❺ ⑨ ➌ ❺ ⑧❾ ❺ ⑧❿⑧❸❼❶❼⑨ ❻ ❸ ❼ ❻❻➂ ➃⑧❽❼ ❺ ⑧❽ ❻ ❸❿❼ ❺ ➑❽❼⑨ ❻ ❸➈ ✒ ✓④ ➫ ▲⑤ ✔ ➯ ▲◆ ➭➧ ✓②③ ➧➫ ✔✕ ◆ ❑➧ ③ ➦⑤ ➧➨ ➩ ➫ ◆①①⑤① ➭ ✖✗ ✘ ✙ ✚✛✜✚✢✛✣ ➣➑ ❺❺ ⑧❸❼ ❹ ⑨⑧ ➊ ❾➀ ❶❸❸⑨❸ ❷ ⑩⑧❼⑦ ❻ ➅❿➒ ❻❺ ❻➂ ➃⑧❽❼ ❺ ⑧❽ ❻ ❸❿❼ ❺ ➑❽❼⑨ ❻ ❸ ❶❼❼⑧⑩❾❼ ❼ ❻ ⑨❸❽ ❺ ⑧⑩⑧❸❼❶➀➀ ➇➂ ➑⑨➀ ➅❶⑩ ❻ ➅⑧➀➒ ❻ ➀➀ ❻➊ ⑨❸ ❷ ❶❸⑨❼⑧ ❺ ❶ ➆ ❁✤❋❪❏❋❍❋❨●▲● ❉ ✥ ❋ ✦■▲❨● ❉❫▲● ❉◆❨ ❊❋ ✥ ❋❊❍ ❑◆❏ ❈❉❲❈ ✦■▲❊❉● ❙ ❏❋ ▼ ◆❨ ✧ ❍● ❏■ ● ❉◆❨ ▲❏❋ ★✩★✪✫✬ ✭ ▲❨❩ ★✮★✪✫✬✽ ✯ ❴Rough
Modeling
Modeling
Fine
Problem
Solving
Problem
Solving
A Priori
Model
Rough
Model
Model
Fine
✲ ✘ ✺❆✬✫ ❃ ➟ ✢ ❆ ✙ ✦ ✘ ✱ ✴ ✦ ✚ ✺✫ ✢ ✥✮✫ ✙ ✱ ✣✚✴ ✫ ✮ ❇ ✘ ✫✾✁ ✙ ✚ ✰✰ ✘ ✰✺ ❼⑨ ❹ ⑧ ❽ ➇ ❽➀⑧➈⑥⑦⑧ ➇ ❼❶ ➋ ⑧❶❸⑨⑩ ❶ ❷ ⑧➄❶❽→➑⑨ ❺ ⑧❿ ❻ ⑩⑧❸⑧ ➊ ⑨❸➒ ❻❺ ⑩ ❶ ➆ ❼ ⑨ ❻ ❸ ➄ ➅⑧ ❽ ⑨ ➅⑧ ❻ ❸ ❼ ⑦⑧➎ ➏➉❶❸ ➅ ❺ ⑧❾⑧ ❶ ❼ ❼ ⑦⑧❾ ❺ ❻ ❽ ⑧❿❿➈➛⑧❾ ❺ ❻➆ ❾ ❻ ❿⑧ ❶➅⑨➔⑧ ❺ ⑧❸❼ ❶❾❾ ❺ ❻ ❶❽⑦➄❶ ❫ ❢ ❘ ❱❙ ♠❨ ❱ ❯❞ ❵ ❫❲❴ ❵ ❘♠ ❛ ❯❨ ❵❴ ❤❙❵ ❡ ◗❘ ❯❳❳ ❙ ❳❞ ❨ ❱ ❬❯ ❱❵ ❞❝ ❻ ➒ ❾ ❺ ❻❷❺ ⑧❿❿⑨ ❹ ⑧ ⑩ ❻ ➅⑧➀ ❺ ⑧➓❸⑧⑩⑧❸❼➈ ⑥⑦⑧ ❾ ❺ ❻ ❽⑧❿❿ ➂ ⑧ ❷ ⑨❸❿ ❶❸ ➅⑧❸ ➅❿ ➊ ⑨❼⑦❶❽➀ ❻ ❿⑧ ➅ ❻➂ ➃⑧❽❼ ⑩ ❻ ➅⑧➀ ➆ ❼⑦⑧ ➓ ❺ ❿❼⑧⑩ ➂❻ ➅ ➇ ⑨❸ ❷ ❼⑦⑧ ❺ ⑧➀⑧ ❹ ❶❸❼ ❶❸ ➅❶ ❹ ❶⑨➀ ❶ ➂ ➀⑧ ❶❾ ❺ ⑨ ❻❺ ⑨ ❻➂ ➃⑧❽❼ ➋ ❸ ❻➊ ➀⑧ ➅ ❷ ⑧ ✡ ❼⑦⑧➀ ❶❿❼ ❿ ❶❼⑨❿➒ ➇ ⑨❸ ❷ ❿❾⑧❽⑨➓⑧ ➅ ❻➂ ➃⑧❽❼ ❺ ⑧❽ ❻ ❸❿❼ ❺ ➑❽ ➆ ❼⑨ ❻ ❸ ❷❻ ❶➀❿➈ ✗❸⑧ ❻❺ ⑩ ❻❺ ⑧ ⑨❸❼⑧ ❺ ⑩⑧ ➅⑨ ❶❼⑧ ⑩ ❻ ➅⑧➀❿ ❺ ⑧❾ ❺ ⑧❿⑧❸❼ ❾ ❻ ⑨❸ ❼ ❿ ❻ ❸ ❼ ⑦⑧ ❽ ❻ ❸ ❼ ⑨❸➑➑⑩ ❻ ➒ ❿❾ ❶ ❼ ⑨ ❶➀ ❺ ⑧❿ ❻ ➀➑ ❼ ⑨ ❻ ❸ ❶❸ ➅ ❷ ⑧ ❻➆ ⑩⑧❼ ❺ ⑨❽ ❶❽❽➑ ❺ ❶❽ ➇ ➈ ★❶❽⑦ ❿❼❶ ❷ ⑧ ❻ ➒ ❼⑦⑧ ❾ ❺ ❻ ❽⑧❿❿ ➂ ➑⑨➀ ➅❿ ➑❾ ❻ ❸ ❼ ⑦⑧ ❷ ➀ ❻➂ ❶➀ ❷ ⑧ ❻ ⑩⑧ ❼ ❺ ⑨ ❽ ➋ ❸ ❻➊ ➀⑧ ➅ ❷ ⑧ ❻ ➒ ❼ ⑦⑧❾ ❺ ⑧ ❹ ⑨ ❻ ➑❿❿ ❼ ❶ ❷ ⑧➑❸ ❼ ⑨➀ ❶⑩ ❻ ➅⑧➀❿ ❶❼⑨❿➒ ➇ ⑨❸ ❷ ❼⑦⑧❿❾⑧❽⑨➓⑧ ➅ ❺ ⑧ →➑⑨ ❺ ⑧⑩⑧❸❼❿ ⑨❿ ❶❽⑦⑨⑧ ❹ ⑧ ➅➈ ✗➑ ❺ ❶❾❾ ❺ ❻ ❶❽⑦⑨❿❶➀❿ ❻ ⑨❸❽ ❺ ⑧⑩⑧❸❼❶➀➄ ➂ ➑❼❶❼❼⑦⑧⑩ ❻ ➅⑧➀ ❺ ❶❼⑦⑧ ❺ ❼⑦ ❶❸ ❼⑦⑧ ⑨⑩ ❶ ❷ ⑧ ➀⑧ ❹ ⑧➀➈ ➛ ⑨❼⑦⑨❸ ⑧ ❶❽⑦ ➀⑧ ❹ ⑧➀➄ ❻ ➑ ❺ ❾ ❺ ❻ ❽⑧❿❿ ⑨❿ ⑨❸⑦⑧ ❺ ⑧❸❼➀ ➇ ❾ ❶ ❺ ❶➀➀⑧➀➈ ✳❸❶➅➅⑨❼⑨ ❻ ❸ ❼ ❻➂ ⑧⑨❸ ❷ ⑩➑➀❼⑨ ➆ ❿❼❶ ❷ ⑧➄❼⑦⑧❿❼ ❺ ❶❼⑧ ❷➇ ❶❾❾➀⑨⑧❿❶ ❹ ❶ ❺ ⑨⑧❼ ➇ ❻ ➒❼⑧❽⑦❸⑨ →➑⑧❿❶❼ ❹ ❶ ❺ ⑨ ❻ ➑❿❾➀ ❶❸❸⑨❸ ❷ ❿❼❶ ❷ ⑧❿❶❸ ➅➑❼⑨➀⑨ ↔ ⑧❿ ❼⑦⑧❾ ❺ ⑨❸❽⑨❾➀⑧ ❻ ➒➀⑧ ❶❿❼ ❽ ❻ ⑩⑩⑨❼⑩⑧❸❼ ➊ ⑨❼⑦ ❺ ⑧❿❾⑧❽❼ ❼ ❻ ❼⑦⑧⑩ ❻ ❿❼ ➅⑨➤❽➑➀❼ ❹ ⑨⑧ ➊ ❾➀ ❶❸❸⑨❸ ❷ ❾ ❺ ❻➂ ➀⑧⑩❿➈ ➏ ➇ ➅⑧❿⑨ ❷ ❸➄ ➊ ⑧⑧⑩❾➀ ❻➇ ❶ ➅⑨ ❹ ⑨ ➅⑧❶❸ ➅ ❽ ❻ ❸ →➑⑧ ❺ ❿❼ ❺ ❶❼⑧ ❷➇✡ ⑧❸ ➅⑧ ❶ ❹❻❺ ⑨❸ ❷ ❼ ❻ ❿❽❶❸⑩ ❻ ❿❼ ❻ ➒ ❼⑦⑧ ❻➂ ➃⑧❽❼ ❿➑ ❺ ➒❶❽⑧ ➑❿⑨❸ ❷ ➒❶❿❼ ❶❸ ➅❿⑨⑩❾➀⑧❼⑧❽⑦❸⑨ →➑⑧❿➈ ⑥⑦⑧ ⑩ ❻ ❿❼ ❾ ❻➊ ⑧ ❺ ➒➑➀ ❽ ❻ ⑩❾➑❼❶❼⑨ ❻ ❸ ❶➀➀ ➇ ⑦⑧ ❶ ❹➇ ➊ ⑧⑨ ❷ ⑦❼ ❼⑧❽⑦❸⑨ →➑⑧❿ ❶ ❺ ⑧ ❺ ⑧❿⑧ ❺❹ ⑧ ➅ ➒ ❻❺ ❿⑩ ❶➀➀❿➑ ➂➆ ❿⑧❼❿ ❻ ➒ ❼⑦⑧❿➑ ❺ ➒❶❽⑧ ❶❸ ➅ ❻ ➒ ❹ ⑨⑧ ➊➆ ❾ ❻ ⑨❸❼ ❿❾ ❶❽⑧➄ ➊ ⑦⑧❸ ❶❸ ➅⑨➒ ❾ ❺ ❻➂ ➀⑧⑩❿ ❶ ❺ ⑧ ⑧❸❽ ❻ ➑❸❼⑧ ❺ ⑧ ➅ ➊ ⑨❼⑦ ❿⑨⑩❾➀⑧ ❺ ⑩⑧❼⑦ ❻ ➅❿➈ ⑥⑦➑❿➄❼⑦⑧❾ ❺ ❻ ❾ ❻ ❿⑧ ➅ ❹ ⑨⑧ ➊ ❾➀ ❶❸❸⑨❸ ❷ ❾ ❺ ❻➆ ❽⑧❿❿⑨❿➀ ❶ ➇ ⑧ ❺ ⑧ ➅⑨❸ ❼ ➊❻ ❿⑧❸❿⑧❿ ➆ ➓ ❺ ❿❼⑨❸❼⑦⑧❿❾ ❶❼⑨ ❶➀ ❺ ⑧❿ ❻ ➀➑❼⑨ ❻ ❸ ❻ ➒❼⑦⑧❾ ❺ ❻➂ ➀⑧⑩➅ ❻ ⑩ ❶⑨❸❶❸ ➅❿⑧❽ ❻ ❸ ➅➀ ➇ ⑨❸❼⑦⑧ ❽ ❻ ⑩❾➑❼❶❼⑨ ❻ ❸ ❶➀ ❽ ❻ ❿❼ ❻ ➒❼⑦⑧❼⑧❽⑦❸⑨ →➑⑧❿➑❿⑧ ➅➈ ✕➀❼⑦ ❻ ➑ ❷ ⑦ ❶➅➅⑨❼⑨ ❻ ❸ ❶➀ ❿❼❶ ❷ ⑧❿ ❽ ❻ ➑➀ ➅ ❽ ❻ ❸❽⑧⑨ ❹ ❶ ➂ ➀ ➇ ➂ ⑧ ➑❼⑨ ➆ ➀⑨ ↔ ⑧ ➅➄❼⑦⑧❾ ❺ ⑧❿⑧❸❼ ❽ ❻ ❸❽⑧❾❼ ⑧❸ ❹ ⑨❿⑨ ❻ ❸❿ ❶ ❼ ➊❻ ❿❼⑧❾ ❻➂ ➃⑧❽❼ ❺ ⑧ ➆ ❽ ❻ ❸❿❼ ❺ ➑❽❼⑨ ❻ ❸❾ ❺ ❻ ❽⑧❿❿➄❿⑧❾ ❶ ❺ ❶❼⑨❸ ❷ ❼⑦⑧⑧ ➌ ❾➀ ❻❺ ❶❼⑨ ❻ ❸❶❸ ➅❾ ❺ ⑧ ➆ ❽⑨❿⑨ ❻ ❸ ⑩⑧ ❶❿➑ ❺ ⑧⑩⑧❸❼ ❾ ❺ ❻ ❽⑧❿❿⑧❿➈ ✰❸ ❻➊ ➀⑧ ➅ ❷ ⑧ ⑧⑩ ➂ ⑧ ➅➅⑧ ➅ ⑨❸ ❼⑦⑧ ❯◗❬ ❙❲ ❬ ❙❫❲❴ ❵ ❘ ⑨❿➓ ❺ ❿❼➑❿⑧ ➅ ❼ ❻❷ ➑⑨ ➅⑧➒❶❿❼ ➅❶❼❶❶❽→➑⑨❿⑨ ➆ ❼⑨ ❻ ❸ ❼ ❻ ❽ ❺ ⑧ ❶❼⑧ ❶❸⑨❸❼⑧ ❺ ⑩⑧ ➅⑨ ❶❼⑧ ❬ ❲ ❢❞ ✐ ❫❲❴ ❵ ❘ ❽❶❾❼➑ ❺ ⑨❸ ❷ ❼⑦⑧ ⑧❿❿⑧❸❽⑧ ❻ ➒❼⑦⑧ ❻➂ ➃⑧❽❼✱❿ ❿⑦ ❶❾⑧➈ ⑥⑦⑧ ❺ ❻ ➑ ❷ ⑦⑩ ❻ ➅⑧➀ ⑨❿❿➑ ➂ ❿⑧ ➆ →➑⑧❸❼➀ ➇ ➑❿⑧ ➅ ❼ ❻ ❾➀ ❶❸ ⑦⑨ ❷ ⑦ ❾ ❺ ⑧❽⑨❿⑨ ❻ ❸➄ ⑦⑨ ❷ ⑦ ❺ ⑧❿ ❻ ➀➑❼⑨ ❻ ❸ ❿➑ ❺➆ ➒❶❽⑧ ❿❽❶❸❸⑨❸ ❷ ❼ ❻ ❽ ❺ ⑧ ❶❼⑧ ❼⑦⑧ ➅⑧❿⑨ ❺ ⑧ ➅ ❻ ➑❼❾➑❼ ⑩ ❻ ➅⑧➀ ❶❼ ❼⑦⑧ ➅⑧❿⑨ ❺ ⑧ ➅➀⑧ ❹ ⑧➀ ❻ ➒ ❷ ⑧ ❻ ⑩⑧❼ ❺ ⑨❽ ❺ ⑧❿ ❻ ➀➑❼⑨ ❻ ❸➄❼⑦⑧✲ ❳ ❵❫❲❴ ❵ ❘ ➈ ✗❸➀ ➇ ❼⑦⑧ ➓❸⑧ ⑩ ❻ ➅⑧➀⑨❿ ❺ ⑧❼❶⑨❸⑧ ➅➄❼⑦⑧ ❺ ❻ ➑ ❷ ⑦⑩ ❻ ➅⑧➀ ➂ ⑧⑨❸ ❷ ➅⑨❿❽❶ ❺ ➅⑧ ➅ ❻ ❸❽⑧⑨❼⑦ ❶❿❿⑧ ❺❹ ⑧ ➅⑨❼❿❾➑ ❺ ❾ ❻ ❿⑧➈ ➣ ❻ ❸❿⑧ →➑⑧❸❼➀ ➇ ➄ ❼⑦⑧❾ ❺ ❻ ❾ ❻ ❿⑧ ➅ ⑩➑➀❼⑨ ➆ ❿❼❶ ❷ ⑧⑩ ❻ ➅⑧➀ ➆ ➂ ❶❿⑧ ➅ ❹ ⑨⑧ ➊ ❾➀ ❶❸❸⑨❸ ❷ ❿❼ ❺ ❶❼⑧ ❷➇ ➍➡⑨ ❷ ➑ ❺ ⑧✪➐ ⑨❸ ❹❻ ➀ ❹ ⑧❿ ❼ ➊❻ ❿❼❶ ❷ ⑧❿➄⑧ ❶❽⑦ ➊ ⑨❼⑦❶❸❶❿❿ ❻ ❽⑨ ❶❼⑧ ➅❾ ❺ ❻➂ ➀⑧⑩ ❺ ⑧❿ ❻➆ ➀➑ ❼ ⑨ ❸❿➑ ❿ ❼ ❶ ⑧➁
➢ ❺ ❻ ❷ ❻ ❷ ❻❺ ➌ ❻❺ ❻ ➢ ❶ ➓❸⑧ ⑩ ❻ ➅⑧➀⑨❸ ❷ ❾⑦ ❶❿⑧ ❼ ❻ ❾ ❺ ⑧❽⑨❿⑧➀ ➇ ❽❶❾❼➑ ❺ ⑧ ❷ ⑧ ❻ ⑩⑧❼ ❺ ⑨❽ ➅⑧❼❶⑨➀➈ ✰✆ ✦ ✑ ✆ ✦✍ ✑ ✌✠ ✤ ✕ ❼❼ ⑦⑧⑩⑨❸⑨⑩➑⑩ ➄❼ ⑦⑧❾ ❺ ❻➂ ➀⑧⑩ ➂ ⑧ ❷ ⑨❸❿ ➊ ⑨❼⑦❿ ❻ ⑩⑧ ➋ ❸ ❻➊ ➀⑧ ➅ ❷ ⑧ ❻ ➒❼⑦⑧ ❻➂ ➃⑧❽❼✱❿ ➂❻ ➑❸ ➅⑨❸ ❷ ➅⑨⑩⑧❸❿⑨ ❻ ❸❿➄ ⑦ ❻➊ ⑧ ❹ ⑧ ❺ ❶❾❾ ❺ ❻➌ ⑨⑩ ❶❼⑧➈ ⑥⑦⑨❿ ➋ ❸ ❻➊ ➀⑧ ➅ ❷ ⑧ ❽ ❻ ❸❿❼⑨❼➑❼⑧❿❶❸⑨❸⑨ ➆ ❼⑨ ❶➀ ❻➂ ➃⑧❽❼⑩ ❻ ➅⑧➀➄❼⑦⑧❶❾ ❺ ⑨ ❻❺ ⑨⑩ ❻ ➅⑧➀➈★ ➌ ❾⑧ ❺ ⑨⑩⑧❸❼❶❼⑨ ❻ ❸ ➊ ⑨➀➀ ⑧ ➌ ❶⑩⑨❸⑧❼⑦⑧➑❼⑨➀⑨❼ ➇❻ ➒❶⑩ ❻ ➅⑧❿❼⑨❸❽ ❺ ⑧ ❶❿⑧⑨❸❾ ❺ ⑨ ❻❺➋ ❸ ❻➊ ➀⑧ ➅ ❷ ⑧➄ ❿➑❽⑦❶❿❼⑦⑧❸➑⑩ ➂ ⑧ ❺ ❶❸ ➅❶❾❾ ❺ ❻➌ ⑨⑩ ❶❼⑧➀ ❻ ❽❶❼⑨ ❻ ❸ ❻ ➒⑦ ❻ ➀⑧❿❶❸ ➅ ⑩ ❶➃ ❻❺ ❽❶ ❹ ⑨❼⑨⑧❿➈ ✁✑ ☎✲ ✏ ✍ ✑ ✌✠ ✤ ⑥⑦⑧ ➒➑❸❽❼⑨ ❻ ❸ ❻ ➒ ❼⑦⑧ ❺ ❻ ➑ ❷ ⑦ ⑩ ❻ ➅⑧➀⑨❸ ❷ ❾⑦ ❶❿⑧⑨❿ ❼ ❻ →➑⑨❽ ➋ ➀ ➇ ❶❸ ➅➒❶⑨❼⑦➒➑➀➀ ➇ ❽❶❾❼➑ ❺ ⑧❼⑦⑧ ❻➂ ➃⑧❽❼✱❿ ❷❺ ❻ ❿❿ ❼ ❻ ❾ ❻ ➀ ❻❷➇ ❶❸ ➅ ❷ ⑧ ❻ ⑩⑧❼ ❺➇ ➈ ➠❾ ❶❼⑨ ❶➀ ❺ ⑧❿ ❻ ➀➑❼⑨ ❻ ❸ ❶❸ ➅ ❶❽❽➑ ❺ ❶❽ ➇ ❺ ⑧ →➑⑨ ❺ ⑧⑩⑧❸❼❿❶❼❼⑦⑨❿❿❼❶ ❷ ⑧❶ ❺ ⑧ ➋ ⑧❾❼ ❼ ❻ ❼⑦⑧⑩⑨❸⑨⑩➑⑩❸⑧❽⑧❿ ➆ ❿ ❶ ❺➇ ➒ ❻❺ ⑨❼ ❼ ❻ ❿⑧ ❺❹ ⑧❶❿❼⑦⑧ ➂ ❶❿⑨❿ ❻ ➒➓❸⑧➅⑧❼❶⑨➀⑩ ❻ ➅⑧➀⑨❸ ❷ ⑨❸❼⑦⑧ ❸⑧ ➌ ❼ ❾⑦ ❶❿⑧➈ ⑥⑦⑧➀⑧ ❹ ⑧➀ ❻ ➒ ❺ ⑧❿ ❻ ➀➑❼⑨ ❻ ❸ ❺ ⑧ →➑⑨ ❺ ⑧ ➅❶❼ ❼⑦⑧ ❺ ❻ ➑ ❷ ⑦ ⑩ ❻ ➅⑧➀⑨❸ ❷ ❿❼❶ ❷ ⑧ ⑨❿ ⑧ ➌ ❾⑧❽❼⑧ ➅ ❼ ❻ ➅⑧❾⑧❸ ➅ ❻ ❸❿⑧ ❹ ⑧ ❺ ❶➀ ➒❶❽❼ ❻❺ ❿➄ ⑨❸❽➀➑ ➅⑨❸ ❷ ❼⑦⑧❿⑨ ↔ ⑧ ❻ ➒ ❼⑦⑧ ➓❸ ❶➀ ⑩ ❻ ➅⑧➀❶❸ ➅❼⑦⑧ ❻➂ ➃⑧❽❼✱❿ ❼ ❻ ❾ ❻➆ ➀ ❻❷ ⑨❽ ❶❸ ➅ ❷ ⑧ ❻ ⑩⑧❼ ❺ ⑨❽ ❽ ❻ ⑩❾➀⑧ ➌ ⑨❼ ➇ ➈ ✫❶❼❶❶❽→➑⑨❿⑨❼⑨ ❻ ❸ ➊ ⑨➀➀ ➂ ⑧ ❶❽❽⑧➀⑧ ❺ ❶❼⑧ ➅ ➂➇ ❶❽→➑⑨ ❺ ⑨❸ ❷ ❿➑ ➂➆ ❿ ❶⑩❾➀⑧ ➅❿❾ ❶ ❺ ❿⑧ ❺ ❶❸ ❷ ⑧⑨⑩ ❶ ❷ ⑧❿➈ ➜ ❺ ❻➂ ➀⑧⑩ ❺ ⑧❿ ❻ ➀➑❼⑨ ❻ ❸ ❺ ⑧ →➑⑨ ❺ ⑧⑩⑧❸❼❿ ❶❼ ❼⑦⑧ ❺ ❻ ➑ ❷ ⑦ ⑩ ❻ ➅⑧➀⑨❸ ❷ ❿❼❶ ❷ ⑧ ➊ ⑨➀➀ ➒ ❻ ❽➑❿ ❻ ❸⑧❸❿➑ ❺ ⑨❸ ❷ ❼⑦⑧ ⑩ ❻ ➅⑧➀ ⑨❿ ❽➀ ❻ ❿⑧ ➅ ❶❸ ➅⑦ ❶❿ ❼⑦⑧ ❽ ❻❺❺ ⑧❽❼ ❷❺ ❻ ❿❿ ❼ ❻ ❾ ❻ ➀ ❻❷➇ ❶❸ ➅ ❷ ⑧ ❻ ⑩⑧❼ ❺➇ ➈ ✂ ✦✱✠ ✍ ✑ ✌✠ ✤ ✮⑨ ❹ ⑧❸ ❶ ❷❻❻ ➅ ➂ ➑❼ ❶❾❾ ❺ ❻➌ ⑨⑩ ❶❼⑧ ❺ ❻ ➑ ❷ ⑦ ⑩ ❻ ➅⑧➀ ➄❼ ⑦⑧➒➑❸ ❽❼ ⑨ ❻ ❸ ❻ ➒ ❼ ⑦⑧➓❸⑧⑩ ❻ ➅⑧➀⑨❸ ❷ ❾⑦ ❶❿⑧ ➊ ⑨➀➀ ➂ ⑧ ❼ ❻ ❿ ❶⑩❾➀⑧ ❼⑦⑧ ❿➑ ❺ ➒❶❽⑧ ❼ ❻ ❶➓❸⑧ ➀⑧ ❹ ⑧➀ ❻ ➒ ❺ ⑧❿ ❻ ➀➑❼⑨ ❻ ❸ ❶❸ ➅ ⑦⑨ ❷ ⑦ ➀⑧ ❹ ⑧➀ ❻ ➒ ❾ ❺ ⑧❽⑨❿⑨ ❻ ❸ ⑨❸ ❽ ❻ ⑩❾➀⑨ ❶❸❽⑧ ➊ ⑨❼⑦ ❼⑦⑧ ⑨❸❾➑❼ ❿❾⑧❽⑨➓❽❶ ➆ ❼⑨ ❻ ❸➈ ⑥⑦⑨❿❿❼❶ ❷ ⑧ ➊ ⑨➀➀ ❶ ❷ ❶⑨❸❶❼❼⑧⑩❾❼ ❼ ❻❺ ❶❾⑨ ➅➀ ➇ ❿❽❶❸❶➀➀ ❻❺ ⑩ ❻ ❿❼ ❻ ➒❼⑦⑧❿➑ ❺ ➒❶❽⑧➑❿⑨❸ ❷ ❽ ❻ ⑩❾➑❼❶❼⑨ ❻ ❸ ❶➀➀ ➇ ➀⑨ ❷ ⑦❼ ➊ ⑧⑨ ❷ ⑦❼ ❹ ⑨⑧ ➊ ❾➀ ❶❸❸⑨❸ ❷ ❼⑧❽⑦❸⑨ →➑⑧❿➈➜❶❼ ❽⑦⑧❿ ❻ ➒ ❼⑦⑧ ❺ ❻ ➑ ❷ ⑦⑩ ❻ ➅⑧➀ ➒ ❻❺➊ ⑦⑨❽⑦ ❼⑦⑧❿⑧❼❶❽❼⑨❽❿➒❶⑨➀ ➊ ⑨➀➀ ➂ ⑧❾ ❶❿❿⑧ ➅ ❼ ❻ ❾ ❺ ❻➂ ➀⑧⑩ ❺ ⑧❿ ❻ ➀➑❼⑨ ❻ ❸⑩ ❻ ➅ ➆ ➑➀⑧❿⑧⑩❾➀ ❻➇ ⑨❸ ❷ ⑩ ❻❺ ⑧❾ ❻➊ ⑧ ❺ ➒➑➀ ➂ ➑ ❼ ❿➀ ❻➊ ⑧ ❺❹ ⑨❿⑨ ➂ ⑨➀⑨ ❼ ➇ ❶❸ ❶➀ ➇ ❿⑨❿ ❹ ⑨⑧ ➊ ❾➀ ❶❸❸⑨❸ ❷ ❼⑧❽⑦❸⑨ →➑⑧❿➈ ✖✗✄ ☎✆ ✝✞ ✟✠✜✢ ✡☛☞ ✵ ✌✠✆✌ ✦✠✯ ➛⑧ ➊ ⑨➀➀ ❸ ❻➊ ➂❺ ⑨⑧➙ ➇ ➅⑧❿❽ ❺ ⑨ ➂ ⑧ ❼⑦⑧ ⑩ ❻ ➅⑨➓⑧ ➅ ⑩⑧ ❶❿➑ ❺ ❶ ➂ ⑨➀⑨❼ ➇ ⑩ ❶❼ ❺ ⑨ ➌ ➍✖✖➐ ❶➀ ❷❻❺ ⑨❼⑦⑩❶❿❶❾❾➀⑨⑧ ➅❶❼❼⑦⑧➓❸⑧ ⑩ ❻ ➅⑧➀⑨❸ ❷ ❿❼❶ ❷ ⑧➈⑥⑦⑧⑧❿❿⑧❸❽⑧ ❻ ➒❼⑦⑧ ❹ ⑨⑧ ➊ ❾➀ ❶❸❸⑨❸ ❷ ❾ ❺ ❻➂ ➀⑧⑩ ⑨❿ ❼ ❻ ⑧➤ ❽⑨⑧❸❼➀ ➇❷ ❶❼⑦⑧ ❺ ❿➑➤ ❽⑨⑧❸❼ ⑨❸➒ ❻❺ ⑩ ❶❼⑨ ❻ ❸ ❼ ❻ ⑧❸❽ ❻ ➅⑧❼⑦⑧ ⑩⑧ ❶❿➑ ❺ ❶ ➂ ⑨➀⑨❼ ➇ ⑩ ❶❾❾⑨❸ ❷ ❶❼❶➀⑧ ❹ ⑧➀ ❻ ➒ ➅⑧❼❶⑨➀❿ ❶❼⑨❿➒❶❽❼ ❻❺➇ ➒ ❻❺ ❼ ⑦⑧❸⑧ ➌ ❼ ➀⑧ ❹ ⑧➀ ❻ ➒⑩ ❻ ➅⑧➀ ➂ ➑⑨➀ ➅⑨❸ ❷ ➈ ✗❸ ❽ ⑧ ❼ ⑦ ❶ ❼ ⑦ ❶❿ ➂ ⑧⑧❸➅ ❻ ❸⑧ ➄ ❿⑧➀⑧❽❼⑨❸ ❷ ❼⑦⑧➎ ➏➉⑨❿❿❼ ❺ ❶⑨ ❷ ⑦❼➒ ❻❺➊ ❶ ❺ ➅❶❸ ➅➒❶❿❼➈ ↕⑧➙⑧❽❼⑨❸ ❷❻ ❸❼⑦⑧ ❃☎ ★ ✩ ✪ ✾ ☎ ⑩⑧ ❶❿➑ ❺ ❶ ➂ ⑨➀⑨❼ ➇ ⑩ ❶❾❾⑨❸ ❷ ❶❸ ➅ ⑩⑧ ❶❿➑ ❺ ❶ ➂ ⑨➀⑨❼ ➇ ⑩ ❶❼ ❺ ⑨ ➌ ❽ ❻ ❸❿❼ ❺ ➑❽❼❿❾ ❺ ⑧❿⑧❸❼⑧ ➅⑧ ❶ ❺ ➀⑨⑧ ❺ ➄ ➊ ⑧❽❶❸ ❻➂ ❿⑧ ❺❹ ⑧❼⑦ ❶❼ ❽❶ ❺ ⑧➒➑➀❾ ❶ ❺ ❼⑨❼⑨ ❻ ❸⑨❸ ❷❻ ➒ ✾ ❶❸ ➅❂ ⑨❿ ➂❻ ❼⑦❸⑧❽ ➆ ⑧❿❿ ❶ ❺➇ ❶❸ ➅❶❽⑦⑨⑧ ❹ ❶ ➂ ➀⑧➈➡❶⑨ ❺ ➀ ➇ ❽ ❻ ❶ ❺ ❿⑧→➑ ❶❸❼⑨ ↔ ❶❼⑨ ❻ ❸ ❻ ➒✾ ➊ ⑨➀➀ ➂ ⑧❿➑➤❽⑨⑧❸❼⑨❸❼⑦⑧ ❺ ❻ ➑ ❷ ⑦⑩ ❻ ➅⑧➀➒ ❻❺ ❾⑧ ❺ ➒ ❻❺ ⑩ ❶❸❽⑧ ➆ ❻❺ ⑨⑧❸❼⑧ ➅ ❹ ⑨⑧ ➊ ❾➀ ❶❸❸⑨❸ ❷ ❶❼❼⑦⑧❸⑧ ➌ ❼ ❿❼❶ ❷ ⑧➄❾ ❺ ❻❹ ⑨ ➅⑧ ➅❼⑦⑧ ❺ ❻ ➑ ❷ ⑦⑩ ❻ ➅⑧➀ ❽ ❻❺❺ ⑧❽❼➀ ➇ ❽❶❾❼➑ ❺ ⑧❿❼⑦⑧ ❻➂ ➃⑧❽❼✱❿ ❷❺ ❻ ❿❿ ❼ ❻ ❾ ❻ ➀ ❻❷➇ ❶❸ ➅ ❷ ⑧ ❻ ⑩⑧ ➆ ❼ ❺➇ ➈ ➠⑧❽ ❻ ❸ ➅➀ ➇ ➄❽ ❻ ⑩❾➀⑧ ➌ ❻➂ ➃⑧❽❼ ➒⑧ ❶❼➑ ❺ ⑧❿❿➑❽⑦❶❿ ⑦ ❻ ➀⑧❿➄❽❶ ❹➆ ⑨❼⑨⑧❿❶❸ ➅❾ ❺ ❻ ❼ ❺ ➑❿⑨ ❻ ❸❿ ❽ ❻ ❸❿❼ ❺ ❶⑨❸ ❹ ⑨⑧ ➊ ❿ ⑩➑❽⑦⑩ ❻❺ ⑧ ❿⑧ ❹ ⑧ ❺ ⑧➀ ➇ ❼ ⑦ ❶❸❾➀ ❶❸ ❶ ❺❻❺❷ ⑧❸ ❼ ➀ ➇ ❽ ❻ ❸ ❹ ⑧ ➌❺ ⑧ ❷ ⑨ ❻ ❸❿➈ ⑥⑦⑨ ❺ ➅➀ ➇ ➄❼ ⑦⑧❾⑦ ➇ ❿⑨ ❽ ❿ ❻ ❷ ❺ ❻ ❺ ❻❹ ❻❺ ❼ ❻❻ ➆ ⑩ ❶➀ ❹ ⑨⑧ ➊ ❾ ❻ ⑨❸❼❿ ❺ ⑧➀ ❶❼⑨ ❹ ⑧ ❼ ❻ ❿➑ ❺ ➒❶❽⑧➒⑧ ❶❼➑ ❺ ⑧❿➈ ➡⑨❸ ❶➀➀ ➇ ➄ ❿⑨❸❽⑧ ➀ ❶ ❺❷ ⑧ ❾ ❻❺ ❼ ⑨ ❻ ❸❿ ❻ ➒ ❼ ⑦⑧ ❻➂ ➃⑧ ❽❼ ❶ ❺ ⑧ ❻ ❽❽ ➀➑ ➅⑧ ➅ ➒ ❺ ❻ ⑩ ❶❸ ➇ ❷ ⑨ ❹ ⑧❸ ❹ ⑨⑧ ➊ ❾ ❻ ⑨❸❼➄⑨❼ ⑨❿❽➀⑧ ❶ ❺ ➀ ➇ ❸⑧❽⑧❿❿ ❶ ❺➇ ❼ ❻ ❽ ❻ ⑩❾➑❼⑧ ❻ ❸➀ ➇ ❶ ❽ ❻ ⑩ ➆ ❾ ❶ ❺ ❶ ❼ ⑨ ❹ ⑧➀ ➇ ❿❾ ❶ ❺ ❿⑧⑩⑧ ❶❿➑ ❺ ❶ ➂ ⑨➀⑨ ❼ ➇ ⑩ ❶ ❼ ❺ ⑨ ➌ ➈ ➣ ❻ ❸❿⑧ →➑⑧❸❼➀ ➇ ➄ ➊ ⑧ ➒ ❻ ➀➀ ❻➊ ❶ ❷ ⑧❸⑧ ❺ ❶❼⑧❶❸ ➅❼⑧❿❼ ❾ ❺ ❻ ❽⑧ ➅➑ ❺ ⑧ ❽ ❻ ❸❽⑧❸❼ ❺ ❶❼⑨❸ ❷ ⑩ ❻ ❿❼ ❻ ➒❼⑦⑧⑧➔ ❻❺ ❼ ❻ ❸ ❷ ⑧❸⑧ ❺ ❶❼⑨ ❻ ❸ ❻ ➒❶⑩ ❻ ➅⑧❿❼ ❸➑⑩ ➂ ⑧ ❺❻ ➒ ➊ ⑧➀➀ ➆ ❽⑦ ❻ ❿⑧❸ ❹ ⑨⑧ ➊ ❾ ❻ ⑨❸❼❿➈✳❸ ❻ ➑❼➀⑨❸⑧➒ ❻❺ ⑩➄❼⑦⑧✖✖ ❶➀ ❷❻❺ ⑨❼⑦⑩❾ ❺ ❻ ❽⑧⑧ ➅❿❶❿ ➒ ❻ ➀➀ ❻➊ ❿ ❶❼❼⑦⑧ ➓❸⑧ ⑩ ❻ ➅⑧➀⑨❸ ❷ ❿❼❶ ❷ ⑧➁ ➠⑧ ❷ ⑩⑧❸❼❼⑦⑧ ❺ ❻ ➑ ❷ ⑦⑩ ❻ ➅⑧➀ ➂➇ ❿➑ ❺ ➒❶❽⑧➒⑧ ❶❼➑ ❺ ⑧ ❼ ➇ ❾⑧ ➛ ⑦⑨➀⑧ ➍ ✛❸❿❽❶❸❸⑧ ➅ ❺ ❻ ➑ ❷ ⑦⑩ ❻ ➅⑧➀ ❺ ⑧ ❷ ⑨ ❻ ❸❿➐ ✮⑧❸⑧ ❺ ❶❼⑧ ❻ ❾❼⑨⑩ ❶➀❽❶❸ ➅⑨ ➅❶❼⑧ ❹ ⑨⑧ ➊ ❾ ❻ ⑨❸❼❿⑧❼ ➣ ❻ ⑩❾➑❼⑧⑩⑧ ❶❿➑ ❺ ❶ ➂ ⑨➀⑨❼ ➇✡ ➒ ❻❺ ⑩⑩⑧ ❶❿➑ ❺ ❶ ➂ ⑨➀⑨❼ ➇ ⑩ ❶❼ ❺ ⑨ ➌ ➠⑧➀⑧❽❼ ➎ ➏➉➍❿➐ ✁✑ ☎✲ ✏ ✍ ✑ ✌✠ ✤ ✄ ✠✲✥✠✱ ✎ ✞ ✎ ✦ ✑ ✱ ⑥⑦⑧ ❺ ❻ ➑ ❷ ⑦⑩ ❻ ➅⑧➀ ⑨❿ ❿⑧ ❷ ⑩⑧❸❼⑧ ➅⑨❸❼ ❻ ❼⑦⑧➒ ❻ ➀➀ ❻➊ ⑨❸ ❷ ❿➑ ❺ ➒❶❽⑧➒⑧ ❶❼➑ ❺ ⑧ ❼ ➇ ❾⑧❿➁❽❶ ❹ ⑨❼ ➇ ➄ ⑦ ❻ ➀⑧ ❻❺ ❾➀ ❶❸ ❶ ❺ ✔❽ ❻ ❸ ❹ ⑧ ➌ ❾ ❶❼ ❽⑦❯ ➈ ✣ ✦✠✯✶ ✑ ✦✱ ✎ ✭ ✠✱✠✆ ✞ ✎ ✦ ✑ ✱ ➡ ❻❺ ⑧ ❶❽⑦❿➑ ❺ ➒❶❽⑧❾ ❶❼ ❽⑦➄❶❿⑧❼ ❻ ➒❽❶❸ ➅⑨ ➅❶❼⑧ ❹ ⑨⑧ ➊ ❾ ❻ ⑨❸❼❿⑨❿ ❷ ⑧❸⑧ ❺ ❶❼⑧ ➅❼⑦ ❶❼⑨❿⑩ ❻ ❿❼➀⑨ ➋ ⑧➀ ➇ ❼ ❻ ⑩⑧ ❶❿➑ ❺ ⑧❼⑦⑧❿➑ ❺ ➒❶❽⑧ ➒⑧ ❶❼➑ ❺ ⑧ ⑨❸❶❽❽ ❻❺ ➅❶❸❽⑧ ➊ ⑨❼⑦❼⑦⑧❿❾⑧❽⑨ ➆ ➓⑧ ➅ ❽ ❺ ⑨❼⑧ ❺ ⑨ ❶➈➉⑨⑧ ➊ ❾ ❻ ⑨❸ ❼ ❷ ⑧❸⑧ ❺ ❶❼⑨ ❻ ❸⑨❿❶❽⑦⑨⑧ ❹ ⑧ ➅ ➂➇ →➑ ❶❸❼⑨ ↔➆ ⑨❸ ❷ ❼⑦⑧ ❻ ❾❼⑨⑩ ❶➀ ❹ ⑨⑧ ➊ ❾ ❻ ⑨❸❼ ↔❻ ❸⑧ ➒ ❻❺ ❼⑦⑧ ❿❾⑧❽⑨➓ ❽ ❿⑧❸❿ ❻❺ ❶❸ ➅ ❿➑ ❺ ➒❶❽⑧➒⑧ ❶❼➑ ❺ ⑧ ❷ ⑧ ❻ ⑩⑧❼ ❺➇ ➈ ✍✠✞☞☎✆ ✞ ✮ ✦ ✤ ✦ ✎ ✍ ✎☞ ✎ ✦✥✞ ✎ ✦ ✑ ✱ ✛❿⑨❸ ❷ ❶❸ ❶❾❾ ❺ ❻ ❾ ❺ ⑨ ❶❼⑧ ❿⑧❸❿ ❻❺ ❾⑧ ❺ ➒ ❻❺ ⑩ ❶❸❽⑧⑩ ❻ ➅⑧➀➄❶⑩⑧ ❶❿➑ ❺ ❶ ➂ ⑨➀⑨❼ ➇ ⑩ ❶❼ ❺ ⑨ ➌ ⑨❿ ❽ ❻ ⑩ ➆ ❾➑❼⑧ ➅➒ ❻❺ ⑧ ❶❽⑦❾ ❶❼ ❽⑦➈ ⑥⑦⑨❿⑨❿ ➅ ❻ ❸⑧ ➂➇ ❽❶➀❽➑➀ ❶❼⑨❸ ❷ ❼⑦⑧⑧❿ ➆ ❼⑨⑩ ❶❼⑧ ➅ ⑩⑧ ❶❿➑ ❺ ⑧⑩⑧❸❼ ❾ ❺ ⑧❽⑨❿⑨ ❻ ❸ ❶❸ ➅ ❿ ❶⑩❾➀⑨❸ ❷ ➅⑧❸❿⑨❼ ➇ ❶❼ ⑧ ❶❽⑦❾ ❻ ⑨❸❼ ❻ ❸❼⑦⑧❼❶ ❺❷ ⑧❼⑧ ➅ ❺ ❻ ➑ ❷ ⑦⑩ ❻ ➅⑧➀❿➑ ❺ ➒❶❽⑧ ❾ ❶❼ ❽⑦ ➒ ❺ ❻ ⑩ ⑧ ❶❽⑦❽❶❸ ➅⑨ ➅❶❼⑧ ❹ ⑨⑧ ➊ ❾ ❻ ⑨❸❼ ⑨❸❼⑦⑧ ❽ ❻❺❺ ⑧❿❾ ❻ ❸ ➅⑨❸ ❷ ❹ ⑨⑧ ➊ ❾ ❻ ⑨❸❼ ❿⑧ ❼ ➈✕ ❼❼ ⑦⑨❿❿ ❼ ❶ ❷ ⑧ ➄ ⑩⑧ ❶❿➑ ❺ ❶ ➂ ⑨➀⑨ ❼ ➇ ➅⑧ ❼ ⑧ ❺ ⑩⑨❸ ❶ ❼ ⑨ ❻ ❸⑨❿ ➂ ❶❿⑧ ➅ ❻ ❸ ➀ ❻ ❽❶➀ ❹ ⑨❿⑨ ➂ ⑨➀⑨❼ ➇ ❶❸ ❶➀ ➇ ❿⑨❿ ❻ ❸➀ ➇ ➄ ➆ ❼⑦ ❶❼⑨❿➄ ❽ ❻ ❸❿⑨ ➅⑧ ❺ ⑨❸ ❷❻ ❸➀ ➇ ❼⑦⑧ ❷ ⑧ ❻ ⑩⑧❼ ❺➇❻ ➒❼⑦⑧❼❶ ❺❷ ⑧❼❿➑ ❺ ➒❶❽⑧❾ ❶❼ ❽⑦➈ ✏ ☛ ✣ ✄ ✠ ✤ ✠✟ ✎ ✦ ✑ ✱ ➡ ❻ ➀➀ ❻➊ ⑨❸ ❷ ❶❿⑨⑩❾➀⑧❿⑧❼ ❽ ❻❹ ⑧ ❺ ⑨❸ ❷ ❶➀ ❷❻➆ ❺ ⑨❼⑦⑩➄ ❻ ❸⑧ ❻❺ ⑩ ❻❺ ⑧➎ ➏➉❿❶ ❺ ⑧❿⑧➀⑧❽❼⑧ ➅❶❿❼⑦⑧ ❹ ⑨⑧ ➊ ❾ ❻ ⑨❸❼ ➍❿➐ ➊ ⑦⑨❽⑦ ❽ ❻ ➀➀⑧❽❼⑨ ❹ ⑧➀ ➇ ➂ ⑧❿❼ ❿ ❶⑩❾➀⑧ ❶➀➀ ❻ ➒ ❼⑦⑧ ❿➑ ❺ ➒❶❽⑧ ❾ ❶❼ ❽⑦ ➊ ⑨❼⑦⑨❸ ❿❾⑧❽⑨➓ ❽❶❼⑨ ❻ ❸➈ ✖✗☎ ✑ ✠ ☞ ✒✓✜✢✔✠ ✕ ✣ ✗ ✑ ✖✜✜✛✕ ✡ ✆ ✛ ✡☛ ✠✗✔ ⑥⑦⑧ ✖✖❶➀ ❷❻❺ ⑨❼⑦⑩ ⑧⑩❾➀ ❻➇ ❿ ❶❿⑧❾ ❶ ❺ ❶❼⑧⑩⑧ ❶❿➑ ❺ ❶ ➂ ⑨➀⑨❼ ➇ ⑩ ❶ ➆ ❼ ❺ ⑨ ➌ ❼ ❶⑨➀ ❻❺ ⑧ ➅➒ ❻❺ ⑧ ❶ ❽ ⑦❿⑧ ❷ ⑩⑧❸ ❼ ⑧ ➅ ❺ ❻ ➑ ❷ ⑦⑩ ❻ ➅⑧➀❿➑ ❺ ➒❶ ❽ ⑧❾ ❶ ❼ ❽ ⑦➈ ⑥⑦⑨❿❶❾❾ ❺ ❻ ❶❽⑦ ❺ ⑧❿➑➀❼❿⑨❸❶❸➑⑩ ➂ ⑧ ❺❻ ➒⑩⑧ ❶❿➑ ❺ ❶ ➂ ⑨➀⑨❼ ➇ ⑩ ❶❼ ❺ ⑨ ➆ ❽⑧❿➄ ⑧ ❶❽⑦ ❽ ❻ ⑩❾ ❶ ❺ ❶❼⑨ ❹ ⑧➀ ➇ ❿⑩ ❶➀➀➄ ➒ ❻❺ ❶ ❷ ⑨ ❹ ⑧❸ ❻➂ ➃⑧❽❼ ❺ ⑧❽ ❻ ❸ ➆ ❿❼ ❺ ➑❽❼⑨ ❻ ❸❼❶❿ ➋ ➈ ✳❸ ❽ ❻ ❸❼ ❺ ❶❿❼ ➄ ❼⑦⑧ ❽ ❻ ❸ ❹ ⑧❸❼⑨ ❻ ❸ ❶➀⑩⑧ ❶❿➑ ❺ ❶ ➂ ⑨➀ ➆ ⑨❼ ➇ ⑩ ❶❼ ❺ ⑨ ➌ ⑨❸ ❹❻ ➀ ❹ ⑧❿ ❶ ❿⑨❸ ❷ ➀⑧➄ ⑩ ❻ ❸ ❻ ➀⑨❼⑦⑨❽ ⑩ ❶❼ ❺ ⑨ ➌ ❽ ❻❹ ⑧ ❺ ⑨❸ ❷ ❶➀➀❿➑ ❺ ➒❶❽⑧ ❾ ❻ ⑨❸❼❿ ❶❸ ➅❶➀➀❽❶❸ ➅⑨ ➅❶❼⑧ ❹ ⑨⑧ ➊ ❾ ❻ ⑨❸❼❿➈ ➡⑨ ❷ ➑ ❺ ⑧ ✴ ⑨➀➀➑❿❼ ❺ ❶❼⑧❿ ⑦ ❻➊ ❼⑦⑧ ✖✖ ❶➀ ❷❻❺ ⑨❼⑦⑩ ❺ ⑧❿➑➀❼❿ ⑨❸ ❶ ❿⑦ ❶ ❺ ❾ ❸⑧❼ ❺ ⑧ ➅➑❽❼⑨ ❻ ❸⑨❸❼⑦⑧❿⑨ ↔ ⑧ ❻ ➒ ❼⑦⑧ ❽ ❻ ⑩❾ ❻ ❿⑨❼⑧⑩ ❶❼ ❺ ⑨ ➌ ➈ ❯✘❏◆● ❏■❍❉◆❨❍ ▲❏❋❨◆● ❩❋▲❊● ❬ ❉● ❈ ▲❍ ▲❍❋❪ ▲❏▲● ❋● ❙ ❪❋ ▲● ● ❈❉❍ ❍●▲❲❋✙❏▲● ❈❋❏❱❏❋❍❉❩■▲❊ ◆ ▼▼ ❊■❍❉◆❨❍ ▲❏❋❩❋▲❊● ❬ ❉● ❈ ▲● ● ❈❋ ❪❏◆◗❊❋❳ ❏❋❍◆❊■● ❉◆❨❍■◗ ❍●▲❲❋❴
