• Aucun résultat trouvé

Performance Analysis of two Sequential Monte Carlo Methods and Posterior Cramér-Rao Bounds for Multi-Target Tracking

N/A
N/A
Protected

Academic year: 2021

Partager "Performance Analysis of two Sequential Monte Carlo Methods and Posterior Cramér-Rao Bounds for Multi-Target Tracking"

Copied!
20
0
0

Texte intégral

(1)

HAL Id: inria-00072138

https://hal.inria.fr/inria-00072138

Submitted on 23 May 2006

HAL is a multi-disciplinary open access archive for the deposit and dissemination of sci- entific research documents, whether they are pub- lished or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers.

L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d’enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.

Performance Analysis of two Sequential Monte Carlo Methods and Posterior Cramér-Rao Bounds for

Multi-Target Tracking

Carine Hue, Jean-Pierre Le Cadre, Patrick Pérez

To cite this version:

Carine Hue, Jean-Pierre Le Cadre, Patrick Pérez. Performance Analysis of two Sequential Monte Carlo Methods and Posterior Cramér-Rao Bounds for Multi-Target Tracking. [Research Report] RR-4450, INRIA. 2002. �inria-00072138�

(2)

ISRN INRIA/RR--4450--FR+ENG

a p p o r t

d e r e c h e r c h e

THÈME 3

INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE

Performance analysis of two sequential Monte Carlo methods and posterior Cramér-Rao bounds for

multi-target tracking

Carine Hue — Jean-Pierre Le Cadre — Patrick Pérez

N° 4450

Avril 2002

(3)
(4)

7

891 :.;8<#=?>@8/AB&(5C DE&(FG=H 1I3#1J(I

K'LNMPORQ1SUTWV1SYX[Z]\NSYLNQ#^_ ORS`MaMaS[b%ScK'LNd1MPSYeZ_fL?ghMaOjikl_nm`MaS`oBp

qrts*u'vw8xzy|{~}vP€G`‚}Gƒ…„`{Wrt„`u†u'v*‡Ruˆ‚Fr?ƒ…{tv`‰

ƒŠuŒ‹ˆva*‰tŽt„ˆ{t{tPvPP‰t‚„`{t{?ŒƒGˆ{?‚va

‘]€G„Œ’“v*}•”–ƒ“}F

—–Œ˜t˜N„ˆ€}•ŽHv €va‚Frtv*€F‚Frtv™{Nš1›ˆ›~œˆ–xŸž# Y€Gƒ…¡#¢ˆˆ~¢£x ¤P¥)˜?Œ‹`vP

¦¨§1©Pª*«¬t­Œª`® qr?v[u8¯?¡°}Gƒ°‡R}Gˆ€‹`v}¨}G€G`‚F±~ƒŠ{t‹²ˆ¡…‹`„ˆ€Gƒ°}Grtu‹ˆvP{tv*€FŒ¡Š¡Š³²˜t€GvPv*{~}W}“´3„,µ?`¶ƒ‚·ƒŠ{t‹ˆ€GvPŽtƒ…vP{`}F*¸3Œ{lva“}Gƒ…u}Gƒ…„`{

Œ¡Š‹ˆ„`€ƒ…}r?u¹‚*„ˆ¯t˜t¡ŠvPŽ²´%ƒ°}GrcŽt}F[ˆG„Y‚*ƒŠŒ}ƒŠ„ˆ{ºu'v}Grt„HŽ9»ºy|{,}Grtv¡Š`“}†³ˆvPˆ€GP‰}rtv¯?v(„ˆ¼–¶va½~¯tv*{~}ƒŒ¡¾·„`{`}GvÀ¿3ˆ€¡Š„

u'v}Grt„HŽtÁr ˆ‹`€„´%{'ƒŠ{¨uŒ{Y³)ˆ˜t˜t¡ŠƒŠ‚P}ƒŠ„ˆ{¨Žt„ˆuŒƒŠ{?Áˆ{?Ž'ƒŠ{˜?Œ€}ƒ‚¯t¡Œ€Áƒ…{}FŒ€G‹ˆv*}}€Fˆ‚F±Yƒ…{?‹?»1qrtv–¶}G}Gv–ŽHƒ“}G€ƒŠµt¯H}Gƒ…„`{

ƒ9}r?v*{va“}Gƒ…u}GvPŽ ´%ƒ…}r)Â?{tƒ…}v´vPƒ…‹`r`}GvPŽ ¯tuČ¼?Änƒ…€Fˆ‚¡h´•Å‚*v*{~}vP€vaŽ Œ€G„ˆ¯t{?ŽÆ˜?Œ€}ƒ‚¡ŠvPhƻŔvP€³f€GvP‚vP{~}¡Š³ˆ‰P}“´„•{?v*´

Œ¡Š‹ˆ„`€ƒ…}r?u'µ?`¶vaŽ „ˆ{†¶va½`¯?v*{~}ƒŒ¡H¾·„`{`}Gv¿3ˆ€¡Š„–u'v}Grt„HŽt1r?h `vÁµNv*v*{)˜t€G„ˆ˜N„`vPŽ ƒŠ{?ŽHvP˜ vP{?ŽHv*{~}G¡…³ }G„f„ˆ¡Š ˆvu8¯t¡…}ƒ…‡R}GŒ€G‹ˆv*}

}€Fˆ‚F±YƒŠ{t‹?»†qrtv'Â?€F“} „`{tv¶„`¡… `vP–}rtv¨ŽtŒ}GÀˆG„Y‚*ƒŠŒ}ƒŠ„ˆ{Bˆfƒ…{B}GrtvLj„`ƒ…{~} ‘]€G„ˆµ?ˆµtƒ…¡Šƒ“}GƒŠ‚'Äf}GÀžn„H‚ƒ}ƒŠ„ˆ{ÉÈjÊËtÌÎÍÏ~Ð

˜tƒ…€Gƒ…}–´%rtv*€GvP`}r?v8¶va‚„`{?ŽÀ¯?vP%ƒŠ{?ŽHvP˜ vP{?ŽHv*{~}f˜t€„`µ?Œµ?ƒ…¡ŠƒŠ¶}ƒ‚ ˆGƒ…‹`{tu'v*{~}GP»y|{À}Grtƒ–˜?ˆ˜ vP€P‰ ´vÂ?€G¶}–‚„`u'˜?Œ€Gv£}rtvPƒ…€

˜Nv*€¼Ñ„ˆ€Gu'ˆ{?‚vn¼Ñ„ˆ€%µNvPˆ€ƒŠ{t‹~“‡Ò„ˆ{t¡Š³Œ˜t˜?¡…ƒ‚*Œ}ƒŠ„ˆ{?P»qrtv*{ʼnH´3v “}G¯?ŽH³(rt„´l}r?v ˜ „~“}Gv*€Gƒ…„`€•¿€FŒu'P€¶‡|—•Œ„8µ „`¯t{?Ž9‰t‹`ƒ… YƒŠ{t‹'

¡Š„´vP€]µ „`¯t{?Ž„`{'}rtvfvP¶}ƒŠu}Gƒ…„`{v*€G€„`€Á‚„ Œ€GƒŒ{?‚*vˆ‰ˆ‚PŒ{µNv–„ˆµt}GŒƒŠ{tvaŽ†¼Ñ„ˆ€3u8¯t¡…}ƒŠ˜t¡Šv•}Gˆ€‹`v}F*»qrt€vPv–{tvP´Óµ „`¯t{?Žt3Œ€Gv

„ˆµt}GŒƒŠ{tvaŽ(`‚*‚„`€GŽtƒ…{t‹)}„†}GrtvŽt}F'ˆG¶„H‚ƒ}Gƒ…„`{(`¯tu'˜H}ƒŠ„ˆ{ %Œ{?ŽŒ€Gv£v* Œ¡Š¯?}GvPŽW¼Ñ„ˆ€%µNvPˆ€ƒŠ{t‹`¶‡Ò„ˆ{t¡Š³¨‚*v*{?ˆ€ƒŠ„`P»

Ô·Õ~ÖÎ×Ø8Ù «Ú©`® u8¯t¡…}ƒ…‡j}FŒ€G‹ˆv*}W}€Fˆ‚F±YƒŠ{t‹?‰•vP½~¯tvP{~}ƒŒ¡ ¾·„ˆ{~}GvÛ¿3Œ€G¡Š„²u'v}Grt„HŽt*‰fŽt}F²`„H‚ƒ}ƒŠ„ˆ{#‰•µ vaŒ€Gƒ…{?‹`¶‡R„`{t¡…³`‰

˜N„`¶}v*€GƒŠ„ˆ€–¿€Gˆu'*€‡Ò—•ˆ„8µN„ˆ¯t{ Žt*‰?˜ vP€¶¼Ñ„`€uŒ{ ‚v£Œ{?ˆ¡…³HƒŠP»

ÜÝÑÞ#Ýàß*á[âNãähåæç“èàéRåêjëìhç]ÞÅç¶äaähç“éíîŒï9ðFèàåñähçòóôhçõåñèàåñéÒðaòö…è

÷

ÝÑÞ#Ýàß*á[âÎï9øÞ߈îhùñç“ú¶ðFìhèàçGõåñèàåñéÒðaòö…è

û]ü

åñú“èjýéjýFö…ê#ÞÅç“éRç¶ðFèjúRþ~î`ï9ðFÿhèàåñìçîŒç“èjçõÿ%åñú“èjýéjýFö…ê¶òú“ýÿ

(5)

7 7

Ac 1%C5(/.;18<Å=?>D 7

Å*

7

&( #&² &FF=t3AÀ%

© ® vPˆ¡…‹`„ˆ€Gƒ°}Grtu'vP†ŽHv·¶¯?ƒ… Yƒ%u8¯?¡°}Gƒ°‡|‚ƒŠµt¡ŠvP„ˆ{~}v*{ɋˆ*{?*€FŒ¡‚„ˆu'˜N„`P'ŽHvUŽHvP¯²P¡…Pu†vP{~}G†¼Ñ„ˆ{ ŽtŒu'v*{t‡

}Gˆ¯À¸`¯t{¨ˆ¡…‹`„ˆ€Gƒ°}Grtu'v•ŽvP¶}ƒŠu'Œ}ƒŠ„ˆ{¨‚*„ˆ¯t˜t¡Š–h `vP‚¯t{tvnu'}r?„YŽtvnŽˆG¶„H‚*ƒŠŒ}ƒŠ„ˆ{'ŽHvPu'vP¯t€va*»]¿vPŽHv*€G{tƒŠs*€GvP]ˆ{t{tPvPP‰

¡ŠvP3u'}r?„YŽtvP%ŽvP¶}ƒŠu}ƒŠ„ˆ{¶a½~¯tv*{~}ƒŠv*¡Š¡ŠvP3ŽHv ¾·„ˆ{~}v¿3Œ€G¡Š„8„ˆ{~}%‚„`{t{Y¯W¯t{(ƒ…{~}P€*}3‹`€Gˆ{?ŽHƒGŒ{~}ŽtŒ{?ŽHvf{t„`u8µt€Gv*¯

ŽH„`u'ˆƒ…{?vP'ŽŒ˜t˜t¡Šƒ‚*}Gƒ…„`{?)³²‚„`u†˜?€ƒ8˜N„ˆ¯?€†¡ŠvÀ˜tƒ“}FŒ‹ˆv`» c¡…„`ƒ%ŽHv·ŽHv*{?ƒ…}ÀŽHvÀ¡}F}vP¶}'ˆ¡…„`€G)vP¶}ƒŠu'*v˜?Œ€'¯t{?v

„ˆu'u'v8Â?{?ƒ…v'˜N„ˆ{?ŽHP€Pv)ŽHv'¡Š„ˆƒ£ŽHv†ÄnƒŠ€G`‚)‚*v*{~}€G*va–vP{BŽHva“˜?ˆ€¶}GƒŠ‚*¯t¡ŠvPF»t„`{?ŽHa ¶¯t€£‚vafu†*}rt„HŽHva£˜?Œ€}ƒ‚¯?¡Šˆƒ…€GvPP‰

ŽHvP¯c{t„`¯t ˆvaŒ¯BŒ¡Š‹ˆ„ˆ€Gƒ…}rtu'vP£„`{~} }€GsP €GP‚*v*u'u'v*{~}}Gƒ…{?Žt*˜Nv*{?Žtˆu'u†vP{~}8˜t€G„ˆ˜N„`*vP£˜N„ˆ¯?€¡…v¨¯tƒŠ Yƒ]u8¯t¡…}ƒ…‡|‚ƒŠµt¡…va*»

v)˜t€Gv*u'ƒ…vP€•}G€Gˆƒ°}Gv¡ˆG„Y‚*ƒŠŒ}ƒŠ„ˆ{UŽHv†ŽH„ˆ{?{t*va–h ˆva‚£¯t{tv†Œ˜t˜t€G„H‚Frtv8v*u)µt¡Šˆµt¡ŠvW‚*v*¡Š¡…v†ŽH¯[Ç`„ˆƒŠ{`}n‘]€„`µ?Œµ?ƒ…¡ŠƒŠ¶}ƒ‚Äf}F

ž–G„Y‚*ƒŠŒ}ƒŠ„ˆ{ƒ…¡…}vP€–ÈjÊËtÌÎÍÏ~Ð]Œ¡Š„ˆ€F½~¯tv%¡Šv•vP‚„`{?Ž†ƒ…{~}G€„HŽH¯tƒ…}ÁŽHva˜t€G„ˆµ?ˆµtƒ…¡Šƒ…}PŽ`„H‚ƒ}ƒŠ„ˆ{#»#Änˆ{?]‚*v}ÁŒ€}ƒ‚¡Švˆ‰`{t„ˆ¯ 

‚„`u'˜?Œ€G„ˆ{?%}„ˆ¯t}fŽŒµN„ˆ€FŽÀ¡…va–˜Nv*€¼Ñ„ˆ€GuŒ{?‚*vPnŽHv)‚*vP–Žtv*¯UŒ¡Š‹ˆ„`€ƒ…}r?u†va•Žtˆ{?–¯?{[‚„`{`}Gv Y}v)ŽHv8˜tƒ¶}GŒ‹`v8˜?ˆ€–u'vP¯t€Gv

ŽŒ{t‹`¡…va*»!–„ˆ¯?–}¯ ŽHƒ…„`{?•vP{?¯tƒ°}Gv8¡"v#Y}v*{ ¶ƒŠ„ˆ{UŽHv8¡v H˜t€GvPG¶ƒŠ„ˆ{·ŽHv8¡ŠµN„ˆ€G{tv8Žtv'¿€FŒu'*€‡Ò—–Œ„%$&('*)+-, ./0'1./#Œ¯·˜?€„ˆ‡

µt¡Šs*u'v•ŽvP¶}ƒŠu}ƒŠ„ˆ{u)¯t¡…}ƒ…‡Ò‚*ƒ…µt¡ŠvPP‰`ŒÂ?{Ž„ˆµH}Gv*{tƒŠ€]¯t{tv%µN„ˆ€G{tv%u'ƒŠ{tƒ…uˆ¡…v•¯t€]¡ ‚„ Œ€GƒŒ{?‚*v3ŽHv%¡"v*€G€vP¯t€]ŽvP¶}ƒŠu'Œ}ƒŠ„ˆ{Å»

q€„`ƒŠnv H˜t€GvPG¶ƒŠ„ˆ{ –Œ{ Œ¡Š³`}GƒŠ½~¯tva–„ˆ{~}nvP{[€GPˆ¡…ƒ…})„ˆµH}Gv*{Y¯tvPfv*¡Š„ˆ{U¡ŠvPfrY³Y˜ „ˆ}rtsa¶vanŽˆG„Y‚*ƒŠŒ}ƒŠ„ˆ{·Pu†ƒvPP»32Á¡…¡ŠvP£„ˆ{~}

v*{tÂ?{À* Œ¡Š¯t*va˜ „`¯t€%¡Šv ˜tƒŠ¶}Gˆ‹ˆv`»

4;Ù ªP© × ­65 ©'® ¯tƒŠ Yƒ?u8¯?¡°}Gƒ°‡|‚ƒŠµt¡ŠvPP‰`u'}Grt„HŽHvP3P½~¯tv*{~}Gƒ…vP¡…¡ŠvPŽHvn¾·„`{~}vf¿3ˆ€¡Š„?‰~ˆG¶„H‚ƒ}Gƒ…„`{ŽHvnŽH„`{t{tPvPP‰`˜tƒ¶}GŒ‹`v•˜?ˆ€

u'vP¯t€Gv£Žˆ{t‹ˆ¡ŠvPP‰Hµ „`€{?vP%ŽHv8¿€FŒu'*€‡Ò—–Œ„7$8&9':)+;,#./0':./‰ÎŒ{?ˆ¡…³HvfŽtv ˜ vP€¶¼Ñ„`€uŒ{ ‚vPP»

(6)

) *

)#15(&]

t„`€(º¡Š„ˆ{?‹Û}ƒŠu†v`‰&+ Œ¡ŠuŒ{ÓÂ?¡…}vP€G(Œ{?ŽÓv#Y}v*{ ŽHvPŽ,+ ˆ¡…uŒ{Ó ¡°}Gv*€F¨´3v*€GvÀ}rtvB‚¡ˆG¶ƒ‚*ˆ¡–¶„`¡…¯t}ƒŠ„ˆ{?¨¼Ñ„ˆ€¨va“}Gƒ…u}Gƒ…„`{

˜t€G„ˆµt¡Šv*uP».-3³†Â?¡…}vP€ƒŠ{t‹}Grtv•}“´3„ Â?€F¶}u'„ˆu'v*{~}FÁ„ˆ¼9}rtvf“}F}vfŽHƒ“}G€ƒŠµt¯H}Gƒ…„`{ʼnˆ}Grtv*³˜?€„ YƒŽHv–Œ{„`˜H}ƒŠuŒ¡Î¶„`¡…¯t}ƒŠ„ˆ{¨„`{t¡…³

ƒ…¼N}Grtv–ŽH³Y{?ˆu'ƒŠ‚%ˆ{?Ž†u†vaˆ¯t€Gv*u'v*{~}u'„YŽtv*¡]Œ€Gv&/£Œ¯?GƒŠˆ{†ˆ{?Ž†¡…ƒŠ{tvPˆ€P».0lrtvP{'}€Fˆ‚F±Yƒ…{?‹f{?„Œ}]„ˆ{?v•¶ƒŠ{t‹ˆ¡Šv%µt¯H}u8¯t¡…}ƒŠ˜t¡Šv

}Gˆ€‹`v}F*‰}r?vŽHƒ21¨‚¯t¡…}“³º¡Šƒ…va)„`{º}r?vW¼à`‚}†}r?Œ})}Grtv(va“}Gƒ…uŒ}ƒŠ„ˆ{,„ˆ¼•}rtv(}Gˆ€‹`v}F8Œ{ ŽÛ}rtvÀˆG„Y‚*ƒŠŒ}ƒŠ„ˆ{ºµNv}“´3v*vP{,}r?v

u'vP`¶¯t€Gv*u'vP{`}F Œ{?Žc}Grtv'}Gˆ€‹`v}G£u)¯?¶}µ v¨„ˆ¡Š ˆvaŽ¨’“„`ƒ…{~}¡Š³ˆ»2 HƒŠ¶}ƒŠ{t‹Uu)¯t¡°}Gƒ°‡R}Gˆ€‹`v}£}€Fˆ‚F±YƒŠ{t‹ÀŒ¡Š‹ˆ„ˆ€Gƒ…}rtu£‹ˆvP{tv*€FŒ¡Š¡Š³

˜t€GvPv*{~}Á}“´3„8µ ˆƒŠ‚nƒ…{?‹ˆ€GvPŽHƒŠv*{~}GP¸1Œ{Wva“}Gƒ…uŒ}ƒŠ„ˆ{Wˆ¡…‹`„ˆ€Gƒ°}GrtuC‚„ˆ¯?˜t¡…vaŽ¨´%ƒ…}r)ŽtŒ}G)ˆG¶„H‚ƒ}Gƒ…„`{u'v}r?„YŽÅ»]ž•u'„ˆ{t‹)}r?v

u'„`¶}8˜N„ˆ˜t¯t¡Œ€†Œ¡Š‹ˆ„`€ƒ…}rtu£µ?`¶vaŽÛ„ˆ{ Èàv Y}vP{?ŽHvPŽ Ð3+ Œ¡ŠuŒ{BÂ?¡…}vP€GP‰Œ€Gv'}rtv(ÊË?ÌÎÍ#Ï54…¤76R‰}r?vW¾·¯t¡…}ƒŠ˜t¡Šv98•³Y˜N„Œ}GrtvPƒŠ

q€G`‚F±ˆv*€È:;<'9Ð4ñ¢=6%„ˆ€†}Grtv(‘Á€„`µ?ŒµtƒŠ¡ŠƒŠƒ°}F‚>;<'™ÈjË?&;<'9Ð94w 6R‰&4›@6R»,qrtvP³º Œ€G³º„ˆ{,}GrtvÀˆG¶„H‚ƒ}Gƒ…„`{ºu'v}r?„YŽ¯?vPŽ9»

0lƒ…}r}rtvÀŽHv* `v*¡Š„ˆ˜tu'vP{`}†„Œ¼%}Grtv·¶va½`¯?v*{~}ƒŒ¡3¾·„ˆ{~}vU¿3Œ€G¡Š„²ÈNÐ)u'v}r?„YŽ?*‰]{?v*´C„ˆ˜?˜ „`€¶}G¯t{tƒ…}ƒŠvP)¼Ñ„ˆ€†u8¯t¡…}ƒ…‡R}GŒ€G‹ˆv*}

}€Fˆ‚F±YƒŠ{t‹¨r?h `v8Œ˜?˜ vaŒ€GvPŽ9»£qrtv)¶}GŒ}v†ŽHƒŠ¶}€GƒŠµt¯H}ƒŠ„ˆ{cƒŠ–}r?v*{[va“}Gƒ…uŒ}vPŽ[´%ƒ°}Gr[Â {tƒ°}Gv)´3v*ƒŠ‹ˆr~}GvPŽU¯tu „Œ¼ÁÄnƒŠ€G`‚¡h´•

‚vP{~}v*€GvPŽÉŒ€G„ˆ¯?{?Ž Ƙ?Œ€}ƒ‚¡ŠvPhÆ»ÉqrtƒŠ¨´„`€±º˜t€GvPv*{~}F†ˆ{?ŽÉ‚„ˆu'˜?ˆ€va)}“´„ºŒ¡Š‹ˆ„`€ƒ…}r?u'P‰]˜t€G„ˆ˜N„`vPŽ²ƒ…{ ŽHv*˜Nv*{?Žtv*{~}¡Š³ˆ»

qrtvP³cŒ€Gv¨‚¡Š„`v'ƒ…{Û}GrtvWv*{?v'}r } }r?v*³B¯?¶vƒŠ{Û}r?vWˆu'v†´h³U}Grtv9,u†v*}rt„HŽtP»Wy|{BAHvP‚}Gƒ…„`{,¢H‰}rtƒ8‚*„ˆu'u'„ˆ{

¼Ñ€FŒu'v*´3„ˆ€G±ƒÂ?€F“}ÁŽtvPG‚€Gƒ…µNvPŽ9»qrtvP{'}rtv•}“´„ˆ¡…‹`„ˆ€Gƒ°}Grtu¶„ˆ‡Ò‚PŒ¡Š¡…vaŽCD$EÊËtÌÎÍ·ˆ{?ŽFËtφŒ€Gv%˜t€GvPv*{~}vaŽ9»GAHvP‚}Gƒ…„`{w

ƒ3ŽtvPŽHƒ‚*Œ}vPŽ}„)}rtv£‚„`u†˜ Œ€GƒŠ„ˆ{„ˆ¼Å}rtvf˜Nv*€¼Ñ„ˆ€Gu'ˆ{?‚vn„Œ¼ÅµN„Œ}Grˆ¡…‹`„ˆ€Gƒ°}Grtu]ƒŠ{(ƒ…u)¯t¡ŠŒ}vaŽ¨‚*v*{?ˆ€ƒŠ„`Á¯?ƒ…{t‹†µNvPŒ€GƒŠ{t‹`¶‡

„ˆ{?¡…³c„ˆµ?v*€G }ƒŠ„ˆ{ *»'y|{AYvP‚}ƒŠ„ˆ{ۛ?‰#}rtv(ŽHvÂ?{?ƒ°}Gƒ…„`{ہˆ{?Žc}rtv¨Žtv*€Gƒ… }Gƒ…„`{c„ˆ¼}Grtv¨˜N„`¶}vP€ƒŠ„ˆ€8¿€FŒu'*€‡Ò—–Œ„µ „`¯t{?ŽÛŒ€Gv

€GvP‚*ˆ¡…¡ŠvPŽ²Œ{?Ž²€va‚¯t€F¶ƒŠ ˆvP¡…³Bv H˜t€GvPGvPŽÛ¼Ñ„`€'ƒŠ{t‹ˆ¡Šv¨}FŒ€G‹ˆv})Â?¡…}v*€GƒŠ{t‹?»,qrtvP{²}Grtvv Y}vP{?¶ƒŠ„ˆ{„Œ¼n¯?‚FrɁUµN„ˆ¯t{?Ž²}„c}r?v

‚*`¶vW„Œ¼%u8¯t¡…}ƒŠ˜t¡Šv¨}FŒ€G‹ˆv}8Â?¡°}Gv*€Gƒ…{?‹UƒŠ)“}G¯?ŽHƒŠvPŽ9¸}r?€vPv¨µ „`¯t{?Žt†Œ€GvƒŠ{º¼àˆ‚})ŽHv*€GƒŠ ˆvPŽºŽtv*˜Nv*{?ŽHƒŠ{t‹c„ˆ{Û}r?v(ˆG„Y‚*ƒŠŒ}ƒŠ„ˆ{

ˆG¯tu'˜H}ƒŠ„ˆ{?P»qrtv*³(Œ€GvfvP Œ¡Š¯?}GvPŽ(µ~³(¾·„ˆ{~}v)¿3ˆ€¡Š„'¶ƒŠu8¯t¡}Gƒ…„`{?P»

H I

4(KJMLNL

7

1 A*• * 4I4)@MO%JQP 34(5

RTSU V,WYX(W[Z?\G]_^`Za\cbdW<egf%Zah

v*}Gi/µNv]}r?vÁ{Y¯tu8µNv*€„Œ¼Y}FŒ€G‹ˆv}F9}G„%}€Fˆ‚F±Î»#qrtƒ{~¯?u8µNv*€#ƒˆG¶¯tu'vaŽf}„–µNvÁ±Y{t„´%{ˆ{?ŽfÂ9HvPŽ ¼Ñ„ˆ€Å}GrtvÁu'„`u†vP{~}P»qr?v

ƒŠ{?ŽHv j1ŽHvPƒŠ‹ˆ{?Œ}vPÁ„ˆ{tvnŒu'„ˆ{t‹}rtvkiz}GŒ€G‹ˆv*}G]ˆ{?ŽƒÁˆ¡…´h³H¯?vPŽ¨`Á¯t˜ vP€GG‚€GƒŠ˜H}P»1¾·¯t¡…}ƒ…}Gˆ€‹`v}Á}G€G`‚F±Yƒ…{t‹‚*„ˆ{?ƒ“}F

ƒŠ{¨vP¶}ƒŠu}ƒŠ{t‹8}rtvf“}F}v– ˆvP‚}„`€ÁuˆŽHv–µ~³‚*„ˆ{?‚P}vP{?}Gƒ…{?‹ }rtvf“}F}Gv• ˆva‚}„`€GÁ„Œ¼ÅŒ¡Š¡ }GŒ€G‹ˆv*}GP»yÒ}3ƒŠÁ‹ˆvP{tv*€FŒ¡Š¡…³'ˆG¯tu'vPŽ

}r }}rtvf}FŒ€G‹ˆv}FŒ€Gv–u'„ Yƒ…{t‹'ˆ‚P‚„`€GŽHƒŠ{t‹8}„'ƒ…{ ŽHv*˜Nv*{?Žtv*{~}•¾UŒ€G±ˆ„ YƒŒ{¨ŽH³Y{?ˆu†ƒ‚*P»ž3}%}ƒŠu'vml‰#n_ocprq nts

o$u7vv7v[u nxw

oBy

¼Ñ„ˆ¡Š¡Š„´•3}rtv ¶}G}Gv vP½~¯?Œ}ƒŠ„ˆ{ÀŽHvP‚*„ˆu'˜ „~¶vaŽWƒŠ{zi ˜?ˆ€¶}GƒŠˆ¡ÎvP½~¯?}Gƒ…„`{?P¸

n|{o p~}{

o

q n|{o€

s

u`‚

{

o y ƒ

j.pQ„

u7v7vv<u i v

ȓ¤hÐ

qrtvn{t„ˆƒ¶va&q

‚ { o…y

Œ{ Žzq

‚

{‡†

oy

Œ€Gv•¯t˜t˜N„`vPŽ„`{t¡…³)}„)µ vn´%rtƒ…}v–µN„Œ}Gr}vPu'˜ „`€Gˆ¡…¡Š³†ˆ{?Ž¨˜?}GƒŠˆ¡…¡Š³ˆ‰YŒ{ Ž'ƒ…{?Žtv*˜Nv*{?ŽHvP{~}¼Ñ„`€

j(ˆp,jŠ‰à»

qrtv¨„`µ?v*€G hŒ}ƒŠ„ˆ{B ˆva‚}„`€8‚„`¡…¡ŠvP‚}vaŽBŒ}}ƒŠu'vNl£ƒŠ)ŽHv*{?„Œ}vaŽBµ~³t‹ opŒq ‹as

o u7vv7v<u

‹ŽT

o y

»·qrtv¨ƒŠ{?ŽHv ‘[ƒŠ ¯ ¶vaŽºˆ£Â?€F¶}

¯t˜ vP€GG‚€GƒŠ˜H}•}„(€v*¼Ñv*€–}„W„`{tv„ˆ¼}rtv’9ou'vP`¶¯t€Gv*u'vP{`}F*»nqrtv ˆva‚}G„ˆ€&‹@o3ƒ–‚*„ˆu'˜N„`vPŽ·„ˆ¼Žtv}va‚}Gƒ…„`{Uu'vPˆ¯t€Gv*u'v*{~}F

Œ{ Ž)‚*¡…¯H}}vP€]u'vPˆ¯t€Gv*u'v*{~}F*»qrtv¼àŒ¡¶v%ˆ¡Šˆ€u1Œ€Gv%ˆG¶¯tu'vaŽ}G„fµNv%¯t{tƒ…¼Ñ„ˆ€Gu'¡…³†ŽHƒ“}G€ƒŠµt¯H}GvPŽ†ƒ…{)}r?v%„ˆµ?v*€G }ƒŠ„ˆ{'Œ€GvP?»

qrtvPƒ…€{Y¯tu)µ vP€8ƒˆG¯tu'vPŽc}„[ˆ€ƒv'¼Ñ€„`u À‘1„ˆƒ„ˆ{ºŽHvP{?ƒ°}“³c„Œ¼%˜?Œ€FŒu'v*}v*€”“

‚

´%rtvP€v

‚

ƒŠ}rtv¨ `„ˆ¡Š¯tu'v„Œ¼}r?v

„ˆµ ¶vP€ }Gƒ…„`{·Œ€GvP¨ˆ{?Ž‘“[}rtv){~¯?u8µNv*€f„Œ¼¼àŒ¡v8Œ¡Œ€Gu•˜Nv*€–¯?{tƒ°}£ ˆ„`¡…¯?u†v`»–ž–n´3v)ŽH„¨{?„Œ}n±Y{t„´Ã}Grtv8„`€ƒŠ‹ˆƒŠ{·„Œ¼]vaˆ‚Fr

u'vP`¶¯t€Gv*u'vP{`}a‰#„`{tvr?ˆ }„UƒŠ{~}€G„YŽt¯?‚v'}Grtv¨ ˆva‚}G„ˆ€3• o }„UŽHva‚*€ƒŠµNv'}rtvW`„H‚ƒ}Gƒ…„`{?£µ v*}“´vPv*{B}r?v¨u'vPˆ¯t€Gv*u'v*{~}F

Œ{ ŽÀ}rtv8}Gˆ€‹`v}GP» 2Á`‚FrU‚„`u†˜N„ˆ{?v*{~}m•z–o ƒf¨€FŒ{?ŽH„`u@ ˆ€ƒŒµt¡Šv£}r }f}GŒ±`vP–ƒ°}F– Œ¡Š¯tva–Œu'„`{t‹z—=˜

u7vv7vu

iš™~»–qrY¯?*‰

• –

o

pQjƒŠ{?ŽHƒ‚*Œ}vP•}r?Œ}‹

–o

ƒŠnˆG¶„H‚*ƒŠŒ}vPŽ´%ƒ…}r·}Grtv”j›œÀ}GŒ€G‹ˆv*}P»%y|{À}GrtƒŠf‚*`¶v`‰?‹

–

o

ƒŠn€GvPŒ¡Šƒ‡žP}Gƒ…„`{À„Œ¼1}rtv†“}G„H‚Fr?ˆ¶}ƒ‚

˜t€G„H‚vPGP¸

Ÿ –

o

p~ ‘{o qn|{o

u¡

–

o y

ƒ…¼%• –o p~j

v

Èj¢`Ð

ž•‹~ŒƒŠ{ʼn~}rtv£{t„`ƒŠvPmq

¡ – o y

ˆ{?Ž|q

¡ – † o y

Œ€Gvn¯t˜t˜N„`vPŽW„ˆ{t¡Š³'}„†µ v£´%rtƒ…}vf{t„`ƒŠvPP‰Yƒ…{?Žtv*˜Nv*{?ŽHvP{~}3¼Ñ„`€%¢ˆp5£‰j»G0cv `¯tu'v

}r }%}r?v£¼Ñ¯t{?‚}Gƒ…„`{?( 

{

o

ˆ€v£¯?‚FrW}Gr?}%}Grtv*³‚*ˆ{(µNvˆG¶„H‚*ƒŠŒ}vPŽ¨}„'¼Ñ¯t{ ‚}ƒŠ„ˆ{ Œ¡Î¼Ñ„ˆ€Gu¥¤

{o

¯?‚Fr(}r?Œ}

¤{o q‹¦§

y©¨gª q Ÿ–

o

p~‹[«•z–

o

p~j

u n {o

p,§

y »

0Bv£ŽtvPŽHƒ‚*Œ}vn}rtvfu'„YŽtv*¡[˜8}„)¼àŒ¡¶v£Œ¡Œ€Gu*»1qrY¯?*‰Yƒ…¼.• –

o

pM˜t‰~}rtv(@›¬œu'vP`¶¯t€Gv*u'vP{`}3ƒŠ`„H‚ƒ}vaŽ'}„)}r?v£‚*¡…¯t}¶}vP€P‰

µt¯H}(´vUŽH„²{t„Œ}W`„H‚ƒ}v·ˆ{~³±Yƒ…{tvPu}ƒ‚·u'„HŽHv*¡•}„º¼àˆ¡ŠvUŒ¡Œ€Gu*»žn}GrtvUƒŠ{?ŽHv HƒŠ{t‹º„Œ¼£}GrtvUu'vP`¶¯t€Gv*u'vP{`}F'ƒŠ

Œ€Gµtƒ…}€FŒ€G³ˆ‰9Œ¡Š¡1}r?vu†vaˆ¯t€Gv*u'v*{~}Gfr?h `v8}Grtvˆu'v%$ & ./0':./1˜t€G„ˆµ ŒµtƒŠ¡…ƒ…}“³À}„ÀµNv¨ˆG¶„H‚*ƒŠŒ}vPŽU´%ƒ°}Grہ‹`ƒ… `v*{[u'„HŽHvP¡cjG»

ž3}8}Gƒ…u'v>l‰1}rtva¶vˆG¶„H‚*ƒŠŒ}ƒŠ„ˆ{ۘt€G„ˆµ?ˆµtƒ…¡Šƒ…}ƒŠvP8ŽtvÂ?{tvW}rtv ˆva‚}G„ˆ€3­…op®q­<¯o?u ­°so#uv7vv[u ­Ywoty±š²˜ u

„´³w¶µ°sh»Bqr~¯ *‰1¼Ñ„`€

(7)

jp®„

u7v7vv<u

i ‰%­ {o p q • –o p j y

¼Ñ„ˆ€•Œ¡Š¡?Bp®„

u7vv7v<u

’>o£ƒŠ)}GrtvŽtƒŠG‚€Gv}GvW˜t€G„ˆµ?ˆµtƒŠ¡…ƒ…}“³B}r?Œ}'ˆ{~³Bu'vP`¶¯t€Gv*u'vP{`}†ƒŠ

ˆG„Y‚*ƒŠŒ}vaŽ¨´%ƒ…}r}rtvj›œ(}FŒ€G‹ˆv*}P»

q„'„ˆ¡Š ˆvf}Grtv Žt}FˆG¶„H‚ƒ}Gƒ…„`{W„ˆu'v ˆG¶¯tu'˜H}Gƒ…„`{?%Œ€Gv ‚„`u†u'„`{t¡…³Wu'`ŽHv_4œ 6R¸

Èàž¤hÐn{tv£u'vPˆ¯t€Gv*u'v*{~}•‚*ˆ{(„`€ƒŠ‹ˆƒŠ{?Œ}vn¼Ñ€„`u„ˆ{tv£}FŒ€G‹ˆv*}3„`€¼Ñ€„`uC}rtv‚*¡…¯t}¶}vP€P»

Èàžn¢`Ðn{tvf}Gˆ€‹`v}•‚*ˆ{(˜t€G„HŽH¯?‚*vmžPv*€G„'„ˆ€„ˆ{tv u'vaˆ¯t€vPu'v*{~}Œ}•„ˆ{tvf}Gƒ…u'vˆ»

Èàž–w~Ðn{tvf}Gˆ€‹`v}•‚*ˆ{(˜t€G„HŽH¯?‚*vmžPv*€G„'„ˆ€%¶vP ˆvP€Gˆ¡Nu'vaˆ¯t€vPu'v*{~}G%Œ}„`{tvf}ƒŠu'vˆ»

qrtv–`¯tu'˜H}Gƒ…„`{ÀÈjž¤hÐ1v H˜t€GvPG¶va1}r }]}Grtv–ˆG„Y‚*ƒŠŒ}ƒŠ„ˆ{†ƒŠÁv t‚¡Š¯?ƒ… `v•Œ{?Ž†v#Yr Œ¯?¶}ƒŠ ˆv`»¿„`{?¶va½~¯tv*{~}¡Š³ˆ‰

w

{

¯ ­ {o

pQ„ˆ»

qrtvfˆG¶¯tu'˜H}Gƒ…„`{[Èàžf¢ˆÐ]ƒ…u'˜t¡Šƒ…va]}Gr?}T’>ouh³'ŽHƒNvP€Á¼Ñ€G„ˆu i Œ{ Ž¨ŒµN„ ˆv•ˆ¡…¡ }r?Œ}}Grtvn`„H‚ƒ}Gƒ…„`{† ˆ€ƒŒµt¡ŠvP • –o

¼Ñ„`€

pr„

uv7vv<u

’>oÁŒ€Gv ŽHv*˜Nv*{?Žtv*{~}P»

qrtvˆG¶¯tu'˜H}Gƒ…„`{Èàžnw`ЃŠ)„Œ¼}Gv*{²‚*€ƒ…}ƒ‚ƒ‡ž*vaŽºµ va‚*ˆ¯?¶v(ƒ°}†uh³c{t„ˆ})u}F‚Frº}r?v(˜trY³HƒŠ‚PŒ¡Á€GvPˆ¡…ƒ…}“³ˆ»x8•„´3v* ˆvP€P‰¼Ñ€G„ˆu

u}Grtv*u}GƒŠ‚PŒ¡3˜ „`ƒ…{~}'„Œ¼• YƒŠv*´Cƒ…}†vP{?¶¯?€va}Grtv¶}„H‚Fr?`“}GƒŠ‚Wƒ…{ ŽHv*˜Nv*{?Žtv*{?‚*v(„ˆ¼%}rtv Œ€GƒŠˆµt¡…va”• –

o

Œ{?Ž²ƒ°}'ŽH€G`“}GƒŠ‚PŒ¡Š¡…³

€GvPŽH¯?‚*vP3}Grtv‚„`u†˜?¡…v#Yƒ…}“³¨„ˆ¼#}r?v­ o  `vP‚}„ˆ€%va“}Gƒ…uŒ}ƒŠ„ˆ{Å»

y|{}rtv·‚„`{~}v Y}'„Œ¼fu8¯t¡…}ƒ…}Gˆ€‹`v}†}€Fˆ‚F±Yƒ…{?‹?‰]˜?ˆ€¶}GƒŠ‚*¡…v(Â?¡…}vP€Gˆ€vÀŒ˜t˜NvPˆ¡…ƒŠ{t‹ ¸1`)}rtv·ˆG„Y‚*ƒŠŒ}ƒŠ„ˆ{,{?v*vPŽ?'„ˆ{t¡Š³Û}„ÛµNv

‚„`{?ƒŠŽHvP€vaŽ(Œ}•)‹`ƒ… `v*{(}ƒŠu'v ƒ°}Gv*€F}ƒŠ„ˆ{#‰Y}rtv‚*„ˆu'˜t¡Šv Hƒ°}“³W„Œ¼Žt}F†`„H‚ƒ}Gƒ…„`{Wƒ€vaŽH¯?‚vaŽ9» t„`€•'“}F}v „ˆ¼ˆ€¶}%„Œ¼}r?v

˜t€G„ˆ˜N„`vPŽˆ¡…‹`„ˆ€Gƒ°}Grtu}r?vn€GvP`ŽHv*€3‚*Œ{W€v*¼Ñv*€}„>4¥ 6Ò»y|{}Grtv–}“´3„¼Ñ„`¡…¡Š„´%ƒŠ{t‹u'v}Grt„HŽt*‰Y˜?ˆ€¶}GƒŠ‚*¡…vfŽHƒŠu†vP{?ƒ…„`{Wƒ]}Grtvf¯tu

„Œ¼9}Grt„`v–„ˆ¼9}rtvfƒŠ{?ŽHƒŠ ~ƒŽH¯?ˆ¡9“}F}vf¶˜ ˆ‚vaÁ‚*„ˆ€G€va¶˜N„ˆ{?Žtƒ…{t‹£}G„8vaˆ‚Fr}FŒ€G‹ˆv}a» $@`%'3+9, ) , ' $ $:+-,´ $:+-,`*,`#+;'1. ) +9,7

/*, )#':/(+ $ .,;& ., ) ,7(+-$:+"/0' ' $ +;$1.

, +)]qrtv£ƒŠ{tƒ°}GƒŠˆ¡9˜?Œ€}ƒ‚¡Šv ¶v*}

¯

prq "!

¯ u

„$#&%

y!

s('*)*)*)+',

ƒ%¯?‚FrW}Gr?}%vaˆ‚Fr

‚„`u'˜ „`{tv*{~}

!-'{

¯

¼Ñ„ˆ€jkp „

uv7v7v<u

i ƒ GŒu'˜t¡ŠvPŽc¼Ñ€„`u

ª

q n

{

¯ y

ƒŠ{?ŽHvP˜ vP{?ŽHv*{~}G¡…³[¼Ñ€„`u }r?v„Œ}r?v*€F*»¨žn¯tu'v´v'r?h `v

„ˆµt}GŒƒŠ{tvaŽ.

o€

s p q "!

o€

s

u0/

!

o€

s y! s1'*)*)*)+',

´%ƒ…}r

,! s / !

o€

s p „ˆ»2Á`‚Fr[˜?ˆ€¶}GƒŠ‚*¡…v)ƒŠ£( ˆva‚}„`€–„ˆ¼ŽHƒŠu†vP{?ƒ…„`{

w

{ s32

{4

´%rtvP€vn´v£ŽHv*{?„Œ}vnµY³5

!'

{

o€

s

}Grtvmj:›œW‚„`u'˜ „`{tv*{~}„Œ¼6"!

o€

s

Œ{?ŽW´%rtv*€Gv

2 {4

ŽHva¶ƒŠ‹ˆ{?Œ}va}r?vfŽHƒŠu'v*{?ƒŠ„ˆ{W„ˆ¼#„ˆµt’“vP‚} jF»1qr?v

˜t€GvPŽHƒ‚}Gƒ…„`{‚PŒ{µ vŽt„ˆ{tv`‚*‚„`€GŽtƒ…{t‹8}„'}Grtv£¼Ñ„ˆ¡Š¡…„´%ƒŠ{t‹†vP½~¯?Œ}ƒŠ„ˆ{Ÿ

?„ˆ€

2

pQ„

u7v7vv<u

%87

!o p 9:; }”s

o

q<

!-'s

o€

s

u>=

!-'s

o y

»»»

}3w

o

q<

!-'w

o€

s

u>=

!-'w

o y

?@

A

Èàw~Ð

´%rtvP€v

=

!-'

{

o

Œ€Gv£ƒ…{?Žtv*˜Nv*{?ŽHvP{~}•€vaŒ¡Šƒ2ža}ƒŠ„ˆ{ „ˆ¼

‚ {o

»Áqr?v£‚*„ˆu'˜t¯H}F}Gƒ…„`{(„ˆ¼}Grtv ¡…ƒŠ±ˆvP¡…ƒŠrt„Y„HŽW„ˆ¼}Grtv „ˆµ ¶vP€ }Gƒ…„`{?‚„`{?ŽHƒ…‡

}ƒŠ„ˆ{?vPŽ†µY³}r?v

2

›¬œ˜?ˆ€¶}GƒŠ‚*¡…v%ŽHƒNvP€GÁˆ‚*‚*„ˆ€FŽHƒŠ{t‹f}„£}r?v•ˆG¶„H‚ƒ}Gƒ…„`{)`¯tu'˜H}ƒŠ„ˆ{ ]Œ{?Ž†vP{?Œµt¡ŠvP}G„ ¯t˜ÎŽt}Gv%}rtv%´3v*ƒŠ‹ˆr~}F

/

!o ¼Ñ€„`u

/

!o€

s

»]qrtv v}—$"!o ™ ƒŠ%Â?{?Œ¡Š¡Š³¨„ˆµH}FŒƒŠ{tvPŽ(µY³¨€GvPGŒu'˜t¡Šƒ…{t‹9—B7"!o ™ˆ‚P‚„`€GŽHƒŠ{t‹8}rtv ´3v*ƒŠ‹ˆr~}•¶v*}k—

/ !o ™ „ˆ€ƒ%vP½~¯?ˆ¡

}„>—B7 !o ™ ƒ…¼€GvPGŒu'˜t¡ŠƒŠ{t‹'ƒŠ{t„ˆ}•{tvP‚*vPGˆ€³`»

RTS:R CED(WGFIHKJML

N•{ ŽHv*€8Èjž¤hЁŒ{?ŽBÈàžnw`Љt}rtv‚*„ˆu'˜ „`{tv*{~}F„Œ¼#}GrtvˆG„Y‚*ƒŠŒ}ƒŠ„ˆ{( ˆvP‚}„`€T•NoŒ€Gvfƒ…{?Žtv*˜Nv*{?ŽHvP{~}nŒ{?Ž(´3v£‚PŒ{´%€ƒ…}v`¸

ª

q Ÿ…o%p

s

oau7vv7v<u

‹#T

o y «n_o%pO7

!

o?yP s €

PRQ

p

T

S

– s ª q ‹ –o

«7 !

o?y

¨  

S

– s ²

­<¯

o

‚UT

w

V

{ s ¤{o –o

¦W7

!-'

{

o y­ {o³v

ÈћYÐ

2Á¶}ƒŠu}ƒŠ„ˆ{'„ˆ¼$­…o#ƒ{tv*vaŽHvPŽ†Œ{ Ž)ƒ‚„`u'˜t¯H}vaŽ†´%ƒ°}Gr¨k/fƒŠµtµ?Áˆu†˜?¡…vP€ƒ…{†}r?v&FËtÏ » ?„ˆ€]ŽHv*}GŒƒŠ¡„ˆ{)}rtƒ]ˆ¡…‹`„ˆ€Gƒ°}GrtuÀ‰

}r?v €vaˆŽHvP€3ƒ€Gv¼Ñv*€G€GvPŽW}„¢4¥ 6R»

(8)

y|{tƒ°}GƒŠˆ¡…ƒ‡žPŒ}ƒŠ„ˆ{Ÿ

!

¯

ª

qn

¯ y

/ !

¯ p „$#1%

2 p „ u7v7vvu

% v

t„ˆ€¥l%pr„

u7vv7v<u

‘]€GvPŽtƒŠ‚}ƒŠ„ˆ{Ÿ

= !o ª q‚ o y

7"!o p,}°o´q<"!o€

s

u>=

!o

y 2 pr„

u7vv7v<u

% v

0Bv*ƒŠ‹ˆr~}ƒŠ{t‹

„

v

mF#ËtÏWŒ˜t˜?€„~ˆ‚FrŸ ¤oq Ÿ…oxp q‹?s

o#uv7vv[u

‹#T

o y «n_o|p 7 ! o?y

p

T

– s

²

T w

{ s ¤{o

–o

¦W7

!-'

{

o y

­ {o³ 2 p

„

u7v7vv<u

%¹´%rtvP€v

­

{o

Œ€Gv£vP¶}ƒŠu}va„Œ¼G­

{o

„ˆµH}FŒƒŠ{tvPŽ(´%ƒ…}r·N/fƒ…µ?µ?%ˆu'˜t¡…vP€P»

„

v

CD$EÊËtÌÎÍہŒ˜?˜t€„~ˆ‚FrŸ ¤oq Ÿ…ocprq‹ s

o u7v7vv<u

‹#T

o y «n_ocp 7 !

o y p

  

– s ª –

o «7 !o u

o

q o y

´%rtvP€v

ª q o y

ƒ•‚„`u'˜t¯H}vaŽÀˆ‚*‚*„ˆ€FŽHƒŠ{t‹}G„UÈà¥`л

v / !

o¢¨ / ! o€

s ¤oq‹ o´«7 ! o?y

2

pr„

uv7v7v<u

% v

—%v*}¯t€G{q n_o

y p ,! s / !o

<q(7"!

o yv

%! " ”p s

#%$

&')(+*-,

&

/.10

»

—%vaˆu'˜t¡…ƒŠ{t‹ ¸Hƒ°¼

%2! " %3 %3o145!6!4"798;:

"!

o , s /

o=<?>6!@



/

!o p „W#1%

2

pQ„

u7vv7v<u

% v

ƒ…‹`¯t€v'¤`¸2A$(,mF#Ë?Ï $$ +(,mCD$EÊËtÌÎÍ$

':./ )© ':.¶"#+"/&$,'@!#,` +) /+ $@6$ & +"/:, .,)#$ &/

RTSCB CED(WEDGFIHKJL JNMPO \c]!Q©f%ZSRITBDb

qrtƒ8ˆ˜t˜t€G„`ˆ‚FrÛr?`ƒŠ{tƒ…}ƒŒ¡Š¡…³ÛµNv*v*{º¯ ¶vaŽºƒ…{M4VU6%Œ{ Ž 4W 6R»[qr?v¨¡…ƒŠ±ˆvP¡…ƒŠrt„Y„HŽÛƒŠ†ŽHva‚„ˆu'˜N„`vPŽBƒŠ{²U¯tu„ ˆv*€)Œ¡Š¡]}r?v

˜N„`G¶ƒŠµt¡Švf ˆ¡…¯tva„Œ¼}rtv`„H‚ƒ}Gƒ…„`{W ˆva‚}G„ˆ€¥• o `¯tu'ƒ…{?‹)}GrtvŽHvP˜ vP{?ŽHv*{ ‚v „Œ¼ƒ°}F•‚„`u'˜ „`{tv*{~}G Èjžn¢`и

ª

q:Ÿ?o%p q ‹

s

o u7vv7v[u

‹  

o y «n_ocpO7

!o y

p V  ª

q Ÿ…o%prq ‹

s

o u7vv7v<u

‹  

o y «n_ocpO7

!o u

•No.p

o

q •o%p

o y

p V   

S

– s ª –o «7

!o

u

o

q o

yv

Èjœ`Ð

qrtvˆG¶„H‚*ƒŠŒ}ƒŠ„ˆ{?#µ v*}“´vPv*{ }Grtvu†vaˆ¯t€Gv*u'v*{~}GŒ{?Ž}rtv}Gˆ€‹`v}Fˆ€v]va“}FŒµt¡Šƒ¶rtvaŽ¯t{ ŽHv*€}r?v3`¯tu'˜H}ƒŠ„ˆ{ Èjž¤aÐ|‡FÈjžn¢`Ð

v H˜N„`vPŽ(ƒ…{‘AYva‚}Gƒ…„`{À¢t»…¤Œ»]qr?v$3& ./0'1./9˜t€G„ˆµ?ˆµtƒ…¡Šƒ…}“³„Œ¼1vPˆ‚FrˆG¶„H‚*ƒŠŒ}ƒŠ„ˆ{W `vP‚}„ˆ€

oÁƒ*¸

ª q oy pYX

[Z

’>o

Z

ª]\

qX  y w

S

{ s=^`_

@ *{.

: w

S

{

s

q„ba

^ : y s € _ @ *{.

Èà¥~Ð

´%rtvP€v

X 

ƒ)}rtv{Y¯tu8µNv*€'„Œ¼–¼àŒ¡¶vŒ¡Œ€Gu')ƒŠ{

o ‰ ª \ qX  y

}rtv˜t€G„ˆµ?ˆµtƒ…¡Šƒ…}“³c}G„cr h ˆv

X 

¼àŒ¡v(Œ¡Œ€Gu*‰

^ : }r?v

˜t€G„ˆµ?ˆµtƒŠ¡…ƒ…}“³8¼Ñ„`€3}Gˆ€‹`v}]}G„8µNvfŽHv*}va‚}vaŽWˆ{?Žc 

qj

y

pQ— „ u

˜#™–ŽHvP˜ vP{?ŽHƒŠ{t‹8„`{¨´%rtv}Grtv*€3}FŒ€G‹ˆv} jƒ3ŽHv}GvP‚}GvPŽW„ˆ€Á{?„Œ}P»

-3„Œ}GrUŒ¡Š‹ˆ„ˆ€Gƒ…}rtu–ˆ€v ˜?€va¶vP{`}GvPŽÀƒŠ{[¨‚*„ˆu'u'„ˆ{U¶}€G¯?‚}G¯t€v8ƒ…{ ƒŠ‹?»Š¤ˆ»(0Bv8r h ˆv‚„`u'˜?Œ€GvPŽ}Grtv8˜Nv*€¼Ñ„ˆ€GuŒ{?‚*v „Œ¼}r?v

FËtÏWŒ{?Ž„Œ¼}rtvCD$EÊËtÌÎÍBƒŠ{}rtv£¼Ñ„`¡…¡Š„´%ƒ…{?‹)v#Y˜Nv*€GƒŠu†vP{~}GP»

d e

* %&(F

0BvfŽHvaŒ¡N´%ƒ°}Gr(‚*¡Š`ƒŠ‚PŒ¡ µ vaŒ€Gƒ…{t‹~“‡Ò„ˆ{?¡…³)v H˜ vP€ƒŠu'v*{~}G´%ƒ…}r¨}Grt€Gv*v•}FŒ€G‹ˆv*}GP»y|{W}rtv£‚„`{`}Gv Y}„ˆ¼#8¡…„´%¡Š³'uŒ{tvP¯t ˆvP€ƒŠ{t‹

}Gˆ€‹`v}a‰H´v£r?h `vf‚Frt„~¶vP{†{tvaŒ€G¡…³~‡|‚„`{?“}FŒ{~}¶‡Ò ˆvP¡…„H‚*ƒ°}“³†u'„YŽtv*¡R»

(9)

-3000 -2500 -2000 -1500 -1000 -500 0 500 1000 1500 2000

-1000 0 1000 2000 3000 4000 5000 6000 7000

y-coordinate in meters

x-coordinate in meters tar[1]

tar[3]

tar[2]

observer



0 100 200 300 400 500 600 700 800 900 1000

-4 -3 -2 -1 0 1 2 3 4

Time in seconds

Bearings in radians

µ

ƒ…‹`¯t€Gv–¢H¸-$ A. $+#,` +-':./0, )8' +9, + ., ,3+-$:.

, +) $ ' +9,'£!)#,#.1*,#.Š! , $*)".,7,7(+))/"#$1+;,`” /+

^ : pM˜

v

$”“

‚

p

−1000 0 1000 2000 3000 4000 5000 6000 7000

−3000

−2000

−1000 0 1000 2000 3000

t¤

−1000 0 1000 2000 3000 4000 5000 6000 7000

−3000

−2000

−1000 0 1000 2000 3000

`¢

−1000 0 1000 2000 3000 4000 5000 6000 7000

−3000

−2000

−1000 0 1000 2000 3000

`w

−1000 0 1000 2000 3000 4000 5000 6000 7000

−3000

−2000

−1000 0 1000 2000 3000

µÅ¤

−1000 0 1000 2000 3000 4000 5000 6000 7000

−3000

−2000

−1000 0 1000 2000 3000

µ ¢

−1000 0 1000 2000 3000 4000 5000 6000 7000

−3000

−2000

−1000 0 1000 2000 3000

µ?w

ƒ…‹`¯t€Gvwt¸ *,#.$

,`,)+"/$1+;, )6':+"+;,`k/ ,)$$ ' ,7$ , ,7/& )#, )T /+ ˜@˜@˜ &($:.+"/ ´, )PA ' & .' #7CD$EÊË?ÌÎÍ

':+"+;' .' <FËtÏ$ !¶“

‚ p „$! ”“

‚ p $!! !“

‚

p"

(10)

BTSU CED(W bdf&WY]

qrtv8¶}GŒ}v) ˆvP‚}„`€(n

{o

€Gv*˜t€GvPv*{~}F}rtv)‚„Y„ˆ€FŽHƒŠ{?}GvP•ˆ{?Ž}rtv) ˆvP¡…„H‚ƒ…}ƒŠvP–ƒ…{À}Grtv”§ ag‹˜?¡Šˆ{tvˆ¸…n

{o pdq §

{ou

‹

{ou>=

§

{ou0=

‹

{oy

¼Ñ„ˆ€¥jcpQ„

u u

t„`€%vP`‚Fr¨}Gˆ€‹`v}a‰Y}rtvŽHƒG‚€Gv}ƒ‡ž*vaŽ(¶}GŒ}v£vP½~¯?Œ}ƒŠ„ˆ{ÀˆG¶„H‚*ƒŠŒ}vPŽW´%ƒ°}GrÀ}ƒŠu'v ˜ vP€ƒŠ„HŽl3ƒŠP¸

n {

o

µ

o

p l

˜

n {

o T o0

˜

˜ ”l

‚ {

o[u

ÈUˆÐ

´%rtvP€v

ƒŠ1}Grtv•ƒŽHv*{~}Gƒ°}“³†u}€Gƒ)ƒŠ{'Žtƒ…u'v*{ ¶ƒŠ„ˆ{ ˆ{?Ž

‚ {

o

ƒ]3/£Œ¯ ƒŠˆ{_ž*v*€G„Œ‡Òu'vPˆ{8 ˆva‚}G„ˆ€´%ƒ…}r¨‚„ ˆ€ƒŒ{?‚*vu'Œ}€Gƒ

p

² 4 u u 4 u

³R»]ž ¶v*}3„ˆ¼[’ o u'vaˆ¯t€vPu'v*{~}GÁƒŠ3h ŒƒŠ¡Šˆµt¡…vn}%ŽHƒŠG‚€Gv}Gv•}Gƒ…u'vP3Œ{ ŽW‚*ˆ{¨µNvfŽHƒŠ YƒŠŽtvPŽƒŠ{¨}“´3„

¯tµ?v}GP¸

ž ¯tµ?v}„Œ¼(|}G€¯?v%u†vaˆ¯t€Gv*u'v*{~}G]´%rtƒŠ‚Fr'¼Ñ„`¡…¡Š„´™È1WˆÐ»ž u'vP`¶¯t€Gv*u'vP{`}]˜?€„HŽH¯?‚*vPŽ'µY³)}rtv(j›œ'}GŒ€G‹ˆv*}]ƒŠÁ‹ˆvP{tv*€F}GvPŽ

ˆ‚P‚„`€GŽHƒŠ{t‹)}„ ¸

Ÿ –

o

‹

{o at‹

7! 6

o

§ {o at§

7! 6

o T ¡ –

o u

È1W~Ð

´%rtvP€v

¡ –

o

ƒf9ž*vP€„ˆ‡Ru'vaŒ{|/£Œ¯ ƒŠˆ{U{t„`ƒŠv)´%ƒ…}rB‚„ Œ€GƒŒ{?‚*v

"

ƒŠ{?ŽHvP˜ vP{?ŽHvP{`} „ˆ¼

‚

o‰Åˆ{?Ž‘§ 7# 68Œ{?Ž|‹/7# 68Œ€Gv}r?v

¿3Œ€}va¶ƒŒ{¨‚*„Y„ˆ€FŽHƒ…{ }va„Œ¼9}Grtvf„ˆµ?v*€G ˆvP€P‰Œ´%r?ƒŠ‚FrWˆ€v–±~{?„´%{Å»°0Bv£ˆG¶¯tu'v%}Gr?}}rtvfu'vP`¶¯t€Gv*u'vP{`}˜t€„HŽH¯ ‚vPŽ¨µ~³†„ˆ{?v

}Gˆ€‹`v}%ƒ%h hˆƒ…¡Œµ?¡…vf´%ƒ°}Gr·ŽHv}GvP‚}Gƒ…„`{(˜?€„`µ?ŒµtƒŠ¡Šƒ°}“³

^

:`»

ž@¶¯?µ?¶v*})„ˆ¼|¼àˆ¡ŠvWu'vP`¶¯?€vPu†vP{~}G ´%rt„~¶v({Y¯tu8µNv*€)¼Ñ„ˆ¡Š¡…„´•)U‘1„ˆƒG¶„`{,ŽHƒŠ¶}€GƒŠµt¯H}ƒŠ„ˆ{²´%ƒ°}Gr,u'vPŒ{ “ ‚

´%rtv*€Gv>“

ƒ }r?v¨u'vPŒ{º{Y¯tu)µ vP€„Œ¼¼àˆ¡ŠvWŒ¡Œ€Gu£˜ vP€8¯t{?ƒ°}† ˆ„ˆ¡Š¯tu'vˆ»>0BvWˆG¶¯?u†v¨}rtva¶v¼àˆ¡Šv¨Œ¡Œ€GuŒ€GvƒŠ{?ŽHv*˜Nv*{ ŽHv*{~})ˆ{?Ž

¯t{tƒ…¼Ñ„ˆ€Gu'¡…³(ŽHƒŠ¶}€GƒŠµt¯H}vaŽ´%ƒ°}Grtƒ…{}Grtv „ˆµ?v*€G }Gƒ…„`{( `„ˆ¡Š¯tu'v

‚ »

qrtvƒŠ{tƒ°}GƒŠˆ¡t‚„Y„ˆ€FŽHƒŠ{?}GvP„Œ¼ }rtv3}FŒ€G‹ˆv}F1Œ{?Ž)„Œ¼t}Grtv%„ˆµ ¶vP€ `v*€1Œ€Gv]}r?v¼Ñ„ˆ¡Š¡…„´%ƒŠ{t‹'ÈуŠ{)u'v}Gv*€]ˆ{?Ž8u'v*}v*€$vP‚*„ˆ{?Ž€va¶˜Å»ñи

n s

¯

prq ˜@˜

u

„&%@˜@˜

u „ u a(˜

v% y('

¦ n

¯ p

u˜ u „ u ˜ y)'

¦

n Q

¯

prq9a ˜@˜

u

a„&%@˜@˜

u „ u ˜ v% y('

¦

n

7# 6

¯ p q ˜£˜

u

a£˜@˜£˜

u „ v u ˜ v% y('v

È+*~Ð

qrtv'ŽH³Y{?Œu'ƒ‚{t„`ƒŠv8ƒ£¨{t„`€uˆ¡°žPv*€G„Œ‡Òu†vaŒ{|/£ˆ¯?ƒŒ{U `vP‚}G„ˆ€n´%ƒ°}Gr 4 p p ˜ v

˜@˜£˜,%Œu'

€

sh»0Bv)¯ ¶v)}rtv'GŒu'v

ŽH³Y{?ˆu†ƒ‚n{t„ˆƒ¶v–}„'˜t€GvPŽHƒ‚}3}r?vn˜?ˆ€¶}GƒŠ‚*¡…v`»qrtvn„`µ?v*€G ˆv*€ƒŠ¼Ñ„`¡…¡Š„´%ƒ…{?‹))¡…vP‹)µY³'¡…vP‹8}G€GŒ’“vP‚}„ˆ€G³ˆ»yÒ}G3 `v*¡Š„Y‚*ƒ°}“³' `vP‚}G„ˆ€3ƒŠ

‚„`{?¶}GŒ{~}%„ˆ{vP`‚Fr(¡Šv*‹ˆ{?ŽWu'„HŽHƒ…Â?vPŽÀŒ}%}rtv£¼Ñ„`¡…¡Š„´%ƒ…{?‹)ƒŠ{?¶}GŒ{~}F*‰t„†}r?Œ}P¸

= § 7! 6

¯¯'-¬¯¬¯ '.¬¯¬¯

= ‹ 7# 6

¯¬¯ '-¯¯ '.¯¯ p a(˜

v/

˜ v ¦

= § 7! 6

0

¯¯'1¬¯¬¯

= ‹ 7# 6

0

¯¬¯ '1¯¯2 p

v˜

˜ v ¦

ȶ¤P~Ð

qrtv£}G€GŒ’“vP‚}G„ˆ€Gƒ…vaÁ„ˆ¼}Grtv£}r?€vPvf„`µH’“vP‚}G%ˆ{?Ž„Œ¼#}Grtv „ˆµ ¶vP€ `v*€Œ€Gvf˜?¡…„ˆ}¶}vaŽƒ…{%ƒ…‹ »]¢H»t»

BTS:R 3 W5476&]!T4f%^ TBD(WQW98;:W[ZSR¬bdWYXKT4

y|{º}Grtv¼Ñ„ˆ¡Š¡Š„´%ƒ…{t‹[v H˜ vP€ƒŠu'v*{~}GP‰}rtv(ŽHv}GvP‚}Gƒ…„`{,˜t€G„ˆµ?ˆµtƒŠ¡…ƒ…}“³

^

:(ƒŠÂ9HvPŽÛ}G„|˜

v

Œ{ Ž“

‚

pŒ„

u u

t»%?„ˆ€¶“

‚ p

}r?vf„`µH}Gˆƒ…{?vPŽ¶ƒŠu8¯t¡}GvPŽ(µ vaŒ€Gƒ…{?‹`Œ€Gvn˜?¡…„ˆ}¶}vaŽWƒŠ{%ƒ…‹ »¢t»µ#»c0cv£r?h `v–Â?€F¶}%‚*„ˆu'˜?ˆ€vaŽ'}rtv‚*„ˆu'˜t¯H}F}Gƒ…„`{?Œ¡9‚„~“}¼Ñ„`€

qˆµt¡Šv¤ˆ¸k ' &$"+-$:+"/0' $ . '*)+ ':.' ,/+;,#.$:+"/0' ' $=<?>! 9 ,´ +/"#A@B@#@

‚¡Š¯H}¶}Gv*€•ŽHvP{?¶ƒ…}“³ ¤ ¢ w

7CD$EÊË?ÌÎÍ „&%,%u

˜Œu %DC ˜Œu

FËtÏ C£˜£˜Œu C?„E%u C @˜)u'

„ˆ{?vƒ°}Gv*€F}Gƒ…„`{„ˆ¼vPˆ‚Fr·ˆ¡…‹`„ˆ€Gƒ°}Grtu@`‚*‚„`€GŽtƒ…{t‹†}G„}rtv}„Œ}FŒ¡{~¯?u8µNv*€•„ˆ¼1u'vaˆ¯t€vPu'v*{~}G¥’>oF»%qˆµt¡…vW¤8‚„`{`}FŒƒŠ{?3}r?„`v

‚„~“}FÁ`‚*‚„`€GŽtƒ…{t‹£}G„ }r?vnŽHvP{?¶ƒ…}“³‚¡Š¯H}¶}Gv*€a»qrtv•ƒŠ{?‚€GvP`¶v•ƒÁˆ¡…u'„~“}Áv#H˜ „`{tv*{~}ƒŒ¡?¼Ñ„ˆ€Á}rtv7CD$EÊË?ÌÎÍUŒ{?Ž¨¡…ƒŠ{tvPˆ€]¼Ñ„`€]}r?v

FËtÏ » n{tv9CD$EÊËtÌÎÍɃ…}vP€GŒ}ƒŠ„ˆ{ʼnŴ%ƒ…}rÛ}Grtvv Hr?ˆ¯?¶}ƒŠ ˆv'v*{Y¯tu'v*€F}Gƒ…„`{[„ˆ¼ˆ¡…¡}Grtv˜N„`G¶ƒŠµt¡Šv'`„H‚ƒ}Gƒ…„`{?*‰#µ va‚„ˆu'va

(11)

¡Š„ˆ{t‹`v*€•}Gr?Œ{B>mF#Ë?σ°}Gv*€F}ƒŠ„ˆ{cˆf¶„Y„ˆ{cˆ–}rtvP€v†ƒŠfƒŠ{ch `v*€FŒ‹ˆv

/

u'vPˆ¯t€Gv*u'v*{~}F–vP ˆv*€G³ƒ…{?¶}Gˆ{~}'ȓ

‚ p `л qrtƒŠ

‚„`{?¶}ƒ…}¯H}GvP3 €vaŒ¡NŽH€Gh´%µ ˆ‚F±„ˆ¼9}rtv7CD$EÊË?ÌÎÍÀ¼Ñ„ˆ€v H˜ vP€ƒŠu'v*{~}GÁ´%ƒ°}Gr¨rtƒŠ‹ˆr¨ ˆ¡…¯tva]„ˆ¼[’9oF»qrtv–ƒŠ{tƒ…}ƒŒ¡Šƒ2ža}Gƒ…„`{„Œ¼9}r?v

˜?ˆ€¶}GƒŠ‚*¡…vv}fr?ˆ%µNv*vP{[ŽH„`{tv£¼Ñ„ˆ€nµ „ˆ}r[ˆ¡…‹`„ˆ€Gƒ°}Grtu%ˆ‚*‚*„ˆ€FŽHƒŠ{t‹†}„W/£ˆ¯?G¶ƒŒ{À¡h´Ã´%r?„`v u†vaŒ{· `vP‚}G„ˆ€(n



!

ˆ{?Ž

‚„ ˆ€ƒŒ{?‚*v–u}G€ƒn

7

Œ€Gvˆ¸

n s



! p n s

¯ T q ˜@˜

u ˜£˜

u ˜ u ˜ y+'

¦

n



! p n

¯ T q9a ˜@˜

u a ˜£˜

u ˜ u ˜ y' ¦

n Q



! p n Q

¯ T q9a„=˜@˜

u ˜£˜

u ˜ u˜ y' ¦

n {

7

p£j?<q „E% ˜

u

„&%@˜

u ˜ v„ u ˜ v„ y

¼Ñ„ˆ€¥jGp „ u u v

ȶ¤ˆ¤hÐ

0Bv–r?h `v•˜ vP€¶¼Ñ„`€u'vaŽ ˜ €G¯t{?Á„Œ¼9vP`‚Fr¨Œ¡Š‹ˆ„ˆ€Gƒ…}rtu!¼Ñ„ˆ€T“

‚

pr„

u u

?»qrtv–}€G¯tv•}G€GŒ’“vP‚}„ˆ€GƒŠvPŒ{ Ž'}rtvnu'vPŒ{va“}Gƒ…uŒ}vP

„ ˆvP€}rtva¶v ˜n€G¯t{?ˆ€v˜t¡Š„Œ}}vaŽ'ƒ…{ ƒ…‹ »wt»Œ‡j¼“»1qrtv•‚„`{H ŽHvP{?‚v%vP¡…¡ŠƒŠ˜?¶va1€vP˜t€GvPv*{~}1}rtv% Œ€GƒŒ{?‚*v3„`{)˜N„`ƒ…}ƒŠ„ˆ{'„ ˆvP€¢ˆ

€G¯t{?„Œ¼}rtv£˜N„`¶}vP€ƒŠ„ˆ€u'vPˆ{WvP¶}ƒŠu}GvP%Œ{ ŽWvP{?Œµt¡Švf}„ˆGvPG]}Grtv  Œ€GƒŠˆ{?‚vn„Œ¼#}Grtv”('9ËtÏWŒ{?ŽzCD$EÊËtÌÎÍcvP¶}ƒŠu'Œ}„`€

¼Ñ„ˆ€ % p

˜@˜@˜(˜?ˆ€¶}GƒŠ‚*¡…va*»qrtvu'vPˆ{ÛvP¶}ƒŠu'Œ}va Œ€Gv'ƒŠu†ƒŠ¡Œ€ ´%r?Œ}v* `v*€f}r?vW‚¡Š¯H}¶}Gv*€ŽHvP{?ƒ°}“³`»8•„´3v* `v*€a‰Î¼Ñ„ˆ€£}r?vPv

v H˜Nv*€Gƒ…u'vP{`}F*‰]}rtv·‚„`{H ŽHvP{?‚vÀvP¡…¡Šƒ…˜ ¶va)„`µH}Gˆƒ…{?vPŽ,´%ƒ…}r}r?v‘CD$EÊËtÌÎÍÁŒ€Gv¡Šˆ€‹`v*€}Gr?Œ{}r?„`v(„`µH}Gˆƒ…{tvaŽ²´%ƒ…}r}r?v

FËtÏ »]q„8‚„`u†˜ Œ€Gv•u'„ˆ€Gv•‹ˆvP{tv*€FŒ¡Š¡…³8}rtv£Œ¡Š‹ˆ„`€ƒ…}r?u'P‰ˆ´3v•˜t€G„ˆ˜N„`v%}G„)¶}¯?ŽH³†}Grtv–˜N„`¶}vP€ƒŠ„ˆ€%¿€Gˆu†P€¶‡|—•ˆ„fµN„ˆ¯?{?Žt„Œ¼

¯?‚Fr(va“}Gƒ…uŒ}ƒŠ„ˆ{˜t€„`µt¡Šv*u*»

91 .;18<Å=?>D/Ac&(5 &FG=H 1I3C#1JI

qrtv†}“´3„(˜t€GvPv*{~}GvPŽ[ˆ¡…‹`„ˆ€Gƒ°}Grtunˆ€v'¯tµ „`˜H}ƒŠuŒ¡R¸ÎÂ?€F“}f}rtv˜ Œ€}ƒ‚¡Šv){Y¯tu)µ vP€fƒfÂ?{tƒ…}v`»_AHvP‚„`{?Ž9‰9}GrtvNFËtÏÀ{tvPvPŽt

}r?v­?oÁva“}Gƒ…uŒ}ƒŠ„ˆ{Å»

yÒ}ÀƒŠ„Œ¼)‹ˆ€GvP}(ƒ…{~}vP€va“}}„ÓŽHvP€ƒŠ ˆvcu†ƒŠ{tƒŠu8¯tu" ˆ€ƒŒ{?‚*v[µN„ˆ¯t{ Žt„ˆ{ va“}Gƒ…u}Gƒ…„`{vP€€G„ˆ€F'}„Ér?h `vcŒ{ƒŠŽHva²„ˆ¼}r?v

u:HƒŠu8¯tu/±~{?„´%¡…vaŽH‹ˆvÀ„ˆ{É}Grtv[¶}G}GvP'}Gr?}W‚PŒ{ÓµNvUv H˜NvP‚}GvPŽÓŒ{ Ž²}G„²ˆGvPG8}Grtv[½~¯?ˆ¡…ƒ…}“³²„ˆ¼n}GrtvU€GvP¯t¡°}F'„Œ¼£}r?v

˜t€G„ˆ˜N„`vPŽÀŒ¡Š‹ˆ„`€ƒ…}r?u'%‚*„ˆu'˜?ˆ€vaŽ¨}G„}rtv8µ „`¯t{?ŽtP» ƒŠ€G¶}nŽHv*Â?{tvaŽ·Œ{?Ž¯?vPŽÀƒŠ{À}rtv)‚„ˆ{~}Gv Y}•„Œ¼]‚„`{?¶}GŒ{~}•˜?ˆ€Gˆu'v}vP€

vP¶}ƒŠu}Gƒ…„`{ʼnH}r?v ƒ…{Y ˆvP€Gvf„Œ¼}rtv ƒ¶rtvP€%ƒ…{t¼Ñ„ˆ€Gu'Œ}ƒŠ„ˆ{u}€GƒÎ‰t‚*„ˆu'u'„ˆ{t¡Š³W‚PŒ¡Š¡…vaŽW}Grtv)¿€FŒu'*€‡Ò—–Œ„(ȁ$D9е „`¯t{?Žr?`

µNv*v*{Év Y}Gv*{?ŽHvaŽº}G„[}Grtv·‚*ˆvW„ˆ¼n€FŒ{?Žt„ˆu˜?Œ€FŒu'v*}v*€†vP¶}ƒŠu}Gƒ…„`{²ƒŠ{M4*6҉]}r?v*{‚PŒ¡Š¡…vaŽº}GrtvÀ˜ „~“}Gv*€Gƒ…„`€¿€FŒu'*€‡|—•Œ„

µN„ˆ¯t{?Ž ÈjË?$DNл v}_n

±

!²µNvc“}G„Y‚Fr ˆ¶}ƒ‚¨ ˆva‚}G„ˆ€)ˆ{?ŽŸ

±

![¶}„H‚Fr?ˆ¶}ƒ‚¨„`µ?v*€G hŒ}ƒŠ„ˆ{º `vP‚}G„ˆ€a»Bqr?v

u'vPˆ{H‡ÒG½~¯?Œ€Gvfv*€G€„`€„ˆ¼1ˆ{~³va“}Gƒ…uŒ}v

nq Ÿ

y

Œ}ƒ“ vP3}r?v ƒ…{tva½~¯?Œ¡Šƒ°}“³

©q

nMq Ÿ

y

axn

y q nq:Ÿ

y

atn

y

'

€ s ȶ¤a¢`Ð

´%rtvP€v

p aP

0 "!#

*%$

'& .

$ 0 '

ƒŠ•}rtv ƒrtv*€•ƒŠ{H¼Ñ„`€u}Gƒ…„`{Àu'Œ}€GƒŒ{?ŽÀ´%rtvP€v£}Grtvv#Y˜NvP‚}GŒ}ƒŠ„ˆ{?•ˆ€v£´ »€P»}P»}r?v

’“„ˆƒŠ{~}–ŽHv*{ ¶ƒ…}“³

ª $ '&

qn

u Ÿ y

¯t{ ŽHv*€}Grtv£¼Ñ„ˆ¡Š¡…„´%ƒŠ{t‹‚„`{?ŽHƒ…}ƒŠ„ˆ{?P¸

(!#

*%$

'& .

$

ˆ{?Ž) 0 "!#

*%$

'& .

$ 0

v#Yƒ¶}–Œ{?ŽŒ€Gv Œµ?„ˆ¡Š¯H}vP¡…³ƒŠ{~}vP‹ˆ€FŒµt¡Šv£´ »€a»}a»Gn¹ˆ{?Ž¢Ÿ»

}rtv va“}Gƒ…uŒ}„ˆ€%µ?ƒŠ` *

qn

y

p+,

& q nBq:Ÿ

y

atn

&.-

$

q Ÿ>«n y …Ÿ

G}GƒŠ¶Â?vPP¸ /10

$32547698

*

q n

qn

y

pM˜

u°ƒ

¤<p „

uv7v7v<u

2 4 v

ȶ¤Pw~Ð

v*}•¯?%ŽHv*Â?{tv£}r?v {t„ˆ{H‡Ò¡Šƒ…{tvaŒ€3Â?¡…}vP€ƒŠ{t‹'˜t€G„ˆµt¡Šv*uµY³W}rtv£¼Ñ„`¡…¡Š„´%ƒ…{?‹†³H“}Gv*uÀ¸

n_oGpM}°o`q n_o€

s

u‚

oy ¦

Ÿ…oGpM ¶o`q n_o

u¡

oy ¦

ȶ¤*›YÐ

Œ{ ŽcŽHvP{t„Œ}Gvn

¯;:

o p qn

¯

u7vv7v<u n_o

y

Œ{ ŽxŸ

¯;:

o p q:Ÿ

¯

u7vv7v[u

Ÿ?o

y » N–ƒ…{t‹}Grtv{t„Œ}F}Gƒ…„`{?f„Œ¼k4…¤a 6R‰

qn

¯;:

oy

ŽHvP{t„Œ}GvPf}r?v

qq l

T „ y2 4=<

q l

T „ y2 4 y

ƒŠ{H¼Ñ„ˆ€Gu}Gƒ…„`{¨u}€Gƒ'„ˆ¼[n

¯;:

o]Œ{ Ž

$ 

Žtv*{t„ˆ}vPÁ}r?v

2

4><

2 4

ƒ…{t¼Ñ„ˆ€Gu'Œ}ƒŠ„ˆ{W¯tµtuŒ}€Gƒ'„Œ¼Yn_o

´%rtƒ‚Fr¨ƒÁ}Grtv–ƒŠ{Y ˆvP€Gv•„Œ¼9}Grtv

2

4><

2 4 €Gƒ…‹`r`}‡R¡Š„´3v*€µt¡Š„H‚F±†„ˆ¼

² q n

¯(:

oy ³€

s»1q„)h `„ˆƒŽ'ƒ…{Y `v*€F¶ƒŠ„ˆ{„ˆ¼9}„Y„8¡Œ€G‹ˆv•uŒ}€GƒŠ‚*vPP‰

€va‚¯t€Fƒ… `v)v#Y˜?€vaƒ…„`{c„ˆ¼Á}Grtvµ „`¯t{?Ž

$ 

r?`£µ vPv*{ۘt€GvPv*{~}vaŽ[€GvP‚*v*{~}¡Š³UƒŠ{ 4…¤a 6R‰ 4…¤`¤6҉ˆ{?Žc¯tu'uŒ€Gƒ2žPvPŽcµY³U}r?v

¼Ñ„ˆ¡Š¡Š„´%ƒ…{t‹)¼Ñ„ˆ€Gu8¯?¡Š?¸

$

1?

( p c

#

$  a c s

$  q $  T c ss

$  y € s c s

$ 

ȶ¤aœ`Ð

Références

Documents relatifs

To tackle large dimensions, other methods have been devised that are based on a non-independent sampling: Markov chain Monte Carlo methods (MCMC).. The prototype of MCMC methods is

It is shown that not only the variance of the position estimator increases with the complexity of the source, but also that a mismatch between the radiation model and the actual

In this paper, the conditional and the unconditional Cram´er-Rao bounds are derived in a closed-form expressions for a single near-field time-varying narrowband source in terms of

In particular, for the V-shaped arrays family, under the unconditional observation model, the opening angle ∆ iso depends on the number of sensors located on the orthogonal

To properly handle the tracking of multiple moving targets over time, a sample–based framework, which combines Markov Chain Monte Carlo (MCMC), Se- quential Monte Carlo (SMC),

A methodological caveat is in order here. As ex- plained in §2.1, the acoustic model takes context into account. It is theoretically possible that the neural network learnt

In this paper, we introduce RNApyro, an efficient linear-time and space inside-outside algorithm that computes exact mutational probabilities under secondary structure and

Nous venons de la rencontrer consisté en l'absence de tout nom et c'est évidement l'anonymat (ex.. ﻈﻨﻤﻟﺍ ﻦﻣ ﺔﻴﺟﺭﺎﺨﻟﺍ ﺕﺎﺒﺘﻌﻟﺍ ﺓﺮﻫﺎﻇ ﻲﺛﺍﺪﺤﻟﺍ ﺭﻮ ﺔﺑﺎﺘﻛ ﻑﺪﻫ ﻥﺇ