• Aucun résultat trouvé

Using Singular Displacements for Uncalibrated Monocular Visual Systems

N/A
N/A
Protected

Academic year: 2023

Partager "Using Singular Displacements for Uncalibrated Monocular Visual Systems"

Copied!
36
0
0

Texte intégral

(1)

HAL Id: inria-00074013

https://hal.inria.fr/inria-00074013

Submitted on 24 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

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

Using Singular Displacements for Uncalibrated Monocular Visual Systems

Thierry Viéville, Diane Lingrand

To cite this version:

Thierry Viéville, Diane Lingrand. Using Singular Displacements for Uncalibrated Monocular Visual

Systems. RR-2678, INRIA. 1995. �inria-00074013�

(2)

a p p o r t

d e r e c h e r c h e

INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE

Using Singular Displacements for Uncalibrated Monocular Visual Systems

Thierry Vie´ville and Diane Lingrand

N˚ 2678

Octobre 1995

PROGRAMME 4

(3)
(4)

0 ##1',32&456 879:

;=<->@?BAA*CEDF>HGJIK>@LHL@?MON P6Q9>RMON:?ST>@N-UVAWMON P

X:Y[Z$\$Y^]W__`/acb d'ZfegZWh[ikjJlm`Wnoip_=]q\f`/`rhsJikt[ikZfu

X-Y[ZWv[`rhwd'ZfegZqh[xyikt

dT]qzmz{Z$YRh|m`Y[`~}€m`*Y[}m`‚u(ƒJ„$…o†q‡yb ˆ}rh^ZfemY[`‰Š$Šf‹/b Œ$„(zO]W\$`*t

=ސ’‘“”–•W‘f—

˜™ušh^m`z–Y[`~t›`~u$hzœ]qz{`*Y’nž`8Y[`rsJik`’Ÿ]qum| }*Zf_zB¡k`rh^`=h^m``*jJlœ]¢h[ipZ$umt]Wu–|£h^m`¥¤¦ZfY[_=]¢¡§ikt^_¨TBip}€

]¢¡§¡kZ©h^Zª]q}oip`rsf`9]_ikuBip_=]¢¡wzœ]qY^]q_¥`rh^`*YRik«¢]¢h[ikZfu¬Zq¤wh^m`­Y[`rh[ipuO]¡T|Bipt›zB¡®]q}*`*_¥`*u$h¤¦ZfY=]_Z$umZB}*lB¡¯]WY

sJipt›lœ]¡t[°Bt[h^`*_©'i§h^–ZflBhT}]¡±ipe–Y^]h[ikZfuV²

³ Z$umt[ik|m`*YRipum\h^m`5`*_¥`*Y[\$`*um}*`,ZW¤´]W}rh[i±sf`/sJikt^lœ]¢¡4t[°Bt[h^`*_t¤¦Z$YTBik}µž` •$”œ¶·¶¸m‘ }*Z$umt[ik|m`*Yžh^œ]¢h

h^m`+}]¢¡§ikemY^]¢h[ipZ$u(zœ]qY^]q_¥`rh^`*Y[tK]qY[`+`ri§h^m`*Y¹ou–Zwu5ZfYºB»m`*|¼n¢ž`½|m`rsf`r¡pZ$zc]qu(]¢¡§h^`*Y[uœ]¢h[i±sf`žt[h^Y^]¢h^`*\W°,l–t[ipu–\

h^m`T¤@]q}’h+h^O]hž}*`*YRh]iku8}r¡¯]Wt^t+Zq¤t^zg`~}ri¯]¡g|Bikt^zB¡¯]W}*`*_`~u$h^t+ikum|ml–}~`*tž`*umZ$lm\$=`*jolO]h[ikZfu–t+h^Zc`rsW]¢¡plO]h^`Th^m`

}]¡±ikemY^]h[ikZ$u8zœ]qY^]W_`rh^`*Y[t~nBt›Z(h^œ]¢hžž`}]WuY[`~}*Zs$`*Y+h^m`,]¢¾u–`/ZfYž¿-lm}r¡±ip|m`]qu8t[h^Y[lm}rh^lmY[`ZW¤h^m`/t›}~`*um`

w–`~u­um`*`*|m`*|¼²

À

t[°Bufh^–`~t™ipt­ZW¤wœ]¢h1}]quÁeg`Y[`*}~Z~sf`*Y[`*|Á¤¦Z$Yt[ikum\$lB¡¯]WY8|oipt^zo¡®]q}*`~_`*u$h^t8ikuÁh^`*Y[_t9ZW¤5}¢]q_`*Y^]

}]¡±ikemY^]h[ikZ$u¼n+t›}~`*um`µ\f`*Z$_`’h^YR°Â]qum|¬¹fikum`*_=]h[ik}*tiptzmY[Z$zgZft^`*|¼²£Ãª`µ\Wi±sf`Wn ¤¦ZfY5h^m`­|Bi±Ä¼`*Y[`*u$h=¡p`rsf`r¡kt

Zq¤½}]¢¡§ikemY^]¢h[ipZ$u¼n¼]Wu`»–œ]qlmt[h[i±sf`5¡§ikt[h/ZW¤´h^m`\$`~Z$_`rh^YRip}]Wu–|¹fikum`*_=]h[ik}5ipuB¤¦Z$Y[_=]h[ikZ$u9wBik}}]que{`

Y[`*}*Zsf`*Y[`*|¼²µÅmZq¡§¡kZ'ipum\9]µt[h^Y^]h^`*\q°eœ]qt^`*|Zfušt^z{`*}ri¯]¡-¹fikum| ZW¤ž|oipt^zo¡®]q}*`~_`*u$h^t~nt^lm}€ª]qtº–»–`~| ]¢»oikt

Y[Zqh]h[ikZfu–tZ$YzmlmY[`yh^Y^]Wumt™¡®]¢h[ipZ$umt½¤¦ZfY½ipumt™h]Wum}*`Wnož`,|m`*t^}*YRike{`,–ZÆh^Z¥|–`’h^`*}rhTh^BiptTzœ]qYRh[ip}*lB¡¯]qY}r¡®]qt^t^`*t

Zq¤K|Bikt^zB¡¯]W}*`*_`~u$h~²

Çm`5ip_zB¡k`*_`~u$h]¢h[ipZ$uZq¤´h^m`*t^``~jJlœ]¢h[ikZfumtikt,]quœ]¡±°B«*`~|–`~Y[`=]qum|h^m`Y[`]¢¡§ik«]h[ikZfu­ikt,Y[`*z{Z$YRh^`*|

]qtw]t[ikum\W¡k`/_ZB|mlB¡k`WnBh^Z=eg`/`*_(eg`*|m|m`*|iku9]coip\$BÈ@¡k`rsf`r¡˜R_]q\$`,Éwu–|m`*Y[t[h]Wu–|Bipu–\¿-u$sJipY[Z$um_`*u$h~²

Ê­ËfÌVÍ[θœ“Ï$—Ð

h^Y[lm}rh^lmY[`]Wu–|FÑ9Zqh[ipZ$u¼n

Ð

ikum\$lB¡®]qYÒTikt^zB¡¯]W}*`*_`*ufh^t*n

Ð

`’¡±¤¯È

³

]¡±ikemY^]h[ikZ$u

ÓkÔÕ@ÖRר'Õ+ÙKÚÛÖRܦݒÞ

(5)

87F¼ / 2& # ©(*)/

J —

³

`8zœ]qzBik`*Y(`*t[hcl–um`8Y[`rsBlm`Wn´}*Zf_zB¡rh*`8|m`8|rs$`’¡kZ$zmz{`*_`*u$h^tcumZ$lBs$`¢]qlo»Vn´|–`~t*jJlœ]h[ikZ$umt(`rh|ml

¤¦Z$Y[_]¢¡±ipt^_`,jJlBi-z{`*Y[_`rh[h^`*ufh/|Z$eBh^`*uBipYTlmum`5zœ]qY^]W_rh^YRipt€]h[ikZfu­_ipuoip_=]¢¡p`5|ml9_¥Z$lBs$`~_`*u$h/Y’h[ikuBik`*u

zgZflmY'lmut™°–t™h~_`/sJikt^lm`r¡4_Zfu–ZB}~lo¡®]¢ipY[`umZ$u­}¢]¢¡±ipemYW²

³ Z$umt[ik|*Y^]Wu$h¡*_`~Y[\$`*um}*`c|–`ct[°Bt[h*_`*tsJipt^l–`’¡kt,]q}’h[i±¤¦t/zgZflmYT¡k`*t^jJlm`r¡pt/Z$uum`z{`*lBh,zo¡plmt/}*Z$umt[i±È

|*Y[`*Y+jJlm`¡k`*t+zœ]qY^]W_rh^Y[`*t+|m`w}]¢¡§ikemY^]¢h[ipZ$u=t^Z$u$h½}*Z$umuJlmt+uBig_*_`}*Zfumt™h]Wu$h^t~nfZfu|rsf`r¡kZfz–z{`Tik}’iglmum`

t[h^Y^]¢h*\Wik`/]¡±h^`*Y[uœ]h[i±sf`eœ]qt*`t^lmY´¡k`T¤@]i±hžjJlm`/|m`*tž}r¡®]qt^t^`*t+zœ]qYRh[ik}~lo¡§i*Y[`~t½|m`/_ZflBs$`*_¥`*u$hzg`*Y[_¥`rh[h^`*u$h

|m`\~u~Y[`*Y]qt^t^`*«T|~jJlœ]¢h[ikZfumt½z{Z$lmYrsW]¡klm`*Y+¡k`*tžzœ]qY^]W_rh^Y[`*tž|m`}]¡±ipe–Y^]h[ikZfuVnBzg`*Y[_¥`rh[h]qu$hw]ikumt[iV|m`

Y*}*lmz*Y[`*YžÈ t[ie{`*t^ZqikuBÈ:¡¯]t[h^Y[lm}rh^lmY[`,`*lm}r¡±ip|oip`*umum`|m`/¡¯]ct›}*um`/Z$emt^`*YRs~`W²

Ò/]Wumt-}*`zœ]qzBik`*Y’nJlmum`'t[°Bu$h^*t^`w|–`}*`jJlBigz{`*lBhrh^Y[`Y*}*lmz ~YWnf¡pZ$Y[t-|m`w_Z$lBsf`*_`*u$h^t+t[ipu–\flB¡±ik`~Y[t*n

`*u­h^`~Y[_`|m`}¢]¢¡±ipemY^]¢h[ikZfu¼nœ|Û]¢h[h^YRikemlBh^t/\~Z$_rh^YRipjJlm`*t`rh}riku*_=]h[ikjJlm`*ty|–`,¡¯]=t^}!*um`(`*t[hzmY[Z$z{Z$t*`W²

ˆu|*}*YRi±hy¡k`*t/|Bi±Ä*Y[`*u$h^t/uBi§s$`]Wlo» |m`}]¡±ikemY^]h[ikZ$uF`rh/|mZ$umum`lmum`5¡§ikt[h^``»mO]Wlmt™h[i§s$`c|m`*t/|Bi±Ä"~Y[`*u$h^`*t

ikuB¤¦ZfY[_=]¢h[ipZ$umt'ZfeBh^`*uJlm`*t$#}€œ]WjJlm`uBi§s$`]Wl¼²

¿:ut^loi§sW]qu$hžlmum`t™h^Y^]h*\qip`'eœ]Wt%~`'t^lmY-}*`~YRh]¢ikumt-h °Bzg`~t+|–`w|*zB¡¯]q}~`*_`*u$h^t~n$h^`r¡kt jJlm`'È zO]WY-`»m`*_zB¡k`rÈ

|m`*t+Y[Zqh]h[ikZfu–tž]WlBh^Z$lmY+|]»m`Tº–»–`Z$l=|m`*t´h^Y^]Wumt™¡®]¢h[ipZ$umt+zml–Y[`~t*nBZ$u8|*}*YRi§hž}*Z$__¥`*u$hž|rh^`*}rh^`~Y+|–`wh^`r¡kt

_Zflosf`*_`~u$h^t~²

&ik_zB¡~_`*u$h]h[ikZ$uª|m`µ}*`~t*jJlœ]h[ikZ$umt`~t™h¥]quœ]¡±°Bt*`8|œ]qumt}~`µzœ]qzBip`*Y`rhclmum`µY]¡±ipt€]h[ikZfu t^Z$lmt

¤¦Z$Y[_¥`|lmu_ZB|mlB¡k`¡pZ$\qip}rik`’¡'#=ikufh*\$Y[`*Y(]Wlt›`’iku|lmu£¿-u$sJipY[Z$umum`*_`*ufh5|À uœ]¢¡±°–t›`c|m` Ð *jJlm`*um}*`*t

|˜™_=]q\f`*t'`~t™hw`»–z*YRik_¥`*u$h*`W²

( ¸–‘¢rÍ^•)* —%Ð h^Y[lm}rh^lmY[`(`rhyÑ9Z$lBs$`~_`*u$h~ngÑ9Zflosf`*_`~u$h^t Ð ikum\flo¡§ik`*Y[t~n Ð `r¡§¤¯È ³ ]¢¡§ikemY^]¢h[ipZ$u

(6)

¶g‘“¸VÏ •W‘¯¸g¶

8˯Ë$Î ¦¶š‘4Ë­‘4ËJ¸œ“~Ì ¸  ¸m‘¯¸g¶ÂÎ4ËB¶ ¶¸•f”)¯ŽK“”B‘¯¸g¶

„–²§‰ Ð `’h[h[ikum\h^m``~jJlœ]¢h[ikZfumt¬²,²(²,²²(²,²,²²(²,²,²²(²,²,²²(²,²,²5²,²,²,²5²,²,²,²5²,²,² ‹

„B²§‰$²§‰

³

]q_`*Y^]c_ZB|m`r¡4]qum|¤¦Y^]q_`/ZW¤Y[`’¤¦`*Y[`*um}*`W²&²,²²(²,²,²5²,²,²,²5²,²,²,²5²,²,² ‹

„B²§‰$²„ ÉTt[ikum\z{Zqipu$h^tT]Wt'zmYRip_i±h[i§s$`*t~²c²²(²,²,²²(²,²,²²(²,²,²5²,²,²,²5²,²,²,²5²,²,² ‹

„B²§‰$²Œ À t^loi§h]qeB¡k`/_¥ZB|–`’¡Zq¤4h^m`/iku$h^YRipu–t[ip}5zœ]qY^]W_`rh^`*Y[tZq¤4h^m`,}]q_¥`*Y^]B²ž²,²,²5²,²,² ‹

„B²§‰$²a d'`~z–Y[`~t›`~u$h]¢h[ipZ$uZq¤:YRik\qip|µ|Bipt›zB¡®]q}*`*_¥`*u$h^t~² ²,²²(²,²,²5²,²,²,²5²,²,²,²5²,²,² …

„–²„ X]WY^]q_`rh^`~YRik«]h[ikZ$uZq¤:_ZWh[ikZ$u8w–`~u­umZ}]¡±ikemY^]h[ikZ$u¼²:²²(²,²,²5²,²,²,²5²,²,²,²5²,²,² …

„B²„–²§‰ Ç–`rÈ Y[`*zmY[`*t^`*ufh]¢h[ikZfu]qum|µh^m`È _=]h^YRi»V²¼²²(²,²,²5²,²,²,²5²,²,²,²5²,²,² …

„B²„–²„ Ç–`,}]Wt^`Zq¤:]zmlmY[`Y[ZWh]¢h[ipZ$u¼nO]qum|8h^m`zB¡®]quœ]qY}]qt^`W²o²5²,²,²,²5²,²,²,²5²,²,² †

¦¶  ËJ•:•9Ï ¯ )¯”m•fË  ËB¶g‘ ¸œ“  ¸–‘!¯¸g¶Â”œ¶”)k̏"¯# $

Œ–²§‰ %w`~u–`~Y^]¢¡4YRik\Wik||Bikt^zB¡¯]q}~`*_`*u$h~² ²(²,²,²²(²,²,²²(²,²,²²(²,²,²5²,²,²,²5²,²,²,²5²,²,² Š

Œ–²„ %w`~u–`~Y^]¢¡4zB¡¯]WuO]WYžYRik\qip|­|Bikt^zB¡¯]W}*`*_`~u$h~²m²²(²,²,²²(²,²,²²(²,²,²5²,²,²,²5²,²,²,²5²,²,² ‰$‰

Œ–²Œ ¿¡k`*_¥`*u$h]qYR°1|Bikt^zB¡¯]W}*`*_`*ufh^t'ZW¤h^m`,}]W_`*Y^]'&-umZh^Y^]qumt[¡¯]h[ikZfuV² ²,²,²,²5²,²,²,²5²,²,² ‰„

Œ–²a ¿¡k`*_¥`*u$h]qYR°1|Bikt^zB¡¯]W}*`*_`*ufh^t'ZW¤h^m`,}]W_`*Y^]'&-zmlmY[`,Y[Zqh]¢h[ipZ$u¼²K²5²,²,²,²5²,²,²,²5²,²,² ‰„

Œ–²‹ ¿¡k`*_¥`*u$h]qYR°1|Bikt^zB¡¯]W}*`*_`*ufh^t'ZW¤h^m`,}]W_`*Y^]'&-Y[`rh[ipuœ]¢¡h^Y^]qumt[¡¯]h[ikZfuV²1²,²5²,²,²,²5²,²,² ‰Œ

Œ–²… ¿¡k`*_¥`*u$h]qYR°1|Bikt^zB¡¯]W}*`*_`*ufh^t'ZW¤h^m`,}]W_`*Y^]'&-zmlmY[`/h^Y^]qumt[¡¯]¢h[ipZ$u¼²Â²,²,²5²,²,²,²5²,²,² ‰*a

Œ–²† ¿¡k`*_¥`*u$h]qYR°1|Bikt^zB¡¯]W}*`*_`*ufh^t'ZW¤h^m`,}]W_`*Y^]'&-zmlmY[`,zo¡®]quœ]qYžh^Y^]qumt[¡¯]h[ikZfuV²Á²,²,²5²,²,² ‰*a

Œ–²‡ ¿¡k`*_¥`*u$h]qYR°1|Bikt^zB¡¯]W}*`*_`*ufh^t'ZW¤h^m`,}]W_`*Y^]'&-Y[`rh[ipuœ]¢¡4|Bikt^zB¡¯]W}*`*_`*ufh~²/²5²,²,²,²5²,²,² ‰‹

Œ–²Š ¿¡k`*_¥`*u$h]qYR°1|Bikt^zB¡¯]W}*`*_`*ufh^t'ZW¤h^m`,}]W_`*Y^]'&-Y[`rh[ipuœ]¢¡4zB¡¯]WuO]WYž|oipt^zo¡®]q}*`~_`*u$h~²c²5²,²,² ‰†

Œ–²§‰!(¿¡k`*_¥`*u$h]qYR°1|Bikt^zB¡¯]W}*`*_`*ufh^t'ZW¤h^m`,}]W_`*Y^]'&º–»–`*|F]»oiptTY[ZWh]¢h[ikZfu¼²²,²5²,²,²,²5²,²,² ‰‡

Œ–²§‰f‰£¿¡k`*_¥`*u$h]qYR°1|Bikt^zB¡¯]W}*`*_`*ufh^t'ZW¤h^m`,}]W_`*Y^]'&-«*ZBZf_©|Bikt^zB¡¯]q}~`*_`*u$h~² ²5²,²,²,²5²,²,² ‰Š

)Ë ¶*¦¶”+¯ËJ“”m“•,¯•$”)  ¸m‘¯¸{¶ ª¸VÏ' )¯Ë

-

aO²§‰ ³ Zf_5eBikuBipu–\=|Bi§ÄV`*Y[`*ufhT_ZB|m`r¡pt'ZW¤K|oipt^zo¡®]q}*`~_`*u$h^t ²,²,²²(²,²,²5²,²,²,²5²,²,²,²5²,²,² „–‰

aO²„ ÉTt[ikum\=]t[h]¢h[ipt[h[ik}]¡V¤¦Y^]q_`’žZ$Y[¹œ² ²,²,²²(²,²,²²(²,²,²²(²,²,²5²,²,²,²5²,²,²,²5²,²,² „$Œ

am²„–²§‰ Ç–`(¿´]WYR¡±°JÈ@sJipt™ipZ$u_ZB|mlB¡k`W²œ²,²²(²,²,²²(²,²,²²(²,²,²5²,²,²,²5²,²,²,²5²,²,² „$Œ

am²„–²„ ¿¡§ik_ipuO]h[ikum\=Z$lBh[¡§ik`*Y[t~²‚²(²,²,²²(²,²,²²(²,²,²²(²,²,²5²,²,²,²5²,²,²,²5²,²,² „qa

am²„–²Œ d'`’ºOuBipu–\ch^–`,`*t[h[ip_=]¢h[ipZ$u¼²©²,²²(²,²,²²(²,²,²²(²,²,²5²,²,²,²5²,²,²,²5²,²,² „qa

am²„–²a ³

Z$_zmlBh[ikum\=}*ZsW]qYRi®]qum}*`*tw]qum|}*Z$_¥zO]WYRikum\|Bi±Ä¼`*Y[`*u$hw_ZB|m`r¡pt*²o²5²,²,²,²5²,²,² „qa

am²„–²‹ ˜R_¥zo¡p`*_`*ufh[ikum\]_Zqh[ipZ$u_ZB|mlB¡k` ²,²²(²,²,²²(²,²,²5²,²,²,²5²,²,²,²5²,²,² „$‹

aO²Œ ¿4»–zg`~YRik_`*ufh]¢¡KY[`*t^lB¡±h^t%²,²(²,²²(²,²,²²(²,²,²²(²,²,²²(²,²,²5²,²,²,²5²,²,²,²5²,²,² „$…

am²Œ–²§‰ ÉTt[ikum\t[°Bufh^–`’h[ik},|œ]¢h] ²(²,²,²²(²,²,²²(²,²,²²(²,²,²5²,²,²,²5²,²,²,²5²,²,² „$…

am²Œ–²„ À u1`»O]q_¥zo¡p`'i§h^­Y[`]¡4|œ]¢h]&´\$YRip|­t^}*`*um`W²œ²,²²(²,²,²5²,²,²,²5²,²,²,²5²,²,² „$Š

am²Œ–²Œ À u1`»O]q_¥zo¡p`'i§h^­Y[`]¡4|œ]¢h]&´`»oh^`*Y[uœ]¡4t›}~`*um`W² ²,²,²5²,²,²,²5²,²,²,²5²,²,² „$Š

am²Œ–²a À

u1`»O]q_¥zo¡p`'i§h^­Y[`]¡4|œ]¢h]&´\$`*um`*Y^]¡|Bikt^zB¡¯]W}*`*_`*ufh~²O²,²,²,²5²,²,²,²5²,²,² Œ(

. /

¸g¶4•) 4¯¸{¶

(7)

Ç–`y]quœ]¢¡§°Bt[ikt´ZW¤V_ZWh[ikZfuikuh^m`T}]Wt^`'ZW¤]qu=lmum}]¡±ikemY^]h^`*|_Zfu–ZB}~lo¡®]qYKik_=]W\$`t›`~jJlm`*um}*`Tœ]qt½]¢¡kY[`¢]q|B°

eg`~`*uµ|m`rsf`r¡pZ$zg`~|µe$°8t^`rsf`*Y^]¡4]qlBh^mZ$Y[t~no}~Z$umt[ik|m`*YRikum\z{Zqipu$hw]qum|¢Z$Y´¡§ikum`/}*ZfY[Y[`*t^zgZ$um|m`*um}*`*t+ZfYž}*Z$Y[Y[`*t[È

zgZfum|–`~u–}~`*t´eg`’h ž`*`*u=zB¡®]quœ]qY:zO]h^}€m`*tž]Wum|lmt™ipum\`’i±h^m`*Yž]/|Bikt^}*Y[`rh^`wZ$Y´]/}*Zfu$h[ikuol–Zflmt+Y[`*zmY[`*t^`*u$h]¢h[ipZ$u

Zq¤4h^m`,YRik\Wik|­|Bipt›zB¡®]q}*`*_¥`*u$heg`rh ž`*`*uhžZ=Z$Y_ZfY[`¤¦Y^]q_`*t~²

Çm`*t^`t[h^l–|Bip`*t9]WY[` _¥Zqh[i±sW]h^`*|Æe$°Áh^m` ¤@]W}rhh^O]h !#"$%"!# &'

()*+#,'-/.0/132§‰(!4@²65TZž`rsf`*Y’ngi±hœ]Wteg`*`~u9|m`*_Z$umt[h^Y^]¢h^`~|­h^œ]¢h~nOiku9h^m`(\$`*um`*Y^]¡4}]qt^`WnOi±hwikt

umZqh+z{Z$t^t[ikeB¡k`+h^Z,t^`r¡±¤¯È }]¡±ikemY^]h^`½h^m`T}¢]q_`*Y^]wm`*u«*ZBZf_ikum\,Z$Y:_ZB|Bi±¤¯°Jipu–\/h^m`'ipu$h^YRikumt[ik}y}]¢¡§ikemY^]¢h[ipZ$u

zœ]qY^]W_`rh^`*Y[t~²

³ Z$umt[ik|m`*YRipum\yh^Bipt´¤@]q}rh~n$h^m`T¹W`r°ik|m`]/ZW¤Vh^m`TzmY[`*t^`*u$h+t[h^lm|B°ikt:h^O]h *˜ËJ“”)-¦¶ )¯”m“Ï ¯ )¯”BÍ

•$Ë ËB¶g‘¦¶Ï 4•$Ë9ËB¶4¸ *-ÂË87 4”o‘!¯¸g¶4‘¸ Ë B”) 4”B‘Ë9‘4Ë9•$”)¯ŽK“”o‘!¯¸g¶ ”m“”  Ë$‘ËJ“#

ÅmZ$Y+ipu–t[h]Wu–}~`Wnoº–»–`*|F]»oipt'Y[ZWh]¢h[ikZfumt½ZW¤K¹JumZ~wu9]Wum\q¡k`~t½ZfYžz–lmY[`,Y[Zqh]h[ikZfu–t92Š:44]¡±¡kZ·h^Z`*t[h[ik_=]h^`

h^m`=}]¢¡§ikemY^]¢h[ipZ$uzœ]qY^]W_`rh^`*Y[t~n¼h^m`ripYlmum}*`*YRh]iku$h °ª]qum|¼n¼¤¦Z$Y,]\qi±sf`*u£¹$ikum|£Zq¤ž|Bikt^zB¡¯]W}*`*_`~u$h~nTBip}€

zœ]qY^]W_`rh^`*Y[t,]WY[`Z$zBh[ik_]¢¡±¡§°`*t[h[ik_]¢h^`*|¼n¼t^Z8h^œ]¢h(]q}’h[i±sf`sJikt^lœ]¢¡:t[h^Y^]¢h^`*\Wik`*t/}¢]queg`c|–`’s$`r¡pZ$z{`*|¼²¥ˆu

h^m`=Zqh^m`*Y/œ]qum|¼nzmlmY[`h^Y^]qumt[¡¯]h[ikZ$umt,|mZ­umZqh(]¡±¡pZ~ h^Z­}¢]¢¡±ipemY^]¢h^`h^m`8¿-lm}r¡§ik|m`]qu£\$`~Z$_`rh^YR° Zq¤+h^m`

t^}*`*um`32±‰f‰14 nOemlohi±h^ty]¢¾=um`/\f`*Z$_`’h^YR°%2§‰*a$4@²

³ Zq¡§¡k`*}’h[ikum\=]¢¡§¡h^Bikt'ipuB¤¦Z$Y[_=]h[ikZ$u1]qum|1}*Z$umt[ik|m`*YRipu–\]t›lBi§h]qeB¡k`,t[h]¢h[ipt™h[ip}]¢¡¼¤¦Y^]q_`ržZfY[¹]qtžiku2§‰4 n

i±hikth^m`*u­z{Z$t^t[ikeB¡k`h^ZipuB¤¦`*Y½wBik}9¹$ipu–|1Zq¤K|Bikt^zB¡¯]W}*`*_`*ufh'i±¡§¡ikum}*Y[`]Wt›`,]hT_¥Z$t[hžh^–`/ipuo¤¦ZfY[_=]¢h[ipZ$u

;

lmt^lO]¡±¡§°šY[`~z–Y[`~t›`~u$h^`*| ef° h^m`=ikufs$`*Y[t^`Zq¤w]­}*ZsW]WYRi¯]qum}*`=_]¢h^YRi»<Z$uh^m`8t›}~`*um`=\$`*Zf_`rh^YR°fn-Z$eBv[`~}rh

¹$ipu–`~_=]¢h[ip}*t]Wu–|}]¡±ikemY^]h[ikZ$uzœ]qY^]W_`rh^`*Y[t~²

ÇBiktžiktžh^m`\fZJ]¡Zq¤4h^Biktzœ]qzg`~Y’²

˜™u­ZfY[|–`~Y½h^Z8]h[h]¢ikuh^BiktTZfeBv[`*}rh[i§s$`Wn–ž`(]WY[`yºœY[t[hw\$Zqipum\h^Z=Y[`rsJip`rÆh^m`/h^–`~Z$YR°1Zq¤K_Zqh[ipZ$uTm`*u

umZ}]¡±ikemY^]h[ikZ$u&´`*jJlœ]¢h[ipZ$umt~n–zœ]qY^]W_`rh^`*YRip«]¢h[ipZ$uZq¤K_Zqh[ipZ$u¼n–`rh^}$²±²±²

ê`žh^–`~uµ]WY[`T\fZqikum\,h^Z5zmY[ZfzgZ$t^`w]t[°Bufh^–`~t™iptžZq¤Vwœ]¢h+}]Wu=eg`wY[`*}*Zs$`~Y[`*|=iku=h^`*Y[_tžZq¤¼t^}*`*um`T\f`*ZqÈ

_`rh^YR°µ]qum|=¹$ikum`*_]¢h[ik}~t wm`*u=}]¡±ikemY^]h[ikZ$uipt+umZqh+\Wi±sf`*u]qt+]Wuikumzmloh"&´|m`*t^}*YRike{`'h^m`T|Bi§ÄV`*Y[`*ufh½¤¦ZfY[_t

Zq¤½}]¢¡§ikemY^]¢h[ipZ$u¼n{h^m`|Bi±Ä¼`*Y[`*u$h/¡p`rsf`r¡kt,Zq¤½}]¢¡§ikemY^]¢h[ipZ$u]qum|\Wi±sf`=]qu`»mO]Wlmt™h[i§s$`c¡±ikt[h/ZW¤´h^m`|Bi±Ä¼`*Y[`*u$h

\$`~Z$_`rh^YRip},]qum|­¹fikum`*_=]h[ik}/ikuB¤¦Z$Y[_]¢h[ikZfuh^Z¥eg`,Y[`*}*Zsf`*Y[`*|¼nO|m`*zg`*um|Bikum\h^m`,}–Zft^`*uµ\f`*Z$_¥`rh^YR°f²

= >

@?1@A3¨CB CB# 7 #! #:#DAEBy #&5*)+,:#GF

H­¸m‘”B‘¯¸{¶

ê`½wYRi±h^`s$`*}’h^Z$Y[tž]qum|_]¢h^YRik}~`*t´lmt[ikum\5e{Zq¡p|¡k`rh[h^`~Y[t*nJ_=]h^YRik}*`*t+e{`rikum\/wYRi±h[h^`*ui±h^8}]Wzoi§h]¢¡m¡k`’h[h^`*Y[t~²

Ç–`(|mlœ]¢¡ktyZq¤-sf`*}rh^ZfY[t/]qY[`(Y[`*zmY[`*t^`*u$h^`~|]qt'h^m`(h^Y^]qumt^zgZ$t^`,Zq¤½]s$`~}rh^Z$Y/]Wum|9t^}]¢¡®]qY[t'ipu­i±h]¡±ip}W²wÇm`

umZqh]h[ikZ$u,IKJMLONQPIRL9}~Z$Y[Y[`*t^zgZfum|–t4h^Z/h^m`'}*Y[Zft^t™È zmY[ZB|ml–}’h~n¢h^–`|mZqh[È zmY[ZB|–lm}rh:eg`’ikum\TYRi§h[h^`*u8]qtSIUTL ²

P

I£ikt/]WVXV=t^¹q`rÈ t™°–__`rh^YRip}5_=]h^YRi»ZY,²TÇm`ip|–`~u$h[i±h °_=]¢h^YRi±»1ipt'wYRi±h[h^`*u[q² %`*Zf_`rh^YRip}5ZfeBv[`*}rh^t

t^lm}€]WtzgZWiku$h^t~ng¡±ipu–`~t*ngzB¡¯]Wum`*t/]qY[`,wYRi±h[h^`*ui±h^9}]WzBi±h]¢¡4¡p`rh[h^`*Y[tikuŒfÒ(ng]qum|t^_=]¢¡§¡¡k`rh[h^`~Y[tiku„$Ò(²

ê`Y[`*zmY[`*t^`*u$h,h^m`=}*Z$_¥zgZ$um`*ufh^tZW¤]µ_=]h^YRi»šZfY5]8s$`~}rh^Z$Y,lmt[ikum\­t^lmzg`*Y[t^}*YRipzBh^ty¤¦Y[Zf_ (h^ZF„Bn`W²\m²&

I\N^]*_a`cbd_

Y

be_af)g*T²

ê`TYRi§h^`ihkjml£i±¤Chµipt'`*jolO]¡h^Z3l lmzh^Z8]t^}]¢¡p`¤@]q}rh^ZfY’noi@²`W²on&pbdhkNmpl½²

q

0Sr0sMr0sutvr0wxzy${1x|{~}u6}~€*rƒ‚R„…€†!s‡sMrƒxˆwЉ-‹Rs‡{1xˆw‰Œ‡y${)€UŽ~:{)w*{)sMrƒxˆr0w/€{ 1$‘@‹0{ 1K{1’“‚|{”†:€•tvr–w/r0$w*r0€/r 1xˆr0‘~t†Mxˆy$r

‹0w/—€/€*$w/—!‘:˜$‹ƒx—1™&{uš)r0‹ƒxz—)wƒ›!‰œrœa‰-€S—1™xˆy:rS™—w/sŸž

 

™—wR€/—s‡r

  œ

(8)

/ ” ªËJ“”  ¸VÏKË )-”œ¶4Ï “¢”  Ë¸ T“Ë Ëo“¢Ë–¶•fË

ê`lmt›` )*Zv0 #' !!'m¤¦Z$Y(]µ}¢]q_`*Y^]–n]qt^t^lm_ikum\h^–`=}¢]q_`*Y^]zg`*YR¤¦ZfY[_tc]µzg`~YR¤¦`*}rh

zg`~Y[t›z{`*}rh[i§s$`8h^Y^]qumt[¤¦Z$Y[_%'i§h^¬}*`*ufh^`*Y"!

;

h^m`1}]q_`~Y^]9Z$zBh[ik}}*`*u$h^`~Y<]¢h¥]|oipt[h]qum}*`$#

;

h^m`8¤¦ZB}]¢¡

¡k`~u–\Wh^<5Zq¤h^m`9Y[`’h[ikuœ]¢¡wzB¡¯]qum`W² Ç'm`­zBipu–mZW¡k`­_¥ZB|–`’¡T}]WuÂt[h[i±¡±¡weg`1lmt›`~|¬¤¦Z$Y=]«*ZBZ$_%¡k`~u–ti§¤h^m`

Z$eBv[`~}rh[ÈHh^ZWÈHip_=]q\f`T|Bikt[h]Wu–}~`iktTumZWh'}~Z$umt[ik|m`*Y[`*|F]qt+º–»–`*|¼²

À ¡±¡{}*ZBZ$Y[|Bikuœ]h^`*t+]qY[`wY[`r¡¯]h^`*|h^Z]Wu8]¢¾=um`¤¦Y^]q_`wZq¤Y[`r¤¦`~Y[`*um}*`&% NŸ]! b”ICb”Lb('g6/*v) /3

0!#Zqn*'=eg`’ikum\=]¢¡§ik\fu–`~|i±h^h^–`,Zfzoh[ip}]¢¡]»oipt*nI ]Wum| Lªeg`ripum\=]¢¡§ik\$um`*|8i±h^µh^m`,mZ$YRip«*Z$u$h]¡4]qum|

sf`*YRh[ik}]¡4]»Bikt+iku8h^m`ik_=]W\$`W²-Ç–`yY[`rh[ikuœ]¢¡zo¡®]qum`Tipt½h^Jlmtžzg`~Y[zg`*um|Bik}*lB¡®]qY+h^Zh^m`Z$zBh[ip}]¢¡]»oipt!,+Bnm]qt

t^mZ~wu8ikuµºœ\fl–Y[`=‰$²

-

-.

/0000000000000000000000000

1 2

23

0000000000000000000000

4

/

5 5 5 6 6

687

9 :

9 : 0

; ; ; ;;<

<

<

<

< 0 =

=

=

=

=> =

=

=

=

=> ? ? ? ? ? ?

? @

? ? ? ? ? ?

? @ A

A

A

A

AB B B BB

CC

CC

CC

CC

CC

00000000000

DD DD DD DD DD DD

EGFIHKJMLONQPSRPTNLF UWVXYXF[Z\R V L(]F^L(_`F[Z

EGFIHKJMLONQPSRPTNLF

a XbVdcF[_eHYJV L fg8hYiH

XKj

_`H j(X

F

kml

n o p

q p l

r r l

EGJsdJT]t V HYJV LuYvwYxQy

a XbVdcF[_eHYJV L o l

q l

n l

z

k

żip\$lmY[`=‰#&´¿¡p`*_`*u$h^tyl–t^`*|8ikuh^m`|m`rºœuBi±h[ipZ$u1Zq¤4h^m`zmY[Zfeo¡p`*_

¦¶ ´¸ ¦¶g‘”m K“! k‘OËo#

ê`5Y[`*zmY[`*t^`*ufh(]µŒfÒTÈ z{Zqikufh{ e$°1h^m`s$`~}rh^Z$Y| N !,{} N ]~b~b€9g*T l–t[ipu–\1¿-lm}r¡§ik|m`]qu}~ZBZ$Y[|Bi±È

uœ]¢h^`*t~²/XZWiku$h^tipu­h^m`Y[`rh[ipuœ]Bng'i§h^zoi±»–`r¡:}*ZBZ$Y[|BipuO]h^`*tT}~ZBZ$Y[|Bikuœ]¢h^`~t,]^‚Rb(ƒg'i±¡±¡Ke{`Y[`*zmY[`*t^`*u$h^`~|]qt

mZ$_Zf\$`*um`*Zflmt,Œ¢È™Ò sf`*}rh^ZfY[t"&…„‡† Nˆ„ !‰} NŠ„ ]^‚•bOƒ&bŒ‹g*TKn}*ZfY[Y[`*t^zgZfu–|Bipu–\1h^Z­¡±ipu–`~t5ZW¤T]1\qi±sf`*u

|BikY[`*}’h[ikZ$u1zœ]qt^t[ikum\5h^mY[Z$lm\fµh^m`,Z$zBh[ik}]¡}*`*ufh^`*Y

;

„ÈRÒ6zmY[ZWv[`*}rh[i±sf`,t^zO]W}*`$<^²

ˆTh^m`*Y,zmYRik_i§h[i±sf`*ti±¡§¡žeg`=Y[`*zmY[`*t^`*u$h^`~| lmt[ikum\t^`rh(Zq¤zgZWiku$h^t~²9Ç'Bikt,i±¡±¡že{`=|Bikt^}*lmt^t›`~| ipušh^m`

t^`*jJlm`r¡ ²

% k‘”mŽ )¯Ë ª¸VÏË )´¸‘4Ë ¦¶g‘“¦¶4¯• ”m“”  Ë$‘Ëo“¢(¸ '‘4Ë­•f” ªËJ“”

˜Ru h^Bikt8t[h^lm|o°Jni \ ,1 `1(/ # '-/.0/1q² 5TZž`rs$`~Y’nžž` ]qY[`­ipu ]£t^zg`*}ri§ºœ}

t[i±h^lœ]¢h[ipZ$ueg`*}¢]qlmt^`'ž`/œ]*s$`/}mZ$t^`*u1]Ž›}¢]qumZ$uBik}¢]¢¡\,¤¦Y^]q_¥`,]¢h[h]q}m`*|=h^Zh^m`/Y[`rh[ikuœ]–²:Çm`*Y[`r¤¦Z$Y[`$nož`

}*Zfu–t[ip|–`~Y+Z$uB¡±°=h^m`/_=]h^YRi»­Zq¤h^m`ikufh^YRikumt[ik},zœ]qY^]q_¥`rh^`*Y[t

;

}]¢¡§¡k`*|‘TÈ _=]¢h^YRi±»Z<-iku8h^m`/z–Y[ZWv[`*}rh[ipZ$u]qum|

(9)

€ † N | b N # ‚ `

# ƒ `

‹

;

‰$<

À }*Zf_zB¡k`rh^`,Y[`rsJip`r6}]Wuµe{`/¤¦Z$lmum|ipu2±‰)4@²

˜™uh^m`TzmY[`*t^`*u$h _ZB|m`r¡@n&]^‚

`

b(ƒ

`

g¼ipt-h^m`'zmYRipu–}’ikzœ]¢¡{zgZWiku$h~nB]qum|"#=h^m`½¤¦ZB}]¡B¡k`*um\Wh^$¤¦Zq¡§¡kZikum\32±‰f‰14 n

ž`w]qt^t^l–_¥` h^œ]h-ž`/¹JumZÆh^m`,Y^]¢h[ikZ¥eg`rh ž`*`*uµh^m`,mZ$YRip«*Z$u$h]¡K]qum|8s$`*YRh[ip}]¢¡¤¦ZB}¢]¢¡V¡p`*um\qh^ ]Wum|h^œ]¢h

ž`8]qt^t^lm_`h^œ]¢h,h^m`/h žZ=Y[`rh[ipuœ]¢¡4}*ZBZfY[|oipuœ]¢h^`*t]qY[`/ZfYRh^mZ$\$Zfuœ]¢¡ ²˜ h(œ]qt,eg`*`~ušt^mZTu£`»–z{`*YRik_`~uoÈ

h]¢¡§¡±°(h^œ]¢h´h^m`*t^`w]qt^t^l–_¥zoh[ipZ$umt´]WY[`½sW]¡±ip|¤¦Z$Y:t™h]Wum|O]WY[|}]W_`*Y^]qt‡2±‰f‰14{]qum|=]¡kt^Z¤¦Z$Y:Bik\$BÈ@¡k`rsf`r¡msJipt›lœ]¡

t^`*umt^Z$Y[t92±‰¢Œ:4@²+ÉTt[ikum\(h^oiptTt[ik_¥zo¡p`,_ZB|m`r¡Vi±¡±¡K]¡±¡pZ~ lmt½h^Zip_zmY[Z~sf`/h^m`ZfeBh]¢ikum`*|Y[`*t^lB¡±h^t~²

ê`c]¢¡kt^Z]qt^t^lm_`5h^œ]hh^m`iku$h^YRipumt™ip}zœ]qY^]W_`rh^`*Y[t,]WY[`|Bi±Ä¼`*Y[`*u$h,¤¦Z$Yy`]q}}]q_¥`*Y^]z{Z$t[i±h[ipZ$u¼n]qt

|mlmYRikum\8]«*ZBZf_²˜Ruµh^m`,}*Zfu–t^`*}~loh[i§s$`/¤¦Y^]W_`%NŸ]! b”I*b”LŠbO'g´ž`TYRi§h^`#&

€ † N | ;

„8<

8ËK“ËJ*ËB¶g‘¢”o‘!¯¸g¶ ¸w“¯Ï·Ï ¯)¯”m•$Ë ªËB¶g‘#

ê`/}*Z$umt[ik|m`*Y_Zqh[ipZ$uZq¤:YRik\Wik|­ZfeBv[`*}rh^t]qum|h^–`,`*\fZqÈ _Zqh[ipZ$u8Zq¤Kh^m`,}]q_`~Y^]Bn|#\ #)0!*1’²

ê`h^JlmtTY[`*zmY[`*t^`*u$hw_ZWh[ikZ$uh^mY[Z$lm\$YRik\Wik|­|Bipt›zB¡®]q}*`*_¥`*u$h^t~²

˜ hž_`]Wu–t+h^œ]¢h+h^m`h^Zf¹q`*umt+iku=h^m`t^}*`*um`/]WY[`lmum|–`~Y[\$Zqipum\](YRik\qip|8|oipt^zo¡®]q}*`~_`*u$hžzœ]qY^]W_`rh^`*YRip«*`*|

e$°1]Y[ZWh]¢h[ikZfu­_=]h^YRi» ]qum|­](h^Y^]qumt[¡¯]¢h[ipZ$u8s$`~}rh^Z$Y &

|

N |

;

Œ8<

Q !"Š $# &% ' ()

Ç–`,\fZJ]¢¡Zq¤Kh^–`,zœ]qY^]W_`rh^`*YRip«]¢h[ipZ$u1Zq¤:_Zqh[ipZ$uµipt'h^m`/¤¦Zq¡§¡kZ'ipum\ &´\qi±sf`*u]t^`rhwZq¤Kz{Zqikufh^t'ikuF}*Z$Y[Y[`*t[È

zgZfum|–`~u–}~`'e{`rh ž`*`~uh žZ/sJip`rTt~n$i@²`W²´]yt^`rh Zq¤{_=]¢h^}m`*t+* ‰-,‰.0/Tž`½]Wu$h-h^Z(]WuO]¡±°B«~`T]¡±¡m}*Zfu–t[h^Y^]iku$h^t

woip}€Y[`r¡®]¢h^`h^m`h žZ­z{Zqikufh^tyi ²`W²5ºœum|h^–`¥`*jJlœ]¢h[ipZ$umt/Zq¤+h^m`¤¦ZfY[_&12* ‰-,‰.0/vb#R]^‰%bO‰3…g N4B²˜Ru

zœ]qYRh[ip}*lB¡¯]qY’nž`=žZflo¡p| ¡§ik¹W`h^Z9zmY[`*|Bik}rh(h^m`=¡kZB}]h[ikZ$uZW¤w]­zgZWiku$h(\qi§s$`~u i§h^t5}*ZfY[Y[`*t^zgZfu–|m`*ufh~ni@²`$²­]

Y[`r¡®]¢h[ikZfu­ZW¤h^m`/¤¦Z$Y[_512* ‰-,‰.0/vbO‰3N6]^‰ g^²@5]*sJikum\=t^lm}€1zO]WY^]q_`’h^`*YRik«]h[ikZfu9]¢¡§¡kZwt½h^Z=`»œ]q}rhy]¢¡§¡

ikuB¤¦ZfY[_=]¢h[ipZ$u]*sW]¢i§¡¯]Weo¡p`¤¦Y[Zf_ h^m`Y[`’h[ikuœ]¢¡:|Bikt^zB¡¯]q}~`*_`*u$h^t~ngTBip}€9ipt_`]Wt›lmY[`*|9h^mY[Zfl–\f­h^m`t^`rh/ZW¤

_=]h^}€m`*t~²

7 4Ë Í^“ËK“ËJ*ËB¶g‘”B‘¯¸{¶¬”œ¶Ï ‘4Ë Í  ”B‘“98

³ Z$umt[ik|m`*YRikum\h^m`„fÒ }~Z$Y[Y[`*t^zgZfum|–`~u–}~`*tTe{`rh ž`*`~u­h žZzgZWiku$h^t‰%]Wum| ‰3Viku­h žZµ|Bi§ÄV`*Y[`*ufh¤¦Y^]q_`~t*n

ž`,Z$eBh]¢ipu¼n–}*Z$_(eBikuBikum\=`*jolO]h[ikZfu–t

;

‰$<^n

;

„8<ž]qum|

;

Œ8< &

€ † N € ;:

Y

< = > ?

@BA

†C

< = > ?

D ;

a<

w–`~Y[`Th^m`wÈ _=]¢h^YRi±».EFÆ}~Z$Y[Y[`*t^zgZfum|–t´h^Z(h^m` ›lmum}]¢¡§ikemY^]¢h^`~|Y[ZWh]¢h[ipZ$uœ]¢¡{}*Z$_¥zgZ$um`*ufhžZq¤h^m`YRik\Wik|

|Bikt^zB¡¯]W}*`*_`*ufh(mnZfY_¥Z$Y[`=\$`~Z$_`rh^YRip}]¢¡§¡±°G k'#'-#Z HG ,U' vM#JICŠ(qn{wBi±¡p`h^–` rÈ

sf`*}rh^Z$Y+}~Z$Y[Y[`*t^zgZfum|–t´h^Z(h^m` ›lmum}]¢¡§ikemY^]¢h^`~|h^Y^]qumt[¡¯]¢h[ipZ$uœ]¢¡{}*Zf_zgZfu–`~u$h+Zq¤¼h^–`/YRip\qip|=|oipt^zo¡®]q}*`~_`*u$h(On

]¢¡pt^Z}¢]¢¡±¡p`*| ™¤¦ZB}~l–t:Zq¤`r»–zœ]qumt[ikZ$u/e$°t›Zf_`]WlBh^–ZfY[t~no]Wu–|=_¥Z$Y[`T\f`*Z$_¥`rh^YRik}]¡±¡§° Z&v'’²Çm`*t^`

(10)

}]Wt›`$²

˜ ¤ž`/`’¡±ik_cikuœ]¢h^` €6]qum| € ipu­`*jJlœ]h[ikZ$u

;

a<

;

e$°8h]q¹$ipum\h^–`,}*Y[Zft^t™È zmY[ZB|ml–}’h½i±h^(]qum|µ_(lB¡±h[i§È

zB¡±°Jipum\=e$°$† lT <:ž`,Zfeoh]iku&

† lTPEF

< = > ?

† N ;

‹8<

Çm`_=]h^YRi» N PE F·ipt´h^m` 3*v'a3vŠ]qum|=ikt]¡kt^Z,}]¢¡§¡k`*|=h^m` ›`~t›t^`*ufh[i¯]¢¡{_=]h^YRi»

ikuh^m`8l–um}]¡±ipe–Y^]h^`*|£}]qt^`SO²¥˜ ¤ž`=}*Z$umt[ik|m`*Yh^œ]h5h^m`=Z$uB¡§° ipuB¤¦Z$Y[_=]h[ikZ$u£]*sW]¢i§¡¯]Weo¡p`ikt(Y[`r¡¯]h^`*|h^Z

h^m`­Y[`rh[ipuœ]¢¡}~Z$Y[Y[`*t^zgZfum|–`~u–}~`*teg`’h ž`*`*uÂz{Zqipu$h^t~n 'i§h^mZ$lBh8]quf°Â¹JumZ'¡p`*|m\$`1]qegZflBhh^m`­|m`*zBh^mt €,n

`*jJlœ]h[ikZ$u

;

‹8<´ikth^m`ZfuB¡±°8`*jJlœ]h[ikZ$uh^œ]¢hw}]queg`/|m`*YRi§s$`*|O2±‰$‰4@²

³ Z$umt[ik|m`*YRipum\]Tt^`rh:Zq¤œ_=]h^}€m`*tKY[`r¡¯]h^`*|ef°5`~jJlœ]¢h[ikZfu

; Œ <{h^m`ž`*jJlœ]h[ikZ$u

;

‹8<Vikt4ž`r¡§¡m|–`’ºOum`*|(i±¤{]qum|

Z$uB¡§°=i±¤

;

i<N ]Wum|

;

i§i<´h^–`~Y[`yipt'umZ¡§ikum`]WY'Y[`r¡®]¢h[ipZ$umtžeg`rh ž`*`*u9]¡±¡ ‰ ]qum| ‰ ²´Ç'm`/|m`*\$`~u–`~Y^]¢h^`*|

}]Wt›`~t5ZB}*}~l–Y,Zfuo¡§°i±¤h^–`=h^Y^]Wu–t[¡®]¢h[ikZfušipt5«*`~Y[Zmn-Z$Y,i±¤y]¢¡§¡žzgZqipu$h^t(eg`r¡pZ$um\­h^Z9h^m`µt]W_`=zB¡¯]qum`2±‰f‰14 f~²

Çoipt'zœ]WYRh[ik}*lB¡¯]WY'}¢]qt^`'i§¡±¡4e{`,]quœ]¢¡§°B«*`*|8iku1|–`’h]¢i±¡ ²

À

t|oipt^}*lmt›t^`*|wiku2±‰¢‹c4–]qu/`r¾=}’ik`*u$hK}*YRi§h^`*YRikZfu/iktVh^m`+]*s$`~Y^]q\$`:Y[`rh[ikuœ]¡B¿-lm}r¡§ik|m`]qu,|Bikt[h]Wu–}~`*teg`rh ž`*`*u

`]W}€zgZWiku$hy]qum|8i±h^tT`~zoipzgZW¡¯]qY+¡§ikum`W²´Ç'm`/¤¦Zq¡§¡kZ'ipum\t[°B__`’h^YRik},¡k`]Wt™h[È t^jJlœ]qY[`t^lm_©ikt_ikuBip_ik«*`~| &

~N 6 ‰

!#"

$&%

] †

b' † g f % ] † b')(†

g

f'*

< = > ?

+-,

u. y&/

021

11

354

76

8!#"

03

< = > ?

9:<; u. y>=

/ ;

…8<

w–`~Y[`

"

ipt,]¥ž`rip\$$h^`~|}*Z$Y[Y[`*t^z{Z$um|Bikum\=h^Zh^m`zmY[`*}’ikt[ikZfuZq¤´h^m`_]¢h^}VnViku¤@]q}’hTh^m`ikufs$`*Y[t^`ZW¤

h^m`'sW]WYRi¯]qum}*`Zq¤{h^m`TzmY[`*}ript™ipZ$uZW¤gh^m`T_]¢h^}V²-Çm`TjJlœ]qufh[i±h ° "

ikt \qi±sf`*uipu@?A/_CBED

: f nfwoi§¡k`GF

]7 g^n

h^m`W"$0IH#)/1,*W Z&'€n–iktžiku1zBi»–`r¡ ²

À

}¢]q_`*Y^](¤¦Z$Y+TBip}€ œ]qteg`*`~u­}*Zf_zmloh^`~|iptT}]¡±¡k`~| KJ1v'/.d/1 0²

Çm`s$`~}rh^Z$YL/iktT|m`rºœum`*|F]qtžh^–`,eœ]qt[ipt sf`*}rh^ZfY'ZW¤4h^–`,¹W`*Y[um`r¡KZq¤M~T²

7

4Ë9•$”m*˸ T” “Ë“¢¸m‘”B‘¯¸{¶ON´”œ¶Ï‘4Ë )¯”œ¶”m“8•$”m*Ë

À twzgZqipu$h^`*|1Z$lBhTzmY[`rsoikZ$lmt[¡±°Jnmipuµh^m`(}]qt^`/Zq¤ ]zmlmY[`5Y[ZWh]¢h[ipZ$u­ZfY½i§¤h^m`(t^`rhTZW¤KzgZqipu$h^tTe{`r¡kZfum\$tžh^Z8]

lmuBikjJlm`zB¡¯]Wuœ]qY´t[h^Y[lm}rh^lmY[`Wnfž`y}]qumumZqh `*t[h[ik_=]h^`'h^m` È _]¢h^YRi»8eg`*}]Wlmt›`w]¢¡§¡gz{Zqipu$h^t´iku=Zfu–`sJik`’E]WY[`

Y[`r¡®]¢h^`*|h^ZzgZWiku$h^tiku8h^–`,ZWh^–`~Y½sJip`r6e$°1]Y[`r¡®]¢h[ipZ$uZq¤4h^m`y¤¦ZfY[_ &

† j E†

;

†<

woip}€1}*Z$Y[Y[`~t›z{Z$um|mt½h^Zch žZ=`*jJlœ]h[ikZ$umtž¤¦Z$Yž`]W}€1_=]¢h^}¼²

Çm`*Y[`Wn–i§¤-h^m`5_]¢h^YRi»PEiptlmu–|m`rºœum`*|¼nOž`,t™h[i§¡±¡K}]Wu­`*t[h[ik_]¢h^`/h^m`5_=]h^YRi»E&]qt'ipu 2±‰f‰14 ngl–t[ipu–\

E N [/]qtžikuBi§h[i¯]¢¡sW]¡klm`W²

QSR

w*—)s{1’>T)r0t:w/{1‰-‹—‰1x&—1™$š‰-rƒ‚C›rSU˜${1x/‰-— 1VXWY8y:{)€&€Š‰1KT˜!’-{)w€*—’-˜cx/‰-— 1$€8‰“™v{ 1$‘u— 1!’“†C‰“™xˆy$r0w*rrˆŒc‰-€xa{ ’“‰1$r0{ww/rƒ’-{1x/‰-— 1

trƒx#‚|r0r 1[Z { 1$‘\Z^]-›‰œrœS{Mw/rƒ’-{1x/‰-— 16—™&xzy$r–™—w/s_Z^]a`PbcZWœedRy!‰-€S€‰“xz˜${1x/‰-— 1 ‹0—w/w*r0€/— 1:‘$€xz—uxˆy:rC‹0{€/r–‚|r0w*r xˆy$r

—‰1xˆ€U{w/r w/rƒ’-{1xˆr0‘Mt)†6{~‹0—1’“’“‰1$r0{1x/‰-— 1v›!‰œrœZ‹0—w/w*r0€/— 1:‘uxˆ—~{o!’-{ 1:{)wU€xzw/˜$‹ƒxz˜$w/rR{€Rw/rƒš‰-rƒ‚Ur0‘@‰1Kxzy$r €/rSU˜$rƒ’œ

(11)

Y[`*t[ik|mlœ]¢¡|oipt^zO]WYRi±h °9]W\J]¢ipu¼n–]qtžiku 2±‰f‰14K]Wu–|Z$eBh]iku;E3h^–Y[Zflm\$&

E ~N# 68‰ 7

@

! "

†

EІ

]0]

f g T † g

f

< = > ?

+ , u@my/ 01111 3 4

! " 03

< = > ?

9:

u@my=/ ;

‡8<

w–`~Y[`yž`/wYRi±h^` E NŸ]•`cb Y bSfg´ikuZ$Y[|m`*Yžh^Z=œ]*s$`(]}*Zf_zœ]q}rhumZqh]h[ikZfu’²

ê`,um`*`*|]¢hy¡k`]Wt™hya8u–ZfuBÈ }*ZW¡±¡§ikum`]qYzgZWiku$h^t~nVt[ikum}*`]µÈ _=]h^YRi»1ipt/]8Œ»OŒ=_=]h^YRi»l–z9h^Z1]=t^}]¢¡p`

¤@]q}’h^Z$Y+h^JlmtT|m`rºœum`*|­ef°­‡czO]WY^]q_`’h^`*Y[t~n–TBi±¡p`,`]q}µ_]¢h^}­zmY[ZsJik|m`*ty„`*jJlœ]¢h[ipZ$umt~²

Çm`5`~Y[Y[Z$Y@F

@ ] Eg^n\qi±sf`*uikuzBi±»–`r¡@nV'i§¡±¡:eg`(}]¢¡§¡k`*| d1 &' #[&Š(kHG/,3 0 &!

ikuh^m`t^`*jol–`’¡@²

d`*}ripz–Y[ZB}¢]¢¡±¡§°fnT]qt8t^ZBZ$u ]Wt=h^–`z{Zqikufh^te{`r¡kZfum\$t=h^ZÂ]¢h8¡p`]qt[h=h žZ zo¡®]qum`*t~n'ž`}]qu |m`rºœum`*|·]

È _]¢h^YRi»2a4@²´Çoipt'|m`*\f`*um`*Y^]¢h^`~|µt[i±h^lœ]h[ikZ$uh^JlmtTZfuo¡§°8`»oipt™h^tikuh^–`,}]Wt^`Zq¤:]qu1lmuoipjJlm`,zo¡®]qum`W²

4 ¼ /'£.9¼c'y 8 !f#¨ #:# (5*7F4oF

&`rh=lmt=umZ"|oipt^}*lmt›t=t[i§h^lO]h[ikZfu–tc¤¦Z$Y5wBik}Âh^–` È _=]h^YRi» ZfY5h^m`µÈ _=]h^YRi» œ]*sf`9]zO]WYRh[ik}*lB¡®]qY

¤¦Z$Y[_­² ³ Z$umt[ik|m`*YRikum\]­Y[ZfegZWh[ik}8t[°Bt[h^`*_n-i±h(ikt5sf`*YR°ªZq¤¯h^`*u£h^œ]¢h¥]9|oipt^zo¡®]q}*`~_`*u$h(iktcu–ZWh]9\f`*um`*Y^]¢¡

|Bikt^zB¡¯]W}*`*_`*ufh8e–lBh]}*Z$umt[h^Y^]¢ipum`*|Â_Zqh[ipZ$uÂt^lm}€Á]Wt8] zmlmY[`­h^Y^]qumt[¡¯]h[ikZfuVn]Fº–»–`*|Á]¢»oikt=Y[ZWh]¢h[ikZfu¼n

`rh^}W²§²±²+]qtži±¡§¡klmt[h^Y^]¢h^`*|ikuµºœ\fl–Y[`,„–²

Ñ9ZfY[`*Zs$`~Y ž`,}]Wuµ_]q¹W`yh^m`/¤¦Zq¡§¡kZikum\]Wt›t^lm_zBh[ikZfumtT]WegZ$lBhžh^Bikt¹$ikum|9ZW¤KO]WY[|B]qY[`32±‰!(c4 &

Çm`/|Bikt^zB¡¯]q}~`*_`*u$h^ty]qY[`/Y[`*zmY[ZB|mlm}rikeB¡p`W²

ê`}¢]qu£_`]qt^lmY[`h^m`8]qum\W¡k`*t/ZW¤+h^–`=Y[ZWh]¢h[ipZ$u¼²ÅmZ$Y/h^`*}muoip}]¢¡ Y[`]qt^Zfu–t/ž`|mZ1u–ZWhc]qt^t^l–_¥`

h^m`=t]q_¥`h^Bikum\­¤¦Z$Yh^Y^]Wumt™¡®]¢h[ipZ$umt

;

i±h(ikt,umZqh(t^l–Y[`h^œ]hž`=}¢]qu£`*t[h[ik_=]h^`h^m`=u–ZfY[_¨Zq¤žh^m`

¡§ikum`]WY´h^Y^]qumt[¡¯]¢h[ipZ$u=ZW¤K]5«*ZBZf_ ¤¦Z$Y´ipumt™h]Wum}*` 2§‰(!4VTBi§¡k`Th^m`zmY[`*}ript[ikZ$u8ZW¤h^–`wh^Y^]qumt[¡¯]¢h[ipZ$u8Zq¤]

_¥Z$eBi±¡p`/Y[Z$egZWhžiktTumZWh½sf`*YR°1Bik\$<^²

À

¡±¡{`»oh^YRikumt[ik}/zœ]WY^]q_`rh^`~Y[tž]qY[`lmum¹JumZTu¼nO]Wu–|8`*jolO]h[ikZfu–tž]WY[``»–z{`*}rh^`*|=h^Zcz–Y[ZsJip|m`lmu–t[h]Weo¡p`

`~t™h[ip_=]¢h^`~t'ZW¤h^m`*_ 2§‰14 ²

Çm`*t^`zœ]qYRh[ip}*lB¡¯]qY,}*Zfumt™h^Y^]iku$h^t(]WY[`¤@]qY¤¦Y[Z$_¨œ]*sJipu–\1um`*\J]h[i±sf`=z–Y[Zfzg`*YRh[ip`*t~²­ˆu h^m`=}*Zfu$h^Y^]qYR°Jn

h^m`r°ikum|mlm}*`8]q|m|Bi±h[ipZ$uœ]¢¡½`*jJlœ]¢h[ipZ$umt/TBik}£–`’¡kz£t›ZW¡±sJipum\µh^m`=Y[`*}*Zfu–t[h^Y[lm}rh[ipZ$u£Z$Y/}]¡±ikemY^]h[ikZ$uzmY[ZqÈ

eB¡k`*_­²

dRy$r–w/rƒ’-{1x/‰-— 1GZ^]K`

‰-€S{ušr0‹ƒxˆ—w‰-{1’™—w/s ™—)w"!

#$

%

$&('

] ` )+*,*-/.0)1*3254.)+*

) * -/.0)

2

4.) ,

6 ] ` )72*-/.0)82,254.)72

) * -/.0)

2

4.) ,

9 ` 9

(12)

a

b

c

A robotic arm A mobile robot A turret

d

e

f

Åik\$lmY[`(„'&´¿4»œ]q_zB¡k`~t'ZW¤Y[ZfegZWh[ik}_`~}€œ]quBipt›_ wBik}­\f`*um`*Y^]¢h^`*tžzmlmY[`/h^Y^]qumt[¡¯]¢h[ipZ$umt~nozmlmY[`,Y[Zqh]¢h[ipZ$umt

Z$Y=º–»–`*|·]»Bikt8Y[Zqh]h[ikZ$umt~² GW \0 .dvŠ\ˆ 0. "$ G&1/"$'- & Ž 0

0'k! 1 G|'(# H 6) 91 ˆ .e1!'-KHG63 .'6d8.eS#Z &1

'-) 0)'vŠ 3vŠ Gƒkv'Z@”.kv'ZM 30 .dvŠ1 #Z &1, IM1

E#~0v*vŠ^#^|'v1 Zƒ, G|'(# H `6 &* 13Z‡ .dv`1!'-‡HGM,38.'

0 .dv '-3# &K IM3E#6d/ 10! G9130W #Z &1 Z d 0v*vŠaK# &

ƒ,'G0 ZW U'RZ/

ÅmlmYRh^m`*Y[_Z$Y[`$n:h^m`µ`~t™h[ip_=]¢h[ipZ$uªZq¤h^–`|Bikt^zB¡¯]W}*`*_`*ufh=]qY[`8`]Wt[ik`*Y,iku h^m`*t^`8}]Wt›`~t*n-e{`*}]qlmt^`=ž`

œ]*s$`/h^Z`rsW]¡klœ]¢h^`/¡p`*t^t'zœ]qY^]W_`rh^`*Y[t~²

5wZ~ž`’s$`*Y’ngh^m`t[°Bt[h^`*_Ÿ_5lmt[h/e{`]qeB¡p`h^Z8Y[`*}*Zf\$uBik«~`i§¤´h^m`|Bikt^zB¡¯]W}*`*_`*ufh}*ZfY[Y[`*t^zgZ$um|mtTh^Z8t^lm}€

]zœ]qYRh[ip}*lB¡¯]WY'}]Wt^`Wn–t^Z5h^œ]¢hž`,_5lmt[hw}€œ]qY^]W}rh^`*YRip«*`/h^–`,t[i±h^lœ]h[ikZ$u8iku1`]q}}]qt^`W²

Åikuœ]¡±¡±°Jnœh^m`|Bi±Ä¼`*Y[`*u$h}r¡¯]Wt›tyZq¤+|Bikt^zB¡¯]W}*`*_`~u$h^t_ip\$$h,œ]*s$`ct^`rs$`~Y^]¢¡Kik_zB¡±ip}]¢h[ipZ$umtZfu9h^–`czg`*YRÈ

}*`*zBh[ipZ$u­t[h^Y^]h^`*\q°fnBTBik}µiptT]¡kt^Z5h^Z=e{`/|Bikt^}*lmt^t›`~|V²

ÇBiktžiktžh^m`\fZJ]¡Zq¤4h^Biktt^`*}rh[ikZfu¼²

' d ! " $#)'% ˆ

˜ ¤ž`w}*Z$umt[ik|m`*Y½]\f`*um`*Y^]¢¡{YRik\Wik|8|Bikt^zB¡¯]q}~`*_`*u$h ¤¦Z$Y-wBik}¥ž`yO]*sf`'h^m`T¤¦ZW¡±¡kZikum\,|m`*}*Z$_¥zgZ$t[i§h[ikZ$u=ZW¤

h^m`wÈ _=]h^YRi» & N P : Y

6 V V V N ‹ ‹ %

,&% ,b# , ;

Š8<

Çm` È _=]¢h^YRi±»ikth^Jlmt4Y[`r¡¯]h^`*|/h^Zmnq„žzœ]qY^]q_¥`rh^`*Y[t¤¦Z$YVh^m`´zmY[ZWv[`*}rh[ikZfu/Zq¤Jh^m`´h^Y^]Wu–t[¡®]¢h[ikZfu\9N

;

|m`rºœum`*|9lmz­h^Z8]t^}]¢¡p`¤@]q}rh^ZfY<^nVŒzO]WY^]q_`’h^`*Y[t'¤¦ZfY½h^m`(Y[Zqh]¢h[ipZ$uF]qum|µh 'ip}*`Œzœ]WY^]q_`rh^`~Y[t'¤¦Z$Yžh^m`

ikufh^YRikumt[ik}}]¡±ipe–Y^]h[ikZfuzœ]qY^]q_¥`rh^`*Y[t~²˜ h´ipt´h^Jlmt+}r¡k`]WY-h^œ]¢h´ž`w}]qu¥u–ZWh+Y[`*}*Zsf`*Y+]¡±¡œh^–`~t›`zœ]qY^]W_`rh^`*Y[t

¤¦Y[Z$_©h^m`(†zœ]qY^]W_`rh^`*Y[tZq¤4h^m`wÈ _=]h^YRi»V²

(13)

ê`5}¢]qu|m`*YRi±sf`=]=zœ]qY^]W_`rh^`*YRip«]¢h[ipZ$uZq¤ ]WtT¤¦Zq¡§¡kZwt*²

ê`TYRi§h^` ·ikuµh^m`/¤¦Z$Y[_ & N P

%

< = > ?

P ;

‰!(8<

i±h^

f N

f N f f f % f N ‹$nfwoi§¡k`G ikt+|m`rºœum`*|8]qt´h^m`eœ]qt[ipt-s$`~}rh^Z$Y+ZW¤Vh^m`T¹W`*Y[um`r¡

Zq¤M²

ÇBiktczO]WY^]q_`’h^`*YRik«]h[ikZfušiktct[ikum\$lB¡¯]WYipu h^m`µ}¢]qt^`=Tm`*Y[` fkNC9Z$Y lfkNCB² 5wZ~ž`’s$`*Y’n-h^Bikt

}]Wt›`}*ZfY[Y[`*t^zgZ$um|mth^Zc]/Y[`rh[ikuœ]¡Oh^Y^]Wu–t[¡®]¢h[ikZfuZ$Y½]y}~Z$uBºœ\$lmY^]¢h[ipZ$uwm`*Y[`'h^m`T`~zoipzgZW¡k`*t+]WY[`]h-ikuBºœuBi±h °fn

woip}€ipt/Zq¤´zmY^]W}rh[ik}]¡ipu$h^`*Y[`*t[h(]Wt/|oipt^}*lmt›t^`*|1ikuh^Bikt/zœ]qz{`*Y’n]Wu–|9h^ol–t(]WuO]¡±°B«~`*|lmt™ipum\­]8t^zg`*}ri§ºœ}

zœ]qY^]W_`rh^`*YRip«]¢h[ipZ$u¼²¿¡kt^`(ž`}]qu9wYRi±h^` NQ] ` b Y

bŒ‹$gT]Wum| CN ] ` b Y b ‹$g½h^Z1Z$eBh]¢ipu]zœ]qY^]W_`rÈ

h^`*YRip«]¢h[ipZ$u9ZW¤h^m`(`*zBikzgZW¡k`(]qum|9t[ip_i±¡®]qYR¡±°JnO|oipt[h[ikum\$lBikt^­i§¤´`ri§h^m`*Y[mn¢n

ZfY

%

}]qu1eg`,t^`rhTh^Z;ZfY ‹$²

˜Ru£h^m`}¢]qt^`Zq¤w]­Y[`’h[ikuœ]¢¡+h^Y^]Wu–t[¡®]¢h[ikZfu i ²`W² f N µž`=}]Wušlmt^`=h^–`=|m`*}~Z$_z{Z$t[i±h[ipZ$u£Zq¤wÅ i±h^ª]

zg`~Y[_5lBh]¢h[ipZ$u1Z$u8h^–`/¡§ikum`*t]Wum|µY[Zwt'ZW¤ ž²

ÇBikt4zœ]qY^]W_`rh^`*YRip«]¢h[ipZ$uc]¢¡±¡pZTth^Z|BikY[`~}rh[¡±°(`*t[h[ik_]¢h^`´h^m`+`*zBikz{Zq¡k`~t ž]Wu–| ®²-¿´]W}€(lmuO]WYR°,s$`*}’h^Z$Y

ikt(|m`rºœum`*|šef° „1zO]WY^]q_`’h^`*Y[t~nTBi±¡p`=h^–`=_]¢h^YRi»6ikt(|m`rºœum`*| e$°ªŒzO]WY^]q_`’h^`*Y[t~²Çm`=`r¡k`~_`*u$h^t

Zq¤4h^m`/_=]h^YRi» œ]*sf`,]\$`*Zf_`rh^YRip}iku$h^`*Y[zmY[`rh]h[ikZfuVnOt[ipu–}~`h^–`’°µ|m`rºœum`h^m`,–Zf_Z$\fY^]qzmBik}Y[`’¡¯]¢h[ipZ$u

eg`’h ž`*`*uh^m`yh žZ=zg`*um}ri§¡ktZq¤K`*zBikz{Zq¡®]qY+¡±ipu–`~t 2a$4@²

À t]=}*Z$umt^`*jJlm`*um}*`$nmi±h^1h^oiptzœ]qY^]W_`rh^`*YRip«]¢h[ipZ$u¼ng`rs$`~u9i±¤O¥]qum|P ]WY[`5|m`rºœum`*|9lmz­h^Z]=t^}]¢¡p`

¤@]q}’h^Z$Y(Z$uB¡±°fn´h^m`µY[`r¡®]¢h[i§s$`t^}]¢¡p`e{`rh ž`~`*u¬h^m`*t^`¥h žZšjolO]Wu$h[i±h[ip`*t}]Wu¬eg`=º–»–`*|¼n´Tm`*u¬lmt[ikum\h^Bikt

|m`rºœuBi±h[ikZfu¼²

Ñ9ZfY[`*Zs$`~Y’nW\Wi±sf`*u8]qu¥`*t[h[ik_=]h[ikZ$uÂZq¤ È _=]¢h^YRi±»c¤¦ZfYwoip}€ž`_ip\$$h+œ]*sf`

%

B]9g[N ]Wum|i±h^t

t[ikum\$lB¡®]qY4sW]¢¡klm`|m`*}*Z$_¥zgZ$t[i§h[ikZ$u N

Y

f

ž`}]quc`]qt[i§¡±°(`*t[h[ik_=]h^`]qu ^Z$zBh[ik_]¢¡\

_=]h^YRi» t^lm}€1h^O]h

%

B]76gKN 8]qum|­h^m`(h žZY[`r¡¯]h^`*|9`*zBikz{Zq¡p`¢²

À

t/]=}*Zfumt›`~jJlm`*um}*`WnOž`]¡±]*°Bt

}]Wuµ`*t[h[ip_=]¢h^`(]qulmuJeBi¯]Wt›`~|sW]¡klm`,Zq¤4h^m` È _=]¢h^YRi±»µ¤¦Y[Z$_Ÿ]qu`*t[h[ik_=]h^`

Ë )HÍ^•f”)¯ŽK“”B‘¯¸g¶ “¸‘,Ë Í  ”B‘“98 &`rhžlmt'umZE}~Z$umt[ik|m`*Y+h^m`/z–Y[ZfeB¡k`*_©ZW¤4Y[`*}*Zs$`~YRikum\h^m`

ikufh^YRikumt[ik},}]¢¡§ikemY^]¢h[ipZ$uzœ]qY^]q_¥`rh^`*Y[t~²

rƒx•˜:€U‚Sw‰“xˆr !

`

q"!

Q"!

"#

< = > ?

$ 03 % q & &

& % Q &

& & % ('

q)!

'

Q"!

'

)#

< = > ?

* 03 +

V-,.,'Y

‚R‰“xˆy0/12/

+

`3/

+

12/ `54e›7681-6

+

`96

+

1:6c`34S{ 1$‘

%

q<;

%

Q=;

%

=;>&

œAdRy!‰-€U‘$r0‹0—s‡—)€Š‰“x/‰-— 1v›1‹0{’“’-r0‘

Ö@?(ACB×EDGFIH

ÜIF)D×JLK.J-MON^Ø4ÝPN›Ö?§Ú(?QN)A

›8‰-€•˜1!‰>U˜$r { 1$‘6‹0{ 1Ktr rR‡‹ƒ‰-r 1x/’“†Kr0€Šx/‰-sM{xzr0‘ 1˜$s‡r0wЉ-‹0{’“’“†TSW)Uœ dRy:rCw*r0{)‘$r0wZ‹0{ 1 r0{€‰“’“†@‹ˆy:r0‹ˆ

xˆy:{x xˆy$rMs‡{1xˆwЉŒV `W/

% q & &

& % QX&

& & & 6 +

šr0w‰ZYr0€ [C\)]

# ` & { 1$‘s~‰1!‰-so‰_^0r0€a`Z`

cb> `Z`8‹0— 1:€‰-‘$r0wЉ1KT@xˆy$r

1$—w/s`Z` `Z``cd

'

egffhffi q

`Z`

`Z`œkj —w/r0—”š)r0w

‰-€|xˆy$r•š)r0‹ƒxˆ—w T)r 1:r0w/{1x/‰1KT xˆy:r r0w 1$rƒ’8—™gml

+

›:‰œrœ

+ ` & { 1:‘

'

‰-€Rxzy$rSšr0‹ƒxˆ—weTr 1$r0w*{x*‰1KT xˆy$r–r0w 1:rƒ’ —1™g ›:‰œrœn91

' ` &

(14)

ê`,TYRi§h^` N ]qum| CN l

T4²¿´]W}€È _=]¢h^YRi±»FiktipuZ$um`rÈ@h^ZqÈ Z$um`5}~Z$Y[Y[`*t^zgZfum|–`~u–}~`

i±h^ h^m`

À È _=]¢h^YRi±»2§‰$‰4@² ˜ ¤(ž``»–zB¡±ip}ri±hh^m`¤@]q}rh8h^œ]¢h; ipt­]Wu ZfYRh^mZ$\$Zfuœ]¢¡_]¢h^YRi» ipu h^m`

|m`rºœuBi±h[ikZfu"E F ZW¤`~jJlœ]¢h[ikZfu

;

a<^n–ž`,Z$eBh]¢ipu &

j EF E TF ;

‰¢Œ8<

woip}€¡k`]W|mt½h^Z

;

_(lB¡±h[ipzo¡§°Jikum\=¡k`’¤¯h]Wu–|1YRik\f$hTef° P< &

P

Pij T ;

‰~a<

woip}€Â}~Z$Y[Y[`*t^zgZfum|–t(h^Z Š#&-`*jJlœ]h[ikZ$umt¹ou–Zwu ]qth^m`/Y[l–zmzœ]`*jJlœ]¢h[ipZ$umt~²£Çm`*t^`

`*jJlœ]h[ikZ$umt}]qu e{``]qt[i±¡§° _=]q|m``»mzo¡§ik}ri§h}*Z$umt[ik|m`*YRipu–\ªh^–`t[ipu–\flB¡¯]qYRÈ@sW]¢¡plm`|–`~}*Z$_z{Z$t[i±h[ipZ$u Zq¤@

\qi§s$`~uµiku1`*jJlœ]¢h[ipZ$u

;

‰$‰<^² À ¤¯h^`~Y½t^Zf_`,]¢¡p\$`*emY^]Bnm`*jJlœ]¢h[ipZ$u

;

‰Œ8<+Y[`*|mlm}*`*tžh^Z &

TY Y

TY f

Tf f 01

3 J ] Y

gzf UT

Y

Y

Y f UT

Y

f

] f

gzf UT

f

f 01

3 N ;

‰¢‹8<

woip}€¼nV]qtw]}*Y[Zft›t[È zmY[ZB|–lm}rh~n–iptT`*joloi§sW]¢¡p`*u$hTh^Z„`~jJlœ]¢h[ikZfumt*²žÇ'm`r°°Jik`’¡k|­jolO]WYRh[ik}(`*jJlœ]¢h[ipZ$umt'ipu­h^m`

ikufh^YRikumt[ik},zœ]qY^]q_¥`rh^`*Y[tu–ZWh`]qt[i±¡§°=}]¡k}*lB¡¯]WeB¡k`32a$4VwBik}9]qY[`h^m`/Zfuo¡§°8`*jJlœ]¢h[ipZ$umtžž`/}]quZ$eBh]¢ipu=¤¦Z$Y

t^`r¡±¤¯È }]¡±ikemY^]h[ikZ$u=ipuµh^m`,\$`*um`*Y^]¡}]qt^`W²

Çm`*t^`­`*jolO]h[ikZfu–t¥O]*sf`]qu¬ip_zgZfYRh]qu$h8um`*\o]¢h[i§s$`1}*Z$umt^`*jJlm`*um}*` &O# ` HZ0v'~1 zZ

/M'-/.0vŠ &d3!/'( Z01!#"$Wv* @#3&1/.'W* )!'G”1v'/.d/

(/(n´`rsf`*u¬'i§h^ÂZ$lmYt[ik_¥zo¡p`­_ZB|m`r¡ZW¤/`*jJlœ]¢h[ipZ$u

;

‰<^² ê`h^Jlmt=_(lmt™h¥iku$h^Y[ZB|mlm}*`9]WumZqh^m`*Y

]qt^t^lm_zBh[ikZfuVn$t^lm}€8]Wth^m`'¤@]W}rh-h^œ]h-h^m`*t^`'zœ]WY^]q_`rh^`~Y[t+]qY[`}*Z$umt[h]qufh@2a4œZ$Y-|Bipt›}~l–t^t-h^m`w}]¢¡§ikemY^]¢h[ipZ$u

lmt[ikum\=]qumZWh^–`~Y'_`~}€œ]quBipt›_¥t*nœ]qt|–`’s$`r¡pZ$z{`*|ipuµh^Biktwzœ]qzg`~Y’²

Q ' #)' ! " $#)' % Š

&`rhžlmt]qt^t^l–_¥`'h^œ]¢h]¡±¡Vz{Zqipu$h^tžeg`r¡pZ$um\$t-h^Z¥]ŒfÒEzB¡¯]qum`¥noi±h^&{ T { N %

wm`*Y[` n

N ‹$noiktžh^m`,zo¡®]qum`,umZ$Y[_=]¡4]qum|

%

5i§h^tT|Bikt[h]Wu–}~`h^Zh^m`ZfYRik\Wiku¼²

˜ ¤´ž`umZ }*Z$umt[ik|m`*Yy]\f`*um`*Y^]¢¡:zB¡¯]quœ]WYYRik\Wik||Bikt^zB¡¯]W}*`*_`*ufh¤¦Z$YTwBik}ž`œ]*s$`h^m`(¤¦Zq¡±¡pZ'ipu–\

|m`*}*Zf_zgZft™i§h[ikZfu 2§‰$‰4 & E N : Y 8T

V V V 6 V N ‹

% ,% ,b# , ;

‰¢…8<

ž`œ]*sf`„=zœ]qY^]q_¥`rh^`*Y[tT¤¦ZfY'h^m`zmY[ZWv[`*}rh[ikZfu9Zq¤:h^m`5h^Y^]qumt[¡¯]h[ikZfuPWnŒ=zœ]qY^]W_`rh^`*Y[tw¤¦Z$Y'h^m`cY[Zqh]¢h[ipZ$u

]qum|h ik}*`8Œzœ]qY^]q_¥`rh^`*Y[t,¤¦Z$Yh^m`iku$h^YRipumt™ip}8}]¢¡§ikemY^]¢h[ipZ$uzœ]qY^]q_¥`rh^`*Y[t~nzB¡klmt(Œ­zœ]qY^]q_¥`rh^`*Y[t/¤¦Z$Y/h^m`

zB¡¯]WuO]WYžt™h^Y[lm}rh^lmY[`(Y[`*zmY[`*t^`*u$h^`*|1e$°WN : Y 4 %

nJ'i§h^ T ‰ N ‹W²˜ hwiktw]¢¡kt^Zc}r¡k`]WY+h^O]h'ž`,}]Wumu–ZWh

Y[`*}*Zsf`*Yw]¢¡±¡¼h^–`~t›`,zœ]qY^]W_`rh^`*Y[tžikuh^m`\f`*um`*Y^]¢¡}]qt^`W²

¡ 16—)˜:w|‹0{€/r•‚|r y${”š)r ! !

'#"

`%$

" Q 6 "

`%$

q Q'&

Q

`($

")"

b*$

Q

" Q

`%$

q/q b+$

Q

q Q

,.-

]0/ $

Q7Q

` 9 $ " q

`$

" Q $ qQ

V-, 4 Y

€/—xˆy${1xUxˆy$r €‰Œ rƒ’-r0s‡r 1xˆ€U—1™xˆy$r

Ö21Ø+Ø J™Ú(H ?M

s‡{1xˆw‰Œ3 šr0w‰ZYr0€4 U˜${)‘:w/{1x/‰-‹ ‹0— 1$€Šxˆw/{1‰1xˆ€ƒ› ,–’“‰1$r0{wR‹0— 1$€xzw/{1‰1)xR{ 1$‘

{1’“’-—0‚ xˆ—~r0€Šx/‰-s‡{1xˆrUxzy$r ${)w*{)sMrƒxˆr0w*€&—™xzy$r ‹0—w/w*r0€/— 1:‘!‰1KT £S„…s‡{1xˆw‰Œœ

(15)

ÅmlmYRh^m`*Y[_Z$Y[`$no`rsf`*ui±¤¼`ri±h^m`*Y i<h^m`T}¢]¢¡±ipemY^]¢h[ikZfuzœ]qY^]W_`rh^`*Y[t´Y[`~_=]¢ipu=}*Z$umt[h]qu$h

N

<o2±‰f‰14 n

Z$Y

;

i±i<4h^–`~Y[`'ikt+umZ,Y[Zqh]h[ikZfu

; N [!<4'i§h^=}]¢¡§ikemY^]¢h[ipZ$uzœ]qY^]W_`rh^`*Y[t:sW]qYRi¯]h[ikZfu–t´ž`w}]qu¥u–ZWh+Y[`*}*Zsf`*Y

h^m`*t^`,zO]WY^]q_`’h^`*Y[t~²C5wZ~ž`’s$`*Y’nOt^`rsf`*Y^]¡_Z$Y[`/ipu$h^`*Y[`*t[h[ikum\=t[i±h^lœ]h[ikZ$umt}]quZB}*}*lmY]qt|m`rh]¢i§¡k`*|1umZ~5²

Çm`žzO]WY^]q_`’h^`*YRik«]h[ikZfu5ZW¤Oh^m` µÈ _]¢h^YRi»5iptsf`*YR°t[ip_zB¡±° EN

% B #

6 ‹

t[ikum}*`+¤¦ZfYY[`]¡±ipt™h[ip}

|Bikt^zB¡¯]W}*`*_`*ufh^t

f”f

iktum`rsf`*Y'uolo¡§¡~2±‰$‰4@²

"'d Š $#)'d% ˆ ! % Š* 'd

&`rhlmt/}*Zfumt™ip|m`*Y'h^œ]¢hyž`5œ]*s$`¥]=|oipt^zo¡®]q}*`~_`*u$h/ZW¤-h^m`}¢]q_`*Y^]i±h^umZ8h^Y^]qumt[¡¯]h[ikZ$u¼nOi@²`W²yZfuB¡±°F]

Y[Zqh]h[ikZfuµ]Wum|µ]/sW]qYRi®]¢h[ipZ$uZq¤Vh^m`ikufh^YRikumt[ik}/zœ]qY^]W_`rh^`*Y[t~²˜Ru=h^œ]¢h}]Wt›`$n]qt |oipt^}*lmt›t^`*|=zmY[`rsoikZ$lmt[¡±°Jnož`

œ]*s$`#&

N iN

%

EF^j EP

;

‰q†<

ÇBiktwt™i§h^lœ]¢h[ikZfuipt'h^Jlmt}œ]qY^]W}rh^`*YRik«~`*|­e$°h^m`/¤@]q}rhh^œ]¢h/]¡±¡Vh^m`(Y[`rh[ikuœ]¡4|oipt^zO]WYRi±h °­}]Wu­e{`zmY[`rÈ

|Bik}rh^`~|­e$°1]lmuBikjJlm`,}*Zq¡§¡±ipu–`¢]¢h[ikZfu¼² À t'|Bikt^}*lmt^t^`*|eg`r¤¦ZfY[`Wnoh^Biktwt™i§h^lœ]¢h[ikZfu

}]Wu–umZWh'|Bipt™h[ipum\$lBikt^µ¤¦Y[Zf_ h^m`y¤@]W}rhžh^œ]¢hy]¢¡±¡zgZqipu$h^tTe{`r¡kZfum\h^Z=]lmuBikjJlm`(zB¡¯]qum` nflmuB¡k`*t^t+]Wu=]q|m|Bi±h[ipZqÈ

uœ]¢¡VipuB¤¦Z$Y[_=]h[ikZ$uiktw]q|m|m`*|¼²

˜™u­ZfY[|–`~Y½h^Ze{`,t›lmY[`h^Z=e{`ikuµh^m`,}]Wt›`/ZW¤:]zml–Y[`,Y[ZWh]¢h[ikZfuž`,_(lmt™h"&

`’i±h^m`*Y\$`rhžh^m`/ikuB¤¦Z$Y[_=]h[ikZfu¤¦Y[Zf_ ]Wuµ`r»oh^`*Y[uœ]¢¡4t^Z$lmY[}*`$n–t^l–}9]Wt½h^m`,Y[Z$e{Zqh[ip}/t™°–t™h^`~_ i±h^t^`r¡±¤™n

ZfY]Wt›t^lm_`,h^œ]¢hTh^m`ct›}~`*um`5ikty_=]q|m`(Zq¤+]h¡k`¢]qt[hTh žZµzB¡¯]Wum`*t~nœt^Z=h^œ]¢hi§¤-ž`ct›`~`] ›lmuBikjol–`Œ

zB¡®]qum`Wnoi§hT}*ZfY[Y[`*t^zgZfu–|mtžh^Zh^m`/¤@]q}rhžž`,œ]’sf`(]zmlmY[`Y[ZWh]¢h[ipZ$u¼²

˜™u]qu$°8}]Wt^`WnWh^m`/_=]iku8zmY[Z$z{`*YRh°=ipt h^œ]h½h^m`}~Z$Y[Y[`*t^zgZfum|–`~u–}~`*t+eg`rh ž`*`*u8h^m`h žZ5ip_=]q\f`*t+|mZB`*t

umZqhc|m`*zg`*um|ªZ$uh^–`|m`*zBh^ ZW¤TZfeBv[`*}rh^t~nt^Z­h^œ]¢h(h^–`8t[°Bt[h^`*_%}]Wu Y[`r¡®]¢h^`=h^m`¥soikt^lœ]¢¡´ipuo¤¦ZfY[_=]¢h[ipZ$u

eg`’¤¦Z$Y[`,]qum|1]¢¤¯h^`*Y|Bikt^zB¡¯]W}*`*_`*ufh~ng]qt\qi±sf`*u8iku1`*jJlœ]¢h[ipZ$u

;

a<^²

Ñ9ZfY[`*Zs$`~Y’n{i±¤žž`=]WY[`ikuh^m`=}]Wt›`cZq¤ž]zml–Y[`=Y[ZWh]¢h[ipZ$ulmt™ipum\µ`*jolO]h[ikZfu

;

‰¢Œ8<'ž`}¢]qu`*t[h[ik_=]h^`

h^m`,u–`’Æiku$h^YRipumt™ip},}]¢¡§ikemY^]¢h[ipZ$uzO]WY^]q_`’h^`*Y[t½¤¦Y[Zf_©h^–`,zmY[`rsJipZ$lmtTZfum`32±‰$‰4@²

ÅmlmYRh^m`*Y[_Z$Y[`$n{i±¤:h^Bikt/_ZWh[ikZ$u9iptTsf`*YR°jJlBik}¹œnVh^–`¥]q|m|Bi±h[ipZ$uœ]¢¡4sW]qYRi®]¢h[ipZ$umtiku­h^m`(ik_=]W\$`(|–lm`(h^Z

umZ$uBÈ t™h]h[ikZfuO]WYR°=Z$eBv[`~}rh^t+eg`rh ž`*`*uh^–`/e{`*\qipumuoipum\]qum|=h^m`/`*um|µZW¤4h^–`/_¥Zqh[ikZfu]qY[`/`»–z{`*}rh^`*|8h^Ze{`

t^_=]¢¡§¡@²

³ Z$umt[ik|m`*YRipum\]q}rh[i§s$`=sJipt[ikZ$u¼n-h^Bikt5°oik`r¡p|–t(h^Z9h^m`¤¦ZW¡±¡kZikum\ )1v,_`*}œ]quBikt^_ & d//

3d J &1/.'1 &)\`@ k H &'&&1 HG` /H!M#3v'H %

|Š'RI#^²

"'d Š $#)'d% ˆ ! % Š*#,

˜Ruh^m`=}]qt^`wm`*Y[`h^m`=}]¢¡§ikemY^]¢h[ipZ$uzœ]qY^]W_`rh^`*Y[t(]qY[`=}~Z$umt[h]qu$h~n]Wum|š¹JumZikum\"E ž`}]Wuš`¢]qt[i±¡§°

}]¡k}*lB¡¯]h^`h^m`yipu$h^YRikumt[ik},}]¡±ipe–Y^]h[ikZfuµzœ]qY^]W_`rh^`*Y[twt[ikum}*`ž`,œ]’sf`#&

N

EP

%

B] E g

#

% N

%

B] g N : Y

6

N|]8g P

;

‰¢‡8<

(16)

w–`~Y[` N n

iptyh^m`=lmuœ]qYR°9sf`*}rh^ZfY,Zq¤´h^m`8]»Bikt,Zq¤´h^m`=Y[ZWh]¢h[ikZfu]qum| h^m`8]Wu–\W¡k`cZq¤+h^m`

Y[Zqh]h[ikZfuV²˜™uh^m`ž\$`*um`*Y^]¡B}]qt^`´ž`žœ]*s$`

%

B]

g N a

B]

guN /]Wum|5ž`ž}]qu(Y[`*}*Zsf`*Yh^m`+ikufh^YRikumt[ik}

zœ]qY^]W_`rh^`*Y[tZ$uB¡±°1]¤¯h^`*Y+h žZ=Y[Zqh]h[ikZfu–tumZqhy]qY[Zfl–um|8h^m`t]W_`,]»oipti2§‰$‰4@²

ê`/]¡kt^ZY[`*}*Zsf`*Y

l–zh^Z8]t^}]¢¡p`T¤@]q}’h^Z$Y’ng]qt+h^m`,uJlB¡±¡4sf`*}rh^Z$YZq¤

t[ikum}*`/ž`,O]*sf`&

N B²

ÃÁi±h^8h^m`,_ZB|m`r¡4Zq¤K`*jJlœ]h[ikZ$u

;

‰$<´ž`,Z$eBh]¢ipuh^m`/¤¦Zq¡§¡kZikum\`*jolO]h[ikZfu–t"&

#$$$$$$

%$$$$$$&

`ƒ`

‚ `

fƒ`

N

YƒY

ƒ ` f Y N

] ` Y Y ` g ‚ ` f Y ƒ `

fƒ`

N

fƒ`

#afB

`ƒ`

‚ ` ` Y ƒ `

`ƒf

N

f Y

#afB Y ` ‚ `

YƒY

ƒ ` Y f N ;

‰¢Š8<

woip}€ ]¢¡±¡pZh^ZY[`~}*Zs$`*Y ]^‚

`

bOƒ

`

gy¤¦Y[Z$_%h^m`­Œ­ºœY[t[h¡§ikum`]qY(`*jJlœ]h[ikZ$umt=]Wum|Vn´¹JumZ'ipum\ ]^‚

`

bOƒ

`

g^n#

`»–}~`*zBh'i§¤ &

fƒ`

N 7 ] g

#

‚ N #

% f Y N

] g

#

‚9N ; „ (8<

Çoipt+t[ikum\$lB¡¯]WY-}*ZfuBºO\flmY^]¢h[ikZfu}*ZfY[Y[`*t^zgZ$um|mt-h^Zc]/Y[Zqh]¢h[ipZ$u8]WY[Z$lmum|h^m`Z$zBh[ik}¢]¢¡{]»oipt+Z$uB¡±°cTBip}€i±¡§¡

eg`ip|m`*u$h[i±ºœ`*|1ikuµh^m`,t^`*jJlm`r¡ ²

À t+]}~Z$umt^`*jJlm`*um}*`WnG&G1# H3 090/ '#'C6/#d1!/'('-/.0/9`61()*•

#&|' 3!v!'²´Ç'Bipt½iptTumZqhžh^m`,}]qt^`i±h^9]WumZqh^m`*Yž}]¢¡§ikemY^]¢h[ipZ$u_ZB|m`r¡u2±‰f‰14 ²

"'d Š $#)'d% ˆ ! % Š* ' '

Çoipt+Zqh^m`*Y´t[i§h^lO]h[ikZfuikt+t[ik_zB¡§°=}€œ]WY^]q}rh^`*YRip«*`*|=e$°ch^m`T¤@]q}rh h^O]h´h^m`Th^Y^]qumt[¡¯]h[ikZfuikt+zœ]qY^]¡±¡p`r¡Oh^Z,h^m`

ik_]q\$`/zB¡®]qum`Wnoi ²`W² ƒf‡N –²KÇBiktžiktw`*jJlBi±sW]¡k`*u$hwh^Z &

f N ;

„m‰$<

t[ipu–}~`¤¦Y[Z$_©`*jJlœ]h[ikZ$u

;

‰$<^n ”f‡j )f

˜™uh^œ]¢h+}]Wt^`Wnqh^–`wZ$YRip`*u$h]¢h[ipZ$u ,Zq¤{h^m`'h^Y^]qumt[¡¯]h[ikZfuikt N#

S# ] Y 4

`)g^²-Ç'Bipt´ikt´|mlm`'h^Z,h^œ]¢h

¤@]q}’hTh^œ]¢h¤¦Y[Zf_ `~jJlœ]¢h[ikZfu

;

‰$<^n`6N „U]#”`‡‚

`

ƒf)gT]Wu–| Y N „U]# Y ƒ `

ƒfcg't^Zh^O]hi±¤=ƒfiN –n

ž`,œ]’sf` Y 4

`uN Y 4

ƒ`¢²

˜ ¤Tž`1]qY[`umZqhipu¬h^Biktt[i±h^lœ]h[ikZ$u¼n´ž`µ}]Wu¬zœ]qY^]W_`rh^`*YRip«*`h^m` rÈHsf`*}rh^ZfYlmt[ikum\ )`]qum| Y ]qum|

]qt^t^lm_ikum\£h^O]h )fON wm`*Y[`]Wti§¤ž`]WY[`umZqh8ikuÁh^oiptµt[i§h^lO]h[ikZfuVnTž`}]Wu zœ]qY^]W_`rh^`*YRip«*`9h^m`

rÈHsf`*}rh^ZfYžl–t[ipu–\ )`y]qum| Y ]qum|9]Wt^t›lm_ipum\5h^œ]¢h f~N ‹W²

dRy$r–rˆŒ$c’“‰-‹ƒ‰“x rSU˜${x*‰-— 1:€{w/r !

#$

%$&

`

.

.

.

.

.

` b

.

!

.

.

" Q ` b

.

$#&%

.

b

.

'(%

.

b

)

.

*

.

(17)

&`rhlmt'umZÆ}*Zfumt™ip|m`*Y+h^O]hžž`œ]*sf`,]|Bikt^zB¡¯]q}~`*_`*u$hZW¤h^m`/}]W_`*Y^]5wBik}iptT]cz–lmY[`/h^Y^]qumt[¡¯]h[ikZfuVn

i@²`W² h^m`*Y[`µiptumZY[Zqh]h[ikZ$u ]qum|¬umZ9sW]qYRi®]¢h[ipZ$u¬ZW¤'h^m`µipu$h^YRikumt[ik}zœ]qY^]W_`rh^`*Y[t~² ˜Ru¬h^œ]h}]Wt›`$n4¤¦Y[Zf_

`*jJlœ]h[ikZ$umt

;

a<^n

; ‹ < & N P #

% E FŸjm[

;

„f„8<

ÇBiktt[i±h^lœ]¢h[ipZ$u8iktTt[ip_zB¡±°}€œ]WY^]q}rh^`*YRip«*`*|e$°h^–`¤@]W}rhh^O]h'h^m`È _]¢h^YRi»µipt't^¹W`r'È t[°B__`’h^YRik}W²

³ Z$umt[ik|m`*YRipum\Th^m`½Y[`~}*Z$umt[h^Y[lm}rh[ikZfuzmY[Z$eB¡k`~_nqž`½t^`*`´¤¦Y[Zf_ `*jJlœ]¢h[ipZ$u

;

a<{h^œ]h-t^Z$_¥`´h^Y^]qumt[¡¯]¢h[ipZ$uœ]¢¡

_ZWh[ikZ$u=ipt½Y[`~jJlBikY[`*|h^Z5ikuB¤¦`*Y+t[h^Y[lm}rh^lmY[`/¤¦Y[Z$_ _¥Zqh[ikZfu]qum|=h^ZY[`r¡®]¢h^`h^m`,Œ$ÒEt[h^Y[lm}rh^lmY[`/zœ]qY^]W_`rh^`*Y[t

h^Zh^m`,zmY[Zqv[`*}’h^`*|­|Bikt^zB¡¯]W}*`*_`~u$h~²

&ZBZf¹$ikum\5¤¦ZfYžZ$zBh[ik_=]¡h^Y^]qumt[¡¯]h[ikZ$uœ]¡V|Bikt^zB¡¯]W}*`*_`*ufh~n–i±hikt]¡kY[`]W|B°8¹JumZ~wuµh^œ]h'h^m`,Z$YRip`*u$h]¢h[ipZ$u

Zq¤+h^m`h^Y^]Wumt™¡®]¢h[ipZ$uikt,eg`’h[h^`*Y$›Z$YRh^mZf\$Z$uœ]¡h^Z1h^–`„$Ò zgZWiku$h^t(\2±‰!(:4@ni@²`$²¥Z$YRip`*u$h^`*|£t^lm}€h^œ]¢h,h^m`

ikum|mlm}*`*||Bikt^zœ]qYRi±h °=iktž_=]¢»oik_=]¡ &-}*Z$umt[ik|m`*YRipum\]¡§ikum`t^`*\f_`*u$h~no¤¦ZfY´ikumt[h]qum}*`Th^m`/zmY[ZWv[`*}rh[ikZfu8Zq¤h^m`

h^Y^]qumt[¡¯]h[ikZfuipt'Zfzoh[ip_=]¢¡i§¤4i±hikum|ml–}~`*t]umZfY[_=]¢¡4|Bikt^zB¡¯]W}*`*_`~u$hZq¤4h^m`Y[`~}rh[i±¡§ikum`]qY`*|m\$`$²

Ñ9ZfY[`*Zs$`~Yyi§¤}]quž`=Y[`*}*Zsf`*Yh^m`8|BikY[`*}’h[ikZ$u£Zq¤žh^m`=h^Y^]qumt[¡¯]h[ikZ$u¼n-]Wtt^ZBZfuš]Wt]1}]¢¡§ikemY^]¢h[ipZ$uikt

ikt^t^lm`*| &

ij

: Y ;

„fŒ8<

Çm`8zO]WY^]q_`’h^`*YRik«]h[ikZfu–t(Zq¤ ]qY[`=s$`~YR° t[ik_¥zo¡§° N ‹ Y

‹ `

Y `

¤¦ZfYºœuBi±h^``*zBikz{Zq¡p`

i±h^­t[ip_i±¡®]qYzO]WY^]q_`’h^`*YRik«]h[ikZfui§¤ f N –²

"'d Š $#)'% ˆ ! $% ˆ #, #)'d

'

&`rhlmtumZ6}*Zfumt™ip|m`*Y'h^œ]¢hwž`5œ]*sf`]=zmlmY[`h^Y^]Wu–t[¡®]¢h[ikZfu¼nœemlBhT¤¦ZfY]zB¡¯]Wuœ]qYTt[h^Y[lm}rh^lmY[`W²/ÉTt[ikum\h^m`

t]q_`/`~jJlœ]¢h[ikZfumt½ž`,`]Wt™i§¡±°8t^`*`h^œ]¢hž`(]qY[`¡pZBZ$¹$ipu–\c¤¦Z$Y]_=]h^YRi»"E¨Zq¤Kh^m`¤¦Z$Y[_ &

EEjm[

T ;

„Wa<

³

Z$umt[ik|m`*YRipum\ E T

ž`œ]*sf`yh^m`/¤¦Zq¡§¡kZikum\`rip\$`*uBÈ@sW]¢¡pl–`,|m`*}*Zf_zgZft[i±h[ikZfu &

EkT

N

j

EkT

N ]O‹ 8T

DD g ;

„f‹8<

Ð lm}]}*Zq¡§¡±ipu–`¢]¢h[ikZfuiptZ$uB¡§°µ|m`rºœum`*|9ef°­ºms$`(zœ]qY^]W_`rh^`*Y[t

;

„¤¦Z$Y'h^m`(zmY[Zqv[`*}’h[ikZ$u1Zq¤Kh^m`yh^Y^]Wumt™È

¡¯]h[ikZfuš|m`rºœum`*|£l–zh^Z]­t^}]¡k`¤@]W}rh^Z$Y,]Wum| Œµ¤¦ZfY/h^–`=zœ]WY^]q_`rh^`~YZW¤žh^–`=zB¡®]qum`$</]qum|£}]quh^Jlmt5e{`

}O]WY^]q}rh^`~YRik«*`*|·]qtt^ZBZ$u ]Wth^mY[`*`\$`~u–`~YRik}zgZWiku$h^t1]qY[`F\qi±sf`*u¼nt™ipum}*``]q}Á_=]¢h^}E\f`*um`*Y^]¢h^`*t=h žZ

`*jJlœ]h[ikZ$umt\qi§s$`*u1e$°-& † J E † N BnmZ$Yž_Z$Y[`,zmY[`*}ript^`r¡±°-&

† J † ] T † g†

J

N #

%& † b † b D

D N

] 8T,†Og N D

D T u l ly : u l y l

l

/ ;

„f…8<

t^Z/h^O]h+\qi§s$`~u8]¢h´¡p`]qt[h´h žZ5umZ$uBÈ t[h]¢h[ikZfuœ]qYR°czgZqipu$h^t-ž`w}]qu=}]¡k}*lB¡®]¢h^` D

D

]Wum|h^–`~uVnB\qi§s$`*u8]h´¡k`¢]qt[h

h^mY[`*`,umZ$u­}~Zq¡±¡§ikum`]WY½z{Zqipu$h^t½ž`,}]Wuµ}¢]¢¡k}~lo¡®]¢h^` ¹JumZ~ikum\ DD ²

(18)

H z"$'- &6 v) 0 &v'²

˜™u5ZfY[|m`*Yh^Z}r¡¯]WYRi±¤¯°/h^Bikt4¡¯]Wt[hz{Zqipu$hK}*Z$umt[ik|m`*YK]quf°,_=]¢h^YRi±» E 'i§h^

Y ]Wu–|

Y

h^m`ž`rip\$`*uBÈ@s$`*}’h^Z$Y[t

}*ZfY[Y[`*t^zgZ$um|Bikum\h^Zµh^m`=t]q_``’ik\$`~uoÈ@sW]¢¡plm` „ Y

Zq¤E T ]qum|

`

h^m`=`rip\$`*uBÈ@s$`*}’h^Z$Y,}*Z$Y[Y[`~t›z{Z$um|Bikum\8h^Z

]qumZWh^–`~Y½`’ik\$`~uoÈ@sW]¢¡plm` „ `

ZW¤ E T ²-˜Rufs$`*YRh[ipum\`~jJlœ]¢h[ikZfu

;

„f‹8<-ž`,`]qt[i§¡±°8Z$eBh]iku &

ij

Y J

Y WN

„ ` 4 „ Y ‹

D

D T ` ` ;

„o†<

]qum|(s$`*YRi§¤¯°5h^œ]h E©ikt:Zq¤œh^–`+¤¦ZfY[_ ZW¤g`~jJlœ]¢h[ikZfu

;

„Wa<^²Ç–`~Y[`r¤¦Z$Y[`E #‡ GM`GQ GM &

GiZWZ'-(3G m kHˆ"$'- &@ v) 0 &v'

˜ hikth^JlmtKzgZ$t^t[ikeB¡p`h^Z'ip|m`*u$h[i±¤¯°/i§¤œ]'\Wi±sf`*u µÈ _]¢h^YRi»5}~Z$Y[Y[`*t^zgZfum|–tVh^Zy]'zmlmY[`-h^Y^]qumt[¡¯]h[ikZfu

;

h^`~t™h[ipum\

i±¤Kh žZ¥`rik\f`*uBÈHsW]¡klm`*tw]qY[`,`*jJlœ]¢¡*<+]qum|µi§¤h^Y[lm`WnOh^ZY[`~}*Zs$`*Yžh^m`,`r¡k`*_¥`*u$h^tTZW¤4h^–`,}*ZW¡±¡§ikum`]¢h[ipZ$u

;

t^`*`32±‰)4

¤¦Z$Y]Y[`rsoik`r6ZW¤4h^–`,}]¡±ipe–Y^]h^`*|}]qt^`$<^²

"'d Š $#)'% Š ! % ˆ ' $#)'%

Š

&`rhlmtw}*Z$umt[ik|m`*Yžh^m`5zœ]qYRh[ip}*lB¡¯]WY'h °–zg`ZW¤-|Bipt›zB¡®]q}*`*_¥`*u$h¤¦Z$Y'wBik}­h^m`5Y[`’h[ikuœ]¢¡KzB¡¯]Wu–`/iptTiku$sW]WYRi¯]Wu$h~²

³

¡k`]WYR¡±°fnVh^oipt,}*Z$Y[Y[`*t^z{Z$um|mth^ZµYRip\qik|_ZWh[ikZfu9'i§h^ & ƒfN ‚`,N ‚ Y N BnVi@²`$²,ž`¥O]*sf`=]8Y[Zqh]¢h[ipZ$u

]qY[Zflmu–|9h^m` +1]»oipt/Z$uB¡±°]Wum|Zq¤ž]Wu–\W¡k` ­]Wu–|£]=h^Y^]qumt[¡¯]h[ikZ$u9i±h^ ƒf,N Bn¼wBi±¡k`(h^m`=}]¢¡§ikemY^]¢h[ipZ$u

zœ]qY^]W_`rh^`*Y[t_ik\f$hweg`,}*Z$umt[h]qufh'ZfY'umZWh~²

˜™uµh^œ]¢hw}]Wt›`$nfž`,œ]’sf`(] È _]¢h^YRi»­ZW¤h^m`/¤¦Z$Y[_ &

N „LeY

„ `

+ l

+ ]

9`ƒf )] g Y

f |]8g0g + l

+ ] 9`ƒf |] g Y

f )] g0g 9fƒf

" 9fƒf~N

] 9`ƒf ‚ ` 9fƒ` ‚ ` Y f ƒ

` 9f

Y ƒ ` g ;

„f‡8<

ÇBikt È _=]h^YRi»µikt}*Zfu–t[h^Y^]ikum`*|­ef°-&

`”`

N ` Y N Y` N

Y”Y

N ;

„fŠ8<

]qum|8ž`,Z$emt^`*YRs$`~|Vn–¤¦Y[Zf_©`*jJlœ]¢h[ipZ$u

;

„$‡8<^nBh^O]h"&

#

# N

]

fƒ`

g f ] f Y g f

]

`ƒf

g f ] Y f g f ; Œ (8<

t^Z'h^œ]¢hž`+}¢]qu,`*t[h[ik_=]h^`-h^m`´sW]qYRi®]¢h[ikZfu,Zq¤Bh^m`´¤¦ZB}]¢¡W¡k`~u–\Wh^¼n¢TBi±¡p`-ž`+Y[`*}*Zsf`*Y’n¢¤¦Y[Z$_ `*jJlœ]¢h[ipZ$u

;

„$‡ <^n

h^m`(]qum\q¡p`/Zq¤4h^m`Y[ZWh]¢h[ipZ$u1]qt"&

N ]

9f Y

fƒ`

g

|]

Y f

`ƒf

g ;

Œm‰$<

ê`8]¢¡kt^Z9Y[`~}*Zs$`*Y(h^m`¥h^Y^]Wumt™¡®]¢h[ipZ$u lmz£h^Z]­t^}]¢¡p`¥¤@]W}rh^Z$Y)%j j ] `”fb Y fb 8g

T

n ]Wum| Z$eBh]ikuª]

(19)

`ri§h^–`~Y'}*Zfumt™h]Wu$hZ$Y+sW]qYR°oikum\mn–h^m`,|Bikt^zB¡¯]q}~`*_`*u$hžiptT]|Bipt›zB¡®]q}*`*_¥`*u$hž¤¦Z$Y+woip}€h^m`Y[`’h[ikuœ]¢¡zB¡®]qum`ikt

ikufsW]qYRi¯]Wu$h~nOi±¤ ]qum|­ZfuB¡±°=i±¤ `ƒ` N ` Y N Y ` N YƒY N t™ipum}*`i±¤Kž`,|–`’ºOum` \N

6

f

ž`

œ]*s$`#&

9`ƒ`

9` Y

Y `

YƒY

j ] 6

ƒv` ƒf

ƒ

Y g Y ] ƒf

6

ƒ` ƒ Y g ƒf

] 6 ƒ Y ƒf ƒ`cg Y ]^ƒ` ƒ` ƒvf ƒvf

ƒ Y ƒ Y

g ƒf

] 6

ƒ` ƒf ƒ Y g ƒ` ]^ƒ` ƒv`

ƒvf ƒf

ƒ Y ƒ Y g ƒf

] 6 ƒ Y ƒf

ƒ`)g ƒ` ] ƒf

6

ƒ` ƒ Y g ”f

;

Œf„8<

woip}€Y[`¢]¢¡:t›ZW¡klBh[ikZfumt]qY[`cZ$uB¡±°1`ri§h^–`~Y ƒ` N Y N ƒf N =Z$Yƒv` Nƒ

Y N ƒf N Bn]qt`¢]qt[i±¡§°µsf`*YRi±ºœ`*|

i±h^9]ct™°–_5e{Zq¡±ip},}]¢¡p}*lB¡¯]¢h^ZfY’²

Çm`*Y[`r¤¦ZfY[`T],um`*}*`*t^t]qYR°¥]qum|=t^lB¾=}rik`~u$h+}*Zfu–|Bi§h[ikZ$uh^Z(eg`ikuh^Bikt+t[i§h^lO]h[ikZfuikt~nW¤¦ZfY-h^m` È _]¢h^YRi»¼n

h^Ze{`ZW¤4h^–`/¤¦ZfY[_2^N

9`ƒf

Y f

f”` f Y fƒf

²

˜ ¤-umZ5nmž`c]qt^t^lm_`h^œ]¢hwž`5œ]*s$`(]=¹JumZ'¡p`*|m\$`,Zq¤Kh^m`5zB¡®]qum`(]¢hikuBºœuoi§h °fngh^m`5Y[`’¡¯]¢h^`~|­_=]h^YRi»

EF6ikt\qi§s$`~u­e$°-&

EFŸj + l

+

)] g + l

+ |]8g + l

+ ]

)]8g8‚

` U] g8ƒ

`

g‡‚ `

+ l

+ |] g + l

+

)] g + l

+ ]

)]8g8ƒ

` ] g8ƒ

`

g ƒ

`

‹ ;

ŒfŒ8<

˜Ruh^Bikt(}]qt^`Wnž`=]¢¡pt›Z1|BikY[`*}rh[¡§°Z$eBh]¢ipuh^–`=Y[ZWh]¢h[ipZ$uª]qum\q¡p` –nh^–`sW]WYRi¯]h[ikZ$u£Zq¤+h^m`¤¦ZB}]¡¡p`*um\qh^

# 4

#n']qum| }]quÂ`~t™h[ip_=]¢h^`1h^–`Fu–`’ ¡pZB}]¢h[ipZ$uÂZq¤yh^–`FZ$zBh[ik}]¡T}~`*u$h^`*Y ]^‚ ` b(ƒ

`

giku¤¦lmum}rh[ikZfuÂZq¤/h^m`

zmY[`rsJipZ$lmtsW]¡klm` ]^‚

`

bOƒ

`

g^nJ]WtsJipt[ikeB¡k`+ikuc`*jJlœ]¢h[ipZ$u

;

Œ$Œ8<^²˜ ¤Oh^m`}]¢¡§ikemY^]¢h[ipZ$u(zœ]qY^]q_¥`rh^`*Y[t´]WY[`+}*Z$umt[h]qufh~n

ž`=|BikY[`*}’h[¡±°£Z$eBh]¢ipuh^–`¡pZB}]¢h[ipZ$uZq¤+h^m`=zmYRikum}ripzœ]¢¡+z{Zqikufh~²¥˜Ru ]qu$°}]Wt^`WnumZµipuo¤¦ZfY[_=]¢h[ipZ$uZ$uh^m`

]qemt^Zq¡plBh^`sW]¢¡klm`,Zq¤4h^m`/¤¦ZB}]¢¡{¡k`*um\Wh^µiktZ$eBh]ikum`*|¼²

ÇBikt´}~Z$Y[Y[`*t^zgZfum|–tKh^Z(] 0!Š#' |'ZM0v*vŠm²Çm`'zœ]WYRh[ik}*lB¡¯]WY µÈ _=]¢h^YRi±»ch^Z,eg``*t[h[ik_]¢h^`*|

iktZq¤4h^m`/¤¦Z$Y[_ & EN

%

‹ ²

À

t ¤@]WY]qtY[`*}*Z$umt[h^Y[lm}rh[ikZfuipt'}~Z$um}*`*Y[um`*|¼n–i±hœ]qteg`~`*uµ|m`*_¥Z$umt[h^Y^]¢h^`*|h^O]hžž`}¢]quY[`*}*Z$umt[h^Y[lm}rh

h^m`,t›}~`*um`,]qtži±¤Ki±h]qtz–Y[ZsJip|m`*|­e$°1]WuµZfYRh^–Zf\$Y^]Wz–Bip}/}]q_`~Y^] 2Œ$4@²

³ Z$umt[ik|m`*YRipum\]q}rh[i§s$`soikt[ikZfuVnh^Bikt(°Jik`’¡k|mt5h^m`=¤¦Zq¡§¡kZ'ipum\9_`*}œ]quBikt^_ & #Z &1k\Š0a)''

3vŠm# G#0!Šm HZv'@/G`\"$0IH%/ H!'!1vŠ # ` # EH ZO#

&d'#'!'R*W d!Š#'G|'Z W1&&v*G,v#9#^&1( # H30/'/8.'-cvŠm²

À tµ|Bikt^}*lmt^t^`*|Á`r¡kt^`rwm`*Y[`G2±‰(!4@ni±¤(h^m`Fh^Y^]Wumt™¡®]¢h[ipZ$u ipt­z{`*YR¤¦Z$Y[_`~|Et^lm}€Áh^O]hµi§h^t­}*Zf_zgZfum`*u$h

]¢¡pZ$um\h^m` €'ÈR]¢»oiktcikt=«*`*Y[ZOn h^m`9Y[`rh[ipuO]¡T|Bipt›zœ]WYRi±h ° ikt=umZqh8|m`*z{`*um|–`~u$h8lmzgZ$u¬h^m`­¡pZB}]¢h[ipZ$u¬ZW¤h^m`

zmYRikum}ripzO]¡mzgZWiku$hK2±‰4@² À t:]}*Z$umt^`*jJlm`*um}*`Wnq`’s$`*uci±¤œh^oipt-jJlœ]Wu$h[i±h °5ipt-umZqh:¹JumZTu('i§h^=]Bik\$(zmY[`*}ript™ipZ$u

;

]qzmzmY[Z~»oik_]¢h^`,}]¢¡§ikemY^]¢h[ipZ$u<^noh^m`,Y[`*t^lB¡±h'i§¡±¡4umZqheg`,]ÄV`*}’h^`*|¼² Ñ9ZfY[`*Zs$`*Y’nBh^–`,Y[`rh[ipuœ]¢¡ºœ`r¡k|1œ]qtžumZ

t[ikum\$lB¡®]qYRi±h °µipuµh^m`,ik_=]W\$`woip}€Ft™ip_zB¡±i§ºO`~t'i±h^ty`*t[h[ik_=]h[ikZ$u¼²´˜ hTipt'h^Jlmt/]\fZBZB|µt[h^Y^]h^`*\q°8h^Zh^YR°h^Z

zg`~YR¤¦Z$Y[_©h^Y^]qumt[¡¯]h[ikZ$uzœ]qY^]¡±¡k`’¡Vh^Zh^m`,Y[`rh[ikuœ]¢¡4zB¡®]qum`/iku8h^oiptT}]Wt^`W²

(20)

#)' % Š

&`rh8lmt=umZ~ }*Zfu–t[ip|–`~Yh^m`­¤@]q}rh¥h^O]h=ž`]qY[`FZ$emt^`*YRsJikum\ª] zB¡®]quœ]qYt[h^Y[lm}rh^lmY[`WnTlmum|–`~Y8]qu Y[`rh[ikuœ]¡

|Bikt^zB¡¯]W}*`*_`*ufh~ng]qt|oipt^}*lmt›t^`*|8zmY[`rsJipZ$lmt[¡±°f²

˜™u=h^oipt+}]qt^`ž`T|mZ5umZWhžO]*sf`'h^Zc`*t[h[ik_=]h^`'h^m``rip\$$h+zœ]WY^]q_`rh^`~Y[t+Zq¤Vh^m`}*ZW¡±¡§ikum`]¢h[ipZ$u¼nJe–lBhžZfuo¡§°

t[i»­Zq¤4h^m`*_"t[ikum}*`h^m`,_=]¢h^YRi±»"E ipt'ZW¤4h^–`/¤¦ZfY[_ &

E N

%

% %

‹ ;

ŒWa<

i@²`W²-ž`}¢]qu1]qt^t^l–_¥`h^O]h •f‡j ] b bŒ‹g*T­wBik}µ¡k`¢]q|mt+h^Z8]Y[`rh[ikuœ]¡4|oipt^zo¡®]q}*`~_`*u$h~²

ÇBiktž¤@]q}rh}]Wuµe{`,`]qt[i±¡§°=s$`~YRi±ºœ`*|­i±h^h^–`,_ZB|m`r¡Zq¤K`*jJlœ]¢h[ipZ$u

;

‰$<+t[ikum}*`/ž`/œ]’sf`#&

fƒ` j ‚ ` ‚ f ]O‹

)] g0g

‚|Y |]8g8 f `

f Y j ‚ Y ‚ f ]O‹

)] g0g‡‚ ` |]8g f Y ;

Œf‹8<

wO]h^`rsf`*Y½h^m`,}]¡±ikemY^]h[ikZ$uzœ]qY^]W_`rh^`*Y[tw]qY[`W²

Ð

ZW¡±sJipu–\8h^m`*t^``*jolO]h[ikZfu–tž`c`]qt[i§¡±°9|m`*_¥Z$umt[h^Y^]¢h^`h^œ]¢hyh^–`~t›`ch žZ8sW]¢¡klm`*t/sW]Wuoipt^9i±¤]qum|Zfuo¡§°

i±¤ `0# 0v*vŠm U 0 |Š'‡E# z … j ] b bŒ‹g

T

O

0'#&d'#'!'–/ 30!#' U'z … f j f N k3 U'3#, G10Z/ Y&0v'#'!'

U' z … @ ,Z1 'RHG `|'Z \j ] b bŒ‹$g T q²

˜™uh^m`'\f`*um`*Y^]¢¡m}¢]qt^`žZq¤gsW]WYRi¯]Weo¡p`'}¢]¢¡±ipemY^]¢h[ikZfuzœ]qY^]W_`rh^`*Y[t~nqi±h:ikt´umZWh´zgZft^t™ipeB¡k`+h^Z/Y[`*}*Zsf`*Y-h^m`T¿:loÈ

}r¡§ik|m`]quczœ]qY^]q_¥`rh^`*Y[t~n$t™ipum}*`+ž`'t[h[i±¡§¡œO]*sf`/‰$‰žzœ]qY^]W_`rh^`*Y[tKh^Z/`*t[h[ik_=]h^`W² 5TZž`rs$`~Y’ni§¤gh^m`}]¢¡§ikemY^]¢h[ipZ$u

zœ]qY^]W_`rh^`*Y[tw]qY[`/}*Zfumt™h]Wu$h~ng]qtž\Wi±sf`*uµipu2Œ!4@n–ž`/}¢]quY[`*}*Zs$`~Y½h^m`,|BikY[`*}rh[ipZ$u1Zq¤4h^m`yh^Y^]Wumt™¡®]¢h[ipZ$u¼noh^m`

]qum\W¡k`ZW¤-h^m`Y[ZWh]¢h[ikZfu]qum|9h^m`zB¡¯]Wu–`cumZ$Y[_=]¡´lmz9h^Z9]Wu9ikum|m`rh^`*Y[_ipuO]h[ikZfuV²5˜™u 2Œc4:h^m``*jJlœ]¢h[ipZ$umt

œ]*s$`,eg`~`*uµ\Wi±sf`*uµ¤¦ZfY't^_=]¡±¡|Bipt›zB¡®]q}*`*_¥`*u$h^tw]qum|h^m`r°1}]Wuµe{`/`]qt[i±¡§°\$`*um`*Y^]¡±ik«~`*|]qt\qi±sf`*u1u–Z &

#$$$$$$$$$$$$$

%$$$$$$$$$$$$$& N 6

#

S ]€9g

"

u

Y

:

yKq

/ f u :

yYq

uY :

:

:

y

`

ƒ` N „ )]–g

Y N „ |] g

\N

Yf

#

S# ] 6 u y

: u

yYu

y

"!

u yKu

:

y

uKu

y/ u y/ : u y/ : u y/ y: f u

#$

u yKu

H:

y %!

u yYu

yYy

g

U` N & u

:

y & u : y

u&

y./

u&

y&/

Y N & u :

y & u : y

u& y/ u& y/ ;

Œf…8<

ê`œ]*s$`h žZµt^ZW¡klBh[ikZfu–t¤¦ZfYTh^m`|Bikt^zB¡¯]W}*`*_`*ufh~n]qtipuh^–`¥}*Z$u$h[ipuJlmZ$lmt/}]Wt›`$²5Ç'm`5ipu$h^`*Y[zmY[`rh]h[ikZ$u

ikt/|Bipt›}~l–t^t^`*|­ipuG2Œ!4@²Åml–YRh^m`*Y[_¥Z$Y[`Wn¼h^m`(h^Y^]qumt[¡¯]¢h[ipZ$u9ipt,]¢¡kt^Z8\qi§s$`~ul–z9h^Z1]qu9ipum|–`’h^`*Y[_ikuœ]h^` „Vn4]qt

`»–z{`*}rh^`*|¼²

ÅmlmYRh^m`*Y[_Z$Y[`$nfž`Tœ]*sf`Z$um`w]q|m|Bi±h[ikZfuœ]¢¡œ¡±ikum`]WY´`*jJlœ]h[ikZ$u¤¦ZfYh^m`Tipu$h^YRikumt[ik}wzO]WY^]q_`’h^`*Y[tK]^‚

`

bOƒ

` g &

|] g

`ƒf ‚ `

]O‹

`ƒ`

g ƒ ` ` Y N )] g Yf ‚ ` Y` ƒ `

]O‹

YƒY

g ;

Œo†<

]qtžikuh^m`}~Z$u$h[ipuJlmZ$lmt'}¢]qt^`,]q\o]¢iku¼²Ãª`/|–Z=umZWh'œ]*sf`5]Wu$°}*Z$umt[h^Y^]¢ipu$hwZ$u8h^–`/¤¦ZB}]¡V¡k`~u–\Wh^Ž#nOt™ipum}*`

(21)

u¬`rsf`*u _Z$Y[`1|–`~\$`*um`*Y^]h^`*| ¤¦Z$Y[_Zq¤h^m`1Y[`rh[ikuœ]¢¡wzB¡¯]WuO]WY|Bikt^zB¡¯]W}*`*_`*ufhikth^Z£]}*Z$umt[ik|m`*Y¥]

/@0!#Zv'u3On:i²`W² GN

% N ‹1]qum|

NX N 9ikuÂ`~jJlœ]¢h[ikZfu

;

Œqa<^² ÇBikt`»Bh^Y[`*_`

t[i±h^lœ]¢h[ipZ$u¬ipt=t›Zf_`rh[ip_`*tlmt^`*|¤¦Z$YczO]WumZ$Y^]q_cik}­|Bipt›zB¡®]q}*`*_¥`*u$h^t~² ˜ h8}¢]quÂeg`1`]qt[i§¡±°¬|m`*_¥Z$umt[h^Y^]¢h^`*|

h^œ]¢hh^Biptt[i§h^lO]h[ikZfu9}*Z$Y[Y[`~t›z{Z$um|mtTh^Z Z 03d!Š#'S0' G G10/ K&0'#'!'U'o

/ '-/.0…&03!/1€noi±h^ ij ]

%

b

% b 8g^²

"'d Š O$#)'% ˆ"! % Š*

&`rhžlmt+umZ~·}*Zfu–t[ip|–`~Y-h^œ]¢h+h^m`/`r¡k`~_`*u$h]WYR°=|Bikt^zB¡¯]q}~`*_`*u$hžZW¤Vh^m`/}]q_¥`*Y^]yiptž]º–»–`*|]¢»oikt+Y[ZWh]¢h[ikZfu¼n

woi§¡k`(iku$h^YRipu–t[ip}zœ]qY^]q_¥`rh^`*Y[t,]qY[`c}*Z$umt[h]qufh~²w˜ h/ipt/¹JumZTu9h^œ]¢h/h^Bipt/t™i§h^lœ]¢h[ikZfu9ikt}œ]qY^]W}rh^`*YRik«~`*|e$°

h^m`/¤@]q}rhžh^œ]¢hh^m`yh^Y^]Wumt™¡®]¢h[ipZ$u8iktzg`*Y[z{`*um|oip}*lB¡¯]WY½h^Zh^m`(]»oipt'ZW¤KY[Zqh]¢h[ipZ$u¼²Ã `/œ]*sf`#&

%

B]7 T g N ;

Œf‡8<

˜ hwœ]qtžeg`~`*uµ|m`*_¥Z$umt[h^Y^]¢h^`*|8h^œ]¢hh^oipt'}~Z$um|Bi±h[ikZfuipt'um`*}~`*t^t€]WYR°8]qum|t^lo¾}rik`*ufh½¤¦ZfY+h^–`È _=]¢h^YRi±»h^Z

}*ZfY[Y[`*t^zgZ$um|8h^Zt^lm}€F]|Bikt^zB¡¯]q}~`*_`*u$h

;

t^`*`32Œ$4<^²

B

B

B

B

B

B

B

B

B

B

B

B

B

B

B

B

B

B

B

B

000000000000000000000000 66

5 5

5

1

B B B B B B B B B B B

{

! ‰

€

Åik\flmY[`5Œ &wZqh]¢h[ipZ$umt+¤¦Z$Yw]5º–»–`*|F]»oipt'Y[ZWh]¢h[ikZfu

ê`,lmt›`,h^m`5umZWh]¢h[ikZfumtTZq¤:ºœ\$lmY[`(ŒB²'à`,}*Zfumt™ip|m`*Y]sf`*}rh^Z$Y

]¢¡§ik\$um`*|'i§h^­h^m`Y[ZWh]¢h[ikZfu9]¢»oikt

]qum|8h^–`,z{Zqikufh‚Zfuµh^m`(]»oipt

nOt›lm}µh^œ]¢h N }

!

²´Ç'm`,Y[Zqh]h[ikZ$u1]qum\W¡k`ikt –²

ÅmY[Z$_©`~jJlœ]¢h[ikZfu

;

‰<^n

;

a<ž]qum|

; ‹ <-ikuµh^BiptT}]Wt›`$noh^m` È _=]¢h^YRi±»µiktZq¤4h^m`Y^]h^m`*Y'm`]*sJ°8¤¦ZfY[_ &

j

$ |] g P` ]O‹

)]8g0g

$ Y T

f f T

Y * *

` N „f f

!#"

&ur y

%$

$

#

% Y N „ : Y T

% f N „ : Y T $

$

;

ŒfŠ8<

woi§¡k`/ž`/œ]*s$`#&

T

` Y N ; a (8<

woip}€iktžh^m`ZfuB¡±°}*Z$umt[h^Y^]¢ipu$hweg`rh ž`*`*uµh^m`*t^`h^mY[`*`/sf`*}rh^Z$Y[t'&~²

(*)

— 1$€‰-‘$r0wZxzy$w/r0r T)r 1$r0wЉ-‹Sšr0‹ƒxˆ—w/€,+

"

›+

q { 1$‘+

Q

€/˜$‹zy@xˆy${1x-+

" . + q { 1$‘@‰1xˆw*—!‘$˜$‹0rS{oš)r0‹ƒxˆ—w0/ `2103 254

3*

32 32 b q Q6

1 # 3 4 3*

32 3

€*—~xzy${x,/

+ + " ` & { 1:‘/

+ +

q07

+

Q)#

` 3* 3

Q

™—wS{ 1†18œ dRy:r0w/r–‰-€ {1’“‚|{0†!€–{‡€/—1’-˜!x*‰-— 16—1™rSU˜${1x/‰-— 1VŽ98 Y

Références

Documents relatifs

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

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

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

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

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

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

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

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