Energy Efficient Control of Running Legged Robots. A Case Study : The Planar One-Legged Hopper
Texte intégral
(2) INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE.
(3) !" #$%& '( *),+ - .)/ 01* &2 3 4 5 67!. .8 9 ",:;#$%& < = => Charles Franc¸ois - Claude Samson. N˚ 3027 November 1996 THE`ME 4. ISSN 0249-6399. apport de recherche.
(4)
(5)
(6) !""#%$&'()*+,-/. 0 1-24356' 87 9;: =<;11!>?A@B$C'EDFGGH 5I JLKNM#OQPSR"TLMUKNVXWZY\[QR5]5I^OQKN_X`XPCaKNbcRdYeV f gihkjml6no p\qrj6setvuZwxqry{z|l}w^y{~ewxqrjqr#uZwxqry{z l6xNwhkjmlkky{jm~etrlUelk xyZl}w^5 ^u~i~y{w lxlk#gilkxdgilFz6\{{o^ylkj6lk{{o ~¡u¢{lk £H¤/¥k¦¨§S©iª¦«¬®{¯°±S°B¯U²³±S´´²µ¯d¶·¶¸¯U¶¹µ®{¯5°²µºS»{¼½¯d¾)º¨¿L¯dÀ¯d²µÁÂZÃQ¯#ÄÅƽ¯dÀZ¹ÅºZÀS¹·²¸ºS¼¡º¨¿Ç²·ÈÀÀƽÀ{Á6¼É¯dÁÁ¯U´ ¾5¯UÅx®±À{Æʶ·¾5¶ÌËÆʱ&¹µ®{¯HÅ#±¶µ¯m¶¸¹·È´{Âͺ¨¿ ¹µ®{¯°¼½±SÀ±²ÌºZÀ{¯ÃμɯdÁÁS¯d´Ï®{ºS°°\¯d²dÐÑ,È{¯m¹µºcÆɹ·¶¾5¯dÅx®±SÀ{ÆÊÅ#±¨¼ ¶µÆʾ5°¼ÉÆÊÅƽ¹ÒÂÓX¹µ®¯°{¼Ê±À±S² ºSÀ¯ÃμɯdÁÁ¯U´H®ºS°°\¯d²Æ½¶^Á¯UÀ{¯d²·±¨¼½¼ÉÂHźSÀB¶¸ÆÊ´{¯d²µ¯d´±S¶ ¹µ®¯»±S¶¸ÆÊÅ°²µº¹µº¹ÒÂ{°B¯Ôº¿ ¾5¯UÅx®±À{Æʶ·¾5¶ÔÅd±°±S»{¼½¯"º¿,»B±¨¼½¼ÉÆʶ¸¹µÆ½Åm²·ÈÀÀƽÀ{ÁÁZ±¨Æ½¹µ¶dÐÖÕÖ®±¹¾5±Sר¯U¶Ì¹µ®{Æʶ6¶µÂ{¶¸¹µ¯d¾Ø°±S²¸¹µÆ½ÅdÈ{¼Ê±²µ¼ÉÂcÆÊÀà ¹µ¯d²µ¯d¶µ¹¸ÆÊÀ{Á"ƽ¶,¹·®±¨¹dÓ2¯dÀB´{ºkÙA¯U´Ùƽ¹µ®&±°²µºS°\¯d²,¶¸¯d¼É¯UŹµÆɺZÀº¨¿¶·°²¸ÆÊÀ{ÁZ¶#Óiƽ¹ Å#±ÀC»\¯ÅºSÀZ¹·²¸ºS¼É¼½¯d´+ÙÆɹ·®{ºSÈ{¹ ¶·°\¯dÀ´{ÆÊÀ{Á¾^ÈÅx®Ô±Å#¹µÈ±¹¸Æ½ºSÀ5¯dÀ{¯U²¸ÁSÂÐLÚÛÆÉËÆÊÀ{ÁźZ²¸¯¹µº¹µ®{Æʶܰ\ºS¶·¶¸ÆÊ»{ƽ¼Éƽ¹ÒÂÌ®±¶Ü±¼½²µ¯d±S´{¾5º¹µÆÉËk±¹¸¯d´Ì±,¿r¯dÙ ¶µ¹µÈB´{ÆɯU¶#Ó»BÈ{¹®±¶À{ºS¹Â¯#¹dÓ{¹¸ºÌºSÈB²/×À{ºkÙ¼½¯d´Á¯Ó{»\¯#¯UÀ6¯#ݹµ¯dÀ¶µÆ½Ë¯#¼½Âԯݰ{¼½ºS²µ¯d´¡ÐX¬®¯,°B²¸¯U¶¸¯UÀS¹¶µ¹µÈ´{Â6ƽ¶ ±SÀ{º¹·®{¯d²Ç±¨¹¸¹µ¯d¾Ì°{¹/ƽÀ¹µ®{ÆʶǴ{Æʲµ¯dŹµÆɺZÀiÐXÞ¯#ÆÊÀ{Á°²µÆ½¾Ì±S²¸Æ½¼ÉÂ5¾5º¹¸Æ½Ëk±¨¹µ¯d´»ZÂÌźSÀZ¹·²¸ºS¼\´{¯U¶¸Æ½ÁSÀÔ±SÀ´Ô±À±¼ÉÂ{¶µÆ½¶ ±S¶µ°\¯dÅ#¹µ¶dÓ¡Ù/¯Ì®B±}˯̹µ²µÆɯU´+¹µº¶¸¯d¹ ¹µ®{¯Ô»±S¶¸Æʶ,º¨¿±¾5¯#¹µ®º´º¼½ºÁ¿rºS²,¹µ®¯´{¯d²µÆÉËk±¹¸Æ½ºSÀHº¨¿/±À{¯dÙßÅ#¼½±S¶µ¶ º¿Ü¶¸Æʾ̰{¼É¯5źZÀS¹·²¸ºS¼É¼½¯d²·¶Åd±°±S»{¼É¯ º¿Ç¶¸¹·±»{ƽ¼½ÆÉàdƽÀ{Á°±¶·¶¸Æ½Ë¯°\¯d²µÆ½º´Æ½Å^¾^ºS¹¸Æ½ºSÀ¶dÐáܼ½¯d¾5¯dÀZ¹·¶³º¿Ü¹µ®{ÆʶÛÅ#¼½±S¶µ¶ ±S²¸¯5¯Ý°{¼½ÆÊÅƽ¹¸¯d´C»ZÂ+¾Ì±×ZÆÊÀ{Á"¶·°\¯dÅÆÉâ\ÅÌÅx®{ºSƽÅ#¯d¶,±»\ºSÈ{¹,¹·®{¯¾5º´¯#¼Üȶµ¯d´+¿rºS²,źZÀZ¹µ²µº¼L´{¯d¶µÆ½ÁSÀC±À´H¹µ®{¯ Å#ºSÀZ¹µ²µº¼N±Å#¹µÈ±¹¸Æ½ºSÀ¶µ¯#¹µ¹¸ÆÊÀ{ÁBÐÜ㳼ɹ·®{ºSÈ{ÁZ®¶µ¹µ±»Æɼ½ÆɹÒ±SÀ±¨¼½Â{¶¸ÆʶÜÆʶÀ{º¹ÅºZ¾Ì°{¼É¯d¹¸¯SÓS¿rºZ²A²µ¯d±S¶¸ºZÀ¶ÜٮƽÅx®±²µ¯ ¯#Ý°{¼½±Æ½À¯d´5ƽÀ5¹·®{¯³°±S°B¯U²#Ó¨¹·®{¯³¶µºSÈÀB´À{¯d¶·¶Xº¨¿e¹µ®¯³°²µºS°\ºS¶µ¯d´5±°°²µºS±SÅx®ÆʶLƽ¼É¼Êȶµ¹µ²·±¨¹¸¯U´5ËZÆʱ ¶µÆ½¾^È{¼½±¹¸Æ½ºSÀiÐ ¬®¯Û¶µ¹µÈ´{±¼½¶µºÈÀZËS¯#ƽ¼½¶/À{¯#Ù䲸¯U¶µÈ{¼½¹µ¶/±ÀB´ÔƽÀZ¹·²¸Æ½ÁSÈ{ÆÊÀ{ÁåÈ{¯U¶¸¹µÆɺZÀ¶dÓ±S¾5ºSÀ{ÁٮƽÅx®¶¸ºZ¾^¯ÛźSȼ½´°²¸ºkËS¯ ¹µº+»\¯Å¯UÀZ¹µ²·±¨¼Ü¹µº+±»\¯#¹¸¹µ¯d²^ÈÀ´{¯U²µ¶µ¹µ±SÀ´{ÆÊÀ{Áº¨¿¼½¯#ÁSÁ¯d´C¼½º{źS¾5ºS¹¸Æ½ºSÀ&ÆÊÀ&Á¯dÀ¯d²·±¨¼QÓƽ¹µ¶^°BºS¹¸¯dÀZ¹µÆ½±¼Éƽ¹¸Æ½¯d¶ ±SÀ´"±¨¼Ê¶¸ºÌƽ¹µ¶¼½Æ½¾5ƽ¹µ±¨¹µÆɺZÀ¶dÐ æçZèeé·êë\ì}íîï ð ¯#ÁÁS¯d´c²µºS»\º¹·¶#ÓL°{¼Ê±ÀB±²^ºSÀ{¯#ÃQ¼½¯#ÁSÁ¯d´&®{ºZ°°\¯d²dÓÇ°±¶·¶µÆÉËS¯6²µÈBÀÀ{ÆÊÀ{Á+ÁZ±¨Æ½¹µ¶dÓX¿r¯#¯d´B»±Åx× ¶µ¹µ±S»{ƽ¼Éƽàd±¹¸Æ½ºSÀiÓ{¯UÀ{¯d²µÁÂÅ#ºSÀ¶·È¾Ì°{¹¸Æ½ºSÀ¡Ð ñròÇóµôöõ¨÷óÛøAùÊôöúÒûkü. Unite´ de recherche INRIA Sophia-Antipolis 2004 route des Lucioles, BP 93, 06902 SOPHIA-ANTIPOLIS Cedex (France) Te´le´phone : (33) 93 65 77 77 – Te´le´copie : (33) 93 65 77 65.
(7) 1'/XÔ6
(8) /1A '" *+,. - G"1,¡- G+
(9) Û1^ /#/. E/1- ' /'"%7 # G+Ô'" G"#161^
(10) î ïÍð ¯"²µ±S°°BºZ²¸¹^¹µ²·±¨Æ½¹¸¯SÓLËZÆʱ¼½¯Åd±¶5´ #¹µÈB´{¯"´BÈ|¾5ºSÀ{ºZ°Bº{´{¯"°{¼Ê±À±Æ½²µ¯ÓL´ÈÍ°²¸ºZ»{¼d¾5¯´{¯ Å#ºS¾Ì¾Ì±À´¯¯#ÄÅ#±Å#¯ ¶µÈ²¼½¯°{¼Ê±À dÀ¯d²µÁ #¹µÆ½åÈ{¯,´{¯U¶¾ dÅ#±SÀ{Æʶµ¾5¯d"¶ !Ì°±¹¸¹µ¯d¶Å#ºSȲµ¯dȲ·¶dÐÑ,È"¿v±¨Æ½¹´{¯¶·± ¶µÆʾ5°¼ÉÆÊÅƽ¹#¾$UÅ#±SÀ{ƽåÈ{¯SӼɯ¾^ºZÀ{ºS°\º{´{¯Û°¼½±SÀ±¨Æʲ¸¯³¯d¶µ¹A%Á d&À U²µ±¼É¯U¾^¯UÀZ¹ÜźSÀB¶¸ÆÊ&´ d'² ÛÅ#ºS¾Ì¾5¯³¼½¯Û°²µº¹µº¹ÒÂ{°\¯ ´¯»±¶µ¯´{¯d¶³$¾ UÅ#±SÀ{ƽ¶·¾5¯d¶Åd±°±S»{¼½¯d¶´ ±¨¼½¼½ÈB²¸¯U¶´{¯ÅºZȲ·¶¸¯ ±}˯UÅ,°®±¶µ¯ »±¨¼½¼½Æ½¶µ¹¸ÆÊåÈ{¯"Ð (A¯åÈ{Æ2²µ¯dÀ´Å¯ ¶µÂ{¶¸¹'d¾5¯^°B±²µ¹¸ÆÊÅ#È{¼½)Æ U²¸¯U¾5¯dÀZ¹ÛÆÊÀZ#¹ U²¸¯U¶µ¶·±ÀZ¹#ÓN¼½ºS²·¶µåÈ Æɼ¯d¶µ¹,´{º'¹ 5´{¯Ô²µ¯d¶·¶¸ºZ²¸¹·¶³±S&´ dåȱ¹µ¶dÓN¯U¶¸¹,åÈ ÆɼL°\¯dÈ{¹ * ¹µ²µ¯ÛÅ#ºS¾Ì¾Ì±À&´ ¯dÀźZÀ¶¸ºZ¾Ì¾5±SÀZ¹A°\¯dÈ6+´ UÀ{¯d²µÁƽ¯Ð ð ±^¾5ƽ¶µ¯Û¯UÀº¯dÈ˲µ¯Û´¯Å#¯#¹¸¹µ¯°\ºS¶·¶µÆ½»{ƽ¼½ÆÉ'¹ ±5&´ ,#! ¾5ºS¹¸Æ½Ë åÈ{¯d¼½åÈ{¯U¶ #¹·È´{¯U¶#Ói¾Ì±¨Æʶ³À ±Å#¯d°\¯dÀ´±SÀZ¹Û°±S¶¯dÀBźS²µ¯-Ó !6À{ºS¹µ²µ¯ÅºZÀÀ±Æ½¶·¶µ±SÀůS.Ó #'¹ ¯#Ý{°¼ÉºZ#² d¯ ´¯¾Ì±À{Æ d²µ¯±°B°²¸º¿rºSÀ´ÆɯSÐ ð ±°'² d¶µ¯dÀZ¹µ/¯ #¹µÈB´{¯¯U¶¸¹ÈÀ{¯^ÀºSÈ{ËS¯#¼½¼É¯ ¹µ¯dÀZ¹µ±¹¸Æ½Ë¯´±SÀ¶Å¯#¹µ¹¸¯´Æ½²µ¯dÅ#¹¸Æ½ºSÀiÐ áǹµ±ÀZ¹Ü°²µÆÊÀÅÆÊ°±¨¼½¯d¾5¯UÀS¹L¾5º¹µÆÉ%Ë d¶L°±S²¼É¯U¶Ü±¶·°B¯UŹ·¶L´{¯¶¸Â{ÀZ¹µ&® U¶¸¯¯d¹Ü´ ±SÀ±¨¼½Â{¶¸¯´{¯¼Ê±,źS¾Ì¾Ì±ÀB´{¯ÓÀºSȶ ±}ËSºSÀ¶,¯U¶µ¶·±} Դ{¯&´ #ÁZ±¨Á¯U²,¼É¯U¶°²µÆÊÀÅÆÊ°B¯U¶´ ÈÀ{¯"¾ #¹µ®º´º¼½ºÁƽ¯°\ºSȲ 0¼ ºS»{¹µ¯dÀZ¹¸Æ½ºSÀ´ ÈÀ{¯"À{ºSÈ˯#¼½¼½¯ Å#¼½±S¶µ¶µ¯´¯¼½ºÆʶ^´¯"Å#ºS¾Ì¾Ì±À´{¯¶µÆ½¾Ì°{¼½¯d¶5°B¯U²µ¾5¯d¹¸¹µ±SÀZ¹Ì´¯"¶µ¹µ±S»{Æɼ½Æʶ¸¯U²¼½¯d¶5¾5ºSÈ{ËS¯d¾5¯dÀZ¹µ¶51° d²µÆɺ{´{ÆÊåÈ{¯d¶ ÀºSÀÃÒ´{Æʶµ¶µÆ½°B±¨¹¸ÆÉ¿v¶´È¶¸Â{¶µ#¹ U¾^¯SÐLÑÛ¯U2¶ #¼ d¾5¯dÀZ¹·¶´{¯Å¯d¹¸¹¸¯Å#¼½±S¶µ¶µ¯,¶¸ºZÀS¹¯#Ý{°¼ÉÆÊÅƽ#¹ U¶¯dÀ¿v±¨Æʶµ±SÀZ¹´¯d¶Åx®{ºSÆ Ý ¶·È²¼½¯ ¾^º{&´ d¼É¯È¹¸Æ½¼ÉÆÊ#¶ °\ºSÈB²¼½±Ì¶µÂÀZ¹·&® d¶µ¯ ´{¯,¼½±ÔÅ#ºS¾Ì¾Ì±À´{¯¯#¹¼Ê±^¿v± 3#ºSÀ"´ ȹ¸Æ½¼ÉÆʶ¸¯U²¼½¯d¶±Å#¹¸Æ½ºSÀÀ¯dȲ·¶#Ð Þƽ¯dÀÏåÈ{¯0¼ ±À±¼ÉÂ{¶µ¯"´{¯m¶µ¹µ±S»{Æɼ½Æ½#¹ mÀ{¯m¶¸ºSÆɹ԰±S¶ÌźS¾Ì°{¼ #¹µ¯Ó°BºZȲ̴{¯d¶Ô²·±¨ÆʶµºSÀ¶^¯Ý°{¼½Æ½å&È d¯d¶Ì´±SÀ¶Ì¼É¯ ²·±°B°BºZ²¸¹dÓ¡¼É¯»ÆɯUÀà ¿rºZÀ&´ ´{¯64¼ ±°°B²¸º{Åx®{¯Ô²µ¯#¹¸¯UÀÈ{¯Ì¯d¶µ¹ Æɼ½¼½ÈB¶¸¹·#² °±S²´{¯U¶¶¸Æʾȼ½±¹¸Æ½ºSÀ¶dÐ ð #¹·È´{¯6¾5¯#¹ dÁS±¼É¯U¾^¯UÀZ¹Ç¯dÀ¼ÊȾ5)Æ U²¸¯,´{¯ À{ºSÈ˯d±SÈÝ#² U¶µÈ¼É¹·±¨¹µ¶/¯d¹±S¶µ°\¯dÅ#¹µ¶/ÆÊÀS¹·²¸Æ½ÁS±SÀZ¹A´È"°²µºS»{¼ d¾5¯Ó´ºSÀZ¹/Å#¯d²µ¹µ±Æ½À¶ °\ºSÈB²µ²·±¨Æ½¯dÀZ¹,5¶ ±}Ë U²¸¯U²³Å¯UÀZ¹µ²·±ÈÝ+°\ºSȲ ÈBÀ{¯¾5¯#ƽ¼É¼½¯dȲµ¯ÌźS¾Ì°'² d®¯dÀ¶µÆɺZÀ+´{¯Ô¼Ê±"¼Éº{Å#ºS¾5º¹µÆɺZÀ+±²µ¹¸ÆÊÅ#È)¼ d¯ ¯UÀ6%Á d&À U²µ±¼ Ó´¯,¶µ¯d¶°\º¹µ¯dÀZ¹¸Æʱ¨¼½Æ½#¹ d¶¯#¹±ÈB¶µ¶µÆi´{¯¶¸¯U¶¼ÉÆʾ5Æɹ·±¨¹µÆɺZÀ¶#Ð 6;8ë 7Uî:é 9;<> ï = ºS»\º¹·"¶ !Ô°±¨¹µ¹¸¯U¶#ÓB¾5ºZÀ{ºS°\º{´{¯ °{¼½±SÀ±¨Æʲµ¯&Ó dåÈ{ƽ¼½Æ½»²µ¯d¶´ÂÀB±¾5ƽåÈ{¯U¶°±S¶µ¶µÆ ¿v¶dÓ¶µ¹µ±»Æɼ½Æ½¶·±kà ¹µÆɺZÀ°B±²²µ¯#¹¸ºZȲ´ #¹·±¨¹#ÓÅ#ºSÀ¶µºS¾Ì¾Ì±¨¹µÆɺZ
(11) À UÀ{¯d²µÁ d¹¸ÆÊåÈ{¯Ð.
(12)
(13) !"#$%&'(*)+",* -. . Ô'6Ç^ µwÜqr/ky{jmjmy{zet u10Nziy(2 trl ¢{l wg¡uZw/trlk¢{¢{l tryNky{jmywxqry{z¨uz"lsi~lkqry{Üwy32gilkl}trl tryNky 4 jmywxqry{zcqrzcy{jmlxq ws¡uZwxqry{zi6 587¡y{lU¡ujm~etrl9:2gilkzÍky{zixq lkqrzi¢ qr~etvuklkjmlkzBw^y{z|xsi¢{¢{l wlkxuZqrzi6 9Ü~lkwsix¡uZwxqry{zi6xlkset wxqrzi¢ ;Qxy{j%wgilmxexwlkj=< 5qrzwlku}wxqry{z>2 q wgwgil¢{xy{siz uxl qrzBwlkxjq wxwlkzw+uz ä qrkxl}wx@q ?kl qrz~¡uklHqrzÖwgilH¨ulHAy ;,trlk¢{¢{l lkgeqr}trlk( 9B2geq trlHwgil}qrlC;$4 ;Îlk}w6y{zwgillkgeqr}trlCuxl+~lkxjuzilkzwqrz wgil+¨u#l+Ay ;2gilkl}trl tryNky{jmywxqry{Dz 5c^tr:y 9/y{jml y{iw#u}trlk^¨uzÍl l¨uZt Ew 2 q wg|jmy{xll¨uxq t cw#Au 0\qrzi¢Hu {uzw#u¢{l"Ay ;GFiqr¢{gwÌ~ig¡ulk siqrzi¢ 2geqrdgcwgilNxwlkj y\lkziyw^qrzwlku}H w 2 q wgcwgil¢{xy{siz 5I ;/q wqr^ziyw 'q Jkset wwy+qrju¢qrzil u~i~et qr¨uZwxqry{zi& ;Qy{"trlk¢{¢{l xy{ywy{zikl&wgil} lkky{jmly{~lkuZwxqry{z¡uZt 9q w+uZtry u~i~l¨uxwg¡uZw wgil l}l}try{~ijmlkzwAy ;sidgxexwlkjm"g¡ulklkztr(y 2=uz wg¡uZwxws qrlk l}ywl wy|wgilkj uxlÌxwxq t tÜziywz\sijmlkxy{si( 5f gilkxluxlÔy{B\qry{sixt &lkky{ziy{jqr¨uZtAuz wlkdgiziytry{¢qr¨uZt/u~lk}w,wy lUi~etvuZqrzwgeqrxq ws¡uZwxqry{Dz 5LKAu1 0Ay ;}qrlkzBwx'q M¡juZwsiq wµAy ;wgil y{juZqrzju¨uZtryÔl,qrzy 0{l 5 ·z lkl 9/j6si#g xlkjuZqrzi"wyclsiz lkxxwyNy uy{sewwgiNl 2Ûy{* 0\qrzi¢|Ay ;,trlk¢{¢{l xexwlkjm( O/ziyw y{zet Íwgilmuwx'q M¡}qvuZtjmlk#g¡uzeqr¨uZt l}Nqrklk lkxqr¢{zil Q PÍuDz 9LisewuZtryCwgilky{jm~¡uuZwxq l}t jsi#gmjmy{xl ky{jm~etrlU"trlk¢{¢{l y{x¢uzeqrjmwg¡uZw5uZwsixl,g¡u~y{~isetvuZwl wgil,³uwRg 2 q w g SÎwgil g\sijuz eqr~l 9Xwy&xw#uEw 2 q wg T5VU geq trl"wgily{ilkuZwxqry{zAy ;5uZwsixl < yqrzi¢{ÔqrÌklkw#uZqrzet uzqrjm~y{w#uzBwÛy{sixklAy ;Xqrzi~eqruZwxqry{&z ;Qy{wgil^jmlk#g¡uzeqr¨uZtXlkzi¢qrzilklkqrzByt l qrzmwgil lkqr¢{z Ay ;uwx'q M¡}qvuZtÜtrlk¢{¢{l xexwlkjm( 9Nq wjuk&ky{zlkx#l}t &lÌlUe~lk}wl wg¡uZw wgilÔxws CAy ;AgBsiju%z 4 iseq t w"trlk¢{¢{l jmlk#g¡uzeqrjmR 2 q t t,lHgil}trW~ ;QsetÛwyÍl}wxwlk"siz lkxxw#uz wgilCytrsewxqry{zi#giy{#lkz X { ZÜwg¡uZw5jujmjuZtrwlkz wy+z¡uZwsiuZt t B5uZwsixl 57¡y{^lUiujm~etrl 92q w^g¡ulklkzcy{ilkl Y u y{~e[w 2,uZ@t 0Bqrzi¢&y{5xsizizeqrzi¢¢uZq wH 2geqrdgjqrzeqrj@q ?klmlkzilkx¢ÍlUi~lkz q wsix\l ;Îy{5uH¢q lkz qr 4 ~etvuklkjmlkzBwl}try\}q wµ 5|l¨u#y{ziV ;Îy{6#u¨\qrzi¢Ïlkzilkx¢ qrzwgilH¨ul+Ay ;g\siju%z 4¸iseq t wxexwlkjm qr5uZtry+}trl¨u^wy+l}lky{zil 5f gil6qrzBlkzwxqry{z uz 2 q lk~ixl¨u silAy ;wgiVl 2gilkl}t/qr qrxlk}wxt ky{zizilk}wl wyÔwgeqrwµN~lAy ;X~ixlky\kksi~¡uZwxqry{Dz ]q l¨uZt t 9"2gilkz qr#¨u qrzi¢wgilky{zBwqrisewxqry{zHAy ; ;Îqr}wxqry{\ z ;Qy{xklk6 9^u 2gilkl}trl lkgeqr}trl,¨uzmjuZqrzBw#uZqrzuzky{ziw#uzw~lkl y{z^u F2uZwgiy{@q ?ky{zw#uZt ¢{xy{siz 2 q wgiy{sew#~lkz qrzi¢&lkzilkx¢ 5_72xy{j wgeqrÔytr\l ;Îu}wÔy{ziljukÏqrWz ;Qlk5wg¡uZ(w 9`;Îy{Ìjuz u~i~et qr¨uZwxqry{zi6 9usewy{ziy{jmy{sia SÒy{+lkjbq 4µusewy{ziy{jmy{si Ttrlk¢{¢{l xy{ywc 2 q t t5ziywCky{ziwxq wsewl uz uZwxwu}wxq l|~iu}wxqr¨uZt^#ytrsewxqry{zumtry{zi¢u+wgil}d 2 q t tlcxqr¢{ze'q M¡¨uzBwxt ;jmy{xlclkzilkx¢" 4 ky{zi#sijqrzi¢wg¡uez 2gilkl}trl lkgeqr}trlk( 5^t wgiy{si¢{gCwgil5lkzilkx¢" 4¸ky{xw,~ixlky\ksi~¡uZwxqry{ z ;Îy{Ûtrlk¢{¢{l xy{ywqr5ziyw^ziCl 2fSÒlkl X 9ǨAn Z9;Îy{lU¡ujm~etr6l T wgil6qrsilg¡u5ziyw^Ay ;Qwlkz|lklk+z ;Îy{xj6setvuZwl uz xexwlkjuZwxqr¨uZt t ;u i xlkl 2 q wgwgil|5sewy{juZwxqrÏy{zBwxyt^NqrCl 2~yqrzB(w 9l}lkz;qrz;wgil ¨u#lmAy ;³wgi\l g¸xqrjm~etrl hmy{zil 4ötrlk¢{¢{l giy{~i~lki SÎwgilmjmy{w6¡uxqrmxsizizeqrzi¢cjmlkdg¡uzeqr&j TE2geqr#g qrky{zixq lkxl gilkxl 5f gil~ixlk#lkzwxws lkkqrlk^uziCl 2)uZwxwlkjm~ewqrzwgeqr qrxlk}wxqry{Dz 5 lkxqrzikkl j,x(y 2zuz ^uZqrlkwiseq t w5wgiVl M¡xxw^~ixywyw¸e~lqrzcwgill¨ut &l}qr¢{gBwxqrlk X SW 9 Z9wgil ~etvuz¡uy{zil 4ötrlk¢{¢{l giy{~i~lkg¡uujAu ?kl ky{zwxyt¡lkzi¢qrzilklkxL 2 q wg"wgil,xqrjm~et qr}q wµ"Ay ; q wjmlkdg¡uzeqr¨uZt lkqr¢{zuz wgil ky{jm~etrlUNq wµAy ;2q w ez¡ujqrk( 5^uZqrlkw lkxqr¢{zil uÌky{zwxyt tv(u 2l;Qy{^wgil~etvuz¡uÔy{zil 4ötrlk¢{¢{l giy{~i~lk 5Ôewlkzixq llUe~lkqrjmlkzwÔg¡u¨l"lkw#uet qrgil wg¡uZw .. /. mnmporqCstCuwv.
(14) n. `A6A$- A)
(15) \-A. q wH2uÌxy{isixw(9XisewÔuZtrylk lkjuz qrzi¢lkzilkx¢{l}wxqr¨uZt t 55fÇNqrzi¢Cwy+yt lwgeqr^~ixy{etrlkj=9 f giy{jm~i#y{zCuz ^uZqrlkw X ¨n Zjmy q'M¡l wgil5y{qr¢qrz¡uZtLjmlk#g¡uzeqr¨uZtÜxwxsi}wsixlÌyA;Lwgil5~etvuz¡u y{zil 4ötrlk¢{¢{l giy{~i~lk 9~ixy\q qrzi¢Ôq wG2 q wgmuzu i q wxqry{z¡uZt¡geqr~%4¸~iqrzi¢Ôy5wg¡uZw(9{q';wgilAyqrzBwuxl u#sijml ;Îqr}wxqry{zetrlk( 9wgil"xy{yw5qr5uetrlwyCxsizÏuZw5ky{zixw#uzwÔ~lkl y{zu+giy{@q ?ky{zBw#uZGt F2uZw wlkxuZqr>z 2 q wgiy{sew~lkz qrzi¢clkzilkx¢ S½xsixwt @q 0{l+=u 2gilkl}$t T5C5uZqrlk(w < ky{zwxytjml}wgiy g¡u ;Îsiwgilk6lklkz qrzBlkxwxqr¢uZwl qrz X Z5Hf gilH~lk}'q M¡¢uZq w"u#y\}qvuZwl 2 q wgziy{%z 4 qrxqr~¡uZwxqry{z Ay ;Ôlkzilkx¢uxlͨuZt trl !%3 &w-5 f gil}qrHlUNqrwlkzikl lk~lkz Hy{z wgilÍjmlk#g¡uzeqr¨uZt lkqr¢{z uz 9Ûjmy{xl~lk}'q M¡¨uZt t 9³y{z wgilcu l \s¡uZwlsi#lCAy ;5jmlk#g¡uzeqr¨uZt l}Nqrklk= SÒsidg;u #~iqrzi¢{( 9G2geqr#g jukälClklkz uwgilCl Nseq uZtrlkzBwAy ;uzeqrjuZt,wlkz y{zi X { Z$TV2geqr#g uZt tr(y 2 ;Îy{Ôxwy{u¢{lAy ;,~ywlkzwxqvuZtÛlkzilkx¢Öuz q wxlkxwxq wsewxqry{z qrz wgiN l ;Qy{xjAy ;0\qrzil}wxqrlkzilkx¢ 5+ 2,ukmwyxl siklwgil^lkzilkx¢ky{zisijm~ewxqry{zHAy ;Xwgil^y{zil 4ötrlk¢{¢{l giy{~i~lkqr³wyw#Au 0{l^u {uzw#u¢{l Ay ;#si#gß~¡uxq l|xlk¢qrjmlkuz sil|ky{zBwxytsixc w ;Qy{+wgilÍ~isix~y{lÍAy ;xw#ueq t @q ?}qrzi¢ wgilk=j 5 72yt tr(y 2 qrzi¢ wgeqrq l¨Wu 9 5giju q5uz jsilkgetrlk X :n 9Û Z^g¡uklÏ~ixy{~y{l uzuz¡uZt exqrCuz u jml}wgiy ;Qy{+wgil l}wlkxjqrz¡uZwxqry{z Ay ;wuSxlk}wy{qrlke 2geqr#g u~i~ixykeqrjuZwlwgilkluyN}qvuZwl 2 q wgÖwgilmz¡uZwsiuZtÛxlk¢qrjmlk( 9/uz 9;Îxy{j wgilkxl 9Çg¡u¨lHu u~ewl 5uZqrlk(w < 6ky{zwxyt trlk6#ycu wyjmy{zeq wy{ 9BqrzHky{zwxqrz\siy{si,wxqrjml 9Bwgilwu1 0\qrzi¢Ay ;Xwgil~ixl l}wlkxjqrzil wuSxlk}wy{qrlk( 5f gil} g¡u¨lÔwlkxwl wgeqr ky{zBwxyt trlkqrzxqrjsetvuZwxqry{z|uz y{ilkl usiixw#uzBwxqvuZtÇxl si}wxqry{zcAy ;Awgil lkzilkx¢ky{zisijm~ewxqry{Dz 9¡qrzcky{jm~¡uqry{+z 2 q wg5uZqrlk(w < l¨ut uZtr¢{y{q wgi=j 5 µz6wgeqr/~¡u~lk 9 2Ûl,~ixy{~y{lÛuzuZt wlkxz¡uZwxq luz¡uZt Nqr/uz u#y{jmCl 2g¡uZw q Xlkxlkzwky{zwxyt wuZwlk¢V ;Qy{ÇwgilÛ~etvuz¡uy{zil 4ötrlk¢{¢{l giy{~i~lk 5GPÍy{xl~ixlk}qrl}t 9A2ÛlÛ\qrCl 2 z¡uZwsiuZtixlk¢qrjmlku ~lkqry qr^y{xeq w,Ay ;Üwgil5xexwlkj 2geqrdg&¨uzHl^ju~i~l uz w#ueq t @q ?kl y{z&u Ayqrzi¨u 4öt @q 0{l #lk}wxqry{z SÒy{xl}wsixzÖju~ T5Hf geqr6u~i~ixyu#g g¡u~ixl}Nqry{sixt lklkz sil a P| Ìlklk X A Z9 wyHxws wgil6~¡u#xq Vl 2,uZ@t 0Bqrzi¢C¢uZq w^y{zÏuzcqrzi}t qrzil ~etvuzil6Ay ;³u+ky{jm~¡u 4öt @q 0{l"eqr~l 9uz jmy{xlmxlkklkzBwxt ͳ~eqvusÖuz Ìy{* 2,ujq X 9L ZL2giyg¡ukluZtrycu i xlk#l wgil"~ixy{etrlkj Ay ;u}wxq l}t Íky{zwxyt t qrzi¢cwgik l 2,uZ@t 0Bqrzi¢ky{jm~¡u#( 5f gil"qrzwxy si}wxqry{z Ay ;ÛuC Ayqrzi¨u +xl}wsixz ju~ z¡uZwsiuZt t si¢{¢{lkwu qrkxl}wl 4öwxqrjml&y{qrlkzwl ky{zBwxyt lkqr¢{Dz ]wgilHky{zBwxytqrzi~isew uxl|ziyÖtry{zi¢{lk¨uZtrksetvuZwl qrz;ky{zwxqrz\siy{si&wxqrjml 9 u y{zilcqrz X :n 9Û Z9,isewHuZwgilk+ky{ziqrxw Ay ;qrjm~isetrq l"y{^l \seq {uZtrlkzwÔ~eqrlkkCl 2 qrl 4¸ky{ziw#uzw ;Îy{xklkH 2geqrdg uxl¨uZtrksetvuZwl uZw5wgill 4 ¢qrzizeqrzi¢ÍAy ; l¨u#g giy{~i~lk < xwlk~äuz u~i~et qrl uZwu l Ns¡uZwl}t qrxwqrisewl wxqrjml 4öqrzixw#uzw( 5 j,lkxq lk6wgilmqrjm~y{w#uzwlkzilkx¢{l}wxqrHu~lk}(w 9ÜwgeqrxwuZwlk¢Ög¡uuZtrycwgil+u uzBw#u¢{l 9B2 q wg xlk#~lk}wwyÌky{zwxqrz\siy{si 4öwxqrjmlky{zBwxyt trlkx( 9BAy ;xqr¢{ze'q M¡¨uzwxt xl si}qrzi¢Ìwgilujmy{sizwAy ;y{%z 4öt qrzil ky{jm~isew#uZwxqry{ziÌuz Ay ;/xqrjm~et 'q ; Nqrzi¢mwgilky{zBwxytÇqrjm~etrlkjmlkzBw#uZwxqry{Dz 5 f gilC~¡u~lkqry{x¢uze@q ?kl u\ ;Qyt tr6y 2( 5f gil~etvuz¡umy{zil 4ötrlk¢{¢{l giy{~i~lkqr lkkqrl qrz?pNlk}wxqry{z uz jmy l}t t qrzi¢l \s¡uZwxqry{ziÍAy ;6wgilÖgiy{~i~lk < ez¡ujqrkÍuxl lkq l 5Ø·z ~¡uwxqrksetvu 9wgilÛqrjm~y{w#uzwÛ~ig¡ul,Ay ;2ky{zw#u}wl}Iw 2lklkzwgilgiy{~i~lk < G ;Îy\ywuz wgil,¢{xy{siz 9 uZw³tvuz qrzi:¢ 9"2geqrdgqrÛziywÛlUi~et qr}q wl qrz X :n 9e Z9qrÛgilkxljmy l}t trl uÛuz+qrzil}tvuxwxqrqrjm~isetrq l Bm.
(16)
(17) !"#$%&'(*)+",* -. . X Z ;Îy{wgilxws yA;wgilV2uZt@0\qrzi¢Cky{jm~¡u(5 f gil6xlk#set wxqrzi¢ qrjm~¡u}w(9Xu y{zil6qrz X AZ/uz d ky{jm~etrl}wljmy l}tÇqrwgily{zil6wg¡uZw32Ûlg¡ukl6si#l qrzwgilxqrjsetvuZwxqry{ziqrzÍy{ lk wymwlkxwwgil ky{zBwxyt~lk;Îy{xjuzikl5=7¡y{6~iu}wxqr¨uZt,~isix~y{#lk(9ÇwgilHky{zWM lkziklCwg¡uZwy{zil+ju¨Ög¡uklHqrz wgilHxlk~y{wl xlkset wwg\si lk~lkz "y{z wgilHukksiu}ÖAy ;,wgeqr6jmy l}tuz q wueq t q wµÖwy xlk~ixlk#lkzwu~igexqr¨uZtxexwlk=j 5 juZwgilkjuZwxqr¨uZt 'q Jkset wµ+uZwxw#u#gil wywgeqrÛjmy l}t2ky{jmlk ;Îxy{j!wgil xw#uzikl ~ig¡ul S siqrziV ¢ 2geqr#gmwgilgiy{~i~lkqrqrzmky{zw#u}rw 2 q wgwgil ¢{xy{siz TB2geqr#g Nqrl}t 6ziy{zäky{jm~etrl}wl}t qrzwlk¢{uetrlCl \s¡uZwxqry{zi6 5C5ucxlkset (w 92l+g¡u¨lHziyw6lklkzäuetrl+wy uz¡uZt Nwxqr¨uZt t #g¡uu}wlk@q ?klwgiEl g¸lUiu}6w hz¡uZwsiuZtAxlk¢qrjmlk^u#y\}qvuZwl 2 q wgcwgeqrjmy l}t 5 µzÍy{ lkwy+ylkxky{jml"wgeqr^~ixy{etrlk=j 92Ûlg¡ukl"¡ul wgil6ky{zwxyt lkxqr¢{zÏy{zÍu+z gµu%~ 4 ~ixy¨NqrjuZwl h6xqrjm~et 'q M¡l jmy l}t 2geqr#gcqr lkkqrl qrzÍpNlk}wxqry{z|W 5f gilÔq l¨uqr,wy+y{ew#uZqrz uzqrzwlk¢{uetrl5jmy l}#t 2geqrdg+juZwdgilkÛwgil g¸lUiu}6w h jmy l}t 2l}t tlkziy{si¢{gHyÌwg¡uZw³q w³¨uz+xl¨u 4 #y{z¡uet Hl^lUi~lk}wl wg¡uZwu"xy{isixw ky{zwxyt lkxqr¢{z&¡ul y{zCwgeqru~i~ixykeqrjuZwl jmy l}t 2 q t tX~lk ;Qy{xjFky{xxlk}wxt +y{z+wgil5lU¡u}wÛjmy l}t 5f geqrÛqr,uky{jmjmy{z&ky{zBwxytLu~i~ixyude g 2gilkz l¨uZt qrzi¢ 2 q wg ky{jm~etrlU SÒziy{zet qrzil¨u1 TxNwlkjm( 5cµwgiy{set gi(y 2Ûl}lkml+~yqrzwl y{sew"wg¡uZw wgil~ixy{~y{#l u~i~ixykeqrjuZwl jmy l}t yNlkziyw^ky{xxlk#~y{z wyHu+}tvuxqr¨uZtÇt qrzil¨u^w#uzi¢{lkzw u~i~ixy¨NqrjuZwxqry{zmAy ;Xuziy{zet qrzil¨uNxwlkj!uy{sew/y{zil,Ay ;¡q wl Nseq t qriqrsij~yqrzBw( 5^u5juZwxwlk Ay ;r;Îu}(w 9Xq wÔqrÔziywÔl}lkz ~y{xqretrl"wy lkq lmsidgÖuzÖu~i~ixykeqrjuZwxqry{zÖxqrziklwgilml Nseq t qriqvu Ay ;,wgilCy{qr¢qrz¡uZtNxwlkj S2geqr#gäqrzÖwgilC~ixlklkzw¨ui l 2y{set ky{xxlk#~y{z wycwgilCz¡uZwsiuZt xlk¢qrjmlk T^uxlziy[w 0\zi6y 2Dz 5p\qrj6setvuZwxqry{z g¡uÌwg\siÔlklkzÏsil w&y göuZt q uZwl h"wgil"~ixy{~y{#l u~i~ixy¨NqrjuZwl jmy l}t ;Îy{ qr~etvuklkjmlkzwÔl}tryN}q wxqrlkÌsi~cwy&+j Z(5^fÇyHwgeqrÌ~isix~y{l 9q w5qr #gi(y 2z qrz;pNlk}wxqry{z;cwg¡uZwsiWz ;Îy{xkl ~lkqry qr&ytrsewxqry{zimlUNqrkw ;Îy{"wgeqr"jmy l}tuz wg¡uZw wgil}ͨuzÏl#g¡uu}wlk@q ?kl uz¡uZt Nwxqr¨uZt t 56f gilk#l"~lkqry qrytrsewxqry{ziuxl¨uZt trl \ &w-qrz y{ lk6wy qrxwxqrzi¢{seqrgäwgilkj ;Îxy{jwgil !% r N-uyN}qvuZwl 2 q wgwgil lU¡u}wÛjmy l}t 5³p\qrj6setvuZwxqry{zxlk#set wuxl5¢q lkz+wy"gi6y 2 wg¡uZ(w 9%2gilkzCxw#uwxqrzi¢"uZwy{jml5~yqrzBw y{zm#si#g+uÌytrsewxqry{Dz 9Bwgilsiziky{zwxyt trl y{zil 4ötrlk¢{¢{l giy{~i~lkqr¨u~¡uetrl^Ay ;~lk ;Qy{xjqrzi¢6l}l 4 uZt¡giy{~i³Cl ;Îy{xl ;ÎuZt t qrzi¢ 6y 2Dz 5f geqrjml¨uziwg¡uZwwgil ziy{jqrz¡uZt2xlk¢qrjmlkuxl ziyGw g;Îu( h;Îxy{j wgil6z¡uZwsiuZtÇy{zilk^uz wgilkxCl ;Îy{xlwg¡uZwwgil6u~i~ixykeqrjuZwl jmy l}tǨuzclÔsil wy+~ixl qr}w wgilmz¡uZwsiuZtÛxlk¢qrjmlk6Ay ;³wgil+giy{~i~lk 9Üsi~Öwyy{jmltrl}l}t³Ay ;ukksiu}Q 2geqrdg lk~lkz 6y{z wgil qr~etvuklkjmlkzw,l}tryN}q w¸+ SÎqrz+wgeqrÛxlk~lk}8w 2l^g¡u¨llklkz+six~iqr#l wyy{ilklwg¡uZwÛwgil lkxw~lk ;Qy{xjuziklqrziywy{ew#uZqrzil ;Îy{,wgilÔtr(y 2lkxwl}tryN}q wxqrlkw T5 f gil5zilUew xwlk~&g¡u,ky{zixqrxwl qrz lkxqr¢{zeqrzi¢ku ;Qlkl ¡uw 0+ky{zwxytLtv(u 2 2geqr#gxw#ueq t @q ?klk6 9 uZwtrl¨uxwtryN¨uZt t 9wgil&ziy{jqrz¡uZtxlk¢qrjmlkmAy ;wgilu~i~ixykeqrjuZwl jmy l}t 5Öf geqrqr y{zil&qrz pNlk}wxqry{zm:n 9\ u ; wlk lkq Nqrzi¢u qrkxl}wl,t qrzil¨uw#uzi¢{lkzwu~i~ixykeqrjuZwxqry{z+Ay ;2wgilu~i~ixy¨NqrjuZwl ziy{zet qrzil¨ulkxxy{jmy l}t uz u ;Qwlkuz¡uZt exqrzi¢Íwgil&ky{zwxyt tvueq t q w¸ ~ixy{~lkwxqrlkuyN}qvuZwl 2 q wgwgeqr+t qrzil¨uHlkxxy{Hjmy l}t 5 µwqr+gi6y 2zwg¡uZwHwgil|ziy{jqrz¡uZtÌxlk¢qrjmlk+qrzBwlkxlk}wCwgil /yqrzi¨u "lk}wxqry{zcy{z|umy{zil 4 qrjmlkziqry{z¡uZt/juze'q ;Îyt 5,f geqrqrWs J}qrlkzBw^wy+~ixy¨lwg¡uZwwgil ziy{jqrz¡uZtxlk¢qrjmlkÔ¨uziziywÔluxejm~ewywxqr¨uZt t Íxw#uetrl 5Ì5ziywgilkÌky{zil \silkzikl"qr5wg¡uZw5wgil mnmporqCstCuwv.
(18) . `A6A$- A)
(19) \-A. ziy{jqrz¡uZtxlk¢qrjmlk69³uz wgilC#l}wyA;^ky{xxlk~y{z qrzi¢ lkxxy{jmy l}tr(9¨uz lC~¡uujml}wq@?kl qrz wlkxjm&yA;uäxqrzi¢trl|{uqvuetrl9wgilgiy{~i~lk< lkxqrxl ;Îy{2u l}tryN}q w¸9^;Qy{ClU¡ujm~etrl5 f gilz\sij6lkcyA;ky{zBwxyt6u}wxqry{ziwy l u~i~et qrl siqrzi¢;u xqrzi¢trlxwlk~ yA;6wgilgiy{~i~lk ¨uz l l sikl ;Îxy{j wgilCxlNseqrxlkjmlkzwHyA;ky{zwxyt tvueq t q wµ yA;wgil&u~i~ixy¨NqrjuZwl lkxxy{ jmy l}t 5 µz;wgeqrHxlk~lk}(w 9q w+qrHgi(y 2zwg¡uZwCuÖqrzi¢tr+l ;Îy{xklqrjm~isetrlcqrzwgilctrlk¢ siqrzi¢ wgilÌxw#uziklÌ~ig¡ul 9eky{jm~etrlkjmlkzBwl 2 q wgCIw 2ywy{ \sil5qrjm~isetrlku~i~et qrl uZw,wgilÌgeqr~ siqrzi¢ wgi_l Fiqr¢{gw5~ig¡ul 9uxlWs J}qrlkz(w 92g¡uZwl}lkwgil lkxqrxl ;Îy{ 2u l}try\}q wµcAy ;wgil6giy{~i~lk 5 5y{zil}wgil}trlk( 9Njmy{xl5ky{zwxytÜu}wxqry{zi,ky{set uZtr#y6lky{zixq lkxl qrz+~iu}wxqrkl 9e'q ;Lwgeqr~ixy¨l wylÌsiCl ;QseDt ;Îy{,xy{isixwzilk lkzig¡uziklkjmlkzB(w 55ziklÌwgilÔky{z q wxqry{zi ;Îy{wgilÔky{zwxyt tvueq t q wµ Ay ;Ôwgil|t qrzil¨u@q ?kl lkxxy{Hjmy l}tÌuxlÍjml}(w 9uz }tvuxqr¨uZtt qrzil¨u&ky{zBwxyt lkxqr¢{zßjml}wgiy ¨uz|lsi#l wy l}wlkxjqrzilumxw#uetrlÔt qrzil¨u^ky{zwxyt trlkÌuz wgilky{xxlk~y{z qrzi¢HjuZwqÊcAy ; ky{zBwxytA¢uZqrzi( 5GUÖl6g¡uklsil uzy{~ewxqrjuZnt KLqrzil¨u 5s¡u uZwxqrjml}wgiy 5 ^Ìgi6y 2zqrzÍwgilpNlk}wxqry{z% 9Lky{zBwxytqrjm~isetrlkÔ¨uz l"xlk~etvukl Ïl \seq {uZtrlkz(w 9Çisew jmy{xl^l¨uxq t mqrjm~etrlkjmlkzwl 9i~eqrlkkCl 2 qr#lky{zixw#uzBwqrzi~isew6 5/^t wgiy{si¢{gCy{zet mtry\¨uZtxw#ueq t q w¸Ay ; wgilu~i~ixy¨NqrjuZwl jmy l}tAy ;wgil giy{~i~lkqruz¡uZt Nwxqr¨uZt t lkw#uet qrgil 9BxqrjsetvuZwxqry{ziÛxlk#set w q t trsiwuZwl&wg¡uZwwgil~ixy{~y{#l ky{zwxytxwuZwlk¢ ~lk ;Qy{xjmi 2l}t ty{z wgillU¡u}wjmy l}tAy ; wgilCgiy{~i~lk 5Í5lUi~lk}wl 9wgilClkzilkx¢ä~lkzBw"BÖwgilCky{zwxyt,wyÍw#ueq t @q ?klHwgilCgiy{~i~lk qrlk juZt tky{jm~¡uxl wywgil¢try{¡uZtjmlkdg¡uzeqr¨uZt^lkzilkx¢ Ay ;wgilcNxwlk=j 5äf geqri 2u y{si~iqrjml+jmywxq {uZwxqry{> z 2gilkz xw#uwxqrzi¢|wgeqrxws 5µwqrgi(y 2Ûl}lk}trl¨uwg¡uZw6wgil+qrzi~isew lkzilkx¢m¨uziziyw,uxNjm~ewywxqr¨uZt t mwlkz wVy ?klkxy6xqrziklwgilxw#ueq t @q ?kl giy{~i~lk < ³¢uZq w y\lk³ziyw lU¡u}wxt Ökyqrzi}q el 2 q wg uÍz¡uZwsiuZt xlk¢qrjml 5Íf gil qrkxlk~¡uzi}l}Iw 2lklkz z¡uZwsiuZt,xlk¢qrjmlk uz ziy{jqrz¡uZtÔxlk¢qrjmlkHqr&uZtryäxlk~y{ziqretr+l ;Îy{+}try{l 4ötryNy{~ wl¨u 4¸xw#uZwlÏlkxxy{x( 5)f geqr xCl F¡lk}w8 ;Qy{³lUiujm~etrly{zwgilky{zwxyt trl ;Îy{ 2u l}tryN}q w¸mAy ;Xwgilgiy{~i~lkL 2geqr#gHky{zlkx¢{lk wyumuZtrsilÔxt qr¢{gBwxt q lkxlkzB^w ;Îxy{j wgil lkxqrxl y{zil 5 f gilÛ u ;Îy{xlkjmlkzwxqry{zizil l}try\}q wµ 4¸eqvu/¨uz6lxlkjmyl BÌky{jm~etrlkjmlkzBwxqrzi¢5wgil³ky{zwxybt 4 trlkr 2 q wg&u6xqrjm~etrl^qrzwlk¢{uZtÇu}wxqry{Dz 9iugi(y 2zCqrzpNlk}wxqry{zW 5³p\qrj6setvuZwxqry{zxlkset w,uZtryqrz bq 4 ¨uZwlwg¡uZw5wgilky{zBwxyt trlkÔ y 4¸y{ew#uZqrzil qr5xy{isiw^wyHuqry{si5y{sixklkÌAy ;³jmy l}t t qrzi¢Hlkxxy{x SÒsizi~ixlk}qr#l 0Nzi(y 2 trl ¢{lÏAy ;Ô~iqrzi¢{( <³wxq zilk#lk( 9,y{+sizijmy l}t trl ;Îqr}wxqry{zqrzwgil|xy{y(w < xyqrzw6 9:;Qy{ lU¡ujm~etr6l T5 y{zi}trs qrzi¢+ky{jmjmlkzwÌuxl M¡z¡uZt t &¢q lkzqrzwgilÌtvuxwÌpNlk}wxqry{zÍ% 5 Ô 'd#d6 "Ì1,#- 16' 6 1,#6f gilÏ~etvuz¡u&y{zil4ötrlk¢{¢{l giy{~i~lkCky{zixq lkxl wgixy{si¢{giy{sewwgilÍ~¡u~lkHqrHxlk~ixlklkzBwl qrz
(20) § 5 KL@q 0{l wgil y{zilxws qrl 5giju quz j,silkgetrlkcqrz X nAZ95q wcqrc¡u#l y{z 5uZqrlk(w < ,l¨ut qrlkxw~ixywywµN~l X S Z5µwÛqr ky{jm~y{l yA;/u"y Cuz u6wl}trlk#ky{~eqrÌtrlk¢:5f gil klkzBwlkÌAy ;ju Ay ;wgily qrÌuZwwgilqrzwlkx#lk}wxqry{zÏAy ;³wgil6geqr~%4 xyqrzw(< uSetrluz wgil . . Bm.
(21)
Documents relatifs
Finally, Figure 1c shows the average number of devices enrolled in a composition process against the number of hops needed to reach a remote service (including the intermediate
To test whether the vesicular pool of Atat1 promotes the acetyl- ation of -tubulin in MTs, we isolated subcellular fractions from newborn mouse cortices and then assessed
Néanmoins, la dualité des acides (Lewis et Bronsted) est un système dispendieux, dont le recyclage est une opération complexe et par conséquent difficilement applicable à
Cette mutation familiale du gène MME est une substitution d’une base guanine par une base adenine sur le chromosome 3q25.2, ce qui induit un remplacement d’un acide aminé cystéine
En ouvrant cette page avec Netscape composer, vous verrez que le cadre prévu pour accueillir le panoramique a une taille déterminée, choisie par les concepteurs des hyperpaysages
Chaque séance durera deux heures, mais dans la seconde, seule la première heure sera consacrée à l'expérimentation décrite ici ; durant la seconde, les élèves travailleront sur
Pas- toralists have to cope with these different types of tenure (Thébaud and Batterbury, 2001) and they generally maintain long-term rela- tionships with land managers to
33 (a) Institute of High Energy Physics, Chinese Academy of Sciences, Beijing; (b) Department of Modern Physics, University of Science and Technology of China, Anhui; (c) Department