Postural stability control for robot-human cooperation for sit-to- stand assistance

Texte intégral

(1)Postural stability control for robot-human cooperation for sit-to- stand assistance Viviane Pasqui, Ludovic Saint-Bauzel, Philippe Bidaud. To cite this version: Viviane Pasqui, Ludovic Saint-Bauzel, Philippe Bidaud. Postural stability control for robot-human cooperation for sit-to- stand assistance. 10th International Conference on Climbing and Walking Robots and the Supporting Technologies for Mobile Machines, 2007, Singapore, Singapore. pp.409416. �hal-03167108�. HAL Id: hal-03167108 https://hal.archives-ouvertes.fr/hal-03167108 Submitted on 11 Mar 2021. HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers.. L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d’enseignement et de recherche français ou étrangers, des laboratoires publics ou privés..

(2)

(3)

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(6) JLKM=3NO@AC-=3EFP=QCSRS=QGT=Q@U

(7) VWBXYD,NZKM==Q[T\8C-D@H%=3N]P=QC ?H@U#@=,U

(8) ?A@D,N^]D,??H%?A@D,NKM\3_ à bQc

(9) deAf g hi j3alkc

(10) g mno-c

(11) f pqr,c

(12) m stb,aluOg s-c

(13) f s vw-x y

(14) z{|x } ~z x z{{%zFz}3 {x z> ,{x z {x |QQAAAO }:zF > wl {% F t

(15) w-}:zwl % : |z| h F x l¡ |¢x%£{%A¤ }¥ ¦||x z-¥ §{ ¨ }} ¡8 ©©l {:¡ ¥ {%A¤ }¥ ¦||x z-¥ §{:© ª al«¬c

(16) q qm d%nqg m ®8zx¤w-x ¯vw-x y

(17) z{|x }§I°± wl y

(18) z{ F x ¦¥ ² {%z:§zw-|}:zx w£³3z

(19) ¤#¥ z ´µ g dc

(20) ¬%ng ¶r q· ¬qdqmndc± f pp¸¶¹ mn¬¹ r r q¬i ¹ ¬Oc¬¹ ol¹

(21) ng ¶s qºg ¶q iAn¹Tqm df ¬qd%nc

(22) o g r g n:¸ ¹

(23) nµ q»f dq¬s f ¬g m ¼tnµ q>c

(24) ddg d%nqs½dg n%¾n¹

(25) ¾:d%nc

(26) m s¿n¬c

(27) m d% q¬a´µ qFÀ-¬d%nT· ¬¹ o r qÁÂn¹Ãolq c

(28) s s ¬qddqsg dnµ q·l¹ d%nf ¬c

(29) r c

(30) m-c

(31) r ¸dg d,¹

(32) nµ q¶µ-c

(33) g ¬,¬g dg m ¼ aÄQÅ·lq¬g ÁqmndiÆ5g nµTµ qc

(34) r nµ¸ df oÇ%q¶ndi3Æq¬q·lq¬% ¹ ¬Áqs/Æ5g nµÈnµ g d>c

(35) g ÁÉg mÈºg qÆa3Êm-c

(36) r ¸dg d¹

(37) ±qÅAnq¬m-c

(38) r5 ¹ ¬¶qd dµ ¹Æ5dFnµ-c#n>dg n%¾n¹

(39) ¾:d%nc

(40) m sÈn¬c

(41) m d% q¬¶c

(42) mSolqtdf ols g ºg s qsSg mn¹¿dqºq¬c

(43) r· µ-c

(44) dqda3´µ q ¹ o dq¬%º c#ng ¹ m¹

(45) Qnµ qFËOqmnq¬I¹

(46) Ob3¬qddf ¬qc

(47) m sÃ¹

(48) Qnµ qµ ¹ ¬g p¹ mnc

(49) r,¶¹ Á·l¹ m qmnI¹

(50) Qnµ q µ-c

(51) m s r qO ¹ ¬¶qQ¸g qr s d¬f r qdn¹I¹ o dq¬%ºq3nµ qOd%nc

(52) o g r g n:¸¹

(53) nµ q·-c#ng qmn3c

(54) m sT¶¹ m dqeAf qmnr ¸ c

(55) s

(56) Ç%f d%n5nµ q¬¹ ol¹

(57) ng ¶g mnq¬%c

(58) ¶qÁ¹

(59) ng ¹ m>n¹Fnµ qµAf Á»c

(60) m>º¹ r ¹ mnc

(61) ¬%¸tÁ¹ºqÁqmna-´µ qdq ¬f r qd5c

(62) ¬qIf dqs>g m»nµ qI f pp¸»¶¹ mn¬¹ rg Á· r qÁqmnc#ng ¹ m8aA´µ q±¶¹ mn¬¹ r r q¬g dOº c

(63) r g s-c#nqs ¹ mtqÅ·lq¬g ÁqmndÆ5g nµ>µ qc

(64) r nµ¸tdf oÇ%q¶ndIc

(65) m sts g dqc

(66) s qst·-c#ng qmnda ÌTz ³3 {% |

(67) Í Êddg d%ng ºq3s qºg ¶q Î ¬¹ ol¹

(68) ng ¶Og mnq¬%c

(69) ¶q Î

(70) µAf Á»c

(71) mT¶qmnq¬qs¬¹ ol¹

(72) ng ¶ Î

(73) ·l¹ d%nf ¬c

(74) r d%nc

(75) o g r g n:¸MÎ-dg n%¾n¹

(76) ¾:d%nc

(77) m s8Î f pp¸t¶¹ mn¬¹ ra lÏ ÐÑÒ-Ó

(78) Ô#ÕÖ,×Ø

(79) Ó Ù Õ8Ò ´µ qIc

(80) g ÁÚ¹

(81) 8nµ qÆ¹ ¬Û· ¬qdqmnqs>g mFnµ g dO·-c

(82) ·lq¬g d3n¹T¬qc

(83) r g dqc±¬¹ ol¹

(84) ng ¶g mnq¬%c

(85) ¶q5 ¹ ¬ qeAf g r g o ¬g f ÁÜc

(86) ddg d%nc

(87) m ¶q5s f ¬g m ¼kAg n%¾:´¹

(88) ¾%knc

(89) m stÝ:kA´k Þn¬c

(90) m d% q¬a ß5q¬q i g n3g d,df · ·l¹ dqs nµ-c#ng mnq¬c

(91) ¶ng ºqT¬¹ ol¹

(92) ng ¶±s qºg ¶qdilc

(93) d5µAf Á»c

(94) m¾:¶qmnq¬qs¬¹ ol¹

(95) ng ¶di-g dÁ¹ ¬qI¶¹ ÁF ¹ ¬%n%¾ c

(96) o r qc

(97) m stÁ¹ ¬qIqà¶g qmn5nµ-c#n5n¬c

(98) s g ng ¹ m m-c

(99) r8nq¶µ m g ¶c

(100) rs qºg ¶qdTá ;â a ã¹ ol¹

(101) ng ¶d±nq¶µ m ¹ r ¹ ¼ g qdµ-cºqFolqqmg mºqd%ng ¼c#nqs¿g mÃnµ qr c

(102) d%nI qÆä¸qc

(103) ¬dIn¹>· ¬qºqmn c

(104) r r do¸»cT·l¹ d%nf ¬c

(105) r8¶¹ mn¬¹ r8¹

(106) ·-c#ng qmndc

(107) m s»n¹· ¬¹ Á¹

(108) nqIdc# qÁ¹ o g r g n:¸á å â i8á æ â iMá ç â i á è â iá é â iá ê â iá ë â iOá ì â a,uOfnTnµ qdq>¬¹ ol¹

(109) ng ¶»s qºg ¶qdFµ-cºq>m ¹Ã·l¹ d%nf ¬c

(110) r¶¹ ¬¬q¶ng ¹ m/n¹ ¬qd%n¹ ¬q±qeAf g r g o ¬g f Áa uc

(111) dqsÈ¹ míc

(112) mÈc

(113) m-c

(114) r ¸dg d¹

(115) 5nµ q>Á¹ d%n¶¹ ÁÁ¹ m¿Æc

(116) r ÛAg m ¼n¬¹ f o r qdc

(117) dd¹A¶g c#nqs/Æ5g nµ c

(118) ¼ g m ¼¹ ¬O¶q¬qolqr r c

(119) ¬d%¸m s ¬¹ ÁqÆqµ-cºqIs qdg ¼ m qs>c

(120) m s>s qºqr ¹ ·lqstc¬¹ ol¹

(121) ng ¶s qºg ¶q Ý g m>î,g ¼ f ¬q ; Þá ;ï#â n¹µ qr ·»nµ q±·-c#ng qmnn¹dg n%¾:s ¹Æ5m8i d%nc

(122) m s¾:f ·tc

(123) m s»Æc

(124) r ÛÃá ; ;â a´µ q c

(125) ddg d%ng ºqTs qºg ¶qFµ-c

(126) m s r qd±¼ f g s qnµ q·-c#ng qmn±n¹>¬g dq± ¬¹ ÁÂc¶µ-c

(127) g ¬I¹ ¬n¹>dg nIs ¹Æ5m8i.

(128)

(129)

(130) . !#"%$%$%&#' ()*,+- ' ./

(131) ' 0%$1' (3254' (768* :9 !#"%*:124. å ¹ r r ¹Æ5g m ¼n¬c#Ç%q¶n¹ ¬g qdQÆ5µ g ¶µc

(132) ¬qo-c

(133) dqs¹ mF·-c

(134) ¬c

(135) Áqnq¬dQ¬q-q¶ng m ¼·lq¬d¹ m-c

(136) r-d%n¬c#nq¾ ¼ g qdá ; å â a. î,g ¼ a ; a ã¹ ol¹

(137) ng ¶:mnq¬%c

(138) ¶q· ¬¹

(139) n¹

(140) n:¸·lq ¿q· ¬¹ ·l¹ dqµ q¬q±n¹»s qnc

(141) g rµ ¹ÆÜc

(142) mÃc

(143) s-c

(144) ·nqs¶¹ mn¬¹ r¶c

(145) m¼ g ºqTg mnq¬c

(146) ¶ng ºqc

(147) o g r g n:¸ n¹nµ g d¬¹ ol¹

(148) ng ¶g mnq¬%c

(149) ¶q a . 8Ð Ó 8ÕÖ u3¸Ãg mnq¬c

(150) ¶ng ºg n:¸i8ÆqFg mnqm snµ q¶c

(151) ·-c

(152) ¶g n:¸n¹tg mnq¬· ¬qnInµ q·l¹ d%nf ¬c

(153) rQÁ¹ºqÁqmnd s qnq¶nqs½o¸Ãnµ qFdqm d¹ ¬dIn¹>n¬g ¼ ¼ q¬Inµ qFÁ¹ºqÁqmn±¹ ¬In¹tÁ»c

(154) g mnc

(155) g mnµ qF·l¹ d%nf ¬c

(156) r qeAf g r g o ¬g f Áa ´¹I¹ o dq¬%ºqnµ q·l¹ d%nf ¬c

(157) r-d%nc#nq iqÅ·lq¬g Áqmnc

(158) r s¸m-c

(159) Ág ¶c

(160) r-c

(161) m-c

(162) r ¸dg dQ¹

(163) lnµ qd%nc

(164) m s¾:f · µ-cºqIolqqmts ¹ m q±g m»¹ f ¬r c

(165) ol¹ ¬c#n¹ ¬%¸ÃÝ î,g ¼ f ¬q±åÞ5a ãqdf r nddµ ¹ÆWs g

(166) Mq¬qmn5· µ-c

(167) dqd¹

(168) ¶µ-c

(169) g ¬¬g dg m ¼ i nµ-c#nc

(170) ¬qTÁ»c#n¶µ g m ¼Æ5g nµÃ· µ¸dg ¹ r ¹ ¼ g ¶c

(171) r,r g n%nq¬c#nf ¬q>á ; æ â alÄOc

(172) ¶µ· µ-c

(173) dq s q·lqm s d3¹ mg mnq¬c

(174) ¶ng ¹ mF ¹ ¬¶qdQolqn:ÆqqmFµAf Á»c

(175) mFc

(176) m sFµ-c

(177) m s r q± Í Ý ÞÎ ¹ ¬ µAf Á»c

(178) m»c

(179) m s»¼ ¬¹ f m s Í Ý Þ3c

(180) m snµ qg ¬Ong Áqº c

(181) ¬g c#ng ¹ m da ãqc

(182) ¶ng ¹ m» ¹ ¬¶q olqn:Æqqm/µAf Á»c

(183) m½c

(184) m s½¼ ¬¹ f m s¿g d¶¹ Á· fnqs/c#nFËOqmnq¬T¹

(185) b3¬qddf ¬qtÝ:ËO¹ bÞÆ5µ g ¶µ ·l¹ dg ng ¹ mtÁ»çolqf dqsc

(186) d5cd%nc

(187) o g r g n:¸>¶¬g nq¬g c>á ; ç â a ´µ q¹ o dq¬%º c#ng ¹ m¹

(188) lnµ qIËO¹ b¿·l¹ dg ng ¹ mc

(189) m sFs g ¬q¶ng ¹ mF¹

(190) lnµ q ¹ ¬¶q ¸g qr s dQdg Á· r q ¬f r qdn¹Ig s qmng ¸Tf m d%nc

(191) o g r g n:¸¶c

(192) dqdQ¹ ¬,s qdg ¬qsTÁ¹ºqÁqmnn¹n¬g ¼ ¼ q¬Ý ga q a

(193) olq¼ g m m g m ¼ ¹

(194) Onµ q»kA´k Þaî-f pp¸¿¶¹ mn¬¹ r r q¬g dIf dqs¿g m¿g mnqmng ¹ m½s qnq¶ng ¹ m¿n¹t¶¹ mn¬¹ rOm qf ¬c

(195) r · ¬¹ d%nµ qdqdTá ; è â ¹ ¬5¹ ¬%nµ ¹ dg df dg m ¼Fî,Äká ; é â a î-f pp¸±¶¹ mn¬¹ r r q¬dqqÁdMn¹olqOc¼ ¹A¹As±Æç ¹ ¬8g mnq¬c

(196) ¶ng ºg n:¸inµ qm±ÆqQµ-cºq3qÅAnqm s qs nµ qF¬¹ r qF¹

(197) Onµ qF f pp¸¶¹ mn¬¹ r r q¬± ¬¹ Á]nµ qs qnq¶ng ¹ m/¹

(198) Oº¹ r f mnc

(199) ¬%¸¿Á¹ºqÁqmnIn¹ nµ q±s qnq¶ng ¹ mÃ¹

(200) nµ qf m d%nc

(201) o g r g n:¸a ´µ qI f pp¸>¶¹ mn¬¹ rµ-c

(202) dn¹ f r À-r rMn:Æ¹nc

(203) dÛAdi nµ-c#nd5s qÀ-m qstn:Æ¹¹ fn· fnÍ Õ8×MÓ ,×MÓÏ Í ¬q¶¹ ¼ m g ng ¹ mt¹

(204) ,nµ q±¶f ¬¬qmn5· µ-c

(205) dq i Ó Í s qnq¬Ág m-c#ng ¹ mt¹

(206) ,· ¬¹ ·lq¬5¬qc

(207) ¶ng ¹ m>n¹qm df ¬q±d%nc

(208) o g r g n:¸»¹

(209) Qdf oÇ%q¶na Õ8×MÓ ,×M! .

(210)

(211)

(212) . !#"%$%$%&#' ()*,+- ' ./

(213) ' 0%$1' (3254' (768* :9 !#"%*:124. æ. . î,g ¼ a-åa g

(214) Mq¬qmn5dg n%¾n¹

(215) ¾:d%nc

(216) m s· µ-c

(217) dqdc

(218) m-c

(219) r ¸dg d ´µ qT ¹ r r ¹Æ5g m ¼ f pp¸dqndIÆq¬qTs qÀ-m qs ¹ ¬nµ q¹ fn· fn ; Ý g mî,g ¼ f ¬qæÞÍldqc#nqs8i ¬qnf ¬m qs8i-· ¬qc

(220) ¶¶qr c

(221) ¬c#ng ¹ m½Ý · ¬qc

(222) ¶#ÞiMc

(223) ¶¶qr q¬c#ng ¹ m½Ýc

(224) ¶¶#Þild%nc

(225) ¬%n5¬g dg m ¼>Ý d%nc

(226) ¬%n¬Þi ¬g dq a ´µ qs qnq¶ng ¹ m¹

(227) ,nµ qT· µ-c

(228) dqd¹

(229) Qnµ qkA´k>g d5¹ onc

(230) g m qsc

(231) m-c

(232) r ¸dg m ¼Fnµ qº c

(233) r f q¹

(234) ,nµ q c

(235) m s>nµ q±ng Áq5º c

(236) ¬g c#ng ¹ m¹

(237) Ma ãqnf ¬m qs g s qmng À-qdnµ qt¶c

(238) dq»Æ5µ qmÈdf oÇ%q¶nc

(239) ol¹ ¬%ndd%nc

(240) m s¾:f ·íc

(241) m sÈ¬qnf ¬m dn¹ nµ qdqc#nqs·l¹ dg ng ¹ m8a. . . . î,g ¼ a-æa qÁolq¬dµ g · f m ¶ng ¹ m d5 ¹ ¬¹ fn· fn ;.

(242)

(243)

(244) . !#"%$%$%&#' ()*,+- ' ./

(245) ' 0%$1' (3254' (768* :9 !#"%*:124. ç ´µ qÁqÁolq¬dµ g · f m ¶ng ¹ m d5 ¹ ¬nµ qT¹ fn· fnåilnµ-c#nIs qnq¬Ág m qdnµ qTÁ¹ºqÁqmni-g · ¬¹ ·lq¬5· µ-c

(246) dqg d5s qnq¶nqs8ic

(247) ¬q±dµ ¹Æ5mg mî,g ¼ f ¬q±ç a ´µ q± ¹ r r ¹Æ5g m ¼ f pp¸tdqnd5Æq¬q s qÀ-m qs8Í Ù Ò Ó Ù Ò Ó Í ¹ oÇ%q¶n5f m s q¬r g qd5µ g ¼ µ>f mAo-c

(248) r c

(249) m ¶q a

(250) f g ¶Û»¬qc

(251) ¶ng ¹ mtg d¬qeAf g ¬qs8a Ó,Ù Ù Ó Í¹ oÇ%q¶ng m s g ¶c#nqd5s qdg ¬q±¹

(252) ,d%nc

(253) o g r g pc#ng ¹ m8a Ò8 Õ ¿Õ Ò ÍAm ¹FÁ¹ºqÁqmn5g dm q¶qddc

(254) ¬%¸tg m»nµ qµ ¹ ¬g p¹ mnc

(255) rs g ¬q¶ng ¹ m8a lÖ #× ÓlÖ Í ¹ oÇ%q¶ns qdg ¬qd5c

(256) m ¹

(257) nµ q¬·l¹ dg ng ¹ mt¹

(258) nµ q±µ-c

(259) m s r qda. . î,g ¼ a ç a qÁolq¬dµ g ·» f m ¶ng ¹ m d ¹ ¬¹ fn· fnIå ÆqIs qm ¹

(260) nqß ¹ ¬µ g ¼ µ8it ¹ ¬pq¬¹ ij ¹ ¬r ¹ÆiÄ3jÃ ¹ ¬qÅAn¬qÁr ¸r ¹Æc

(261) m s>ÄOß ¹ ¬ qÅAn¬qÁr ¸»µ g ¼ µ8iÆq±µ-cºq± ¹ ¬qÅqÁ· r qÍ . % % . . ° *°5,Ú} ¨ z ¨ F w¿x |I -/.a O® "! ® "!$#&%'( + °0 "!21 &3 4 ®5* °5,Ú} #¨ ) z ¨ F w>¡ |}{%zx |I|}:A¤ za. ´µ q±¬f r qo-c

(262) dqI ¹ ¬Onµ q± f pp¸>¶¹ mn¬¹ rg d· ¬qdqmnqsÃg m»nµ qInc

(263) o r q±À-¼ f ¬qèa. î,g ¼ a-èa ãf r qo-c

(264) dqI ¹ ¬nµ qI f pp¸t¶¹ mn¬¹ r.

(265)

(266)

(267) . !#"%$%$%&#' ()*,+- ' ./

(268) ' 0%$1' (3254' (768* :9 !#"%*:124. è qnq¶ng ¹ mt¹

(269) f m d%nc

(270) o r q·l¹ d%nf ¬qg dOg r r f d%n¬c#nqsg mÀ-¼ f ¬qéiAÆ5µ q¬q5ol¹

(271) nµ>·-c#ng qmn5c

(272) m s ¬¹ ol¹

(273) nc

(274) ¬qÁ¹As qr g dqsFo¸»cTæ±r g m ÛAdOÁ¹As qr-qc

(275) ¶µ8a ´µ q5s g

(276) Mq¬qm ¶qIolqn:Æqqm»nµ qdqn:Æ¹ Á¹As qr dFg dg m/nµ qg mnq¬c

(277) ¶ng ¹ míÆ5g nµS¼ ¬¹ f m s8a ¿qÃc

(278) ddf Áq»nµ-c#n»¬¹ ol¹

(279) ng ¶g mnq¬%c

(280) ¶q ¶c

(281) m m ¹

(282) nIr ¹A¹ dqI¶¹ mnc

(283) ¶nÆ5g nµt¼ ¬¹ f m s>Æ5µ g r q±·-c#ng qmn¶¹ f r stg ,µ q±g df m d%nc

(284) o r q a. î,g ¼ a-éa : mnq¬c

(285) ¶ng ¹ mÃolqn:Æqqm·-c#ng qmnIc

(286) m st¬¹ ol¹

(287) ng ¶g mnq¬%c

(288) ¶q c»df oÇ%q¶niMf m s q¬±·lq¬%nf ¬o-c#ng ¹ m diMg dºq¬¼ q¹ mn¹>r ¹A¹ dqµ g do-c

(289) r c

(290) m ¶q i8µ qeAf g ¶ÛAr ¸ dµ g ndTnµ q>r ¹c

(291) s½Æ5g nµ g m½nµ q» ¹A¹

(292) nFdf · ·l¹ ¬%nFc

(293) ¬qcÃg m½nµ q>¹ · ·l¹ dg nq>s g ¬q¶ng ¹ m/¹

(294) 5c

(295) r r s g ¬q¶ng ¹ m8aOnµ qFg Á·lqm s g m ¼c

(296) r r,s g ¬q¶nqs¿ ¹ ¬%Æc

(297) ¬s dilnµ q»ËO¹ b Æ5g r r,¬c

(298) · g s r ¸ÃÁ¹ºq g mnµ qIdc

(299) Áq5s g ¬q¶ng ¹ m8aÊm»c

(300) ¶¶¹ ¬s g m ¼¬qc

(301) ¶ng ¹ m>¶¹ f r s>olq¹ o dq¬%ºqs» ¹ ¬c±c

(302) r rlo-c

(303) ¶Û¾ Æc

(304) ¬s da . Ð Ù Ø Ó Ù Õ8Ò ´µ q±¶¹ Á· r qnq±d%n¬f ¶nf ¬q¹

(305) nµ q¶¹ mn¬¹ r r q¬g ddµ ¹Æ5mtg m>À-¼ f ¬qTêAa ´µ q· ¬q· ¬¹A¶qddg m ¼o r ¹A¶Û¬q¶qg ºqd ¹ ¬¶qd,Áqc

(306) df ¬qÁqmni

(307) c

(308) · · r g qdQcÀ-r nq¬Qc

(309) m s¶c

(310) r ¶f¾ r c#nqd3nµ q·l¹ dg ng ¹ m¹

(311) ,ËO¹ bÈc

(312) m sg nd3ng Áqs q¬g º c#ng ºqdaA´µ qdq5¹ fn· fnd5c

(313) ¬q· ¬¹A¶qddqs o¸nµ q3 f pp¸Tr ¹ ¼ g ¶Oo r ¹A¶Û±n¹g s qmng ¸·-c#ng qmn3·l¹ d%nf ¬qOd%nc#nq a ´µ qm8i#nµ q¶¹ ¬¬qd·l¹ m s¾ g m ¼F¶¹ mn¬¹ rÁ¹As qIg ddqr q¶nqsolqn:Æqqmnµ ¹ dq Í Ô Ín¬c

(314) ¶ÛAg m ¼Fn¬c#Ç%q¶n¹ ¬%¸i ÕM Ö MÒ Ø Í :Á·lqs-c

(315) m ¶q¶¹ mn¬¹ r,c

(316) ¶¶¹ ¬s g m ¼Fn¹nµ qq

(317) M¹ ¬%nd5¹

(318) Qg mnq¬c

(319) ¶ng ¹ m dÁqc#¾ Ñ df ¬qs8i Ó ,Ù Ù Ó Ù Õ8Ò Í Á¹As g À-¶c#ng ¹ mF¹

(320) lnµ qn¬c

(321) ¶ÛAg m ¼In¬c#Ç%q¶n¹ ¬%¸n¹±d%nc

(322) o g r g pqOnµ q5·-c#ng qmni Ó ×Ô Ò Ínµ qg mnq¬%c

(323) ¶q±¬qnf ¬m dn¹Fnµ q±g m g ng c

(324) r8·l¹ dg ng ¹ m8i ´µ q±Á¹ºqÁqmng dn¬g ¼ ¼ q¬qso¸»nµ q±· ¬qc

(325) ¶¶qr q¬c#ng ¹ m· µ-c

(326) dq a î-¹ ¬I¶c

(327) dqdIg s qmng À-qsc

(328) d±c·-c#ng qmn±c

(329) ol¹ ¬%ng m ¼>Á¹ºqÁqmni nµ q¬¹ ol¹

(330) nI¬qnf ¬m d5n¹nµ q g m g ng c

(331) r-·l¹ dg ng ¹ m8a ·l¹ d%nf ¬c

(332) rlf m d%nc

(333) o g r g n:¸g d3s qnq¶nqs>nµ qs qºg ¶qÁ¹

(334) ng ¹ mFg mFºq¬%ng ¶c

(335) r s g ¬q¶ng ¹ mÈg dTd%n¹ · ·lqsSc

(336) m sícm qÆZs qdg ¬qs/·l¹ dg ng ¹ m/g d¶¹ Á· fnqs/nµ-c#nF¼ f-c

(337) ¬c

(338) mnqq ·-c#ng qmnd%nc

(339) o g r g n:¸a. Ð #× Ó&. ´µ qt· ¬qdqmnqsS· ¬¹

(340) n¹

(341) n:¸·lqÃg dF¶f ¬¬qmnr ¸Èg míuOqr r c

(342) mSß5¹ d· g nc

(343) r ¹ ¬c¬qµ-c

(344) o g r g nc#ng ¹ m · ¬¹

(345) n¹A¶¹ rOº c

(346) r g s-c#ng ¹ m8a Ãc

(347) m¸½s g dqc

(348) s qs/·-c#ng qmndiÆ5g nµ/¶q¬qolqr r c

(349) ¬Td%¸m s ¬¹ Áq iµ-cºq nqd%nqsFnµ q5s qºg ¶q a´µ g dQÛAg m sF¹

(350) M·-c#nµ ¹ r ¹ ¼

(351) ¸Fg Á·l¹ dqdQcIo-c

(352) r r c

(353) d%nQÆc

(354) r ÛAg m ¼

(355) ¾c

(356) g sTn¹IÀ-r nq¬. .

(357)

(358)

(359) . !#"%$%$%&#' ()*,+- ' ./

(360) ' 0%$1' (3254' (768* :9 !#"%*:124. é. î,g ¼ alêAa ËO¹ mn¬¹ rd%n¬f ¶nf ¬q. î,g ¼ a-ëa b3¬¹

(361) n¹

(362) n:¸·lqg mtuOqr r c

(363) mß5¹ d· g nc

(364) r dµ-c

(365) ÛAg m ¼ aM´µ q¬¹ ol¹

(366) ng ¶g mnq¬%c

(367) ¶qg dIÁ¹ ¬q¶¹ ÁF ¹ ¬%nc

(368) o r q iMr qddng ¬qd¹ ÁqTc

(369) m sqc

(370) d%¸n¹ s ¬g ºq a :mSc

(371) s s g ng ¹ mSn¹/c

(372) ddg d%ng mí·l¹ dg ng ¹ mS¶µ-c

(373) m ¼ qc

(374) m síÆc

(375) r ÛAg m ¼ iQnµ g ds qºg ¶qÃ¶c

(376) m s qnq¶n3¹ m dqnQ¹

(377) -c

(378) r ra#´µ qmTnµ q¬¹ ol¹

(379) ng ¶g mnq¬%c

(380) ¶qOÆ5g r rA¬qd·l¹ m dqo¸¶µ-c

(381) m ¼ g m ¼±µ-c

(382) m s r q.

(383)

(384)

(385) . !#"%$%$%&#' ()*,+- ' ./

(386) ' 0%$1' (3254' (768* :9 !#"%*:124. ê ·l¹ dg ng ¹ m8i-· ¬¹As f ¶g m ¼cT ¹ ¬¶qIn¹Fo-c

(387) r c

(388) m ¶q±nµ q±·-c#ng qmniMc

(389) d5g ng ddµ ¹Æ5mtg m>î,g ¼ f ¬qìa. . î,g ¼ a-ìa 5m d%nc

(390) o r q±·l¹ d%nf ¬q¶¹ ¬¬q¶nqso¸»nµ q±¬¹ ol¹

(391) ng ¶±g mnq¬%c

(392) ¶q. 8ÐTÕ8ÒØ ×#Ù Õ8Ò. î-f pp¸r ¹ ¼ g ¶Qg dMºq¬%¸If dq f r r ¹ ¬8s qnq¶ng ¹ mT¹

(393) Á¹ºqÁqmn8g mnqmng ¹ mc

(394) m s±f m d%nc

(395) o r qO·l¹ d%¾ nf ¬qdaMb3¬¹ºg s qsÃÆ5g nµcF f pp¸Ãdf ·lq¬%ºg d¹ ¬i-nµ q¬¹ ol¹

(396) ng ¶Tg mnq¬%c

(397) ¶qolq¶¹ ÁqdIµ g ¼ µ r ¸ g mnq¬c

(398) ¶ng ºq a. î,g ¼ a ;ï a Êä¶¹ ÁÁq¬¶g c

(399) rl· ¬¹As f ¶n.

(400) .

(401) . !#"%$%$%&#' ()*,+- ' .½

(402) ' 0%$1' (O254' (. 68* :9 !#"%*:124. ë 5¹Æi ¹ oÇ%q¶ng ºqdc

(403) ¬qn¹s qºqr ¹ ·¬qµ-c

(404) o g r g nc#ng ¹ m· ¬¹

(405) n¹A¶¹ r d3Æ5g nµF¶¹ r r c

(406) ol¹ ¬c#ng ¹ mFÆ5g nµ nµ qÁqs g ¶c

(407) rMnqc

(408) Á]¹

(409) 3uOqr r c

(410) mß5¹ d· g nc

(411) ra-Êädq¶¹ m s¹ oÇ%q¶ng ºqTg dn¹· ¬¹As f ¶qTcF¶¹ ÁF¾ Áq¬¶g c

(412) rl· ¬¹As f ¶n5Æ5g nµtãIu±kî,´Wd¹A¶g qn:¸aMkAf ¶µc· ¬¹As f ¶nÆ¹ f r stolq±s qdg ¼ m qs c

(413) dg mtî,g ¼ f ¬q ;ï a. Ô ÒØ .

(414)

(415)

(416)

(417) !#"$%&' &()*&+(#,.- /

(418) 0

(419) &*&/ -1233' /&# /4/5

(420) 6 !71515 (8 / * :9;<=6>*?@;BA =CD?EFG@ FIH.?HGFJ;>K=C6LC5?=5M6DN?>*OPOCQ R C@ ;6S!T#C6>H6VU.WX5YZZ[ Y]\*%^ V_à4+N_`b!:c bde1Bf1B/ (hgI&

(421) ) /)

(422) +! ' /6i/ &kjlP& ' (# 3' i/&

(423) 433

(424) &-6+ ! nm2=5;MioVpBqrqrqsp>Hto2ur;>AC6=C6>*M6C);>nvw;E;HGFJML$?>*O8xy<Q H.;T8?HGFJ;>z^{GpiuVvyx]| }i~UI:15+ /&0\d !YZZYX6 _ì G6i 15+! $i !igI1d^1515 1B/6- 2&g!15 ' g ,J/5

(425) 61BgI

(426) &g!3!i/ /1 15 ]P3*&2

(427) 5,t1515 1B/ n - :m2=5;MiorpBqrqrqp>Htoûr;>AC6=C6>*M6C ;>Nvw;E;HGFJML ?>*O`xy<H.;T8?HGFJ;>VVUJV 3* G*V wYZZX6 _0&

(428) '

(429) -i

(430)

(431) &*&/1i

(432) -&(8 U.YZZ[X6rBir 5¡¢!£¤¤¥¤¦§¨©iª«¨ ¬¨¡©¨««!©¨«*¡¢!ª.i¢! W]l®\3* &$ ,J¯)¯8!8\*° *&y15fd±

(433) &*&/ -^3*

(434) 15&!'! )gI&

(435) /+ w(8& ' , /tf#!#+ ' /+ (8& /&

(436) gI&

(437) 2/+ 4 '

(438) ' f 7pBqrqrq³²=5?>L0;>P´ C6<=5?@µ¶LHtC6T)L ?>*O`vyCD?EFG@ FIH.?HGFJ;>]q2>·=YZZ¸ [ $ ^ "$- f%^()* y!` °0+f&/lP' / (8&'!3*

(439) & - /tf#!' f15 1 gI&

(440) ` ' ' - /8-&/ /` / -/ &: : &1 b ³²DC ¹=5O7q2<=5;6SC5?>ºur;>AC6=C6>*M6C];> » FIL<?@*¼KC5OFJ?)m2=5;O<MHGFJ;>±{u » ¼Pm½~}}¾6*YZZ[ ¸P¿^"^

(441) 6igtl®! 14!]°)*\*! ^&' gt%2i

(442) ,.&,.*&/4 ± ' &3(8 /y&gr` À/^ ,

(443) 6i/ &]

(444) &*&/ -0+&(8 01515 1B/6/ ! ®xy<H.;>*;T8;<L vw;E;HGLYZZ ÁPcÂ l®lP&/ (8

(445) ' &l®ÂV&' ' -6*$ ^&f0!$\*i2+

(446) i&wi

(447) 61

(448) &*&/ 1515 1B/6/1` Ã

(449) 15 7+&(8 1 j%+!' ' 1#!K

(450) 15' /1 Ävw;E;HGFJMLP?>*Onxy<Q H.;>*;T8;<L0µ¶LHtC6T)LbUJi, X Å $*Âbi

(451) *!$4&!$!_ 2&n!7l®%+*dº

(452) 15 `

(453) &*&/41Bf1B/ (ÆgI&

(454) ^/+ '

(455) ' f$! /+ 1' i 8p>HtC6=6>*?HGFJ;>*?@9;<=6>*?@;BArÇ4<T8?>!Q A6=6F.C6>*O@ ¶PÈ7C@ A?=C vw;E;HGFJM$µ¶LHtC6T)LVU X Z]ÂVlÄÉ É

(456) -Ê$Âb1ËGÌÂ' (8 /2!8ÂV¿ !\ //&01B/6!`/5

(457) 61BgI

(458) w1515 1B/5, 7fKN / ' ' /$w' ,t V ±m2=5;Mio4ÍHID®p>HtC6=6>*?HGFJ;>*?@4ur;>AC6=C6>*M6CP;> u@ FIT8EFI>·#?>*O:È]?@ ÎiFI>·)vw;E;HGLz^{uÏVx0È0x^vP| }ÐU.l]

(459) *Ñ153! *YZZ X6 ]ÂV lÄÉ É

(460) - Ê$ Âb1ËG0Ì0Â' (8 /K!ÂV ¿ !0Ñ'

(461) ' fº3* &3' Ã15 /®/& 1B/6!n/5

(462) 61BgI

(463) À3*

(464) (8 /6'!' f15 1 :m2=5;MioÒHIDnp>HtC6=6>*?HGFJ;>*?@ûr;>AC6=C6>*M6C ;>Ãu@ FIT8EFI>·8?>*O:È]?@ ÎiFI>·)vw;E;HGLz4{uÏVx0È0x^vP| }ÓUJ&!&4_`!YZZWX6 iYPÊ$!Âb1Ë!PÂV!¿ !!¿ &,.(8 (8 / - /5

(465) 6ÔB -/&

(466) 5f]

(467) 6i/ &PgI&

(468) 4 ]i

(469) ( (8&i (8 /8

(470) :1515 1B/ Ä15 /5,J/&,.1B/6!±/5

(471) 61BgI

(472) w sm2=5;Mio ÕHID±p>HtC6=6>*?HGFJ;>*?@ ur;>AC6=C6>*M6C8;>Öu@ FIT8EFI>· ?>*O±È]?@ ÎiFI>·8vw;E;HGLz {uÏVx0È0x^vP| }¾6UJ¿r

(473) À 'G¿ ' , (]!YZZ[X6 P d^ 151&!Kc°015

(474) V¿ &(8 -6+! -'!' f15 1$!®(8& ' ' P&gw15 / /& 1B/6!)/615*j0' /

(475) 6i/

(476) y

(477) 0 Pm2=5;M6CC5OFI>·L ;BAypBqrqrq±p>HtC6=6>*?HGFJ;>*?@bur;>!Q AC6=C6>*M6C);>nµ¶LHtC6T)Lz¼®?>z?>*O7ub¶E6C6=6>C6HGFJMLVÅÅÅ ]ÂV)\i

(478) 6 ×!×"$$¿ 1515& /)Ì&

(479) - 1:-/ ½&×k 3*

(480) &*&/ - /

(481) N&g.

(482)

(483)

(484) . !#"%$%$%&#' ()*,+- ' ./

(485) ' 0%$1' (3254' (768* :9 !#"%*:124. ì 3

(486) 1515

(487) ,

(488) &N(8&(8 /`3*& / ½pBqrqrq ²=5?>L?MHGFJ;>L®;>sµ¶LHtC6T)Lz ¼®?>k?>*O ub¶E6C6=6>C6HGFJMLbU.WX5YZZ iW]ÂV%^\2 f"$l®f&1 !7ÂV!$!Êr ' / **ÌV / $1B/6i/ $-&/5

(489) &'V&ggI-, / &!'0 ' -/5

(490) -' 1B/ ()' i/ &sgI&

(491) ]/+ n

(492) +! ' /6i/ &º&g) /y ¼KC5OFJM?@0?>*O FJ;@ ;·FJM?@!q2>·FI>CC6=6FI>· ?>*O7ur;T4S!<HGFI>·!U.YX5YZZ[ [7\*41515 7!]"$*l® $ t/ / &P / -/ &]15 8)

(493) &,JgI f# (8)-' 1515 ,

(494) npBqrqrqÄq2>·FI>CC6=6FI>·#FI>7T#C5OC5MFI>C$?>*O EFJ;@ ;·¶!*YZZY.

(495)