Suboptimal paths in the problem of a planar motion with bounded derivative of the curvature
39
0
0
Texte intégral
(2) INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE. Suboptimal paths in the problem of a planar motion with bounded derivative of the curvature Vladimir Kostov Elena Degtiariova-Kostova. N˚ 2051 Juillet 1993. PROGRAMME 4. Robotique, image et vision. apport de recherche. 1993.
(3)
(4)
(5) ! "
(6) #$% !& '
(7) (" !)* + ), -,., - +/&- +/0 #1 2- 3/&- 4 5687:9<;>=?;A@BCEDGFHCJILKNM6AOQP 7RSOUT:FH;V7W@!;>CJIX7WYZBCEDGF!CWIX7[K+K \^]+_J`J]HaQbbcdegf_Jh<_JikjmlWnocJpqjrb aQ`Jcsc i&tWjAuvjw_Jx \^]+_Jyzc i&\[]zjAuzb{c f&a}|o|<_J]+is~:cs]+cGoc ]!GocNxN:JJ o"eg}n:jwc iJWse J|<aQ`Wcu. <QJScH_Jx<uZjm~:c ]iGoc|:AaQx<a}]b_Wizjw_Jx_Qa aQ]+>jwJc?]+_Jh_Ji -jwi+¡a1h<_Jnox<~:c~¢~:c ]zjwtUaQizjwtJc?_Q i+ocHno]+tQaQi+no]+cJp -jwi+£`}jrtWc x¤jwx:jrikjmaUaQx<~¦¥<x<aH_Jx:¥<`Wno]!aQizjw_Jx¨§©j©ª«cJª¬|_Xuvjwizjw_Jx<u pi!aQxo`Wc xXiaQxo`}rcu®aQx<~ Hno]+tQaQi+no]+cuH¯Hª°oci!aQxo`Jc x:ia}xo`QwcaQx<~±i+ocHno]+tQaQi+no]+c _Q&i+oc|<aQiG²aQ]+caWu+uznobc~?iG_h<cH_Jx:izjwxXno_Wn<u ª ¤oc x?i+oc~WjAuzi!a}x<Hch<c iz -c c xi+ocSjwx:jwizjAaa}x<~i+ocS¥<x<a[|<_Qjwx:ijAubn<G?`J]+caQiGc ]&i+<aQx®i+ocSjrx:jwizjAa&aQx<~ ¥<x<aHno]+tQaQi+no]+cuaQx<~1i+ocHno]+tUaQiGno]+cJ³´u~:c ]zjwtUaQikjrtWcJpµ -cuzo_Q ¬o_Q i+_H_Jx<uki+]+n<Hia?uznoh<_J|oikjrb a&|<aQi+ §¶i+ocNH_:uzi-jAu-i+ocS|<aQi+ wc xo`Ji+3¯!ª^cNaJ~:bjwisas¥<x:jwi+cx:nobh<c ]&_QµHn<uz|<ujwxi+ocs|<aQiG ª ·¸:¹ ºz»¼½Q¾J² a}]+>jrWcN]+_Jh_Jip§Zuznoh3¯v_J|oizjwba |<a}i+ poGr_Wi+o_QjA~3p½¿?aÀ:jwbnobÁ\[]zjwx<Gjw|:wc_QÂ\_WxXi+]GÃXaQ`Qjwx. Ä>ÅÇzÆ ÈzÉÊ Ç[Æ Ë ÌÈzÍ>ÎÏ ÐzÑ ÒÔÓ´Õ!Öz×8Ø>Ó´ÙÖÚ ÛÖ Ü3Ó´ÝzÖHÞàß:áGâUãH׶áGÙ8ã+Ó´×8ÖÛÖ äsáGÙ8å3ÖzÚ æ&á+Ù>Ó´ç èÖZØ Ñ^é êé ëµézÛè&ìéíÜ[éíêé î}é´Þ+Ü[ï+ðHñ Þ òoá+×8Ý3ó½ákô´×8ãHØ8Ö!Þ õ!ðÔï+õ!ñ[ÜöÓ´ÝzÖöìöÖZÛÖz÷ ø Þ}ù׶áGÒÝzÖ Ð¶Ðvú Üê ú ëµÞUîÔã!ûå Óá"ë Ò Ù>Ó´ûQãGôíÓ´ØzÞ ø õ!õGüÞ}ê3ãHèÙ8ÖýÛÖzØ ßWèÝvÓ´ãGô´ÖZصõHðHþ!ðHþ ÞJó3ázô´âQãHÒÒÖ!ÞXù׶áGÒÝzÖ. Unite´ de recherche INRIA Sophia-Antipolis 2004 route des Lucioles, BP 93, 06902 SOPHIA-ANTIPOLIS Cedex (France).
(8) "
(9) ¤3)¨
(10) , ! ,{s !Á, - +/ - ,{ ! 2µ) ¨ Â - ¸E
(11) ¸ [iHaQxXi[~:_Jxoxc cu[~:cuµH_Jx:¥<`Jno]HaQizjw_Jx<u4jwx:jwizjAawcc i¥<x<awcs§v|<_Xuvjwizjw_Jx pW_J]zjwc x:i!aQizjw_Jxc iµH_Jno]+hono]GcQ¯!p _JxGoc ]!Gocsnox+oc bjwx wcu"]+cHjma}xXi-wcw_Jxo`~:n<lWnocH Aa~c ]zjwtc c0~:cAaH_Jno]Ghono]+cscuzi-h<_J]Gxc cJªQj wcu-|<_:uvjw izjw_Jx<u^jwx:jwizjAawcc i^¥<x<awcuz_WxXi-uznu+aQb{bc xXicH w_Qjw`Jxc cu pJ_Jx b_Jx:i+]+csH_Jbb{c xXi-H_Jx<uzi+]+n:jw]+csnoxGoc bjwx~:c w_Jxo`Jnoc no]uk_Jn<uz8_J|oizjwbaUrcJpq]c `Jn:jwc ]&|<aQ]-b_W]!HcaQn:Àc i x ³ aÃ:aQxXi-lJn ³«noxxo_Jbho]+c¥<x:j ~:cs]+c ho]+_Jn<u+ukc bc xXiHu ª cs|o]+_Wh: c bcjwxXiGc ]+tJjwc x:i0~oa}x<u-Aa|:AaQx:j¥½ aQizjw_Jx~:cSi+]!aQyzcHi+_Qjw]+cu-~:cs]+_Wh<_Ji&b{_Jh:jrcuÔª ¼<Ôº+!"¸®N]+_Wh<_Jib_Jh:jwcJpXGoc bjwx §Zuz_Jn<uH¯v_J|oizjwba¶pQGr_Wi+o_QjA~:cJpQ|o]zjwx<Gjw|<cs~:nb aÀXjwbnob¬~:c&\_Jx:i+]+ÃXaQ`}jrx.
(12)
(13) !
(14) "$#% & '
(15) ( *)+ ,.--/-0 1 2! 320$# (4! 2! 5. . N,2[ !)98 °-oc|o]G_Jh:wc b(_}"H_Wx<uzi+]+n<Hizjwxo`?aQx_J|oizjwbaU i+]!a}yZcHiG_J]+à 8_J]Ni+oc{|:ma}x<aQ]b_Jizjw_Jx_}a a}]+>jrWcb_Wh:jwc ]+_Jh_Jish<c iz -c c xiz -_`QjwtJc x|_Xuvjwizjw_Jx<uS -jwi+`QjwtJc x_J]zjwc x:i!aQizjw_Jx<uS§v -jwi+o_JnoiN_Wh<uzi!aJGwcuH¯!p3nox<~:c ]b_W]+c_J] wcu+u"]+cajAuzizjANH_Jx<uki+]!ajwx:i!u po<aJuh<c c xiGocs_JhoyzcHi&_Qµuzc tJc ]!a c : _J]+iHuµ]GcHc xXizwÃJª °ocNh<aJuvjASb_o~:cHµ_Qµi+ocuzc)jwxXtJcukizjw`XaQizjw_Jx<u"jAusaQ< x ;Q_J]zjwc x:i!aQi+c~ |<_Qjwx:1i ; b_QtJjwxo`{jwxi+ocN|:AaQxoc aw_Jxo` ai+]HaQyzcHi+_J]+Ãuznohobjwi+iGc~i+_ah<_Jnox<~ _Jxi+ocNHno]+tQaQi+no]+caQi-c tJc ]+à |<_Qjwx:iª =v? x >´A @+Bnoh:jrx<uS|o]+_QtJcu"i+<aQiNa{nox:jAlJnoc _J|oizjwbaUµi+]!aQyzcHi+_J]GÃcHÀ:jAuzi!usaQx<~®jAu"jwx?¶aJHiNauvjwb|:wcH_Jx< aQ i+c x<aQikjr_Wx_}aQib_Xuzii+o]+c c{|:jrcHcuÔp caJG?_Qµ &:jA+±jmu)cHjwi+oc ]auziG]!ajw`J:i&jwxocuzc `Jb{c xXis_J]Na}x±a}]!s_Q&a Gjw]!GwcN_Q4¥oÀEc~ ]!aW~Wjrn<uÔª _o+QaÃ:xocNaQx<~DCaU4jrx*>«d@ H_Jx<uvjA~:c ]&i+ocNu+a}bcb{_E~:cH honoiý8]+_Jb aQxo_JiGoc ] |_QjwxXi _Q-tJjwc F Eö¥<]!uzip3i+oc î|o]+_QtJjA~:c i+ocGAaJu+us_} i+]!a}yZcHiG_J]zjwcuhXî &:jA+$a b_QtWjrxo< ` ;Q_J]zjwc x:i!aQi+c~®|_QjwxX1i ;® aQx ]+caJGas`QjwtJc x |<_Qjwx:i-jwxaS`QjwtJc x~Wjw]+cHizjw_JxaQx<~{i+oc Ã_Whoi!ajwxiGoc0uzc i-_Q a |<_}jrx:i!uý]+caJG<aQh:wcsaQi&a¥oÀoc~ izjwbcJª C"_Q -c tJc ][i+ocuzca}noi+o_J]!u[uz_}rtWci+ocuvjwb|:wcs|o]+_Jh:wc b¨jwx &:jA+ i+oc&|_QjwxXi& aQxoxo_Jiý]+c tJc ]!ukcaQx<~Hn<uz|<u aQ]+csxo_Wiaw_U -c~®§¶iGocsi+]!aQyzcHi+_J]GÃjAHu GFIc tJc ]GÃX &oc ]GcQ¯!ª °ocuvjwbjAaQ]|o]G_Jh:wc b aJ~:bjwi+izjwxo`²Hn<uk|<u_Jxi+ociG]!aQyzcHi+_J]+çZuZjrbn:AaQizjwxo`G<aQxo`JcuS8]+_Jb V]+_WxXiSi+_ ]+caQ]`JcaQ]_J]sH_Jx:tJc ]!uzcHwï-jmusuk_QwtJc~®hXÃf-c c~ouSaQx<~ Joc |o|±jr? x >´J @¶ª½°ocuzcaQnoiGo_J]!u"_Jhoi!ajwxajAuziS_Q a |<_:u+uvjwh:wc§¶x<aQbcHw(à Kd L:¯ _W|oizjwba½iG]!aQyzcHi+_J]zjwcu ªJ°ocuzciG]!aQyzcHi+_J]zjwcu[aQ]GcaQ`Xajwx{¥<x:jwi+c0H_Wx< aQi+c x<aQizjw_Jx<uý_Q |:jwcHcu &:jA+?aQ]+cscHjwi+oc ]a{uzi+]!ajw`J:i-jwxocuzc `Wbc xXi"_J]aQxaQ]H_Q^a{Gjr]HGrcJª C"_Q -c tJc ]poi+oc{tJc ]+Ã|<a}]+izjAHn:AaQ]sbc i+o_o~ous_QµiGocHjr]S|o]+_:_Q©usukc c b tJc ]+Ã~Wj Hn:wii+_ `Jc xoc ]!aNj M cJp[aQx<~ i+oc ÃaQ]Gc]+c |:AaJHc~¦jrO x >wP @aQx<Q ~ >mA @-hXÃuZjrb{|:rc ]a}]+`Jnobc x:i!uh<aJukc~$_Jx$i+oc?¿?aÀXjwbnob \[]zjwx<Gjw|:wc?jwx H_Jx:i+]+_Q i+oc _W]+Ã?§¶i+:jAu-|o]zjwx<Gjw|:wcjAuaQi-¥<]!ukiuzi!aQiGc~ hXÃ\_Jx:i+]+Ã:aQ`Qjwxjw? x >RLA@©¯!ªo°-ocuzca}]+`Jnobc x:i!uýw_:_J jrWc a|o]+_WbjAuvjwxo`i+_:_Q i+_uk_QwtJcsb_J]+cN~Wj Hn:wib_o~:cHmu"_Qµ aQ]+>jwJcN]G_Jh<_JiHu ª S4jwx<awÃJpJaH_Jb|:wc i+c ukÃXx:i+ocuvjAu48_J] i+oc-f-c c~ouz Joc |o| b_E~:cH:jAu _Whoi!ajwxoc~ShXF à T a}nob_Jx<~Na}x<~ J_Jn c ]+cu jwU x >RVJ@¶ª °ocxocHÀoiuki+c |²uzc c buiG_h<ci+oc{i+]+caQi+b{c xXi_QauvjwbjAaQ]b_E~:cHµhonoiSxo_Q ¨ -jwi+²a h<_Wnox<~?_Q&i+oc ~:c ]zjwtUa}izjwtJc_Qµi+ocNHno]+tQaQi+no]+cJp -jwi+_W] -jwi+o_Wnoi0Hn<uz|<uÔª½°-oc aJuzcS -jwi+o_JnoiHn<uz|<u"jAuH_Jx<uvjA~:c ]+c~ jw? x >´A @¶ª C"c ]+cs -cNH_Jx<uvjA~:c ]si+ocN aJuzcs jriGHn<uz|<u ª =v< x Wà -csH_Jx<uvjA~:c ]si+ocsi+oc _W]+c izjA aÂaJuk|<cHi&_Q[i+ocs|o]+_Wh:rc b®p<n<uvjwxo` i+ocN¿?aÀ:jrbnobÁ\^]zjwx<Gjw|:rcJª °oc |:jwcHc -jAuzc]+c `Jn:AaQ]i+]!a}yZcHi+_W]zjwcu a}]+cuzo_Q &xiG_hcH_Jx< aQi+c x<aQikjr_Wx<u-_QµaQ]! u-_QµGw_Ji+o_QjA~ousaQx<~ukc `Jbc x:i!u _QÂuki+]!ajw`J:iýjwxocu .ª C&_Q -c tJc ]ýjwi-jAu-xo_Ji&uzno]+cs &oc iGoc ] iGocs_J|oizjwba |<aQi+{jAu-|:jwcHc -jAuzc]+c `Jn:AaQ]-_J]-xo_Jiª =vx aQx:à aWuzcjwi&w_:_JEu]!aQi+oc ]~Wj Hn:wii+_H_Jb{|onoi+csi+ocs_J|oizjwbaU |<aQi+cHÀo|:jmGjwizwÃJª °Xn<u- -cNH_Jx<Hc x:i+]!a}i+c_Wno]aQi+i+c x:izjw_Jx_JxiGocNcHÀo|:jAGjwiN~:cu+H]zjw|oizjw_Jx?_Q+ ;Juznoh<_W|oizjwba3 ;iG]!aQyzcHi+_J]zjwcu ª W!0jAu ~:c tW_Ji+c~i+_uz_Jbc"|o]+_J|<c ]Gizjwcu-_Q Gw_Ji+o_QjA~ou ª =¶X x W+dN -cH_Wx<uzi+]+n<Hi-uznoh<_J|oikjrb a i+]!aQyzcHi+_J]kjrcuýaQx<~ jw x W! -c&|o]G_UtWc iG<aQi[i+oc ]+c&cHÀ:jAuzi!uýasH_Jx<uzi!aQx:iµ~:c |<c x<~Wjwxo`_Wx:rÃ{_Jxi+oc&|<aQ]!a}bc i+c ][_Q i+ocGw_JiGo_QjA~uzn<G i+<aQi-i+ocS_J|oizjwba |<aQiG aQxhcuzo_J]Gi+c ]-i+<aQxi+ocuznoh<_J|oikjrb a _Jxocsh:Ãxo_ b_J]Gci+<a}xi+:jAuH_Jx<uki!aQx:iª =v* x W! -cH_Jx<uvjA~:c ]0a{GmaWu+u&_}µ|<aQi+<u-i+_{ &:jA+®i+ocuznoh_J|oizjwba[|<aQi+hcHw_Jxo`XusaQx<~jrY x W1V[§ Z|o|c xo ~Wj* À ZN¯& -cuko_U ¨iG<aQiiGoc_W|oizjwbaµ|<aQi+?hcHr_Wxo`Xusi+_ i+ocGw_Xuzno]+c{_Q i+:jAusGAaJu+u§¶i+:jAu"jAui+oc|o]+_:_Q _Q T3c bb D a \J¯!ª r_:uzc ]Ni+_]GcajrizÃ?jAuSi+oc|o]G_Jh:wc b(_}"a |:AaQx<aQ]Nb{_Jizjw_Jx -jwi+h<_Wnox<~:c~h_Ji+i+ocHno]+tQaQi+no]+caQx<~ jwi!u~:c ]zjwtUaQizjwtJcJ]ª =¶Y x W!d cScHÀE|:Aajwx "XÃi+ocuvjwb|:wc ]s|o]+_Jh:wc b &:jAG -cH_Jx<uvjA~:c ]N aQx®`QjwtJcaQhonox<~oaQx:i jwx:V_W]+baQizjw_Jxa}h<_Jnoi&iG:jmu"b_J]Gcs]+cajAuzizjA§Za}x<~ b_J]+cNH_Jb{|:jA aQiGc~¯ _JxocJª 6. 7.
(16) . -
(17) FJ 2 !.' 3 1 2! FA 2!. s - "
(18) ( " ¬#$ % ! "
(19) ! &2µ #
(20) (3) N !s , & !2ý- !s(#?
(21) {
(22) 2 ! ! ¨#²s 0s ö ! "
(23) 8 _Jx<uZjm~:c ]Si+oc|o]+_Jh:wc b iG_¥<x<~?iGocuko_J]+i+cuzF i GNaQx<~±|:jrcHc jmukc9GN|<aQi+?_Jx?i+oc{|:ma}xocsyZ_}jrx:jwxo`®iZ -_ `QjwtJc x|_QjwxXiHu -jwi+`QjwtJc xSjwx:jwizjAaöaQx<~¥<x<a<i!aQxo`Jc x:i[aQxo`Qwcu[aQx<~Hno]+tQaQi+no]+cu[aUr_Wxo`s &:jA+iGoc~:c ]kjrtQaQizjwtJc _Q[i+ocNHno]+tQaQi+no]+cS]+c bajwx<u-h_Jnox<~:c~3ª °oc|o]+_Wh:rc b <aJuýi+oc&8_Qw_Q -jwxo`_J]zjw`Qjwx E<H_Jx<uZjm~:c ]"i+oc|:AaQx<a}]&b_Jizjw_Jx _Q a aQ]- &:jA+ a}xclWn<awà b_QtJc)V_J]G a}]!~aQx<~®h<aJGX &aQ]!~3 ª &xoc_Qµi+ocH_Jno|:wcus_}µ &oc cHAus_Qµi+oc aQ]"jAusH_Jx<uvjA~:c ]+c~?b{_Jh:jrcJp4i+oc _Ji+oc ]jmuH_Jx<uvjA~:c ]+c~ ¥oÀoc~3ª a ;8]+_Jx:i1;Si+ocN`Jca}]&_Q[i+ocN aQ] &:jA+?H_J]+]+cuz|_Jx<~ou"i+_i+ocN~Wjw]+cHizjw_Jx?_Q b_Jikjr_Wx²aQiNiGocjwx:jrikjmaUb{_Jbc x: i i+oc{_Ji+oc ]N`WcaQ]sjAuN aUwc? ~ ;Q]GcaQ1] ;®§¶i+oc ~:cH¥<x:jrikjr_Wx_Q-h<cHjwxo`?8]+_Jx:is_J] ]+caQ]-~:_Xcukx ³íi ~:c |c x<~ _Jxi+oc&_Wxoc&i+_Nhcb{_Jh:jrc_J]^¥oÀEc~¯!ª:°-ocaQxo`}rch<c iz -c c x i+oc&b_Jh:jwc &oc cHAu&aQx<~ i+ocaÀXjAu_QµiGoc aQ]s~:cH¥<xocusi+ocHno]+tUa}i+no]+c_Q[jwi!u"i+]!aQyzcHi+_J]GÃaQii+ocS`QjwtJc x?b_Jbc x:ip:j iGoc~Wjw]+cHizjw_Jx _Q b{_Jizjw_Jx jAuý¥oÀoc~ :jÂi+ocN~Wjw]+cHikjr_WxjAu-]+c tJc ]Huzc~3poi+oc xi+ocsHno]+tQaQi+no]+c+<aQxo`Wcu uZjr`Wx ªocNaJu+uknobciG<aQi ~:no]zjwxo`i+ocsb{_Jizjw_Jx i+:jAu&aQxo`QwcN aQx h<cNG<aQxo`Jc~H_Jx:izjwx:no_Jn<uvwÃJpo -jwi+aSh<_Wnox<~:c~uz|c c~®§ÂiGocNuz|<c c~ _Q i+ocN aQ]jmuaJu+uknobc~H_Jx<uzi!a}xXi-jwx?aQh<uz_Qwnoi+cstQawnoca}x<~ clJn<ai+_Q¯!ª °:jmu0jwb|<_Xukcua h_Jnox<~1_Jxi+oc~:c ]kjrtQaQizjwtJc _Q&i+ocHno]+tQaQi+no]+c{_Q&i+oci+]!a}yZcHiG_J]+à -jwi+]Gcuz|<cHiSi+_ i+ocsx<aQiGno]!a |<aQ]HaQbc i+c ]§8j¶ªícJªoiGocs|<aQi+ wc xo`Ji+3¯!ª 1caUw_Q Hn<uk|<ujwxi+oci+]!a}yZcHiG_J]+ÃJª3°-ocHn<uz|<uNaQ]Gc_}uzn<G²a izÃX|ci+<aQisaQiNaHn<uz|1i+oci!aQxo`Wc xXi aQxo`QwcS<aJu&a~WjAu+H_Jx:izjwx:n:jrizÃ?§8jwiG<aQxo`JcuhXà ¯µaQx<~ iGocHno]+tQaQi+no]+cjAuH_JxXikjrx:no_Jn<u§zuzc Fc S4jw`Jno]+c}¯!ª
(24). ! ! " ! #%$&! ' ( ). ! !' ! " ! # ( ). S4jr`Wno]+c.
(25) .
(26) !
(27) "$#% & '
(28) ( *)+ ,.--/-0 1 2! 320$# (4! 2! 5. c~:c xo_JiGchXòa}xaQ]+]+_Q ¬iGoc~Wjr]GcHizjw_Jx_Qb_Jizjw_Jx_Qi+oc a}]ª[°-:jAu~Wjw]+cHizjw_Jx¡H_W]+]+cuz|_Jx<~ouSi+_ 1 i+oc)V]+_WxXiS§¶i+_iGocN]+caQ]Ô¯µ`JcaQ]_Qµi+oc aQ]&j-i+oc aQ]<aJu"|<aJu+uzc~®aQx?c tJc x§zaQx_o~o~¯ x:nobh<c ]s_Q Hn<uk|<u ª =¶x:i+]+_o~:n<HcatQaQ]zjAaQh:wc &:jAGH_J]+]+cuz|_Jx<~ouSi+_iGoci!aQxo`Jc x:ia}xo`QwcaQx<~? &:jAG+<aQxo`WcuH_WxXizjwx:no_Jn<uvwà aw_Jxo`iGoc|<aQi+ E[~:c xo_Ji+ch: à ^§G¯Ni+octUa}]zjAaQh:wc &:jAGjmu{clWn<a&i+_i+oc i!aQxo`Jc x:iaQxo`QwciG_iGoc|<aQi+ a8i+c ]&aQxc tJc xx:nobh<c ]&_Q[Hn<uz|<u&aQx<~ i+_i+ocsiHaQxo`Jc x:ia}xo`Qwc a8i+c ]&aQx_E~o~ x:nobh<c ]&_}ÂHn<uz|<u ª<°:jmu tUa}]zjAaQh:w c [§G¯jmua®|:jwcHc -jAuz, c GS8nox<Hizjw_Jx pi+ocHno]GtUaQi+no]G c ö§ +¯jAuaH_Jx:izjwxXno_Wn<ua}x<~|:jwcHc -jAuz< c GFI 8nox<Hizjw_Jx ª 1cNaJu+uznobcSi+<aQi&aQia Hn<uz|®i+ocN aQ]s aQxuzi+_J| V_W]a}, x ;jwx:¥<x:jwi+cHwÃuzo_J]+1i ;)jwx<uzi!a}xX i aQi&i+:jAujrx<uki!aQx:ip j S<aJuh<c c xiGocNaQxo`Qwcsh<c iz -c c xi+ocsb_Jh:jwcN "oc cHmuaQx<~ i+ocNaUÀXjAu-_Qi+ocN aQ]poiGoc x jrijmu"+<aQxo`Wc~ i+_ :ª Sq_J]_Jno]0 a}]jrijAuxo_Jicu+uzc x:izjAaµ &oc iGoc ]NaQiiGocN¥<x<aUµb_Jbc x:iiGocN8]+_Jx:i &oc cHAusaQ]+cSjwx8]+_Jx:i_J] xo_Ji.ª C&c x<HcJp -cN aQxH_J]G]+cHizwÃ~:cH¥<xoci+ocSi!aQxo`Jc x:iaQxo`}rcSi+_i+ocNiG]!aQyzcHi+_J]+à aQi&i+ocjwx:jwizjAaµ|<_}jrx:iphonoi aQi&iGocs¥<x<a[_JxocN -c aQx~:cH¥<xoc_Jx:wÃiGocNi!aQxo`Wc xXi~Wjw]+cHikjr_Wx²§©j©ª«cJª<i+ocaQxo`Qwc b_E~ [pqxo_Jisb_o~ ¯!ª =vx _J]!~:c ]-i+_S8_J]+baUjAuzcH_J]+]+cHikrÃ{i+ocs|o]+_Jh:wc bpo -cNH_Jx<uZjm~:c ]"h<_Ji+|_Xu+uvjwh:jjwizjwcue aQi-i+oc¥<x<a |_QjwxXii+oc 8]+_Jx:i "oc cHmuaQ]+cjwx V]+_WxXi&_W] xo_Wi-egaQx<~ iGoc xH_Jb|<a}]+csi+ocsiz -_|<a}i+<u-i+:n<u-_Jhoi!aUjrxoc~3ª 1cs<atWcsi+ocV_}w_Q -jwxo`uzÃEuki+c b §88]+_Jbxo_Q ¤_Jx -cn<uzc ;
(29) R;S8_JH] ; ;:1¯ E § + ¯ ¡H_XuG § ^§+¯ "!J§ +¯ # ¯ !J§ G%¯ $'&U (* ) § G ¯ ¡ v u w j 3 x § ^§ G ¯ , " W ! § + ¯  ¯ § +¯ +^§ G¯-ö§+¯ §!Q¯ ö § + ¯ -/.m§ +¯ 01/.>§ G2¯ 0 354 -jwi+ jrx:jwizjAaµaQx<~{¥<x<a[H_Jx<~Wjwizjw_Jx<u E ²§z:6¯ ¢§ ( ( + ( (7 ( (7 ( 8¯ ( § 9s:¯ £§ I ( + I (7 I (8 I ¯ §Z:¯ 1cH_Jx:i+]+_Qi+oc~:c ]zjwtQaQizjwtJc_Q[i+ocHno]+tQaQi+no]+c{§ZH_Jx:i+]+_Q; . ¯&aQx<~® -caw_Q G<aQxo`Jcu"h<c iz -c c x®V]+_WxXi aQx<~¦]+caQ]`Jca}]_J]H_Jx:tJc ]!ukcHrÃa}iaHn<uz|¢§ZH_Jx:i+]+_Q< !XpÂjri c x<uzno]+cu{i+oc?H_JxXikjrx:n:jwizÃ$_Q0iGoctUa}]zjAaQh:w= c aQiNHn<uz|<uà¯!ª c{<atWc§ !J§ +8¯ (7/.§ G¯+>¯ $@?BA p3 &oc ]+C c ?BD&U/ (* )>E > 4F(GH4%@¶ª °ocH_Jx:i+]+_Q% .jmuSa bcaJukno]!aQh:wcJpo]+catUawnoc~ Vnox<Hikjr_Wx poi+ocH_WxXi+]G_QI !$'&U/ (* )Xª 1c &aQx:isi+_ ¥<x<~aQ' x § +¯!p uGaQizjAuv8ÃJjwxo`§HQ¯a}x<~§Z:¯!p ukn<+iG<aQisi+ocaJuGuz_EGjAaQiGc~H_WxXi+]G_Q[Vnox<Hikjr_Wx § !W§ +8¯ (7 . § +¯+¯µuzo_Wn:m~ bjwx:jwbNj M ci+ocsi+_JiHa3rc xo`Wi+_Qi+ocN|<aQiG E. J§!K(7 . ¯L59@-MON (. §Z:¯. ýjmuh<_Ji+®i+ocNaQ]!"wc xo`JiGaQx<~ i+ocSizjwbcsh<c a}n<uzci+ocs|<_Qjwx:ib{_UtWcuµ jriGuz|c c~. C"c ]+csi+ocstQaQ]zjAaQh:wc. clWn<a i+_Wª Z"iN¥<]Huzi c |o]+_QtJc i+ocH_Jx:i+]+_QAaQh:jjwiZÃ$_}0uzÃouzi+c b §!}¯ -jwi+jwx:jwizjAaNaQx<~1¥<x<aH_Jx<~Wjwizjw_Jx<u §Z:¯!ª]=8 uzÃouzi+c b §HQ¯µ -jwi+C!J§G¯%£ §¶ jriGo_JnoiHn<uz|<uH¯ýjAusH_Jx:i+]+_QAaQh:wci+oc xuzÃouzi+c b §!Q¯µ -jwi+C!J§G¯%$P&U/(*)§8j¶ªícJª -jwi+¤Hn<uz|<uaUw_Q -c~¯NjAu aAuz_²H_Jx:i+]+_}AaQh:wcJª J_?jwi{jAuuznGjrc x:ii+_|o]G_UtWci+ocH_Jx:i+]+_QAaQh:jjrizà _QNi+oc 8_Qr_Q -jwxo`uzÃouzi+c b E § +L¯ ¡H_:uH § ^§+¯+¯ § GL¯ +^§ § ++L¯ ¯ ¤-uv3jwx §+ § ¯ ^§+¯G¯ §¶do¯ ö § +L¯ - . § +¯ 01 . § G2¯ 0 354 -jwi+ jrx:jwizjAaµaQx<~{¥<x<a[H_Jx<~Wjwizjw_Jx<uS§Z:¯!ª °:jmu"uzÃEuki+c bÁ aQxhcN]+c &]kjriGi+c xjwxiGocV_J]GbE § +L¯ -Q4§ R¯ .1S § ¯.
(30) d. -
(31) FJ 2 !.' 3 1 2! FA 2!. &oc ]+c. H_Xu uvjwxH. Q §²¯: . (. S §¯, . . . °ocTjwcaUr`Wc ho]!a "§ Q ( S ¯µ`Jc xoc ]!aQiGc~h:ÃQa}x<~ S u+aQizjAuv¥<cu"i+ocT½jrc(Z"w`Jc ho]!a f&aQxo _Jx<~Wjwizjw_Jx Eq8_J] c tJc ]+à $ Jp
(32) &§ Q ( S ¯+§¯, Jª=¶x<~:c c~3p8_J]-c tJc ]+à $ Jp §¯6 > S (7Q&@©§¯, ( H_Xuvjwu x k§,¯ > (8Q.@8§ ,¯ ( aQx<~ i+oc~:c i+c ]+bjwx<aQx:i H_X/u uvjwx (¤8_J]-c tJc ]+à $ ~:c i uvjwx H_: u °ocuz_}rnoikjr_Wx<ui+_ Q4§ ¯aQ]Gc|c ]zjw_E~WjA 8nox<Hizjw_Jx<u §vi+oc òaQ]+cGjw]!GwcuH¯!ª[°-:n<u p -c aQx$aQ|o|:wà ý]+_o+Jc iGi³´uSi+oc _J]+c b §Zukc *c > \!@¶p°- ª = ¶ :¯a}x<~_Jhoi!ajwxH_Jb|:wc i+c?H_Jx:i+]+_QAaQh:jjrizÃ$_Q§¶do¯§Za}x<~3p oc x<HcJp _Jhoi!aUjrxH_Wb|:wc i+cH_Jx:i+]+_}AaQh:jjwizÃ_Q-§!Q¯+¯Hª 1cNaQ]+cN`W_Qjwxo`i+_n<uz(c S4jjw|o|_Ut3³´ucHÀ:jAuzi+c x<Hci+oc _J]+c b 8_J]&i+ocuzÃEuki+c b §!Q¯Hp<§z:¯&§Zuzc D c >´A @¶po°- ª oªwJª jj8¯!ª =¶x®_J]!~:c ]-8_J]-i+oca ]+clWn:jr]Gc bc xXiHu&_Q[i+ocsi+oc _W]+c b i+_h<cu+aQizjAuv¥<c~ -csbn<ukiH_Jx<uvjA~:c ]sH_JxXtWcHÀ]!a}xo`Jcu _QµH_Jx:i+]+_Q¶ªo° _{i+:jAu&c x<~ ]+c &]zjwi+cNuzÃouzi+c b §!Q¯jwxi+oc8_Qw_U jrxo`{8_J]+ b E § +L¯ q§ G¯EH_X/u ^§+ ¯ q§ +¯ $'& (* ) § + ¯ L o § G E ¯ v u w j x < ^§ + ¯ § GL¯ +^§ +¯L 3§G¯ §Z :¯ ö § +L¯ - . § +¯ 01 . § G2¯ 0 354 °ocH_Jx:i+]+_QýVnox<Hizjw_Jx<u{!§ q§ G8¯ (8.§ +¯+¯ $ " A p &oc ]+# c "# & ( ) E?> 4 (GH4'@vª Zsu+uznob{$ c " H_Jx:tJcHÀ p:j¶ªícJ%ª " > ( @ E > 4F( H4'@¶ª<¿®_o~WjVÃ?§Z E¯^a}x<~H_Jx<uvjA~:c ]i+ocNuzÃouzi+c b E § +¯ o§ G¯EH_X u ^§+¯ 0& q§ G2¯ 03¢ § G¯ +ý§ § +G ¯ L¯ o0& q§ +§ ¯E+2¯ uZ0 jr3<x § ^§G¯ +¯ § V:¯ 3 § +¯ /.>§ +¯ 01.w§ G2¯ 0 354 -jwi+ jrx:jwizjAaµaQx<~{¥<x<a[H_Jx<~Wjwizjw_Jx<uS§Z:¯!ª '"_Q µjAu"i+ocsizjwbcaQx<~i+ocNa}]!"wc xo`Ji+) ()jAu~:cH¥<xoc~h:à i+ocNclWn<ajwiZà *( 0& q§ +2¯ 0 HªE°ocjrx:i+c `J]Ha §Z:¯[xo_Q LH_J]G]+cuz|<_Wx<~ou-i+_abjrx:jwbnob izjwbcN|o]+_Wh:rc b®ª JÃouzi+c b § V:¯µ aQxh<cS]+c &]zjwi+iGc x jrx®i+ocs8_J]+X b E +S§ (, (7 . ¯ § G¯ $ !§ (8 . ¯ $-" . . .
(33)
(34) !
(35) "$#% & '
(36) ( *)+ ,.--/-0 1 2! 320$# (4! 2! 5. . Sq_J]&uzÃouzi+c b. § VE¯Â -cN aQxn<ukcS4jjr|o|_Qt½³´u"cHÀ:jmuki+c x<Hci+oc _J]+c bpoa jwi!u]+clJn:jw]+c b{c xXi!u"h<cHjwxo`u+a}izjAuv¥<c~ E Kau+ aAaQ]SVnox<Hikjr_Wx<uSjwx$i+oc]kjr`WXi|<aQ]+iHus_QiGocclWn<aQizjw_Jx<u{§ V:¯saQ]+cH_Jx:izjwxXno_Jn<uSi+_W`Jc i+oc ]N jriG i+ocHjw]|<aQ]+izjAa ~:c ]zjwtUa}izjwtJcu Ki+oc)Vnox<Hikjr_Wxnox<~:c ]i+ocNuvjw`Jx_} i+ocsjwx:i+c `J]!aU½jwx1§Z:¯jAuH_Jx:izjwx:no_Jn<u Ki+ocH_Jx:i+]+_Q38nox<Hizjw_Jx<ua}]+ch_Jnox<~:c~?aQx<~ i+ocS]!aQxo`Jcs_Q[H_JxXiG]+_Q[!§ (8/.¯^jmuH_Jx:tJcHÀ KF§ G ¯ $ § jAuGr_:uzc~¯ Ki+oc)jwx:jrikjmaU^aQx<~{¥<x<aU |<_Qjwx:i!u)§ §Z:8¯ ( § 9s¯G¯ aQ]+c"¥oÀEc~ hXî§Z:¯ K_JxocN aQx tJc ]zj8Ãi+<aQi-i+oc ]+ccHÀ:jmuki!u-aH_Wx<uzi!aQx:H i GSi+<aQi^V_J]-c tJc ]GF à § +L¯ $ aQx<~®§ (7 . ¯ $ " i+oc8_Qw_U jrxo`{jwxoclJn<aUjwizÃjAuu+aQizjAuv¥<c ~ E +S§ ²L¯ 3 G2§ 0 50 Q¯Hª °Xn<u) c aQx$aJu+uznob{ci+oc cHÀ:jmuki+c x<Hc_Q0aQx1_J|oizjwbauz_Qwnoizjw_Jxa}x<~²aQx1_J|oizjwbaH_Jx:i+]+_Q[8_J]uzÃouz i+c b § V:¯aQx<~ -c$aQ]+c`J_Qjwxo`£i+_£aQ|o|:wà i+oc¿?aÀ:jrbnob \[]kjrx<Gjw|:wc¤_Q\_JxXiG]+ÃXaQ`Qjwx£iG_¡iG:jmu1uzÃEuki+c b i+_¤_Jhoi!aUjrx xocHcu+u+a}]+ÃLH_Jx<~Wjwizjw_Jx<u±V_W]i+ocH_Jx:i+]+_}N8nox<Hizjw_Jx<u!§ q§ +7¯ (8 . § +¯+¯aQx<~¢V_W]i+oc$i+]HaQyzcHi+_J]+à § +L¯ ¢§ § G8¯ ( + § G8¯ (8^§+7¯ ( 3§ G¯+¯ i+_h<cS_J|oizjwba¶ª fc &]zjwi+cukÃEuziGc bÁ5§ V:¯!p§Z:¯µaQx<~jrx:i+c `J]Ha[§Z:¯ aJuýi+oc)V_}w_Q -jwxo`uzÃEuki+c b E § +¯ o§ G¯EH_X u ^§+¯ §ZEL¯ ( § 9sL¯ I 0& o§ +2¯ 0 3£ +^§ § ++L¯ ¯ q0& q§ G§ ¯E+2¯ uv0jw3Hx § ^§G¯ +¯ +[§§zz::L¯ L¯ -+ ( ( +^§§ 9s9sL¯ L¯ + I I 3 § +¯ . § +¯ 3§ZEL¯ - ( ö§ 9sL¯ -.I 01 . § G2¯ 0 354 ( § +L¯ L ( §ZEL¯ ¡ Bc xo_Wi+cshX à s§ +¯ L§ ,( ( ( ( Q¯ iGocNtJcHi+_W]&_Q ;J~:n<a3 ;{tUaQ]kjma}h:rcu 3i+oc CaQbjwi+_Jx:jAaQ x
(37) jAu~:cH¥<xoc~ h:Ã
(38) 1§ 8( (>( ( . L¯ % ýH_Xu O µuvjwx @0& I0 6 * . ( V_J]-c tJc ]Gà %$*> / ( 9H@ § \J¯ 1cs<atWcsi+ocV_}w_Q -jwxo`aJ~yZ_}jrx:iuzÃouzi+c b'V_J]-c tJc ]Gà $*>´/ ( 9H@ E § G¯ ¡ W § GL¯ ¡ N § GL¯ [ § +L¯ 3§ +!¯ q§ +¯ouvjw<x [§G¯ W§ G!¯ q§ +¯oH_XKu ^§G¯ § L:¯ 0& q§ +2¯ 0 [§ +¯ } } §§ ++ ¯L¯ ¡ J _ ,(K( aQ]+c?H_Jx<uzi!aQx:i_Jx >´/ ( 9H@¶+ª T3c i H_Xu -p uvjwx µoc ]G c op i!aQx ªo°-oc x -cs aQx]+c "]zjwi+csi+ocNaJ~yz_QjwxXiuzÃEuki+c b § L:¯µaQx<~ i+oFc CaQbjwi+_Jx:jAaQx§ \J1¯ E ö§ + ¯ H_:u ^W § § G+ ¯ L¯ % quvjw§ !x +¯o uvjwx3 § ^§+¯ ý¯ §Z:¯ W § GL¯ 0& q§ +G¯ 0 [§ G¯ }§ + ¯ ( BcH¥<xoc.
(39) §8( '(">(, ( . ¯L o§G¯ H_XuG§ ^§+¯ ý¯,-0& q§+¯20 [§+¯ 3§G¯ # W§G¯ . §+¯ ( $ §7( '("s ¯: bjrx
(40) §8( '(">(, ( . ¯ . $*> 4F(GH4%@. . $*> ( @. &oc ]+c>( '( . aQx<~# a}]+cNH_Jx<uvjA~:c ]+c~?aJu^jwx<~:c |<c x<~:c x:iNtQaQ]zjAaQh:wcu ª °oc¿?aÀ:jrbnobÁ\^]zjwx<Gjw|:rc{_Q \_Jx:i+]+ÃXaQ`}jrx®§1>RLJ@ <aQ|oi+c ] =!p3°- ª aQx<~*>´J@ö° ª´ oªwHj8¯ aWu+uzc ]+i!ui+<aQi-j !§ K (8 .K ¯[jAuaQx_J|oizjwba[H_JxXiG]+_Q¶p:i+oc x.
(41) -
(42) FJ 2 !.' 3 1 2! FA 2! V. Z§ a:¯i+oc ]+c cHÀXjAuzi!uaQxaQh<uz_Qwnoi+cHwÃ$H_JxXikjrx:no_Jn<uSxo_Jxo M c ]+_?tJcHiG_J]+>8nox<Hizjw_Jx s§+¯§8jwiSjmua H_JxXikjrx:no_Jn<u&uk_Qwnoizjw_Jxi+_ §Z:¯+¯ §¶h3¯[8_J]&awb_Xuzi"c tJc ]+Ã{¥oÀEc~O%$*> /( 9H@i+oc8nox<Hizjw_Jx
(43) 1§7( '(">( ( /. ¯µ_Qi+ocNtQaQ]zjAaQh:wcu . $ > 4 (GH$ 4%@<aQx<~ $ > ( @J_Wx:rÃaQi+i!aUjrx<u½jriHubjwx:jrbnob¬aQi4i+oc-|<_Qjwx:;i . - .K ( K E § 8( § +8¯ (s§ +¯G,¯
(44) 1§ 8( § +8¯ (s§ +7¯ ( .K § +7¯ ( K § +¯+¯ ( $*>´ ( 9H@ . $. $. §G¯L §8( ²§+¯8(s§+¯+¯4jAu&aQh<uz_Qwnoi+cHwÃ?H_JxXikjrx:no_Jn<uýjwx >´/( 9 @½aQx<~ §8( §G¯8("s§+¯+¯,
(45) §8( §+¯8(s§+¯7( . §+¯8(, o§+¯+¯ $ §Z~¯aQiaQx:òikjrb{c'$ > / ( 9H@-i+oc®]+cHAaQizjw_Jx<u ( aQx<~ §7( §+¯7("s§G¯+¯(aQ]+c u+aQizjAuv¥<c~3ª ° o~:cnoV]znojwxox<`Hikjra_W#x xo_J
(46) xo M c aQ]Gx_]+izjwcbaW+c)?jwxXjwi!i+u)c ]GbtUajw[x:jwi+boc noxbiGo -cjwi+ aQ]]+c~:uz_:|ccuzHx iN³íii+_ b ®_QtJ_JcNx:aQwòiaa}is^i+~:onoc]zjw|<xo_}` jrx:i+i!:u jAu" 'jwxX i+c ]G/ tU(aNµJaQª.x<=8~ ~:_:cuzx ³íiG<aQxo`Jc®i+octQawnoc_QNi+octQaQ]zjAaQh:wc µp-uzc cuzÃouzi+c b. § V:¯§¶iG:jmu{<aJuxo_Wi+:jwxo`²i+_~:_² -jwi+ i+oc jwx<uzi!aQx:i!aQxoc _Wn<u uki+_J|o|:jwxo`aQi&aHn<uz| &oc xi+ocNuvjw`Jx _Q i+ocNa}xo`Qwchc iZ -c c xi+ocb_Jh:jwcN "oc cHmu"aQx<~ i+oc aÀ:jAu-_Q[i+oc0 a}]-jAu&+<a}xo`Jc~3p<uzc csi+ocshc `Qjwxox:jwxo`_QÂiGocNuzcHizjw_Jx3¯!ª C"c x<HcJp<i+_bjwx:jwbjAuzci+ocsizjwbcJpqi+oc ]+c bn<uzish<cxo_xo_Jxo M c ]G_izjwbcSjwxXiGc ]+tUaAu) -jwi+ O oª J_ -cH_Jx<uvjA~:c ]N_Wx:rîi+oc aJukcu NJª C&c x<HcJp -cs<atJc 0& q§ +2¯ 0 NaQx< ~ *( -Hª<¿®_J]+c _QtJc ]pouzÃouzi+c b u§Z :¯µaQx<~± § V:¯µaQ]+cjA~:c x:izjA a^a}x<~ -cN aQx]Gc &]zjwi+c
(47) aJu
(48) 1§ 8( (>( ( . L¯ q§ + ¯ H_:uz § ^§+¯ ý,¯ [§ G ¯ 3§ G,¯ # W§ G ¯ . § +¯ ( §!:¯ °4_i+]+caQiH_Jx<~Wjwizjw_Jx§¶h3¯ý -jwi+]+cuk|<cHi&i+_ /.w§ +¯µ -cNH_Jx<uvjA~:c ]iz _ aJukc u E Q¯
(49) . ¡S8_J<] $*>1 K ( K+K @6A >´/ ( 9 @ :¯
(50) . ¡ S8_J< ] $?§ K ( K+K %¯ A >´/ ( 9 @¶ª =vxL aJuzc$Q¯ -c?<atJc®V]G_Jb §!:¯ W§ +¯ opµiGoc x¤V]G_Jb §Z:¯ -c_Jhoi!ajwx¤i+<aQi ^§ + ¯ qp-oc x<Hc [ § G¯ L aQx<'~ [§G<¯ ý§+b_o~ ¯ý8_J]c tWc ]+à $?>1 K ( K+K @µ§voc ]+cNi+oc aJukc C jAu"jrb{|<_Xu+uZjrh:wc h<c aQn<ukc jwiH_Jx:i+]!aJ~WjAHi!u0§Za:¯+¯!ªo°-oc D x [§ + ¯ ¡a}x<~i+:n<<u 3§ + ¯ ¡a}x<~ . § + ¯ ¤SV_W]a6 $*>1 K ( K+K @¶ª °ocNH_J]+]+cuz|_Jx<~Wjwxo`uk_Qwnoizjw_JxjAuaSjrxocuzc `Wbc xXiýjwxiGoc~Wjw]+cHizjw_J x -ª =vx aJuzc:¯[ cs<atJc8]+_Jb §!: ¯ . 4Suvjw`Jx § W§ G¯+¯!ª °ocH_J]+]+cuk|<_Jx<~Wjwxo`|<aQiG?jAua?Gw_Ji+o_}jm~3ª Z"w_Jxo`aGw_Ji+o_QjA~i+oc Hno]+tUaQiGno]+c~:c |c x<~ouSjwxocaQ]zwÃ$_Jx i+ocaQ]!wc xo`JiG±a}x<~tUa}]zjwcusH_JxXikjrx:no_Jn<uvwà V]+_Wb i+_ ª °Xn<u . § G%¯ H4 ~:c i+c ]GbjwxocuNauvjwxo`Qwc Gw_Ji+o_QjA~±§¶b_o~:n:r_ i+ocs`J]G_Jno|_QµuzÃXb{bc i+]zjwcu-_Q[i+ocs|:AaQxocQ¯!ª3°-ocNGw_Ji+o_}jm~jAu~:cH¥<xoc~®h:ÃclWn<aQizjw_Jx ^§ +L¯ H4 8( $?§ ( ¯ _J]p:clWn:jwtUawc x:izwÃJp h:ÃclWn<aQizjw_Jx<u § +L¯ 4
(51) ( H_XuH§ ¯ + § GL¯ 4 ( uvjwx § ¯ %$®§ ( ¯ Z bcaJukno]!aQh:wcH_Jx:i+]+_}N!§ q§ +8¯ (7 . § G¯+¯aQx<~iGocaJu+uk_EGjAaQi+c~¦i+]!a}yZcHi+_W]+à § +¯s_Q§Z :¯u+aQizjAuv8ÃJjwxo`$a H_Jx<~Wjwizjw_Jx<uý_Q i+oc&¿?aÀ:jrbnob\[]zjwx<Gjw|:wcs_Q \_JxXiG]+ÃXaQ`Qjwx -j½hc0 awc~{cHÀEi+]Gc ba½H_Jx:i+]+_Q½a}x<~cHÀEiG]+c ba i+]!a}yZcHiG_J]+ÃJª Z |<_}jrx:i ²§ ¯µ_}^aQxcHÀoi+]+c b a i+]!aQyzcHi+_J]Gà -jÂhc awc~?auz -jwi!G:jwxo`|_QjwxXi"j aQ< i - aQircaWuzi _Jxocs_Qi+ocNH_Jx:i+]+_Q) 38nox<Hizjw_Jx<u q§ +8¯ (7 . § G¯µ<aJu&a~WjAu+H_Jx:izjwx:n:jrizà <iGocsizjwbc ) j[h<cN awc~a{uz) -jwi!G:jrxo` izjwbcJª °ocs|o]+cHc~Wjwxo`]+caJuz_Jx:jwxo`Xu rcaW~i+_&E §Z¯µi+oc8nox<Hizjw_Jx $.
(52)
(53) !
(54) "$#% & '
(55) ( *)+ ,.--/-0 1 2! 320$# (4! 2! 5 \. [¸
(56)
(57) #/. .
(58) . . . . . 50
(59) U5# < N/ 5 [ 4& 5 # &40 3 20 . 3 0 X
(60) ( 3. 5#'- N 4& & 3 ! + N '4! A 5'5#' & 5#'0 54 $# 40 -A 41 5 [.- § +¯ ! & 0 120 5# >´ H@ .-/ &
(61) 0& &(&-
(62) ( - 3 54! 4 1 5P &- m§ +¯ ¡ ,, !< & 0 120 5# ´> H@. . H4.
(63) . /. . /( 9 . ( 9 . . . =vi jAuxo_Jic tWjm~:c x:iµo_Q i+_H_Jb{|onoi+c-i+oc-_J|oizjwbao|<aQi+ScHÀE|:jAGjwizwÃJªE¿®_J]Gc _UtWc ]pHjwi jAuxo_JiµGwcaQ][ "oc i+oc ] i+oc_J|oizjwbaU |<aQi+®jAu]+c `Jn:AaQ]_J]xo_Jiª3°-<aQi"jmu "Xà jwx? &<aQi"V_}w_Q u" -cH_Wx<Hc xXi+]HaQi+cN_Wxi+occHÀo|:jAGjwi H_Jx<uziG]+n<Hizjw_Jx_} / a ;Juknoh<_J|oizjwbaU ;{i+]!a}yZcHiG_J]+ÃJª T3c bba®S`QjwtJcu&iGocsjA~:ca i+_H_Jx<uki+]+n<Hi"jri"8]+_Jb aQ]! u-_Q Gw_Ji+o_QjA~ouaQx<~a)jwxocuzc `Jbc x:iª =vxi+oc|o]+cuzc x:iµ|<aQ|c ]- c&H_Jx<uZjm~:c ]"i+oc aJuzc" &oc xiGoc~WjAuzi!aQx<Hch<c iz -c c xiGoc-jwx:jrikjmaU4a}x<~i+oc¥<x<a |<_}jrx:i[jAuýbn<+{`J]+caQi+c ][iG<aQxi+oc-jwx:jwizjAa aQx<~S¥<x<a Hno]+tUaQiGno]+cs § ( (7 I ¯ÂaQx<F ~ 4 §zuzc c-i+oc&cHÀ<aJHi ~:cH¥<x:jwizjw_Jx jw* x W+do¯Hª °ocuznoh<_W|oizjwba |<a}i+? &:jA+ -cH_Jx<uzi+]Gn<HijmuS|:jwcHc -jAuzcGw_Ji+o_QjA~1_J]sjwxocaQ]pöjriHuNHno]+tQaQi+no]+caQx<~ i!aQxo`Wc xXi&aQxo`QwcNaQ]Gc0H_Jx:izjwx:no_Jn<u&aQx<~jwi&<aJu-a)¥<x:jriGcNx:nobhc ]-_QÂuz -jwi!G:jwxo`|_QjwxXiHuýjwx<Grn<~Wjwxo`Hn<uz|<uÔpEukc c W+d<ª Sqno]+i+oc ] -cuko_U i+<a}iiGoc ]+ccHÀXjAuziHua?H_Jx<uzi!aQx:i G ~:c |c x<~Wjwxo`$_Jx:wò_Jx 4uzn<G$i+<aQii+oc _J|oizjwbaU |<aQi+ jAu-xo_ b_J]+ci+<aQ x G uzo_J]+iGc ]&i+<aQxi+ocNuknoh<_J|oizjwbaUÂ_Jxoc§zuzc (c W! :¯!ª °4_i+:jAu&c x<~ -cs|o]+_QtJcNuk_Jbc`Jc _Jbc i+]kjm|o]G_J|<c ]+ikjrcu"_Q[i+ocNGw_Ji+o_QjA~jrY x W!opoaQx<~ -cNH_Jx<uvjA~:c ]"jrY x W! aGAaJu+u _} |:jwcHc -jAuzcGr_Wi+o_QjA~_J]jwxocaQ]|<aQi+<ui+_i+ocNGw_Xuzno]GcN_Q ":jmGiGocs_J|oizjwba |<a}i+h<cHw_Jxo`Xu § T3c b{bD a \Xp:|o]+_QtJc~{jw* x W V{§ Z|o|c x<~Wj, À ZS¯+¯!ª. . -s
(64) ( ý !2 ö ! -¨# 2-!" ) !,8 _Jx<uZjm~:c ]saGw_Ji+o_}jm~. §+¯¤H_XuH§ 4 U:¯ §Z:¯:¡ + §+¯ uvjwx3§ 4 *Q:¯ + Z§ :¯:¡. a;4";Qi+ocs|<a}]!aQbc i+c ]"_Qµi+ocGw_JiGo_QjA~;oªSq_J]uvjwb|:jAGjwizà -cNuzc i 4 £8no]+i+oc ]-jwx?i+ocSi+cHÀEiª J_ -cNH_Jx<uvjA~:c ]i+ocNGw_Ji+o_QjA~ § +¯ ¤H_X u §Z::¯ ¡ + § + ¯ uvjw<x + §Z::¯ ¡ C"c ]+c* ýjmuiGocHno]+tQaQi+no]+caQx<~®aQiiGocu+aQb{cNizjwb c ýjAui+ocNx<aQiGno]!a[|<aQ]!aQbc iGc ]p:j¶ªícJªi+ocswc xo`Ji+?_Q i+ocNGw_Ji+o_}jm~ 8]+_Jbi+ocjwx <cHÀ:jr_Wx|_QjwxXiª _Jx<uvjA~:c ]a<a0Gw_Ji+o_}jm~3p4j¶ªícJª oª S4jÀ a®~Wjw]+cHizjw_Jx §¶b{_E~ £p xo_WiNb_o~< ¯-jrx aQx<~rc i ! I (! ( ~:c xo_JiGc iGoc H_Jx<uzcHnoikjrtWc&|<_Qjwx:i!u_JxSi+oc&Gr_Wi+o_QjA~S -jwi+K a&i!a}xo`Jc xXi4jwxocaQii+oc b¨_Q<i+oc-+o_Xukc x ~Wjw]+cHizjw_Jx$§v -jwi+' I#" $" ¯!ª Jc %i !'& ¬§ & ( + &88¯ ( & § (&v8¯ ( + & + § (&v¯s § S4jw`Jno]+c:¯ _J* x S4jw`Jno]+c -cNuzo_Q LaS<awo¶Gw_Ji+o_QjA~H_J]G]+cuz|<_Wx<~Wjrxo` i+_uvjw`J< x ; ;h<cH8_J]+cuvjw<x jwx jriHu&clWn<aQizjw_Jx<u ª [¸
(65)
(66) * ) +! I ! N< U P
(67) ( 54 ! + & ! &-, I < 0 -$0&-A<41. 3. .U.
(68) (& & < 4 34(5#F - 3 54! K / (20 0 !'+ &! &-, I 0 10§! v¯ &-. 060 ! + & ! 2& , I 0 0 ! &4+ 3 I ! & 06010§!*J§ v ¯+¯.
(69) -
(70) FJ 2 !.' 3 1 2! FA 2! L. . . . Ð. S4jr`Wno]+c.
(71) 5!5#. ª. & , Ð &43 I H _Xu ²uvjwx . . . . Ð,. . 0 ! + & ! &2, I 0 M . 0 0 ! + & ! 2& , I 0 0 ! &4+ 3 I ! & 0,0 K . . . . . . . . . K § Q¯ O. § K ¯ 0§!* k¯. K . . . K !§ Q ¯ K !§ }¯ K $ §! :¯ . . K $§ K ¯ § K ¯ $ § K ¯ " . . . . K F K $§! } ¯ . K . . &Ð 0§ & I ¯I¤ . . . . 3& 0 § & I ¯ Ð &3 0§ & I ¯, Ð 3 & 0§ & I ¯ . Ð . 3 0 §H* ¯ Ð & . 3 Ð & 0§! ¯ . 3 Ð & 0§!* ¯ . 3 Ð & 0§! ¯ . . . . . . .
(72)
(73) !
(74) "$#% & '
(75) ( *)+ ,.--/-0 1 2! 320$# (4! 2! 5. . d*K K d* 0§!* ¯ . . *U 0§!* ¯ 10§!* z ¯ . °oc¥<]!uzi&iz -_uzi!aQi+c b{c xXi!uý_Qi+ocswc bbaV_Qw_Q ~Wjw]+cHikrà 8]+_Jb i+oc¥<]!uziG<ajwx_} clJn<aUjwizjwcu ª [¸
(76)
(77)
(78). . 3
(79) § K ¯L 0 o| ]+_Wy Ð ! & ! &-, I 0 &$ I &- 0 '41 & G 4 F § K ¯ " G # 3
(80) ( F20 (5#F H 4! $# (20140 ! & ! &2, I. & - 0& P - 5140 3.
(81) 5!5#. ª. K. 3
(82) 0 |o]G_Jy Ð ! & ! &2, I 0 M. . 3
(83) ! & ! &2, 0. 0. ! 2!0 K '! 5 |o]G_Jy I Ð X/ & 5 0 / 4 J 0. ,& + uvjwxH K ¯ & § K ¯ , .& 3 § H_Xu/ K B . Ð Ð I . H +i _h<can<uzn<a[aQxo`QwcJp K oª&C"c x<HcJp , & K ¯ M ,Ð .& 3 H_:u3§ K ¯ . Sq_J]&H_Jx:tJc x:jwc x<HcJp< -cNH_Jx<uvjA~:c ]8no]+i+oc ] K . § K ¯ Ð H_Xu§ Ð I H_Xu3§ $§ Q¯ ¯ ( K § Q¯ ( H_Xu ( K $§ Q¯ :§ . ,& , .&43. & M. . ! . " . M. M. "oc ]+c. 1cs<atWc. . .. ! . . . Ð. I. . . . _Xu . . . M H $ K §! }¯ . J§ K $§! . . K$ §! Q¯ ¯ "Q K $ §! Q¯ . Q4§ )¯L . . . . Q § s¯ . ! E§ )¯ . Q¯ ¯ . . . j . . Q4§ )¯jmu{aQxjwx<H]+caWuvjwxo`8nox<Hizjw_Jx_}i+oc tUaQ]zjAaQh:wc" Np4j¶ªícJªjwii!a}Jcu)jriHuNb aÀXjwbaUtQawnocj . aQx<~ §vh<c aQn<uzc .,Y$ >´/( @¶p K :¯!ªo°-:n<u K ¡ 4Q § )¯3 ¡* W§! Q¯ E§! Q¯ 0 . C"c x<HcJp.
(84) . -
(85) FJ 2 !.' 3 1 2! FA 2!. a}x<~. . . . H_Xu . . M M H _Xu$ K § Q¯ ( do§ K §! Q¯ ¯ K §! Q¯ ( _Xu . . Q M H$ . 3 ( K §! }¯ K §! Q¯ 3 do§ $§! Q¯ ¯ $§! Q¯ M . H_Xu . . 0 0 . ( K K °ocNuzc ]zjwcu & $ I J §! k¯[jAu&H_Jx:tJc ]+`Jc x:iªo°-ocswc bb aSjAu&|o]+_QtJc~3ª 3
(86) [¸
(87)
(88) B0 |o]+_Jy ! & ! &2, I 0 0 §!* z¯ .- 3 F
(89) & .+# &40 3Y5# K # K F.-! !0-/JF Ð Y $ >´/(G ¯ ' 3
(90) 3
(91) 0:0 |o]+_Wy Ð ! &-, I ! &-, 0 0 |o]+_Jy Ð ! & ! &2, I 0:010 §H*J §! z¯G¯ 3
(92) P
(93) ( ( 5 . #
(94) Q# K $ >´/( ¯ 0 5 |o]+_Jy ! & ! &2, I -!. ( 5 140 3 3
(95) Ð 5# ! & ! &2, I <D 3. 0 !.- 340 / 4 J 0- 5140 3 K
(96) 5!5# QjwbjAaQ]zwîi+_i+ocN|o]+_:_Q[_Q T3c b{baS -cs_Jhoi!aUjrx®i+oc8_J]+bn:Aa , & , , 3
(97) 0 |o]G_Jy Ð ! & ! &2, I 0 M ,Ð .& 3 , H_XuH§ K ¯ M 3Ð H_XuG§ . . K ¯ . Ð Ð I , Ð . M 3 H_:uH§ . K ¯ 0§!* ¯ . Ð , . M 3Ð H_:uH§ . K ¯ d . 0§!* ¯ . 10§!* v¯ Ð . °oc x cs_Whoi!ajwxi+ocNukcH_Jx<~aJuGuzc ]+izjw_Jx_Qi+ocswc bba E 3
(98) 3
(99) 0 0 |o]+_Jy Ð ! &2, I ! &2, 0 0 |o]+_Jy Ð ! & ! &2, I 0,0 , M 3Ð H _X u১! . Q¯K ¯ E§!R . Q¯ 0 §!* ¯ . . & § K ¯3. . . Ð. . . . Ð , H _:u+§ . K ¯ M Ð 3 0§!* ¯ . . . . . . §RQ¯ 0§!* k¯ . . . . 0 §!* z ¯ . §! ¡Q¯ 4§ § ¡Q¯ . °ocrc b{baSjAu&|o ]G_UtWc~3ª. . . 4¯ . . . . §!RQ¯ . . . 0 §!* v ¯ . 0§!*J§! k ¯+¯ 10§!* k ¯ . . . .
(100)
(101) !
(102) "$#% & '
(103) ( *)+ ,.--/-0 1 2! 320$# (4! 2! 5. J. £) 2[ !) # 4
(104) (- 98 cH_Jx<uziG]+n<HiiGocuznoh_J|oizjwbaµ|<aQiGjwxi+oc aJuzc &oc x~WjAuzi §+§ ( ( + ( ¯8(Ô§ I ( + I ¯+¯ b aÀ<§ 4 (01 ( 0 (*01 I 0 ¯ §¶i+:jAu)bcaQx<uSi+<aQisi+oc ]GccHÀXjAuziH_Jx<uki!aQx:i!u ¬op ¬qp ukn<+iG<aQi~WjAuzi §G§ ( ( + ( ¯7( § I ( + I ¯G¯ 4@ öbaÀ<2§ 0 ( 0 (01 I 0 ,¯ ¯HªEfc bc bh<c ]i+<aQi& -cNuzc H i 4 ¡S8_J]&uvjwb|:jAGjwiZÃJª jwi+o_Jnoir_:u+u-_Q[`Jc xoc ]!ajwizà -c0H_Jx<uZjm~:c ]siGocN aJuzc + ( + I ¤oª Zsu+uznob{cNi+<aQiH_X/u ( ¡ §8jµi+:jAu-jAu"xo_Jiuz_poi+oc xukc cNh<cHw_Q
(105) ¯!ªocaQ]+cs`J_Qjwxo` i+_uzo_Q £iG<aQi _Jxocs aQxH_Jx<uzi+]+n<Hi-aS|:jrcHc jmukcNGr_Wi+o_QjA~ _J][jwxocaQ]&|<a}i+8]+_Jb § ( (!E¯ i+_ § I (!:¯ jriGa)¥<x:jwi+cxXnobh<c ] _Q0Hn<uk|<uaQx<~$uk -jwi!+:jwxo`|<_Qjwx:i!u &oc ]Gci+octUaQ]kjma}h:r' c La}x<~i+ocHno]+tUa}i+no]+ c a}]+cH_Jx:izjwxXno_Jn<u§¶i+oc jwx:jwizjAaaQx<~?¥<x<aU tUaUrnocuS_Q&i+oc{tUaQ]zjAaQh:w c ¤aQx<~1_Q&i+ocHno]+tQaQi+no]+c 1h<cHjwxo`?]+cuz|<cHikjrtWcHrà ( (8 I aQx<~ ( (7 I ¯!ªcH_Jx<uzi+]+n<HisiGoc|<a}i+®V]+_Wb § ( (H:¯-i+_§ I (!E¯[V]G_JbÁ|:jwcHcuS_QµclWn<a Gw_Ji+o_QjA~ouSaQx<~?a{jwxoc uzc `Jb{c xXiª
(106) s°-oci!a}xo`Jc xXi"jwxocuNaQiNaµi+ocHn<uz|<u_} i+oc|<aQi+? -jµh<c{tJc ]+izjA aµaQx<~®i+oc|<aQiG -j hci+oc. `J]!a}|o_Q^a{H_JxXikjrx:no_Jn<uý8nox<Hizjw_Jx®_J* x > ( ( I5@vª °ocHno]+tUa}i+no]+cNaJuýa8nox<Hizjw_Jx_Q i+ocsaQ]!ýwc xo`Ji+ ()§8j¶ªícJª:i+ocx<aQi+no]!aU<|<aQ]!aQbc iGc ] ¯ -j h<cs|:jwcHc -jAuzc jwxocaQ]NaQx<~H_WxXizjwx:no_Jn<u i+oca}h<uz_Qwnoi+cNtQawnoc_Q[i+oca}xo`Jn:AaQ]0H_:c Gjwc x:ijmu"i+ocu+aQbcJpqj¶ªícJªoc tJc ]+Ã|:jwcHc _Q[i+ocs|:jwcHc -jAuzcSjrxoca}]Vnox<Hizjw_Jx jAu-_Q[i+ocsJjwx<' ~ (< ( ª ! . ! . . . . , ). S4jr`Wno]+c.
(107) _Jx<uzi+]Gn<Hi i+ocµ|<a}i+s8]+_Jb¨§ ( !( E¯EiG_uz_Jbcý|<_Qjwx:iµ§ . . ( + .¯öukn<+Si+<aQi i+oc-Hno]+tUa}i+no]+c&aJu aVnox<Hikjr_Wx _Qµi+ocaQ]Hwc xo`Ji+ (SjAu_Qµi+ocS8_J]+bÁuko_U "x_Jx*S4jw`Jno]+copqj¶ªícJªojwxocaQ]S_JxU>´( . @Âa}x<~U> . ( . ¦ . @¶p.M c ]+_ aQii+oc|<_Qjwx:i§ . ! . ¯§¶oc ]+c" . aQx<~# . aQ]+cS|<aQi+®wc xo`Ji+<u p . § . ¦ . ¯!p + . + § . ¦ . ¯+¯!ªc jwb|<_:uzci+ocH_Jx<~Wjwizjw_Jx?i+<a}ia^uk -jwi!+:jwxo`|_QjwxXi!ujwx?i+ocsjwx:i+c ]+tUaU §$ . ( . $ ! . ¯ aQ]+cHn<uz|<us§zuz -jwi!G:jrxo`. |<_}jrx:i!u"_Q q¯!ª Töc i n<u]+c baQ]+ aQiµ_Jx<HcsiG<aQiýjri- -j hcsjwb|<_:u+uvjwh:wcNi+_ ;Q]+caW~_A: ;)i+ocV_W]+b_Q i+oc|<aQi+®§¶ &:jAG jmu i+oc|<aQ]+i %'& _}öiGoc|<aQiGuzo_Q &x{_Jx9S4jw`Jno]GcdS8]+_Jb S4jw`Jno]Gc0) -jwi+o_Jnoi-Xxo_Q -jwxo`i+oc|<_XuZjrikjr_Wx<uµ_} i+oc Hn<uz|<u ª °ocaQ]! u +! I ! ( +! ! ( p3uzc c S4jw`Jno]+cd<p3aQ]+cSclJn<aUÂi+_ i+ocH_J]+]Gcuz|<_Jx<~Wjwxo`aQ]H u&_Q aGw_JiGo_QjA~ aJu&uko_U "x_J x S4jw`Jno]+cNoª.
(108) . -
(109) FJ 2 !.' 3 1 2! FA 2!. ! (. ! (. . . . . . . S4jr`Wno]+cNd. ^§+¯&aQi&iGocN|<_}jrx:i§ . ( + . ¯ýhXà . §¶i+ocH_J]+]+cuk|<_Jx<~Wjwxo`tUaUrnoc_Q °ocsxXnobh<c ] .ojAu&~:cH¥<xoc~®h:à ( § ./¡ ( ¯!ªof-c `Xa}]!~ *.½aWu&a|<aQ]!a}bc i+c ]ª °oc0Hno]+tQaQi+no]+cN~:_:cuzx ³íi&G<aQxo`Jcsuvjw`Jx_J< x >´/ ( . ! . @[pouzno|o|_Xuzcsi+<aQiýjwiýjAu-|<_XuZjrikjrtWc§Zuzc c'S4jr`Wno]+cN:¯ i+ocstQaQ]zjAaQh:wcF,. ( jmu"i+ocjwx:i+c `J]!a_QÂiGocNHno]+tUaQiGno]+cN_J* x > / ( . ! *. @ E Bc xo_Wi+csi+ocNtQawnoc_Q[i+ocNtQaQ]zjAaQh:wc i+ocNHno]+tQaQi+no]+c)jAu&clWn<a i+_ M c ]+_q¯!ª. C"c x<HcJp4jwx<H]+caJuvjwxo`. .. (. M. (. , ö§+¯ . .[b{_Jxo_Ji+_Jxo_Wn<uvwÃ?wcaJ~oui+_ jrx<H]GcaJuvjwxo`_QiG:jmujrx:i+c `J]Ha¶p j¶ªícJª_Q&i+ocaQh<uz_}rnoiGc. tUaUrnocS_Q i+octUa}]zjAaQh:wc . ( ªo°-<aQiýjAu- &:Ãi+oc ]+ccHÀXjAuzi . aQx<~ K po35 K " . uzn<Gi+<aQiµ "oc x *.otUaQ]kjrcu^jw< x > K (8.R@i+octUawnoc_Q i+octQaQ]zjAaQh:wc> .<aQiµi+oc"|<_Qjwx:i§ . ( + .m¯ -_Jn:A~ aJu+uznobcH_JxXikjrx:no_Jn<uvwÃa tUaUrnocu0V]G_Jb > :Q/ ( :QA @§+b_E~ ¯!pqoc x<HcJp H_Xu/ . §8j ( jAuxoc `XaQizjwtJcJpi+oc x . ( jmuxoc `:aQizjwtJc aJu- -cHÂaQx<~ . tUaQ]kjrcuH_Jx:izjwxXno_Wn<uvwà jrx > :U ( :UJ @3§!b_o~3 ¯+¯!ª Sq_J% ] . _Jxoc a}xi!a}Jc&i+ocbaÀ:jwba<wc xo`JiG_Q aQxaQ]!_Q <aÂGw_Ji+o_}jm~{_Jx &:jA+iGoc&i!aQxo`Jc x:i a}xo`Qwc baQWcu&a)Vn:[i+no]+x?§Z ¯!ªo°-ocscHÀXjAuziGc x<HcN_Q[i+:jAu&b aÀXjwbaU½wc xo`JiGjAu&|o]G_UtWjA~:c~h:9 à Töc bbaoª ýuzizjwbaQiGci+ocaQ]+caS &oc ]+cS -cN aQx ¥<x<~i+ocs|_QjwxXiS§ . ( + .w¯^j *.,$*> K (7. @vª [¸
(110)
(111) *.$ > K (7. @ % & § . ( + .w¯ 50
(112) 3 )+ *
(113) (D- N 4 . 5# 5- . ( .- ( - D410 5- & P § .
(114) ( +
(115) . ¯ 5# 410& 5 [) 4 <)+ A1
(116) D * D % & . ( + . '# . L 9-$0&- .D ( . -0 -50&-X* 5# D4 & ( (8 ( ( ( ! 5 ( 4 & . 4P 0 +
(117) . 0 3 . # 3]2! F5# ( (8 ( ( ( /D! 4 N & A1-X ! 5- . H 41 & . &-X 4! 5- & P § .
(118) ( +
(119) . ¯ 5#/ 4!& 5 -5!&-D. 4. 2. AF)+03. <ª °oca}h<uz_Qwnoi+ctUawnoc_} +
(120) . jAuh<_Jnox<~:c~¦§¶i+:jAu"8_Qr_Q u"8]+_Jb T3c bb a -jwi+ K i+oc~Wjw]+cHizjw_Jx _Q[i+ocNaÀ:jAu 0 + ¯!ª °oc H_Jx:i+]zjwhonoizjw_Jx_}<i+oc[jwx:i+c ]+tUaU >´/ ( . . @:i+_i+oc G<aQxo`Qjwxo`s_Q + .QjAu4¥<x:jwi+caQx<~ aQxSh<c&cuzikjrb aQi+c~ h:ÃaH_Jx<uki!aQx:i0~:c |c x<~Wjrxo`®_Jx:wÃ_Jx 4 <i+:jAu"8_Qw_U u"V]+_Wb T3c bba{ -jwi+' K h<cHjwxo`i+oc~Wjw]+cHizjw_Jx_Q i+ocNaÀ:jAu 0 + §Za}|o|:jwc~ i+_caJ+_} i+oc"jrx:i+c ]+tQaAuF> /( *. @ aQx<~<> *. ( .G !*. @©¯!ªX°-<a}iµjAu- "Xà "oc x . tUaQ]kjrcu 8]+_JbB K iG_ . i+oc xiGoc + ¶H_:_J]!~Wjwx<aQi+cs_}Âi+ocS|<_Qjwx:is§ . ( + . ¯^jmu"h<_Wnox<~:c~3ª ) ªý°-ocH_Jx:i+]zjwhonoizjw_Jx _QNi+oc jwx:i+c ]+tUaU >´!( !*. @&i+_1i+ocG<aQxo`Qjwxo`_Q . aQx$hccukizjwbaQi+c~h:Ãa H_Jx<uziHaQxXiN~:c |c x<~Wjwxo`_Jx:wÃ_Jx"4 §¶hc aQn<uzc . 3 . ¯!ª ¤oc x . tUaQ]kjrcuSi+oc x1i+ocH_Jx:i+]zjwhonoizjw_Jx_Q&i+oc
(121) 5!5#.
(122)
(123) !
(124) "$#% & '
(125) ( *)+ ,.--/-0 1 2! 320$# (4! 2! 5. . jwxXiGc ]+tUa+>´! . ( . ! . @oi+_siGoc+<a}xo`Qjwxo`N_Q . tUaQ]zjwcuýaJu[ -cH¶pJhonoijwi[jAu[h_Jnox<~:c~V]+_Wb¨h<cHw_Q ¡aQx<~a}h<_QtJc h:ÃH_Jx<uzi!a}xXi!uý~:c |<c x<~Wjwxo` _Jx:wÃ_Jx 4ªo°-:jAu^V_Qw_Q u^V]G_Jb T3c b{baSdaQx<~{i+ocs~:c i!ajwc~ |o]+_X_} w_X_Jou^jrWc i+:jA u E. . . . Ð . . . . . . 3 Ð . . . . 3 Ð. S4jr`Wno]+c . ° oca}]! u +! I ! ( +! ! ( p3uzc c S4jw`Jno]+cdp½aQ]GcclWn<aµi+_ i+ocH_J]+]Gcuz|<_Jx<~Wjwxo`?aQ]! u_Q aGw_Ji+o_}jm~1aJu uzo_Q &x®_Jx,S4jw`Jno]+coª3°-ocHjw]s|o]+_WyZcHizjw_Jx<u"_Jx?i+ocaÀXjAu 0 a}]+cNb_Wxo_Ji+_Jxo_Jn<u8nox<Hizjw_Jx<u_Qµi+oci!aQxo`Wc xXi aQxo`QwcaQisi+oc|_QjwxXi & §Zuzc D c S4jr`Wno]+cdq¯& &oc ]+c i+ocHno]+tQaQi+no]+cjAuopuzc c/T3c bb ad<ªf-cawÃJp & |:maÃou i+oc]G_Qwc_Q 0 _Wx S4jw`Jno]+c opj¶ªícJªi+oci!aQxo`Wc xXiNaQxo`}rcaQi & jAu)clJn<a-i+_iGoc~Wj :öc ]Gc x<Hchc iZ -c c x :U aQx<~i+ociHaQxo`Jc x:iaQxo`QwcaQ# i ! I _J? x S4jr`Wno]+c§Zuzc c S4jw`Jno]+c :¯Hª Bc xo_Wi+ch: à i+oc|<_Qjwx:i_QiGoc|<aQi+ H_J]+]Gcuz|<_Jx<~Wjwxo`i+_{i+ocs|<_Qjwx:Fi G¨ _Q S4jw`Jno]+cop:j¶ªícJªi+ocHno]+tQaQi+no]+caQi jmu"clWn<aÂiG_ ( p<a}x<~~:c xo_Ji+cShXà ! ) i+ocs|<_}jrx:i ! & Gw_Xuzcuzi&iG_ {pouzc Fc S4jw`Jno]+cNdª Bc xo_Wi+ch:à ! I ( (! ( ( i+ocs|_QjwxXiHu-_QÂa<aU8¶Gw_Ji+o_QjA~®aQi &:jAGi+ocsi!aQxo`Jc x:i[jwxocuaQ]+c|<aQ]!awcH i+_ 0 §zuzc c S4jw`Jno]Gc0:¯HªE°oc xi+ocb aÀXjwbaU½wc xo`JiG _} i+oc |o]+_WyZcHizjw_Jx _Jx 0 _Qi+oc|<a}i+ %! ! & a}xhcscuzizjwbaQi+c~8]+_Jb aQh<_QtJcsaJuÂV_Qw_Q u E:|o]+cuzc ]GtJcsi+oc wc xo`Ji+<u_Q[|o]+_Wy +%! ) aQx<~|o]G_Jy ) +! I & I aQx<~®]+c |:AaJHci+ocN|o]G_JyzcHizjw_Jx<u&_} ! + !
(126) , I § ¬ ( (,( Q¯ h:ÃiGocHjr]SbaÀ:jwbaµ|<_:u+uvjwh:wctUawnocu ª[°-ocuzc{tUawnocuaQ]+c_Jhoi!aUjrxoc~¦§Zuzc D c T3c bba:¯"V_W] +! I ! 0 + ! I ( p +! ! ! + I ( ! ( p p ! ) + 3 I ! ) ! ) ( 3 + ! ) ( 3 I .ª C&c x<Hc " |o]+_Jy 0%+ ! I ( ²|o]G_Jy ! + I ( ! ( |o]+_Jy ! ) ( 3 + ! ) ( 3 I |o]+_Wy +%! ) |o]G_Jy +! I & °ocsbjwx:jrb a wc xo`JiG & _Q[|o]+_Wy %! ) ! I & aQxhcNcuzikjrb aQi+c~ 8]+_JbhcHr_Q ¢jµ|o]+_Jy + ! ) aQx<~{|o]+_Jy +! I & a}]+c&xoc `QwcHi+c~aQx<~{|o]+_Wy +! I ! ( (G|o]+_Jy ! ) + 3 I ! ) aQ]+c&]Gc |:maWHc~ hXÃiGocHjr]-bjwx:jwba tUaUrnocu)§Zuzc (c T3c bba{:¯[i+<aQi-jAu"hXà |o]+_Jy ! + I ( ! ( ( (+|o]G_Jy ! ) ( + 3 I ! ) ( &ª C"c x<Hc & $|o]G_Jy ! + I ( ! ( |o]+_Jy ! ) ( + 3 I ! ) ( C"c x<Hc & " |o]G_Jy 0 + ! I ( |o]+_Wy +%! ) ²|o]G_Jy +! I & |o]+_Jy ! ) + 3 I ! ) " Q|o]+_Jy 0%+ ! I (.
(127) d. -
(128) FJ 2 !.' 3 1 2! FA 2!. h<c a}n<uzc|o]+_Wy 0%+ ! I ( jAu)i+ocbaÀ:jwbaµ|_Xu+uvjwh:wctQawnoc8_J]|o]+_Jy ! & + ! &2, I p§< (H/( ¯!p|o]+_Jy + ! ) aQx<~ |o]+_Wy +! I &¬ª _Jx<uzi+]+n<Hi4jwxiGocuGaQbc& &aÃsi+oc&|<aQiGN8]+_Jb§ I*(!E¯½i+_Nuk_Jbc-|<_Qjwx:i&§ .1. ( + .1. ¯[§88]+_Jb¨iGoc ]kjr`WXiýi+_si+oc wcHViÔ¯!ª So_J]-i+:jAu-|<aQiG -cs<atJcsaN|<a}]!aQbc i+c ] *.1.<aQx<~{8_J]-i+:jAu-|<aQ]!a}bc i+c ]- -c<atJci+ocjwxXiGc ]+tUa > K+K (8.1. @ ]+cuz|cHizjwtJcHwÃJª Qjwbjma}]zwÃi+_iGocs|o]+_X_}Â_Q+ T3c bba -c0 a}x|o]+_QtJc [¸
(129)
(130) .1. $?> KGK (8 .1. @ % 3. § .1. ( + .1. ¯ 50
(131) 3 )+ 3Y
(132) ( - 4 .1. 5# - 3 .1. I D.- I - D410 5- & P § .1
(133) . ( +
(134) .1. ¯ 5#( 3 (410& 5 [) 34P)+/J1
(135) ( < ' & § .1. ( + .1. ¯ # .1. ¡ -50&-(. I .1. -0 -50&-(X 5# F4 & I (8 I ( I ! 5'A N . .1.. 0 + .1. 03 .1. 2. 7( ( .1.. D41 & 4
(136) # F 02 PF5# I I I D!. F& -/ !< 5- 4 & &-D 4! 5- & P 4!& 5 -5!&-D AF)+03. /. 4. 4. . .1. . § .1
(137) . ( +
(138) .1. ¯. 5# . c]+c bjrx<~ iGoc]+caW~:c ] iG<aQi-i+oc0H_Wx<uzi+]+n<Hizjw_Jx _Q iGoc0uznoh_J|oizjwba|<aQi+{jmuý|c ]zV_W]+bc~{jwxiGocN aJuzc 1 &oc x²~WjAuziÔ§+§ ( (H:¯8(Ô§ I (!E¯+¯ baÀ<§ 4F(0 ( 0 (01 I 0 ¯!p ukc ci+och<c `Qjwxox:jwxo`_Q-i+ocuzcHikjr_Wx 3i+:jAuNH_Jx<~Wjwizjw_Jx jwb|:jwcui+<aQi . .1. LaQx<~ . .1. ª
(139) µa}]+#à . aQx<#~ .1. uk_i+<aQii+ociHaQxo`Jc x:ijwxocuaQi§ . ( + . ¯aQx<~§ .1. ( + .1. ¯0uko_Jn:A~?h<c |<aQ]!awcH¶ª Sq_J] . :U/ ( .1. :Qa}x<~?8_J] . :U/ (> .1. :U iGocaQxo`}rcuShc iZ -c c x$i+oc{i!aQxo`Jc x:iNtJcHiG_J] i+_i+oc|<a}i+¡aQi®§ . ( + .w¯aQx<~¦i+oc?tJcHi+_J]§G§ . ( + .w8¯ (Ô§ .1. ( + .1.¯+¯<atJc~Wj : c ]+c x:iuZjr`Wx<u ª fcarÃJp" -c<atJc aw &aÃEu . .1. ª+C&c x<HcJpÂV_J]uz_WbctQawnocu_Q . ( .1. &:jAG$tUaQ]GÃjwx$i+oc jwx:i+c ]+tUaUmu > K (8 . @(/> K+K (8 .1. @ ]+cuz|cHizjwtJcHwÃJp §v]+c bc bh<c ]&iG<aQi-i+oc Ã~:_Wx ³íi&tUa}]+Ãjwx<~:c |c x<~:c xXizwï&i+:jAua}xo`QwcsclJn<aAuoªo°-:jAu&`}jrtWcu-i+oc uznoh_J|oizjwba-|<aQi+®V]G_Jb§ ( (H:¯-i+_?§ I (!E¯s § S4jw`Jno]+cdo¯!ª &xocGocGEuS~Wjr]GcHizwÃi+<aQijwiuGaQizjAuv¥<cuNaU-i+oc jwx:jwizjAaÂ]GclJn:jw]+c bc x:i!u ª {¸
(140) <
Documents relatifs
Notes de lecture : ”Walter Benjamin, Moscou, Mille et une nuits, collection La ville entière, 1999” et ”Jean-Luc Nancy, La Ville au loin, Mille et une nuits, collection La
loppé, tandis que le kilométrage des lignes ferroviaires ouvertes au trafic fret se réduisait, ainsi, et beaucoup plus fortement encore, que le nombre de points d'accès (gares et
A partir des mêmes données de l’ OCDE , en appliquant la même spécification aux biens et aux services, Ceglowski [2006] obtient des coefficients plus élevés pour le PIB dans
Le document du MOFCOM précise ici le rôle de l’ACGP (planification préliminaire et coordination des grands projets guinéens ; contrôle de la qualité des projets) puis présente
antennal segment, body length of about 2–3 mm, uniformly dark brown scutellum, one pair of strong prescutellar setae, left ventral epandrial lobe with a row of about 18 teeth on
Dans le cadre de ce travail, l'analogie est d'ordre méthodologique : par « comme si », nous indiquons que nous avons soumis des programmes informatiques à des méthodes d'analyses
Ces métadiscours ainsi définis comme ayant pour seuls objets les codes linguistiques et leurs fonctionnements, leurs représentations aussi, souvent en termes de normes sociales,
La démarche de la présente étude a consisté, à partir de l’observation d’une même syllabe dans divers contextes, à relever les variations de quatre paramètres
