Visual Servoing from Lines

Texte intégral

(1)Visual Servoing from Lines Nicolas Andreff, Bernard Espiau, Radu Horaud. To cite this version: Nicolas Andreff, Bernard Espiau, Radu Horaud. Visual Servoing from Lines. [Research Report] RR-4226, INRIA. 2001. �inria-00072393�. HAL Id: inria-00072393 https://hal.inria.fr/inria-00072393 Submitted on 24 May 2006. 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) INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE.

(3) . .

(4) . Nicolas Andreff, Bernard Espiau et Radu Horaud. N° 4226 Juillet 2001. ISSN 0249-6399. ISRN INRIA/RR--4226--FR+ENG. ` THEME 3. apport de recherche.

(5)

(6)

(7) "!$#&%('&)+*-,./10325476980$/1,'&/:.<;=):>"'&?@A03B-C-'D.?FE-#G/:'&?.H IKJMNL O+N=PAQSRUT$VWN1XZY3[\VW]_^T J Ô+O+N`(OaY[ J ]_TbN3c ]_O+YdlN:eXZcb^jfgmnN^3VZTbeKTKo5N1h N1R le1cgN[Vq^TipsTiYjr]ktqeWeZRYjTD[N1e u YvbvD^3XwVfgN=XZN1[ J NXx[ J NyT&z|{7}}j~Q3b]__NV }iQSP$}AvDYjdN:e. Y3|ewN:1fb^3TYs V J RUNT

(8) ^XZNV JVZ]_]k[1eYjJ K5Yj^TiXZGfc5d5N1NÔ+vbNXZVZN1XWeW]kN[T$YV5YewVWDifgTifbl ^jYj O+V N1J T3NVxYjOa_Yj]_TTbN1]_TbNYvbXWvbN1vbXZ^3XZIKN1Y3JeW[ NJ T$VZVZYj^VW]_7^]_TieWeiY qJ ew]kN1[ XWJ 3^Y]_Tb_^d iN:f¡eW]TbideVZ]_^TbN1fbe1yN¢iTbR(VN£]kY e TbeWNN1XZ<^3XZ]NTbvidDXWN:ewRUN1TiT3fgVxNYN:VZfM]^3cT¤V c7J V N¡N YjeW^j_Ù^[ªY_V N1J f N-fg]_TbN¢i^TbXZOa]VW]_Yj^_T]¥1N1^f qY£nivb¦ [xXZ^N1v&XNXA[^7]_ÔaXxYjfgd3]_TiNYVZ]_N1Tbe1N Y]_dNTi-OYN1XWT$N§VviTbY^XwVZVW]_]_[^bT¤k YjXZIKaJ 5N«N[_^3¨T3eWVZbXW]©^3VZN19f-kY¬VWâ7 ]kJ ewD]_[ YjJ XZYN1TiYYj_]_$¥N:VW]ke|[eWYji[ ]_J T7YjNT+XxeWYj]^3_]_T£dTb^jO+9NV T$J V N+J OY3e^VWO]_^^3TsXWN1N1^°$iN1YX|VZeW]N^33TiNe§XxYjYj$TivbfXW^3dvD_^ N1 XwVZY]|N:eY3®¯ew7viO+YjXWvgVWVZ]kYj^jgVW]kfg[N:en[Vx^3Y b vb]__]]TbVnd [^3NTiVn5fg]NVWN1]_T^TiXZe1^j VxYIKVZ]J ^3]kTe=Yj[^3TDT3f VZVZXWXZ^3Y¯TikewY¬kyYVZ]K^3YT¤e c Yj_]kfbYVZN1f ^V J ]_TeW]_OAbkYVZ]^3T«YTifN±gvDN1XW]_O+NT$VZY_]_T-V J N eWvDN:[]¢D[=[Y3ewN²^jYjT«^XWV J ^3d^3TiYj&VWXZ] J N1fgXZ^T¨ ³£´$µG¶W·¸ ¹| 7]kewDYj¤eWNXZ^]_TbdDc$viXW^mnN1[\VZ]3N d3N^3ONVWXZc7_]TbN=XZNviXWN:ewN1T3VxYVZ]^3T¤c l ni¦ [xN1XK[^7^Xxfg]TDYVWN:e. º ê »gÂG¼\Ów½¨ÎÊÆ¾|¼xÎ"¿§Ò3¾£å ë&È"ÀGì:Á¯Ëí¼xÂGÌjÃiç|Ä:ËÑÆ¬ÅÇÆ¬Î"ËíÈÊ¼ ÉÊäË ìjÉ"Ì1ÓnÉ|ÈWå èÍÎ Î"¼xÆbÐ Ï ¼xËÑÈ¯Ò¬Ó9¿«Ó Ô Ð ¼xÆ¬ËÑÕÌ¬Ó9¾¯Öx¼xÆ Ð ÓwÔ Ó\ÄÂGÃ×\Ø:Äj×\Ù:ÚWÛxØK¾¯Ì¬Ü¬ËkÓnÝ Î"Ó9ÞGÓnÒ¬ÓUßAà_ÍÎ"¼xÆ Ð ÓZá(Äâ¯Ë Ðnã\ä ¼xÈwå ¾|Æ¬Ò¬ÎÊÓUæ7ç|Ë èé¼:å èÎ î ½¯¼xÒ¬Ì3å ï ã Î(¼xÌ:Òjç|ËÑÆ¬Î"Ëí¼ ä ìjÓnÈWå èÎ Unité de recherche INRIA Rhône-Alpes 655, avenue de l’Europe, 38330 Montbonnot-St-Martin (France) Téléphone : +33 4 76 61 52 00 — Télécopie +33 4 76 61 52 52.

(9) | | -|| q q« q = £ £

(10) ´ ´ YjTDe¯[N9VWXxY¬Yj]_Êc¬Tb^3ie¤viXbN:h ewN1T$VW^TDeMbTbNKYjvbviXW^g[ J N^3TifbYON1T$VZYj_NO+N1T3V¯Tb^b3N_N5fgN YeZewN1XW7]keWeWNO+NT$V¤7]kewbN1 vifgN:YeKX^fgXW^3eW]©NVZXZN1e Y°3VZ]i^3]&TTifg^Nie5fbXWY ^3]©v&VZNN1XZe1O+9]_eK__fgN5N²N:f enV Nh ¢D TbY]egX5Nh NKbTbewiN²X9Tbb^3TbbN-N1Nh VW_iNfgXZNKNvbV JXbN1N1h h eW^NXZT$]_°$VxYbVWN5]_^NTaV9dYNvbh ^3vDON1NNh h VWN XZ]k[°3^7i^N Xxfgfg^N:TbeTKvbNXWh N:]_Tie[fg]viN Yl N:nDe¦ [xXWN1NvbX XbN1h eW]_NTbT$^VZXZYjOVW]_N^h N:Tiee N:eA[^7^3XZfg^3TbTKN1h N1e=eW^T$VAviYXwVZ]_[b_] N1L XWN1O+NT$V ]_NTYfiYjvgVbNh N:e Y£ L Y3eWeWNXZ7]_eZewN1O+NT$V 7]_eWbN" 9T¡N &NV1cN1_N1eAvDN1XWO+NVWVWN1T3V+fgN f5YNh]_¢idTbTb]_N1XO+vbNXZT$^V«viY¡XWN1OvDYjN1X-T$VY]__Y¡_NbTiXx^jeVW]_^vbT_ieWf]N1 Yjb_Xx]_deTbvbN1XZO^N1vbT$XZV-]Nh VbfgN1h Nefg®¡XZ^f5]N:VWh N:[e^3bfbvbYkTiYjdeN£ vD]_OaYjXWYjVWd3]_NNqN1T$¨VWY¡XZN_^XW]q^fbVZYjNVW]_[^^3T ONOaV-YVWTiXxfgYjNTieW°$kYbVW] ]_^XbTiN:h O Yj_]_eW]_T7NbNTXxeW]VW^3N1T YYTiNh YjVb_N²h$VW]kYj°3_i]_f5N Nh fgN=N:Yje=iN:h eZ°$eWi] Y VZ]]N1^3T-Tie¨N1T£fgAew]_OOA^3bbkYVZN1]O+^3T«NT$°$V¯N VN±g[vK^NTih XZfg]O+]VW]_N^T$TDVxeŸjd3_NO+^ NYjT$_VN1e¯ewbfgXN ew_N VZY [ Y3]eK_]VbviN h YjY3XWVWew]k7[O+ivg]_NVZX ^jVWf]k°$ bbT«N VWXZ ] N1L NfgVWVWXZN5N ^3^3Xw]$V fgJ NK^d3[^^3TiO+YO+Ê YTifgN ¸ 1 ¶ " ! ´ « YeZewN1XW7]keWeWNO+N1T3VK7]_eWbN1ÊcgdNh ^3ONh VWXZ]_NqvbXZ^jmnN:[\VW]_N3c7XWN1vbXbN1h eWNT$VZYjVW]_^TfgN:efgXZ^]VWN:ecg[^7^3XZfg^3TbTKN1h N1e5fgN l ni¦ [x3NX.

(11) ¯ ! ´ ¸

(12) ¸ ¯´. P. q | ¸ bg Ê¸ J 33 } ²N1 Ô+^NXWVZV XW-XWY]eVW]k[Y Y NT$]kVWenXxVZYj^MXZRneZ^jeWb|N§tq]]kTewitqY ]keW7iN1YjXW37^N1]_TbXW3d ^]_Tb=d§====²²==§§==§§====§§==§§==²²====§§==§§==§§====§§==²²== P 3 P p^jVW]_YVZ]^3T-^¯V J ]_es^3XW=§=²=§==§=§=§==²=§=§==§=§=²==§=§=§==§=²= ~ ´ g ´ ´ " g ¸# $ |! }b o5}b]_3Tb^ XZOau Yj_N1]¥1[N1Yf keKl ^niT¦ [xlN1niXK¦ [x[3^7N^X Xxfg[^7]TD^3YXZVWfgN:]_eTiYj§VWN1=e =§§==§§==§§====²²==§§==§§====§§==§§==²²====§§==§§==§§====§§==²²== ~~ }b}b33 P} RUo5Oa]_TbY^dXZN=OaYjYj_]_d3]¥1TbN1O+f Nl T$nV i¦ ^j[xN1Y+X 'P [&s^7^Xx]_fgTb]_N TiYVZ=N1§e§==§§==§§====²²==§§==§§====§§==§§==²²====§§==§§==§§====§§==²²== %( J }b } }b}b ]k}b3eW[{ ieWeWRUp]_^T«TF^jV VWJ ]_=^N T=P §^ |=eWY+vi§_Y3]=Tb[N+§N§==ge1==§§O==^VW²²]_^==T«§§^j==|V==§§N ==[1Yj§§O+==N§§XxYª=====²²²===§§§===§§§======§§§===§§§===²²²======§§§===§§§===§§§======§§§===²²²=== 1 }b }b } RUT«V J N=]OaYdN §==§=²=§==§=§=§==²=§=§==§=§=²==§=§=§==§=²= :} )#¸ ¸ ! PiPi } RUIKT$J VZXWN ^g9fg±biYj[VWO+]_^vbT_N²=^§Y*=§7]_=Tbd3§N =¤=]_Tb§N<=²²==§§====§§==§§==§§====²²==§§==§§====§§==§§==²²====§§==§§==§§====§§==²²== 1{P Pi P Pi² N1PiTb NXxYj ^Y3T$ewVZN XW^3M§]=T §u =^jVx§YVZ=]^3=T §==²²==§§====§§==§§==§§====²²==§§==§§====§§==§§==²²====§§==§§==§§====§§==²²== 11~~ I Pi { Pi Y3Piew }N§^¨V ^3J T$NVWr XZ^XwMV J]_T ^d3^XxTiYjYTi eW_I YjXZVW] ]_J ^N:T fgXZ²^T=§§====§§==§§==§§====²²==§§==§§====§§==§§==²²====§§==§§==§§====§§==²²== 1~+ ,.- b 3 ! / ´ ´ 0´ : 21 {D{D }. oK Y3fb[xfg$]_Tbd3XWd ^3bTiNfMvgV®|J 3Y s^3N1T$_VWfbXZ]^Tb*d =q=vbvb§_]_=[1Y²VW=]_^§T ===§§==§§==§§====²²==§§==§§====§§==§§==²²====§§==§§==§§====§§==²²== 44%% {D{D {P ¨ ]^3TiO+N vb9g±7VZVWYjXxVWY]_^[\VZT«]^3^jT«|YV J TiN f Ï ]XxTiYN [x7r ]_TbXZ]_d NT$VZ²Yj=VW]_§^Ti=e =§§==§§==§§====²²==§§==§§====§§==§§==²²====§§==§§==§§====§§==²²==}j}j {D{D ~ 9g]±gOvDbN1_XWYj]_O+VW]_^NTT$VZu Y N1eWu bN1eWVZbe©Vx=e §§====§§==²²==§§====§§==§§==§§====²²==§§==§§====§§==§§==²²====§§==§§==§§====§§==²²==}j}jP 5 )#¸ " ! | Ê¸ ¹ - ´ ´ ´ $ - ¸¤#¸ IK

(13) J $ A N^XZNO ²==§=§=§==§=²=§==§=§=§==²=§=§==§=§=²==§=§=§==§=²='} + A } IKJ N^XZNO }A==§=§=§==§=²=§==§=§=§==²=§=§==§=§=²==§=§=§==§=²=}6% A P IKJ N^XZNO P==§=§=§==§=²=§==§=§=§==²=§=§==§=§=²==§=§=§==§=²=6} % 7 8 \= RUYTTiYjV _J g]kewe§]ke ewN:^[\MVWV ]_^J TN²N 3N^_ewgNVWV ]_^V TJ N^jM[^V J T$N²VWXZfg] ^3gOaVW]_Yj^]_TT¤c7^ 9N V J NNO+viv YJ vDY3N1ew]_X ¥Nq]_TV J V JN²NATbNd3N:Nf+TbN1XZ^YXK¨[^3XxTiYjO+eW]_fgN1N1 XW^3]_TbXW-d^jO ^37XW]kN ewiewgYew|VWeWNNOaXZYj^3VW]]kTi[Yjdi_9 _d3ÇNVWN^3X=OY NVW XZ]_XW[1]_YjN ]keWeWbN:e Ye Y5Y¬^j¯]_O+vbXZ^$]_TbdV J N [^T$VZXW^3Ê . :<;=:. >.?A@9BDC2EGFHCIJEKIMLON<PRQSIMT'E2BDC2UVBDWYXZIMT0[N<P\?^]CK_`BÌMa9b IKJ N£ewVW^3XW^j $]keWiYjKewN1XW3J^]_Tbdd3^$N:e Y[x VWJ ^sV J NeWN3NT$VW]_N1e1 5 V+V J ]keVW]_ON3c9V J N«[^Ti[NvgJ V+^j XW^ ^V Nd$YjTVZ^VZ^ N J[^Y¬]O+V3J NAO+]_ewÔ+^3TbOO_ N«N:fgY3fg]k[NY[d3VWN_XWvgN1VZNN1Yf^jeZq[Y]_YTie§gYjV VWVW^3N1NTbf^^3XWOTbN:NaewN:f^jYjXxq [ YJO+NOa^XxTbe5Yd[ ^V X²]J TbVnNN5ew^N1]kY TiXZN1eW_^Y3N+Xxewe ^3VWTi^Yje_]®5T$^VVW JN1]_XZNTbY3d£]_[\TgVYVZ^3^sÊc XWewN1OafgTiN1YewVZ]_N-]^3N1YjTX Tif¡V J J Y3N-]k[\[ XZVeJ N1d=°$[ b^]_]©bVXZN1kff]©Vxv&O+e ^jN1VZNY3N±7T$ewVZbVWN]kXZXZYjNTi_O+Yj 9N1T3N1VxT7Ne$cN]_±7XZ[1^VWYjTbXxO+YO+[NVWNXxN1T$Yf Ve XZXZ^Ôid Y=J VewN]V V^jTbGN:]OaYjXZYNdXN1eXW^3eWNO N1O+J N1bfaOaYjYj_TO+^3ew7ewV]_ke1]© V J r ^g V ]_Tb]_dsO+VW]©Vxêh$g V V J J ]_eaN[fgYjXxvDYjYOa[Yj]VnVWA]k[-^&YOviXW^3^b7T$]kfgVa]Ti^jd§ Y§]_TgXZ^^3XWOa^jV9YVZ ]^3]V TJ vi7XW]kew^]_7^]kTfgN1^f TD[\VW]_^[TiYjTiO+Yj_N1]©XZVZY3]N:ee c VYJ vbNvbXZ]_^3TbY]VW[ ]kJ YjN1Ke1Yjc O J ^ ]©VZ]VW^3ÂT¡Y3][\T¡V: XZIK^ J ^jN VZ]_]_[1fbe N1Y=K^YGe=Dd3ewN]_TbTbdAN1XZ[1YYj_O+NVZXx^jYei2]_k#Til'eW]_mofgneN²prqJY=stk#[al^3T3V VZJ XWN-^3b _^$^3^3XWvkfM[c|Y]OT¡Nq^3XZ_YjfbVWNNX=X VZ^sXW^3fgON:[Y§]kfgXxNYc|V J V NJ X5XW^3fgb] &d JN1XWN1eWT37V O vD ^3^]_T$]_[V ^9$]_N=® £ewN1N:[\VW]_TbdY3fgN1°$iYjVWNv3u ew]_dTDYjke=u ]_TYjT£]_OaYjdN3c&Y[YjO+N1XZY N1[Ô+N1e YewN1TieW^XqY3eWeW^g[]kYVWN:f ]©V J Yfg7TiYO+]_[1Yj. ½¯½ Æ6wKxoyry\×.

(14) {. sp k#l6n=m

(15) 9mhnrk#s6n=l^p

(16) stiHmhq s l6itn sti l. WeIKgJ enN:VZNewNOVnc¯ vi^XW^Y7vb]kfgvb]XZTi^3dY[ YJ V N1e²N3dNXZXZN VZ]ewO+N1viNYjXx]VAYVZ]ke=TbNXW^3N:fgO N1fV J N]V NJ ]_d JYVZ]$N:]_eTi®=f V ^jJ NaN1¢iXWXxXZew^VAX=5O+Y3N1e=Y3ew_]iTbXW3N1N1OfsN1T$VW^V V J ]©NV J [^XWN:O+ewvbv&gN1[VZV=NX VW^7]kewY]_^d3T^3YjfbÔaYYjb]_T¤N3c Oa prYji ]_Tbs_ £phmhN:n Y fgN: kf Yvbvb[XZ^3^3OY3vi[ JgVWc3N1]_T7X²eZN:[en]_VZN]T$d$VWY]kVWewN:VZe²f Yj Tifsv&YjNvb^3vbvb_]_N²N1fXZÔaO YjV V J J N1N O+YjYjbVWVW]k^[]kOaYjTiYjVWe1]kcG[² [J ^]_T$NVWXZV^J MN+YXWeWN:N1Y[1^3 Tibf£^3d$XWY¬OaYN _XZ]_c7eWN 7]_VZeWîYV ¤J ewNaN1XWew3^`(^[1]_TbYj_dAN:]kf e V J N YjXWV ^jfgN1eW]d3Tb]_TbdaY[^T$VWXZ^G_^7^v YeWN1f-^T£[YO+NXxYAO+N1Y3ewiXWN1ON1T$VZe1c$]_T«V J N§^3_^ ]_Tbd+5Y¬G® ! V J N[^3T3VZXW^3¨]keV J NA]_Tbvbb V "s^j YeWgenVZNO vbXZ^7fbi[]_Tbd-Y n=m# stq$ m ND[_]_fgN:YjTO+^VW]_^j e^jwN1 V N1J XZN+Yb]_Tb[YjvbO+gVAN1XZeWY vic Yee [dNYjTic(*faY)+Ta(,^ % eW'\NXZc P N:dMfd\cMVZ3YjNXZ_d^gN[V1] VW]_IKN1e§J Nq^X=[^Y3Ti[eW[]_N1fbN1NXZXZYjN1fVW]_^^TiXxfge N]_X T ^jY«MV viJ YNqXZYewgOewNVWVWN1XZO T ]¥1N1ccw]_f1&T ew[V % ^^'\TgX5¢Dc }PdTibdMd\f Xxc dYVZYj]NTi^3VnTsf5NVeWJN1viTNqY[TD^NYTbVW-/NAi.^XW03NX c YYjTi[VWf-iYj^VWT«^X9V J VWN=^XxvD°$^$beWN1eWee ] d fgN§N1NvD±7N1]kTiewfaVWN^3TDT+[N§V J^jN ]VnT$7VZv&NNqXZTi^YjGMD_ew^7N:^favi4e XWg^ ^V1c3^T+V J N YeZeWbO+vgVW]_^Tie9O+Y3fgNqY ^3gV V J N^N1XZYDfg7TiYjO+]k[e ! V J Na^3gVWvigVeWviY[N]ke§V J N^TiN]_T¡ J ]k[ J V J N+VxYeWVW^Y3[ J ]_NN32c 143]ke ewv&N1[]©¢DN1fMc stkOl]T¡ J ]k[ J V J NY3[\VZiYj9O+N:Y` eR(wV-iXWe N1J O^N1bT$kf 5V 1- N]ke²N[O+Ô+v J vbY3bewVW]_N1¥f«N:fXZV ^J OYV-]_Oa YjJ dYN§VZNN:N1YXaVZbV XWJ N:]_eecGfg¢iN1TiTbYj^jqVZ¬N1Yf£XW]kYY e 63N£cD ]ke J ]kc[d3J N^3[1OYjT NVWXZ]_NA[«]_¢DTdYbfbXZN1fbe+]©VZ]]_^3T

(17) TYY+]OabTiYd[VWN]_cK^TN:enVZ^]OaVWY]_OVZN1N3f vD]T7^$3ew^N3_cgNN1Vxf¤[j _ d\ciV J N eWvDN:[]¢bVn^¯V J N fg^3O+Y]T«]keKV J YjV1cieWÔ+N1 J NXZN ]_T«V J NAvbXW^g[N1eZecgY+vbXZ^jmnN:[\VW]_N VWXxYjTDen^3XWOaYVZ]^3T]ke IKJ N fgÔaJ Yj]_T+]_e Tb^XW]k[ J ^j¤ew^3JO+N J i TifgXZN1fbe^ MXWNNXZNTi[N1eYjTDf+^bX9d3^3Yg]_e Tb^jVVZ^ vbXZ^7fbi[N J N1XWNYTaN± J YienVZ]3N ewbXZN1 YO+jc ^V ^TbV O+N§J N N1^jT3¯N1V:VTicifa_N²N^jVq¢iMDXxV eweJ V5]k e5XZXZNeW]7<NN1]_;i[NVW]_ê5N1T^^^3T3TaN²V V V J N=J NqN eWOaOaYmnYVWN1]VW[TNV X5vi]_ eYjV J 7 J ]k[e^J eX^(]ke _9P 8¤^[5NYjT$TDN1VWff-XxYjYADVWVWgÂV VZJ V ^N J XZ]k]_XWeYN:GewvDN:O+YjYjv&Y¬XxN[ X:J c3N]_XxN²e _iVêwJ bVW]kXxTDeKYfVZVnN15]_fa&T â 7 _9Y3]V en JVqfbY=(N1~ [N8Y3dfg< N1XZse1NN§N1IKXW N1J Ti]_N[M N:^3e Tb:Nb_+^^3TiX ^gd+V[JiVW^Ne V J XWN1N=OaYj]_T«[_Y3eWeWN1e1®fgN¢iTi]Tbd+V J N§^gVZvbgViTi[\VZ]^3T¤cg¢iTifb]Tbda]VZeKYXW]kYVZ]^3T«YTif-eW7T$V J NVW]_¥]_Tbd+V J N [^T$VWXZ^" Î Y3mnewN:[\VeWv&^jN1G[Y]Vw¢DVZ[1NYT$VWVW]_]_^^T T¨cKYqYXZe²N1[^NTbT$NV^jY VwVZV NJ O+NavgN:VYjVWXZ^²]_N1ew^3V=XWOaYfbYjfg_]_XZ¥N1N5eZ]©eWVN1fvbXZvi^XWv&^ N XZN1 O NYj]_TbTid²fs5^bN+TD[1fAYjTs]_=T Tb7 N3 NXWqV fpJ N1( N:(eW8(e§ IKeZY¬J N V J YYjeWV§]_[5]V [^3]ke=Ti[enN1VZXW]_T ]]_T-N1e¯V J ]_T=N²V J YN XW]_ ^Yi[e5V¨V]_T7J Y^V¯_V J N:N1fXWN5eWviYjYXZ[N N1Oae5Yj[T7YT²5J Y¬Y¬3gN e¤^Ni±7VWfgXZNN¢DO+TbN]Ti_d5fg1²] &XWN1^3XWO>N1T36Vc¬e J ]YjV v&J N1eKNN1XZ§N1fgT] G]¨NXZV NJ T$N V|[vb^XWT7^33vDNN1XZXwdVZN]N:TDe[®GNV ]kJ eKN NVWTiXxeWYbmnXZN1N1[f VW^3g7XWV ]_J N1N e NVJ±gN£]kenVZv&N^3TieW[]NVW]_^YjTbTDTbf]_TbV Jd¡NYTi[1Yj[bVWbXxXZYNA[¡^9]_evD^$]_eWTbeW] N:fNVZew^]_TbdV JiN_YXWeW]NVWTD]_N1ewe ]VW]_en7VZXW]©Vn^3Tbd^_ «1fbN v&]©NV TiJ fbe²XWN:^3ewv&T£N1V [J VNVZ^?[ J "¯^]k [NIK^jJ ]_Ve+J ]kNe^3YgVaVWviV JgN£V îXZTi]_d[\]_VZT]^3T^j g T76dKbO+^XqNXZP ^ ie c moi4^3<XWFgl e1mecjs6V k=J YGV tYjpXZ q$NtikHeWiCEYjDe_sph+me[l²kY`5eZXWeWN:]©¢i°3iN:fa]XZ]]_TiTadaVn XWN:^ [^ TDYeneWVZ]kXW[i[[YjVWVW]_^Nd3T^^XZ]XqN:evD®^$}ewN= N:c@enBVZA*]Oas<Y VZm#]CE^3DeT std\pomelqu `^ bd^3JXW73]_TbcgdAV J fgN ]_XW¢iN:Xx[\enVZV ^^TbT N ]_O+e êW$b]_vbTbv&d^3eWeWgN1fenVZNVWO^ ]N=TV N:J eWNeKeWP N TieWew]©VZvi]Y33[N²N VW^+Oa[Y¬Yj _] NXZYjbVWTb]_^vbT-XZN1bfbTi]_[[N1VW]Xw VxYjN3]_T$ VWIK]_N1J e1Nc7V ewJ N:N=[^3[Ti^3fbT$]T7VWN13XW^vi_YXwN1V e ON1^3]TiXWNd[V JYjkY[V iVZ_YjXZYjVW]_mn^N1Ti[eVW^YXZTi]_N1f£e ]k^jeq¨_V N1J eZNe XWY¬^ ^3i]_fgewN:V1fMc ` gqV§^ VZXZN1YjmnNN1X:[\c7VZ^]TXZ]N:V eqJ Y[1VqYjT Yvb vbNaXZ^3ewY3v&[ N1J []©c7¢iV N:J fNA]_XWTN1VN1J¬YN+T$NVi][Oa]kfgYjd3N1YN²TN1eWYviVZYb[XZNN1e eWiOa[ Y¬J V _J N1YY¬V:3cGN²V^J X§N=N±b7]kYjewO+]_^vbT«_N¢icGN1^ _fM enVxI Yâ[N:ê 3N[1XxYj[T ^3O NN V J N:ewN fbJ] I[i©VZ]N:ecbXZN1eWN1YXZ[ J NXxe J Y¬3N²]_OaYjd3]TbN:f-eWN3NXxYjGO+NV J ^gfbecDYjO+^TbdV J NO® ! VZâfgN¢iTiN=^vgVZ]OaYjM]_OaYjd3N N:YVZbXWN:e5^XYd]_N1T«Yvbvb_]_[1YVZ]^3T-^3XK¢iTifYfgN:°$iYVZN²XZNviXWN:ewN1T3VxYVZ]^3Ti,e 7 ( %8 g ! VZêwv&N1[]©sd^$Yj]_O+Yd! JV N Y[\V V J YjV V J N VWXxYjTiN eW]q N1n=T$sLKhV mVWhXxqMY6mnnNN:[\mrJVZp^6XZ]36N:ce OMd§YjXZ]_TiNqenTiVZ^jN1Y3V fsviXW^N:5fgd3]_[^3VWY] _vDN²^$eWew]]TDVW []_^N TiV Pe J N²7 p ]Ti ]©VZ ]_Y D(0N1XW+/XZ8(^ XxeIKYJ XWNaN ]__fgYN:XWYd3N]_e i ^Y_eW^N1fs]_^TbTd YXxYjO+N1Y3N1ew ] ^3_XWN-+^3 gVW]V viJ gV+ NVWVwXxVZYNmnXN1[vbVWXZ^3^XWv&NXW VW]_]N1V e4g ewOaYj_KNXZXW^3XZe]keYsKY¬¡^j N]_Tbd¡ewiXWN-VWênVxY¬¡]T YVWXZbN-XZNd3bkYVW]_^T T 7 ( +$c bo ({ 8 g ! VZ^+iewN=fg7TiYO+]_[1YjM]_Tg^XZOaYVW]_^H e 7 ,R (~ 8(S sN ]__ eWNN£V J YVV J N ! VZ^[^3O ]_TbNeWvDN:[]¢D[YjVW]_^Tie]TF} YjTif P 7 p Ao ( (/8 ^X^V J N1XewvDY[N:Q J J YvbvbXZ^3Y3[ N§vbXZ^v&^3eWN² Yj_¤]_TV ]_eq[YVZNd3^XZ }g

(18) N²eWN1fg[N^3TiTi^jfVWN§]_eZYeweiNU T ]YjT+T-V NJ _NqNO+YjXZNN1T$Y²V5K^jYe%VeW'Y^7^c P'T+dXWcgN:Yj[Ti^3fadTbXZN1]_¥[1N:Yjf_]_Y3TbedA^jV ¤J [YjXZV]©VZ.§]_[1Yj]ke gV]_O+J N²vDvi^3XwYjVxXxYjYjTiO+[NNVW®¯XZV]¥:J YNVW]_ew^VWiTafb^M^V J DN§V J eWNviY[YjNqXZ]_^jYj|VW]_Y^[\TVZi^jSYVZ1G]^3¯T¤R( c N J Y¬3N W 1 W 1 W 6 W UT cw d W .YX W 6 W U T W . J R J J J J VYjJ TiJ N£faYV vV J fgN g^£eWi]_5[1ewDYjN!Yjn=GeWme7°3siewBVWFN1\N1ewO VWkO]_^meYjTm TDl]kfeVZ®|^]VZ$e+TiYj7^V5Tb=^fgc¤ ^]__e N1fb]N Tsd$N« TiY]^[T7V ^3XWY N13_YjN1^3VWegN1V fXZ^ V VW ^^j]ke VXZN^ [±7 YviDXW] en N:VZeWXxTbeWYN1]VW^3eZ]_e§[T^TZ ^j YV eW^J vDVWNN:N[\[VVxêT$YVWV XZR(V^V" N²e J IKO+^Jb^NakXZf N_Y3XZ NenN£V§_NVW]_dN1YjTbXWT$O ^3V XW°$N:XWbfNN:N]en XxVZe ]V^3J VWT¤^N c ] ¼ ì¬Ë ã Æ¬ÓnÓnÎ"ËÑ/Æ ^`_ ã $Î aËÑÈ b cYd:â egÛ fÇå Åâ¯½¨ÅÇ¾.

(19) ¯ ! ´ ¸

(20) ¸ ¯´. . J J IKJ ]vb[T7^3XZ3T3]Ti^VZ[_XW]^3viN ¯N Y]ke§Ti]kYjfgY _N $¢D_VWN9Tb]k[N1VZ^fVZXZ Y^N TiTb_ewviXW^^3YXZvDO+e N1YjVXW_VW=]_NêwTifgv&e9N:N1ew[]_XW]©XZ^3¢iN1O N:ffM3V J NIK_N§^gJ ]_[N Oa]VnOaYjdYjeZN§]_[TAXZeWNvi[y^YTi[^Nq[9NVZXZÂV T=V N+J]_N1N§[1e¯Yj^]O+TAgVZNV vbXxJ YagN5VNXx±gewYjvDvbO+YXZN1[N3N3eZ eWc7]^3TJ NA]_[ ¢DJ XZ[YjewYV XZN _VZN1NDf=XZewO N1N1XwYÙ]_fgVZe§bNeWXZ¢DbN Tbvb$N1v&f-Y^3[YjeW^ N1Ti ff]kYjVW]T¤T^ c ]Y«T$VZO+NXxYYvb[\vbVZ]_]Tb^3Td«O+XW^3YjO VWXZ]©±«%V'\^X cÊP']_OadqVWYj^£dNKeW^mwY3O+[Na^ ew]_ Y T¤ew^NV=g]^jTi [N=

(21) V GJ c¤]_eqN:YO+[ J YjVW^jXZ]©5±M]©ciVxe=fbN[Tb^^_bVWN1O+fTiY3e§e]ke cDYjT XWN:ewNb_NO+VZe N1T3XW V=^3O ^ V V J J NANfg[] ^j&VxN1YjXWTbN1d3T3NVZ]_T$YjV=VW]_ew^viTY3[^jN ^jYjT£%VY'\fmncÊ^P']_T3d\c|V ]_^T¡v&^jNXxV YJ VWN^3X=X1VZ^ NqXZO+e eAe J Y£^ eW[TXWN1]_=+T 7 R(Vu [1Yj(3T }9Y V 8"J cDN1 XWNJ N^XZXZNAN Y+ d3N-NewTbgN1ewXZVWYNMOaOYjNVWV]k[J Yj^g_f£_^N9±g[vb^XZO+N1eZvbewN:bf VZY]VZT]^3TYj5XZ]Y3^3eie§vbXZ^XxYjv&O+^3eWN1N1e fMicbew]Vq]_Tb]kd e YjN1kN1YjewN^VWTb]_XZT«vbN1ge1d3V+NTb7N1^]_XZTiXY[M¢iNTDYj]TfgV ]TiN]ke ±gd vbXxYjY_]_XZvb[Nvb]©V_£XZ^¬i±7v&Ti]_^3Oa[\eZVZewY]] ^3VZ NT«_NAN^VZ±g¯^vb]_OaXZ[1N1YjYjeZvgeWd]VZN§^3bTiO+XZeN+N1c Y3Y ew|i®-VXWJN1^ ODN+`(N1V]_T$J TbVZN1N«e1^cbXZN1[NewVZYjVW]_O+]_[1OaYjN1_YXZVW£Y]_^[]_TT7Y] ^¡_XxYN:VWN:f£]_Yj^XZT-TbYjvi]XZTi]_YjY dXx Yj_V O+N1J e1NNc¤VWYO+NXxd3YjeKVWXWYjXZN:Ti]©YZ± f-V§mhN NkGDq^[nN_XW]_V mrfgpN:J YjY]TT e eKwis6]©n=VxsY A* _mhN+q mhXWneN1pdXW]_^N1Ti_Yje²VWN:^jf VVWJ^N+V J5N+^XZ[gYewvi] Y3Xx[Y=N VW]_7^ T+279 ( g(jc¨{ 8 R gMi(3~geWNAc ,^j R V (J ~iNc ¬KY7it N('%^8 g¨F^3Tg[`"^3_]_O+TbN+vbg]_fgVWN:N1fT$VWYj]¢DVq[V YjJ VWN]_^Td3^3^jYj5¯eWvD^^$O+ew]NaVW]_^[T¨^3Tic&ewNVZVZYj[T$_V o5N1eW]_fgN:ec7V J N=ND[_]_fgN:YjT«YjXZ]_Y N:e YjXZN²eWNV VZ^ wXZN1YeW^TiTiY _4N uAN1ewVW]_OaYVWN:f«¬YiN1e1 Pb VIKJ J XZN§îV dJ J ]Xxf«YXWN:N1ewN1N:f Yj XxY3[ J[xsfg_]_^7XWN:^[\v¤VZc¯]^3V T«J N]ke v&[^3_^3eW]©eWVZN]_^3Tb]XZTiNdkYVZYN1[1f[bVWXx^+YV[JN=OavbYjXZN]_Tb7_] ^3ifgeKN1^vDTiN1NTi9fbeRUTi^fbTNN1V f¤J cbN- [1J YjNviT«Y3[V ]J VnNAseW^75ewVWV N1J O Nvi]ke XW^3[vD^3^3T3XwVZVZXW]^3^3Ti_N1Yjf d3^YXx][T N:eKVZ^^X [b^3TbO7v&TbN^TD eWYjT£VWN£YgVW^3^3X-TbêWÔ+b^XxD[N:e eN:^jY VZbewXWVWN=N:YO+fg$^ÙVWen]_^VxYT¤VW No5NN:XZewXW]k^3fgXZN1e1e1c c7_V ]_J N NN bGTiN1O[V^gfg^j|N1V _N1J f

(22) N=O+vD^^VWXZNN=T$^VZ]_X Y_©`N1 eZeKYeWdN1^7f^gf«VZN7XZOaTbê cKN:XZfg]_[dVWN²]_^^jT [^Ti[NXZTieV J NqVZXZYTiew]_NT$V ewVZYdN3®¯XxYVZN^j¨[^T7N1XWd3NTi[NYjTiffbN1[^3bvb_]Tidi|RUT Y[V1c$]T$VZb]©VZ]3N_ewv&N1Y7]TbdDc3ewVZY ]_]Vn ]VW_e ^ Nn TD ewDobi0XZprN1q f+k#mo]p p ]keZ]keewbeWN:ie[ c¨J V JJ ]_Y[ V J V 5J N NXZdNN1Tb]_O+NXxvbYVZ]kN1[f+]VW_O+^jV VZJ ]N+^3T OaJ YjY]_e TY [^[Ti^3O+[NvDXZTi^3e TbN^jT$KV XW]_N:TaewN:V YjJ XxN [ J fgN]_XZXxN1e [\VZXZ]^^3OT^jV GJ V NJ N Yjgd3VZ^3^YOaÊ YIKVZ]_J[]_e [^3XZT$NVWNXZXxê ewY]kfbfgYNvg]VWTs]_$N=]keW[i^YjT$VWXZeW^N"XZc ^N:]_Tbew]kd fg¬N1®qeenOVZi^3fgXW£N§[^kYeZV eWJ ]_N+[1YjewMN1YjTivbeW]©viVZXW]7^$]YVn[ J N:VW^-e _[1]_YjN_] XZyYjVW]_^^vgTVZ]N1OaXWXZYj^¯Xxewe 77T$ V eWJ v N:(ewPg]ke cM7 p fp (b(3N 8(~/c 8" `(]Tg¢DTb]©Vn[^T$VWXZ^"c |]_TiYj_3c7bvaVW^V J N Tb]_TbNVW]_N1e1c7YTif bVKY N

(23) N±g[NvgVZ]^3Tie1c35^XZge9]_T7]_eWiYjGeWNXZ^]_Tbd=5NXZNqOaYj]_Tb_a[ J YjXxY[VWNXZ]_¥N1f G® 5V J N=DewN§^jY+ew]_Tbd3N=[YO+NXxYA_]TiN1f-VZ^V J N [^3T$VWXZ^_N:fO+^7]TideWgenVZNO!g }g YjTYjvbviXW^$Y[ J ^¨V J N=vbXZ^ _NO ^7[ieWN1f-^TYjgVZÔaYVZ]_[=[^T$VWXZ^MYeWv&N1[\Vxe YjTif Y3ewN:f-^3T«eW]_OviN§VxYeWfgN¢DTb]©VZ]^3T g Pb Y+ewgewVWNO [Yj_] XZYjVW]_^TYeZewiON:fVZ^ N=d3^$^gf-NTb^3bd J VW^Y¬3^]kffg]kewVWbX ]_TbdV J N [^T$VWXZ^&VW^7âOi[ J g {i5V J N Y eWNTi[N²^|YdN1Ô+NVZXW]k[Y¤YjTiYgeW]_eKfgN1Nv«NTb^3bd J VWâN±gvb^3]©VKV J N ewv&N1[]©¢&[]Vn^j¯V J N fbÔaYj]_T¤ IKJ ]kevD^3]T$V+^j7]N1 [b_O+]TDJ YVWN:f¡ ]V J V J N 4 ( ($}ew7 T$V J N1eW]_eviYjv&N=X 7 u (3J}/Y 8(sRUT¡V J N«ON:YjIKT$J VW]_O+Nc3NXZsXZN_NYjT$V vbYTiXZ^fad3YXWN:IaeWeWTbN1N e5d3]_NT£^bO+TiNfgVWN1XZXZewVZYN1Tid3fgY]_TTbd+VZ^ V YjvbN v&dN1N1Y^X9O+XZ]_N[ VZJ XW^jG^v&^j$VW]keWN1]T$^3VWT ]kYj_]©NVZd$]N:YjeT«]TaVW^7]k]ewTiDeWYjNiO+eW]_NTiXZYVZ^3N§]TbV dDcNOa[Yj^]_O+TbO b TbN:][VnYi ewN ]V N=YieW_^N ^je|VWvb^ XZ^jXZmnNN1kY[±VW]_]T N e]_WT£Ô+Yj_NAMeWV NJ TiN²eWVN J V XWJ N1N=NAvbviXZXWN^ 7 ]^3N1iO eW^9fg[N:YjeW_[] XW] XZ YjN1VWf«]_^]_TeZeWYbTiN1f«e1 VW^-^ VxYj]_T£N1YeW]_«Tb^Tb`"O+NVZXW]k[=^3X °$iYeW]`"O+NVZXW]k[§]_Tg^XZOaYVW]_^T£3NXZ-DewNb 7]_Ti[N ( (3Pbc9O+^XZN£YjTifO+^XZNviYjv&NXxe N1d3YTVZ^ ]_Ti[^XZvD^3XZYjVWN-V J N:ewNTbN1 YjvivbXW^$Y[ J N:e!c eWNN«^XaN±gYO+vbN?7 ({bc §psr K('7ci0 2(3~gc K9('gc p ( 7ci p R p (Pbc l ({bKc qY'd (0+$Kc `('%8M^XewVWN1XWN1^7]_eW]^3T d\ :<;. G]B ] E2C2UVN<T N FH]a E2CKN<P'T0T0[] IMa XZIMT0[9N PY?A]C2_`BÌ=ab. 5oYvbgvbVaXZ^35YN«[ J [1Yj7 `T9¢D( TigfcK Y_eW(3^~g]_c T V J (N~gc ]VW N1 XZYj VWb( XZ7Ncbp XZN1[ NoAT$V+( (9 8¤^3^3XWX5gY3e e YJ dN_XZ^ N« YY &eweZ]_[TbN1d3TbN N«eW[NYjTDO+ew^3N1X XZY7 ]_I!e#"ieWN1(3fM~/c 8"DN] V J IaN1X+TbN§]TdNYj^3TO+N1NVWXZN`"]_Tg]_e5` J iYjeWTiN1ff ]_YT _^7 e5(3V J ~gN=c Yg V J ^3( XZ9e58 VZYj^+TDvbf XW^37 vD ^$ew(3N=~/85Y+[[^^3TiT$eWVW]_XZfb^NMXxe²eW[ YJ N5O+N1N§YOv&]±gN]XxTiewdav&N1]Oa[VW]_Yjd3N+NqO+N:^7YfbVZbNXW"N:e RUYjT Ti7fp °$ io^Y3ew('](/`"d38(c¯N^3YOviNYVWXwXZVZ]_]_[qY]_eZvDeWb^$N1ewe1Na[R(^3VO+e J vb^3gbVZYjkf VW]_^ T N Tbp^YVWT7]k[N:f^jKV J V YjJ V1Nc7[]_]VWNN:f]_TaXWVNJNNqXZN[TiY3[ewNqN1e ^j¤[_enYVZ]NO XZN^V 7J ]kNew]_]_X ^T¤XW^ c3 ewN1iTiewVWewTb]VWN:]_7eWe1]©Vnc|A^ VW ÂVxYj[1]_YjTb_N1] f XZYjNVW]V]_^J T+NX bTis[NiXWVZewYj]_Tb]_T$dVW]_Y«N1e N1]_e J NewXZv&NN1[Yj]©k¢Dew^ [Y OO+^VWYj]_^mn^TiX e=[^^TiXA[eWNNXZT¤Ç` [17 p Yj_] oAXxY( VZ(g]^3cT` 7 (' /(8 d\~i c _N1Y(3XW/~ _8c$^5X§N ]_T3[VZYXWT]_TibeW]_TD[1fgYjN_Xx3encGVxYj]T TifadN1V TbJ N]keKXxYjTb|N]N:O+favb^3_]kX5[][VW^_£TieWV ]_J fbYNTbXZ]gTbe dVWN^-±gvbV J _]_N+[]©iVZNeW_N+^d N^3eWÔ+O+NNVWXZ]kd3[NYj^3GOYNeWv&VWXZN1]_[\[AVxe9vbXZXZ^^v&O NXWVWV ]_J N1Ne ^3_^ ]Tid Y3[\Vxe® KVW XxJYjNTiTaew^DXZewOa]_TbYd VZ[]^3YTO+ NXxJ Y ]kc[ ee J d\cj[V ^J TgNN1viXZXWeK^gvD[N:YjeWXWe|VW]k[^3bX9kYj^ X VZ[ YjJ ]_YTbXZ]_Y3Tb[\d§VWN1V XWJ ]kNewVWfb]k[Ye VxY§VWîVewJN:f+N=]OT+^gV fgJ N1NK_4e Ng N:f Y3[xA]_T$3^_N:eYj_5Y¬geY§vbXZ^jmnN1[VW]_N Ò¼ZÉ"$ ¼KÅkì¬É|Î ãËÑÈ¯Ð Ów¼ ÈÊä È"È ãËÑ/Æ _^\+È ã *VÎÊ&É _M%²ÓnÎÊé Ó9Ón¼ Æä ÉÊÈ Ë ã ã Æ¬¼xËÑÆ /Æ ^ ËÑé É %ì ¼Zã É¯ÎÊÉ"É ¼x%:ÆÓ É¨Ò:¼xËÑÆ¬È ÒqÐ Î"ÓUÆ¬ÉÊÓ ÓnÐ À_ÓnÉ"È"ËÑéÈ(¼xÓÎ ' ¼xÈÊÉ ìjã ì¬Ó ÐË ÐÉÊÈ|ã ËÑèbÈÊÈ"ËÑÆÌ¬ÖÓnÓnÒ²ÈÊÉÊèËÎ ^ã ¼ZéÉ"Ë ã É Æ%:Ó b -Þ ËÑÆ ,/%¬.\Ón×Î"ÓnfÇ<ÄÆ_-É %¬ä ¼ZË ÉÊä ÓÓwÆ ã (Ð Ì:' É ã ã èbègÉ &É %:%¬Ó ÓÐnÈ ãÐnÌ¬ã ìjì Óä !Ó ã )WègËÑéÉ %¬¼ Ó^\ì:Ó9Î"¼ÓnÐÈ"ÓnÕÆÌ¬É¯ËÑÈ"ì¬Ë ÉÊ¼xË ãìÆ²ÓnÎwÀ å ½¯½ Æ6wKxoyry\×.

(24) ~. sp k#l6n=m

(25) 9mhnrk#s6n=l^p

(26) stiHmhq s l6itn sti l. :<;. g} 5VXWJ ^3N O N#I]_O+[]_YNdTDN=[§fbYj^jVZDYb[cg^T$VWJ XZ]_^[ J ^7XZ^N1vD°$e¨b]_]kXWe¨N:ê5ÇVWfbN1N1T fg]k [NYjVwVWVZN1Nf«X]©d3iNeW^Ô+O+NN VWXZ]Tg]_[1Yj^3GXWOaO+YjNVWV ]_J ^^7T fiY eK ^]_bN=V¨XZV N1J [N ^N1TiiewVW[XZ_]_ifb[\N1VZYj]^3TTewvi^3Y3X [vDN ^$[1ewYjN§T N1 ewVWN5]_OaXWN:Y[VZ^]^3N1TXWg N:f Pb YeN1eW^3^7Tb^d§T+VWY^=evD5YjNKXWVWi]k[ewbNkewYjVWXXZiOa[YjVWTbb]XZN1êkfbXZe1]_[ J IKN1ewJ V|NV [J J Yj^Ta]k[eWNK]O+^DvbV_N J Nv&^vi]_YT3XZVxYeOcNN1VWYjXZVW]b¥:YXZN1VZe]^3]_TAT+^jV &J VN J ]_N1OaeWN Yjd3O+N5YXZTbN1]eWb^kVfbeXW^3c YO TifP ^j&NV T$J VWNq]VWvb]_N1XWe^mn N1J[VW]_N1[ Jf enfgVZN1XW[D^[\bVWviiXW]_N:Tbe did5c7ewV VWJ XZN=^TbN1d3Y3ew]_N]_X T ;ifgiN:ewN]_Tid[TN1eKYjTDV Jf«N ewVZfgY N1 eW]_]_d]TVn^jYj|TDV YjJ _N 7eW[]kêKT$^jVW¨XZ^V MJ N kY¬=[^3D T$VWXZO+^"^3 TbdV J N N±gvDN:[\VWN:f N1TbN¢bVxeqYXWN V J N NVwVWN1X B<EKIJ_ N EKIMBàVBDWYEK@9IMT. . . . BDC. . KI J J N£viXWN:ewN1T3V+viJ YvDN1Xa]_e+ OaYj]_Tb_J [^Ti[NXZTbN1J f ]©V J J V J ]ke+_Y3enVYeWv&N1J [\V:c5YTifO^3XWNvbXZN1[]_eWJ N_¡ ]V J V J NieWN£^jJ²]_TbN:eG5V V^§N+_]_^TbXZN1]ed3]]_Te^Ti9YVVZbNXZYviqXWYj^ TDfMN1c O Tb^]_e =V c5NN1Y3 Yew] [\ V²_NV ]YT V=XZ N1YNT VZ]O+fgN1N£YV ]_JTbYjd«Tb ge]©V VW^]_TiTbfgN1iewVWXZN#]kIYj[]_viNYjT$XWV-VZe1YcGd3V ^NXZ]©V NJ ±7OaVWXxeY[\VZXW]^3^3O TYj[TD^f£O+VvbgNVZNVZXXZY37[x]k7ew]_]^TbTd 7 ¤^(icbpo p ( (gc I R gcK O('7c 8" R N1N1XwV J N_N1eZec7^3TbaYAN< ^3XWge J Y¬NqXZN1Y_aN±gvb_^XZN1faV J N²ieWN²^¨_]TbN:e5]T 7Y_]keWew^-iY[&êWTiNeWXZ]_fb^3N]XZTiN1dif® 7 ^3u X `V %0J +$N+c Yj g VZû Oa($}jYY7VZ]_c7[p£XW^$^jeVY(3f«}7c ^3 _N^ (]Ti~idc ^jYj5d Yj( g+<VZ8M^YjTbXZ^3NON^3±biYje O+vbN _N1J e ]_[5N:N ecG¢i_Ti]3fN]T]_T XZ^ 7 ^jVZ( ]_%[1e8"c I bXZV§Y3[x $]]_VTbJ d=^^g¤V=]_fgTbNN1XZe ]_$K]_TbYd e d3NTbN1 XWeq]k[§NYj±7vbvivb_YXZ]^3TbY3N:[ f£J N1]_Te1 ewN:[\VZ]^3T{ic&V J NAN±gv&NXZ]O+N1T3VxYjewNVWbv N[^TDew]kfgNXZN1f]_T£V J NAXxYjO+N1 ^3XW-^jV J NN1bXW^3vDN:YjT£vbXZ^jmnN:[\V t Y3[MR [ irXZYju VWN_5Y3v&e^3eWY]©VZe]^3J T]_v

(27) Y+vi YjN1XW_Vfb]vbTbXZd+^7VZ]_^7fb^N1"f ^7 N1NV XxJ YjN M]_r²T$VWfgN1N1XZTieWN1eWHN[VW]_$TbVWdaN1Nvb kYj TbJ N:]_ev73 YjN1XxXWfN=]viT XWN: ewN1N1T3TbVOa]_T«YjXZVJ NA^3viXYjXWV1J cb]kOa[ J Y$]©V«]_Tb5d+Y3V eJ N XZN1N°$±7bVZXZ]_XWY3N:[\fVW]_^VWT^ ^_]¨TiN1]_eTbZ N:eKN1YeW]_NX V J YTV J YVK^j¨v&^]_T$VZe1 IKJ N²°$bN:enVZ]^3T J ]k[ J XxYjvi]_fg_+^g[[iXWN:fKYe V J N1T¤® J YVKXZNvbXZN1eWNT$VZYjVW]_^T+^3X V J N1eWN ^3O]_Tbd Y3[x+VW^+dN1Ô+NVZXW]k[YGY3ewv&N1[VZe1cg]©Ve J î_f N=XZN1[1Yj_N:faV J YV V J N=P N1i[_]_fbN1YjT«_]TbN:e5^XZO Y{jÙfg]O+N1Tiew]_^TDYj Oa]ke YjV TiJ ]©N-^3Y_f eWV NJ TiN5[vbNXZ^^jv&NYXWVWTD]_N1Ye¤VWi^XZbY J c ]ku [ J ]N1YjO+XZNYTbfg]kN:YjeWT [d=XW] fbN1]_ewf VZY Ti²[VN3J H N 7²]_TiXxY[N«eZewOaewiYj[ TJ eŸsdNfg^3]kenO+VxYjNTiVWXZ[N]_r eTbew^3N O+^gNV J J N5N1O+XWN^3ewTiV¯NN1Tbfb^N1VW]kf[N1Y ^3 X_N fgNvb¢iXZ^Tbv&]_TbNdsXWVnY _^7N1N1^f viY3[xYjXWVW[]k[îT$_VWYXZXW^_"cV ]JT$NqVWN1[ XWJ N:en^3VZ]_][TiNds^jGeW]V TiJ [NNviV YjJ XxNYjO+[N^VWXZO+]_eZNYVZ]XZ^3^TO ]ke V [J XWN«i[N]_O YÊ N1fifgO+]Ti^Tidsd=^V J V N J [N«kY_eZ]Tbew]kN«[YOab^YjTbTbN:]e^ckfV J ]_N Tl Yni¦ vb[xXZ^jN1XmnN1[[^7VW^]_XxN«fg]_ewTiviYY3VZ[N1Ne ]_]_T¡T$VWb ]JVW]_]k[ N1J «V J V ]_J TbYd3V²e eWY^XWO+N+N _]TiTiN1]_[YjNAX:vbXZp£^v&^3NXWXWN3VWc¨]_N1XZe N1[1[Yj^_i]__Tbf d« V NAJ YjNV=±7v&V N1J [N-VWN:[fMYjqO+RUN1T£XZY-V J VW]kXxeYjTDXxenYj^3O+XWNOa5Y^VZXZ]^3GTcgV ]kJ e NAYjOakeW^«Yj]_TviXW^^XZmn]_N1d[\]_VZTi]3YjN¨c¯[^ T$NaVWXZb] TDgfgVWN]_XxênTDVxYjeTi^jf V_^7J ^N gvie=YvDN1N1XWXYjvDXZN N1XwV VZJ ]TbN§N1T$^VA__^]T ]7Tb]kdDewi Y| ]XxeWNenV:XZcb^5]_N=TbdDvbY XW^37vDN1^$[ew^N=TiYfgTi_f-c|fb5]_NeZ[fgiN1eZeWe]d3YT¡XZN1Y£ewVW[XZ^]_[T$VWVZ]_XW^^3T«^_Y¬T£[k^YT eZewV]k[J Y]_e l ew ni¦ [xO+N1YXTb][^7^^kf XxfgY]_TiTiYf VZN1vbe1XZc$^ N+J ]_]©[ VxJ e IKJ J J J J J kewYVZYeWNX ]_]VnN1Y O« N1T-5N²Yvbvb_+V N=O+NV ^gfVW^+YjT«^XWV ^3d^TDYjbVZXW] N:fgXW^3T¤cgYjTif-N±7VZNTif-]©VKVZ^+Y[^3T$VWXZ^GeW[ N1O+N²]_Ti[ifb]TbdaY Ó É ÎÊÈ|¼xÎÊÓÒ¬ÓnÆ ÉÊÓwÒ _¨Ë &É % _MÓnÎ ¼xÈÊÓÌ¬ì¬Î"Ë ^ %É¨Ü Ò ÓUÉÊÉÊÓnÎ"È9à_Ó\å ^¬å gá(åGÁ¨Æ¬Ë É¤ÖÓ É Î"È¯¼xÎ"ÓÒ:ÓwÆ É"ÓnÒ=¼xÈ¨Ì¬Æ¬Ò¬ÓnÎ ËÑÆ¬ÓnÒ ÖÓ É ÎÊÈ àÓå ^¬å á(å ÃÜ ã\ã äÐËÑÒÆãÉÊÐÈ %ËÑ¼xÆ§Î"¼ &É Ð %¬ÉÊÓÓnÎ"Ù È ã à È"á(ìå ¼ Ð Ó ¼xÎÊ`Ó äÑã _¨Î"Ë É É"Ð ÓnÆ _¨Ë É %AÌ¬ì¬ìjÓnÎã\ä Ð ¼xÈ"ä ÓKÜ ã\ä Ò ä ÓUÉÊÉÊÓnÎ"È à 92á _ %:Ë Ð ä Ó5ã ì ã ËÑÆÉÊÈ9ËÑÆ=É ã %¬Ó5ËÑé¼ ^\Ó5¼xÎÊÓ ä _¨Î"Ë É É"ÓnÆ Ð _¨ã Ë É % äÑã _GÓwÎ À Ð ¼xÈ"Ó Ù =»7ËÑÆ¬ÓnÈ|¼xÎÊÓÆ ÉÊÓw,Ò _¯Ë &É % ¼ Ë ^\Î"¼xì %¬Ë Ì¬ì:ìÓnÎ ¼xÈ"Ó ÓUÉÊÉÊÓnÎ"È9à_Ó\å ^¬å MáG¼xÆ¬Ò§ËÑé¼ ^\Ó ä ËÑÆ¬Ón2È _¨Ë &É % Ð ¼ äÑ Ë ^\Î"¼xì %¬Ë ÐäÑã _GÓwÎ Ð ¼xÈ"Ó ä ÓUÉ É"ÓnÎ"È9àÓå ^¬å Wá(å ¾|/Æ ^\Ì ä ¼xÎ¤ÖÓ äÑã1Ð Ë ãÉ ' ËÑSÈ _¨Î"Ë É É"ÓnÐ Æ äÑ ¼xÆ¬Ò ä Ð ËÑÆ:ÓW¼xÎMÖÓ äÑÐ ãÐ Ë É ' ä å %:ÓÈ Ð ¼ ä ¼xÎ¯ì:Î ã Ò¬Ì Ð É¨ËÑÈ¨Æ ã É"Ón Ò _¨Ë &É % &É %¬ÓÉ"Î"¼xÆ¬È"ì ã È"Óè ã Î"é¼ ä ËÑÈÊé à_Ó\å ^¬å báM¼xÆ¬ÒqÉ %¬Ó Ð Î ã ÈÊÈ¤ì¬Î ã Ò¬Ì Ð É ã è ²Ü ' ËÑ2È _¨ÎÊË ÉÊÉÊÓnÆ &å %:ÓÆ ã É(¼ZÉÊË ã Æ º àÓ\å ^¬å º áGÒ¬ÓnÆ ã ÉÊÓwÈ|¼5Ò¬ÓnÈ"ËÑÎÊÓnÒqÖx¼ ä Ì¬Ó ¼xÆ¬Ò &É %¬ÓÆ ã É"¼ZÉ"Ë ã Æ+à á|à_Ó\å ^¬å à á á¨Î"Ónì¬ÎÊÓnÈ"ÓnÆÉÊÈ¯¼xÆ²ËÑÆ¬Ë ÉÊËí¼ ä Öx¼ ä Ì¬Ó\å I Y Na3® R ^jVxYVZ]^3T-ieWN1f«]_T«V J ]ke viYvDN1X .

(28). .

(29). . . . . . . . . !. . $

(30). . . &%('*). "#. !

(31) +%'). = | q9 .-. ,. A;=: I=aBDC N<P=I ] P [ L D]C LOBABDC 9I=aN E2]T

(32) ´ ! ! ¸# - ! | ´ - ¸¨¸ ¹ g ´ RUvbT XZ^j7mnl N:[\ni¦VZ]~'3/ N8"c eWlviY3ni¦ [[xN 3NX jfgc5N1^jXW²]_VnN: f ^ %]T$$VZ]_NTiXxfbeweAN:[\^jVW]_Tb[d^7^3vbXZkfgYjTb]_TiN:YjeVWGN1e²q O^3X^3TbYd _]TiV J NN:]ewTN ew% viY37[]_TiN fbc e+^XA^j§P &[^7^]_XxTbfgN ]_d=TiYXWVZ^3N1O e1c9VV JJ NNN:ew^°3`(D[1YYjVW_]_^N:TDf ec|l ]nTi¦ [xV3J NNX [^$^3XZ fb^3]TiTiYjew]kVWfgN:N1e XYjYjXZT7N²afgNVn5¢iTb^N:v&f«^Y3]_T$e5VZe1^cb_]_^T-V eJ N 7 o vbu XZ^j+tmnb( N:cG[\iVZ]Yj3N²( eWPgvicY [RNc }98( c tKd YjTDf X c dKYV J NAP &s]_TbN X K I J J J c ^\d N kYVWVWN1X ]ke5bTb]k°3iN_fgN¢DTbN1f +V N1eWN Vn ^vD^3]T$VZe1< ^5N3NX:cV ]_e5XZNvbXZN1eWNT$VxYVW]_^T]_e YjX5XZÔ N]_TbdO+]_Tb]_O+Y eW]TD[N=]VO+YN:e DewN=^ % Yj_bN1eKVZ^+viYjXxYjO+NVZNXZ]¥1NqV J N={jÙfg]_O+NTieW]^3TiYjGOaYjTi]©^3_f«^j_]TbN:e /. 10 3254. 6 . 2. (9 ;:. 87 7. =<?>. @. HJ. BA. C. A. C. A. >DC. AE. F@G. HAIG. C. A G. C. A G. > C. AIEG. Åâ¯½¨ÅÇ¾.

(33) ¯ ! ´ ¸

(34) ¸ ¯´. +. I J J J VVn5J N^+O vD^^3[XZ]YT$N1T VZfbe i [NAN [ YjV J TD^3N§f eWNYjTO+$]7^3TDibfgYjT$NV5v&(N^PgTi¨cgfbvDviN}jYjT${XxV1Yj8( O+p£NVW^3NXWXxN1e1^c3^3N1TbX1N²c$V[J ^NTieW]kfgYjNXZN=Xxe9bV Tb]kN+°3i:N }YbcÊ}v}VW^-dYaOew]_]_TbTbd^3_XZN e5eZ^j[Ÿj_V N§N² YOa[VWY^3VWX XZ]±^X N N1 XW - [

(35)

(36) J ^ ]k[ N=`^7|]±V J ^jN IKJ ie1c7V J N=viXW^mnN1[\VZ]3N l ni¦ [xN1X5[^$^3XZfb]TiYjVWN:e YjXZN²fgN¢iTbN:f G® c d O c"} d X c N d !" X ! "# $" X X R ^jVW]k[NV J YV²V J ]ke²]_e§Y ]3N1[VW^X²Ye²p[ YXwV J fbN¢iTbN:f]9V 7 pY4[ (/ 8VZ^-XZNvbXZN1eWNT$V²$]_TbN1O+YjVW]k[AeZ[XZNe1 ^TieWN1°$bN1T3VZ3cMYe ^3X5r 6 %0TbcÊN+P'd#XZ7 pN1[^d2Ti(j]{b¥1ciN1e²v¤b]T {$} +98(Vc$J V JNaN1¢iXWN XxewfgV=^7P£N:eK[^7Tb#N ^jIV [N]_±gN]kT$enVZVqe§Y ^ ]V`(]J T7NaYj{jXZ`(]_YN:T$[\V VZû X ]_NOaYTbTb]kYjT+O+c¤NVWV XZJ ]k[ N+^3^T«iVXwJV J N=Oa^3TbYjN Ti]© ^3N1_]Tif-d£^j¥NP'XZ&sîa_]TbR(V N:e]k e Y [XZN_Y3vbeWXZeWN1]_eW[1NYjT$MVxXZe N1eW]VZbeqVKfg]_]T£XZN1[vbVWXZ]_^j^mnT¤N:D[\VWq]_NN²Ti[dNN1cÔ+ N[VZ^XWXZXWN:V ewJ v&Yj^V TDV fbJ e ]ke VW^{j`(V J N:N [\VZfb^]XKXZN1]_[e VWV]_^J TN=^jv&A^]_c T$^Vd# ^ T c AdK J ]k[ J _]_N1e YV V J N ]_Tg¢iTb]VWN3ciYjTDfV J ie IKJ N+~ J Ô+^d3NTbN1îe²[^7^3XZfg]_TiYjVWN1e ]_T cÊ'} d²fgN¢iTiN+Y-J v&^]_T3V:c¤ew^3O+NVW]_O+N1e§[Y_N1fV J 'N &` i4( *)'mon,4 kq<7 r (0+ 8(cM]TsV J \N ]k]_fgT$e§]_VWO+TbNNXxNeWN:TiN1fgeW[\]_N1Vx^feKTiYVW]©Vx^-¤ewN1vbVW©XZbn^jXZmnTN1[fgVW^]_ N TeWviVZ^Y[V NJ N+{j^3ÙTifgeW]O+N1°$N1bTiNewT$]_^VZTD3Yjc |O+^jYTbV ]^N1keWfN [^j^7 ^Xx]_TbfgN1]_Tie1YVZIKN1eJ N+YXWiN§eW]_iTiYfg|NNv&±7NVWTDXxfgYNXZT$NV1kA YVW]_^N1TsTi[NN3±gcivb^3XZTbN1N eZewNN:±7e VZV XZJ YYXZV NkY-YVW]_]_^TbT N ^3Tiew]kfgN1XVn5^]_TbN:e c dqYTij f c dqXWN:ewv&N1[VW]_N1fgN¢DTbN1f -V J NviY]Xxe^9vD^3]T$Vxe c dqYTij f c,+ + d\3 c dqYjTif c d5]T$VWN1XZeWN1[V ]© +c Êc!+ YTif-+ ¤YjXZN=[^3vb_YTiYjX:® *@. F@G. E. J. E. C. > C. E. >. C. >. A. A G. A G A. C. AE @G. AIEG @ BJ. BJ. HJ. HJ. . @. 9±7vDYjTifg]_TbdV J. @G. BJ. G. @. . .. AIG AA G AAI>G AA EEG ... .. 1 1 1 > 1E .. X .. 1 G 1G 1 >G 1E G .. > ]_efbNVWN1XWO+]_TiYjT$V:cb[Yj__N1f0/^n spepNA3s6k k4s6kicD^TbN§^ VZYj]_Tie1® E . >21 E . >N31 E > . 1 > . E 31 >N . E 1 . E > X. @G. C. G. BJ. .. A. ^3X1cg ]V J îX Tb^jVxYVW]_^TDe®. IKJ N=O+]keWeW]_Tbd+XWN1_YjVW]_^T«]_e5V J De®. C. 1 > X. . cÊP'd. . c{ d. X J <4jc¬[Y_N1f V N25 m< k76hi s l6nN<7 l. c d IKJJ i]k[ e1J c3fgYT$N¢iATbvDN1^3e¨]YKT$V{jÙ^fgT]O+V J N1]_Tie9ew°$]_îTDY3YjfgXZOa]_[KYj[Tb^3]XWXZ^N1keWf²v&^j^ Tifbe¨VW^ Y²vbXZ^jmnN:[\VZ]3N5_]_TbNK]TV J N v l J u7eW( ]k%[Yj8g^XM5V ^J XZN2kf&`Y i4Ti( 8fA)'XZmoN1n [9 ]vi\gXW ^gmo[neYpri2_n;:o s IKem J 7 ]ke^[ ^XW" ` (3~/8" XZN1eWvD ^3e¨Tifg^3N1XTivD[N5^3]]_T$eVZie1TbcV]_°$J bNKNKb]vbDdV XxJ YNKfbN9]_TbXZN:êOyYjTivbfAXZ^jV JmnN:NK[\vbVW]_XZ^jN mnN:VW[\^ VZ9]3DN5[eW_vi]_fgYN:[YjN5TAY[XW^7N5^dXx]_fg]N1TDTYYVWN:TAe¨^^XZ&]_NY²T$P'VZYj&VW]_]_^TbT¤NKcj]_Y3e|e|^ eW bVZd3Yd]TbN1ewN:VWf N:f = Tb^3$XWVZOa^Y¢]_7 $¥1YjVW^ VW]_b( ^NT¤8( IKIKJJ ie1c¤V J N 9i[]kfgN:YjT Jl ni¦ J [xN1X§[^7^Xxfg]TDYVWN:e²J ^j Y«P &]_J TbN[ YT J NeWNNT Ye3ktnNA*sF=< mel-&ÌKi4( 8J ) mhn 6n=l JkOstqJmrp#7 l l u ( /% 8( l ni¦ N«[x3TbN^3X XWOa[^7Yj^3_XZ]_fg¥1Y]_TiVZ]Yj^3VWT¡N1e5 ^]kY+[ P'&s]ke_][Ti^N O+fgO+N¢i^TbTi_N1¡f [ a^3eWV NJ TN\]kc evbXZV ^jmnYjN1V[VW]_Ne d lînD¦_f [xNXN[Y^$^3bXZTbfb]]VaTiYjVWN:N:[\e VW^3c X1 d YN1XWXWN3N®^XZNc|V N«Tb^3XWOaYj_]_¥N1f c / d Êc ~'d X / c +6d X c %'d X J N1XWN X >@? A? YjTif / X >@?B? R(Vq[YjT«N1Y3ew]__ N e J ^ T-V J YjV1cbd3]3NT«YjT7P's& v&^]_T$V ^T c ^\d ci^TbN J Y3e® / C c ('d X C. J. C. *@. @. HJ. ^3TiewN:°$bNT$VW_c7V J N§^__^ ]Tbd+N:°3i]Yj_NTD[N J ^ kfbe1® / E D c Ad!F 6/6 %6 O UG "IH@=O!% G/U H KJ cn:'d X L ¸ i1 #¸ NM 7]_Ti[N²V J N=[YeWNq J NXZN²Y]_TbN§viY3eWeWN1e V J XZîd J V J N=[N1T3VZNXK^j¯vbXW^mnN1[VW]_^T]ke fgNd3NTbN1XZYjVWN ]T [Ô+vbgVZNX7]kew]_^T¤cg5N§ ]_Ÿ3eWeWbO+N§]T-V J N=XZNOaY]TifbNX ^j¯V J ]ke viYvDN1XKV J YjV]©VTiNN1X ^g[[iXZe1 ½¯½ 6Æ wKxoyry\× . :. BJ.

(37) %. sp k#l6n=m

(38) 9mhnrk#s6n=l^p

(39) stiHmhq s l6itn sti l . . . k. . i. j. ¯]_diXWN+®`²N1Ô+NVZXW]k[²]T$VZNXZvbXWNVZYjVW]_^T^¯V J. =N Tb^3XWOaYj_]_¥N1f l ni¦ [xN1X [^7^Xxfg]_TiYVZN1e5^jY]_TbN

(40) ´7¸ ´ ´ ´ 1b ¸# J J J OaviY3YjeW_eW]_]_¥TbN1df V l J nXZi¦ ^[xi3d NJX§[ ^7^Xxfg]_ TiYVZN1/ e c|]_e² RUV J T¡J ]kN[ V J ^N-]k_e=[^V ^ J O+]_NTbvbdH[gVZ^$cÊNewewXN1N:NPen7V ¯]_eWv&]_]d^^3i]_TT$XWV N«[^3VW O^d® OV J c b^NTbd ^]VnXZ]_e²]_cdV]_V TsJ N+N^3Td3]_TbNc N+^Ô+^d<XZ7NR ]_VWNXZY¬T$]_2 [1VWYj(N:f9PY ]_T$8"«£VWNR(XZV VAvbJ XZN+[NYVxbTYTiVW]©Yj]_V=^kewT¡^ N:^[\ VZN^V X TbN-^jVZTb]_Yj[^TiN1XWff ` [XZ^^T$O VZY]c Ti('e5d V V J J N=YjVvbXZ/ ^jmnN:]_e[\VW^]_X ^XWTV J c^4dd5^3^TiAYj c ^VWd5^s^V T$J VZN«^viV _J YN=TbN]_O+viYYdeZN²ew]_vbTbkdYjTbV N J XZY^Tibfd J ]keKV XZJ NNNXZ^XZXZN1]fd3]TVWâYYTie5fV J [NP^T$ Vxk YjqJ]_moTbn$]OTin=d mhq s6c Aq

(41) d\6 kPIK J st]kk#e+m vb^j_YTbc4Nd\DYjk ew^ e V J N=]T$VZNXZvbXWNVZYjVW]_^T«vb_YTbN§viYeZeWN1e5V J XW^3bd J V J N=^3XW]_d]_T¤c7]V]_efbN¢iTbN:f G® F 1 1 1 X cn3 d ^3Tiew]kfgN1XW]_TbdYjT7£vD^3]T$V=]_TV J Na]T$VZNXZvbXWNVZYjVW]_^TvbkYjTiNcëWi[ J V J YjV§]VZe [^$^3XZfb]TiYjVWN]_e§Ti^jV=¥N1XW^DcM^TbN+[YTsXZN XZ]©VZNAV J N vbXZN7]_îeKN:°$iYVZ]^3T«Y3e® F 1 1 1 X cn¬} d vbkJ YjN1TiXWN N+Yj5TiN+fXWV N:J [N=^d3]_T$TbVW]_N1¥XWNvbVXZJNVxNaYVZN:]°3^3DT-YVWvb]_k^YjT TiN^jc KJ Y«N1Ti]_[Tb\N Nac4]_Tsd\ V J N+]OaYdN+vbkYjTbN3 IKJ ]_e=_]_TbN+]_e§V J ie²V J Na]_T$VWN1XZeWN1[VW]_^T ^j V J Na]_O+YdN J / / > IKJ J J N1XWN N1 XWNX ^XZ?oN/Ac? c 4dA^3]keTiewiN:Tb°$]_b°$NbT$N1VW_c7fbV NJ ¢iN=TbTbN:^3f XWOaYj_V]_¥N1N-f ]_lT$VWniN¦ XZ[xvbXZN1NX VxY[^7VW]_^^XxT¡fg]_viTi_YYVZTbN1Ne5c ^jNYTi[]_N Tb\N c A]©dVxe[YbT Tb] V+N=TiN^±gXZvbO+XZYN1eZ eW3N1N1f[\VZY3êX® X / cn:'P d X c d ]V J V J N§^_^ ]_Tbda[^3TienVZXZY]T$Vxe® / cn1{ d // X cn d X X 7]_Ti[NAV J NAvbXZ^jmnN:[\VZ]^3T c4d^j9c Ad ^T$VWâV J N]OaYjd3NAfgN¢iTbN1e V J NA]_T$VWNXZvbXZNVxYVW]_^T£vi_YTbNcG]V J Y3e^3X [^$^3XZfb]TiYjVWN:e V J ^3eWNA^j V J N=Tb^XZOaYj¤Pj`"3N1[\VZ^X VW^+V J ]_evb_YTbN® X / cn:'~ d ¯¸ ! "´ ¹ - ! | ´ ¸¨¸ ¹ g ´ |´ g ´ ´ " g #¸ bXZÔV J N-viXWN1$]_^DeeWN1[VW]_^T¤c5N-YXWN-Tb^ XWN:Yfg VZ^sfgN¢iTbN-V J N ]_Tb^XZOaYj_]¥1N1f l ni¦ [x3NX [^$^3XZfb]TiYjVWN:ecbY3e YKY¬+VWâvDYjXxYjO+NVZNXZ]¥1N 'P & _]_TbN1e1cbYjTif-VZ^d3]3N=ew^3ON§vbXZ^v&NXWVW]_N1e5^¯V J N1eWN [^7^Xxfg]_TiYVZN1e1 «´ #¸ 9Km D< k 6nNA3sF=< m l7&` i4( 8)'mon 6n=l kOstqJmrp: q 9 m mok#B:RsBq 9 m 4& F k#moptnNmhk qJm l D#\3q;9KmRi2k4 q moqLtn stkOlPF\ k kHq 9 m stkOm : i2k4 q k 6nNA3s mhqM6n / s6n=mvq 9 m ti9 m c / d"! 9 mon=m / cnt +6d X // cn %'d X X ]_JTb^XZOaYj_]¥1N1f l ni¦ [xN1X|[^$^3XZfb]TiYjVWN:e¯^DY§P'J&]_TbN5V J N ]Tb^3XWOaY]_¥N:f l ni¦ [x3NX[^7^Xxfg]_TiYVZN1e 5 o = N 7 ± Z V N i T W e ] 3 ^ ¤ T j c 5 K N ] _ b [ Y J J ^¯V N=vDN1Ti[]_¤]VqfgN¢DTbN1e1< ]©V V ]kefgN¢iTb]VW]_^T¤cb5N [YTVZXW]_7]_Y_ewVZYjVWN²V N§^3_^ ]_Tbd+vbXW^3vD^$ew]VW]_^T¨® Åâ¯½¨ÅÇ¾ HJ. BJ. BJ. HJ. A. A. BJ. J. C. BJ. 87 7. (9. :. C.

(42) ¯ ! ´ ¸

(43) ¸ ¯´. (. . . . . . . . . |]d3bXZN=}b®D7N1°$bN1T3VZ]_Y¤]_T3VZNXZvbXZNVZYjVW]_^T-^j^bXP &_]_TbN§XWN1vbXWN:ewN1T$VZYVZ]^3T. - ¸ ¸ ¸# & ! |´ ´ ´ ´0 l k#stqJmopvc / dvstkOlP q pvl mL#q;9'. 1g ¸# . 4& F kOm J

(44) p i2k4 6hi m#F\3l mDkOm lPD<\ q p D< k 6nNA3sF=< mel&ì4( 8) mhng9tnNC. / . C. J. X. . cn ('d. . J YV:cDY3eK N [^TieW]_fbNXRc AdK_$]_Tbda]_T£Y+vDN1Ti[]_¨^|viYXZY_NM_]_TbN1e1c!]ke Tb^V^Tb_-Yafg]kewVZYjTD[N gVqY_eW^ N1[^3O+N1e ^ j W V k ] [ § N V J YafgN1vgV

(45) ´7¸ ´ 3 ! ´ ´ 1g ¸# r bX+XZNvbXZN1eWNT$VZYjVW]_^T¡7]_Nkfbe+YeWN1°$bNT$VZ]_Y5]_T$VWN1XWvbXZNVxYVZ]^3TZc|]_dbXZN«}'d\®Hc ^d]keAV J N _IK]TiJ N=]ke§]T-]_T3V VZJ NXZN§vb]_XZT$NVWVZNYjXZVWvb]_^XZNTVxY[VW^]_XZ^XWT-N:ewvbv&k^YjTDTbfbN§e^jVZA^c4V d J N+c fbiN¢ieWiTbYjN:f eW N1°$b]©NVxeKTD[TbN^XZÔa_Yj^G5N1N:f£[\VW]_^3T X ]/ Oad Yj d3N]V J YTi^YjXZ_]gN1ewT3]kVxeqYVWVZ^]^3TfgN VZNYjXZOTDf]_Tb_Na7]Y«TbdaP'&YjV ]_fbTbNNvgV JXW^3Ö ^3[^TbO+Nqvb^3X5gVxeWYNVW3]_N^XxTYji^]_ÖaV JYjd3N N1'P e1&s®¯NvD±$^$VZewXZ]Y3VW[\]_^VZ]T^3Ta^^ ^jc Ac4d\d XZÔ V J Nq]_O+YdN3c3V J NT«[^3OvigVZYjVW]_^T^MV J N²^XZ]N1T$VZYVZ]^3T^j` c ^dcbYjTif+¢DTiYj_3c J NXq_NV²ieTi^jVW]k[NAV J YjVXZÔ V J NfgN¢iTi]©VZ]^3T^jV J N ]_Tb^XZOaYj_]¥1N1f l ni¦ [x3NXq[^7^Xxfg]TDYVWN:eci N[YjT 5 o N 3 ^ W X = N 3 d ^ _ ] b T a d b W X V J OaYj3N²V N§^3_^ ]TidVn5^XWN1O+YXWge1®

(46) -´ g 9 m q nN m c / / d :#tnNA p stkHtnrq;9GtktnNA*s:D stpN p : q;9Km 4& p$ s em / / .

(47) -´ g mhq Demvq 9 m < tpomoprq24 kq qL*q;9KmtnNJ k kHsPF kOm X c #d 9KmhkG X |]_TiYj_3c¤XZNvbXZN1eWNT$VW]_Tbd-]_TbN1e§ ]V J ]_Tb^3XWOaYj_]_¥N1f l ni¦ [xN1X²[^7^Xxfg]TDYVWN:e YTif fgNvgV J Yj_êqVW^dN1TbNXxYVZNeWÔ+N+ N1` 7_]TbTi^N1e T ]d3V JN^3YOdN]_VWXZN1]_[1T«Yj¤fg^N1vg VmnJN1[VZed3NXWTb^3ON1XZYj_VW]_TbN:e5N1e1Y+c eWv «J ¢bN1XW±gN§]_Tb^jd^XxYTifgNA]_iêX²¤ewN1 |N1XZ]_dYb¨XZ[N=^3OPv&d3^YTiV J NNT$XxVZe eV VWJ ^-N=Y^VdJ ]_N1N1XT£[Y3¬ewYN:ie N5 i^X²]TiewVZYTi[N3ciV J N &´ ! 0´ #¸

(48) & ! ¯´ qO^3Tbd£V J NvbXZN7]_îeA[YeWN1e1c| NYXWN]T$VWN1XWN:enVZN1f]_T¡V J ^3eWN J NXZN+V J N]_O+YdNviXW^mnN1[\VZ]^3T / ]ke d3]3NT¤RUTifgN1N1fMc7]kewDYj eWYaNXZeWNVq^3]^Tbd]_[Tb^N1TDeew]k]enT$VxVWe9^+]_T-V J fgN N]_¢iOaTbYj]_Tbdd N3KV J r N²Td^3V J YN iv&^^3vieWvD]©VZ^$]ew^3]TVWN§^jVZ¨^+YAV O+J NA^$[1]_YTbeWdAN=eW gJ enVZNNXZON=7 ]_eWaiYjYTëw]_N1OaXW3Yj^d]_N3Tbc3d+]_T]_e ^3bX YeW[1N1Yf«eWN^c T v&^V ]_J T$N²VZe1vbc XWJ ^N1mnXWN1N=[VW5]_^N Tafg^j^ Tb ê V ewJ N1Y¬NT«N ]TY=eW|]O+]d3bvbXW_NN§YjPbTDc7ewV 5J NNXXZN§VZ^§YjXZV NqJ Nq^3°$bbXN:[enY3VZ]ew^3N:T¤e®|® ^=Tb _ J Y/ V ]kYeKXWdN5]_VJ NNqT g [^3/ TgY¢iTid3-f bXZYjVWYj]_^XZN Tie|d3]_]Ta3N'P T &g / eWviYjYTD[N f V J YYjV XZN²d]_d]_N5NV JT Ng / eZYjc O+ N Y]_TiOaf YjdN YZ XWuN d3IK]J3N²NT¤ewN:[IK^3J TiN f¢iYjXxTDenf+VK[^YbeWN XWV [J ^XZ^XWTbN:N:ewe v&^YjTDXZNfbeTb^VZ^ V 3V JNXZN XZ]_N1T$°$VWbN]_XZXWN1N1ewO+VW]_NTbT$dV ewi]_TieWN1[Nf V J N1a JXWN:Yj°3biO+]XZNN VWVWV N*J Nqmoq^N1ewsVWJ]_7 Oa JYVZY ](3^3gTc ^j M V uJ N ($}fg N1vgcgVp£J ^cbV Yj(3_}g5c Y¬ ge N J (3Y~XZ8(f VZ^Yr [[T¡bXxV YJ VWNN1^3vbY3v&[ ^3J eW]_]©NVZNN3c| V J N-V J ]Xxf[Y3ewN]_e J ]_d J _s]_T$VWN1XWN:enVZ]TbdD IKJ N«P'& _]_TbN]ke[^TiewVWXxYj]_TbN:f ]VZe]OaYjd3NvbXZ^jmnN:[\VW]_^T Y¢bTi±gf«]_Tbd=]©VxeV J YjN _]d3Tb]_TbO+^XZNOaT$VYj^_]T¥1N1Y+f dl ]_ni¦ N1[xT«N1fbX9]XZ[N1^7[^VWXx]_^fgT¤]_TiD YqVZN1NeTi^[&NcbV J 5NqN P [&«YG]_TbV JN ]_VZe^ V Y§J PN d]_BA*NT+s< m3Yj_sbFJN3 k4 A*e9mhkewVZq¤Y^VZN1f Ya P N&^3_XW]_TbN3cjNV9J R(NVq^[Tb^XZ_AXWN:XZewNv&Oa^TDY]fbTbe ]_TbVW^d fgYN1d`(XZfgN]_N²O+^jN¤TieWXZ]_N^N:TifgY^&O Oa]kYe Tbfg]©N1^3vg_f-V J ]_DT-qV J NN Ti['P N& c7V eWJ vi]_Ye [ NXW ]_Tbd3e ie Y3[xVW^V J N=[1YeWNq^j|vD^3]T$Vxec7 J N1XWN V J N§]_OaYjdN²^j|YAv&^]_T$V fbN¢iTbN:e J ]keN1N1 d3YT3V²ew]_O+J ]kYjXZJ ]©Vn- ]©V J V J J N[Y3ewN=^9vD^3]T$VxeciV J N]OaYjd3NAYj_]_dJTbO+NT$ VqOaYjVZ[ J N:eKV J NvbXZ^v&NXWVn^j U R T 3 Y b f g f ] W V _ ] ^ £ T Z V a ^ V vieWN1Y[XwVWVZ]_]_^YT£¨fg'P N:d[ îvb]_Tbdd3]3NT N_^=cb ]k[ Yj_êKV NAfgN¢iTb]VW]_^T£^Ya[^T$VWXZ^¨_Y¬ ]©V d_^ Y¨[^3T7NXZdN1Ti[N²vbXZ^7^jc eWNN ½¯½ 6Æ wKxoyry\× R. BJ. HJ. HJ. BJ. : :. C. 87 7. C. J. C. C.

(49) :. sp k#l6n=m

(50) 9mhnrk#s6n=l^p

(51) stiHmhq s l6itn sti l. . . . . . . . . mnN1[VZed3NTbN1XZYjVWN:f « _]TbN:eq ]V J ¢b±gN1f[Ô+vD^3TbNT$Vxeq^|V J N]_X ]Ti^XZO+Y]_¥N:f l ni¦ [xN1Xq[^7^3XZfg]` TiYjVWN:e ¸ ¸# ¸

(52) ! ¯´ ¤ ¸ #¸ #¸

(53) / ´ 3 ´ , qNXZNcg5N XZNkYVZNqV J N§]TiewVZYT$VZYjTiN^De [1YjO+NXxY O+^jVZ]^3TVZ^V J N=P'&]_TbN²O+^jVW]_^T cN±gvbXWN:eWeWN1f]T«^bX5^3XWOaYj_]kewO\d YjTifXWN:[Yj_ V J N IKYjJvbvDN Yj]TiXZNewVZT$YV T$OVZYj^TiVWN]_^^T«DeM]T«O+V^jJ VW]_N=^T=]Oa^YbdYN§[^jY¯OV N1J XZ]kYKe ]k_e¨]TbfbN3N ¢iTbN:f ]VZe¨N_^g[]Vn²eZ[XZN c d\c J N1XWN ]keMV J N9]_TienVxYjT$VZYTbN^3ie Y[1YjTbO+dbNkXxYjYX§3XZYN_O^7[N3]© VnsYjTi

(54) f V J Na]_TiewVZYT3VxYjTbN1îe§_]_TbN1YX=N_^g[]Vn^jKYd]_N1Tsv&^]_T$XV1 IKJ N1YjXZN+iewD Yj_N±gvbXWN:eWeWN1fs]_TsV J N / / IKJ J u u J fgN1XW]_¨NYVVZ]33N X c c / d5^¯ V J N=d Tb^3XWN=OaY+Yj_P']_¥&N1f ]_Tbl Nn i¦ [xN1NX T[^7]VZêKXxfgO+]_Ti^VWY]_VZ^N1T«e ]_c e5 V / N§d5^jN1[Y+VW^3'P X &sc ]_ Tb\N c" }j' d Od9c"}g d ]_N:e mhq^s 7 % + 8¤XZN1[1Yj_DV N cÊ}' d X / / 1 cÊ}b d X IKJ N=T7b_ëWviY[N§^j¨V J ]ke OaYjvbvb]_Tbd+]ke d]_N1T cÊ}3} d. X / X 1 cÊ}'P d J N1iXWXWN ^3 O YjV TiJ f N fbNY¢iXWTbN²]VWXZ]_N1^YjTM^T7 bO¨cg N1XZN e1J Y¬3N® X O c / / d X c / / d X / / cÊ}j{ d Åâ¯½¨ÅÇ¾ |]_dbXZNPi®²N1Ô+NVZXW]k[Y¨^ 87 7. 7. C. C. C. C. C. C. C.

(55) ¯ ! ´ ¸

(56) ¸ ¯´. . . IKJ N1T¤cb]_TieWNXWVW]_Tbd / XW^3O Êc }b d ]_T3VZ^ Êc }j{ d 7]N1_fbe1® 7]_Ti[N / / X. X / c. icb N²¢iTDYj_^ VZY]T¨®. / 1 . d c/ X. / d 1 c. /d. X c / d 7 R Y¬2(3PY98²[1Yj__eaV J N F k#m A 6q

(57) 6k ^ m# l m86hi stq$tki. cÊ}' d cÊ}~'d. N KI J N1T¤c ^TiN[J YT^ VZY]T / c J ]k[ J J R Y¬Y U R i T b f N 1 N ¤ f c © ] « V [ j Y T J J ]_^ T$ VWVZNYXZ]vbTbXZN:Nf VZN1 fGY3® e V N²XWN1_YjVW]_^T NnV N1NTV N=[YON1XZY O^VW]_^TYjTifV N§YjviviYjXZNT$V O+^VW]_^T^|YP'&]_TbN§]TV N§]_OaYjdN3R(V5]ke / c / d / # / cÊ} +6d X O X IKJ N1T¤cb]_TieWNXWV XW^3O cÊ'} d\c / XW^3O cÊ}b d5YjTDfXZNvbkY[N / > / J NTiNN1X ]©V]keKv&^3eZew] _N® / c # / / dhc / 1 d cÊ} %'d X J ]k[ J ew]_O+vb_]©¢iN:e ]_T3VZ^ / / # / c / d cÊ} ('d X u J J J ^3bX |vi]_YjTiXxYjYj_O+3cGNVWV NXZNa]_¥1$YYVZ][^3^ T]k]kYje5T¤V c&J ^N=X²Oa]_T3YjVZVWNXZXx]©±Y[]_VWT¤]_^® TOaYjVWXZ]©±£]_TV NAVxYeWbTi[VW]_^TYjvbvbXZ^3Y3[ 7 go `(3c ($} 8(c¤YeZew^g[]_YjVWN1f£VW^ / # c / d / # 6 c / d c P3' d # 6 c d 7 X / c d N± J ] ]VW]_TbdYviYXwVZ]_Y¤fgN1[^bvb_]_Tbd NVn N1NTXW^VZYjVW]_^T-YTif-VWXxYjTieWkYVW]_^T¨ >. > >. >. A;. ZIMT0L. [9T0T0I Bà. KI J NviYjXxYjO+NVWNXZ]_¥1YVZ]^3T NvbXWJ ^3vD^$ewN3c Y3ewN:f£^T ]Tb^3XWOaY]_¥N:f l J ni¦ [xN1X [^7^3XZfg]_TiYjVWN1e1c J YeqeWÔ+NAY3fgYjJ T$VZYJ dN:eciXW^3O V J N ^[^¯T$V VWJ XZN ^&fgvDXxY¬^3 ]T$ VKY^j[x¨ge 7]_ N=N²cg^î3TiNX9f«V ]TN§^jviV YjJ XxNYjX O+XZNNviVWNXWXZN:]_ew¥1N1YT3VZVx]Y^3VZTi]e^3Ti^3ebc7Ti_Nf-V]iTeKV XZN1N§[1Yj_]©_VWGVWV NJ XxN:YewVZN bXZY3Nfgo5YjT$NVZ^YXZdNqN:e5® N²dÂ^3T ]V V N=fgN:eW[XW]_vgVW]_^T ! r bX²XWN1vbXWN:ewN1T$VZYVZ]^3T£]_e²[^3T$VW]_T$iîe²YjTif[^N1XZeV J N J ^3NewviY3[N3c&N±b[NvbVqV J N[1YeWNA^j ]_TbN1e d^3]TidV J XW^3bd J V J N ^vgVZ]_[1Yj¤[NT$VWN1X1 ! R(V]_e [^ J N1XWN1T$VK]_T«V J N P & ewviY3[N=YjTDfV J N=]OaYdN ! R(V]_eKiTb]_°$bN=viXW^7]kfgN1fV J YjVqew^3O+N§[^TiewVWXxYj]_T$VZe1c7N1YeW+VWêZYVZ]_ewc J ^kfM ! R(VN± J ] ]VZeYviYXwVZ]_Y¤fgN1[^bvb_]_Tbd NVn N1NT«XW^VZYVZ]^3T«YTifVWXxYjTieW_YjVW]_^T¤ ´ b ´ o 4 / f qviYjXWV XZÔªV J N l ni¦ [xN1X [^7^3XZfg]_TiYjVWN1e1c^3TbNqDewiY_¢iTifbe V J XZNNq^jV J NX XZNviXWN:ewN1T3VxYVZ]^3Tie^jŸA'P &_]TiN< _D^MV J N1O J Y¬N V J N]_XqfgXxY¬ Y[xge1 ]_TbN=]ke fgN¢DTbN1f Y+v&^]_T3VYTifYfb]XZN1[VW]_^T¤ IKJ N ¢iXxenVfgXxY¬ Y3J [x ^ V J ]keaXWN1vbXZN1eWNT$VZYjVW]_^T]ke+V J YV]VJXWN:°3i]XZN1eVW^¡eWN_ N1[VYsv&^]_T$V^TV JJ N P &<J ]_TbN IKJ ]_e+]ke VW^XZT-^ V J N§N:_ew]^3TiON²N= ]_J T]_[ V J NA]_eK7^ ]_eWieWNYXZ¤dN1bf ]kfb YTiV [J N§N=Xx[YjYO+O+NN5XxYb^XZp£eW^]TDXZN[^N=3V NX:NcXZ]VKN VWOabY¬XZTie Tbfg^^V T-NVWYj^+T7N«±7fgVZXZ]_ewY3VW[\]_VWTb]_d3Tbbd+]_e YAv&Y ^]_T$NAV v ]T-7VeWJ]k[N=Yj¨]_OavDYj^3d3]T$NV c J ]k[ J ]ke J YjVK5N=KYjT$VKVWâY¬^3]_f -ieW]Tbd+_]TiN1e1 93NT«V J ^3bd J ^3TbN [^3b_fDewN=v&^]_T$VZe^3T«V J N _]_TbNciV J NA[ J ^]k[N=^j|V J N vD^3]T$Vq]keTi^jVbTb]k°$bN ^TDewN:°3iNT$VW_cgV J NXZN OaY¬ N eWÔ+Nqfg]keW[XWN1viYjTD[ NVn5NN1T+V J N vD^3]T$V [ J ^3eWNT+VW^fgN¢iTiN V J N²fgN1eW]_XWN:f+vD^$ew]VW]_^Ta^&V J Nq_]_TbNqYjTDfV J N vD^3]T$V ½¯½ 6Æ wKxoyry\× 87 87.

(58) ¬}. sp k#l6n=m

(59) 9mhnrk#s6n=l^p