Advanced Robotics - Control of Interactive Robotic Interfaces Volume 29 Part 2 doc

;?L 0$ $0N2:D5 D"2/6 (:D :"$528/ Q8625 QEJ$6E , ".)<)0. 159 3C.-), 8C8<-45  I0/+. =I=B/ += $0 I  B<+4. @ & & A G)<  += B) B+/ H+=  +=  =B   L52;8 L? & 0 1  +=   B) )F+2<7 <   +0+B= B) =B 2! /4= !<2/  B2 7 3& Q59& X5L K&?K&L&;QL Q3& =K$&K&$ L&Q =+ Q59& 5;LQ;QL =+ 5;Q&K&LQ# Q3& L52;8 L? &  K&?K&L&;QL Q3& L&Q W3&K& Q3& =UQ =9&L =+ Q3& LYLQ&9 &V=8V& ;$   K&?K&L&;QL Q3& U;5V&KL&# ;9&8Y Q3& L&Q =+ 88 QK6& Q=K5&L Q75;2 V8U& 5; Q3& L52;8 L? &C ;8=2=UL8Y Q= 9Q3&9Q5 8 9=$&8L# Q3& &3V5=K  5L ;=Q35;2 &8L& Q3;  LUL&Q =+ Q3& U;5V&KL& W35 3 L&8& QL  +958Y =+ Q59& QK6& Q=K5&L Q3Q K& =9?Q58& W5Q3 Q3& LYLQ&9C ".)<)0. 15 3)- ).@7).45  I0/+. =I=B/  )@ & & A += =+ B2  Q59& 5;VK5;Q +! E 3  )  !2<  G ! G)< E 3 += B) Q4L35+Q =?&KQ=K $0 = @E 3 -A@HA)-@H D GA @>CRA 3& Q59& 5;VK5; & ?K=?&KQY LYL Q3Q Q3& &3V5=K =+ Q3& $Y;95 8 LYLQ&9 $=&L ;=Q $&?&;$ &X?85 5Q8Y Y Q3& Q59&# L W&88 7;=W; +K=9 LYLQ&9 Q3&=KY >T'# T'1C ; Q35L 3?Q&K W& 59 Q 9=$&85;2 ?3YL5 8 LYLQ&9L ;$# Q3&K&+=K&# Q3& &3V5=K8 +K9&W=K7 W588 & 588ULQKQ&$ +=K =;Q5;U=UL $Y;95 8 LYLQ&9L ;$ Q3UL  ) C UKQ3&K9=K& W& W588 LLU9& Q3Q Q3& L52;8 L? & 5L  $5,&K&;Q58& 9;5+=8$ @Q35L 5L ;=Q K&LQK5 Q5V& +=K Q3& 9=$&85;2 ?UK?=L&L ;$ 5Q 5L ; &LL&;Q58 Q& 3;5 8 LLU9?Q5=; +=K 9;Y $&.;5Q5=;LA ;$ W& W588 LLU9& Q3Q Q3& $Y;95 8 LYLQ&9L U;$&K =;L5$&KQ5=; K& Q59& 5;VK5;QC 3& K&LU8QL 588ULQKQ&$ 5; Q35L L& Q5=; ; & &L58Y &XQ&;$&$ Q= $5L K&Q& Q59& $Y;95 8 LYLQ&9L# L L3=W; 5; RR[C Q 5L ?=LL58& Q= $&L K5& Q3& &3V5=K =+  $Y;95 8 LYLQ&9 Y 9&;L =+ $5,&K&;Q58 &EUQ5=;L ;$ Q35L ; & +=K985Z&$ Y UL5;2 Q3& =; &?Q =+ 6&Q L? & TT>C =;L5$&K  $5,&K&;Q58& 9;5+=8$  ;$ Q7& L Q59& X5L C =;L5$&K  LU- 5&;Q8Y L9==Q3 9? .@.A !  # 5C&C LU 3 Q3Q 5QL : 3# $&K5VQ5V& W5Q3 K&L?& Q Q= G 5L $&.;&$C &Q  $ & Q3& L&Q =+ 88 ?=LL58& 5;LQ;Q;&=UL 2 3# Q59& $&K5VQ5V& +=K ;Y ?=LL58& .@.A !  C Q 5L Q3&; ?=LL58& Q= $&.;& Q3& L&Q  ) ) +  + + ) M ?=5;QL 5;  ) K& 5;$5 Q&$ W5Q3 . ) C 3& 5;$U &$ 9? . ) @.A)=C ) .@GA# 88&$ Q3& : 3# 4<2.20(B+20 2! .@.A# 5L 25V&; Y" . ) @GA)@.@GA&.  @GA& &. ) @GAA @>C1A W3&K& . $ @GA) ' $ . 'G $ & & & & 3 @>C/A 3UL =C ) .@.A 5L  9? +K=9 Q3& Q59& X5L  Q= Q3& L? &  ) C =;L5$&K  $Y;95 8 LYLQ&9  )@& & A" H ; 0QE25 :"$528/ 8" :DJ1625J:828 QEJ$6E  %           8  2DM2J ".)<)0. 15/ 3< 8245 ) : 3# 2<< ,B =4 2!  + += $0 = B) =4  + ) 0 +B G+  +0+B =  ) @ +A7 ; &8&9&;Q 5; Q3& L52;8 L? &  ; & =;L5$&K&$ L Q3& V8U& Q7&; Y 9?K !  5;  &KQ5; ?=5;Q G ! C 3UL# ; &8&9&;Q =+  ) @ +A5L 25V&; Y ; &8&9&;Q =+ Q3& L52;8 L? & K@GA !Q=2&Q3&K W5Q3 5QL $&K5VQ5V&L 8 U8Q&$ 5; G U? Q= =K$&K :C ".)<)0. 151E 3C.-), '@)07, 6?<)0.845 B    +"* <0B+. /0+!2. G)+) <4<=0B= B) =+(0. =4   B) B+/ H+= :   0200(B+F +0B(<5B) =K$&K 2! B) +"<0B+. 9EB+206 0   B) &EUQ5;2 L? &7 20=+< BG2 /4= -  &-  "  ) @ +A  @>COA ) I0/+. =I=B/  )@& & A G+B)  ) K "  -  @K@GA& 'K 'G & & ' ) K 'G ) A)-  @K@GA& 'K 'G & & ' ) K 'G ) A @>CNA += =+ B2  =<+ I +"<0B+. 9EB+20= 0 += 02B I @& & &-  &-  A H/4. 37337 =;L5$&K Q3& L59?8&  5K U5Q K&?K&L&;Q&$ 5; 52C >CTC U??=L& Q3Q  9=$&8 =+ Q3& &3V5=K =+ Q3& ?=KQ VK58&L  ;$  5L ;&&$&$C ; Q35L L& Q3& Q59& X5L 5L  ;$ Q3& L52;8 L? & 5L   C K=9 Q3& =;LQ5QUQ5V& &EUQ5=;L =+ Q3& 5;$U Q=K ;$ =+ Q3& ? 5Q=K ;$ +K=9 5K 33=,JL 8WL 5Q +=88=WL Q3Q"                   )   D    ' 'G )    '  'G )  @>C'A ;?L 0$ $0N2:D5 D"2/6 (:D :"$528/ Q8625 QEJ$6E G =;L5$&K ;=W Q3& +=88=W5;2 9?L" -  " @ +  A   -  @=C  @&AA )  '   'G  -  " @ +  A   -  @=C  @&AA ) ' 'G * >   @>C<A Y LQK523Q+=KWK$ 8 U8Q5=;L# 5Q +=88=WL Q3Q Q3& &3V5=K =+ Q3& LYLQ&9 5L 2=V&K;&$ Y Q3& $5,&K&;Q58 &EUQ5=;" -  @=C  @&AA ) -  @=C  @&AA @>C>[A ;9&8Y Y"  '   'G  ) ' 'G * >   @>C>>A Q 5L LQK523Q+=KWK$ Q= 2&;&K85Z& Q3& ;=Q5=; =+ 8Q&;Q ;$ 9;5+&LQ VK58&L +=K $Y;95 8 LYLQ&9LC ".)<)0. 151> 3C.-), 8C8<- A)<' ,<.< @7),845  I0/+* . =I=B/ G+B) .B0B F<+.= += $0 =   )@& & &  ! A G)<  += B) B+/ H+=  += B) /0+!=B =+(0. =4  += B) .B0B F<+.= =4 0  ! 1 @+A  += B) !E )F+2<7 B $0=  .B0B F<+. <4<* =0BB+20 2! B) /0+!=B I0/+. =I=B/  )@& & A G+B) B) !2 2G+0( /0+!=B )F+2<  ) K "   #5 "  =E) B)B @K&5A ! !  @>C>TA Q&;Q VK58&L ; ??&K 5; 9=$&85;2 $Y;95 8 LYLQ&9L +=K VK5=UL K&4 L=;LC 5KLQ# Q3&Y ; & UL&$ L59?8Y +=K 9Q3&9Q5 8 K&L=;L# 5; =K$&K Q= =4 Q5;  ?KQ5 U8K +=K9 =+ Q3& &3V5=K8 &EUQ5=;LC & =;$# Q3&Y ; & UL&$Q= &X?K&LL 5;Q&K;8 8WL 2=V&K;5;2 Q3& &3V5=K =+ Q3& LYLQ&9C  +&W &X9?8&L K& 5;Q&K;8 UKK&;Q ;$ V=8Q2&L Q= &X?K&LL Q3& &3V5=K =+ ; &8& QK5 8 5K U5Q Q &XQ&K;8 ?=KQL ;$ 9=9&;QU9 5; 8LL5 8 958Q=;5; 9& 3;5 L Q= &X?K&LL Q3& &V=8UQ5=; =+ ?=L5Q5=;C UKQ3&K9=K&# 8Q&;Q VK58&L ??&K W3&; 9=$&85;2  LYLQ&9 W35 3 5L =9?=L&$ Y Q3& 5;Q&K =;;& Q5=; =+ L&V&K8 LULYLQ&9LM 5; Q35L L& 8Q&;Q VK58&L W588 &X?K&LL Q3& 5;Q&K =;;& Q5=; =;LQK5;QLC  V&KY 59?=KQ;Q 8LL =+ 8Q&;Q VK58&L 5; LYLQ&9 Q3&=KY K& LQQ& VK58&L W3=L& K=8& 5L Q= K&?K&L&;Q Q3& 5;Q&K;8 9&9=KY =+ Q3& LYLQ&9C ".)<)0. 151= 3<< 82 C.-), 8C8<-45  LQQ& L? & $Y;4 95 8 LYLQ&9 +=  I0/+. =I=B/ G+B) .B0B F<+.=   )@& & &  ! A +0 G)+) B) !E )F+2< =B+=$= B) X5=9 =+ LQQ&7 ) H+2/ 2! =BB <* 9E+<= G)B !2 2G= +F0 @K  &L  A& @K  &L  A ! ! 0 G ! +!L  @GA)L  @GA B)0 @K& LA ! !  G)< @K@HA&L@HAA )    @K  @HA&L  @HAA -;CH 7 G @K  @HA&L  @HAA -;CH $ G % ; 0QE25 :"$528/ 8" :DJ1625J:828 QEJ$6E 3& X5=9 =+ LQQ& K&EU5K&L Q3Q ;Y ?=LL58& QK6& Q=KY 5+ Q3& +U88 &3V5=K  ! &;$5;2 5;  ?KQ5 U8K LQQ& ; & =; Q&;Q&$ W5Q3 ;Y =Q3&K QK6& Q=KY LQKQ5;2 +K=9 Q3Q LQQ&C ; =Q3&K W=K$L# 5Q LL&KQL Q3Q =; & Q3Q Q3& 5;5Q58 LQQ& 5L 7;=W;# Q3&K& 5L &;=U23 5;+=K9Q5=; Q= $&Q&K95;& Q3& +UQUK& &3V5=K ;$ Q3&K& 5L ;= ;&&$ =+ +UKQ3&K 5;+=K9Q5=; =+ Q3& ?LQ QK6& Q=KYC 3& X5=9=+ LQQ& +=K985Z&L  =; &?Q V&KY W&88 7;=W; L5; & L5 LYLQ&9 Q3&=KY =UKL&L" B) =BB 2!  I0/+. =I=B/ 20B+0= =E#+0B +0!2</B+20 2EB B) 4=B +0 2<< B2 B</+0 B) !EBE< )F+2<7  EU&LQ5=; Q3Q K5L&L V&KY ;QUK88Y Q Q35L ?=5;Q 5L" 2G 0 =BB =4 I0/+. =I=B/=  <4<=0B I +"<0B+. )F+2<. 9EB+20=: 3& +=88=W5;2 Q3&=K&9 3=8$L" '07- 151% 3),,-8 1//145 B   )@& & &  ! A   I0/+. =I=B/ G+B) .B0B F<+.= 0 .B    +"<0B+. /0+!2. 0   +B= B0(0B E0.7 20=+< BG2 /4= -  &-  " +G)<  += B) 9EB+0( =4 7 ) +"<0B+. 9EB+20 -  @@L& %LA&KA)-  @@L& %LA&KA $0=  =BB =4 =I=B/ @& & &  ! A G+B)  ! ) @K& LA" +L += =2.EB.I 20B+0E2E= 0 -  @L@GA& %L@GA&K@GAA ) -  @L@GA& %L@GA&K@GAA !2< ./2=B  G !  3&=K&9 >C>1 L3=WL Q3Q Q3& +U;$9&;Q8 =;$5Q5=; +=K  LQQ& L? & $Y;4 95 8 LYLQ&9 5L Q3Q Q3& &3V5=K8 $5,&K&;Q58 &EUQ5=;L K& =+ .KLQ =K$&K5; L ;$ =+ Z&K= =K$&K 5; KC 3& Q3&=K&9 $=&L  LQQ& Q3Q Q3& &3V5=K8 $5,&K&;Q58 &EUQ5=;L 9ULQ & ;& &LLK58Y &X?85 5Q# 5C&C =+ Q3& +=K9" %L ) -@L& KA @>C>RA 3& K&?K&L&;QQ5=; 25V&; +=K LQQ& L? & $Y;95 8 LYLQ&9 5L Q3&K&+=K& 8& Q= K&?K&L&;Q =Q3 &X?85 5Q ;$ 59?85 5Q LYLQ&9LC 15>5% .2?<8 . ?<2?<8 = +K ;= $5LQ5; Q5=; 3L &&; 9$& &QW&&; 5;?UQL ;$ =UQ?UQLC 35L 5L ;=Q  W&7 ?=5;Q =+ Q3& &3V5=K8 ??K= 3# L 5Q =U8$ & LQQ&$ Q  .KLQ 28; &# KQ3&K 5QL LQK&;2Q3C ;?UQL ;$ =UQ?UQL L3=U8$ & E !<2/ Q3& 9Q3&94 Q5 8 9=$&8 =+  &KQ5; ?3&;=9&;=; ;$ ;=Q +/42= 20 Q3& 9=$&8C ; + Q# +=K &X9?8&# 5; ?3YL5 8 LYLQ&9L 5Q 5L ;=Q 8WYL 8&K W35 3 VK58& L3=U8$ & 3=L&; L 5;?UQ ;$ W35 3 L =UQ?UQC =;L5$&K5;2 ; &8& QK5 8 K&L5LQ=K#5Q 5L ;=Q 8&K W3&Q3&K V=8Q2& 3L Q= & Q7&; L 5;?UQ ;$ UKK&;Q L ; =UQ?UQ =K V5 & V&KLC UKQ3&K9=K&# Q3& 3=5 & =+ 5;?UQ ;$ =UQ?UQ =U8$ $&?&;$ =; Q3& =?&KQ5;2 ?=5;Q =+ Q3& LYLQ&9C 5;88Y# Q3& 3=5 & =+ 5;?UQL ;$ =UQ?UQL =U8$ 8L= $&?&;$ =; Q3& L?& 5. QL7 Q3& LYLQ&9 3L Q=  =9?85L3C Q 5L ;?L 0$ $0N2:D5 D"2/6 (:D :"$528/ Q8625 QEJ$6E 9 Q3&; 8&K Q3Q 5; =K$&K Q= 2&Q  2&;&K8 9Q3&9Q5 8 9=$&8# 5Q 5L &QQ&K Q= UL& Q3& =; &?Q =+ =UQ =9& KQ3&K Q3; L?& 5+Y  4<+2<+ 5;?UQL ;$ =UQ?UQLC =W&V&K 5Q 5L 59?=KQ;Q Q= & 8& Q= 5; 8U$& 5;?UQL ;$ =UQ?UQL 5; Q3& &34 V5=K8 +K9&W=K7 & UL& =+ L&V&K8 K&L=;L @&C2C +=K =;QK=8 ?UK?=L&LA 5Q ; & ;& &LLKY Q=  Q =; L=9& 5;?UQL 5; =K$&K Q= 2&Q  $&L5K&$ =UQ?UQC ; Q3& +=88=W5;2 W& &X?85; 3=W 5Q 5L ?=LL58& Q= 25V& ; 5;?UQP=UQ?UQ K&?K&L&;QQ5=; =+  $Y;95 8 LYLQ&9" ".)<)0. 151# 3; C.-), 8C8<-45 20=+<  )F+2<  20  =+(0. =4  ) +70P $Y;95 8 LYLQ&9 += $0 = B) 9E<E4.  2 )@& & & A G)<  <4<=0B= B) B+/ H+=  B) 5;?UQ L52;8 L? &  B) =UQ?UQ L52;8 L? & 0 1@+A  B) )F+2<7 ) !2 2G+0( 4<24<B+= )F B2  =B+=$ 37 I !  += !<> +77 !2<  I ! B)< H+=B=  N !  =E) B)B @I& NA !7 D7 I !  += /H+/ I !<> +77 020 2! B) 2/4200B= 2! N !  0  )2=0 !<.I7 3& $&.;5Q5=; LQQ&L Q3Q ; 5;?UQP=UQ?UQ ?KQ5Q5=; =+ Q3& L52;8 L? & 5L L&;4 L58& =;8Y 5+ Q3& 5;?UQ I ; & 3=L&; +K&&8Y @?K=?&KQY >A ;$ 5+ 5Q $&Q&K95;&L U;5V= 88Y# =; & .X&$ Q3& 5;5Q58 =;$5Q5=;L# Q3& =UQ?UQ @?K=?&KQY TAC ; =;4 QK=8 Q3&=KY  V&KY &LL&;Q58 ;$ 8=25 8 +&QUK& ; P $Y;95 8 LYLQ&9 9ULQ 3V& 5L ;=; ;Q5 5?Q5=;C 35L ?K=?&KQY K&EU5K&L Q3Q Q3& V8U&L =+ Q3& =UQ?UQ Q  &KQ5; Q59& $=&L ;=Q $&?&;$ =; Q3& +UQUK& V8U&L =+ Q3& 5;?UQC ; P $Y;95 8 LYLQ&9 W35 3 &;6=YL Q35L ?K=?&KQY 5L 88&$ 020 0B++4B+0( A I0/+. =I=B/C Q 5L ?=LL58& Q= =95;& Q3& ;=Q5=;L =+ 5;?UQ ;$ =UQ?UQ W5Q3 Q3& =; &?Q =+ LQQ& ;$ Q= =Q5;  V&KY UL&+U8 K&?K&L&;QQ5=; =+ $Y;95 8 LYLQ&9L" ".)<)0. 151: 3;; C.-), 8C8<-45 0 AA I0/+. =I* =B/ += $0 =  /*BE4.  22 )@& & & &  ! A G)<  <4<=0B= B) B+/ H+=  B) +04EB =+(0. =4  B) 2EB4EB =+(0. =4  B) =BB =4 0  ! 1 @+& A  B) !E )F+2<7 ) !2 2G+0( H+2/= /E=B  =B+=$ 37 @& +& &  ! A +=  =BB =4 I0/+. =I=B/ D7 @& & +&  ! A +=  020 0B++4B+0( A I0/+. =I=B/ C7 @& & &   ! A +=  020 0B++4B+0( A I0/+. =I=B/7   ! <4<=0B= B) +04EBA=BB )F+2<   ! ) @I& LA" +#N "  =7B7 @I& N& LA ! ! ; PP $Y;95 8 LYLQ&9 5L ;=Q35;2 &8L& Q3;  LQQ& L? & $Y;95 8 LYLQ&9 @?K=?&KQY >A W3&K& ; 5;?UQ =UQ?UQ ?KQ5Q5=; 3L &&; 9$& =; Q3& L52;8 L? &C UKQ3&K9=K& ;&5Q3&K Q3& =UQ?UQ ;=K Q3& LQQ& $&?&;$ =; +UQUK& 5;+=K9Q5=; =+ Q3& 5;?UQ VK58& @?K=?&KQ5&L T ;$ RAC 5V&; ; PP $Y;95 8 LYLQ&9  22 )@& & & &  ! A5Q5L8WYL ?=LL58& Q= =Q5; ; P $Y;95 8 LYLQ&9  2 )@& & & A W5Q3" ;S ; 0QE25 :"$528/ 8" :DJ1625J:828 QEJ$6E  ) @I& NA ! @+A #L !LCQC @I& N& LA ! !  Q 5L ?=LL58& Q= ?K=V& Q3Q Q3& &3V5=K8 &EUQ5=;L Q3Q K&?K&L&;Q ; PP $Y;95 8 LYLQ&9 K& =9?=L&$ Y =BB F2.EB+20 .G ;$ Y ; =UQ?UQ 9? ;$ ; & WK5QQ&; 5; Q3& +=K9"    -  @%LA)-@L& IA 1  @NA)1@L& IA @>C>1A W35 3 5; 8U$&L Q3& W&88 7;=W; +=K9 >T'"    %L ) -@L& IA N ) 1@L& IA @>C>/A $&, 2( # " 3& +K9&W=K7 5;QK=$U &$ L= +K 5L V&KY 2&;&K8 ;$ 88=WL Q= 9=$&8 &V&KY ?3&;=9&;=;C =W&V&K# 5; =K$&K Q= 2&Q  W=K78& +K9&W=K7# 5Q 5L ;& &LLKY Q= $$ L=9& LQKU QUK& Q= Q3& 9=$&8LC =;L5$&K5;2  &KQ5; 8LL =+ ?3&;=9&;#5Q 5L ?=LL58& Q= =Q5;  8LL =+ 9=$&8L W5Q3  ?KQ5 U8K LQKU QUK& W35 3 ;& &X?8=5Q&$ +=K VK5=UL ?UK?=L&L" ;8YL5L =+ &KQ5; ?K=?&KQ5&L @&C2C =L&KV585QY# K& 3585QYA# $&L52; =+  LU5Q8& =;QK=88&K# &Q C H/4. 373?7  V&KY 59?=KQ;Q 8LL =+ $Y;95 8 LYLQ&9L 5L Q3& =;& =+ 85;&K LYLQ&9LC 3&L& LYLQ&9L ; & 9=$&8&$ L PP $Y;95 8 LYLQ&9L W3&K& =Q3 Q3& LQQ& L? & ;$ Q3& 5;?UQ L52;8 L? & ;$ Q3& =UQ?UQ L52;8 L? & K& V& Q=K L? &L ;$# +UKQ3&K9=K&# W3&K& Q3& LQQ& &V=8UQ5=; 8W ;$ Q3& =UQ?UQ 8W K& 85;&K 5; Q3& LQQ& ;$ 5; Q3& 5;?UQC 35L 8&$L Q= Q3& +=88=W5;2 V&KY W&88 7;=W; &EUQ5=;L"    %L ) L D I N ) L D I @>C>OA W3&K& # #  ;$  K& 9QK5 &L =+ ?K=?&K $59&;L5=;LC ; Q3& ?K&V5=UL &X9?8&#  9Q3&9Q5 8 ?K=?&KQY# Q3& 85;&K5QY# $&Q&K95;&L Q3& 75;$ =+ &3V5=K =+ Q3& LYLQ&9 ;$ 25V&L  W&88 $&.;&$ LQKU QUK& Q= Q3& &3V5=K8 &EUQ5=;LC ; Q35L ==7# W& K& 5;Q&K&LQ&$ Q= 9=$&85;2 4)I=+. =I=B/= ;$# Q3&K&+=K&# 4)I=+= W588 $&Q&K95;& Q3& 75;$ =+ &3V5=K =+ Q3& LYLQ&9C Q 5L ?=LL58& Q= $&L K5& ?3YL5 8 LYLQ&9 W5Q35; Q3& &3V5=K8 +K9&4 W=K7 $&L K5&$ 5; & C >CT ;$# +UKQ3&K9=K&# Q= &X?8=5Q Q3& +&QUK&L =99=; Q=  ?3YL5 8 LYLQ&9 Q= $&Q&K95;& Q3&5K 75;$ =+ &3V5=K ;$ Q= K5;2 5;Q= &V5$&; &  8=Q =+ ?3YL5 8 5;+=K9Q5=; 5;Q= Q3& &3V5=K8 &EUQ5=;LC ;?K 0QE25 :"$528/ ;; 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  3L Q3& L9& $59&;L5=; =+  >>NC 8&9&;QL =+  ;$   K& L5$ Q= & $U8 =;& W5Q3 K&L?& Q Q= Q3& =Q3&KC UKQ3&K9=K& &8&9&;QL =+  K& 88&$ FB2<= W358& &8&9&;QL =+   K& 88&$ 2FB2<=C ".)<)0. 151/ 3?,)<C 70?<45 +F0 J !0 J  !   B) E.+BI 4<2EB += $0 = &  " +    J&J   ) J  @JA @>CTTA 3& $U85QY ?K=$U Q 5L +0B<+0=+ I $&.;&$ +=K ;Y V& Q=K L? & ;$ 5Q 5L  ; &XQK LQKU QUK& Q3Q ; & LL= 5Q&$ Q= 5QC ; & ==K$5;Q&L 3V& &&; .X&$# V& Q=KL ;$ =V& Q=KL K& K&?K&L&;Q&$ L =8U9; V& Q=KL ;$ K=W V& Q=KL K&L?& Q5V&8YC 3& $U85QY ?K=$U Q 5L L59?8Y 25V&; Y Q3& ULU8 ?K=$U Q &QW&&; K=W ;$ =8U9; V& Q=KLC ; & 3 ?3YL5 8 $=95; Q3&K& 5L  ?5K =+ $U8 VK58&L# 88&$ 42G< 20,E(B F<+.=# W3=L& $U85QY ?K=$U Q K&?K&L&;QL ?=W&KC 3&L& VK58&L K& 2&;&K5 88Y 88&$ &2G= ;$ "2<B= ;$ 85V& 5; $U8 V& Q=K L? &L# Q3& L? & =+ 0=WL  ;$ Q3& L? & =+ &,=KQL  )   C ; C >C> &,=KQ ;$ 0=W VK58&L +=K VK5=UL ?3YL5 8 $=95;L K& K&?=KQ&$C & K& ;=W K&$Y Q= 5;QK=$U & ?=W&K ?=KQLC ".)<)0. 15>E 30A7 207<45 B  0  )    B) &2G 0 "2<B FB2< =4=7  42G< 42<B += $0 =  ) +7 +F0 - !0 ) ! B) 4<2EB )& - +=   B) 42G< 5B<F<=+0( B) 42G< 42<B6 G)< &  += B) +0B<+0=+ E.+BI 4<2EB $0 +0 !7 37317 =W&K ?=KQL K& Q3& 9&$5U9 Q3K=U23 W35 3  ?3YL5 8 LYLQ&9 ; &X 3;2& &;&K2Y W5Q3 Q3& K&LQ =+ Q3& W=K8$ ;$# 5; ?KQ5 U8K# Q3K=U23 W35 3 5Q ; & 5;Q&K =;;& Q&$ W5Q3 =Q3&K ?3YL5 8 LYLQ&9LC ; Q3& L59?8& &X9?8& =+ Q3& =L 588Q=K# Q3& ?=W&K ?=KQL =+ Q3& 9LL ;$ =+ Q3& L?K5;2 K& Q3& ?5KL @  &J  A ;$ @  &J  A K&L?& Q5V&8Y ;$ Q3&Y K& UL&$ Q= 5;Q&K =;;& Q Q3& QW= LYLQ&9LC 3& + Q Q3Q ?=W&K =;6U2Q&$ VK58&L K& 5;$&?&;$&;Q =+ Q3& =;.2UK4 Q5=; =+ Q3& ?3YL5 8 LYLQ&9 ;$ Q3Q Q3& $U85QY ?K=$U Q 5L $&.;&$ 5;QK5;L5 88Y ;. ; 0QE25 :"$528/ 8" :DJ1625J:828 QEJ$6E #!1' #'('0 ,'!,!( '2 (,!' ,( '2 ((#, ,( #!1' #!',(   $JO:D4 6:"$5 :(  <0QE25 EQEJ$6 5L =+ KU 58 59?=KQ; &C 35L 88=WL Q= U;5EU&8Y $&.;& Q3& &;&K2Y &X 3;2& W5Q3=UQ ;Y $$5Q5=;8 LQKU QUK& =; Q3& ?=KQ ;$ Q= UL& ?=W&K ?=KQL Q= 5;Q&K4 =;;& Q ?3YL5 8 LYLQ&9L 3K Q&K5Z&$ Y $5,&K&;Q =;.2UKQ5=; L? &L ;$ &V&; Y $5,&K&;Q ?3YL5 8 $=95;LC =U238Y L?&75;2#  ?=W&K ?=KQ 5L ; 5;4 Q&K+ & Q3K=U23 W35 3 &;&K2Y 0=WL ;$ Q35L 0=W 5L &X?K&LL&$ 5; ; 5;QK5;L5 WY# 5;$&?&;$&;Q8Y =+ Q3& ?3YL5 8 $=95; ;$ =+ Q3& ?KQ5 U8K =;.2UKQ5=; =+ Q3& LYLQ&9 Q3& ?=W&K ?=KQ 5L LL= 5Q&$ Q=C $& !% + #'+! +#"" 2(+!( K=9 Q3& V&KY L59?8& &X9?8& ?K=?=L&$ 5; Q3& ?K&V5=UL L& Q5=;# 5Q 5L &V5$&;Q Q3Q Q3K&& =; &?QL K& +U;$9&;Q8 +=K U58$5;2 Q3& 9=$&8 =+ Q3& =L 588Q=K K&?=KQ&$ 5; 52C >CR" Q3& LQQ& L? &# W3=L& =9?=;&;QL 9=$&8 Q3& &;&K2Y LQ=K2& ?3&;=9&; LL= 5Q&$ Q= Q3& =;LQ5QUQ5V& ?KQL =+ Q3& LYLQ&9# Q3& ?=W&K ?=KQ# Q3& 9&$5U9 Q3K=U23 W35 3 & 3 ?3YL5 8 LULYLQ&9 ; &X 3;2& &;&K2Y# ;$ Q3& 5;Q&K =;;& Q5=; LQKU QUK&# ;9&8Y Q3& WY Y W35 3 88 Q3& LULYLQ&9L K& 6=5;&$ Q3K=U23 Q3&5K ?=W&K ?=KQL ;$# =;L&EU&;Q8Y# Y W35 3 Q3&Y &X 3;2& &;&K2YC 3& &3V5=K =+ ;Y ?3YL5 8 LYLQ&9 ; & $&L K5&$ 5; Q&K9L =+ &;&K2Y LQ=K2& ;$ &;&K2Y 0=WLC 3& 59 =+ Q35L L& Q5=; 5L Q= $&L K5& Q3& ?=KQ4 958Q=;5; +=K985L9# 5;QK=$U &$ 5; >'<# RTR# RTT# R>'# R><# W35 3 88=WL Q= $&L K5&  ?3YL5 8 LYLQ&9 5; Q&K9L =+ &;&K2Y &X 3;2& ;$ =+ 5;Q&K =;;& Q5=; =+ L5 &8&9&;QL ;$ Q= 25V& 5Q  &3V5=K8 5;Q&K?K&QQ5=;C =88=W5;2 Q3& ;&QW=K7 ?K$529 TRN# RO# >1>#  ?3YL5 8 LYLQ&9 ; & $&L K5&$ Y  L&Q =+ &8&9&;QL =B2<+0( -+0B+ 0<(I#  L&Q =+ &8&9&;QL =B2* <+0( 42B0B+. 0<(I#  L&Q =+ &8&9&;QL +==+4B+0( !< 0<(I ;$  L&Q =+ 42G< 42<B= @Y 9&;L =+ W35 3 5;Q&K Q5=; W5Q3 Q3& &XQ&K;8 &;V5K=;9&;Q =K 5;Q&K =;;& Q5=; W5Q3 =Q3&K LYLQ&9L ; Q7& ?8 &A 5;Q&K =;;& Q&$ W5Q3 & 3 =Q3&K Y 9&;L =+ 42G< 4<=<F+0( +0B<200B+20=# L 588ULQKQ&$ 5; 52C >C/C 3& + Q Q3Q Q3& VK5=UL &8&9&;QL K& 6=5;&$ W5Q3  ?=W&K ?K&L&KV5;2 5;Q&K4 =;;& Q5=; 9&;L Q3Q 8=;2 Q3& 5;Q&K =;;& Q5=;L Q3&K& ; 20.I & &;&K2Y QK;L+&K ;$  &;&K2Y ?K=$U Q5=;C 35L 88=WL Q3& ?K&L&; & =+ ?=W&K ?K&4 .   0   50 20 =9E0B.I B) 0-= B2 < ;24 2=+B +20 37DC 2!  0  6 += 20 =B0B +0  0+() 2& lt; )22  2! L 3& +=88=W5 ;2 ?K=?=L5Q5=; ; & ?K=V&; RTT" 7 020 8)<)0. 15>#5 2& lt;. =<++0( B) GI B)B 42G< 2/ +0( !< ;2/ B) HB<0. G2<. += +=B<+EB +0B2 B) =I=B/7 ;?. 6< 52 2J :DJ1 625 J: 82 8 QEJ$6E LK   0$6J2 D$<D$E$8JJ2:8 :(   6:J:D =Q5. LYLQ&9C ".)<)0. 15>> 3 -2 ,))< 20 7<( -) ,<0.). 8C8< -4 5 20 =+<  =BB =4   =4 2! &2G F<+.=  0 E I B) =4 2! " ;2& lt;B F<+.=   