Advanced Robotics - Control of Interactive Robotic Interfaces Volume 29 Part 5 pot

20 303 0
Advanced Robotics - Control of Interactive Robotic Interfaces Volume 29 Part 5 pot

Đang tải... (xem toàn văn)

Tài liệu hạn chế xem trước, để xem đầy đủ mời bạn chọn Tải xuống

Thông tin tài liệu

HH L :8JD:5 :( :DJ1625J:828 QEJ$6E )-B ) )7 )" )< B < " 7  -B B -B <B ;B "B !B 7B 6B B +B -BB => 8$D/Q )-B ) )7 )" )< B < " 7  -B )<B )-! )-B )! B ! -B -! <B => :D$   8$D/Q 8" (:D$ :( 8:8 EJMDJ$" =D$/M5D> 8" EJMDJ$" =:5"> E<D28/? 9=U;Q =+ LQ=K&$ &;&K2Y 5; K&L&L Q== 9U 3# Q3&; Q3& +=K & 2&;&KQ&$ Y Q3& L?K5;2L# Q3Q 5L Q3& +=K & Q3Q Q3&  QUQ=KL L3=U8$ ??8Y# ; & 2K&Q&K Q3; Q3& ?3YL5 8 8595QL =+ Q3&  QUQ=KL Q3&9L&8V&LC + Q3& K==Q 5L =;QK=88&$Y 9&;L =+ Q3&  D 2@EA =;QK=88&K# Q35L L5QUQ5=; ; 3??&; &C2C 5+ Q3& 5;5Q58 &KK=K 5L LU- 5&;Q8Y 3523C =;L5$&K  ) $52@4  &???&4 ) A# Q3Q 5L Q3& L?K5;2 &;&K2Y 5; @TC>>NA ; & WK5QQ&; L @LA) ) # $  $ @L $ A) > T ) # $ 4 $ L  $ 3&;# LU??=L& Q3Q & 3  QUQ=K 5L 8595Q&$# 5C&C - $( ' - $ ' - $ # 2 )>&???&:C =;L5$&K L  )@L  &???&L ) A;$L ( )@L ( &???&L )( A LU 3 Q3Q - $ ) 4 $ L $ ;$ - $( ) 4 $ L $( C 3& LQUKQ5=; =+ & 3  QUQ=K ; & Q7&; 5;Q=  =U;Q 5+ Q3& +=88=W5;2 &;&K2Y +U; Q5=; 5L 5;QK=$U &$"  1 @LA) 1 D D  )1 @TC>>'A W3&K&  $1 @L $ A)          - $(  L $ *   L $(  L $ 7L $(   4 $ L  $ &L $( ' L $ ' L $ - $  L $ *   L $  L $ 0L $ @TC>><A =Q& Q3Q Q3& ?LL5V5QY ?K=?&KQ5&L =+ Q3& L?K5;2 K& ?K&L&KV&$ L5; & Q3& ?K=4 ?=L&$ &;&K2Y +U; Q5=; 5L   ;$ =U;$&$ +K=9 &8=WC 3& &;&K2Y +U; Q5=; =+  >($59&;L5=;8 L?K5;2 ;$ Q3& K&8Q5V& +=K & 5; +U; Q5=; =+ Q3& LQQ& K& K&?K&L&;Q&$ 5; 52C TCN# =Q3 +=K Q3& ;=;4LQUKQ&$ ;$ LQUKQ&$ L&C 8&K8Y# Q3& &;&K2Y +U; Q5=;L K& $5,&K&;Q 5; Q3& LQUKQ5=; L?,  D25$ JDMJMD$ <<D:0 J: 8$D/Q1E$" :8JD:5 HG Z=;&" W3&; Q3& LQ=K&$ &;&K2Y & =9&L 5;.;5Q&# Q3& +=K & 2&;&KQ&$ Y  ;=;4 LQUKQ&$ L?K5;2 5; K&L&L Q= 5;.;5QY# W358& 5Q 5L 8595Q&$ +=K Q3& LQUKQ&$ L&C 3& LQUKQ5=; =+ & 3  QUQ=K ; & Q7&; 5;Q=  =U;Q 5; Q3& @?LL5V&A =;QK=8 =+  K==Q 5+# 5;LQ&$ =+ Q3& &;&K2Y +U; Q5=; @TC>>/A# W& =;L5$&K 5Q5L LLU9&$   @BA) ) # $  $1 @B $ * B $ A @TC>T[A W3&K&  $1 @.A 5L $&.;&$ L 5; @TC>><A# 4 $ 0 [ ; & +K&&8Y LL52;&$# ;$ - $( # - $ $&?&;$ =; Q3& 3K Q&K5LQ5 L =+ Q3& 24Q3  QUQ=KC 5; &   @.A5L 3K Q&K5Z&$ Y  @28=8A 95;59U9 5; B  # Q3& =;QK=8  Q5=; @TC>>1A LQ588 LLUK&L Q3& @28=8A LQ585QY =+ Q35L =;.2UKQ5=;C K=9 EC@TC>>OA# 5Q +=88=WL Q3Q ' ' 'G ) * >   ' >= @ D   A > ' >= 7 [ @TC>T>A +=K -  -, )%B ,) [C 5; &  ' 5L =U;$&$ +K=9 &8=W# W& 3V& Q3Q# +=K &V&KY +0[# 5Q 5L ?=LL58& Q= .;$ G  LU 3 Q3Q %B@GA 7++=K &V&KY G $ G  C =K&=V&K# Q3& ?=LL58& =;.2UKQ5=;L 5; W35 3 Q3& K==Q LQ=?L K& 8&K8Y 25V&; Y Q3& L=8UQ5=;L =+" > ' >B @B& =A & & & & , ) [ @TC>TTA =K# 5; Q3& L& =+ ?&K+& Q =9?&;LQ5=; =+ Q3& ?=Q&;Q58  @BA# =+" >  >B @BA ) [ @TC>TRA 3&K&+=K&# 5+   5L 3K Q&K5Z&$ Y  28=8 95;59U9 5; B ) B  # &C2C L 5; @TC>>/A =K 5; @TC>T[A# Q3& K==Q K& 3&L Q3& $&L5K&$ =;.2UKQ5=; B  C3&7&Y ?=5;Q 5L Q3Q  ?&K+& Q =9?&;LQ5=; =+ Q3& =K525;8 ?=Q&;Q58 &;&K2Y =+ Q3& K==Q 3L Q= & 59?8&9&;Q&$C + Q35L 5L ;=Q Q3& L&# Q3&; L=9& K&2U8Q5=; &KK=KL W588 & ?K&L&;QC U??=L& Q3Q !  @BA 5L ; &LQ59Q& =+ Q3& ?=Q&;Q58 Q&K9 5; @B& =AC 3&;# @TC>>1A & =9&L I )    > !  >B * >  >B *   > >=  @TC>T1A ;$  ' 5L ;=W 25V&; Y  ' @B& =A) > T =    @BA= D   @BA *  @BA @TC>T/A H% L :8JD:5 :( :DJ1625J:828 QEJ$6E W3&K&  @BA) !  @BA * @BAC 5; & @TC>T>A 3=8$L# Q3& .;8 =;.2UKQ5=;L Q3& K==Q ; LLU9& K& LQ588 L=8UQ5=;L =+ @TC>TTA# =K# &EU5V8&;Q8Y# =+ >  >B ) > >B @TC>TOA V&; 5+   5L 3K Q&K5Z&$ Y  @28=8A 95;59U9 5; B  #5Q5L;=QLUK&Q3Q Q35L =;.2UKQ5=; ; & K& 3&$C ; =K$&K Q= 97& Q3& =;QK=8 8W @TC>T1A K=ULQ 8L= 5; Q&K9L =+ 4<!2<* /0= W5Q3 K&L?& Q Q= U;7;=W; ?K9&Q&KL#   # W35 3 5L +K&&8Y LL52;8&# ; & 3=L&; W5Q3  VK58& LQKU QUK&C =K &X9?8&# LLU9&   @BA) > T ) # $ 4 $ B $ * B $ D L52;@B $ * B $ A:B $   @TC>TNA W3&K& 4 $ 0 [;$:B $ 0 [# W5Q3 2 )>&???&:C Q 5L ?=LL58& Q= ?K=V& Q3Q# 5+ & & & & > >B & & & & ' 7% @TC>T'A ;$ 5+ :B $ # 2 )>&???&:#K&4<24<.I 3=L&;# Q3&; Q3& =;QK=8 8W @TC>T1A W5Q3   25V&; Y @TC>TNA# ; $K5V& Q3& LYLQ&9 5; B ) B  C 3& ?K==+ 5L 599&$5Q& 5; Q3& L& Q3Q  ?&K+& Q =9?&;LQ5=; =+ Q3& ?=Q&;Q58  @BA 5L ?=LL58&# Q3Q 5L 5+  @BA ) [" 5; + Q# 5; Q35L L5QUQ5=;#  ' 5L 3K Q&K5Z&$ Y  28=8 95;59U9 5; @B  & [AC U??=L&# Q3&;# Q3Q  @BA ,) [ ;$# 5; ?KQ5 U8K# Q3Q @TC>T'A 3=8$L ;$ =;L5$&K  2&;&K5 5;5Q58 =;$5Q5=; @B &= AC &.;& E ") E  &???&E ) # W3&K& E $ )  >5+B $ * B $ $ [ *>5+B $ * B $ 7 [ =;8Y $&?&;$L =; Q3& 5;5Q58 =;$5Q5=;C 3&;# LLU9& Q3Q Q3& =;QK=8 5;?UQ I 5L 25V&; Y @TC>T1A# UQ W5Q3   25V&; Y"   @BA) > T ) # $ 4 $ @B $ * B $ D E $ :B $ A  @TC>T<A +# W5Q3  ?K=?&K 3=5 & =+ :B# Q35L =;Q5;U=UL =;QK=8 5;?UQ ; $K5V& Q3& K==Q 5;  .;8 =;.2UKQ5=; B  LU 3 Q3Q  B  $ * B $ 7 [5+B $ * B $ 0 [@E $ )>A B  $ * B $ 0 [5+B $ * B $ 7 [@E $ ) *>A @TC>R[A Q3&; ; 5;LQ;Q : G LU 3 Q3Q B@ : GA * B  ) [ 3L Q= &X5LQLC =;L&EU&;Q8Y# Q3& VK58& LQKU QUK& =;QK=88&K K&LU8Q5;2 +K=9 @TC>T1A ;$ @TC>TNA 97&L Q3& =;.2UKQ5=; B ) B  28=88Y QQK Q5V& ;$# 8&K8Y# 28=88Y LQ8&C 3& ?=LL58& .;8 =;.2UKQ5=;L B  K& L=8UQ5=; =+ @TC>TOA# Q3Q 5L L?,  D25$ JDMJMD$ <<D:0 J: 8$D/Q1E$" :8JD:5 H9 '   '    => '  '   S 7'  7'  *  ';*  ' ;   $0N2:D :( J0$ <D:<:E$" :8JD:55$D? B  $ * B $ D E $ :B $ ) > 4 $ > >B @B  A @TC>R>A 5; & Q3& V8U&L :B $ # 2 )>&???&: 3V& Q= & 3=L&;  =K$5;2 Q= @TC>R[A# 5Q L3=U8$ & :B $ 0  4 $ &2)>&???&: @TC>RTA 5Q3 Q35L 3=5 &# Q3& =;.2UKQ5=; B ) B  5L 28=88Y QQK Q5V& ;$ LQ8&C ; 52C TC'# Q3& &3V5=K =+ Q3& ?K=?=L&$ =;QK=88&K 5L 588ULQKQ&$" Q3& 5;5Q58 &KK=K B $ *B $ 5L 2K&Q&K Q3; [# UQ :B $ 5L 3=L&; 5; LU 3  WY Q3Q 88 Q3& ?=LL58& LQ&$Y LQQ& =;.2UKQ5=;L B  LQ5L+Y B  $ *B $ 7 [5+  5L 25V&; Y @TC>T<AC + Q3& VK58& LQKU QUK& =+ Q3& =;QK=88&K $&K5V5;2 +K=9 @TC>TNA 5L $=?Q&$# Q3&; Q3& LYLQ&9 5L 20=B<+0 5; B  C 3&  QUQ=K LQUKQ5=; ; & Q7&; 5;Q=  =U;Q Y 5;QK=$U 5;2 Q3& L4 QUKQ&$ L?K5;2LC +  $1 5L Q3& &;&K2Y +U; Q5=; =+  LQUKQ&$ L?K5;2 L K&?=KQ&$ 5; @TC>><A# LU??=L& Q3Q   @BA) ) # $  $1 B $ * B $ D L52;@B $ * B $ A:B $  @TC>RRA 3&;# Q3& .;8 =;.2UKQ5=;L Q3& K==Q ; LLU9& 5+ I 5L 25V&; Y @TC>T1A K& Q3& L=8UQ5=;L =+ @TC>TOAC + 9X@- $( &- $ A 0  $ > >B  @TC>R1A 2 )>&???&:# Q3&; 5; Q3& LQ&$Y LQQ& =;.2UKQ5=; ;=;& =+ Q3&  QUQ=KL 5L 5; LQUKQ5=;C  =;L&EU&; & 5L Q3Q# 5+ :B $ # 2 )>&???&:# K& 3=L&;  =K$5;2 Q= @TC>RTA# Q3&; Q3& =;QK=88&K 5L 8& Q= K&2U8Q& Q3& K==Q 5; B  Q3Q W588 & ; LY9?Q=Q5 88Y LQ8& =;.2UKQ5=;C GS L :8JD:5 :( :DJ1625J:828 QEJ$6E   D6$J$DE :( J0$ :8E2"$D$" 682<M5J:D?   '   ';6 284E 5$8/J0E   '   'S?,6 $8J$D :( 6EE   '   'LS/ 284E 6EE   '   ',/6  284E 28$DJ2   '   'S6E2E:ME (D2J2:8  '9?%;6IE  DN2JQ $5$DJ2:8 ; =; 8UL5=;# &V&; 5; ?K&L&; & =+ 9=$&85;2 U; &KQ5;Q5&L#  VK58& LQKU 4 QUK& ?LL5V& =;QK=88&K @TC>T1A# W5Q3   25V&; Y @TC>TNA =K @TC>RRA# 5+ Q3& LQUKQ5=; =+ Q3&  QUQ=KL 5L Q7&; 5;Q=  =U;Q# 5L 8& Q= $K5V& Q3& LYLQ&9 5; Q3& $&L5K&$ =;.2UKQ5=;C ; =K$&K Q= Q&LQ Q3& =;QK=8 ?K=?=L&$ 82=K5Q39#  T4 ?8;K 9;5?U4 8Q=K 3L &&; =;L5$&K&$# L L3=W; 5; 52C TC<C 3& 95; ?K9&Q&KL =+ Q3& 9;5?U8Q=K K& K&?=KQ&$ 5; C TC>C =Q& Q3Q Q3& 9;5?U8Q=K 5L LU6& Q Q= 2KV5QY +=K &  Q5V& 5; Q3& ;&2Q5V& N $5K& Q5=;C ; Q3& +=88=W5;2# L59U8Q5=; K&LU8QL K& K&?=KQ&$ 5; =K$&K Q= L3=W Q3& +&QUK&L =+ Q3& ?K=?=L&$ =;QK=88&K 5; =9?K5L=; W5Q3 Q3& 8LL5 8  D 2KV5QY =9?&;LQ5=; K&2U8Q=KC L  K&+&K&; & L&# 5; 52C TC>[  L59U8Q5=; W5Q3 Q3&  D 2@EA =9?&;LQ5=; =;4 QK=88&K 5L K&?=KQ&$C  .X&$ L&Q ?=5;Q @L  &N  A)@>?N/& [?>A 3L &&; LL52;&$ L $&L5K&$ 2=8 +=K Q3& Q5? =+ Q3& 9;5?U8Q=K# =KK&L?=;$5;2 Q= 6=5;Q ?=L5Q5=;L B  ) *T/?/N&B  )/N?/N @$&2AC ; Q35L L&# Q3& $Y;95 ?K9&Q&KL K& LU??=4 L&$ Q= & ?&K+& Q8Y 7;=W;C L &X?& Q&$# Q3& &KK=KL ;5 &8Y Q&;$ Q= Z&K=# L L3=W; 5; 52C TC>[C ; Q35L L&# Q3& =;QK=8 ?K9&Q&KL K&  , ) '2!.@O[[[& O[[[A#   ) '2!.@>>[[& >>[[AC 3& .;8 &KK=KL K& ) 7 ) *[?[[[>&) 9 )[?[[[[O1 @9A =KK&L?=;$5;2 Q= ) /  )[?[[1N&) /  ) *[?[>1> @$&2AC &LU8QL =Q54 ;&$ W5Q3 Q3& ?K=?=L&$ =;QK=88&K K& K&?=KQ&$ 5; 52C TC>> ;$ 52C TC>T# W5Q3 Q3& L9& =;QK=8 ?K9&Q&KL L 5; Q3& ?K&V5=UL L& +=K Q3&  ?KQ#    <58D L1 682<M5J:D L?,  D25$ JDMJMD$ <<D:0 J: 8$D/Q1E$" :8JD:5 G; B B1! - -1! )B1" )B1; )B1< )B1- B B1- B1< B1; ,3( , 3:4%* 33,345 @ /,:0 A /4$0 ( :%( 4 B B1! - -1! )7B )"B )<B B <B "B 7B B ,3( , &,%*: 33,345 2- /,:0 2< /4$0 # :%( 4 => DD:DE B B1! - -1! )<!BB )<BBB )-!BB )-BBB )!BB B !BB = - ,32=4 B B1! - -1! )<BBB B <BBB "BBB 7BBB BBB = < :%( 4 => :DAM$E? B B1! - -1! < -1! - B1! B ,%*: >',%:%4 B B1! - -1! B - < ; " ! 7 :%( 4 #84#84 :%( 4 => :28J N$5:2J2$E   26M5J2:8 D$EM5JE O2J0 @/=A>? 5C&C  , ) '2!.@O[[[& O[[[A#   ) '2!.@>>[[& >>[[A W358& :B ) '2!.@[?>& [?>AC 8L= 5; Q35L L&# Q3& $&L5K&$ =;.2UKQ5=; 5L K& 3&$ W5Q3=UQ &KK=KLC =Q& Q3& &3V5=K =+ Q3& Q=KEU&L" +Q&K  QK;L5&;Q# W3&; Q3& &KK=KL K& ;U88#  LW5Q 35;2 &3V5=K Q7&L ?8 & 5; =K$&K Q= =;LQK5; Q3& LQQ& =; Q3& $&L5K&$ =;.2UKQ5=; @ =KK&L?=;$5;2 Q= Q3& 95;59U9 =+   AC 3& .;8 &KK=KL 5; Q35L L& K& ) 7 )>?>1RR) * [[/&) 9 ) *>?<T1') * [[O @9A# =KK&L?=;$5;2 Q= ) /  ) *[?[[[O&) /  )[?[[>R @$&2AC + Q3& K==Q ?K9&Q&KL K& ;=Q ?&K+& Q8Y 7;=W;# Q3&  D 2KV5QY =9?&;LQ5=; L 3&9& 5L ;=Q 8& Q= K& 3 Q3& $&L54 K&$ =;.2UKQ5=;C 35L L& 5L L3=W; 5; 52C TC>R# W3&K&# L 8595Q L&# 5Q 5L LLU9&$ Q3Q Q3& ?K9&Q&KL 8  ;$ 8  K& ;=Q 7;=W; Q 88 @5C&C Q3& V8U&L 8  ) 8  ) [ K& LLU9&$AC L &X?& Q&$# Q3& K==Q K& 3&L  $5,&K&;Q .;8 =;.2UKQ5=; ;$ Q3& .;8 &KK=KL K& ;=Q ;U88" ) 7 ) *[?[[<'&) 9 )[?>>R1 @9A GL L :8JD:5 :( :DJ1625J:828 QEJ$6E B B1! - -1! )B1" )B1; )B1< )B1- B B1- B1< B1; ,3( , 3:4%* 33,345 @ /,:0 A /4$0 ( :%( 4 B B1! - -1! )7B )"B )<B B <B "B 7B B ,3( , &,%*: 33,345 2- /,:0 2< /4$0 # :%( 4 => DD:DE? B B1! - -1! )"BBB );BBB )<BBB )-BBB B -BBB <BBB = - ,32=4 B B1! - -1! )<BBB B <BBB "BBB 7BBB BBB = < :%( 4 => :DAM$E? B B1! - -1! <1! < -1! - B1! B B1! ,%*: >',%:%4 B B1! - -1! - B - < ; " ! 7 :%( 4 :%( 4 #84 #84 => :28J N$5:2J2$E   26M5J2:8 D$EM5JE $DD:DE! J:DAM$E 8" N$5:2J2$E ) /  ) *R?T'O>&) /  ) *[?'1T>T @$&2AC 3& =KK&L?=;$5;2 L59U8Q5=; W5Q3 Q3& ?K=?=L&$ =;QK=88&K 5L L3=W; 5; 52C TC>1C =Q& Q3Q 5; Q35L L& Q3& $&4 L5K&$ =;.2UKQ5=; 5L K& 3&$ W5Q3=UQ &KK=KLC ; Q35L L&# Q3& .;8 &KK=KL K& ) 7 ) *>?T1[O) * [[O&) 9 )[?[[[[>N @9A ;$ B  ) *[?[[[/&B  ) *[?[[[[R @$&2AC 5;88Y# Q3& L& =+ LQUKQ5=; 3L &&; =;L5$&K&$C  LQUKQ5=; V8U& =+ '[[8 3L &&; =;L5$&K&$ +=K Q3&  QUQ=KLC &LU8QL =Q5;&$ W5Q3 Q3& ?K=?=L&$ =;QK=88&K @;$ ;= 7;=W8&$2& =+ Q3& ?K9&Q&KL 8  ;$ 8  AK& K&?=KQ&$ 5; 52C TC>/C KK=KL 5; Q35L L& K& ) 7 ) *<?[/O>) * [[O&) 9 ) >?T'<N) *[[/ @9A B  )[?[[[[/O&B  ) *[?[[[<' @$&2AC L?,  D25$ JDMJMD$ <<D:0 J: 8$D/Q1E$" :8JD:5 GK B B1! - -1! B -B <B ;B "B !B 7B 6B %*:% *3#A B B1! - -1! B -BBB <BBB ;BBB "BBB !BBB *3#A 4:,3 %* :$ 4.3%*#4 :%( 4 :%( 4    26M5J2:8 D$EM5JE $8$D/Q? B B1! - -1! )B1" )B1; )B1< )B1- B B1- B1< B1; ,3( , 3:4%* 33,345 @ /,:0 A /4$0 ( :%( 4 B B1! - -1! )7B )"B )<B B <B "B 7B B ,3( , &,%*: 33,345 2- /,:0 2< /4$0 # :%( 4   26M5J2:8 D$EM5JE O2J0  @ /=A> 8" <DJ25 48:O5$"/$ :( 6EE <D6$J$DE $DD:DE? G. L :8JD:5 :( :DJ1625J:828 QEJ$6E B B1! - -1! )B1" )B1; )B1< )B1- B B1- B1< B1; ,3( , 3:4%* 33,345 @ /,:0 A /4$0 ( :%( 4 B B1! - -1! )7B )"B )<B B <B "B 7B B ,3( , &,%*: 33,345 2- /,:0 2< /4$0 # :%( 4   26M5J2:8 D$EM5JE O2J0 <DJ25 48:O5$"/$ :( 6EE <D6$J$DE $DD:DE? -&* #" .(#"( 3& &;&K2&Q5 &3V5=K =+  ?3YL5 8 ?8;Q ; @;$ L3=U8$A & +KU5Q+U88Y &X4 ?8=5Q&$ +=K Q3& $&L52; =+ Q3& =;QK=88&KC ; + Q# Q3& L3?& =+ Q3& &;&K2Y +U; Q5=; ;$ Q3& 9=U;Q =+ 5;3&K&;Q $5LL5?Q5=; ?K&L&;Q 5; Q3& LYLQ&9 ; & K&8Q&$ Q= Q3& LQ585QY 3K Q&K5LQ5 L =+ Q3& ?8;QC 3& ?=KQ4958Q=;5; +K9&W=K7 5L  V&KY 2==$ ;$5$Q& 8;2U2& +=K 9=$&85;2 ;$ =;QK=885;2 ?3YL5 8 LY4 LQ&9L L5; & 5Q ?UQL 5;Q= &V5$&; &  Q3& &;&K2&Q5 ?K=?&KQ5&L =+  ?3YL5 8 LYLQ&9 ;$ 5Q &L58Y 88=WL Q= &X?8=5Q Q3&9 +=K =;QK=8 ?UK?=L&LC UKK&;Q8Y# Q3&K& K& QW= 95; &;&K2Y L&$ =;QK=8 LQKQ&25&L +=K Q3& K&2U8Q5=; =+ ?=KQ4 958Q=;5; LYLQ&9L" Q3& &;&K2Y L3?5;2 ;$ Q3& 5;Q&K =;;& Q5=; ;$ $94 ?5;2 LL52;9&;Q ?LL5V5QY L&$ =;QK=8 @4AC ; Q3& .KLQ L& Q3& K&2U8Q5=; 5L  35&V&$ Y 9&;L =+ Q3& 5;Q&K =;;& 4 Q5=; =+  ?=KQ4958Q=;5; =;QK=88&K W3=L& K=8& 5L Q= L3?& Q3& &;&K2Y =+ Q3& =;QK=88&$ LYLQ&9# 5; LU 3  WY 5Q 3L  LQK5 Q 95;59U9 5; Q3& $&L5K&$ =;.2UKQ5=;# ;$ Q= $$ +UKQ3&K $5LL5?Q5=;# 5; LU 3  WY Q3Q Q3& $&L5K&$ =;.2UKQ5=; & =9&L LY9?Q=Q5 88Y LQ8&C =9& K& &;Q ??85 Q5=;L =+Q3& &;&K2Y L3?5;2 =;QK=8 ; & +=U;$ 5; 11# RT># W3&K& Q3& 59?85 Q5=;L =+ Q3& =9?=L5Q5=; =+ 5K LQKU QUK&L W5Q3 Q3& =;QK=8 Y 5;Q&K =;;& Q5=; K& 5;V&4 LQ52Q&$# 5; >>[# >RO# W3&K& Q3& ?K=8&9 =+ =;QK=885;2 LW5Q 3&$ ;$ 3YK5$ =;QK=8 LYLQ&9L 5L =;L5$&K&$# 5; NO# N/# W3&K& Q3& ?=KQ4958Q=;5; +K9&4 W=K7 ;$ &;&K2Y L3?5;2 Q& 3;5EU&L K& &X?8=5Q&$ +=K 9=$&85;2 ;$ =;QK=885;2 W875;2 K==QLC L?H :85ME2:8E G, B B1! - -1! )-BBB )!BB B !BB -BBB = - ,32=4 B B1! - -1! )-BBB )!BB B !BB -BBB = < :%( 4 => :DAM$E? B B1! - -1! )B1" )B1; )B1< )B1- B B1- B1< B1; ,3( , 3:4%* 33,345 @ /,:0 A /4$0 ( :%( 4 B B1! - -1! )7B )"B )<B B <B "B 7B B ,3( , &,%*: 33,345 2- /,:0 2< /4$0 # :%( 4 => DD:DE   26M5J2:8 D$EM5JE O2J0 <DJ25 48:O5$"/$ :( 6EE <D6$J$DE 8" E1 JMDJ2:8? . &;V5K=;9&;QL# 5L ?K=?=L&$C 5KLQ8Y 5Q 5L 58 8U4 LQKQ&$ 3=W Q= U58$ ; 5; QK5;L5 88Y ?LL5V& 3?Q5 L 3&9& W 35 3 88=WL Q= 5; Q&K Q W5Q3 ;Y V5KQU8 ?3YL5 8 LYLQ&9#. =;QK=88&K# Q35L L5QUQ5=; ; 3??&; &C2C 5+ Q3& 5; 5Q58 &KK=K 5L LU- 5& amp;;Q8Y 352 3C =;L5$&K  ) $5 2@4  &???&4 ) A# Q3Q 5L Q3& L?K5;2 &;&K2Y 5; @TC>>NA. ?K==+ 5L 59 9& $5 Q& 5; Q3& L& Q3Q  ?&K+& Q =9?&;LQ5=; =+ Q3& ?=Q&;Q58  @BA 5L ?=LL58&# Q3Q 5L 5+  @BA ) [" 5; + Q# 5; Q35L L5QUQ5=;#  ' 5L

Ngày đăng: 10/08/2014, 01:22

Tài liệu cùng người dùng

  • Đang cập nhật ...

Tài liệu liên quan