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Software Engineering for Experimental Robotics - Davide Brugali et al Part 3 ppsx

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),6B,T Y;, :,B,S=$ AEYES 2]B$Y=EB@=YaK ;=@, TEA, 2]B$< Y=EBT _=@@ !, G]S, ^=SY]@( EY;,ST _=@@ GSE^=),  ),2]@Y =AG@,A,BYY=EBK B Y;, S=:;Y ;B) T=), =T Y;, G;aT=$@ S$;=Y,$Y]S,K B Y;=T ,`AG@,( Y;, SE!EY ]T,T Y;, W\C AEY=EB $EBYSE@ $;=GK ;, TE2Y_S, )S=^,S 2ES Y;=T $;=G $B !, A), :,B,S=$ !a ?,,G=B: Y;, 2]B$Y=EBT Y;Y S,) 2SEA B) _S=Y, YE Y;, $;=G G]S, ^=SY]@K ;=T ,B!@,T Y;, $;=G $@TT YE !, TG,$=@=b,) 2ES )=3,S,BY ;S)< _S, !ES)TK ;, W\C EYES $@TT Y;Y ]T,T Y;=T $;=G =B  :=^,B ;S)_S, !ES) ),6B,T Y;, $EAA]B=$Y=EB =BY,S2$,K ;, E!EYF EYES $@TT( _;=$; =B;,S=YT 2SEA Y;, EYES $@TT( ::S,:Y,T Y;, W\C EYES $EBYSE@@,SK ;, E!EYF EYES AGT Y;, G;aT=$@ W\C EYES $@TT YE Y;, :,B,S=$ EYES 3* HHH )R?R $@TTK ,$]T, Y;, W\C EYES $@TT )E,T BEY ),G,B) EB Y;, EYES $@TT( =Y $B !, Y,TY,) =B),G,B),BY E2 Y;, :,B,S=$ ;=,SS$;aK ,<F >"I>% 74975%5C? .33%5-% 3?? %?0-5 ,6B=B: Y;, GSEG,S $@TT,T( Y;, =BY,S$Y=EB !,Y_,,B Y;,T, $@TT,T( B) Y;, ES< :B=bY=EB E2 Y;,T, $@TT,T =BYE AE)]@,T =T )=4$]@Y !,$]T, )=3,S,BY ;S)_S, $EAGEB,BYT ,`;=!=Y )=3,S,BY !,;^=ESTK                                                                & ""& BWBQ RWQ"W:B?R 63KG065 $8AG$ G.$ B8$0)G065 6& ?M.G? G6 !6 &A64 G.$ ?.6M? G6 !6 0G ;, $@TT=$@ GGSE$; =B  SE!EY=$ ),T=:B =T YE T,GSY, Y;, $Y]Y=EB 2SEA Y;, T,BT=B: HT,, =:K FFIK T=B: Y;=T GGSE$;(  2SA,_ES? _E]@) ;^,  E< YES E^,S $@TT B)  EYES ,BTES $@TTK ;, EYES E^,S _E]@) $EAAB) Y;, AEYES YE AE^, _;=@, Y;, $ESS,TGEB)=B: EYES ,BTES _E]@) S,) Y;, ,B< $E),SXGEY,BY=EA,Y,S 2,,)!$? B) $EB^,SY Y;, AEYES T;2Y GET=Y=EBK BEY;,S GGSE$; =T YE $EA!=B, Y;, Y_E !TYS$Y=EBT =BYE  T=B:@, EYES $@TT Y;Y ),< 6B,T Y;, $G!=@=Y=,T B) !,;^=ES E2  $EBYSE@@,) AEYESK ;,T, Y_E GGSE$;,T S, 2]B)A,BY@@a )=3,S,BYK ;, 6STY ),$EAGET=Y=EB )E,T BEY !TYS$Y  $< G!=@=Ya !]Y ,`GET,T ,@,A,BYT E2 Y;, AEYES $EBYSE@K ]Y Y;, T,$EB) !TYS$YT Y;, $G!=@=Ya 2ES $EBYSE@@=B: AEYEST _=Y;  _,@@<),6B,) =BY,S2$, YE ,B!@, Y;, TG,$=@=bY=EB E2 Y;=T $G!=@=YaK ;, EYES $@TT GSE^=),T EB@a  GSY=@ =AG@,A,BYY=EB E2 =YT 2]B$Y=EB@=Ya B) !,;^=ESK ;, S,A=B=B: 2]B$Y=EB@=Ya =T =AG@,A,BY,) =BT=), TG,$=@=b,) AEYES $@TT,T Y;Y )GY Y;, EYES $@TTYE ;S)_S, $EAGEB,BYT ES YE ),^=$, )S=^,STK )GYY=EBT E2 AEYES $E^,S )=3,S< ,BY YaG,T E2 $EBYSE@@,ST =B$@])=B: T,S^E B) TY,GG,S $EBYSE@@,ST( ;S)_S, B) TE2Y_S, $EBYSE@@,ST( B) $EBYSE@@,ST _=Y; )=3,S,BY T,BTESa 2,,)!$? T]$; T EGY=$@ ,B$E),ST( A:B,Y=$ ,B$E),ST( ES GEY,BY=EA,Y,STK ;Y =T !TYS$Y,) =T BEY ;E_ Y;, AEYES =T )E=B: Y;, $EBYSE@( !]Y SY;,S _;Y 2]B$Y=EB@=Ya  $EBYSE@@,) AEYES GSE^=),TK 8) W_ QB;)"W 3@ .33%5-% %5%>30L% 7I/%H%3 >"I>% 74975%5C? ;, A=B $;@@,B:, =B :,B,S@=b=B: @E_<@,^,@ ;S)_S, ,@,A,BYT =T A=BY=B=B: Y;, ,4$=,B$a E2  $]TYEA =AG@,A,BYY=EBK 63KG065 $5$A30P$ .A!MA$ 3BB$B &6A -A$G$A +$N0030GO ^,B TEA, ;S)_S, TG,$=6$ $EAGEB,BYT $B !, GSEG,S@a :,B,S@=b,) YE GSE< ^=), Y;, B,$,TTSa 8,`=!=@=Ya YE S,G@$, =B)=^=)]@ ;S)_S, $EAGEB,BYT 2ES @E_<@,^,@ =BY,SEG,S!=@=YaK B, Aa $EBT=),S )=:=Y@ B) B@E: X T ;S)< _S, TG,$=6$ $EAGEB,BYT Y;Y $BBEY !, :,B,S@=b,) ES( =2 :,B,S@=b,)( !,$EA, =B,4$=,BYK ]=Y, YE Y;, $EBYSSa(  @S:, GESY=EB E2 )=:=Y@ B) B@E: X $EBYSE@ $E), $B !, :,B,S@=b,) _=Y; GSEG,S !TYS$Y=EBT( =B@=B, 2]B$Y=EBT B) Y,AG@Y,T YE ,BT]S,  8,`=!@, B) ,4$=,BY =AG@,A,BYY=EBK ]$; E2 Y;, )=:=< Y@ X TE2Y_S, =B^E@^,T !=Y AB=G]@Y=EB B) AT?=B:( _;=$; =T =B),G,B),BY E2 Y;, ;S)_S,K "&  &"  " '&&" &   ""% (  ""% $    )  )  ) " # &"   ")" )  )  ")"$    )  )  ) "  &"   " ) " )  ) "& ") "    ) )   ) )   "&  &"  " '&&" &   ""% (  ""% $    )  )  ) " # &"   ")" )  )  ")"$    )  )  ) " # &"   ")" )  )  ")"$    )  )  ) "  &"   " ) " )  ) "& ") "    ) )   ) )      )  )  ) "  &"   " ) " )  ) "& ") "    ) )   ) )   & "-& :6:W= V RWQ"W:B?R N483$ 0-0G3 F 3BB 0$AA.O =:=Y@ X GSE^=),T BEY;,S ,`AG@, _;,S, _, T,GSY, Y;, @E:=$@ 2SEA Y;, G;aT=$@ S$;=Y,$Y]S,K ,B,S=$ )=:=Y@ X $@TT,T GSE^=), Y;, @E:=$@ AGG=B: E2 X @=B,T YE Y;, ^S=E]T =BTYS]A,BYTK ;, AGG=B: E2 Y;, X @=B,T YE Y;, G;aT=$@ X GESYT =T )EB, Y;SE]:; Y;, ;S)_S,<!T,)  ESY $@TTK ;,  ESY $@TT ),6B,T A,Y;E)T 2ES =BG]Y( E]YG]Y( $EB6:]SY=EB( B) AT?=B: Y;Y S, G]S, ^=SY]@K ;=T $@TT T,S^,T T  !T, $@TT 2SEA _;=$; Y;, ;S)_S, TG,$=@=b,) GESYT S, ),S=^,)K =:=Y@ X !ES)T E2Y,B $EBT=TY E2  B]A!,S E2 ;S)_S, GESYTK ;,T, GESYT $EBY=B  B]A!,S E2 X @=B,T Y;Y $B !, $EB6:]S,) =B)=^=)]@@a ES T  :SE]G ),G,B)=B: EB Y;, GSY=$]@S ;S)_S, !ES)K ;,T, X @=B,T $B !, $EB6:]S,) T =BG]Y( E]YG]Y( ES YS=<TYY,) T Ua HHH )R?R !EY; =BG]Y B) E]YG]YK =:K F\ T;E_T Y;, A=B  $@TT( _;=$; ::S,:Y,T  T=B:@,  ESYK ;=T GYY,SB =T ?BE_B T  !S=):, GYY,SB "C7#( _;=$; ,B!@,T !EY; Y;,  $@TT B) Y;,  ESY $@TT YE !, TG,$=@=b,)K ;=T @@E_T =B;,S=YB$, @EB: Y_E `,T' Y;, 2]B$Y=EB@ H@E:=$@I `=T !a ,`Y,B)=B: Y;,  $@TT B) Y;, ;S)_S, `=T !a ,`Y,B)=B: Y;,  ESY $@TTK =:;,S< @,^,@ TE2Y_S, BE_ ;T Y;, 8,`=!=@=Ya YE $EBYSE@ Y;, )=:=Y@ X _=Y;E]Y !,=B: Y=,) YE Ba :=^,B ;S)_S, !ES) ES )S=^,SK =Y; Y;=T ),T=:B( _, $B S,G@$, Ba )=:=Y@ X !ES) B) S,<AG Y;, X @=B,T _=Y;E]Y $;B:=B: YE Y;, GG@=$Y=EB TE2Y_S,K ;,  $@TT ;B)@,T EB@a $EBY=:]E]T !=YTK ;,S, S, T=Y]Y=EBT( ;E_< ,^,S( _;,S, BEB<$EBY=:]E]T :SE]GT E2 !=YT B,,) YE !, :SE]G,) B) $EBYSE@@,) TaB$;SEBE]T@aK , ;B)@, Y;,T, ]T=B: Y;, EAGET=Y,  $@TT Y;Y !EY; =B< ;,S=YT 2SEA B) ]T,T Y;,  $@TTK ;, EAGET=Y,  $@TT YS,YT )=TGSY,  @=B,T T  $EBY=:]E]T !@E$? E2 !=YTK Y AB:,T Y;, TG@=YY=B: B) :SE]G=B: E2 !=YT YE S,8,$Y Y;, G;aT=$@ AGG=B: E2 Y;,T, X @=B,T YE ;S)_S, GESYTK B;,S=Y=B: 2SEA  2ES$,T Y;, EAGET=Y,  YE !, E2 Y;, TA,  YaG, A?=B: Y;,=S E!>,$YT =BY,S$;B:,!@,K ::S,:Y=B: Y;,  $@TT ,B!@,T A]@< Y=G@,  E!>,$YT =B Y;, EAGET=Y, K ;=T GYY,SB =T ?BE_B T  $EAGET=Y, GYY,SB "C7#K .33%5-% 3?? 3%J0030CK 5" JC%5"0030CK ,$]T, _, S, GSEGET=B: YE ),^,@EG  :,B,S=$ 2SA,_ES?( Y;, $@TT,T B) Y;,=S =BY,S2$,T B,,) YE !, T]4$=,BY@a 8,`=!@, B) S=$; =B 2]B$Y=EB@=Ya YE T]GGESY Y;, )=3,S,BY ]T, $T,TK ;=T $B @,) YE AES, $EAG@,` $@TT ;=,SS$;=,T Y;Y $B !, ;S) YE ,`Y,B) B) A=BY=BK 63KG065 7 35$ +$N0030GO M0G. 405G05030GO ,TG=Y, Y;, B,,) 2ES :,B,S@=Ya B) 8,`=!=@=Ya( =Y =T TEA,Y=A,T B,$,TTSa YE T$S=6$, 8,`=!=@=Ya 2ES T=AG@=$=Ya B) =AGSE^,) A=BY=B!=@=YaK ;, $;@@,B:, =T =B ),6B=B: Y;, GSEG,S @,^,@ E2 8,`=!=@=Ya YE AY$; Y;, S,M]=S,A,BYT _=Y;E]Y ))=B: $EAG@,`=YaK                                                     & ",& ^W)?&:?6 >BWBQ "=RR .[?"W:B?=:W_ 8) W_ QB;)"W UC N483$ 605G B8$030PG065 6& 6G6A EBT=),S Y;, AEYES ,`AG@, Y;Y _, ;^, GS,T,BY,) ,S@=,SK ;, :,B,S=$ AEYES $@TT :,YT TG,$=@=b,) YE  ;S)_S, )GYY=EBK a TG,$=@=b=B: Y;, AEYESYE ;S)_S,( _, $B BE @EB:,S ,`Y,B) =YT 2]B$Y=EB@=YaK 2 _, ),S=^,  >E=BY 2SEA  AEYES( _, Y;,B ;^, YE TG,$=@=b, Y;, >E=BY YE Y;, TA, ;S)_S, )GYY=EB( Y;]T )]G@=$Y=B: Y;, AEYES ;S)_S, )GYY=EBK , $B TE@^, Y;=T GSE!@,A ]T=B: Y;, !S=):, GYY,SB "C7#K T=B: Y;=T GYY,SB(  B,_ =AG@,A,BYY=EB $@TT $@@,) EYES AG@ =T $S,Y,) T T;E_B =B =:K FZHIK ;, EYES $@TT ::S,:Y,T Y;, EYES AG@ $@TTK E_ !EY; EYES B) EYES AG@ $B !, ,`Y,B),)K  >E=BY $B BE_ !, ),S=^,) 2SEA EYES YE GSE^=), @=A=Y $;,$?=B: EB Y;, >E=BY AEY=EBTK ;=T _a  SE!EY $B ]T, Y;, ]BS,TYS=$Y,) EYES E!>,$YT 2ES =YT )S=^, _;,,@T B) Y;, AEY=EB<$EBTYS=B,) E=BY E!>,$YT 2ES =YT TY,,S=B:K ;=@, Y;=T T,,AT @=?,  S,TEB!@, TE@]Y=EB YE Y;, GSE!@,A( =Y ;T TEA, )S_!$?TK =STY( @@ TYY, =B2ESAY=EB ;T YE S,T=), =B Y;, EYES AG@ $@TT YE !, $$,TT=!@, YE =YT )GYY=EBTK ;, EYES $@TT _E]@) Y;,B !,$EA, B !TYS$Y $@TTK ,$EB)( ,^,Sa Y=A, _, ))  B,_ 2]B$Y=EB YE Y;, EYES AG@ $@TT( _, @TE ;^, YE )) Y;, TA, 2]B$Y=EB YE Y;, EYES $@TTK ;=T TYS]$Y]S, $B !, ;S) YE A=BY=B =2 @@ ),^=$,T =B Y;, TaTY,A ]T, Y;=T GYY,SBK ;=S)( Y;=T !,$EA,T GSY=$]@S@a )=4$]@Y _;,B Y;, EYES $@TT ),S=^,T 2SEA  :,B,S=$ ,^=$, $@TT B) Y;, EYES AG@ $@TT ),S=^,T 2SEA Y;, ,^=$, AG@ $@TTK B T]$; $T,T( =Y Aa !, ,T=,S YE S,TYS=$Y ),^=$, $@TT,T( T]$; T AEYES( $A,S( B)  2SEA 2]B$Y=EB@ ,`Y,BT=EBTK B Y;=T $T,(  E=BY $@TT ;T YE ::S,:Y,  EYES E!>,$Y T EGGET,) YE =B;,S=Y 2SEA =Y T T;E_B =B =:K FZH!IK ;Y =T @ETY ;,S, =T Y;Y  E=BY E!>,$Y =T BE @EB:,S E2 YaG, EYES !,$]T, =Y )E,T BEY =B;,S=Y 2SEA Y;, EYES $@TTK ;, E=BY $@TT _E]@) ;^, YE Y;,B S,),6B, Y;, 2]B$Y=EBT Y;Y B,,) YE E^,SS=), Y;, AEYES AE^,T _=Y; EB,T Y;Y $EBY=B @=A=Y $;,$?=B:K ;, E=BY $@TT $B @TE S,Y]SB  S,2,S,B$, YE Y;, EYES YE $$,TT YE Y;, S,TY E2 Y;, 2]B$Y=EB@=YaK 63KG065 J A6K8 .A!MA$ !$L0$B 05G6 .A!MA$ 48B ,$]T, )=3,S,BY ),G@EaA,BYT E2 :,B,S=$ SE!EY TE2Y_S, S,M]=S, )=3,S,BY ;S)< _S, AGT( =Y =T =AGESYBY YE :SE]G Y;, ;S)_S, $EAGEB,BYT =BYE  T,G< SY, $@TT Y;Y AB:,T Y;, TaTY,ART $EB6:]SY=EBK B !TYS$Y 2$YESa $@TT "C7# $B T,S^, T  SE!EY ),^=$, AGK  TG,$=@=bY=EB E2 Y;, ),^=$, AG $S,Y,T Y;, GGSEGS=Y, E!>,$YT ]T=B: Y;, ;S)_S, TG,$=@=b,) $@TT,TK ES ,`AG@,( =2 Y;, TE2Y_S, =T ),G@Ea,) EB Y;, G;aT=$@ ;S)_S,( Y;,B Y;, AEYES( $A,ST( )=:=Y@ B) B@E: X $@TT,T ]T, Y;,=S G;aT=$@ ;S)_S, $EAGEB,BYTK 2 Y;, TA, SE!EY TE2Y_S, =T ),G@Ea,) =B  T=A]@Y=EB( Y;,B Y;,T, ),^=$,T _E]@) ]T, Y;,=S T=A]@Y,) $E]BY,SGSYTK .33%5-% K?C%4 CC% aTY,A TYY, =T ]B=M], YE ,$; SE!EYK B AETY $EAG@,` TaTY,AT( TYY, =T )=T< YS=!]Y,) Y;SE]:;E]Y Y;, TaTY,A =B =YT ^S=E]T A=$SEGSE$,TTESTK ;, TYY, =B< 2ESAY=EB =B Y;,T, $EBYSE@@,ST $B !, S,YS=,^,)( !]Y Y;,S, =T E2Y,B  @=A=YY=EB UZ HHH )R?R EB Y;, SY, B) Y;, @Y,B$a E2 Y;=T =B2ESAY=EBK EA, =BY,SB@ TYY,T A=:;Y BEY !, )=S,$Y@a $$,TT=!@,K 63KG065 58BK3G$ BGG$B 05 G.$ .0$AA.0$B E T]GGESY ;,Y,SE:,B,E]T SE!EY=$ G@Y2ESAT( TYY, =B2ESAY=EB T;E]@) !, ;B< )@,) =B  ;=,SS$;=$@ 2T;=EBK YY, _E]@) Y;,B !, S,YS=,^,) EB@a Y;SE]:; $< $,TTES 2]B$Y=EBT T T;E_B =B =:K F9K =A=@S YE TYY,T( TYY, A$;=B,T T;E]@) @TE !, ;=)),B =B $@TT !TYS$Y=EBTK S,?=B: Y;=T ,B$GT]@Y=EB =BYSE)]$,T TaTY,A TG,$=6$ ),G,B),B$=,T Y;Y S,)]$, Y;, =BY,SEG,S!=@=Ya E2 Y;, TE2Y_S,K ;, TYY,T E2  @,::,) TaTY,A )=3,S 2SEA Y;ET, E2  _;,,@,) TaTY,AK E_< ,^,S( Y;, S,TEB _;a TE2Y_S, $B !, =BY,SEG,SY,) $SETT ;,Y,SE:,B,E]T TaT< Y,AT =T Y;, GS,T]AGY=EB Y;Y Y;,S, =T  @,^,@ E2 !TYS$Y=EB Y _;=$; Y;, :,B,S=$ @:ES=Y;A $B ]T, !TYS$Y TYY,T YE $EBYSE@ Y;, SE!EYK N483$ $ $! LB; M.$$3$! 36646G065 EBT=),S Y_E SE!EYT'  _;,,@,) SE^,S _=Y;  GTT=^, T]TG,BT=EB B)  @,::,) SE!EY HT,, =:K F7IK ;,T, SE!EYT $B !EY; !, $EAAB),) YE 2E@@E_  GY; =B SE]:; Y,SS=BK E_,^,S( Y;, Y_E SE!EYT _=@@ AE^, )=3,S,BY@a @EB: Y;, GY;K ;, _;,,@,) SE^,S _=@@ $EB2ESA YE Y;, Y,SS=B _;=@, Y;, @,::,) SE!EY _=@@ SY=$]@Y, =YT @,:T YE AE^, =YT !E)a @EB: Y;, GY;K ;=@, !EY; SE!EYT 2E@@E_ Y;, TA, GY;( Y;,a $;=,^, Y;Y ]T=B: )=3,S,BY !E)a AEY=EBTK E Y Y;, :,B,S=$ @E$EAEYES @,^,@( !EY; TaTY,AT S, $EAAB),) YE 2E@@E_  GY; ,^,B Y;E]:; Y;,a $;=,^, Y;Y :E@ =B )=3,S,BY _aTK ;, $EAAEB TYY,T Y Y;, @E$EAEYES @,^,@ S, Y;, SE!EYRT GET,( Y;, BEY=EB E2  GY;( B) Y;, BEY=EB E2                                                           & "& )=:?6 ]:W8 RWW) ?& RWW) >"8:?)R 8) W_ QB;)"W UX ;E_ 2S @EB: Y;, GY;  SE!EY =TK E_,^,S( Y Y;, @E_,S @,^,@T( Y;, TYY,T )=3,SK ;, _;,,@,) @E$EAEYES ?,,GT YS$? E2 Y;, TYY, E2 ,$; _;,,@ H)=TYB$, B) TY,,S=B: B:@,I _;=@, Y;, @,::,) TaTY,A ?,,GT YS$? E2 Y;, >E=BY B:@,T 2ES ,$; @,:K ]Y Y;, SE!EYRT GET,(  ;=:;,S<@,^,@ TYY, Y;Y =T ),S=^,) 2SEA Y;,T, @E_,S<@,^,@ TYY,T( =T $EAAEB YE !EY;K ,<D %5?7> 75*-G>C075 .33%5-% 0(%>%5C %5?7> 75*-G>C075 ;, A>ES $;@@,B:, $EA,T 2SEA )=3,S,B$,T =B T,BTES $EB6:]SY=EBT Y;Y S, EB T=A=@S G;aT=$@ SE!EYTK =A=@S SE!EYT Aa ]T, )=3,S,BY T,BTES $EB6:]S< Y=EBT Y;Y GSE)]$, T=A=@S =B2ESAY=EBK E_,^,S( )=3,S,BY T,BTES $EB6:]S< Y=EBT E2Y,B ;^, )=3,S,BY G;aT=$@ $EBTYS=BYTK 63KG065 B$ 4K3G0/3$L$3 -$5$A0 BGAG065B &6A G.$ B$5B6AB 05 G.$ BOBG$4 a GSE^=)=B: ^S=E]T @,^,@T E2 ),^=$, !TYS$Y=EBT( _, $B $EG, _=Y; Y;, ^S=< !=@=Ya =B Y;, T,BTES $EB6:]SY=EBTK ;=T =T GSY=$]@S@a =AGESYBY T Y;,S, S, A]@Y=G@, =AG@,A,BYY=EBT Y;Y Aa $;=,^, Y;, TA, S,T]@YK EA, Aa !, ^=@!@, =B ;S)_S, _;=@, EY;,ST Y;SE]:; TE2Y_S,K ;=T =T !,TY =@@]TYSY,) !a Y;, ,`AG@,T !,@E_K N483$ G$A$6 4$AB LB; 30!AC BK5 B$5B6A LB; 648BB EBT=),S T,BTEST Y;Y :,B,SY, Y,SS=B )Y Y;Y =T S,GS,T,BY,) T Y;S,,< )=A,BT=EB@ GE=BY $@E])TK E :,B,SY, Y;=T )Y( EB, $B ,=Y;,S ]T,  @=)S ES  TY,S,E $A,S G=SK ;=@, !EY; ),^=$,T ,^,BY]@@a :,B,SY, GE=BY $@E])T( Y;,T, Y_E ),^=$,T EG,SY, _=Y; )=3,S,BY $EBTYS=BYT B) ;^, )=3,S,BY M]@=< Y=,TK  @=)S S,M]=S,T  @EB:,S Y=A, YE T$B  T$,B, !]Y @,TT Y=A, YE :,B,SY, Y;, ),GY; =B2ESAY=EB( _;=@, Y;, EGGET=Y, =T YS], 2ES TY,S,EK ;,T, !,;^=ES@ )=3,S,B$,T :,B,SY, $EBTYS=BYT EB Y;, EG,SY=EB E2 Y;, SE!EYK  TY,S,E GSE< $,TT=B: @:ES=Y;A ]T,T Y_E =A:,T B) Y;,=S $ESS,TGEB)=B: $A,S AE),@T YE :,B,SY,  Y;S,, )=A,BT=EB@ AGK 2 _;Y _, S, YSa=B: YE )E =T YE :,Y  Y;S,, )=A,BT=EB@ AG( Y;,B E]S @:ES=Y;AT T;E]@) BEY ),G,B) )=S,$Y@a EB  TY,S,E GSE$,TTES !]Y SY;,S EB Y;, Y;S,, )=A,BT=EB@ AG ES  GE=BY $@E]) TE]S$,K  Y;S,,<)=A,BT=EB@ GE=BY $@E]) $B @TE !, :,B,SY,) 2SEA  @=)SK E( !a ),G,B)=B: EB Y;, GE=BY $@E]) TE]S$, T EGGET,) YE  TY,S,E GSE$,TTES( E]S @:ES=Y;AT !,$EA, :,B,S@=b,) ,B!@=B: Y;,A YE _ES? _=Y;  _=),S SB:, E2 T,BTESTK 2  B^=:Y=EB @:ES=Y;A Y;Y ]T,T Y;=T )Y YE 6B) E!TY$@,T _T =BY,S2$,) YE TY,S,E $A,ST T EGGET,) YE GE=BY $@E])T( Y;,B =Y _=@@ BEY !, GETT=!@, YE ]T, Y;=T @:ES=Y;A EB SE^,ST Y;Y ]T,  @=)S T,BTES =B @=,] E2 TY,S,E $A,STK BEY;,S ,`AG@, =T _=Y; @:ES=Y;AT Y;Y ]T,  $EAGTTK  AES, :,B,S@ @:ES=Y;A _E]@) T]!TY=Y]Y, =YT ]T, E2  $EAGTT $@TT _=Y; Y;, :,B,S=$ !TE@]Y, ;,)=B: T,BTES $@TTK ;Y _a(  T]B T,BTES( _;=$; @TE $EAG]Y,T !TE@]Y, ;,)=B:( $B !, ]T,) =BY,S$;B:,!@a _=Y;  $EAGTTK U5 HHH )R?R ,<, 0(%>%5C %.50?4? .33%5-% 0(%>%5C 9030C0%? =3,S,BY A,$;B=TAT ,`;=!=Y )=3,S,BY $G!=@=Y=,T( _;=$; ;^, A>ES =A< G@=$Y=EBT EB ;E_ Y;, SE!EYT AE^, B) $YK EBYSE@@=B: B) AB,]^,S=B: _;,,@,) SE!EYT =T ^,Sa )=3,S,BY 2SEA $EBYSE@@=B: @,::,) G@Y2ESATK ^,B AEB: _;,,@,) SE!EYT( 2]@@a<TY,,S!@, HEAB=<)=S,$Y=EB@I SE^,ST $B AE^, @Y,S@@a H$S!I _;=@, GSY=@@a<TY,,S!@, H$S<@=?,I SE!EY $B $;=,^, Y;, TA, S,T]@Y EB@a ^=  GS@@,@ GS?=B: AB,]^,S H=:K F7HI YE H)IIK E!=@, SE!EYT _=Y; GTT=^, T]TG,BT=EB $EB2ESA YE Y;, Y,SS=B _=Y; BE $EBYSE@ E^,S Y;,=S Y=@Y _;=@, Y;ET, _=Y; $Y=^, T]TG,BT=EB ;^, $EBYSE@ E^,S Y;,=S Y=@Y H=:K F7H,I B) H2IIK E!EY=$ AB=G]@YEST ;^, T=A=@S B]B$,TK E=BY $EB6:]SY=EB B) ),:S,,T E2 2S,,)EA S,T]@Y =B )=3,S,BY $EBTYS=BYT EB Y;, AB,]^,S!=@=Ya E2 Y;, ,B) ,3,$YESK =A=Y,) ),:S,,<E2<2S,,)EA SAT $B EB@a $;=,^, $,SY=B GET,T( _;=@, S,)]B)BY SAT $B $;=,^, @@ GET,T _=Y; =B6B=Y, GETT=!=@=Y=,TK 63KG065 B$ 4K3G0/3$L$3 46!$3 BGAG065B 5! B$8AG$ 46!$3B &A64 65GA63 ,^,@EG  :,B,S=$ AE),@ S,GS,T,BYY=EB 2ES A,$;B=TATK ,^,@EG :,B,S@=b,) ?=B,AY=$ B) )aBA=$ @:ES=Y;AT Y;Y ]T,  :,B,S=$ AE),@ S,GS,T,BYY=EBK SE^=),  A,BT YE E^,SS=), Y;, :,B,S=$ $G!=@=Y=,T _=Y; ,4$=,BY TG,$=@=b,) EB,T T]$; T TG,$=@=b,) 2ES_S) B) =B^,ST, ?=B,AY=$TK >® -`-ÌiiÀ>Li  à Ìi i À} Üiiî  " #$ L® * > ÀÌ> Þ Ã Ìi i À> Li  " # $ V® * > ÀÌ> Þ Ã Ìi i À> Li  " # $ `® ÕÞÃÌiiÀ>Li "  # $ i® *>ÃÃÛi -ÕëiÃ V«ià Ì ÌiÀÀ>® v® VÌÛi -ÕëiÃ >VÌÕ>Ìi` î >® -` -ÌiiÀ>Li  à Ìi i À} Üiiî  " #$ L® * > ÀÌ> Þ Ã Ìi i À> Li  " # $  " # $ V® * > ÀÌ> Þ Ã Ìi i À> Li  " # $  " # $ `® ÕÞÃÌiiÀ>Li "  # $  # $ i® *>ÃÃÛi -ÕëiÃ V«ià Ì ÌiÀÀ>® v® VÌÛi -ÕëiÃ >VÌÕ>Ìi` î & "& :/)Q)?W >)"8?:R>R .BQ ]8))=)& QBBWR 8) W_ QB;)"W U3 ,GSY, A,$;B=TA AE),@T 2SEA $EBYSE@T YE ,B!@, Y;,=S ]T, 2ES S,TE]S$, B) =AG$Y GS,)=$Y=EBTK A!,))=B: AE),@T =BYE Y;, TA, TE2Y_S, TYS]$Y]S, T $EBYSE@ A?,T Y;,=S ]T, E]YT=), Y;Y $EBY,`Y ^,Sa )=4$]@YK "1&&#&.&*1&" &&#&.&* $+#1&" &!*1&1&" "1&&#&.&* &!51&&#&.&* $* "+++ &&. (..&$  . "1&" /)) ' &!*1&" 2 ' &.&*1*&0( ' &+1+.#.&* &!51&&#.&*1&"         &!* & $+#         &!* & $+#     &!* $+#     &!* $+#         &!* & $+#         &!* & $+#     &!* $+#     &!* $+# & "*& )EQW:?6 >B&)= .QB> "B?WQB= N483$ 508K3G6A 5! 36646G6A 205$4G0B =:K FW T;E_T Y;, S,@Y=EBT;=G !,Y_,,B  :,B,S=$ ,$;B=TA E),@ B)  ;,,@ E$EAEYES E),@K ;, ;,,@ E$EAEYES E),@ ::S,:Y,T  ,$;< B=TA E),@K ;, ;,,@ E$EAEYES E),@ GSE^=),T :,B,S=$ $G!=@=Y=,T 2ES 2ES_S) B) =B^,ST, ?=B,AY=$T E2 @@ _;,,@,) SE!EYTK Y @TE =B$@]),T _;,,@ AE),@T $@TT,TK ;, ;,,@ E$EAYES E),@ :,YT TG,$=@=b,) YE TG,$=6$ A,$;< B=TAT T]$; T  T=`<_;,,@ SE$?,S<!E:=, A,$;B=TA ES  2E]S<_;,,@ SE$?,S A,$;< B=TA( _;=$; GSE^=), TG,$=@=b,) ?=B,AY=$ TE@]Y=EBT 2ES Y;,=S S,TG,$Y=^, A,$;< B=TATK ;, ;,,@ E$EAEYES $EBYSE@ $@TT ::S,:Y,T Y;, ;,,@ E$EAEYES E),@ $@TT( _;=$; ?,,GT Y;, AE),@ ;=,SS$;a T,GSY, 2SEA Y;, $EBYSE@ ;=,S< S$;aK ,$]T, E2 Y;=T T,GSY=EB(  B^=:YES Y;Y S,M]=S,T =B2ESAY=EB !E]Y Y;, AB,]^,S!=@=Ya E2  ^,;=$@, BE_ EB@a S,@=,T EB Y;, ;,,@ E$EAEYES E),@ T EGGET,) YE Y;, ;,,@ E$EAEYES $EBYSE@ $@TTK E =@@]TYSY, Y;, =AGESYB$, E2 T,GSY=B: AE),@T 2SEA $EBYSE@( $EBT=),S  :,B,S=$ AB=G]@YES $EBYSE@ $@TT Y;Y )E,T BEY T,GSY, Y;, A,$;B=TA AE),@ 2SEA =YT $EBYSE@ $@TTK Y;,S( Y;=T $@TT ),6B,T Y;, 2ES_S) B) =B^,ST, ?=B,< AY=$ =BY,S2$,T =B  TG,$=@=b,) $@TT Y;Y =AG@,A,BYT Y;, $@ET,)<2ESA =B^,ST, . EAGET=Y, K ;=T GYY,SB =T ?BE_B T  $EAGET=Y, GYY,SB "C7#K . 33 % 5-% 3 ?? 3% J0 030 CK 5" JC%5"0 030 CK ,$]T, _, S, GSEGET=B: YE ),^,@EG  :,B,S=$ 2SA,_ES?( Y;, $@TT,T. Y;, ,B) ,3, $YESK =A=Y,) ),:S,,<E2<2S,,)EA SAT $B EB@a $;=,^, $,SY=B GET,T( _;=@, S,)]B)BY SAT $B $;=,^, @@ GET,T _=Y; =B6B=Y, GETT=!=@=Y=,TK 63KG065 B$ 4K3G0 /3$ L $3 46! $3 BGAG065B. ]T, ) =3, S,BY T,BTES $EB6:]S< Y=EBT Y;Y GSE)]$, T=A=@S =B2ESAY=EBK E_,^,S( ) =3, S,BY T,BTES $EB6:]S< Y=EBT E2Y,B ;^, ) =3, S,BY G;aT=$@ $EBTYS=BYTK 63KG065 B$ 4K3G0 /3$ L $3 -$ 5$A0

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