d ä W RA(- p s ä V W ó s ³ Ú Ø Ý Ä Ú Ø C Kkeiji/papers/pdf/1995-RS...ä W RA(- s Ú RZ Ó...

7
-897,.9 t]p säjVmíçÝþ

Transcript of d ä W RA(- p s ä V W ó s ³ Ú Ø Ý Ä Ú Ø C Kkeiji/papers/pdf/1995-RS...ä W RA(- s Ú RZ Ó...

Page 1: d ä W RA(- p s ä V W ó s ³ Ú Ø Ý Ä Ú Ø C Kkeiji/papers/pdf/1995-RS...ä W RA(- s Ú RZ Ó x C09JQ $ s * Zonp Ú RT ! Ê ^ Ô bXl _ Ó V m^ ü w x RA(- Ý þ ^ Ô dX s º

C09JQ�$�¥H\däWRA(-p��.�sä�¿VWós�³

_¨bHÖ�!s&&'�FNp��.�3;s�Æm³�Wó_

¼%ÚØ Ýµô Ä)

¼%ÚØ �C Kù

5HDOL]LQJ D %HKDYLRU WR )LQG DQG *UDVS D 'RRU .QRE E\ D 0RELOH 5RERW (TXLSSHG ZLWK D 0DQLSXODWRU

Ý.HLML 1$*$7$1, � 8QLYHUVLW\ RI 7VXNXED

6KLQLFKL <87$ � 8QLYHUVLW\ RI 7VXNXED

��������

$ JRDO RI WKLV UHVHDUFK LV WR UHDOL]H D WDVN RI RSHQLQJ D GRRU DQG SDVVLQJ WKURXJK D GRRUZD\ E\ DQ DXWRQRPRXV PRELOH

URERW HTXLSSHG ZLWK D PDQLSXODWRU� ,Q WKLV SDSHU� ZH IRFXV D VXE�WDVN WR nQG DQG JUDVS D GRRU NQRE E\ WKH URERW�

:KHQ D PRELOH URERW PRYHV� WKHUH H[LVWV D SRVLWLRQ HVWLPDWLRQ HUURU RI WKH URERW� ,W DOVR JHQHUDWHV D SRVLWLRQLQJ HUURU

RQ WKH WRS RI WKH PDQLSXODWRU� 7R JUDVS D GRRU NQRE� WKH URERW QHHG WR n[ WKH NQREV SRVLWLRQ� ,Q WKLV UHVHDUFK�

ZH XVH D YLVLRQ V\VWHP ZKLFK LV PRXQWHG RQ WKH HQG�HmHFWRU� :H SURSRVH KRZ WR UHDOL]H WKH VXE�WDVN� DQG UHSRUW DQ

H[SHULPHQWDO UHVXOW RI LW�

� ����

��&sÚy�tÓC09JQ�$�¥H\d��

äWRA(-Q�»l.��64\Ó�Tüw�y%

Ç�l�È^�Wó��³^�XmlG�ÔXs$�

�tÓ3;s³�Wó�.�sÐ\6VWóonÓI

TiPs�;$���þ�3�`�Xmp�hk�³

lR�Ô��ltÓC09JQ�$s�!p¥H\d

&&'�FNp��.�3;s�Æm³�WómIK

�;$��s�³���x�±èpiIkH`^�Ô

������������

C09JQ�$�¥H\d��äWRA(-p��

.�sä�¿VWós�³mIK$��tÓ.�s�

��äWRA(-sÚRZÓ�xC09JQ�$s

*ZonpÚRT!Ê^�ÔbXl�_ÓV�m^�

üw�xRA(-�Ýþ^�Ô�dX��sºµ�l

s3;s³�WósíçM�WíçÝþ�ÈKÔ

��� V�m^�üw

V�m^�üwtX�sÚØs�&�Ó�xbsð

sã�m^�ÔXsüws9¡���pv^ÔÄet�

�­�lÓ®­QG�m\k��PP«�lG�Ôw�

mã�të6R.�l]1Z��Ô.�tä�4�h

kO�Ó3;��\kÐ^P"TXmp�hk6V�

XmQlR�Ô.�s��tÓ����FPÓ¨��FPÓ

��FPlG�Ô3;tU½olÓõZÊ���FPÓ.�

s~P�Ê�FP smX�p�½QG�Ô3;s­�

t���FPl.�eP��FPsmX�p3;s!~

QT�Ô

��� V�m^�RA(-

V�m^�RA(-tX�s�&�l6�\kI�

��íäWRA(-¼±s W\SH�7(1½m^�Ñ��ÒÔ

XsRA(-t@Ùs��DÒC09JQ�$ >�@�

¥H\Ó!~pt! X��x.�3;�g�d�s

Z;4X.�t^�ÔXs4X.pÓ3;��iV�

d�s&&'�FN�¥H^�Ô

XsäWRA(-tÓ/8���LX�ÈKd�s

ÎX X�m\kÓi���Ò�p¡±%¼ÿ X�

��Â\kI�Ô�ÈÁptY$p�W^�ÂMd

3RZHU

:KHHOHG 6WHHULQJ�Y;\�.F-Op��RA(

-s³Ãä��`þ^�Ô

äWRA(-s��tÓõZÊ��FPÓ�Ê��FPÓ

�ÈRÊ��FPlÓ4X.�lH�dC09JQ�$

s7*t���FPlG�Ô�dÓäWRA(-�ês×

ÙtÊ��NJÓC09JQ�$s×Ùt)sw»s�l

Ê��NJlG�Ô

��� ��&sä�jV

Ýþ\düw�xRA(-s�lÓRA(-p��

.�sä�¿VWósݼpiIk pH`\d >�@Ô

bXltÓRA(-s/Â�X-R�N>s·KW

óp+y\kWó�hu¸p»�\Ó/u¸l¿yo

RA(-sWóݼ�ÈhdÔXsWóshu¸��

�pv^Ô pÓXsWós¨�u¸��³^�d�Ó

�ÈÁmC09JQ�$àªÁms·KWó�ݼ\Ó

�RA(-�l.�sÐ\6VWó��³\d >�@Ôa

Z�d×yo�;$��tÓ¨au¸m¨fu¸s.

�3;s³�WólG�Ô��&ltÓXs�;$�

�s�³�y�m^�Ô

Page 2: d ä W RA(- p s ä V W ó s ³ Ú Ø Ý Ä Ú Ø C Kkeiji/papers/pdf/1995-RS...ä W RA(- s Ú RZ Ó x C09JQ $ s * Zonp Ú RT ! Ê ^ Ô bXl _ Ó V m^ ü w x RA(- Ý þ ^ Ô dX s º

� �� üwѼ%ÚØ �(����Ò

� �� ��íäWRA(-¼±s W\SH�7(1½

Stage 1 Position the robotin front of the Door

Open the Door

Release the Knob

Close the Door

Move Behind the Door

END

START

Obstacle on the Path?

Can’t see Door Knob?

Rotate the Knob and Push the Door

Obstacle at the Back of the Door ?

Obstacle on the Path?

Another Task

(Obstacle avoidance etc.)

Release the Knob

The Door Locked?

Find and Grasp the Door Knob

Find and Grasp the Door Knob

Stage 2

Stage 3

Stage 4

Stage 5

Stage 6

Stage 8

Stage 7

Stage 9

� �� RA(-p��.�sä�¿VWóshu¸

��� ��&síçÝþ

RA(-Q3;�³�^�ÁÓ­pRA(-Qó$

*>�s�!sä�Ó�x3;sä��==p³�\

kI�uÓC09JQ�$s�!sä�àªs�l3

;�³�^�XmQlR�Ô\P\³�ptÓ�!s

`þä�p6aQH���d�Óä�àªs�l3;

�³�^�XmQlRoIÔXs`þä�s6atÓ

«�pW�ç�p�hk2_�Ô

�� RA(-�ês`þä�s6a

äWRA(-Q�È^�ÁÓ�.F-Op��`

þZ��RA(-�êsä�ptí�6aQ2_

�ÔXs6atÎX X��;IkNX.C��

�ó¯\ÓRA(-s`þä��P=^�Xmp

�hkG�éÒÐM�XmQlR�QÓN X&

F�-PéÒs6atCV��oIÔ

�� äWRA(-sÌR

(^ísäWRA(-tÓ�Èes®­p���

WsN��gZoua�>�¢M�d�s��?

X�LXÂ��iÔ�d(^p*ª$Ion

Åo^�$I�;I�Xm�G�ÔXsd�Ó

Äes!�C09JQ�$sYdp�hkÓä

WRA(-�êQð��dtY$pÌRÓC09J

Q�$ws>��sä��<RpÅW��M�Ô

�� C09JQ�$s�Ò

ù½päWRA(-p¥H^�C09JQ�$t

gí@ÙlG�XmQyºZ��ÔXsd�C0

9JQ�$�êsöûtåTÓ�LX-ws�

Òp���QG�Ô\dQhkÓ!~sä�S�

Page 3: d ä W RA(- p s ä V W ó s ³ Ú Ø Ý Ä Ú Ø C Kkeiji/papers/pdf/1995-RS...ä W RA(- s Ú RZ Ó x C09JQ $ s * Zonp Ú RT ! Ê ^ Ô bXl _ Ó V m^ ü w x RA(- Ý þ ^ Ô dX s º

�ÒtÓ.M�RísC09JQ�$m�B\k

_IÔ

D!oÎX X���;\kRA(-�êsB��L

0X�s�Ò�<�Z`d�ÓC09JQ�$söû

��W�XmlÓG�éÒ�!s`þä�s6a�Þ

iZ`�XmtlR�QÓX�pt�XQG�Ô

��&ltÓ4X.p¥H\d&&'�FN�;I

k3;sä��=�\ÓbslHp#jId.�3;

s³�Wó�ÈKXmp^�ÔXXlÓRA(-tÓ

3;sä�lH�t\Ó�.F-OmC09JQ�$

sYd�;Ikó$*>Ts�!sä��`þlR�

�sm^�Ôde\Ób��sä�lHpt6aQH

���Ô

������������

�ültÓ.�3;s³�Wós7êsݼpiI

k¾~�Ô

�FNs�Øpt�XQG�slÓ�FN�¥H\

d4X.t.�P�ÿ�dä�P��<R�&^�¿

yQG�ÔbXl��&ltÓ«�pv^�Àp IÓ

4X.Q3;s�=�\ii��p�<R�&^

�Xmp\dÔ

���Í�Ýþ

�_RA(-tÓ�.F-Op�hk`þ\dRA(

-sä�lHp#jIk.�s=ep¢<\Ó�!Q

3;s=emo��KpC09JQ�$�àª^�Ô

XsmRÓ�FNs�Øp3;�4��d�Ó�!s

y�ä�t3;P���FPÿ�dä�m^�Ô

���N�s3;lHsѯ

�!p¥H\d&&'�FNP�o¤\dNÝ��

·\ÓNÝ�ls.�3;slH�¤�Ô

3;tU½ooslÓ�!p¥H\d�FNP�¤

���NÝ�ls3;tÓ¸iPs7½UQ×ohd

�Kp�M�ÔXs�lo�ÚRoUt3;��M�

UolÓ.�p�]Ý�Z�kI�Ô«�XsUos

Xm�3;s�Mmx{ÔXs3;s�Msä�lH

�¤�Xmp��Ó3;sä�Q�ÆlR�ÔbXl

�_ÓNÝ�ls3;s�M�Ü^U�ѯ^�ÔX

sUsѯtÓUs�½Ó� �;�< ��x­�5�;m

^�6NF�$*>pv �¸�^��P�O�E�

;IkÈKÔ

����!säW>�-Ps¼â

�pNÝ�s3;s�Ms�½Ó� �;�< ��x­

�5P�Ó3;s=ep4X.s�½�äWZ`�d

�Óó$*>Tls�!säW>�-P�â¯^�Ô

��&ltÓ3;��Æ^�d�s&&'�FNt

4X.s�wpÝ�\kI�Ô�hkÓ4X.s�½

tÓ�FNs�½�ä�QX�epé�o�cs�p

toIÔXsd�Ó�FNP�.��ls¼ÿp\d

QhkÓNÝ�l3;s�Ms�½QG�~RÓ�Ó

i��4X.Q3;s=epG�æsNÝ�s3;�

Ms�½Ó�täW^�Ôù��FNQ3;p«I�

nÓNÝ�s3;s�Ms­�tÚRTo�Ô�hk

3;s�Ms­�P�Ó�FNP�.��ls¼ÿQ

`þlR�Ô«���ÓNÝ�s3;�Ms­�pV

^�Ó3;s�Ms�½QG�~RÓ�tù¢pÔ�

�ÔXsÓ�mÓ�ÁpNÝ,�$��¤��d3;

s�Ms�½Ó���ÓNÝ�ls�!�WP^~R

>�-PQº��ÔXs>�-PP�ó$*>Tls

�!säW>�-P�â¯^�Ô

�dÓ3;s�Ms�½QG�~RÓ�m�Áp�

M��½Ó�Q��ù�^�K3Ó3;�g�d�R

A(-t�!�3;s�<päW^�Ô3;�ls¼

ÿQ==pïþlR�uÓbs¼ÿeV�!�äW\

3;�³�^�XmQlR�Ô\P\ÓNÝ�s3;

s�Ms­�ptÙÂ�6aons6aQH���d

�ÓXs3;�ls¼ÿs`þ�pt6aQH���Ô

bXlÓ3;s�<}säWtgZT\ÓÑ�®\3

;s�Æm4X.säW�ÈKXmp�hk3;}s

�<R�&�ÈKÔ

«���Óó$*>Tls�!säW>�-PQ¼

âlR�Ô

���C09JQ�$sàª

¼â\d�!säW>�-Pp\dQhkÓC09J

Q�$s�!�äW^�ÔXsäWsd�s/�L

X-säWÙtÓ,�:�QX�HPG��LXp�

�� >�@�;Ik¼â^�Ô

���üUºµm3;s³�

4X.P�.��ls¼ÿQ¤»p«�IdmRÓ

�O(6�4]k3;�³�\ÓXs.�3;s³�

Wó�üU^�Ô¼ÿQ¤»p«�IkIoV�u ���

P� ����Ñ�®\Ó4X.t3;}�<R�&^�Ô

� ��������

�ültÓ�ülݼ\d.�3;s³�WósÓ

��íäWRA(-}s¥Hm�±èpiIkH`

^�Ô

��� RA(-s4�.� �

RA(-tÓ���ülÝþ\d¼±s W\SH�7(1½�

;I�ÔXsRA(-p¥H^�C09JQ�$tÒ

GüílÓW�p��DÒÓÆp��DÒÓ�kp��

DÒs¼��DÒ�t^�ÔC09JQ�$s!~p

t3;�³�^�d�pT¬p��;��d`d­È

[�4X.�¥H^�Ô4X.s�wptÓ:$7(&

z2sgí&&'�FN�¥H^�Ô�d3;�³�

^��lÓ�FNs�ØTp3;��M�d�Ó�F

N�4X.sT¬p��ÒÌV�Ñ��ÒÔ

Page 4: d ä W RA(- p s ä V W ó s ³ Ú Ø Ý Ä Ú Ø C Kkeiji/papers/pdf/1995-RS...ä W RA(- s Ú RZ Ó x C09JQ $ s * Zonp Ú RT ! Ê ^ Ô bXl _ Ó V m^ ü w x RA(- Ý þ ^ Ô dX s º

� �� ¥H^�4X.

��� RA(-�X-R�Ns���+�&H

V�m^�RA(-¼±s W\SH�7(1½tÓ/ú

X�Ó�ÈÁÓC09JQ�$ons/�sÿ·%o

Â�p>Z\dÂG�J�Pp�hkiWZ��Ô

/ÂG�J�Pt&38�xO�P$E26�¥

H\Ó>ZpWó^�XmQ lG�ÔX��sG

�J�PtÓ�ápä�^�C�$G�J�Pmxu

��¢ÃÔþG�J�Pp�hk�ò�àªZ��ÔX

sC�$G�J�Pm/ÂG�J�Pt5�]1Z

�Ó@tFGO�;IkG�J�P>säK��³\

kI�ÔXsG�J�P���+�&H���pv^Ô

Encoder Data

Encoder Data

BUS

Motors forManipulator and Hand

Motor Driver Motor Driver Vision Sensor

Environment ModelControl of total behavior

Navigation

MasterBoard

Board

LocomotionControl

ManipulatorControl

Vision sensor

Motors forLocomotion

Board Board

Locomotion Control Module Manipulation Module

Master Module

Vision Sensor Module

� �� ±s W\SH�7(1sG�J�P���+�&H

C�$G�J�P�xC09JQ��LXG�J�

PpG\kt pH`\d >�@Ô�dÓ�ÈG�J�P

pG\ktÓ pH`Q¯kI� >�@Ô

�� X�G�J�PtÓ:$7(&z2s�XA�

.&&'�FN�x�X-R�PA�.P�iWZ�

�Ô�FNP�¤���NÝt��� q���s̳N

ÝlÓXslHt�X-R�PA�.s:Q�EF

GOpÓ�NæGd����Q>Ps̳�lZÓZ�

�Ô�X-R�PA�.tÓ&38p ,1026z2s7�

���Ñ-NX�9J�$Ò�¥H\Ó:Q�EFGO

«Îp���.E\WHs520�x���.E\WHs5$0�t

^�ÔXsA�.�pNÝ�·":-� �Q¥HZ

��Ô�dXsA�.t@tFGO�t\Ó5��ä

]kC�$G�J�PmäK�ÈKXmQlR�Ô

X��sG�J�Ps�p�ÓNX.C���Â�ÿ

�ls¼ÿ�ïþ^�d�s¡±%¼ÿ X�G�J�

PÓ�!pPP�!�ïþ^�! X�G�J�PÓ

,5(�lHon�±ºlí�`�±º3WG�J�

PonQG�Ô

��� ÈW<R�NEsX<OFX-

�pÓ3;s³�Wó��³^�d�s":-�

�piIk¾~�Ô<R�NEtÓ¨�üp¾~dÝ

¼p#jRÓ&¸0�;Ik̾\dÔ":-� �

tÓNÝ�·ÓC09JQ�$àªÓ�xÈW<R�

NEp»VkgP�kI�ÔNÝ�·":-� �t

�� X�G�J�P�p¥H\Ó�FNP�¤��

dNÝ�ls3;s�Ms�½Ó��x­��ѯ^

�Ô�dÓC09JQ�$àªs":-� �tÓC

09JQ��LXG�J�P�p¥H\ÓC09JQ�

$�x4X.sàª�ÈKÔ

XsWó7ê��ò�ì·^�ÈW<R�NEtC

�$G�J�P�p¥H^�ÔXs<R�NEtÓ3

;�³�lR�ä�p�!QÚ�^��lÓ«�pv

^�Às ���P� ���s�·�Ñ�®^Ô

����!sä�s=�

C09JQ��LXG�J�Ps@tFGO�ä\

kÓNÝ�����Î>sC09JQ�$s/;sG

ü©Ò�o¤^�Ô

���NÝ����m�·

�� X�G�J�Ps@tFGO�ä\kÓ��

X�G�J�PpNÝ�·�CX.��M�ÔXs

�CX.s"NtÓNÝ�·�ÈK�l�;^�6N

F�$*>s��m^�ÔX�tÓ�·^�NÝ�x

¸�*>s���à�\Ó�·�9�.�<�^�d

�lG�ÔXs��tÓð�s�·lº�d3;s�

Ms�½�x3;s�Ms­��«m^�ÔNÝ�·

":-� �sX<OFX-pG\kt���ül¾

~�Ô�·QüU\d�Ó@tFGO�ä\kNÝ�s

3;s�Ms�½Ó� �;�< ��xbs­�5�¤�Ô

���äW>�-Ps¼â

NÝ�s3;s�Ms�½Ó� �;�< �mbs­�

5 ��Ó3;s=ep�!�äW^�d�säW>�

-P �P[�P\�P]��¼â^�Ôde\Xs>�-P

t�!p�þZ��Ó�;�pþ5^�ÔXsÓ�Á

tÓ4X.s!~�çMm\Ó3;p�<R�&^�

�<� ];Ó4X.Q4���<�\;Ó\;m ];p

é�o;�[;m^� >�@Ô

Page 5: d ä W RA(- p s ä V W ó s ³ Ú Ø Ý Ä Ú Ø C Kkeiji/papers/pdf/1995-RS...ä W RA(- s Ú RZ Ó x C09JQ $ s * Zonp Ú RT ! Ê ^ Ô bXl _ Ó V m^ ü w x RA(- Ý þ ^ Ô dX s º

NÝ�sÓ3;�Ms­�pV^�3;s�Ms�

½Q�M�~RÓ�tù¢pÔ��ÔbXlÓW�4

X.Q3;s=emo�æsNÝ�s3;�Ms­�

mÓb�pVÈ^�3;s�Ms�½Ó��ïþ\Ó

bsG0�+�;Pp\kG�\kOTÔXs+�

;PmNÝ�·p��¤��d3;s�Ms­�5P

�ÓNÝ�ls3;s�½s�M�~RÓ�Qº�

�ÔXsÓ�mNÝ�·p��¤��d3;s�Ms

�½Ó�P�ÓNÝ�ls�!�WP^~R>�-P

�0;�0< �Qº��Ô

XXlº�d>�-P��Óó$*>Tl�!�ä

WZ`�>�-P� �����;Ikº��ÔXsmR

s�!säW�<t�!sÓ�Ás[ b \­e�p�

þZ��Ô

�P[�P\�>PP@ .QRE 5>PP@

5>SL[HO@

�0;�0< �>SL[HO@ ���

XXlÓ.QRE 5t�Ás3;s­�Ó5tNÝ�l

s3;s­�lG�Ô

�dÓ3;�g�d�RA(-t�!�3;s�<

p±g¼ÿP] eVäW^�ÔXsP]tÓ4X.Q

3;p«jTp\dQhkgZT^�Ôde\ò7s

d�ÓXsWót3;s�MQ�M�~R�½Ó�m

�Áp�M��½Ó�Q��ù�^�K3s�ÈKÔ

����!säW

���l¤d³Ãs/Gü©Ò��C09JQ�$sI

�8�XÈÌ�xbsÔÈÌ�¼â^�Ô�!sÓ�Á

pOIkÓ�!�äWZ`�>�-Pt �P[�P\�P]�

oslÓ�!�äWZ`�d�s/Güs±gÅä�

��l¼â^�Ô

�������

Gt�Gt�Gt�Gt�Gt�Gt�

������� >-DFRELDQ@

b�

�������

P[

P\

P]

�������

���

XXl >-DFRELDQ@t�q�sI�8�XÈÌlG�Ô

Xs±gÅä�³Ãsy�Gü©Òp&M�Xmp

��Ó�doy�Gü©ÒQÝþZ��ÔXsy�G

ü©Ò�@tFGO�ä\kC09JQ��LXG

�J�PpÏ�ÓXsGü©Ò�O:�QX�m\d

C09JQ�$sàª�ÈKÔ

���3;s³�Wó

NÝ�s3;s�Ms­�tÓ�FNQ.�p«I

�nÚRTo�ÔbXl3;P��!�ls¼ÿ�N

Ý�s3;s�Ms­�P�`þ^�ÔXs¼ÿQù

þ��¢MdK3Ó�!Q3;�³�lR�ä�pÚ

�\dmÎ}\Ó3;}s�<R�&�üU\k³�

Wó�ÈKÔ�!QÓ3;�³�lR�ä�pÚ�\

kIoV�uÓ���P� ����Ñ�®^Ô

��� NÝ�·":-� �

NÝ�ls3;�Msä���Æ^�d�sNÝ�

·":-� �tÓ�� X�G�J�P�pX<

OFX-^�Ô

Îw�r

Xs":-� �tÓC�$G�J�PP�sNÝ

�·yº�CX.p�hk�W^�ÔXs�CX.s

"NtÓ6NF�$*>s���x�;^�NÝ

,�$s��m^�Ô�dÓ¯!tÓNÝ�sUs�

½Ó�m­� �;�<�5�lG�Ô

X<OFX-

C�$G�J�PP�sNÝ�·yº�CX.Q@

tFGO�ä]k�� X�G�J�PpäZ��mÓ

XsG�J�Pt ���q���s̳N�:Q�EF

GOp����ÔXsNÝ����pv^Ô

� �� &&'�FNP�����e3;sNÝ

3;sä��í�d�p¿yolHtÓNÝ�s3

;s�M�Ü^Us�½Ó��x­� �;�<�5�lG

�ÔbXl�_ÓX��s6NF�$�;m^�6N

F�$*>�Ýþ\ÓXs*>pv �¸�^�Xm

p�hk3;s�Ms�½Ó��x­��º��Ô

�_Ó����eNÝ���<�x¨�<p±»\

d±»NÝ�óW^�Ô�p/±»NÝP�ÓçNÝ

�s/MpOV���x¨�<s±»�s[>��º

�ÓXs�QG�U��¢MdMp+y^�ÔXsM

pOV�ÌÒv� >�@tÓóW\d/±»NÝ��º

��Ô+y\dMQUi�pÊÃ^�K3ÓUs�½

tÌÒv�m7]�<�\TtÔ�<pG�moM�

��slӸ�^~RMt6NF�$*>Tsais

­�c�sMmo�ÔXXl¸�^��tÓbsMs

±»�s[>�m^�Ô

Xsó$�Ó±»�s[>�QG�U��¢M�7

ksMpiIkÈIÓ6NF�$*>pOIko�Ò

T¸�Z�dMQº��Us�½�x­�lG�Ô

Page 6: d ä W RA(- p s ä V W ó s ³ Ú Ø Ý Ä Ú Ø C Kkeiji/papers/pdf/1995-RS...ä W RA(- s Ú RZ Ó x C09JQ $ s * Zonp Ú RT ! Ê ^ Ô bXl _ Ó V m^ ü w x RA(- Ý þ ^ Ô dX s º

�pWd����·\dèÓ6NF�$*>�

lÓ[ ��� \ ��� U ��sMQÓoÚs¸��¤d

Ñ»ät9� P�ÔXXl¤��dè���p`k

t�d�s���pv^Ô

o�pÓº�dUs�½Ó�m­� �;�<�5��@

tFGOpgR��ÓC�$G�J�Pp8Ï^�Ô

«�l`��Ps�·QPU\Ó�sNÝ�·yº

�CX.Q¯Z���l�Â!Ñmo�Ô

� �� 3;s�Msä�sè

��� C09JQ�$àª

C09JQ�$�àª^�":-� �tÓC09J

Q��LXG�J�P�pX<OFX-^�ÔXs

G�J�PltÓC09JQ�$s/;sGü©Ò�x

4X.s6R��4!m\kÓC09JQ�$�x4

X.sàª�ÈKÔ��AP�<t��>PVHF@lÓ3,'

àª�;Ikàª�ÈKÔ�d X��%P�slH

��Ó³Ãs/;sGü©Ò�¤�XmQlR�Ô

��� Wó�±

�p¾~d<R�NE�¼±s W\SH�7(1½p¥H

\Ó4X.s3;}s�<R�&�x3;s³��±

�ÈhdÔäWRA(-sÍ�ä�sB��L0X�

tÓ�!sÍ�ä�pG�éÒs6aQH����KÓ

�s�p�hk-`p��\dÔ

�±sèÓ4X.t3;p��p�<R�&\k

�RÓo�p3;�³�^�XmQlRdÔ3;�³

�^��ls�yæ>tÊ�»ÓNÝ�·P�C09J

Q�$sO:�QX�©Òsc��ls`�+(<p

PP�æ>t­ÐÊ�ËlGhdÔ

�±è�x�·NÝs����pv^Ô��s�

�NÝlH�s�©osA(��tÓ�su¸l�·

^����º�kI�Ô

� ���������

��� íçM

3;QU½osd�Ó¤��dNÝ�ptÓ<Ns

UQÊÃ^�ÔXsWóp¿yolHt3;s�M�

v^o�ÚRIUlG�QÓ�À´s!p�hkt

3;sðe�Ü^gZIUs��<xÓ��\oIl

HQ¤���XmQG�Ô�dÓ.�3;tÛ¤ûs

d�Ó�?�JN�o�\p�hkÓ*\!pWÒÅ�

sÚRIÑr�v^XmQG�Ób�Qç�l.�3

;Q==pó¯lRoIXmQG�Ô³ÃtÓX��

síçpV�^�d�Ó3;s�Msw»pZs+�

<�thkÓ3;s�MQѯZ��ºµ�DT\k

O�Ó��cpR5�-o.�3;sä�só¯��

�óÂ^�¿yQG�Ô

��� ��sDç

��ÓC09JQ�$sàªpÓ:��.:�T�

.àª�&Mk�E��lõéoC09JQ�$sW

R��³\Ó.�3;s³�Wó�õé�\dIÔ�

IlÓ¼3;}s�<R�&�x³�Wó½�x¼.�

sÐ\6VWó½m�þ3�`kÓäWRA(-p�

��&�TP�.��6VkÎp¯�ùísWós�

³�y�^WþlG�Ô

����

>�@ õØ+�¼��ííäWó$RA(-s�&½Õ���®ÒÊØ�&> /Û�&WèH`g SS����� ����

>�@ µôÄ)��CKù¼äWRA(-p��.�sä�¿Vsd�s�ÈÁmC09JQ�$s·KÈWsݼ½

¨���£�RA(-ØÌØË£xÌW�è SS���������� ����

>�@ µôÄ)��CKù¼C09JQ�$�¥H\däWRA(-p��.�sÐ\6VWós�³½¨���£�RA(-ØÌØË£xÌW�è SS���������� ����

>�@ 5LFKDUG 3�3DXO¼52%270$1,38/$7256½7KH0,7 3UHVV� ����

>�@ �C×���CKù¼(^íäWRA(-sd�s�Èàª�CX.Ám*Ààª��½£�RA(-ØÌ

¨��RA(-�XB��EW�è SS����������

>�@ åTÏ)�Û±���CKù ¼ÌÒv�s�<p��Ò�2Wmog[>Gkt��;Idc»Ñ¯½£�

RA(-ØÌ� 9RO��� 1R��� SS�������� ����

Page 7: d ä W RA(- p s ä V W ó s ³ Ú Ø Ý Ä Ú Ø C Kkeiji/papers/pdf/1995-RS...ä W RA(- s Ú RZ Ó x C09JQ $ s * Zonp Ú RT ! Ê ^ Ô bXl _ Ó V m^ ü w x RA(- Ý þ ^ Ô dX s º

� �� �±è