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...
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...
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�;$��tÓ¨au¸m¨fu¸s.
�3;s³�WólG�Ô��<ÓXs�;$�
�s�³�y�m^�Ô
� �� 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�$�êsöûtåTÓ�LX-ws�
Òp���QG�Ô\dQhkÓ!~sä�S�
�ÒtÓ.M�RísC09JQ�$m�B\k
_IÔ
D!oÎX X���;\kRA(-�êsB��L
0X�s�Ò�<�Z`d�ÓC09JQ�$söû
��W�XmlÓG�éÒ�!s`þä�s6a�Þ
iZ`�XmtlR�QÓX�pt�XQG�Ô
��<Ó4X.p¥H\d&&'�FN�;I
k3;sä��=�\ÓbslHp#jId.�3;
s³�Wó�ÈKXmp^�ÔXXlÓRA(-tÓ
3;sä�lH�t\Ó�.F-OmC09JQ�$
sYd�;Ikó$*>Ts�!sä��`þlR�
�sm^�Ôde\Ób��sä�lHpt6aQH
���Ô
������������
�ültÓ.�3;s³�Wós7êsݼpiI
k¾~�Ô
�FNs�Øpt�XQG�slÓ�FN�¥H\
d4X.t.�P�ÿ�dä�P��<R�&^�¿
yQG�ÔbXl��<Ó«�pv^�Àp IÓ
4X.Q3;s�=�\ii��p�<R�&^
�Xmp\dÔ
���Í�Ýþ
�_RA(-tÓ�.F-Op�hk`þ\dRA(
-sä�lHp#jIk.�s=ep¢<\Ó�!Q
3;s=emo��KpC09JQ�$�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
��<Ó3;��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:$7(&
z2sgí&&'�FN�¥H^�Ô�d3;�³�
^��lÓ�FNs�ØTp3;��M�d�Ó�F
N�4X.sT¬p��ÒÌV�Ñ��ÒÔ
� �� ¥H^�4X.
��� RA(-�X-R�Ns���+�&H
V�m^�RA(-¼±s W\SH�7(1½tÓ/ú
X�Ó�ÈÁÓC09JQ�$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
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
�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�������� ����
� �� �±è