International Conference on Intelligent Robots and Systems Maui,...

6
- Motor map Starts learning and rehearsal without imitation Input: visual data (pixels) Frame of ref transformation Extrinsic -> intrinsic Inhibits learning until a change in one limb position is observed Links visual and motor representation of actions Learn new actions of movement Learning of sequences Inhibits mvmt during observation Motor Control Learning System PM module Cerebellum module Decision module M1 module Spinal Cord Central Pattern Generators Motor neurons command muscles Sensory feedback: joint angle TC Module Attentional module Visual System Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems Maui, Hawaii, USA, Oct. 29 - Nov. 03, 2001 0-7803-6612-3/01/$10.00 2001 IEEE 734

Transcript of International Conference on Intelligent Robots and Systems Maui,...

����������� ������������� ��������� ������� ��!"�#�$���%���&��'����$����' '(��� ���) ��� �$���*�����+�#�%�$�

,.-/0�13254646798:/<; =?>@0BAC7EDF=HG:I 7J7E4K?L MONQP@R5SUTV@WYXZS\[QW\S�]^[Q_�` SUPaTbL cbWYXZS\[QW\Sed@f`*gihCjUk ladam[aXonqpELerJV�L P@R5saSUT5[tKu]evoXorwLeTb[aXx]ad@yBL%c{z [a| S\vZSUcUd:Kuz�}ekek ~e}^h�� �e�^k� ]��H]�RbL��*�%[:]^M�XZW�guTC]^XZ[��iT5Le��SUW�R����i� zE����^�%V@� �YdQ��h���fXo��]eT5Xx_a]^X�dQV�SUXo��]�h�WCsaL:dQV�LeTC]^��P@h�|ePa[�d%�QjU}�h�k � � �eLeR5LQd@�%]^NQ]e[

� � XZvovx]^TC_¡d c5cbWCsQ]e]ev£¢^¤*PQcbW^p SU_@P

,¦¥*§ >@8a7EG¨>© SNaTbSUc5S\[%R?]�M�L@_@SUv�d�WYL MON¨L c5SU_�LerBsaXZS\TC]^TCWCs%��L^r�]^T5R5Xoª:W\XZ]ev[aSUPaTb]evJ[aSYR��uLeTb�@c\d¨rwLeT#TbL � L^R«voS ]^Tb[aXo[Q| � �¬_@SUMOL [Qc6R5TC]�R5XZLe[�p�HsaSHM�L@_@S\v@Xxc9XoM�NavZS\M�S\[%RbSU_OXo[�]«_@��[Q]^M�XxWuc5XZM�Pavx]�RbXoL [�L^r¨]­ ju_@S\| T5SUSUc�L^rarwTbS\S _@LeM�s�PaM"]^[aL XZ_�rwLeT9T5SUNaTbL�_aPQWYXZ[a|*l �$s�P@hM"]^[+MOLeR5XZLe[¬LerER5saS�]^TbM�p��{SUc5PavoRbc«c6saL���RbsQ]�R«R5sQS�M�L@_@S\vTbSU®%PaXZT5S c�rwS\�¯XZ[@rwL T5M"]�RbXoL [$] � LePaR�R5sQS�_@S c6XZT5S _�R5TC]���S W�RbLeTb�]^[:_3voS ]^Tb[Qc�L [@h�vZXZ[aS°RbsaS±TbS\vZS\n�]^[%R�rwS ]�RbPaT5S c�Ler MOL�n S\M�S\[%R p² R«WU]^[�| S\[aSUTb]evoXZ³\S�] WYTbL cbc ]°c5M�]evov9c6S\R*LerE_Q]�Rb]"R5L°NaTbL@_@PQW\S]"®%PQ]^vZXoRb]�RbXon S\vZ�°|eL�L@_´T5SUNaTbL�_aPQW�RbXoL [´LerµRbsaS�_@SUM�Le[Qc6R5TC]�RbSU_R5TC]���S W�RbLeTb�ep�¶9Xo[Q]evovZ�edX·R´XZc´c6sQL��{[�RbsQ]�R´T5SUNaTbL�_aPQW�RbXoL [.L^rR5sQS°R5TC]���S W�RbLeTb�+]�r¸RbS\T�voS ]^Tb[aXo[Q|¬XZc�T5L � PQc6R�]^|%]^XZ[Qc6R�N:SUT6RbPaT5h� ]^R5XZLe[QcUp¹ º D?>@8a»{/-G¨>a26»iD�{L � LeR R5S ]eWCsaXZ[a| � ��_@SUM�Le[Qc6R5TC]�RbXoL [´M"]e�eSUc]^[�XZ[QWYTbSU] c6XZ[a|� L�_a�¼Ler�T5L � LeR5XxW\c±T5S c6S ]^TCWCsBp�z½vx]^Tb|eS�NQ]eT6R�L^r�R5sQSUc5StSYr¸hrwLeT5RbcOrwL@W\PQc�Le[¦]ecbc6SUM � vZ��Rb] c6�%h�voS ]^Tb[aXZ[a|Qp$¾¬L�neS\M�SU[ RCcOL^r]"s�PaM"]^[�N¨S\T5rwLeTbM�Xo[Q|°L � ��S W�RM�L�n�XZ[a|��^c�RC]eWC��Xo[Q|�RC]ec5��c*]^TbSTbSUWYL Tb_aSU_¡d�S\XoR5sQS\TEPQc5Xo[Q|*n�Xx_@S\L«XoM"]e|eSUcH¿oj^de��À@L T9P:c6XZ[a|#]*M"]^h[aXZNaPavx]^[Q_aPaM�dHrwLeT"M�SU] c6PaTbXZ[a|3_@XoTbSUWYR5vZ��RbsaS"��LeXZ[%R"R5L Tb®%PaS c¿ lad ­ À�pJ�*]^Rb]�]eT5SHRbsaS\["]^[:]^vZ�%³USU_�R5L�_aSYR5SUT5M�XZ[aSHR5sQS{R5L Tb®%PaS cTbSU®%PaXZT5S _¬rwL T�]^[�Xo[Q_aPQc�RbT5Xx]^viT5L � LeR�]eT5MÁR5L�T5SUNaTbL�_aPQWYSOR5sQSM�L^RbXoL [QcH�{X·Rbs�c6XZM�Xovx]^T{NaTbSUW\XZc5XZLe[BpEz�M"]���L T{XZcbc6PQS«XZ[�T5L � LeRR5S ]eWCsaXZ[a| � �(_aS\M�Le[Qc6R5TC]�RbXoL [(Xxc±RbL¼_aSYªQ[aS�]^[Â]^vZ|eL T5XoR5saM�{saXxWCs�W\]e[�TbS\M�L�neSÃXZ[QW\Le[Qc5XZc6R5SU[QWYXZSUcµ]eW\T5L%c5cBR5saSu_@S\M�Le[:c�RbTb]^hR5XZLe[:c\d �{saXovZS{�eSUS\NaXZ[a|#S\[QLePa| s�XZ[@rwLeTbM"]�RbXoL [�RbL�]^vZvoL���T5SUNaT5Leh_@PQWYR5XZLe[¼L^r ª:[aS´rwSU]�RbPaTbSUc�L^rRbsaS�M�L�neS\M�SU[ R�¿ ��À�p�zcOR5sQSvZS\neSUvÃL^r{NaTbSUW\XZc5XZLe[�L^r _a]�RC]�c6SU|eM�S\[%RC]�R5XZLe[�Xxc�saXZ|esavZ�¬RC]ec5�%h_@SUN:SU[Q_@S\[%R d XoRiTbSU®%PaXZT5S c�RbsaS_@SUneSUvoL NaM�S\[%RÃL^r¡]e_a]eN@R5XZneS{]e[Q_vZSU]^Tb[aXZ[a|�]^vZ|eLeTbXoR5saM"c�¿ ��À�pf PQM�]e[±] � XovZX·R���R5L�XoM�XoRb]�RbSL PQc�RC]^[Q_QcER5s:]�R?LerB]^vZv:LeR5saSUT?]^[ahXZM�]evZc�¿ÅÄ À�p�fPaM"]^[¼XoM�XoRb]�RbXoL [�TC]^[Q|eSUc�rwTbLeMÆ|eTbL cbc�T5SUNaT5Leh_@PQWYR5XZLe[3Leru| S\[aSUTb]ev � L@_@��N:L%c�RbPaTbSUc°�£NQ]^[%R5L M�Xo[aS��*R5L¬NQT5S\hWYXxc5SuTbS\NQT5L@_@PQWYR5XZLe[�L^re��L Xo[%REM�L^RbXoL [Qc{�£] cµXZ["_a]^[:WYSed c6PaTb|eSUT5� dSYRCWU�Yp��{S WYS\[%R�RbT5SU[Q_ac�XZ[�T5L � LeR5XxW\c´RC]^�eS c�Xo[:c6NaXZTC]�R5XZLe[�XZ[c6R5PQ_@XZSUc�Ler°s%PQM�]e[ÇXZM�X·RC]�R5XZLe[ÈR5L�_@S\n S\vZLeNÇ]eTbWCsaXoR5S W�RbPaT5S crwLeT"n�Xxc6PQL^h�MOLeR5L T�W\Le[%R5TbLev{]e[Q_¼voS ]^Tb[aXo[Q|+XZ[¦T5L � LeRbc��{saXxWCs�uLePavx_3c6sQL��Éc5LeM�S°LeruRbsaS°Ê:SYË@X � XovZX·R���LerH[:]�R5PQTb]ev?c5��c6R5SUM"c¿ ~ad:}Qd�j k@dq�@dµj j^dµj�� À�p ² [$¿ }Qd�j l�À�d¨�uS�_@S\n S\vZLeN¨SU_�] � XoL voL |eXohW\]evovZ�NQvZ]ePQc6X � vZSÃM�L@_@S\v L^r@s�PaM"]^[#XoM�XoRb]^R5XZLe[Bp ² [#R5saXxcBNQ]eN:SUTUd�uS#_aXZcbWYPQcbcHRbsaS�N:LeR5SU[ RbXZ]ev¡L^r9R5saXxc{M�L@_@S\vBrwLeT WYL [%R5TbLevZvoXZ[a|�]l�_@S\| T5SUSUcuL^r9rwTbS\SU_aLeMÌTbL � L^R ]^TbM�p

Í Î I0�ÏÉ»{/ 0µ4

-

Motor map

Starts learning and rehearsal

without imitation

Input: visual data (pixels)

Frame of ref transformation

Extrinsic -> intrinsic

Inhibits learning until a change

in one limb position is observed

Links visual and motor

representation of actions

Learn new actions

of movement

Learning of sequences

Inhibits mvmt during observation

Motor Control

Learning System

PM module

Cerebellum module

Decision module

M1 module

Spinal Cord

Central Pattern Generators

Motor neurons command muscles

Sensory feedback: joint angle

TC Module

Attentional module

Visual System

ÐqÑÓÒ ÔeÕ�Ö´× ØOÙ:Ú\Û{ÜbÝwÞ�Ú\ß à£Û�Þ�à£áUÝwÛiÞ�âbã\äwß ä¸à�äEâ6å�ä£Û�æbÛ�ã�çEâ�èUá\é Û�äJê:ÚUß Þ�Ú�ëbß æCÛÜbã{Ü5ìUä¸à£ÝwÜbÞ�à¡Ü5ãUè{Ú\ß ë5Ú\íoé Û�æCÛ�é^ÝwÛ�î\Ý£Û�äwÛ�ãCà£Ü5à£ß â5ãuâ6åaÞ�âbÝwÝwÛ�ä£î âbã\èUß ã\ëJì\ÝwÜbß ã{Ü5ÝwíÛ�Übä¡ß ãCæCâbé æCÛ�èHß ãHæYß ä£á\â5íoçEâ5à£â5Ý¡îUÝwâ�Þ�Û�äwäwß ãUë�ï:Ù:Ú\ÛJäwÛ�æCÛ�ãuçEâ�èUá\é Û�ä¨Ü5ÝwÛ5ð¨à£Ú\ÛÜ5àwà£Û�ãCà£ß âbã\Übé^Ü5ãUè{à£Û�çEî�âbÝwÜ5éeÞ�â5ݸà�Û�ñ?çEâ�è\áUé Û�ä�òUà£ÚUÛµîUÝwß çEÜ5ݸóHçEâ5à£â5ÝqÞ�âbݸà£Û�ñÜbã\è äwîUß ã\Übé Þ�âbÝwè{çEâ�è\áUé Û�ä�ò à£ÚUÛJî\ÝwÛ�çEâ5à£âbݨÞ�âbݸà£Û�ñHÜbã\è Þ�Û�ÝwÛ�ì�Û�é é á\ç¬çEâ�è\íá\é Û5òUÜbã\èuà£ÚUÛBè\Û�Þ�ß äwß âbã?çEâ�èUá\é Û5ï�HsaXxcJ�?L T5� � PaXovx_acJPaN¨Le[�L PaTJ|eS\[QS\TC]^v�M�L�_aS\v@L^r¨voS ]^Tb[aXZ[a| � �XZMOXoRb]^R5XZLe[��5¿ }Qd�jUl�À¸�Ydqc5S\S�¶9XZ|ePaTbS°j pH�HsQS�M�L�_aS\v�Xxc � XoL voL |eXohW\]evovZ�°XZ[Qc5NaXoTbSU_´XZ[�X·RCcHrwPa[QWYR5XZLe[Bd¨]ecHXoRbc W\LeM�N:L%c6XoR5S�M�L@_@PavZSUcsQ]�n SrwPa[:W�R5XZLe[:]^vZX·RbXoS c c6XZM�Xovx]^THRbLOR5sQ]^R L^r9c5N¨SUWYXoª:W � TC]^XZ[´T5S\h|eXZLe[:c\d�]^[Q_#XZ[�XoRbcµc�RbT5PQWYR5PaTbSed�] cqR5saS?M�L�_aPavoS c�]eT5SiW\LeM�N¨L c5SU_L^rÃ]eT6RbX·ª:W\XZ]evB[aSUPaTb]evµ]eTbWCsaXoR5S W�RbPaT5S c\p ² R*Xxc vZL�L c5S\vZ� � ] c6S _�L [[aSUPaT5L voL |eXxW\]evBªQ[Q_aXo[a|%c«Xo[+NaT5XZM"]�RbSUc«]^[Q_tXo[QW\LeTbN:L Tb]^R5S c] � hc6R5TC]eW�R�MOL@_@SUvZc±L^r�c5LeM�S � TC]^XZ[.]^TbSU] c"Xo[�n LevZneSU_¼XZ[(n�XZc5PaLehM�L^RbLeT�W\Le[%R5TbLev�d�[Q]eM�S\vZ�tRbsaS°RbS\M�N:L Tb]eviWYL T6RbSY˦�£�KH��dµR5sQSc5NaXo[:]^v?W\LeTC_¡dµR5saS�NaT5XZM"]^Tb�tM�L^RbLeT�W\LeT5R5S\˦��¾3j �YdµRbsaS±NQT5S\hM�L^RbLeT ]^TbSU]´�£�?¾t�H]^[:_°RbsaS�WYSUT5S � SUvovZPaM�p² [�R5saXxcENQ]eN:SUTUd��uS � T5XZSYÊ:��_@SUcbWYTbX � SuR5sQSuN:]^T5Rbc9L^r:R5saS{M�L@_@S\vXZMON¨LeT5Rb]e[%R{rwLeT{RbsaS�c5N:S WYXoª:W#XoM�NavZS\M�SU[ RC]�RbXoL [Bpu�HsQS�T5S ]e_@SUTW\]e[�TbSYrwSUTHR5L¬¿ }�ÀBrwL T ]O_aSYRb]eXovZSU_�_@S c5W\T5XZN@RbXoL [Bp

Proceedings of the 2001 IEEE/RSJInternational Conference on Intelligent Robots and SystemsMaui, Hawaii, USA, Oct. 29 - Nov. 03, 2001

0-7803-6612-3/01/$10.00 2001 IEEE 734

ôBõ6ö ÷�ø¨ù5øtú9û�ü�ý þ ÿ�ÿ�������HsaS*n%Xxc5PQ]^vaM�L@_@PavZSN¨S\T5rwLeTbM"cErwL PaTivZS\n S\vxcÃL^r¡NaTbL@WYS c5c5Xo[Q|�L^rR5sQS«_a]^Rb]��?j��ERbTb]e[Qc�rwL T5M"]^R5XZLe["L^r¡rwTC]^M�S«L^rBTbSYrwSUT5SU[QWYS derwTbLeMSYË�RbT5XZ[Qc5XZWuRbL�Xo[%R5TbXZ[Qc6XxW^d��e�µªQvoR5SUT5XZ[a|�Lerqc5M"]^vZvQ]^[Q_O[aL XZc5��M�LehR5XZLe[:c\d�l �ic6SU|eM�S\[%Rb]^R5XZLe["Ler¨RbsaS«MOLeR5XZLe[Bd � ] c6S _�Le[°WCsQ]e[a|eS cXZ[±neSUvoL@W\X·R��"]^[:_°M�L�neSUMOSU[%Ru_@XZT5S W�RbXoL [Bd@]^[Q_ ­ �iNQ]^TC]^M�SYRbS\T5hXZ³U]�RbXoL [¬L^rERbsaSOMOL�n S\M�S\[%RCc XZ[¬R5SUT5M"c*L^ric5N:SUSU_+]^[Q_¬_aXoTbSUWYhR5XZLe[�p ² [¦R5sQS�SYË@N:SUT5XZM�S\[%Rbc°T5SUN:L T6RbSU_¼Xo[¼RbsaXZc±NQ]^N¨S\T dHc6SUSV�S W�R5XZLe[�lQdQ_a]�RC]"]^TbS#T5S WYLeTC_@S _±XZ[���LeXZ[%R]^[a| voS c\dQ]e[Q_¡d@Rbs�PQc\dc6R5S\N�j#XxcH[aL^R N¨S\T5rwLeTbM�SU_¡p���� ��������������������� �!���" � �"���² [aNaPaR«_a]^Rb]"RbL"R5sQXZc*M�L�_aPavoSO]^TbS�]^vZv�TbSUW\LeTC_@SU_���L Xo[%R«]e[a|ePahvx]^TBRbTb]^��SUWYR5LeTbXZSUcBLerQ]^TbM�MOL�n S\M�S\[%R p © SH]^NQNavo��] R5saTbSUc5saLevx_rwPa[QWYR5XZLe[$��c6SUS��i®%PQ]^R5XZLe[�j �HR5L"RbsaS�N¨L c5X·RbXoL [�R5TC]���S W�R5L T5�±L^rSU] WCs�_@SU|eTbS\SuL^r¨rwT5SUSU_@L MÌ�£���«¶E�µR5L#S\vZXoM�XZ[Q]�RbS c6M"]evov@M�L�neS\hM�S\[%RbcUdq_@PaS�RbL"R5sQS�XZ[ RbS\TC]eWYR5XZLe[´R5L Tb®%PaS c ]eW\T5L%c5cHRbsaS � L@_@�ep�HsaS c6SOc6M"]^vZv9MOL�n S\M�S\[%RCc]^TbS�[aL XZc5S�RbL±PQcUd¡]ec*�?S��{XZc5s�RbLTbSUWYL |e[aXZ³\S*]^[Q_"M�L@_@SUv¨L [avZ��RbsaS«�eS\�OrwS ]�R5PQT5S ciLer�neL voPa[%RC]^Tb�M�L�neSUMOSU[%RbcUpyBS\R�#%$6��&6� � SÃRbsaS?]e[a|ePavx]^Tµ_@XZc5Navx]eW\S\M�S\[%Rbc�L^r���L Xo[%R('q]�RµR5XZM�S&�p(#*) $ d�#,+$ ]^[Q_.- #/$Q]^TbSER5saSiM�]^Ë@XoM"]^v�d�M�Xo[aXZM"]^v%]^[Q_#M�SU]e[n�]^vZPaSUc«Ler0# $ L�n S\T*R5saSO�{saLevZS�R5TbXZ]ev�p��HsaSOsaXZ|es@h�NQ] c5cªQvoR5S\TS\vZXZMOXZ[Q]^R5SUc�rwTbLeM rwPaT5R5saSUT�NaT5L@W\SUcbc6XZ[a|�XZ[%R5L�c5S\| M�S\[%Rb]^R5XZLe[�£c5S\S � SUvoL���B]^vZv\��L Xo[%R�RbTb]^��SUWYR5LeTbXZSUc1#32i�{saXxWCs�]^TbSic5PQWCs�R5s:]�R��

# )254 # +27678 'jU� ��j��

9 �������:�; ��� ������«]�Rb]+]^TbS°c6SU|eM�S\[%RbSU_�R5L�_@SYRbSUWYR�R5sQS�c6Rb]^T5Rbc�]^[Q_$c�RbLeNQc�L^rneL voPQ[ RC]^Tb�.M�L^R5XZLe[�]^[:_ WCsQ]e[a|eS c´Xo[�_@XZT5S W�RbXoL [ LerOM�L�neS\hM�S\[%RUdHrwL vovZL��{XZ[a|��i®%PQ]^R5XZLe[Qc±�ad{l�]^[Q_ ­ p��HsQStc6SU|eM�S\[ahRb]^R5XZLe[.NaTbL@WYS c5c"_@SUN:SU[Q_ac±Le[.]�c5SYR°L^r�l�NQ]eTb]eM�SYR5SUTbc�N¨S\T���«¶?p �HsaSUc5Si]eT5SJRbsaSÃM�Xo[QXoM�PaM�_@XZc5Navx]eW\S\M�S\[%R1<=+ 2 �wXZ[H��LeXZ[%R]^[Q|evZS �?rwLeT«_@SYRbSUWYR5XZ[a|±]�M�L^RbXoL [BdaRbsaS�M�Xo[QXoM�PaM R5XZMOS��{Xo[@h_@L��?>;@#_@PaTbXo[Q|��{saXxWCs±[QL�_aXZc5Navx]eWYSUM�S\[%Ru| T5S ]�RbS\TÃRbsQ]^[A<B) 2sQ] c � SUS\[�L � c5S\TbneS _¡pOV@Xo[QW\S°_@XDC¨SUT5SU[ R�_@SU|eTbS\S c*LerirwTbS\S _@LeMsQ]�n S?_@XDC¨SUT5SU[%RJ_@��[Q]eM�XZW?NaTbLeN¨S\T5R5XZSUcUd^_@PaS?R5L*R5saSUXoTE_@XDC¨SUT5SU[%RvZS\[a|eR5sQc?]^[Q_�M�PQc5W\Pavx]^TÃWYL M�N:L%c6XoR5XZLe[Bd%�uS ]^NaNavZXZSU_"_@XDC¨SUT5SU[%Rc5S\|eM�SU[ RC]�RbXoL [ON:]^TC]^M�SYRbS\TCcJR5L�S ]eWCsBpJ�HsaS c6S NQT5L N:SUT6RbXoS cÃ]^TbSW\]evZW\Pavx]�R5S _�] curwLevZvoL�� cUp

< +2FE ~HG 8 '# )2 4 # +2 ��� �

< )2IE �JGK< +2 �£l%�>;@ E �LG�>�MH�{X·Rbs��Âc5PQWCs±RbsQ]�RN# $ �O>*� E -# $ � ­ �

PN���Q������ ������R=�� �����z{r¸RbS\TOc6SU|eM�S\[%Rb]^R5XZLe[BdµR5sQS±c6N¨S\S _3]^[Q_3_aXoTbSUWYR5XZLe[3L^r{M�L�neS\hM�S\[%R"L^r«SU]eWCs+��LeXZ[%R"XZc"W\L�_aSU_�Xo[�R5saS�L P@R5NQP@R°L^r*R5saS��K[aSUPaT5L [Qc?R5LOR5sQS#�?¾Á[aSUPaTbLe[QcH�HsaSUT5S#]^TbSR��uLO[aS\PaTbLe[:c?N¨S\T_@SU|eTbS\S#L^r9rwT5SUSU_@L M½�£���«¶E�HN¨S\TE��L Xo[%RUd:WYL@_@XZ[a|OrwLeT{N¨L c5X·RbXon S]^[:_¬[aSU| ]�RbXon SO_aXoTbSUWYR5XZLe[tLeriM�L�neSUMOSU[%RUdqT5S c6N¨SUWYR5XZneSUvo� p�yBS\RSUT"V$ �O&6� � S{R5saS{L P@R5NQP@RiL^r¡�K�[aS\PaTbLe[/'µ]^RER5XZM�S&�d ]^[:_W&YX[Z \

R5sQS�c5S\TbXoS c{L^rJR5XZM�S�c6R5SUNQc]^R�{saXxWCs�R5saS�c5S\| M�S\[%Rb]^R5XZLe[�sQ] cL@W\W\PaT5TbSU_Bd�R5saSU[1�

S T�V$ �O&]2 � E # $ �O&_e� 4 # $ �O&_^�` X � ��� �]^[:_±��XZc{c5PQWCs´R5sQ]^R�&]2Ha E &_�]e[Q_cbca jep¶9Xo| PaTbS��+c6sQL�� c�c5S\| MOSU[%Rb]�RbXoL [�L^rR5saS´R5TC]���S W�RbLeTb�+LerR5sQSc5saLePavx_@SUTµ��L Xo[%RCc«�wÊQSYË@L T���SYË�R5SU[Qc6L TUd%] � _@PQWYR5XZLe[¨�^]e_a_@P:W�R5XZLe[¨�L^r¡RbsaS«voS\r¸R{]eT5M _@PaTbXZ[a|�_@TC]��{XZ[a|�Ler�]�ªQ| PaT5S*S\XZ|es%RUpE¶9XZ|ePaTbS�3c5saL�� c�RbsaS+c5N:SUSU_¦XZ[aNaP@R�WYL@_@S _ � ��R5sQSt[aSUPaT5L [Qc°]^r¸R5S\Tc5S\|eM�SU[ RC]�RbXoL [Bp

0 2 4 6 8 10 12 14 16 18 200

20

40

60

80

100

120

SF

E (

deg)

0 2 4 6 8 10 12 14 16 18 20−0.03

−0.02

−0.01

0

0.01

0.02

0.03

yTD

(de

g/s)

ÐqÑÓÒ ÔeÕ�Ö d^Ø Ù â5î�ð ÙeÝ£Ü_ewÛ�Þ�à£âbݸó â5å äwÚUâ5áUé è\Û�Ýfe£â5ß ãCàgDhjiBk�l;m Û�ñYß â5ã�n6Û�ñ�à�Û�ã\äwß âbã�oÉè\áUÝwß ã\ëFè\ÝwÜ�ê¨ß ã\ëÆâ5å Üqp�ë5áUÝwÛ Û�ß ë5ÚCà�ïr Û�ݸà£ß Þ�ÜbéuìUÜ5Ý£ä�äwÚUâ�ê�à£ÚUÛ"à£ß çEÛ°ä¸à£Û�îUä�â5å«ä£Û�ë5çEÛ�ãCà£Ü5à£ß âbã�ï gts â5àwà£âbçuo�ðv á\à£î\á\àÃâ6å¡à£ÚUÛHÙ"w¬ãUÛ�á\Ýwâbã\äJåoâ5é é â�ê:ß ãUëäwÛ�ëbçEÛ�ãCà£Ü5à£ß â5ã�ï�Ù:Ú\ÛHâbáYà£îUáYàÃß äî\Ý£â5î�âbݸà£ß â5ãUÜ5é à£âuà£ÚUÛµæ5Ü5é á\ÛEâ5åQà�Ú\ÛJäwî�Û�Û�è â5åaà£Ú\ÛEçEâ5à£ß âbãÜ5àBà£Ú\ÛJà�ß çEÛJâ5åà£ÚUÛ�äwÛ�ëbçEÛ�ãCà£Ü5à£ß â5ã�ï

ôBõ�ô xÈü¨ù5ü:û+ý�ü"�Eù�û ü�y² [±L PaTuMOL@_@SUv�d@M�LeR5LeTHWYL [%R5TbLevQXxcusaXZS\TC]^TCWCsaXZWU]^v¨]^[Q_±XZcHWYL MOhN¨L c5SU_�L^r¬�wrwT5L M vZL��?S c�R¬vZS\n S\v�RbL(saXZ|esaS c�R+voSUneS\v¸�{z/|:}j~K�D�zc���B�K�Ód�}]����������~�������deM�LeR5LeTEW\LeT5R5SYË´�£¾3j���d^NaTbS\M�LeR5LeTEW\LeT5R5SYË�£�?¾t�H]^[:_�W\S\TbS � S\vZvoPaM<M�L�_aPavoS c\p91� �(�����=�"���?���1��������HsaSHM�L@_@PavZS{T5S WYS\XZneS c�S\ËaWYXoRb]�RbLeTb��Xo[QNaP@RErwTbLeM�RbsaS{¾3jH[aS\P@hTbLe[Qc��£_aSYªQ[aXZ[a|�RbsaS�]^M�NavZX·RbPQ_@S¬]^[:_�c5N:SUSU_�L^r*R5saS�M�L�neS\hM�S\[%R rwL TSU] WCs��#�«¶E� ]e[Q_�LePaR5NaP@RCc RbL"R5sQS�M�PQcbWYvZS�M�L@_@S\v�{saXxWCs�R5saSU[±WYL M�NaP@R5S c¡��L Xo[%RÃRbLeTC® PQSUcÃc5S\[%RÃRbL�R5saS*_@��[Q]^M�XxWc5XoM�PavZ]^R5XZLe[Bp ² R Xxc{WYL M�N:L%c6S _±LerµªaË@S _�[QS\PaTC]^vBW\XoTCWYPaXoRbcUd@Le[QSrwLeTSU]eWCs����«¶�rwL T SU] WCs���L Xo[%RUd:�{saXxWCs´NQT5L@_@PQW\S�]^[�L cbWYXZvZvZ]^hR5XZLe[�Ler�R5s:]�RE��LeXZ[%RUd@rwL vovZL��{XZ[a|´¿oj ­ À�p�HsaS�[aSUPaTbLe[QcHLer�R5sQS�c6NQXo[Q]evBWYL Tb_�M�L�_aPavoS�]eT5S#M�L@_@S\vZSU_�] cvZSU]^���%h�Xo[%R5SU|eTC]�RbLeTCc\d �{saXxWCsOW\LeM�NaP@RbS?RbsaS{]�neSUTb]e|eSEªQTbXZ[a|«rwT5S\h®%PaS\[:WY��¿·j�� À�p{z*W\WYL Tb_aXo[a|�RbL"R5sQXZcMOL@_@SUv�d:R5sQS�M�SU]^[�M�SUM�h� TC]^[aSuN¨L^R5SU[%R5Xx]^v:�A$¨Ler¨]*[aS\PaTbLe[/�3$6d^T5S WYSUXon�XZ[a|XZ[aNaP@RJrwTbLeM¾3j#[aL@_@S c�U2�XZcH| L�neSUT5[aS _ � �"RbsaS�SU®%PQ]^R5XZLe[1�

� $ Gj�B� $�� �=& E 4 � $"��� �$�Z 2j�U2 �£�%�

735

�{saSUT5S��U2 E �6j ��� g +��¡ �¢ � o � ` X TbS\NaTbSUc5S\[%RCc�RbsaS�[aSUPaT5L [1£ cc5saLeT5R6h�R5SUT5MÁ]�n S\TC]^|eS�ªQT5XZ[a|�rwT5S ®%PaS\[QW\�ed(¤�2OXxc«R5saS�[aSUPaT5L [1£ c� Xx]ecUd � $uXZc�]±R5XZM�S"WYLe[:c�RC]^[%R«] c5c5L@WYXx]�R5S _¬�{XoR5s+R5saSONQ] c5c5Xon SNaTbLeN¨S\T5R5XZSUc�L^r{RbsaS�[QS\PaTbLe[1£ c�MOSUM � TC]^[QSedÃ]^[:_ �$OZ 2´XZc�R5sQSc5�%[:]^N@RbXZW?�?SUXo| s%R9Ler¨]«WYLe[Q[aSUWYR5XZLe[�rwT5L M�[aS\PaTbLe[/� 2 R5L«[aS\P@hTbLe[�� $ p ² [tRbsaS�MOL@_@SUv�dµ]±[aSUPaTbLe[tXZ[+R5saS"c5NaXo[:]^vEWYL Tb_tT5S\hWYSUXon SUc#XZ[aNaP@R�rwT5L M�]^vZvÃLeR5saSUT�[aS\PQT5L [Qc�]^[Q_+rwTbLeM�[aS\PaTbLe[:cXZ[�¾�j«M�L@_@PavZSep¥¦�����B���§ ��"�Q¨©���:� �i] WCsÇ���«¶ L^r±S ]eWCs ��LeXZ[ R�Xxc3WYLe[ahR5TbLevZvZSU_ � �3]�NQ]^XZT�Ler M�PQcbWYvZSUc��{saXxWCs3T5S WYS\XZneS±Xo[aNQP@R�rwTbLeMWYL T5TbSUc5N¨Le[Q_@XZ[a|�N:]^XZTuLer�M�L^RbLeTu[aS\PaTbLe[:c?XZ[°RbsaS�c6NQXo[Q]ev¡WYLeTC_M�L@_@PavZSep z�M�P:c5W\voS¬Xxc´c6XZM�Pavx]�RbSU_(] c±]�WYLeM � XZ[Q]�RbXoL [.L^r]�c5NaTbXo[a|�]e[Q_.]�_a]eM�N:SUT+¿ojU��À�p��HsaS�R5L Tb®%PaStSYË@S\T5R5S _�L [SU] WCs���LeXZ[%R�Xxc�_@S\R5SUT5M�XZ[aSU_ � �¦]�NQ]eXoT�L^r�L NaN:L%c6S _¼ÊQSYË@L T]^[:_�S\Ë%RbS\[Qc5LeT9M�P:c5W\voS c\pJ�HsaSUc5SuM�PQcbWYvZSUcEWU]^[ � S{WYL [ RbTb] W�RbSU_� �$XZ[aNaP@R´c6XZ|e[Q]evZcOrwTbLeM M�L^R5L T"[aS\PQT5L [Qc\du�{saXxWCs¦Xo[QW\T5S ]ec5SR5sQS\XZT�c6NQT5XZ[a|�WYL [Qc�RC]^[%RUd9]^[Q_+RbsaS\TbSYrwL T5S�TbSU_@PQW\S�R5saSUXoT�T5S c�R5hXZ[a|¬vZS\[a|eR5sBp��HsaS±R5LeTC®%PaS°]eWYR5XZ[a|¬]�RO]�NQ]^T5R5XxWYPQvZ]eT{��LeXZ[%R�XZcR5sQS\TbSYrwLeTbSH_@SYRbS\TbMOXZ[aS _ � ��RbsaS{M�L^RbLe[aSUPaT5L [�] W�R5XZn�X·RbXoS c{� ª�«]^[:_Aª�¬\�uL^r�RbsaS�LeNQN:L%c6S _°ÊQS\Ë@LeT ]^[:_±S\Ë%RbS\[Qc5LeT{M�PQcbWYvZSUc��> E®­ � ª�« 4 ª�¬Y� ��¯ �]ª�« � ª�¬ �{° �_±/² ��³ ±7´² ��Äe��{saSUT5Sµ±/²ÉXZc"R5saSt_aXtCqS\TbS\[QW\S � SYR��uS\S\[¦RbsaSt] W�R5P:]^v]e[a|evZSL^ruR5sQS���LeXZ[%R�]^[Q_+R5sQS±]^[a| voS"]^R�T5S c�R±�£³\S\TbL�XZ[�L PaT�S\Ë�N¨S\TbXohM�S\[%RbcC��pu�HsaS�_@XDCqS\TbS\[%RWYL�SK¶°W\XoSU[ RCc ­ d ¯ d ° dQ]e[Q_ ³ _@SYRbS\T5hM�Xo[QSed^TbSUc5N:S W�RbXon S\vZ�ed�R5sQS{| ]^XZ[Bd�RbsaS{c�RbXtCq[aSUcbcJ| ]eXo[�d�R5saSuR5L [aXxWc6R5XDC¨[aS c5cUdQ]e[Q_°RbsaS�_a]eMONQXo[a|°W\L�SK¶°WYXZS\[%R{L^rµR5saS�M�PQc5W\voS c\p¥¸·¹�����?Pº¥f�»�1�(�����:�¾3j´M�L�_aPavoS�WYL [%Rb]^XZ[Qc�]¼z%��½����*zc����L^rR5saS � L@_@� p ² R�XZcWYL M�N:L%c6S _¬L^rHl�h�[aS\PQT5L [¬[aSYR��uLeTb�@c rwL T#SU]eWCs+�#�«¶.Ler?S ]eWCs��LeXZ[%R�rwLeT�XZ[Q_@SUN:SU[Q_@SU[ Rbvo��TbS\|ePQvZ]^R5XZ[a|±RbsaS±]eMONQvoXoR5PQ_aSt�¸R��uL[aL@_@S cb�{]e[Q_�RbsaS�rwTbSU®%PaS\[:WY���wLe[QS�[aL@_@S � L^rJR5sQS�L cbWYXZvZvZ]^R5XZLe[L^r9R5sQS�WYLeTbTbSUc5N:L [Q_@XZ[a| ��L Xo[%R���«¶?d:c6XZM�Xovx]^THRbL�¿oj ­ À�p�HsaS��i¾�M�L@_@PavZS�WYTbSU]�RbSUcH]�_@XZT5S W�R{M"]^NaNaXZ[a| � SYR��uS\S\[�R5sQSNQ]eTb]eMOS\R5SUT5XZ³U]^R5XZLe[OL^r¡R5sQS L � c5S\TbneS _OMOL�n S\M�S\[%RÃXZ[±�K*d^rwL v·hvZL��{Xo[a|�n�Xxc6PQ]evc5S\|eM�SU[ RC]�RbXoL [Bdu]e[Q_�R5sQ]^R±PQc5SU_�rwLeT±MOLeR5L TWYL [%R5TbLev9Xo[�¾3jep��?¾Æ[aL@_@SUc«TbSUW\S\XZneS�c5S\[:c6L T5��rwS\S _ � ]eWC�qd¡XZ[R5SUT5M"cJLere��LeXZ[%Ri]^[a| voSuN¨L c5X·RbXoL [Bd�rwTbLeM�RbsaS c6NQXo[Q]evaWYL Tb_�MOL@_�hPavZSep S�¾2 �O&6�uXxcuR5saS�]^[Q|evZS«Ler9_@SU|eTbS\S«L^rµrwT5SUSU_@L MFb�L^r9voXZM �¹¿ p�HsaSOR5SUT5M ³ � S�¾À � M SUT"VÀDÁ Ga�O � ~%�6�*XZ[+S ® P:]�R5XZLe[��@pÅ�´WYLeM�NQ]eT5S cR5sQS¬]eW�RbPQ]^v _aS\n�XZ]^R5XZLe[¼L^ru��LeXZ[%RWb�Xo[¼RbsaS¬]�n�]�Rb]eT"]^[Q_�R5sQS_@SUn%Xx]�RbXoL [�L^r{RbsaS±s�PaM"]e[$]^TbM�d9| Xon S\[ � � SUT"VÀDÁ rwL TOW\LeTbT5S\hc5N:L [Q_@XZ[a|±_@XZT5S W�RbXoL [�L^rEM�L^R5XZLe[µÃ Lerq��LeXZ[ RÄb X p �HsaXZc R5SUT5MM�L@_@Pavx]�R5S cERbsaS]^M�NavZXoR5PQ_@SLeTic5N:SUSU_�Ler¨RbsaS M�L�neSUM�S\[%RUd � �XZ[QWYTbSU] c6XZ[a|HLeT�_aSUWYTbSU] c6XZ[a|��¸rwL T�c5M�]evovZS\T�LeTBvx]^Tb|eSUTBc6N¨S\S _Q�¨R5sQSLePaR5NaP@R�L^rHR5saS��i¾ ]^[Q_3W\Le[Qc5SUW\P@R5XZneSUvo�tL^rHR5saS�¾3j"[aL@_@SUc�£]e[Q_�ªQ[Q]evovZ�"R5sQS#R5LeTC®%PaS�c6SU[%RuRbL�R5saS�M�LeR5LeTH[aSUPaTbLe[QcC��p�HsaS�[aS\R��?L T5���Kih��i¾�h�¾3j�W\Le[Qc5Xxc�RCc*Leru]´���[Q]eM�XZWU]^vE�{SYhWYPQT5TbS\[%R¬zcbc6L@W\XZ]^R5XZneS�¾�S\M�LeTb�(z TCWCsaXoR5S W�R5PQT5S.�£�«� z*¾¬z*�¿oj�ÄUÀ�p�V@XoM�XZvZ]eT5vZ�tRbL�R5XZM�S±_@S\vx]��t[QSYR��uLeTb��c"¿ojU~�À�dJSU] WCs3WYLe[ah[aS W�R5XZLe[�XxcE]ecbc6L@W\XZ]^R5SU_��{XoR5sOR��?L#NQ]eTb]eM�SYR5SUTbcUd^]«�?SUXo| s%R �$ 2

Å¡Æ�Ç�ÈÊÉ]È¡Ë]Ì»Í�ÎUÏÐ ÁÒÑÔÓ1Õ ÌÈ Õ�Ó]Ö Ë È�×�ØUÉ ÇQÈ Ó]Ù È¡È¡Ú Õ É©É ÇQÈÜÛ�È¡Ý ÑÔÞQÞQÑÔÞ ÝÄ×�ØÉ ÇQÈ�Ì×_ßKÈ_ÌÈ Þ ÉYà�áWÈ0Ì Õ�ÙHÑ É ÑÔÞ É]× Õ ÌÈ Õ�Ó]Ö Ë È!×�Ø Ù × Ó]Ñ É Ñ × Þ ÛKâºÌ ÖQã É Ñ äÙQãÔÑÔå_Õ É Ñ × ÞLæ�Ñ É]ÇNÉ]Ç�ÈÊØ Õ�å É ×[Ë!çDèUé�êKë�à

]^[:_�]�RbXoM�S"NQ]eTb]eMOS\R5SUT � $ 2%p © SUXo| s RCc�WYL T5TbSUc5N¨Le[Q_¬R5L�R5sQSc5�%[:]^N@RbXZW«c�RbT5SU[a|^RbsBd��{saXZvoS*R5saS*R5XZM�S#NQ]^TC]^M�SYRbS\THc6N¨SUW\X·ª:SUcu]c5�%[:]^N@RbXZW�_aS\vx]��ed:R5sQ]^R*Xxc]°_@SUvZ]��´Le[�RbsaS�RbXoM�SOT5S ®%PaXoTbSU_�RbLNaTbLeNQ]e| ]^R5SuR5saS ] W�RbXon�XoR���rwTbLeMÉLe[aS{[aSUPaTbLe[OR5L#RbsaS L^RbsaS\T p ² RXxc ]OrwPavZvo�´WYLe[Q[aSUWYR5SU_´[aS\R��?L T5�+�£]^vZvB[aL@_@S c{XZ[¬�i¾ ]^TbS�WYLe[ah[aS W�R5S _�R5L�]^vZv@[aL@_@SUcÃXo[��K�]e[Q_�R5L�]^vZv@[aL@_@S cJXo["¾3j d^[aL@_@SUcXZ[¬�K ]e[Q_�¾3j�]eT5S�[QL^RXZ[%R5S\TCWYL [a[aS W�R5S _Q�H�{XoR5st] c6��M�M�SYR5hTbXZWU]^vEWYL [a[aSUWYR5XZLe[Qc�� �Ä$ 2 E � 2 $ �«]^[Q_�c5S\vor¸h�W\Le[a[aS W�RbXoL [QcL [SU] WCs�PQ[aX·R p² r�� -� d -� ��]^[Q_.� � dÊ&¡ì�íq��]eT5S�RbsaS°�uS\XZ|es%Rbc�L^rHR5saS�WYLe[Q[aSUWYhR5XZLe[:c � S\R��?SUS\[�¾3j"]^[Q_��i¾�dB]^[Q_ � S\R��?SUS\[��K�]e[Q_+�?¾M�L@_@PavZSUc#TbSUc5N:S W�R5XZneSUvo� dqX·r S:T�V^ XZc*R5sQSOL P@R5NQP@R�L^ru�K�[aS\P@hTbLe[�rwLeTO_@XZT5S W�R5XZLe[3Ler M�L�neS\M�SU[ R%Ã�L^r{vZXoM �»¿ d9R5sQS\[ S ) X2 dR5sQSLePaR5NaP@RuL^rB¾3j [QS\PaTbLe["Ler¡_aS\|eTbS\S{LerqrwT5SUSU_@L M.b�L^r¡vZXoM �¿ XZc��

� S ) XÀ � � �B& E 4 -� ) XÀ � À � �� $ -� $ À � G S:î )$ G ³ � -� $ À � M SUî )$ �ÊG ³ � S ¾À � M S T"VÀDÁ G Â

~ � �£~%�

]^[:_ S î )2 d@RbsaS�LeP@RbNaP@R Lerµ[aSUPaT5L [�Ã�XZ[�MOL@_@PQvoS��?¾� SUî )À � � �=& E 4 � î )À � À � �

� $ �$ ÀïÁ GK� T�V$ G ³ � � ' ¿ ^ Z S T�V$ �ÊG ³ � S ¾À � M S T�VÀDÁ G Â~ � �£}%�

�HsQS*rwPQ[QW�RbXoL [ ³ ����MYð+�uXZc{]�R5saTbSUc5saL vZ_±rwPa[QWYR5XZLe[�R5sQ]^RHL P@R6hNaP@RCc�j#�{saS\[��¹a E ð�]e[Q_�kOL^R5sQS\Tb�{XZc5Sep�HsaS�c6S\Rbc�L^r �uS\XZ|es%Rbc -� ]e[Q_ � _@SYª:[aS±RbsaS´M�]eNaNaXZ[a| � SYhR��uS\S\[�RbsaSn�Xxc6P:]^vQTbS\NQT5S c6SU[ RC]�RbXoL [�]e[Q_OR5sQS R5L Tb®%PaS cic5S\[%RÃRbLR5sQS°M�PQcbWYvZSUcUp±�HsaS±T5SUvZ]^R5XZLe[Qc5saXZN -� E§ñ � � �#Xxc�]´ªQTCc6R�LeT5h_@SUTu]eNaNaTbL�Ë�XZM"]�RbXoL ["L^rBRbsaS*XZ[�neSUTbc5S_@��[Q]eMOXxW\cuW\]evZW\Pavx]�R5XZLe[�p² [�NaTbS\n�XoL PQcJSYË@N¨S\TbXoM�SU[ RCc\d ]^vZvaWYLe[Q[aSUWYR5XZLe[�NQ]^TC]^M�S\R5S\TCcH� � �]^[:_�R5SUMON¨LeTC]^vH� � ��uS\TbS�M�L�_aPavZ]^R5S _ � ��voS ]^Tb[aXo[Q|Qd:c5S\S´¿ }^À�p² [�R5sQS SYË@N¨S\TbXoM�S\[%RCcÃTbS\N¨LeT5R5SU_OsaSUT5S d^RbsaXZc?M"]^NaNQXo[a|�XxcEªQË�S _]^[:_´rwLevZvoL�� c ]Oª:Tbc6RLeTC_@SUT{T5SUvZ]^R5XZLe[Qc5saXZNBd:c5PQWCs´R5sQ]^RrwL T]eWYhR5XZn�]�RbXoL [OLerq_aS\|eTbS\SHLer:rwTbS\S [email protected]�L^rqvZXoM �%¿ deTbS\NaTbSUc5S\[%RbSU_ � �]eWYR5XZn�X·R��OXo[�[aS\PQT5L [3b�XZ[±¾3j d [QS\PaTbLe[,'9XZ[±�i¾Á]e[Q_"[aSUPaTbLe[Ã�Xo[��K*da�uS#sQ]�neSB�

-� 2 $ ��&6� E?ò À � �O&6�ÊG �Ä$ ÀDÁ �6jUk%��{saSUT5S ò À � �O&6�JXxcJR5sQS M�LeM�S\[%RÃL^r¡XZ[aS\T5R5Xx]«L^rqR5sQS{voXZM �,¿ PQc5Xo[Q|���«¶ób:p �HsaS�M�LeM�S\[%R°Ler«XZ[aS\T5R5Xx]�n�]^TbXoS c"_@S\N¨S\[Q_aXo[a|3L [R5sQS*N¨L c5X·RbXoL [±LerBR5saS«vZXoM � ]�R5Rb] WCsaSU_�RbL�RbsaXxc?vZXZM � pÃfS\TbS�uSWYL [Qc5XZ_@SUT�L [avZ�+RbsaS�c6sQLePavx_@S\TY��SUv � L��¯WYL MONQvoS\Ëqp ² [¼]�ªQTCc6R]^NQNaT5L�Ë@XZM"]�R5XZLe[�d%�uS#SUc6R5XZM"]�R5S

ò ÀDÁ ��&6� Eôò À � �O&�@��[M ¿ E k�M\j �6jej��ò ÀïÁ �O&6� E?ò À � ��&�@���G%��#%õ �O&6� 4 #%õ:��&�@��5�[M ¿ E � �6j � �

&�@uXZc�R5saS?R5XZM�S{]�Rµ�{sQXZWCs�R5saSH]^TbM Xxc9Xo[�R5saSuTbS\vx]�Ë@SU_#N¨L c5X·RbXoL [�£]evoXZ|e[QSU_3]^vZLe[Q|�R5saS � L@_@�a�Yp ¿ E k�MUj=MC��]^TbS"R5saS´l¬���«¶9c��Va¶9�daV@zz�d@Vaf��?L^r�R5saS#c6sQLePavx_@S\TH]^[:_cí�Xxc?R5saS#���«¶�L^rR5sQS�S\v � L���p

736

ö ���Q��÷!�:� �����ø���(�ôùA�:�= �� �"�ú���1�������:�yBS ]^Tb[aXZ[a|*Ler:RbsaS WYL M�NavoS\R5S{M�L�neSUM�S\[%R9XxcÃ_@L [aSHXo[ORbsaS WYSUT5S\h� S\vZvoPaM MOL@_@PQvoS p¼�HsaXxcOM�L�_aPavoS�Xxc�]��«� z*¾¬z ]^TCWCsaX·RbSUWYhR5PQT5S p ² R{TbSUW\S\XZneSUc?XZ[aNaP@RHrwTbLeM R5sQS«�?¾ÁM�L@_@PavZS#]e[Q_°vZSU]eT5[:cR5sQS�R5XZMOS�c5S\TbXZSUc´L^r"]eWYR5XZn%XoR��(Ler�[aSUPaT5L [Qc�XZ[��?¾3d{�{saXxWCsTbS\NaTbSUc5S\[%R«R5saS°c5SU®%PaSU[QWYS�L^ruM�L^R5XZLe[:c�]�r¸R5SUT�c6SU|eM�S\[%RC]�R5XZLe[�pyBS ]^Tb[aXZ[a|�W\Le[Qc5XZc6Rbc´Ler�PaNq_a]�RbXo[a|¼RbsaS�NQ]^TC]^M�SYRbS\TCc°Ler�R5sQSWYL [a[aS W�R5XZLe[ � S\R��?SUS\[�WYSUT5S � SUvovZPaM ]e[Q_ �?¾ M�L@_@PavZSUc3� �]^[:_ � �HrwLevZvoL��{XZ[a|"f S �a� Xx]^[�T5PQvoS c\da| Xon S\[ � ���i®%PQ]^R5XZLe[Qc#j l]^[:_tj ­ p ³Q� 2 $C�O&6� E ìûG S $6�O&6�ÜG S 2 ��&6� �6jUl%�

� 2 $ �O&6� E � � 2 $ ��& 4 j ��G�ü � ýþ �¦ÿ � g�� oÿ ý g�� oü ��ýþ � j �ÊG S $ �O&6�ÊG S 2 �O&6� �6j ­ ��{saSUT5S%ì�Xxc«]�W\Le[Qc6Rb]e[ R*r£]eWYR5LeT � �¬�{saXxWCs¬RbsaS��?SUXo| s%Rbc#]^TbSXZ[QWYTbS\M�S\[%RbSU_¡p¶9Xo[:]^vZvo� d RbsaS#_@SUW\XZc5XoL ["M�L�_aPavoS#WYL [%R5TbLevxcER5sQS R5TC]^[:c6XoR5XZLe[ � SYhR��uS\S\[�L � c5S\Tbn�Xo[Q|�]^[:_°TbS\NaTbL@_@PQWYXZ[a|�R5saS«M�L^R5L T{c6S ® PQS\[QW\SUcUdX�p S podµX·R�XZ[asaX � X·RCc��i¾ [aSUPaTb]evÃ]eWYR5XZn%XoR��¬_@PaS�RbL��K¯�wn�Xxc6P:]^v¸�XZ[aNaP@R{RbL�ÊQL�� _@L��{[��u]eTb_aciR5L�¾3j"�¸rwL THMOLeR5L TH] W�RbXon�]�RbXoL [:��p² R�Xxc�XoM�NavZS\M�SU[ RbSU_3] c�]´c5SYR�LeruXor¸h�R5saSU[3T5PavZSUc�]e[Q_�sQ]ec#[QL_@XZT5S W�R � XZLevZLe| XZWU]^vqXo[:c6NaXZTC]�R5XZLe[�pôBõ�� ���b÷ �=�6ü���þ�ý�Bø��Ê�6ý�ø�y ÿ�����(ywø¨ù_�6ü���ü � ø�����

�3ø"�Eü"����HsaS�MOL@_@SUvµXxc XZM�NavZS\M�S\[%R5S _�XZ[t]±_@��[Q]eM�XZW�c5XZM�Pavx]�RbXoL [�L^r] ­ jH_@S\| T5SUSUc9L^r:rwT5SUSU_@L MÌ�£���«¶J�J]�n�]^Rb]^TH¿ojU}�À���c6SUSH¶9XZ|ePaTbSHlTbXo| s R���p?V@saLePavx_@SUTbcUd@saXZNQc\d:�{T5Xxc6RbcUdQ]^[a��vZSUc{]e[Q_´saSU] _�s:]�neS#l���«¶9cUpH�Ãv � L�� c{]e[Q_���[aS\S�sQ]�n S#Le[aS pu�HsaS#RbT5PQ[a��Xxc{M"]e_aSL^r9R5sQT5SUS�c6SU|eM�S\[%RbcH�{XoR5s¬�����«¶JcHSU]eWCs�pÃz vZv�vZXoM � c ]^TbS�]�R5hRb] WCsaSU_ � ��saXo[Q|eS���L Xo[%RbcUp��HsaS°SYË�RbS\Tb[Q]^vErwL TbW\S°]^NaNQvoXZSU_�RbLSU] WCs���LeXZ[%ROXxc�| Tb]�n�XoR��eptgH]evZ]e[QWYS°Xxc�sQ]^[Q_avoS _ � �3c6PaNQN:L T6R5hXZ[a|±RbsaSOsaXoN:c��¡| T5L Pa[Q_¬W\Le[%Rb] W�R*Xxc«[aL^R«M�L�_aS\vZSU_¡p��HsaSUT5S�XZc[aL�W\LevZvoXxc6XZLe[¦]�neL XZ_Q]^[QW\S�M�L@_@PavZSep �HsQS¬_@��[Q]^M�XxW\c"M�L@_@S\vXxc{_@S\TbXon SU_±rwT5L MÌRbsaS�` S\�HRbLe[@h��ÃPQvoSUTHrwLeTbM�Pavx]�RbXoL [�Ler9�{XZ|eXx_guL@_@�±�*�%[:]^M�XZWUc\p� ����� 0B8:26ÏÉ0�D?>a§�«]�Rb]$rwLeT�R5sQSUc5S+S\Ë�N¨S\TbXZMOSU[%Rbc´]^TbStTbSUWYL Tb_aXo[a|%c°Ler�s%PQM�]e[]^TbMÌM�L^RbXoL [Bd@| ]^R5saSUT5S _±P:c6XZ[a|"]°V@]^TCWYL%c{V�S\[:V@PaX·R���c6SUS�¶9Xo|ehPaTbS°l�voS\r¸RC�Yp��HsaS±W\LeM�NavZSYRbS±V�S\[:V@PaX·R�XZc��uLeTb[�voXZ�eS°]e[�S\Ë�hL c5�eSUvoS\R5L ["�{saXZWCs�derwL TiM�L c6R?M�L�neSUM�S\[%RbcUd _@L�S ci[aLeR?TbSUc6R5TbXZWYRR5sQS?M�L^RbXoL [��{saXZvZSu]e[�]^TbTC]��*LerQvoXZ|es%R��uS\XZ|es%Rµf*]^vZv·h�SKCqSUWYREc5S\[ahc5LeTCciTbS\vZXZ] � vZ�OTbSUW\LeTC_acERbsaS«N:L%c6XoR5XZLe[QcuLerµl ��_@S\| T5SUSUc?L^rBrwTbS\S\h_@L MÌ�£���«¶J��L^rQR5saSHs�PaM"]^[ � L@_@�ep ² [�RbsaSHSYË@N¨S\TbXoM�S\[%RCc\d��uSPQc5SU_OLe[Qvo��TbSUW\LeTC_@XZ[a| cµL^r¨R5saS l#_@SU|eTbS\S cµLer:rwTbS\S _@LeM<�£���«¶J�L^r{RbsaS�c5saL PavZ_aS\T{��L Xo[%R´�wÊQSYË@XZLe[BdÃ] � _aPQW�RbXoL [�]^[Q_3s�PaM�SUTb]evTbL^Rb]^R5XZLe[:�u]e[Q_´L^r9R5saS�SUv � L��$��L Xo[%R pi�*]^Rb]"]eT5S�W\]eN@R5PQT5S _�]^R]�rwTb]eM�S«TC]�RbS#L^rHjUkek f ³ pguSUWU]^PQc5S�L^r�c5NQ]eW\SÇWYL [Qc�RbTb]eXo[%RCc\d+�?SÈNQT5S c6SU[ R saS\TbS�R5sQSM�L@_@S\v]£ c*XZMONQvoSUMOSU[%Rb]�RbXoL [�Le[¬L [aS�c5SYR«L^rÃ_a]�RC]ap�HsQSUc5S�]^TbSTbSUWYL Tb_aXo[a|%c{L^rEvZSYr¸R#]^TbM<M�L�neSUM�S\[%R rwLeTªQneS�T5SUN:S\R5XoR5XZLe[QcL^r_@TC]��{Xo[Q|O]OªQ| PaTbS«SUXo| s%RUpÃ�«]�Rb]O�uS\TbS�c6SU|eM�S\[%R5S _°rwL vovZL��{XZ[a|R5sQS]^vZ|eL T5XoR5saMÇL^rBV�SUWYR5XZLe[°�@pZjede] cÃc5saL��{[�XZ["¶9Xo| PaT5S�ap9�HsQSM�L@_@S\v«�u] c°NaTbSUc5S\[%RbSU_¦�{XoR5s.RbsaSt�{saL voStR5TC]���S W�R5L T5��Le[QW\S

ÐqÑÓÒ ÔeÕ�Ö��eØ g�� Û�åÓà o h á\ìKewÛ�Þ�à¨êaÛ�ÜbÝwß ã\ëÃà�Ú\Û h ÜbÝwÞ�â5ä¡ä£Û�ã\äwáUß àBÝ£Û�Þ�â5ÝwèUß ã\ëEä¸óYä¸íà£Û�ç?ï g�� ß ëbÚCà o h ß çµáUé Ü6à£ß âbã?â5å�Ü � X èUÛ�ë5Ý£Û�Û�äQâ5å å·Ý£Û�Û�è\âbç�Ú�á\çEÜbã\âbß è�ï

�£W\LeM�N¨L c5SU_�L^rB��TbS\N¨SYRbX·RbXoL [QcÃLer¡R5saS*WYLeM�NavZSYRbSM�L�neSUM�S\[%RC�Yp�HsaSÇ]eM�NavoXoR5P:_@S ]e[Q_ c6N¨S\S _ L^r�RbsaSÇM�L�neSUM�S\[%R(n�]^TbXoS cL�neSUT�R5sQS�TbS\N¨SYRbX·RbXoL [Qc\p �HsaS�MOL@_@SUv��H]ec+vZSYR+TbS\NQT5L@_@PQW\SR5sQS3R5TC]���S W�R5L T5� � L^RbsÈ_@PaTbXo[Q|¦R5TC]^XZ[aXo[Q|(]^[Q_�]�r¸RbS\T¬vZSU]eT5[ahXZ[a|Qp¶9XZ|ePaTbSO�°c6saL�� c*c6PQN:SUT5XZM�N:L%c6S _�s�PaM"]^[¬c5P � ��SUWYR«]e[Q_]�n�]�RC]^TOR5TC]���S W�R5L T5XZSUcOLer«c5saLePavx_@SUT¬��V@¶J� E Ê:SYË@LeTY��S\Ë%RbS\[Qc5LeT dV@z*z E ] � _@PQWYR5XZLe[¨�^]e_a_aPQW�RbXoL [:�Â]^[Q_�S\v � L�� �£�?gH�$��L Xo[%Rbc_@PaTbXZ[a|ÂR5TC]^XZ[aXo[Q|Qp ¶9Xo| PaTbS ­ c5saL�� c�R5sQS.n�]evoPQSUc�L^r´R5sQSR5L Tb®%PaS cc5S\[%R RbL°R5sQS�cb]^M�S�l±���«¶JcLerJR5saSO]�n�]^Rb]eT*_@PaTbXZ[a|R5sQS{R5TC]^XZ[aXZ[a|�NasQ] c6S p ² [OR5sQXZciSYËa]^M�NavZSed Le[avZ��RbsaSUc5Sl����«¶9cTbSUWYSUXon SU_O]eWYR5XZneS{WYL [ RbT5L v%rwLeTÃTbS\NaTbL@_@PQW\Xo[a|#]�_@S c6XZT5S _�RbTb]^��SUWYhR5L T5���£]^r¸R5S\T*c6SU|eM�S\[%Rb]^R5XZLe[:�Yp?�HsaS�T5SUM�]eXo[QXo[a|#��L Xo[%RCc{L^rJR5sQS]^TbM ]^[Q_�Ler{R5saS�T5S c�R�LerHR5saS � L@_@���uS\TbS"�eS\NaR�XZMOM�L � XovZSedTbSUWYSUXon�XZ[a|�RbLeTC® PQSUc�RbL+WU]^[QW\S\v?R5saS�Xo[%R5SUT5[:]^vuN:SUT6RbPaT � ]�R5XZLe[:c_@PaS R5L#R5sQS M�L^R5XZLe[:cEL^r¡L^RbsaS\TB��LeXZ[ RCci]e[Q_��wX�p S p SUT�V E k#rwL TR5sQSUc5SH��LeXZ[ RCcb�Yp

0 5 10 15 20 25 30

0

50

100

150

U−

SF

E

0 5 10 15 20 25 30

0

50

100

U−

SA

A

0 5 10 15 20 25 30

0

20

40

60

80

U−

EB

Time (sec)

ÐqÑÓÒ ÔeÕ�Ö ! Ø ÙeâbÝ#"�á\Û ä£Û�ãCà à£â à�Ú\Û äwÚUâ5áUé è\Û�Ý e£â5ß ãCà£ä�ògDhjiBk�l;m Û�ñYâbÝ�n6Û�ñ�à�Û�ã\äwâbÝ�o�ò gDh%$�$©l Übì�è\á\Þ�à�ß âbã�n5Übè\è\áUÞ�à£ß â5ã�o Übã\è Û�é íì�â�ê*e£â5ß ãCà gtkUs oEèUá\Ýwß ãUë{à£Ú\ÛuÝwÛ�îUÝwâ�è\áUÞ�à£ß â5ã#â5åBÜNp�ë5áUÝwÛuÛ�ß ëbÚCàEê:ß à£Ú�à£Ú\Ûé Û�åÓà:ÜbÝwç?ï

737

0 2 4 6 8 10 12 14 16 18 20

−50

0

50S

FE

(de

g)

HumanAvatar

0 2 4 6 8 10 12 14 16 18 20

−50

0

50

SA

A (

deg)

0 2 4 6 8 10 12 14 16 18 20

−50

0

50

EB

(de

g)

Time (sec)

ÐqÑÓÒ ÔeÕ�Ö'&�Ø¡ÙeÝ£Ü_ewÛ�Þ�à£âbݸó9â6å�à£ÚUÛ:ä£Ú\âbá\é è\Û�ÝQewâbß ãCà£ä�ò gDhKi�k�l;m Û�ñYâ5Ý�n5Û�ñ�à£Û�ãUäwâ5Ý o�ògDh�$($©l Übì�è\áUÞ�à£ß â5ã�n6Übè\èUá\Þ�à£ß âbã�o�Übã\èÃÛ�é ì�â�ê�ewâbß ãCà gDkUs o�è\áUÝwß ã\ë¡à£ÚUÛQÝwÛ�îUÝwâ5íè\áUÞ�à£ß â5ãuâ5å%ÜÊp�ë5áUÝwÛBÛ�ß ëbÚCà:ê¨ß à�Ú?à�Ú\Û�é Û�åÓà¨Ü5Ý£ç?ï

�{S c6PavoRbcÉc5saL�� R5sQ]^R RbsaS c6�@c6R5S\M rwL vovZL�� cÇW\voL%c6SUvo�FR5sQS_@SUMOL [Qc6R5TC]�R5S _´R5TC]���S W�R5L T5��_@PaTbXZ[a|°RbTb]eXo[aXZ[a|:d:M"]^NQNaXo[Q|°R5sQSWCsQ]e[a|eS cXZ[�]eM�NavoXoR5P:_@S"]^[Q_+c6N¨S\S _¡p��HsaS�M�L@_@S\vEM"]^[:]^|eS cR5L´SYË�RbTb] W�R#Le[@h�voXZ[aS�R5saS�M"]^XZ[¬rwS ]�RbPaT5S c«L^rÃRbsaS�MOL�n S\M�S\[%R d�{saXZvoS"_@Xxc5MOXxcbc6XZ[a|�M�L c6R#LeriRbsaS��¸rwTbLeMÁL PaT�N:L Xo[%R�L^run�XoSU��Pa[aXZM�N:L T6RC]^[%R{ªQ[aS�c�RbT5PQWYR5PaTbS�L^rJRbsaS�M�L�neSUMOSU[%R{]e[Q_�[aL XZc5S�¸rwTbLeM R5saS�TbSUWYL Tb_aXo[a|�c5��c6R5SUM°��p¦¶µXZ|ePQT5S���c6saL�� c�RbsaS�Xo[@hWYTbSU] c6S�L^ru[aS\PaTC]^vJª:T5XZ[a|�_@PaTbXo[a|�R5TC]^XZ[aXZ[a|QpOz{r¸RbS\T�R��uL�NQT5S\hc5S\[%Rb]^R5XZLe[Qc#Ler?RbsaS"M�L�neS\M�SU[ R dBRbsaS"[aSYR��uLeTb��sQ] c�|eSU[aS\TC]^vohXZ³\SU_BpJ�Hs:]�RHXZcUd�X·RHsQ]ecuvZSU]eT5[aS _�R5L�T5S WYL |e[aXZ³\SR5saS*rwLePaTuM"]^XZ[rwSU]^R5PaTbSUc«LeriR5sQSOM�L�n S\M�S\[%R�]^[Q_tR5L´T5SUNaTbSUc5S\[%R*RbsaL c5S��{X·Rbs]Oc6N¨SUW\X·ª:W«[aSUPaTC]^v¨ªQTbXo[a|ONQ]^R6R5SUT5[��Ãc6S ® PQS\[QW\S*[aL@_@S jYh�[aL@_@S ��h[aL@_@S l�h�[aL@_@S �ap¬` L^RbS"R5s:]�R�RbsaS±[QL�_aSUc�W\L@_@S°rwL T�R5sQS�WYL MOh� XZ[aSU_$M�L�neS\M�SU[ ROL^r{RbsaS´l����«¶9c´��Va¶9�H�^V@z*z«�^�ig{��]e[Q_[aLeR*rwL T*S ]eWCs"��L Xo[%R«c5S\N:]^TC]�R5SUvo� p«¶QLeT#WYvx]^TbX·R��´L^riR5saS�ªQ|ePQT5S d�uSHc5saL���Le[avZ��R5sQSV@¶J�´��LeXZ[ Ric5PaN¨S\TbXoM�N¨L c5SU_�R5L#RbsaS{[aS\PQTb]evªQTbXo[Q|OTC]�RbSep�HsaS«c5]eMOSNQ]�R5R5S\Tb[°Lerq[QL�_aS ªQTbXo[Q|�XZcu]eWYR5XZn�]�R5S _"_@PaTbXo[Q|�R5sQS­ TbS\M"]^XZ[aXZ[a|3NaTbSUc5S\[%Rb]^R5XZLe[Qc�Ler#R5saS¬M�L�n S\M�S\[%RUd{c5saL��{XZ[a|R5s:]�R°RbsaSt[aS\R��?L T5��T5S WYL |e[aXZ³\S c"WYLeTbTbSUW�Rbvo��R5saS+MOL�n S\M�S\[%R p�*PaT5XZ[a|"RbTb]eXo[QXo[a|±Le[�RbsaS ­ vx]ec6RM�L�neSUM�S\[%RbcUdaRbsaS�[aS\R��?L T5�]e_���PQc�RCc�R5sQS´N:]^TC]^M�SYRbS\TCc´�wR5saS � $ 2 rwTbLeM S ® P:]�R5XZLe[Âj ­ ��L^rR5sQSUc5St[aL@_@S cj£?Xo[%R5SUTbW\Le[a[QSUW�RbXoL [Qc"RbL � SYR6RbS\T´T5SUNaTbSUc5S\[%R°R5sQSNaTbSUW\SU_@SU[QWYS�]^[Q_¬R5XZM�SOvx]^| � SYR��uS\S\[�SU] WCstc5P � h�MOL�n S\M�S\[%R pz{r¸RbS\T�R5TC]^XZ[aXo[Q|QdµR5saS°M�L@_@SUviNaTbL@_@PQWYS°]�M�L�n S\M�S\[%R��{saXxWCsNaTbSUc5S\[%Rbc"R5saS¬M"]eXo[.c5P � h�rwSU]�RbPaTbSUc"Ler«RbsaS�RbTb]eXo[aXZ[a|3M�L�neS\hM�S\[%R¼��c6SUS$¶9Xo| PaTbSUc�Ä.]^[Q_�~%��p zMONQvoXoR5PQ_aS¼]e[Q_�c6N¨S\S _L^r{RbsaXxc�TbS\NaTbL@_@PQW\SU_�M�L�neSUMOSU[%R�T5SUNaT5S c6SU[%Rbc�RbsaS±�uS\XZ|es%RbSU_WYL M � XZ[Q]^R5XZLe[´L^r�RbsQ]�R LerµRbsaS�c5X·Ë�_aS\M�Le[Qc6R5TC]�RbXoL [QcUp�{L � PQc6R5[aS c5cuXZ[±RbsaSr£] WYS#L^rµN:SUT6RbPaT � ]�R5XZLe[�XZcH]e[±XZMON¨LeT5Rb]e[%RWYTbXoR5S\TbXx]´rwLeT�]¬T5L � LeR5XxW\c�c5�@c�RbS\M�p © S±R5S c�RbSU_�R5sQS±M�L@_@S\v]£ cTbL � PQc6R5[QSUcbcÃ]�r¸RbS\TÃRbTb]eXo[QXo[a|:d � ��]eNaNavZ��Xo[a|�]^["SYË�RbS\Tb[Q]^v@rwL TbW\S_@PaTbXZ[a|¦T5SUsaSU]eTbcb]^v«L^r�R5saS�RbTb]^��SUW�RbLeTb�ep ¶9Xo| PaT5S c¬Ä$]e[Q_Â~c5saL��¯R5sQS�R5TC]���SUWYR5L T5��L^r�V@¶J� ]^[Q_¼�ig¯���«¶Jc��{saS\[.]^NahNavZ��Xo[a|¼]3neSUT6RbXZWU]^vrwLeTCWYS¬L [¦R5saS��{T5Xxc6R±L^r��ekek3]^[:_�j �ekek` SU�HR5L [´TbSUc5N¨SUW�RbXon S\vZ�epE�{S c6PavoRbcc6saL�� R5sQ]^R{R5saS�c5�@c�RbS\M<T5S\h

WYL�n S\TCc�®%PaXxWC�%vZ�+R5L � L^Rbs$WYL [Qc6R5TC]^XZ[ RCc\p¬�HsQXZc�SKCqSUWYR�Xxc�_@PQSR5L¬R5saS±� ² � W\Le[%R5TbLevERbS\TbM � ³ � S�¾À � M SUT"VÀDÁ Ga�� � ~ �5�6��L^r{SU®%PQ]^hR5XZLe[��ap �ap��HsQS°_@SUc5XoTbSU_tR5TC]���S W�RbLeTb��� SUT"VÀDÁ �Xxc�L � Rb]eXo[aS _ � �TbS\saS ]^TCc5]ev�L^riR5saS"]eWYR5XZn�X·R���L^r?[aS\PaTbLe[:c*XZ[¬RbsaS"�KÂM�L@_@PavZS�¸rwSUSU_@XZ[a| � ] WC�"R5sQS�]eW�RbXon�XoR��"rwTbLeM �?¾½[aSUPaTbLe[QcC��p

0 2 4 6 8 10 12 14 16 18 20

0

20

40

60

80

100

SF

E (

deg)

Time (sec)

0 2 4 6 8 10 12 14 16 18 20

Neu

ral F

iring

rat

e

Time (sec)

ÐqÑÓÒ ÔeÕ�Ö*) Ø i ß Ýwß ã\ë¨ÝwÜ5à£Û@â5åYà£Ú\Û�ãUÛ�á\Ýwâbã\ä�ß ãBà�Ú\Û�Þ�Û�ÝwÛ�ì�Û�é é áUç�çEâ�èUá\é Û èUá\Ýwß ãUëà£ÝwÜbß ã\ß ã\ëYï

0 1 2 3 4 5 6 7 8 9 10 1110

20

30

40

50

60

70

80

90

EB

(de

g)

Time (sec)0 1 2 3 4 5 6 7 8 9 10 11

−20

0

20

40

60

80

SF

E (

deg)

Time (sec)

ÐqÑÓÒ ÔeÕ�Ö,+ ØÃÙeÝwÜYewÛ�Þ�à£âbݸó?â5å@à£Ú\Û9äwÚUâ5áUé èUÛ�Ý:ewâ5ß ãCà£ä gïhKi�k�l;m Û�ñYâbÝ�n5Û�ñ�à£Û�ã\ä£â5Ý�oÜbã\è{Û�é ì�â�êºewâ5ß ãCà gtkUs o¨è\áUÝwß ã\ëEÝwÛ�ÚUÛ�Ü5Ý£äwÜ5éeÜ6åÓà�Û�ÝQà£Ý£Ü5ß ã\ß ãUë�ï h â5é ß èHé ß ãUÛ5ð@èUÛ�íäwß ÝwÛ�èà£ÝwÜ_e£Û�Þ�à£â5Ýwóbò�è\ÜbäwÚUÛ�èé ß ã\Û5ð¡à£ÝwÜ_e£Û�Þ�à£â5ÝwóHÜ5åÓà£Û�Ý¡î�Û�ݸà�á\ÝwìUÜ6à£ß âbã g æCÛ�ݸà£ß Þ�Ü5éå·âbÝwÞ�ÛBâ5å.- @0/ ë�o:é Ü5äwà£ß ã\ë @ ï -JäwÛ�Þ�â5ãUè\ä�ï

1 2 »iDG¡45-§�2�»?D�HsaXxc�N:]^N¨S\TONaT5S c6SU[%R5SU_3] � XZLevZLe|eXxW\]evovZ�tXZ[Qc5NaXZT5S _3M�L�_aS\vuL^rs�PaM"]^[OXoM�XoRb]^R5XZLe[BpE�HsaSHM�L@_@S\v@�H]ecJXZM�NavoSUM�S\[%R5S _�XZ[�]«_a� h[Q]eMOXxW{c5XoM�PavZ]^R5XZLe[�L^r¡]#s�PaM"]^[aL XZ_�]�n�]�RC]^TJ�{XoR5s ­ j{_@SU|eTbS\S cL^rErwTbS\S _@LeM rwL TTbS\NaTbL@_@PQW\Xo[a|´le� s�PaM"]^[+]eT5M M�L^RbXoL [Bp ² R�H]ec´c6saL��{[(R5sQ]^R´RbsaS�MOL@_@SUv�WYL PavZ_ voS ]^Tb[.R5sQS�NQT5XZ[QWYXZNQ]evrwSU]^R5PaTbSUcOLer*]+l����«¶9c"]eT5M RbTb]^��SUWYR5LeTb�ed � �3| S\[aSUTb]evoXZ³\XZ[a|]eW\T5L%c5c�RbsaSt_@XDC¨SUT5SU[%R�_@S\M�L [Qc�RbTb]^R5XZLe[QcUp y�SU]^Tb[aXZ[a|�XZc"r£]ec6R]^[:_±_@L [aS#Le[@h�voXZ[aS��wsaSUT5S«Le[´]�N¨S\[%RbXoPaM ²6²5² d:Ä�kek�¾¬f ³�c6Rb]^hR5XZLe[¨��p ² [±¿·j�ÄUÀ�d �uS?c5saL��uSU_«RbsQ]�RµR5saSu�*� z*¾¬z¼]^TCWCsaX·RbSUWYR5PaTbS]^vZvZL��?S _L [@h�vZXZ[aSEvoS ]^Tb[aXZ[a|{]^[Q_«TbS\NaTbL@_@PQW�RbXoL [#L^r�MOL�n S\M�S\[%RCcXZ[�TbL � L^Rbc��{X·Rbs�n S\Tb�*vZXoM�XoR5S _�WYL M�NaP@Rb]^R5XZLe[Q]ev N¨L��uS\T?�6j � ­ ¾

738

0 1 2 3 4 5 6 7 8 9 10 1110

20

30

40

50

60

70

80

90E

B (

deg)

Time (sec)0 1 2 3 4 5 6 7 8 9 10 11

−20

0

20

40

60

80

SF

E (

deg)

Time (sec)

ÐqÑÓÒ ÔeÕ�Ö43eØBÙeÝ£Ü_ewÛ�Þ�à£âbݸóÃâ5å à�Ú\ÛBäwÚUâ5áUé è\Û�Ý=e£â5ß ãCà£ä�ò gïhKi�k�l;m Û�ñYâbÝ�n5Û�ñ�à£Û�ã\ä£â5Ý�oÜbã\è{Û�é ì�â�êºewâ5ß ãCà gtkUs o¨è\áUÝwß ã\ëEÝwÛ�ÚUÛ�Ü5Ý£äwÜ5éeÜ6åÓà�Û�ÝQà£Ý£Ü5ß ã\ß ãUë�ï h â5é ß èHé ß ãUÛ5ð@èUÛ�íäwß ÝwÛ�èà£ÝwÜ_e£Û�Þ�à£â5Ýwóbò�è\ÜbäwÚUÛ�èé ß ã\Û5ð¡à£ÝwÜ_e£Û�Þ�à£â5ÝwóHÜ5åÓà£Û�Ý¡î�Û�ݸà�á\ÝwìUÜ6à£ß âbã g æCÛ�ݸà£ß Þ�Ü5éå·âbÝwÞ�ÛBâ5å X - @5/ ë�o é Ü5ä¸à�ß ãUë @ ï 6JäwÛ�Þ�âbã\èUä�ï

� z*¾3d%l ke¾¬f³ �Yp9¶QPaT6RbsaS\T d%X·Ri�H]ecic6saL��{[ORbsQ]�RuT5S WYLe[:c�RbT5PQWYhR5XZLe[�L^rBRbsaS«MOL�n S\M�S\[%Ru�u] ciTbL � P:c�RH]^| ]eXo[:c�RuN:SUT6RbPaT � ]�R5XZLe[�p7«S\[QS\TC]^vZXo³ ]�R5XZLe[�deLe[ah�vZXo[QS voS ]^Tb[aXZ[a|�]^[Q_�TbL � PQc�Rb[aSUcbcÃ]e| ]^XZ[Qc6RN¨S\T5R5PaT � ]�RbXoL [�]eT5S#_@SUc5XZTb] � voS*rwLeT{]�T5L � LeRHW\Le[%R5TbLevZvZS\T p9fL��HhS\n S\T d¡]±[�PaM � SUT«Ler?®%PaSUc6R5XZLe[:c*TbS\M"]eXo[�RbL � S"]^[Qc5�uS\TbSU_�XZ[LeTC_@SUT?RbL°_@SYRbS\TbM�Xo[aS#RbsaS�PQc5SYrwPavZ[aS c5c{LerµL PaT{M�L�_aS\v¡RbL°WYLe[ahR5TbLevB]OTbL � L^R��j �#V@WU]^vZXo[Q|´PQN+RbL�rwPavZv � L@_@�+M�L^R5XZLe[��#zv·RbsaLePQ|es��?S�sQ]�n Sc5saL��{[¬RbsQ]�R#R5sQS"MOL@_@SUvÃWYL PavZ_+�uS\vZv9TbS\NQT5L@_@PQW\S�M�LeR5XZLe[�L^r]3� ��_@SU|eTbS\S c�Ler*rwTbS\S _@LeM s�PaM"]^[aL XZ_��{saS\[¦| Xon S\[.c6XZM�Pahvx]�R5S _��w[QL^R#[aLeXxc6�a�_a]�RC]t¿ }�À�d¡X·R«T5SUM�]eXo[:c RbL´c5saL����{saSYRbsaS\TR5sQS{N:SUT6rwL T5M"]^[:WYSuL^rQRbsaSHM�L�_aS\va�uLePavx_O_@S\| Tb] _@Si�{saSU["WYLe[ahR5TbLevZvZXo[a|O]eWYR5XZneS\vZ���£]ec?LeNQN:L%c6S _�R5LO]986N:]ecbc6XZneS :#T5S c6N¨Le[Qc5S{RbLXZ[ RbS\Tb[Q]^vqRbLeTC®%PaSUcC�uM�LeTbS?��L Xo[%RCcHR5sQ]e[´R5saS�l�PQc5SU_´saSUT5S�]e[Q_rwLeT ]OM�LeTbS#|eSU[aS\TC]^v¡c5SYR L^rJ_a]�RC]ap�e�«� ]e[a|eSOL^run�]^vZXZ_@XoR���L^r?R5saS�M�L@_@S\v]���HsaSUc5SOSYË@N:SUT5XZM�S\[%Rbcc5saL��?S _�R5s:]�R°]t®%PQ]evoXoRb]^R5XZneS\vZ�3|eL�L@_3TbS\NaTbL@_@PQWYR5XZLe[$Ler R5sQSrwSU]^R5PaTbSUc±L^r#R5sQS¬M�L�neS\M�SU[ R´W\]^[ � StL � Rb]eXo[aS _ � ��| Xon�XZ[a|Le[Qvo�3RbsaS´rwLevZvoL��{XZ[a|�Xo[arwLeTbM�]^R5XZLe[�R5L�R5sQS�c5�@c�RbS\M���j ��R5sQSc6Rb]^T5RbcE]e[Q_"c6R5LeN:cJL^rqR5saS{M�L�n S\M�S\[%R�£]e[Q_OX·R?XZcÃc5PU¶°WYXZS\[%RERbL_@S\R5S\TbM�Xo[QS*RbsaL c5S#�{X·RbsaXZ[�]�NaTbSUW\XZc5XoL [±Ler?jUk.;ÉL^rµR5saS�_@PQTb]^hR5XZLe[OL^r:R5saS{M�L�n S\M�S\[%RC�%� �e��RbsaS{Xo[QX·RbXZ]evac6N¨S\S _�]^RJS ]eWCs�c�RC]^T5RN¨LeXZ[ RuL^rqR5sQS*M�L�neSUM�S\[%R<�%]^[Q_°l%�E]�ª:Tbc6RiLeTC_@SUTi]^NaNQT5L�Ë@XZM�]^hR5XZLe[�LerµRbsaS�XZ[�neS\TCc5S#_a�%[:]^M�XZWUc\p ² RTbS\M"]^XZ[QcH[aL�� R5L�_@SYRbS\T5hM�Xo[QS�RbsaS�TC]^[a| S�L^rÃM�LeR5XZLe[Qc*�{X·RbsaXZ[t�{saXxWCs�R5sQS�] � L�neS�c6S\RL^rµMOXZ[aXZM"]^vBWYL [Qc6R5TC]^XZ[ RCcisQLevx_ac\pE�HsaS#NaTbSUc5S\[%RuSYË@N:SUT5XZM�S\[%Rbcc5saL��?S _�L [avo��R5sQ]^R°X·R"Xxc°c6P�¶"W\XoSU[%ROrwL T°le� c5voL��<M�L^R5XZLe[:cL^ruR5sQS±]^TbM�d��{saSU[+RbsaS�R5L Tbc5L�XZc�Xo[3PaNQT5XZ|es%R�N:L%c6XoR5XZLe[3]e[Q_�{saSU[.Le[avZ��l´��L Xo[%Rbc±]^TbS¬]eW�RbXon SeduR5sQS¬L^RbsaS\T���L Xo[%RCc � SUXo[Q|�eSUN@R{XoM�M�L � XovZSep,.G>={D»@?�460�/4A?Ï 0µDi>a§ÙQÚUß äJêaâ5Ý#B«êaÜbäÃçEÜbè\Ûuî âbäwäwß ìUé ÛuìCó $ êaÜbÝwèUäDCFE56 X @0G X -Ü5ãUèHC @Y@JI -5E0E5Kâ5åµà£ÚUÛ�L hNM Ü5à£ß â5ãUÜ5é h Þ�ß Û�ã\Þ�Û i âbá\ãUè\Ü5à£ß â5ã�ò:à£ÚUÛ kO��$ Ù v / Ü�êaÜ6à£âHPqó�íã\ÜbçEß Þ s ÝwÜ5ß ã Q@Ý£â_ewÛ�Þ�à%å·á\ãUè\Û�èJìCóEà£ÚUÛ�RCÜbî\Übã\Û�äwÛ h Þ�ß Û�ã\Þ�Û:Ü5ãUèEÙeÛ�Þ�Ú\ãUâ5é âbë6ówaâ�âbî�Û�ÝwÜ5à£ß â5ã�òYÜbã\èuà£ÚUÛ $ Ù �TS á\çEÜbãDUxã\å·â5Ý£çEÜ6à£ß âbãVQ@Ýwâ�Þ�Û�ä£äwß ã\ë � Û�äwÛ�ÜbÝwÞ�Ú� Übì�â5ÝwÜ5à£âbÝwß Û�ä�ï $ á\èUÛ s ß é é ÜbÝwèµêaÜ5ä�Übé äwâqäwá\îUî âbݸà£Û�èµß ãµîUÜ5ݸà%ìCóµÜ¨å·Û�é é â�ê:ä£Ú\ß îå·Ýwâbç¬à�Ú\Û h ê:ß äwä M Ü6à£ß âbã\Übé h Þ�ß Û�ãUÞ�Û i âbá\ã\èUÜ6à�ß âbã�ïW 0BAC0B8a0�D*Gq0�§X X�Y / ï h ß ãUë s ß ã\ë / Übã\ë%Z[U\BbÛ�á\Þ�Ú\ß·ò ] $ Ýwâbì â5àaä¸óYä¸à�Û�ç�à�Ú\Ü5àaâ5ìUäwÛ�ݸæCÛ�äaÜ5ãUèÝwÛ�îUé ß Þ�Ü5à£Û�äaëbÝwÜbäwî\ß ã\ëµà£Übä#B�ä�ò _ß ãa`.bdc�edfdfdg�hji<k5l�m noph qsrjt�uviwrxfsbdizy0rjh\c�izy�{

| c�i�q}fsbdfdi~edf c�i | c��*�<� rxfsba�zhjlsh\c�iUò X E5E0KCï

X - Ya� ï U£ï / á\ãUß óbâbäwÚ\ß�Übã\è*U£ï0Uxã\âbá\Û5ò.] � Û�ÜbÝwã\ß ã\ëqìCóµêaÜ6à£Þ�Ú\ß ãUë�ð k ñ�à£Ý£Ü5Þ�à£ß ãUëÝwÛ�áUäwÜ5ìUé Û¡à£Übä#BDB�ãUâ�ê:é Û�èUë5Û�å·Ýwâbç¬æYß äwá\Übé^âbì\äwÛ�Ýwæ6Ü6à�ß âbãHâ6å�Ú�á\çEÜbãHî�Û�ݸíå·âbÝwçEÜbã\Þ�Û5ò _�u��>�^���<bdy�i l}y[e}rjhxc�i<l'c�iH��c[�sc0r�h\edlVy�izgV��� rxc���y0r�h\c�iwn� c�{�mj�[�0n>i~c[mj�6ò�î\î�ï 65E0E�� I -5-�ò X E5E5�Yï

X G Y S ï $ ä£Ü5èUÜ�ò S ï Z�U\��á\çEß·ò�] $ áYà£âbçEÜ5à£ß Þ«îUÝwâbë5ÝwÜbç�ë5Û�ãUÛ�ÝwÜ5à£ß â5ã�å·Ý£â5çà£Û�ÜbÞ�ÚUß ã\ëBèUÜ6à£Ü�å·âbÝ à�Ú\ÛqÚCóYì\Ýwß èEÞ�âbãCà£Ýwâbé\â5å^Ýwâbì â5à£ä�ò _?ß ã�u��>�>���<bdy�i<l��y[e�r�h\c�i l�c�i��(c[�dc0rjhxeslay�i~ga��� rxc���y0r�h\c�i ò X E I E�òaæbâbé·ïOK�ð -CòQî\î�ï X��5�� X 6 G ï

X � Y M ï0P¡Û�é äwâbã9Übã\è S ï5�«Û�ä¸à�ò.] � âbì�â6à�î\ÝwâbëbÝwÜ5çEçEß ãUë¨ìCó9Ú�á\çEÜbãµèUÛ�çEâ5ã\íä¸à£Ý£Ü6à£ß âbã�ð:Übè\ÜbîYà£Ü5à£ß âbãuÜbã\èHß ã\Þ�âbã\ä£ß äwà£Û�ã\Þ�óiß ã{Þ�âbã\ä¸à�ÝwÜ5ß ãUÛ�è?çEâ5à£ß â5ã�ò _ß ã,us�>�>��u#i�rxfsbdi~y0r�h\c�izy�{ | c�i5q�fdbdfsizedf�c�i���c[�sc0r�h\edl�y�i~g���� rxc���y0�r�h\c�iUò X E0E � ò�æbâbé·ï X ò�î\î�ï G_@ � G � ïX K Ya� ï h B�á\ì\ß Þ@Übã\è � ï $ ï r âbé �5ò] $ Þ�"�á\ß Ýwß ã\ëqÝwâbì\áUä¸à�òCå·â5Ý£Þ�Û�íoì\ÜbäwÛ�èµÜ5äwä£Û�çJíì\é ó ä#B�ß é é äBå·Ý£â5ç3Ú�áUçEÜ5ã*è\Û�çEâbã\ä¸à£Ý£Ü6à£ß âbã�ò _±ß ã,u��>�>���<bdy�i l}y[e}rjhxc�i<l

c�i��(c[�dc0r�h\eslFy�izgV��� rxc���y0r�h\c�iUò~- @�@�@ ò�æbâbé·ï X}� ð � ò�î\î�ï 6060-*�[6 I X ïX ��Y U£ï / Ü5çEâbã�òYÙqï i é Ü5äwÚ�ò\Ü5ãUè h ï k è\Û�é çEÜbã�ò�] � Û�Ü5ÝwãUß ã\ë¡æYß äwáUÜ5é é óÃë5áUß è\Û�èëbÝwÜ5ä£î\ß ã\ëYð�Ü�à£Û�ä¸à@Þ�Ü5ä£Û¨ß ãEäwÛ�ãUäwâbÝwß çEâ6à£âbÝ�é Û�Ü5ÝwãUß ã\ëYò _iß ã�u��>�>���<bdy�i<l��y[e�r�h\c�i lDc�i�  ¡0ldrxfs� l�n^¢�y�i�y�izg | ¡%�dfdbsizf�r�h\edldn>`(y�b�r^�Bò X E0E I ò æCâ5é·ï- I ð G ï

X 6 Ya� ÙeâbçEÜ5ä£Û�é é âYò']�wQá\é à£á\Ý£Ü5é à£ÝwÜbã\äwçEß äwä£ß âbã{ß ã{à£ÚUÛ�à£â�âbé%á\äwÛJÜbã\è{Þ�âbçJíç9á\ã\ß Þ�Ü5à£âbݸó*äwß ëbã\Übé ß ãUëâ5å¡Þ�ÚUß çEîUÜ5ã<��Û�Û�ä�ò _¤£zy�i<k5��y}k�f4y�izg�hji�r\fd{j{ h¥�k%fdi~edfVhji���c�i ¦[fd¡5l4y�i<l§yd� fsl�¨aedc��*�<y�b�y0rjh � f�g[f � fd{jcd�<��fsi�r\y�{O�<fsb}�l#�<fde�r�h � fdl�òUîUî�ïw-065�}� G X�X ò X E5E @ ïX I Y � ï s Û�ݸà£Ú\âbá���Û5ò%Q ï s Ü0B[B5Û�Ý�òUÜ5ãUèV© / á\ã\ß óCâ5ä£Ú\ß·òª] � Û�Ü5Ý£ã\ß ã\ë9â6å�â�Þ�á\é â5íçEâ5à£â5Ý¡Þ�âbãCà£Ýwâbé·ðqÜ?î\ÝwÛ�é á\èUÛBà£âuÝwâbì�â6à£ß Þ9ß çEß à�Ü6à£ß âbã�ò _�ß ã,`Obdc�edfdfdg�hji�k0l

c#q�r�t f��J«[«%��{¬�>�>�­w�( �®�u#i�rxfsbdi~y0r�h\c�izy�{ | c�i5q�fdbdfsizedfªc�iVu#i�r\fd{j{ h¬k%fdiwr�(c[�dc0r�l¯y�izgV <¡0l�r\fd� l�° «%�6ò X E5E � ò�î\î�ï G 6 � � G5I X ïX E Y $ ï s ß é é ÜbÝwè�òa] � Û�ÜbÝwã\ß ã\ëuçEâ5à£â5Ý�ä#B�ß é é äµìCó ß çEß à£Ü5à£ß âbã�ð�ÜHì\ß â5é âbë5ß Þ�Übé é óß ã\äwîUß ÝwÛ�è?Ý£â5ì�â5à£ß ÞBçEâ�è\Û�é·ò _ | ¡%�dfsbdizf�r�h\esl ±�  ¡5l�rxfs� l ®�c���bdizy�{ n>lx� f��eshxy�{�hjlsls��fac�i�u#�Vh¥r\y0r�h\c�i�hji�y�i hj��y�{ lay�izg,y�b}rjh q�y[e�r�l�òaæCâ5é·ï G -�ð X í\-Còî\î�ï X K5K}� X E G ò~- @�@ X ïX X @ Y R\ï�P¡Û�çEß Ýwß ä�ò�¢§c � fs��fdiwr*hj�Vh¥r\y0r�h\c�i���fdest y�i hjls� l4hji�bdc[�dc0rjl�y�izgt[����y�i<l�ò<Q@Ú�ï Pµï�à£Ú\Û�äwß ä�òJP¡Û�îYà�ï6â5å $ ݸà£ß p Þ�ß ÜbéJUZãCà�Û�é é ß ëbÛ�ã\Þ�Û5ò}L ãUß æbÛ�Ýwä£ß àxóâ5å k èUß ã�ìUá\ÝwëbÚ�ò � Ü�ó X E5E0ECïX XYX�Y h ï h Þ�Ú\ÜbÜ5é·ò²]#Uxä"ß çEß à£Ü5à£ß â5ã3é Û�ÜbÝwã\ß ã\ë�à�Ú\Û´Ýwâ5á\à£Û�à£âtÚ�áUçEÜ5ãUâ5ß èÝwâbì�â6à£ä�³5ò _���b�fsizg�lªhji | c�k0i<h¥r�h � fª zeshxfsizesfdl�òYæCâ5é·ï G g � o�òYîUî�ï<- G5G �[-5�J-CòX E5E0ECïX X - Y h ï h Þ�Ú\ÜbÜbéÓò�] � Û�Ü5Ý£ã\ß ã\ë¡åoÝwâ5ç�èUÛ�çEâ5ãUä¸à£ÝwÜ5à£ß â5ã�ò _D��g � y�i~edfsl�hjia´*fs��b�y�{u#i5q�c�bd��y0r�h\c�iH`.bdc5esfdl�lshji<kV  ¡5l�r\fd� l�ò æCâ5é·ïwE�ò î\î�ï X @ � @ � X @ � � ò X E0E06CïX X G Ya� ï $ ÝwìUß ì�ò $ ï s ß é é ÜbÝwè�ò � ï UxÜ5Þ�âbì�â5ãUßÓòUÜbã\è k ï v ��à�â5î�ò�] � ß Ý£Ýwâ5ݨã\Û�á\íÝwâbã\ä�ò�ß çEß à�Ü6à£ß âbãHÜ5ãUè g ä¸óYãCà£Ú\Û�à�ß Þ¡oQì\ÝwÜbß ãHß çEÜbëbß ãUë�ò _«ß ã4´*fd��bdy�{p´*f�rµ�

¶ c�bd¦�l'·\rxc4yd�[� fsy�b#¸6ò - @�@�@ ïX X � Y $ ï RYï�U ewä£î Û�Û�Ýwà�ò(R\ï S Übé é Ü5ç?ò¡Ü5ãUèNPµï �Oß é é äwÚUÜ�ê¡ò¹] k æCâ5é æYß ã\ë#ä¸ê¨ß çJíçEß ã\ëÃÞ�âbãCà£Ýwâbé é Û�Ýwä¨å·â5Ý¡Ü?äwß çµáUé Ü6à£Û�èHé ÜbçEî\ÝwÛ�ó?ê:ß à£Ú ß ã\ä£î\ß ÝwÜ5à£ß â5ãHå·Ý£â5çã\Û�áUÝwâbì\ß â5é âbë6óbò _9��g[yd�wr�h � f�º�fdt y � h\c�b�ò æCâbéÓïp6�ò�ãUâ�ïp-�ò%îUî�ï X K X � X 60-CòX E5E0ECïX X K Y R\ï R S âbîKp�Û�é è�ò�] M Û�á\Ý£â5ãUäJê:ß à£Ú�ëbÝwÜbè\Û�è�ÝwÛ�äwî�âbã\äwÛuî\Ý£â5î�Û�ݸà£ß Û�ä9Ú\Ü�æCÛÞ�âbé é Û�Þ�à£ß æCÛ�Þ�âbçEî\á\à£Ü6à�ß âbã\Übé�î\Ý£â5î�Û�ݸà£ß Û�ä¨é ß BbÛµà£Ú\âbäwÛ9â6å�àxêaâ6íZä¸à£Ü5à£ÛEã\Û�á\íÝwâbã\ä�ò _.ß ãT`.b�c�edfdfsg�h�i�k0l�c#q4rjt f�´*y0rjhxc�i~y�{ª�@edy[g[fs� ¡Hc#qD zesh\fdi~edfdl�òæCâ5é·ï I X ò�î\î�ï G_@JI5I � G_@ E5-�ï �«Ü5ä£Ú\ß ã\ë5à£âbã ðaÙQÚUÛ $ Þ�Übè\Û�çµóbò X E I �YïX X}��Y i�� ÜbÞ�"�á\Übã\ß à£ßqÜ5ãUèNR\ï i¹h â�Û�Þ�ÚCà£ß ã\ëYò�] h ß çµáUé Ü6à£ß âbã�ä¸à£áUè\ß Û�äiâbã�à£Ú\ÛÞ�âbãCà£Ýwâbé â5å@î âbä¸à£áUÝwÛ9Ü5ãUè çEâ�æCÛ�çEÛ�ãCà¨ß ã Ü?çµáUé à�ß í ewâbß ãCà�Û�èué ß ç9ì�ò _�º^h¥�c�{�c�k5hxesy�{ | ¡%�dfsbdizf�r�h\esl�òUæCâ5é·ïwK5�Yò î\î�ï G � 6}� G 6 I ò X E I � ïX X 6 Y $ ï s ß é é Ü5Ý£è{Ü5ãUè4»µï S Ü�óCÛ�ä�ò ]vP¡ÝwÜbçEÜ�ò�ÜiÞ�âbã\ãUÛ�Þ�à£ß â5ãUß äwà:ÜbÝwÞ�ÚUß à£Û�Þ�à£á\Ý£Ûå·âbÝ¡Þ�â5ãCà�Ýwâ5é%Übã\è é Û�ÜbÝwã\ß ã\ë?ß ã Ü5á\à£âbã\âbçEâ5áUä¨Ý£â5ì�â5à£ä�ò _¼��g[yd�wr�h � fDºªf��t y � hxc�b�nF��c�{jm^½[¨j�6ò�îUî�ï G K�� � �Yò X E0E5E�ïX X I Y Pµï¨Ù¡ï � ß ã�ò�Q ï $ ï � ß ë5âbçEÛ�ã\ß èUÛ�ä�ò¨Übã\è�R\ï k ï(P¡Ü�óYÚUâ�¾ ò¿] � Û�ÜbÝwã\ß ãUëäwîUÜ6à£ß â5í·à£Û�çEî�âbÝwÜbéQà£âbî�â5é âbë6ó�áUäwß ã\ëÜbã�Übè\ÜbîYà£ß æCÛià�ß çEÛ�íZè\Û�é Ü�ó#ã\Û�áUÝwÜ5éã\Û�àxêaâbÝ#BUò _Çß ã�`Obdc�edfdfdg�hji�k0l§c#q�Àac�bd{jg�edc�i<k5bdfdl�l�c�i�i~fd��bdy�{�izf�rµ�

¶ c�bd¦�l�n^`�c�b}r�{jy�izg0n�Áª�¨ò X E5E G ò æbâbé·ï X ò�î\î�ï -5E X �%-0E��YïX X E Y h ï h Þ�Ú\ÜbÜ5é·òÂ]£ÙQÚUÛ±äwé ä£ß ç9á\é Ü5à£ß â5ã�Übã\è�ÝwÛ�Ü5é íoà£ß çEÛ°Þ�â5ãCà�Ýwâ5é{ä£â6åÓà£íêaÜbÝwÛ+îUÜ5ÞsB�Übë5Û5ò _ Ù Û�Þ�Ú�ï � Û�î�ïHwQâ5çEîUáYà£Û�Ý h Þ�ß Û�ã\Þ�Û�Ù Û�Þ�Ú � Û�íî�â5Ýwà�ò�ÚCà£à£î�ð n�n�ê:êQêQíZäwé Ü5ì�ï á\äwÞ5ï Û�è\á�n6îUá\ìUé ß Þ�Ü5à£ß â5ãUä�n5äwÞ�ÚUÜ5Übé íoÙ ��h�� ò�L ãUß íæCÛ�Ýwäwß àxó?â5å h â5á\à£Ú\Û�ÝwãÄwaÜbé ß å·â5Ý£ã\ß Ü�ò - @�@ X ï

739