Advanced Robotics - Control of Interactive Robotic Interfaces Volume 29 Part 9 pptx

.?
2/2J5 0$6$ (:D 8JD28E255Q EE2N$ $5$682<M5J2:8 ;.G

B1B-B

B1B-B1B<

B1B;

B1B"

B1B!


 ,?3 %*#3->%3:=' (44

B1B!

B1B"

B1B;

B1B<

B1B-B

B1B-
 ,?3 %*#3<>%3:=' (44

B1!

B

B1!

1!

<

<1!


 ,?3

B1!

B B1!

1!

<

<1!


 ,?3 %*#3-'*#$:<

  0$ <:O$D J E5N$ E2"$

Q3& QW= $&V5 &L LLU9& Q3& L9& =;.2UKQ5=; & UL& =+ Q3& &;&K2Y K&0& Q&$ +K=9 Q3& L8V& L5$&C

&
+ ! #' "+'"( 2 ((/

 !"% +#"

3& 5;QK5;L5 88Y ?LL5V& ?=KQ4958Q=;5; L&$ Q&8&9;5?U8Q5=; L 3&9&

?K=?=L&$ 5; & C 1CT =;L5$&KL =;Q5;U=UL Q59& ?=KQ4958Q=;5; =;QK=88&KL

;$ =99U;5 Q5=; 3;;&8L 3K Q&K5Z&$ Y  =;LQ;Q $&8YC ; Q35L L& Q5=; W& L3=W 3=W Q= &XQ&;$ Q3& L 3&9& 5; =K$&K Q= Q7& 5;Q=  =U;Q Q3& $525Q8

;QUK& =+ =;QK=88&KLC UKQ3&K9=K&# L5; &  V&KY ??&85;2 ;$ 3&? =99U4

;5 Q5=; 3;;&8 5L Q3& ;Q&K;&Q# Q3& &;&K2&Q5 &3V5=K =+  ? 7&Q LW5Q 35;2 QK;L95LL5=; 85;& 5L LQU$5&$C 3&K& K& QW= 95; ?K=8&9L Q= $$K&LL" Q3& LQK=;28Y VK58& Q59& $&8Y ;$ Q3& ?=LL58& U;K&85585QY $U& Q= Q3& 8=LL =+

? 7&QL LL= 5Q&$ W5Q3 Q3& 3;;&8C

3& L9?8&$ $Q ;QUK& =+ Q3& =;QK=88&KL ; & =;L5$&K&$ Y UL5;2 Q3& =; &?QL $&L K5&$ 5; & C RC1C ; + Q# W& ; UL& Q3& $5L K&Q5ZQ5=; 82=K5Q39 K&?=KQ&$ 5; & C RC1C> 5; =K$&K Q= =Q5;  $5L K&Q& ?=KQ4958Q=;5; =;QK=88&K

;$ Q= 5;Q&K =;;& Q 5Q Y 9&;L =+ Q3& &;&K2&Q5 =;L5LQ&;Q 9?8&  =8$ LQKQ&2Y $&L K5&$ 5; & C RC1CT Q= Q3& =;Q5;U=UL ?8;QC 5; & ;=W Q3& =;4

;.% :DJ1625J:828 E$" 25J$D5 $5$682<M5J2:8

-B

!

B

!

-B


 %*#34 ,4%:%,*

-B

!

B

!

-B


 %*#34 ,4%:%,*

, (

, (

QK=88&KL =;;& Q&$ Q= Q3& QK;L95LL5=; 85;& K& $5L K&Q& W& 3V& Q= =;L5$&K

 $525Q8 QK;L95LL5=; 85;& @&C2C ;Q&K;&QA Q3K=U23 W35 3 9LQ&K ;$ L8V& L54

$&L W588 &X 3;2& &;&K2YC 3& ?K=?=L&$ L 3&9& 5L 588ULQKQ&$ 5; 52C 1C>O 5;

 =;$42K?3 ;=QQ5=;C 3& LY9=8L  ;$  K&?K&L&;Q Q3& &;&K2Y LQ=K5;2

;$ &;&K2Y $5LL5?Q5;2 ?KQ =+ & 3 ?=KQ4958Q=;5; LYLQ&9# =Q3 +=K Q3& =;Q5;U=UL ?8;Q ;$ +=K Q3& $5L K&Q& =;QK=88&KC 3& KK&$ =;$L K&?K&L&;Q

 $5L K&Q& &;&K2Y &X 3;2&C

5; & W& W;Q Q= =;L5$&K ; ;Q&K;&Q4857& =99U;5 Q5=; 85;&# W& 3V& Q= =;L5$&K  $5L K&Q& =99U;5 Q5=; 3;;&8 ;$ W& W588 59?8&9&;Q 5Q Y UL5;2 L QQ&K5;2 Q3&=KYC Q 5L ?=LL58& Q= $&.;&  $5L K&Q& Q59& L QQ&K5;2C  3

$5L K&Q& Q59& ?=W&K ?=KQ @&5Q3&K Q3& 9LQ&K =K Q3& L8V& =;&A =+ Q3& $5L K&Q& =99U;5 Q5=; 3;;&8 588ULQKQ&$ 5; 52C 1C>N 5L 3K Q&K5Z&$ Y ; &,=KQ )@4A ;$ Y  0=W - @4AC 3& &;&K2Y 0=W5;2 5;Q= Q3& LYLQ&9 +K=9 & 3 ?=KQ 5; =;& L9?8& ?&K5=$ 5L &EU8 Q="

 )@4A- @4A

& ; 8WYL $& =9?=L& Q3& ?=W&K 0=W 5;Q= ; 5; =95;2 ?=W&K WV& ;$ ;

=UQ2=5;2 ?=W&K WV& L L3=W; 5; 3&=K&9 >CR/ ;$# Y $5L K&Q& 5;Q&2KQ5=;# Q3& &;&K2Y 0=W5;2 $UK5;2 =;& L9?8& ?&K5=$ +K=9 & 3 ?=W&K ?=KQ 5L"

@4A- @4A ) 

TD

@4A*

TD

@4A

.?
2/2J5 0$6$ (:D 8JD28E255Q EE2N$ $5$682<M5J2:8 ;.9



1 



1 



  0$ EE2N$ 6<5$" J $5$682<M5J2:8 0$6$?

W3&K&  5L Q3& L9?8& ?&K5=$C 3UL W& ; 5;Q&K?K&Q

D@4A;$

D@4A

L 5; =95;2 ;$ ; =UQ2=5;2 &;&K2Y ? 7&QL K&L?& Q5V&8YC

3& $5L K&Q& ?=KQ4958Q=;5; =;QK=88&K 5L 5;Q&K =;;& Q&$ Q= Q3& $5L K&Q&

L QQ&K5;2 L&$ =99U;5 Q5=; 3;;&8 L $&L K5&$ 5; & C 1CTC1" Q & 3 L9?8& Q59& Q3& LYLQ&9 W588  EU5K& Q3& 5; =95;2 &;&K2Y EU;QU9D@4A ;$ Q3& $5L K&Q& &,=KQ )@4A ;$ W588 8 U8Q& Q3& $5L K&Q& 0=W - @4A ;$ Q3& $5L K&Q&

&;&K2Y EU;QU9 D@4A Q= QK;L95Q Q3K=U23 Q3& =99U;5 Q5=; 3;;&8C Q 5L ?=LL58& Q= =9?UQ& D@4A ;$ - @4A +K=9 D@4A ;$ )@4A UL5;2 EC@1C>1A

;$ EC@1C>1AC

& W588 UL& Q3& +=88=W5;2 ;=QQ5=; +=K Q3& $5L K&Q& $&K5VQ5V& ;$ Q3& $5L K&Q& 5;Q&2K8"

'.@4A ) .@4 D >A * @4A

&

# )

&

#

$#

W3&K& 5L  2&;&K5 L&EU&; &C Y QK5V58 =9?UQQ5=;L 5Q ; & L3=W; Q3Q# 5; 2&;&K8"

; Q3& +=88=W5;2 =;L5$&KQ5=;L W& W588 LLU9& Q3Q Q3& ?K=Q= =8 @&C2C Q3& ;Q&K;&Q ?K=Q= =8A UL&$ Q= 59?8&9&;Q Q3& =99U;5 Q5=; 85;& $=&L;JQ 3;2& Q3& =K$&K =+ Q3& ? 7&QL# LU 3 L Q3& ;Q&K;&Q P  ?K=Q= =8C

&Q ((1 ;$ (1( & Q3& $&8YL LL= 5Q&$ Q= Q3& =99U;5 Q5=; &QW&&; 9LQ&K ;$ L8V& ;$ L8V& ;$ 9LQ&K K&L?& Q5V&8YC 3& +=88=W5;2 K&LU8Q ;

& ?K=V&;"

70208)<)0 %5%5 0 = 2! $H B<0=/+==+20 .I= 0 02 2== 2! 4-B= B) +=<B 2//E0+B+20 )00 += 2==.== +0  +=<B =0=7

;,S :DJ1625J:828 E$" 25J$D5 $5$682<M5J2:8

)

=>

)

=>

 +( +

=>

=>

=>

=>

  0$ EJJ$D28/ E$" :66M82J2:8 088$5

<22!7 3& ?=W&K 0=W 5;Q= Q3& =99U;5 Q5=; 3;;&8 5L"

 @4A ) D

(@4ADD

1@4A*D

(@4A*D

1@4A @1CTNA

UQ

D

1@4A ) D

(@4 * ((1A D

(@4A ) D

1@4 * (1(A @1CT'A

L5;2 EC@1CTOA# W& ; WK5Q&

 @4A ) D

(@4A*D

(@4 * ((1ADD

1@4A*D

1@4 * (1(A

@1CT<A

& ;# Q3&K&+=K&# WK5Q&"

 @4A ) '&& @>

T@D

 (AA D && @>

T@D



1AA @1CR[A

&.;5;2 L &;&K2Y +U; Q5=; =+ Q3& =99U;5 Q5=; 3;;&8

&

& @>

TD

 (A D && @>

TD



1A @1CR>A W& 3V& Q3Q"

@1CRTA W35 3 9&;L Q3Q 88 Q3& ?=W&K 0=W5;2 Q3K=U23 Q3& =99U;5 Q5=; 3;;&8 5L LQ=K&$ ;$ Q3Q# Q3&K&+=K&# Q3& =99U;5 Q5=; 3;;&8 5L 8=LL8&LL 5;  $5L K&Q& L&;L&C

; ;Q&K;&Q4857& =99U;5 Q5=; 3;;&8L L=9& ? 7&QL =U8$ & 8=LQ $UK5;2 QK;L95LL5=; & UL& =+ L=9& QK- ?K=8&9L =K L=9& QK=U8&L 5; Q3& L&KV&KL

& 3 ? 7&Q 3L Q= K=LLC &Q UL 5;V&LQ52Q& Q3& &;&K2&Q5 &3V5=K =+ Q3& =99U;5 Q5=; 3;;&8 5; Q3& L& =;& ? 7&Q 5L 8=LQ 5; Q3& QK;L95LL5=;

&QW&&; 9LQ&K ;$ L8V&C & ?K=?=L& Q= $=?Q Q3& +=88=W5;2 4. G+B)

.?
2/2J5 0$6$ (:D 8JD28E255Q EE2N$ $5$682<M5J2:8 ;,;

 E 4-B @A LQKQ&2Y" W3&;  ? 7&Q 5L ;=Q $&85V&K&$ =; Q59&# 5Q 5L K&?8 &$ Y  ;U88 ? 7&QC 3UL# 5; L&  ? 7&Q 5L 8=LQ# W& 3V& Q3Q  [ L52;8 5L K& &5V&$ Q Q3& L8V& L5$& 5;LQ&$ =+ Q3& =KK& Q V8U&# ;9&8Y D

(@4 * ((1A

;$ Q3Q# Q3&K&+=K&"

 @4A ) >

TD

 (@4AD>

TD



1@4A*>

TD

 (@4A @1CRRA

& ; WK5Q&"

 @4A ) 

D

(@4AD

D

1@4A*

D (@4A)

D (@4AD

D

1@4A*

*

D

1@4 * (1(A*

D (@4 * ((1AD

D (@4 * ((1A)



D

(@4 * ((1A

@1CR1A

& 3V& ; $$5Q5=;8 Q&K9 W35 3 5L ?=L5Q5V& $&.;5Q& ;$ W35 3 K&?K&L&;QL

 $5LL5?Q&$ ?=W&KC 3&;  ? 7&Q 5L 8=LQ 5; Q3& QK;L95LL5=; Q3& 3;;&8

$5LL5?Q&L ; &;&K2Y EU;QU9 =KK&L?=;$5;2 Q= Q3& V8U& Q3Q 5Q L3=U8$ 3V& K& &5V&$ +K=9 Q3& 9LQ&K L5$&C 3& &3V5=K =+ Q3& LYLQ&9# ;=;&Q3&8&LL# 7&&?L

=; &5;2 ?LL5V&C

&Q# ;=W# (1 ;$ 1( & Q3& L&Q =+ Q59& 5;LQ;QL 5; W35 3  ? 7&Q 5; Q3& =99U;5 Q5=; &QW&&; 9LQ&K ;$ L8V& 5L 8=LQ ;$ Q3& L&Q =+ Q59& 5;LQ;QL 5; W35 3  ? 7&Q 5; Q3& =99U;5 Q5=; &QW&&; L8V& ;$ 9LQ&K 5L 8=LQ K&L?& Q5V&8YC 3& &;&K2&Q5 &3V5=K =+ Q3& 3;;&8 5L"



D (@4 * ((1AA D $@D

1@4 * (1(AA @1CR/A W3&K&

" )

 [ 4 F! (1

> 4 ! (1 $ )

 [ 4 F! 1(

> 4 ! 1(

W3&K& " ;$ $ K& =&- 5&;QL Q3Q  Q5VQ&  ?=W&K $5LL5?Q5=; =+ Q3& 3;;&8 W3&;  ? 7&Q 5L 8=LQC

&Q UL ;=W =;L5$&K Q3& L& 5; W35 3 Q3& $&8Y &QW&&; 9LQ&K ;$ L8V& 5L VK58&C U??=L& Q3Q 1 5L Q3& 95;59U9 $&8Y =+ Q3& QK;L95LL5=; &QW&&; 9LQ&K ;$ L8V&C & UL& =+ Q3& VK58& $&8Y# 5Q ; 3??&; Q3Q =;& ? 7&Q 5L L= 9U 3 $&8Y&$ Q3Q Q3& K& &5V5;2 EU&U& 5L &9?QY +=K L=9& L9?8& ?&K5=$LC ; Q35L L& W& ; 8WYL WK5Q&"

 @4A ) 

D

(@4AD

D

1@4A*

D (@4A) )

D

(@4AD

D

1@4A*

D

1@4 * (1(A*

D (@4 * 1AD

D

D

D (@4 * 1A

@4A

@1CROA

W3&K& ;=W W& $&.;&"

;,L :DJ1625J:828 E$" 25J$D5 $5$682<M5J2:8

&

&#@>

T@D

 (AA D && @>

T@D



1AA @1CRNA

L Q3& &;&K2Y +U; Q5=;C & $5LL5?Q& Q3& &;&K2Y EU;QU9 =KK&L?=;$5;2 Q= Q3& ? 7&Q W& W&K& &X?& Q5;2C
Q  Q59& 4 D 3 Q3& LYLQ&9 K& &5V&L Q3& ? 7&Q W3=L& =KK&L?=;$5;2 &;&K2Y EU;QU9 WL $5LL5?Q&$ Q Q59& 4C ; Q35L L& 5Q W588 &"



D (@4 * 1AD

D (@4 D 3 * 1A)

,@4 D 3A D @4 D 3A

@1CR'A

Q L9?85;2 ?&K5=$ 4 D 3# Q3& $&8Y&$ 5; =95;2 ? 7&Q 5;6& QL ; &XQK

&;&K2Y  ,@4 D 3A# =; Q3& =Q3&K 3;$ Q3& 95LL&$ ? 7&Q 

D (@4 D 3 * 1A# L5; & W& K& LLU95;2 Q3Q =;8Y =;& ? 7&Q ; & QK;L95QQ&$ ?&K & 3 L9?8&

?&K5=$# UL&L Q3& $5LL5?Q5=; =+  @4 D 3A &;&K2YC & ; L&& Q3Q Q3& $&8Y

=+  ? 7&Q KLQ 59?85&L  $5LL5?Q5=; =+ ; &;&K2Y EU;QU9 ;$ Q3&; ; &;&K2Y 5;6& Q5=; =+ Q3& L9& 9=U;Q =+ &;&K2YC Q 5L# Q3&;# 8&K Q3Q



#

)

,@:A D @:A ) [

;$# Q3&K&+=K&# Q3&K& 5L ;= 28=8 ?K=$U Q5=; =+ &XQK &;&K2YC

=Q3 5; L& =+ X&$ ;$ VK58& $&8Y Q3& $5L K&Q& L QQ&K5;2 L&$ =94 9U;5 Q5=; 3;;&8 5L 8=LL8&LLM Q3& 95; $5,&K&; & 5L Q3Q W3&; W& 3V&  =;LQ;Q $&8Y &;&K2Y 5L ;&5Q3&K ?K=$U &$ ;=K $5LL5?Q&$ UQ L59?8Y LQ=K&$# W358& W3&; W& 3V&  VK58& $&8Y Q3& &;&K2Y EU;Q LL= 5Q&$ Q= Q3& $&4 8Y&$ ? 7&QL K& KLQ $5LL5?Q&$ ;$ Q3&; 5;6& Q&$  7 Q= Q3& LYLQ&9C 5; & Q3& VK58& $&8Y 5;QK=$U &L  $0+B &XQK4$&8Y =; Q3& ? 7&QL# ?LL5V5QY 5L ?K&L&KV&$C ;& =U8$ &X?& Q Q3Q Q3& &;&K2Y 5;6& Q5=; 8&$L Q= L=9& ;=;

?LL5V& @;$ Q3&K&+=K& ?=Q&;Q588Y U;LQ8&A &3V5=K UQ Q35L 5L ;=Q Q3& L& L5; & &+=K& &5;2 5;6& Q&$ Q3& &XQK &;&K2Y 3L 8K&$Y &&; $5LL5?Q&$C ; L& L=9& ? 7&QL K& 8=LQ Q3& &3V5=K =+ Q3& =99U;5 Q5=; 3;;&8 5L $5L4 L5?Q5V& L5; & W& $= ;=Q 3V& ;Y &;&K2Y 5;6& Q5=; Q= K& =V&K Q3& $5LL5?Q&$

&;&K2Y ? 7&QLC Q 5L ;=W LQK523Q+=KWK$ Q= LQQ& Q3& +=88=W5;2

70208)<)0 %5#5 =+0( B)  =B<B(I B) +=<B =BB<+0( = 2/* /E0+B+20 )00 += 4==+F F0 +0 = 2! F<+. B+/ .I 0 2! 2== 2! 4-B=7

;=Q3&K ?=LL58& WY +=K $&85;2 W5Q3 U;K&858& ;&QW=K7L# 5L Q3& L= 88&$

2. B) =B /4. @A LQKQ&2Y# W3&K&# 5; L&  ? 7&Q 5L ;=Q K& &5V&$

=; Q59&# 5Q 5L K&?8 &$ Y Q3& V8U& =+ Q3& ? 7&Q Q3Q 3L &&; ?K&V5=UL8Y K& &5V&$C 35L LQKQ&2Y 5L ;=Q LU5Q8& +=K &5;2 UL&$ 5; ?=KQ4958Q=;5;

L&$ Q&8&9;5?U8Q5=; & UL& 5Q ; K&;$&K Q3& =99U;5 Q5=; 3;;&8 ;=;

?LL5V& 5; L& =+ ? 7&Q 8=LLC ; + Q# LU??=L& 25; Q3Q  ? 7&Q 5L 8=LQ 5; Q3& =99U;5 Q5=; &QW&&; 9LQ&K ;$ L8V& L5$&LC L5;2 Q3&  LQKQ&2Y#

.?
2/2J5 0$6$ (:D 8JD28E255Q EE2N$ $5$682<M5J2:8 ;,K

W& 3V& Q3Q Q Q59& 4 Q3& ;=; K& &5V&$ ? 7&Q D

(@4 * ((1A 5L K&?8 &$ W5Q3 Q3& ?K&V5=UL8Y K& &5V&$ =;&# ;9&8Y D

(@4 * ((1* >A ;$ Q3Q# Q3&K&+=K&"

 @4A ) >

TD



(@4AD>

TD



1@4A*>

TD



1@4 * (1(*>

TD

 (@4 * ((1* >A

@1CR<A W& ; 8WYL WK5Q&

 @4A ) >

TD



(@4AD>

TD



1@4A*>

TD



1@4 * (1(*>

TD

 (@4 * ((1AD

D>

TD



(@4 * ((1A*>

TD

 (@4 * ((1* >A)

>

TD

 (@4 * ((1A*>

TD

 (@4 * ((1* >AA

@1C1[A

3& Q&K9 Q&K9 &QW&&; K 7&QL ; & ;&2Q5V& 5+ Q3& &;&K2Y =;Q&;Q =+ Q3& 8=LQ ? 7&Q 5L 8=W&K Q3; Q3Q =+ Q3& 8LQ ? 7&Q K& &5V&$ ;$# 5; Q35L# L& Q3&K& 5L ?K=$U Q5=; =+ &XQK &;&K2Y ;$# Q3&K&+=K&# Q3& =99U;5 Q5=; 3;;&8 3L  ;=; ?LL5V& &3V5=KC 3& ?LL5V5QY $&LQKU Q5V& &3V5=K =+ Q3&

 LQKQ&2Y 5L 92;5.&$ 5; L& 9=K& ? 7&QL K& 8=LQ 5; Q3& =99U;5 Q5=;

&QW&&; 9LQ&K ;$ L8V& ;$ V5 &V&KL ;$ 5; L& =+ VK58& $&8YC ; =K$&K Q= 588ULQKQ& Q3& V85$5QY =+ Q3& K&LU8QL =Q5;&$ 5; Q35L L& Q5=;# L=9& L59U8Q5=;L K& ?K=?=L&$ =;  L59?8& =;& $&2K&& =+ +K&&$=9 Q&8&9;5?U8Q5=; LYLQ&9C  3 K==Q @9LQ&K ;$ L8V&A 5L  >  LYLQ&9#  L59?8& 9LL ;$ 5L =;QK=88&$ Y  L9?8&$ # =;;& Q&$ 5;  ?=W&K =;L5LQ&;Q WY Q= Q3& =;Q5;U=UL K==QC 3& =99U;5 Q5=; 3;;&8 5L 59?8&9&;Q&$ Y 9&;L =+ Q3& $525Q8 L QQ&K5;2 LQKQ&2Y ;$ Q3&  LQKQ&2Y 5L UL&$ +=K $&85;2 W5Q3

? 7&QL 8=LL ;$ VK58& $&8YC ; Q3& KLQ L59U8Q5=; W& ??85&$ ; 59?U8L5V& +=K & Q= Q3& 9LQ&K ;$ W& ?8=QQ&$ Q3& ?=L5Q5=;L =+ 9LQ&K ;$ L8V&M Q3& $&8Y 5L =;LQ;Q ;$ 5Q 5L &EU8 Q= [?/ L& =;$LC 3& K&LU8QL =+ Q35L L59U8Q5=; K& L3=W; 5; 52C 1C>'C & ; L&& Q3Q Q3& L988&K 5L Q3& L9?8& ?&K5=$# Q3& 8=L&K 5L Q3& &3V5=K =+ Q3& $525Q8 L 3&9& Q= Q3& =;Q5;U=UL =;&# 9&;5;2 Q3& 522&K 5L Q3& L9?8& Q59& Q3& W=KL& K& Q3& ?&K+=K9; &LC 35L 5L & UL& Q3& 5;+=K9Q5=; W& K& QK;L95QQ5;2 2&QL W=KL&M ;&V&KQ3&8&LL Q3& &3V5=K =+ Q3& =V&K88 LYLQ&9 5L ?LL5V& 5;$&?&;$&;Q8Y =+ Q3& V8U& =+ Q3& L9?8& ?&K5=$C ; Q3& ;&XQ L59U8Q5=; W& K& =;L5$&K5;2  =99U;5 Q5=; 3;;&8 W35 3 K&?K&L&;QL Q3& ;Q&K;&QC 3& $&8Y 5; Q3& =99U;5 Q5=; &QW&&; 9LQ&K ;$ L8V& ;$ &QW&&; L8V& ;$ 9LQ&K 5L VK58& @W5Q3  9&; =+ [?/ LCA ;$ 5; Q3& =99U;5 Q5=; &QW&&; 9LQ&K ;$ L8V& &V&KY T L& =;$L >[ ? 7&QL

K& 8=LQ W358& 5; Q3& =99U;5 Q5=; &QW&&; L8V& ;$ 9LQ&K & 3 R L& =;$L T[ ? 7&QL K& 8=LQC ; & 25; W& ??85&$ ; 59?U8L5V& +=K & Q= Q3& 9LQ&K

;, :DJ1625J:828 E$" 25J$D5 $5$682<M5J2:8

B

B1<

B1"

B17

B1

, (

=>
! + -!-))

, (

B B1<

B1"

B17

=>  ' ;)

, (

B

B1<

B1"

B17

=>  ' ;S)

, (

B B1<

B1"

B17

=">  ' ;SS)

  D$$ 6:J2:8 O2J0 "2)$D$8J E6<5$ J26$E? :E2J2:8 :( J0$ 6EJ$D =:8J21 8M:ME> 8" :( J0$ E5N$ ="E0$">

;$ W& ?8=QQ&$ Q3& ?=L5Q5=;L =+ 9LQ&K ;$ L8V&C 3& K&LU8QL K& L3=W; 5; 2UK& 52C 1C><C 3& $L3&$ 85;& K&?K&L&;QL Q3& ?=L5Q5=; =+ 9LQ&K ;$ L8V& 5; L& =+ =;LQ;Q $&8Y @[?/ L& =;$LA ;$ =+ ;= 8=LL =+ ? 7&QLC 3& L9?8& Q59& 5L >[ 9LC & ; ;=Q5 & Q3Q Q3& ?&K+=K9; &L $& K&L& UQ Q3& LQ585QY 5L 95;Q5;&$ & UL& =+ Q3& 5;QK5;L5 ?LL5V5QY =+ Q3& =V&K88 L 3&9&C ; Q3&

;&XQ L59U8Q5=; W& 59?8&9&;Q&$ ; 5;Q&K Q5=; QL7C 3& 9LQ&K 5L ?UL3&$ W5Q3  =;LQ;Q +=K & ;$ Q3& L8V& 5;Q&K QL W5Q3  W88 @59?8&9&;Q&$ W5Q3  L?K5;24$9?&K LYLQ&9A ?=L&$ Q ?=L5Q5=; L ) [?> 9C 3&K& 5L VK58& $&8Y

;$ 8=LL =+ ? 7&QL 5; Q3& =99U;5 Q5=; 3;;&8 5; =Q3 L&;L&LC 3& ?=L5Q5=;

=+ 9LQ&K ;$ L8V& K& L3=W; 5; 2UK& 52C 1CT[C & ; L&& Q3Q W3&; Q3& L8V& LQ=?L W3&; 5Q Q=U 3&L Q3& W88C 3& +=K & =+ 5;Q&K Q5=; 5L K&0& Q&$  7 Q= Q3& 9LQ&K L5$& ;$ =9?&;LQ&L Q3& +=K & ??85&$ Q= Q3& 9LQ&KC ; + Q W& ; L&& Q3Q Q3& ?=L5Q5=; =+ Q3& 9LQ&K 5L =;LQ;Q &V&; 5+ Q3& =?&KQ=K 5L 7&&?5;2 =; ??8Y5;2  +=K &C

.?, 6<D:N28/ $D(:D68$E 28 8JD28E255Q EE2N$ 2/2J5 $5$682<M5J2:8 ;,,

4  "4 " 4  -4 - 4

B

B1<

B1"

B17

, (

4  "4 " 4  -4 - 4 B

B1<

B1"

B17

, (

=> :E2J2:8 :( J0$ 5N$

  D25$ "$5Q 8" 5:EE :( <4$JE

, (

B B1-B1<

B1;

  :E2J2:8 :( J0$ 6EJ$D =:8J28M:ME> " :( J0$ E5N$ ="E0$">

& !%'#/" '#'!"( " "+'"( 2 ((/

+  !"% +#"

3&; UL5;2 Q3&  LQKQ&2Y# 8=LL =+ ? 7&QL 5; Q3& $5L K&Q& L QQ&K5;2 4 L&$ =99U;5 Q5=; 3;;&8L $=&L;JQ ,& Q Q3& ?LL5V5QY =+ Q3& =V&K88 LYLQ&9

UQ# ;&V&KQ3&8&LL# 5Q $&2K$&L Q3& ?&K+=K9; &L =+ Q3& Q&8&9;5?U8Q5=; L 3&9& L5; & ?KQ =+ Q3& &;&K2Y ;& &LLKY Q= =9?8&Q&  &KQ5; QL7 5L ;=Q QK;L95QQ&$

UQ $5LL5?Q&$C 5; & 5; L QQ&K5;2 L&$ QK;L95LL5=; 85;&L Q3& QK;L95QQ&$ 5;+=K9Q5=; K&?K&L&;QL  ?=W&K WV&# Q3& ? 7&QL K& ;=Q Q=Q88Y U; =KK&84 Q&$ ;$ 5Q $=&L 97& L&;L& Q= =Q5; Q3& 95LL&$ ? 7&QL Y 5;Q&K?=8Q5;2 Q3& K& &5V&$ =;&LC ; Q35L L& Q5=; W& 5;QK=$U &  =;QK=8 L 3&9& Q3Q 5L 8& Q= 5;Q&K?=8Q& Q3& K& &5V&$ ? 7&QL +=K K& =;LQKU Q5;2 Q3& 95LL5;2 =;&L# ;$# =;L&EU&;Q8Y# 59?K=V5;2 ?&K+=K9; &LC W5;2 Q= 7&&? Q3& 9&Q3=$ L59?8&# W& += UL =; 85;&K 5;Q&K?=8Q5=; 82=K5Q39 5; =UK =;QK=8 LQKQ&2YC

;,H :DJ1625J:828 E$" 25J$D5 $5$682<M5J2:8

3&; W& ?K=$U & ; 5;Q&K?=8Q&$ ? 7&Q W& K&?8 & Q3& &;&K2Y =;Q&;Q

=+ Q3& 95LL5;2 ? 7&Q W5Q3 Q3& =;& =+ Q3& 5;Q&K?=8Q&$ =;&C + Q3& &;&K2Y L4 L= 5Q&$ Q= Q3& 5;Q&K?=8Q&$ ? 7&Q 5L 2K&Q&K Q3; Q3& =;& LL= 5Q&$ Q= Q3& 8=LQ =;&# Q3& 5;Q&K?=8Q5=; ?K= &LL 5;QK=$U &L L=9& &XQK &;&K2Y 5; Q3& =94 9U;5 Q5=; 85;&# L5958K8Y Q= W3Q ; 3??&; W3&; UL5;2 Q3&  LQKQ&2YC

3& 5;Q&K?=8Q5=; ?K= &LL# Q3&K&+=K&# 9ULQ & K&+U88Y $$K&LL&$ 5; =K$&K Q=

?K&L&KV& Q3& ?LL5V5QYC Y 9&;L =+ 8=LL KQ& ;$ =Q3&K LQQ5LQ5 8 5;$5 Q=KL

$&K5V5;2 +K=9 ; ;8YL5L =+ Q3& =99U;5 Q5=; 3;;&8# W& 7;=W W35 3 5L# 5;

V&K2&# Q3& 9X59U9 ;U9&K =+ =;L& UQ5V& ? 7&QL Q3Q ; & 8=LQ 5; Q3& QK;L95LL5=; ;$# =;L&EU&;Q8Y# Q3& 9X59U9 ;U9&K =+ =;L& UQ5V& ? 7&QL Q3Q 3V& Q= & 5;Q&K?=8Q&$M LLU9& Q3Q Q35L ;U9&K 5L :C = Q3& 59 =+ ?&K4 +=K95;2  ?LL5V& 5;Q&K?=8Q5=; ?K= &LL# W& ;&&$ Q= &;$=W Q3& =99U;5 Q5=; 3;;&8 W5Q3 QK;L95LL5=; ;$ K& &5V5;2 U,&KLC

; =K$&K Q= V=5$ &;&K2Y ?K=$U Q5=; 5; Q3& 5;Q&K?=8Q5=; ?K= &LL# W& ;&&$ Q= 7;=W Q3& 9X59U9 9=U;Q =+ &;&K2Y Q3Q ; & UL&$ Q= ?&K+=K9 Q3&

?=LL58& 5;Q&K?=8Q5=; =+ 95LL&$ ? 7&QLC 3& 59 =+ Q3& QK;L95LL5=; U,&K

 =+ Q3& ;&XQ : ? 7&QL Q3Q W588 & LUL&EU&;Q8Y QK;L95QQ&$C 3& QK;L95LL5=;

U,&K# Q3&K&+=K&# W588 5;QK=$U & ; &XQK $&8Y =; :D> L9?8& ?&K5=$L 5; =K$&K Q= &;$=W & 3 ? 7&Q W5Q3 Q3& &XQK 5;+=K9Q5=; K&EU5K&$C 3& 5;Q&K?=8Q5=;

?K= &LL W588 & ?&K+=K9&$ 5; Q3& K& &5V5;2 U,&K ;$# L5; & Q3& 9X59U9

;U9&K =+ ? 7&QL Q= & 5;Q&K?=8Q&$ 5L :# 5QL $59&;L5=; W588 &# Q3&K&+=K&# : D T ;$ 5Q W588 5;QK=$U &  $&8Y =+ : D T L9?8& ?&K5=$LC
LLU9& Q3Q W& 8=L& : ? 7&QL# ;9&8Y W& K& &5V& ;=Q35;2 &QW&&; G ) @4 * : * >A ;$

G ) @4*>A C
Q G ) 4 W& ; ?&K+=K9 Q3& 5;Q&K?=8Q5=; &QW&&; Q3& K& &5V&$

? 7&QL D@4*:*TA ;$ D@4A @=Q3 ?K&L&;Q 5; Q3& K& &5V5;2 U,&KA Q= =Q5; Q3& 8=LQ ? 7&QLC ; =K$&K Q= V=5$ ;Y &XQK &;&K2Y ?K=$U Q5=;# W& UL& Q3&

@4 *:*TA &9&$$&$ 5; Q3& ? 7&Q K& &5V&$ 5; G ) @4 *:*TA C

& 8 U8Q& Q3& 9X59U9 &;&K2&Q5 =;Q&;Q + Q3Q & 3 ? 7&Q ; 3V& Y"

+ )

@4 * : * TA

3&; W& QU;& & 3 5;Q&K?=8Q&$ ? 7&Q 5; =K$&K Q= 9&&Q Q3& &;&K2&Q5 =;4 LQK5;QLC

/<- '7@7 5; & Q3&K& 5L ;=Q ;Y 5;+=K9Q5=; =; Q3& $5LQK5UQ5=; =+ Q3&

&;&K2Y 9=;2 Q3& 8=LQ ? 7&QL# W& X Q3& L9& &;&K2Y =U;$ +=K & 3 ? 7&Q Q= 5;Q&K?=8Q&C

& ; WK5Q& Q3& +=88=W5;2 82=K5Q39"

@4 * : * TA# Q3& &;&K2Y V588& +=K Q3& 5;Q&K?=8Q5=;

TC 8 U8Q& Q3& &;&K2&Q5 =;Q&;Q =+ & 3 5;Q&K?=8Q&$ &;&K2Y EU;QU9" + )

  &)

)

; ;Q&K;&Q4857& =99 U;5 Q5=; 3;;&8L L =9& amp; ? 7&QL =U8$ & 8=LQ $UK5;2 QK;L95LL5=; & UL& =+ L =9& amp; QK - ?K=8&9L =K L =9& amp; QK=U8&L 5; Q3&... LYLQ& ;9#  L 59? 8& 9 LL ;$ 5L =;QK=88&$ Y  L 9? 8&$ # =;;& Q&$ 5;  ?=W&K =;L5LQ&;Q WY Q= Q3& =;Q5;U=UL K==QC 3& =99 U;5 Q5=; 3;;&8 5L 59? 8& ;9& amp;;Q&$... 7;=W Q3& 9 X59U9 9= U;Q =+ &;&K2Y Q3Q ; & UL&$ Q= ?&K+=K9 Q3&

?=LL58& 5;Q&K?=8Q5=; =+ 95 LL&$ ? 7&QLC 3&  59 =+ Q3& QK;L95LL5=; U,&K