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

 ;S)_S, ),^=$, _;=@, =B Y;, 2ESA,S $T, Y;, ;S)_S, )GYY=EB =T Y Y;,

$A,S @,^,@ T EGGET,) YE Y;, TY,S,E GSE$,TTES @,^,@K

;Y E2Y,B $EAG@=$Y,T AYY,ST =T _;,B  ;S)_S, $EAGEB,BY GSE^=),T A]@<Y=G@, ESY;E:EB@ 2]B$Y=EB@=Y=,TK ;=T =T E2Y,B Y;, $T, _;,B  SE!EY TaTY,A]T,T )=TYS=!]Y,) GSE$,TTESTK
$G!@, A=$SE<$EBYSE@@,S T Y;, EB, T;E_B =B

=:K -HS=:;YI BEY EB@a GSE^=),T AEY=EB $EBYSE@ !]Y @TE GSE^=),T :,B,S@ G]S<

B) )=:=Y@ $;BB,@T $B !, $EBB,$Y,) YE EY;,S ),^=$,T B) =BTYS]A,BYT =B Y;,TaTY,AK ;Y _, ,B) ]G _=Y; =T  TaTY,A _;,S, ),^=$,T Y;Y S, @E:=$@@a ),<

!,Y_,,B A]@Y=G@, ),^=$,T !]Y _;=$; ,`=TYT T  S,T]@Y E2  :=^,B ;S)_S, S<

$;=Y,$Y]S,K , ;^, YE ;B)@, Y;, G;aT=$@ ),G,B),B$a =B  YSBTGS,BY _a

YE ?,,G Y;, @E:=$@ EG,SY=EB E2 ),^=$,T =B),G,B),BYK

63KG065 $8AG$ G.$ 36-03 A.0G$GKA$ &A64 G.$ 8.OB03 A.0G$GKA$

,$E]G@, Y;, @E:=$@ S$;=Y,$Y]S, E2 Y;, TaTY,A 2SEA Y;, G;aT=$@ ;S)_S,

S$;=Y,$Y]S,K ;, G;aT=$@ S$;=Y,$Y]S, ),T$S=!,T ;E_ Y;, ;S)_S, _ES?T(_;=@, Y;, @E:=$@ S$;=Y,$Y]S, ),6B,T _;Y Y;, :,B,S=$ !TYS$Y=EBT ,`G,$Y YE

YE T,GSY, Y;,AK
B )GYY=EB E2 Y;, @E:=$@ ;=,SS$;a _E]@) Y;,B !S=):,

@E:=$@ ;=,SS$;a YE Y;, G;aT=$@ ;=,SS$;a A?=B: Y;, AGG=B: !,Y_,,B Y;,Y_E ]BA!=:]E]TK ;=T )GYY=EB $@TT E2Y,B $EBY=BT @=YY@, $E), !]Y $@,S@aT;E_T Y;, @E:=$@ YE G;aT=$@ AGG=B:T E2 2]B$Y=EBTK =`=B: Y;, Y_E $B @,) YE

 T=B:@, )GYY=EB Y;Y =T ;S) YE ]B),STYB)( )=4$]@Y YE A=BY=B( B) ;S)

YE ]T, =B  TG,$=@=b,) GG@=$Y=EB Y;Y )E,T BEY B,,) Y;, :,B,S=$ =BY,S2$,K

,^,@EG=B:  ;=,SS$;a Y;Y =T G]S,@a ;S)_S, TG,$=6$ ?,,GT Y;,T, )S=^,STTG,$=6$ $E), ,T=@a Y,TY!@, B) AES, GESY!@,K ;=T GYY,SB GG@=,T YE AEYEST(

^,B Y;E]:; Y;, ;S)_S, S$;=Y,$Y]S, =AGET,T $EBTYS=BYT Y;Y S,T]@Y2SEA T;S,) S,TE]S$,T H,K:K T;S=B:  !]T ES  GSE$,TTESI( Y;, TE2Y_S, ;T

YE AB:, Y;,T, S,TE]S$,T T]$; Y;Y Y;, E^,S@@ !,;^=ES S,T]@YT =B B =B<),G,B),BY @E:=$@ S$;=Y,$Y]S,K E $@S=2a Y;=T GE=BY( $EBT=),S B EG,SY=B:TaTY,A Y;Y GSE^=),T  A]@Y=<YT?=B: ,B^=SEBA,BYK ;, EG,SY=B: TaTY,A ;T

 T;S,) S,TE]S$,' Y;, GSE$,TTESK E_,^,S( =Y GSE^=),T Y;, @E:=$@ 2]B$Y=EB@=YaE2 GS@@,@ YT?T ,^,B Y;E]:; Y =YT $ES, =Y AB:,T  T;S,) S,TE]S$,K

8) 

W_ QB;)"W 3T

EBTYS=BYT Y;Y S,T]@Y 2SEA T;S,) S,TE]S$,T S, AB:,) @E$@@a !a TG,<

$=@=b,) $@TT,TK ;=T ),$E]G@,T ;=:;,S<@,^,@ TE2Y_S, Y;Y $EBYSE@T @E:=$@@a

=B),G,B),BY ),^=$,T 2SEA Y;, G;aT=$@ $@TT,TK ;, $E]G@=B: =T ;B)@,) !a Y;,TG,$=@=b,) $@TT,T( _;=$; @@E$Y, B) 2S,, ]G Y;,T, S,TE]S$,TK

;, TT]AGY=EB =B Y;, !E^, AE),@ =T Y;Y Y;,T, S,TE]S$,T S, B,,),) 2ESEB@a T;ESY )]SY=EBTK ;,S, S, T=Y]Y=EBT( ;E_,^,S( _;,S, Y;, SE!EY=$ ;S)<_S, Aa ;^, T,^,S, $EBTYS=BYT B) $BBEY GSE^=),  @E:=$@@a ),$E]G@,)

=YT !=@=Ya 2ES Y;, A=TT=B: ES @=A=Y,) ;S)_S, 2]B$Y=EB@=YaK ;=T =T T=A=@S YE:SG;=$T $$,@,SY=EB $S)T _;,S, TE2Y_S, $EAG,BTY,T 2ES A=TT=B: ;S)_S,

$$,@,SY=EB 2]B$Y=EBTK ^,B Y;E]:; Y;, E^,S@@ G,S2ESAB$, _=@@ ),:S),( Y;,TE2Y_S, $EBY=B],T YE EG,SY,K
T=A=@S ,`AG@, E$$]ST =B SE!EY=$ AEY=EBY;, S,M]=S,A,BYT E2 B GG@=$Y=EB( =BTY,) E2 T,B)=B: YS>,$YESa GSA,Y,ST

YE Y;, $EBYSE@@,S( Y;, GG@=$Y=EB TE2Y_S, T,B)T @E_,S<@,^,@ AEYES T,Y<GE=BYT

YE :,B,SY, Y;, ),T=S,) YS>,$YESaK

& "0& B6:"= Q"8:W)"W[Q) \RH E8_R:"= Q"8:W)"W[Q)

=:K Fc T;E_T Y;, Y_E $@TT ;=,SS$;=,TK B Y;, @,2Y ;B) T=), =T Y;, @E:=$@

;=,SS$;a( _;=$; ),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,BYY=EBK B

A), :,B,S=$ !a ?,,G=B: Y;, 2]B$Y=EBT Y;Y S,) 2SEA B) _S=Y, YE Y;, $;=GG]S, ^=SY]@K ;=T ,B!@,T Y;, $;=G $@TT YE !, TG,$=@=b,) 2ES )=3,S,BY ;S)<

!ES) ),6B,T Y;, $EAA]B=$Y=EB =BY,S2$,K ;, E!EYF EYES $@TT( _;=$;

63KG065 $8AG$ 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,GSY, Y;, $Y]Y=EB 2SEAY;, T,BT=B: HT,, =:K FFIK T=B: Y;=T GGSE$;(  2SA,_ES? _E]@) ;^,  E<YES E^,S $@TT B)  EYES ,BTES $@TTK ;, EYES E^,S _E]@) $EAAB)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$YTY;, $G!=@=Ya 2ES $EBYSE@@=B: AEYEST _=Y;  _,@@<),6B,) =BY,S2$, YE ,B!@,Y;, TG,$=@=bY=EB E2 Y;=T $G!=@=YaK ;, EYES $@TT GSE^=),T EB@a  GSY=@

=AG@,A,BYY=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 $@TT YE

;S)_S, $EAGEB,BYT ES YE ),^=$, )S=^,STK
)GYY=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]$; TEGY=$@ ,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;, $EBYSE@( !]Y SY;,S _;Y 2]B$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,BYY=EBK

63KG065 $5$A30P$ A!MA$ 3BB$B &6A -A$G$A +$N0030GO

^,B TEA, ;S)_S, TG,$=6$ $EAGEB,BYT $B !, GSEG,S@a :,B,S@=b,) YE GSE<

^=), Y;, B,$,TTSa 8,`=!=@=Ya YE S,G@$, =B)=^=)]@ ;S)_S, $EAGEB,BYT 2ES_S, TG,$=6$ $EAGEB,BYT Y;Y $BBEY !, :,B,S@=b,) ES( =2 :,B,S@=b,)( !,$EA,

$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,BYY=EBK ]$; E2 Y;, )=:=<E2 Y;, ;S)_S,K

Y;Y S, G]S, ^=SY]@K ;=T $@TT T,S^,T T  !T, $@TT 2SEA _;=$; Y;, ;S)_S,

$EB6:]S,) =B)=^=)]@@a ES T  :SE]G ),G,B)=B: EB Y;, GSY=$]@S ;S)_S,

Ua H
HH )R?R

@@E_T =B;,S=YB$, @EB: Y_E `,T' Y;, 2]B$Y=EB@ H@E:=$@I `=T !a ,`Y,B)=B:

Y=,) YE Ba :=^,B ;S)_S, !ES) ES )S=^,SK =Y; Y;=T ),T=:B( _, $B S,G@$,

GG@=$Y=EB TE2Y_S,K

,^,S( _;,S, BEB<$EBY=:]E]T :SE]GT E2 !=YT B,,) YE !, :SE]G,) B) $EBYSE@@,)

GYY,SB " C7#K

.33%5-% 3?? 3%J0030CK 5" JC%5"0030CK

,$]T, _, S, GSEGET=B: YE ),^,@EG  :,B,S=$ 2SA,_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]GGESYY;, )=3,S,BY ]T, $T,TK ;=T $B @,) YE AES, $EAG@,` $@TT ;=,SS$;=,T Y;Y

8) 

W_ QB;)"W UC

EBT=),S Y;, AEYES ,`AG@, Y;Y _, ;^, GS,T,BY,) ,S@=,SK ;, :,B,S=$ AEYES

$@TT :,YT TG,$=@=b,) YE  ;S)_S, )GYY=EBK a TG,$=@=b=B: Y;, AEYES YEAEYES( _, Y;,B ;^, YE TG,$=@=b, Y;, >E=BY YE Y;, TA, ;S)_S, )GYY=EB(Y;]T )]G@=$Y=B: Y;, AEYES ;S)_S, )GYY=EBK , $B TE@^, Y;=T GSE!@,A]T=B: Y;, !S=):, GYY,SB " C7#K T=B: Y;=T GYY,SB(  B,_ =AG@,A,BYY=EB

,`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!>,$YT2ES =YT )S=^, _;,,@T B) Y;, AEY=EB<$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,

YE !, $$,TT=!@, YE =YT )GYY=EBTK ;, EYES $@TT _E]@) Y;,B !,$EA, B

$@TT( _, @TE ;^, YE )) Y;, TA, 2]B$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 GYY,SBK ;=S)(Y;=T !,$EA,T GSY=$]@S@a )=4$]@Y _;,B Y;, EYES $@TT ),S=^,T 2SEA  :,B,S=$

::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 $@TT _E]@) ;^, YE Y;,BS,),6B, Y;, 2]B$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!MA$ !$L0$B 05G6 A!MA$ 48B

,$]T, )=3,S,BY ),G@EaA,BYT E2 :,B,S=$ SE!EY TE2Y_S, S,M]=S, )=3,S,BY ;S)<_S, AGT( =Y =T =AGESYBY YE :SE]G Y;, ;S)_S, $EAGEB,BYT =BYE  T,G<SY, $@TT Y;Y AB:,T Y;, TaTY,ART $EB6:]SY=EBK
B !TYS$Y 2$YESa $@TT

" C7# $B T,S^, T  SE!EY ),^=$, AGK
TG,$=@=bY=EB E2 Y;, ),^=$,AG $S,Y,T Y;, GGSEGS=Y, E!>,$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;,

Y;,T, ),^=$,T _E]@) ]T, Y;,=S T=A]@Y,) $E]BY,SGSYTK

.33%5-% K?C%4 CC%

YS=!]Y,) Y;SE]:;E]Y Y;, TaTY,A =B =YT ^S=E]T A=$SEGSE$,TTESTK ;, TYY, =B<2ESAY=EB =B Y;,T, $EBYSE@@,ST $B !, S,YS=,^,)( !]Y Y;,S, =T E2Y,B  @=A=YY=EB

$,TTES 2]B$Y=EBT T T;E_B =B =:K F9K =A=@S YE TYY,T( TYY, A$;=B,T T;E]@)

@TE !, ;=)),B =B $@TT !TYS$Y=EBTK S,?=B: Y;=T ,B$GT]@Y=EB =BYSE)]$,TTaTY,A TG,$=6$ ),G,B),B$=,T Y;Y S,)]$, Y;, =BY,SEG,S!=@=Ya E2 Y;, TE2Y_S,K

;, TYY,T E2  @,::,) TaTY,A )=3,S 2SEA Y;ET, E2  _;,,@,) TaTY,AK E_<,^,S( Y;, S,TEB _;a TE2Y_S, $B !, =BY,SEG,SY,) $SETT ;,Y,SE:,B,E]T TaT<Y,AT =T Y;, GS,T]AGY=EB Y;Y Y;,S, =T  @,^,@ E2 !TYS$Y=EB Y _;=$; Y;, :,B,S=$

@:ES=Y;A $B ]T, !TYS$Y TYY,T YE $EBYSE@ Y;, SE!EYK

N483$ $ $! LB; M.$$3$! 36646G065

EBT=),S Y_E SE!EYT'  _;,,@,) SE^,S _=Y;  GTT=^, T]TG,BT=EB B)  @,::,)SE!EY HT,, =:K F7IK ;,T, SE!EYT $B !EY; !, $EAAB),) YE 2E@@E_  GY; =BSE]:; Y,SS=BK E_,^,S( Y;, Y_E SE!EYT _=@@ AE^, )=3,S,BY@a @EB: Y;, GY;K

;, _;,,@,) SE^,S _=@@ $EB2ESA YE Y;, Y,SS=B _;=@, Y;, @,::,) SE!EY _=@@

SY=$]@Y, =YT @,:T YE AE^, =YT !E)a @EB: Y;, GY;K ;=@, !EY; SE!EYT 2E@@E_Y;, TA, GY;( Y;,a $;=,^, Y;Y ]T=B: )=3,S,BY !E)a AEY=EBTK E Y Y;,:,B,S=$ @E$EAEYES @,^,@( !EY; TaTY,AT S, $EAAB),) YE 2E@@E_  GY; ,^,BY;E]:; Y;,a $;=,^, Y;Y :E@ =B )=3,S,BY _aTK ;, $EAAEB TYY,T Y Y;,

@E$EAEYES @,^,@ S, Y;, SE!EYRT GET,( Y;, BEY=EB E2  GY;( B) Y;, BEY=EB E2

;, A>ES $;@@,B:, $EA,T 2SEA )=3,S,B$,T =B T,BTES $EB6:]SY=EBT Y;Y S,

EB T=A=@S G;aT=$@ SE!EYTK =A=@S SE!EYT Aa ]T, )=3,S,BY T,BTES $EB6:]S<Y=EBT Y;Y GSE)]$, T=A=@S =B2ESAY=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 BGAG065B &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 $EB6:]SY=EBTK ;=T =T GSY=$]@S@a =AGESYBY T Y;,S,

S, A]@Y=G@, =AG@,A,BYY=EBT Y;Y Aa $;=,^, Y;, TA, S,T]@YK EA, Aa !,

^=@!@, =B ;S)_S, _;=@, EY;,ST Y;SE]:; TE2Y_S,K ;=T =T !,TY =@@]TYSY,)

!a Y;, ,`AG@,T !,@E_K

N483$ G$A$6 4$AB LB; 30!AC BK5 B$5B6A LB; 648BB

EBT=),S T,BTEST Y;Y :,B,SY, Y,SS=B )Y Y;Y =T S,GS,T,BY,) T Y;S,,<)=A,BT=EB@ GE=BY $@E])TK E :,B,SY, Y;=T )Y( EB, $B ,=Y;,S ]T,  @=)S

ES  TY,S,E $A,S G=SK ;=@, !EY; ),^=$,T ,^,BY]@@a :,B,SY, GE=BY $@E])T(Y;,T, Y_E ),^=$,T EG,SY, _=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$,B, !]Y @,TT Y=A, YE :,B,SY,Y;, ),GY; =B2ESAY=EB( _;=@, Y;, EGGET=Y, =T YS], 2ES TY,S,EK ;,T, !,;^=ES@)=3,S,B$,T :,B,SY, $EBTYS=BYT EB Y;, EG,SY=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: $A,S AE),@T YEY;S,, )=A,BT=EB@ AG( Y;,B E]S @:ES=Y;AT T;E]@) BEY ),G,B) )=S,$Y@a EB

 TY,S,E GSE$,TTES !]Y SY;,S EB Y;, Y;S,, )=A,BT=EB@ AG ES  GE=BY $@E])TE]S$,K
Y;S,,<)=A,BT=EB@ GE=BY $@E]) $B @TE !, :,B,SY,) 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 SB:,

=BY,S2$,) YE TY,S,E $A,ST 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,STK

BEY;,S ,`AG@, =T _=Y; @:ES=Y;AT Y;Y ]T,  $EAGTTK
AES, :,B,S@

@:ES=Y;A _E]@) T]!TY=Y]Y, =YT ]T, E2  $EAGTT $@TT _=Y; Y;, :,B,S=$ !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;  $EAGTTK

U5 H
HH )R?R

.33%5-% 0(%>%5C 9030C0%?

=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) AB,]^,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 $B AE^, @Y,S@@aH$S!I _;=@, GSY=@@a<TY,,S!@, H$S<@=?,I SE!EY $B $;=,^, Y;, TA, S,T]@YEB@a ^=  GS@@,@ GS?=B: AB,]^,S H=:K F7HI YE H)IIK E!=@, SE!EYT _=Y;GTT=^, 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=$ AB=G]@YEST ;^, T=A=@S B]B$,TK E=BY $EB6:]SY=EB B) ),:S,,TE2 2S,,)EA S,T]@Y =B )=3,S,BY $EBTYS=BYT EB Y;, AB,]^,S!=@=Ya E2 Y;, ,B)S,)]B)BY SAT $B $;=,^, @@ GET,T _=Y; =B6B=Y, GETT=!=@=Y=,TK

63KG065 B$ 4K3G0/3$L$3 46!$3 BGAG065B 5! B$8AG$ 46!$3B &A64 65GA63

,^,@EG  :,B,S=$ AE),@ S,GS,T,BYY=EB 2ES A,$;B=TATK ,^,@EG :,B,S@=b,)

?=B,AY=$ B) )aBA=$ @:ES=Y;AT Y;Y ]T,  :,B,S=$ AE),@ S,GS,T,BYY=EBK

SE^=),  A,BT YE E^,SS=), Y;, :,B,S=$ $G!=@=Y=,T _=Y; ,4$=,BY TG,$=@=b,)EB,T T]$; T TG,$=@=b,) 2ES_S) B) =B^,ST, ?=B,AY=$TK

V̈Ûi - Õà «i ˜Ã ˆœ˜ ­> VÌÕ> Ìi ` ˆ˜ŽÃ ®

& "& :/)Q)?W >)"8?:R>R BQ ]8))=)& QBBWR

8) 

W_ QB;)"W U3

,GSY, 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;, TA, TE2Y_S, TYS]$Y]S,

T $EBYSE@ A?,T Y;,=S ]T, E]YT=), Y;Y $EBY,`Y ^,Sa )=4$]@YK

/))

'

2

& "*& )EQW:?6 >B&)= QB> "B?WQB=

=:K FW T;E_T Y;, S,@Y=EBT;=G !,Y_,,B  :,B,S=$ ,$;B=TA E),@ B) 

B=TAT T]$; T  T=`<_;,,@ SE$?,S<!E:=, A,$;B=TA ES  2E]S<_;,,@ SE$?,S A,$;<

B=TA( _;=$; GSE^=), TG,$=@=b,) ?=B,AY=$ TE@]Y=EBT 2ES Y;,=S S,TG,$Y=^, A,$;<

E),@ $@TT( _;=$; ?,,GT Y;, AE),@ ;=,SS$;a T,GSY, 2SEA Y;, $EBYSE@ ;=,S<

S$;aK ,$]T, E2 Y;=T T,GSY=EB(  B^=:YES Y;Y S,M]=S,T =B2ESAY=EB !E]Y

E =@@]TYSY, Y;, =AGESYB$, E2 T,GSY=B: AE),@T 2SEA $EBYSE@( $EBT=),S :,B,S=$ AB=G]@YES $EBYSE@ $@TT Y;Y )E,T BEY T,GSY, Y;, A,$;B=TA AE),@2SEA =YT $EBYSE@ $@TTK Y;,S( Y;=T $@TT ),6B,T Y;, 2ES_S) B) =B^,ST, ?=B,<AY=$ =BY,S2$,T =B  TG,$=@=b,) $@TT Y;Y =AG@,A,BYT Y;, $@ET,)<2ESA =B^,ST,

UU H
HH )R?R

B) 2ES_S) ?=B,AY=$ ,M]Y=EBTK T=B: Y;, 2ES_S) B) =B^,ST, ?=B,AY=$

@:ES=Y;AT BE_ S,M]=S,T Y;, =BTYBY=Y=EB E2 Y;, SA _=Y; =YT AEYEST B) $EB<YSE@@,ST ,^,B _;,B EB@a Y;, ?=B,AY=$ GESY=EBT E2 Y;Y $@TT S, ),T=S,) 2ES

B@ab=B: G@BB,) SA AE^,TK

A,$;B=TA =B2ESAY=EB Y;Y =T ]T,) !a Y;, A]@Y=G@, @:ES=Y;AT GSE^=)=B: 

$EBT=TY,BY S,GS,T,BYY=EB E2 ?=B,AY=$( )aBA=$ B) :,EA,YS=$ =B2ESAY=EBK

A,$;B=TA AE),@ _=@@ S,)]$, $E), )]G@=$Y=EB _;,B AE),@=B: SE!EY=$

8) 

W_ QB;)"W UTTG,$=@=b,) ^,ST=EBT( Y;, :,B,S=$ @:ES=Y;AT GSE^=), E]Y<E2<Y;,<!E` 2]B$Y=EB<

@=YaK E_,^,S( Y;, S$;=Y,$Y]S, T;E]@) T]GGESY TG,$=6$ =AG@,A,BYY=EBT YEE^,SS=), :,B,S=$ @:ES=Y;AT _;,B,^,S GGSEGS=Y, 2ES EGY=A@ G,S2ESAB$,K

A,$;B=TA $B !, S,GS,T,BY,) ]T=B:  YS,, YEGE@E:a =B _;=$; B S<

!=YSSa B]A!,S E2 S=:=) !E)=,T S, $EBB,$Y,) YE EB, BEY;,S ^= >E=BYTK ;,YS,, YEGE@E:a $GY]S,T Y;, :,EA,YS=$ S,@Y=EBT;=GT !,Y_,,B @@ ,@,A,BYT =B Y;,A,$;B=TA T]$; T T,BTEST B) !E)=,T( B) T,S^,T T  S,GET=YESa E2 A,$;B<

=$@ AE),@ =B2ESAY=EBK E T]GGESY A]@Y=G@, $@=,BYT Y;, YS,, S,GS,T,BYY=EB

;T YE !, TYY,@,TT' GET=Y=EB( ^,@E$=Ya( B) $$,@,SY=EB =B2ESAY=EB S,@Y=^, YE

B =B,SY=@ 2SA, =T BEY TYES,) =B Y;, A,$;B=TA AE),@K ;=T ,B!@,T ^S=E]TTaTY,A TYY,T YE !, ]G)Y,) Y )=3,S,BY SY,T B) ,B!@,T Y;, ]T, E2 )=3,S,BYAE),@ YS,, YE GS,)=$Y 2]Y]S, TYY,T 2ES Ba :=^,B =BG]Y TYY,K ;, YS), Y;Y

=T A), ;,S, =T Y;, $ETY E2 S,<$EAG]Y=B: ),S=^,) TYY,T ^TK A?=B: $EG=,T E2Y;, A,$;B=TA AE),@ 2ES ,$; $@=,BY GG@=$Y=EB B) ?,,G=B: @@ Y;,=S =BY,SB@TYY,T ]G YE )Y,K

!E)a H2ES =BTYB$, _;,B ),@=B: _=Y; SE^,S<SA $EES)=BY=EB @:ES=Y;ATIK

EA, EY;,S GG@=$Y=EBT Aa S,M]=S, Y;, YS,YA,BY E2 SAT ES @,:T T T,GSY,,@,A,BYTK

A,$;B=TA AE),@ T;E]@) T]GGESY T,S=@ AB=G]@YEST( $@ET,)<$;=BT(_;,,@,) A,$;B=TAT H=:K F7I( @,::,) A,$;B=TAT( B) $EAGET=Y, A,$;<B=TATK

=:K F- T;E_T Y;, S,@Y=EBT;=GT !,Y_,,B Y;, !E)=,TX>E=BYT B) Y;, :,B,S=$A,$;B=TA AE),@ Y;Y S, ]T,) !a 

GO K

;, ]Y;ES _E]@) @TE @=?, YE Y;B? 

RT ST ,$;BE@E:a SE:SA

=$;S) E@G,( B) !S=,@ )EA?,TA@,,K ;, _ES? ),T$S=!,) =B Y;=T $;G<

,$;BE@E:a( 


A,T ,T,S$; ,BY,S( SB,:=, ,@@EB( B) B=^,ST=YaE2 =BB,TEY ]B),S  $EBYS$Y YE Y;, Y=EB@
,SEB]Y=$T B) G$,
)A=B<

Ta H
HH )R?R

&8C H"3"C88H 85HC83 DODH"4 C.0H"HKC" ;5DC"4<%  )"8?:"= BW) CZX3% "=aU! HH:GG3CHO=1:3=5D=-8L% ZaaUH

aU!
H :`9=&)QB?% H
H )R?R% H :>% ?& H _Q% 8MC!D K50)"! C":C"D"5HH085 8& 4".50D4D &8C C88H0 85HC83 D8&HMC"% ?W)Q?W:B?=

3"4"5HD 8& C"KD3" 81"H 8C0"5H"! D8&HMC"%
&&:RB?9)R=)_% C@@3H

6)?W BBWR ?& _RW)>R F R )6R% )\&G% "WB)Q ZaaXH

*U! H _]Q& ?& H [=% 88H 450:K3H8C 85HC83 K5!"C K50N C3
C88H ;U! HH:GGMMM=1KDM-=8C-% ZaaUH

@*! H EBBQ ?& H )RQ%
C"KD3" 8:"CH0853 D8&HMC" C.0H"HKC" &8C !/

aU! H
H )R?R% H :>>B?R% H :?)R% H [?`%
H :`9=&)QB?% H R9

BBW:" _RW)>R , FZaaUG% ?BH C% ZX+XaH

H :>% 3CHO
5 C.0H"HKC" &8C C"KD3" C88H0 D8&HMC"%  
)QBR)?R)

B?.)Q)?") FQ=?&B% =BQ:&G%
EQ:= ZaaXH

@*! H Q&B9RW)==BW)% H "8?):&)Q% H 8)?% ?& H ?6% 85HC83/D."33
D8&HMC" C.0H"HKC" &8C 84:3"N "3"HC84".503 DODH"4D% ?W)Q?9 @T! H W)]QW% H B=E)% ?& H 8BR=% "D0-5 8& !O54033O C"85)-KC3"C"3/H04" D8&HMC" KD05- :8CH/D"! 81"H%  Q?R"W:B?R B? B.W]Q) ?96:?))Q:?6 -, FC@@TG% ?BH CZH

aU! HH [68? ?& HH )Q<)_% "KD3" 88H 8&HMC" 5! H." 3O/

"CGH-" C81"HH ? HQ[6=: F&HG B.W]Q) ?6:?))Q:?6 BQ ^E)Q:>)?W=

BBW:"R% 
% EQ:?6)Q )Q=6% ZaaUH

3& #34 ;4& #34 ;5HD 8& C& #34 ;KD 3& #34 ; 81& #34 ;H 8C0& #34 ;5H& #34 ;! D8&HMC& #34 ;%... Q&B9RW)==BW)% H & #34 ;8?):&)Q% H 8)?% ?& H ?6% 85HC 83/ D.& #34 ;33 
D8&HMC& #34 ; C.0H& #34 ;HKC& #34 ; &8C 84 :3& #34 ;N & #34 ;3& #34 ;HC84& #34 ;.50 3 DODH& #34 ;4D% ?W)Q?9 @T!