1. Trang chủ
  2. » Kỹ Thuật - Công Nghệ

Software Engineering for Experimental Robotics - Davide Brugali et al Part 13 docx

30 312 0

Đang tải... (xem toàn văn)

Tài liệu hạn chế xem trước, để xem đầy đủ mời bạn chọn Tải xuống

THÔNG TIN TÀI LIỆU

Thông tin cơ bản

Tiêu đề Software Engineering for Experimental Robotics
Tác giả Davide Brugali, et al
Trường học University of Pennsylvania
Chuyên ngành Software Engineering for Experimental Robotics
Thể loại thesis
Năm xuất bản unknown
Thành phố Philadelphia
Định dạng
Số trang 30
Dung lượng 788,52 KB

Các công cụ chuyển đổi và chỉnh sửa cho tài liệu này

Nội dung

Trang 1

8>>& 68: ;:68_:% ?& 8R? 8:?:.BQBBR8?% 88K:/JQQ9 ." )&H

Trang 2

RT @EB: Y,SA E!>,$Y=^,T 2ES =YT ]YEBEAa GSE:SA ))S,TT )=T<GSY, ]BABB,) :SE]B) ^,;=$@, HI( ]BYY,B),) :SE]B) T,BTES HI(

=S HI( B) T]!T, B) T]S2$, H B) I ^,;=$@,T EG,SY=B: YE<

=B $EAG@,`=Ya 2SEA T=AG@, S,$EBB=TTB$, A=B=<T TYS,A=B: ^=),E YE TE<G;=TY=$Y,) ]YEBEAE]T $EA!Y T ,`G@E=Y=B: ,A!,)),) B) S,AEY, T,BT<

=B:K E:,Y;,S( Y;,T, TaTY,AT $B GSE^=), @E_ S=T?( @EB: ,B)]SB$,( !YY@,6,@)T,S^=$,T TT]A=B: Y;,a $B $EAA]B=$Y, B) $EEG,SY, _=Y; ABB,) B)]BABB,) TaTY,ATK

@,S@a $EAG]YY=EB@( TYS]$Y]S@( B) $EBYSE@ S,M]=S,A,BYT _=@@ ^Sa:S,Y@a =B !EY; $EAG@,`=Ya B) T$@, !,Y_,,B G@Y2ESATK ,Y 2]Y]S, 2ES$,TA]TY T;S,  $EAAEB =B2STYS]$Y]S,( $EAAB) B) $EBYSE@ YE GSY=$=GY, =B

>E=BY EG,SY=EBTK ;=T $;GY,S ),T$S=!,T RT ,`G,S=,B$,T )]S=B: Y;, A=<:SY=EB 2SEA  @,:$a( Y,@,<EG,SY,) TaTY,A( YE  AE),SB 2SA,_ES?T !T,)SE!EY=$T GSE:SAK E TT=TY Y;=T A=:SY=EB  $;ET,  _;=Y,!E` 2SA,_ES?

GGSE$; Y;Y ,`Y,B),) Y;, $G!=@=Y=,T E2 Y;, ,`=TY=B:( $),A=$ !T,)( =SE2SA,_ES?K a )GY=B: B ,`=TY=B: 2SA,_ES?  @,G2SE::,) )=S,$Y@a

YE Y;, GG@=$Y=EB ),^,@EGA,BY G;T, E2 GESY=B: @,:$a TaTY,AT =BYE AE),SBSE!EY=$ GG@=$Y=EB B) _=^,) Y;, B,,) YE ),^,@EG B GG@=$!@, 2SA,_ES?K

;=T _;=Y,!E` GGSE$; T^,)   $EBT=),S!@, AE]BY E2 Y=A, B),3ESY E^,S Y;, @Y,SBY=^, P),^,@EG 2SEA T$SY$;P EGY=EBK

˜ ¡°vFƒ| •]˜–[ 2‹n¬¶F¡c †v˜ n‹¡ ·”c¡|„c†¬Fƒ 1‹R‹¬|V£˜ 251 ­½\ ””˜ ­¨sj­ˆ­\ ¯½½¦˜

^ 2”¡|†vc¡{=c¡ƒFv c¡ƒ|† c|]cƒRc¡v ¯½½¦

Trang 3

^,;=$@, G@Y2ESA 2SEA !EY; Y;, $EAAB)T B) $EAA]B=$Y=EBT =BY,S2$,K ;,

 ),T=:B GSE^,) )GY!@, YE EY;,S G@Y2ESAT T]$; T Y;, SS$])

E!$Y _=Y;  !$?;E,( ),G=$Y,) =B =:]S, FK

S)_S, B) TE2Y_S, ),^,@EGA,BY ,^,BY]@@a E^,SYEE? ( ;E_<,^,SK ]!TY=Y]Y=B: YE)aRT Y,$;BE@E:a(  !,$EA,T  AE),TY $EA<AB) =BY,S2$, T=A=@S YE Y;, E=BY S$;=Y,$Y]S, 2ES BABB,) aTY,AT

H I" c9#K ,^,SY;,@,TT(  @,SB,) TEA, ^@]!@, @,TTEBT =B Y;=T,S@a GSE:SA( TG,$=6$@@a Y;Y TaTY,AT !,$EA, AES, ,`G,BT=^,( @,TT S,@=!@,(

B) Y=A, $EBT]A=B: _=Y;'

 Y;, B,,) YE GESY( ,`Y,B) B) A=BY=B $]TYEA=b,) TE2Y_S, $SETT G@Y<2ESAT B) Ga@E)TK

 G@Y2ESAT B) Ga@E)T Y;Y A]TY ,^E@^, $EBY=B]E]T@a YE ^E=) E!TE@,T<

$,B$,K

 G@Y2ESAT B) Ga@E)T Y;Y S, YT? ),G,B),BYK

Trang 4

B]Q&R Q>)]BQ<9R)& ^ B.W]Q) _RW)>R XUT

,TG=Y, Y;, GE_,S B) 8,`=!=@=Ya GSE^=),) !a ;]AB EG,SYEST( Y,@,<EG,SY=EB

=T 2]B)A,BY@@a ABGE_,S =BY,BT=^, B) $EAA]B=$Y=EBT @=B?T $B !, 2S:=@,K

=YT S,T,S$; 2E$]T YE KG65646KB TK ;, GSE>,$Y E!>,$Y=^,T _,S, YE !]=@)G,STEBB,@ B) Y,$;B=$@ $G!=@=Ya =B A]@Y=^,;=$@, SE!EY TaTY,AT YS:,Y,) YS,$EBB=TTB$, =B A,)=]A $EAG@,`=Ya Y,SS=BK

F<8 .%   >71%C

B,,),) B  TYSY,:a Y;Y _E]@) G,SA=Y A]@Y=G@, =B^,TY=:YEST YE $E@<

@!ESY, EB ]BABB,) TaTY,ATK B@=?, $EAA,S$=@ TaTY,A =BY,:SYEST EB B

=B)]TYS=@ GSE>,$Y(  S,@=,T EB ^E@]BYSa $EBYS=!]Y=EBT 2SEA  @EET,@aES:B=b,) Y,A $SETT Y;, :,B$a YE  ),^,@EG B) Y,TY  S,T,S$; TaTY,AK

B@a  T,Y E2 @EB: Y,SA E!>,$Y=^,T( TEA, TG,$=6$ G,S2ESAB$, ,`G,$YY=EBT( T?,Y$;,) ;a!S=) S!=YSY,) $EBYSE@ TaTY,A(  YS:,Y ^,;=$@,( B) T,BTES T]=Y,

$EBTYS=B,) TaTY,A ),^,@EGA,BYK ^,S  G,S=E) E2 F7 AEBY;T( <]4,@)

TT,A!@,) Y_E SE!EY=$ TaTY,AT' EB, 2E]B),) EB Y;, ,:_a B) Y;, EY;,S

EB $EB^,SY,) Ea?,S GYESK ;, ,:_a GSE>,$Y 2A=@=S=b,) Y;, Y,A_=Y; @a,SXY:," cZ#( !T=$ T,BT=B:( B) Y;, G,S=@T E2 TaTY,AT =BY,:S<Y=EBK ;, GYES GSE>,$Y _E]@) S,GS,T,BY B,_ ),^,@EGA,BY ]T=B: )=TYS=!]Y,)GSE$,TT=B: TE2Y_S,( TEG;=TY=$Y,) T,BT=B: B) AGG=B:K

F<F %=G0>%4%5C? 53K?0?

YS,Y=B: Y;, T T R!@$? !E`,TR B) ,TY!@=T;=B: Y;, E]YT=), S,M]=S,A,BYTE2 ^,;=$@, G,S2ESAB$,K ;, S,M]=S,A,BYT )E$]A,BY E]Y@=B,)( =B ),Y=@( Y;,Y,ART ,`G,$YY=EBT E2  @B) A]@Y=^,;=$@, TaTY,A =B Y_E KG65646KB $A

S,$EBB=TTB$, YT? _=Y;  A=B=A]A E2 TYEG<Y;=B? !,;^=E]SK ]EY=B: 2SEAY;, )E$]A,BY'

< _E]@) !, =),BY=$@ _=Y; Y;, $;B:, Y;Y  A=TT=EB G@B _E]@) !, ),<

^,@EG,) ]YEBEAE]T@a !T,) EB <GS=ES= ,@,^Y=EB AGTK ;,T, @EET, E!>,$Y=^,TYY,A,BYT _,S, ,`GB),) =BYE AES, ),Y=@,)( E2Y,B B]A,S=$@( S,M]=S,A,BYT

Trang 5

& -& ? RWQ"W "B?WQB= =B"< &:6Q> B Q:WQW)& 8_Q:& "B?WQB=H

T]$; T :SE]B) TG,,) B) E!TY$@, )=A,BT=EBTK @Y=AY,@a( Y;E]:;( Y;, S,<M]=S,A,BYT T,S^,) !EY; T  A,T]S, E2 GSE:S,TT YE_S)T B =),@ B) T A,BT YE $EBTYS=B TE2Y_S, ),^,@EGA,BYK

F<D 75%9CG3 %?0-5

=Y; Y;, R!@$? !E`R $;S$Y,S=TY=$T E2 Y;, TaTY,A GS,T$S=!,)( Y;, Y,A $E]@),`G@ES, G@]T=!@, ^,;=$@, $EBYSE@ S$;=Y,$Y]S,TK S@a =B Y;, GSE>,$Y Y;, Y,AT,YY@,) EB Y;, =B$S,T=B:@a GEG]@S ;a!S=) S!=YSY,) $EBYSE@ G;=@ETEG;a H,K:K

ES T,@,$YT  $E]ST, E2 $Y=EB !T,) EB Y;, =BG]Y 2SEA A]@Y=G@, $EBYSE@@,STK

,B,SY=B:  $EAAEB E]YG]Y 2ESAY( ,$; !,;^=E]S $EBYSE@@,S S,:]@Y,T T]!T,Y E2 E!T,S^,) ^S=!@,T !T,) EB ]B=M], =BG]YT B) @:ES=Y;ATK ES ,`A<G@,' Y;E]:; E!TY$@, ^E=)B$, B) _aGE=BY 2E@@E_=B: !EY; =TT], TY,,S=B: B)TG,,) $EAAB)T( E!TY$@, ^E=)B$, S,:]@Y,T Y;, $@,SB$, )=TYB$, !,Y_,,BY;, ^,;=$@, B) B E!TY$@,( _;=@, _aGE=BY 2E@@E_=B: S,:]@Y,T TY,,S=B: YE 2E@<

@E_  ),T=S,) YS$?K ;, S!=YSYES $EA!=B,T ES T_=Y$;,T !,Y_,,B Y;,T, =BG]YT

YE ,BT]S, T2, YS^,@ YE Y;, E!>,$Y=^,K ;=T G@Y2ESA<B,]YS@ $EBYSE@ TYS]$Y]S,TYS]$Y]S, E3,ST T$@!=@=Ya B) ,`Y,BT=!=@=Ya Y;SE]:; $EAG]Y=B: GS@@,@=TA(

!]Y S,M]=S,T TEG;=TY=$Y,) $EAG]Y=B: A=))@,_S,K ;, 2E@@E_=B: T,$Y=EBT ),<Y=@ Y;, TaTY,ART T,BT=B: B) ^,;=$@, $EAGEB,BYTK

3C'7>4

 T,@,$Y,)  AE)=6,) Ea?,S GYES T Y;, ]BABB,) :SE]B) ^,;=$@,TYY=$ )S=^,YS=B B) :,B,SY,) FK7 ? T]SG@]T ,@,$YS=$@ GE_,SK ;, ^,;=$@,TRGa@E) =B$@]),) GE_,S =B^,SY,ST( M]) B) T=B:@, ,BY=]A T,S^,ST( ,Y;,S<B,Y_ES?=B:K

Trang 6

B]Q&R Q>)]BQ<9R)& ^ B.W]Q) _RW)>R XU@

>79>07%9C0H%

%5?05-;, T,BT=B: TaTY,A $E@@,$Y,) S_ GET=Y=EB B) ES=,BYY=EB )Y 2SEA  ( B

EB,a_,@@ FFcF ;@@ ,3,$Y T,BTEST GSE^=),) EB<!ES) TE2Y_S, _=Y;M])SY]S, G]@T, YS=BT ),T$S=!=B: Y;, )=TG@$,A,BY( ^,@E$=Ya B) )=S,$Y=EB E2,$; 2SEBY _;,,@K  =$SETYS=B Z<F GSE)]$,) ES=,BYY=EB B) B:]@SSY,T _=Y; S,TG,$Y YE :S^=Ya B) A:B,Y=$ BESY;K

JC%>7%9C0H%

%5?05-;, GYES TaTY,A $GY]S,) SB:, )Y Y;SE]:; $Y=^, @T,S B) TY,S,E ),<

Y;SE]:; B ,Y;,SB,Y =BY,S2$,( Y;, ,A!,)),)  $EBYSE@@,S BE)T Y;, @T,S]G YE Cc'T,$ _=Y; cKcV\ ),:S,, S,TE@]Y=EB B) 9$A $$]S$a E^,S F < Zc A,<YS,TK  )EGY,) E=BY S,aRT =:=$@EGT TaTY,A YE GSE^=), ;=:; TG,,)SB:, =A:, TYS,ATK ;, =:=$@EGT ),^,@EGT  )=TGS=Ya AG !,Y_,,B Y;S,,

$A,S =A:, TYS,AT( G]!@=T;=B: Y;, S,T]@Y=B: Z SB:, =A:, TYS,A E^,S

;, S,@,BY@,TT AS$; E2 ,^,S =B$S,T=B: A=$SEGSE$,TTES $EAG]YY=EB@ $G<

$EAG]Y,ST Y;Y ),@=^,S YS)=Y=EB@ OT]G,S $EAG]Y,SP $G!=@=Y=,TK ;=T :SE_Y;

=B $EAG]YY=EB@ GSE$,TT=B: GE_,S =T B ,B!@=B: Y,$;BE@E:a Y;Y @@E_T GSE<:SAA,ST YE =AG@,A,BY ,^,SAES, ,@!ESY, TE2Y_S,K

E)aRT `T( _=Y; B ,`Y,BT=^, T]=Y, E2 T,BTEST B) $G!=@=Y=,T( S,M]=S,TEG;=TY=$Y,) @:ES=Y;AT Y;Y a=,@) $EAG@=$Y,) TE2Y_S, =AG@,A,BYY=EBTK

]$; ` TE2Y_S, ,B:=B,,S=B: $;@@,B:,T ),^,@EGA,BY Y,AT YE ,4$=,BY@a

B) ,3,$Y=^,@a AB:, Y;, $EAG@,`=Ya( T=b,( B) )=^,ST=Ya E2 TE2Y_S, $EAGE<B,BYTK E!Y=$T S,T,S$;,ST ;^, T,=b,) ]GEB Y_E =AGESYBY TE2Y_S, $EB$,GYT(A=))@,_S, B) 2SA,_ES?T( =B Y;,=S M],TY YE $EBYSE@ Y;=T $EAG@,`=YaK

=^,B =YT @EB: Y,SA E!>,$Y=^,T(  =),BY=6,) $EAA]B=$Y=EBT A=))@,_S,

T  ?,a YEE@ 2ES AB:=B: TE2Y_S, $EAG@,`=Ya"E_cc!# B) ,^@]Y,)  B]A<

!,S E2 A=))@,_S, YEE@?=YTK ;, ,^@]Y=EB GSE$,TT $,BYS,) EB A=Y=:Y=B: Y;,S,T,S$; @=2, $a$@, S=T?T 2E]B) =B ),T=:B( ),^,@EGA,BY( A=BY,BB$,( G]!@=$<Y=EB B) $EAA,S$=@=bY=EB E2 S,T,S$; TE2Y_S, Y;Y( B,^,SY;,@,TT( GGSE$;,T

=B)]TYS=@ M]@=Ya B) S,@=!=@=YaK ;, S,M]=S,A,BYT @=TY,) !,@E_( Y;E]:; T]!<

>,$Y=^,( $GY]S,) RT GS=ASa $EB$,SBT'

Trang 7

XTa HH QBW)? )W =H

Y;, SG=) G]!@=$Y=EB B) :SE_Y; E2 B,_ Y,$;B=M],T _=Y;=B B) !,Y_,,B

 G,B EE@T' ]GGESY B) ]T, E2 EG,B TE]S$, YEE@T B) EG,SY=B: TaTY,AT,BT]S,T Y;Y ),^,@EG,ST )E BEY !,$EA, ESG;B,) !a GSEGS=,YSa Y,$;<B=M],TK

 EAGEB,BY T,)' E2Y_S, !T,) EB $EAGEB,BY T,S^=$,T( SY;,S Y;BT=B:@, E!>,$Y ;=,SS$;=,T( YE ,B$E]S:, AE)]@S( T$@!@,( B) )=TYS=!]Y,)

 ,$EB6:]SY=EB' =TT=EB B) Ga@E) ^S=Y=EB A?,T )aBA=$ S,$EB6:<]SY=EB ;=:;@a ),T=S,!@,K

 GG@=$!=@=Ya' ;, YEE@?=Y A]TY BEY S,TYS=$Y Y;, GG@=$Y=EB )EA=B B)A]TY $$EAAE)Y, $]SS,BY B) 2]Y]S, SE!EY=$ S$;=Y,$Y]S,T( Ga@E)T(

B) A=TT=EBT( GSY=$]@S@a A]@Y=<SE!EY YT?TK

 ,TE]S$, T:,' =Y; )STY=$ ^S=Y=EB =B GETT=!@, T$@,( A,AESa B)TYES:, TG$, T;E]@) !, $EBT,S^,) B)XES T]GGESY E3<@E),) $EAG]YY=EBK

 ,S2ESAB$,' ]YEBEAE]T ^,;=$@,T B,,) 2TY GSE$,TT=B: YE AE^, Y ;]ABSY,T EB Y;, !YY@,6,@)( A?=B: ;=:; $EBYSE@ SY,T _=Y; @E_ E^,S;,) ^,Sa

=AGESYBYK

 T:,' EG]@S=Ya B) AY]S=Ya E2 Y;, YEE@?=Y =B8],B$,T )EGY=EB B) Y;,B]A!,S E2 $EAGSY=^, ,`G,S=A,BYTK

 T, E2 ]T,' =A=@S@a( ,T, E2 ]T, _=@@ _=),B Y;, YEE@?=YRT GEG]@S=Ya B)

@E_,S ),^,@EGA,BY $ETYTK

!@, F @=TYT $EAA]B=$Y=EBT A=))@,_S, YEE@?=YT S,^=,_,) !a K ;,A=))@,_S, YYS=!]Y,T _,S, T]!>,$Y=^,@a SB?,) EB  7 GE=BY T$@,( _=Y; F),BEY=B:  @E_ SB?=B:K !@, \ @=TYT Y;, A=))@,_S, BA, $SEBaAT ]T,) =B

Trang 8

B) @EB: Y,SA ^=!=@=Ya S, ]B?BE_BK ;]T  $EB$@]),)  B) 

S, Y;, AETY T]=Y!@, $EAA]B=$Y=EBT A=))@,_S, 2ES `TK

;B:=B: 2E$]T 2SEA Y,@,<EG,SY=EB YE ]YEBEAa(  S,^=,_,) Y;, ;=T<YESa E2 SE!EY=$ S$;=Y,$Y]S,T B) ,`A=B,) $]SS,BY S$;=Y,$Y]S, YS,B)TK ^,SY;, @TY \c a,ST( SE!EY=$T ;T T;=2Y,) 2SEA G;=@ETEG;=$@@a :SE]B),) ),@=!<,SY=^, SY=6$=@ =BY,@@=:,B$, B) S,$Y=^, T]!T]AGY=EB<,TM], S$;=Y,$Y]S,T YEGS:AY=$ A?,<=Y<_ES? ;a!S=) S$;=Y,$Y]S,TK ;=T A=:SY=EB YE GS:AY=TA(

$GY]S,) !a E_)a"E_cc#( S,TEBY,T _=Y; RT @EB: ,`G,S=,B$, _=Y;

TK E_)a :SE]GT SE!EY=$ S$;=Y,$Y]S,T =BYE Y;ET, )S=^,B !a ,=Y;,S S,2<,S,B$, ES ,A,S:,BY S$;=Y,$Y]S, G;=@ETEG;=,TK ,2,S,B$, S$;=Y,$Y]S,T ,TY!<

@=T; =),@=b,) :]=),@=B,T 2ES $EAGEB,BY ),T=:B B) )Y 8E_K ;, ,A,S:,BY

Trang 9

XTZ HH QBW)? )W =H

G;=@ETEG;a ,T$;,_T Ba T=B:@, S,2,S,B$, ),T=:B( )^E$Y=B: TE2Y_S, 2SA,<

 _T  S,2,S,B$, S$;=Y,$Y]S, Y;Y( ]@Y=AY,@a( $E]@) BEY GSE^=),Y;, B,$,TTSa 8,`=!=@=Ya( ,`Y,BT=!=@=Ya( B) T$@!=@=Ya 2ES ]YEBEAE]T A=@=YSaSE!EY=$TK ))=Y=EB@@a(  _T  P$@ET,) TaTY,AP( T]GGESY,) B) ]T,)

!a EB@a  B)  2,_ T,@,$Y,) $EBYS$YEST( Y;]T A?=B: =Y )=4$]@Y 2ES

 YE @,^,S:, B) ]Y=@=b, EY;,S TE]S$,T E2 S,T,S$;K

 $EB$@]),) 2SEA =YT  ,`G,S=,B$, Y;Y EG,B TE]S$, TE2Y_S,

B) $E@@!ESY=^, S,T,S$; S,  $S]$=@ A,BT E2 $GY]S=B: B) $EAA]B=$Y<

=B: T$=,B$,( Y;, ]@Y=AY, GSE)]$Y E2 RT ` S,T,S$;K

 ,^@]Y,) $B)=)Y, SE!EY=$T 2SA,_ES?T ]T=B: Y;, TA, $S=Y,S=

T B,Y_ES?=B: A=))@,_S,( _=Y; Y;, ))=Y=EB Y;Y ,$; 2SA,_ES? T;E]@)'

 T]GGESY B ,A,S:,BY S$;=Y,$Y]S@ ),T=:B TYSY,:aK

 T]GGESY AE)]@S( ,`Y,BT=!@,( 8,`=!@, B) T$@!@, TE2Y_S, TaTY,ATK

 ]T, TYB)S) $EAA]B=$Y=EBT A=))@,_S, YEE@?=YTK

!°„c¡‹°£ ¡‹R‹¬|V£ F¡Vy|¬cV¬°¡c£ ¶c¡c ¡cµ|c¶c]S ½uT |†Vƒ°]|†v ,ƒF¸c¡©

1,S|¡hˆT\ ?Fµ|c¡S22ˆhT\ 2F”y|¡FS ˆhT F†] |¡‹S7½¯\ 72½sT F†] #¡VFS >½sT˜ 5FRƒc ­ ”¡‹µ|]c£ „‹¡c ]c¬F|ƒ£ ‹† F

£cƒcV¬c] ƒ|£¬ ‹n F¡Vy|¬cV¬°¡c£˜ 5yc ¡F¬|†v v|µc† ¬‹ cFVy VF¬cv‹¡¸ ¡F†vc£ n¡‹„ F

ƒ‹¶ ‹n ‘ ¬‹ F y|vy ‹n ­ F†] F¡c £°RcV¬|µc µFƒ°c£ n¡‹„ ¬yc µ|c¶ ”‹|†¬£ ‹n ¬ycF°¬y‹¡£˜

T=B: Y;, !E^, $S=Y,S= Y;, @=TY E2 GEY,BY=@ $B)=)Y,T _T M]=$?@a S,)]$,)

YE @a,SXY:,( SA,B( S=,( =SE B) S$K !^=E]T $B)=)Y,T T]$;

B)( _;=@,  B)  ),6B, S,2,S,B$, S$;=Y,$Y]S,TK

Trang 10

B]Q&R Q>)]BQ<9R)& ^ B.W]Q) _RW)>R XTX

;, 6^, S,A=B=B: 2SA,_ES?T _,S, ,`A=B,) 2ES Y;,=S !=@=Ya YE A,,Y Y;,B,,)T E2 =AG@,A,BY=B: ]YEBEAa EB ^,;=$@,T Y K ;=T =B^,TY=:Y=EB $EB<

$@]),) Y;Y 2SA,_ES?T !T,) ]GEB Y;,  $EAA]B=$Y=EBT A=))@,_S,

;,@) Y;, AETY GSEA=T, =Y Y,SAT E2 @@E_=B:  AE)]@S( ,`Y,BT=!@,( 8,`=!@, B)T$@!@, S$;=Y,$Y]S, YE ,A,S:,K _E E2 Y;, S,^=,_,) 2SA,_ES?T _,S, !T,)]GEB  B) EB@a EB, E2 Y;,T, 2SA,_ES?T =T $EAG@,Y,) B) =B $]SS,BYSE!EYT( ;) !EY; Y;, 8,`=!=@=Ya B) ,`GB)!=@=Ya YE T,S^, T  2E]B)Y=EB 2ES

RT ` GSE:SAK

,<8 5C>7"GC075

;E]:; ^,Sa GE_,S2]@ B) SE!]TY(  ;T  TY,,G @,SB=B: $]S^,K T A,T]S, E2 Y;=T $EAG@,`=Ya( Y;,  !=!@,( !L5$!  A6-A4/405- M0G <<" CC#( Y  Fccc G:,T =T T]SGTT,) !a Y;, Y_E<^E@]A, 

$L$368$A@B K0!$ "cZ# Y GGSE`=AY,@a F7cc G:,TK ESY]BY,@a( 2ESSE!EY=$T S,T,S$;,ST( Y;, =SE 2SA,_ES? ,B$GT]@Y,T A]$; E2 Y;=T $EAG@,`<

=Ya _=Y;=B  TA@@( AB:,!@, YEE@T,Y"YbcZ#K

=:]S, Z T;E_T Y;, S,@Y=EBT;=GT !,Y_,,B Y;,T, $EB$,GYT( _;=@, Y;, 2E@@E_<

=B: T,$Y=EBT =BYSE)]$, Y;,T, $EB$,GYT =B AES, ),Y=@K

5C%>'% %?>09C075 5-G-%

G=@,S YSBT2ESAT Y;=T ),T$S=GY=EB =BYE $@=,BY B) T,S^,S T=), $E), ]T=B:  @B<

$EAGEB,BY _=Y; B =BY,S2$, Y;Y @@E_T =B),G,B),BY GSE$,TT,T YE ,`$;B:,

=B2ESAY=EB =B  B,Y_ES? YSBTGS,BY ABB,SK ;=@,  T]GGESYT B]A,SE]T

@B:]:, !=B)=B:T =B$@])=B: ^( LL(  B) ESYSB( =SE $]SS,BY@a ]T,TEB@a Y;, LL @B:]:, !=B)=B:K

Trang 11

XT5 HH QBW)? )W =H

-iẶiĂ

-iẶiĂ >“ˆ˜}-iẶˆVi

,i}ˆÊÌiĂ ,iʜÛi ,iʜÛi

A=B: ,S^=$, @@E_T  =SE T,S^,S ES $@=,BY YE S,TE@^, B E!>,$Y BA, YE

B ,`Y,SB@ E!>,$Y S,2,S,B$, B) =BTYBY=Y, Y;, E!>,$Y S,2,S,B$, @E$@@a( ,^,BY;E]:; =Y ,`=TYT EB BEY;,S =SE T,S^,SK ES ,^,BY $;BB,@T Y;, A=B: ,S^=$,,B!@,T  =SE T,S^,S YE T]!T$S=!, YE B ,^,BY $;BB,@ ]T=B:  T=AG@, Y,`YTYS=B:K

T=B: Y;, =SE T,S^,S 2SA,_ES?( !EY; YS)=Y=EB@ $@=,BY<T,S^,S YSBT$Y=EBT

B) ,^,BY )S=^,B GSE$,TT=B: $B E$$]S T=A]@YB,E]T@aK L$5GB $B !, !SE)$TY

ES 8K30B.$! EB B ,^,BY $;BB,@ YE A]@Y=G@, BKBA0$AB( _;=@, Y;, T,S^,S $BS,TGEB) YE YS)=Y=EB@ GE@@=B: S,M],TYT 2SEA  $@=,BY*K ;, =SE T,S^,S ]T,T Y;,

Trang 12

B]Q&R Q>)]BQ<9R)& ^ B.W]Q) _RW)>R XT3

H%5C .55%3? 5"

73305-T=B:  $G!=@=Y=,T =SE =AG@,A,BYT !EY; Y;, A,TT:, B) =B2ESA<Y=EB GS)=:AT( T GE@@=B: B) ,^,BY $;BB,@T S,TG,$Y=^,@aK B),S Y;, GE@@=B:GS)=:A  =SE $@=,BY )=S,$Y@a S,M],TYT B) S,$,=^,T )Y 2SEA  =SE T,S^,SK

^,BYT $;BB,@T( =AG@,A,BY,) ]T=B: Y;,  EY=6$Y=EB ,S^=$,( @@E_

 =SE T,S^,S YE BEBaAE]T@a T]!T$S=!, YE ,^,BYT G]!@=T;,) !a BEY;,S =SET,S^,SK =:]S, Z T;E_T !EY; E2 Y;,T, )Y ,`$;B:, =AG@,A,BYY=EBTK

C J.5-%? CC%>5?

;, =SE 2SA,_ES? ,B!@,T )Y ,`$;B:,T Y;Y );,S, YE TG,$=6$ GYY,SBTK

ES  =SE T,S^,S Y;,T, GYY,SBT =B$@]),'

 ,:=TY,S B ,^,BY $;BB,@ ]B),S  Y,`Y TYS=B: BA,K

 ,:=TY,S B E!>,$Y S,2,S,B$, ]T=B:  Y,`Y TYS=B: BA,K

 ]!T$S=!, YE B ,^,BY $;BB,@ B) S,$,=^, G]!@=T;,) ,^,BYTK

 ,TE@^, B E!>,$Y BA, =BYE B E!>,$Y S,2,S,B$, B) GE@@=B: Y;, E!>,$Y

=BY,S2$, 2ES )YK

;, =SE $@=,BY =T @=A=Y,) YE S,TE@^=B: B E!>,$Y BA, =BYE B E!>,$YS,2,S,B$, B) GE@@=B: Y;, E!>,$Y =BY,S2$, 2ES )YK

,<F %?0-5 CC%>5?

;, =SE T,S^,S B) $@=,BY GSE$,TT,T( S,2,SS,) YE =B ,$Y=EB 9KF( S, $EBTYS]$Y,)]T=B: EB, E2 Y;S,, !T=$ ),T=:B GYY,SBTK @@ TE2Y_S, =AG@,A,BY,) ]T=B: Y;,T,),T=:B GYY,SBT ;^, ),6B,)  E!>,$Y =BY,S2$,T( ES =B TE2Y_S, GS@B$,Y;,T, ),T=:B GYY,SBT a=,@) 64865$5GBK

;, 2E@@E_=B: T,$Y=EBT GSE^=), ),Y=@T EB Y;, =AG@,A,BYY=EB B) ]T, E2Y;,T, ),T=:B GYY,SBTK

G?>0%/G30? %>H%>

;, KBA0$/K30B B$AL$A ),T=:B GYY,SB( =@@]TYSY,) !a Y;, $E@@!ESY=EB)=:SA T;E_B =B =:]S, 9( @@E_T  =SE T,S^,S YE S,$,=^, ,^,BYT( GSE$,TT Y;,)Y( B) G]!@=T; ,^,BYTK T=B: Y;=T ),T=:B GYY,SB Y;, =SE T,S^,S !,$EA,T

B =B),G,B),BY $EAGEB,BY _=Y; =YT =BY,S2$,T ),6B,) !a Y;,  E!<

>,$YT Y;Y 2$=@=YY, ,^,BY T]!T$S=GY=EB B) G]!@=$Y=EB T _,@@ T Y;, E!>,$YT Y;Y ,B!@, GE@@=B:K

;=T ),T=:B GYY,SB S,T]@YT 2SEA Y;, $E@@!ESY=EB E2 Y;, 2E@@E_=B: $@TT,T'

 ;, YS]$Y]S,) ]T;EBT]A,S $@TT S,TGEB)T YE ,^,BYT G]!@=T;,) EB,^,BY $;BB,@T !a EB, ES AES, =SE T,S^,STK

 ;, @:ES=Y;A GSE$,TT,T Y;, )Y GSE^=),) !a Y;, ,^,BYK

Trang 13

 =B@@a Y;, =TGY$;,S $@TT =T S,TGEBT=!@, 2ES T]GG@a=B: Y;,  E!<

>,$YT YE Y;, ,^,BY $;BB,@ _;,S, Y;,a $B !, )=TYS=!]Y,) YE EY;,S =SET,S^,STK

G30? %>H%> 5" %C7>

;, K30B $AL$A 5! $G6A ),T=:B GYY,SB T,S^,T T Y;, !T=T 2ES ;B)@=B:Y;, G;aT=$@ ),^=$, )S=^,S 2SEA Y;, TE2Y_S, Y;Y G]!@=T;,T ,^,BYT B) ,B!@,TGE@@=B:K =:]S, 7 T;E_T  $E@@!ESY=EB )=:SA ),Y=@=B: TYS]$Y]S, E2 Y;=TGYY,SBK

;, 2E@@E_=B: $@TT,T $E@@!ESY, YE =AG@,A,BY Y;=T ),T=:B GYY,SB'

 ;, EBB,$Y=EB $@TT =T S,TGEBT=!@, 2ES AB:=B: Y;, $EBB,$Y=EB !,Y_,,BY;, G;aT=$@ ),^=$, B) =SE( _;=$; =B$@]),T ,TY!@=T;=B: Y;, $EBB,$Y=EB

B) _S=Y=B: $EAAB)T YE Y;, ),^=$,K

 ;, =BY,SS]GY )S=^,B ^,BY B)@,S $@TT S,$,=^,T B) GSE$,TT,T )Y 2SEAY;, EBB,$Y=EB $@TT _;,B )Y =T ^=@!@,K ;=T GSE$,TT=B: =B$@]),TG$?,Y TaB$;SEB=bY=EB B) Y;, $EBTYS]$Y=EB E2  A,TT:, 2SEA Y;, @E_

@,^,@ !aY, TYS,AK

 ;, ,TT:, $@TT ;B)@,T Y;, SE]Y=B: E2 $EAG@,Y,) A,TT:,T YE Y;, EB<T]A,S $@TTK

Trang 14

& & [=:R8 )Q\)Q ?& )"WBQ )R:6? WW)Q?

 ;, EBT]A,S $@TT =T S,TGEBT=!@, 2ES Y?=B: Y;, ),^=$, TG,$=6$ A,TT:,

@@ $@TT,T ]G YE Y;=T GE=BY S, ),^=$, TG,$=6$ _;=@, Y;, E]YG]Y 2SEA Y;,

EBT]A,S $@TT ]T,T  :,B,S=$  E!>,$Y B) Y;]T )=3,S,BY ),^=$,T

,6B,T Y;, GE@@=B: A,Y;E)T E2 Y;,  E!>,$Y( Y;]T @@E_=B: Y;,T,S^,S YE S,TGEB) YE GE@@=B: S,M],TYTK

 =B@@a Y;, =TGY$;,S $@TT =T S,TGEBT=!@, 2ES T]GG@a=B: Y;,  E!<

>,$YT YE Y;, ,^,BY $;BB,@ _;,S, Y;,a $B !, )=TYS=!]Y,) YE EY;,S =SET,S^,STK

30%5C

;, $@=,BY ),T=:B GYY,SB( T;E_B =B =:]S, W( @@E_T  $@=,BY GSE$,TT YE GE@@

 ;, S,TE@]Y=EB E2   E!>,$Y S,2,S,B$, ]T=B: B E!>,$Y BA, @EE?]G

=B Y;, A=B: ,S^=$,K

Trang 15

B ]YEBEAE]T ` S,M]=S,T  S,GS,T,BYY=EB E2 =YT _ES@)( _;=$; @@E_T =Y

YE T2,@a ^E=) E!TY$@,T _;=@, B^=:Y=B:K =:]S, V T;E_T  8E_ )=:SAS,GS,T,BYY=EB E2 Y;, TE2Y_S, Y;Y =AG@,A,BYT SB:, )Y $M]=T=Y=EB B)Y;, $S,Y=EB  Y,SS=B AG S,GS,T,BYY=EB E2 Y;, _ES@)K

;, :,B,SY=EB E2  _ES@) S,GS,T,BYY=EB ]Y=@=b,T Y;S,, T,S^=$,T( Y;, 

,S^=$, =T  TYB)S)  T,S^=$, _;ET, G]SGET, B) ]T:, _T ),T$S=!,)

8) :&)?W:"= >E=)>)?WW:B? "=RR :R :?RW?W:W)& B? W8) "=:)?W ?& R)Q\)Q EQB9

")RR)RH

... class="page_container" data-page="11">

XT5 HH QBW)? )W =H

-iẶiĂ

-iẶiĂ >“ˆ˜}-iẶˆVi

,i}ˆÊÌiĂ ,iʜÛi ,iʜÛi

A=B: ,S^=$,... 251 ưẵ\ ưăsjưư\ ẵẵƯ

^ 2Ă|vcĂ{=cĂFv cĂ| c|]cRcĂv ẵẵƯ

Trang 3

^,;=$@, G@Y2ESA... class="page_container" data-page="6">

B]Q&R Q>)]BQ<9R)& ^ B.W]Q) _RW)>R XU@

>79>07%9C0H%

%5?0 5- ;, T,BT=B: TaTY,A $E@@,$Y,) S_ GET=Y=EB B) ES=,BYY=EB

Ngày đăng: 10/08/2014, 02:21

TỪ KHÓA LIÊN QUAN