Software Engineering for Experimental Robotics - Davide Brugali et al Part 14 potx

2|]cRF¡ j |]]ƒc¶F¡c£ n‹¡ |£¬¡|R°¬c]

^=), S]:@=

?:\)QR:W &)6=: W[&: &: )Q6>B% W=_ AJ+2/J5/+=/G

0

-=8/@=(/-
2SA,_ES? 2ES )=TYS=!]Y,) $EAG]Y=B: $EBT=TYT E2 B =BY,:SY,) T,Y E2 T,S^=$,

$EAGEB,BYT Y;Y @@E_ )=TYS=!]Y,) TaTY,AT YE EG,SY, YE:,Y;,SK aG=$@@a()=TYS=!]Y,) $EAGEB,BY 2SA,_ES?T E3,S Y @,TY Y;, 2E@@E_=B: T,S^=$,T'

 =TYS=!]Y,) ,^,BY AB:,A,BY T]GGESYT )aBA=$ BEY=6$Y=EB E2 ,^,BYTS=T,) !a S,AEY, E!>,$YTK

YE $EEG,SY, S,:S)@,TT E2 Y;,=S B,Y_ES? @E$Y=EB( E2 Y;, EG,SY=B: G@Y<2ESAT _;,S, Y;,a S, ,`,$]Y,)( B) E2 Y;,=S =AG@,A,BYY=EB @B:]:,K

 =TYS=!]Y,) E!>,$Y @E$Y=EB @@E_T $@=,BY E!>,$YT YE ),Y,SA=B, Y S]B Y=A,_;=$; T,S^,S E!>,$YT E3,S Y;, 2]B$Y=EB@=Ya Y;,a B,,)K @=,BY B) T,S^,SE!>,$YT $B GG,S B) )=TGG,S EB Y;, B,Y_ES? )aBA=$@@aK

 ,ST=TY,B$a B) YSBT$Y=EB AB:,A,BY T]GGESYT G,ST=TY,BY TYES:,( $<

$,TT YE )=TYS=!]Y,) )Y( )Y S,G@=$Y=EB B) )Y $EBT=TY,B$aK

T=B:  )=TYS=!]Y,) $EAGEB,BY 2SA,_ES? $EBT=TYT =B ),^,@EG=B: ,B)<]T,S

GG@=$Y=EBT !a ),@,:Y=B: Y;, ,`,$]Y=EB E2 $EAAEB 2]B$Y=EB@=Y=,T YE A=))@,<_S, T,S^=$,TK ;, 2E@@E_=B: )=TYS=!]Y,) $EAGEB,BY 2SA,_ES?T S, $EAAEB@a]T,) YE !]=@) @S:,<T$@, )=TYS=!]Y,) TaTY,ATK

;, EAAEB !>,$Y ,M],TY SE?,S
S$;=Y,$Y]S, H
I H=BET?= FCCVI

=T  TYB)S) 2ES )=TYS=!]Y,) A=))@,_S, ),6B,) !a Y;, !>,$Y B:,A,BY

SE]G HI(  $EBTESY=]A E2 AES, Y;B Vcc ES:B=TY=EBT =B$@])=B: TE2Y<

S$;=Y,$Y]S, ;T S,$;,)  :EE) @,^,@ E2 AY]S=Ya B) =T BE_ =AG@,A,BY,) =BAES, Y;B Y,B $EAA,S$=@ GSE)]$YTK

˜ ¡°vFƒ| •]˜–[ 2‹n¬¶F¡c †v˜ n‹¡ ·”c¡|„c†¬Fƒ 1‹R‹¬|V£˜ 25
1 ­½\ ””˜ ­ˆsj­ˆh\ ¯½½¦˜

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

X@U H Q[6=:

;, !T=$ $EAGEB,BY E2 Y;, S$;=Y,$Y]S, =T Y;, !>,$Y ,M],TY SE?,SHI( _;=$; T;E]@) !, =BTY@@,) EB ,$; $EBB,$Y,) ;ETYK ;,  ]T,TY;, Y]!X?,@,YEB A,$;B=TA 2ES S,AEY, $EAA]B=$Y=EB !,Y_,,B $@=,BY B)T,S^,S E!>,$YTK ;, TY]! B) Y;, T?,@,YEB E2  T,S^,S E!>,$Y S, :,B,SY,) Y

$EAG=@,<Y=A, 2SEA  ),$@SY=^, TG,$=6$Y=EB E2 Y;, T,S^,SRT =BY,S2$, =B Y;,_;=$; A,Y;E)T Y;, T,S^,S E!>,$Y T]GGESYT( _;=$; ,^,BYT Y;, E!>,$Y $B YS=::,S(

B) _;=$; ,`$,GY=EBT Y;, E!>,$Y S=T,TK ;, T,S^,S E!>,$Y $B !, =AG@,A,BY,)

=B Ba GSE:SAA=B: @B:]:, H( LL( ^( ,Y$KIK ;,  =BTY@@,) EB Y;,

),$@SY=EB E2 EB@a !T=$ YaG, S:]A,BYT( _;=$; ;^, YE !, GTT,) YE  S,AEY,T,S^,SK ;, $EBB,$Y=EB !,Y_,,B Y;, TY]! B) Y;, T?,@,YEB =T ,TY!@=T;,) ]T=B:Y;, ,AEY, SE$,)]S, @@ HI A,$;B=TAK

;,  T]GGESYT @E$Y=EB YSBTGS,B$a( T =Y GSE^=),T Y;, $@=,BY _=Y;

 S,2,S,B$, YE Y;, T,S^,S E!>,$Y S,:S)@,TT E2 =YT B,Y_ES? @E$Y=EBK ;, $@=,BYT=),  )=TGY$;,T T,S^=$, S,M],TYT YE Y;, T,S^,S T=),  YSBTGS,BY@aK

=BY,S<^,B)ES  $EAGY=!=@=YaK

;,  T]GGESYT Y;, $EBYSE@ E2 Y;, Y;S,)=B: GE@=$a ]T,) !a Y;, T,S^,ST(T]$; T EB,<Y;S,)<G,S S,M],TY B) EB,<Y;S,)<G,S<E!>,$YTK ;=T Y;S,)=B: $<G!=@=Ya =T Y Y;, !T=T E2 S,$,BY 
,`Y,BT=EBT YE_S)T  S,@<Y=A, HT,, "cc# 2ES  $EAGS,;,BT=^, T]S^,a EB S,$,BY S,T]@YT =B ),^,@EG=B: TYB)S) S,@<Y=A, 
IK

Y_E T,S^=$,T 2ES E!>,$Y @E$Y=EBK

6B) E]Y _;=$; )=TYS=!]Y,) T,S^,S E!>,$YT T]GGESY  :=^,B =BY,S2$,K ;, S),S

,S^=$, S,Y]SBT  @=TY E2 S,2,S,B$,T YE Y;, E!>,$YT( _;=$; ;^, S,:=TY,S,) Y;Y

=BY,S2$, B)  ),T$S=GY=EB E2 Y;, ]T:, $EBTYS=BYT 2ES ,$; E!>,$YK

;, 405- $AL0$ @@E_T $@=,BY E!>,$YT YE =),BY=2a _;=$; =BY,S2$, =T

$T,T( Y;, $@=,BY E!>,$Y ;T YE S,M],TY Y;, T,S^=$, E2  T,S^,S E!>,$Y( _;ET,

=BY,S2$, _T BEY ?BE_B Y $EAG=@,<Y=A,K ;=T A,BT Y;Y Y;, $@=,BY E!>,$Y)E,T BEY ;^,  TY]! E2 Y;, S,AEY, T,S^,S E!>,$Y( !]Y =Y $B ]T,  :,B,S=$ =BY,S<A,Y;E) =B^E$Y=EBT Y S]B<Y=A, "=BCV#K

 ^ ^ =T Y;, !>,$Y S=,BY,) GSE:SAA=B: @B:]:, 2SEA ]B =<

$SETaTY,AT "Eacc#K ;, AETY S,@,^BY $;S$Y,S=TY=$ H$@@,) S=Y, B$,X]B

Ba_;,S,I =T =YT GESY!=@=Ya' ^ GSE:SAT _S=YY,B EB EB, YaG, E2 ;S)_S,

ES EG,SY=B: TaTY,A $B S]B ]BAE)=6,) EB @AETY Ba EY;,S YaG, E2 $EAG]Y,SK

;=T =T GETT=!@, !,$]T, ^ GSE:SAT S, $EAG=@,) =B B =BY,SA,)=Y, 2ES<AY $@@,) !aY,<$E), Y;Y =T =BY,SGS,Y,) !a Y;, ^ =SY]@ $;=B,K ;,AETY =AGESYBY G$?:,T 2ES )=TYS=!]Y,) $EAG]Y=B: S,'

@=B?,) _=Y;=B Y;, $@=,BYRT ))S,TT TG$, Y $EAG=@, Y=A,( !]Y =Y =T )E_B@E),)2SEA Y;, T,S^,S T=), _;,B Y;, $@=,BY B,,)T  $EBB,$Y=EB YE Y;, T,S^,S E!>,$YK

883$GB S, TA@@ :SG;=$@ GG@=$Y=EBT Y;Y S]B _=Y;=B  ,! !SE_T,SK

;,B  S,AEY, ]T,S $$,TT,T  _,! G:, $EBY=B=B:  S,2,S,B$, YE B GG@,Y(Y;, GG@,YRT $E), =T )E_B@E),) 2SEA Y;, _,! T=Y, B) ,`,$]Y,) =BT=), Y;,

!SE_T,SK ;, GG@,Y =T BEY @@E_,) YE $$,TT Y;, @E$@ S,TE]S$,T EB Y;, $@=,BYT=), H,K:K =YT 6@, TaTY,AI( !]Y =Y ,`$;B:, )Y _=Y; Y;, S,AEY, T,S^,SK

$AL3$GB S, TA@@ GG@=$Y=EBT Y;Y S]B _=Y;=B  ,! T,S^,SK ;, GSE:SA<A,S =AG@,A,BYT TG,$=6$ T,S^@,YT EB Y;, T,S^,S T=), B) :=^,T Y;,A B,Y_ES?BA,T =B Y;, TA, _a T =T )EB, 2ES TYB)S) _,! G:,TK
S,AEY, ]T,S

B ,`Y,BT=EB E2 ,S^@,Y Y,$;BE@E:aK

^,@EG=B: T,S^,S<T=), GG@=$Y=EBTK ;, !T=$ $EB$,GY =T Y;,  EBY=B,S( )Y!T, AB:,A,BY GG@=$Y=EB Y;Y GSE^=),T G,ST=TY,B$, B) YSBT$Y=EBT,S^=$,T YE Y;, ,BY,SGS=T, !,BTK

T]TG,B) Y;,=S $Y=^=Ya( A=:SY, YE  S,AEY, ;ETY B) S,T]A, Y;,=S ,`,$]Y=EB

EB Y;Y ;ETYK ,2ES, )=TGY$;( Y;, :@,Y T,S=@=b,T =YT =BY,SB@ TYY, =BYE TYB)S) 2ESAK ;,B Y;, :@,Y SS=^,T Y Y;, S,$,=^,S T=),( =Y =T TT=:B,) B,_ Y;S,) B) ,`,$]Y,)K
B
:@,Y !,@EB:T YE B
:@,YEBY,`Y(  $EBY=B,S

$@TT Y;Y GSE^=),T B =BY,S2$, 2ES Y;, S]BY=A, ,B^=SEBA,BY EB Y;, @E$@ ;ETYK

8,):,) E!>,$Y( _;=$; ,A!,)T Y;, $E<EG,SY=EB GSEYE$E@ !,Y_,,B Y;, $@=,BY B)Y;, T,S^,S B) ,`,$]Y,T HGSY E2I Y;, T,S^=$, @E:=$ _=Y;=B Y;, $@=,BYRT ))S,TTTG$,K @=,BYT )E_B@E) Y;, GSE`a E!>,$Y 2SEA Y;, $ESS,TGEB)=B: ),^=$, B)

=B ES),S YE =),BY=2a ^=@!@, T,S^=$,T EB Y;, B,Y_ES?K

ES),S YE $;=,^, =BY,SEG,S!=@=Ya E2 ;,Y,SE:,B,E]T GG@=$Y=EBTK ;, 2E@@E_=B:2E]S TG,$YT $;S$Y,S=b, Y;, K 2SA,_ES?'

X@* H Q[6=:

;, EAAEB aG, aTY,A HI =T B E!>,$Y AE),@ Y;Y ,`Y,B)T Y;, GS,<

^=E]T  B)  AE),@T _=Y; Y;, :E@ E2 T]GGESY=B: A]@Y=G@, @B<:]:, TE2Y_S, ),^,@EGA,BYK

2ESAT YE Y;, K S=E]T =$SETE2Y B) Y;=S)<GSYa @B:]:, $EAG=@,ST

;, K E2Y_S, ,^,@EGA,BY =Y H I =T B E!>,$Y<ES=,BY,) $E@@,$Y=EB

;, ,TT,B$, E2 Y;, =$SETE2Y GSEGET@ =T Y;, GETT=!=@=Ya E2 $EAG=@=B: ,`=TY<

=B: $E), B) B,_ $E), _S=YY,B =B Y;, GSE:SAA,SRT GS,2,SS,) @B:]:,K ;,S,T]@Y=B: GG@=$Y=EBT $B =BY,SEG,SY, _=Y; $@TT @=!SS=,T B) $EAGEB,BYT_S=YY,B =B )=3,S,BY @B:]:,T ]T=B: Y;, K S]B Y=A, ,B^=SEBA,BYK

EB Y;, Y]!X$;,@,YEB AE),@' Y;, TY]! H$@@,) GSE`aI =T $S,Y,) Y S]B<Y=A,]T=B: Y;, A,Y)Y G]!@=T;,) !a Y;, T,S^,SK

$ $AL0$B S, S,]T!@, $EAGEB,BYT _;=$; S, ]T,) YE ),^,@EG T,S^,S<T=), GG@=$Y=EBTK ;,a $EA!=B, Y;, )=TYS=!]Y,) $EAG]Y=B: $G!=@=Ya _=Y;Y;, ,! GESY@ $EB$,GYT B) $B !, $EAGS,) YE Y;, ^ ,S^@,YT B) K

;,
K =T Y;, ;ETY=B: ,B^=SEBA,BY 2ES ,! T,S^=$,TK @=,BYT ]T, Y;,]!=M]=YE]T _T)@K,`, ]Y=@=Ya H ,! ,S^=$, =S,$YESa T]GG@=,) _=Y; Y;, K

 I YE )=T$E^,S B) 6B) ,! ,S^=$,TK

$A030PG065 @@E_T  A,AESa E!>,$Y ES :SG; E2 E!>,$YT YE !, $EB^,SY,)

=BYE  @=B,S T,M],B$, E2 !aY,T Y;Y $B !, TYES,) EB  )=T? ES T,BY YE BEY;,SB,Y_ES?,) $EAG]Y,SK ;=T A,$;B=TA =T Y Y;, !T=T E2 Y;, K G,ST=TY,B$,T,S^=$, Y;Y ]T,T A,Y)Y =B2ESAY=EB YE ]YEAY=$@@a TYES, B) YE S,$EB<TYS]$Y A,AESa E!>,$YK

 8-9

Q?@@! )?
Q?B=& )W =H% ." 1050;H4< D:"0)H085=%
&&:RB?9)R=)_% C@@@H aa! H _)9B=.)% )W =H% "3/H04" 8C%  Q?R"W:B?R B? Q==)=

?& :RWQ:[W)& _RW)>R ""$"0% F"WH ZaaaGH

1L 5! -3"HD=%
&&:RB?9)R=)_% C@@*H

 aC! 8[? 8: ?& B?6 >% =5"H &C4"M8C2 "DD"5H03D=% P):==_% ZaaCH :?@T! H :?BR<:% 8C 5H"-CH05- !0L"CD" ::30H085D M0H.05 !0DHC0KH"! "H"C8/

;, G,$]@=S=Ya E2 ,Y_ES?,) E!EY=$T =T Y;, G;aT=$@ )=TYB$, !,Y_,,BY;, SE!EY B) Y;, ;]AB EG,SYES Y;Y GS,^,BYT Y;, EG,SYES 2SEA T,,=B:Y;, SE!EY )]S=B: Y;, ,`,$]Y=EB E2 =YT YT?TK ;,S,2ES,( ,Y_ES?,) E!EY=$TTYSEB:@a S,@=,T EB =B2ESAY=EB B) $EAA]B=$Y=EB Y,$;BE@E:a 2ES Y;, ,4$=,BYYSBTA=TT=EB E2 Y;, EG,SYESRT $EAAB)T B) E2 Y;, SE!EY T,BTESa 2,,)!$?TK

=BTYS,A GG@=$Y=EB 6,@)T S,@Y,) YE Y,@,EG,SY=EB E2 G;aT=$@ ),^=$,T

S, G$, E!EY=$T B) ,AEY, ]S:,Sa( _;,S, ,3,$Y=^, ;]AB<SE!EY =BY,S<

$Y=EB !]=@)T EB ),)=$Y,) B) S,@=!@, $EAA]B=$Y=EB B,Y_ES?T H,K:K
 ESTY,@@=Y,I B) TG,$=@=b,) ;S)_S, ),^=$,T H,K:K ,`ET?,@,YEB ATY,S @=B?:,IKEG,SYESRT AEY=EB P=BG]YTP B) 2ES$,T GG@=,) !a Y;, ;GY=$ ),^=$, ^=  $EA<A]B=$Y=EB @=B?( SE!EY AB=G]@YES( B) Y;, ,B^=SEBA,BYK ,a $;@@,B:,T 2ESY;, )^B$,A,BY E2 Y,@,EG,SY=EB Y,$;BE@E:a =B$@]), Y;, ),^,@EGA,BY E2 ;=:;G,S2ESAB$, $EBYSE@ GS)=:AT( )^B$,) A,$;B=TA B) M]BY=YY=^, A,<T]S,T EB Y;, Y,@,EG,SY=EB TaTY,A =B$@])=B: ;GY=$ )=TG@aT( B) B,_ TE2Y_S,A,Y;E)E@E:=,T Y;Y G,SA=Y  ^,Sa $S,2]@ B) GS,$=T, ),T=:B E2 ;=:; G,S2ES<AB$, S$;=Y,$Y]S,T Y  S,TEB!@, ,3ESY =B Y,SAT E2 $ETY B) ),^,@EGA,BYY=A,K

5aZ H Q[6=: )W =H

;, )EGY=EB E2 Y,@,EG,SY=EB Y,$;BE@E:a =B EY;,S GG@=$Y=EB S,T( T]$;

T 2$YESa ]YEAY=EB( S,T$], SE!EYT H,SY;M]?,XY,SSES=TAI( B) B]$@,S ),<

$EAA=TT=EB=B: =T ,B!@,) !a Y;, ]T, E2 TYB)S) <!T,) ]T,S =BY,S2$,T T

T $EAA]B=$Y=EB A,)=]A !,Y_,,B Y;, SE!EY B) Y;, ;]AB EG,SYESK

$ETY ,3,$Y=^, A,$;B=TAT 2ES Y,@,EG,SY=EB Y,$;BE@E:=,T( Y;,a S, T]!>,$Y YE

=B),Y,SA=BY, YSBTA=TT=EB ),@a B) )Y @ETTK E2Y_S, ,B:=B,,S=B: ,B^=SEB<A]B=$Y=EB A,$;B=TAT !a 2$=@=YY=B: Y;, GGSEGS=Y, T;S=B: E2 ]YEBEAa

B) ,`$;B:, E2 =B2ESAY=EB _=Y;=B  )=TYS=!]Y,) TaTY,A !,Y_,,B Y;, ;]ABEG,SYES B) Y;, SE!EY=$ TaTY,AK ;,B ,Y_ES?,) E!EY=$T =T ,AG@Ea,) =BYT?T _;,S, Y;, $EAG@,`=Ya E2 Y;, YT? ES Y;, TYS]$Y]S, E2 Y;, EG,SY=B: ,B<

^=SEBA,BY GS,^,BYT 2]@@ SE!EY ]YEBEAa( T]$; TaTY,AT Aa TY=@@ !,B,6Y 2SEAY;, GG@=$Y=EB E2 =BY,@@=:,B$, YE =B$S,T, Y;, ,4$=,B$a E2 ]T,S $EAAB)TK

]SY;,SAES,( )=TYS=!]Y,) TE2Y_S, ,B^=SEBA,BYT @@E_ Y;, $EBTYS]$Y=EB E2

,Y_ES?,) E!EY=$T TaTY,AT Y;Y T,A@,TT@a T$@, ]G 2SEA EB,<YE<EB, =BY,S$<Y=EB HEB, ;]AB EG,SYES B) EB, SE!EYI YE ABa<YE<ABa =BY,S$Y=EB HA]@<Y=G@, ;]AB EG,SYEST B) A]@Y=G@, SE!EYTIK T,ST $B $E@@!ESY, !,Y_,,BY;,A =B Y;=T )=TYS=!]Y,) =BY,S$Y=EB =B ES),S YE _ES? YE:,Y;,S =B TEA, SE!EY=$T

GG@=$Y=EB H,K:K Y,@,EG,SY=EB E2 T,^,S@ SE!EYT =B  $EAAEB YT?IK T,ST $B

!, @E$Y,) =B )=3,S,BY G@$,TK EAAEB@a( SE!EYT S, =B Y;, TA, :@E!@ ,B<

^=SEBA,BY H,K:K  2$YESaIK E_,^,S( T,^,S@ SE!EYT $B !, T;S=B: Y;, TA,

@E$@ ,B^=SEBA,BY H,K:K GSE)]$Y=EB S,( E4$,T( E]Y)EES S,( ,Y$I( ES ,$;

EB, $B !, =B  )=3,S,BY @E$@ ,B^=SEBA,BYK

? 11/8=@-(=(9 =/ C1+/(= / =B8 A+/1,-=

&-(5@9 (- =B/8* //=(9

Y;Y ;^, !,,B !]=@) ,`G@E=Y=B: T,^,S@ TE2Y_S, ),^,@EGA,BY Y,$;B=M],T( T]$;

T )EA=B B@aT=T( $EAGEB,BYT B) 2SA,_ES?T _;=$; ;^, !,,B Y;ESE]:;@a

B@ab, Y;S,, ,Y_ES?,) E!EY=$T GS)=:AT 2SEA Y;S,, GE=BYT E2 ^=,_'

FK ;, EG,SYESRT SE@,K ,G,B)=B: EB Y;, YT? YE !, ,`,$]Y,)( Y;, EG,S<YES $B GSY=$=GY, YE Y;, SE!EYRT EG,SY=EBT !a S,$Y=B: YE =YT 2,,)!$?T

B) T,B)=B: B,_ $EAAB)T =AA,)=Y,@a( ES ;, $B ,@!ESY, Y;, SE!EYRTTYSY,:a B) !,;^=ES E3<@=B,K

\K ;, SE!EY ]YEBEAaK ,Y_ES?,) E!EYT $B ;^, ]YEBEAa @,^,@T Y;YSB:, 2SEA 2]@@ ]YEBEAa HY;, SE!EY =T :=^,B  YT? _;=$; =Y Y;,B $$EA<G@=T;,T T2,@aI( YE T;S,) ]YEBEAa HY;, EG,SYES =B8],B$,T ES ),$=),T Y;,SE!EYRT !,;^=E]S B) TYSY,:aI( B) YE @=A=Y,) ]YEBEAa HY;, EG,SYES

$EBYSE@T Y;, SE!EY )=S,$Y@aIK

ZK ;, SE!EY<EG,SYES =B2ESAY=EB ,`$;B:,K SEA Y;, $EAA]B=$Y=EB GE=BYE2 ^=,_( Y;, ;]AB<SE!EY =BY,S$Y=EB =T $;S$Y,S=b,) !a Y;, AE]BY B)M]@=Ya E2 =B2ESAY=EB Y;Y ;T YE !, ,`$;B:,) =B ES),S YE G,S2ESA Y;,YT? $ESS,$Y@a B) YE ,`G@E=Y Y;, $EAA]B=$Y=EB A,)=]A ,4$=,BY@aK

;, Y;S,, GE=BYT E2 ^=,_ T,S^, T $EB^,B=,BY T$;,A YE ;=:;@=:;Y TYS,B:Y;T

B) @=A=YY=EBT E2 ,$; ,Y_ES?,) E!EY=$T GS)=:AK ES ,$; GS)=:A T]=Y!@, TE2Y_S, ),^,@EGA,BY GGSE$; =T =@@]TYSY,) _;=$; =T ),T$S=!,) =B),Y=@T =B  T]!T,M],BY $;GY,SK

=@@]TYSY,T TEA, ,`AG@,T EB ;E_ YE ,`G@E=Y Y;, ]B =$SETaTY,AT ^Z

@=!SSa 2ES SE!EY Y,@,EG,SY=EBK

F<8 0>%C 75C>73

;, T=AG@,TY AE),@ E2 =BY,S$Y=EB !,Y_,,B Y;, SE!EY B) Y;, ;]AB EG,SYES

=T Y;, TY,S<@^, $EBYSE@K ;, EG,SYES T,B)T YE Y;, S,AEY, SE!EY H,K:K AB=G]@YES SAI @E_<@,^,@ $EAAB)T H,K:K =B$S,A,BY  >E=BYRT GET=Y=EBI B)S,$,=^,T T,BTESa 2,,)!$?T H,K:K =A:,T 2SEA  $A,S AE]BY,) EB Y;, SAIK

;=T AE),@ E2 =BY,S$Y=EB =T @TE ?BE_B T PAE^,<B)<_=YP TYSY,:a' Y;,EG,SYES =B)]$,T  TA@@ AE^,A,BY B) _=YT YE E!T,S^, Y;, S,T]@YT E2 Y;,AE^,A,BY !,2ES, $EAA=YY=B: YE 2]SY;,S $Y=EBK

;, EG,SYES G@aT Y;, SE@, E2 S,AEY, $EBYSE@@,S =B Y;, ;]AB<SE!EY 2,,)<

!$? $EBYSE@ @EEGK ;, )aBA=$ E2 Y;, YT? =T TT]A,) YE !, M]=Y, T@E_ T=B$,Y,@,EG,SY=EB E2  SE!EY S,M]=S,T =BY,BT, A,BY@ YY,BY=EBK ;, )^BY:, E2

;^=B:  )=S,$Y $EBYSE@ =T Y;Y Y;, EG,SYES $B 2,,@ Y;, ,3,$YT E2 ;=T $EA<AB)T( T=B$, Y;,S, =T  )=S,$Y $ESS,TGEB),B$, !,Y_,,B $Y=EB B) T,BT=B:K

;, SE!EY ]YEBEAa $B !, ^,Sa @=A=Y,) T Y;, SE!EY =T ]B),S Y;, 2]@@

$EBYSE@ E2 Y;, S,AEY, EG,SYESK T]@@a Y;, SE!EY =T Y @,TY !@, YE S,$Y

YE ]B,`G,$Y,) ,^,BYT H,K:K  $E@@=T=EBI =B  T=AG@, B) GS,),6B,) _a( T]$;

T TYEGG=B: Y;, $EAAB) ,`,$]Y=EB B) =B2ESA=B: Y;, S,AEY, EG,SYESK ;,)=S,$Y $EBYSE@ GS)=:A =T ;=:;@a ^,STY=@,( T=B$, =Y )E,T BEY S,M]=S, Y;, SE!EY

YE !]=@) B) ]T,  ),Y=@,) _ES@) AE),@( BES =Y TT]A,T Y;, ,B^=SEBA,BY YE

!, TYY=$ ES TYS]$Y]S,)K

;, A=B )S_!$? E2 )=S,$Y $EBYSE@ =T Y;Y Y;, $EAA]B=$Y=EB @E) =T

;=:; B) Y;Y Y;, EG,SYES 2,,@T Y;, $EBYSE@ E2 Y;, SE!EY ]B),S =AGESYBY

$EAA]B=$Y=EB ),@aT ^,Sa ]B$EA2ESY!@,K ;=T =T )], YE Y_E $;S$Y,S=TY=$T

58A$!0G3$ G04$ !$3OB A,BT Y;Y )Y S, S,$,=^,) _=Y; ^S=!@, Y=A,

=BY,S^@ Y;Y =SS,:]@S@a $;B:,TK
T  $EBT,M],B$,( Y;, $EBYSE@ @EEG !,Y_,,BY;, SE!EY B) Y;, S,AEY, EG,SYES Aa !,$EA, =BTY!@,K ;, EG,SYES =T

=BTY=B$Y=^,@a =B)]$,) YE S,G,Y ES A:B=2a  $EAAB) YE Y;, SE!EY =2 ;,)E,T BEY 2,,@ =YT ,3,$YT _=Y;=B  :=^,B Y=A, =BY,S^@K
Y Y;, EY;,S T=), E2Y;, $EAA]B=$Y=EB @=B?( Y;, SE!EY !,;^=ES =T 3,$Y,) !a Y;, )]SY=EB E2 

$EAAB) ES Y;, Y,AGES@ )=TYB$, !,Y_,,B Y_E $EBT,$]Y=^, $EAAB)TK

Q)?&R :? B.W]Q) ?\:QB?>)?WR BQ )W]BQ<)& BBW:"R 5aX

5a5 H Q[6=: )W =H

6M 5!M0!G A,BT Y;Y Y;, B,Y_ES? YS4$ 3,$YT Y;, 8E_ E2 )Y Y;Y

$B !, GSE6Y!@a ,`$;B:,) !,Y_,,B Y;, SE!EY B) Y;, EG,SYESK  =A:,T

S, T]!TYBY=@@a ),@a,)( B) Y;, T=b, B) M]@=Ya E2 Y;, =A:,T S, =B ABa

$T,T =BT]4$=,BY 2ES Y;, EG,SYES YE G,S2ESA Y;, S,M]=S,) YT?( ,K:K ,TY=AY=B:S,)]$, S,AEY, $EBYSE@ YS4$( 2,,)!$? )Y $B !, $EAGS,TT,) _=Y;E]Y @EET=B:S,@,^BY =B2ESAY=EBK ;,B ^=),E 2,,)!$? =T BEY ,TT,BY=@( =B2ESAY=EB EBY;, SE!EYRT EG,SY=B: TYY, $B !, YSBTA=YY,) YE Y;, S,AEY, EG,SYES =B Y;,2ESA E2 S,@,^BY ,^,BYT E$$]SS,) =B Y;, T$,B, H,K:K Y;, E!>,$Y _T :STG,)

ES )SEGG,)( B ]B,`G,$Y,) E!>,$Y GG,S,) =B Y;, _ES?=B: ,B^=SEBA,BY( Y;,SE!EY ;T S,$;,) Y;, YS:,Y GET=Y=EB( ,Y$KIK

;GY,S
!L5$! $3$68$AG065
A.0G$GKA$( !a
B)S, TY,@@B= ,Y @K),@T _=Y; Y;, GSE!@,AT E2 ]BGS,)=$Y!@, ),@aT B) @E_ !B)_=)Y;K ;, G<GSE$; !]=@)T EB )=TYS=!]Y,) A=))@,_S, Y,$;BE@E:a B) =B GSY=$]@S EB Y;,S,@<Y=A, ,`Y,BT=EB E2 Y;, EAAEB !>,$Y ,M],TY SE?,S
S$;=Y,$Y]S,K ;,GSEGET,) TE2Y_S, 2SA,_ES? 2ES !=@Y,S@( =K,K 2ES$, S,8,$Y=B:( Y,@,EG,SY=EBTaTY,A Y?,T =BYE $$E]BY Y;, A=B 2,Y]S,T E2  ;GY=$ TaTY,A' S,@<Y=A, !,<

;^=ES( )=TYS=!]Y,) S,TE]S$,T B) :,B,S@ G]SGET, TYS]$Y]S,K ;, 2SA,_ES?T]GGESY Y;, =BY,S$EBB,$Y=EB E2 )=3,S,BY ),^=$,T( Y;, ,`G@E=YY=EB E2 )=3,S,BY

$EBYSE@ @:ES=Y;AT( Y;, GSE$,TT=B: E2 )Y 2SEA T,^,S@ B) )=3,S,BY T,BTEST

B) Y;, ]T, )=3,S,BY $EBB,$Y=EB A,)=K <
;T !,,B T,@,$Y,) 2ES =YT

$;S$Y,S=TY=$T Y;Y A?, =Y  T]=Y!@, A=))@,_S, 2ES Y,@,EG,SY=EB TaTY,AT'TYB)S) E!>,$Y =BY,S2$, =B T]GGESY E2 =B$S,A,BY@ AE)]@S=YaU ;=)),B E!>,$Y

@E$Y=EB( =AG@,A,BYY=EB B) YSBTGESY GSEYE$E@T =B),G,B),B$,( T]=Y!@, 2ES

 )=TYS=!]Y,) TE2Y_S, =B2STYS]$Y]S,U G@Y2ESA HGSE:SAA=B: @B:]:,( 

S$;=Y,$Y]S,I =B),G,B),BY( Y;]T $G!@, E2 ]T=B: EGY=A@ AE)]@, =AG@,A,B<YY=EBU S,@<Y=A, T]GGESYU EGY=A=bY=EB E2 A,AESa AB:,A,BY( B,Y_ES? GSE<YE$E@T( $E), :,B,SY=EBU T]GGESY E2 )=3,S,BY YSBTGESY GSEYE$E@U G,S2ESAB$,EGY=A=bY=EB( =K,K Y;, S]B<Y=A, T$;,)]@,S AGT $@=,BY S,M],TYT YE S,@<Y=A,Y;S,)T GS=ES=Y=,TK

F<F .>%" 75C>73

=SY]@ ,@=Ya =T E2Y,B ]T,) T  $EB^,B=,BY YEE@ 2ES ^=T]@@a S,$EBTYS]$Y=B:Y;, SE!EYRT ,B^=SEBA,BY B) !,;^=E]S 2SEA S_ T,BTESa )Y H,K:K Y;, )=T<YB$, A,T]S,A,BYT E2 Y;, SE!EYRT TEBSTI( 2SEA ::S,:Y, )Y H,K:K Y;, ZT;G, E2 E!>,$YT ),Y,$Y,) _=Y;  TY,S,E ^=T=EB TaTY,AI ES 2SEA :,EA,YS=$ )YE2  GS,^=E]T@a ?BE_B ,B^=SEBA,BY H,K:K Y;, !@],GS=BY E2  ?BE_B !]=@)=B:IK

=SY]@ ,@=Ya AE),@T $B !, ,3,$Y=^,@a ),6B,) YE S,GS,T,BY =B)]TYS=@ ,B^=<SEBA,BYT( _;=$; S, ]T]@@a _,@@ TYS]$Y]S,)( TYY=$ ES Y;,=S )aBA=$ =T ?BE_BK

,^,SY;,@,TT( $$]SY,  AE),@T S, )=4$]@Y YE ),6B, B) A=BY=BK aG=<

$@@a( Y;,a S, !]=@) E3<@=B, ]T=B: ]YEAY=$ S,$EBTYS]$Y=EB Y,$;B=M],T !T,)

EB TY,S,E ^=T=EB ES $Y=^, ^=T=EBK ,BTESa =B2ESAY=EB S, 3,$Y,) !a ]B$,S<Y=BYa B) S, ]T]@@a =B$EAG@,Y,K

=SY]@ B^=SEBA,BY HI =T  Z ^=T]@ T=A]@Y=EB Y;Y S,GS,T,BYT Y;,

$EAG]YY=EB@ :,EA,YS=$ AE),@ E2  S,@ ,B^=SEBA,BY $S,Y,) _=Y; $EAG]Y,S:SG;=$T Y,$;B=M],TK
 =B$@]),T T,^,S@ ^=SY]@ E!>,$YT Y;Y S,GS,T,BYTY;, S,@ E!>,$YT Y;Y S, 2E]B) =B Y;, S,@ ,B^=SEBA,BYK EA, E2 Y;Y ^=SY]@E!>,$YT $B !, ^=SY]@ SE!EYTK =T]@ T=A]@Y=EB $B S]B A]$; 2TY,S Y;B Y;,S,@ SE!EY( Y;]T Y;, EG,SYES $B GS,)=$Y Y;, 6B@ TYY, E2 Y;, SE!EY !,2ES,Y;, $EAAB) ;T !,,B S,$,=^,) B) ,`,$]Y,)K ;, EG,SYES $B Y;,B ]T,Y;=T =B2ESAY=EB 2ES GS,GS=B: Y;, B,`Y $EAAB) B) =TT]=B: =Y =B )^B$, =BES),S YE $EAG,BTY, Y;, YSBTA=TT=EB ),@aK

ES ,$; YT? YE !, G,S2ESA,) !a EB, ES AES, SE!EYT( EB, ES AES, EG,SYEST

B@aT, Y;, GSE!@,A( G@B Y;, T,M],B$, E2 $Y=EBT Y;Y TE@^,T =Y( ^,S=2a Y;,SE!EY !,;^=ES =B T=A]@Y=EB( B) 6B@@a( YSBTA=Y Y;, !Y$; E2 $EAAB)T

YE Y;, S,AEY, S,@ SE!EYK ;,  T=AG@=6,T Y;, YT? B@aT=T B) $EAAB)),6B=Y=EB( T=B$, ,$; EG,SYES =T BE AES, $EBTYS=B,) !a Y;, T=B:@, GE=BY E2SE!EYT( Y;,=S YEE@T( B) Y;, T]SSE]B)=B: E!>,$YT 2SEA ,^,Sa GET=Y=EB =B Y;,TG$, !a $;B:=B: Y;, ^=,_GE=BY YE B S!=YSSa GET=Y=EB( bEEA=B: =BXE]Y E2Y;, T$,B, YE B ]B@=A=Y,) ,`Y,BY( B) ]T=B: T,A=YSBTGS,BY =A:,TK B$,),6B,)( Y;, !Y$; E2 $EAAB)T $B !, ,`,$]Y,) S,G,Y,)@a ,^,Sa Y=A, Y;,TA, YT? ;T YE !, G,S2ESA,)K ]S=B: Y;, YT? ,`,$]Y=EB( Y;, EG,SYES G@aTTG,$=6$Y=EBT $;B:,( Y;, EG,SYES A]TY ),6B,  B,_ T,M],B$, E2 $EAAB)T

B) YSBT2,S =Y YE Y;, S,AEY, SE!EYK

;, SE!EY ]YEBEAa !,$EA,T BE_ T=:B=6$BY 2ES Y;, $ESS,$Y ,`,$]Y=EBE2 Y;, !Y$; E2 $EAAB)T S,$,=^,) 2SEA Y;, S,AEY, EG,SYESK ;, 2,,)!$?

$EBYSE@ @EEG =T $EAG@,Y,@a @E$@( Y;]T Y;, SE!EY A]TY !, !@, YE S,$Y YE ]B,`<

$B !, YSBTA=YY,) YE Y;, SE!EY @EB: _=Y; Y;, GS,)=$Y,) 6B@ TYY,( =B ES),S

YE @@E_ Y;, SE!EY YE $EAGS, =YT TYY, _=Y; Y;, GS,)=$Y,) TYY, B) $;,$?S,AEY, EG,SYES Y;Y B ]B,`G,$Y,) ,^,BY E$$]SS,)K

;, =B2ESAY=EB ,`$;B:, !,Y_,,B Y;, EG,SYES B) Y;, S,AEY, SE!EY =TBEY EB@a @=A=Y,) YE TYS=B:T E2 Y,`Y]@ $EAAB)T !]Y =B^E@^,T $E), 2S:A,BYT

=B  T$S=GY @B:]:, B) ;=:; @,^,@ )Y TYS]$Y]S,TK ;, :E@ =T YE ^E=) ES

Y @,TY A=B=A=b, Y;, EG,SYESTR =BY,S^,BY=EB )]S=B: Y;, SE!EYTR EG,SY=EBTK

;, ,`G@E=YY=EB E2 T YE S,$EBTYS]$Y Y;, SE!EYRT ,B^=SEBA,BYT @@E_T YE Y;,EG,SYEST YE _ES? E3<@=B, =B YT?T _;,S, Y;, SE!EYT ;^, AES, ]YEBEAa H,K:KY,TY=B: G@BB=B: A,Y;E)T EB Y;, ^=T]@ T=A]@Y=EB E2  ?BE_B ,B^=SEBA,BYI(AEB=YES=B: Y;, S=:;Y ,`,$]Y=EB B) @TE YE T^, $EAA]B=$Y=EB !B)_=)Y;K

;, SE!EY $B T=AG@a YSBTA=Y =B2ESAY=EB S,@Y,) YE ^S=Y=EBT =B Y;, T$,B,HT]$; T Y;, GET=Y=EB E2  AE^=B: E!>,$YI =BTY,) E2  ^=),E TYS,AK

!a E=T,T
@,B$TYS,<=SB) ,Y @K ))S,TT,T Y;, =TT],T =B^E@^,) =B ),^,@EG<

=B:  E@@!ESY=^, =SY]@ B^=SEBA,BY HI 2ES SE!EY=$ GG@=$Y=EBT( Y;Y

=T  TaTY,A Y;Y @@E_T A]@Y=G@, ]T,ST =B )=3,S,BY :,E:SG;=$@ @E$Y=EBT YE =B<

Q)?&R :? B.W]Q) ?\:QB?>)?WR BQ )W]BQ<)& BBW:"R

5aU H Q[6=: )W =H

Y,S$Y( T;S,( $EAA]B=$Y, B) $E@@!ESY, =B  :=^,B YT? Y Y;, TA, Y=A, =BTE2Y_S, ),^,@EGA,BY ),T=:B $;E=$,T S,@Y,) YE'

FK E_ YE AE),@  T;S,) T,BT, E2 TG$,( GS,T,B$, B) Y=A,K

\K E_ YE =AG@,A,BY Y;=T T;S=B: AE),@ EB  )=TYS=!]Y,) B,Y_ES?,) ,B^=<SEBA,BY ]T=B:  TE2Y_S, A=))@,_S,K

ZK E_ YE TaB$;SEB=b, )=TYS=!]Y,) GG@=$Y=EBT Y;Y =BY,S$Y =B Y;, ^=SY]@,B^=SEBA,BY B) Y;Y EG,SY, SE!EYT =B Y;, S,@ ,B^=SEBA,BYK

9K E_ YE GSEAEY, AE)]@S=Ya B) =BY,SEG,S!=@=Ya E2 Y;, K

;, Y_E ,Y_ES?,) E!EY=$T GS)=:AT ),T$S=!,) =B Y;, GS,^=E]T T,$Y=EBT

S, $;S$Y,S=b,) !a )=3,S,BY A=`,T E2 SE!EY ]YEBEAa B) EG,SYESRT =BY,S<

^,BY=EB _;=$; ),Y,SA=B, Y;, =B2ESAY=EB ,`$;B:, !,Y_,,B Y;, EG,SYES T=Y,HY;, @=,BYI B) Y;, SE!EY T=Y, HY;, ,S^,SIK

Y;, @=,BY B) Y;, ,S^,S =T @=A=Y,) YE  TA@@ B]A!,S E2 GS=A=Y=^, )Y YaG,TH,K:K TYS=B:T( =BY,:,ST( !aY,T( ,Y$KIK E), E!=@=Ya @@E_T $@=,BYT B) T,S^,ST YE,`$;B:, 2]@@<8,):,) TE2Y_S, $EAGEB,BYT HAE!=@, E!>,$YTI $SSa=B: E^,S !EY;Y;, )Y B) Y;, $E), Y;Y AB=G]@Y,T =YK E!=@, E!>,$YT A=:;Y !, GTT=^,

$EAGEB,BYT ES Y;S,)T Y;Y TYSY S]BB=B: _;,B Y;, )E_B@E)=B: ;T !,,B

$EAG@,Y,)K
B E!>,$Y $B A=:SY, Y S]B<Y=A, 2SEA Y;, @=,BYRT YE Y;, ,S^,SRT,`,$]Y=EB ,B^=SEBA,BY HE!=@,
:,BYI ES ^=$,<^,ST HE), EB ,AB)IK

;, A=B )^BY:, E2 AE^=B: Y;, $E), Y;SE]:; Y;, B,Y_ES? =T YE G,S<2ESA Y;, $EAG]YY=EB _;,S, Y;, S,TE]S$,T S, @E$Y,) H)Y( G;aT=$@ ),^=$,T(

;]AB EG,SYESTIK ;, :E@ =T YE S,)]$, Y;, =BY,S$Y=EBT !,Y_,,B )=TYS=!]Y,)T]!TaTY,AT B) Y;]T Y;, B,Y_ES? YS4$K ;=@, E), EB ,AB) E3,ST Y;,EGGESY]B=Ya YE T,B) ?BE_@,):, B) $Y=EB YE  S,AEY, @E$Y=EB T  T=B<:@, TE2Y_S, $EAGEB,BY(  E!=@, E2Y_S,
:,BY ,B$GT]@Y,T ?BE_@,):,(

$Y=EB B) GTY ,`G,S=,B$, =B B ]YEBEAE]T( TaB$;SEBE]T( )aBA=$ B)GEY,BY=@@a =BY,@@=:,BY H=K,K !@, YE @,SBI TE2Y_S, ,BY=Ya( !@, YE AE^, A]@<Y=G@, Y=A,T _=Y;=B  )=TYS=!]Y,) !]Y ]B=6,) ,`,$]Y=EB ,B^=SEBA,BY H_;=$;T]GGESYT Y;, ,`,$]Y=EB E2 =B)=^=)]@ AE!=@, :,BYT !]Y GSEY,$YT B ]B),S@a=B:B,Y_ES? E2 ;ETY $EAG]Y,ST B) SE!EYTIK ;, 8,`=!=@=Ya( ]YEBEAa B) =BY,@<

@=:,B$, _;=$; AE!=@, :,BYT E3,S )=S,$Y@a YSBT@Y,T =BYE =B$S,T,) 8,`=!=@=Ya(E2 AE!=@, :,BYT _=Y;=B T]$; B S$;=Y,$Y]S, $B !, ]T,) TG,$=6$@@a YE GSE<

^=),  SB:, E2 2]B$Y=EB@ !,B,6YT( =B$@])=B: =B$S,T,) TaTY,A )GY!=@=Ya

B) 2]@Y YE@,SB$,( B) Y;, !=@=Ya YE )aBA=$@@a @@E$Y, $EBYSE@K

;, )GY!=@=Ya E2  )=TYS=!]Y,) S$;=Y,$Y]S, $B !, =AGSE^,) !a ,AG@Ea<

=B: AE!=@, :,BYT YE ]YEAY=$@@a AE^, B) =BY,:SY, ]G)Y,) $EBYSE@ $E),

Y S]B Y=A,( B) =B GS@@,@( =B A]@Y=G@, B,Y_ES?,) SE!EYTU 2]@Y YE@,SB$, $B

!, =AGSE^,) !a ]T=B: AE!=@, :,BY AE!=@=Ya YE AE^, =AGESYBY A=TT=EB @,^,@

)Y _a 2SEA 2=@=B: TaTY,A $EAGEB,BYT( ES TYES, T]$; )Y YE G,ST=TY,BYA,)= T]$; T ;S) )S=^,T 2ES @Y,S S,YS=,^@U _;=@, )aBA=$ @@E$Y=EB E2 $EB<YSE@ $B !, $;=,^,) !a S,@E$Y=B: $EBYSE@ =B  )=TYS=!]Y,) A]@Y=G@, Y,@,SE!EY

S$;=Y,$Y]S, =B Y;, ,^,BY E2 T=:B=6$BY $;B:,T =B B,Y_ES? YEGE@E:a H$]T,)

!a GETT=!@, SE!EY 2=@]S,T ES ))=Y=EBTIU TE T YE A`=A=b, $EBYSE@ B) S,)]$,Y;, ,3,$YT E2 $EAA]B=$Y=EB ),@a !,Y_,,B  ]T,S B) Y;, $EBYSE@@,) SE!EYT(

 ),T?YEG  ES ,^,B  AE!=@, ),^=$,( T]$; T  @GYEG ES  ,STEB@ =:=Y@

@@E_T Y;, EG,SYES YE )E_B@E) Y;, 2SEBY<,B) YE Y;, SE!EY Y;Y !,TY 6YT Y;,,B^=SEBA,BY 2ES  ),T?YEG  ES  =))@,Y _=Y;  T=AG@, :SG;=$@ =BY,S2$,2ES  
K ES ,`AG@,( Y;, EG,SYES $B T]G,S^=T, Y;, SE!EY $Y=^=Ya ]T=B:

 
YE ^=T]@=b, Y;, $]SS,BY ^@],T E2 Y;, SE!EYRT TYY, ^S=!@,T( T]$; T

=YT $]SS,BY YT?( @E$Y=EB( EG,SY=B: TYY]T( Y;, !YY,Sa @,^,@K

T]@@a( _;,B Y;, EG,SYES B,,)T YE ]G:S), Y;, SE!EYRT 2]B$Y=EB@=Ya( Y;,SE!EY A]TY !, TYEGG,) B)  B,_ ^,ST=EB E2 Y;, TE2Y_S, $EBYSE@ GG@=$Y=EB

=BTY@@,)K E), AE!=@=Ya $B T=AG@=2a TE2Y_S, ]G:S)=B: T =Y @@E_T YE S,G@$,T=B:@, TE2Y_S, $EAGEB,BYT _;=@, Y;, GG@=$Y=EB =T S]BB=B:K ]SY;,SAES,( =Y

$B !, G,S2ESA,) S,AEY,@aK ES ,`AG@,( Y;, EG,SYES $E]@) ]G:S), Y;,T,BTESa )Y 2]T=EB @:ES=Y;A !a T,B)=B: Y;, AE!=@, E!>,$Y Y;Y ,B$GT]@Y,T

=Y YE Y;, S,AEY, SE!EYK ;=T =T ]T,2]@ _;,B  B,_ YaG, E2 @EEA =BTG,$Y=EBS,M]=S,T  )=3,S,BY ^=),E =A:,T GSE$,TT=B: @:ES=Y;AK

;, =B2ESAY=EB ,`$;B:, !,Y_,,B Y;, EG,SYES B) Y;, S,AEY, SE!EY

$E]@) !, ,B;B$,) ]T=B: $E), AE!=@=Ya T=B$, Y;=T Y,$;BE@E:a $B S,)]$, B,Y<H,K:K  !=BSa =B2ESAY=EBI =T A]$; TA@@,S Y;B _;Y Y;, SE!EY _=@@ BT_,S

YE Y;, EG,SYES S,M],TY H,K:K  ^=),E TYS,AI( Y;, @:ES=Y;A H,B$GT]@Y,)

=B  AE!=@, E!>,$YI Y;Y ,@!ESY,T Y;, =B2ESAY=EB $B !, YSBTA=YY,) YEY;, SE!EYRT G@$, E!Y=B=B:  T=:B=6$BY EGY=A=bY=EBK ;=T =T Y;, $T, E2 Y;,EG,SYES _;E ;T YE $;=,^,  T]$$,TT=EB E2 GETT=!@, =BY,S),G,B),BY =BY,S$<Y=EBT _=Y; Y;, S,AEY, SE!EY H2ES ,`AG@, T]$$,TT=^, @EEA =BTG,$Y=EB( T,BTES)Y 6@Y,S=B: B) =BY,SGS,YY=EBI !,2ES, :,YY=B: Y;, S,@,^BY )Y H,K:K Y;,

=),BY=6$Y=EB E2  A@2]B$Y=EB=B: $EAGEB,BYIK ;=T ?=B) E2 =BY,S$Y=EB $B

!, =AGSE^,) !a T,B)=B:  AE!=@, E!>,$Y YE Y;, SE!EYRT T=Y, Y;Y ;B)@,T Y;,

$EAGET=Y, S,M],TY Y EB$, B) :,YT !$? Y;, S,T]@YK

E), AE!=@=Ya ,B;B$,T Y;, $EB$,GY E2 ]YEBEAa YSBT2,S( T =Y @@E_TY;, EG,SYES YE YSBT2,S Y;, $E), =AG@,A,BY=B: Y;, $EBYSE@ @:ES=Y;A Y;Y:,B,SY,T Y;, T,M],B$, E2 !Y$; $EAAB)T ES Y;Y $SS=,T EB !TYS$Y G@BT

@EB: _=Y; Y;, GSE$,)]S,T YE ),$EAGET, Y;,A =B T=AG@, SE!EY $Y=EBTK

;, !,B,6Y E2 $E), AE!=@=Ya 2ES ]YEBEAa YSBT2,S $B !, GGS,$=Y,)

=B Y;ET, GG@=$Y=EB T$,BS=ET 2ES _;=$; Y;, A`=A]A @,^,@ E2 8,`=!=@=Ya =TS,M]=S,)( T]$; T _;,B Y;, SE!EY EG,SY,T =B ,^,S $;B:=B: ,B^=SEBA,BY@

Q)?&R :? B.W]Q) ?\:QB?>)?WR BQ )W]BQ<)& BBW:"R

5a* H Q[6=: )W =H

$EB)=Y=EBT H,K:K S,T$], SE!EY=$TI ES _;,B Y;, SE!EY 2]B$Y=EB@=Ya A]TY !, $]T<YEA=b,) 2ES S,AEY, YS=B=B: E2 TY]),BYT ES Y,$;B=$=BTK

Y;, SE@, E2 ,S^,S _;,B =Y S,$,=^,T AE!=@, E!>,$YT 2SEA Y;, EG,SYESRT T=Y,( B)

=Y G@aT Y;, SE@, E2 @=,BY _;,B =Y )E_B@E)T AE!=@, E!>,$YT 2SEA EY;,S T=Y,T

ES S,TE]S$,TK

SE!EY S$;=Y,$Y]S,T _=Y; _;=$; Y;,a ;^, ,`G@ES,) Y;, GSEG,SY=,T E2 AE!=@,

:,BY AE!=@=YaK
@Y;E]:; ABa )^BY:,T E2 AE!=@, :,BYT S, $@=A,) =B @=Y<,SY]S,( E]S =B^,TY=:Y=EB ;T TaTY,AY=$@@a ,`A=B,) _;,Y;,S AE!=@, :,BYT

$;GY,S ))S,TT,T Y;, 2E@@E_=B: =TT],T'

FK ;=$; ?=B) E2 2]B$Y=EB@=Ya )E,T  AE!=@, :,BY =AG@,A,BYN

\K ;=$; T]GGESY )E,T Y;=T Y,$;BE@E:a GSE^=), YE Y;, TE2Y_S, ),^,@EGA,BYGSE$,TTN

ZK E_ YE ,B2ES$, T,$]S, B) S,@=!@, =BY,S$Y=EBT !,Y_,,B Y;, AE!=@, :,BY

,Y_ES?,) E!EY=$T TaTY,AT T Y;,a $B T=AG@=2a Y;, =BY,:SY=EB E2 ;,Y,SE<:,B,E]T )=TYS=!]Y,) Y,$;BE@E:=,T B) ,B;B$, Y;, G,S2ESAB$, E2 Y;, E^,S@@TaTY,AK ;, Y;S,, GGSE$;,T GS,T,BY,) =B Y;, 2E@@E_=B: Y;S,, $;GY,ST 2$,T=A=@S GSE!@,AT !]Y 2SEA )=3,S,BY G,STG,$Y=^,TK ;, $;@@,B:, 2ES 2]Y]S, S,<T,S$; =T YE ,`G@ES, Y;,=S TaB,S:=TA =B ES),S YE ,`G@E=Y Y;,A =B AES, $EAG@,`T$,BS=ETK

 8-9

 a5! E)":= RR[) B? K45/88H 5H"CH085%  Q?R"W:B?R B? _RW)>R% aX! :)6]QW% H B=&)Q6% H &H% E)":= RR[) B? 5H"C5"H 5! 5305" 88HD%

[WB?B>B[R BBWR% B=[>) C3% [>)Q X% B\)>)Q ZaaX

aZ! :)6]QW% H B=&)Q6% H &H% "O85! M"4D
5 5HC8!KH085 H8 5305"

;=:; G,S2ESAB$, $EBYSE@ ),@=B: _=Y; GSE!@,AT T]$; T ]BGS,)=$Y!@, ),@aT

B) @E_ !B)_=)Y;( )^B$,) A,$;B=TAT B) M]BY=YY=^, A,T]S,T EB Y;,A,BY( B,_ A,Y;E)E@E:=,T ;^, !,,B ),^,@EG,) Y;Y G,SA=Y  ^,Sa $S,2]@ B)GS,$=T, ),T=:B( B) @@E_ YE =AG@,A,BY ;=:; G,S2ESAB$, S$;=Y,$Y]S,T Y S,TEB!@, ,3ESY =B Y,SAT E2 $ETY B) ),^,@EGA,BY Y=A,K ]S S$;=Y,$Y]S,(

$@@,) ,B,@EG,( Y?,T =BYE $$E]BY ^,Sa =AGESYBY 2,Y]S,T E2  ;GY=$T TaT<Y,A' S,@<Y=A, !,;^=ES( )=TYS=!]Y,) S,TE]S$,T B) :,B,S@ G]SGET, TYS]$Y]S,K E_,^,S( _, S, @TE TY])a=B: 2,Y]S,T Y;Y A?, =Y GSY=$]@S@a T]=Y,) 2ES

;=:; S,@=!=@=Ya B) T2,Ya EG,SY=EBT( T]$; T TG$, Y,@,EG,SY=EB B) SE!EY<

TT=TY,) T]S:,SaK

S,'

 EAA]B=$Y=EB !,Y_,,B ,@,A,BYT =AG@,A,BY,) _=Y;
 
K

 
$@TT @@E_=B: E!>,$Y $EAA]B=$Y=EB ]T=B: Y;, LL 

 EAA]B=$Y=EB =B),G,B),BY E2 Y;, S,@ @E$Y=EB E2 Y;, =AG@,A,BY,) $@TT

B) E2 Y;, $EAA]B=$Y=EB A,$;B=TAK

 ,Y;E)T $@@,) !a GSE$,)]S,T _=Y;E]Y ?BE_@,):, E2 Y;,=S G;aT=$@ @E$Y=EB_=Y;=B Y;, Y,@,EG,SY=EB TaTY,AK

TG,$=6$Y=EBTK

...

 ĂvF| ][ 2nơảFĂc v nĂ ÃcĂ|cơF 1Rơ|VÊ 25
1 ưẵ\ uẵjuưẵ\ ẵẵƯ

^ 2Ă|vcĂ{=cĂFv cĂ| c|]cRcĂv ẵẵƯ