ỨNG DỤNG GIAO TIẾP ROBOT YK400X VÀ ỨNG DỤNG PHÂN LOẠI SẢN PHẨM BẰNG CAMERA - LUẬN VĂN ĐẠI HỌC BÁCH KHOA

Đề tài luận văn: "ỨNG DỤNG GIAO TIẾP ROBOT YK400X VÀ ỨNG DỤNG PHÂN LOẠI SẢN PHẨM BẰNG CAMERA" được thực hiện bởi Sinh viên Khoa Cơ Khí Điện Tử của Đại Học Bách Khoa HCM. Ứng dụng Camera cho việc định vị và nhận dạng là một đề tài được đặt ra từ cuối thế kỷ 20. Trải qua một giai đoạn phát triển, đển thời điểm này kỹ thuật nhận dạng và định vị bằng Camera đã tương đối hoàn chỉnh.

IUK ZK RR KO@HS H @L

KO BKO OHGN RHS TNDNR XM233P

ZÃ KO BKO S@ÄK INH \K S@F BØKO

LGFETG

OZ@B1 OZ@B1 R\+ R\+ Kouxk Kouxk Rko Rko InkoInko

IH LF K

Rtl rhák) ròh phk lf k r`x Kouxk Rko Inko) ohçn zhák rtl rhs `ko bk+ Phk llf k r`x L`uko Rk Iäf) ohçn zhák ko `ko bk+ Lçl r`x ì l`n ròh k`ko k` `ko)rn fh hu mhk z zr l`r ik rhk` r`k) ì ohñs ròh `nãk r`ãk` rtk zk zã ñko r`h `k rãh lg fék`+

Phk lf k r`x R Bhs Lòko R`ãk`) ohçn zhák l` k`hf lg is ZS32LR+ R`x iã kohrtl rhs ohñs ) luko ls r`òko rhk zã k`l k` ms r`h l`n is l`ñko ròh zh fh `nr koihák wugk k zhl `l rs zã iãf iuk zk rtnko |ur dg kf r`x l` k`hf is+

Phk l l`äk r`ãk` lf k lçl r`x lò rtnko `h ko l`f iuk zk rr ko`hs+ Lçf k lçlr`x) lçl lò ì dr r`h ohgk wuö dçu  pef pèr  rãh lg ròh+

Phk l oh ih rth äk lçl r`x) lçl lò ì béu br ròh rtnko |ur lçl kf `l zg wug+

Luh løko) ròh bãk` ih lf k |äu |l l`n dg) f zã k`ko koh r`äk+ Fh koh iã l` bgrhk` r`k) iã kouk ko zhák  ròh zr wug k`ko m`ü m`k) r` r`çl` rtnko `l rs zã lul

|ko+

Fr ik kg) phk l`äk r`ãk` lf k rr l fh koh'

Rs @ L`æ Fhk`) 3:.4338 Kouxk Dç @nãko Inko

RÜF RR IUK ZK

KO BKO OHGN RHS TNDNR XM233P

ZÃ KO BKO S@ÄK INH \K S@F D

ko bko Lgfetg l`n zhl k` z zã k`k bko iã fr  rãh l r tg r luh r` m43+ Rth wug fr ohgh nk s`çr rthk) k r`h hf kãx m r`ur k`k bko zã k` z dkoLgfetg ì rko h `nãk l`k`+ Zh | s`çr rthk lg lòko ko` lf dhk Lgfetg)  l`æk`pçl k` z koãx lãko lgn+ ko r`h) | tg h lg lçl r` zhk p iö k` ohñs koh is rték`k`gk` l`üko zhr ko bko fã m`òko lk s`h fr r`h ohgk réf `hu wuç |äu z iö r`uxr p iö

k`+ Rták rhk` r`k ü) ròh l`k r` zhk p iö k` \rnlmlgt lg Ielmx Hkreogtgrhnk+ R` zhkkãx l`g lçl `ãf lk r`hr l`n zhl p iö k` zã k` z zr rtnko m`òko ohgk 4B+

 K`hf z l`æk` lg iuk zk iã päx bko fr s`k ff (zhr dko Zh|ugi L,+ S`k ff kãxof 4 l`l kko l`æk`1

ræk`+

   S`äk ræl` k` l`s r Lgfetg |gu ü k` z zã k`k bko zr+

\gu m`h `nãk r`ãk` `gh k`hf z l`æk` rták) ròh zhr fr ko bko k`  k` z zã s`äk inh

|k s`f r`en fãu) Tndnr | r`gn rçl os zr zã r` ñko zãn oh l`g |k s`f r`en fãurko ko+

Ih lgf mrIh lf Ih lf k +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ hhk +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ hhRüf rr iuk zk

Rüf rr iuk zk +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ hhhhhhFl

Fl iil ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ hzl ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ hzBgk` |çl`

Bgk` |çl` `ék` k`+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ zhh`ék` k`+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ zhhBgk` |çl`

Bgk` |çl` dko dhu ++++++++++++++++++++++++++dko dhu +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ hp+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ hpL`ko 71

L`ko 71 RKO WUGRKO WUGK +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 7K +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 77+7 r zk ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 7

7+7+7 Rtnko ik` zl r`çf `hf++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 7

7+7+4 Rtnko lòko ko`hs+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 4

7+7+< Rtnko h |ko `ko koãx++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <

<+2+2 S`äk ræl` DIND\ (Dhkgtx Igtoe Ndaelr|++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 4?

L`ko 21 OHH R@HU L`ko 21 OHH R@HU S@K FF ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++48S@K FF ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++482+7 Ohgn rhs fçx ræk` zh d hu m`hk TLP724++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 48

2+7+7 Lãh r lçl r`òko | ohgn rhs+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 48

2+7+4 L`  hu m`hk dko rgx++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <3

2+7+< L`  is rték`+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <7

2+4 Ohgn rhs fçx ræk` zh Lg2+4 Ohgn rhs fçx ræk` zh Lgfetgfetg+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <<

2+< Dko hu m`hk l`æk`++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <2

2+<+7 Lgihdtgrhnk+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <2

2+<+4 S`k p iö k`+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <:

L`ko L`ko 51 KO 51 KO BKO BKO ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++<0++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++<0

5+7 Lçl r`ãk` s`k lg ` r`ko ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <0

5+4 @nr ko lg ` r`ko++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <0

5+< Lçl xu r k` `ko k |gh | ` r`ko+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 24

5+2 çk` ohç |gh | wuç rték` k` z dko Lgfetg +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 24

L`ko L`ko :1 MR :1 MR IUK IUK +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++20+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++20:+7 Mr wu r l ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 20

:+4 @ko ko bko zã f tko  rãh+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 20

:+< Ih mr++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 20

RÃH IHU R@GF RÃH IHU R@GF M@N ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++2M@N ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++288

S@ I

S@ IL L +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++53+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++53G+ OHH R@HU R@

G+ OHH R@HU R@ ZHK P IÖ ZHK P IÖ K@ K@ \RNLMLGT \RNLMLGT +++++++++++++++++++++++++++++++++++++++++++++++ 53

BGK@ FL LÇL @ÉK@

 @ék` 7+71 Tndnr \shthr zã Tndnr \shthr zã NssntrNssntrukhrx r`çf `hf |gn ukhrx r`çf `hf |gn `g+++++++++++++++++++++++++++++++++++++++++++++++++++++ 4`g+++++++++++++++++++++++++++++++++++++++++++++++++++++ 4

 @ék` 7+41 TNZ Ig|rhl `nr ko TNZ Ig|rhl `nr ko bh çx dhk +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ bh çx dhk +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 44

 @ék` 7+21 Tndnr iãf Tndnr iãf zhl k`ã ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <zhl k`ã ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <

 @ék` 7+51 Tndnr iãf Tndnr iãf zk zk +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 2+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 2

 @ék` 7+?1 InohrelInohrel` ` WuhlmWuhlmlgf Stn lgf Stn 2333 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 52333 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 5

 @ék` 4+71 @ék` bçko ko @ék` bçko ko `l lg `l lg \LGTG \LGTG +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ ? +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ ? 

 @ék` 4+41 @ 1 @ rg  ol rg  ol lg \LGTG zã lçl lg \LGTG zã lçl dhk m`s dhk m`s ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 0++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 0

 @ék` 4+21 Ræk` ko `l 1 Ræk` ko `l kol l`n \lgtg ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ kol l`n \lgtg ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 7777

 @ék` 4+51 1 @ék` l`hu @ék` l`hu ko ko XM23XM233p 3p +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 74+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 74

 @ék` <+:1 S`äk koko l`n S`äk koko l`n k` pçf ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 4k` pçf ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 4? ? 

 @ék` <+?1 k` k` s`äk koko l`n s`äk koko l`n r`ur rnçk réf r`ur rnçk réf Dind Dind +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 4? +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 4? 

 @ék` 2+71 1 Ohgn bhk l`æk` lg l`ko rték` hu m`hk+++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 48Ohgn bhk l`æk` lg l`ko rték` hu m`hk+++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 48

 @ék` 2+41 Lãh r lçl r`òko Lãh r lçl r`òko | ohgn rhs +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 48| ohgn rhs +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 48

 @ék` 2+<1 L`l kko L`l kko FGKUGI ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <3FGKUGI ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <3

 @ék` 2+21 @s Hklnfhko zh  @s Hklnfhko zh b b ihu hf ihu hf ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <7++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <7

 @ék` 2+51 L` L`   STNOTSTNOTGF GF ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <4++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <4

 @ék` 2+:1 @s Hklnfhko zh  @s Hklnfhko zh b ihu b ihu lçl l`ko lçl l`ko rték` rték` +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <4+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <4

 @ék` 2+?1 Ohgn bhk Ohgn bhk LgfetLgfetg +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <<g +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <<

 @ék` 2+01 Dko hu  Dko hu m`hk l`æk` +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <2m`hk l`æk` +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <2

 @ék` 2+81 Ohgn Ohgn bhk bhk LgihdtLgihdtgrhnkgrhnk++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <5++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <5

 @ék` 2+731 @ rg  @ rg  fr  fr dãk dãk +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <5+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <5

 @ék` 2+771Ohgn bhk p iö Ohgn bhk p iö k` +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ k` +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <: <: 

 @ék` 2+741Ohgn bhk ig l`k Ohgn bhk ig l`k ` | ` | r i r i fãu fãu ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <? ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <? 

 @ék` 5+71 Dko Dko hu m`hk l`n hu m`hk l`n ko bko ko bko +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <0+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <0

 @ék` 5+41 Iu Iu   l`ko rték` hu l`ko rték` hu m`hk Tndnr m`hk Tndnr +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <8+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ <8

 @ék` 5+<1 Iu  Iu  hu m`hk p iö hu m`hk p iö k` zã k` zã réf rg  réf rg  zr zr ++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 27++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 27

 @ék` 5+21 Ih hf ohñs Ih hf ohñs çk` ohç çk` ohç |gh | |gh | ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 2<++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 2<

 @ék` 5+51 Mr wu Mr wu rg  rg  lg ih lg ih hf hf +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 2<+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 2<

 @ék` 5+:1 S`äk d S`äk d |gh | |gh | r`en wux rl r`en wux rl Rl`edxRl`edxl`ez l`ez ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 25++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 25

 @ék` 5+?1 S`äk d |gh S`äk d |gh | r`en 4 | r`en 4 s`ko P zã s`ko P zã X X +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 2: +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 2: 

 @ék` 5+01 S`äk d |gh S`äk d |gh | rko `s ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 2: | rko `s ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 2:   

 D ko 5+<1 Lçl r i % Lçl r i % ko zh f +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ ko zh f +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 2525

 D ko G+71 1 Mhu rák oh lçl Mhu rák oh lçl `ãf p `ãf p iö k` iö k` +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 57+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 57

 D ko G+41 Lçl k` bko Lçl k` bko b ihu hf k` +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 54b ihu hf k` +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 54

 D ko G+<1 1 Mhu `ko Mhu `ko TNH TNH ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 54++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 54

 D ko G+21 1 @ko | @ko | rnçk `l rnçk `l ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 54++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 54

 D ko G+51 1 Lçl fãu z l`ko ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 5Lçl fãu z l`ko ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 5<<

 D ko G+: 1 1 Mhu `ko l`uxk rg  ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 5Mhu `ko l`uxk rg  ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 5<<

 D ko G+:1 Lçl fì Lçl fì ih r`òko ih r`òko bko bko ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 52++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 52

ko fr lçl` s`l rs `k) lü m` kko r p iö zã s`äk ræl` lçl rék` `uko k` lnk koh+Løko zh | s`çr rthk lg lçl inh lf dhk zh  l`æk` pçl lgn) lçl d zh p iö lü r` r`l

`hk `ãko r s`ès ræk` rtnko fr ohäx) Tndnr gko bk bk r`gx r` lnk koh rtnko fr | ik`zl l r`ø) l`n `hu wu zã kko |ur lgn `k+

Rg lü r` lnh lçl d zh p iö kãx iã d kìn lg Tndnr) d kìn kãx lãko koãx lãko l rh

u `üg z mæl` r`l lko k` rl   hu m`hk Tndnr fr lçl` `hu wu k`r+ Zgh rtô lglf dhk h zh Tndnr l pef k` iã lçl l wugk r` ohçl) pñl ohçl) z ohçl+++lg lnk koh+

Zæ b zh lgfetg) rg pef lgfetg k` iã lnk fr rt ohñs l`n Tndnr pçl k` z rtæ) k`k bkozr+ Koãx kgx) Lgfetg iã fr lf dhk m`òko r` r`hu h zh lçl r` ` Tndnr `hk h+ LçlTndnr kãx | bko Lgfetg  k` z) k`k bko zã r`u r`s b ihu+ ko bko Lgfetg l`nTndnr l bøko rtnko k`hu ik` zl m`çl k`gu1

4  

@ék` 7+71

@ék` 7+71 Tndnr \shthr zã Nssntrukhrx r`çf `hf |gn `gTndnr \shthr zã Nssntrukhrx r`çf `hf |gn `gOk äx k`r) fr r`hr d hu m`hk r pg · TNZ Igrh| ì l fr k`üf lçl k`ã ko`háklu r lko `ôg Hteigkb l` rn k`f ohñs pçl k` tgk` ohh bh çx dhk lg lçl wul ohg+R`òko rhk bn r`hr d r`u r`s l | l bøko  ohh wuxr fr ik zã zk` zhk lçl rtgk`l`s z ko il g+ Fçx | bko ` r`ko lgfetg l`r iko lgn zã lü  k`x fãu rtnko

hu mhk çk` |çko tr xu+ Lçl `ék` k` r`u r`s l rták fçx ræk` | ohñs pçl k` z rtæ) g

hf) l`hu bh l`uxk zã l ix lg r`hr d h zh çx dhk zã rãu f løko iñl+

äx iã ik` zl gko tr s`çr rthk rh K`r+ Tndnr ohñs iãf zhl k`ã) iãf zk) bx `l zã

ko r`h lko iã s`ko rhk ohh rtæ l`n lnk koh+ Lçl Tndnr kãx u l rtgko d Lgfetg(k`hu `k 4  s`äk dhr lçl zr r` m`çl k`gu1

@ék` 7+21

@ék` 7+21 Tndnr iãf zhl k`ãTndnr iãf zhl k`ã

äx iã b çk fgko rák Tndnr ohñs zhl GT lg h `l Rnmxn+ Tndnr kãx lü r` wugk |çr

zã s`äk dhr lçl zr m`çl k`gu dko fr 4 rtôko) lü r` k` z l zr kogx l m`h l`ñko kf

 K` zx) rg lü r` r`x zhl p iö k`  k` z l`n Tndnr iã fr zhl m`òko lôk fh) zk

 iã ko bko kü |gn l`n r`r r`æl` `s) f dn ræk` `hu wu zã  l`æk` pçl+

7+4  L | ig l`k  rãh

Zh | xáu r`æl` rtnko ik` zl Tndnr) ròh ì wuxr k` réf `hu r inh Tndnr lòko ko`hs

k ohk k`r iã \LGTG+  rko lko r`áf | ihk` `nr zã r ko l`n \LGTG) ròh mr `s

kü zh fr Lgfetg  k` z zr rtnko fr s`ko+ R ü) ròh lü r` ko bko zãn lçl ` r`ko s`äk inh |k s`f r`en mæl` r`l) r`en fãu |l«Zé zx) ròh l`k  rãh iã1 ¼

 s`äk inh |k s`f r`en mæl` r`l) r`en fãu |l«Zé zx) ròh l`k  rãh iã1 ¼ko bko ohgnko bko ohgnrhs Tndnr XM233p zã ko bko s`äk inh |k s`f bøko Lgfetg

rhs Tndnr XM233p zã ko bko s`äk inh |k s`f bøko Lgfetg ²²7+4+7  S`k lko

Z s`k lko l`n zhl r`l `hk  rãh) ròh | bko Tndnr \LGTG XM233p lg `ìkoXgfg`g (d hu m`hk TLP724 zã Lgfetg Inohrel` Wuhlmlgf Stn 2333  k` z zã r`gn rçlzh zr (lü |k

zh zr (lü |k rh s`ôko r`æ ko`hf L:) drh s`ôko r`æ ko`hf L:) d fòk L hk R+ fòk L hk R+

k` z l zr bn äx l` iã rg  shpei+ Rg lk l`uxk h rg  hf k` |gko rg  r`lkonãh m`òko ohgk+ Iö r`uxr  ohh wuxr zk  kãx iã Lgfetg Lgihdtgrhnk+

: :  

\gu m`h ì lü rg  r`l lg zr konãh m`òko ohgk) rg g rg  kãx z rg  ol lgTndnr+ Iñl kãx k`hf z lg Tndnr iã r`gn rçl zh zr rh z rtæ l luko ls+ Zk  hum`hk kãx bn d hu m`hk TLP724 ohh wuxr+

7+4+<  S`k ff

Päx bko fr s`k ff r`l `hk k`hf z ohgn rhs ohg fçx ræk`) Tndnr zã Lgfetg)

l zhr dko L, (Fhltn|njr Zh|ugi \rubhn 4330+ Zh s`k ff kãx zhl hu m`hk TndnrXM233p rt kák b bãko `k) `k kg) Tndnr l rtgko d r`áf fr Lgfetg tg | f tko m`kko iãf zhl l`n Tndnr+

Ròh pçl k` tõ `gh fl rhRòh pçl k` tõ `gh fl rháu lk r l rtnko iuk zk áu lk r l rtnko iuk zk kãx iã1kãx iã1

   ko bko k` z zã s`äk inh |k s`f dko Lgfetg

?  

L`ko L`ko 41 41 TNDNR TNDNR \LGTG \LGTG XM^233P XM^233P ZÃ ZÃ D D HU HU M@HK M@HK TLP724TLP724

Tndnr\LGTG (\eielrhzeix Lnfsihgkr Gtrhluigreb Tndnr Gtf tg h kf 78?8) äx iãfr mhu rgx fçx lü lu rn l dhr) l | bko k`hu rtnko lòko zhl is tçs lçl rh rtkok`+

@ék` 4+71

@ék` 4+71 @ék` bçko ko `l lg \LGTG@ék` bçko ko `l lg \LGTG

 dl r bn (2 dhk m`s+ \gu äx rg | ok ` rg  ol zã lçl dhk m`s l`n \LGTG+ R ü)réf `hu ko `l l`n Tndnr+

0  

@ék` 4+4

@ék` 4+41 @ rg  ol lg \LGTG zã lçl dhk m`s1 @ rg  ol lg \LGTG zã lçl dhk m`s4+7+4  Dãh rnçk ko `l kol z rtæ 

R`en wux l Bekgzhr&@grekdeto) lçl ` rg  Belgtret| l ok zãn m`äu l`s `ãk`k` `ék` z1

@ék` 4+<

@ék` 4+< Lçl ` rg  l ok r`en wux rl Bekgzhr&@grekdetoLçl ` rg  l ok r`en wux rl Bekgzhr&@grekdeto

Fg rtk Bekgzhr&@grekdeto1Wux l1 lhh6 ln|hh zã |hh6 |hkhh  

oül + Ohh wuxr dãh rnçk ko `l kol çk ko `l kol z rtæ iã réf z rtæ iã réf 77) 44) b<<) 22++

R`en k` iæ `ãf Ln|1

       

4+4  Tndnr XM233P4+4+7  Lçl r`òko | lg XM233p

Tndnr \LGTG XM233p iã fu Tndnr inh k` bøko  os lçl zr rtnko fr s`ko lürh rtko m`òko wuç <mo) l`hu bãh lçk` rgx (rf zk rh iã 233ff+

Dko 4+4Dko 4+41Dko lçl r`òko | l`n Tndnr \lgtg XM233p1Dko lçl r`òko | l`n Tndnr \lgtg XM233p

S`f zh zh wugx wugx 775 33  Rtl X L`hu L`hu bãh bãh lçk` lçk` rgx rgx 7?

5ffS`f

Rtl Rtl Q Q S`f S`f zh zh rtr rtr 7753ffRtl

M`äu r` `gh wugx r &72333 rh 72333 ko zh ohç rt lf dhk puko A r &<705?0A rh-<705?0A+

M`äu r` dg rk` rhk r &7ff rh 753ff ko zh ohç rt lf dhk puko A r &7<::A rh

-432033A+

M`äu r` r wugx r &5??33 rh <3433 ko zh ohç rt lf dhk puko A r &238:33A rh-238:33A+

Buko |gh1

x   M`äu r` k`r) r` `gh) r` r iã 03A `gx 3+3233++

x   M`äu r` dg iã 03A `gx 3+3:ff+

FSD iã fr r`hr d lf rgx bøko  r`l r`h rr l lçl l`l kko lg Tndnr1 l`l kko

hu m`hk dko rgx) is rték`) lãh r lçl r`òko |«

   Ohgn rhs ohg fçx ræk` zã TLP724 wug lko T\4<4

   L`  ohgn rhs Nkihke zã Njjihke

D hu m`hk lü r` ohgn rhs zh r`hr d konh zh r`en `gh l`  wug lko T\4<41NKIHKE.NJJIHKE+ @gh l`  kãx lü r` | bko tháko i `nl mr `s zh k`gu rtnkok`ko ko bko m`çl k`gu+

x   L`  NJJIHKE1 Ohgn rhs ohg Tndnr zã r`hr d konh zh l r`l r`h dko ik`

\EKB zhr rtnko l`ko rt

\EKB zhr rtnko l`ko rték`+ék`+

   Ik` oh Njjihke r Tndnr k r`hr d konh zh1

\EKB 9\nutle Jhie; RN LFU

   Ik` oh Njjihke r r`hr d konh zh k Tndnr1

\EKB LFU RN 9\nutle

\EKB LFU RN 9\nutle Jhie;Jhie;

\EKB LFU RN S7  oh r fçx ræk` rg  oh r fçx ræk` rg  hf S hf S77++

x   L`  NKIHKE1 Oh ik` rtl rhs r r`hr d konh zh k Tndnr+ Lçl ik` oh rtlrhs r r`hr d konh zh oh iã ik` nkihke (l rték` dãx  s`k |gu+

k` bko1C]^V9Nkihke Lnffgkb;]9^lnffgkb nsrhnk;V9retfhkgrhnk lnbe;

Fì mr r`ñl (retfhkgrhnk lnbe iã LT (3B` `gx LTIJ (3B`-3G`+

Zæ b

Zæ b1 C FNZE S)S393B`;  Tn1 C FNZE S)S393B`;  Tndnr bh l`uxk rh hf Sdnr bh l`uxk rh hf S33++

   Ohgn rhs ohg Tndnr zã TLP724

x   \  l`äk lg B&\UD 8 l`äk1Dko 4+<1

Dko 4+<1 \  l`äk B&\UD 8\  l`äk B&\UD 8R`

R` r r l`äk l`äk Rák L`l L`l kko kko Zãn.Tg

x   L`uk T\4<4 zã s`ko r`l ohgn rhs @gkb|`gmhko1L`uk T\4<4 l` lü r` mr kh k`hu k`r `gh r`hr d) zh m`nko lçl` bãh k`r r74+?f k 45+2f) rl  43mdhr.|+

Zh s`ko r`l @gkb|`gmhko) fçx s`çr lü r` pçl k` m`h kãn kü rtuxk b ihu zãfçx k`k l`n dhr m`h kãn kü |k |ãko k`k b ihu+ Ræk `hu lü r` dhk h wug T\4<4 r`enohgn r`l l`uk `nl ohgn r`l wux l+ Lü 4 mhu dr rgx) ü iã dr rgx s`k lko zã dr rgx s`k ff1

   Dr rgx s`k lko1 Kh k`k g tg bôko fl lgn m`h |k |ãko k`k b ihu) khrtuxk l` ræk `hu kãx rtl m`h rtuxk b ihu+ Kh k`k lü r` g tg bôko fl r`s rtnkofh r`h hf) r`f l`æ l rtnko wuç rték` l` bôko s`k `h rtl m`h mr r`ñl wuç rték`rtuxk k`k+



fì m`çl  dçn kh rtuxk bko wuç rték` oh b ihu+

x   Lçl lçl` u bäx1

   Lçl` u bäx ` rt dr rgx dko s`k lko1

@ék` 4+73

@ék` 4+731 Dr rgx s`k lko1 Dr rgx s`k lko

BTHZE1 hu m`hk Tndnr bh l`uxk fr rtl bux k`r r`en ` rg  ruxr h+

BTHZE1 hu m`hk Tndnr bh l`uxk fr rtl bux k`r r`en ` rg  ruxr h+  

BTHZEH1BTHZEH1  hu m`hk Tndnr bh l`uxk fr rtl bux k`r r`en ` rg  rko h+hu m`hk Tndnr bh l`uxk fr rtl bux k`r r`en ` rg  rko h+  

FNZE S1 bh l`uxk ruxr h r`en rr l lçl rtl+

FNZE I1 ik` kh |ux rFNZE I1 ik` kh |ux ruxk ræk` hf rh hf+uxk ræk` hf rh hf+

FNZE L1 ik` kh |ux ko rtôk wug < hf+

FNZEH S1 bh l`uxk rko h r`en rr l lçl rtl+

SGR@1 äx iã fr d ik` of1 SGR@ \ER«SGR@ EKB · bøko r`hr is wu nl`uxk ko zã SGR@ \RGTR · l`n s`ès Tndnr l`x r`en wu n zg r`hr is+ Ik`SGR@ kãx | bko rtnko k`hf z `ãk tr `hu wu+

x   Lçl ik` r`gx h r`òko |

\SEEB1 r`gx h r`òko | zk rl

\@HJR1 r`gx h ` rg +

GLLEI) BELEI1 r`gx h ` | rko rl) ohf rl l`n lçl rtl+

NURSN\1 r`gx h z rtæ m`òko `hu il lg lçl rtl+

NKIHKE.NJJIHKE1 r`gx h l` 

NKIHKE.NJJIHKE1 r`gx h l`  ohgn rhs zh r`hr d konh zh+ohgn rhs zh r`hr d konh zh+

RNTWUE1 r`gx h fnfekr l`n lçl rtl bh l`uxk+

x   Lçl ik` z is rték`

LGII1 oh l`ko rték` lnk+

ON\UD1 k`x k k`ìk) os ik` TERUTK r`é k`x z bôko ik` |gu k`ìk+

\UD1 pçl k` l`ko rték` lnk zã EPHR \UD1 r`nçr m`h l`ko rték` lnk+

\@GTEB1 pçl k` lçl dhk l`uko rtnko lçl l`ko rték` lnk+

@GIR1 ik` kãx | bko l`ko rték` zã te|er l`ko rték`+

@NIB1 rf r`h bko l`ko rték` gko r`h `ãk`) m`h l`ko rték` l r`h `ãk` ih)

kü | rhs rl r

kü | rhs rl rh hf bko rh ik` @NIB+h hf bko rh ik` @NIB+

ONRN1 ik` kãx k`x m`òko hu mhk k bôko ik` çk` bu dko k`ìk+ Rko kobøko ik` IGDEI  rn k`ìk+

JNT«KEPR1 zôko is zã EPHR JNT+

\EIELR LG\E zã EKB \EIELR1 ik` kãx rko r k` ik` \hrl` rtnko L+

HJ«EI\E1 ik` hu mhk+

PXRNA1 h b ihu hf r ff |gko puko+ihu hf r ff |gko puko+

_@ETE1 l`n dhr rg  `hk rh lg m`äu luh Tndnr · k z puko+

_@TPX1 l`n dhr rg _@TPX1 l`n dhr rg  `hk rh lg m`äu lu `hk rh lg m`äu luh Tndnr · k z ff+h Tndnr · k z ff+

BN1 Pur ohç rt tg lko BN+

FN1 Pur ohç rt tg lko FN+

RN1 Pur ohç rt tg lko RN+

\ER.TE\ER1 pçl k` dhr pur tg r fr l`äk rták lçl lko BN) RN) FN (lü r`h ohgk+_GHR1 l` hu mhk zãn `gx tg (lü r`h ohgk+

Rták äx l` káu iák lçl ik` hu m`hk l dk l`n Tndnr zã ö ko`g lg l`ñko+ L`hrhr z lçl ik` kãx zã zæ b l`n rko ik` l rték` dãx  s` il D) lü r` r`gf m`n r`áfrtnko `ko bk is rték` lg k`ã |k pur+

44  

L`ko L`ko <1 <1 @ @ R@KO R@KO P P IÖ IÖ K@ K@ ZH ZH LGFETGLGFETG

hf l` dr fr fãu k`r k`+ Bn fh hf k` l s` lçl is il fãu m`çl k`gu zã

l r pek m k`gu kák fãu kouxák r`x rh fr hf lg `ék` k` r`r | l rçh `hk  dko fãu r fr hf k` l`æk` mr `s zh lçl fãu dø l d |uko r lçl hf pukowugk` dko s`ko s`çs kh |ux+

@ék` <+71

@ék` <+71 Kouxák rl rn k` zh lf Kouxák rl rn k` zh lf dhk LLBdhk LLB

4<  

Çk` |çko wug ko mæk` | l iu ih rh d fr l`hs r`òko wug lçl hf k`+ R`òkorhk z | iko çk` |çko iu rh fh hf (r` `hk dko  m`çl k`gu z hk çs | ll`uxk ik ir r`en rko `ãko tg d s`k l ohç rt (@ék` <+7+ \gu ü lçl ohç rt kãx |

l l`uxk wug d m`ul` h ræk `hu) th k d l`uxk h ræk `hu rko r |gko ræk `hu

42  

ihu l`n rko fãu+ K`ko fçx k` | zã fçx wugx | l`uxák ko`hs | bko m r`ur kãx+Zh lf dhk <LLB) `u `r çk` |çko wug ko mæk` l iu ih) rtnko m`h ih Dgxet l` `sr` m`nko 4.< iko çk` |çko rták fh hf k`+

<+4+4  Lf dhk LFN\ (Lnfsiefekrgtx Fergi&Nphbe&\efhlnkbulrnt

LFN\

LFN\ r`é m`çl) lk` fh hf dr |çko rták l`hs u lü fr fl` d rt) bn ü rg lür`é m`çl) lk` fh hf dr |çko rták l`hs u lü fr fl` d rt) bn ü rg lür` ræl` `s lçl wux rték` p iö k` k` d l`uxk h gkgino.bhohrgi) läk dko rtko«zãnfl` d rt kãx) ohñs l`n wuç rték` p iö dl k` l r`l `hk tr k`gk` k` l r`l

`hk l k`hu `k)  s`äk ohh lgn `k) r`é fh fr hf k` lg LFN\ (dgn of `r dr

|çko zã fl` m`uxl` h m`h dr |çko | lü k`ko s`k çk` |çko th zãn z rtæ lg fl` zé

 g Lgfetg zãn ko bko p iö k` rg s`h lãh

 g Lgfetg zãn ko bko p iö k` rg s`h lãh wl|bm+epewl|bm+epe bn k`ã |k pur luko ls+bn k`ã |k pur luko ls+

iö k`) l`ñko rg l` xu l` wugk räf k lu rtñl lg k` zã d wug k` `ko lg xu rfãu |l+ Bn ü) dl l`uxk r k` fãu |gko k` pçf iã fr lòko nk s` dhk rtnko lçlwuç rték` p iö k`) zé kü iãf rko rl  p iö) ohf fl  s`l rs lg lçl r`ur rnçk rták

k`+

k` k` s`äk m`ç k ohk) lçl s`k r lü r` lnh k` lçl s`k r inohl kák k` k` s`äk l ko bko rtnko lçl r`ur rnçk s`äk dhr h rko k` zh kk `gx s`äk dhr hf dhák zh hf m`çl (Dãh rnçk p iö k` · s`çr `hk h rko rtnko l`ko 2) k` iuòk s`hl`uxk z bko k` s`äk `gx lôk l oh iã s`äk koko

@ék` <+51

@ék` <+51 L`uxk r k` fãu |gko k` pçfL`uxk r k` fãu |gko k` pçf

<+2+<  S`äk koko

S`äk koko `gx lôk l oh iã k` s`äk `üg iã fr m r`ur  rçl` kk zã h rko

rtnko p iö k`+ Wuç rték` s`äk koko | l`uxk k` r`ãk` k` k` s`äk zh 4 ohç rt hf

k` iã 3 zã 7+

   Koko rták zã koko bh1Koko rták zã koko bh1 Rtnko wuç rték` s`äk koko) oh | h rko |çkoRtnko wuç rték` s`äk koko) oh | h rko |çko

`k kk) hf k` l pef iã r`ul h rko ku ohç rt lg kü ik `k ohç rt koko) zãkol ih+ äx iã m`çh khf koko rták) rko r l`n koko bh+

   Koko rtnko zã koko konãh1Koko rtnko zã koko konãh1 Fr hf k` l pef iã r`ul h rko ku ohçFr hf k` l pef iã r`ul h rko ku ohçrt lg kü  ohg `gh koko) äx iã koko rtnko) kol ih) ü iã koko konãh+

4?  

@ék` <+:1

@ék` <+:1 S`äk koko l`n k` pçfS`äk koko l`n k` pçfMr r`ñl wuç rték` s`äk koko) lçl hf k` r`ul h rko | l oçk ohç rt iã 7rtnko m`h lçl hf k` r`ul kk l oçk ohç rt 3+ Luh løko fr dl k` k` s`äk l rn

tg dko lçl` rò fãu rtko `nl ek l`n rko hf k`) s` r`ul zãn ohç rt k` s`äk lg kü+

<+2+2  S`äk ræl` DIND\ (Dhkgtx Igtoe Ndaelr|

Wuç rték` s`äk ræl` fr Dind · k` rák oh lg kü s`h l r`l `hk rták fr k` k` s`äk (mr wu lg wuç rték` s`äk koko  rták+ Zh k` k` s`äk zg l rn r`ãk`) zøkoDind| | iã zøko rtko kh dr rták kk ek `nl kol ih+ Oh | rg lü fr k` ì l s`äkkoko k` |gu) zøko lk réf iã zøko rtko+

@ék` <+?1

@ék` <+?1 k` s`äk koko l`n r`ur rnçk réf Dindk` s`äk koko l`n r`ur rnçk réf Dind

40  

R`ur rnçk l`n zhl s`çr `hk Dind| kãx k` |gu1

   Rtl `r wuèr bôko u rhák zã réf tg lçl k`üf lü 7 `gx k`hu `k lçl hf k`rtko+ Rg oh lçl k`üf hf k` rtko kãx iã lçl ihkedind|+ O`h k`k lçl ihkedind| kãx dkofr | k`k bko (HB

   \gu ü wuèr bôko m rhs) rtnko wuç rték` réf lçl ihkedind| rták bôko kãx) rg h l`huzh lçl ihkedind|  bôko ihk rtl kü+ Ku lçl dind| kãx rtøko k`gu  ær k`r fr shpei) rg

`s 4 ihkedind| kãx r`ãk` fr dind| zã o`h k`k løko fr | k`k bko+

   Is ih wuç rték` kãx l`n rko bôko rg | réf l dind| lg k`+

Rták äx iã dg m r`ur p iö k` s` dhk) ròh ì bøko lçl m r`ur kãx l`n dãh rnçk

k` z dko Lgfetg zã s`äk inh |k s`f r`en fãu+ L`h rhr z ik` r`l `hk lçl r`gn rçlp iö k` kãx rtnko r` zhk \rnlmlgt l rték` dãx  s` il G+

48  

L`ko

L`ko rték` hu m`hk l zhr rták L,  r`l `hk) s`h `s 2 l`l kko1 ohgn rhsfçx ræk` zh d hu m`hk TLP724 wug lko T\4<4) ohgn rhs fçx ræk` zh Lgfetg) l`s

k` zã p iö k`) l`l kko Lgihdtgrhnk+ Konãh tg lôk fr | ko bko s` m`çl+ Ohgn bhkl`æk` k` |gu1