Low-level programming of a 9-degree-of-freedom wheelchair-mounted robotic arm with the application of different user interfaces

Citation
Low-level programming of a 9-degree-of-freedom wheelchair-mounted robotic arm with the application of different user interfaces

Material Information

Title:
Low-level programming of a 9-degree-of-freedom wheelchair-mounted robotic arm with the application of different user interfaces
Creator:
Basnayaka, Punya
Place of Publication:
[Tampa, Fla]
Publisher:
University of South Florida
Publication Date:
Language:
English

Subjects

Subjects / Keywords:
PID
GUI
Rehabilitation robots
C++ functions
Accuracy
Repeatability
Dissertations, Academic -- Mechanical Engineering -- Masters -- USF ( lcsh )
Genre:
non-fiction ( marcgt )

Notes

Abstract:
ABSTRACT: Implementation of C++ and Matlab based control of University of South Florida's latest wheelchair-mounted robotic arm (USF WMRA-II), which has 9 degrees-of-freedom, was carried out under this Master's thesis research. First, the rotational displacements about the 7 joints of the robotic arm were calibrated. It was followed by setting the control gains of the motors. Then existing high-level programs developed using C++ and Matlab for USF WMRA-I were modified for WMRA-II. The required low-level programs to provide complete kinematics of the joint movements to the controller board of WMRA-II (Galil DMC-2183) were developed using C++. A test GUI was developed using C++ to troubleshoot the control program and to evaluate the operation of the robotic arm. It was found that WMRA-II has higher repeatability, accuracy and manipulability as well as lower power consumption than WMRA-I. Touch-Screen and Spaceball user interfaces were successfully implemented to facilitate people with different disabilities.
Thesis:
Thesis (MSME)--University of South Florida, 2010.
Bibliography:
Includes bibliographical references.
System Details:
Mode of access: World Wide Web.
System Details:
System requirements: World Wide Web browser and PDF reader.
General Note:
Title from PDF of title page.
General Note:
Document formatted into pages; contains X pages.
Statement of Responsibility:
by Punya Basnayaka.

Record Information

Source Institution:
University of South Florida Library
Holding Location:
University of South Florida
Rights Management:
All applicable rights reserved by the source institution and holding location.
Resource Identifier:
E14-SFE0004627 ( USFLDC DOI )
e14.4627 ( USFLDC Handle )

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Format:
Book

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Full Text
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Low-level programming of a 9-degree-of-freedom wheelchair-mounted robotic arm with the application of different user interfaces
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Thesis (MSME)--University of South Florida, 2010.
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Text (Electronic thesis) in PDF format.
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Mode of access: World Wide Web.
System requirements: World Wide Web browser and PDF reader.
3 520
ABSTRACT: Implementation of C++ and Matlab based control of University of South Florida's latest wheelchair-mounted robotic arm (USF WMRA-II), which has 9 degrees-of-freedom, was carried out under this Master's thesis research. First, the rotational displacements about the 7 joints of the robotic arm were calibrated. It was followed by setting the control gains of the motors. Then existing high-level programs developed using C++ and Matlab for USF WMRA-I were modified for WMRA-II. The required low-level programs to provide complete kinematics of the joint movements to the controller board of WMRA-II (Galil DMC-2183) were developed using C++. A test GUI was developed using C++ to troubleshoot the control program and to evaluate the operation of the robotic arm. It was found that WMRA-II has higher repeatability, accuracy and manipulability as well as lower power consumption than WMRA-I. Touch-Screen and Spaceball user interfaces were successfully implemented to facilitate people with different disabilities.
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Rehabilitation robots
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t USF Electronic Theses and Dissertations.
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u http://digital.lib.usf.edu/?e14.4627



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1= 7;+?nrn)rn 7nr rr !! !! !! !! 3222233232: r r 122223;03:: :2222<;<21 ;22223:22 <22221;3:=< 0222222 =22223=303 ,%n0rnn !! r nn n,=9nnr, nnn,n ")#,%n-rn)n nn nn n"3 =2 #7nnr n n r#)n n rn n ""n nr rn:9# rnrnnn n"n )'rn)n,H)n,7 -/E13F#'n n" n nnrrn ,n ,n rn ,"n n rr ,*" % ,n n nn n r n n*" % #

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: rnrn n rn #'nnn !! nnr!, )55 nrnnn n"# 4rnnnrn )55rr #n n n n!!nnn#7 )55nnn n nDnr*n n #15n3nnnnn n&n )rr n (nn #n nn rr,nnnrn r# 7 n, )rn+n)n nn nn @4rnnA#'1:1 n"rr nnn)# $n+$n r n n nn nr) nrr# R4@)913122AG Br n nrr#7 n rrn1n nn 3122" rr# (nrr n" nn rn nn nrr#!(n 7)M! rr nnn,!n ;" rn, (n nn nrr#7 !n nn rnnnn#R4@31;#<3#13 #>:AG Brn(n nrr#

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;1 16n nr+!nn-n nnnr %rnrn nn )55nnr #?n, )r9*@)9A ", nr rrn,%)55 nnr#n rn r n n "nrrn"n r)55 #7 r% nnrn)55nnr# n nn nrn" n )9* # 1;n/nn1;n+*nn n n n r #7'n 4! nnnr nr#7'n4!rr )55n'!! n1<#! n rn nB rnnr#nrn n ,nn r nn23, nn n n B#7rnnrn nrr# 7nn" 7' n4!#)rr n n$%,(B'n #)% n nn # % nn n rnnr#nn @ D,, ,%n n,#An nr nn"n "n&n n#)55 n7 'n4!nB$#

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;: n1<+'n'7'n)n n!n 1;"n*nn n10 n'#7 nn n nn& n n 09nn nnn" #7' n": n ", ,Dr,n"D n rn#n nnnr #$" ',nnr r: # rnnr'nr -@'-A:B7 :1 "rnn' Bn !!nnnr#rnnr n 'rrnn#7 nBnB nn )55!!nnrn n nn rn n rnnr#

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;; n10+'! rnnr n rnnr # @n1=Ar n r nnr#7!!nnr n nrn"rr 'nnr nrrn n n# n1=+'nnr 1 4!# 7 4! r rr* n n #! 4!, n nrrn%

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;< n% nrn#'n n nrr, nn# n1>+7 4!n!!

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;= 730+n !! )n)nnM@A !)nn"@rn A2#1< ? n 3#1< 'r rr* @"A3 #;< 'r rr*1%"3# =< 0-*3 3#=< !!! r n #?n, n n nn" rrrn n nnnnnr #nn,!! r n!# 73=+n) r)rn !! 5"n('nn'nnn(n 7n"nn nG "n n n n n%r#" nr n" n n#$"%& ,nr nrnr n "nnn#! nnnn n n #! nrn r E::F#n1 nn n" n"# )!!! 2#1<2#:0 ? n3#1<2#<> 0-*33#=<:#:2

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;> n1+n n" "E::F7nr n"n "nnrn &@n @ nnA nnr nrrnnr r n" n

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; r # n n ",rrD,n% nn #r nr nr nnr n r @n:2Ann n# nn nnnrr nn n@ DB #n#nr n rA"nn#N"n nnn n nn"nn#N / n"nnn r n# 73>+' nn" "7 H B"D)n 3@=22,122,=22A 1@122,=22,=22A :@3222,<22,:22A ;@<<2,:22,22A <@><2,<2,<22A n:2+(Bnr'n" n"7

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<2 n:3+"n"! !! nn:3,!!! n n"# ?n,!!" nn n" n"nnnnn 7312n "# 73+")rn !! )n !@n"AM rr !!@nn"AM rr N1#03#:> /1#2:3#21 ]3#13#2: 712+nn(nnn !!! )n !@nQ nnnAMQ !!@nQ nnnAMQ N<#32;#: /<#11;#;1 ]0#:><#<2 122 :22 ;22 <22 022 =22 >22 22 3222 :#< ; ;#< < <#< 0 BB M@rrAQ(nnn 122 :22 ;22 <22 022 =22 >22 22 3222 1 : ; < 0 = "B M@rrAQ(nnn 122 :22 ;22 <22 022 =22 >22 22 1 ; 0 > 32 DB M@rrAQ(nnn !! 122 :22 ;22 <22 022 =22 >22 22 3222 2 3 1 : ; BB M@rrA" 122 :22 ;22 <22 022 =22 >22 22 3222 2 3 1 : ; "B M@rrA" 122 :22 ;22 <22 022 =22 >22 22 2 3 1 : DB M@rrA"

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<3 nn n"n "!!nn n!#$ r n r)55nnr rrrn@'1:1A rrnnn# n nnnn rn nnr # !! 4rnn@1; C)A nnn n n n rn .-(!) n')nn @31C)A nnnnrn# 7rn !!nrnn !# 7n"nnr nnnrn r n r#7rn nr "% n nr* % nr r nnr#7r n r nn%n,nn nr" rnnn n r nr #5%n/nnnn nrn" !!, "n r n n#'7'nn nn nnnr# n:1+( n!n +7'n

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<1 5%n+*n3!n 7'n n nn #! n nn r nn n nnr n# r)n<, n n rrn n n" D" nr#!nn r, n % nn nn&nn r r nnr# 7'n % n r#(B nBnr 7'n nn# 5%nn-nn(n n 7'n n"n nn n n )55n nnr #7 nr rn nn ,n n,#! nn rr n n#7 nnrr n # 5%"n*n3!n n r n Bn" nnrr,7 'n nn nnr#', n 09r @ <#>#1A#$" ', n n"nnn nnnn#?n, n nnn"n 'rnnr#4nn n nnr '#7nnn nnrr #

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<; r"r n nrnrn" n n nrn r# n::+" n! !!nr 2 32 12 :2 ;2 2 2#< 3 3#< 1 1#< : B32> @A#@=22,122,=22A rM@ A" n 2 32 12 :2 ;2 2 2#< 3 3#< 1 1#< B32> @A#@122,=22,122A rM@ A" n 2 32 12 :2 ;2 3 3#< 1 1#< : B32> @A#@3222,<22,:22A rM@ A" n 2 < 32 3< 2#< 3 3#< 1 1#< : B32> @A#@<<2,:22,22A rM@ A" n !!

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00 7nn24n nn %r nP>#nn n!nn!!n!n!&nnFn n!$ n.$/%nn n!%!&nn !n $(,Arnnnn!nn!3n $ (0An!nn!nn!n F%n$ (*A8nn%nn %?%n ?!n!&.'/4nn! nn!nn!nF% n$ 777777777777777777777777777777777777777777777777777 7777777777777777 777777777777777777777777778#9:;777 7777777777777777 777777777777777777777>n?n% n!&A9@C 7777777777777777 7777777777777777777777777777777n&*,0,7777777777 7777777777777777 777777777777777777777777777777777777777777777777777 7777777777777777 >n%A E%!n F$ E%!n 8>$ E%!n $ E%!n G$2 E%!n G2 E%!n Gn2 E%!n Gn2 E%!n G!$2 E%!n G$2 E%!n G n$2 E%!n Gn$2 E%!nG!$2%!n!4nn%%&n nnn E%!n %$ E%!n8AN>n!rnN &N>nC N nnN*%%NnNnN% *$ E%!n ;%%$ n n !+ n n + n n rn+ ?! %nn % !/ %nn Cn?%n I %nn .0,,,/%nn 0n! %CH(%C./+ %n .%C./1G!/+ JFHH. !4 4F'4 % !4;%%B/I nFn% + nFn % n*04n**4n*64n*O4n*M4n*Q4n*K4n*T4n* P4n*!+ % 4&&44!!4nn444+ %04&&*464!!O4nnM4Q4K4T+ 04&0404!04n04040+ % R 4R!4R+ F'.0,40/4'n .0,40/+F.040/+ n!nnn%U!n4% %!nn?nn! %%nnA (H8>./+ n%3n%&A .!((0/I 9>%%nA @n!H. UU 404/+ n

PAGE 76

0= 7nn24n n*0(9QMPM,,,+ n**(9M0,,,,,+ & n*6(90T,,,,,+ n*O(9*6,,,,,+ n*M(9*,,,,,,+ n n*Q(19*,,,,,,+ n*K(90M,,,,,+ n*T(0+ n!An!nnn% %%nn%%n!.#%nn!nn !n/$ n*P(0+ n!Annnn % %%nn%%n!.#%nn!nn !n/$ n*!(00,,,,,+ nnnn%n 'n'n!A .((*/I 8?nn!n!%nn!nn! A '.,4,/('.,4,/n*0+'.04,/('.04,/n**+'.*4,/('.*4,/n*6+'.64,/('.64,/n*O+'.O4,/('.O4,/n*M+'.M4,/('.M4,/n*Q+'.Q4,/('.Q4,/n*K+'.K4,/('.K4,/n*T+'.T4,/('.T4,/n*P+'.P4,/(,+ 8n%n'A !+!( n. $F 4 /+ 5+ .5(,+5GK+5LL/I .!4 70,$, 4'.54,//+ J%n.!/+(0+J$!. R9<(* /+ $!. R><(6, /+ $!. R<(, /+ $!. R9(6M /+ $!. R>(*Q, /+ $!. R(, /+ !nn%%n&! C!n 9HC./+>nn%nH%%.P,,,,4/+nH.,$Q4/+ % )0,-+ ),-('.,4,/+ GG' ),-(GG' ),-GGn!%+ )0-('.04,/+ GG' )0-(GG' )0-GGn!%+ )*-('.*4,/+ GG' )*-(GG' )*-GGn!%+ )6-('.64,/+ GG' )6-(GG' )6-GGn!%+ )O-('.O4,/+ GG' )O-(GG' )O-GGn!%+ )M-('.M4,/+

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0> 7nn24 )Q-('.Q4,/+ GG' )Q-(GG' )Q-GGn!%+ )K-('.K4,/+ GG' )K-(GG' )K-GGn!%+ )T-('.T4,/+ GG' )T-(GG' )T-GGn!%+ )P-('.P4,/+GG )P-( GG' )P-GGn!%+ >nnH9. UU 4'.,4,/4/+ >nnH9. U@U 4'.04,/4/+ >nnH9. U8U 4'.*4,/4/+ >nnH9. U>U 4'.64,/4/+ >nnH9. UU 4'.O4,/4/+ >nnH9. UU 4'.M4,/4/+ >nnH9. U;U 4'.Q4,/4/+ >nnH9. U;n 9>H%%.Q4QO4,4/+(n%%H UU 4/+ &&(n%%H U@U 4/+ (n%%H U8U 4/+ !!(n%%H U>U 4/+ nn(n%%H UU 4/+ (n%%H UU 4/+ (n%%H U;U 4/+ (n%%H U
PAGE 78

0 7nn24n !nA n%n I .!((*/I I % ')0,-+ (n%%H UU 4/+ &&(n%%H U@U 4/+ (n%%H U8U 4/+ !!(n%%H U>U 4/+ nn(n%%H UU 4/+ (n%%H UU 4/+ (n%%H U;U 4/+ (n%%H U
PAGE 79

=2 7nn24n GG ')0-( GG'.P4,/GGn!%+ % !')T-+ !'),-('.,4,/1'),-+!')0-('.04,/1')0-+!')*-('.*4,/1')*-+!')6-('.64,/1')6-+!')O-('.O4,/1')O-+!')M-('.M4,/1')M-+!')Q-('.Q4,/1')Q-+!')K-('.P4,/1')P-+ % !'0)T-+ !'0),-(&.!'),-/+!'0)0-(&.!')0-/+!'0)*-(&.!')*-/+!'0)6-(&.!')6-/+!'0)O-(&.!')O-/+!'0)M-(&.!')M-/+!'0)Q-(&.!')Q-/+!'0)K-(&.!')K-/+GG !')K-( GG!')K-GGn!%+ % !',0)T-+ % !',0)T-+ % '!!0)T-+ !',0)K-(!'0)K-*+ '!!0)K-(M,,,+ .&.!'),-/2*M,,,/ I!',0),-(0K,,,,+'!!0),-(KM,,,+J n%n I !',0),-(*&.!'),-/,$6++'!!0),-(*&.!'),-/,$K+JGG !',0),-( GG!',0),-GGn!%+ GG '!!0),-( GG'!!0),-GGn!%+ .&.!')0-/2*M,,,/ I!',0)0-(0K,,,,+'!!0)0-(KM,,,+J n%n I !',0)0-(*&.!')0-/,$6++'!!0)0-(*&.!')0-/,$K+JGG !',0)0-( GG!',0)0-GGn!%+ GG '!!0)0-( GG'!!0)0-GGn!%+

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=3 7nn24n .&.!')*-/2*M,,,/ I!',0)*-(0K,,,,+'!!0)*-(KM,,,+J n%n I !',0)*-(*&.!')*-/,$6++'!!0)*-(*&.!')*-/,$K+JGG !',0)*-( GG!',0)*-GGn!%+ GG '!!0)*-( GG'!!0)*-GGn!%+ .&.!')6-/2*M,,,/ I!',0)6-(0K,,,,+'!!0)6-(KM,,,+J n%n I !',0)6-(*&.!')6-/,$6++'!!0)6-(*&.!')6-/,$K+JGG !',0)6-( GG!',0)6-GGn!%+ GG '!!0)6-( GG'!!0)6-GGn!%+ .&.!')O-/2*M,,,/ I!',0)O-(0K,,,,+'!!0)O-(KM,,,+J n%n I !',0)O-(*&.!')O-/,$6++'!!0)O-(*&.!')O-/,$K+JGG !',0)O-( GG!',0)O-GGn!%+ GG '!!0)O-( GG'!!0)O-GGn!%+ .&.!')M-/2*M,,,/ I!',0)M-(0K,,,,+'!!0)M-(KM,,,+J n%n I !',0)M-(*&.!')M-/,$6++'!!0)M-(*&.!')M-/,$K+JGG !',0)M-( GG!',0)M-GGn!%+ GG '!!0)M-( GG'!!0)M-GGn!%+ .&.!')Q-/2*M,,,/ I!',0)Q-(0K,,,,+'!!0)Q-(KM,,,+J n%n I !',0)Q-(*&.!')Q-/,$6++ '!!0)Q-(*&.!')Q-/,$K+JGG !',0)Q-( GG!',0)Q-GGn!%+ n

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=1 7nn24n 5+ !0+!0( n. 0$F 4 /+ .!04 NNN /+ .!04 ')6-7O$* 4')6-/+ .!04 NNN /+ 9H%. UU 4'.,4,/4!',0),-4'!!0),-4/+ 9H%. U&U 4'.04,/4!',0)0-4'!!0)0-4/+ 9H%. UU 4'.*4,/4!',0)*-4'!!0)*-4/+ 9H%. U!U 4'.64,/4!',0)6-4'!!0)6-4/+ 9H%. UnU 4'.O4,/4!',0)O-4'!!0)O-4/+ 9H%. UU 4'.M4,/4!',0)M-4'!!0)M-4/+ 9H%.UU4'.Q4,/4!',0)Q-4'!!0)Q-4/ + 9H%. UU 4'.P4,/4!',0)K-4M,,,4/+ (n%%H UU 4/+ &&(n%%H U@U 4/+ (n%%H U8U 4/+ !!(n%%H U>U 4/+ nn(n%%H UU 4/+ (n%%H UU 4/+ (n%%H U;U 4/+ (n%%H U
PAGE 82

=: 7nn24nJJJJ n '+ J J n6!!n9%% @%n!! 5n ?&%n'%n %n4?nn%!% ?&%n?%n!n&n5n $ n n?&%n $rnn'$K$0T n*0,8@C777777777777777777777777777777777777777777777777777 777777777777777777777777 777777777777777777777777778#9:;777 777777777777777777777777 77777777777777777777>n?n% n!@An!$%'n 777777777777777777777 777777777777777777777!n!&A8% n777777777777777777777 7777777777777777777777777777777 %*,0,77777777 777777777777777777777777 777777777777777777777777777777777777777777777777777 777777777777777777777777 >n%A E%!n F$ E%!n @9%%$ n n !+ n n + FH@9%%. % '4 % '4 % /I F'&.*40/+ @%n!A &+ &(M+ %3nnA % 44!4'!!&4&4'!&4'&+ % ,04004*04604O04M04,*40*4**46*4 O*4M*+ + (,+(&.'1'/+!(.10/+ .2,$,,0/I @%n! n!nA n4 4?n%4!n%n n?&%nn &%n! A '!!&(&O.'1'/ .4*/+&(*1'. .'!!&4*/ .4*/1O'!!&.'1'/ /&.*'!!&/+ '!&('!!&&+'&('L'!!& .&4*/*+ 8%%n %%n &%n! A '$K$0T n*0,8@C ,0('+00(,+*0(,$M'!!&+60(.*,.'&1'/1T'!&&1*'!!& .&4*//.* .&46//+ O0(.6,.'1'&/L0O'!&&L'!!& .&4*//.* .&4O//+7n M!n %%$ M0(.0*.'&1'/1Q'!&&/.* .&4M//+7 nM!n %%$ 8%%n %%nn! &%n! A '$K$0T n*0,8@C ,*('&L'!&.1*&/+

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=; 7nn24n 0*('!&+ **(1,$M'!!&+6*(.*,.'1,*/10*0*&L*'!!& .&4*//.* .&46//+ O*(.6,.,*1'/L0Q0*&1'!!& .&4*//.* .&4O//+7n M!n %% M*(.0*.'1,*/1Q0*&/.* .&4M//+7 nM!n %%$ J 8%%nnn!n5%n% n5nn% n% A % 'n + 'n ( n % )-+ .(,+G+LL/I .G(,$,,0/I 'n )-('+J n%n .G(&/I 'n )-(,0L00L*0 .4*/L60 .46/ + LO0 .4O/LM0 .4M/+n&nn LO0M!n %%$ J n%n .2(.1&//I 'n )-(,*L0*.L&1/L** ..L&1/4 */L6* ..L&1 /46/+ LO* ..L&1/4O/LM* ..L&1/4M/+ n&nnLO*M !n %%$ J n%n I 'n )-('&1'!&.&1/+J(L!+J'&$rnr3n.40/+ .(,+G+LL/I '&.4,/('n )-+J !n%nn )-'n + n '&+ J n? !%%n%4n nn%4nn$777777777777777777777777777777777777777777777777777 777777777777777777777777 777777777777777777777777778#9:;777 777777777777777777777777 77777777777777777777>n?n% n!@An!$%'n 777777777777777777777 77777777777777777777!n!@A8%n 777777777777777777777777 7777777777777777777777777777777 %*,,K77777777 777777777777777777777777 777777777777777777777777777777777777777777777777777 777777777777777777777777 >n%A E%!n F$ E%!n 8%%!n$ E%!n 8>$ n n !+ n n + FH%%!n.F!'4F,04F 0*4F*64F6O4F OM4FMQ4FQK/I

PAGE 84

=< 7nn24n F.040/+ (H8>./+ 8%%8!A + F!'.040/+(0,,1.,46/1.,4O/+ n!&nn$ !'(!'+ 018%%n6,6A F,6.040/+,6(,00**6+ 8%%n!A .,6.*46/G(/I !'(!'+!'(.1,$,0/+J 8%%nnn%U%n!nA .,6.,46/2(OM,BB,6.046/G(10M,/I !'(!'+!'(.1,$,0/+J 8%%nnn%Un%n!nA .,6.,46/G(OM,BB,6.046/G(0,,/I !'(!'+!'(.1,$,0/+J 8%%nnn%Un%nnn%A .,6.,46/G(,BB,6.046/G(0,,BB,6.*46/G(0 *,/I !'(!'+!'(.1,$,0/+J *18%%nO,OA F,O.040/+,O(,66O+ 8%%n!A .,O.*46/G(/I !'(!'+!'(.1,$,0/+J 8%%nnn%U%n!nA .,O.,46/G(OM,BB,O.,46/2(10,,BB,O.046/G (,/I !'(!'+!'(.1,$,0/+J 8%%nnn%Un%n!nA .,O.,46/G(10,,BB,O.046/G(0,,/I !'(!'+!'(.1,$,0/+J 8%%nnn%Un%nnn%A .,O.,46/G(10,,BB,O.046/G(0,,BB,O.*46/G (0*,/I !'(!'+!'(.1,$,0/+J 618%%nM,MA F,M.040/+,M(,OOM+ 8%%n!A .,M.*46/G(/I !'(!'+!'(.1,$,0/+J

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=0 7nn24n .,M.,46/G(10,,BB,M.,46/2(1MM,BB,M.046/ G(0M,/I !'(!'+!'(.1,$,0/+J 8%%nnn%!?nU% A .,M.,46/G(O,,BB,M.,46/2(10,,BB,M.046/G (,BB,M.*46/G(OK,/I !'(!'+!'(.1,$,0/+J 8%%nnn%U&n CA .,M.,46/G(1O6,BB,M.,46/2(1Q6,BB,M.046/ G(0,,BB,M.*46/G(M,/I !'(!'+!'(.1,$,0/+J O18%%nK,KA F,K.040/+,K(,MMQQK+ 8%%n!A .,K.*46/G(/I !'(!'+!'(.1,$,0/+J 8%%nnn%!?nU%n %!nA .,K.,46/G(1M,BB,K.,46/2(1Q,,BB,K.046/G (*,,/I !'(!'+!'(.1,$,0/+J 8%%nnn%!?nU% A .,K.,46/G(OM,BB,K.,46/2(1M,BB,K.046/G( M,BB,K.*46/G(M*,/I !'(!'+!'(.1,$,0/+J 8%%nnn%U&n CA .,K.,46/G(1OT,BB,K.,46/2(1QT,BB,K.046/ G(M,BB,K.*46/G(0,,/I !'(!'+!'(.1,$,0/+J M18%%n!n%6KA F6K.040/+6K(6OOMMQQK+ 8%%&nnnnn!n nA .6K.,46/G(0K,BB6K.,46/2(10K,BB6K.046/2 (10,,BB6K.*46/G(,/I !'(!'+!'(.1,$,0/+J n !'+ J ?nnUnn n nn'n! 5n $777777777777777777777777777777777777777777777777777 777777777777777777777777 777777777777777777777777778#9:;777 777777777777777777777777 77777777777777777777>n?n% n!@An!$%'n 777777777777777777777 77777777777777777777!n!@A8%n 777777777777777777777777 7777777777777777777777777777777 %*,,K77777777 777777777777777777777777 777777777777777777777777777777777777777777777777777 777777777777777777777777 >n%A E%!n F$ E%!n >n%$ n n !+ n n +

PAGE 86

== 7nn24nFH!n%.F!4F!!/IF!n%.Q40/4n .640/4n.640/+ 45+ .(,+G6+LL/I n .4,/(!!.46/1!.46/+J?nn 6.,4,4,/+ .5(,+5G6+5LL/I ?nn 0.!.,45/4!.045/4!.*45//+?nn *.!!.,45/4!!.045/4!!.*45//+?nn!(9!.n 04n */+n 6$F(n 6$FLn!$F+n 6$(n 6$Ln!$+n 6$3(n 6$3Ln!$3+Jn.,4,/(n 6$F+n.04,/(n 6$+n.*4,/(n 6$3+n(.,$M/+ !n%!n .(,+G6+LL/I !n%.4,/(n .4,/+J .(6+GQ+LL/I !n%.4,/(n.164,/+J n(,$M...0A640/4!.0A640//L..0A 64*/4!.0A64*//L ..0A646/4!.0A646///+n'0K n0TP.&9% !8%/@C&n%@! n%$Cnn n.n%?n!1n%n 8%n% %/@ D:$r$n%$ n !n%+ J ?nn><19nnF &nn!n $ !n nn%nn nnn!n%% n%n! $777777777777777777777777777777777777777777777777777 777777777777777777777777 777777777777777777777777778#9:;777 777777777777777777777777 77777777777777777777>n?n% n!@An!$%'n 777777777777777777777 77777777777777777777!n!@A8%n 777777777777777777777777 7777777777777777777777777777777 %*,,K77777777 777777777777777777777777 777777777777777777777777777777777777777777777777777 777777777777777777777777 >n%A E%!n F$ E%!n ><$ n n + n n !+ FH><.F'/IF><0.K4O/+

PAGE 87

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PAGE 88

= 7nn24n D,.,4M/(1.,4,/.046/L.04,/.,46/+ D,.04M/(1.,40/.046/L.040/.,46/+D,.*4M/(1.,4*/.046/L.04*/.,46/+D,.64M/(.*4,/+D,.O4M/(.*40/+D,.M4M/(.*4*/+(Q+ GGNANGGGGn!%+ D,.,4O/(1.,4,/.046/L.04,/.,46/+D,.04O/(1.,40/.046/L.040/.,46/+D,.*4O/(1.,4*/.046/L.04*/.,46/+D,.64O/(.*4,/+D,.O4O/(.*40/+D,.M4O/(.*4*/+(M+ GGNANGGGGn!%+ D,.,46/(1.,4,/.046/L.04,/.,46/+D,.046/(1.,40/.046/L.040/.,46/+D,.*46/(1.,4*/.046/L.04*/.,46/+D,.646/(.*4,/+D,.O46/(.*40/+D,.M46/(.*4*/+(O+ GGNANGGGGn!%+ D,.,4*/(1.,4,/.046/L.04,/.,46/+D,.04*/(1.,40/.046/L.040/.,46/+D,.*4*/(1.,4*/.046/L.04*/.,46/+D,.64*/(.*4,/+D,.O4*/(.*40/+D,.M4*/(.*4*/+(6+ GGNANGGGGn!%+ D,.,40/(1.,4,/.046/L.04,/.,46/+D,.040/(1.,40/.046/L.040/.,46/+D,.*40/(1.,4*/.046/L.04*/.,46/+D,.640/(.*4,/+D,.O40/(.*40/+D,.M40/(.*4*/+(*+ GGNANGGGGn!%+ D,.,4,/(1.,4,/.046/L.04,/.,46/+D,.04,/(1.,40/.046/L.040/.,46/+D,.*4,/(1.,4*/.046/L.04*/.,46/+D,.64,/(.*4,/+D,.O4,/(.*40/+D,.M4,/(.*4*/+(0+ GGNANGGGGn!%+ D,n $"%%.Q4Q/+ 45+ .(,+G6+LL/I .5(,+5G6+5LL/I D,n .45/(.45/+Jn

PAGE 89

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PAGE 92

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PAGE 95

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PAGE 96

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PAGE 97

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PAGE 98

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PAGE 99

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PAGE 100

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PAGE 101

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PAGE 102

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0 7nn24n .5(,+5G6+5LL/I .C(,+CG6+CLL/I Dn .54C/(0.54C/+ J J .5(6+5GQ+5LL/I .C(6+CGQ+CLL/I Dn .54C/(0.5164C16/+JJDn (Dn D+D(Dn +D(D+J .!4 DANN /+ .5(,+5GD$"./+5LL/I .C(,+CGD$8%"./+CLL/I .!4 7O$* 4D.54C//+ J .!4 N /+ J .!4 NNN /+ .!4 DANN /+ .5(,+5GD$"./+5LL/I .C(,+CGD$8%"./+CLL/I .!4 7O$* 4D.54C//+ J .!4 N /+ J .!4 NNN /+ 8%%n6WPQWPnn!D& nn &n!n!nA .((*/I D$rnr3n.64K/+Dn $"%%.K46/+Dn (VD+Dn (DDn +!nD('.Dn $>n.//+D$rnr3n.64*/+D$rnr3n.64P/+ .5(,+5G6+5LL/I .C(,+CGK+CLL/I D.54C/(D.54C/+J .C(K+CGP+CLL/I D.54C/(D.54C1K/+JJDn $"%%.P46/+Dn (VD+Dn (DDn +!nD('.Dn $>n.//+J n%n I D$rnr3n.Q4P/+ .5(,+5GQ+5LL/I .C(,+CGK+CLL/I D.54C/(D.54C/+J .C(K+CGP+CLL/I D.54C/(D.54C1K/+J

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= 7nn24nJDn (VD+Dn (DDn +!nD('.Dn $>n.//+J .!4 DANN /+ .5(,+5GD$"./+5LL/I .C(,+CGD$8%"./+CLL/I .!4 7O$* 4D.54C//+ J .!4 N /+ J .!4 NNN /+ .!4 !nDA7NN 4!nD/+ !n8nnnn!nn A F?.040/4?.040/4n .040/4 n *.040/4 n .O4O/4n.O4O/+ .((0/I 8%%n9!#nn n n!nn4!nnnn!n nA .!((*/I ?$.O/+n (0+n $rnr3n.646/+n *(Vn +n *(.10/+n $"%%.640/+ .5(,+5G6+5LL/I n .54,/(0.546/+Jn (n *n + .5(,+5G6+5LL/I .C(,+CG6+CLL/I ?.54C/(0.C45/+J?.546/(n .54,/+Jn $"%%.O4O/+ .5(,+5GO+5LL/I .C(,+CGO+CLL/I n .54C/()-)5-)C-+JJn(?n +!F(H!n%.04n/+J n%n .!((6/I ?$.O/+n (0+n $rnr3n.646/+n *(Vn +n *(.10/+n $"%%.640/+ .5(,+5G6+5LL/I n .54,/(0.546/+Jn (n *n + .5(,+5G6+5LL/I .C(,+CG6+CLL/I ?.54C/(0.C45/+

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7nn24n n%$n%n.F04T4 UNU /+ n%$n%n.04T4 UNU /+ n%$n%n.304T4 UNU /+ n%$n%n.F04T4 UNU /+ n%$%n./+JF(.F0/+(.0/+3(.30/+F(.F0/+(.0/+3(.30/+F !.Q40/+GG F( GGFGGn!%+ GG ( GGGGn!%+ GG 3( GG3GGn!%+ GG F( GGFGGn!%+ GG ( GGGGn!%+ GG 3( GG3GGn!%+ !.,4,/(F*,+ !.04,/(1O,+ !.*4,/(36,+ !.64,/(F0M,,+ !.O4,/(1P,,+ !.M4,/(306,,+!(,$,M+!F( !+!F(.?!/+!(,+ !.Q4,/+ J n%n .((O/I !F(H 0/+ !F(.?!/+ !(!F.Q4,/+ !F$rnr3n.Q40/+ J n%n I !F0)T-4!F*)T-4!F6)T-4!FO)T-4!FM)T-4!FQ)T-4 !F)T-4?nn )T-+!F$"%%.Q40/+nn%. $F 4AA/+ .Zn%/I GG 8 n + J .Zn%$n.// In%$n%n.!F04T4 UNU /+ n%$n%n.!F*4T4 UNU /+ n%$n%n.!F64T4 UNU /+ n%$n%n.!FO4T4 UNU /+ n%$n%n.!FM4T4 UNU /+ n%$n%n.!FQ4T4 UNU /+ n%$n%n.!F4T4 UNU /+ n%$n%n.?nn 4T4 UNU /+ n%$%n./+J!F.,4,/(.!F0/+GG !F0A GG!F.,4,/GG N +

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3;2 7n&n24n ?n ArnAA!AAAA8nC@FYnC@FQ+ ?n ArnAA!AAAA8nC@FYnC@FM+ ?n ArnAA!AAAA8nC@FYnC@FO+ ?n ArnAA!AAAA8nC@FYnC@F6+ ?n ArnAA!AAAA8nC@FYnC@F*+ ?n ArnAA!AAAA8nC@FYnC@F0O+ ?n ArnAA!AAAA8nC@FYnC@F06+ ?n ArnAA!AAAA8nC@FYnC@F0*+ ?n ArnAA!AAAA8nC@FYnC@F00+ ?n ArnAA!AAAA8nC@FYnC@F0,+ ?n ArnAA!AAAA8nC@FYnC@FP+ ?n ArnAA!AAAA8nC@FYnC@FT+ ?n ArnAA!AAAA8nC@FYnC@FK+ ?n A G2 n'n!!nn?&%n$ G2 rnAA8 n!n%AA8nY n+ E n !>nnnnn!!n G2 n'n!n!>nn 1! nnn!n!nn! $ G2 ?! %3n8 n. ?! / IrnAA8 n!n%AA8 nnnn Ynn( n rnAA8 n!n%AA8 nnnn. 0AA n! //+ 12 @F6(. n rnAA!AAAA; @F.//+ 12nC@F0O(. n rnAA!AAAA8nC@F.//+ 12nC@F06(. n rnAA!AAAA8nC@F.//+ 12&6(. n rnAA!AAAA@.//+ 12 @F*(. n rnAA!AAAA; @F.//+ 12nC@F0*(. n rnAA!AAAA8nC@F.//+ 12nC@F00(. n rnAA!AAAA8nC@F.//+ 12nC@F0,(. n rnAA!AAAA8nC@F.//+ 12nC@FP(. n rnAA!AAAA8nC@F.//+ 12nC@FT(. n rnAA!AAAA8nC@F.//+ 12nC@FK(. n rnAA!AAAA8nC@F.//+ 12 @F0(. n rnAA!AAAA; @F.//+ 12nC@FQ(. n rnAA!AAAA8nC@F.//+ 12nC@FM(. n rnAA!AAAA8nC@F.//+ 12nC@FO(. n rnAA!AAAA8nC@F.//+ 12nC@F6(. n rnAA!AAAA8nC@F.//+ 12nC@F*(. n rnAA!AAAA8nC@F.//+ 12nC@F0(. n rnAA!AAAA8nC@F.//+ 12&O(. n rnAA!AAAA@.//+ 12&*(. n rnAA!AAAA@.//+ 12&0(. n rnAA!AAAA@.//+ 12 @F612r n!./+ 12 @F*12r n!./+ 12 @F012r n!./+ 12r n!./+ @F6 12 @F6128%12!!. 12nC@F0O/+ 12 @F6128%12!!. 12nC@F06/+ 12 @F6128%12!!. 12&6/+ 12 @F612(rnAA>AA9.*6K4 *6*/+ 12 @F612"n( @F6 + 12 @F612r3n(rnAA>AAr3n.*TP4000/ + 12 @F612&!nF(P+ 12 @F612&r ( %n +

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3;3 7n&n24n 12nC@F0O12 nn( rnAA!AAAA nnAA@+ 12nC@F0O12@C!n( .%AA nH GrnAA>AAnY2.nn1 2;n#&5n. nC@F0O$@C!n ///+ 12nC@F0O12(rnAA>AA9.*,0 4**/+ 12nC@F0O12"n( nC@F0O + 12nC@F0O12r3n(rnAA>AAr3n.QT4QP/+ 12nC@F0O12&!nF(0+ 12nC@F0O12n=%r%n@C8%( n + 12nC@F0O128nCn!8n!L( n rnAA?nAAnY2.nn1 2;n#&5n. nC@F06$@C!n ///+ 12nC@F0612(rnAA>AA9.000 4**/+ 12nC@F0612"n( nC@F06 + 12nC@F0612r3n(rnAA>AAr3n.QT4QP/+ 12nC@F0612&!nF(0+ 12nC@F0612n=%r%n@C8%( n + 12nC@F06128nCn!8n!L( n rnAA?nAAnY2.nn1 2;n#&5n. &6$@C!n ///+ 12&612@C!n( rnAA!AAAAnAA[+ 12&612(rnAA>AA9.**4** /+ 12&612"n( &6 + 12&612r3n(rnAA>AAr3n.QT4QP/+ 12&612&!nF(,+ 12&612n=%r%n@C8%( n + 12&6128%CL( n rnAA?nAA9.*6K4 06/+ 12 @F*12"n( @F* + 12 @F*12r3n(rnAA>AAr3n.*TP4*06/ + 12 @F*12&!nF(T+ 12 @F*12&r ( %n + 12 @F*12nF( ; n#n + nC@F0* 12nC@F0*12 nn( rnAA!AAAA nnAA@+ 12nC@F0*12@C!n( .%AA nH GrnAA>AAnY2.nn1 2;n#&5n. nC@F0*$@C!n ///+

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3;1 7n&n24n 12nC@F0*12(rnAA>AA9.*,0 40*K/+ 12nC@F0*12"n( nC@F0* + 12nC@F0*12r3n(rnAA>AAr3n.QT4QP/+ 12nC@F0*12&!nF(0+ 12nC@F0*12n=%r%n@C8%( n + 12nC@F0*128nCn!8n!L( n rnAA?nAAnY2.nn1 2;n#&5n. nC@F00$@C!n ///+ 12nC@F0012(rnAA>AA9.000 40*K/+ 12nC@F0012"n( nC@F00 + 12nC@F0012r3n(rnAA>AAr3n.QT4QP/+ 12nC@F0012&!nF(0+ 12nC@F0012n=%r%n@C8%( n + 12nC@F00128nCn!8n!L( n rnAA?nAAnY2.nn1 2;n#&5n. nC@F0,$@C!n ///+ 12nC@F0,12(rnAA>AA9.**4 0*K/+ 12nC@F0,12"n( nC@F0, + 12nC@F0,12r3n(rnAA>AAr3n.QT4QP/+ 12nC@F0,12&!nF(0+ 12nC@F0,12n=%r%n@C8%( n + 12nC@F0,128nCn!8n!L( n rnAA?nAAnY2.nn1 2;n#&5n. nC@FP$@C!n ///+ 12nC@FP12(rnAA>AA9.*,04 0P/+ 12nC@FP12"n( nC@FP + 12nC@FP12r3n(rnAA>AAr3n.QT4QP/+ 12nC@FP12&!nF(0+ 12nC@FP12n=%r%n@C8%( n + 12nC@FP128nCn!8n!L( n rnAA?nAAnY2.nn1 2;n#&5n. nC@FT$@C!n ///+ 12nC@FT12(rnAA>AA9.0004 0P/+ 12nC@FT12"n( nC@FT + 12nC@FT12r3n(rnAA>AAr3n.QT4QP/+ 12nC@FT12&!nF(0+ 12nC@FT12n=%r%n@C8%( n +

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3;: 7n&n24n 12nC@FT128nCn!8n!L( n rnAA?nAAnY2.nn1 2;n#&5n. nC@FK$@C!n ///+ 12nC@FK12(rnAA>AA9.**4 0P/+ 12nC@FK12"n( nC@FK + 12nC@FK12r3n(rnAA>AAr3n.QT4QP/+ 12nC@FK12&!nF(0+ 12nC@FK12n=%r%n@C8%( n + 12nC@FK128nCn!8n!L( n rnAA?nAA9.0*4 06/+ 12 @F012"n( @F0 + 12 @F012r3n(rnAA>AAr3n.*,Q466,/ + 12 @F012&!nF(K+ 12 @F012&r ( %n + 12 @F012nF( ; n9 + nC@FQ 12nC@FQ12 nn( rnAA!AAAA nnAA@+ 12nC@FQ12@C!n( .%AA nH GrnAA>AAnY2.nn1 2;n#&5n. nC@FQ$@C!n ///+ 12nC@FQ12(rnAA>AA9.00O4 *O0/+ 12nC@FQ12"n( nC@FQ + 12nC@FQ12r3n(rnAA>AAr3n.QT4QP/+ 12nC@FQ12&!nF(0+ 12nC@FQ12n=%r%n@C8%( n + 12nC@FQ128nCn!8n!L( n rnAA?nAAnY2.nn1 2;n#&5n. nC@FM$@C!n ///+ 12nC@FM12(rnAA>AA9.*M4 *O0/+ 12nC@FM12"n( nC@FM + 12nC@FM12r3n(rnAA>AAr3n.QT4QP/+ 12nC@FM12&!nF(0+ 12nC@FM12n=%r%n@C8%( n + 12nC@FM128nCn!8n!L( n rnAA?n
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3;; 7n&n24n 12nC@FO12 nn( rnAA!AAAA nnAA@+ 12nC@FO12@C!n( .%AA nH GrnAA>AAnY2.nn1 2;n#&5n. nC@FO$@C!n ///+ 12nC@FO12(rnAA>AA9.00O4 0*K/+ 12nC@FO12"n( nC@FO + 12nC@FO12r3n(rnAA>AAr3n.QT4QP/+ 12nC@FO12&!nF(0+ 12nC@FO12n=%r%n@C8%( n + 12nC@FO128nCn!8n!L( n rnAA?nAAnY2.nn1 2;n#&5n. nC@F6$@C!n ///+ 12nC@F612(rnAA>AA9.*M4 0*K/+ 12nC@F612"n( nC@F6 + 12nC@F612r3n(rnAA>AAr3n.QT4QP/+ 12nC@F612&!nF(0+ 12nC@F612n=%r%n@C8%( n + 12nC@F6128nCn!8n!L( n rnAA?nAAnY2.nn1 2;n#&5n. nC@F*$@C!n ///+ 12nC@F*12(rnAA>AA9.00O4 0P/+ 12nC@F*12"n( nC@F* + 12nC@F*12r3n(rnAA>AAr3n.QT4QP/+ 12nC@F*12&!nF(0+ 12nC@F*12n=%r%n@C8%( n + 12nC@F*128nCn!8n!L( n rnAA?nAAnY2.nn1 2;n#&5n. nC@F0$@C!n ///+ 12nC@F012(rnAA>AA9.*M4 0P/+ 12nC@F012"n( nC@F0 + 12nC@F012r3n(rnAA>AAr3n.QT4QP/+ 12nC@F012&!nF(0+ 12nC@F012n=%r%n@C8%( n + 12nC@F0128nCn!8n!L( n rnAA?nAA. r rn 40,4rnAA>AAr%nAA@%!4rnAA> AA; AA94 H GrnAA@n2.,///+ n

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3;< 7n&n24n 12&O12(rnAA>AA9.6M046 MK/+ 12&O12"n( &O + 12&O12r3n(rnAA>AAr3n.KM46,/+ 12&O12&!nF(M+ 12&O12nF( + 12&O12n=%r%n@C8%( n + 12&O128%CL( n rnAA?nAA. r rn 40,4rnAA>AAr%nAA@%!4rnAA> AA; AA94 H GrnAA@n2.,///+ 12&*12(rnAA>AA9.0*46M K/+ 12&*12"n( &* + 12&*12r3n(rnAA>AAr3n.KT46,/+ 12&*12&!nF(Q+ 12&*12nF( @C + 12&*12n=%r%n@C8%( n + &0 12&012(. n rnAA>AA. r rn 40,4rnAA>AAr%nAA@%!4rnAA> AA; AA94 H GrnAA@n2.,///+ 12&012(rnAA>AA9.OM046 MK/+ 12&012"n( &0 + 12&012r3n(rnAA>AAr3n.KM46,/+ 12&012&!nF(M+ 12&012nF( F + 12&012n=%r%n@C8%( n + 12&0128%CL( n rnAA?nn(rnAA>AAr3n.Q40 6/+ 12r%n!n(rnAA!AAAAr%n !nAA+ 128%nr3n(rnAA>AAr3n.M6P4O,0/+ 128%@F( %n + 128%12!!. 12 @F6/+ 128%12!!. 12 @F*/+ 128%12!!. 12 @F0/+ 128%12!!. 12&O/+ 128%12!!. 12&*/+ 128%12!!. 12&0/+ 12F3n@F( %n + 12"n( 0 + 12nF( rnn + 12!L( n rnAA?n
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3;0 7n&n24nnn 12nC@F012%r%n(%r%nAA%+ 12nC@F012% nn12@!nr3n(*+ 12nC@F012% nn12@!n8%(8%AAn! + 12nC@FM12&%n!( %n + =H>W)*-(0+ &nC + n 8nCrnAAnCn!A 8!nnCn!n$ 12nC@F012%r%n(%r%nAAr!!+ 12nC@FM12&%n!( n + =H>W)*-(,+ &nC + n n 8nCrnAA!nnnA 8!n!nnnn$ =H>W)*-(,+ 12nC@F012%r%n(%r%nAAr!!+ &nC + JJ ?n ArnAA=!nC@F*H8nCn!8n!.rnAA#&5 nYn!n4 rnAA?nYn/I .nC@F*128nCrn/I n 8nCrnAA8nCn!A 8!nnCn!n$ 12nC@F*12%r%n(%r%nAA%+ 12nC@F*12% nn12@!nr3n(*+ 12nC@F*12% nn12@!n8%(8%AAn! + 12nC@FQ12&%n!( %n + =H>W),-(0+ &nC + n 8nCrnAAnCn!A 8!nnCn!n$ 12nC@F*12%r%n(%r%nAAr!!+ 12nC@FQ12&%n!( n + =H>W),-(,+ &nC + n 8nCrnAA!nnnA 8!n!nnnn$ =H>W),-(,+ 12nC@F*12%r%n(%r%nAAr!!+ &nC + JJ ?n ArnAA=!nC@F6H8nCn!8n!.rnAA#&5 nYn!n4 rnAA?nYn/I .nC@F6128nCrn/I n 8nCrnAA8nCn!A 8!nnCn!n$ 12nC@F612%r%n(%r%nAA%+ 12nC@F612% nn12@!nr3n(*+ 12nC@F612% nn12@!n8%(8%AAn! + 12nC@FO12&%n!( %n + =H>W)0-(0+ &nC + n 8nCrnAAnCn!A 8!nnCn!n$ 12nC@F612%r%n(%r%nAAr!!+ 12nC@FO12&%n!( n + =H>W)0-(,+ &nC +

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3;= 7n&n24nn n 8nCrnAA!nnnA 8!n!nnnn$ =H>W)0-(,+ 12nC@F612%r%n(%r%nAAr!!+ &nC + JJ ?n ArnAA=!nC@FOH8nCn!8n!.rnAA#&5 nYn!n4 rnAA?nYn/I .nC@FO128nCrn/I n 8nCrnAA8nCn!A 8!nnCn!n$ 12nC@FO12%r%n(%r%nAA%+ 12nC@FO12% nn12@!nr3n(*+ 12nC@FO12% nn12@!n8%(8%AAn! + 12nC@F612&%n!( %n + =H>W)0-(10+ &nC + n 8nCrnAAnCn!A 8!nnCn!n$ 12nC@FO12%r%n(%r%nAAr!!+ 12nC@F612&%n!( n + =H>W)0-(,+ &nC + n 8nCrnAA!nnnA 8!n!nnnn$ =H>W)0-(,+ 12nC@FO12%r%n(%r%nAAr!!+ &nC + JJ ?n ArnAA=!nC@FMH8nCn!8n!.rnAA#&5 nYn!n4 rnAA?nYn/I .nC@FM128nCrn/I n 8nCrnAA8nCn!A 8!nnCn!n$ 12nC@FM12%r%n(%r%nAA%+ 12nC@FM12% nn12@!nr3n(*+ 12nC@FM12% nn12@!n8%(8%AAn! + 12nC@F012&%n!( %n + =H>W)*-(10+ &nC + n 8nCrnAAnCn!A 8!nnCn!n$ 12nC@FM12%r%n(%r%nAAr!!+ 12nC@F012&%n!( n + =H>W)*-(,+ &nC + n 8nCrnAA!nnnA 8!n!nnnn$ =H>W)*-(,+ 12nC@FM12%r%n(%r%nAAr!!+ &nC + JJ ?n ArnAA=!nC@FQH8nCn!8n!.rnAA#&5 nYn!n4 rnAA?nYn/I .nC@FQ128nCrn/I n 8nCrnAA8nCn!A 8!nnCn!n$ 12nC@FQ12%r%n(%r%nAA%+ 12nC@FQ12% nn12@!nr3n(*+

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3;> 7n&n24nnn 12nC@F*12&%n!( %n + =H>W),-(10+ &nC + n 8nCrnAAnCn!A 8!nnCn!n$ 12nC@FQ12%r%n(%r%nAAr!!+ 12nC@F*12&%n!( n + =H>W),-(,+ &nC + n 8nCrnAA!nnnA 8!n!nnnn$ =H>W),-(,+ 12nC@FQ12%r%n(%r%nAAr!!+ &nC + JJ ?n ArnAA=!nC@FKH8nCn!8n!.rnAA#&5 nYn!n4 rnAA?nYn/In .nC@FK128nCrn/I n 8nCrnAA8nCn!A 8!nnCn!n$ 12nC@FK12%r%n(%r%nAA%+ 12nC@FK12% nn12@!nr3n(*+ 12nC@FK12% nn12@!n8%(8%AAn! + 12nC@FP12&%n!( %n + =H>W)M-(,$,,6+ &nC + n 8nCrnAAnCn!A 8!nnCn!n$ 12nC@FK12%r%n(%r%nAAr!!+ 12nC@FP12&%n!( n + =H>W)M-(,+ &nC + n 8nCrnAA!nnnA 8!n!nnnn$ =H>W)M-(,+ 12nC@FK12%r%n(%r%nAAr!!+ &nC + JJ ?n ArnAA=!nC@FTH8nCn!8n!.rnAA#&5 nYn!n4 rnAA?nYn/I .nC@FT128nCrn/I n 8nCrnAA8nCn!A 8!nnCn!n$ 12nC@FT12%r%n(%r%nAA%+ 12nC@FT12% nn12@!nr3n(*+ 12nC@FT12% nn12@!n8%(8%AAn! + 12nC@F0012&%n!( %n + =H>W)O-(,$,,6+ &nC + n 8nCrnAAnCn!A 8!nnCn!n$ 12nC@FT12%r%n(%r%nAAr!!+ 12nC@F0012&%n!( n + =H>W)O-(,+ &nC + n 8nCrnAA!nnnA 8!n!nnnn$ =H>W)O-(,+

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3; 7n&n24nnn 12nC@FT12%r%n(%r%nAAr!!+ &nC + JJ ?n ArnAA=!nC@FPH8nCn!8n!.rnAA#&5 nYn!n4 rnAA?nYn/I .nC@FP128nCrn/I n 8nCrnAA8nCn!A 8!nnCn!n$ 12nC@FP12%r%n(%r%nAA%+ 12nC@FP12% nn12@!nr3n(*+ 12nC@FP12% nn12@!n8%(8%AAn! + 12nC@FK12&%n!( %n + =H>W)M-(1,$,,6+ &nC + n 8nCrnAAnCn!A 8!nnCn!n$ 12nC@FP12%r%n(%r%nAAr!!+ 12nC@FK12&%n!( n + =H>W)M-(,+ &nC + n 8nCrnAA!nnnA 8!n!nnnn$ =H>W)M-(,+ 12nC@FP12%r%n(%r%nAAr!!+ &nC + JJ ?n ArnAA=!nC@F0,H8nCn!8n!.rnAA#& 5nYn!n4 rnAA?nYn/I .nC@F0,128nCrn/I n 8nCrnAA8nCn!A 8!nnCn!n$ 12nC@F0,12%r%n(%r%nAA%+ 12nC@F0,12% nn12@!nr3n(*+ 12nC@F0,12% nn12@!n8%(8%AAn !+ 12nC@F0*12&%n!( %n + =H>W)6-(1,$,,6+ &nC + n 8nCrnAAnCn!A 8!nnCn!n$ 12nC@F0,12%r%n(%r%nAAr!!+ 12nC@F0*12&%n!( n + =H>W)6-(,+ &nC + n 8nCrnAA!nnnA 8!n!nnnn$ =H>W)6-(,+ 12nC@F0,12%r%n(%r%nAAr!!+ &nC + JJ ?n ArnAA=!nC@F00H8nCn!8n!.rnAA#& 5nYn!n4 rnAA?nYn/I .nC@F00128nCrn/I n 8nCrnAA8nCn!A 8!nnCn!n$ 12nC@F0012%r%n(%r%nAA%+ 12nC@F0012% nn12@!nr3n(*+ 12nC@F0012% nn12@!n8%(8%AAn !+ 12nC@FT12&%n!( %n + =H>W)O-(1,$,,6+ &nC +

PAGE 159

3<2 7n&n24nnn n 8nCrnAAnCn!A 8!nnCn!n$ 12nC@F0012%r%n(%r%nAAr!!+ 12nC@FT12&%n!( n + =H>W)O-(,+ &nC + n 8nCrnAA!nnnA 8!n!nnnn$ =H>W)O-(,+ 12nC@F0012%r%n(%r%nAAr!!+ &nC + JJ ?n ArnAA=!nC@F0*H8nCn!8n!.rnAA#& 5nYn!n4 rnAA?nYn/I .nC@F0*128nCrn/I n 8nCrnAA8nCn!A 8!nnCn!n$ 12nC@F0*12%r%n(%r%nAA%+ 12nC@F0*12% nn12@!nr3n(*+ 12nC@F0*12% nn12@!n8%(8%AAn !+ 12nC@F0,12&%n!( %n + =H>W)6-(,$,,6+ &nC + n n 8nCrnAAnCn!A 8!nnCn!n$ 12nC@F0*12%r%n(%r%nAAr!!+ 12nC@F0,12&%n!( n + =H>W)6-(,+ &nC + n 8nCrnAA!nnnA 8!n!nnnn$ =H>W)6-(,+ 12nC@F0*12%r%n(%r%nAAr!!+ &nC + JJ ?n ArnAA=!&6H8%C.rnAA#&5nYn!n 4rnAA?nYn/I =H>W),-(,+=H>W)0-(,+=H>W)*-(,+=H>W)6-(,+=H>W)O-(,+=H>W)M-(,+=H>W)Q-(,+?nn (0+ 12nC@F012&%n!( n + 12nC@F*12&%n!( n + 12nC@F612&%n!( n + 12nC@FO12&%n!( n + 12nC@FM12&%n!( n + 12nC@FQ12&%n!( n + 12nC@FK12&%n!( n + 12nC@FT12&%n!( n + 12nC@FP12&%n!( n + 12nC@F0,12&%n!( n + 12nC@F0012&%n!( n + 12nC@F0*12&%n!( n + 12nC@F0612&%n!( n +

PAGE 160

3<3 7n&n24nnn 12nC@F0O12&%n!( n + 12nC@F0128nCn!( %n + 12nC@F*128nCn!( %n + 12nC@F6128nCn!( %n + 12nC@FO128nCn!( %n + 12nC@FM128nCn!( %n + 12nC@FQ128nCn!( %n + 12nC@FK128nCn!( %n + 12nC@FT128nCn!( %n + 12nC@FP128nCn!( %n + 12nC@F0,128nCn!( %n + 12nC@F00128nCn!( %n + 12nC@F0*128nCn!( %n + 12nC@F06128nCn!( %n + 12nC@F0O128nCn!( %n + !+!( n. $F 4 /+ .!4 70$N70$N70$N70$6N70$6N70$6N70$N70$N N 4=H>W),-4=H>W)0-4= H>W)*-4=H>W)6-4=H>W)O-4=H>W)M-4=H>W)Q-4? nn /+ %n.!/+J ?n ArnAA=!nC@F06H8nCn!8n!.rnAA#& 5nYn!n4 rnAA?nYn/I .nC@F06128nCrn/I n 8nCrnAA8nCn!A 8!nnCn!n$ 12nC@F0612%r%n(%r%nAA%+ 12nC@F0612% nn12@!nr3n(*+ 12nC@F0612% nn12@!n8%(8%AAn !+ 12nC@F0O12&%n!( %n + =H>W)Q-(10+ &nC + n 8nCrnAAnCn!A 8!nnCn!n$ 12nC@F0612%r%n(%r%nAAr!!+ 12nC@F0O12&%n!( n + =H>W)Q-(,+ &nC + n 8nCrnAA!nnnA 8!n!nnnn$ =H>W)Q-(,+ 12nC@F0*12%r%n(%r%nAAr!!+ &nC + JJ ?n ArnAA=!nC@F0OH8nCn!8n!.rnAA#& 5nYn!n4 rnAA?nYn/I .nC@F0O128nCrn/I n 8nCrnAA8nCn!A 8!nnCn!n$ 12nC@F0O12%r%n(%r%nAA%+ 12nC@F0O12% nn12@!nr3n(*+ 12nC@F0O12% nn12@!n8%(8%AAn !+ 12nC@F0612&%n!( %n + =H>W)Q-(0+ &nC + n 8nCrnAAnCn!A 8!nnCn!n$ 12nC@F0O12%r%n(%r%nAAr!!+ 12nC@F0612&%n!( n + =H>W)Q-(,+n

PAGE 161

3<1 7n&n24nnn &nC + n 8nCrnAA!nnnA 8!n!nnnn$ =H>W)Q-(,+ 12nC@F0O12%r%n(%r%nAAr!!+ &nC + JJ &% ArnAA=!&0H8%C.rnAA#&5nYn!n 4rnAA?nYn/I ?nn (,+=H>W),-(,+=H>W)0-(,+=H>W)*-(,+=H>W)6-(,+=H>W)O-(,+=H>W)M-(,+=H>W)Q-(,+!+!( n. $F 4 /+ .!4 70$N70$N70$N70$6N70$6N70$6N70$N70$N N 4=H>W),-4=H>W)0-4= H>W)*-4=H>W)6-4=H>W)O-4=H>W)M-4=H>W)Q-4? nn /+ %n.!/+0AA8%n./+J &% ArnAA=!&OH8%C.rnAA#&5nYn!n 4rnAA?nYn/I ?nn (0+!+!( n. $F 4 /+ .!4 70$N70$N70$N70$6N70$6N70$6N70$N70$N N 4=H>W),-4=H>W)0-4= H>W)*-4=H>W)6-4=H>W)O-4=H>W)M-4=H>W)Q-4? nn /+ %n.!/+ 0AAW),-4=H>W)0-4= H>W)*-4=H>W)6-4=H>W)O-4=H>W)M-4=H>W)Q-4? nn /+ %n.!/+ J JJ+J nnnnnnnn

PAGE 162

3<: nnnnnn nnn "#$ "% n$nn (nn nnrn "",'n% 122=#' nn nD@$nr DnAn(nr #nnnn nr(n,n "n",'n% nn# !122>, rn "' n,7r,nnn nG n(n #'122> n% 7 n n "'n# rrn'(#'r nn n' (n, "1232#


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