Citation
Implementation of a Sensor Fusion-Based Object-Detection Component for an Autonomous Outdoor Vehicle

Material Information

Title:
Implementation of a Sensor Fusion-Based Object-Detection Component for an Autonomous Outdoor Vehicle
Copyright Date:
2008

Subjects

Subjects / Keywords:
Angular resolution ( jstor )
Cell lines ( jstor )
Coordinate systems ( jstor )
Data lines ( jstor )
Fuzzy sets ( jstor )
Polygons ( jstor )
Sensors ( jstor )
Sonar ( jstor )

Record Information

Source Institution:
University of Florida
Holding Location:
University of Florida
Rights Management:
Copyright the author. Permission granted to the University of Florida to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder.
Embargo Date:
5/4/2002
Resource Identifier:
52200872 ( OCLC )

Downloads

This item is only available as the following downloads:


Full Text

PAGE 2

!"# $ %& '( #"& )*

PAGE 3

+,-'*(#'(' )%#(#" .' ..(#%# /# + 1(2$ /2$( /!#"(!"#%##"((/' 1#"(#,//(-2%/'(.() %--"(/! #' !0(,#', /!)%&( /.3

PAGE 4

& 4 +,-'*(#(5(..#"%/*.# (/# ()00 ##((%-%/(23 /#/ 23" .#"( (6()* 237!(#(.2%/' 3"/)",(--(2 (.() %--##".(+",/',#%##"(-% .# /,#(#"(+((/)00 ##((2#" . /)-,'(3 *)"+%#6. ## /! /33 () %-#"%/*.!(.,##%-%/(+ ""%.$((/%'& .#"(.(%/-/! (%.2%/'#%&(0.#/!2#"(8()# %/%!(2+"%.%-+%.*(#(/#(.$ )/.#%/#-)"%/! /!#"(/%0( 1+"%#+%.+* /!/3-.#"%/*.##"(!%/!%##"( )((.(%)"%$%#/'%--#"( . ,# /#"(/! /!(.(%)"%#/ &(. # 1'%3 + 1($ /2+""%..,#(' 0(%--%-/!+ #"+%3/ # %--+ #" (0# /%-"(-2#"(/$%/)" /! /#)0,# (.,#$'(&(/!#"(,.( /#(1%)( ,.('#(5(..!%" )%--#"( /#(%)# /. %/'! /!./1(.(%)"3/'#"( ,.(1" .-%#2(#( /)"2$#"', /! '(1(/.(2%/' /)/&( # /!' ..(#%# / /#(-()#/ )0%#3 /' /%--#%//((-.(+"9&(,.('#$,/)( '(%.111+"(/+* /!/ 0(.(%)"3

PAGE 5

btnbf nrbf fbttf fn bnb ! " f#$% & '$$! ( ") "* $%+ +!' "* ,$ -+%%'!.% "/ +' "0 n#' "1 f.'#f.! "( f%'')+ /* f' +t+ /" /fn4bf /5 f%%'#' %,$'# /5 ++#2% + /& '+'.'7'#' %+ /& n %% n' % /1 0bn,,,bn4 /( $!!%''%.!+ /( .#' +n. “. 1 f#$%

PAGE 6

btnfrbrrb trn n !"# $ #%& ' #&(& ) )*b+t $ , $ %&& -. *b+t# -/ f&r -' n0b!# %1f& -n+bf+ $' 2,”, $' n# $$ # ./4 ++nn6 ./7 rf## ./7 8 ./$ n n .7) :tnbb .'

PAGE 7

bttnfr t !""# $%& ' ( b ( t )*"+ n !,-. ,/-. ,-. # $,-. /,/-.n / ( b/12b/1#3 4// &5 '6 !"'( 7""65 4& /3

PAGE 8

btnfrnf nnfnf ftrfffnftr ffbnff ftrffb nff ! fn" # "r$%&b'( b $%&"ft t )*b("+'"(" n )*b("+",(" nnbfnntn('bfb ."nfn("nn#/0 t &n"nf"nrfnft b(n"n++'" r(n++"r(n n ."nfn'"rfnftb(n" .+r+'"(" ! .n"bnnt(r"nf(+'"(" 1 2nff+f'(+'"(" .+r+"(" .n"bnnt(r"nf(+"(" f 2nff+f'(+"(" 3n+"ffn+fnn b 3n+"ffn+f(t t 3n++r

PAGE 9

btntfttnrntnntt tbntttn nttnntnfnfnn t t btnnntnfnfn tnt btnnbntntnn t tbt! "nttnbbn tntbnnn# ttnnttnnt btnnn$tb bbtnttnnbnttbnt%tbt & 'nnnntnn ttnnntt( b 'nnnntn n tnntntt ) t *tbnn tntnttnn tnbnn+ n tnnttnbntbttnn tnbnn, n -nttnnnbt ! b 'tbtnbt!& bn 'ntnn & bf .tt/0nftttn &! b 1ttbnnfn&r

PAGE 10

5 $.#%)#1 ..(#%# /(.( /#('##"(%',%#()"1#"(/ &(. #1'% /%# %-,-1 --0(/#1#"( (A, (0(/#.#"((! ((1)#1" -." %& '( #"& )* % "% (./E3%-3%/( %8(%#0(/#E()"%/ )%-/! /(( /! #" /! /1( .)(#% /3+(&(#"( ( /10%# / ,"%&(2%/'#"($(##( (%(',%(2#"((% &%$-(#"(,#)0(3#" .(5#(/#2%/%,#/0,. &(" )-(#(%#( /#"((%-+-'2 #,.#" %&(!' /10%# /%$,# #..,,/' /!.3 %&(" )-(#%& '$.#%)-(.2 #,.# . #$(%$-(#'(#()##"( 03(/(%#(''%#%%( /-%.!'%.#"(.(/..#"%#(/( #%#(#"(&(" )-(9.(/& /0(/#3 " .')#%-(.(%)" .#"((5#(/. / /##"((%-+-'1#"(+*.#%#(' / %*%*, 9.')#%-' ..(#%# /2 3/" .(.(%)"2#"(%(% %,/'#"(&(" )-( .#(..(--%#(' /#%)%-! 'F#"(-)%-! '%G2%/'#"(%/!( .(/..%()"%%)#( 6('$#+(#"'.3 "( .#,.(.#"(". )%-(# (.# '(#(0 /(+" )"! ')(--..",-'$(,'%# ('3"(.()/',.(.,66'(/!1#"(

PAGE 11

5 .(/.9.,/)(#% /##%)#,%--,'%#(#" (! ')(--,. /!%//"0!(/(,.%*& )"% /3 /'(#%* /!+"%#*, .#%#(' /. 0,-% # /2#"(#()"/ A,(.%( 0-(0(/#('/% . /!-($%')0,#(#"%#,/./%%+% .%* ,-(B3/*(%. 0,-%# /2#"( )/.#% /#.1#"((%-+-')%//#$( !/('3"(.( /)-,'(0 #.1.#%!(2 )0,#%# /%-(11 ) (/)2% /#% /%$ #2%/' #"((%.(1%'' /!%'' # /%-2%/'' &(.( .(/..3 /%--2#" .(.(%)"& '(.#"( .# 0-(0(/#%# /1#"($8()#(#()# / 0/(/#FG /#"((%#0(/#1( 1(/.( /#)" #()#,(/0%//(' ,/'(" )-(.FG3"(!%-1 .#(.(/#%,/ 1 ('%)" #()#,( #"( #%9.,/0%//('!,/'&(" )-(.3 "(%)" #()#,( .),(/#-%+* / !(..2%/'#" .(.(%)"+ --"(-#'(&( -#"( /#(1%)(%/'#"( /10%# /%..(' $(#+((/#"($.#%)-('(#()# /)0 /(/#%/'#"((A,(.# /!.,$..#(03

PAGE 12

: /)(#1-)%-! '%%/' 0% /!-!/. : %$##%/(,&(+ #" /%/( /& /0(/#2%/(-(0(/#.,.#)0( #!(#"(3(/..,.#$()".(/#"%# & '(%'(A,%#( /10%# /%$,##"( .,,/' /!.3/%'' # /2#"( /10%# / ,.#$((.(/#(' /%# 0(-%//(%. ,.(%$-( /#(-!(/)(/%& !%# /3,)" 1#"(),(/#(.(%)" /% /!,#' (/& /0(/#.)/. .#.1$, -' /!,% .0.,))(.. &(%/!( 0%!(.3"(//10%# /%$,##"(# (% / .+"%#+%.$#% /('0#"($#H..(/..%. #%..('3 " .(.(%)",.(.%,/ A,(+%1)0$ / /!#()"/ A,(.-)%# /!$.#%)-(.%/'(( .%)(-)%-##"($#2%/'.,!!(.#.+%.1 ((.(/# /!#"(.(.%0( #(0.!-$%0%%/%!(0(/#3 " .+* .%/ 0-(0(/#%# / /#"( (%-+-'%/'(5#(/. /1#"(+*#"%# "33!%',%#(%*%*, $(!%/ / . 0,-%# /3"((#"'"( '(&(-(' /&-&(.,. /!%-)%! '%#"%#(0% /.)(/#(('/ #"($##((.(/#( #"( )), ('((.%)(3.#"($# 0&(.2#"(&%-,(.+ #" /#"(! ' 0%." 1#(-%# &(##"($#3 4"(/&%-,(.(%)"#"($,/'%1

PAGE 13

#"(%2#"(%()/&(#('#-!/. ((11 ) (/#.#%!( /%!-$%-)/#, 0%2."+/ / 3 " .%( /#',)(.#"(.(#+#() "/ A,(. /#"(%)*!,/'.()# /3"( 0,-%# /.()# /'(.) $(.#"(+*%* %*, "%.'/('(&(/!#"(.(#()"/ A,(. + #" /%. 0,-%#('(/& /0(/#3"( /%-.()# /2(%--'2'(.) $(."+#"( . 0,-%#('(.(%)"+ --$(% ('%/'%'%#('#%/%)#,%-$# )&(" )-(2%/'#"( &% ,.)0-(5 # (.#"%#/(('#$(%''( ..('+"(/& /!#%!(/, /((/& /0(/#3 ,)"(.(%)""%.%''(..('#"($(01%)),%#(-((.(/# /!%/ (/& /0(/# /+" )"%$##%&(.(. 3/((#"',.(.%! '%#%)(-#"( #( # /#.0%--(2(% /%!(%$-()(--.3%)")(--((. (/#.%.0%--%(%+ #" /#"( .() 1 ('$,/'%%/')/#% /.%&%-,(# ((.(/##"('(!((1)(#% /##"%#%/ $.#%)-( .+ #" /#"%#)(--3.#"($## %&(-.%,/'#"((/& /0(/#2&%-,(.%($, -# , /(%)")(--)/#% / /!%/$.#%)-( ,/# #(%)"(.%#"(."-'&%-,(3 4" -(#" .(#"' .%'(A,%#( %0 #(' /'.)(/% 2 # . 0%)# )%%/,/(.# )#(',#'(/& /0(/#2. / )(#"(! '+,-'(A, (%-%!(%0,/#1 0(0.#%!(3/%/,#'(/& /0(/#2#"(% /! 1$.#%)-(."%.$((/ $*(/ /##+.#(.3"( .#.#(,.(.% ! '%F"((2)%--('%-)%-! '%G2#"%# .,,/'.#"($#3"(.()/',.(.%-!/ ((.(/#%# /1$.#%)-(.%/'(( .%)(2)%--('%!-$%-)/#,%2# (',)(#"(%0,/#1(0(A, ('3 "(%(%' ()#-.,,/' /!#"($# .#(..(--%#(' /#,/ 10.A,%()(--.2 . 0 -%#%)"()*($%'3" . ! '%(0% /.-)%-##"($#2%/'%-+%.% /#% /.

PAGE 14

= (/.9.". )%)"%%)#( .# ). %#"%.# (/#%# /3.#"($# #%&(-.%,/'2#"($#%%..,0(%/ (/#%# /+ #" /#"()(/#()(--3+(& (2 1#"($#)..(.#"($,/'%1#"( )(/#()(--2#"((/# (! '%." 1#.# % /#% /%$#)(/#(('-)%-! '%3 ! %.",-'"%&( /10%# /%$,# $.#%)-(.%/'((.%)(3(/)(2#"( (/& /0(/#%,/'%$# .)"%%)#( 6(' $#+.#%#(.E$.#%)-(%/'((.%)(3"( )/.#,)# /1%., #%$-(.(/.'(. /(1#"(.#),) %..,(. /)(%. /! #"(%)),%)1#"(%3%/!(.(/..%( 1 .#)"%%)#( 6('$#"( ". )%)"%%)#( .# ).2."+/ / " . /)-,'(.#"(0 / 0,0%/'%5 0,0%/!(.2% /'#"($(%0+ '#"(5(..(' /%/!,-% 103%#%0#"(.(/.%(( #"(."+/% .%%/!(#"%# /' )%#(.#"()-.(.#' .#%/)( $(#+((/#"(.(/.%/'#"($.#%)-(2#"(% 5 0,0%/!(1#"(.(/. /' )%# /!#"(( %(/'(#()#%$-($8()#.+ #" / #. (-'3 +(&(2.(/.. !/%-."%&(,/)(#% /#.,)" %.%/'0/(..)%,.('$/ .(%/',66 /(.. )%,.('$(.-,# /3()%,.(1#"(.( (.2,66.(#."%&($((/)". (/#((.(/##"('%#% /.# (%'1((.(/# /!#"('%#% %.) .(&(/#.3" .%%)" .(%)), %#($()%,.(%.!"#'(!((1( /#"( '(!((1(0$(." + --$(-(..)/.(A,(/# %-+"(/,. /!%,66.(##"%/+"(/%) . (&(/#"%.%/%--/#" /!((.(/#%# /3 +,66.(#.%(,.('2/( /' )%# /!#"( (0#%(%22%/'/( /' )%# /!#"()), ('%(%23

PAGE 15

> (%C.(/.#(..(--%# / "()(..1'(#(0 / /!&%-,(. '(!((1(0$(." .%.,$8()# &( )(..%/' # ./#%-+%./()(..% #$#% /(5%)#&%-,(.#"('(!((1 0(0$(." 3"(,66.(#.%()/.#,) #('0.#%# .# )%-'%#%$#% /('0% .#%# /%$#3" .%%)" ./## 0% -# /'&%-,(.'(!((1(0$(." . /)(#"('%#%%()--()#(',. /!.#%# /%. (/..2+" -(', /!%)#,%-(%# /1#"( $#2#"(.(/..+ --$( /# /3+(& (2 # .%!'%%)"#(.# 0%#(%/' ',)(&%-,(.%/!(.(/..$()%,.( #% #)"(.#"(%)#,%-.(/.'%#%3 /)( #( )-.(-%%--(-.(%#2#" .(#"' . (1(%$-(&(#"(,.(1%%#"(0%# )%%5 0%# /1#"(!(0(#1#"($(%02+" )"%-. !"#$((' 11 ),-##$#% /3 "(&%-,(.%('(1 /('%.%(A,(/)' .# $,# /$)--()# /! 0() .('%#%0#"( %)#,%-.(/..3 "(.(/. (-' . #(..(--%#('%.."+/ / 3(--. /#"($.#%)-( # /"%&(%,66.(#%/')(--. / #"(((.%)("%&(%,66.(#31#( ',) /!%,66' .# $,# /2% 1,66.(# .8()#('/##"(-)%! '%%/' .! &(/#%)(--%. /,#3"()(--.%( / # %6('+ #" %&%-,(1BI2((.(/# /!%/ ,/*/+/)/' # /3"(/#"( $%$ #1%/$.#%)-( /)(%.(.2 #"(&%-,( /#"()(-.(.2. !/ 1 /! #"((.(/)(1%/$.#%)-(3"(/#"($%$ #1((.%)( /)(%.(.2#"(&%-,( /#"( )(--%--.2. !/ 1 /!#"((.(/)(1 ((.%)(F%/'#"(%$.(/)(1%/$.#%)-(G3" .

PAGE 16

B 0,-%#('-)%-! '% )/# /,(.,/# -#"($%$ #(%)"(.%/ ,(-+(#"(."-'&% -,(2%/' # .)(#% / #"%##"()(-.( #"()), ('(0#3 ."+.#"(. 0,-%#('-)%-! ' 0%3(%*.((.(/#%" !"$%$ #1 %/$.#%)-(2+" -(#,!".((.(/#%" !" $%$ #1((.%)(3 "#!$%# % ,.(#"'.,'%# /!#"(-)%! '%+(( /&(.# !%#('$*, J<
PAGE 17

@ .#"($#&(. //(' ()# /2#"(! '%&(. /#"(. #(' ()# /# 0% /#% /%$# )(/#(('-)%-! '%3&(/#,%--2)( --.+ #" /#"(-)%-! '%2#"%# )/#% /$%$ # (.1(0#%/')), ('. %)(2(%)"#"($'(1#"(-)%-! '%3 .#(#"(0 /%!-$%-%2#"(%()/&( #('##"(!-$%-)' /%#(..#(0+ #"% #%/.10%# /0#"(! ''(-#%$, /'%((.(/#%# /#"%# .%$%$ # )/#,1#"($.#%)-(2%/'# %&(.('.%)(3%#%#"%#%--. ,#1%-)%-! ')(--%( )/. '(('% 0((-( 0(/#2%$,$$-(3"(/%$#(#,/ .#% -)%# /2#"(-)%! '% . / # %6(',. /!#"(&%-,(. / #"(!-$%-)/#,%# "%# /#(.()##"(-)%! '%3 && )(--).. /!,#1#"($,/'%1#" (-)%-! '% .)%--('%$,$$-(%/' (%)"&(#(5 /%$,$$-( ./,0$((' /%),/# ()-)*+ .(%." /.#%# /!0%/,( !"#&(#(53)(--F52G /#"(-)%-! ' 0% .#%/.10(' /#%.A,%(-!/2% $,$$-(2$)%-),-%# /!#"(&(# )(.$%.('/ #"(. # /1#"(-)%-! '%2%/'#"( . 6(1#"(! '3,$$-(.%((!( '#!(#"(#0-%!(-!/.3 ) /)(#"($,$$-(.%(!(/(%# ('0#"(-)%-! '% 2(%)"/( .)"()*(' #.,/ /+ #"#"(),(/#!-$%-)/#, %-!/.3"(/%$,$$-( .(/)%.,-%#(' $%-!/2 # .(0 /%#('3"(/ # .,#. '(#"(-!/.2 # .)"()*(' #. )//()# & #+ #"#"(#"(-!/. /#"('%#%$%.(3"(/%$,$$-("%..0( )//()# & #+ #"%-!/2 # .,.('+ #"#"(-!/2)(%# /!%-%!(-!/3 4"(/%$,$$-("%./)//()# & #+ #"%/ #"(-!/.2 # .(!%'('%.%/(+ -!/%/'%''('##"('%#%$%.(3

PAGE 18

; "(!-$%-)/#,% .%-.,.('# / # %6(#"(-)%-! '%%(%. +"((#"($#"%.%-(%'#%&(.('2%/'!/.(5 .##"%# '(/# 1 ('$.#%)-(.%/' #%&(.('.%)(3"(-!/.%(,.(' /##" (-)%-! '%2 / # %6 /!#"()(--.+ #" #"(&%-,(.)/#% /('+ #" /#"(-!/.3 (( / /'#"%#2%-#",!"#"(!(/(%# /1$,$$-(.%##"($,/'%1#"(-)%! '%%/'#"(,. /1-!/. /# #"(-)%-! '%+((' .),..('%.#+ .(%%#((&(/#.2#"(%(/ #3#"%)# /.%("%(/ /!)/),(/#-3(+-!/. %($( /!!(/(%#('%/',.('+ #"),(/#/( .+" -(#"(-!/.#" %#%(%$.$(' /# #"(-)%-! '%%($( /!(1 /('$/(+.(/.&%-,(.3 *!( 0,-%# /.%(,.('+"(/%#%.* .(5( /. &('%/!(,.#(102+"(/ %/%-! #"0/(('.#$(&( 1 ('3 0,-%# /. "%&(#"(%'&%/#%!(1$( /!%$-(# .-%#( #"() # )%-)0/(/#./()(..%#(.# /!% /'#),./#"( /#(%)# /.3"(( . %-.#"(%'&%/#%!(1(-% /!%.)(/% %/'%-#( /!,.#%(+%%0(#(.3 . 0,-%# / .#"( .#.#(#+%'.-& /! %(%-+-'$-(03#,.# .#+* / . 0,-%# /$(1(%##(0# /!% (%-+-'.-,# /3*, ,.( '#"(0 #('. 0,-%# /# "(-&(" .#"(3 )$( "(#(% / /#"(. 0,-%# / .(!(/(% #('3"(--%/' #)"#"($# . '(#(0 /('$%.('/ #.. # /+ #" /#"( .# 0,-%# /3"( (/#%# /%/'.(('1#"( $#%(*/+/2. #.. # /%##"(/ (5## 0(.#()%/$()%-),-%#('3/+ /!#"( . # /2+()%/'(#(0 /(#"(#%/!(/###" (-%/%#(% /.(!0(/#2%/'"(/)(#"(

PAGE 19

? 0,-%#('.(/. 0,-%#('(/& /0(/# (/#%# /1#"($#+ #" /#"(. 0, -%# /3"(. # /%/' (/#%# /%( )/. '(('%)),%#(3 +&$($ #"(. 0,-%#('.(/..2#"($.#%)-(. %(,/*/+/%/'&% ,.#()"/ A,(.%( ,.('#. 0,-%#(#"(.(/.2%/'#"(/# '(#()#%/''(#(0 /(#"(%/!(##"( $.#%)-(.3$.#%)-(.%(/#0 #(' / /,0$(. 6(2$,#%--%(. # &(%/' .#%# /%3" -(.0((.(0$-(/%#,%$8()#.2#"(%(%--%'(0. 0-( 0 # &(.#"%# /)-,'($5(.2)/(.2 )/'(.2%/'."((.F.(( G3 *$$ (/(%-%/!(.(/..%(!( /(%#(',. /!% )* /!%)# / /(//&(/#3"( )* /!%)# / /'.$8()#.%-/!%%0 #"()%0(%#",!"% /#/#"(/(%-%/( 1#"(& (+ /!&-,0(3"(% . .() 1 ('$#"()' /%#(.1% + /'+.%)( 5(-3/#"( . 0,-%# /2%.%(' .# $,#(' ,/ 10-0M#:?M //#2 %.."+ / 2%/'#"( /,0$(1%.)%/$()"%/!('3/ 10' .# $,#('/ .( .%''('##"(!(/(%-%/!( .(/..%/'',)(.#+* /'.1(. 3/( .%/( /' .#%/)()%,.('$#"(

PAGE 20

< %& !%# /(.#(" )-( (/& /0(/#$.#%)-( /#(%)# /2%/'#"(#" ( .%%-.('(#()# /)%,.('$#"(.(/. (10%/)(3"(,.()%/)"%/!(#"(-(&(-1 / .(3"(.%0/!# 0(.(%)".(/. )%/$(.() 1 ('3..((/ / 2#"(.(/.."%&(%)(/ #%! /2#"%#%-. )(./'.##"($#)' /%#(..#(03 ,"(&% ,.#()"/ A,(.'(.) $('(%( 2%/'#(.#('#",!". 0,-%# /+(( %'%#('%/' 0-(0(/#('/%/%)#,%-$# 30)%# /. /#"((%-+-' /)-,'( /%)),%) (. /. # /%/'.(/.'% #%3%/%!(0(/#1(.,)(.,.#%-.$( )/. '(('3" .(.(%)",.(.#"($%.(-% '$*, 9.+*%-/!+ #"%'8,.# /!#"( %-! #"0.##%)*-(%(%-(/& /0(/#3 "%(.$(/# "(%& !%# /%-(.#(" )-(22 .% %+%.%* ,-(%--#( % /&(" )-(2%/' .."+/ / 3"(&(" )-( .)0-(#(-) 0,#()/#--('2%/'"%.$((/ ,.('#(&%-,%#()'(%#"-%// /!%/' 1 (-'.+(( /!3#"%.%-.$((/,.('%.% #(.#$('#(5%0 /(&% ,..(/..%/' #()"/ A,(..(/. /#(!%# /3" -( #"(. 0,-%# /%..,0(.%)),%#(. # / %/'.(/. /10% # /F%. '(0 %/'0-!(/(%#('/ .(G2#"((%-.(/.. )%&% ,.(.#"%#)/# $,#(# /%)),%) (. /. # /2$.#%)-('(#()# /2 %/'%/!('(#(0 /%# /3

PAGE 21

: )$( "(),(/#-,.(.#+' 11((/#..#( 0.#'(#(0 /( #.. # //#"( %#"3"( .# .#"(/(# %-%& !%# / .#(0FG3(/. /!#"(%))(-(%# /.1#"( &(" )-(2#"(,/ # .%$-(#,#,##"(&% ,..(%%0(#(.1#"(&(" )-(3"(.()/' .#"(-$%-. # / /!.#(0FG3$ #% / /!. !/%-.0%#-(%.#,.%#(-#(.2 #"(,/ # .%$-(#'(#(0 /(#"($#H.. # /%/'&() #3%)""%. #.%'&%/#%!(.2 $,# /%)),%) (.%( /"((/# /(%)"..#(03 0(%($ $(! "(/(# %-%& !%# /.#(0FG ,.(' .#"(;@',-%6 0,#" . # / /!.#(0FG)(%#('$ /(+(--2/)3"( .%)0-(#(.(-1)/#% /('..#(03 &(//-%/ / # %. # /2 #,.(.#"(( /!-%.(!.%/' #"((%))(-(0(#(.#'(#(0 /(. # /2% /!,-% (/#%# /2&(-) # (.%/'%/!,-% %#(3,#,# /)-,'(.%6 0,#" F%+G2--2 #)"2%6 0,#" %#(2-%# #,'(2-/! #,'(2 (-(&%# /2# 0(.#%01#"('%#%2&(-) # /#"(/#"2(%.#2%/',' ()# /.2%/'% .#%#,.(..%!(3"(.(&%-,(.% (%'(%&% -%$-(##"()/# -/!)0,#(%#%%#(1 :63 $-(0(/),/#(('+ #"#"( .#" %##"(. # /.-,# /#(/'.#' 1# &(# 0(0#"(%)#,%-. # /',(# 0(%.,(0(/#.%/'..# (0(.3/'(# (',)(#"(%0,/#1' 1#2#"()%/%* (,.(1(&(-) #,'%#(FNG%#% '(#(0 /(' /#(&%-2# )%--(&(, /,#(.3 &$($ $(! "(-$%-. # / /!.#(022, .(.%' (A,(/). !/%-.0> $ # /!.%#(-#(.#%)),%#(-' (#(0 /(. # /%/'&(-) #'%#%3"(

PAGE 22

:: .%#(-#(.H)/.#(--%# /)0 .(.. 5(A,%--.%)('$ #-%/(.$ # /!#"((%#"%# %5 0%#(-:2
PAGE 23

: *$$ % ,..(/..)%/$(,.('#()( &( #"($#H..,,/' /!.3)# &(.(/.. $(#"(.)(/(+ #")(#% /0.1(/(! #'(#(0 /(%/!(.3(/..#"%#%)A, ( '%#%+ #",# /#',) /!%/ 01(/(! /##"((/& /0(/#%()/. '(('%.. &(3 ,-%%)# &(.(/.2$()%,.(1 #.-+ ).#2 .#"(,-#%./ )#%/.',)(2 F,/'%& !%# //'%/! /!G3#,)#,(' !"#%/'%)%0(% .%/#"(%)# &(.(/. #"%#)%/$(,.('#'(#(0 /(."%(.%/'% /!(.3().#-%)# &(.(/. .#"( F !"#01 )%# /$# 0,-%#( '0 .. /1%' %# /G%/!()%//( FG3#"(%.. &(.(/...#(02#"( )%0(% .% /-,.('3/(%'&%/#%!(1#"( )%0(%&(#"(%)# &(..#(0 .#"(# 0( (A, ('#%)A, (#"( 0%!(3. /!&% ,. 1 -#(.%/'%-! #"0.2'(#% -(' /10%# /%$,##"(.)(/()%/$((5#%)#('3 #"#"( )%0(%2#"( .# 5(.)%#,('%##"(.%0 (0(/# /# 0(%.#"(-%.# 5(/#"( 0%!(3%/%)# &(..#(02#" . ./##"( )%.(3/%)# &(..#(0(A, (.# 0(# )%-),-%#(%/!(.3/#"()%.(1#"(./%2%,.( .(0 ##('2%/'#"( #%/.',)(,.#+% # 1#"((#,/,-.(F 1%/G#)%-),-%#(# "(%/!(3"(%.(%/!()%//(!(/(%#(.% #+' 0(/. /%-."( )%-%%1%/!( /# .F%/2# -#2%/'' .#%/)(G3",!"%.( (. 1 .2#"(.)%// /!-%.( .". )%--. # /('0 /## /#+ #" /#"(%%3 1#"( ./H#.#%# /%', /!#" .)( ..2 /)/. .#(/) (.$(#+((/#"($(! // /!%/' (/' /!.)%/ /#.+ --(5 .#3 1($($ /%/,-#%./ )#%/.',)(2%."#%) ,.# ),-.( . .#(0 ##('0% #%/.',)(31%(#,/()" ..(/.('2#"( %/!( .'(#(0 /('$# 0(11!"# 0(%.,(0(/#3"(/,. /!#" ..(/.2#"( (%(#"((!(0(# )(# (.1#"(

PAGE 24

:= /%9.!(0(# )(.3F%G/% (1-()# /(3F$G/%11.(# (3F)G/%%/!((3 ,-#%./ )#%/.',)(#"%#(',)( #.(11()# &(/(.. /)%-),-%# /!%/%)),%#(%/!(3"( 1 .# .',(##"(O-%!(O+ %&(-(/!#"1,-#%./ )(/(! )0%('#.,1%)(,!"/(.. 1#"($8()#3#%/%/!-(%# !(%#(#"%/=M2#"((/(! .(1-()#('11#"($8()#%/' %+%0#"(.(/.2(11()# &(-(/'( /! #"($8()# /& . $-(##"(.(/.2.(( F%G3/#"(!(0(# )(11()# .',(## "($(%0+ '#"3"(%),.# )(/(!-(%&(. #"(.(/. /%)/(1%$,#=M3()%,.(1#" .2 # . 0.. $-(#'(#(0 /(+"((2 + #" /#"()/(1(/(!2#"($8()# .3"( $8()#)%/$(11.(# 10#"()(/#(/(1 #"(.(/.2$,#$()%,.(1#"($(%0+ '#"2 # .%-0.# 0.. $-(#'(#(0 /(#"(. 6( %/'-)%# /1#"($8()#3"(( 1(#"($8()# .%..,0('# $(%-/!#"()(/#(/(1

PAGE 25

:> #"(.(/.%/'#"(( .%. 0 -%$-(0+ #"#"(. '(-$ (.1#"((/(!%##(/2."+/ / F$G3"(-%.#!(0(# )(11()#%''(..( .#"($-(01%/$8()#.!"#-%# %/%/!-(##"(.(/.3"() -.(.#%/!($(#+((/#"($8 ()#%/'#"(.(/.+,-'$( )%-),-%#(' /.#(%'1#"()(/#(/(' .#%/)(2%. .."+/ / F)G3 )$((#( 1%-%/(1!"# .8()#(' /#%. )(/(2%/!(&%-,(.)%/$('(#(0 /('3"( =-)%# /1%/ --,0 /%#(' /#(-%# &( ##"(.(/.(1((/)(%0('(#(0 /(.#"( .(/.-)%# /1#"%# /#/#"( 0%!(-%/(1#"()%0(%,.('2$()%,.(%---,0 /%#(' /#.%( /#"(-%/(1#"( 8()#('!"#3"((&(.(1#" . #%/.10%# /0=-)%# / /#"(.)(/ (#-)%# / /#"( 0%!(& '(.#"( 5226-)%# /0#"( 0%!()' /%#(.1 % /#/%& (+('.# (3.)%/%.)(/(2 #"(!"#-%/( ..+(##",!"#"(&-,0 (1 /#((.#3(.-,# / .%,/)# /1 )%0(%# ).%/'.(/.!(0(#3 $!$!($ $(! 0 -%##"(,-#%./ )#%/.',)(2#"(%.(.)%//((0 #.%,-.('-%.($(%03 1 #.# *(.%/$8()#2#"((1-()# / . ()( &('$#"(.)%//(2%/'#"(# 0(11!"# 0(%.,(0(/# .)%-),-%#('3"(,-.('-%.( $(%0 .'(1-()#('$%/ /#(/%-#%# /! 0 .#"%#%%/."%('.)%/ .%'(1#" (.,,/' /!%(%3 /)(#"($(%0+ '#" 1%-%.( .,)".0%--(#"%/#"%#1%/, -#%./ )#%/.',)(2#"(-%.('(./#"%&( #"(.%0(!(0(# )$-(0.%..) %#('+ #"#"(,-#%./ )#%/.',)(3+(&(2#"( (/(!.# --)%/$((1-()#('$ $8()#.#"%#"%&(%" !"'(! ((1.0#"/(..3()%,.(1 #"(.0%--($(%0+ '#"2#"(-%.( .( .,.)(# $-(#%-.(()".',(#.0%--( %# )-(.3',.#.#0),-'(! .#( %.%/$.#%)-(# #"(-%.(.)%//(3

PAGE 26

:B -%.(%/!(.)%//((% #(.. 0 -%#)/&(/# / %-%'%3-()#0%!/(# ) (/(! .(0 ##(' /##"(.%)(#$($.( &('%/'(1-()# /.% ('(#()#('%.(#,/ . !/%-.0#"(.)(/(3"(.)(/( .. )%//('+ #"%# !"#-),.('$(%01 %0#,'(0',-%#('2 /1%('-%.(!"# 3.#"(-%.($(%0%..(.&(#"(.,1%)(1 $8()#. /#"(.)(/(2.0(!"# ..)%##(( '$%)*#%'(#()##"%#(%.,(.$#"#"( $ !"#/(..(%.,(0(/#.%/'#"("%.( 1#"((#,/. !/%-3"($ !"#/(.. 0(%.,(0(/#.%(%..(0$-(' /#% /# (/. # 0%!(3"("%.(." 1#$(#+((/#"( ,#! /!%/'(#,/. !/%-.%(,.('# ',)(%=%/!( 0%!(3(0(#%11()#.#"( %/! /! 0%!(1#"(-%.(%/!(.)%//( 2',) /!%/!(O /!.O/%/#"(+ .( 1(%#,(-(..2-%#+%--3%. /! .%-.%$-(0 /%-%!(.)(/(2%/' .%,/)# /1#"( %0#,'(0',-%# /31#"(%/!(/#"(-% .(%/!(.)%//(+((.(##>(#(.2%/' %/$8()##"%#+%.>:(#(.%+%(#,/(' .0(1#"((/(!2#"(%0#,'(1#"( (#,/('(/(!+,-'$( '(/# )%-##"%# 1%/$8()##"%#+%./-:(#(2%/'% ' .#%/)(1:(#(+,-'$()%-),-%#('3 '! /)(#"(",0%/%/ 0%-,.(.& . /%.% 0%.(/.(2 # ./%#,%-###,.(% . 0 -%.(/.$#.3. )(...((' /)(%.(.2#"(,.(1& . /$()0(.%( & %$-(# /2(',) /!)0,#%# /# 0( .0:B /,#(.#.()/'.3.)(/()%/$( %/%-6('."%(.$(10 /!('!( '(#()# /2%/'&(0(/#$)%-),-%# /! 0%!(-+3' .%'&%/#%!(1%.. &(.(/.. .#"((%/)(1.,11 ) (/#(/(!+ #" / #"(.)(/(3"((,.#$(%'( A,%#(!"# /!%)%0(% #$(%$-(#' .-%,.(1,0%!(.3

PAGE 27

:@ *#2!$# $8()#.)%.#."%'+.+"(/ --,0 /%#('$ %.#/!!"#.,)(2$()%,.(1#"( "( !"#%$&(#"(!,/'3"((1(2%.# %#(!1 0%!(%/%-. . .#,.(#"( (-%# /." $(#+((/)%.#."%'+.%/'#"( %..) %#('%/0%'(.# ,)#,(.3"(,.(1 ."%'+.#(10"( !"#'(#(0 /%# / /%( %0%!("%.%-/!#%' # / / "#!%00(#%/'%/,%-"# /#((#%# /3 &(/#"(.,/%/!-(2."%'+-(/!#"2 %/' 0%!(.)%-(%%0(#(.2%!'(.# 0% # /1$, -' /!"( !"#)%/$(!(/(%#('3 *(%$ #((. .,.(.#"(' .% #$(#+ ((/ 0%!(.#%*(/. 0,-#%/(,.-$#+ )%0(%.F.(A,(/# %--$/(G# /'#"( ' .#%/)(# /#.& . $-( /$#" 0%!(.2 & '('#"(!(0(#%/'# ).1#"(.( /.%(+(--*/+/3(./' /! /#. 10#"(-(1#%/' !"#((& (+%(,/' 3"(%/!,-%' .)( %/)$(#+((/#"( -)%# /. .,.(' /)/8,/)# /+ #"#"(# )%-%%0(#(.2-)%# / .2%/' (/#%# /.1 #"()%0(%.#)%-),-%#(#"(. # /1#"%# /#(-%# &(##"( )%0(%H.(1((/)(%0( /=.%)(3"(' .% # . /&(.(# /%-#' .#%/)(3"((1(2#"(' .#%/)( 1/(%$8()#.)%/$((%., ('% -%)),%#(-2+" -(#"%#1%$8()#.)%//#3 .% # .' ()#-# /%-##"($%. (/(' .#%/)(3",.2 /)(%. /!#"($%.(/( /)(%.(.#"(%)),%)1'(#"'(#(0 /%# /3/1#,/%#(-2%.#" ($%.(/(' .#%/)( /)(%.(.2#"( 0%!(.$()0(-(... 0 -%3 ,$$ /# 0((.,)(.%( /&-&('2#"(0, .#$(%/%!('(-#$(.,(#"%# #"(%(%&% -%$-(+"(/(A, ('3/#" .% )%# /2#"((.,)(. /)-,'(#"(%)#,%-

PAGE 28

:; %0,/#1.#%!(F"%'' .*' &(%/'G 2%/'#"(# 0((A, ('#)%-),-%#(#"( &% ,.(A,%# /. /&-&('3 !($( "(. 0,-%# /%//% )/% " )./')0,#(3" .)0,#( )/#% /.%6)(..+ #":?$#( .1(03"(. 0,-%# / .%$-(# #%*(%'&%/#%!(1#" .*.#%# /H.(.,.( .2,. /!-%# /! /#((.(/#%# /1 /,0$(.#"(-)%-! '%2%/'/#+ /!%$,#.#%!(#"(!-$%-)/#, 0%3 +(&(2#"(,.('#"(',-( /#"(&(" )-(F#"((#()# /% /! .#(0JKG2 .(/# (-' 11((/#2+ #"% 0 #('.(#1(., )(.3"(. /!-($%' )0,#()/#% /.%@===6 )*(#;+ #"B@$#(.1 0(03 /)(#" . .%0 #('..#(02& % ,.#()"/ A,(.,.#$(,.('#)/.(&( &%-,%$-(.%)(3 /.#%/)(2# "(()(/#%!(.#"(-)%-! '%2#"%#%(.#('%. 1-%#. /#"(. 0,-%# /.2%(.#('%.$#(&%-,(.3 ')1(! /*(#"(. 0,-%# /2 /+" )"# 0( . %(-%# &((%.,(0(/#2#"(%)#,%-..#(0 0,.#(10 #.)%-),-%# /. /%# 0(%." /3/#"(. 0,-%# /2#"((.#1#"( . 0,-%# / .'(-%('+" -(+ % # /!#"((.,-#.0#" (. 0,-%#('.(/..3#" /! (-.()(('.,/# -#"(&%-,(.0#"(.(/. .%((#,/('3/#"((%-..#(02%--1#"( &% ,.)(',(."%(/ / %%--(-3" -(#"(.(/..% (!%#"( /!'%#%2#"($# (0% /. /# /3"((1(2 # . 0#% /##(10%--1#"()%-),-%# /. /%/ (5(' (/#%." /3" . .%))0."('$( 10 /!%-0.#%--1#"()%-),-%# /.

PAGE 29

:? )#,%-#(% /(.3F%G --.((/ %.%/$.#%)-(3F$G,/'.((/%. %/$.#%)-(3 ,'%# /!%/'% /#% / /!#"(-)%-! '% / /#(!(% #"0(# )2%/'(0,-# /! %/'(',) /!%--(A,%# /. #"%#%(,.('((%#('-3 3(. /(1#"(%(%./(!-()#(' /#"(. 0,-%# /+%.#"( /)-,. /1#"(%)#,%-#(% / /'(#(0 / /!#"((.(/)(1 $.#%)-(.3/#"((%-+-'2%.#"( &(" )-(%%)"(.%)"%/!( / #(% /(-(&%# /2#"(!,/')%/$( '(#()#('%.%/$.#%)-(31/# %)),/#('2#"(%#"),-' $()0( 0%..%$-(',(#%-.( !,/''(#()# /.3/(5%0-(1#" . .."+/+"(/#"($# .%%)" /!% #%&(.%$-(" --2.(( 3.#"($# .%%)" /!#"(" --2 #),-'$('(#()#(' %.%/$.#%)-(2%/'##) ) ,0&(/# #3+(&(2 1#"($#"%(/.#%.)(/'#"(" --2 #),-''(#()##"(!,/'%.%/$.#%)-(+" -( #H.'(.)(/' /!#"(" --3 #"#"(!,/'%. %/$.#%)-(2#"($# .(11 ()# &(-#%('/#"(" --3 4" -(#"(. 0,-%# /# ('# /)% #(%(%.# ).(/.(2/%#,( ./#. ,/ 103((.)0( /&% ,.."%(.3 &(/+ #" /#"(.%0(.() (.2#"((%( &% %# /.#"%# /)-,'(&% /!#,/*! #" %/'.#% !"#/(..2%/'%..#(')%/#(.3 (0(# ) !,(.+ #"-%#%)(.,.,%--%( /H#,/' //%#,(( #"(3)*.%/'#"( )00/-1,/'$8()#.)/#% /%/%)(# .3"(.(%(%--. # &($.#%)-(.2 $.#%)-(.#"%##,'(,+%'0#"(!,/'3 .. /!0#"(. 0,-%# /%(

PAGE 30

:< /(!%# &($.#%)-(.2/(.#"%#()('( /##" (!,/'3"(.( /)-,'( ' #)"(.2%& /(.2 %/'#"(.#.1)"%.0.3 431*$$ "((%#0(/#1(1(/.( . /#"( )(..1.#%/'%' 6 /!%.1#+%( %)" #()#,(/0%//(',/'(" )-(.FG3"( /#)" #()#,( /0%//(',/'.#(0.FG,.( . #.#%/'%' 6(#"( /#(1%)(.2#)-.2 %/'(..%!(0%#. /#"(. 1#+%(1#"(%0 -3"( $8()# &(.1%(# %--+ /#((%$ #2(',)(1())-( ).#.2%/'#& '((%. (#()"/-! /.(# /3"(/ &(. #1'% . #%* /!%/%)# &(-( /'(#(0 / /!#"( .() 1 )%# /.#"((..%!( /#(1%)(3 /% -# /1#" .+* .#"('(#(0 /%# / 1%(..%! /! /#(1%)(#"($8()# (#()# /0/(/#FG3" ...#(0 %))(#.)0%/#(..%!(.2%/'(#,/ (# /(/# /10%# /3" . /10%# / /)-,'(.*/+/'(#(0 /('$8()#. /#" (%#"1#"($#$.#%)-(%& '%/)(3

PAGE 31

4 "((& ,.)"%#(' .),..('&% ,. .(/..#"%#),-'$(,.('#'(#()# $8()#. /#"((/& /0(/#3" .)"%#(+ --(.(/##"(&% ,.(#"'. /+" )"#"( .(/..%(,.('2%/'#"(%-! #"0. '(&(-('#%))0."#"(#%.*.3 1($.$ -1(.J?
PAGE 32

: ..#(0"%.$((/'(&(-('$ 0%/'"J<=K#"%#,.(../%%/!('%#% #$, -'%%1#"($#H..,,/' /!.3 "(% /!%/'/%& !%# /..#(0 .$%.(' /)(#% /#! '.3"(%/!('%#%0#"(./% .(/..%( /#(!%#(' /#%$%$ # 0%#"%# .)0.('1#+' 0(/. /%-! '.#"%#)/#% /#"($%$ # (.1$( /! )), ('$#"($8()#. /#"((/& /0(/# 3%(. %/'(.,.('#(.# 0%#(#"( ,/)(#% /#1#"(.(/. /1 0%# /%/'#,'%#(#"((5 .# /!$%$ #%+ #"/(+ %/!('%#%3,-(%/' &('J<>K,.( '%/)),%/)! '#$, -'%-+-(&(0%%/'%'(#% -('-)%# /1 (.#$( '()00 .. /('3!%" )%/#(1%)( .,.(' #%*(#"( /#(%)# /+ #"#"(..#(0. 0-(%/',.( (/'-3 .#!%0 ) /0# /% /!FG .%(#"'#"%#(/.#( /%/'(/ J<:K ! /%#('(%-# 0(%$, -' /!+ #"%$ -($# /# /3"( ((.(/#.'%#% /%#+' 0(/. /%-%% 2)%--('%" .#!%0! '2#"%# .,'%#(' #",!"% ' /0# /.%0/!1/$% '%/!(.(/..3% ' /0# /.%0/! (.,-#. /%%((.(/#%# /#"%# . +(--., #('#'(/! /%)),%#(%/'/ . %/!(.(/.'%#%2.,)"%.#"%#',)('$ ,-#%./ ).(/..2% /'(A, (. / 0%)0,#%# /%-&("(%'3"(,.(.%#+ ' 0(/. /%-%#(. %/" .#!%0! ' 1$.#%)-(((.(/#%# /3 *(#"()(#% /# ! '2(%)")(-/#"(" .#!%0! '"-'.% )(#% /#&%-,(#"%#((.(/#.#"()/1 '(/ )(1#"(%-! #"0 /#"((5 .#(/)(1%/ $.#%)-(%##"%#-)%# /3+(&(2#"( (#"' /)(0(/#./-/()(-/#"( " .#!%0! '(%)"%/!((%' /!3 )"/( '(2-1%/'-6"%,.(/J<>K ,.(',-#%./ )#%/.',)(./$%' #"(&(" )-(#!(/(%#(%+-''(-,. /!. #%# .# )%-(#"'.%/'#%/.10.#"(' ! #%0% /#%#!%" )%-%., #%$-(' .-%/%)0,#()/.-(3

PAGE 33

()//% ..%/)(%/'$.#%)-( ,&( --%/)( //*/+//& /0(/#.FG%-. )/#% /..1#+%(#!, '(#"(&(" )-(%,# /0,.-#",!"#"($.#%)-( (-',. /!% (%-# 0(%#"-%//(/#"($%. .1#"( #,%-)( (-'FG(#"'3"((%# )%/.(-()##" .#!%" )%%%& .,%-. 0,-%# /1#"((/& /0(/#3"(& .,%. 0,-%# / .' .-%(' /(%-# 0(/#"()/.-(3 ..#(01/(,-#%./ )#%/.0 ##(+ #"()( &(. .,.('#'(#(0 /(#"( /0%-1#"(.,1%)(3"%2 %!%." 0%%/',#%J<>K,.(.#" ..(/.# /)-,'( /10%# /%$,##"((1-()# /)"%%)#( .# ).1$8 ()#.3&()#% .,.('# ()/.#,)##"((/& /0(/#3 ,66-! ) .,.('$ -2(/' ##(-%/'& J
PAGE 34

= $((1#"%##"()(-.)), ('3(--./#"(/(0#"(#%!(###"(.(/.. # /%( .(##(3 2" /!2(/!2%/'( JK,.('#"( (0.#("%1((& '(/)( /.(/. 1,. /+ #"%.() %--'(. !/('.(/.'(#(',)(,/)(#% /# (. /,-#%./ ).(/.3 "()/1)#&%-,( /(0.#("%1((& '(/)(#"( .,.('#' 1#"(.(/. 0'(-'/%0 )%--3 )$((#( . /!.#,)#,('!"###(.#%/%-! #"02.%'%J<%K '(1 /(.%(#"' $, -' /!%#"((' 0(/. /%-+-''(%$ -($#0.( /.'%#%'( &(' 10,#'.)(/(.3"($.#%)(.%()-%.. 1 (' /#%# 1 ) %-$8()#./%#,%-$8()#. %))' /!##"( !(0(# )%-(# (.. ,)"%..-(%/'),&% #,(3"(-)%-%. !(/(%#('$#"(.(/.%( /#(! %#(' /##"(-%!(!-$%-%3 ##-(%/' -./J<@K'(&(-(', .%$-((#"'.#% '-$, -'+-' 0'(-.1(%-+-'+*.%)(.3%))0." #" .2=%/!(.(/..%('(-('# )%#,(.,1%)('%#%+ #" /#"(+*.%)(3 " .'%#% .#"(/#%/.10(' /#.,1%)( 0%.2'(-.3"( 0%"%'+%(%'' # /.%(& '()%0(%.%/'.#,)#,(' !"# /!3(-()#('%/!(' .# %/)((%.,(0(/#.%(,.(' /,'%# /!%/'(! .#( /! (5 .# /!'(-.3"((#%' # /%'(/! ./#% %#(2'(/.(%/!( '%#% .)--()#('&(%/%(%%/'#%/.1 0('' ()#/#.,1%)(%.2'(-.3. %'' # /%-%(%.%(.)%//(' %/''(-('2#"(%(%''(' #!(#"(#0%=+-' 0'(-1#"(#%!(#+*.%)(3 -#( /! .,.('#(',)('%#%),/#3(-%,/% # %/!,-%# / .,.('#)//()##"( /# .2%/'#"(/%'() 0%# /(#"' .,.('#

PAGE 35

> 0% /#% /%(%.1" !"'(#% -2+" -(%-+ /!-+'(#% -.,1%)(.2.,)"%.-%#%(%. $(#+((/('!(.2#$((',)('3 $ +'%/'#(/#6J4
PAGE 36

B #%%#(. %/(-(&%# /%2% /'.,$.(A,(/# 0%!(.%(,.( ',. /!% ! '$'0# / ()&(%-! #"03 %."%." $ 2(&%/' --%#(%,J3F:3?C.G+" -(%& ' /!

PAGE 37

@ $.#%)-(.#:3;F>3BC. G+" -()"()* /!$.#%)-(.3# /' .## / . (0&('$#%!! /!(%)" 0%!(+ #"%.( (. 1&(" )-(.(..%0-('%#%(!,-%# 0( /#(&%-', /!' ! # 6%# /3/#(-%# / .,.('# -/#"(,/*/+/'%#%(! /.3 %/!(."%'+.%((0 /%#('$)0,# /!#"(% /.%)((0%/%# /!0#"(%/!( 0%!( 5(-3"(%/!(&%-,(%..) %#('+ #" (%)"% .' ()#(& '(/)(#"%##"(#(% / ./" !"(#"(/#"(% .,/# -#"(% /#(.()#.#"(#(% /3"( .,.('$ 0%#)" /!#"(&(" )-(H. #)"2--%/'%-# #,'(3 ,%/# #%# &('(-.%() /.#,)#('$#*&%/'110%/J<>K1.,1%)( !(0(#00$-(2%+%-* /!$#3"( %)),%)1#"()/.#,)#('%.(/%$-(. .%1(2+((11 ) (/#-)0# /&(#"(/% #,%-2,!!('#(% /,/'/-%/(#% .,1%)(.3"(% /!..#(0%)A, (.%/! ( 0%!(.+ #"%-%.(%/!(1 /'(%/' )/.#,)#.%#(. %/( -(&%# /%.0#"(0%#%$ #%(.-,# /.2 /%$ #% (1((/)(%0(.3()%,.(1#" (-),.%-! #"0#"%#,.(.%'(-1#"(.(/.# /#(-%#(%#%$ #%(. -,# /+ #",#%* /!%/%..,0# /./#"(#(% /."%( #"(#"%/#"()/# /, #1#"(.,1%)(2# "(% /!..#(0 ./(#"%#)%/"%/'-( (5#(0(-,!!('#(% /%/'(5" $ #.%(%+-'$,.#/(..$()%,.(1 #.%!!(.. &( '(#()# /1 0%!('$%.('(.%/' / #.)0(/.%# /# 0(&% /!(.3 #,)*2%/62((/%/'-!%66%J<> K'(.) $(.%/%& !%# /..#(0#"%# ,/ #(.#"(( 0#%/#)%%$ # (.3#(/%$ -(.%$ -($##%& '$.#%)-(.2%#"( (/& /0(/#2%/'-%/-)%%#".%,/'()0-(5$.#%)-(.+" -(/%& !%# /!3" . ..#(0(5#(/'.%/' /#(!%#(.#"(" .#!% 0! '((.(/#%# /%/'#"(' 1 ('P %-! #"00%-%.(%/!(.)%//( 3"(/%& !%# /..#(0%-.)(%#(.%/' ,'%#(.%" .#!%0! '%%#"-%// /!3

PAGE 38

; "((/%& !%# /'(.%(,.('$%) 52"%# -%2-(, 2($%/' 0/ J<>K#(10)..),/#%,#/0 ,./%& !%# /3"(/%& !%# /'( . %'%#('##"(/%#,(1#"(#(% /E%//('/%& !%# /'(+ "(/#"(#(% / . 0.#--%#L%=-%//('/%& !%# /'(+"(/%/,/(&(/% (%"%.#$()..('L%/'% (1-(5/%& !%# /'(3# .$((&('#"%#% 0 /!%#$, -' /!%O,/ &(.%-O#(% /'(#"%#)/#% /.%--#"(/()(..% /10%# / .(5#(0(-' 11 ),-#%/'/#(11 ) (/#2%/' #"((1()".(#(/'+#"($#+ #"%, -# -%(('"(#(!(/(,.#(% /'(/! )%%) #3 %.#(--%/.%/'%'Q.J <@K(.(/#.%#()"/ A,(#.(!0(/##"('%#% $#% /('$%-%.(%/!( /'(,/#('/ %$ -($#/%& !%# /! /%.#,)#,(' /'(/& /0(/#3. /!#" ..(!0(/#%# /% /'%/% %1#"((/& /0(/##"( -)%6%# /1#"($ -($# .,/'$% )%# /1%)/.#% /#$%.('%#)" /! .)"(0(3(%#,($%.('(#"'.% (1 /#((.#2 /+" )"%. (#1(%#,(.%((5#%)#(' 10#"(.(/.(''%#%%/'#"(/%#)"('%!% /. ##"()(./' /!(%#,(. /#"('(-3 "($ -($#-)%6%# / .)%-),-%#(' $%#)" /!$.(&('.(!0(/#.2$#% /('$% -%.(%/!(1 /'(2%/''(-.(! 0(/#.2.#(' /%'%#%$%.(2 ((.(/# /!#"(.#,)#,(1 #"((/& /0(/#3 %/))*2($(#%/'"(J
PAGE 39

? # 0(11!"#FG-%.(%/! /!..#(0. .,.('$R6-%/' (, JSNK .)0$ /('+ #"&(" )-('0(# #!(/(%#(%!/%-%5 0%# / 1%/ /'(/& /0(/#3"( $#% /('%/!((%.,(0(/#.% ( /#"(01 .-%#(' /#.2%/'#"()(.. /!(A, (. /,#'%#% .(!0(/#%# / /# /#.(#.$(-/! /!# %# ),-%$,/'% (.$%.('/%.(#1"(, .# ),-(.3"(/(+.(!0(/#.' .)&((' / #"(.(/.'%#%%((!('+ #"#"((5 .# /!+-'%3 -%6%2 (#2R& -%2$%) Q/%/',/%J:K'(.) $(%/ 0-(0(/#%# /1 %/$.#%)-('(#()#..#(0$%.('/%-%.( /#(%/'%"##%/. .#()(#3"( '(%)/. .#.1()( & /!#"((1-()#('+ (1%/(0 ##('-%.($(%00%/$.#%)-( %/'(.# 0%# /!#"(' .#%/)( $%.('/#"(()( &('+(3 '! (#"'((.(/# /!%!-$%-%) /. .# /!1-)%-%((.(/#%# /. %/'(-%# /.$(#+((/#"(0"%.$((/'(&(('$.%'%2,*, %/'.,8 J<$K3 (/.%.& (+('%#-)%# /.)-.(# (%)"#"(%( /#(!%#(' /#%-)%-% ((.(/#%# / /%%#(. %/)' /%#(. .#(0 5('#%/$8()#3 .#= /10%# / 1#"(('!(./#"(.$#% /('%#(%)" .(/.%$%..,0 /!#"()%0(%'(%/'#"(-%#/(..1#"(-3 (%$-((%#,( ..(-()#('%. %(1((/)( /%.(/.%2 +" )""%. 0#%/#-(. / /' /!#"() (./'(/)($(#+((/#"( ),(/#.(/.% %/'#"(--+ /!/(.%/' /$, -' /!%)%-%+ #"#"(.(.(/.%.3 /%--2#"( (-%# /$(#+((/-)%-%.#"%#((.(/#. #"((-%# &( (/#%# /%/'#"(%5 0%#( ' .#%/)(0#"((& ,.-)%-%##"(), (/#/( . /)-,'(' /#"(!-$%-%3 &(%/'-.(/JK'(.) $(%/& (-$ -($#..#(0#"%#,.(.%/ (/& /0(/#$%.('.(/./ (#+*1)%0(%& ' /!%+(1,-#" '(./

PAGE 40

< (.()# &(/#"((/& /0(/#3"( '(% .#"%#$ -($#.+* /! /#"(%(%#,/( /#$%')%.#.0#"(& '()%0(%/(#+ *F0(/& /0(/#$%.(')0,#(. )(.. /!#"(& '(%0(.G#()( &( .(/.'%#%3"()),%/)0% .% #+' 0(/. /%-%.#( 0%!(2,/ 10-' .# $,#(' /#"(--%/(3%)"% 5()/#% /.%$ /%&%-,(2. !/ 1 /!+"( #"(#"('(. !/%#('-.%)( .(0# )), ('3.%)# %-%0(1#"()),%/) 0% .)0,#('0%.(#1 /#(/. # 0%!(.2/(()%0(%2)%#,('. 0,-#%/( ,.-3, /!)%$%# /%$%)*!,/' 0%!( .%)A, ('(%)")%0(2 /+" )" %--#"((-%&%/#-.%)( .)-(%('3 $ /%%.* .)(%#('(%)"$%)*!,/' 0%!(2'(/# /!+" )" 5(-.%(-.%)(2 %/'#"(%-! #"0'(#()#.#"(' 11((/)(.$ (#+((/#"($%)*!,/' 0%!(%/'#"(&( 0%!((%)")%0(%3 *#2!*# )(+/J
PAGE 41

= %/'%##(0#.#(5#(/'#"(%'$#%)* /!#"(%'.,1%)(%/'%'$,/'%3"( (.,-#1%'#%)* /!,. /!,-# -(.#%# /! /#.(.,-#. /%.(#1)0-(#(-%/' %# %--#%)*('%'.3 "(.(%'"#"(.(.%(( 5%0 /('&(-%.%/' /#(.()# /.2%/'%!%"#"%#((.(/#.#" (&(%--/(#+*.#, )#,( .)/.#,)#('3 "%2"(--%%%/' 0("/J<:K .,!!(.#..(&(%-%-! #"0. ()&( /!'(#"%/' (/#%# /%.1% .,1%)(0 #. 0%!( /#(/. # (.3"( )0$ /(#"(%'&%/#%!(.1.#((& . / %/'."%(10."%' /!(#"'.FG3"( %-! #"0%. /!-( 0%!( .(5#(/'(' #,.(.#(( 0%!(.3"()(./'(/)( &(.#(( 0%!(. .(.#%$."('. 0,-#%/(, .-+ #"#"(!(/(%# /1.,1%)('(#"%/' (/#%# /3 /%--%/%-! #"0 .(.( /#('#)0$ /(.%. ('(#"(%.,(0(/#. + #"%/ (/#%# /%#()/.#,)#%.,1%)(3 *(/$ 4%50%/2( !/(2%& .2 / &%./2,."(2 %/!%/' ''%!% %" J4T?;K'(&(-('%..#(0#"%#)/. .#.1& . /',-(.(10 /! 0%!( )(.. /!2#"((' 0(/. / %-."%(()&(2%/'!(0( # )(%./ /!2%.+(--%. 0',-(.-%// /!2/%& !%# /!2%/' -# /!3"(..#(0"%.$((/ 0-(0(/#('%.% .(#1)/),(/#)00,/ )%# /!',-(.%/' ,.('#' &(%)%0(%&(%.)%-('(%'/(#+*/%#(% /$%'3%& !%# / .$*(/ /##"((.%# %-.)%-(.2-/!2 /#(0(' %#(2%/'."#%/!(/%& !% # /3/!%/!(/%& !%# /)/)(/.#"( '()0. # /1#"((/& /0(/# /#( ! /.#"%#."%()00/(# (..,)"%. ,/ 10& . $ #1-%/'0%*.%/'/%& !% $ #1#"(#(% /3/#(0(' %#(%/!( /%& !%# / . /&*('#.(-()#%) ' 1((.%)(#",!"+" )"#"(&(" )-(+ --

PAGE 42

=: /(5##%&(-3"#%/!(/%& !%# / .(./ . $-(.(-()# /!#"(%)#,%-%#"#$( #%&(.('#",!"#"((.#%$."(') '1((.%)(3 . /!,#'.#(( 0%!(.(A,(/)(. 2(,/!%/',%/!J<:K'(&(-('%/ /#(!%#('..#(0=# /(.# 0%# /%/'$8()#()!/ # /3"(.)(/()/#% /. .#%# /%$%)*!,/'+ #"%& /!&(" )-(3"(!%-.%(#$#% /#"(=# / '(.) # /%/'#"( '(/# 1 )%# /1#"(&(" )-(3"(+"((-.1#"(& (" )-(%((5#%)#('2 %/'0#"%# /10%# /2#"(&(" )-( . '(/# 1 ('3 '' /!%/#"()%0(%2N"%/!%/'%/!(% .JNK'(.) $(.%/(+%0(+*'(#()# /1 '/%0 )$.#%)-(. /#"(,/.#,)#,(',#' %'(/& /0(/#$,.(/#(!%# /! $ /),-%)0%!(.(A,(/)(3,(2.%#,%# /2%/' /#(/. #%(,.('#.(%%#(#"( %&(0(/#1#"(%'0/( !"$ /!% (%.2%/'$8()#./#"(%&(0(/#30%!( .(A,(/)(.%(,.('#'(#(0 /(# "(# /1%'/%0 )$8()#3 #*&%/'($(#J
PAGE 43

= 0%!(.+ #",#.,$.%0/!' .% # (.3 "(% /!.1#+%(#% *(.%. /,#%.#(( % %/',#,#.%%.1#" (#"(()' /%#(.T22%/'N3 (%-# 0(%%)"#$.# %)-('(#()# / .(.(/#('$ %/'%'J
PAGE 44

== ". )%-#%/.',)(%/'(-()#/ ).#"%#.(/. (%/'%01#"(()"3"(.()/'-(&(/)-,'(.. !/%-)(.. /!%/'% -! #"0.(5#%)# /!%) ,.# )(%#,(.0#"(%/!( &%-,(.'( &('0#"(()".3"(#" '-(&(/)-,'(.#()"/ A,(.##%/.10%),.# ) 1(%#,(. /#.%) %-(%#,(.3"(#"2%/' -%.#2-(&(-% 0.#$#% /%.0$) '(.) # /1#"((/& /0(/#%/'#(%./%$,# #3 7!JU./%.(/..#%)" (&((%$-(%/')0(#( /'+-''(-.$#"(%-# 0( )-. /%& '%/)(%/'-)%-%#"-%// /!3 ('(.#" .$)(%# /!%%'%%FG 10#"(-%.(%'%%/' /)(0(/#%--$, -' /!,%! '$%.('((.(/#%# /1#"( (/& /0(/#)%--('#"()),0,-%# &( ' %FG0#"(./%3"( .% -)%-%+" )" .'(1 /('(-%# &(##"($ #3(+%/!( /10%# / # /#(!%#(' /# #"(,. /!%/%.. )%#('+( !"#%/'( A,(/)0(%.,(3"(+( !"#(5(..(.#"( '(!((1$((1#"%#%)(-.%)#,%--)), ('$%/$.#%)-(3 "((A,(/)(%.,( ),/#.#"(/,0$(1,'%#())-(.#"%#"% &(%..('. /)(#"()(--H.+( !"#"%.$((/ /)(0(/#('-%.#3 *$%%--%/'-((0%/J<@K(.(/#% /&(-(#"'1)0$ / /!./%%/' & .,%-'%#%#)(%#(%=.(/. /!)0 $ /%# /#"%#'(-..#,)#,(' /' (/& /0(/#.3"(.(/.)0$ /%# / . /#(/'('%,#/0,.$ -($#. (%# /! /'./$-(0..,)"%.-)%6%# /%/'%$, -' /!3%#%0% )%0(%((.(/#.%8()# /1=(%#,(. /#"((/ & /0(/#3/&(.(-2%./% .(/. . /# /. )%--%'(#()#1%/!(3 ./%.(/."%.$((/'(&(-('#-)%6( %/')-%.. 1#%!(#. /#:@' 11((/##%!(## (.2%/'#"(& .,%-'%#% .$#% /(',. /!% !%.)%-()%0(%%/' .)(..(',. /!%,!"#%/.10#(5#%)#%.(#1

PAGE 45

=> (A,%# /.1%--/(.#"%#)), /#"( 0%!( 3# .#2#"()(..('./%'%#% .,.('# )(%#(%/ / # %-%2#"(/#"()(./' /!& .,%-%#.%( /#',)('2%/' /%--#"( (/& /0(/#%-% .(5%/'( '$ #(%# &(-)0$ / /!#"((0% / /!& .,%-'%#%3 %/!(%/')*(0J<@K'(.) $(% / /#(!%#('%'%%/'& . /.(/. ..#(0%,#/0,./%'/%& !%# /3"( %'%.(/. . /#(!%#('+ #"%& . / $%.('-%/(*(( /!..#(0#%)),%#(-'(#()# %/')-%.. 1$.#%)-(.+ #"(.()###"( '%/!(#"(.(##"(&(" )-(3%/!(%/'% /!,-% /10%# /1# %!(#.0#"(%'% %($#% /('$%.#, (#%/.103(#()#(' #%!(#.%(*(# /%/$8()#.#+" )" . ,'%#('$.,))(.. &('%#%%0(.0#"(% '%.(/.3%!(# /10%# / .,.(' + #"%'!(0(##%..(.. 1#"( $8()# . /#"(&(" )-(9.-%/(3 .,%-'%#%$#% /('$%$ /),-%%)# &(& . /..#(0 . /#(!%#('+ #"> ,-#%./ )%/!(.(/..$ -&%2(/(6(. 2%/' %.J<;K /#"('(&(-0(/#1%/ $.#%)-('(#()# /%/'%& '%/)(..#(0 $%.('/%)//()# / .#! '3(/. /#(!%# / .%))0."('$%)(--,-%%, #0%#%3" .)%/$( )#,('%.%)(--,-% -%## )(2+"(((%)")(-.)//()#('# #./ (%(.#/( !"$.3"()(--.9&%-,(.'((/'/ #"( /10%# /%$,##"((/& /0(/#& '('$#"(.(/. /!'(& )(.%-/!+ #" #. /( !"$.&%-,(.3 +##-(,.(')0/(/#.1#"((0 .#("%1(#"(%((5#('$ ,"J
PAGE 46

=B 2%/' "# "()/1 !,%# /%)# & # . )/)(/('+ #",. /!#"(#%.*!%-.1% $##!(/(%#((5()#%# /.1()(#.%/'# (' )#+"%#(%#,(.1#"(()(#+ --$($.(&%$-(#+" )".(/..%/'#"( . !/ 1 )%/)(1#"( )/# $,# /3"(,/)( #% /#%)# & #)--()#.$.(&%# /.%/' )0,#(.#"(##%-$((1 / #"(()(#,. /!%(0.#( "%1(%0(+*3"(()(# .#"(/,.('$#"(#$("%& #)/# -#"($#3 .. /!%$/0%-$.(&%# /. # !!((5)(# /"%/'/!3 /10%# /0%/0/ ' ()# /%-./%%/'0/ ' ()# /%-& . /+%.,.(' $%#%2"%2%/',#%JK1 /'( /& /0(/#()!/ # /3"(/(+0/ ' ()# /%-./%& '(.%)),%#((1-()# /! /#.#"%# /)-,'(' .#%/)(%/'%/!-(2$,# #".( /#.%(.%.(3"(0/ ' ()# /%& . /& '(.' ()# /1('!(.2$,##"( '/# /)-,'(' .#%/)( /10%# /31,. /!#".('%#%2(/& /0(/#%-(%#,(.%( (5#%)#('3

PAGE 47

=@ = *((!(2)&! &(/#"(--+ /!E V&(" )-()%%$-(1&(0(/#3 V"(. # /%/' (/#%# /1#"(&( " )-((%.,('+ #"(.()##%!-$%)' /%#(..#(03 V% ,..(/..,.(' /#"('(#()# / 1$8()#.2+" )")%/ /)-,'(.(/.. . # &($8()#.2.,)"%.#((%/')*.2% /'.(/../(!%# &($8()#..,)"%. "-(.%/'' #)"(.3 V,#'#(% /3 (&(-E V..#(0)%%$-(1'(#()# /!$8()#.%/' 0% /#% / /!#"( . # /.(-%# &(# #"(&(" )-(#"(#%.*1%& '%/)(3 V" ...#(0)/. .#.1&% ,.//" 0!(/(,..(/..%/'%-)%-! '%3 "(.(/..%()".(/#"( %$ ## '(#()#' .# /)#)"%%)#( .# ). /#"( ,#'(/& /0(/#3"()%/$(%)# &(2$8()# /!(/(!,# /#.%)(2 %/'+% # /!#"((#,/2#"()%/$ (%.. &(%/'(%.,(#"((/(! /.%)(3 ",!",66'(/!2#"(.(/..%( "0!(/ 6('%/'8()#('/##"( -)%-! '%3 #"#"(*/+-('!(1. # /1#"(&(" )-(2#"($8()#.)%/$( 0% /#% /('+ #" /#"(-)%-! '%/ )(#"((5 #0#"(.(/.9. (-'1 & (+3" .%--+.#"(&(" )-(#%& ' ),(/#-'(#()#('$8 ()#.2%/'/(.#"%# "%&($((/(& ,.-'(#()#('3 V" .(.(%)"+ -0-(0(/##"(,. /1//"0!(/(,..(/.. /#%-)%! '%/%/%)#,%-$# )&(" )(3"()'(+ --,//%. /!-($%' )0,#(%/'+ --$(.(-1)/#% /('3# + --$(&%'%#('$,// /!#"(&(" )-( ,#. '(3

PAGE 48

=; $8()#'(#()# /D$8()#% /! )0/(/# 3$$!($ V"(( .(/,!"(0/#"(. /!-($ %')0,#(# 0-(0(/##"(-)%! '%%/'#,/#"(&% ,.#"(%'. ,.('# /#(1%)(##"(.(/..%/','%#( #"(-)%-! '%2%/'#"()0,#( .% .#(/,!"#"%/'-(%--#%.*. /W(%# 0(93 V"(.(/..)%/$()"%%)#( 6('$.() 1 /!% / 0,0%/'%5 0,0%/!( %/'%$(%0%/!-(+ '#"3 ,$#,5!($ "()/)(#,%6('.#,)#,( .."+/ / 3"(!%-1#" .(.(%)" . #'(&(-#"(,("%-11#"(.#,)#, (2#"($8()#(#()# /0/(/#3,-(%6('2#"((#()# / 0/(/##%*(. /,# 10#+.,)(.3"( 0%.,)( .0#"( 0,-# -(.(/..-)%#(' %,/'#"(&(" )-(,.('# '(#()#,/*/+/$8()#. + #" /#"(&(" )-(9.%#"3 "(.()/'.,)( . /,# 10#"(. # / )0/(/##"%#*((.#%)*1#"(&(" )-(9. -)%# /3" . .,.('#% /#% /#"( . # /%/' (/#%# /1$.#%)-(./)(#" (%(,#. '(#"(.(/.. (-'1& (+3 "('(#()# /)0/(/##%*(.#"( '%#%0#"(' 11((/#.(/..%/' "0!(/ 6(. #,. /!#"(". )%-)"%%)#( .# ).1#"(.(/.-,.#"(,66'(/!1

PAGE 49

=? #"(.(/..(10%/)(3" ..(A,(/)(1' %#% .,.(' /-)%%%/%!(0(/#$ ,'%# /!&%-,(. /(%)"! ')(--1#"()%-! '%3/)(#% /# .(',)('2%/' $8()#.%/'((.%)(. /! 0#"()--()# /1'%#%3 '(&(2'("(% /)/# $,# /1#" .(.(%)" .#"( 0-(0(/#%# /%/'(5#(/. / /# #"((%-+-'1%*%*, 9.(.(%)".#%# (' /. 0,-%# /3/*(%. 0,-%# /2#"( )0-(5 # (.1%(%-(/& /0(/#)%//#$( !/('3"((1((5#(/. &((.(%)"+%. 1),.('/ /' /!(11 ) (/#%-! #"0.#"% #),-'$(%'%#(',.( /)/&(# /!#"( #"( /#(%#3"($8()#(#()# / 0/(/#2#"%#,.(.#"(-)%-! '% '( &('0*, 9.(.(%)"2 /)-,'(.#"(--+ /!E V.0%--%/'(.,)(1,-.#%!(()"%/ .0(%)"! ')(-/#"(-)%-! ' 0%3 V11 ) (/# --%-! #"0.#"%#,.( /#(!(% #"0(# )#,'%#(#"(-)%-! '% / #"(.## 0(-%//(3 V/(%.0(#"'#%''/(+%/'' 11((/#.(/..##"(..#(03 V /#(1%)(#A,($8()# /10%# /0#"(-)%-! '%3 "(% /$(/(1%)#1#" .(.(%)" +,-'$(%//(+"+ ."(.#& '(% &(" )-(+ #"#"()%%$ #1$8()#'(#()# /3 #"%/(%. /#(1%)(2&% ,.#(.1 .(/..)%/$((5%0 /('#'(#(0 /(+ " )")0-(0(/#(%)" #"(3$8()#'(#()# / )%/$(,.('$%,#/0,.&(" )-(.# ' .)&(%/'%& ',/*/+/$.#%)-(.3 #(-((%# /2$( #-)%--)%#('/%/# "(-%/(#2#"($8()#' (#()# /)0/(/#)%/ (.(/#$.#%)-(.##"((%##'(#( 0 /(#"($(.#),.(1%)# /3/#"( )00() %-(%-02$8()#'(#()# /)%/$(,.('&(" )-(/%& !%# /%/' /#(-!(/# " !"+%..#(0.3

PAGE 50

=< > /" .+*2*, J<
PAGE 51

> $%$ #'(/. #,/)# / )' /%#(..#(0$%.('/!(0(#1#"( $(%0%/'#"(.%# %-.(/. # & #%##(/3 "(.(#+(! /.((.(/##"((0#$%$ #'(/. #,/)# /% /# ) /. '( #"(.(/.$(%0%/'#"()(./' /! )), ('$%$ #'(/. #,/)# /3 1#(',) /!#"($%$ #'(/. # ,/)# /(&(.(/.2."+/ / 2#"(%(8()#('/# #"()(--1%! '%'(1 /(' /% !-$%-)' /%#(..#(03% 0%,'%#(2$%$ ##"(+%. ,.('(!%' /!,/)(#% /#1% .(/.%.%/'0/(..3%)")(-"%.#+%/'0&% %$-(.2#"( $%$ #1((.%)(2FT2G2 %/'#"($%$ #1$.#%)-(.FT2G2+"((T2%(#"(. # / /%!-$%)' /%#(..#(03FT2G%/'FT2G%(,'%#('$%/%'' # &(-%+1$%$ # ,. /!$#"FT2G%/'FT2G0%--.(/..3 # 6 /!#"(%'' # &(-%+2 #+%.%..,0( '#"%#$%$ # (. /#"((& ,.% %/'$%$ # (.0.(/..%( /'(( /'(/#0(%)"#"(2FYGXFG2%/'#"( .(/.$%$ # (.%(/#' 1 ('$ #"( /10%# / /#"((& ,.%3"( (& '(/)()0$ /%# /)(('.%-/!#"(--+ /!.#(.E V(.(#E"(+"-(% ..(##,/*/+/$0%* /!FT2GEX%/' FT2GEX V,(. # /1(0#.%)(E(&(.(/.(%' /!2' 1#"( (0# /(.. /10%# /&( #.8()# /$ FT2GEXFT2GZFT2GFT2G FT2G

PAGE 52

>: = +67 V,(. # /1)), ('%(%E (&((%' /!2." 1##"()), (' $%$ # (.%,/' /(./.(## "()0$ /('(0# /(..%,. /!E FT2GEXFT2G F:FT2GG FT2GEXFT2GC FT2G FT2GEXFT2GZFT2GFT2G FT2G V"(."-' /!E"( /%-)),%# /&%-, (%## $,#('#%)(-.! &(/$% #"(."-' /!E $8$.#! /.#(%'1,. /!#+%/'0&% %$-(.# ,'%#(%%2/(%/'0&% %$-(+%. ,.('#(5(..#"($%$ #1)),%/) 1(%)")(--3&%-,()-.(#3 /' )%#(. -+$%$ #1)),%/)2+" )" .%" !" $%$ #1(0# /(..3"(&%-,(3B . ,.('%.,/*/+/%/'%&%-,()-.(#:3 /' )%#(." !"$%$ #1)),%/)3 ,.(%(.9.#"((0% %,'%#(2 #+%.%..,0('#"((%(#+.#%#(. / %/(/& /0(/#L$.#%)-(2[\2%/'((.%)(2[\3$%$ .# ).(/.'(-+%. (!%'('%.%)/' # /%-$%$ #'(/. #,/)# /F.(/.(%' /!Y.#%#(1 (/& /0(/#2[\[\G3%'' # /%-. 01 )%# /2 #+%.%..,0('#"%# FY[\GX:3FY[\G3(#X[\ [\%/'[\ [\X 20%(.9. #"((0E

PAGE 53

> = 6 = +ŠŠ67 "( / # %-&%-,(1F[\G .3BF,/*/+/G%/'F[\G .%.. !/('##"( (& ,.&%-,(1FY[\G3FY[\G .! &(/$#"($% $ .# ).(/.'(-3 . /!#"()0-(0(/#%/'#"(. 01 )%# /2#"((A,%# / .(+ ##(/%. 9$(!(# %& '(%-/,0$()%-),-%# /. (%-# 0((5(),# /$%//$%' )0,#(2#"('(/0 /%#+% ..(%%#('0#"($%$ #'(/. #,/)# /$ (!%' /! #%.%%5 0,0)(#% /#&%-,(3 )"%/! /!#"(&%-,(2#"($%$ #'(/. # 1,/)# /%-.)"%/!(.3"((1(2 # ... $(##,/(#"(.(/.'(-%))' /!##"( (10%/)(1#"(%/!(.(/. .%/'#"()/' # /1#"((/& /0(/#3"((-%# /." $(#+((/#"($%$ #'(/. #,/)# /%/'#"( " .#!%0 )$%$ #' .# $,# / .%. 1--+.E #%%/!(22%--)(--.()(' /!%( )/. '(('(0#2%/''()(0(/#('$ FT2G3##"()(-.)), ('%/' . /)(0(/#('$FT2G3+&% %$-(.2 FT2G)),%/)%/'FT2G(0# /(..2%(,.('#,'%#(#"(%3# +%.%..,0('#"%##+(& ,.)(--&%-,(.2FT2G%/'FT2G2%/'#"(#+.#( &%-,(.0#"(.(/.2FT2G%/'FT2G2%(/#//'((/'(/#$,#%-. 0,#,%--(5)-,. &(3"((1(2,# 6 /!#"( %'' # &(-%+1$%$ #2#"(,'%#( 10,-% .E

PAGE 54

>= µµ µµ = +Š +Š ŠŠ 67 67 4"((#"( /%-)),%# /&%-,(% ## $,#('#%)(-.! &(/$E FT2GFT2G3 #"((& ,.(#"'.2 #+%.%..,0(' #"%#,/)(#% /#1%/!('%#% .%/'0 %/'.(/.'(/!%/'%,'%#()(' ,(.%($%.('/$%$ ##"(3 +(&(2#"(,/)(#% /#1%/!('%#% )%/%-.$(%## $,#( '#&%!,(/(..1#"( $,/'%1#"(.(/. /! (-'%/',66 -! ))%/$(,.('3/.(/.'(/!2% 0(0$(." ,/)# / .,.(' /.#(%'1%$%$ #'(/. #' .# $,# /3 (0$(." ,/)# /.%(8()#('##" (! '%,. /!#"(. # /%/'%+ %/!-(1#"(&(" )-(%/'#"(' ()# /1#" (% /%5 .1.(/..3,'%#(#"(%2% '(!((1)(#% /# . /)(%.('///(% -,. /!%,66,/ /(%# /. 0 -%##"( /)(0(/# /#"(" .#!%00(#"'3"( ()(.1 /10%# /)/)(/ /!#"((0#%/' #"()), (')(--.%(.(%%# (-)--()#('', /!#"((%., /!)(..3"(%..) %# &( (#1,66,/ /%--+.,. /!#+,66.(#.]FT2G%/']FT2G%. %)),0,-%#.3#"((0$(." ,/)# /(0# /(..2]FT2GX ]FT2G%/' #"((0$(." ,/)# /)),%/)2]FT2GX ]FT2G3#"(%)),0,-%# /1

PAGE 55

>> #"('(!((1)(#% /#20$ 9.,/ /(% # /2+".(.#(/!#")%/$(&% ('$#,/ /! %%%0(#( 2+%.,.('3 "()".(/,/ /%0 -(%)"(.)(#% /#%.0## )%--%/'#"((%# ',)(.-%!(,/ /.(#.%. .'()(%.('L#"%# .2+(%*(, / /.%($#% /('.0%-&%-,(1 3 "#!$%'# "( /%-(#"','%# /!#"( )%'%2%/'#"(/()".(/# 0-(0(/#+%.#"(/"0!(/,.%*& "% /3/*(#"(#"((#"'.#"%#,.(' %01%$%$ #'(/. #,/)# /2 0(0$(." ,/)# /. /#"()%.(1,66 ! )2%/(+(#"'1'(/!#"(.(/. ."%'#$('(&(-('3" ./(+(#"' ,.(.%,66%%)"#'(.) $( ,/)(#% /# /%/!(.(/..3 "()/.#,)# /1%., #%$-(.(/. '(./(1#"(.#),) %..,(. &(%--(10%/)(#(',)(,/)(#% /#3# )%-.(/.'(-"%.%' .# $,# /1 " !"($%$ # (./(%#"()(/#(/(%5 . 1#"(.(/.%/'(-%# &(--+$%$ # (. /( #"(. '(3#'(.) $(.#"(,/)(#% /# )%,.('$#"((10%/)(1.(/..2$,# %/!('%#%%(%-. /1-,(/)('$/ .(% /'.(/.(/& /0(/# /#(%)# /30( 0'(-.%(' 1 ('$%'' /!%'8,.#%$-(%% 0(#(.*(#"(%5 0, 0)(#% /#&%-,( / #"(" .#!%0(#"'%%)"%/'+( !"#. /#"(,66-! )%%)"#',)(% ., #%$-('(-3+(&(2 # .&(' 11 ),-# #,.# 1%%# ),-%$%$ #1 -( )/. '( /!#"(.(/."%.#+* /&% ('2,/*/+/(/& /0(/#.3 ! .(/.)%/( #"((#,//'%#%% %/!(#"%# /' )%#(.#"()-.(.#' .#%/)( $(#+((/%&(" )-(%/'$.#%)-(.+ #" /#"( .(/. /! (-'3"(&%-,(1%/!('%#%2

PAGE 56

>B (5 .#.$(#+((/ / 0,0%/!(22%/'%5 0,0%/!(23/10%# /(!%' /! 1((.%)( /%/!('%#% .( #"(#"((/# (. (/. /! (-'+"(//'%#% .(#,/('#"( %(%$(#+((/#"($.#%)-(%/'#"(.(/.+"(/ #"(( .%%/!(&%-,(F. /)($(/'#"%# &%-,( .,/*/+/G3(/.. !/%-."%&(,/ )(#% /#.,)"%.%/'0/(..)%,.('$/ .( %/'%0$ !, #)%,.('$(.-,# /3 '(.) $(,/)(#% /# /%/!('%#%2# "(( 0((-(0(/#.% ('(1 /('%.%%0( 1' .)(/0(/# 3 X[22\ +"((E$.#%)-( /%/(/& /0(/# E((%)( /%/(/& /0(/# E .( /%.(/. %* /!#"(+(.(#1 2#"(--+ /!.(#1%--.,$.(#.1 .$#% /('3 $ X[[\2[\2[\2[\2[2\2[2\2[2\2[22\\ (0& /!#"()/#%' )# /.1[\F(0#.(#G2[\F/(/& /0(/#%/'/ .( /% .(/.G2[2\F$.#%)-(%/'((.%)(%/'/ / .( /%.(/.G2%/'[22\ F$.#%)-(2((.%)(%/'/ .( /%.(/.G2 $ .(',)('#E $ X[[\2[\2[2\2[2\\ %/' .,.('%.#"(,/ &(.(1' .),.(3 (1 / # / (# $ $(%//(0#.(#)/. '(('%.# "(,/ &(.(1' .),.(2+".( !(/( )(-(0(/#.%('(/ #('3,66.(# / $ 2#"%# .%.,$.(#1 $ #"%#"%./."%$,/'%2 .)"%%)#( 6('$%(0$(." ,/)# /]E $ J2:K3"()-.(#"(&%-,(1]F5G .#:2#"(($(-/!.#3 .)0-(#(-)"%%)#( 6('$#"(.(#1% .E X[F52]F5GG2 $ \

PAGE 57

>@ = =+++ µ µµµµ6 = =+++ µ µµµµ67 (/.'%#%)/#% /. /10%# /1#"((0 #%/')), ('%(%3/.#(%'1,. /! #"(0%.) .(&(/#.2*, '(1 /('#"((0 #%(%%.#"(,66.(#%/'#"()), (' %(%%.#"(,66.(#3"%# .2%,66.(# /' )%#(.#"%##"(.(/..%.#" . . 1((.%)(%/'%,66.(# /' )%#(.#"(.(/..% .#" . .%/$.#%)-(3 "(.(#[[\2[2\2[2\\ ..(-()#(',#1.,$.(#.1 $ %/''(1 /(' %.%)(1%,66.(#3"(.(#[[\2[2\2[2\\ ..(-()#(',#1#"( .,$.(#.1 $ %/''(1 /('%.%)(1%,66. (#3"((1(2,66.(#.%/' %((5(..('%.E +"(( ]F[\GE"(!%'(1(0$(." %. #,%# /1$.#%)-(%/'/ / .( /%.(/.+"(/%.(/..%.$.#%)-(%(%3 ]F[\GE"(!%'(1(0$(." %. #,%# /1((.%)(%/'/ / .( /%.(/.+"(/%.(/..%.$.#%)-(%(%3 ]F[2\GE"(!%'(1(0$(." %. #,%# /1$.#%)-(%/' / .( /%.(/.+"(/%.(/..%.$.#%)-(%(%3 ]F[2\GE"(!%'(1(0$(." %. #,%# /((.%)(%/' / .( /%.(/.+"(/%.(/..%.$.#%)-(%(%3 +"(( ]F[\GE"(!%'(1(0$(." %. #,%# /1$.#%)-(%/'/ / .( /%.(/.+"(/%.(/..%.((.%)(%(%3

PAGE 58

>; µ = 67 µ = 67 µ = > 67 µ = 67 ]F[\GE"(!%'(1(0$(." %. #,%# /1((.%)(%/'/ / .( /%.(/.+"(/%.(/..%.((.%)(%(%3 ]F[2\GE"(!%'(1(0$(." %. #,%# /1$.#%)-(%/' / .( /%.(/.+"(/%.(/..%.((.%)(%(%3 ]F[2\GE"(!%'(1(0$(." %. #,%# /1((.%)(%/' / .( /%.(/.+"(/%.(/..%.((.%)(%(%3 "()(..1'(#(0 / /!&%-,(. '(!((1(0$(." .%.,$8()# &( )(..%/' # ./#%-+%./()(..% #$#% /(5%)#&%-,(.#"('(!((1 0(0$(." 3.!"#( /#"('(!((1 (0$(." + --$(-(..)/.(A,(/# %-#"%/ +"(/%) .(&(/#"%.%/%--/#" /! ((.(/#%# /3/.# (%'1%%#"(0%# )%%5 0%# /1#"(!(0(#1#"($ (%02*, )".(%/%%)"1,66.(#. )/.#,)#('0.#%# .# )%-'%#%3"(.(&%-,( .%(' .# $,#('%--&(#"((/# (.(/. /! 1 (-'$()%,.(1#"(%/'0/(..1 / .(2%/'%('(1 /('%.--+.E /#"((.(/)(1%/$8()#2 (0& /!#"($8()#0#"(.(/. /! (-'2

PAGE 59

>? µ== 67 µ = 6 4 #"// .(2µµ ==,66.(#.%/'$#% /('$#"( +%' .),..('%$&(%(.#('%.% .(/.'%#%$%.(3.(/. /! (-' .'(1 /(' $#"()"%%)#( .# ).1%%/!(.(/.3%)" )(--"%.#+,66.(#.2%/'2+" .(&%-,(.'(!((1(0$(." %( $#% /('(5( 0(/#%--', /!)%$%# / 3"(/%.(/.(#,/. %(%' /!2#"(,66 ' .# $,# / .!(/(%#('3(--. /#"($.#%)(%(%"%&(%,66.(#%/')(--. /#"( 1((.%)("%&(%,66.(#3 1#(',) /!%,66' .# $,# /2% ,66.(# .8()#('/##"(-)%-! ' 0%%/' /,##%)(--3./#%# /.2, 66.(#.%/'%1#(%#%/.10%# / 10%.(/.)' /%#(..#(0#%-)%-! '%)' /%#(.. #(0%((5(..('%. FT2G%/'FT2G+"((T%/'%(#" (. # /1%)(-/%-)%-! '% )' /%#(..#(03 "#!$ %'#3# /#"((& ,..()# /2,66'(/! .' .),..('#((.( /##"(,/)(#% /# .,)"%.%/'0/(..)%,.('$/ .(%/' ,66 /(..)%,.('$(10%/)(1 .(/..3(!%' /!%.(A,(/)(1,66.(# .%.%# 0(.( (.2#"(//"0!(/(,. %*&)"% / .%('##"(.#)"%.# ))(..,. /!%,66'(-#(',)(

PAGE 60

>< +=== = × × × µ µ µ6 ,/)(#% /#3#"(-)%-! '%%/%!( 0(/#2#+.#%#(. /%/(/& /0(/#%( )/. '(('%/'#"(.#%#(.%)( .'(1 /('%.[[\2[\\31#"(.#%#(.%)(1% .#)"%.# ))(.. .),/#%$-(%/' / #(%/'#"()(..)%/$()%--('%)"% /3 "(&(0(/#1#"()(..#"($%$ #1)),%/)%0/!#"( 0(0$(.1#"(.#%#(.%)( .'(#(0 /('$ )/' # /%-$%$ # (.3 11((/#0% )/' # /%-$%$ # /%(.H.#"((0#"%#',)('FY[\G0%%/!(.(/. ' ()#-%.%) .(&(/#2#"( --+ /!)/' # /%-$%$ # (.%('(1 /('%.#%/. # / $%$ # (.#"()"% /,. /!,66.(#.2%/'3"($%$ #1TX [\! &(/#"()),(/)(1TX[\ .'(1 /('%. +=== = × × × µ µ µ67 %/'#"($%$ #1TX[\! &(/#"()),(/)(1TX[\ .'(1 /('%.

PAGE 61

B = ++ ++==Š== Š==== 67 +"(( F3G(& ,.$%$ # /%)(-//,0$(10.(/.'(/! //,0$(110.(/.'(/! /##%-/,0$(1,66.(#.E/X/Z/0F3G+( !"# /!,/)# /%##"( / # %-.#%!(1.(A,(/)(3 FT333G .#"(%5 0,0&%-,(1,&%-,(.3 //"0!(/(,.%*&)"% / .)0 -(#(-'(.) $('$%.#%# /!&()# %/'%.(A,(/)(1#%/. # /%# )(.3.#%# /!&()# .#"( / # %-' .# $,# /1 $%$ # (.1#"(%*&)"% /%/' .'(1 /('%. XFFTX[\G2FTX[\GG3 )(-. / # %6('%.,/*/+/2#"%# . XFFTX[\GX3B2FTX[\GX3BG3"( #%/. # /%# 5)/. .#.1)/' # /%$%$ # (.2%/')/#% /%--#"((-(&%/# /10%# /(!%' /!#"(& (0(/#1#"()(..%0/!#"(. #%#(. /.#%#(.%)(2%/' . '(1 /('%. !' ) #1#"(//"0!(/,.%*&)"% / .,.('#.(( 1#"(0 # /! &()# . /'((/'(/#1#"()" )(1#"(. #%# /!&()#3"(( .+(%*(!' ) #%/' .#/!(!' ) #3"(/%0 # /!&()# . /'((/'(/#1#"(.#%# /!&()#2#"((11()# 1#"(.#%# /!&()# .-.#%1#(%-/!# 0(3" . .)%--('%-.. 1(03.#/! (!' ) #2#"($("%& 1#"()(.. .)/&(!(/)(%/'-..1(03(%* (!' ) # .#"(-..1(0+ #",#) /&(!(/)(3+(%*(!' ) #+%.,.('# &(.#/!(!' ) #3"(/#"(0,-%"%. .#/!(!' ) #2#"(0 # /!$%$ # 1$.#%)-(. . /'((/'(/#1#"( / # %$%$ #1%)(--3"((1(2+"(/#"(&(" )-( %%)"(.%/$.#%)-( /' 11((/# (/#% # /.%/'%#%' 11((/# # 0(.2#"( /%-

PAGE 62

B: $%$ #,.#)/&(!(##"(.%0(&%-,( .%.-/!%.%.%0(.(/.'%#%$%.( .,.('3 # .#"(/.. $-(# /)(%.(#"()(#% /# $(& . # /!%/$.#%)-(3*, +(/#/# &(.#/!(!' ) ##"(//"0!( /,.%*&)"% /3" ..#/!(!' ) # /' )%#(.#"(0 # /!$%$ #&%-,( /% )(-. /'((/'(/#1#"( / # %-$%$ #3 *!( "(%%/%!(0(/#.#%#(! (.+(('(&( -('%/''(0/.#%#(' /. 0,-%# /3 ''(-#()"/ A,(.%(. 0,-%#('%/'(& %-,%#(' /%/ /'(/& /0(/#2%/'%( %-. /&(.# !%#('%.%.. $ #%)%# / /%/,#'(/& /0(/#3 0,-%# / !%0.+((+ ##(/ /ZZ+ #"(/ /&(/#%/'# 1,.('#'(&(-#"( )0,#(!%" ).%/'!%" )%-,.( /#(1 %)(3"(' 0(/. /1#"(-)%-! '% . >:5>:)(--.%/'(%)")(--((.(/#.%(%-+ -'.A,%(1. 6(3B053B03/ 10 ' .# $,#('/ .( .%''('#!(/(%-%/!( .(/..%/'',)(.#+* /'.1(.3/( .%/( /' .#%/)()%,.('$#"((/& /0 (/#$.#%)-( /#(%)# /2%/'#"(#"( .% 1%-.('(#()# /)%,.('$#"(.(/.(10 %/)(3)%*(&(" )-(+%.,.(' /#"( . 0,-%# /3# .%..,0('#"%#/+"((-. %!()),.%/'#"%#/%))(-(%# /%/' '()(-(%# /%()/. '(('3 3$$!($ "((/& /0(/#%/')"%%)#( .# ).1 /10%# /,.(' /#" .(.(%)"%( .() 1 ('$#"((10%/)(1 #"(.(/..,.('3"( --+ /!%..,0# /.%(%'(E V)),%#(. # /%/' (/#%# /'%#%)%/ $($#% /('#"(&(" )-(3$#% / %)),%#(. # /%/' (/#%# /2%/(.(%)"(.+".#,'/%& !%# /,.(% &% (#1.(/..%/'(#"'.3%/ ,#'&(" )-(2 # .)00/#,.(% 11((/# %--$%-. # / /!.#(03 "(.(/.(-%#('. # / /!(.%( /#)/. '(('"((3

PAGE 63

B V$.#%)-(.%(,/*/+/2,-# -(2. # &(2%/'/%#,%-."%('$8()#. /%/ ,#'(/& /0(/#3"(%(%-..#%# /%3/*/+/$8()#.%($8()#.#"%# %(/#*/+/%##"(.#%#1#"(. 0, -%# /3,-# -($8()#.%(,.#.(&(%$8()#. //( (-'1& (+1#"(.( /.3. # &($8()#.%()/&(5$8()#. .,)"%.#((.%/')*.(5#(/' /!,+% '0#"(!,/'3(!%# &($8()#.*( ' #)"(.%/'"-(.% (/#)/. '(('3 V0 #('.(/. /! (-'1& (+2' 11( (/#.%0/!# 0(.2%/'(.-,# /.%( )/. '(('%.(10%/)(%%0(#(. 1,-#%./ )%/'-%.(%/!(.(/..3 V"(&(" )-( .(%#(' /%. 0,-% #('(/& /0(/##"%#)/. .#.1#"(( ' 0(/. /%-#(% /%/'. # &($8()#. 3# .)/#--('$.(('%/'.#(( /! %/!-()00%/'.3 '$$ *, 9.J<
PAGE 64

B= "(%(.9.#"((0%%)"%-.( !%'.(10%/)(1%.(/.%. %/'0/(..%/''(.) $(.,/)(#% /#$% $%$ .# )' .# $,# /1)),%/)3 ,'%#(%! '%2%$%$ #',)('$ %/!('%#%+%.(!%'('%.%)/' # /%$%$ #%/'%(.9.#"((0+%.,.('3 "((.,-#.$#% /(' /. 0,-%# /."+#" . %%)")%/$(,.('%/ /'(/& /0 (/#$,# ./#., #%$-(#"(,#' (/& /0(/#$()%,.(1#"(" !".(/. # & ##/ .(3 "(" .#!%00(#"'%%)"(!% '.%(10%/)(1%.(/.%. %/'0/(..%.+(--2%/' 0-( 0(/#.%. 01 ('.(/.'(-,. /!%" .#!%0 ) $%$ #' .# $,# /3,'%#(%%2#"( %'' # &(-%+1$%$ #+%.' 1 ('# /)(%.(%/''()(%.(%)(--&%-,($%/ /# (!(/,0$(2%..,0 /!%&%-,(1%(& ,. 0%%/'.(/.'%#%%(/#//'((/'( /#$,#%-.,#,%--( 5)-,. &(3"((.,-#. $#% /(' /. 0,-%# / /' )%#(#" .%%)" (A, (.((%#%$ #1.(/. /!%/' # . &(' 11 ),-##,.( /$#" /'%/',# '(/& /0(/#.+"(/%&(" )-(&(.( #"%/3?C.3 "(,66-! )%%)"(!%'./ .(%/'(10%/)(1%.(/.%. 1,66 /(..%/''(-.%.(/.$%(0$(. " ,/)# /3,'%#( #"(%2#"(,66 ,/ /(%#+%.,.('%.%///(%%)),0, -%# /3"((.,-#.$#% /(' /. 0,-%# / ."+#" .%%)"%-.(A, (.#"(((%#%$ #1.(/. /!%/' # .' 11 ),-##,.(+"(/ %&(" )-(&(.%.#(#"%/3?C. "((.,-#.$#% /('(& ,.! '% #()"/ A,(.)/)-,'(#"%##"(%(/# %'(A,%#(%/,#'(/& /0(/#3(/)( 2*, '(&(-('%. !/ 1 )%/##"((# )%)/# $,# / /#"(+*3()-%.. 1 (',/)( #% /#%/''(.) $(' ,/)(#% /#1%%/!( .(/.)%,.('$/ .(%/'(10 %/)(3"((%-+-'+%.'(-(',. /!%

PAGE 65

B> .,$.(#1#"(((-(0(/#.L$ .#%)-(2((.%)(2%/'.(/. / .(3,66'(-%%)" +%.%'#('%/'.(/.,#,#+%.(!%'('% .,66.(#.35( 0(/#%-.#%# .# )%-'%#% %(,.('#%.. !/#"('(!((1(0$(. " #%)%-(-(0(/#1,66.(#.%/' ,/)(#% /#+%.((.(/#(' /#" .+%3 ,'%#(#"(%2%.(A,( /)(1,66.(#.+%. (!%'('%.%.#)"%.# ))(..%/'//" 0!(/(,.%*&)"% /+%.%('3"( /(+0,-%+%.&('#$(.#/!-( !' )%/'#"%##"( /%-$%$ # . /'((/'(/#0#"(&(" )-(H.%%)"# %/$.#%)-(3"((.,-#. /%. 0,-%#(' ,#'(/& /0(/#.,##"(&%' #1#" .+*3

PAGE 66

BB B 4"%#+%. /#',)(' /#"((& ,.)"% #(+%.#"($%)*!,/'#"(,.(' '(.) $ /!#"(.(/..%/','%# /!#"( )%'%FG3" .)"%#()&(. "+%--#"(#"( .,# /#%)# )(3"(. 0,-%# /"(-('&(#"(#"(2"+(&( (5#(/. /.+((/()(..%# 0-(0(/# # /%(%-(/& /0(/#3 .#%''(..(' ."+ #"( .((.(/#('2--+('$"+#"(. (/.9. (-'1& (+ .' .)(# 6(' /#% -!/3"(/#"(#()"/ A,(.,.('#(!(# "(.(/.. /10%# / /##"(+ -$()&(('2%/'%' .),.. / 1#"(#,/%$-(%%0(#(. 1--+3 /%--2%/,0( )%(5%0-( .(.(/#('#)-% 1#"() 0,#%# /%-$%)*!,/'1#"(#"(3 ,$(( %) #%#(#"(' 1 )%# /1#"(%/!( 2. 6(2%/'$%$ #1#"(-)%-! ' 0%2%#(5# -( .(%'%#,/# 0(#.(# %--1#"(.(%%0(#(.2%.."+/$(-+3 00(/#.%(%*('$%W 92#"((0#C$.#%)-(()(/ #%!( .(5(..('%.%(%/,0$(03#:32%/'#"((.-,# /%/' %/!(1#"(! ' .(5(..(' /(#(.3# Grid Map config file # Grid map cutoff value for empty or obstacle (percentage 0.0 1.0). 0.8 # Grid resolution and range (in meters). 0.25, 8.0 # Rollover, Empty Increment, Obstacle Increment 50, 1, 10 '%)/1 !,%# / -(

PAGE 67

B@ )%-! '%.(#, = =++ = = > 67 "(%/!(&%-,(.#(' /#"( -( . #"(' .#%/)(0#"()(/#(1#"( ! '##"(('!(1 #"(! '2%.."+/ / 3 "((.-,# /1#"(! ' .#"( ' .#%/)(0/(('!(#%/#"( 1%! ')(--3"((/# (! '% . .A,%(%/')(%#('+ #"%/'' /,0$(1.A,%(! ')(--.3" .)(%#(.%)(/ #(F2G! ' /+" )"#"(&(" )-( . -)%#('3"( /%-.(#1/,0$( .%(,.('# /(#,/(#"( ..#(03"(&%-,(.%(,.('# %'8,.##"((1(."%#(1#"( ! ')(--F--&(G2%/'#"( /)(0(/#.,'%# /!%)(-+ #"(0#$.#%)-(3"(.(#,/ %$-(%%0(#(.%(' .),..(' /('(#% --%#( /#"( )"%#(3 /#(/%--2#"()%'% ..#(' %.%'/%0 )%--%--)%#('%%3"( . 6(1#"(%% .)0,#('$%.('/#"(( .-,# /%/'%/!(1#"( /,# -(2$%.('/ #"(--+ /!0,-%E " .)(%#(.%/''%%. 6(+ #"/$ /(0$(.3(',)(#"(.#%!(. 6(1 #"(! '2#"(%0,/#1'%#%.#('+ #" /(%)"! ')(--+%. / 0 6('%.."+/ /#"( .#,)#,($(-+3"(. 0%--(.#'%#%#(2%/ +%.)".(/#.#(#"( /,0$(1# 0(.#"()(-.,'% #('%.%/(0#C$.#%)-(3"( $%$ # (.#"%##"()(-.

PAGE 68

B; %/$.#%)-((0#.%)( .%-..#('%.%/ 3"('() 0%-%)# / ()(/# .)/&(#('#%/ $0,-# /!#"(/,0$($%/' #,/)%# /!#"((.,-#3" .(.,-#. /% (.-,# /1%5 0%#(-3BI3"(/ %& ! (A,%-#"(%5 0,0&%-,(2#"(-+(&%-,( .(',)('#% / 0,02%/'#"(" !"( &%-,( .)0,#('$%.('/#"($%$ #3" .(0 /%#(.#"(' -(00%1--&( (2% /#% / /!#"()0,# ('$%$ #()(/#%!(.3 *$,$(( .+ #"#"(! '%2#"(%%0(#(. (%)".(/.%()/#% /('+ #" /#"( +/)/1 !,%# / -(3"()/1 !,%# / -(2%.."+/2)/#% /.%--1#"(.(/.9. ". )%-(# (.%-/!+ #"#"(,66(( .(/#%# /1#"(.(/.9.,/)(#% /# (.3. + #"#"(! ')/1 !,%# / -(2)00(/#. %(%*('+ #"%W^93"(. # /1#"( .(/.. .(5(..('0#"( .(/.)' /%#(..#(0+ #" #"(%8%5 .1#"(.(/.9. %/!((5(..('%-/!#"(T%5 . 3"( -()/#% /.#"(#%/. 10%# /0#"(&(" )-(9. )' /%#(..#(0##"(.(/. )' /%#(..#(02#"(". )%-(# (.1#"(.(/.2 #"(,66((.(/#%# /1#"(.(/..9,/)( #% /#2#"(/,0$(1.(/..2%/' /%--#"( #%/.10%# /1#"(.(/.+ #" /#"(.(/.9.)' /%#(..#(03 "(.(/.9.". )%-)"%%)#( .# ). '(#(0 /(#"(#(1-!/,.('# ((.(/##"(.(/.. (-'1& (+2%.."+/ / 3"(&%-,(. 5%/' %( )0,#('$%.('/%/'#"($(%0%/!-(2 31 .-(..#"%/(A,%-##"(! ' (.-,# /2#"(/%/( .,.('#((.(/##"(.(/.31 .!(%#(#"%/#"(! 'typedef struct _gridMapCell { unsigned char nObs, nEmp, obsProb, empProb ; } gridMapCell_t ; ')(--.#,)#,(

PAGE 69

B? (/.9.". )%-(# (. (.-,# /2%/' 5 .-(..#"%/(A,%##"(! '(.-,# /2#"(/%=. '(' -!/ .,.('#((.(/##"(.(/.3 /%--2 1 .!(%#(#"%/#"(! ' (.-,# /2%/' 5 .!(%#(#"%/#"( ! '(.-,# /2#"(/%>. '('-!/ .,.('#((.(/##"(.(/.3# Sonar config file # Offset from vehicle coordinate system # # X, Y, Z (in meters), thetaX, thetaY, thetaZ (in degrees). 1.20650, 0, 0, 0, 180, 90 # Sensor field: Rmin, Rmax (meters), angular resolution (degrees). #0.1524, 5, 30 0.1524, 7, 30 # Sensor fuzzy sets: # OBS({Ao}), OBS({Ao, An}), OBS({Af, An}), EMP({Af}), EMP({Ao,An}), EMP{Af,An}) 1, 0, 0, 1, 0, 0 # Number of Sensors 16 # Sensors positions from sensor coordinate syste (SCS) # X, Y, Z (in meters), thetaX, thetaY, thetaZ (in degrees). # Starting from far right, firing order: # 9 # 10 15 12 6 3 8 5 # 14 11 16 13 2 7 4 1 0.34765, 0.05398, 0, 0, 0, 35 0.22065, 0.17620, 0, 0, 0, 57 0.05555, 0.23495, 0, 0, 0, 80.5 0.30798, 0.10160, 0, 0, 0, 41.5 0.16985, 0.20320, 0, 0, 0, 67 0, 0.23970, 0, 0, 0, 90 0.26827, 0.13970, 0, 0, 0, 48 0.10795, 0.22382, 0, 0, 0, 75 0, 0.23970, 0, 0, 0, 90 -0.16985, 0.20320, 0, 0, 0, 114 -0.30955, 0.10160, 0, 0, 0, 137.5 -0.05237, 0.23495, 0, 0, 0, 98 -0.22065, 0.17463, 0, 0, 0, 122.5 -0.34607, 0.05555, 0, 0, 0, 144 -0.11430, 0.22225, 0, 0, 0, 107.5 -0.26670, 0.13970, 0, 0, 0, 130 (/.9.". )%-)"%%)#( .# ).

PAGE 70

B< .#5$ /)(#"(!(%#(.#%0,/#1# 0(+,-'$(.(/#,'%# /!#"(-)%-! '%+ #" .(/. /10%# /2 #+%.'(. %$-(# /'#"(.#(11 ) (/#(#"'#'.3"(-)%! '%(.(0$-(.%)0,#(.)((/+ #"#"( ! ')(--.((.(/# /!#"( 5(-./#"( .)((/3"((1(2#"(#()"/ A,(.'%+ /! /(.%/' --('-!/./#"()0,#( .)((/+(( /&(.# !%#('%/'%'%#('3 "(%'&%/#%!(1#"(.(%-! #"0.+%.#"( (5)-,. &(,.(1%.# /#(!(% #"0(# )3 :; .)%/)/&(. /%-! #"0/(.)0 ,#(.#"()' /%#(. 1#"( 5(-.#"%# (//(%%/ '(%-2 /1 / #(-#" /.#% !"#/( 0.('/%%.#(! '3/ /) -(2#"(.(A,(/)(1 5(-..",-'(%. )-.(##"( '(%-/(%... $-(%/'#$( %..#% !"#%... $-(3/. '(%: 5(#" )*%5 0%# /#%/ '(%-/(L+"%# (# (..",-' #"%&(_/(.+ #". -(.$(#+((/:%/': /)-,. &(2(5%)#-: 5(-.",-'$( --,0 /%#(' /(%)")-,0/L /(.+ #".-(.,#. '(#" .%/!(2 (5%)#-: 5(-.",-'$( --,0 /%#(' /(%)" +3--/(..",-'$('%+/%.% '-%. .. $-(3 /)(#"(/( .'(1 /('/% /#(!(! '2#"((/' /#."%&( /#(!( )' /%#(.3 (.(/"%02J
PAGE 71

@ (.(/"%0/(%-! #"0 /. '(#"(/( / 2+"((#"((& ,.-.(-()#(' 5(-%(%.%.% $-%)*) )-(%/'#"(#+ 5(-.0+" )"#)".(%##"(/(5#.#%!(%(."+/%. ,/1 --(') )-(.3..,0(#"%##"( 5(' %#F "2 G"%.,.#$((/ .(-()#('%/'/+,.#)".( $(#+((/#"( 5(-/( /)(0(/## #"( !"#F)%--('#"((%.# 5(-2 ! G #"( 5(-/( /)(0(/###"( !"# %/'/( /)(0(/#,F)%--('#"( /#"(%.# 5(-2 ! G3(# ( $(#"( /#(.()# / /# 1#"(/($( /!.)%/)/&(#(' + #"#"(! '/( " X "Z:3/(.(/"%09.0,-%# /2#"(' 11((/)($(#+((/#"( &(# )%-' .#%/)(.0 ! %/' ! # ( .)0,#('2%/'#"(. !/1#"(' 11((/)( .,.(' #.(-()##"( 5(-+".(' .#%/)(0 ( ..0%--(%.#"($(.#% 5 0%# /##"(/(3 /#"( ' /#0,-%# /2 # .$.(&('/+" )". '(1#"(/(#"( ' /# (.3 # .(%.#.((#"%#2 1#"( ' /#(.%$&(#"(/(2 5(! .)-.(##"(/(L 1#"( 0 ' /#(.$(-+#"(/(2 5(! .)-.(##"(/(3"(/(%%..$(#+((/ ! %/' ! 2$#" 5(-.%(//(. '(2$,# /%/)%.(2#"( ' /##(.#)".(.#"( )-.(.# 5(-3-.2#"((#"%# .2#"(& (# )%-' .#%/)($(#+((/#"()".(/ 5(-%/' #"(%)#,%-/( .%-+%. `3 4"%# ./(('(' .%+%#)%-),-%#(/+" )". '(1#"(/(#"( ' /#(.3 ((.(/# /!#"(/(%.%/ 0) #,/)# /+ #")(11 ) (/#. 2 & 2%/' EF " 2 GX " Z & Z X31 X 2%/' " X ""2#"(.-( /#()(#0)%/$(+ ##(/%.

PAGE 72

@: =+67 =++=++++ 6 =Š+=67 =++++ 67 #"((1(2 (/)( X 2 & X " 2%/' )* " /#"( 0) #03 #)%/(%. -$(&( 1 ('#"%# +,"-. .(/#"(/(2. # &( /#.$(-+#"( /(2%/'/(!%# &( /#.%$&(#"( /(3%-#"( ' /#) #( /2 +,. X +,"/ : -/ ` . Z /(('/-$()0,#('2%/'#"(. !/#(.#('3 & 2 )+,"/ : -/ ` . 2 .'(1 /('3'(1 / # /2 ),"/ : ./&,/ ` ./ 31 a2)".( ! L 1 b2)".( ! L%/' 1 X2)".(( #"(2. )* ! 3 "(-)%# /1 %/'#"((1(#"(&%-,(1 ,.#$(,'%#('#"(/(5#! ' /(L$#"'((/'21),.(2/+"(#"( ! ! .)".(/31 ! .)".(/2 . /)(0(/#('$/(.#( /#"( " ' ()# /3"(/2 $,# ,$#%)# /! 0 #!(##"( /)(0(/#%-' 11((/)(2 )/# "( /)(0(/##%''# %1#( ! .)%--(' L X )# /#"(+'.2#"( &%-,(1#"('() . /&% %$-()%/$('( &('%# #"(/(5#.#( /)(0(/#%--0#"(&%-,( %##"(),(/#.#(+ #",#"%& /!#)0,#( + F G' ()#-2$0((-%'' /! 3 1 ! .)".(/2 . /)(0(/#('$/(.#((%)" /$#"#"( " %/'#"( ' ()# /.3"(/2

PAGE 73

@ =++=++++ 67=++6 ++=++++ =++++ =++67 ,$#%)# /! 0 #!(##"( /)(0(/#%-' 11((/)(2+(+ #( "( /)(0(/##%''# %1#( ! .)%--(' L X /&)"# ()% /!2%#(%)".#(2#"(%-! #"0)". (.$(#+((/ 5(-.$%.('/#"(. !/ 1#"('() . /&% %$-(2 2)%-),-%#(' /#"((& ,. #(%# /L#"(/2 #,'%#(.#"( '() . /&% %$-($%'' /!( #"( ##"(-'&%-,(2'((/' /!/#"( 5()" )(3 /)(#"( .# 5(.. 0-#"( .#(/' /#F "2 G2+()%/' ()#-)%-),-%#( #"( / # %-&%-,(1 )". /!$(#+((/ ! %/' ! 3"( .# ' /# .%#F "/ :2 / `G2%/' ,#F "-G .% /#/#"(/(%/'F "-G .#"((1L"(/)(2 .,.# /&01) "01 3. /! #"(.()/' 5(.)".(/2%/'./3(0 /%#(#"(%)# / / 2#"( ! /%+ .('(1 /('$,-# /! #$L + F "GXF "/&/ G3" . 0,-# (.(%)")/.#%/#%/'#"('() . /&% %$ -($2$,#'(./#%11()##"(. !/1#"( '() . /&% %$-(2+" )" .%--#"%#%##(. #"( ' /##(.#3"(% #"0(# )/(('('# (&%-,%#( %/.#( .. 0-(%'' # /3 # 0()/.,0 /!,-# )%# / . /&-&('3

PAGE 74

@= "(%'%#%# /1#" .(#"'##"((.(% )" .%#"(. 0-(3 .#2'(#(0 /( 1 #"(%/!(&%-,((.(/#('((.(/#. #"((5 .#(/)(1%/$.#%)-(FbG31/ $.#%)-( .(.(/#2,'%# (#"((/# (%/!(0F52G#F52G+ #" ! 3 +(&(2 1%/$.#%)-( . (.(/#2,'%#(#"(%/!(0F52G##"( /#,.# $(1(F52G+ #" ! 2%/','%#(#"(-%.# /#2F52G+ #" %& 3"(,-0-(0(/#%# /1#"(%-! #"0 .."+/$(-+3void fillLine( polygonPoint_t *point, int isObstacle, sensorData_t *sensorData, gridMap_t *gridMap ) { void updateGridCell( cellType_t cellType, int x, int y, sensorData_t *sensorData, gridMap_t *gridMap ) ; int x1, y1, x2, y2 ; int dx, dy, xInc, yInc ; cellType_t cellType ; x1 = point[0].x ; y1 = point[0].y ; x2 = point[1].x ; y2 = point[1].y ; dx = abs( x2 x1 ) ; dy = abs( y2 y1 ) ; xInc = (x1 > x2) ? -1 : 1 ; yInc = (y1 > y2) ? -1 : 1 ; if ( dx >= dy ) { int dPr = dy<<1 ; int dPru = dPr (dx<<1) ; int P = dPr dx ; for ( ; dx>=0 ; --dx ) { cellType = Empty ; if ( isObstacle && (x1 == x2) && (y1 == y2) ) cellType = Obstacle ; updateGridCell( cellType, x1, y1, sensorData, gridMap ) ; if ( P > 0 ) { x1 += xInc ; y1 += yInc ; P += dPru ; } else { x1 += xInc ; P += dPr ; } } } else { int dPr = dx<<1 ; int dPru = dPr (dy<<1) ; int P = dPr dy ; for ( ; dy>=0 ; --dy ) { cellType = Empty ; if ( isObstacle && (x1 == x2) && (y1 == y2) ) cellType = Obstacle ;

PAGE 75

@> -!/%/'.)%//( updateGridCell( cellType, x1, y1, sensorData, gridMap ) ; if ( P > 0 ) { x1 += xInc ; y1 += yInc ; P += dPru ; } else { y1 += yInc ; P += dPr ; } } } } /* end of fillLine()... */) "(!(/(%--!/.)%/)/&(. /%-! #"02J%/'<#",!":=G,.#$( .(###"( % %#(&%-,(.3

PAGE 76

@B .#% !"#1+%'+%1'( & /!#"((5# (0% .#,.(#"( ' /#/(.)%/ )/&(. /%-! #"0F(.( /"%09.%-! #"0G/(%)"('!(%/'#*((%#%$-(1.%/ (5#(0%(%)".)%//(2,'%# /!%/(/# 1%/(+ 5(.',)('%/('!(#"%# (5#(/'.#"(.%/3#(#"%##" ..#%#(! ',)(..0((5#(0% 5(-.#"%#(,#. '( #"(-!/L#"(+(()".(/$#"(.)%/)/& (. /%-! #"0$()%,.(#"(()-.(.# #%/('!(2+ #",#(!%'##"(. '(1#"( ('!(/+" )"#"((#"(/(%-! #"0 "%.//# /.1 /#( %/' (5#( 3# .$& ,.(1(%$-(#'%+/-#".( 5(-.#"%#%(.# )#/#( ##"((! / 2(&(/+"(/%/(5#( 5(-+,-'$()-.( ##"(('!(3 #"#" .) #( /2%-!/' (./# /#,'(F(&(/$%. /!-( 5(-G /# #"((! /.'(1 /('$#"( 0 # &(.3 .+ #"#"( ! /%' /#%-! #"0 2%/ /)(0(/#%-%-! #"0 .,.('# )%-),-%#(#"(.%/(5#(0%//(.)%//( 10#".(%##"((& ,..)%//(+ #",# "%& /!#)0,#(#"( /#(.()# /.1%.)%/ /(+ #"(%)"-!/('!(%/%-# )%--3/ .)%//(?1 2 /.#%/)(2#"((%( #+.%/.1 5(-.+ #" /#"(-!/3 "(.%/.)%/$( --(' /$%#"((.#()(..E :3 /'#"( /#(.()# /.1#"(.)%//(+ #"%--('!(.1#"(-!/3 3##"( /#(.()# /.$ /)(%. /! " )' /%#(3 =3 -/%-5(-.$(#+((/% .1 /#(. ()# /.#"%#( /#( ##"(-!/2 ,. /!#"(''% #,-(#'(#(0 /(#"% #% /# . /. '(%(! /E% # . / # %--(&(/2%/'(%)" /#(.()# /(/) ,/#(('#",. /&(#.#"(% #$ #'%+ +"(/% # .''2'/#'%++"(/ # .(&(/3 #(: /#"()(',(2)%-),-%# /! /#(. ()# /.2,.#$('/()-(&(--(.# #$( .-+3/%# ),-%2#"($,#(1)(# ()"/ A,(1#(.# /!(%)"-!/('!( /#(.()# /+ #"(%)"/(+.)%//(,.#$( %& '('3(1#(/2 /-%(+1#"(('!(.

PAGE 77

@@ +=+ 67 %(1 /#((.#%! &(/.)%//(3,#"( 0(2%/('!(. /#( .()#('$.)%//( %(%-. /#(.()#('$.)%//( Z:3"( )),.%-/!%/('!(%. 0%/.)%//(%. /#(.()##"%#('!( 3.#"(.)%//(.%'&%/)(2#"(/(+ " /#(.()# /1 #"(('!()%/$()0,#('/#"($%. .1#"(-' " /#(.()# /2,.#%.#"(/(5# 5(-+%. )0,#('0#"(),(/# 5(/#"( ' /#/(.)%/)/&(. /2$,. /! +"(( .#"(.-(1#"(('!(3/#"( ' /# %-! #"0.)%/)/&(# /!/(.2 1%)# /%-% #"0(# )+%.%& '('$)0,# /!%/ /#(!('() . /&% %$-(%/')"()* /! /#.. !/#)".(#"( 5(-)-.(.### "(%#"(0%# )%-/(L"((2 /#(!(% #"0(# ) + --$(,.('#'#"((A, (',/' /! )0,# /!#"()-.(.# /#( 5(-3 /. '(/(.+ #"%.-( !(%#(#"%#Z:#"%#%(-(1#('!(.L !"#('!(.%/' #"(.-(.%("%/'-('$. 0 -%%!,0(/# .2%/'&(# )%-('!(.% (.() %-)%.(.3%+ % 5(-%##"(F "-. (/' /#3. . /)(0(/#('2#"( " )' /%#(1#"( /#/ #"( '(%-/(+ -/)(%.($:C 2+"((XFGCF5G .#"(.-(1#"( /(3" . /)(%.(+ --(.,-# / " "%& /!%/ /#(!(%/'%%)# /%-%#2+" )")%/$( (5(..('%.%%)# /+ #"%'(/0 /%#1 3.#" .)(.. . #(%#('2#"( 1%)# /%-%#+ --&(1-+%/'#"( /#(! (%#+ --"%&(# $( /)(0(/#('3 (5%0-(2 1#"(.-( .BC2%/' " .=2#"(/#"(.(A,(/)(1 " &%-,(.+ --$(=2=CB2= >CB2=@CBX>:CB2%/'./3"(/#"(%)# /%-%#1 " .(2'%+#"( 5(-F "G #"%#(./#"(/(2$,#+"(/#"(%)# /%-%#1 " .//6(2,/', /'(#!(#% 5(-#"%#(..# )#/. '(# "(/(3"(/#"(%)# /%-%#1 " $()0(.!(%#(#"%/ :2 /)(0(/# " 2%/'.,$#%)#:0#"(%)# /%-% #L%-.&(: 5(-##"( !"#3

PAGE 78

@; #('('!(#%$-( %)# /.)%/$(%& '('$*(( /!#%)* /-1#"(/,0(%#1#"(%)# / %/'$.(& /!#"%##"(%)# /%-%# .!(%# (#"%/:+"(/#"(/,0(%# .!(%#(#"%/ #"('(/0 /%#3((#%)*1.,))(.. &(%'' # /.1#"(/,0(%#,/# #c&(1-+.d %.##"('(/0 /%#2+"(/#"(/,0(%# .'()(0(/#('$#"('(/0 /%#%/' " . /)(0(/#('3 #%*()%(1.#(2.# /! /#(.()# /.2% .'(&(-('3 " .%-! #"0#%*(.%'&%/#%!(1#" .('!() "((/)(3#%-.% /# % /.#"(.(#1('!(. (%)".)%//(. /#(.()#.%/'#"(.(#1 /#(. ()# / /#. /%'%#%.#,)#,()%--('#"( & FG2+" )" ..#('$#"( " /#(.()# /.3.+(&(##"(/(5# .)%//(%# Z:2#"( .,'%#('3 .#2('!(.), (/#/#"($,#/# /#(.()#(' $#" ./(5#.)%//(F 3(32#".(+".( ) G%('(-(#('3()/'2%//(+('!(. /#(.()#('$#" ./(5#.)%/ /(F 3(32#".(('!(.+".( ) Z:G%(%''('##"( 3 /%--2/(+ " /#(.()# /.%()%-),-%#('2,. /!#"(()(' /! /)(0(/#%-('!( %-! #"02('!(.(0% / /! /#"(3 %*(#"(%'' # /1('!(.##"((11 ) (/#2%!-$%& FG . / # %--)(%#(')/#% / /!%--('!(. .#('$#"( .0%--( )' /%#(3 4 #" /(%)" )' /%#(2('!(.%( *(# /'(1 /)(%. /! " )' /%#(1#"(-+((/' /#3 %)"(/# /#"()/#% /.#"( )' /%#(1#"(('!(2#"( " )' /%#(1#"($##0(/' /#

PAGE 79

@? )# &(('!(#%$-(.)%//(.3F%G)%//(<3F$G)%/ /(:3 F "G2%/'#"( " /)(0(/#,.(' /.#( /! 0/(.)%//(##"(/(5#2:C 3 ."+."+#"(. 5('!(.0#"(-!/1 +,-'$(.#('2%/' ."+.#"(%#.)%//(<%/': #"%#-!/3/)(#"("%.$((/0('2 #"()(.. /!.#(.#"(.)%//(%-! #"0%(%.--+.E :3(# ##"(.0%--(.# )' /%#(#"%#"%.%/(/# /#"(3 3/ # %6(#"(#$((0# =3((%#,/# -#"(%/'%((0#E %3&(0 ##"(#".(('!(.+".( X F(/#( /!('!(.G2 #"(/.##"(/ " 3 $3 -/'(. (' 5(-&%-,(./.)%//( $,. /!% .1 " )' /%#(. 10#"(3 )3(0&(0#"(#".((/# (.+" )" X F('!(./# /&-&(' /#"(/(5#.)%//(G3 '3/)(0(/# $:F##"()' /%#(1#"(/(5#.)%//(G3 (3(%)"//&(# )%-('!((0% / /! /#"(2,'%#( " #"(/(+ 3 " .%-! #"0,.(.$#"(' !()"((/)(#)%-),-%#( " /#(.()# /.%/'.)%//( )"((/)(F%-/!+ #".# /!G#)%-),-% #(.%/.3,.(.1.)%/)/&(. /2 # %/!-(.%/'#%(6 '.)%/$(#(%#('%.. () %-)%.(1-!/. 2. /)(#"("%&(/-

PAGE 80

@< #+('!(.%/.)%//(F! &(/#" %#" 6/#%-('!(.%(/#.)%/)/&(#(' (5) #-G3 /' /%--.#(=2#"(.%/1 -/!.#%#(! .' .),..('3/ 2#"(.#(' .#1 " )' /%#(.#"(.)%//( .F2> 3B2?3B2:=G3+(&(2,(A,(.# /. 0,.#$(%''(..('$(1(#"(-!/ . --( 'F+ #".#(=( #(%#(')-% #GE = -/%-5(-.$(#+((/% .1 /#(. ()# /.#"%#( /#( ##"(-!/2 ,. /!#"(''% #,-(#'(#(0 /(#"% #% /# . /. '(%(! /E% # . / # %--(&(/2%/'(%)" /#(.()# /(/) ,/#(('#",. /&(#.#"(% #$ #'%+ +"(/% # .''2'/#'%++"(/ # .(&(/3 =3: &(/%/ /#(.()# /+ #"%/%$ #%2%)# / " &%-,(2"+#'(#(0 /( +" )" 5(-/( #"(. '(1#"%# /#(.()# / . /#( _ =3+#'(%-+ #"#"(.() %-)%.( 1 /#(.()# /.%# /#(!( 5()' /%#(._ =3=+#'(%-+ #"#"(.() %)%.( /=3."%('&(# )(._ =3>+#'(%-+ #"#"(.() %-)%.( /=3 /+" )"#"(&(# )(.'(1 /(% " 6/#%-('!(_ "%/'-()%.(=3:2 1+(%(%%)" /!% 1%)# /%/#(.()# /##"( !"#%/' %( /. '(#"(-!/2,/''+/#"( " )' /%#(1#"( /#(.()# /#'(1 /(#"( /#( 5(-L 1+(%(,# . '(#"(-!/2,/',#"( " )' /%#(#$( /. '(3 %/'-()%.(=3$%/!#"() #( / ,.('#%& ')/1)#.%#."%('('!(.1 ()#%/!-(.E1#"(-(1#0.# 5(-"%. /#(!( " )' /%#(2'(1 /( ##$( /#( 2 1#"( !"#0.# 5(-"%. /#(!( " )' /%#(2'(1 /( ##$((5 #( 3)%.(=3=2),/##"( &(#(51%/('!( /#"(% #)%-),-%# /$,#/##"( &(#(5L#"((1(2% &(#(5 .'%+//1 # .#"( &(#(51#"(%'8%)(/#('!(3(#(5 / 2 1(5%0-(2 .),/#('/)( /#"(% #)%-),-%# /$()%,.( # .#"( &(#(51('!( + $,##"( &(#(51 * 3",.2$#"('!(.%/'.%/.%( #(%#('%. /#(&%-.#"%#%(

PAGE 81

; )-.('%##"( / 0,0&%-,(%/'(/%# #"( %##"( %5 0,0&%-,(3-(%-2#"( . #(,-(+,-'+*%.+(--2$,##" ., -(.((0.(/%#,%-. /)( ##(%#.#"( 0 / 0,0(/' /#%.%/(/#( /! /#2% /'#"(%5 0,0%.%-(%& /! /#3"(/ #(%# /!)%.(=3>2" 6/#%-('!(.2#"('(. ('(11()# .#"%#$##0('!(.%('%+/$,# #('!(.%(/#3" ."%(/.%,#0%# )%-1#"(" 6/#%-('!(.9&(# )(.%(/# ),/#('2. /)(#"(%(/( #"( / &(# )(.3 -#"(.(,-(.#.)%//(? / 2+" )"" #./&(# )(.3 5(-.%( 1 --('0 /# 2 5(-F2?G2##"( .# 5(-##"(-(1#1 /# & 2 5(-F>2?G2%/'0 #"( .# 5(-##"( !"#1 /# 2 5(-F<2?G2#: 5(-##"(-(1#1 /# 2 5(F:2?G3.)%//(=2&(#(5 ),/#./)($()%,.( # .#"( &(#(51('!( + $,# #"( &(#(51 * L#" .)%,.(''% #2.+('%+#"(.%/0#"((#: 5(-# #"(-(1#1#"( /#(.()# /+ #"('!( * 2+"((#"(% # ..(##(&(/%/'#"(.%/ . #(0 /%#('3)%//(:" #./-&(#(5 * L('!(. * %/' * $#""%&(#"( &(# )(. %# * 2+" )" .#"((1(),/#('#+ )(%/'-(%&(. #"(% #(&(/3" .&(#(5%)#.%.% /,--.%/(/#(%#&(#(52'%+#"( 5(-2( 5 #%##"(&(#(53-#",!".,)"-)%/ 0% '%+%. /!-( 5(-2/ 5(.'%+/%#% -)%-%5 0,02.,)"%.#"( /#(.()# /1 .)%//(<+ #"#"(&(#(5 + 2."%('$('!(. + %/' !+ 3#"&(# )(.%( &(# )(. %/'#"((1('/#%11()##"( % #2+" )".#%.(&(/3 "(' 1 )%# /.##"(-!/ --%! #"0%(( /&-&('#"%/#"( (& ,.)%.(1.)%/)/&(# /!%/(.(! 0(/#3/-)/)%&(-!/.%(,.('2+" )" . 01 (..0(%.()#.2"+(&(#"()0)%# /.(A, (#"(/()(.. #1% /#% / /! #"(W$.#%)-(9/(.(!0(/#%/'#"( (/#% # /1#"(-!/# 0,0 -/!1#"( W$.#%)-(9('!(3

PAGE 82

;: "(%'&%/#%!(1,. /!/-)/)%&(!/. .#"%##"((%(/-#+%)# &( ('!(.%#/(# 0(3" .. 01 (.#"( 0-( 0(/#%# /1#"(2. /)(#"((+ --/$(#+(-(0(/#.%#%/# 0(3 /'. /)(#"((%(2%#.#2,('!(.#"(2$#"#"( %/'#"(%( 0-(0(/#(',. /!',$/*('.#.3()%,.(#"((%(.(+ (-(0(/#.2%$,)*(#.# .,//()(..%3"(% (.#(' /#"(2 .#$#"( / 0,0 .#(F( #"(#"( / 0,052#"( / 0,02'((/' /!/#"( (/#%# /G2%/'#"(/$ .-(3"(/#"( .,'%#('2 #%-+%.)/ #% /.#+(-(0(/#.2% /'#"((1#"(% # ,.(''(#(0 / /!+" )"+%#,/'#"( /# .,//(('('3"( .#('!(,.#$( ,/'(',#$()/#% /('+ #" /#"(-! /2+" -(#"(-%.#('!(,.#$(,/'(''+/ 1#"(.%0((%./3 4"(/#"(( ./$.#%)-(+ #" /#"( (-'1& (+1#"(.(/.2 -/!#"( -!/$()0(.#"(.%0(%.%/#"(-! /2.#%#0#"($##0%/' --##"(# + #" !'23 ''%/$.#%)-(##"( 52%/'#"( )0-(5 # /)(%.(.3"(( ./+ %/('!(#"%#"%. 0#%/)(&(#"(#"(.3 #,.#$(*(##%)*12.#"%#+"(/ #9. %)# &(2#"( /##"%#%--./#"%#('!( 1 --.#"()(./' /!! ')(--+ #" %*2! 3 " . .%# ),-%-#,(+ #"" 6/#%('!(.3.+ #"#"(/0%-%-! #"02(!,-% ('!(.F !'23 G2%('('2. /)(#"(%( )* (',$#"(.,,/' /!('!(.3"(/ #"(('!( .% %*2! 2 ## .'('2$,#%-%! . .(#+" )" --.#"((/# (.%/ + #" %*2! 3 /*(#"( ! /%-%-! #"02#"( (/ #%# /1#"(-!/ . 0#%/#+"(/ #"(( .%/W$.#%)-(9('!(3"(/#"(%8 %5 .1#"(-!/ . (/#(')-.(# " 6/#%-2 -/!" 6/#%-+*.+(--2. /)(#"(('!(+" )" .%/$.#%)-( . (/#(' %5 0%#(-&(# )%-3+(&(2 (/#%#( #"(-!/)-.(#&(# )%-2%/'#"(

PAGE 83

btn btntfrttttb ntbrttttb ntr brtntftft btrtfrfttft btn ttntr brrbtftrbtbrt br !btnbtrtbtt"b rt#$t%ftftftr brtntrtbtn# rr#trtrtt"btrt#$ %ftftftrtrtntr btn#tnrtrtrtt& rrft' tftrtf!t rtnbftntrt%tbttftt(tbtftr frttft#t bn#tntttn t##brtr#tftf!bt!void fillPolygon( int nPoints, polygonPoint_t *point, int isObstacle, sensorData_t *sensorData, gridMap_t *gridMap ) { void activeEdgeIncX( doubleList_t *aet ) ; int activeEdgeUpdate( doubleList_t *et, doubleList_t *aet, int y, int *nextY, et_t *etD ) ; polygonFill_t edgeTableCreate( int nPoints, int isObstacle, polygonPoint_t *point, doubleList_t *edgeTable ) ; void updateGridCell( cellType_t cellType, int x, int y, sensorData_t *sensorData, gridMap_t *gridMap ) ; int printEdgeData( generic_ptr* ) ; doubleList_t edgeTable, activeEdgeTable ; et_t etData ; et_t *aetData0=NULL, *aetData1=NULL ; cellType_t cellType ; polygonFill_t fill ; int i, step, *x, *y, nextStep ; int full, startObs=FALSE, endObs=FALSE, firstHalf=1, startI, endI, tmpI ; /* Create the edge table */ doubleInitList( &edgeTable ) ; doubleInitList( &activeEdgeTable ) ; fill = edgeTableCreate( nPoints, isObstacle, point, &edgeTable ) ; /* Create the active edge table, and start-a-filling */ /* Since the polygons are convex, there will be only */ /* two edges active at the time (except for a horizontal */ /* edge, which is a special case anyway, damn them) */ /* "Point" to the correct values */ if ( fill == Horizontal ) { x = &i ; y = &step ; }

PAGE 84

;= else { x = &step ; y = &i ; } while( !doubleListEmpty(edgeTable) ) { /* Initialize y and nextY */ step = ( (et_t *)DATA( edgeTable ) )->stepMin ; nextStep = ( (et_t *)DATA( edgeTable ) )->stepMax ; full = activeEdgeUpdate( &edgeTable, &activeEdgeTable, step, &nextStep, &etData ) ; if ( doubleListEmpty(edgeTable) ) ++nextStep ; while( step < nextStep ) { if ( full ) { /* Horizontal edge */ startI = etData.I ; endI = startI + etData.errorSumAdv ; } else { if ( NEXT(activeEdgeTable) == NULL ) return ; aetData0 = (et_t *)DATA( activeEdgeTable ) ; aetData1 = (et_t *)DATA( NEXT(activeEdgeTable) ) ; if ( firstHalf==2 ) { if ( aetData0->errorSum == 0 ) { aetData0->errorSum += aetData0->errorSumAdv ; aetData0->errorSum -= aetData0->errorReset ; } if ( aetData1->errorSum == 0 ) { aetData1->errorSum += aetData0->errorSumAdv ; aetData1->errorSum -= aetData0->errorReset ; } firstHalf = 3 ; } startObs = aetData0->obsEdge ; startI = aetData0->I ; endObs = aetData1->obsEdge ; endI = aetData1->I ; } if ( startI > endI ) { tmpI = endI ; endI = startI ; startI = tmpI ; } for ( i=startI ; i<=endI ; ++i ) { cellType = Empty ; /* Entire line is obstacle edge */ if ( full ) cellType = Obstacle ; /* Starting or ending line is obstacle edge */ else { if ( i==aetData0->I && startObs ) cellType = Obstacle ; if ( i==aetData1->I && endObs ) cellType = Obstacle ; } updateGridCell( cellType, *x, *y, sensorData, gridMap ) ;

PAGE 85

;> } /* end of for (x=startX... */ ++step ; activeEdgeIncX( &activeEdgeTable ) ; if ( full ) full = FALSE ; } /* end of while( yB3 4" -("%& /!%&%-,(1BB#"(,( (/' . /( /%.#%# )(/& /0(/#2 # .(. /#((.# /!' -(00%.+ #" /%'/%0 ) /(3"(/#"((/& /0(/# .,/)"%/! /!2 )(--.,'%#('%.(0#2(0% /(0#2%/')( --.,'%#(%.$.#%)(2(0% /$.#%)-(3 4 #" /%'/%0 )/(2%)(--#"%#+%./)( (0#),-'/+$(#%!(#('+ #"$.#%)-(2 %/'& .(&(.%3+A, )*-.",-'%)(--.+ #) "0/(##"(#"(_1%)(--"%./-

PAGE 86

;B (/.&(-% $((/,'%#('+ #"(0#2%/'.% #"%.%&%-,(12 #+,-'#%*(" #.1$.#%)-( 8,.##$ /!#"(#BICBI3-(%-2#"(" !"(#"(&%-,(1#"(--&(&% %$-(2#"( -/!(#"('(-%0.+ #)" /!0/(# (1)(--##"(#"( 3" -(%.0%--(&%-,( +,-')%,.(%%.#(.+ #)"2 #%%-. )%,.(., ,.(&(/#.3-%) /!#"(&%-,(. + #" /%#(5# -(2#"(&% %$-(.)%/$(#,/('#"((/& /0(/#3 0!($ / # %--2#"( /)(0(/#.#"( %/' & +(($#".(##/(3 +(&(2.(/.&(-%2+" )" .)%,.('$ -%) /!.(/.9.+ #"+ '( (-'1& (+. /)-.(". )%-.%) /!2)%,.(. /#(.()# /.2%..((/ / 3 4 #"#" .&(-%2/()(--)%/"%&( #9. & &% %$-( /)(0(/# /)(2+" -(/(2#+2#"((2( #"(.(/.. /)(0(/# #9. &% %$-(3..,)"2/--%!( $.#%)-(.#"%#(/!%!(,-# -( .(/..+ --$('(#()#('3),/# (#" .2#"( /)(0(/#. %/' & )%/$( /' & ',%--.(#3.(## /!#"( & /)(0(/#" !"(#"%/#"( 2#"((11()#.1 &(-%)%/$(),/#(('%/' .0%--($.#%)-(+ --$('(# ()#('3" .%-.(/"%/)(.#"( .(/. # & ##'/%0 )(-(0(/#.3"( /)(0(/#)%/$(.((/ %.%'()%%#( '(#()# /!'/%0 )$.#%)-(.2#"(" !"(#"( &%-,(2#"(%.#(#"('()%%#('/%0 ) $8()#.3+(&(2%.+ #"--&(2#"( /) (%.('(./.(%)%,.(., ,.(&(/#.# "%(/2+" )" .+"#"(%(%-.-%)(' /% #(5# -(#$(#,/(' ##"((/& /0(/#3

PAGE 87

;@ "!<=! " .-%.#.()# /+ --.#(#",!"% //,0( )%-(5%0-(#"(-)-% 1#"( #()"/ A,(.,.('3#%# /!0#"(.(/. 2+(9--.#(#",!"#"((/# ()(..2%/' ' .),..#"((#"'-!,.('3 (1($(! // /!#,'%#(#"( 2#"(!%'(.1(0$(." F]F[\G2 ]F[\G2]F[2\G2]F[\G2]F[\G2]F[2\GG#"(,66.(#. %/'%('(#(0 /('(5( 0(/#% --2%.,!!(.# /1"+ .'(.) $(' / )"%#(>3"(.('(#(0 /(#"(W )/1 '(/)(9/("%.+ #"#"( .(/.%/' #9. /#(%)# / + #"#"((/& /0(/#3!'.(/.+ -"%&((+2 1%/2%-.((%' /!.3"(/ .( /"((/#+ #"#"(.(/.+ --/#!(/(%#(( #" ( . /#((#%# /.1%/!(#%/$.#%)-( F( #"(%#"(."#(#"%# %)#,%-G2+ --/#!(/(%#(%/$.#%)-(+" )"'(./#(5 .# F1((.%)('(#()#('%.%/ $.#%)-(G2 ..%/$.#%)-(F $.#%)-()-%.. 1 ('%.((.%)(G3 4"(/%.(/.(#,/.%%/!(2#"(%-! #"0#%/.-%#(.#" .%/!( /#%-!/ ((.(/#%# /1#"(.(/.9. (-'1& (+3 .(/.9.+ #"%/%+ (-'1& (+2#"( %/!( .)/&(#(' /#%/(2+ #"#"(.#%# /#.(###"(.(/.9. / 0,0&%-,(2%/' #"((/' /#.(###"(.(/.9.%5 0,0 &%-,(3%/#"(.(/.2#"(%/!( . )/&(#(' /#%#"((,. '('-!/ 2+ #"#"(%/!('(#(0 / /!#"(%#"(.# /#.2%/'#"($(%0+ '#"'(#(0 / /!#"(( 5%/.( 1#"(-!/3"(.(.(#1 /#. %(#%/.10('0#"(.(/. )' /%#(..#(02##"(&( " )-()' /%#(..#(02%/' 1 /%-/##"()' /%#(..#(0,. /!% .( (.1=#%/.1 0%# /..() 1 (' / #"(.(/.9.)/1 !,%# / -(3 /)(#"( /#.%( /#"()' /%#(..#(02#"(%(,.('# --#"(! ' + #" /10%# /%$,#$.#%)-(.%/'((. %)(3#" .(5%0-( 2.%#"((0$(."

PAGE 88

;; == == = × × × = × += µ µ µ × × = ==Š==Š=++ = < 67 &%-,(.%(F]F[\G2]F[\G2]F[2\G2]F[\G2]F[\G2]F[2 \GGXF3<22322:2G.,)"#"%##"(.(/. 9./ .(%11()#.#"(#,(%/!((%' /!2$,# #%)),%#(-(#.((.%)(3"((0#% /'$.#%)-( /)(0(/#.%(.(##/(2%/' /#(#"%##"($%$ # (.# "()(--.%($#" / # %6(' #BI3/#"( .#%..2+ #" $( /!(.(/#('##"()(--2,.((A,%# />3:@%/'#"(%*&'(-(&%-,%#(.#E 2%1#(#"( .#.#(2#"($%$ # (.(0% /,/)"%/!('3" . .',(##"( +( !"# /!,/)# / ,. +" )" .'(1 /('%.--+.E +" -( .-(..#"%/:2#"(&%-,( (#,/(' .&(.0%--2/)( .(A,%-#!(%#(#"%/ #(/2:3 .(#,/('3"(+( !"# /!,/)# / . ,.('##(0(#"( / # %-&%-,(.1%)(--3 4 #",# #2%. /!-( .#&%-,(+,-')%,.( #"($%$ # (.#(%)"#"( %5 0,03 #" .(5%0-(2 1%1#( / # %6%# /#"()( -. /)(0(/#('+ #" %/2#"((A,%# / 0 +,-'(&%-,%#(# 404 %/'.(##"($%$ ##3<)%, . /!#"()(--#$((#('%.

PAGE 89

;? == == = × × × = × += µ µ µ × × = ==Š==Š=++ == == = × × × = × += µ µ µ × × = ==Š==Š=++ %/$.#%)-(3 #"#"(+( !"# /!,/)# /2# "()(--,.#$(,'%#('%#-(%.##(/# 0(. $(1(#"($%$ # (.(1-()# #"(%)#,%-.#%#(1#"()(--3 /+ /!#" .2-(#9..#( 1%#"(%-/!.,)"#"%#F5X[\GX3::%/' F5X[\GX3?<%/','%#(+ #"+ #"(A,%# />3:;E +,'%#(+ #"+ #"(A,%# />3:@E

PAGE 90

;< @ 00,/ )%# / . 0#%/#+"(/# /!# (5(.. /10%# /2%/'.(%* /!#"( .%0(W-%/!,%!(9 .*(3"( /#)" #()#,(/0% //(',/'.#(0.FG # (.#(.#%$."#" .W-%/!,%!(9, .(+ #",/0%//('!,/'..#(0.+ #" /#"( 0 #%)00,/ #3" ..#%#.0#"( /%-,.((A,(.# /!% ..#(0F#"('0% / 0'(-G%--#"(+%'+/##"( /#(1%)( $(#+((/#+)0,#(.,$..#(0.F#"( (1((/)(%)" #()#,(G3" .)"%#('(.) $(.2%/'"+#" .(.(%)")/# $,#(. ##"( '(&(-0(/#1#"($8()#(#()# / .#(0%/' #9.(..%! /!.)"(0(3 +%%; "( /#)" #()#,(/0%//(',/'.#(0.FG .#"( %)" #()#,('(1 /(',.( /#"((.(%)"2'(&(-0(/#2%/' %)A, . # /1(%#0(/#1(1(/. (FG,/0%//('!,/'&(" )-( ..#(0.FG3 .'(1 /(' /#"((.(%%#(&-,0(.3-,0( .#"(0% /'(-FG3-,0( .#"( (1((/)()" # ()#,(FG3-,0( .#"( /1 !,%# / %/%!(0(/#-%/ FG3 /!0>:! "('0% /'(.#"('(1#"((%# /%(A, (0(/#.2$#" */+/%/'#(/# %-2#"%#% $((A,(.#('$%0$%#(&(-(FG3"( .#"( /%-,.(1#"(..#(0# $(%)A, ('3"(%#( %-(&(-(

PAGE 91

? FG .#"(!%/ 6%# /#"%#.() 1 (.# "(..#(0#$(%)A, ('%/')/#%)#.+ #" #"( 0()/#%)##"%&( #"(..#(0$, -#3"(,.(.#"('0% /'(-# 0'(-#"((%# /%-(A, (0(/#.3"(# ()"$%.()00,/ #,.(.#"('0% /'(-# ,/'(.#%/',#,()%%$ # (.#"%#%$(' (. ('$#"(3"('0% /'(. %#-,.('$#"(%/'#"(#()"$ %.(#,/'(.#%/'#"(/(('.1#"(,.(3 /!00>,23#((*2( "((1((/)(%)" #()#,( .#" ((10%/)(.() 1 )%# /# 0-(0(/# #"('0% /'(-3" -(#"('0% / '(.+ ##(/ /#"(-%/!,%!(1#"( 2#"((1((/)(%)" #()#,( .+ ##(/ /#"(-%/!,%!(1.) (/# .#.%/'(/! /((.3 %)"(..%!(%/'.(& )(F)%%$ #G'(1 /(' /#"((1((/)(%)" #()#,()%/$(' ()##%)('#%'0% /'(-(A, (0(/#3"( (1((/)(%)" #()#,('(1 /(.% )00/.(#1(..%!(%/'%(..% !(%.. /!..#(0#.,##"()%%$ # (.'(1 /(' /#"('0% /'(-3 # .#"( /#(/#1#"%##" ('0% /'(-$(,.('#'(-%-(A, (0(/#.2*/+/%/'%/# ) %#('21 ..#(0.3"((1((/)(%)" #()#,(+ -/0-(0(/##".((A, (0(/#. /#"('0% /'(-#"%#"%&(!/(#",!"% #()"/ )%-(&%-,%# /)(..3"((&%-,%# /),-'$((10 ('$#"(#()"$%.(2 %)%'(0 %2$ /',.#3"((1(2%--(..%!( .'(1 /(' /#"((1((/)(%)" #()#,( )%/$(#%)('$%)*#%'0% /'(-.(& )(2$,#%--'0% /'(-.(& )(.%/# #%)(+%'#%/(1((/ )(%)" #()#,((..%!(3 "('0% /'(.,.('#'(-#" (9.(A, (0(/#.#& '(% 1%0(+*(.(%)"2'(&(0(/#2%/'%)A, . # /3"((1((/)(%)" #()#,( .,.(' #.() 1#"(9.#"( #()"$%.(9.(A, (0(/#.## "(..#(0 0()/#%)#3

PAGE 92

?: )(1#"('),0(/# "((1((/)(%)" #()#,( .#"(.#%/'%'%!% /.#+" )")0%/)($#"( 0( )/#%)#."%--$(%..(..('3 ."+.#"( /#(/'('%, ' (/)(.#"('0% / 0'(-%/'(1((/)(%)" #()#,('),0(/#.3 /!000>'2(!() "(/1 !,%# /%/%!(0(/#%/ .%/ /'((/'(/#'),0(/##"%# '(1 /(.#"()(..#,'%#(#"('0% /'(-%/'(1((/)(%)" #()#,(3"( (.#%$."(.#"()"%#(%/'!%/ 6%# /#"(/1 !,%# //#%'FG3"( .#"(!&(/ /!$'#"%# .%,#" 6('#' 1%-'),0(/#%# /3"()/1 !,%# /%/%!(0(/#-%/%-.'(1 /(.#"( )(..#&%'%#()0%/)( + #"#"((1((/)(%)" #()#,(3 )&!*((!( /'(#"(' 11((/# .#)00,/ )%#(+ #"(%)"#"( F /#((%$ #G##(/# %--."%(.,$ ..#(0.F /#%(%$ #G2%)00/.(#1 1,/)# /%-',-(.,.#$('(1 /('%-/!+ #"#"( /#(1%)(.##".(',-(.3.(#1 1,/)# /%-',-(.%/'#"( /# (1%)(. .)%--('%/%)" #()#,(3 "((%#0(/#1(1(/.(%/'#"((% #0(/#1#"(0"%&($#"(-(%.(' #"( #()"/ )%-%)" #()#,(. 3"(#()"/ )%-%)" #()#,(. %/'%#(%.(#1 /10%# /

PAGE 93

? #()"/-!.#%/'%'.%/' /#(1%)(.,.( /%-#%..#(0.3"(.(.#%/'%'. %''(.. /10%# /#%/. #2 /10%# /'(/!2 /1 0%# /)(.. /!2",0%/ )0,#( /#(1%)(.2%/' /10%# /..#(0.(), #3 (&(%-%)" #()#,(.%() ,(/#/,.(/(5 .# /!##(.3+(&(2 //( . /,.(%)..%--.3"( #%$# ).)00,/ #,.#(.#%$."% )00/%)" #()#,%-%0(+*#"%# .%)%$-(#%--)-%..(.1$# )&(" )-(.3" . 1%0(+*,.# /)%#(% -#% -(-(&%/#(%#,(.2 /)-,' /!%,#/0%/' 0,-# -(&(" )-()/#-2+ #",#0 # /!#()"/-! )%-(/"%/)(0(/#.3.#"( .# .(0(!(2%)00/%)" # ()#,(,.#$( /.(#('(%/#"('(&(-0(/#"%.( #(/.,( /#((%$ #3 .'( . !/('#$(#"%#)00/%)" #()#,(3 431*)$ "(,.(1 .#.,##"(%)A, . # /1.$& ' /!% 0()"%/ .0#"((',)# / 11())-().#.%/'$ & ' /!%%0(+* #()"/-! /.(# /3"(.)(1 .%-#%,/0%//('!,/'..#(0.3 "(&% %/)(+ #" /#" .'0% / .A, #($ %'3.#(0.%/!( 0.0%--2%/#%$-( &(" )-(.##%/*.3"(." .# )%# /1#" (.(..#(0.%/!(0$%. )#(-((%# / F(-(G#)0-(5.(0 %,#/0,.%/' %,#/0,.(%# /.3'(1 /(.%.(# 1(,.%$-()0/(/#.%/'#"( /# (1%)(.3(,.%$-()0/(/#.(',)(#"( 0% /#(/%/)().#.1%..#(0%.+(--%.#"( '(&(-0(/#).#.1%/1--+/..#(03 #%-.%--+.%)0/(/#'(&(-(' /(#$( #('#%/#"(3 ()"/-! /.(# / .%)" (&%$-(+"(/#"(%)" #()#,( .'(. !/('#$( .)%-%$-(3'(1 /(.)0/(/#.% --)-%.. 1 )%# /.1.0(0#( )/#-#%,#/0,.%.+(-%./,0(,.#(.1 .. /.3

PAGE 94

?= .#'$(($ "(#()"/ )%-)/.#% /#./% (.(-1 0.('#(/.,(#"%##"( %)" #()#,( .%)%$-(##"((/# (' 0% /1.3(11()# &(-.,#%-..#(0.2,.#((## "(--+ /!)/.#% /#.E V(" )-(-%#10 /'((/'(/)( V .. / /'((/'(/)(C .-%# / V0,#("%'+%( /'((/'(/)( V()"/-! /'((/'(/)( /#(2! /%-. ."%.."+/#"%#.+ --$($ %.('/%&% (#1&(" )-(.3".( &(" )-(.#'%#("%&(%/!('0.0%--%-#(% /&(" )-(.FG #%0('#%/*.# ),.#0&(" )-(.3/'( )0%/#)0/(/ #.#$( /#((%$-(2/ %..,0# /.%$,##"(,/'(/!&(" )-(.",-'$(%'(3 $$?$( /%-. ."%.%-.."+/#"%##"(),( /# /&(/#1##(.(10% + '(&% (#1 .. /.3,#"(0(2%%!(.(#1#(/# %.. /."%&($((/ '(/# 1 ('#"%#"%&(/#$((/'(0/.#%#(' /%/##(3 /)(#"(!+#" / #"(/,0$(%/'#(.1 .. /."%.#"( #(/# %-#$(-%!(2,.# .-%#( 0 .. /.() 1 ),/)# /.0#"(!(/( ),/)# /.3" .%--+.#"( %)" #()#,(#$( /'((/'(/#1%/.() 1 ) .. /.(#1 .. /.3 '!(#; "(!+#" /#"()0,#( /',.#"%. $((/(/0,.&(#"(%.#(%. %/'#"((%(/ /' )%# /.#"%##"(!+# "+ --.-+'+/3,#,(.,.#$(%$-(

PAGE 95

?> #)% #%6(/)00() %-%'&%/)(0(/#. /)0,# /!%/'.(/.#()"/-!3"( ..,( .#+1-'3 .#2%. /! -(,.#$(%$-(#(&-&(&( #. %5 0%#((%1())-(#%))00 '%#(/(+ .. /.%/'!(%#('(!((.1 %,#/03/%)" #()#,(#"%# 0.(.%. () 1 )"%'+%( 0-(0(/#%# /(',)(.#"%# #,/ ###%*(%'&%/#%!(1,#, (%'&%/)(0(/#.3()/'2(%)" 0( )/#%)#.",-'"%&(#"(-(5 $ ##'( . !/%)0,#("%'+%(%)" #()#,(#"%# 0((#.#"%#%# ),-%..#(09. (A, (0(/#.30,#("%'+% (#"%# .% %#( /(%/#$(% %#(%/#"(3 ,.#% /#% /)0,#( "%'+%( /'((/'(/)( /'( #$(%)%$-(#%--.3 .# "( /%-#()"/ )%-)/.#% /# .#()" /-! /'((/'(/)(3" .)/.#% /# . . 0 -%#)0,#("%'+%( /'((/'(/ )($,#),.(.(/#"(#()"/ A,(. %%)"(. /.#(%'1#"()00() %-"%'+ %(3(5%0-(2%%,.(%& .,%..#(0/,0(,.,.(.3+(&(2# "((%(#"(..#( 0.#"%#%& '( . 0 -%$(/(1 #.3)# &(F%.(% G ./(.. $ #3"( /# .#"%# #"((%(,-# -(.-,# /.#%$-(03/%)" #()#,(#"%# .$, -#%,/'%%# ),-% #()"/-!.-,# /%(0 /%#(%.,( .-,# /3 :! .%.(#1..#(0.#"%#(10. 0 -% .. /.3(5%0-(2#"( :B%!-(2#"(+ #"%0(-2%/' #"( #.,$ ." N(%--$( -/!##"('0% /1 !"#( % )%1#3 .%/%$.#%)# /1.0(#" /! '(&(-('#"(,.(1 ,/'(.#%/' /!$(1($, -' /!3"((1(2% FG .%/%$.#%)# /1#"( ..#(0.+ #" /%'0% /$, -##"(, .(1,/'(.#%/' /! #.(A, (0(/#.2

PAGE 96

?B /10%# /2%/')(..3 2#"('0% / .'(1 /( '%. #%.3",.2 #"('0% /'(.%'(-1#"( (A, (0(/#.2 /1 0%# /2%/')(..(. (10('/ #%..#(0.3 "('0% /'(-+ --'(-#"( )%%$ # (.%--.2$#"/(% #(0%/'%#(02+ #"#"( 3 /)(#"('0% /'(-),.(./#"()%%$ # (.2 # $()0(.%#-'(1 / /!% ..#(09.(A, (0(/#.3"( '0% /'(.%#,.('$#"(%#( %-'(&(-(#'(-#"( (%# /%-(A, (0(/#.'(&(-('$#"( )0$%#'(&(-(3"('0% /'(-%-. '(1 /(.%#(0)%%$ # (.#"%#% /(&("%&($((/'(0/.#%#('/## (3+* /!+ #"#"()0$%# '(&(-(2#"('0% /'($()0(.%c%'%d,.('$ #"(%#( %-'(&(-(%/' #"(#()"$%.(#),.(.(% )"%/''(&(-0(/#(11#. #.,##(/# %-,#,( (A, (0(/#.3 #"('0% /'(-#$(( 11()# &( /'(/!(%# /%(A, (0(/#.2 #,.#$(+ ##(/ /#"(-% /!,%!(1#"()0$%#'(&(-(3/! /(( /! %/'#()"/-!#(0 /-!.",-'$((0 /% #(',/-(.. # .(-( &%/###"( #% '0% /3/#(0 /-!#"%#'(./#"%&(#"( .%0( /#((#%# /# %--,$%/)"(. 1#"( #%.",-'%-.$(%& '('3 ,23#(( "((1((/)(%)" #()#,( ./#%'(. !/2$,#%#"(%%0(+*%'(. !/3 &(/#"($%'.)(2#"((% (.()# /.1#"(.() 1 )%# /#"%#%/#%-#(&( ..#(03 /.#%/)(2 /#"(,#,(2#" ..() 1 )%# /+ --*(-'(1 /(#"( /#(1%)(#%/ $.#%)-('(#()# /)0/(/# 31%..#(0'(./#,.($. #%)-('(#()# /2#"(/#"%# # /1#"((1((/)(%)" #()#,('(./#% -# #3"($(/(1 #1#" ..() 1 )%# /2

PAGE 97

?@ #-! #",!"2 .#"%# 1#"(..#(0+((#%''$.# %)-('(#()# /2#"( /# (1%)(+,-'$(*/+/3 ,#"(0(2#"(#(/# %-+,-'(5 .#.# /)%#(%/(5 .# /!$.#%)-('(#()# / )0/(/#3 / #.. 0-(.#& (+2 .%/%)" # ()#,(' .# $,#(')0,# /!..#(0.3 0,# /!(.,)(.(. '(+ #" /#"(. .#(02%/'#"(.((.,)(.)00,/ )%#(3"( )00,/ )%# /%#".2#"(#(.1)00,/ )%# /)"%//(-.2%/'#"(#%)# )%0)%# / !&(/ /!)00,/ )%# /&%!(%#-3 "((1((/)(%)" #()#, (.() 1 (.(#"'.1) 00,/ )%# /%/'#"('%#% 10%#.,.('#)00,/ )%#( $(#+((/)0,# /!(.,)(.3 "((1((/)(%)" #()#,( 10.#"($%. .%'(. !/2$,#'(./#(0 /%#(..#(0(/! /(( /!3 * $(!. "!( "('(1 / # /1#"(..#(0#-! .."+/ / 3 .)0.('1/(( %& 3%)"(%# /%-.,$..#(0 . )0.('1/(( 3 /'()/#% /.( #"(%. /!-( )(..%# !"#-),-('.(#1 )(...3"(( ./(5%)# '(1 / # /1# !"#-),-('2$,# )(...#"%#"%&(%))(..#% )00/(0%(%%/'C."%( %)00/$%)*-%/($,.+,-'/0%--$ ()/. '(('# !"#-),-('30,#( (.,)(./*('$#"(/(#2:BB=2 $,.222=2(#)32%(/## !"#),-('%/'0.(%%#(/'(.3 /'( .)0.('1/(( 3"(

PAGE 98

?; )0/(/# .#"(-+(.#-(&(-%$.#%)# / /#"((1((/)(%)" #()#,(3 )0/(/# .%)"(. &(,/)# /%-,/ #2,., %-0-(0(/#(' /.1# +%(#"%#& '(.% ('(1 /('.(#1.(& )(.3 (1 / # /1)0/(/#.2%-/!+ #"# "( /#(1%)(.2%(#"( 0%%(%. .() 1 ('$#" .%)" #()#,(3'(#/ '()00,/ )%# / .%-..() 1 ('2+" )" )0$ /('+ #"#"()0/(/# /#(1%)(.0.# "($%. ./'( /#(!%# /+ #" /#"( %)" #()#,(3 3#((*( .$%.('/(..%!(%.. /!$(# +((/)0/(/#.2+" )"(. '(/ &% ,./'(.%/'(%# /%-.,$..#(0.+ #" /#"(..#(03"(..#(0)/1 !,%# / )/#% /.#"()0/(/#.#"%#(5 .#+ #" /#" (..#(02#"((..%!(.#"(.,#2%/'#"( -)%# /.F(%# /%-.,$.. #(0.2/'(G3" .&(. /1 #"((1((/)(%)" #()#,( %..,0(.#"%##"()/1 !,%# /1%..#(0 . */+/% 3" .%)" #()#,(.() 1 (.% c%#%/(A,(.#d.#-(3%#%,/(A,(.# 0(%/.#"%#'%#%-+$ (#+((//'(. ./# .() 1 (' /#"(..#(0)/1 !,%# /3%# %-+ .%))0."('( #"($%A,( /100(..%!(.(#2%/(&(/#.(#,/# 1 )%# /2 $(.#%$." /!%( ' )-+1'%#%3 $$$ .%)0/(/#$%.('2(..%!( %.. /!%)" #()#,(30/(/# /#(1%)(.%('(.) $('$#"(.(#1 0(..%!(.%)0/(/#)%/.(/'%/'()( &(3 (..%!(.%(%-.'(1 /('.() 1 ) /#( %)# /.$(#+((/#"((..%! /!..#(01(%)" /'(3 /#(/'%-)00,/ )%# / .'/(#",!" %(..%!(,# /!(& )(FG#"%# (5 .#./(%)"/'(3&(/'( 0,.#"%&(%/3"(/)0/(/#./

PAGE 99

?? ' 11((/#/'()00,/ )%#(2#"((..%!( .%("%/'-('$#"(/(%)"/'(3 .#(0)/1 !,%# / /10%# / .)/# % /('+ #" /(%)"3"()/.,-#.#"( ..#(0)/1 !,%# / /10%# /#,#(#" ((..%!(##"(% %#(/'(2%/'C (%# /%-.,$..#(03 4 #" /%/'(2#"((#"'1 0-(0(/# /!#"((..%!( /#(1%)( ./#),(/#.() 1 ('3/#%/'%-(..%!(.)%/$( 0-(0( /#('%.)(',(,/)# /)%--2%.-/! %.#"(%%0(#(.1#"(,/)# /C)(',()(./'##"( (..%!('%#%.() 1 )%# /3 (..%!(.%(A,(,('3"(A,(,(()"%/ .0+ #" /%/'( ./#.() 1 ('3 (..%!(.)0 /! /#%/'(%(()( &('$# "(/#"%#/'(2%/'%('(&(('# #"(% %#()0/(/#3 +&@(:(('!( /((-(0(/#/()(..%%/%,#/0,.& (" )-(#(5" $ ##,(%,#/0 .#"( %$ ##'(#()#%/'%& ',/*/+/$8()#. (/),/#(('/#"(&(" )-(9.%#"3# .#"( (./. $ #1#"($8()#(#()# / 0/(/#FG#(10#" .#%.*3%/ .(/..(5 .##"%#)%/%))0."#" .,/'( #%* /!2%/'(%)"(5" $ #..#(/!#".%/' +(%*/(..(.3.(#"( ')# /(2#"((%(/.(/. .' ()#-.() 1 ('2"+(&( #"(,#! /!(..%!(.(/#+"(/A,% (' $.#%)-(.(0% /.!(/(%6('#(5(..(' #"($8()#.'(#()#('3 :$( "($8()#'(#()# /)0/( /#% /#% /.#"(-)%# / 1%--$8()#.'(#()#('$ #"(&% ,..(/.. /,.(3/'(#& '(.(/. /'((/'(/)(2#"(.(/.9.". )%%/',/)(#% /#)"%%)#( .# ).%(,.('#" 0!(/ 6(%--.(/.. 2%.'(.) $(' /#"( (& ,.)"%#(.3

PAGE 100

?< $8()#'(#()# /)0/(/#+ #",# . # /)0/(/# $8()#'(#()# /)0/(/#+ #" . # /0/(/# ."+.#"(+ #",##"($(/(1 # 1%. # /..#(0#& '(% )/.#%/#,'%#(1#"(&(" )-(9. . # /3"(,#,#1#"( .(/..%((' /##"(2 +" )",.(.#"( /10%# /# ,'%#(#"(-)%-! '% FG3+(&(2. /)(#"( (/#%# /1#" (&(" )-( .,/*/+/2/-#"(# /1#"( +" )" .+ #" /#"( (-'1& (+ 1#"(.(/.. .,.('2%/'#"(/-$8()#. */+/2%(+ #"/(.#"%#%( + #" /#"(.(/..%/!(3 +(&(2%''. # / /,#2%.."+ / 2%/'#"()%%$ # (.1#"( )0/(/#!(%#/)(%.(3 0 -%##"( (& ,.(5%0-(2#"(,.(.#"(.(/.. ,#,##,'%#(#"(2$,# + #". # / /,#2#"( (/#%# /%/'#"(&(0(/#1 #"(&(" )-()%/$( /)%#(' /##"(! '3" .(/"%/)(.#"( ! ' /#++%.2,-# -( ,'%#(/%$8()#2%/'%" .# 1$8()#.'(#()#('3 "( .#(/"%/)(0(/# (0 #.,-# -(,'%#(./%/$8()#% .#"(&(" )-(%%)"(.3%%/$8()# . '(#()#('%' .#%/)(%+%3. #"(&(" )-(%%)"(.#" . $8()#2#"($8()#%%)"(. #"(&(" )-( /#"((.()# &(3"(/#" (/(+%/!( .(#,/('0#"(.(/..2

PAGE 101

< #"($8()#9.)(./' /! ! ')(--.%(,'%#('%. %*2! 3" . 0&(.#"( '(#()# /%/'. 6 /!1#"($8()#2. /)(#" (! ')(--.%..) %#('+ #"#"($8()#%( ,'%#('/,0(,.# 0(.3 4" -(#"( .#(/"%/)(0(/# 0&(. $8()#'(#()# /2#"( .()/'% /#% /.#"( $8()#.+"(/#"((5 #0#"(.(/.. (-'1& (+3.'(.) $('%$&(2+ #",# . # /2#"(/-$8()#.'(#()#('%(#"( /(.#"%##"(.(/..)%/W.((93"(/#"( (/#%# /%/'. # /1#"(&(" )-(% (*/+/2#"($8()#.)%/ $(-)%#(')()#+ #" /#"(! '3"(/-/!(' .%(% 10#"(! '+"(/#"(&(" )-(%..(.#"(03 "(%'' # /1#"(. # /)0 /(/#%-.%--+.%/$8()#% /! 0/(/#FG3/#"(,#,( 0-(0(/#%# /1#"(2 #)%/#%*( /,#0%/ (5#(/%-'%#%$%.(2%/'#%/.-%# ( # /##"( /#(/%-((.(/#%# /1#"(!-$%-%3 +(&(2#"(.#(# /(/# /,# .0 #"(3"($.#%)-(.#"%#W1%--119#"(('!( 1#"(! '%.#"(&(" )-( &(.%()/&(#(' /#-!/.3"(.($.#%)-(-!/.2 %-/!+ #"#%&(.('.%)(-!/.F#"((/# (('!(1#"(G%((.(/#('##"( 3"(#%*(.#" . /10%# /%/' % /#% /.%-$%--!/%FG1 #%&(.('.%)(%/'$.#%)-(-!/.3/)%/ %-.#%*(2%. /,#2-!/.0#"( .3/#" .+%2,-# -(&(" )-(.)%/(5 -(%-%!(%(%2%/' %##%-&(%--% )%/$()(%#('0#"( ()(. !(/(%#('0(%)"&(" )(3)0-(#(#"())-(2 $.#%)-(-!/.0#"(% /!..#(0)%/ $(,.('$#"($8()#'(#()# /..#(0# .(('#"(+ #"$.#%)-(.%.#"(&(" )-(/%& !%#(. /#"((/& /0(/#3

PAGE 102

<: $$ /)( .%(..%!(%.. /!%)" # ()#,(2% %#((..%!(.,.#$( '(1 /(' /,##%/',#,#0#"( 3"((..%!(.F$#" /,#%/',#,#G 0,.#$(%$-(#"%/'-(%/),(/#-()( &(',.%!(2%/'%/#(/# %-,#,(,.%!(3 "("%./-/(#,(,#,#(..%!( 2. /)(#"(.-(() (/#1#"(('!( -!/. .#"(3"((..%!()/#% /.#"( .( (.1$.#%)-(. ((.(/#('$%/!(2 2"(%' /!0#"(&(" )-(2 F$(% /!G2#"( /)/%# /0#"(&(" )-(2 F(-(&%# /G2 %/'#"()%-),-%#('$%$ #1#"($8()# 3" . .(..(/# %-%."( )%-)' /%#( ..#(0)(/#(('/#"(&(" )-(3"($8()#.%((.(/#(' /#"(&(" )-()' /%#( ..#(0FG2. /)(#" .%))00'%#(.%/+ #",#%/'+ #"%. # /..#(03 4 #",#%. # /)0/(/#2#"($8()#.% (2$'(1%,-#2 /#"(&(" )-()' /%#( ..#(03*/+ /!#"(#,(. # /.1#"( $8()#.%/'#"( (/#%# /1#"(&(" )-(2 #"($8()#.)%/$(#%/.-%#(' /##"( 3-... $-(%'' # /. /)-,'(% %/' #"%#+ --$(,.('#)-%.. 1#"($8()#3 "(.(%(-%)("-'(.,#,(+*/ '(/# 1 /!#"($8()#3(5%0-(2%/$8()#)%/$( %.%#((1 /(3 "( /%#(0 .#"(# 0(.#%01+"(/#"( '%#%+%.$#% /('0#"(! '2.((%$-(@ :#"(-%,#3 "(% / /,#(..%!( .A,( /! $8()#'%#%3"(#"( /,#.%(( #"( '(1 /('$#"(#"(..#(0.2#"()%.(1 #"(. # /)0/(/#2#"(2%( "%'+%('((/'(/#2 /#"()%.(1#"( /# (1%)(##"(.(/..3,(/#-2#"(/%%0(#(/()(..% .#"(%/!(%#+" )"#. )%/$.#%)-(.2(..(/# %--#"(%' ,.0 #"()(/#(,#+%'3&%-,(-(..#"%/#"( %5 0,0%/!(+ --(.,-# /%$,/' /!$5 %##"%#%/!(%,/'#"(&(" )-(3$8()#.+ #" /#"($,/' /!$5%((#,/('2$8()#.

PAGE 103

< ,#. '(%( !/('3" .%-+.#"()%-/!!%0#$ #% /(# /(/# /10%# / + #",#"%& /!#"()(..#"((/# (! ' 3&%-,(#"%# .-(..#"%/(2(A,%-# !(%#(#"%/#"(%5 0,0%/!(+ --(#, /%--'(#()#('$8()#.+ #" /#"(! '3

PAGE 104

<= .& E,(/#$8()#(#()# /0/(/#(..%!(.(#3 (-%# &($8()#. # /(..%!(%#% (-'^%0((/ #./#((#%# / :(.(/)( ()# #(C(-()# /1 (-'.# /)-,'( 0(/. !/(' /#(!( C #.%/!(/#(!((#(.)%-('3:23 B%/!(/#(!((#( .)%-('3:23 @(% /!/#(!(%' %/.)%-(' ;(% /!/#(!(%' %/.)%-(' ?-(&%# //#(!(%' %/.)%-(' <-(&%# / /#(!(%' %/.)%-(' :/1 '(/)(#(C+2BB !"(.# 333 ((%#1 (-'.>#",!":(%)" /#3

PAGE 105

<> /%%/'-%.(%/!( .)%//(,/#('/ &(" )-( ; 4"%# .%#"(+ #",#(.(/# /!(.,-#. #"%#%,#"(/# )%#( #3" .)"%#( .#"( ),-0 /%# /1%--#"(+*(.(/#(' /#"( (& ,.)"%#(.3!%" )%-,.( /#(1%)( .,.('#& .,%--(.(/##"()%' %FG3"((.,-#..()# /(.(/#.#"( %)#,%-"%'+%( /,.(/#"(&(" )-(2%/(5%/%# /1#"(!%" )%-' .-%2"+#"( -%)*1%. # /)0/(/#%/'"%& /!% . # /)0/(/#(11()#.#"(,#)0(2#"( %)),%)1#"()0/(/#2#"( )/.(A,(/)(.#"(#,/%$-( %%0(#(."%&(/#"(% !(/(%# /2%/' /%--%/(#"%##"( (/& /0(/#)%/!(/(%#(+ #"#"(3 9;?*2(; "($8()#(#()# /0/(/#FG .,//% /.#(0.T-,.2 +" )" .%.0%--2" !"(10%/)(2 (0$(''%$-()0,#(.. #(03"(#+.(/.. #"%#%( /#(!%#('2%/' #"(/,.('#!(#"(%( %/%%1:@#% /.',)(.%/'%%.( %/!()%//(FG3"(%(,/#('/ #"(/#1#"(&(" )-(2%/'%(."+/ / 3 '!( "(. /!-($%')0,#( /#(!%#(.% /,0$(1,-%C# /. /)-,' /! 2:C:$.#"(/(#2'#%#( .*2

PAGE 106

?$ ' ()# /%-' ! #%-C3, )0%# $-(.( %#.%(.#%/'%'2%. %(#"(-2"%'' .*2%/'%%--(/#( /#(1%)(.3"(T-,. .,-%#(' + #"%/@===6)*(#; + #"B@$#(.1(03 1,--:@$ #C:>(5%/. /$,. .& '(' 1,#"((5%/. /#%/(/# ( /',.#1 %''/( "(%-.3"((% # /!..#(0 /.#%--(' .(' %# /,5;3:2%/'#"()'( . + ##(/ /#"(!%00 /!-%/!,%!(3 * "(/%%/!(& '( .%$ -($#+ #"#"((%/..(/. /! #. (/& /0(/#3%)" /#(1%)($%')%/$#% / %/!( /10%# /0,#( !"#./% #%/.',)(.2%/'$ /%F (.(/)(C%$.(/)(G$8 ()#'(#()# / .%&% -%$-(& %( !"# (1-()# &( /1%('#%/.0 ##(C()( &()" %//(-.3##"(( /#(1%)($%'.)%/$( )//()#('#%. /!-()/#--($%'2! & /! %##%-.. $-(.(/.)/1 !,%# /1> ,-#%./ )%/'> /1%(')"%//(-.3 "(/$%')/#-.1#+%(& '( .%. 0-(+%%".#)0,#(# )/#-#"(/%%/!(3(&(%)00%/'.%(%&% -% $-(#)/1 !,(.(/. /!'(2 .(## 0(,#' .#%/)(.(%)".(/.2/%0( %#/(.2%/'(%''%#%0#"(..#(03"( ,$..#(0,.(.= )"%%)#(.)00,/ )%# /3"(/%%/!( . 0/ #('%/')/#--('$%".#)0,#(& % #.=.( %-#3"( /#(1%)( #)-,.(.%$#(),/#"(%'('(. !/('# .,#%,#,(/(#+* 0-(0(/#%# /3 "( /.#,0(/#!%'(,-#%./ )#%/.', )(.%( /#(/'('(%# / /% 3"( # )%-$(%0%##(/%#B6 .."+/ / 30#"( !,( #)%/$(.((/ #"%#%#:BM0#"()(/#(/(1#"(./% 2 /$#"' ()# /.#"((./.('.11

PAGE 107

<@ )%-$(%0%##(/%#B 6 '%.# )%--2#",.',) /!%=M)/("( %/!( .%)),%#(0@ /)"(.#=B((#2 + #"%(.-,# /1e:I3 $ "(%.((%.,(0(/# )%//(FGJ:K .%/# )%.(/.#"%#.)%/. #..,,/' /!.+ #" /1%('-%.($(%0.#+' 0( /. /%--. 0 -%#%-%.( %'%3"(.(/.(%#(./ #"( /) -(1(1-(5!" ## 0((%.,(0(/#3#(0 #.&(."#!"#,-.(.3##"( .%0(# 0(%# 0(C),/ #( . / # %6('31#"(!"#(/),/#(.%/$8()#2 # .(1-()#(' $%)*##"(.(/.30#"(# 0($(#+((/. (/' /!%/'()( & /!2#"(.(/.)%-),-%#(. #.' .#%/)(0#"($8()#3/#"(.(/.#"(( .%-.%,/ 10-#%# /! 2#"%# '(1-()#.#"(!"#,-.(..#"%##"(.+((%. (0 ) ),-%%(3'(#(0 / /!#"( %/!-(2#"('(#()#. /+" )"' ()# /#"($8()# .-)%#('3 /= /#(1%)( .,.('#)00,/ )%# (+ #"#"(.(/.3"(:?M (-'1 & (+)%/$($*(/'+/ /#3BM:M /)( 0(/#.3%/!()%/$(.(##( #"(?(#(. ?(#(.+ #"%(.-,# / 1:)0:)0(.()# &(-3 :$(2:$ "+/ / .#"(!%" )%-' .-%1#"(3 .,.('%.#"( !%00 /!-%/!,%!(2%/' .+ ##(/#"%/'(%.( (.1 -(.F( (.G2)/# /,%-((/%/'(' .-%#"( .%0( -(F (%-# 0(G3/ '(2#"( -(.%(' .-%('%.% 0& (2"+(&(#"(,.( .! &(/#"( #,/ ##.#2%/' /)(0(/#+%' $%)*+%'+ #" /#"(W.)(/(.93/ 5 '(2#"(.() 1 (' -( .)/# /,%--)"()*('

PAGE 108

<; %" )%-((.(/#%# /1-)%-! '%3F%G"+/+ #",#. # / /10%# /3F$G"+/+ #". # / /10%# /3

PAGE 109


PAGE 110

<< #(/' /!#+%'((.%)(2 .'%+/%.!"#( !((/3"()(/#(#" '2#"%# .(%--.# -,/*/+/2 .'%+/%.!%3 "()(/#(1#"(! ' .%*('+ #"%W A 9%/'%/%+"(%' .0('0#"( )(/#(##"(/#1#"(&(" )-(3"(% +"(%' .'%+/ /#"( (/#%# /1#"( &(" )-(#. !/ 1#"(' ()# /1&(0(/#3 F%G."+.#"(' .-%+ #",# . # / /10%# /3"(W&(" )-(9 .'%+/ /# /!/#"2%/'#"(/-# /1#"( $( /!,.(' .#"%#+" )" . /#"( (-'1& (+1#"(.(/..3 F$G."+. #"(' .-%+ #". # / /10%# /3"((/# (! ' .,.('2%/'#"(W&(" )-(9 .'%+/ $%.(' /#"( (/#%# /1#"(%)#,%-&(" )-(3 # )%-.#%#,#"( .."+/ / 3%)"W.)(/(9((.(/#. %5 0%#(-`.()/' /# 0( 3#%# /!0%--,/*/+/ F:G2#"($8()# . '(#()#('2%/'#"()(/#(.()# / . --(' . #+ #"((.%)(F',(##"(-%!(%0,/#1 &(-% /#"(/#1#"(&(" )-($(#+((/#"(#+.(/..G FG3/ F=GFBG#"( /!(.%( --('2,/# / F@G#"((/# ( (-'1& (+1#"(.(/.. .%)),/#('3# )(#"( /10%# /$(" /'#"(#(((0% /.,/*/+/2. /)(/ .(/."%.(/(#%#('#"%#%(%(#3 ,$($ "(--+ /!.()# /.'(.) $(#"(,#) 0(.$#% /0#" .(.(%)"3 .# (.(/#('%(#"((.,-#.0#"(+ # ",#%. # /)0/(/#3"(/(5#.()# / )&(.#"(.%0(!,/'F#(%--G$,#+ #"%-#"($(/(1 #.1,. /!%. # /)0/(/#3 --+ /!#"%#2#"(%)),%)1#"(,#,# .%''(..2%/'"+(%)"1#"(.(/.. )/# $,#(.#!(/(%# /!#"(%3 /%--2# "(#,/%$-(%%0(#(. %(%/ ,-%#('%/' #"(&% ,.,#)0(.' .),..('3%--#"( (.,-#.(.(/#('2#"(&(" )-( .#%&(/!

PAGE 111

btn btnfbrfnnfntbtnrnb brbftnnntnfrnf nnnrnbnrbnnfnfnnfrnf rtfnfnfnnfrnbnfnr fbnrnrnbfbtnfnfn !nn"r fnfbtnbrbfrnrtt#rnnfnfnnf nfnbnfbtnrfnbrnfnf nbnfnrf#tn tnfrnfn frfff nrfn$nnfn#tnr# nfnfnrnnbrtnbrbttt fnnfrn bt n%nbtn n !"#$ &nn'nfnrfnbnn

PAGE 112

:: F%G2#"(&(" )-( ..#%# /%%/' .'(# ()# /!#"(#((.-)%# ('11#(%)". '(3 .#"(&(" )-( .' &(/#",!"#"( .#.(#2 F$GF)G2#"(#((.) (%#(%.#(%*%. #"(&%-,(.0#"( -'. # /'()%2%/'# "( /(+(. # /.%('(#()#('$#"( .(/..3!% /2%.#"(&(" )(%%)"(.#"(.()/'.(#2 F'GF1G2#"( .##(( '(#()#('2#"(/(/#"(-(1# 2)(%#(.%.#(%*2%/'#"(/# "(.()/'.#(%*%(%.2%/' 0&(.11/#"( !"#3" -(#"(#((.%(' (#()#('', /!#"(&(0(/#2#"( . 6( . "%'-((.(/#('$ #"($8()#.'(#()#('3 ,(-%!(#((.%('(#()#('2"++ (--%(.0%--(#((.'(#()#('_ F.(( %-. B($C%DEF G."+%#%(6 '%%/! (0(/#1.0%--%-0#((.3 !% /#"(&(" )-( ..#%# /%%/'#"(.(/. .%('(#()# /!#"(#+.0%--(#((./(%)" . '(2 F%G3"(&(" )-($(! /. #9.&( 0(/#2%/'#"(#((..#%##.#(%* '+/+%' / F$G2#"(.",$$(/#"(-(1# "%/'. '( .%-.'(#()#('3/ F)G2%.#"()-.(-(1#"%/'#(((5 # 0#"( 0%!(2#"(#+,#"(#((."%&( $((/'(#()#('2%/'(1#"(.",$ . ' .-%('3"(&( 0(/#)/# /,(. / F'GF(G2+"((#"(-%.##+#((.(5 #3 *(# "((& ,.(5%0-(2# "($8()#.%('(#()#(' ', /!#"(&(0(/#30%%# &(-#"( .('(#()#('$8()#.% (.0%--(#"%/#"( (& ,.-'(#()#('$8()#. / 2%/'#"((1(((.(/#%.0%--(". )%$8()#.3 "( /%-.(A,(/)( .%/(5%0-(1%+%--+ #")-,0/.2 F.((%-. B!-C%DEF G3$.(&(#"(,+" #()-,0 /.#,' /!0#"(. '(1 #"(+%--F#"( 1#"%##"(%(/' .$.#,)# ('$.",$$(G3 0 -%##"( .##+ (5%0-(.2#"(&(" )-( ..#%# /%%/'# "( .#)-,0/ .& . $-( /#"(%2 F%G3.#"(&(" )-(!(..(.%-/!2#"( (0% / /!)-,0/.%/'#"(.",$$(%##"(

PAGE 113

: +.(#.1#((.+ #",#. # /)0/(/#

PAGE 114

:= %(6 '%%/!(0(/#1%-0#((.+ #",#. # /)0/(/#

PAGE 115

:> 4%--+ #")-,0/.+ #",#. # /)0/(/#

PAGE 116

:B (/'1#"(,/%('(#()#('2 F$GF(G3" -(' 11 ),-##& .,%6(2#"()-,0/. )%/$($%(-' .)(/('$#"(" 6/#%-W/ .(9#"%#%(%.%#( ' ) /)(0(/#.3 -(#)$( #%# /!%!% /+ #"#"(#+!, .1/(%-%%--(-.(#.1#((.2 F.(( %-. B($C%DEF G2#"(&(" )-(2.#%# /!0%.#%# /%. # /2 F%G2)(('.+(.##",!"# "( .#.(#1#((.2 F$GF)G2#"(/"(%'..,#"2 F'G2%/'#",!"#"(.()/'.(#1#((.2 F(GF1G3(0(0$(2. /)( . # / /10%# / .%&% -%$-(2#"(&(" )-( .%$-(##%#(+ #" /#"()(/#()(--1#"( 0%3" .)%,.(.#"($8()#.#$(-%)(' /#" (% /#"( )()# (/#%# / /#"( #"%.# (/#%# /1#"(3/#" .(5 %0-(2#"( .#.(#1 #((. .%%--(-+ #" #",#" &(F#"%#,/. #",#"G2%/'#"((1(#"( #((.%( (/#%#('%-/! #"(#",#"/(3 0 -%-2#"(.()/'.(# 1#((. .((/' ),-%##"( .#2%/' %( (/#%#('%.#4(.#3/*(#"((5%0-(+ #",#. # / /10%# /2#"(( ./ .#(%* /!2. /)(#"($8()#.&( /#"(% /(-%# /##"(&(0(/#1#"(&(" )-(3 "((1(2#"($8()#.+ --$( $(##('(1 /('2. /)(#"( .(/..+ --'(#()##"(0% 0,-# #,'(1# 0(3" .%-. 0&(.#"()-% #1((.%)(2. /)(#"(( ./'()% %..) %#('+ #"#"((& ,.-)%# /1#"($8()#3 "(.()/' 0%!(2#"(#%(6 '1%-0#((.2 .."+ / F.((%-. B($C%DEF G3"(.(.(A,(/)(.%-.."+%' %0%# ) 0&(0(/#&(#"( (& ,..(#+ #",#. # / /10%# / 3#%# /!0%.#%# /%. # /2 F%G2#"(&(" )-(#%&(-..,# ".,#"(%.##",!"#"(#((.2 F$GF(G3!% /2#"( #((.2.",$$(2%/'((.%)( .,)"$(##( '(1 /('#"(/."+/(& ,.-+ #",#

PAGE 117

:@ +.(#.1#((.+ #". # /)0/(/#

PAGE 118

:; %(6 '%%/!(0(/#1%-0#((.+ #". # /)0/(/#

PAGE 119

:? 4%--+ #")-,0/.+ #". # /)0/(/#

PAGE 120

:< ! ××67 .#%/)($(#+((/ --%.+" -( .#%# /% . # / /10%# /3 0 -%-##"(.(A,( /)(+ #",#. # /2#"(.(#((.%(%(' .0%--( /. 6(#"(/ /#"((& ,.(5%0-(3 "(.#'%0%# )(5%0-(1#"($(/(1 #. 1,. /!#"(. # /1#"(&(" )-(%( ."+ / F.((%-. B!-C%DEF G3%0(+%--+ #")-,0/.2 %-#",!"+ #"#" .!(/(%#(' 0%2#"()-,0/.)-(%-% (%3.#"(&(" )-(!(..(. +(.#+%'2 F%GF'G2#"()-,0/.%(+(--'(1 /('2%.+(--%.#"(.",$$(%# #"( / ."2 F'GF(G3 3 "(%.!(/(%#('$#"(,. /! . # / /10%# /%(%%))(#%$-(2 $,#"+%)),%#(%(#"(_.#"( /10% # /(%$-((/,!"#,.($8()# %& '%/)(_++(--'#"(((.(/##"( (/& /0(/#$( /!'(#()#('_"%#"%(/. + #"$8()#.+" )"%())-,'('_"(.(A,(.# /.+ --$(%/.+((' /#" ..()# /3 3($($ (#"((-%# &(' .#%/)(.1$8()#.+ #" /#"(((.(/#%# &(1#"(%)#,%$8()#._/+ /!#"(' .#%/)( / 5(-.2% #,(' .#%/)()%/$()%-),-%#(',. /!#"( 1--+ /!0,-%E #%# /!+ #"%. 0-( (5%0-(2#"(&(" )-( . (/#(' #+%'#"(+%--%/' 0%!(.%( #%*(/+" -(#"(&(" )-((0% /. 0# /-(..2 3"(

PAGE 121

:: .#%/)($(#+((/#+.(#.1#((. .#%/)($(#+((/ --%.+" -( 0& /! )(/#(/(' .#%/)($(#+((/#"( --%. .:?((#3". /!#+ /#./#"(!%"2%' .#%/)(1 :;3<<((# .$#% /('3" -( /( 1%.#%# )$8()#2#"(( 0#%/#A,(.# / ."++(--#"( $8()#.%(%('+" -(#"( &(" )-( . /# /3(1( /!# 2#"(.%0( --%.%( ,.('#)"()*#"(' .#%/)(.1 #"($8()#.#"%##"("%.%('+" -( /# /3"( #+' .#%/)(. )*('11%(:;3%-0 #((.3/ 2#"(' .#%/)(. $(#+((/#"(#+.(#.1#((.%( :=3>((#%/':3((#2%/'#"( )%-),-%#('' .#%/)(.%(:=3>:((# %/':<3?:((#3"( .#' .#%/)( +(--+ #" /#"(#-(%/)(13@B 1((#3+(&(2#"(.()/'%--. ,#. '(#"(#-(%/)(2#" .)%/$(

PAGE 122

::: .#%/)($(#+((/>#%(6 '%-0#((. %)),/#('$)/. '( /!#"(%)##"%##" (.()/'#(("%'-+("%/! /!$%/)"(. +" )"#"(./% )*(',2%..((/$#" ((-/!%#('((.(/#%# /1#"(#((3/ 2#"(!(%#(.#( /' .#%/)( .3 :;((#2%!% /+ #" /#"(#-(%/)(3 ,$(%!($(( "(-%.#.()# /%/.+(('#"(A,(.# / 1%)),%)+ #"#"((-%# &(' .#%/)(1 $8()#.+ #" /#"(2$,#"+(%.# ) %(#"($.#%)-(.)0%('##"(%)#,%$8()#._#((#,/*"%.0 #(')0-(5 #2. /#"(.((5%0-(.2#"(&(" )-(#%&(-. %-/!. '(%)"% //*(/)( 3"((/)(.(%%#(.%'0 #0%-%!((/ (-'3#

PAGE 123

:: (%.# )((.(/#%# /1(/& /0(/#3F%G%#(.+,/!%+%0#"( &(" )-(3F$G%#(.+,/!#+%'#"(&( " )-(3F)G%#(-'('%!% /.##"( 1(/)(3 )(#% / /#.2#"((%(!%#('(/ /!. /#"((/)(+ #"%$%)*(/)(.%// /!#"( (/ /!2.(( 3/ F%G#"(!%#( .. # /('%+%10#"(&(" )-( %/' .#,)" /!#"($%)*(/)(3/#"( 2#"((/ /! /#"(!%#()%/$(.((/%-/! + #"#"($%)*(/)(3"(( .%-.%c$ '!(d$(#+((/#"(/# (/)(%/'$%)*(/)( +" )")(./'.##"(!%#(3"(!%# ( .(/('#+%'#"(&(" )-( / F$G3 /)(%!% /2#"((/ /!%/'$%)*(/)()%/$( .((/%-/!+ #"#"((/!%#(3 /%-/ F)G2#"(!%#( .,."('$%)*%-0.#, --%!% /.##"(/#(/)(3!% /#"( (/ /!%/'$%)*(/)()%/$()-(%-.((/2%/'+ "((#"(!%#( .%!% /.##"((/)(2#"( '( )#.#"%## /%.#" )*(#"(/#"((.#3

PAGE 124

::= .##(())-,' /!#"(.()/'3F%G ((.%..((/$&(" )-(3F$G()/' ))-,'('#((3F)G(#()# /.(A,(/)(3 +$ #"%.$((/(.#%$."('#"%##"($8()#.( -%# &(' .#%/)(.%(%)),%#(-. # /(' %/'#"%##"($8()#.#"(0.(-&(.%((%.# )%--#%('2$,#+"%#"%(/.+"(//( $8()#.))-,'(.%/#"(3.#"(&(" )-(# %&(.(.%,/'#"( .#2 .#"(.()/' '(#()#('_/#" .(5%0-(2#"(&(" )-( ./(',%%--(-##+# ((.2+"((#"( .# $-)*.#"(.()/'2.(( F%GF$GF.((%-. $C%DEF G3"( .(A,(/)(1(&(/#. .."+/ / F)G3# .##"(.()/'#(( .,/*/+/2$,# %.#"(&(" )-()(('.2#"( .()/'))-,'('#((.#%#.# (0(!( /#"(3.#"( &(" )-()/# /,(./2#"(.()/'#(($ ()0(.%.+(--'(1 /('%.#"( .##((3 '(&($2*$$ /#" ..()# /2#+' 11((/#.(A,(/)(. 1 0%!(.%(,.('#."+"+(%)"1 #"(.(/..)/# $,#(.##"(!(/(%# /1#" (! %%/'#"('(#()# /1$8()#.3

PAGE 125

::> %.)(/(2#"( .(%#('+ #",.##"(. /%2,.##"(-%.(2%/'#"(/+ #"$#"3"( 0%!(.%(.#('%5 0%#(-#+ )(%.()/'3 "( .# !,(2 2."+.#"( /#(%)# /1#"(./%%/'-%.(+ #" %-0#((.%/'"('!(.3"(./%2$( /!% 0 () .(.(/.2/-'(#()#.#"(%-0#((# #"(-(1#2%/'#"(%-0#((."('!(%..(0$-%!( /#"( !"#3"(-%.(2$( /!%(1 /(' .(/.2)%/'(#()#,-# -($8()#.+ #" /#"( .)(/(3"(/)0$ /('2#"( 0() . /1 #"(./%"(-.#$-('#!(#"(.0(1# "(-%.(.$8()#.#"%#$(-/!##"(.%0( ". )%-$8()#2+" -(#"(-%.(9.() . /" (-.#."#"(./%9.!..'(#()# /1 $8()#.3##" .+%2#"(#+. (/..)0-(0(/#(%)"#"(3 "(.()/' !,(2 2."+.#"( /#(%)# /1 #"(./%%/'-%.(+ #" .",$$(%/'%-%!(#((3()%,.(1#"(-)%# /1#"(./%%/' #9.+ '( (-'1 & (+2 #'(#()#.#"(%!(1#"(.",$$( %/'#"(#,/*1#"(#((3+(&(2. /)(#"( ./%-%)*.(.-,# /2#"( /10%# / .$,('#!(#"(3()%,.(1#"(-%.(9.-)%# / %/'(.-,# /2/--+"%/! /!$%/)"(.% /'#"(#,/*.1#"(.",$$(%/'#((%( '(#()#('3-,%/'(1 /(0(/#)),.+ "(/$#"%()0$ /('2%/'%$(##( ((.(/#%# /1#"($8()#. /#"(.)(/((0(!(.3 .&)!($ "( /%-.()# /1(.,-#.' .),..(. #"(-(1#"(#,/%$-(%%0(#(.3"(.( /)-,'(#"(#"((+" )"% (-%$(-('%.#,/%$-(L 2 6 %/' &6 L$,#%-.#"( ()(/#%!('(#(0 / /! ((.%)(C$.#%)-(3)%/%-.$(%'8 ,.#('#"((/& /0(/#3 #"(#,/%$-(%%0(#(.2#"(&%-,(. (%)"1#"(#"((&% %$-(. .)"%/!(' '%.# )%--#%))(/#,%#(#"((.,-#.3"( ()(/#%!()%/$(%'8,.#('#., ##"( (/& /0(/#2-+(('# /)(%.(#"('(#()# /2% .('#(0 /%#(%-.($.#%)-(3

PAGE 126

::B /# $,# /1./%%/'-%.(,. /!"('!(.%/'%-0#((.

PAGE 127

::@ /# $,# /1./%%/'-%.(,. /!.",$$(%/'-%!(#((

PAGE 128

::; .%G!( !(&$(!( 2#"(&%-,( ..(##( #"(B 3#"($.#%)-( /)(0(/#2#"( &%-,( .( #"(::3,(#.(/.&( -%2 # ./#(A, ('#%'8,.##"((0# /)(0(/#2/ . #()00( /'#.(##"((0#" !"(# "%/#"($.#%)-( /)(0(/#3 '/%0 )$8()# .,.('##(.# #"(%%0(#(.. /)( # . #"(.#' 11 ),-##'(#()#3 /%0 )(/& /0(/#.%(. 0 -%#,. /!# "(+ #",#. # / /10%# /31%/ $8()# . /#',)('/)(#"("%.(%)"(' .#(%'.#%#(2#"( ()(/#%!(1#"()(-0,.#W190 #9.),(/#.#%#(##"(# "(3" .-(%&(.%.#(%*2%..((/+"(/,. /! #"(+ #",#. # /3"(.-+(#"( (./'.2#"(-/!( ##%*(.#'(#()#%/ $8()#2%/'#"(-/!( ##%*(.#"(&%-,(.# '()%/)(#"($8()# "%.-(1##"()(--3 #" .#(.#2%(./+%-*('0.#%!(-(1#%) ..#"(/#1#"(&(" )-(2.#('' ()#//##(/.()/'.2%/'#"(/(5 #('.#%! ( !"#3"+/ /#"(.(A,(/)( .#"( .# # 0(#"($8()#' .#,$.#"(2%/#%/. # /#.#(%'.#%#(2#"($(.# 0%!(1$8()# '(#()# /%#.#(%'.#%#(F+"( /#"((./+%..#%# /% //#1#"(&(" )-(G2%/'%/ #%/. # /.(5 # /!0.#(%'.#%#(3 F.((%-. (BBC%DEF 2 (BBC%DEF 2 (BBC%DEF %/' (BBC%DEF G."+.#"((0,#%# /.1 #"(%%0(#(.%/'#"(%..) %# (',#)0(3"( !,( ..()# /('11 /##%/. # /.# .#(%'.#%#(F-(1#G2.#(%' .#%#(F)(/#(G2%/'#%/. # / 0.#(%'.#%#(F !"#G3#%# /!%# #"(#2+ #"#"(+.#)%.(.)(/% 1#"( .(##F.-+%#(G%/'#"( %/' & .(##/(2 #)%/$(.((/#"%##" ($8()#. ./(&('(#()#('3 (5#2#"( & ..(###(/3" . 0&(.#"($8()#.'(#()# /2. /)(% .#(%* ..((//#"(-(1#"%/'. '(2%/'#" ($8()# .%)#,%--'(#()#(' //#1#"(

PAGE 129

::? 11()#.1#"(#,/%$-(%%0( #(./#"(-)%-! '% &(" )-(3(## /!#"( #BF1%.#%#(G2%/'#"( $%)*#/(2 0&(.#"(%.)0%('##"(.)(/% 1::2. /)(#"($8()#' .#,$.#"( /#%/. # /#.#(%'.#%#(2%/'#"($8 ()# .%)#,%--'(#()#('3"( /%-+ .#"( $(.#)%.(.)(/% 1B::2(.,-# /! /%%.#%#(2%/'%+( !"#(' & 3/#"(.(A,(/)(.2#"($8()#' .#,$.# "(%. #(/#(.#"(! '2%/' . '(#()#(' /#%/. # /#.#(%'.#%#(3"(.# (%'.#%#( 0%!(', )('#"(-%!(.#$8()#2 %/' #+%.%-.'(#()#('(5 # /!.#%!( !"#3 '(22( "(#"(%%0(#(#"%#)%/$(' 1 (' .#"(),#11()(/#%!(,.('#&( 10W,/*/+/9#( #"(((.%)($.# %)-(+ #" /#"(3$& ,.-2+"(/#"( ()(/#%!( .-+(('#"(#%/. # /0 ,/*/+/#((.%)($.#%)-("%(/.

PAGE 130

::< (.,-#.1' 11((/#),#11( )(/#%!(./#"(-)%-! '%

PAGE 131

: 0(A, )*-3/&(.(-2% . /!#"(()(/#% !(#%*(.-/!(#!(/(%#('(1 / #((( .%)(%/'$.#%)-(3 ."+.#"((11()#1.(## /!#"(()(/#%!(#;2?%/'
PAGE 132

:: --.((/%.%/$.#%)-( "(+*%*%*, .#%#(' /. 0,-%# /+%.(5#(/'('%/'(.(/"%09. /( %-! #"0%/'#"(!(/(%--!/.)%/) /&(. /%-! #"0+((%'%#('3" . )--()# /1+*+%.)0$ /('#0#" ($8()#(#()# /0 /(/##"%# .)%%$-( 1"%/' /!%/%/!(.(/.3 #",#. # / /10%# /2#"()0 /(/# .)%%$-(1 0 #('$8()#'(#()# /3%'' /!. # / /10%# / .+%.."+/#"%##"(() . / 1#"('(#()#('$8()#. /) (%.(.3#" /%)),%) /#"(. 6(1#"($8()#2%/'#"( %)),%) /#"(. # /1#"($8()#3"()0/(/# .,.('%.!,/'+* / 0-(0(/# /!%(..% !($8()#'(#()# /3

PAGE 133

: "(%)),%)1#"( ./-%.!' %.#"(%)),%)1#"(. # /1#"( &(" )-(2%.#"(-'%'%!(.%.2c%$%!( /!%$%!(,#d3"(%)%//-$(%. () .(%.#"( /10%# / (.(/#('3. # /(.+ --)%,.(#"(%#,0%/' ." 1#2%/' /)/. .#(/)(.+ #"$8 ()#-%)(0(/#+ --.#%##%(%3 /%--2#"(. 6(1#"($8()##"%#)%/$( '(#()#(' .'(#(0 /('$#"(.(('1 #"(&(" )-(%/'#+%%0(#(.1#"(.( /.E"(.)%// /!(A,(/)%/'%5 0,0 %/!(3(( /!%--#"(%% 0(#(. 5('2%.0%--($8()#(A, (.%.-+(&(" )-( .(('2%%.#(.)%// /!(A,(/)2%% #"(%5 0,0%/!(2#$('(#()#('3/1 #"(.( /)(%.(.#"(/,0$(1# 0(.#"($8 ()# .'(#()#('$#"(.(/.3"(-%!(#"( $8()#2#"((%. ( #$()0(.#'(#()#2. / )( #9.$( /!.)%//('$/,0(,..(/..3

PAGE 134

:= --()# &(.#,)#,( ? 4 ()%,.(1#"()0-(5 #1(5#(/' /! %/'%'%#('*, 9.(.(%)"2/-#"( 1 .#"%-11#"()--()# &(.#,)#,( 1#"($8()#(#()# /0/(/# FG%/'#"($8()#% /! 0/(/#FG2+%. 0-(0(/#('2.(( 3 +(&((5#(/. &( /&(.# !%# / "%.!/( /##"('(&(-0(/#1 #"(3" .$%)*!,/' (.(%)" /)-,'(.&% ,.% /!0%#.#"%#)%/$((0-('$#" /,# /##"( )0/(/#2%/'%.%0%# ,#,#3(#"'.,. /!)0,#%# /%-!(0(##(!( -!/.+"((%-.(&%-,%#('2. /)(#"( .(..(/# %--%-!/%-'%#%$%.(3 :(*(($ 4"(#"(,%(#%&(/!#%-)%-.# (2%/'(10 /!-%/'0%*/%& !%# /2 ' & /!#%/#"(.#%#(%/')/.,-# /!%% '%#-%.2%.-%%/ 0#%/#%# /, (&('%&(.3% /! .%-. 0#%/# %,#/0,.%!(/#.3 #"%/% %2 #"($#)%/-%/%.%1(,#(0.#%# #!%-%& ' /!%--*/+/$.#%)-(.3"(% )%/%-.$(,'%#('%/'.,-(0(/#('%.#" ($#(5(),#(.#"(,#(3+(&(2 /%/

PAGE 135

:> ,/*/+/(/& /0(/#2%%)%/-%%. !/ 1 )%/#-(2%--+ /!#"($##(-%/ + #" /%*/+/2%('(/& /0(/#+" (/%)('+ #"%/ 0%.. $-(%&(/,(3 %.)%/.#( /10%# / /#+0%#. 3"( .# .%((.(/#%# /2 -%/%%2%/' .., #('.#,)#,(' /' (/& /0(/#.+"(/(-(&%# /2.-(2 .1/)/)(/3"(.()/'((.(/#%# / .=2#(% /%3" .((.(/#%# / . +(--., #(')0-(5(/& /0(/#. .,)"%.#"(,/.#,)#,(',#'.3 .;:!$,$(( H( "(#(0A,%'#(( .,.('#'(.) $(%) -%..1" (%)" )%-'%#%.#,)#,(.+".( )00/(# .#"%##"(%($%.('/# "( /) -(1(),. &('()0. # /1 .%)(3"('()0. # /%$( /#(A,%%#./(%)"-(&(-F 3(3(!,-%-!/. %/'#(0('%(!,-%'()0. # /G2 # 0%$(!&(/('$#"( /,#3"((.-,# / 1#"('()0. # /F 3(3#"( /,0$(1# 0(.#"%##"('()0. # /)(.. .%('G 0%$( 5('$(1("%/'2 #%$(!&(/('$(# (.1#"( /,#'%#%3 /#"(#((((.(/#%# /2#"(#/'( )(./'.##"((/# (%%3%)"./ 1%/'(((.(/#.%A,%'%/ #1#"((! /((.(/#('$ #"%#/'(3"(-(%1/'(.1 #"(#(()(./'##".($-)*.+" )"/,#"(.,$' & . / ./()(..%3 '(( "()(#% /#! '((.(/#%# /,.(.% %%#.#(&%-,(.%..) %#('+ #" #"()),%/)1#"()(--3 &(/%.(/. (%' /!2%--#"(&%-,(. /#"()(--.,##"( (%' /!%('()(0(/#('2. /)( # .)(#% /#"%##"(( .((.%)(,#"($.#%)-(3##"( )(--.)(./' /!##"(.(/.(%' /!F,. ,%--2.0(,/)(#% /# . /)-,'('G2#"( &%-,(.+ #" /#"()(--.%( /) (0(/#('31#(%)(#% /#"(. "-'2#"()(-.)/. '(('

PAGE 136

:B )), ('3" .(#"' ./#%11()#('$'/%0 )$8()#.2. /)(,-# -((%' /!+ #" / #"(.%0(%(%+ --(0&(#"((.(/)( 1#"($8()#.+ #" /#"('%#%$%.(3 + "()),%/)! '((.(/#%# /(0.%,-# ' 0(/. /%-F# )%-=G#(..(--%# /1.%)( /#)(--.2+"(((%)" )(--.#(.%$%$ .# )(.# 0%#(1 #. .#%#(30%--2%/)),%/)1 (-'F5G .% ' .)(#(.#%#(.#)"%. # ))(..'(1 /(' &(%.(#1)/# /,,..%# %)' /%#(.XF5:22/G2+ " -(#"()),%/)! ' . %-%## )()(..2'(1 /('&(% ' .)(#(.%# %--%## )(3"(. #%#(&% %$-(.FG%..) %#(' + #"%)(--1#"()),%/)! ' .'(1 /('%.%' .)(#(% /'0&% %$-(+ #"#+ .#%#(.2)), ('%/'(0#2'(/#('%/ '3/.(A,(/#-2#"()),%/)! ' )(./'.#%' .)(#(.#%#($ /%%/'0 (-'3 /)(#" ()(--.#%#(.%((5)-,. &(%/' (5"%,.# &(2J.FGXKZJ.FGXKX:3 /#((##"(%/!('%#%$#% /(' 0%! &(/.(/. /!'(& )(2-1(.J?
PAGE 137

:@ /#"(.,))(.. &(.,$' & . /1%/$8()#%% /#)#%/#.31#"(%%'(./#)/. .# (/# (-1. 0 -%&%-,(.2 # ..,$' & '(' /#)#%/#.2.,$)#%/#.2%/'./3" . .,$' & . /)(.. .((.(/#('$%#((1 '(!((? /+" )"#"(#/'(((.(/#. #"((/# ($8()#%/'#"(-(%1/'(.)(./' ##".(),$(.1#"(%%1+" )"/ 1,#"(.,$' & . / ./()(..%3 /= ..%)()%/$(' & '(' /#,/ #.A,%(.2=.%)()%/$(' & '(' /#,/ # ),$(.&5(-.3"(.(&5(-.)%/$($, -# ,#0%$ #%&-,0(# )."%(.3 J?
PAGE 138

:; .(/.,.('2#"((%(.0(# 0(.#+%.#"%#%(!(/( %#('3"( .#% . .0(# 0(.)%--('#"()%--( &%# /%2%/' .!(/(%#(' ' ()#-0#"(.(/.3 ()%,.( # .'(&(-('0#" (.(/.2 # .,.,%-5(' /. 6(%/'(.-,# /3" . -)%-% .#"(/ /#(!%#(' /#%-%!(2'/%0 )2!-$%-%3 .( %/!,-%(."(."%&($((/()!/ 6(' %.%##%)# &(#-.%+ '(&% (#1 %)%# /.$()%,.(1#"( . 0) #%/'-(5 $ #3()(/#-2#"(,.(1#"(.((."(. "%.$()0(()00/ /$# ).(-%#( ' (-'.$()%,.(1#"( (11 ) (/) / ((.(/# /!-%!(.(#.1.)%##((' /# .%/')0-(5$8()#.3"(# %/!,-%# /2 '(/#('$2/(('.#.%# .1#"(--+ /!(A, (0(/#.E :3.",-'$(#-! )%--%/'!(0(# )% --)()#F 3(32# %/!-(..",-'/# /#(.()#G3 3"(A,%#1.",-'$(%." !"%... $-(F 3(32.",-')/#% /%.(+ $%'-."%('# %/!-(.%... $-(3 =3"($,/'%/'(.1.",-'$(. # /('/#"('(-9.('!(.%/'%)(.3 >3.",-'$($,/'%)/10 /!F 3( 32# %/!-(..",-'/# /#(.()##"($8()#9. $,/'%G3 %) %J<>K(.(/#.#"(%)%# /1%!(0(# )%-'(/!#()"/ A,(# 0,#( . / /'(# ()/.#,)#.0#".,1%)(.0 %$ #%# %/!,-%# /.1 .)%##(('= /#.3"(.( /#.%()/. '(('#$(/ .%.%(.,-#1%.(/. %)A, . # /)(..3"(()/.#,)# /$ -(0 .#%/.10(' /#/(1.,1%)( %5 0%# /&(%$ #%# %/!,-% 0(."(.3"(()/.#,)#('.,1%)( .)0.(' 1%)--()# /1# %/!,-% %#)"(.3 /)(#"(.(%#)"( .%(%%0(# ),/)# /.2 %$ #%#-! (.1%/!(/,.)%/$(((.(/#('3

PAGE 139

:? %.#!(/(%# /1=# %/!,-%(." (.0%/!( 0%!(. .'(.) $('$ %) %J
PAGE 140

:< %/')0,# /!#"(.#%# .# )%-.#%/'%''(& %# /#0(%/.A, %((FG3"( .,.('#'(.) $(#"(%)), %)3;3B0 /,#(H.'( &('0 "#!%00(# ).,)(2<( )(/#"%&(%&(# )%-%)),%)1;0(#($(##( %/':()(/#%( /#"(?#:B0(#(%/ !(3;3B%/':B0 /,#(H.'( &(' 10&()#".!%" )%/'"'! %" ).,)('%#%2%/1/("%-1 )/#, /#(&%-$ (##( .(A, ('3 /((2!( "(()#',)#0%#FG .%.#%/'%'0% #2.#,)#,(2%/' !%/ 6%# /-%!(!(!%" )'%#%$%.(. #"%#%($%.('/%!( (-%# /%-'%#%'(%/'%( /#(/'('' ()#,.(3 .'(. !/ ('#$()0%# $-(+ #"%+ '(&% (#1 %)%# /.%/'',)#.3%--+.%)%# /.1#+%(#(%''%#%' ()#-0 )0,#((%'%$-((' %+ #",# )/ &(. /#%/ /#(0(' %#(03,.(. #%$-(.%/' /'(5(.#"%#(0 #' ()#%))(..$. %# %--)%# /%/'#"(0%# ))/#(/#%/' . '(. !/('#$(,.('+ #"%/' ! #%-!(! %" )'%#% /&()#0#"%#)%/$( ((.(/#(',. /!/'(.2('!(.2%/'%)(.3 '(1 /(.#"(0%#1'%#%$8()#.2%/' #"(!((-%# /%-'%#%'(-& '(.%'%#% !%/ 6%# /+ #" /+" )".1#+%()%/ 0%/ ,-%#(#"('%#%$8()#.3',)# .() 1 )%# /)(./' /!#%.() 1 ) '%#%$%.(',)#'(#(0 /(.#" (() .()/#(/#.1(%#,(#% $-(.%/'#"( (-%# /." . /#"('%#%$%.(3/#" .)/#(5#2(%)".(% %#(',)#%)%# / .'(1 /('$% ',)#.() 1 )%# /%/' 0-(0(/#('$.#,)#,(.3 0($() $ "((./. $ #1#"($8()#% /!0/(/#FG .#% /#% /#"( !-$%-)/#,%2%-!/%-((.(/#%# /1#"($8()#.'(#()#('%/'#"(.%)(

PAGE 141

:= #%&(.('#"%#"%.(%)"('%/('!(1#"( -)%-! '%3//(+-!/,.#$( /.(#(' /##"('%#%$%.(3(+-!/.2 */+/%.$,$$-(.2(/#( /!#"('%#%$%.(,.# $((&%-,%#('3/(.#"%#%(, --)/#% /('+ #" /%/#"( -!/%(' .)%'('2/(. #"%# /#(.()#-!/.,.#$()0$ /('2% /'/(.#"%#.#%/'%/(%(%''('##"( '%#%$%.(3 / ! /%-(#"''(&(-('$*, J <;' 11((/# ,-(.,.('#(5(.... $-()0$ /%# /.1 $,$$-(%/'-!/ /#(.()# /3

PAGE 142

:=: 0$ / /!$,$$-(.%/'-!/. 0($(2*!($ "($-(0+ #"#"((& ,.(#"' .#" %# #/-)/. '(.%$,$$-(."% /!% &(#(5%/'C%/('!(+ #"%-!/3"(( ./)/. '(%# /1%$,$$-().. /!%/ ('!(1%-!/2%.."+/ / 3+(&($,. /!)0,#%# /%-!(0(#2% . 0-((#"'#)0$ /($,$$-(.%/'-! /.)%/$(,.('$1 /' /!#"( /#(.()# / $(#+((/-!/.3" .(#"')&(.%-#"(,-(.!(/(%#('$*, J<
PAGE 143

:= (/#-(##0%//.+((/( %-! #"0 ",.2%#.0(# 0( #(&( /#(.()# /c(&(/#dF+"(/ )..(.%/ /#(.()# / /#G2#"( /#(.()# / .(!0(/#.%(%'8%)(/#/ 3" .',)(.#"(.,!"#1-)%#E 0,# /! /#(.()# /.$(#+((/.(!0(/#.%'8%)(/#/ .,11 )(.#)%#,(%-/#(.()# / /#.30(1#"(.(%'8%)(/ #.(!0(/#.'/# /%)# /#(.()#2$(#"( c+%.#('(11#d ..0%--3 *((),.('/#"(% / '(%2-(#9.%*(.(&(%-. 01 /!%..,0# /.E ..,0(/.(!0(/# ." 6/#%-%/'/#" ((.(!0(/#.%..#",!"/( /#3"(-%/ .#.+(( &(#"(.(!0(/#.2.# /!%#(&(/#.1#"((#(.E >3"(#(/' /#1%.(!0(/# ." #2 B3"($##0(/' /# 1%.(!0(/# .%..(.2 @3/ /#(.()# / /#$(#+ ((/#+.(!0(/#. .(%)"('3 --#"((1#"(.((&(/#.)%,.(# "(.#1.(!0(/#. ()('$ #)"%/!(E .(!0(/# . /.(#('2'(-(#('2#+%'8%)(/ #.(!0(/#..+ #)"-%)(.2(.()# &(-3 #" (%)")"%/!(2 /#(.()# /.$(#+((//(+ -%'8%)(/#.(!0(/#.,.#$()0,#('3 -#",!".(!0(/#.,.#$()0(%'8%)(/# / ##"( /#1 /#(.()# / " 2 # ./#!,%%/#(('#"%# " .#"(/(5# /#(.()# /(&(/#+"(/ # .)0,#('3 %#"(2#"( /#(.()# /(&(/#.,.#$( -%)(' /%A,(,(.#('$"( !"#2 %-/!+ #"#"(.(!0(/#(/' /#.3/ --,.#%# /.",-'% *(#"(%-! #"0 )-(%3/. '(#"(.(#1.(!0(/#. X[ 2 2\."+ / 3(# $(#"(,((/' /#1.(!0(/# 2

PAGE 144

:== %/' & #.-+((/' /#3"(/#"((&(/#A,(,( . / # %6('#XF 2 2 2 2 2 2 2 &2G2%--#"(.(!0(/#(/' /#..#('##$##03"(/ (%)"(. %/' F. # /:G2 %/' $()0(/(+-%'8%)(/#2%/'#"( /#(.()# / /# " .%''('# #"(A,(,(%1#( &3 %/' %(%-./(+-%'8%)(/#$,#' /# /#(.()#3#(#"%##"( " !"( /#(.()# / /# ""%./#(#$((/)/.#,)#('3#. # /2 " #. L#"( /(+-%'8%)(/#.(!0(/#. %/' '/# /#(.()#3##" . /#X[ 2 2 2 \3# . # /=2 " #. 2%/' /#(.()# / /# " .%''('#%# #.% %#(-)%# /3 #(#"%##"(( /#(. ()# /(&(/#c$(#+((/d %/' + --$((/),/#(('$(1( " . (%)"('3#"(# 0( (%)"(.#"( .# /#(.()# /(&(/#%#. # /@2%--#"((/' /#. %$&("%&($((/)(..('2%/'XF 2 2 2 2 G3" .(&(/#)%,.(. %/' # .+ #)"-%)(. /2 /#',) /!/(+%'8%)(/) (.#"%#(.,-# / "%/' "$( /!%''('# 3/+)/#% /.%--#"() )-(' /#(.()# / /#.."+/ /#"( !,(3 "(%-! #"0/(('.#% /#% /#+' /%0 )'%#%.#,)#,( .E/(%/'/( 13#",.#.,#%.# /.(# /.%/' '(-(# /. /'(#%)" (&(%/&(%--+# 0()0-(5 #3$%-%/)('$ /%# (( ..,11 ) (/##(0 #$#"%/'#$( .#(' /.%)(# /%-# #"( /,0$(1(-(0(/#.2 3()%--#"((%(+ %$,#c+%.#('(11#3d+(&(2#"(/,0$(1 /#(.()# /)%--. .%#.##+ )(#"( /,0$(1(&(/#.2$()%,.((%)"(&(/#(.,-#. /%#.##+/(+.(!0(/#%'8%)(/) (.E%/ /.(#('.(!0(/#+ #" #./(+/( !"$.2# +/(+/( !"$.+"(/#"(.(!0(/#$(#+((/ .'(-(#('2%/'/(+-(1#%/' !"#/( !"$.) (%#('$%.+ #)"%#%/ /#(.()# /(&(/#3 0($(2"%=) $ # ./#' 11 ),-##%-#(#"((/#-##0 %//.+((/(%-! #"0#)0,#(#"( /#(.()# /1#+-!/.3(##"(#+-!/.$( %/' * 2+ #"&(# )(.-%$(-(' 2

PAGE 145

:=> /#(.()# /1#+-!/.3 %/' &(.()# &(-3"(% / '(% .. 0 -% ##"%#,.('$.)%//(%-! #"0. 1 -/!F% /# /!G%-!/%-(! //%! %" )..)((/3/(% /# % /.%-/!#"(-(/!#" 1#"(.+((/( %c.#%#,.d /' )%#2#"%#"%.#"(--+ /!&%-,(E E(5#( #$#"-!/. E /. '( 2$,#,#. '( * E /. '( * 2$,#,#. '( E /. '($#" %/' * "(.#%#,. .()'('#"(.%/$(#+ ((/(%)"#+%'8%)(/#.( !0(/#. ()('$ L )-(%# .)/.#%/##",!",#(%)".%/3 /. '(#"((5%0-(."+ / 3"(/ .%#. # /F(&(/# &G2#"( -(1## !"#.#%#,./( .F 222 22 G3" . /10%# /)%/$( (%. -.#(' /#"( .%0('%#%.#,)#,(((.(/# /! 3 #%# /!0#"($(! // /!2%# . # /2+"(/ " #. 2#"(%)# #"%#$#" ('!(.%($(-+ /' )%#('#"%#%/.%/ .$( /! /#(.()#('3#. # /:2% * .%/ . /.(#('3,.#.!"#-$(-+ &2 %/ /#(.()# /(&(/#(/,%/ * .%/2(%. -()!/ 6('%..,)" $()%,.(#"( /#(.()# /!.(!0(/#.(%)"$,/' %/' * 0. #(. '(2+ #" %/' * $(-+3#. # /=2 /#(.()# /(&(/# " 2#"(. #()),.E#"( /#(.()# /!.(!0(/#. (%)"$,/' %/' * %$&(#"(03",.%/ * .%/' .%(%.2(-%)('$%/ .%/

PAGE 146

:=B $(#+((/#"(.+ #)"('.(!0(/#.3#%F. # />G2#"( /&(.(1#"(%. #,%# / . (/),/#(('E"(('!(.%( %$&(2%/'%/.%/ .(/!,-1('$#"(.,,/' /! .%/.3-#",!"() .(,-(.+((/#& '('2 #.",-'$()-(%#"%##"(.%/.#%#,. /10%# /%$(% /#% /( '$#"(.+((/(%-! #"03 -(%/(%# /.$(#+((/-!/.% $()/.#,)#('+ #"&% %/#.1#"( (/#-(##0%//.+((/(%-! #"03 1,+%/##)0,#( /#(.()# / * 2(5#%)# #"(%)(.#"%#%(-%$(-('3 1,+%/##)0,#(#"(,/ / * 2(5#%)##"(%)(. #"%#%(-%$(-(' * 3/' 1,+%/##)0,#(#"(' 11((/)( g * 2(5#%)##"( 1%)(.#"%#%(-%$(-('+ #" %/'/#+ #" * 3"(.(-(%/(%# /.%(#"("(%#1 0%/C.1#+%(..#(0.2+" )"2 (5%0-(2)/.#,) #)0-(5%#.$ .,$#%)# /!/(."%(0% /#"(2 / /!."%(.2.) /! %+%%#1%."%(2(#)3

PAGE 147

:=@ J<@K3*$%%--23-((0%/2O=$ #(/. /!0/%%/' . /2O '!!!& F:<<@GE@?@@<:3 J<=K3%*%+%23#*&2O.# 0%# /!%)#%0(/. /.1%#,%(% /0(!,-%-%)('%#%2O '!!!05: 6& F:<<=GE:=@>:=;3 J<=K30.#/!2O. # /%/' $.#%)-((#()# /.#(0.%/ ,#'2%/'%.('2,#/0,.(" )-(2O ; 2/ &(. # 1'%2% /(.& --(2'%F:<<=G3 J<%K3.%'%2O%, -' /!% $ -($#0(/.%#%2O !!! 2 --& 2=;@F:<B@:>@:3 J??:<3 J<@K3%))%23((23/6%-(62$ ' 2O(!0(/#%# /1%/!( 0%!(.& %%#%,. /%/'"-! )%-%#(."('.2O ' 5 2<:F:<<@GE:@;=:@?;3 J<@%K3%/#%23$ ' 2O,#/0, .-%)(0(/#1%%/!((/. )A, . # /1# 0%-='(-.2O 6!!!!% 2=F:<<@GE:B?=:B??3 J<@$K3%/#%2$ ' 2O# 0%-% /!((/.. # /='(()/.#,)# /2O '< 2 %F:<<@GEB;@3

PAGE 148

:=; J 2.#(0.2 /)32%--#2F:<F:<<:GEB=BB=<3 J<@K3%.#(--%/.2%'Q.2O%.(%. ('(!0(/#%# /%/')%6%# / %$ -($#2O '" 5& F:<<@GE:::<3 J:K3%.#(--%/.23( %23%'Q.2O ,-# .(/.,. / 0,-#%/(,. )%6%# /%/'%, -' /!2O 6!!!& 2:;E@F:GE3 J<:K3"%/23%023(,/!2O$# %& !%# / //*/+/(% /.& % ,-# (.-,# / '%.2O 6!!!!% F:<<:GE::=?::>=3 J<:K3"230 #"23%.%$%'2O/11 ) (/#(% /)A, . # / -! #"01%$ -($#2O '!!! 6& F:<<:GE=@=::3 J<>K3"%23%!%." 0%23,#%2O 5/!/*/+//& /0(/#%/' %/.#,)# /. /!-#%./ ) (/. /!10%()# /1 4%--.2O '!!!& F:<<>GE>?B><3 J?BK3//--2O"((#(0 /%# /1(5#(.# (+.2O ' 6!!!& F:=>=B3 J<=K30+(--2O(/..%/')(.../%$-($#.#((%/' /'(.#%/'2O +< 2%)"F:<<=GE@;;?3 JK3'((!23&%/(&( -'23&(0%.23)"+%6*12 = 2 /!(2(/ FG3 J?@B;3

PAGE 149

:=? J<@K3%(*2O=,1%)('(/! . /! (%)" )%-!%" ) %/!,-%(."(.2O ' 2/ &(. #1%#(-:<<@3 J<:K3 .)"-(23#%#2O/#(5#$% .(' . /E()!/ 6 /!$8()#.. /! /10%# /0#"=%/'=0%!(2O !!! ' 2:=:F:<<:GE:B:@B3 JF:<<=GEB;;B?=3 JK3%) %2O()/.#,)# /1 .,%-,1%)(.0%.(%#%. /! %%0(# ) %/!,-% 5 0%# /.2O 6!!! ' 2F:<<>GE;B;B>3 J=>?3 J<>K3,-(23 &('2O(/. %.('$.#%)-(& '%/)(%/'% /! 1%.#$ -($#.2O '!!! 5& 2F:<<>GE:=@:=::3 J43 J<=K3%1#23.(2O,#0%#('-% .. 1 )%# /1(/( )(% /(%#,(. / ! #%--(&%# /'(-.2O '! 2B<<:>:;3 J
PAGE 150

:=< J<:K3%!(23 /#62O0,#%# / %-(#"'.%. *' ()#('(/. %#%,. /%/'(/.-%// /!2O 2:& 5 2:>F:<<:GE?B=:=h J::B>@3 JF:<=?3 JUF:<;:>;;3 J
PAGE 151

:> J;;K3/!(23,23,/ 2 -=' 2)%'(0 )(..2/)32(+*F:<;;G3 J<>K3#*&2110%/2O(% /% /!%%-* /!-%/(#% &(2O !!!& 2 :@F:<<>GE;?;=F:<K3%) 52"%# -%23-(, 23($23 0@/2O,#/0,. %& !%# / /,#'/& /0(/#'%# &(%)"%/'5( 0(/#2O 6!!!& 2:F:<<>GE>@>=3 J<;K3%0(-%23(623%) % 2O+.#%/!(0%$#% / /! $ -($#.%.('/% %/!,-%# /%/!(1 /'(2O ' 477B!--!% F:<<;GE:?>:?;3 J?@K3%/!(23)"(02c,. /! %'%%/' . /(#()# /!2 -%.. 1 /!%/'& ' /!%'+%$.#%)-(.2O ' 6!!!@ F:<<@GE=====?3 JF:<3 J
PAGE 152

:>: J<=K3 023"2O5( 0(/#%-/&(.# !%# /1% /!%/'%& !%# / %.('/(#% /# '. . /!/%(/..2O 5& 2 :::F:<<=GE;:;3 J<@K3 ##-(23 -./2O% '-''(/!$# ).2O ' < F:<<@GE>>:>>@3 J<=K3% 23 6(2O%(% / /!%/'-,.#( /! /,#/0,. .#(0.2O 6!!!' 6 2:B:F:<<=GE:?@:<;3 J??K3%%&()2O(/.,. / / (#% /# '.$ -($#.2O 6 2,00(F:3 J=B>;3 JSNK3R6-23 (, -2O, -' /!%/& /0(/#%0%.(%/!( /'(%#%2O '!!!@ FGE<K3)-/(2O(/.'(/! /0%!((! .#%# /2O 5 F:<<>GE:::;3 J<:?3 JK3."(--23-%,2T3 23 .-(2O/%0 )(% /2O 2 %/,%F:<<>GE<>3 J
PAGE 153

:> J>@3 J<=K3%."%." $ 23(&2O= /)(0(/#%-'(/!%/'$# )%6%# / /%#,)#,('/& /0(/#. /!%%.(%/!( /'(2O 6!!!& 2 :F:<<=GE@3 J<>K3"%23%!%." 0%23,#%2O5/!/*/+//& /0(/#%/' %/.#,)# /. /!-#%./ ) (/. /!10%()# /1 4%--.2O '!!!& :F:<<>GE>?B><3 J<@<:>;>3 J=3

PAGE 154

:>= J<;K3"23((23+(/2c$.#%)((#()# /%/'(-1)%6%# / + #",#%0(%%$%# /,. /!8()# &(/&% %/#.2O ' B!!!05:& 2F:<<;GE:<=:=B3 J?K3)"/( '(23-123-6"%, .(/2O)A, . # /%/' .-%1% 4-''(-. /!%//#/0,.$ -(%/'$#2O 6!!!05:0=4 6& F:<<>GE;@<;;B3 J<:K3"%2"(--%%23 0("/ 2O()/.#,)# /%=(#"% 10/((0%!(.2O @=6'? 2 B=F:<<:GE:<@3 J<>K3",023*(,)" 2(''2O #,%-(%#'(/!0% (A,(/)(1%/!(0%!(.2O 6!!!05:0=6 6& 2:F:<<>GE;=;:3 J:K )*2/)32 >>0174 2 )*2/)32 -0 /!#/2F:G3 J<;K3 -&%23(/(6(.23 %.2c '%.('%& !%# /,#/0,. $#./-! #"0%.('/#"( /#(!%# /1 . /%/'/% %#%2O 'B!!! 6!-6! 2=F:<<;GE??@3 J<=K3-%)*2O 5('0,#%# / (%0(/%,. /)%%& !%# /2O '!!! 5& 2F:<<=GE:=:<3 J<>K30,$23&((##2O/#(-!(/# (/.,. /%$ -((), # $#2O 2%)"F:<<>GE:??3 J<:K3#%*23+(2O)" (& /! (/(%6('$8()#()!/ # /",!" (%./ /!%$,#..) %# /1,/)# /##,)#,(2O 6!!! 2' 2 :=:F:<<:GE:<;::=3

PAGE 155

:>> J<:K3#%#23 ."-(2O/#(5#% .(' . /E()!/ 6 /!$8()#.. /! /10%# /0$#"%/'=0%!(2d !!! ' 2:=:F:<<:GE:B:@B3 JK3#,)*23%/623((/23 -!%66%2O%'%# /!%/'%#" -%// /!(%0($ -($#%& !%# /2O !!!05:0=6 6& 2 :F:<<>GE>=:>=?3 JK,.%23 '"%2O%%--( -0-(0(/#%# /1%,-# .(/. (%#,(%.('%/!( .# 0%# /(#"'2O 6!!!& 2:@F:<<>GE;BB;@?3 J<>K3,#"(-%/'23"0./2O)%6 /! //.#,)#,('/& /0(/#.E (%/!+ #".2O 6!!!& 2 :@F:<<>GE;>;B>3 J3 J<=K3%--, 23!!%+%-2O0%!(C %)(./'(/)($ -($# (-1)%# /. /!0,#(%" ).2O 6!!!' 2:B@F:<<=GEB<;@:3 J<=K%//(23"2O%5/01,-# (/.,. /2O : 2::BF:<<=GE=:>=B3 J
PAGE 156

:>B J:B<<3 J%K/0%//(',/'(" )-(. C.#(0. /#8()#11 )(2 : =,:=.?@ 2-%$%0%FG J$K/0%//(',/'(" )-(. C.#(0. /#8()#11 )(2 : =,:=.?@ 5 2-%$%0%FG J4T?;K3%50%/23( !/(23%& .23 / &%./23,."/(23 %/!2 3 ''%/!% %"2O .,%-%& !%# /.#(0,#/0,.%/' (" )-(.2O 6!!!:& 2F::>:3 J4:<=>3 J4<@K3 ##23%/(230.#/! 2O&%-,%# /1%//#(!%#('/(# %%& !%# /.#(0%/'-$%-. # / /!.#(0(%# /!/'((.. "%/# 0%-/' # /.2O 6& 2%/)(F:<<@G3 JK3%#%23"%23,#%2O,. /1 0/ ' ()# /%-/%%/'0/ ' ()# /%. //& /0(/#()!/ # /1$ -($#.2O '>>>!!!& 2FGE=>> FGE=?;=<:3 JNF:<KN3N",23T,23"(/2T3 /2O /%0 )$.#%)-((#()# /",!" (%# /1,. &( .,%-' ,-(.1-2#((2%/'# /2O

PAGE 157

:>@ '!!!& 2 =F:<<>GE:<:@:<:3

PAGE 158

:>; .%,/!)" -'2%& '( #"& )*+ %.%-+%.#%* /!#" /!.%%#3"(/"( +%.%$-(#,##"(0$%)*#!(#"(%!% /2% /'#"(.# --+*('2"(*/(++"%#"(+%/#(' #$(3(+%/#('#$(%/(/! /((3,#+" )"* /'_ , /!" !".)"-2"(#*%--#"((-( &%/#),.(+*2%/',/'"((/8(' !%00 /!/)0,#(.2+* /!+ #"(()#/ ).2%/''(. !/ /!()"%/ .0.31#( !%',%# /2"('() '('#%##(/'#"(/ &( . #1'%3# --,/%$-(#%*(% '() . /2#"('(%#0(/#1()" %/ )%-(/! /(( /!)".(" 02%/'"("%./9#-*('$%)* . /)(3 / ." /!%%)"(-1) (/)('(!(( /:<<:2"('() '('"(+%/#('#)/# /,( " .(',)%# /3" -( /()"%/ )%-(/! /(( /!2"(+%..# --'%$$/!+ #" /#"(.) (/)(. 1)0,#(.%/'(-()#/ ).3)0$ /(%--#" ((' .) /(.2"(,.,('#"( (-'1 $# ).+ #"#"(()"%/ )%-(/! /(( /!' (%#0(/#3/:<<=2"($#% /('%%.#(1 /! /(( /!'(!((+ #" /. /)0,# (.) (/)(2%/'(-()# )%-(/! /(( /!3 # --+%/# /!# 0&(2"(.#%('%##" (/ &(. #1'%%"33 / 0()"%/ )%-(/! /(( /!3+!(%#/&-&(' + #" /#"( (-'1$# ).2"(%!% / %)" (&('',%/. /)0,# (.) (/)(%/'(-()# )%-(/! /(( /!2 /%-/ ." /!#"( ' ..(#%# / /%130"((2"(-%/. #)/# /,( /##"( /',.# %-+-'1 $# ).3