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Transkript
ÎÇÄÍ Æ Ä ÇÊÁÌÅ Î ÈÄÁÃ À ÆÅÊ
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" C8 VSA( ' 6 :;< " 8 8 . - ( < # D # # "$ C+ $ # . - D D< # $ 9 KPL 5 : ( 6 ( 6 61( >6(6A@ 6Q / 6(EH $. .$ C " VSA( # . + # [ ## # F" #8$ # $ 9 + # + # . #+ # D + # + # ( ( ; 1 ( /"# # 9 . 5 : ( 1 & ¾ >6(6E@ & ( 61 ( # $8$ + # < 9+ # < 9+ # D $ < 9+ # < 9( -7 . - * F$ 7 # CH =$W + < # 9 % * < # 8 ( * * * 666 * < # $ >" + . @( , $ $ C * 7 # F$ H #=> * + %* 2= * * ? >6(6P@ # # 6 7# * + * ? KE?+ EQL( , $ "8 + 8 8# 8( 4 "$ # $ " "$ 9$ $ " #8$ 8$ $C KEQL( 6M / 6(PH . "$ $.( " # $ % =# F$ # $ F$ "8$ ( /" # H $ < $ #$ 7( 2 * 64 =)' + 9 $ 8 $ $C( , $8$ #$ ( 'C8 8 $ # C . >+ @( C $ $ $ 9 * "8$ .C( , 8 ##$ # ( $ ( < >( . @ $# $ "( , $ # 8 + # " # $# $ ( C $ 7# $ " ( :D # $ $( , $ C $ 8 * 2$ 8 ) ! 9 # -) :V > 9 $# $ D@+ =G >:D@+ R >!@ =)'Q( * # < ( )# 8$ $ "* 8$ C( $ 9 $8$ $ $ 8 8 ( * 8$ 9 "$ 9 * $ 9 *$ 8$ $ * ( ,"#* # 9 KO6+ OA+ OEL( & " ' % " " " )$ DC =)' 9# $. . ( , # .< J + ##$9 F # 9 $ $. .$ ( % # " 8 7< $ ( " $ .C 8 # # $8 8 + # " D *( 0 # 8$ 8$ 8$ 7< . $( #8$ .8$ $ " .8 $ . $ 9 #$ $. 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F$ 8 8 ( 8$ F$ $ # + D + $# 8 $ ( =" 8$ # #( 0 # 9 9 *$ 8$+ # $ * ( , 9 8$ 8$ $ F$ # $ 9# * $ 9 $ C( , # " * C $ . $ . =)'( , " *" ( % *' , " / F$ 9 F$ # 7 # $ 5 * ( * "* $ $ + 8 #H + F + >"# $ % @( + $ H * * + * # * < # $8 + # JC ( # * < < < < # #8 # ( # $ ( 7 &' # # KALH , 5 * < * 6 6 6 ! # 8$ * <+ < < 8# &'( " * < # " H * + H * + H * @ * H * ? ( 1 8 &(+ #9 5 < + # 8 &( KAL( 4 . # . $ + # 7 < " KALH , < <+ + * + $ * @ . " $+ 9 * * * ( )9 ) # 9 *$ 8$ * >" @( B # 7 A KALH , * $ * + #9 A < A * * * ? A * ( 6N A? /" + 9 9 F$ # $ # $ ( $ C9 F$( ) *# 8$ 8$ * # " A(6(Q( "*" $8$ J \* ] * + 9 $# 8 ( S $ $ # $ . ( - % " #9 6N?N >:.@( * # "$ 9 "#* " $ 8$ DC "8$( ) " $ * F$ KQ?LH 8 . + 3( = >6NEU@ $ . + 4$ >6NP6@ . )<2+ )+ >Q?( @ 9 $ 9 C $ : .H !+ '$. >M?< @+ $G >6NUU@ 9 $ H ) >6NQE@[ 0 >6NOE@ 1 .H 4 >M?(<U?(@ @ : . H . >6NMP@ ,% > )" **+@H >6NNO@ * ( " C8$ $8$ 8 + # < + D + + # $# $ ( # "9 8 $ ( $ < # "* "$ 8$ $ # $ $ ( , " # . + ##$9 " *#( =6 6 : . $# C . 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JC+ C 7 7 ( 07 # $ $C+ 8$ # KQE+ QQL( , $C ## $ # 7 7. # $ $( 8 .$ C #" $ < $ + ( 7C ( " % " " > " " 0 #*W# 7 .$ " $ .C 8 # " $8$ 8$ ( , " 8 # $ CCH 9J# . >S<@+ 8$ C9 8 9 $. *"8$ #C+ $ 7 .$ $ V+c+S+ 8$ * >F$ @( 8$ "* "$ ( 3 # " $ " ( 09 $ # 3<( 3 $ # ( A(E( ' 9 " # $ #8$ C # 9 9 "+ # F$ ( :D# " 9 $ $ C( 3 98$ # + 9 # $ + 7. ##$ #8 8 # .$ >A(P?@( 9 .# # . . .$ ##$ ( 0 " PE 300 200 Z 100 0 −100 −200 −300 −100 −50 0 50 100 50 100 −50 0 −100 X Y / A(EH $ . # 8 8 ( D $ # + .# # 7C + + D $ > @ # + .# # 7C + @ ( , $ C9 8 " C * + ( , $ H 6( $ " a?+ . # + A( $ " a?+ . # $ + E( $ " Da?+ . # $ *+ P( $ " Da?+ . # *+ Q( $ " a?+ . # $ ++ M( $ " a?+ . # +( $ 9 #$ ( = ( A(P # " $ ( * D " 79 + # ( $ + 9 # D $ + *$ 7 9 # >A(P?@ > @( , C " ( A(A( , *$ 7 ( 2 C * D @ ( A(P( , !< $ C " # . C " * # $ *( = " $ $ F$ 9 7+ ##$9 D # $ ( % % 4 / 6 / % % 4 6$ $ % % 4$ / 6 " " / % % 4 6"$ " $ $ ! ! ! ! >A(PM@ >A(PU@ >A(PO@ >A(PN@ PP / A(PH @ C * D 79 + # ( @ C * D 79 + # $( @ C * D 8 9 + # ( @ C * D 7 9 + # ( % % 4" / 6 % % 4" / 6 % % 4"$ / 6 " % % 4$ / 6 % % 4" / 6" % % 4" / 6 ! ! " ! ! 4 ! $ ! >A(Q?@ >A(Q6@ >A(QA@ >A(QE@ >A(QP@ >A(QQ@ # " ( ,"#* #8$ C $ C+ ##$ 7. * # < 8$ # KQEL( / $ C $ . $ >"$ @ # $ >A(QM@( * >A(QM@ # <8 + # 9 8$ 7C ( $ " . $ $ .$ + # 8 8 $8 # ( , # #"* 9 $ $ 7C( ) *$ 7 # " #$+ 8 # " # .# 9( , * "9 ( $ + 9 $ "C #8$ $8$ + # 7 # $ " ( . #8$ ## $ 9 7 # ( A(Q 9 A(N+ 8$ # #* C $ C 8 F$ ( " F$C 8$ .$ # " 7 ( A(6?( , * + ##$ 8 "* ( # + 9 9 9 * 9 $ 7C( #8$ 7C ##$ " 8" ( = 8$ $ # 7C "* $ ># ( A(6?@( PQ Koeficient a13 pro polohy z1, z2 Koeficient a11 pro polohy z1, z2 1 1 0.9 0.8 0.8 0.6 a13 [−] a11 [−] 0.7 0.6 0.4 0.2 0.5 0.4 0.3 0.2 0 1 0.1 0 0.8 0.2 0.6 0 0 0.4 0.4 0.6 0.2 0 0.2 0.5 0.4 0.6 0.8 0 1 z2 [−] z1 [−] 0.8 1 1 z1 [−] z2 [−] / A(QH 4 7C C $ C( $ Koeficient a15 pro polohy z1, z2 " 1 0.8 0.8 a17 [−] 0.6 0.4 0.6 0.4 0 0 0.2 0 0 0.2 0.5 0.2 0.4 0.6 0.8 1 1 0 0 0.5 0.2 0.4 0.6 z1 [−] z2 [−] 0.8 1 1 1 0.8 0.8 0.6 0.6 0.4 0.2 0 0.2 0.4 0.4 0.6 0.6 z2 [−] 0.8 0.8 1 1 " ( Koeficient a35 pro polohy z1, z2 a35 [−] a33 [−] Koeficient a33 pro polohy z1, z2 0.2 z1 [−] 1 z2 [−] / A(MH 4 7C C $ C( $ 0 0 ( Koeficient a17 pro polohy z1, z2 1 a15 [−] 0.4 0.2 0 0 0 0.2 0.2 0.4 0.4 0.6 0.6 z1 [−] 0.8 0.8 1 1 z1 [−] z2 [−] / A(UH 4 7C C $ C( $ " ( Koeficient a37 pro polohy z1, z2 Koeficient a55 pro polohy z1, z2 1 1 0.8 0.8 a55 [−] 0.6 a37 [−] PM 0.4 0.6 0.4 0.2 0.2 0 0 0 0.2 0.4 0.6 0.8 1 1 0 0 0 0.5 0.2 0.5 0.4 0.6 0.8 1 z1 [−] 1 z1 [−] z2 [−] z2 [−] / A(OH 4 7C C $ C( , 7 + 7 F$ ( F$ " Koeficient a57 pro polohy z1, z2 " Koeficient a77 pro polohy z1, z2 1 0.9 0.8 0.7 a57 [−] 0.6 1 0.5 0.8 0.4 a77 [−] 0.3 0.2 0.6 0.4 1 0.1 0.8 0.2 0 0 0.6 0 1 0.5 1 0.8 0.6 0.4 0.2 0 0.4 0.8 1 0.2 0.6 0.4 z2 [−] z1 [−] 0.2 z2 [−] / A(NH 4 7C C $ C( $ Koeficient a35 pro polohy z1, z2 a uhly fi1=75 deg, fi2=50 deg z1 [−] 0 0 " ( Koeficient a35 pro polohy z1, z2 a uhly fi1=65 deg, fi2=62 deg 0.08 0.03 0.07 0.025 0.06 0.02 a35 [uT] a35 [uT] 0.05 0.04 0.03 0.02 0.015 0.01 0.005 0.01 0 0 0 0 0.2 0.2 0.4 0.4 0.6 0.8 1 z1 [−] 0 0.2 0.4 z2 [−] 0.6 0.8 1 0.6 0.8 1 z1 [−] 0 0.2 0.4 0.6 0.8 1 z2 [−] / A(6?H 4 7C C $ C C F$ ( PU /" $ $ # # 7 9 # J 8$ * + $# $J# .< $ >A(QU@( >A(QU@ /# * # $. 8H # 8 C"+ "# # 8+ # "+ $ # 9+ C $. ( /# # $ H >A(QO@ * 3 3 ((( 3 3 3 # $. > a ?(??6O KL@( 3 3 ((( 3 3 + + ((( + + + >A(QN@ , * F$ $ . + 8 $ < " ( 0 . $ 98$ + * D" C+ 8$ C( ,9#< "* $ C+ # 9 " $8$ < $ ( "* 9 $8$ #8$ C $ # 2 KOL( 3#$ $ . $ $ $ 9 $ > @( S ##$ C * #+ #8 C 9 * "( , - ' ) " * D # " $ "8$ C $ ( S $ < $ .$ $ A(A(6 # $ $ .8$ 98$ # ( 0 $ # $8$ $ F$C < #8$ C( S C $ 9 $ + # $ #< $ + #*" " $ + $ ( 3#$ 8 *8$ $( "*" $8$ * ( , # " 9 ##$ .C ##$ 7 9C ( # $ $ C+ F$ .8$ C+ 9 < $ + 9 .+ 9 C8$ *# $ + ( $ . $ $ F F$( 3 " 8H # $ $ $ + # $ $ + 9 < $ . H 9 9 # + 9 $ C : 1%+ 9 $ + 9 $ $ < + 9 $8$ 7C #8$ $ < + 9 7C + 9 C8$ 8$ * + 9 9 *8$ $C $ $ 1% : # .+ $ "8$ 8$ + 9 $ $$ * ( 3 F # + C" D d " *$ F$ F$+ * $ # ( PO PN 6 , . $ $ 9 H <:+ % & <:+ % & <:+ <:+ I :<1%( *$ # 9 $ .$ : 1% # $8$ $ ( 3#$ $ $# ( E(6( / E(6H $ " 98$ .C( S $ . H <:+ <:+ % & <: % & <:( S <: $ . + 9 < : 9 ( 098 8 # . $ # # $ + 8 * $ ( 9 ( S % & <: % & <: C 8" #C ( " .# # 9 C J C+ $ " # . 9 C( # ( E(A( , $ # " % & <: <: ( 18$ 9 1%+ #$ KPPL( # * * .8$ C # $ 8$ ( C 8$"#* . #*" < 8$ "8$( / E(AH ' % & " % & Q? " ( $ " .$ . #$ > @+ # ( E(E( / E(EH 18 . 2('( 4( ! 1% 9 . "5' $ B 7'4'( *# .8 9 B 7'4'% B 7'4'% $ B 7'4' :' % C5"5 #' % #' % # ' + $ D( 9 C8$ C .8$ C # . *# $ $ * ( = " $ $ F"* #8$ .8$ C " J ##$ 8"( +#1 5 % # " C $+ # "$ < $ . " $ $ >E(6@( * ( #* * * >E(6@ Q6 # . $8$ " C * 0 # $ " # "( 3 " .$ * 9 J# $ + 9 + 9 " J ( # * * +#1 5 , $ # " C( !"98 9$ * + J#( ) # * 8 # $ $ 8 "8$ < * "8 ( $8 # 9 $ $ *" 9 ( ) + 9 "$ $ $ C"9" " $ #8$ "8$ + " # #9 . $ * ( " 9 # < ( ) ## 8$ ** " $ * + 8$ # "* " . $ $ * ( " $ * $ 9 " + 9 * # .( , 9 $ 9 ( 3 " 9$ * # . " $ + J# > J $ @( 09 * # " " >$ C+ # F$@+ # " * * ( , ? ? 6 6 6 ? ? ? 6 6 6 ? # #*" 8 " *8$ "8$ ##$ ( , @ 3 @ # #*" $ * . * $ $ " ##$ * ( $ + ) 2+ # # * . < 8$ * ( 9J# "$ $ 9 $ 8$ H $ $( , $# ( E(P( / E(PH , $ $( S ( E(P # + 9 9 . # $ 9 "8$ >E(A@+ >E(E@ >E(P@H * ( * ( ( * ( * * ( * ( 3 * ( 36 * ( >E(A@ >E(E@ >E(P@ QA =8$ # $ $ < $ * ( % $ " $ # " "* 9 # + # " $ $ > @ "+ 9 # ( E(Q( Evolution of the Parameters z1i 1.8 1.6 1.4 z1i[−] 1.2 1 0.8 0.6 0.4 0.2 0 20 40 60 80 100 120 Individual 140 160 180 200 / E(QH 8 8# 8$ #" 8$ C ( /# ? ? + @ + # " "$ $ $ ( C9 8 9 "* #C ( ) # " ( >O6 5 " , A& 7= , )<. $$ * $ $ . * >** @ ( , $ $ 9* F 7$ ( <( , \ ] < 9 ( = $8$ $ $ C # *" 8+ *" "8 D K6EL( , < $ C $ C9 8 $ 9 " # $ < $ ( 8* $ # * $ CH # " + 8 8 $ C 9# " 9 < 98$ DC # "*" $8$ 98+ C # " 8 "+ " # #< $ ##$ # + 8 $ C 8 8 9 ( / 7 < $ .C ( * D # " C "$ .C( /" D# C $ ( , $ < # C' *.+ $8 7'&' *.( N1 , " C' *. # # # *"( , # " 8 C"$ $ ( 9J# " + * * + * + ( QE P5 , " 7'&' *. # $8 $ < C( "$ $ $ " ( 3#$ " C9 8 9 H 9 8$ ) ; 3 $ C8$ $( =# < # ( >@ $ < >E(Q@( 0 ( ( I >E(Q@ # + # . 1 # 8 . ( 9 $8$ * ) ; 4 .# " " $ ( = " $ $ # # C "" ( , $ C # '$. 4 F"* <: $ . $( 3 + ##$9 " C9 $ " $ C+ $ $ F"* #8$ $ C+ # * "$ $ < ( 9 "9 $ C # * ) ; I # $ $ $$ # < >E(M@( "8$ C9 # >E(M@H >E(M@ , C C9 8 $ * $ C( 8 $ $ $ C " " 8( 9 # ( &" 8$ # $" $ ( E(M( * 6 6 6 * 6 6 6 6 / E(MH '" C $ C QP , . $ $ 9 " C < $ .C( , $ $ $ C( = " 8$ * 8$ " #8$ C >( >E(6@@ < <:+ $# #* 9 $ $ C( $ 9 < $ C < :( * " $ * 9 ( / # $ ( E(U( / E(UH < $ . ( !( ( E(6 # $ $ ( OA& ,( K6L ! K6L 0 K6L 0 K6L 0 K6L D( . K6L % & % &OA& ,( 7= ,( % K6L >;@ K6L & K6L = < T KAL K6L K6L . K6L . K6L . K6L #8 8" K6L D( . K6L K?L 8 K6L " KML RG K6L $ KPL KPL < KPL $ 9 KEL #$ 9 < KPL 9 KPL D( . K6L K6L #$ 9 < K6L E(6H I 8$ : 1% >O6 , D$ # 8$ 9 8$ C KE?L( 3# # 9 $ #8 $ "8$( C< # . $ .( 9#< 8 + # " $ ( 8 .< QQ # 9 # $C 9( , D$ < . C $ .$ "( ) # 8$ *" "$ $+ # * 9J . $ * # $ 9 #9* $ * $( , . $ # 9 * # \$.]( ,% ' . & -" " "?" 0 . V > V@ .# . C"$ *( 8 + # " $ " ( 09 "$ # 3<( 3 $ #$ # 8 # ( E(O( 300 200 100 Z 0 −100 −200 −300 −100 −50 0 50 100 100 0 50 −50 −100 X Y / E(OH $ . V # # #*8 8 ( ' 9 " # $ #8$ C # 9 9 "+ # F$ ( " # $ C # ( E(N( & @ 7$ " ,9 $ C . # $H * >E(U@ # <8 # 9 8$ 7C ( , $ $ . $ # 9 #"* $ .$ ( #"* $ 9 $ 7C # #8$ $ 9 .$ ( , $ V # 9 7 + + + + ##$9 8 A(A(6( S#* . $ $ " # ( E(N( , JC F$ # 8$ C + + # C ( QM Topologie objektivni funkce X−korekce pro polohy z1 a z2 sum(a13, a15, a17, a33) [−] 1 0.8 0.6 0.4 0.2 0 0 0 0.2 0.4 0.5 0.6 0.8 1 1 z1 [−] z2 [−] / E(NH " # $ C #8$ $ $ 8$ 7C C $ C( 9 # J * + $# $J# .< $ >E(O@ >E(O@ ## 9 #* . J# ( A(Q( 8$ * # " * * 8" * ( /# * $. 8 >A(A(A@( S 8 #+ 9 # 9 " "$ $ < $ 7D 8$ $$( $ # D 98 " . ( 8 " 8( 9 JC " C $ 9 8 $ $ ( $# 9 $ ( 3 D #+ C"9" " # "$ $ $$ #< 8$ 8$ "8$( && % , C . V 9 % & <>:@+ % & < >:@ . >1%@ ( ! D < . ><:@ 8( A 6Q , . % & <: \C] % C &+ 8$ 8$ #C( ! C $ % + & C ( + 9 . $ * H " %4&+ " %4& H 9 . $ $ + 9 8 > %@+ 9 4R + + $ QU $" > a?(A @+ $" e > ea?(O6U @( 7 5Q , . 9 .8$ .< C+ * 8$ # . ( &( A % ! &1 ,# "$ $ #*" 8$ >E(6@( , < $ 9 <: >):@ .( 0 #$ 9 J <: .( , ! " %4& < <$"+ $"( S < 9 8" #* $ 9$ * 9 *$ < $ ( )< . 8$ $ # # + 9 #$ $ 8$( !"$ $ $ $ . $ 9 + 9 9J# $ ( )9 $ * 8" 8* KAML( ! D 9 # C8$ $ < $ . .8$ .C $ $ ( : .+ $ $ . + 9 $ \ ] $ + . . 9 \"#* ] ( C 9 #" C" * + # 9 . ( 8 8# 8$ C #8$ C # 8 ( E(6?( 0 8"#* $ *$ C $ C8$ $ < $ + 9 $ $ .8$ * C $ $ ( Postupné odhady parametrù Vyvoj optimalizovanych parametru v case 1.8 1.5 1.6 Relativni polohy z(i) Hodnota parametru 1.4 1.2 1 0.8 1 0.5 0.6 0.4 0.2 0 500 1000 1500 2000 Individual 2500 3000 3500 0 0 4000 1000 2000 3000 Generace 4000 5000 6000 / E(6?H 8# 8$ C #8$ C ( 8# $ #* $ * $ 1< 8$ # # ( E(66( ! # $ + < 7 $ $ 7C * > .$ @+ C"$ 9$ $ * 9$ . $ * ( S 8 # $ ( E(A( =#"* $ . $ % & <: > % & @ *" $ ( $ $ $ 8$"#* 9 <:( $ Vyvoj hodnot objektivni funkce v case QO Diverzita populace v posledni generaci −3 −7.3064 0 x 10 −0.2 −7.3065 Hodnoty objektivni funkce Hodnoty objektivni funkce −0.4 −0.6 −0.8 −1 −1.2 −7.3065 −7.3065 −7.3065 −1.4 −7.3065 −1.6 −1.8 0 1000 2000 3000 Generace 4000 5000 −7.3065 0 6000 10 20 30 40 Jedinec 50 60 70 80 / E(66H 8# $ 1% 8 * ( ) , $ 1% >6Z6@ ): >P?ZE?@ : >):Z1%@ " $ *4 6 6 $ 6 ,C" ( 1 ( ?(?6QP ?(??U? ?(?AUP ?(?AE? ?(NQA6 ?(?MQ? ?(?QE? ?(??Q? E(AH , $ ( > # < >C@ . $ $ @ 2 8 >.@ * + #* $ C"8$ 8C 9 .8$ >1%@( 0 * * $ "* # F $ $ $ ( , * .CH " I+ 8 $( =#* * $# 8 # # ( E(E+ $ ( E(P( 8$ 7C V " 6 # ( E(Q $ 7 # $ .$ ( ). . 9 7. # ( E(6A E(6E( , . !< ( = * J# *$ $ $. 9 # $ " ( - .$ # D 7< # ( 2 # C( , $ V KNML KNPL( S >@ 6( A( E( P( Q( M( U( O( N( 6?( 66( 6A( K<L ?(?NPE ?(ANNN ?(EUM6 ?(UPA6 ?(O?6O ?(OQNE ?(NEMP ?(NNE6 6(?NAQ 6(6UUM 6(AEQN 6(EM66 K<L A(AAA? A(6QA? A(?OA? A(?6A? 6(NPA? 6(OU6? 6(O?6? 6(UE6? 6(MM6? 6(QN6? 6(QA?? 6(PQ?? QN K.L MP(AMPO M?(APP6 QM(AAEE QA(A?AQ PO(6O6O PP(6M6? P?(6P?E EM(66NQ EA(?NOO AO(?UO? AP(?QUE A?(?EMQ E(EH =#* 9 * V , / 4 3( ," 8$ ?(?OQ KL , 6 K%L )( C 3 ?(??6O KL )D( 0 ?(6OON KL , C ' 6A K<L $. 3 ?(??6O KL E(PH / $ 9 V ) 7 % % % % ?(?????? ?(?????? ?(?????? ?(??UE?M % ?(??UE?M 2(( E(QH 4 7C V " % QE(PQMMPE 6 ( M? B_z [ T ] x 10 250 −5 3 200 2 150 100 1 X [ mm ] 50 0 0 −50 −1 −100 −150 −2 −200 −250 −250 −200 −150 −100 −3 −50 0 50 Y [ mm ] 100 150 200 / E(6AH 8 . V " Sa?( B_z [ T ], X = 25 mm x 10 Z [ mm ] 250 −4 1 200 0.8 150 0.6 100 0.4 50 0.2 0 0 −50 −0.2 −100 −0.4 −150 −0.6 −200 −0.8 −250 −250 −200 −150 −100 −50 0 50 Y [ mm ] 100 150 200 −1 / E(6EH ) .$ VaAQ( M6 ,, ' .&% && -" " "?" VSA< # ** $ ( 8$ + # " < * " ( 09 # 3< C+ 8 $ # ( # #8$ $ # # # " < V # ( >E(N@( ' 9 " # $ #8$ C # 9 9 "+ # F$ ( S#*8 8 "$ # ( E(6P( Y 250 250 200 200 150 150 100 100 50 Z 0 Z 50 −50 0 −100 −50 −150 −100 −200 −150 −250 −50 −200 0 50 −250 −50 0 X 50 −200 −100 100 0 200 Y X / E(6PH S#*8 8 VSA( && @ 7$ " ,9 $ C # $ >E(N@H * ) >E(N@ # <8 + # 9 8$ 7C + ) # ##$ $ 7 # " < ( , $ VSA # 7 f + + + #$ # 8 ( >E(6Q@( S 8 8+ 9 * 8$ 7C $ $8$ .8$ C > $ C+ # $ F$C@ $8$ "C C #8$ $( , " 7D 8$ $$( $ # D 98 " ( 28 JC C " 9 9 $ $ ( S#* . $ $ # $ $ # " ( E(6Q( S # 8 " " # $ C #8$ $ . $ ( , 8$ # 9 J * + $# >E(6?@ $J< # .$ ( * ## 9 #* . ( A(Q( >E(6?@ MA Topologie objektivni funkce XZ2−korekce pro polohy z1, z2 Topologie objektivni funkce XZ2−korekce pro polohy z1, z2 1 1 0.9 sum ( a11, a15, a17, a33, −a13) sum ( a11, a15, a17, a33, −a13) 0.8 0.6 0.4 0.2 0 0.8 0.7 0.6 0.5 0.4 0.3 0.2 0.1 0 0 −0.2 0 0.5 1 1 0.6 0.8 0.2 0.4 0 0.5 1 z1 [−] z2 [−] 1 0.8 0.6 0.4 0.2 0 z1 [−] z2 [−] / E(6QH 4 8$ 7C C $ C "" " # C( 39 # 8 #8 $ >E(N@ J D 8 8 >E(6?@+ 8 < >E(66@( >E(66@ ) ) # $ 7( 3#$ 9 8$ #< < ( /# * # $. 8 >A(A(A@( $# #" # * " 9 $ ( 3 D #+ C"9" " # "$ $ ( * &&& ) ) % , C VSA 9 . ( < * < . 8 $$ + $# .8 . . <:( A 6Q 1 $ . $ <: : . * $ $ !( $ ##$ < $ .( < :+ 8$ $+ " "( 7 5Q 0 9 .$ . * 8$ # .8 ( ) C# $8 . $ $ $ ( . . >A(6(U@ " ( , 1% # $ $ ( E(6M( 9 C9 $ $ 8 #8$ $8$ 7C ) ) ) "$ C"$ $ $ 9 * " $ $ ( , # "" "$ $ # $ * + 9 *# 8 ( ,C"$ $ $ # 8 ( E(6U( , C9 + 9 8 " 8"#* D $ 8$ $8$ 7C( ME / E(6MH 18 . < VSA d D" $ #$ $8$ 7C \ ] 8 *" ( >O 6 Q / < " # # $ # 8$ C >* @( 9 9 # $ ( , + $" .8$ ( = $+ <$"+ 9 <: : .( , *$ >" C # + C ""8 " $# $ @ $ 7 ) ) ) 7 < >E(66@( 0 8 $$ < $ ( 8 * C"$ $ 8 $8$ 7C < ( !"$ 8$ 8C 7 < . + . # * ( "8$ 8C * 9 ( 3# F 8$ * + $ 9C 8 8 * > < Optimalizacni trajektorie GA se zasahy operatora. 12 2 MP x 10 0 −2 f (x) [ − ] −4 −6 −8 −10 −12 −14 0 100 200 300 400 Generace [ − ] 500 600 700 / E(6UH / # 1% "" $8$ 7C( D$ 7+ " 8$ 7C D< $ 7+ # 8$ 7C@ 9 $$ ( $ " ( 3 + 9 $ 8$ # #8$ $8$ ( , " 8$ C * C"9$ $ $8$ 7C ) ) ) 9( 3#$ " < " 8$ $ #8$ 8$ > D$@ 7C #* 9 * ( &&( A % ! &&1 ,# "$ $ #*" 8$ >E(6@( , C $ VSA * *$ $ $ ( #8$ 8C * 9 9 9 .8$ 9 $ $ $ ( 9 " " $$ * " C"$ $ #8$ 7C "$ $ $ ( * 8$ + 9 8 " 9 8 8$ * ( , . 9 " "# $ #8$+ "#8$( =8$ # 8$ $C 9( )5 "#Q =#* 98$ $ * cSA > VSA @ 6N + $# 8 # + # ( E(M( / $ # ( E(U( I* 9 7 .$ . >E(6M@+ $ D( 8$ 7C VSA " 6 6 # ( E(O( # $ 7 # $ .$ ( S >@ 6( A( E( P( Q( M( U( O( N( 6?( 66( 6A( 6E( 6P( 6Q( 6M( 6U( 6O( 6N( K<L ?(AP?? ?(UMQ6 ?(OP?A ?(NOAA 6(??6A 6(?EUO 6(?U?N 6(6?6N 6(6E6M 6(6QP6 6(A?MU 6(AEEN 6(E?EU 6(EAOP 6(PA?M 6(PENO 6(PU6? 6(PNQ? 6(QAUE K<L 6(NQOO 6(NP?A 6(NA6M 6(N?E6 6(OOPQ 6(OMM? 6(OPUP 6(OAON 6(O6?E 6(UN6O 6(UUEA 6(UQPM 6(UEM6 6(U6UQ 6(MNN? 6(MO?P 6(MM6N 6(MPEE 6(MAPU K.L QM(E?O? P6(EQ6Q P?(AOOE EN(AAQ6 EO(6M6N EU(?NOU EM(?EQP EP(NUAA EE(N?N? EA(OPQO E6(UOAM E?(U6NE AN(MQM6 AO(QNAN AU(QANU AM(PMMQ AQ(P?EA AP(EP?? AE(AUMO MQ Z < < < < < < < < < < < < < < < < < < E(MH 07. cSA< ( , / 4 3( ," ( ?(?NU KL , ?(A K%L )( C 3 ?(??6O KL )D( 0 ?(6N KL , C ' 6N K<L $. 3 ?(??6O KL E(UH / $ 9 cSA % ) 7 % % % <?(????EN <?(?????6 ?(QU?6O? ?(????MA % <?(QU?AOA E(OH 4 7C cSA " 2(( % <A(UNP6 6 6 ( MM =9 7. "" $ 7 6 % # # "+ # "8 " $ .( 8 ( >E(6O@+ ## $ 7 "$ $ .( Hodnoty koeficientu a(m,n) v zavislosti na relativni poloze z 1.5 a11 1 a(m,n) [−] a33 0.5 a15 0 a17 −0.5 −1 0 a13 (max) 0.2 0.4 0.6 0.8 1 z [−] 1.2 1.4 1.6 1.8 2 / E(6OH S 7 "$ $ .( ). . 9 7. # C >E(6N@+ >E(A?@ >E(A6@( , . !< ( 8 * J# *$ $ $. 9( - .$ # D 7 # ( 2 # C( MU B_z [ T ] −6 x 10 250 200 1 150 100 0.5 Z [ mm ] 50 0 0 −50 −0.5 −100 −150 −1 −200 −250 −250 −200 −150 −100 −50 0 50 Y [ mm ] 100 150 200 / E(6NH 8 . cSA " Vc( S # "( B_z [ T ] x 10 50 8 40 6 30 4 20 2 10 Z [ mm ] −6 0 0 −2 −10 −4 −20 −6 −30 −8 −40 −50 −50 −10 0 Y [ mm ] 50 / E(A?H ) .$ cSA " cS( V # "( MO B_z [ T ] −6 x 10 1 B_z [ T ] 0.5 0 −0.5 −1 −1.5 50 50 0 0 −50 Z [ mm ] −50 Y [ mm ] / E(A6H ,7 .$ cSA " cS( V # "( ,/ ' .&/ &( -" " "?" VSP< 9 ** $ ( 8$ + # " * " ( 09 # 3< C+ 8 $ # ( # #8$ $ # # # V VSA # ( E(N( ' 9 " # $ #8$ C # 9 9 "+ # F$ ( / # #*8 8 "$ # ( E(AA( X 250 200 300 150 200 100 100 Z Z 50 0 0 −50 −100 −100 −200 −150 −300 100 200 50 −200 −250 60 100 0 0 −100 −50 40 20 0 Y −20 −40 −60 Y −100 −200 / E(AAH S#*8 8 VSP( X &( MN @ 7$ " ,9 $ $ C $ $< $ 7C( 2 # # $ >E(6A@H * >E(6A@ # <8 + # 9 8$ 7C # " < ( , $ VSP # 7 + ##$9 8 A(A(6( S 8 8+ 9 * $ 7C C9 8 9 $8$ .8$ C > $ C+ # $ F$C@ $8$ "C C #8$ $( , " 7D 8$ $$( $ # D 98 " ( S#* . $ $ " # " C E(AE( = $ # " . $ C " " # $ C #8$ $( Topologie objektivni funkce XZ4 korekce pro polohy z1 a z2 Topologie objektivni funkce XZ4−korekce pro polohy z1, z2 1 1 0.9 0.9 0.8 sum(a11, a13, a17, a33) [−] sum(a11, a13, a17, a33) [−] 0.8 0.7 0.6 0.5 0.4 0.3 0.7 0.6 0.5 0.4 0.3 0.2 0.1 0.2 0 0 0.1 0.5 0 0 0.1 0.2 0.3 0.4 0.5 z2 [−] 0.6 0.7 0.8 0.9 1 1 0.5 0 z1 [−] 1 0.6 0.8 0.4 0.2 0 z1 [−] z2 [−] / E(AEH 4 8$ 7C C $ C "" " # C( , 8$ # 9 J * + $# $J# .$ >E(6E@ * >E(6E@ ## 9 #* . # ( A(M( 39 # 9 8 >E(6A@ J D 8 >E(6E@+ 8 < >E(6P@( >E(6P@ ) ) # $ 7( 3#$ $8 # < ( /# * # $. 8 A(A(A( $# #" # *8$ $ 9 $ ( 3 D #+ C"9" " # "$ $ $$ #8$ 8$ "8$( / "C C * $ 8$ *8$ 8$ "( * ) ) &(& U? % , C VSP 9 <:+ . < . $# " $$ ( A 6Q 1 $ . $ <: : . $ $ , g( , ##$ $$ # 9 J $ ( 7 5Q , . 9 .8$ .< C+ * 8$ # . ( ) ## $8 . $ $ $ ( . E( >O 6 Q / < 9 # # # . + # $ ( , $ 8" " 9 ) 8$ C >* @+ $ . 8 # < $ ( , + + "< + # # D+ " C #8$ $+ $" .8$ ( <: : . 9 ( <$"( , *$ > "C C # + C ""8 " $# $ @+ $ 7 ) ) 7 < >E(6P@ * ( $ " $ $ # ( E(AP( ,9 + $# F <$+ # 9 $" * 9 C $"+ : $ $ $ < $ ( 3#$ $ C $ . <$( 3 < 9 8" #* $ 9$ * 9 *$ $ ( " < . # # " ( &(( $" % &(1 ,# "$ $ * 8$ E(6( , C $ VSP 9 < .+ 8 $ ( = <" 9 <:+ " 9 1%( , V >( E(A@ 9 98$ * 8$ * + J ( VSP 9 9 + 9 9 $ + 7 + # ( #8$ 8C 9 9 $ < >E(6P@ 9 $" >E(6Q@( , "$ <"( D1O 3 , "C C < . 8$ 9 "< ( # $ 8$ $ # $ " C ( 3# . # $ ( E(AQ( , + 8 # " C #8$ $+ # 8$ "8$ * + # $ $ #8$ C " # " $+ ## 8 8 " + U6 / E(APH )<. <VSP # " C * < * <( = $ "$ 8$ $( #$ # # # # $ 8 * * 6 6 6 * * * 6 6 6 * < + 8 * * * < * < # " #$ 9 #$ ( $ # # # #*W " # " * * + # $ " ( ! $ # 9 . # $ DC( D 3Q ! " 8 C+ 9 # 8$< " 8$ * #8( VSP # + 7 + ## .$ .$ + " $ ** 9 # 9 $( J# # 9 >E(6Q@ " ( E(AM( # D8 7 "$ $ C"$ $ ( 6 >E(6Q@ " # $8 * !+ # D8 7( + 9 * 8" * " ( , $ 9 C 8$ <$"( 28 * F $ > + @ $ .( =# " " + 8 "$ $"( =#* * " 6 $ UA / E(AQH !"< Barierova funkce: B=1+0.2*(exp(−0.001*(maxcoeff+0.4).^10)) 1.2 1.18 1.16 1.14 B [−] 1.12 1.1 1.08 1.06 1.04 1.02 1 0 0.5 1 1.5 2 Maximalizovany koeficient 2.5 3 / E(AMH 9 + + <$"( \] >E(6Q@ $ #< 8$ * ( )5 "#Q =#* 6?? $ * # 6A ( E(N( / $ # ( E(6?( I* 9 ) >1%<:@ : $ . >E(AP@( 8$ 7C VSP " 6 # ( E(66( # $ 7 # $ .$ ( ). . 9 7. # C E(AO+ E(AU E(AN( , . !< ( 8 * J# *$ $ $. 9( - .$ # D 7 # ## ( 2 # " " 8 C # 8 " C( C # #( S >@ 6( A( E( P( Q( M( U( O( N( 6?( 66( 6A( K<L ?(PONN ?(EPEU ?(O?QN ?(N6OQ 6(66MU ?(QQEE 6(6OME ?(UP6E 6(EEAA 6(EN?Q 6(PUOU 6(QAEE K<L A(E??? A(AM?? A(AA?? A(6O?? A(6P?? A(6??? A(?M?? A(?A?? 6(NO?? 6(NP?? 6(N??? 6(OM?? K.L MA(6QP? M?(NQNA QO(MMUE QM(EUQQ QP(?OEU QN(OMAA Q6(UN6O QU(QU?P PN(Q??? PU(A?OA PP(N6MP PA(MAPQ UE Z < < < < Z < Z < < < < E(NH 07. VSP< ( , / 4 3( ," 8$ ?(6 KL , 6 K%L )( C 3 ?(??6O KL )D( 0 ?(AAAA KL , C ' 6A K<L $. 3 ?(??6O KL E(6?H / $ 9 VSP( % ) 7 % % % ?(?????N ?(?????M ?(????EE ?(?????? % <?(????PO 2(( E(66H 4 7C VSP " % <E(NAOP 6 ( UP B_z [ T ] x 10 X [ mm ] 50 −7 40 8 30 6 20 4 10 2 0 0 −10 −2 −20 −4 −30 −6 −40 −8 −50 −50 0 Z [ mm ] 50 / E(AUH ) .$ VSP " VS( c # "( B_z [ T ] −6 x 10 1 B_z [ T ] 0.5 0 −0.5 −1 50 50 0 X [ mm ] 0 −50 −50 Z [ mm ] / E(AOH ,7 .$ VSP " VS( c # "( B_z [ T ], UQ Z=0 [mm] x 10 50 −9 6 40 4 30 20 2 Y [mm] 10 0 0 −10 −2 −20 −30 −4 −40 −50 −50 −6 0 X [mm] 50 / E(ANH ) .$ VSP " Vc( S # "( ! " : $ >:+ 1%@ F"*" < $ $C . $ $ V $ VSA VSP( /$ *8$ C " " F # $ + # $H 6( 8 + A( + E( + P( $ + ##$ # #*W# ##$ ( ,9 8 #9 " " $" 9< 8 C+ " * C ( , * 8$ $ F$ + $ # $ ( $ & 3 , * $8$ F$ "* 98 8 # 9 8$ ( " 9 $. 9 8 C * ( , # $ D * . D+ 9 C ##$ 9 C9 "8 8 C 9( , # " " 9 * H 8" 8$ "8$ $ *8 + 8 JC + # " + #*" $ $ "8$ 8C( $ 9 $ # 8$ $C $ 8$ $ + #"* 9 9 JC ( &" $ 9 $ C > @ " # $ F$C ( 3 * #H $8$ 7C # " + " 8" " + C C $# $ C8 C ( UM ! UU , $ " "* $ C $ 9 8* # $" # $ ( I" 8 ( "8$( "* C =F"*" \D]+ " " *$ < 8$ 7C ( , + 9 $ # 9 D 8$ 7C ( 7C C # + $ ##$ " $ > J D$ 7@( S8 $ # "<#8 $ ( , F$ "* D# 8 88$ * ( *$ #$ * C9 8 " F"" $( 28 < 8$ $ C $# d $ DC \)<2]( 3 #* * #8$ C 8$ + 9 * *$ "8$ 9 > 8$ C+ " "C C+( ( ( @( 8$ $ 9 >( \ ]@ >< @( / C 9 ^ + # $ *" $ F$( =#"* F"* $ * " $" < + " $ 7+ $" + " $ * ( $$ 8* 8$ C 9 9 $$ <.( 9J " $ $ C " " ( =F"* + < # " D< $ >D 7@ $ > 7< @ #8$ 8$ ( , "* $ 9 $ + # # $C 9< + # 9 * ( , ( * $ . $ "( * 8 $$ $ " $ C+ ( < ( ! 5 ) 9 $ # $8 8 8 $( , ##$ # # *( # " " C8$ C( ( P(6 # $ .+ . . * + #$ 9 J C"$ $ $ C( ) 1 '$ ( 3$ ( $ C( : h hh hhh hhh <: hh hh hh hhh 1% hh h h h <>:Z1%@ hhh < h < P(6H S $ ( >S H h + hh + hhh 8"@ S .C $ $ ! UO * ( $ . ( ! $ $ $ <: 1%( * $ $ # <: 1% # 8 $.C 8$ ( P(6+ 8$ <.( /8 $ # "* < $ 8$ "8$( meta−ES algoritmus GA algoritmus 300 200 180 250 160 140 Cetnost [ − ] Cetnost [ − ] 200 150 100 120 100 80 60 40 50 20 0 0.04 0.06 0.08 0.1 0.12 Relativni poloha proudovodice z1 [ − ] 0.14 0.16 0 0.04 0.06 0.08 0.1 0.12 0.14 Relativni poloha proudovodice z1 [ − ] 0.16 0.18 / P(6H & $ $ <>6Z6@<: <1%( 1 D $ 6 ( $ : ##$ # # C $< H 9 9 + "" *8 + $ * $ F$ 8 "8$+ 9 9 $ $ * *# $ " #$ + . $ 9 $8$ 8$ > + < $# "+ "@+ . $ $ $ ><:+ 1%@+ 8 < $ $ + 9 C * 9 *" "* $ "8$( ,1 5 8$ F$ C"$ $ * H 7 F$+ + C # $ + $ 8$ "8$ >( + + (@+ 8$ $ $ + C $ C # <: % & <:@ "#* 9 1%+ ! UN < $# $ C"$ #+ 8# + ( $ .( < 9 $ C #8$ $ ( 8" * 8( * "$ C "$ $ ( I $ " "8$+ < #8$ 8C 9( = 9 " + 8$ " "( B * + 9 ##$ C9 * . .C( ;5 ,$ C .C % & <: 1%+ % & + . "8 " $ )<2( ,9 .< $ + " "C C #8$ $ " " " " H >, " @( 3 * . + J *$ ( , 9 $ .C + 9 ##$ $ # ( $+ # 8$ C+ 8 8 < $ * *8 8+ ( " 9" # 9" #$ $ "9 # 8( = # " 88 C" .C( $ $+ . 9 # + 9 # * # .< C( C # ( P(A # 1$ .( 8 $ $ # C " # 8 "8+ "9 "* # " $ "$ "8$( Optimalizacni trajektorie GA pro prvnich 100 generaci 0 −1 −2 −1.2 −4 −1.4 −6 −8 f (x) [ − ] −1.6 f (x) Optimalizacni trajektorie GA −0.8 −1.8 −10 −2 −12 −2.2 −14 −2.4 −16 −2.6 −18 −2.8 0 10 20 30 40 50 60 Generace [ − ] 70 80 90 100 −20 0 500 1000 1500 2000 2500 3000 Generace [ − ] 3500 4000 4500 5000 / P(AH / # 1% # $" ( = " $ * " $ ( > 55 1 5 $+ $ + $ . $ ( * * " ( , 9 # $ $ ( 3 9 H 6( *$ $# $ * >)6@+ ! O? A( 8$" *$ $# $ * " \]>)A@+ E( 8$" *$ $# $ * $ >)E@+ P( "* $# $ * >)P@+ Q( $ #9* $ $ * "$ $+ * # >)Q@( , 9 8$ $ # ( P(A( ) )P )Q + " $ #* 8 ( 8 $ $ .( , 8$ $ $ . \4.]( ) )6 )A )E )P )Q "* hhh h hh < < P(AH S # $ $ ( >S H h *"+ hh + hhh 8"@ / , #C # # * $ 88$ C $ ( 1% : >" >6Z6@<:@ " + 9 "* # + "* # . $ $ $ ( ,9 " 8" * $ * # 8+ * ( %. K, #CL : A+ A?+ E?+ P?+ U?+ 6 Z 6 a A[ P? Z E? a U? 1% P?+ M?+ O?+ 6A?+ 6Q?+ O? P(EH : 1%( 8 \P? Z E?] ( P(E # 8$ #C ##$ C # ( ,9 * "* + * $ 9 8" #( $ 8$ C *# * "9" "8$ ( + , * F$ C $ .C =)' C+ $$ * ( * 8 $8$ < $ $ * 8 *$ 8$ " $ $ ( =" # + F < H > $ $ # * .8$ @+ " 8 > $8$ C ( $ C+ $ # + #C + (@+ 8+ ! O6 8 KPU+ QNL >" " #H # " C+ $9 98 $ [ )8$ "C KUQL " # $ " "+ # $ @+ " . 9 . 9 " 9 D $ $ # * < $ $ F$( /" + 9 9 9 . * 8 * $ #$"#* > $ *$ + * 8 " +(@( , $ " $ $ 98 $+ ( S" + 9 9 8 + 9 + # : . 1 .+ # $ $ . $ =)' )'- $ .C 9J# "* JC ( # $ % , * G #( , $ # 8 .8$ .8$ 8 $8 # * $ F$ " $ ##$ ( / # < 8 )% B%!( 0 12 ' 3' 3 ' 6 ,. !( 9J# . < $ + "$ E ( 8 # . !< . >A(PQ@( ,. 9J# $ 9 . *$ $ E ( # 9 " #$ # 9 $ $ C 9( / 6 .+ " C8$ $ + # < * + $# #8$ C( $ 8 . : ( S J# . D 9J# 8$ 8$ $( # 9 E $ ( ,. 9J# #* . C 8 $8 $ ( /' 6 8 . # $ . + + ( ,. 9J# ##$ E + $< # #8 Vc+ VS cS( 4 .7 # # " # "8$( ) 8 + 8$ # 9 $ . ( *$ $ D ( / Q(6 Q(6 # 1- $ $ .( 0% 12 ' ' 3' ! .8 $8$ $ $ + #$9 8$ # 18 . 8 2('(4 KPPL( / . + . D" $ # 9 # " ( # . ( " 9 * . #$ < $ .+ 8 $# # 1 + C : $ . 9J# 9 C8$ $8$ #8$ ( 3 >@ $ .$ * D # " #9 " * ( OA " # $ % / Q(6H . C8$ $( / Q(AH : .8$ ( OE !& , 8 $ $ + 9 ##$ < " =)' .7 ##$ "8$ $ $ 8$ $. $ .$ $ =)' )'- .C( . # # $ % &'+ ( # $ $ F$ # $ =)'( F$ # " $ ##$9 " $ ( ,"#* 8 # 8 F$( $ + 9 "* < 8$ C # 8 + # < + D + < + # $# $ + " * $8 ( S $ $ 8 : .+ 18 . ##$ C8 ( ! ##$ 8 " D #8$ $ ( , $ : 1%( =9 " # + * 9 8$8$ " $ $ ( C# $ 9 . .8 + # J ( , # # # ( " F " < $ .C ( ! . " * . ( 3#$ # 9 $ *$ 9 ** $ .8$ C( % "$ F$ 8 " *( , $ $8$ $ C+ # *( 9 , "$ $ ( < ##$ C8$ * . $ $ # $$ ( $ C "$ $ < . ( 8 * 8$ 8$ ( 9 ! * # # 8$ "8$( 9 ! * < ( 9 ! * 8# 8$ < 8$ * * C "$ + " $( 9 ! * 8# F$ *$ "<"<#$ $ . ( $ * $ #8$ F$ * $ $ =)' )'- .( , OP & $' OQ $C $ C .C =)' , % &'( * .$ 9$ # 9 . . ( # # 8$ B ( 3$ # $ $C 9 8$ ( , * C * $ $8$ < $ $ $ =)' V+ VSA VSP( , # 8 + "+ < # + 9 $ # + #+ < + # 8 "8 8 $ ( ! C < DC+ $9 " * $ ( " " 9 < $ ( *$ 8$ #8 8 7 # .$ ( 9 * J# 7 $ $.8 9C 9 # 9 . 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( 2$+ 0+ 1+ /+ - G j: (((j $ $ -::: ( ).( R $ l .$ G+ . 1%( - $.$ $ .$ $ $ $ ,% .$( $ .$ 1%+ ( G$ $ # ( $ $ $G .7 $ < $ ( % $ 3$ 4 %,B $( . $H;;GGG(#$(;.;6N?P;( $ bNA -::: %2 $ $ ( $ e( - G $ . G $ ( + 3 2( ½ $ 3$ 4 % ,$ B 666?? 3$ 4 ' B+ ) A?UAE<M?NN % #(k#$( ,(( ,% G G . GGG(#$(;,% ( $ G $ ( $ $ ( m,%(_ , .8$ #C 1% &' n6?A;NQ;?PMU )5) n):6O6>6NNO@( ½ !" # " '( K K6L %$ '(3(+ $ 3(+ B ,(+ ? **@ 3$ R o + 2$$+ =G c+ !+ + .+ 6NOO KAL ! (+ ! )@ /D ,+ 6NNM KEL ! (+ : 2H 2 $ 4 2 ( !# - ;*@ % 6NNU+ (6+ (6 KPL '( ! ( /+ % =)' . 7. ( 8 #0 ** 8 )" % F )% * @ KQL KML KUL KOL KNL K6?L K66L K6AL K6EL K6PL K6QL K6ML K6UL K6OL )( ' 3( .+ :(+ .<.+ !;4.+ 6NNA+ ( A?6<APO !+ 4( (+ - , :.. )$( @8 ) ! G * )"# )HIJ+ ,+ 6NNP 2$ 2<=+ 4 (-(+ 9 !@ % 4.+ ! =G c+ 6NON 2 '+ $<% . -$ $( K ; % -*& )"% && D% ? ?E% @ !+ 3 6NNU+ ( AQ<AU 2 (+ ()(+ 1<2 . %.( L + (% 6?E+ % ,+ -(+ 6NNE+ (EQP<EQU 2 (+ (+ ()(+ % . $. =<$ + $ .< =)'( A !+ 0+ 6NNM+ (U+ (EM<P6 2 (+ ()(+ 2 )'- ). . $ /( L + (6AU+ % ,+ -(+ 6NNU+ ( AEE<AEU . (+ )$G+ S(+ **@ .+ 6NNU $G+ ! ?@@@ **@ : 7 ,$. 2+ %+ /D+ =G c+ 6NUM : %(:(+ 4. '(+ )$G S(+ , 2 : %.$( ! ;*+ 6NNN+ (E+ (A+ ( 6A ( 2(+ ! :( (+ ) ! ? ! # @ % ,+ =G c+ B+ 6NU6 . (!(+ ;*@ !E ?E ) @ -::: ,+ =G c+ 6NNQ 3()( + ? DF @ 24 ,$+ -(+ 6NNQ '(+ 3" ? @ B.+ 2. + 6NNU 1. (:(+ % -*&% D@ %< R+ 6NON OU ( OO K6NL 1 %(+ - / )$. ). '( , 6H : .( 8 )@ K L* # ;& # L ** # @ ,$+ 6NNQ+ ( Q<O KA?L 1 %(+ - / )$. ). '( , AH )< /( 8 )@ K L* # ;& # L ** # + ,$+ 6NNQ+ ( N<6A KA6L 1 %(+ - / )$. ). '( , EH % !$ )DG ( 8 )@ K L* # ;& # L ** + ,$+ 6NNQ+ ( 6E<6M KAAL 1 %(+ - / )$. ). '( , PH % - g7( 8 )@ K L* # ;& # L ** + ,$+ 6NNQ+ ( 6U<A? KAEL 1 %(+ - / )$. ). 'H % - g7( 8 )@ ; ! !MIN+ ,J+ 3 6NNQ+ ( AO<E? KAPL 1 %(+ )<: /( 8 )@ ?DMIN # ;# @ !+ ( PU<QA+ 6NNQ KAQL 1 %(+ / - / , )'H / .+ =G ( 8 )@ J * -*& KAML KAUL KAOL KANL KE?L KE6L KEAL KEEL KEPL KEQL )" @ !+ 6NNM+ ( EE 1 %(+ - )$.+ )<: / ! H % - )'( 8 )@ J * -*& )" + !+ 6NNM+ (EP (PO 1 %(+ )' ! -$. = B( 8 )@ OK# ; 9MIP+ !+ 6NNM+ ( OE<OQ 1 %(+ )<: /H % ). ' :D 2( 8 )@ G ; ?D MIP+ !+ 6NNM+ ( PU<Q6 1 %(+ / : g7 . )'<.( 8 )@ * )+ ! - % $.+ - <2$.+ %+ 6NNM+ ( Q6<QE 1 %(+ % - )$.+ ! )<: /< H % - )'( @ L@ ** @ 6NNU+ ( O+ (6+ ( 6U<PP 1 %(+ / ! % 1 )'<.( 8 )@ ; >?!MIQ+ + 6NNU+ ( 6UP<6UU 1 %(+ ) '(+ 1 1 . o )'( 8 )@ ; >?!MIQ+ + 6NNU+ ( E6M<E6N 1 %(+ 0$ 4(+ ) '(+ , -$. )'( 8 )@ ; >?!MIQ+ + 6NNU+ ( EA?<EAE 1 %(+ !. 2e : /H )+ + < ( 8 )@ ?DMIQ # K ; % -*& )"% && D% ? ?E% + !+ 6NNU+ ( QM<QO 1 %(+ / ! % 1 )'<.( L + ( PO+ O;+ 6NNU+ ( 6EU<6P?+ )@ J L*#;&# L ** + B+ 6NNU ( ON KEML 1 %(+ ) '(+ 1 1 . o )'( L + ( O;+ ( PO+ 6NNU+ ( 6P6<6PP+ )@ J L*#;&# L ** + B+ 6NNU KEUL 1 %(+ 0$ 4(+ ) '(+ , -$. )'( L + ( O;+ ( PO >6NNU@+ ( 6PQ<6PO+ )@ J L*#;&# L ** + B+ 6NNU KEOL 1 %(+ /. %D ). =)'H % ( L L* ** + + 3+ 6NNM KENL 1 3(3(+ 1 %.$H '( ?0R ; ** A ?;+ - ' %-2<NQ<??P+ R$.+ 2 KP?L 4. !(+ 4+ ,(+ !D9 J@S # ** B% A5 " *5 "@ ,J+ 6NNP KP6L 4^ (+ ! (+ 1 %.$ : .H ^( > % ! * @ R TOUIG+ 6NNA KPAL 4 3(4(+ 1 %.$( A + ( PP<PQ+ 6NNA KPEL 4 (R(+ ;* ?@ 2 ,+ /D+ 6NON KPPL 4 2('(+ 3 3(%(+ 0 )(1(+ % 1 %.$ /H % ) -( ? ; > KPQL 4 2(+ 0 )(+ * - F -* ;# )*@ =2<-: ' NM<?E+ 6NNM KPML 4* 3(+ $ 3(+ )% B%!+ -)B-=0 !,%2: < # 8 ( &+ 6NNM+ ( EN+ (6 KPUL 3 :( (+ ! )$H 1 !.( )@ - + * 9 ** @ 3(4(3+ :+ 2. ,+ 6NOQ+ ( P<AQ KPOL 3+ ,(+ )" C' B * ? **@ 0< + , !'=/ &%+ 6NNA KPNL 0 3.+ 1 %.$H % AQ c ,( )@ - ; ;* % ?0R ; ** ?; ;#IJ#SJN@ KQ?L KQ6L KQAL KQEL KQPL KQQL KQML A R$.+ 2+ 3+ 6NNP 0 3(+ 3(+ , ,(+ *:' (&@ !+ 6NNM 0 ,(+ ' A ( *' * 5' B # &@ + :- !+ 6NON 0 ,(+ 5 0(+ $ =)' )'- .( V !+ 6NNQ+ ( M+ ( O+ ( 666M<66AE 0 ,(+ (& :' ( *' * ? 5' # @ + :- !+ 6NNU 0 ,(+ 5 0(+ . / BG ,G 2 $<1 2 S? )'- =)'( L + ( PO; O+ ( 6AQ<6AO+ 6NNU 0 ,(+ 5 0(+ . $ G$ 4.$ , ). =)' )'- ). )- -<A??( ! + 6NNM+ (EA+ ( AMPE 0$ 4(+ 1 %(+ -. -$. )'( 8 )@ OK ; 9MIP+ !+ 6NNM+ ( NA<NP ( N? KQUL 0$ 4(+ 1 %(+ / %. -7 -$. )'( 8 )@ * )+ ! - % $.+ - <2$.+ %+ 6NNM+ ( QP<QM KQOL B 3(+ S -(+ )D -.< <2 / ^ :< ( N ; ;* ?DMII+ !+ 3 6NNN KQNL B (3( B = 6NOU%+ ! - %$( )@@% % + * 9 + 0G % ,$+ $+ $ =$+ 6NN?+ ( O6<6PA KM?L B :(+ 2 ,(+ )(+ ) ,(+ / (+ : . / , =)'( L + 6NNO+ 6EP+ ( AAE<AEQ KM6L ) '((+ ;* ? **@ 3$ R o + =G c+ 2$$+ R$+ !+ .+ + 6NOO KMAL ) '(+ 1 %(+ 2 : . !. :< . , = =G( 8 )@ G ; ?DMIP+ !+ 6NNM+ ( U6<UP KMEL ) '(+ 1 %(+ ). -$. ,$ )'( 8 )@ OK 9 ; 9MIP+ !+ 6NNM+ ( NQ<NU KMPL ) '(+ 1 %(+ / 1 - <. )'( 8 )@ * )@ ! - % $.+ - <2$.+ %+ 6NNM+ ( QU<QN KMQL ) '(+ 1 %(+ / : ,$ 2 )'( 8 )@ K # ; % -*& )"% && D% ? ?E% + !+ 6NNU KMML ) '(+ 95 :' A &"C( 5. * @ + :- !+ 6NNO KMUL ) '(+ 1 %(+ 2 : . !<,. :. , = =G( J * -*& )" + !+ 3 6NNM KMOL ) %(+ )b $ 4 ( O ;# + !+ 3 6NNQ KMNL !D9 @ $ )$R+ -( 6NNP KU?L !D9 >H @ $ )$R+ -( 6NNP KU6L ) 3('(+ ' '(1(+ . (!(+ ) 0@ ,( / $ $ % 2 : ,..+ )- ,+ 6NNQ KUAL )$G S(+ W X )@ %- + .< .+ =G c+ 6NNP KUEL )$G S(+ % 2 4. $e : 2 )$< ( @8 L@@% @@% @9@8 ) 0@+ )- ,+ 6NNQ KUPL )$ 4(+ )i G $ $ ( O ; + !+ 3 6NNQ KUQL = ' )(+ , - . ) 2$ ) 2 )$( ! * ;#!#IK#O% * ;* % > !+ 6NNE ( N6 KUML =$ 1(B(+ R B(%(+ -. ,.. /( 8 3 KUUL KUOL KUNL KO?L KO6L KOAL KOEL KOPL KOQL KOML KOUL KOOL KONL KN?L KN6L KNAL KNEL " -* @L@ ! % @ + ( 6+ :;=$ 4+ %+ $ =$+ 6NON =$ (+ 5@ % = B+ 6NOO /* ,(+ 4 1 %.$ . , B%=( O ; + !+ 3 6NNQ /* ,(+ 5 -(+ ' 3(+ ) 1 %.$( 8 )@ - U @ ; T D HIN+ $l+ 0+ 6NNQ+ ( Q?Q<Q6? , %+ : ` .. '( * ?E% * ) + .+ 3(;( 6NNN+ (E?+ (6+ ( AA<AE , :(+ ! B (*: & ? C7'@ + ) + !+ 6NNO , :(+ 4 )(+ $ % $ ' 2 < , $ ' $ 2>A@`2>%@ ![ %<6i< E<!< A+P+M<$$ 0( ;@;&@;@;+ 6NNN , :(+ 4 )(+ $ % $ ' 2 < , $ ' $ 2>A@ `2>%@ ![ E< =+=+A+P+M< ,$ !( ;@;&@;@;+ 6NNN $ 4(4(+ @ '.$ !+ !.+ 6NN? $G 4(+ 2 $ ( )* + !+ 3 6NOU+ ( A+ ( 6?AQ<6?EE B(+ ( $ 4' * 7Z' A:' *&:' [ 4(B @ + - !+ 6NNN + 3 2(+ % /G $ , )$ :l /( L 3* *@ ! + 6NNO+ ( 6N+ ( P + '+ / $ . ^ ( ?) + !+ 6NNM+ ( Q6N<QAE + '+ ,+ ^ < % . ( @ ""H L+ 0$+ 6NNU+ (6O<AP+ UO 5 0(+ :' * $ B B & B &Z' *# @ 0 + , &% !+ 6NMN B(+ ) 2$ :D. , ( ! * @ NPS% ># + )$ 6NNP RG ,(+ '(+ !@ )1G<4+ 6NNQ S 3()(+ ) -- '(3(+ ' 2$(3(+ ;* D@ -::: ,+ =G c+ 6NNP % @D@ ?% @3@@@ Y% ( NA K KNPL 2$ 3(+ 0 ,(+ /* ,(+ 1 %(+ : 1 / =)' 1 $ 2( ! + 3 A???+ (EM+ (P+ (66?A<66?Q KNQL 2$ 3(+ 0 ,(+ : 1 / 4.$</ $ 2 =)'( P ; GSSS+ !+ A???+ ( EN<PP KNML 2$ 3(+ 0 ,(+ /* ,(+ 1 %(+ : 1 / =)' 1 $ 2( ;-)> II+ + 3+ 6NNN KNUL 0 ,(+ 5 0(+ 2$ 3(+ %(+ %D $ 2 )'-( @8 L MII+ 4 + + 3+ 6NNN+ ( 6O<6N KNOL 2$ 3(+ 0 ,(+ /* ,(+ 1 %(+ / =)' $ 2 . : %.$( @8 L MII+ 4 + + 3+ 6NNN+ ( AA<AE KNNL 0 ,(+ 5 0(+ 2$ 3(+ / . %D )D $ 2 =)'( N ; MII+ !+ 6NNN K6??L 0 ,(+ 5 0(+ 2$ 3(+ , / $ )'- 1 ( J ; MI\+ !+ 6NNO+ ( 6UE<6UU K6?6L 2$ 3(+ /* ,(+ = =G % -. 4. . =)' ( L + 6NNU+ (PO+ O;+ -= ??6E<QUOV+ (6MU<6MN K6?AL /* ,(+ 2$ 3(+ = ) ). )' G$ 1 /( J * -*& )" @ !+ 6NNM K6?EL /* ,(+ 2$ 3(+ / = =G 1 %.$( )@ O ? ?E *+ 4+ + 6NNM K6?PL 2$ 3(+ ?5 : * C' B * * ?@ + !+ 6NNM ). ' $ $. ^ $ + $+ . ( G $ ). ' ). ' >)'@ ). ' -.. >)'-@( . + $.$ . 7 7 $ e( - $ < + $. . 7 $ D $ $ . 7( $ $ + $ . 7 7( $ + $ >$@ + $.$ G$$ 2 . pG+ ( - $ $+ $ $ $ : / . < =)'( ^ : . 1 %.$ $ . $ ( $ . $ . G $ e $< .+ + G + .$ . + + . + + ( $ # D < l $ $ . $ . 7( p $ + $ + $ . < + $ < $ D .<< + ( . $ : + $ . $ V+ cSA VSP $ .( NE ) )" 6(6 S#* $ " =)' ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( 6(A -8 . - . $. $.< C " S6( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( 6(E $. .$ C " VSA( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( 6(P . "$ $.( ( ( ( ( ( ( ( ( ( ( A(6 0 9 ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( A(A 8 .( $ $$ ( ( ( ( ( ( ( A(E $ . # 8 8 ( ( ( ( A(P @ C * D 79 + # ( @ < C * D 79 + # $( @ C * D 8 9 + # ( @ C * D 7 9 + # ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( A(Q 4 7C C $ C( $ ( A(M 4 7C C $ C( $ ( A(U 4 7C C $ C( $ A(O 4 7C C $ C( , 7 ( ( ( + 7 F$ F$ ( A(N 4 7C C $ C( $ A(6? 4 7C C $ C C F$ ( E(6 $ " 98$ .C( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( E(A ' % & " % & " ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( E(E 18 . 2('( 4( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( E(P , $ $( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( E(Q 8 8# 8$ #" 8$ C ( /# ? ? + @ + # " "$ $ $ ( ( ( ( E(M '" C $ C ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( E(U < $ . ( !( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( E(O $ . V # # #*8 8 ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( E(N " # $ C #8$ $ $ < 8$ 7C C $ C( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( E(6? 8# 8$ C #8$ C ( ( ( ( ( ( ( ( ( E(66 8# $ 1% 8 * ( ( ( ( ( ( ( ( ( ( ( ( ( E(6A 8 . V " Sa?( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( E(6E ) .$ VaAQ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( E(6P S#*8 8 VSA( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( E(6Q 4 8$ 7C C $ C "" " # C( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( E(6M 18 . < VSA ( ( ( ( ( ( ( ( ( ( E(6U / # 1% "" $8$ 7C( ( ( ( ( ( ( ( ( ( ( ( E(6O S 7 "$ $ .( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( " " " " " NP " 6? 6P 6Q 6M E? PA PE PP PQ PQ PQ PM PM PM PN Q? Q? Q6 QA QE QP QQ QM QU QO M? M? M6 MA ME MP MM $! NQ E(6N 8 . cSA " Vc( S # "( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( E(A? ) .$ cSA " cS( V # "( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( E(A6 ,7 .$ cSA " cS( V # "( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( E(AA S#*8 8 VSP( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( E(AE 4 8$ 7C C $ C "" " # C( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( E(AP )<. <VSP ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( E(AQ !"< ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( E(AM 9 ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( E(AU ) .$ VSP " VS( c # "( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( E(AO ,7 .$ VSP " VS( c # "( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( E(AN ) .$ VSP " Vc( S # "( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( P(6 & $ $ <>6Z6@<: <1%( 1 D $ 6 ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( P(A / # 1% # $" ( ( ( ( ( ( Q(6 . C8$ $( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( Q(A : .8$ ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( $ MU MU MO MO MN U6 UA UA UP UP UQ UO UN OE OE ) 6(6 A(6 A(A A(E E(6 E(A E(E E(P E(Q E(M E(U E(O E(N E(6? E(66 P(6 P(A P(E S 9 =)' ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( 8 ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( , $ 1 $ T( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( , : 1% ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( I 8$ : 1% ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( , $ ( > # < >C@ . $ $ @ ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( =#* 9 * V ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( / $ 9 V ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( 4 7C V " 6 ( ( 07. cSA< ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( / $ 9 cSA ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( 4 7C cSA " 6 6 ( ( 07. VSP< ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( / $ 9 VSP( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( 4 7C VSP " 6 ( S $ ( >S H h + hh + hhh 8"@ S # $ $ ( >S H h *"+ hh + hhh 8"@ ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( : 1%( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( NM 6A AM AO EP QP QO QN QN QN MQ MQ MQ UE UE UE UU O? O? * =" H 2$ 3(+ 0 ,(+ /* ,(+ 1 %(H : 1 / =)' 1 $ 2( ! + A???+ (EM+ (P+ (66?A<66?Q 2$ 3(+ 0 ,(H : 1 / 4.$</ $ 2 =)'( P ; GSSS+ !+ A???+ ( EN<PP NU
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