8
!"#$% ’"% ()*+,-."* ., /0)1, /023*4 567/! !"#$%& %()*+,- &*./0 1234(5678( 9 4()*+,- :*./0 Robótica Móvel Prof. Dr. Alexandre da Silva Simões 1 8% (9"*4*-:," ,);<-4 .#4 =#-=*0:#4 0-:"#.<:>"0#4 ., "#?>@=, * ., "#?>@=, 0-:*)0;*-:* ! A B<* C <2 "#?DE A B<* C <2 "#?D 0-:*)0;*-:*E F#?D4 9,", B<GE H<,04 #4 .*4,I#4 ., "#?>@=,E J% (9"*4*-:," <2 K04:>"0=# ., *1#)<LM# ., "#?>@=, ! H<,04 #4 @9#4 .* "#?D4E 72 B<* *)*4 .0$*"*2E N% (9"*4*-:," <2 9,-#",2, ,:<,) ., "#?>@=,O 9*"49*=@1,4O :*-.G-=0,4O 9"#.<:#4 * *29"*4,4 ! PQ *29"*4,4 1*-.*-.# "#?D4 2>1*04E !,", B<G 4M# *44*4 "#?D4E PQ *29"*4,4 -# R",40)E F#?>@=, S>1*) !"#$% ’"% ()*+,-."* ., /0)1, /023*4 J F#?>@=, S>1*) !"#$% ’"% ()*+,-."* ., /0)1, /023*4 J !"#$% ’"% ()*+,-."* ., /0)1, /023*4 N ";%#< 1 T#-=*0:#4 U<-.,2*-:,04 ! =6/ > 6: 4()?@ ! ’*I-0L3*4 K04:>"0=,4V ! ( ="0,LM# ., 9,),1", "#?D C ,:"0?<W., ,# :*,:">)#;# =K*=# A-4/0 B-C/D X8YZ[\8ZNY] *2 4<, 9*L, F%5%F% XF<44<2^4 5-01*"4,) F#?#:4]O .* 8ZJ[O #-.* .*40;-,1, <2 _:",?,)K,.#" $#"L,.#‘ XK#2*2 .* 2*:,) =#2 ,9,"G-=0, K<2,-, * 4*2 =#-4=0G-=0,]a ! ( 9,),1", "#?>@=, C ,:"0?<W., ,# *4="0:#" 1E--, ;EF:(. X8ZJ[\8ZZJ] *2 4*< $,2#4# )01"# _bO "#?#:‘ X8Zc[]O #-.* .*40;-,1, <2 -#1# ",2# .# =#-K*=02*-:# ,44#=0,.# d ="0,LM# * 9"#;",2,LM# .* "#?D4% F#?>@=, S>1*) !"#$% ’"% ()*+,-."* ., /0)1, /023*4 e

0’ 1234(5678(’9’4()*+,-’:*./0’gasi.sorocaba.unesp.br/assimoes/lectures/rm/Aula01 - Introducao a... · Aula01 - Introducão à robótica móvel.pptx Author: Alexandre da

  • Upload
    others

  • View
    1

  • Download
    0

Embed Size (px)

Citation preview

Page 1: 0’ 1234(5678(’9’4()*+,-’:*./0’gasi.sorocaba.unesp.br/assimoes/lectures/rm/Aula01 - Introducao a... · Aula01 - Introducão à robótica móvel.pptx Author: Alexandre da

!"#$%&'"%&()*+,-."*&.,&/0)1,&/023*4&

567/!&

!"#$%&'

%()*+,-'&*./0'

1234(5678('9'4()*+,-':*./0'

Robótica Móvel

Prof. Dr. Alexandre da Silva Simões 1

8%! (9"*4*-:,"& ,);<-4& .#4& =#-=*0:#4& 0-:"#.<:>"0#4& .,&

"#?>@=,&*&.,&"#?>@=,&0-:*)0;*-:*&

!!A& B<*& C& <2& "#?DE&A& B<*& C& <2& "#?D& 0-:*)0;*-:*E& F#?D4&

9,",&B<GE&H<,04&#4&.*4,I#4&.,&"#?>@=,E&

J%! (9"*4*-:,"&<2&K04:>"0=#&.,&*1#)<LM#&.,&"#?>@=,&

!!H<,04&#4&@9#4&.*&"#?D4E&72&B<*&*)*4&.0$*"*2E&

N%! (9"*4*-:,"& <2& 9,-#",2,& ,:<,)& .,& "#?>@=,O&

9*"49*=@1,4O&:*-.G-=0,4O&9"#.<:#4&*&*29"*4,4&

!!PQ&*29"*4,4&1*-.*-.#&"#?D4&2>1*04E&!,",&B<G&4M#&*44*4&

"#?D4E&PQ&*29"*4,4&-#&R",40)E&

F#?>@=,&S>1*)&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&

!"#$%&'"%&()*+,-."*&.,&/0)1,&/023*4& J&

F#?>@=,&S>1*)&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&

!"#$%&'"%&()*+,-."*&.,&/0)1,&/023*4& J&

!"#$%&'"%&()*+,-."*&.,&/0)1,&/023*4& N&

";%#<'1'

T#-=*0:#4&U<-.,2*-:,04&

!'=6/'>'6:'4()?@'

!! '*I-0L3*4&K04:>"0=,4V&

!!(& ="0,LM#& .,& 9,),1",& "#?D& C& ,:"0?<W.,& ,#& :*,:">)#;#& =K*=#&

A-4/0' B-C/D& X8YZ[\8ZNY]& *2& 4<,& 9*L,& F%5%F%& XF<44<2^4&

5-01*"4,)&F#?#:4]O&.*&8ZJ[O& &#-.*&.*40;-,1,&<2&_:",?,)K,.#"&$#"L,.#`& XK#2*2& .*& 2*:,)& =#2& ,9,"G-=0,& K<2,-,& *& 4*2&

=#-4=0G-=0,]a&

!!(& 9,),1",& "#?>@=,& C& ,:"0?<W.,& ,#& *4="0:#"& 1E--,' ;EF:(.'

X8ZJ[\8ZZJ]& *2& 4*<& $,2#4#& )01"#& _bO& "#?#:`& X8Zc[]O& #-.*&

.*40;-,1,& <2& -#1#& ",2#& .#& =#-K*=02*-:#& ,44#=0,.#& d&="0,LM#&*&9"#;",2,LM#&.*&"#?D4%&

F#?>@=,&S>1*)&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&

!"#$%&'"%&()*+,-."*&.,&/0)1,&/023*4& e&

Page 2: 0’ 1234(5678(’9’4()*+,-’:*./0’gasi.sorocaba.unesp.br/assimoes/lectures/rm/Aula01 - Introducao a... · Aula01 - Introducão à robótica móvel.pptx Author: Alexandre da

!'=6/'>'6:'4()?@'

!! '*I-0L3*4&2#.*"-,4&X.0=0#-Q"0#&P#<,044]V&

8%! SQB<0-,O& ,<:D2,:#& .*& ,49*=:#& K<2,-#O& =,9,f& .*& 4*&

2#102*-:,"&*&.*&,;0"a&

J%! S*=,-042#&=#2,-.,.#&9#"&=#-:"#)*&,<:#2Q@=#a&

N%! S*=,-042#&,<:#2Q@=#&B<*&*$*:<,&#9*",L3*4&"*9*@@1,4%&

F#?>@=,&S>1*)&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&

!"#$%&'"%&()*+,-."*&.,&/0)1,&/023*4& c&

%()?EG'.-23-H/2E'/'5/E.-23-H/2E'

!! g,-:,;*2&.#4&"#?D4&4#?"*&K<2,-#4V&&!!6M#&4*&=,-4,&*&-M#&*4:Q&4<h*0:#&,&9"*443*4a&

!!6M#&-*=*440:,&.*&4,)Q"0#a&

!!!#.*&2,-:*"&<2,&B<,)0.,.*&<-0$#"2*&-,&9"#.<LM#a&

!!6M#&-*=*440:,&.*&=#-.0L3*4&,2?0*-:,04&*49*=0,04O&:,04&=#2#&,"&

=#-.0=0#-,.#O&)<fO&40)G-=0#O&*:=%&

!! !"0-=09,04&.*41,-:,;*-4&.#4&"#?D4&9,",&=#2&K<2,-#4V&

!!6*=*440:,2&.*&"*9,"#4&*&2M#&.*&#?",&*49*=0,)0f,.,&B<*&:*2&

=<4:#a&

!!F#?D4&:G2&,9"*-.0f,.#O&2*2>"0,&*&2#102*-:#4&)020:,.#4%&

F#?>@=,&S>1*)&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&

!"#$%&'"%&()*+,-."*&.,&/0)1,&/023*4& i&

%()?E'C4-'=6I@'

!! j,"*$,4&k90=,4&#-.*&#4&"#?D4&4M#&*29"*;,.#4V&!! j,"*$,4&"*9*@@1,4a&

!! j,"*$,4&9#:*-=0,)2*-:*&9*"0;#4,4&B<,-.#&"*,)0f,.,4&9#"&

K<2,-#4a&

!! j,"*$,4&#-.*&C&-*=*44Q"0#&"*.<f0"&=<4:#4a&

!! b20:,L3*4&.*&4*"*4&101#4&X*-:"*:*-02*-:#]%&

!! b29)0=,L3*4&4#=0,04V&*29"*;#4&+&"#?D4&

!!(&*1#)<LM#&.,&:*=-#)#;0,&C&<2,&:*-.G-=0,&0""*1*"4W1*)l&

!!F#?D4&*+@-;<*2&9#4:#4&.*&:",?,)K#&=#2&?,0+,&B<,)0I=,LM#a&

!!F#?D4&*+0;*2&9"#I440#-,04&2,04&B<,)0I=,.#4a&

!!m*","&*29"*;#4&*&:*=-#)#;0,&-#&R",40)&#<&029#":,"E&

F#?>@=,&S>1*)&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&

!"#$%&'"%&()*+,-."*&.,&/0)1,&/023*4& n&

!'=6/'>'6:'4()?':*./0@'

!!52&4()?':*./0&C&<2&.049#40@1#&,<:#2Q@=#&B<*&C&=,9,f&.*&4*&

2 # 1 0

2

*-:,"&*&0-:*",;0"&*2&<2&,2?0*-:*&.*I-0.#&Xo0p09*.0,]q&

!! !"#?)*2,4&*&.*4,I#4&.,&"#?>@=,&2>1*)V&

!!T#2#&=#-4:"<0"&"#?D4E&!! /*-4#"*4O&,:<,.#"*4O&9"#=*44,2*-:#O&*4:"<:<",&r40=,O&*:=%a&

!!T#2#&=#-:"#),"&"#?D4E&!! T#-:"#)*&.*&?,0+#&-W1*)O&,):#&-W1*)&X9"#;",2,LM#O&b%(%O&*:=%]q&

!! '*4,I#4&0-*"*-:*4&d&"#?>@=,&2>1*)V&

!! S,9*,2*-:#&*&)#=,)0f,LM#a&

F#?>@=,&S>1*)&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&

!"#$%&'"%&()*+,-."*&.,&/0)1,&/023*4& Y&

Page 3: 0’ 1234(5678(’9’4()*+,-’:*./0’gasi.sorocaba.unesp.br/assimoes/lectures/rm/Aula01 - Introducao a... · Aula01 - Introducão à robótica móvel.pptx Author: Alexandre da

!"#$%&'"%&()*+,-."*&.,&/0)1,&/023*4& 8J&

"4(H4-:-78('5/'4()?E'

!! '0$*"*-:*4& 9,",.0;2,4& *4:,?*)*=*2& .0$*"*-:*4& $#"2,4& .*&

"*),LM#&*-:"*&,4&9"020@1,4&!"#$%O&&'(#")(%**&(+,%*

!!/*-@"V&=#2#O&B<,-.#&*&#&B<G&#?4*"1,"E&&

!!!),-*h,"V&=#2#&.*:*"20-,"&,4&,L3*4&=#""*:,4E&

!!(;0"V&=#2#&,@1,"&#4&,:<,.#"*4&.*&$#"2,&,.*B<,.,E&

T#2,-.#4&,#4&,:<,.#"*4&b-$#"2,L3*4&#<&.0"*@1,&(;0"&

'0"*@1,4&b-$#"2,L3*

4&X4*-@.,4&#<&=#-K*=0.,4]q&

!),-*h,"&

b-$#"2,L3*4&',.#4&/*-@"&

J-K5-'<234-5-'"4F:F+.-'

!"#$%&'"%&()*+,-."*&.,&/0)1,&/023*4& 8N&

"-4-5FH:-E'2-'4()*+,-'

!"#$%&'"%&()*+,-."*&.,&/0)1,&/023*4& 8e&

";%#<'11'

71#)<LM#&.,&"#?>@=,&

!"#$%&'"%&()*+,-."*&.,&/0)1,&/023*4& 8c&

LFE3*4F,('5-'4()*+,-'

/*=%&sgbbb&

?#-*=#4&2*=t-0=#4&

/*=%&sbs&

:*,"&9"#;",2Q1*)&.*&

u,=B<,".&

8ZJ[&

F%5%F%&Xv,"*)&T,9*p]q&

8Zec&

4<";02*-:#&.#4&9"02*0"#4&

=#29<:,.#"*4&

8Zc[&

_bO&"#?#:`&Xb4,,=&(402#1]q&

Page 4: 0’ 1234(5678(’9’4()*+,-’:*./0’gasi.sorocaba.unesp.br/assimoes/lectures/rm/Aula01 - Introducao a... · Aula01 - Introducão à robótica móvel.pptx Author: Alexandre da

!"#$%&'"%&()*+,-."*&.,&/0)1,&/023*4& 8i&

LFE3*4F,('5-'4()*+,-'

8Zc8&

:*)*#9*",.#"*4&2*4

:"*\*4=",1#&XSbj]q&

8ZcJ&

2QB<0-

,4&.*&T6T&XSbj]q&

8ZiZ&

9"02*0"#&"#?D&0-:*)0;*-:*V&/K

,p*w&X/:,-$#".]q&

8Zn8&

.*4*-1#)10\2*-:#&.#4&?",L#4&"#?>

@=#4&X/:,-$#".]q&

8ZcZ&

4<";02*-:#&.,&b%(%&4<,4&9"02*0",4&)0-;<,;*-4&*&

2#.*)#4&Xxb/!O&m!/]q&

8Zn8&

_"*,)0.,.*`&&-,&b(&X,);#"0:2#4&"*4:"0:#4&,&20="#2<-.#4]q&

!"#$%&'"%&()*+,-."*&.,&/0)1,&/023*4& 8n&

LFE3*4F,('5-'4()*+,-'

8ZZi&

"#?D&?W9

*.*&U),20-;#&XSbj]q&

8ZYZ&

"#?D&K*+Q9#

.*&m*-;K04&XSbj]q&

8ZYN&

"#?D&4,):,.#"&.

*&F,0)?*":&XSbj]q&

8ZY[&

b(&4*&,9"#+02,&.*&#<:",4&Q"*,4a&

"*-,4=02*-:#&.,4&"*.*4&-*<",04&,"@I=0,04&&

8ZYi&

0-W=0#&.#&.*4*-1#)102*-:

#&.#&(/bSA&XP#-.,]q&

!"#$%&'"%&()*+,-."*&.,&/0)1,&/023*4& 8Y&

LFE3*4F,('5-'4()*+,-'

8ZZc&

<4#&*+:*-401#&.#&9,",.0;2,&"*,@1

#&.*&9"#;",2,LM#&XSbj]q&

8ZZn&

bRS&'**9&R)<*&1*-=*&m,""w&v,49,"#1&

8ZZn&

.*4*-1#)102*-:#&.#&(/bSA&XP#-.,]q&

J[[i&

R,))?#:&&XTS5]q&

J[[[&

"#?D4&=#2*L,2&,&=K*;,"&d4&"*40.G-=0,4&

!"#$%&'"%&()*+,-."*&.,&/0)1,&/023*4& 8Z&

";%#<'111'

(&"#?>@=,&K#h*&

Page 5: 0’ 1234(5678(’9’4()*+,-’:*./0’gasi.sorocaba.unesp.br/assimoes/lectures/rm/Aula01 - Introducao a... · Aula01 - Introducão à robótica móvel.pptx Author: Alexandre da

!"#$%&'"%&()*+,-."*&.,&/0)1,&/023*4& J[&

B/2M4F('5-'4()*+,-'N(O/'

!! /*;2*-:#4&=#2&9"#.<:#4&=#2*"=0,04V&

!! ,<+W)0#&,&.*I=0*-:*4&

!! 20)0:,"&

!! ,<:#2,LM#&0-.<4:"0,)&

!! ,<:#2,LM#&.*&*4="0:>"0#&

!! *-:"*:*-02*-:#&

!! ,<:#2,LM#&"*40.*-=0,)&

!! %%%&

!"#$%&'"%&()*+,-."*&.,&/0)1,&/023*4& J8&

1P!#'

!! /0:*V&Ky9Vzz{{{%0-.*9*-.*-=*-#{%=#2z0?#:z0-.*+%K:2)&

!! U,?"0=,-:*V&u#K-4#-&|&u#K-4#-&

!! /*;2*-:#V&,<+W)0#&,&.*I=0*-:*4&

!! g0.*#4V&!! bRAj&#1*"10*{&X8V[[]q&

!"#$%&'"%&()*+,-."*&.,&/0)1,&/023*4& JJ&

#4F0()F3/''

!! /0:*V&Ky9Vzz*.*-%*)*=:"#)<+%=#2%?"zb-:*"-*:}R",40)z9"#.<=:4}?"%,49E=,:*;#"w~g,=<<2&T)*,-*"|9"#h*=:~�c7YnTU8c\R[(7\88'e\RZnT\[[Z[Jne'U'(8�&

!! U,?"0=,-:*V&7)*:"#)<+&

!! /*;2*-:#V&,<:#2,LM#&"*40.*-=0,)&&

!! g0.*#4V&!! j"0)#?0:*&=)*,-0-;&X8VNc]q&!! j"0)#?0:*&.#=p0-;&X[VN8]q&

!! '#=<2*-:,LM#V&

!! S,-<,)&j"0)#?0:*&

Ky9Vzz:<.#%,2*"0=,-,4%=#2%?"z=;0\?0-zo*?A?h*=:4z*,=#2%{#,z{,z9"#.E90:b.~8c[ZiZ|9,"~w,K##?4K#9�I=K,&

Ky9Vzz{{{%4K#9@2*%=#2%?"z,9#))#z9,":-*"(=@#-%.#E2*:K#.~"*.0"*=:|)0-p~8[e[N|9"#.<:#~8J[nNY&

!"#$%&'"%&()*+,-."*&.,&/0)1,&/023*4& JN&

%$Q-3(4'

!! /0:*V&Ky9Vzz{{{%0"#?#:%=#2z;#1*"-2*-@-.<4:"0,)z&

!! U,?"0=,-:*V&bFARAj&

!! /*;2*-:#V&20)0:,"&

!! g0.*#4V&!! F\m,:#"&#1*"10*{&XiV[[]q&

Page 6: 0’ 1234(5678(’9’4()*+,-’:*./0’gasi.sorocaba.unesp.br/assimoes/lectures/rm/Aula01 - Introducao a... · Aula01 - Introducão à robótica móvel.pptx Author: Alexandre da

!"#$%&'"%&()*+,-."*&.,&/0)1,&/023*4& Je&

;QRE'S;63(:-+,'Q6F5/5'R/NF,0/ETU'

!! /0:*V&Ky9Vzz{{{%*;*20-<4,%=#2z&

!! U,?"0=,-:*V&7\m*20-&

!! /*;2*-:#V&,<:#2,LM#&0-.<4:"0,)&*&.*&*4="0:>"0#&

!! gW.*#4V&

!! j#"#-:#/:,"&

!! j#"#-:#/:,"8&X[VJ8]q&!! j#"#-:#/:,"J&X[VJ[]q&

!! /0.*$#"p&

!! /0.*$#"p&X[VNn]q&

!! S,0)S#?0)*&!! S,0)&S#?0)*&8&X[VN[]q&!! S,0)&S#?0)*&J&X[VNi]q&

!"#$%&'"%&()*+,-."*&.,&/0)1,&/023*4& Jc&

V-4/N(6E/'%()(3E'

!! /0:*V&Ky9Vzz{{{%p01,4w4:*24%=#2&

!! U,?"0=,-:*V&v01,&/w4:*24&

!! /*;2*-:#V&,<:#2,LM#&0-.<4:"0,)&*&.*&*4="0:>"0#&

!! gW.*#4V&

!! v01,/w4:*2&"#?#:4&&

!"#$%&'"%&()*+,-."*&.,&/0)1,&/023*4& Ji&

;F)('

!! /0:*V&&Ky9Vzz{{{%4#-w%-*:z!"#.<=:4z,0?#z0-.*+%K:2)&

!! U,?"0=,-:*V&/#-w&

!! /*;2*-:#V&*-:"*:*-02*-:#&

!! g0.*#4V&!! e\x*;;*.&)*,;<*&8&X[VeJ]q&X(2*"0=,-&A9*-&J[[N]q&!! e\x*;;*.&)*,;<*&J&X[VNi]q&X(2*"0=,-&A9*-&J[[N]q&

!"#$%&'"%&()*+,-."*&.,&/0)1,&/023*4& Jn&

W6-EF'

!! /0:*V&{{{%0-:*"?#:4%=#2&&

!! U,?"0=,-:*V&T,"-*;0*&S*))#-&5-01*"40:w&XTS5]&z&b-:*"?#:4&

!! /*;2*-:#V&*-:"*:*-02*-:#&

\&U#=#&-,&0-:*",LM#&K#2*2\2QB<0-,&

\&S>.<)#4&=#-:"#),.#&*&,<:D-#2#&

Page 7: 0’ 1234(5678(’9’4()*+,-’:*./0’gasi.sorocaba.unesp.br/assimoes/lectures/rm/Aula01 - Introducao a... · Aula01 - Introducão à robótica móvel.pptx Author: Alexandre da

!"#$%&'"%&()*+,-."*&.,&/0)1,&/023*4& JY&

JDX)(3'

!! /0:*V&Ky9Vzz{{{%4pw?#:%=#%0)z&

!! U,?"0=,-:*V&/pw?#:&x:.,%&

!! /*;2*-:#V&,<:#2,LM#&9"*.0,)&

!! g0.*#4V&!!/pw?#:&8&X[VJi]q&

!"#$%&'"%&()*+,-."*&.,&/0)1,&/023*4& JZ&

V(Y//'Z4-H(2[0X'

!! /0:*V&{{{%{#{**%=#2&

!! U,?"0=,-:*V&o#{**&

!! /*;2*-:#V&*-:"*:*-02*-:#&

!! g0.*#4V&!!'",;#-U)w&X8VeJ]q&

!"#$%&'"%&()*+,-."*&.,&/0)1,&/023*4& N[&

#/25I2,F-E'5/'C/E=6FE-'

F#?#T<9&U*.*",@#-&

!! A?h*@1#V& _!"#$%&'(&) *%+) ,-.-) '/) 0/1) 21) 3'%14"5) 21) &"46$)

7'/*#8(21$)*'%6#"/")!*9*:)21);1#!1&)")0/1)21)7'/*#"$)!*/91<")

2")/'#2"`&

!! 71#)<LM#V&

!! 8ZZYV&U<:*9#)0&

!! J[[NV&TS!,=p&

!! J[[iV&TS'",;#-4&

!"#$%&'"%&()*+,-."*&.,&/0)1,&/023*4& N8&

%()*+,-'2('P4-EF0G'/:C4/E-E'

Page 8: 0’ 1234(5678(’9’4()*+,-’:*./0’gasi.sorocaba.unesp.br/assimoes/lectures/rm/Aula01 - Introducao a... · Aula01 - Introducão à robótica móvel.pptx Author: Alexandre da

!!/ b 7 mo( F jO& F %& 6 A 5 F R ( v P / P O& b %&

;63(2(:(6E' :()F0/' 4()(3E\& Sbj& !"*44%&

T,2?"0.;*O&J[[e%&T,9W:<)#&[8%&

F#?>@=,&S>1*)&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&

!"#$%&'"%&()*+,-."*&.,&/0)1,&/023*4& NJ&

F#?>@=,&S>1*)&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&

!"#$%&'"%&()*+,-."*&.,&/0)1,&/023*4& NJ&