Luan Van Lean

7/25/2019 Luan Van Lean

1/44

I HC QUC GIA THNH PH H CH MINH

TRNG I HC BCH KHOA

KHOA C KH - B MN C IN T

LUN VN TT NGHIP I HC

THIT K, IU KHIN M HNH THI BNG TRONG NG NGHIM

!"TH# $% TRUNG &N

M!!"# '()T*)'+

G"H,# T! NGU./N ,U. ANH

TPHCM0 ')(1


2/44

$23 456 78

LI C!M "N

9: ;338 ?@3 23 456 78 : D4 8EF; 8 ;E9 T! N?:J8 ,: A8E

8?L23 ;4 ;3 EL8? S8 =6 E; 4 ;8 ;V8E ;W8? X:Y ;V8E ;E4 E3Z8 $:8 [\8 8]^ _E`8? ;Ea EW]8 ;E]8E 8: _E`8? 4b S8 D; [] c8E EL8? 4de TE9

f6 4g8? >38 ?@3 23 456 78 4E8 ;E]8E 8# CY4 TE9 ;W8? hi 6`8 C7 3Z8 T@ -

8Ej8? 8?L23 4:8? 4F _38 ;E4 X:k hY: 4de 6V8E ?3l =6 4b ;Ea ;E4 E3Z8 $:8 "\8

G3e V8E =6 [] 8?L23 ;E80 8Ej8? 8?L23 d8? Ei F; 8E3m: [m 6n; ;38E ;E98

KE`8? 4b 8Ej8? 23 i8? [3


3/44

$23 456 78

TM T#T LUN VN

$:8 [\8 ;V8E h] m ;]3 pTE3; _ [] 3m: _E3a8 6` EV8E ;Eq3 he8E ;W8? r8?

8?E3Z6sTW8? m ;]3 8] i 4eW 4de X:5 hb8? ;W8? r8? 8?E3Z6 Lo4 3m: _E3a8

: ;V t 6i; i 4eW 4]3 n; Mi; X:u; Lo4 n; h


4/44

My4 y4

M$C L$C

$I CzM N3

T{M T|T $U}N "~N33

MC $C333

,ANH !CH HNH "[3

,ANH !CH BzNG BIU[333

,ANH MC T "IT T|T3>

CEL78? (# TNG QUAN(

((n; [F8 m(

(' Tq8? X:e8 [m >= 88?'

(* 8? y8? 4de ;E3; hc RI, ;W8? >= 88?*

(*( G33 ;E3Z: RI,*

(*' !W Y8E ?3je RI, [] Be4W=

(** 8? y8? 4de RI, ;W8? >= 88?+

( NEj8? 8?E3


5/44

My4 y4

'( PE8 ;w4E e 4E8 [] ;w8E ;WY8 47 4F: ;:m8 i8?'

'' Pe=;'1

'* KZ E]8?'+

' KEW E]8?*)

CEL78? *# THIT K MCH IN**

*( CF: ;l4 EZ ;Er8? 3m: _E3a8**

*' "3 3m: _E3a8 !TM*')"G**

** MW:= RI,*

**( N?:


6/44

My4 y4

'' TE:; ;WY8 47 h58

'* CY4 EL78? EY 453 ;E3Z8

' 3m: _E3a8 ; Z - [3 E8)

* , [] 6 8Ej8? L28? 4D;(

B 4:e ?b4(

G353 ;E:; 88?Eu E]8?*

1 G353 ;E:; 4 RI,*

T:m8 8E8 33

CEL78? # KT QUz THC NGHIM1

( My4 ;3


7/44

,e8E Y4E EV8E [^

%&NH '(CH HNH V

HV8E '(' !7 v 6n; h8? 8E] _EW()

HV8E *( CF: ;l4 EZ ;Er8? 3m: _E3a8 6` EV8E ;Eq3 hb8? ;W8? r8? 8?E3Z6((

HV8E ( $L: v ?353 ;E:; 4Ew8E(*

HV8E ' M38E Ee >= 3 4E:a8 8 [c ;w C(

HV8E * RWhW; 3 4E:a8 ;E=W [u4E e [] 8?:


8/44

,e8E Y4E h58? h3a:

%&NH '(CH B!NG BIU

.N) *+-. )/ /0123.4 .5*30.4 /)2567

Te8?


9/44

CEL78? (# Tq8? X:e8

C89:51 ;< TNG =U&N

;7;7 >* ?@5 A

"3 [e3 ; ] 6i; 8?L23 ;E9 ?358? u E4 38E ;:8? E40 ;`3 :`8 6:r8 ;:m8 u;

4EW 4Y4 E4 38E 4de 6V8E _E`8? 4E ] 4Y4 _38 ;E4 _E` _Ee8 ;W8? Y4E [t 6] 48 ;E:El; 4El8? h8? 4Y4 6` EV8E 638E Ee ;E4 ; !e: _E3 ;V6 E3a: 6i; r m ;]30 ;`3 8E8

;EF m ;]3 pTE3; _ [] 3m: _E3a8 6` EV8E ;Eq3 he8E ;W8? r8? 8?E3Z6s 4b ;Ea ?3l ;`3

638E Ee EV8E 58E 4 El; 4de ;Y3 F;


10/44

CEL78? (# Tq8? X:e8

HV8E (( !7 v 8?:


11/44

CEL78? (# Tq8? X:e8

X:u; EL8? ;y4 4EW Lo8? ?3b 4eW E780 8?Ee ] 8E ?8 E78 [] E3Z: :F; E78 !@ y8?

X:u; ;6 _E3 498 Y :F; 8 E78 1)) Pe N?W]3 e 6i; r : ;r _EY4 4g8 58E ELt8?

8 e 4E80 8EL ?3Y ;E]8E 4E ;uW X:u; EL8? ;y4 E78 X:u; ;60 8EL8? X:u;

EL8? ;y4 ? ;38? v8 E78 X:u; ;6

HV8E (' Q:u; EL8? ;y4

HV8E (' Q:u; ;6

8? S8 _Ew [] hb8?

$Wu3 r8? Lo4 @ y8? E53 4b ;Ea 8E8 h3; Lo4 [c ;w X:5 hb8? hY4 ;E4 [c ;w 4de X:5 hb8? ;W8? r8?

CY4 u8? r8? ;EL78? Lo4 ]6 h8? [; 3Z: ;Ed ;38E EWn4 634e 4b i ;W8? :r; 4eW ]

e 4E8 Ex Eo [3 ;E3; _

Bb8? Lo4 @ y8? 8


12/44

CEL78? (# Tq8? X:e8

Lo8? 3m: _E3a8

HV8E (* 8? [] hb8?

C56 h38 W _EW58? 4Y4E

o khong cch l mt trong nhng vn quan trng trong iu khin

Robot hay trong iu khin t ng !" nhiu #h$%ng #h# o

khong cch nh$ &'ng (i)u *m+ &'ng h,ng ngo-i+ &'ng ./ l0 nh12ai

lo-i cm bi3n th$4ng $5c (/ &6ng o khong cch trong cc h7

th8ng iu khin %n gin l cm bi3n (i)u *m !R) [] 456 h38 Ev8?

8?Wu3 GP'.)A 4b ;Ea 4EW _; X:5 W _EY 4Ew8E >Y4 ;W8? W 8E E78 (6

HV8E ( C56 h38 !R) [] GP'.)A

;7J7 M *02, 580E ? -25 ?5

My4 ;3 8? 6i; 6` EV8E 78 ?358 a Y y8? ?353 ;E:; 3m: _E3a8 PI, ;W8? [3Z4 3m:

_E3a8 X:5 hb8? : ;V t 6i; i 4eW 4]3 n; ;L4

NE3Z6 [y#

Te8?


13/44

CEL78? (# Tq8? X:e8

- TV6 E3a: ;q8? X:e8 [m m ;]30 E8 ;w4E e 4E8 EL78? Y8 ;E3; _

- TE3; _ 6` EV8E 47 _Ew

- TE3; _ 6u4E 3Z8 3m: _E3a8

- 8? ?353 ;E:; 3m: _E3a8

- TE4 8?E3Z6 a _3a6 ;e u3 4Y4 ;E3:F;

M` EV8E Lo4 ;E3; _ [3 4Y4 ;E`8? r 8EL e:#

- Kw4E ;EL4 6` EV8E# *))))>+)) 66 ,>R>C

- Q:Y hb8? h]8 L28? _w8E ) 660 _Er3 Lo8? '?

- i 4eW 3m: _E3a8 ;r3 e 1)66

KE3 b0 :8 [\8 ^ Y y8? 8Ej8? _38 ;E4 E4 [m 47 _Ew0 3Z8 ;@ [] 3m: _E3a8a ;E3; _0 4E ;uW e 6` EV8E ;Eq3 hb8? ;W8? r8? ;Ee 68 ;E`8? r []


14/44

CEL78? '# Tw8E ;WY8 [] ;E3; _ 47 _Ew

C89:51 < TSNH TO(N V THIT K C" KHS

2 2 *80W* XW

M` EV8E 4b i 48? [j8? ;r;

$38E EWu; ;W8? [3Z4 ;EYW D je 4Eje7;7 T80W* XW : X8Y

T 7 v 8?:


15/44

CEL78? '# Tw8E ;WY8 [] ;E3; _ 47 _Ew

HV8E '' i ] ;E]8E r8? ;3


16/44

CEL78? '# Tw8E ;WY8 [] ;E3; _ 47 _Ew

8? EL8? ?3b Lo4 4E ;uW h8? ;`8 68? ? u3 ;E]8E EV8E 8b8 4y; a c8E EL8? ?3b

4de X:u;

TW8? :r; X:Y ;V8E EWu; i8?0 X:u; ?98 8EL EWu; i8? _E`8? ;530 6] 4E ;uW e :v8? _Ew

a hb8? "3Z4 498 e 4E8 ] 4EW8 Wu3 X:u; ;uW e Lo8? ?3b d a X:5 hb8? h]83 E; 4E3m: ]3 r8?0 ;W8? _E3 b 4Y4 ;E`8? r _ ;E:; [m Y :F; [] L: Lo8? ?3b 4de

4Y4 Wu3 X:u; ;EL28? _E`8? Lo4 4`8? hr e8?0 [V [ [3Z4 e 4E8 X:u; 498 e []W

;E4 8?E3Z6 a e 4E8 NEL ;V8E t E98 ;q8? X:e80 4b ' Wu3 X:u; @ y8? Eq h38

] X:u; EL8? ;y4 [] X:u; ;60 8EL8? X:u; EL8? ;y4 4EW Lo8? ?3b 4eW E78 8: 4b

4x8? 4`8? :F; [3 X:u; ;60 E78 8je0 ;E=W Y8E ?3Y 7 hi ;EV X:u; EL8? ;y4 J D

n; [] ;Ee ;E E78 r3 [3 6` EV8E E3Z8 ;u3 ,W b Wu3 X:u; @ y8? ] X:u; EL8? ;y4

[] Lo4 e 4E8 ;E=W EL78? EY ;E@ e3 h8? 4Y4E x8? X:u; ;Eq3 X:5 hb8? 3 E;E]8E ;V8E r8? T 4Y4 E8 ;w4E0 ;Y4 ?35 m >:F; ;E3; _ 6` EV8E *, [3 _w4E ;EL4#

'))'))>())) 66 ,>R>C NEL EV8E

HV8E ' M` EV8E *,

Te8? +


17/44

CEL78? '# Tw8E ;WY8 [] ;E3; _ 47 _Ew

M HNH ZNG HC THI BNG TRONG NG

TE=W ?35 ;E3; [m EZ r 88?0 ?35 @ 4 ;uW e ht3 X:u; _E3 3 []W r8? ; Z [3 hV8E

EL78? 3Z8 Y 4F []W i8? 47 X:u; Ey y4 (0 ;e 4b# T=C v2

TW8? b T: $] 4 88? W X:u; ;uW e C: HZ r 88? v : 3Z8 Y 4F []W X:u;

Te ?35 @ X:5 hb8? 4E 4Ec: ;Y4 y8? 4de 4 88? 4de X:u;

T [] ;8? 4 P $l4 8] EL78? ;V8E ;WY8 4de EZ 4b

;Ea Y y8? ;E=W c8E :; ' N=;W8#

F=TP

ma=C v2mg (

M] a=x 0 [3 x : $] i 4eW 4de X:5 hb8? h


18/44

CEL78? '# Tw8E ;WY8 [] ;E3; _ 47 _Ew

X(s)U(s)

=1

s2

!e: _E3 > 8? EL78? ;V8E E]6 ;:m8 ;e ;38 E]8E 6` E8? a >=6 Y 8? 4de EZ

;Er8?0 [] ;38 E]8E ;E3; _ ?353 ;E:; 3m: _E3a8

Te8? ()


19/44

Te8?

((

Hnh 2.12. S mt bng nh kh


20/44

CEL78? # K; X:5 ;E4 8?E3Z6

C89:51 J< THIT K MCH IN

J7;7 C@2 *3[ 8 *8\51 A02 X80F5

.Y4 c8E [c ;w 4de X:5 hb8?

$e 4E8 6u4E 3[= 3m: _E3a8 i8? 47

$e 4E8 [3 3m: _E3a8 ;:8? ;6

Hnh !.1. C"# t$%& h' th(ng i)# khi*n m+ hnh thi b-ng t$ng (ng nghi'm.

$e 4E8 456 h38#

H3Z8 8e ;


21/44

CEL78? # K; X:5 ;E4 8?E3Z6

6 >:8? X:e8E

"x8? EY; E3Z8 ] 6i; [x8?

;3e E ;E8? 8?

"x8? EY; E3Z8 ] 6i; [g8?

EV8E 8b8 ;e e

G3Y ;E]8E ;L78? r3 4eW ;()_ )_

G3Y ;E]8E ;EF E78 _EW58?1)_

TE=W ;E3; _ he8 9: 4E3m: ]3 ;r3 e 4de r8? ] 1) 660 8


22/44

CEL78? # K; X:5 ;E4 8?E3Z6

C89:51 Q< GI!I THUT IU KHIN

PE98 8] ;Y4 ?35 ;V8E h] ?353 ;E:; 3m: _E3a8 ?3l : ;V X:5 hb8? 7 @8? h


23/44

CEL78? # K; X:5 ;E4 8?E3Z6

HV8E ( Bi 3m: _E3a8 PI, i 4eW X:5 hb8? h]8 ;W8? r8? 8?E3Z6

Q77 G0]0 *82* A02 X80F5

G353 ;E:; 4E:8? 3m: _E3a8 i 4eW X:5 hb8? ;W8? r8? 8?E3Z6#


24/44

CEL78? # K; X:5 ;E4 8?E3Z6


25/44

CEL78? # K; X:5 ;E4 8?E3Z6

C89:51 ^< KT =U! TH_C NGHIM

^7;7 M *02 *8` 5180E

9 K3a6 8?E3Z6 ?353 ;E:; L28? ;E=W [u4E9 K3a6 8?E3Z6 ?353 ;E:; 88? E]8?

9 K3a6 8?E3Z6 ?353 ;E:; 4 RI,9 K3a6 8?E3Z6 E98 ?3eW ;30 ;:m8 8E8 ?3je 6Y ;w8E [] [3 3m: _E3a89 K; Eo ;W]8 hi ?353 ;E:; ;=

^77 KW* 2] Aa Ab* A9c

'( K3a6 8?E3Z6 L28? ;E=W [u4E 38=

PEL78? EY ;38 E]8E# >= ^ ; hY6 [u4E a 3 8 [c ;w C0 X:Y ;V8E 3 ;E=W [u4E

48 heW ?v6 X:Y ;V8E 4:e ?b4 TE4 ; _EW E]8? 63 E]8? ^ 4b L28? 38= ;E8?

8EL8? :8 [\8 4g8? ;38 E]8E ;E= hY6 [u4E q8 c8E [3 ;r4 i )66 r3 [3 6n; ]8 ]

?3F A) r3 [3 L28? 4W8? >= 4b ;Ea h 4W8? [3 hY8 _w8E 4W8? 8E 8EF; ;E=W L28?

4W8? ] 1)46 TW8? X:Y ;V8E ;E4 E3Z8 :8 [\80 ;Y4 ?35 _3a6 8?E3Z6 [3 Ee3 6n; ]8

_EY4 8Ee:# 6i;0 L28? 38= 6]: =8 ;


26/44

CEL78? # K; X:5 ;E4 8?E3Z6

=80 ;F; 45 m: 4EW _; X:5 ;L78? ; 8Ee: r3 [3 4Y4 8m8 6]: _EY4 8Ee:0 ;x ;E:i4 []W

6]: D4 6] e3 r ;E=W 38= _EY4 8Ee: TY4 ?35 4g8? _3a6 8?E3Z6 ;e8E e

;230 _; X:5 ?3Y ;c 456 h38 4 _E`8? q8 c8E

'' K3a6 8?E3Z6 ?353 ;E:; 88? E]8?

PEL78? EY ;38 E]8E# E]8? Ebe 98 Lo; Lo4 n; t 64 ( [] 64 '0 >= ;38 []W

88? E]8? [] Eu E]8? ; 64 ' >:r8? 64 ( X:Y ;V8E 6e8? 8 [c ;w 4:r3 _EW ^ Lo4

_3a6 8?E3Z6 ;W8? ;W]8 EZ ;Er8? [3 ;8? ;L28? Eo ;53 ;8? 98 Lo; (_?0 '_?0 *_?0

_?0 _?

K; X:5 ;E4 8?E3Z6# ;Ee8E ;Lo; 88?


27/44

CEL78? # K; X:5 ;E4 8?E3Z6

_E`8? ;Ew4E Eo N?W]3 e ;Y4 ?35 ;E@ 8?E3Z6 4 [3 ;E ;98 r ;EF ('_H0 _; X:5

_E`8? 4 Lo4

T: 8E3= E53 ;38 []W Y; _Z E]8? 63 4 Lo4 a Wu3 ; _E5 8\8? >= 8l8? [c ;w 8EL8? _E`8? 4 W Eu8 4E [m _EW58? 4Y4E0 :8 [\8 Le e ?353 EY 4

u3 ;r3 e * 98 ;W8? ;L28? Eo 4 ;EF; hu3

' K3a6 8?E3Z6 ?3eW ;3 33

PEL78? EY ;38 E]8E# @ y8? ;=8=; ;W8? 6Y ;w8E ?3 h8? 46 ;:m8 6i;

;38? >:r8? 6W:= "3 3m: _E3a8 ^ ;5 [m _k ; pW_s = 88? E]8?0 6i; e=; [] 6i; _Z E]8? Lo4 n;

t [c ;w C = ^ 8E8 6 E]8? ; 6Y ;w8E X:e 33 8 [3 3m: _E3a8 [] ;E4 E3Z8 X:Y


28/44

CEL78? # K; X:5 ;E4 8?E3Z6

;V8E L28? 8 ce 4E C0 4 RI,0 F E]8? [] n; E]8? t 4:r3 L28?

K; X:5 ;E4 8?E3Z6# HZ ;Er8? EWu; i8? 4Ew8E >Y40 ;E4 E3Z8 9 d 4Y4 hL40

8E8 3Z8 l8? 6n; E]8? Tq8? ;E23 ?3e8 ; l4 hD; 9: 3 8 l4 _; ;El4 [3 X:8?

L28? 6 ] +) ?3

N?W]3 e 6i; r [F8 m ?n E53 8EL e:#

9 CELe ;E4 8?E3Z6 Lo4 EWu; i8? 4de ;W]8 6` EV8E ;W8? ;E23 ?3e8 ]39 TEe8E 88? _E`8? Eu Lo4 >:r8? [c ;w ;EF Y; hY8E >w4E0 [V X:Y ;V8E D Y 48 4E8E

>w4E 4ELe ;E8?

Hnh 5.D. Tn &Enh h' th(ng

^7J7 d58 10d

$:8 [\8 ;E4 E3Z8 Lo4 8Ej8? 8E3Z6 [y e:#

9 TV6 E3a: ;q8? X:e80 E8 ;w4E e 4E8 EL78? Y8 ;E3; _ >= 88?9 TE3; _ 47 _Ew 4EW >= 88?9 T:m8 8E8 j 3Z: ?3je 6Y ;w8E [] !TM*') @ y8? 339 TE3; _ 6u4E 3Z8 3m: _E3a8 4de ;e 6Y @ y8? !TM*')9 N?E3


29/44

CEL78? # K; X:5 ;E4 8?E3Z6

9 N?E3 8? ?353 ;E:; 4 RI,9 8? Lo4 6` EV8E >= 88?

^7Q7 H9e51 f8d* *30F5 A *0

- C53 ;E3Z8 EZ ;Er8? 88? ?D [; a ;Ee8E 88? 4b ;Ea 3 4E:a8 ;W8? _EW58? 4Y4E 8

E78- Tw8E ;WY8 [] ;E3; _ >= 88? Wu3 8 4EW 4Y4 E]8? Ebe 8 E78- PEY; ;3a8 ?353 ;E:; >= ; ;w8E ;WY8 ;r3 L: L28? 3 _E3 Le E]8? ; [c ;w A e8? [c ;w B

_EW E]8? hr ;w u8? 6e ;8- T\8? ;E=0 _EW E]8? [] X:58 k 8? y8? _ ;E:; !:

CEe38 Me8e?=6=8; [] 8? y8? E98 6m6 X:58 k _EW


30/44

PEy y4

P8 - &< TSNH TO(N BZ TRUN gSCH

= 4b Ee3 hi ;:m8 >w4E0 ?3je Ee3 ;y4 4de ;w4E ;w4E ?3je 6W;W [] ;y4 Lo4 ;38 E]8E ;L78? ; [3 EZ r?356 ;r4 ] (&7;7 C8h5 -)b0 iY8

C`8? :F; ;w4E 8E 4de hi ;:m8 >w4E 4Ew8E ] 4`8? :F; ;


31/44

PEy y4

TE=W h58? T]3 3Z: ( [3 8*'[8?E0 4E8 hi ;:m8 >w4E ( 4b hL4

>w4E 4('066 ;Ee 68 3m: _3Z8 hm8 68# P ;P()

v8? ;E23 ;E=W h58? +0 hL4 >w4E 4('0666e>

TE`8? ;EL28? _E3 ;E3; _ 7 hi ;EL28? 4E8 e*))40 ,W b ;e 4E8_EW58? 4Y4E ;y4 e0 4('0

TE=W 4`8? ;E4 (' ;]3 3Z: ( r 6D; >w4E

' '

4( ' ' (

4

- ' e ' 0 ( ( ( ( ('0 > +

' ' e ('0 ' ' 0

+ = = + + =

$F r 6D; >w4E 4E8 >++0 ;w8E u3 _EW58? 4Y4E ;y4 ;E=W 4`8? ;E4 (* ;]3 3Z:

(

( )

' '

( ' ( ' ' (4 4 4

''

- e )0' > - - - '

' '

(-()0' ('0 ++ -( ++-( - ' )0+ 66

= =

a >w4E _E`8? 4Ec: 4 4\8? X:Y 80 ?356 e ( Lo8? h8?#

e)0))*e (0 *66 0 W b e)0+-(0*066

!r 98 [e 4de >w4E# TE=W ( ;]3 3Z: (

( (

4

8 (*'3 )0 ( 3 '

(> (++

&7J7 TY58 X0FE 5180E iY8 ? Ak 5

TE=W ( ;]3 3Z: (#R ; ) "

Q

_

"3 #


32/44

PEy y4

- TE=W h58? ' ;]3 3Z: (0 ;53 ;8? EY E8? Q(+'))N0 _Er3 Lo8? (6 >w4E

X)01_?

- _(0' T53 ;8? [e 8E0 ;53 ;8? 6t 6Y h8? () ;53 ;8? ]6 [3Z4

-

( ( 8 (('0*'[ )0((61)))) 1))))

- $4 [8?# ;()))P[(')0((()+N

- $4 4\8? W 4 3 ;6# "X[')01)0((')0))+N

- $4 4\8? W ;8? Lo8? 8EY8E >w4E hc i8? 38E e#

)0+(_Xe0+()01)0*'*+0' N "3 _ _E3 hi ;:m8 86 8?e8?

8?E3w4E 56 h5W d hm8

&7Q7 gd Am58 *8j51 4\ An+ iY8

L28? _w8E e >w4E# TE=W 4`8? ;E4 ( ;]3 3Z: ( [] h58? (h#

(38(('038(10((66

'38'('038(10((66L28? _w8E [8? 4E3e

e()04W;?(0'66

e')04W;?'0'66 L28? _w8E [8? 8E \8?

( '(-'10((-'0*'11)0+66

[3 hY8 _w8E Y )0)'()0))0)' +0()0)0*'1 66 []

(+0(66 h58? ' ;]3 3Z: (

K3a6 8?E3Z6 i hm8 ;3 >l4 4de e >w4E ;E=W 4`8? ;E4 (+ ;]3 3Z: (#

(H ; R [R R

)0 _ K fA_

)0 )0(()+(0')0)+'0(() *01(1+0MPe

"3#


33/44

PEy y4

;()+N # 4 [8?

_ )0(# EZ r 58E ELt8? r \8? >w4E "3 ((

K(0'# EZ r ;53 ;8? i8? T53 i8?0 [e 8E

[((*()-8(*6(*()-*'('0*()0)+N# 4 [e ;w4E

f'f(f'f(f' '0(() Me

A*0166'# 3Z8 ;w4E 4de h58 m h58? (' (

( (H H 1+0

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