HPTS: A Behaviour Modelling Language for Autonomous Agents Stéphane Donikian IRISA / SIAMES team Campus de Beaulieu F-35042 Rennes, FRANCE [email protected] ABSTRACT !"# %$& '( )*+ , - .-/ ! 012 .- 3(!-4 -#.5"6 -#.798:;$<=. <; > 12(#?2-4 #@-A"6 <-"6B(< "64"/$) C = < C ->%< 3( ->%< -D/ CFE -4?2# <) #2< ( -# C > <(&(#3G -/ .+ (1 C . -#. C .H(<= ! I>J E <-#<( -#<$ E -@# + <=/$/7:K * -#.)(<=@;$;> MLN5 -/ <= 3( 3A#3 -G O/# I M ( 3.-PL,Q > < 1@;$; R( -.TS?25LU#+Q V-GL* W #- I> -#-/ E -X -1 -#.Y(0G<-/( 2- C C 3-F7[ZU<> < -.I$ E -T 3 C C 2?!&# (U &O/ -#(, ) < ( -# C (L #"6 /L6\' + <= 3<8(> 3^]F-#( I -[_$; H`a\'8]2_b=7 Keywords 3"# %$ E _$-/ # <GZB.- E ZU.-/cZ2 <= I < E K> # 'dT -#.@eF-#.. 1. (#(, ? Lx ' <#- *O/! C 3$/@ -D #' L"6=> -# @ -s7MZ2Lq M (<(( 3-.D C '-#c<-#BL 0-#?2-P C#C 1<# E ?!4?2 K -/( <4 #4\'8]2_VLN @ ( -#P(#? I )(LN-#() #-0& [V"6 )(< C 3-..7K^ -3I$ E ?!B?2 3s 3;( M+?h I2#!"6-Q(Q I -U C#C 3 <+ -#7 2. PSYCHOLOGICAL REQUIREMENTS dYDk m oJE -#.D E (< "6B #) -/ < -#H"6=> ?K-V4"6 3x-/ I$T-#T I B- I --/H`a(5^ . t+b=7]!#c+1 ?L& #V;$; T C < C ->%< ( -> <= 3-/ C 7 ]!#Y~# ;D+( ?{L* (-( X< + @ <3 #;;$`a a7 7 #[ 3-/ -#M .#3 -pLN"#<0#b ?2#= 9 #,(<-+( +?f;-#:LN 2< - O/ ALN C < C -h`a7 .7c -# -#.Y Dl c(@( # -#.V?2 3< (##3T"6M-T #'3=Lq=b=7 INTRODUCTION ] f.14LD #g"6#+ AA 3[ h( 3A#3 i> ! -##@-/ I D3 01c .1- (T-j 3-.X"6 -#.lk m E'n+o 7 Zp"6 F- I%$T#, #MLq+?2 -.D< C "# I 3r C < C > -Ls I K- I -#- E < ( 3- E < -@-#4<A#- 3< kItu E u E t o 7BdT;'"6 ^3U1H"6-c( .-#TLq ( C +( <#3Uv C ! -Q?2 <= C (( "#H -/ < -#2"6> %?!-A-&"w;<-H I x- I --/^+ ($M( C rF(-( -D< # B+ ' #< 5 3- @6< C " 3 I 7ZB- C -5?2# <X A.-#$P-#&( + P 5 @-# -XL, 7 ]!Y ((#D ((i# Y T?2 3=yU?KV z l(<= 3"6Y .-#=FLq @3 ({L"6 3U3 -#."#(Q- C ;$<#> . <x; U-Q< C + "#M?2 I T I>J M<-#;( -/ 7 |%-4 # C C = E ?!2?2 3#;(!"/$)-#I$} -#.H #U< ( 3-(> <# I <= '~#-#Y"/$Y"6 3 C ;$<#. ; H-#Y?2# <= @$g"6Y< C + "#T?2 I f I> 7]!#-i?!T?2 '@01Q K' _ Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. To copy otherwise, to republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. AGENTS’01, May 28-June 1, 2001, Montréal, Quebec, Canada. Copyright 2001 ACM 1-58113-326-X/01/0005 ... 5.00. Treatment unit Homeostasy Sensors Actuators Environment 2q6x+T#UAxAsGV+#^N+W^cqBs Fq+6[¡ |-LN @ -g-#P G(<= 3"6D #D"6 4LM-g-> I$c C -#M-c )-# 5L # M-/ I$/7 @ #($Vv ; LNH -# -#.) I #2 #&-<( +($YB(¢4< -/';( < -#V D( C#C ( C +( <#3&< C "# I 3&-c<( -#I$[-# &( CC (.- -/ .-<7ZB I < -Q-4 -# C I ?,+: #21 C -/L(<=)' #($ E ?!Fk u o6C ( I +K-#2?,$) 5 C#C <@(¢< -<$4 "$) -#.H#@<.-# I -5 -&< C -3$1 ^x"-7F\'9(#..; F #(5< C -#s3$1 B .HLq #&-+ s# +(> <$TL -LN @ - C /<(( -#.7HeFXk t o 3-/( #<B(1 C + 3.M"6U #&?,$Q #&" 3-V?K 0M-Y<-( ' # @ 3-#2L^ #H@-@"6$/7:\BMv C 3 -2 #2#@-Q"6=> Y Y-+ 3I$£ <# < E Q<.-# I 1[LN#-< - LU #@" -i Q -X - C 3a7idT +1<.- I 3DLq#-#<=> -#!+ U I -/ 3--# r(2+ C I$5 <= 3 E ?2# # B O/# I A H 37H¤v< -V B-#VL* O/#-< LK ) = -/&< I & C + *s7 ?K((( M + ('! B 3-01"/$)(-#;LN=( 3-.A -LN @+ -Q< (!# I> = <# <B1 E -#i #@<=fLM ¥ C = @?2 I # # -.A-/$@ 3D0-#?2.ULs #U 3--#?! 0 -.!L C > <((2! #=,179ZB #! ! O/ @ ,H(-;LNKLN#-<> -) B(-#;LN #! -Lq @+ 3- C #<5"/$5-!1 - HLN ¦ #!<-D"6B("$4- #=798( <#3+ $D C (-/ & #- -l #5;$)"63 <@< I 5/<<A?2-l #=$l+ /<$c"#(Y- C "§ C <'<-#;( < Y-[4-/(> >-/2"( 7'ZU<< -#.4 ?!!k u oJE #&<-#;( -/ L9)< C =,"6 sF M 'LN3?2 -#.r ¨ C 1&-#DS#v 3"H"6 y ¨ >J H -/ < -T?2 I T #M- I --/y ¨ < C vV-T <V- I -#-/ E J7 7 E 4"6#+ ^-> I$)(#3)"6U"#2 C < 12 I K- I --/ E (* 12M0-+?2.U#+"#(U-#4(1. 9L6L* > L:< -V-Q #H- I --/y ¨ #(HL;$)"632-Y"#;(< -Fy ¨ -A$[ -gY(/< 3K"<0. #-f`a 37 C (( "3D(/< 3 -/ < -#2?2 T #=2-/ b=y ¨ (ILq><-#(< #(-#(M-# C < C -sy ¨ " 3 I%$Q 4+ -Fy ¨ <-#;( #<="#BM-#-#%?! 0A"/$4-)"($/. < . ?, C /<( E -Q 3-.4+ 3(-Y .Q1 3-F7 ]!A3;M 5<-#;( -/ '=v C ((V -V #&3;H I §?2 3 -5"6 ((G 3-G # C C =7@|-GLN<&?K((-/ 3I$lLN/<# -G A~# ;M( v[<-#;( 3-/ 7)]!# =LN E &.9 3M D"# * Y?2# <P?2 3K+?©(@# C 1@-[S#v "#"6> # @ g-/$f-/ %$i1 -#.P -hl< C vf- I -#- -T -/ < -#.4?2 I V U-/ 7|-/ < 1Hv< -Y (TLN-#-/a7&]! 3H#Mc#B Q;+ A + C + 3. O I QLN C . -#.4Tª(«(¬ ®N¯ °a®J±2"6 xx+ MLN3?2 -#.r ¨ < I%$ E ?2 <=²-#< C ((³ C <¥´;$-> < -U1-/ 2-#Qv< C -#y ¨ 3 I$@ -Q '"6# U(< C - E ?2 3<Y3?2 C + (-Q<-#<( -<$DL:(#">"6 y ¨ #+>JS? E Lq5 #4 C < I~<+ 3-XL, 4<A#- 3< "6%?!-Y I -/2y ¨ # + <= <;( #< 3-.'L #!"6 3 E ?2# <=A- # C (( " 3 I$cL C C -#.(#">"6 U-V(-> ( I -# -4 #,+>%"6 3M0 -)LF=v< C -) -/ ( C 3-F7X|-#4(G +(#">"6 A<-# ILq$D #M+>"6 2L^ # B< I%$sy q L ¨ O-#<=$h-# -#.iLNc=v< -pL)(#">"6# 7 ]!# C 3) #T"# I$g l! < -f ) 3C < C -V< 7 3. RELATED WORKS s-# @+ 3-@<-( 3; ,L^&# .D6<(@<-> ( F/ C kItµ E ¶ E t E t· o ?2# <Y= ! #H"# %$Q A( )#3+ -##:-/ I Bk m E ¶t o 7_#<4<= !+ U"#, C < 3 I4- I --/ E V<)#- < 4?2 I g Qk u o -l =v< ,(B< - E (#<:?,0 -.5 -) ,;( 9. C > -.c-P"w< E << 3-.V T #-# L2 #- I -#- -l?2 I l I) -/ -/ -#7T¸M I -/A CC 1<=51"6- ; lLN) #@< ( - C +()LU"6 !35 -g-> @ -sr5(-#((>%=< A5--?K 0@`a(@7 .7Gk ¶ n+o b E "6#+ , #H`a('7 .7Bk ¶m o b E ^ 3- I &ZB @ -QZ C#C 1< `a(Y7 .7¹k µ o b=7dT;DLB #(Q;$; 41Q"6-f( .-# LN,( C +( <#3!v C E -?2# <@#3+ %$@-#<-> <( -#<$[+ -#H-#<( ($/74K 9-/ H#14-I$ -U< I$A3 -B-)"6<(U -/ < -#"6?K--"w;<= -#Y I '- I -#-U+ A($T( C 3y6(-#( H-#V< # , #<A H -# @< C " 3 I ?2 <= E ;9L ! 3 E -I$Y3?p"#;<5+ 3#-#<H -Y4¸B¶¸¹?! 37 ZB- C 3-/4?2 <=i .-I$i-#)( g ) #Q-#> -GLK E ?2 3<l H+?K1M-#<( ($ E I #5 -#.@ # C < I~#< - C #(T`a - EsC 3<= 3- E <= 3-l+> -b2M -#.) Hv< 3- C #(@`a;$-#< -# -VL:"> w;< ?2 j I -/@ -/ -, 3b=7hdT Y <-/ I$ E G(<> -#).-#+ 3-L6"6 3#3:#:"6-1 C 5 (< "6)#@-V"6 M 3-[ C < I~#<A(075ZUM#@-V"6=> 91($5< C v E --,L6 # C < -#.M9<#3 "6& CC s7!]!#&<-D<=#<= ; 3<ML (H-#?p> 2 U <= 3 I$ EC 3 ({-#D I -/2";(<!31,L "6#+ 7:|-ckItt oE # ,(<= 3"6'5A#I I>%.-K1 C > -/B- I -#-/U-Y¸'Z'_¤:¸M|(_Y-V#(5 IM D(<= 3"6 #K"6 :L'<+ 17x|-A - I -#-/ E #+ C > 3H"/$M(-( :+ # & -& K< ( -539(2 ?2#-Y);+ M<=#-.M/<< E -Y C#C C 3 '(< C U ,<=(LNUv< -F79¤9<Y(< C U(< "6, #M(O-#<ML:< - C (Lq W -l& T<# 1 C < ~#<4.5& T C - H1- 7:_< C 9<-"6U .1-# }@ -@M# <# <6@--# -#)+ 2(< "65"/$&#( -#.HU. C # <#- -F7:¤9<)(< C , -QLa<2O/# -/! )A¸M I < QZU<$< 3<HºB C G`a¸'ZUºHb E ?2# <j1 C (-/[¬1±°a®N»/¼Y"6 @-i #=@-# <( C -#@ &"-#<# -#.H3# -D-#'` C I$ALN#-< ^<-# I -/v C (( -6b=7^|%-@k µ oJE ! --# x. CC < !(#?2- E 3-< 3-.5 B"6 3KL C 3$/ !-4 Lq 7Z ;<0@L: @) ,#(D (< "6' #'"6 2L<= <= 79|%K 3 C (( "#' A< C ('5< C v"6 3, -/ (#">"6 x"$M#( -#.U # ^;<06rx-#, @ -5<- C #( I (IL?2 I V #&<( -/';+ A-V #&;<0V-#Y;?2 I <=V # -#=? @ -D?2 3<T U"' A <=D #B C < I~<H(">.a7 |-& #,dT + C #< C C (A"/$AdT 3-< ($HLq: # ºM&¸M( 3.-[dY 01= E #$Q153(@ -/( <T\B 3= <# I> <,^ -# I Y_/ QdY<# -4-X<= 3-#)((/< 3 g?2 I X # ; M-#T(-( -#'<-V"65(<= 3"6Y"$Q#( -.@-V"w;<(> "( C . -#.)3-#.#.5-#D8: 3<<ck · o 7 ZB@-#) c 3"6= 1V.-/ E,C I$g <= 3Y;$;> 9 2-(¢< -/9 &(<= 3"6, IK"6# 7| 9-#<=> ( +($5 B - . ,"6 A<.- I 3,-#5 < 1, C < :L"6=> 7 .- I 3M,+ ' 2 "/$4 B C > (-/+ 3-)L !.-/½ 0-?23.'`a"6 3=LN:-#H 3-/ -/ -b=7 |-/ -/ --"'[email protected] H (-T"6 I K -/ -; -#T +'L # 7B]!A<-( &L(<=c "6 1A.-/ B I 2?2-Y C (-/ -YL #M?K 3Q?2# <V -#<UA C > (-/+ 3-cL #&-/F;+ AL: (LK-#TL9 #'.-/ ?2 I l?2# <X# &<( - I$G - =< -#.7Y]FcT 3 E !3= Aa7Gk ¶ o!C C (@ T<A"# -#@_-#(=> -/( I>%ZB< -j`_ ZMb / C 4?2 C *-#- 4-g8]K> = 7i_ Z/ C ~#-#@ # S#v 3B"6# 2-@ M<-/ -K;$; ?2 <=D - =(> <-#-#<)(-#( 4-G< A #.gc-?K 0GLU-# E v<= $43 01U - #U(-#(!<= 2 C#C <D(< "6@"67 8]K> & ((- 33I$[~- A; @D #&<-l"6 v< - C 9`NLN,v C 32 #B<-/( 6Lx ULq,~-> .= @-XL' #@ #A"PLNG. C -#.[(0b=7i]!# C 3--# O/ B H; 5L: #&"#(& #.c)~#I C < C > -g G< 3D#?© c3"6 T C 3-i-#P [(3<@< -s7dT ) <-/ I$V #=$V1A 3-/( #<c8+ } ZU< - C (-/ -V`J8Z bx H. 1BH(<= C -@LF-@<> - E -# (B8sZ B 3-01@ I <= $) )8]K> 7:|%!I> ?2B#(= '<-( ZB -## < 9<= 3-#:"/$& -> ;( < -. 3-4 -4-+ #3-..1k ¾ o 79|%- (,;$; E M< -T , I < I$D((/< 3+ Q?2 I Q<T-# E ?2# <T/ -A?© 4@-#.-/&L2<-#<( -#<$/7@\ _#d¿kIt o - \'8]2_jkItu oJE "6 P"(X-gY 3= <$lLU<-#<( -/A;+ @<= -# E ,M(=!L C . -#. C . E ?2# < C (> IA l# (4# + <= 3<U<-<( -/)"6 7g\'8]2_ H3(D #A" 3 I$V D@-#.5 5 3-LN @ -i`a(#<[ ;+ ,Lq O/#-#<$ E 3$ E - 3@-5@v @ -b- - -# ; <M<# <k ¾ o 7 ZÀ3jL[g1h3(Á"6- C C (©Lq@ 01P -#T - #P.-/c<)-# I$/7§]!$ PA"#( -{ C < C 3-{>G( -f>X< -{3/ CFE "#j $ @ -#I$ IT - Y?,$j Y( -/D#- IQ D"# 3I7ÁZU -V # =?!^ #($ E Z&7s_@-gk ¶· o:C C (G-G+ <= I <> )L,-[ -/ 3 .-/5.-& -G I -/'*$/= `N Sv E > @ < C /<(( E ( <=>% I j S#< 1c@-#.-/ C /<(( E +>@-.- C /<((b E -13 -#.@ I -/ #.j #T;$; ¥LN C = < C -j X<= 3-F7 | & ($ E @+ 3< C /<((514 3< C ( -#&L Q" -i-#g<-g C + T - C +,?2#-1A #$l-# E ?2# c I -/@@-.-/ C /<((D1T l( Y <-Y?K 0 -#.D($ E -#Y # I C 3 (R ' -Y > ;( < s7'Â'12 #&3;BLN?p$/+ E )#I I>%.-/B;$; 2#+ "6-T&@w;KLN/<,Lx ( <Q -QZU( I~< *|-/ 3.-#<)k no 7 K7K} DDa7k à oBC C (VG,L&[+ 3-'.-/ ( -#.c-# 3-#5(#<gA"6 3=LN E ( I )-#P 3-/ -/ -7[]!# s 3-<U(0Q< C ( I - E -Lq @ -Vv<=#-#.H"6> %?!-)(0 E (O/-#< -.ML6(0 E (0A. -@-)0-#?2I> .A;( #< 7M|%-V # I'(0Y# + <=/$ E "63 Lq&-#[( I -S#-#<Y< @ < C /<$ E -g #$i"6 f -S-#< -/ -/ -G-Ä< I -/ 7³_67MZU)" (}0 ?2 <}g-#ÄÅ7 ÆH@lk o ; -#. (p( Iv C +( Y - -p.-Yar C (> < C - E ( I E 0-?23.G-#"6 L E -#H"6# E (- -#. C /<('-T -/ -/ - E -D $ C C (5ALN @ s"(Q-Q # 2< C ( I -s79ÇA7¸M<. U-QÅ7##(> "6=lkIt¶ o # (T- - = ; -#. C "#Yr[#?{ X<A"# -# < I$X- C 3-#- -#.Y< C "# A -XT I>J @ CC <> -F7X]!$ C C (Q cv -l DZM_#dÈ`JZB< -i_< dT<=#-# (Db C C (Q"/$QdYHk o -/ 5# <# <^Z'_#dT7 Z!D #V"6( ÉLH #c 3= <$ E "#( <c SvQ cLN#-# E (<=@ Svf+1-/ -/ -h-j"#( < C < C 3 <=#-# ( E ?2 3'# .!13K 3-/ . M B< C v)"6> # 79Z!!<=@1-D " (+ -T<=#-# (Ê(##3"6 (Q 4<#/(&"6?K- C xZM_#dT7Z!2<=T E #= U-M"6 B(3< Y+B<Y1sL^ H# + <=/$/7 4. A MODEL FOR BEHAVIOURAL ANIMATION 4.1 Hierarchical Parallel Transition Systems ] B¸'< ( -6<-( ; KLx' < 1B;$; E ?2# <= ! M< C (cL!@# + <=/$TLK.- )` C (( "#4"6# b=7 ¤9<D.-/!Ls #2;$; Ê<-@"62 ?!@,H"#3<0/>%"6vA?2 -l|%-6ËÂ'&#+>JS?Ê-[T(&LK<-/( C = 7]! ;$-<= -# }+ -YLx #M.-2=v< -Q , C + T"/$#( -. ;+ Y@<# -7f]xP3?Ì-f.-/ [email protected]<-#<( -/ "6#+ E (">%.-/ ´ .- 3}Í -#( 3(">; @<# -7 |-f YLN3?2 -#. E .-/ ?2 3'"6V(( 3 j ; f@<# -#7Τ9<Á; f@<# -#g<-Ê"6f=~-#¹"$ #5LN3?2 -#.T C QÏÄÐ^ÑÒ:Ñ#ÓÐ^ÑÔ&ÐÑÕMÖ!Ñ6×Ø9ÑÓÙ,Ñ#ÚhÛÌÜ ?2# <Fr Ý r9 3U)(=BL(#">; H@<# - E ÒÞr: 2 &< I$@LN-#< - E ß Ý r: U)(UL:|%- C U_ .- E à@Ý r: U)(ULÂ' C U_ .- E áAâ r9 3U)(=BL -/( ^8 E ãäår U)(UL:eF/<xÇ 3" E ß³r9 3, M - . -YLN#-< - E æ¹çÎr: UdY I>%Kv7 ¤9<£.-/QLH #V;$; D I #Q- <c.-/G`Ð èÉé b E P£< C ( f.-/7¿ZU-<= 3 I$ C G ((/< *+ i V<i;+ Q@<= -#?2# <X<( C -A c I <( -/; 7]! 3 C @<<(( "#c"/$X#( -#.[ # LN-#< -R¯°¬°aê¯+ëJ¯ °¬°%«=ì®N»¯ °¬»#°í E ?2 3<X C (( 3" #r `qîsïMðcÐ:b`qî6ñDð)ò£b=Ñ6ïóôóõï1`ïÑó öb!ðc÷¬1±°a®Nø«Ñ®Jù3«Ñú¬®q° û ]!#= K ^3('-& C -+ - C + F?2# <5 ^( ALq <M M; H@<= -#B A01 C );+ H< 1BLNB) - > )Ê+ -F79]! ,?22 '3 -.ALF < -D 37 Â'- #2<-(+($ E #2@v )Á -@Ls #B<= 3 C ( <-4(M"6K C < I~7^ü£-5 3! <# E -)-/ .-#+ Y -YB A?, -Y H;$; U( # -#.A (##3T#+M C#C -T< 3I$T 3Q-7 ]!#B; ,L&; '@<# -#U 2(< "6@"/$@-Q @+> -Q`a<L^ . 2b E -A?2# <A(-#( I -#9"6%?!-5 #K K;+> #() C -[-X-/ C <l I 5"$[ #=>; ` C C -b5@"$X T;+ Y I (IL`J >J -+ 3-6b=7fZ C < I~#<A T M+(<#T @<=Y(-#( I -i`a;(+`b E (;> C -#F`b E (#1`b!-T -+ 1`bK #M(0#b2-#V( 4 # <= 3H; #&`av< 1`b(b=7 #/# idle # / execute() suspend / start / start() suspend() active terminate / terminate() #/# wait resume / resume() State Dataflow output Transition: condition / generated action 2q6FGýs Ý #^@æÄxGsAþDxG6¡ ZB<= 3 I$)LFH; B11K -#.H #2( )3 - E -) H= -#Y"/$V-l< %$YLN-#< -GÒ:7&]!# 'Lq#-< -c LN C + = B-@ -2 M-#=?p;+ #r `qîsïMðVÐ:b`qî6ñQð4ò£ÿ+b=Ñ ïó;ô/ó;õï1`ïÑó(öb è Ò`ïó;ô/óõï1`ï1Ñ%ó ö b=Ñ(ÓÐ^Ñ ÕMÖ!Ñ×ØAb ]!# ÊLN#-< - C I W C (-/©((-#( I - "6%?!-h I -/T(">; c@<= 3- E "#Q V -j-# (#">; Á<-W"6¦<= 3¦+Ä<´ -;-/©`a<-#<( -<$#b=7 ]!# HLN-#< -P(V#-H# + <= 3< C C - E "/$V # LN<A +A-#D .#-/5L2 4LN#-< -X AY()L -/( 8+ = 4` 8Kb2?2# <=G?2H T^?2 I [ 3-/ -#^1-/ (<= (#">; ¹®@ °%«=ª )®q»6¬°%«( ù ¹fv -Q1-/ (<=f ° #«T°aª(¬ f±[ ®3¼ /°a ¯ «(± @«Yª «(ù =7|- C 4-g C C [ g<- -##c( .-#lL;-##Ä%$ C `a7 .7 -/ . E E "6/-QLN2v C 3b=7:]!#B3BL-TÂ' C ( .-' 3D#-# = 3-X?2#-j V; c@<# -V 3c®Jù3«) ¯ ê¯ «=»6ù/«(ù7ÌÂ' C T+ l#(£ X -h< -# C C ( "/$i #c; c@<= 3-7es/<H 3"#Q [;-j%$ C 3"# E ?2#('#U !< C 4"/$)#( -#.& # iLq#-#<= 3-F7 es/< 3"39<-) 3-5 # I"6?K-)< > -#::"6K 3- I * 3}4-A<A < + -Y`;¯ °¬ª°%«(ù2;+ #b=r `qî ðcØ5b`qîñ@ð4ò£ÿ+b=Ñ /ôqõ/`Ñ;ó öb è M`/ôqõ`Ñó ö Supervisor SM1 S1.2 S3.2 S3.3 S3.5 S2.1 S3.4 S2.2 Supervisor SM1 a Integration a avg SM2 b x1 preempt x x2 SM3 v v 2q6x+8 7s Ý : 9 !+^*q6 ^hx;9<^;=´?>:@@A x[[GB@^qx6¡ |-g # 4(< - E ?!T?2 C + 3Yc(#(D(< C -jLB # 3-..7ÉÆH$?KG X?, I( - -"63 E ?2 G I < $ C LN<D C (-/ 4V-#->J -K #7PZÿ@;-ALq@ · CDC EX C I -c?2# G Ff;-#'Lq&VHt CDC EX C I -G-c ; -/&-#<(P -i÷ûD 5 C 3-J7T]!#@(< C -XL2 ; U@<# -U !@, - #,LN3?2 -#.A?,$r^ #2"6$)Ls # <3 -[<-/ -#'4 3;BL9;+ M-Y4 ;ML(-#( I - "6%?!-Q #(M;+ 7 Ý æ¹þ á/I ßKJLNMùPO Q ËË48 2¸M<3+ â þGR@þDæ Ý °S«#Mù5÷:T°S«#Mù+û ÿ äBþURDß=þQçAã5L Ý 4.2 Behaviour description language Â'UsL9)"6 3x-/ I$D B"#(Y-T #H\'8]2_ Lq @3 ( E a7 7:\' + <= <8+]F-( I 3-Y_/$; 9- +>S#?27Ê]!#. $j@$f"6c<£ I < I$j?2 I h 6#6 E ?KH< *D C + 1 C . 3-.A3-#.#.H3 01 "# 3cD3-.#.5LNH"6 H(< C -s75ÂB #(?2 ( E C "3 32 +2 I'O/ 3<0I$Q"6<2O/ & I¢<#I, 4 C #+ 4< C vD;+ 5@<= -#&-#Q #= LN & 4 #(H I' -TLq 1 C -/ 72dT +1U #&<5L #H(-( I 3-V;$; "6<9#- "3UK -#¢< 3-7]!# K ?2/$A?! C C (B 3-#.#.U #?2 #2(< C -L"6 A #! 3= <# < /< *+ )+>S#?27:]!# C 3; @<# -#^-#& I:((3-#.#.D &< C l-G=¢< -/ 6#6 < &.-#+ s7 ]!H<=#-.HL95(-#( I -T<-# I -Y , #2O/# I M;$/7 Q O V ËË)Ç 3"2¸M<3+ ÷/° S# « MP ù Oqûÿ ËËÂ' C !¸M<3 à W X 3 Mù&÷YTZMùûÿ[O ß$JYß5ßþD ã MP ù O 2$ß JYþQ\ ã M[ ù O Ý ,þH[ L Ý Q ËË_/ 2¸M<*+ Mù5 ÷ ] ^-¬°^Y÷ TB^-¬°q`û _û÷R@þUJa à æÁûYO Q 4.2.1 Architecture of the language  3-.#.pLN#I$§ C -/ g #p\M89]2_Lq @3 (Y7 ' ]!Ä.1c j ©`a"w;<(> -/ bf( .-{LG"6#+ - I E T3;VT<-#<= -#Q IQ < 1 C +( E -j <-#-< -Y?2 I T(02 #2 O/# I H H< C -Q 7 S3.1 SM2 b=Ñïó;ô/ó;õ6ï/`ïÑ%ó ö =b Ñ(ÓÐ^ÑÕMÖ&b ] P -/ .+ 3-ÄLN-#< -ÄY [email protected] #G< -< ! LK )< -# C C (["/$Q #4 I -/M("> C /<(( E - @01A@;$-/ #( 3'L9 #Y7M]!# M M -VLa<=&@Lq#-< -c?2# <= 01,, - C B C KL(#"> C /<((,-#D 1 AAL9 C /<(M C 7B|-Y #5<(ALK<-#<( -/ "6 3 C C (f"$f = -/@(#">;+ V@<# -# E # Lq#-< -©#l p@01fp<# <£-#Á Ä 1Xp#- I~ "6 3B2 C 2L^ H; H@<= 3-)`a<L~#. H¶1b=7 Ô&Ð è ÓÙ4` õ#ó !õ#ó`Ð9b=Ñ;×KØ:ÑÕMÖ&b ]!&dY I>%KvD 3,(D 5@-#.M<A#- 3< -@"6%?!;+ c@<# -#7¹Z( .[ 3D" <;D gM;+ [@+> <# - E --#I$4 #('<-#<= -#"/$4 # ( .B?2 <7 ZU-Yv C HL4# + <= 3<^;+ 5@<= -#H B. 1-V -V^ .> '¶79]!#U; U@<# -## "ê «=ªø®N$¯ ª !&; U@<# -#, + -<@ Y<-#<( -/@; V@<= 3-V` "%'& E "%)(V- "*%,++b=7A]!#(4; A@<# -#M C I$V(O/-/ *:-#c < %$4LN-#< -D@$)"6U C (-/ "/$)(-#( I -#7KÂ'-4 "6( E #V>JS#+?2@((/< 3 j?2 I i #T;+ V@<# -# + D C (-/ 7Y¸M C - 3-.Y-P @- L2 # C E D-# <,D;$)"6 <QLq#-< -#@@$g"6V C#C i 3 - . -PLN#-< -s7Q|%-G 3&v C E ôc C &L "ê «=ª=ø®N$¯ ªU B 5+.5L: #&ôT C UL "%'&5-Q / . C 90L "%1( E ?2 32 # 2@ C : 39 #! (IKLx C C > -lLN-#< -l CC G T 3 2xt4 C H4 L "%)(D-c #3 2 C 25 L "%,+7 SM3 S1.1 V V V ËË); H"6$ ZU<< C 5%$ C ^L6#A`;°S$«x #+b+ , I #S#1 E - . E "6/-[';( 3-. E ?2 3bMùH<( C -B D4;( -#.D~#-# -#. H-HL947!ZÄ; &@<= 3-M<-V"6 C } "/$©¹(fL C + = p` â G þ R@þDæ Ý C +(=bP #i?2 3T"6 (V Q<+< }A #)@<= -#AH I M< -s7AÇ 3"# + f/<4 h; i@<# -#7ÉÂ'-#I$p+ *"#[ [#+ "6-c<*+ VU C U<-Y"6& ?!Q"$D #MLN ';+ @<= -#, -) #, </$/7Zj;+ U ~#-#5"/$) I 9-!- I < %$P?2 I X .1+g [#+>JS?27PZ§;+ T<< C C -#s - C + =!?2# <Q;-LNK #' - 3A# -Ä@+v 3A#À#-/cL4 P C -c -Ä P; 7¥]! R@U þ Ja à æ 0$?!h - 3< V +Y # V;+ P?2 35@01 V-#z<# <Q"6?K-f C (( "#T(-#( I -) +<"6A~# [5@ 3; CFE ?2# 4 -G )- @: E #A~ ; (-#( I -Y?2 I VA( M<- I -Q?2 3F"6M~# 7 /R@þGJ Ý ß5ß à Q V JcMùPO à @ R ß?Q d ßKJeM ù[O LgfD[RhL'æÄßjikMù[O ÷alB L ãKþ4im^- ¬°nqO û ÷op' L ß?d I N^- ¬°0qO û ª «(¬1ùHq «sr$ ª «=¯ ¯ ® »1[ t ú:ª=®q°%«Kq;«sr$ª(«=¯ ¯®»c÷+Aß=æNL#dDþH[LMûhO ÷ Q ËË(-( -V"6$ V û Z£(-( I 3-Y 2~#-#"/$D-D . 3- E -Qv( I%$ E 5(-> ( I -cv C (( - E %?!@ C - C + = '-V4(-( "6$/7X]!T#Q((/< 3+ i c # C + 3alLBãKþ4i¥ (i l C < ILq$jP*$i"6%?!-i #Y -;-/D@?2# <f <- I 3-Y 2<=(-T )"6'~# Q-#D #' 3-;-/B2?2# <Q (-#( I - : I$)~ T`a#(=LN# '01, - &<<#-/: < +b=7]!#''((/< 3 @ & C u opLB`ß d I (Y @ C < ILq$Y 5?K ./ -#. AL: # U(-#( I -cLN' -<# <H"6=?!-Vs(-#( I -, U<#3T"6'~ s7 ]!D(-#( I -iv C (( -f<-#( ; 4LB%?! C ( rQPª «(¬1ù q s« r$#ª «=¯ ¯ ® »X?2# <j -#<3#4 T<- -# l"6TLq#I~i 3B 4~# H #H(-#( I - E -VYú:ª®N°%K« q;s« r$#ª «=¯ ¯ ® »T?2 <=V U 3;:L# K.-#+ A-/ ^-#5"#( <,< I%$ C I 3^ 2; U@<# -#7]K?!&v< 3- B *"#r:-(> @-#Y 3.1 A7'|-V #5-# @^ E ;H- (-#( I -[<-["6&~# C '; )@<= -#5H<c ; C 7 |%-H #: 3.1 9 E 1(-#( I -^ +^<-5"6:~# 5 -#. B ; C ?2 "6B~# s7:]x5; C # C /<( E B0$?! 5ßv æ L#dQþH/ L¦ &#([ -l #)(-#( I - E ?2# <l-#M + -c #=A(-#( I -g<-g"6~# P 3-.Y #@ @ ; C -j D;+ V@<# -#7 ]!#V<- I -£L&G(-#( I -£ D "6/-Vv C (( -V-T<-T"6H< C (DL%r ¨ IYâ xÝ w ^x Ta»¬ @« yrQ"6<( #?2-X #D C < I~ (#">; H@<# -)`;»6¬ @«(b! 2 = 3-# y ¨ IYâ xÝ w ^xB z{zy+r2"6<M( &?2-V3x(#">;+ 5@+> <# -#U+ M - sy ¨ æ Ý dULBäQ w ° S« y+r:"6<,( #!?2-4 #2 C < I~#4/> -/&`;° S«(b2#2"6-D < 1y ¨ A. <s<)"# -# -DLx"6/-Q<-# I -!?2# <=Q<#(H/<x 3"'-D"6/-YLq#-< -#y þ f 2Kß R Ý r( #)?2-G ) ) C -/& -G 4 -# I> ¨ æ¹U 3B; cL& #Y(-#( I -£ D# .Q #-j V@v I> @:3?KP -GL # H; 74]!# M(-( I 3-l 0-l -/ Y<<-/A"6=LN # C (( 3"3 3G(-#( I> -B -#.A #' ; C y æ þGf ãKþ Ý r/( #2?2#-@ #2 ' C -/! -@ #U -# I 3 ¨ ¹ ; )L 5(-#( I -[ M# .M #-V #5@v @xI> 3?Kl -lL # H; 74]! 3H(-#( I -l M01 3-/ G<<#-/-#I$g IL'-G #)(-#( I -f<-i"6Q~ -.A # , ; C y ¨}| r # 2-! +, #H<- I -T 3U?!$2( #7 ]!#D~# ;4Lq -#;( #<= 3-#<-f"6D<)"# -P .= #@ "6/-¹v C (( 3-# E ?2 3G #l3;V G(#3p"6l( -#7M]!#@ú9ª®N°%K« qs« r$ª «=¯ ¯ ® »Y<*V<-/ -V #&LN?2 -#.T -> ;( #<= 3-#r « ] ¬ª;¬ @«=°%«=ª¯ _y+r9? ¨ IYâ nÝ w #+H T~M »6¬ $« T~"*% »6¬ @5 2-?X -#;-#<B` M »¬ @«(bsL#2;+ K@<= 3-2` "% »6¬ «(b Q"6A< s7A]!# M-?; )@<# -#&?2 3:"6)# ) #M ;UL:<# 3 -QL M<( -2;+ H@<# -#y TM »6¬ « y+r'+?Ê@; A@<# -#H ¨ IYâ nÝ w ^? >:^x (# C -#) #Uv< -DLx-#ULF I K(#">; U@<# -# ` M »6¬ @«(b=y ¨ IYâ nÝ w +^G T[M »¬ @« y+rQ3?§c; D@<# -# ;(M A=v< -[L-)L! I M(#">; 5@<# -# ` M »6¬ @«(b=y ¨ IYâ nÝ w z{zTGM »6¬ « y+r[?R[; V@<# -Q l0 -#HL I 2(#">;+ H@<# -#H` M »6¬ @«(b=y ¨ æ Ý dGLUäT w ° S« y+rK H1-/&`;° S«(bU 2(-/U @x; @<# -#H`a" 1<;B+b=y ¨ | rx 3-#^ #9-#M< -) 39((/< 3 4 ' K(-> } ( -F7 ]!#~ ;A~#1 -#;( #<= 3-#5<-X"6@<)" 3-G . 7c]!# 6#6 <+b^ v< )L* : #,< "6$5LU(-#( I -Y` C +(74ZUMLNH #)"6$ C +(&L,D; E I& C (( "#4 D< v -#Lq#-< -#5A 7V]!@3@LU-X C 5L 4(#">; &@<# -#H<-V"65<<((V"/$Q( -#. #MLq+?2 -. -#;( < -Fr ¬ « w M »¬ @$« Taø¬ª®JY¬ 3« »6¬ « y | "% »6 4.2.2 Code generation Â'-#<Y #V"6#+ M- I D1V"6-£(<= 3"6 E # C + (:"# *^2; !@<= -#:( !- C (LN ^(9 ?, I(> -#.X C -Q-£ IrGLqQ 3-;-< E l; GïY?2# <£D -# )§ -,T '(-#;LN c 3-/ QD< C AL!; `ï Ñï bK?2 I T #M &< -#y"2;+ )ï <-Y-I$T"6MLqI> ?!"/$);+ Mï L* !#+ -#.M?! I 4LNu 5(<- E ?2# #D(-( -#< 3-.[L* ¥;+ VïY+ T-#?§< -#.cLq ; 'ï 7:]!#U U0 -4Ls ?, I -#.5 C + -D 3 C (LN LN'@+v 3A#¦ -7 6#6 <{LN§( A#3 - C *+(LN ZUL* (?,+ E ºMZM_8£ktm o !.-#+ s79|%K ! I$@-< C (#3 r96(-> ( I -D;$; K+ B -#<3#4 - # ?2-@<3(, < I$ -##=(> I -#.cLq z-i";(<); Q@<# -#@<3(4?2 <= C + 3 C ! I( xLq: #--# -#.U #!;+ ,@<# -#-#)=> "#.. 3-.A= #B`J C 3$@LF<( -/!; E (-#( I -!~# E #4L! #A+ 3"#b=7D]!-/.)L,( 3-.Q 4"w;<= 3B ' #)"6 3H( A#3 -[<) H;$V Q#( --$f C#C <+ 3-F7 ]!Y C #( -f Y<V.-#= 6#6 C #(M C ,-Q=¢< -#<=$T-@<--#<= 3 I$) )v ; -#. <7VZU-l -/ C =)#5(c"6-P C 3-/ E ?2# <P 1($)#(Lq##Lq #2"6 ! C < I~#< - C (B I,?2 ; =>%@<= -#5 G"6D I~X -.c Q=v< - C ( ?2 I V-T 3-< (HL:-I$D - C <-/2-T #M=v< -D 7 5. APPLICATIONS \ 8]2_[1"6-l#(G V: #"6#+ C (5L ' -##F<=#<= ^ -5 I -/^0 -FL C#C 3 <+ -# E "# #L6 1,"6-4"# 9 C -ºMZ'_8[Kº'-#ZB- 3@+> -X-#X_ )3 -X8:3(Lq E ?2 3<P &<( - I$l 33"# -l"6 , B-# Iv[-#ceF -vV?! 0; - E -#<3# -#.D I>J E C 3 (Ì-D ;( "# -QLq 7!ºMZM_8X UA> 3+ C . 3-.M- I -#- E -#) #,01= -#L #,( )3> - C 3(LN Ì@-.U #5#+>JS?-Y-/B"#(V<4> A#- 3< -K"6%?!-#K-) I!;$-#< -# }+ 3-c`J #@$)1B I -/Lq O/#-#< b=7dT#,+ ' .> - }@ 3-T5( A#3 -D( M- E Lq2v C E -Q - C ;( 3-G-/ I$c H< C (cL,D 3(#:(-(& E "6 3F#H-#T)" <-# <s79]!#H( <-£3(X<-/( 2 #Y -jL&- C ;( *-"/$i#( -#.l w$; <0D?2 I TLq <HLq"#<067 ( 3- E ?2 <=Xv C * -#&?2$G # C ;( 3-4( -#.c -P # CC ( I & I <= 3-Y<-.M I,(+w< ($/7]!H"6 sL C ;( 3-U -<,(/< 3^-D -#.A ,L -> < -Ä`a - 3 } Q -/ <= 3--X<=/(Y - C I%$ #'3=LqB( *M 4+1(01+b E 2v C 3 3-T -Pk ¶¶ o 7 U " -i(+¢<YDG# .. YLH< C v I$ E I > O/ 4 - =< --g #D D # #.La+ Y"6%?!-i-# -#I$P< E ( <=0 E <$< ; A- C ;( 3-# E "#5( C "# < (-# C ( -i;$; A(<=i)"#((4-P(7GZU) C#C 1<c B#3 E ?!51H;( V -/ . Ax #( (-# C ( -5s -/ UºMZM_82kIt¾ o 7ZP(^L /^x"61 C 5 C < (!,`a(,^ . n b^-A\'8]2_ 5-DL, #Y7Q]!<=#- 3<! C <5L2 4<A A> 3c?2 I [¸ ¤9ZMd E ' . *G-#[LN @"3A"6 M> 6#6 ( A#3 3 -#.f;$; É?2 <=h.-#+ Y-# < <ALq5ºMZ'_8^7 Ç M¤dV_Y 3B #5< -/$§LNHÇ' I( # U "¤:- -#-/dT -#.&_/$; E -& I @ -) ¹ ^ '"# * @ ; <@ I( #< C $cL! "-[- I -#- B -G?2# <[?K ?K* C (LN R"6#+ :( )*+ -#75 Ç M¤dV_ C #< %?!Q< C 3-/($Y C r2 #)¶¸©.=( 3<5 C (-/> -jL' #T(<-#V-g I ;$A"6 <Q C (-/ -j#(f"/$ (-#( )-#P"6 K-/ I Dk ¶ o 7[]!#@(<-# C #< "/$ Ç M¤dV_) !1D- K -D+ 3"BLN,#(B"/$> -##'-/ 7A^ I ; E (-#( H<-G = 3-) ( "#)"> w< , - # IK- I -#-/K-4 - #U"6 63 <-@1U<<(K H #2 -Lq @+ 3-@- #(U ( 3"B"w< 7 Urban Environment VUEMS User DREAM HPTS Modelling Tools geometry topology semantic (bio)−mechanical Model car, truck, tram human body GASP Behavioural Model pedestrian car driver Outputs Simulation Platform 2q6x+'s&þ³)BAMGsxz{zqNxXzN¡ ]!A%?!1 C < HLK^ 3. ¾D 3;( ) A< (( -#.YL %?! C ;( 3-)< ?U:-U( 3?!0679]!#,<B ? C -/ <( C -, & #B(#"w;< 1' ?hL^-#'Lx B~#L*$ C ;> 2q6F) xHßB@qA>:xq#^^@#¡ 2qx+ â xq#^46flNx*=5z ¡ ZB- Y C#C 3 <+ - <-< -#TX I( #MA#( ( I "/$DA. C L -##,<+< U-T(4 -#"# I D"$ Q<3[L!( "# I`a" '?2 I G 4"6 HLK( 0+ b=7 ]!# H C#C 3 <+ - E ?2# <c 3'#-'13 C -/A`a<L9~. 4ub E ?2 '"6 C (-/ f -£Å-#c··tl C (DLM #Y-?{ @. (< -PL! @dT#(#WL2_< -<& -P8 E -#<7@Z¦(= Lx C < I~<'<=#<= 2 3,<( -/ I$@r:-T( -##-/ E # Ls?2#H?!-/ &; C -/ -#.,-#4(<# C E C # .> C #,?2#@., #M< UL9 C -/ -#.)?2-TM01 C 3<= )L, I E T #H-[#M(-l?2T1)<-S < -#. ( 7K]! C C (BLF 3! C#C 3< -D K C C (U & # s ( I B-D"( -QL^ ILNH1 -#.5 3-T5 I( 6?! 3 -#[ Q(#?Á #4"6 3& ~#< -lL!-#)5 -2<=#<= 2<-V+<U # 2 ( #s Lq7K]!# 2<( 3I$G"6@-##) D # C C -l<-# ( E -c # $-# < I$D- C } -VL;+ H@<# -#7 6. CURRENT WORKS ]xD C #< I$l"6 3 H I& &-#<( ($c Y(## "6#+ , C - 3-.&-@ ( <4`a"6$ C ( LN2=v# C +b -# C %$Ä`a -/ -/ - C /$( 3. < C +@+ b4<-> ;( -/ 7HZ( C &?,$V ' @ $Y +M"6# B?2 <=[ #( -.A #U U ( <2+ M) I$v<( 3 E "#, -D ILN E ?K2 U"! '<)"# -K #Ä 3-4' ! < (< C <2?!$ E MLq5v C )(0 -#. E -#0 -#.Q-#[ -#.TH #A 7]!# x?2/$M?K!+ !<( - I$' 3-/ . -#.U ( <:- C %$@-#.-/K -( *'\'8]2_67ZB9$/ E ?!U1U-#!# 3(# C#C 3 <+ -[ 3-/ . -#. (A-? LN+ H' I' => O/# I x [email protected]/^L#-#<--#I$&-A C < E 3 01 -) # U "-4]F+¢<UZ C#C 3< -Yk ¶¶ oJE "#9(H-4"w< E C C (Q"$QdG7Æ&@--GkItà o 7K\B?!1= E H. I #§=> 1 C @Lq!(0(<= 3-.& 3,($ C ( -#.A! I, ,"#B 7 '-> C (Lq -< -/ C 3--# -#.D-Y D+ 3c/<=0g 01V( C #D C#C <#ck à oJE ID Q-@-<( +($f Â'^@ -&"w;< 1, ^ / 3( )#3+ 3-#L(1=-/ I> :13 -#.B -A 3 ; <, -Lq 5- I -#-/ 7^dY-/$5; > 21B"6- C (LN Q"/$ C ;$<#3. ; , 4-I$(M#@"6#+ 79]!#H"6# Fs3?2'! (< "6 E #H M?,$ E I -/U0 -#2L: 3-."6 -#. E -#Q ( )> 3 5 #{ -[ A A I( - I -#-/ E ?2 3A;M"6=> 95 <( -/ I$[ ;( 3<= G Q @- 3@+ L5-#[B 3- P C < ~#<G- I --/7ÊZB- #=Q C (> -/ C -' M MM"6 #M"6-G"# I' .-#+ $- <A-/ I '?2 3<P+ )"6 l -#H- <-( *"# E 3?2 -#.D#, #(H H Hx -V I - <- =v 2-T +1,?2 I V = -/2312L:<-( a7 8. REFERENCES 2q6FHAxVäQq+xBz,æ¹^ÉþU>>zN{@q6¡ C < ILq$Dv#; 1I$@3"6# K #2+ ') 3I$)v<> ( 1y! # ) -Q C < I I$Yw;;4"/$g+(<# -#.V ( <4 -U-Y C I$@LN-#< -T 4<=Y;+ H@<# -#7 ¸' C I 4 #"6-#~ 5L, #3-.#.Q CC <g(< "6 E #M(< C 3-YL:"6 3 ! @ -#UO/# I H I¢<#I Lq C C K?2'+ K-#< C =^(< -/ ; 7:]!#= LN !?!!+ ?K 0 -#.A-Q5 3.#!316 C < I~#< -Q3-#.. E -Q! 3?f"6 C < 3 ; : ' C < IL*$)-H ; # : -T-T -/ < 1H( )#3+ 3-F79ZU-# !?K 0D 3- C . (2<-> < -#H #(<-+ 3V3-#.#.@?2("w< 1@ & C ( 33I$ <-#;( -[ )"6#+ ML! -#'<+< = ' DLq#I~ 4(<-# V(< C -fkIt n+o 7D]! 3 C w<& &<( -/ I$c#-> (?,$[-c 3' A #-[@( 3 C ). C 3< /LN5?,> -.P; Y@<= -# E D -#<3#@[ C < I~< -£ -[(#"( L:-+ F3-#.. E 0 3-.4 -/ <<#-/B<= 3-c-#T "#x-H C >J C 3+ 3-#79]! 3x(<= C -5 3s #(-#(3 -/ i-h - = -'(<-+ j3-.. E ?2# < ( \'8]2_D 3-D #&]!|;dY¤KºMZ9],¤f7 7. CONCLUSION %| -V # C C E ?!)#1 C (-/ V #5"6 : E -£ C < (I$£ #[< ( 3- C (TL& # Ta7Z Lq @,!LMV\B 3= <# <U8+U]F-( -_/$; #4"6- C (- X [(< "6Gª(« ¬ ®N¯ °a®J±A"6# E ?2# <= O I & I -/ C . -#. C .rB <= 3 I$ E <-> <( -<$ E >JS#+?¦-l 3= <# < C C -s7D]!#-l?K #1 C (-/ H#?P 3FLN @/"6-& 3 C -/ -c(< C -T*-#..5?2 <=V B"#H 4.-#+ A=¢< -/ 6#6 <5Lq&ºMZ'_8 E H_ )3 -V8:3(Lq Y7B]!#&#(&L \B <# <B8+B]F-( -£_$; A?2@#A c0 -/ Y<<#-/&(1 C . -#. C + 3.H C (-/M (< "6Tª(« ¬ ®N¯ °a®J±'"6#+ 7AK<#(4LK #5 -/ .+ 3-lL D"6#+ B2 -£l( )3 - C 3(LN E ?!V#+ (Q #)" 3 I$V Q^?2 I [ ) -#. #5 C < I~#<> -V-#D #H=v< - C #(7 kIt o A  7ZU#@ E Å7 E _7\M-(- E Å7#ÆH -$ E -# 87ü£ (-F7\' + <= < E <-#<( -/2; &@<= 3- LNU"6# B -#.-Q(<-+ 3<-/( a7|% `» «=ª(«=»6±P « » Mì 2¬»#»#®q»¼ì¬»6b ù "#® )ꬰa® »V®q»lM®3¼ Uê° » [SU";S¯ °%$« A¯ E ºM -#( E ^ 3 E M_Z E tÃÃm7 k o _7#ZB)" (}0 ?2 <}H-QÅ7ÆH@B7 ~ª ¬ %'ù/« j ¯ ¼/«=»#°a¯ E 1#At+u¾·4x L ^«(±°aêª 4 « j°%«=¯H®ql » Uª=°a® ¡±®J¬ M»#°%«N ®3¼/«=»±« E < C BZ¹dTxL:K¸M|>%ZB.-! 3ºM>%]!# <&?! 0 EC .U`µ ¢tÃ7s_ C -#.= E ···7 k ¶ o 7! E B7 3< E -YB7üP"#"67]x?,+ C (-# I 3BLNB-# @+ T.-/ ,?2 I T <= 3&- « j°%«=¯'®N » Uª=°a® ¡±®J¬ C 3--# -#.4"6 3 7 x« ±°aêª(j M»#°%«N ®3¼/«=»±«=ì ª(«(¬°a®N»P ¼ B«=ª$¯ »6¬ ®q°a®«=n¯ ?ªM¯ S»#° #«=°a®a± ¬1±° ª¯ E `;ttà n b=r m1`¶ ¢ n u E tÃÃ1u/7 k m o 7|=7#! E 7#B768:# C E -QB7e:7ül"#"6=7 "#{® Aꬰa®N»[ ¼ M*ê 4¬»#/ ¯ £ gê°%«=h ª ¤!ª;$¬ ; ®J±g ¯ U»{® ¬°a® » ¬»6ù »#°aª 7ÂBvLqG B-# 1 ( I%$T8 ( E tÃö7 k no 7|=7#! E B7#e97üP"#"6 E Å7Æ& I E -QÅ76¤: 01+ E I ¥7 %G¬ ¦®N»/¼° $« p3ø`« £@«(± ¬»#®J±¯ ìK± »#°asª ì!¬»ù ¬»#{® 4¬°a® , » A¬ª°a®J±ê¬°%«(g ù ¡x¼êª «=¯ 7sdT .-YÆ&Lq@-#- E tÃÃt7 k ¾ o 7K - .1-#3 E ü¹7#_<# E Å7ZU3"6<=0 E 7! E Z57Å( E -#YdG7#87¸'$- <$Q = [email protected]/ "6 2#( -#.)- s3-#..& -#;( #<= 3-#7| 76_ 3=( E dG7º' -# E -QÅ7 (-#(<# - E E M»#°%«=ª»6¬°a® »6¬ `» «=ª(«=»6±P « l » Uê° » bê4 ¯ ¼/«=»°a¯ E C .Bö ¢¶·· E ! <3- E _ C - E Å#-&···7Z d 8: (7 k u o B73)"6 .)-#Y]'76ºMI$/-s7dT I>1F I <= 3-YL -##,<= ULq2 >J H I( - I -#-/ 7|, - "#®3¼¼ª;$¬ ; EC .2m/?u ¢ n m E eFUZB-#. E ILN - 3 E A7 _67 Z&7 E ZU#.7FtÃà n 7Z dG7 k µ o dG7K/ E Å7 E -YÅ7#ÆH+ -#$/7#_<-+ <-/( LNB I>J 3M 3-.4( )*+ -F7| - ~ꪰ §,êsª ¼ª;$¬ ; ®a±1 ¯ ¨sª ¦¯ ;$l » U»#® ¬°a® »[¬»6b ù "#{® Aꬰa® » E C .Ht·¶ ¢ttà E 8^ I <=-# <~ '- 1 ( I$DL +- 3 E _ C 7stÃö7 k à o K7} E U7¸M-# ->ÆH C 3 <} E Å7]F E - 7Ç9 " ..7~ª$4¬¥%'ù1« ¯j¼/«=»°a¯ E 1)t+u¾· nL ^«(±°aêª j « #°%«=¯H®Nl » Uª°a® ¡±®J¬ M»#°%«N ®3¼/«=»±« E < C dT -#.|-/ -#s¸'$- 3<'K#+ UL:K¸'| ZB.- EC .U¶¾ ¢ n ¾7s_ C -#. E ···7 kIt· o ¸)79 .1- E 7#dT $/ E -#YÅ7\'. -#7¸'$- 3<I$ ( 3A#3 Q<< U -T I( s- I -#- 7BM§n§n§ gê°%«=h ª ¤!ª;$¬ ; ®J±¯5¬»6P ù uY ®J± ¬°a® »¯ EC . n `µ ¢¾Ã E tÃõ7 kItt o B7 ; E Å7¸M/ @-#- E -#YºA7dY%$ 7 ZB.-/(> -/ D(+¢<H( )*+ -F7x©#ª;¬»#¯=¬1±°a®»#¯[M° #« "±®J«=° SgKª ê°%«=/ ª "{® )ꬰa® l » M»#°%«=ª»6¬°a® »6¬ E tm`b E Å-#4tÃÃ1u/7 kIt o ¤,7 } E Z&789 - E -TK7_= -F7dT -c- "6#+ U -#.r:;+ &L:+('-D-#?h( -#x 7 © #« ªs®N¯ ê#¬ ê°%«=ª E t n rt m ¢#tm¾ E tÃÃÃ7 kIt¶ o ÇA7¸M<#. U-#TÅ7# "67ZU< -Y(<= 3-V -V -2.-/U?2 I VA# <# <^ 3;( " < 1 C 3--# -#.4 <# I < 7#|%) - Uê° » bê¯ ¼/«=»°a ¯ « ¬H E6C .U¶ n m ¢¶¾t E dT --# C E H_Z E tÃõ7 Z dG7 kItm o _7¸M-# 0 *- E Z57 s E 7ÆH# C E -Q]'7¸Ma7 ºM C r:Lq §#3 C . -#.A 4 ;( "# v< -F7|- g#ê°%«=4 ª U»{® ¬°a® ¥» « ¬H EC .Buà ¢µu E 8:# 3 C # E H_Z E Å#-)tÃõ7|;¤9¤¤,7 kIt n+o _7¸M-# 0 *- E K7#¸' 3 E -#VºA76dT s76]!H01 -# L9A(<-+ *-#..HLNB-# @ -Y-D( )#3+ 3-F7 | - §,êª ¼ª($¬ ; /®J±) ¯ ¨sª ¦¯ ;$8 » U»#{® 4¬°a® »[¬»ù "#® )ꬰa® » E dT *-# E | 3 E _ C 7#tÃÃÃ7#_ C 3-.KÇ= *.7 kIt¾ o _7¸M-# 0 *- E ºA76dT E -YºA7#]!#@7dT#I # -#.4( A#3 -Q -T ; <& "-Y- I -#- 7|%_7#]!}+LN;M-#YºA7_<# 3 E I E ,ª ¼ª «=¯ ¯&®N» "BS¯ °%$« R¬»6P ù ®¯Yn° U»6¬ S¯ ®N¯H¬»ù »#°asª ± °A«=¯ ®3¼» E#C . ¶1/$t ¢/¶¶1/7seF<= 2 - -/( ^-#Q|%-LN @ _< 3-#<&`Je H |(_Qm¶1b E tÃÃÃ7 kItu o _7¸M-# 0 *-Y-Y¤,7 ( -F7 < I$ E <-<( -#<$ E #+>JS?p-#Q 3= <# < C C -DLNU"6# - @ -s7#|%-Y¤,7B7 7 7Ç 0 CsE I E !sª ¼ª( ¬ P)®q»3 ¼ 2¬ª(¬ù®3¼ )¯'®N² » ¤!ª(¬ ; ®J±¯ « ¬Y³ E ¤9 . C < < -F7s_ C -#.(>Ç 3. E tÃà n 7 kItµ o Å7##-. E ´ 7#]x E -T¸A7#]F } C #7 .- I 3 3 -.r9ÆH-#?2. E (-# -#.@- C *-#- 3-.ALq -/ 3 .-/'<+< 7|, - "M¤4¤n®¯x1« ¬H¬ EC .'à ¢/¶µ E eFUZB-#. E ZU#.7FtÃÃÃ7 kItà o dG7Æ&@-#-Y-D¸)7]!3@-#-s76dT 3-."w;<= ULq -/ < -T(07|%1 - §!êsª ¼ª(¬ ; ®J±) ¯ ¨lª ¦¯ ;8» U»#® ¬°a® »l¬»6b ù "#{® Aꬰa® » E es 3("6- E 8^( #. E _ C 7 tÃõ7s_ C 3-.(>Ç9 3.7 k · o#µ 7ÆH. E ºA76ZU-#-#(3=$ E 7#K<01 E dG7_ E -# ¸)7 ¶s7Â'-Q - 3 .-B 3. I^< 7#|1 - Ms%/¤xMs 1« ¬ E tÃõ7 k /t o 76ºA7#eFT-#Y8^7¤,7#eF/$/7#dT+ -.)Lq <.-# I -Y <= 3-Pr9Zp<-/( #($ C C < 17 uY ®«(ù !¯ S± ;D ¼ Sl£'¬»[®q»#°%«=ª»6¬°a® »6¬xª(«=ø®«=ú E m¶Y`J¶1b=r ¶¶ n ¢/¶Ãµ E tÃÃm7 k o 8^76dY7_ I T.-/ B<-T#1M.7 ®-Y°a®J±¯5¬»ù Uê° » bê# ¯ "BS¯ °%$« )¯ E ¾r mà ¢u· E tÃ÷7 k ¶ o 8^76dY E ]'7¸H+( E B763)"6 . E -TZ578^-/ 3-7 ]!#& 3H;$; Yr9##I>"6$D - =< -Q?2 -2.-/ 7|- g#ê°%«=4 ª U»{® ¬°a® ¥» « ¬Y³ EC . tt ¢tµ E º'- E _?2 I } 3-# E Z C 7tÃà n 7|¤¤9¤27 k m o \A7Z57dY7 (> -/ Y C#C 1<#2 <.-# I -Pr # < C C <= 375© «ª$S@®N» ® ¯=±®«=»6±«=¯ E tt¾r3tÃ`¾ ¢· E tÃÃ1u7 k no Å7 76dT$/U-Y8^7_<#"#"6- E I 7 ~ª ¬%'ù/« ¯ ¼/«=»#°a¯ E #5t+u¾·4x L ^«(±°aêª 4 « j°%«=¯H®ql » Uª=°a® ¡±®J¬ M»#°%«N ®3¼/«=»±«=76_ C -#. E ···7 k ¾ o ºA76dT c-Y_67#¸'-# 0 3-s7 C ;$<#3. <-# I>J M - =< -Y O I -/ K 4"6# ( 3A#3 -F7|1 - §!êsª ¼ª;$¬ ; ®J±) ¯ ¨lsª ¦s¯ $²» gê°%«=ª U»#{® 4¬°a® »[¬»h ù "{® )ꬰa® » E eF ("6- E 8^( #. E _ C 7 tÃõ7 k u o Z57 ?Ka7g·s»#® ¡K« ù)© #«sª®«=¯/ ¼»#®q°a®»#7\M+ + '-# 1= ( %$Q8: ( E tÃ÷7 k µ o \A7 (M-D¸)7]!@-#-F7_-#(U"#(T;$-/ #= 3< < B -Y5 -#- 32.M( )3 -s7#|%- ê°%«=ª ¤!ª($¬ ®J±g ¯ M»#°%«=ª»6¬°a® »6¬s « ¬*¸ E#C .&tµ`à ¢tõ E \M(( E K. # E Å-#4tÃÃ1u/7|;¤9¤9¤ C B_/< $T8 (7 k à o B7Å7 #7xM"4q &«=°a¯[£u,¬»#»®N»¼[5«=ꪮN¯ °a®J± ¬N S3M» "#®N°aꬰ%«(b ù gSHª=®JP ù &«=°a5 ú ª ¦¯ 78:#¸Ä ( E dY( <(( |-#; I ML:]F<=-#3.$ E tÃþ7 k ¶· o Z57#_@-F7ü£+2((UL:<-/( s;$; B"#M 1H C = (- %$/7#|%- 7]s C#C s-T87#8^( E I E ª «(¬°a®N»/3 ¼ B«=ª$¯ »6¬ ®N°a®«=0¯ ?# ª "BS»#° #«=°a®J# ± U±° ª¯ E 1 ttà n x L ^«(±°aêª 4 « j°%«=¯H®ql » Uª=°a® ¡±®J¬ M»#°%«N ®3¼/«=»±« E#C . t¾`¾ ¢·µ7F_ C -#.(>Ç= *. E tÃÃ1u7 k ¶t o ¸)7]!#@--Y-Q\57 (7#]x?,+B -# E - Uª°a® ¡K±®a¬ C < C 3 E -D 3-/ .-/U I( F<= 7|%) M»#°%«N ®3¼/«=»±U « ©ù1¬ S E 1#5t¾··4x L x« ±°aêª(j « j°%«=¯'®N» Uª=°a® ¡±®J¬ M»#°%«N ®3¼/«=»±« E#C .Um n ?u ¢/m/u7F_ C -#. E tÃÃÃ7 k ¶1 o ºA7]!@U-Y_67#¸'-# 0 3-s76dT3 -. I( #s< I 3 3< Q A"6 ^-# @ -F7|-VdG7ºB (B-# K7#\B C ./ E I E §3·¥®j¹g¤x®¯xM "5« (ºYºHº E # tÃr ¶ E |-/ 301- E _?2 I }= *- E ZU#.7···76K3<0/?! 89"# (# 7 k ¶¶ o ºA7]!@U-Y_67#¸'-# 0 3-s7#ÇB ( #s#@- -# @+ 3-Y -T -Lq D "#-T- I --/ 7| gê°%«=4 ª U»#® ¬°a® » EC .Ht+à ¢t¶¾ E 89 33 C 3 E 8sZ E H_Z E dY$Y···7|;¤9¤9¤ C B_/< $T8 (7 k ¶m j o ´ 7]xV-Q¸A7]x= } C #7ZU( I~< 3F~(r98:$( < E 3/< - EC = < C - E "6 7|- gê°%«=ª ¤!ª($¬ ®J±¯ë "M¤4¤n®¯x1« ¬K»l!sª ±« «(ù®N»¼¯í EC .2m¶ ¢ n · E ÂB *- E ^3 3# E Å#I$[tÃÃm7 k ¶ no dG7#-T&8--#H-Y¤,7#^ 37#_-((>%<= -#%?! 07|-TÅ7]'7#Æ&+w I$ E I E ê°%«=U ª ¤Kª($¬ ; /®J±¯ ë "*M¤4¤x®¯¯5¼« ¬+P!sª ±« «(ù®N»/¼¯%í E 1#&u EC . ¶¶ n ¢¶m/ E ZU#.7stÃö7
© Copyright 2026 Paperzz