- MATEC Web of Conferences

MATEC Web of Conferences 94 , 05003 (2017)
DOI: 10.1051/ matecconf/20179405003
CoSME'16
3DUWLFXODULWLHV RI IXOO\SDUDOOHO PDQLSXODWRUV LQ
'2)V URERWV GHVLJQ D UHYLHZ RI FULWLFDO
DVSHFWV
Lucian
Gabriel
! "#$
$EVWUDFW %& '' ( & '
' $&$ %& ) $ *+,-. %&& &
/'&&%&&
' & ', $' '/ '$ ,$ $ % $') %&
& ' ' $&$0 1& ' %2 ' ' $' & $' & +,- /0 1& '' & ' $ & %
& '$ +,- ' $' %&&
%'''
&/$$03$'&4&
$ & $
%&&&%2'&$'/
5 $ /& & $'0
1&& & %2 & % & ' & $ ' ' $'
&'0&$%$&
$ & %2' ' $'
&&&$/&40
,QWURGXFWLRQ
3&'$$'&
' & & $ $ %& $ %&&
2&$%2&$'01&)/
'&&($&''/&
&(&&01&&/''&
& $0 6& & $ '$ $' & $
&%&/,%,$'$0
3 % 2% & ' $' $& $ &
$' 780 1& $ & '' '
$' & / & & $ '
' 7!80 3 ' $' & / &
9'&:$0;0
© The Authors, published by EDP Sciences. This is an open access article distributed under the terms of the Creative
Commons Attribution License 4.0 (http://creativecommons.org/licenses/by/4.0/).
MATEC Web of Conferences 94 , 05003 (2017)
DOI: 10.1051/ matecconf/20179405003
CoSME'16
'%&$'$&&'01&'$
'$'%&+,-2$$$'&
/&&%2/$/&&
'$'$&$%&&$0V$&7X
Y8&&'''$'*0.&
2$&%&&2&$/'$%&&)01&$'
&$&$&&'2$5%&&$2&
&2$&$/01&/&'$'
'X,#Z#*5,'$5,5.X,###*&5.
X,Z##*'$5%5.0
)LJ'''$'7XY8
$"07[8'&'$'$2&
$ '& ' $' %& % $0 1& $ & &
$$'$$'%$'&501&
' & '& $' / )' && & /&31&&&$*31.&
' ' $': $' ' %&& $$ & % 2 $ & & / 0 $
" 0 / $ V% '$ '& '
$' *VZ. %& $' 0 1& ' & $/ '$ / & $ %& $$ '& 5 & & $/ '$
%&/&$$0
'&'$''$'%&$/'$
$%&)'01&'&&$/'$$
'& * " 7+8.0 V VZ %& & &
/4&0\%%$'&$
'&/&$$&/&''
'$ $' $ & / '' ' $'
%&$0-&&&&/$$//&)/
'/ ' & ( %&& &
$$ &'0 ' VZ , %&&&%&'%2&"7]8
/&&'$VZ03&%2^&0
78'&'5%&%/$
&'/&$'$03&%26&&
7_8 & $$ "&,V% '$ %& & '$ &
$/'$/$$0
3'&53Z,97 8&
$&5'&'&'5&&
$/'$%&&)'$0\%&&(
2
MATEC Web of Conferences 94 , 05003 (2017)
DOI: 10.1051/ matecconf/20179405003
CoSME'16
'&''&50)$'&&'&'
5'&$&$/'&5$
&&$/'$&$/$&$///
$0Z$''#ZV*5,'$
5,'&5.'&'$'%&&&/
%&/$/&'&$
2$/&7,X80'''&2$$'/$
&$''#ZV&&%&%&&'/
$& $ 2$ & $$ &
$&$ 7Y,_80 & $ & & & ' $'
' $ & : $ %2' 2$
&&)&5&'&%2'0
&$&&)'%''&&%
& %2' $)$4 $&$ ' 7! ,!X80
$GYDQWDJHVRIXVLQJSDUDOOHOPHFKDQLVPV
'' ' *&'& /$ $'
$' $/ ' $ ''. ( &&,'
' $' /5 $ *$ $.03&$'$(
$ ' 7!Y80 & '' $ $%&&01&%&)$'%$
/ / 0 1 $ &
'/$$/$&$&/'/&&($
/0 3 $ & $ $' /5%&'%&)$%&&$'&&$'&&
)$0
3&''/$'%'
&&&&$0-/)&
/'%&&&$'2$&&/
$ '$ $/ '$0 #/ $ & &
&& & '& '$ 50 '
$&$$$$&%:&$//&
( & $/ $ ' & $/ '$0 /&&$/5&
$&$7![80
Z/2$&$&$$'
$ / %& n $ *$/ '$. 2 ) '$
&&n'2$&0$&$
: & 2$ & $)$$ % $` &
' '$ / n $' $ & 2$ &
)'$'%&&$/&&&&
' & $/ '$ $$0 %' /
& & $ & %& &$ / '
/ $ / $&$ 7!+ !]80 j
'&& $&$ 7!8&/$
&%&'$&7!_8
/ 7X 80 Z / / ' &
''%&&&'$/'0Z
3
MATEC Web of Conferences 94 , 05003 (2017)
DOI: 10.1051/ matecconf/20179405003
CoSME'16
' ) & 2 / & / &/5`&'&
$0
Z//&&/&'$
0#&','$&,&'
$' / / 2% &
'&2$&$01&%&'$&$
'&',$'/$')
,$(/&&$&'$&$0
Z $&$ & / $ / /
$4&&'/&$&$/
'$09$'/'/&$':
x&&`
x`
x&&$'`
x&&('2$&$
`
x&&'0
1&2 & ' $' & / %& &
$& %& $ 0 3 & / $ / $ &
&&'$'$'(&$
$03&/4&'$','
' $' ^& k 7X8 & $ $ & / & ' %& \ 0 7X!8 &
& / $& %& / ' && '
$'0
.LQHPDWLFDQGG\QDPLFDQDO\VLV
1& / 2% & V% '$ & / $'$ &
'$&$7XX,X[80Z/''7X+X]8&1
$&$7X8%'/,'7X_8(''%&&
$&$/'$&$0
/ & $ '$ $&$ &
$ ' $ $ $ $&$ 7Y 80 31
$/&$/'$&
2$ & $&$ 7Y80 / & %&&
&)$&$$'&Mq 0
3&$/$&$&%'$:
x$/5p`
x$/2$$n(n = m-)`
x$/$m)/`
x$/M`
x$2$5fi0
"&%$&$/'$&$
%&&$/$tt!7Y!80
௣
*.
Mൌ σ௜ୀଵ ݂௜ െ σ௧௜ୀଵ ܵ௜ ൅ ܵ௣ %& fi'$/2$'i (i = 000 p),Sj'&
' j $ $ & & $&$ Sp
' & ' & $/ '$0 1& ' &
4
MATEC Web of Conferences 94 , 05003 (2017)
DOI: 10.1051/ matecconf/20179405003
CoSME'16
$/'$'2%&&)//&$)$$
$/'$'$/%&%0/&$/
''$/&$&2$$$$`&/
& '$ $ / $ & $/ ' ( / & $&$0
"7YX8&'2$$&$
6%&&&4/&0
w$ % %: 2$ $& /
2$ $&0 1& $ / %&& $ &
$$ $/ '$ &
5'2$$&01&$&&)':
‫ܙ‬ሶ ՜ ‫ܠ‬ሶ *!.
%& ‫ܙ‬ሶ ൌ ሾ‫ݍ‬૚ ǥ ‫ݍ‬௠ ሿT & 4 *'$ $'/ qj 5.&‫ ܠ‬ൌ ሾߙߚߛ‫ݖݕݔ‬ሿT/&'&
$/'$%& x, y, z &&&'
&)$Į, ȕ, Ȗ&&$
)$0
32$$&$&$$&5
2% & $$ $' & $/ '$0 1& $ & &&)':
‫ܠ‬ሶ ՜ ‫ܙ‬ሶ *X.
$'/''&/&$&
$&0 ' &5 7YY8 x%, $& ' $ ( V% '$ 2 /& & $&50
1 7Y[8 & ' &$ & $ V%
'$&$x%,$&0
32%&&''&(/&
/&%0&$$(%%
//'$$&'$&$0
w z 7Y+8 & / $ %& ' &
/&4%&&''$&/0w{$
(//$V/0V07Y]8&'
$$1'/%&&&&)
$0
3 $ $' $' & $ / / "07Y81V$'7Y_8&'$z(
$0
$ & $& /& & $' & $&$
'$ & ' $0 z
($,(&$&$
'$'0V$&/(:
డ௅
డ௅
ௗ௧ డ‫ܠ‬ሶ
ௗ
డ‫ܠ‬
ቀ ቁെ
൅
డ)೅
డ‫ܠ‬
O ൌ ܎
*Y.
x |4 0 7[ 8 $ '$ & / *$
2$4$'.0&&/%$'
%&'/xV}V$%0
z$&&2
&&7[803&&$$%&&$/
$0 1& & $& $'/ / ,$ /
'/0
5
MATEC Web of Conferences 94 , 05003 (2017)
DOI: 10.1051/ matecconf/20179405003
CoSME'16
6LQJXODUFRQILJXUDWLRQV
3 $ ) ' / & $ %2' (
$'/*&%&&$'
$$ $&$ / $.0 & %2 '&&&$&$%&&%2'
& '/$ &$ $ & /$$')7[!,[Y80
6&%'$'$'
& & &' %& & / 2$ 7[[80 9 & $ ' % & '&$ & 2$ & ' $&$0 1& & ' ' $&$ /2 _] %&
\ 7[+8 & % ' : 07[]8''&''&&
$ && & $ "$ &
& $ & $$ $ %& $ &
)'$0z"7[8&'
$ & 2 $)0 1& & /& $'
/&03'$'
& %& & $ / $) 40 3 & /
' 0 1& % ' % &&&: & 2$ 2$%&&4&'$'7[_80
&''&&'/$'%&&&/^|
0 7+ 8 & % & %& 6 V&&$ 7+8 & &
&&&$')'')$0
V$''/%&2/'/0
1 $ & ' &$ &$ / &
2$/&$0/$'&)
$/''%&)$
$$~$/'$7+!803'&)
&5$$'&))&$
$'/01&'/$/
' & & & $ & / $) *++. / ( 0
& % / && $ ' (
''& &$ 7+X +Y80 V ' ' & ' %&& &
Z€2 / & ) & 5 $ ' $ & / &4 ' $ % 7+[80 3 & ) '$ 5 ) )$' 0 1& &$ / V 0 7++8 & / &
$&%/$)$%$&$$
& $ $0 & $) ' & & %
)':
డˆˆ
డ‫ܠ‬
‫ܠ‬ሶ െ
డˆˆ
డ‫ܙ‬
‫ܙ‬ሶ ൌ Ͳ ֜ ‫ ۯ‬ή ‫ܠ‬ሶ ൅ ۰ ή ‫ܙ‬ሶ ൌ Ͳ
*[.
%&:
xT4%&$'$&/'`
x[&''&$/'$߶ǡ ߠ ߰ `
6
MATEC Web of Conferences 94 , 05003 (2017)
DOI: 10.1051/ matecconf/20179405003
CoSME'16
xIn,$$&2$&i
i = !..., n0
1&$&&&'7+]+8:
x'3&'%&&%&&$
&/$)%403&$)$%4&$'
$$`
x ' * ' 33. %& & $ &
/$)$( 03&&/%$$0
x'333%&$(/&$)/401&
'&&&0
3&''&'&$
& $ & ' '$ & $$0 1& '/$ '&/5'&$'$&$01&|,
\V&&$7+_8'$'/
&& "$,9 /0 1 ^0 0 7] 8 &&& & '' $$"&,V%$'0
1& $ & ' %&& $$ $ &%2'&/$&4&'0
55HGXQGDQF\RISDUDOOHOPHFKDQLVPV
%'$+,-'$'&$,$'0
V __ \ 7]8 '' +,VZV $,$' ' %&& '4 $ 0 3 __ 1& 7]!8 ' % ' $,
$''+,ZVV03&&}z7]X8&+,-
'$'%&'4*0!.0
)LJZ$'%&',ZVV7]X8
1&%2}z$'&&'
$&$ & '$4 &$ & '/ %2' $ $ $ '
7
MATEC Web of Conferences 94 , 05003 (2017)
DOI: 10.1051/ matecconf/20179405003
CoSME'16
0 1& ) $$ / & ) $$%%&&&'/'$4&'&
/01&&(&''
) ' 7]Y80 & & % 7][80
1& ' $' / & ': $ 2$ 7]+ ]]80 ''5%&57] 8%&&/&&$/
$&$'{$/$&01&$
$'&&'/&$'&$/
0 1&2$ $'%2'/ $5&$'$7!803%2$
$'%5&$0
1&'&$/&
'&4$&$`'&$/$/$&
$&$$$/4&$01&)$$
/ & ) $$ % %&& & &
'/'$4&'&/0
& )$' & & '
$&$ %& ) $ & $' ' +*Z. ZV %&& $&$$V%,"&$&$7X8$''+*Z.#V
7Y[80
Z & $/ '$ / & [ & & &
)':
*+.
‫ ܠ‬ൌ ሾ‫ݔ‬۳ ‫ݕ‬۳ ‫ݖ‬۳ ߙ۳ ߚ۳ ߛ۳ ሿT
%&[\]''5&'U/&*9.
$&*9.-$ߙா ߚா ߛா &*9.$&
xyz)&*9.-$0*9.*9.-&&
$&$/'$'&$&$01&'
/&T&$''+*Z.ZV7X8T!
&$''+*Z.#V7Y[8:
*].
‫ܙ‬૚ ൌ ሾߩଵ ߩଶ ߩଷ ߩସ ߩହ ߩ଺ ߜሿT
Uj&i$&
*.
‫ܙ‬૛ ൌ ሾߠଵ ߠଶ ߠଷ ߠସ ߠହ ߠ଺ ߜሿT
%&ߠ௝ '&'$li$0
3/&$'&' G/&{ߜ
'$*G'&/&5.0
6 :RUNVSDFHYROXPH
& ' $' '$ %2' ' $' 0 1' & %2' %
'' %& & & $/ $ & '
$'03&'%&%2'$&/
$' ' $' %& ) $ %
0%2''$'%&)$'
%&)$%&')'&$''7+80
1&&'$&/'&'01&/'
&,$'&/%&&'9$0
1&%2'&///&$/'&
8
MATEC Web of Conferences 94 , 05003 (2017)
DOI: 10.1051/ matecconf/20179405003
CoSME'16
$%&&$&$2'/03/
%:&/%2'%2'7]80
1&&/%2'$/&'&/&%&
& /& && & '/ $/ & $0
1&%2'$/&'/&03
2% & $ R‚ & & $ R!‚ )' 0 1& ( & $) / / & $ '' R‚ $ /
߶ǡ ߠ '߰ 780%&'&
%2'$'$'$%&$'$0
'&%2'7_8/'&&
$&'߰*0X.&&&&&
&߶ ߠ%2'$
&߰''& ƒ0
)LJ1&$&%2''&\7_8
|#7_ 8''$'&$$'$%&1z|
% '' $ & & & ' ' C */ $/ '$. & ) $$ '
$' & %2' /0 } z 0 7_8 4 %
2$$V%'$'$&
'&501&&&&&%%&'&%2'
$$'V%'$*1/0.:
7DEOH62'$$'V%'$7_80
Z00'
}z
V%
V%
V%
V%
V%
e
7$$8
T
E
7$$8
![ ![ ![ ![ ![ ![ 78
,
rX rX[
rY rY[
r[ rij
7$$8
[ ,]
[ ,]
[ ,]
[ ,]
[ ,]
[ ,]
Vw
7$$X8
]0_ [
! 0]_X
XX0[[
Y0]Y[
[0_Y]
]]0+X
3&1/eE&$BioBiO'0Oo
&'Bm*B'&$m'$/'$.ߠ
& $ & S 50 3 & V% $' /
9
MATEC Web of Conferences 94 , 05003 (2017)
DOI: 10.1051/ matecconf/20179405003
CoSME'16
/&%&&'&5ߠ%&r*X 000[ .ƒ&
$&%2'%0-&&&'2$$
%&& $2 & 2 /% $/ '$ ) / ' & $
$' / & $&$ 0 V'& 5 & & &
X+ ƒ)&$&$$
&$&$)$$&ߠ
&2$5&7_!80
z$07_!8)$&%2'$'$'%&'
$/'$*1/0!.0
7DEOH62'$Z00/z$7_X8
Z00'
z$
L
7$$8
J
78
!
„
78
r
7$$8
X Vw
7$$X8
X_0XXY
9'' "0 0 7_Y8 & & / '$ '
$&$%&)$&&&$%2'*1/0X.:
7DEOH62'$Z00/9''7_Y8
Z00
'
9''
b
7$$8
[
r
7$$8
![
…
7$$8
X![
lmin
7$$8
[ lmax
7$$8
X Įmin
78
Y[
Įmax
78
Y[
Vw
7$$X8
!+0! 3&1/!݈௠௜௡ ݈௠௔௫ $$$$)$$&/&
& a, b r & $ %&& ' & & &
'ߙ௠௜௡ ߙ௠௔௫ &$$$$)$$
&$$&50
3 & / ' & %2 $ & / %9%&%2'' $'7_[,
_]80-&/&$&'')$$$&
&$/'$/$0
&'/$'$&$&$$$'
&2$$/%&$0|&
$$%2'&'&$
&'(&''&$'7_80
7&RQFOXVLRQV
1& ' %2 % & $ ' $ & %2' +,- ' $' &&& & $' )$$%&&'$'01&''
& ' $ & % & '$ +,- '
$' %&& % ' '' &/$0
1&&&%2&%&'&
$''$'&'0
% $ & $ & %2' '
$'&&&$/&$:
x&'$(r, l, a, b, e)`
x&ߠ'&5&V%$'`
10
MATEC Web of Conferences 94 , 05003 (2017)
DOI: 10.1051/ matecconf/20179405003
CoSME'16
x' & ' C */ $/ '$. &
$$)'$'`
x&߶ǡ ߠ ߰`
x&$$$'$$/%&$0
w%&&'$&$%&)$%
& % / & ' ' $'
%& ) $ / '$ $') $ '` $ & ' / & '$$ '$ & %2'&/0
5HIHUHQFHV
0Z0Parallel robots. 2nd ed0*! +.
0^&Parallel robotic machine tools,*! .
0Z01&#'+Y[3x#3*__!.
90"00&01$0,10VX[,Y*_.0
0"#0#†40900#&0&01&! ‡!+
*! .
+0 #0"0&01$0,10V0[ ‡[[*! Y.
]0 900"00&01$0,1V0! !‡! ]*__.
0 }0^&90900#/V0!__‡X *__.
_0 w06&&&0&01&[‡[_*__Y.
0 903j0Z,9&0&01&[[X‡[+*__X.
0 w00z0w0V&Proceedings IEEE/ICRA0XY[‡X[ *_].
!0 \0V0w$z06010&01$0,10V0_!‡_]*! X.
X0 90\0zV09&0&00V0 +‡ +*! Y.
Y0 ^0\}0&0&01& _‡ *__+.
[0 }0^0\,&0&01&]_‡]_+*__].
+0 ^0\06&0&01&_X‡_*! .
]0 V0w0%Proceedings of 8th World Congress on TMMY [,Y *__ .
0 ^0 \ 0 6 Proceedings of A Symposium Commemorating of Sir Robert
Stawell Ball*! .
_0 ^0\06}0&0&01&!!_‡!Y *! !.
! 0 090"x0&0&01&],! *__.
!0 0|0Z00^$/,&0&01&Y_],[!*___.
!!0 0w20"2w0w40#/V0[X_,[Y*! X.
!X0 0#0|0#/V0![_,!]Y*! Y.
!Y0 0"01300&0V0[]‡+*! .
![0 z0,601Robot Analysis:The Mechanics of Serial and Parallel Manipulator*___.
!+0 09&/Z06310#/0$0Y X‡Y *! X.
!]0 k0 0 z 0 6 0 " z0Z0 6 3 10 #/0 $0 _[_‡_+
*! .
!0 90#/#0ZProceedings of the ISRAM.!_X‡!_*__ .
!_0 0jV0&00] ‡][*__[.
X 0 w0910|2Proceedings of the IEEE/ICRA.] ‡]X*__X.
X0 ^0^&0k0&00Y X‡Y!*! +.
X!0 0\,&0V0&0[ _‡[!*! X.
XX0 0V'*__].
XY0 j0Z,9#0"00&00!_Y‡!_*! .
X[0 0V%.Proceedings of Int.Mech.Eng0X]‡X+*_+[.
X+0 #09Proceedings of the ISR.,*_.
0
!0
X0
Y0
[0
11
MATEC Web of Conferences 94 , 05003 (2017)
DOI: 10.1051/ matecconf/20179405003
CoSME'16
X]0 V0V0909',9Proceedings of the IEEE/ICRA.Y+‡Y!*! X.
X0 z0601#0V$'V0001&090*__+.
X_0 00\ˆ0V', Proceedings of the ARK.*__!.
Y 0 "0"Report ROBEA MAX CNRS*! X.
Y0 10"03&0&01&*! X.
Y!0 "0"&0&01& +‡ _]*! [.
YX0 90"00&01$0,10V0! !‡! ]*__.
YY0 |0'10V0&5,&0&01&X[‡[!*__.
Y[0 z0601Robot Analysis: The Mechanics of Serial and Parallel Manipulator*___.
Y+0 10#0w00zDynamics, Theory and Applications, *_[.
Y]0 0 V 90 0 w2 |0 | 0 j/ &0 &0
1&[‡]]*__].
Y0 ^0 " z0V0 \ 00 z #0z0 9 #/0 $0 V0 !X]‡![Y
*__!.
Y_0 z0601#0V$'V0001&090*__+.
[ 0 0j0x|090|4w09&0|ˆ2&0&01&+[‡
!*! [.
[0 V0Vk00z0zV'!]‡!X[*! _.
[!0 |0'10V0&5&0&01&]‡]![*__.
[X0 90z0z\0}00#0z10V0\%009! ‡!!*! .
[Y0 V0Z#0|009,&0&01&[X‡+X*! [.
[[0 Z090z00z&00+X‡]*! !.
[+0 w0\0\9$/Z*_].
[]0 0Z0300#/0#0Y[‡[+*__.
[0 90"0Proceedings of IEEE T. Robotic. Autom0!‡!_ *__ .
[_0 09Introduction to Robotics, Mechanics and ControlThird Edition*! [.
+ 0 0^300|90"Proceedings of the IEEE/ICRA, Y_+‡[ !*! !.
+0 060V&&$0&01$0,10V0[+Y‡[]!*! X.
+!0 #0Z0V$Z0w%4030#/0V0! [‡!+*! .
+X0 V0V0#/__‡! ]*! _.
+Y0 0\009&0#/0V0YX‡[[*__.
+[0 0The rigidity of compound spatial grids0Y‡[+*_Y.
++0 0V0ZV0|0"&$|0^0"2x0Z&00] ‡
]_*! X.
+]0 90"0310#/0$0!‡!_ *__ .
+0 -00Proceedings of the IEEE ICRA.[Y!‡[Y]*__.
+_0 Z0|,\0V&&$&0&01&_[‡_] *! +.
] 0 ^010\\0^0#/X [‡XY*! !.
]0 0\w0V$0&01$0,10V0XY‡X_*__.
]!0 01&032032,300'0V0Z00X[‡Y *__!.
]X0 }0}}0zV'!_‡Y[*! .
]Y0 0690"0&01$0,10V0 _‡*! Y.
][0 30/&$009#0|&0&01& ]‡ +*! ].
]+0 V0zV0w$Proceedings of the IEEE/CDC. _]‡ !*__X.
]]0 #0|V0x2/&0&01&X‡[[*! !.
]0 w00^&0Proceedings of IEEE/ICRA0X YX‡X Y*__Y.
]_0 \09&"00z}0w0}^0\0k^0zProceedings of the IEEE/IROS]‡
]+*! .
0 0Z0Redundant parallel manipulators]‡!Y*__+.
0 0690"0&00 _‡*! Y.
!0 0w2|0\$10-$&00! ‡XY*! !.
12
MATEC Web of Conferences 94 , 05003 (2017)
DOI: 10.1051/ matecconf/20179405003
CoSME'16
X0 Z0 z 90 | 0 \/&0 Proceedings of the 2005 IEEE/CASE. X_X‡X_
*! [.
Y0 }03009&"0z0}&0&01&_!‡_!!*! _.
[0 0-09, Optimal design of CAPAMAN with prescribed workspace
X[‡YY*! .
+0 030w$60w09&}0}$3~39#0!_+,!__*__].
]0 300|0#&0&01&[,!*! .
0 0xMecanica RoboĠilor!Y,X *! !.
_0 0Z0&0&01& __,X*__Y.
_ 0 300|0#,&0&01&,X*! .
_0 }0zk0z90^&}0z#/,+*! Y.
_!0 \0z$V0\0z|0#0V|00}30090$0V0_Y!,_[ *! [.
_X0 05^00\}0z0}300001&0YY‡YY_*! .
_Y0 "09''0^&w0z#/09$0,300__‡ +*! Y.
_[0 w02|0|4"0" ''0&00X,Y *! !.
_+0 w02|0|4"0"#0*! .
_]0 w02|0|4"0"V'+ [,+!*! .
_0 &':~~%%%0/$$0$0 -' Z #/ ! ! , 13