2005-01-2727
6/
5#0615 *CPF#&GITGG1H(TGGFQO/QFGN
'UVGDCP2GÌC2KVCTEJ,KPI\JQW;CPICPF-CTKO#DFGN/CNGM
&GRCTVCOGPV'PIKP[GTKC/GECPKEC
7PKXGTUKVCV2QNKVGEPKECFG%CVCNWP[C
72%
#X$CUGUFG/CPTGUC
/CPTGUC5RCKP
6GN
(CZ
GUVGDCPRGPC"WREGU
8KTVWCN5QNFKGT4GUGCTEJ2TQITCO
%GPVGTHQT%QORWVGT#KFGF&GUKIP
6JG7PKXGTUKV[QH+QYC
'PIKPGGTKPI4GUGCTEJ(CEKNKV[
+QYC%KV[+#
%QR[TKIJVl5#'+PVGTPCVKQPCN
#$564#%6
6/
6JKURCRGTRTGUGPVUC5#0615 FGITGGQHHTGGFQO
&1( JCPF OQFGN CPF VJG HQTYCTF CPF KPXGTUG
MKPGOCVKE CPCN[UKU 6JG &GPCXKV*CTVGPDGTI &*
OGVJQFKUWUGFVQFGHKPGVJGRQUKVKQPQHVJGGPFGHHGEVQT
6/
HKPIGTVKR+PVJG5#0615 JCPFOQFGNGCEJHKPIGTJCU
FKHHGTGPV EQPUVTCKPVU CPF OQXGOGPVU GI VJG OKFFNG
HKPIGT KP FKUVCN +PVGTRJCNCPIGCN &+2 LQKPV ECP OQXG KP
(NGZKQP'ZVGPUKQP
('YKVJCTCPIGFGITGGUCPF
VJG VJWOD KP KPVGTRJCNCPIGCN +2 LQKPV ECP TQVCVG KP ('
YKVJ CTTCPIG QH * +PENWFKPI JCPF OQFGN
6/
5#0615 JCU QXGT &1(U CPF VJG HQTYCTF CPF
KPXGTUG MKPGOCVKEU JCXG DGGP UVWFKGF 1RVKOK\CVKQP
DCUGFF[PCOKEOQVKQPRTGFKEVKQPYKNNDGWUGFVQEQPUKFGT
FKHHGTGPVIGUVWTGUHQTJCPFITCURKPI
-G[YQTFU HQTYCTF CPF KPXGTUG MKPGOCVKEU ITCURKPI
JCPFOQFGNXKTVWCNGPXKTQPOGPV
+0641&7%6+10
6JKUCTVKENGRTGUGPVUCPKORNGOGPVCVKQPJCPFOQFGNHQTC
6/
XKTVWCN JWOCP 5#0615 6JKU OQFGN KU VJG OQUV
TGCNKUVKE QPG KORNGOGPVGF KP C XKTVWCN GPXKTQPOGPV 6Q
FGXGNQRCTGCNKUVKEJCPFOQFGNYGHKTUVUVWF[VJGJWOCP
JCPFVCZQPQO[
6JG JCPF JCU DQPGU YJGTG DQPGU CTG NQECVGF KP
VJGYTKUVVJGVJWODJCUVJTGG
QPGOGVCECTRCNCPFVYQ
RJCNCPZ VJG QVJGT HKPIGTU JCXG HQWT OGVCECTRCN CPF
VYGNXGRJCNCPZ'CEJDQPGKUEQPPGEVGFYKVJCPQVJGTKP
FKHHGTGPV MKPF QH LQKPVU 6JGTG CTG VYQ DCUKE LQKPVU KG
EQPF[NCTCPFVTQSWGCNLQKPVU6JGTGHQTGGCEJHKPIGTJCU
FKHHGTGPVOQXGOGPVDCUGFQPFKHHGTGPVV[RGUQHLQKPVU
4GHU =? JCXG FGVCKN FGUETKRVKQP QH VCZQPQO[ HQT VJG
JCPF 4GH =? UVWFKGF VJG OQXGOGPV DGVYGGP FKHHGTGPV
DQPGU QH VJG YTKUV KG VJG OQXGOGPV QH VJG TCFKQ
ECRKVCVG LQKPV FWTKPI YTKUV HNGZKQPŌGZVGPUKQP CPF TCFKQ
WNPCT FGXKCVKQP 4GH =? EQPUKFGTGF VJG OQVKQP QH VJG
UECRJQVTCRG\KQŌVTCRG\QKFCN 566 LQKPV *QYGXGT YG
EQPUKFGT VJKU OQXGOGPV CU UJCTGF KP EQOOQP YKVJ VJG
FKHHGTGPVTC[UKPGCEJHKPIGT
4GHU =? ICXG C EQORNGVG CPVJTQRQOGVTKE FCVC #NUQ
TGH=?UVWFKGFCPVJTQRQOGVTKERTQRGTVKGUQHJWOCPJCPF
DCUGFQP(KDQPCEEK
4GH =? RTGUGPVGF C OQFGN QH JCPF YKVJ &1(U
*QYGXGT YG RTGUGPV C OQTG CEEWTCVG TGUQNWVKQP JCPF
OQFGNCPFKORNGOGPVVJKUOQFGNKPCXKTVWCNGPXKTQPOGPV
6/
5#0615 KU C PGY IGPGTCVKQP QH XKTVWCN JWOCP+VJCU
QXGT&1(U6JGFGVCKNOQFGNKUUJQYPKP(KI
6JKUCTVKENGDGIKPUYKVJCJCPFOQFGNYJGTGYGRTQRQUG
C JCPF MKPGOCVKE OQFGN DCUGF QP VJG VCZQPQO[ QH VJG
JCPF CPF VJG EQPUVTCKPVU HQT GCEJ HKPIGT 6JGP HQNNQYGF
D[ VJG JCPF &* OQFGN 9G RTGUGPV VJG FGVCKN UQNWVKQP
HQT VJG VJWOD KPENWFKPI HQTYCTF CPF KPXGTUG MKPGOCVKE
CPCN[UKU YQTMURCEG CPCN[UKU CPF ITCURKPI (KPCNN[ KV
IQGUVJGEQPENWUKQP
EQQTFKPCVG qi VJCV TGRTGUGPVU QPG FGITGG QH HTGGFQO
VJGP VJG IGPGTCNK\GF EQQTFKPCVG XGEVQT ECP DG
TGRTGUGPVGFD[ q = [ q1 ,..., q25 ] *QYGXGTVJGOQXGOGPVU
QHHKPIGTUJCXGUQOGPCVWTCNEQPUVTCKPVU
GIVJGOKFFNG
HKPIGTECPPQVHNGZQXGTFGITGGU6CDNGUTGRTGUGPV
VJGLQKPVNKOKVUYJGTGVJG[JCXGWPKVUKPTCFKCPU
6/
(KI5#0615 CPGYXKTVWCNJWOCP
*#0&/1&'.
*#0&#0#61/;
(KI FGRKEVU C JCPF UMGNGVCN YKVJ DQPGU 6JG
U[ODQNKE TQOCP PWODGTU CTG CUUKIPGF HQT HKPIGTU VJG
VJWOD KU + VJG KPFGZ HKPIGT KU ++ VJG OKFFNG HKPIGT KU +++
VJG TKPI HKPIGT KU +8 CPF VJG NKVVNG KU 8 #V VJG DCUG QH
GCEJ HKPIGT KU QPG OGVCECTRCN DQPG YJKEJ EQPPGEVU VQ
VJG YTKUV %CTRQOGVCECTRCN %/% LQKPVU EQPPGEV VJG
OGVCECTRCNDQPGUVQVJGYTKUV6JG%/%LQKPVUHQT++CPF
+++CTGUVCVKEVJG[ECPPQVCEVWCNN[TQVCVG+PEQPVTCUVVJG
%/% LQKPVU HQT + +8 CPF 8 ECP TQVCVG YKVJ
(NGZKQP'ZVGPUKQP (' CPF #DFWEVKQP#FFWEVKQP
#D#F6JGOGVCECTRQRJCNCPIGCN
/%2LQKPVUEQPPGEV
VJGOGVCECTRCNDQPGUVQVJGRJCNCPZDQPGU6JGUG/%2
LQKPVUCNUQECPOQXGYKVJ&1(U
('CPF#D#F#P
KPVGTRJCNCPIGCN +2 LQKPV EQPPGEVU VJG VYQ RJCNCPZ
DQPGU KP VJG VJWOD CPF JCU QPG TQVCVKQPCN FGITGG QH
HTGGFQO 2TQZKOCN +PVGTRJCNCPIGCN 2+2 LQKPVU EQPPGEV
VJG VYQ KPPGT PQV VJG VKR RJCNCPZGU KP++++++8CPF8
6JGUGLQKPVUJCXGQPGTQVCVKQPCNFGITGGQHHTGGFQOKPVJG
(' FKTGEVKQP 6JG NCUV LQKPV KU VJG &KUVCN +PVGTRJCNCPIGCN
&+2 LQKPV +V EQPPGEVU VJG HKPIGTVKRU VJG HKPCN RJCNCPZGU
KPGCEJQHVJGHKPIGTU
++++++8CPF8CPFKVOQXGUKP
('FKTGEVKQP
6JG OQVKQP QH VJG YTKUV KU UJQYP KP (KI +V ECP DG
OQFGNGF CU TGXQNWVG LQKPVU (KI FGRKEVU VJG
OQXGOGPVUQH('CPF#F#DHQTQPGHKPIGT
*#0&#06*41214/'64+%&#6#
(TQO VJG CDQXG CPCVQO[ FGUETKRVKQP QH JCPF VJG JCPF
ECPDGOQFGNGFCU&1(UUJQYPKP(KI#NNQHLQKPVU
KP VJG JCPF CTG TGXQNWVG CPF KH YG WUG C IGPGTCNK\GF
(KI4KIJVJCPFYKVJTC[U
KPCRQUVGTKQTXKGY
(KI/QXGOGPVQHVJGYTKUV
(KI('CPF#F#DOQXGOGPVQHHKPIGTU
*CPF DQPGU JCXG FKHHGTGPV NGPIVJU HQT FKHHGTGPV HKPIGTU
(KI UJQYU VJG PQVCVKQP QH NGPIVJ =? 6CDNG FGRKEVU
VJG NGPIVJU QH OGVCECTRCN DQPGU HQT FKHHGTGPV HKPIGTU
YJGTG HL KUVJGNGPIVJQHVJGJCPF HB KUVJGYKFVJQH
VJGJCPFUJQYPKP(KI
YKNN CHHGEV VJG ECNEWNCVKQP KP VJG HQTYCTF CPF KPXGTUG
MKPGOCVKEUCPCN[UKU
(KI5VCPFCTFHKPIGTYKVJVJGFKHHGTGPVNGPIVJ
6CDNG.GPIVJHQTVJGOGVCECTRCNDQPGU
(KI&QTUCNXKGYTKIJVJCPFOQFGN
6CDNG,QKPVNKOKVUHQTVJGVJWOD
(KI*CPFOCIPKVWFG
&'0#8+6*#46'0$'4)
&*/'6*1&
6CDNG,QKPVNKOKVUHQTHKPIGT++6CDNG(KPIGT+++
6QUVWF[HQTYCTFCPFKPXGTUGMKPGOCVKEUYGCFCRVGF&
* OGVJQF =? HTQOTQDQVKEUHKGNFVQFGHKPGVJGRQUKVKQPU
QH VJG HKPIGTVKRU YKVJ TGURGEV VQ GCEJ NQECN EQQTFKPCVG
U[UVGO&*RCTCOGVGTUCTGFGHKPGFCUHQNNQYU
• θM KU VJG CPING QH TQVCVKQP HTQO ZM VQ ZM OGCUWTGF
CDQWV\M
• FM KU VJG FKUVCPEG HTQO VJG QTKIKP QH HTCOG .M VQ
RQKPVDMOGCUWTGFCNQPI\M
• CMKUVJGFKUVCPEGHTQORQKPVDMVQVJGQTKIKPHTCOG.M
OGCUWTGFCNQPIZM
• αM KU VJG CPING QH TQVCVKQP HTQO \M VQ \M OGCUWTGF
CDQWVZM
i −1
6CDNG,QKPVNKOKVUHQTHKPIGT+86CDNG(KPIGT8
(TQO6CDNGQDXKQWUN[VJGNGPIVJUQHOGVCECTRCNDQPGU
FGRGPFQPGJCPFOCIPKVWFG&KHHGTGPVRGTEGPVKNGRGQRNG
YGYKNNJCXGFKHHGTGPVNGPIVJUQHOGVCECTRCNDQPGUCPFKV
6JG VTCPUHQTOCVKQP OCVTKZ Ti KU UJQYP DGNQY CPF VJG
UWDUETKRVKŗ
 cos θ i

sin θ i
i −1
Ti = 
0

 0
− cos α i sin θ i
cos α i cos θ i
sin α i
sin α i sin θ i
− sin α i cos θ i
cos α i
0
0
ai cos θ i 

ai sin θ i 
di 

1 
6JWODGZCORNG
&* OGVJQF KU KORNGOGPVGF KP VJG VJWOD CPF (KI UJQYUVJGUMGVEJQH&*OGVJQFCPF6CDNGUJQYUVJG
&*RCTCOGVGTU
6JGTGHQTG VJG RQUKVKQP XGEVQT YKVJ TGURGEV VQ VJG INQDCN
HTCOGKUFGHKPGFD[
 w (q i )  0
p (q i ) 
=
[
]
H


 i 
 1 
 1 
(KI)NQDCNEQQTFKPCVGU
(KI/QFGNHQTVJGVJWOD
(QTYCTFMKPGOCVKEU
9KVJ VJG HQTYCTF MKPGOCVKEU KH YG MPQY VJG CPINGU YG
ECP MPQY VJG RQUKVKQP QH HKPIGTVKRU 6JG HQTYCTF
MKPGOCVKEU KU GCU[ VQ ECNEWNCVG CPF QPG QH VJG
CRRNKECVKQPU KU VQ XGTKH[ VJG TGUWNVU QH VJG KPXGTUG
MKPGOCVKEU
6CDNG&*RCTCOGVGTU
9KVJ VJGUG RCTCOGVGTU YG ECP JCXG FGHKPG VJG RQUKVKQP
XGEVQT YJKEJ KU FGHKPGF D[ p(q I ) YKVJ TGURGEV VQ VJG
NQECNEQQTFKPCVGU[UVGOD[
0
I
p(q )  0 1 2 3 4  0 

 = T1 T2 T3 T4 T5   0
 1 
 
1 
YJGTG
q I = [ q1
q2
q3
q4
q5 ] +H YG YCPV VQ
T
TGRTGUGPV VJG RQUKVKQP XGEVQT YKVJ TGURGEV VQ VJG INQDCN
EQQTFKPCVG U[UVGO YTKUV VJGTG KU QPG VTCPUHQTOCVKQP
OCVTKZ
KGHQTVJGVJWODFGHKPGFD[
cos γ I − sin γ I 0 −lIo sin γ I 
 sin γ
cos γ I 0 lIo cos γ I 
I
0

HI =
 0

0
1
0


0
0
1
 0

YJGTG γ i KU VJG CPING DGVYGGP VJG TC[ HKPIGT i (i = I , II , III , IV , V ) CPF VJG INQDCN y0' CZKU UJQYP KP VJG
(KI
6JG HQTYCTF MKPGOCVKEU KU CNUQ WUGHWN YJGP YG
KORNGOGPVVJGCTVKHKEKCNINQXGVQEQPVTQNVJGOQXGOGPVQH
XKTVWCNJWOCPUCPFUKOWNCVGKPVJGXKTVWCNOQXGOGPV
+PXGTUGMKPGOCVKEU
9JGPVJGRQUKVKQPQHHKPIGTVKRKUIKXGPVJGWPMPQYPUCTG
VJG CPINGU HQT VJG FKHHGTGPV LQKPVU HTQO 'S
6Q TGCEJ
VJG RQUKVKQP D[ VJG HKPIGTVKR VJG LQKPV CPINGU ECP DG
FKHHGTGPV VJGTGHQTG IGPGTCNN[ VJG KPXGTUG MKPGOCVKE
UQNWVKQPU CTG PQV WPKSWG *QYGXGT JWOCP DQF[ JCU
UQOG PCVWTCN TGUVTKEVKQPU KG VJG &+2 LQKPV ECP PQV ECP
J[RGTGZVGPF FGITGGU CPF VJG HGCUKDNG URCEG KU
TGCNN[ UOCNN HQT VJKU RTQDNGO VJGTGHQTG VJG UQNWVKQP ECP
DGCRRTQZKOCVGN[WPKSWG
6Q KORNGOGPV KPXGTUG MKPGOCVKE CNIQTKVJO YG CFCRV VJG
OGVJQF HTQO VJG TQDQVKEU VJGQT[ 6JG OGVJQF TGSWKTGU
VJCV VJG PWODGT QH WPMPQYPU KU VJG UCOG CU VJCV QH
GSWCVKQPUCPFHKPCNN[KVVWTPUQWVVQUQNXGCUGVQHJKIJN[
PQPNKPGCT GSWCVKQPU 6JG 0GYVQP4CRJUQP OGVJQF 0
4KUKORNGOGPVGFHQT&1(&1(CPF&1(DWVHQT
UQOG EQPHKIWTCVKQPU VJG U[UVGO QH GSWCVKQPU YQPŏV
EQPXGTIG6JCVOGCPUVJGUVCTVKPIRQKPVKUETKVKECNVQVJG
EQPXGTIGPEGQHVJG04OGVJQF6QGPHQTEG04OGVJQF
EQPXGTIGPEGYGKORNGOGPVVJGUVGGRGUVFGUEGPVOGVJQF
VQ HKPF C TGCUQPCDNG UVCTVKPI RQKPV DGHQTG YG UQNXG VJG
PQPNKPGCTGSWCVKQPUWUKPIVJG04OGVJQF
9QTMURCEGCPCN[UKU
6JGHKPIGTYQTMURCEGHWPEVKQPCNKV[QHVJGXKTVWCNJWOCPU
6/
5#0615 KP VJG XKTVWCN GPXKTQPOGPV KU WUGHWN UKPEG
XKTVWCN JWOCPU PGGF CEEQORNKUJ FKHHGTGPV VCUMU CPF
OCPKRWNCVG QDLGEVU D[ JCPFU 9KVJ VJKU KORNGOGPVCVKQP
YG ECP UKOWNCVG VJG HQTYCTF CPF KPXGTUG MKPGOCVKE
CPCN[UKU CPF XKUWCNK\G VJG YQTMURCEG YJGTG QPG QT
OQTG LQKPVU JCXG TGCEJGF VJGKT NKOKVU QT C ,CEQDKCP
UKPIWNCTKV[ KU KFGPVKHKGF =? (KI FGRKEVU VJG
YQTMURCEGHQTVJGTKPIHKPIGT
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4'57.65
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6JG CNIQTKVJO JCU DGGP KORNGOGPVGF KP 5#0615 6CDNGRTGUGPVUPGWVTCNRQUKVKQPQHQPGJCPF
0GWVTCNIGUVWTGQHVJGJCPF
6JWOD
+PFGZ
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4KPI
.KVVNG
q1 q6 q10 q14 q20 q2 q7 q11 q15 q21 q3 q8 q12 q16 q22 q4 q9 q13 q17 q23 q18 q24 q19 q25 q5 6CDNG#PINGUHQTVJGPGWVTCNRQUKVKQPQHJCPF
KPFGITGGU
$[ VJG HQTYCTF MKPGOCVKEU YG ECP QDVCKP VJG RQUKVKQP
XGEVQTU QH HKPIGTVKRU OKNNKOGVGT EQTTGURQPFKPI VQ VJG
PGWVTCNIGUVWTGQHVJGJCPFUJQYPKP6CDNG
0GWVTCNIGUVWTGQHVJGJCPF
2QUKVKQP 6JWOD +PFGZ /KFFNG
4KPI
Z
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6CDNG(KPIGTVKRRQUKVKQPUEQTTGURQPFKPIVQVJGPGWVTCN
IGUVWTG
YKVJTGURGEVVQVJGINQDCNEQQTFKPCVGU
6/
(KIFGRKEVU5#0615ŏ TKIJVJCPFKPPGWVTCNIGUVWTG
YJGP YG KORNGOGPV VJG &1( OQFGN D[ HQTYCTF
MKPGOCVKEUWUKPIVJGCPINGUKP6CDNG+PVJGOGCPVKOG
KORNGOGPVKPIVJGKPXGTUGMKPGOCVKEUCNIQTKVJOWUKPIVJG
FCVC KP 6CDNG YG ECP QDVCKP VJG UCOG JCPF
EQPHKIWTCVKQPUJQYPKP(KI
(QTVJKU&1(JCPFOQFGNYJGPCNNQHVJGLQKPVUCTG 0o KV EQTTGURQPFU VQ C HNCV JCPF EQPHKIWTCVKQP 6CDNG
FGRKEVU VJG RQUKVKQP XGEVQTU QH HKPIGTVKRU OKNNKOGVGT
EQTTGURQPFKPIVQVJGHNCVJCPFEQPHKIWTCVKQP
(NCV*CPF%QPHKIWTCVKQP
2QUKVKQP 6JWOD +PFGZ
/KFFNG 4KPI
.KVVNG
Z
[
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6CDNG2QUKVKQPXGEVQTUQHHKPIGTVKRUYKVJTGURGEVVQVJG
INQDCNEQQTFKPCVGU
6CDNG RTGUGPVU VJG RQUKVKQP XGEVQTU QH HKPIGTVKRU
EQTTGURQPFKPIVQVJGJCPFEQPHKIWTCVKQPYKVJőVJWODWRŒ
6JWODWRRQUKVKQP
2QUKVKQP 6JWOD +PFGZ
/KFFNG 4KPI
Z
[
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6CDNG2QUKVKQPXGEVQTUQHHKPIGTVKRU
.KVVNG
(KI UJQYU C TGCN JCPF YKVJ VJWOD WR EQPHKIWTCVKQP
UJQYPKP6CDNG
9KVJ VJG KORNGOGPVCVKQP QH HQTYCTF CPF KPXGTUG
MKPGOCVKEU CNIQTKVJOU YG ECP EQPUKFGT VJG FKHHGTGPV
V[RGUQHITCURKPI=?
(KI4GCNTKIJVJCPFKPVJGRQUKVKQPőVJWODWRŒ
%10%.75+10
9GFGXGNQRGFC&1(JCPFOQFGNCPFKORNGOGPVGFKV
6/
KP XKTVWCN JWOCPU 5#0615 (QTYCTF CPF KPXGTUG
MKPGOCVKEU CPCN[UGU JCXG DGGP KORNGOGPVGF +V YCU
UJQYPVJCVVJKU&1(JCPFOQFGNKUCTGCNKUVKEOQFGN
+V YCU CNUQ UJQYP VJCV VJKU OQFGN KU CRRNKECDNG VQ
FKHHGTGPVRGTEGPVKNGUKPEG&*OGVJQFKUWUGF
6JGHWVWTGYQTMKUVQUVWF[VJGJCPFF[PCOKEUCPFCRRN[
KV VQ ITCURKPI 6JKU YQTM KU VJG HKTUV UVGR VQ GTIQPQOKEU
GXCNWCVKQP QH VQQNU FGUKIP CPF YG YKNN KORNGOGPV
QRVKOK\CVKQP CNIQTKVJO VQ OKPKOK\G VJG FKUEQOHQTV QH
JCPFUVQRTGFKEVVJGITCURKPI
#%-019.'&)/'065
6JKU TGUGCTEJ YCU HWPFGF D[ VJG 75 #TO[ RTQLGEV
ő&KIKVCN *WOCPU CPF 8KTVWCN 4GCNKV[ HQT (WVWTG %QODCV
5[UVGOUŒ
%QPVTCEV0Q&##'&.
4'('4'0%'5
4 6WDKCPC ,/ 6JQOKPG ' /CEMKP 'ZCOKPCVKQP
QHVJGJCPFCPFYTKUV
5GEQPFGFKVKQP/CTVKP&WPKV\
4 6WDKCPC 6JG JCPF 8QNWOG + 9$ 5CWPFGTU
%QORCP[
+# -CRCPFLK (KUKQNQIKC CTVKEWNCT /KGODTQ UWRGTKQT
/GFKEC2CPCOGTKECPC/CFTKF'FKEKQP
4. %20GW,,%TKUEQ599QNHG+PXKXQMKPGOCVKE
DGJCXKQT QH VJG TCFKQECRKVCVG LQKPV FWTKPI YTKUV
HNGZKQPŌGZVGPUKQP CPF TCFKQWNPCT FGXKCVKQP ,QWTPCN
QH$KQOGEJCPKEUŌ
5' 5QPGPDNWOC ,, %TKUEQ . -CPID '
#MGNOCP +P XKXQ OQVKQP QH VJG UECRJQVTCRG\KQŌ
VTCRG\QKFCN
566LQKPV,QWTPCNQH$KQOGEJCPKEU
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$ $WEJEJQN\ 6, #TOUVTQPI 5# )QNFUVGKP
#PVJTQRQOGVTKEFCVCHQTFGUETKDKPIVJGMKPGOCVKEUQH
VJGJWOCPJCPF'TIQPQOKEU
: 5CPEJQ$TW /QFGN DKQOGECPKEFGNCOCQTKGPVCV
CNFKUUGP[FŏGKPGUOCPWCNU2J&7PKXGTUKVCV,CWOG
+%CUVGNNQ
5RCKP)GPGT
#'2CTM ,,(GTPCPFG\ -5EJOGFFGTU /5
%QJGP6JG(KDQPCEEK5GSWGPEG4GNCVKQPUJKRVQVJG
*WOCP*CPF,*CPF5WTI#
#85CXGUEW.%JG\G:9CPI)$GWTKGTCPF,
2 8GTTKGUV # FGITGGU QH HTGGFQO JCPF
IGQOGVTKECNOQFGNHQTDGVVGTJCPFCVVKVWFGUKOWNCVKQP
5#'+PVGTPCVKQPCN
, &GPCXKV 45 *CTVGPDGTI # -KPGOCVKE 0QVCVKQP
HQT .QYGTRCKT /GEJCPKUOU $CUGF QP /CVTKEGU
,QWTPCNQH#RRNKGF/GEJCPKEU#5/'
/4%WVMQUM[1PITCUREJQKEGITCUROQFGNUCPF
FGUKIP QH JCPFU HQT OCPWHCEVWTKPI VCUMU +'''
VTCPUCEVKQP QP 4QDQVKEU CPF CWVQOCVKQP ,WPG
5$ -CPI --GWEJK 6QYCT #WVQOCVKE 4QDQV
+PUVTWEVKQP HTQO 2TGEGRVKQP4GEQIPK\KPI C )TCUR
HTQO1DUGTXCVKQP+'''VTCPUCEVKQPQP4QDQVKEUCPF
CWVQOCVKQP
#WIWUV
- #DFGN/CNGM *, ;GJ #PCN[VKECN DQWPFCT[ QH
VJG YQTMURCEG HQT IGPGTCN VJTGG FGITGGQHHTGGFQO
OGEJCPKUOU +PVGTPCVKQPCN ,QWTPCN QH 4QDQVKEU
4GUGCTEJ
C
- #DFGN/CNGM *, ;GJ 2CVJ 6TCLGEVQT[
8GTKHKECVKQP HQT 4QDQV /CPKRWNCVQTU KP C
/CPWHCEVWTKPI 'PXKTQPOGPV +/GEJ' ,QWTPCN QH
'PIKPGGTKPI/CPWHCEVWTGD
- #DFGN/CNGM ( #FMKPU *, ;GJ ', *CWI
1P VJG &GVGTOKPCVKQP QH $QWPFCTKGU VQ /CPKRWNCVQT
9QTMURCEGU 4QDQVKEU CPF %QORWVGT+PVGITCVGF
/CPWHCEVWTKPI
- #DFGN/CNGM *, ;GJ 0 -JCKTCNNCJ
9QTMURCEG 8QKF CPF 8QNWOG &GVGTOKPCVKQP QH VJG
)GPGTCN&1(/CPKRWNCVQT/GEJCPKEUQH5VTWEVWTGU
CPF/CEJKPGU
- #DFGN/CNGM *, ;GJ %TQUUCDNG 5WTHCEGU QH
4QDQVKE /CPKRWNCVQTU YKVJ ,QKPV .KOKVU #5/'
,QWTPCNQH/GEJCPKECN&GUKIP
%106#%6
&T ,KPI\JQW ;CPI 4GUGCTEJ 'PIKPGGT 8KTVWCN 5QNFKGT
4GUGCTEJ 854 2TQITCO %GPVGT HQT %QORWVGT #KFGF
&GUKIP 6JG 7PKXGTUKV[ QH +QYC +QYC %KV[ +# 75# 6GN (CZ '/CKN
L[CPI"GPIKPGGTKPIWKQYCGFW