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I 8a-/U, 9i A 2QE T32^kTnG P=-U8N1 S ,Z<Q, [ KM47W,:-U<|4,OP IWS KM<=6 I ;)pk,] I K S l).-W,]S <.-U<<Q,r47KQ;Q;Q6>;QV]<=6>8N, I '9y A 2[FE^TM2^THG I K S l R , [5I ;MP 69lM,54=- RQS>
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<
, P I2I 4j<.-U<{69PjP S 6>VW
< SsR 69V/VW,54o<=.-U;z-NV/6>W,O
; S MoQ,],*M-/8:1 S ,d6>;
[5S ,-/4-/; [ ,#- R3I W,#<Q
n6>VWKQ4,Z2s
6>P{P7698:6 S -U45 R K2<|<=M,#4 I/RkI <{69Pj; I 1 S - [ ,Ol I ;;QVN<Q,
4 I <F-U<6 I ;)<=M,a,5;Ml2c,=, [ <=v- [OI ;QP7<=-/;
<
; SMO{,5; [ ,/C<Q,],O;Ql2c,=, [ lQKQ46>;QVT-#X4=- [ <=6 I ; I <=M,4 I <=-U<=6 I ;C+- [ u- [ , I H<Q, R3I 69P8 I lQ, S ,5lo6><
MWW<=476q-/;QV S ,5POnQ,{,*M-/8:1 S ,j69;an69V/KQ4,{2s 69P- S 8 I P}<69lQ,O;
<=6 [ - S <=M, R3I N6>P;.-U44 I ,54O
R KM<j6s<=Pu- [ ,5PoP7<6 S9Sk[5I ;
<=-/69;MWW]<=476q-/;MV S ,OP5M,5- [ C
n- RQS ,OP|LB T22>TP7 I <=M,d;pKQ8 R ,O4P I n1Q-/6947P I |P|-U;Qlb<469-/;QV S ,5P<,5P7<,5l69;w,- [ I
<=M,- R3I W,a<Q4,O,a,*M-/8:1 S ,5P5H I 4#lQ6,O4,O;p< [5I 8 R 69;.-\<=6 I ;QP I U- S KQ,OP I j-/;MU
l S.bc;m,5- [
<F- RQS ,r<Q,;LKM8 R ,O4Pj-/47,d47,51 I 47<,5lw I 4o- S>S 4 I/RkI < S 69;QpPo-/;Mlw I 4<=Q,,5;Ml2c,=, [ 
Q,a;pKQ8 R ,O4P I Sd\<=476q-/;QV S ,T1.-/6>4P<=,OP7<=,Ol R
<=Q, [ Q, [ U,54^lQ,O1k,O;Ql I ; RkI <V
S)-U;Ql
pO I ,O/,5456>;0,5- [ ),*M-/8:1 S ,Uk<Q,Z<=- RQS ,OP|P7 I Y<.-U< S 69;MLP I <=M,54{<.-/;0<Q,],O;Ql2c,=, [ P69PlQKQ,:4 I IWRL , [ <=P6>;QlQ,513,5;MlQ,5;
< SsÎ 3<=Q, I <Q,547P5pP7<=-/47<69;QVro6s<=^<=M, IWRL , [ <y1.-/6947P!<=.-\<y-/4,<Q,
cy'
OO>Y_de=SS=S_dN
8 I P7< S 69/, S> < Ib[5IWS>S 6>lQ,/YX6>;QpP I <=Q,O4<=.-/;<=M,:,O;Ql2,k, [ , S 698:69;Q-U<=,Ol~-/Po; I < [OIWS9S 69lQ6>;QVpL6sB,OW,O4j<,5P}<=,5l
; I <=Q,O4 IWR P7,54}/-\<=6 I ;N6>Py<.-U<y<=Q, [ Q, [ U,54 IL[ KQP7,5P I ;N<=M, [ 476><6 [ - S 1 I 4}<=6 I ; I C<=M,|1.-U<
P,OVW8:,5;
<)c;QlM,5,5l<Q,;pKQ8 R ,547P I _d\<=476q-/;MV S ,T<=,OP7<=P#lQ, [ 4,-UP,wP6>VW;Q6 Q[ -/;
< Ss X4 I 8<Q,
47P7<,*M-/8:1 S ,#4lCC- S ;,- [ [ -/P,UyM69P [OI 8N,OP
X4 I 8<Q,]u- [ <|<=Q-U<r<=M,]KQP, I c;Q, _ K.- S 6>< ~2sij- S9S>I oPj<=Q, [ Q, [ U,54 oM,5; IWR P7<=- [5S ,5Pj-/47,XKM47<=M,54j-- X4 I 8 <=M,d,O;Ql2,k, [ 8N,O;
W,y8 I <=6 I ;Z47,58N-/69;dW,O4 Z[5S9I P,-U;Ql R3I <=^
-/;Q[
l ST-/1M1Q4 I - [ 5,54 I {,*W,O47<=M, S ,OPPO3,*W,O;b I 4yW,O4 P78a- S9S /- S KQ,OP I B#-U;Q[
l S.L<Q, [ Q, [ U,54
4,O8a-U69;QPT4,5-/P I ;.- RQSs ,O [ 6>,5;
<-/P S9I ;QVv-UPN<=M,P78a- S>S[5S ,-/4-/; [ , IL[5[ KM4P I /,54aP7 I 4}<1.-U<
P, [ <6 I ;QPO]c;`|1.-U<`1 S -/;Q;M69;QVQkoQ,547,:P7,5VW8:,5;
<,O;QlQ1 I 69;
<=Pd-/47,^P, S , [ <=,Olv-U<r4=-/;Ql I 8
<=M69P [5I ;MlQ6><6 I ;`69P S 6>/, S> < I0R ,:/,546 ,5lKM<Z69;vP I 8:,N-U1Q1 S 6 [ -U<6 I ;MP5PK [ -/PZ8N- [ Q6>;Q69;MV
-/;Qla-/PP7,58 RMS> 2P8N- S9S.[OS ,5-/4=-/; [ ,5P I W,54 S9I ;MV#P,OVW8:,5;
<=P8a- :I2[O[ KQ4y8 I 4,oX4, _ KM,5;
< Ss +Q,O;C
8:,O<= I lQP R -UP,5l I ;`P7,51M<} I/S KQ8:, [OI 8:1QKM<F-\<=6 I ; I 4<4=- , [ -U<6 I ;)8:69V/p<
R ,8 I 47,-/1Q1Q4 I 1Q476q-U<,/Q1 I PP76 RQSs 6>; [OI 8 R 6>;.-U<6 I ;ao6s<=-/l.-/12<=6>/, R 69P7, [ <=6 I ;C
N\
$&^]`z`_
z`dfeTr
acb
c ;<=Q,d- R3I W, [ Q, [ /,O45k<Q,1Q476 I 476>< _ KM,5KQ,d 69P .S9S ,5lo6><w, S ,O8N,O;

<=PP9g Kh g 69;QlQ6 [ -U<69;QV
<=Q-U<:-`1Q-/694 I IWRL , [ <Pji ]{-/;Ql
i 8]KMP7< R ,<,5P7<,5lJ I 4 [5IWS>S 6>P6 I ;m- S9I ;QV-`V/6>W,O;
1.-U<%P,OVW8N,O;
< [5I ;Q;M, [ <69;QV [OI ; V/KQ4=-U<6 I ;MP[g -/;Qlkg I ,*W,54O|oQ,O;Q,O/,54<=Q,)P-/8:,
<c IzIWRL , [ <=P#-/4,T<=,OP7<,5lCn<Q,N<4=-W,O4P- SI <=Q,O694djP#P}<F-/4}<=P]-\<Z<Q,56>4d47,5P71k, [ <=6sW,4 I2I <=P5
c;QP}<=,-UlCc;Q, _ K.- S 6s< ~}i [5I K S l R ,#KMP,5l)lMKQ46>;QV-N<,5P}<|4P I |Pr;Q,O,5l
; I < R ,:<,5P}<=,5l-/V
-/6>; S -U<=,O45:Q69P 69, S lQPd-47, ;M,5lv/,54P76 I ; I <Q, [ Q, [ U,54]6>;òQ6 [ <Q,
1Q476 I 476>< _ KM,5KQ,:69P .S>S ,Olzo6><=, S ,58:,5;
<P}9 g B h g ml&lon 6>;QlQ6 [ -U<=6>;QVa<.-U<d-1.-/6>4 I oyr^
P i p
-/;QJ
l pP i X4 I 8<c I lQ6k,547,5;
<Q69,O4=-/4 [ Q69,OPr8]KQP}< R ,]<=,5P}<=,Ol I 4 [5IWS>S 6>P6 I ;0- S>I ;QVa<Q,^1.-U<
P,OVW8:,5;
< [5I ;Q;M, [ <69;Qq
V g -/;QR
l g
n69V/KQ4,L>MvlM,5P [ 46 R ,OPw<Q,)4, ;Q,Ol [ Q, [ /,O45 'G. A ?BAC? F9Dy'E TML TnG <
L<,51^L2i<=M,;Q,* [ Q, [ /,54 [ - S>S PB-oXKM; [ <6 I ;C ky50TMTnG^2M iY_de=SS=S_dN
grs TBtu 'G. A ?BAC? F9Dy'E TML TnG ~vg h g2

W I 4,O/,54 1Q-/694 I IWRL , [ <P]~] h <.-U<j;Q,5,OlQPo< ITR ,<,5P7<,5lC6>;QP,O47<9g h gF ml#wxly
69;
/, S>
2!Q6 S , 69P; I <j,58:1M< .l I
2s = g h g mllon 47,58 I /,* 4P}<i~x
2 ki00TMTnG^kL> z~ p h p h g K h g
n6>VWKQ4,2>>2j, ;Q,Olz-/l.-U1M<=6sW, R 69P7, [ <=6 I ;- S V I 476><Q8
gr&s TBtu ki00TMnG^kL> ~zp h p h g h g 7
/|{ 6>;
<=,547P, [ <=6 I ; I B<=Q,<c I <4,5,OP I Y1.-U694P [OI 8:1QKM<=,Ol R
2 Akt A T>}~ p h p h g -/;Qlq 2 Akt A TM}~ p h pP h g

LH,54} I 48-:lQ,O1M<=L 47P7<o<=4-/,547P=- SI {d I 4,OW,O4 ; I lQ,N~ h s I {dQ6>
v~ g
T n ~vg T n ~vg *M<Q,5; R - [
<4=- [
h g ~ g B h g o
S P7,6>~ h s69Po- S ,-U I {<=M,5;
2s
g 8:69l2 [5I ; VWKQ4-U<=6 I ;- S>I ;QV^1.-U<P7,5VW8:,5;
< R ,O<c,5,5;g -/;Mlg
2 1 T n v~ g
]<=M,5;047,O<KQ4U
; N\m *v \
2 S P7,d6>;QP,O47<9 g h g T n -/;Ql 9 g h g T n 6>;p;QV], S ,58:,5;
<Po;p< _ KM,5KQ,Z
<=Q-U<8]KQP}< R ,o69;MP,54}<=,OlN6>;pVWKQ4,2>M
69lQ,O;
<=6 ,5P!<=M,j1Q-/6947P
I |P [5I 8N1.-U4,5l Rp <=M,]VW4,O,5l lQ69P}<F-/; [ ,]- S V I 476><Q8-U< R3I <Jg -/;QlJg |,]lQ,OP [ 476 R ,
I <Q69P6>Pl I ;Q, R , S>I
I 4|-U; ; I lQY
, p I -\dd3, S ,*< pR2lQ,5; I <=,Z<Q,#P7,O<
<=M, S ,5-W,5P I Q<=M,PK R cQ6>,54=-U4 [ 4 I2I <=,5l#-U<pN|X,O<H<=Q,yXKQ; [ <6 I ; 2 Akt A T>} ~zp h p h gk
l ll n ~ g I ;w<=Q,dlQ69P}<F-/; [ , R ,O<c,5,O;MpQ-/;Ml p2-U<^gB<{69P<Q,
[5I 8N1QK2<=,Z- S>I ,54 R3I KQ;QR
P=-U8N,d- S V I 46s<=Q8 -/P 2 Akt A TM ~XlQ,5P [ 476 R ,5l06>;2, [ <=6 I ;z2 W*Qo6s<= I ;Q,dlQ6,O4,5; [ ,/y6><
,56s<=Q,O4#47,O<=KM4;QP^~X8N,5-/;Q6>;QV<.-U<^- [5IWS>S 69P76 I ; IL[5[ KM4P^-Uj
< g R ,O<c,5,O;J<Q,N<46q-U;QV S ,OP#6>
; Mp
-/;Qlz<|1Q4 I L69lM,5Pr<=M,#<=47,5, I 1.-/6947P^~u h j<=.-\<r,O4, [OI 8N1Q-/4,Ol Rp
<=M,47, [ KM4P6sW, [ - S>S PO@- [ g; I lM,~u h I |<=M69P^<=47,5, [5I ;
<F-U69;QP^<=M, S>I ,54 R3I KQ;Q
l T n v~ gk
cy'
OO>Y_de=SS=S_dN
?BAC? 2k9Di'FE^TM2^TnG
n6>VQ
2sW
2sW
2si
2si/
2si
2siCz
H- RQS , 2sWW
E^TM2^THG
u~ 8:PF
MWW
MWW
M
/
M
MsM$
M/
I 8N1Q-/46>P I ;
MU2
>W
/
WCC
MCW
$W
B46
0
/2
W/
W
$
'G. A
?HAC? F9Dy'E T32^kTnG
H476
~X8NP=
M >2
MU
p

M2 U
M
MW /W

M>5p WM
M $W
$
I &?HAC? F9Dy'E T32^kTnG
-/;Ql
G A ?BAC? F9Dy
5[ I 8N1QK2<=,5lz I 4|<=Q6>Pr1.-/6>45c;`-/lQlM6><=6 I ;C, S ,O< l ~vg h g {P}<F-/;Ml I 4r-/;KQ1Q13,54 RkI KM;Ql I ;

<=M, S ,O;QV/<QP I +<Q, [ KQ47/,5P<=4- [ ,Ol I KM< R
<=Q,ZW,54}<=6 [ ,5P I +<=Q,Z<=469-/;QV S ,5Pj69;MpR2oQ,5;z<Q,
[5I ; VWKQ4-U<=6 I ;U-/4769,OPjX4 I 8g I ;QVT<=Q, [5I ;MP69lM,54,Ol)1.-U<zP,OVW8N,O;
<jQ,#XKQ; [ <=6 I ;
69P [OI 8:1QKM<=,OlKMP69;MVT<Q,P=-/8:,r<=, [ Q;Q6 _ KM,5Pr-UPj1M4,5P7,5;

<=,Ol06>;0L, [ <6 I ;02Q
l
ki00TMTnG^kL> z~ p h p h g h g 4P}< [5I 8:1QKM<,5Pb<=Q,69;
<=,O4P, [ <6 I ; I ^<=Q,`<c I <4,5,OP
[5I 8N1QK2<=,5l R
2 Akt A T> }~ p h p h g -U;Ql 2 Akt A T> }~ p h p h g <r<Q,5;)13,54
I 478NPB-olQ,51M<2 4P7<H<=4-/,547P=- SLI Q<Q,y<4,O,y I 478N,Ol R
<=M69PB69;
<=,O4,5P7, [ <=6 I ;C <H,- [ Z<=4=-/,54P7,5l
; I lQ,#6s<j1k,O47 I 8:P|-:<=,5P}<rP7698:6 S -U4, S lMP
L<,51QPoL>j<=Q4 I KQVWwL poQ6 [ -/4,j<=Q,{P=-/8:,r-UPL<,51QPoL2s{<Q4 I KQVWL2 6>;N<=M, I 4769VW6>;.- S
[ Q, [ /,54 I nn69VWKM4,d2
n- RQS ,oL>W [OI 8:1.-/4,OP 'G. A ?BAC? F9Dy'E TML TnG o6s<=T?BAC? 2k9Di'FE^TM2^TnG
Q,^47,5PK S <=P-U4,T-W,O4=-/VW,OP I /,54^WWW4-/;Ql I 8 Ss V/,5;Q,O4=-U<,5lP,OVW8N,O;
<=P69;z<Q,]P=-U8N,^,O;pL6
4 I ;Q8N,O;
<=PrKQP7,5l69;`L, [ <6 I ;`La-U;QlKQ;QlQ,O4r<=Q,]P-/8:, [5I ;MlQ6><6 I ;QPOQ,^4KM;Q;Q69;MV<=698:,5P I
<=M,4, ;Q,5l [ Q, [ U,544-/;QVW, R ,O<c,5,O;M-/;Ql:M<698:,5PnVW69;.- S2[ Q, [ /,O45yQ,
V
-/6>;QPo-/47,8 I lQ,5P}< R KM<jP7<=6 S9S P769VW;M6 .[ -/;
<
cy'
OO>Y_de=SS=S_dN
!
:dj"()'!':
ac
Q6>P [ .-/1M<,54lM,5P [ 46 R ,OPo-];Q,O l ;.-/8:6 [{[5IWS>S 6>P6 I ; [ Q, [ /,O4j; [5I ;L
VWKM4=-U<6 I ;bP1.- [ , I 4 [OIWS9S , [ <6 I ;MP I +PK [ )P7,5VW8:,5;
<P56>; [5S KQlQ6>;QV [OI ;
<=6>;LK I KQP|8#K S <6scP7,5VW8:,5;
<
1.-U<QP5Q6>P [ Q, [ /,54d69P{VW,5;M,54=- S R KM<1.-/4}<=6 [ K S -U4 S> PKQ6s<=,5lz I 4| 1 S -/;Q;Q,O4P-U1Q1 S 6>,5l0 KMP,5l 2,Ol2c47,5P I/S KM<6 I ;%-U1Q1Q4 I - [ 69PN<
, S 698:69;.-\<=,5P<=M,d;M,5,5l I 4,21k,O4698:,5;
<=- S9Ss lM,O<=,O48:69;Q6>;QV^-^PKM6><F- RQS ,|U- S KQ, I B<=M, [5I ; VWKQ4=-i
<=6 I ;aP71.- [ ,r4,OP IWS KM<=6 I ;a1.-U4=-/8:,O<,54Z-/;Ml6><P4KM;Q;Q69;MV#<=6>8N, [5I 8:1.-/47,5Pyu- I 4=- RQS> < -/;Ql,O [ 6>,5; [* -/47, I/R <F-/6>;Q,5l R
l ;Q-/8N6 [ - S>S> -Ul KQP7<69;QVT<=M, S9IL[ - S 4,5P IWS KL
<=6 I ;T-U<+oQ6 [ [5I ; VWKQ4=-\<=6 I ;QP- S9I ;QV-r1.-U<N-U4,<=,OP7<=,Ol R
47, S -U<=6>;QV|<=M,jlM69P7<=-/; [ ,5P R ,*<c,O,5;
IWRL , [ <P|69;b<=Q,d I 4pP1.- [ ,#;Q,5lo6><Q8<.-U<]6>P#;Q,5-/4 Ss -/P],O [ 69,5;
<T-UP^-01QKQ47,
[OIWS9S 69P6 I ; [ M, [ /,O45
-]u-/P}<<=, [ M;Q6 _ KQ, I 4 R3I KQ;QlQ6>;QV S ,O;QV/<=MP I n1.-\<=QP<=4- [ ,Ol I KM<o69; I 4pP1Q- [ ,U
-Q,5KM469P}<=6 [ P I 4 I 4lQ,O46>;QV [5IWS>S 69P76 I ;]<,5P}<=PS 6>P6 I ;QP+-/P _ KQ6 [ Ss -/P1 I P7P6 RMS ,/
, S -U<6>/, S> P6>8N1 S ,r,*L<,5;QP76 I ;QP{-/47,d1 I P7P6 RMS ,/y I 4,Q-U8N1 S ,/ I ;M, [OI K S lbV/K.-/4=-U;p<,5,<=.-\<
j
; I <c IzI/RL , [ <=P [OI 8:, [OS9I P7,54<=.-/;P I 8:,:8N6>;Q698N- S lM69P7<=-/; [ ,Rz - S9I ;QVb-b<=,OP7<,5lm1.-U<
P,OVW8:,5;
< R
KQP769;QVT<=M, I/S9S9I o6>;QV#U-/469-/;
< ~2si*
~g Kh g oU ~g \ ~g (
oQ,O4, ~g Kh g #~uP7698:6 S -/4 Ss ~ g Kh g R3I KQ;MlQP{<Q,]8 I <=6 I ;QP I o
Q6 [ )6>P{lQ, ;Q,Ol-/P
<=M,#b69;Q I oP7p6BP7KQ8 I y]B-/;Ql-^P1QQ,O4, I H4=-/lQ6>KQP 2
v, R , S 6>,OW,w<=Q-UVW
<=,O4
R3I KQ;QlQP I ; S ,5;QVU<=QP I [ KM47W,OP#<=4- [ ,Ol I KM< R
1 I 6>;pl- [ 4 I PP{<Q,d,5;
<=6>4, [5I ; VWKQ4=-\<=6 I ;P71.- [ ,U
, [5I K S l1.-/47<6><6 I ;<=M, [OI ; VWKM4=-U<6 I ;bP1.- [ , I n,- [ S 69;MU-UVW,69;
S P5
-/;Ql [OI 8N1MKM<=,P8N- S>S ,54u- [ S
~vg Kh g
cy'
OO>Y_de=SS=S_dN
Q,;Q,O [ Q, [ /,54{.-/P [ ,547<=-/69; S 698:6><=-U<=6 I ;QP5

I ,O/,54Oc;wP I 8N,-/1M1 S 6 [ -U<6 I ;QPO I ;Q,8a-

-/;
<H;Q,+<=Q, 47P7< [5IWS>S 69P76 I ; [OI ; V/KQ4=-U<6 I ;oQ,O;]8 I L69;MVoX4 I 8 I ;Q,y,5;Ml I Q-{1.-U<
P,OVW8:,5;
<]<Q8boM6 [ m69Pd<=KQ;M,5lP [5I/S9S 6>lQ69;MVQ I 4^; I <69P^; I <^<=Q, R ,5P}<
-/1Q1M4 I - [ d I ,OW,O45,*W,5;6>;<=M69P [ -/P,U-NU-/476q-/;
< ~2> [OI K S l R ,]KMP,5lz;
<=-U<=6 I ;T69P<.-U<<Q,
[ Q, [ /,54 S9I P,5P,* [ 69,O; [O oQ,5;<c I 8 I 26>;QV IWRL , [ <=4-/46 S>w[OS9I P7,T-/;Ql2 I 4rP7<=-
W,O4 ^[OS9I P7,- S>I ;QV- S>I ;QVrP7, [ <6 I ; I k-r1.-\<=^P,OVW8:,5;
<! IRkI KQ;Ql]<=M,4KQ;Q;M69;QVr<698:,,.-W,
69;
<4 I lQK [ ,Old- [OS ,5-/4=-/; [ ,+1.-/4-/8:,O<=,O4#%M I KQVWZ [ -/; R ,P,O< _ KQ6s<=,+P78a- S>S 6>;1Q4=- [ <=6 [ ,/\6><
8N- #R ,oKQ;MlQ,5P7694=- RQS , I 4+P I 8N,o-U1Q1 S 6 [ -U<6 I ;MPo~u,UVQsp8N, [ .-/;Q6 [ - S -/PP7,58 RQSs * ;:- S <=,O4;.-U<6>/,
lQ6>P [ KMPP,Olv6>;vL, [ <6 I ;2269Pr< IbS9IL[ - S9S> P}o6>< [ P6 I ;2 [ M, [ p69;QV
8:,O<= I lC
I 46>;QP7<=-/; [ ,UM-P7,512<7 IWS KM8N, I 4-<4=- , [ -U<6 I ;T8:,O<= I lC!2K [
-|8:,OdIL[5[ KQ4
I ;4,5P}<=476 [ <,5lzP7, [ <=6 I ;QP I !<=Q,ZP,OVW8N,O;
<r-/;Ml R ,*<c,O,5;)47,5P7<46 [ <=,Olz1 I 47<6 I ;QP I n<=Q, IWRL , [ <=PO
n6>;.- S9Ss <=Q,;M,O [ Q, [ U,54 S ,-UlQP^| 1 S -/;Q;Q,O4P#< I)[5I ;MPKQ8:,8 I 4,8:,58 I 4 J
{; S 69U, 2,5lLc4,OP IWS KM<=6 I ; [ Q, [ U,545+6s<4, _ KM694,OP#8N-/69;
<=-/69;Q6>;QV-w1Q46 I 46s< _ KQ,OKQ, I 1.-/6>4P I I/RL , [ <=P
< ITR ,<=,5P}<=,Olb I 4 [OIWS9S 69P6 I ;C
w
U
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Q,z,* [ 69,O; [O@I d| 1 S -/;Q;M,54P I <=,O;%lQ, [ 4,-UP,5PwlQ4-/8N-U<=6 [ - S>S> oM,5;%<=Q,X4,5,0P1.- [ ,

[5I ;p<=-/69;MPd;Q-/44 I 1.-/P7P=-/VW,OP5\r,5P769VW; I ,k, [ <6>/,NP-/8N1 S 69;MVP7<=4-U<=,OVW69,OP<=.-U<,O;.- RQS ,:{
1 S -/;Q;Q,O4PS ,5;MVW,Qd,O/,54P769; [ ,r{P
,54,a69;
<=4 I lQK [ ,5lbM,a8 I P7<Z; I <=- RQS ,:P7<4=-U<,5VW6>,5PZ1Q4 I 1 I P7,5lP I u-/4Z-/4,:<=Q,I * La-U;Ql
<=M, = !v \NP7<=4-U<=,OVW69,OP5n6 S <=,O469;MV]P7<4=-U<,5VW6>,5Po69; [OS KQlM, h -/KMPP69-/;bP=-/8:1 S 6>;QV -/;Mlb<Q,
R 4769lQVW,<,5P}<p/ Q, I /,54}P=-/8:1 S , [5I ; VWKQ4=-\<=6 I ;JP71.- [ ,/ R KM<T<=Q,O;@KQP7,bM,5KQ4769P7<6 [ PT;z4, S -U<6>/, S> X,*1Q4 I 8:69P6>;QV:8N6 S ,5P},5Pfp2L/.CLnW5 KQP7,
[5I ; VWKQ4-U<=6 I ;QPP=-U8N1 S ,5l:69; [5IWS>S 6>P6 I ;^P1.- [ ,|-UPQ, S 13,547PyP69;MVd8:6 S ,5P};]< ILI
P S>I +Q, - S P I -/P7<,d<698:,r69;wP1Q- [ ,OPjo6s<=w; I:I 4P6>8N1 S ,r;.-/474 I 1Q-/PP-/VW,5PO
c;g<Q69P [ .-/1M<,54:,1Q4,OP,5;
<w-`;Q,O47,O<4=- [ <=6 I ;2 S 69/,P-/8:1 S 6>;QVP7<=4-U<=,OV <=.-\<a,O;.- RQS ,
|bP{,5;
< Ss lM,- S o6><z;.-/474 I 1.-/P7P=-/VW,OP-/;QlkKQ; S 69U,#1Q47,OL6 I KQP|8:,O,5;
<,OW,O;oQ,5;<Q,547,r-/47,|; I ;.-/474 I 1.-/P7P=-/VW,OP69;TX4,O,|P71.- [ ,U+v, [ - S>S.I KQ4;M,OP7<4=-U<,5V
!
v! JF !v \ R , [ -/KQP,w6s,5P#;QV [OI ; V/KQ4=-U<6 I ;MP
69;
P7<=P I 1Q4, [5I 8N1QK2<=69;MVq<=Q6>;Q;Q,5l'ZVW, I 8:,O<=476 [ 8 I lM, S P I k<=Q,o4 IWRkI <
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4,O1.-/6>469;MV|1 I 47<6 I ;QP I .<=M69Pn4 I -/lQ8N-/1#<.-U<!-/4,; I <+69;ZX4,5,P1.- [ , R
47,5P=-U8N1 S 69;QV{8 I 4,8:6 S ,*
P7Pol I ;Q, R
47,5lQK [ 69;MVN<=M,d IWS KQ8:,6>< IL[5[ KQ1Q69,OP
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<=,O,5P<=.-\<
<=M,dX47,5,P1.- [ ,]-UPP IL[ 69-U<=,Olbo6s<=w<=Q,<=M69;Q;Q,Ol8 I lQ, S PGTa, [ - S9S 6s< ) ! X47,5,dP1.- [ ,#"$
T6>P#-bPKQ13,547P,*lQ,54Z69'
; "($
8N-/p69;QV]6s<,-UP69,O4< I^[OI ;Q;Q, [ <{-^4 I -UlQ8a-U1a<=Q4 I KQVW<Q,58~2, [ <=6 I ; ** )KM<<=Q,O4,6>Po- S P I
-N4769P7w<.-U<|P I 8:,#1.-UPP=-UVW,5PO [ - S9S ,Ol}u- S P,a1.-UPP=-UVW,5POC,*269P}<r6>+
; "${<=.-\<|,54,#; I <r1M4,5P7,5;
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69,
; ":|n-U<QP|<Q4 I KMVWzPK [ `1Q-/PP-/VW,5P [ -/;Q; I < R ,#4,O1.-/6>4,5lr I 4{<Q69P{4,5-/P I ;k,]1Q4 I 1 I P7,
<c I 47,51.-/6>4P7<=4-U<=,OVW69,OP5 iFTOT> -/;Ql L2MMTOT> ~L, [ <6 I ; iFTTM -/P7PKQ8:,5P<=.-\<
u- S P,o1.-/P7P=-/VW,OP-U4,o; I <-/;:69PP7KQ,{-/;QlT<=.-U<5 [5I ;QP7, _ KQ,O;p< S> Q4,O1.-/6947P+o6 S9S - S - P R ,j1 I P7P6 RMS ,/
I .6s<o1 I P7<=1 I ;Q,OP{47,51.-U694PoKQ;
<6 S - [5I 8:1 S ,*<=,1.-\<=0Q-/P R ,O,5; I KQ;Ql06>; "($5.<Q,5;C6s<o4,51Q-/6947P
; "T<Z69P I <=,O;W,O4 u-/P7<5 R KM<#4,*<=KQ47;QP
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u-/6 S KQ47,r69; [ -UP,5P]~u4-/4,69;w1Q4- [ <6 [ ,oQ,547,d<Q,VW,5;M,54=-\<=,5l1.-U<b<4=-W,O4P,OP-]u- S P7,1.-/PP-/VW,U
c;QP}<=,-UlC 223MTOT> 6>8N8:,5lM6q-U<, S> 4,O1.-/6947P- S>S 1.-U47<=P I +<=Q,#4 I -/lM8a-/1<=.-U<r-/4,#; I <6>/
; ":
<{69P|P S9I ,545 R KM<|8 I 4,d4, S 6q- RMS ,/1
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69;
<,5VW4-U<=,Olb1 S -/;Q;M,54<=Q-U<j69P R3I <=u-/P}<|-U;Qlw4, S 6q- RMS ,/
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8:,O<= I lQPO
I P7<o1Q47,OL6 I KMP8N,*<= I lQP<4 S 6>lQ69;QV [5I ; VWKQ4-U<=6 I ;QPOM8 I P7R KQ46>,5l 69;
< ImI/R P7<=- [5S ,`47,5VW6 I ;QPO Q69P6>P [5I 8:1QKM<=-U<=6 I ;.- S>S> ,*213,5;QP76>W,U
; Ss 47,51.-U6946>;QVP
8]K [ bu-/P}<=,O45
Q,`8:,O<=

oQ,*<=Q,O4r<6 I ;TlQ,O1M<=
I 4; I ;2 [OI
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[5IWS>S 69lM69;QV [OI ; VWKM4=-U<6 I ;bP I K S l R ,Z4,51Q-/6947,5lC6>< [OI 8N1MKM<=,OP{<=M,#13,5;Q,*<=4=-i
I <Q,o4 IWR3I <y69; IWR P}<F- [OS ,OP5y2K [ [5I 8:1QKM<=-U<=6 I ;T69P; I ,21k,O;QP6sW,
;
W, IWRL , [ <=P,p/
KQ4B8N,*<= I lZ I 47LPH, S9S ,OW,O;]oQ,5;]<Q,547,-/47,; I ;.-/474 I 1.-/P7P=-/VW,OP!69;X4,O,P71.- [ ,U!c;

[OI ;
<=4=-UP7<.1M4,OL6 I KQP .S <=,54769;QVT-U;Qlw4,O<4=- [ <=6 I ;w8N,*<= I lQP69; [ KQ4o-^P6>VW;Q6 .[ -/;
;4KQ;Q;M69;QV^<=6>8N,U
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4 I -/lQ8N-/1QPO I KQ4P] I 47LPô6s<=P6>;QV S , _ KQ,O4 1 S -/;Q;M,54POvc;1Q4- [ <6 [ ,UPK [ J1 S -U;Q;Q,547P
-/47, I <=,O;8#K [ bu-UP7<=,O4o1k,O4 _ KM,54 <.-/;b8]K S <=6s _ KQ,54 aI ;M,5P5Q,O; [ ,d8 I 4,KQP7,OXK S
,|.-W,r6>8N1 S ,58:,5;
<=,OlN<Q,|P78a- S>S P7<=,O1N47,O<4=- [ <=6 I ;8N,*<= I l-UP-#;Q,* 1 S -/;M;Q,54T [ - S>S ,Ol
v
Q'jTgoQ6 [ 6>Pw-/;,L<=,5;MP6 I ; I d<=M,`P769;QV S ,* _ KQ,54 | 1 S -/;Q;Q,O402)GX+v,z<,5P7<,5l
Q'j I ;z8N-/; ,Q-U8N1 S ,5POP I 8N,]1M4,5P7,5;
<=,Ol69;2, [ <6 I ; M ;z1M4 IWRQS ,58:P{o6s<=z;.-U44 I
1.-/P7P=-/V/,5P5j6><a69P [5I ;QP769P}<=,5;
< S> u-UP7<=,O4a<=Q-/; )GX+KMPK.- S>S>JR
I 47lQ,547P I d8N-/VW;Q6s<=KQlQ,U ;
1Q4 IWRQS ,O8NPo6s<= I KM<o;.-/474 I 1.-UPP=-UVW,5PO.6><o69Po-UPou-UP7<j-/P{ )GX+
w
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c;<Q, IWS9S>I o6>;QV^PK R P , [ <=6 I ;QPj,d4,*26>,O1Q47,OL6 I KQPj I 47P7<=KMl 69;QV:<=Q,d698:1.- [ < I !;.-U44 I
1.-/P7P=-/V/,5P I ;b{1 S /- ;M;Q69;QVT-U;QllM,5P [ 46 R 69;QVT8:,O<Q,54<Q,; I <6 I ; I H-];.-/44 I 1Q-/PP-/VW,/M; I 46><P6>8N1.- [ P:lM, ;Q,Ol-/P^<Q,w8N6>;Q698]KM8lQ6>P7<=-/; [ , R ,O<c,5,O;%[5I ; VWKQ4-U<=6 I ; I ;b<Q69Pj1.-U<z-/;MlX4,O,ZP71.- [ , R3I KQ;Ql.-U4 <|6>P{KQP7,5l0P-/;0KM1Q1k,O4
R3I KQ;Ql I ;1 S -/;Q;M69;QVd<=698:,/ I ,*W,O451.-U< [5S ,5-/4=-U; [ ,r6>; [5I 8N1 S ,O<, S>T[ Q-/4=- [ <=,O469O,5P;.-U44 I
1.-/P7P=-/V/,5P5Jc;QlQ,O,5lC6><T6>P^69;QlQ,O1k,O;QlQ,O;p8N,O;QP6 I ;QPT- S>I ;QVzoQ6 [ g6s<T69PT;.-/474 I <Nl I ,OPN; I < [ -/1M<KQ4,b,56s<=Q,O4^<=Q,u- [ <:<.-U<^<Q,
1.-/P7P=-/V/,)8N6>VW
< R , -/VWV joQ6 [ 8a- V/4,-\< S> -Wk, [ <<=Q,)lQ6s [ K S ;QV:-:1.-\<=w<=Q4 I KQVW-^P69;MV S ,6>P IWS -U<=,Ol1.-/PP-/VW,d8a-
R ,lQ6> [ K S <M8a-/; 1Q-/4=- S>S , S ;.-/474 I ,54o1.-/P7P=-/VW,OP{8N- <KQ4; I KM<j,-UP69,O4<C
08 I 4, [ -U4,OXK S -/;Q- S> P6>P I +;.-/474 I 1.-/P-/VW,5P 6>, S lQPj<Q,#; I <=6 I ; I n<=Q,
87)W W *: 9 N
, " h 6>/,5;N-/; =
<>"TW<=Q, S>I2I I KMP!<=Q,oP7,OS 6><=PyPK R P,*<=P.-W,r-Z4, S -U<6>/, S>]S -/47VW, S>I2I I KM<5!n21.-/;QP76>/,5;Q,OPP-UPKQP7,5l<b-:VW6sW,O;b1M4 IWR - R 6 S 6><
SHoH
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0P-/8:1
S 6>;QVP}<=4-U<=,OV P7, S , [ <Pa<=M,z1Q4 I/R - R 6 S 69P}<=6 [ lQ69P}<=46 R KM<6 I ;g8N,5-/PKQ47,0KQP7,5l%8N1 S ,5P}<j8N,5-/PKQ47,Z6>P<=Q,dKQ;Q6s I 48lM69P7<46 R KM<=6 I ;C I 47, [5I 8N1 S ,*wP}<=4-U<=,
VW6>,5PU-/4 <Q,:1Q4 IWR - R 6 S 69P}<=6 [ lQ69P}<=476 R KM<6 I ;)lMKQ46>;QV4 I -/lQ8N-/1 [5I ;QP7<4K [ <=6 I ;CC0 [OI ;Q;Q, [ <=6 I ;
P7<4=-U<,5V [ I2I P,5PooQ6 [ 1.-U694P I n8:6 S ,5P7,5P.-W, R ,5,5;`1Q4 I 1 I P,5l I 4d|1 S -/;Q;Q,O4P5D0 PKM47W, `[ -/; R ,^ I KM;Ql
69;\/ HQ,56>4V I - S 6>PC;QV _ KQ,54769,5PH-U<8:69;Q6>8a- SU[OI 8N1MKM<F-U<6 I ;Q- S/[OI P7<5
I 48]K S <=6 _ KQ,O4 1 S -/;Q;M,54POQ<=Q6>P8N,5-/;QP R KQ6 S lQ6>;QV^-^4 I -/lQ8N-/1o6><=<c I 1M4 I 13,54}<=69,OP
WF
EfG9 * o<=Q,T4 I -/lQ8N-/1z8]KQP}< R ,^lM69P7<46 R KM<=,Ol I /,54X4,O,^P1.- [ ,/P I <.-U<6s<69P,5-/P
< I:S -U<=,O4 [5I ;Q;Q, [ <r-U; _ KM,54 w[OI ; V/KQ4=-U<6 I ;< I 6s<
2FEf\. ! ! N*<=Q,O4,^8]KMP7< R ,T- I ;Q,;QV S ,* _ KQ,O4 1 S -/;Q;Q,O4P5/P7<=4-U<=,OVW69,OP+-/6>8-\< [5I ;QP7<4K [ <=69;MVr<=Q,P78a- S9S ,OP7<H1 I PP6 RQS ,4 I -UlQ8a-U1
[5I ;Q;Q, [ <=6>;QV:-:VW6sW,O;b1Q-/694 I _ KQ,54 w[5I ; VWKQ4-U<=6 I ;QP5
0 S>S PK [O[ ,5P7P7XK S P7<4=-U<,5VW6>,5P- S9S ,OL6q-U<,<=M,{;.-U44 I %1Q-/PP-/VW,j1Q4 IWRMS ,58P [OI 8N1MKM<=,Ol R
P=-/8:1 S 6>;QV [OI ; V/KQ4=-U<6 I ;MP-U<4-/;Ql I 8o6><
-KM;Q6> I 478lQ69P}<=476 R KM<6 I ; I W,O4 [5I ; VWKQ4-U<=6 I ;`P1.- [ ,/y;Q,*L<5+-/lQlQ6s<=6 I ;.- S+[OI ; VWKM4=-U<6 I ;QPZ-/47,
P=-U8N1 S ,5lTKQ;Q6s I 48 S> 69;:;Q,O69VW R3I 4 ILI lQP I C8:6 S ,5P},69;`7lQ6> [ K S <J
4,OVW6 I ;QP I oX47,5,P71.- [ ,UPK [ J-/P^;.-U44 I 1.-/P7P=-/V/,5P5H
0|; I <=Q,O4]VW,O;Q,54- S P-/8N1 S 69;MV0P7<4=-U<,5V
<=Q-U<j.-/PjVW6>/,5;bV I2I lw4,OPK S <=P I ;1M4 IWRQS ,58:Po6><=b;.-/474 I 1Q-/PP-/VW,5P{69Pjn ~u+4 IWR - R 6 S 69P7<6 [
I -/lQ8N-/1 I QB4,O,5P=*/oQ6 [ [OI ;QP7<4K [ <=Pn-j4 I -/lQ8N-/1Z-/P [5IWS>S , [ <=6 I ;QP I 2<=4,O,5Po n I ;Q;Q, [ <=6 I ;
P7<4=-U<,5VW6>,5P-U4,T- S P I 4, S ,*/-U;p<|;QV1.-U<QPr<=M4 I KQV/`;Q-/44 I Y1.-UPP=-UVW,5PO^ I 4r69;MP7<F-U; [ ,U
69;R W <=Q,+KMP, I 2P,-U4 [ <=, [ M;Q6 _ KQ,OP<X,O,54 [5I ;Q;M, [ <,5l [5I 8:1 I ;Q,5;
<=PO
BIcy5dYONQ6IccOLd5P_

I ,OW,O45<=M,^- R3I /,]P7<4=-U<,5VW6>,5P{l I ; I <r-U<<=- [ b<Q,];.-U44 I 1.-/PP-/VW,]6>PP7KQ, R

P71k, [ 6
[ - S9S> <=4 6>;QV{<=M69;d;.-/44 I 1.-/PP-/VW,OP5!<H69PBKQPKQ- S9Ss[5I ;QP769lQ,O4,Ol#<=.-\<
-|P}<=4=-\<=,5V lQ,OlQ6 [ -U<=,Ol]< I| ;QlQ69;MV;.-/44 I 1.-/PP-/VW,OP+P I K S l^,*21 S>I 6>< [5I ; VWKQ4-U<=6 I ;QPHP=-/8:1 S ,Ol
69; [5I/S9S 6>P6 I ;zP1Q- [ ,:; [ 47,-/P7,:<Q,:1 S -/;M;Q,54)ZP [ .-/; [ ,5P I ,O/,5;
<=KQ- S9Ss 1 S - [ 69;QVb8:6 S ,OP7;QV:P7<=4-U<=,OVW69,OPr-/47,Z<Q, * L]-/;Ql0<Q,
= !uv \NP}<=4-U<=,OVW69,OP5
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n 6 S <=,O46>;QVwP7<=4-U<=,OVW69,OP [5I ;QP6>P7;QV0,5- [

P=-U8N1 S ,5l [5I/S9S 6>P6 I ;2X47,5, [5I ; VWKQ4-U<=6 I ;`-/P-b8:6 S ,5P}<=`-1Q4 IWR - R 6 S 6s< ,OP7<=6>8a-\<=69;MV6>/, S 69 I2I l I R ,O69;QVv69;-;Q-/44 I 1Q-/PP-/VW,/K0{P8N-/; @[OI ; VWKM4=-U<6 I ;QPNP=-/8:1 S ,5l6>;gX4,O,
P1Q- [ ,l I ; I <a,O;QlKQ1 R ,56>;QV`4,O<=-/69;M,5l-UPa8:6 S ,OP78N,6>PNP71k,O;
S ,O45
P I <.-U<]X,*,O4 [OI ;Q;Q, [ <6 I ;QPT-U4,,O/,5;
<=KQ- S9Ss -U<7<=,58:1M<,5l R ,*<c,O,5;J<=Q,O8H,OP7<=6>;QVz<=Q-U<:[5I ;Q;Q, [ <=6 I ;69P [5I/S9S 6>P6 I ;2X47,5,z~ul ;.-/8:6 [[ M, [ p69;QV
]<=-//,OPN8#K [ g8 I 47,<=698:,a<.-/;<=,5P}<=6>;QV
-P69;MV S , [OI ; VWKM4=-U<6 I ;~u6>;1Q4=- [ <=6 [ ,/{)8N,*
{,O; [ ,U I ;Q,w8N- P=-W,0P6>VW;Q6 .[ -/;
<-U8 I KM;pS9I oP5H<P=-/8:1 S ,5P- [5I ; VWKQ4=-\<=6 I ;
gbKM;Q6> I 478 Ss -U<4=-/;Ql I 8
X4 I 8 <=M, [5I ; VWKQ4-U<=6 I ;aP71.- [ ,-U;Qla<=M,5;w-#P7, [5I ;Ql [5I ; VWKQ4=-\<=6 I ;
gpKQP6>;QVdh -/KMPP69-/;^lQ6>P7<=476 R K2<=6 I ; [ ,O;p<,547,5l-\< gBH I ; S>ZI ;Q, I <=M,<c Id[5I ; VWKQ4-U<=6 I ;QP!6>P
gb-/;Q
l g
[5I/S9S 6>P6 I ;2X47,5,UW6><4,O<=-/69;MP6><-/P-Z8N6 S ,5P}< W!c;MP7<=,5-/lCQ6s R3I <=[
-/47, [5I/S9S 6>P6 I ;2X47,5,U.6><{4,O<=-/69;MP|,56s<=Q,O4 I ;M,]-/P|-a8N6 S ,OP7<= S9I 1Q4 I/R - R 6 S 6>< oQ,
4,OPK S <=6>;QVzlQ6>P7<=476 R K2<=6 I ; I o8:6 S ,OP7lQ,* I 1k,O;m4,OVW6 I ; I oX4,5,P71.- [ ,-U;Ql
lQ,O;QP,O4r;Q,-U4{X4,O,#P71.- [ , RkI KM;Ql.-/4 |269; [ , [OI ; VWKM4=-U<6 I ;QPj69;;.-/474 I 1.-/P7P=-/VW,OP-/47,Z;Q, [ ,OP}
P=-U46 Ss ;Q,5-/4d<Q69P R3I KQ;Ql.-U4 h -/KMPP69-/;`P=-/8:1 S 6>;QVb69; [ 4,-UP,5Pd<=Q, S 6>/, S 69 ILI l I 8:6 S ,OP7;Q69VWLclQ6>8N,O;QP6 I ;.- S P1Q- [ ,OP58 I P7<o8:6 S ,OP7P4,-UP I ;C<=M, R 469lMVW,^<=,5P}<d,*L<=,O;QlQPZ<Q,T69lQ,5-bKM;QlQ,54 S> 69;MV h -/KQP7P69-/;P-/8:1 S 6>;QVQ
<^P-/8N1 S ,5P]<c I[5I ; VWKQ4-U<=6 I ;QP g-/;M
l g 69;<Q,P=-U8N,a- -/P h -/KQP7P6q-U;mP=-/8:1 S 6>;QVQ
BI;OQPQR6S5TS*OONR6I;OcOUPVOdOPWS
R3I <=%-U4,z6>; [5IWS>S 6>P6 I ;@-/;Ml<=Q,)8:69l2 [5I ; VWKQ4-U<=6 I ; ~ v6>P [OIWS9S 69P6 I ;2X4,5,U<Q,5;6><
4,*<F-/6>;QP<=Q,N8N6>l2 [OI ; VWKM4=-U<6 I ;`-/P#-8:6 S ,OP7<v1Q4 IWR - R 6 S 6s< WnP769; [ ,a6s<Z/,54 S 6>/, S>
S 6>,5P6>;w-^;.-/44 I 1.-/P7P=-/V/,/ <=Q,O47o69P7,/.6s I ; S>aI ;Q, I B<=Q,<c IN[OI ; V/KQ4=-U<6 I ;MPgz-/;QlRg26>P
[5I/S9S 6>P6 I ;2X47,5,U26s<4,*<F-/6>;QPo6><j-/Pj-^8N6 S ,OP7< S>I ,O4j1M4 IWR - R 6 S 6>< n R3I <=Rg)-/;Qlg2k-/47,
[5I/S9S 6>P6 I ;2X47,5,U36s<r47,O<F-U69;QP{,56><Q,54 I ;Q,T-/P-8:6 S ,5P}<zW,O4 zS>I 1M4 IWR - R 6 S 6>< Q0< 4P}<
V S -/; [ ,Uk<Q, R 4769lQVW,d<=,OP7< S>I2I pP S 69U,]-/;0,*21k,O;QP6sW,T8:,O<= I lC R KM<r4,5P7K S <PrP I Y<=Q-U<r6s<r69P|W,O4 1Q4 I 8:69P6>;QV^-/1M1Q4 I - [ boQ,O;<Q,547,d,269P7<j;.-U44 I 1.-/PP-/VW,OP5
SHo
kFY^85'Fi.
,O<=4- [ <6 I ;vP7<=4-U<=,OVW69,OP],*21 S>I 6>< [5I ; VWKQ4-U<=6 I ;QP]P-/8N1 S ,5lm6>; [5I/S9S 6>P6 I ;P71.- [ ,wlQ,a<Q,
o
P,5-/4 [ b I 4o1Q4 I 8N6>P69;MV^8N6 S ,5P};QV [OI ; VWKM4=-U<6 I ;QP I K2S 6>P6 I ;C
;Q,0<=, [ Q;Q6 _ KM, [ -/P7<P4=- Pw- S9I ;QVvlQ6>4, [ <=6 I ;QPP7, S , [ <,5l -U<a4=-/;Ql I 8 X4 I 8 - [5IWS>S 69lM69;QV
[5I ; VWKQ4-U<=6 I ; g-/;QlJ1k,O47 I 478NP^lM69P [ 4,*<=,- S pPa- S9I ;QVz<Q,5P7,4- P:KQ;
<=6 S - [5I ; VWKQ4=-\<=6 I ;
<=,OP7 8:69P7P;.-/474 I 1.-/P7P=-/V/,5P5M,5P13, [ 6q- S>S> 6>g
69PlM,5,51 S>R KM469,Olw69; [5IWS>S 6>P6 I ;P1.- [ ,/
<=Q,O4<=, [ Q;Q6 _ KM,5PKQP7,|<=M,|8:,5lQ69- S -\269P|~X
0r I <=Q,j I 47pP1.- [ ,R /Q Mp LoM6 [ 6>P
lQ, ;Q,5lw-UP<=M,|PK R P,*S>N[5S9I P,/c;h ,5- [ [OI ; V/KQ4=-U<6 I
; g0P-/8:1 S ,Ol Rp <=Q,1 S -/;Q;Q,O469Po-/l KQP7<,5l Rp
8:69;Q6>8N6>569;MValQ6>P7<F-U; [ ,OP R ,O<c,5,O;m1 I 6>;
<=PN~ [ - S9S ,5l7.-/;Ql S ,5Pmpr1Q4,cP7, S , [ <,5l R
<=M,NKQP7,54 I ;
<=M,d4 IWR3I <j-/;Ql<=M,# 0#
0@lQ6,O4,O;p<n< 13, I X
0@<=, [ Q;Q6 _ KM,69PH69;
<=4 I lQK [ ,5l#69;gW I 4n-{4769VW6>lZX4,O,*v P 69;QV{4 IWR3I <
{,O4,U!<=Q,w{ 1 S -/;M;Q,54Z4,O<4=- [ <=P^,5- [ [5I ; VWKQ4-U<=6 I ;6><#P=-/8:1 S ,5P]-\<^4=-/;Ml I 8 I ;
l:<Q,o1Q4 I Q6 R 6s<=6sW, [5I P7<=,O4=-U<6>/,
<=, [ Q;Q6 _ KM,<=4-/;QP S -U<=,OPB<Q,4 IWR3I <BKQ;
<=6 S 6s<=P [5I ; VWKQ4=-\<=6 I ; S 6>,5P69;d<=Q,X
0#W I ,O/,545
P7, [ <=6 I ;QP
I n;.-/44 I 1.-/P7P=-/VW,OP [ -/;Q; I < R ,ZP-/8N1 S ,5lw<=M69Po- bR , [ -/KMP,Z<Q, I K S l047, _ KQ6947,Z4 I <F-\<=69;MV
<=M,b4 IWR3I <:-/PT, S9S Y
0{;g,2<,5;QP76 I ; I |<Q69P]<, [ Q;M6 _ KQ,P:lM69P [ KQPP7,5l
69;hpC
c;wVW,5;Q,O4=- S M<=M,- RkI /,d47,O<4=- [ <=6 I ;<=, [ M;Q6 _ KQ,OP{-U4,,*213,5;QP76>/, R , [ -/KQP,<Q, 47,O<4=- [ <j- S9S
BI;OQPQR6S5TS*OONR6I;OcOUPVOdOPWS
[5I ; VWKQ4-U<=6 I ;QP:P=-/8:1 S ,5l R

<=Q,1 S -U;Q;Q,54O69; [OS KQlM69;QV<= I P,oM6 [ S 6>,wlQ,5,O1%69; [OIWS9S 69P76 I ;
P1Q- [ ,U R P,54}U-U<=6 I ;v47,51 I 47<,5l69;2, [ <=6 I ; sP7KQVWVW,OP7<=Pb<=.-\<06s<6>PwPKM [ 6>,5;
<0S cP}<=,O1
4,*<=4- [ <6 I ;0-/1Q1Q4 I - [ )l I ,5PO|Q6>PrP=-/8:,#6>lQ,-:.-/P R ,5,O;)1Q4,*L6 I KQP S> ,*21 S>I 6><,5l69; R KM<
KQP769;QV^<=M,d13,5;M,O<=4-U<=6 I ;wlQ,512<= I H<Q,4 IWR3I <o6>;pVW [5I P};QVw1k,O;Q,O<4=-U<6 I ;lQ,512<=
I ; I ;2 [OI ;
W,* IWRL , [ <=P-/P-P,5476 I KMP S 6>8N6s<F-U<6 I ; I <Q69P:<=, [ Q;Q6 _ KQ,UjoM6 [ %.-/Pa;Q,O/,54
R ,5,5;J<=,OP7<=,Ol@6>;JV/, I 8:,O<46 [ - S9Ssv[OI 8:1 S ,,5;
L694 I ;Q8:,5;
<=PO@c;QP}<=,-UlC69; I KM4N-U1Q1Q4 I - [ C,
1Q47,* [OI 8:1QKM<=,-<Q69;Q;M,5lg/,547P6 I ; I r<=M,04 I/RkI <a-/;Ql IWR P}<F- [OS ,0V/, I 8:,O<4 %,047,O<=4- [ <; g I ; Ss 6><Q,^<=Q6>;Q;Q,5l`4 I/RkI <1 S - [ ,5l`-U
< gvl I ,5P; I < [OIWS9S 69lQ,do6><=<=M69;Q;Q,Ol
[5I ; VWKQ4-U<=6 I
IWR P}<F- [OS ,OP5
Q,z6>lQ,- I PM469;ML6>;QVv4 IWR3I <aV/, I 8:,O<4 -UP69;
<=4 I lMK [ ,Ol69;up oQ,O4,)- [5IWS>S 69lM69;QV
P7<4=-/6>VW
<j1.-U<=069; [5I ; VWKQ4=-\<=6 I ;P71.- [ ,#69Pj1Q4 I V/4,5P7P6sW, Ss <=4-/;QP7 I 48:,5l06>;
S 6>P6 I ;2X47,5,
1.-U< R
VW4 I o6>;QV R - [ :<=Q,4 IWR3I < S 69;QpP<=,O4=-\
<=6sW,j<=4=-U;QP7 I 478 8N- VW,O<P}<=K [ N69;
<6 I ;M<=Q,dPM469;ML6>;QVT<=, [ M;Q6 _ KQ,d69; p I ; S> -/1Q1 S 69,5P
;QpP8 I lQ, S ,5lw-/Po47, [ <=-/;QVWK S -/4 R3I M,OP5
w N
^+[dd+':
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:
v
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2 ,*W,54- Sn[OI 8:1 I ;M,5;

<=P I I KQ4{P8N- S9S cP7<,514,O<4=- [ <=6 I ;08:,O8N6>;.-/4 ,*213,546>8N,O;
<=P69;<c I lQ698:,5;MP6 I ;.- SB[5I ; VWKQ4=-\<=6 I ;
P1Q- [ ,OP5!,j47,51 I 47I nQ,5P7, IWR P,54}U-U<=6 I ;QP+.-W, R ,5,5; S -\<=,54
[5I ; 48:,5l R
I KQ4,21k,O4698:,5;
<Pjo6s<=<=Q,ZQ{@1 S -/;Q;M,54d~L, [ <6 I ;
*
S)S7f
`baO'.dcYife
I ;QP769lQ,O4N<Q,0,Q-U8N1 S ,06>;n6>VWKQ4, sp~-W*Q,z4 IWRkI <Xg 69P-`P8N- S9S lQ6>P [I 4=-UlQ69KQP
<=P [5I ; VWKQ4-U<=6 I ;69PwlQ, ;Q,5l Rp <Q, [5ILI 4lQ6>;.-U<,5P I ]6s<=P [ ,O;
<=,54OQ,`P7<=-/47<0-/;Ql V I - S
[5I ; VWKQ4-U<=6 I ;QP-U4,h-/;Qlji!Q4,OP13, [ <6>/, S> Q,<c ITIWR P}<F- [OS ,OP [ 4,5-U<=,- S9I ;QV^-/;Qlw;.-U44 I
-/VWV 1.-/P7P=-/V/, I ko6>lM<=Fk#WoQ6 [ :<Q,o4 IWR3I <8]KMP7<<=4-/,547P,o;QV]<=6>8N,
~uP7, [ P=
2

2
W2
L
WM

W
M
~R
2000
1600
Pathplanning time (secs)
1200
800
400
0.2
0.4
~[
0.6
Shrinking factor ()
0.8
n6>VWKQ4, sWn S -/;Q;Q6>;QVZ-d1.-\<=a<Q4 I KMVW-;.-/474 I 1.-/P7P=-/VW, I CU-/4 69;QVo69lM<)~ R P,54}U-U<=6 I ;

i
<=M, VWKQ47,yP7 I oPB<Q,4 IWR3I <'ZPC I 4pP71.- [ ,UU<Q, [5I ; VWKQ4=-\<=6 I ;P1.- [ ,6>P- S P I <c I clQ6>8N,O;QP6 I ;.- S
o6><NP7698:6 S -/4nVW, I 8:,O<=4 i I ,*W,O45M<Q,{1Q-/PP-/VW,ZPo69lM<N6>; [OI ; VWKM4=-U<6 I ;TP1Q- [ ,{69Pkrqb
P6>; [ ,<Q, IWR P7<=- [5S ,5Po8]KQP}< R ,VW4 I o; R
<=M,d4 IWR3I <%ZP4=-/lM69KQP
v,#KQP,Olz<=Q,^{1 S -/;Q;Q,O4)GX/ I ;0<Q69P{,*M-/8:1 S ,Uko6s<=0lM, [ 47,-/P769;QVU- S KQ,5P I
j28a- S9S ,O4U- S KM,5P I 69, S lbo6>lQ,54{1.-/P7P=-/VW,OP|6>; [OI ; VWKM4=-U<6 I ;P1.- [ ,/j I 4o,- [ zU- S KQ, I
Q ) X-/P4KM;)WZ<698:,5Po6s<=lM6k,54,O;
<P,O,5lQP I <Q,r4=-U;Ql I 8 ;pKQ8 R ,54VW,O;Q,54-U8N,#KQ;
<=6 S -1.-U<=-/P I KQ;QlCZv,T8:,-/P7KQ4,Ol<Q,:-W,54-/VW,T1 S -/;Q;Q6>;QV<=6>8N, I /,54<=Q,W
4KM;QP5y I 4o- S>S U- S KM,5P I Q6>;b- S9S 4KQ;QPO h-/;Q%
l i,O4, 2,5lz-UPjP7 I o;06>;H69VWKQ47, sp~-W*
Q,Z<=- RQS ,d6>;0H69VWKQ47, sp~ R S 6>P7<P<=Q,Z-W,54-/VW,Z1 S -/;M;Q69;QV^<698:,5P5Q I 4{lQ, [ 47,-/P769;QV:/- S KQ,OP
, t-/PyP,O<; [OI ; VWKM4=-U<6 I ;P1.- [ ,
X~ o6s<=`-o69lM<T-|o69lM vTkZ!Q,1 S>I ;^n6>VWKQ4, >
~ [ [5S ,5-/4 Ss P I oP
<=Q-U<|1 S -/;Q;M69;QV:<=698:,lQ, [ 4,5-/P,OPdlM4=-/8N-U<=6 [ - S>S> oQ,5; p VW,O P S 69VW
< Ss P8N- S>S ,54<.-/;W
Q, [ KQ4}W[
, P-U<7<=,5;MP I K2< _ KM6 [ S> ~u-/4 I KM;Ql p M * R KM<:1 S -/;Q;Q6>;QV)<=6>8N,6>P:- S 47,-/l P8N- S>S X4=- [ <=6 I ; I o.-U<Z6><-/Pd I 4 p W S -U;Q;Q69;MVw<698:,^ I 4 p v$69Pd- S 8 I P}<
<=6>8N,OPP8N- S>S ,54<=.-/;w I 4 p W
Q,5P7,)4,OPK S <=P-/47,0,5-/P ;Czo69lQ,O;Q69;MV<=M,z;.-/474 I 1.-/PP-/VW, 6>, S lMP- S -/4VW,
4, S -U<6>/,6>; [ 47,-/P7, I .6s<=P IWS KQ8:,//P I <=Q-U<H<Q,1Q4 IWR - R 6 S 6s< <.-U<!,5- [ [OI ; VWKM4=-U<6 I ;ZP=-/8:1 S ,Ol
-U<{4=-/;Ml I 8u- S9S Po69;
P
-U<<=Q, [5I 47, I C<Q,rP8N- S>S cP}<=,O1N47,O<=4- [ <6 I ;aP7<=4-U<=,OV -U<7<=,O;Q69;QVdX4,O,|P1Q- [ , R
NI ; Ss -ZP8N- S9S
-/8 I KQ;
<aôM6 [ 69P- [ M69,O/,5l Rp <=Q6>;Q;Q69;MVv<=Q,)4 IWR3I <b-/;Ql2 I 4a<=M, I/R P7<=- [5S ,5PaTVW47,-U< S>
P6>8N1 S 6 ,5Po<=Q,]<=-/P I -| 1 S -/;Q;Q,O45 [5I KQ47P,U-1.-U<=)6>;zu-U<<,5;Q,OlzX4,O,^P1.- [ ,^8a-
; I <jXK S>S>S 69,69;- [ <K.- S X4,O,#P1Q- [ ,U{Q,Z1QKQ471 I P7, I !P8N- S9S cP7<,51w4,*<=4- [ <6 I ;69Po;X4,O,dP71.- [ ,/
S)SH
`baO'.dcYife
I ;QP769lQ,O4; I @<=M,,5;
L694 I ;Q8N,O;
VWKQ47,jQ~-
B69;ôQ6 [ T<=M,54,j-/47,<c I ;.-/474 I @1Q-/PP-/VW,5PO
I ;Q,#-U<j<=Q,dPo-TlM69P [I H4=-UlQ69KQP
c;)<=Q6>P,*M-/8:1 S ,U,T4-/;)<c I P,O469,OP I y<=,5P}<=PO^c;<Q, 47P7<,TP,O<LkQw^yk1xd-/;Ql),
N;`<Q,
[5I ;QP6>lQ,547,5lv<Q4,O,N1.-U694Paz~ h
h i y^
VWKM4,/n I 4n,5- [ T1.-/694OU<Q, [5I ; VWKQ4-U<=6 I ;QP S 69, I ; R3I <=^P769lQ,OP I .<=M,1.-/P7P=-/VW,OP5
o6><wz~ hdw h i w
[5S>I P,OP7<TlJlM69P7<=-/; [ , R ,O<c,5,O;@<=M,b<c I 1Q-/PP-/VW,5PO
I 4,- [ 1.-U694:z~ h
h i ,:4=-/;v )GXW<=698:,5P-U;Ql`, [5I KQ;
<,5l<Q,T;pKQ8 R ,54P I 1.-U<QP
<=M4 I KQV/,- [ 1Q-/PP-/VW,/Q,|4,5P7K S <P6>;n69V/KQ4, Q~ R 69;QlM6 [ -\<=,o<=.-U<o6><Q69V/aX4, _ KM,5; [*
)GXJVW,5;M,54=-\<=,5P1.-\<=QPr<Q4 I KMVW)<=Q, [OS9I P7,5P7<;Q-/44 I 1.-/P7P=-/V/,/^ I 4r6>;QP7<=-/; [ ,/C I 4T~ h}w h i w *

$
I o<=M,1.-U<=MP]<=4=-/,54P7,<=Q, <=Q,1Q-/694z~ h{ h i { n-U;Ql^,P7,O< k1x ~T
kQw*
o6><'
~ W:v,T4-/;2 )GX@ I 469; [ 4,5-/P6>;QVw/- S KQ,OP I
~~W<=6>8N,OPr I 4,- [ `/- S KQ,-U;Ql
, [5I KQ;
<,5l%<=Q,);pKQ8 R ,O4 I d1.-U<QPa<=M4 I KQV/%,- [ 1.-/P7P=-/V/,/YQ,)4,OPK S <=P-/47,zVW6sW,5;%6>;
n6>VWKQ4, Q~ [ 6s<=bQ69V/wX47, _ KQ,O; [O )GXV/,5;Q,O4=-U<,5Pj1.-U<=MPo<Q4 I KQVWw<=Q,o69lQ,O4o1.-/PP-/VW,U
Q,X4=- [ <=6 I ; I k1.-U<=MP<Q4 I KQVWT<=Q6>P+1.-/PP-/VW,j69; [ 4,5-/P,OP _ KQ6 [ S> oQ,O;C~z6>; [ 47,-/P7,5PP S 69VW
< S>
-/;Qlw47,- [ Q,OP#/
Q69P^,21k,O4698:,5;
<TP7 I oP:<.-U<6>;<Q,1Q47,5P,O; [ , I {8]K S <=691 S ,:;.-/44 I 1.-/P7P=-/V/,5P5)GX
<=,O;QlQP!P IWR P,54}U-U<=6 I ;]VW;
<=M, I /,54=- S9S P}<=4=-\<=,5V )I Q'jH 0|P8:,5;
<=6 I ;Q,Ol- RkI W,UBu-\<<=,O;Q,5lX4,O,^P1.- [ ,:8a- z[OI ;
<F-/6>;
u- S P,T;.-/474 I 1.-/P7P=-/V/,5P~<=.-\<#l I ; I <d,*26>P7<Z69;- [ <K.- S X4,O,aP1Q- [ ,* R KM [ K S <JZ<=Q-/;<=Q,{o69lQ,O;Q,5l<=47KQ,|1Q-/PP-/VW,5POj,5; [ ,/Q6s<6>P4,5-/P I ;.- RQS ,
;Z8 I P}< [ -/P7,5PH-j1.-\<=d69;u-U<<,5;Q,OldX47,5,yP1.- [ ,o6 S9SUR ,47,51.-/6>4=- RMS ,+69;
@I {Q'j8N-/U,5P#<Q69P#-/PP7KQ8N12<=6 I ;C R K2<#<=M,1k,OPP7698:69P7<
P7<4=-U<,5V l I ,5PZ; I <5z26>; [ ,:<=Q,: I 48:,546>P#KQP7K.- S9SsI 4lM,54P I 8N-/VW;Q6s<=KQlM,:u-/P}<=,O4d<.-/;v<Q,
S -\<<=,O45QQ'jg<=4769,5Po6s< 4P}<-/;MlKQP7,5Po<=Q,13,5P7P698:69P}<oP7<4=-U<,5V I ; S> -/P R - [ WcKQ1
w u
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b
Q,1MKQ41 I P, I IWRL , [ <]<Q69;M;Q69;QV69P< Iz[OI ;QP}<=4K [ <T-/,547P6 I ; I <=M,a4 I/RkI <]-/;Ql I/R P7<=- [5S ,
VW, I 8N,*<=4 <=.-U<<Q,r{1 S -/;Q;Q,O4'ZP [OIWS9S 69P6 I ; [ Q, [ /,54 [ -/;aKMP,{P R -U4, Ss:[5IWS>S 69lM69;QV|n69;:oQ6 [ [ -/P,|6><y69Py I 4}<=a<4 69;MVZ;
I -/1Q1 S 69,5Py< I]R3I <4 IWR3I <P-/;Ql IWR P7<=- [5S ,5PO
R KM<=]Q'j)P I <=.-\<H<Q69;Q;M69;QVj4 IWR3I <P~u-/;Ql#; I < I/R P7<=- [5S ,5PF69P I <=,O;
PK2 [ 69,O;p<{,OW,#8a- 7I 41 S -/;M;Q69;QV:P13,5,Ol2cKM1CoQ69Pj69PoKQP7,OXK S kP769; [ , IWR P7<F- [5S ,OP{KMPK.- S>S>
.-W,d8 I 4, [OI 8:1 S ,wVW, I 8N,*<=4 <=.-U;4 IWRkI <=Po-/;Ql [ .-/;MVW,8 I 47, I <=,O; R ,*<c,O,5;0<=-/PpP5 I
<=M,5694<Q69;M;Q69;QV^6>P8 I 4, [5I 8N1QK2<F-U<6 I ;.- S9S> lM,58N-/;QlQ6>;QVQ
Q, I ; S>][5I ;QP}<=4-/69;
P<.-U<y<=Q,jP1Q- [ , I2[O[ KQ1M69,5l R
-d<=M69;Q;Q,Ol I/RL , [ < R ,
[5I ;p<=-/69;M,5l6>;N<=M,rP1.- [ , IL[5[ KQ1Q69,Ol R
<Q, I 4769VW6>;.- S.IWRp , [ <5 I L69;1.-U47<=6 [ K S -/45p6s g~ gk-U;Ql
g $ v~ gn47,5P71k, [ <=6sW, S> P}<F-/;Ql^ I 4H<=Q,oP1Q- [ , IL[5[ KM1Q69,Ol R
<=Q, I 4769VW6>;.- S 4 IWR3I <-U;Ql^<=Q,<=M69;Q;Q,Ol
4 I/RkI <r-U< [OI ; VWKM4=-U<6 I
; g<=Q,O;),^8]KMP7<.-Wj
, g $ v~ gkL
<g~ g] I P7;QV8:,O/,5; I/RL , [ <T~u4 IWR3I < S 69;Q
0#+ I
IWR P}<F- [OS ,* I KQ4^8:,O<= I lm<=M69;QP^6s<=P^VW, I 8N,*<=4 -/4 I KQ;Ql<=Q, I/RL , [ %< ZPN8:,5lQ69- S -iM6>PNX
<=M69;z-:4 IWR3I <5,#<Q69;,- [ I 6><=P S 6>;QpP5.oQ6 S , S ,-L69;MV:<Q,#4 IWRkI %< ZP|p69;Q,O8a-\<=6 [ PZ~u4, S -U<6>/,
BI;OQPQR6SnmoTS*OON/R6I;OQm;mOUPVOdOPWS
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n6>VWKQ4, Ly I2I P69;MV R ,O<c,5,O;0<c I ;.-U44 I 1.-/PP-/VW,OP]~ R P,54}U-U<=6 I ;:/

1 I P6s<=6 I ;QP I 7I 69;
<PFKQ; [ Q-/;QVW,OlC
Sc7f
Wi dc'iF
Q,0X0 I r- IWRL , [ <C 69P^<Q,C S>I2[ KQP I r- S9S[ ,O;

<=,547P I S9IL[ - S9S> 8N-\2698N- SR - S9S P
[5I ;p<=-/69;M,5lw69;% i yM,d1 I 6>;p6 I B<=M,Z-UPP IL[ 69-U<=,Ol
S9IL[ - S9S> 8N-\2698N- SR - S>S PZlQ, ;M,w<Q,b,OlQ6q- S 0oM6>P#B4=-/;MP7 I 478 ~-0+j I ;Q, S>I2[ - S9Ss
8N-\2698N- SWR - S>S P-/47, [ - S9S ,5l<=Q,X0 R - S9S P5BQ,,O;
<=6947,V/, I 8:,O<4 I 2 [ -U; R ,4, [5I ;MP7<=47K [ <,5l
X4 I 8<=Q,aX
0+s 0 ;pKQ8 R ,54 I - S V I 476><Q8NPQ-/, R ,5,O;1Q4 I 1 I P7,5l`< I0[OI 8:1QKM<=,T<=M,a,*M- [ <
~u-

~R
~[
n6>VWKQ4, I ;MP7<=47K [ <6 I ; I -PK R }X0 I 4:- RkI pcP7.-/13,5l I/RL , [ < v~-
R 6>P, [ <=6>;QV
1 S -/;Q,5P-/P7P IL[ 6q-\<=,5l:o6>< R3I <P6 RQS ,o1 I 47<6 I ;QP I C1 S -/;M,5P- S9I ;MVZ; I 48N- S lQ6947, [
<=6 I ;4,O;QlQ,O4,5lbo6><blM6k,54,O;
< [OIWS9I 4P5~ [ P7K R }-0#
4 -/1Q1Q4 I 26>8a-U<,^X0+ I y-U; IWRL , [ <:~u,UVM>M 23
M 2k0L *dj,547,/,^KQP,]-;Q,O
I|
- S V I 46s<=Q8 lQ,OP [ 46 R ,5lJ69; J26>; [ ,<=M,w<Q69;M;Q69;QV)8:,O;@L, [ <6 I ; Q
lQ,O1k,O;QlQPj1.-/47<6q- S>S>:I ;<=M69Pj- S V I 46s<=Q8b
,dlQ,5P [ 476 R ,d6s< R 4769,)P R , S9I
v,z-/PP7KQ8N,<=.-U<,- [ IWRL , [ <6>Pa8 I lM, S ,Ol%-/P-1 IWSs M,5lQ4 I ;C Q,`-0 I Z-/; IWR
< 69P [5I ;QP}<=47K [ <,5l R
P7<=6s< [ Q6>;QVNYZP53,- [ [OI ;
<=46 R KM<,5l R
,[Q
R3I KQ;Ml.-/4 , S ,58:,5;
<r~Xu- [ ,/L,5lQV/,/ I 4y/,54}<=,*Q I m+- [ aPK R X06>P [5I 8:1QKM<,5l
2G G
69;MlQ,513,5;QlM,5;
< Ss X4 I 8<=Q, I <=Q,O4PrKMP69;MVVW4=-U1QQ6 [ P|.-U4lM-/4,Ud269; [ , I KQ4{<Q69;Q;M69;QVN8N,*<= I l
0 [5I ;p<46 R KM<=,Ol R
u- [ ,5PO!,lM,5P [ 46 R ,a<Q, [OI ;QP}<=4K [ <=6 I ;
I ; Ss KQP,OP]<=Q,aPK R P7,OI H<Q,PK R }X
0ZPjV I W,O4;Q,Ol R
u- [ ,OP I 6
) lM, ;Q6s<=6 I ;C!,5- [ g1 I 6>;p;
;QV, S ,58:,5;
< koQ,547,#<=Q,^X
0 R - S>S[ ,5;
<,54,Olv-\
< z;p<,547P, [ <^<=Q,b 0 I 4#<=M, IWRL , [ < RkI KQ;Ql.-/4 `c;J-/lQlQ6s<=6 I ;C!,O/,54
1 I 69;
P<=Q,O4,O I 4,d, _ KQ69lM69P7<=-/;
<oX4 I 8
<=M,5694V I /,547;Q69;QVT, S ,58:,5;
<P5
Q, [5I ;QP}<=47K [ <6 I ; I k<=Q,oPK R }X
0V I /,54;M,5l R
u- [ , I V 69P6 S>S KQP}<=4=-\<=,5l#69;:n69V/KQ4,
, 4P}< [OI ;QP769lQ,O4+,OW,O4 TI <Q,54!u- [ , I V <.-U<+XK S>S>dI 4+1.-U47<=69- S9SsdS 69,OP I ;^<=M,69;
-U4l:P69lM,
I 2<=Q,PKQ1Q1 I 4}<=69;MV{1 S -/;Q, I H- [ 6>, S lMPB<Q, R 69P, [ <69;QV{1 S -/;M, I - S9S 1 I 6>;p<PH, _ KQ69lQ6>P7<=-/;
<
X4 I 8 -/;Ql oL,5,]H69VWKQ47, ~-W*.oQ,547, 6>P<=Q, RkI <P, [ <=6>;QVT1 S -/;M,5Po-/47,
<=M,5;zL69,*,Ol- S9I ;MVN<=M,]; I 478a- S lQ6>4, [ <=6 I ; I rQ,#L69P76 RQS ,Z1 I 4}<=6 I ;QP]~X6,/sk<Q,]1 I 47<6 I ;QP
; I < IL[5[OS KQlQ,Ol R
bI <Q,54 R 6>P, [ <=6>;QVN1 S -/;Q,OPF I 478<=Q,dPK R }X0+V I /,547;Q,5l R
Q, -/47,
IWR <=-/69;M,5l R
4,O;QlQ,54769;QV<=Q, R 69P7, [ <69;QV01 S -/;M,5PZo6s<=lQ69P}<=69; [ < [OIWS9I 4Pd69;-VW4=-/1MQ6 [:R K'k,54O
-/P6 S9S KMP7<=4-U<=,Ol06>;n69VWKM4, ~ R *ZQ, [5I ;
<,5;
P|<=M,5; [5I ;
/,547<,5l69;
;an6>VWKQ47, ~ [ *0lQ6,O4,O;p<<=, [ Q;Q6 _ KQ,{KQP6>;QV#V/4=-/1QM6 [ .-/4l2-/47,
-/Po1Q4,*26 I KQP S> 1Q47,5P7,5;
<=,Olz69;

; [ ,0<Q,0P7K R X
0YZPV I W,O4;Q,Ol R
- S9S u- [ ,5P I T
.-W, R ,O,5; [5I 8N1QK2<=,5lo<Q, -/47,
P7<6>< [ Q,5lz4
4,OP13, [ <=6>/,rV I W,O4;Q6>;QV#, S ,O8N,O;p<P52PK [ <.-U<,- [ P7K R X
0 [5I ;p<=-/69;MP-u- [ , [5I ;
<=476 R K2<=,5l Rp
<=M, R 69P, [ < [ M,5lN/,#P IWR <=-/69;M,5l R
4,O1k,5-U<=6>;QV<=Q6>P I 13,54=-\<=6 I ;
I 4o- S>S P7K R } 0YZP5
I <,Z<.-U<|< I[5I ;QP7<4K [ <- [5I 8N1 S ,O<,]X
0Z I ;M,Z I K S lz- S P I .-W,]< Ia[OI ;QP6>lQ,54 [5I ; [ -W,
,5lMVW,5P|-/;Ql/,54}<=6 [ ,5P|-/P{V I /,547;Q69;QVN, S ,58:,5;
<=P, jLK [ z, S ,58:,5;
<=Pj8N- w[OI ;
<=476 R KM<, [ KQ47/,5l
1 I 47<6 I ;QP I +<Q,TX
0Z R KM<r-/Pr6>;QlQ6 [ -U<=,Ol R ,O I 47,/3<=Q,OP,^1 I 47<6 I ;QP I +<Q,TX
0 -U4,#; I <rKQP7,5l
R
I KQ4<Q69;Q;M69;QV^8:,OS P|-/;Ql), [5I ;QP7<4K [ <d<Q,^VW, I 8T
,O<4 lQ, ;M,5l R
<=Q,T4,OlQK [ ,5l R - S9S P5r6k,547,5;
<- P I 4,5lMK [ 6>;QVw4=-/lQ6>6n1Q4 I lMK [ ,^lQ6>P7<69; [ 6 I <=Q,X0 R - S>S P R
- [OI ;QP7<=-/;
<
u- [ ;QP7<,-/lP7K R <4=- [ <- [OI ;QP}<F-/;
S X0
R - S>S P|o I P,:4=-/lM696+-/47, S ,OPP<=.-U;v)~XP,O,an6>VWKQ47,
*^c; I KQ4698:1 S ,O8N,O;
<F-U<6 I ;C3, [ I P,
<=M, S -U<<,54<=, [ Q;Q6 _ KM,#8N-/69; SsR , [ -/KQP,d<=Q, I KM< [5I 8:,69Po8]K [ ,-/P769,O4j< IN[OI 8N1MKM<=,Uv,dP,*<
rS -/;Ql p 69Py- [5I ;QP}<F-/;
< S ,5P7P
<=Q-/; [ - S9S ,5l<=M, 8 - 5 .6>; I KQ4,*213,546>8N,O;
<=P5Q,dKQP,Ol pr v2
I 4,- [ NPK R X
0V I /,547;Q,5l R
u- [ , S ,*
< lQ,5; I <=,o<=Q,j1 S -U;Q, IWR <F-U69;Q,Ol R
<=4-/;QP S -U<7
69;MV<Q,oPKQ1M1 I 4}<=6>;QV1 S -/;M, I 69;
-U4l Rp <=Q, I kP,O<ylQ6>P7<=-/; [ ,jpn,j1M4 I\ , [ <<=Q,j1 I 47<6 I ;QP
0 u- [ ,5P<=Q-U< S 69, I ;`<Q,T69;
-/4l`P6>lQ, I
69;
P7S V I W,O4;Q6>;QV
BI;OQPQR6SnmoTS*O#/R6I;OQm;mUPVOTdOWSn
~u-

~R
n 6>VWKQ4, Q*r6,O4,5;
<<=Q6>;Q;Q69;MV#8:,O<= I lQPOj~-
+<=Q,|4=-/lQ6>6 I n X0 R - S>S P-/4,{8]K S <=691 S 69,Ol Rp [5I ;QP7<=-/;
<ju- [ S ,54<=.-/;`W~ R <=Q, -/47,d47,5lQK [ ,5l
R - [5I ;QP}<F-/;
<|-/8 I QK ;
<jL
n69V/KQ4, +M69;Q;Q6>;QV I HPK R X0

u- [ ,5P I mM69Po<=, [ M;Q6 _ KQ,Z69Pj6 S9S KQP7<4=-U<,5lw69;0Y69;n69VWKM4, .oQ,547,(6>Pj-N4, [ <=-/;QV S ,
~u6>;ml.-/P7Q,5l S 6>;Q,d-/;Ql 6>P]6>S> 1Q4 I\ , [ <=,Ol69;
;Q,T!Q, I P7,O<lQ69P}<F-/; [ ,
[ -/; R ,P,*<j;QV:-:P769;QV S ,u- [ , I 6>;p V I ;Q- S u- [ ,5Pr<.-/;z<Q, I 4769VW6>;.- SIWRL , [ <=PO
I ,*W,O45
<=M69PQ-/P; I lQ69P [ ,547;.- RQS ,|6>8N1.- [ S 69P76 I ; [ Q, [ /,O45
oQ6 [ ]KQP,OP- R3I KQ;QlQ6>;QVU IWS KQ8N,Q6>,54-/4 [ -/1Q1Q4 I - [ C 0{;^- S <=,547;.-U<6>W,<=M69;Q;Q6>;QV{<, [ Q;M6 _ KQ,
I K S l R ,< IT[5I 8:1QKM<,<=Q,69;
<,54P7, [ <=6 I ; I H1 S -/;QL
, o6s<=w<=Q, I/S KQ8:, RkI KQ;QlQ,Ol R
-U;Ql
<=M,#PK R }X
0+Y6><{V I W,O4;QPOrv, [ I P,Z<=Qr
, }1Q4 I\ , [ <6 I d; :<=, [ Q;Q6 _ KQ,] I 4|6><P{4 IWR KQP}<=;Q,OPPO-/P
6><69P69;MP,5;MP6><6>/,; [5I 8N1 S ,O<,5;Q,OPP I r<Q,z 0&8N- m[ -/KMP,<Q, RkI KM;Ql.-/4 I |<Q,b<Q69;M;Q,5l IWRL , [ <
n6>VWKQ47, M+Q69;M;Q,5l4 IWR3I < [5I 8N1 I ;Q,O;p<

< Im[OI ;
<F-/6>;V
-/1QPO Q,547,`-/4,)P7698:1 S ,0- Pw< Im.S9S <=Q,OP,`V
-/1QPO|-/;Ml ,.-W,`- [ <K.- S>S>
698:1 S ,58:,5;
<=,Ol I ;Q, I j<=M,58b.)KM<56>;m1Q4=- [ <=6 [ ,UyVW-/1QP:-/4,aP8N- S9S ,5; I KMVWJ< I)R ,6>VW; I 47,5lC
0<o I 4P7<53<Q, w[ -/KQP7,d<Q, [OIWS9S 69P76 I ; [ M, [ /,O4ra[5S -/PP76> -^X,O [OI ; V/KQ4=-U<6 I ;MP
P=-U8N1 S ,5l R
<=Q,b
{ 1 S -/;Q;Q,O4:-/P S> 69;QV6>;u-\<<=,O;Q,5lX4,O,wP1.- [ ,/gQ,6>8N1Q- [ S 1k,O47 I 478a-U; [ , I B<=Q,1 S -/;Q;Q,O469P;Q,OV S 6>VW6 RMS ,/
n69V/KQ4, ^P I oPj<=Q,4,OPK S 4,|X4-/8N,|4,51M4,5P7,5;
<=Pj<=Q, I 469V/69;.- S[OI 8N1 I ;Q,O;
<j-/;Ql<=Q,6>;Q;Q,54P.-/lM,5lb8 I lQ, S
lQ,O1Q6 [ <=Po6><Po<Q69;M;Q,5lbVW, I 8N,*<=4 L698:6 S -U4 S> Ln69VWKM4, Q~-WlQ69P71 S - P<=Q,,5;
<694,d4 I/RkI <Z~o6947,
X4=-U8N,|-/;Ql)6s<=Pr<=M69;Q;Q,OlVW, I 8:,O<4 ~uP7.-/lQ,Ol8 I lM, S d,^lQ, [5I 8:1 I P,5l)<Q69P\lQ,5V/4,5, I q
X4,O,5l I 84 IWR3I <6>;
VWKQ4, Q~ R S 69P7<Pr<=Q,^;pKQ8 R ,O4P I
1 IWS> V I ;MP:8 I lQ, S 69;QV,- [ [5I 8:1 I ;Q,5;
<)~ I 4769VW6>;.- S -/;Mlg<=M69;Q;Q,OlVW, I 8N,*<=4 T-/;QlJ<=Q,4KQ;L
;Q6>;QV)<=698:,5Pb~X69;P, [5I ;MlQPF]< I`[5I 8:1QKM<,w6><=P: 0&-U;QlJ<Q69;6s<=PTVW, I 8N,*<=4 J I <,w<.-U<^<Q,
0AP [5I K S lw,-/P76 S>aR ,1Q-/4=- S>S , S 69O,5lC
[5I 8N1QK2<F-U<6 I ;<Q,PK R X
1;
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Standard Deviation
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Motion Planning With PR Ms

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Motion Planning With PR Ms

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