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Advanced Robotics - Control of Interactive Robotic Interfaces Volume 29 Part 3 pps

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N !5L Q3& =UQ?UQ ;$  ;$  K& 8 $59&;L5=;8 5;?UQ ;$ =UQ?UQ L? &L
K&L?& Q5V&8YC UKQ3&K9=K& - ;$ . K& L9==Q3 V& Q=K .&8$L ;$ 1 5L  L9==Q3
9??5;2C LLU9& Q3Q Q3& LYLQ&9 3L Q 8&LQ =;& &EU585K5U9 =;.2UKQ5=;M
W5Q3=UQ 8=LL =+ 2&;&K85QY# L ) [ ; & Q7&; L Q3& &EU585K5U9 ?=5;QC ;
Q3& +=88=W5;2# L

W588 $&;=Q& Q3& 5;5Q58 LQQ& ;$ G ) [ W588 $&;=Q& Q3& 5;5Q58
5;LQ;Q =+ Q59&C UKQ3&K9=K&# @G& L

&IA W588 $&;=Q& Q3& V8U& =+ Q3& LQQ&
QK6& Q=KY Q Q59& G $ [ W3&; Q3& LYLQ&9 LQKQL +K=9 ; 5;5Q58 LQQ& L@[A ) L

;$ Q3& 5;?UQ I 5L 25V&;C
&Q K &  K&8 V8U&$ 9? $&.;&$ =; +
K " + @TCTA
88&$ =E44.I <B ;$ 8&Q 

$&;=Q& Q3& L&Q =+ ?=L5Q5V& K&8 ;U9&KLC
".)<)0. >51 3)88)2<)@ 8C8<-45  =I=B/ 2! B) !2</ 975D736 += =+
B2  +==+4B+F G+B) <=4B B2 B) =E44.I <B K +! B)< H+=B=  20B+0E2E=
!E0B+20  " 

   LQ=K2& +U; Q5=; =E) B)B !2<  I ! L

!
0 G $ [ B) !2 2G+0( <.B+20   $5LL5?Q5=; 5;&EU85QY )2.=
L?L E2 :8$<JE :( EE2N2JQ 0$:DQ K,
 @L@GAA * @L


A '

3

K@HA'H @TCRA
; 59?=KQ;Q =; &?Q K&8Q&$ Q= $5LL5?Q5V& LYLQ&9L 5L Q3& ;=Q5=; =+ F+..
=B2<( W35 3 ; & $&.;&$ L +=88=WL"
".)<)0. >5> 3@),, <07&45 ) F+.. =B2<( 02B G+B)


2!  =I=B/ G+B) =E44.I <B K += B) !E0B+20 

"  $0 I


@LA ) LU?
7

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*

3

K@HA'H

@TC1A
Q 5L 59?=KQ;Q Q= ;=Q& Q3Q Q3& V588& LQ=K2&# W3&; $&.;&$# 5L ;=; ;&2Q5V&
L5; & 5Q 5L Q3& LU?K&9U9 =V&K  L&Q =+ ;U9&K Q3Q =;Q5;L Q3& Z&K= &8&9&;Q

@=Q5;&$ W3&; G ) [AC 3& V588& LQ=K2& ; & UL&$ Q= 3& 7 W3&Q3&K 
LYLQ&9 5L $5LL5?Q5V& =K ;=QC 3& +=88=W5;2 K&LU8Q 3=8$L"
70208)<)0. >5= 3),,-8 1/9>45 !  =I=B/ += +==+4B+F G+B) <=4B B2
 =E44.I <B K B) F+.. =B2<( 

@LA += $0+B !2< ) L !7 E<B)<*
/2< 0I 42==+. =B2<( !E0B+20  =B+=$=
[ ' 

@LA '  @LA @TC/A
!2< ) L !0 +! 

+= 20B+0E2E= B)0 

+B=.! +=  =B2<( !E0B+207
20F<=.I +! 

@LA += $0+B !2< ) L !0 +B += 20B+0E2E= B)0 B)
=I=B/ += +==+4B+F7
Q 5L ?=LL58& Q= 25V& ; &;&K2&Q5 5;Q&K?K&QQ5=; =+ $5LL5?Q5V& LYLQ&9LC ; + Q
Q3& LU??8Y KQ& K ;$ Q3& LQ=K2& +U; Q5=;  ; & Q3=U23Q L 2&;&K85Z&$
?=W&K ;$  2&;&K85Z&$ &;&K2Y K&L?& Q5V&8YC 3& $5LL5?Q5=; 5;&EU85QY &X?K&L4
L&L Q3& + Q Q3Q  LYLQ&9 5L $5LL5?Q5V& 5+ ;$ =;8Y 5+ Q3& LQ=K&$ 2&;&K85Z&$
&;&K2Y Q Q59& G#  @L@GAA# 5L Q 9=LQ &EU8 Q= Q3& LU9 =+ Q3& 5;5Q588Y LQ=K&$
2&;&K85Z&$ &;&K2Y  @L

A ;$ Q3& Q=Q8 &XQ&K;88Y LU??85&$ 2&;&K85Z&$ &;&K2Y

3


K@I@HA&N@H AA'H 5; Q3& 5;Q&KV8 [&GC 35L 9&;L Q3Q Q3&K& ;;=Q & ;Y
5;Q&K;8 ?K=$U Q5=; =+ 2&;&K85Z&$ &;&K2Y UQ =;8Y $5LL5?Q5=; 5L ?=LL58&C 3&
?5K @I& NA K&?K&L&;QL# Q3K=U23 Q3& LU??8Y KQ& +U; Q5=;# Q3& 9&$5U9 Q3K=U23
W35 3 Q3& LYLQ&9 ; &X 3;2& 2&;&K85Z&$ &;&K2YC UKQ3&K9=K&# L5; & Q3&
LQ=K2& +U; Q5=; 5L ;=;;&2Q5V&# Q3& +=88=W5;2 5;&EU85QY $5K& Q8Y +=88=WL +K=9
EC@TCRA"
*

3

K@I@HA&N@H AA'H '  @L

A '% @TCOA
W35 3 &X?K&LL&L Q3& + Q Q3Q Q3& Q=Q8 9=U;Q =+ 2&;&K85Z&$ &;&K2Y Q3Q
; & &XQK Q&$ +K=9  $5LL5?Q5V& LYLQ&9 5L =U;$&$ Y Q3& 9=U;Q Q3Q 5L
5;5Q588Y LQ=K&$C
; 59?=KQ;Q 8LL =+ $5LL5?Q5V& LYLQ&9L 5L Q3Q +=K W35 3 Q3& 2&;&K85Z&$
?=W&K =5; 5$&L W5Q3 ?=W&K# 2&;&K85Z&$ &;&K2Y =5; 5$&L W5Q3 &;&K2Y ;$ Q3&
KH L :8JD:5 :( :DJ1625J:828 QEJ$6E
9&$5U9 Q3K=U23 W35 3 Q3& LYLQ&9 &X 3;2&L &;&K2Y 5L  ?=W&K ?=KQC 3UL#
; 59?=KQ;Q 3=5 & =+ Q3& LU??8Y KQ& ; & 9$& W3&;  ;$  K& $U8
L? &L ;$ 5Q 5L 25V&; Y"
K@I@HA&N@H AA ) I@HA&N@HA I ! N !) 

@TCNA
; Q35L L& Q3& LU??8Y KQ& K&?K&L&;QL  ?=W&K 0=W# I ;$ N  0=W ;$ &,=KQ
?5K ;$ @+&KA42G< 42<BC 3& LQ=K2& +U; Q5=;  K&?K&L&;QL Q3& &;&K2Y
LQ=K&$ 5;Q= Q3& LYLQ&9C
Q 5L ?=LL58& Q= K&?K&L&;Q Q3& 8 $59&;L5=;8 5;?UQ ;$ =UQ?UQ L? &L 
;$  ) 


W5Q3 
(
C 5Q35; Q35L K&?K&L&;QQ5=; =Q3 I !;$ N !K&
K&?K&L&;Q&$ Y 8 $59&;L5=;8 =8U9; V& Q=KL ;$ Q3& 5;QK5;L5 88Y $&.;&$
$U85QY ?K=$U Q &QW&&;  ;$  5L &X?K&LL&$ L +=88=WL"
I& N ) N

I @TC'A
".)<)0. >5% 388)@ 8C8<-45  =I=B/ += ?LL5V& +! +B += +==+4B+F
G+B) <=4B B2 B) =E44.I <B K@I& NA)I& N ) N

I7
=K ;Y ?LL5V& LYLQ&9 Q3& $5LL5?Q5=; 5;&EU85QY QUK;L =UQ Q= &"
 @L@GAA * @L

A '

3

N

@HAI@HA'H @TC<A
W= 59?=KQ;Q ?K=?&KQ5&L +=88=W +K=9 Q3& + Q Q3Q Q3& LQ=K2& +U; Q5=; 5L
$& K&L5;2 8=;2 Q3& QK6& Q=K5&LC ; + Q# 5+ I ) [ Q3&;"
%
 @L@GAA ' N

@GAI@GA ' [ 4G @TC>[A
3UL# 5+  @LA 5L ?=L5Q5V& $&.;5Q&# Q3& &EU585K5U9 ?=5;Q L ) [ 5L Y?U;=V

LQ8&C UKQ3&K9=K&# 5+ N ) [ EC@TC>[A 7&&?L =; 3=8$5;2C 3UL# 5+  5L ?=L5Q5V&
$&.;5Q&# Q3& J<2 I0/+= >T' =+ Q3& LYLQ&9 5L Y?U;=V LQ8&C
/<- D7%7 Q ; & &L58Y L3=W; Q3Q ;Y LQK5 Q 8= 8 95;59U9 L
(
=+
Q3& LQ=K2& +U; Q5=; 5L Y?U;=V LQ8& Y =;L5$&K5;2 L Y?U;=V +U; Q5=;
 @LA * @L
(
AC 3& ?K==+ 5L 599&$5Q& Y =;L5$&K5;2 EC@TC<AC
Q 5L =+Q&; UL&+U8 Q= $5LQ5;2U5L3 ?LL5V& LYLQ&9L +=K W35 3 Q3& $5LL5?Q5=;5;&4
EU85QY & =9&L &5Q3&K ; &EU85QY =K  LQK5 Q 5;&EU85QYC
".)<)0. >5: 3088,88 8C8<-45  4==+F =I=B/ G+B) =B2<( !E0B+20
 += 8=LL8&LL +! !2<  I !0 !2<  L

! 0 G $ [
 @L@GAA * @L

A)

3

N

@HAI@HA'H @TC>>A
L?L E2 :8$<JE :( EE2N2JQ 0$:DQ KG
".)<)0. >59 3<7)<,C 288)@ 8C8<-45  4==+F =I=B/ G+B) =B2<(
!E0B+20  += LQK5 Q8Y ?LL5V& +! B)< H+=B=  42=+B+F $0+B !E0B+20  "


=E) B)B !2<  I ! L


! 0 G $ [
 @L@GAA * @L

A)

3

N

@HAI@HA'H *

3

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/<- D7 7  8=LL8&LL LYLQ&9 LQ=K&L 88 Q3& &;&K2Y ?K=V5$&$ Q3K=U23 Q3& ?=4
W&K ?=KQ W358&  LQK5 Q8Y ?LL5V& LYLQ&9 $5LL5?Q&L ?KQ =+ 5Q ;$ Q3& 9=U;Q
=+ &;&K2Y Q3Q 5L $5LL5?Q&$ 5L 25V&; Y

3

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; Q3& +=88=W5;2 W& W588 5;$5 Q& W5Q3 
!
 @LA ;$ W5Q3 
"
 @LA Q3& 5& $&4
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& C C>C
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V&KL5=; =+ 89;47U=V5Q 34=?=V @A 8&99 W35 3 W588 & UL&+U8 +=K
K&8Q5;2 ?LL5V5QY ;$ ?=KQ4958Q=;5; LYLQ&9LC
".)<)0. >5/ 3 27027<C45  020 .+0< =I=B/ =<+ I 975D736
0,2I= B)  4<24<BI +! B)< H+=B=  020 0(B+F 

!E0B+20  " 
G+B)  @[A ) [ =E) B)B

!
 @LA ' [ @TC>RA

"
 @LA)1

@LA @TC>RA
!2< ) L !7
3& +=88=W5;2 ?K=?=L5Q5=; 3=8$L"
70208)<)0. >51E 3C7.8   1//145 !  =I=B/ 0,2I= B)  4<2*
4<BI B)0 +B += 4==+F7 20F<=.I +!  =I=B/ += 4==+F G+B)  

=B2<(
!E0B+20 B)0 +B 0,2I= B)  4<24<BI7
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'
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@GAI@GA
@TC>1A
3UL Q3& LYLQ&9 5L ?LL5V& W5Q3  @LA L LQ=K2& +U; Q5=;C
=;V&KL&8Y# 5+  LYLQ&9 5L ?LL5V& W5Q3  

LQ=K2& +U; Q5=;# Q3& +=88=W5;2
5;&EU85Q5&L 3=8$L"
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@GAI@GA @TC>/A
W35 3 8&K8Y 59?85&L EC@TC>RA ;$ EC@TC>RA
K% L :8JD:5 :( :DJ1625J:828 QEJ$6E
Q $5K& Q8Y +=88=WL +K=9 $&.;5Q5=;L Q3Q +=K  8=LL8&LL LYLQ&9 
!
 @L@GAA)[
;$ Q3Q +=K  LQK5 Q8Y ?LL5V& LYLQ&9 
!
 @L@GAA ) *@LAC 3UL# 5+  LYLQ&9
5L LQK5 Q8Y ?LL5V& ;$ 5QL LQ=K2& +U; Q5=; 5L ?=L5Q5V& $&.;5Q& 5; 5QL &EU585K5U9
?=5;Q L ) [# Q3&; Q3& &EU585K5U9 ?=5;Q 5L Y?U;=V LQ8&C
3& Q&K9 
!
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Q3& Q&K9 
"
 @L@GAAI@GA)N

@GAI@GA K&?K&L&;QL Q3& ?=W&K 0=W5;2 Q3K=U23 Q3&
?=W&K ?=KQC ; + Q# 5;  8=LL8&LL LYLQ&9 
!
 @L@GAA ) [# ;9&8Y Q3&K& 5L ;=Q
$5LL5?Q5=; ;$ 88 Q3& &;&K2Y LU??85&$ 5L LQ=K&$C Q 5L Q3&; ?=LL58& Q= &X?8=5Q
Q3&  ?K=?&KQY Q= 25V& ; 8Q&K;Q5V& $5,&K&;Q58 $&.;5Q5=; =+  ?LL5V&
LYLQ&9"
".)<)0. >5115  =I=B/ += 4==+F +! B) 42G< =E44.+ += +B)< =B2< 2<
+==+4B +77 +!
 )
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I += B) =E44.+
42G< 0 
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=K 8=LL8&LL LYLQ&9L 88 Q3& ?=W&K LU??85&$ 5L LQ=K&$ W358& +=K LQK5 Q8Y $5LL54
?Q5V& LYLQ&9L  ?=KQ5=; =+ Q3& LU??85&$ ?=W&K 5L $5LL5?Q&$ W358& Q3& K&LQ 5L
LQ=K&$C + Q3& K&8Q5=; EC@TC>OA 5L LQ5L.&$ W5Q3 
$11
7 [ 5Q 9&;L Q3Q Q3&
LYLQ&9 5L ;=Q ?LL5V& L5; &  ;&2Q5V& $5LL5?Q5=; K&?K&L&;QL ; &XQK ?=W&K
5;6& Q5=; 5;Q= Q3& LYLQ&9C
>5>5> ?<2?< + <),)D<)0. 0 88)@ C8<-8
LL5V& LYLQ&9L 3V& &&; ;$ K& V&KY 9U 3 LQU$5&$ & UL& =+ Q3& ??&85;2
85;7 &QW&&; ?LL5V5QY ;$ Y?U;=V LQ585QY# L3=W; 5; & C TCTC>C 3& 59
=+ Q35L LUL& Q5=; 5L Q= L3=W 3=W 5Q 5L ?=LL58& Q= =I/4B2B+ I LQ585Z& 
?LL5V& LYLQ&9 5; 5QL &EU585K5U9 ?=5;Q @W35 3 5L 25; LU??=L&$ Q= &X5LQ ;$
Q= & L ) [A UL5;2 V&KY W&88 &LQ85L3&$ Q& 3;5EU&L 1># >T<# R><# >N[C
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=B/ =<+ I 975D736 += 8= 88Y Z&K= LQQ& $&Q& Q8& +! B)< H+=B= 
0+()2<)22  1 2! [ =E) B)B !2<  L ! 
! 1@@G& L& [AA ) [ 4G $ [ B)0 859

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 =I=B/ += 8= 88Y Z&K= LQQ& =L&KV8& +! B)< H+=B=  0+()2<)22  1
2! [ =E) B)B !2<  L ! 
! 1@@G& L& [AA ) [ 4G $ [ B)0 L ) [ @TC>'A
!  )  B) B) =I=B/ += =+ Z&K= LQQ& =L&KV8&
L?L E2 :8$<JE :( EE2N2JQ 0$:DQ K9
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?K=?&K +! !2< ) !0[ B) =B


@[&!A ) L ![ '  @LA ' ! @TC><A
+= 2/4B7
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Q5=;L >1RC
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 =I=B/ =<+ I 975D736 B)B += 4==+F G+B)  42=+B+F $0+B =B2<(
!E0B+20   B)B += .2 I J<2 =BB BB. 0 B)B /+B= L )[=
0 9E+.+<+E/ 20$(E<B+207 B @ "   =/22B) !E0B+20 =E) B)B
@@[A ) [ 0 N

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I ) *@@NA @TCT[A
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BB. 0  += 4<24< B)0 B) 20B<2. .G (+F0 I 975D7DK6 (.2 I =I/*
4B2B+ I =B+.+J= B) =I=B/7
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A '*

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L

5; Q3Q ;&523=K3==$C &;=Q& W5Q3 L

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L?=;$5;2 Q= L

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+=K 88 L ! /

C&Q:L ! /

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QK6& Q=KYC 5; & :L@GA ! /

+=K 88 G $ [ Q3&;
[) @:L@GAA * @:LA '*

3

N

@HA@@N@HAA'H ' [ @TCTTA
59?85&L N )[+=K88G $ [C Y $&Q& Q585QY 859
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!

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LYLQ&9 5L Z&K= LQQ& $&Q& Q8&# Q3&; Q3& &EU585K5U9 ?=5;Q 5L 28=88Y LY94
?Q=Q5 88Y LQ8&C
.S L :8JD:5 :( :DJ1625J:828 QEJ$6E
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;59U9 =+ Q3& LQ=K2& +U; Q5=; ; & @8= 88YA LY9?Q=Q5 88Y LQ585Z&$ Y
LQQ5 =UQ?UQ +&&$ 7C
3&K& K& 9;Y =K=88K5&L =+ 3&=K&9 TC>/C ;& =+ Q3& 9=LQ 59?=KQ;Q 5L Q3&
+=88=W5;2"
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20$(E<B+20 += .2==.== G+B) 0 B .=B 

4<24< 42=+B+F $0+B =B2<(
!E0B+20  7 ! B) =I=B/ += J<2 =BB 2=<F. B)0 !2< ) 40[ B)
20B<2. .G I ) *4N (.2 I =I/4B2B+ I =B+.+J= B) 9E+.+<+E/ 42+0B
L )[7
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Q3& 8523Q =+ ?LL5V5QY Q3&=KY ;$ =+ 3&=K&9 TC>/C =K &X9?8&#  V&KY W&88
7;=W; K&LU8Q =UQ Q3& LQ585ZQ5=; =+ -;& LYLQ&9L =Q5;&$ 5; >RN UL5;2
;=;85;&K 2&=9&QK5 =;QK=8 Q& 3;5EU&L LQQ&L Q3Q 5+ Q3&K& &X5LQL  +U; Q5=;
 @LA W5Q3 =;8Y =;& 95;59U9 ?=5;Q 5; L )[;$LU 3Q3Q

!
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LQQ& Q3Q 5+ Q3& LYLQ&9 5L 8=LL8&LL W5Q3 LQ=K2& +U; Q5=;  5Q 5L ?=LL58& Q=
??8Y =K=88KY TC>N W5Q3 4 ) > Q= LQ585Z& Q3& &EU585K5U9 ?=5;Q L )[C
>5>5= 07<(-),<0.). C8<-8 . 88)@)<C
Q 3L 8K&$Y &&; ?=5;Q&$ =UQ +K=9 ; &;&K2&Q5 ?=5;Q =+ V5&W Q3Q Q3&
&3V5=K =+  ?=KQ4958Q=;5; LYLQ&9 5L &5Q3&K 8=LL8&LL @EC@>CR>AA# 5; L&
;= $5LL5?Q5=; 5L ?K&L&;Q 5; Q3& LYLQ&9# =K ?LL5V&# 5; L& L=9& $5LL5?Q5=; 5L
?K&L&;Q 5;Q= Q3& LYLQ&9 @EC@>CRRAAC
; Q35L L& Q5=;  +=K98 ?K==+ =+ Q3& ?LL5V5QY ?K=?&KQ5&L =+ ?=KQ4958Q=;5;
LYLQ&9 UL5;2  ==K$5;Q&4L&$ ??K= 3 W588 & 25V&; ;$# +=K Q3& L7& =+
8&K;&LL# &X?85 5Q ?=KQ4958Q=;5; LYLQ&9L W588 & =;L5$&K&$M Q3& =Q5;&$
K&LU8QL ; & &L58Y &XQ&;$&$ Q= 59?85 5Q ?=KQ4958Q=;5; LYLQ&9LC =;L5$&K
 ?=KQ4958Q=;5; LYLQ&9 W5Q3 $5LL5?Q5=;"









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L?L E2 :8$<JE :( EE2N2JQ 0$:DQ .;
W3&K& L !5L Q3& LQQ& =+ Q3& LYLQ&9 ;$  "  5L Q3& 958Q=4
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5;?UQ L52;8 L? &  ;$ Q3& =UQ?UQ L52;8 L? &L  K& $U8 84$59&;L5=;8
V& Q=K L? &L# 5C&C  ) 

C UKQ3&K9=K&# @LA 5L  L7&W LY99&QK5 9QK5X
K&?K&L&;Q5;2 Q3& 5;Q&K;8 ?=W&K ?K&L&KV5;2 5;Q&K =;;& Q5=;L# @LA5LLY94
9&QK5 ?=L5Q5V& L&95$&.;5Q& 9QK5X K&?K&L&;Q5;2 Q3& $5LL5?Q5=; =+ Q3& LYLQ&9
;$ .@LA 5L  9QK5X $&L K55;2 Q3& WY Q3Q ?=W&K =95;2 +K=9 Q3& &XQ&K;8
W=K8$ 5L $5LQK5UQ&$ 5;Q= Q3& LYLQ&9C
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+=88=W5;2"
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=I=B/ 0 B) =B2<( !E0B+20 += B) /+.B20+0 !E0B+207
<22!7  ?=KQ4958Q=;5; LYLQ&9 W5Q3 $5LL5?Q5=; @EC@TCT/AA ; & 5;Q&K4
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$5LL5?Q5=; 5L  ?LL5V& LYLQ&9C
+ @LA ) [# ;9&8Y 5+ Q3&K& 5L ;= $5LL5?Q5=; 5; Q3& LYLQ&9# Q3&;

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LQ&9C UKQ3&K9=K& 5+ @LA 5L ?=L5Q5V& $&.;5Q&# Q3& ?=KQ4958Q=;5; LYLQ&9
5L LQK5 Q8Y ?LL5V&C 3UL# 8=LL8&LL;&LL# ?LL5V5QY ;$ LQK5 Q ?LL5V5QY =+  ?=KQ4
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9QK5X @LAC 35L ; & V&KY 8&K8Y 5;Q&K?K&Q&$ UL5;2 &+C TC>>C ; + Q# Y
LQK523Q+=KWK$ 8 U8Q5=;L# Q3& +=88=W5;2 K&8Q5=; ; & =Q5;&$"
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