Automotive Control Systems P2 - 235618

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=.T. !T. [aG $G+?.V ![ [aG +?4.T.E[ [.CI.T![_T.V HM =.TC!B .E.T;c ? ?V


.b'=!E;.+ $c 'GE+_'[?GE 3TGC [=. =G[ $G+c ![ [.CI.T![_T. H [G [=. 'GB+ $G+c
![ [.CI.T![_T. H, M =. '=!E;. G3 .E[TGIc a?[=?E [=. VcV[.C !3[.T [=. [T!EV3.T
G3 [=.TC!B .E.T;c '!E $. +.V'T?$.+ $c)
?, ?
 1  J^M:FK
H, H
`.E a=.E ? 1?, [=.T. ?V ! IGV?[?`. '=!E;. G3 .E[TGIc  +_. [G [=. ?TT.`.TV?$B.
ITG'.VV G3 .E.T;c 9Ga 3TGC [=. =G[ [G [=. 'GB+ $G+cM =.TC!B .E.T;c '!E GEBc
$. [T!EV3.TT.+ 3TGC =G[ [G 'GB+ C.+?! !E+ EG[ ?E [=. GIIGV?[. +?T.'[?GEM =.
.E[TGIc G3 [=. 'GB+ $G+c ^ ?V B!T;.T [=!E [=. .E[TGIc G3 [=. =G[ $G+c H !V [=.
.E[TGIc ?V ?E`.TV.Bc ITGIGT[?GE!B [G [=. [.CI.T![_T.M
 T.`.TV?$B. V[![. '=!E;. ?V '=!T!'[.T?d.+ $c)

 1 e J^M8eK

!E+ !E ?TT.`.TV?$B. V[![. '=!E;. ?V '=!T!'[.T?d.+ $c)

 * e J^M8HK

a=?'= ?V !BVG '!BB.+ [=. V.'GE+ [=.TCG+cE!C?' B!aM [ C.!EV [=![ [=. .E[TGIc
a?[=?E [=. VcV[.C !Ba!cV ?E'T.!V.V 3GT T.!B V[![. '=!E;.VM

!0 H0! <4!==


VV_C?E; T.`.TV?$B. V[![. '=!E;.V* [=. 3GBBGa?E; ?+.!B 'c'B. ITG'.VV '!E $. +.>
V'T?$.+) =. ;!V !$VGT$V [=.TC!B .E.T;c ? ?E !E ?VG[=.TC!B !E+ T.`.TV?$B. V[![.
'=!E;. ![ =?;= [.CI.T![_T. H M =. ;!V [=.E BGV.V [=. [=.TC!B .E.T;c ?, ?E !E
?VG[=.TC!B !E+ T.`.TV?$B. V[![. '=!E;. ![ BGa [.CI.T![_T. H, M ?E.[?' .E.T;c
K , ?V +.B?`.T.+ $c V_'= !E ?+.!B .E;?E. a=?'= ?V .O_?`!B.E[ [G [=. +?4.T.E'. G3
[=. [=.TC!B .E.T;?.V) K , 1 ?  ?, M =. .E[TGIc '=!E;. V=!BB $. d.TG)
?, ?
 1  1e
H, H
!E+ [=.T.3GT.)
? ?,
1 J^M8^K
H H,
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9 H H
H H ^

H
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=. [=.TC!B .5'?.E'c G3 [=?V ?+.!B 'c'B. ITG'.VV ?V .O_?`!B.E[ [G [=. T![?G G3
C.'=!E?'!B aGTA K , [G [=. !$VGT$.+ [=.TC!B .E.T;c ? )
K , ?  ? , H  H, H,
&1 1 1 1H J^M8\K
? ? H H
[ '!E $. V..E [=![ [=. [=.TC!B .5'?.E'c & GEBc +.I.E+V GE [=. T![?G G3 [=.
!$VGB_[. [.CI.T![_T.V H [G H, M & ?V !Ba!cV VC!BB.T [=!E HM B.!V. EG[. [=![ ?E
EGE>?+.!B 'c'B. ITG'.VV.V [=. .E[TGIc '=!E;. ?V !Ba!cV EGE>d.TG* ?M .M  * eM

<24A H0!
=. !TEG[ 'c'B. ?V '=!T!'[.T?d.+ $c 3G_T V[![. '=!E;.VM [ [=. .E+ G3 [=. ITG'.VV*
[=. ?E?[?!B V[![. ?V T.!'=.+ !;!?E a=?'= ?V [=. '!V. 3GT !BB I.T?G+?' ITG'.VV.V ?E
.E;?E.VM aG +?4.T.E[ 'c'B.V =!`. [G $. +?V[?E;_?V=.+)
!A-42 F-A+-2  04=! 41D=A-42 +1!< E;?E.V a?[= I.T?G+?'
'GC$_V[?GE 'c'B.V !E+ .C?VV?GE G3 C.'=!E?'!B aGTAM
= (4F A+<4D*+ 2 46!2 41D=A-42 +1!< _T$?E.V a?[= 'GE[?E_>
G_V 'GC$_V[?GE !E+ .C?VV?GE G3 C.'=!E?'!B aGTAM
=. !TEG[ 'c'B. ?V _V.+ !V T.3.T.E'. CG+.B 3GT [=.TCG+cE!C?' ITG'.VV.VM [ ?V
?BB_V[T![.+ ?E [=. 9 >+?!;T!C G3 ?;_T. ^MF)
H  ^ VG[=.TC!B .bI!EV?GE G3 [=. ;!V 3TGC  [G , a=?B. [=. [.CI.T![_T.
T.C!?EV 'GEV[!E[ H 1 H, M
,
K , 1 ? , 1 3  H BE

=. C.'=!E?'!B aGTA K , ?V +.B?`.T.+ V?E'. [=. ;!V .bI!E+VM =.TC!B
.E.T;c ? , G3 [=. V!C. !CG_E[ =!V [G $. $TG_;=[ ?E[G [=. VcV[.C ?E GT+.T
[G A..I [=. [.CI.T![_T. 'GEV[!E[M
^  \ V.E[TGI?' .bI!EV?GE G3 [=. ;!V 3TGC , [G + M G [=.TC!B .E.T;c ?V
.b'=!E;.+ ?, + 1 eM _[I_[ G3 A?E.[?' .E.T;c)
K, + 1 3 A JH,  H+ K
H/ C:       

\  : VG[=.TC!B 'GCIT.VV?GE G3 [=. ;!V 3TGC + [G  a=?B. [=. [.CI.T![_T.


T.C!?EV 'GEV[!E[ H+ 1 H M =. C.'=!E?'!B aGTA

K+  1 ?+  1 3  H+ BE
+
?V E..+.+ a=?'= ?V E.;![?`. ?E [=?V '!V. $.'!_V. ?[ ?V +.B?`.T.+ ?E[G [=. ;!V
J 2 + KM
:  H V.E[TGI?' 'GCIT.VV?GE G3 [=. ;!V 3TGC  [G  M G [=.TC!B .E.T;c ?V
.b'=!E;.+ ?, + 1 eM =. C.'=!E?'!B aGTA ?V !BVG E.;![?`. ?E [=?V '!V.
JH * H K)
K  1 3 A JH  H K
Ga* !BB A?E.[?' .E.T;?.V G3 [=. !TEG[ 'c'B. =!`. [G $. !++.+ [G +.T?`. [=.
[=.TCG+cE!C?' .5'?.E'c)
K 1 K , N K, + N K+  N K  J^M8:K
, 
1 3  H BE N 3 A JH,  H+ K N 3  H+ BE N 3 A JH  H KJ^M88K
 +
=. aGTA K, + !E+ K  G3 [=. ?V.E[TGI?' V[![. '=!E;.V 'GCI.EV![. .!'= G[=.T
$.'!_V. G3 H 1 H, !E+ H+ 1 H )
, 
K 1 3 JH BE N H+ BE K
 +
G V?CIB?3c [=?V .O_![?GE* [=. '=!T!'[.T?V[?' .O_![?GEV G3 [=. ?V.E[TGI?' ITG'.VV
H  ^ !E+ \  : !T. _V.+)
9  * 1 9    * 1 3  H   * 1 75CF; J^M8YK
H, ,* 1 H+ +* ! H * 1 H * J^M8XK
# **
 H
1 J^M8/K
 H
.'!_V. G3 H 1 H, !E+ H+ 1 H a. ;.[
# ** # **
, +
1 J^M8FK
 
, +
1 J^MYeK
 
 ,
BE 1  BE J^MYHK
+ 
!E+ [=.T.3GT.)
,
K 1 3 JH  H+ K BE

=?V T.V_B[ ?V EGa _V.+ 3GT [=. [=.TCG+cE!C?' .5'?.E'c)
K 3 JH  H+ K BE 
& 1 1 J^MY^K
? , 3  H BE  
H  H + H+
1 1H J^MY\K
H H
C:C:       HF

=. .5'?.E'c +.I.E+V GEBc GE [=. [.CI.T![_T. T![?G G3 H+ [G H M V?E; [=.


'GCIT.VV?GE T![?G % )

%1 J^MY:K

[=. .5'?.E'c ?V JH+ 1 H K)
# **
H 
& 1 H 1H J^MY8K
H 
H
1 H  * J^MYYK
%
=. [=.TC!B .5'?.E'c '!E $. .bIB!?E.+ ;T!I=?'!BBc ?E [=. 9 >+?!;T!C ?E ?;>
_T. ^MF) [ ?V .O_?`!B.E[ [G [=. T![?G G3 [=. ?E[.;T!B a?[=?E [=. 'c'B. [G [=. !T.!
a=?'= ?V ITG+_'.+ $c ?E[.;T![?E; ? , M =. .5'?.E'c ?V ?CITG`.+ $c ?E'T.!V?E;
[=. !T.! a?[=?E [=. 'c'B.M =?V '!E GEBc $. !'=?.`.+ $c ! T?V. G3 [=. 'GCIT.VV?GE
T![?G % GT [=. [.CI.T![_T. T![?GM
G ;?`. !E .b!CIB.) VV_C?E; !$VGB_[. [.CI.T![_T.V)

H 1 ^/ee  J^MYXK
H+ 1 \ee  J^MY/K

[=. [=.TC!B .5'?.E'c aG_B+ $.)

& 1 e;/F

!E+ [=. 'GCIT.VV?GE T![?G)


% 1 ^YY
V_IIGV?E; ! / 1 H;:M _'= ! 'GCIT.VV?GE T![?G '!E =!T+Bc $. ITG+_'.+ $c T.!B
.E;?E.VM cI?'!B 'GCIT.VV?GE T![?GV !T. ![ B.!V[ [.E [?C.V VC!BB.TM

B8B  / 30C<@,31 1),1 <


GCCGEBc _V.+ 'GC$_V[?GE .E;?E.V ?E '!TV !T. 3G_T>V[TGA. .E;?E.VM =.c =!`.
[aG ?E[.TC?[[.E[ 'c'B.V) [=. ;!V ?V 'GCIT.VV.+* 'GC$_V[.+ !E+ .bI!E+.+ ?E [=.
7TV[ 'c'B.* !E+ [=. ;!V ?V .b'=!E;.+ ?E [=. V.'GE+ 'c'B.M E [=?V V.'[?GE [=. V.'GE+
JGT I!VV?`.K 'c'B. a?BB EG[ $. 'GEV?+.T.+ [G V?CIB?3c [=. C![=.C![?'!B +.T?`![?GEVM
=. ITG'.VV.V T.B![.+ [G [=. V.'GE+ 'c'B. a?BB $. +?V'_VV.+ ?E =!I[.T \M
aG +?4.T.E[ [cI.V G3 'GC$_V[?GE .E;?E.V =!`. [G $. +?V[?E;_?V=.+)

HM I!TA>?;E?[.+ J K E;?E.) GC$_V[?GE '!_V.+ $c !E .B.'[T?' VI!TA>?;E?[?GEM

^M ?.V.B E;?E.) GC$_V[?GE '!_V.+ $c V.B3 ?E9!CC![?GE +_. [G 'GCIT.V>


V?GE!B =.![M

E CGV[ V.'[?GEV* 9 T.IT.V.E[V [=. ?E>'cB?E+.T IT.VV_T.*  [=. 'cB?E+.T `GB_C.* H


[=. ?E>'cB?E+.T [.CI.T![_T.*  [=. .E[TGIc* ? [=. [=.TC!B .E.T;c G3 [=. ;!V* I ?[V
?E[.TE!B .E.T;c !E+ + ?[V .E[=!BIcM
^e C:       

9 H

\ \
?, +

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B8B84 5;.+,)1,@  6 7 1),1

=. 7TV[  .E;?E. a!V IT.V.E[.+ $c ?AGB!_V [[G ?E H/Y^M =. 'GC$_V[?GE
ITG'.VV '!E $. CG+.B.+ !V !E -=4+4<- 6<4!== a=.T. [=. ;!V `GB_C. ?V 'GE>
V?+.T.+ [G $. 'GEV[!E[M =. 9 >+?!;T!C ?E ?;_T. ^MHe ?BB_V[T![.V [=![ [=. ;!V
`GB_C. +G.V EG[ '=!E;. $.[a..E V[.I ^ !E+ V[.I \M =. T![?G G3 C!b?C_C [G
C?E?C_C `GB_C. ?V ;?`.E $c)


%1 J^MYFK
,

=?V T![?G % ?V '!BB.+ [=. 416<!==-42 <A-4 G3 [=. .E;?E.M =. +?4.T.E[ V[.IV
3GT ! 'GCIB.[. 'c'B. ?E [=. 9 >+?!;T!C !E+ ?E [=. H>+?!;T!C '!E $. V..E ?E
?;_T. ^MHeM ![=.C![?'!BBc [=.c '!E $. +.V'T?$.+ !V 3GBBGa.+)

H  ^ ) V.E[TGI?' 'GCIT.VV?GE* "? 1 e)

"? 1 "I N "K 1 e


? , 1 e
"K 1 "I 1 3 A "H
,
K , 1  3 A "H 1 3 A JH,  H K


=. aGTA K , ?V _V.+ [G 'GCIT.VV [=. ;!V !E+ [=.T.3GT.* ?[ ?V E.;![?`.M


C:C:       ^H

^  \ ) VG'=GT?' ?EI_[ G3 [=.TC!B .E.T;c* " 1 e)

"K 1 9 " 1 e
+
K, + 1 9 " 1 e
,
"? 1 "I 1 3 A "H
+
?, + 1 3 A "H 1 3 A JH+  H, K
,

=. ?E'T.!V.+ [=.TC!B .E.T;c ?, + ?V '!_V.+ $c 'GC$_V[?GE G3 [=. ;!VM

\  : ) V.E[TGI?' .bI!EV?GE* "? 1 e)

?+  1 e
"K 1 "I 1 3 A "H

K+  1  3 A "H 1 3 A JH  H+ K
+

=?V V[![. '=!E;. +.V'T?$.V [=. IGa.T V[TGA. G3 [=. .E;?E. a=.T. K+  ?V
[=. G_[I_[ G3 A?E.[?' .E.T;c 3TGC [=. ;!V* a=?'= ?V IGV?[?`. JH 2 H+ KM

:  H ) VG'=GT?' =.![ BGVV* " 1 e)

"K 1 9 " 1 e

K  1 9 " 1 e

"? 1 "I N "K 1 3 A "H

?  1 3 A "H 1 3 A JH  H K


=. BGVV G3 [=.TC!B .E.T;c ?  ?V +_. [G [=. ;!V .b'=!E;.) =. $_TE[ =G[
;!V ?V I_CI.+ ?E[G [=. .b=!_V[ !E+ [=. 'GC$_V[?GE '=!C$.T ?V 7BB.+ a?[=
! 'GB+ C?b[_T. G3 _E$_TE[ 3_.B `!IGT !E+ !?T J?  ?V E.;![?`. $.'!_V. G3
H 2 H KM

=. [=.TC!B .5'?.E'c G3 [=. .E;?E. ?V .O_?`!B.E[ [G [=. T![?G G3 !BB [=. A?E.[?'
.E.T;?.V [G [=. ?EI_[ G3 [=.TC!B .E.T;c ?, + ![ [=. 'GC$_V[?GE G3 ! 'GCIB.[.
^^ C:       

'c'B.)
K , N K, + N K+  N K 
&=& 1
?, +
3 A JH, N H  H N H+ K
1
3 A JH+  H, K
H  H
1 H
H+  H,
H H EH  H
1 H
H, H+ EH,  H
=. T.B![?GEV=?I 3GT ?V.E[TGI?' '=!E;.V H  ^ !E+ \  : '!E $. _V.+ [G V?CIB?3c
[=. .O_![?GE)
# **
H + H H
1 1 * 1 J^MXeK
H+  % H,
=?V c?.B+V)
H
&=& 1 H  J^MXHK
%*
B.!V. EG[. [=![ [=. [=.TC!B .5'?.E'c &=& +G.V EG[ +.I.E+ GE [=. !$VGB_[.
[.CI.T![_T. `!B_.VM [ C!?EBc +.I.E+V GE [=. 'GCIT.VV?GE T![?G %M b!CIB.)
GT ! 'GCIT.VV?GE T![?G G3 % 1 HH !E+ !E !+?!$![?' 'G.5'?.E[ G3 / 1 H;: [=.
[=.GT.[?'!B [=.TC!B .5'?.E'c &=& ?V)

&=& 1 e;YHX

B8B8B , < / 1),1


_+GB3 ?.V.B +.`.BGI.+ [=?V .E;?E. 3TGC H/F\ [G H/FXM E ! +?.V.B .E;?E.* [=.
'GC$_V[?GE [!A.V IB!'. ?E !E -=4<- =AA! +2*! +_T?E; [=. +GaEa!T+ CG`.>
C.E[ G3 [=. I?V[GEM [ [=. $.;?EE?E; G3 [=?V ITG'.VV [=. 'GC$_V[?GE ?V 'GE[TGBB.+
$c [=. ?E@.'[?GE G3 3_.B [G C!?E[!?E ! 'GEV[!E[ IT.VV_T. ![ [=. .bI!EV?GE 3TGC ^ [G
\M =. ?VG$!T?' V[![. '=!E;. ?V ?E+?'![.+ $.[a..E V[.IV ^ !E+ \ ?E [=. 9 >+?!;T!C
?E ?;_T. ^MHHM =. CGT. 3_.B ?V ?E@.'[.+* [=. BGE;.T [=. +?V[!E'. $.[a..E V[.IV ^
!E+ \ !E+ [=. B!T;.T [=. `GB_C. T![?G)
+ H+
A1 1 ; J^MX^K
, H,
=?V T![?G ?V '!BB.+ -2.!A-42 <A-4 GT 04 M =. ?E@.'[?GE T![?G A =!V !E ?CI!'[
GE [=. [=.TCG+cE!C?' .5'?.E'c a=?'= ?V +.T?`.+ !3[.T .bIB!?E?E; [=. +?4.T.E[
I!T[V G3 [=. 'c'B.)
H  ^ ) V.E[TGI?' 'GCIT.VV?GE* "? 1 e)

"? 1 "I N "K 1 e


? , 1 e
"K 1 "I 1 3 A "H
K , 1 3 A JH,  H K
C:C:       ^\

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9
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=. C.'=!E?'!B aGTA K , ?V _V.+ [G 'GCIT.VV [=. ;!V J.O_?`!B.E[ [G [=. 


.E;?E.KM [ ?V E.;![?`.M

^  \ ) VG$!T?' ;!?E G3 [=.TC!B .E.T;c* "9 1 e)

"? 1 "+   "9 1 3 2 "H


?, + 1 3 2 JH+  H, K
"K 1 9 " 1 3  "H
K, + 1 3 JH+  H, K

E [=?V ITG'.VV* [=. 'GC$_V[?GE ;.E.T![.V [=. [=.TC!B .E.T;c ?, + !E+ ITG>
+_'.V [=. A?E.[?' .E.T;c K, + M

\  : ) V.E[TGI?' .bI!EV?GE* "? 1 e)

?+  1 e
"K 1 "I 1 3 A "H
K+  1 3 A JH  H+ K

G[. [=![ K+  ?V IGV?[?`. V?E'. H 2 H+ M


^: C:       

:  H ) VG'=GT?' =.![ BGVV* " 1 e)


"K 1 9 " 1 e

K  1 9 " 1 e

"? 1 "I N "K 1 3 A "H

?  1 3 A "H 1 3 A JH  H K


G[. [=![ ?  ?V E.;![?`. V?E'. H 2 H M



?[= / 1 /& !E+  1 J2  A K [=. [=.TCG+cE!C?' .5'?.E'c G3 [=. +?.V.B .E;?E.
'!E EGa $. '!B'_B![.+)
K , N K, + N K+  N K 
&=& 1
?, +
3 A JH,  H K N 3J2  A KJH+  H, K  3 A JH  H+ K
1
3 2 JH+  H, K
H H H EH  H
1 H
/ H, H+ EH,  H
=?V .O_![?GE '!E $. V?CIB?7.+ $c _V?E; [=. T.B![?GEV=?I 3GT [=. ?V.E[TGI?' ITG'.VV
JO_![?GE ^MXeK !E+ [=. T.B![?GEV=?I 3GT [=. ?VG$!T?' ITG'.VV JO_![?GE ^MX^KM
++?[?GE!BBc* [=. 3GBBGa?E; T.B![?GEV=?I ?V _V.+ 3GT [=. ?VG'=GT?' =.![ BGVV)
H 9 9 9, * *
1 1 1 +* *
H 9 9+ 9  ,
E [=![* a. =!`. 9, 1 9+ M
# **<* # **<* # **<* # **<*
H H H, H H,
1 1
H H+ H H H+
=?V T.V_B[V ?E) H EH 1 JH+ EH, K* 1 A* * a=?'= c?.B+V [=. [=.TCG+cE!C?' .5>
'?.E'c G3 [=. ?.V.B .E;?E.)
H H A*  H
&=& 1 H  J^MX\K
%* / A  H
[ '!E $. V..E [=![ [=. .5'?.E'c &=& +.'T.!V.V !V [=. BG!+ A ?V ?E'T.!V.+M [ =?;=
BG!+V* [=. +?.V.B .E;?E. =!V ! BGa.T .5'?.E'c 'GCI!T.+ [G [=.  .E;?E.* V_IIGV?E;
[=. V!C. 'GCIT.VV?GE T![?G % 3GT $G[= JV.. ?;_T. ^MH\KM =. 'GCIT.VV?GE T![?G
3GT ?.V.B .E;?E.V ?V =Ga.`.T C_'= =?;=.T [=!E 3GT  .E;?E.V [G ?CITG`. [=.
[=.TCG+cE!C?' .5'?.E'cM

B8B8A  ,/,) ; ;3 <<


=. .?B?;.T ITG'.VV CG+.BV [=. [=.TCG+cE!C?' ITG'.VV ?E !_[GCG[?`. .E;?E.V
C_'= $.[[.T [=!E [=. IT.`?G_VBc +.V'T?$.+ CG+.BV G3  !E+ ?.V.B .E;?E.VM ?;>
_T. ^MH^ V=GaV [=![ [=. 'GC$_V[?GE ?V EGa +?`?+.+ ?E[G [aG I!T[V) E [=. 7TV[
C:C:       ^8

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I!T[* [=. ;!V ?V =.![.+ ?E !E -=4+4<- 6<4!== $.[a..E V[.I ^ !E+ V[.I \M E
[=. V.'GE+ I!T[ [=. ;!V ?V .bI!E+.+ ?E !E -=4<- =AA! +2*! $.[a..E V[.I \
!E+ V[.I \SM =. 'c'B. ?V '=!T!'[.T?d.+ $c [=. 416<!==-42 <A-4 % 1  E, *
[=. -2.!A-42 <A-4 A 1 + E+ * !E+ [=. 6<!==D<! <A-4)
9+
1 J^MX:K
9,
=. +?4.T.E[ V[.IV G3 [=. 'c'B. !T. [=. 3GBBGa?E;)
H  ^ ) V.E[TGI?' 'GCIT.VV?GE* "? 1 e)
"? 1 "I N "K 1 e
? , 1 e
"K 1 "I 1 3 A "H
K , 1 3 A JH,  H K

^  \ ) VG'=GT?' ?EI_[ G3 [=.TC!B .E.T;c* " 1 e)


"K 1 9 " 1 e
K, + 1 e
"? 1 "I 1 3 A "H
?, + 1 3 A JH+  H, K

\  \ ) VG$!T?' ?EI_[ G3 [=.TC!B .E.T;c* "9 1 e)


"? 1 "+   "9 1 3 2 "H
?+ +  1 3 2 JH+  H+ K
"K 1 9 " 1 3  "H
K+ + 1 3 JH+  H+ K
^Y C:       

\  : ) V.E[TGI?' .bI!EV?GE* "? 1 e)


? +  1 e
"K 1 "I 1 3 A "H
K +  1 3 A JH  H+ K

:  H ) VG'=GT?' =.![ BGVV* " 1 e)


"K 1 9 " 1 e
K  1 e
"? 1 "I N "K 1 3 A "H
?  1 3 A JH  H K

=. [=.TCG+cE!C?' .5'?.E'c G3 [=. .B?;.T ITG'.VV ?V [=.E)


K  , N K , + N K + +  N K +  N K  
&=& 1
?, +
H EH  H
1 H
H+ EH  H, EH N /JH+ EH  H+ EH K
=. ?V.E[TGI?' ITG'.VV ?V '=!T!'[.T?d.+ $c)
H,
1 %*
H
a=?'= c?.B+V)
# **
H  +
1
H + 
# ** # **
 +  +  +  ,
1 1
+  + 
A '*
1
%
E [=. ?VG'=GT?' ITG'.VV* [=. T.B![?GEV=?I
H+ 9+
1 1
H, 9,
'!E $. _V.+* !E+ [=. [.CI.T![_T. T![?G ?E [=. ?VG$!T?' ITG'.VV ?V ;?`.E $c)
H +  +
1 1A ;
H+ +
=.T.3GT.* [=. 3GBBGa?E; [.CI.T![_T. T![?GV C!c $. .bIT.VV.+ !V)
H+ H+ H,
1 1 %*
H H, H
H + H + H +
1 1 A %*
H H+ H
H H  H + A '*
1 1 A %* 1 A*
H H + H  %
C:C:       ^X

&=&
A1H
A1^
A1\
eMY

1 H!
J/ 1 H;:! % 1 HH! A 1 HK
A
eM:

J/ 1 H;:! % 1 ^\!
A 1 37"I0F$"K
",$C$0


eM^

: / H^  ^e ^: %


  1%E7;#Q973 %*3%9Q " #%=%9#390 ;9 ;7=E%FF3;9 EJ3;  9# 6;#
+ >CMJ3;9 LAG-?

=. [=.TCG+cE!C?' .5'?.E'c G3 [=. .B?;.T ITG'.VV '!E $. V?CIB?7.+ [G)


H A*  H
&=& 1 H  J^MX8K
%*  H N / JA  HK
[ '!E $. V..E [=![ [=. [=.TCG+cE!C?' .5'?.E'c G3 [=.  .E;?E. ?V G$[!?E.+
a=.E A 1 H !E+ [=![ G3 [=. ?.V.B .E;?E. a=.E 1 H J?;_T. ^MH\KM

B8B8( 305;,<31 3" ,# ; 1@ 1),1 31 5@<


=. ?E>'cB?E+.T IT.VV_T. +_T?E; 'GC$_V[?GE ?V IBG[[.+ G`.T [=. 'T!EAV=!3[ !E;B. ?E
?;_T. ^MH:M =. 'GCIT.VV?GE T![?G % 3GT [=.  .E;?E. ?V B?C?[.+ $c [=. C!b?C_C
!BBGa!$B. IT.VV_T. 9+ +_T?E; [=. 'GC$_V[?GE ITG'.VVM E+.T I!T[ BG!+ 'GE+?[?GEV*
[=. C!b?C_C IT.VV_T. G3 ! 'c'B. ?V 3!T $.BGa [=?V B?C?[* V?E'. [=.  .E;?E. IGa.T
G_[I_[ ?V CG+_B![.+ $c [=TG[[B?E; [=. !?T ?E[!A. [=_V CG+_B![?E; 9 J?;_T. ^MH8KM
 BGa 'GCIT.VV?GE T![?G % ?V !BVG =.BI3_B [G T.+_'. AEG'A?E; G3 [=. .E;?E. !E+
[G C..[ C![.T?!B +.C!E+VM E 'GE[T!V[ [G  .E;?E.V* [=. C!b?C_C IT.VV_T. 3GT
?.V.B .E;?E.V ?V 'BGV.T V.[ [G [=. C!b?C_C !BBGa!$B. IT.VV_T. 9+ M V [=. ?.V.B
.E;?E. ?V _E[=TG[[B.+ JCG+_B![?GE G3 AK* ?[ '!E !4GT+ =?;=.T 'GCIT.VV?GE T![?GV
% 1  E, [=!E [=.  .E;?E. J?;_T. ^MHYKM
=. 3G_T>V[TGA. .E;?E. aGTAV ?E[.TC?[[.E[Bc)  =G[ 'GC$_V[?GE 'c'B. ?V !B>
a!cV 3GBBGa.+ $c ! 'GGB ;!V .b'=!E;. 'c'B.M E [=. 7TV[ 'c'B.* I.!A [.CI.T![_T.V
G3 ^8ee  ^/ee   G''_TM GCI!T.+ [G [=![* [=. C!b?C_C [.CI.T![_T. G3 ;!V
[_T$?E.V C_V[ $. A.I[ C_'= BGa.T JH\ee  K* V?E'. [=. 'GC$_V[?GE ITG'.VV ?V 'GE>
[?E_G_VM ?.V.B .E;?E.V =!`. ! =?;=.T [=.TCG+cE!C?' .5'?.E'c [=!E  .E;?E.V
^/ C:       

9,CF75
9 37J$C

I9 "7K5

,C$5F@79,


 


 
92Q639#%E =E%FFME% ;N%E E95F1(J 906% #ME390 ;7MFJ3;9 =E;%FF

![ BGa !E+ C.+?_C IGa.T J?;_T. ^MH\KM [ [_T$G'=!T;.+ ?.V.B .E;?E.V !BVG 9
?V CG+_B![.+M E GT+.T [G V[!c $.BGa C!b?C_C [.CI.T![_T.V* [=. 'GCIT.VV?GE
T![?G % ?V T.+_'.+ ![ [_T$G'=!T;.+ ?.V.B .E;?E.VM =. !$VGB_[. .4.'[?`. IGa.T
G_[I_[ G3 'GC$_V[?GE .E;?E.V +.I.E+V GE [=. +?VIB!'.C.E[ `GB_C. ! * [=. VI.>
'?7' aGTA G_[I_[ I.T IGa.T>V[TGA. K# !E+ [=. E_C$.T G3 'T!EAV=!3[ T.`GB_[?GEV
5)
5
# 1 K# ! J^MXYK
^
a=.T.)

# ?V [=. !$VGB_[. .4.'[?`. IGa.T G_[I_[


K# ?V [=. VI.'?7' aGTA T.3.TT.+ [G [=. +?VIB!'.C.E[ `GB_C. !
! ?V [=. +?VIB!'.C.E[ `GB_C.   ,
J=.T.* GEBc GE. 'cB?E+.T ?V T.;!T+.+K
5 ?V [=. E_C$.T G3 'T!EAV=!3[ T.`GB_[?GEV I.T C?E_[.
=. 3!'[GT HE^ ?V E.'.VV!Tc ?E +.[.TC?E?E; [=. IGa.T G_[I_[ G3 3G_T>V[TGA. .E;?E.V
V?E'. GEBc .`.Tc V.'GE+ 'c'B. 'GE[T?$_[.V IGa.TM =. C.!E I?V[GE `.BG'?[c C-
+.I.E+V GE [=. E_C$.T G3 'T!EAV=!3[ T.`GB_[?GEV I.T C?E_[. 5 !E+ [=. C!b?C_C
I?V[GE V[TGA. ^ @ 3TGC [GI +.!+ [G $G[[GC +.!+ '.E[.TM =. C.!E I?V[GE `.BG'?[c
?V)
C- 1 : 5 @ J^MXXK
C:B:         ^F

9
Ye \S

\

3L,3I3 07" J9 1 H @K
07K$@ 9@F 07" J9 1 e;\8 @K
8e
J% 1 HH! / 1 H;\! H, 1 Yee K

:e

\e

^S
^e

He \ \
^ :S
 HS
9 :
9 H  
, ++ 


  ;# %1N3;E ;( 
%9039% >;#M6J3;9 ;( & ?" < * ' <S 

 [cI?'!B `!B_. ?E '!T .E;?E.V ?V C- 1 H8 3EC ![ C!b?C_C IGa.T G_[I_[M O_!>


[?GE ^MXY '!E EGa $. aT?[[.E !V)
# C-
1 K# J^MX/K
! /@

B.!V. EG[. [=![ [=. VI.'?7' IGa.T # E! ?V ?E`.TV.Bc ITGIGT[?GE!B [G [=. C!b?>
C_C I?V[GE V[TGA. ^ @ J@ ?V [=. 'T!EAV=!3[ T!+?_VKM !$B. ^MH ;?`.V VGC. .b!CIB.V
G3 .E;?E. [cI.V !E+ [=.?T '=!T!'[.T?V[?' `!B_.VM [ '!E $. V..E [=![ [=. VI.'?7'
IGa.T +.'T.!V.V a?[= ?E'T.!V?E; +?C.EV?GEV @ ![ B!T;. .E;?E.VM =.c !T. C!?EBc
_V.+ ?E V=?IV $.'!_V. G3 [=.?T [=.TCG+cE!C?' .5'?.E'cM =.E V?d. !E+ a.?;=[
!T. C!@GT 'GE'.TEV ![ =?;= IGa.T B.`.BV* ;!V [_T$?E.V !T. IT.3.TT.+ .M;M ?E !?T>
'T!3[M

B8A /@ ;1@,D 30C<@,31 1),1 <


B8A84 < C;,1
E [=. ;!V [_T$?E. .E;?E. 3_.B ?V 'GC$_V[.+ ?E ! 'GE[?E_G_V ITG'.VVM =. !?T =!V
[G $. 'GCIT.VV.+ $.3GT. ?[ 9GaV ?E[G [=. 'GC$_V[?GE '=!C$.TM =.T. [=. 3_.B
\e C:       

9
^\ \S
Ye

3L,3I3 07" JA 1 \;XHK


07K$@ 9@F 07" JA 1 H;eXK
8e J% 1 ^\! / 1 H;\! H, 1 X8e !
9 1 H @K

:e

A
\e

^e

He
:S
:
H
 


, + +


  ;# %1N3;E ;( 3%F%6 %9039% >;#M6J3;9 ;( +?" < * ' <S 

?V ?E@.'[.+ !E+ $_TE.+M =. T.V_B[?E; .bI!EV?GE G3 [=. ;!V ?V _V.+ [G [_TE [=.
[_T$?E. V=!3[M =.T.3GT.* [=. .4.'[?`. IGa.T ?V [=. IGa.T G3 [=. [_T$?E. C?E_V
[=. IGa.T _V.+ 3GT [=. 'GCIT.VVGTM =. ITG'.VV '!E $. CG+.B.+ !V ! <HA42
H0! JGT G_B. ITG'.VVK a=?'= ?V V=GaE ?E ?;_T. ^MHXM =. +?4.T.E[ V[.IV G3
[=. T!c[GE 'c'B.)
H  ^ ) V.E[TGI?' 'GCIT.VV?GE* "? 1 e)
"? 1 "I N "K 1 e
? , 1 e
"K 1 "+ 1 3 2 "H
K , 1 3 2 JH,  H K
=. A?E.[?' .E.T;c K , ?V ITG`?+.+ $c [=. 'GCIT.VVGTM
^  \ ) VG$!T?' ?EI_[ G3 [=.TC!B .E.T;c* "9 1 e)
"? 1 "+   "9 1 3 2 "H
?, + 1 3 2 JH+  H, K
"K 1 9 " 1 3  "H
K, + 1 3 JH+  H, K
C:B:         \H

   =%3, =;O%E ;MJ=MJ ;( NE3;MF ;7MFJ3;9 %9039%F

E;?E. [cI. C- K# ^@ # E!


%3EC& %
E3+ & %3& %. E"3+ &
!T .E;?E. H8 HMY / X8
T_'A .E;?E. HH HMF H: \X
?; 3G_T>V[TGA. +?.V.B F ^Me \^ H:
?; [aG>V[TGA. +?.V.B X HM/ Ye 8

9 ?, + H

^ \ \
?, +

,C$5F@79,
^
,C$5F@79,
:
H : H
?   ?  


  =2#30E7 >6%(J? 9# 12#30E7 >E301J? ;( J1% EQJ;9 Q6%

\  : ) V.E[TGI?' .bI!EV?GE* "? 1 e* ;.E.T![?GE G3 aGTA)

?+  1 e
"K 1 "+ 1 3 2 "H
K+  1 3 2 JH  H+ K

:  H ) VG$!T?' =.![ BGVV* "9 1 e)

"? 1 "+   "9 1 3 2 "H


?  1 3 2 JH  H K
"K 1 3  "H 1 e
K  1 3 JH  H K

=. [=.TC!B .E.T;c ?  !E+ C.'=!E?'!B aGTA K  !T. $G[= E.;![?`. $.>
'!_V. G3 H 2 H M
\^ C:       

=. [=.TC!B .5'?.E'c G3 [=. ;!V [_T$?E. ?V)


?, + N ? 
&=& 1
?, +
3 2 JH+  H, K N 3 2 JH  H K
1
3 2 JH+  H, K
H H  H EH
1 H
H+ H  H, EH+
V IG?E[.+ G_[ $.3GT.* [=. ?V.E[TGI?' ITG'.VV ?V '=!T!'[.T?d.+ $c)
# **
H , H H
1 1 * 1
H,  % H+

=. T.B![?GEV=?I H EH 1 H, EH+ 3GT [=. ?V.E[TGI?' ITG'.VV !E+ [=. ?E@.'[?GE T![?G
A 1 H+ EH, !T. _V.+ [G V?CIB?3c [=. [=.TCG+cE!C?' .5'?.E'c)
H H
&=& 1 H  J^MXFK
A H,
=. .5'?.E'c G3 [=. ;!V [_T$?E. +.I.E+V GE [=. [.CI.T![_T. T![?G H EH, M .!>
VGE!$Bc =?;= .5'?.E'c B.`.BV '!E GEBc $. T.!'=.+* ?3 [=. [=.TC!B .E.T;c G3 [=.
G_[;G?E; !?T ?  ?V _V.+ [G =.![ _I [=. ?E'GC?E; !?T ?E 3TGE[ G3 [=. 'GCIT.VVGT
?, , M ?;_T. ^MH/ V=GaV [=. H>+?!;T!C V_IIGV?E; ! 'GCIB.[. T.'?T'_B![?GE G3
[=.TC!B =.![M VV_C?E; H, 1 H !E+ H, 1 H * [=. E.'.VV!Tc ?EI_[ G3 [=.TC!B
.E.T;c 3GT .!'= 'c'B. '!E $. T.+_'.+ [G)

?, + 1 3 2 JH+  H, K 1 3 2 JH+  H K J^M/eK

!E+ [=. =.![ BGVV ?V !BVG T.+_'.+ [G)

?  1 3 2 JH  H K 1 3 2 JH  H, K J^M/HK

O_![?GE ^MXF '!E $. CG+?7.+)


? , + N ?   
&=& 1
? , +
H, H  H EH,
1 H
H+ H  H EH+
?E!BBc* $c _V?E; [=. V!C. T.B![?GEV=?IV !V $.3GT.* [=. [=.TCG+cE!C?' .5'?.E'c
G3 [=. ;!V [_T$?E. a?[= 'GCIB.[. =.![ T.'?T'_B![?GE ?V)
H
&=& 1 H  J^M/^K
A
=. [=.TC!B .5'?.E'c +.I.E+V GEBc GE [=. BG!+ A 1 H+ EH, M =. =?;=.T [=. BG!+
[=. $.[[.T [=. .5'?.E'cM =. C!b?C_C [.CI.T![_T. H+ ?V C!?EBc B?C?[.+ $c [=.
C![.T?!B 3TGC a=?'= [=. ;!V [_T$?E. ?V 'GEV[T_'[.+M O_![?GE ^M/^ ?V EG[ `!B?+
3GT .b[T.C.Bc VC!BB BG!+V !V [=. =.![ T.'?T'_B![?GE +G.V EG[ aGTA ITGI.TBc _E+.T
[=.V. 'GE+?[?GEVM =. C!?E !+`!E[!;.V G3 ;!V [_T$?E.V !T. [=. 3GBBGa?E;)
C:B:         \\

? , + \
F+$@30 +$F
@$,@I0F,75
H  * H,

^ :

^ :

H
?  



  12#30E7 ;( J1% ;M6% =E;%FF O3J1 1%J E%3EM6J3;9

!V [_T$?E.V !T. C_'= VC!BB.T !E+ B?;=[.T 'GCI!T.+ [G 3G_T>V[TGA. I?V[GE
.E;?E.V) =. a.?;=[ I.T IGa.T G_[I_[ ?E ;!V [_T$?E.V ?V e;\  e;8 .(E.
!E+ 3GT 3G_T>V[TGA. I?V[GE .E;?E.V ?[ ?V H;e  H;8 .(E. M


?;= [GTO_. '!E $. ;.E.T![.+ .`.E ![ `.Tc BGa T.`GB_[?GEVM

?4.T.E[ [cI.V G3 3_.B '!E $. _V.+ 3GT 'GC$_V[?GE) C_B[?>3_.B '!I!$?B?[cM

!V [_T$?E.V !T. .!Vc [G V[!T[ .`.E ![ BGa [.CI.T![_T.VM

Ga `?$T![?GEV $.'!_V. G3 ! 'GE[?E_G_V 'GC$_V[?GE !E+ [=. TG[!Tc CG[?GEM

GE; V.T`?'. ?E[.T`!BV $.[a..E T.O_?T.+ C!?E[.E!E'.M

.+_'.+ .C?VV?GEV G3 EGb?G_V .b=!_V[ ;!V.VM  [.V[ T.V_B[V)


 1 ^e (*  1 e;/ (*  C 1 ^  \ ( I.T [.V[M

Ga.`.T* [=.T. !T. VGC. +?V!+`!E[!;.V)

Ga .5'?.E'c 3GT BGa BG!+VM

GGT +cE!C?' $.=!`?GT +_T?E; [T!EV?.E[VM

!V [_T$?E.V !T. C!?EBc _V.+ ?E !?T IB!E.V $.'!_V. G3 [=.?T BGa a.?;=[M =.?T .5>
'?.E'c '!E $. ?E'T.!V.+ $c T!?V?E; [=. C!b?C_C !BBGa!$B. [.CI.T![_T.M .T!C?'V
B?A. 0, + GT B!C?E![.+ V?B?'GE>'!T$GE C![.T?!BV !T. _V.+ 3GT [=. 'GEV[T_'[?GE [G
\: C:       

+7F +3$@! H 70" +3$@! H

9 !   9 ! 
9,CF75 9,CF75

+$F$@ @$($5$@F7@ 770$@


  %1936 E%=E%F%9JJ3;9 ;( J1% J3E6390 %9039%

!BBGa =?;=.T [.CI.T![_T.VM E .b!CIB. G3 [.CI.T![_T. `!B_.V 3GT [aG +?4.T.E[


[_T$?E.V [cI.V ?V ;?`.E ?E !$B. ^M^M

   %7=%EJME% N6M%F 39   J #3)%E%9J 6;J3;9F ;(  7%J6 9#  %E73


0F JME39%

G'![?GE G3 C.!V_T.C.E[ .[!B ;!V [_T$?E. .T!C?' ;!V [_T$?E.


GCIT.VVGT ?EB.[ ^\e ^8e

.![ .b'=!E;.T G_[B.[ J!?TK Xee F8e
GC$_V[?GE '=!C$.T G_[B.[ Heee>HHee H^8e>H\8e

.![ .b'=!E;.T ?EB.[ J;!VK X8e Heee

.![ .b'=!E;.T G_[B.[ J;!VK ^Xe \ee

B8A8B @,;/,1) 1),1


=. [?TB?E; .E;?E. ?V ! I?V[GE .E;?E. a=?'= _V.V ! 'GE[?E_G_V =.![ V_IIBcM [
a!V ?E`.E[.+ $c G$.T[ [?TB?E; ?E H/HYM =. 'c'B. ITG'.VV =!V ! =?;= .5'?.E'c*
'GCI!T!$B. [G [=![ G3 [=. T.3.T.E'. !TEG[ 'c'B.M `.E [=G_;= [=. .E;?E. a!V
T.+.V?;E.+ $c =?B?IV GTIGT![?GE J?E HF\/K !E+ T.'.E[Bc $c G[=.T 'GCI!E?.V*
VGC. C.'=!E?'!B ITG$B.CV T.C!?E _EVGB`.+M ?;_T. ^MHF V=GaV [=. C.'=!E?'!B
T.IT.V.E[![?GE G3 [=. [?TB?E; .E;?E.M [ 'GEV?V[V G3 [=T.. C!?E I!T[V)


=.![.T [=. ;!V ?V =.![.+ 3TGC G_[V?+.
 T.;.E.T![GT [=. T.;.E.T![GT V[GT.V [=.TC!B .E.T;c
 'GGB.T [=. ;!V ?V 'GGB.+ 3TGC G_[V?+.
=. =.![.T* T.;.E.T![GT !E+ 'GGB.T !T. BG'![.+ ?E [=. C?++B.M =. I?V[GEV GE [=.
B.3[ !E+ T?;=[ V?+. !T. B?EA.+ C.'=!E?'!BBcM =. 'c'B. 'GEV?V[V G3 [=. 3GBBGa?E;
3G_T V[.IV [=![ '!E $. V..E ?E ?;_T. ^M^e)
C:B:         \8

07C$" N0$ 7'


K7@.,5( 3$",I3
\
JN @$($5$@F7@K

?+  JN +$F$@K

?, +

^
? 

H
? , JF7 770$@K



  =2#30E7 ;( J1% J3E6390 Q6%

H  ^ ) VG[=.TC!B 'GCIT.VV?GE) H 1 H,
=. =.![ ?V !$VGT$.+ $c [=. 'GGB.T a=.E [=. [aG I?V[GEV CG`. [G [=. B.3[
[G 'GCIT.VV [=. ;!VM

,
K , 1 3  H BE

? , 1 K ,

=. .C?VV?GE G3 =.![ ? , ?V .O_?`!B.E[ [G [=. ?EI_[ G3 A?E.[?' .E.T;c K , M

^  \ ) VG'=GT?' ?EI_[ G3 [=.TC!B .E.T;c) , 1 +


=. [aG I?V[GEV CG`. V?C_B[!E.G_VBc [G [=. B.3[ !E+ [=. ;!V ?V =.![.+ $c
[=. T.;.E.T![GTM G[=* IT.VV_T. !E+ [.CI.T![_T. !T. ?E'T.!V.+M

?, + 1 3 A JH+  H, K

\  : ) VG[=.TC!B .bI!EV?GE) H+ 1 H
=. [=.TC!B .E.T;c ?V V_IIB?.+ $c [=. =.![.T* a=.E [=. I?V[GEV CG`. $!'A
[G [=. T?;=[M


K+  1 3  H+ 05
+
?+  1 K+ 

=. C.'=!E?'!B aGTA K+  ?V .O_?`!B.E[ [G [=. [=.TC!B .E.T;c ?+  M

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