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INAO Solved Paper 2009
INAO Solved Paper 2009
E
✰✱✲✳✴✲ ✹✺✻✲✼
✽ ❀✟☛✣✯☛ ✇☞✩✤☛ ★✞✉☞ ☞✞✟✟ ✧✉✡❜☛☞ ✞✧ ✤✞❁ ✞❢ ✤❂✩✯ ❁✣❃☛ ✩✧ ✤❂☛ ✯❁✣❝☛ ❁☞✞✈✩❄☛❄❅
✽ ❇☛❢✞☞☛ ✯✤✣☞✤✩✧❃❊ ❁✟☛✣✯☛ ☛✧✯✉☞☛ ✤❂✣✤ ★✞✉ ❂✣✈☛ ☞☛❝☛✩✈☛❄ ✣ ❝✞❁★ ✞❢ ✤❂☛ q✉☛✯✤✩✞✧ ❁✣❁☛☞
❝✞✧✤✣✩✧✩✧❃ ✤✞✤✣✟ ✸ ❁✣❃☛✯ ❋● ✯✩❄☛✯❑❅
✽ ✗✧ ▲☛❝✤✩✞✧ ✘❊ ✤❂☛☞☛ ✣☞☛ ✶✜ ✡✉✟✤✩❁✟☛ ❝❂✞✩❝☛ q✉☛✯✤✩✞✧✯ ✇✩✤❂ ❯ ✣✟✤☛☞✧✣✤✩✈☛✯ ✞✉✤ ✞❢ ✇❂✩❝❂
❫✪✬❴❵ ❩❴✮❫✫✪❅
CS
✞✧✟★ ✶ ✩✯ ❝✞☞☞☛❝✤❅ ❨✞✉ ❃☛✤ ✸ ✡✣☞❦✯ ❢✞☞ ☛✣❝❂ ❝✞☞☞☛❝✤ ✣✧✯✇☛☞ ✣✧❄ ❱❲ ❳❩✪❬ ❭✬✪ ✫❩❪❤
✽ ✗✧ ▲☛❝✤✩✞✧ ❇❊ ✤❂☛☞☛ ✣☞☛ ❯ ✡✉✟✤✩❁✟☛ ❝❂✞✩❝☛ q✉☛✯✤✩✞✧✯ ✇✩✤❂ ❯ ✣✟✤☛☞✧✣✤✩✈☛✯ ☛✣❝❂❊ ✞✉✤ ✞❢
✇❂✩❝❂ ✣✧★ ✧✉✡❜☛☞ ✞❢ ✣✟✤☛☞✧✣✤✩✈☛✯ ✡✣★ ❜☛ ❝✞☞☞☛❝✤❅ ❨✞✉ ❃☛✤ ❥ ✡✣☞❦✯ ❢✞☞ ☛✣❝❂ ❝✞☞☞☛❝✤
✣✧✯✇☛☞❅ ✠✞ ✡✣☞❦✯ ✣☞☛ ❄☛❄✉❝✤☛❄ ❢✞☞ ✣✧★ ✇☞✞✧❃ ✣✧✯✇☛☞✯❅ ③✬✭ ❫⑤⑥⑥ ❵✫⑦ ❪✪✫⑧⑤⑦ ❭✬✪
⑦❤✫ ⑨✭✫✮⑦⑤✬❴ ⑤❭ ❩❴⑧ ✬❴⑥⑩ ⑤❭ ⑩✬✭ ❳❩✪❬ ❩⑥⑥ ❪✬✪✪✫❪⑦ ❪❤✬⑤❪✫✮ ❩❴⑧ ❴✬ ❫✪✬❴❵
❪❤✬⑤❪✫✮❶ ❷❂☛☞☛ ✩✯ ✧✞ ❁✣☞✤✩✣✟ ❝☞☛❄✩✤❅
✽ ❸✞☞ ❜✞✤❂ ✤❂☛✯☛ ✯☛❝✤✩✞✧✯❊ ★✞✉ ❂✣✈☛ ✤✞ ✩✧❄✩❝✣✤☛ ✤❂☛ ✣✧✯✇☛☞✯ ✞✧ ✤❂☛ ❁✣❃☛ ✛ ✞❢ ✤❂☛
✣✧✯✇☛☞✯❂☛☛✤ ❜★ ❁✉✤✤✩✧❃ ✣ ❹ ✩✧ ✤❂☛ ✣❁❁☞✞❁☞✩✣✤☛ ❜✞① ✣❃✣✩✧✯✤ ✤❂☛ ☞☛✟☛✈✣✧✤ q✉☛✯✤✩✞✧
✧✉✡❜☛☞❊ ✟✩❦☛ ✤❂✩✯✿
❺❅✠✙❅ ❋✣❑ ❋❜❑ ❋❝❑ ❋❄❑ ❺❅✠✙❅ ❋✣❑ ❋❜❑ ❋❝❑ ❋❄❑
✛✛ ❻ ❼ ❻ ❻ ❽❾ ✸❥ ❼ ❼ ❻ ❻
▼✣☞❦✩✧❃ ✣ ❝☞✞✯✯ ❋❹❑ ✡☛✣✧✯ ✣❿☞✡✣✤✩✈☛ ☞☛✯❁✞✧✯☛ ❋✯☛✟☛❝✤✩✧❃ ✤❂☛ ❁✣☞✤✩❝✉✟✣☞ ❝❂✞✩❝☛❑❅
HB
❉✞ ✧✞✤ ✉✯☛ ✤✩❝❦✯ ✞☞ ✣✧★ ✞✤❂☛☞ ✯✩❃✧✯ ✤✞ ✡✣☞❦ ✤❂☛ ❝✞☞☞☛❝✤ ✣✧✯✇☛☞✯❅
✽ ✗✧ ▲☛❝✤✩✞✧ ➀❊ ✤❂☛☞☛ ✣☞☛ ❥ ✣✧✣✟★✤✩❝✣✟ q✉☛✯✤✩✞✧✯ ✤✞✤✣✟✟✩✧❃ ❥✜ ✡✣☞❦✯❅
✽ ❇✟✣✧❦ ✯❁✣❝☛✯ ✣☞☛ ❁☞✞✈✩❄☛❄ ✩✧ ✤❂☛ q✉☛✯✤✩✞✧ ❁✣❁☛☞ ❢✞☞ ✤❂☛ ☞✞✉❃❂ ✇✞☞❦❅ ✠✞ ☞✞✉❃❂ ✇✞☞❦
✯❂✞✉✟❄ ❜☛ ❄✞✧☛ ✞✧ ✤❂☛ ✣✧✯✇☛☞➁✯❂☛☛✤❅
✽ ✠✞ ❝✣✟❝✉✟✣✤✞☞✯ ✣☞☛ ✣✟✟✞✇☛❄❅
✽ ❚❤✫ ❩❴✮❫✫✪❱✮❤✫✫⑦ ❳✭✮⑦ ➂✫ ✪✫⑦✭✪❴✫⑧ ⑦✬ ⑦❤✫ ⑤❴➃⑤❵⑤⑥❩⑦✬✪❅ ❨✞✉ ❝✣✧ ✤✣❦☛ ✤❂✩✯
q✉☛✯✤✩✞✧ ❜✞✞❦✟☛✤ ❜✣❝❦ ✇✩✤❂ ★✞✉❅
E
✘✯✤☞✞✧✞✡✩❝✣✟ ➆✧✩✤ ✶ ✘❅ ➆❅ ✙ ✶✿❥ ❹ ✶✜✶✶ ✡
●☞✣✈✩✤✣✤✩✞✧✣✟ ➀✞✧✯✤✣✧✤ ✙ ●✿●✼ ❹ ✶✜✁✶✶ ✡✸ ❂❋ ❑❃ ✯✷ ❑
●☞✣✈✩✤✣✤✩✞✧✣✟ ✘❝❝☛✟☛☞✣✤✩✞✧ ✞✧ ✤❂☛ ➅✣☞✤❂ ❣ ✙ ✢✿➈ ✡❂✯✷
●☞✣✈✩✤✣✤✩✞✧✣✟ ✘❝❝☛✟☛☞✣✤✩✞✧ ✞✧ ✤❂☛ ▼✞✞✧ ❣♠ ✙ ✶✿● ✡❂✯✷
CS
HB
P❛ t ✁✿ ✭✶✂ ◗ ✄ ✸ ♠❛ ❦s ❡❛❝❤✮
✶❅ ✗❢ ☎① ❂ ❜② ❂ ❝③ ✣✧❄ ❜✷ ❂ ☎❝❊ ✤❂☛✧ ★ ❂ ❄
✷①③ ❋❜❑ ①③ ♣ ♣
❋✣❑ ①✰③ ①✰③ ❋❝❑ ✛✆✝ ❋❄❑ ✆✝
✛❅ ➅✣❝❂ ✞❢ ✤❂☛ ☞❃✉☞☛✯ ❜☛✟✞✇ ❄☛❁✩❝✤ ✣ ❝✞✧✯✤☛✟✟✣✤✩✞✧❅ ❸✩✧❄ ✤❂☛ ✞❄❄ ✞✧☛ ✞✉✤❅
E
❋✣❑ ❋❜❑ ❋❝❑ ❋❄❑
✸❅ ●☞✣✈✩✤✣✤✩✞✧✣✟ ❢✞☞❝☛ ❜☛✤✇☛☛✧ ✤✇✞ ✩❄☛✧✤✩❝✣✟ ✉✧✩❢✞☞✡ ✯✞✟✩❄ ❃✞✟❄ ✯❁❂☛☞☛✯ ✞❢ ☞✣❄✩✉✯ ✞ ☛✣❝❂
❋✣❑ ✞✹ ❋❜❑ ✞ ✷
CS
✩✧ ❝✞✧✤✣❝✤ ✩✯ ❁☞✞❁✞☞✤✩✞✧✣✟ ✤✞
❋❝❑ ✟✶✠ ❋❄❑ ✟✶✡
❯❅ ✘ ❝✞❁❁☛☞ ❝✉❜☛ ✣✧❄ ✣ ✇✞✞❄☛✧ ❝✉❜☛ ✞❢ ✈✞✟✉✡☛ ✶✜✁✸ ✡✸ ☛✣❝❂ ✣☞☛ ✩✧✩✤✩✣✟✟★ ✣✤ ☞✞✞✡
✤☛✡❁☛☞✣✤✉☞☛❅ ❷❂☛★ ✣☞☛ ✤❂☛✧ ✡✞✈☛❄ ✤✞ ✣✧ ☛✧❝✟✞✯✉☞☛ ✞❢ ✣✡❜✩☛✧✤ ✤☛✡❁☛☞✣✤✉☞☛ ❥✜✍➀❅
❲❂✣✤ ❝✣✧ ✇☛ ❝✞✧❝✟✉❄☛ ✣❜✞✉✤ ✤❂☛ ✤☛✡❁☛☞✣✤✉☞☛✯ ✣✤✤✣✩✧☛❄ ❜★ ❜✞✤❂ ❝✉❜☛✯ ✣❢✤☛☞ ❥ ❂✞✉☞✯❄
❋✣❑
❋❜❑
❚☛♦✌✌✎✏ ❃ ❚✇♦♦❞
✇✞✞❄❅
❚✇♦♦❞ ❃ ❚☛♦✌✌✎✏
❝✞❁❁☛☞❅
✣✯ ✤❂☛☞✡✣✟ ❝✞✧❄✉❝✤✩✈✩✤★ ✞❢ ❝✞❁❁☛☞ ✩✯ ❃☞☛✣✤☛☞ ✤❂✣✧ ✤❂✣✤ ✞❢
❋❝❑ ❷❂☛ ✤☛✡❁☛☞✣✤✉☞☛✯ ✇✩✟✟ ❄☛❁☛✧❄ ✞✧ ✤❂☛ ✩✧✤☛☞❁✟✣★ ❜☛✤✇☛☛✧ ✯❁☛❝✩☞ ❝ ❂☛✣✤ ❝✣➁
❁✣❝✩✤★ ✣✧❄ ✤❂☛☞✡✣✟ ❝✞✧❄✉❝✤✩✈✩✤★ ✞❢ ✤❂☛ ✡✣✤☛☞✩✣✟✯❅
❋❄❑ ❇✞✤❂ ✤☛✡❁☛☞✣✤✉☞☛✯ ✇✩✟✟ ❜☛ ❁☞✣❝✤✩❝✣✟✟★ ✤❂☛ ✯✣✡☛❊ ✣✯ ✤❂☛★ ✣☞☛ ✩✧ ✤❂☛ ☛✧❝✟✞✯✉☞☛
❢✞☞ ❥ ❂✞✉☞✯❅
HB
❥❅ ✗❢ ✤❂☛ ❁☞✞❄✉❝✤ ✞❢ ✣✟✟ ✤❂☛ ✧✉✡❜☛☞✯ ❢☞✞✡ ✶ ✤✞ ✶✜✜ ✩✯ ❄✩✈✩✯✩❜✟☛ ❜★ ✛♥ ❊ ✤❂☛✧ ✇❂✣✤ ✩✯ ✤❂☛
✡✣①✩✡✉✡ ❁✞✯✯✩❜✟☛ ✈✣✟✉☛ ❢✞☞ ✑❄
❋✣❑ ✶✛➈ ❋❜❑ ✢✼ ❋❝❑ ●❯ ❋❄❑ ➈✼
✦
✒ ✦
✒
●❅ ❷✇✞ ✈☛❝✤✞☞✯ ✓ ✣✧❄ ✔ ✣☞☛ ✣❝✤✩✧❃ ✣✤ ✣ ❁✞✩✧✤ ✯✉❝❂ ✤❂✣✤ ✤❂☛✩☞ ☞☛✯✉✟✤✣✧✤ ✩✯ ❁☛☞❁☛✧❄✩❝✉✟✣☞
✦
✒ ✦
✒ ✦
✒ ❥✖❥ ✩✯ ❃✩✈☛✧ ❜★❊
✤✞ ✔ ❅ ✗❢ ✕ ✩✯ ✤❂☛ ✣✧❃✟☛ ❜☛✤✇☛☛✧ ✓ ✣✧❄ ✔ ✤❂☛✧ ❥✗❥
❋✣❑ ❝✞✯ ✕ ❋❜❑ ✯☛❝ ✕ ❋❝❑ ✒ ❝✞✯ ✕ ❋❄❑ ✒ ✯☛❝ ✕
✼❅ ❲❂✣✤ ✇✩✟✟ ❜☛ ✤❂☛ ✣❁❁☞✞①✩✡✣✤☛ ❁☛☞✩✞❄ ✞❢ ➀❂✣✧❄☞✣★✣✣✧ ✡✞✈✩✧❃ ✩✧ ✣✧ ✞☞❜✩✤ ✶✜✜ ❦✡
✣❜✞✈☛ ✤❂☛ ✡✞✞✧✬✯ ✯✉☞❢✣❝☛❄
❋✣❑ ❥✼ ✡✩✧ ❋❜❑ ✸✜ ✡✩✧ ❋❝❑ ✶✶➈ ✡✩✧ ❋❄❑ ✼✢ ✡✩✧
✘
■◆❆❖ ④ ❙r ④ ✷✵✵✾
➈❅ ✗✧ ✤❂☛ ❢✞✟✟✞✇✩✧❃ ☞❃✉☞☛❊ ✘❊ ❇❊ ➀ ✣☞☛ ✤❂☞☛☛ ✟✩❃❂✤ ✯✞✉☞❝☛ ❁✞✯✩✤✩✞✧✯ ✇✩✤❂ ☞☛✯❁☛❝✤ ✤✞ ✤❂☛ ✞❜➁
✯✤✣❝✟☛ ✣✧❄ ✤❂☛ ✯❝☞☛☛✧❅ ❲❂✩❝❂ ✞❢ ✤❂☛✯☛ ✟✩❃❂✤ ✯✞✉☞❝☛ ❁✞✯✩✤✩✞✧✯ ✇✩✟✟ ☞☛✯✉✟✤ ✩✧ ✤❂☛ ✟✞✧❃☛✯✤
✯❂✣❄✞✇ ✞❢ ✤❂☛ ✞❜✯✤✣❝✟☛ ✞✧ ✤❂☛ ✯❝☞☛☛✧❄
11
00
A
E
B00
11 Screen
11
00
C
Obstacle
❋✣❑ ✘
❋❜❑ ➀
CS
❋❝❑ ✘ ✣✧❄ ➀ ❢✞☞✡ ✯❂✣❄✞✇✯ ✞❢ ✯✣✡☛ ✟☛✧❃✤❂❊ ✇❂✩✟☛ ❇ ❢✞☞✡✯ ✣ ✯✡✣✟✟☛☞ ✯❂✣❄✞✇❅
❋❄❑ ✘✟✟ ✤❂☛ ✤❂☞☛☛ ✟✩❃❂✤ ✯✞✉☞❝☛✯ ✇✩✟✟ ❢✞☞✡ ✯❂✣❄✞✇✯ ✞❢ ✯✣✡☛ ✟☛✧❃✤❂❅
✢❅ ❷❂☛ ❢✞✟✟✞✇✩✧❃ ☞❃✉☞☛ ✯❂✞✇✯ ✯❦☛✟☛✤✞✧ ❝❂✣☞✤ ✞❢ ✤❂☛ ✙☞✩✞✧ ❝✞✧✯✤☛✟✟✣✤✩✞✧❅ ✘❁❁☞✞①✩✡✣✤☛
❭✠✞☞✤❂✧ ✩✯ ✩✧❄✩❝✣✤☛❄ ❜★ ✤❂☛ ✟☛✤✤☛☞ ❅❅❅❅
HB
❋✣❑ ✘ ❋❜❑ ❇ ❋❝❑ ➀ ❋❄❑ ❉
✶✜❅ ❸✩✧❄ ✤❂☛ ☞☛✯✉✟✤✣✧✤ ❢✞❝✣✟ ✟☛✧❃✤❂ ❢✞☞ ❢✞✟✟✞✇✩✧❃ ✯★✯✤☛✡ ✇❂☛☞☛ ✤❂☛ ☞✣❄✩✉✯ ✞❢ ❝✉☞✈✣✤✉☞☛ ✩✯
✶❥❝✡❅
0000000000000000000000000
1111111111111111111111111
1111111
0000000
1111111111111111111111111
0000000000000000000000000
0000000000000000000000000
1111111111111111111111111
0000000
1111111
0000000000000000000000000
1111111111111111111111111
0000000000000000000000000
1111111111111111111111111
0000000
1111111
0000000000000000000000000
1111111111111111111111111
0000000000000000000000000
1111111111111111111111111
0000000
1111111
0000000000000000000000000
1111111111111111111111111
0000000000000000000000000
1111111111111111111111111
0000000
1111111
0000000000000000000000000
1111111111111111111111111
0000000000000000000000000
1111111111111111111111111
0000000
1111111
0000000000000000000000000
1111111111111111111111111
0000000000000000000000000
1111111111111111111111111
0000000
1111111
0000000000000000000000000
1111111111111111111111111
0000000000000000000000000
1111111111111111111111111
0000000
1111111
0000000000000000000000000
1111111111111111111111111
0000000000000000000000000
1111111111111111111111111 water
0000000
1111111
0000000000000000000000000
1111111111111111111111111
0000000000000000000000000
1111111111111111111111111
0000000
1111111
0000000000000000000000000
1111111111111111111111111
0000000000000000000000000
1111111111111111111111111
0000000
1111111
0000000000000000000000000
1111111111111111111111111
0000000000000000000000000
1111111111111111111111111
0000000
1111111
0000000000000000000000000
1111111111111111111111111
0000000000000000000000000
1111111111111111111111111
0000000
1111111
0000000000000000000000000
1111111111111111111111111
0000000000000000000000000
1111111111111111111111111
0000000000000000000000000
1111111111111111111111111
glass air
✷
■◆❆❖ ④ ❙r ④ ✷✵✵✾
❙❡❝t✐♦♥ ❇✿ ✭✹ ◗ ✄ ✺ ♠❛ ❦s ❡❛❝❤✮
✶✶❅ ❲❂✩❝❂ ✞❢ ✤❂☛ ❢✞✟✟✞✇✩✧❃ ✞❜✯☛☞✈✣✤✩✞✧✯ ✯✉❁❁✞☞✤ ✤❂☛ ✯✤✣✤☛✡☛✧✤ ✤❂✣✤ ❭➅✈☛☞★ ✯★✯✤☛✡ ✤☛✧❄✯
✤✞ ✣❄❥✉✯✤ ❜★ ✩✤✯☛✟❢ ✤✞ ❂✣✈☛ ✡✩✧✩✡✉✡ ❀✞✤☛✧✤✩✣✟ ➅✧☛☞❃★✧❅
❋✣❑ ✘✧❄☞✞✡☛❄✣ ❃✣✟✣①★ ✣✧❄ ▼✩✟❦★ ❲✣★ ✣☞☛ ✣❁❁☞✞✣❝❂✩✧❃ ☛✣❝❂ ✞✤❂☛☞❅
❋❜❑ ❷✇✞ ✉✧✟✩❦☛❊ ❢☞☛☛ ❝❂✣☞❃☛✯ ✡✞✈☛ ✤✞✇✣☞❄✯ ☛✣❝❂ ✞✤❂☛☞❅
❋❝❑ ➅①✤☛☞✧✣✟ ✇✞☞❦ ✩✯ ☞☛q✉✩☞☛❄ ✤✞ ❝✞✡❁☞☛✯✯ ✣ ✯❁☞✩✧❃❅
E
❋❄❑ ✘ ❁✞✇☛☞❢✉✟ ✡✣❃✧☛✤ ❝✣✧ ❄☛✌☛❝✤ ✣ ❝✞✡❁✣✯✯ ✧☛☛❄✟☛ ❢☞✞✡ ☛q✉✩✟✩❜☞✩✉✡ ❁✞✯✩✤✩✞✧❅
✶✛❅ ➀✞✧✯✩❄☛☞ ✣ ✯☛✣✟☛❄ ❝★✟✩✧❄☛☞ ✇✩✤❂ ❢☞✩❝✤✩✞✧✟☛✯✯❊ ❢☞☛☛➁✡✞✈✩✧❃ ❁✩✯✤✞✧ ✞❢ ☞ ①☛❄ ✡✣✯✯ ✣✤✤✣❝❂☛❄
✞✧ ✤❂☛ ✤✞❁❊ ❦☛❁✤ ✩✧ ✣✧ ☛✧✈✩☞✞✧✡☛✧✤ ✞❢ ❝✞✧✯✤✣✧✤ ✣✤✡✞✯❁❂☛☞✩❝ ❁☞☛✯✯✉☞☛❅ ❷❂☛ ✩❄☛✣✟ ❃✣✯
✩✧ ✤❂☛ ❝★✟✩✧❄☛☞ ✩✯ ✯✟✞✇✟★ ❂☛✣✤☛❄ ✣✧❄ ✩✤ ☛①❁✣✧❄✯❅ ❲❂✩❝❂ ✞❢ ✤❂☛ ❢✞✟✟✞✇✩✧❃ ✩✯ ✴ ✣☞☛ ✤☞✉☛❄
❋✣❑ ❷❂☛ ❄☛✧✯✩✤★ ✞❢ ✤❂☛ ❃✣✯ ✇✩✟✟ ✩✧❝☞☛✣✯☛❅
❋❜❑ ❷❂☛ ❁☞☛✯✯✉☞☛ ✞❢ ✤❂☛ ❃✣✯ ✇✩✟✟ ❄☛❝☞☛✣✯☛❅
CS
❋❝❑ ❷❂☛ ✩✧✤☛☞✧✣✟ ☛✧☛☞❃★ ✞❢ ✤❂☛ ✯★✯✤☛✡ ✇✩✟✟ ☞☛✡✣✩✧ ✤❂☛ ✯✣✡☛❅
❋❄❑ ✗✧ ✤❂✩✯ ❁☞✞❝☛✯✯ ✇✞☞❦ ✩✯ ❄✞✧☛ ❜★ ✤❂☛ ❃✣✯❅
✶✸❅ ✗✧ ✞✧☛ ✞❢ ✤❂☛ ✤☞✉✟★ ☞☛✈✞✟✉✤✩✞✧✣☞★ ☞ ✧❄✯ ✞❢ ✤❂☛ ✛✜ ✦❤ ❝☛✧✤✉☞★❊ ➄✞✇✣☞❄ ➀✣☞✤☛☞ ❄✩✯❝✞✈☛☞☛❄
✤❂☛ ✤✞✡❜ ✞❢ ✤❂☛ ➅❃★❁✤✩✣✧ ❀❂✣☞✣✞❂ ❋☛✡❁☛☞✞☞❑ ❷✉✤✣✧❦❂✣✡☛✧ ✩✧ ✶✢✛✛❅ ❸✞✟✟✞✇✩✧❃ ✩✤☛✡✯
✇☛☞☛ ☞☛✡✞✈☛❄ ❢☞✞✡ ✤❂☛ ✤✞✡❜❊ ✣✟✞✧❃ ✇✩✤❂ ✤❂☛ ✡✉✡✡★ ✞❢ ✤❂☛ ❀❂✣☞✣✞❂❅ ❲❂✩❝❂ ✞❢ ✤❂☛✯☛
✩✤☛✡✯ ❝✞✉✟❄ ❂✣✈☛ ❜☛☛✧ ❝✣☞❜✞✧ ❄✣✤☛❄ ✤✞ ☞ ① ✤❂☛ ❁☛☞✩✞❄ ✞❢ ✤❂☛ ❀❂✣☞✣✞❂❄
❋✣❑ ❸☞✣❃✡☛✧✤✯ ✞❢ ❃✟✣✯✯
❋❜❑ ●✞✟❄☛✧ ❇☞✣❝☛✟☛✤✯
❋❝❑ ❉☞✩☛❄ ❸☞✉✩✤✯
❋❄❑ ▲☛✣✤❂☛☞ ▲❂✞☛
✶❯❅ ❲❂✩❝❂ ✞❢ ✤❂☛ ❢✞✟✟✞✇✩✧❃ ❁❂☛✧✞✡☛✧✣ ✩✯ ✴ ✣☞☛ ✉✯☛❢✉✟❊ ✩✧ ☛✯✤✩✡✣✤✩✧❃ ❄✩✯✤✣✧❝☛✯ ✩✧ ✤❂☛
➆✧✩✈☛☞✯☛❄
❋✣❑ ▲✞✡☛ ✤✩✡☛ ➇☛✧✉✯ ❝✣✧ ❜☛ ✯☛☛✧ ✤☞✣✧✯✩✤✩✧❃ ✞✈☛☞ ✤❂☛ ✯✞✟✣☞ ❄✩✯❝❅
HB
❋❜❑ ▲✤✣☞✯ ✇✩✤❂ ✧✞ ❁☞✞❁☛☞ ✡✞✤✩✞✧ ✣❁❁☛✣☞ ✤✞ ❝❂✣✧❃☛ ✤❂☛✩☞ ❁✞✯✩✤✩✞✧ ✩✧ ✤❂☛ ✯❦★
✇❂☛✧ ✈✩☛✇☛❄ ✯✩① ✡✞✧✤❂✯ ✣❁✣☞✤❅
❋❝❑ ▲✤✣☞✯ ☛①❂✩❜✩✤ ❉✞❁❁✟☛☞ ✯❂✩❢✤❅
❋❄❑ ✘✟✟ ✯✉❁☛☞✧✞✈✣☛ ✞❢ ❷★❁☛ ✗✣ ❂✣✈☛ ✯✣✡☛ ✣❜✯✞✟✉✤☛ ❜☞✩❃❂✤✧☛✯✯❅
✸
■◆❆❖ ④ ❙r ④ ✷✵✵✾
E
✍ ❅ ❋✶✜ ✡✣☞❦✯❑ ❑☛❄✣☞ ✯☛✧✤ ✣ ❝✞✧✤✣✩✧☛☞ ✞❢ ✡✣☞❜✟☛✯ ❜★ ☞✞✣❄ ❢☞✞✡ ▼✉✡❜✣✩ ✤✞ ❀✣☞✣❃ ✩✧
❀✉✧☛❅ ❷❂☛ ❝✞✧✤✣✩✧☛☞ ✇✣✯ ✛♠ ❹ ✛♠ ❹ ✛✿❥ ♠ ✩✧ ✯✩③☛❊ ✇✩✤❂ ❂☛✩❃❂✤ ❜☛✩✧❃ ✤❂☛ ✟✣☞❃☛☞
❄✩✡☛✧✯✩✞✧❅ ▼✣☞❜✟☛✯ ✞❢ ✛ ❝✡ ❄✩✣✡☛✤☛☞ ✇☛☞☛ ✣☞☞✣✧❃☛❄ ✤✞ ☞✟✟ ✤❂☛ ☛✧✤✩☞☛ ❜✣✯☛ ✣✧❄ ✤❂☛✧
✣❄❄✩✤✩✞✧✣✟ ✟✣★☛☞✯ ✞❢ ✡✣☞❜✟☛✯ ✇☛☞☛ ✣☞☞✣✧❃☛❄ ✇✩✤❂ ☛✣❝❂ ✉❁❁☛☞ ✡✣☞❜✟☛ ☛①✣❝✤✟★ ✞✧ ✤✞❁
✞❢ ❝✞☞☞☛✯❁✞✧❄✩✧❃ ✡✣☞❜✟☛ ✩✧ ✤❂☛ ❁☞☛✈✩✞✉✯ ✟✣★☛☞ ❋✯☛☛ ☞❃✉☞☛❑❅ ❷❂☛ ✡✣☞❜✟☛✯ ✇☛☞☛ ✤❂✉✯
❁✟✣❝☛❄ ✉❁✤✞ ✛✡ ❂☛✩❃❂✤ ✤✞ ❝✞✡❁✟☛✤☛ ✤❂☛ ❝✉❜✩❝✣✟ ✯✤☞✉❝✤✉☞☛❅ ➄✞✇☛✈☛☞❊ ✞✧ ☞☛✣❝❂✩✧❃ ❀✉✧☛❊
✇❂☛✧ ❀✣☞✣❃ ✞❁☛✧☛❄ ✤❂☛ ❝✞✧✤✣✩✧☛☞❊ ❂☛ ❢✞✉✧❄ ✤❂☛ ❂☛✩❃❂✤ ✞❢ ✯✤☞✉❝✤✉☞☛ ✇✣✯ ✧✞✤ ✛✡ ✣✯
❁☞✞✡✩✯☛❄ ❜★ ❑☛❄✣☞❊ ❜✉✤ ✯✞✡☛✤❂✩✧❃ ☛✟✯☛❅ ❑☛❄✣☞ ❄☛❢☛✧❄☛❄ ✯✣★✩✧❃ ✤❂✣✤ ✡✣☞❜✟☛✯ ✡✣★
CS
❂✣✈☛ ☞☛✣❄❥✉✯✤☛❄ ❄✉☛ ✤✞ ❥✩❃❃✟✩✧❃❅ ➀✣✧ ★✞✉ ☞ ✧❄ ✧☛✇ ❂☛✩❃❂✤ ✞❢ ✤❂✩✯ ✡✣☞❜✟☛ ❁✩✟☛❄
E
P✻✼✽❀✼ ❁❂❃✼❄
❅ ❇✟☛✩✺☛ ✇☞✯✪☛ ✮✞✉☞ ☞✞✟✟ ✭✉✡❜☛☞ ✞✭ ✪✞❊ ✞❢ ✪❋✯✺ ❊✩●☛ ✯✭ ✪❋☛ ✺❊✩❝☛ ❊☞✞✈✯❑☛❑▲
❅ ◗☛❢✞☞☛ ✺✪✩☞✪✯✭●❯ ❊✟☛✩✺☛ ☛✭✺✉☞☛ ✪❋✩✪ ✮✞✉ ❋✩✈☛ ☞☛❝☛✯✈☛❑ ✩ ❝✞❊✮ ✞❢ ✪❋☛ q✉☛✺✪✯✞✭ ❊✩❊☛☞
❝✞✭✪✩✯✭✯✭● ✪✞✪✩✟ ✸ ❊✩●☛✺ ❱❲ ✺✯❑☛✺❳▲
❅ ✢✭ ❨☛❝✪✯✞✭ ✣❯ ✪❋☛☞☛ ✩☞☛ ✶✧ ✡✉✟✪✯❊✟☛ ❝❋✞✯❝☛ q✉☛✺✪✯✞✭✺ ✇✯✪❋ ❩ ✩✟✪☛☞✭✩✪✯✈☛✺ ✞✉✪ ✞❢ ✇❋✯❝❋
⑤✰✲⑥⑦ ❴⑥✴⑤✱✰▲
CS
✞✭✟✮ ✶ ✯✺ ❝✞☞☞☛❝✪▲ ❬✞✉ ●☛✪ ✸ ✡✩☞❦✺ ❢✞☞ ☛✩❝❋ ❝✞☞☞☛❝✪ ✩✭✺✇☛☞ ✩✭❑ ❭❪ ❫❴✰❵ ❥✲✰ ✱❴③❤
❅ ✢✭ ❨☛❝✪✯✞✭ ◗❯ ✪❋☛☞☛ ✩☞☛ ❩ ✡✉✟✪✯❊✟☛ ❝❋✞✯❝☛ q✉☛✺✪✯✞✭✺ ✇✯✪❋ ❩ ✩✟✪☛☞✭✩✪✯✈☛✺ ☛✩❝❋❯ ✞✉✪ ✞❢
✇❋✯❝❋ ✩✭✮ ✭✉✡❜☛☞ ✞❢ ✩✟✪☛☞✭✩✪✯✈☛✺ ✡✩✮ ❜☛ ❝✞☞☞☛❝✪▲ ❬✞✉ ●☛✪ ⑧ ✡✩☞❦✺ ❢✞☞ ☛✩❝❋ ❝✞☞☞☛❝✪
✩✭✺✇☛☞▲ ✠✞ ✡✩☞❦✺ ✩☞☛ ❑☛❑✉❝✪☛❑ ❢✞☞ ✩✭✮ ✇☞✞✭● ✩✭✺✇☛☞✺▲ ⑨✲✳ ⑤⑩❶❶ ⑦✱❷ ③✰✱❸⑩❷ ❥✲✰
❷❤✱ ❹✳✱✴❷⑩✲⑥ ⑩❥ ❴⑥❸ ✲⑥❶❺ ⑩❥ ❺✲✳ ❫❴✰❵ ❴❶❶ ③✲✰✰✱③❷ ③❤✲⑩③✱✴ ❴⑥❸ ⑥✲ ⑤✰✲⑥⑦
③❤✲⑩③✱✴❻ ❼❋☛☞☛ ✯✺ ✭✞ ❊✩☞✪✯✩✟ ❝☞☛❑✯✪▲
❅ ❽✞☞ ❜✞✪❋ ✪❋☛✺☛ ✺☛❝✪✯✞✭✺❯ ✮✞✉ ❋✩✈☛ ✪✞ ✯✭❑✯❝✩✪☛ ✪❋☛ ✩✭✺✇☛☞✺ ✞✭ ✪❋☛ ❊✩●☛ ✦ ✞❢ ✪❋☛
✩✭✺✇☛☞✺❋☛☛✪ ❜✮ ❊✉✪✪✯✭● ✩ ❾ ✯✭ ✪❋☛ ✩❊❊☞✞❊☞✯✩✪☛ ❜✞① ✩●✩✯✭✺✪ ✪❋☛ ☞☛✟☛✈✩✭✪ q✉☛✺✪✯✞✭
✭✉✡❜☛☞❯ ✟✯❦☛ ✪❋✯✺✿
❿▲✠✤▲ ❱✩❳ ❱❜❳ ❱❝❳ ❱❑❳ ❿▲✠✤▲ ❱✩❳ ❱❜❳ ❱❝❳ ❱❑❳
✦✦ ➀ ➁ ➀ ➀ ➂➃ ✸⑧ ➁ ➁ ➀ ➀
✹✩☞❦✯✭● ✩ ❝☞✞✺✺ ❱❾❳ ✡☛✩✭✺ ✩➄☞✡✩✪✯✈☛ ☞☛✺❊✞✭✺☛ ❱✺☛✟☛❝✪✯✭● ✪❋☛ ❊✩☞✪✯❝✉✟✩☞ ❝❋✞✯❝☛❳▲
HB
❉✞ ✭✞✪ ✉✺☛ ✪✯❝❦✺ ✞☞ ✩✭✮ ✞✪❋☛☞ ✺✯●✭✺ ✪✞ ✡✩☞❦ ✪❋☛ ❝✞☞☞☛❝✪ ✩✭✺✇☛☞✺▲
❅ ✢✭ ❨☛❝✪✯✞✭ ➅❯ ✪❋☛☞☛ ✩☞☛ ⑧ ✩✭✩✟✮✪✯❝✩✟ q✉☛✺✪✯✞✭✺ ✪✞✪✩✟✟✯✭● ⑧✧ ✡✩☞❦✺▲
❅ ◗✟✩✭❦ ✺❊✩❝☛✺ ✩☞☛ ❊☞✞✈✯❑☛❑ ✯✭ ✪❋☛ q✉☛✺✪✯✞✭ ❊✩❊☛☞ ❢✞☞ ✪❋☛ ☞✞✉●❋ ✇✞☞❦▲ ✠✞ ☞✞✉●❋ ✇✞☞❦
✺❋✞✉✟❑ ❜☛ ❑✞✭☛ ✞✭ ✪❋☛ ✩✭✺✇☛☞➆✺❋☛☛✪▲
❅ ✠✞ ❝✩✟❝✉✟✩✪✞☞✺ ✩☞☛ ✩✟✟✞✇☛❑▲
❅ ❚❤✱ ❴⑥✴⑤✱✰❭✴❤✱✱❷ ❫✳✴❷ ➇✱ ✰✱❷✳✰⑥✱❸ ❷✲ ❷❤✱ ⑩⑥➈⑩⑦⑩❶❴❷✲✰▲ ❬✞✉ ❝✩✭ ✪✩❦☛ ✪❋✯✺
q✉☛✺✪✯✞✭ ❜✞✞❦✟☛✪ ❜✩❝❦ ✇✯✪❋ ✮✞✉▲
E
✣✺✪☞✞✭✞✡✯❝✩✟ ➋✭✯✪ ✶ ✣▲ ➋▲ ✙ ✶✿⑧ ❾ ✶✧✶✶ ✡
●☞✩✈✯✪✩✪✯✞✭✩✟ ➅✞✭✺✪✩✭✪ ✙ ❲✿❲✼ ❾ ✶✧✁✶✶ ✡✸ ❂❱ ❑● ✺✷ ❳
●☞✩✈✯✪✩✪✯✞✭✩✟ ✣❝❝☛✟☛☞✩✪✯✞✭ ✞✭ ✪❋☛ ➊✩☞✪❋ ❣ ✙ ★✿➍ ✡❂✺✷
●☞✩✈✯✪✩✪✯✞✭✩✟ ✣❝❝☛✟☛☞✩✪✯✞✭ ✞✭ ✪❋☛ ✹✞✞✭ ❣♠ ✙ ✶✿❲ ✡❂✺✷
CS
HB
❙✲❶✳❷⑩✲⑥ ✟
✆ ❂ ❜ ✡✠✠
E
❂ ❜☛ ✠ ✠
❝
❜ ❂ ✆✠ ❂✠ ❜ ✡ ❜ ☛
✷
❝
❂ ❜☞✡ ✰ ☛ ☞
✦ ❂
✝✌✞
❂ ☞❱✝✝✞✌ ✞ ❳
✣✭✺ ❂ ✍❴✎
✏
CS ☞ ❂ ✞✦✌✝✞✝
✦▲ ➊✩❝❋ ✞❢ ✪❋☛ ●✉☞☛✺ ❜☛✟✞✇ ❑☛❊✯❝✪ ✩ ❝✞✭✺✪☛✟✟✩✪✯✞✭▲ ❽✯✭❑ ✪❋☛ ✞❑❑ ✞✭☛ ✞✉✪▲
✸▲ ●☞✩✈✯✪✩✪✯✞✭✩✟ ❢✞☞❝☛ ❜☛✪✇☛☛✭ ✪✇✞ ✯❑☛✭✪✯❝✩✟ ✉✭✯❢✞☞✡ ✺✞✟✯❑ ●✞✟❑ ✺❊❋☛☞☛✺ ✞❢ ☞✩❑✯✉✺ ✒ ☛✩❝❋
✯✭ ❝✞✭✪✩❝✪ ✯✺ ❊☞✞❊✞☞✪✯✞✭✩✟ ✪✞
❱✩❳ ✒ ✹ ❱❜❳ ✒ ✷ ❱❝❳ ✓✔
✶
❱❑❳ ✓✔
✹
✶
✕
■◆❆❖ ④ ❙r ④ ✷✵✵✾
❙✲❶✳❷⑩✲⑥✟ ❼❋☛ ❑✯✺✪✩✭❝☛ ❜☛✪✇☛☛✭ ✪✇✞ ✺❊❋☛☞☛✺ ❂ ✦✒ ✩✭❑ ✡✩✺✺☛✺ ✩☞☛ ✪❋☛ ✺✩✡☛
▼✷
❱✦✒ ❳✷
✮❋ ❂
❱ ✹✙✸✓ ✄ ✚❳
✸ ✷
❩✒ ✷
❂
E
✒
✮❋ ✴
✒✷
❋ ✴ ✒
✹
❼❋✉✺ ✩✭✺ ❂ ✍❴✎
❩▲ ✣ ❝✞❊❊☛☞ ❝✉❜☛ ✩✭❑ ✩ ✇✞✞❑☛✭ ❝✉❜☛ ✞❢ ✈✞✟✉✡☛ ✶✧✁✸ ✡✸ ☛✩❝❋ ✩☞☛ ✯✭✯✪✯✩✟✟✮ ✩✪ ☞✞✞✡
✪☛✡❊☛☞✩✪✉☞☛▲ ❼❋☛✮ ✩☞☛ ✪❋☛✭ ✡✞✈☛❑ ✪✞ ✩✭ ☛✭❝✟✞✺✉☞☛ ✞❢ ✩✡❜✯☛✭✪ ✪☛✡❊☛☞✩✪✉☞☛ ⑧✧✍➅▲
CS
❲❋✩✪ ❝✩✭ ✇☛ ❝✞✭❝✟✉❑☛ ✩❜✞✉✪ ✪❋☛ ✪☛✡❊☛☞✩✪✉☞☛✺ ✩✪✪✩✯✭☛❑ ❜✮ ❜✞✪❋ ❝✉❜☛✺ ✩❢✪☛☞ ⑧ ❋✞✉☞✺❄
❱✩❳ ❚❝♦♣♣❡r ❃ ❚ ✇♦♦❞ ✩✺ ✪❋☛☞✡✩✟ ❝✞✭❑✉❝✪✯✈✯✪✮ ✞❢ ❝✞❊❊☛☞ ✯✺ ●☞☛✩✪☛☞ ✪❋✩✭ ✪❋✩✪ ✞❢
✇✞✞❑▲
❱❜❳ ❚ ✇♦♦❞ ❃ ❚❝♦♣♣❡r ✩✺ ✺❊☛❝✯✏ ❝ ❋☛✩✪ ❝✩❊✩❝✯✪✮ ✞❢ ✇✞✞❑ ✯✺ ●☞☛✩✪☛☞ ✪❋✩✭ ✪❋✩✪ ✞❢
❝✞❊❊☛☞▲
❱❝❳ ❼❋☛ ✪☛✡❊☛☞✩✪✉☞☛✺ ✇✯✟✟ ❑☛❊☛✭❑ ✞✭ ✪❋☛ ✯✭✪☛☞❊✟✩✮ ❜☛✪✇☛☛✭ ✺❊☛❝✯✏ ❝ ❋☛✩✪ ❝✩➆
❊✩❝✯✪✮ ✩✭❑ ✪❋☛☞✡✩✟ ❝✞✭❑✉❝✪✯✈✯✪✮ ✞❢ ✪❋☛ ✡✩✪☛☞✯✩✟✺▲
❱❑❳ ◗✞✪❋ ✪☛✡❊☛☞✩✪✉☞☛✺ ✇✯✟✟ ❜☛ ❊☞✩❝✪✯❝✩✟✟✮ ✪❋☛ ✺✩✡☛❯ ✩✺ ✪❋☛✮ ✩☞☛ ✯✭ ✪❋☛ ☛✭❝✟✞✺✉☞☛
❢✞☞ ⑧ ❋✞✉☞✺▲
❙✲❶✳❷⑩✲⑥✟ ◗✞✪❋ ❝✞❊❊☛☞ ✩✭❑ ✇✞✞❑☛✭ ❝✉❜☛ ✇✯✟✟ ❋✩✈☛ ✺✩✡☛ ✪☛✡❊☛☞✩✪✉☞☛❯ ✩✺ ✪❋✩✪
✞❢ ✪❋☛ ☛✭❝✟✞✺✉☞☛❯ ❜☛❝✩✉✺☛ ✪❋☛ ✪✯✡☛ ✯✺ ✺✉➄❝✯☛✭✪✟✮ ✟✞✭● ✪✞ ❜☞✯✭● ✪❋☛✡ ✯✭ ✪❋☛☞✡✩✟
☛q✉✯✟✯❜☞✯✉✡ ✇✯✪❋ ✪❋☛✯☞ ✺✉☞☞✞✉✭❑✯✭●✺▲
HB
✣✭✺ ❂ ✍ ❸✎
⑧▲ ✢❢ ✪❋☛ ❊☞✞❑✉❝✪ ✞❢ ✩✟✟ ✪❋☛ ✭✉✡❜☛☞✺ ❢☞✞✡ ✶ ✪✞ ✶✧✧ ✯✺ ❑✯✈✯✺✯❜✟☛ ❜✮ ✦♥ ❯ ✪❋☛✭ ✇❋✩✪ ✯✺ ✪❋☛
✡✩①✯✡✉✡ ❊✞✺✺✯❜✟☛ ✈✩✟✉☛ ❢✞☞ ❄
❱✩❳ ✶✦➍ ❱❜❳ ★✼ ❱❝❳ ❲❩ ❱❑❳ ➍✼
❙✲❶✳❷⑩✲⑥✟ ❼❋☛☞☛ ✩☞☛ ⑧✧ ✭✉✡❜☛☞✺ ❜☛✪✇☛☛✭ ✶ ✪✞ ✶✧✧❯ ✇❋✯❝❋ ✩☞☛ ❑✯✈✯✺✯❜✟☛ ❜✮ ✩✪ ✟☛✩✺✪
✏☞✺✪ ❊✞✇☛☞ ✞❢ ✦▲
❼❋☛☞☛ ✩☞☛ ✦⑧ ✭✉✡❜☛☞✺❯ ✇❋✯❝❋ ✩☞☛ ❑✯✈✯✺✯❜✟☛ ❜✮ ✩✪ ✟☛✩✺✪ ✺☛❝✞✭❑ ❊✞✇☛☞ ✞❢ ✦❯ ✯▲☛▲ ❩▲
➉✞✇☛✈☛☞❯ ✩✺ ✪❋☛✮ ✩☞☛ ✩✟☞☛✩❑✮ ❝✞✉✭✪☛❑ ✞✭❝☛ ✯✭ ❊☞☛✈✯✞✉✺ ✺✪☛❊❯ ✇☛ ❝✞✉✭✪ ✪❋☛✡ ✩●✩✯✭
❢✞☞ ✞✭✟✮ ✺✯✭●✟☛ ❊✞✇☛☞ ✞❢ ✦ ✯✭ ✪❋✯✺ ✺✪☛❊▲
➅✞✭✪✯✭✉✯✭● ✯✭ ✪❋☛ ✺✩✡☛ ❢✩✺❋✯✞✭❯ ✪❋☛☞☛ ✩☞☛ ✶✦ ✭✉✡❜☛☞✺❯ ✇❋✯❝❋ ✩☞☛ ❑✯✈✯✺✯❜✟☛ ❜✮ ✩✪
✟☛✩✺✪ ✪❋✯☞❑ ❊✞✇☛☞ ✞❢ ✦❯ ✯▲☛▲ ➍▲
✷
■◆❆❖ ④ ❙r ④ ✷✵✵✾
❼❋☛☞☛ ✩☞☛ ❲ ✭✉✡❜☛☞✺❯ ✇❋✯❝❋ ✩☞☛ ❑✯✈✯✺✯❜✟☛ ❜✮ ✩✪ ✟☛✩✺✪ ❢✞☞✪❋ ❊✞✇☛☞ ✞❢ ✦❯ ✯▲☛▲ ✶❲▲
❼❋☛☞☛ ✩☞☛ ✸ ✭✉✡❜☛☞✺❯ ✇❋✯❝❋ ✩☞☛ ❑✯✈✯✺✯❜✟☛ ❜✮ ✩✪ ✟☛✩✺✪ ✏ ❢✪❋ ❊✞✇☛☞ ✞❢ ✦❯ ✯▲☛▲ ✸✦▲
❼❋☛☞☛ ✯✺ ✞✭✟✮ ✶ ✭✉✡❜☛☞ ❑✯✈✯✺✯❜✟☛ ❜✮ ✺✯①✪❋ ❊✞✇☛☞ ✞❢ ✦❯ ✯▲☛▲ ❲❩▲
❨✉✡✡✯✭●❯
❱⑧✧ ✌ ✦⑧ ✌ ✶✦ ✌ ❲ ✌ ✸ ✌ ✶❳ ❂ ★✼ ✯✺ ✪❋☛ ✭✉✡❜☛☞ ✞❢ ✪✯✡☛✺ ❢✩❝✪✞☞ ✦ ✩❊❊☛✩☞✺ ✯✭ ✪❋☛
❊☞✞❑✉❝✪▲
❨✞ ✦✾✼ ✯✺ ✪❋☛ ❋✯●❋☛✺✪ ❊✞✇☛☞ ✞❢ ✦❯ ✇❋✯❝❋ ✇✯✟✟ ❜☛ ✩ ❢✩❝✪✞☞ ✞❢ ✪❋☛ ❊☞✞❑✉❝✪ ✞❢ ✩✟✟ ✪❋☛
E
✭✉✡❜☛☞✺ ❢☞✞✡ ✶✪✞ ✶✧✧▲
✣✭✺ ❂ ✍ ➇✎
✦ ✦
❲▲ ❼✇✞ ✈☛❝✪✞☞✺ P ✩✭❑ ◗ ✩☞☛ ✩❝✪✯✭● ✩✪ ✩ ❊✞✯✭✪ ✺✉❝❋ ✪❋✩✪ ✪❋☛✯☞ ☞☛✺✉✟✪✩✭✪ ✯✺ ❊☛☞❊☛✭❑✯❝✉✟✩☞
✦ ✦ ✦ ❥✁❥ ✯✺ ●✯✈☛✭ ❜✮❯
✪✞ ◗ ▲ ✢❢ ✒ ✯✺ ✪❋☛ ✩✭●✟☛ ❜☛✪✇☛☛✭ P ✩✭❑ ◗ ✪❋☛✭ ❥✂❥
❱✩❳ ❝✞✺ ✒ ❱❜❳ ✺☛❝ ✒ ❱❝❳ ❝✞✺ ✒ ❱❑❳ ✺☛❝ ✒
❙✲❶✳❷⑩✲⑥✟
CS
❨☛☛ ✏●✉☞☛
P
☛
◗
R
❂
θ Q α
✶➍✧ ✒
❝✞✺ ☛
P ❂
❂ ❝✞✺❱✶➍✧ ✒❳
❂ ❝✞✺ ✒
✮ P◗ ❂ ✺☛❝ ✒
HB
✼▲ ❲❋✩✪ ✇✯✟✟ ❜☛ ✪❋☛ ✩❊❊☞✞①✯✡✩✪☛ ❊☛☞✯✞❑ ✞❢ ➅❋✩✭❑☞✩✮✩✩✭ ✡✞✈✯✭● ✯✭ ✩✭ ✞☞❜✯✪ ✶✧✧ ❦✡
✩❜✞✈☛ ✪❋☛ ✡✞✞✭✬✺ ✺✉☞❢✩❝☛❄
❱✩❳ ⑧✼ ✡✯✭ ❱❜❳ ✸✧ ✡✯✭ ❱❝❳ ✶✶➍ ✡✯✭ ❱❑❳ ✼★ ✡✯✭
❩✙✷ ✸
❚✷ ❂
▼♠ ✒
❩✙✷ ✸
❚✷ ❂
❣❘✷ ✒
✸
■◆❆❖ ④ ❙r ④ ✷✵✵✾
❩✙✷
❚✷ ❱✶✿➍ ❾ ✶✧ ✻❳✸
✶✿❲ ❾ ❱✶✿✼ ❾ ✶✧✻❳✷
❂
❩ ❾ ✶✧ ❾ ✶✿➍✸
✙ ❾ ✶✧ ✻
✶✿❲ ❾ ✶✿✼✷
E
❩⑧ ❾ ✶✿ ➍✷
✙ ❾ ✶✧✻
✶✿✼✷
❲✿✼ ❾ ✶➍
❚ ✙ ❾ ✶✧✸
✒ ✼ ❲ ✓
✶
✙ ❲✿✼ ✌
✿✼ ❾ ✶✧✸
✶✼
✙ ✼✶✧✧✺☛❝
✙ ✶✶➍✡✯✭✿
✣✭✺ ❂ ✍③✎
CS ❚
✯✺ ✪❋☛ ❊☛☞✯✞❑ ✞❢ ➅❋✩✭❑☞✩✮✩✩✭ ✞☞❜✯✪▲ ❼❋☛ ❝✩✟❝✉✟✩✪✯✞✭ ✩❜✞✈☛ ✯✺ ✩ ❜✩❝❦ ✞❢ ✪❋☛ ☛✭✈☛✟✞❊☛
❝✩✟❝✉✟✩✪✯✞✭ ✪✞ ☛✺✪✯✡✩✪☛ ✪❋☛ ❊☛☞✯✞❑▲
➍▲ ✢✭ ✪❋☛ ❢✞✟✟✞✇✯✭● ✏●✉☞☛❯ ✣❯ ◗❯ ➅ ✩☞☛ ✪❋☞☛☛ ✟✯●❋✪ ✺✞✉☞❝☛ ❊✞✺✯✪✯✞✭✺ ✇✯✪❋ ☞☛✺❊☛❝✪ ✪✞ ✪❋☛ ✞❜➆
✺✪✩❝✟☛ ✩✭❑ ✪❋☛ ✺❝☞☛☛✭▲ ❲❋✯❝❋ ✞❢ ✪❋☛✺☛ ✟✯●❋✪ ✺✞✉☞❝☛ ❊✞✺✯✪✯✞✭✺ ✇✯✟✟ ☞☛✺✉✟✪ ✯✭ ✪❋☛ ✟✞✭●☛✺✪
✺❋✩❑✞✇ ✞❢ ✪❋☛ ✞❜✺✪✩❝✟☛ ✞✭ ✪❋☛ ✺❝☞☛☛✭❄
11
00
A
11
00
B00
11 Screen
HB
00
11
00
11
C
Obstacle
❱✩❳ ✣
❱❜❳ ➅
❱❝❳ ✣ ✩✭❑ ➅ ❢✞☞✡ ✺❋✩❑✞✇✺ ✞❢ ✺✩✡☛ ✟☛✭●✪❋❯ ✇❋✯✟☛ ◗ ❢✞☞✡✺ ✩ ✺✡✩✟✟☛☞ ✺❋✩❑✞✇▲
❱❑❳ ✣✟✟ ✪❋☛ ✪❋☞☛☛ ✟✯●❋✪ ✺✞✉☞❝☛✺ ✇✯✟✟ ❢✞☞✡ ✺❋✩❑✞✇✺ ✞❢ ✺✩✡☛ ✟☛✭●✪❋▲
❙✲❶✳❷⑩✲⑥✟ ✣✭✺ ❂ ✍ ❸✎
✹
■◆❆❖ ④ ❙r ④ ✷✵✵✾
00
11
00
11
A K
L
11
00 M
B11
00 Screen
11
00
C Obstacle Q
E
R
❽☞✞✡ ✪❋☛ ✩❜✞✈☛ ✏●✉☞☛❯ P ❘ ✯✺ ✪❋☛ ✺❋✩❑✞✇ ❜☛❝✩✉✺☛ ✞❢ ✟✯●❋✪ ✺✞✉☞❝☛ ➅ ✩✭❑ ❙ ✯✺ ✪❋☛
◗
✇❋✯❝❋ ✡☛✩✭✺ CS
❨✯✭❝☛ ▼ ◆ ❦ ❑❙ ❯
✮ ✹ ❆▼ ◆ ✆ ❞ ✹ ❆◗❙ ✩☞☛ ❝✞✭●☞✉☛✭✪ ❯
▼ ◆ ❂ ❆▲ ▲
◗❙ ❆❑
❼❋☛☞☛❢✞☞☛❯ ✺❋✩❑✞✇✺ ✞❢ ✪❋☛ ✞❜✺✪✩❝✟☛ ❢✞☞✡☛❑ ❜✮ ☛✯✪❋☛☞ ✟✯●❋✪ ✺✞✉☞❝☛ ✣ ✞☞ ➅ ✩☞☛ ✪❋☛
✺✩✡☛▲ ✢✭ ✪❋☛ ✺✩✡☛ ✡✩✭✭☛☞❯ ✇☛ ❝✩✭ ❊☞✞✈☛ ✪❋✩✪ ✪❋☛ ✺❋✩❑✞✇ ❢✞☞✡☛❑ ❜✮ ✪❋☛ ✟✯●❋✪
✺✞✉☞❝☛ ◗ ✯✺ ✩✟✺✞ ✞❢ ✪❋☛ ✺✩✡☛ ✟☛✭●✪❋▲
★▲ ❼❋☛ ❢✞✟✟✞✇✯✭● ✏●✉☞☛ ✺❋✞✇✺ ✺❦☛✟☛✪✞✭ ❝❋✩☞✪ ✞❢ ✪❋☛ ✤☞✯✞✭ ❝✞✭✺✪☛✟✟✩✪✯✞✭▲ ✣❊❊☞✞①✯✡✩✪☛
HB
❑✯☞☛❝✪✯✞✭ ❭✠✞☞✪❋✧ ✯✺ ✡✩☞❦☛❑ ✇✯✪❋ ✪❋☛ ✟☛✪✪☛☞ ▲▲▲▲
✺
■◆❆❖ ④ ❙r ④ ✷✵✵✾
✶✧▲ ❽✯✭❑ ✪❋☛ ☞☛✺✉✟✪✩✭✪ ❢✞❝✩✟ ✟☛✭●✪❋ ❢✞☞ ❢✞✟✟✞✇✯✭● ✺✮✺✪☛✡ ✇❋☛☞☛ ✪❋☛ ☞✩❑✯✉✺ ✞❢ ❝✉☞✈✩✪✉☞☛ ✯✺
✶⑧❝✡▲
111111111111111111111111
000000000000000000000000
11111111
00000000
000000000000000000000000
111111111111111111111111
000000000000000000000000
111111111111111111111111
00000000
11111111
000000000000000000000000
111111111111111111111111
000000000000000000000000
111111111111111111111111
00000000
11111111
000000000000000000000000
111111111111111111111111
000000000000000000000000
111111111111111111111111
00000000
11111111
000000000000000000000000
111111111111111111111111
000000000000000000000000
111111111111111111111111
00000000
11111111
000000000000000000000000
111111111111111111111111
000000000000000000000000
111111111111111111111111
00000000
11111111
000000000000000000000000
111111111111111111111111
000000000000000000000000
111111111111111111111111
00000000
11111111
000000000000000000000000
111111111111111111111111
E
000000000000000000000000
111111111111111111111111
00000000
11111111
000000000000000000000000
111111111111111111111111
000000000000000000000000
111111111111111111111111
00000000
11111111
000000000000000000000000
111111111111111111111111
000000000000000000000000
111111111111111111111111
water
00000000
11111111
000000000000000000000000
111111111111111111111111
000000000000000000000000
111111111111111111111111
00000000
11111111
000000000000000000000000
111111111111111111111111
000000000000000000000000
111111111111111111111111
00000000
11111111
000000000000000000000000
111111111111111111111111
000000000000000000000000
111111111111111111111111
00000000
11111111
000000000000000000000000
111111111111111111111111
000000000000000000000000
111111111111111111111111
000000000000000000000000
111111111111111111111111
glass air
CS
❘☛❢☞✩❝✪✯✈☛ ✢✭❑☛① ✿
❘☛❢☞✩❝✪✯✈☛ ✢✭❑☛① ✞❢ ●✟✩✺✺ ☞☛✟✩✪✯✈☛ ✪✞ ✇✩✪☛☞✿
❂
❂ ❂
❂
✸
❩
★
➍
❘✶ ❂ ✶❀ ❘✷ ❂ ♠ ✯✺❯
✶⑧❝
❱ ✽✾
✶
❢ ✶
❂ ❱ ✇❣ ✶❳❱
✶
❘✶
✌
✶
❘✷
❳❂
✶⑧
✶❳
❂
✶
✶✦✧
✮ ❢✶ ❂ ✶✦✧ ❝✡
HB
❨✯✡✯✟✩☞✟✮❯ ❢✞❝✩✟ ✟☛✭●✪❋ ❢✞☞ ❊✟✩✭✞➆❝✞✭❝✩✈☛ ✩✯☞➆✯✭➆✇✩✪☛☞ ✟☛✭✺❯ ✇❋☛☞☛ ➆✶⑧❝✡ ❀
✶
❘✶ ❂
❘✷ ❂ ✯✺❯
❱ ✸✹
✶
❢✷
❂ ❱ ✇❛ ✶❳❱
✶
❘✶
✌
✶
❘✷
❳❂
✶⑧
✶❳
❂
✶
❲✧
✮ ❢✷ ❂ ❲✧ ❝✡
➉☛✭❝☛ ☞☛✺✉✟✪✩✭✪ ❢✞❝✩✟ ✟☛✭●✪❋ ✇✯✟✟ ❜☛
✶ ✶ ✶ ✶ ✶ ✶
❢ ❢ ❢ ❱ ✶✦✧
❂
✶
✌
✷
❂ ✌
❲✧
❳❂
❩✧
✮ ❢ ❩✧ ❝✡▲ ✣✭✺ ✯✺
❂ ✍❴✎▲
✻
■◆❆❖ ④ ❙r ④ ✷✵✵✾
❡❝t✐♦♥ ✿ ✭ ◗ ✄
❇ ✹ ✺ ♠❛☎❦s ❡❛❝❤✮
✶✶▲ ❲❋✯❝❋ ✞❢ ✪❋☛ ❢✞✟✟✞✇✯✭● ✞❜✺☛☞✈✩✪✯✞✭✺ ✺✉❊❊✞☞✪ ✪❋☛ ✺✪✩✪☛✡☛✭✪ ✪❋✩✪ ❭➊✈☛☞✮ ✺✮✺✪☛✡ ✪☛✭❑✺
✪✞ ❝✞✭✏●✉☞☛ ✯✪✺☛✟❢ ✪✞ ❋✩✈☛ ✡✯✭✯✡✉✡ ❇✞✪☛✭✪✯✩✟ ➊✭☛☞●✮✧▲
❱✩❳ ✣✭❑☞✞✡☛❑✩ ●✩✟✩①✮ ✩✭❑ ✹✯✟❦✮ ❲✩✮ ✩☞☛ ✩❊❊☞✞✩❝❋✯✭● ☛✩❝❋ ✞✪❋☛☞▲
E
❱❜❳ ❼✇✞ ✉✭✟✯❦☛❯ ❢☞☛☛ ❝❋✩☞●☛✺ ✡✞✈☛ ✪✞✇✩☞❑✺ ☛✩❝❋ ✞✪❋☛☞▲
❱❝❳ ➊①✪☛☞✭✩✟ ✇✞☞❦ ✯✺ ☞☛q✉✯☞☛❑ ✪✞ ❝✞✡❊☞☛✺✺ ✩ ✺❊☞✯✭●▲
❱❑❳ ▲✯●❋✪ ✯☞✞✭ ❑✉✺✪ ✡✞✈☛✺ ✪✞✇✩☞❑✺ ❊✞✇☛☞❢✉✟ ✡✩●✭☛✪ ✯✭ ❝✟✞✺☛ ✈✯❝✯✭✯✪✮▲
✟
❙✲❶✳❷⑩✲⑥ ✣✭✺ ❂✍ ✎ ✍ ✎
➇ ✱ ③ ✩✭❑ ❸ ▲✍✎
❲
✣✭❑☞✞✡☛❑✩ ●✩✟✩①✮ ✩✭❑ ✪❋☛ ✹✯✟❦✮ ✩✮ ✩☞☛ ✡✞✈✯✭● ✩☞✞✉✭❑ ✪❋☛ ❝☛✭✪☞☛ ✞❢ ✞✉☞ ✟✞❝✩✟
❥
●☞✞✉❊ ✞❢ ●✩✟✩①✯☛✺▲ ✢✭ ✪❋☛ ❝✞✉☞✺☛ ✞❢ ✪❋✯✺ ✡✞✪✯✞✭❯ ✪❋☛✮ ✉✺✪ ❋✩❊❊☛✭ ✪✞ ❜☛ ❝✞✡✯✭●
✏
CS
❝✟✞✺☛☞ ✪✞ ☛✩❝❋ ✞✪❋☛☞▲ ❼❋☛✯☞ ✡✉✪✉✩✟ ●☞✩✈✯✪✩✪✯✞✭✩✟ ✩✪✪☞✩❝✪✯✞✭ ❑✞☛✺ ✭✞✪ ❊✟✩✮ ✩✭✮
✺✯●✭✯ ❝✩✭✪ ☞✞✟☛ ✯✭ ✪❋✯✺ ✡✞✪✯✞✭▲
✶✦▲ ➅✞✭✺✯❑☛☞ ✩ ✺☛✩✟☛❑ ❢☞✯❝✪✯✞✭✟☛✺✺ ❊✯✺✪✞✭ ❝✮✟✯✭❑☛☞ ✩✺✺☛✡❜✟✮ ✇❋☛☞☛ ✪❋☛ ❊✯✺✪✞✭ ✡✩✺✺ ✩✭❑
✩✪✡✞✺❊❋☛☞✯❝ ❊☞☛✺✺✉☞☛ ✩❜✞✈☛ ✪❋☛ ❊✯✺✪✞✭ ☞☛✡✩✯✭ ❝✞✭✺✪✩✭✪▲ ✣ ●✩✺ ✯✭ ✪❋☛ ❝✮✟✯✭❑☛☞ ✯✺
❲
❋☛✩✪☛❑ ✩✭❑ ❋☛✭❝☛ ✯✪ ☛①❊✩✭❑✺▲ ❋✯❝❋ ✞❢ ✪❋☛ ❢✞✟✟✞✇✯✭● ✯✺ ✴ ✩☞☛ ✪☞✉☛
❱✩❳ ❼❋☛ ❑☛✭✺✯✪✮ ✞❢ ✪❋☛ ●✩✺ ✇✯✟✟ ✯✭❝☞☛✩✺☛▲
❱❜❳ ❼❋☛ ❊☞☛✺✺✉☞☛ ✞❢ ✪❋☛ ●✩✺ ✇✯✟✟ ❑☛❝☞☛✩✺☛▲
❄
❱❝❳ ❼❋☛ ✯✭✪☛☞✭✩✟ ☛✭☛☞●✮ ✞❢ ✪❋☛ ✺✮✺✪☛✡ ✇✯✟✟ ☞☛✡✩✯✭ ✪❋☛ ✺✩✡☛▲
❱❑❳ ✢✭ ✪❋✯✺ ❊☞✞❝☛✺✺ ✇✞☞❦ ✯✺ ❑✞✭☛ ❜✮ ✪❋☛ ●✩✺▲
✟
❙✲❶✳❷⑩✲⑥ ✣✺ ●✩✺ ✯✭ ✪❋☛ ❝✮✟✯✭❑☛☞ ✯✺ ❋☛✩✪☛❑ ✩✭❑ ✯✪ ☛①❊✩✭❑✺ ✺✞ ✇✞☞❦ ✯✺ ❑✞✭☛ ❜✮
HB
✪❋☛ ●✩✺▲ ✣✪ ✪❋☛ ✭☛✇ ☛q✉✯✟✯❜☞✯✉✡❯ ✪❋☛ ❑☛✭✺✯✪✮ ✞❢ ✪❋☛ ●✩✺ ✇✞✉✟❑ ❋✩✈☛ ❑☛❝☞☛✩✺☛❑
❱✺✩✡☛ ✡✩✺✺ ✯✭ ✟✩☞●☛☞ ✈✞✟✉✡☛❳❯ ✯✭✪☛☞✭✩✟ ☛✭☛☞●✮ ✇✞✉✟❑ ❋✩✈☛ ✯✭❝☞☛✩✺☛❑ ❱❊☞✞❊✞☞✪✯✞✭✩✟
✪✞ ❝❋✩✭●☛ ✯✭ ✪☛✡❊☛☞✩✪✉☞☛❳ ✩✭❑ ✪❋☛ ❊☞☛✺✺✉☞☛ ✇✞✉✟❑ ❋✩✈☛ ☞☛✡✩✯✭☛❑ ✪❋☛ ✺✩✡☛ ❱✩✺
✌
✪❋✩✪ ✞❢ ✩✪✡✞✺❊❋☛☞✯❝ ❊☞☛✺✺✉☞☛ ❊☞☛✺✺✉☞☛ ❑✉☛ ✪✞ ❊✯✺✪✞✭ ✡✩✺✺❳▲
✣✭✺ ❂✍ ✎❸ ▲
✏
✶✸▲ ✢✭ ✞✭☛ ✞❢ ✪❋☛ ✪☞✉✟✮ ☞☛✈✞✟✉✪✯✞✭✩☞✮ ✭❑✺ ✞❢ ✪❋☛ ✦✧ ✬❤ ❝☛✭✪✉☞✮❯ ➉✞✇✩☞❑ ➅✩☞✪☛☞ ❑✯✺❝✞✈☛☞☛❑
✪❋☛ ✪✞✡❜ ✞❢ ✪❋☛ ➊●✮❊✪✯✩✭ ❇❋✩☞✩✞❋ ❱☛✡❊☛☞✞☞❳ ❼✉✪✩✭❦❋✩✡✉✭ ✯✭ ✶★✦✦▲ ❽✞✟✟✞✇✯✭● ✯✪☛✡✺
❲
✇☛☞☛ ☞☛✡✞✈☛❑ ❢☞✞✡ ✪❋☛ ✪✞✡❜❯ ✩✟✞✭● ✇✯✪❋ ✪❋☛ ✡✉✡✡✮ ✞❢ ✪❋☛ ❇❋✩☞✩✞❋▲ ❋✯❝❋ ✞❢ ✪❋☛✺☛
✏
✯✪☛✡✺ ❝✞✉✟❑ ❋✩✈☛ ❜☛☛✭ ❝✩☞❜✞✭ ❑✩✪☛❑ ✪✞ ① ✪❋☛ ❊☛☞✯✞❑ ✞❢ ✪❋☛ ❇❋✩☞✩✞❋ ❄
❱✩❳ ❽☞✩●✡☛✭✪✺ ✞❢ ●✟✩✺✺
❱❜❳ ●✞✟❑☛✭ ◗☞✩❝☛✟☛✪✺
❱❝❳ ❉☞✯☛❑ ❽☞✉✯✪✺
❱❑❳ ▲☛✩✪❋☛☞ ❨❋✞☛
✼
■◆❆❖ ④ ❙r ④ ✷✵✵✾
✟ ❥
❙✲❶✳❷⑩✲⑥ ➅✩☞❜✞✭ ❑✩✪✯✭● ☞☛✟✯☛✺ ✞✭ ✪❋☛ ❢✩❝✪ ✪❋✩✪ ✩✟✟ ✟✯✈✯✭● ✞❜ ☛❝✪✺ ❋✩✈☛ ✶✷ ➅ ✩✭❑
✏
✶✹ ➅ ✯✭ ✩ ①☛❑ ☞✩✪✯✞ ✪✞ ☛✩❝❋ ✞✪❋☛☞▲ ❼❋☛ ☞✩❑✯✞✩❝✪✯✈☛ ✶✹ ➅ ❦☛☛❊✺ ❑☛❝✩✮✯✭● ✪✞ ✶✷ ➅❯
❋✞✇☛✈☛☞❯ ✯✪ ✯✺ ☞☛❊✟✩❝☛❑ ❜✮ ❢✞✞❑ ✯✭✪✩❦☛ ❝✞✭✺✉✡☛❑ ❜✮ ✟✯✈✯✭● ✞☞●✩✭✯✺✡✺▲ ✣❢✪☛☞ ❑☛✩✪❋❯
✪❋☛ ❑☛❝✩✮ ❊☞✞❝☛✺✺ ❝✞✭✪✯✭✉☛✺❯ ❜✉✪ ✪❋☛☞☛ ✯✺ ✭✞ ☞☛❊✟✩❝☛✡☛✭✪ ❢✞☞ ❑☛❝✩✮☛❑ ✶✹ ➅▲ ❼❋✉✺
✪❋☛ ☞✩✪✯✞ ✺✪✩☞✪✺ ❝❋✩✭●✯✭●▲
✏
✢✭ ✪❋☛ ✟✯✺✪ ✩❜✞✈☛❯ ✪❋☛ ☞✺✪ ✪✇✞ ✩☞☛ ✭✞✪ ✡✩❑☛ ❢☞✞✡ ✩✭✮ ✞☞●✩✭✯❝ ✴ ✟✯✈✯✭● ✺✉❜✺✪✩✭❝☛✺▲
❼❋✉✺❯ ✪❋☛✮ ❝✩✭✭✞✪ ❜☛ ✉✺☛❑ ❢✞☞ ❝✩☞❜✞✭ ❑✩✪✯✭●▲
E
✣✭✺ ❂✍ ✎③ ✩✭❑ ❸ ▲ ✍✎
✶❩▲ ❲❋✯❝❋ ✞❢ ✪❋☛ ❢✞✟✟✞✇✯✭● ❊❋☛✭✞✡☛✭✩ ✯✺ ✴ ✩☞☛ ✉✺☛❢✉✟❯ ✯✭ ☛✺✪✯✡✩✪✯✭● ❑✯✺✪✩✭❝☛✺ ✯✭ ✪❋☛
➋✭✯✈☛☞✺☛❄
❱✩❳ ❨✞✡☛ ✪✯✡☛ ➌☛✭✉✺ ❝✩✭ ❜☛ ✺☛☛✭ ✪☞✩✭✺✯✪✯✭● ✞✈☛☞ ✪❋☛ ✺✞✟✩☞ ❑✯✺❝▲
❱❜❳ ❨✪✩☞✺ ✇✯✪❋ ✭✞ ❊☞✞❊☛☞ ✡✞✪✯✞✭ ✩❊❊☛✩☞ ✪✞ ❝❋✩✭●☛ ✪❋☛✯☞ ❊✞✺✯✪✯✞✭ ✯✭ ✪❋☛ ✺❦✮
❙✲❶✳❷⑩✲⑥
❑✯✺✪✩✭❝☛▲
CS
✇❋☛✭ ✈✯☛✇☛❑ ✺✯① ✡✞✭✪❋✺ ✩❊✩☞✪▲
❱❝❳ ❨✪✩☞✺ ☛①❋✯❜✯✪ ❉✞❊❊✟☛☞ ✺❋✯❢✪▲
❱❑❳ ✣✟✟ ✺✉❊☛☞✭✞✈✩☛ ✞❢ ❼✮❊☛ ✢✩ ❋✩✈☛ ✺✩✡☛ ✩❜✺✞✟✉✪☛ ❜☞✯●❋✪✭☛✺✺▲
✟❲✯✪❋ ❉✞❊❊✟☛☞ ✺❋✯❢✪ ✇☛ ❝✩✭ ☛✺✪✯✡✩✪☛ ✪❋☛ ✈☛✟✞❝✯✪✮ ✞❢ ✺✪✩☞✺ ❜✉✪ ✭✞✪ ✪❋☛
✏
❼❋☛ ➊✩☞✪❋➆❨✉✭ ❑✯✺✪✩✭❝☛ ✇✩✺ ✺✉❝❝☛✺✺❢✉✟✟✮ ☛✺✪✯✡✩✪☛❑ ❢✞☞ ✪❋☛ ☞✺✪ ✪✯✡☛ ✉✺✯✭● ➌☛✭✉✺
✪☞✩✭✺✯✪ ✡☛✪❋✞❑▲ ✤❊✪✯✞✭ ❱❜❳ ✪✩✟❦✺ ✞❢ ❊✩☞✩✟✟✩① ✡☛✪❋✞❑▲ ❼❋☛ ✩❜✺✞✟✉✪☛ ✡✩●✭✯✪✉❑☛✺
✞❢ ❨✉❊☛☞✭✞✈✩☛ ✯✺ ✉✺☛❢✉✟ ✺✪✩✭❑✩☞❑ ❝✩✭❑✟☛ ❢✞☞ ❝✞✺✡✞✟✞●✯❝✩✟ ❑✯✺✪✩✭❝☛✺▲
➉☛✭❝☛❯ ✩✭✺ ❂✍ ✎ ✍ ✎
❴ ✱ ➇ ✩✭❑ ❸ ▲ ✍✎
✟
❙✲❶✳❷⑩✲⑥ ❉✯✈✯❑☛ ✩✭✮ q✉✩❑☞✯✟✩✪☛☞✩✟ ✣◗➅❉❯ ✯✭✺❝☞✯❜☛❑ ✯✭ ✩ ❝✯☞❝✟☛❯ ✯✭✪✞ ✪✇✞ ✪☞✯✩✭➆
●✟☛✺ ✹❆ ❈
❇ ✩✭❑ ✹❆ ❈
❉ ❯ ✩✺ ✺❋✞✇✭▲
✽
■◆❆❖ ④ ❙r ④ ✷✵✵✾
h1
E
A P1 C
P2
h2
✯▲☛▲❯
CS
❼✞ ✡✩①✯✡✯✑☛ ✪❋☛ ✪✞✪✩✟ ✩☞☛✩❯ ❧❱
✶
✷ ❾ ❜✆s❡ ❾ ❤❡✐❣ ❤t✿
✷ ❾ ❧❱
❆❈
✹❆ ❈
❇ ✩✭❑ ❉ ✯✺ ●✯✈☛✭ ❜✮ ▲
❆❈ ❳ ❾ ❱❤✶ ✌ ❤✷ ❳
✹❆ ❈ ❆❈
❼❋☛ ✪✞✪✩✟ ✩☞☛✩❯ ✞❢ ✪❋☛ q✉✩❑☞✯✟✩✪☛☞✩✟ ✇✯✟✟ ❜☛ ✺✉✡ ✞❢ ✪❋☛ ✩☞☛✩✺ ✞❢ ✪❋☛ ✪✇✞ ✪☞✯✩✭●✟☛✺
❅ ✢❢ ❝✞☞☞☛❝✪ ❥✉✺✪✯✏ ❝✩✪✯✞✭❯ ❜✉✪ ✡✯✭✞☞ ☛☞☞✞☞ ☞☛✺✉✟✪✯✭● ✯✭ ✇☞✞✭● ✩☞☛✩✿ ✼ ❫❴✰❵✴▲
☞ ▲ ❱✶✦ ✡✩☞❦✺❳ ❏✩✮✺❋☞☛☛ ❝✟✩✯✡☛❑ ✪❋✩✪ ✺❋☛ ✺✩✇ ✩ ✺✞✟✩☞ ☛❝✟✯❊✺☛ ✇❋☛✭ ✪❋☛ ✺✯✑☛ ✞❢ ✪❋☛ ✺✞✟✩☞
❑✯✺❦ ✇✩✺ ✦❲✵ ✩✭❑ ✪❋✩✪ ✞❢ ✪❋☛ ✟✉✭✩☞ ❑✯✺❦ ✇✩✺ ✸✧ ✵▲ ❨❋☛ ✩✟✺✞ ❝✟✩✯✡☛❑ ✪❋✩✪ ✩✪ ✪❋☛ ✪✯✡☛ ✞❢ ✪❋☛
✡✩①✯✡✉✡ ☛❝✟✯❊✺☛❯ ❑✯✺✪✩✭❝☛ ❜☛✪✇☛☛✭ ✪❋☛ ❝☛✭✪☞☛✺ ✞❢ ✪❋☛ ✪✇✞ ❑✯✺❦✺ ✇✩✺ ✼ ✵▲ ❿✉✩✟✯✪✩✪✯✈☛✟✮
✺❋✞✇ ✪❋✩✪ ✺❋☛ ❝✞✉✟❑ ✭✞✪ ❋✩✈☛ ✞❜✺☛☞✈☛❑ ✩ ✪✞✪✩✟ ☛❝✟✯❊✺☛▲ ❽✯✭❑ ✪❋☛ ❊☛☞❝☛✭✪✩●☛✁ ✞❢ ✪❋☛
✁✶ ✶
✺✞✟✩☞ ❑✯✺❦ ❝✞✈☛☞☛❑ ✩✪ ✪❋☛ ✪✯✡☛ ✞❢ ✪❋☛ ✡✩①✯✡✉✡ ☛❝✟✯❊✺☛▲ ❱ ●✯✈☛✭✿ ❝✞✺ ✷✻ ✙ ✧✿ ❩★ ✙
✾
■◆❆❖ ④ ❙r ④ ✷✵✵✾
☞✩❑❳▲
❙✲❶✳❷⑩✲⑥✟ ✣✪ ✪❋☛ ✪✯✡☛ ✞❢ ✪❋☛ ✡✩①✯✡✉✡ ☛❝✟✯❊✺☛❯ ✪❋☛ ❝☛✭✪☞☛✺ ✇☛☞☛ ✼ ✩✇✩✮ ❢☞✞✡ ✵
☛✩❝❋ ✞✪❋☛☞▲ ➉✞✇☛✈☛☞❯ ✪❋☛ ☞✩❑✯✉✺ ✞❢ ✪❋☛ ✺✞✟✩☞ ❑✯✺❦ ✯✺ ✺✡✩✟✟☛☞ ✪❋✩✭ ✪❋✩✪ ✞❢ ✪❋☛ ✟✉✭✩☞
❑✯✺❦ ❜✮ ❥✉✺✪ ✦ ▲ ❼❋✉✺❯ ✺❋☛ ✡✉✺✪ ✭✞✪ ❋✩✈☛ ✈✯☛✇☛❑ ✪❋☛ ✪✞✪✩✟ ✺✞✟✩☞ ☛❝✟✯❊✺☛▲ ▲☛✪ ✉✺
✵
E
p
q
A E B
r C t
CS D
✢✭ ✪❋☛ ✏●✉☞☛ ✩❜✞✈☛❯ ❊✞✯✭✪✺ ✣ ✩✭❑ ◗ ✡✩❦☛ ✩✭ ✩✭●✟☛ ✞❢ ✒✶ ✩✭❑ ✒✷ ✇✯✪❋ ❝☛✭✪☞☛ ✞❢ ✪❋☛
✍❪ ❫❴✰❵✎
✒ s
❨✞✟✩☞ ✩✭❑ ✪❋☛ ▲✉✭✩☞ ❑✯✺❦✺ ❱✯▲☛▲ ➅ ✩✭❑ ❉❳ ☞☛✺❊☛❝✪✯✈☛✟✮▲
❑☛✭✞✪☛✺ ✪❋☛ ✺✞✟✩☞ ☞✩❑✯✉✺❯ ✒♠ ✪❋☛ ✟✉✭✩☞ ☞✩❑✯✉✺ ✩✭❑ ✪❋☛ ✺☛❊✩☞✩✪✯✞✭ ❜☛✪✇☛☛✭ ✪❋☛ ❤
❬ ✙ s ✒✙
✪✇✞ ❝☛✭✪☞☛✺ ✩✪ ✪❋☛ ❝✟✞✺☛✺✪ ✩❊❊☞✞✩❝❋ ❱✩✟✟ ✯✭ ✩☞❝✡✯✭✉✪☛✺❳▲
❆❱❆❈ ❇❳
♣ q s✒
✷ ✶
❂ ✒
✦
✷
HB
✒ ✶
✿
❆ ❆❭
✌ ❂
✦
✙ ✒✙
❉❇❳ ✷
q
✷
❱ ❂ ✒♠
✦
✌✒ ✌
✒ t ❂
✒♠ ✷
✷
✿
✦
✇❋☛☞☛ ☞ ❂ ❱ ❆ ✹❆❈ ❉❳ ✩✭❑ ✪ ❂ ❆❱✹❇ ❈ ❉❳
♣ s✒
✣✟✺✞ ❢☞✞✡ ✏●✉☞☛❯ ✒ ❂ ▲ t
✮ ❂
✒
✷
✶ ✒♠ ✷
✷ ✒ ✌ ✦ ❱ ❆ ✹❆❈ ❉❳ ✿ ❱✦ ✡✩☞❦✺❳
✦ ✦
✕✵
■◆❆❖ ④ ❙r ④ ✷✵✵✾
❆❱✹❆❈ ❉❳
♣
❂ s ❱ s ✒♠ ❳❱ s ✒ s ❳❱ s ❤ ❳
✇❋☛☞☛❀
✒ s ❂ ✶✸ ✵
✒♠ ❂ ✶⑧ ✵
E
❤❂ ✼ ✵
❂ s ♠
✒ ✌✒ ✌ ❤
s
✦
✶✸ ✌ ✶⑧ ✌ ✼
✒ ✸⑧ ✓
✮ s ❂
✦
❂
✦
✵
✮ ✣❱✹✣➅❉❳ ❂
✸⑧ ❱✸⑧ ✸✧❳ ❱✸⑧ ✦❲❳ ❱✸⑧ ✶❩❳
✦
❾
✦
❾
✦
❾
✦
CS ❂
✙
✙
r
✸⑧ ⑧ ★ ✦✶
✦
❾ ❾ ❾
✦ ✦
s
✒⑧
✶✧⑧ ♣
★✶
❩
✦
❾ ✸
❱✶✼✸✿✦ ✌ ➍✿✼ ❳
❩
❾✼❾✸
❱✦ ✡✩☞❦✺❳
❩
✓✷
❾✸
✝✷ ✌ ☞ ✷ ❂ ✒ ✷s ✿
✩✭❑ ✯✭ ✹ ❉❇ ❊ ❀
❱ ✝ ✌ ❳✷ ✌ ☞ ✷ ✷
❂ ✒♠
✦ ✝ ✌ ✷ ✌ ✒ ✷s ✷
❤
❂ ✒♠
✷ ✷ ✷
❤ ❤
✮ ✝ ❂ ✒♠ ✦✒s ❂ ✧✿⑧
❤
✵
✮ ❝♦ ✒✶ ❂ ✒✝ ❂ ✧✶✸✿⑧ ❂ ✦❲✶
❤
s
✮ ✒✶ ❂ ✧✿ ❩★✙ ❱✦ ✡✩☞❦✺❳
❨✯✡✯✟✩☞✟✟✮❀
✝✌ ✧✿⑧ ✌ ✼ ✶
❝ ✒✷
♦s ❂
✒♠
❂
❤
✶⑧
❂
✦
✮ ✒✷ ❂
✙ ❱✶ ✡✩☞❦❳
✸
✕✕
■◆❆❖ ④ ❙r ④ ✷✵✵✾
❼❋☛✺☛ ✩☞☛ ❋✩✟❢ ✩✭●✟☛✺ ✞✭✟✮▲ ❼✞✪✩✟ ✩✭●✟☛✺ ✩☞☛ ❑✞✉❜✟☛ ✪❋☛✺☛ ✈✩✟✉☛✺▲
✒ ✷s ❾ ✦ ❾ ✒✶ ✷ ❾ ✦ ❾ ✒✷
✒♠
✮♣ ❂
✦ ✦
✌✦ ❱ ❆ ✹❆❈ ❉❳
✙ ✙
✶❲★ ❾ ✧✿❩★✙ ✦✦⑧ ❾ ✌ ✦ ❾
★✶
✒ ★✶ ❾ ✼
✓✸ ✦
✙ ✙ ➍❩ ✼⑧ ✌ ✦✦
E
✒ ❲✸ ✓
✙ ✙ ★ ✌ ✦✦✼
✙ ✙❱★ ✌ ✦➍✿★⑧❳
✙ ✸➍✙ ✩☞❝✡✯✭✷ ❱✶✿⑧ ✡✩☞❦✺❳
CS ❂ ✶❲★✙ ✩☞❝✡✯✭✷
❂ ❱✶
✙
✙ ❱✶
✙ ❱✶
❱✶
❆❙❱ ✉ ❳
✸➍
✶❲★
✶✸
❱✧✿⑧ ✡✩☞❦✺❳
✮ ❼❋☛ ✩✡✞✉✭✪ ✞❢ ✺✞✟✩☞ ✺✉☞❢✩❝☛ ❝✞✈☛☞☛❑ ❜✮ ✡✞✞✭ ✩✪ ✪❋☛ ✪✯✡☛ ✞❢ ✡✩①✯✡✉✡ ☛❝✟✯❊✺☛
♣
❳ ❾ ✶✧✧✪
❳ ❾ ✶✧✧✪
✦✿★✦✸
❳ ❾ ✶✧✧✪
✧✿✦✦❳ ❾ ✶✧✧ ✪✿
✙ ✼➍ ✪✿ ❱✶ ✡✩☞❦❳
✕✷
■◆❆❖ ④ ❙r ④ ✷✵✵✾
❙✲❶✳❷⑩✲⑥✟
✶❩✶❲
✸✿✶❩✶❲ ❂ ✸ ✌
✶✧✧✧✧
✶
❂ ✸✌
✶✧✧✧✧
E
✶❩✶❲
✶
❂ ✸✌
★★✶✦ ✌ ➍➍
✶❩✶❲
✶
❂ ✸✌
✶
✼✌
✶❩✶❲
CS ❂ ✸✌
❂ ✸✌
✼✌
✼✌
➍➍
✶
✶❲ ✌
✶
✶❩✧➍ ✌ ➍
➍➍
✶
✶
➍➍
➍
✶
❂ ✸✌
✶
✼✌
✶
✶❲ ✌
✶✶
HB
❼❋☛☞☛❢✞☞☛ ✆ ❂ ✸❯ ❜ ❂ ✼❯ ❝ ❂ ✶❲❯ ❞ ❂ ✶✶▲
✍ ▲ ❱✶✧ ✡✩☞❦✺❳ ❑☛❑✩☞ ✺☛✭✪ ✩ ❝✞✭✪✩✯✭☛☞ ✞❢ ✡✩☞❜✟☛✺ ❜✮ ☞✞✩❑ ❢☞✞✡ ✹✉✡❜✩✯ ✪✞ ❇✩☞✩● ✯✭
♠ ♠ ♠
❇✉✭☛▲ ❼❋☛ ❝✞✭✪✩✯✭☛☞ ✇✩✺ ✦ ❾ ✦ ❾ ✦✿⑧ ✯✭ ✺✯✑☛❯ ✇✯✪❋ ❋☛✯●❋✪ ❜☛✯✭● ✪❋☛ ✟✩☞●☛☞
❑✯✡☛✭✺✯✞✭▲ ✹✩☞❜✟☛✺ ✞❢ ✦ ❝✡ ❑✯✩✡☛✪☛☞ ✇☛☞☛ ✩☞☞✩✭●☛❑ ✪✞ ✏✟✟ ✪❋☛ ☛✭✪✯☞☛ ❜✩✺☛ ✩✭❑ ✪❋☛✭
✩❑❑✯✪✯✞✭✩✟ ✟✩✮☛☞✺ ✞❢ ✡✩☞❜✟☛✺ ✇☛☞☛ ✩☞☞✩✭●☛❑ ✇✯✪❋ ☛✩❝❋ ✉❊❊☛☞ ✡✩☞❜✟☛ ☛①✩❝✪✟✮ ✞✭ ✪✞❊
✞❢ ❝✞☞☞☛✺❊✞✭❑✯✭● ✡✩☞❜✟☛ ✯✭ ✪❋☛ ❊☞☛✈✯✞✉✺ ✟✩✮☛☞ ❱✺☛☛ ✏●✉☞☛❳▲ ❼❋☛ ✡✩☞❜✟☛✺ ✇☛☞☛ ✪❋✉✺
✕✸
■◆❆❖ ④ ❙r ④ ✷✵✵✾
❊✟✩❝☛❑ ✉❊✪✞ ✦✡ ❋☛✯●❋✪ ✪✞ ❝✞✡❊✟☛✪☛ ✪❋☛ ❝✉❜✯❝✩✟ ✺✪☞✉❝✪✉☞☛▲ ➉✞✇☛✈☛☞❯ ✞✭ ☞☛✩❝❋✯✭● ❇✉✭☛❯
✇❋☛✭ ❇✩☞✩● ✞❊☛✭☛❑ ✪❋☛ ❝✞✭✪✩✯✭☛☞❯ ❋☛ ❢✞✉✭❑ ✪❋☛ ❋☛✯●❋✪ ✞❢ ✺✪☞✉❝✪✉☞☛ ✇✩✺ ✭✞✪ ✦✡ ✩✺
❊☞✞✡✯✺☛❑ ❜✮ ❑☛❑✩☞❯ ❜✉✪ ✺✞✡☛✪❋✯✭● ☛✟✺☛▲ ❑☛❑✩☞ ❑☛❢☛✭❑☛❑ ✺✩✮✯✭● ✪❋✩✪ ✡✩☞❜✟☛✺ ✡✩✮
❋✩✈☛ ☞☛✩❑❥✉✺✪☛❑ ❑✉☛ ✪✞ ❥✯●●✟✯✭●▲ ➅✩✭ ✮✞✉ ✏ ✭❑ ✭☛✇ ❋☛✯●❋✪ ✞❢ ✪❋✯✺ ✡✩☞❜✟☛ ❊✯✟☛❄
E
❙✲❶✳❷⑩✲⑥✟
CS
❼✞✪✩✟ ✭✉✡❜☛☞ ✞❢ ✡✩☞❜✟☛✺ ✯✺ ✶✧✧❾✶✧✧❾ ✶✧✧ ❂ ✶✧✻ ✩☞☞✩✭●☛❑ ✯✭ ✪✞✪✩✟ ✶✧✧
✟✩✮☛☞✺▲ ❼❋☛ ✡✩☞❜✟☛✺ ✇✯✟✟ ☞☛✩☞☞✩✭●☛ ✪❋☛✡✺☛✟✈☛✺ ✺✞ ✩✺ ✪✞ ✞❝❝✉❊✮ ✈✩❝✩✭✪ ✺❊✞✪✺ ✯✭ ✪❋☛
✺✪☞✉❝✪✉☞☛▲ ❲☛ ✩✺✺✉✡☛ ✪❋✩✪ ✪❋☛☞☛ ✯✺ ☛✭✞✉●❋ ❥✯●●✟✯✭● ✯✭ ✪❋☛ ✪☞✯❊ ❢☞✞✡ ✹✉✡❜✩✯ ✪✞
❇✉✭☛ ✺✞ ✪❋✩✪ ✉✭✯❢✞☞✡✯✪✮ ✯✺ ✩✪✪✩✯✭☛❑ ✯✭ ✪❋☛ ✩☞☞✩✭●☛✡☛✭✪ ✞❢ ✪❋☛ ✡✩☞❜✟☛✺ ✪❋☞✞✉●❋✞✉✪
✪❋☛ ❜✞①▲
❼❋☛☞☛ ✩☞☛ ✪❋☞☛☛ ✇✩✮✺ ✪✞ ✺✞✟✈☛ ✪❋✯✺ ❊☞✞❜✟☛✡ ✩✭❑ ✩✟✟ ✞❢ ✪❋☛✡ ✟☛✩❑ ✪✞ ✭☛✩☞✟✮ ✪❋☛
❆
✺✩✡☛ ✩✭✺✇☛☞▲ ❱ ❶❶ ❷❤✰✱✱ ❫✱❷❤✲❸✴ ✱❴✰⑥ ❥✳❶❶ ③✰✱❸⑩❷❳▲
▼✱❷❤✲❸ ❪✿ ❼❋☛ ✡✩☞❜✟☛✺ ✇✯✟✟ ❜☛ ☞☛✩☞☞✩✭●☛❑ ✯✭ ✩ ❭❢✩❝☛➆❝☛✭✪☞☛❑ ❝✉❜✯❝✧ ✺✪☞✉❝✪✉☞☛▲
✢✭ ✪❋✯✺ ✺✪☞✉❝✪✉☞☛❯ ✪❋☛ ❜✞✪✪✞✡ ✟✩✮☛☞ ❋✩✺ ✶✧✧❾✶✧✧ ✡✩☞❜✟☛✺❯ ✩☞☞✩✭●☛❑ ✺✉❝❋ ✪❋✩✪ ☛✩❝❋
❩ ✡✩☞❜✟☛✺ ❝☞☛✩✪☛ ✩ ●✩❊ ❜☛✪✇☛☛✭ ✪❋☛✡❯ ✯✭✪✞ ✇❋✯❝❋ ✩ ✡✩☞❜✟☛ ❝✩✭ ❜☛ ❊✟✩❝☛❑ ✯✭ ✪❋☛
✭☛①✪ ✟✩✮☛☞▲ ❨✯✭❝☛ ✪❋☛☞☛ ✩☞☛ ★★ ❾ ★★ ✺✉❝❋ ●✩❊✺❯ ✪❋☛ ✭☛①✪ ✟✩✮☛☞ ✇✯✟✟ ❝✞✭✺✯✺✪ ✞❢ ★★ ❾ ★★
✡✩☞❜✟☛✺▲ ❼❋☛ ✟✩✮☛☞ ✩❜✞✈☛ ✪❋✩✪ ✇✯✟✟ ✩●✩✯✭ ❋✩✈☛ ✶✧✧ ✡✩☞❜✟☛✺❯ ✩✭❑ ✺✞ ✞✭▲ ❼❋✉✺❯ ✇☛
✇✯✟✟ ❋✩✈☛ ⑧✧ ✟✩✮☛☞✺ ✞❢ ✶✧✧ ❾ ✶✧✧ ✡✩☞❜✟☛✺ ✩✭❑ ⑧✧ ✟✩✮☛☞✺ ✞❢ ★★ ❾ ★★ ✡✩☞❜✟☛✺▲ ◗✉✪ ✯✭
HB
✩❑❑✯✪✯✞✭❯ ✇☛ ✺❋✩✟✟ ❋✩✈☛ ☛①✪☞✩ ✡✩☞❜✟☛✺ ❑✯✺❊✟✩❝☛❑ ❢☞✞✡ ✪❋☛ ★★ ❾ ★★ ✟✩✮☛☞✺▲ ✠✉✡❜☛☞
✞❢ ✡✩☞❜✟☛✺ ❑✯✺❊✟✩❝☛❑ ✯✭ ☛✩❝❋ ✺✉❝❋ ✟✩✮☛☞ ✯✺ ❱✶✧✧✷ ★★✷ ❳ ❂ ✶★★▲ ❼❋☛☞☛ ✩☞☛ ✪✞✪✩✟ ⑧✧
✺✉❝❋ ✟✩✮☛☞✺▲ ❼❋✉✺❯ ✪✞✪✩✟ ✭✉✡❜☛☞ ✞❢ ✡✩☞❜✟☛✺ ☞☛✡✩✯✭✯✭● ✩❢✪☛☞ ✏✟✟✯✭● ✶✧✧ ✟✩✮☛☞✺ ✯✺
❂ ✶★★ ❾ ⑧✧
❂ ✦✧✧ ❾ ⑧✧ ⑧✧
❂ ❱✶✧✧ ❾ ✶✧✧❳ ⑧✧
❼❋☛ ✶✧✶✫✬ ✟✩✮☛☞ ❝✩✭ ❜☛ ✞❢ ✶✧✧ ❾ ✶✧✧ ✡✩☞❜✟☛✺▲ ❼❋☛ ✭✉✡❜☛☞ ✞❢ ✡✩☞❜✟☛✺ ☞☛✡✩✯✭✯✭●
✩☞☛ ✯✭ ❢✩❝✪ ✺✡✩✟✟☛☞ ✪❋✩✭ ✪❋✯✺ ✭✉✡❜☛☞▲ ❼❋✉✺❯ ✪❋☛☞☛ ✇✯✟✟ ❜☛ ✞✭☛ ✩❑❑✯✪✯✞✭✩✟ ✯✭❝✞✡❊✟☛✪☛
✟✩✮☛☞▲
✢✭ ✪❋✯✺ ❢✞☞✡✩✪✯✞✭ ☛✩❝❋ ✺☛✪ ✞❢ ❩ ✡✩☞❜✟☛✺ ✞✭ ✞✭☛ ✟✩✮☛☞ ✩✭❑ ✪❋☛ ✶ ✡✩☞❜✟☛ ✞✭ ✪❋☛
✭☛①✪ ✟✩✮☛☞ ✺✯✪✪✯✭● ✯✭ ✪❋☛ ●✩❊ ❜☛✪✇☛☛✭ ✪❋☛✡ ❢✞☞✡ ✩ ❊✮☞✩✡✯❑▲ ▲☛✪ ✪❋☛ ❋☛✯●❋✪ ✞❢
✪❋✯✺ ❊✮☞✩✡✯❑ ❝✩✟❝✉✟✩✪☛❑ ❢☞✞✡ ✪❋☛ ❊✟✩✭☛ ❝✞✭✪✩✯✭✯✭● ✪❋☛ ❝☛✭✪☞☛✺ ✞❢ ✪❋☛ ❩ ✡✩☞❜✟☛✺ ✯✭
✕✹
■◆❆❖ ④ ❙r ④ ✷✵✵✾
✪❋☛ ✏☞✺✪ ✟✩✮☛☞ ✪✞ ✪❋☛ ❝☛✭✪☞☛ ✞❢ ✪❋☛ ✪✞❊ ✡✩☞❜✟☛ ❜☛ ❤ ❝✡▲ ❨✯✭❝☛ ✪❋☛ ☞✩❑✯✉✺ ✞❢ ☛✩❝❋
✡✩☞❜✟☛ ✯✺ ✶ ❝✡❯ ✩❝❝✞☞❑✯✭● ✪✞ ✪❋☛ ✟☛❢✪ ❊✩✭☛✟ ✯✭ ✪❋☛ ✏●✉☞☛ ❜☛✟✞✇❯
♣
❤ ❂ ♣✦✷ s✷
❂ ♣❩ ❱✶✷ ✌ ✶✷ ❳
❂ ✦
E
h d
2
2
1 s b
1
✠✞✇❯
CS 1
✟✩✮☛☞ ✯✺ ✶ ❝✡❯
➌☛☞✪✯❝✩✟ ✺☛❊✩☞✩✪✯✞✭ ❜☛✪✇☛☛✭ ✶✫✬ ✩✭❑ ✦♥❞ ✟✩✮☛☞ ❝☛✭✪☞☛✺ ✯✺ ♣✦ ❝✡❯
➌☛☞✪✯❝✩✟ ✺☛❊✩☞✩✪✯✞✭ ❜☛✪✇☛☛✭ ✦♥❞ ✩✭❑ ✸r❞ ✟✩✮☛☞ ❝☛✭✪☞☛✺ ✯✺ ✦ ❝✡❯
✩✭❑ ✺✞ ✞✭▲
❽✞☞ ✶✧✶✫✬ ✟✩✮☛☞❯ ❑✯✺✪✩✭❝☛ ❜☛✪✇☛☛✭ ✪❋☛ ✪✞❊ ✩✭❑ ✡✩☞❜✟☛ ❝☛✭✪☞☛✺ ✇✯✟✟ ✩●✩✯✭ ❜☛ ✶ ❝✡▲
♣
❍ ❂ ✶ ✌ ✶✧✧ ❾ ✦ ✌ ✶ ❝✡
✙ ✶ ✌ ✶❩✶✿❩ ✌ ✶ ❝✡
HB
✙ ✶❩✸✿❩ ❝✡
✕✺
■◆❆❖ ④ ❙r ④ ✷✵✵✾
E
⑧➍ ☞✞✇✺ ✞❢ ★★ ✡✩☞❜✟☛✺ ✩✭❑ ⑧✼ ☞✞✇✺ ✞❢ ✶✧✧ ✡✩☞❜✟☛✺ ✯✭ ✪❋☛ ✺☛❝✞✭❑ ✟✩✮☛☞▲ ❼❋✩✪ ✯✺ ✩
✪✞✪✩✟ ✞❢ ⑧➍ ❾ ★★ ✌ ⑧✼ ❾ ✶✧✧ ❂ ⑧➍ ❾ ✶✧✧ ❾ ✦ ⑧➍ ✶✧✧ ❂ ✶✶❩❩✦ ✡✩☞❜✟☛✺ ✯✭ ✪❋☛
✺☛❝✞✭❑ ✟✩✮☛☞▲
❼❋✉✺ ✪❋☛ ✏☞✺✪ ✪✇✞ ✟✩✮☛☞✺ ✇✯✟✟ ❝✞✭✺✯✺✪ ✞❢ ✶✶❩❩✸ ✌ ✶✶❩❩✦ ❂ ✦✦➍➍⑧ ✡✩☞❜✟☛✺▲ ❽☞✞✡
✪❋☛ ✪❋✯☞❑ ✟✩✮☛☞❯ ✪❋☛ ❊✩✪✪☛☞✭ ✇✯✟✟ ☞☛❊☛✩✪▲ ❼❋☛☞☛❢✞☞☛❯ ✇☛ ✺❋✩✟✟ ❋✩✈☛ ✶✧✻ ❂✦✦➍➍⑧ ✙ ❩❩
❱☞✞✉✭❑✯✭● ✞☛ ✪✞ ✪❋☛ ✭☛✩☞☛✺✪ ✻✽r❣✼r ✯✭✪☛●☛☞❳ ❊✩✯☞✺ ✞❢ ✟✩✮☛☞✺❯ ✯▲☛▲❯ ➍➍ ✟✩✮☛☞✺ ✯✭ ✩✟✟ ❱✪❋☛
✟✩✺✪ ✟✩✮☛☞ ❜☛✯✭● ✯✭❝✞✡❊✟☛✪☛❳▲
CS
✢✭ ✪❋✯✺ ❢✞☞✡✩✪✯✞✭ ☛✩❝❋ ✺☛✪ ✞❢ ✸ ✡✩☞❜✟☛✺ ✞✭ ✞✭☛ ✟✩✮☛☞ ✩✭❑ ✪❋☛ ✶ ✡✩☞❜✟☛ ✞✭ ✪❋☛ ✭☛①✪
✟✩✮☛☞ ✺✯✪✪✯✭● ✯✭ ✪❋☛ ●✩❊ ❜☛✪✇☛☛✭ ✪❋☛✡ ❢✞☞✡ ✩ ✪☛✪☞✩❋☛❑☞✞✭▲ ▲☛✪ ✪❋☛ ❋☛✯●❋✪ ✞❢ ✪❋✯✺
✪☛✪☞✩❋☛❑☞✞✭ ❝✩✟❝✉✟✩✪☛❑ ❢☞✞✡ ✪❋☛ ❊✟✩✭☛ ❝✞✭✪✩✯✭✯✭● ✪❋☛ ❝☛✭✪☞☛✺ ✞❢ ✪❋☛ ✸ ✡✩☞❜✟☛✺ ✯✭
✪❋☛ ✏☞✺✪ ✟✩✮☛☞ ✪✞ ✪❋☛ ❝☛✭✪☞☛ ✞❢ ✪❋☛ ✪✞❊ ✡✩☞❜✟☛ ❜☛ ❞ ❝✡▲ ❨✯✭❝☛ ✪❋☛ ☞✩❑✯✉✺ ✞❢ ☛✩❝❋
✡✩☞❜✟☛ ✯✺ ✶ ❝✡❯ ✩❝❝✞☞❑✯✭● ✪✞ ✪❋☛ ☞✯●❋✪ ❊✩✭☛✟ ✯✭ ✪❋☛ ✏●✉☞☛ ❜☛✟✞✇❯
❞ ❂
❂
❂
♣✷ ✷
r✦ ❜
r
❩
❩ ❱
✦♣ ✷
✸
✦❱
✦♣ ✷
✸❳
✶✷ ❳✷
r ❩
✸
❂ ❩
♣ ♣✸
❂ ✦ ✦❂ ✸
HB
✠✞✇❯
❉✯✺✪✩✭❝☛ ❜☛✪✇☛☛✭ ✌✞✞☞ ✩✭❑ ❝☛✭✪☞☛ ✞❢ ✡✩☞❜✟☛✺ ✯✭ ✪❋☛ ✶✫✬ ✟✩✮☛☞
♣ ♣✯✺ ✶ ❝✡❯
➌☛☞✪✯❝✩✟ ✺☛❊✩☞✩✪✯✞✭ ❜☛✪✇☛☛✭ ✶✫✬ ✩✭❑ ✦♥❞ ✟✩✮☛☞ ❝☛✭✪☞☛✺ ✯✺ ✦ ♣✦❂ ♣✸ ❝✡❯
➌☛☞✪✯❝✩✟ ✺☛❊✩☞✩✪✯✞✭ ❜☛✪✇☛☛✭ ✦♥❞ ✩✭❑ ✸r❞ ✟✩✮☛☞ ❝☛✭✪☞☛✺ ✯✺ ✦ ✦❂ ✸ ❝✡❯
✩✭❑ ✺✞ ✞✭▲
❽✞☞ ➍➍✬❤ ✟✩✮☛☞❯ ❑✯✺✪✩✭❝☛ ❜☛✪✇☛☛✭ ✪❋☛ ✪✞❊ ✩✭❑ ✡✩☞❜✟☛ ❝☛✭✪☞☛✺ ✇✯✟✟ ✩●✩✯✭ ❜☛ ✶ ❝✡▲
♣
➍✼ ❾ ✦ ✦
❍ ❂ ✶✌ ♣ ✌ ✶ ❝✡
✸
✶✼ ❩ ❾ ✶✿ ❩✶❩
✙ ✶✌
✶✿✼✸✦
✌ ✶ ❝✡
✙ ✦ ✌ ✶✧✧ ❾ ✶✿ ❩✶❩ ❝✡
✙ ✶❩❩ ❝✡
✕✻
■◆❆❖ ④ ❙r ④ ✷✵✵✾
▼✱❷❤✲❸ ✸✿ ❼❋☛ ✟✩❜✞✉☞ ✯✭✈✞✟✈☛❑ ✯✭ ✪❋☛ ✩❜✞✈☛ ✪✇✞ ✺✞✟✉✪✯✞✭✺ ❝✩✭ ❜☛ ✩✈✞✯❑☛❑ ✪✞
✩ ●☞☛✩✪ ☛①✪☛✭✪ ❜✮ ☞☛❝✞●✭✯✺✯✭● ✪❋✩✪ ✪❋☛ ✪✇✞ ✩☞☞✩✭●☛✡☛✭✪✺ ❑☛✺❝☞✯❜☛❑ ✩❜✞✈☛ ✩☞☛❯ ✯✭
❢✩❝✪❯ ✪❋☛ ❭❢✩❝☛➆❝☛✭✪☞☛❑ ❝✉❜✯❝✧ ✩✭❑ ❭❋☛①✩●✞✭✩✟ ❝✟✞✺☛ ❊✩❝❦✯✭●✧ ✩☞☞✩✭●☛✡☛✭✪✺▲ ✢✭
☛✩❝❋ ✞❢ ✪❋☛✺☛ ❝✩✺☛✺❯ ✪❋☛ ❭❊✩❝❦✯✭● ❢☞✩❝✪✯✞✭✧ ✯✺ ✧✿✼ ❩❯ ✯▲☛▲❯ ✪❋☛ ✩❝✪✉✩✟ ✈✞✟✉✡☛ ✞❝❝✉❊✯☛❑
✪
❜✮ ✪❋☛ ✡✩☞❜✟☛✺ ✯✺ ✼ ❩ ✞❢ ✪❋☛ ✩❊❊✩☞☛✭✪ ✈✞✟✉✡☛ ✞❢ ✪❋☛ ✺✪✩❝❦▲ ❼❋☛☞☛❢✞☞☛❯ ✯❢ ❱ ✯✺ ✪❋☛
✈✞✟✉✡☛ ✞❝❝✉❊✯☛❑ ✯✭ ☛✩❝❋ ✞❢ ✪❋☛✺☛ ✩☞☞✩✭●☛✡☛✭✪✺❯ ✪❋☛✭ ❱ ✯✺ ●✯✈☛✭ ❜✮ ✪❋☛ ☛q✉✩✪✯✞✭
E
✧✿✼❩❱ ❂ ✶✧✻ ❾ ❱✶❝✡❳✸
❩✙
❱✶❳
✸
✠✞✇❯ ❱ ❂ ❆ ❾ ❍ ❯ ✇❋☛☞☛ ❆ ✯✺ ✪❋☛ ✩☞☛✩ ✞❢ ✪❋☛ ✺✪✩❝❦▲ ➉☛☞☛❯ ❆ ❂ ✦✧✧ ❝✡✷▲ ❼❋✉✺❯
❍ ❂ ❱ ❂❆
✶✧ ✻ ❾ ✹✸✙
✧✿✼ ❩ ❾ ❩ ❾ ✶✧✹
❂ ❝✡
✙ ✶✧✧✸ ❾❾ ✧✸✿✼✿✶❩✶❲
❲☛
CS ✙ ✶✧✧ ❾✼✶✧❩
✙ ✶❩✶✿ ❩ ❝✡
❩
❩
❝✡
✿✼✦ ❝✡
✞❜✪✩✯✭ ✩✭ ✩✭✺✇☛☞ ❝✟✞✺☛ ✪✞ ✪❋✞✺☛ ✞❢ ✪❋☛ ✏☞✺✪ ✪✇✞ ✡☛✪❋✞❑✺▲ ❼❋☛ ✺✡✩✟✟ ❑✯✺❝☞☛❊➆
✩✭❝✮ ✩✡✞✭● ✪❋☛ ✪❋☞☛☛ ✡☛✪❋✞❑✺ ✩☞✯✺☛✺ ❑✉☛ ✪✞ ✪❋☛ ❑✯☛☛☞☛✭❝☛ ✯✭ ❊✩❝❦✯✭● ✞❢ ✪❋☛ ❜✩✟✟✺
✭☛✩☞ ✪❋☛ ☛❑●☛✺❯ ✯▲☛▲❯ ❝✟✞✺☛ ✪✞ ✪❋☛ ✇✩✟✟✺ ❱✇❋✯❝❋ ✡✩✭✯❢☛✺✪✺ ✯✪✺☛✟❢ ✯✭ ✪❋☛ ✩❊❊☞✞①✯✡✩✪✯✞✭✺
✪❋✩✪ ✇☛ ❋✩✈☛ ✪✞ ✡✩❦☛ ✯✭ ☛✩❝❋ ❝✩✺☛❳▲ ❼❋☛ ✩✭✺✇☛☞ ✞❜✪✩✯✭☛❑ ✯✭ ✪❋☛ ✪❋✯☞❑ ✡☛✪❋✞❑ ✯✺
✪❋☛ ✯❑☛✩✟ ❝✩✺☛ ✺❝☛✭✩☞✯✞❯ ✇❋☛☞☛ ✇☛ ❑✯❑ ✭✞✪ ❝✞✭✺✯❑☛☞ ✩✭✮ ❭☛❑●☛ ☛☛☛❝✪✧▲
❱✢✭ ✪❋☛ ✟✩✺✪ ✡☛✪❋✞❑❯ ☞☛❝✞●✭✯✺✯✭● ✪❋✩✪ ✧▲✼❩ ✯✺ ✩❝✪✉✩✟✟✮ ✸♣
✙
✷ ✇✯✟✟ ✺✯✡❊✟✯❢✮ ✪❋☛ ❝✩✟❝✉➆
✟✩✪✯✞✭▲❳
▲ ❘☛✩❑✯✭●✺
❝✡ ✪✶ ✭❙ ❡❝✮ ✪✷ ✭❙❡❝✮ ✪✸ ✭❙❡❝✮
✦✧▲✧ ✦❲▲★ ✦❲▲★ ✦✼▲✧
✦⑧▲✧ ✸✧▲✶ ✸✧▲✶ ✸✧▲✶
✸✧▲✧ ✸✦▲★ ✸✦▲➍ ✸✦▲✼
✸⑧▲✧ ✸⑧▲❲ ✸⑧▲➍ ✸⑧▲✼
❩✧▲✧ ✸➍▲✧ ✸➍▲✶ ✸➍▲✶
❩⑧▲✧ ❩✧▲❩ ❩✧▲❩ ❩✧▲⑧
✕✼
■◆❆❖ ④ ❙r ④ ✷✵✵✾
❱❝❳ ❱✶ ✡✩☞❦❳ ➋✺✯✭● ✪❋☛ ●☞✩❊❋❯ ✏ ✭❑ ✞✉✪ ☞☛q✉✯☞☛❑ ✟☛✭●✪❋ ✞❢ ✪❋☛ ❊☛✭❑✉✟✉✡ ✪✞ ●☛✪ ✩
✪✯✡☛ ❊☛☞✯✞❑ ✞❢ ✶✿✦❩ ✺☛❝▲
E
❩✙✷
✮ ❚✷ ❂ ▲
❣
CS
✦✧▲✧
✦⑧▲✧
✸✧▲✧
✸⑧▲✧
❩✧▲✧
❩⑧▲✧
✦❲▲★
✸✧▲✶
✸✦▲★
✸⑧▲❲
✸➍▲✧
❩✧▲❩
✦❲▲★
✸✧▲✶
✸✦▲➍
✸⑧▲➍
✸➍▲✶
❩✧▲❩
✦✼▲✧
✸✧▲✶
✸✦▲✼
✸⑧▲✼
✸➍▲✶
❩✧▲⑧
✭❙❡❝✮
✦❲▲★
✸✧▲✶
✸✦▲➍
✸⑧▲❲
✸➍▲✶
❩✧▲⑧
✭❙❡❝✮
✧▲➍★✼
✶▲✧✸
✶▲✧★
✶▲✶★
✶▲✦✼
✶▲✸⑧
❅ ❉✩✪✩ ✺❋✞✉✟❑ ❜☛ ❊☞✞❊☛☞✟✮ ✩✈☛☞✩●☛❑ ❝✞✭✈☛☞✪☛❑ ✪✞ ✪✯✡☛ ❊☛☞✯✞❑ ❢✞☞ ✞✭☛ ✞✺❝✯✟✟✩➆
✪✯✞✭▲
❫❴✰❵✴✎
✍ ❪❻✺
❙❡❝
✧▲➍✶
✶▲✧❲
✶▲✶★
✶▲❩✶
✶▲❲✶
✶▲➍✦
❅ ➅❋✩☞✪ ❼✯✪✟☛❯ ✣①✯✺ ❼✯✪✟☛✺ ☛✪❝▲ ✺❋✞✉✟❑ ❜☛ ❊☞✞❊☛☞✟✮ ✇☞✯✪✪☛✭▲ ✍ ✵❻✺ ❫❴✰❵✴✎
❅ ❼❋☛ ✺❝✩✟☛✺ ✩✭❑ ❊☞☛❢☛☞✩❜✟✮ ✞☞✯●✯✭ ✺❋✞✉✟❑ ❜☛ ❝✟☛✩☞✟✮ ✺❊☛❝✯✏☛❑ ✩✪ ✪❋☛ ✪✞❊ ☞✯●❋✪
❝✞☞✭☛☞▲ ✍ ✵❻✺ ❫❴✰❵✴✎
❅ ❇✞✯✭✪✺ ✉✺☛❑ ❢✞☞ ✏ ✭❑✯✭● ✺✟✞❊☛ ✺❋✞✉✟❑ ❜☛ ✇☛✟✟ ✺☛❊✩☞✩✪☛❑❯ ✇☛✟✟ ✡✩☞❦☛❑ ✩✭❑
❊☞☛❢☛☞✩❜✟✮ ✭✞✪ ❢☞✞✡ ✪❋☛ ☛①✯✺✪✯✭● ❑✩✪✩✺☛✪▲ ✍ ✵❻✺ ❫❴✰❵✴✎
❅ ✸➍❝✡ ❊✞✯✭✪ ✺❋✞✉✟❑ ❜☛ ✡✩☞❦☛❑ ✞✭ ✪❋☛ ●☞✩❊❋ ❊✩❊☛☞ ❱✩✺ ✺❋✞✇✭❳▲ ✍ ✵❻✺
❫❴✰❵✴✎
✕✽
■◆❆❖ ④ ❙r ④ ✷✵✵✾
2
T Vs. L
2.0
Scale
x−axis: 1unit = 5cm
1.8 y−axi: 1unit = 0.2 sec 2
Origin (0,0)
1.6
E
1.52
1.4
T2 (Sec 2 ) 1.2
1.0
0.8
0.6
0.4
5 10
✺✟✞❊☛ ✙
15
✙
20
❱❩✧ ✦✧❳
❱✿➍✦❳
❱✦✧❳
L (cm)
❱✶✿❲✶ ✿✼★❳
25
❂ ❩✿✶ ❾ ✶✧✁✷
30 35
38
40 45
✮ ❩❣✙
✷
✙ ❩✿ ✶ ❾ ✶✧✁✷
❩✧
✮❣ ✙
❩✿ ✶ ❾ ✶✧✁✷
❣ ✙ ★✿ ➍ ✡❂✺✷
HB
❱✦ ✡✩☞❦❳
➋✺✯✭● ✪❋☛ ●☞✩❊❋❯ ✇❋☛✭ ❚ ❂ ✶✿✦❩ ✺☛❝❯ ❚ ✷ ❂ ✶✿⑧❩ ✺☛❝✷ ▲ ❼❋✉✺❯ ▲ ✙ ✸➍ ❝✡▲ ✍❪
❫❴✰❵✎