Unifying Control in a Layered Agent Architecture - Computer and



 
  
   
  ! "$#&%('*),+.-/)1032547678:9@?.A:BC'*; #D#/4E6GF8‰4 )) G4 ) ‡B  "!$# =  &%('v%()¡)14E6 )) 8 *¨'*6  474+%(, = )¡4*)¡032*47-.-/10¯8,2*4E6142 G25443»4E2>F8 EG G2* 4{*--* >*-5% ?-* *' zA á=
{2*4E614K%(614Ë%7 f#D4]%() H 9 = %JI = 6Ÿ6¡4]%() = *) á= 6H*4]%d#/-5>K,- G2@%(>(4 à%(61032*- G4E0 G'56147)LNMK*4,-/) = 84 OP *#/%(- %  Q = *614 *-/80 {%(>(4  23:472‰4 Y^-‡10¯:8 ,K% = % ?ˆ'T4 = 61>(4 Y 2‰4  â- P@ 1476 *6184 G476 = :47617% G- =  G2*+4 #4*K_N G254 = 6 `3 `*47)¡076¡- 3*- *>@= % Æ%d>‰4  >3  = *+4 *6 = 0E47)¡)1- 5> 80 07#/4dU A
{2*-/) 0 07#D4H0 = *)1-D) 1) =  12*&4 3*%()1-D0 *2*%()14E) = $= P G- =  >‰4 *47617% G- = zS8 *47#D- 3:476G1% G- = z8 ) 3%7 14K'? ‰= *6 -/ ,)¡46¡4]4%( @80 G47- 561>(- 94È*08- a %‹)1-)1 14' = %d#z-/)4 = 56 = 5-*4â%Ã%(610325- G4E0 1'*614+ G2‰4  >3:472 zA    %  = ? 14) G2*4“ 4< G%(#z07%7 @ 4E> = 6¡-/47)à'*)14-Q#"*K_’ G2*4 = 6 = 547)10E61-3»4$%7%(>‰4 \œ)OI‰4d8*- 1)Â> = %(#/)E8%7 a- 1)Â) G%7 G4 ) G25Q4  6¡I !$,Ë% %('$4 61>‰84 Yc-?h(H8 ,Ë% %('$4 61>‰84 Yc- ‡J023  7=  *6 = 0E47)¡)1- 5>*A _A X84 Ov 14  *; 6= 1>Ä% 5-/)1- *>Á7% a%(>‰4 < \œ){) 37% 14$%  a0 = =  G6 = =  ‰# ,- G2*= - a%¹#&6% (= 47614 Ã%(61032*- G4E0 = G'5614(HA
{= 254 *6 = 35#/4 @ ) = # 5- *>0]% *% 3*-/#D- 1-/47) =  % C%(>‰4  @%(61Q4 547)10E61- 3»4  2*-D4761%(61032*-D0]%(#D# c3 [% 3:472‰4< 3:472*% 5- = '*612) 12 -    -/) = '? 1#/-54-•4E0 1- = UgAy4E0 G- = •)B 56 = 5-*4E)a% 4…O*%7  *#D4 á= 6 2 =      -D)Ô'*)¡4 [ = 547)1-D> % 7% *#/-D0]7% 1- = Ã) ) G4 à A
{2*4 :476 á= C6 % *0E4 =  *- Yø4E614 < %d>‰4 > 9v »4E)K-D),% #/%(476ZO?Ni›A2
{254 %d>‰4  ‰c4 3(# - %  = 6¡#U = *4E#¯8Ë%€ 4 3%(# = *47#‡8þ% ð%Ã) = 0E-&%(#’ = *47#‡A
{254*-Yø4E614< v#/%(476¡)â0 = 616¡47)C =  c = *-Y»476¡4  ' *08 G- = ‰'*614hLH
{2*4    Ô>‰4 K61032*- G4E0 G'5614 #D45(47#/) = 12*4¨%(>(4 ]A’
{25K4 *'*6 = )¡4 =  G2*“4 #4#4-/)N = %(#/# =  G2*4Ô%(>‰4< T = 614]%d0 T = 0E476 G%(- 0E61- G-/07%(#‰)¡- G'*%7 G- = *)T~3 T) = @\07%(#/#D4rkCw8|}u?w| |9k…z?q>u}p2j8k?wmouH ? = #2›8q% + = *47%(# ,- G2 6 = '? 1-*4f)1- G'u (S›JA ,,4]%d0 = 61).%(61N4 G6¡-/>‰>‰4E614 a3 T4 5(4  G)b61470 = >*-D)14  6 = Œ 12*42 = 6¡# = *4E# G2(4 6\ ) = 3vI¡4708 @\#D45(47#×I‰4Ô%73 = 'P à- G) 4 5-D6 = ? 4 < 7`A
{2*Q4 þN?  >‰- 5‰47+) G254%(>(4  a 12*4È7% 3*-/#D- 9 7=  # = *>‰47}6 @A 147C6 ‹*47#D- 3:476G1% G- = zA _A 35'*-/#*) =  = 6¡#[ = 547#¥- á= 6 %1 G- = z8G3*'? T%7 *- 1- = *%(#/#È'*)¡47)K G254‹%(>‰4< \œ)$0E'*616¡4 $> = %(#/) 7%  a# = 0]%(#:-  14  G- = *") %(- < G%(- 54 - b G25 4 4 < G%(# *47‰# % C%(>‰4  \œ)‹0E'*616¡4   »4E61074 ? G- = C%   - 1) = #  3»4E#/-D4  )Á-< = %)14 =7 54 3»4E#/-/4  )7A  L

-/)¥%{)1- G' *- G- = T%  v> = %(#Ä%d0 G- 5d7% G- =   ' *80 G- = zJ8 *476¡- 5- *> *4> = %(#D)  6 = G2*4v%(>‰4 6\ )54y3:47#D-/4  ),%7 - G){0E'*616¡4 K> = %(#D)7A % *#&% ?*- *> %  Æ)1032*4 *'*#/- *>  ' 50 G- = z8 *476¡- 5- 5>È% )¡4 =7   L 
   -D)Ô *4 Ü-  G4  1- = *“ )  0 =  - r @4  G’) = 0 = '*61)¡47) =  %(80 G- = t:3 = %d#/)L)14E#/4E0 G4  3‰2Á%  )1032*4* '*#/-* >* 6 = 0E47)¡)147),%1 "* -øY 4E6@ 4 a #&%6( 4761)a0 == 6C* - = G -/%7G - =  %? = 3 %(Id4 - = %(070 = '  â 074763 %(-  0 =  - r@ 4 G )“ %5 43 .1 2*4@' : 476T#&%6‰ 4E6 - 1 47>‰6¡-@ 9  0 * )G 61%(- G )r› AÔ  #D) G 2*4X- 1 476 %d074»3 48 9 4E4B1 2*4bþ ?N  %?B#4#"  0  * 4 â -/) * 47)¡-/>= * 4 3 €1 2*42*-/>‰= 25476X#&%6‰ 4E6;  = )G -* >%(01 -d5 %71 - =  6¡4JŠ '*47)G ) á = 6;< %7 C= 1 476* =) = :3 48@ 2Ä%d6C* 4 %()0 =  - r@ 4 G ) %7* 4[3  G 254 q  0 =  = * 4 Ë %()Ë%‹0 = 5 )14JŠ '*4* 074 = 1 2*4T- G 4 G - = * )>* 476¡-‰5 4H -`G 2*-D)2* 6 = 074E)1)7A #O%d)14 = DG 2*4E)14]* 6 = = 0 = #/)E8?G 254] = )¡)1-53 #/4* 6 = *3 #/4 ;p@ ) = #5 -* >:3 472*%5 - = '*6 = %    

  %(>‰4 â 0]%Z»3 4 07#/%()1)¡-‰4* 4E61-D0  u1zG|  u1l ?w|  q8La1 2*4 rkCw 8|~m k ?w| 8iG 2*4 l u Cwl  lwzGzGm{zvs ?w| 8×% `G 2*4  uu Gk w|~m k  lwzGzGm{zv) s ?w| Af+ = #/# = , -* >a1 2*4T6147%(01 -‰5 4+< %1G 2z8 %È0E#&%()¡) = 4 4E61>‰4* 0Æ )1-1 '* -D)14Ò - > 9 %?[* -/6¡4701 #* 4]%d# “, -G 2'*)¡-* > 6¡4]%(08 = 6a< %7 G 476* )`á 485O % * #/47ÁL ) = B = %65 = - %H0 = #/#D-/)¡- = t[ AQ_9B1 2*4# = 07%(#H* #&%7 * -5 >< %1G 2z8 12*4`þ ?N  -D)Á%(08G -d5 %71 4 = * 4]%d#", -1 2 = 614È0 = 5 #/48ð O )¡-G '*%7G - = * )`á 485O % * #/47L5 #&% 5 -* >Æ% 16G%5 )C = 6G %7G - =  = 6* 476r› 8»%b* #/%Æ  -D)“* 485 -D)14  %  4…5O 4E07'?1 4^3  %d0G -d5 %7G -* >5 6 = 0745 '*614* %7 @ 1476* )7A+b-d< %7G 2ð-/)G 6¡-/>‰>(47614Z3 ^G 254 O?NH¥R -v - 5 = #‰5 4E) 0 = Á ' * -D0]%71 - = @ %  0 == 6C5 -â%(>‰4 G )á 485O % * #/47L’* 4E> = G -/%7G 4Ë%4I = - T* #&%7 á = 6 6¡47) = #5 -5 > %*3 # = 03IJ-* >‹0 = % /6 = 3 = 1)v% *#D-/0]%1 G- = z8z-¯A 4(Aþ%d'? = %7 14 á= 61IJ#D-  G)K 12 = !#"_%$  = 61IJ) G7% G- = *)Ô-D>) 3 -*-&%7 1'*614¹6 = 3 = G) ! B = ?= = 03I×AT_A ,-D){614 *614E)14 14 %d)K%Á>(61- 1 ) 4 - /.:Rz47%(032C) ŠJ'‰- =  4 … † ?w651m{zvs 71u1z k ˆ ?wl{l98Tw;: ˆ | 65 rkosmou1z ˆ qGk8l p rkosmou1z ‹ AHvŠ'*%(614E) 4 | .65¨%  [qGk8l pÂ07% H%  *- G- =  = ) = *+4 3 = O»A 7=  9v : 

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Q1 (a)

(b)

(X1, Y1) (X2, Y2)

Q3

Q2

(X3,Y3)

Q4 goal((X1, Y1)). same_quadrant((X1, Y1), (X2, Y2)). neighbor_quadrant((X1, Y1), (X3, Y3)).

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{254a = %7*-*>;* = 03I V3t '(4 G) = 070E'  = *4Â) Š'*%(614Â7% L>% G- @4R1 G2*48v2‰4 = :476¡074 ? G- = D 4dAœ>5AL = *4T)CŠJ'ð%(6 = '  ˆ = G2*4d *61485- = '*) # = 0]7% 1- = ð%  6¡4 = 6 1- *>  %d-/#/'5614 =  G2*4È%(0 1- = -  = 6 *47=6 = >‰'‰-/07%(# %7 = @-/0E- 9(A _9 = C6 547& 6 = )1-  5#/-   G2*Z4 *6 = 35#/4 =  0 =  *?' G- *> 12*4 0E'*616¡4  ^ = )1- G- =  ,2*-D#/4 *61-5-*>*8 G2*4Ò6 = 3 = = 6¡-/4< 1)H- G)¡47#  3  á= #/# = ,-*>- *'*08 G- =  #D-*4E)'*)1-*> -  6G%d614 / == 6$)14 5) = 6¡)¹% ?ð%)1-  5#/4Á0 =  G6 = #L%(#/> = 61- G2 ÃAÁ+ = 6$D % = 614 54 3%d-/#/4 ^*-/)¡07'*)¡)1- =  =  %()C :4708 G) =  3:472‰4   G'*6  %(6 = ?'  € = .% *-D614780 G- = C) :470E- E(4 ¹-D)+ = â2 = #5-*>Ã%D3 = O»8Ÿ%? ) 37%  *),-   6 =  =  % E*47#  = 9v :4 2 …‡†‰ 2 “36 G2‰6G%7 14- = 12*4T>‰61- :4767A  "P| j8u v-D4) G2*4T-  5(4761)¡4¹%d0 G- = ` = sw1q  j8u ‰A K>‰4 1)â6¡47074E- 5(4 = 6 *476¡ ) = # = %  = 6v?' *# = 7% ^ 161'*03IJ) R:,2*-/#D4 »4E6 á= 6 - *Q> G2547-/K6 G%()1IJ)Ei8 12*4  %6X61'  -  = 0 = %/‰4  1)7A ‚{Aœ>5AD8%(>‰4 < 1") 6% ;3*# = 03I‹4]%(032 = G2*4E678-¯A 4(A = *4 %d>‰4  T 6% ¹2 = %(?# = = 5‰44 = %$C) ŠJ' 4E032*88B ˆDC *4 = 14 - *'? Nd5 %(6¡-&%*3 #D47)E8EFB ˆ E C * 4 = 1 4 = 'P r *'? T5d%(61-/%3*#D47)78J-‡Aœ4dA5(%d#/'*4E)à6¡4 G'56C*4Q3  G2*4  ' *0 1- =  07%(#/# L




   Ow nu HGbx  8   kCw|9 k I>j * k 8| 8JLK # L‹6¡4 1'*6C*)Á%H' *-ŠJ'*4-*4 G-E(' 4 G )@% * -G - = G 2*4+d5 %(#/'54 á= 62G 2*4v%7 G 61-*3 '?1 4YU“| |  = 1 2*4T0 = 5 074 P -* )3 %* 0E4+* 4 = G 4d3 - K #dA



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{2*4‹)¡470  -  6 3%7< K07#/%()1) - G4E6 %(0E4 ' *08 G- *)$%(6¡4 rk8| …mok1wlPp vz 8|~mou1z?q›A
{2*4 %d6142 *6 = 5-*4Ë= %@%(070E47)1= )N = 12*4,Iv = ,=7#D 4*>(4Ô%( 08 G'3Á6148 G61-D45d%(#  '?*0 1- = *)L  svk8| MSu1z  k  | Zkj8krq  MSu1z  k  |ZJLK #R:mq8| JLƒ,,4 1'*6C*)þ%{#D-/) = %(#/#d-*) 3%50747) = MSu1z  k  |áA ) 161'*4È-  G2*4a0 = *0E4 ? X-*) G%*074  mq MSu1z  k  | ckj8k & NK #-MSu1z  k  |YJ (Kuu1l JL,,4 G'5C6 * *4 = G4d3 -K #$-/),% @4 3:476 =  MSu1z  k  |áA  svk8|NQ>k8lw|~mou1z Zkj8krq  Q>k8l$J RFmq8| I p K #RFmq8|Vq La,,4 1'*C6 5)¹%a#/-D) = #/-D) =7 0 = *074 ? v- P@ ) 37% *074E ) *4  = 1- *>@%(#D‰# G?' *#/4E>) 12k8ltA  mq Qk8lw|~mou1z ckj8k& NK #R:mq8|*Q>k8l J (Kuu1l LVJ (Kuu1lq6184 G'*6 *S) 161'*4Ë-  G2*>4 G?' *#/>4 *4  = G4  3k8llA 6 h  svk8|NQ>k8lw|~mou1z Nm{l{lk  Qk8l 5 K #RFmq8| e ˆ JLK #RFmq8|  1L á= 6 7%  . @\%(6  6¡47#/7% G- = `Qk8lt8 á=   ..8‹%  á= 6%Ü#/-/) K #R:mq8| e  † e ˆ   Pˆ  e  7=  0 = *0E4 ? -*) G%*074E)[,- G2 K #RFmq8|  . h(8 svk8|NQ>k8lw|~mou1z Nm{l{lkà- *) G%  G-/7% G4E) K #RFmq8|  = e




















 



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†    e ˆ   [ˆ  e ˆ  ˆ  ˆ    ˆ   e  … ?‹  svk8|#TGwl Gk NK #VU“|~| I ikCw|YJ)TGwl 1Lb6148 G'*6*)H G2*425d%(#D'*4 = %%1 C G6¡-3*'P G4 = 6 = %  4]%7 1'*614 = 1 2*4T0 = 5074 P Ô-*) G%*0745 4 = 1 43‰4*4761%(#L%?Ò)¡-  *#/4âI‰4X614 56148@ )¡4 3%1 G- =  á= 6C %(#/-D)C dR  '? 1'*614 = 61I,-/#/#»48Ov G4    -D*-Y»476¡4 *-/6¡470 1- = 5)7A 

  *-*>a%b54*'*08 G- =  61'5#/4= @47032*%*-/) ,2*-/032%(#D# = ,)Ë4(A >*A‰ = 84 OP *6¡47)1)3*%(03IJ>‰6 = ?'    “ G 2*4 = 61-D47),% Ã- 147>‰6¡- 9È0 = *) G6G%d- G) h

 ’‚ Ov 14 *-*>b 12*4Á"+#) »4E07-E*0]%7 1- = d = %  '*#/# = 3vI¡4E0 @ = 6¡-/4 14I‰4=3*%()14 56 = @ 5 -*-5>‹-*2*4E61- 3%*0E4(8*) »4E07-/%(#/-D)G%7 1- = a%7 H>(4*4E6G%(#D-/)G%1 G- = ^ -D) %‹614E#&%7 1- = t[A * 4EG* -* >Ò%.G 6G%7* )G%(08G - =  0 = * 0E4 ? á= 6Ô"]# ,2*-D032%(#D# = ,) G254H%1 = @-/0 48O470E'? G- =   ¨ =Iv %Ã, )1#D44JŠ* '*>(44=* ,-/#D#? = N*-/)¡07'*)¡)S3:47#D-/4  %35) G61%(0 1- = ø8Ä-¯A 4(A 12*42*476¡-5d%1@ 1- =  =  = 6¡4@% 3*) 16G%(80 = 6T0 =  5#/84 Oc3:47#D-/4  )  6 = )¡-  *#/4E6 = *47)R á= 6 G2*43»4E#/-D4  6¡45-/)¡- = 

56 = 0747)¡)7™8 à; 4 ,-D#/# á= 0E'*) = . G254  = 6¡# ^ = *4E:# ‰4  T‰;4 3‰4  6\ ’) 4  3%(# %7 H) = 0E-&%(#‰ = *4E#”%(614+3:4 =   12*4T)10 = »4 =  G25-/)2 *474 *4  =Ô= 3? G%(- ] G2*-D).#D4 5(47# =  614 *614E)14 < G7% G- = Á-DF)  = b0 = *)1- *476¡4 zAb+() ˆ  A
{2*4E)14‹614E) 161-/08 G- = *)¨%d#/# = '*)“ = - G4E6C *6¡4 K 12*4¹0 =  *- G- = *)
) " = 5‰4E6 12*4]‚K4E6C3*61% e  *-5‰476¡)14dA {
2*4- G '*-G -(5 4Æ)¡4 % G -/0E) C-/) 12‰4@-D0]0%(# % *X'? 1)¡44 %3  ^ G-/ G072*%(4 # = #/# ,-*> ' *08 G- L = 
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{254 á= #/# = ,-*> *6 = »4E6 1-/47) =  2 = # L  Ot  t& "w "tvu  Rƒk8|  &j8kw=|}k m{z w|~m{zvs#vk8mq8mou1z "rk$#mCw|9kƒp6u"qkwzG| m  u1z?q8mq8|9k8z : w1q #vk3’Nz k$#^w j8uk“ Gk8zB”’p vz 8|~mou1z  |9km{z w|9k qp6udkCw5’NzGm{|9kQm{z"v|qk8|{q  wz"#

‰-D0]%(= ‰# *4 *'50 G- = zA{+ = 6,- = *) G% *074d8»-  †  ˆb‹   = e ˆ = = & 3*?' ‰Š†  ‹ =  = G8 G2*-D2) 9P :4  7=  # = >‰-D0]%(#»-*0 = *)1-D) 14*080]%  = 3»4T614E0 = >*-/)¡4d3(4 6R]3(4 2 *-D)140E61- G-/07%(#f)1- G' =  *6¡4  476¡61-*>Q3:47#/-D4  ) 3*%()14  = d = 614$6¡47074  Ô-  á= C6 7% 1- =  =X= # 5476 = *4E)7A Ë5  ×
  
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 - G'*7% G- = *){%(6¡ 4 *47)¡076¡- 3:4   6 = G2*+4 :4761) »4E0 1- 5‰4 =  % - ?*- 5- 5'‰4  ]HA )¡- G'*7% G- =   -D),%‹)14 = iá= 6 Á'*#&%d4    9 #  #  ,- G2  9   1*- -/)¡ 4 B3 .-/ 1)+2*-/*)T4E#/% *(447Z6EbA 3* K) G254‹)1' 3*)¡4   7=  ? -*) G% G-/%7 G- = *) =  %Ã)1- 1' Lv‡  [‡ [‡  ‡   -/)2*48EG*4Æ%()  u  = 1  ~ @1$3F d3u  K~ !"$#% &#' )( *#‘,+-+ u  = ."q1\~ '/0$10 3u þ~ 2 ( *¨- Y»476¡4 *0E47 ) 3»84 9Â4E4  12*4H0  G6 #,#&6% ‰4E61)@6147)¡'*# 6 û614E) 161-/80 G- *) ˆ G2*4H%  @-/)¡)1- 35#/4 6á= = = G254 )¡4  = %    6 = ‹= G2*= 4X-  *= #D4 @4  31% G- =   = =  ŠqŠ A + = = K6 G= 2*4 #4#4L8 à4 2‰4 {- 1)147#  2‰4  G)‹2*% 5(4a074E6 3%d- > = %(#/) = 6¹- < 14  G- = *)EA+ = 56  Š Š  Â4%()¡)1' @b4 12 = %(#/)Ô%(614X%d#/) = 614 56147)¡4 G4%()Ô>‰6 = '?  á= 6C Á'5#&%(47R = 614 = 5(47678‰Â4X614ŠJ'*-/6¡4= G2‰4< …4 OP *#/-D07- 1# à = %(#/)$7%  -  G4 < 1- = 5)7 A _9[ G254@07%()14 =   Š Š 8”2 = à4 5(476E:8 = 614 0 =  *#/4…Oø8 1- @48@\0 = *)¡' -*>2*4*'*0 1- = ] %K3»4N*4E0747)¡)G%(6¹4dAœ>5AV- = 6C5476™ = 614E0 = >5-/)14 = 12*476 %d>‰4  G) \à> = %(#/)E8Â4E- G25476 12*6 = '*>‰20 =  Á' *-D0]7% 1- =  = ;6 G2*6 = '*>‰2 84 OP *#D-/07- @> = %(#,614E0 = > *- 1- =  147032 5-ŠJ'*47)EA - G' *- G- C-D)@% - *076¡4 @4  3%(2# 56 0747)¡)78{-‡Aœ4dHA ¹*-D)1)14E4 6D5‰4E3 )X %(>)Á %7  A -  *?' 2 = G2*+ 4 *#/%  *- *>X%  Ã)1032*4 *= '*#D- *= > *=6 = 074E)1) *47)¡076¡- 3:4 Ã- ` G2*4T)¡4 ŠJ'*47#‡A + = 6Ô%b*4 G%(-/#D4 4…O5%  5#/4 7=  G2*4Á)¡- 1'*- G- = & *6 = 0E47)1)E8Â4¹614  4E6“ = 4708 G- =  )A hv%  D = ! B '*; #/#D4726 -7/Ä1% 0‡A 



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6 K070 = C6 *- *. > = E*>‰'*61d4 ‡8f7% X%  € = -  ¹-  G- 4d:8 G25`4 *#&% ?*- *> %  )103254 *'*#D- *^> *6 = 0E47)¡) q 7=  #&%6‰4E6 ƒ %6 6¡470E47-5(4- 5'?  6 = 9 = = )1)¡-3*#D4H) = '*6¡0747)L )¡- G'*%7 G- = P@\> = %(#2  * 6 = 0E47)1)K% Ã0 =  @- C 4< " 4E)1)1%(>‰47)  6 = „ G254] 5#&% 5-*>X%?H)¡032*4*'5#/-5>

56 = 0747)¡) q %7  G254=*4…OP Ô2*-/>(2*476Ë#&%6‰4E67A>
{2*4 = '? r 5'? =  %(614v)1- G' = %(# , 2*-/032@- á= 6C %(#/#T0]%3:4Ë# == I(4@' = @%()H G2*4Ë%(>(4 6\ )à6¡'  G- 4{) 3%(03I×82 = #5-*> 12*4%(>(4 6\ )È07'561614  > = %(#D)
%  -G )- G 4 1 - = * )  82* 4 = 1 -* >- G) ) 3%1 G4 = 5#&% 5-*> %7 &* #/%Ã 48O 470E'?G - = z A f‚ %(032 )¡-G '*%7G - =  > = %(# < %d-/6a  ˆ- O 614E0747-‰5 4  6 = > %1 1 -@ 4 2 -/) 5 6 = 0747)¡)14 %(0E0 = 6* -* > = 1 2*4 á = #/# = , -* >Á)G 4* )L

h‰A>_  #&%6‰4E6 ƒÁ-D) 0 =  :4 14 á= 6&  ˆ1 [8Ë0 =  G-'54,- 12 ) 14 ‡PR = G25476,-D)14 )¡4  %7 ' O %(6 %(08 G-5(%1 G- = È614Š'547)   (
 "    ) = > e Rt,‚N
, " ‡A>“   = G254v)¡4
A ‘5A 47#D470Ë %7a47#/4 4  ;…
á= 623»4E-*>= *'*61)¡'*4d*4…OP K%?d545-/)¡4T%  :>‰-5(4` G2*4T0E'*616¡4 Ô- G4 1- = ) 161'*08 G'*6¡4 A /*A  = 5 '?G 4“1 2*4K = 5 -v% È)¡032*4*'5#/-5>= *'5#/47)à%7 %7* #/%   1 2‰-‰5 4  A _     ˆ-    á = 6%)1-G ' = %(#  8"G 254H#/%( 476 -/); = 0 = : 4G 4 á = 6 12*-/)Ë)1-G ' = %d#oR?1 2*4z 8ø%Æ  '? R G 2J'*)E8×=-Ë -/)2 = )1)¡-*3 #D4 =  = %(Id4+* 9 470E-/)1- = * )>JŠ '*=-/03IJ#à %7 >G 2*4v6147%(01 -‰5 4 #/%6‰ 476EA=‚ =  48‰5 476E8™G 6 -* >Q = *3 '5-/# %Q* #&%[ %6&:3 4* 4E074E)1)G%d6 - = 6C* 4E6“ = * 48G 4E6C@ -* 4  %7    Aa{
2547)14  '?* 01 - = * )$07%[:3 4‹%('*>@ 4 1 4^3 . = = * #à 6¡4JŠ '*-/6¡-* >G 2*4‹4…5O -D)1 4* 0E4 =7 %;* #/%z 8G*3 '?Ô %(#D) = 614JŠ '*-D61-* >@%@ -* - %d# JŠ '‰2 = '? H1 2*4    #/%6‰476¡)LF4 T 12*4>#4#4L8

*%7 C 1476C5) = :3 472‰4< a* #/% * 4E6¹-/)â'*)14€ = * 48G 4E6C@ -* 4% )¡4JŠ '*4* 074 = %(08G - = * )Ô- = 6* 476“ = %(032*-D4(5 4G 2*4Á> = %(#¯AÔ+ = 6K4…5O % 5 #/4(8 G 2*4¹- * #/4 4Q *6 = 0E47)¡) - C 4 G)’ %*423  q = q %(6¡4> ‰#/4…@j%(>‰4 H *#&%7*)H,2*-/032 %(614 q e A  = @ # = 07%(#: 56 = ¡I 4E0G - = * ) = G2*4“I = -  *#&%7c547> = 1-&%7 14% = *>` 12*4X%(>‰4< 1)7A;
{2*-D)] *%(6 1-&%(#F *#&% -D)‹)1032*4* '*#D4C - = G 254a07'*6¡614 @# = 0]%d#Â- 14 G- = ) 161'*08 G'*6¡4 V *#&%G = G2*4Ã%(>(4 ]A  = ;@ @- C 4 G ) %* 4H%7 ;G 2*4þ ?TL 8f-¯A 4(A  6 = q  = q 9 8O%d614H%(0 1-5d%7 G- = *) = *6 = 074*'*6¡4 ? = #•* 41 476 -* 4Q = »3 4$4…5O 4E07'?1 4z Aà+b- = @ 47)1)1%(>‰4E) a, 2*-D032 %(614%6d5 %(-/#/%*3 #D4@- G 2*4 %d>‰4 6\ )+ 6¡#ð - G 4E6 %(0E4(Aa?L6 074* '*6¡47)Á%d614* 6 074E)1)14 3 ð %Ã)G 4 , -D)144…O 4707'PG - B@ 47032[ G2*4Q 12*4 = 6¡4 1-/0]%d#  6G% @4 = 6¡IB *6¡47)14 G4) =[ %(67AB
{2*4D = *47#D) á= 6 )¡- 1' 5- G- = @%   *#&7%  *- 5>â7%  )¡032*4*'5#/-5>=*48EG*4È%3 = 5(4Ô%(6¡4K-*) G% G-/%7 G43  12*4T48O5%  *#/4 7=  6¡470 = >*-/)¡-*>@%?Ã2*% *#D-*>‹0 = ,/X0 = #/#D-/)1- = zAF_A K07%D3»4+ = 547#/#D4`3 %X)1- G'