How Animated Agents Perform Tasks: Connecting Planning and Manipulation Through Object-Specific Reasoning

Creating animations of a human figure performing a task requires that the agent interact with objects in the environment in a realistic way. Agent-object interaction is not completely specified from a task description alone. In this paper we sketch an architecture for the Object-Specific Reasoner (OSR), an intermediate planning module which tailors high-level plans to the specifics of the agent and objects. As plans are elaborated, the OSR generates a sequence of motion directives which are ultimately executed by a simulator. Descriptions of failures can be used to identify possible tools for the agent to use. An Object-Specific Reasoner is necessary in a system which allows an agent, equipped with a set of action behaviors, to interact in a semiautonomous fashion with the world. Keywords object manipulation, motion planning, animation, tools Comments Presented at Toward Physical Interaction and Manipulation, AAAI Spring Symposium Series, 1994. This conference paper is available at ScholarlyCommons: http://repository.upenn.edu/hms/78 ! " #$ % & ' ( )* + ( -,. ' ( / 0 1 2'3 ,4 + 65' 7 3' 5 8 91:; )* =<=>?2@ A)B DC@) E F " G ' HJILK KNMOHQP.R;ITSGUWVOX Y?UWZ\[^]WV^_a`7b"]dc+eTP.Z f P.VNgGP4ZihjUWZlkim [^]WVOnoU+c P.epILV q/]WV csrtIp[/m eT]WgDITUWV u P.v ]WZDgD[wP.VNg UWh f UW[xv m gGP4Z ]WV cy_zV hjUWZD[^]Wg\I{UWVsr;|.ITP.V |}P ~iV IpRNP.Z S\ILgzMwUWh€€P.V V7SDM+eLR]WV I{] ‚ Fƒ ILeT]dc P.eLv ƒ IT] ‚+B„ …}† …}‡dˆW‰zŠd‹dŒd†  eLIpK KNM7ŽleLILV | X K ]dc+eTP.ZaŽ|}P.VNg\Z ]We‘N`’|.ITS}`“m vBP4V V*`”P c=m •7–‘—G˜+™Dšj›aœ‘+ž Ÿ¡ p–z¢¤£ ¥"¦ ̈§G©“aa«G¬’¦ ̈£L©“™D§®­®¥ ™D£{© ̄™\§A°¬±¦2§a§G© ̄§a3.­} ́ §G©“쀦 ̈£{© ̄™\§®­4¶®™G™ ̈¬’œ ·F ̧W1‘oz»1⁄21⁄443⁄4 ̈o ¿NÀLÁjÂDÃÅÄ”Æ Ç ÂDÆ.ĒÈQÂDÃÅĔÉDÆ¡ÊBÉLË*Â Ì ÍGÈQÂDÆQÎdÇDÍGÀpÁ ÏÐÁzÀ±Ë‘ÉDÀjÈQÄ”Æ Ç ÂFÃÅ ̈ʤрÀLÁjÒ1⁄2Í Ä”ÀLÁ‘Ê ÔÌGÂDÃ Ã”Ì Á Â1⁄2ÇDÁzÆ.ÃBĔÆ4ÃÅÁ1⁄2ÀpÂ\ÓzÃQÔdÄ’Ã”Ì É Õ”Ö‘Á¤ÓzÃ”Ê Ä”Æ×ÔÌGÁlÁ1⁄2Æ4ØzĔÀLÉDÆ4ÈQÁ1⁄2Æ4ÃÙĔÆ'Â?ÀLÁjÂDÚÛıÊjÜ ÃÅÄ”Ó ÔdÂ\Ý2Þàß;Ç\ÁzÆ.ÃÅáDÉ Õ”Ö‘Á¤ÓzÃ7ĒÆ.ÃÅÁzÀLÂDÓzÃÅĔÉDÆ$ēÊFÆ4ÉDÃÙÓ¤ÉDÈ Ï ÚÛÁzÃÅÁ1⁄2ÚÛÝ ÊâÏÐÁ¤ÓzÄ Î;Á¤ãÙˑÀLÉDÈ- ÃÅÂ2ÊjÑlã\Á‘Ê‘ÓzÀ¤ÄäÏ ÃÅĔÉDÆ'Â\ÚåÉ\Æ4ÁæÞèçjÆ Ã”Ì Ä±Ê ÏÐÂéÏÐÁzÀ ÔdÁ"ʤÑæÁzÃÅÓêÌ ÂDÆ'ÂDÀLÓêÌ Ä’ÃÅÁ¤ÓzÃÅÍGÀLÁQˑÉDÀ ÔÌGÁ ë Ք֑Á¤ÓzÔÜíì\ÏÐÁ¤ÓzÄ Î;Ó+î+ÁjÂ2ÊéÉDÆ.ÁzÀÙïðë+ì4îdñ ̈ò®ÂDÆ Ä”Æ4ÃÅÁ1⁄2ÀjÈQÁ¤ãDĒÂ\ÃÅÁtÏ ÚÛÂDÆ4Æ.ĒÆGÇBÈQÉzã\Í ÚÛÁ ÔWÌGĒÓêÌ ÃÅÂDĒÚÛÉDÀðÊÙÌ ÄÛÇ ̈ÌDÜLÚÛÁzØzÁ1⁄2Ú\Ï ÚÛÂDÆaÊBÃÅÉ Ã”Ì ÁQÊâÏÐÁ¤ÓzÄ Î;ÓêÊ ÉLËBÃ”Ì Á Â1⁄2ÇDÁzÆ.ÃNÂDÆ.ã€ÉGՔ֑ÁjÓ1⁄2ÔÊêÞ ßóÊ Ï}ÚåÂ\ÆaÊ*Â\ÀpÁôÁzÚÛ ÕðÉDÀLÂDÃÅÁjã2ò=ÔÌGÁ ë+ì.îõÇDÁzÆ.ÁzÀLÂDÃÅÁêÊ*ÂFʑÁ¤ÒzÍGÁzÆ4Ó¤ÁQÉLË ÈQÉDÃÅĒÉ\ÆlãDÄ±Ü ÀLÁ¤ÓzÃÅĔØzÁêÊAÔWÌ Ä”Ó‘Ì Â\ÀpÁ"ÍGÚÛÃÅĒÈQÂDÃÅÁ1⁄2ÚåÝ Á‘öæÁ¤ÓzÍGÃÅÁ¤ãÕêÝl ÊéĔÈQÍ ÚÛÂDÃÅÉ\ÀéÞ(÷ÙÁ‘Ê‘ÓzÀ¤ÄäÏ}ÃÅĒÉDÆ¡Ê É{Ë ËéÂ\ĒÚÛÍGÀpÁêÊ*Ó¤ÂDÆ?ÕTÁ ÍDʑÁ¤ãøÃÅÉ Ä’ã\ÁzÆ4ÃÅÄ Ë‘ÝQÏÐÉ2ÊjʑÄùÕêÚÛÁ ÃÅÉzÉDÚúÊ+ˑÉDÀQÃ”Ì ÁFÂzÇDÁ1⁄2Æ4à ÃÅÉ"Í\ÊéÁ ̈Þ ßóÆ ë Ք֑Á¤ÓzÔÜíì\ÏÐÁ¤ÓzÄ Î;Ó î;Á¤Â ̈ʑÉDÆ4Á1⁄2À Ä±Ê Æ.ÁjÓ¤Á‘ʤʑÂDÀjÝJÄ’Æ Â Ê‘Ý1⁄2ÊéÃÅÁ1⁄2ÈwÔWÌ Ä’ÓêÌAÂ\ڒÚÛÉDÔWÊÙÂDÆ Â1⁄2ÇDÁzÆ.Ôò ÁjÒ1⁄2Í ÄûÏDÏÐÁ¤ã ÔdĔÔÌø ʑÁzÃ+ÉLË ÂDÓ1⁄2ÃÅĒÉDÆ?ÕðÁ‘Ì ÂDØ1⁄2ĒÉ\ÀTʤò ÃÅÉøĔÆ4ÃÅÁ1⁄2ÀLÂDÓzÃ+ĔÆlÂüÊéÁ1⁄2È*Ä±Ü Â\Í ÃÅÉDÆ.ÉDÈQÉDÍ\ÊNˑ ̈ÊjÌGĒÉDÆ"ÔdÄ”Ã”Ì Ã”Ì Á ÔdÉDÀ¤ÚÛã Þ ý þ=ÿ ÿ «aaaa4™ œL–i—D™D« 4¦D› ¦$¢¤™Dμ aa«a£T–‘š œL—aœL£T–‘μ ˜ G©±¢ õ¢¤™D«G¬’›/¦ ̈§G©“쀦 ̈£T– ¦ «a쀦2§ 43\«ašT– ŸG— 쀦 \© ̄§a3 © ̄£QšT–z¦\¢ řDšQ£ G©“§a3 œ‘­t3Dšj¦Dœ{al£ a–‘μ ­daG©’¢ i£ a–‘μ-«aa®­d™\š*˜ ¦1⁄2¬ ?¦1⁄2¬“™D§a3 ¦"a4¦ ̈£ ©“§ ¦ œL–‘μQ© ¦ ̈«a£T™\§a™Dμ ™D«4œ ¦\œ G©“™D§ ™ ̈˜ œ{«aaaa4™ œL–"£ 4¦2£ —D™D«?˜ ¦ ̈§G£ £T™ 3\–‘§a–‘šj¦ ̈£T–FšT–z¦æ¬å©’œL£{©±¢ œâ©“μ*«G¬’¦ ̈£{© ̄™\§4œ7™ £ a–*¢ 4¦ ̈šj¦D¢¤£T–‘š a4–‘š řDšTμQ©“§a3F›\© –‘šð–‘§ £ £¤¦Dœ aœ «aaaa.™ œL– Å«ašT£ a–‘š £ 4¦2£ —D™D« 4¦ \– ¦ô£j¦Dœ ¬“– D–¤¬d©“§G£T–‘š í¦D¢¤– £T™ £ G©’œÙ¦ ̈3D–‘§G£z­®œL™ £ 4¦ ̈£Ù—D™\« ¢‘¦2§ø32© \– ¢¤™\μ 쀦 ̈§4›aœÙœL«4¢ ¦Dœ "! ™Dš $#% '&)(+*,&./+0 # # 1,! 32 ¶ a–zœL– G©“3 ¬“– D–¤¬ ›G–zœT¢¤šL©“aa£L©“™D§4œÙ™ ¦D¢¤£L©“™D§"μQ«4œL£BœL™Dμ – a™ ̈˜@Ÿ.–*μ ¦ ̈aaa4–z›"£ð™F£ a– ¦ ̈3D–‘§G£ 4 œÙ¢¤™D§G£TšT™ ̈¬ ¬±¦2§a3D«4¦ ̈3D–DÙ£ a– ¢¤™\μ 쀦 ̈§4› "! μQ«4œL£WŸ4– ¢¤™D§ D–‘šT£T–z›ó£T™ Å«G¬Û¬ ̄— a4¦ ̈šj¦2μ –‘£T–‘šL©65‘–z›Qμ ™\£T™Dš ¢¤™Dμô쀦 ̈§4›aœ ˜ G©’¢ FœLa4–z¢ð© ŗA›G–‘£¤¦1⁄2©Û¬±œ+œL«4¢ €¦Dœ ˜ a–‘šT–7™D§ £ a– 3 ̈¬’¦DœTœd£ð™B3Dšj¦\œLa®­ a™ ̈˜ G©“3 £T™Ù¬Û© ù£+£ a– 3 ̈¬’¦DœTœ ¦ ̈§4› ˜ a–‘šT–J£T™ œL£j¦ ̈§4›ô©“§ šð–¤¬±¦2£L©“™D§ £T™ô£ a–Ù3 ̈¬’¦DœTœ ¶+˜+™ ¢¤–‘§ £Tš¤¦1⁄2¬ ™DŸ4œ{–‘š7 æ¦ ̈£{© ̄™\§4œ+μ ™D£L©6 ̈¦ ̈£T–7£ G©’œ+˜+™Dš }98%: ›\© ®–‘šT–‘§G£+–$;Ða4¦ ̈§4œp© ̄™\§4œ+™ ¦Q£¤¦Dœ ¦ ̈šL©’œL– řDšB›\© ®–‘šT–‘§ £Q¦ ̈3D–‘§G£jœB¦2§4›"™DŸa L–z¢¤£jœ‘­®¦ ̈§4›=< : ›\© ®–‘šT–‘§G£B–$;aa4¦ ̈§4œâ©“™D§4œÙ™ ¦ £¤¦Dœ ¦ ̈šL©’œL– ù™DšQ›\© –‘šð–‘§ £J©“§ £ð–‘§ £L©“™D§4œ ́ £J£ a–FœT¦ ̈μ – £{© ̄μô–D­N¢¤™D§G£TšT™ ̈¬Û¬Û©“§a3 ¦2§G© ̄μ ¦ ̈£T–z› 43D«ašT–zœJšT– >\«G© ̄šð–zœ œLa4–z¢ð© ŗD©“§a3 ›G–‘£j¦1⁄2©Û¬’œW™ £ a–=›G–zœp© ̄šð–z›Qμ ™D£L©“™D§4œ ˜ G©’¢ €¦ ̈šT–tšj¦ ̈šT–¤¬“—Baašð–zœL–‘§ £W©“§ G©“3 ¬“– D–¤¬®¢¤™Dμ 쀦 ̈§4›aœ ž «aš+šT–zœL–z¦ ̈š¤¢ Q©’œ+¢¤™D§4¢¤–‘šT§a–z› ˜=© ̄£ €Ÿa«G©Û¬’›\©“§a3A¦ ̈§ © ̄§G£T–‘šTμô–z›\©±¦2£T–ÙšT–z¦DœL™\§G© ̄§a3QœL—aœL£T–‘μ ˜ G©’¢ "쀦 ̈a4œ ¦€œLμ ¦1⁄2¬Û¬œL–‘£7™ G©“3 ¬“– D–¤¬;¢¤™\μ 쀦 ̈§4›aœ £T™ £ a–ó¬’¦ ̈§a3D«4¦ ̈3D–J™ d£ a–*¦ ̈§G©“쀦2£L©“™D§ œL—Ðœ{£T–‘μ @? –€¦ ̈šð–Q©“§ D–zœ{£L©“3 ¦ ̈£L©“§a3"˜ a–‘£ a–‘šJ£ G©’œBμ ¦ ̈aaaG©“§a3 ¢‘¦2§ Ÿ4–F›G™D§a– Ÿ — ¢¤™D§4œâ©’›G–‘šL©“§a3 ¦D¢¤£L©“™D§×¢¤™\μ 쀦 ̈§4›aœJ©“§$£T–‘šTμ€œQ™ –z¦D¢ צ23D–‘§ £)4 œJšT–zœL™D«ašj¢¤–zœê­+£ a– ™DŸ¡ p–z¢¤£ ¦ ̈£T£ðšL©“Ÿa«a£T–zœ‘­+£ a– © ̄§G£T–‘§G£L©“™D§®­ ¦2§4›?£ a–"œâ©“£T«4¦ ̈£L©“™D§ ¶ a– –‘§ £{© ̄šð–øaašð™Ð¢¤–zœTœô™ ٖ¤¬’¦ ̈Ÿ4™Dš¤¦ ̈£L©“§a3 G©“3 ¬“– D–¤¬*¢¤™Dμ 쀦 ̈§4›aœ ¢‘¦ ̈§FŸ.–BœL–‘–‘§ ¦Dœt3DšT™\«a§4›\© ̄§a3FœL—GμQŸ4™ ̈¬Û©’¢B¦D¢¤£{© ̄™\§A›G–zœT¢¤š{© ̄aa£{© ̄™\§4œ © ̄§BAú§ «aμ –‘š{©±¢ 4¡μ ™D£L©“™D§ ›G–zœT¢¤šL©“aa£L©“™D§4œ ? –Ù¦ ̈šT–7Ÿa«G©å¬’›\©“§a3 £ a–Bž Ÿ¡ p–z¢¤£ a4–z¢ð© ¢DC+–z¦DœL™D§a–‘šFETž CG:j­G˜ G©’¢ ©’œ ©“μ aG¬“–‘μ –‘§ £ð–z› ©“§ £ a–IHKJML"NPO N QSR œL—Ðœ{£T–‘μ ­a˜ G©’¢ © ̄£¤œL–¤¬ d©±œ7a4¦2šT£ ™ d£ a–*·UT VXWZY\[?° šT™D L–z¢¤£]Ep·UT VXW¦ ̈£â©“™D§ ùšT™\μ^Y ¦ ̈£T«ašj¦æ¬S[t¦ ̈§a3D«4¦ ̈3\–]_í§4œL£Tšð«4¢¤£L©“™D§4œ$: ¦ ̈£+£ a–a` §G©6 D–‘š¤œâ©“£p—F™ °W–‘§a§4œL—\¬6 æ¦ ̈§G©’¦Ub3c+° ?+d e ­ ? cgf]h d e ij ¶ a–J3D™ ¦1⁄2¬®™ W£ a–B ́7§G©“μ lk aašT™\ p–z¢¤£+©’œ+£ð™ 3D–‘§a–‘šj¦ ̈£ð–ÙšT–z¦1⁄2¬Û©’œL£L©’¢Q¦ ̈§G©“쀦 ̈£L©“™D§4œ+™ «a쀦2§ 43D«ašT–zœ7¢‘¦ ̈šTšT—\©“§a3 ™D«a£ £j¦\œ М+œLa.–z¢ð© 4–z›"£ ašT™D«a3 F§4¦ ̈£T«ašj¦1⁄2¬ ¬’¦ ̈§a3D«4¦23D–7©“§4œL£TšT«4¢¤£L©“™D§4œ ¶ a–lHKJML"NPO N QSR œL—Ðœ{£T–‘μõ¢¤™ D–‘šjœ}£ a–daG¬±¦2§*–$;aa4¦ ̈§4œâ©“™D§Q¦ ̈§4›Bœp© ̄μQ«G¬’¦ ̈£L©“™D§JaG¬’¦ ̈§a§G©“§a3Ba4™\šT£L©“™D§4œ ™ £ a–Ù ́ §G©“μ Fk aašT™D L–z¢¤£ mln$m o+prqtsvuwq xyu{z}|t~Gxvxvq xyu~Fxys€ƒ‚P„rqt…]x †+©“3 ¬“– D–¤¬BaG¬’¦ ̈§a§G©“§a3i©’œ a.–‘š řDšTμ –z›iŸG—¦ μ ™a›G«G¬“–‡Aå¦ ̈Ÿ.™ D– 4W£ a– ž C ¶ a– G© ̄3 ¬ ̄– \–¤¬ aG¬±¦2§a§a–‘š+©’œ+šT–zœLa.™D§4œâ©“ŸG¬“– řDštšT–z¢¤™D3D§G©65¤©“§a3€£ a– £j¦\œ ­a¦ ̈§4› œL–¤¬“–z¢¤£L©“§a3 ùšT™\μ ¦ó¬Û©“Ÿašj¦ ̈šT—F¦JaG¬’¦ ̈§ £T™ ¦D¢‘¢¤™Dμ aG¬Û©’œ £ 4¦ ̈£Q£j¦Dœ ¶ G©’œôaG¬’¦ ̈§a§a–‘š ŸašT–z¦ aœQ£ a–FaG¬’¦ ̈§ ›G™ ̈˜ §i©“§G£T™lœL£ð–‘a4œ]ˆ ÃÅ ̈ÊjÑ1⁄2Ü ÂDÓzÃÅĔÉDÆaÊ ˆ řDš £ a– ¦23D–‘§ £7£T™ a4–‘š řDšTμ E ? G©Û¬“– £ a– G©“3 ¬“– D–¤¬+aG¬±¦2§a§a–‘šÙμQ©“3 £B¢¤™\§4œâ©’›G–‘š ‰7Š ‹DŒŽj7D‘3’j“ ” •j– — – ]– ” t˜7™rPa$“ —F•j–š‘ a› œ‹ž•jŸ “ • ‘ — j•¢¡j” £¤•j‘ – — P“ ¡¢P¥ ‘ ¦ §—]•j–š•¢Ÿ  ̈“ ¥)7— •t©)™PŸ – “ •j•¢7a› •jr•jŸ š• “ ¢a © “ — «]¡¢7› – ¡j•¢g¬ “ £¢a]•j–]•¢Ÿ g‘ — j•¢¡j” £ •¢– ¡ž™P‘•¢Ÿa•¢Ÿ g¡j7¢” œ • ̈– ­,•jŸ š“)£ •j‘ – — ̄®,°±­'•jŸ  “ £ •¢‘–)—D­2“ ‘ œ t«F‘ •P‘ P•jŸ g¡j–)œ 9– ­'•¢Ÿ š‘ — j•¢¡j” £¤•j– ¡ž•j–Fj7œ t£¤•3“ — – •¢Ÿ 7¡ ̈£ –)” ¡j¢š– ­ “ £ •¢‘ – —K® ́§μPŸ F¶ ¡j¢•]•j7¡¢ƒ‘— « ‘6£7“ •¢7l•¢Ÿ y“)£ •j‘ –)—·•j–v• “ a ) ̧ •jŸ ]jt£ –)— «U•j7¡¢1‘ š•jŸ y“ ¥)7— •š•j–@« –v•jŸ  “ £ •¢‘–)—K ̧"•¢Ÿ ]•jŸ ‘ ¡ «v•¢7¡jo¡j ­»§¡jš•¢–y•¢Ÿ ]– ¬ 1⁄4¤t£ •š– ­1⁄2•jŸ a“)£ •j‘ –)—K®š3⁄4žjj” aš•¢Ÿ “ •š–)¬ 1⁄4 t£ •g— “ a7g“ ¡¢ ” — ‘6¿)” 7œ ‹]‘6« 7— •j‘À¶ t«D™P‘ •jŸv“ —y–)¬ 1⁄4 t£ •P‘ —Á•jŸ 3“ — ‘ y“ •j‘ – —FÂ£ §—  ® à £ a–zœL– £j¦\œ ¦\¢¤£L©“™D§4œ7Ÿ4¦Dœâ©’¢ô™DšÙaašL©“μQ©“£L©6 D–D­d£ a–‘—"¦ ̈šT– §a™\£Ù§a–z¢¤–zœTœT¦ ̈šL©Û¬“—iaašL©“μQ©“£L©6 D– ©“§ £ð–‘šTμ€œ ™ £ a–Ùμ ™D£L©“™D§4œ+˜ G©±¢ μQ«4œL£ Ÿ4–Ba.–‘š řDšTμ –z› : ct–¤¬ ̄™ ̈˜@£ a–ôž CÙ­®¦ œâ©“μ*«G¬’¦ ̈£ð™Dš μ ¦ ̈§4¦ ̈3D–zœ μ ™D£T™\š ¢¤™D§G£TšT™ ̈¬}©’œTœL«a–zœ řDšÙ¦ ̈3D–‘§G£jœ ¦ ̈§4› ™DŸ p–z¢¤£jœ ¶ G©±œóšT–z¦D¢¤£L©6 D–·b •]C d ­,cNšð™ i μ ™a›G«G¬ ̄–QaašT™ \©’›G–zœBœâ©“£T«4¦ ̈£{© ̄™\§4¦1⁄2¬ G§a™ ̈˜+¬“–z›G3D– £T™ £ a– ž C Ep¦ ̈§4›Q£ a– G©“3 ¬“– D–¤¬ aG¬’¦ ̈§a§a–‘š :;¦ ̈§4›ôšT–¤¬Û© ̄– \–zœ+£ a–Jž C'¦ ̈§4›ô£ a– G©“3 ¬“– D–¤¬WaG¬±¦2§a§a–‘š ™ ›G–‘£j¦1⁄2©Û¬’œ+™ ®μ ™\£L©“™D§€aG¬’¦ ̈§a§G©“§a3F¦ ̈§4›ôμ ™D£T™Dš+¢¤™D§G£TšT™ ̈¬ ¶ a–7šT–z¦D¢¤£L©6 D–7§4¦ ̈£T«ašT–Ù¦1⁄2¬Û¬“™ ̈˜ œt쀦 ̈§G— μ ™D£L©“™D§€¢¤™\§ £Tšð™ ̈¬¡›G–z¢ð©’œâ©“™D§4œ=£T™ÙŸ4– μ ¦D›G–+©“§ £ð–‘šT§4¦1⁄2¬Û¬“—D­4œL«4¢ €¦Dœ a™ ̈˜?£T™B3\™B¦ ̈šT™D«a§4›Q™\Ÿ4œL£j¦D¢ð¬“–zœ © ̄§ £ a–ÙšT–z¦D¢ F™Dš+¬“™a¢¤™Dμ ™D£{© ̄™\§ a4¦ ̈£ ¶ a–ٜ⩓μ*«G¬’¦ ̈£ð™Dšd©’œW©“§ D™ D–z›ô˜+©“£ €›G–‘£¤¦1⁄2©Û¬ ̄–z› μô™D£L©“™D§€¢¤™Dμô쀦 ̈§4›aœd™\š ÈQÉDÃÅĔÉDÆFãDĔÀpÁ¤ÓzÃÅĔØzÁêÊ ¶ a– G©“3 ¬“– D–¤¬BaG¬’¦ ̈§a§a–‘š μQ©“3 G£€«4œL–"¦ œL£T–‘ai¬Û© D– § 1 ̄ ) " } " ! £ a– μ ™D£L©“™D§ ¢¤™D§ £ðšT™ ̈¬ œL—aœL£T–‘μ ­ a™ ̈˜+– D–‘šz­ šT– >D«G©“šT–zœô£ a–Fμ ™\£L©“™D§ ›\©“šT–z¢¤£L©6 D– 1 ̄ £ð™ ©“§4›\©’¢‘¦ ̈£T–"˜ G©’¢ 4¦ ̈§4›F£T™ «4œL–D­.˜ 4¦ ̈£7£L— a.–B™ d3DšL©“a"£T™ «4œL–D­.£ a– ¦ ̈aaaašT™G¦D¢ · \–z¢¤£T™Dš ù™Dš £ a– 4¦ ̈§4›}­®¦2§4›F£ a– šT–‘3 ̈©“™D§F™ d£ a–B™\Ÿa p–z¢¤£+£T™ô3Dšj¦DœLa ¶ a– aašð™DŸG¬“–‘μ ©±œô£ G©’œ ›\©±¢ a™D£T™\μ*—?Ÿ.–‘£L˜;–‘–‘§$£j¦Dœ ¦D¢¤£L©“™D§4œô¦ ̈§4›?μ ™\£L©“™D§×›\©“šT–z¢¤£L©6 D–zœ ¶ a– G©“3 ¬“– D–¤¬WaG¬±¦2§a§a–‘š ›G™ –zœt§a™D£ §a™ ̈˜ –‘§a™D«a3 F¦ ̈Ÿ.™D«a£N£ a–7a G—М⩒¢‘¦1⁄2¬ ›G–zœT¢¤š{© ̄aa£{© ̄™\§ ™ ¦ ̈§ ™DŸa L–z¢¤£ £T™F›G–‘£T–‘šTμ © ̄§a–ô£ a–Q3DšL©“a œâ©“£T– §a–¤©“£ a–‘šB›G™ –zœó£ a– œâ©“μQ«G¬±¦2£T™Dš §a™ ̈˜@–‘§a™D«a3 ¦ ̈Ÿ.™D«a£ £ a–Q©“§ £ð–‘§ £L©“™D§iŸ4– G©“§4› £ a–€¦D¢¤£{© ̄™\§ £T™øœ{–¤¬ ̄–z¢¤£J£ a– 3Dš{© ̄a œp© ̄£ð– _â£Ù©’œÙ£ a– šT™ ̈¬“– ™ £ a–üž C £T™"ŸašT–z¦ i£j¦Dœ ¦D¢¤£L©“™D§4œJ©“§G£T™lœL–‘£¤œQ™ ù«G¬Û¬“— œ{a4–z¢ð© 4–z›'μô™D£L©“™D§?›\© ̄šð–z¢¤£L©6 D–zœ ¶®™ 3\–‘§a–‘šj¦ ̈£T– šT–z¦1⁄2¬Û©’œL£L©’¢+Ÿ4– 4¦) \©“™DšN™ 4£ a–=œp© ̄μQ«G¬’¦ ̈£T–z›ô¦ ̈3D–‘§G£d쀦 ̈§G©“aa«G¬’¦ ̈£L©“§a3B™DŸ¡ p–z¢¤£jœê­ ̈£ a– ¦ ̈3D–‘§G£ 4 œ a —aœâ©’¢‘¦1⁄2¬ μ ™D£L©“™D§4œ+μQ«4œL£ Ÿ4– Å«G¬å¬“—"›G–z