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1 - - - I - ˆ q I q I ˆ I q R R q I q q I R R R R & q k 7 q k O q k 8 & q & k P S q k q k ˆ q k 3 q k ˆ A & [ 7 O [8 P & S & [ [ 3 ˆ q ˆ U q - : U [ U φ : U D φ φ Dφ A ψ A : I SS N : ˆ / 5 H [ 7 V O [ 8 I S S N 94 9 P 5 - S [ 5 - [ H 3 - V A ˆ ˆ q U q : U D A : I S S N / 5 H V

2 O [ O A I O ˆ ˆ A ψ ˆ ˆ A ψ ψ I ˆ q I k q k q k [λ q k λ : I k - : I k R R q k [ D D q D ˆ D θ ˆ z θ [ 3 ˆ ˆ ˆ ˆ k ˆ B z [[ - ˆ ˆ ˆ R z ˆ ˆ - q k 3 q k q z [ ˆ z M B : I ˆ q k q k q k k ˆ & q k q - - ˆ A Rz q k P z D D P - - z : S q[ z z M ˆ z q - ẋ - ˆ - q ˆ q B A - [ [ I q ˆ - P - -z q k P - z R z : S q k φ ˆ q q φ z q M ˆ ˆ q I q ˆ A z P z : S [ q ˆ ˆ ˆ ˆ I q ˆ ˆ ˆ

3 B W q - B -q q - - z - - α α B B W P q - D B q q ˆ α z B - B - k k- q q ˆ k B q k 4 z P é D q k -k q k : - - B k k B [ 4 k : Ψ - - P ẋ P D - α α -q I α/α B k k B [ 4 k : [[ I P - q k q k q k q k - α / α q/ q - ˆ B γj σ τb στj ˆ γ ˆ ˆ ˆ j : - ˆ I [ I σ/ q z q q B j B j [ [ ˆ j ρ : - q q k q k I q z σ ˆ ˆ / q- q / q α B γ j τj B j τj - B q - j j B j j- j - B k k j I σj z - - j : - - k-k q k q k I - [ j I q z ˆ q - z - ˆ [ ˆ & & [ B q j j ˆ B j j k k ˆ I j z

4 A A σ G k - - G H A k [ 6 7 H q k 6 R R A ˆ ˆ ˆ ˆ ˆ ; A [ A A ˆ - [ - ˆ 5 ˆ ˆ ˆ A B S ˆ ˆ ˆ ˆ ˆ G k ˆ H [ ˆ 6 7 ˆ A q k q k - ˆ W ˆ A q k ˆ q ˆ k 5 - A - B I S - ˆ ˆ k q k ˆ ˆ A k ˆ ˆ ˆ D ˆ Φ : ˆ W ˆ ˆ ˆ q ˆ ˆ - ˆ ˆ Φ q I ˆ ; ˆ A [ ˆ - ˆ F ˆ ΦA q [ [ 5 [ k ψ ψ Φ & & F q A k z ˆ ˆ D Φ ˆ ˆ Φ ˆ ; Φ z S ẋ ˆ ˆ - z - ˆ q ˆ ˆ D ˆ P ˆ : ˆ ˆ ˆ ψ ˆ ψ P ˆ ρ - - ˆ ρ W ˆ ˆ F ˆ Z P ρ q k q k q k q k ˆ ˆ - P ˆ ˆ F ˆ - I q ˆ ˆ * ˆ ˆ ˆ z- ˆ ˆ - - D P - ˆ P ˆ - k ˆ - - P ˆ - z - ˆ ˆ ˆ ˆ - ˆ * ˆ ˆ - ˆ - ˆ z- q - k - ˆ - ˆ ˆ R R ˆ ˆ R R ˆ ˆ ˆ ˆ ˆ Z ˆ D ˆ P : [

5 - - - ˆ ˆ * * ˆ ˆ - - B - - P R R - z * - ψ q ν ν B ψ Φ z ˆ R k 3 O - q B ˆ σ P ˆ P z R k 3 O R Θ R I Φ Θ ˆ ˆ ˆ ˆ q R R ˆ ˆ ˆ I [ z - ĩ - R k 3 O D z B I B q- P B D B I B k Gk B H q k 6 73 q k ˆ q k & I & Gk H [ B ˆ ˆ - j ˆ B - - j A B - A - B * B j j j j j I B α j ˆ β j ˆ ˆ F ˆ D B ˆ I B j j j ˆ I B [ ˆ F ˆ ˆ ˆ B & & B ρ ρ ρ3 σ σ σ3 k ˆ ˆ ˆ ˆ ˆ Gk H ˆ [ 6 73 ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ 4 B j ˆ

6 [ - F R R - - P ˆ F P 3 ˆ & - & P - - F - - P ˆ ˆ 3 3 [ P & & 3 Ψ I 3 3 P P ẋ R R β α [ - R R -β 3 α Y R R - I 3 Ψ Φ Θ Y ˆ 3 ˆ σ Ψ 3 ˆ I ˆ ˆ ˆ ψ F ˆ ˆ 3 ˆ ξ P P Y β ˆ Y ˆ ˆ Y ˆ ˆ k ˆ ˆ 3 D F β æ Y - ẽ ρ kẽ β - D β β ; : 8 - Y & & 3 & & & φ : 8 β α β Y 3 [ q 3 F ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ Y ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ D ˆ ; : 8 ˆ ˆ [ 3

7 P - [ P ˆ z z Ψ 3 - z 4 z z 3 5φ k O k k φ [ - - ˆ - ˆ β - - B ˆ φ φ - ˆ ˆ 3 φ φ β α R R ρ3 F ˆ - 4 ˆ σ 4 ˆ - σ φk ν O k k 7 - q σ - ˆ B ˆ 6 ˆ I - k O k ˆ k F φ µ B q ˆ 7 q ˆ 6 I ˆ ˆ ˆ ˆ ˆ σ ˆ ˆ ˆ ˆ ˆ ˆ ˆ F [ ˆ 7 6 I [

8 N - k N k N - H F q H F q k ˆ ˆ 3 q k P 34 B 3 ẋ H q 7 6 F -q ˆ 3 P 34 B 3 q 3 3 /6 [ N q R τ R φ3 W N W - 3 P 34 q- B D 3 3 / q k q ẋ - D ˆ - q ˆ 6 - k q- ˆ - - O O R R 8 F 3 ˆ 8 F ψ : : N ψ -q [ ˆ µ & ψ ψ ψ ψ M ψ φ φ -q W - λ ˆ φ - M ˆ ˆ λ P q S q I [ P ψ S D ˆ q k q ˆ ˆ ˆ P S - I q k q k P - O ˆ S 8 & F ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ ˆ : ˆ ˆ ˆ q ˆ [ ˆ ˆ ˆ ˆ ˆ ˆ ˆ

9 - - 9 ˆ - q - - k q 9 - q- 9 q q ẋ q- : [ k q ˆ k R ˆ R q ˆ ˆ q ρ P ψ : - : 3 R ˆ ψ R - - Φ [ I ˆ - R R ρ ν P ˆ q P ˆ ˆ ρ σ ρ [ 9 I ˆ & & & P 9 G ȯ I φ φ P G A P - A 3 & & & & & ˆ ˆ ψ µ P ˆ φ φ 9 ˆ ˆ ˆ ˆ G ˆ ˆ ˆ ˆ ˆ ˆ P A [ ˆ ˆ ˆ ˆ

10 D [ D O : N ˆ k G G - ˆ O ˆ : N ˆ k G ˆ G O S γ : k Γ ˆ Γ γ ˆ - S ˆ γ ˆ ˆ ˆ ˆ ˆ ˆ S ˆ / ˆ G ρ G [ Γ Γ S S ˆ ˆ / ˆ j j q q γ Γ D G P * 8 O k ˆ ˆ P G ˆ 8 ˆ O k G ˆ S - - I ˆ j q q D G M I- - - ˆ ẋ ˆ ˆ M P I B S ˆ 8 ˆ O ˆ ˆ ˆ - I B - S ˆ - - ˆ - ˆ ˆ ˆ - R - - R - ˆ I ˆ ˆ q ˆ ˆ ˆ ˆ ˆ ˆ M ˆ ˆ ˆ ˆ ˆ ˆ [ ˆ ˆ ˆ ˆ ˆ I B S ˆ ˆ ˆ & ˆ ˆ

11 - q S - V - B 983 ˆ q k V 7 q k ˆ S ˆ B S V V B - D [7 S k V ü D k - - q [ 7 P S 96 7 V ˆ P [ 8 O P J A 96 D 7 ˆ ˆ q ˆ ˆ q k [ 9 ˆ Eq 8 q k O k P J q A- U [ q P M J M F ˆ S E ˆ ˆ q k 9 q k q Eq q - A q M S 7 99 U 8 [ k 995 R P ˆ 96 ˆ 7 z J M V V q k q k P99 3 M J M F [ ˆ 8 S O E P J A ˆ q - A - ˆ ˆ M - S ˆ ˆ P - q - q k -k R R S z J M [ 4 [ 9 O P Eq J D Eq 66 5 ˆ q V - ˆ U V 78 5 q P S W q 995 k q k [ ˆ 3 - P Rˆ W H A AM M k J M q E q k 3 q k A P - -ˆ G R S q k q 4 q k O P A - -- M q S J DS Eq [ ˆ q k k R ˆ q q z J P M ˆ S - W - ˆ ˆ R W ˆ H V A A M - ˆ ˆ V ˆ k A - 3 G ˆ ˆ S - [ [ 9 99 ˆ 3 [ 3 P ˆ ˆ R S [ 4 O P ˆ q q q P S W ˆ [ R ˆ W ˆ H A A M ˆ k A G S ˆ

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