Proposta de um filtro de partículas aliado ao filtro de Kalman estendido iterativo para estimação de estados de sistemas não lineares com ruído Gaussiano

Texto

(1)012345627874947458 7

(2) 8581 5 58

(3) 874658708 4

(4) 4141 852874 4 45227874 80

(5) 8 4 15 4. 483 !. "#$%$&'()*+,-./'#$)*"(#'01+/(&2/.()$($-./'#$)* 3(/,(45&'*4).)$6'*#('.7$%(#(5&'.,(89$)*5&'()$&)* :.&'*,(&;9$<.4*(#*&1$,=+0)$>(+&&.(4$. 6? @AB

(6) 8 CDEF.

(7) 0123456758925

(8) 17 55. !"#"$%#&'# ()'*"+," -2

(9) 16 ./7 01

(10) 622 71731 2

(11) 4 5 61 20 ./7

(12) 053

(13) 5 12 2

(14) 07

(15) 612322 2

(16) 2 8529

(17) 1 22 2

(18) :

(19) 2

(20) 1 727; 1 5 /7< 1 716

(21) 55 ./72

(22) 31 02

(23) ;

(24) 61

(25)

(26) 053

(27) 5 12 07=6123 > 8?@90AB@-4-0:0-0A4C-D;4A4?EFD AD6A4;4-0GB56A4-84HFD0;0?60?E4A@4-00C0IA@J@-4-0 48ID;4HFD0JD?IADC0 D12

(28) 56 271K-1>:1 532 372 J 3 2

(29) B70L B/7C0M N;4 OPQR.

(30)

(31) 0123456758925

(32) 17 55. 177 6

(33) 2617

(34) 163 42 7 72617

(35) 50 6

(36) 5276

(37) 1 627 1 0 62 7

(38) 0 6 7

(39) 2 6

(40) 725

(41) 1

(42) 377 2 57 !""#$%&'()"*+,#%!-&&).$)/$&,&-#.0"1 2$&-*&'()#,34/#45&$!&-#36#%$!7!-&-#-& 84!9#$"!-&-#:#-#$&6-);&$&45()<&$&)+%#41 '()-#/$&*-#;#"%$##,34/#45&$!&36=%$!7&> !""#$%&'()&<$)9&-&#,?-#@#9#$#!$)-#ABCDE 17FGH1G1 532 37 I J

(43) 7K LMN4 O$!#4%&-)$ 17FGH1G25 P

(44) 12K

(45) Q2

(46) 21

(47) 11 LMN4 ;#,+$)-&R&47&3S&,!4&-)$&1T4%#$4) 17FGH1 GU1

(48) I

(49)

(50) 6

(51) I7 6 2P

(52) 217LM0N4 ;#,+$)-&R&47&3S&,!4&-)$&13S%#$4). V()W*X"Y;Z ABCD.

(53)

(54) 012034567489.

(55) !""

(56) #"$% &$'

(57) "&"()$*"

(58) "&""$"""+

(59) "," -)

(60) "*$"*.'/"" %0""$%

(61) 1"$$'.

(62) 0123456732839

(63) 9665 46

(64) 6 3 5 3 8 3 262 82 2

(65) 6 3 5 3 8 3 6 2 5 262 8 64 8 4 4.

(66) 012345 6789

(67) 8 9

(68)

(69) 8 8

(70) 9

(71) 9

(72) 9 8

(73) 9 8 ! 8

(74) 7 9

(75)

(76) 9 " #9$

(77) 9 8 9

(78) 789

(79) 8 9

(80)

(81) ! 8

(82)

(83) 8

(84) 9

(85)

(86)

(87) %&&'! 789

(88) 98"(

(89) 9 ! 9 8)" 9 88 9 6789

(90) 989 9

(91) )99 9 89

(92) 9

(93) 9

(94) 9 8 9

(95) 9 ! 9 789

(96) 98 9 " 9 " 98

(97) 789

(98) 8 9

(99)

(100) 9 9 *+,#-+./0 9

(101) 9

(102) 9 8 # 71

(103) 9

(104) 9

(105) 9

(106) 823

(107) 4 9 5 8 8

(108) 69 ! 1 8!. 7

(109) 8 - 9

(110) 9 89

(111) 97

(112) 8"

(113) 9:;:<=:>?@A:<BC.9

(114) 9

(115) !789

(116) 8!789

(117) 98.

(118) 01234053 6789.

(119)

(120) 98 8 8

(121)

(122) 9

(123) 9

(124)

(125)

(126) 7 7

(127) 8

(128) 8

(129) 9

(130) 9

(131)

(132)

(133)

(134)

(135) !

(136) 8 87

(137) !7

(138) " 8 "#87

(139) 8 8"

(140) 9

(141)

(142)

(143) 9#

(144) 8

(145) 9

(146) " #

(147)

(148)

(149)

(150) 87

(151)

(152)

(153)

(154)

(155) 8.

(156) 88

(157)

(158)

(159) $

(160)

(161)

(162)

(163) 89

(164)

(165)

(166) 8 8.

(167) #9 89 #9 8

(168)

(169)

(170)

(171) $

(172)

(173)

(174) 88"%&

(175) .

(176) 8

(177) # 7

(178) 9

(179) 989 8 8

(180)

(181) 8"

(182)

(183)

(184) 89 8 8

(185)

(186)

(187)

(188) 8#87

(189) '8

(190)

(191) 8"

(192) !

(193) !

(194) 8

(195)

(196)

(197) 8

(198) 8

(199) &

(200) $

(201) 8 898

(202)

(203) 9

(204) 7

(205)

(206)

(207)

(208) (

(209)

(210) %&

(211) "

(212) & 8

(213) 8## 8 8

(214) )8

(215)

(216) 9

(217)

(218) #

(219) &

(220) 8.

(221) #8 7

(222) 9

(223)

(224)

(225) 88 #8!

(226)

(227) 8"

(228) #

(229)

(230) 8 $

(231) #

(232) &

(233) 7

(234)

(235)

(236) 9

(237) " 8"88

(238) 9 88

(239)

(240)

(241)

(242) 8*

(243) 8 #8#8

(244) #

(245) &

(246) " ##8

(247)

(248) #

(249) 8

(250)

(251)

(252) (

(253)

(254) %&

(255) +,-6.,%/*0 88

(256)

(257)

(258)

(259) 8$

(260)

(261) &

(262) 8

(263) #8#8

(264)

(265) 8#8!

(266) 89 18

(267) 28

(268) 3 8 4

(269) 88!7

(270) !

(271)

(272) .#

(273) 99

(274)

(275) #8"

(276)

(277) " 5

(278)

(279) 8 6789:;<=>

(280)

(281) 8%&

(282) #

(283) &

(284) .

(285) 012345610723849 62

(286)

(287)

(288)

(289)

(290) !"#

(291)

(292) #$%&'(

(293) )#*+,-' .+,- /

(294) 01#%)

(295)

(296) 2

(297)

(298) *+,#

(299) ##

(300) #34#

(301) !5

(302) # .+,- #' 00

(303) 001#%)

(304)

(305)

(306) #33 %#'# 06

(307) 061#%)

(308)

(309) 33%

(310) 07

(311) 07

(312) #'##'# 0/

(313) 08

(314)

(315) #'# 09

(316) 0:

(317)

(318)

(319) 09

(320) 0;<#=#7

(321) >%&

(322) 33 6?

(323) 0/4#

(324) @

(325) '# 67

(326) 094#

(327) @

(328) '# 67

(329) 0?AB

(330)

(331) @

(332) 3= 68

(333) 0AB

(334)

(335) @

(336)

(337) 68

(338) 00C

(339)

(340)

(341)

(342) >D

(343) ##EF #

(344) ##

(345) %)!

(346) ##EG #

(347) ##2#3 #

(348) %&

(349) #'(

(350) ! %

(351) #

(352) #H

(353) %&

(354)

(355) >

(356) %) I# #H

(357) %&

(358) #'(

(359) 6:

(360) 06J

(361)

(362)

(363) #%) 6/

(364) 07J

(365) ( 69

(366) 08A#

(367) 70

(368) 0:AKL

(369) ( 70

(370) 0;AKM

(371) ( 76.

(372) 0123456789

(373) 3 14 557 535 455415115 1 454 557 4 5 155 4151 115 545 1 4 31 5 347 5 15251 4 4 55 55 4525545 51!15 1 5"

(374) 35

(375) 3 5 5 4151 1155 55 44 545 115 5 1 #157$5 54

(376) 3 5 5 4525 5%5 55 5 45

(377) 3 115 "

(378) 35

(379) 3 5 5 4 % 4 544 54&155 5 457'5 4 15 31155545

(380) 3 4 5

(381) 3 5 55 4525 553 54 44 15 "4

(382) 3(15"5 541!157 55 44 "4345" 54 314 44 15 111545541!15 5 7 77777777777777 )* 01234567*903&24554 % 4 5

(383) 35+ 55 4 5577777777 )6 0123456769

(384) 35+ 014 55,3-7777777777777777777777 ). 01234567/9 455515577777777777777777777777777777777 )0 01234567)9 5124 5 15 4 55 # 454777777 )0 01234567.9 5134 5 15 4 55 # 454777777 )4 0123456709 515255541 541!15#15345 51 5 54 557777777777777777777777777777 )6 01234567497 415829:5 15% 15 # 454 4 557777 )6 01234567697 415839:5 15% 15 # 454 4 557777 .; = 77777777 .; 012345678;9 4551<=,>2 455554144245575?5#@7 01234567889 54 5 15545 4 55 # 454777777 .8 012345678*9 54 5 15545 4 55 # 454777777 .8 012345678697 415829:5 15% 15 # 454 4 55545 5 4551<=,>77777777777777777777777777777 .* 012345678/97 415839:5 15% 15 # 454 4 55545 5 4551<=,>77777777777777777777777777777 .* 012345/789 5 4 5 15#1 545 ABB4 515+ 7 C54 31154 55 11 4 545 1 554D/74*E70* 012345/7*97 415829:#15545 ABB4 515+ 7 C543115 4 55 11 4 545 1 554D/74*E777777 06 012345/769 & 4 5 452 541 .5435 7777777777 48 012345/7/9 5 15 #1 545 ABB4 515+ 7 C543115 5F5435 545 1 554D/7880E77777777777777 46 012345/7)97 415829:#15545 ABB4 515+ 7 C543115F 5435 545 1 554D/7880E7777777777777777777 46.

(385) 0123456789

(386)

(387) 1

(388) 4

(389) 4

(390)

(391) 5 004

(392) 5

(393) 215457

(394)

(395) 551

(396) 4

(397) 4 55!

(398) 53

(399) 54

(400) 5

(401) "3504

(402) 353 5

(403) #4

(404) 1 55 155

(405) 15

(406)

(407) 54

(408) 57777777777777777777777777777777777 $6 01234567%9

(409) 554&35'

(410) 4

(411) (

(412)

(413) 4

(414)

(415) 5'

(416)

(417) 4

(418) #(2

(419) 45 545 01

(420) 45)

(421) %*+

(422) 67777777777777777777777 $, 01234567*9

(423) 554&35'

(424) 4

(425) (

(426)

(427) 4

(428)

(429) 5'

(430)

(431) 4

(432) #(2

(433) 45 545 01

(434) 45)

(435) ,-$

(436) .7777777777777777777777 $01234567+903 245 5 014

(437) 54&355155014

(438) 5 5

(439) 1

(440) 4517777777777777777777777777777777777 ./ 0123456769 54

(441) 5

(442)

(443) 1 5545 00

(444) 000 545

(445) %// 4

(446) 51!5)

(447)

(448) 1

(449) 254777777777777777777777777777 .8 01234567,91 41534"15545

(450) %//4

(451) 51!5)

(452)

(453) 1

(454) 2545455

(455) 1 5 )

(456) 00

(457) 000 7777777777777777777777777 .8 01234567-95

(458) 4

(459)

(460) 51

(461) 5544631

(462) 41777777777777777 .% 01234567$9 455311!5551 35631

(463) 41 54477777777 .+ 01234567.91 4153784 5451

(464) 5544631

(465) 41"15545

(466) %// 4

(467) 51!5)

(468)

(469) 1

(470) 254777777777777777777777777777 .6 012345678/91 4153984 5451

(471) 5544631

(472) 41"15545

(473) %// 4

(474) 51!5)

(475)

(476) 1

(477) 254777777777777777777777777777 .6 012345678891 4153:84 5451

(478) 5544631

(479) 41"15545

(480) %// 4

(481) 51!5)

(482)

(483) 1

(484) 254777777777777777777777777777 ., 012345678%91 4153;84 5451

(485) 5544631

(486) 41"15545

(487) %// 4

(488) 51!5)

(489)

(490) 1

(491) 254777777777777777777777777777 ., 012345678*91 41534 5451

(492) 5544631

(493) 41"15545

(494) %// 4

(495) 51!5)

(496)

(497) 1

(498) 254777777777777777777777777777 .012345678+95

(499) 4

(500)

(501) 5

(502) 1

(503) 5 31 <=315

(504) +2

(505) 454

(506) 77777777 .$ 012345678691 41537845451

(507) 5 31 <=315"15545

(508) %//4

(509) 51!5)

(510)

(511) 1

(512) 2547777777777777777777777777777777778// 012345678,91 41539845451

(513) 5 31 <=315"15545

(514) %//4

(515) 51!5)

(516)

(517) 1

(518) 2547777777777777777777777777777777778/8 012345678-91 4153:845451

(519) 5 31 <=315"15545

(520) %//4

(521) 51!5)

(522)

(523) 1

(524) 2547777777777777777777777777777777778/% 012345678$91 4153;845451

(525) 5 31 <=315"15545

(526) %//4

(527) 51!5)

(528)

(529) 1

(530) 2547777777777777777777777777777777778/% 012345678.91 4153>845451

(531) 5 31 <=315"15545

(532) %//4

(533) 51!5)

(534)

(535) 1

(536) 2547777777777777777777777777777777778/* 01234567%/91 4153?845451

(537) 5 31 <=315"15545

(538) %//4

(539) 51!5)

(540)

(541) 1

(542) 2547777777777777777777777777777777778/*.

(543) 0123456789

(544) 4155451 53 1315 155 45

(545) 84515!" #547777777777777777777777777777777779$ 0123456788

(546) 415%5451 53 1315 155 45

(547) 84515!" #547777777777777777777777777777777779$ 012345678&

(548) 4155451 53 1315 155 45

(549) 84515!" #547777777777777777777777777777777777796 012345'79 (4 5!)15245554451 53 1315$* 3153+4344 55544551,53125 +4344 5551 -15 45544577777777777777998 012345'78 (4 5!)15245554451 53 1315$* 3153+4344 55544551,53125 +4344 5551 -15 4554457777777777777799& 012345'7& (4 5!)15245554451 53 1315$* 3153+4344 55544551,53125 +4344 5551 -15 4554457777777777777799$.

(550) 01234563476042 89

(551) 9 9 9 9

(552) 99

(553)

(554) 9999 9 89

(555) 9 !9"

(556) #99

(557) 9$% 99&'

(558) ( ) 89

(559) 9)9 9 9

(560) 99

(561)

(562) 9999 9 * 89

(563) 9*89

(564) 9 9" 9+,9-9 9 *. 9 89

(565) 9/9 9 9

(566) 99

(567)

(568) 9999 9) .

(569) 0123456 7 ' + 1 4 9 ' ' + + + +' ++ +1 1 4 & & & &' &+ &1 M ' ' '. 58946 1

(570) 6 7 !"#$% & () * ,"-$)!$./ 0 2"#3!/"# 0 ,5678$ :;8;4<=5 < ;0 99 >$?$$6$@$$?$ @$A6$$ ' @$BA6$$ 1 @$BA6$$>/CD) 1 A6$7$@$BA6$$ 4 8$7$@$BA6$$ 4 !$% 8"/E$$!$% '0 C$!$$@$5/6,$ '0 ,56#$$8$$# ' 6$$ ' 5$ ' >/CF6 '' $$ '' (G$!$H6$ '4 ,"$)$$ ' >$#$6$ ' ./E$,"$)$>$#$6 ' ,"$)>$H$I6BB/# +0 !!?J?#$$6$K6#$>$#$6$ ,"?,"$) +0 L$?# + N5=946 ;O<=2<8 PP Q#$R#68$ ++ !?5(G +4 !?5K)S6 +4.

(571) 01210 0121 0121 01 0112 011 010 + 12 1212 121 1210 121 121 121) 1 112 11 110 11 11 11) 11I 11 S 12 1 112 11 110 11 11 11) 11I 11 10 1012 101. 3456789 4

(572) 45 1111111111111111111111111111111 7978448974541111111111111111111111 74

(573) 487 789 4

(574) 45 11111111111111111111111 !94787 789 4

(575) 4575"571111111111111111111 789 4

(576) 45#$11111111111111111111111111111 %&4'9(87 789 4

(577) 45#$ 111111111111111111111 ) %9

(578) * 7(111111111111111111111111111111111111 ) ,-./012345346/5,17 888888888888888888888888 9: 789 4

(579) 45%(9588711111111111111111111111111 )0 789 4

(580) 45%(9588775"57111111111111111111111 ) 789 4

(581) 45%(95887!(97 111111111111111111111 ) ; 789 4

(582) 45<=>?@=A@B 111111111111111111111111 )) ;

(583) 47*9 7C7878934((DE9F75111111111111111111 ) 789 4

(584) 45%(958877

(585) 7

(586) C78789;

(587) 478934((DE9F75)G %9

(588) * 789H* 4711111111111111111111111111111 I 789J4" 4(1111111111111111111111111111111 I 789 7(894K7111111111111111111111111111111 I L5M9N54#4$9(454111111111111111111111111111111 I H*7

(589) 4787O4 7C87*9 7C787897594 7111111111 II 7594 74H

(590) 7(49

(591) *7L

(592) *7541111111111111111 II H

(593) 7(49

(594) *7L

(595) *754P9&954 1111111111111111111 I Q94

(596) 7(49

(597) P(9

(598) R4*44Q98784!99594784(J4" 4(11 IG H 7

(599) 787 789J4" 4(11111111111111111111111 %9

(600) * 789H* 4711111111111111111111111111111 0,.4T464U/1V74V4-.1,7,-W6.1T4-8888888888888 X+ 747849787 74J7*7(4 111111111111111111111 %4*4(849787 74J7*7(4111111111111111111111111 L54 471111111111111111111111111111111111 ) J7*44711111111111111111111111111111111111 I J75894711111111111111111111111111111111111 PY(7 1111111111111111111111111111111111 E7

(601) 4 4787(J9(7(1111111111111111111111111111 Q94

(602) 7(49

(603) 111111111111111111111111111111111 %(

(604) 4784!95(8489ZC84974541111111111111111 74

(605) 487JHD %L111111111111111111111111111 G Q9( 487(975(894'9(11111111111111111111111111 G P(9

(606) 42111111111111111111111111111111111111 G P(9

(607) 4 111111111111111111111111111111111111 G.

(608) 01212

(609) 1. 34567892111111111111111111111111111111111111.

(610) 995651111111111111111111111111111111! "#$#"% &' ( ')%*& # ')%*& #'+,*#'-#,,'.#,/.& '*#&.#,'*# ).% &'0.

(611) 01. 23456789 7

(612) !"!#$%&'(0))*+,0-+. /01 /23/ 24 +.5 5 6 #$

(613) 7.879:790)1)+ );<),- /301 0 >=?@ABC?>?@ADE?@AA #0+0F?@ABG?>?@ADE?@AA #0+H= >?@AB I>I?@@AE?@A+%323/>?@A 3 J 0K #L(MN.H;;O+PP(-+N J !3J01G?QA+ N3 R/ < / / // 015 / #$

(614) 7.879:790)1)+S;;-+%01#0+0-!3/3/ /@/>?TA!3/ #$

(615) 7.879:790)1)+S;H<S;S-+N!3//01/U 01 3 01+V 3U3/ 5 /#$

(616) 7.879:790)1)+S;;-W X1/ 01 U J!Y X 01 /3323//01+ Z 01#0+0- 0K /U01 /3W + 2[2 \]^_`a]bcdef^_]gehic 7 01), ! !j/k4: /U 2 /U 01" /+7J 01JU 01 / #:97l%$H;00+O<1-+ 7 0)m; /3/3/3K 3 3"32</+. .l3/3 /l/< ! J J01/01/!+.

(617) 0123456789 4

(618) 7 57. . !"#"$#!!#%!!&'$##!"$#"# !(#")!*%+,#!- $++""#+!./4

(619) 12761407 1. 42

(620) 2761407 11 3477450 677341407 1

(621) 8904232

(622) 02:;<=>?>@&ABAC&')++-#+ $#!!"##+"904232

(623) 02:;D@><EF&GH&$,IC, >"AJ&@>"K"+-"$!!-!$!L#$!"##M! E!##""$#'+N$!#"O+#!#"#-#NO!-$!<##!,E$!! ##K"#N!)!#<##!P#!##$##&!%)! #K";KEFQE?#,&ARHC&'+#!"$!$!#"O+# #"##;=QS?&GHHR&$,IHC,S)!#K"+#!"%!# +!T##!##"+UU#!#+##++#$!$!# +"##("$+##"$#"#;D@><EF&GH&$,BVWC,S)!# K" X$!N#E$&'#YM,+-"!-N"##+" K"Z42:[2:21

(624) \502 42

(625) 77]Z3Z&#""#+#ARH, ^_` abcdefghijkl L"#""#!(#'T#;,C#;,GC#+"+T#+ #+-#+&##NV##"!##",E"&$#V##!"!m# $!+#nopq'#rs+#&#$!!%"##touq&#"!m#"# vopq'#rs+m&#!%"##wouq,S#'#"#$!#"O+ M%!,,?#$!#"O+&##NV##!##"x yopq#!"'#. zj{|bl^_^}~!#"O+#"!###"%!"#+,?#$!#"O+&+ !"T#+#m(##!#m,. yxopq yopq,S++#m(##!opq#mopq,E!"T#!# #"!(#touq#wouq,S!mnopq#vopq!m%!+# $##m++-#+,~!&#"!X!Oopq#opq#" +N+"!"T##m+!m##"$!!#X!"#,.

(626) 0123456789 4

(627) 7 57. . !"#$%&'&()*'$+,'&#"!#$$+&#"+-".*&!$+*&(&$+,'&/0"1,'&#"+ $+&#"+2&+""+,+$'&+$3&,($&!$"!*4#"-5&*++,&("67$)2"(+,#$!&#"&'$8"!+"*/0"9&!& "9!":$'&#$$+,'&/0"#$$+&#"+;<=>?-@AAB-96CAD67(!$&("-*'"*!"$+9$2!"#"+ +,+$'&+9$!'&($2$+$'+"*/0"67+$$+9$2!"&:!&(5$"++,+$'&+(0",($&!$+6E'+,+$'& (0",($&!9"++*,F*(/G$+HIJK$L"*MIJK(0",($&!$+67-*'&N$O.*$"+,+$'&)(0",($&!-& $"!,&#$+,+$'&+,($&!$+(0")'&,+&9,2PN$-&2"'""!"#$%&'&(6 Q+9!,'$,!&++"*/G$+9&!&&9!":$'P,2&(0",($&!"2"!!$'&!&N)+#$#$!,N&/G$+#" !"#$%&'&(6Q'&,+2"'*'#$&+)"!"#$%&'&($+$(#,#"-".*&F",#$+$(N"N,#" 9"!%&'&($<28,',#(&RSTUVTUT1

(628) WX0T 4T

(629) 7YZR[R67+&)2(,2&2"(+,+$$'*,,O&! &+)!,$#$\&]"!9&!&!$&,O&!&,($&!,O&/0"#"+,+$'&;Q^E_Q>`Q_Q>$&6-@AA@D$+$ "!("*&F$!!&'$(&#$$+,'&/0"#$$+&#"+9&!&+,+$'&+(0",($&!$+'&,+*,,O&#&(&+a,'&+ #)2&#&+;b??Qb7_c<_\=?7-@AdD6 !"#$%&'&($+$(#,#")2"(8$2,#"9"!&9!$+$(&!:"(+!$+*&#"+2&+""$+&#" ,(,2,&#"!"$+$3&9!1e,'""+*2,$($#"$+&#",(,2,&#"+,+$'&$&':)')*'#"+ '$8"!$+$+,'&#"!$+9&!&+,+$'&+.*$+0"$N$'$($(0",($&!$+;b??Qb7_c<_\=?7@AdD67+&N&!,&/0"#"!"#$%&'&(&':)' $'!$2$:,#"#$+&.*$(&P!$&#$+,+$'&+ #$9"f(2,&-!$&,O&(#"&$+,'&/0"#"+F&+"!$+#$$(+0";ghQh^7>Q?=c%Q>iQ-@AD#$F!$.*f(2,&;jh7?$&6-@AAD-&)'#&N$"2,#&#$$9"+,/0"#&+'P.*,(&++4(2!"(&+#" +,+$'&#$5$!&/0";khE$&6-@AdD6 *!&+N&!,&/G$+#"!"#$%&'&($+$(#,#"&':)'F"!&'#$+$(N"N,#&+-$(!$&("&,+#$!,N&/G$++0"5$!&'$($F"!'*&#&+&9$(&+9&!&*'+$$"5!*9"#$+,+$'&+(0",($&!$+ ;lQE>-@AAdD6 Q9!,(2,9&#$+N&(&5$'#"!"#$%&'&($+$(#,#").*$-*'&N$O.*$$$):&+$&#" $'')"#"+#$,($&!,O&/0""2&-$$(0"":)':"(+!$+*&#"+$'2&+"#$(0",($&!,#&#$+ 2"(+,#$!PN$,+6Q)'#,++"-$$!&:&8&&9$(&+&)"+$5*(#"'"'$("$+&4+,2"-".*$!$+*&!,& $':"&$+,'&,N&&9$(&+9&!&!*4#"+5&*++,&("+;<m^%%m-@AC-96n@D6*!&#$+N&(&5$' #$+$!").*$$$!$.*$!.*$&+F*(/G$+#$!&(+,/0"#$$+&#"+$'$#,/0"#"+,+$'&+$3&' #,F$!$(2,PN$,+6 Q)'#"!"#$%&'&($+$(#,#"-"*!&)2(,2&.*$N$'+$(#"$+*#&#&!$2$($'$($ )"!"#$9&!42*&+6("'$!"#$9&!42*&++$!$F$!$&*'&2&++$#$!"+(0",($&!$+ .*$,'9$'$(&'(*'$!,2&'$($"!":&]$+,&(";jh7?$&6-@AAC-96@dD6E'!"#$ 9&!42*&+&9!"e,'&&F*(/0"#$#,+!,:*,/0"#$9!":&:,,#&#$#"N$"!#$$+&#"+2"(#,2,"(&#& o+'$#,/G$+6Q,($5!&/0"'*,#,'$(+,"(&#"+$+&#"+)!$&,O&#&&!&N)+#&)2(,2&+$.*f(2,& #$>"($j&!";lQE>-@AAdD6Q"2"(!P!,"#"!"#$%&'&($+$(#,#"-"!"#$9&!42*&+ )*'&)2(,2&.*$&9!$+$(&:"&+$+,'&,N&+'$+'"2"'&"(4N$,+#$(0",($&!,#&#$$) &':)'*'&+"*/0"9&!&"+2&+"+$'.*$"+!*4#"++0"(0"5&*++,&("+;jE=c%QpQ<<7^=-.

(630) 0123456789 4

(631) 7 57. . !"#$%&#'()%#* (&+,--).%-/012#'3 4)5- +,6'(&+,--).%-%#*- %)(&+,-+,'7&(%-#-%5#%&#+,$8 %&##!&7&-9))#*()%"#$%&#&-#-: &(&+9--).%-'%);<#/'7&9)&-#-:+, "#=#) 5 >?@ 4@ !+,(&+,-).%-A-B!/9) &)"#=#) 5 >?@ 4@ >C51

(632) @

(633) 774--!#(&+,-).%-0& D-/39)&)"#$%&#)7&)$%&#,) (&+,!+,&)'(&+,-E-#"# =#) ---'&-&(&+9-).%-F.)E-'98&) "#$%&#%))!))!)-).%-#-"#=#) ---/GH8G=IJ-)+,)-) ,#- KLM NOPQRSTUVWXYQVZ[SVX 2E\-\7&-,#-!&-] ^_%-%#--)+,` ^4-)E-%)&$!&-` ^4--) ,#-` ^#-_%-%-)+,-) ,#-%)& #-&` ^H_%-%-)+,#-%-) ,#-%)&$ !&-` ^4)_%-%%)_%-%\5a- #-& KLb cdXOXefUY[OeSgXWU 2#-)7&-&#& &E#-%+,!&-E#*] ^H*) 'I-%hi&:'G%-%4j#-)&)G-#H$%&# #-G-#=#) I-J-I-)+,Ii-)F, A-%)k&$l&-' mJJJi-)n-o-#-&)+, J#-!/ioJ'!-pq8p6')r /#-s%8*]tt<<<&(!EtE-rttu3p(.

(634) 0123456789 4

(635) 7 57. . !!"# $%&'()%%*+&',-.*%&/.+0'1)2'('*345'67&89.%: ;<'67&89.=$%&*5'67&89.&*36.+.>?*&)@.+*5.+('+.9*)&.+%.>+*'%%81&.%A8*B81('3*1= &'3*%&*&+'>'9C.D6.+*%&'+'2-.D.5'67&89.B.)5C'3'(.(*0*1*+'9)('(*%E$9*'>+'10*.% '%%81&.%>/%)5.%('/+*'(*'8&.3',-.D5.3.%)%&*3'%*3*%6',.(**%&'(.%D'&F'%%81&.% 3')%5.369*G.%D5.3.6+.5*%%.%*%&.5/%&)5.%EH9F3()%%.D*9*'>.+('83'('%&F51)5'% 3')%%)369*%*3*%&)3',-.:..>%*+@'(.+(**%&'(.%EI'+''@'9)',-.('%&F51)5'%'6+*%*1= &'('%1.(*5.++*+(*%&'()%%*+&',-.D3F&+)5'%>'%*'('%1.@'9.+'>%.98&.%-.'6+*%*1&'('% 1*%&*5'67&89.E ;<'67&89.J=K&*+5*)+.5'67&89.+*3*&*.9*)&.+'6+)3*)+'&F51)5'(**%&)3',-.(**%&'(.% A8*)1.@.8'/+*'D6.+%*+833F&.(.6+/&)5.*%)369*%D.L9&+.(*M'93'1EN'93F&.(. %.985).1'.6+.>9*3'6'+'%)%&*3'%9)1*'+*%5.3+87(.0'8%%)'1.*D6.+&'1&.D%8'B.+3' ()%5+*&'*5.1&718'%-.'6+*%*1&'('%EO8'*L5/5)'F5.36+.@'(''.%*+5.36'+'(.'. .>%*+@'(.+(**%&'(.%*3(.)%*G*369.%E ;<'67&89.P=K5'67&89.P&+'2(8'%&F51)5'%38)&.8&)9)2'('%6'+''%.98,-.('6+.>9*3/&)5' ('*%&)3',-.*3%)%&*3'%1-.9)1*'+*%E$%&'%(8'%&F51)5'%%-..L9&+.(*M'93'1*%&*1()(.D .A8'95.1%)%&*('9)1*'+)2',-.*3%F+)*(*N'Q9.+(.%)%&*3'6'+'.>&*1,'.(*83%)%&*3' 9)1*'+6'+'D*1&-.D'69)5'+'%*A8',R*%(.L9&+.(*M'93'1S*.L9&+.(*6'+&7589'%D.A8'9 5.1%)%&*(')369*3*1&',-.(.*%&)3'(.+T'Q*%)'1.183*+)5'3*1&*E ;<'67&89.U=KA8)1&.5'67&89.&+'2D)1)5)'93*1&*D'6+.>9*3/&)5'('*%&)3',-.1-.9)1*'+* (.B'&.(*1-.C'@*+%.98,R*%0*1F+)5'%6'+'*%&*%5'%.%E<.3>'%*1*%&'6+.>9*3/&)5'D83' @'+)',-.(.L9&+.(*6'+&7589'%D(*1.3)1'('L9&+.(*6'+&7589'%'9)'(.'.L9&+.(*M'93'1 *%&*1()(.)&*+'&)@.FB.+389'('EI'+'5.36+.@',-.('*L5/5)'(.3F&.(.DJ%)%&*3'%%-. 8&)9)2'(.%*'3*&.(.9.0)'6+.6.%&'F5.36'+'(''.L9&+.(*M'93'1*%&*1()(.*'.L9&+. (*6'+&7589'%'&+'@F%('%3F&+)5'%(*6*+B.+3'15*E ;<'67&89.4=K5'67&89.45.1&F35.1598%R*%0*+')%%.>+*.%+*%89&'(.%*%.>+*&+'>'9C.% B8&8+.%**G6'1%R*%('&F51)5'6+.6.%&'1*%&'()%%*+&',-.%-.+*'9)2'('%E.

(636) 00. 1234356789693.

(637)

(638)

(639)

(640)

(641)

(642) !

(643)

(644) "

(645) ! "

(646)

(647) "

(648)

(649) # $%

(650)

(651)

(652)

(653)

(654)

(655)

(656)

(657)

(658) &

(659)

(660) " '"

(661)

(662)

(663)

(664) "

(665)

(666)

(667) "(

(668)

(669) )*

(670)

(671) )

(672)

(673) "

(674)

(675)

(676) "

(677)

(678)

(679)

(680) ("

(681)

(682) #

(683)

(684)

(685) $ 1+, 5-./-0-1234567- 802-930-930.3467-3023760 :"

(686) ;

(687) <

(688)

(689) "=">

(690) !"

(691) $:

(692)

(693) "

(694)

(695)

(696)

(697) " "

(698) "*

(699) ;" !"

(700) $ ?

(701) "

(702) "

(703) ""

(704)

(705) ! ;" @

(706) "

(707)

(708)

(709) ABC?DEFGGH$IFJ$%

(710) !"

(711) "

(712) )

(713)

(714)

(715)

(716)

(717) ;

(718)

(719) @

(720)

(721) ;

(722) "

(723) "ABC?DEFGGH$KKJ$ :

(724) ;

(725) "

(726)

(727) L

(728) #(

(729)

(730) @

(731) "

(732) " @ "

(733) <

(734) "

(735)

(736) "

(737)

(738)

(739)

(740)

(741) ";" "

(742)

(743) AMD: FGGG$0*NJ$O" ;" "

(744) "

(745) "

(746)

(747)

(748) #P;0$F$. Q8RS/31+,TU

(749)

(750)

(751) "

(752) ";"

(753)

(754) "

(755) "$VWXY

(756)

(757)

(758)

(759)

(760) "$Z

(761) @[<" \WXY;

(762) $. O"!"

(763)

(764)

(765)

(766) "

(767) "

(768) ;

(769) "

(770) "(

(771) "

(772)

(773)

(774) $:

(775)

(776)

(777) )

(778) @

(779) !

(780)

(781)

(782)

(783)

(784)

(785)

(786) "

(787)

(788) "

(789)

(790)

(791)

(792) " '" A

(793) "

(794) "@

(795)

(796)

(797)

(798) "

(799) #

(800)

(801) ABO: ]:U^:UFGKG$G_*GIJABC?DEFGGH$H`JJ$C

(802)

(803)

(804)

(805) "

(806) "

(807) "

(808)

(809)

(810) (

(811)

(812)

(813)

(814)

(815) ;$

(816)

(817) (

(818) @

(819) "

(820) "

(821) "

(822) " >

(823) #

(824)

(825) "

(826)

(827)

(828) $.

(829) 0123456789