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1 W a cop wold s ladg pbls o Op Accss books Bl b scss o scss 8 6 M Op accss books avalabl aoal aos ad dos owloads O aos a amog 54 os dlvd o OP % mos cd scss.% obos om op 5 vss Slco o o books dd Book ao d Wb o Scc o ollco B sd pblsg w s? oac book.dpam@cop.com Nmbs dsplad abov a basd o las daa collcd. Fo mo omao vs

2 Advacd Nola ool o Robo Maplaos 7 7 Advacd Nola ool o Robo Maplaos Adl Mab ad Jaso G vso o Egg Sa Ma s Uvs Hala NS pam o Elccal & omp Egg alos Uvs Hala NS aada. odco dvlopm o mod obo maplaos s qd a obo cooll as capabl o ovcom modld damcs vaabl paloads co oqs oq dsbacs paam vaaos masm oss wc ca b o psd paccal vom. objcv o s cap s o povd ad w a ovvw o advacd ola cool cqs o a gd obo maplao. ola cool ld a commo sag s calld modl basd cool wc ca b dvd om mamacal modl o ssm. Howv cas o obo maplao s wakd b accacs ps obo modl w pomac o cool algom s o gaad. As mod abov s accacs ca b dd as paamc cas modld damcs ad kow al dsbacs. o ovcom cas dawback obs ola cool ca b a solo. goal o obs cool s o maa pomac ms o sabl ackg o o o spccaos dsp accacs ps ssm. s cap w ps wo ola modl basd cool sags: dback lazao cool ad a ola modl pdcv cool o gd obo maplao. W s cosd damc o obo maplao dv b El-agag qaos. Basd o s gal psao w a abl o dv qaos o ola cooll o bo sags. a obsss sd s cad o og compsao o ssm accacs. wo mods a sd; s o s basd o o o gaad sabl o ca ssms wl scod s gd o sg ola cool law. compao o ola modl basd cool assms a all sa vaabls a avalabl. cas o obo maplaos mpls psc o addoal ssos ac jo sc as vloc masms. a o obad b mas o acoms wc a pbd b os o moov vloc masg qpm s ql omd d o savgs cos volm ad wg. Modl-basd obsvs a cosdd v wll adapd o sa smao ad allow mos cass a sabl poo ad a modolog o obsv gas wc gaa a sabl closd loop ssm.

3 8 Robo Maplaos Nw Acvms s cap ola obsv s dscssd o sa vaabls smao. s a powl ool o adl ola ad ca ssms wc s cas o obo maplao. Fall coplg bw ola modl basd cool ad sa obsv s dscssd ad global sabl o closd loop ssm s pov ocall va apov sabl o.. Robo modlg s cap ola cool laws wll b dvlopd o gd obo maplaos. o dsg ad cool o sc obos q mamacal modl o pocss. damc o -lk gd obo maplao s dv b El-agag qaos as q q q q q G q w q s vco o agla jo posos wc a galzd coodas ad assmd avalabl b masm. s vco o dvg oqs wc a cool ps. q q = q > s lk a ma. q q q s vco o ools ad cpal oqs. Gq s vco o gavaoal oqs. ops o b coolld a jo agls obo. Fo mo dal abo obo modlg ad ca o Spog al. 6; ozłowsk 4. paccal mplmao o cool law o obo maplaos qs cosdao o vaos socs o cas sc as modlg os kow loads ad compao os. od o g al vals o ssm lms cas o ssm o o msmac psd b Δ. a addd o compd o omal vals psd b.. o macs a w as q q q q q q G q G q G Moov cos F cosdd as modld qas ad al dsbacs b a addd o obo modl wc bcoms q q q q q G q G F b a smplcao modl damc o obo s gv b η s calld ca wc s dd b q q q q q G q q q q 4 b q q G F b 5

4 Advacd Nola ool o Robo Maplaos 9 clds modld qas paamc cas ad al dsbacs. a sa spac om ola ssm o obo modl 4 ca b w as w sa vco g: 6 g g [ ] ad vco cos : ad [ q q] a vco lds ad dd as ollows g G op vco o agla posos o b coolld s 7 = = 8 w = [ ] ad : d ma. cos g ad : a assmd o b coosl dabl a sc mb o m. Fs dvlopm o cool laws wll b cad o o dsbd ssm w cas a o cldd aalss. a obs cool s sdd og a compsao o cas b smao.. Nola modl basd cool o obo maplaos. Fdback lazao cool Fdback lazao s o o mos mpoa sags o ola cool dsg. a wo gal ps o lazao: p-sa lazao ad p-op lazao. Ncssa ad sc codos av b sablsd o ac p o lazao. Fo a gv ola ssm s codos ca b cckd o dm ssm s lazabl oo 4; Njmj & Va d Sca 99; sdo 985; sdo & Rb 984. s cap w wll sd dback lazao basd o p-op lazao o a gd obo maplao. da s o da op sg dvavs o oba a psso w p appas plcl. mb o ms o dao s calld lav dg. o : dvav o co j alog a vco ld =... s gv b j j 9 avl w av j j j j

5 Robo Maplaos Nw Acvms ad alog ao vco ld g = g... g j j g g o : ssm s sad o av a lav dg... ; ad k j g j k g s mb o dao ms o appa p psso o. ag op sg dvavs ad omal obo sa modl 6 wo cas w av G g w = = q ad lav dg o p s =. pcpl o lazao cool law s o g a la ssm w op s lcd b a al p v ol og a ca o wo gaos as G v 4 cool law s cad o as G v 5 s possbl o alz a pol-placm b mposg v as v 6 w = dagk = dagk = Applg cool law 5 w al p 6 ackg o = sass scod la qao 7 ad c o damcs a dmd b coc o ad so a caacsc qao s Hwz.

6 Advacd Nola ool o Robo Maplaos. Nola modl basd pdcv cool Modl basd pdcv cool MP s cosdd a cv cool mod adlg w cosas ola pocsss ad dsbacs. s cool sag qs a opmzao mod o solv o cool ajco ov a m ozo basd o a damc modl o pocss Bodo & amaco 998; Hdja & Boc 5; Hdja al. ; lača & Škjac 7; Vvas & Mosqa 5. objcv o ola modl basd pdcv cooll s o ca o a cool law od o ack dsd op ajco a m +τ og mmzao o a gal om o cos co dd as 8 w +τ s a pdcd o +τ s a τ-sp aad pdco o op agla posos ad τ > s a pdco ozo. od o mmz cos co 8 s dd o d a pdco modl o bavo o op movg m am. As obo modl 6 s kow a mamacal ool basd o alo ss paso ca b sd o dvlop pdco modl. B do alo ss paso s cad o sg dvavs ad gv b!!...! g 9 w s lav dg. Basd o s paso pdco modl o obo modl s pssd b! Usg op daos w av G pdco modl s w as Τ w ] * * [ Τ

7 Robo Maplaos Nw Acvms A smla aalss ca b sd o ca o pdcd c ajco Τ w ] [ s assmd a omao abo dvavs o c s avalabl. pdcd o s gv b Τ 4 opmal cool law ca b cad o og mmzao o a cos co w spc o cool p. s wok wo appoacs o d cos co wll b sdd:. A cos co basd ol o ackg o. goals a o sow a s o s cos co p allows alzg a pol-placm smla o dback lazao ad dsgg a ca smao sco 5. basd o cool law dvd om s spcc cos co.. A gal om o cos co w ackg o ad cool sgal a dd ov a ozo... os co basd o ackg o cos co s dd as a qadac om o ackg o ov a ozo d 5 cool wgg m s o cldd cos co. Howv cool o ca b acvd b adjsg τ a al. 999; Mab & G 8. Usg pdco modl o o 4 cos co 5 ca b smpld as d d Τ Τ 6 w

8 Advacd Nola ool o Robo Maplaos Τ Τ d * 8 * 6 * 8 * * * 6 * * * cssa ad sc codo o cos co mmzao s 7 Usg qaos ad 6 codo 7 ca b w as ] [ M 8 o opmal cool s ] [ M 9 w G M ] * 5 / * [ / ] [ Fall cool law 9 bcoms G w = /τ * = 5/τ * Fom om o cool law ad compad w lazg cool law 5 ca b ocd a a smla ad allow alzg a pol-placm o av a la damc o ackg o o closd loop ssm... Gal om o cos co cos co s dd as qadac oms o ackg o ad wgg cool ov a ozo d d R Q

9 Robo Maplaos Nw Acvms 4 w Q s a posv sm-d ma ad R s a posv d ma τ ad τ a spcvl obsvao ozo o ackg o ad cool ozo. W assm a cool sgal s cosa ov cool ozo +τ =. Usg sam aalss as sco.. cos co ca b w as R w w ma s dd b Τ Τ d Q cssa ad sc codo 7 bcoms ] [ ] [ M M R R opmal cool law s gv b ] [ M R 4 4. Robs cool basd o cas compsao Robs cool s cosdd amog g qald mods moo cool. goal o obs cool s o maa pomac ms o sabl ackg o o o spccaos dsp accacs ps ssm. obs moo cool poblm ca b solvd b dsgg a smao o compsa ssm cas sc as kow al dsbacs modld qas ad msmacd modl Spog al. 6; ozłowsk 4; oo 4; F & Goodw 989; al. ; k & Jzk ; Mab & G 8; k & Jzk. cas compsao aalss wll b dvlopd o lazg cool laws 5 ad. Usg dvav aalss abo cas ca b vd a lav dg o η s =. cool law bcoms G 5

10 Advacd Nola ool o Robo Maplaos 5 Usall cas η a kow. o smao s qd o comp cool law ad compsa cs ad obs cool law s gv b G s 6 a sval appoacs o a obs cool poblm. s cap wo mods wll b dscssd o dsg cas smao; s o s basd o o o gaad sabl o ca ssms wl scod o s basd o modl cool law. 4. Esmao basd o o o gaad sabl o ca ssms s sco w wll dal so-calld o o gaad sabl o ca ssms wc s basd o apov s scod mod Spog al. 6. Sbsg cool p 6 obo modl dao pls cas η ackg o damc o closd loop ssm s gv b 7 w η = η η s ms o ackg o sa spac modl o damc ssm 7 s gv b w A B 8 A B Sc { }> ma A s Hwz. s o a smmc posv d ma Q ss a smmc posv dd ma P sasg apov qao A d apov co cadda P PA Q 9 V P 4 w Γ s a posv d smmc ma. Usg qaos 8 ad 9 m dvav o V s gv b V Q { B P } 4 w d

11 6 Robo Maplaos Nw Acvms B P 4 Sc s o omao abo cas vaaos ca b assmd a = a al s assmpo dos o cssal ma a cosa vaabl b a cagg a v samplg val sold b slow. Fom 4 damcs o cas smao s gv b B P 4 s Usg do 4 ollows a apov co V sass V alog solo ajcos o qao 6 bcas V Q 44 s gaas a ad η ad o η s a bodd. cas smao qao 4 ca also b w as d 45 s B P 4. Esmao basd o modl cool law Fom modl damc o obo 4 a smao o cas ca b dd as s s s G 46 w = l* s a ma ga ad l s a posv cosa al. ; al. 999; Fg al.. Fom qao 4 ad w assmpo = damc o ca smao s gv b 47 Sc > ad > ca b asl vd a ackg o o smao covg o zo. Sbsg cool law obsv qao 46 damc o cas smao s gv b 48 s gag qao 48 cas smao s dd b d 49 s

12 Advacd Nola ool o Robo Maplaos 7 advaag o cas smao 49 compad o 45 s a coas a gal aco wc allows acvg zo sad sa o o cosa c ps ad dsbacs oo 4; avallo al. 999; F & Goodw Nola obsv basd sa smao compao o a modl cool law sc as lazao cool ad modl pdcv cool qs agla poso ad vloc masms. paccal oboc ssms all galzd coodas ca b pcsl masd b cod o ac jo b vloc masms obad og acoms a asl pbd b oss. o ovcom s pscal cosas a ola obsv ca b sd o sa smao ozłowsk 4; Rodgz-Agls & Njmj 4; Hda &. sa spac modl o gd obo 6 7 ca b ogazd as g g 5 w = q; q s masabl poso vco. G g 5 ola sa obsv basd o g ga o ssm 5 ca b dsgd o sma agla posos ad vlocs as H g g H s 5 w = a smad sas; s s smad ca cad o om 49 w smad sas. smad ola cos. ad g. a gv b: G g 5 Fom 5 ad 5 obsv o damc s gv ma om b ~ ~ W H 54 w

13 8 Robo Maplaos Nw Acvms ~ ~ H ~ H W H H = * H = * ad a posv cosas. δ. s dsbac m sa obsv. s gv b g. g. g. g. s obsv ga H s cos o b a Hwz ma od o gaa covgc. psc o δ obsv gas a adjsd as 56 w < ε << ad γ γ a posv cosas. s adjsm allows makg as co om δ o o small so a smao o s o ssv o modlg o Wag & Gao ; all 999; Hda &. 6. Global sabl o closd loop ssm s sco ams o dscss global covgc o ackg o o closd loop ssm. o o sabl basd o apov mod s sd o pov global sabl o obo ssm coolld b obs smad ola cool law. pop o boddss o modl lms o obo a gv om Spog al. 6. Sc q > ca b assmd a q w a posv cosas. ma q s la o q ad bodd o q. o q q q q ;. vco G q sass G q α ; α +. All vaaos Δ. a bodd. sgals q q q a bodd sc as q q ad q. dsbac m δ. s small a sa obsv o. s ~. vco co s pscz w spc o. s ss sc a q q ; gag sa obsv cool loop cool law s cad o w sa smao Rodgz-Agls & Njmj 4. Basd o sa obsv 5 modl cool law 6 bcoms

14 Advacd Nola ool o Robo Maplaos 9 s G 57 w dsbac smao 49 s cad o w sa smao wc s pssd b d s 58 Sbsg cool law 57 qao w smad sas om 5 w av damc o ackg o as ~ H 59 Usg sa spac om ackg o ssm 59 ca b w as ~ B A 6 w H B A Usg smad sas o obo modl 5 ca smao 46 ca b dsgd as G s s 6 w s s ca smao basd o smad sas. So w o damc o ca smao basd o smao sa modl 5 s gv b ~ H 6 w s s ca o Fom 6 ca b ocd a covgc o ca smao s lad o covgc o sa obsv. Ud sa spac om ackg o o global ssm obo + sa obsv + cooll ca b cad o sg o modls 54 ad 6 B A 6 w

15 Robo Maplaos Nw Acvms ~ A A B H B W B a appopa coc o cool paams = ad sa obsv ga H ca b sd a ma A s Hwz. o o a smmc posv d ma Q ss a smmc posv dd ma P sasg apov qao A P PA Q 64 d apov co cadda s dvav s gv b V P 65 V Q PB 66 Usg laosp m Q Q ma Q 67 w m Q ma Q do mmm ad mamm gvals spcvl o ma Q. W av Usg las pop o boddss w av V Q B P 68 m V m Q ma P 69 m Q ma P codo V s d gav s ld w m ma Q. o b asall s P vaac om og s asmpocall sabl. global asmpoc sabl o smad closd loop ssm w cas s gaad. 7. Smlao sls ad dscsso W cosd wo-lk gd obo maplao o llsa pomacs o ola modl pdcv cooll 6 w cas compsao pssd b obsvs 45 ad 49 spcvl Mab & G 8. sc o obo ssm dv b ola modl basd cool law s sow g.

16 Advacd Nola ool o Robo Maplaos ool aw Uca smao Sa Obsv s b Robo Maplao Fg.. Nola modl basd cool o wo lk gd obo maplao lms o wo-lk obo modl a gv b G G m l c m l m q m m l m c c l c m m l l c l c l q l l s g cos q c s m l c l l c q c q q l l q m l g cos q q l l c cos q ; s ; m q l ; cos q c ; g cos q q ; ; Fo = q dos jo agl; m dos mass o lk ; l dos lg o lk ; l c dos dsac om pvos jo o c o mass o lk ; ad dos mom o a o lk Spog al. 6. omal vals o obo paams a: k : m = kg l = m l c =.5 m = / kg-m. k : m = 5 kg l = m l c =.5 m = 5/ kg-m. modl s smlad w a sampl m o -4 s ad al vals o agla posos ad vlocs a = [. ad ad/s] o sa obsv ad o obo modl = [ ad ad/s]. paams o cooll cas obsvs ad sa obsv a cos b al ad o od o acv acca pomacs. Fs ackg pomac o obo ssm dv b ola modl pdcv cool law 6 s sd wo cas obsv. obo ssm s acd b al dsbac b wc as val m val [.5s 4s]. dsbac m s cldd obo modl ad omao abo s o ak o acco w cag o cool law. val o pdco m s τ = - s. sa obsv ga s ak as H =H = [ 4 ; 8 ]. Fg sows sl o agla posos ad ackg os. ca b s a small ackg os o bo jos a sccssll acvd. Howv sad os occ ssm sposs. ps

17 Robo Maplaos Nw Acvms sao ca b plad b ac a cool law as o omao abo al dsbacs od o compsa cs. Fg llsas dcd cool oq appld o obo maplao. No a cool oq l sd saao lms. Fom g 4 w ca obsv a smao os a good alog psc o sad os sposs. As sow qao o sa obsv 5 omao abo cas s dd o av a acca pomac. Fg.. Agla posos ad ackg os o dsbd ssm wo cas compsao.. c sma Fg.. dcd oq cool podcd om ola modl pdcv cooll

18 Advacd Nola ool o Robo Maplaos Fg. 4. Eo smao o ola sa obsv cooll wo compsao cas obsvs 45 ad 49 a appld o cool law 6 spcvl. ma P as val [ 6 ; 6 ] ad Γ= o obsv 45 ad =[ ; ] o obsv 49. Fg 5 llsas agla posos ad ackg os o ssm w cas compsaos. sad o s vasd compll w compsao 49 wc mas a dsbac s wll jcd. Howv w compsao 45 sad o s ol dcd compad w sls g. lmao o sad os b compsao 49 ca b plad b psc o gal aco. s kow cool o a a gal aco acvs zo sad sa o o cosa c ps ad dsbacs. sam obsvao ca b ocd sl o sa smao os sow g 6 w cas cad o b compsao 49 a cldd sa obsv. Fg. 5. Agla posos ad ackg os o dsbd ssm w cas compsao... c sma w compsao 45 sma w compsao 49.. ackg o w compsao 45 ackg o w compsao 49

19 4 Robo Maplaos Nw Acvms Fg. 6. Eo smao o ola sa obsv cooll w compsao cas o msmacd modl a kow load cad b obo s gadd as pa o scod lk paams m l c wll cag m +Δm l c +Δl c +Δ spcvl. vaaos vals a Δm =.5 Δl c =.5 Δ = /. Also co olomb ad vscos co gv b F =F c sg +F v w vals F c =F v =dag5 5 a addd o obo modl. sam paams vals o cooll dsbac obsv 45 ad sa obsv a sd as dclad abov. Howv ga o compsao 49 s dcasd = [7 ; 7]. As sow g 7 cas o compsao 49 os occ as spos o s aso ga s dcasd ac zo. cas o compsao 45 os as spos a small a s cas b do o ac zo lk o obsv. Fg. 7. Agla posos ad ackg os o msmacd modl w cas compsao... c sma w compsao 45 sma w compsao ackg o w compsao 45 ackg o w compsao 49

20 Advacd Nola ool o Robo Maplaos 5 sls sow a ackg pomac s sccssll acvd ad c o al dsbac s wll jcd w compsao 49. ocg modld qas ad paamc cas ola modl pdcv cooll combd w cas obsv dals wll w vaaos. ca b mod also a sa smao gv b ola obsv s acca o ackg pomac. accac o smad ola modl pdcv cool combd w compsao 49 s jsd b psc o gal aco wc lmas sad sa o. 8. oclsos ad wok s cap as psd som mods o advacd ola cool o obo ssms. Howv o cov all sss lad o ola cool dal wll dmad mo a a cap. sd as ocsd o modl basd cool w a modl damc o pocss s dd o ca o cool law. wo ola cool appoacs av b dald s wok. A dback lazao cool basd o p-op lazao as b dvlopd sg dal-gomc mods o ola ssms. a modl basd pdcv cool as b dscssd o a ola cool dsg o obo maplaos. pdcv cool law mmzs a cos co o cool ajco ov a m ozo. cool solo as b aalcall dvd w o d o a ol opmzao wc abls as alm mplmao. Bcas o cas ps ssm a obsss sag as b sdd o ac ackg spos o ssm. wo mods av b vsgad o dal w ssm cas. O mod s basd o o o gaad sabl o ca ssms wc sls o a obsv akg omao om ssm ackg os. o o s a obsv dvd om ola modl cool law. coas a gal aco o ssm ackg os. s p o cool sag s obs w spc o modlg os v cv dsbac jco ad gvs o sad o casd b paams cas o al dsbacs. dvlopm o s cool sags s lad o damc modl o pocss. cas o mssg omao abo ssm sas a vso o cool law basd o sa as b cad o w qas agla posos ad vlocs ssd om a ola sa smao. as b sow a ackg pomac s acvd sccssll w cas a wll compsad. ss o global sabl o closd loop ssm as b povd aalcall va apov sabl o. ola cool laws dvlopd s cap a basd o a damc modl o pocss. Howv s wll kow a mamacal psao o a damc modl dos o accal o al. s s w s v mpoa o add o cool sag a obsss aalss od o compsa cas ps damc modl. As a alav o s appoac llg cool basd o pocss bavo ca b cosdd as a solo o ackg moo o obo maplaos. llg cool acvs aomao va mlao o bavoal llgc sc as bologcal llgc.g. s o al woks ad gcs o cool; s o ma s kowldg o dsg a sma cool modolog zz cool. s sac

21 6 Robo Maplaos Nw Acvms aa s v wd ad sss o modlg mamacal sabl covgc ad obsss aalss o lag ssms ms b vsgad o dsg a acca cooll. 9. Rcs Bodo. & amaco EF A galzd pdcv cooll o a wd class o dsal pocsss. EEE asacos o ool Ssms colog 6 pp avallo A.; Maa G. & Ns P Robs cool dsg w gal aco ad lmd a cool. EEE asacos o Aomac ool 448 pp W-H.; Balac J.; Gawop PJ. & O Rll J.. A ola dsbac obsv o oboc Maplaos. EEE asacos o dsal Elcocs 47 4 pp W-H.; Balac J.; Gawop PJ.; Gbbl JJ. & O Rll J Nola P pdcv cooll. EE Pocdgs ool o applcao 466 pp oo JP. 4. Pocss ool. o ad Applcaos. Spg odo U. k B. & Jzk.. Sldg mod cool w pbao smao: Applcao o obo mcasm. Roboca 9 pp Fg W.; O Rll J. & Balac J.. MMO ola P pdcv cooll. EE Pocdgs ool o applcao 49 pp. -8. F A. & Goodw G gal Aco Robs Adapv ool. EEE asacos o Aomac ool 4 pp Hdja R. & Boc P. 5. Nola cdg-ozo cool o gd lk obo maplaos. aoal Joal o Advacd Roboc Ssms pp Hdja R.; om R.; Boc P. & m.. Fdback ola pdcv cool o gd lk obo maplao. Pocdgs o Amca ool oc Acoag A pp Hda JA. & W.. A g-ga obsv-basd P cool o obo maplao. Pocdgs o Amca ool oc cago llos USA pp sdo A Nola ool Ssms: A odco. Spg-Vlag Bl Nw ok. sdo A. & Rb A O sss o la p op sposs o ola ssms. Ssms ad ool s 4 pp. 7-. all H Hg-ga obsvs ola dback cool. Nw cos ola obsv dsg. c Nos ool ad omao Sccs 44 pp lača G. & Škjac. 7. ackg-o modl-basd pdcv cool o mobl obos al m. Robocs ad Aoomos Ssms 55 pp ozłowsk. 4 Robo moo ad cool. Rc dvlopms. Spg odo U. Mab A. & G J. 8. Robs ola pdcv cool basd o sa smao o obo maplao. aoal Joal o Appld Mamacs ad Mcacs Vol. 5 No Mab A. & G J. 8. Esmad dback lazao cooll w dsbac compsao o oboc applcaos. Mdaa Joal o Masm ad ool Vol. 4 No. -

22 Advacd Nola ool o Robo Maplaos 7 Njmj H. & A. J. va d Sca. 99. Nola amc ool Ssms. Spg- Vlag Nw ok 99. Rcal J. 99. dsal Applcaos o Modl Basd Pdcv ool. Aomaca 95 pp Rodgz-Agls A. & Njmj H. 4. Scozg ackg ool o Flbl Jo Robos va Esmad Sa Fdback. ASME Joal o amc Ssms Masm ad ool 6 pp Spog MW.; Hcso S. & Vdasaga M. 6. Robo modlg ad cool. Jo Wl & Sos USA. Vvas A. & Mosqa V. 5. Pdcv coal cool o a PUMA obo. GS ASE 5 oc ao Egp pp Wag W. & Gao Z.. A compaso sd o advacd sa obsv dsg cqs. Pocdgs o Amca ool oc v oloado USA pp

23 8 Robo Maplaos Nw Acvms

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