%PDF-1.5
%
1 0 obj
<<
/Type /Catalog
/Pages 2 0 R
/Outlines 3 0 R
/Names 4 0 R
/PageMode /UseOutlines
/PageLabels <<
/Nums [0 5 0 R 20 6 0 R]
>>
/OpenAction 7 0 R
/Metadata 8 0 R
>>
endobj
9 0 obj
<<
/Author ()
/Title ()
/Subject ()
/Creator (LaTeX with hyperref package)
/Producer (pdfTeX-1.40.17)
/Keywords ()
/CreationDate (D:20170425133317-04'00')
/ModDate (D:20170425133317-04'00')
/Trapped /False
/PTEX.Fullbanner (This is MiKTeX-pdfTeX 2.9.6050 \(1.40.17\))
>>
endobj
2 0 obj
<<
/Type /Pages
/Count 124
/Kids [10 0 R 11 0 R 12 0 R 13 0 R]
>>
endobj
3 0 obj
<<
/Type /Outlines
/First 14 0 R
/Last 15 0 R
/Count 15
>>
endobj
4 0 obj
<<
/Dests 16 0 R
>>
endobj
5 0 obj
<<
/S /r
>>
endobj
6 0 obj
<<
/S /D
>>
endobj
7 0 obj
<<
/S /GoTo
/D [17 0 R /Fit]
>>
endobj
8 0 obj
<<
/Type /Metadata
/Subtype /XML
/Length 18 0 R
>>
stream
Commande d'un robot collaboratif redondant en interaction avec des humains dans un contexte de manipulation et d'assemblage
Labrecque, Pascal
endstream
endobj
10 0 obj
<<
/Type /Pages
/Count 36
/Parent 2 0 R
/Kids [19 0 R 20 0 R 21 0 R 22 0 R 23 0 R 24 0 R]
>>
endobj
11 0 obj
<<
/Type /Pages
/Count 36
/Parent 2 0 R
/Kids [25 0 R 26 0 R 27 0 R 28 0 R 29 0 R 30 0 R]
>>
endobj
12 0 obj
<<
/Type /Pages
/Count 36
/Parent 2 0 R
/Kids [31 0 R 32 0 R 33 0 R 34 0 R 35 0 R 36 0 R]
>>
endobj
13 0 obj
<<
/Type /Pages
/Count 16
/Parent 2 0 R
/Kids [37 0 R 38 0 R 39 0 R]
>>
endobj
14 0 obj
<<
/Title <52E973756DE9>
/A 40 0 R
/Parent 3 0 R
/Next 41 0 R
>>
endobj
15 0 obj
<<
/Title (Bibliographie)
/A 42 0 R
/Parent 3 0 R
/Prev 43 0 R
>>
endobj
16 0 obj
<<
/Kids [44 0 R 45 0 R 46 0 R]
/Limits [(Doc-Start) (table.4.3)]
>>
endobj
17 0 obj
<<
/Type /Page
/Contents 47 0 R
/Resources 48 0 R
/MediaBox [0 0 612 792]
/Parent 19 0 R
>>
endobj
18 0 obj
1085
endobj
19 0 obj
<<
/Type /Pages
/Count 6
/Parent 10 0 R
/Kids [17 0 R 49 0 R 50 0 R 51 0 R 52 0 R 53 0 R]
>>
endobj
20 0 obj
<<
/Type /Pages
/Count 6
/Parent 10 0 R
/Kids [54 0 R 55 0 R 56 0 R 57 0 R 58 0 R 59 0 R]
>>
endobj
21 0 obj
<<
/Type /Pages
/Count 6
/Parent 10 0 R
/Kids [60 0 R 61 0 R 62 0 R 63 0 R 64 0 R 65 0 R]
>>
endobj
22 0 obj
<<
/Type /Pages
/Count 6
/Parent 10 0 R
/Kids [66 0 R 67 0 R 68 0 R 69 0 R 70 0 R 71 0 R]
>>
endobj
23 0 obj
<<
/Type /Pages
/Count 6
/Parent 10 0 R
/Kids [72 0 R 73 0 R 74 0 R 75 0 R 76 0 R 77 0 R]
>>
endobj
24 0 obj
<<
/Type /Pages
/Count 6
/Parent 10 0 R
/Kids [78 0 R 79 0 R 80 0 R 81 0 R 82 0 R 83 0 R]
>>
endobj
25 0 obj
<<
/Type /Pages
/Count 6
/Parent 11 0 R
/Kids [84 0 R 85 0 R 86 0 R 87 0 R 88 0 R 89 0 R]
>>
endobj
26 0 obj
<<
/Type /Pages
/Count 6
/Parent 11 0 R
/Kids [90 0 R 91 0 R 92 0 R 93 0 R 94 0 R 95 0 R]
>>
endobj
27 0 obj
<<
/Type /Pages
/Count 6
/Parent 11 0 R
/Kids [96 0 R 97 0 R 98 0 R 99 0 R 100 0 R 101 0 R]
>>
endobj
28 0 obj
<<
/Type /Pages
/Count 6
/Parent 11 0 R
/Kids [102 0 R 103 0 R 104 0 R 105 0 R 106 0 R 107 0 R]
>>
endobj
29 0 obj
<<
/Type /Pages
/Count 6
/Parent 11 0 R
/Kids [108 0 R 109 0 R 110 0 R 111 0 R 112 0 R 113 0 R]
>>
endobj
30 0 obj
<<
/Type /Pages
/Count 6
/Parent 11 0 R
/Kids [114 0 R 115 0 R 116 0 R 117 0 R 118 0 R 119 0 R]
>>
endobj
31 0 obj
<<
/Type /Pages
/Count 6
/Parent 12 0 R
/Kids [120 0 R 121 0 R 122 0 R 123 0 R 124 0 R 125 0 R]
>>
endobj
32 0 obj
<<
/Type /Pages
/Count 6
/Parent 12 0 R
/Kids [126 0 R 127 0 R 128 0 R 129 0 R 130 0 R 131 0 R]
>>
endobj
33 0 obj
<<
/Type /Pages
/Count 6
/Parent 12 0 R
/Kids [132 0 R 133 0 R 134 0 R 135 0 R 136 0 R 137 0 R]
>>
endobj
34 0 obj
<<
/Type /Pages
/Count 6
/Parent 12 0 R
/Kids [138 0 R 139 0 R 140 0 R 141 0 R 142 0 R 143 0 R]
>>
endobj
35 0 obj
<<
/Type /Pages
/Count 6
/Parent 12 0 R
/Kids [144 0 R 145 0 R 146 0 R 147 0 R 148 0 R 149 0 R]
>>
endobj
36 0 obj
<<
/Type /Pages
/Count 6
/Parent 12 0 R
/Kids [150 0 R 151 0 R 152 0 R 153 0 R 154 0 R 155 0 R]
>>
endobj
37 0 obj
<<
/Type /Pages
/Count 6
/Parent 13 0 R
/Kids [156 0 R 157 0 R 158 0 R 159 0 R 160 0 R 161 0 R]
>>
endobj
38 0 obj
<<
/Type /Pages
/Count 6
/Parent 13 0 R
/Kids [162 0 R 163 0 R 164 0 R 165 0 R 166 0 R 167 0 R]
>>
endobj
39 0 obj
<<
/Type /Pages
/Count 4
/Parent 13 0 R
/Kids [168 0 R 169 0 R 170 0 R 171 0 R]
>>
endobj
40 0 obj
<<
/S /GoTo
/D (section*.2)
>>
endobj
41 0 obj
<<
/Title (Abstract)
/A 172 0 R
/Parent 3 0 R
/Prev 14 0 R
/Next 173 0 R
>>
endobj
42 0 obj
<<
/S /GoTo
/D (section*.23)
>>
endobj
43 0 obj
<<
/Title (Conclusion)
/A 174 0 R
/Parent 3 0 R
/Prev 175 0 R
/Next 15 0 R
>>
endobj
44 0 obj
<<
/Kids [176 0 R 177 0 R 178 0 R 179 0 R 180 0 R 181 0 R]
/Limits [(Doc-Start) (equation.4.3.9)]
>>
endobj
45 0 obj
<<
/Kids [182 0 R 183 0 R 184 0 R 185 0 R 186 0 R 187 0 R]
/Limits [(equation.4.7.13) (section.3.2)]
>>
endobj
46 0 obj
<<
/Kids [188 0 R 189 0 R]
/Limits [(section.3.3) (table.4.3)]
>>
endobj
47 0 obj
<<
/Length 454
/Filter /FlateDecode
>>
stream
xuSMo0+|+H5ٴjF N;`mUH=ޛgL|p9 TJz^"Bnhػ͏ۯ1nqIO\)"tF3)Iِ
\>$bW٧{SP`76fvL~?I%1Z0)qSϝ&a"~uഓe0DѮvvͻZq8 8SJj}D3MvqonX2{*#i&[x=e&Ofh*ppIUb3զLu˲p8c@A߿vn5q r{E#pN<>cK}rHئ+x\RAò-;3鸠8[(
q∷?\80"}>
endstream
endobj
48 0 obj
<<
/Font <<
/F26 190 0 R
/F28 191 0 R
>>
/XObject <<
/Im1 192 0 R
>>
/ProcSet [/PDF /Text]
>>
endobj
49 0 obj
<<
/Type /Page
/Contents 193 0 R
/Resources 194 0 R
/MediaBox [0 0 612 792]
/Parent 19 0 R
>>
endobj
50 0 obj
<<
/Type /Page
/Contents 195 0 R
/Resources 196 0 R
/MediaBox [0 0 612 792]
/Parent 19 0 R
>>
endobj
51 0 obj
<<
/Type /Page
/Contents 197 0 R
/Resources 198 0 R
/MediaBox [0 0 612 792]
/Parent 19 0 R
>>
endobj
52 0 obj
<<
/Type /Page
/Contents 199 0 R
/Resources 200 0 R
/MediaBox [0 0 612 792]
/Parent 19 0 R
>>
endobj
53 0 obj
<<
/Type /Page
/Contents 201 0 R
/Resources 202 0 R
/MediaBox [0 0 612 792]
/Parent 19 0 R
>>
endobj
54 0 obj
<<
/Type /Page
/Contents 203 0 R
/Resources 204 0 R
/MediaBox [0 0 612 792]
/Parent 20 0 R
/Annots [205 0 R 206 0 R 207 0 R 208 0 R 209 0 R 210 0 R 211 0 R 212 0 R 213 0 R 214 0 R
215 0 R 216 0 R 217 0 R 218 0 R 219 0 R 220 0 R 221 0 R 222 0 R 223 0 R 224 0 R
225 0 R 226 0 R 227 0 R 228 0 R 229 0 R 230 0 R 231 0 R]
>>
endobj
55 0 obj
<<
/Type /Page
/Contents 232 0 R
/Resources 233 0 R
/MediaBox [0 0 612 792]
/Parent 20 0 R
/Annots [234 0 R 235 0 R 236 0 R 237 0 R 238 0 R 239 0 R 240 0 R 241 0 R 242 0 R 243 0 R
244 0 R 245 0 R 246 0 R 247 0 R 248 0 R 249 0 R 250 0 R 251 0 R 252 0 R 253 0 R
254 0 R]
>>
endobj
56 0 obj
<<
/Type /Page
/Contents 255 0 R
/Resources 256 0 R
/MediaBox [0 0 612 792]
/Parent 20 0 R
/Annots [257 0 R 258 0 R 259 0 R 260 0 R 261 0 R 262 0 R 263 0 R]
>>
endobj
57 0 obj
<<
/Type /Page
/Contents 264 0 R
/Resources 265 0 R
/MediaBox [0 0 612 792]
/Parent 20 0 R
/Annots [266 0 R 267 0 R 268 0 R 269 0 R 270 0 R 271 0 R 272 0 R 273 0 R 274 0 R 275 0 R
276 0 R 277 0 R 278 0 R 279 0 R 280 0 R 281 0 R 282 0 R 283 0 R 284 0 R 285 0 R
286 0 R 287 0 R 288 0 R 289 0 R 290 0 R 291 0 R 292 0 R 293 0 R 294 0 R 295 0 R
296 0 R 297 0 R 298 0 R 299 0 R 300 0 R]
>>
endobj
58 0 obj
<<
/Type /Page
/Contents 301 0 R
/Resources 302 0 R
/MediaBox [0 0 612 792]
/Parent 20 0 R
/Annots [303 0 R 304 0 R 305 0 R 306 0 R 307 0 R 308 0 R 309 0 R 310 0 R 311 0 R 312 0 R
313 0 R 314 0 R 315 0 R 316 0 R 317 0 R 318 0 R 319 0 R 320 0 R 321 0 R 322 0 R
323 0 R 324 0 R 325 0 R 326 0 R 327 0 R 328 0 R 329 0 R 330 0 R 331 0 R 332 0 R
333 0 R 334 0 R 335 0 R 336 0 R 337 0 R 338 0 R 339 0 R 340 0 R 341 0 R 342 0 R
343 0 R 344 0 R 345 0 R 346 0 R 347 0 R]
>>
endobj
59 0 obj
<<
/Type /Page
/Contents 348 0 R
/Resources 349 0 R
/MediaBox [0 0 612 792]
/Parent 20 0 R
/Annots [350 0 R 351 0 R 352 0 R 353 0 R 354 0 R 355 0 R 356 0 R 357 0 R 358 0 R 359 0 R
360 0 R 361 0 R 362 0 R 363 0 R 364 0 R 365 0 R 366 0 R 367 0 R 368 0 R 369 0 R
370 0 R 371 0 R 372 0 R 373 0 R 374 0 R 375 0 R 376 0 R 377 0 R 378 0 R 379 0 R
380 0 R 381 0 R 382 0 R 383 0 R 384 0 R 385 0 R 386 0 R 387 0 R 388 0 R 389 0 R
390 0 R 391 0 R 392 0 R 393 0 R 394 0 R 395 0 R 396 0 R]
>>
endobj
60 0 obj
<<
/Type /Page
/Contents 397 0 R
/Resources 398 0 R
/MediaBox [0 0 612 792]
/Parent 21 0 R
/Annots [399 0 R 400 0 R 401 0 R 402 0 R 403 0 R 404 0 R 405 0 R 406 0 R 407 0 R 408 0 R
409 0 R 410 0 R 411 0 R 412 0 R 413 0 R 414 0 R 415 0 R 416 0 R 417 0 R 418 0 R
419 0 R 420 0 R 421 0 R]
>>
endobj
61 0 obj
<<
/Type /Page
/Contents 422 0 R
/Resources 423 0 R
/MediaBox [0 0 612 792]
/Parent 21 0 R
/Annots [424 0 R 425 0 R 426 0 R 427 0 R 428 0 R 429 0 R 430 0 R 431 0 R 432 0 R]
>>
endobj
62 0 obj
<<
/Type /Page
/Contents 433 0 R
/Resources 434 0 R
/MediaBox [0 0 612 792]
/Parent 21 0 R
>>
endobj
63 0 obj
<<
/Type /Page
/Contents 435 0 R
/Resources 436 0 R
/MediaBox [0 0 612 792]
/Parent 21 0 R
>>
endobj
64 0 obj
<<
/Type /Page
/Contents 437 0 R
/Resources 438 0 R
/MediaBox [0 0 612 792]
/Parent 21 0 R
>>
endobj
65 0 obj
<<
/Type /Page
/Contents 439 0 R
/Resources 440 0 R
/MediaBox [0 0 612 792]
/Parent 21 0 R
/Annots [441 0 R 442 0 R]
>>
endobj
66 0 obj
<<
/Type /Page
/Contents 443 0 R
/Resources 444 0 R
/MediaBox [0 0 612 792]
/Parent 22 0 R
/Annots [445 0 R 446 0 R 447 0 R]
>>
endobj
67 0 obj
<<
/Type /Page
/Contents 448 0 R
/Resources 449 0 R
/MediaBox [0 0 612 792]
/Parent 22 0 R
/Annots [450 0 R 451 0 R]
>>
endobj
68 0 obj
<<
/Type /Page
/Contents 452 0 R
/Resources 453 0 R
/MediaBox [0 0 612 792]
/Parent 22 0 R
/Annots [454 0 R 455 0 R 456 0 R 457 0 R 458 0 R 459 0 R]
>>
endobj
69 0 obj
<<
/Type /Page
/Contents 460 0 R
/Resources 461 0 R
/MediaBox [0 0 612 792]
/Parent 22 0 R
>>
endobj
70 0 obj
<<
/Type /Page
/Contents 462 0 R
/Resources 463 0 R
/MediaBox [0 0 612 792]
/Parent 22 0 R
>>
endobj
71 0 obj
<<
/Type /Page
/Contents 464 0 R
/Resources 465 0 R
/MediaBox [0 0 612 792]
/Parent 22 0 R
/Annots [466 0 R 467 0 R 468 0 R 469 0 R 470 0 R 471 0 R]
>>
endobj
72 0 obj
<<
/Type /Page
/Contents 472 0 R
/Resources 473 0 R
/MediaBox [0 0 612 792]
/Parent 23 0 R
/Annots [474 0 R 475 0 R 476 0 R 477 0 R 478 0 R 479 0 R 480 0 R 481 0 R 482 0 R 483 0 R
484 0 R 485 0 R 486 0 R 487 0 R]
>>
endobj
73 0 obj
<<
/Type /Page
/Contents 488 0 R
/Resources 489 0 R
/MediaBox [0 0 612 792]
/Parent 23 0 R
/Annots [490 0 R 491 0 R 492 0 R 493 0 R 494 0 R 495 0 R 496 0 R 497 0 R 498 0 R 499 0 R
500 0 R 501 0 R 502 0 R 503 0 R 504 0 R 505 0 R 506 0 R 507 0 R 508 0 R 509 0 R
510 0 R 511 0 R 512 0 R 513 0 R 514 0 R 515 0 R 516 0 R 517 0 R 518 0 R 519 0 R]
>>
endobj
74 0 obj
<<
/Type /Page
/Contents 520 0 R
/Resources 521 0 R
/MediaBox [0 0 612 792]
/Parent 23 0 R
/Annots [522 0 R 523 0 R 524 0 R 525 0 R 526 0 R 527 0 R 528 0 R 529 0 R 530 0 R]
>>
endobj
75 0 obj
<<
/Type /Page
/Contents 531 0 R
/Resources 532 0 R
/MediaBox [0 0 612 792]
/Parent 23 0 R
/Annots [533 0 R]
>>
endobj
76 0 obj
<<
/Type /Page
/Contents 534 0 R
/Resources 535 0 R
/MediaBox [0 0 612 792]
/Parent 23 0 R
/Annots [536 0 R 537 0 R 538 0 R 539 0 R 540 0 R 541 0 R 542 0 R 543 0 R]
>>
endobj
77 0 obj
<<
/Type /Page
/Contents 544 0 R
/Resources 545 0 R
/MediaBox [0 0 612 792]
/Parent 23 0 R
/Annots [546 0 R 547 0 R]
>>
endobj
78 0 obj
<<
/Type /Page
/Contents 548 0 R
/Resources 549 0 R
/MediaBox [0 0 612 792]
/Parent 24 0 R
/Annots [550 0 R 551 0 R 552 0 R 553 0 R 554 0 R 555 0 R 556 0 R 557 0 R 558 0 R 559 0 R]
>>
endobj
79 0 obj
<<
/Type /Page
/Contents 560 0 R
/Resources 561 0 R
/MediaBox [0 0 612 792]
/Parent 24 0 R
/Annots [562 0 R]
>>
endobj
80 0 obj
<<
/Type /Page
/Contents 563 0 R
/Resources 564 0 R
/MediaBox [0 0 612 792]
/Parent 24 0 R
>>
endobj
81 0 obj
<<
/Type /Page
/Contents 565 0 R
/Resources 566 0 R
/MediaBox [0 0 612 792]
/Parent 24 0 R
/Annots [567 0 R]
>>
endobj
82 0 obj
<<
/Type /Page
/Contents 568 0 R
/Resources 569 0 R
/MediaBox [0 0 612 792]
/Parent 24 0 R
/Annots [570 0 R 571 0 R 572 0 R 573 0 R]
>>
endobj
83 0 obj
<<
/Type /Page
/Contents 574 0 R
/Resources 575 0 R
/MediaBox [0 0 612 792]
/Parent 24 0 R
/Annots [576 0 R 577 0 R 578 0 R 579 0 R]
>>
endobj
84 0 obj
<<
/Type /Page
/Contents 580 0 R
/Resources 581 0 R
/MediaBox [0 0 612 792]
/Parent 25 0 R
/Annots [582 0 R 583 0 R 584 0 R 585 0 R 586 0 R 587 0 R 588 0 R]
>>
endobj
85 0 obj
<<
/Type /Page
/Contents 589 0 R
/Resources 590 0 R
/MediaBox [0 0 612 792]
/Parent 25 0 R
/Annots [591 0 R]
>>
endobj
86 0 obj
<<
/Type /Page
/Contents 592 0 R
/Resources 593 0 R
/MediaBox [0 0 612 792]
/Parent 25 0 R
/Annots [594 0 R 595 0 R 596 0 R]
>>
endobj
87 0 obj
<<
/Type /Page
/Contents 597 0 R
/Resources 598 0 R
/MediaBox [0 0 612 792]
/Parent 25 0 R
>>
endobj
88 0 obj
<<
/Type /Page
/Contents 599 0 R
/Resources 600 0 R
/MediaBox [0 0 612 792]
/Parent 25 0 R
/Annots [601 0 R 602 0 R 603 0 R 604 0 R 605 0 R 606 0 R 607 0 R 608 0 R 609 0 R 610 0 R
611 0 R 612 0 R 613 0 R 614 0 R 615 0 R 616 0 R 617 0 R 618 0 R 619 0 R 620 0 R
621 0 R 622 0 R 623 0 R 624 0 R 625 0 R 626 0 R 627 0 R 628 0 R 629 0 R 630 0 R
631 0 R]
>>
endobj
89 0 obj
<<
/Type /Page
/Contents 632 0 R
/Resources 633 0 R
/MediaBox [0 0 612 792]
/Parent 25 0 R
/Annots [634 0 R]
>>
endobj
90 0 obj
<<
/Type /Page
/Contents 635 0 R
/Resources 636 0 R
/MediaBox [0 0 612 792]
/Parent 26 0 R
/Annots [637 0 R 638 0 R]
>>
endobj
91 0 obj
<<
/Type /Page
/Contents 639 0 R
/Resources 640 0 R
/MediaBox [0 0 612 792]
/Parent 26 0 R
/Annots [641 0 R 642 0 R 643 0 R]
>>
endobj
92 0 obj
<<
/Type /Page
/Contents 644 0 R
/Resources 645 0 R
/MediaBox [0 0 612 792]
/Parent 26 0 R
/Annots [646 0 R 647 0 R 648 0 R 649 0 R 650 0 R 651 0 R 652 0 R 653 0 R 654 0 R 655 0 R
656 0 R 657 0 R 658 0 R 659 0 R 660 0 R 661 0 R]
>>
endobj
93 0 obj
<<
/Type /Page
/Contents 662 0 R
/Resources 663 0 R
/MediaBox [0 0 612 792]
/Parent 26 0 R
/Annots [664 0 R 665 0 R]
>>
endobj
94 0 obj
<<
/Type /Page
/Contents 666 0 R
/Resources 667 0 R
/MediaBox [0 0 612 792]
/Parent 26 0 R
/Annots [668 0 R 669 0 R 670 0 R]
>>
endobj
95 0 obj
<<
/Type /Page
/Contents 671 0 R
/Resources 672 0 R
/MediaBox [0 0 612 792]
/Parent 26 0 R
/Annots [673 0 R 674 0 R 675 0 R 676 0 R 677 0 R 678 0 R 679 0 R 680 0 R 681 0 R 682 0 R
683 0 R 684 0 R 685 0 R 686 0 R 687 0 R 688 0 R 689 0 R 690 0 R 691 0 R]
>>
endobj
96 0 obj
<<
/Type /Page
/Contents 692 0 R
/Resources 693 0 R
/MediaBox [0 0 612 792]
/Parent 27 0 R
/Annots [694 0 R 695 0 R 696 0 R 697 0 R 698 0 R 699 0 R 700 0 R 701 0 R]
>>
endobj
97 0 obj
<<
/Type /Page
/Contents 702 0 R
/Resources 703 0 R
/MediaBox [0 0 612 792]
/Parent 27 0 R
/Annots [704 0 R 705 0 R 706 0 R 707 0 R 708 0 R]
>>
endobj
98 0 obj
<<
/Type /Page
/Contents 709 0 R
/Resources 710 0 R
/MediaBox [0 0 612 792]
/Parent 27 0 R
/Annots [711 0 R 712 0 R 713 0 R 714 0 R 715 0 R 716 0 R 717 0 R 718 0 R 719 0 R 720 0 R
721 0 R 722 0 R 723 0 R 724 0 R]
>>
endobj
99 0 obj
<<
/Type /Page
/Contents 725 0 R
/Resources 726 0 R
/MediaBox [0 0 612 792]
/Parent 27 0 R
/Annots [727 0 R 728 0 R]
>>
endobj
100 0 obj
<<
/Type /Page
/Contents 729 0 R
/Resources 730 0 R
/MediaBox [0 0 612 792]
/Parent 27 0 R
/Annots [731 0 R 732 0 R 733 0 R 734 0 R]
>>
endobj
101 0 obj
<<
/Type /Page
/Contents 735 0 R
/Resources 736 0 R
/MediaBox [0 0 612 792]
/Parent 27 0 R
/Annots [737 0 R 738 0 R 739 0 R]
>>
endobj
102 0 obj
<<
/Type /Page
/Contents 740 0 R
/Resources 741 0 R
/MediaBox [0 0 612 792]
/Parent 28 0 R
/Annots [742 0 R 743 0 R]
>>
endobj
103 0 obj
<<
/Type /Page
/Contents 744 0 R
/Resources 745 0 R
/MediaBox [0 0 612 792]
/Parent 28 0 R
/Annots [746 0 R 747 0 R 748 0 R 749 0 R 750 0 R 751 0 R]
>>
endobj
104 0 obj
<<
/Type /Page
/Contents 752 0 R
/Resources 753 0 R
/MediaBox [0 0 612 792]
/Parent 28 0 R
>>
endobj
105 0 obj
<<
/Type /Page
/Contents 754 0 R
/Resources 755 0 R
/MediaBox [0 0 612 792]
/Parent 28 0 R
/Annots [756 0 R 757 0 R 758 0 R]
>>
endobj
106 0 obj
<<
/Type /Page
/Contents 759 0 R
/Resources 760 0 R
/MediaBox [0 0 612 792]
/Parent 28 0 R
/Annots [761 0 R 762 0 R]
>>
endobj
107 0 obj
<<
/Type /Page
/Contents 763 0 R
/Resources 764 0 R
/MediaBox [0 0 612 792]
/Parent 28 0 R
/Annots [765 0 R 766 0 R 767 0 R]
>>
endobj
108 0 obj
<<
/Type /Page
/Contents 768 0 R
/Resources 769 0 R
/MediaBox [0 0 612 792]
/Parent 29 0 R
/Annots [770 0 R 771 0 R 772 0 R 773 0 R 774 0 R 775 0 R 776 0 R]
>>
endobj
109 0 obj
<<
/Type /Page
/Contents 777 0 R
/Resources 778 0 R
/MediaBox [0 0 612 792]
/Parent 29 0 R
/Annots [779 0 R]
>>
endobj
110 0 obj
<<
/Type /Page
/Contents 780 0 R
/Resources 781 0 R
/MediaBox [0 0 612 792]
/Parent 29 0 R
/Annots [782 0 R 783 0 R 784 0 R 785 0 R 786 0 R 787 0 R 788 0 R 789 0 R 790 0 R 791 0 R]
>>
endobj
111 0 obj
<<
/Type /Page
/Contents 792 0 R
/Resources 793 0 R
/MediaBox [0 0 612 792]
/Parent 29 0 R
/Annots [794 0 R 795 0 R 796 0 R]
>>
endobj
112 0 obj
<<
/Type /Page
/Contents 797 0 R
/Resources 798 0 R
/MediaBox [0 0 612 792]
/Parent 29 0 R
/Annots [799 0 R]
>>
endobj
113 0 obj
<<
/Type /Page
/Contents 800 0 R
/Resources 801 0 R
/MediaBox [0 0 612 792]
/Parent 29 0 R
/Annots [802 0 R 803 0 R 804 0 R 805 0 R]
>>
endobj
114 0 obj
<<
/Type /Page
/Contents 806 0 R
/Resources 807 0 R
/MediaBox [0 0 612 792]
/Parent 30 0 R
/Annots [808 0 R 809 0 R 810 0 R 811 0 R 812 0 R 813 0 R 814 0 R 815 0 R 816 0 R]
>>
endobj
115 0 obj
<<
/Type /Page
/Contents 817 0 R
/Resources 818 0 R
/MediaBox [0 0 612 792]
/Parent 30 0 R
/Annots [819 0 R 820 0 R 821 0 R 822 0 R 823 0 R 824 0 R 825 0 R 826 0 R 827 0 R 828 0 R
829 0 R 830 0 R 831 0 R 832 0 R 833 0 R 834 0 R 835 0 R 836 0 R 837 0 R 838 0 R]
>>
endobj
116 0 obj
<<
/Type /Page
/Contents 839 0 R
/Resources 840 0 R
/MediaBox [0 0 612 792]
/Parent 30 0 R
/Annots [841 0 R 842 0 R 843 0 R 844 0 R 845 0 R]
>>
endobj
117 0 obj
<<
/Type /Page
/Contents 846 0 R
/Resources 847 0 R
/MediaBox [0 0 612 792]
/Parent 30 0 R
/Annots [848 0 R]
>>
endobj
118 0 obj
<<
/Type /Page
/Contents 849 0 R
/Resources 850 0 R
/MediaBox [0 0 612 792]
/Parent 30 0 R
/Annots [851 0 R 852 0 R 853 0 R 854 0 R 855 0 R 856 0 R 857 0 R 858 0 R 859 0 R]
>>
endobj
119 0 obj
<<
/Type /Page
/Contents 860 0 R
/Resources 861 0 R
/MediaBox [0 0 612 792]
/Parent 30 0 R
/Annots [862 0 R 863 0 R 864 0 R 865 0 R 866 0 R]
>>
endobj
120 0 obj
<<
/Type /Page
/Contents 867 0 R
/Resources 868 0 R
/MediaBox [0 0 612 792]
/Parent 31 0 R
/Annots [869 0 R 870 0 R 871 0 R 872 0 R 873 0 R 874 0 R 875 0 R 876 0 R 877 0 R 878 0 R
879 0 R]
>>
endobj
121 0 obj
<<
/Type /Page
/Contents 880 0 R
/Resources 881 0 R
/MediaBox [0 0 612 792]
/Parent 31 0 R
/Annots [882 0 R 883 0 R 884 0 R 885 0 R 886 0 R 887 0 R 888 0 R]
>>
endobj
122 0 obj
<<
/Type /Page
/Contents 889 0 R
/Resources 890 0 R
/MediaBox [0 0 612 792]
/Parent 31 0 R
/Annots [891 0 R 892 0 R 893 0 R 894 0 R 895 0 R 896 0 R 897 0 R 898 0 R 899 0 R]
>>
endobj
123 0 obj
<<
/Type /Page
/Contents 900 0 R
/Resources 901 0 R
/MediaBox [0 0 612 792]
/Parent 31 0 R
/Annots [902 0 R 903 0 R 904 0 R 905 0 R 906 0 R]
>>
endobj
124 0 obj
<<
/Type /Page
/Contents 907 0 R
/Resources 908 0 R
/MediaBox [0 0 612 792]
/Parent 31 0 R
/Annots [909 0 R]
>>
endobj
125 0 obj
<<
/Type /Page
/Contents 910 0 R
/Resources 911 0 R
/MediaBox [0 0 612 792]
/Parent 31 0 R
/Annots [912 0 R 913 0 R 914 0 R 915 0 R 916 0 R 917 0 R]
>>
endobj
126 0 obj
<<
/Type /Page
/Contents 918 0 R
/Resources 919 0 R
/MediaBox [0 0 612 792]
/Parent 32 0 R
/Annots [920 0 R 921 0 R]
>>
endobj
127 0 obj
<<
/Type /Page
/Contents 922 0 R
/Resources 923 0 R
/MediaBox [0 0 612 792]
/Parent 32 0 R
/Annots [924 0 R 925 0 R 926 0 R]
>>
endobj
128 0 obj
<<
/Type /Page
/Contents 927 0 R
/Resources 928 0 R
/MediaBox [0 0 612 792]
/Parent 32 0 R
/Annots [929 0 R 930 0 R 931 0 R]
>>
endobj
129 0 obj
<<
/Type /Page
/Contents 932 0 R
/Resources 933 0 R
/MediaBox [0 0 612 792]
/Parent 32 0 R
/Annots [934 0 R]
>>
endobj
130 0 obj
<<
/Type /Page
/Contents 935 0 R
/Resources 936 0 R
/MediaBox [0 0 612 792]
/Parent 32 0 R
>>
endobj
131 0 obj
<<
/Type /Page
/Contents 937 0 R
/Resources 938 0 R
/MediaBox [0 0 612 792]
/Parent 32 0 R
/Annots [939 0 R 940 0 R 941 0 R 942 0 R 943 0 R 944 0 R 945 0 R 946 0 R 947 0 R 948 0 R
949 0 R 950 0 R 951 0 R 952 0 R 953 0 R 954 0 R 955 0 R 956 0 R 957 0 R 958 0 R
959 0 R 960 0 R 961 0 R 962 0 R 963 0 R 964 0 R 965 0 R 966 0 R 967 0 R 968 0 R
969 0 R]
>>
endobj
132 0 obj
<<
/Type /Page
/Contents 970 0 R
/Resources 971 0 R
/MediaBox [0 0 612 792]
/Parent 33 0 R
/Annots [972 0 R 973 0 R 974 0 R 975 0 R 976 0 R 977 0 R 978 0 R 979 0 R 980 0 R]
>>
endobj
133 0 obj
<<
/Type /Page
/Contents 981 0 R
/Resources 982 0 R
/MediaBox [0 0 612 792]
/Parent 33 0 R
/Annots [983 0 R 984 0 R 985 0 R 986 0 R 987 0 R 988 0 R 989 0 R]
>>
endobj
134 0 obj
<<
/Type /Page
/Contents 990 0 R
/Resources 991 0 R
/MediaBox [0 0 612 792]
/Parent 33 0 R
/Annots [992 0 R 993 0 R 994 0 R 995 0 R 996 0 R 997 0 R 998 0 R]
>>
endobj
135 0 obj
<<
/Type /Page
/Contents 999 0 R
/Resources 1000 0 R
/MediaBox [0 0 612 792]
/Parent 33 0 R
/Annots [1001 0 R 1002 0 R 1003 0 R 1004 0 R]
>>
endobj
136 0 obj
<<
/Type /Page
/Contents 1005 0 R
/Resources 1006 0 R
/MediaBox [0 0 612 792]
/Parent 33 0 R
/Annots [1007 0 R 1008 0 R 1009 0 R]
>>
endobj
137 0 obj
<<
/Type /Page
/Contents 1010 0 R
/Resources 1011 0 R
/MediaBox [0 0 612 792]
/Parent 33 0 R
/Annots [1012 0 R 1013 0 R 1014 0 R 1015 0 R 1016 0 R]
>>
endobj
138 0 obj
<<
/Type /Page
/Contents 1017 0 R
/Resources 1018 0 R
/MediaBox [0 0 612 792]
/Parent 34 0 R
/Annots [1019 0 R]
>>
endobj
139 0 obj
<<
/Type /Page
/Contents 1020 0 R
/Resources 1021 0 R
/MediaBox [0 0 612 792]
/Parent 34 0 R
/Annots [1022 0 R 1023 0 R 1024 0 R 1025 0 R]
>>
endobj
140 0 obj
<<
/Type /Page
/Contents 1026 0 R
/Resources 1027 0 R
/MediaBox [0 0 612 792]
/Parent 34 0 R
/Annots [1028 0 R 1029 0 R]
>>
endobj
141 0 obj
<<
/Type /Page
/Contents 1030 0 R
/Resources 1031 0 R
/MediaBox [0 0 612 792]
/Parent 34 0 R
/Annots [1032 0 R]
>>
endobj
142 0 obj
<<
/Type /Page
/Contents 1033 0 R
/Resources 1034 0 R
/MediaBox [0 0 612 792]
/Parent 34 0 R
/Annots [1035 0 R 1036 0 R 1037 0 R]
>>
endobj
143 0 obj
<<
/Type /Page
/Contents 1038 0 R
/Resources 1039 0 R
/MediaBox [0 0 612 792]
/Parent 34 0 R
>>
endobj
144 0 obj
<<
/Type /Page
/Contents 1040 0 R
/Resources 1041 0 R
/MediaBox [0 0 612 792]
/Parent 35 0 R
/Annots [1042 0 R 1043 0 R 1044 0 R 1045 0 R 1046 0 R]
>>
endobj
145 0 obj
<<
/Type /Page
/Contents 1047 0 R
/Resources 1048 0 R
/MediaBox [0 0 612 792]
/Parent 35 0 R
/Annots [1049 0 R]
>>
endobj
146 0 obj
<<
/Type /Page
/Contents 1050 0 R
/Resources 1051 0 R
/MediaBox [0 0 612 792]
/Parent 35 0 R
/Annots [1052 0 R 1053 0 R 1054 0 R 1055 0 R 1056 0 R 1057 0 R 1058 0 R 1059 0 R]
>>
endobj
147 0 obj
<<
/Type /Page
/Contents 1060 0 R
/Resources 1061 0 R
/MediaBox [0 0 612 792]
/Parent 35 0 R
/Annots [1062 0 R 1063 0 R 1064 0 R 1065 0 R 1066 0 R 1067 0 R 1068 0 R 1069 0 R 1070 0 R 1071 0 R
1072 0 R 1073 0 R]
>>
endobj
148 0 obj
<<
/Type /Page
/Contents 1074 0 R
/Resources 1075 0 R
/MediaBox [0 0 612 792]
/Parent 35 0 R
/Annots [1076 0 R 1077 0 R 1078 0 R]
>>
endobj
149 0 obj
<<
/Type /Page
/Contents 1079 0 R
/Resources 1080 0 R
/MediaBox [0 0 612 792]
/Parent 35 0 R
/Annots [1081 0 R 1082 0 R 1083 0 R]
>>
endobj
150 0 obj
<<
/Type /Page
/Contents 1084 0 R
/Resources 1085 0 R
/MediaBox [0 0 612 792]
/Parent 36 0 R
/Annots [1086 0 R]
>>
endobj
151 0 obj
<<
/Type /Page
/Contents 1087 0 R
/Resources 1088 0 R
/MediaBox [0 0 612 792]
/Parent 36 0 R
/Annots [1089 0 R 1090 0 R 1091 0 R]
>>
endobj
152 0 obj
<<
/Type /Page
/Contents 1092 0 R
/Resources 1093 0 R
/MediaBox [0 0 612 792]
/Parent 36 0 R
/Annots [1094 0 R 1095 0 R 1096 0 R]
>>
endobj
153 0 obj
<<
/Type /Page
/Contents 1097 0 R
/Resources 1098 0 R
/MediaBox [0 0 612 792]
/Parent 36 0 R
>>
endobj
154 0 obj
<<
/Type /Page
/Contents 1099 0 R
/Resources 1100 0 R
/MediaBox [0 0 612 792]
/Parent 36 0 R
/Group 1101 0 R
/Annots [1102 0 R]
>>
endobj
155 0 obj
<<
/Type /Page
/Contents 1103 0 R
/Resources 1104 0 R
/MediaBox [0 0 612 792]
/Parent 36 0 R
/Annots [1105 0 R 1106 0 R 1107 0 R 1108 0 R 1109 0 R]
>>
endobj
156 0 obj
<<
/Type /Page
/Contents 1110 0 R
/Resources 1111 0 R
/MediaBox [0 0 612 792]
/Parent 37 0 R
/Annots [1112 0 R]
>>
endobj
157 0 obj
<<
/Type /Page
/Contents 1113 0 R
/Resources 1114 0 R
/MediaBox [0 0 612 792]
/Parent 37 0 R
/Annots [1115 0 R 1116 0 R]
>>
endobj
158 0 obj
<<
/Type /Page
/Contents 1117 0 R
/Resources 1118 0 R
/MediaBox [0 0 612 792]
/Parent 37 0 R
/Annots [1119 0 R 1120 0 R 1121 0 R 1122 0 R]
>>
endobj
159 0 obj
<<
/Type /Page
/Contents 1123 0 R
/Resources 1124 0 R
/MediaBox [0 0 612 792]
/Parent 37 0 R
/Annots [1125 0 R]
>>
endobj
160 0 obj
<<
/Type /Page
/Contents 1126 0 R
/Resources 1127 0 R
/MediaBox [0 0 612 792]
/Parent 37 0 R
/Annots [1128 0 R]
>>
endobj
161 0 obj
<<
/Type /Page
/Contents 1129 0 R
/Resources 1130 0 R
/MediaBox [0 0 612 792]
/Parent 37 0 R
/Annots [1131 0 R 1132 0 R]
>>
endobj
162 0 obj
<<
/Type /Page
/Contents 1133 0 R
/Resources 1134 0 R
/MediaBox [0 0 612 792]
/Parent 38 0 R
>>
endobj
163 0 obj
<<
/Type /Page
/Contents 1135 0 R
/Resources 1136 0 R
/MediaBox [0 0 612 792]
/Parent 38 0 R
/Annots [1137 0 R 1138 0 R 1139 0 R 1140 0 R]
>>
endobj
164 0 obj
<<
/Type /Page
/Contents 1141 0 R
/Resources 1142 0 R
/MediaBox [0 0 612 792]
/Parent 38 0 R
>>
endobj
165 0 obj
<<
/Type /Page
/Contents 1143 0 R
/Resources 1144 0 R
/MediaBox [0 0 612 792]
/Parent 38 0 R
>>
endobj
166 0 obj
<<
/Type /Page
/Contents 1145 0 R
/Resources 1146 0 R
/MediaBox [0 0 612 792]
/Parent 38 0 R
>>
endobj
167 0 obj
<<
/Type /Page
/Contents 1147 0 R
/Resources 1148 0 R
/MediaBox [0 0 612 792]
/Parent 38 0 R
>>
endobj
168 0 obj
<<
/Type /Page
/Contents 1149 0 R
/Resources 1150 0 R
/MediaBox [0 0 612 792]
/Parent 39 0 R
/Annots [1151 0 R 1152 0 R]
>>
endobj
169 0 obj
<<
/Type /Page
/Contents 1153 0 R
/Resources 1154 0 R
/MediaBox [0 0 612 792]
/Parent 39 0 R
>>
endobj
170 0 obj
<<
/Type /Page
/Contents 1155 0 R
/Resources 1156 0 R
/MediaBox [0 0 612 792]
/Parent 39 0 R
>>
endobj
171 0 obj
<<
/Type /Page
/Contents 1157 0 R
/Resources 1158 0 R
/MediaBox [0 0 612 792]
/Parent 39 0 R
>>
endobj
172 0 obj
<<
/S /GoTo
/D (section*.4)
>>
endobj
173 0 obj
<<
/Title <5461626C6520646573206D617469E8726573>
/A 1159 0 R
/Parent 3 0 R
/Prev 41 0 R
/Next 1160 0 R
>>
endobj
174 0 obj
<<
/S /GoTo
/D (section*.21)
>>
endobj
175 0 obj
<<
/Title (uMan: A Low-Impedance Manipulator for Human-Robot Cooperation Based on Underactuated Redundancy)
/A 1161 0 R
/Parent 3 0 R
/Prev 1162 0 R
/Next 43 0 R
/First 1163 0 R
/Last 1164 0 R
/Count -7
>>
endobj
176 0 obj
<<
/Kids [1165 0 R 1166 0 R 1167 0 R 1168 0 R 1169 0 R 1170 0 R]
/Limits [(Doc-Start) (cite.buerger07)]
>>
endobj
177 0 obj
<<
/Kids [1171 0 R 1172 0 R 1173 0 R 1174 0 R 1175 0 R 1176 0 R]
/Limits [(cite.cagneau08) (cite.lamy10)]
>>
endobj
178 0 obj
<<
/Kids [1177 0 R 1178 0 R 1179 0 R 1180 0 R 1181 0 R 1182 0 R]
/Limits [(cite.lawrence93) (equation.1.2.2)]
>>
endobj
179 0 obj
<<
/Kids [1183 0 R 1184 0 R 1185 0 R 1186 0 R 1187 0 R 1188 0 R]
/Limits [(equation.1.2.3) (equation.2.5.25)]
>>
endobj
180 0 obj
<<
/Kids [1189 0 R 1190 0 R 1191 0 R 1192 0 R 1193 0 R 1194 0 R]
/Limits [(equation.2.5.26) (equation.2.9.61)]
>>
endobj
181 0 obj
<<
/Kids [1195 0 R 1196 0 R 1197 0 R 1198 0 R 1199 0 R 1200 0 R]
/Limits [(equation.2.9.62) (equation.4.3.9)]
>>
endobj
182 0 obj
<<
/Kids [1201 0 R 1202 0 R 1203 0 R 1204 0 R 1205 0 R 1206 0 R]
/Limits [(equation.4.7.13) (figure.3.7)]
>>
endobj
183 0 obj
<<
/Kids [1207 0 R 1208 0 R 1209 0 R 1210 0 R 1211 0 R 1212 0 R]
/Limits [(figure.4.1) (page.15)]
>>
endobj
184 0 obj
<<
/Kids [1213 0 R 1214 0 R 1215 0 R 1216 0 R 1217 0 R 1218 0 R]
/Limits [(page.16) (page.48)]
>>
endobj
185 0 obj
<<
/Kids [1219 0 R 1220 0 R 1221 0 R 1222 0 R 1223 0 R 1224 0 R]
/Limits [(page.49) (page.80)]
>>
endobj
186 0 obj
<<
/Kids [1225 0 R 1226 0 R 1227 0 R 1228 0 R 1229 0 R 1230 0 R]
/Limits [(page.81) (page.xv)]
>>
endobj
187 0 obj
<<
/Kids [1231 0 R 1232 0 R 1233 0 R 1234 0 R 1235 0 R 1236 0 R]
/Limits [(page.xvi) (section.3.2)]
>>
endobj
188 0 obj
<<
/Kids [1237 0 R 1238 0 R 1239 0 R 1240 0 R 1241 0 R 1242 0 R]
/Limits [(section.3.3) (subsection.3.4.1)]
>>
endobj
189 0 obj
<<
/Kids [1243 0 R 1244 0 R 1245 0 R 1246 0 R]
/Limits [(subsection.3.4.2) (table.4.3)]
>>
endobj
190 0 obj
<<
/Type /Font
/Subtype /Type1
/BaseFont /IBXYXY+NimbusSanL-Bold
/FontDescriptor 1247 0 R
/FirstChar 39
/LastChar 233
/Widths [278 333 333 389 584 278 333 278 278 556
556 556 556 556 556 556 556 556 556 333
333 584 584 584 611 975 722 722 722 722
667 611 778 722 278 556 722 611 833 722
778 667 778 722 667 611 722 667 944 667
667 611 333 278 333 584 556 278 556 611
556 611 556 333 611 611 278 278 556 278
889 611 611 611 611 389 556 333 611 556
778 556 556 500 389 280 389 584 0 0
0 278 556 500 1000 556 556 333 1000 667
333 1000 0 0 0 0 0 0 500 500
350 556 1000 333 1000 556 333 944 0 0
667 0 333 556 556 556 556 280 556 333
737 370 556 584 333 737 333 400 584 333
333 333 611 556 278 333 333 365 556 834
834 834 611 722 722 722 722 722 722 1000
722 667 667 667 667 278 278 278 278 722
722 778 778 778 778 778 584 778 722 722
722 722 667 667 611 556 556 556 556 556
556 889 556 556 556]
/Encoding 1248 0 R
>>
endobj
191 0 obj
<<
/Type /Font
/Subtype /Type1
/BaseFont /YBONMR+NimbusSanL-Regu
/FontDescriptor 1249 0 R
/FirstChar 40
/LastChar 233
/Widths [333 333 389 584 278 333 278 278 556 556
556 556 556 556 556 556 556 556 278 278
584 584 584 556 1015 667 667 722 722 667
611 778 722 278 500 667 556 833 722 778
667 778 722 667 611 722 667 944 667 667
611 278 278 278 469 556 222 556 556 500
556 556 278 556 556 222 222 500 222 833
556 556 556 556 333 500 278 556 500 722
500 500 500 334 260 334 584 0 0 0
222 556 333 1000 556 556 333 1000 667 333
1000 0 0 0 0 0 0 333 333 350
556 1000 333 1000 500 333 944 0 0 667
0 333 556 556 556 556 260 556 333 737
370 556 584 333 737 333 400 584 333 333
333 556 537 278 333 333 365 556 834 834
834 611 667 667 667 667 667 667 1000 722
667 667 667 667 278 278 278 278 722 722
778 778 778 778 778 584 778 722 722 722
722 667 667 611 556 556 556 556 556 556
889 500 556 556]
/Encoding 1248 0 R
>>
endobj
192 0 obj
<<
/Type /XObject
/Subtype /Form
/FormType 1
/PTEX.FileName (./ul_p.pdf)
/PTEX.PageNumber 1
/PTEX.InfoDict 1250 0 R
/BBox [0 0 312 129]
/Resources <<
/ProcSet [/PDF]
/ColorSpace <<
/Cs1 [/ICCBased 1251 0 R]
>>
/ExtGState <<
/Gs2 1252 0 R
/Gs1 1253 0 R
>>
>>
/Length 27476
/Filter /FlateDecode
>>
stream
x}I,˲dQ쌺hv8>&H\KD"Clq37BU0sϑ.ϟo~߳.s:~͕ÿםDž3irz<:^~ay:_Jˏ{au鼻úB]uNn<{售vÚi߳nӕ3=]·uʼnƔr.zt)U2U;̅ܯS?}^aD~9w1{y}xz0BX^n{对9Zsr?Χ+|gu?2\9>Kp__W~^4rzgҟr=F^reF$nOd{$ڋ{<O*~_@3B5<-\ѣ-܁j^{\y}scv/
[/
rGw{0>K+*|eT?wg6W׃Z8^*-'ɪ"Qow:ĺ\,ԺN
-<+"s(dF7gr}:[o{WVOfU_7Fai`_a._?'!<9Gr5Ye|{w@<N+3Mgn;+Wmbd~;ӫ-y?Yth:
ܺr ']BN 6|?-Xב^.h<r0۲K9+ͳz[RE'
MQNtR]{GDgtl߽DCS[xh(##faUM
ghtrCs ]υ{nw])}ڽ`WٹЯ#
a]vg5_/,CkEEX;
Յ.&{"˧.0Z+{fW7x;ՕFsCIO5} 8XRvy .#1uMgL/`Oa?c:S=}B,ΨFBܮy,
6G%0OXbܞ
sQ{FG(_X%Ⱥc:
]wFe_1vD[:ärr^SZ~\N>X/b)nb]蒣Q@L&V
~
!jvmՠg߷SJ}n@twXM\ٞ 4.Xg
\+Xe֞qX;S>dVFz=eqLDLiXS. 8^H5 cGڬ(.𬹐&
Džʙ?_zpƯ j a@O96v/%-e#u?ޒa8~^E1[0%H+]K۰CA0Jg+W'&Șl$^c. DN1W6Az
!U7+a x`_Dh.
w Y2[+C?'u3-hʡM9w {mb>hUtˁ yz{P1>x1&N#V=RdkL͍zFc?&wasXܰ>W۸C&K3Sb1Y3`-e-fao=e^ūW!` `-Y᳷.y$(S =̅=湣8dn@E#<KV芶k`FX-F2ٚv|IaJgk@G)12YP:m0gfV_CA!=oّĭAGe0Q3M y#tCgO˜ o"P'
KttxҸ
91#@<-JU3^I Vg2^}rcR]N(G$Ek]1l̰wz,]9&d"5+xu X'smɕnRSs^|drX|SC|v{ID-3
ց4˒ ރ2$XNC:4z<ͺ'W³ ˆ911mF
.WidZt|#̅Od
-Ãoe*Ti^2
\ >T'漟ɖPφSC=沥^ܰ řX"$Z}<:k}6f)[plBTh9
)bI
ft.۠D.!'!UY#,'6kf>Uf>tў0T?-KqA\2E
xwX6eeZiCuq縈PX0EUKTETU[f\04e^/Ք7)^uo^"!`pv`8.(Zja}p[\&WДCq4G4
t=Xz\K!^ҍ<4*En,ݚHKe'^|;.F`Ɉ\C]P2"m:+
,GG#5,[ưR1K#L@luys}Y,^q$.LKW8d*@sAdjf(M`[&h]_l1\ $iJOS:Imp%})m?.ȶI7oI , ˶űq5 /4 nm ˶ mYTͽU PHiٖL{0XZА,e\. -%?%̴ ,A ۾J0&(W.<!m0Dpz`pֈբ;@BM
ҹ\ZD3Y|ݑ+[.D!VOroJz,8y#}l ͼC`wpzuZ}tUb['vpuc\w`yf CZ
v,N(0pݕp^=lqhRV2fN`qh&Ӛ \>Qq]V
П^+
j;*,O*NlRO0d[_'0*lrTy