Informe de Diseño Construccion y Diseño de Robot 3gdl

 

WZ@^KIV@ FK Z@J@VNIB NN

ÈOFNIK Wâmnob Notr`fuiinùo

:

Wabotkbhnkot`s fka pr`jakhb

:

@jckv`s 

@jckv`s mkokrbaks

9



@jckv`s kspkièei`s

9

Fnskò`

6

I`otr`a y h`fkabf`

;

  

H`fka` inokhâi` fnrkit` H`fka` inokhâi` novkrs` H`fka` fnoâhni`

Vrbykit`rnbs

27

Ebjrnibinùo fka r`j`t Kosbhjabck fka r`j`t

2: 2;

I`otr`a fka hbonpuabf`r

2>

  

Bspkit`s Ibrbitkrèsibs H`f` fk `pkrbinùo fka hbonpuabf`r

I`otr`a fk p`sninùo fka r`j`t 

Iùfnm` fk pr`mrbhbinùo



YNH[ANOL



Wrukjbs y mrbeibs fk kstbjnanfbf k stbjnanfbf

:9

I`oiausn`oks Jnjan`mrbb Bokx`s

2

 

WZ@^KIV@ FK Z@J@VNIB NN

Fnskò`, ebjrnibinùo y i`otr`a fk uo r`j`t fk 9 MFA Notr`fuiin`o Ko prnhkr aumbr, ko fksbrr`aa` tkùrni`, sk rkbanzb uob huy jrkvk notr`fuiinùo b a`s snstkhbs r`jùi`s. Ykmunfbhkotk, sk kxp`oko a`s uofbhkot`s hbtkhâi`s i`o quk `jtk `j tkok okrr ka h`fk h`fka` a` in inok okhâ hâi i`, `, bs bsèè i`h` i`h` fns fnsot ot`s `s p`s p`s fk trby trbyki kit` t`rn rnb. b. Wbrb Wbrb i`hprkofkr hkc`r abs i`ofnin`oks rkbaks fka i`otr`a inokhâi`, pbsb b kxpanibrsk ka uoin`obhnkot`, kstruiturb y prnoinpbaks pbrâhktr`s fk a`s skrv`h`t`rks. W`r óah`, sk kxpanibo a`s bspkit`s prnoinpbaks y rkqukrnf`s fk Z@Y, fk Brfuno` y fka pr`t`i`a` fk i`hu i`huon onib ibin inùo ùo kotr kotrk k fnsp fnsp`s `sn nv` v`ss jbsb jbsbf` f` ko Z@Y. Z@Y. Ko skmu skmuof of` ` aumb aumbr, r, sk pbsb pbsb ba fksbrr fks brr`aa `aa` ` prâii prâii`. `. Bsè, Bsè, sk rksuka rksukavko vko ka pr`jakh pr`jakhb b inokhâ inokhâi` i` fnrkit fnrkit` ` k novkrs novkrs`. `. Vbhjnîo sk kxpanib ko kstk bpbrtbf` iùh` sk dbo bfbptbf` abs trbykit`rnbs b ab rkbanfbf anhntbotk fk a`s skrv`h`t`rks. Wbrb i`ooubr, sk trbtb ka fnskò` fka jrbz` b pbrr fk uo h`fka` prkvn` y fk pnkzbs `rnmnobaks< y sk koabzb i`o abs vkotbcbs k noi`ovkonkotks tbot` fk ab nhprksnùo 9F i`h` fka hbtkrnba fk nhprksnùo (WAB). W`r óah`, sk fksirnjk ka kosbhjabck fka jrbz` r`jùi`, i`o bamuobs kvkotubanfbfks fk no notk tkrî rîss y sk rkib rkibpn pntu tuab abo o abs abs br brqu qunt ntki kitu turb rbss fk i`ot i`otr` r`aa i`os i`oskm kmun unfb fbs. s. Ab hkh` hkh`rn rnb b fksirnpvb inkrrb i`o ab i`oiausn`oks y rkkxn`oks pbrb pr`ykit`s utur`s. Yk noiauyk tbhjnîo uo skmuof` f`iuhkot` i`o ka prksupukst`. Wb Wbab abjr jrbs bs ia iabv bvk3 k3 jrbz jrbz` ` r` r`j` j`t, t, hbon hbonpu puab abf` f`r, r, Brfu Brfuno no`, `, pr`mrbhbinùo, bjrnibinùo, i`otr`a inokhâi`, jbc` i`stk.

skrv skrv`h `h`t `t`r `r,,

pbqu pbqukt ktks ks,,

Wabotkbhnkot` fka pr`jakhb  Kstk trbjbc` fk novksmbinùo bj`rfb ab i`ostruiinùo fk uo jrbz` r`jùi` fk trks MFA. I`o ka `jckv` fk pr`jbr ab keinkoinb fk kstb hkt`f`a`mèb ko snstkhbs fnoâhni`s o` anokbaks. Ab nhp`rtboinb fk kstk trbjbc` rbfnib ko3 n) ka fksbrr`aa` fka ODVK bpanibf` b uo jrbz` r`jùi` fk hbokrb quk su fnoâhnib rkprkskotk uo rkt` pbrb kstk i`otr`a y nn) rk rks` s`av avkr kr a` a`ss pr`j pr`jak akhb hbss prâi prâii i`s `s pr`p pr`pn` n`ss fk a` a`ss snst snstkh khbs bs sni sni`s `s i`h` i`h`33 ru runf nf`, `, pkrturjbin`oks, krr`rks fk hkfninùo, fnsirkzbinùo y khp`s fk hukstrk`. Ka ODVK sk jbsb ko ka i`otr`a but`snot`onzbf`, b pbrr fk rkfks okur`obaks ` aùmnib fnusb, fk koùhko`s o` anokbaks f`ofk a`s pbrâhktr`s fka i`otr`a sk fkfuiko fk a`s fbt`s fk ab fnoâhnib fk ab pabotb. Ab nfkb fk `of` ks usbr ab ibpbinfbf quk kok ab aùmnib fnusb fk rk rkpr prks ksko kotb tbrr uob uob u uoi oinù nùo o ` hbpb hbpb ko O fnhk fnhkos osn` n`ok okss pbrb pbrb snot snotk kzb zbrr ab ak aky y fk kv`auinùo fk kstbf`s fk ab fnoâhnib fka jrbz` r`jùi`. Buoquk ab pabotb ks i`ooub, ka i`otr`a p`r i`hputbf`rb ks ko khp` fnsirkt`, p`r a` iuba ab uoinùo fk trbosninùo fk kstbf` kstbf`ss ks fk p` dèjrnfb. dèjrnfb. Ab aùmnib aùmnib fnusb fnusb rkqunk rkqunkrk rk fk bamóo bamóo bam bam`rn `rnth` th` pbrb snot`onzbr pbrâhktr`s ko uoinùo fk hnonhnzbr a`s krr`rks.

:

 

WZ@^KIV@ FK Z@J@VNIB NN

@jckv`s @jckv` mkokrba 

I`ostrunr uo jrbz` r`jùi` fk trks MFA y f`tbra` fk uo i`otr`a notkanmkotk but`snot but` snot`onzb `onzbf` f` i`o fbt`s fk su pr`pnb pr`pnb rkspukstb rkspukstb fnoâhnib, fnoâhnib, usbof` usbof` aùmnib aùmnib fnusb y ka bam`rnth` fk mrbfnkotk fksikofkotk.

@jckv`s kspkièi`s • Fnskòbr, i`ostrunr k nostruhkotbr uo jrbz` r`jùi` fk trks MFA. • Nhpakhkotbr uo i`otr`a i`ovkoin`oba fk p`sninùo WNF pbrb binantbr ab bfqunsninùo fk fbt`s fk kotrkobhnkot`. • I`otrnjunr ba fksbrr`aa` fk ab hkt`f`a`mèb fka ODVK y fk ab r`jùib ko ka ârkb fk Hkibtr Hki btrùon ùonib. ib. • Eb Ebv`r v`rkik kikrr ba but`kq but`kqunp unpbhn bhnkot kot` ` fka abj`rb abj`rbt`r t`rn` n` fk Hkibtr Hkibtrùon ùonib, ib, bp`rtbof` uo jboi` fk prukjbs pbrb ka i`otr`a notkanmkotk ODVK. •Fktkr •Fkt krhn hnob obrr ka i`ot i`otr` r`aa pbrb pbrb koi`ot koi`otrb rbrr fktkrhnobf`.

ab p`sn p`snin inùo ùo fka fka r`j`t r`j`t ko uo khp khp` `

Fnskò` Ka fn fnsk skò` ò` fk uo hbon hbonpu puab abf` f`rr bko bkofk fk b fnk fnkrk rkot otks ks irnt irntkr krn` n`ss fk uoi uoin` n`ob oban anfb fbf f y fkskhpkò` fkskh pkò` i`h` s`o3 ibpbinfbf ibpbinfbf fk ibrmb, ibrmb, mrbf`s mrbf`s fk anjkrtbf, anjkrtbf, dkrrbhnkotb dkrrbhnkotbss fk us`, prkinsnùo, rkpkjnanfbf, i`ofnin`oks bhjnkotbaks fk `pkrbinùo, i`st` fk hboubiturb y fksbrr fksbrr`aa `aa`, `, hbotko hbotkonhn nhnkot kot`, `, kxnjn kxnjnanf anfbf, bf, kti. kti. Ynkof` Ynkof` ka pr`pùs pr`pùsnt` nt` fka trbjbc trbjbc` ` fk novksmbinùo pr`jbr ab hkt`f`a`mèb fka ODVK ko uob pabotb o` anokba, sk `ptù p`r ab br brqu qunt ntki kitu turb rb fk uo jr jrbz bz` ` p` p` br bri iua uabf bf` ` fk trks trks MFA, MFA, yb quk quk ks ks kstk tk p` p` fk brquntkiturb ab quk sk vk hâs bkitbfb p`r a`s kkit`s nokrinbaks y mrbvntbin`obaks.

Kstbf` fka brtk A`s jrbz`s r`jùi`s s`o i`osnfkrbf`s pni`s rkprkskotbotks fk ab hkibtrùonib, a`s iuba iubaks ks no notk tkmr mrbo bo bs bspk pkit it`s `s fk hbon hbonpu puab abin inùo ùo,, skos skosbf bf`, `, i`ot i`otr` r`aa y i`hu i`huon onib ibin inùo ùo.. Zb Zbrbh rbhkot kotk k sk koiuko koiukotrb trb uob vbrnkf vbrnkfbf bf i`hpbr i`hpbrbja bjak k fk tkio`a tkio`a`mè `mèbs bs y fnsinp fnsinpano anobs bs

9

 

WZ@^KIV@ FK Z@J@VNIB NN

in inko koe eib ibss ko` ko`ib ibfb fbss b ab uoi uoin` n`ob oban anfb fbf f y kcki kckiui uinù nùo o fk uo snst snstkh khb b i`h` i`h` ko ka fksbrr`aa` y bpanibinùo fk uo r`j`t.

6

 

WZ@^KIV@ FK Z@J@VNIB NN

Kspkinibin`oks Kst Kstruit ruitur urb b Hki Hkiâo âoni nib b Ouhkr` fk kcks Zkbanhkotbinùo Bitubf`rks Vrboshnsnùo Ibrmb Hâxnhb kshbfb Wks` fka jrbz`

B jbsk jbsk fk bir irèa èanni` fk 9 hh 9 Koi`fkrs ùpi`s noirkhkotbaks H`t`rks FI Ibcb fk komrbobcks, rkfuit`rks y r`fbhnkot`s :.; Lm 2; Lm

I`otr`a y h`fka` inokhâi` Ka h`fk h`fka` a` ino nokh khâ âi` i`33 Ka h`fk h`fka` a` in inok okhâ hâi i` ` fnrk fnrkit it` ` ko ka ibs` ibs` fk uo r` r`j` j`tt hbonpuabf`r, i`h` ks ka jrbz` r`j`t, sk fkeok i`h` ka h`fka` hbtkhâi` quk pkrhntk ibaiuabr ab p`sninùo fka bitubf`r eoba b pbrr fk su i`oemurbinùo, kst` ks, hkfnbotk uob skrnk fk vbrnbjaks fk briuabinùo. Ka h`fka` inokhâi` novkrs` ko ka ibs` fk uo r`j`t hbonpuabf`r, sk fkeok i`h` ka h`fka` hbtkhâi` quk pkrhntk ibaiuabr ab i`oemurbinùo i`o ab quk baibozbr uob fktkrhnobfb p`sninùo eoba. ;

 

WZ@^KIV@ FK Z@J@VNIB NN

Ks fkinr, ko ka h`fka` fnrkit` ab noiùmontb ks ab p`sninùo fka kakhkot` tkrhnoba fka r`j`t r`j `t y ab no`rh no`rhbin binùo ùo i`o`in i`o`infb fb ks su i`oemu i`oemurbi rbinùo nùo,, hnkotr hnkotrbs bs quk quk ko ka h`fka` h`fka` novkrs` ab noiùmontb ks ab i`oemurbinùo y ab no`rhbinùo i`o`infb ks ab p`sninùo fka kakhkot` tkrhnoba. Ynstkhbs fk rkkrkoinb3 r`tbinùo, trbsabinùo y trbs`rhbinùo d`h`mîokb3 Wbrb rks`avkr ka pr`jakhb inokhâi`, b ibfb kakhkot` ak i`rrksp`ofkrâ uo snstkhb fk rkkrkoinb. Wbrb i`hprkofkr hkc`r abs dkrrbhnkotbs quk sk uanzbrâo b i`ooubinùo, i`ovnkok prnhkr` fktkokrsk pbrb i`hprkofkr ab h`fkanzbinùo hbtkhâib fk ab r`tbinùo y ab trbsabinùo, pbrb a` iuba sk vbo b i`hjnobr kcks fk rkkrkoinb ec`s i`o kcks fk rkkrkoinb hùvnaks, y sk kstufnbrâ su rkabinùo. Z`tbinùo3 Z`tbin ùo3 Yk pr`ikf pr`ikfk k b kstufn kstufnbr br abs hbtrn hbtrniks iks fk r`tbin r`tbinùo ùo pbrko pbrkof` f` fk uo ibs` ibs` i`oirkt`3 Ykbo f`s snstkhbs fk rkkrkoinb3 uo` ec` (@T^S) y uo` hùvna (@[U]), quk s`o noninbahkotk i`noinfkotks. Ko uo nostbotk iubaqunkrb, ka snstkhb hùvna r`tb ko ka skof` i`otrbrn` b abs bmucbs fka rka`c barkfkf`r fka kck [, fk h`f` quk ka kck U y ka kck ] mnrbo uo âomua` β rkspkit` b su p`sninùo noninba, kst` ks, rkspkit` ba kck ^ y ba kck S.

Ko ka nostbotk p`stkrn`r b ab r`tbinùo fka snstkhb hùvna, a`s vkit`rks uontbrn`s fk a`s kcks fk bhj`s snstkhbs skrèbo3  ⃝ 8 (2,7,7)  ⃝ 8 (7,2,7) ⃝⃝ 8 (7,7,2) ⃝ 8 (2,7,7)  ⃝ 8 (7, i`s() , sno()) ⃝ ⃝  8 (7, √ sno() , i`s())  Hkfnbotk uob hbtrnz quk rki`cb ko ibfb kakhkot` ab pr`ykiinùo fk uo kck fka snstkhb fk rkkrkoinb ec` s`jrk uo kck fka snstkhb fk rkkrkoinb hùvna (pr`fuit`s ksibabrks fk fnid`s fni d`s vkit`r vkit`rks) ks),, ks p`snja p`snjak k rkp rkprks rkskot kotbr br ab r`tbin r`tbinùo ùo surnf surnfb b p`r ka sns snstkh tkhb b hùvna hùvna rkspkit` fka ec`. W`r kstk h`v` kstb hbtrnz rkinjk ka o`hjrk fk hbtrnz fk Z`tbinùo (Z)3

Vrbsabinùo3 Ab trbsabinùo fk uo puot` W, ujnibf` ko uo snstkhb i``rfkobf` hkfnbotk uo vkit`r ⃝ks ⃝⃝⃝  8 ⃝+ ⃝⃝⃝   5

 

WZ@^KIV@ FK Z@J@VNIB NN

Vrbos`rhbinù Vrbos`r hbinùo o d`h`mîokb3 d`h`mîokb3 Wbrb rkprkskotb rkprkskotbrr ko uob hbtrnz hbtrnz tbot` tbot` r`tbinùo r`tbinùo i`h` trbsabinùo, sk notr`fuik ab Hbtrnz fk Vrbos`rhbinùo D`h`mîokb V, quk rkprkskotb ab `rnkotbinùo y p`sninùo fka snstkhb @[U] r`tbf` y trbsabfbf` i`o rkspkit` ba snstkhb @T^S.

Ko r`jùib ab trboskrkoinb fk pkrspkivb ks ouab, bsè quk ka tîrhno` i`rrksp`ofnkotk fk ab hbtrnz, qukfb bouabf`, y ώ, quk rkprkskotb ka ksibabf` ma`jba, skrâ 2, fk h`f` quk V qukfb3

H`fka` inokhâi` Zks`auinùo fka pr`jakhb inokhâi` fnrkit`3 Wbrb rks`avkr ka pr`jakhb inokhâi` fnrkit`, sk rkiurrk b ab o`tbinùo fk FkobvntDbrtkojkrm, bpanibfb b oukstr` jrbz` r`j`t fk 9 mrbf`s fk anjkrtbf. Yk bfcuotb uo ksqukhb fk i`a`ibinùo fk a`s kcks y pbrâhktr`s fk Fkobvnt-Dbrtkojkrm pbrb p`fkr rkkrkoinbr hkc`r abs kxpanibin`oks y ka fksbrr`aa`. Kstk ksqukhb o` mubrfb abs pr`p`rin`oks ko iubot` b abs fnhkosn`oks rkbaks fka jrbz`, pkr` sè su i`oemurbinùo inokhâib3

I`a`ibinùo fk a`s kcks Sn3 Yk nfkoeibo trks pbrks fk rkv`auinùo, uo` i`o kck fk rkv`auinùo vkriba, f`ofk sk i`a`ibrâo S7 y `tr`s f`s i`o kcks fk rkv`auinùo pbrbaka`s, ko a`s ouf`s 2 y :, f`ofk sk p`snin p`s nin`ob `obrâo râo a`s kcks kcks S2 y S:, quk aùmnib aùmnibhko hkotk tk skrâo skrâo pbrbak pbrbaka`s a`s.. S9 sk nofnib nofnib fk =

 

WZ@^KIV@ FK Z@J@VNIB NN

i`o`rhnfbf b a` vnst` pbrb ka kakhkot` tkrhnoba, ba o` dbjkrsk fk h`fkanzbr ka i`hp`rtbhnkot` uob mbrrb. I`a`ibinùo fk a`s kcks Tn3 T7 (k ^7) sk i`a`ib pbrb i`oskmunr uo snstkhb fk rkkrkoinb b fkrkidbs quk binantk ab p`stkrn`r nfkoeibinùo fk pbrâhktr`s. Fnskò`, i`ostruiinùo y i`ot i`otr` r`aa fk uo r` r`j` j`tt hbon hbonpu puab abf` f`rr fk 9 mr mrbf bf`s `s fk anjk anjkrt rtbf bf fk jbc` jbc` i`st i`stk k pbrb pbrb ka fksbrr`aa` fk uo hbonpuabf`r hùvna. 9: T2 ks pkrpkofniuabr ba pabo` quk `rhbo S7 y S2, fbf` quk kst`s kcks notkrskitbo, y sk i`a`ib ko ka puot` fk notkrskiinùo (ouf` 2). T: ks pkrpkofniuabr tbot` b S2 i`h` b S:, fbf` quk kst`s s`o pbrbaka`s, y sk i`a`ib snmunkof` abs nofnibin`oks fbfbs botkrn`rhkotk, i`o skof` n-2 dbinb n. T9 sk i`a`ib i`o ka hnsh` irntkrn` quk T2. I`a`ibinùo fk a`s kcks ^n3 Yk p`snin`obo i`o ka eo fk quk sk `rhko snstkhbs fk rkkrkoinb b fkrkidbs, i`h` sk db nofnibf` ko abs o`in`oks tkùrnibs. Vbjab fk Fkobvnt-Dbrtkojkrm

Jbrrb

bn

βn

fn

qn

2

7

->7

f2

q2

:

b:

7

7

q:

9

b9

->7

7

q9

Hbtrniks fk trbos`rhbinùo d`h`mîokb Yus Yustu tuyk ykof of` ` a`s a`s vb vba` a`rk rkss i`rr i`rrks ksp` p`of ofnk nkot otks ks fk a` a`ss pbrâ pbrâhk hktr tr`s `s ko ab hbtr hbtrnz nz fk trbos`rhbinùo d`h`mîokb mkoîrnib dbaabfb botkrn`rhkotk3

Yk `jtkofrâ bsè ab hbtrnz fk trbos`rhbinùo d`h`mîokb ma`jba3

4

 

WZ@^KIV@ FK Z@J@VNIB NN

F`ofk Wx, Wy y Wz s`o abs i``rfkobfbs fka kakhkot` tkrhnoba, i`h` sk nofnib ko ka ksqukhb, rkspkit` ba snstkhb 7. Ab kxprksnùo fk Wx, Wy y Wz sk `jkok tbhjnîo cuot` ba rkst` fk kakhkot`s fk ab hbtrnz V, y ks3

 8 9 i`s(2 ) i`s(: ) i`s(9 ) √ 9 i`s(2 ) sno(: ) sno(9 ) + : i`s(2 ) i`s(: )  8 9 sno(2 ) i`s(: ) i`s(9 ) √ 9 sno(2 ) sno(: ) sno(9 ) + : sno(2 ) i`s(: )  8 9 sno(: ) i`s(9 ) + 9 i`s(: ) sno(9 ) + : sno(: ) + 2 Zks`auinùo fka pr`jakhb inokhâi` novkrs` Fbf` quk ab i`oemurbinùo ks skoinaab fk bobanzbr, sk `jtkofrâ ab s`auinùo ba pr`jakhb inokhâi` novkrs` snhpakhkotk hkfnbotk hît`f`s mk`hîtrni`s

Ko prnhkr aumbr, bpanibof` ka tk`rkhb fk Wntâm`rbs3  : 8  : +  : ^ bpanibof` bd`rb ka tk`rkhb fka i`sko`3  : + (  √ 2) : 8 : : + 9 : + ::9 i`s(9 ) F`ofk : y 9 skrâo abs hnshbs a`omntufks quk ko ka pr`jakhb inokhâi` fnrkit`. Fkspkcbof` kstb kiubinùo, ks p`snjak `jtkokr ka vba`r fk 93

>

 

WZ@^KIV@ FK Z@J@VNIB NN

Yk uanzb ab uoinùo britbo pbrb rks`avkr bfkiubfbhkotk ka pr`jakhb fka i`f` brrnjb ` i`f` bjbc`, quk sk kxpanibrâ b i`ooubinùo. W`r óah`, sk `jtkofrâ :, pbrb a` iuba sk rkiurrk b ab byufb fka ksqukhb fk ab nhbmko botkrn`r3

Vnp`s fk trbykit`rnb 







H`vnhnkot` kck b kck3 Wrnhkr` sk hukvk uob briuabinùo y iubof` tkrhnob, sk hukvk hu kvk ab snmunko snmunkotk, tk, dbstb dbstb rkbanz rkbanzbr br ab trbyki trbykit`r t`rnb nb i`hpak i`hpaktb tb.. Ko kstk kstk ibs` ibs` ka khp` khpakbf` ks ab suhb fk a` quk tbrfb ibfb briuabinùo. H`vnhnkot` snhuatâok` fk kcks3 V`fbs abs briuabin`oks i`hnkozbo b h`vkrsk b ab vkz, ibfb uob i`o su vka`infbf pbriuabr, quk o` kok p`r quî skr nmuba ba fka rkst` rkst` fk briua briuabin bin`ok `oks. s. Ko kstk kstk ibs`, ibs`, ibfb ibfb briu briuabi abinùo nùo tkrhno tkrhnobrâ brâ fk h`vkrsk ko uo h`hkot` fnkrkotk, y ka khp` t`tba skrâ ka khp` quk tbrfk ab briuabinùo hâs akotb ko baibozbr su i`oemurbinùo eoba. Vrbykit`rnb i``rfnobfb ` nsùir`ob3 V`fbs abs briuabin`oks i`hnkozbo b ab vkz y tkrhnobo b ab vkz, fk h`f` quk bfbptbo su vka`infbf pbrb tbrfbr t`fbs uo khp` khp ` quk, i`h` hèonh`, skrâ ka fk ab briuabin briuabinùo ùo quk tkomb uob vka`infbf vka`infbf hâs anhntbfb. Vrbykit`rnb i`ooub3 Kstk ibs` mbrbozb quk kotrk ka puot` fk pbrfb y ka puot` fk rkkrkoinb eoba, ka kakhkot` tkrhnoba fka r`j`t snmuk uob trbykit`rnb fktkrhnobfb, p`r kckhpa`, uob aèokb rkitb, y t`fbs abs briuabin`oks bfkiubo sus h`vnhnkot`s pbrb bskmurbr quk bsè skb.

I`otr`a inokhâi` y trbykit`rnbs   Ko ka prkskotk prkskotk trbjbc` sk dbo fksbrr`aabf` fksbrr`aabf` hbtkhâibh hbtkhâibhkotk kotk y bfbptbf` bfbptbf` fkspuîs b onvka no`rhâi` trks p`s fk trbykit`rnb3 h`vnhnkot` snhuatâok` fk kcks, trbykit`rnb briuabr nsùir`ob y trbykit`rnb i`ooub rkiaèokb. Yk db fkskshbf` ab trbykit`rnb briuabr fk h`vnhnkot` kck b kck p`r kotkofkr quk o` bp`rtbjb obfb ba trbjbc`. 

H`vnhnkot` snhuatâok` fk kcks3 Ko kstk ibs`, i`h` a`s skrv`h`t`rks trbjbcbo i`o rkkrk rkkrkoin oinbs bs bjs`au bjs`autbs tbs fk âo âomua mua` ` fk rkkrk rkkrkoin oinb, b, jbs jbstb tb i`o rks`av rks`avkr kr ka pr`jakhb inokhâi` novkrs` k nofnibr b ab vkz b a`s trks skrv`h`t`rks quî 27

 

WZ@^KIV@ FK Z@J@VNIB NN





i`oemurbinùo dbo fk bfqunrnr, fk `rhb quk a` dbrâo ko ka hko`r khp` p`snjak, buoquk ka h`vnhnkot` ks p`i` rki`hkofbjak pbrb fkspabzbhnkot`s abrm`s, p`r ab bikakrbinùo quk bfqunkrk. Vrbykit`rnb nsùir`ob3 Wbrb nhpakhkotbrab, dby quk pbrr fk ab jbsk fk quk a`s skrv`h`t`rks o` koko uob vka`infbf fnrkitbhkotk rkmuabjak, sno` quk su vka`infbf buhkotb i`o ab fnstboinb quk dbo fk rki`rrkr. Wbrb a`mrbr quk ka h`vnhnkot` fk a`s skrv`h`t`rks skb snoir`onzbf` sk t`hb ka âomua` quk db fk mnrbr ibfb uo` y i`o ksk âomua` kotrk ab vka`infbf (7.:: s/57³ pbrb ka skrv` D`jjylnom y 7.26 s/57³ pbrb a`s skrv`s M`tkil) sk `jkok uo khp` quk skrâ nofnib nof nibv` v` fka khp` khp` ko quk ibfb ibfb skrv`h skrv`h`t` `t`rr rkbanz rkbanzbr brâ â ab `pkrbi `pkrbinùo nùo.. Kstk Kstk khp` o` ks kxbit`, puks ab vka`infbf, i`h` sk db fnid`, vbrèb i`o ka âomua` b rki`rrkr, pkr` pkrhntk t`hbr uob rkkrkoinb fka khp` quk, i`h` hèonh`, okiksntbo abs briuabin`oks. V`hbof` uo khp` quk skb hby`r quk fnid` khp` hèonh` kshbf`, fnvnfnîof`a` kotrk uo pkrn`f` fk hukstrk` bi`rfk b abs `pkrbin`oks no`rhâibs b rkbanzbr (vîbsk bpbrtbf` fk pr`mrbhbinùo fka o`f` jrbz`PfkPsnoi), sk a`mrb uo oóhkr` fk ntkrbin`oks nmuba pbrb t`f`s a`s skrv skrv`h `h`t `t`r `rks ks.. Fnvnf Fnvnfnk nkof of` ` ka âomu âomua` a` t`tb t`tbaa b rk rki` i`rr rrkr kr p`r p`r ka oóhk oóhkr` r` fk ntkrbin`oks, sk `jkok ka noirkhkot` bomuabr quk fkjkrâ fbrsk ko ibfb skrv` pbrb ibfb ntkrbinùo i`o ka `jckv` fk tkrhnobr b ab vkz. Vrbykit`rnb i`ooub rkiaèokb3 Wbrb i`oskmunr kstb trbykit`rnb dby quk dbaabr i``r i``rfko fkobf bfbs bs (x (x,y ,y,z ,z)) kotr kotrk k abs abs fk pbr pbrfb fb y abs abs fk rk rkk krk rkoi oinb nb eoba eoba qu quk k sk koiukotrko s`jrk ab hnshb rkitb, pbrb quk snrvbo fk hnir` `jckv` b baibozbr. Kst`s Kst`s puot` puot`ss sk ibaiua ibaiuabo bo i`o ab hnshb hnshb notkrp notkrp`ab `abinù inùo o ano anokba kba i`o ab quk sk kxtrbkrèbo puot`s eont`s b pbrr fk uob trbykit`rnb rkiaèokb fk rkkrkoinb3

H`fka` fnoâhni` Abs kiubin kiubin`ok `okss quk fksirn fksirnjko jko ka h`vnhn h`vnhnkot kot` ` fka jrbz` jrbz` briua briuabf` bf` s`o kiubi kiubin`o n`oks ks fnkrkoinbaks o` anokbaks y bi`pabfbs, pbrb abs quk, ko uo ibs` mkokrba, rksuatb fnina `jtkokr s`auin`oks bobaèibs.   Eèsnibhkot Eèsnibhkotk, k, a`s tîrhno`s tîrhno`s fk bi`pabhnko bi`pabhnkot` t` prkskotbo prkskotbo33 pbrks mrbvntbin`oba mrbvntbin`obaks ks quk fk fkpk pkof ofko ko fk ab p`sn p`snin inùo ùo fk ab abss br bri iua uabi bin` n`ok oks, s, pb pbrr fk rk rkbi biin inùo ùo fk fkjn jnf` f` b abs abs bikakrbin`oks fk `trbs briuabin`oks, y pbrks fkjnf`s b ab bikakrbinùo fk I`rn`ans y ukrzbs ikotrèumbs.

22

 

WZ@^KIV@ FK Z@J@VNIB NN

Ebjrnibinùo fka Z`j`t Hbtkrnbaks skmóo a`s pbrâhktr`s nofnibf`s3 Birnani` fk 9 hh

Bitubf`rks A`s kcks quk i`ostuyko ab inoturb, ka d`hjr` y ka i`f` s`o `pkrbf`s p`r h`t`rks fk FI fk nhâo nhâo pkrhbo pkrhbokot kotk, k, kst`s kst`s s`o i`hp`o i`hp`okot kotks ks bhpanb bhpanbhko hkotk tk uanzb uanzbf`s f`s ko ab i`ostruiinùo fk hbonpuabf`rks fkjnf` b sus i`o`infbs ibrbitkrèsibs fnoâhnibs y binanfbf fk i`otr`a.

Ykrv`h`t`rks 2:

 

WZ@^KIV@ FK Z@J@VNIB NN

W`tkoin`hktr` 27l

Vukribs

Wkro`s

29

 

WZ@^KIV@ FK Z@J@VNIB NN

Wukotk D a:>9f Hkfnbotk kstk notkmrbf` sk pukfk ibhjnbr ab p`abrnfbf fka v`atbck p`r a` tbot` ka h`t`r mnrb ko skof` skof` d`rbrn` skof` bo d`rbrn`. d`rbrn`.

Ibjaks cuhpkr

Komrbobcks

26

 

WZ@^KIV@ FK Z@J@VNIB NN

Z`fbhnkot`s

Brfuno` hkmb

I`ostruiin`o fk r`j`t hbonpuabf`r Buoquk huid`s Buoquk huid`s rkqukr rkqukrnhn nhnkot kot`s `s pukfko pukfko skr `jvn`s `jvn`s ` kstbr kstbr yb fke fkeonf onf`s, `s, bamuo` bamuo`ss pbrâhktr`s ikotrbaks fka fnskò` fkjko skr fkfuinf`s fk uo boâansns fka snstkhb fk trbjbc`. I`o ka `jckt` fk aakmbr b ab fktkrhnobinùo fka i`hp`rtbhnkot` mk`hîtrni`, inokhâi` y hkiâoni` fka fnskò` fk uo r`j`t, a`s snstkhbs pni`s fk trbjbc`, pbrb skr but`hbzbf`s, fkjko skr skakiin`obf`s, `jskrvbf`s y fksirnt`s. Ka pbrâhktr` i`o ka hby`r nhpbit` ko ab i`hpakcnfbf, i`st` y bpbrnkoinb fka r`j`t ks su oóhkr` fk kcks nofkpk nof kpkofn ofnkot kotks, ks, kst` kst` ks, a`s mrbf`s mrbf`s fk anjkrt anjkrtbf. bf. Kst`s Kst`s s`o fbf`s fbf`s p`r kstrui kstruitur turbs bs prkfkeonfbs y trbykit`rnbs kspbinbaks quk ka kkit`r eoba fka r`j`t fkjk skmunr.

2;

 

WZ@^KIV@ FK Z@J@VNIB NN

Ab bsk fk i`oikptubanzbinùo fka r`j`t snmuk uob bpr`xnhbinùo fk a` mkokrba b a` kspkièei`, uo fksbrr`aa` mrbfuba fksfk ab kstruiturb kxtkrob fka snstkhb (inokhâib) b su kstruiturb notkrob (trboshnsnùo). 



Ka fns nskò kò` ` kst stru ruiiturb urba fka fka r` r`j j`t y ab bs bsk fk `ph phnzbi nzbinù nùo o rkeo rkeob bo ab i`oikptubanzbinùo i`oikptubanzbi nùo kakmnfb. Ka fnskò` fnskò` fk fktbaa fktbaak k fka r`j`t r`j`t bmrkmb bmrkmb fktbaa fktbaaks ks ba fnskò` fnskò` `phnz `phnzbf` bf` pbrb pbrb pr`fuinr t`fb ab f`iuhkotbinùo pbrb ab hboubiturb, kosbhjak, `pkrbinùo y hbotkonhnkot` fka r`j`t.

25

 

WZ@^KIV@ FK Z@J@VNIB NN

Kosbhjabck fka r`j`t

Ka birèani` fk 9 hh fk kspks`r ks i`rtbf` pbrb `rhbr pbrtk fk ab kstruiturb fka jrbz` y fk ab jbsk.

2=

 

WZ@^KIV@ FK Z@J@VNIB NN

Ka snstkhb fk trboshnsnùo fka r`j`t ko ka ibs` fk ab jbsk ks hkfnbotk komrbobcks y uo r`fbhnkot` pbrb quk ka h`vnhnkot` r`tbt`rn` sk trboshntb i`rrkitbhkotk.

24

 

WZ@^KIV@ FK Z@J@VNIB NN

Yk pr`ikfk b i`okitbr a`s p`tkoinùhktr`s ko ibfb kck, fk hbokrb quk skb uanzbf` pbrb ka i`otr`a fk ab p`sninùo fka r`j`t p`r briuabinùo.

A`s h`t`rks FI s`o bi`pabf`s ko ab kstruiturb fk hbokrb quk p`snjnantk ka h`vnhnkot` fka r`j`t.

I`otr`a fk r`j`ts hbonpuabf`rks Ka i`otr`a but`hâi` db bp`rtbf` vban`sbs i`otrnjuin`oks ba bvboik fk ab r`jùib. Ka hâs snhpak y i`hóo i`otr`abf`r pbrb r`j`ts hbonpuabf`rks nofustrnbaks ks fka p` fko`hnobf` WNF.

2>

 

WZ@^KIV@ FK Z@J@VNIB NN

Ko mk mkok okrb rba, a, kstk kstk p` p` fk i`ot i`otr` r`ab abf` f`rr sk fnsk fnskòb òb sup` sup`on onko kof` f` quk quk a` a`ss r` r`j` j`ts ts s`o s`o ibrbitkrnzbf`s hbtkhâibhkotk p`r hkfn` fk kiubin`oks fnoâhnibs nofkpkofnkotks pbrb ibfb briuabinùo. Kstk dkid` pukfk rkpkriur ko uob prkstbinùo anhntbfb fka snstkhb fk i`otr`a pbrb r`j`ts h`fkro`s, ibrbitkrnzbf`s ko rkbanfbf p`r kiubin`oks fnoâhnibs bi`pabfbs. O` `jstbotk, kstb kstrbtkmnb fk i`otr`a pukfk fbr rksuatbf`s bikptb bik ptbjak jakss jbc` jbc` inkrtb inkrtbss i`ofni i`ofnin`o n`oks. ks. Wbrb Wbrb hkc`rb hkc`rbrr ab prkstb prkstbinù inùo o ko bpanib bpanibin` in`oks oks mk mkok okrb rbak aks, s, db snf` snf` okik okiksb sbrn rn` ` notr notr`f `fui uinr nr i`ot i`otr` r`ab abf` f`rks rks oukv oukv`s `s jbsb jbsbf` f`ss ko ka i`o`inhnkot` prkins` fka h`fka` fnoâhni` fk a`s r`j`ts bsè i`h` fk sus pbrâhktr`s. Vb Vbhjn hjnîo îo sk db dbo o pabotk pabotkbf` bf` fnvkrs fnvkrs`s `s i`otr` i`otr`abf abf`rk `rkss i`o ka pr`pùs pr`pùsnt` nt` fk hbotko hbotkokr kr skrvnin`s bikptbjaks ko ka i`otr`a fk r`j`ts, bóo iubof` a`s pbrâhktr`s fka h`fka` fnoâhni` skbo hba i`o`inf`s ` bjnkrtbhkotk fksi`o`inf`s. Bsnhnsh`, sk dbo bpanibf` ba ibhp ibhp` ` fk ab r` r`jù jùi ib, b, i`ot i`otr` r`ab abf` f`rk rkss bfbp bfbptb tbja jaks ks i` i`o o kstr kstrui uitu turb rb vbrn vbrnbj bjak ak,, i`otr` i`o tr`abf abf`rk `rkss fnus` fnus`s, s, i`otr` i`otr`abf abf`rk `rkss r`just r`just`s, `s, i`otr` i`otr`abf abf`rk `rkss jbsbf` jbsbf`ss ko rkfks rkfks okur`obaks y i`otr`abf`rks i`o bprkofnzbck, kotrk `tr`s. Ka p` fk i`otr`a fkpkofk fk ab brquntkiturb y bpanibinùo fka hbonpuabf`r.   Fbfbs abs kiubin`oks fk h`vnhnkot` fnoâhni` fk uo hbonpuabf`r, ka `jckv` fka i`otr`a fka r`j`t ks hbotkokr ab rkspukstb fnoâhnib fka hnsh` fk biukrf` i`o bamóo irntkrn` fk uoin`obhnkot` kspkineibf`. Ka h`vnhnkot` fk uo jrbz` sk sukak kkitubr ko f`s bsks bsks fnsot fnsotbs. bs. Ab prnhkr prnhkrb b ks ka i`otr` i`otr`aa fka h`vnhn h`vnhnkot kot` ` fk bpr`xn bpr`xnhb hbinù inùo o furbotk ka iuba ka jrbz` sk hukvk fksfk uob p`sninùo/`rnkotbinùo noninba dbstb ab ikribo ikr iboèb èb fk ab p`snin p`sninùo/ ùo/`rn `rnkot kotbi binùo nùo eoba eoba fkskbf fkskbfb b b a` abrm` abrm` fk uob trbyki trbykit`r t`rnb nb paboneibfb. Ka skmuof` ks ka i`otr`a fk h`vnhnkot` eo` ko ka iuba ka kkit`r eoba fka jrbz` notkrbiin`ob fnoâhnibhkotk fnoâhnibhkotk i`o ka `jckt`. Ka i`otr`a fk h`vnhnkot`, ko mkokrba, sk pukf pukfk k ia iabs bsne neib ibrr ko tr trks ks mr mrbo bofk fkss ibtk ibtkm` m`rè rèbs bs33 I` I`ot otr` r`ak akss fk h`vn h`vnhn hnko kot` t` fk ab briuabinùo. Ka pr`jakhb fk i`otr`a ko kstb ibtkm`rèb, ks koi`otrbr pbrks/ukrzbs bpr`pnbf`s pbrb i`otr`abr ibfb uob fk abs briuabin`oks fka hbonpuabf`r ko khp` rkba fk `rhb quk snmb uob trbykit`rnb tkhp`rba fkskbfb. Bamuobs tîionibs fk i`otr`a fk h`vnhnkot` fk ab briuabinùo s`o3 Ykrv`hkibonsh` fk ab briuabinùo. • Vîionib fka pbr ibaiuabf`. • I`otr`a ko khp` hèonh`. • I`otr`a fk kstruiturb vbrnbjak.  • I`otr`a p`r rkbanhkotbinùo fksbi`pabfb o` anokba

:7

 

WZ@^KIV@ FK Z@J@VNIB NN

I`otr`aks i`o h`vnhnkot` rksukat` (i`otr`a ko ka kspbin` ibrtksnbo`). Kxnstko fnvkrs`s hît`f`s pbrb ka i`otr`a fk hbonpuabf`rks ko ka kspbin` fk abs vbrnbjaks briuabrks. Ko huidbs bpanibin`oks, ka i`otr`a ko h`vnhnkot` rksukat`, quk m`jnkrob ka kkit`r eoba fk uo hbonpuabf`r pbrb h`vkrsk ko uob fnrkiinùo ibrtksnbob fkskbfb i`o i`otr`a fk p`sninùo y vka`infbf i``rfnobf`, ks hâs bpr`pnbf`. H`vnhnkot` rksukat`, snmoneib quk a`s h`vnhn h`vnhnkot kot`s `s fk a`s fnvkrs fnvkrs`s `s h`t`rk h`t`rkss fk abs briuabi briuabin`o n`oks ks sk i`hjno i`hjnobo bo y sk rksukavko ko h`vnhnkot`s i`otr`abjaks fka kkit`r eoba ko `rhb skpbrbfb b a` abrm` fk a`s kcks i``rfkobf`s fk rkkrkoinb (x, y, z). Kst` nhpanib quk vbrn`s h`t`rks fk abs briuabin`oks fkjko uoin`obr snhuatâokbhkotk b fnkrkotks vka`infbfks i`o ka eo fk a`mrbr ka h`vnhnkot` fkskbf`. Kotrk a`s hît`f`s fk i`otr`a i`o h`vnhnkot` rksukat` sk koiukotrbo3 • I`otr`a ko vka`infbf i`o h`vnhnkot` rksukat`.  • I`otr`a ko bikakrbinùo i`o h`vnhnkot` rksukat`. • I`otr`a fk ab ukrzb i`o h`vnhnkot` rksukat`.  Ko ka i`otr`a fk vka`infbf fk h`vnhnkot` rksukat`, a`s h`vnhnkot`s fk a`s fnkrkotks h`t` h` t`rk rkss fk ab abss br bri iua uabi bin` n`ok okss sk i`hj i`hjno nobo bo y uoi uoin` n`ob obo o snhu snhuat atâo âokb kbhk hkot otk k i`o i`o vka`infbfks fnkrkotks i`o ka eo fk a`mrbr uo h`vnhnkot` uon`rhk ko ka kkit`r eoba b a` abrm` fk iubaqunkr kck fk rkkrkoinb. Ka i`otr`a fk bikakrbinùo fk kstk p` ks uob kxtkosnùo fka i`oikpt` fk i`otr`a fk vka`infbf pbrb noiaunr ka i`otr`a fk bikakrbinùo. Ka i`otr`a ks rkbanzbf` b onvka fka kkit`r eoba y sk sup`ok quk abs bikakrbin`oks fkskbfbs fk uo h`vnhnkot` prkpabokbf` fka kkit`r eoba s`o kspkineibfbs p`r ka usub usubrn rn`. `. Ka i`oi i`oikp kpt` t` jâsn jâsni` i` fka fka i`ot i`otr` r`aa fk ukr ukrzb zb fk h`vn h`vnhn hnko kot` t` rk rksu sukat kat` ` ks fktkrhnobr a`s pbrks bpanibf`s b a`s bitubf`rks fk abs briuabin`oks pbrb i`oskmunr ka i`otr`a fk p`sninùo ibrtksnbo` fka jrbz`. [ob vkotbcb fk kstk hît`f` ks quk ka i`otr`a o` sk jbsb ko abs kiubin`oks fk h`vnhnkot` fnoâhnibs fka hbonpuabf`r y kok ab ibpbinfbf fk i`hpkosbr ibhjn`s ko abs i`oemurbin`oks fk a`s jrbz`s, ukrzbs fk ibrmbs s`jrk a`s kakhkot`s fkjnf` b ab mrbvkfbf y r`zbhnkot`s notkro`s. Yk jbsb ko ab

:2

 

WZ@^KIV@ FK Z@J@VNIB NN

rkabinùo fka vkit`r fk ukrzb rksukat` E `jtkonf` fk uo skos`r ko ab huòkib y a`s pbrks ko a`s bitubf`rks fk abs briuabin`oks. Ab tîionib fk i`otr`a i`osnstk fka i`otr`a fk p`sninùo ibrtksnbo` y ka i`otr`a fk i`ovkrmkoinb fk ukrzb. Ka i`otr`a fk p`sninùo ibrtksnbo` ibaiuab abs ukrzbs y h`hkot`s fkskbf`s quk skrâo bpanibf`s ba kkit`r eoba eo ba i`o i`o ka `jck `jckv v` ` fk skmu skmunr nr ab tr trby byki kit` t`rn rnb b ibrt ibrtks ksnb nbob ob fksk fkskbf bfb. b. Ka i`ot i`otr` r`aa fk i`ovkrmkoinb fk ukrzb fktkrhnob a`s pbrks fk abs briuabin`oks okiksbrn`s pbrb ibfb bitubf`r fk tba h`f` quk ka kkit`r eoba pukfb hbotkokr abs ukrzbs y h`hkot`s fkskbf`s `jtkonf`s fka i`otr`a fk p`sninùo.   I`otr`aks I`otr`aks bfbptbv`s. bfbptbv`s. Ab hby`rèb hby`rèb fk a`s ksqukhbs ksqukhbs i`hkotbf` i`hkotbf`ss botkrn`rh botkrn`rhkotk, kotk, i`otr`abo ka jrbz` b onvka fk briuabinùo, i`hpkosbof` abs notkrbiin`oks o` anokbaks kotrk abs briuabin`oks. Kst`s bam`rnth`s fk i`otr`a s`o b vkiks nobfkiubf`s fkjnf` b quk rkqunkrko uo h`fkabf` kxbit` fk ab fnoâhnib fka jrbz` y fksprkinbo a`s ibhjn`s fk ibrmb ko a`s inia`s fk trbjbc`. Ka rksuatbf` ks ab rkfuiinùo ko ab vka`infbf fk rkspukstb y bh`rmubhnkot` ko ka hbonpuabf`r, a`s iubaks anhntbo ab prkinsnùo y vka`infbf fka kkit`r eoba. • I`otr`a bfbptbv` i`o h`fka` fk rkkrkoinb. • I`otr`a bfbptbv` but`snot`onzbotk.  • I`otr`a fk pkrturjbinùo bfbptbvb i`o i`hpkosbinùo boinpbvb (kkf`rwbrf). (kkf`rwbrf). • I`otr`a bfbptbv` i`o h`vnhnkot` rksukat`. B su vkz, a`s r`j`ts hbonpuabf`rks nofustrnbaks pukfko iabsneibrsk skmóo su bpanibinùo ko f`s iabsks3 ab prnhkrb ks bqukaab ko ab iuba ka r`j`t sk fkspabzb anjrkhkotk ko su kspbin` fk trbjbc` rkbanzbof` h`vnhnkot`s sno notkrbiin`obr i`o su hkfn` bhjnkotk (s`afbfurb, pnotbf`).  B i`ooubinùo sk koanstbo bamuo`s i`otr`abf`rks fk p`sninùo pbrb hbonpuabf`rks quk sk fkspabzbo anjrkhkotk ko su kspbin` fk trbjbc`, sno notkrbiin`obr i`o ka hkfn` bhjn bh jnko kotk tk,, sk o`hj o`hjrb rbo o fk biuk biukrf rf` ` b su ks ksqu qukh khb b fk i`ot i`otr` r`a. a. I`ot I`otr` r`aa W i`o i`o rkbanhkotbinùo fk vka`infbf y i`otr`a WF.

I`otr` I`ot r`aa WF i`o i`o i`hp i`hpkos kosbi binù nùo o fk mr mrbv bvkfb kfbf. f. Ka i` i`ot otr` r`aa fk p`sn p`snin inùo ùo purb purb pukf pukfk k rkbanzbrsk hkfnbotk abs tîionibs botkrn`rks, sno khjbrm`, fnid`s ksqukhbs p`skko inkrtbs rkstrniin`oks quk pukfko anhntbr su us`. Ka i`otr`a WF i`o i`hpkosbinùo fk mrbvkfbf (em. 2.6) mbrbozb ka iuhpanhnkot` fka `jckv` fk i`otr`a fk p`sninùo ko `rhb ma`jba pbrb r`j`ts iuy`s h`fka`s fnoâhni`s o` p`skko ka vkit`r fk pbrks

::

 

WZ@^KIV@ FK Z@J@VNIB NN

mrbvntbin`obaks m(q), fk a` i`otrbrn` o` a` mbrbozb. Ab snot`oèb fka i`otr`abf`r ks trnvnba.

I`otr`a fk p`sninùo WNF   Ka i`ot i`otr` r`aa fk p`sn p`snin inùo ùo WNF WNF sk nh nhpa pakh khko kotù tù fk hbok hbokrb rb nofk nofkpk pkof ofnk nkot otk k ko ibfb ibfb briuabinùo fka jrbz`. Wbrb abs prukjbs i`o ka i`otr`a fk p`sninùo WNF sk uanzù uob skòba AYWJ pbrb uo h`vnhnkot` fk >7· fk bhpantuf. Bfkhâs, sk mkokrù uob skòba snous`nfba h`fuabfb ko bhpantuf quk uk bpanibfb ba d`hjr`.

Nhpakhkotbinùo fka i`otr`a fk p`sninùo hkfnbotk iùfnm` BZF[NO@ y snhuanl 

I@FNM@ BZF[NO@

YK W@OK KA I@FNM@ FK BZF[NO@ @ KA I@FNM@ FR[K YK KYVB [YBOF@ WBZB KA I@OVZ@A 

WZ@IKFNHNKOV@ WZ@IKFNHNKO V@ FKA I@OV@ZA HKFNBOVK YNH[ANOL

YK W@OK KA KYR[KHB FK I@OVZ@A W@Z YNH[ANOL 

Yk rkbanz rkbanzbo bo abs prukjb prukjbss okiksb okiksbrnb rnbss ba `jskrv `jskrvbr br abs iurvb iurvbss pbrb pbrb i`hpr` i`hpr`jbr jbr kstbjnanfbf

I[ZUBY FK KYVBJNANFBF IB[FZ@ @ NBHMKO F@OFK YK KUNFKOINB KA I@OVZ@A FK W@YNIN@O KY FKINZ A@Y ZKY[AVBF@Y BA H@UK KA Z@J@V ^ VK FK Y[ W@YNIN@O KO T ^ S

I`oiausn`oks 



Yk db sbskid` ka `jckv` prnoinpba fka VEM, `jtkonkof` i`h` rksuatbf` eoba uo jrbz` r`jùi` fk 9 mrbf`s fk anjkrtbf i`o hóapaks hkibonsh`s fk i`otr`a inokhâi` quk uoin`obo i`o fnsotbs brquntkiturbs fk i`otr`a, y quk iukotb i`o abs fnhkosn`oks y h`fka` inokhâi` bfkiubfbs pbrb su us` s`jrk uo Yuhhnt. Yk dbo kstufnbf` y rksukat` i`o îxnt` tbot` a`s pr`jakhbs inokhâi`s novkrs` y fnrkit` i`h` fnsot`s p`s fk trbykit`rnb briuabr.

:9

 

WZ@^KIV@ FK Z@J@VNIB NN









Yk db rkbanzbf` uob f`iuhkotbinùo kxdbusvb s`jrk skrv`h`t`rks, h`t`rks FI, sk dbo kakmnf` bfkiubfbhkotk y sk dbo pukst` b uoin`obr sno onomóo noi`ovkonkotk. Yk dbo bfqunrnf` bfqunrnf` i`o`inhnko i`o`inhnkot`s t`s tbot` s`jrk s`jrk abs pnkzbs quk okiksntb okiksntb uo jrbz` jrbz` r`jùi` i`h` s`jrk a`s bspkit`s hâs nhp`rtbotks b tkokr ko iukotb b ab d`rb fk fnskòbrabs. Ko kstk skof`, sk dbo `jtkonf` pnkzbs tbot` h`fneibfbs b pbrr fk `trbs prkk prkkxn xnst stko kotk tks, s, i`h` i`h` t`tb t`tbah ahko kotk tk `rnm `rnmno noba baks ks,, s`jr s`jrk k t`f` t`f` ko iubo iubot` t` b abs abs briuabin`oks. Yk db fkfnibf` uo mrbo ksukrz` y khp` pbrb ka h`otbck y ab i`ostruiinùo fka h`fka`, dbjnkof` supkrbf` a`s fnsot`s rkt`s i`ostruiv`s quk sk dbo nf` pabotkbof`, fk h`f` quk sk db rkiurrnf` b fnsotbs tîionibs fk hkibonzbf` fk pnkzbs y ba boâansns rkba fk ab vnbjnanfbf fk inkrtbs pnkzbs quk ko ka kot`ro` vnrtuba pbrkiko pkrkitbhkotk vâanfbs.

JNJAN@MZBEÈB3 







Hbtkrnba f`ikotk skhnobrn` Hbtkrnba skhnobrn` notr`fuiinùo notr`fuiinùo ba i`otr`a i`otr`a fk r`j`ts, r`j`ts, Abj`rbt`r Abj`rbt`rn` n` fk But`hbzbinùo But`hbzbinù o y I`otr`a, MNVN, [WU. Wr Wr`y `yki kit` t` kfui kfuib bv` v` Z`vkr Z`vkr Zboi Zboid d bs bs`i `inb nbf` f` b ab OBYB OBYB.. Vnp` Vnp`ss fk r` r`j` j`ts ts33 prnhk.csi.obsb.m`v/Z@U/typks.dtha Bot`on` Jbrrnkot`s, Auns Ekanpk Wkòèo y `tr`s, :77=. Euofbhkot`s fk Z`jùib. Inokhâib fka r`j`t. Fkpbrtbhkot` fk Brquntkiturb y Vkio`a`mèb fk I`hputbf`rks, [onvkrsnfbf fk Ykvnaab. Vkhb 6, pbrtk :. I``rfkobfbs d`h`mîokbs y hbtrnz fk trbos`rhbinùo d`h`mîokb \ko aèokbX3 dp3//nibr`.knn.us.ks/fksibrmbs/tkhbP6PpbrtkP:.pf 

Bokx`s Wabo`s fka r`j`t fk 9MFA

W`okr a`s pabo`s fk ab kstruiturb

:6