76d81816a18d50eeacee13afd131d413 symmetry_a2019v11p1162.pdf b41017f9192a4bf5327ec1d21cc06a825efd7cb6 symmetry_a2019v11p1162.pdf 7fb0672889f384a74605c50dce83a85b33f37d25b13d8fa3555e14cf073cc533 symmetry_a2019v11p1162.pdf Title: UAV Group Formation Collision Avoidance Method Based on Second-Order Consensus Algorithm and Improved Artificial Potential Field Subject: The problem of collision avoidance of an unmanned aerial vehicle (UAV) group is studied in this paper. A collision avoidance method of UAV group formation based on second-order consensus algorithm and improved artificial potential field is proposed. Based on the method, the UAV group can form a predetermined formation from any initial state and fly to the target position in normal flight, and can avoid collision according to the improved smooth artificial potential field method when encountering an obstacle. The UAV group adopts the “leader–follower” strategy, that is, the leader UAV is the controller and flies independently according to the mission requirements, while the follower UAV follows the leader UAV based on the second-order consensus algorithm and formations gradually form during the flight. Based on the second-order consensus algorithm, the UAV group can achieve formation maintenance easily and the Laplacian matrix used in the algorithm is symmetric for an undirected graph. In the process of obstacle avoidance, the improved artificial potential field method can solve the jitter problem that the traditional artificial potential field method causes for the UAV and avoids violent jitter. Finally, simulation experiments of two scenarios were designed to verify the collision avoidance effect and formation retention effect of static obstacles and dynamic obstacles while the two UAV groups fly in opposite symmetry in the dynamic obstacle scenario. The experimental results demonstrate the effectiveness of the proposed method. Keywords: second-order consensus algorithm; improve artificial potential field; leader-follower; collision avoidance; formation retention Author: Yang Huang, Jun Tang and Songyang Lao Creator: LaTeX with hyperref Producer: MiKTeX pdfTeX-1.40.20 CreationDate: Fri Sep 13 07:50:29 2019 CEST ModDate: Fri Sep 13 07:50:29 2019 CEST Tagged: no UserProperties: no Suspects: no Form: none JavaScript: no Pages: 15 Encrypted: no Page size: 595.276 x 841.89 pts (A4) Page rot: 0 File size: 5559870 bytes Optimized: no PDF version: 1.5 name type encoding emb sub uni object ID ------------------------------------ ----------------- ---------------- --- --- --- --------- NUZNNX+URWPalladioL-Ital Type 1 Custom yes yes no 87 0 ZAHFJA+URWPalladioL-Bold Type 1 Custom yes yes no 88 0 PQUVFW+URWPalladioL-Roma Type 1 Custom yes yes no 89 0 ASICFG+Rpxr Type 1 Builtin yes yes no 90 0 GXBWHU+TimesNewRomanPS-BoldMT Type 1C WinAnsi yes yes no 95 0 CSRIGL+TimesNewRomanPS-BoldItalicMT Type 1C WinAnsi yes yes no 96 0 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1036 0 GKADPJ+TimesNewRoman CID TrueType Identity-H yes yes yes 1037 0 VSHNAE+Rpcxr Type 1 Builtin yes yes no 1079 0 Jhove (Rel. 1.22.1, 2019-04-17) Date: 2020-01-18 05:24:16 CET RepresentationInformation: symmetry_a2019v11p1162.pdf ReportingModule: PDF-hul, Rel. 1.12.1 (2019-04-17) LastModified: 2020-01-17 12:13:24 CET Size: 5559870 Format: PDF Version: 1.5 Status: Well-Formed and valid SignatureMatches: PDF-hul MIMEtype: application/pdf PDFMetadata: Objects: 1143 FreeObjects: 1 IncrementalUpdates: 0 DocumentCatalog: ViewerPreferences: HideToolbar: false HideMenubar: false HideWindowUI: false FitWindow: true CenterWindow: false DisplayDocTitle: false NonFullScreenPageMode: UseNone Direction: L2R ViewArea: CropBox ViewClip: CropBox PrintArea: CropBox PageClip: CropBox PageLayout: SinglePage PageMode: UseNone Outlines: Item: Title: ぉのぴひはつふっぴどはのぜ〴〩੥湤潢樊㠠〠潢樊㰼 匠⽇潔漠⽄
獥捴楯渮㈩‾㸊敮摯扪਱ㄠ〠潢樊⡜㌷㙜㌷㝜〰ぃはのびづのびふびぜ〴ぜ〰ぁぬではひどぴとねぜ〴〩੥湤潢樊ㄲ‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㈮ㄩ‾㸊敮摯扪਱㔠〠潢樊⡜㌷㙜㌷㝜〰ぇひちばとぜ〴ぜ〰ごとづはひべぜ〴〩੥湤潢樊ㄶ‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㈮㈩‾㸊敮摯扪਱㤠〠潢樊⡜㌷㙜㌷㝜〰ぁひぴどてどっどちぬぜ〴ぜ〰ぐはぴづのぴどちぬぜ〴ぜ〰うどづぬつぜ〴ぜ〰きづぴとはつぜ〴〩੥湤潢樊㈰‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸳ Item: Title: ぃはのびづのびふびぜ〴ぜ〰ぁぬではひどぴとねぜ〴〩੥湤潢樊ㄲ‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㈮ㄩ‾㸊敮摯扪਱㔠〠潢樊⡜㌷㙜㌷㝜〰ぇひちばとぜ〴ぜ〰ごとづはひべぜ〴〩੥湤潢樊ㄶ‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㈮㈩‾㸊敮摯扪਱㤠〠潢樊⡜㌷㙜㌷㝜〰ぁひぴどてどっどちぬぜ〴ぜ〰ぐはぴづのぴどちぬぜ〴ぜ〰うどづぬつぜ〴ぜ〰きづぴとはつぜ〴〩੥湤潢樊㈰‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸳ Children: Item: Title: ぇひちばとぜ〴ぜ〰ごとづはひべぜ〴〩੥湤潢樊ㄶ‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㈮㈩‾㸊敮摯扪਱㤠〠潢樊⡜㌷㙜㌷㝜〰ぁひぴどてどっどちぬぜ〴ぜ〰ぐはぴづのぴどちぬぜ〴ぜ〰うどづぬつぜ〴ぜ〰きづぴとはつぜ〴〩੥湤潢樊㈰‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸳ Item: Title: ぁひぴどてどっどちぬぜ〴ぜ〰ぐはぴづのぴどちぬぜ〴ぜ〰うどづぬつぜ〴ぜ〰きづぴとはつぜ〴〩੥湤潢樊㈰‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸳ Item: Title: こづっはのつ〭くひつづひぜ〴ぜ〰ぃはのびづのびふびぜ〴ぜ〰うはひねちぴどはのぜ〴ぜ〰ぃはのぴひはぬぜ〴ぜ〰きはつづぬぜ〴ぜ〰ちのつぜ〴ぜ〰ぉねばひはぶづつぜ〴ぜ〰さぁざぜ〴ぜ〰ぃはぬぬどびどはのぜ〴ぜ〰ぁぶはどつちのっづぜ〴ぜ〰きづぴとはつぜ〴〩੥湤潢樊㈴‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮ㄩ‾㸊敮摯扪ਲ㜠〠潢樊⡜㌷㙜㌷㝜〰うはひねちぴどはのぜ〴ぜ〰ぃはのぴひはぬぜ〴ぜ〰ぃはのぴどのふはふびぜ〴ぜ〰ごどねづぜ〴ぜ〰いはねちどのぜ〴ぜ〰きはつづぬぜ〴〩੥湤潢樊㈸‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㈩‾㸊敮摯扪ਲ਼ㄠ〠潢樊⡜㌷㙜㌷㝜〰いどびっひづぴどぺづつぜ〴ぜ〰いちぴちぜ〴ぜ〰ぐひはっづびびどのでぜ〴〩੥湤潢樊㌲‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㌩‾㸊敮摯扪ਲ਼㔠〠潢樊⡜㌷㙜㌷㝜〰ぐちぴとぜ〴ぜ〰くばぴどねどぺちぴどはのぜ〴ぜ〰あちびづつぜ〴ぜ〰はのぜ〴ぜ〰ぉねばひはぶづつぜ〴ぜ〰ぁひぴどてどっどちぬぜ〴ぜ〰ぐはぴづのぴどちぬぜ〴ぜ〰うどづぬつぜ〴ぜ〰きづぴとはつぜ〴〩੥湤潢樊㌶‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㐩‾㸊敮摯扪ਲ਼㤠〠潢樊⡜㌷㙜㌷㝜〰さぁざぜ〴ぜ〰うはひねちぴどはのぜ〴ぜ〰かづづばびぜ〴ぜ〰ぃぬふびぴづひぜ〴ぜ〰ぃはぬぬどびどはのぜ〴ぜ〰ぁぶはどつちのっづぜ〴ぜ〰きづぴとはつぜ〴〩੥湤潢樊㐰‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸴ Children: Item: Title: うはひねちぴどはのぜ〴ぜ〰ぃはのぴひはぬぜ〴ぜ〰ぃはのぴどのふはふびぜ〴ぜ〰ごどねづぜ〴ぜ〰いはねちどのぜ〴ぜ〰きはつづぬぜ〴〩੥湤潢樊㈸‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㈩‾㸊敮摯扪ਲ਼ㄠ〠潢樊⡜㌷㙜㌷㝜〰いどびっひづぴどぺづつぜ〴ぜ〰いちぴちぜ〴ぜ〰ぐひはっづびびどのでぜ〴〩੥湤潢樊㌲‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㌩‾㸊敮摯扪ਲ਼㔠〠潢樊⡜㌷㙜㌷㝜〰ぐちぴとぜ〴ぜ〰くばぴどねどぺちぴどはのぜ〴ぜ〰あちびづつぜ〴ぜ〰はのぜ〴ぜ〰ぉねばひはぶづつぜ〴ぜ〰ぁひぴどてどっどちぬぜ〴ぜ〰ぐはぴづのぴどちぬぜ〴ぜ〰うどづぬつぜ〴ぜ〰きづぴとはつぜ〴〩੥湤潢樊㌶‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㐩‾㸊敮摯扪ਲ਼㤠〠潢樊⡜㌷㙜㌷㝜〰さぁざぜ〴ぜ〰うはひねちぴどはのぜ〴ぜ〰かづづばびぜ〴ぜ〰ぃぬふびぴづひぜ〴ぜ〰ぃはぬぬどびどはのぜ〴ぜ〰ぁぶはどつちのっづぜ〴ぜ〰きづぴとはつぜ〴〩੥湤潢樊㐰‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸴ Item: Title: いどびっひづぴどぺづつぜ〴ぜ〰いちぴちぜ〴ぜ〰ぐひはっづびびどのでぜ〴〩੥湤潢樊㌲‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㌩‾㸊敮摯扪ਲ਼㔠〠潢樊⡜㌷㙜㌷㝜〰ぐちぴとぜ〴ぜ〰くばぴどねどぺちぴどはのぜ〴ぜ〰あちびづつぜ〴ぜ〰はのぜ〴ぜ〰ぉねばひはぶづつぜ〴ぜ〰ぁひぴどてどっどちぬぜ〴ぜ〰ぐはぴづのぴどちぬぜ〴ぜ〰うどづぬつぜ〴ぜ〰きづぴとはつぜ〴〩੥湤潢樊㌶‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㐩‾㸊敮摯扪ਲ਼㤠〠潢樊⡜㌷㙜㌷㝜〰さぁざぜ〴ぜ〰うはひねちぴどはのぜ〴ぜ〰かづづばびぜ〴ぜ〰ぃぬふびぴづひぜ〴ぜ〰ぃはぬぬどびどはのぜ〴ぜ〰ぁぶはどつちのっづぜ〴ぜ〰きづぴとはつぜ〴〩੥湤潢樊㐰‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸴ Item: Title: ぐちぴとぜ〴ぜ〰くばぴどねどぺちぴどはのぜ〴ぜ〰あちびづつぜ〴ぜ〰はのぜ〴ぜ〰ぉねばひはぶづつぜ〴ぜ〰ぁひぴどてどっどちぬぜ〴ぜ〰ぐはぴづのぴどちぬぜ〴ぜ〰うどづぬつぜ〴ぜ〰きづぴとはつぜ〴〩੥湤潢樊㌶‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㐩‾㸊敮摯扪ਲ਼㤠〠潢樊⡜㌷㙜㌷㝜〰さぁざぜ〴ぜ〰うはひねちぴどはのぜ〴ぜ〰かづづばびぜ〴ぜ〰ぃぬふびぴづひぜ〴ぜ〰ぃはぬぬどびどはのぜ〴ぜ〰ぁぶはどつちのっづぜ〴ぜ〰きづぴとはつぜ〴〩੥湤潢樊㐰‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸴ Item: Title: さぁざぜ〴ぜ〰うはひねちぴどはのぜ〴ぜ〰かづづばびぜ〴ぜ〰ぃぬふびぴづひぜ〴ぜ〰ぃはぬぬどびどはのぜ〴ぜ〰ぁぶはどつちのっづぜ〴ぜ〰きづぴとはつぜ〴〩੥湤潢樊㐰‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸴ Item: Title: こどねふぬちぴどはのぜ〴ぜ〰ぃちびづぜ〴〩੥湤潢樊㐴‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㐮ㄩ‾㸊敮摯扪਴㜠〠潢樊⡜㌷㙜㌷㝜〰こぴちぴどっぜ〴ぜ〰くぢびぴちっぬづぜ〴ぜ〰こっづのづぜ〴〩੥湤潢樊㐸‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㐮㈩‾㸊敮摯扪ਵㄠ〠潢樊⡜㌷㙜㌷㝜〰いべのちねどっぜ〴ぜ〰くぢびぴちっぬづぜ〴ぜ〰こっづのづぜ〴〩੥湤潢樊㔲‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸵ Children: Item: Title: こぴちぴどっぜ〴ぜ〰くぢびぴちっぬづぜ〴ぜ〰こっづのづぜ〴〩੥湤潢樊㐸‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㐮㈩‾㸊敮摯扪ਵㄠ〠潢樊⡜㌷㙜㌷㝜〰いべのちねどっぜ〴ぜ〰くぢびぴちっぬづぜ〴ぜ〰こっづのづぜ〴〩੥湤潢樊㔲‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸵ Item: Title: いべのちねどっぜ〴ぜ〰くぢびぴちっぬづぜ〴ぜ〰こっづのづぜ〴〩੥湤潢樊㔲‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸵ Item: Title: ぃはのっぬふびどはのびぜ〴〩੥湤潢樊㔶‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸵ Item: Title: げづてづひづのっづび Info: Title: さぁざぜ〴ぜ〰ぇひはふばぜ〴ぜ〰うはひねちぴどはのぜ〴ぜ〰ぃはぬぬどびどはのぜ〴ぜ〰ぁぶはどつちのっづぜ〴ぜ〰きづぴとはつぜ〴ぜ〰あちびづつぜ〴ぜ〰はのぜ〴ぜ〰こづっはのつ〭くひつづひぜ〴ぜ〰ぃはのびづのびふびぜ〴ぜ〰ぁぬではひどぴとねぜ〴ぜ〰ちのつぜ〴ぜ〰ぉねばひはぶづつぜ〴ぜ〰ぁひぴどてどっどちぬぜ〴ぜ〰ぐはぴづのぴどちぬぜ〴ぜ〰うどづぬつ Author: すちのでぜ〴ぜ〰えふちので〬ぜ〴ぜ〰おふのぜ〴ぜ〰ごちのでぜ〴ぜ〰ちのつぜ〴ぜ〰こはのでべちのでぜ〴ぜ〰がちは Subject: ごとづぜ〴ぜ〰ばひはぢぬづねぜ〴ぜ〰はてぜ〴ぜ〰っはぬぬどびどはのぜ〴ぜ〰ちぶはどつちのっづぜ〴ぜ〰はてぜ〴ぜ〰ちのぜ〴ぜ〰ふのねちののづつぜ〴ぜ〰ちづひどちぬぜ〴ぜ〰ぶづとどっぬづぜ〴ぜ〰ぜ〵ぜ〰さぁざぜ〵ㅜ〰ぜ〴ぜ〰でひはふばぜ〴ぜ〰どびぜ〴ぜ〰びぴふつどづつぜ〴ぜ〰どのぜ〴ぜ〰ぴとどびぜ〴ぜ〰ばちばづひ〮ぜ〴ぜ〰ぁぜ〴ぜ〰っはぬぬどびどはのぜ〴ぜ〰ちぶはどつちのっづぜ〴ぜ〰ねづぴとはつぜ〴ぜ〰はてぜ〴ぜ〰さぁざぜ〴ぜ〰でひはふばぜ〴ぜ〰てはひねちぴどはのぜ〴ぜ〰ぢちびづつぜ〴ぜ〰はのぜ〴ぜ〰びづっはのつ〭はひつづひぜ〴ぜ〰っはのびづのびふびぜ〴ぜ〰ちぬではひどぴとねぜ〴ぜ〰ちのつぜ〴ぜ〰どねばひはぶづつぜ〴ぜ〰ちひぴどてどっどちぬぜ〴ぜ〰ばはぴづのぴどちぬぜ〴ぜ〰てどづぬつぜ〴ぜ〰どびぜ〴ぜ〰ばひはばはびづつ〮ぜ〴ぜ〰あちびづつぜ〴ぜ〰はのぜ〴ぜ〰ぴとづぜ〴ぜ〰ねづぴとはつ〬ぜ〴ぜ〰ぴとづぜ〴ぜ〰さぁざぜ〴ぜ〰でひはふばぜ〴ぜ〰っちのぜ〴ぜ〰てはひねぜ〴ぜ〰ちぜ〴ぜ〰ばひづつづぴづひねどのづつぜ〴ぜ〰てはひねちぴどはのぜ〴ぜ〰てひはねぜ〴ぜ〰ちのべぜ〴ぜ〰どのどぴどちぬぜ〴ぜ〰びぴちぴづぜ〴ぜ〰ちのつぜ〴ぜ〰てぬべぜ〴ぜ〰ぴはぜ〴ぜ〰ぴとづぜ〴ぜ〰ぴちひでづぴぜ〴ぜ〰ばはびどぴどはのぜ〴ぜ〰どのぜ〴ぜ〰のはひねちぬぜ〴ぜ〰てぬどでとぴ〬ぜ〴ぜ〰ちのつぜ〴ぜ〰っちのぜ〴ぜ〰ちぶはどつぜ〴ぜ〰っはぬぬどびどはのぜ〴ぜ〰ちっっはひつどのでぜ〴ぜ〰ぴはぜ〴ぜ〰ぴとづぜ〴ぜ〰どねばひはぶづつぜ〴ぜ〰びねははぴとぜ〴ぜ〰ちひぴどてどっどちぬぜ〴ぜ〰ばはぴづのぴどちぬぜ〴ぜ〰てどづぬつぜ〴ぜ〰ねづぴとはつぜ〴ぜ〰ぷとづのぜ〴ぜ〰づのっはふのぴづひどのでぜ〴ぜ〰ちのぜ〴ぜ〰はぢびぴちっぬづ〮ぜ〴ぜ〰ごとづぜ〴ぜ〰さぁざぜ〴ぜ〰でひはふばぜ〴ぜ〰ちつはばぴびぜ〴ぜ〰ぴとづぜ〴ぜ〴ぜ〳㑜〰ぬづちつづひぜ〲㍜〰てはぬぬはぷづひぜ〳㕜〰ぜ〴ぜ〰びぴひちぴづでべ〬ぜ〴ぜ〰ぴとちぴぜ〴ぜ〰どび〬ぜ〴ぜ〰ぴとづぜ〴ぜ〰ぬづちつづひぜ〴ぜ〰さぁざぜ〴ぜ〰どびぜ〴ぜ〰ぴとづぜ〴ぜ〰っはのぴひはぬぬづひぜ〴ぜ〰ちのつぜ〴ぜ〰てぬどづびぜ〴ぜ〰どのつづばづのつづのぴぬべぜ〴ぜ〰ちっっはひつどのでぜ〴ぜ〰ぴはぜ〴ぜ〰ぴとづぜ〴ぜ〰ねどびびどはのぜ〴ぜ〰ひづぱふどひづねづのぴび〬ぜ〴ぜ〰ぷとどぬづぜ〴ぜ〰ぴとづぜ〴ぜ〰てはぬぬはぷづひぜ〴ぜ〰さぁざぜ〴ぜ〰てはぬぬはぷびぜ〴ぜ〰ぴとづぜ〴ぜ〰ぬづちつづひぜ〴ぜ〰さぁざぜ〴ぜ〰ぢちびづつぜ〴ぜ〰はのぜ〴ぜ〰ぴとづぜ〴ぜ〰びづっはのつ〭はひつづひぜ〴ぜ〰っはのびづのびふびぜ〴ぜ〰ちぬではひどぴとねぜ〴ぜ〰ちのつぜ〴ぜ〰てはひねちぴどはのびぜ〴ぜ〰でひちつふちぬぬべぜ〴ぜ〰てはひねぜ〴ぜ〰つふひどのでぜ〴ぜ〰ぴとづぜ〴ぜ〰てぬどでとぴ〮ぜ〴ぜ〰あちびづつぜ〴ぜ〰はのぜ〴ぜ〰ぴとづぜ〴ぜ〰びづっはのつ〭はひつづひぜ〴ぜ〰っはのびづのびふびぜ〴ぜ〰ちぬではひどぴとね〬ぜ〴ぜ〰ぴとづぜ〴ぜ〰さぁざぜ〴ぜ〰でひはふばぜ〴ぜ〰っちのぜ〴ぜ〰ちっとどづぶづぜ〴ぜ〰てはひねちぴどはのぜ〴ぜ〰ねちどのぴづのちのっづぜ〴ぜ〰づちびどぬべぜ〴ぜ〰ちのつぜ〴ぜ〰ぴとづぜ〴ぜ〰がちばぬちっどちのぜ〴ぜ〰ねちぴひどへぜ〴ぜ〰ふびづつぜ〴ぜ〰どのぜ〴ぜ〰ぴとづぜ〴ぜ〰ちぬではひどぴとねぜ〴ぜ〰どびぜ〴ぜ〰びべねねづぴひどっぜ〴ぜ〰てはひぜ〴ぜ〰ちのぜ〴ぜ〰ふのつどひづっぴづつぜ〴ぜ〰でひちばと〮ぜ〴ぜ〰ぉのぜ〴ぜ〰ぴとづぜ〴ぜ〰ばひはっづびびぜ〴ぜ〰はてぜ〴ぜ〰はぢびぴちっぬづぜ〴ぜ〰ちぶはどつちのっづ〬ぜ〴ぜ〰ぴとづぜ〴ぜ〰どねばひはぶづつぜ〴ぜ〰ちひぴどてどっどちぬぜ〴ぜ〰ばはぴづのぴどちぬぜ〴ぜ〰てどづぬつぜ〴ぜ〰ねづぴとはつぜ〴ぜ〰っちのぜ〴ぜ〰びはぬぶづぜ〴ぜ〰ぴとづぜ〴ぜ〰などぴぴづひぜ〴ぜ〰ばひはぢぬづねぜ〴ぜ〰ぴとちぴぜ〴ぜ〰ぴとづぜ〴ぜ〰ぴひちつどぴどはのちぬぜ〴ぜ〰ちひぴどてどっどちぬぜ〴ぜ〰ばはぴづのぴどちぬぜ〴ぜ〰てどづぬつぜ〴ぜ〰ねづぴとはつぜ〴ぜ〰っちふびづびぜ〴ぜ〰てはひぜ〴ぜ〰ぴとづぜ〴ぜ〰さぁざぜ〴ぜ〰ちのつぜ〴ぜ〰ちぶはどつびぜ〴ぜ〰ぶどはぬづのぴぜ〴ぜ〰などぴぴづひ〮ぜ〴ぜ〰うどのちぬぬべ〬ぜ〴ぜ〰びどねふぬちぴどはのぜ〴ぜ〰づへばづひどねづのぴびぜ〴ぜ〰はてぜ〴ぜ〰ぴぷはぜ〴ぜ〰びっづのちひどはびぜ〴ぜ〰ぷづひづぜ〴ぜ〰つづびどでのづつぜ〴ぜ〰ぴはぜ〴ぜ〰ぶづひどてべぜ〴ぜ〰ぴとづぜ〴ぜ〰っはぬぬどびどはのぜ〴ぜ〰ちぶはどつちのっづぜ〴ぜ〰づててづっぴぜ〴ぜ〰ちのつぜ〴ぜ〰てはひねちぴどはのぜ〴ぜ〰ひづぴづのぴどはのぜ〴ぜ〰づててづっぴぜ〴ぜ〰はてぜ〴ぜ〰びぴちぴどっぜ〴ぜ〰はぢびぴちっぬづびぜ〴ぜ〰ちのつぜ〴ぜ〰つべのちねどっぜ〴ぜ〰はぢびぴちっぬづびぜ〴ぜ〰ぷとどぬづぜ〴ぜ〰ぴとづぜ〴ぜ〰ぴぷはぜ〴ぜ〰さぁざぜ〴ぜ〰でひはふばびぜ〴ぜ〰てぬべぜ〴ぜ〰どのぜ〴ぜ〰はばばはびどぴづぜ〴ぜ〰びべねねづぴひべぜ〴ぜ〰どのぜ〴ぜ〰ぴとづぜ〴ぜ〰つべのちねどっぜ〴ぜ〰はぢびぴちっぬづぜ〴ぜ〰びっづのちひどは〮ぜ〴ぜ〰ごとづぜ〴ぜ〰づへばづひどねづのぴちぬぜ〴ぜ〰ひづびふぬぴびぜ〴ぜ〰つづねはのびぴひちぴづぜ〴ぜ〰ぴとづぜ〴ぜ〰づててづっぴどぶづのづびびぜ〴ぜ〰はてぜ〴ぜ〰ぴとづぜ〴ぜ〰ばひはばはびづつぜ〴ぜ〰ねづぴとはつ〮 Keywords: びづっはのつ〭はひつづひぜ〴ぜ〰っはのびづのびふびぜ〴ぜ〰ちぬではひどぴとね〻ぜ〴ぜ〰どねばひはぶづぜ〴ぜ〰ちひぴどてどっどちぬぜ〴ぜ〰ばはぴづのぴどちぬぜ〴ぜ〰てどづぬつ〻ぜ〴ぜ〰ぬづちつづひ〭てはぬぬはぷづひ〻ぜ〴ぜ〰っはぬぬどびどはのぜ〴ぜ〰ちぶはどつちのっづ〻ぜ〴ぜ〰てはひねちぴどはのぜ〴ぜ〰ひづぴづのぴどはの Creator: LaTeX with hyperref Producer: MiKTeX pdfTeX-1.40.20 CreationDate: Fri Sep 13 07:50:29 CEST 2019 ModDate: Fri Sep 13 07:50:29 CEST 2019 ID: 0xc5c1ecb2b872d4684d46258b0c0e1369, 0xc5c1ecb2b872d4684d46258b0c0e1369 Filters: FilterPipeline: FlateDecode Fonts: Type1: Font: BaseFont: HQHMIV+Pxex FontSubset: true FirstChar: 32 LastChar: 90 FontDescriptor: FontName: HQHMIV+Pxex Flags: Symbolic FontBBox: -5, -3116, 1694, 792 FontFile: true Font: BaseFont: BQFOYA+Pxmia FontSubset: true FirstChar: 77 LastChar: 77 FontDescriptor: FontName: BQFOYA+Pxmia Flags: Symbolic FontBBox: -31, -289, 936, 721 FontFile: true Font: BaseFont: NUZNNX+URWPalladioL-Ital FontSubset: true FirstChar: 2 LastChar: 122 FontDescriptor: FontName: NUZNNX+URWPalladioL-Ital Flags: Symbolic FontBBox: -170, -305, 1010, 941 FontFile: true 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