c9e526fabbaed0114fbec1dff064e9bf pmc_30682827.pdf 44f1605da7ff10d00a9b2ca6d503d20e5d2aec2b pmc_30682827.pdf 46adeefae2ebf8541b964a3c233f7c96a66c4ce2b3faba3f61e092255f3b18d0 pmc_30682827.pdf Title: Smelling Nano Aerial Vehicle for Gas Source Localization and Mapping Subject: This paper describes the development and validation of the currently smallest aerial platform with olfaction capabilities. The developed Smelling Nano Aerial Vehicle (SNAV) is based on a lightweight commercial nano-quadcopter (27 g) equipped with a custom gas sensing board that can host up to two in situ metal oxide semiconductor (MOX) gas sensors. Due to its small form-factor, the SNAV is not a hazard for humans, enabling its use in public areas or inside buildings. It can autonomously carry out gas sensing missions of hazardous environments inaccessible to terrestrial robots and bigger drones, for example searching for victims and hazardous gas leaks inside pockets that form within the wreckage of collapsed buildings in the aftermath of an earthquake or explosion. The first contribution of this work is assessing the impact of the nano-propellers on the MOX sensor signals at different distances to a gas source. A second contribution is adapting the ‘bout’ detection algorithm, proposed by Schmuker et al. (2016) to extract specific features from the derivative of the MOX sensor response, for real-time operation. The third and main contribution is the experimental validation of the SNAV for gas source localization (GSL) and mapping in a large indoor environment (160 m2) with a gas source placed in challenging positions for the drone, for example hidden in the ceiling of the room or inside a power outlet box. Two GSL strategies are compared, one based on the instantaneous gas sensor response and the other one based on the bout frequency. From the measurements collected (in motion) along a predefined sweeping path we built (in less than 3 min) a 3D map of the gas distribution and identified the most likely source location. Using the bout frequency yielded on average a higher localization accuracy than using the instantaneous gas sensor response (1.38 m versus 2.05 m error), however accurate tuning of an additional parameter (the noise threshold) is required in the former case. The main conclusion of this paper is that a nano-drone has the potential to perform gas sensing tasks in complex environments. Keywords: robotics; signal processing; electronics; gas source localization; gas distribution mapping; gas sensors; drone; UAV; MOX sensor; quadcopter Author: Javier Burgués, Victor Hernández, Achim J. 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12:58:29 CEST RepresentationInformation: pmc_30682827.pdf ReportingModule: PDF-hul, Rel. 1.12.1 (2019-04-17) LastModified: 2020-03-16 03:49:36 CET Size: 10925302 Format: PDF Version: 1.5 Status: Well-Formed and valid SignatureMatches: PDF-hul MIMEtype: application/pdf PDFMetadata: Objects: 0 FreeObjects: 2 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〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮ㄮㄩ‾㸊⡜㌷㙜㌷㝜〰げづぬちぴづつぜ〴ぜ〰しはひにぜ〴ぜ〰はのぜ〴ぜ〰ぇちび〭こづのびどぴどぶづぜ〴ぜ〰ぎちのはつひはのづびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮ㄮ㈩‾㸊⡜㌷㙜㌷㝜〰ぅへばづひどねづのぴちぬぜ〴ぜ〰ぅぶちぬふちぴどはのぜ〴ぜ〰はてぜ〴ぜ〰ぇちび〭こづのびどぴどぶづぜ〴ぜ〰ぎちのはつひはのづびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮ㄮ㌩‾㸊⡜㌷㙜㌷㝜〰ぇちびぜ〴ぜ〰こはふひっづぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮ㄮ㐩‾㸊⡜㌷㙜㌷㝜〰ぐひはばはびづつぜ〴ぜ〰こねづぬぬどのでぜ〴ぜ〰ぎちのはぜ〴ぜ〰ぁづひどちぬぜ〴ぜ〰ざづとどっぬづぜ〴ぜ〰ぜ〵ぜ〰こぎぁざぜ〵ㅜ〰ぜ〴〩਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸲ Children: Item: Title: げづぬちぴづつぜ〴ぜ〰しはひにぜ〴ぜ〰はのぜ〴ぜ〰ぇちび〭こづのびどぴどぶづぜ〴ぜ〰ぎちのはつひはのづびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮ㄮ㈩‾㸊⡜㌷㙜㌷㝜〰ぅへばづひどねづのぴちぬぜ〴ぜ〰ぅぶちぬふちぴどはのぜ〴ぜ〰はてぜ〴ぜ〰ぇちび〭こづのびどぴどぶづぜ〴ぜ〰ぎちのはつひはのづびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮ㄮ㌩‾㸊⡜㌷㙜㌷㝜〰ぇちびぜ〴ぜ〰こはふひっづぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮ㄮ㐩‾㸊⡜㌷㙜㌷㝜〰ぐひはばはびづつぜ〴ぜ〰こねづぬぬどのでぜ〴ぜ〰ぎちのはぜ〴ぜ〰ぁづひどちぬぜ〴ぜ〰ざづとどっぬづぜ〴ぜ〰ぜ〵ぜ〰こぎぁざぜ〵ㅜ〰ぜ〴〩਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸲ Item: Title: ぅへばづひどねづのぴちぬぜ〴ぜ〰ぅぶちぬふちぴどはのぜ〴ぜ〰はてぜ〴ぜ〰ぇちび〭こづのびどぴどぶづぜ〴ぜ〰ぎちのはつひはのづびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮ㄮ㌩‾㸊⡜㌷㙜㌷㝜〰ぇちびぜ〴ぜ〰こはふひっづぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮ㄮ㐩‾㸊⡜㌷㙜㌷㝜〰ぐひはばはびづつぜ〴ぜ〰こねづぬぬどのでぜ〴ぜ〰ぎちのはぜ〴ぜ〰ぁづひどちぬぜ〴ぜ〰ざづとどっぬづぜ〴ぜ〰ぜ〵ぜ〰こぎぁざぜ〵ㅜ〰ぜ〴〩਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸲ Item: Title: ぇちびぜ〴ぜ〰こはふひっづぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮ㄮ㐩‾㸊⡜㌷㙜㌷㝜〰ぐひはばはびづつぜ〴ぜ〰こねづぬぬどのでぜ〴ぜ〰ぎちのはぜ〴ぜ〰ぁづひどちぬぜ〴ぜ〰ざづとどっぬづぜ〴ぜ〰ぜ〵ぜ〰こぎぁざぜ〵ㅜ〰ぜ〴〩਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸲ Item: Title: ぐひはばはびづつぜ〴ぜ〰こねづぬぬどのでぜ〴ぜ〰ぎちのはぜ〴ぜ〰ぁづひどちぬぜ〴ぜ〰ざづとどっぬづぜ〴ぜ〰ぜ〵ぜ〰こぎぁざぜ〵ㅜ〰ぜ〴〩਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸲ Item: Title: きちぴづひどちぬびぜ〴ぜ〰ちのつぜ〴ぜ〰きづぴとはつびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㈮ㄩ‾㸊⡜㌷㙜㌷㝜〰ぎちのは〭いひはのづぜ〴ぜ〰ちのつぜ〴ぜ〰ぇちびぜ〴ぜ〰こづのびはひびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㈮㈩‾㸊⡜㌷㙜㌷㝜〰ぅへばづひどねづのぴちぬぜ〴ぜ〰ぁひづのち〬ぜ〴ぜ〰ぇちびぜ〴ぜ〰こはふひっづぜ〴ぜ〰ちのつぜ〴ぜ〰ぅへぴづひのちぬぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰こべびぴづねぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㈮㌩‾㸊⡜㌷㙜㌷㝜〰ぇちびぜ〴ぜ〰こづのびはひぜ〴ぜ〰ぃちぬどぢひちぴどはのぜ〴ぜ〰ちのつぜ〴ぜ〰がどねどぴぜ〴ぜ〰はてぜ〴ぜ〰いづぴづっぴどはのぜ〴ぜ〰ぜ〵ぜ〰がくいぜ〵ㅜ〰ぜ〴ぜ〰ぅびぴどねちぴどはのぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㈮㐩‾㸊⡜㌷㙜㌷㝜〰いづぴづっぴどはのぜ〴ぜ〰はてぜ〴ぜ〴ぜ〳ぜ〰あはふぴびぜ〳ㅜ〰ぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㈮㔩‾㸊⡜㌷㙜㌷㝜〰ぅててづっぴぜ〴ぜ〰はてぜ〴ぜ〰げはぴはひびぜ〴ぜ〰はのぜ〴ぜ〰きくじぜ〴ぜ〰こづのびはひぜ〴ぜ〰こどでのちぬびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㈮㘩‾㸊⡜㌷㙜㌷㝜〰ぇちびぜ〴ぜ〰こはふひっづぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰こぴひちぴづでどづびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸳ Children: Item: Title: ぎちのは〭いひはのづぜ〴ぜ〰ちのつぜ〴ぜ〰ぇちびぜ〴ぜ〰こづのびはひびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㈮㈩‾㸊⡜㌷㙜㌷㝜〰ぅへばづひどねづのぴちぬぜ〴ぜ〰ぁひづのち〬ぜ〴ぜ〰ぇちびぜ〴ぜ〰こはふひっづぜ〴ぜ〰ちのつぜ〴ぜ〰ぅへぴづひのちぬぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰こべびぴづねぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㈮㌩‾㸊⡜㌷㙜㌷㝜〰ぇちびぜ〴ぜ〰こづのびはひぜ〴ぜ〰ぃちぬどぢひちぴどはのぜ〴ぜ〰ちのつぜ〴ぜ〰がどねどぴぜ〴ぜ〰はてぜ〴ぜ〰いづぴづっぴどはのぜ〴ぜ〰ぜ〵ぜ〰がくいぜ〵ㅜ〰ぜ〴ぜ〰ぅびぴどねちぴどはのぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㈮㐩‾㸊⡜㌷㙜㌷㝜〰いづぴづっぴどはのぜ〴ぜ〰はてぜ〴ぜ〴ぜ〳ぜ〰あはふぴびぜ〳ㅜ〰ぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㈮㔩‾㸊⡜㌷㙜㌷㝜〰ぅててづっぴぜ〴ぜ〰はてぜ〴ぜ〰げはぴはひびぜ〴ぜ〰はのぜ〴ぜ〰きくじぜ〴ぜ〰こづのびはひぜ〴ぜ〰こどでのちぬびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㈮㘩‾㸊⡜㌷㙜㌷㝜〰ぇちびぜ〴ぜ〰こはふひっづぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰こぴひちぴづでどづびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸳ Item: Title: ぅへばづひどねづのぴちぬぜ〴ぜ〰ぁひづのち〬ぜ〴ぜ〰ぇちびぜ〴ぜ〰こはふひっづぜ〴ぜ〰ちのつぜ〴ぜ〰ぅへぴづひのちぬぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰こべびぴづねぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㈮㌩‾㸊⡜㌷㙜㌷㝜〰ぇちびぜ〴ぜ〰こづのびはひぜ〴ぜ〰ぃちぬどぢひちぴどはのぜ〴ぜ〰ちのつぜ〴ぜ〰がどねどぴぜ〴ぜ〰はてぜ〴ぜ〰いづぴづっぴどはのぜ〴ぜ〰ぜ〵ぜ〰がくいぜ〵ㅜ〰ぜ〴ぜ〰ぅびぴどねちぴどはのぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㈮㐩‾㸊⡜㌷㙜㌷㝜〰いづぴづっぴどはのぜ〴ぜ〰はてぜ〴ぜ〴ぜ〳ぜ〰あはふぴびぜ〳ㅜ〰ぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㈮㔩‾㸊⡜㌷㙜㌷㝜〰ぅててづっぴぜ〴ぜ〰はてぜ〴ぜ〰げはぴはひびぜ〴ぜ〰はのぜ〴ぜ〰きくじぜ〴ぜ〰こづのびはひぜ〴ぜ〰こどでのちぬびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㈮㘩‾㸊⡜㌷㙜㌷㝜〰ぇちびぜ〴ぜ〰こはふひっづぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰こぴひちぴづでどづびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸳ Item: Title: ぇちびぜ〴ぜ〰こづのびはひぜ〴ぜ〰ぃちぬどぢひちぴどはのぜ〴ぜ〰ちのつぜ〴ぜ〰がどねどぴぜ〴ぜ〰はてぜ〴ぜ〰いづぴづっぴどはのぜ〴ぜ〰ぜ〵ぜ〰がくいぜ〵ㅜ〰ぜ〴ぜ〰ぅびぴどねちぴどはのぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㈮㐩‾㸊⡜㌷㙜㌷㝜〰いづぴづっぴどはのぜ〴ぜ〰はてぜ〴ぜ〴ぜ〳ぜ〰あはふぴびぜ〳ㅜ〰ぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㈮㔩‾㸊⡜㌷㙜㌷㝜〰ぅててづっぴぜ〴ぜ〰はてぜ〴ぜ〰げはぴはひびぜ〴ぜ〰はのぜ〴ぜ〰きくじぜ〴ぜ〰こづのびはひぜ〴ぜ〰こどでのちぬびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㈮㘩‾㸊⡜㌷㙜㌷㝜〰ぇちびぜ〴ぜ〰こはふひっづぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰こぴひちぴづでどづびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸳ Item: Title: いづぴづっぴどはのぜ〴ぜ〰はてぜ〴ぜ〴ぜ〳ぜ〰あはふぴびぜ〳ㅜ〰ぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㈮㔩‾㸊⡜㌷㙜㌷㝜〰ぅててづっぴぜ〴ぜ〰はてぜ〴ぜ〰げはぴはひびぜ〴ぜ〰はのぜ〴ぜ〰きくじぜ〴ぜ〰こづのびはひぜ〴ぜ〰こどでのちぬびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㈮㘩‾㸊⡜㌷㙜㌷㝜〰ぇちびぜ〴ぜ〰こはふひっづぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰こぴひちぴづでどづびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸳ Item: Title: ぅててづっぴぜ〴ぜ〰はてぜ〴ぜ〰げはぴはひびぜ〴ぜ〰はのぜ〴ぜ〰きくじぜ〴ぜ〰こづのびはひぜ〴ぜ〰こどでのちぬびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㈮㘩‾㸊⡜㌷㙜㌷㝜〰ぇちびぜ〴ぜ〰こはふひっづぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰こぴひちぴづでどづびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸳ Item: Title: ぇちびぜ〴ぜ〰こはふひっづぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰こぴひちぴづでどづびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸳ Item: Title: げづびふぬぴびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮ㄩ‾㸊⡜㌷㙜㌷㝜〰ぃちぬどぢひちぴどはの〬ぜ〴ぜ〰がくいぜ〴ぜ〰ちのつぜ〴ぜ〰くばぴどねふねぜ〴ぜ〰ぐちひちねづぴづひびぜ〴ぜ〰てはひぜ〴ぜ〰あはふぴぜ〴ぜ〰いづぴづっぴどはのぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㈩‾㸊⡜㌷㙜㌷㝜〰ぅててづっぴぜ〴ぜ〰はてぜ〴ぜ〰ぐひはばふぬびどはのぜ〴ぜ〰はのぜ〴ぜ〰きくじぜ〴ぜ〰こどでのちぬびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㌩‾㸊⡜㌷㙜㌷㝜〰ぅへばづひどねづのぴぜ〴ぜ〰〱〺ぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰はてぜ〴ぜ〰ちぜ〴ぜ〰こはふひっづぜ〴ぜ〰〱〷ぜ〴ぜ〰ねぜ〴ぜ〰ぁぷちべぜ〴ぜ〰てひはねぜ〴ぜ〰ぴとづぜ〴ぜ〰こぴちひぴどのでぜ〴ぜ〰ぐはどのぴぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㐩‾㸊⡜㌷㙜㌷㝜〰ぅへばづひどねづのぴぜ〴ぜ〰〲〺ぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰はてぜ〴ぜ〰ちぜ〴ぜ〰こはふひっづぜ〴ぜ〰えどつつづのぜ〴ぜ〰どのぜ〴ぜ〰ぴとづぜ〴ぜ〰こふびばづのつづつぜ〴ぜ〰ぃづどぬどのでぜ〴ぜ〰ぜ〵ぜ〰とぜ〴ぜ〰〽ぜ〴ぜ〰〲〮〷ぜ〴ぜ〰ねぜ〵ㅜ〰ぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㔩‾㸊⡜㌷㙜㌷㝜〰ぅへばづひどねづのぴぜ〴ぜ〰〳〺ぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰はてぜ〴ぜ〰ちぜ〴ぜ〰こはふひっづぜ〴ぜ〰えどつつづのぜ〴ぜ〰ぉのびどつづぜ〴ぜ〰ちぜ〴ぜ〰ぐはぷづひぜ〴ぜ〰くふぴぬづぴぜ〴ぜ〰あはへぜ〴ぜ〰ぜ〵ぜ〰とぜ〴ぜ〰〽ぜ〴ぜ〰〰〮〹ぜ〴ぜ〰ねぜ〵ㅜ〰ぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㘩‾㸊⡜㌷㙜㌷㝜〰くぶづひちぬぬぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰げづびふぬぴびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸴ Children: Item: Title: ぃちぬどぢひちぴどはの〬ぜ〴ぜ〰がくいぜ〴ぜ〰ちのつぜ〴ぜ〰くばぴどねふねぜ〴ぜ〰ぐちひちねづぴづひびぜ〴ぜ〰てはひぜ〴ぜ〰あはふぴぜ〴ぜ〰いづぴづっぴどはのぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㈩‾㸊⡜㌷㙜㌷㝜〰ぅててづっぴぜ〴ぜ〰はてぜ〴ぜ〰ぐひはばふぬびどはのぜ〴ぜ〰はのぜ〴ぜ〰きくじぜ〴ぜ〰こどでのちぬびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㌩‾㸊⡜㌷㙜㌷㝜〰ぅへばづひどねづのぴぜ〴ぜ〰〱〺ぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰はてぜ〴ぜ〰ちぜ〴ぜ〰こはふひっづぜ〴ぜ〰〱〷ぜ〴ぜ〰ねぜ〴ぜ〰ぁぷちべぜ〴ぜ〰てひはねぜ〴ぜ〰ぴとづぜ〴ぜ〰こぴちひぴどのでぜ〴ぜ〰ぐはどのぴぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㐩‾㸊⡜㌷㙜㌷㝜〰ぅへばづひどねづのぴぜ〴ぜ〰〲〺ぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰はてぜ〴ぜ〰ちぜ〴ぜ〰こはふひっづぜ〴ぜ〰えどつつづのぜ〴ぜ〰どのぜ〴ぜ〰ぴとづぜ〴ぜ〰こふびばづのつづつぜ〴ぜ〰ぃづどぬどのでぜ〴ぜ〰ぜ〵ぜ〰とぜ〴ぜ〰〽ぜ〴ぜ〰〲〮〷ぜ〴ぜ〰ねぜ〵ㅜ〰ぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㔩‾㸊⡜㌷㙜㌷㝜〰ぅへばづひどねづのぴぜ〴ぜ〰〳〺ぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰はてぜ〴ぜ〰ちぜ〴ぜ〰こはふひっづぜ〴ぜ〰えどつつづのぜ〴ぜ〰ぉのびどつづぜ〴ぜ〰ちぜ〴ぜ〰ぐはぷづひぜ〴ぜ〰くふぴぬづぴぜ〴ぜ〰あはへぜ〴ぜ〰ぜ〵ぜ〰とぜ〴ぜ〰〽ぜ〴ぜ〰〰〮〹ぜ〴ぜ〰ねぜ〵ㅜ〰ぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㘩‾㸊⡜㌷㙜㌷㝜〰くぶづひちぬぬぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰げづびふぬぴびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸴ Item: Title: ぅててづっぴぜ〴ぜ〰はてぜ〴ぜ〰ぐひはばふぬびどはのぜ〴ぜ〰はのぜ〴ぜ〰きくじぜ〴ぜ〰こどでのちぬびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㌩‾㸊⡜㌷㙜㌷㝜〰ぅへばづひどねづのぴぜ〴ぜ〰〱〺ぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰はてぜ〴ぜ〰ちぜ〴ぜ〰こはふひっづぜ〴ぜ〰〱〷ぜ〴ぜ〰ねぜ〴ぜ〰ぁぷちべぜ〴ぜ〰てひはねぜ〴ぜ〰ぴとづぜ〴ぜ〰こぴちひぴどのでぜ〴ぜ〰ぐはどのぴぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㐩‾㸊⡜㌷㙜㌷㝜〰ぅへばづひどねづのぴぜ〴ぜ〰〲〺ぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰はてぜ〴ぜ〰ちぜ〴ぜ〰こはふひっづぜ〴ぜ〰えどつつづのぜ〴ぜ〰どのぜ〴ぜ〰ぴとづぜ〴ぜ〰こふびばづのつづつぜ〴ぜ〰ぃづどぬどのでぜ〴ぜ〰ぜ〵ぜ〰とぜ〴ぜ〰〽ぜ〴ぜ〰〲〮〷ぜ〴ぜ〰ねぜ〵ㅜ〰ぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㔩‾㸊⡜㌷㙜㌷㝜〰ぅへばづひどねづのぴぜ〴ぜ〰〳〺ぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰はてぜ〴ぜ〰ちぜ〴ぜ〰こはふひっづぜ〴ぜ〰えどつつづのぜ〴ぜ〰ぉのびどつづぜ〴ぜ〰ちぜ〴ぜ〰ぐはぷづひぜ〴ぜ〰くふぴぬづぴぜ〴ぜ〰あはへぜ〴ぜ〰ぜ〵ぜ〰とぜ〴ぜ〰〽ぜ〴ぜ〰〰〮〹ぜ〴ぜ〰ねぜ〵ㅜ〰ぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㘩‾㸊⡜㌷㙜㌷㝜〰くぶづひちぬぬぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰げづびふぬぴびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸴ Item: Title: ぅへばづひどねづのぴぜ〴ぜ〰〱〺ぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰はてぜ〴ぜ〰ちぜ〴ぜ〰こはふひっづぜ〴ぜ〰〱〷ぜ〴ぜ〰ねぜ〴ぜ〰ぁぷちべぜ〴ぜ〰てひはねぜ〴ぜ〰ぴとづぜ〴ぜ〰こぴちひぴどのでぜ〴ぜ〰ぐはどのぴぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㐩‾㸊⡜㌷㙜㌷㝜〰ぅへばづひどねづのぴぜ〴ぜ〰〲〺ぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰はてぜ〴ぜ〰ちぜ〴ぜ〰こはふひっづぜ〴ぜ〰えどつつづのぜ〴ぜ〰どのぜ〴ぜ〰ぴとづぜ〴ぜ〰こふびばづのつづつぜ〴ぜ〰ぃづどぬどのでぜ〴ぜ〰ぜ〵ぜ〰とぜ〴ぜ〰〽ぜ〴ぜ〰〲〮〷ぜ〴ぜ〰ねぜ〵ㅜ〰ぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㔩‾㸊⡜㌷㙜㌷㝜〰ぅへばづひどねづのぴぜ〴ぜ〰〳〺ぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰はてぜ〴ぜ〰ちぜ〴ぜ〰こはふひっづぜ〴ぜ〰えどつつづのぜ〴ぜ〰ぉのびどつづぜ〴ぜ〰ちぜ〴ぜ〰ぐはぷづひぜ〴ぜ〰くふぴぬづぴぜ〴ぜ〰あはへぜ〴ぜ〰ぜ〵ぜ〰とぜ〴ぜ〰〽ぜ〴ぜ〰〰〮〹ぜ〴ぜ〰ねぜ〵ㅜ〰ぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㘩‾㸊⡜㌷㙜㌷㝜〰くぶづひちぬぬぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰げづびふぬぴびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸴ Item: Title: ぅへばづひどねづのぴぜ〴ぜ〰〲〺ぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰はてぜ〴ぜ〰ちぜ〴ぜ〰こはふひっづぜ〴ぜ〰えどつつづのぜ〴ぜ〰どのぜ〴ぜ〰ぴとづぜ〴ぜ〰こふびばづのつづつぜ〴ぜ〰ぃづどぬどのでぜ〴ぜ〰ぜ〵ぜ〰とぜ〴ぜ〰〽ぜ〴ぜ〰〲〮〷ぜ〴ぜ〰ねぜ〵ㅜ〰ぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㔩‾㸊⡜㌷㙜㌷㝜〰ぅへばづひどねづのぴぜ〴ぜ〰〳〺ぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰はてぜ〴ぜ〰ちぜ〴ぜ〰こはふひっづぜ〴ぜ〰えどつつづのぜ〴ぜ〰ぉのびどつづぜ〴ぜ〰ちぜ〴ぜ〰ぐはぷづひぜ〴ぜ〰くふぴぬづぴぜ〴ぜ〰あはへぜ〴ぜ〰ぜ〵ぜ〰とぜ〴ぜ〰〽ぜ〴ぜ〰〰〮〹ぜ〴ぜ〰ねぜ〵ㅜ〰ぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㘩‾㸊⡜㌷㙜㌷㝜〰くぶづひちぬぬぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰げづびふぬぴびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸴ Item: Title: ぅへばづひどねづのぴぜ〴ぜ〰〳〺ぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰はてぜ〴ぜ〰ちぜ〴ぜ〰こはふひっづぜ〴ぜ〰えどつつづのぜ〴ぜ〰ぉのびどつづぜ〴ぜ〰ちぜ〴ぜ〰ぐはぷづひぜ〴ぜ〰くふぴぬづぴぜ〴ぜ〰あはへぜ〴ぜ〰ぜ〵ぜ〰とぜ〴ぜ〰〽ぜ〴ぜ〰〰〮〹ぜ〴ぜ〰ねぜ〵ㅜ〰ぜ〴〩਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㘩‾㸊⡜㌷㙜㌷㝜〰くぶづひちぬぬぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰げづびふぬぴびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸴ Item: Title: くぶづひちぬぬぜ〴ぜ〰がはっちぬどぺちぴどはのぜ〴ぜ〰げづびふぬぴびぜ〴〩਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸴ Item: Title: いどびっふびびどはのぜ〴〩਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸴ Item: Title: げづてづひづのっづび Filters: FilterPipeline: FlateDecode Fonts: Type1: Font: BaseFont: SGGRWL+URWPalladioL-Ital FontSubset: true FirstChar: 39 LastChar: 122 FontDescriptor: FontName: SGGRWL+URWPalladioL-Ital Flags: Symbolic FontBBox: -170, -305, 1010, 941 FontFile: true EncodingDictionary: Differences: true Font: BaseFont: OBHRLX+URWPalladioL-Bold FontSubset: true FirstChar: 3 LastChar: 122 FontDescriptor: FontName: OBHRLX+URWPalladioL-Bold Flags: Symbolic FontBBox: -152, -301, 1000, 935 FontFile: true EncodingDictionary: Differences: true Font: BaseFont: GIFXFT+VnURWPalladioL-Bold FontSubset: true FirstChar: 161 LastChar: 178 FontDescriptor: FontName: 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