16201(10)1(2)243E6485102532-152-1552-15802.1,,,23DyCByAxyxyyxA,B,C,D1014226102.2102468102.3L,12h,P201Mxxy(a)(3)ay(b)xb5yysin,cosmltanyxcosyXsinyYYlmXmlsxysysxysx)()()()(cos)sin()cos(yxyxsin)cos()sin(yxyysin,cosmltanyx0YX0sincosxyx0cossinxyyx36b.(c)8(2)10(3)P,,;12x14X.16e,18,Z202.4lh,lh,q1012(2)4(3);466x=0(e)a,(b),(c),(d)e8102.5q,101)2sin2cos(2DCBACBADCBADCBA2cos22sin2)1(),2sin2cos(2),2sin2cos(2112222222;02a;2q(b);02(c)q2(d)4a0;2DC2Bsin2Acos(e)b;C2Bcos2Asinq(f)c0;2DC2Bsin2Acos(g)d;C2Bcos2Asinq(h)6(e)(f)(g)(h)56cot2,0,sin2qDCBqA8sin2sin,cotsin2cos,cotsin2cosqqq102.6M201,,ML-1MT-22M22304122444dddd4412e,0422a60,0,2,2iidcbeaeii,,,22DCBA2sin2cos(b)(8)0xMxA=D=0CB2sinc104cBB2cos21,0,2sin4122125O2,00,02,02,02B=C(d)14OO660,0,0cos)(sin,0,0sin)(cos,02222222MdMddFyddFOx16,2MB(e)(e)(d),MC182212cos,0,2sin2MM20