From 64e56ec5d84953727f45809e466a7225170d81dc Mon Sep 17 00:00:00 2001 From: a2nr Date: Tue, 28 Jul 2020 13:32:25 +0700 Subject: [PATCH] second order builder done --- .gitignore | 2 ++ DOC/RP_2015_Rozenheck.pdf | Bin 289666 -> 290254 bytes SOURCE/DataErrorEdge.data | 48 ---------------------------- SOURCE/SM_2015_Rozenheck.m | 45 +++++--------------------- SOURCE/formationControl2ndBuilder.m | 37 +++++++++++++++++++++ SOURCE/octave-workspace | Bin 47890 -> 0 bytes SOURCE/systm_2nd_order_robot.m | 4 +-- 7 files changed, 49 insertions(+), 87 deletions(-) create mode 100644 .gitignore delete mode 100644 SOURCE/DataErrorEdge.data create mode 100644 SOURCE/formationControl2ndBuilder.m delete mode 100644 SOURCE/octave-workspace diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..1f75dc3 --- /dev/null +++ b/.gitignore @@ -0,0 +1,2 @@ +*.data +*.csv diff --git a/DOC/RP_2015_Rozenheck.pdf b/DOC/RP_2015_Rozenheck.pdf index eb400427e843cd4fa02994a98aa4ce41396d434e..272111a0b69da7a2b9899fb0b7eadf937a26b5f5 100644 GIT binary patch delta 63786 zcmV(>OG})QG zWW9Z9Iy;m^%d{-XrKCF9U%v+gKocT#cRPKtcmWS^?%z3paWYMC^8N}R_D{?Hp|ClMrgW!s?B4# zWa%Qy2}$j+{KH~hO&fdTKFNegOCaO#Xj;K5!qalxj+>PW`|e#PMY?R}rI{Hf`1$5z zLTG_-k>r%1!msR2)lBS|vgtnlm{FCMcIKJ+)ba?Q2|*2yIYv}6prny5sHOCm#dNxC zmX^ZXC&%R94UJ7>Z$4!lr^~y4In2`%6(k@^Bq}t4Uxo^%-i+70hTFEpXz&H zy-2^7pW%DQP&KaRqslQtidXi6Vp6y@=!9^@xOBV_ifAE{oO2|l6Sh@Br5)h-~xVzjkJ5Y;A6zjob{@eEia;)23co zmK5%>#B_m}X26;?7dyUxb%JKS!vk8g&Hb0TRkHnl%Q*^?{x!>$qp@z54-XjupKI*9 zTcg*dyLnr$obDH9^tj63SRSg09nd*XxGq}Y^d{5r-FOCkM$|?*MIb!S<5y6dr3i|u z9_n>%@0NCLclPcd83O}^2X~EoZ~Y_#IsDI9NVT}D#xpzrr1XP-KCGIua;$$?I8pfp z1fp84!A#Z_=#@wy3tGLk*Eg9|X*IqBF-W(l<@76X%Tlm!Mn(EVmKSMR!+4NG=^omd z!A>~yL8uj^BwlG+LeZf6i&9?Q-q+h^`>KI*Y)=vJe0TGp0cQ{_=!n`*JDQ7kUONXC)EZX|(q zV~kCd=IOE@5bHeh%uu}g{^shJD*}{oLK20M1`ps;Ar0w&Z#=*H>1Uiw;2o?Au|g+L z?Z|n;wL(Q<-2Wl@_tn25G=xBE9|i1!yd&UK@3Z$Qi8SXx2r{pBasMbTsFaAm$P%cc zh;OgKX8(2T3^v+_(+dGNYL$ajiljH_ z8%R!oPhOiJX@8Xe`NlqUlM&pT4P+w;38q^_BLfL$qb^*hK0moE< z_5g$m2Z&fqSR&%2u=2KHfw1o~>~K>U75b@v+UKS*7i4fnJ(0z37d+1jqaGNTVG9y% zrTG~%KHW53sbU%pP{P%--7b3as)pVrfs#}&kq?;R&osmKTT(wl*Ae9#>*hy<=z;F{ z$LM{!Jy`}3O=Rpqz0ix{8*tQS%|m|2VyiO>Z|tb?I^(8)(YiZRoxJX-y@}$o@`qvgJ%nl7^89d&C8pwF zfz9f`7&(?lph>772_K?K!TK@R!Y!ucZiJ~21yl%toBF`N+mTFOl!qW@5kSnqf&e=T zNOrkK6gwb;{4xPiX>s7$He%(VcO62}{fplNMdw3Nt9G^A6h3qaMLS8Wh@^Laz*8_Q z09ERD0H<9+GT##v&a>)xQ0SZW_mim$06%6@ALHgHuVmn&V8uX6z61=Sh2hEb5^p-m zqH|Ijjot@=rUYx)2AYFrKmirw;bwq3LfL1^C#vi~Kp*V3SUsuS{+QMLyj(Z+7kfRa z+s(*!2d8~duj+Pp!(5k>;igD`MC8gqQ_tsZ4D6ZRVD}zJJ4S`>fZ8r3*l)eaSa4R) ziy%=Ny-B9K4gPd(3=JNvwZP}~SvsRQnZ_QYfT9u-sbzgsHub7gvDx2iweL3Fx}yVb zcYWRNFpn#@u|DyyXKt6#>}}5Nqr)^S6MS|H{sO7>1h4RA-6<+L68uGf>SqciBw_rI z+fV&%t9AK%c2rMSTf_n{py91Y5Tv1MeSs2+3IVXhiEmPu(_zpf+S#&`pom3RhP2|( zr!``_+BU;_I2A*TsJ>aiY$Q^#*|sP?wptrKv^%;pv-jU)GO$Pn5@&iV!3+`z*<$ez zzi|QDrK~^Q)Ez~N_?u~e+zWkLdo1R01;UJ;0$UdQT<$zukEf`m@Bt$vajQ!I=(Ej8f!x11PX&&ILKxZjLll^F!COmUL@JsD0{!7TJ!J!6bpOcb?i8pA%k8)c$~<# zHhQC8`9jFTQ;%)!F|oC;j3$-Yz**F*I@aMJ3?i16Ko{uy^8)Xpg-LOegSe~{aW=Ed zCdANF1__vKCE%Tf(r?to3VSO8nCo}34juriVlKAbE{@lKcsy(u-`@{OStl7fLD&y7 z=imfP$YI^`yoMML%mwnC*5UcS`}-Z68sbot3PmxGI;k=GqeZdRvkGOZ%%-ozXLj1c zK&S{(P>S}NZN@2xH|8Yg4B(SFaLo+nA;E#`-r-bNXm0yxa8g;DQ)6C~O+BqA=Bzm9 z>DOT+^UDa-%zB8ZlwOrDD#pzsqtVqnQg#jGa`coE!zW zAgY4el2Qm}fWpLHUgvg*o&_dm*^{0u=CnP^prvlRXP312s7}mtp+_ zD1YT!ZEqVl68`RAu^(3`mf`!0ivV}+r9rMJu9xUT(WW@a(MC~hy__uP+JApT?i;x~ zE6K6q^C2+cl_@Sc<6tgN1Wz5o4(Jua70>}Y37Kg zCY#Q)-}0BU)zxe_VT|QuQgCB)b~z~om-(9sv-x$onpMp&%k_kbyxh%v`_1I{>E8$I z^paSjnav7riPH5P^Vzx@V^yyIT&@?_vwijVw%mPK?(f!%*?RqFJx|Sv>FhG@w_= z^!Z~rh9cU@Xbe_~_#BhU5T^&KS9UUfRfMQuQJpMU4bZh)AIwZ`-DBO;h0N~q)hi%65q1a?DtEKW07>==G7 z8N5&?3Q9)OL_E0%!p%74Y+A{uZ34FDJz z#nQ<2^F;Byj=VR^{jv*VyT8ZI@l8cY`?GgNpw^V{z< zo5Pn7$v~Gj`%mb)3V)jOuia#CfEfkS6U)+$1OZqWH*T1)C{1Msu*$7TfGB|#03hvE z1hdwI{elcufCeeV1r81>d$ul8~SDhSKm^i4PAAObc_5Gq+S4yTBDD&ixR z*PXIw!Y6eKKB>d_q+*sZhEJkL6Grh#9Kk1aHUyt^y0YQI1b@)%Zoe5eo8N9usFtIo z#1JlYR(RSM2NiFN24dG?9}yB5fKq4hk#?jLd_+lmJ|7uz5!3UKmV-QJI2suk!1F3Q zi1X=CmLAnVNF^XTAx4lQxq#KV9$Tg|0`ry{QeYRlp)5FP->vs|HCelkC}V}+vw58u z-In_f#QaK)%m9h*LhievDnS#%L$VZT$%x9yXC1t zgrI~Gwj;zZ@ax7t?vOoJ!CqqoLDCTc^v(1L`_X)8kBy_89naBZKSwh|I38v`0Y%*a zZqtrTY7bk2)gAwWC6G2wLeCg+hapul2!sF|hJsvG?-j*_RzSh+OEnj zT-?@4{k|-2CyYY0c!$6PQ@%dYONRf2X3gYY1+T{dWQ+LlXf0}_(8tbR=o^}jA4A3I z?-ZG+Dze4N_5&nVpCR!>R(&pQbDn>L7H+{e*?$={sm`EDd4EmL(Trb&0$(JwK9ceO zG@9E75AO={x8=6n?FTe*5f$`n-&)n<#F(;eYVh+V470iMW0xPW(uv1b@o?;5u=O3g z8mW;R)++c8Q=XyXJ_ayikmhp?@;l%+G{5|WQ3SsgO!3 z;(z%?nU=tH@1;A<9pE{KD9kM3P8{5?FW|tTMvdXMsPeqy zlc(ec5f^cfd_Z+%FE9VV2)ESi>{f&^OKOi94_4zzch=WEcUN>|t@U#YXyQ*tyTYumQUA_2w{M19!)&_3NtJz{!}V^qC-*A5ji}y2g9?BVK{xy(8WwT1zn2 zlR2vDPQM~!Rr^y!rQhkWxKY$+%7HZ3gHePN)4CPILUu zha;@Jt#Kp{q_z8GI(;=9E@^Z zsY&(@)`svD_v)0{JK^FgXw!A%=6JevujHe5hpU%;T)svbS9Bloi_=$sUr`^WuTif@ zmpMspVGv>duj+S4Hn?!Wu!Z+oMU-Km5mS3|HPUvu%!`S?IO0CY}FNYA2j)f0eBzoT3qf=pjJ7Vn^_cCs2h% zMlo%_7f2dzskjlIh#Zck5M`=}Xuiyh1b>nUB2OBM9u5UMLL3tyqeu%f=EUeI6WeA0 zK`})P8(=3|k*(1Pg`ZBHMa3CMM989I06)T8B^A;B~`0nchkZpAFA4j=>p^Ua~-4=hl_`$nrEJ@2q zfYvZe>_-y&87@H$h??Lm{|H1lf|XaE+%!qT`gqM64JPOK=GJ22rg&+2Rm76+;rje??)`hp_{; zw9w%^FqNF`lzQ*Cn7 zP7KJX8t9~d_J{UaWSif&&j|QDWBr7`&4ft^;6@e{5ZJzXwp2*~3XEn_icq~N<-3f9 z6(U9?g9VAC_Y>x^A|PS`7=MhBz23_a)6zn~LQz2E{`fAE!R) z4^WZP`OrLmoz)Z}QToH#psJPF(O{ghu7WA)W5$)qqh+2Wv%NRyek%&%w{HX zOltROASC$-kR&Hbt&==ym`utM7qT=3Ou!gmb;jkVu{R-o_I@me0e`|tvhFG2tUR5+ zY!2B#-(d8<&i3Xcp-j<7=9Hk}$6VzsInC&}l%CU-3`-F0K#P~i=IeU(!g^^wH84KF}jx%!mBoAoe z_5|ZJpt|({>^FQ^yqBwUdnQpg|82dzc|V;{T;4ag^MAg5lB?-@8_of=B(Ivy_O`kA ze{63j72)M{d6U62M$SF#pz0ZR{N=HY@e^A6PgYhZMrT;Yf!x{E^tC!1I5HVp9r6rI zHZr$l^O&xxqnT$nv2CFgi}SRuivQ}Cz1ax4;CYw5PwuJufT2zT##jq=pQ)Z-{0h4{ zUr%)qmw)Ifjs-ax=di_u&gpP(Vp8)|iNCgz{UlfJ*QLqD-XtF?1|P{jA}Q`oi3DkE z+|Da)w^FhxkwUreDtSrGKrzRxMUI3waa#LL9#|E5j;iMoc`rSkXkauQ2MkQfAQQ`R zP5g-R=dmUpxWY10LGu4Ske9Ltl5-Cz^fgVkI)5qcYxY9l^~&xBhf}$(Ut5Isu3m1o z^RQ<;-K?8m4wpiNc0t#kjOvcB(CBoVJ&)-g%J!iEBdNV-(j5SF&oV8!MoiO!0@m3R z&t9=(kfyhd z41Y#c1|uTBJZ7w?>b)~mhexO=_+oP6c0{P!HrtrOdKc~1@+u*iDedudN{s!R5h_ZY zU84uZ3LEu-fmFkfB8<};(;>a_i#k3fjuxL0)#sY{k_CPkjj2;ksf^PdXJt7!sJfF! z_nj#0VPyD8M{izE3v`IWBpTZtJZ4QHkbhA9n^r<1PKJ8B7`CyInVQY9&^M^aeA z>?lbC^^o)bPYUJ_ZJ`6)h~VBK)OZe&%*02-$RlQ%hM9AuM6z{CS=3u6m#ug0GgrG1 z%Mc6KtzR!zxAy8-y@1ZyZc1_DCLX?W}U&fVmOFF)E{+VJkpHc&-8b-4|z0iM&xX5sFB zhb4oZOb1u&TB}CT^Mf(NV6X|ie%-9vxwRwOFYo-!-}}E-;n@0ZvuV(zl7G@fD;KNj zrez4jzn^ZJz=f9GKDH;g&kJt9ip9Fx-E0q>quuO2=}hT2zug0C&CJ|yri-iT+5yet z3}yo1AhJKBGSK+X8_;I$rP<_;GYN{Izia{g0bY_Nyh?RhzsoHULCLn;Z-IH%>!2za zYt>1xzPq}!^M+xGe=-X<2!HJ7d3{|wja!q2XCEf;qrTouczL(ZBnASN1MUj+H<=(s zk&>C#M)x%V;&-4s(6o4)y~U3B?np$?@*n2`j}@mjyvo!xn>s?_s`2v*DzQ!(VZu3= zC#cu!yI`vTMf>xrX#tk88MkMB$YX8xpdr*TLl9z*Bz2m3W3|XwpMMq!61!cqpvBkA z#*Z}H-RGY}z}a*->R`0+{uM7ScA8T=7pbU$dYIDG9P8$$nKg0H^J|ee;o{1BvIPYH*GJ?-jn~FzWqkO?jDS>$DXUIX3eTyYi%}= z6Dugw2^!lPg2ZfXoamV78My%(!e&4RCy)c3lC3q+2JpUyKu)e=?qmh}Pa6Wc8py%X z+}4Kszr2JUKtQK=ECO_TcUA`(17v~je*k6{024DeD?2wc2Y{K8iSxf5Z5_A)vgSr+ zK#&zc`JLAegg`EAYv=A@ZffSl4fxkBfQgHX5dd@qysL4xv2!-GGIun4=XSMquml*o z1BA?-9G%_?tpSoYM)d#2A!ua<_{Xgyzyah4a&Q3|)BoQjp){g;SI5Xj`e}7z= z{&8gn2-+AsfZPFU^Z*5*jjhZ7mVk+cj_&=+@gJ4Z0t|tU@0x9G{>c4zo_{tL@Q=p6 zYXpdcY(Nh0eKh{7#J`@7n5}~;=&uYMj2tYC07^3_Cp&Hi29tM_$zLXVM-zG*kP`#d zdw)f3jD>BjtwAGWjQ#1v)vHy8*Nr z=@}WB0E~bA{OeBlU8=FIjg|W!cR8Rn2*98uqaY@&N%J4$@-HVLAzL?qCmkCj7l4k1 zg#*CE#Ki*OVrKz(|2v@q(EPsyG5!gbv@x*-{I_spXS@Fv@AA)i15m!te;XCx--+aG zoy?6u0LuTDbMrsW3P9)m`Trr*VPs=8dcQFJKb(~RP5A%8oczaZ{KfenwUYz>|1A37 z=>AW(#s8Ph@ShuiLCo38>K}tfsqt^7|9tFXKx=a=_kZ{NPak#AKSjyeI#>g({x1y5 ze;+?dC!m$Nk)VyK)xVa^e;vil-9W|)=1xXt0282X-2dICVrFh+X#;X}1hD^e$AN5&|3iSNjghUfxs54+nT;I)bZ`K=BQU;iPi8hY zfF~2c{GG`S0CIcJ%|LHs>+~K1uyc0u2E6ZjgunI%I~#yO@UNwRepK^y=E*+1w#yWAi2 zo?ZT5i1R(W!XNaWPw5YO&!_wcz2{T;gWmJ0{z326s{IRby=MphLGRfO|DgBmM*l)= z?=~Y_tM^Ct-z%)Fe}Ao5TmOk?Vtkiq{5SaCA`+K#vf5f~8+y0yRy%@Vc=65nXf1m@%#tLNery;CN|F!Dy zZ+&8YS8WG!Ft`0%Z<*dp|6602-s^PyBknH*a`{^$*xub8-``mOqI{R{Xa#gM`y0i3 zmOnY)&s+v4GY8P$p2oXmCs*6Q1-x@O{|&x(&*g9My#cO&AoF{)+uz_jz5CzbdviSg zhTO*zzi~69B`&vPK zSGv6^4!-e21@0{TwaJ}S%ZxXs$5l6(rJU$^-p~FSl7<~Zfq*5laU|(2J^Di4rC4sp zxY>fbL0h^Q(`1*&-_LmNpRwa8y*-me>Kb<}ZQL++e46kHEH^PT+c;a6{wR>3;XnoESp@M4eFM-^6d3QP?NI`pD=HQWfF6(8zq74X=br= z1Tr|q4hYZN26diGI}F4|FKI*w8@y3RE@{!J-d9Xru%WMcFnfISLW9nWt2LsAnaqK6 zDlnWye}&OrjN9)i?eLO9h!W{zwNP3bA#50nx=w2fndqEk6y9NGt_Ys767;#^#63?|-~? zhw0b?m-Mp`&bIy$-~yaPcSQLO7W2(j`*9k}L_W2~(d!-^c_T7-J6KwNKG&UWw@B+( zf1tzRRzj4BW@myvdFX~WTxLFWXX^YODqQ9{yK9iWj-@<%!LU)jr^IfFodk@f9J{SXwmTN*|eUsi_@8@$4`n^s+)k*?8lD* z)s{NE&ajwvVkc?qexf&pM(a>DJw^p@mI`c=6G8@{X zf=`1xDghqrP+%u; z;>-CEKD)9{c0kX)c%i1yx0!Jn`+J&oFOcQbYADTbx4{Vtr&( ziV~v7JX6Q0>!ws?)Ft?_p9+oAbjnH?+wq)g0T(zGz}M znvG?N?Y2tmDud6BsK$MCIB3<6AHBDGt%TUkcB2-)dp}e$y^?#3e`e8q9b#E7g+MCh5Gb?!{S72NF-Mk0_>+{NBj zbUp0p>SwDw`tA{T<_e|uX&~SO1}h4LcL*Ka4{`Q`Vyn6s@IJAj8f z=8bIF$ys$UEmVT+e-x$8@5*mmfPut~hZjkQ4obj)l;k8u95K3!{w?i2V93F2CuLn9kUb7BQC|gpQ z=N>#;nU&YHobJ2vn0H3yVwP^guE^Eg$oV#Dcd4x!0}oW;ZR`mPU(!2RhCe_yhX{Em zfLrXscRV?Lf5-ENnNOvE`9?b*Y8nr2cZHWeG;sBS`*8nK zO8O89WXt}ZA?wr5Gt{b%<> z0sPhD;^Q>C9v?t(ER4Zj?Izu6r7Lf?YS*eE6yeb9f8?KJFwI4^7IMhWF@9ad z+OLbUpNep%9DJg7ejzl>@T~~TlKAT4cS!f4q3774Bbo_W6d48<9lCK;aKsx>b$`~( za>JVD9^U2znW2rC0{}e>fI$$~DIU)8?}Z^cl8uffhn8h|e5nYbPterGTr}?Sng&15 zeFz^Vf1F0dkt-m8MR!A2%k)%m1cIl&MKA+FEl=`x6(bLKa-+r?mQ;ju!cD)yO_vLV z5xVo5yX)nEV~MkYty(*l$Omu`179?vWmcOnuc$?-T2z7ieqA$3Y=Crg=wd~Hv4ujY zb%p9Q!A6j@-%Cof3_+aALv|at+!8d7Dd9E)eCZA8MipD|V6*<}HIC4B*yvYZR| zZA3wSlnC-zsbhgZ2&a-ipLuMLSV*c(+3<-Ri`wG{Lnn0j``F1lm?oQ!k)0oY697g! zYNb6F(9rXVM(d&TF4m|2!o!C-DVf!BZ~lqixBJXY`e8j8Ss-kfKmq=U4;)Pqyjr>A zf6I3nM^2QDk5z8k2<&r=idob^E}{g6mCsKh-R`?0T8%q!1a7+Jzn6R1KI5QFx;^V7 zjoz5r64t)U=uDXC>;u~XURamWvD?EL z0ns!uX)QL82DwnTS9R#~2MA9mnTyn}f04^>xA?%yG>54CL~{>RSyqL1|JtA+rU6Aw zmtRt28vWbe#Xo)6v99-{n>%SztBauzF~JfPflawjPu#nAH4omncNvDUz+_%wYB=k+ zNPbMAe1AxzQTP@pS9XTl@@U?(oPB-&Lj83J<;V2jEACo6FB7J2$z!p4B&5f#fBI=( z=bgcIV()qKP@eq;wBQd-FfPKTYa@OO}m;dje~esomvyxm9?HY5LN3a>;p zrAvLpWEGpZQZ5lB^>h(!D}2MDe<`x|&j{xRW`lM|;n?>+$VWk5^M=y6S0v)*z$b5j@i=A)1YTJ<0ykS-@nuIVgQc3?98E+5FTB!mU*-5iMaQQl}cF`XBLy-zKOnLT2EZ4X}87+zE5+3dc zCh@|FIK(q2L@CtJ3WNfSv#wmid~65iA$BaqEmMxu+Py9OBE55tf6;-iu+$Wc;96x# zts9*~qwmMr3xy`J>SK`_kUe6_i<6@o4%hSXc6KB6LX}hBxm|-7BU6TUKC5`P|F&>u zdF@OTt|WKlFS;7Xue6v|_Ww|l7~cG8nk{}3^1!$S*TR~i)yO;!AIC>3;YYB_ystxQm- zO_EFTAkt6G5wrD+9=*HzHs#N_#*_OvTBGT+;LI;tq>>T`FcSNI#X=Ug`3lp6Nvyeq z$rn>5OqDb>Z+}v$k&}LnF6_9Q!#Vrw5(S@oHp#07vo3UemknJKBIG zl%$J=7xFSce`ywJSx3@LJGsAM_J^#)HqLa*?}83k?vFxLW{aw>EY~(+*Qvs(aM~C+ z^AJ??D9dd}5CkDVBf-MQnI=EcWSp6>=c9NI9Gu|$eBa)^6orExT%(SWmm%H4B(v>> zJT__yxn6Klh1y-V>KWg_dKD-aVpMg(Gt(Hl$c!zze|^fI*KXkVPJ$539dV@rnwr)x ziAt6t&#G~n6|UQSR))VfSD>`*RQ$vl9ixTqzV4|l@_~#gl3~-)%oqiTLKk$f+xR0b zmAB^By4=DKtv_&nMQ6AtV#;fo({*9_{Kd}N+wk6PjzLe?x7t6RzsSeR4Xve=IhON= z+@1Tuex+fhjd#!m16Zp6gC|GZ(n9ePdp9#%0Wh9nA*@3e0g&y2r6EWwh#uV=RqXuvJbz)ZFkJi>D*&nFNc#vpGS$3(;Cg^`w$z7(HPWyo)=kEp`s!3jgB3%XTV{hor3 z;M4EBWSoW17jpMO`5@4%3Eu{Bi0(;XYPI?Aye^Kp;OcVoV4f0mzgm+x ztu;>k6_jpzNpFNprH?B2Xx~d)@DtY7e-YRy3-`KO1nz~sUzg0mP%TZMR2g@s_OQNb zVnr6zJ~bpY3?@T4aH&EE^<6=1T{@yf6BLj8 zihcY{IweQL`{2hO#3sHT0a(W8_1CY?)dO5mqAafkVu4p2hOh{*JlEAgm(cz}YutZ=r8>ex>-}n)-2z*nQT3R8BjRc0(HprEcr<0QoxaQvZJH z5ypUG8wXEh&98L<+wX~kiUAhNzFnF6;hxD}D-;!9{TSc~a+rYq5{;sDJSbLg$>MyB z5~Md-C`Xd&zNWXEG%mvgX7Ghoe@xQqVu2aL6H=9*elkDrXUgP} zWp~-#3UqxVu9Dml4&3Jzmv5TN!Nhti)HoA~Y$w}ll-X<-mwg1Uy`I3Q6(FoT5kj!X zD;VbeI_nq<52jzjCzC3oq5PfB{KB>m$$Q5gKekD#Io+IsxwEbBEQ!tJe*vduXQ zGD`$23d)yjhELhx5xe4Pf4pYE((#`}FxQBYn(ZY(N|;F@d4s>4zePK&gq|t-u9sUO`s<99&EOGlPqEo?|BD5$aEg2RbCXg+|k64XjU-SwFY`+!bQ)PcjD^rn{RK6@|3pe}|iX5Mwn>$LkpW zfu^-Vw;6HQfGM%jI~ube(pbp}9XiGW;ZJp)7hIM7U58s14BXK-K^VpJZCK zl|E5c>k?|-kr9&?e_s;4TH(0h$TvGiL!pu(R6BxqbZf6WT|1V?zv+=e_g}rX@O(3;9OG03yjHVcg<7ryf2oZ9{+`je-ya>jg8s?N z;rp)nO?WMikM+>E+!?4nQa$wvGs!~GLxpH~n2WCv1_o|lZRD}&NA|Y@1d`R7pWqLk zapPmhQcW(7u&ZV@BshIzC;N_wGqbGhjc6`O>iRQ5Z!rk>c@=%zbJkdc*Sg4V-Sqw2 z?5%nai=PaWe^@*hJty_B#)+WUz=r5 z{CfjGnj+(;nd@e)9t7Yic5TPepEd|uA4G_Da;3HUe>^iL><~rjH$x;+T=W>hJd8qv zvh>jWiOZxELI~UK>1&0KYt!4PnTat0SZxJ_|L~-IH{t*mwM(YUW)E`~N`=ZIdr<-( zzx7x7hyUTd7t3&h5v?Kj*wds|oF!!vjZF`oK+RIh$Jv&FA) z;@!jovm}LMPLIb5hoqWSjKR?6XsfazByLx!VUZBBEP&ibgr+GL+16uONoU|su%BR` z>TxYr@RM}L;I8yst3V}M%kHiO91|<;nOn}2;#VoOET5&3=I3!uIi<<*+U}GZ<}HHQ z^d_l!#~x0b2VQp@F_C=}Lv$+RffXc~c%3DV`!3vb`|FCaInjM0!@yixhI(?ULVx8$ ze?}4gHxvAcF&7U~o&(PytIRW#$U&W2^&;%MsVt5Ffk!e8yRJK#9C?gA4o*!5_QZrB zh?6mJB(nGljOQlU3ilT%;=vxvY)wXzURPb*YEEOdswiD+w>Yf&2{u~+!Fc7)fU;Pu zPX%GA*>U!thl)Ekynm9el8lr!vnQi|f9USxE4Yo6Obo%sm;UiY$Lhi(JcM8hd^rp;HrQ=snv1W?S2R;^$t{qitrWK+P$b!x9%iWv^jktRQ?lsHw$)Te-0V6 zzDtEjIkAt~2-)z6AqB1Y{-|56+IWsJhRxDKWV9b|I?j1I5IdHiuW}vM$pk7~06BDP zZ^iJ+`yby_jQoP8BMnk8F$j+`q*WqV;s;5;^SOK^s?Yi+DEw3}QEtq;K_wwM+jqIK zIa)(R0lh*^TH!_01d&G>)GpZw;v!5z19WV?{ z`?YyVjYd{-efg4ysJhJEi#hMQEZ11I*9?lS6;$~aY|89AWkUo>xS$xjjJ=ZJ*D9eS zVQMVP{Cx?FeM-v+6iK{H38Sj?^&-_y6hLTD2n#80c4LS{VrhwO?es?{0HBQ3U<<>D zOysf}|K@4ud(@mPndJ*;oyl$crQc;R(ae=A;8 z6TwigvOZ*9cDVUQ(ykOS{&LspGXI2$hso?Wq~D+dNBAU2i+NldEYXu0ob*VsCA$&k zl0DyKj%G5Sn+`N2JAm2rOE3w;;SCvEmb&`Yps)h z1)kmSL{QIzW;^t?(TkocP8iy+(<)MKbc<*8TSissY{Mck_GlB~%OBN#Dhr72k+cd` zSLnO?Fud7De|}$ECVR-go?y*c(l@DXldR?Ug*<1Uf{a@cJt9K1$TLD3AK<}yNCAKA zHEPBs>S>r`Pt+MXidf-)g32^+&NuDg^oFU{g)IzoO_0@Xw1FqBa+sQbhLX5lj$s$) zfBSM*_j)$MncDW^lplAWZsoryAMe;zZwLyW{Gw>c^(B?%kSBjEUh zO9};F4$Lcy`V(|W-8EMs4JIU7oE#>F^Km;!8gqWIfj*IA$07gK$ zza&RKs6zHPhJVHdu`bV)rdB@&t>?wQb=j%4u7hMUZaY@j_SL>JIO2muoY9vPBn%CU z`5pTjY?(r69#2eO*03GNx8vp{!q#hkp#_rY+W}TJm4*HRp;@_`9g$Mp>B@fS+mPz$ z>*Psr!(RS9ZS0&iNWD-;!*8U)Zp+bM|5MT7`o;4R=GaD|H7+t zq`nnI#bUV8iKrX*6})|MiBxOiSkAqJqY%V)-G3StghKd0-I+)6i3MGp9nqKeOrt96 z9G_VqNQ`w!NWaSUCffn&yMBT@-O>k#rD$jp3U|wHlBl+odp>L?%D4~+(~f{jn?21V zCxzSLcYn)?6}^gYy{7Y6WE3((Vf0Pf%a_=Ng!7w?ws$>GW%hEiPwiKZ&eqq~g%^OS z_rUM8LlVlVR@%*arKUr!I4_BIj6D+HWk%}0q5WUGF9g(yPIUC&kHgdjPJK<4#REW#nE-dweSz zEPrTs)#0tj40c?r_0^;Jir58~BHKXD6a_vm({kJUqUdyU;`XDSBmLtDq%@pH#F5hj^P#1%Q?nuc$S0*4q4vaP3O68>xvR zn=Q!TJ*_tp80rdevwbDvl#jb?^lqfE+J6Kwi|0rj9O_L_QzY+$Tdn!UJ94qs9l8jF zStlzMrxPxAO&H^p5?FhzawFB;57Ng!LsEJMK&V_O?! z6&l&}52kh1p)#=GrF9ezhmO9ib{D)0Bp<{5(EeGoV+g!0xE{0jUW8UV1(h>$z<>W0 z+eCi24m@GXTeYOX6})@q8C7vFVU83njujSyHx1DzxT8bLs&=6%t=DJTJDTd28>hwA`XEabMIxCaII#W6G^l7&{{kN+CXOjZ0 z*oG8ZWsxiiz6gmV^Nb#HL)l^}8Gn=nZqa=^EE4utxwlS)IlR?mC~lS!Z@$8t6(&M8 z2WWce{-TL*;uof;c#BhlP#)AmK?`}Y$>$82q^j4nNPK>S0q5NAqZg)iz4N2LurwKb zD{g1%GObj!934 z9jUh5{Pc*l^nj@U&4}QYgaIg;gM zlVZ=1(`9#$lELT9!aq6O#CG3kn7hE;*W1Phi#O(pEEU9qUHoY!(2#87e1iz!_2Cg; z&MUGG(b$w}sej+R?4IfD_TuIbtOqN3E5Ze^mIp6UkPq#{_MYi-I)8vc?FL60O3fob zX!u2NB)Pe|-}qEGt;9Plz=7Qa!k{;+wC%Wk{fB=o1=<-cs(w3mTTR-vIZR~A&GhbQO9qrI znA2|?SMI~mwL@s7C<@x|sgijnFtB1h#S}Xx1utaC`g@~Rqkqhz6pmIoz!hJV2^cy# z=GK`{4PNO2t_$piA3yoRi?Abcbe*mC&23CyD}PhWo)CS0qcuzx1yXQ5c85r!9}ZE$ zQN66Yzm1ohz#Jyj@8aQb7sWM?(vuMP@_yLi$DYqMsI_)RP?B%1yp#2qr|)pq!BPY*in7{?LI5`}U;Of@qVS7+)TzjIHl_az-@?SWIB zWgm|D1ept&lSxX^yLk$c+eq{|yDC((Y`l1-3mg{UMx%p*fd#R7XpUmq2( zWlSo}{SmrPyJ7rOn8i3BD#@MQw%Vk#5?&Mp5(##y18EvOZzlC`If!yQ}%R}8Uej>W~9;vDv9TG38mV zLJ5>T?oDOKMQaO>_VR*Oud=M=dn`%4#zxzVcFl_~Z=UgD)P|Xx2Z6_yo5=0;Z1BW) zJR^)`63K@n^! zc`fWD=^(BtbW(D=>zm32<^&ZF1+@1eR&=kPn5I3iEU)3r_#(T@_~(db4Hn!e$fSLW zFlBx-4~uYa{@;6maH0{|wc(56C0Oc5e(m#U&m=ODRGn}t{?%PHx(0WPC7;e>Mt?p_ zC%*LIwgdZo5Bo#Oxg4WopNiQz*}XnoFA@YfE5%CQaUSb4{SSdfD6lLQ%*IW6kd;9H z=*cw;nv0jQWv?O-8(ma^l)csx&>cyYKHF~IhHP+04S(Z4o}E*Jq9yGE!)9gO(2q`@ z5x2pUm((ptQI}6x?Dt{){W<#{(tkDXEZm0&VgS&063@w=YwCv3+zc%h-z#a_Z;PJK z6Tx*4=&l=tT!gbEMzjxJaZ{GxU_(S{R2<~@pe@2v2XsBZ$uz&YbA*>HQ zGm}$D_ki!X$L-9!Q4>QbxdjxxwB?@FeGNPn*tJF__()x>_2bs)iB>{N$_+^_irx#3 z7+I$<_zS!eBPFV~=R8z&!7mIsVYUeT{TLafL77k^PkR?DmwLNv#O{g4${Pk7ce!!# z@yw`L;gJ)kCxeelpV;E9)_>J*QPY|6>=;UjYRR=J)$#u!4ifb<6qX zAkdgSP zESR~hvbVpX{cr&P5Pz`u5WmI|5R|pFKaV^i0;nR6V=4O@e_F-vhZSjL9u^aJe~LS> zknnhr5bwzYa~X!0&x7Mb1)kT0;HtV z(L;1>D`%Qj^+K6`ux!SNq^6kis2~cuW%8|Ie#Q3vDCN=siOZc}X$4Z<<1`!MlzExz zYeqAQD$*NA(|z!|3oTLSB|Tar8?R1dK7pQXI59aV;D|R$dy4v{xE%L4Mx~Q#HA6HO zVVwjzD-%a}t*CG6ikzssTupYm;i0p%b$L&6uRlW>#eXj4f{_?IUT7>N3*tXdoxPb# zJZl&`a$;{OMC(KwGVZz{BwIZDH>o^!EmXKLo z$`Lz72E*v|808xA-95oP{M=T9*)Jq_7#s`*{8mtn}`-SHTx>hyJ>~{&yV> zA1EB2P(e|om|~J8)KKifo5feEOpLyHQ_mRat=@&Cd`RcWPdZ5P^_w%_Bp6Kfpt;ymi{#vXgS*JNbGr0ALVz=RGz4a1de3@THc zOzS9Ra98yh$p7%9W)Oy{%tEF$^Crj`-@vxjbH(42hTr~q{Nie?A==Ut82(DxEW*s& z6Sy>gF+n;k$(Q;mVu7pU>{J;

kkn!hg@YSF%pWJ!_1077VLg;P6$9LHIn}fh@#> zSapc(F&#ws^{iPFA}0ZrXFc&?BS}pP6Df_%>H4X3y>#z)j(75M_Tj6dIqBkrKQg0* zuATvXt`hLUw~7O_a=eaJ23@~V{d8BeV7@g|ty?ia18M6Y7e;<~#M6t(@1OR;oJvXbglecIsvpf-(@$4z@Exj}w8>OY- zM}(g-U>gb?8n$&s3a~HOyGgih(@<}3oSPXK98bT2JNm%>pdCG3sLY4jUVkIX`*dpb z(5GE+o3Y7Nhbi^<4-^q3;rt+4!6jwAb7%!Pc`;4@KnBkO_`IS;&`u$Pc-@(QdpLsQ{g%w)-8ptdm9AuU_x)p>*?`PfGpgHSOwgAdOB(~LIK?$$nS7!Cm3L{Jiu zt9(@5g||vtbA$$@Nrl-(Qh&21?e=Ta{1wM`9HQ@+>4eCU1WJbcKRwygF+5F~`b=UX|YxV~>Cen@dbou0*j9 z_R*k-r#c{-740X+#Y82bU^kNEz76zQ{MY+Qwk+;^eA7Wznozr^oPRRgb;ksyMHo|^ z;%Un1?(ux*qa($fFj+%D^@GM=AB$@XRBRB&4eh0`CL}H5NtCg3o?Jeu6oKg%}gMI z!M<|1vO!#l*0(J?2n@aBvj=kw9ZCiN$ZDh?0Y=;*^7N}$-lx|seTzrtmD2`|3fkTsK3hSX~Ya}wO7K3bdx z=H^)wzZYU2s*u(k8IVSvb>-L4=5-sJ9?mqgo=zUoh@OJq5u?vsD$dofCagj?^Ab!8 zc#q1=nc8ZOMSonMVhXry`=hU0kR#oY`?h=m)(v@ru1|?U&m&MwI&50fwF$Fwoj!-c ziN<06D~+RI`f43LM~tFjrDl1C`E^D~Y9x4P5={81c(F=C;v9)IqZXB8PE#Otj`_YVr}DGG6J z+4As=8D?a`Nip`zP?V0XHreO=)kE{Gd7=-LNbZ$6NLnK}OrLjNroHV6Dmjtmq5Kqf zo_O27w=n4d%;I@@E^(0MmtUN}Dgnn_*?bQHnU--G; zBB44isDD1+dEs$Y)u(pqvaKfkO8upF)itv0gptrE2=CA*^m`YXtSl_m++ANlD$-3Ai(fbO%B7Z79#taegN!>r~weVa2RLAyC_Cz-7 zmhQrAgKf7%`0hpKG-GZ4c<Gn*umy3Ox|XbL*rD`k5;10zy^Cl4e|@ zl@y#_bm`(uwGDV)X|6zoKXyS(b7|#Df+Kx`Y+92$K8Ki5HgE!ePuZ5_?v4=@xu>0l9anRS`|rl9y?+$; zL*KWgF!7X@#FR)IPIEpNEw!{d5J^;lne*km(1W8k3+zNSmYhyXed_m1JkOqoVJOsF zX0=Ihum^gN*(lRG*d}K|eU}@W7@8kYRIuAUw)jCD?OHT{z)`Ege^~|Yq)PlD67yBb zkZO{`EoEh}l0AY>t<#UX_~a1hEPrsC@CN@aZ?n*sj5_3~+rOM6foVmTmxbQEUJO~V z(!5Y;$Y=;&(7R6d8jf1Uel`b=S-?LvXDon8h=QwUFj8tQq+1CIYouNK*@_B#kR5g3 zE>p8ouv3m42>&QlX7thnvj!5$=cZ&adTh6^Zp=S&z**Ed;RdlXl;vrDdWbSaMQ+{W$Ug-2zoE*ph z)M{IDef4Ypa{|GqdL4;OX5@V3Y;XUOn2auiBY?->V=wasV8>Qn$tF*ZsItf;X@6m^K1a8x5g2 zJxd6UFa@`?OAtOx6Dj?a%zf%!gobC4zte*q zTC8!S@$D81+YG6pM}PAuDnb==qSc-A_a=IctXZ$X&=e^u)*_P6r)5a|pF^CfM0YME zAqIvi@l3C^mBqU`z@`GO`5>LBa-zF$A#bM)TY0+5jw^WpM zdCcmO6m3E-W&BNqMfjF)Aw;gK?DUW2621or+a6PG(dClPM1Mb0ZK_!g$R-thbmJ{W zbKSPOr+oeX!xB5q+pzgO3+Ajt*-RW}uN)$cR`LktkVc0O8L6^`k|MRMH{Mv0*6+vA zVE|36%HVGB+%xyG-1pZgxms@C!Z}-4^e7dl!5=>+X+<(NP`;y8(gb9rb^s3mv?3A(OU)ESi3Thue;C&;;UP@oN9#RTL5n*lL zR5eq4w%i|T5u%PHvOrBcI46f)$-%p`a_$J*UE#xt`mx(1WyQox#nETc6I~V-lFonP z5&L?=<`E?(-b^>sWj7q)a)|p~JM}k=Q}QPY7$0zlAQLFIGkSnJ#s?)KR2dB^j_n45g3jhP#@ra-R z^-;&+3xDduvrps`X@p9)1b)1U^#ys}LSV}JifvE$3bGn%kgc?YWgqmYo00?oq8*+0 z50};0zH`R|jp{nRbkiFy>XNT)I2ZD&lEO zd^1&!&Hgr zlseCBm+PV1>t_&X_gZiTP5ktLtygiFuC^xDbd?^8CBibf!7+f+MfW1wGDz9FVtq8? zEPu6~Q>``Pg5A?+rrNt%|5U9iWr*@d0-wYv`-oqX;zao5h%7+$_{EjSL~G*$Lkm>d z#DoJ%|Md7#n|}?g473;F>>MX}&f%FAdq&Vb=lPjzn=5)L1B_OYTF4?wWfUU+gaz+< zyD5~`-Ar3yBH*M%i%^C7IxtGm>jy+pJKrEyfJm( zE*t>Hq`VK+$H&A(T!=S}Is|)=;WLo7(guY?6v+ySo|p^T5qZ#$r0l|`z!^8h+906@ zyn;8t#>2(tyA^7Yhw*PjxRnCwb$`DAy=&9Hh3Ag5KriYfsWTt9_CU1cnrTAJ9OO#N zH+@?p6AX=2g>4XMR$JOlH_l$@)j(7G^3c)K*oR!T6TMh2NyQ4KCpTE$w_wtYX}4@o zljN9!GxgcgoBfT+QzAf4xBvo->2n&NPhLLo#{hO^aBqZG^{*DPi!U%tA%AGFx~|s? z@*Z(YDTH6ne9(LmP5d-S#<8E6OXZ0wI>P4}a9fY^N0VEA!K>O^=y9`PrbTm|$2M*k2EoH8fA8a~0Ty1J-dj6`uX4`f(K*JmZL0KG6MTdDhR zk@(OZONWlopB$0LZBW4Bv=eQYV^Z@wU|ZTFmWe7-;^C&CCt#m z-MK|cC(efQgU64AsluPu;MtzD(N_w(@}vn+ogM`_FDty-=6{91FmKj|HmAjX8k5`> zDJ_wS#N{ep=6t@-Dd>1sX~zZ9t>_e__=xfsS7sFRes(x__p(&WwqHo_NQaJ!jCm@% zwd|V8=U{>KWONvabU`THnh3%7XIee(UkjXzkEXT#t@WdnxVdY5Qjpr)0wuA?i)*_Z zA>$Vk1ad8dzJH8Il^D^NtMe_wVa)d$1Z{h*DCZ52gVZ3Q`8mYRn5)yH8;M9RFdr&S{R+EM$tj` z=YGPmwRA;PsdL=Ra5rUwWEGl&0nN=2rZ()Rx83N#ZhsB=h2IWTXG2Or+O1ZnG0$xQ zWq1pMF%qp`qN;mMzM9t+YhX6e+O9ZyOeW1oJvozE!gEclkO%FAQ2SN zr}4vfPl`As)jinERchncc!v2~E#1hUpJ%Edq&LHvEzVB0^mQMvBN%%dN{MKl_0Yee z&iQEQB7dx%$S3z#nYIg3Xtc;WrF|SY-%D3At6^GHe3Bw5g$t%64S4#fvd!et4qUnl zfHfuXhWozsu@DTpp9sedo5j+pCNiC=t7iZoV;U|}!Z{6}E$-M*<#kKx+g_RXOk71SLrs#w8+&r6n7LlL@;7K>%(Dbz3u(uS7C%;#@pS79Vnd!PFBrD^h}naFB_N1NQyl@#0lk|a1yAz$kCI=N@CEPh3w-? z)PKXNJoUfWIEN)s03{2yZQHhO+q`Ytwr$(CZQHhOyL;X&CT8<~prUpsPen!Q7H^e0 zMu-it_Lcq1GNz%-m=ns8n0sU&LZ1L~dfIGK{c z2?=O90<%5pw<)fROadahY(`ePtQhqUu73z!@hEI?DHHC*7;^Znwd4p}=j8`P*Vn#2 z&suT0JQ}euqSEa|7z!Q&$!E<~l}gibU`YaiJk$IX^J0J0a1)F!WciMPp%ur*Hoae% z^Z}YC16)mcDdMA$EegfW9n8DRD|5CQiebgS3k@dbA#(%8j z-_}3sDBPHomB@!IWR*P=aqfGrVu7B2S?D>IXF=r3X!2=rIZ=X%Ka|(Qp8J zT>%MidLMg(=PDN0fc)6umgH;SMt>+^k*^QF5w>#oUkDm=Yj)JBwTok-PBR&%O3lB} z77UkOKb0@K=|OFT5yZLQT!F?s!qZX=G|<5r6q`U=1#i$Tz{Hg^kI+3)&g;g*rJ)5WuG^Q;zV!%+fPginwIaa4dl%j zd(bFG7TSrxoiHS;A%9_oIla)v09Luy68~R%7Cy$}l|13pnTudih8RsMjIgo*@y_DE ze>+6|jD_eZWZ~Go0`Ut|-*SI@@whG!2i^fCn3?LG+>S74N%M4k>6LnqfJ~XAIf8C# z7?tY;nN&>Y&vmJZ4u47;9l3wDR72(|{Upf`3uiyr^Gp>WoPS`>w0PQlray~Ez*3|+03Lr&(tVa?K$At*(js!AnWT2`M=Wdkl~FR9`xp4 z9c8IC1VVoi)qufV&;p^rv+r6YzLq7?UR)*{Frw+ZHjkA7dw9MW0^>;=LIa|M1Tx>N zC8K$FgIfB>sDDcK=yWs{iqgT`W|nljt#$Zy&lfS|(+i=WJ3gL$32?_AG0MInLL(W= zr=7;{KM=hv!Eu)WsM8dkNvtJFh{gtqJTpOnlZna92agH>GTRU2qO6%mScf_4`zyr{ zAGNWgS`L9d5;cq%qFyM7eP}I5e@B^U^o%!%x9f446;p>_ z6y0Dbz<=S#zCD>=Y59*!c_r_0sqMa&j~tuYbpZz8T3a}i$foP$K2K$tuKAi<3(M(Q z#ACh5b0p54U%-~NVtx>SVYGhot}+NyU%7?^y;XK>qEO-7@^*6CxNZy3P|tSX$SP+U zSS*vAo&!Wur1~NfTJhoAF8)m~buEHk$_)Eqi+@_F&y^0EW$MCrwocsncq38>;2-^LKirw3B_25ox8?$r$*i3 zJ@w85ypN$)LGj6ah&-~&TtL+UkyYLnUCnr_jNfo=YNzw zXFCeq!>ja_cJ+3}*=0kt@=@tJQ+)H}4|GxggjZ66=p(098;}seP{0X#%^V8e52{aD zVPk=5;jla;_uhfL_POqho(D+DQ;UMy@D0XY4##(j2q?YSkdB&Z#KK9NX zWF*@VaoU1y#!aHvH7H|=D2Y6A%zwutI|e`R!0=Zh4yeQc@=TX{wAO4D%9)_W@gVF8 zeuD3bRa_h*g9Li1Ip)W?Wi%z`)Hg6(JfhzU1J;a})z1GFT|;oPSp1w`7M;kMUgTeT zr>v4mkZ|bXWm~Q>I<~ucT4qO*F%+IgVZbyjiN>itV^*)vO|DhX#@_y|9)Hbm2dEcC zbTy3+Zr}-(KVA5^YqE5lp{*rk6a&R!y}KEz^Fw+ zNqaOHm|)H)D(55A?pE*PF)U5-A12Fip)OP5$Y&fd#!ry=3+GM~1k?k__6D|FvzX9Z zH(F(SS5xJ51JCCRk z2aB(3zy3yLyL+E;vwy_Mfk}~nx`lLiNm<7pyKQmS798&{8W0t^H)rAHo91i{gkx3+ z2(IoDeWz9WAT*3QyNFWQvm;&TlIPVDKII_xj4WEBeqTMPE_w$BM$(8x!nE=U1OYUR z=1d;WRtd>z`L^NCnl(eugKaz|d*tB3sfyEy_n3CC(CA_3aDU-CLj!%8%rQiAQNCr@ zU>fnuoqk;(V?mfyauK`N%!72B+bc;%w3Tm|9nlPI-4whnC^i4X_EHqW*EK0D`$ley z%;1a1e$GIOU8KlYiQf2L!IWm8rO4)ZQxAOxWEEnMV3{=&O@SJKik1q?-0Lth2*s1D z8z2wgC%DKT`G0c1h5P2U@ukH*pD2CObZcOj_*QwO*ef(+h#^mnHq_+IFU>lqhu}Wj zhx5Sn1Hikgu|cXz1q;cG3ZLyGgRHK{b%}`%=PUvndml+(BqQ=GA8;RljW2w(G|GO# z`hKtmmLlntFR%@6<3vB^e^zT5W-oHBa39_zEttNpQGdt=_ttm|a5B(Nakx&{=J(Bu zI%j#4GO!Isog*LCBz`0VO5N9$o67b34JfTu>`~dBb^W|qo!q#3hY3%Ub?_GDbfT?6 zBKuVkBX~bVXNCML^0Mx)Vg3HudTVYS?6pAKyxB+0aH?|U;|}q(VT$JxBsnA#03g(! zR3PTnx_{d`Eq=pGx;oFgim2};Jp}i7-y~Ko?5;4Pj<4?6Fd@xKk<95{Dv!$9 z7{p@`?y@b(IV2cqyd@mBCb)GV2ZIn{b<;;mMvas57;sc^GyzDK;E}S{R8-nMQdYe$QtOd=uU)URzYG`SF`tGuP~50S9o zvy|bi1pRav{^76{@m(AI6w4p_wt`@W;eRS{#A+7b-GS2BCg+>7j8x(<$L6-?9o=r$ zEBEHb{d+Tgp*|{#a5bHldm{~9x}qAP1@xUwU=7D$)}`{e*ahfcwgPCW8yT#}ZJ)B{ zR1$)gJ+45z(4u{y7TjYfx}nY&Gt`ifo4~xaM*+8n6?LGFrVuSG-{Er++9? z1Cg%{qVu#5uX?>=@K>Zj3TqMYPP8c=D|QSw;)mwapb z<1TP=Z8K(Db%oV$C?Oe=NILRC!i9lAJI(3A(>|^(pUwT^laPRT$<$VOba0vLYGXv3 zerpI`LB$ddpt>gj*;rzB#KXAYWq-=6*%NXp`fx!lL+5+x{R88~Fdg=*ysdvryIck; z^>=_b@hHh4+8c?uK(dm{l$2N^C%+oj5T~9^R^;*X7?0U***zK&PLove6@e;I@>6Y{ zb&Ae%W&T#5ob*RoEt=bHa~Ch=APF9p{$}&$=r~tM5V$>;okz9pyk6yqyMO4{ZY@jV z6@5*$H3ub$Mk z*gbvBHlWDaKo?pnD>}4c$HI5$-LlItWo2jR$f4{)QN|d0$W(YP`IqK0gg`8HOm~smBfbOn z9xW+K{c4A)T@BlT!ajXt5VGb^hk9b;sW9%M^b^H%Rv*6>hEEV-et#h@k;B;Ms@OI9 z1{6*9KUpO0ZtI58HJ)!Pb|`Vp5rrZA^O+4ddxAPu9H;Pa3!aiJ5;xhfq%6Q)%@?o$ za(i~FOJ#PjFPxwQ*)Q0Hz65kZ#I#CE*$fo97h>bCJAl;eRMVdle*=Rh{EoKa}|RUbiiJ+$g_n*g>nfe>tF1*wif>8(RRc-41Ib&$CWRyu0X)FgXE4G}5LW}VuKYbFz<^ktB%V-Dpm_Vu z_dBhPv$m-BV`f0kD!7eE1A=zo)fZeUVA5iVX2crbF|E{JgSrQG5(rrUv*F{7=`IMqS_P#QjYG%+=@ z2V1rsNknRwpRHahPZrCHx;#n_RvK_!_CQ1Srq%l9Td9L7-~1XbnQ1(6%IiVK7$Z~I zj)jiP>NihdYFKVF6z975h%cIVTQ@z7r$}7xo%5IFd&+UNN~$^{b%Zrf`Mfj(3+=GF;oT+FgN=_ebL8*nqMh}kgM&4N zmccy&jGMk-T~W<$mv&rCh6S^HK)X9(X|^3x081KtnIQM_0@U2ZRj3z2yzCV8cX^YOAVFnCy6x?|S}juCbBoeZ!K zIBI(~Ma~y0GpCllq{tIV%2Z|DCYSyqpWkP=$-ODELxs&V36=a3ULIjpZBy(p$)QA4 z*Ky5QTDQM60sK4OO%`%E>v`3^LxxHlwVP1}|9=r*ygQ&~(erGksw{qgmys*jz@mWV zXZhy|l`0gZhoWv64$FaPtU!yo_?Gc~u8AVfiPPL!;$A+DdJZHo+=5%~C19DbxoJmuf<-0QS6|J>esYoG{R6$hcYn zRNodba9cSBDa7r;BrS*Lh@{PJKq}*y-+%rR%uuV|4SaThTJ$SiB@Dv6Iehil@q_0N$s7YIz|xaY zOgJx^Ib|bp?s=EF6tnwRXTNc>ZK2@j!_5moA^{`q1J`f|sfb}Qy&$Y=>x%&SfCiZVe$^^(D;{I$b+w>G*}+Ut_dig>KdfkH}8l;E;Z69LynbG#FU(7|sdp%`lg5_OJmW#ZlV0E??b;b77g5@xaev{JA+q$SZ#4mf z*Z~3aW^1L|N)oiTH0lB#k{a_1)Ox)J#+gF(2Bg|a*BkBIuvAWt5J{J@UV;w}&S-H= zY@LGP*=iO;gm#{j1`uUpL|RmK!Pcib8WxOkrvkgy(N_66i;m5N);z2dZr2DgG3P&f zpm7G9yg)w4&YkC1jDHuqJc#>%_#r^@&Y9|1{Of$dxmB+rr7Xg@dDDASQiv&ImX>?q zgf-JOMZ9TP^I1(Z{LtPNIyv7vKSN0s&xE`TEkTC_@6aXcShj)`oCPFT?pmZM6O0r5o4xX@QejtF=Ty>K%m+JEN1TNCBMnjXHS8VvpQ zafKnin6GP!LzyYeU;~K=_UsWP55Vq48SG=WHomWcON>wa5+p4O9_Il|)+Wk#;)9Em zNTRJ`F4a3OyV_94q!$cYSG*>Tx32@dgSlZvuDp{BO62h9ABLw}&V?oGr~_@6;%BkR zB}q{x9NihpCV!X{7yzPv)(#xjvn*zXV7iuj0G1t zOA1@AyI`x&d}~yo87x#=Twh2mM5)3J=`{&oAu zKN0JEpbSP$msZ{w$eFd=mXY2#2L(eI>W7Ev0A8-EdrfL!tWVwVA72#)Pu1v7x7 z0j!*NV!&WdexczCdK3oWDmCyd>vzL?+J*fZJEv_FBfaTD{^dm+X2yng?%7$8GzcU@ zJDpiqf%->S9pI_l{no_^pyM#wQT*&hse*or!b;J|1#I2Yun0!^>%QP<^9KY^-a=yB zQfb)ZB7aBJ+NuN(2Z&c^kQJZXaEm4ZrM&h&z`x~?$9?lC_F|Qh2btmyZkYe?V5+sL z(h}4eOq_MrHTd4ahWBizg?rW;MCuOs3WPedwo}c6HzrDb$%Ph|h|z`wM{;YwS?lkD zq+mq#iQpO%Y)xDux6Bea^OVyT8+0rv%cM4avXOs*Y-1s6P!ljOu;2aK5u~kT|SIXg?uS zC4UoOYBzYUxjxMe+HN2pL;TLx*;amb%MF249Jq?aD%4M*$1@*SxtmSHNX(nU`{Hsw zcyn3u)=crulcb>WFbTfG;IrTjJF&x=?y2Z&vAL6@*R%f4P!kN}kTOLBjmWY5NDUFZ zY9>g6x_=X>8*7U5yZWc!uys96l?HxTTv&ai&lQj@ z1*kv6d!=dSd{dhz;6+S2V9E0jCS?l4jMExDzC+O$@Z05wB~IsoPUGGO2+~uGeA?lb zkSbhjc|CbCHbw6nc1NvitZu(DY-lg5n869FI|o7@pqJtY$KABH2m|*5!T01T)PK=Y z{O8NfXj(dy=aG>)p0WE~c#T#A2@Ci}$P!_I{PL;m@-sH<#u+NmyxH^D6f=~$Ue9eF zs{R2}@GCfZM!d;^(7~NS>=VCk_)>b2n@p0QCnkv{bQ&%`u<@-I-O{RM9J+dBs1pl5 zh7dzg^pLaeE|SE-HdEea?Kdnb`F~fCBRx~I>i?qDn#uFtR-^?!R5BrE*#;uV8GW{c zPFs_13wFlriD!_QG7*mnsz~N%mM?h0br}jMaApLf4esT=(~&+9ZIExR)5c80*nVb z0a}q2O{ixxnwm{1IDezDULLgfpsT4!Ng-)+53kv$PwolH6&3i0Ns5ij&f4ntY&@e* zsZLR>+Ow)BT3u0@nw_}?m2`)sZtgC;AtmBUrP+z(M!no4oaoJY=aAhbT;1eba8EFx zFKGzG>g#N(8lZw4Jp+Fetbb$ofTV*Qq9Bb?g4#m4WvUzS@#JZ7H{6k~hwBI2fNv&N zFpmX;w>m5eaw+aG2+nG3E3#lbAHETB396Jp;F|bJcr90*Fo<#Ig7t&`&7$Ze+9;l769=(^kV^nTir`f z!7D(55!j&%re{#C=Usn!;B-7FPH9Oz!;r`zd2kd8MC)!^)xbrWCB7GWLmr>E_o=Zi zXDPS(5iFuKy50>kX(Px*>%B4mAqhCI0nKe*=OLX9vyNH9HIg;oJ+mLqpiUg0Z5tBn zIIcTgs=s)WZa(2jJx_>gXTSq@jqy{l-Fd%lilVE|ws`cE(a3)>Yv+!LCjrR(1b^K3 zZH29tVt)HC78ipPV~2l&fXZ9oulf(|%I9#6L@VAfmZWXyL*1nj;+Y&(EVARNnaJ!B zt)`NgVV%yi< z0?JKLsFhRO<6D0kI-obVG0`KD0#`VDKOKM{JRmY*O*1KV7A&8if>?J(oMx=90W5Q{ zkNY}{=i9~p+^PGG^5B0Q)k0h^r0R*MATWAX2W zOfe(N#^)6zI0anDg2Ex{I1`W8$BjB2{(ca^i*abmH@j!g}+VrSqs> ziO!ef*~H(+BSZqoQ+yWKW6mWC1R8RI^Y$cnAhoK**l z_|ldv+sl@J7*Ld0=hi5|HOYbgASO@X6CcQHadf9`GOebEi3SC!(9@;|8 zI3SLcg+7j%7TZ@(uO{pz1v>cE)l%|^-MfaMyKN}At~YG;=@{=!Yq!xDz?LtRgx=n8{mr&r=nMv+j-V~D&q>j`+}>9=_NbC zSw|dg$4sQ;bIY3jOWaIaL+N`m`g=_n8`YgJMY%ekU0$W353>#q$~E!Zv8 z*@LX^EJH4^(}~VpH6U@%_pQ^a)$P_bMdYwhRvm~CM^w}TIBY{J;S)x5+c|&P_oU?> z^#26;?fwx2id|`Hamk?ne&o+J1BH@jf4b+xh==thIY3*_Jt|0)z>rP!GrYB?IajgZ zxcT|6?vK4Kd-G6=Rk};bf?u6TyM+-@U#@#frk~=7IHdgEWn> zj_=~R_Mth4Eu4%th0tj867#YDy``z?bv{48w705~e{o?zjAf~mLqu#Ny|{OhvB7Qy z52mB(CMPH(Fq^1A2a_62Ol`xt#p-J0s3|yYT)T8358dzq)LoBkbz^@CPyp1pZF!iC zzojh+;#3CAj_$r=Pp82-+#}mVz+3h!#;|cO3e%6ds;6?M3s(dbCg?C8CiduJTE5@} z7%kvX%P|RcK)gd}Gh3H!p9+$=@@s`Q`a5Tg!)DC|k0n_gKX2<2fWZVW{@@F-chkHi zbIAauax?oR;Wjq)8ODDMEC(<5dFkvwDA_1`oTEwr|s5=A!~3aBOCl zL>^kphGd!?$Y#bGMy?=s4NOMt!QmGs{?{sGn`eMN3FGT7pwp%Hi$CaMf1V%+Vi$yp zUbKgyjgAFS_GiSyY{PPRJ)#GqP-~U4^0bo3ifBrD9D=cU#2 z+stQPy$D?>N@_E*S5kZrMpH9-qzrKW`4H;*o9p2H`_*?xKJ>YD_Q0xP%j&-N7U#so zRrH92C;m9@{X7P+rZG&s z9ff^<$0e2&_YhcQ^C7;IMCtt>LeZH~f6aLstIc-sB@BNDAfvX}UpF!CO*gzXCcenp z4_iVvmz@zyeNABt>2G+*w=FxA%X%AB_{(WbjQdo2S<0DL5(J5z-y}vpA_1gr-J823Up=WL~$KZg*l=9Z0Cs zYTAxDN{w$xlRyQ3jgU);Nn9996C8ML2WMH|sK7nngkA?F+Ev|o(v9p5VMZ3X?66nv^3>^`?Tq)$IcO>P6b3aQ^S2SH zoS5mKJU7%-+y24eYACVbpw}ijO!V+3PrDvO`L`JX0s?iGuL$I9tp&weE( z=Ffk;J=wWqpGOTVRLxEg+mRLYL6$G04*Jgyckdm(=pM@SQ_@~msAt8F$Zrb&jS~^b z&$QOF@-Aw~GcWM?+pMePY;Au;^t@jszc^tEe=W}x_Ix1N%3^jZu&zcjGxf-poc(Uz zOmiS)4IFZ*mn~j2kybyVVW0XK#PK|C(O5H`-saWXA2}nC-I(S+wUZFF;r$ z*SuMuwmxyNw}x)yt*%QIGg=#nK(1nYPuV~<^yQYVv%+wV`O*s4K!;c({R4uYk1PqZ z>q=o5EE0EzzdnF5du}*lx;26szl>Y^mGG_zCE>-vBqcvc?cSc#v0pUPEl|`j|J;8T z^D9Qu*iwdjK$jgezSX2i-%`QkRq{9Bw5j2I{(2AztjoVyYeEw=8-~z7P`a+?*sIx2 z$JrHORb4*w7^@)-7l>#X~q_I*XuPgLe~d~tD8DJAr8~5(%kLFY{MZXj@Q59 z%$lQeFHg_Gg@ZD!eP^JX@h__hhmwB){Ffe#B55aAnyV^E2FuzFVNwWe8n60h~` z5nDHle-0xt{0~X1%^fqA#t(F|i<6t^v#NQFP-ti%Wkf)ib!T zUS=RGxx|Kc5q)4^{de<))nHyKBqADmpIR|FY2q60NfB5eLAujhIPL@)gmWjgb1c-| zhYB1yY?X32HKSMAoh9(!S$naVn?z(y|5am_=pi=ryQh=lqix3Qz|^EPbb#od1Bxm9 ztm8AJczEurcBbu1=`_crhOvJEvO(gB`1VsBi^GH6o8~H)Hzd~141=?@GVBn!JvA~h z>mNnro}qdi!_4$tpsgG?(;^OjY^`Lk-69QhpF}n4^kGpP`<^B~_4@bbo3+*$ik(^c z1q})iucg-7NhLpIKkl#(P0`v3z(lV&bEwIKavW`F8B5HXP=1e@zqEe_@K?_CC<{H| zxJod>zQTVM2)p~V1@L5idf5QYRd66;LDJ&xv3}vfu!X3$P{0xuo^X6eck7mRPJx1a zAeK1FzWSBEsK+0>jbYJySK2)7(-O^WM^Q_YJ2=2are#rf%Ox?+h1oF%F>}xro*Y)6 z%@Ga9IPZj(Feg~!N_tz)3>lfmX$EFM!}9*B&&k$&bFZOk^NaQ2j8clvsi z7oZaKQj357OZ=g*0gmE>(+y7+C%6?U_O;PA-jtbV$s@#B74d(ZE>M`)BJIr1*{0X@ zj**5Z>33rIxjlLFHN-}SlMa+QWCZAj*w$~$fOt1^lvll@YD{f5$-z@)9fB8TK4hk`C{Sq(Kdl<)4aK6N&~K?C71#&cM8 za`4(n95jIgn57)Pt5At)tJn>Ia-O6N0 zoMxh6)@pS}WCs&nDT*LElOU>VIppl1po*}AOKYhtFScx)_JhLdTB)ypC4Fb?O9jy? z)l^%09k73xC_2k+n`AcT=#dg_8~;&K_mr&O;*{wcunv~6fQ&fLqtn$j@2N^AhEsx28o=3iAi<(B}>@C(l33$ zxPZoh7M-_ZS;!x=N`f=&O&2?ehx$oTq}~$Z8b`09be>cuEI^E*=5`Ae+D+V z9@duS=#4-effu-Ri|5v-D|E~}#CVpL&6*xl@S-8I=%Q)1iYP=A*KxUR=fJRbj}QWN z32%Senk8~)q_;N=8XJYe&Gp4!O$w*LhkA2e(~S%!+vVov$Rol6EnV#uLFI^pbX?#n zxoqE?rhG1Hk#V2{u*J37NHUGc7%EpK33ax^l&xe1Ay&Rch*vx0|`1GHT6=5*d z-M)6%=G2fLD|O8s1$0N7v`DyK2xCe4EE$^-A;8xNJqiriWLMo5dOWqPj1~Bj&s5jS z4w_4$tlA$`fX{1a3sWz?(IysomLqTNX&o5Oh&-en^=(LEjx|SCNFbnWl zBUav~D{#1gJu!jQ?V|jzn+P4P^Q?c1cqJMu)xAR8s{ZOSxv^Jx)1ouXH6jk@ot5zV z`1=|<&Tvc+s(S*r)?4EERk9Fw9Ln9N$Zd|}bgT9$XgHNDz{?QzDpZOLTU_oQ{n{$# z@xB$)P6h;W;s97_eO{2Thl}3*@I7RS);OR>>Ols4Ac;`=|G%#RZ2c|O6`6YoyWP{a zDY}~BG}C9%q`g>U;LE$qLfM1fh5KVN#zksaLvgip^9JKfffo?R(wv znJ*eLH1xz!9bZ*7*oH*|V#|Ltm8JAtY{np%ZmJP87H~J~AFyc}{qeY=0C%&hk54BT zwYZUJO*+(=>g5dpt#o$%v22I|G7Y9wRfHE9uTOep5ck1+Hs>(-yt+l|#hO_gz--}m z{g#Rmtoz;vobhulFi!zuA%DVa0#()z+L*$$z=AMs>saUdacfvELn42|Ac&?}CKzXl z{Si>Xy{40kfY3DH3F7E43+v!;?B2Ox0RIu3(w}ViYAOy2=v!Qrj-|a-(JRF zKhq=V8nUY@PNL!Z*6S72YepI8r1L~^h`Tnk?_ON(^86jw%K>p8cig?)1+RxbBsx&< zX%o_+xzV9=*bxYx7~Ow?%*P^?P|~^;KGdbj)f?0>uH4`;>zJ`=a#^SbTO80#*fU(; zKHf~(yYW*$yAiUTOQ)+W9AFz&{z!)F!DJ=Xbqc45v=`emhO> zx&)Gl?n5YXs^nWdg*3L(MBhDT*!Orgk1&+?v6mec<@2zL?ntTUJI@Kk(BhVJbBzZd z>y!{%n!1;!CFFlW=2ww6ub_^=IA?W-xWO0X1ZEYj>r*#!EB4ns-JR3{=nRv6W!_CY z5!~O3{zB(fjLTL8%x(UiH!{MY&Ke6n2<~QDs+~w|C8!AE_%NJ7vsf~2f5&EDbfL-A zgCTsd9nQxC^Jzd1pg~t7H?eYRD7dCPtmcmL1YxNC=*xfk?jXD4&XGO<4i}|D&vd|J zm-2)HI=<2;WZ@IHzWO~99_KLC0%VS$-0^7t#-{TKmvo8-wComJQVyswo$dCSJ+>b8 zci*dUi=F*XIs7N525UN4#_M)BtFvmNH}-^>)G^(K>&UO6IwZL{sc4TVx!KUKTF40jDmy}PEMj7Fq}cS~*h z!$8m|P!Q6OxVCpd;a7Ct`T}f!@;MA_X$7MUo>XV77GNprs6d^Jz5Y^MRrdhQHH&{9 z@B9Wb<(vh$$y?>t&G?`ePXDCCwLW-CukP$=*}eOF-f15uzsTB}pMq6Ymv0-jUsdpe6Vu3RIr=D5F}8bOZTtfwqIi7|~M;oe5w# zb5JN(ETAClj4T?efc7PgI{r#`=4Z8uW(SE_2TT1(Bv6)_$GCW( zh3a5{8peXLg~Cd6rQx16%M`wZlm6p=UQ}JV2+-@3>d(XBZGxiRZ#hpJA;DOm`Dk^% z9y3gv;?cG!LhL#BS7o$gsyp(IC^evR+UO&3>lvS{C?k3saA~qJE~}vQ1=*iW;5;>TdqEb~xoL z^g8@W^^D>p6$U7NKvA5kyCO|^54z<+n0WOch_F@rFfuKU6I5I5Cn`Nm|&nW z$5NfPn}H&6U??p?Wy_cIY3#LOo~jDnq}AmpyAntdO#yatKCAHH51}ayE(1ljP~hsD`o{lxD2V%&H+rfdkJXZC>Sc(R;aL$PKTDfl3X z(|gwo8j%pZ58QtqrrEEbyDF0(9?e_rg95qR&%>|bx!|aNRHyjdDuc9y@3rQXsPV5; zjh`Y>n%*P_)bRM9#6n1R7sQ$-pfp+H0e@}zuBm)kk5pmn9>O*(`&f^z_w*cU(RP6C zK}MvpukUz&La6Oio$FJOUGbEuhFRG2xuadbA{-rwK|p_kSIjLZEV;Wpv`7qkGpzj& z>EM*VbJAa7cbU!uVamthx4HTu&=qC~%#v2Inb4NSou`Wv+0PRZt^Zm)|=)spM38n4|AmIvKs;R<)MHUHq^atxB%L_@4jd9N_9JPGGQMj&X(alqa**Xlpyu4rD88 z4QJP5ntV;l@E8R1y+d7V<4xm-gH4uS8H>f{vaEkep8RJFApwronje-vU}WnYo%qaCHmP}HVgLwJhgAMuW>-p;0g@%d2Zk5ZIjH4 zFXh;$uemAp6o7-?T&lWDPTa942VRa!JB?(tVeDBs4k*R2B)D)8F?PDg;$ssg>xYcp zb{K#2>`i=QWcISawP^71tk?Bs$U)hV2h`1xG7S0oX;ULcs#DATVOk{Ra7RbP-dVDM zLiGFjt3E$Z?hbrvNDde8REoDpNB|){E z=<)YdlDF$dtKjhp@%qj^({w!TE`Lz?(?oxq-97JLk;{fU%`jR75z68oqg84K2I_X32zo%Z+PZ`#P^+fdjv+dlb7m6$z zixqtcX?=l!NF^YrOiCsISN=aOpG)+_S`M{oGmB}>`*ZL%?w{oIR1WrYgOHqMfp32w zbqjn##zBdxxpMX?{e;tP+R5vgbfbX@YvB?w=wX<#%+Pj#qsaxVlMP*%xzP`g-B9A3H zDfpVoLu(hq>HAjJPY1Rs-UnPMob7)Ib2el%Gz|#mqQ??NEE7KV6@@2W1wEZ4*X`uk zva|Ai8i`3OLX8)aAsR+^V34}N63na7ln`&dgN(6rS{*Uk%_>`}*&D9XcY@y%_V8ol zbqj4@C<1kiaKaIgQl;)gzbyBpYCrm)6HXKR8_Nu>{g`2i83LCn(z~EAUxj~Pb%}Fu z#ekf7e;SAH+{$q*Web)R{}f0DZeJ>Zc6@M0jVK`dmT|Om^*#P!p~fN6M} z1yf0jiiQG&Amj^zRN=coJ1tI*p1f=hm=FziC{9i32F1_RCI=icp0~-2qH4XL2}wh1 zch1~rE{hEK<3{G;AmvSvnTRU1duM56}6nGKH(L!FGA9@Wyz zwFVY=A9e|jGSmpi;x26UnpRFw8@0H91&4z?0J(Zjl)FA47)|SspK;mwDIjjck;LFQ zxbE;HC9FfXO-EP|XfBqzcIopoc}Dz}M{L3D^sJ6JHA}?YlcsbEa7d9n7Byu0iaEtdL0LDR9)jz? zJn@>B@p>?QHP))4?+zf6RT%+sP#rfP2tNA-8OFckK006^D+TLOYK#F65AF$=9#Jt@ zE!z;zl%0$H@vG%7>DPbki=8;lO|tkBc-GnvJ5~Rz5h|12mIUv{WF8Snp<$h*_?IIt zL1mazf#Jw|)+eZw5OS7EUg!>}7uT#YlnpxThoPU?%X^(_%WNVeyAWHJ9;7j!+;&<U|w})?My3Cky*=6=Xte&ep>fCKC zy@G64rLcO1`K*6l)rvOoJGMVVPGv6lxmle*KQabCFxzW_1xe8c8w!yLhilLwA1gqp zb2g}yK;G4P9qjzsrC?b4GuLkfe-BXKJ7C%;+hl*GT zZrDWI=#7!u#pRgpL4Yg@BP~r{@WCCEYY_)_6am>-H;QdrD^YnJ=9J#IpSp4fPJX2; zTUcVnV^Da6NcyGzp8zfj(e>#uRak-xwoJ+wSdL!vtjhLE=W|;xc9#Y2$rA{aopn1j zsbX0Vv=x8V4z@q&5vc_+PROxlKlazs@V=+-m8b$#z~ULPkrYun%oJK1cdlq8YdH82 zq{*ct$a#sI6H~%_F8}GAR;pxgMf>OxVN!^2ftf_uTV{|*@z^s@)fjqac>a~TB$94Q zE?me%ZVkulM@(A?oz}_%1nfs;3tu+_D(#nGuGxRwaly6sP1nk-U&9#1w!iX`H!!Ht zgtJD{&iiXSY7!LOg1;X;ueOG78kTPK)AyJT`85Q#K{Th(S=ih?r=p%u@f!Jw-&-FS zSm|VX#D$vK1z1;-*MtYY)x-B0UCtYlkzs~d=MrG+)FxR#L$BT7xLq&2N+K`WM1{se zThD)mUZ?aO$v&*b1NrHqh`h#`^%IEsJdns}{P(t+By;Z|=_a~GLQCU=5%4z-k7Z>8 zYm2GqBjfE9uI^5H-%$Er2D(Ek7C3LppZ#`uZ+(R>?EUNKi8JNVgE7;zpS}kUSwCFk zV)@p`E%eg|+FR+6TvQ7+)zLMj^Cs!G zgPwM`L|kEu2x;HaB`m^sn>wr(e%*i;MrH)Sju5qW(Ubf=|0L_E_P#P4-&BRzx8j+V zi3uja@oSR)|4g;@8un(MqH9X-`jWzV&8YmJ5c9m1`sgQ6TY20}#H`-#>X-(wl*WJM zkADuzTS9mN%JTdDxm2#3C*oGZ0JO&pO-`N=7T<$)L zT7l1SCR7q^u8rwRxYeUDl%w6&M4qTM*@r*=NT^S~Y(w0KyYFkMz8;)NdbA?v7J}<7 zU(lLshmg&^?f{>7A}ZQrDE%oQR2EFei6gr)sNFf*?CLTPW^`CmH9l@fk*I%g$#11s zsrq!5w zljWrEmBbmW=VGWv64tis$89-0Q2etL2j>szLpD*T(U<$Tje)B~baY1$j3tHc5B2?8 zpB`}sPN(K~c8LC&M{W8_DJ_4Mt~g(w2V%sHywA{w~hK z>u+wXp}}EtNg21VneQMr`~A1J0>85T-frbWJ+T$O2qJUoU9@dQVbOize8HubI8O&R z--$kXP*!P6tS+7__c+T0s~nHmRMVuJn|L>stdiQG&v=mPn6u zUUf4aF+RGAIz-B1X0XyVRo9B}JY4<*SQ0w@=WnVBszO6Ex$b}SEo-qnRcih2T1d&F ziZovj6I4-KgA7l(-w?_YuFD9k-JLsCwYP=RMs<6@-d$E3SQ$k?YWqCd0qOrH{k9X1 z*8UEAGI+e7)+Y&p{Y%H%8k$L3S5UEdVE9e5BT_Y&Xh&|4*h)tj=GccoX zXAH(Z?#SCHuuOA^(v7pYSu7o3l_HSw_%c@tN<0!S_Q!vYbZxeD;3`A?s9xE50c|x- zGr|g!io+y2eMAOfCV9A+xgx05n>3s(`tn=o)jpwHS@(&;D_+)@*0KaRd1~|Rk*ttq zX1$6l*mUtH9l-ys=y0L$(>2f{xZ@Zzk$GUs)#un z+M=P)vlO6W@ev(9EOyl8?j)BmB2@Aqo0VYr^`?J>)?C4^&>YSyI`i{(b_uLE7Hdh@ zomR=|k&+l0fi2Tpg1@)Fm(bGCmf~%Hr*LKL>+%!LWo?C?CD{o(v@^esU z*sp)!yoNlWIfmK+#>`wZv5Q5b&#<5C9ng3zj3`6miR2MN+=W+z{7qJ9G{ zD+O0*GEiYXlqNIxlC8zrw_#qZZ08{Z5T52%6LK3{cg;}e01%1%OQz!sY#QlFK1yR> ziL2nA=jGzRIJ4l{h9wa-3F=v%(kV(c%9fp84zu_MoRjGxKfM!tliW;trQxN9L?M5B zfC{O@E!wfU$rV-Z^0_-8q6vEz(KtV~| zHe1$K6u4Ut4LjIHALMCg{^G6uXYFU(QKkc*675@*T{5zSm+-s$(;lM#hi2b zhy+O3GT%#fV!wokA_qm>b~hwv+U|c5;4uenY>!uze~S(MiAKjm==q3GTjlf)hfq$W ziMTEh9A7m?E31B#l)YH}Eflm`Uy09_~u*aU9Nv%+>Me- zhQx@FHS?+#*5h%4lF0R&& z4t)QL5O)Cq-QH~yK)3fmMMr-JfZRtr04qCym5Yy+n~#MBz{bMD`=3BZ7e0Ul(B0Y` zpvVM}b94Z?B2bDuI(fNRTUxoj_xaBwfX0j#z{<R=04M_8tU&hf z9nFAt0Ch(*Yml4Q|CFE+uyS*A;$vp^@bF*)+PgA2x>yR)G5|cR-K>8AY9LpTi#y01 z@W;piC7?a%@6nhLC;=K))~{A9cXO_G<^^FlR6L}C8`PlzEAk~e6D6L)=qA&Os>{;f6U1I zN169ymUJ)|ceJ+$Ik>qZ{J~Gc+683xe(qk(e_yVxgQJIo&wr4GwS&3EA7hw*bYj+Y zuy+0kl9l*7=G}zwkIfR~2H<4j;b!OI1c00YAWt(Z=06%}csYN8{&cebVSb;%&&SEp z31IO)2FTCa0`&fc;NuE(2Laq%K7#yw{_Xf*guu!QFt;{y1DJv=tsM~lss3&TS^S0H z@88AR6QIxXEKd+csOF=?fRhs_qk^k!y6La(g_%O1w z0T|ghSpcjo96Wyj?)L}3|E;3}wEmmNzj9?AEF1xU6#Ikk`$7GOv-{s7p!s`4XaWCQ zOv&+Gx*!0}KT0=X;bbv;|HJzKS?_PjepR4cdh>--uLdne-ICV+4LXu&c*D%i1QEh z{+9SB`j3-kHvb2{w=oCVx&1rfoiXUYko`RXnKe?s1=TKo&XPi6Tp_&%2P zzu-G}n}5M~^0xni@9gdV1>XtV{{!C_kNIDHS>O9Q{d4T^)SQ4WZq`6Mb8Cx#_;9|L zbb4Pa$A89Tf3M?Y^)FI?%$?*Blx_u`)aB)?bo z{HuS{|H#qoql?SCUjKZLyleG8_|IPk5Xci`hOo5YXvQCEQy^wFLznKN@}T}Rm#YwTS?6MK7W1j%4fHMq|uAxmXSp2z>>r? zapCP2d@jZ3j*x8OLn~O3cDfibU%ATwmiWK)DIQdq6;j-C zVI4|cJ#`hi3fP3aS|{6TZf&N+8hf1AxYPyP_6Z?7u?A5YO4(%c0$mRX$sV<+n?obR zt7!d1-(!O0+=KTnD8k*)B>9I4B{*PfwN{H!o(sy|kF(KzOr^V<27t!Kl9r*wx`ISfA(V=m;Ozlx*UsiVdBX5YSArj5ODwGO8KVAo6j}L!3c7U-X zxK{+lJ|26&97ALSln|U6y`igAu=urRx-GeeiU$xOgq9fIehal{C@QP}27 zZ8DNmJc!-qyqw-m;N_vCo|LO{5^ZSeC(3hkw#zn;Sfy`YW@UtKB>ZkJ;8yaI26WR< zI!+tEvfAj?gjiOfz;v^kcD3coRRMiXx~$^LO#^7Zd+3Ioo9R=r*rb16)a!t8d)-?i zU}Re1skej`Q$Yv#p*y`Y&Ky}R7y*D!3&sco1a=(WT8CE$4r*7M-9*N5Ad%VzItXvy z^rSRxYo-?7G1~Z{tQ@g$_4o}}_Q`|<+d>ATSkvU}3-8f3I3VI^7>BVK%+3)8H2Uh( z;KU>AIsNo9+AR2o6YYPddbSZK$6Sf0+|N;vU7kWC7K<_skNPBr8j`o)ZL-ydqy3rb zpAdIvX6gl6Y{83VZxxP`MV^+ z$RmrkW`PSE`RDjq3foq@+jUCgYkLYq)GXc|#{Q7PJsex0!e{{g>O-c+qzbFgR1gL} zrbA&={CvLDvX7}o=U9gYO!)R`;TNAMg_&cj$etdA5uH5VosqK5$Gfwp4I$wmjOE=% zjl!S9j%R8f*|UFJdjOFWZZ$5 z&TgTb7LR^C==;;Dv~}S;Q0i*4I%!@w=mNQ}jchh)%0?YqA?>J?JxB?fdF^4FK09O@`>nQ6)5)j@L67`rHv z-AB2FnFoIchOAX79fz|Snpp$4ZaJ>r1kZ`aU9!Hpd#%)38PR>0kze}iYjFKjH_8K} z319KJgq?w|sXyAC(~qgDl(!70u7HdS*wKiF0@6Lq_Dh81s$}z%4`Deo)~dsv_!bMh zGR9oa)#E=J#d2vYmK-_wYIi2&k-V;RB(N=`8&`if2<7RH-ihHCxGTj-kwcbaib+b- zqroq2f-a2je3A_kH4Eyr4rWDSet4gyQG0hs1|6;R)P07qIBl%#L>B>zXiF zv>AU3WjO8iDTtklf{Kq1ENgd3akk9KHB_~nH%LEbDju5Vf5HcSW!zBE)zYgnJ>k&F z*B@i~IA((_BsphWA6QSSGti@u*wuVrG?b*7QFoiO15k{xd(@C29Cny_^~&i7X$}s) zJ-dd9LapXTJBG27O!yj-0BQ}hcJ~Rq+k$`AlxnEb@KdGdHCaWP!kL(PA^3-;WxLeGQh8VQ!$Kd|WY2vrVae*8S?`=sDGF zQ*)N#SyHdwnF(p&)kN!nBix>^br3Aqj7R(cLr*eHU<(W@)W`N-9ka;%8i<~;Xd!<~ zx2A7_CkUa4j?F$xOWE9T$q78q!c3+;v5zj#k#pSH;Wj<+(RP@HkSaj z0K{*{m4xaH(88<oR|}$Z0~=m;G{HLx;BAv`-wH_}&ovX#&rS~Dd+>ig+l$Q5 zVLv5mVDcueNVY+gYAahZE~hVikNr?5bLg~>ivpB^Atr+}@c#7Di^@DROB^a`qXq4g z#~O9TIu@ewHBC$5WrovBTi(|@aOP?!c2&+T(=QBNMz@2k%)`1b^=#gG^S_fqOTi)#1k}0Q zSexwn*G#^dX75LX6|{rN9%D}v8Pn$JWnIk~gHR<=)ZLIvHO)9r#>KZpVuBq9I8lc@ z6(q*HMKhzD16~G{%7~`a-~b9Sr@0n`p8ISPH0i-(4u$p03%M)St8sr-lhc*4uE>2$ z9dRMsk4!G>aCMNxSCaabjF8nYEhjf92O$+f-ks@t2`)9zAC5L>C`!eu5EUSpqZ5De zwTfZi02bC4sRE@5@@FPkKXS1cx|#$bBwwfbX1Ax%e8uJ{*eIttyb!B@VMMd-_|}#` zm~LCTb^Y{Bp18(7W=(%&-T0Fz_5NayUi)khIvfLq8VKHgPC_5@OI%N!lmF;N%|#R< zjLvF`=nId%sQ1#%uUsheE+u}l-7J4xnCaw-E~kx-+YGE$JaOqVl)x0Fse-!r{taJ# zfIRFO7iy2_#@*bIiOFu44IeWi1P+*9Lqg!&t7aJ`-6I!)!OwrIX0iRPl;tFWk)u78 zSPCadn=gSqgNGh{ZejG+73`zg0G*np1EUwN2fFQfHer6n2nM}wGU7+D z=OYiqS{WR>!aO z`vGtfWBVIWf!`&MB23R?7{qIwullIMUvw~zWlM4f=Q5#OIt^BudxL+xZ9l1j98KJl zx7uCIah!xtCg*Bub1mk@C$M0?RxY$@L*F`u&t2KV6o*U@tcO}_F6aRZf$={_j4y(YM0RG6M0W(_P)~1AI5Iw zL|<|a6Q_KqwHGNPSxUwP_a&1=YTHwp&e@DMT^dUH3TTLAgsMRY%PM1Q4RidpcRz;~ zi$eYEwQ~;{e>W*^iB5RCnz)+!CFaL2z4W=ZieMV2xOOl@WaRHiMRtdNP)?TY{hVQU z7PEhDWgu;03VsVD=J}M}LP4{BIc%iKj#2BJ-8gr1zH=oGP4@ZCy*sA$#^x0bEKWGH z;Bj?SlxVhPpOdM=m9NWih=5;)ttPCqUf8a?vEB?5efJeirS$Ha6a-hYa>VGy8vm0S zpLrvyVSEsB=cJTJni4I_X`YWsxw_^k)BE3HVuZ9)6^NqRYm&D_1C@0;8ikK}+$A z;-to)HQ|SY<3(>+{y1a9lnxhvkOe>{r8bJ$?HRG}>VQkUl3Us`zAf|N2La!Q2Qhy^ zUWyyo-$Tc^6ghM)TuC>N!&WXIZb(DmNkG;72csx~Gui`873ThT(yuI%nOhU^V4neb zIEKg8MOb&6OXEDP>!P))oRN~oT5CV2enDMu`epe^3EacWaAUzBch!~6+5YTRIG^cf zseJR}Ex*srjYbLyHom+kRpzxk%;cUdb*!J&}y$Wp^(Ll=NX za*rQ!`A~O~}Oe|45ofq6j{Z z2X%*s`gZ83%oS>N4$vHWuTLM@`?z<;_bIv26^#APHbVuI$oe{lpNweC?`Au<&X|*b zcf>(NSzg`@EmiSwo`r{Wzjj)W4-P4+TtHJ3?)t;xD<#e9lhcI6iVPVW6?7(}Q#7Ld zxqn@h>CQDfso+P+E7il)3^Vn z$;+R{mNY|0OeyHA?h}-~IgBco8#1~0k*Y(h=6SxJe3%H??+MR2&9rP)K@Qh0A%k~R zu*5P9VbzOW?uZ#9RR zyEL++EnD)ng6m`v^}2@;eNTY~YsuE2IFMDm-SUb7%jUu6U{)mZt!wEfFAy~0!XJc&fKGBl#+cx- z9U-*&P?zfom$u zi~%YJM)s!TV3Lp2gM6QVGOtZ*w~4b5k=zs_c&5LyWQ;`mPR<^6DHGFfI8W`NN~O8M zrz;mgln8p(m$nZ;$1EfNEHmC85PVBPeWA~&ol)l93m5ep!!0sE-10K|z#!;p9Q*yV zCiJ(2o{b_dWw;0%vE>~e;V|LQUwabJ-{QcM2=(Kyy(ChXx?$~qwabjjlTBlQZ|S}s zv}m#>n;*XPSp$K-z(LneMkcvD4JR`8VNnsPeJ_#DQ|#^8U}hMYFo>RXN9NlEw`qJt zPsFsV8~QP9I_~CknMvb&Re@_so7rsQ2YnRAQ+a*E(hU4{Kal{zkP$M$SpE}dMmgq@;Sk()`W;1Lm|I=1#z<0z< zU&cB!1yrce>qZSIw1P8l|6w#Vh}<^VhuWKB470_z;0IMEiok_hbBB3KmkirYO%wVkOTWNSe3-EU23>hw6{oG() z4T&llkn%J_)rT4U6K1gd(|v$K8@(mr`&kGt*9=|GGog*}=yR3q_T$Yb66;i19v~{EVJF=1hJC;?S zniR~1VxuA;3DFCGn0*O`Pybx(17qLm~q$TK6gnYwr-{n58ZsvCuC8) zaU{2Ln$|d^?7!RtXH+Ys5h|sdc!Zy+I2mT+jI`=FIB)lrW#at!-9%NT>Wo6CvIAUQF+LEXfUSYMy+FiBoQ2^G@Xg?xSEt=1@dNJ;OqRDQ8M+r}F*B==ur>UaijXjbc5`6n!Gpc#$Jqhosuan+Ow$ zkCIr;gR*VsT=xu5vKrqhBH~^rymFQz&Qic-(w(f^_TRM3tnv+U?Wk5ZilqA1_}Y4Z zQI$U(QjiZv!;wnxRe;5yfrU}hLcn4Iad&bQJyTwWhscZ-G9HBqd(F}59{C~`SkBoD zxjku4+BuvMYgBkT=m?ph+&PKzT}Mp?ZsHpZ6;#7n>%(03mEKunCwj#aY> z2e0CIHFzJO(u)QI?M6_~2d54E@zm&lu_)a89MdIAvz9HxH{f2qf*y_v4}cgez77Q` zv_h=uMRmlLC9uX1zE`a*l_XbCXFYYjP=WQ@`l|xCS4sjXYt-n3-1LuUkqAmU z_BVj#1_<#+xIT3IS&Lqq*1-hTZN4t%6S84=)I94*?&0JRJgy^S^D12HGh^HV0BcuH zppB?ld}py;{XWvr=~O4sb5T_coOUC$Gcikm4ch>eTZXe~$@A6LeXtaN$kScB$ZlUq z+Dmc|YjIk~xE@@#h&@CC)0gCg0I6-K^*z0winIVp6C8ZF2#M7_uh*J(H8(PBw4w$l zJgQLJPX)3rKj?5_23Ak#k^z-9Op&7uTp}~g*R$Hh?=sH622L&Bm6Nq%Nb9*T8LIpQ z3k4O<1}^GBNptB2u4DRtF|A6JWmKC yc+qt})cw=MovY?LS&=7Z;Cw6z zQE(|%UxO-km1pU-qELaiFG$nGmUh~Moe;Ss(|eLqY&>4}YY94k=r%{Lao?Es*uH8L zaAPH~W{|Nm(q*bB^aoZ_#Av1L9unKw0Rkcp;?@8e6-9S?XVxXgpP$PXNjZCaaX?;@ z7E{=;51K@~1NdjAG z5y*TIl;5}o#+dZi^t=W*wG0whPpD;^+9DO|I^-4u|+o!^jtK~nfp^Xu8j^?QRa1m$Lw z^@T!|Iu!R32$->d`ia-hNz=mIHE6IDxb2@ za1l%r*=@0lEo-)!h(r@zRaebDdG{HnEj+#sPhnsC_@WSHe#mHp!mNa`m#RJYgv{!H zEjYBmkWN_)zb$%c6u4cURs)l?X9#co#gkRP>|vOHm;+t-L>7_{V^34t8dI+xmD!-^)MiVB2dr70FnkmcfzL|0m&GB_84~2z^LNKp{JyBU zsTtO>@~yy~w4Dh8Rx*;+?2Q93Va#I~`B4KZ>3zvZSmdZhJK4 zroHKk*(Q0NTF`Tdz2Mld_<}8PV@d^^e1fZueseg#AYQ24Ab5cLDF=*HbFkD1*=)|L zAH}IPYa97+;qL12`~DZ{BQl1^53u#wV+?YCXr{t%f+ccnZ=X-H$ng{N9xHm9B~2qx zuvvZu#r1y>nKXUbD+qw)eJh<;cbS)#7$sE+HNF7$5^pClVtGEorE|OgYR|bpre8o= zvAz?;>`9O!PNfu;2_Qef)oLi6@-3>diw|D8J-Cwc1&`s2n+--6Q_84!Ajs3cLWlN$ z5TNBP)XO9FmGh85vSr>)125usXSMHQEa@nx0IiCG%C@>sj_6U_vGRAnwCKX?iNs&3&|;E zeD@sk6acgO$zc>Q=47J0nobd~UOI4pzE(o&n2|Fogo|$9uPwE0h)h*wd(FkMTC49T ziO}*`?3ou^U-MD8- z4yY{OiY$WRlMjgys2PN*T@tldu0WHv*ly$@dbsqduEjC#-C?V?AOPP`j*d$ecE^u@u<5egI}UH7-is zXQ}q`j87I|VnAMe%pIKF)hoGLE z`6O4=@pZjHTCAQ6Vmj9Tgw?Fy<+DuQ*x3kAO}@R9pO3+1rRSRR4`DShZ&R)5$??LY zl3GbAQ83X7ndNt2D^4kYZuaNzBJ|(aik!gYvhOGt`W*P`Ezd`woBVQLB0)g+C61ha z_MzlaTaX-TgX9r~+;`;08g|}kyw|ccsX0HXtpjQjLxhF_NttS9{wgTW0J+F$>L@VY zX{V>=u2$sm+TO%YkEe>w>8p$^ZDH+VRHG)Xd88z+$4Z>y8V!qoN$<8K>3o_Q)iAt; zV>#wetGU(WK<)hTqcBX#*+4WGKDV1 z-(X-qPk12T4ijpB(=Uf@TvFo6-O>0ug_>r42y_~Wl_`^U=1empC_~^2H~e&jLq-F< ztHoe+9hAXrQ;!!I`vPHsSG>piF#_HINl##PW;j?9R+y_2hrsw&a5|;Y!3N+bA^4S4 zHk8A?6ZU}@=<$=^W?OoTDLp6_Cpo004QHgsu}x;T`i8TAvI1{ByLWPzot|pHz17l3 zZbUDg7W|>A3+X3)yFLyn$G8M$tCK&105#I8kcNPg#{FRucmKrU-JvW2^0E(ngZ3N; zA=B7K=<6g`GQ;@Pki>=eS$o}h#6oRWIxQi(3|`9zonF-^pe0QSxkvyfSbj8~mbSB( z#^>!JeyuToiL%0pC7&|JjzO~1kvH`G(tPvceLf) zL;V=WPWl?*=gyY`y=SGKppAI+~;Z_k*G6ulNSBRUMYok6bi64GgHE&=T6P` z94YIMSWr|X&BHm08z9X+&;zWsdz1avB|^ik;H)8R6vHG=<8?0XD}ckJ@GSe0#xi3y zn9GfSz0lP_pQjOfpOwolixRL^I=GIbUZQr1xg_?rT6FrDG4Ve5Jg@e}PjfKFV3W`= zwi8BN!F$>HcSoS6#`gp@`cK6+6ez(lz62>LQG^euR{FpD6e{{dHcm$yK%==*0<5IO z2~t=UVlZ+`3Jv?4`@gJ5)$th}kcp%&Kv2bhVs9f+Kl8Sswt&R1+R+FCz~57}nly=i z;I^7<=snh!8u87)ss{01G|;KDoTJf}pmmKp~Tr`!cBNb;qyx_Y3Ep**{&7r%>t zXfw-Q>Z5_yuEm7aacfSI@F5K_rB0y+doxJ(*o~RCc5m{spc<=;7h-4_r;@wq^WS*6 zT}%psAqVW5iuIvbe9N>cQ+KhFHcH4S?9H0iU>s!)n%J0hK0d2!zlET;u8yHksOF9C zqfLc>5Q;#}U+V#gki*vDg>`^nFL7s0PgU4?tV<1a@gWe^c8$dm4=h~>;0_WAPwcV}9Ex?}jJh*@#qsmCka!`T=}up#L=&EF!yJDQYA6bufMQ)sTnaq95o` zz|7Og@H?=A_AA+{CPqT=$7tMcj3-V)qU+74WIwYEL%kX`WHmpAb7>^Yz2$W{wSt`~ zb`+Clqls8yu?5U8Q2C)f+L_?A0LiE_6MNbMnQS_6mW6%OQ0%o*d{H%jwY16&N05MG z(p4*a$|o5EJ8-M0XbwWs5S?~=EBw+o{&Q;LJ)@$n24*C;*`Q)t=85wJvm0hfn<=j9 z<|i540df}mgX<5L20=S2vvKq~z=Uf3Bv}h1DAb70LbRtitqNk8)h)aBgufZ9qyo3d z)7*#G4wNt88XyCOYV}2b1f| zV{%T!&KmTXr3opnf!2S8e|w?)U9ilefC9V%{K zyE$q($ODcit03(c++iHW${uM?aPwv8xx;PnJn@J5{E`ixa&dQpVC^s0-1@ah+?hwU zOUDD2&Yks;t(yZ9?j-S8b}@!H5{;`BPQu%po=cy_^-!dL9hXJQZ9C)e9`j0TIZs#9 zg`5GBs$H{L*n{S?DB;p%9gzhfSLsw8_o7pd`0Uh(P`+9I8`7X>f1a{wDRRbX0)1v$ z8rHRAYM~k5=hjGz$KR}rSPgQ~Wc5(j+y%qKlyPcMszf4{q5Hq|+9N!W>wZw7B-GFx zm5KzE2fuuO3<*`I$ZkFe(=6}aJPIed#Pu%ZT6{sl$FHxW!pl0cd1Ka%4p0uwyP^Kx z7e%qgdio<|+_E6;cZ)6~e~v-agVEO@_}|cXMuSP5nI2R3VT!7hzEd$1Xv*TsXKd2a z_+%{B2pfZ7Hw|6`JSoH6_)$?TMflh&SJONzxOl{W6vc3+ZzgB>FWN6N2p~E(u|`IL zGWjizaMNz#pJ79lL|$Bj)jVbCkheNPcJpqMQQk$p^@W=jLmCk_1WE(IfDeT&lXF(P+Du;X$tpGnh3r6e7jF;NIppJ8POQHv#e2aF zk5t!nOZwmhz~Pd$IH=hmfo2N07-%v^2Y2oQbI^05jqWQ48J}yxCxbFf*^1Zo_KYhJ zc+*e5r8z#EWlwcbPFnF15yIY$otWGiLtp*s6G|S=sJoNkLW#^Ud$c^oq@0VBZ z{oL=EN%>Fr-%aq{pzpB2N0hFdfkqAO}316WA%W=-ErM%0H%WS>$2a+P+ORg8|Pp^>4Nsg%i zdC#*j&|)pEa`Q(QfDroAK6{se26kKRtKyWNH5cj{7@bn|S4Fs zQyOfGDs}AMF}1i#R3ffpoxc&?{iz2hS*5WyU3g9NOH-GT3{%;1k%fA|2Gd{7@_#~4 zD=D`*ez3-iwWU#&;$m_$caIJRe+}wuimTHN(R0pT!}kQNh(LH7>s)f+gm8WGQ~qX9 za=yqn60M|v`dLcgYeoZq+xKVBkNO2iC-W@kj8}^7ixn48AR1(ek!;B^*UOBcQ$#1J z&KS-ga|M?Xj8&t@^0IuxDNf8wM2Z#MEcFjVJjS<=tst`k>ZQ06*Yco8rcvz?Q({Bj zWS~wHtDNqOUh&U@)L#>ci4vNiUE2B&McE4KKEGi+GK<3G5zew;Y| z1J^=hp4=oh^Z~0AS~XfIfP{h)f6nNxN6y4Q+!t&d!nyi?!U1*NHd`51ZbU=Jv!uFX}AjFgZ8|0Tj zF|XVxDq8XbB;Eow`c{?63y2%qAz~Dzk3B4(!%}5`t{EdDzSDq*2^w$c{yt+J@A@`Z}u5>LqA5x+5o(*FFKBvgYtUvCX z5F2%Mru}!MK{Q%flW0EzF|ea+MV79a>(3>BqEy|B`s0es0i`rJeK&a=1Tz`Ot+rdT zoM)LX)r0VjrJqmAqO~)4BOyv3;0{ZmskI__i!Ap#j-bl#W4DWo8vD&evskC6>)VqV z>g>!@sab5*Rb~t$tnACO2}Uy^TuIuZ6WYUPzm3m- zOGarS?|jN(qdAb!{~ate6v?nPM!PAF8PslvqC`S?F5;$cRLyHBeU)@&+tWjG9rJ@p z`dF{|B2Nn?{zz6dOIz(&&=!f6SA*Jr95}9ANlU~bV;JWuju>*B=g7Vym#KxJ^HJDX z5m4!KeN%ur+lH|Nc+jw_3}h2z{zh1T*{h!Jz4n_RVnstthVJc=Kv({Q;S1%DJORsW zwNA3mFTXs?e~_N1F}5l<>Bw9r5b31UG)TP-cNDdE2yma((NUozlf{VYG@7BY22ZT$ zXtlHwZ%H&)B{uW(FMaL{A=~dLS7rhQ%e`TA(V0k|RJ4fpsC#Db1K*ZQ@4AzJoY}w2 zUW7Cyct&oVr16^-3{X$p?hORlH?dfL8Z~1)|6T`R-v$_ z(*#cgLpW^;Gz#1~YG}p^urhaldQ9l%D~+xO&h&`usIr`d|7vJc;FXOsPa+A+;*Gi6 zI8etSK*mM~lfqm%`#qPfCQht1nc=eb%B$|9OPQQ}?IyBUBE$X4h=|NOcn&8Gqp0C2ON9lJe$vmE77k=d z&3A2mTqjnMZW#50&_bN+eF)6%h}Ot;!$i5*h6(zV<4LeU$W%oQ@F#NQUaKGeY1M+^ zNB6i?{&0MQxKHU;hRtI@Vcf@SEqUex*TC~6t;8QV68`Ln20ie9m>tKUObz?g-QLze zQv&(;Tx0ESsU>#~#jrR??Ss=yuRef8^GiCc9SgQu_BbvW2RtKezaPx_>w+Th)iTqT3&%Tu* zubo$lyIV#+lb6GP%z_EL@f!EWcYsK;wvMp*R^BfS)+F*o2Gej>k~x_Cd_ml{2!GDo zgvzW`V061`(;V8LEeD15&dw4FrCE9^jxc*Vu%=`@!OS;+PaA_ za5G`;C2jUGtMJg`V^@+)i%_>*PjFj-zbV+CotD^~I*l`#p`D6+`1O-&;L1(LFUaa0 zjuqlz0TAwgvh+W23Q-Njnj(;mr}}^0DRQ@e?o41bo*{#8Fcb{T-SdI zywX4|fpF^g)#hChLe`J;-dyt&MW_59YjNmpXkDum#;d7K5pcD{MpLbmssss3FS<#G z@IMDww@7;dztmr^HtjLMyA|*>RKZ<;=t=w-vEtT$keDRrsvbap+jE$SP+i&MF#1h6 z9^{aqgdq18TtRCz4D~B%C)$gK@s>kM^C3}W>)9FyFLi*Nvb7UiRmD(q*my%)11U_< zgmf*pBQa3Q>WipP;^<-(Q`bRQWbe?xQOob${(i+D(>u;YI2dU;gy!YbJVpJw>S~Z4 z)Front4lV}&e0R7({`I&gQ7god;qjl!T2cNrFr_+Alk6OP52E(pXw0;*%op!_YJ9w zPCi|o)WEQEdvdb{r9mfoKhExuR9Eo>wa+@SugvXo7weOzn(c^GQR0wfb5k&(9EGGaV=iUs<{}x9Va9?HTkd zV3*`s6HDj|mJF|Kc!sHN+sykKRyx%@-LhJ>TuzJERh9UWz7KVVA?I^y>D1%pAGL;PSVD8@-_|JtHIIVU95yj7Ld- z*fwbTX!vvP3Cs{B5^s1@Zz=%pwO3ICLeb42%FK>Nw6YXha^D=>Ot*VH2?d|ZXOHIV_f^!6huRljMd@@e?jakH?n~NFait~wjgi_3B0Elfja0-1i^}4 zmVW_A;Sa=OAka~ozy^%K$qPmJSszD=dR&PySVsl))7WS*1jwrrgebblrb1(3tub+wp5Ir#C}eSLgh zkLybCL@|;_AVmE9vyexSKuDvGfK6;}A&;`T4FqI!uNb{%bRYSXJ`(y(H_3=@!I(T<%rDNXT6_REPmhFrTiw^>kgzXofDNQQ6= zNDgp@`+!pBikQnF*KJQ;;W1j-HbThTtIxNKt54#?nmhTl`ZBqw&W;a0iU;A|@D1j_ z?;JL@3jw3i#}_w#wzPp9fA)iWw)=K<38mT(O`Fg1ChnJ8+E}=Kzok_=5E0EKDh2AA7U6|{-h1rv za2q4<@rbq=->kjfgLh1AG{gs@8a>#c2|&lBrY_~u<)Np7CzL?SHA|#bhksgSd1!+I zZwKiGO)~@crTYeHUOlz>DrvT1TpeO^|3^}^EIoe8R;TB(&?E?C0DviV>#U_AX`A*g zA7vQc)bjHAyNtYTgbn@l1{G=51Zip;ct}Z$NHit3JaN$&gCoX5w4|_<(0P)P%lPyN zd!_Qt`=*cQHmfJ2VZfX9*MCN#*W2TlG^k~?cL$lqQWH$3B&qSei*D=vV_IZdaXoF< z$&XsPxeUL__wK&wOzrkHqT=>}Nk*6Cahf^4WCU3N}2->8+O}qtxb1{yS~H=8*KgD##1Dl3J)Se1C@`7?8ZPcZ#H@ zn%qTB1s1DD)2Yp$pL>dL1)RK1~w=n#e*!EG)PP)4T%-hPiC4* zGGZ9)VH#VtOFl*$Vt?Bdv^Jk(g1F04E;Rx!u^=Tbc%4GbMh<_FZ4bh~9p(JPSOOBrG z^dl4mlTzHYr1}U5OacXtGN!FeqpOCk@6R%l9I_O1H`^8ZdFWili65l_B$*$nQRUYB zA#_4}N2HCnZukbq@DGOYwk3(vdU8<4v0(?l&T%~ahQ}D&jCQD@9SV(P*wlxSwjj@1 zx)j0*b@u8Wdw2| zj9$Y&(;8Cx=sBk&|3}e^jE4QarMQt2lQM9WC=9KWc!FOIB|CJ-Qqa z*dx~9l*|=|ZG>F4h5XRZ5ur)b0?RTbZ_2TjAQF*ApGaHU`boF$GXTYa- zJdaMoB7epru;8be28)W5Xr}AhG3$a)25}FyEy?GBFpc7{)D443HDf>#iG@&llc`74 z<;)mus&FMDv6+GSAPdJktl@}w!=kc*prqqX9qBw0tH#Iu_$bsCJ=g;BXf{JYLdh99 zPEb)2)SAvOp{$rk$EE}aC1nX4A zEo_d%0Q7{|Yc_9AfeA7?8%2!-7z4v$AY0^L9OSyLq4rPFCxq=kOd??38x$c>Q8 zL4P{$OG6HoU5JMl2t=Fa6oS$VrZ>_d6D&Fy+CTEu+h(sa&GQPuTeB*|#ytOq-A=*P z6M1F!TV!NLD|SKjzk?Nk6j60Vg<=gGE6rgW0|5s8ma-dT+1F7l4`kE@87)N(pT z9-Wvyt(F&y$!$Gfq!YAX$2WL$^5*>D_rXi@I9u9n7bfct0IqErm@35BNxL z&wlsc78y#qhmy@vQlX2|o>D8EVh1Lj!}LTR$U}fd zP@T#%`L>0LFj^t>_ccbqhmK*V)qm$Y-7RR@2CaMft%H)=1*NlBr$;aUXi++w-;8Gi zAR)>(Ai)5;s$@+Uq~alv)~Xau4w33Zl(gwsJ_k&{K&MU`tvZ8Vy_LVo-vQev0CzE; z&Sz+EZpI8EFDR><%klCWh<={n@5?q7{M#Dh*#ug+*2QgDX9~KkzF_)ta(^$EQ`(}V zu=0!iN+OZ}l>e+2^NwV~E|Ph5{Ot6_yPpnEp1oJac8S2}?dg*KiNgs@(5*ylkqaaj z2fW>YIBdwoVLIaYv>0Dh)qT1WGzXKbtM=(r-QM3!F58Ftmhb;w)jVu9Y4u#^PtEep zQ#+IK&!?u2y7Smh=10t)%zx_YYB8Q(PL{XR@wZm0AUzW-JuUB`I`w2eYsPkjR_^3< zUOhd2a}1%KyciN10@$8T|2*JR(pF}ONnI;4nb;J)?7AAe5?s)Of=jL@*%A3=ayG5q zB#XJMruCTY=5{$DOCl$f8wXoNJs~JRe_k2F?ezr40M#GgvC`km`+rG}n^(KwcKH10 z_51gXTi6bpYEV;%mp=wIaySF15k};U6ACLI{10Ln?A~|y+$ku%e*WvhAHRanvmy0B z{m`gKQT{uOuC3aagKVBchMCEAEU59Sm-BjjL0ib`A9v$v@}%r0w>rt`9l6JwNt#R! zvF`-^ZsFw!u<|o1I+x$;)>K$EU>2fRdx& zYqVVJA0qrP%uSMK!_%gic5-`f-kqJF`~t?#{}_x_NFF#;DMkN7a(NzFe4hbRj2mEX zyjaY?CY}5=UbOKj-8Bk6SzJu3o4aW}xt)HKcz;8BelwXtiGSDKv+9aNLkjhz;Az0! z43@B1j;A?lVJD~e+v)3rm#2){kkfMjjXo~Yj?TdJj{xlfjo6AnhrgYi-Mcrhp1t_} zr<3z1Cj(l6+Qh`RBQot)B} zr*GdK9)qugA%DL1kc979l%d+73@mkK$kz7^x!jR4Z*s=YI&AFZjov+f_2%WPpU#io zzNP;L447>}l@Zx39Tr7hW+GDE%1CwVM?Jud>qx2SSgjn_oS9G-PdNz3-MlhHt}(lW z*oNcPL>eA@6Oxp?Z{Ttao;qu)jmmy2*2Q=dht>Hs{%AmS}e0xu4zk_TEslju$9= zySLqa?_Q4B+uA;~b%wVscHen3J?L&8H!=4euUxi{M)e$x`yP6F*<=rjO=p}NduWNV z?n65?pqKIW_TJF@n7iEAdR)7uKA;bEm-MCX9c70j`EqiJY$1J1tkdVkCVfL|xU&~w z566g3^Q%!>C;LwKUy9>vOqYFW1Z+h)Lp3=;G)6W?IWjdyLPj}4Ff}nlMKMK1LPR$; zLqkJ8AUrukH90{vMm9z{GBrj*Mma(-H8Dd)F-1i}L^m}G+Kq3$Sdg89v}}OJb*%DjLs9N6!ERq{N}&U zoY~vVtP{*iU8I}j35dZgG1fZSBdcVMY><6YCp%=5q-2+Dks9K8sx1ew@}J5{fEAkA zjg!}mMlqvZH6Ur~OO8ZXe|oENoAi<%*zvvI3Z#z|Nk2)*02w4hWSEr53MrEjvP>#u z6u9`&(lOw@p&Cc1ovJ1fS|6%OgwLF63SN0sO~a3#RWtC*H`Ofsp{<&OKebd<_{*JY z9{&BST7Y+MREvoDE7cM?L_Dh-;`NvP18+$r?FwaXWOH1Ni8!)DtM%`%SrZg{^x??yje`@g6RCNElR3%{Zvtea_PZ`><|5P1z`{2k33_=)hmzV6q}>V^I7Lm@@J?B=!E88-Ok z@>51=g>aRXl%UFU_O|IJc1_(4FMlei%4@sx%)Dx4gx7?iM#d5&Dj87HNLSQS`r~3c zU3N=L;oXB1@-K$Qrn5Jn3y$-D<;@)S>4^#w5hW5;n!taCDy}Tm+EV@3j)y8E95F7PEQBIjiLB%lN#=xqu?BN6xY^uo zic;rZ86ZT3Drp%03fL+sMU`^ge+D(oHuK&-MCI+GwHK3iy}8}Y{PWFXy_uOyozI)O z-KC!UwSHCC{04yIdGlcJZ#P{CJ5-bm^Ze6hVpO)d^KUyC8m!Ijvn#iQg^y=#I_=t( z6$y;+BofmVVw!z)UDo118E${9M0zTK- z-@Y2VF5S($cI9lpFsrYd@~xGjnb-w`^Td473g?%FhWD;#AZNmC6s!%(^D;hy*(^mc zRCCv^TYI;(yxrKlzZMJt2oG*L_q+9z0`%~2gOFx%(_GK&{*&5&FZ#IZ>c)xwap6?u z8L+AnmW|aKV6tw&u0#S^u<&L>p>5- zduVqCoN(rYP_IZQp`ko?PdWo!13dHazK>kyY727qVUKEau?7!!_L;gj8z0F+7+Ul> z;=|+p?bayED%02KW8ntJd$i_2Mo={`q=iuL6RL zNB7pGg;3I3#lYF4D`^UxK6EuWISm@_yU>D{c37>qQ{7*@wInTHxNOGr*gXAC*at@|1 z!UT~O(yEHNuob|%cL*EtV+Od8eZDxJfrKIz(xN)g7@R{6CVSYR2&$Y=4}>I)!8H=p zl^Z_shx*cgNI|xDA@h}8KzOK7j0BN>#jRTrZUv0Ufy7S<61uMhLJA}HKTYnm{X@YK zLeCie=v|WrQ=Fb>bViV->_v>uU@u}tpC@b%2o{8&Z*=V!{60Z~gZmw1^wZ={8$A&G zS(6{VXVP4f^7Bj%T?#ngk>M_BampZYNnhOA`Y(fjie53@FN1w3XF0PWXGbhy{x{B6tW;UofT#LI8}X81?Hja6QRpX|#q$dp<-RyJ-??RFSjb3S9sq zdQYH#1P|1E0~EXheVLQ|o3)0HkOAr28{<1?t=;fMF(eidfTyp;6sj1r4|xLQ65

  • <7vmy>n)G!`v#1Nat)SLhcG1qrW_wC z&hfFt6k1tRd3vz1l(Iy^MS=7F%mQJ5&@keEq`2DhQk8U45fO=`1NVXug##(l4tN?0 zlMWccu&)tqv-t%xKHYRfw_?s3po?o~;~si6SG(S&NFRb;AR92nktS>(lKS}UEYc>7 zZ_v%NV9}wrABoUnzip4!LBbMe(D0@ZdxPb{rjQic0sZ2pkh?(>ZwE{=TF@QF$nEZb z9*{{v3Bj5-$;yw@p)}M9W*{uGq5MpXJ4Ax>1bwFNJl@C&tert4z#3NPwGNC+M8u1< z4vbgO$yntz36wxp&#I`hnw=q;*6}=bG}{TZ2>|qYoe#s1F836) zoFbw32Us&tQ8YrVj-be~JfM_>Qk?MJQc|!m;M!V?`N2S{yi|xnNl1*gt9@>?UCJF$ zUq<+W!coA3QX`68-H1G!fKn~?Jlif;Ihb9?b?D*DZ`GmmT~(`|TaLla=x!Zbm&Ir&xC}NK%I^VA*$a`rq2C;Dx^Nd$&Y1Z$3JOB%t-YmDj-@x zF^b)x%=`3NldJ|8rOC*>x5ku!g`izqBu@bEB^`z}bk^TIpf6%Uf+J3fSuItI}NFpV$6aVwfjTp^fb8a8)r`ed$Gp_d2brxtH%d<*<391y3(8tiQ zdXGkPo*35Ur}}P@vS! zQeh9`0v-CKA5#9K8GCXuk@8apcoJJxua0^#Q}jO3NYxqU$ZS{xk!e~di_Qo!TWn~k z!>XaF8>=dGn2P65bpZE&-*C)!Q#iz#r_E6ZCsKKgN zKBd`66MWZqcsVRHaJHphrufD4@B=*oW~!|1s@r?nqk{Vqc6_1nfiNGcI~vCm~Z|#&mVV7+RuiK zZzI`9gH!3jD8nZ>eFioE^37uEPw8*#>*W<(%iO0Z_sJGqJ+)E(wVhm^$_oHSOekb@ z$doJ!hOuLtsnY&P!;ebEJ-5kIPK}r_&5b`c`o1WIOy(_r0N6oA0zWwh#>F9391%#g zgh5Ttp0DjH#F&iBvN$mHAOc$bN3%2(^;^R2C^U+o6YVEjXUr==2D0VgELxNrD66q~ z@}ZeNj)GJ}mj>-9pa24Z^Yx*g2mgC)&G&sSW!^X4O}pNh;%unv!^Kngsc3sQRQK@8 zs-By*bodZ|Hinrr=i9&l?%S*X7x06L#L!w!+IpHmszz0H6zs>NeSn4Fq)YhnzTMs3 zPFx}B_=sTy8et+T3En3GSJ9b$(6hTnV;Z*0%{kF^DM!Hz1QiLnwb* zTW=f36@J&R*vBP;oy`5Bz(AYSHIg8x8|$HH926^)rfG?nQk3hT-!n6Nnb|!QDT$U< zq%dGo%h{PZx9@!C%+O+9(Bjn@9egtQpBAiOS`#B&p(P`VtK!}A?B8d^gkPJF@JJXL z->|BE`0bBNR{Ujs_ILO{Srf zy!yB8bOzgUtb9}NZksn#S>Z*Hl1UNYd^xFHx!ta}QI?N&l;SG>IbDEgx?JzzPg>S~ zTQ`fVde!_oTg~BnSc9=-4JHiH+*>NF@s={(jFQPHLzLm|7~X7^CIi4I)U^YCZDyc_ z2C;>WGcczL0g6;{&=L`tQ6hhYS9CvYx>$M{z_K;6`^wviaZoU*8%#8mA>Dx_lEd7L zNGIdKt2oMLf@*KPe#{F*8?a5qbSv%0kI2RpQ9`vNX6SCT_x15^vX#JXC{MT3E@qOc z{8|!*GA1(vWix4_A!@2*)LZaDWar^qyYnfw8nYT(EtL*DSA)x#Trz()l8h6n8}I%O zjI0f+1;&YXs&~KO(eKB`^UlyYA;TB7oovm5=l(;-57T~p7auN>%>W2k+Zlh3d9kz* z`>qcuMFsp9HUt&`EHH}YF8g|-c-dgn^VQWLAebB!Rz1-$?5cUny0$Day70%wc=grUn|IRDyp@di>y$O`FJx|uWt zx!LcQAd;rC08r)DW-ye23c!!{27*Oh9Q6-mvWgN$Rj{L!HuryYk>d^(y`I{jOJhnC z&dtzqGc?fx^d$(Dyq$+r#5ol>9)Jp1PPu1SLy^2(#>=@LKHaj$s%M=fS5sibo}E5 z!;#3qrah&yVwiv9^QkO7Xnoj~0NW!jkfXQ&>0FwjJWk34$bpIav;;hpFw?RX9ItOz zyW57RT_t2OLU%oF*y+t|*CY5QKHIJ@1EuRZT=@RZlfUpSCXIOwuj=yCgzIt^f0%FU z>0-hpC_e-M-_f;K|xGQiUst=u9iR>T10rSN~T7zc&`=4Mj#*pr6@v8MBn z9X5}GIKcDJkVpUvRc4IEEQ?no1AXrxG{M?@Ad}i-mSD}mKaDr1h?P7c*QZOi<8-PR zBtce4pg|n+{2gGy6>wplqeZqIuDo=nfXIYrrWLPJy8OHcH9W|T4W47Sfq(*N5!MV* zHI>x@Fq(fniyda+xG`f{0{^!FjlmSaii%^duJYbnnZb97QT`b*tpw?A(JcwR29AqU8^ZY%TM?e*fO z$pp<$t9gsbk*x;s+$R;kS%}SA@INyz>pc#!T&-FX3~S{XAG~j zlWFDh1b}Rj7#<^X-dh;d?2_GQ&qv735ZCc@WYKehECf{E=q!33v19ds9Y03uQ(2qy z@*6D4X^2gB0!ykBSW@2Kl2f$U7w|nR_VvDEzX7>l_LlV_!uxLJ&1^H;QWl z(mcc=zXyIp%kxhdMew3EjJ9DC+esx@IeVY=kcZ7`pihR!w5)oeOh@4Q_i{~h2YAjQ z3o{E`PTZ-lFA%_?J&obDh~?qa;PqFE^7DTmeDkk7N4TFSee#&vV9Z7K=z)KsytP-C z=btgcEj2s27h%kj+C$ERHF$E(`UcOy1njOL^d}tBh};}rN;?X}gw_FYThUhaUDds~ zYUx_wX)WsZ4cFYaAQJjk@elZcho+qm+{`ZPdEMasyR|RuS35xN2;J@ZR!A&b5Gj9U zkjbg`s3hqREVF~IO_yO_Z`Yf(&nfUUF3_i;>uRyu&E{Lk8?tOqnfkN?N#v#usfm~E zbiEp}G&IgTxq2YzK*bfe#98_1obZ22dNjmcp*g==0?>VCv!@eX(poxC#Hd+IYN#3gGS6-DkQcSX~n6X`5r;DSLSKI-z-%d z6&g{A;11~qao`%l9&>d;fCl<%=_*tc8_ctPn^R!GoNtf#`!>m-DSq9<5!QcS)Hp5= zERf~AX|m>hoi(!j*ALBkN2D2TA8XZowmilHMdCS+c|B38>}Us2qIfLPP!5En_;d0P z&5f7qzL@ShXYE8=gk3NoXm=DJT}H%E~*d;H+`I&j#k0 z^Ar7t&c#O+|4*8Wb8-&^*E@f8B2hU1=`aJ5n)kf4?~=sN^=%(OtXy6$S}X~EzMqrt z;MweQ;?MWc2GFproV1=ob2(NYVKl7Fp(=@w;*<4eoK`iMU#f5!i}nY!96^150|k<% zKNC04tw|m6h=hYnO1QjZe;PIruBowJTnq}JhGgaod33gnfD8dlMC*S}`3j3K%5}6- zdmR4)X>vq#N=Nm!92{_Q6^!Y6ZgaR=x>xNnxV<$fKF)td30HCx@r$!pe^XH(WUtAn zC*N~c+ltWC_+M(@9Z+!PfM5$BvWh6f9*|N8`ySj$*lR9(at%~c0?HzX*uaq#4|j5$ z;7Ndon~F(n4qBDWUvhu(!O5N;NJoIqi3#OdLi3&hWO|kIJ2BI@4tb85-(c4aeA99d zWU@OU^SQv`Azu{_g+rNfXhn>Xd9NQ?INRNy z$YWT0Of_DPC}HyG!f*rD$WQ2u=-65&!PLf*&aa-0u6)HU-*V zT3mu4X=@ZkFNZ?5csfRwtjO{;_uqH+L26f8T9i#WHkvQCObuseXMXeAhjB44aPij* z9De`l^5Qptk)|L786jwK`Jqr4X(jR9X(WsE9#?Gyn3N`UlMTs<~_6MWxGiy}6q%r|<_Yrz`*L*0Y6A zvk6sY%$h`;DaME?0sI*f#CZNcV1YfUjz|qs(h_1sIrW792@GS76+w!F#E#%+PoN5k zjAGh;FOW3cQgI_Z5jh-7A<9${(R`U12_%0JM4mJhJsb*jgg7QZMv)d|%!$!aCU&0z z1jQ6FY=E6;MYcvG6n;8&78Pe45h06;0sIJWk+Yh&2>D=tmG`T82cz3hgc$ zrwalv;er%Y3IxWJk|9oYalO2F_Z}BB`0nchkZpAFUq`uwp^Ua~-4y@0_?vgrSdx~J z0Igw`*pDRkGhBii5H-PB{uPLD1ceF%6AjQJ;9Q=p31loH1Hcj8&YouY2*hNko__`c z9*LvD8pOpK9Psqxj~O!vB$yZmUEY5$4TDdl<FFYa$Kw3YH2*v<&;2KYdM8_$IiC8fpmf*SopP*WMvgILkDuyJ4|BAw>4`T;x zX`#b;V755aB8QmO1*0!X-t`n$4jY<{g;$Tq)kpAqnR#`+0=n+cN;z>O>@Ah3P&Y^jm}6d28<6rp-k%6AzH zD@2S)1`85N?Ws@@#@>YV+552=1_*yA$-1Y6v+{KQ zvOQ!2eS^{aI@_C*gfc}RnNxy>zvn7v$!SJ+y|NC{3mK#rlC6g9Sdi06K*VLPj-fXF zL_|Xbf1#5<$5^&e9)v(~1c7QK1hST9mWvKVi+G&fSZNVNY?sGul2BAcRS?g0X9`Nv z!{%&RuO@_*^~M!O>qUS2d{M7vzBvm`+xND+f1Bynp%4S9Y#nKcK65(Ub+r#!u6V2Fw;K&CAM>9fjd{%6lR}>u&6w?tyG(XVTKQ75HJf-^ zOLM^JCFRHSd!ZQM7-C=yVo3~2B#MF%dl(wzBxsCf&>lsT0g4vqRP;Hlss<|O+53^6 zXeWn6J7$p3iC+-eBUi0Ss&W;%0$0=vev9vI`9oCZ|49)SIZ4~zG5b#Bij>gK<#SM!h43B~1IbF+Ww+b6l2ZtlZ5fR^Mcr{{0~g8@vzxwNhvTT%A5MxEO1p?g@JS zb%lMbRm^|Wda8r4L{D)n$jLZ|EhbD(hkFyVhfxwGzS<3}hYGDh3Zj`Drxe2G0A>{T zr8%adwF!t~6cA&Bw#v>v8pkd5WI zHhx4+^H>|7)_*>E@&4DXjn}fZk@F8I-(^CDDeZsj;X*g{#%}V4!?vysTZXQ!UTyCe zVJmpL-84UERye2&yY|3ScPfQOht}*dOZQN=4+R)W?LCw3T%UWE>9jRsnidqm&PF{_ zm5mw52=308b9wIO2jY#kM~gJ@I!|;W*+D5)XBkxVu7d$`nJPF`tw5Q4`G4^k&2`+JV=^Yd+ zY}f||QVl<0Fiyuy2XwqIv}?&9iV{b=!-(po=DlRu9!6v8l(Q$}^t@SF4vwGhQ2f;m>eZ( zoE~yWf81Cehd%{fCHMZI#`A|{CO#NO4l&ELzg$5}C6n%#MV)eTBYM{i+qc>X%Mc59 zqTeppH}-y4y@Wp4?`Qgb&f|BZzn^~yQBG&}@|aNNUA=I(TZJy0UY?G!Sp~Xq6K&-m z&zdXuAZ)byhrnT80|6oBG`w|v>#keFm!IucYIt{kAE+Xpy1Wm)z323~S-K0_VF6$# z)4@Hs)~XTo{9w#57;FNsUpMP^ZtaNn%UeJ5kN&T9I9q8KbeJN{`T{tzOH|r#;wW1vriNFQD1K-yu96H@&bXv0eAKGyG)RxNXbm6 zqWfxk@jK8RXj;6_UNwjQzKdf)%YR%1JXW0A=qgjwZ0iVx>&DM3sKh#DgbC+do}k`r zZiB4?6z$KerUh8WX51dgA&<4$gN9JY3_*xJH`Hn7oz)^^eOe?)?6!Zlf)?Md8b8u( zcjIPYHYrhDNYd`vM76fhoOF||hEwd+b zZkiZa?tZh+PX`w0{)q^*j~psXFryLRT~S)^NWQwf_#Zk?nc|agLEQlelTAWn1TCv} zfP=I`x3oe5tLYImHwrIIWo~D5Xfhx(G&VUkmyrkr6a+IhI53kyLnxQ9ECLaKySuwP zAMWn%?(Xg`!QCxEg1ZKX;QIK_x%cEhr*FT}ue%3h?6K#ns#&vY*IJtmq=fQHGy=x9 zhCoqU8z&kDT6#`^x{#THgA>q!M$y*Vzy|QK21iP&Z0=+Q{7)MksVdOH(cIRC^S``= z9DoK+A6VGH>BCtKXbg}sa0f7dG65JEIhk2G8QB1g^bG9(?P%-336L>2GBW^L0hB&? z?SOEkLbi794(6t2PMm;$-2xamIOqWej(`s}&Ng<=hF0c|W*^+Hwhop6LwA6nxs#*Q z2cb1U!p4a9-#7%UtN{PGbp$v79f1xmKx5kfnbHV?Q(k#DF$H zhmSrQ|5f5&Pe;_&!4&vc1~z&&CVBw5nUj+pCmo&1hsoqG6Ro2OtqstLj^d-gA~wcC zw$|1_8z)CN26}+8xselpzz}F^ZUaa67nQQR9T30(Fb10Z6U!JlIheZvwCHK+=@|g@ zfBpRHPUl0av8|1j`yY2%18X3FPFYr7MOK6AKgQ)>PJ)8AZU9dj7J3c<4HFX^fPsO7 z3BbY11n~ZMLU{x8{}M$1Cs@M9#1`=1!i}Bn{#(4uKj#fV{xNTV6o7vxlC^a*Hv$64 z|6k6{|2QiE?T_dGhftfIh2H4n!tnoaQvNsL{|9sOAG7fn=YP~r3i$uC=zpX8KiL-l zUpB*kZU8z_XDh3J3>vxmznT8?v5Oj5n_Id6yXSxUr~&^eO4ioF+Q91n!l3l`@sn^e zurfCiuramz*OIw^qo}zX&{*Ew$;b>~VqoP6{O7ugjWN){%G?GhZ|i9O*SQCvVfYyL zf43={nHyQ!0396xtpD6`KpW%#5Flb>WNU10V+vqoVFegCI2gFY(SK}DMiv%;Cj-Fz zgUJm5boepcDRsH~@4a z|3Yl^06Nh>hyg$+_6IQn=*0gZCIFqpAH)oxll+4|vP=CzYydi$Kj>u=zUG86q z{Uf{lAM}w=@elgQr}PJXo8m;~YKN?{D2Y#Hc zbbpvxK0<9iruA?3k7{lIi1`S%{WtSRF?N5?R?Qk0{uvU6oq~aYWs(U5scl`_Lhj{QPWrgHg8Cs_ni$h$m#5z^ zIPPCD3K1#3*0wr_SVRlDXuA$8G)w)WBN>D>zjGB2*qh!Scl2ga$ua1I$tYboxax2)5D zOA;cImyxkDc-Bh5=bD{8xiw);@p%MIC)lsKK{1A- zNRq96pv|kDEu%e+ZpmnIwYgyGSVCgQ1W%ZkF5+q$%R5YkQrAS?ay0)XZ%eVf5+2q1 zUM-&zAIolvf-FJhjer%116GRFZHHlh)!Emi5+V2vg!TJiHZf&##1YRRJ{}J`I7AVr zIEHu2Ktb1!nRv)`zAvm4O?9(i8VfghmcN6@B!fqq8k`S4-?>9|Zi7nrSqNoY{|Im~ zm_l_#`VA8E%~k7Z2E#-ywbs$=0TppGGI%FgN^T+7on)_A^H-q5(RMy67JlJ+T^h$R>Ux+9 z18f@U3r}GPN%zmwwXx!nxAPf)U1t}kb5oC>WN#F=0cY7yp95+vwYi<4(d|S}(>DCd z>Qr7di4LzQ{M!qIy24Q@PX^V*){mkgIehP|>R7ZFj=`ljwZ;UVhjx_%O2bJ^E4K6A zYUesxoD^E<36EYw86?l_7LRy1%)N!v5nn~LG{7g7M{3c;ZVOxA&1cGgl{1Z=(zl=0 zI;}PD!|9~VpUx%7^lf2oNOiY!X!it|9=5LWq-yHI#&jUk2D@b-Xu1=P;E_A$9CwoZ zx_TQuZ}6s_5wTo4K#3$&P>ejf)PG451!etOE!aJ6ZB7trTOPl$1VT+g`njpgB6z?# zN}bSEdOKb?gz=5JT4gbR%Lf<*$$~5aG7!8req`JUuG|f)hx0sNu0|faxcRk0$w21q zwl`7Z!ZEYr;H?s?Yqtp~K_r$2WZ(I)6$lP(z24PMcR&%ARUhiwL zRx*NEJA(tUji4|#g{>TEvC+w1j7m$KYdoqzZ3sPCCSke>n5lbzY-03NON@&K8_8lD zY{6b5VLU=$-m^lESX%x3YL>by`|mFu~?ClAlL~wY^_R_z?4Q zJ2irEW6rNnt~!)|3zmYcEJvF7{@8Drw>YJ)a-J>5CIhxHIwnaD)@z=rZPa~RCO%$E zZeu*29Y*H{-_?kB16F<=$-?tErK-jL>4g*0AIaMHv)457pwLV~-1nRJQ?dMthg|fzHnd&9<2~bMHuTh-8i*z`UUrIN z*LS7&ZNOlE;^yP4gu}{~M`ZGfEv#znkAwqk4FXZ8R;iouoL%KJDQ=C1GWWOOowU(e zH#G?*{OT~MLxM+)^VtZEeFX0pLGJl@i=Jcgqp7Q$6X8=)2`#t!;22%@%kh2Tax+>F z|AdJx@P1;SMp$epgbKec{zn1O{d??pcDcx>>1E*jVK{)dW4#so&a0o4!ZEljt}Y3||ePT(0@@HqhB z3qJ@LVZFl9Jnw!Oyd%ljcyefYmIq&D2yKFf4*HUDuh$IdMebwx82$`AmTUnYG^!ha zs%oaEyrThV>U#vE0kHL1&aQIw@m_Y!SlyBWe_p8hH>l}Kfe>6zUQ17dtigEVTwt5# zt|j6j4A>x_dbIRf%hffd2t})k!GT}*Y!V9~-5jz+0bpz)A8K8xGK04nB<1&-(jtu) zr~H`R&MCVLiDinvLkExhRu_@*?PpAX^>uVI=;vk&MV6Hi9P)d&~ohq5xW>)XDc<+L0Y;^K-R-n-(1F zJiS5|r2z*)0^RD@=a3%vJz>qJT^Kw!or>Qpy)0j`kfz*T^bp2wO>OaPH{6dCO7oC5 z46X2JQXqZp=xFV3t1tzZAx%0 zs0)X1&!?G7l&+C0Zg;o_RcQ`?QTd7H9>_Ax@*VzlK|u_I3K}lIB*)bUcDze|`mkc$ z97MNtQKiKe|7KGM&aceo zqqgy*yKs?GibgQntoVh$gQN|=TP6&kB8%niMIx~n`A3s^C8{c3>A@!}+r*V|2qUPa z3u{^78V*mBbbN)o&^H@@vO5mPeDFbB?pu31%6)HMWPQ+a%Yv&{{&|3L+{`2RG@jy> znaAHyf`U1AwR;)p(49dWv>6ZQFqjPfBBLGX(FZL)dXZQ*FJ)#i#TGgcKW+2ZDCA{=<>m5%*7e>Cq$>3MDVn?yR!kt^Rv z;LtAo%rr;?S)1xtpTIU_MDFfp_t(JFbc8Hf`GlTK64{XCmX%BQE_wJ*>js6S-EY4m zLD%k<0fI*6u5tx`ul&#r=wC+2fTvuBG=&=#LaGeh#dDB9Rrl$pN-jme=`Ry8u+7M$ z`7sDqayMMs1_K3FZsO{e>=8c|D^o&MWM9T|Oz4+W6NxP2V1Hr|E1ZmjKX-zcL=LTl zE3i24&c)BibYL82#ZcHbWjm|e-^MN0y<&v!K?|;bQj~T{ zi#a9#Po;_BEnj9>;-|n5ja#uTtm)c}%;Rved?X{zN~IJ>PvA>Y%R7ezu3uk&JWn}y zd0v%2lkL2JCe1_TLsw$KZWlgD<6#?khcC94OnP0fq))Gx3uw1Xa3~x``l&jixAE!H zx~uJw|BP!oeTbtrnmG^7WkMUbMcf|rvBh`K`3qW&yxvKFU;??Lu2cr5rVYy?5@m>Us_bTk8#Z5+ zU?0ro$!)t7zOYBfXkxl=cxnlMB4LQ6+j2BBMlwL62|C_j_~15Ar>o;z;~&pk>|^DI(pttC%YIAh&iUw(wc8V_Gqfas zG8!bnDIRB`4gQs4RE=a3*KxO!1Yb6Jbcv(xj=yaz$v2R=xRIo3MNYVQ{~adWp=9)N zfH$toPTA?;^(p;Rx-E`!iP{np3l{G;zFFc^Ps9ESpivmQmh;OaM4xv*)=2rdzVrh> zE_oKtn`^kKMf@PP$Cv$@&8d1Va5>EQ3tm%RkH2HuoOTuHWA1ldO@e0x+-Y;dc1Kdm+MMuMj;HO^r zW}aStX!@6pw<717K@JEJrndsoz-u;moStt2O|t4Br4>iJeDCGxOM$Z@pVKFn)rzFv)Ivb2-~KvCy1~6XaFBY8HmK0f#uZunYlGkR zd*YBnfQ6E8ccxyrXR_BSS!IzQ9SmL$gTa7!lSn-mlGS^%7!SQT@og5;v4onh>D?BU z%LtwsY+>~&JBT^Y<;@CzvN=Di^h2j;V2047WYw3Sj4ub7(s?A=-FA2U-QNhSC3b}Z z54gqTnx}KnG2RQ+&xIp9NVc1#w>rdRoO_5kQLo^JQCLQ#QFo zueq9T=rFYXr{K(g)ng>*`tT4EW>bjXVXqeMP>!k~XN$jUYwPi-8dm!Iw$nuMK?wnQPf1i5S8;&HEodB{YEededTo4#{qz z(bQRk8#5%Xl~MMMcg-{i*NRg z#Teb@WXTLh)CF{*Jjx`>Zax85^);H_I8v#^ItE zuVsV>4{H~2$O7An^vT#<%CYB`=S;3}B>*OtFdmt6zJJ~)nOb$VUxeAZl#+XN)TGsy zNViTXE;#ak-Hsj}PItOKYb9oI78TC<;rXEMr;IzSA(PcrupNEX+{9a?LZg6TFys(k zwt9Xz=`W~tW?gC&?b?!Pa-}F4O6cnc&X})7>sbA~e3m8KgHj4C9G=M(7okGkkpov2 zSVoJ^rPYkU@PI&MW)t)qRr@uFm3pA^`0wu-O$P&i(Xp$jU%VW?@0s6**J1fs4}Z&@ zh1e(7Rhu-EC!mt z)jxiE;0QlE$IRM<;*zAMHyiXG1NV?u*}pSyjWKkigXq>nJFvsrru(?`#W0DctO z26&EL-*xn-4uaGJ;-j2iYp%V_jteIEejhV4F~$R_s|52OnUd>)AH<+^$#mK3Wz0gVR9<2&PT=9SE|PovAKrVhOm}N^ zmwO1BoU~dVcalsHZAUh^wf$t)hzlf18KeN#HbQ5DMn6mQBqRZio2t&#;Xo-?ZH}9N z+kxyp>)$c+JI2)w#{0b-BODr%;l0RYhc&cKwO%b7qK((?JTGWsovFmPQ(1Cp2UgrzYxpQfe8u@nX}PB^Mlf*=-)V-EBmL z4@?YEDU1hK5v1d_m)Rb=u`ldzD#zzV4hRebbE)YXNGS^am5%6z_1;ZzC&yiXJczjt zJ%g+=&rKqSwCmK0G4H3d*aG;UNYw4R@1=9((DvEbHRxCq6N11_$3YQD;w#Z!nxQM* zUm*yGdM&dx=!yDVb+BvLja93obgbRtFd8OVZ21M^mAV4TV==xIgr#Q3*?%1_>D=`G zNxVihTHeB%jQpvmpQqq1QX(;b1QS>4$1@GH3zyUc8(|9@H0k7ZI~3lLxXNj&;D}e^ zPPQOc{*y}V#ih7*ZJeR^*Z|*S>hq%!U$}r5xoulS!|YrM3{Eqopv;3QlgL-T=FH2* zSE3F-xReG53PT0hN=&UjWXU^sqH5}#{tycPN!{B;I}(QsYTxBTgq+xar);=vSon~F zHe7$??KUkO#~8yFDM1qI&$pcyT%GWpD=*i%4jUx=l`eoBn)UY*Sfzu{@5)AgK{Jv1 zDd=eU#~D(}5lrzz#NT;bJ`*%#eG?FRZV<09=H8?bmze9n+T0qeB_M;`B|d9P_RSz8 zpg+Vf+qpqVM>G_-&Srpr7~~lp#oaq*MC2ON7RotD6_W}Wfut^KSyrWzk=R(d;v%Ri zclTn2iC>C9&+KB-0jnSlRp`NHei9aa>&$at>puQV#GNjk^O~Ivqh|KT)cvu(OTjE8` zKQF-Q_{~r8qwcqMVFZ35+3j8ofp9D}p{so3fpePTPzz*aV(!`Bo>z>Q#J6yjR z0%;j1qvGz6tdr0U5_KUyv3so7W@sZeT1a~<62Pkb$}~4PPci31G(4Vv`@)6F z;Ej3&lg$#lPmU@Cnb1wbL0=7ZS9rMh_RI)HoYLsOfLGnw(z$Q0zp-Q2rw2G5>pq-= z(?YS|t?gk4Q=Q-L%Tjlv7a*w?c-pm%taT@XR8Yx(&^)OPi@@3B@#(MqVxxeK#PFA~ z3}RnL@n83#xozZtr^7y$q81OFMMcvDlW{*PTym>!A1d}f`pW;}elLuC5j5ASr-fSl zTzN{@ag$b=a;sA^r`I~BLSq{iiMCIj2wU-_`csKtWS^)_u%=Sa)raogHuC%W3dv*s z%_MVw&a$3KUAsgbuP^uo>oj=Ws>m?`yhWZ7!o(mK#$yWTd!JDYHbHOWJZqx%=yAj< z?=wWEc}u=&C%ZRPjSh5Sm}`QJPLmBRakazr!V84>-AW9r81FmZef`_{D0^!At5dGq z(x|7-d0^ZwF;jMu>P{xoym`#TE+GPo?ADlnfTRR;NH4$R4-QErTv-sWEXpsCA@w&L zg;eO^C~>mryfTz)O?fh#%o7qhqs9$PBot#NIO%?z(2)QLgNt7c@qs46&^TT$LXXPE z9G)wm!F59&4Zjfw zyRAg?$!aEp71ew5$JUP?Slmw37GD5xs_My{`RK ze{2*oOJ?*<%FCC~g^2x|jh1%sufv zmoMki78SobFMHQl|LG+R$xz0J7wfvOL=@N9xCW?)#h$M4|ZIyfAiHP zD}wI^Ns(zJWrzZukZ!%}dsT3{J$3uhz?S}b6kG~MJ>uAI5KkBjI-6z&HV?zp+tqWG zf65dsY>xC~FG(K-s7<&-qYOaFidWDaJ#TAygS&Ah+KbdclF1gJ^PbV23=DMzxY@oD zu*=0=HF-CYS#1Fs#d5?Ck8~#~f60;$K&{sO;vG4d>yKRc!>p4POVaU|x+jgX%J47q zMA4FbprAeYQ<}e+?ZMkXOQ`T8*8jj#|7nQ~{-UY*!;3BeOVtAc&ik75=J2FI? zmA>g0Pm1C2jXJxD%^3@njLynrv(8k?JbT{jN&oH2&)zIgExIX*QdKNNgey!W!8ogn z*jT<)Mgk#@UHs4ijeuDsfBW7AH;=QH48h4X>djMlyUKvC>HtX#IZ!)uR=4)Knr6X#ojMRBk$m9 zQQ{iSTHwHzffdXSf8bJtM|ENfw#!D`9%$&XtM*8IVva-w$&}~|_)PizlSJ?ZqtH(_ zH_^R!D#mV5_l@@Pp_0u70!w+ZU>ARCaTEmGINu;VSUp(y*Ne)mBNP@TYRccYuY2d( zdwtmXgB!t$-U=`Q%oV}QWTe9f(0%7R><%Chd%=;0k_(8Bf9ie_Y)Nje?)TmT~}pvppnVxJtgQR%JSI^ zu5@OIV$*W1e_lyr^I|+ooba-YpBikaW(C?3e@#qTc?P)fl4)nWI&X!KyFPep*x*Y%*wzc9GRHa+^9z^_B6xVwh!l@l z>677_Z%UA?$5qSLqoRpO8&hn6_MRns1w(mC3l zyo8#}=t3g(<(eVabq1v@j2^y4b0ltpe~WZr_h6NNmE1mIcV5^N)lPZ-b*G{aAC`Dd z4eZe13gsd#^LD#<$eZ=OU~T~;elf7ST{r0yr7PeNDA9AQS(aDmV&YDVA`R~N0h&$m zGgg^{O`3lIv>&v*@j$b9YnJ}2PO7?QyA~s6s{?}#cx`ckkFDrtgUaAIc3kuAF(st5G|8ZXOs8OKu{k*Ngr$&&jM1f=MI~mbBN;6vpeE zDvo&#PsH0pSFr z(CZ_YCCkv1PrOl3pOM}yQ;XG5Am$*>SV2HpXj!#>W6=HagDkSoxY}SgNwL)!C-v| z8yLtr@Q|u?XW~3M6a@gke-n95_1;i6hUR8yD*IkbQGZ+Ve3=Zce?)cN#OJ`DBQm0X z^opCd{01E&0`-uLH4wNel}**?5oK|2b^GQ^RZ%?3=L2?E-mR)A zT8SgV?iROgg1#84Gi9vNA7vcdXd1d-ex-wObwcm1PRCH#} zMH|Yo+@)6Z(+5^TwlRNp?IyK-uytsGFII(92S+dU^onℜc{>S{9@V9jyl1Z6EBe=HzQ3InPMn|tt^y%WH?zOu56k@@RQXdm!Zg!G zv0j*xVB8GW)x5HRi>f#yN>&Ef7%E-}f%2ZmyS0e{e*uzG>8K&vwpFt&D!QQzKbW>+ zgi}*Yxs>4r+%kFA(TgyBKTEnaf@5?n6t} zxQUO~NhWI27*8SR8c$6w@Yv#w(w?J!sch3kgjb)SRPfdwxa<&_EnZF)^%0hO{Jy=9 zHz)-)e~4n7L~GAjqUL;((jhHe@%Z6M<3Vaiz1LVV`)M>)Z$8p=w@K+`pl63msK~ zf6>sf&kovy)DB80SF2Rj$0*f`?d=QX z;pVpK&+!r6qp>AC>F0z1O7tWvJYq23S zZP! zDhrX?%o{IbViVI=*A;hP3U=q`$*Zfex=3qpVE7w(i!dX1Z{YI6`qwoH53Ee=xLCfkTlfozO+N14)Pnp~^7HQ#ug8=)6S(EGGe( zYa{V+Gf7nv9U+ax>E^j?qip|oj(74(_R*VyIq}k@KO((_j;=cV|FE-yAT<%;x<0Q2 zYb+X3&Ew$)6hw;e+5t`Zp*t`+Nn$eqiWA{}D7k#JZ<8~W3C}!B7({YDf20<&dDV(~ z^rzOiIFk%84@=e*BG<7faov30aac{FYY7slYw6|njn#3d`d)4tyHd-5^z9nghMF4U zG~!xX826!I%qsM2`Kv;Tr)D`N%;WMa9~{1_L^x`0s*^ISC1<%F(5dGIM|P(W)P(dx zd_dsdhNb{0!#9&=&9M7nfAFf_Ma~)aYo2?T+uz6*sbcXKi6+h(ZNFo&c0=uyItMNx zR)s&Y5sPC+>Pi0gH1!^O_7(Iwfl8^B$Af0CcY+msaaJP_7tp40T^7EMAjo5{{p{YG)@9{ZLU={ZG#RGxRo6?$$o-Xbu4EL|_tut6Wt5rMGfgON2VONu}9k zQi}%l&Rg@sHQP?re^8U^Kz+&;Nov3WLf$7v#h(;}-)4)`h4-H#xnre5pt(ov$d(Fw z^DM+Wr*41#bcFzGx;}3FG0)6`TAkk-V-JT6ol8hip-6TB@>#!_t0o|t8RaM15q}n8RWvCYf z(gyLFXpz*7Xj%Fvo({RS$eE-gyvdb5D92Lacprvyf2D%#FEmg-EW_FnX27Y(wk(%+ zbo5aUxq;~5hN#{Uul!YdDL1a{ur-5ZhU8lYV-n1i9!i`#`qp_fuNQnCvY_TXi2;=y z^XjkRt($fhU91^KUF|%AQC)ezV|t(YRIKY?%@~Dl=B4NsupU*JvvoCWOV~aoWH8zG z$3@%Vf1^F%2ev!`){S`ruFr`rA_Z42 zb6gtteV=nTRC&BFFguD{x)P>2Rvx1Sg1^{k_G=AnUwJuTA|X02DZbu&;c!$pq;~1B zf2<|^O8upJ-95VEgqF}R0O^5}x!E;PV&?Qe{B6)jr+MI%HW_b^W}ctJxdA#)r>7=r z=Jcx-_)BOVq;Le*J5Di*$BqD-PGd3}R8}r$!ICiuh>D69B$JkBq8@M>k-QF(sg~MibmcHYsRjbgF@9rh8f4u&% z*(E&m)SX>^bwQZzeC;6pLPwG!q^#fLigxbR=w27bVd-{Ivd+-*E1nj+&~#WWP0(R& z?BBr31=336j^z8`exK9(U}Oap9a<^#woA_N9@kUTDXDYsoPJY8*779?lYE)tGNy(@ znMFaiGLs!TRKPhcZt3$@JDJ9Cf0%fmpB<=mg$*JB5jANKVtGS8HKgsv+?M>x4QFIU zV%Hb!r*jlZ_IY=4*VSD7;k)r#ADR8|_iagZ9K~f(e?{WPvz)KR z%dKq=1me{o<~%vCw4lf>{JT+2rDs!;Uk3aVFR~Y)=n8dLm~9dq>y{ZOvQX%{liTxFnszR63>mlLYQD1pXZf91oGVd8^Y=LKAh zci6;X3?26FHuf1`xlUG-?fwZBe1%wpKaV-cY*3u70g+R+8ukFqeE2w_#xb`!YMdNm zSNp5^%;b@dBMRcxV;*o)b$^6l7m)!1BgW%bn7%7(jnbnTO##&MSO9I41PA4Z1 zn z1&9EbiYO2Kw#A>V#KvgtwM!=^tglBxWN>lU}DiBS}{_;^`_dW!o`E%)onA%66{K+?hB~)w*qj6d^9GZba%T zd770ZR?lAdjC_xy)r%}h0f!8?etD$6TSxs*`82r)8rD*Mn6$(sag)oBo%yif8#Dgaow?cAb+TuxuT8CDEM5@zn$QZZ9_u{;=V6{L(Lus}{b zydZ^M&B3|1a_$Vj7e$a)kX|EA=;&Q}P!wC|X7+RS6wbA1`+0($8tx@j6iB%&U@+k!cgD z?5oi8 ze}3GF4F!4Lf*?wI3hmFh@-phG;BD0S<)3sZo0IqfBAs0ikCrNCQI?rqtSpufw>3|@ zp(?1w;C-ZM=SLg2hXU~7mW>ArWxW{P&M5}=2k_p%hz4wb_;z*xeb_S+fQI7$}bb5rZ-j5hJgg!%zk9l)AuZm+PU^=cgZN_f~KX zN%;JTsatuJuDUMTe4QSOA#k&qt4&0A$ zc8(LcVDrq1J;&>r_xwt-!x6ol0Ya@nDQFR;JO-A3%7k;X(;Q0eZl)za8E{&v{>E5J zbH0toAEPZB4Dsl%)3S=+C`S3^e@Tfp^cxh|HQoCsvY7PwBi!LK#4<7mg(3?`S>CLe z7yjnxfKZ~#C+EDIcpf^Prt=>gw{6BEJ<$fv(iKMgU(?`hQIq?$omOy%_sAVd^N?SJ z*T$Xc)cmaNjynJ>q0T`uQAqXZ#TR-MkhnrCC1h(z0VAk0(5k-@9XuvDe?}KZkl+{l zDz-(0wh`@q2)Reg((PIn_xw5q2|M(AN)BBgNYUqb*_?jp5DEZcP&$C<=V4$VEW{Z> z9)>>5@EJ^7ZHK@jh-3ywP0R)E3P0*al6Pa0VNDofY!Xod-as3n<6&a+-3m2H!+19% z+{z4Sb@&Xt>(ai3=T0y|e=cb!sWG0k^@6qLnrVQ|9_C8PHGf+t5eSV{fo|k)QC;3k zH_l${Q%6zdd+h9O>PM{Jjb5sdpkRj3l^v?+Uo>e!w_CBNN^(rWn*QqO&HB#ZDIOpz zQ~(CT@HLIcCokXN#~@}^a9@OG&97FHOFk%u5EN(~*PBH-k2u8?e|)}k9~57B6F+sL z3Cw54GC6|E&hP~~?6%|lvE$WF2Tn;XRanDZ&mF_@f~gy&$OBbJeYQi}a4ttUVaR+=Dj z=cFf}!WTou9A3JQ3R!A3SaSE&1;sfX0lFr_&IC36gG3HuojZ&vWowGAvwb8KJr6N_ zjMLdtqxt*ze?#rgOB{6E{T(FC=S8xnXTD6hebbDJs?QLkm4Kj$4vL&Pg{jF`MshE{ z>)vm~PE^Ta?WqlQ=sVF+kh~dNnVXm~m0a{wa*6b^IS9=<^Ggy=?2Q$NPoMEqg}$uA zvbCXN#P+oJqfU1ReH5A2=Os))rGdC#eErTu!iWvQBNznI{W4jC00^IU#s**%@l#suz3?=TqY0#~*@ z8G`H2uy!)A9ylK#O>O&I^G6wBOZUW-0HwDDQev?e$4(Di#xDdg#5y`XX^(1A0>0~u zYlOGqemU&aK3kP4Dy;aV_1-wb5SH-gqPmC((|OLH zE&^~j%CruL#^Np0l$E5_EiDbTx4!Tc5*=uoXkExg(LweXenPQzG{qFD^PDR%x8(vP zl^R0T-*}9VpI+6%DAjf7_hKJ$Lw(U@h>*i8OzSsO&fUYV-h1 z*?u(sic1LYIJCO^9bkFjQo-?fCN<5nXqW3uyqAQBfLBbL#tYpuCG3z?|7bH`rG;DT z8Rl=bd@FZxk*N%q-U4H`G&kMa-*d77XY6e#DXe+kOZ$#I@1w2*w|**@JWy@gAwZ_y ze=6gY_IdDPKV8wRmSIWZS(2y>CYYQ!;Q6!i4ueOB!SZzgv?-o9%=hKbg&>dv1XymE zOqNcyk?9QGy@R-DGcb|j&S|(TaVLh#Z`+FB?!%wb@0zZX;5&SmKOv#}YBBw5o#oRA*yrwo*q*m~2LiS+xj5Pf_JdfAnxb&FO@9KuEae-|6) zup|ngWWly=+qP}nwr$(C?e5#QZQHhO&YQ)=Y~Bx4)UL8loX7#zzH+T>6B^3QIiXxR z?z?^148JEjIBG6L-cCDN$B~de9P@mMt$<$0vNIsSB5)jd4 zbF#8!#pri%Md->$VZ%$A2xrF7f5UI>B`4TAZ+{@VzV`Kb*2>G}(a41nm2PLkFz`@F zJ{zuoX*3-NRwMw(GtE!2FAhfyHzDXkR__=X+VN~`)B8oqAE4<{(Ch$U(044-c0pVX z%LR>GF{0Y1cjDOXC*Vy*nOrUNFXh|ZNA01R+3%a-%t`@m{i9C8jd>aqf9+;!BM;*p zaYPD$f?TRB?+qZsT;ULK>kbp(iXz)rS0r0Kj_tM=H22uJb8C6%QNB;yP(lqLMZ30y$fdE|UK}?`44g&LBtNgp2m?!clPLSZ3w~`_fNq&4RtY6^Y zc{@eQ6|V)MXoTs>LuJO(6Rl%GLk!zDa081jy(CIhmRN3Q{hN2DP*ZcNJ6<$s8kw3| zL_Qo?g9{?^OEhg^e`9j!f_A}tp-#yb1n})jz1ntYW^NN?Y?)wPgSpss74W)%ml}q{ zri26Mjso-5)I&N#g7_G_s9%c&!@6BZ$PFKA9y>V%F$mEZmzwH+P@yWRabDgrwbp^4 z1MZX!lJgGciu6nNcsVn0Nt4Og@BU=gLuBf5aa7ibpBMq2I7kLy55Q zGKWJ@iogaZj46p8jrgL>xk6y5s7%dgmmy1>QE{LJf5cBsy7FZis7K*ps{m0rU3~2A zeYgpQlIMLt#_7{_arsaEU19>yS9yE@Xg?1+JAPmiJNL*pg zD6%z#Rj#$df7i;$#>ZH^k|&%xa}_Mk6r)Ll5mpu;-dWVr+9B#^EJ8;ii@@#`NLZNq zmiyaFz;%T<@Chu%%u?^sM3D~WXc-N6?9j_s9Gn;qGCFKu1iaD{8QTK z$osRS8nQ_3CrNo&IQzk#XQ~9@1aqPFZ!r*bCc)bue;cjf(<=^f8O_4O;%XS6jD4VP zk>;z;VJ7`~rbfAH&jruPK^biaSzlKu_?3Q#jA-2Oq__C$C{L>)5c-R(1`OeX76=2L zeb*-Ovnq}8<}%%Y5zW}OeXI)H!}G%s7*F018W0^MkojIM9nHTR)HXOqRdPV5qp4Js z4%s%hf1=xMt;4T-zKA8CUI_c#@%8FUggf?(RrU)N8p&Kf?KFA+f#_ukiN6Fuou=qa zW-U!dG%-x#nF$7*OiE!scvJw8*?u4wWz9OmI?PqyUnzO`sEr%db`0u~sA0qq{jyTk z9wRf(@%!QAQ02O81sVN;A*esh{sM(KWHn-?e>JX$Ih9ivKtLxU?$c5MG3^rqop{+1 z<;LaU(8OLYK+oPeRg&^xCu4!m&n0@W6TpySOCPd0-p_&~)IN@U!8jxxx$f$l^3}uM ze%k}t6OYI3fb)&qz7@y9pd!!>ZQU}}H`yTGuE%9oOdEbtbcdk;hada)Vt%FNKQ7~y zf4s+~w*Oi_a%yVV0~mm7ZQ)ENo34}lJe6g-=4);(s-R~PkMkkVl{j~K0bACN{XqbR z(f-N5$|OvCWfTl#fNXZ z(3)QAS_Hk68TQ8(wN{@i8#K?-gYRsef4KAYL8K7CKlam&+0&5Us;<&M)gUso11DH{ zgwPyWxr%S;PVu9-~hjcNz~7^?p=t`f z%sdw`_UZ>wWC&(IXn|$JO~-cDe#INky!vo`X7`riF{Yc5358L={X@7DuvC$&Eql&!61ay~=_~8%f9;C5&w*&= zqtbJs_~t1X=%W6KsG@yf{P#3G!BRDu{Q_ zY)Z)4U$G^G#?VK4-$s>__G~aT#hg!4E>xd&YLC(tOt!8Tc=>!i`1J)}Nz6hxwm}nqac``SGPZO7OS~ zBZTyQ@@dr@2IrPq0`+s-q(!)I8d=KLa_L=0yD=l!MqSs(6X|ef6Na_#GG+Nh1mg)7m!(1kfmkGi5kOB{a9?+m<_f)*L+_ zw(*qgk%I^4U%YOD=d?$qMh`oOE7uts=*wiT5t6I&e=WNP(};iG^y~T<3&Nz5tJu9} zKBW8HUTF%VoqWUWh-Oghrr>R1nZ+Nrx1tcfo@r6}H*#B4CSL;fb0$*UB1M5p%*OW$ zrZfXBMGnWCde}1{s}Or6%dEL*D%1c}j8u5mUWc(^7@l0+0C~hd!9~Hym&YyKH?OT9 zE$;b5f7z3!djq?~x5^{MUXeLNEO}atktSzBS@t;3%Z=3!a z*6*LKx8~NtUQ4vin|;Jg=YMW|+@W5!ObJ|qB!^@I0E9Y|3dFqHcUz|=Z+OX9=h;`0 zfAzhjhv1&?o5ZR`-Id1F3Dq4NrX+gbHH3on)T7?sH9HV8J!x^)E_b zPXkN_OwmH9;MF=p(YwS1Z_B`Lv;&A}<3Mrl^S@dPCkSxpGStKu&e?6DHwrL6Vj-O?{1?a@0!r51x)5d?Um%y+0 z>%S+oc(zi-JH)zdT`K}-?3af^z;;rFL?9>{DV!c<@~E7R!90c$uG^BFLxNEzTf*^c zf?Ef2FbI*>H+`gJ)Htb+fk%}`6M$rio~i3x`WP~H(^=S5s^syP+uCAHFgGY@f4%;E z!Dl31vu8q4#Pjj&YgB5-vqQ2PjF!WR@tz3gg8n;t{W^w2lMC^B%3BIrh=hfoWejJf=%>T*4~MOY?>gY8 zSOL(tl>{>kS3x7zv-lp4lqR;hf8Uhlq!Nd@wzoC!==QVTc{eW}-pzmw~YdD6pu2sh+u0UEj3ZP}~WU!vMeaf0s$q3pGxB~4$iw;5BaF1c= zM!H|jP(wmi8{uI-q)zDLn#(b0z|JtrX!VX=34(c_qDT!yezu4%)4sgwfAxwXUs;WH z_>}8{;oB3m_Oy1vd(952pT>_#a*`|QKxIuwDPsv=@~s(6&6sV~mDayugk(q} z8OR5T7ls1uG^Yno`?z*|w)cxqLIUEYQ(F-+A?0qXjgf5zt)X~@l}k8)>Rte3V@WxY z595NDsjucw$Ytomg|!TwfA3}Y4~!GTbl9)*b^$Hza+#>q-+?~Fqa=f9ZzSRZDN3$W zQesJ*{AyT3ocgxeQOD0?Jm$OQ_h>{oO;ROS1gb6>S8MB3{Z1nmc&|E*l;=b_(d9nIB`2()X9^sMK#__w=#bfFfrDU1({nS0nw4^BYs~u+cHEah8`}B>$ z$eKSL>Pd~K!nljlPZZDDef-)OzQKeAMYu$cW1p*H*XSEie>6E-vPe4JHVva|Jm1#r zP~w^+3PbqkGaK#>1a+!7&Jo|1Jf+zr?y}*@*?_y6FJOV>4(wEy%IsiYIKc<9U$BXN ziRgle=~a}nnJ98E#3o&L0BJdCW~BY3x8fHNdTe}FqAB04^fG}9%!U7mUBTq@@S zDOB%wJFShgcBuDb=0GkgxQ$2^ zO0Z3g6E#qUUNyTW+Y^idX+PmDoZ)V#NJjM-ZU~6vg?7O|ixsHL*yqydlY;JGQofO{ z-Vb;%e{vD7h;Z~}+~PB4+d)>bqpi(2)xlaQ4WB%km>M~QE!$2cBDKrU)-P2ji{-^# zo}~vX4Y;m*prL!yYJKyq)FG5_{tcJRG+sCr^&n%6QK@XlLdWIxn{g*8w4yfuT0?6JDxJtWjaOpda0_n!aG&P|a_bc3e$| z1+#rYyE|cNww+P|OB?){AoubE)!fBZs24)L?G+4md4o!ZC6H(iop9gTnavsUnZ1cM zf9tbJDos!sSaDqhbniF|@NzIPcvxDx$dgFQ zRb|~Lm;R!j-)FeVeJFCmge|fNmHZQ59${7OQtdIxp+r>Iam`s;x4$$20y^GJ7jil4 zdDVSFhsqjtno$O|h%eq9QM2iJHq%rVf4{%W$rWs2QNRka1M-E+6bduKP&bT*f%}^m#s)vyD4!OA&Og(Vusrg4mIr<5-=E(46g&j?QcaZI2m)7_5_N`}Aa7 z*E)pk1+y4?^7w9Ho?9q{rLg}|+paQZuSb`IQy?CUHRyS8H~@~Y;SLk9i;P?0f1l_p zTQ*REh9Wbjp)XR`4E$bjE()d*M%(;bK3505OcI(rNaTXob#@f;t`2O%3P`GeM$3P+ zliDC{f>m&yrBZ%Vs1F)0(}Y?9?0G$V!bcQ2VW82FakB)dzAa?nwss0uh~I-rUJlC@ zNuS$*RK~Hm{Uw;8R=pee>;Sdye^HhU>B)|DvB3Z+86On~)dIuV?9VyO*e;(>`o z)-T?7JyHSn625YqDwyfl6J5!FQaOIV^Ef+Ed}(kAze!W8cd3u3S;8L;B++q_igT4- zmLG7MtB~Fkcl_6g#QJD8XPp7A$iJ+fvb^!Xq9chJm}vqi04z_`L*p@}f39eUU`*L@ z9`}$oX8|Hp_@1Hs{Yj|o?P?rZcbMPA!dJ;Pg8`-=cOZE$;C%>}A|*;>qUr~_v)?G^ zFmR?Mi)ZO`agsTu+0gfjA?U#sl$a{_IXdc3GF!u8KsV>HIOZ?qb_lH2>i~n{DGUz$ zSS~k6guHg<+5u*}%L0Hw+7Xk7C4N7C*=Y#UvL>fX~cn(0M-yUb5 zKO2IXPeoht%FX*KwREglZ z<2w+8f2+K$c#L7!)q)b`2Qxk0TA+e|dYCfT@LUNwd2th$+B5_vB^}j6g_rFoQt6PL zjSl@|j%b5Rg*Ibvf043M=nn9*+La5D-Er5Rn^pD;M7Ee1`7h$`N6zfZ(&v}V8(DHO zmbMRj*=)bbT4Oi*-Gd?;q=v}6|>^iM~zf@{k_Xxn3rnP z?oi?;O{`*g#)Cs9y}?P^buvpYqIE>$BdS7W=~3Tm0tc}Je*@>u*UEI1Bxvnu)CD{x zHRczn^?MCXvV`glNp+I1H`=#hshpi4k}u=D1s@z;(BhfcIt3$g)GUVx?Y$-qAtP64%otg=4cvvOeuMuKn&wutn;|(`?fqao&I?t~dFLrql z_W|)kf#hAXf7G$~*ZD&7{=J5lu?XYlPw!1hA*PO5S?z%n)=bwF^QL3XXE)98L;F(|3?)}S6Y?^&1RoN-Lzk*!*$Gl`7T(lmFRGwvZOdf9vt*JdNs|m95~Kst)ptcN zN0+4l;)$4Zp|6e{5%3&(<7P^<&40Hh$%8dLd`UGJe+3xe3PXG`U)Pj`F;kes1`!eL zIUq&!?2l!V#RM}Dyj8C>*lN@}BjBG&mr8IGDQt-MbhkvYF% zLh1?9#-l``-$}_VqBIaUA`$_);rGQY1Hup-f7`zbW&+0mSi9`Rg29~pLcAPTML*`Ot-GUm_}PnA1^pC-m7Sg~Yg}(r~~u117EK09eeHdKf6FD0|K?Hb#VRKcHp3mRBKaZrKmHQIP0uy@V$c#?>Wv3 z_pCRF)E)4Z2zBOdrr(&+f=1z`Y&-y#VOfgJC%M}eZqQ(lMG(_;KnIH-3v?fqD))eP=4Nkvd z@2;Gu7p6~9?Qj=06xRH_1}J;yf4=Ff4E?dVu=+@!D~j!?<;bOwd#jMjqaw~Q4NMx~2Z&teLU2RZ>-nH@u@e{VaQmP08xf1|Np z5xn=Hr>RIuA!&LKui0ln?ghye9rTAuijB+8+UoyoGNVqZPEn%Tv#KvzU0IculeGnv ze21iN;UT;sCE`Y<*@@&%z1$<5xP=>kr(3Z!T6ij|GFbIxGruDegE3&T3*O zvS2bFu@QL*s+36Jmh?&FAC7O;9vL^;T<}R9#F#>*S>UcyBGbU9zC(;Za9T1mIzdRq zOc7AozAojnrXZ&=z8-Z(?GRM+N_v0DDVyk2Topq2}h5p+Y%aUR~k&rA`CL$^*# zbUeTZKoHsH*-ILeU3etccQ~P{fEAJI2%Agd4E^e) z(bLyKpEfzmzZi!!tGoaO#*P*M@jLWm0fJk-OE1AIK!Oq2p$n#GQ0?bkc>qH|yuaWK zJSa|SNj#&_sDEI2a1;ten{HawphcM_z888U9^be3sj)5>DfjvjETVL}-VHKoW5`9D zy|I8H2{`Wo&23(nA>9r0j#OOP8{EDTN0ait~))dzXXzQKH*7yFNkUv zzylAB@l&zgdH-#S;;YWK1oYI=s4*Ltj>sng$b!TG+<*6Ng{_tneupm>SHlw%M=e1> z{ySl~D2Z-JE+K>FaOoVBpGE*bAWwG3(WTDC zk=R`ocwoE9T2+%so!)1`vE!^o%rWaL!$nL6A%8`2`1e9)m{H~9^9mB20Jpz7J$X1R%aeqV2UUpv%+LJ6*8?uU&Hk!G@m zI2{dDF>k9L>cfPB0P2sQR0XNjRa=Eo4$!*uT!ndnV#*g_AP)(-ulpUR&}y;Z7H~}H|z}P81GDNdqNS1LB@3i@y5+?_2;KWo_iyKK*^E5yMJV< zvt_g0=-(5xtFR4aAchFC_&_rG5x}FnvFY6kyWw?$>*`_L&kZvy3u|=`oEvnM00L4g zx5HE9L=&-|a&#FmB;c>u z9t?$f=FeKA84KeIz&xQ_E^;k;p?_XREP@CLTcUvy9J8zY8@N3L=>#bmiy;p~w!qzc zKSJL}tPXt}TO@4_gI$ZhOV+OOlkx%9z;B=|p5sc4F2-xF$P+$(NopAb%(q?X3QBe!vunnz5Oc>K`=jPm#R(R5D3G&-(5q|`UU1@4_$)Nv! z6wEaPg^}lcdKAEjhxa8rLfgzeDoB*VkWKV6ytSsg{A0m!_xD@fAA4K)3{g&P#5@)# zvpMAEdH}5V*J5c z{BV{r{`(bUmPFxXsDGXl!GZ7Jy}m}pipJ~af%SKXG>f!J=;FEdr8$Q!nv5}n&}j1( z^L6;WrK#z4IX}O2u>L3i;>v&+$5JJSh}cGYaqlc+i`@zyLPyh0PEbx@K2eDdCN-Lr z)`oM7)z!#RQ+V3AcIiqUw&4q?w;t8%&Jw5qsBzo!Fqv>mTYnnNsSKDC(|yODL4$L+ zN4AH6x9nenVe3&GZV-D_Pvt@vp$I5U&|xx6?AgV%e8CAYTF9Z6YZ~T=c!$ttzAoE7 z6)bV(-wJK~cg`4(&6)=uN3uA6-qs}mg9%>p!58Y_u6ar3nh8qfZvIKaZDQs-j2Tn` zV1A0gV=0{-+<%bU9TlWz{r*A?9)2b5(5Au6M+HLQ)XXf2JhYYr$uv2T!;CeITuJN} zl!DlU!!Jy%)hc9{Z-_n#7#yoaHKjs;NuXUxNF%W`-< zq7R}_Yn{6Cw35V%XhwP*im`aaAKwRo4_b{1DerP8#DC(~%x6)(2wfyfYCE!5T5=CY zQ!{#`3~>JW5a#xq=jikM)ptie^tpBRz^Y-#>aq3~@65zi{D_1n{y6UQJO;3)F-*MV zb~ss$=M}jdj|chn~KeN;EIgnb{KIB-55YF!PZWMkB*ntzdcM7 z-(Wf(y8Fsn3y!@M!3&iwjNM)b=Yov;>|3sZ;Gw2U!iirUjeUN{C6*lj5L9gYA-
    GK~#(VbC$&3ziH&2jW2i~t~`w%lJgHR;VTx_>nxzR2DWUqZK#oe@iWO=S!1Z+IxM zB8g<(LE1=)d5p7owPb55thG~?ZSp7Dw{pX>1ho8j*I23g*W1T5bJLZ0AEn4|)GWA= zHc2PEuke{0u}rS z8#h*`)g88HZ@vGTUbZ(TK(chk{eR?`?XwA4wC629P*@|+qS=79K54MGhHm7ou1gg& zMhA#Mu5x=%*-$m?<(93p(rAtO(i+!Lmslg?1A?B9EE%)wN?{l*3U`OUK9DhIZa8wf zHIf;>oLlFW@U9po@x{?JwIEpS-htDpUo^`-NYtp{+z#_AR?@^uhI>Gd9e*>S)wI~a zO2PD1@;C6bso{M7dJqY$E1+3>LK8FxhA<#Vx~}KgyV+jlW^L{3w8aoht%+^4&_~F_ zKfNz`#twGZ`!y+2&liZRn>r#f9@D(a!u`g4!!b3UH=y#&hNEgPU*FM{gEGB+XP}$$ zFS`kck^uad9*iP+Cr_H|Uw^O+mW?~Yq%0!T7gIzOUhCT>d{`Vb9>yoMQC={4SzHkq z;J=IZvMd$#{%MDnCb~iEFqgMPPwM=}sTv_!DFh&YiT*u`mx`DsbfRRm$PC%wA;=mLRRO z_7X97iKv?XtHx~6Lu}}GFK5L^yUf{vsYz+*K+!!%6f^i)r)NmrF%~dWRNUWV11{Y~%*dcNUYGh*8KZ>Y5BlUQOnd!M8J2`Hq zMI8LNTFGAfMH=QliE7m8!{T`MJxzS-_3zC$8|^U^d-IA58WbR2EA6$DDt^d*++kmu z; zwgsB2fS9%bcvu$&ddE`$GzwD-Z^H>!9+F zh?N~%$3WdDgUz>GJf^@r5E*kP{meDqm~Bku>?z0Y^z*DJL?!5@7XQ>r`k}A|j^=~Y zi%1bCxD_e!v(+)#l$mGAC&XD5@tQ7FnAaxl%*oxR*MIbhm4+wjcV_sxJ$dsp!bXOZ z4w5-!1n7p?HfYO+J~Xh2Nb0DCI&XM&U@-yV3>XN%+ElvvGEEY`R9aOeT`!FMx)JVM1%@OW!*^=?XBSA$&2Et*2=eX+Z=)I9NXbJ}~OF4X3sS?wy za6moY+a@^56(h2ZFU-+!Ix$~*Cy(zBTExVdQ-az%3*yu%|yYh-RgnJ4ko%%97%L0 zK~&dr$k{AG^i<(Ip)$}5rsS)}Mfgo>XyTsmuBE+vItFF*Y&oY1H;B6QV7&FqG@ZE$b*sI!6dkFUFDis=mz$R(p9l-IY_(Sel_MU~X@RTsvVCuw^0~N0#*q%d4%d1k z*(@@1s6v$_^dS?WG4AzY-hCM*aXZrEZZ-(F(i&XCW`%N2vM7OJF(6?wfY)6{4;OHo z-UY_@yii?5eEO-&%7DE9{vqyiWPgfbvw*$hGhjYWguzU2``U4vQ$u>J%q?#e&;xDK zGVyvLoF(R`>%eek)FJJtUqdo;oCUH%B0+u94CsS;7`vUDY*^3Z$HKl_ynp4lk!xvl z(9LMV7Pyb+Tj&D|PeaZ^N52&{@c{>?*wq!7up^t1^$~KK7qmJhnYl(RltF=Lt-9-7 zAsM7#_7jtL*2m=6BmlM#FvaoMR)BXOkf7adCF94>5+@!UvGO)uq2mSYi7BLB7v+E5 zMCfRpXI;cQ$waB{72;O)SAUPmoxReB7M)?P5pg*Gtd!R`z|Y8OhGT+I-3z$2-U`RR ziiNo2Q0_ieZgU)`TeVL?!?|<;UWTYwp-N=f@^bg+*G@5?_pO9>GBAh}2f$kU^MZsu zLiFyJFZwV2p%q9*`3Bf(i!i8UF7fDFwsXh@#w+Bq`u)&uXNoMn`t8c{>gIN_j=QB=t*I^eyVD)4U2}v zR_Q8B8F|=@!7$xaBY);B;O;g*VAC`Py<5nf=tKk1P{JO&HcT*Be=>lUdOYi4Z$bA;OsS}I4d?t33_#?Q6Eyab4a z0tl}OR9Qc0V~f&*3d415;#}&-ZD6^KhzNrrnr4|`TqO2KKz{}InoceP!_t8#h-1Di zZ9*cjd*?y`0!DDkesVmjsW>R0Z*ieE3T*3}R$d(ZdKrKH&5odJ$gciz5)Ie4Uaz2D zGs?ImpC^e!+_jm1_u}eQ6zsTN4v71D;O^xuct7+Z(SiC*o01OAjSf}7jzI9l>J4N) z7ORAj)~)cNE`Lp~-k^qa<%Nvd#Ewmq%R)8S;eckrp5glS@n*^1ji374kC5$LI$veu zF!N(?)Iinis9Pxi&i}X!Yc4#Pk%&G~&?oiiOt8$=ojwxo&To_nlN{v#o2hF=Hez)tz2-|D!#>2NE2&K z^xb2Iea~l$NF#Y)2iZ|kK2PhIj?{X-^V}c|ZEiVtw*>I9P6@H4se5T!LLOv(6={n~ z>PU=pR(}tO8+<`dU{=w(K6PXFk^s%q-AP@5&T!dR=H2uY!Tqh6FLYkT_#8#Ryyo9| zV`B{J?6I(ekZz`>+KHrAg34fy52G10%O#WccWm}WSDGw+7{Uj;;Q~A`-v;DB8gw;s zQ)}mj!fVRIYVK$+5Qf^1zTEE)vODfv=>y;hQGY7*EJr+cDK99X<0}I~7Cv#CtKTEx zaSk(WK;}rw9nbb}Y&y>fN#__qt8TF+<-i)V*>2z2W1Gi-H!Obbn{?SvAu9ccBZMpkw-?g#!&)FozTJ?o?)4 zU-~ApcfIc+}dW2$gxFezpJa) zbl*?519z-mPCIlTNHM?9M|*Z>Fc*_4F?jD0WxAIxpzCRo(p`Q60H@Pgv}VFzhkt~d zv_K1}5Dn6>)AQOA{uNOd6H_REyof(S4AR;U=cDJ7heEl&Am2%jsgDvFSN-uOa3FOf zuU=Q-)(~CxLeUZNQ$aij@8UW3- zGKMVU-cI-H%W}Kek7=C-2uY0yF{w9v#mE4aB6-Ik1^)pf zg5#M|uN)D;w%PUIhC!*UpQ>G7Mz{s1-Ca{q#voF|yQek%VIXJ}DhL@wUOPCV@GH7( zeF3&V`5p$fw1QEFOsX?h3$PS-RH9DCU4JRAs(S+Fna7NGegm0t&H~)zuYYpuWqwc# zXMED(+8jJ(RCo5Y?B4x7@3aq-Uu191Pr<6H%Qp_O=LbuS70+rzwqD!y_54}jJ)Omy zRIQQNaNJ){jiAQ{O7;f=BuJz|l|kwO#~D$W&^|=i#Ubat*S?72!}hrWyy-qv;l>RR zMvm_CXlL#r(dh9|xZt$$YY1J>*cP74*>lYFDWi?AR&Jh!>#C6LmyD_^|WsmT<-psfq4 zKfo*Mq0639pPyeb8eRGq6}=L6lm=XOKETjnd*6J4w^nKzlUxJmu@jcT8LO?xqNzB5 zmq&IW*Q&?%U!{9%d{uDMGsor@7_*<<$1N^!+h`Tu1-o>9YJUS@wC5F$sMd)#uoOqC zvbLpvV-9!XGK4aXL0gf>{EGl*rk0Fa!^AG@rtqwI&38jsyraT;jQ9keAfn5kfu1wf zEk>}2U0c^;bx&E;7Kt(6JpfXf;<#^qpD})kCX%;^J{s^_Vz*^~)S2bx&hu5Ep83I1 zxKP3+*ZA$Uw14OyWC>f`v(^Wd{oTKz$I7A;&*QCb@ego3W>oZ4Imu!FWi z_yok%UZ5pZ$*ma8Kck2iyBG_2-*a3SzVR2u{Bp$>;oorrAbJ0D4%*AD z2-8tQm)u8IFOpJT7C=Z0TYHf&=8<|edaHz zbgSf(@ZboH&eQ=eGQ1b-WKOS0Nug>%g~1!~MSlYC4D5S#vCssg==qri=#4xCudT+x zNUhXJ;IK;x*3bWUj^!b@U#G$8Hv_Sl*RW(;jpCFO8#Z3WyNJmWFJ4>qI#T?BzrJ;;P--V2;mUrQE6#F~F-$)8 z*Fgo82Y`u_;M?P=`<>>j+5d0`iclO2Z-4B*HX$&qKw42J^LoFZo&H0ualbZG?6nOh zvA&#DS)V+VFWVAi;osniLa9WWDRf$j#8W_&gh7e^IB+(shy`hO-w7`D9-T@HKw~8t z4~H8bM>w|PApx-G$mMKWR7aEUVr&f z|M&_Si}R@~!bPZ+3#X&iR@X6@1?}aECE{j{>`WKUXu3<5Dk2$e&0Q}jVcav9881m{ z7+FrC2dD|pnczk719_X{82+HR0A7i?mfz1J=oi5)9ECq}j)XMI4PPAM1c!tCcb_Kp znms1{%48LBn58T<){jL3dc2PPsDIduuk+XMZ&-8(qr$o651(FVlH9;e*aHTa+IjzU z{>mDy#bT&j$*HQsOek8A^5`T~aTA(Lj?c)W3H4lY+$CHhJFcwF8Wavv9$miAIj8Ep zYPdb;&LP0Tv4%V2EE^uJ4MJsApE%jYe(t>(uSQ1)sWA@;Iwc)k`AlFhe1GcV?kKP@ z-}|J{HDHxghnzgHzHUHZ8->-bPvZKc4r{zUwvL@{{#C0^oM{>k%$2QooCui13Z7ID z_!-M9Wb$GHc&Gh8wFE2xCU`03*R8`FyI*>2TyD>4Bz%;$yFo2gn0+aC_xxJlaY4r8 zDU4;Us5~B^T`lP{!+EGSSh`E+68;r+XmBo;4+yCz(9Y-QO>o0vTNq$CRQ zy)BMntxp&E973So{Q|aiIyET$Y19mE(A_eV2p|%6D&-wPP{mWSx?~J_YC}g(KNxDq zoj-0pv(>>>0f@pl<(-M+?!E@DlNH;oEC)fSdTt85(zf7w^nW!-NwD#?2qa)oZR?Ms zA?sD0p{HdTO$l{+3GIxTYsMaV<2cgHtS7R32AO`lncnglfl*ClgN_^Xf~~~E)vQWX zb&UIwu!8bW+cMcx{J<4)8`M_`FhJvODr@~0R~JP4El=VibhfXq*8}OK9}gb{5Fx*c z9`OE9xgj;f_J09t6RL$}N^k{3R=i-)Aq$j(h<$pJx&1nIJj+BA`fAs=%$b+Vz7vrc zO@jSmdu(t&J?SZ<^d;wV_gzg1Ma)01sQ>=h>@QGNSa zlnsaYG^3|erS0&{8`4Rml>bNEJKXFPg1mxtH zyX%Lp%iU0jE9e@Nb%J&S0a*)0qh~FMOmdSS z+Gd%_1AoT4u1K%$4sJt;+OO*T;*QIF`um8( zKasR*or$Qn!6eaP7ZyRHDJ14r`_#b#HGe~RQ-6>r{s+L(k6nBgfR>H)+`dA(_50z* zkh^MU0}uih2VBhKApw)Xa{4Af30T^p?Zrqb z{}cHM2KH()TYJmzIQ3#C2j>4}6+(pnw7qWVyl9yGSl|`(Kt(g<1bd!M=G%G1AUJdP z0)MuMAwB7PK)#xhiGWjSN09F8vop(PHsu&A2k!G?T~74!OW*-fKGmCzggN$GU|?{^ z%x%0+QvL5FhDmPE zL`K*!Q&JWxED~Y9?zkFSU&;SaEdM$|Fc_V}ocmofS#2BK%BjvyM>4;~^EPn^YdcJQ zPuuXQjH%(v;kMtKiTylvZs4Kd+xNJ%z5mh|h6q>xR~QIzqZ*X}=}a3trGy5In|}&e zGN*(7Z7nL4ke_^5(y3+CJVO~Rg++hkxu_h)$WZ`O(@c!M165j=2Ng<-c1rj2aa$B> znWQjs<9J0vJ+KgP4ld-P@xGjJD_h-JmwdH^2#elQ=6(}JV;;dAFHA|fk5!(`lz9e& zxjUaIr$U_v!j?nH5XG}JVj`I+w|~YPJANm8_m|?nN3E*q%$goiU@qn2B5;5jg#mnL zf3{!$mY=7$D~d8IU(~4Hb`YGy5EVNA88 zd&39d*EH=YN~Hl)SkZ2>5c>nVpp8=Vz(~y8Uh6NMC6|wR9%R(5u4r{oQ-4XnQ_=+v zP*xB0n2|nPp zWf6r6F$R&mM99;@BY4}vgVRt154w3|#r_j&2w#0qt#O}uHJa0E=){{5*ox21e3ur3 zHC1!*#5#HHX*%CT@e%Uf4=`4`PGaXQfsZ>)xg9QM)h6Ci+XyPXAQ}CcNQ!*G2d-@*>=D2I!70v7zj!DC z5Hq0FvM*x(B^V|)*MBI&TsAcKArD3UV2Y^%ZjM=+Dt`#Cm&}P7mJYkD%#2gNKwCI5L-5Kx}Xx-rJBc6`1c}r~z%9dLN66 zHmWs_#%ZdNmAoW6LB7XLvGyX;RF#-uVl&N86eQEil-)HxXxn?-2|1G&r6V(L4)kb~ zp4YLz8$senFn@&RbZ&M63_??PYaXXr8R|ruWwRx}7(;e(^%!&$!%3?<-r<7R>~lIB zF01*_WbRe08`HK}EqL_`9Vi~?&;%A{*jm zc>qjbr(S2o!d45{(aI6m!KvuF!Pd*60dOmq(?@aZfK4-cPy>+m7oppmgWHW9djmdV z6fJCizZ%1IPSYr(yAw%X<_;P0r&-t7ykb2z?PK_@oLO#l(-j-$8lT1LLHDZ>&ek&< zQ3qYNB7ax7`CB*_fgQ`@5=26w(;!V-7oEK37L{t1`}j8bChTo+FHi9jd<@~A#@>?q zk+*XC-BBvCPPrCNJLj?E#Z(7;En3Ma_x_~F7_hge+bFgk@}jRX?d#enx%dfPu{&~j zWioYd&|SHi?*9<#87yJpw#OnLfkk}z2so5klz*@hsG^H$Bb3!L;O$`t@|Awn{qh}LS)ZdK=*<>$tQV;{>NHxB zD79<1huNsNAwj7vUNE==f;Nk*mNhGlKxrxh7P}aGTL-w&=OVS;12qTLU9S+9c4Lrw zD5w8n*?o=V?5(va6P~V= zM0nU@_+-_3M8i?vDp%R3@%SKT66Z<$;Ul zb6B6k>_Y(alBXp-uCS0j z)*4EOzzrw%MRq`eM^cQFpm)yZpMUdfweOytDxXo_O-}vhE48@?A%qA82?p6EMrn`N zm^Z;Vu};u$cSk1RmOjNWwdI?Kh8su>`~WbaI>aJy*U~MWhe6@8+0L zyG5yfw0<@i44=1vFC8++lD$Vo*EVQJ{eayuGbeLqEgc{w>#iKu{j0t8@PD527WN0E z6A9$__%`Pof15z%-`0u$U9OGqGWr)DP7{S;qa<5m$Hj>Adwd2Tk#pyce&TuM)dBYJ z@GboKQ_Fi2%?3-J?O*M~7U>t4a}aKqPVcq&9$iA+sAuF*@sc00nJuqrN+yaa?hXJX zx^CV$@n=WIV)u+UG&)(L_J2^VPa{`i;Ka`^JbBD+cr;$B@Bf0WO-G#jPTqTO~KJ+Xz{p!brRS%QG4@x{uIXcr%&BjZ$RT39elriRHjmV*@@`*g-94zw>D zL0m*HrG=N*Vkwm!gTuz*dU_=yA_51Cq6(dmiJcKp+|JgSj)|U;8z3Sl zC&k1FU}R*WXJllCBO_C_aJB~i#|}rP4s>*~u(RdWo(9rqaCTi&X9w>ijXA6*a zu?8@)0GQahnK-x^83D|Uj9mW-v~%PJh#I;Ge?*Fwrypx7Gl|H8K4?hKY+kgPN^{g9}hf^q-h_6Wkx08PFNP#>mOR z!pQ~zIsky~#^wya8>oMJ*aQD^GW|Bc&*0-_Z)XoMeIEnpV_^z>{{!dcWatV6I6Jxk zeZ2nd_+JFa!~`(0Fm?tQ0nIFI;r>*AHv>)o#_#vkNC>mP) z!{cAMQnsdcfZxS_^L;<4|8REwM+B7rYzP(Le~Zc6y-ODep!}nB9Y!`r3+bx{LE!=@7iWbhs=6}oPZ@b#>g|oJ> z1uEJ(S^R!t-m@4P|Bvr|%Z#nwpAn~bZT{^tbb4Po=f5uUHwL~h)&KGkvo*Fe`MrJ2 zZ0rC-M@K^sxcAF{M{EEuruQ{90lNRCZU6(lt)26G3gCZzW*>m5og>`ui)Lp7FbMrN z{f*cG48ng92Y^B358?tai2WCFFaj9F{~#s+gTx=i@-EUp=)Hr?e-S4$fI;~WVg)d$ z{z32E)&GmQ-n$$ALGRs-|BKjuqxW~=kN@{sGMM~yAISV(-2G4Tdu8{(JN=L1j9nZZ-zE9iQ}KT;$N%8J9)BRv9cT=ek$$hqOgB-i2je^-Hlx3lsFIVtEc01>sh>$)&$3Hi*x^2Rec{S$ zw}G(HgY}k97zPkL9_(>CI;snKUWw$-!VsTDe5N*UH^fpC+D7N~ zNDNH}L(nB!w_cvCuZ35goxF=)}An+>bpnZ*T<7fcKzjm8;u(ITF1He0ve zHSSxwvO_j@B|cT29X4!dn+vG1(RSPb!rY4EuE^jRZ2I;H;;NOM{_q=uO0aknkaGF_ zFOSy&SlL76)}0#XS&SThYAPa!T6VG-+uA8 zrz!YLv)TwTj=w0gG|#tDV+?zB(iCE~@1k*`ZiQI5>`lrg?i)3Iws3c)j?+ENKjo&MxAZh(w_~z4LZ$Z%8dM|dfc>vE{wIw z87-54)@y=rc-))8p{JYUsI-5C6p};w`Jmaq(#;&3&g%gTpXT-925_xeJ=Kq{4sDgM zHoNfkV}OD+4b)(s-l+*G8W!{|T;o)+Lm64Zp(?Q(PArpgaaQ@XdeKISnLjX}FF?XpFmvcE)tce;P`kD4w>Hauz* z>Z*#}_E=^r4@dek&^*EK?qVGSGSgAktT}f*HCGeu>#y^&awLh=?^Xj$nu(hIc}!Rf zi&RUHm)N*zcOG3aNQ`CTs8{ECXgnt|p*5px&^!^X03V8#W;fgh_zfKfjo9~?Vx%71 zCS*{^Lj-_RKkgFv!jFGV+nRZQTFN}f&XQWSTHmgd>0jHB>Y`+D?a=iHO#(3X2o@|nc=Z9o18qY1z^5mIq3at2@M+>I8RMgUeK@#l z{^yZrRl8}vVro3}){(JCk7EBN5_@zg(hRi;Ji}7|djA|YCFV~o+}JrSxWl|!64PEx z_ix7PQaH8X?3DVBa>Vx$&LJlL{y}S>B{Cq|G9*#^h0ePF}q<$BPtS5>nPJF9-O^` z*+(Xb@mycM7Hi^bH1x_iLm7Lw?^p!mrIm1E_~5JcIlo)ty5=$Owxm`}?I47^E7~`7 zAOBr(I?{hE;w&Q!BFZLDD^Vq7BWIq5A*3VA;@18gEBIY`oLknaSt!MR4ZnJ}f#b@i~6r3XA?0kukqYJ|Ze_C|-_1$plKL_oNJN95w#lu>Yn&mj--52XSV z*fEYEk!R^0?fTc%A<(EZrV20`>r-Gm<$2{U4~&0ncL_0842jj`HEcHsBQxa>O+OZ4 z1M28DWVO^keKtB})y&l%XLK32#Nrp5v#R&6C(<0~mW}UhzAqR`P)n=5&DsITg;_tU zO5zRM&b)eL^#j!g2j8BZLWCezvm@<7SO_P)bqN7Ax*5CsxSnkRYx33PDIb$1eyA}C zHiduEGjM_N3{6Xc9#4vUCX<$S`l~H6$bf-cFPO5sJ8b6T!+OBgyZO`wN=h;`P?J5b z7^PSx)jVs}dDyv6HCtAnr@0r^t9(lb*YRkgvi%^?o~wQsDBX-h@Bl?aIE-s$7?Q7z z<+(a;nqKFRmbPFjMZKnNio*vchla&6OGSUy@vEX5CCTA)b+ZB`WS0)zC!%N^g4`47 zJ~&A#JV&M5_$GWMw%Z~DK>^nXsw?c(i4lK6ka1vbZlm*&CHGM2u zMS+B-q0tZWBGvmUa<@M$E`A^`^QR!84o=>M?;-5{VxeBJB+=;05k2NSj3T|9^}c`1 zC2A3m+!!5?Y<>NBv@Dy%qwfc2qLeBvMcUk++NU*4xrmKrqwH{qepe)|jh*OgI*$U* zMVtDCyas60Y#tgi-k$z5S37Axy_cJvp^GhrO^!m; z`KmpaSeCn0=cRo+_O5=ldEn9q~b712(JeM=oNLEC?i^p5K=wcrF-V%imS;FT{er#DE4LFECS-%|JD9IGLb zk2hyXON2ke%YrdP#vgFE3S->>=GPa<{Uva7XC|0j*co-53nCb+I&EJU%t(EX`>wi|y9hL%(r2x~JZ zstsNh(;Z{)JNC2sX9PTy=4z7A3#W~c=hDqVHiSv1JP+}1hA%eMbYgj@{YJ-a8fGhw zh(sxpf0F!EUTtjuhBpsD2Kt;GrCVs@Zf?lHV7Jqfn*ko|1IVX_IRCd-wNf(bM|NDD z#j9rF{jH?s1m4l(J;i@$QhRXAD*x`mBey>15E_f}b&Kj^>CbbyEzfg+Z)zn2V?Uh^ zwc2wmLwpM1bb6g7MUJ5_Mjr?=7~n*=_5fc;VZAJX{W}O5;FY`uHMpI}lP})A^j>Mk zwPDuxjIl-Glx0}Uej+gGH0R&(TJe@XwZ7Vu0?2=%7?vS7l8S$QP864nu>qml_^@8g z0$J(2p}c32WlhRR=59swB9g)F&vkU5KSB4^$I4fBTJYekvKMhog0Elii}~U)l~qkv zn*}VV(QLxKpp)K*dv}R9`h-vzjjex}?CNOt{b0hz_ctK?d&G{zj4q;RMXDXH`p83HG|^9_in0dh(jgqb z>8v#O29CUKKPdz43|tep+8s?k*bAIa&Q;fBoBj})z=W!+m~Yd7ytNOVyRw2R44N1g z$|ppjT+)@>#aTc_hDE`+U5(cZsG9zvkWy#8HaX?Nhj)KnuII@n79D`&N%|T%W_-5J zIA*01X&?7Z=qH$YnWGbY$hU9M|fFktGYFvYqoE<@~ zD57*b9YNV7L)A20WoP(PWY4Y|ijUMicWOMLbYjyV_d=5FzN#8+uXVBQ*0gjze`8MW zU z_{*DXS5)hb>|TQhM@!_-q4h!)fcNLhCQzhsH5p*yR3g0S@4ABiP6_h>TvW0ngS$~Y9bh%pW*wi4%tO2 zI3&zs+tMFKaJi8mg!#BgZ=in-onVt@QMZ4vC)_*^n>!-k5Cy>!0xNkA$B_JIGzRF) zO?>YpUKz#Gwa;r9>^IqT?~yVW;~Rep zDhn^sP1JP+s3vy%Ahw@N1wNf+F|XlNlOUFaL1erh4`{>IrosJ4GyK$~k7mCo3y!h7>PN=x%y;3A-W<- z%uEiMPG=tpFLU8r8)39_&4ryqkS5MsyH+Stj2tLYHI!@wQeGbh74KZH+Kq zBo2vF#>__Gf2swxqj^*>x0v1fvY%uq5ad;XMfH=oMETR3*#YZAy>RyG7+#<=YNCn7 z2vjVzm9N6A!C&2cG8E$zZE4yO?D2ZpbZn|76=;8%8l^-tHSApqL@x=qzTN~c%6j~s#oLf zT>E0KjwMawQOkQNFTYejUu6ynWV1yP2my&Cw#t+phE>$~!-20Iqm8nQ^qDCs!%ZqOzprkFz82g5 z*}@`&YGzLNo)nZ-U8omaJP$Z@HvSuJjU+7}eHL?^Pi{QYNb0EZ=E-x`dc9lNh{SK@ zw%iUGBL3YbVy&qzc{J4tz;jwyxp!CEa$tYx;C-Q7o|76X(n;wfflSXl-K;kizrx2S zOQW;TkEAic8mg578l{9xCG}ZR`qq7l1co#jH9A!YVXv#LG@3MiF5u^gkQB=_h=uqQ ztbBzsQ0#yRt$sm7+Fc))a$6qXof94yk-!)uWH>56pMnA=JgS(_%aYG3WM$^oV*oFs zZ1I^=gzMk^?lK}4Y4MBTUHP+3ah6>WoF|yY2IDN?f_t=O!SQZl<47JHqzXQ~k`L_x z&0<|Ol(&JH|LrsB6?nYDY=kz zkHI>@;HZ-WW*yydkTx{kgA-gBEC}&cl&EhsfOOw#Oy4JhoWV_K%QEFMnG{D1ySLQ4 zOQ{ebjcrS;@uG!=4B?#l=Kr1Zx0G9G+$ z1_q#tj< z{!-6{b*z~ZVNgA;8j<4DET3PvlF~rao}(FoK$!D%s;bny?C)Nu~!dMQXuzf zeoT&uta}NGkiZE+3nCc)#_xG9jl{E4TFSv9#$ZnBod6|N&GOA$6?Womf9N0`?q%Pu8JTq3-ADIDJ33K$Go@pKQjO>K{0Wo$ z8e&;Vi;7RkCoIo+HYm96(!u&#^WKhxVcX)ddYt@l*%@#n%#|I275A zs1NbR88gAkc9_?1Eegt2d?iLq^{Dt-GDc@o1xb~!7CQj5DdjgculFlaIe5#S&q#H)?;Y|c;@upL@SRQ4g)x}RZ!^pmRIsdcLEnPjon~Eg z%}(L<#GEUf<4Bd@!N04;l$gOw+`XKWtQjSBe(se;WY|;Yg}97>dVFBSv5)YubDG^Y zFDcb;*-G$MFm$o`PsH8RI;A4pm*I@4SyHt0LZ4hacwOn6RM+pfk_e= zA>YkBcQ~*0T_T)D9-9$vI`UcAMPKCni{h@nlF4wwl_lZLs;9OHP)ZFr7@>xqheGNM zJOE}R+wpTrooOBbthWiXUifMj9L03Y09&QvToSnZ$_mpQ&z#ZDj0oxHwzz776jqgw z%ZZDmD{tsjz>bxXazct%(DmzjA#At|gBYm#>zUkC=4Gz7-3=b*J!$=|vjTw+= zIesOE1HKl(g%;gT3eN?fPAu}gubHBjFWLCvr=Tjbnux;hrUQ+K7&uHQR~sCqk*0eN zEin@`MfW0b0|Hv91qO_|my?;jpP+32cC zt><9yZM}-1Bb$Df1T3|_ULSxI2Fxj4L$D+Go(C7;klnJ#i3VR-RMXxv@u>mjO~b4} zunbYYdju`eCXL+q*zgI+g(FYTT^1UX&Sd2~l?-NtCV+d&hxAfx7mv}S}bjA z(buTxD+_m7_R*P42hQeU@FV2G#R=UIEenrHYw@Ik`4=l^$JeE=NnYL(N)wHeu3Kb78nekDmV&vBm{L79ODePFXbt-(NaO1kH+lZCu7bM z9Uh7PR_>PZiG8-b-#n54C5 z@dAaTNK6G5YDv73h-i8IQ-5Ite@KFZKtWj>+Z~^sjShKrXfd{##;z7)bwRKdY~0fgDX#OG$5Q04pm4eAyGSo zV7g2$7Kh1sed1ie4qjL>GON|`OSj7+;2zuT1rXMI)Q3p>i-r--Ui@&`Nm<9>tepbX zNLeZU&ee0jh3nKQSf?-;J0g^{@9N@kMdUi~y&#dh&uGtS--NUPUArz+Nn_Lw2i2o3 zxMrpwn3q${Ua(N%XbGJVnZ%^DL<}oTQxW)B1Rbnj@KF6Iw9k16kH#vE2n>;CP)-IAF^oq@5f zqEWRJ3I5c%p%=ema+E~LV)eM<-xaZdSmQdV`q84f^x`V3hpc8w`!xOvMzjGcmm{wq zwkF**w!=*e50FttGA6wcs5H0XeoHjZCc_y@t zJVl1SgRwStS408pV%&=5^2G%3)y0JYcx-~Kz{8Mzp$>Q$!PL_bjgt&UN))Tb!Al|4 zzIm{Cp5Xdq403+ezCR6lFAo3=23i736wFSuA0=~}byj=sxPl=5nqLuDSaP#`MK-GS z8IJS!*eyuJ|0K09niph%I~aaDwI+Z#9T&Y4h1$heGJ%G1CgiBzeI`y3`|*x(=y&AZ zhO!UMnayQ0(h^J3RTC`(DZxmj_~-5L1iANjlBEI--lwt34eGqhCTszZcgn91m0T8D zguH0{&5!S{H5=Tfj@@XUmwmM}7p7r~`MPEO+t<%4y8ar(z$Oexs-;XZma{RhSNbRR z)U^al4W$zuD2J=TZhyul+)HIg&Y-_0#C)d-h zXt?t+8mWgh?nF^gAH@OiwQqG;tjut)PcXqZB>FOYl(QY;5nZ^TeQ$*pd_C$!M-1xw8ETHFxr|&&fbCuj|{o|gBXi-di zYU6nv-xvFa3sFU~x@-ZZ#@ z7bvO}P1t;eVxW+%gG##-`k|qQGzThxv{rCLC47O!|AKIvU5>H9!z^QE|D9qhF@*aQ zDDFC@O{sf@h3j%{UBMx8*3^)O2(fs5GHO$h>HcKJ)zxavyWBj-4%>v$fw;~#57sJJ zQvZGIC!BlpN+|Dcg|5dlL(nQqWU)eg(ff5W?H)vJQe1_99q#sW1Vfe zIr)U>CdUJe1Wo@I`ZD3mL4JiM)&2sYXn5RxWb$wZ8BmEF) z7#D>qg&TKCO*m%%7kDx)Sxz6Wr!xA@TBmD_@lbRia`|rNO$Qm-;C`>CDTQGl<*pg? z=oAeo-@f#jOwzF8e1GMBYNr7J{hY(4A`@n4yRBcr&}uQ5D^;Z{Htvt-B(Uv>82^6g+lLQIssC$6pQ*s9V47?l zV8hlF7e{EkSG_HVz^WNR%Pfp8kC&)Dgku7%2EeyWO@rIC=SJvAwXn_!DXZ%d- zdnS3xG*8mgeBsaI!r0+2!Y8S8@KmAh2Fqqwm(`0K*>sXtQu3^L`}|xHV1`(C7mAXc zygD46dXNNzP+bCMc3-|$5HfTmp)-VI) zma(QYTMkBzNHHTx^-E@)Or^J(5Ty7x+HTbg!s)o=K)~K0u#--lvrnFRef=)8-KZ}~ ziVJQ_F9>i>c?-9IqhgGW?9)bXA0mO+L+czAH13Pjf8y>vD0FrCR|8Xg5AkR#9;{Tb zvGUzsvialxv1wRVLH;9GO0eK$7We{iMGY_CrP>uaK1&MH7+kOgsm17ZUu;oCR+`0^ zH{e6R`M+Dtj+jSsu_&2vZ-M+>nk=)Y`5s86&S}#WGF!lCk$r?BKrR~jOP&(yWux5+ zp+8VhJv0Fx88-vmBt>#n4(?NW+gk_>l8^k#kMtG}67jdn!kSlbjB?zXbHEIMC1ycd zVzgO!;V?vcltDvpNURKqX6wLNa$UJSxIVfNF{;1h=L)oU_68B8Bog8 z;Z;EI4mOWUStFMS&9CA-=uZjIt-joJq^G!?y>Vhql(L@~L|}2>Zd8G?@!u(+98PI6 z&sBg2GXhAlBO1tkM#@)j^<++pU4q9U;pi3UAJOpL+x=eYkb>^$I{gVkday*hQSN#B z%%kv^1z?|NEomxt5#N)LV;4sPzl_bMqEa=`@9CS>!R1)u&C+O1fxU#m#Nt7Q zH^5@4OKu|Gno4O4Y3+U{qS0^r>|@@^P_6<`%aeB6;48&*=I3J?&iF_(83mN)S!Sy>kDnWbNOzH4B0?8I#@S zAPuEP$tLQkJL(EIZ?{sl64`?7bSt0Zst#Y8g$>@?fSJFwKDc9P&CovV`cVCTDuq*4 z+4pV=M%WiSPjnroNc#9?M{pPANmihaxg;Kvb}Am8sW3QTlsbS2+@Jq+<-$&(PA94F z0AaIYd{pq7LB&9u!k=6CgJy7DX!-HI}(7=E&1-TbZPlcz<0 zJS+SQ?+ZA&Cch%tM(L;&O;$$2=)a#Bj585bzhT}eSf{rwJ*auqGggt*ylT<^{aUIa z^&rqrm0-?HJ+lF`vI7!<9!k;hZyi0?QHn8nbj>A|Wq?G1Js99GQxTr#H!$*%3HLM? zZ)b);5v$z;T7+yrg>*cIs?*^QxU=-|AQvwlGbQC|cU)7JU8y7gU`^Wwb1&$7e3l7j zf!}*#dh(W-pG{-Cj@O7ERY3)j!<) zB~r+VYpX}yYJs<`v-F+{c58#FE^bRR#_r>kVt3-H>E!VgS;$78oJfW5@0X%$WPquGbe*R z9AY`Sy@%%-=f3+?+pIeCFcUewcPW|l%~HJ|5GPqG(DL-9b(bNXdUP@YX0;@VlG}U| z2!8?Nc78i6#Gw?`%wVd%G69jtv(+{qoJKqG1rdLe5s!hnkTgmgG^v4sRGJo>U zdM{H=^+0tC3T2KHaP78)jeQ_r34EnC>HySOcmetzdf1P*RyI>jDW_#cDzWj!s>5Q5 z``zeo7Yx6T{)@IEcL`G9KHbB!Q+-hNhBB0ki#wVpMjMIVLUox$9Qc6b z6C2em?tgjao)S>j8c~-ep(E|m>h`^M(4UP~#qTTP{usIiN&9u2)hhtn(9w5TOH?YP zuHU7}r}(@rh@*qaA4l8b)MoSQa;qejXR}wYh#?HaXC~;sK-@n`meP>y9(dB-M1C#_ zSJm^43#LWI8*54!&S?-vP5Nw1um64yxLCPx(`{+hdg-b`5XHW zWgI`vn8!vr;1#IoO}7BZ~;r zuBr4_bO=oMu!)6$1K5$b@Vm)>7C#=7XQe}sX%~_nxFg_V&OtJfB*1%@CIC>CLl)+A zH_Nd33^R2?%Tnl5wX+70Zo*Hdkz+o)>8eKgRc9IVu4_ArscP12|LOBtSQl6aA0&_i zGNM6y)Wu%K3yJ9ub*jE8d>m-b2?iBlZam!cUt0SGL^%O!6PywG^QHORu24o9ukKHv zviPxeDR-o;UK3tq!cQASC;-Q0o(5BV@j*8414l;{tK+iY81LMK%n2h4EbA%QKT6AA z5XU7Zij!!@o7nv^47jkm?Z?^RQZ(Xo%u6>Md+SFF0 zmTOAa#j*9PI2VLx{obL``3dP7;jizO!4g{TtGP=s*tc6mfa6u9c)-0lp$?e{a>uQu z^R4G={)lN1- zo@t6&eg|Jq^Q*QnUf3s8kRfyt*l(r1O1e?yon#g)9uz}RaA+PI$8;Q?*YYTt~6IR+`pV~<3;{o+8WsBAP%}x>cWa%=oeH9^8AoLlHckV>ywDvaG9Y=<&GEgR0xZ4N`cYAZNvLSAZ(o0E z2<&Nk{tE6~E?PGaBB`}6HNz`?bHKGBpua4=Q-p(TTmj{jZuAekaWw?|-V!*SLp>hi zQ-rawRYvjVvKGQJ8_a^U13{>IRoLPrNnn*Kugc^qoN&);pH~nlW-QG6HH&xk*TfWD zNM5_w`Gh&N064S`*IY@1w~o#ZVCN|LIkvf+)Q_5tp37ly@U(5mzd*=x9*5{Dt|-DO z)xQ4=KjZ85*)Xv(@MT$E>;lHGR#99~(!@y}f-}bPQuPmPiQHF|)^rq7NBszTZ5}Qg zm6ueaaI^w`vFdC+mM-Ja(Ojq)J{k9p`)Xe!tOSk#Yk~{Vi3$nqL2<>DvSvAWS{x=sJ2vu%cv7R|J4p}qdz)F zzJ-EVB=&t;^dp9_^Uw`W^j}Eu#@O!;eAAS;zYl6XJGHO%Y0xtylrhS@>^w!!CqcHg zBN*I2{GcYQ26TNBDpGmc)Sz&mT4c?T9!iQf)XCAA zT~36XOhQRn2uoG4X!9oXC+|yo3-h~k@;Mm9TqCM(f>eiDT%phW8>DE+>1UL|XL9i| znWO&Guv>D3LRp>jL(EZWjB=BfPtrvAoy(u*oQWwwFw2k0+z4`pi>-E)!>8t!S&oCIX!U4jj&D7T*haEf(WT zukA_XI-IgY=Zde^4ld0R7yhoXIkezbCn$Accb?a?7vol?WJ&zS2bi_r??6ft6_u~YMiCs%K~5y8|wvg(V#QDF(^!p_Sm-lnXM{_pf{Pn{a!^yRgj zj(|mOvV%v9LGI(yf~Z1I*NcC4GgDjjnNfK`*$KGV2-;EQVKjse6aP4FQCETH3H10R zZOhX2oeUUmLXF}Tkpx0n5Dsfe1JDbK>*`FV;13Ck7H1JWC)?AM+?9aA?FxtX$99G{ zo@(?|7k;AQkK0}`F3K6Ql=JFU0eiv;xnNmk+Z+;fjO=HpUt4t<*qx8# z$lAA9Z^I%?_Ry$*0(3Wm;t??B>Q-Qt@byA)1A%6Tz(#&_ruE0EO(qMEFrfe7d@Wyb zE$LskEr_-rmg^TbrMg3DR(UkT z@uIk?Kj~uhelU1w+7|Oe{|JK_LL&)AYphh-4PWJ?oj>t|uuExROG_n$jMs>DAsxY5 zk8rH{pwx83(PP7iRcz3iT{_qk9Iln;FVF@;~+<}$|T;z-#Q zH)aRwr%9w9=BDQ*KY&7p*e=S5Y2xy$m0AED^U2BoE>%pcOQ%Kfl{dtoYdSy1v-DP&6i=jKUTf-g-(C*@+wy%>rEd zop}~I0p#6=(!W5a7L$*wh;SfKimOK4Gam(_LjsCl;zh`Y8c@WvANta|R|uf*ZQef7yd zE#+6UP4?NFRll7TRTsNV?}g+1;}!Ly(N@n&tA6&2=ssEDOFok?5bt-0lLcSg-%4zT z!Vf|-Vbk4w3n+0n3KSvB^&jz;=70?J{9`@yTXGF2*v%kh(3+~y={o5VRC4AE%e(Qq zV)i)eKr5F#F3w;V1Ng!S>LKsGs^u&B95(&0$rr^5oiF(frbAaGFVY;SWHDaChVGFarQD>RM17tYy@HPtO_OdtC@ zTci5vL@UF-n~`H%1FL){Ys+Ev8b_vJV6eJdBzU=Q40>)^Z9Tx`5#i~TvV1El46|7u z`aVq@BG&bB&(Ky-@nPBq;^&gZ02lTL7;s?rbo#^HHu6051?yZWwA`LL=~a94X`+t@ zM~lHvgqDfYG6G)eh+|EzhYnLJFxz>bbpPVnR{crshMez4?)N$pt|Yz9+2$!BOjwN^ zLo90?xXi`ca>}vOM68;$s}F?->^J@eo;1a+bb2r-(7HhiIb5r%pIe|?K|hNh4$%GS z9-hz+zwKx7U=)bjFBOX(pqEbliYSk@Q>!ncaY3|fJAO~9{f>yMZJE~`oyOPqEYxb0 zq9cpa;@$|`O7%5!36%=fg7ZXW8IFJP@DN%MnXiuOkPQJYRrh@vS#k^zo<*4qlTZxe z8hXGyROZDz5PTd0VsU*#W1^sg25?ONgG2r*d9D1lm8jtW4L|-`LY?xaqq0du0@lTS zvseFKmYq`v0*OiZn8V4Pv3N}fzMe!_!Y-CJh`FpJ)NXG>lZypHCY~d~7?Doggd-R8 zr7?u5Zo*{PzLFG!T}sl?X>sQeAo{SsvsoQzjS`YK2x%k^d%xtG%^Yga03;0?xr}ho zX;kOcPJwby7-$$=X#aUz9kcy#OlOg6I5_K7(F7xe*ucg7XF3D=i}g97*v7?JcI~pQ zVMp<%g!2~3JOLli-AqG_cQlpYQ>7Gb2WI@#dtfb2w1#@yRiC7+;~NKq?4l4Okdr-GLFJD9VegX4y(gKe3wp- zUkLeP{d?uJej_%;1>c6`-MU`*)f<2R2}8AZyQMwYKBE)UP~*_<;U2m3MY ziglyrn_!AvG|EW$R)i|V!8wR<@2>k4@&uO400&gPx_2Rjqo^EWA6F|%;cFmg~ZGEz{%FvvNWiW<3^5mJhB zGcz)AF)=g!|C017U9bUA7B0g7?5LE&+ByzfoEZLZ_4`Nk5YQt$;Ao(%R!ioaEmn(L z1?R!p6_FNrJSH@D+*e>_ zU>1Y@I`;u1J(!J9z`l`|MJR>-=CXKlt)ibCHUiCS7nW4Z+c!*U*-gg z6<==_p6XL14v#--XT=A*&+5LE^9R!H)dSuw)*NXBkeX&;7orj3|Grs}ku(8ryt%ph zh;!5x!1_q7opt7@l#l}ay|wu{t3#bAyh?D#!0g2MyhxAzsKUIL{m3pCtLZ?@I}kzD z9Texw#;$}=S^oWI7)Q|EWnF|Z+32t!RTms!7M<}S{!4PqMLLY+@fJ(XOH~*I{WHa& zL*TT5aZ{KzhIR2f?0p_#-WDd?kcIUPe0%fs zd{GF}wkIT3(igPc9!>9x|DxWa?-~C3pEXqJL1D#?;_DN^gpTx}bJGKEbLUSmaNY;T zj4>O7Hsga4>)^T~2)7}QJk*xB@!XG!V$IiTtUy6TepNzSyWE|iOE=-=vgaPjZ_{ix zHUH}Mm8o&hlV{1O!gSee?!TY)K*n}$VP%f;ZJPTwza~Mb$l9?Ehbw;@29pEfIk34= zrPF)xq4O4kDc5Nc*LDIb)zZS*DH*vW87#A~|1#`wNIqRw&S*$A!yjEHP(1@k#ikaI z%5B}e>0#x91Yy83l-p;uagxScJU%Fg?#t5B=l0CDblMx`1bUjHTdadvTj6<2O2kU| z$l7?F7O;XzMiXcf2bG1-q{QiumPoEsCpqr2`SZ4F@?ye(9aaGbIHCGUV+>Y`QxeoL8~H#VXpH+ac0^b<#{F1`~` zO+e%ARtm<QKTV4~7Z0ST&7{u7EH(^U=tuMP#aGsnhLB1NtilG- zgo4OCw{AtvX~?NpbfJX*;HOcBUVekCkT|0CN(Y{?WRGppIdajY*!|W0djS-X-xFZD zWZ^jL1(r1UTR~DL(Gw*^jX|FivMN&IaKU`CCe`i}W0n9B+w7n;i$v|>@y+1kJi)_Q zMPyYK_RPFs5F^yR6&%IpT=p=*$-jr$+IwreJLRP~H80C=dG7II9a?)`1#7RS!CPm% zymfe0!8YRdP?I@!W=1rzYoMps|WF{I(N zBik$Pf&Td1m`;ZhRzOmx64t66>;S0T`CVkIqgveFK&J0tqHa5>!|8M%jz?`ZpedYlrseFBMafHs}i1*Z_DtF^s&#IZ( z{*zBV7n9r;g0oe&&fv;d1(NZ^s@OeYer0SW&kHW{62I|9=-BXIJ~B=uWaMW1luB6I z6c1p1IMVLtabr|NmMFLUmu6-8q>>RpD`nb*H7<0rcF|F0JWd%RXSx#`k5RTttH~$p zl01M`B35Tss;^M+5-0prS<|t|oiv#`g`$4W45qPZ*BB+ED@XoKY>RVg(?=UN-m5 z?2aH-GTZ^hx*;sMaW1Yeu3;Aay(TIw{RCZ`%h*Obp=UF3oiEIv9YFsF3?%n0Y zS&~NU?!EYUVY`K3I>LB!7BJG3oW!GHdg&nTr4OLH|X=8e!GO91~P&t4` z*cPfU7{w^g@p-@=u5(?^G_d!OPnivD_7NlDpXN0r2l+r~X4N5865!E(N33y-56llh z-Vqd--~@A^ZLEo3DVVTR#0TK3Z%x>{hEVm#>YRId*vCDSKA}o6FGy7*IW@6VaRx@h zHknOqQLh48t0dHa=}zF%eLOZ{N(jJxCnJK8suvNC3Dv?eLj_if*}Zqpr{l^fD)6|n z6{enf>J_?QtCebGk_X7%ksnw=^)h?aF*OyZaTl81A`3uMauW?ThR3CuF~S{!fcvB~ z;}~tKFV@5#uYhINj=~vt*(BlRX7W*;nKLiG^5&MIuw)3+@N{{;biJDx$_MP;86a4= zv2AT+$IU(X^LA&zW<%UQB<{w6#`BQ!mJ*#TX2*kmIQolAcvrkZI0HO?T5$AqR~;8U zNu8hVC9aGK5w8wBU0)rYnd-ps6|OEX>3$H63HLaX3Gr(J_2#j+1&&ER{u@W+L$)`8 z;iQo_Rm6*Y&Wubz!NL4d7@$8n<*=5%A{uwBsXq~!GkH;xwD#DU6rDK{4XYOc8pj=>P@kUOPbnM zX;aBMQ02P6#3ciNlCJ}?0jkQxi`bx@5m_8IV2N+`tPT1IiL%hZmYnJrq4~$ zd8^?0bL1f#v#*UZSGGPZ8J>`6l7nynsH@6U4zuKtJ|V3NO%5UPQY5A2BGMNo!#_|S zk4@VRq{o|XZ@fL=1~q^uJFXnHMMFabA`vrXW#zwTgBBHtzkf5!h52m@@njCdpm%e^ zTg?obt!BvJC)jaU1E~2Y8c1P1B7R7)WxJcAv?WeFQN+h1?)|g?p5J?@SEoRB?IqHm z5%J~qg6z$VqIJFWi`r^r?XRTC-35&O`<($j8X;ArxK!!|!%ZOj`@&r`TMz)nn9x#Jje zdd$E6v)1_^7>R47S}99*w&4!wM_uUR_#(TU0TG&^9Uw%9;iy#V%%MBdvmcdxK-@N< z9G+df{jt#O;iC{2nGG);$6UYQTnmV}A2PR3;>FEVA8ARQ@_D&Eem=)!bpN~>H?$RBybW*ljUpN6++zE~?s&JSy5$0+R*ACPEnc5-uLsgqbcazMGOmz=8? zN2Ppd0{AHFIcjFaQ-u?PD}dUQH-v2Xa?UEj>TvaNj4{0B;jvg}=j4G}#`V5BxjvQx zz$`s1hqb}DzwJ)0cYC~l-|ue}B+3!v*)74TQD7mfD)LI|XPo`kxB#@}=Ol`U?OM?sQv$cf@sCTtpE)3v#7BUrDE0@os<2m1O0) zX6>KVoU#A##@J9}JKgxAbxd608@X~8so$Fiez8N|yjxxI>o6F?kC&sK3hNy-Vqu98B`7yL zIP_I^D=n2AR-M*Fzvo4xa_3+g?6?WlkP>H7bUxiNM=bGiz17TIW|+^WiW0(&wv0=` z1egW+NU+Rf!j_fUF}0Q8We5J1Z^>LmKw{59_aQ?7d#;`aeOj@c(a!rNvIh0 zz3)0NB{kJv?CjMPmmlk-2quUiQ}ZtV?dJ06P|$AM_heg?ua2vF!@Bx6@Ybek?wdRM zR~IqMw0miKm-8p&b(KNByT?)VuYJm#y9&nCOvYcn8~@Ce;#v*MEd&%gr>k}fz;3mM zcZ-Iq`j}kH%WI1dn`r!Nl>TXn%$l&iy+TKJ>>E^l1-==M%p^VPs|Tevhs&)p0*$q~ zOP-&3q`A-J&vKiDkJt>ie!)GRT^HYte$YCJ-5qi6fnD?sRsAW1-k}q^%ihDJ*_Ea0 z+``|x4F!hOYoW%=7#9=78}phk5d`@2QXjre8gBxZbX=Wyn>94ZXS>@R{@I?wWkp^ZHB z%<_+#WjJLz=#DYohB46x2ZgAUNaJuLBMP=W0qF}#P$4fwOINC%qu~n{A@{as8T@`7 zn>w&G_Zg~>C#Wxq3&NRunW#(=w!I1FeeguFUa{y(w`GSGRdH+lCT#Q zAOez$(hxu#5UYqnE<>%c4ldN#g6@BdsRxqzRw#YHG}XfL^(#mBXJl45zfX150tMF8 zQ19b;R!G0wi?W2LQ&g8sQ6KJ?kpANU5>z3Rw8NO$o4U9Hh8j diff --git a/SOURCE/DataErrorEdge.data b/SOURCE/DataErrorEdge.data deleted file mode 100644 index 87d0600..0000000 --- a/SOURCE/DataErrorEdge.data +++ /dev/null @@ -1,48 +0,0 @@ -# Created by Octave 5.1.0, Tue Dec 17 11:11:50 2019 WIB -# name: yans -# type: matrix -# rows: 41 -# columns: 20 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 - - diff --git a/SOURCE/SM_2015_Rozenheck.m b/SOURCE/SM_2015_Rozenheck.m index 0f0b951..29ae292 100644 --- a/SOURCE/SM_2015_Rozenheck.m +++ b/SOURCE/SM_2015_Rozenheck.m @@ -1,4 +1,5 @@ clear -all +graphics_toolkit('gnuplot') %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% config nang kene conRobot = [1 2 1; 3 2 1; @@ -23,9 +24,11 @@ ki = 1; % fvref = fncSpeedRef('ysin',50,2); % fvref = fncSpeedRef('xsin',50,2); % fvref = fncSpeedRef('cw',-300,1); -fvref = fncSpeedRef('s',50,50); -fvrefans = fncSpeedRef('s',0,0); -tspan = 1:0.1:10; +% fvref = fncSpeedRef('s',50,50); +fvref = fncSpeedRef('s',0,0); +h = .1; +tspan = 1:h:10; +sys = formationControl2ndBuilder(conRobot,kp,kp,ki,ki,length_d,1); %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% config nang nduwur [R,K,d] = rigidityMatrixFnc(conRobot); @@ -41,14 +44,8 @@ s2ndInit = [corRobot; %x1 printf("Mulai memecakan masalah \n\n"); startExe = tic; -dydt = @(t, y) systm_2nd_order_robot(t, y,(dRobot*length_d), R,K, kp,kp, ki,ki, B, fvref(t)); +dydt = @(t, y) sys.ss(y,fvref(t)); [t,y] = ode45(dydt, tspan, s2ndInit); -cntr = 1; -bypassCntr = @(c) cntr; -plusPlusCntr = @(c) cntr++; - -dyansdt = @(t, yin) systm_anlys_robot(t, yin, y(:,1:(2*numNodes(edgeL2adj(conRobot)))) ,bypassCntr, plusPlusCntr ,(dRobot*6), R, K, kp, ki, B, fvref(t)); -[t,yans] = ode45(dyansdt, tspan, sAnsInit); endExe = toc(startExe); printf("Membutuhkan waktu %i menit, %i detik \n untuk memecahkan masalah mu \n\n", @@ -108,33 +105,7 @@ str_tmp =strcat(str_tmp,sprintf("\"R%i \" )",++i)); eval(str_tmp) title("Motion dari Robot"); -figure(2) - % Plot analisis error secara keseluruhan -ddYans = zeros(size(yans,1),1); -for i = 1:size(yans,1) - ddYans(i) = norm(yans(i,1:(size(yans,2)/2))); -endfor - -plot([1:length(ddYans)],ddYans ) -hold on - % Plot analisis error setiap robot -str_tmp = "plot("; -for i = 1:length(dRobot)-1 - str_tmp = strcat(str_tmp,sprintf("[1:length(yans'(%i,:))], yans'(%i,:),",i,i)); -endfor -str_tmp = strcat(str_tmp,sprintf("[1:length(yans'(%i,:))], yans'(%i,:));",i+1,i+1)); -eval(str_tmp); - -str_tmp = "legend("; -str_tmp = strcat(str_tmp,sprintf("\"All\", ")); -for i = 1:numNodes(edgeL2adjL(conRobot))-1; - str_tmp =strcat(str_tmp,sprintf("\"R%i \", ",i)); -endfor -str_tmp =strcat(str_tmp,sprintf("\"R%i \" )",++i)); -eval(str_tmp) -title("Norm error setiap edge robot") - -csvwrite("DataOutMotion.csv", [t' y']) +csvwrite("DataOutMotion.csv", [t y]) % save DataOutMotion.data y % save DataErrorEdge.data yans diff --git a/SOURCE/formationControl2ndBuilder.m b/SOURCE/formationControl2ndBuilder.m new file mode 100644 index 0000000..51d75c1 --- /dev/null +++ b/SOURCE/formationControl2ndBuilder.m @@ -0,0 +1,37 @@ +function obj = formationControl2ndBuilder(edgeL,kp1,kp2,ki1,ki2,dScale,nNodeVref) + addpath("./networks-toolbox"); + obj = struct(); + [obj.R, obj.K, obj.d] = rigidityMatrixFnc(edgeL); + obj.m = length(obj.d); + obj.n = numNodes(edgeL); + obj.stateLength = 3 * 2*obj.n + obj.m; + + % build matrix sistem + obj.A1 = @(st) [zeros(2*obj.n), eye(2*obj.n), zeros(2*obj.n), zeros(obj.n*2,obj.m)]; + obj.A2 = @(st) [-kp2*obj.R(st(1:(2*obj.n)),obj.K)'*obj.R(st(1:(2*obj.n)),obj.K), -kp1*eye(2*obj.n), -eye(2*obj.n), -obj.R(st(1:(2*obj.n)),obj.K)']; + obj.A3 = @(st) [zeros(2*obj.n), ki1*eye(2*obj.n), zeros(2*obj.n), zeros(obj.n*2,obj.m)]; + obj.A4 = @(st) [ki2*obj.R(st(1:(2*obj.n)),obj.K), zeros(obj.m,obj.n*2), zeros(obj.m,obj.n*2), zeros(obj.m)]; + obj.A = @(st) [obj.A1(st); obj.A2(st); obj.A3(st); obj.A4(st)]; + obj.sizeA = size(obj.A(ones(obj.stateLength,1))); + + % build matrix input + obj.B = @(st) [zeros(2*obj.n,obj.m); kp2*obj.R(st(1:(2*obj.n)),obj.K)'; zeros(2*obj.n,obj.m); -ki2*eye(obj.m,obj.m)] + obj.sizeB = size(obj.B(ones(obj.stateLength,1))); + + %build state space + obj.Kb = zeros(obj.n*3,1); + obj.Kb(obj.n+nNodeVref) = 1; + obj.Kb = [kron(obj.Kb,eye(2)); zeros(obj.m,2)]; + obj.d = obj.d*dScale; + obj.ssDisc = @(st,vRef,h) (eye(obj.sizeA) + (obj.A(st)*h))*st + obj.B(st)*h*obj.d + obj.Kb*vRef; + obj.ss = @(st,vRef) obj.A(st)*st + obj.B(st)*obj.d + obj.Kb*vRef; + + printf("============== Formation Control ============ \n"); + printf(" Node : %i \n", obj.n); + printf(" Edge : %i \n", obj.m); + printf("Dimention State : %i \n", obj.stateLength); + printf(" Dimention A : %i x %i \n", obj.sizeA); + printf(" Dimention B : %i x %i \n", obj.sizeB); + printf("============================================= \n"); + +endfunction \ No newline at end of file diff --git a/SOURCE/octave-workspace b/SOURCE/octave-workspace deleted file mode 100644 index f59970d3bff18d091bb4772696e826db32d6b9ec..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 47890 zcmeI52|QGN`~L~yMs^`;P@!yNU#jm(rL+pEB$7e0#@IqhS`?KMZ7SMCo9ycxSp z?B(DdGWwm^*g^-`{4Z+e=zkynW?roQ`1fVjANij?a;!Xu+0UP)KhpU}>i6Az!{o)v z`?~=@HvH}Re;kfw{aIXAo}sKE|CKw#=E=;9mFGXqZrFK77i_d-C*U(+`!6nXx>acbo_97Xx!oaMrvop3mq6SY@Q8%4>H=Im(Y=s@@MrVRKfQ>IW{e}gf9 zZUF%wcz!S$@p<6e$pi?^oXQpA1PFm)=$v30S+orB!<1k+51DRpVPtr5aNI5{;^5Nc~GZs*WM`FA=GF zhSa~rq#77%LQrL8E=b&NqocPcv8O{nDH5e69zy2lD8l2{TsR<%y@yYKupd2G-#s&^ zd%zb{qAOFp+&t+NrB#87N>mjJU0Hz+RA9#!MdyZvKeyu7WvGEtbofj#)^=WAs!O2Cy_H8m{k-44DpJG8LUTl1y;c4}d{ z-J9%6fR)_d*P?)yQo=l!fqT|UigWJL!suaN7UhG#)5K=p3b2>GyIEo#p@l7u(=hu0 z`m~aBxj8T?vLiAJn8_6x;R(DtY0jh)822)b^XXpDP9L7)TYwwQL}T56hc5bb{04Dy zV;mhdfHxNhEv^Imn)HfYn?b8)3h}mr-pxK=Rt)q*M(6=aU{SCCqSs*W7sMzA7ggbZlYG5>Rqg8K# zQG%vkllEy~k`x_UBk1;Xi@P{Lm(QNPUp-m_tLgH4F9&wT_}wbfU@xJB80`c`&iZ`; zF>Z=TrDqgue=*Bt4G}NlX7h^WHrg*xA6i9T}jHBxU8F20rwO^V|=dk7!Qg zVLa}+RA@S|ELmb~JJ=<>gl-0bu4k8!>;i3!4(dySo{(5ET?)8sx5de7uve{E=pPR( zpsh4{4is0)F)jgKTlt4+18{c6{zEIlKk@E)iyY9qbJ*C5h&X-=EZIQUwR4<~1-g3g z?A{Li!{2_BEAYCt{--p^+jZMl$y1=MCW{GQ0WQ+IyZsDsppM#@wB?&Z{(3F!ytwHH z4d83V6L&3uN9}Vg^nvt(1bz&d?PsxDzCjDyl74M*qv|JOoAY%1oJ>dEWB5oqU%}NhB|A08< z8I3YRpx^e2`m+I}&dY2Y3p}vQDBBv?RGq3v%qtyLWtIba|DmG9P|yonv-4_zubv3o zJqG5ZwGM^AEBtL@2$;FGCixAJ{n@emjX)cL*!?~zF6X<)$~p5MxWsmH1e zPQm!X#yd%tz?rpQk2V04#>-vIgZP=fb`6g}^Sr%O6AL`G#eLxp;2H7Gd0&8>Q@dqC zA=)7R|z*i9GaH#c%31F8ID?X6}`}0gH&E*K}|DjFm z0+)h4=*qd6^+3Ii%O%eOBbzfS5#*h09Ii77^rzND4i4ay=rL|Yod)X|nD~y7r>TQ! zuMJ*ULe;_O)Vr2AP~}jt-34IuL^=FCFgHL~;t`OFT~YA|o=vaG-Uq~Yw=6ydyd~EY z6b2miYuZ$xy4$JEazGu!C*2A_ zPLIlR8K8M{&2xgg)>_$30UDLeIy{=Nw*|f<^tejRV=pvxurCbBGtIyy^Y&KM0mq!# zQU3(^V4jUL4m2v)N_z?Px;69nSHMY9Yj!*a4%BfPmMDXTn=5Kz+X5_Q&jMX}lwVv2 z#?e%6r2`+euDE^+XzwBwXQBkp<2MPHqd-rK@ph;Iy5H8cQ2=|=rjNl*pz8$ahK0a$ z?ic@P0S4Dv(JFvH8`@EHdSF>1Ba07?~K zaFGBCihs&o0$ijKV<89Z@oqwD1ov!G)&|Z~EUTUXjQFr1MHFa6Zz`DtRBiBA9}jFP z_`FI7c=F0!Pe#;I8il`cf6D0C}LhVbF-i+K>N3);nF~QMO*=~ zA9{iKs+pjLy~1La0>^PS#m@x}J|7iNdY*Y|qJyQM_bv{atAmxs`s*74d3z6Px&jX` zej~XE=se}N7C-pCEG?O+IZp?xqdhz{73>qM6C+c=E}DGHRT%VkRlj8?fs57ZuFM1; zJyH8P6o`L` zJWRqs?~>DV91Z&P(Mv9GL0fT7+E@+5be~3xft`AJ`(_K^b^S0tLeK3?!<2yB0r{i) zz%Q+2YScEM!qKyh1++}0hKoVo z!L!$iNQ0KpxTL`gbTHL?O6>1I9ksF7H6K1w+^LxBu}xdFfeSak_ULtk_m9_w{OX_u z=kdnL0zdD1_gDz*_j2b%e+2Efb90gaaLaDj+7z(=QPO>o6ZBE%8zGTEgW%nxG2j8~ zTUSDW%U;2FJPFQNVpgW%GoAFRGg?Iv^f@=20I#&|VRy z#f6}^2{cU60bO6xmnH>_uUwKrFxGyN?gHSr?)g0tK$*?rGE0H97l$33fnpcK_~!!8 zT@_gL2I80oCue$tUfC3*6%INx?RK0r(a z6yZQ`1NjSzFm8-rQ&$#fsrgN|*MKtZMv9fd!e=y#XyB!dzGyR0IU!f^95Cln_rv8t zpPP+~&H&}9vpx}VRm%ld!~#>!2dv2edNqeyJ_62B?i@wLU+^kw9ueP>`z3oSP*c8} zu@N})@D<+Mz>5(sHsgUC%kmji$g3;j0{3&!d8wyYO@>x;q8Sc;mw|BsVawJ4rw0qB;xN8T(AV9%R~quv>W0#R!nlW2CZ4LW@#1h<)obP-9R^Pr#vxWlThF*9+;26*sf0!bZkRkY%XZ^ zSyDSUfc{;p`u;MA^U|{{umbG5^EuIC*q^;Ty|php)v+nuslEPS-_&UIy z$ZNlT?&af|#>D zogiS3-re$Jz@rM3gK@ya>wO*@1HV4P+us6f`PD8b1LH14%WMbI^bs`|ID4&GMH68^ z;@@>2IJXIR`vPRESW!C#=DE4gw42bT&vnmmf>xHZog)O?m*3m+4($02GdW%XeVtua z^#V83-hQkADjqsR;Q&9g@U?n9psz2sr1b$8tIlc~3-*k%x{Rqnn)#g+3ednmlwB2A z%TRni8F*j#>AulGv830fCO|p6E%%7{DRyp$_keCs<*1?oYn_(f@BjwdEo$8g%&?@` zTn2Wli9Oo@G}|Sykl4=tCTmn6aG;KC*zXq$PP*i&V*4!*bMMPn#p1)Re#L-wzu)lP z0PJmF>1_a9mS&UA4Su(D0%UH0jt;7y@fq}$T#-C$;9DKp6;FY=YJ0ca!S+dg4$_Z7 zYY3K4mIr;W_f6Vy;QdEg0zF{=a!*U019V?cOPC<=T}t_+m0(AmJ8o(MtNHAx{=id? zDo5*cRWaGrwisd_$L;!i^nfd_D+($BADn(Xb2YGe?9HT5U^lz(fki;ME)`P;pjNCr5#F^PdSz!R$-Xqas0q8Er#tW68g_LEhHGn$JNi&UsB|GSDYk^WO&Zln! z4Hw@o;{@{O_qtcXxQlu z-mQP{Zi2N0ZgV?)-fFY4xc_r46$ukbe4JAI*8(Fc-28lq+j^=rzUAPdGyIC;7IMBL){b8qo3Z?XT6Lc^wmdgH z#j|Z3c727rtWcc{R;ql^X?K+@Ruc1EZ&vwuEaOyx_2Hrk*qfIpJQJ-cSc9v{GuMX{ zOiRrmQ)jUphVNfe)_z?MlWg83^Khm-X8y8r$EiGdEZ}ihrk9QaHdx2t+0_STFMGh? z-eEI2>H2HNsE?CsI-Kem98cMOj5(SapA!V1H9cr!G`TaDn>+t=Y+rr<;5=f8@o1m))t_Rqar`akRUmlN3o}i1ZIW+-a?Z6+M zw19$32P@n^Q%b=juya~xksLnHMs9afjvVgpDij;9C68Orv^70)Q64wxrEnioRKN%8 zSf$-I%Jy9;+FdBW-YvfrnZEzXn7OMIiKW+_EnHEGifpwv_)RWF&ojDit#7-AT%2EB zkG*~k@kh`sU&UNQ?lp_M(j2ZKkL*3AnmX6exf?!F8l$hFWI5iYRh1=ZhLXGU`s5O{ zJCavha#IO&{%SDgH;@Iy9=Av0)mlNOI%|R!tG}G_z%|Y&K{7ToD<)B@s z(iYzn$wA%GSsphZWTSM+jT2|bWus@@Uyih{%toWTPBUVX-y zl!dIW?RomjEelNwm2l_L%0kLJ*Irinl8LHHf+?kVCK{!eJz;rdCW>4wbnMpBOmsEu zqtOAmOccx8aJRD|1L5paOXAZrkW5|V_WaNc)Eu;JUB;pev?Ov}RGvfzy4LclzVJ;t z8r`tD{q*H@RvpdicG^eDKV-0_J}Ve^shYvP#{DC|X#-=UFTFz6yP45beZc1w`ouV| zGlTk+zmswKjdQZ3q0uc)UQ!L;;+?_eSA*K0%zab+e*+pb)+(`sA2XZo>Ek z0iy_+H6nOydrj?e3sJl|VY`*cTrqs1^R=XSLvh^p(0#7)Y7+Qu)p5lMa%1tZPAVkR_cjH;KE>G7#6%8Xe}0z2I9v{2Zush0 zwSheTzJ6@;l{9(0rTEFgFx5X_*NJV(_75lHNZ077?Y%|@dff8q!p;N+x*%Y?RLP2g zJOw>3CG#?nVP#A>Z+;vq2LHlPsMe!l;bU8N9Z`6jR5Rb7C*D{e+~9VtMyh8+}& zWdZ8YiILjEUw|H^Bzk3(<)fXna>1Z&`KY8l%oR<~M-?lctrF<2`vx#S2*UN#);-$J(F^fZdJ$|rTT0XWHVW4LP|DzUb}JY6pw7QOyWlF z37u?Iy7E=rgN`h8Oy@|7G{Fh`QpSJar-jB^fQb8^pE2}e6 zR*2e7>|7?wxbEQh)iVU+wtt(sL{B9(+-D8AGz_M16K?@AM@gKn^P}uDdNK$Vh+wOOcB7v zZ{Pgfbx;sr)i>?XXj}+aKWo=5ogs`nf3PstPZq&X*nc)LI3bE}*B5WHjuFER;-xDc zBgAppjKi`%n2s5K4b9>6XiG$u9L(qE3Spdu9m_-)qh!f+*}&3p}pUbICmUw zmR4?ZV44hWl9twSjw*`_w`?^Jo;)7!{_;WL;i+!Pv$^xG0B>&vdUC~K_st{K zDAA-%Q(vzEWk0FnnD5ez#!y6!MD;$Qa*5Hk;iEgzn#%CfRS&vRSoVrjDhYk4;^kcL zr&;Wnh=m}0f#SdlbgV*LwsBz=55`c^-MFzR9mTi{7QEPj>iEe=4f(K>$_h`!y)u=Azi~pbgK?nuuZLi88G+ zhT_=y4P%9iR3)(7+0+kqa$_;^q(>PoVv^WLJ!$jpJW^P~lgN1O9x3dFRX+ctCTVQq z?=A*DHRCY;6ysX0$1>Qcu+P@#ZpvaO7KraXQ#c;ePjHK=Or3z$MmI!Pm{YL(4}~4i z-=<*mjrk&Y7fb040cn2ubQ+8Eq*Pe&~r zawoWEq@(j2-?y~!rK1I$i^MsfrJ>8YzM)PjX{aoQ!;mjH4Y8knwl#A>8cILo=8Mau zA-eln@7Bhv$U0KHRusRAR_}8>oF97?CGXHQb91_iwqAeQqcHO-s#ZRBuu}9YD%iDb zqkDZS+OZ|Y?_6Oj+WusZ&#{B4=-mvFFEiGqqLvDFG1(cZh@y4aV!c=@A`Z8%4fL}2 z@tNg8_wN4`G_r%Eyx@x|!GUK77{>{M;J|p|(4>!py_>!FU^5*0sRIuY!PCRsbFC-+ z&nSO35E6M3M{rpY`<+;ggsip#Y{1UOBoC89Oo}l%=s&0j{Rg$=Fyn{D8T1>p55^gc z|Iay481G>VL-ZJYbG%%QnfTx@d4s=188GdGoHj%c`sp(56PX;0$A%G;(BS&BBliD% zm-{Dyhn9FA(T3geA&mlmf7-pp?MgO#KchkRPfJ_L>J=dLpHD>MNc%VS9>|rv{reRl zUeUBbs5XuH!v8@d4PpAWk%mI09wJOibm+x!@ldAt1p3h3?d(0=0)6bfiT4l+a}#W* zC>g3ysD?_K&~fA8>%Q0%zUT}z_AJ!2r>&DikL_Z$~GXSGm7U!??d9Lz;w%7wagv4tW>rcl|fs z48Asg-4w(tfNX>Qb@d!B(m#FVhHWnl9d5?I+DAJ7Nd5jA9aQLmW!OBw8}MVp-=6=+ z;aJw6#T}YAYv6zQ&aiog4kW_L^B?9l>^vikJ9PYanrwp}VI_a;_Op7jo(G{n9zUFQ zXx!oaMrvop3mq6SG%uDOX+WkQEAGEIZlvzND*msEGhE(e8}$GFHt7G*S8wv0b^nWG z@D=wb|4UyliSGCQuL}KX{piOQ;#SVV%*{x1?tCQX8 zWVbrmtxk5UliliMw>sIaPIjx4-RfkwI@zsGcB_-!>SVV%*{x1?tCQX8WVbrmt=|7* zJlv4o>SVV%*{x1?tCQX8f9+N$4mr{S|A$7=?+#k(6J3e}eWHV1qTlp~e%sUO=IG%} zUuQ=nTRX|t&cVOK|4t4zBK+MsSS?ba0}+PmpT!;N{3G@IZoXmiV&(bWfFB$F_WVB% z$Flw`E-TMa){y_ooniB2=EchMA7(e~JR^)dbo_UkZ0#IjC4cPpvwE_g2cbV6Kb&=F z+~NF2YG=g@9T+h*FP0u@K&Brn?!P#0r0%~e{;!HNT;61B=l}lJ&i_AK3yDtC!B5fs z&))w3ej3uANR-CWgEl9?@kcI#6?*2_Kkkqu66tTTWc?4{5BeK_(q&2fhtqIPmXZTa zmcwoSX%FUz3Pt>n7_soMo%h;-O8sCTzWcgEu2~Fg|B`DKlWP`}YZjAh7L#ihlWP`} zYZjAh7L#ihlWP`}YZjAh7L#ihlWP`}YZjAh7L#ihlWP`}YZjAh7L#ihlWP`}YZjAh z7L#ihlWP`}YZm|CS+n>*xP%RHq}FGqhmWa;%MX_&7K82oCsur;!UJ)C-EIHFL$~*)v)T!WQ!M+sc+hpVDFclMx4#|^dwH0vf5}xJy0;zOow+s= zFL?TFumhWmhx6CIzCPk{)P$>>qcb!pD9O)sbCXw*H>XmFTh0Dkt^Ql>{#%{?TV0Ag zrGLHGA3i;lA>21lk7jh_FmY)?TK$(cbmum4`GlPMFQ1vq>~}K#x{!9iUpLdQhw1lq za5;W#U_2W(5SJYrh%*Ws7{`IZ{BYr9`f)P-xR`#UnSR_@zZ)A5(~pPg$BQ}l2mFoc z$H(;JXZrCo{REhPW0-z|Og|y!JVH!=A?9{r<~U)dp9s@Wgy|>3^b=+Ji8B4f`ddTj zK3?`7Y{aFHcvgGcdpJ7|Sx{GuIWPwiYla65c2ErGJ{bcq;zBN2MV?@pJi#(~f@Sgq z%j5}`$rCJ-Cs-y=uuPs{nLNQVd4gp)Q89UfW%2~evg-RKtBA9k_P?2f zcOh@c3Xl~bD?nC&tN>X7vI1lU$O@1ZAS*ytfUE#n0kQ&Q1;`4J6(B1>R)DMkSpl*F aWCi{M6(IhLEO5C0B4fh_GEicY4f}t-zF`~y diff --git a/SOURCE/systm_2nd_order_robot.m b/SOURCE/systm_2nd_order_robot.m index a62c67a..908f703 100644 --- a/SOURCE/systm_2nd_order_robot.m +++ b/SOURCE/systm_2nd_order_robot.m @@ -4,10 +4,10 @@ %% t -> time %% x -> state %% d -> distance antara robot nya -%% R, K -> return dari fungsi rigidityMatrixFnc() +%% r, k -> return dari fungsi rigiditymatrixfnc() %% kp -> konstanta proporsional %% ki -> konstanta integral -%% B -> matrix selctor vref +%% b -> matrix selctor vref %% vref -> kecepatan refrensi function dxdt = systm_2nd_order_robot(t,x,d,R,K,kp1,kp2,ki1,ki2,B,vref) n = length(K(1,:))/2;