diff --git a/journal/figs/comp_filter_three_hinf.pdf b/journal/figs/comp_filter_three_hinf.pdf index 141707f..a472044 100644 Binary files a/journal/figs/comp_filter_three_hinf.pdf and b/journal/figs/comp_filter_three_hinf.pdf differ diff --git a/journal/figs/comp_filter_three_hinf.png b/journal/figs/comp_filter_three_hinf.png index 78fb6b0..dea4ab1 100644 Binary files a/journal/figs/comp_filter_three_hinf.png and b/journal/figs/comp_filter_three_hinf.png differ diff --git a/journal/figs/comp_filter_three_hinf.svg b/journal/figs/comp_filter_three_hinf.svg index 6ece8fc..78259c8 100644 --- a/journal/figs/comp_filter_three_hinf.svg +++ b/journal/figs/comp_filter_three_hinf.svg @@ -92,7 +92,7 @@ - + diff --git a/journal/figs/feedback_sensor_fusion.pdf b/journal/figs/feedback_sensor_fusion.pdf new file mode 100644 index 0000000..e1200eb Binary files /dev/null and b/journal/figs/feedback_sensor_fusion.pdf differ diff --git a/journal/figs/feedback_sensor_fusion.png b/journal/figs/feedback_sensor_fusion.png new file mode 100644 index 0000000..4ce9fd8 Binary files /dev/null and b/journal/figs/feedback_sensor_fusion.png differ diff --git a/journal/figs/feedback_sensor_fusion.svg b/journal/figs/feedback_sensor_fusion.svg new file mode 100644 index 0000000..211e3a3 --- /dev/null +++ b/journal/figs/feedback_sensor_fusion.svg @@ -0,0 +1,115 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/journal/figs/feedback_synthesis_architecture.pdf b/journal/figs/feedback_synthesis_architecture.pdf new file mode 100644 index 0000000..88b3725 Binary files /dev/null and b/journal/figs/feedback_synthesis_architecture.pdf differ diff --git a/journal/figs/feedback_synthesis_architecture.png b/journal/figs/feedback_synthesis_architecture.png new file mode 100644 index 0000000..454a9e0 Binary files /dev/null and b/journal/figs/feedback_synthesis_architecture.png differ diff --git a/journal/figs/feedback_synthesis_architecture.svg b/journal/figs/feedback_synthesis_architecture.svg new file mode 100644 index 0000000..64a53de --- /dev/null +++ b/journal/figs/feedback_synthesis_architecture.svg @@ -0,0 +1,157 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/journal/figs/feedback_synthesis_architecture_generalized_plant.pdf b/journal/figs/feedback_synthesis_architecture_generalized_plant.pdf new file mode 100644 index 0000000..35abed1 Binary files /dev/null and b/journal/figs/feedback_synthesis_architecture_generalized_plant.pdf differ diff --git a/journal/figs/feedback_synthesis_architecture_generalized_plant.png b/journal/figs/feedback_synthesis_architecture_generalized_plant.png new file mode 100644 index 0000000..a16d923 Binary files /dev/null and b/journal/figs/feedback_synthesis_architecture_generalized_plant.png differ diff --git a/journal/figs/feedback_synthesis_architecture_generalized_plant.svg b/journal/figs/feedback_synthesis_architecture_generalized_plant.svg new file mode 100644 index 0000000..9b87158 --- /dev/null +++ b/journal/figs/feedback_synthesis_architecture_generalized_plant.svg @@ -0,0 +1,193 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/journal/figs/ligo_super_sensor_architecture.pdf b/journal/figs/ligo_super_sensor_architecture.pdf index 9cea68a..4741c90 100644 Binary files a/journal/figs/ligo_super_sensor_architecture.pdf and b/journal/figs/ligo_super_sensor_architecture.pdf differ diff --git a/journal/figs/ligo_super_sensor_architecture.png b/journal/figs/ligo_super_sensor_architecture.png index 79661f3..7ad4dc8 100644 Binary files a/journal/figs/ligo_super_sensor_architecture.png and b/journal/figs/ligo_super_sensor_architecture.png differ diff --git a/journal/figs/ligo_super_sensor_architecture.svg b/journal/figs/ligo_super_sensor_architecture.svg index dfd9970..de0b587 100644 --- a/journal/figs/ligo_super_sensor_architecture.svg +++ b/journal/figs/ligo_super_sensor_architecture.svg @@ -104,7 +104,7 @@ - + @@ -125,7 +125,7 @@ - + diff --git a/journal/figs/sensor_fusion_three_parallel.pdf b/journal/figs/sensor_fusion_three_parallel.pdf new file mode 100644 index 0000000..3e285f8 Binary files /dev/null and b/journal/figs/sensor_fusion_three_parallel.pdf differ diff --git a/journal/figs/sensor_fusion_three_parallel.png b/journal/figs/sensor_fusion_three_parallel.png new file mode 100644 index 0000000..832448f Binary files /dev/null and b/journal/figs/sensor_fusion_three_parallel.png differ diff --git a/journal/figs/sensor_fusion_three_parallel.svg b/journal/figs/sensor_fusion_three_parallel.svg new file mode 100644 index 0000000..840564b --- /dev/null +++ b/journal/figs/sensor_fusion_three_parallel.svg @@ -0,0 +1,235 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/journal/figs/sensor_fusion_three_sequential.pdf b/journal/figs/sensor_fusion_three_sequential.pdf new file mode 100644 index 0000000..f28984a Binary files /dev/null and b/journal/figs/sensor_fusion_three_sequential.pdf differ diff --git a/journal/figs/sensor_fusion_three_sequential.png b/journal/figs/sensor_fusion_three_sequential.png new file mode 100644 index 0000000..9bef48a Binary files /dev/null and b/journal/figs/sensor_fusion_three_sequential.png differ diff --git a/journal/figs/sensor_fusion_three_sequential.svg b/journal/figs/sensor_fusion_three_sequential.svg new file mode 100644 index 0000000..610c344 --- /dev/null +++ b/journal/figs/sensor_fusion_three_sequential.svg @@ -0,0 +1,282 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/journal/figs/three_complementary_filters_results.pdf b/journal/figs/three_complementary_filters_results.pdf index db0f14d..978f1f5 100644 --- a/journal/figs/three_complementary_filters_results.pdf +++ b/journal/figs/three_complementary_filters_results.pdf @@ -3,7 +3,7 @@ 1 0 obj << /Producer (Apache FOP Version 2.4.0-SNAPSHOT: PDFDocumentGraphics2D) -/CreationDate (D:20210520162735+02'00') +/CreationDate (D:20210520165242+02'00') >> endobj 2 0 obj @@ -249,37 +249,37 @@ endobj 42 0 obj << /Type /ExtGState -/CA 0.2509804 +/CA 0.14901961 >> endobj 43 0 obj << /Type /ExtGState -/CA 0.2509804 +/CA 0.14901961 >> endobj 44 0 obj << /Type /ExtGState -/CA 0.2509804 +/CA 0.14901961 >> endobj 45 0 obj << /Type /ExtGState -/CA 0.2509804 +/CA 0.14901961 >> endobj 46 0 obj << /Type /ExtGState -/CA 0.2509804 +/CA 0.14901961 >> endobj 47 0 obj << /Type /ExtGState -/CA 0.2509804 +/CA 0.14901961 >> endobj 48 0 obj @@ -315,25 +315,25 @@ endobj 53 0 obj << /Type /ExtGState -/CA 0.14901961 +/CA 0.2509804 >> endobj 54 0 obj << /Type /ExtGState -/CA 0.14901961 +/CA 0.2509804 >> endobj 55 0 obj << /Type /ExtGState -/CA 0.14901961 +/CA 0.2509804 >> endobj 56 0 obj << /Type /ExtGState -/CA 0.14901961 +/CA 0.2509804 >> endobj 57 0 obj @@ -549,19 +549,19 @@ endobj 92 0 obj << /Type /ExtGState -/CA 0.2509804 +/CA 0.14901961 >> endobj 93 0 obj << /Type /ExtGState -/CA 0.2509804 +/CA 0.14901961 >> endobj 94 0 obj << /Type /ExtGState -/CA 0.2509804 +/CA 0.14901961 >> endobj 95 0 obj @@ -603,19 +603,19 @@ endobj 101 0 obj << /Type /ExtGState -/CA 0.14901961 +/CA 0.2509804 >> endobj 102 0 obj << /Type /ExtGState -/CA 0.14901961 +/CA 0.2509804 >> endobj 103 0 obj << /Type /ExtGState -/CA 0.14901961 +/CA 0.2509804 >> endobj 104 0 obj @@ -807,510 +807,384 @@ endobj 135 0 obj << /Type /ExtGState -/CA 0.2509804 +/CA 0.14901961 >> endobj 136 0 obj << /Type /ExtGState -/CA 0.2509804 +/CA 0.14901961 >> endobj 137 0 obj << /Type /ExtGState -/CA 0.2509804 +/CA 0.14901961 >> endobj 138 0 obj << /Type /ExtGState -/CA 0.2509804 +/CA 0.14901961 >> endobj 139 0 obj << /Type /ExtGState -/CA 0.2509804 +/CA 0.14901961 >> endobj 140 0 obj << /Type /ExtGState -/CA 0.2509804 +/CA 0.14901961 >> endobj 141 0 obj << /Type /ExtGState -/CA 0.2509804 +/CA 0.14901961 >> endobj 142 0 obj << /Type /ExtGState -/CA 0.2509804 +/CA 0.14901961 >> endobj 143 0 obj << /Type /ExtGState -/CA 0.2509804 +/CA 0.14901961 >> endobj 144 0 obj << /Type /ExtGState -/CA 0.2509804 +/CA 0.14901961 >> endobj 145 0 obj << /Type /ExtGState -/CA 0.2509804 +/CA 0.14901961 >> endobj 146 0 obj -<< -/Type /ExtGState -/CA 0.2509804 ->> +<< /Length 147 0 R /Filter /FlateDecode >> +stream +xˮ,K7?O/p u!@@=#8@ B@3kwZY`J;+#+?_9}+?FRm=hH]W:u'S-_߾?'RϬ_9k9+=̭9<\Tww?K+嵔r})=](x.e^J>v\J/%W_KY?z{)KQ]Ϋ~Rrݏ'q<~Rr;kJ^~R2ڣKVR֏^J:%͵_uǍ󾄏_UG|jkƽH뾬ܫ_&9k-G:*[}}{%k_]HiL_2ye|_{Ի.\K}{z)rnDQ/GzL>L~}[Jzd)2k-GzW_Lfk-Gz1Vu}[R&O%|ZwkM.c/GzH+yTyݯk^֏_nQJ_kY?z?N}[y4\Gus-Z+<~3_E񊃭+Wvu\G=eϮ͕|?.%WR +Du7t(#t7(=C_ɻyCG+~n 5jS,[,uC{m-.ƫ/gw}#&Y>yw1o*O8s1'. s=RZwbvYw%=ZIr*eZ?yw1|_Q0oѪM2i{7_1MZ~}RԾYGb.sǬ7orj)?|bԿr/2s1'.=t&>y2O]{7TY] +ojGydżSӇ#yw6yv\ɻyO1[MOw޽e%Vj]?xw)i]Jvs.={ݏ[d<c'^ k.7 FM}ݥmzsS?|R޴uǣm[گޭ~Oמ?R~fnz@j+7+~`ݥ|7?f\yB+Y?xg!g֗:h5?Iy^o)u\VL<cȭI߁s>XYwgVl;3k؊ ]5< 3~HL9w5??4k~l:ԦuGcC̏[ZǟzC??~l :ucCϭoZP??t~j>:yucCnϭow~l[}fv:ucCOO[j:u1uSSGnڏov~l:Au{cCֱe>󫿲fcr%f{3ksg:ya >8q|f qv+=O5i{3kY!sY6"r |f q4H=5Q{.3k# m`=5{,3k)8gR1aD?0rf qf^av?8rf a +P=>5a{l3kC,gW1Ϭa/|v[Ɇ LOݎˏ_,C˃ t;ToM |5 t(EGOqt7V]WӁX6`t]O'~g|ѯɢaX3Ƒ"~:[;kD"~8T؆4"N " ob⧃CmP躊N * *~:*F" poa.SA84@83s@߷U|ߧ.ob;Gm躊*R4V~6q&" ob)E8L4SE8E4Dm|躊**~:@ob#C8"4⇳BUlAEtH7kto4e ? v s]g(e ?IaAH5lG5t +7XqSq!߉9!߉!XIdlw<0R48`?-.?k!i<':[R! +u|(rY\LJ2 mLn+,,Cمߠʶe|&JY\LJ2 mL7lm2Kume˺VlOe~C l[gmL&7$"~1P67#~.PF7ԲmI|e|(+UWWLYXŇ2]WꘜPv+"-Cte(b039/L-P,WH+ m |$SU|mNG"G*6UAi|Gi%]rYѿǿ?Ʃ_Gy1)L_h Q[_1EFiU7YT^__}5c77/<_" t]obNː;7W/<ׯ~O>?kUoVun˴_z;mžA+;*_ÿ2VoQ? :ne-CKo[F2ǕZNEAnV!͡;?~=-݋c(D~){nGS>i*MӫDŽ?Hm\)a~Ը2Kʝڒ~\MZ]2dccH*LZΰ1%%_>dk2\eA0R.zT\ulX$f*5%ng ߴfNZu\srįjR"DLJdltK7C,_տz)m.T+{9f&D>KZb2L)ړtGf\Fw\3cDUh' !-ӼnοҟA$R\G]-/(sj2[I[Pύ{|vܸw-/osjq׾/羽^HyIځ ]`슋;̋&<+eoS4JN.L"O/ځd%%MB\`˕ SFc6l'[OLQϙ$? m/Rot?.eMء=E֍$窕ڊ.bw 3L?c㞿4=*A˼2DUv]Y:zOѐ՝RWյKcN=ozf/I7ӾܶUX/A)dx$>*szrsQIwEF/:LXQ}v`д3%3ˉ]+MG=Ezyo_I'ԫλ%;y_>~~Ncq.{m?QRu.џ?y$ڴ-}g?ze^SWj*l %SxZV +Ԧh=oiO91jw̩-#8էzԞ0Jj>Sr#=ECU"%6>=15Ũ,zC +Txj=x\g}c4z2+5oW_^KWYd8=}'Otyno+zd$߂ZIV"d36it蠑j.]i3ճ%1o^!^ UAJW[Q跉 LʵҲ6a)j'&iy3n2Buڄd$HHV(VϔZ1 +PmFE:mS2PYɵ`såculOeW׶CODEOIJS{7yy_s5 $Npm˘v_d{HwQOsE-WWϣ%eO׶>ףrm+HJM#gJJQ-!/Qz2E_6\9FTT_@觳D\*Ҷ2]od]7lmכW/Z6tms0·n[KDLEVz΃bEUj'%BN`X) +[DU/?yH:\kҚҔ6bK\$^w^F"EK~%]X~d8%7f"?5R J_][0FYHm6[> 2wD:*tD2EuP^z*S# :c̰Wΐ%?̺SE2E)GOk'Yc"l^vmkQ#cgtCc= 1Όr@SuR,1LROn!l:@MпjUU=KxMyel5["^Y2lQ5A:v4+&/=aIqM$+J|dՊnDt߶x=7mK> f$҂E$I!WMW+b"ROF]|b=4E赵tEO_gَatur/CH_m:bst{:BAv +'}ֈt=XD4R&b4[sz(-BVj&u½qWZCLWW8e2zF7A6'Ql;8TSdo׸rtۻdb73LR}v]V4(Qo#r)w>OٓS&kk1D:ʪGbKP3 ]㲳ruh|\j)_^7 Qui)n+Wiw ́WjRڦnsXɈ +hDcʕp2e9KpulR|wY5tjwIUq h>E$u~eZ躆 :۰RL4(AUb&)g\dU14}],d:]C ܨMѼQb"E?-F&MA`/'Yo=%bۄk{=LTu\t-mZl z{_(7tZ҈RVv Xhߖ3\fh~՛HGB?+IA_֮qib"zՉ"d)(6fr?5WLͺ0/$zQ V]һ-uDR^m-]HXvQ#-h`YreVnmWk8mjn,ӅjErBjedBe4BGNJ.@צFma"im{OEl|TQ%byNEyb!MJbJp&2 !?IϷ2*DC6{I:۴b7 ub"a;Zwp>HH{@A>SP$XUgt_r Hs(ZbZCc01 z2.㮓ؔ~InQ*dnn4Y&}ڰdE +(!F'L5mi"˽*"jɂ6(l)QdG]r2ڡe\)O)ģ=Ց_iHc"[J>vCC|Md#>K< NsY9A+a@mكͰlP\OH v8,_4~ :Ez}e =%s3Ct_|_5HRJ}6t#S~)׍^)p=KkECjZVJC$EfR~˪z]d0OnBüKR&KxJ,e,MOѴ,xi-2llgP*H˅j(/O!V)N6_ L(`G&x)$)>GMnnz'W>bfձlpD@Kç 4%2-N_oaw{ Y &^Ņ+Jmo1h3lp#7I::y~Ws ]2 RCBSַL@X "p E[MRD]U4!ch|#FrsSD΍L:7(qg&j}s"JH=#S6Jtf7+V|q[$7ӭF^Hm:`sfLm#HۤYUtZ?, +^z].{鄖HE\ݬZBDznDl gAX'esG + H+Qӑ_FwS3O~:%^"ǂVٛr +t6uQ#|}x0^`estaH)o(iS$_g`!Zt;l&˲!iޜ1m@*od2J+t b)n:,WvYV +U'o?%9(ɹ'Khd;HvTƞ99zX+ v&Ix,]ǔ4e+ MDuťdc_9:95%ɆpmijqObo"Z99{=Q8~'J%tnD2tzyc6&-) ǠyHpt_yKX> 9SF!IaJ,+,%<Cİ ]%\˳xv`QSpSzɵID0Dh"8 ?D}S(7wyR=I(kMezT=rIgzO%b ?hoшG`@S/$3#2PZU*l"HH_gDߵD-r i="tr!wyBD2~K^(")D"?w&q B7Nrld|cdPkYnQ޸NynV Π)WuQC"TO@ٮLir-K(> ](!1,uIuy^LmB3 A\=7Աh"BGǢh=o`pt\:%:~:tVnѹH&DÑi:zZ +gMѩD2,:WG?B4MZ-];\3SC* Ѡ8LGkIUL2XuCqFqd:I|eV;+$aytLߗ~Ry:oe;b>p=qs8) "|;[#dtHp/gcMd[V +Y#/_-zP\W LqoE'1*;ַA=iG%.3!d֦ͪ*(p1qG^F[S^{S Z31qN!DLT|P')IXX?tvOĞ:_(e!hCH°;DD +&iО0A jeQۣ]AB:+wi7SZuA h$O3#HV]KhMo,:dȉ—=^j&碴6QCeTbypᄞWIz٪}:VJ͑UL//Mӫƻ, G78gBG(采"&î6z.tȺNI&R ri4_߼KnQAfVL…Ldm)Rnjq zȦ݋[e/#[NFv&A%9psXx"2{@kiLE*%b~*5ch^Jߊ?$]w/!r_<CϕBFiYsGvȨ޵Uj8+T 6[GPn|E~Qd>8y$< ~Ѐ8! B圗OU׾J6Qvr86s/ +!aD61eV;Lv9uvQ}i!g.^iѝyxd MV v?*C|jgFMIrHSX|PpP$+Ci+T($"`@Pښ:VAnȺiq_qy"1QrH[Wl2*JO1.ٖ1X;IPAρtlКj_5lU6~CH#<yvy$+2z߮]FѸqbݎ&0tX rDi}^+.+6֞BowY@Yiț tQd2b;M Qʊ2"{y*24yqXIe8dj7[JH/u39ٓe&Yi.ӚNڰj>e@VjblA 54`eRMDXVѽF`2de?x=*,~"7bJ{Km[s3ZpPUɋ妼K V.Fa1؝MAVȮnxz{AJDzGo)I><{晣FF4d R +<ӂL/""n4X/K$ݡ,lAw.(0^$[ +[o_բy)$JgI`Va]?j}>< +C蒭653z:U6LT"v&k5^٪2=h͑BuRDI06Ʉ)^t(Xψ2(7a;:wgZN\cOVsQ,\f5du/$;8z>H$􏌑#4t\&<OV%+MJ|е"h=Ot.T\&'߯qLFQ 7#\t_Hvo?ǔ^qSL[Eu\<<ڹ7Gd#4nI$1\4Q'2oC6aV"G +&gW+|$:^Tß@I R&_M6huAl-(TxL5e]#ޅ<2±v$)"ǚPLOR j25ݣ.RVˤںZEƈ[yt]'WzURdGAtBFy%kC;Ʒ +m +zR8(>٦RHl R'9e@8׳ozdr-Sz+!fPT;Eg ϡm}SOZOd`>V\eus v*K7n27$\R΢SW{6Y(7J%v0lR`,Z-w]6RDr{qIM%*4t""k(j6'fKg0aoquSH*`)A}Mm10^A܈a2vyl2 +d'f*%?cNĤɃҾ6/L]&O+L { `RݹV;oQ@3H*q9XYRz{m2.])mfnɨ=lJjLjl 6hl"k^1YVtduȬe2hd i%K%|9n[*9=ph7sƶ4K$9LrLP`+p"AɞÐgZ2"%6ЎtJ?^fM)Ol0/J@Fy>,<ۭQT YxA#36Y'i3*dz =[@]Fm9MD`}ת~ux;US0kvv}h}rɘ8PMyuL&Qd {CxIm#7^&&'QԙcGwaOY'l֏d[5Q[v-M̔>!e6BGs٨WښѼ?yu>̛[[K`j&C>ǦQ=3lTzޱ͔IS4w{1YarD*_5nҧ_)KYJ'bo EFU%TǕf̨3wR$Kbj;̢C1양usxN3$VOe^O +54Jq+2T`2n2jkC8;3%ފi`wHHOD!V,WLVex04:WnezPGNv$ 2܇nֆs2FƯ{ud<ڔu@d|NáX7Hf=NwhI'痠7F6dC2;Jf5ᨻ;]( uJ$v1ˢѻTE(G-baRd<5e'I-Us'B?JIS(Hw\zf];g2T=odrbt:^Y۬aEIJ nIKfQF|q%]OY^Vm#\F}kk +1LTB¥"ded7#JLV4ilqw]&d祽i6za=ө&k6~3&n9 +I٢LFɘ(YG +T!~s=W@U| ~tV5A[z+./-YϿkh?ҶnV9ճOi<χ(sߣMhl^K k +guxk6*#֦oBv;;Pw.f׉CgN;S +d@LY'ur@f(̬@lJhBR\{{p 1IpU&K)C@Ȟe֒ 8H͐4 ku9dS=TH{ cM=\ӘNˆ7'{kԔ\>15Zf(3Y51SUq]F1;)" ~m$n2ʟ)Bv>/ɨuMɨ6k +r)=9ssHƈ oJuw}Rd?)e'1>{qn]UO*fB"cgm쇄c |-dso2kuXMw_!5+y$kLFxǨ|TE{Ga d2'xU8n +t +$hV26|-֙Y< dq&+f6 ' bPzYgKOl]F 5win#iF/әe#Qp)n.@ +.*OGD fO?og3v&0}-Ils`LF E\mS6\*I +(FnYRYk]`7\e SE?=:<>ec;pq80ͬ2q5}x+8j>n/:I }ӭR݁.d{MͧЩ=Fy7ΟVLdwfü#yA/5N\#}&7/Y;n2t9v#XK<d'Lw~zuMٿc2Ɔ\OьL\SJyt'\+/m%5Zqd6C{pcN =$QqB<9=>z&yʴ`Ϣ'cƨɾT}k2ĜiYPaLk;:?VT|h8pP4u:y)^6X5`"nx;4FN%c9bmN"ʟ;.}%x,.#Q dɩ0~&rhQ28}ʟxż9GE^S:EV~y_8Y+<ρaZ/Sv1(j!b&W"?d?ܖ̰@mJa2ʟ, +9/96O^m2T?՝ɨ~SW30q6dgP᪏{Mk+` U2ܝ'sπI[>{S9uLpS m_d!>耴2z]f(~*~Ĺ`%l7'y((jmg+rMU= HtQ2"/W`C?ѭLayP@@txXSd9HH@ZG# +Qh!~qH4Q+D}S`!KuE`eO˸VzWc +BH{t{im]탕ފ<'eZe PXYCōv BfŧP>>',r)<ȁeVv @,  BҲ2\,:~l@bY L, 0V>cPQs1lX,L,X,O̙=YMH} ") +nd,KiUMX$ݺ8hec!q#'8' zKYX6綘96:"6v<)QFY$eɁmIZYWWnl1Q' +kdX`O/,cdY]1e|`I+'jhas@eQn:J]/,*^c 7V]ܫeEq[pYȘEo˲rtz5B&o[6bE+t3cؐYV2KE Qj+3 ̬l2A]^OEA|s7l2\Ϯ,`b ,de9)zc-'v[@xWѳMtJϢ.ZCW|U-l/3Z +s :,ieh!KRqQ.W&eiQmHo (-`J2J3[viQLɰYhZUllFӲͧᴐ6GR<-*EvE)Xϑ]?D-Y}7nH-j]s׮Ll.N [ZT-FBƈ#aOًe +P~ыI֢>{"a _Zf>9R,h-D?t􈧢\ C8tlwkrւעJkMƙU(vW<[!i-i,:])[ӣe--d@REJ\@[ȴ }wD=hZW} $g4l ίo-&in?W2 +-GT EwGn+pӽmFOi-Sy]L?a_[hϗ-Aߎv9v4 Hnɂ% -<-܎ -=mE+J6ͱs o9vE}ޱ/|^A x"h¡r:2*HmxϤGV--Z[[9ⷒC: 6rAGҌr+Y \=xd162T'}Iʾ@p+ՖeӉ n$J_X\f_98xqVZD e`ǕqgL: eI +D.e +[\MV-P.ddd;Sjr=DeBFYҁ *LJfhimh.TӊBY$\n£864b _B|zs!#k&hsV١W_\Zq5]r5^++n t!KsBñ!8QpyOX +.N)^52gcJ67ױQhStȊBYrp8}x 38ՅSbu%+XiOC70qҺlD} .pRvNZx]fpx~:0nlEVdMxZq&jj +.q뇽4P0&˦~a+˧pM()# z|4gˍbzز»lJ~~MP͎+L@w{6 0n e^fOWyxx\c&gx4,cxfM.72I|c#yٴWk yc 0/dd̖2sD=?lvQ!~;JxR1I!S˦+1)8e65&Bl#Ia˦GqSsΛM d/pno0 d/Wr]|+&l/ ^[黥lҽ4hH +x/Fgؕle3pl<l;v!|T3y|>_/(1,eSԚG> sN|ж5@lc}!-BF{s|% a:+Ԅ7LD}:6َJcVeIts5aNFJa `&?,>Xþ!zro 0dzOJ#UnE%sn0_X`6F(oU00>K LNT]80Rm75xӉV ezC-D02K6d6jXx`R<]jb{^5+p9+5|_"≽a\&RÚ zņ5S@yDlXs6CV-蘹F 0P.n1&ZOj*C@PXA 6mekF%:㠝 3,}Ά cڊפy-0هgnov +#DEݛ{YuZ8)p(}vo0^?齂Ȩ3\_0=a$e dw)"7b) cv"a'l}7;#71[SQ!Gэ6n|hdžU܊3"6 66<6Jdq8vEm7BPsu #xi~7nX~{qva{"^0¹. cn5\􄃽a [†3VnB愣pVnoNG-03H]'#tc lruAd 9̦1>ÁS+9+W鿵è:o mm0]3Su0Ta8dc1_&D0SZӐVpl[aŀr$퉬DJfj-0ld[9/ܰb6AYaK<[ 6y_ağMF c\3lu G 0fNt *7lȩVhAΆGsl0m*[aE 3*@iHa&ke8 Vd\NODm0 +!䄯3{ cx",0_oȂ #^O;}EQx f vzZ,Yo2e\`Hlbd-TF J9i!mIؠ` Uԧ$~-La H0$>I"|Hk(>>]߮<0QQ@$Ѥ +3Q")zvтۿp!Um+lݥڕ==ƕ=mBJ6J^_\@5_Q%WT$O~E_QWTj@~Ee_QWTL}œ)оy`_ xvW0#^{X^<Wn+D +W yEmyE7/ps0^ 膮 Wtx+Ɂ|@yxE7>b b!bt"лbL#b$$b$b%b&b'pb\(`b4ivTvU`vpW@v Y vZvŀ\u0^u_uŐau@cud`uŘf@u@huitŘktHmtn`tŘp`t@r@ts tŠu tPwtysŰzs1@抙@ +9劉@I䊩 i@䊹y٪9@Zbsipv+++f++&#+0+&>+KWW̱WVLVLVLVL8VLSVLnVȈVLVȽVLVLV ȭXQ[!bBnŚۊ+m+VeVXP[n$bImي-ae+VV X['buPlŚ׊H_+V=V +tX`Z,+b1W@k@*Yk8 dR-b[ kmuq+Yk+ d /@Yk+ d0ą5V Z[e@kmŗ+Zk h3jK\kI p5VqZ[nkmUVQZ[% +^k{x^:൶:gVZ[5xkmU䁯UV,Zx}km% ^kx?൶^k7xO!൶"_kXZ[Fkmu}-[$Δ:ZVZ[Lkm}7uVZ[oPkm=E"Z[Skm=S+^kk +xC+൶ή:^k$ x-൶ε5'Z[]km}y _k |0z_kU |Z[g*^+aֽZ[gkmݢu֝൶ր +}uuµfښ|\kkpSZ[+r`km-́>lc:F[kklZ[y@km+ZkZh=.ںW֔Z[3@km3ZkŹf6`EkmZkZ$&86! lm@E`km-\kZ @p6#е⸏ڦ6]$$ 3 tmJkmS]kZ۰@׊3^\k Z<چV]Zț@֊rXkZ`6(BEVXZqQkI*EVZqSjOFEV7ZqLUkVbVZqWk]G~EVZqXkd+X+3`0-rՊSW+jX8-bd +"U+ΡT8.RػZGEVZq0_DjŁ~FV Zq`DjŁFVZXň +#Q+oH81"Ȉ +S&#Q+D82,HԊ34#Q+ތD83ψԊ3B#R+H84",ӈԊ3P#R+NH8s5"ֈ +#^#Q+ @8O6 +k#O+μ<8+7HԊy#Q+D8 +8HԊ#Q+,^Zqq$jȑ*GVZqsjFV5ZqFujgbVZqwj'~GVyZqxiŹ䁧GVyZqxziš둧fGVyZq4|iŁGV^qZq}iYgGVyZqiE@iE@$jE@$jEbA$jAjE>BjBiECiECiCiEfDiEDiEFEiEEiE$FiEFiGiEpGiEGiENHiEHiE,IiEIi +JiExJiJiENKiEKiE.LiELiEMi|MiEMiEX + <L+@}6Vm44hZYѴ Mk!$4􅦵И6V8m8~pZiji|*i-0hZ+'nT-}u6ʎ2I%(Cd?E9+L$2Qi1nXJϡio+Ot=y2i*ഈҍ'CziLJDe|yFoi!Q;Ne/Ti niLt岻N2Ni촙D;OdZiZ.!g͑|Ӵ\f dGi:8-i8-QSeǎr"NdYqZ.}:6h O/8]Lhrs<-Sr?<yZ.<رLG(gZ%LVJyZ.K^qZ&*ĝh#Oex~+PdGL2gLGN"yZHciLdUl<-YW*]LVt$LF&}+QDOzqjh2@-wpL j 6Q ӧe>WidzleW0LPVnf8kjS +2lI @-p|j!?Cb؁Z&͡;Pdze;Od6rODLL6 <-kg%7Jt8ki@ӱLZZikj9ߔyyetڔU;UڧZ&Z&6b2~eY鐫e9ww'jC•e@2 .Hnn5;S{zSdL-ͬ2J 0dicgjC;Sdz3C(2?6~gjne}guQ@jڝŵ" >nEj"ؐZ&J!#ue_2SmWV7$@{~1LVI2Y#RӤX-Yu_܊2cnެBkjf+LjL}pe2/,=vtyQ}j9}A)Ͼ>AR [dYLG +ײLx\˳(Tv2esR2yK>tck08be2O 8] ɬPvB2ٳ}kLGVZȬ vpJ> +"ckyI;qޕe] ^ JLV&Okk|s2\Wɸ \ײZ2YR#е+2еL'X쬨e9It-D}kYtZ&@ײu1_=@2QkZȮwylt-d']DɁj+]st-d:#ҵL&it-XZ:#u|VkL7}V"t-Kj_] t-̰ⵐ~ŠBT\Z&iYx-gV) ײlk*2h~BPo_ sUWUXY+_CgZB ·ܯokY/ɤ,lRm-el!#M2eE:bE[΄g-s[ZJ;i )kzq +Bhl-$dhl-AL'o)ZH,^2)c}Műx d-dur?62Y>p|#k!Fod-;-'l!kqrk+<wB@ Vk:62b*96x>+72F~gj!`_ZVEs]Vfg+`;oj!#:6)QrlX-L2<'2bKٸZpy 'p\D\-LGg_Z +ϕx􄚻Z(jNZ8:[ ] }] eՆ͢_ZȘ4e{nl!^Β@2QA -dDx< +[}1ёQ+-V"Ne IUM\0[湼^ٕ)otl-+LSSg 3l@[9q mYlkP[$h-DVtw5eFZ`[^;Am r? n Qo-DN>nY$͖<겅D1و+t+[+2['jnf˜N\[V}cCoeCHbVфȓB | ~ۇm-f6\ ~9hJ ,.dwp%pda*29/aapԑN +Bvy1 +qN&sÅ."OmLPBFeq{Eqb* Qccqe^>75~\>p\ \y\t$z e)LoJ䲦zNւByz`r,*z,@a%T.dWb#rҮqM +BT[`Mű>K+;vasy\WNwi< υYt3xrgtny} te|CߑE++vDF5B:;`ۘ>_ `~#Q[ﴂQr7NՕm06DX +`EZu p]?,s6 +.R*]"+ asM vݸ.;R֦xl.k,9R/@<|HF$> +.Wz7n2mGk{l.bZ/-9jCwk]$ưp-.dنO׋e.XS%9_ mc'lAx@:bExW1'u3qV EzX/^Njr_@^dwf9/iEy!KU`^_7Wv闰༬| ++ϋW6-DlEݗ0y㺾@N#c_B^^C0嬓p(Ttdzd/d$ڋ * ܋Z»;Cn{Q"Xu-x4|>8nlnm'-/\lSr-"%@%}a|Q8G E 9R++Y3u}|Q;<6З $EV-{Rׄ}dX`_TC1m&[a_QɀHP`_RѾluld /d$ n◗mA~%L$؈_Ը1amN /(tOYd:JsTP~Q~@}"pR<6U!, /Z5lN =_TKՉ,'l^Ͼѿ 2u(vW|9KgVoʕxk> e*(fϚ'쏍FAM9iY/K0>axfCN- $0j/oE!NV` F55  *NGi;Z`K)@z9 \0*k\0 +)8+,s5d종 Fw4e&쏍 FBewf m7:}gT8k%9f aO ؋F:+"-~F"70$w-0PMQQl,0aB[(,ـ轡x<Ͳ.[Xa0 g`a؍Fkэ%hIҳ +?6\u2嬼0B0^:{#Tl"ȱ!hZ3f FcE1'5^3Fw/ +0z*}>]Yo[\ӱì'xah;8a6Z"x{ F_a4R(cz(&@̆ 1d''1 zc50Ēy: bdbnr6wX#f-+cY(=J$F)!y8Ic[`b4Ӡ\ně:(&=p0T9oH̽Ac[p &\:]琕&F݅h˴(ר-^qbTy6~F'59^ M[)[hb3džL'ļUD6DŽ-81+Nu҂b4WXXs'r-8nWRpb0%.Zpb6a⑏ 'FE20d M߲J1Ml?MBL &F'%ME<-41tB>'lc#V^41r?՚41ҺTLdQTD`JWE0o&֨)DrX%9Ī9c&VkB4 'v!'v;#MZĉ1/z}hbF:_+N,?|*#&&f%ix#Mt S sl41whb61W8)y&F"wxbUY^xbU/81ƉVpNfj ^xbJh=N@Vh̪{ّfI>?O/@2@@g&-H3n֮=:**+3.f+vM6'ƢIagg̉qa/۵w='̉Q((dpb`r|w511+[6Ec|e/j&x$iE$dOQV|Zh'&qn,351D1hbTvpQ?U# dMdMF6Kc0ݸ5 n&]@`XdMlPNv&Z몍{51`So&-m*=]+ipfsKq5N擑V*2'Fr̷#ybw%OQ-ʜ]\öVVm[No +N  X41≵E#x1b=湮12 Y[5~tAcb_&j8 Ò&F!<}&-҅~Vzq8̆dM̴Il651&r$ N㱠sm%hR^jF<l1P?vdKl;bG5^KlUX%=rɖuQ4&.KLa;?/x?as@_Iŷ $Ʀk>!Hg?HxA9;b=/Flގ0˒")Rb:߳F ^h-vmm1a<O%)"0W){0IyA-5/n(p\j N7l3}u j@ +S c%r3֓p5F xXc_86xalB䦹…qO}F(Oqf,lAY~0ٟ\{,%i^0@aLZU=*Z/%.iWB8{+SUg[?Ž!%ʃ^``$2 NTWki7%0@ +Lz5̇%LlN,M3a F4M-yw`*JN8`miYwIb#mu7ZkuSc%2E𣴋/;k ㆗’Ɏ)_D.(/P$p>.Dv[, "-t}Q_;ZT=/AA.e틺2FP] Ҭ~qNXņ~)fh#6P_ +-,}O0A_ODymPk`]1d7%k]հD|-t]_=|Qտa6"y/i]t/"EDgǗl XlE"ڨ0d/ +@E4Jbm2ԔYEOs "XUкi1׺JX"T^(d +%Wq}v)["ҁyp^8'y1/j҂ON + Etnz y /A:^Dy<^0^ZP>*+ty^D'"b~2/ ɀ^/هz0Y6E"\].P!E"bKj v-h*G%khٷ"B 32]DS6]DU."\U_.VX(\m8fQѮ/d".&UHDťH-R%kVkRįo*Q\$n{"Ji-"-fkv/ %hm`XRRD%|j+\mQ|m_5 ١1^K[J"jJ" ++ghӧ p)w=."g~KOF5 Sf|K@벽H=JO[V%xB-S%wK3dvKuKzx[JF!t|C([ +c Ręaw%pK򜃊[xv %nkVS =۠m) 0-% w%kKWR4(I[&B[D<pgKQ1sFa\eK_86[Jx?6[!-EZ%a0N2:bZNᵔ[]Kur62STRHDh7Wrf[K-kRt2KRDYj)Q٩dj)bEj9P~O-/ZR"gQM~諚F۞Ŵf U'8cZ+li9sO_ i)ah9(tUb|URr/ZN}RH YKhXH h9B.~"q.{,GSTm>K~VֳMf<vs,GSq.t"ëJrٵRp2َUb-w^,E4,OY({q,GHf",!e2x>bK,G<J^fQd/KzF+y沜9͓oh9f_,'hfU R +;rDYSN~e +1Y&JYrt H#j6Yj4,">9/Yr?YNøOA|X.HK:#f,Y}p,' z"])Flv`*1W&Og+"(W#t\)wI>ƕ""ĕ#+%\o`-ſVmLnndȸ~gkfz. lRBUVT^Jj+YUXĽϕ' +J{yLe &(UD;S|FH"ءJF"JS >|RͭTJQdJ##T(z29i*E˾Y?TD&mQR) T|ŻR)bEB.M>.T~ 7+TLRq8E*E7_ %oG>g q_9*E۫J}0*~ "66w`{{R:6HT\ͥQ)Y]38TDQYX*oBuyE *"s"ͭ +T=aVxW R41lU&?Eęܳ ?p{dW"b?1̠Oѽo)Sʰ=ɏLO)cBHVjmD%v$ d)S7"Xu1.&ti$$SDdq)l 8*SDlC%oHkM2O_ŀM]]Z)"[0 f 4ui ɼLtj)"U(N,b'<d(SD<]a%bhbtAXco L̵_"8..EBo&/.E4"<͸ \I2RFl)RF:^W|J2+EDQc*Ea.VBhRT7ZҫIK`,R$"b'uiQdN,w0MIbRP~\*Q^f\,)"Y SRN6HRg~F)"9RDDx}"3R;84Y0ˆCzY? R${R/fُ"bW>HG?6uijf*w)6_ڳui3$ڠDp!JvIJH}m/F8P/E[J +L}($ Q D]CQggBѡXǜ18(8kەlCDCiz mJcgKv$m``BdS|i +%/Sck 1%$ƴ=SJ"<&PTAI[6hP \|{pA]g +7]) | +\h;c@KMOժRW(j4Yrxi}.Ma^u@6OFP sAWdI> D1/ߣ3D±O"fhO8s fDk?n +`ۀ>i%ݧI/"ijJ[/sJ~$>6l ^w*tX<8=]鿔'gTyXSўN=i2E]ўtB`JpX;Ž2DEoBH)<)fea4iD? *`>A5Q!k:#DMƚLmդAz)Ԥ@&si/_4`=4ZcM^TB U߶S6D+2WD4W7ZHKIh:˔mA2Ф[|> K<ө,mЙ a+L=զg:]i+L|9-߷_D3qR`p^8kYf,Y&NLǴx Lیl2q朦ٓtdI?a*9S˧5&pxm1q8Uq󿆋&xr}`Q|֟[&n `O־+wKQt_m.]x8K*q^UV8ܢ&SX%OšdARX%J<*hͥ*$Odžqý]%Y{mtx=ێ~omtAt̮qҪ|Jw|URY/M*1TMTWIg7GWew/c`J,=jGWI/>mt8AA(Ftkb٫J<}$YUGqJLU3~R`O\%"n^+7Pd% +o \ZaIVRJp; dZRa'[`K!W"EWRMI+Q۟Gl տ=v\TKňbi: 2l,QKoYbD|^$y e\%o\d=e\כ%qI5 uI!(M\5OYBTk.-jL5KT۲|uc2ELT%j/DU-#6ϝ/uʊS +56B}ًXe~Z+Li|[&d [Y`RE# +RY &jeyHR0QKMX;a")kYa"dMf(A/-DU,8V(4PLҕMb4~ h8`Lra%UYc86j6pLdjK- JgWL" /$ųܙQ6YJUI*yi@/ffM?S +ˤgkpw9 0Ӣ;m D|cYfR-%b(6uK8|Tҙ(}IWWT&*svsz:dSɻ De  FŹͿDV&2V[ϸLNr0Ԥ^F/c8RuTN/Tڻk+ߘ6`MdyiDٯ?\JOEܗd`1Q+bO-hz&(f!Hp \!:v +ڤz~pqc_&㊅mX?z;}m"dޮ'{&ꍹx!+d}u A*M#Sg2}nZ߁Kxȫ_/IL^&_6iQB: 8yr 8ƅ)pZumYZ '2޻۸ N:Ѡ8QO['~|P㴨ִߗ '2s UuliQ߱mm˟y`N6₨4'JDFչ@' +gp\2Dƙe,UeIv6NdǬ9yIu&Ȭ[:QNXX[Vd'*GIv"QKD6b;1=6NTvO+Zu'2Vhc7VI|WʓG+"m>0Oӓtoӭ:?[6POԡ6i *fIuQX~{"cĽơ$mq>q}R'W}ɧUK09OT3?EXʢ>Q,gLM}i_u%VK) ~" %³c'2T?OdXqz{Z.5su4f-̻EM2E?O oEv#4'_ +ٶkc= XvsA񜾻HPjȿ^X":(X[~p(**zD7EIնE;ɫ E?ulm-R#ܗM(~~S{F >~]iՅ"T|K0#غSNxiy蝈~UiPdLz;oqF<-/@W⡈<kD?KU`Rwh>e&GDG(JM%/e)-LE(ZNhš`Q$=8Q*۠E{N}&Ȗ]*YSRȎ%@F {x +);RnC?i^y!U.( +LI XRd;g)IiSo4)2%?=k~<)JgfP+mtQ6\1E~O)%%Z5"g~Ҋ@ڏ*JY8qg*r š Us>?.ATʘ,QѸoJv>EE>dQ);zuШ8=[nRr}yT4 RqG!Qx& $R)on/JQTPTUu}Jc?J%SJپy`S)Q 0Td̪Z:2m 8J:GY_3OEuYPlerYRƐ]wJ1,FY۲*EȴRoR[mP(ȵR,;Uj*1UJĿNS4důJhRvI V J Y%Jķ/J[6xUʮhUECQ}5Uʖw7UVJh2UZD*EVqEBp_e6sHYR*6Jٮ v#Jk'J}zW=[_hٟW)@ +:X)%"X)S$X)sa arÊ  +blf.ᒬX?-eˌcU3dKdlgmLY){nJ٥ud+M RzE%Js#Y)ɳR*W hL"KM)OVo*V$c?+V&ʪbX+eGeJkS ""V)޳YRK'mJrƉ>2Vtrݔ}+el},Jײ6We> Y%J{ rcpʕ#,'eJDsD,y܆Ctl^ 3uy+gq1`WV̭eY3X+e~N%wpAr%JYJgpK-"7 nqrx["za[d3P*kme}GRwLh޳)M5,"-zq.Jnk>"[)@>u%wn([dtzf~&{XrR+AN%}ƦD~ $6[4K1ڲ\dE־5 +EOm0ip-گ) apxvDg{.iVײyqOnE,n=`q-㢱𜙫 YfKmDzikф#mI$uOK"UZϔ$R DheBh_JRTE%~iPrXrQv9 \4h4%(\duq%a%hYf7Ìs1>GSNѶZ|.2<˅袥Ǵ[.ZaSE"/X"m/QX+ޏ@3E@ܚJF}L}e*!]d].Z>Ҫ% g%Kȳh u*"uL &TCT3`]4T|֥f듧>^Fkܭvѿͮy,_b쩰_d䧧췚]t3<| +$]dnnC)j4wEFoIK%ykE<>]HZ."bq?]oA.& +^]?޵h+A Vh}w-jv[XxY< kR/ 1bxin¤ٟ"^=TJVX9}"SXrx+ۻP /̈́66P^d7ϖ>tma%k}1E"[]7yiMăEs=Yɠgf^_D/I( eҋLs$PL/NݞZP/wOKheI<}a|F;W˵B3*E`^Y<'/PWl/]<D<^\q(?]\t/2uκL2x/."y:ҽb aqZn"/ W|QVE'KwM_8kV_m0]lJHtRKVsI̗nN|l~3 B,煷_D\OGvCנK./6nDzs%L=9ыh,_zdC"eѿȢhXxD94ђ'}1HXX|LqlC.SlX'{0Y2v[A&@@s:~axs}IMv@X1`37R(0!(ΘG00-l }Xڗɂ#lrBX`p*`,0u[J"tv,rcHlo +wK +z ,L?32 + =K FM!vc5c^zi0t5K6جѽ3%cE h=%Ptyк+K{y0"#73(ct\M;a'>DBiI\36>/JmWgI c{K cm/G'LFW]ֱO~X> +#$$X<)_1^._',^I6 ͫvi;al3yk1؈`n1_h6)ht1 W0OeO]6݃~I~ +v }Aa?n)a@60ngY#n0 ^lk12jyp V{Lo16nvG!Ĉ ' &&6 bd͘Kcn2'̈4L12%'/|HmEܢٻY#b/@,QNq cٗG {112frhXߠizm91m^jl'&n8IߗA1vى_=Ubodm Ŵ]|ߗLYwTm,6[1[1FtѨ#iqgtm.W\5vsqx;?mT~|wn]AŲ7FA,7bY1\V1hOW1z4hk7~]4X1>(i6zc0Lƶϭy v +xc]Folee^eMmeopLƨcj%/ ةEMnTD_7v.Zɡ Æ;qgË|;5녛&EXٯٻ&oߚTeomR[1 +xڃ"KޘN̒7 +ƴFE1sƃCH8F 5,$_YØMⱴ #HYVØ{Y0fzad,6aSy + +FdWT8PD`,qaD+WK #\0~ +$+N׬)LƓm)ZnūbF@ Fz b1xCy  r0~k5<0=Q3r jw}x0LQIӛԴ6`z &,`zjN͗ wDuDdSgg۴`|Po/MþGgع(K*hf2 +G50`ta{%L}-L3$?tƂ Jwu&잡 TU­FAJ+'>_$0ҫ?J3vlXZ{ 0-mWk~,4m-˽i:ղw%Ee¿k/%t_ZywӾ}_\(kݯS5tJ)Q#~qZbTb8 _/SA~Trs]@ rxH P8$}dV/=y?|̩|?}WV/| X/*@ U0_x,_hq b`Oɾ /ea9>^Gm'KV+3 +fۋw{2q>3FIZ~6^5%zi|!( QϮT(Dԋh06*M/5FVW$z)b_ z)bGl~"P EP4/Z 1/^ ިak%ʋ}~Wug; 1c8^|Όש>@I˞5NFW"xOG7A$l&CgNM@{igb#"H3޿)|6]Z<_,]Z;5 tHupQ.N/;7]*KBVNI:\@ ut d3}}!`)^XM:D +uS}ֺx?nJX]0儅⦄ะgԠ9ܬtg;x:e c>dǬtf.+!]z:]uCtyI^K+.Sm;g!gsҏSt.=1.sxl.M)>=9^b3uw]KNm`ظe`NaLrQʦYtSǂr1ރ`ǥSA>qg c\al4dVǞ(.H\MSH 9q1kq .,t]].lt/:\|^8ux[0\ڪ:GIba~pȂbwH:eo1?S-][} q{@ +bͧ[=6^-$*g޺\W-_-gYb'+ n*M/s awP-aZ nj{T{L+FPEܢqFt#$n!sZIܢ.\7L p8Ev\}xdە6[dAYepJR.@ib*[D ,2[Ի.opd7L'z-ײGTRU.զzR1o{`mVTer_͵-"q*; rKÔXDؗ-"feDkα-f>!erdBn1c;ݪm![5y~Lnq614&osK+ +,f^f-䖆u13ӗ,n]t5-im 58|F"i{ Dn1Jk%[|viwbVV DS1lx6Ő-Jv7bL)3rm-2s듽ޚA";w Q4"vρ)FsݪihDpk0+QU"nin`?ƭi4lf[bhřЮ0œ-RwKWA}s-PlY%s^+3\Z-MAҨM$ni.e .EZk^@P-br+[o:{[I myX'7cqS=]U)V YdlDlV?~^ƶQzU¶=NrBuWrz1Wm9c7րRֶ1<.Ervi:]-g~klԁ3h[VUAr^ֶM4h[dh4Ѷ|-g}Ir>@LѶI1ѶiWجm9j-G+s[΢jග ܖS\am9c+m9۱e-g%n_?UnS?r2~kl~X +S +b_2l}Џn9clj rT,zpKr{f.P-{G<@!Dޖ2¼J_-guŕ-g4ܘ-e[rlym q0-gC!pRvS-G묦R70YF斳~s˙Flh-eO-EBn9zGQrKz{t@n9Jn)E%[΢Ck ц0[δqKL{- ƶ"n9w▢^KY-Ej6[ 2y[\oa*[b`n){Bn)RX7rYzFu!n8nJ!o!rRv! 䖲![Xw▲\-e[ ▲\S-ens-e3#ۯ/qKRmɡ|qKY4sARvƊW .[[BK▲-3qK6,VdqKo6=fqKF X-2:bi"n);3[<[𱶁R$8%~Dn)ǃ,He"uKMn)dY3[{n)HvKY?ͮ,4zvKskP^RݲP1JUwK#z-wq`-%;=>=$tKJ薲zj +һS6/35Lj2߮dQ-2z2d2,tK0AdtKY-"bK[XI斢Iq01эj":rS1ObFxVBQ6[XJ薲SgB.僋薲5m@1tK ZOj3ei(%tK/t [a}薲mL/֪Ɔw寨[Y-E([dW-e\ +/3EFAUL.얲:]aVUinQ^-EQHf 3>-e{L-ecEZ߯)na悟lw$Y"nY+[>tE"|M=EZU rEĔG0ꖲ]~(3?xPĽXVu Vo2j=F0[B-ia- 'OMRpZo;15a|ȨoٽER6Ϙ Y"<"oɩzzEԯSTykI o[k([Y7 rn,hEb^!s1|?i.Sx׵A"V~:eI:*o Fmy-P,o,]IpYN7E~|E-6dy:t oԼya o?oo~-;[d S-J*ݻ)֪_ٴզΫEDG֪ۗ9cVJEƇz"JNcE|rX-wR@oG/U5c ;ezS}13[: E"c\Q6# s-2hGJx:-*wi(,wi}|>EbY2],sjw_[.Vyw!~xva/[xeIbiq+],V!*ߵ X.Fqa.*KmXey<"K˻Yb^d$}-ڞo`6h_5ܼg=ܗ!Eu3~QڱKc$vOnh'#ùJu%3qg@GYz~Qł{O_TLU~Qkn f5KL*=L_Q/ʅx}din~[ I{<ìQִ1/_ +x*C/*Fe F$sRAв^`*޼cU;`YqL(ŢO.,*O:ӄ16 +.ծ qa0:c,leF/ F0cOqf(9 V0gzT0jNO*Xha/ŅK & J`$1fVa^1,o2F_qFze3v B9f]LBF ig s'F;jN`a;zZvab5w)m襹Y?BaIa +qu~Ũu(ܕ1Z6J+ b6B6)-\di0}іE뢈N012#F̄pGlV="h$ԏ_~]2&F刳(&Q{@hqgw}h8s YϸhhYSLsNз*F;!#PEڠх?sͪ=ۧ*\*3eхrG*bѝJlp1iY w^MlS)?mhZ僿{cd.eo^Ӱ|4ǒ1kYI=o̘KO(ف; CegJ]xɒ3vk3i;{L3vՕUg ZTju%ݮ_\AT1)l4&g얯8`b3aNW16BS23c"Sе)c %0ʋ'󢌩Іj`geF +ʠ\SKD%[R"9%xZ=ة c'􋔑1Oݮ_Ks8ŏJ]4 I.>M'cL[ 1N ~dbG}~cw܌g^ݐO&Ƙ!0W.MfX^L]j&=cPr7%aL +b`z4o +cN`Ԯ30&*]0n6 +chaU;Y+FaLzՋ0ƹ뇵"0e'c/Eb67 zV*Y4˜%B(x?blWΔJl X&(5loWclgrq-I%vUn1AmcO24 ֯cS1/!ecl㍡=6"c:MŤjmvOc<޼c11#Iߕ1 +П %blӲ0m$x\XA\heblf]B +|=m#bóy 1hglebC;%bLfl)m :P3ce"#cz1MVYR³h&+cD俘1ijG,#ieOa4hn3wf%2cDֆ1޹60cDjx%fLf]w%fLS鷼1'XhW1>Jqf[1yM23&|\LqznY-9cDD iܻ1=woxAS;J4W n2 +4r$+x3W1 ! +Cc4SSnX\A13[[HhYdZ"+Ac\ qy,fVbXep:[J<{RAZ͛1cJ Ezcj?o[4Ͽ?C*y*eN FU2 p1[n |(<ɺb μ~b"i8ɡ+FkJw\/m +Fḳ^U;Q1nn)f2~b1Dڳu%RD1jUfaŸ3eªĉS]dIg:L[/P01gt)1=~ĸf# +$F̸G *9#F; c]]1nY9b{a@' bsu&qx5\ØϵLkFt]#=/Z':ajw0 9Gc=?89^(na<6~#aTR6.dߓ+q v͚~0 4N +^إiI.xZ =6c(Xp6V[E3KaT񌰇u0"~ O)N<&F5aFzFhb{2ldJDQ?^BkJW3nyjUyo#0`52t+6`DF_}I=&Lz2ׇ\K+-;J,| +Fsܦ16 +v!Ɯ~L,i`Jz .`oOx`DO1wspj`Q< 쒎 'q +LI$0!}F92FD Go|=73`zP(znG#bL?)`z7 ] U]ZJt+~ziп(2?}{-uiX8fEmEU"Q5c7_D+zoӒPv.u=gf.+K甙GHYDXF% Ū§ 8D~]:cx.UK +vG`*G־x +*k_DK$,(8\]H/.[(ݰͤ}]Y6ԥ"_/t"}]kE]/ O (3|1ҭE"{FXp1>rG5ENg7G|/*XҽH<}ɸeL_Q<Ǟi/Kb5ًhg {zkEHgz1Aw%֋< 3EBzEFcl%K7 ;S}I"Ń uy u0"bt󢄌M;f͋hyL̆=dymߓ KVr.ORu Q??VBHU w/^j /R&X\TKmbR pX[c?zns.u\K\EyP!_%KA"n|OvQev)svp'OFHebF(.E7mv٥IاJbf v#[?b溈PAk%'"KSꔩKNCԥ_ kY"5Q-]yO Pg !Rү{hXIR3D/UZ:"Zzl*ZJkW̸"tٳ Sl?Z.nXKp\-EdzRX-Epl2/VY4UK7S "lM-GܱJ"4ﶪ>pM$u8JG<-GcKY +' VJK1 $-Gm @Z7e=;Z03]?_2i*~EF`hM -G[8Erh)0,Gj]-4Jz#Lx#@g)2D,G|*j},%̗,G\f9:5KN}g Hm0ihhͥ1ˑ f9],%\pg(=ݍ=~Li}^Ӕ3>6~_1>t/_1TkpI?0ԆF[VuM?naU, b4%gm}{~?%Wyu@L<O@-Ĭ?PݾhjcF4ǒ»-< ,)E~׉5ῼ&6,o-~FU^/.W1SGjUY/GhvZ'&7Gshh.9av uq4K9GCjs4K9GCG/hi* Nүgh%P:K:燃EBuq8K:LJ@y#pʗ~u8??!3!,7^NүgdC2~9_OɌ}u~u8??''Z]p~u8??)3z˜/q8K:=?S|8K9geiN"ޖ&|W/Nүg]n/p~~Vfͭ^˗~u8??+3/(Yyzүge k'/p~~Vf*zDs8K:4Aڱ|8K:饟z82 YY-ЫYsҤI|W2휋UYZNүge._zK:<=_ʔ//p~~VHp~u8??+S^%] L_??'S[zd=_ɪ|/p~~N~1& 9% mǼ|W󜓷{}; w,澁%_ÃAbPʮiK:C_qE_?<]A~pMGk=}^WX`]d|Og88?},?=-2{W)_'l.,٤W,>{?vGwK\G,{@! Ϯnk?fzxFUJHUAT5ޓ5mGvoc݄u75Bqf}i6n}in}icmKW]Pd3~k.kM$ow5_ok6ߤ|mɥ8~Dq֞8~q.}kM񛄝7:_oRt6|kK8(~q&[]7y?_o~6d|oq6q.kMr񛬢7D_o5%}o9q&ekmx?J{5(2/c()8> +?j4bKK?4FlK؋?ꅿ5*PK]6QQq%_^QqE_^zQq|!k[GƱWi&82㣾K ?j4y/r(R/ca(k8z/cZ(d8ZϫC+66w: +sU~\$?ojn_w"Z(%|w%KxZqɏJ]?{`(u~|'/I֛kWo1_){'Mfvw^kJ;߾?<M οa!ujN7#hT*.}?7v3:O?.z"}뒙hH!??h"$Nߺ(jM7o=Wlr'钌οfK' }^2KVVtMYs5_feaϞkǍrO6Vp_[ߪO& ?o`bX5?n]Vu.UvUFFUh&&j85'jEu_h3-l۰Cub۹`yػ2yYíwb#. \%п/GwLy.qN]^23jxp~!+aFRY,?.`tɿ`/]NXr/-;`.`R7>ii)K/>_w acyJ9t5+Ĭ?_AVr_]G(~kNM8,e~8q\vL_=_P8O3qW!6 |߭a_==g_J~`5f~~oEIW՗P;m_-]!_*6|mi˃= #ү+5(B|>$2~Tw1iEseD~XO&'%BS*Ux+>x0ajh9dWCK%:â\5'cҰb/|i PCe;ϒo]f2nN5˙qK/ qi<an*Ky0ˍh/;t # ??RH넽竽^BƼNuܰ:7G% ՞\/U\AVD4O->1L}̩QS0#1TI5Br}K?򐸾e]I^d܋fuaAXsXݽR<^︃ +s%.V +2R- l,X˟$w!n6yԘ*X:.QKɧf=15X W~h4h,\WzǞzXR;k,5})C94ݟPm- 7{w,Is* :>pbcXVH F=g 4,^{ܴ5X*7SsUV|(C[!/LT'ScаUK]|☛i,-`a_7XWɋNHxa6H7 ׫mcLwE[aqhد/ SV?>ViwZnjN^kx"9VDK;%{Kd +*-xi(Ybd~̐`CÇ^Q%rN׬8e3y`2w\އ1+w^1AO f&7VCK=Vd,>;Vi<9b-`釆Fpht0 *>PڍwM}ŎoXkX[J f/>q{0E5-`OHUlHcƷpZc>jZE4Z`j‡?;?S<^cXXPp >j&*f. +*K^Y_͓J8\CW.^6X :vNY`W$`_'i ?^&>Ok*?Hn&^!5X:w&I:{a'Ƃ]zXҰIO }܂I-:C6)4| &^>46nVD5`:ܨ\Fk<2c/^͒k +޷2015%$E gެ dl9 q~2]1ɱz(q4So@Ɲ1Wgo s#ϡ2=xB/1/߃RǓj-=_Z* @r#!L0X5 U'O'4;+rtY\*=t8b>Hc%;x6P\L x#QտkүZ \ +3[c VCQ\h{KWEp=c0X- +TȕX8)ۃGt7ؽ[&m_>Qk4| 8O ^q8\[O_3m1ki:CQ =w,X5ْ7{6Jjq3iڀ%bfIMR}hf5ldħx +V^;vA#\(VaQp0:-jZ*XQ6VDayB]t}=wNkwiKjSBT.<[V(x6eEcn=.]+r8|Ic f)+p5|%|\ָU0,i ; W˜jx@OD^kK=j}b ,#. ,b倳?/0Q=09o"=8k9|X_G nqGc#;E]ZN` cJzza1ӈwoclG7wi[Ū5 ~ͬ欶iz0M~it/5`üF)bԠæ wOf!c_RL6%a@I~}|=`_1˙-\-a/!",2շ_uY#JL6FkFIİ Rc#ଳFpWY蓄/.2p]:M㇆Kk=#MsV Ɛ=`ZLaw0z19j:jτҰ<4LiYy|luVWP}3.4OæpeHca گҰ.]pPwݱFԄE/>כ!!4Tph`6I&a MS8j Daz&i'U/|maӥGzEp rGZb&aeFir:/,4XYԩِV5N0(ILq+ d פxh,HK^VrCg* +57PbpSDyCc'+s&T qCy=iXҜâ`[+#aERo4xM0~n`l 9`X;& yhI, ,Φ#;25|Qjɰ4ha{xX[e2ξ< La@jX2- /a-#?rN`SC7iLĕT1s_0 !s0aM<'EHWp)4 +:pqx q+4,^ WGU0zTQpk, w.-3ψ^㓰Bޡم=+S2:ΤS lgYe +TaHM2[]h;wW@u)%i4#U '+ @=|LN|IBx' oYӖ{/w;w5NB`5HcԭjhX7K^Z8isŗƠpxdF.y@X6x%f%{.wdz51ӂ1 +KvЌ_0 +LAݸveaJㆅE:4w}o&>^$X$l +4YтZA8 >iO8 LUp<2M㿘$4*KfqfZ+Dm`gvaE4$4yTGΩka*`Nz:ct&q`#}p8E2>NFN$WidPk2Q>.~̑䩢B\bvNsҪ2QyI۔ɉ;(aU9um~=D*>9pO,(#SR2R6~9I+*Z~"a`}?A}qөQ^#S 5f&^T6gfN}̂)ZCN$ SbPY" +hܗYK/4&=,?3hx\ ,V4yJX099POcXg:|[{tXѓ½%R2+&e@ZcSg&iK__D#4rax][j^@z>K|QcM[Xjؤ[(U @IKU8a\+B/ٰE$i3RiYb2S/oO1OhXMi2< Jݔ!5? +]jЭ֘p/]rlW<:/ngbi'iśOS,ΨvÌ3(9eKcK}-"N40-10M# 8A='r 8SRVF'WgH2Xɂ_ӯ3Ik-MR70#~=L~bvI"&eqHϷ!DO&4LX1Ck/gWF$;۩//TF?+djOfGb#eFxCLĊ) cv~*τ0zYǽ;]q}h|ٙrܟtq'lh u_"P^cy+܃YrsHvҲɸ Hɇ%C6S<_9햱Ͻb['EYnG7<zW1Kc<+(UyJ\4L'VT.aCnI`]k`ȝX`Y|.L䷌)I)ǽÂ[9ȿIG]|=ZL (|f+[`kwZZtS.Qw"7Y< Jn9)HYxb{_Ұ\ݶ$_ z!(LbWҲ +egYa(: @i (\#?<Got\UgIȃzuշPcc) ɑ@3% W|U"HuZ'ְ1L}1rQ`MaZ D]Kaʯ|i,tq0HE3:15{zMNiO|m9P+g3ikJ(/6Y@TM# P>,(p=ױߧ(3AQbR.gO3Pٳ5H)>sFo P1rA15Wˬ8d& uo3ёB ^O \$V<^3Y yTTxƿ6YԦϕ_]+4TMt?t6ie~ P"v@bH+LԻ+IPuukQ<9CR8WWh(Zf=a։XM$(LاE9ZWJ +7e{%?,{`Zb ʞ(b$M}0Pw""c4%Q, ;s:F)*5]q{Lzr:Ɠm3 * ak>1G'Tְ>a8e\0uM.gitI5$h(O(a+wb0̬thJ?,.B0js쮏7Í0VT)gK2+dx(L*JzTlw.xMe_R_Zҧ}WiWOFh;z2<8,Iwxv88kļ Eኢs +Ep?,ZmQjvl%v>jJea}jv)E+{F˗cTJO-1+u&w8,}VKh2h''7ǾG0ߥkǾe''eYQӓ]AɻyQ[#O{( +ctWz[B%[4ЋA`iLraK4wiA/Q[JRU2Lګ}7@pe[J?g>}qzho,fmQcTkԒQcT/&iP?elG?nsKO#b( Pٙ*:aXc[&q=_1NKA`ޫ"H7Ŝ}Tl\]qm +sk(ubЌtgONTGZbSS`d!1Sn]bS+=̥9lD#>jLЉa4 :}C?ޕ$W~5.a•jU止rѼ>:xPc:lf(-̡ Qj<4.+"x=z̚ƶZR߅0&#GW?`!>Zn^ n,FC0 s5*zE54Ԙk:=ާ4؇v;՚T[OJ̞z[LOXH`H42iYh$Y4tFQ?s)q+IC-&-<1Lm MdsgU03ĕ1M&o5g);&>0z cc?`V%ˢi<m]+<ϣxr#j.CfrScʗW]`n4TV3lo%nIDJV;G7Ĕvy|F7)HZhOTJd7>C$$1Kťh!&fW SKv*ʫ4J#28?YyWy+NЂUz-4 fOS-1I[yv>ipc@QÕG]ݓKڕNM8]3ԴƦ0-?YrwPҡ$ibk434(qESKL tؔ9hirNETIRAҊ I\| w?\\M+~(i >Q&+pc/w$ d(iLqi|:->_nHKwI 5DNUP7 + N[NIJt) O^u4nR&{:tl,"@ :dA 7ϓ*Ө6u>R)˾MZfܹؕ>Ƭ;OC,ˉ#JjXޥ6YAԛS +xG* '#NeACxuR;f0XjL{b?..bmݬr8%7|i_pXU&F6oPK*:s +0 іrQb1~HUcDҚ\$~eU=Lf=UG6yx~֯w?F2H{>c(i- |kŌWAxTUq_FCM_hvN| U:l8W$3 qDtS,/',W*˦v^{Sj*P$mK+joM3\R~Rm#Rj%N!k臼 P]*cF!>QTRimT/ MfRU ZgdK|eOQM=m"e' +]鮿Z#zfNmz`ngYǔrO2IJHiLZem .\ )?>rԘĚUJXV5keT~7W];52gG ,[f[tSJj~5N֋tH:_%EH|viKS7FKJcުu6*s#aU7`'ZSƕt +9zTFNQ3*Uߨ^iL| +cV|Óe2*G [eLU̬dAc ~aC@ =ZHO.뗳 j/ukIC@^-/*,*YRݲP& }D(6e~| ;Ϙ #:Wъxeٷp>ROtVO7h~.n_xHD&7Fx$i}b}PA%zz 4멨1EZUfYc? ǀ-3Fq֤1_dɗSNޥR(jXc@6IԘԔ^ϰYOYhq4vgW@j2,֯0j `/=H+1c/! jc1 *=9Li&>%u ˔OP0I-\N1gҰLL VpQ?Sc/Lj<-o"M} _ B W`-ҘTs1jTu@ [V/ţ̌>_qw{R}hYL`#; ܮޅZJjJ-3N1)mOBgM@u- R*؋6On")m5x Jv&Fe[QHB-) 0CaS6>`x||VXR^}Y008%VPwWK,}!˱,Uhky.& {4Zvy'fk_ԧjugjL} +Tl[ZO{2S'Vj];_l I9]c2q%O[?|E1v t};~M_}(s ]Nuhl4=1ݝz@HRa S*g:9þNZ'ڴ1}7cw7)R"ľT;@]I&>A+Srx=xhR&_'RdSb <~`+j`kπWQX^)8t:LHɎPf$iL{]r;Wn(`ɜM3 JXY3 cX ƌE70'Y8f^wO cvi 9ahsB1A$_r]OXB1cwbvFHbSŌUMQRi+Ō'7I5)fd]bƬzYF3%CLF)flxY3V >)f8XX(f:f.L1c^uF:,3cӷwbv}fsYTZ f޽2WPfe37L\3cd;ƌMSE-S9最u>AF9f<<̿>9fv3&2wpTQcD^"Jr̘ ;+njd,3hf*2cuS??Af|c\Qr̠YLtZ9fLe)'3-:.3R ,Ď1S݀c1HZ9f̂}w(9fLmstJ^39f^ v瘝Z9f}ѝs̘!{* c=xko%YSz%%rW]8f_ njf7ڍcT p1h/1Vn~ϣ7L(o3nj]q̨r5R(O3v +dFq(9jnj^Sp̨l,s3s̒Z88f%؋\-N9q(=j7?9̨E0&5>:iȌ:̒̈ܮ]@f۵I2KjsF514>,3j)1SS2u)1NiQ|cFg4^6q̒ZbFƩK LzbF-7Ōv3f11fI 3&x`̨aرąWWh,3jW5k˜QKtcT˧5f1ġт1K}jQayYҡ$ cFS_ cFUtZ0fRTƌڍ$*+56Kk0f݇W͑6{&* cFk(3,ui|`̨1q`̨]ƌ<,L3 +]&َ1fX@S>njXspl3ix?w)36P0v3njғcF]1V6q԰ѹ`Mhx_9f𪘠nj^wcc%1WlQs]16J\6^g;Ub?#gcƘId14bޗ-*7bg3J3H1S̨zn3i11bf/x&4F3j F1trA5]fQ"ƿp3Ō+NmIRB29lQcUAT-3icIc bb&mh.3jM2 b&)L3jLI!ƱA̤=n LUF?bG9c~,LoI› Č^%( L2ri,1,ďlI+֨ L,2S̤Ȍ1fp&43i!V3Xf4c0flSW0fngo>cIS#b&IfRrk=3$G8!$ݽ65e*h6 cdaY{f5w3:6YhlRbf<^f:z .3߂G+@^]A𑟦HM36Z/3φs-3!z3iQ &6*3Y;\L b&M+S&w(zSk-49gzIurqlIkɭ6* +F1Ɠ/3iy3R''wB16o3-Ql3ii1X L,3i96C  X8fҘ"…c&_fig~s4L3Y RuI ZDZqd';s̤ ~ar"\3Lә0fjqJX6Zm3ifhJ3noƘɞĊ\`̤ׄ+cf1{}V 6 \~l39bf7b&x3Lns3m[a_ 5,3iHq{b&frXtFsfXWmV0.3n`k0̸`&*jvl3nM3<07|!ɿV򋁍`&wrc#) 5-F0S :Xf:cr`h&3E9i}6(!0S$L-1׫}A)vuħaб!4aN67 LAT|!b߽]b֠)f+ bӇv2C̒:w=6"O bcen 3JOU[eb)N%f0Ff a ^dž0S'faB0Sb!925vokL 5̨M Lt+ +씺`&FL6 C%~5MF Lut֑f:"_`ƣk$Un3jx`se#Qc}莍`CB0a,l`C,Ú6tE ,3gf<}{LGm2+GtB=AL fl-33b=PN0ゝ݅ f J0s;`J0;ǮN%(if, ί`ͣGN0өsqxZVkXfz%J0cؐpn3Z21l iR'k3F*WPf[`kB0c60j'1LYji'~N0c;wÛ]f$`O^fK1$N`2vqV0n0c>M* 06 w=`+L o;⢵NQ qP +C `vv=AW÷E܏Osp^ _Ɩ^£/c:UV_vlIW/cDXƒ.2&Ō\ejBp4΅_Ɣ,2Y(a26Mdc{,+e(b>kr3vľ`O`$ZF\b]2Kwy6m0fnJ=\` +q gҍ+L=[s}/cyKI,Ƕ"~H/c*K/S_5[0/Sԫ/Y/cuhWḙbB}z;6.k ik-AVzS"I.2\~/2߽/6 }OS]kXej:Lﲶcgs.>tZelF`Vn5vԘe7nAS^FSbH؂^Ƴ+ ;VPؤne7{,G;6- +2ZݍXe,ŹU^e>>۸_̵6f%a^xdRW`F tطKϜ 0Ku]fk3̹u3Z0aD6I}v$V;?i+,vgc'1odX:vvdt8gYr5d;, `>VV/$PamKfv{+=N=XE*Pq ,)iJ0 ۇ``J*蹆߮>vY]ȏ` +XE`Z +̘hzc:vokDV}zG +0*f:W 7f(c,̨ +0]0Tb 0`N>lul3ji4fY7mi3.3j0`3όfԘ:_FȪ_G4ʾ75lO=YfxZ`Fm~f|xt>1 `Fd~ի[0+fY^9֭ `F Kx&Qr]3,pv`isb{ǘ fntY̍ fn~!Q39atɗfҪ`F-VEf<2Q̤δ_(fԪ*-3i?7c̨wÂ1V27PN3@_L8Y(fR\ftD1w}9 L̅b&M_y^3i-\bF' ?(fҰ=EB1_5 L:;jI+c& K4-^8f ߽9f0"}p̬8fԦ ZrxY{O/rt_8f7# wXZY@f^'P_iZlYbxy&M 3K֛IfC4 +ٙdff;&5,do]mdfD2?,d!df-a$3kfxj3jfM3jI#M3jtw#p`dt1}k-{s(a`8fԸplx>s\`6qo@&A3L{}^fzaL0c! B2Sؕرd.ǮF2SQ޾nE}!яJ?@fjFdq=ȉcM1S/bw@fjk9Vl]/z!W~Qz am"-b3l&,G L8Q[3L䚓,6n!c>[Hfwc:$37 &$3$"(r&±̨pߏ d"j 3?ӂ5ԣD. 3jyU6l*dA2ӇW걑+7dF D2SE]hfj}:K ͌"VכifLfEv Wi= #g Ռ I_Qj9L=<\xS̈́kʴ`͘\X3>f]MU2Sk\{\3v6 vٛk->j9v*Hl_fRx =k̜Fu.X3@nǚѠk&hcǚ) {5cvt^f]%v7krqcX;ԌqݠfʚfU0fYW3IA>v3&C{C͔Qءf.R2=VYI jh:.j&(fF56.~ Q +!rf:3Cͨ'4*4<ƈI-H3j\f ~lH]^H3jA8!{CfĞiF.HG⬭,fSݑf^Ҍ{zzfɁԛf{fH3 RANPU2BmBQm{oPxLm<6٣v+zf> 4zYfT'=3ͨ1 4_{3Cx^gƣPwcI#S43ͨYc4#f")~J&)i٣t& ӌZ1ͤ84,+^ӌ iFI.TcC8 Bf ьZ{QN`h&i|h&6H=65=cI+=P3qVg+-<3IlkQKM<3i33>=64T8̤191tN]xfq[1$Uq3͌+̤a{3̤iy3LuraLR!۱̤?hfҺF̨Mqf&)`f3ąc#qĕaamId&-jgބ2&d&͟2̤.$3i%e^$3kbHf8ΟL2K;V̬57pHfp :nYz-/%a^,nQ]8fT19Z,37c`f3/1\MYLDlyjґx9a`|^3=Ϡ~/3ttM1fV3co\kË`bMaulA`b{q=gY|а`̼b>48`̼>Wbl}cu4U3om$/3iӶ;s̼ڋcm Ȏc펱*/W3LQXdݵ@fm7s7a=6ۧJ2Pl$3i1Fl$3Y*U,!D23qo3Lv!̔hKSC,S&5եF4$ MD3` 4S^B ٘f +7q1N,Xf|'4cTaIZ1m1F@3FFN4o{8b#pయH3+ع"4l]ovA@i@4cىf]@[eVMaf,oL3rGj4c2cM{ du0J5j4qz)]"X@^eX+,z$WˮP3Pj?Zc$ԌMe1rYW} +51fj|im̮^f<;L$9ӬK[Zi_nWi#L3yuL\f~޷0mqfCz.ւO}QA"X-ؐfLgiWi좏oA7R"\5v|FЊ4d~3ؑf<|I+Ҍ1QXѣpE4cKJ?i._i~ LY)!\f]qڕh8YzD3{MD3(L /\fj +})+؈fjXF0z%M3z-D3J0`hV@&n``@3u~ Lme*2SSe~e)a~W-dz$ ˌI\]~>vO "̘[Rf<`WfYSqxzqP[3FfT4? 3cQ ufƬ,,}0>Ōc#\.03 |1wi5avJ?9̚ +HЅf֔Ec5L4FÇ+ͬ)xEJ3S+ֱ̔x'=vLH6U=gF8MΌIX3 @3bb^kـfLx>͔mqF4; (}WtyFQy=[fW; Ҍ嬝q؈fTtSfnN4oTe!Q{^]fWf 3ƨgF/4ł3cĔ qW5Ɏ36d*_W5ݶ3S*<, ;?6XݖwǙ~5Όj5ȅgF- -A.<3=3 3c5~< 3Sz3όZyFgF Q;,1ubQd)4?[pf487'lƙe56j݅+Ό2MXpf:"#+L3myWjِlgFm帿gF 3׉cQH: LΣx癩$KgQj |;Ќn(+,N +4Ɔ\=`go` 4SJ4\@O'v@3jhkIcq9$rI h^ ]tM@3i5( LF7h&팸4SGhmIc%}l83)DApƙI;E+L)I4WmIBc㙹ś7̨4̤1Ag&| g&튎+}7Q̤߰a9P3Ke&!'2h2v >2SW+6̤][:̨5$]4̤(e[V2`fQ ^46fzM035pLcQ>Y`f'nX%̌p3^hfeSXj+Lw7Z ͌ca-83Nig&~_nƙdO3Όk.83i5f?nݼ̤1TSޅgF /e晩OgF}ؙxfNL;*L:x@l<3ilua#{Qc֨gބѰ5&8sQb8V/43B<;l$̴MpfjS-$a86ԕs_`hF.iLy蚽hF-hFVHhMF4SF9fGsh6:uϫhFm& D3j0GB4SLWhF spL46-D35l3ь%Բ,ۂ 4SOPU}40g%8>fjA^nw63SS𺎍gFLjgFѸw㙩)ό B;yHK{̨MxgƢ6̨p,n/<35Ť! Xyf`3%Le;fFdQt3,+Z447\̨z.(3*&bPeF [2cKue( e[Ɍ~MIvF2Hf% 6<,$3UPldx9:Hflwm(3JJ[]]PfԘF2ƠT +F2ؑeFGoFm3Fu}WUz|5ZPfYͥǪg2Sj5ԍ/3s+~aQR.p2nfQK݊bAQ6ԨʌRt#`fdM43jy0F6.<3jg* dᙩG9Iyf&c噩 +,<3jzgFkÙou{ g975_:gF)q^s™xqf=N"XIǐoG/&5cov3Kq ~l03j>8o;j(1:׍fԾP9hfGB3߿T3͌ZvufOXafTkfFq3df>]7LPfISPf\ p aFQc6 kFqi|mv g̳i,(3j'\2̸=ʌU_j eFQ"MƇM(3.Ƚi^(3j7̨ aAqseSݿ9̨Mf ʌ,\Pfިz3,u-Ю eͯ9ڄ2K*GY26.(35Bl(3jxC<@Q3Qeff&Q2 kF%uz7f5fhcXec~e|,,35L<(%&54XfԘܴmaw(3Jx=/Ռ2,dd.(3jPh Pfز!rlwgeFIęucQÆԊO5D9XfXfԒl2F:e&-:̶3l27ϙeFEQ0$Kxv*2`e&]|3ˌw̤ pB2rHfR +\D2//d̿X#Uy!yHf5̤̤Y4̤V L&]%s:h" L3ֱ14R+7&dc6&셍c!0R3LG~f+8bLha̤Œ17E>z3c̴6 k +ۖӌ1ZĶg?0fZFFL 3}l^ ,)yofSwM XGd?&I +2s@v6vvކ ,)@fށJ p̴oaA 1fJKƌZ{39KdƘ%eͪ^3j,39fQöJ3ƌZKņ10Rgls[ fnM3jdH3cČ X; fQyyf4X-DAd0S6!}G0\i f`ɍ  o`F{lL!syl3j65hB):|gCQcf %M3yp>f:3z&Q3.3j<=okRˀ3jN`2xe&1ثI ȧ>dsB0ގ0KVfYdLox$ 0KjfM 3jmB 31UnÙ&BEf:-}ZfIm_MbU 0̒ڭ&0cd[Oa(hX!fp'g[huZfXIgtWSͯwÌ/#VCkW8v&;!fT9v:MCX0bSwgbX +B̸g,'L44 3֮7avO|޶"̘kw).3car3+ŒҰ%5#+@ǎ09Ag 3fo0c=o9Vf=s>f*4oa^j}2cb0Kʼ9K+,b=;3L<}*[f<{0ĐaDaF{>foB0c>$,cfSm-,3%Gge%%+s67@\f M-+ Œu 6/a0c5:Zfsy +01ϣך f<sl!S3zwO;\|G%73̒፯aEp@|-31@~I X4Œ0c;slE%w|(lE1w\saү+j]p%1> ql`jrl$HCXHN+ul,3/J3K>v]8&%,3uzf,"^)+ŧ,`4L|Vر`u~"kf<<#T9jqG`j#YfYƨ`Ɗ3m旱{T2U+y љeim L/_ƲC>cǗ 02`/&+G2j+LB-2&׶7-2N)l`cXeY^;EY1 0Sh0˪`n_oFQ7 ke.3!9Ŋ0c0뇝"̔W̮~, LZ\vG + aeQc2O}а!! -qma&]>fܣ80s9f<ʐ_(fe&c&BG5S̤abQ+4SܥQ!a3LZaWA1s+8eB~3-ƚ 6[=l3Is bkw=64Fxw+p9"1< bwT 1s?=KcGJf{Ag ̝ <̽SD/Tg5Y,9{Mjb 1sc]ֽ]AQ I'su֧Y3$3\3jґ#dFcwh,9 3XL-#[hYE3dWɌvƜ{4Lm^eF{a2S2SKf4ˌ6o2S'9,3~>T4$ =@fcME1Lm^]chAEM2f4L-ƮE$3ƢHfj4o4"If+Lu"KdF[ 2S?UȌMb2f;V-˜ׯ#Fch\chz{P3M +cF{ƋcFˑ1Sׇ5Ech01fs +Ƙ}Y11} #ch_^Q̔柾L])bFV3hک%Z˜M+mechx3uR1fjKO bFbF}\ĊbFrb(fjxRVŌy;Shۚb]72U1{ktUhmY_y3/Qh#bbF&!f$=Ah皎b-8M.:1S{tUn)xP 3Z0=Gk00f4>+m^7fjW1h73hf?fJ!3h~m=Qݣf4]FƊaF)_|bw_'40TÌYh-*bFѾ[Ґ玘=.#f;w8bQ|Ίqat,W/3g3G1Ìt.膙ƃxT⧷FԞNbŔV 3cM(B=Zbfjj't0] h`7&N&f<4㆙gGyuL)ΌXd0͗L9f3L-B؏Z4wL|6c7h|lRL3ÌpIf=f5+ hNK0Ìva,qttLY1#f舙sB3z1i舙軲WČvVGΰ93Z>uÌt7Ԯ +#feGYEhƑuČdG̢@M!f+Om wpL-1!_ŌrDWjSh&^5ˌt.Զ513%b4%]H4kfj +3͌鸣kfSwLˀMKif+W\3Sca}t͌ohz:>fF|\bb9h{P> +92810 endobj 148 0 obj -<< -/Type /ExtGState -/CA 0.2509804 ->> +[146 0 R] endobj 149 0 obj << -/Type /ExtGState -/CA 0.2509804 ->> -endobj -150 0 obj -<< -/Type /ExtGState -/CA 0.2509804 ->> -endobj -151 0 obj -<< -/Type /ExtGState -/CA 0.2509804 ->> -endobj -152 0 obj -<< -/Type /ExtGState -/CA 0.2509804 ->> -endobj -153 0 obj -<< -/Type /ExtGState -/CA 0.2509804 ->> -endobj -154 0 obj -<< -/Type /ExtGState -/CA 0.2509804 ->> -endobj -155 0 obj -<< -/Type /ExtGState -/CA 0.14901961 ->> -endobj -156 0 obj -<< -/Type /ExtGState -/CA 0.14901961 ->> -endobj -157 0 obj -<< -/Type /ExtGState -/CA 0.14901961 ->> -endobj -158 0 obj -<< -/Type /ExtGState -/CA 0.14901961 ->> -endobj -159 0 obj -<< -/Type /ExtGState -/CA 0.14901961 ->> -endobj -160 0 obj -<< -/Type /ExtGState -/CA 0.14901961 ->> -endobj -161 0 obj -<< -/Type /ExtGState -/CA 0.14901961 ->> -endobj -162 0 obj -<< -/Type /ExtGState -/CA 0.14901961 ->> -endobj -163 0 obj -<< -/Type /ExtGState -/CA 0.14901961 ->> -endobj -164 0 obj -<< /Length 165 0 R /Filter /FlateDecode >> -stream -xˎ,͒7"_ww@ B{Fp$@ydGmՙkgE_ܖǡ'?bO_9zΥlM_PZJ!7u<_#>Rd/C+oowA1ʡHI+bO6}1SǑ{ 4ecS4}BH)G7~_}lJyߔR)GR6E/C<4ecS<3-4ecSg?F /S>6eoJLϞRʩLY?ؔpoKMӒ>6ԯXm}nmlGl}nm -E?zQOK>܎VMNCO>6dM3Y?ܖڔ㳏Zms[_kugrz.GbFy6s>ܖWR ϽW[-C+ZtX>WoCZJws[_qsX∣綼ڞ0-tmy-?['m}nnQKHy~-ﯻ؟?+mps[_iK98JKY?ܒRq!^ijj8my-xʃl/[֏>usOe綼֣>n}nl  )>u<ɶ>u{T}-ﯺUiZu>Um| -d9^>uŠ Ff'ƽj>m}nnKQ{}͢myxŅVmyU X^^綼6m]!a>UWaأmyՕ,Za^>Ugm{}-ﯺm>U, - GM/[֏>O=vXJ1&g=9iɧ|b̡Pc=FӘO`15cc4f=[9w͖OM`15SjWN[O>5}/֌YSse>ԘX7>CQ>}8Y>ԘX7&ɉN-2fSc>pd1jrhmӘOl -/bƬ|jgoZ0J87OliUO>57ZiF>\}Xj1'aiɧ|Criɧ|譏cL'zyPK'Z{qC/f~1F;^ɹMn|jgV1jgaƬ|jgo9JqOl+K;ɧ5-O>5XH|2' -³slZ?ԘWԘWx*9VOlwWo~)#>ݹY|jgoZ[cLwSbgkoH5)ʫ5_9|jgnZMY?ԔVunSS>[sS~fqz8cOM>γ>5ӆ(4eSS>udzo[XOMl=~qb&>rʔr`c[M>WK|bɱ_;׼\ӻdϣ1jlgg^]v\ˎ=xUrq}p_=6{9^G.GHy͟ʎo㇚6;~6͎J:>;6;~(/͎)-͆ʊ㧒rlR۬6;~(!ώ/͎#.;~*_͎Joㇲd6;~(W͎Jo2츖(uʓooKo⇲$6;~(Gώ/Eˎʐod&;~(͎Jo6;6+~(yώ/w͎Jo2.;~*o͎Joㇲ6;~(g͎J˘o߾_ -C.]{l)_sذQ9ao|qc9߼ņKkn^׼M6lM9{lػ#_ذEs\|cbå 5y k=yǗ=ݎy{lػ_s7ٰu7+oy7ٰwV)oQdž5?y {kn׼=69{l;%_ذwH"o$\dž%x{k׼=69Ǜl:_pp|5cgɆ&Ɇ5x {7kn.׼-6\'_sذM`|%d%Gdž;5x {Wkn-6\ _ذw? az|c+dž5Ox {wk&=6,\M?J|T=zF`4X3[y8b(Ww=630". ۢ +.-W+~ۛ +.W+~۔+&ܛ 2ݷ#~ۆۛ~۫m{͊_v~NJf/[maťjo{laťjokaťjojaťjoic>{3w}߰7{5 ߱boYXwެe}Պ|kŊ_w~ÊKՊ߶~ÊKkՊ~NJެkfܫ{͊_~ÊKՊ~NJf/pcp{◝߰i{-߰b{ⷽ߰[{M߰T{ݵ߱b尿Y˶|+.m#~O ٫ l8{?>\mҵ{6\u/6o?߆Kņ6~koнbS;kgXW-9ZroGyi֋{;,]Sw" ;}{ ~׆͊wxA=pGVT/SVJ7 qSf;-|̸)Uϋ qSZ;1Ab=Y?(xvܔgxnM?vvܔkdnMنj3n7As7㦌4:/vܓs<Ŏ{dvl$6;Ab=?vܔŎ{r) ϋ!yLD?w;nEAsl>w;nGAs㦌>/vܓqSV⻬n=y7e&]_''6+nN|Wݬ)?]Ht w 07AYʡc[EC/-d*^[rߥB/A-يW]z3_oZ>C,ϲ_o[3(V9EqJH -_ZơGy*0!<;#vbDq"7M,$ji&Jjooܵ??\>}]G5*ʿxk=/oMo/#R! gkh_cx6݆_Oo-o*kԧmmM!1h%BEs;2J٣?iJJOGhx_?~6CI@8jCs(+h( iyU_[ZNkGAǘ sB8*c9괽1ںAhD=x?͞o6MHnr V#ۋA#Ecp>FZy{>tAQi,7(8ݲ|Kbh4j1k= <|Ys7d~! FzZ W |~zuRԄLsF[OF_lӄ2I}^ |6E3}򆂽C-LQս?¤9j5$yp+=Q[fL:-) 9l5+5[E|sа0jT ii a[]HMQ!9»v䯾k~khA -~9n9!9ߪs,[Q_J _VҼ"rHQ|L)>ni ^YK6~ZoP,-m-y>tt:'O^3BVc9joC F_󡳊b/G @9!9i\\)dDnc6d"ZxAZl:/աTsjuӇ6^_Cr?tّ'8Г3hhiFisH/#H{kӨmV_i6OF՚-6Kx!T-xB<ӓlcШa"YZ2 -lűԩJ'pVhX3WT Kt9VT:X,~dԪjRYte<ۮmLf\մVu|mOHCKƒf4I1v)~hǮwxxj;吟㏉e.psVcS]9SZsYU%(V\s̐!H2S"MZW }_UZ(=!ڻ^[AL:]vh6l9 -jD'~55H]5[]$y-l<4MN( Rcѡ'4X JhTPf&$GA>d|Qc`P9}slneu S8߱tmub8ys4 RAe0HoN 9Qudz>fѢP+AC@rCݱƦvbOW|;% VOloS5A>7k.'@h]E[[q?0䫭&bŜHUM2 qR#0r٭Nt% ; ?E7GFCXPPV{b -إX RdS6F;֣`%)!{c5H?%EJ oh@g?>NV{2>6-X˭ 1EM[]fg_͏/e5|"(R|CKV6H]2?K!.E f(ѴxiEPkDA][΢"%N:4 P|+RJlj`"oTa M }B`*Sڮl)Rzzv[ -BXЎ i[F ?FEђU1e\̮:';~OC/ORvr}P(TG;v)Tm)Tb*mI,i23g{lfJpArGVA_.,J°ГwDа*@m b`A -C.q.ty}xrв -vKe9A plꊚa N`^c5j 8ʱJhrz-nF&ٵ> SHr]=rY4a嬷K9)X\b@hD;>(#5ۼcә6ux$cZ -oX }"G ?&;xK݇% @]s\ik?pKK xxV[۠p!ۭ%ܱaCݸUL`\@)Eŀ yJD4d.HBh?4i W5/kx{M y\H.n:t -**H]'j3@r3A"dLjO= *Az9g*Tb&g$~rFZU^GG*dr [rE5n1zK(:u3@c)l'O93PۋF\."C#@&7>aD%cf&4Ƞ^Fȧ4dVrܹ5A̼PK;}y8TlKN@r5` iW,hU/{@u@4ϊvt9z mzZ#ɂ|6 ~Y@AXQviB]sauHN -"=b~淬=ٻ,+*[{rƣTTaen BBD9yahVM'xic9 +>atʷdǑ+yTyRzDvw@dAE*v,-w6ȐEfM%mnW~("wj'u'85Ы N٦ 4K+уɰj Z5 -{Bk a$sr(d 0;Y?*̘aHa -梭`~+VS 6f .=6U; qhԌGl -Q9 ݯGiR\[FnhDN[ oi0<u8C["8s̮Q8+I7-sJ[.vؓ9zadQ=}9sXQCn gSM<59&IZ;-zIIſGouLNzs8=k  0=da= i˹{7O 0ΔC -A ̐V5ϊE;]ͺv(fw' O`x1>  b&M<_5%C+ɓ`|9yvJ!E 6 #nk pn!7RXkG J9&`z=7hEm&usR p~Xin;2GȔ -bfS90W':@xATAѠ5q$%2c=\!x+1XyrpOO -NްsHj:B>m8CKi鉭jD[X컵i$ wɸk-j= &m@4~d-i/~d0^\>yƜj\vl:  `r _ -պV0!>ay *iqjĠՑ H{Sȋc@jkIys<|#Ȣ+*I o>QI5%`7< Nʱ%z`PΈ~>&GVvX[=ngX/d5ƫ&F!Kۧ>y96U6ܧ٫kw(c/WFm -߄)yXA70 PK8D_+*4A=Lr a =8-͇\-Й+1^l9X樞秇gݍ 1iG//[05S4+T8!q`ȉduBFœ0J< Sfae`b Ŭ=f)Grr Fno ,m~w6gc䚂a3qR3ʡ2.ސcFu!f/CE(y^"I͉016 P>`n\(Hʄa04հA|GX7>hٹeja,e/6K_MmFy -RN318x@^T\0D$:׳61vͅPChXG* d`MQ49lmP'62F2֕<) -"(eO-8D5_S -pYҌQY[?{`K[+o(\{+h=_j7!NWi t+6?m Ts^l;B wXNXc/a$ybHZ { {c!Op g "T -3C,IQŸ΀'[V=UJVHB_~QᬊA{z}bF݇ϜA ڒ꼜_q (ߙ!yB%"#Q+^s5Ң;HҿM149$yaQ^bF~vAJ^#y9:=dSa\#߃jDq l"=FH83eZ+ 4B>0 > ->XTK+g4 )5+ #^q)̹ Kn&'Ԃ< -acQ0c= UBGxr`H|IȂJNYo -8,aW} xsqooMeqhN:H+\A>h:Xl\Ee8S95`,EpLowh~_Vo8G7zT0$wcmxda#vSκrF5 :[_jv9<qUoHk@EZq -a4=Jҹi\! ƶs1I'3jl -rp҅iI6W0#Rv -f-U^VpMM$ϨTj7A~͚oH\ { ,D漂k)ƐQ  -|.0AJ 7YM']^cV+pôC=BS;z<ͩٙ|S︠#>`^CH.avvf~)Z0z3h6yf4h%a} NM~F/ Lg'%ј6{q߱r&١txñ@to=Kkݚ٬kvhM KgagN;bÑڍ" $y%ыȫ=sZyd+[B8C `V37/Z`/#y9O^X|0r}|f{>o~rS\0N$R c~FnXΖo'A-i*H{_y/@&W EQ6phi_87>CA}QijXދ~F4 -bwP} sK>$_għ55 -Rgou@|2կ6{2%%HK%qw0 -O$,-:>%\g m{0|; ĺF{%_8uFi=@JNȸE93S=ӥ4dS+XkqmzZ_ |2ALJg,`H#?ҳ` 9ZN9&ʃ=?)pAzpk -?nO2ħNuμ>#a&6?pL6Y *y^"z4ۘ{}<;_21!5uom/N$MUW3)b' y52LX߃Diu+mf m `-CpBpmrH -s'0^)lO/W X>o!-X׊;o!dA}k9Hvy S4ĺQqICx~Oל~YD׋txB}>P3 n`qH7OZ.d3lդF uN6lS+=f}>5_YTú53㼁L {i4{zL!V ޓOiMGk׳8E'kDfxZS;ɁRڋ8j樟W=lo98F:G`XZl>/mbd9N8XV)SpV b8^;) s' QOg{ȦṻfgvO F=~.673#S :S-5N}R?WpM2,vdT\s:pL -IڻB"XyNyv7e5R#Ny[{cғrꊆ{8o~t-1g?=Qb) @x~l&atӚtOOz'5VQO?Hx:_\=촞( -}>OрyU2ؑy 2At.lÍ-wb$=Lħ_N )볩 -X\ N\ߤz˜nm1'fC$r`]FcYuz%z,51Gx]7@О -y9'm:/H2]2l+VI/4p Rl~GÍC3$B{"<^W_C~?6=tM-N,4?:r2Lîq& +y c]=e ꅥ`%Fp=1  `}߄dˍYf*-͙x!G! ->ڄ购w0NL orS`=M'~4^p.'=ӞYU>W_0Sd:y=Y|bGnr_Qa<^*\SBwӉH N:ix>!ukc/Qg,8c-4܂g69Dyd>iZ//8\ ђ&r3zO/`ɯ; RC [-[ ); RW/i%/fi 1 7{}C|'HVz XӼވcrg^=: -a<:R*~'ue޽Y|ΒId;Y,թ'VD7)P@\&|}6_bOoSk6F jU>Bx݁b_Xw^~AsW S:F%aZ&섺t@FO7O:A;nrLLnٟBAz`/S4xrWXw\7@{ޏP;݋;a g]I -HtU;, ЦƱqj/}$u:] -T -.رpE묗hjBR1 p6%.y^+*?d-.z*GX%V1.ʄY伩qDbc~k(IT'N}'Wnc\N-Mj,(l˪NU+Z*ensCXeA#oN.Ej긐eeox^řVa.J2m\`hHsQ4~γشw\ĹPታM˪Q)\:BSw|%$KI>$L-B{>DvQȓ NdnX{tY)\aSB]ZQdR孔)[HuEkmZ"nE.OgUChm_J^W4y?7. -ܞhla&ej(P=Z%QlkvY4%Sck2$|T4NL\kͱsa'x1w.< ] ]4 Ӻ%lmƆJٔtS]*y ->}6.zJGK}WSVi#]jĴL-Uk:ؗv}'l]ԩ$l]DIs&5,+<{i|ZMƼ"1Ud̗58R_dl)D5} -JM^ԗ/F[žl7iMvtPp]4%}!`a]._*Za-_ _?|ZVkT/uyX~YϮΛÄMz5(Yo1вiYO2ghxY/3'ѪCP,†ˢeӎp270϶'5jCo -`8tHy.fm#| 0&M̚QmTI{60kzGKbW0kՕE̚Q͖V%0\nZ_fjYA)"Ytoj`ްZEB}Y{DF*fm}J-`֎\7I0k F7𫜮YHZO5U̺M$].nUҊS6Y0XkI]u,ؘ& F|Hi"  l{#o}QgCF(.QʃQ03UY8WSk"ٽ|S#ӝ6w48FUHA~t -Цjm*2a|E¶ -qĄ쾼I_ΖVVtd=Pe K0Zgʳ'K700r ^grzJ610aS^ȈV8MUGTE\W)10ZsɻNobb69"EM̲- Sk Ye/v#-C"(FRK-b@f{\$3Q,6Hod_VQ1lMUa"+fy4GZuȿxjʛigNz#,]a#(m'XH8ȶb&+E̋7a1CsMXRvJ %:R#/e12.,6i/=.bÊW6a141qlш/Z]I.bJ*,fni,{\4!D%mb0!_e6qjQG7c".!컈iHAu-b'*.Vmo'tW+4C:a{X~qU%kvת.Fi |wuI#܇Ʀ.8t Wu1I1>@7qhAt▛X y7}wq1tN=b)i8q+5@rZWZ`#Ž>Vi1lEҡ**-FOSשHg7i1dߵh1*ϙ>ހt#q ;ob%#b".;%NYȩ+1bvbZZ /Y7m1dྐྵwJۨJ~_ VJ_mbӴ7SA-Ɯ);C"PȢ-Vֽ&-Fצ*-F%Ɛ\ -KZd-yg+uޗUZX --Y>^"-F灲OEZ;bd~*-Jbzc5ژ3I|(ф^~*A.kb"lXݹ)i}YeŊ| -7Y1ra+z;\T`NO`zqA7Mln{jؗ;W=18'ُ591D.?.bbA`:]LϩJBxд!)e>Sd[ht%Qc7DXz|,71 -8~7C+o@xq7`|r)ŴJek:(x\hZܑryU@ (iZÀ:oa#Wp8ȇpDZE= rne "!lM; oLE; (R\g>g9(A:xpP?ĬpE5hAZNE3̬@sV0F{bPAʇ*^{f4/},jaxXE, ;u֢fIvM*1Cýp"/0kMWX{脁YNSk c@ׯSkQ g60VaygaK/ -a,I̐qɐU m-`Z=ԙvU3J֛4 n0;(JC-歛0k;#(˪ Ǝm)I`gVU0vjNi" -M4Hmh ᪆STclVK;jFWZ,E;UX8 W10~hYsW^t#>YHEtB`-fꀙ?ȀKejy>y=F }Piu+ݢFxp40Hpz-&F?~_{tZտEJS7/zГōߤhM)P(Y3 Yo N|~Q,_`/~u~UMn_4 V/{Nka9qEΕt+Tex\4<=/I~YKzKUE#ွU+m -} Wq𩒳}(ZuM Z/QkSlQ"ۚbhZ܍ZtiP*VK󎤫Ɨ:>._,"—= Y_J/bu-^{i)y^^4),m/fM+Vi/RąKX-^!nc -{߫V EctYEԫZa#<.^@bMzj3q~_r^5Z"<.j^yP>*慔6-/NPH?MʋՁoJ^dW&LGɒU#[d8v!Z]eUbIN_W&^s)JDG4XmXwjF,-\c)p2ԏwl -xqөwHQsdOy?ED#x -tĻ3\q ܛr)u~vbҭ~2nK-!vA"#lΰT[Pbh =+6.[ewuU $M&=bki^Gڅù&"Œ{\WGeκ\/.R󃺤z -yĺ;+lՉicbԸomSbNK24qUU&])_U8oZaV.R -~Ū5J]7.zmUk=d[8SKe/5M5)4Eus=o\Oe@Vq.e=^QA4m/&5KUdU -*sAn2l^&4˩7i. -g7M [&֌Y>HsY-Ǵ[bwLE ȹ,\;w[Iwԑ0u÷M  -,OoS -?.\a1/Y.wdFdc|傲Cybr-M p)% E.L3tzP:4.X*  *o)rrAWrYm͘rx,0ޢ5lrYq1U L_"6E].iZQSz&{jURW].wg]o\0bx' }k9{wVe.؅ū5\0wIstT,o~"%4ɂrm\1Q18<*VY^4Y)sYn qQݳ*KUd(^Is͢M kqQKKebM -f)(sV62ʐ:"X[K>qb ${Isd:yiS悵\U+H&i.Դj֛4d悔8{W(sA:mm\)7fe`pɼ*su|wVa.D؄zE <~LK+ -\)Nro\ͳ -EBt 7].% =6a.w1X7RWa.e}a/e.m(`o\V")sY]oX( tE lTk0tb/e.JKbpX2)F[2Wc[kNQU S$Mzo\CmݴPބ6`٪E=ӊ6u.ꐠT6u.jEK?\DiI8Wl\`awQ7u.K̦E~hs u.0:l\`'R,5乨i#u:W0- ?,7u.0žYչe&z\Tiw>EJ?a8.\`dfJ5?hzosQuHTRMBF~!7[mtEHtJ~-\Uf`L]x̟\\Ba<^rD7y.*Fir7Vu.+$آe]sS/EjXfosQEKW(sQhw]ŹEr8`uep&E/}|wq.`9#WZŹPnI/\j2.y>OvuZwŦud\ئvs!(ҠA v'xW}.Eyݞwc:6.Xq>_h݄NÛ>gתlvTO /}.:7!1|]\?KRj"rxn]M*-. tQ\Deɻ_a;[?l]TIԻ@;>eV`~)L#W}.Dejp\=ORq349siq)5Vh2*ЅH@j&e -]pj袯TU碫S^EIsEc[#U+Zs1ܦEwy. -sqLw~o炠NA}qhJFȃj7s%RCî\h^?sC(~Rw}.sYHJΝMζny-~w}.„>UĚs\ɒ0TVy.HRΕM| NmMJP= ks7cpV8,&i#gɝU^LQqUfl\l`M { I\(P66u.@:sf]K|82|qbkkFľĹ Yմsh^c6Ĺьks]Hu1Vq.N)]/?\Fg]m/[%sAsCc_\SlU炣b3`Ratņ<%l\ҡtGVm.dPG0ztN̫6g^JjY6KsUzMU %/ѕAVm. [ \䯏g]tWm.SOĦE0\<B4Wt6M I\_6i.S4yWi.R43bL4S)!ks9E)|ٔV[vb_\_] վVe.h$X若Q>;\DnB4:. --Kt]MYgU:lJWZxpy*\ ?4@y\Vkl\|j\t{6Td\T5&8ڵ3EB&׮uP_4Eths&ئEmF~[6W|zݓk]|V^(4o\8IsQ\k:6i.4^r/5GȰ]h7&E(p}M^g듋48"ͅb/&X9z2A0}h j70EkVm/o沎Z?M]=:e5Ijn~Բ+sYTX*sqf2s2*Weai2?z&ܔ+.sAU”ʙOMk.dy.0Ko"oPgkv\zurە}M]lm\iQ24x'5SEr$m\}ڔ~rU"q.We.hh .%*sQγn\4HJ\vm.0β@n\^6agoeuUZ>!z&eЋ*s$M%U˰/F&eX]h0uk6i.= ,\})o\w*eJs6i.0N)&eB?s] R9'ЪeԦx\ \Y t۷"eЙqhsxksYXd2̚ezis|̮\qm\`0-EˠXɚs_ -]˰e*Ԫer.sPC>A{2{#\q&eX?\ #7 Y +*e<ssdZn*Lq2'/չ zV:al$.fs -Wu.fe΅/M0[Wm.sq2,] J\um2lfٮ\`~,Wq.X*F?n&ea:&>pr@AɎW.0?g2p~U{ 2_e`]^+VgU.խ NX%klonF=@% g&84dULn -]aZkYpx`sVm\ǹ@aTcxM 6}{o]E˰>[ *= ;^G@֛BagV儥~VBazr8(tqab.ü2q2(s"e ."M0v2+n Ñb@@Ix.s2L.׭/\Ơ~+ɏ>a%yE0"eL4S&eV*eW&FѦآeze־\i2, N>X%\ KM?.\s;E0=YsPsDߛ:o\ il\-} ~ntfa<.]`?.]\K؎u tvL@Xqv.f=\e2+isM 9}2E>\j2d ]`:\. -t:U˰CE , .rG&Uk\xrM1lxM˄N1MːYssc[>=U Ձ"~߫"TorE7h6|^:#ɦ6ʑ_:""Fes7'A\Ѵ=o{QֲD~D..sjM ,L/|:WoE LQD\ԹxY/!{nJ]`S na S%9Ȱ‹Z1gOMv?g^%^]VCUIvYM#4v8E{JsT -rE R?cQ]t@`vE ,/]8<$!KFtW4jlpxE ֢F!E Or^ڦeՒ0"&e)޻ƪ-1*iij˥ Z$7&M6 /̿o"^ [U8wy"{ңqxYT hƶW49@'eQ"&BU4:U^R^VUiyYIq&/"e|m>G"e0-zu%E+ZNy^`lQrS"DT[$fpE+Z1KfU")|xM֋G1~&/gSo;~\87@xI{Y?dCi{qN1"KVu/L(cFNv -|q -E޲cqf wM{;V 0Cr>tD>~/vov5D|iA˅?F߸|ijnw7M _GcB"}QFߥMԗ^H&닍9*oI-WWaFLƘ/O_/o-^"}%Yb.dxY~/UvSr!<et>vq'ﴢq7n/QD0}_-38cL(ت'*U0N4viAVVޢr,ǮY" \Uml?2NyLqp|\ug瓝KoUoăiFX?v)>;K|]8l?}x~8}Gq?܎G6¨/A¨3;?q S'&LC ٙ<-d'" ->cqZ0_eU -ҞqLQRݡMVGy<ؿ`a} -&-R"ˊS( -#{aTPsE LͯѠa񰰠Mf?1yH/gFTOQ0E= ӀRln$aZ?7ٕ0?G8KFQV0{_3=Z$FY[x'me+%@2 -0c Fex>KzL 1;-e7=QnZŽMe|#![50QE6 1D'7E[5_ܦw}:.w56Oi&[Ĩl xvĨ0pbT9'iקZV6b.u'R۱脾0L1y?hB(f $b* +b_6q˰&?Ǹ<Y;W0fl:dQn}С/?%̻.v* -o /F§#6c],`WʗLQ+1-[dj*+c]ƧQIJ+̘ԁMQ!3FhwKehXcYHKتg1Yʜ25F.1.}L֘֒k5uqIX@h\fk[(L񫛭1v_bƺ -6vXƘY0G,266֐Lɋ>1+o[1cc>!jn6ݜn,cc-Q %Q<3䂍qx?dlOJ` ġ?2cc:i0kco@m8Hâ67 E&֢q(amLç==kc: E7̍I'`՟čB]U712O_V 7[$27Ƨ<ҕ6b 06scP7]Nײ7F/~cLޘ1F pLS)cwjKP_eLE썱~ -獱Nc7WPdIcq̬6Hq+1LrO1)ڝkIuy>{Iӭ{#K -XǨW&*PTΕ -8a1i fc+cts c DGpl>-:b7gqOı]]q,gq}CUIyc}$QuSX>[ D(خ^N{er+gg~D.r8wm"6b&rN&@F {<:cl3c-۳۴gȉD1Җ)r,GDmYh^}1&Vd|_f9c4XfKSo-v%rLOQ\1_Ǩk\11@_ıM?gUݳMcdҋEmUq᪎mYbM此 H21zԿxcxfm1qcAܢu]EBd6q5GU9*IcV24Ʃ):c]#׋1I٫렊2/1 clRx_M2edc"͹dbOO.XPq! ##clEm2Ƙ$ -1UʈW$^Y!뚎6blC3K"}ȺRN۹b<.)-TXMi1m8=>ѓ,F.[XL3@y%Wkj&V UzOc-5I(,egۘlq?F^&Feؙv u WY'Ƭí>m<4OʲYhKZ01nnٍK~=SPba~zPYJ{~Β#uly*Ab]1vt;|ό]X\<+}zĒX/dD>g@a #{ߤb]gBeBN?a8ճ&?,ԃS ƌgJ13f<i`)a4sB1!,iu *n7m^$7My?S6 rh|u -c6f te(u0i[>wȰ+W5fb'7WxFS c۾E…u=C&&EiV\rZMT<./Ran(u̇Qbhbf7’0ÍmBˆ:צ+a`Tu6aD+BQ؟/1dy^=`Dk 6`}2ڄl FR 7sf4j FD?p䂂}`::֟$`"@sW0`DBWEY9J2`EN,XװkQL I_b.S`DLH`<+WhU7hvqT 8Y#Tkt,!`D6WU#D'J{ -EB -EDvXKW+bѣGBuzQgxa?w)mHa3"ªt AeGmy\E%# -D~\/cj̨_{C|\F GśX_d;bWJ{p}i1;_<`@P/:Ƈq3V/-x8?EBE3w[тmVqYE }?5x/qwWxq){)b~ "aY|D{)۷,{)`Mת*GM%KhV"b~X/EMzEt R40^hKתGMUR KѺ3ZMѦ6q^J0H"˚?_¼Ogy)ˀ+TDyn~*I^.~RRBW5x,'N"Ȇ"V>^/gK.WY3R."f x)9iBRD;RZuO5=w)`*]xxa.E͝] -OtVE|o7Kes|y]m'|ʬv).E0MfUggK}uF2٥>]JXD=إh5=nx]:gץhE:ۤu){3U;JV{ww[եb $u)bcxRt,1ަH],kHPVˋq}P"nӥhFN.E@˞.жҥ >K*rQDt):{0ERD.tRbL-2\t.%gu.E\|H8%0bs)Zh^~룹Q+s9F@sA?_rQ["\84j].EK'r):s -M" S&& OH.G瘺J""Le`rv/ZEZ=YB,.G̘2S\F0K\D KVRkp9b앶>r \Dy9pbp9c^J!O.Eڄ#گ6[J7L#>x&(Z)'}qu[e*[2*xDo):۳?-GP#V0o[gZf-k|^c.baqBf=+[pg~-GL-GK{rKΟ$U1HE>p۾S-GFމ(ؖ3-%j-G;m9HMΖckWbYr4SgeQ6,k[RDu]1[KƟ`4zx-G 9J7#Z:]ZN86Dk9+"CCR4m8Qd-GwHrrijEZCj9:J -<*ZxlGjE0Zzr>],VDKpYre.y)#T$i9b$i90P k{rDQ$!ZNDt krD%ꏠCmoZ;gE=ϊ(Lg9YO":+?rv_"5>7h\͊躯5+dr. ͊r!j1"\RȬ~Ya)Yd/+ -Sr2t~2RmҲ"ae,+e*YYMTVDg+IY.r4Kh}LVD -EɊhsWA"Zࠒh QY+dErR% +󰋏ktd+5 c9Q]t. -5GƊh|m"Z|X`9s1_XW}(VDbbQ""Me+刟M>牶5GÊ( -5' Ê^6YXs(듋5G Šhq?|q(1Xs,E[%+-%k2sſ_F~g_џ~5' d_9/L_Q(Wi5WSثS(WGUɼ?7ȫ9J%*"w-Ք$') 9W[R\Fr5Gɸd\q儉tg79JVst9JoV]>/%jl5Gת~JӬIZY_؇{⬔Y9a XY9Qז-+%3/)+'%+'cj0Q+X9LLb0vVs *VNqk)Vx~,<%Ѧ RE_hUDn"B*G<UHv#>裫E$W9ڎUN8d[KɭrCKS}l"!dJ)V*/\*E Yw*Eo U5U)Y4MZ#f}wN*E7o@_IRZ|5*EɩrDM*1U8ڄT)a?z6na}dJѸJ UhãUx TDOhHN?S):WJ J mS5."}~KZG",Q*E3nIȧm"6TpR)bHHMpdJxݓU4*E&J`)*%$Q)B.1K!*SPV ChP): RG@}<ԽLe@ѡPDdCyvM4ԭPG"CqcWF} +PD<, E4~'ޞtZ -E5Bm$c]!F+f ƍa}Z$቎`ǖQ:mȾQdV<;1m&;pn7NIŏp'jvgcu,;1u*4j>Jep}goA[vty -+9wQ (CTܷ|7ǟɸRƜx\=&rbHŮM?(>*;O0WHJ ݃JO7VYqԎ0,e>m2xWP|'ZX<'Iճ߄/E3ܔp&_gԹg%L$*4i&"FLhSi&I㿃J,X1D27.dq|d򋫛fL&rC2t I`9$2Ơr2}`[x^M8&  -[ۤ1]>V1اt-&>un6YL~;YP\(&y<%&3˲.'V ̆΢0qǓ $C K`4W`f-ݷ`So_4k\a7&[|JU%4ae|I)ۜg{#)k&wK<-0K[kmrXѓg.|9.Teeo.!K,c\% a+K{ϏĒϿVxeI֖x*}Z&l֤3Zb/r vo\:!:M;"\,ѕ~UfӺO%x z ThXمx`D,i`E D,1k|( K 'N~%67m6؎l6a<5b* >HITb撾TeL_ItI%j-t?ӈ5M!ham&m<`)J_WM%-O*Of,GLC-ȗJ!m%Su۪_SY@L -d uJ'F$)sTbEKK*wu5N24wmD >[Ml&Y(s|wUM%u_T4m Sһj@5Cc›TVy1CV}OlhJ< P[jJCI[ˎ+Tb!H%掏I[35~I%J` R;m&(uٟ4Vow?R ZA%mRJ3W-Tb`-}Ξ(`|\N_@%jP*ɢE(llܗoT:ˣ -DE 3DAˏG I!xW|>D J1PJa'>YR=DAUE%Yz0T2$v1&[IeOLL9Mk9=J.x\敄8za+uƵ:nvX\ݲD}v DW}6(`|,Q! ,Q1K%XֿBr(wH}Zy<IZze!fjp[_Yh% - hDɅ;>v[RQVKgw(UdqZ`JDE ઋDIl]_]Z%qf=|].u]] 3K]f$/Qc@ubZeJEt$\%U;J/`;>z5K3ؙAҗ(3-ډ_`<|/ 60uO,R& E~2(7PaiQRECj0Lʻ?SwٶׇDvBQT~,1QthۃȋDFq_7O ;Ϸg֘(JXEtј!fP 䂅ksxLD~: A~!*eD6x`s$I .d2QЗO/( ͼ*5 *Љe>Je"c3Qmu0^rJCR+6Swꡢ gRE`+:SW5nىgꪄk|&ǔQ(/׏D&&b=?ѲDvo\{ rdI5/19MTNCtzoؔnE&*݊{&oBkR9YkZS?_/{Md2h6Qw1 6Mдh3DQ?1誘MTeP 3MD&*6:A6q -,%=RZ(1fo?rNwM*4?4nAM()`￪7+ߤqF7=*(o9VrG/ǧ>{V2hND 'mBȐt -=)Nԋ0@.I$<1NTg}uq",/I&LM]r"z&dɉRCrdr"cy5D! -O "c?f6Cv!&ЉآeSqK5L:1AVÓfD ]2D%i4KdCX'I?kI13DFc";n&Fv"c O3od;]u&܉a;m.;і2.;?80.RDtxDvzDXE.Od{| -^'Jyؖ0MX.1Ҩ(Odl>/5@1qqɲy"OCQ^'c'U~=m@uҞKDQDMȗEE|Rxo|M&J'UcG'2lVMj'*V5,nWNSż$?z -q~|j*]AQ'RS`'U];M៨]DFUEr-MuOZ.1|+ǰXٸ0 ni3H)ջ慑"ij8RʴF#h02$EFmf"I)$ӟLIhgU>JJGKʵQ:iRdKs}I)b3pRJ "c;vMd%RJ3$z Uɔ"Y<"R:C̤J){;'VJم YJ'N#*,ERUk6Rƥ %*R0Νp)2Zm0&]JX{7x)e +RqZ]2x0I\)Ĕ"7'Ɣi/KI}Ȕэ$gfJ!egJ٣!MySthRQ=)ecRF=;Ҋ6F)eVg7VRGǸ'N)^BN) I#9rx7;tJȍN:Q;Ɠ%;WE< mdXwzJ-6d{JYߙORSG 20?AƝ?LmqP)]*e7k*Ah|ե7T4,˷ X*gį(T"wƏ*el|-AU Q9{#Q)p5)*ExL=%J_O]=XFlwfJg dʙf9K {IrGRowq16ͱXF r'URO*,GHmr}.L[QFLTJNMfMP3Nnaҩ1S֩1~I橔DyX>SC2T){lSzSS RlD&xL P(Ud_ -UVQQvRЎ{*e~+L3_J-I -Tf$U)%,QUULa?X>iU4d*EspU\&J;~=\*g.hYE1{:UVZ;~eJ^*EoSV9&*eW6ULr[ mq8ȂW)rW)E'r6ަ+Us\&JٸneJCJIRM2MO+e +%mdR6fe0fEDy/4+eT#aV%JY>g@hh׬NIRjϘ.\i̳=~P+eYRRazٵRxDJJPW(ZRƝ/V|l[)HΗ[} &J٪JƘ03p"W,\)QߡD1=jYAh'Ǣ\)7Ir[\) -.ٹR6~W;R+eۢ`+ePq])cgc -wEVwL})&JտxL(1"Kb^)ƛ`*Wz-kLնrTq ϙ+e\.G"IJ.WJ"_):w1S+ BW|B R6$QX+UlzdJC`W,2<-2n_ $k@O6w2Q=@`4,%j ˕,g`){&KәfŜ{!RFsLJa)<C & Kmȸ"kfF0OO, "bvz~H,e/b1XdV2i_PT,e ,ZeO,.f}Xʘ0EҔ1SiMgr|ګJ6p±6xdJ:u"UKfRig={;'!LWsv"N?4҄YBj7,Ư,ϒ,2^.;YdĝnB*P);H$e}EvtҘq\ǟ,M3ez"AW{,F0poz6Fztv,26Ү2q6%;3%YdI"ag"cun֦͊MŤmȐ*ϸg92Yd;ޏ -vKgmjMxn&z 'DLIY-2hnmr{!-VϿ+Ji}E #'JK:X}ȖzW1-(2˜5Ma#KenE{B~ j<^]._D-{br4{)9Xgџ?Z46]1Z+ -kv{$dft|CnҠȨ}h"ڎH=Z<ũEᵺ0Dt1FR -gakˡ6[\]%y`Q4=`--lPThK/E l۬nE)VhQ>ۄm{-꛴-~iEsh2}xfx,nѹ4V)[%rKNcFR߯[dvw6ut)FԎ !6[zA"+6Eg=YoRGںzu2[d[1[t]oi/զ) ppwjZQLpkGLWWHvo+}cUr`rpj8>WbԢpyю_q#2D%.u cjohY: ,@:8qХh6㯚.Eږ.wJa4R.G" XRha.Z<0]/ߵ3[.2#ݼWYqY_듺4}ɣ:[]D~gX.cѺhԃ6q]d3B.ZsiS.Fg<_RC!K;dvISޕnZpmRZ*Yb%uGfʣZviB` "[8{~ʳy#s VadthlaPf$GΟgjT" -C,]X0hi~v)gKQ=Lz|Sb(bsK֨v0yQ0^{d 1} -Wh/}U ɟH [uu.>7aN~R茆Bq4wF '~YV|}[U4Y 3换-[*8S;z[Yg aD#f>g,a1 xudة3+{~fBlav!Ʀ!fwq -")קIcfg&̈X/{m$1[,|r(12s#%FFQCJ;{a%Mb%dĉL0W6yb(y/(Ʀ<#&R}pͥA)Z2bsLv/*Ɔ<.…F(#ĞEq878K H|Y# 6b"P -0FF<rDqi_68ba1cxlg$#ci1rYhdfLGa0gglՓ&qvgLlE #WAm8rw89d{һc}GUHOLGxBy\1gTF1bv ScNN-$=^B-#?Z":P{13h]"=Z~ECƘW2ID7Qc|Th/OJQRL 5vk}|ݲ0 J͌B!KxEP1'|x.IFhG|~1q\1 ?1y7AsMԘ+{en ƕRP`uOn=)'LStU8B[S\|)KcqXOq?^svh\gPH\mvv zP1AxgϋUUglxئyg+;c⌁2o2cʭmrTu훇8g.0QD`hQr$Km\&gRӺc9% ~X*+Gƈ[XJ#8>Dx hh\Ƃ>hlD'7whƈNWN/#x|~1}E[Hn dw좵 ,y'DV\A%h*Oo+)Yq4x<(Xb%/K3FD/9ci(-;c|s6"1+p)$1ϣq3DŽhטg_q܈.ON.Esx,Fg1.'<ą!Cct,sWIc&{zx]<"M<*mO%fz6)cc c^ -ӟl134'^b$aL$$ѵi  ]x y1C4&]L.׈.7eU\6-͓T,2-mo,v?JAccxqs{,f'lȪإ]6Q1~dl]j2݊\!DX͢mYɠ+UȞm&,m)',Db4q)1f-1Y6}%FȒdZMcZ D#Jq9Ĉ^?"vDgs=_1t:!FɡIc);}1&UX2%QGvkn^Y0M'L7va7oW9솑T?0G{8d wd^Ȱ۳)a)1@nLR20Ht?^6 8\~0 Tj\_/K FD9V.|LxEI -}w,Rgd8a.!ĿVb®'cE C| p}F%" +A*e!Կq;?#`ză\ǃ]{Yr< M8ݏ ƥ9c2c u*`GƬ߅T>I+*84f2 -&mČ}1ŕDK_o]_,XgphJ&y`fExh@&L~10JOX]rD"]m\Lf7H+I`\5?EX3x",9`< 2Cd ->}}^Mo>/ -8K kƴw>a~('L|"<%``1h$6v~k -vy3+mŬzC"3oס_<߱#ׂb+Q/|'+8^שq}G!_ft/F_;lR4)k -"0Q&N +~,-)?-qf 4,#^qm"SϏEv߼B!9]p*t,eKD6;]d76E^M.U=ugNƧ.UYSl=8]*Z;Htkjt(ҥNtdoӥ5((L -6z7HL -5L*EaƆ5t OcLmaTw.tQ7Kl{33]d.ĉRuA?C(rcC@R1xisfrVk^ӥM tSLK8tR\ӥT͖颠e&Bq9<̴0]D[8Et^w)sjE/QLP.2Ǜ:3]6C/KLȌ]PU#9'j(33]d@/NUtQmytQ͢\JN X7(ӵr^啴Z5`Yr(A.qtQNt- CkZOyLNn[XR'mMN:yͽu Ehsnֆm2E#0Ϳwlvmdv=dvuͥe$_lv|&F :譢]48mڥFT7]jŌvi2קvFuMj;<]D\Z3E0;WB4eA#|h}ߙvi_OFQF=6lKC$oya^(^S4J?w=hviF~ `j=Y.Z ۥQcE\.ڀ;ð.ӷMđ w#̧h4Ӟ%t?KsQ Kp橌+n/pư;O]`" ̗._MpG\||Mb%f$0 \wwMlfKswc4t5OlPJ. 9YMٮz VFv5Ec1CuRc"h*zLfbFLfbFA0vC>]xxah+t9 El4j+]tڥcv=bvqvcXdcA/kU"/'hG'l$z-E[0ͤF2}O{E4 $vu_Ů fb±a$v]hEv?/0S̮MnbvJd 8_*]/zÔɮ*E3.8v̮ynld,?fsfy.&rgvpxk2Ⱦci^D+]dƐlviygvQv-z3ExEv=/ڥ)<{]LA@12G3 vԄvO~aL3]L]{&7E$܏Qͮ%.n6P7bmtvDzũͮ{?Rg\QͮEڝnSogv-~ۓZe|SQYAjWԔfjF{n.P.}bv-/vhQ8!}UFKv-Zmjט._][.y*pUރh\jYS8]jcm0]y|joS޿#ZԮEMŮ(vWv1xc*Qtc] WRb5 .>gv1-H.[\<]l?#EmF_ѮEwM-35 eb迕SEmkw68\yGKf-W ,]Pb8.`Z.*y*vp\v=>]R;.g53]j5v.f,vQpŸYb츁!6]VwCU#PgkyNpfaJҽx^>mE< a|cQU.3G"v{.;X b5]3 nQRMh%ĺ]뚷6EU O(b)JbEAfVwwˈ*v Jy8<tByb9=mh/Ŏ`%37b]? 3ʼn(o.3PAF4.nKWke3^W(#V=/] A ŖYGMu%]+q]b;q]Ψ{'$ΈN,\qOẜfL\3C7\_+\KCu99u9.'Su9cHÙR'p.g[.G&Rewr^ץ5U [.gs&˙"cWr6޶~2^#R.',Z}&??K^KMu9-({]ζgRvӘ^cB}슧#qIrveErzMfpjv9bXbrfKUK,.gcAo.g٥+SFwZ\Aqr.gr%.]ʖǥ0WB-:5.=2<rףlv)b{9l.RvRo٥|\^.G -3]x^Y7J0]vLe={eA嬻~t2dvy!&HR.e3Kf2]W.EW4Q.gfNb"FyH!v.^udKeK;Qp"E}d"M>тZcz+], Ld202٥;Odw5oR;8?KݓLv)* ٥lۄRNUK"_.yo_.e[d2tb&= ݃SDv)Lv){6fgK[~<}V.eDv);͋bv){Z'K0(hM#E! T[.ed.ewERnڥH+Y*_vR;ąRwMmW%K5]2ۥl [7 ۥ,6_vik@v):UOo]bR~.ec5^"RƖG|ۥ]'wi9w);I7].emnmeKXc"](}*]:=YUKC)l_cY"nqy.]:`6WrPIj.v):L.eJn`v)c*E|ۥC#.ey/]:(i=.)l"Qmbt,5ޥyZ.e|ۥ...nN -eKu{>W/nNth+]:L%KY]/9]:|dLlZ]a\{"EؖxYۥMv|.llۥ̅?nNZiұQ.vN/eKϙ.[lN߆ĉ)&e.坋vLmG.U$cT`dKE.5.#pk"wEr"{w7òRX&K ]}Up -Bw&$K'uZ RE˸Gk R%L ;T RiR\wFo}T9tE<]8b8R$bU.?1 -B"L6]*ڮ3 -Բܥڮ}2n.1"JǀR)Eݥ¿ҼBw*{UKuQt#Ӊ"Hb +]WW.?V.W^n.2hETʔ'S-t^T "ڥ -t9.^ݥj`5{]dK9Y$(| w1ob^]3],x15 ^DHkX1x#ƑiATT>~?/G':Ev.s/W_|DrTKNj{C2䥲{m7˜(/}奋:xJ:8| "k^]y3q^dާRS5w|]̡߫2 Lm2h݌5^jGMpzq%yYBJ&Q羸^jd{u5 VBt7zlm/3^>iҽi>z)s(YF|m-WwK]]ڤ|$4o|i);ƴEMKBŝ/<\P/C*jyIRr[&%ngK-8%_7@?e>K4~ܧUkv&WH0f5_]tT/ݵ;hKO)K%]uҟCJW$@?_<@g#/^R'XI [,qeƶ(T1`~\-ڱU/~PlU0v]ㄹ`@S!`զ+>#c7|%<&`]BiONx_5`1M8$<\M:Gx%[x0N.ܒ0TY8Es&"!̐;Ӂ} lq ^UJlLJb [ 306qx"`=A%)3D^ -=l[}&,,1#ha:suͅt _m}q0e:o^bz'Lk"t -b0\ 㜝"E |~ٖwGa4v0p̿YIp"QI/qtDiFD\c_0<ظȤa{&>jjQWH/]]IRUÕ}&B"Z/%C~Z5شabTurD'f>V^1Jݴshb,9b6g*Sbm* F!$xpxĨI;8<1Ɲק(zRcɊ(FQ͂GPD1c|&R?iddpI7dTJbƒ*F"EKfIqK̊Q, /&A+F%ˢ_bt'γ6bG0-Fy)퓥bQʬ#õ 'آQs8ӱ‹QZˉĕ|1][=$i~%fjr*EꪐQ>m 7,icԻ?EU¶qmǨ_a.pLJ|8&<1z6LerLéwk [5A=Y %v 0McMvɯѤc uˎ1M&u3)A{Oձgq91޳jpc~Q1Nu50c <uuձ].W"TuqʢcިTYe60:F'(W)oYͳ'̎vc;mf8c* -;4KΑM{:/drMVQKk.cDTJ1"J̷`̒:悉|mRLjquvQLj6;H6cu&v?\Ž%̎/O&c H.3;FZu4kP1M)ɯ`f1c -;&ǎdˎ]rl2;G2Ӆ6cHq`d -&%yZkqХS7&xLQ-Q1 ?ƃ;^Bs1k^]gv eM/u |fP(ɱ$w1F!؊d)U _6ycA '$kcN/eXc#v4}K 4>9{C_1&`BzNqtvK$Xb. -d2vI+po1`Hj+,clqS+ cV8wEƨ=.|Wy~l1')?HM?a1NXi bԊ-lm+j`*Sm23E!8޿1E:ӆ6b0UӘҘ5qbpEc᫦vLyi߯p5$v$orrk(;b8ϕ[ka,1bTIɇjlֈ6b<R&x,Mm[~1 ܽȀẁGO 4Q0`zY0UPx~H0;|_m3cF4 WâlykxMbi&uucECYq6^4ombØk-mIVn -OPMf4Ѹ0*B,cFt5K v?^sH궃K\-(FMZS&)\}XI] -9s Mˆ\$A  -#a֖0F~ #z(ٿ-z%%LQLY^@CTl4l ˌe!ˆQao( +aDc]`lPFtr34#[ - Fzlm8@OĀGm[nXZ( ]0"#)#z '+slQ[#+m\R@0.* A13q50"QX0[0Q_(0dFYn$8`D,Qbnoޒ06Ӟ{=X 0"lLqB*K^>n@-+_,ۤR{0_l.6/Nj/">]yZ/Rp7O/"cݪ]/L^I Yb=B_&XhA| V"bg+_D0~pV}\"C0[_D߆Ek;&EĺQH|΂|ѦRb|݆.#"9)_$7W[ҺFx/q/]t[a+^D{f݋d;Dƽ.k9 i/&]Jɸu;Kߛ,^D6Ⲹ^Dc{཰^RmR1ۜhVSӇztJ?/^N5I"Reϋىo5MM"momҼX0/E<,/^R!ZY5y)bT/Y⬄aP,)^J$ ^D:|.C]^J{Yt`ð'2('h[w)٥,IRĆ/(ޥ(Mv{|CJxi.EU[dKt%jx*p"M -v)JU0%Mj6~v)oײdK ^e}9.E+]xeu)gu).~uu)bRc\եh%mT~%RuERtPu)h9t)/Ņ"6)] -ҥ`{;ѥ+b*D.6~IR*MYJ>Q_>\:%s)bK\J\j&KW(YRtynUR'K}y%GV?H("3R[J"EhmQ&9 7G r4^𶒛36e5+;8f9zNWP4K)Mf# -6Y]n-d#: c@Y3 f9bMoݽe9Gˊ26aYt=f*+qBʊ69YɊ(TdErrȊiFm"y\=~c)/?{(Xm$ '+[ƚ$cE!ƚbFh]^T9J(&'7D9J gk5GÚ^ۤaI°b}wL$AXӛ3;X(X #Xӧ'#X񙻽*qq+K)jw'I݀T3An Fz@A2vu"WЩDwf+f PNmOe..MeW4 m_Ή}$}4mA_}4y"_ͫט |RzNܫXZFUHm *v4p^t8@*g>*V;F#*$FlGL>-~U3I*l /|\Mu0Wa6)WadM"Wa&4&U"W9B]4o[-{i3Ns*%FUwP h+K Kld lvk֤Ul!"T}Zyrռ%Vs{aZY19jMDM"4ȶByVV+bNԀԓ'1$1'dYYgAGrt$YY$5,±y0-+KZ#ҙnF}ձٷ1o>#eݥ/ -鿲ʩx_;H|UCR2&3OxRE#_˚/_2oy.6~I!F-3?)=GpGU`PE`ЇK>1 o6EٮCVx΅y' ,6aeM $?(*4峣7W(M~3J8Jӂό4SwR&`o[T&ʯ#TC yD?:4w 57C}Cw-]>44 jfI{o `>QsޟY>AVd.9Yuw<?Qsޟ -X~Ԝgep?QsޟY?j0Kns'I*2ƴ泿5Yŭל>QsޟYwkя,F.hя,A`VYoя,=׼ל>QsޟYX'ac"Ͻ9G?j0 ;c{7}? 37xG?js-¥<}d'gϏ-яt6mO~Ԙ@i7}?'3}ս>Qsޟp\GsƏ~Ԝd |GyNfvVS!ќ59.>Qsޟba.ڙ>QsޟD=Os?'+~sN9ɌoJ԰9 1?O>+O9ʌ osG2/xyg!q]o^x⏆mGlTG?jLy1߇xW.-A./Or[_h ,7S R[Oj[\_W~q;X̍?m9B[HE=L2}7V?y-wr(acnT;{?ՎyUL}O޼>v,vCCW֎o>֎o>֎o>֎o>Վ">֎oB>׎dž}}X T;X;~66c&c&s}pC&S.c&c&c&c&tc&fc&XsX>u>֎ƅ}}D}߄}T; X;\;~߄}ę}}E} )X+%\;~Dv|=v|6v|/v|(v|!v|v|v| v|v>cXλ?s&sڅԩ|v2^jg|kjZZƇڱx)vxvU0^ -c|KjZƇ1Xj`| kiKj\b)w6,U-:jZŇڱxlv,+^JZ|E}kiK北bjZ2㥊Ƈڱx)vE2^f|kujZRƇڱx)vzKjRbV5/^`|kjZŧڱxxvԵx)uv-^j\|d9|kE"jZJ㥺Ƈڱx)vxv,e3BjZ.㥂Ƨڱx)v2^jf|kebjZJgR <Ƈڱxv/^ -b|kًJjZƇڱx}v,.^^|sU w83) A,&@r+'5q&GIZ=nA. ;",K -Wo.;?)ױA`]O/w^_vZރw.g^;r }}h^j~ا{5cg(yI秞#OozStUH ?a_c]pix{z4⿾߸h9y}/SX z$o\4](.1#듏~k?tV_\8%u󯮙5ƅ^/% `k^wI5?tҾ2v/Ws_ 19B{/ PE ĩoﶰl+_'~γa$E-KB#oK|.'7u/w8_2'U]{D]yy _.y&BʱoK6Pu__ X30]/泵tR3` 6|WP_Pqcq>jS@>JK!<3utU!5r/tr0]00auXjWm7KΚŝ -\$q .Օ|' tԥRw緸nxðC;c9J-{vtaOiaV^I4Lua - wpVn~[H癪+{hnf".=c/L? Vvrb~gQo#c:aw7&JiFSwVYãkxhX{O=k Wߎc? 1TZg+`ĥ,W:%ޛO`]:׫9ve4onobGNn 6hAP`dD%Aî]޺ڹoftRœgXhZ`{hY+|Kcb6-/ړ4fW`n3~w;8okN;/!]>5̽XC{G?7t̍qڥx!h=hSA7df+Ͼ_3$Lk5~DJ؄x ~X13[lJsBE_  Qk0,~9RNpīwvwrjV0wQ.< }bW.h\йqui=iyܔ@~9q.l,v,ҡݸ1;&1`(`_^hx=t̂+t쉾RJ'e˜SC3Lj䝾htU΂'m Wܧ;?wU.Ll|S8z;.0PbO)w5O1; zU<`fӠ6fH1=_ܴq/3z3xs_x;x3f ,X oB#3A'&{$kM]B=CNVK+6zؠ}#ƍF]ڲ9Tqó -~G#i gX Ze_;bnlRmaFO'I]5 %Fаcỷ-'m0u[qа5iCeXQ-v݆(zeKΝ\ c3n)qn s'!-kL΅}CZb<1zy - -j` Œ{b{M)X3Gt0i'KpC :l .~Pq Uz"6@bRE}9fc>c~.aF_eh?Gp`2JJXIZ)9Va0B^,jrݥG)pBP ssXx$ԍYvLLZ}pWofLՐViaZ[n'h+s2gYM$im\<51?s-kod4lzVa~ma~Ǯ=h%Y!.n a-!v,5P{X1,e;X+sn=Ofa٬܅ٌ.[iZ\9/KXwC<41mc#|ۿA(-VtŲ3bz)ż7*:D0 lOlѰ,r<]m/p=:n 0Ұn9RҍU e_=k -Uiei EOb#:Fl a # kxaf?WK fD/s*iUSvAlΓ8t/H<=w̞W\ }TVj L;#)1%Y -htaR-z{=2 QfLa=]1_R›ˆt/Č{EZn{5t lF8ICPfȑ4j6]3} QO5vQ^ <d!+YZB|douWO𐆧; s-r` -u y_te L{LJq`[cbV"~(.`DƘ3+2dxWL?FS& -x+ҸLke$VHA%oM,a1e eci28 5cʣ E.u7ivę0Њ҉;3^ˏ{5l1`ͲZQ{52UF Fa<3 `qla}Z+5L1=C-`v;Q.]069aaYbAO)Xw,4aܹ{,XتI'4KmR{k\<(qkFCZRSAaαi+HДfgd &O-ŃVJ4*+{_aa;Bc߽Q>ĥ\0mCRKLRWkV9^-NW++h$b؟^Jz͗ǘIKV")I ,H6^a㏖4,H,<7,* ]ĩ[ӃL'(%N@`apW„]f# Xa -K+ >o&ݸ,GcӝGa׈nfܓS"q1rڥ#^чUW4*7Xnc3TN<-tagtu3 +5h{ t_ I`Ұ{nAlr.sT/4s`c2,^m)~8Ҥz[غJ0|1Ik  -=r .r ~° b.?r -u0 na->Ja`4X3?h;iȘ*cihgا&/8g68B* ~!xҭaR^/?fC%fWy$ Ix63ȌcЫ.E%hg1 0EX ʹW\CX3~COǭ/5Zxh*qq6 m4 xnU/AQYxkXK%-v^< -v@;܊`[Cŷp)T3gwuK-{j&$Mc!"wA3hYCB}=j5.%Hdzt -FhhxTA ͆8b}1֕Ki'@[t2HxrɠoJlgafXd 񉇊~ZfA2w W%ԒqOnlCſɸiX0=$I|0d;cY 2<Mr pDK1u`K4P%$>vgQcO$i,Q5ޓ4uzHc\dc7 [t5R'&G41g[hjl\rh,,Mgfw̛`Qk#.L'=\cI9ճCZs h`W,pdra -0AL QliHc>d*^*-ziSN bȣt׋Pg_j77M 9aYj#MnGq* ۥ!0;WέTA<Nk+2=Wi3ٓoಳ `XP:l`+/:˭qޢ 8*]r+2,X1[#6=4l -.P+ u*urO39z8s4 mkqw TJ{"_cFAPX'] -&)KFAVnoxdTQ} &+i*R) B'cnDŽCS]x~xruABa墷L±G*àx -'#-ԃ+n2 -VdW'\$hb0U6?*Oئm1vl踗v4j3hDM:$KjJ KY(vFwL9C|XUQ ϳk j̝#LN9#}}NΉf}<;Cu]'RrgqPlGY=;Q -,V C#|#~qPRx{F4a f2JSMSHrL'EtνN۝ft"cGƅo|1:͞l6;0})x5ɮˋe_ލP J (d;Vh ) mQbƄqtEͣ=C LEVO11j"GM2rh&ï0r$5.r1}04'՜@=x;#8. 5=3QNF'>_<歓ߖg(44ºn%+3u่4A 5N;T19^<8j,qVxZMhKVӴC5FB6=vksc(Tjr'Yoҹ/.TnPc,n[8j' 9o/vz]mdyURO'uu&åaZ.xPlVf0@8SF9[x {)QoHbZ=AG(ѻM #i[0(YUegQCoGy1PSi JL*G,;k-6@ʮ xýttK2)+|3֦^2C;N/!1~k PjPxƈNuJc8TT|á7RBh4gPYoc=d';+SL"{?[Ēp(#0L^hsv191U*'BF -c.) -Szd>1?M :pŠoL\/=;&._[Э|ÅYќ勴;␤1"*z=mu+7HSZsCX$#}neش ƽ2ΆxBQnJ2r4 9SRג[ɎLj Ee٭xӵ zZ{(KvqYuvgr:s;l卼g\}²x(uyu ~96b[.v2*,q0 -EM/Zb4&!B;;[|n̈'%(Ҋ([ܖ{=m!zԙ{:` Fh(òo -ɵ睊ؓ r}8N :D[Ȳ"ʳvdaBq;,P -$ohWޞIWh ) 2H}&䂕{fdcʑ!`?wTa֪riNgƮoTg!up9H(le݌E5FB*ޟuP9]q<6;Ŝ!=¿)Ԛ1L9#MQ7N0)4*Ҙrt’Z2UߥQH;J(=}Lá ϔғ1 *92Y+En'<į~rXeCe.E>j'QPհvQ[ ?Fn=bdp_)+G)4i2HUC{lDxVNTv vPd4FFPR8v X5ΜFՙE֡HڍuMI1wإ:b"O -P:n()(wyJ$g((8n yr`\ =?07P/jTG 9ݑi89F_\y-~6Lz gVwqR+잋;~g3e=@m)U,G%@1Aj,X%|Q}?`)DCJO"t 4 i;5DnM etv/XܬYcj>v0U_R3ŕ{ -' g&&iG#wJ (Xc+=8Ȫ8{i̺(ŷw1xKgr[0z-`lexX3ʙ[^YM#ZuB>LO5|frj+.N~.z5Ƌ4#>Vß4SSx n*|qtʕ'{ R2F+Yiɡaף_IK47Oqz/ SJ-%]~ -3&n*/iS'ʇo W_z݋=c?b`at-kЗ>ۗqWuRIHm9C(Ju8tXHrwÚß1$걕ObzhqStw)kPV5X(/R#G-1I)8_qi|dœOFɓ¬y:.K/6|Rn!1[145:w&JƤۼ|R":!&, =tİXJr3]:X3]Q&:r1Ċt_ZϳXæpXneg 5宊q:2TgÉ9OO/3*K "i;qvmhq++*Sd_ͱzf*d^ۿyɜ>lNܿ ƤD@-(U#ޡ_WjUy)Sw<,09=]ۢ0>2X<߂$vKcV*uJL+NQ5kŠ{?+ (-&|L,U-jOM3s^8.LpyXpUW$XH.njPAӎXTJf-z n:񵧻R Z j }bW|/E4>)̗{T''ҎWe{uA1a#՞'Y;NIc6|c5>i[1rcG@$G{piXcJbQ9@HO<4f&'lS&@챷 -#1ˈ|&C-)-c w*"l3;F)J~&k55=Ve-?,+է+ ]`Ȉ2(7XzJgx:+s3| +0}|pM09SUd6Jÿ&Rє6'pv2Jht!7Ded7OUdz  /DEK1G;p7 hQڙX9?63= 7f_/=Ԙ.TƕGqe4/ O+uxG\*&N,4̼ŏVJ =1U U(F(uޕ㉵ٵ Eiih$ L޷?&Fr$@]NQ&;J8.B#ײA2]\οwea㟔j6Ť%~ncjU&5?EID:{5l$ßJsݢlת -ßbFѭS:993Cg<9dYNY\kم1z1ZY#vSMk\ᨀ-ٮUHUI')WAuXv4D(*ICZtvݝYU[@:j):; ՗S-jV{TmSE#^TUÿ'Xu|Bmc0*:9^ S˻b|޷B #,[cN&2hƩrJdɾ>Ukȧe+#~e1e4I+l⸂2XKħ@,3֋e1gOkIVQf,\#"fQn_XӰ eYIfLB0M$3xPdkXdFP!+Lu9e -0*K̈e+ʌu@ۊ2Sř{e Gۜ2cч|F)˕dFo~yc^WNpAftNdFP 3&1ﭚ/8XgpN 3jN5{&YRr᙮dF-=  3*_@fMDd$4N Bw dF|qȌ#B̨~]ĎM$3P¬dJ}Hfp^_z"Qp&5؃*-$3zb["Ɍ -'HfԢ`I`YR.seSwPfUc eNIDQz1{kDQK2vDFKjjh.(3j$dFрȉd*]5MHfX= $$*1jA9HfԪ|!Xk/l ,9M$3j\A(3jD(4dF'{Fk5+Qu"zW l@2^PfԮ(-,3j#zމeFt1c[Xf0@2̒J q͌2KͥGj_Pf(-,3j9,3jtaflz2ifȏ0 gFNX8̒Ro&5lpfݣGۡ'm[hf*|D3(̨ Ό53̨9sXqf`&v3F϶'fTqz2̨pm aLf&mONZ`fX?"YROE[͌Zlf Ʉ3&ggF-10qΌSNL83i^"Lw%UWm5}:̤Iah@3|y LZzTf]44tM@3jKMD3iq<9ͨ91D3iB4v({()(R7ͤapʩͤW7>ͨ"YWЄ4}( ҌZzFLH3i0"ͤaYcaI;wg/L3i4rVWh:hAI84U߷i&-kDIR p i&I1́if-ili&^{bx~ >1|2̏=1f~C-L3ٽo&.7sd`Fɶ0ͤПfҜ9-H3wMqgLRu i&-=LYpi&=h'g#Lz7ۂ4Ӥ34LK4Dw`F4{&F[4Ƹf4TQM#LZsԺf.5&WvLL34ˈi)+L;0ͼ ~ )fLX/"f^e8'148 f.Tif1ifc&Rvu44,*{ P3Yj[LRCLF#7,ڝf26S5řr[f2`' j&ߋ j&[zgL-fR",`vd~jw!I 5SjVW~i'Ƅmiaذnai5V0+v[fA(9jF } _oiW6[fEmi%j}0Pʹ "[Ռ 5BʹM^f2k4N;ZL;Zj]fgAbO“_fr$8pm[fM"vfBo#.Ύfs ҌZaf H3d#hB i,[zk@QZD,H6!K-蛐f~=&f,Dz.frGЄ4ұn@ɵHw7 #OՄ4'QFMpxzDQcQn Ҍ!W6pDQ*F 3Oz@g7|0(t"EL/N#L*D3Jͩь>.=vjoh 7=M<3yf3bl&&m-Af>} 4Ibaĝ BЌ۽ lfNJ|{#L5k 4cY**:@3{g&tBmml vQXM3ό[g3px*fl @3>G͸E-?6͔#Whhb Ќl -4p 4II -4 B'hj*m+Ќ/Of,YH yf,yE\33o̴3RaDŽ3vg$?Q|lqC`& vw 4.DNfYgwL4c:z9h:W/6۞gXy\p\mT )>6t{Ih22nmE-qf53;3Ό%CqhfzL3cl#43|k3kneƙʈ,@3fEb--FV@3!?W Af<֞DhҮ@ө'F+/͘j)4SGhq>xu2z4c[+ЌĽɒЌ~C9j13=rZ*㕲' hv{fT>X?Ќl+,(e9̘UgF5̘/lOl+όYORVYRD}yfz~98<<3u-Ƿg)^3cxf. !G<3FD5SHfS LIf>]ۂ5S݄5sIG,5Sjmk\= L'6v+NX3|If*َ`fŌ+.,=a͔\F%,Lixb=A\6j].P3%{S5Ӹ`.Cy@\K7*S/T3aD5sL]c2/@4T$-u5S6P=A8xqqLeh5ttXFz>H#Ԍ0=&5F^Գ-P3P6:cOp3־9{n|nvC_f1.6]sd㳹W36`d)w28fʹ)Ƕ͔<쯑m&xm+la+7}ue)26ńv6Sy8]f,fĠl3!UfUX%6͘{`e1n~b1n me1飘f Rl6cPYYmƤfv l3Z6ADD6FM۬[%~r@]*f}1e[f!Wf=BvBQcJJ;d gݚf3jB r - - ڌZ9K1f0f2-&mFA9A*fDqpA mF-EumA Kw4ͨ]M#%m ڌL^&oB D {ٌ#3eOQy[f޲Sٌ}c"s+5. mv)9f=f|֑MDf6ӮjW>`L3`Z2Χ|FF6VXm]\TXfR1qDA]m5Ypͤ05fҰA>qkƳ+ŝfxP:LW~ISy[fҢ˶pͨ-\3iq~Ic>Sg= -:LX3I-H5#rĨ m-\3j{\3i4k&6&p7lQk|ykf̐l&-" LJP`3i6V. Rf*c fzlB6v mf᧝fּl ,W'2,EŶlva ̷w]D6ca4T#̏&d3^kfX@6K/W#LZ/^ɸsD6VXH6s.b,h3i/cy4$ h3iwUֶͤHXfXWo@iVK;m&-=ri& dDـ6\Cm&L&W rF4}ҍz4M?W m&-kǞ=fZXLL fZJq6,<ʹ!v̀6 mAi5f6)s6ʹ$2m ~(ͤ^,l&tֶd\l&`%wʉl&]ړl&$' 5-4ilɼ{Vf2 {w"ɚ*n LFhO)\f2^}e^f6}LFvXfNtf6h9ͼx Ol3m!nful3m=Z_L[K:&]6vV™R̉q -=sEfQUΈZJ33X23tK}e2Rgƙ+ݙqzL 8cvfo93ΊCSxfOgSΘWNҞ(g a3嬸Wwu1jXr6? rh.ö/~ }t[!g^b )L/ڵBΊ0\.rV:c9֚o' ry02BX;PFș -~O䌻|OmSr:Gw̐3a6W!g%[{ gI+䌡3&Y1$u11 )h#L5Cь -99]M3:ip7!gy -9|q8z1ww0F[m?0CX)oVM+͜3y&ҙxr H:xczř錚ص5TP=XHg;ΨetHg{ʣD:Ɛ8tFu9<\Kn;Ψr-3g%#,+)}[Hg+H:ƌ݉t&>ó<(9ЙO0:{]:cZ<;.3jG:—Ԟ=T$w!3֭x(L2T= x#nT3"gBQ @a`U3Vn궠β2\~AQz ,3juU+k߳tF:A:SKD:ce8FuQO1`F ;^Ods~M3j`TE:m ,X*29cEkŐ1gsmƜ̙y10bΨѸO1gX ܶFu;dsFA:aβM1g,^ϑsF-j7eeUd_8gY5ek93qXյf#|`isJ:;efChQ`#P;B:cʼnӘtƣ$%3X FR'.OțtFK6B:cNw ꬎLu (5:cx~_QgtxںnG"u\m@b\ l:V[Pg윹5.3za -9mf'u7o/)BzAmu9kFZ'ͨ3fGͨ3f`=u:b*=?sbZHG`'rjG%&^F"L]]j%gb`v&ІC^˶Ψ10 -N3A3Ͻb`gb~hZ:4&5̻ZLS;b3'ؙ@ұ=Ό}N3o$;_5w&rLdѧGڙHICB;;f;}8wF ݭt9ΨwzɄ;(g[pgD4ۅ5LJ1Έ),eɔwM3}҈wF͗a2#L t(5b֕),I^È;KJ ;RH;#+` - wFD;}i:KŁgFyNOXg@Q~zauu::#:9idQ# -w[`g\,3jϩhvFt ;K* sFYRVͣ;j5Έjlo'ؙ`1d`g԰$6Dsmma%\uFsCӉuqu $\NF'YRqWƞXg2l3JBvD%=7MUR@gIg'ͺ5'o'YRt<5@8Ψ0U,tF-rz(.Gҙ{ XOHt7Ψ$FYR,p9z>ΨHFYR83:K޻tiL t&-C:FcĨ3INʝHgD/pIm!Qҙx&ΙbQfIc(P'_{FΙ/vL7_c&9g r 3i*9g) ىsgN9S<=qԟGsa.$o LC+=N3IYRaCiipM5;l LJg_8g4p2r<*5-3j*͂9K-eĜ%] ]{`4 'aĜyv8`Β@ 3.;(p0gZHR'%cref̶@δ28mQ5Bδ*jyfތ60θ -V3j9-3̘ rF ր8㺎62HLk>QZ6k@Q#8bb%32Yl`Q02d]9a/7@Ψ%FK=AΨ״@dK>- rF):GPYRQ1 ㌖(XgZ8K"q0d;ƙ,s$=2Ψ8XE&5 !LWp&ƙ$ ۨb;mbɈqL?qF,CO9Ra~_N3WgT$I,3^CY qFWqFz-3jb8YrqFy81hOG8d${ '9n9S&5}D qFS`0x%iD/qI L'zB(mFQjL_ L^v};''MDv'YR}33\vBQcmnqF2-fqFF˸!+cBQ+? ){B%_{O3YT6 hy2SFę| hbBHe[gԛgѼ+lg׵ qn 3ՙTd[gAV8ݝ6 v xw71xTqQw01X<;,yf1zbz'c1G뮐3JWeCgF3:q2X{Fępv>e~r1π3ƸF٩MdO$g{4ƒƥπ"+ [g$[=sf+ppF+})@e#L -a0k8_XR _o9-V+w -8@^fVMSVnU_gj|3)Xo=<|{#L!|<L|3$1$tߌ}7!f› &fI.!tl+, Kx31!3ߌ ^Qp(ݫ1Έc~^gC0j쎑oTACt;bd1&)JNfs>ۙonV(Q`?92a]ꔲ^ݶH@}zof~W_l}g3́m:ݡsDzg/s88{S3lӫy)beԣgсԼ`ffhwkY|^g׀سq8}+сynNJ8]=Ş'Gw,#*wbY> g:& 8h:pVߛSŹzct,Ξk8:^9pk<YthtrdE8w"L.x/ǯ gq(~SYnpLvo g`ghU8[{g g"ӛϾ™ΦbR*s"kp'd]816=g.х8Y氎.fq4@̯|h龙i7,7oLJɄ%bKf:DLj|3{af =fZ3=PUtYC|>NUdWԂ[*xlj[N*pa[8<L嗅a 8 s&8^2i$V3&O;4iϦ' 8xр3x>]D͘ah&Gw: U݌ 5Ls1\+_\#y)R,ƛ7L ƛi:J< L;x35羼ٮm~+'Vx3s6L-ƛE7'x3e͔W9nv\?Xg&Ap'cu4LmׄxPJS3 ͔-NJo 1݄ƛ)WY7SU<2L-^Vfj7ScfjvY8,#p7S ,towgji 8S-?Mgj*pg[gfQֿ9t3{/SWJfj=tmZJϹƛb>I5LC ƛbI߅›)fd4L97=+ovyg^*oi#h-̢ -}y(Z}ʛ4o Tf8$Ry3Ic7S1ߌXmiLm^{4ߌY|*7}5o .?G7#1v4ߌ6wot+8[hglƛѮs;~t3t0t3Z=]7# }4݌-!oFۏ<]}3R\䟧fPAf]phoF{_tъofjhG%v{4^>d"H_yh듂 g}pF`Qф3Zhęڲ)WX+qFۯ|`휋FѮ#a -qFcw4Lm gϬ*ch &οW3l'H8>tJkKi`qFň3g|Xڈ3X|ĈΚ9qٓƙA8rj-sgjF3Δ97̍3}cngjۍ3snQ4dgtLMOm35э35oٮ9:9qFV7Ԗ3qkh8Sb]>g;qC!C8S;VJ8=#.9S;bWL[Q87Cܝ89]gjϒϟ8#"x]8w+.gJ_d:pFc'vԶEGHZ8S{_WXh0:pz;pF\с3uv^47SyO)Lov:ށ3FHl{KgXU,ڗNp6ע8S[g=pFzp`KL8S#QmBmsgIŀ3/E8m2:pFgj:pFu|g93Ihs g38pF[]8SVaMFhwpvOy؅3| @]8S{b%Y3;.Ѧ$z94,=8#7\8+\]8ŔmtL QpF N|*јxӉ3کENDNלY%hsBg# 'hםlgjۤ8ist6Q8Չ3D"8=8S{_ m3⌴q'h͞-'hsgj1Kga;g-=8qF;|!(g`8i1{tƐNK44G9qFr8NΤ8Ukўƙ(n|mnu㌶0]7hP8mnx6%vrp3ST-7:pFZSrO΀lOipFcVKhy3҄8ƁXHLq龙}3ڄ7sf-woFxf4e{68hs̅f4ftߌvfƿoFǚ"07-Ymɍ1Ѡ:pMk8Ťg4?u,[[_,ӕgezef_ߌ6.oN|3Y~pFaRβ̇w,ʅ g4Fuᬷ*e˩H.eKfg?efUߌ6'2o)V[G~74߬n-u}}l9}ުo[ͲFV~7f7/qV}ުoM'"o[z+Yo[>pfU߬e8QYk7M_,[>-q߬e{8mogUƫLzYR~W8ƞ Zi*V}l}ުo-o[Hv,[fU,[n0߬xD:oM@ͲYo7˦ KhʠsI7H -endstream -endobj -165 0 obj -93836 -endobj -166 0 obj -[164 0 R] -endobj -167 0 obj -<< - /Resources 168 0 R + /Resources 150 0 R /Type /Page /MediaBox [0 0 334 224] /CropBox [0 0 334 224] /BleedBox [0 0 334 224] /TrimBox [0 0 334 224] - /Parent 169 0 R - /Contents 166 0 R + /Parent 151 0 R + /Contents 148 0 R >> endobj -170 0 obj +152 0 obj << /Type /FontDescriptor /FontName /EAAAAA+mwa_cmmi10 @@ -1322,14 +1196,14 @@ endobj /ItalicAngle 0 /StemV 0 /MissingWidth 500 - /FontFile2 171 0 R - /CIDSet 172 0 R + /FontFile2 153 0 R + /CIDSet 154 0 R >> endobj -171 0 obj +153 0 obj << /Length1 2648 - /Length 173 0 R + /Length 155 0 R /Filter /FlateDecode >> stream @@ -1346,50 +1220,50 @@ qi B endstream endobj -173 0 obj +155 0 obj 1823 endobj -172 0 obj -<< /Length 174 0 R /Filter /FlateDecode >> +154 0 obj +<< /Length 156 0 R /Filter /FlateDecode >> stream xk` endstream endobj -174 0 obj +156 0 obj 14 endobj -175 0 obj +157 0 obj << /Type /Font /Subtype /Type0 /BaseFont /EAAAAA+mwa_cmmi10 /Encoding /Identity-H - /ToUnicode 176 0 R - /DescendantFonts [177 0 R] + /ToUnicode 158 0 R + /DescendantFonts [159 0 R] >> endobj -177 0 obj +159 0 obj << /Type /Font /BaseFont /EAAAAA+mwa_cmmi10 /CIDToGIDMap /Identity /Subtype /CIDFontType2 /CIDSystemInfo << /Registry (Adobe) /Ordering (UCS) /Supplement 0 >> -/FontDescriptor 170 0 R +/FontDescriptor 152 0 R /DW 0 /W [ 0 [365 943 831 ] ] >> endobj -176 0 obj -<< /Length 178 0 R /Filter /FlateDecode >> +158 0 obj +<< /Length 160 0 R /Filter /FlateDecode >> stream x]Pj0 +t'ٖJJ!>hpl954QCRfA:g#w:M8€uEU*o5P$99Ჱv&H9 G&H#Y7n%i~E"ë;H6$c|f\m8>jeS F}K:&UèJ,7T3}`]=nj!JYy52dz/w endstream endobj -178 0 obj +160 0 obj 242 endobj -179 0 obj +161 0 obj << /Type /FontDescriptor /FontName /EAAAAB+mwb_cmsy10 @@ -1401,14 +1275,14 @@ endobj /ItalicAngle 0 /StemV 0 /MissingWidth 500 - /FontFile2 180 0 R - /CIDSet 181 0 R + /FontFile2 162 0 R + /CIDSet 163 0 R >> endobj -180 0 obj +162 0 obj << /Length1 1992 - /Length 182 0 R + /Length 164 0 R /Filter /FlateDecode >> stream @@ -1418,51 +1292,51 @@ y U;͞6c%Z!_FΈghyF'ʌ +hR}Bfp'ޥ.Kd km ѽwBxc[EwqrSaw0/;`l>pJv.BLXG uLr0*`-,`l^sMtFS 4ioh:F֠SO KxzGI;MJ$El-Z (;Iˎ9DHu<&*+qdlU;Aԡ٩L*=-m InEb&+ -R@feVbFј*@gKӇQ]'Igt&?H{U5JQ#TG*;Ixtld> +163 0 obj +<< /Length 165 0 R /Filter /FlateDecode >> stream xk endstream endobj -183 0 obj +165 0 obj 9 endobj -184 0 obj +166 0 obj << /Type /Font /Subtype /Type0 /BaseFont /EAAAAB+mwb_cmsy10 /Encoding /Identity-H - /ToUnicode 185 0 R - /DescendantFonts [186 0 R] + /ToUnicode 167 0 R + /DescendantFonts [168 0 R] >> endobj -186 0 obj +168 0 obj << /Type /Font /BaseFont /EAAAAB+mwb_cmsy10 /CIDToGIDMap /Identity /Subtype /CIDFontType2 /CIDSystemInfo << /Registry (Adobe) /Ordering (UCS) /Supplement 0 >> -/FontDescriptor 179 0 R +/FontDescriptor 161 0 R /DW 0 /W [ 0 [750 776 ] ] >> endobj -185 0 obj -<< /Length 187 0 R /Filter /FlateDecode >> +167 0 obj +<< /Length 169 0 R /Filter /FlateDecode >> stream x]Pj0+l CԒX}q z0h[lE^X gBpjV& :G:g} endstream endobj -187 0 obj +169 0 obj 234 endobj -188 0 obj +170 0 obj << /Type /FontDescriptor /FontName /EAAAAC+mwa_cmr10 @@ -1474,14 +1348,14 @@ endobj /ItalicAngle 0 /StemV 0 /MissingWidth 500 - /FontFile2 189 0 R - /CIDSet 190 0 R + /FontFile2 171 0 R + /CIDSet 172 0 R >> endobj -189 0 obj +171 0 obj << /Length1 7180 - /Length 191 0 R + /Length 173 0 R /Filter /FlateDecode >> stream @@ -1504,51 +1378,51 @@ sS e.֦ʑpIF:վ߸ѝGg eڬ endstream endobj -191 0 obj +173 0 obj 5258 endobj -190 0 obj -<< /Length 192 0 R /Filter /FlateDecode >> +172 0 obj +<< /Length 174 0 R /Filter /FlateDecode >> stream xk`3`X*^0_u endstream endobj -192 0 obj +174 0 obj 20 endobj -193 0 obj +175 0 obj << /Type /Font /Subtype /Type0 /BaseFont /EAAAAC+mwa_cmr10 /Encoding /Identity-H - /ToUnicode 194 0 R - /DescendantFonts [195 0 R] + /ToUnicode 176 0 R + /DescendantFonts [177 0 R] >> endobj -195 0 obj +177 0 obj << /Type /Font /BaseFont /EAAAAC+mwa_cmr10 /CIDToGIDMap /Identity /Subtype /CIDFontType2 /CIDSystemInfo << /Registry (Adobe) /Ordering (UCS) /Supplement 0 >> -/FontDescriptor 188 0 R +/FontDescriptor 170 0 R /DW 0 /W [ 0 [365 500 500 500 500 916 500 500 555 276 388 555 555 443 500 651 391 526 443 526 276 750 443 276 333 500 500 680 555 394 ] ] >> endobj -194 0 obj -<< /Length 196 0 R /Filter /FlateDecode >> +176 0 obj +<< /Length 178 0 R /Filter /FlateDecode >> stream x]n0E /E )TĢ5{H ,_Hg/$2Ȓw׫+iv4Sjf#R[5F wII|uF*,Cld,/f}}MLSߜ&ך~]k:YC#3H*;bIU'K xPJENmNܯ3;=u^9F}K7~ Og8(r *Q@GD@ 4@*q',P'ೄ} > ,%>i{P8/hdᱳ_E42vJM(QJ?]fs59g%fe> endobj -198 0 obj +180 0 obj << /Length1 2008 - /Length 200 0 R + /Length 182 0 R /Filter /FlateDecode >> stream @@ -1582,68 +1456,68 @@ m u\]XU,{@gY`Յ?U,?d\w,:o);v"6z\ŕ9*2f˘N|T2+du}D٘eʘGּY0ED9L#$Rmdm!ҍ.ucBQdΓc#"h&Ir陠pQ~IT9®f21A㱫d2ɣQtU.?;Nfm9ݥʺQHg䡀52Y }Y0f"ԍ\ԐrS2sb&R}fh:%8U7JudYǍщla6H\Ǩ$6<1m'ȤFsSIszWfs~JNmuw*9c%_^4$lnF=B*xs6O endstream endobj -200 0 obj +182 0 obj 1349 endobj -199 0 obj -<< /Length 201 0 R /Filter /FlateDecode >> +181 0 obj +<< /Length 183 0 R /Filter /FlateDecode >> stream xk` endstream endobj -201 0 obj +183 0 obj 12 endobj -202 0 obj +184 0 obj << /Type /Font /Subtype /Type0 /BaseFont /EAAAAD+mwa_cmsy10 /Encoding /Identity-H - /ToUnicode 203 0 R - /DescendantFonts [204 0 R] + /ToUnicode 185 0 R + /DescendantFonts [186 0 R] >> endobj -204 0 obj +186 0 obj << /Type /Font /BaseFont /EAAAAD+mwa_cmsy10 /CIDToGIDMap /Identity /Subtype /CIDFontType2 /CIDSystemInfo << /Registry (Adobe) /Ordering (UCS) /Supplement 0 >> -/FontDescriptor 197 0 R +/FontDescriptor 179 0 R /DW 0 /W [ 0 [365 276 ] ] >> endobj -203 0 obj -<< /Length 205 0 R /Filter /FlateDecode >> +185 0 obj +<< /Length 187 0 R /Filter /FlateDecode >> stream x]Pj0 +t')JB}i?԰k+! if$s6"z`ӄ_H! 8ZWT5hV H~#N37^#pz~'hr4u#~KwE(N+w> Dq='{ 5jˠ9H$݈ťL嚪tMQPYH쒷qDT QJX9uxl5U|}B endstream endobj -205 0 obj +187 0 obj 235 endobj -169 0 obj +151 0 obj << /Type /Pages /Count 1 -/Kids [167 0 R ] >> +/Kids [149 0 R ] >> endobj -206 0 obj +188 0 obj << /Type /Catalog - /Pages 169 0 R + /Pages 151 0 R /Lang (x-unknown) >> endobj -168 0 obj +150 0 obj << /Font << - /F660 175 0 R - /F661 184 0 R - /F662 193 0 R - /F663 202 0 R + /F660 157 0 R + /F661 166 0 R + /F662 175 0 R + /F663 184 0 R >> /ProcSet [/PDF /ImageB /ImageC /Text] /ExtGState << @@ -1791,29 +1665,11 @@ endobj /GS142 143 0 R /GS143 144 0 R /GS144 145 0 R - /GS145 146 0 R - /GS146 147 0 R - /GS147 148 0 R - /GS148 149 0 R - /GS149 150 0 R - /GS150 151 0 R - /GS151 152 0 R - /GS152 153 0 R - /GS153 154 0 R - /GS154 155 0 R - /GS155 156 0 R - /GS156 157 0 R - /GS157 158 0 R - /GS158 159 0 R - /GS159 160 0 R - /GS160 161 0 R - /GS161 162 0 R - /GS162 163 0 R >> >> endobj xref -0 207 +0 189 0000000000 65535 f 0000000015 00000 n 0000000145 00000 n @@ -1857,177 +1713,159 @@ xref 0000002151 00000 n 0000002204 00000 n 0000002257 00000 n -0000002310 00000 n -0000002363 00000 n -0000002416 00000 n -0000002469 00000 n -0000002522 00000 n -0000002575 00000 n -0000002628 00000 n -0000002681 00000 n -0000002734 00000 n -0000002787 00000 n -0000002840 00000 n -0000002894 00000 n -0000002948 00000 n -0000003002 00000 n -0000003056 00000 n -0000003109 00000 n -0000003162 00000 n -0000003215 00000 n -0000003268 00000 n -0000003321 00000 n -0000003374 00000 n -0000003427 00000 n -0000003480 00000 n -0000003533 00000 n -0000003586 00000 n -0000003639 00000 n -0000003692 00000 n -0000003745 00000 n -0000003798 00000 n -0000003851 00000 n -0000003904 00000 n -0000003957 00000 n -0000004010 00000 n -0000004063 00000 n -0000004116 00000 n -0000004169 00000 n -0000004222 00000 n -0000004275 00000 n -0000004328 00000 n -0000004381 00000 n -0000004434 00000 n -0000004487 00000 n -0000004540 00000 n -0000004593 00000 n -0000004646 00000 n -0000004699 00000 n -0000004752 00000 n -0000004805 00000 n -0000004858 00000 n -0000004911 00000 n -0000004964 00000 n -0000005017 00000 n -0000005070 00000 n -0000005123 00000 n -0000005176 00000 n -0000005229 00000 n -0000005282 00000 n -0000005335 00000 n -0000005389 00000 n -0000005444 00000 n -0000005499 00000 n -0000005554 00000 n -0000005608 00000 n -0000005662 00000 n -0000005716 00000 n -0000005770 00000 n -0000005824 00000 n -0000005878 00000 n -0000005932 00000 n -0000005986 00000 n -0000006040 00000 n -0000006094 00000 n -0000006148 00000 n -0000006202 00000 n -0000006256 00000 n -0000006310 00000 n -0000006364 00000 n -0000006418 00000 n -0000006472 00000 n -0000006526 00000 n -0000006580 00000 n -0000006634 00000 n -0000006688 00000 n -0000006742 00000 n -0000006796 00000 n -0000006850 00000 n -0000006904 00000 n -0000006958 00000 n -0000007012 00000 n -0000007066 00000 n -0000007120 00000 n -0000007174 00000 n -0000007228 00000 n -0000007282 00000 n -0000007336 00000 n -0000007390 00000 n -0000007444 00000 n -0000007498 00000 n -0000007552 00000 n -0000007606 00000 n -0000007660 00000 n -0000007714 00000 n -0000007768 00000 n -0000007822 00000 n -0000007876 00000 n -0000007930 00000 n -0000007984 00000 n -0000008038 00000 n -0000008092 00000 n -0000008146 00000 n -0000008200 00000 n -0000008254 00000 n -0000008308 00000 n -0000008363 00000 n -0000008418 00000 n -0000008473 00000 n -0000008528 00000 n -0000008583 00000 n -0000008638 00000 n -0000008693 00000 n -0000008748 00000 n -0000008803 00000 n -0000102717 00000 n -0000102740 00000 n -0000102767 00000 n -0000117953 00000 n -0000117814 00000 n -0000102965 00000 n -0000103221 00000 n -0000105164 00000 n -0000105142 00000 n -0000105256 00000 n -0000105276 00000 n -0000105671 00000 n -0000105436 00000 n -0000105991 00000 n -0000106012 00000 n -0000106264 00000 n -0000107708 00000 n -0000107686 00000 n -0000107795 00000 n -0000107814 00000 n -0000108205 00000 n -0000107974 00000 n -0000108517 00000 n -0000108538 00000 n -0000108793 00000 n -0000114171 00000 n -0000114149 00000 n -0000114269 00000 n -0000114289 00000 n -0000114790 00000 n -0000114448 00000 n -0000115233 00000 n -0000115254 00000 n -0000115510 00000 n -0000116979 00000 n -0000116957 00000 n -0000117069 00000 n -0000117089 00000 n -0000117480 00000 n -0000117249 00000 n -0000117793 00000 n -0000117876 00000 n +0000002311 00000 n +0000002365 00000 n +0000002419 00000 n +0000002473 00000 n +0000002527 00000 n +0000002581 00000 n +0000002634 00000 n +0000002687 00000 n +0000002740 00000 n +0000002793 00000 n +0000002846 00000 n +0000002899 00000 n +0000002952 00000 n +0000003005 00000 n +0000003058 00000 n +0000003111 00000 n +0000003164 00000 n +0000003217 00000 n +0000003270 00000 n +0000003323 00000 n +0000003376 00000 n +0000003429 00000 n +0000003482 00000 n +0000003535 00000 n +0000003588 00000 n +0000003641 00000 n +0000003694 00000 n +0000003747 00000 n +0000003800 00000 n +0000003853 00000 n +0000003906 00000 n +0000003959 00000 n +0000004012 00000 n +0000004065 00000 n +0000004118 00000 n +0000004171 00000 n +0000004224 00000 n +0000004277 00000 n +0000004330 00000 n +0000004383 00000 n +0000004436 00000 n +0000004489 00000 n +0000004542 00000 n +0000004595 00000 n +0000004648 00000 n +0000004701 00000 n +0000004754 00000 n +0000004807 00000 n +0000004860 00000 n +0000004913 00000 n +0000004967 00000 n +0000005021 00000 n +0000005075 00000 n +0000005128 00000 n +0000005181 00000 n +0000005234 00000 n +0000005287 00000 n +0000005340 00000 n +0000005394 00000 n +0000005448 00000 n +0000005502 00000 n +0000005556 00000 n +0000005610 00000 n +0000005664 00000 n +0000005718 00000 n +0000005772 00000 n +0000005826 00000 n +0000005880 00000 n +0000005934 00000 n +0000005988 00000 n +0000006042 00000 n +0000006096 00000 n +0000006150 00000 n +0000006204 00000 n +0000006258 00000 n +0000006312 00000 n +0000006366 00000 n +0000006420 00000 n +0000006474 00000 n +0000006528 00000 n +0000006582 00000 n +0000006636 00000 n +0000006690 00000 n +0000006744 00000 n +0000006798 00000 n +0000006852 00000 n +0000006906 00000 n +0000006960 00000 n +0000007014 00000 n +0000007068 00000 n +0000007122 00000 n +0000007176 00000 n +0000007230 00000 n +0000007285 00000 n +0000007340 00000 n +0000007395 00000 n +0000007450 00000 n +0000007505 00000 n +0000007560 00000 n +0000007615 00000 n +0000007670 00000 n +0000007725 00000 n +0000007780 00000 n +0000007835 00000 n +0000100723 00000 n +0000100746 00000 n +0000100773 00000 n +0000115959 00000 n +0000115820 00000 n +0000100971 00000 n +0000101227 00000 n +0000103170 00000 n +0000103148 00000 n +0000103262 00000 n +0000103282 00000 n +0000103677 00000 n +0000103442 00000 n +0000103997 00000 n +0000104018 00000 n +0000104270 00000 n +0000105714 00000 n +0000105692 00000 n +0000105801 00000 n +0000105820 00000 n +0000106211 00000 n +0000105980 00000 n +0000106523 00000 n +0000106544 00000 n +0000106799 00000 n +0000112177 00000 n +0000112155 00000 n +0000112275 00000 n +0000112295 00000 n +0000112796 00000 n +0000112454 00000 n +0000113239 00000 n +0000113260 00000 n +0000113516 00000 n +0000114985 00000 n +0000114963 00000 n +0000115075 00000 n +0000115095 00000 n +0000115486 00000 n +0000115255 00000 n +0000115799 00000 n +0000115882 00000 n trailer << - /Root 206 0 R + /Root 188 0 R /Info 1 0 R - /ID [ ] - /Size 207 + /ID [<01EE723CA9743C2E3D4A65DE13F07C7E> <01EE723CA9743C2E3D4A65DE13F07C7E>] + /Size 189 >> startxref -120653 +118353 %%EOF diff --git a/journal/figs/three_complementary_filters_results.png b/journal/figs/three_complementary_filters_results.png index 06dcaea..ad10607 100644 Binary files a/journal/figs/three_complementary_filters_results.png and b/journal/figs/three_complementary_filters_results.png differ diff --git a/journal/figs/three_weighting_functions.pdf b/journal/figs/three_weighting_functions.pdf index 794e605..a868a21 100644 Binary files a/journal/figs/three_weighting_functions.pdf and b/journal/figs/three_weighting_functions.pdf differ diff --git a/journal/figs/three_weighting_functions.png b/journal/figs/three_weighting_functions.png index 1e93042..988d700 100644 Binary files a/journal/figs/three_weighting_functions.png and b/journal/figs/three_weighting_functions.png differ diff --git a/journal/journal.org b/journal/journal.org index e060256..1d98283 100644 --- a/journal/journal.org +++ b/journal/journal.org @@ -313,7 +313,7 @@ The sensor dynamics estimate $\hat{G}_1(s)$ can be a simple gain or more complex \includegraphics[scale=1]{figs/sensor_model_calibrated.pdf} \caption{\label{fig:sensor_model_calibrated} Calibrated sensors using the inverse of an estimate $\hat{G}_1(s)$ of the sensor dynamics} \end{subfigure} -\caption{\label{fig:figure_name}Sensor models with an without normalization} +\caption{\label{fig:sensor_models}Sensor models with an without normalization} \centering \end{figure} #+end_export @@ -666,6 +666,43 @@ They are found to be very close to each other and this shows the effectiveness o Explain differences +- cite:plummer06_optim_compl_filter_their_applic_motion_measur use H-Infinity to optimize complementary filters (flatten the super sensor noise spectral density) +- cite:jensen13_basic_uas design of complementary filters with classical control theory, PID + +#+name: fig:feedback_sensor_fusion +#+caption: Classical feedback architecture for sensor fusion +#+attr_latex: :scale 1 +[[file:figs/feedback_sensor_fusion.pdf]] + +\begin{equation} +\hat{x} = \underbrace{\frac{L(s)}{1 + L(s)}}_{T(s)} \hat{x}_1 + \underbrace{\frac{1}{1 + L(s)}}_{S(s)} \hat{x}_2 +\end{equation} + +with the famous relationship +\begin{equation} +T(s) + S(s) = 1 +\end{equation} + +Therefore, complementary filter design is very similar to mixed-sensitivity synthesis. + +They are actually equivalent by taking +\begin{equation} +L = H_H^{-1} - 1 +\end{equation} +(provided $H_H$ is invertible, therefore bi-proper) + +\begin{equation} +P_L(s) = \begin{bmatrix} + \phantom{+}W_2(s) & 0 & \phantom{+}1 \\ + -W_2(s) & W_1(s) & -1 +\end{bmatrix} +\end{equation} + +#+name: fig:feedback_synthesis_architecture_generalized_plant +#+caption: Generalized plant for mixed-sensitivity shaping +#+attr_latex: :scale 1 +[[file:figs/feedback_synthesis_architecture_generalized_plant.pdf]] + ** Imposing zero at origin / roll-off 3 methods: @@ -678,7 +715,31 @@ Link to literature about doing that with mixed sensitivity Some applications may require to merge more than two sensors. In such a case, it is necessary to design as many complementary filters as the number of sensors used. -*** Mathematical Problem :ignore: +# Example of LIGO +# In truth two options: sequential fusion or fusion at once + +*** Sequential vs Parallel :ignore: + + +#+begin_export latex +\begin{figure}[htbp] +\begin{subfigure}[b]{0.59\linewidth} +\centering +\includegraphics[scale=1]{figs/sensor_fusion_three_sequential.pdf} +\caption{\label{fig:sensor_fusion_three_sequential}Sequential fusion} +\end{subfigure} +\hfill +\begin{subfigure}[b]{0.39\linewidth} +\centering +\includegraphics[scale=1]{figs/sensor_fusion_three_parallel.pdf} +\caption{\label{fig:sensor_fusion_three_parallel}Parallel fusion} +\end{subfigure} +\caption{\label{fig:sensor_fusion_three}Sensor fusion architecture with more than two sensors} +\centering +\end{figure} +#+end_export + +*** Mathematical Problem :ignore: The synthesis problem is then to compute $n$ stable transfer functions $H_i(s)$ such that eqref:eq:hinf_problem_gen is satisfied. #+name: eq:hinf_problem_gen \begin{subequations} diff --git a/journal/journal.pdf b/journal/journal.pdf index 1eda9ff..f0710a7 100644 Binary files a/journal/journal.pdf and b/journal/journal.pdf differ diff --git a/journal/journal.tex b/journal/journal.tex index 13ae9df..a673b57 100644 --- a/journal/journal.tex +++ b/journal/journal.tex @@ -1,4 +1,4 @@ -% Created 2021-05-20 jeu. 16:26 +% Created 2021-05-21 ven. 11:56 % Intended LaTeX compiler: pdflatex \documentclass[preprint, sort&compress]{elsarticle} \usepackage[utf8]{inputenc} @@ -58,7 +58,7 @@ Sensor fusion \sep{} Optimal filters \sep{} \(\mathcal{H}_\infty\) synthesis \se \end{frontmatter} \section{Introduction} -\label{sec:orgc28ff6a} +\label{sec:orgf465050} \label{sec:introduction} \begin{itemize} \item \cite{bendat57_optim_filter_indep_measur_two} roots of sensor fusion @@ -105,13 +105,13 @@ Most of the requirements => shape of the complementary filters => propose a way to shape complementary filters. \section{Sensor Fusion and Complementary Filters Requirements} -\label{sec:org5a2a4a4} +\label{sec:orgf888f1b} \label{sec:requirements} Complementary filters provides a framework for fusing signals from different sensors. As the effectiveness of the fusion depends on the proper design of the complementary filters, they are expected to fulfill certain requirements. These requirements are discussed in this section. \subsection{Sensor Fusion Architecture} -\label{sec:orgb29eeb0} +\label{sec:orgabe574c} \label{sec:sensor_fusion} A general sensor fusion architecture using complementary filters is shown in Figure \ref{fig:sensor_fusion_overview} where several sensors (here two) are measuring the same physical quantity \(x\). @@ -138,7 +138,7 @@ Therefore, a pair of strict complementary filter needs to satisfy the following It will soon become clear why the complementary property is important. \subsection{Sensor Models and Sensor Normalization} -\label{sec:org749994d} +\label{sec:org4484191} \label{sec:sensor_models} In order to study such sensor fusion architecture, a model of the sensors is required. @@ -165,7 +165,7 @@ The sensor dynamics estimate \(\hat{G}_1(s)\) can be a simple gain or more compl \includegraphics[scale=1]{figs/sensor_model_calibrated.pdf} \caption{\label{fig:sensor_model_calibrated} Calibrated sensors using the inverse of an estimate $\hat{G}_1(s)$ of the sensor dynamics} \end{subfigure} -\caption{\label{fig:figure_name}Sensor models with an without normalization} +\caption{\label{fig:sensor_models}Sensor models with an without normalization} \centering \end{figure} @@ -187,7 +187,7 @@ The super sensor output is therefore equal to: \end{figure} \subsection{Noise Sensor Filtering} -\label{sec:org0f07eb6} +\label{sec:orgd1347c0} \label{sec:noise_filtering} In this section, it is supposed that all the sensors are perfectly calibrated, such that: @@ -227,7 +227,7 @@ In such case, to lower the noise of the super sensor, the value of the norm \(|H Therefore, by properly shaping the norm of the complementary filters, it is possible to minimize the noise of the super sensor noise. \subsection{Sensor Fusion Robustness} -\label{sec:orgdb0117a} +\label{sec:orgaa981c0} \label{sec:fusion_robustness} In practical systems the sensor normalization is not perfect and condition \eqref{eq:perfect_dynamics} is not verified. @@ -289,14 +289,14 @@ As it is generally desired to limit the maximum phase added by the super sensor, Typically, the norm of the complementary filter \(|H_i(j\omega)|\) should be made small when \(|w_i(j\omega)|\) is large, i.e., at frequencies where the sensor dynamics is uncertain. \section{Complementary Filters Shaping} -\label{sec:orgba2ddcd} +\label{sec:orgf912b72} \label{sec:hinf_method} As shown in Section \ref{sec:requirements}, the noise and robustness of the ``super sensor'' are determined by the complementary filters norms. Therefore, a complementary filters synthesis method that allows to shape their norms would be of great use. In this section, such synthesis is proposed by expressing this problem as a \(\mathcal{H}_\infty\) norm optimization. \subsection{Synthesis Objective} -\label{sec:orgef373f7} +\label{sec:org6a0910c} \label{sec:synthesis_objective} The synthesis objective is to shape the norm of two filters \(H_1(s)\) and \(H_2(s)\) while ensuring their complementary property \eqref{eq:comp_filter}. @@ -313,7 +313,7 @@ This is equivalent as to finding proper and stable transfer functions \(H_1(s)\) where \(W_1(s)\) and \(W_2(s)\) are two weighting transfer functions that are chosen to specify the maximum wanted norms of the complementary filters during the synthesis. \subsection{Shaping of Complementary Filters using \(\mathcal{H}_\infty\) synthesis} -\label{sec:org9d293ca} +\label{sec:org45cf644} \label{sec:hinf_synthesis} In this section, it is shown that the synthesis objective can be easily expressed as a standard \(\mathcal{H}_\infty\) optimal control problem and therefore solved using convenient tools readily available. @@ -354,7 +354,7 @@ Therefore, applying the \(\mathcal{H}_\infty\) synthesis on the standard plant \ The above optimization problem can be efficiently solved in Matlab \cite{matlab20} using the Robust Control Toolbox. \subsection{Weighting Functions Design} -\label{sec:org552a374} +\label{sec:orgb99cb9e} \label{sec:hinf_weighting_func} Weighting functions are used during the synthesis to specify what is the maximum allowed norms of the complementary filters. @@ -404,7 +404,7 @@ The typical shape of a weighting function generated using \eqref{eq:weight_formu \end{figure} \subsection{Validation of the proposed synthesis method} -\label{sec:orgdf78400} +\label{sec:orgbe95f55} \label{sec:hinf_example} The proposed methodology for the design of complementary filters is now applied on a simple example where two complementary filters \(H_1(s)\) and \(H_2(s)\) have to be designed such that: @@ -465,7 +465,7 @@ This simple example illustrates the fact that the proposed methodology for compl A more complex real life example is taken up in the next section. \section{Application: Design of Complementary Filters used in the Active Vibration Isolation System at the LIGO} -\label{sec:orgd51fb42} +\label{sec:org93403ee} \label{sec:application_ligo} Sensor fusion using complementary filters are widely used in active vibration isolation systems in gravitational wave detectors such at the LIGO \cite{matichard15_seism_isolat_advan_ligo,hua05_low_ligo}, the VIRGO \cite{lucia18_low_frequen_optim_perfor_advan,heijningen18_low} and the KAGRA \cite{akutsu21_vibrat_isolat_system_beam_split}. @@ -488,7 +488,7 @@ After synthesis, the obtained FIR filters were found to be compliant with the re However they are of very high order so their implementation is quite complex. In this section, the effectiveness of the proposed complementary filter synthesis strategy is demonstrated on the same set of requirements. \subsection{Complementary Filters Specifications} -\label{sec:org45a6d0a} +\label{sec:orgd0da28c} \label{sec:ligo_specifications} The specifications for the set of complementary filters (\(L_1,H_1\)) used at the LIGO are summarized below (for further details, refer to \cite{hua04_polyp_fir_compl_filter_contr_system}): \begin{itemize} @@ -508,7 +508,7 @@ They are physically represented in Figure \ref{fig:fir_filter_ligo} as well as t \end{figure} \subsection{Weighting Functions Design} -\label{sec:orgeca6c60} +\label{sec:org3890dcd} \label{sec:ligo_weights} The weighting functions should be designed such that their inverse magnitude is as close as possible to the specifications in order to not over-constrain the synthesis problem. However, the order of each weight should stay reasonably small in order to reduce the computational costs of the optimization problem as well as for the physical implementation of the filters. @@ -524,7 +524,7 @@ The magnitudes of the weighting functions are shown in Fig. \ref{fig:ligo_weight \end{figure} \subsection{\(\mathcal{H}_\infty\) Synthesis} -\label{sec:orgcaaff49} +\label{sec:orgd62d211} \label{sec:ligo_results} \(\mathcal{H}_\infty\) synthesis is performed using the architecture shown in Fig. \ref{eq:generalized_plant}. The complementary filters obtained are of order \(27\). @@ -538,9 +538,9 @@ They are found to be very close to each other and this shows the effectiveness o \end{figure} \section{Discussion} -\label{sec:orga827f5f} +\label{sec:orga70d7fb} \subsection{Alternative configuration} -\label{sec:org7abd40b} +\label{sec:orgccb904f} \begin{itemize} \item Feedback architecture : Similar to mixed sensitivity (add schematic of feedback loop with weights) \item 2 inputs / 1 output @@ -548,17 +548,73 @@ They are found to be very close to each other and this shows the effectiveness o Explain differences +\begin{itemize} +\item \cite{plummer06_optim_compl_filter_their_applic_motion_measur} use H-Infinity to optimize complementary filters (flatten the super sensor noise spectral density) +\item \cite{jensen13_basic_uas} design of complementary filters with classical control theory, PID +\end{itemize} + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1,scale=1]{figs/feedback_sensor_fusion.pdf} +\caption{\label{fig:feedback_sensor_fusion}Classical feedback architecture for sensor fusion} +\end{figure} + +\begin{equation} +\hat{x} = \underbrace{\frac{L(s)}{1 + L(s)}}_{T(s)} \hat{x}_1 + \underbrace{\frac{1}{1 + L(s)}}_{S(s)} \hat{x}_2 +\end{equation} + +with the famous relationship +\begin{equation} +T(s) + S(s) = 1 +\end{equation} + +Therefore, complementary filter design is very similar to mixed-sensitivity synthesis. + +They are actually equivalent by taking +\begin{equation} +L = H_H^{-1} - 1 +\end{equation} +(provided \(H_H\) is invertible, therefore bi-proper) + +\begin{equation} +P_L(s) = \begin{bmatrix} + \phantom{+}W_2(s) & 0 & \phantom{+}1 \\ + -W_2(s) & W_1(s) & -1 +\end{bmatrix} +\end{equation} + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1,scale=1]{figs/feedback_synthesis_architecture_generalized_plant.pdf} +\caption{\label{fig:feedback_synthesis_architecture_generalized_plant}Generalized plant for mixed-sensitivity shaping} +\end{figure} + \subsection{Imposing zero at origin / roll-off} -\label{sec:orge105bdf} +\label{sec:org402c2aa} 3 methods: Link to literature about doing that with mixed sensitivity \subsection{Synthesis of Three Complementary Filters} -\label{sec:org3fd7562} +\label{sec:orgf9a165b} \label{sec:hinf_three_comp_filters} Some applications may require to merge more than two sensors. In such a case, it is necessary to design as many complementary filters as the number of sensors used. +\begin{figure}[htbp] +\begin{subfigure}[b]{0.59\linewidth} +\centering +\includegraphics[scale=1]{figs/sensor_fusion_three_sequential.pdf} +\caption{\label{fig:sensor_fusion_three_sequential}Sequential fusion} +\end{subfigure} +\hfill +\begin{subfigure}[b]{0.39\linewidth} +\centering +\includegraphics[scale=1]{figs/sensor_fusion_three_parallel.pdf} +\caption{\label{fig:sensor_fusion_three_parallel}Parallel fusion} +\end{subfigure} +\caption{\label{fig:sensor_fusion_three}Sensor fusion architecture with more than two sensors} +\centering +\end{figure} The synthesis problem is then to compute \(n\) stable transfer functions \(H_i(s)\) such that \eqref{eq:hinf_problem_gen} is satisfied. \begin{subequations} \label{eq:hinf_problem_gen} @@ -593,7 +649,7 @@ The bode plots of the obtained complementary filters are shown in Fig. \ref{fig: \end{figure} \section{Conclusion} -\label{sec:orgc3f0120} +\label{sec:org75ed4d0} \label{sec:conclusion} This paper has shown how complementary filters can be used to combine multiple sensors in order to obtain a super sensor. Typical specification on the super sensor noise and on the robustness of the sensor fusion has been shown to be linked to the norm of the complementary filters. @@ -601,7 +657,7 @@ Therefore, a synthesis method that permits the shaping of the complementary filt Future work will aim at further developing this synthesis method for the robust and optimal synthesis of complementary filters used in sensor fusion. \section*{Acknowledgment} -\label{sec:org1be2c18} +\label{sec:org0b419b1} This research benefited from a FRIA grant from the French Community of Belgium. \bibliographystyle{elsarticle-num} diff --git a/matlab/index.org b/matlab/index.org index ebcceab..8da025d 100644 --- a/matlab/index.org +++ b/matlab/index.org @@ -322,7 +322,7 @@ exportFig('figs/hinf_filters_results.pdf', 'width', 'wide', 'height', 600); #+end_src #+begin_src matlab -freqs = logspace(-2, 4, 1000); +freqs = logspace(-2, 3, 1000); #+end_src #+begin_src matlab :tangle no @@ -477,7 +477,7 @@ set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ylabel('Magnitude'); set(gca, 'XTickLabel',[]); ylim([1e-4, 20]); -leg = legend('location', 'northeast', 'FontSize', 8, 'NumColumns', 2); +leg = legend('location', 'northeast', 'FontSize', 8); leg.ItemTokenSize(1) = 18; % Phase diff --git a/mohit/paper.org b/mohit/paper.org index 596fd02..9acec74 100644 --- a/mohit/paper.org +++ b/mohit/paper.org @@ -466,20 +466,7 @@ weighting functions and designed set of three complementary filters * Application: Complementary Filter Design for Active Vibration ** Introduction :ignore: -Isolation of LIGO -Gravitational waves can help in detection various astrophysical events -occurring in our universe. This can also pave a path to validate -theories built around the existence of gravitational waves. However, the -detection of these waves is an arduous task owing to the extraordinary -small strain experienced by the earth due to gravitational waves. -Various methods have been proposed for their detection, out of which -laser interferometers are the most popular ones. Laser interferometers -offers large projection range and high displacement sensitivity. Among -the existing detector, Laser interferometer gravitation-wave observatory -(LIGO) is the most sensitive operational detector. LIGO consists of two -longs arms, referred as beam tubes, that are placed orthogonal to each -other. The arms of the LIGO accommodates a Michleson interferometer with -a cavity (Fabry-Perot). The mirrors at the extremity of the cavity serve +Isolation of LIGO Gravitational waves can help in detection various astrophysical events occurring in our universe. This can also pave a path to validate theories built around the existence of gravitational waves. However, the detection of these waves is an arduous task owing to the extraordinary small strain experienced by the earth due to gravitational waves. Various methods have been proposed for their detection, out of which laser interferometers are the most popular ones. Laser interferometers offers large projection range and high displacement sensitivity. Among the existing detector, Laser interferometer gravitation-wave observatory (LIGO) is the most sensitive operational detector. LIGO consists of two longs arms, referred as beam tubes, that are placed orthogonal to each other. The arms of the LIGO accommodates a Michleson interferometer with a cavity (Fabry-Perot). The mirrors at the extremity of the cavity serve as inertial test masses which responds to the strain induced due to the gravitational waves. The optics of the LIGO are suspended like a pendulum. The schematics of the LIGO are shown in diff --git a/tikz/index.org b/tikz/index.org index 18e9a32..41bc953 100644 --- a/tikz/index.org +++ b/tikz/index.org @@ -374,7 +374,7 @@ Configuration file is accessible [[file:config.org][here]]. #+RESULTS: [[file:figs/h_infinity_robust_fusion.png]] -* Architecture used for $\mathcal{H}_\infty$ synthesis of complementary filters +* LIGO Sensor Fusion Architecture #+begin_src latex :file ligo_super_sensor_architecture.pdf :tangle figs/ligo_super_sensor_architecture.tex :exports both \definecolor{myblue}{rgb}{0, 0.447, 0.741} \definecolor{myred}{rgb}{0.8500, 0.325, 0.098} @@ -409,24 +409,192 @@ Configuration file is accessible [[file:config.org][here]]. \draw[->] (addp.east) -- ++(1.0, 0); \begin{scope}[on background layer] - \node[fit={(x.west|-geophone.south) (position.north-|addp.east)}, fill=black!20!white, draw, inner sep=6pt] (supersensor) {}; + \node[fit={(x.west|-geophone.south) (position.north-|addp.east)}, fill=black!10!white, draw, inner sep=6pt] (supersensor) {}; \node[below] at (supersensor.north) {Super Sensor}; - \node[fit={(x.west|-seismometer.north) (add.east|-geophone.south)}, fill=black!10!white, draw, inner sep=3pt] (superinertialsensor) {}; + \node[fit={(x.west|-seismometer.north) (add.east|-geophone.south)}, fill=black!20!white, draw, inner sep=3pt] (superinertialsensor) {}; \node[] at (superinertialsensor.center) {"Inertial" Super Sensor}; \end{scope} \end{tikzpicture} #+end_src #+name: fig:ligo_super_sensor_architecture -#+caption: Architecture used for $\mathcal{H}_\infty$ synthesis of complementary filters ([[./figs/ligo_super_sensor_architecture.png][png]], [[./figs/ligo_super_sensor_architecture.pdf][pdf]], [[./figs/ligo_super_sensor_architecture.tex][tex]]). +#+caption: ([[./figs/ligo_super_sensor_architecture.png][png]], [[./figs/ligo_super_sensor_architecture.pdf][pdf]], [[./figs/ligo_super_sensor_architecture.tex][tex]]). #+RESULTS: [[file:figs/ligo_super_sensor_architecture.png]] +* Feedback Loop Sensor Fusion Architecture +#+begin_src latex :file feedback_sensor_fusion.pdf :tangle figs/feedback_sensor_fusion.tex +\begin{tikzpicture} + \node[addb={+}{}{}{}{-}] (addfb) at (0, 0){}; + \node[block, right=1 of addfb] (L){$L$}; + \node[addb={+}{}{}{}{}, right=1 of L] (adddy){}; + + \draw[<-] (addfb.west) -- ++(-1, 0) node[above right]{$\hat{x}_1$}; + \draw[->] (addfb.east) -- (L.west); + \draw[->] (L.east) -- (adddy.west); + \draw[->] (adddy.east) -- ++(1.4, 0) node[above left]{$\hat{x}$}; + \draw[->] ($(adddy.east) + (0.5, 0)$) node[branch]{} -- ++(0, -0.8) coordinate(botc) -| (addfb.south); + \draw[<-] (adddy.north) -- ++(0, 1) node[below right]{$\hat{x}_2$}; + + \begin{scope}[on background layer] + \node[fit={(L.north-|addfb.west) (botc)}, fill=black!10!white, draw, inner sep=6pt] (supersensor) {}; + % \node[below] at (supersensor.north) {Super Sensor}; + \end{scope} +\end{tikzpicture} +#+end_src + +#+name: fig:feedback_sensor_fusion +#+caption: ([[./figs/feedback_sensor_fusion.png][png]], [[./figs/feedback_sensor_fusion.pdf][pdf]], [[./figs/feedback_sensor_fusion.tex][tex]]). +#+RESULTS: +[[file:figs/feedback_sensor_fusion.png]] + +* Feedback Loop Sensor Fusion Architecture +#+begin_src latex :file feedback_synthesis_architecture.pdf :tangle figs/feedback_synthesis_architecture.tex +\begin{tikzpicture} + \node[block] (W1) at (0,0) {$W_1$}; + \node[addb={+}{}{}{}{-}, right=1 of W1] (addfb){}; + \node[addb={+}{}{}{}{}, right=4.5 of W1] (adddy){}; + \node[block, above=0.8 of adddy] (W2){$W_2$}; + + \draw[<-] (W1.west) -- ++(-1, 0) node[above right]{$w_1$}; + \draw[->] (W1.east) -- (addfb.west) node[above left]{$\tilde{w}_1$}; + \draw[->] (addfb.east) -- ++(1, 0) node[above left]{$v$}; + \draw[<-] (adddy.west) -- ++(-1, 0) node[above right]{$u$}; + \draw[->] (adddy.east) -- ++(1.4, 0) node[above left]{$z$}; + \draw[->] (W2.south) -- (adddy.north) node[above right]{$\tilde{w}_2$}; + \draw[<-] (W2.north) -- ++(0, 1) node[below right]{$w_2$}; + \draw[->] ($(adddy.east) + (0.5, 0)$) node[branch]{} -- ++(0, -0.8) -| (addfb.south); +\end{tikzpicture} +#+end_src + +#+name: fig:feedback_synthesis_architecture +#+caption: ([[./figs/feedback_synthesis_architecture.png][png]], [[./figs/feedback_synthesis_architecture.pdf][pdf]], [[./figs/feedback_synthesis_architecture.tex][tex]]). +#+RESULTS: +[[file:figs/feedback_synthesis_architecture.png]] + +* Feedback Loop Sensor Fusion Architecture +#+begin_src latex :file feedback_synthesis_architecture_generalized_plant.pdf :tangle figs/feedback_synthesis_architecture_generalized_plant.tex +\begin{tikzpicture} + \node[block={4.5cm}{3.0cm}, fill=black!10!white] (P) {}; + \node[above] at (P.north) {$P_L(s)$}; + + \coordinate[] (inputw2) at ($(P.south west)!0.75!(P.north west) + (-0.7, 0)$); + \coordinate[] (inputw1) at ($(P.south west)!0.40!(P.north west) + (-0.7, 0)$); + \coordinate[] (inputu) at ($(P.south west)!0.15!(P.north west) + (-0.7, 0)$); + + \coordinate[] (outputz) at ($(P.south east)!0.75!(P.north east) + ( 0.7, 0)$); + \coordinate[] (outputv) at ($(P.south east)!0.40!(P.north east) + ( 0.7, 0)$); + + \node[block, right=1.2 of inputw1] (W1){$W_1(s)$}; + \node[block, right=1.2 of inputw2] (W2){$W_2(s)$}; + \node[addb={+}{}{}{}{}, right=0.8 of W2] (add) {}; + \node[addb={+}{}{-}{}{}, right=1.8 of W1] (sub) {}; + + \draw[->] (inputw1) node[above right]{$w_1$} -- (W1.west); + \draw[->] (inputw2) node[above right]{$w_2$} -- (W2.west); + \draw[->] (inputu) node[above right]{$u$} -| (add.south); + \draw[->] (W1.east) -- (sub.west); + \draw[->] (W2.east) -- (add.west); + \draw[->] (add.east) -- (outputz)node[above left]{$z$}; + \draw[->] (sub.east) -- (outputv)node[above left]{$v$}; + \draw[->] (add-|sub) node[branch]{} -- (sub.north); +\end{tikzpicture} +#+end_src + +#+name: fig:feedback_synthesis_architecture_generalized_plant +#+caption: ([[./figs/feedback_synthesis_architecture_generalized_plant.png][png]], [[./figs/feedback_synthesis_architecture_generalized_plant.pdf][pdf]], [[./figs/feedback_synthesis_architecture_generalized_plant.tex][tex]]). +#+RESULTS: +[[file:figs/feedback_synthesis_architecture_generalized_plant.png]] + +* Sensor Fusion - Parallel +#+begin_src latex :file sensor_fusion_three_parallel.pdf +\begin{tikzpicture} + \node[branch] (x) at (0, 0); + \node[block, right=0.4 of x] (sensor2) {Sensor 2}; + \node[block, above=0.3 of sensor2] (sensor1) {Sensor 1}; + \node[block, below=0.3 of sensor2] (sensor3) {Sensor 3}; + + \node[block, right=1.1 of sensor1](H1){$H_1(s)$}; + \node[block, right=1.1 of sensor2](H2){$H_2(s)$}; + \node[block, right=1.1 of sensor3](H3){$H_3(s)$}; + + \node[addb, right=0.6 of H2](add){}; + + \draw[->] (x.center) |- (sensor1.west); + \draw[] ($(x)+(-0.8, 0)$) node[above right]{$x$} -- (sensor2.west); + \draw[->] (x.center) |- (sensor3.west); + + \draw[->] (sensor1.east) -- (H1.west) node[above left]{$\hat{x}_1$}; + \draw[->] (sensor2.east) -- (H2.west) node[above left]{$\hat{x}_2$}; + \draw[->] (sensor3.east) -- (H3.west) node[above left]{$\hat{x}_3$}; + + \draw[->] (H1) -| (add.north); + \draw[->] (H2) -- (add.west); + \draw[->] (H3) -| (add.south); + + \draw[->] (add.east) -- ++(0.8, 0) node[above left]{$\hat{x}$}; + + \begin{scope}[on background layer] + \node[fit={(H3.south-|x) (H1.north-|add.east)}, fill=black!10!white, draw, inner sep=6pt] (supersensor) {}; + \end{scope} +\end{tikzpicture} +#+end_src + +#+name: fig:sensor_fusion_three_parallel +#+caption: Sensor Fusion Architecture - Overview +#+RESULTS: +[[file:figs/sensor_fusion_three_parallel.png]] + +* Sensor Fusion - Sequential +#+begin_src latex :file sensor_fusion_three_sequential.pdf +\begin{tikzpicture} + \node[branch] (x) at (0, 0); + + \node[block, right=0.4 of x] (sensor2) {Sensor 2}; + \node[block, above=0.4 of sensor2] (sensor1) {Sensor 1}; + \node[block, below=0.4 of sensor2] (sensor3) {Sensor 3}; + + \node[block, right=1.1 of sensor1](H1){$H_1(s)$}; + \node[block, right=1.1 of sensor2](H2){$H_2(s)$}; + \node[addb] (add) at ($0.5*(H1.east)+0.5*(H2.east)+(0.6, 0)$){}; + + \node[block, right=0.8 of add](H1p) {$H_1^\prime(s)$}; + \node[block] (H2p) at (H1p|-sensor3) {$H_2^\prime(s)$}; + + \node[addb] (addp) at ($0.5*(H1p.east)+0.5*(H2p.east)+(0.6, 0)$){}; + + \draw[->] ($(x)+(-0.8, 0)$) node[above right]{$x$} -- (sensor2.west); + \draw[->] (x.center) |- (sensor1.west); + \draw[->] (x.center) |- (sensor3.west); + \draw[->] (sensor1.east) -- (H1.west) node[above left]{$\hat{x}_1$}; + \draw[->] (sensor2.east) -- (H2.west) node[above left]{$\hat{x}_2$}; + \draw[->] (sensor3.east) -- (H2p.west) node[above left]{$\hat{x}_3$}; + \draw[->] (H1) -| (add.north); + \draw[->] (H2) -| (add.south); + \draw[->] (add.east) -- (H1p.west) node[above left]{$\hat{x}_{12}$}; + \draw[->] (H1p) -| (addp.north); + \draw[->] (H2p) -| (addp.south); + \draw[->] (addp.east) -- ++(0.8, 0) node[above left]{$\hat{x}$}; + + \begin{scope}[on background layer] + \node[fit={(x.west|-sensor3.south) (sensor1.north-|addp.east)}, fill=black!10!white, draw, inner sep=6pt] (supersensor) {}; + % \node[below] at (supersensor.north) {Super Sensor}; + + \node[fit={(x.west|-sensor1.north) (add.east|-sensor2.south)}, fill=black!20!white, draw, inner sep=3pt] (superinertialsensor) {}; + % \node[] at (superinertialsensor.center) {"Inertial" Super Sensor}; + \end{scope} +\end{tikzpicture} +#+end_src + +#+name: fig:sensor_fusion_three_sequential +#+caption: Sensor Fusion Architecture - Overview +#+RESULTS: +[[file:figs/sensor_fusion_three_sequential.png]] * Architecture for $\mathcal{H}_\infty$ synthesis of three complementary filters #+begin_src latex :file comp_filter_three_hinf.pdf :tangle figs/comp_filter_three_hinf.tex \begin{tikzpicture} - \node[block={5.0cm}{4.5cm}, fill=black!20!white] (P) {}; + \node[block={5.0cm}{4.5cm}, fill=black!10!white] (P) {}; \node[above] at (P.north) {$P(s)$}; \coordinate[] (inputw) at ($(P.south west)!0.8!(P.north west) + (-0.7, 0)$); @@ -467,4 +635,3 @@ Configuration file is accessible [[file:config.org][here]]. #+caption: Architecture for $\mathcal{H}_\infty$ synthesis of three complementary filters ([[./figs/comp_filter_three_hinf.png][png]], [[./figs/comp_filter_three_hinf.pdf][pdf]], [[./figs/comp_filter_three_hinf.tex][tex]]). #+RESULTS: [[file:figs/comp_filter_three_hinf.png]] -