From 6356b40f5f66509d3de82fad87a1bd59abbb3c57 Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Thu, 16 Jan 2020 11:49:13 +0100 Subject: [PATCH] Add Z-axis accelerometer and geophone subsystems --- simscape_subsystems/accelerometer_z_axis.slx | Bin 0 -> 25275 bytes simscape_subsystems/geophone_z_axis.slx | Bin 0 -> 25790 bytes simscape_subsystems/index.org | 91 ++++++++++++++++--- simscape_subsystems/nano_hexapod_F.slx | Bin 38449 -> 38723 bytes simscape_subsystems/nano_hexapod_leg.slx | Bin 31239 -> 31422 bytes simscape_subsystems/reference_mirror.slx | Bin 25514 -> 25527 bytes src/initializeZAxisAccelerometer.m | 18 ++++ src/initializeZAxisGeophone.m | 18 ++++ 8 files changed, 112 insertions(+), 15 deletions(-) create mode 100644 simscape_subsystems/accelerometer_z_axis.slx create mode 100644 simscape_subsystems/geophone_z_axis.slx create mode 100644 src/initializeZAxisAccelerometer.m create mode 100644 src/initializeZAxisGeophone.m diff --git a/simscape_subsystems/accelerometer_z_axis.slx b/simscape_subsystems/accelerometer_z_axis.slx new file mode 100644 index 0000000000000000000000000000000000000000..074ea76cf24a7b8fc986fda3b305851a9d3f290d GIT binary patch literal 25275 zcmaI5Q;=v;ldW5>UAB!~wr$(CZQHhO+qP}nwq193pSU;r?-Oxf*28+s@#UO3a|}62 zU=U;g0DwOLXgYLqsd}^$w}1cuG>`xQNdNw73fkH@8QVDND!JPkJ8ILoSz8UKY};Vc z!w2gcH@Bi#ZbVj8_>lz&MI@D!6 z>|OPrUEu++E$Fe<1e5O++ zIq$B1ygKkNWd&SRb5inq)esM(LVj)WLM?nn&;L`likU$vd#iSb=BH|I3-mdYN<&qK zZ;V-eRX|s~b1!As@-<-%TQS61oI;~F3$6nrzi)U$9^?ibq8-%#=dTdFIGeTeFmL_u zl_?hIcA!PdZ{p^Q!!LmKxP79RU^JhbF=eZ7N_9bNiTNzrZnnfSV-)8bX}Hl+|EJVwXhMX7EGl<=Ybs)q)(dbZGo4*wDYdw0x1OapDeiQ%C!(F4V=WhEW04BNXgZ-bPT+>O zO^K0Cg>ARnbHxqCnhP(QG%LH^^R{yT(I1Y!fXVLv`r{T9008P=f9N_GTRGCw{MWZQ zN!K=j4tcm2^1KsyJ=ZGoEK>6zaJ-=%&MugeX)dM7`Jz?VKK-E--8j~+?exn*_S~rD zH25`If{~n%;RX00Kg@VQ2s6HRdGjpXZNpD2FAj*vflsQN?05;}1^! zRN6zZ0*>hz|7U}cesZ)Dc9gdgIW@ryfiNamKasLC+``ins<@EKdP*&5U4R><9C=2V z9aEeipv4bUFLL=Z+}|HKKbL93(LgU(=TPYcNAJTr$C8T}Z>D_|rdrRyf{xh`J?Get#g5q98%Q3`(7gMS-g=QY zulPC>9r}e4Zticu|0KjF?pL7tk5D%d007oMLe|Dk`bPRr`m~0&4#sj0wsyu2PUgmr z|8EOST$6kkAG$4hf{KWz&u15GZ+>p#N~lOKctvXRfbW*$Z9C(Sp$wZ ziYy3qNzCnRPz{j8<{zO?!spWnH0Qf-RY7hk-!m8%%PFTe)2E5xG*QTrqA$PbfW1&Jb$loH(dF%N zl6{6+kBI=jI31)ql3*=ow~{ub3PaBwyr1Jaz{E~*uMuAg#Y=Bp{~k06UWf}CB3&wt zg!wz~g%DpEi~d_-3-j5yP`*vc`l-UmZ(Wjr(dp9LNr~TSNwTbK0!a#X^?Pnp@cyjc zF`su?yRX(%nX;g_(wyy=g7ZS>4GYn|?eg{Kx$v{z{v7Q;dDP0Z>x}&4Ao`C9&i~|L z?fQQcF^-+I0iuT%_We82gQO>1DYaH#SV8s;kfN@a4kkTQGU?eQAM zzg1T!yEN(CngBFTa(ccn*}M2-NC~Qn4^Dva;vkS>VCvMhsdQIb6jkhDG|x5EjcqZl zD^ZU_2jq%yVJB;RG*eQ>u!cZW#!~q#LhWweB&`&GVLoAof4WD#lp?V`HqCW)$n1vM znT8EkeX^ugPm4Pqe2zt!v5Q6w`B>#T`2)q58G>+!BHviR|+A*CDfpo~AzQTn%vPRGt{*`Sq@kPC1mV@Zx zQN+9tuLR=9OQy3k8-s(iM{erGaeQh0T<|h?l&#YO{|DON~##YAqj>h6PCbs`2fpZKeQUD!%kf+bEINlC? zIz)cs;s63QP7oP%EFA>Lj~9}ARP^>vtEZ>vg6rx)B!v1S554vzz5g>P?d4B=+PZmY zi-`nG1OJ~HMaYYv8R67e4NA~YuPPcXCd8PW!x2`thLqz3KmiL!=i0~Q%AHa$fONoU zYAg1XOHj5uK?7Pf(IF+_QWFE(#uo_^D0#RKxC|I$9)`QHZ^>Tr;dB4qzWzK(B>^OB z6ckF#_p36z{kh1x2Nfgu&)rkJ{}f@{HY1b?4geqn9smIKe~RE_=4@?Xqi=3SV`pQ! ztZK@nwcD9<7l{u&Zz*LIgg-Be_qPCvS%kLmH6wQ?9l;<9Bpg#5JwO~@2#fz|2cl3k zNr;qagZq6~_Vw}GZk5~ex^Y(H^Xjq3vUm2eYgU|LZZ)s?BoEA=uSp}rLZol&+f_~h z;1v>t2QRJ6i+LKD5C3kp_fR4PJ`D+^V0BqRkse~^TNs)VgO}oLBeNhLzmxz8dAUgI zAW{Y&$;RBCFf-39_H4sNAI*LSxks~BWA}Qw;GMM6N@^^IjjD@g$N{yn`OG9JhfGi<8 zM4%NwhUy{!I(l!c%*-4wB$V}B?@D;R3bWuP*m@u*!z0;ATzN|>bS0GjdQ;en!Poe_ zNUtk*Uxkcb9CpFyw&(IQz~KC=iATswcRECVk&Tb6p+M*x#pk$2KB#`kCn+xE#1fVR zhSj5H7;jjKJBk3pr1w^H#r}gOiB8*ET}}k-Z0@}B^wl#ixd-iVyB_gy z?MUmR?wvH>gZ*&?sB#)uusYP~1M|Hb*XUVO1gmMkrBh%q5n0$)rQi=brQIV}2cbn- zqnVPXhAiW6CAg09=3k@?N+;g^K$nG`&CL6g^I-0nitJ<++9?vAQ1UB5tF_MR$W^r& zuhcS}#r4h?@XNurmt^a<&g$;0N^e=0tSpJUVv6s`>dukQw4W@!0%Q$(W?7p4I_~=w z^6`Jq+sLv%JONrDZ3&wua+LKAEksjt0@P@-wrD||Aje)`WE;7ZlWJ;eWn>9H zU=_mShTfz z;ssXL{*#Sx$Zr5``von%=>bkW*fPLvq*06)4$#@*D^#XuNo86;kxCh-G*C-KwfIq5=~sgd^d|I0U!R^h z1mj7k)h}^NN?${7nu~aU5RVT{Q9)JaE%$O61-(8sg_!GYjGUfanYtA1ej@PvDrUKX zAHg9QGdvk~*((NI#ncD+&|o{e3na{=QZvy3@J0bJ$$(qdvgw7#NstdpfqJ>VHZF;VC&2v-poGmhodGi_*18?>$mzAcR3y#=60eWmD;ND_F|PdgGwy;vA&+^|{sC8i`2#5Ykxc>b{4Q zVa-KFzN`9}6oG^sIj~gkQC|s%jJmb#%8d)4-v21M5?Ze_>0$H&2jiqsF#me*H?m{H zo=2u)!Moq=INHG;ez)PoX~_dPWY+YQl#kEsW1wZ)#wPjhsj6ZyyR>gDe1qGbw7j~y zs?pKGDKZCv`RlwH`{BU?@$1^do>Y={!SH-osdE|XLX;BPV zp1ZZW!Hq8eQL#mS79dOj1caoXO-#AEJt6aqb(%E6cxik~qH!k<7!INHhv6e~N*3(1pHlra&Fyr9O@g_gMPm^)2 z{~3SLQrHJh8oZxP*Tp;Iw9K<|*vNx1u=LuRVi38sML}&V#9DXNf;rt{Q zIXCcltWn1yN^K)5?(OZ}Ce>Zy7!jf?tR!dm<(2FAjWcIoQi5wvWUK>g`KBE3=$8^e z^Qzwci)&$qANqg-1Cj>+{Nq(oQSoGDbw-#?6*~BgklyF)0S*pM$rjN|;1=uJu*EfF zTfFE~{J1VTOsA%-ynN%6JNC@+KE{YKaPD&G{XjWit1GC`cC7AKG(SEbwJGS9I${5s z5p$F$N~g;CG1V9d1dJ3}q!pgB`Zn=F&n^Yo@wf@)!t!>S9Nk*{e04>}aWtjHZC)KI zT1DlaA~xlU6_P|mF)k%7jSww+!;T*x3Mh%@l?^;lVSvd1Z7j&oXL;wrI3nF4iX9u%qz zNz&-lC@9O{BIVZ$Qu>c-e5h>z!mlw2?@vG6%)LH0sVza5(T+Q%qrDxWAxullSs#Is%SE8x6v12X_~Uz!vuauNrD1KNat=Xieb;~8^ZM+t{bzo`bCL} z>3Qq>7+unjCoeF;EIBB1FIf*#(cqV7Yia0wmfKwHCiL|5YL38C8Xwei-%JYaN&$h! zB$QOzBW+KzY_G7RxCERz46?wUH=5otsDdsN_?I_~40J;~%rrjQ3IZ6&$jDx71^(Xe z4Vx|=ZylAyp@of%wM|TxsuZrzJXG&CiB=cmIwG@fSq{RA`w@@&n{fr*S5b)1dU zEkSC5K)cWTn#U>5dVZF9*Cp|Yg$gtRb8#5oCkRTFFno#KZy?mSmIh2_=NAA5lB#5)}A8^&Y$<9Buq%4?23vO6^YGV$^Y^&$?{(0jU4E>xV&5+^R;sw?rI!HIjqZHBx zMCW#icE$U^`|MkAXiqsjtjlqc9Pw3tG9Wd*aWf?o&A8FC#@FM~ncln)E1zu+Z$o&= zH_sJS6fMQ^#QJ-(Gw14M{SiQ{#KePZZZW>_ zw&}_A9R{yDb4X38?DC8lYcYCex>!gw&~9^9@(s8=e_((K*}l4XRiq_`%-lSXWnVnM zg3VYQcB8SeaTVzXfZj)EETDPe8XzPsLnk^S0_g5(S8t$FD70CsY<~n2BIx}Z)D_I* z<7{6axQ}#AVI!K17;M725coAy8V?4nrR zBhPCnlD+@(=oB*B5W5$iVUrOg5e#XzH}ssL z)a4H`n}mwQpCeI`beo+U+GF(@Hxc>oIO59;rl8|Nkn`32Si4AZFT8vKQACLv)m@b_ z^K8}{YdTjcgZT#_EK*_oKukT-*qNrcax-MkFrbj1yWa%jEzCRj^gY84Z94oU_cu~+*C zf#%;;$cDgu7MGn5HO|FpxrFW=Fb||WA0X2jZK`n%>jk!V{fGPR5ey^+GMzul3EiF1 z)2k=8cCazOK4>nIRC2}+F`3Z+wu7nq6q?bhIlf4dwSkLm(*}(0lMrn6hM^R%la`gk7(e!m|N>J=hnI}tvi&;dQ z(0ZVTMqSf4y|j~}$rYPVaavUFJ5!mgwoIR!iRS^idm`4KK=X70fKL-D9k!59Z-=ms zPMSMcqcd=_a^|+%msSx0{AH%|eT9pL{u;NTvO!T5phN;hUY`crkLVPZVdX>)a|QMT zUg_auuWSYFZW%f<=0gF$%Dhs9xHH{orNv4*5|3ozWX1L|6PfsF!673-hgoPoE#0As za9{3zK-%E)c3c+~d{GP~N+a~KhJEHKz$t_#=xs+_D((de?5ybd# z@dZ@n7wD4_P+1jR!(5SwQu#Hm31e-@ zJi@17yO|H2JdT#HlY0UF^90sJI|xMmkOLI@a{?17d{pfhuekkT@V)t3 zoDv2|lH`+ucBxs3Q~B^q{NOAqCTCCx2lJ*|5bS6ecZD{uNuL&QD!1uTN)t8JG(E}S ziY6NkN8)eL0ux)W>2DeNNQ(vL=X!yEHy%Jg*qw<{vz+8HtxsLc`h?O36FH!NA>80~ zkl_!U&~5uV=Ls9d_$S5Bv%m?TGNYtxQus&H%-yYn)qVVSSth|0C(~Zh{aW^wBd86f zM*{mUx^hhL-%z`{{6pc z8rs^Jn42mZJN>_=?SJDmj_tP?q=OF89X{(J!zqkHC~fVpvHS!Wk;h3?V@X-9w$;s+ z7>xM{?veeqdy}keS4d7$PhyUafhDDtzolSM6TfmmJnU+GeA=ZOEypyi9^dNGi zGC&?M(6_1f!jH%$XFqo!SegF2dXy2vtY`0I?|;{P`>K|UQD>Y{J039W6}~Sf-OJIA zS;lRe-N4+7@?om7`;~b~m^};ewwd8`@rn_5@v{q-|qFG+ifv0B0o3m;KO1N&mmyA1%$oZ_3=lsN6}}yp zWb%1$`oR80*LKX{ok7>3=)~(!P2E1fABvAoOlrMn0mXW_=YOLwW}x90fefr)#t%w- zq-4Y~e9ce$;%``Dr7|7})@+br zjc$7K1bdfZOhURJ``shzSphJl=1?x?HkN*Ww8u*Rs+fTZ)qW2VUd#{!^&vl~b^`^% zJLc%p{UQvig#+VZJ+t)n&}c@1a+MUVZv7Rq_*7nfhU!{tha)4CM3s|1C;?2@9W4KG*!F1#8JX;O}?c-*8X-eIgX$1BOQ%~x`!FIJZK6~xm{SyOT!5eMXI1#hv1Y!Wrx$t5(}GqJg7m33fu< z=2_C^)LJb*sj#$icmQY@CwAs|Ew!f*p0YFvI!A^0r9^wXHC@$lq0`=&Rh;BC4%vF9 zEg;ao6-~b)@n8Yxdg-jBrg3ITuKIw6SV*|X7mzxVh;F2wq3Wl$Z)nmpwnT3wRyP=z zN8bT0?$a&?^g03uF$$s>3}z_24%z=2uSl|m3B!iUcD=N-fy!-+4XkipY2wdO2A7Il zTRgE6q0$3hbEuqhE-}N7-L1j})=ko>gS#A=pelR-3;e2{j+uBmuc(cm}A~^ zU7XJ7Mb+bT$x%GYDnq&?SBcHYKaf7gPyc9X$NbDpqvw!wv0t&yo{`XS=5=ZWW+{8FIDjLavD;uGNo>7_kGMgJTu5_MC{987O-1dXtl&UR^aj3VhF`DJ z!B}Jf+wEjfNBo9xuxrT#P{SZoXMzHK{shjAD3F$f>p+eY#Go4Gmao**>DpvBQ@u{H zjuMx9ffdQBPF}L_8DBY?U;7wk)>Qth=ELGoMX!g&8<$h}kNC^~%23O~>%;>7-9$}1 z|LalvzlZ6vrl;*83*xUYZ}46><%R)L@59E*hg4V;UW(2jI1Kh_+gbz{6(asi9D zJ>E}9l9eP2`TRO3HtaQK%oCP_37hSBc5cpK-+O?&6#BQEB`&K4YzgiogtkxFUjut5 z`Oost5=Ijq*bt|Fw=fXC>{<7O8?4duws9_>a8TG|-MiPNc7B2%ImdalE8QA+(VV_7 z3eB#SZ>CP3jCp|cbf)5ERcYw~ zi^(*>tF>zCUeQSj>|8gvc)fScT3TN;1X|Y#TlqTO?d?}O*eo@v`_gmWfZANe*+zCC z2(dCfm4- z%9?gc-MiM!#kgYxrH0|I2THO%!aF!rc>ul9ozH+Y0aLJb8vO2YN>_nAlNj;^$}qSI z9b?|0-bRUnlF9h&cziH*y>NbDuXH#R$A2j8eE6XKfH6~TXz~?DhB+>hhzJ1un?=kZ zN-sN&#O3J(9I?~NA1qB5s$(nB;E^lEL<7+lV;;nc2y5A7nPn>DT*DOIy;#J<7e&laq5EsbkdR#8@aGc#yt=+}WX*!oMM2=~*4#G3*1%078Qo1H31X zbyA6d$H0R+5MH9*DowA*#r4enbCba+ydl!wCD|S3izSobNy+ei_X&c_U2SQpJpnQ~_Jr2OwcpF6|M;UN~v^AB?A?Cd$4R|=S5T-RjZvuy z$m^I4<0m?nt5D975tNpSortsY+q)rY_IZqa$uPRGc}$@0gV=ZopTw%}|1#2Ob?8BDjfUV1y_@31JnAcC9UNy}9}K$>Ir>87s|8 zV4nRI6#CX+4dTUZb6W_Zp@~E-7k=F+47}uiCw=6_A7X1@*at$v-XFX4J4(7X|Z$pHV8=bQPNMIV1iC)&^8b9A9O z07BvK0yTA|7+*2U?lBI5T4zj~vd(M?jT}o~MFhouCy5QhY^vxQP_)bHXf^2q3J+#; zT)nm8-2B?#)plcdrxD_nGF1$-{j1V1U7CY?!f}>);CXt1(Un~?ol^pj@Zf<5VVf*M zXE3Fcv^*CFLn;Ef%%`u5@chOQ58KKJTA6xJ6)LJTuphI=BEc;aNHjvgqyOde((UrzrW0qxi_0}*A0r9sUKZmFR zCd*dv3HmeC4)5!o)0>3JdOecz1w;@IK5>L6$82MM9R@kg~NRCeza?u2v{L^>4sur0a}37Eea? zqv9Kvd8^Oj2lUQOe9OFELXIDHD;s_aJbmp7Y#x`$JA!D? zfWXA~IyrxvYG3s$02k?YzaI>2FX1j7Hd3`1eIR!6E?aC?+3ai4N4L|W2{gAm^kBkq zLw%6$B)^JvA*$ggQY_Mh`|IJb(TGkd(>INxN`kN*?v7<*KKi z{XSojl7~HJNftFvmxf35xM9NZ`xm}r`3hfU()7}%T^7!+?hQ@w2@qecmBHOjlr>;B zy*MScDAxSzjKXa2S`YtP0mM-`Mq6i4(zNf!x-X!1?#={tnwl~{+&$AN0jeXUW<*(M zdQuDIE6RR8{|9>IkM5pFsVY7)(*cKr@S?=_dB`S3!0lXK3_0*jVCmcOK}bUm5d* zLNVJ;Q}v7lEhB9P+Flw*X4ly-$r`%Ap*k-5jf3EQoP7a|CVR7(Y(TKC`J7vvU|E{e z^3les5Q@6QYTqq`LcKAUz4KiPrBGief1bWs3?%fNLlX;(0tJsnc?jRwDe6qvOARFd zai<%u4V9Zh2lwU9I>6^wNC+er7pD?Rr}qb%99%P?UfT_zM&AvvR&P=Eg0-4#YVL46 zb7(oHoMedD=fvPp1qSLr&j1DV9Pkn-uGLU5sje@Q(~XwC$c0Ekbd*W3!{Uj~4g}L? zKAekNTkWtR)@5`6Ri|38=vn*a)>ts++F6R$x`D^0OXLH{pOg$Ci1i@$j#JlLXe8af zd#5J8y1hETT9>x2I}Im(<(Ptzq|MA!c;?ZJ7u(PzJYxLoUcL0u8lrqmnoCbCx7?#b zwJxa~b(JDL+!&=zbZ$w6h-eSLUP{IhXVoeHVI%NvXBK(WDAW_?U}V+ilBbN@0o=-3 zk_Dg%XMNBJe7BraPT&C(n!YIZ6SaMXyD@|JI;JzY`?9`Etut_nbH5CSe>Xo)8GaqB zEonnLwDMqm~-2CIa>G|8GgNE`1Ok_`Zt2g;VGHu=-iD> z-j>v4^0kqFDclFXd0n$-ea@oSac2_n&V5;~yt??C_xwgZ-vsbqIoiRELMNbCily5-oqe9P%bN%FMIF9aL zY^@}_Igd$1`HtUnO@o~-#oeA?(B0Nv;@KUQsqcrb&y(H%w2>@Aq*|SE0RU_>{+EsP z|M_Ng|K)*Bb6YwdvLx)js+K7!YIc@m#BwL5OW7dVjwf)h7t@li<5Cr*2%WrF7hzJz>G@h4%82+M5arkGOppzFr+QZRVSg5v9=h zUZK7pOqbs5&i+0L=9WUWK%4pel**ijZoc=Lr@7uxHr>k3$jo$P`$#ohg%CfD+Vmw5 znw&3+2d@h&@#Q!n5BV7z;VzmHzHuzJ@wyP{^o4Fe`u<#owkCQ*X9NdSJDxRus`#!V z1z2&eg#?^G8ci!^oXj0rb%w~+h-30cW&=u^Rg8X4ub1P_*sxrT+T9txYOmT_0LJ<| zeETdfNt&Ey=pTN5Tyg!24+tMHrn)_SJRB?n_ANmjOoGm*8!=)#Pm9Ld0fBlT1P~Vy zlS;4sRIk!S_+?gGRzk=pF~YU=3?IBG2`M^G@iqW`AWbRx8&P73G&%c9Fkm9Htj}b> zp*^z~)MgH@o-!LEQ%VJY?gfyB&DepX0C7#^$ zC*?9^>kijrJFiA1G(2RBA+T#2DzdZP3qHEM7oPArDY% z3>xAM9yF5fJ8~x|7hYJZk^F?SO+IGYTzt)WapH4e==u)aRLtXmmqnP&L**Y=j8AY& ztAX0f_C2ZP49;(+Oeu&4o>96uSNGYg3j=_O`6necCQ&smtGA^ zG_y4s5kY8S*NW`2K8t~b?b~c_3OrYUU0tR?tCP#~)%VELfcCS3@Q&rH{6!QSoz8^1`S`QMHZT6kJge)n0f<7lf@{5x^yD8 zGB-dGHGN>zQ6nqYl3fHSVWJh%aIPK6TnB?@8Z~Ja!sr~aakXnlka=zk+{z$T)Rh6n z9+W`ecfG9eE1Z%dV~)@)o}4Ll0!$I}4tb<&`@;;-C}K%khZ%3rW&t3AQdY`*s7lph zACOsp54AF~g1A1jWpq+3&{ETy}(M-(YjnxK5+0`~J9~2VS=pQP`Cl%tgd=Idr!> z&epF!clF)Rnx=&fUab$iO^9O-_iS$uJg*v~N(p2KeNB(HX>vFq82YeKU_=>-P|V@I z3-xo2w<|g8<Wutf~pmNu6jy?EiU&g>gd z8$OKTuP_ro4`IB5boifGC6se2 z@522Cb|ueSQfhOD%2VR7^!Dr7(!3Ss+r@h>rhiAT$jVYi*5+|z*AJSJnb6?f16w$k zKh{nJk`{>2eBH2)wBm}5rD-FEfeg9i&`t6torD+SM9_%6I)Jzj#L(jGK;d%@c}U6n zl;rqYU^M(aU_iCgoziPBysV+=3!|}F=8B;AH-(@;lT9L)C)(GAi)&`6zfzb}~Zqduoqoc`zN6t4)eLVTC{rPy$?p+PQY#nssJ((hsT<@_;*L zR2feA&tyqN@q>m%eVjky6mdtJ0nrsA7ZyPd0)Y)RagkM7m1u{mLaY>EZW*W%sZ}hv zZT|>38MVm-vy&RpRh+DAP?b~f=)EgvnRYW_P90i})T2y(O`$FZC}D7wGwk-`e-bwi zd!r1b`9(ShqI+nCm`AMvEfN27$mQ`x-;n)!E^{occh&#oIQdCPD#o=fGLl)Mb%_xX zQZ0b}5MkopSqN_jHa$p*8QO`Tauu3+6Y2(EOJpSXjdhF#Doqa)(xZWjd4ZV#cd5_? zT%r?(cRCjh=q65^K$W975L>M%O`<-sAM1`B?P@J8Kd`j5@(`g#7vogwd)~7YdI>LJIV=y_|fZHE;BF<-;wXI^W=ht<4>jb z3=*E`Vk0)*D&D*v$HelyoxGoQ#nG?VB4KB@2N3P0Zz6Mxr|931`N7efdz@YT*4R8c zu>e+%^-&fI*ah;8VlzcyQk}N+7UXa6iRY6B3iRzuN+-ViQL@^m(b$MxfaXF$UkJyC zL~K)HPa-RkDkjjB%i<~Sy+CyUWIqBdh>or=xbg}OyrSxj>coV1+I!;4`&PmL#l~im1jYG~=p918-`0 z&I4Vk2cdt@(vwH&TJi-3yjSl?GNByQo1>v+vp``W^bHV{%5{umJfB%2)rY3oz)V9W zKPmFMV{ToH8dZi8y*eK^Pf0n=Igd7YwK&h#U@EfFn*x6+@C~dMFr?m}esHVnrrxKP zq$62JiuQp7kD^k9#bkAYHvOY_KnC56#*7fIMLi1A)GJb`&LRbj-~r#bRf7v+cxol7 zCZ&PD3!=#yERp3Px)6@gr)KC8W{}go#V@)JC#G8UT!!7QZ>OiQx_)AEV1b^@pkG`*oEmz>v#9F9W@CLq+)(JQucK0=L@KqdR+5d z4v$&*z+cwII9f#sB4?66r5f#al0QPpb-q)Nes&p3R><5Adc!${BN7P7^CvWs!Ek&Z zP$W6HPnVJa>pbub9SUE)Sj= zrhhZCtcAm-7~eIME(g7liom_iL4n{%EDZbF(R`vxOKz}ComUsxj+v{;Z=Sn#7PlNs zhZS9Hc!kCUNddv(2nd=RR*u?xyZGwV01cYcBS21VSSY&K9$tT<{YjSZQ|5dYbTCen z_0WNWv5J#@VfJhoKc}B1{V~mdTiU9e4#irPKvk~FKB=Wm`L?VqYWHsCSf8n{*dBy^ zjQ*%6o`4#tOsRkgT|NJ*XM2PNb6MZ~FG(2$o#r(sSy~|Ph4x2Mz&4+&A?VP<9V@0c zLFPI4WJM#<+;YJID{X(ub2uxuFghzBL+76qXG-+@8r(cIEcJ|LEQZ}Sd;;p!ru=~_ zqMm-PNGhbPg|q~#T8g2+Qz&rP0+*CD|9aDqibTzCH{L+CY#rYNX)`a)RMU)z-}(5u zC&oS}>|UL@6^cm@pTa!E+JB&769Y^s388m`?KKR%KQ5S^3>Cs7oGC$^evpI*;DDB! zitH-q@Z)8{Oky<%Lkx-%n9bwSjD$>~B2`WsgFd}r$I zai~|_s6%gRMX<`$t$*p@FrP!XE`u(;_5<(!4MP4^%MriyFz4xGqo-GP`tL)ppfaIs|S)LAnP_^98ox0f;U@ZHl zIv+d86}3RQ{t2mA*+O7x9M{B!#vy7&R2u)GOnuyD(zEpgE;$%WL19w;xB_BNzw>?6I&eN81Fv^y(QmgiX zGrovAb+id{iyS#{ny3i?{#raRr$GU2aet$z-7oj_-|P3qQC7U(>#t+~VuarW@2{8I z5+{nAM^7;coH+tYXSvFzCBW;41~~K7G>#@glZ!l>^726yhr`9X6l}b??5nl>*yJ2k zD(Q4A$qF3%7=4}XNW4#qJ??j*!VbDzVFfm3`fka}Y<8>>8JTONU^zD!5%d6NDl5pe zOwUYoS6p=Ico?scT1Hw}ZM*lzfEFublP8AsMKT38&mz=S=t%13^VcCVoFFLJ zUNbv)iH`Y4XFB!??)RBRZgUgwpFNof2cb+s70EwOI5b7FY<(T<@~GGe=t5lDm>?=B zyaI};vzL{0IHLCOHD*Cc>J?XU#VqPJ>dnx_6D{fnwUZSCUk(DE4ew3YW(?tu znHP6n1JUs%k-Rqbp!+0^$*V zXbeWt8;3KHH<*{FL0B~s;(n2Opjq08BQm^V{iWL`y6vUAx z$s;Cp(hzPdh8cP5e_}yub4B0o_PYr>HmJqLA;`ms0!CS5=X4nat!<&9O>XXFU15}R zJl7F}PN+r};z#5q6JVBdYIcn(uV0qwY!m@7$2;jgXr1EPn=EP0+_Dv183W! ze>)(x~KqQ{U7#&0z| z4hHz&xMYCn)~TKBbIVggJA(!+U5pYHR?Q zjPM4u$cG)l5^TPMC>TfNZ}6avHUeaas0JTrqWGETpxpY2#0vB~_J~T#_nbmfY~-4J zo^fH<1fD($OQzEZfk+X})oRfB=2L@=i_ruD5b#i0&Emyre)a!-+J1@7}Y&_nq1AvyZ`0To&~CWvSo6X~5b(l$Z&aXO_~z-I$L8Jzds39%8lJdl}c| z@NmKz+kdSaCAGkk?FI{136g$@2QslrpYOVz*das1g^vf4p+T=`s(xC!R-)j%D7skh zd(^_C=ew<*7#mpfs)3o50jtp@pP|ZzC*t4zqI#b+#d?Bb?Dot^p(CM(Y8tb8aw znRG8YF5DQXmZc&y6Yuo^Xv#4(2FZrL$(<2$II{ThOwOMwZ(89(rS^Ne!i zR&WV13~No;aVMVzYS-FaB4cQ2W1+qBd<13bb|uP|Gl~w`eM1$khqi&DB*AX%(~{2~ zdize7vpnZ}*6l13+2R{C+qBT^V4_a_l^+wMu!W?6+dhFFA9YuR4wg_!{r&{ZxRsHXEWpod zW0HlAN*&Rbr6cI#O{Og(SA?RHWO99vJ?v=KdJVmBoMH0oCxO;5%#hA~F0xLW;@ahH zSkJS?=rNvUQ*aqxK9nKVPN0TA!qlA8oF}e5VSa9=H53?gaWojUytuh~eXofElaf zz)1+4?_UsPL_W?SuJJQ6O!9IFDlc|V+|oMPO1p{%5h8?x+dO;C+jxAo_UuP zTP`Fbds!)LxFun~$}vl?U?zn$t=f4Axa(epf_|Gj`HqOk{ZiZ2xV8ks=k0o4hI33b zD`e_IniEb1<&;GNvB#R7w~FWM*g$t7nEY`Lhm?S?HsupfSBUkk^_N^j{ zN7tg21T*9P|h5JwqHb;`o^Bb6>NSweI?&+83$4N~% zev?hQqCHD7ay6$LJH`EG=BLCurf#`2M5*00C!G3GBk}K-O69YMo>=Elmff*kdb$zg{08db{G*|SBMPB7k3^G}NZ49R#PmN@aDUJD>J(*hJvw*4R zW?Qd%R8K0>=ZifbQbrc`iW-vdhQC;#5->&?zkY|ejCF-!NWfxdXJOX0lmYcd-sT80 z24i_R?IKaHmeC~9?RhCx!xs4G)}nh^_qNceKg%&PY8`s!2V?gK=p4vzl@_#txLM(v za`cfm=O&xocR-D)T;~d!V!gJc?bW;(zz3wnXYR@sPDt@tq#XOmeXq*VI!;?zjM5Dg zMDd(kPc=%C)7bKCpO!*_Y zm7bkRtL|l1+8Dy{s7f8HYSNe)b~9S#&! zDO;JZgnzfAt2KutzFvJ_)^O1 z4A^Wj%mo&gB5FOHOuR;v2R$)#JvD$^m%2Kb)RDm0_td@>>xv!0PHAo_c!i3FzCy43 z4v~Nhoa3#sXt?c2~0%I=*JRQ(-U1oT9y3)}2K2<131Z1a+w%FJeDxfbf5? zk?vbb(D=}8es6_2l>T6~GjA?l8%Z`cg}(f$$w)KH32`7+7H&=#{S8pv<8~uLmT>Hu zM9XR06{8I@*qf9@es+U?31pLq7pCWRpTqX`h+;*O3n@WIP{(8wtO4DwmJNr<{RjJp zZ}+FI8!c@zN++DsGOPHO2aYz%NYTKD4FI(!RL`8XQ)H<)-oZ!ii@ZcQCic5AK zGUU~3bT$|GDd}~dL9{~+im3+I{ZNK3>%N9JV38q#1Lyi|@4CB672Xr>Pjo`YMwTCG zJFv&{da^KjgTdj$tPzW-1cQ-Xl402*OFQ}Gguy%X!l&X$2TN$U$)7wz1t@jo`xSN4 zsl{JnI&^sI@#CM@OrQ6^)d!eP=t@nf%aUvA$VXNi>8`$9EEY8^ywx99DX}$)MD-dc z{(CV=@Xj8sy{Zx>yy#PjrT=EwL0M!+Lc|5~BEjGFo>!G7Cq#aSS8HgD5R&eB(SFMn z<&#(j$YbTTju5hZ$OC3Y-=%Vx$-SV+ZIQD}>cW>A$(^!NEZi`PC{lb`-L02vPG&%D zdN7IiR^dy*(cAXO`Z?6OL)q3t6T@qp=Ptq&BxH>>4JDcSQRvV5H;a+FG(T$a8ii@0 z@y5_)9SU3B58mT%m>G-%2IOeyB+Imd+Dggg=c_}irQ)Z0_dKNVI`>`acp~#gD=60m zIa7V}MSUwDPVBDrg*V<;*%jx6Y|6|GpL}* z2{B#677ro*muBzEh z8=FNSD}mMX1W4Sls%i({pLIPGw%^lmuhXV@r5k40fcawb6HkVc_-#kLr20f?v8${Rj*r~;s=_X3?`{Ekp^t{F@gQb=oT*J7nun~v|+bI%%brX-rl(7P4N z?p&6ba+8v3uZ{1RdI1{Ip@cWJ^WsEWDV||G7A3F~#;xffE3eNROn&;V3isKVBw-j) zD)mv7EI!xP5r}mEt{Fkb`4%6k&b(*A{?sv`ce;PgldR$9_9MUXx7t7j!Jt@z8m&y1 zC)kO$<}|nbKfjnu+7|b6pMr#6CVCxHUU;6($t;5cPxeNt+p~M^u_Wq?Hug_bF7SW- zr5fb(VHN^!bV!2_vY#6se*9AXSBFPg3G`#H8j~VBOJ5JH49GLgtEw*FtJtT~*`rtm zWMO|eRH0g0HDBu32UF};!dGVB?NRKmnpanq3}U)QM;v`Zzmz?}vU=NMDQ3xZ$!wkR zgDLL8Gh!xYL55h<7-V1+VRSajxYR)mF?|e@UBy5kIa;|qbuR-#n~}_X;p+o#g5ixt4whCXMz#;(&V5eiMkar>`!z%XzzLE!0=6%REJth<2K7CPgWum}wsS$6KN91MvtwH$W$L87~JXEs^9P1I57wDSYW89%@Q~rUc3=}&-
;HjFnc2}8HVUo?*ArnKBs)=bUTI*K|+YA)W| zyYF<D!zslQ3>Koh2SZ4pxD9o2*(mjkvU?F1BDjc z0xTwkxre1stW+D3HBvt$6*b_WC;?4Ho=43Q3_p_K!_cA0@rVefS9(x`dmQmLKVDBw zePRCtaZuH4rT@Oaybif-)8yVd@eu_DGsv8Lc+`b<4$Yc7CCht{xO#23rUZ2g`#7dV zbLy_&yQVSrN$kYl&&`P$qXM4!hyA|k9L_hR~SDvg|eU&jyDt=2HsFZIkQ2=#Q=N!R?yb8a)o1l;wZ0H9T=ycAo% zXO~2`9CctMX|D3E>7y;qH}%aDCzIg(OtLaHN_U{qD-l$8_RTZULz^-So~nU*!@$0J zYDTk-Be7-JuPfZ}+9Jvde4z-z7Y)VF3&sv?YG!-i%ESe3y=CMC`FPBcAHdaLTuu~RAho4mAIG6^d?2EW3D6} zMG$3A(3Hcw*#nPEEWE>aPeu1GK`7UCb7IBCt(*re^rTiquJPEp$JeP!kViISVMYrV6mM$O%2?KHr7HQ{33)LAB)DxBvs+M~cyEMp4Ci zHlGazA6F^Z7L?dGk8-ae^v*WetD0rQBeMq|-#w~+bYlJyA%Kyy&G*>Yg^OXge2>k= z%LpmL@&SNlJO_=71M}A6>+D-f`wDNYCqZBdhPKrfkwCW^(RFee!!AfDe^$65xgK=>(S8VNFtJAyb zC!~RR)68wP*|xjpxy>s#TZTDsq${Q*Ux^3np!%K{1Tz*3dzLQ6RwO^cw2*+&_Ko6F z|2p@UMb=sx@H+y-$1gpJ4z{iqR`$-EQubDMM&B2J>K|`>zt8`ApX=%F0k9$GV}4`? zzW*R$paLizsZrVuD;vN^vL5W{M?=`blBf#4>A(ef!v`~b{0R47qVB`H zB<;b@E>`Y7w>>PcZr9bOy$(HQokbucb zAmtiR*Lfr8<4cBZX~T7S!pC>tw!i690$W&_NZA|NLOjfz{`bJ`cB;UXp7bd8)&(9GAgHri=Zalp)6emuHrF#{PHyVYc4gEWMuw#F_=e=PkyK6I_vo2^7sk{QuG>a z0phx1(P14jgzJca4^H^_+q`L+8EcrpjWC@-vS3$xxH;zkweB%h09eX>obv2pZrz-{ ziVxY4S@8cJww5BLe=jl1C~@&Jgs|Pt6|GN(_k9E4UaBNNOLeodHwC*n|CMtTX&OYv z%M*IRpsDVk*=Ru-aq1dXZO|xl7uh7!%A+*j_SKusC{f%^-gN_N_nAzrzapc-gpLmy zs-S$0jZje|#g-s+Z;eM=rfPQ@DFuf?d~JXYg@BWa!@ON3FGl%v-);0FmFNBL#nVBQ z*z;W4J{_!sgs&rggIX?*eLLwMq;1YIO?*gRv7T4+fduxjCEF0^#aQOI#e2HQMm!9A zA!d2QmvV?*h$|ueHd}6}SVpAIo>cl_~sQ1B{VQ!J+8e7;cAPC?%cW8 zlK95|ZQ|A_omMpdtD(nYbb4Qi_5+chB=5xF^iVWp8VPT6@6NC6>9gd=CqJ0t>Vp{v ze7kk6fTL2U1)j|B5jj)o$GVQ0i9Xcgqf${H{yO+fg@3n`7Mcnpa0R?jiF#w8zfJC4 zKG|$dc_J!xdXz_81tZNXe1-LLlDtoN?KV}S|E~S4oK4G+?%<=-3GW?$)>ge7JrO!V z2D=Riab@hX6f4>ZX+j}G*siPT81|=2-=-4@^i5jo2mz&ueD9&$kTz=Fy#t1wH+S&Q2uSED z!yqaU2i=q!@iWZuXO;cr$jbfrE9`S<5%>+Hf=GK*R+?}NtzNRGKH^;bq-#qA!)VS( zsFFMf7&|;hj&JKyFvp^sl@DDno_;vTiIkYnvgt`8`78)%$`M*iEc9AvTZBmQu6*J` z;|uJ=k;TrHzWv^iYf9WO9OFDk7T(WA2*oq$K&68A|1RO z{QRL->r9hlmk)CeYV3OXc)*h9$l&#oAkEmQTFpq8DOdV}Fx*Zc(O7$Jkx_?WyfAnn zLy!mC{~k^EOFv3X)_XdG+lRG}I^NOd0ToAVCr6UvJ#UD2^0QcMw_U;wc#+|58~<#g z4gX*x!IQ3kzkXw>jR-(=S^j?IpMX2?fAo{*GUA1Z=D$}Lw!n9p|6m1-2tstNy#lGj zou7Yze&=C}h(h##y+UcgOP7B{{o)3T$V9YMy<$FsyDt1A6Tx5=k&5V1`kngcOXvDe z)L$G+5gCa7E8nmGbLyJmee^#bMTl-Jh!{jukSmNc+|}i8m@A7AL=d7I#T7^f?hgF} z^dGz_5Q&J62v@|LaDQV2;@_(0Kl~98k%(>sSIFz|!{a}Yzj_ZKLJ*sTuOKlrKSL1w zHxMz1N7k<}DqKHde%#m}2iOrIh~Fk$K~9x_2l?wckH|qR@~=4g@NDZxV18fnBf=01 zz$@6K+E1|Gl!J&Q#6szcbgqs_`m1b0WFVF#SBx=urSjv}{>mSJQ=lLc5$lO7qV1#K z5dW#VK*S=J0asWY;BT=1P!u3i5!3f8YX0x22+2Gm4Ke+`q6upLM&qx^I3f%&f4+jX r{tot^vuQ*)V#a#~2W$PL6e0grRYZe7E50}XlOh?zcX%1S?|=OZ4wLN7 literal 0 HcmV?d00001 diff --git a/simscape_subsystems/geophone_z_axis.slx b/simscape_subsystems/geophone_z_axis.slx new file mode 100644 index 0000000000000000000000000000000000000000..c4742c8d66b6a3c792504a15475815d1a264740a GIT binary patch literal 25790 zcmaI6Q?Mw}(xtm>+qR9pY-2Cmwr$(CZQHhO+veTp@3=SmbVuBmdZ?(ViX2~N&732r zyc9493IG5A1i+IDgM6wUz2q$*0012n008p8yP86_HcrMiPP$6&cE*m{bZ*vG!ztS~ zSd0k4y2j0|sFoX%6%~FI0m2bUC1phy#;o@QhpORUmSh`tjFyWy@aCq-HfSQeN(CnT1(7l(RZ^Ymzkru-pIqvNWTx~ zb++#4?kO~@fZsSRpHNqWp-5a3U7NuVWtMMGFjWh3DAHjFs^CINd+GTjRpTTa7^W^u zR8lad_iV0pPE*?dCUCTV!H`d$dmMm3l0jKqQc!VPcEO7u4L}-bb!v<|LVG+z4~}Qp z9}+E$pEX|IzZu=(yRj#J-$M*Sgb#KPU!QA+w6bYz72w z{8ZXQumY~>n80U)uzqs15>Ax25+yC+450`XSU<6{GyKBS6Pkpu%6dvIXkCCCwLE1; zm>o-;AE3n#OD{_KGCb)Iyq`-oq%(gtH0G%zSUHf-$wHJZG?{}(Qljp9>pqVe8pWnW zvL#7qKNg_RBKnuVR}kO_t* zbU&~a)%Vy5MZd(@Nsvg+$ja0_xR~nZo;G*eNsAs0ozO{ox~jXWxREtXLd z^iT~FL$N?FSLaZf1V`_~I>(ZW7;lz+RF+!Lz=Dq15IyJEj>V4H+Z!leuF$;ulHPjJ zH?R0Q6CK8d5gwjz!2c#hoL0J{@sCh95C8!7KSI{VPWndrPWtqQwhqSf4z_m24o>FA zj{m9TXa#M#Kn9d=>Y`iu3EnK&I^pRYEdwXfLrv8ijQEzK>yfutGz<=B_@3s|EYF+s z>*!SSzaC<9CGt!HBoOi736)iG?g2XN)V}`QhUrsk9!fPr1cSdS47#rqPKP))Rb zZZqOo6O|y>)zuUuA-4hy$Q;2=N3!PqRh<_&s!_fTICdx@jx>D@QR*R@LcLhH^Xp89 zg~rZv#-?%hFr*N1D|$!>U)89=)>Lg8jB)4|&>Cr#2Qiq*JPms>-=)z6o1k~6(4G4t6J$D_16cehdFwpj}==$S*1O|Np#ZO*Mk zOOJ@Q_2!;e?PxZXr6d@xH)8lFb6y#|V+0*KuipSK#9j>#7wG>RNv&+V&d5I$V*jw< z{_jYvUH@+=#<7z&K#VXVzN8a9$a*4`(rfjF6%^k9iE7d;;mE`LjJ|ScG$v;YDYN(8 z9MYX?&^1BkS^K@>2t43K|*ypY|aqPKTiJw3%1TvrDoA=Mvw8MP-F{hvYUFMs0G z*3Cm(OeA3&1R!PkYaKUN7y+UQjQY<1uYz%Yaf#}*VzRbAy3w_9akK+GWtx``nm7K(!4g*{Xyi(HFR9Xe{^T7}i zNC|L3ib4N9x9|GB^LhIHdota{<#?0M>^R$Vdei-)aoNK%w^&r7R}A3KzqFxYA+9&_ zjjNj9*S%0hg`PI%-86+C$X~b93!FsniZ1Db8 zCykp|b{0ExZ^P=~$_q-;n|H;oFt;y%RE0a(qG-r+cVMWr@N2El#;&lZxdB zJ$I)lsLH6UqVsn@c=P9xB;D5HX9PWClTXmhY4tT$MG6$X9$)+Fw#TF<-E$$``c}n5Tnf0QEMvH;t0!(X(m1FAt!84w!!+$O28JtQ)6a=*vz3paqt zX`bTBCarAEZ=lhXH}?AzXAdfdi?U5_m$+Ue?SkHm5V@k?_Oz?hDml&tR+r9-{iN>Q$W(i z&e!X!KO#;H7*&~4{QP^4H9**4f%>lnAzwVN!{;w2!!!NzCB~lvE9bzY@eCIP0S+*b z%+t;cEDF%DC;5gWfw~I)xy0b6;*(lX$8Cn$w}#|e9G}=d6vKEQyc*})cHQ0f;g}E> z$L(rFkHa*KI!Z^0X$|h(>5m^3BXJ4no9vxEB#OzxcG%>a=2N@cvP58#-4%BlPmR6j z!S>*Rf2=ur7un~}bhnBeIgk)3f&}o4J5aejr)9;zvejj!;!JU_7yDF9X5Kogxs^Vq zXv*&!mZo{hBIn(~!?6JwBE9bPCO@E_4P6Q?e>1(2T2E-Jt7~h|&(7Q+?)@}8Jbc>t zrkMwsz`$BJSb`J|LmCmKq@?r!{TV*hRfpimRLM}FmcP!(MFNAxGiG3k2}7t6AS{5G zUW&=T*3cH$-fEhYmFd7sSl*{uxu_%EeA*Zm9Xe$JIt(%fROMC0MzP>gQBl7eZbGr~ zZaz7aFr6p#HZf0mGT8m{KCl)eb7-lkh=vdE8}i9vFT!nH2Yur1Qn9qRxvVToR%8MF zDa6}PNJm}QJrAWFPJHtm);M8gq6)`?G2WWk2VCHn72eLy&)eJE1>nBzX=;oWI8I15 znP9|L-*q-ENg zN6E=(u;l&y8=?%@8li{f4f8G)so*lK$*zF}8=sN7MP#nFEGhaXU2o*96oia_C@qzWQj^{+JGJPo zsuk_1MXLaI)Prw#p9&alO51VKXlw1JT|@k|XRQU&uEEd?r&Jdq*7{HjSQZQS_|A$6 zik{Rl@AkJX9<|0CAtTteb#cIdrQ3KIG#i{=JYSDa71w$El#<1oA|^z_5%0Ue2|0T)bvd?67<9$mJpGIXFD5x(XcwLF`^%{@Lv% zpYQdYdZl7};mypCyFC!Q%gELGT;Gvb;3&wQWaa?U8tRkZz?-^T_Lu}a-thejEC4(N zQwoQqdviKf*GE>px2yWt=rLe-i8FRcWPNwrMsc+t;PnQW9=ZIsXH?3_NiTOEh2DOD z+}`($?zT9H3R7m5u^VNCc1@aK4vypVl}eAkvvDf!Yc$#4o~7v)?w+{w@3n6#2X}5w ziT@$eFF>6j1x2mo^;O%KX@0EP)pB)}d`XBcC6oGl)4YMJ0Q*@b5gpBx>v)vTO;-7V z7fU5g2hL3~KiIZGvC}4CVP=NWmQa=cYmK`{+d$jUTy<7WpBcieJGU`00fqcVHFV%t z-6__5nZA#htUvztwc9*5LdpDusukO#r)FB|}1*qIDc=r!KR1-5x9!*FkD`!=j>^GR=i$a1;}! zLbD4@P;v861_W7}qU6zKWLCi<`|@bI$7_Xe@;8rBQA5O!2DR-kfq-u=S8H)*LfuZ= z>%xql34<5xIkrZ%g5xsg7X4lVA*Foq9%J;(6D=~^jl;k7K>z&tlVQ2)c1yA{K_D$- zntqm}dV9SL^1T%9qKAitIdA83a(i>0UtElp-;oBrbiJZQ+ehHUY2JEQsAmuxVGcjFtIVZ z+iT09%n!1{2hJkLRBIBwh(O$#g@2=cHco>SUexK?FycAc6+?1=BT@cQUKlyaWU^3l zY8iiX{-kNCO1Tmz%_TwLYoe_WwY|N)X`(+QVmx~u(r+OAHM_igjPG5qp`md$AQ(Ex zBas^am4cSiLe7*60MtF%dWbNdO%=zhC%%?+as361=ueL#LJm`*u(C1LZIiT@qTz_A?3C=0TTKWZ zj5U+cBPshcRiFU;27;=r%rG`N8R_O$R$lmM@#ZdRVG$%{gOC&&Dki1cYKnDO-_(NE zn1MdizGy$TzO#eJy$OO)_?2kQDkjzwE-3{#3#eLt$zPzUq49@o#Fg73TWm*`R;@QI zX|CO#aCnk#9eICIL#Q@K-FvQU8CqOnoA^OD;=nt`v69q7%J##+n_luEOl}~S;P%<& z{<>nYVP_}k9j@i`^>z{rshyUF))G)2;M&H>YKoY4x^G~BNT~YomY(*I72DCrV~mv?+4Ur9n(Y#Mw^gCm*u~ITzRS&cw!`RyI)=zu)O}%da-=$jw|lfl~LN zz+M=$immk>NS{kiVPJi?ex4%HWErzGGv{UzYbrm@vt-ufY8dcGDcK^5pWt8(fgxy> zW~0DilT1s;&dyF=O0M=d+vDm**_xTzgiwE9@@OurFN`Z>d3V>BZuXiKlG0qj`g$#P zgax43{C-yY z;HIV_1`c$)*%Ap5q!HevSrs68b7zOmeo=b=5gOtwC&MCLSec0o@(4^vLROZpy6S4P zPgOifm-~4yjn3!eMIAbJaKW{cQql^d|H={K@B36MUyY>e#V|}ycEHoBnT~;mMh3Sb ztDf&0bPUSS(9j0GEZb?_G!Zwq-tCL_S#EXu__1tieCryzmOi7pde!UB#6rvt&$D#a ze$r#-#pUH>nCnp9zdq<1V3~rJ_M1bc>>a2$=te7#Spqf znS!J!*OjBf4_-;4qb*V6o`koE`;@$B1sTBwgLY<8CSJ?q+=cJj9ZuMYa^@D(` zow_=v3yIjy+!#eetLk*1;lTRDgoV8&_0MXp?xrjxBqSpvBP-m9PYM>++-5>Tv!7FW zdF7_BWGALag6`u!@ba#n?XUY)W3LHDC%;1l1J1$_fz<#ljWlGz{(&S30yobZaMDsw z^Y6g&u(hlTIvdLzyZdyxn+Fm{6>76Lv>zNR99mo zGCN1u_oRlLi>C)qu*Uif=@dJSQl8*&bHE>Jh{i6_IfD$W1UU`Fs`_3bf zj+%ytGeLZ0q#75hfRK*Rh>&UN6JOQ!@Aw0;z;jGuyQoV>JxcXJ&!jPr# z8Fdaj%-dU4`F&41mNHzWO0H+}NdozH3oOS@iJmd5^0h^sKIjgoqiKF5b#rGX$1#)h z)8yxa=4f`OE2pcgD>+qy9b`Wa{N!Eomk?#S3^x)|lY2hqeXTAt*B{P%fV9-OxW4Ep zyOQ!Q5YBraw3Lh&oDk0j$-kG!DSXGX$(~ZM z>&2eg$~QrQV8Se%A%1i(BS->f!xyQhKZEyrV9u1pjo4euTqf{~zaucjj$QKKGFxLU zJZ7?X$H=~qQo{1`{HE(lv&D<-uso+qN5g!wW#Ry?J^Yil$fIWW}l$^@rD;k;^ z8#!AU3;nZ6|6{#WC&<}mF(3@zzN3t}8Ulk|L5&fbd(7rKvaB6yH(?;SWlp!&rl!ci z;ds`wJdX6bdt_Yv9DJOy&q%Suu}T=o65%|Vb?nP0wyu&>je9$)(st+Wz%xsa-VQ>B zlg*KH>}_t*vT}Oxed}4xi#Z{1-HpcD^U~Ji;X0-?CLiE<%DNY9yk1T=vdA?gC7#el ztgzNQ?hi)Y4|2G5y^Zz?SkSOwq$e4xAiTiy#TNPoA2*Hmys(>P zP|-y+6+t!U3!)kO83-g>RRf^5xisRGef)~{+vs&kdzW(Us-2-%tyS-Uf!VEb7X&-r zQn#pNvP^Gtxc)Ten-fVAHVTeKYnzn#;@4#+Gl4Q|-c5I%&|2HpKZpfRIf4u5||CgQpfAJDAGIz3d_#a}5 zoibPo0k#bJjV1jEU~YAB!)saxOPP97L+4)#!;gk#y;>+9-v zzMf3lchFm9*17~}3Ml-#>cyWW{P29YcW~P&?4R|IgTxfq)t>3o@(f`Y5-fLnPilE9 zpZmy!hRXqn`G`H=*4v91Dk}(ziVkxH_5)t&;bZW!>U4Oej-wdU0l&(-azr~rP*aY4$QW^+CBL5!OQ1e5RYQSjNt7oI^|?nF%95fb zSJ}%fqWF!pOBc3}FO8^Q_WogPT1_`KJ5*MmF~CyH61ERHgh5G>n5aiECs9bG0BHmeGt(^`Gv=FeV5J%!x4ZW~~XM4}-LJQp=5Gf!Bx2pzkCac?o%0dK!~kLq6j zEIh8hKtrvib$h*Ong6~1`B^BpqML&L4bmZM6tbP>@aB0qxJ~x`KgzEr+CebtA5H;q z005Hzz5M>yAj!bW*3i<(T;J3|-}*mD|7Wn&ovbMZ{BPj+JCWd;>Cun99iaprOl5$I zPbyQ=nZGVQW>o#WicLSa?V?#X#(Ofg&WWGMu-WNBFZ}?P!?KZt>(W63Nd4D5v-s-W z+|6zV32J~!e@<{Bg`cMV;uWty452q)i%Ze~S&DK}$SyT2aVj5SNdTNp#pDbc@nGI` z3z8EZ^RCe5HR;m=Ugb7DN@=2|nyx1qT+w8s;Yi{QMsQ;5HT^9kA9=CB{9G@PbmIZ^ zgVUJ=Ez9XImi4J?S)Xv)VB#N`Ur09u9TbEECk)%Z&UvCnae+yR^DJ#{Y?WH7KZ{a|I~Uzn$1hprKY z$n|0SN~f}(pN^ken%=)MEc6W7V{I;H&SAz|>YXm5F1C}ZoU9b5x|&2CHhN@|$Y#M@ z$``7emSLur!qNINO7nXTw85C`;=ITW4^wQGzw8YmTV!3qEl}tz4a{2h%0u7&bSr)p z67fN+KVIK*|6QCp?YEIl|0v@ABTD*z(=@cTF)=q)GcF~|TDqC0%n zLxEcug;?6!Ut{?RF!C2SQH?ESwc1uUTXHbwBe+NI*X~WKvRxrLZGE8TvLE4-TLcbm zrgS#dm0nr z$KL<0`Sw*U7qiYdqjo%C)+>BpT&DL=J60KwX?6o^FY1S>%I;U@B~kV)Bxy-5>qEiH z_U1|iJkB1+Udgf>_QsFMhrlDZO9_CH?e zAcaPyusAaNMmSoFuu&4yQu6Tz1Td^+enD9g(xn_cSVO#aG^~wd!Bc)gO-v2oZ5zoD zWh~%^{Lg+iAj}y-(nX+WbSA?bMsRI;RHi`r_@Sk{@YlPo{g%499>K?PMM;I`rrP2P zW7Q&AlafX#g8@*-9^0TAx9{xaBsJX}tYEVlR(=6#>R{;g!`L z4@MpY&;w4LC!EI5Z9wHr3g|hc@aZT{Uom3vz;hebB1aIvMBx+h6xWfBRHONR($s~8 z6m|Nv2y#=Q?q1u*zDQX=`aqtLM$wN?M}66N3j3uNMWHL;M@hu}YU4ZCGv+;G9OhIP z!fcRGrxYnoCd~VZ&qMx7{FYsvnv@u6(2BB~m zVtVlzdH0y`pU@ha%FZ?6<7lVV-k+rhfUi=P=DO7AIz zr?3o?&e0%wt-{c6&s6PPbZqI&NJ{n?6l24{5$0>1pkr8)y7PoKPIFLMtDhNCian$v z6%y%51(+U4z^JHeEcvPFGc)5GT~Jv`$LWjDb#z2Y*sqBLtsagB83vRK2Hp#=BL{rP zE0S$tz`9Z0w=B9@QhJPVfEBH%?t*6I>EJ7Pkt@5Dnq7PDVbr!ruR6T!V>lf!Vl`D> zwwL22b#ai`FxvGtpYs(SA0e!JJFhm*rlzx<=dq{|MYG@@CUl0lHyC5}d>lVzURdtZ zna&PCeZQ6aX7hG;@D_(?R5AvWWJLm@F!O;z0s&P3lTA##y@)2ei!^FquSQn-DpI2@ z3pr9+G3!9rqpSnb5YMzFO@xYkbGgYk%po+Ub!xGM6Psq z)Pl{8BfaNqg4Jg}r}XzCEfr?|q7OfGEv!UBY2rjwDJ(`d1)1W5%NDmT&7D(<%CC*a z^F|ncdI%<8<3mouzxWCWZa{EfC9P(+%=(gp?waJh{)Kj?bSlo1IMLc=GNvl3?%^kC zP@ojH+!T*fxwzXVnl6mUF!gWM>AL+Mp4TvRbBA2Pf|M z#nl<#YlLKft3w2;Ux{GPTjc4mcRZV>Sxb#0#^ISaRkUjOE7o^!{PBEm6Z?FIW75x84DY-uVj z#Uk%Wm6k?#_g>STWxPHVr^#ZMy48>+a72!c8{Dd2jeVRQcB*Gz_ENKGxHnvJutFRe z2?)E99|&Q>ge-ab;UTZ?XVC}XN%s8n-=zTBERPl^`~MK-u{%NTJ!if9S!Jkur!{5O_;45?> zBApY#^+GYR2345Ee9M>XM;v_9kML^ofyAT``TS#cY#@^z%JAUdDf?LUSU+!d`_=4c z(|(mK72c0Yh||G$U_)ouaZk!9XaHae-2P;So>t5y>*KXVHzcAb2z(;%f7G!8 z9`>QZQ?ugg^!6o=DA{zSB)6aeOPyLS%1&{KwEaYKT(BO`8-j>vbn0T!o> zvl0okpjpFGr0itFTmjf3;)usMAL8A}woFvD;mBF)Jn7hOa!iKiW%d39Jg>6v;euf@ zom(T-$lqt3(2))!NxlbE6Wm*2b7%@9ZMI4H^4`F=#6CjQ13nqRXCt>4Tu9mq-QAZz z;1Ew|36_Hv$czDN-$ALPav&{Rdc$Y?G2SbOqOi$;gciLBCi3zib$JFK72{Ko$%fy*{Pu^l!~`%tbp zf$Wk`ek%o@03w~~qSc@X7IR4d4GY58@)pAoAf2=E&-5NwcrGTPr|jphzX)~fAdB`t zVGMGviwkTk%291>aV8i4@Ma!nYoYdIu#40!ZmGHKjy)M}5gS}(I*Ks!=Y4u!MY8F5 zUQ5d?vYoiyo-_?}!DIL23=SJO1un>P&gzdsjRYIn_c?|{GX4GvWCENe)f_%Vw7a9= zi!RAC#$*Q_)>w;^R49{@W7k87<8JMc69|nbu@7FAo;8W+=VIO4R~39xce`#ER>?+0Jf?hD9wJJ2&_mr`y6Cz0MOGqPUN z;|31DoPn+~dxdTfoV&J>#H6BhEo)C2^xy@Krap1g`nzUv6c=403boDuR~7mBm}c z;`jyH^`rxDHU}$}JBp-P%gWJfM7=D{u-pjvQZtu(@Q2q6{{Bn*N5X8Q0YBvmvOvvF zX92bCHyPq_BdtVl$e}_|B>)sqTs2B#8VTV<;uXb5hEA z-qR9ui$U$hMtNnR6Dd{J5y6|s&&(go!B~~jMGsTf-B!)slM$HhYsA){V{6~2$k`D> z=fbaqrw}l^nc=}}hWq2hqAKoW|A}K0mai$5ORfO0pb$LxrWf}c40mKam!`G5Zug{+ zOBlWLTzi4W=%bAmcVoZ0;L)uN!^7^A%Z4Q zd|nn9kY19}Z*k5Vaj%WgD8+uWi3tpbE zpN*!BPhQg@a$?op+BPp|Ogf5}{l#Npc*$Ninzzw0C9E#}a;TO+T;V(+R_#%O9n2IN z3cso*<1EI{*2ssrC_CvjYfFC)qW9 z0pq@?+GMvs?cCiLtGVaj^4L|G(us(`Z%sg zFic!(fi9AHp@ZbW7iO(d#NU!ozQm2;dP9^;pd@5-uh1CaCMgVW8BarJa^+#3YN-Ad zlPriI5b1QtI#P-Yy!|P;x8J)O%Hc69?<@qeI2om)i6;5Wt!rAGrOxtMfbbMll>2@c zX0&UT6ds%+?3|ZM!+5+fCasF5YcV=GhL2`dBS+M!G zJ$xAFhmq)aVeUk_x)^5=kmPb26SH~dT8OM#czYUmZdC)GS)jK&==P?HugI%B*gNKO z4OCcw<#+nW*>W3KVM{FoXc`dZEI?+K`)~?NDNAR>Js2r zh$B4(vQX5R9?X6u7sbEDR_enC-qEuiy2R83^5eT29p_$>%zyL#olqmsggeS?o&Cno zkMtbMlv}_S3Pv732A@MPGrpPVm5_wTM{V9>zlBD=dax}QAL!rt7h&|KUp0kN{zgKmRV& z)KcO6gU_Dr+o-+q;aU-VW?$Wl##m*0>{E!Z1TlL7@+;Qen?l+{*0$4IGu{B+jq%5* zj6}FEPKdq7WopA|`=^tejv%i{e0;Wdu&s{~Nar z=#a}!Ii-?{7qn)=$=JDcZrJLO>mY6T47X(FIZnW#0|^gBQl7~^YB?floCApRN$gN> z?-fEaJlH6{S1Na8gce+zO?85>e8*x9uxHhnxJcG*UtO zNEDsz{YJsu-F8KFr!55zw&$rlBZ==1=xwczRB+q~RYt>T#(|M3(+i3QdI39V{I<`@LHx#fd< zzbn?S>l!uNGbo=OM%CYJNFMiJ$%6}%S<+g%p_#|Zw|ltkxBB_$*Er*ctA5>KUsCp& z{?tzU|GcN_U$M%LPC_k4r%GFYv)P>o8x;ho5ThKBvnuk&s#-xQr4=?uI!J zY9i$^zaAiuNl8u)4Q83eB}SF${59|_WyR_HsAeh#lRmQ%4Ne!H1(T3V)M-Jhc&1M0 z2&K3M8FBkCe7!nq+RQf}BTk|7y+V6Gm@d89o&9|h z$}NR%fid&>DV049-F)vgPjkJYZn~A5k)7$t_K|M53L$wKwdqSBGC5zA2woRa;?HqH z8S*nW!do;Wdi%53#^*w;(-*q^==*aS+M4JMlMx(H?ReJssp7ke9AL$@77}p&Xf&;u zaWZ#g)fpmJBY`ClnGGmqRx$cHyVs zvJyf$i5ae~XZYYnO+?jkioXHq17%7r(1;pKtjX0^f(aX$Wql_14da=;pf+=G^_1D@ zn%k3qImHn`##E4nRp$1d1>JDM*iX6w{M&;2R3d(&v^7W1DHqC#iUf+y4mT)4o#GMK z$d(S(KW8dJ^l{Ry-$N4iJkSQFPY6=SK45|-PU^n>=t+d(;#YWu zNnV_H|9Z&qBOu6YN`kxSHB5}5O?QQaP&Jkz>$h39HV36s8K8rM&5;DPgU&rk71bFP z!y%4jHjN{0qSpmgi%#FJ_fB=5vwN2$Y!n@7im>1&aT-u(H}u{?awv_W&RZ;HlAs34 zA&u@ek}6e%Hx9iC1j|ffW7{2r8U3%%$l_3Sgff~$E$=*4C7ImxC+9Zg=nmK8IIl({ zGCbsnA+&26D!WYF=+TYJ&N!wXS9}l!qgiux*TR1^raJtmAL_`nCSzvjv7U| zmfRvh2@AcjhI8#m<~kS*%cx1SFlOh7jjLTdqU>{9;8q5?qOL3`&Y&d5zUyU$U*VKA z1#5(6@#IXY6JUzCcgQ0{8w4vrqo^f$9ag+OhXsHrYFR1kp(;&_eN+mQNSnfw0}egv z6btn>2b*^E0|-O)oZ0bE$dGs#JB@bNO&_0gMBDXRYmN&HI;DQEIPrXw$>;nRb!Ojy+6ZAxq#_gy!=T#n zu)+`sTNE12h5dqkSWHRGbG+<%;RbgD@em?64`F;l3jP~orlg}+6lEzRYx8)q>j%v!Ea(XCfh}CiA8RLqNejg2zHZn@ zT5-k3GV~F{K!)7%7$$j>P9h6&qUa=E9Y8z>;^=X9pa{8!yyO&pO7i?Iup0gzu%O!M zPU*E5Ue+*-h0!={b44)wo5Ikb$tDrY6Yc9F#Wgdu->D31oM2^wjADRv4~J73sreFZ zI~k$*J+;TPyjTv()h0!raKa!5r~xj*?c6(W%{sF?=?7H_dB7brs!S&WXL4j>1VO`M zKF%L;ig=^VfEWsq3yUBJfxw2EcqppuO7ufjAyx{ow@kE1v?>-nwh)3&Ms2deoa9Cf z6({Q&H088Adhg0vrrj)9Q-@X~^{A6yQ)r6;N|@Z`OuPLApCpaL-lzj<7 z=22@vOC%Dw5`PKA-cbB{E^{occhwyHpqgE-{G0JDrOLbQ7md zpvzGmNUT15+VI?P?@wo;$Hib&WXX zNHQ@nW2Vf%+Vv2lwH%er9p!~U{1|mDmzh|G?O-38qqe28m8|agZ8s6>naT zV`6#VPTtSD;uzO!k#Vxy1Bmz1H&J*bQuJ>q{NNeQJppPh~}hw+8n9__)YDTrHJaKBdReA&A6-4!J8VM^FUYXK^Wh&^!}oD zE%^ci-m7;cnNSbv&C$_wSfDZy`349{=Q_qQpU*6j>%&lOV5Ol^o)mfAv9>NojVeQn zU7e4cr=*u5JOtJ*Z+qUMPmm7|NR826? z)P+f~N^W{gyq&rfc44{F``!I)M@=FCshA&*lsz5$`2s4Y9@jjVBVZLi2$Xd(k5*BG z$eZL(sYbh<>if3*X4qH716=MFLE71No_Kn=hH>8W94r0o9Ahr#VZHXVaE_3UZFEVRzP$( z0)pXzlc)9GF1|W7K!@S-2#{AB7LG2qN6?>Wf0E<>ls%sX9gNdtKXjmCuHxccm^~XN z$mwTGe@ye=ma!^lK($sSRF$u?PikpXzAY<@+Pzyj)@SJ}wg=%HV?64KC!_@`Qz~G= zP|v^W*&boTTGlrwB`bqu(7fiNNDJh<(EdmY*yeXN1RZ*~W5@C)%sl6rtY{>jTP`?Y zr|(aB4rj*^!C(hu>V!yfrpCCh!OKI(R?le0X4-8dAf!!g${(mA?&;@_q(RPFNK3G) zr5YlgLWRE;yric4mz#z(WNLo9@dm18>jWOin|W!bnr6fT&d1k1G4?rO_v);z&@6fc zROTVp{sRr0m|#jth`k#euVLW*alxDvXpkP^EC~{fgJiq_2lPBN6jwQiA1@1LlB+?O z;?UH<93GEmWE2V&soHwQdBdJt=7h~M&v_+#Y0w@}t&vy`WRFq_8T8iq?PSW-Y=~w0 zsWsw_$$wPUuogbeoXw!eYi<?t{u|p24|4x>8y&U)T6ojCn=#HKMCu zEQ&S>I$`JI;1+q+E^*Z7D?hR6x&s|tRc~!3Fanc@9AJ#VVNQ^`i?I{X1BUj_fKa)^ z0je--7!nmkK9B>}QR$B$q8f|x_DBZK_8>lPMRyb55t7d<*t)tmkK)9(2Hw9NqiwZ8<&!*v~EQH>yG2%Ou zGl%LGyWvH6bBRelb0}TKy|qU)*dOewpjJ#VO9Pu~84M^KElvw0w2_Iv9kwjSKDUE9 z#uFH(XK1Uu-{v7^XxI#XIk3hybkGe0vQM_{1ErbouCOi(svd5)zqR*z+B$3_BLebR z1}*`i{!%D(LjNPhaBNhabjaECKd^3fA@+aprwJZ&ilqiz{1wQ3(YAeEbj&@iV?s{V+EC#>6wY)iiaT+59<|D z%S;caZTH?7&|+n5^2C(BNTJ{^ZZ9(LS%kI<6G_{A{yIc~8w3s4Yi8#z*)jj<%)mLp z^FFi4V{YR8vnLzjAeqD9@HcCums%%G-iJ)&y2;l1hFj49kP^Wx5H!1}aiQxoIW zq;Llm@0Xu>sH&nS++C5xxPWbuQSnvl#5Q`Ml}t*F;%;bCjnvel;=GXG^>q}Gw-^Nv6f6@i$J0T zS@N|86o9gcH+}9T(y(4dOVzFc&6dS};%zjTs#?(7=n5EzphScpI+IcK#^DUq4c6sp z5O$5EgkPi{Xx88OI+Q|51GKf zmO1`E$f9ux&r0?e%F-!t@>PrtKt#FPA=Fa(bS=q|ZMMPkVyVXQ|4%1p9Tnxa{_&xu zl@0*`rAt9NMY=^ghDLIbkQo|5K%|uJ?(XiAZjg|W2I=nKc0|~%WAy_DRD z?lQ0y1GEF2;0P4@JvXfcj%ezy-JJlsI(_^}+Q}(uaomgi$O3&$2zkeE_u8CMzN1Mh z`lgZjtcMfL6w2$u$4Way@!!`0;UrTm^CX8)eJ-ux)^61lNrH!1^rL3g=V+_=KNMINYB(h6sC90N1+oU8|Bq zcYk#y8`YiB%7Q(yk2>swuc@@HeAA^PMhgVVabxoZcIRF7;}L9hE6Ek}e0t1v%{Gj|8XVpN2;T8>lFyD~Qg; zxQeM5v5ZVWG73Ls&GFcrTZ5br-f{IcSah_bWKWhV4=C!?cx*aQYlFz5K%cL-M|5Sj z^lSO!(=lsmf`r}X2#hsjqlTD(Jz6Vu_tM=&K)AuQtsIxmVUCZb?E`d!+G2OXr1L83 zH5NB;C~E3xNFSVE7BciW;AcqahX?F^A`jO>`VKEE#BAUWJ-rl2_@LWPlC_C(C!I*V z=x&rAU)AR4xBiY(9z+jw)W=Ab*lU@#Fl}$JPIm3Th1XSirmDMPpP;dNLmu0H`GmPA zs#3igxrkt{P?jcsS;YD+b7AX4SA1ThL2<`JJZ23kp{3fm^0f0y8`jX(LVY}8A-8Iq zfma=guX3yrcRLb>6N^pijv~q<@WL(!Kl+$Aoq}k$QfeOkaHAY70UQ=sI8{>9Q!QS=|}v^;iy{c(Q5)D#gkv zq)D>ks^$zaGGR4&64epAxG>iis1k8~JRG*VytRJph9#GSzSvDsp}!KJ)`>9pXp1>* zA}CLAJBq{9GE4*0c>#Mv;XhDkWOfn-OA-9$9hN9x;|BN7Lr@5x3tX)cEt z+EG-06THKK*tI!$lrDWwr0#6-wRhN?Rmo41c6Ns`$?+e_j_Q@lAnOSuOBy+=66%QV z<_rf^#jd-@7#}o-B8QSk^S*eY+RlwxNnsH$SZ!_dlogm*%vY$MTv@1#7zr#l1fnR zrLP=zn7a2yZ13td8s0+k*(bMT1ut>17TNGH?4x7 zpwf)0%p^}%KuDrSF17uYcB=5V@4f6>`w-sTUHA019^HIz%N}*s$3fq0DLly+vkV_o z&IZw=KOb`@o2`l*iJrx5e#k1-9DF3f@>SO%?rsc8j}H1=L40Hx51;r=1+VV5ko7vt z{3B^&5x}fs*O440xDp3P_*lXH0Z1AI4zMe8naN()qZA2nf^fK_Q#E(H%BRgnPg6DqG&P#e1 z%i$g;k+UlTmU>j|w1z2oq#B(iUi9r<)Nuf-$~$n%&DBYKBZk*>qb7gvN`yr9+4tR| zL1U9M0u3X_tU3Io9;#DT?XaQG#xQeoO0K{9 z2Akx)VAa8Yop*dr20>sNA(}O`hECE#i3E(1Tz}?n)nC6AwS% z;6;hdR6n%+&Ref?Q(L!qA@GHur)sU&AbROnoub9C!x7)oCaw9DH)n1%Aly&OcV5$4 z)GEAkuetE;R0`)a^Oj@?Qc|e=%+BAx6f@sma~QjfIX$f-k}n|3V;>MVTlbKeR}{hD zj1H1AQ~)=nO&9FBHL1t9CGG-INUO!*&u>NkC^S_fT_QYi7@>$;;f9Ud-$C}|f#f5f z91OWP2xzKnT19*xa;Apq%r6>(DJGLb86!#}E;6Q*%H5YxwHz($6p!nO`T9N47XwO3 zf<90{avZUja}|6h$YM4hu$MBf(Ts4J&h0MEJCx8M+|Aw^gF~S$3#MMi?^DyC#wT19 zQPgdLes4{CRy7HE#=RL%;1Ft&(^?I{V#q9T(XvbGDwyfPsuGVv?=4I>gLi=qNo-fr zsseqM#2r=aC@Nya1m|G+a$7)5Ix))uT>pnMq|UQ82K^M>Sbi+Kwln48gk+{{%eN(J z0=xEy`RAsEbM+a?b7@14#t?9qrnn`PqUXsC0NniK^ZBip8n7^bl%t_qFsSK-6m{+>*TN+zQu?+HhmfqQt;9k16SONWQM^kM9Ah=m| zQ(|br3ja-11#JbHe8f~GN-puBGlcd%Hgdz30R}t=5gkqOpm^r;+ZtrF2>&A*QK8rj zPva-ExT>183hI#F({Z&}C=Z7=W>pt zn~i-^3*9D;-7V+xsTI}A#?Pjvotm=^($TTbpO!Z&#lnx*EXdvM?yP5NcEx-72oO-j z+Yz-_z8G>E=A-?b90d!2c%oFZ3hG11n=QjQTMyrd~ciVn241pqwC4@!RrX1vcx*sCXR&Jp|`7n zu?Sh(_o^&>xJvznk=ojn)?dtcP&6T0HAti&bvzF?qU1ANc5S zy(@bmMjap?nfR#8#c-^d;grA^Egdtn`_WxstzL&d9z!ttT->W!%QgM)Bmcge-0o@Sd&??>J%ld+IVPjjh&cM>+DB8 zQZJLFbH@vQgO&g*d6IhGb}!zUI3BauL679?oD?h0yjifczsy%#UIcx4;^yqq1UvciFuH zP5aZRjXdA35T8BdU97jmQ`bsWR*2*-yV}SE9wf#2x&y}n{)<2=&}r?X1`nKMfEc}u z=Stat;ZwiR9lrA$iadYigf4LrhQ|ZidaAAyM6w)6bC#|f?Bv@j$YJu}3^iKjJle{(hgcer`BQ z#V1o)BSEwc*j_>^xmXoYB@*+sZ{JA-tLwnw;gitp@p7_FZq_8v9DdIVsj0n<{@{k^ z3VYoBv1l_3*0r3|Q}V!FCiJk5IygvefNY_SdTh2pS}J)VTx^7^4qqa@!h;uc4Q1Kg zR>P}#!L*op(!I|x+H;w~#+twZWjmSm`B&gb1(8hhk!$KjlwN5SNu z?Dz0^1>dHF-VKMdbqtl8Jv%!~{>;a6YU$@fymmdiuX}t!ihj|2cp16=MsB3XZyD^6 zu@L?Z;j-jQ(yTm>H^bi1ILK_PT+b(K<%>&Uar^Ng-nx?2tbuU|oGj=?HW!g2T4l{} z(|NZCul2q%xK{oC2hAYedenE*U!J6z%R|23T@tsi&OIKuIXf6Y8n~%wZX7GTNp_3N zrYIZ>hJRMqF(GiY=niZw^W?b)oPHj4c~T2Z4m<&s7FsQ@Q-Bg9fL}kiPE_1=w?g0o zer@9Fn&5n0NXj;c%0LWhi|k&m5NOx%+Pwr+-kKn`#0!umL^m<-ZSqO;&%jH z!CxW4H*u~fWY^B;3!6iPtb4WP5 z_VYj0f3~lb78ic*Q=*e$X6Wx7C{=kf%C7iAvQMU8p{rM>QiXw8YNTATq;j$3b^m}& zk1V!4^Ioq^PvznZMPWZW#D@gor;k=LrWn={Xv3w+hMwPKkfSZhva^;Pw+PH71K0=6|CPj?|P*y zBeQo?>kBV)cM8<+7Ah^QhsYSC6Whttkg(9n-1c{4wb``o`Q`Pe9=vFRKf2iF3-C zg`-5(DOf>0XH>+yh_;Faz`;}q)>Ipg&VahVg$M+jkg-|}`Fp>AFE{PE<{crX95p?X zUi(e+9eBYPWYs|rmZ7c(W0-v+_;gw8#s)~Z8et=3M#qYM`Al^FXAOurOx}zO{FKA} z$P+smmpSjqP$YO?P9g`ge`NssX!e?#Mb#k-9-hv8N!XTi40^5lmD0DOaRPH1HLh=l zULIbDiKpPQ*vJ{wom?|X!PrY)|I*gT9m`U-&j%5tDq9^6A(u;?2G)-HQ|MF$cSuFK zXa((J1?@V{8OFsa4mT>+1?FR zDd+BpesDPj<0#V8D9oHD=pnI_u!6GzdMWpTOW-T z(gt*?@IaT%{a=@i70Afg^0}FzJ=Ake-xl)YNQPWUv$;1Lp4iC&{=$|aPG}bK=p?4S z5}lQ)jscDYajJpA^x4H!bcOxFd{eD&4>NY6oA8b`>J^7-6As$vK$DUyaKZecQybF# z4V^P^+D#+TgH6qPtUamN4}!I5ErVLZ2V@E|6bx$yaVOr0BRqw;g@z}OnIl7@x^U-S z?2}Or&>KrPT2&^QX$seiX1P@RtnvF#K-lNt25XKh;M?=kQo4$)*gcWTk*v!?)OkZQ zi6gs--9jy6d>_}Ok9Ax{U7xCr`@faxCyk5o(f_FR&LP26eJ$X1SDLXjT(t_-3CT2p z5ozi*%ozD-pbe!!$7Tr{KkUhV?gM{}k(|Dr#gEa^2`a{dID*`{H`Wou8OQPOzjDO-`0|AsWXFjVV0aaH@90KK=cj zQ-tqYh~B%aU!;{}EP=0#1ee+9dM2d_U6m`w*goZPWh-q5>1ZZ(8BI2GWvHu!P*W1%8#{`#y`k7vCptlsd(G{U8?#lGa zm8(1pRW9inC>_EEm=AXjBEjrn@#MLe8c;!Q(4dFL&!PTP)N^PHs5QvW-po+h!N$hc z*v{@>Ex!M?vMyQKfgVpR+)FB2~U?@UW8A9X1@6^eI?2YaIAF6s-rI@k)uI3qz+P~+LVO&B96Glz2 zO=*e(RD~Wi{_-^Xb1s!-MMeL2F{sC{-~3L?9mdJ!)yXv!K==lAF6_Eu&|nGEz)%4A_4kww8R^ ze=o6DVS<9CFvHeFWh#{k?P)iIy66)9D%H`<+6d%m_h-(Luc~90B8lgk2o%|?Vt@Wp zc;-c>HM*PZx_Ia-lag|5tC5(XI|NB>XGhb4KtDy|%nXVLA$I)&t~*d+L_SN`}G7(V3b_8eJ1JsmgD)Z69ulT-}vyt2k`3 z>@H~3L#(yUouLaXm`6yQ_sd*DbiC~AO}E_y9>`x&jpcOZr&z>Pkvh0tu;$y9hbHeR z5+b>{b$3w(EXIVEQ~cVabkTOtOExAm)|aOv1s`9)m#M6 z_IXYYcye2phnMVk0}|H96yD=lbhN3lykFYhGEIw8L*=Gom<=_%5q5+loOK zx#c_WmyES~K7;bnUnu!5<2CR_eF<+Avmtq2+dx>5EeR26HQsbvlA^c^ig(%a_~utp zyxGsDp^MDCJWuPgp~>AsLCse%;Lcdro=DV!Z2+ESdxyD|@i;FUX?Ko1-_-G2<;ml3 zJpGaYV7j_?eoa*iJXS7q!qBSHj6Ataa+RQ$fR9GNY!Yb;hq%RB(842emctIV04q<3 z0@y}3@txo~9JWWrAQ^nnkmDN50#XRdS5$7m2Dw>y8!vl)OqD!A7Rnopk;fYzW4?k9 z@SR-2#0OO~UxU@xa)fbQxCP=i5d{aIvzdvKDh6W!ihy3_xBCczrcz+zyXPi`?Ep=IjdFtf~}TrNf$3+Nq^Q(ungGR(}u(&0fsQ!ld zPh|!y7PcO^#UiWy2Kx`y0W1|ZkH4j+{f-Kg)x*+Y^YB~R6KE;(b87z_%)e&kurSy} w`WDvkJJ^3tt6|}=sqZb^3|bWaR0@*_E6N~2pA|p62Z#X%&>db}=f}JM1AVwowg3PC literal 0 HcmV?d00001 diff --git a/simscape_subsystems/index.org b/simscape_subsystems/index.org index 66fa113..3504e9d 100644 --- a/simscape_subsystems/index.org +++ b/simscape_subsystems/index.org @@ -101,15 +101,15 @@ This Matlab function is accessible [[file:../src/initializeInputs.m][here]]. *** Initialize Parameters #+begin_src matlab - %% Set Sampling Time - Ts = args.Ts; - Tmax = args.Tmax; + %% Set Sampling Time + Ts = args.Ts; + Tmax = args.Tmax; - %% Low Pass Filter to filter out the references - s = zpk('s'); - w0 = 2*pi*10; - xi = 1; - H_lpf = 1/(1 + 2*xi/w0*s + s^2/w0^2); + %% Low Pass Filter to filter out the references + s = zpk('s'); + w0 = 2*pi*10; + xi = 1; + H_lpf = 1/(1 + 2*xi/w0*s + s^2/w0^2); #+end_src *** Translation Stage @@ -462,6 +462,66 @@ We define some parameters that will be used in the algorithm. save('mat/nass_disturbances.mat', 'Dwx', 'Dwy', 'Dwz', 'Fty_x', 'Fty_z', 'Frz_z', 'Fd', 'Ts', 't'); #+end_src +** Z-Axis Geophone +:PROPERTIES: +:header-args:matlab+: :tangle ../src/initializeZAxisGeophone.m +:header-args:matlab+: :comments none :mkdirp yes :eval no +:END: +<> + +This Matlab function is accessible [[file:../src/initializeZAxisGeophone.m][here]]. + +#+begin_src matlab + function [geophone] = initializeZAxisGeophone(args) + arguments + args.mass (1,1) double {mustBeNumeric, mustBePositive} = 1e-3 % [kg] + args.freq (1,1) double {mustBeNumeric, mustBePositive} = 1 % [Hz] + end + + %% + geophone.m = args.mass; + + %% The Stiffness is set to have the damping resonance frequency + geophone.k = geophone.m * (2*pi*args.freq)^2; + + %% We set the damping value to have critical damping + geophone.c = 2*sqrt(geophone.m * geophone.k); + + %% Save + save('./mat/geophone_z_axis.mat', 'geophone'); + end +#+end_src + +** Z-Axis Accelerometer +:PROPERTIES: +:header-args:matlab+: :tangle ../src/initializeZAxisAccelerometer.m +:header-args:matlab+: :comments none :mkdirp yes :eval no +:END: +<> + +This Matlab function is accessible [[file:../src/initializeZAxisAccelerometer.m][here]]. + +#+begin_src matlab + function [accelerometer] = initializeZAxisAccelerometer(args) + arguments + args.mass (1,1) double {mustBeNumeric, mustBePositive} = 1e-3 % [kg] + args.freq (1,1) double {mustBeNumeric, mustBePositive} = 5e2 % [Hz] + end + + %% + accelerometer.m = args.mass; + + %% The Stiffness is set to have the damping resonance frequency + accelerometer.k = accelerometer.m * (2*pi*args.freq)^2; + + %% We set the damping value to have critical damping + accelerometer.c = 2*sqrt(accelerometer.m * accelerometer.k); + + %% Save + save('./mat/accelerometer_z_axis.mat', 'accelerometer'); + end +#+end_src + * Initialize Elements :PROPERTIES: :ID: a0819dea-8d7a-4d55-b961-2b2ca2312344 @@ -1311,21 +1371,22 @@ This Matlab function is accessible [[file:../src/initializeSample.m][here]]. #+begin_src matlab function [sample] = initializeSample(sample) arguments - sample.radius (1,1) double {mustBeNumeric, mustBePositive} = 100 - sample.height (1,1) double {mustBeNumeric, mustBePositive} = 300 - sample.mass (1,1) double {mustBeNumeric, mustBePositive} = 50 - sample.offset (1,1) double {mustBeNumeric} = 0 + sample.radius (1,1) double {mustBeNumeric, mustBePositive} = 100 % [mm] + sample.height (1,1) double {mustBeNumeric, mustBePositive} = 300 % [mm] + sample.mass (1,1) double {mustBeNumeric, mustBePositive} = 50 % [kg] + sample.freq (1,1) double {mustBeNumeric, mustBePositive} = 100 % [Hz] + sample.offset (1,1) double {mustBeNumeric} = 0 % [mm] sample.color (1,3) double {mustBeNumeric} = [0.45, 0.45, 0.45] end %% - sample.k.x = 1e8; + sample.k.x = sample.mass * (2*pi * sample.freq)^2; sample.c.x = 0.1*sqrt(sample.k.x*sample.mass); - sample.k.y = 1e8; + sample.k.y = sample.mass * (2*pi * sample.freq)^2; sample.c.y = 0.1*sqrt(sample.k.y*sample.mass); - sample.k.z = 1e8; + sample.k.z = sample.mass * (2*pi * sample.freq)^2; sample.c.z = 0.1*sqrt(sample.k.z*sample.mass); %% Save diff --git a/simscape_subsystems/nano_hexapod_F.slx b/simscape_subsystems/nano_hexapod_F.slx index f43012551824d05c6e5d91fc2f9002f71c6029d8..6332b660a26eade626a4665c99ba6e49779bacb0 100644 GIT binary patch delta 17742 zcma&OWmH^Ew>8?hI|L05!JXg|+}+*X-5YmzcXxM!TL^B!-Q9zKB+q%yJ?FjSyW{qs zwf3qtXW8DPd)Mr$x=PUgYET3@NicA90000DV3cR5L!bu*`>+jspgABgAC8=v#=|%L zgaa@Nptfv3A^Iyd!Ub)Sqod_AoqWTW6s)T0-$RGmi)y(b&DHNZPe*fufl%xRcIR6T z1$SvF6EKN%g`p@{Uc0_}Ow>a71&dBQba4d;7}&H$zF4feaSbxWDnU|IZVL6F#;{Y- ztf-tu%8`geN<>5HpM4e2)Prhwb*N;bc*^lqfr;KTcy^o5a6fyeB5}es1zXbbruEY5 zM(a7t>zPNef>GI_3mC7U-xjX>STMA@7~?T5z`{=|wxiP$O|_-U+pD`g7LKfZ{5M)+ z=+_k21RARhe4pOrz}l3g^JBQy%)q$&QtVg~k_6e;oG{?c4(j>~q7v9dl`<_;(DFM?c@d#>xvk>1; z&{Aj=fEdfH9c^N4I8JvMnc*&TsL$p%)#rhYw+x}9j?bIg!!dFj9RwsPULgN#Cgf^l z+H{6K=0y|)0Qmf26Cxna{!C4RC*<4TDe{5>1^MgvK}%!)ohu!p)>XHJMFK`3ABZ9d z2aEZIwL`SkO{XO-B>1|^&BfRZzsKgUh@uA*Zd;c0f91W!11iTU6jT#euP z<`3`oa8(ZL+)MZAqHRmWV-A3$@MHzenBM-2qm!(h!|XmpM$M+soCuuRK%`k?nKNWD zyTnQ=qF92=`kBr(T`IRB@RCxXyIB046i(l@zW?pXlxXW9>Gv490upGl#R^-?!d&M} z#vr(A(&V3vl>mpIWxH*o%s(h~k!Zf;-r1-6hdwfJ&pX)`>OrOzL3#?6?(~}PB ziS|cHr)on+evHitCi;H(=uqgragiLfsj&NrIfS?X7Mpv0n&nvT-h zdzAlapB*ljt+!R?xk>2=uWg_Xlv#GqktHT|y$mjkj8CeUmo0;7eXPW;g0j(uP2;1* z+oyw`mj|v|b^0<4Y-ieuLLK5!Kg02;fhxte=AX%{J=x4l{yLt5(ZuQ&lDwWPFaI%b z<(1R84Z%di|ICdX$@X6-ftBnQ@z3)lbIP+<4g~;w!%tu%Cjt_)q5E9aV2umvHm?~~ zs2m5$#UX!<6X3^oiEA#WVs^w@#qzZ9BwW(na6I+nA0i)Z);<%w;m4YErQ>zYn5c1; zjH~3wt=<)X+P||;_x-8dYwRAs;PQ4Bb5yfd!&xG**Wx`PF`n$5+MuB}`${Fwxztrx z+Y%VDvzt!4MGE}f0DCLu7@Mq)9_s>;5HxDv=E#ERH~hm+08tslJY`-**f-%B7NiM9 zkMGjeDnPDCEWutO?I_GA)|E=59Fln`+s4zQbQ8V!8n1T)Me<5yd81eYq6{jv703 z>~Jr8p^B2hk~RH1VHmNgt+i=VT_Gpt>IE*FmfhG&H%k4xRI>_PezII)MCbd>$XV2@ z7raQ-zBJPwqN_gG#Yx{cmDfX1&vE86dPmDc(lFZ1Rx5do3gLd0o0(~8^aL@0NIsx} z|M6QCHq;l$add|6*5)Q4C7X<{$OsLQyeKq!zXGSjkHl;qrt@Qm;lMwmiXLp4b0F4I zdT7nrY|Jw&I}xEIRFOV$pTOQ!>K2^7sHM@j%{syxDc!0AuCW{z`zE^v4ipD6Pz^5%0i^uz=8lLStPMCl` zZtBbiJMWb4GO0S`W}!=oKd_ho(q-l8csF-Y9FshCz2 z8Yi(0gjK#Am)LT?Vpyb!L#Gb1r#&s54sOI}Rsi#k&#Xx;{mfd%Qf6Gh!>a{`h>ESr znjxM^EuXM|1*yguzx~~v+ch!hi?g;(ziEDA>g5j}JZtH`K&r{91r3<);EM5^()?P6 zXRZ6+8x)P@i?j`o+f%90;5O9b0W~<@QvI{fF$<@B>!n?8zZK zQCd%@XqSSMyfT|0ZVA)}Ci@&6=Uro(g5&nO^JYN7@B?{z*S6HGKbpb%?E~kSO@P4| z5H?ErscwSj8Trw1ey){8@21=`671wM=Jv#YP?aEoTAc^Q=hD-ga@>A;|@wQcJ<*lyW_;0hm z?)UQ2oOColPmwB1J6=8zrAb#^Q3{bs0R^C4G;nFu4o}bQ-arQ-&2E}?Y?GAHREpPh z#0ZlLMOqpoYLOvRT!#(OTQzf$PK0Kw8?2IeU!E)oFHS$f@Z(8#V0lTd%P zJq*A1qj11upnrKLSU|%Qr39D&`#^>-2%B{UTP?{p9IY+Mk?-?=2%-Fjp?m=1d#k%U z(Meb3+3y#b`xC8KD_1#Ujhj0R0XcqT)TBAQ=wZ+|%|gf_*)Z1i)U9BEq276%H~_JwmQo-LM}nW$9Ok?BFe=$Vc=_{up+1qUY0m9Spxs!I^2>F@qqS)nGKtsXS5tJcEsEfl5h~? zAoUz~&~p67(M={Wpn!x0XbOS(5$cMP6zP6w%NT^jZ)IM68M*oWWwZM~zVLrz#U3uP0suP+ z3be#PZ^ad{`}6l_O0Az=n#>(AhuYV{TdK%?G|I>nKaEUGE!fDcK-%NTbj4*x7G5t~ zI*O93QhegbID#{m5e%hTo-$|Y4>)97WC-3SXSuPw@3#kH`f?uTyp3&lgJ#Y4Ly-6` zXlI`nC)VHbUiU7U(%pOA-3SI9*@T5f2^K1Vc(2ARoS8Hi@ipSd<5#wa4=2-}uII0v zZ1#Mf4J|P?r!tE4J}G=&7l(^04T}?7z0O6yJEpqeI(LrdB;!{O2c$bU@_#GV+m)=Z z%cCz)OVRlNamO(ksbav}U)%Zj)(trVg6n6^w$|JpN-uY+_(aK)yoK2?gv(O81XRL+ zuW70^v!sJ%Imm4RzKODOWzWyS1~$hAC`bKq*r*r8>FvD(l8QztLRtrIbGoQA1m+f?$lJ-?b`yUVpP*#mSGTiK@6iA4>C) zjXkc%S+j>5TTYZq%QWQ&DSJ!T(I__!4XGW2*t2NLD3ZPmrCzf$b%3!M7Fx#?T&)a12AV1t685;4EBrH`Cdt*wrkAzE8m~i1$kCUDdVTQAG(%C z7n$pkPd~q2bVDBDTHSQ>7TUTgPZ8c1Qm?JPiJWXt#we?pq4Y4UIb_S7wIb)?0>_pxk)k7Br~4YbH34?aXpQ$97*^D2i(kei+`5Oj$LB|V58m-1s9802z702VbecM>K3D>;iwMk{ z2qH(1h6=a+K`BbU*1C&eAZ2=OX^UKkR~IE7hwxhu(ib?}A2jdhqZz2uQw53_VQT#B zDX|RiWN2;NMI0hx$u^tsi(E+4^-+mkZ9H2^-A+5QV-OVs;>gl`TQNp-k8s7Ug_}Rb z#V|w*TyUP@DrZQerdQ+2mCx|yi&iLLWwiFqL@RvSrPv{4wh!Uzfkq1igW;q2yQX7y z>8=i;`$)E369iG@dnLMpETr^nfj66D#<5Q=F?9zM>mno4De}YL63{q=29rUsS*$J; z&`0f5)gYTr$R_ElC+Y3VUi3XhZGr>RKZ~gN2oyt2BTc?`6|iXhti#I(_}UkN0O%1F6JFp6zQ-Y*7gPeh zNj}Xqq`$g%bvAeRg6?wOfuiRj8E^f4^2(CRbh7FJZ9z0ow7ql`4!cWtHRUHEq+yu*YIh@kBdIAz zhFHOy894tgc|WeWVxZ#Uz|a*eRd4L4ck`+vuo)Libs%}d&8##;y6_kmcktUw3x9fl zKqd20{-nkR(gsi7628f_4j8id)x#GXPVb*84CDqx5DiB@pM-3hkJ-3>bY5DY@)_Mi z<7|%Y8#`5%nhk1Ghu1L}QmRwm(Gj9xrN`=%wChrPv`4PNZ_!gpW(fdBOfL-ooG zYohw_Pzf}4Iy=G->kb^GAm88$e+3sOq5%3Cocg~1LOtpufN~G@#PEPdD9WEHB}IK` z5vAvjKIjvjG(p?_@lvvK7%(=p?|!twKp*HY;QyMx@hi1#%07B;geXl9Aj|t0F?%Q( z`sA)sJ!lO^n<_@!+fWC=j7r*{Wy_df1=_Ye#{(>s8;a<%JFd&a8@egV$2OSw4Qo?6 zEqC@3t{wm`w;rj)8BLJv)~Bpi3zq#el_#Cf@HV9pI^05om9u5#7XsStPv@FqR?j9~ z|HBCci6orW8T0*GaTHY9Ot&M1+&7 z_UAy}y!(U03p3vLxlbFwINl3_BehvMvC-%2?%E3H3Ql1!VWbNTZ*@6AKM zD`H^0HcIbpL@5qwvc?I&ZI|*-M{~Mx*9v%n2>9WT}$C0c)FpY%#ff4k|-mZ}&k{=_o@bA|XVGVALfFLPmZr?4$rG zqDnsvTU7fRay9cqjR^(x@?UF4`(vOS=B6jlYJt9YBFeGE8z%Zz-jywC;Y4_zt{l+@fwDQW_HQdO&-&Z8d(Pp6?MplD7o(_oAV|lrH@)$pfms=u^ka zQ_(@O{2&j_e@u%Iw*bdRFUC{I&2xuF2LYHur;-^6Szwha7cd6<`$uGqOr?K=3>qy{ zmBPu=4mNW+VzbIo=HgzVq7b0>)RkW_UX%Dx+m*I?0s!_6l|OxTQvRd%vka$`-X< z%aN02h?+#FrZqW8NLdw ze1+Y{)bMY#DN8xo?sUAx!c^67Qlz7A0y)XQnQaqkc02=}MIb44DZhQEW^?=eOcDL& z@v@5vo9*%7b2ttQ`U&{{z$dm=%$GDs7n2B?*RYX}zkZnlNt*`rU^Qd9nu<*uEq!>7 zJ$_ve@rY{2ON3ndW^RUG8BA+CvZILNHn}lq`Do-PN8qZlH+a%fn;DN=HInAY5mCUA z)zv9+kcV0FJww^!1XA%-iDzj!O}D%tSt8D$3IoHcFw)#%tGjR*&~y_>Hl_^wtpR9jiNc+xqv0sIC4Dg0Mtf=WT@ zUnUvXxKT2l`ceD9PEdR-EYo*VKhYx;T$rm~*-IapW?~{>VmEZ>X%EiZr>o#>d6X&BL56>mDBuMk=^% zxFFJT`$+llVC#yK>}SoHW937V>!eh^k<2Sypc|)8f+9@fPzz)M3Uu76` z%})Y|l0(5T1J6YXE<&N}40$zb>(LSG%L2;-1olM`p~D+S63-lmHA;5`iQ&s8c z27>Z1nj%S3luAr|QHn86vcPciH?D;P$s#O8bOHrV!SH_pWC5H&|2TFMp#Qpntjo`{ zAMbYjPX@ohInJJl(ZUyJg2~Y+GICWmV5#Ocr(y1}5&nSzvZmBv4#9KLd}RQfApbZN z%1|F};Qj}>?-97N=d_o9p@%mLEX(_to1Q?P+uFC;LLJvyAdL$VAv*ZHpBz8{1R8=6 z-S;0yM*P2BLiF#30^byMZch;7kMD#jri3cWnP>`fIc`J!*GE$4upw}E(!pafHfE0&cc?x{3 zNCqj`PX&4?pv%ENz@UE+e^@@8%=rIydnmjnBL#M}1L#BKV-;Ek$hDpC$EEcQ+yPmYe8F%>!JLvKejp zowT}v!T9}!?02Xedyux4cjRJp;QXc^ze~bGRJ^KH)hk@Lf{>0#?y3C=vzJslj9a!C zv6wGDzrG@kS_B!Fmd}OJUza@;JRKA8S>M-2Ik)BYv1k|eRS`qr9?ySGzKv-n*^Q~s zJhQN-**_~tX}1>Et{@FbOh0KJNN!8WXMXSoqDv&%f*oE{S(`|eVH*kf(8y7BrM(Sb zW#tUH!)M-vzS!l~nRE z;|h(u)-GZilYXeXsjSQO_PM(?d@;R$jYjnTtEx4JjifVMrj8BHvn=UPA>!`d0P5!$ z;3>rzKH>E5^PXqag#=mJ@7Af`>56G{HoH_?rDt<1o@(uI559dd)1*UcpIGV#t3}Z3 zu-5E=YGwtjoIU}XL9E~;z_hc}TmfS+X2 z^!~|hv9^5ZX-3q`&?e~l>TCVY93ZpuCw@WrYkj&hL%EU1>|P3TwV0Ac*-@`m8;>;Z zXI|N22xyPB?+QJ%4KAQ%=?=sOZ1qzjWGjLl?&dvW-`VGJan+!efc<2{o-^VELS7DN z;^%lCn$?Ne1btoxVEs@1ibT>0yEGZ=^!NcK%|cSY1k%jo4c1>i#bz0;kqR!1Ob|D_ z20-00;&k4pSy}cFl{dC?s;-1oJVFkBhi^%Uv058U#3`1DwQj+Kqs)L1X8YDTGmrJu zmD(I(6V#98R1?(jHVoMI;Q&9I+1vwhDbY9Xu<^E9Wd4V0ps!7wB4p>9gew1dJOVAijVnx=nFycoJ$#rhRW7;GQ%CqgPN z1Dl?Wy>`#4ZySgs*nTw|E6e`+>zF0<{`&UbAE4@@S^pZkID>1lg^+ce1^D%|J+S;= zY)dPhp3Ohl#SEM`qtS-Vww9cLz;)e^c4`;OYiSEIv{=E$w+HgYV@F+;PidaG9EE#zF!+Dt=}TN!dN$f1w^f(0<6|%77Ji` zLQ3I=m)I;b=e}Mm5yU@+0_X@ur?DTzfCDstO3hFz!0&Tqc*mneTkVX?#D6_R< zM&E@QWq<})BcvI^6izPd1-6x$wU_JE6A-)e_VD&)X6J725u;ix?vAnRT>e1oK`qqq z2%5LMxk;5|tS?7O6cPzH6YrN$qaqJ|4No7m% zfyGI4;zB01b72!XFv`|Hyjk3c%= zU~H~7eHP^eCU{fH;v#+alH#YY@ZR4v4oJz$r3&pC6VTgG`sGVLO32Sw7;b4lW!>z% zEitqUibm#*L}5*Uo0(%Fnoc+9`$TN(-CqTE3h_%1xKEop`=Cuy!l{o85#Vuv+0XsB z-KP;rTgP1Qid@F@IgGlDkveLT2V!~5N;&vN;(=^aK6Sha`tqy%Mw01089{=Xz0+XU zWd)h;M?=q*CJ=2?ON%VIAa5bKiU|*uMp_sm-}=3-2YPnbihc5xm8s2rWmQC4HlWOu zOI!RMS=Y@Jarb1Ge|aB_kg+Q{{DD+A;)g=Uk|bZNYVXbnmPTb* z*F8SK+CoH!G-_ziYHlB89SR)lUlh_3RnhXs-M*HiM_Ek9>v&QbqC=`gwKpzF|DIGg zrq9o0zob)E-&q#v-xWTVR~Fi8D85s^!caZbwolAVhbx;hXiQ7kB|#nTK%>55u~J(# zQY0RuxnQwa(MTLqJc{^1Zdpx!ZB~9tTwD(+U9%m|ola%FX3efA4LqFwh1F)DZH#NE zx;u@xR9B0!1N%80Tvc#j?MFM|wQ2n?k+q@vsoD&k0E74udt5pJOb(VPw78@J!($|{64Yd03{!)diTDQkvWl~|oY40o1K%hgd3 z>O1)OQs2qT*h)5(fQN5Sh{N>qIMZuUvj&3RJaGa$$w*7X3|Bso>(6Di+^k$`<;z-t zkN3>gGPVbS!eZP)9lZ8G@0w#CC%mVhv#R;3v%&}0+enJ?w|6qhys@iMT2%G6pH8<3(+Hb5V6bxd@nw+JrtOZGd&2@FZoOFN584oNB&n*X2 zH8)eDuB?9KSz4Mg8Q>x|HLI`f*dni>hFLeEJkMp&=fJi#=rT>;nM^nIUmjP)4aPc2 zb18p=O9-00+X^ErWuk;=N8euEO|mX%O9C%(x$1if`86@8YQ;t)}duuI$v## zN}Dj~9M1&u97WPi1QQ)<_m9ZFU=?Nv3(nxJ_mNQKd3ln7MB+?Xwk5dG{79I8Udo!IR|NIVsfzsZS|`DKk+YU zbqGaR%LWI;GCcb&58gmkDvOoPS;$uCkED`90)uq1c0hpD+bIAs7u=7;0bTC8}nqzS+ar;$@O59ax zi1OK(CURrfQ41u91Q*Cc$9YZrB05ofnVJKN$oDa4r3J3_3@0Fg#cJ!Q`tHQ+OO9it zDY;}pKYND)5#FTM%4i)*(sn(F+Q^c%#Bi;CE^JQDr7aVi0@KB9FydndEJI7j5e4 z!Z8e@blGyUkti2I^pfI)USdb%njGHN%e|uNn8{iNTvUh_^hC!EKCJBb*b?o2SEHksO zg88FK0xjm3h4{6!u;U_929pfNAhmJBDssuX6$h}&WLWJ^9esRq)f^|zry@H@6UKj5 z=W*)`%Y7-{ZG}bBvKtQ)rlsvx_T!)!tC0es9&-Kxq1&_$89jQ+xDw z{afJGw5J2+H2i_v(m-d^!?G%vD3xibgrgAFH6^jsxuvYN&e*4N$L)knf9fnFa>08X z1`#UGecHM53w`r>UH_0R1^>-iEX#Y2tQuN$Ch>2f)?%@eRyP{+dsh7%FzW{v^70o} z+B|7<_)DHkjRzH9Xw-h#BSynLJMy3Ly|@C4x=45~Kl3d5&~T)2Kurg^YjK+KsYyU~ zUW?;%4&s-tf!O+4F)Rxx zC^A1{C^C=oc~|Hg$qs)HGdxby1%(-&>X)&eZv|2+)J(sf;@P47icQhK;`C)4up#0q zXADH)l*`I!j~G9B$lDk6wiz}uxg2iFSBTcCn>?BLeMGj(yQZp5V>MKm{bx-KTxahuM|!ka3Ew-ZcatYS^EcjnFFf zL>JDh)+ZRX*1I#mrAwMnF$JG~q0;=kZq!9K%}OHd3W$#WjZh47jel!QArrq(cXcskvCP z*5SiDyyKDF{$;P(MYBNd*AJdj!5vj;#HAe|X(;7NCcVW2Ptj_$E94Q}TLjU&C)Zm< z+py$o7|1PDx*uc!|2+$u&KhxXeXN>PoXt2sa&$x6&U_3oW7s;?Y zlI`PtK3()v94KLsahh5BRyh&2tUzyVa26h&a`te5tR)fS8DjCyVZMC8+vCr8$Zc?Gv}QtWaA-ovUAxq z7S!C{bvRkm>eyQ=%`%+rbTlHdNo#;n{_{90}3}m&85+*!%e=X}b64F1V4X`O)5} z2M$3dhf)X03%w@qWN3_Oy05Tc0hOx3mKumeSYCbxA3^z)%ES_gHD@5#%1K6-fcuawKb9Hzrv0?eMgvIE3w`=$mA*4nn#VH;ai0 z)A1{Bp-1;ao=yQBRFS-k98LyQh5Z=rO^VISXvCKoI-Q?i;J{y7Z>Z>__o4lF?*g@= z$k;UEnJ@fnu<~b9RFAlCx940NBy898!n?}9XmUA9Isa0iRG?|j_di4b9tnL7Y-^uP z>S5d!v-bDNlnAl{X1tdmp0H!E9cNYqagoWu(e7RkuCONUR3`rqDVTl3TMER}=#P6NcVTmCu z)1l|~m%oJ0oLld@ght#$sT8@xaSLSpAK)U1KROJ6`$IYSr*R+3!JlFl?vGYFh!bC9&l?&gYzV_!l-+h0=6DlRX?xs}UjYqXG&7bxMZ4c4D%`3#R>vI*?HuQmcbb)4`;YdD>)wU@6-cjfxm)Ys zN22RbK~ST*OWk_xbez_m`>{ALJRG^@3UwF9^>;wxeX<6?9F7+6K98nDUI7NcI#7|! zkdbOn1i1lMzPT&|V8}@P+?W2_ekmDzX#-#Z`?5CCP(T&)#Hv4Nk&lprdEy7!2mHU# zhyNEeRMH>xH|uC9l_R+`za5Z}p^u8?KA;Am{{_YRzd$Er|3I0oKA`3ZSs(QR;}*h3ela7l}D3Rmsp4J4y5M%K?5L(cWDL zX>6InxNI?k=-G%g1u9*+E^UCJLXjehc_EX^l%?z$Yz-2CU2KWol)SRj-wL3(BSkh@ zbRB|mmN&0~ak7A_F|000O8 z9FS=$2&ioU@r4BeH266HY70W#pI|@WM7hKzAMmX1bb*WCGw?@T-&q6$6dyB>0jDc0 zkUcu>uz=?jh*Oy28Oa42%fo$!{I}}ghH>z^$f@^0+ zgh#ku;FHjzaIlwQE3OkvJ2{&PiW9A?;U|GbXA-b>NGF6toGI2^Oa4XQY7lL(_F~!B zmVc6WVn?;c4eM+jXpS-eq`gE_Cg&HNK#!CXmB)?ax!r8AAYVNmY>l$)FA~ z_5rr_`wQL|`T%#WVF{hPsQOondtmuj8_)KeW!^IUsp>;Kn)(or{;l^ zjU^GZZTarPwR2Cl&LzkW(+hP*rxJM8iGaz|chSXyW%(zzu?qu~Q+IZ3F{n<`GwH}q zv>6KnAa>)`h@0)whJfm#3P3BQ9l|C~538>wV6oEQ*siOfOr(6%v`DzOZr)Js*KLu&^n4UEWgQ^r8|;hV zgIw>AS(g2fx^xbMKpm(!1ty-U`uq*YnVe^_R}8g35mh9=(4MbAUVE38lx=K7%n+;Q zbF9*)lL83oW8(q*_t73nj-ou^fPbD4Um*x+0M?}MpQq-&fe7%+0FWyP=&{Ph1Dqaa zlz2k`R)B`iTHt_w?b|d603rflcU?^w1aJThva3$i(C>gUaXlC9JuN$yD@Mq!%kx=@wDClBSeU}06+{&ISIW^-nQF0(bqGb4|sW}$pNySen(aBe zW9DPnrD@HXdFwUJEkX5}H%ZjS!>~A`$n7XOWv_*6W+i>RTqz!PUz}~S_haEod zA6WZ+NL?szacO(j=)vnOv+*?uF&SYcVw&TRL?W$UUZ6^L&HYuW1@#lTxqIU8Na!cQ zklmx~;oJjy_x7r`(mFW>!`nM|Xh+60gBq>~t#uu7cl=tSP3~DWMz}h?-KmL^R2{fe z_do6KRmlnIWX+E`yU)``0-^BnCr-!eHMDgs;qLc-#|!AVKO@rD{1~-JgZs&(sjcUU z3kt`RIf0Yn?AJsaskiQl6%@1wvF;x<$UBkzDRmFQ6GQEAHx?@%^h6UI)qs9DUBVf? zE=gJ7a9_&2rLy5EU)3+jXTq+Kwlhimi;L4t&zjM|3hZsaf@z zPYca{8?1RHvugUDYqNDqC(3&ELc;>k&VK4A;x!*F&!UsgJJd{b5|AyC)C>EN@J1;a z#y#d6*F4-%JGO3t_K9OjFz!z_4$t-uH_gNbvxZ5k1&cB_U+Hc}e~X??JD>ehYfK7m zRb`UjC9|5zD)OG~;KM!A&AGN}8ALs7;x)nYvktxw)=SGjLdc7Xk|#j667i+|ee&# z83#SXKNv6nvbD0jllaR}=U2Z9u<-N>=QRXp_f8EHXJ9?I-*rlZ zAhZqo%({C6d}quirX^aj*`}OhiH1r((1>Ipr-X z2-h)imK9bWTQM{A;Fk+p|5A)sG%*=Lf7b3b>x>A`=6tnii%NmtZHQ)ygZOKNAL2UE=vtf?>B$*a9`T zXwQ6!*v&V*em9o2~HAr~-L-|iqD}wVCsua4q^q5Yik|8~- zgeur?+$j_0`Wsphy$T&+uwHJHz+dSnxqX1H9;mluUnR>Lf4!m&AqXF_9yg@209fsw zgddJ7B9ORl;Fhj2RSuM1jQ*r>x~kZ%Hex@!;`Z_i;Bhd=O?i4(sA@YPd7FoB=-a?M z#{rbMRt$M8yhsCXJQe+c$Dmy--*Fk+uEgM2rju-&St;pCJES{ML7RshfiRD?yJsj) z#rxJ#E%^timoDMlRfPvH-r$kt8KsD@B*($RBz)3Ew+JJQOGIvey$Qy_do zQR|@pAhQEmY#KZ2$gAB8NYh^(J*-_Ooi(`=IS7ZJl%GKRJMgz!aPes2A!sH18!A__ zJ%1Xy_JT}6w@b9~c9K*$9eP2pF4r)VFJVGH+=k`l;zXU$>Mq5qvgPXt?Neu`?%})*&n{4HPCj{sP*4ADF0oY~2y>K$o{hq|~it=m1i5 z(wTMvFw^#20nnFHIGEb0EBHC;Q`2;9wf_9LSDCeOfC*OVA&hN<)H^;>z!&P9L{DnC zprlXu2kS62tfp#;y@mJXrJaxt6+-8%&9oz5MV=x4_Xve6_Uq(-oJg?vaVUXt=7S{by#`2Lv@xOBHp#GBK$Kw8N3wJCos55jzEHoC4oFoV+0Px?(WXSzJY2gEZ z@)5=UUmSx337Z7C39Yg4e>sL@MgCgkIN86}AWrT-j{)e3WBc3o|K3M92lgMFZwa5` zDgMI0{hv*eX5veke6Uf(&_J&uHwWEa@%4uvR07?z5QwEv+_j?#s7q$@{z(vbodX(_ z**y96BweHgtvFef$+ly%#bhmTKq195gBXfoah;Q!CaZv5v~sdElS$WP!EWKnHz&)3 zg?KC9GMRV&T?EjGY9K}p^UQ9r-nK6B$up<$fEBa!Wb*_76($3*0uX}$ zFsy-qy$7gR39hieVDln>pl|{Z%L6e8Kom{|DHNWpHdP92qE@8#}3z!*o9Y delta 17454 zcmajH1yo$!vMt;=!QI^*fR~WRBkq21hT#;mMvkk} zK~%&f+$@IDJf=^9ktQ_4eznjbzjgaEnlCC{v)JSwIrZ5=O>`$I(jJ_>`6WlZKeiP1 zF3_LaJ-iRJui+P?!yyj$x*4`*xQcmBFDrGt$A`SCte7o6@++}PBE|h=9 z3)-He?uh{oB#jajP9e|WiW=QtjhDZ0sCIo274totrwe%$wb((ZR${#_OLoi-h( z5;!fMLyVTyqr;kKD%`ys;gTn;VbEP{sln))h2`c-onH_lE|;|&>_#Xk@_g+3Q}+St zKN_J_q0pq?_tq9kFaUt?&Dw&ZppM^L1M-G``P(8N7;vz^P5`Vt_TOF+C|Xc@fEI{9 z0<#2Jl)!k{txj#7q9Z+4#UsG{8-71MR&kc*=35fFB**80}iH(bdiu5SWqe=$Sf2Zp zsBoBIxr^=8uZ(WBh8WykzvH(-EZK%K09Z_vYgrf8W*{Jk10;O#Yd{IQMU{1ejNA9L zO^Y`yOsh=_F2swao99kFZ_WvuMH03tJM`wzWT>?2W_d=ST93Q9q;4&pFZSbg!$3z- zrTtM1Mq3P_%SWmL?_Y_0Z-w(K;ybhC((N-<38@=RQw|4LI2}FaXhEH-j8TUAFQ93x zcY5oOrB{5Y<)CxUuVuEPJ91nmT{j-&SA8be-^O%Xlqy}9vK_5MiV;sSF?9>*K-y+d z%MJLp?Q_5gXNRZTPn8+%D??G3(S-_JvJ_3(-}TT!D4@*HhW)!U*_H$Jy}F~xw5*2( zymX$y{KPPK~NC*DujS~6hUkAiNd4=?TJ(YiVs@Q`D00i(rTvVjMWljv=(+ZTU z*15q-u;ukeht0+hCAci;lqOF;cVsXld$$;2h+mK>E*XO=l~E z>}!GyV%3ngjqw%-2Q46Wuo zKOzA(!jeM7lnqq2j^D?-2#h6kg*N>73oUfXt}X{#3>5d*6bGw{m_M7d4LDIL)lG{^ zacanlTBINS^1=Vnb?bqL0d0Bf6yd0Dk@+=424nmVD zDw|DT_Cpq+t=q3&LEC2UG5t~NT4gAJ*QgYM*5y-oZl}~C{J|?LHL5$Mc#EDuT(7{W zaL~N&0=?_vQB-)Zu{k8-OLd;w_ff4Jb=0T>w@_9?fB&@l{3&=UBqKdaM*e~_dKB48 zJ_{qIzK+jAkR#Ft!2V8)ON*Y`ok(Lk=$y`rR2q-F>u~IeJ~{2|j&x^)_>zp;VQgVhx!~`$jgZrGWALhFZU3ehe>|)GsaYwIv9+hl0@{VroF8 z?{AHQiZJ*Rm=Khac_gj^!y{C_h59BGzK#w<5xEJ1I79(Y;ABl7*WFNk1en@A1ct`7 z?=MbrF}=b7Kbx@Y))~K!M`0|a;$6gK6h?xIi}BOfa<9~=q7n|TkuTE}gF0n)^{lS{4#HBa}svEK5ZvDNh$gr)3kv?9(Ys zW-{!_7UoQ8t=zE+P7kg8^JrdHQp;U=euvXrLM9BA`M0cz4I0(VF}Q76;+ajOb_cQy z9DL2VSIvB~1F#nkMD;0eSc`WJtuXB9+@e?r zhAj%tMB;O>ArK={_BI-hFM<2dOiKaU?;UW&&7FI#Y))(7(Pq_DuO?f^ZI2pX#rJb> z&Rt7_g}lXusPg{8X3Pr;>6QMTXV2MBl|P84%B&jxv{ajktIRMjPpp;22`INg(11~V zGu%t;asY-rIo2)@`>Y8Whr3P!LOgwx)T0&{Z0kh9X|rv9PhtHM!O>kMELU2$^CX@R z%YU`x)f+~0epD*W(cwo7yBzzYKIIYI+|_Pzlfxg)^zuY`lgLkSzhsmYmzv^Yb)-Ee z?EENM&9#1tVo0<)@9ZK*7)ev%y-YGp*YKHQmIKHO!5v2mSS;#xtjuOZfqq!dE-Qg5{l->s}~+R<%PV~ho6s+-CO6O$3bx6pl9Tx4@hhn0FdBD=$0GGaz9FW z#Ws*|zTOzzsG>v;!+$N#>2+^1CQ&kZN)^xALO+ccCpUONwZIui&g$eB)A6WVhze@> znJtgLb-!~q(K;2VmILPVw`toDX9gV4#Ht2E4262~ov3p;5x$bM&zsvMsIuCvfDHSI zYfi<0OsHmVhs$8Av}vTd&o*3msdxQr0K)?$ED);e-Sb`#n^wl~@O(vOkt6ze2K* z?>JQ&Fe>$?1B9(dSdaU~K4DtB=9#l4T(Wk(@Rd!DrVmT)m1x3!ZAfIWy@q)n zmeSbSKYQTYUna~HGLEawb9gNaqWx?whBIQ6!CPr z5peUX}J}ADC&eu@B11 z7bbYFEh3`vA{R{UnI`dkva*lkKmO$P>im?PSL%Kkf;}mkKGKSSN%-8Xy#u^s&YPTc zcg*sYW&;MliU8LlSH0L?i`uGg2eaCJF3{}b?+05pH@x~gRx(aMNrrIQ^sb4o`s`=P zQTe8>_7>?MzG6`mPd9O$-$rl!&^PkFe_VFwR8;bynE0K{Lw8FwjLVsj(c}C&2NVj* zItjp~D<+_6E~b%bJLagCK?BM?duCA4js+wP5C-Rahs*Huv144aB1cFOM~}olB%k-d z_xmQ1w&ZW}QeS%D+zoJh_5WzPjrg7giLRTSbE1Z#=P};6D~bbbk0d5`UWUgnQ|FVW zQtYB8jtOWpdD_^c7=DUN_~QA73?Os)9)=w3hzVc zXYDiF^TAl*aE}J)?6aN*`&~XRfBO2RcM_v}X4t~9B$1KfsI=K6t=agXWCkMMy*b5H z>duj+<$_vKA46{HH3aw~MZN0Xdl(`QN7xpX7qWgn6wxXvm_w**bCrBQGyDXEw!)$| znDEnlzHE!}Y?M}}FgioIo1SLgGbLU4^s)v-tRb!%eSJuI9w-ffu42|ZxH;j{Mjmf; z+#TKZ>bFegZQgB0$|DqHz@l7=_Ef5OL6t`X?n*8SsUU9&U_!R+b>!Bb3_!`b%Nc%piq7XD7r?T?@$B;JqdKe5=skWwITVyxK-wZBr)DG7)__gaC8JndXe8tD%}2aWOVbX-wgiK-F~yoR?$GK8X#s(h zzM;qaImImp|6UaJJB~BK#}6GitVM!t3WdJE5-v2DKePgAMA5OXv8nOn?{DLsOaA|mJ7JT*a` z{B-al=_g#E7VBw@Q?DuV#ickqEiaGAWk`cQc8mn*Vv89SFJ41`$m495Y$TwisOPrO z-ekM5^v71^U>HG;aYQTvUcDP_#C9WnNx;%AZ5zG&qu>d8|>Eb_5=mSF~da z*vQD14!QTyaCEKl*p{Qx0v@EL1h$Et8@Wi9NWh4O3|)Lp z6fo`vO8Rc)#ovJmdnl+_ZqPzBI<`tV;JCRuxp_Eg`>v>>!uS~ph@7@=PmYgCvk|@A zk-$@r@VW^EXiL@6pXR+*{=76g6m+-D^c^sd3W#rRL<*<0&}aYsDKkeG(W-eSfG7G zA>GPMA0BkRB^};ogNloSt8ztvuszXw)$L%fx~Y(Vur`BP<=7e^!;;@?P{!^fwPeQ# z9Cr71tS=Utc6W^FpU8T}l5%!Qaih|^(mHyaY_VWp&f{CM0g&OoJk1PKDc-~Ni816G z3j7}LUKrMRHkZ`GXqOG>PbU(F@SbdqEXTksYor(dh-J<|NnfxUL;)^}&T1`oOD{f- z6_!lS=bD(dfvukk_DN8<0NA&2^|0X&tcxt?`%QhGT#3`W?bR(P8BavZ1d%2TatQE?r#6UB~n-G%p3dlu&T=A^8?oid`@<(VaFX8 zr#YQ#x)BeY6ctYAR!r9u!wW%GA9Ty9FPV48 zE{NzMmUm2HgU=-y4H%@M$HVav1YTx-eq_7iPaPLz_YzSDQ5R>+=MTZ&%f6x_zB1=E z${0wo`)!TMyND1=AAakz+Z^2jmwQ}P;lr$b_C>rur4(1nRMqPw4=o zS9Hg0i+Yt-nU!{gS;z4Tnz$b=&hD<#LLQNOFTMJsr;o??w{e(HiWjc(W;ab=Vg|+u z#&pFrOZf3NB{ufQZ(mpOqb?8TS%~a5*|V`Y;yC2@MhAX%EG%`TNlp+$(VO6VI)lk2 zCx}t@f#-#OV@RA7H8npv2Rf(ssz#vKDRov6>SPC+<#zeKY9SF}h6};W)~4^G-R;ST z=Ei~NeKRc^f7+eWT=|3?b&2k3!dO?36djpVVuWQ~l0-W<{YOL5)`b7MAhSF&GgY`n zrKacEivIbq*#2kH=feX!R?kD;KZ?IGZi~upN{gzhGIx~~)g%-}i-6BoDQM5d*QG^G zRhe_jijy*_6(V?l6sKeN75j{vi!;^n`QwrY37OPx*vG2fZ#JOWsDqXyYQ{eFfq-O` z8m|>(y|{Q4n$pt_pRuDLptOcuG}UB6^4R)*mAwM7ePsyv&5rY^iH(?(j#9>)}V>F$GiskXIi##E8ZHj8>d# zrBwYj+o-=oCNsF*C9HK_I;89I6D?jouU&b|0>haP3Itm8S>MXYLAf2v8uGV}P7<7f zC|JFJ3h@>Sy)-&?M;qT2-nZ!b;zOp^53TIusW!F zbxWpEJ7)nsa}bzhUnFA`QM0~b6!#D$Jh^#;3uORP#07)?Bs~mM3(BrED3~o?C={>z z#Y;?#Z1Gw=zUz6PRNYI16Q$CjyF7+&|ECjcnc~!3I2AhUX@^GqxBe4|AU9F67M&12 z)ATf#LFy^%*?rgIPBYrjGb(PJTxUonmxh%=;57a!uKdI+4&9$b(VHK)s4Jrymv^&&pxICRp)H4RD3@n|HdZzYXU6kq2DB3JBe@rd}W zSgB!Doc?l>v8yH98{6Rvvv9e&pwkocjfc|LKPbais8qQ&v)S`4j@F(FPp~QbVfZPi z!Wi7UoEVOBLb*74hHAaPSas;8VG&r%iOF@CegtgdA{Bry+q&po<`7r3t*?jdRZ}ohr^;}YYz{LPKqE1vFN?(O?Y0hdVbkiHue!Oln@zVNm zy0UKh;EfuL24VPwA$Dg-X#Ib3^g`PMb$hUtlYikdt5oC63>HGTB4r>0|TE7bvJ}$p9BEUNM7~b!AX*6ydp-P>Lu_Z{osc54IBloB3Ow9 z0b4x(h`P>+!vHMDkfx;8(+3sqswbVFA;)h#8BM_Gxly@5U7A`Gx&>w8L%^XBkQ$Hy zZ~>qAAoPz@MDgG5#D_JOjBGBb{EA@t*y(a+)*Np}TT52|>JKHPlGHO6?ElIXF`>*x z_fr7yg6%{8Ll-T))qENw`6MEzkzYc_c-v=8+=4 z243kSu*H6)) zGT6=UwsksR@reRIUap?6y~h4j*A6a`$+&Ax@mwple>v|qM_$%U)}fP|7N=XGQ?AU> zw>6P|wfrRV@?&VRe6G)UmH+Fo>iYecDg8PCe7lc~M)Y|>V}vRn7Tj+ykC z+%Gwbix_u@o!2-*pxHeH1>PE=yFr)dMR9Kf;mph;y>`Q~K&248rv|*YaaVMvrt*{kf`8|9}vamYZ`s+y3Yv8F9;fFj3vb1kP zDb3h+kfDp0T9(Dn7O-r)yu@Ew2C-m14^xR~sH23}$tnLH{{&m_#(uQRyF|q9MFn9u zjgeZy!?MDJ951yyF>@pew$9o4M+33}(QoeZzSFlZu?@`ssr|<_+q#v%aFZkwI zrZq;&eErA@6|rp$G#DgH<%a^raEGX$6S^g?O3NX|5|A`y%fLvL+vCO!bHHfw^>1$D z`gMQj*0pAD`!Zs?z)Z##R&2+`_MvwL4(j)bVfHfnz6aWLoS>qyGZO>kL>oOYTW31~ z%)Vg?Q>n%jN@z6F;%DA&2|COZ!kyMcqF4$!0%k0n#+Rbo=Hl1^RWnelG^}GCm zQDtTJ$U3J_T5$wA_OCx-<$sg`5#1P>y5{bUP$gd~Lq9B}st{JXru6}IWHrFPATHol za=bINT2xlmJ&YP1VLMRu+|yZz$XN2P%*JjLaJH8Q6LcrFl=eA+Y1WjU!c_*VER0w? z!09w&tzYQ%?l{2VPjF{DatE~y(jI4YR0k9MT3t=#fLblYp0n)!jR@3Qw}oq@Wd2!o z1c8piMPetkav=}C3EhJjivQ0`M0v!hMz_~hJn*IlcYAsNrh_t$C5L3O-ISIQ4l)m$ zs8Qibza}teh+XIr#1tJ}Y!)sd0X z=l|rJ4m|u9ma!Z@1^*xHbz!ie)&-gS$)7!voZETJZar+P1dVx=5yrHDd^@9eaxmv% zt`Gmpe}Bov&cVIA`n*DMs4*yStTMvCk`YJ25hlZCJ=`W})twlZe%KPwNcu4hVz70)9K9rG3;iPl4|jJo+6{-JT+g`=-Odk6st0I(|U29LLM-8 zd+zv?@l0Is;G>o13Bg?2-ad!gqGdXs_azAx0V}5ZD+37Q#|XZ z6R(it^0~m~M-0=Na7UnZ>!m-9B%xdk>sa$PR9fk9bf@WdH*g44K=8ur0y$#JC(Z}< zL*5VG?J+r<`z$bByc3Cl`NSd7D$bh!+;RxITRma{J zPVD)W;6^@*nBLj^UXFTFCLpo_x+9^MVutmDdLL5= z*kG@jS3%v5ycx!^nl6&Oc#kV(RH$W#7g5AK0VCjI=?HrGMb?(Q`=J8?s~Fh zDtT^(Wf}mc`L(Zh2;NMqx7$C9eWe3#efgG#!(4S;XvSs=O zm^|!JP?dOmOIVTgSC-Yo0qu!ZB$1PvvR1bHcHMagA~Aj8X4ZlJbpcm&_u;XGn0iq2C2QA+a1r$;jgEZ zwj(Z?>$ba3K zv(#^AWV*sjr(}G3x^lr0`Viu&TCf%Pzl==6C!nl4BFxd|e501m2|Fufs&6GH^)9U|tQMo%`N*TPEv<(h)>c8glol6Zpt+)9 zD@oDD?XpPFl)W}=ro64-yr?$JWX9!^b4(Vp#H9Umuv}?FTw#`S0N!9DkB-7rcl^74 z@^389*?Q4-DqkzFIA>R9Nb{u42pC`+W6gvc-W8pzO7x%bBw5K(7=ifT9|zVQ#R#)g zMKBebqr81+J1l!gb~G4k5)2yG$?wHa4)d4yxsom-utr6EeXM|Lzh1~u*h)H@jNcL%B=&|q_h)l}0{hJxa-wRCJCqbQCxqgzZs~e(g{>)AMB9EGs$6=a?{e_3f~rI=Lgtf8XK>Xg z+1K+x?M?lts$U5$4!m5HYUD5{@on7Oe$v@HaQ@Z3fV2kgII+|=uN!LnEt<=$nuz^D zMez6n{~8rZILSr%O(5J8aQu|)RN$(pu0b}YytVeh$+Rkvt65JB`*UnY|6nggwB57S zrq7ENGDm}(CT$Enls?W=vS}(el7wK?46!3o*iip4G;%2;k=nSus%m2-H4!48leYdW zEHBF(_E4gXN!Eh3@P&LY8*^wXt3qP${LpR_>DbeOadjr4$)bfLknhtim6qIt?K8uQ zGD`XlU8q2AmE=w~ahXPO)O>_x`vumChf=hvC>0bqG^r;Tc!B;Brw6mf`Ux|1@9M`) z^t@2hK1~gg-RI3hkH++%U)v79z7JG~%8J-x1Y1IGF2t*Eq}$r?FwP%h@mv-T5Lwy9 zYz;(gA}hYsaK#jH1N(=mcFWr4+X=Xpc|=t`AqQd=QH`7oysR&^>y@3mOFH?OE!nXpAbfPJ&)xAgk3R&W!2)#-L60`$^wVs%E!g}-ccneeSl zKycpy@wtTaE44tZf-j0uH%SMclYwNgb7l_as4x-!v}7~ii%YhABtRYPsQqGZ92V`6 zY`!zFHup1nDeEbh?RUXb`uVh{=04;0nk89yv@d$uH}tA9{i)N7dI6eM99E_V9<3s@ zmf*;eLadK@hd`Xo>^Mh~btvelB`ys1<|B~VdiH0kQcPTLUTK1FLeubY_=p>$m-r!3 zCGuMm8R^Zj!&lcOn-YP}{rgJ`If0UTf&rtf(;Dyuh+~L~18G zZsq6iv|GT)Su#2{eN82Er@MRo+l%(zl%E&M$iVH1w$=>fK{?!LvbEuw{mi}wwD|9= zv<;VSe03|sUOc4V5xRwH*)01z3S;Fw$wA*t?;Dd52OGs6qeDy!sXi=@b~SMJkbWPO zv6`bf`6|jflbuhx+#`@7S}np5Cgphcf*E2;MPCNg4#d24)~a;CZiRW$nlMB6Lj%z|qY9o|G*m?S!TI_R z%2|$Q$f#iolAm0?EznWHBDd!Vvc|+Q=hc7U5%A<;@j~G67;(S86hKE2*tM@|T$ngQ|-H9@$2t)j*R@ESiB8Wyhr6 z8gCQ^Y;2?Y?{#q`#Qte_3S`qgc_G^w4rU?_dOLSC2QNX z;;iR`-M7*IM z!D9iTK2Q9RMz6U)b+YPZ=J@Oo?Bt%Rj{l4^<=rNwU=NTcrbVwc8al1C_hkUctmkrrAt+ z(8@Q)UteH~m#@^+jt`ZrPl0j*ewTVN`*mHF?}Pd5^ZZCs;9RCGd43jm8?TZ z^d^@MJa!%?FGI2d4}*7u-4XZh(b>dq`k1|w1j4bcnGMBN+Y+))Cwgb{>@E-Q!T|8! z%7DhZG7w#ir1Pc>MEsXB5b#$Sa6sTuPRk}PQl?#AGk-1a=2hs8;@$H+kq?~~fp79Y z|0<8kU0R@LU6+rjQo5+18z3xgdcpaw3>24RHe_x}&%NMcfH{)>)dg@i2esf`-FG55 z3+pmI0woIE#@!$BN5{o+WDxw$RZwygF~_Tyl9(EvB=Vg3ZqJ_-lLjEjx1O>nE`IPC zlau-)DzoSA-iLoPeBryAl!RyQ$=W>MDY~xQh$ZAA*dY10G7#QIy$l_&bHX_muB0!h zggEQMF+3yRU#FL$V}BiNHrjc>nF=JE>~3bNK6Dg5;hbf&mDT1iW-P`Fi~VF$O&ft* zKpE4yn0YinzV8kpC}Z>ux#R{AZQ$>qB0Q^I!oJEQn+i-5U9zUw1DRKfpoQ^O(tsjPJN zeL833LnpZ*QJ1nlM+`}^J~Ll{)&*?(aM9yBDnrBt>{qosPgkNGFy#L(ebK;qELGo2 z@EqA{`H(ynaInGntDT-$Y6|WTU7Ml4|9(nx$3;z%dw7>>{Jqt>qiAcQrwIjiK=JfZ zNXU$2x&M)``k~&#q{+=U!dQ|4phf+xosXS6g2bFxKk!wwTH6Y@gwFN)(m2}u2Llny zzhr^mnngNv2}=$Ua1G%YV?Q*OHKzoZq7wv5oa#&Ks#4q(eRu0HT?^s~YOTwc(ZaCw zqsG>69Vyh>5y2TsYQOU&n#X>)j}tApGJnXTxD`&qKy~iox(Eyb_ND&86O8FTqd*`c z*S&^Z+;&3^)TVuAKCs9Nm(j@dptr?G72w}YpL78)NY8zbzAoJjW`Xez1o0to9fP~$V?uHZdwHbTg7YvUoJ znXWk6tvm-vcPMNE!J4j)9->X<1Kk0e{(50B?4d9V*Q7*#?m|juwcM{fnEL|;6Ryoa5m=~*yYDf=eeKg7Fd(Z zk2fgrqyK+l5&j=o3#oT3?mMzR2YlGj=nUqq0f;5Td)3 zHqkIi2ZJj{TVU~-3^6d^e40UM z4}{JLbAkmxw-B2(q3aje=;!b&k>J;s59ELsh$mp%84wd;X>P0#N*gGDTa2qC ze=54ssJ!Xu%EDJ}ebpFkUDp&;n>mPmcb^=wB7QGK!$(MRw%$u9L;@fyp^wiAP6Fd{0V{O#BE+2o zfeH`H&0PGD7sk(dh zhQ8EL*(WqeCH3h~Hn()3%Tgiq^LZ057T&}QL*Q$(AAgt2iz-$;SP3!s>@fN1&5ul* zQ&-gv%{s2I6(Ls_k@zq(D;5to`PZSbGGwKqle&?LLNp@*TSok^N>n zQ=xgkaxguJW@s10eY^>dY#X8Zt6~Fmz0>_RwWEE{h+DhY{QSv)HlsXRn( zG(^d=GP&AzKEI*FS8J!orX(=(C4T8XtmW_oEEEC-hC~1srD$Z>Sl||fob!6ucGE4ajNw_}mmVG+d+8runO&+?XvbUr z=dc=9t8Uxgag8(fRFq%-8HmRmo799hx?wj-0S55!Pk;neyUmoQe>x<6yG8)-7YhZQ z5TMf?8WMm4sLVnH>%@Wp5Q4v7Z~#NeHNHRefQ1+QQafA#g4?785rCT=5bI@v2?a<; zzj(jm0AK(}02(Fp8(oo!(}7+@Fy<_87_sPVT304wtT(_0@gZRP7G=4N(kcXXdpZH5M*stdEAQhCfryCz(WN)-f7@RdZKtYt+__is&pS zO((G_y&*)~3~Wzj%y{N*b<1pP|U|yAjYIgQ%UKJ-ZKdU8>t^)ing`FHRwf+68Ly~;;+e>$01NW z5F3J8H`XsM=FW8WGf2ht^xfbuF4Q-?`J|TTSNh!7%kr9hqOdNI>afyfdBEDtYD#)dIyJB-+$fl%)lnYp^bJ$OYq%Fi>k` zX$#-XFq0Qwg1;8)1j|d%6+8riMUNTx97QJr>o(usddd*U9Fsi>{zT2t$S<#^F`zlfY~yxv<4!j9 zp6y|9>1&QV@-?6PO%d^KPVxrZ^iJ^M;bVz>T56OmQK8Jl%r3bBC@(b=IVQEdx?!N zS9_1ZWC@3Y$n3)cR8>(^$Ypb!4e+Ri8WM5BbF)(%`cL5l8|AxG9l2VV)LidDMve6EPCV|_HR@p@LXyWJ+VJJ3uB z3-Ribw`j-$dF-s1H9)MuWNTi!as7v}1=&7K_8Y%_fre}QkewSpfx-(n#*`H|!W2;H||a^=WLXF;sx39OL^Rbi}AURTdF zCUnX}EZ6}zL+nI)htjygDKgr$_2;{{aOvPDRLOY%9lNjj(CdDB$(M88plp)(9 zVEN_)TfgPQYGb3iBXzTyitn?MGpw>I&Y3cNvt&dqCoP=PQd&h*V1bjI(1ot4L1;}( z7J|<~kg&jYAEr46eiFfLM#fuZl~D>)f-ZZTc1>vf=?h)H^oFu7{jk?K+1B80W6RSk zE~H>d`}>4}#$KGWad@L7#W-bAO<}d#cIZyAtaPu^W4OLxD14$fXt@oHtKNh)F&%oIDdTL$b)BBK|<=IbZpCnZ4X01yS}nBhG+tHyewNs~Uf3<`r=&Psy<|mq4Rl}KU}aRl%*nVuU?V8) z-SkYpl!^W@q-9?24^IerbWX*4=KsmWtttWu;tGQJPNzCDy%h;Oq%sWYsnh?QRSlc4 z*^eP)Zw44ipwGe^G%)eI=F>_PEYsAN4Z4vr`pRxsD_#Avp!Ba6^G6Qkk*$)rRO4Q? z&MdoU-fE;^CJQ@g0}FQ;~-jWgnQ z)DCL*BYzornKZ=C?A?*%g7WF_CXN2%va`z&bV?je)thXPzUaMc*B$uX#+W}4Xroy5N3tDYPdrE z`t-9&xw{2OW)dt%3l13N+WW+knA^Q%Mf+4Yjp=-?8jiI6qu^p*L8J9Rv0%SbRfi7v z$ECN3_{>OTbzhf%DALzprKmScGDPEi2AP@6yES9Y|c+sSA#%Ain*!a3p`vE@g}(T|cJLPqe0#DCX)F6JiFp zwEiO>t#2;aQk1rADSnZy2FvP8W^=_99kHf(8cpDu%K?M|N}E8e39|t%64B++8C$ z^E#O{;%Va7p@d1@ZQBT2X~ZPfn#TQv9yyxKos#STEs_SQZ6flo!p69x*#B{2l)_cI z^>g3$+Rp<(U&99eo+9D!_`h~8JmatZ8j<$bVnjy#wYiaDe=SqgkH2;?YWuJ4jGq2$ zlVSw^+W8pH|M55ltXQGHQLR{fa9b!)S1dkAA{K@CeSbLHPvNg^Z#6)^?fa*Cv+u{7 z`*zrYI%7FV-gD+++`~HFBJ6JyG=Jy*m17U{my9J2|1ZBn96q=UEGP~Zhe1ge3>*OX z?*~07{e4!z8~*4miu)fNJ;b05Vtmk09Kv6Y#W;z-mMmWJuXTx6`rjMbr{cN(*46v3 z-F!0;|BLezBM6TP|Nkn&I#{m3l?VW^PXz$5|D%XUV~_)g@-M3auzTI(Z8GO=;QdEZ zf&W_)251n3@wc*d5I(qi0O%RS_!sy0!~B-d^Y$(Y{sTuB0+LCf`%{IG@kTN$qWYO_nB`=cW(pd ZZM+}z|{{xT#?kfNQ diff --git a/simscape_subsystems/nano_hexapod_leg.slx b/simscape_subsystems/nano_hexapod_leg.slx index 03118bbc7b1115c45dfae4050d8fa44d910647a3..9976ac6f12d2200fda2d465feb731e0113e89b95 100644 GIT binary patch delta 12433 zcmZX419W9gw{2|O=-9U1LC3aj`^4xtCpJ2^ZFTH)Y&#wM_1FJ>@80jeJw~0i&fasb zT2(b_)gEKd@H^1%dr(A0S#Ssp5D*X;5FCBxIz)6Z@ISVJ3@i>5_K%~eTKPt02d2$z#oDUy!XXc7|=tC^h_%;FYOXAZrs z>Z49d-?J;UKpkx*D+iQr>D|exQ}wP;P}+qjkrdnY;aXu_ybf+Jd21fs>anv>;5X zmU+4--?9o4cSAuCcR*I$YusiMB`)?9>7}zSWQv~zCD`UBy^SVB#-&sn9du1LY}|9{ z5jLP-zCiHf!mlJfpHW4kX=Qb5BQ<`jso|7~Eqssc!J)m^!*4fHP4dkWchxPyp7r>Q zjyrjywCG{Jzxy)U^^QB@#N}~YZ(3nyrh}L))gSaT841IFc&rM@O4`&M*h#R++ z2^lH5Cw~~=pu(5BkJJAYT(?3vo4K6n_=ZzFPteiFw&mEY+-WflNQAfBs-aRar9~T+ zcEgr9OIvra4npJfB=EaKE&`OE3--}%G1pb0%~hYEDOD{BkU|rln6XD zb&CM`-3+q|%AH~Xq6O?6>B4X{qUH?TDh_l^s*ivwLoR0h;c7R#QoQ*|&Du2|o8y>~ zQ&fDHOVPfiUz9N_d~$YAm8BT*B01DQ;oU3j?QT~-5T~Yo_f+>c^GR^}$?m*&}$iwcRTC6|JRZs{@0FC+<;2gOb61DQ3J-E*GW)1 zU+GlWQS(N?%94G5u8z`#a|?FVf<)G%&<;{|0Eq82N4%EXo>w|DHbkMS&nn&*!f!;R(X#;Q--KDeA4)f#Zf2H&>A~zlhZGm9 zsQ*w8xeUKmP+8@UsvJHx6bGDzc4-C7{6auyB-$N?>0^I3xYxsQ@*oQ0t}2Rip&8+! z3^65G(2%ZAr4wtn{#FGnSKwMD&yrFLY*7|==Eu_lC2h$50vT?Wz@iziE3%{rN5hDV z9gQV(1aI^s3rm`-tKJ$0f8<=l+OB%D8=o>e2w8poHTTK9`-Q$5J zadHob|9A8EY-bw(jYTR0vO6EKEjvrb7>VhnO2XHcBd7bBsErB$*uQpJ!!7yv-(3al zqr5}=r^dwsjaW>fK|pv2KtQlTfXwc=fD5e+hc8?xfSw-XCSWQKq1)jugoA z!5*(xV5}ODsRu^dYbOdlMOSMM+EStiTzXS7lZSd~_1c>A{y_4o^C`{c<^D+{fOFrW zV;Yhcq<0?A*KvBH_-068=%`ai6Bhz1a`KM&iU#BlJ9QmQQi2V&uZsAfOF^+HdeZja zRu5To16PW1oj^m$&e`;wBY)&RY`wQD0E8$zy8U9|=t#%Yg%^>UrR&qR(S{Pr&H85O zJ@Yc;TVPKfcE45>f%;7%<~sIW05;enMmlR78sBd}{I~CP!GD@iB+0LhI-R znzT_Q2FJ(e&n+4C>Ed#$-@-*QEsS-DyhCBy@>^fnnH2YF;7AA*~e!N0}goL0qACLbf8}h z<-K{K^rv#Ti^*jBRii@!4mgyYUr%V5@`4lCrI-$!SdW6no0z~?dA|$(%7}iQ$=BJm zar7hps#0ycxpxzC5md$u)*$+inuF?mbWX?2~-maV{YPBng8 z&RDR9efx;=XMenPwhQd+;LVrMw~wp#lBP$^CiUEOw={Cx2%1BC!2{bbib$IrcH&&I zGE>eJKC9V5q$erC-{1A-SKk$Y# z4ZhG{L%=rU$jUUDXgVXG7|tK}@do#>O5P;_mcqm$1n~R8!Q547SPS+Xi~-O{e+rxK_G}!#Gh@SNL%| zQ~8+~5oDxKTB|}0?-*-}lDnRkM|QyM9zNluq;s)-AE7Z)I{-iVz$no87A{8ZrFp7~ zB%K*tBEnm7O>hM5?!@Jsreou#ah$%8E*~)eke(HI_z?HwIZX?fmv>Pba#PA7Ox8cy$Zk{22LTSM%_`-|q+ z8FIC6e%DO-Y=BJNJ+TPov=EdPB|B!L{DxnX&+r(0Kuq&&yU8$nt_Zps*P4_|@p2WV zy-zB~6&wNm5Xi5eh3_G3XBrB$48>0JBcrvri1k zfgnXNa~p$GlgF*-{nBI{%B8{%Mw0q?oC~8`*!$mwhX6-8nB(`x;_Z#fnxu@^jP z@ur21t6c>oR&xSjQmPS0S(xu^Oqlwp&!wft@J*PX;oUv2^+V~hwu{8I=XP-yp1-%Z z9s18SAOpU8LXUF~ZyCz=%J$nV3*jT=Vj3vGjGaaTbZQw!-4v-Wvc3hNi6g`FRh6Y8 z1`*t4WkT&NM8)0@)LpR@2^{35Pg$^g^Exbci@Jxvu*9%4BMc!;t?)mhVml#ICd5)t zCznHc>DwT(0^TSs3#k+rM;Z1PPK|WhWQy(w*#Yj6MgqAaO7O>NZUbg4l)*pb=jNS! zc<_AYOt6!(zbbywVoJRu%!F&mjD`2ia9o6J)fF=1F~!`s^2ztS2^Dm|iEhg_QzUI< zP=tzIg>O13L?xk;hucFfFw8#oU2Emh9!VS3;YcpT{+;MuF*V)!-G{@m>${f#HUH~* z^faJ`hn_{&!>I4pvrId=8+0l>1KqtEVWyITwHE7n(xsIbQyqet?7;ZCAgAy<4=O|( z%UCTD`ju+wK^v_s|B)B;D=r^V54XiE9|v~Alv*9ic@>-1YB!ER5%wfi^+qV zXP4a2lRJTfVAez^03wJ_9z9t-O(%Mex*OogwB&KGY^m1t2BU3v+Q`RMhZfgvaa}T~ zmBIcjQqdk1Br_oc<4s0RX&E$p=Q#igR-1meCs2SpFxX}cJ!-fs$<$RLFeK-PO_QJ0 zu^u7CfEG*V#Q?@M6fA?74slc9MOy)WAAhRPX%fN_1DQFBrZ&@8SdNb_sB z0Le4+SJQcF{V{mg^Eqr$Q1xh96^%P|^>T8a2CVH-X7WY(J48Tfv(xCYM~=YfZ|a9? z%X{a~8wJ28$iL2Lct!R!M&92zARzSfz+?tefR)RhWcAi9o$8p6PQ&OjnwzHb@J)*C zN~FOvt&$75N(W`*U<2|viBQg%S5!eZfY;i^pGaLSaHw|OZEV$49mM6p_~-? zy}+lyi#8$7rg!%S5#9L)TaOzPHn=07fkUC#Zl2CN`rWJ!muUk$(g4m)Go{#WD|V!N zz%ipIl4$*)!}WWylNtSJ+_w!+lBLnE9enezZ}UHH4rkX^RyMC|-Bdt?++z5`qrU+m z`X=}|!G3Sv3PI8hkWZ3LGmsr)6U%oVj6r*nSUz-uwbK2VH|ovU{4O_25O8JjfJUm%xe?^*xeMv7Ioy9{>%)k;~Q_JtK@ZKOBe%+IB5BFe{A%W&p-B z<=NzH3pQazB;uhloA}fm34*XLyVk{?gW_`O8Hc@TjC!lTYDMI9p85CyE<$5Tv@;;J zg(Qu8c5coYqx-hbAB2n;Gh2J(%G1W(Kg-Sl`nk^K2RpfR*APCy4Z!9# z&005&5s$A2U5*}h=Nw}oZ{}ec-2gA{X1Ju!D@dZ#0I0y9{#{>~2k2!2MSbki&z_#6 z@q!L#KR+g6w@9Wxn_;#h6on%qS?63I1c$_8=EY3ftcmW|w0&lXkvg*cBY-$Xjl_0< zjrlg47gOo=YiPT)v-?_#?O!`(X5eD2atncs;Utk%IeX8LMHXPOdcWYyU;zhW2Fo7Z zJ3_(!zF-aY&IoBFbj?gy@E-y{1!#eJpFWEI0cjwR_9W*7A`bjQa#gW7Xb30~XJeYZ zciQb;j)+J7tz<~VbZhRc?XKO!v33v(b8S;>HBwn~9LQ-=Uq(JrAkgzPgR-JB=0vWJ-v_68u=YyTC+}M)sQ_q^R7z`x$SZ zb3}lzYXx0FEEx#0z5GZN2)yyFWS}(oIsN6A9OVk+JL<~W4=cqn1qVHpQCTt+c3)hc ze1VR~NTY1eTDhaHSS)}IDi1{M&wSAV1HC1Zx~+r5>{a^x=b_1GNKuLyj=1P$WMd{A zmQMM_;8}i$BiV|_iXdo zS;@lyzefjV7R0+4P7z%+|02TF znNl9xAz(V5Uyh#;zaN;L$DU=}PDIGl+cM1L>vE8j02Ulh#cTQ=Zr!2xT`06#+q7a7!MEhx4S?A&yY ziQe=PKU;=X_RNzkT*}M-B-s{H037Ta&kj@lqOOl%Ht}b`;reX=IXgfzTdo+JDox$DBxj*@yM<<1@RJCU5Ahs_1tC(;YQ<>Kr6zl!FANAtDdqVp>gp#Q9PsO%g}r`+kXkbdc= zZS`$~WGoS;8{xb_(d~+lE!+2=6X2{QgikITQF*#i`A-|cldb(wy&>8a;sniE0Gj47op;>Lp5{&x+Fj>oZa^Gy3F1PTx zLs91T5|>PBtjdCpXZ2(}UZ~;a?Sz9rV)Qaxut%+njqDrpRZ{CW2=6q%yX`@aK8ylJ zx`=93@R1C-9@tH7`9@|DrfNo~W43hTC3qPh(tI0Th}UZHLqBb@P|aFrPFkGKuN@!&NULZ>uB=x?&LFPT^QKHN z+fa6(>qV2xr*sZrHK`GOf^qjws%`)RCe6OzOLbS;BRTi$UkR%7I4F>FZiOquE_s?M ztSOd2+@ALJBr4HP@V`TCptOObVJO}pZo#@aG2Zh(wc&?AeFbO4;DPotA;5YDDJwnV zInM3<*jPLC^s+!-FLI85C0={g?x}k&yuda$Snp-{D)1Cv+@dQ|iYuzvCpHW)(*9)w zAAIE#HgmVZ7Sql238^O&3YLrkShf$jRU>(f{O4Vczn1{wEGtQ_`AGs=B1jBt6{IOZvqy;9&>Z` z0L5t@uf-G*!^O`Hc|9Q@h3hA`VlpJ>QWM*jPO-@$X;ue>FE*JZHwyu}9h_2Mw3;gV zduNI;YW&MKqk#2%%@OSEF)l~rE-RI==KSr(Zv#TLA7c|e`nZ&8TJhEZ4#j)MIqdyY zerh9Xmi&++`7e4Rdm1v`*bv_BT=5)+pw_S%lh!dmBy()6xhzdQ0y8yM@V zs}|&CkSheLFSv`gJ@qa%;k4llRMRN+T7rjn7{;mcq05k>>(%@K_mkaimhWd)5%YVY ze3{#3cNDuZp96z|dC9oXTz3ilOQj*dF+=fP>2EeK)SQq76o|NULudn#NdXa8$uh59 z$|1(H+GDQi4)No?yf$6SuqucHGkcyC}T)l9v4gqR3 z>IXhhn#q=C_7-`7Aybo0#thcqL>EWzgHYh1aNZX=Ua@-uhs|-~Y0^)jt#@P|xUar1 zI;O#Wzb`D?>I(ShnMRT&*5!V{0$g+6n6!#KH|3!4f2RCpZ*vRaFts>ur5f)>H$ zqk{*m4@F8Hx~w&p*`%$Jqs(a!>jPh{SKuIk%EOhSZuCU}6SinpEwZCaS{VdL;@i1G zeHSA1Ay&AXcX&bcYurUsGJx`o2ZXu~o;++LO<++v0=XZ6HarfR*1#R@8eVlA-p48& z6LqUvJsFiNd&uG53}LyK*awx;>D*~!8?9D186HM$pPnr~hSnzJ%AtW-l|3!6nJ_z2 zpEUW+vk(DLQ{GH5cu~6EDV>=J`R3=KbH@$3a%LB!FM*PVsERu#Nw+}m3!eM6Rk#!=GDn!;laje1ggETO&(RSTc?J2g=?r4K*8v;rybhCz9P@Ve{Q>EH& z?50a>h`XiKh7uv}oppJDIA7IpfYm1w!x4=_ae%_Hbbj@I+{+Xabio5jy3!DJqk*K0 z^jj`Q$jw&ES7$DOulBD+z30ZTCKj z`l*M$P_eaD_}t%}j)9f%osQ|1SNo9)={c=vWG(UcgjqLb>$uos?HNpeh}mY@M=??R ze)t}p5fm=G>DRQKE2FTv_B$ciPO8sJfJs=3eut+%kAd_EwAl0Cj2XH7`M()?U%xc? zT(`5FM(NY_kVt^#@k^}A#y76PzamHrR6Vw{(08AFC}Wf{M=Jlg|Im>`138dBwG?HP zHaJ!I$?7d*a7<+|w;mFlaLmzNe7D)XH9T?FckNb4+|!zBrvE6JbqC2$?kr&d0AN-v z;qCLnkqW|nKiB!pA-6ZEG2Xq5-k584xa(qf$UYRx^1KAk@qA>XKbK`CZM3FY?-HzU zh-yRelo19}Iz5IFxMSUtyu4=7U+UsPa0^Y@VXPwIY^s~TZB>piT9c~>j9E_D!a#<6 zLkiL7fDXd?>S#1ehRo>|9Y?Ia3;0&?qy3wAK_A6V;Sr#n;a8z%=`Y8 z&W6^>hl|(4i14c~kReuza7N7d&Q~?}Kr4CC?P+L%V<3q3R2%n#skB-Y^Ub^Qeyjn! zk{;{jK@TI!G2dGn*H?x3Bx*JA+|U-fy9?r1HZ$cA?WIa*8c*R-uzh+7e+QHQn9AARo=Ohh zD%&&7v>=tz3$o7`upWIf@RVg54#q%f*UfLLLGXwstZLe;n#0v^ijAlw*>L3~VS3JF z=Vbb2+0xIpQINBJpl-IO*K1U>qa@5sDs&zJ^j)I9+jO>w%BZ3D9uPTYJdQt&GmU)d zSpYm*pYBxaYdBi?vC`LYW%7=NBMK0o79Asa&HrgsL-@K{_Zh|ekl#|?^|D%l&932d z-=tyi_h&f8`#xx>$o*toxTF29kypmy4pP_Km2O4np*|@mOQR-*8YDhg(7Y40mD1(B zgHYakJ}QY*3mKr_R4WY`Qu7nGW<299ax8;-V9D*9d$moXI(wVDk_IM=+F6F&Pl5^a zcFVzoY+1}KNSyCOTfe{ZE@O^gSKR;+Ew?_k^XXo|+QEF24cWraw^m43Khh-eB5w)B zK<(AQ9GgdCyBtxy5Z0eb!bWhX`aYHO-%WUYtKUuTSLOhFN${-x{jE&NMsMnfJzjS^ z*s$<2db@+;Eehg4lPP$^yQ*gN@K98QW|<*i0Ks3dKc(~@b}4CXQQw9YKP&xdNolnM z31Z7psXfRWLCvli(v>E`u9fKAYpOpnboJiHtKge@*4q`IZ&h@(9@CFS7cD$Wi=V;P z%SAhjHje;{j7qQ5gO5QPdY4w>P|C^NnJP$fJ*ev7YvmYyOQA60O}zn%D#FK%6tM0z zUr{tLNN96RkW|k(4~2&W|2QyhY6l^Nr<9cms$EL=tnh7L;Nd>J;mWrwOY-1A!<3W5 zm1CeGog22{$SwLXf2uQbC(v-^W1!Q7i;c0AXahE2&9kFq3tbb8aLY9JL?L16L(7FV z=)#p~!}6UxeCRa#m)nsf7in>He)TSwfk_s1gVXKJQx1Q{z% zNCMPjVj=b52TVaXtFtPwxak_}7(`C|tT8 zL0e_WbZn+lNO?vO$m_f$B+Bu!HEP^OX{x}__>n`kq$F9Dbe0lV%JNL^$9UHk7DxB8 zYR-lm*xEmELhbcSrzWE?lW`wRAubYW6#?=fDQf7YIaJIM3U@{YAVg{@`jGP%j`og~ zY>=mNpn{UwG$i3w|M-Du%Gor%4nL+aO8-7Gl5#8Vh3cHbc)B%(Q&oQDwd<{%ha%5& zTMfWzl*ccfhpPYTwkn*>saS%zUqh@PfIP(Khxzgpudam zh-63l8K1aI6)6edVCr}7)guH5uW#1GU}|R``4{;6nGv0HmI{)$`~+W1{$ON!pJdlKM5h%>*j~xA7ez7!Dl)aP zHX1*CdlY23WzVMLpqM1g53!;_rCxr!g1OOT6Y^va(7L81+K!cR^zVKy!k^7X@m^;j zd256>*6Qb%PvQwT)o#izP4IcS+x{w7<)}dejAqDb9`rbcedZ5 zdMORw(zyYD`&t-sH?9`sf+ePBmeKlf5qeR)WlR>eHTM#Bh%1sCrZ_k`os{&H+Q<

o?1&1AXom!R~nM%BhnNT$lV8dCo}mGPYHYEHkY!jPj@8!UcHvP&U;iTRti zQ)7UO$V3|%*?8sJbc^JNT9PZ8J>zsuLih4#h@+rZek$HnKLzA-xs#AJv5pFM6kjrC>AXKb(bL)kqD0(d|VTW`fb)zgT-Ob|1vRWQ7j)yk9W z+liZIPV@kl%t^KL+Ciz=gq&+l8u~<?C@J_S27UQc~<87Up{5%1x4 z1Rqs$tT2c{_rXDRP9jr3R+vtfa;rKq^_xtu{yY6FBB? z<)#lX;28XC{Za_qO<6BtZAv)ym$=mK1ZRgl5|5KPnw^|9lvsl{N>lOs)WQQBzJd!| zDQ?iMj973?AE<>($&mUFM*2tNU_;9axeW#al7tN8x1a=Q=sB!1WB46uh|lV4t-76YMiztNaV{Yj zkjtIwe*x@ zqQZO%sGz+Drx>wvv=b6TmiHFGrrWL@Prx>~F?jb3)GG8g5I#q|!?}$pz3tj*; z?U6L4I7urZphrp+cIzk*w0eu5obgSP~Tl zB`fGM$e{F%&KHL5t4KYsLBga2*uiVNaf-4bE&TYsQL@CwZ=A1MGozehuowZVj3ezF zCdAV?UpTlmt|4PdHy_jxCxUZnun-N=k{V{#D?oA+2u|UQ#jnBlORW__f{eoestm)J zGe_)BDJVs_nRN1~=6$rYghJ*S{g+|+3(d11%X8ClwYvjiE10tcbar#9y+jM#IL~@D zu-trm8~saJISmUqdgY*$*Mqg8CUmH7#T<6hVnI~uaU*mCr12%q{F;vS0n67seK)t1 zE(sYz?VTgZy9=#>T0?n+`U36%6`F3w!O7Yqx31S(54KYSYyriJZR94uQGUj%kMD+9 zQRlqY2l-;{GWZV>J}%@=2;{I$O|a^8gDtNQvl5Ho}^#COQ(*CpT%LDe6W<&8@_5oi_g3zN4-;(Rf?Qpf4^1WsaaTc-7 zl^!Vlsdmvc!3L#&v8)9 z@NzXJabP{`8ztaIC9~tfC$A;lNS0)6P*fZmMYy}KE)&lae~z8n)`XZ~j8B+r!dTQg ztM4ux=$6S@v~3GtCjV47*$ApMQ8oD2*ntK%iGPd1olW*%n`E2$*RtA0{k6Szk$

qf-)?d;^Sx%AOSp$B}yRSJRuLOP60N3S&Tqk6+7J?-4k=I(}c2f5MQ7B z4r<+dTmfDa-*cv-z{L0RU&z0#gY`ZqW%MA~;0Si}nkcZp6ZFIovLZ6pILvi z!`Xt6u3^cy{swgG%3qAuj!clseA*9msG4Sb(sJ7j9_#;To%3WnhB*7SeVcR$FVDo- z3a_lSftdslbKq`R5PIGvkA4IfT1DwbrZ7vZ3G>Lg2EAGGUxtN^m4^1&1Y4^Zm!N}u z!aWdY?88<1yQRc{bbAe zgdocui_{}!Fd}{As1y102C)Qz1?wHE4{-}&m&XMNJc96=$?c`C<37CT4ZeLEyPs9? z1ZfQ3gmDb|2-}3q0ezmy3(rgfn#zxxIKKb^GGVSw6f}>ubYF-4n7`6lgFdUhQlBd&KS^T z+U^I~ZuhB{r96f<7?D@(-!nfOpJBs6av$<+#$STNlD#{7dP^3vc-}g?brWKV^Dp85 zR7aHeSIG^p4U-(RX{uKPH;Q;n_h&yeC{U6kShm#+Kl&Dut+?w|U^vHdGe52RjC|m` z?VQZHHs@QlRHv-NT~5D}Q6ZC|lS)yE*Bl~=9cF&)EXIa$WO`a3udw@*9>u=2o{TS+ zj={Bs)QXmq9NeZ_+*N~;vAM1yvG7`}S*z_S?E_g+7WB_q|Nms&z+Gp-zZ;y)h4X)? zx{Y0giT`;wsF82eAO2GsrT&yg!aw$(>yP{A5&`zP(Env#yWoR~LII6j@qyk@h;;v} z1I48{&&ZxX1ol5X>c7}b|9aiSUyA=$dHyHb ze@0maWOAn@`DZ5nTXpiklagctrZeCJzo7qq4Fdro{ugM>0w`=j3bgh>fcYnre~v4lzXulBku^}(nuz{? zPq<~3wT8-{01kf|`M(0e*#brE(1Eue#D9CtCaQST`UCL)(`fz$%>54#%N7Ty=lP#u z*?QuG3EBPSXL*wS=4X%T`1W)kb65K7gLy*BOxIPZ&d;k5XNRio}Sfp10Hb=j;t&X355v;1_lRapTJay{0Rc`J#C*E>pTqZXm-33^K8yMap;uTXz#X@|%@LqmJr?)2t+x zh01M;6DD@LW}^M~`0-PFbceIg@FeSq3HT zxYsvagkz5Ls&_WCU1yQ**FNa8pz3XhDWd`tPhm~w7l{9KKTrw!^`Gtset~)U7=|yf z5a1t@9l(elJ<%E29EnyMb&9mgP!%8IgCpV!+P03&MsBe?;%5#}s(^7%lAUwKgVf0wCdveF0YAG%C8Zg0RQr-K5HkC4Z4Eq?P&1Xe+-1rp>6eF(6`#p1CX*+w$n!|Sjd8NTT3Xkb= z)Zq#CKjWx;lwx_23Z$c;1t>bLk)m~iw6xdQwi2L=3_#NkS!$??Zt;=e1OvE;4HIYG zEXN7-8r&m=ouq6|`xDupvrZ>wJV#jeq<0>PNah1_V_;bJdRB93VC=$Ij&u34K%YKI@A?Q#_U{C4jpdW**M~UnLZ(!8(G`5K+|#$ zN*4A(QWmbSl7<(_R{&jyXy5I)@zBqc+0H8jHAiRx)n^K`fx=5PdromAeb}9fIx(T} zxs|taG2%F%K<5af1J6o2^EGLVJ?U%Xz$mc5z;NEzMmHM=4|^L&I~G%O za|=ro4|{jFe`egNw!9O;XS6Pm7MkAym4i7B({#i)ktT9&5pyO=Dj0ky=uUp!y8UE5 zA$x}IE^${XyH0&xlq~XyN79(xp>5~=Y}k1~fRU>!q8tYu%*bICFf0f#Y(6Q$Ci7kA z?Lz*__r3@)XyM6W*{Iw|*q5d2czpp)_Oho*V6CuiF2`&GA4*w*Ro-e!ip1qD!oI7% z%hz`p$PyQg}8SqXWq#99m_`?L(>PS9XV=!%-7qQM$G zjY?A!DC7dz1e$FMc_IK9j5Af@D|4I3#^O5MA~|d%m1Y>d3-oJNMZEk1OLuc&Zt`qA zCwMqkr@)Nr*6fqF6KH6XW;viqC#llu@irVXqVBg)>BitEVncHV!@jBFO+mjX^|dlG zKpBnZdKEuTFjzC*_&H3@Jx4cKlVf3yE`Qg2&6+(a4VcE8aM)|T2SpnBScLuV_~>x9s>&*QPAL>Q`Ij-=3> zmWaMRf*vyoOHwaNuXoJw>M=bZi)wJ}o)K!g8WBF#9e_@%Dz{4O> z%Ng<0hUAGjrQsAnHa$#lS^kzmvxx%E3RqvF-|hds7s?H_<1y|&aOeqrXZdZ4cg%5; z4zy?;ACD;H%@#R`{w#Y3MAujr+{L*G_`~fM$)_j@t`_{zp&FF0m^?r?4;X`Tr;fLJ z04)L*1z$GI<{vpK?@Ywfel2FSFK5lz#k*cq%QCfjVrBv?RTWZ%p~Zirg0Nmz+v?u( z6T`98zPkwb+J>+e!tvKb-Mr8BSvsm(Q<{{M z>oQFxxxNKZ7wTh!tnH|LGWwQ%1!@SH+|}g7U&V?vpw_5%$u1d@>ls&}L@H}DGMm}| zA`wt#m|(b0w;?4@1e%HY$B|GH5-DKO$D;3%Lmg9;DcrNsI~$oat8Ffn9Ki2bCpsG* zK-(4@o*DR4X#|#7xA0%$u~?Ue=H&AFGWlKmMVtV9X)B+^iJ_y6C|^0sncL64 zw}1I{a497{D>GTGcM)+g>rz}#h)t`jY5kqN(IXIQH_LX|?4Xs4<15uc-%z!NFTmVG z0og-K?2WpwVkyXU|FbH9%#M@hAzoAUt*f2QCFLtC4lwF_OGSHIU&_sWV67?hA}f0M zJ&zJV1v=BqR26!uf4x_!Zhi-bO?`zKHNLR%&f%_5mj3v0E8o;=p_Mu;QQic?w3efa z&7`p5ZsLIhGdmigK}oM+Zc54rDl8p3D-XLMucp+sBk zam!Xh>=pPahmVQvYKgy!w(llAfLrm{QRCeUTNVd!w zS6`3>GG%_othm@7ntQ#6Y?F<`e3Bdij#GYLccDZ$kSYe}oJKA}eZ6UPrbq2ZwV!&a zTUn~nV(8}*9PPB z-ppz_6;uVU*93ZZpVQ5p>aM|w;j)BSz|Sxa-Fa$Dn<>rMA-A3?I>Ck?13Tv{7LR?F z7`CFF^e7YhicQU7Qyhm1F96^o6PARm6r73u-&~BvMJ5GjovA62f?0y`ty=W?xWV_; zQ48D0tVR7-CBRV5!cPrxzeMu7bqu*V30ZY$d1grxKJItEh$tgeM%-V_G>az>@pb0K zQ{V_|p>B(p^w=zUx8dgIub}WY8@MX1`FI-%+H>-9I6Fd-r4p|M$NGX^W_Z5bE8ai*IX0QE;H3*o;xt4i@jGf{_&p>rwQ1yJ+@@NOjdwVNcJD zS<6vP;LXme8I%jc$;&lpJ% zxM^+WD_Aaj@8N8^{0oij6OBl^cw)cV)a5gB2?zqkU=gtb9)KmDzv|VsEgTx?57kib zj+8+fvy2l13xIS@7^OUXBTgY9l@bXikl~k}wwprzR7DX11qt=1jdP#1bD=-4{i~bf z8oG3Bsv|$K0lSg-5I2PFp*~1wjzS5Z{i^>CZ^!^^H*UL~CxEY3{J00DL)#-&!1s8i zkkD2F!gzGa833wWzU;7Y-utZ*1t*x@p7$l*e(bgfyO$B7A$3*=92{mu$TL<1g@;Pi z`*hjS+mihOjXh@KZw6G}Co(*_FfVQ&$}U2rCE4!`o8(=Iqh4Q~2pr)M5F4OhMu&1+ zC@8d1?Y-(LOVM6;qcYqnr`=`pXkk;@p!)rbqH{EC-~pdPhMiBo?2bb>AcqotNie^_ z`TEAD8%-KdIQ1M!Qo+0|Pu7a*+$m!n96FcP)!9#`C`RHgjcDiQt1hE9GGDkqr#qN($|olEgE&fgL~z> zs))j7{VjHS(UC;Xn>6=j4Pe?pvCNi={N>5OT+6Ig58E@!nD9N4C4$g}<#zElP;hk} z@q8o?QnTrbuQnIpnodoDa6pc%w!RG>R1+ZmTm@LBq?8Y`afbJbvv58Sm!7eQ>4kqp z3G%?(#akkL>v5KFmaUm1igzjSVrGoVt40PQ1Y5(G3MYv2L75F_G{+dn$9lmx(`{x4 zGq4;YAWhK+WqT(jn5+#r`w9u@3htAcf*r8J=iVmSXaw#FHh zW(Vl)tm&Ft2IXyhMPx3-#Bm`_)5opW5Y+#bt|#ojo5f6$i@p12cg|h9to71p{e>hW z1L0BXn3Nf%TeHq6Tr@Y1G`d>z03r9cf33xn-GlUVKqZe018%Gq@KyDj3UXIm_ER0g z3?%OKTU&$w6rvhtDQiatv3)=sZZOTXZ3rNvbHWrkVAER(dHiy}4@_&3hrNIkW*UXh zwIIFUr7|^j6Q1IwDT$n52P+6oIYzjot$L;lah5$ZC$5QV_^OCMr4Y57uAH~LZbTur zYq*OfM&o|{xXlD;n(31g)ybElZH-9#@m>)dWLPo8P@O^|Q7eD5 zCg2_B7R}i7i6uTQrASv>5A9DS6LL``_uQM#p9*46$UN1O5l2Q@Sx!X@g;DM=k`V_G z7xp@wgv^_B?wlpzJzU7QAVj+s|6z7i+jNGs=IE^CdZ=3Y67OZjgGV`8&uI!k_>+ufp?*qs^%?u_4b_SaS0u!!9wiI2|ryCwa!juJuA5KH4zYfL%b)te#n1LRi4{p zRlbH7ulVIFyHEN$g~ieyP&flVn7bMaPizwpZ@&0B&G1A4c(Kud8DQkt;-3l4Tr46# z#C?jU-C0@LI-cixGWz;Zh(^bK_@?+mg{|DKz zq4q@$$}=9J9+7l^^u5wy2BS%d+3Kn&aPr6VB{?5+KSCA)bIkbOL_b4N-oj};GK^ZHEfAe5DF@@a8;;iZx|3bDjS4c) zi;Wg0C;71!@t8e2_(l+dUgAA%3$aE#s!@fQ&xb(FsYZi}2gaA;((wt(xw8%Gtaso3 zdapT13sJ(!sNWY`ji_!9K(D>VcWZDu+>pmm*N!zexZC4K9I27%9q%xrYjRbCN|LY6 z8ZI+QL+{SNiy|{EGVr(4>}X40p?=HC5e=UdxkbTz?e9;U46D9kMW!i{H>id44ep2- z{_HK{)X=pz3iWA;{^CK zSp5m+gRiF%zR<5U-{_GE&!t%0jc;TVh6L-a8fZz`c7ACJhqP|OcCLNCoOvbESb&H- zP(%C6uv$fBWg7dbVRxsa>E25oTrY?ebwPlIlp)6Bh=2gp`+S+tctQ%69>^5P+I%UD zygXKL42Rm;14LeZy2PgJ|0En$tq|!nn`;|`f`l76WPRf1urtma8mYI?LS|Qx z@g?o<7ZJ2|pq~PmhPH8Lb?)N^IbH+Y_Bhp6D=yOZlCwf1odhhf!dm?HuN;Jh$YW^x zMY&>k)__E@k-CjNvl~Vjmf$Ay>-wA|{rGcLiHT||bj1SXJm8$1mv|8*iXt8Z&-?z$ z?+{@WCB>fwj(TKLWF-i?oXVOzhASD@r?A4H7-}xQNVNa+#v{~(&{91JYeI!A8%VcGoI`VMxz zx@GTY^BN3^Pwh6v;%{>Xq5wD;my@a>ixj>} z?8QBgF;)JFrmd4&kV_QPaZ*QyCEpRpQ{PxIxvJhR{cJ9hgr)! zv$CcnIyM3r{BF=_u?vHI@G=Yo8IIt)m**S5BWT%_V4mS}AKr3Z?2Py1e&uH#+H-Yk zUB_KazFIS=A-Sgi4I=NXYy_jhiJGi`Vmw&RFOlRfj>cgwV{R-fYzaAqJS-jw%oQ|5 zoH=1XTUu>m2^5jDBleR#JCH%S^%llqKYPOAOcwIJ0D~03aLt>C~SCR{(VkmYY-y)o}Qi78OK~0 znOD2kCP+v?FD~%m5U|gyl8SQM3rhDH$6@ktn11UbJ9eb1rrX|2k}`X~8|is#r^M%f zJQLg;o3-Z$p`XuOM7#a;$IpqKj=d6^Z`y~TU(VQu&WUCE{=s22Lu&?F!O=gjYa1Dp@1 zn{IoD$XWEsk1<&EsgC)5{+LzMR1XX@nFqjH`G5BuEUB*s#k?1^(!ufBVfWb_B--p( z<;~UiCfYdJ4NGWt?)~iI{-81r4*>PnJdk|L8qh=iq}e^> zv#KR8wU%3_w{Ux7&LXQ@_JBH+_Y_pq{zQlU{#FPr&J=HrNWn}x&C?p+&ma})_ZebK zYbNx}GS05ERWj+X8yCmoY0qCL3#xs9pZIOx(W&3UXIfg(@ZpY;B4uZg;B*Ol!l@Dj zmUfdmeXU2DzyBHK9$7_Vh6j)czU?r%fSTkTnI5&n1ftF~Sx_}l(|dkML+d~VDp_u? zv>j(Nx)ps(V&^Mm&VaGkc8n`wIs?nVMjFJu|~jy zpP#bMM8AYouE-qP-f%gv zSO=OQzTO@)&MTKx=lYhZFRB{6?f%ptBzto~$R1wXxRE%3yTh#O$9CdqvbGl8v^=>W zFMNJnd9z2zHWft=XNtZ3tgc;w5h(cRd$ntAlfPZEO$Q z*0BCC{Zr~5bNC^bBsp?%vdBwDd&6t>8)16FjWu zKrrg+=gHMidtUno-CH?vts0947hSfr+>XLrKgIx^cK@;W58&PWBAPqiU}`>doDvhH z5jk}DV@?}k9?Rn!JpA#+Z}A8BYuNJ`q4q!aX~wCQ?0T8gbL6=Vc~s%&xi!#rsDK2t z88j7_yPiI=r+2!a$}he;9j!!c)L$RVcN_lJKU_=?4EQ(^>m4r2W2gVFn1Vb#nw#~N z^2?t00~q#JNjE2V+tkSQj`7_3X5VT@!M!}e+?;FV1ys=u%lIdmN>t4pr;*bKU10fa zTaXoXE0d8sEY)MoOr}OA<4b5UA5~J9I#Ly(X9lk;Xd-LI3u?I-gcRyjv&C?Nx0~X1 zarxJSpSIsYw-s4ULvO`MWaF8?O`^=)a^Tz00+?@+s9Gf9e=QU9-L6UQk~xELcm*b% zVO|#@PDv`ZIZjCqrxwC23=+3L!30Jj?KGR-&-WPxYSfZ0QYm%#zDa!5*Dm5%T18k7 z2N%8h6ek{ZL88371h}?H;8HP8*z$^hEW1%dRGCFEcXp2x>7uAW9u9RHi8aL*iPf$3 z0|dO3Z9N|4I~i2IJS>!q=I5^TwoOTw*F8J@-qVfVpLR{v`f81i z6AK!4o|QUk<)#xTH@2STnho+lvT_;bJG67NOf_s>xolU&qL}pyEsq~LC97ub4FK7e zWuu(oN54;$Q!OL1INQ~~Ew>U+jLm-?PjOtP#@=r(z{C8T>|-$|k<2Gcb~{sT`C~E%mMA zQ;t*8lbm5*hIrsK)<91DQvo69&)XVm0lk%Qbz7>b<_xmUq*Jy;h-4d80Ozv*@OKm6 zeHRLgQjw3ZGW_%$&Of>GQ%BG5U9V~ zm-H10)1<*^k5ehCyVii>`q`X&_KT*M!rTL}t=dB63;nd$vH{B|!gc6|d{SmxODPRn z7c$=}17Eu>-;?CQxW&@$U)yhcZ!v(yg<`Mc=@nlhg_@c2AB&Yg@iXe=`Kc3gp*#rREOvh`c>nI&{clDj2I$pjnhiYp#G!+U$eo zDnIEMbsrCpD}>6`H*2b&jk^p<(-8FopG1(Dd~B>K0;x+nqg<}50s z7&h}(9k1f>be_{vcsRenw{eA$R|87F)fy!)h?p{n?oJ^A!JVEJ@-6&Aw@lH`H7FCL zpjaU5q<*n~Lgo~DI};q(dr2wbWxyqjUjA&jlVijqju{`rkqi$mTIc@tZVW`Y!NS5O zaHegGhhAj?)zE~kyZvCTv*QZ*3#uP1A%1tSjw@XrXfTu39P+J+oE$X7>q84qX9 z%~OY@X#{{J;pqnbLKTdf{*+^M^J~LSj-ggEpXD)jW*-UXB8G?dguDIV$zMe}eBCg6 z1LjqFhSFr8S}|@Nh1JdRJPyRK8UDa!=hQsx61N|v=yiI!;L*80rOK6iep-58;OWj4 z-0ec+FIdEBj9UBfb2jYfukTu3DEW(08ImODpv>a5tx^lLBcD6C@0;3NRS zu@o!47-k$4haCim90*OI9duV*Kgo2_F6jfAhB2qxSYuVaY2gHxe;v-RNJ<4_g^$hs zlCDsXHdM2^c+nKN54N3Lf$Rw%$$$ipIrz<%R~5lC94$YPhWZkpQ3#qvYz;M;#?AE= zLIV8R&ueiqupSQ2|Jz)Iv)5;ng&I;-`Z=s1TSm0F1|w9-z`2Pjcbg?q@m#3n;oEQL zQ5sg(i42w6tLxMp4E1f}91KQz07TiOL%R9}>dq`%U-1rhLiH-fu9*HTJ=qA1Uc+C= z>Qg^O6~_U%zLbs6D5_5{gAo2u3{^fxQSg9hVAPHL(FLNcnqoZU8fU93zk9@kz8X9C6ytASl4T+ zwpo843~2e|=>9x?2Q|w52vu)x$r*s0n1Y@ace`NRa>^{3oO=A>0ec0;@J2M%kKDrp zhJ%BHi{j0tOcYUx`X1EO$T_c)Vx~w~O?UU7yJoc6aBOkMTTNA|nz$21@DG$SR|f33Q_YGG#z!m}HZ8 zYqya$Sbs2;GnE@O>z6AVc~aD{Mm$YbRQ-;k$hj^1Np7AX(nTBO@n9pieI{dwUH4+! z8VG-}URC}O^d8j2qDoQX3p6!KJ2vhJc*NpE>}Q^e{pfHwH7A@3nuGXC43tldg)0TO z{4B!jz0pxjY=2(y<>#+6#32DkliBSQWyn0sJAH!-CmZfntd$xZ3I%JMqL)Zo1vKDI#r++rPdhAwy-2!J!bxEJ(Tj$gVkqtoE1KlN%8`h0(+sv@m$N z98ndp>yP8|l$yL7xVIE)WezhM+ahTVP~v2c9f>!_zv$oavpK-6Q56F~wtgl`DkdEk zlg&16<*;u)|HGePN(k(R7`c-Nsv@VIKaPRo1x$$|VhRd?l9> z`q>+@oqd_+&*EA~wf#>E)!eGKmGhr{81Pp}tiy53p0Sc1@6hx?AQ zXqK{wBWv;LS2gINX2`VK8n3A_TwZ()|q!sdr1iQ;9+p$ zKqK=3<-t;5{9hm0aa@^;6n%=_@EP^PyHmN*j4)q7gz|&0P7xxlVd;cFtjO`oGJ-;1 ztGZ+`!6EK`=5U?**PY(avCEvF2ETnCDfJ;N%I@So8@e9qt{+D%?oic!tWwa6{^OxBc714R4>}p1>+1cwQI>bH_{I|*0KWw$s-t|IG??(B5bwfZVd;gEM;Jbb9N2=hE z{gECy#C)XQj!_>elvDYKJKUOLUvgPVa^axj?mrhDPrz<&6tcXkg|mFY;+}@UY_z+ zM`TA*D{w??Ai4Xl%l*uTuvUO*fb2LR>D%PbJBeq7EK2(u9K+=5*boSbG|#sLLS{OE z{0m&!A&RGbItzMSK1-rnKjH-aJicP5u3H2%oa;zbBV?TF1xFjTpQTp(Qph7uvY&1l z8*gYrW&%fEGNgbpi=o8shH#c+CeG34iq>4N&iM_)Z0_z?y%avg{b*=PG5CZC%Du>} zdGuVBjX6Zkb8ETqpAEm}Lb4$?OkV#2!b+|w1>VqUT%8npzh}9B2|c+CDs@?y+so5w z=uMm+FuQF(kjJ;6q$@tPy}*h)OnxO79eEH?lAZA_s~dB8acrrnilm|xy|?FxJ({59 z5UR&n8R~%MG#k-b&gSZBI^dJ<*1D$&!@KPe`?^W7rjqOiY?z2n@!XsE6Z>NjV6IqX z`f)lT)H0t+q)dHL;+CY8L$RYv~H(Nx;ksB1e6q6-C_85QIpd zHPcb+@ncCkzkgTC-hq+*UdLl5^r$zm`?mzg zLBn430C~w?h@A$`8hl0d8U3gUfHklEG2hfB**se%r#f;eB8#0-tB>G|Z^Zpf;L;bk zNf{F9q=*;LtRw-}J@5Gd%H+k<@L1$!x=hEtuk5*C38o$KiRD_`t$fE8X|F#e z{@Is=>6AeUQp}b^*c^<;!jFH519Ep?P8}$){tC9JUASIDg<_t$HiqL1 zs2n0*Ta(+i;7l!07dZM}05~x(3ilDr7qsJh-ciXl{{So)?4h1E{3)-#02rs>z|(x; zD3HKgwrf{)+2qE#!tN&5_LdjOjbLGE<+5$vbY3KROR6_t zL=q#fyX>EJtIEd+PXXr=x$N#~*B?!FmcGH&^j+vj(dbPY(8p;t(#BKl-_vXf(y$2? za9lq2F7^&6Tgb_ErOOcX0FI1Xlc^)!eQI+Mv-}n0e zPgM=fbQAiR;VW+3|36VRp1a6LRNtKdLJS&c2txprbw?xp=W$`ihFrMgeF1@bSNc-F zr~e%9?)xDQ^A4m1p131@lznye?r2qz#eF7qRVtT9Mj+6W^8@q0b(a6bQw7}jr2eSX|HyUT1<(KC319*;deMAd?)g9nWD`nSKby$B%OEP*Xvv>z4t?_=4&?Ef}|68PrD{DJvr zA3J={;(gB`{7(f~fC}CWAH(45O#q>42W0d81g!KX`3Q}_hd}>^Chc(<|JN;{%$YZJ zrv1+5_inWRVU4i=;Bj=o0owZfTWcR50thOHk1&!W>ObL+Rwp<&6n%LwYy55`|KVu( z7o6pY@(=i<8T2{~vxe`W#CK!)4_Fw;>MQg?__6c64}J(D7#Qw^f&+j diff --git a/simscape_subsystems/reference_mirror.slx b/simscape_subsystems/reference_mirror.slx index a1224f57578c7ba4526e0f0b77c8ae5aba6eee94..4c727a0ca59b7b6ea835df93ddefd149f6f29f67 100644 GIT binary patch delta 5569 zcmZWt2Q*ym)*cMeMhk-IHHc3164A!!B1G>kdX1J5HM*HW^xmTP8WX*jAWC#11PP+o z_~(oJ-~YP*S!=KJtn=5f#y^RQn} zMwY)xuxq&1+Vs}e?!*Y&X!@{yE_}}aRFJ+OV?f7vknt(c*J%@mF+EoI7wkAV_8s)j zh~AH}O%waYI-t2EQwbYp)$Sc2O<6fpG)Owol+^`ytG{g`=%x1*CbWX`#u9S{lL7L$ zy(ax-nE10#nKa|JDTiNcq_#_h`$fZWfl9Ad83ypd9@yjQCzq~erX<>E zkCqhL1+o70U>IAEEdT&lNy%I@kmSk7H$`VN&F2WLOY~r7~JJHMivpa zfB%qbY0<_Yfg9WCG68zwkqFZvtzaTS_MOdKj=G3&X3Pb<)$R!je6cD?t`Pfgm8_OG(!Otk z!p5&>n~w1AwxUw4*|-3KSyMfO##_iYz^9XBQP_KmKjhqT z(`@O+(E3rzQ#w-{<2EDvIzqEQ^8LA|y-&C4e=f5@^|T~K*L;<^NjIVWS<(Dc$PAOg z+VtPixf|SIZvGGMzk`Lhx&*P@alvQFsxb`;k3?x5b@MVe2C;jq;_0hbLc6sN2pX-- z0yz_3owE?JsMvI^-(X=|M_pY$G2SZ6cC4sHf1eUTQea6zu?aJ7sK(5-#bjK5Ev>qW znbbvoxnPo$`rZd((5?)XPl(TG=ZN#((XtF3Z!XNeloHiCzNrr~?AQ<_d@=v|i1%?J zl{>tUULWSZZ6wM-UxoH2G2JdT2aZv)4@h_t`g?Hs8)R4_Caz>YiH% z;^D|2rEr#I&m^-u1tzvk!c78LOUK_Y#B)K+9R|1>N7(*073bd{SS^Bf@Lw%6qyHB| z@Gu_Uc9E4S9Ru`F7wbgh#5+L%Kr3R5l@Ds*mEJeKLn9vBm>H3#vi@Yz%S#|yZvLZE zer#^4rSvsgf&=8qvCF*Qh|zq0(h&wuAOJhiZSQ?id!v*lC0_^BX*Rq(Oum^@qW6Kc zu(^=5h~w1+bUY0=?&7}G1Acnk?CI9W;G0mZ9oO7uEJK41f1(SUv^v#3oW^7rU z*QT~7)abjQgRO^E71&##42;*J7HISa;pJ+LQ}(~iD`hz0J|6FTyL;Zrr#dgsoMCGm zHlrz!J|));4yI!CWj9~@vfc-2>Q$sC}aI!4|gCivhfblEgH@lDQU^5Rb zPmek52hwdqVpXOEauShCCV27sP?KNY`$O+cZCdiTO$9nBy#_PW13?<2*c5dh%A)rP zJYQ){A$K5&*luSfszU1-(}D$_xf zw{9JF<$F%erxDrU`FZdh-a@EJ4e%~fWIJ&!ot*2}mTk;57m(RpKl>sjxkEkmPzIOB zi_B%O%2augWp#L@OmmW1Y0q$9)IbG?4Uatjm2Bulf6q!b+ffj>r0A z1(O;-@VY=#4~87#Gh3CEG06*w`+vxXX#$EZ|FE1%&?~f~#VNBX{-}?)hmtuA!ic=v zm7diEP90M>taN{3KK;T|I2fCu+^Apic1$TBgZeZp%DS87sl2gLify_sgLA}slfP#b z#@_uXx$UY%G2fvS4#gN-pmH;Vzh=FdY{)p-j20Q6*h?3Nt#}_5S?mxUpp`CnD+U&R zQot^vm|7$c)V;5TbOyA?&Ar#t>#x9aI(et>Ql+n3LnQB(09^h6m9KA;(2)~hxMENfIz2g|r65 zcjZ|^Ju)i!rp@&gqiepfo!)i@4uJhcGEvuEah!;^mwI%SIXX!e^zEEF`u-J7U^)Lf z&^-1^?uv22{zV36ksxm?aT=-WO!t(6Mjhr(pRg$nCjUCLb6!wCdree`fTf3;{|x?t ze!pzziDEZNY2%iumncPra~gK_?%{pB4C3Z&`?4a2*OwaSP7EW_vL%?gssk7q&bGS} zVr(l#-WLJB%H0PDOH&_h4oeQ?wtpz$W zE$g);Uo3&p9`~*ZagW|Zh9nxNpLAP<_22UIOhHR}Bk#>r{q~K-7RErul=OjrzAqtU zi}AxLabX9+dCu4t{Xj8C-r7c=lD7%#qD;v=r_PEw%>) zL#qTFESk~Zp*#K7wB9bv^m8_*w&A}p43i*U&I1KNuiAprj0Ii}>wM;k+-r+s+xN=+ z@;XdTZuOc$bC*BDG?X$5i*;A(1QVQ#^vP4{5Evi_>jLp5o`jF%*Kw>_XD8!52!Z2o zcg|o^h%gIVpHlvKl*Bx+|I-0dNc~Y0!|4r~TxIB<(a5H}nV^8!)Uhs$Ln1=>0xsV! zkNJlLs_gK|f7YWu1W;_sCjn z%wkW?I;KQd_cU-P6NNx)Y5hp+TqUxJ?M-Zd6;})#Wbn*Gk}rQ7rnM{K?p=8J`>MjV zBTr9jsEeP?G+jQjIZ2tV3W?W$f0(Y_eSdRrMBHpVA-LFFji@K+8qVE*mBj^fHu;ha z1?-HD!El_W5^x-J;Trh^f;x~@o#AV1&hJBxE~58v12*_EKV(ku|H{v7>3iX%Bgy7& z9zP-%n&t$g6EA;H{%4l!;hQWEgHI2Q!kh|~IBvE}q&rv)zPxB}p$=tSFP2ujPdSmgjWsSbfXCP312)sK3wpvo zJqZWg;2$SUNt%qFX`Er(5C5rMUEZ^1Y9ZI0b3K1O9blKysoomO%(jRgNodEp+4L$6 z&29im@RlvS9Nkh&2pP!%N>QI0q|K(#&R>)0+ZxWOLMq&*7v0H%u9Q3XF z3z}&rH?R_y(f%?9o{-Y-m2E@kRc$uHtbHY7JrVqnW}t_~Rg^zkmE)l3QRT`qWP>2c zPoWy`n+4Nvi=EHA`e`O7W;>^nSWWJj;nV|UPq7OUg7TZ+QS=;DOsj>g{%XedQ>$KU zOI7!T99RqmeF`ahDHR2*DB<_qOGeK)e{DyQ9pITuA>^l>h@>QC8+*l7Wu?_!YE z4_LJ1BP(%gm|ld&K%gt}xaVU^h~xg$v=?#JqabEa3#Y22Ep?E=5Nu}iL384E5T{ZL zw16=iH?B&#$+Ot9<#gL_KqmM#cY=TKx9sDoZS%ENwt%7D9cwoXX(ZE|kG;?~uw9s} z-E7)0g>L+Y0J23n2;I1VTEJTcht|@*bHri51eYoOlePV`l5XHRrZJ9IZh=@ zFxRHfe)lw^EO)!e@pL`z(#`MSLLte)+6-X=jLCsSJD0Be!3m*ml+3P=D57)~Kc3#G z{9b~Ben-~`x?4{VQ`*1^8g`(1+bSV99FSjsmbGsBxaym6s^xPiYFJTkvB(3!su=|!5>my!~zh=kgQGXpofz4;({o{tduecXN@m)3`5jziOMGgwSU zv5h7}FRTzr;PnV<&u$i8A{Eub z3MR-Yc*kfnrK&R7g-v5AJ*U%Pn9S|mkLCZ?$mz09$vgEerU=Aq?hxp*Wx(lP{!*JYC<@3yG;^c9ZdWa3Sa;0NBeN zv0Pf3JW_SfnC;?NatML$(^Dd6)v6IWabyr#&4wR+OENYP0T-A>4uN8*&=8Wk-as+& z@o{R4U6tbAI@Scq-n?@rRwaBiKfXhA4lKImp@#GoC&jAVt;kn2{K&fW!;njeHClmwJOME`HZp{5_~o^1Uf~gO19L!*^@o zmyNum*2QpLbH0fr%-@}M+ls7RM340HZoY+6F>lIoQ1Nx@POyM7p0yfKC`Emcj@n9_ z8uqM94Jy?Kw~}V{%!LQ&T~-OdqC*DOe}!|@5c*LDZU0(UX;c(TKx#D}G?hKhlld7hp_^eN7=rvw_Sv*})ZPg(f7xY(v) zH~sZVQTi)xdiT0{8WlRehf*JgY3Hp2^FF=x0B<&H509-INAP|}YWD=Z>VY;^0B8hc z+!HhXH%yLZ_17Hp7PQbTtA;9bFm$uz9F@as#ZqnQvIZ zCJ3h$`|4P;DC%b`QX4j2NwXz803=%yMw-doPrJufr9xq6qJQsXT#Zyo@60XJAuohA ztfjSOZY_7F`};)=X5Ft7ySG#Ht&WF5>*OO(ew=YatG!-yQi+*?cI$|Lb~aEf_5l(C(+;VI8! z@&|AHC~LPnO4~R?e+a|tJv53!hx7U6F1?EE$QDVr{mgZ^kCz@w!LTJ8ne3O=F#mE$ zO1!~L|KOPIvZ~;Q)J1@Kx9b5RKb+Acsr!Ch&w>-V2>9W<{Pox}=cK+3jMnzf-k{Q> zv)l}UiV=^2He>fgDN_F>{~WOZKb}L(pMRpDfV)F}ZIxgl?d?#nuU&pS1mZnkxK&;* z`aKeVAog`Qp}{hw@~7uyUGs4Q+j7f5p;nm(p%YJb_(v5JL^#A6Mm|->uy`D3qlSrBN(Ymjeh&D-Fz~q?-i@}Se4%@ZJ8z6s1TCr z1&wKozyBP5qD&U*Jx9TFw>{+t8+*jD^wzB+oG)>0nC{r*7~@(VJeB! z=qlt4uzabnEo;0KEL0>r7@`bg@SGMgg20$kTP>#~jyu%U>@ID5_n(EmWSnR! z^t8t(>&KKIfu*YKiY~v(6a)P!OwZblh`O1I&*NMCee zx4=#>{TAT7OuYp~FC%Y(kp8<{(4k*+3mgn4Zh@?!b-V`+=hxR^7#v%Q?No)22mPAzWDhvSN;T^{i zM7A-AKAze6oV`SJYqiF2vVRY$FvqKxj2k04^qocp#OXckoH?fQr@ aeLjSm#lO-STTr3BLikv4Vo4kR!}}lD%+S^V delta 5507 zcmZ8l1yodR*PWqrknWVBJ0t`oLGK3B1lO}NtYlJ5)wbk z`+wi(d)Io_>^XDxnRB0gpS#xCjs4)#elSE?5gCOD1Oj1zR@`HrS3{_fP=142E~HE_ z=5GXvM(Z&ECXt!oL8=DN-|!G!vFCqR7M?R`HS>EmY@|V#J6=k1K17mkltit$+VGv-;^qxhes{M1a&HTcp>s z=JA7k4csq@#$uL?xa)2KKc}XM%(_qMk}=bzMV*W4jHe9T;QqFKk95GEB*EAmoi*t? z!4GBLXHtz>r5p{^NNkk~eGm!8LV?-xU}9WPg^xD~>Q@K@q&C>P$z>~ZRZ$A(Wsj!Yj#a~qvrkPW#M3^*hrjF8Irg%l{ z)7A(oSkgD2z%hRe@L?wjv=o>eWGuhb6s`AOw^*`fDjrnlH51zR@PMv)?B!n! zK3(n!y-IV~0A!yqh-Q60*kD+g&Hi4stnFTw7-ziLnBf;ieahpzPt_<64-Ou?nrS-5 z{#%JErDnsvTV3S9AQ1KKr@cAgg}VDk8^8+f>P{qUbTIf1Ibb*u{gJC1X|(6hxc7(NnN7*m+kZCALuX%SpA&;*Ed9?f&(iWUm^ z(!X$$!(hT=qQ2=nuUq3nBM^fMDPXLT!i&mlxTgWE%H*#^^>{k<9QkiDdd4ihh)& z_=0IniaO?;Z$A62XvFcX*7aR|{GH?25pDz6cB0Vw+$4IDv>KBXTUvYDk*~--(h^SBW^9#RkSR}~msGME%Z`o9YGlb<8 zx53b=P8OfZp%*P&oRC}w04Z|6qGY;XvY|2NH%c#tfSs%=n9sQUeb1Nm&-_uuFa&%d zpi`3dV;pTcl;hxGa9cVbZA@hMlh)5x0`ApX*~A0-EsADwrXQp^8#k?eFpAITLHEP6 zL(33Sxb*ErkRNuXL|agfqHT1ze?JRL(G;?~r;QBOO#XTa#_Y~Uf+FUoaK_^x;7+dRFlGZ zNIt(plPmufUz=74!d{69$KHsNQ166eO5lak!#caAH!#{sR4W3W!FdT*AY|5(B=1@( zKar$+CcSvl?o)a^Gw@AwaPpK4)6H*n(S=4%pFn*rD89PSi~KMV7B#4aI_E*F%|Z~u zIXU)lSe@4fCZqfjcR8YF5}yI1swq<=GkX=4G!BwH$QUT8EvxLlT{CCgX*|10gBjtk zMp0^uXrg#n?YqXt4maGSq`=~q=2gI4}o9BS>kSL7{3f*t^%MeYo zn|PK6BQ=gKie!R&=*XMPiE?l4Q7e-l2^HI|ZmOxqCJpWm&aYN+9cvQ^0%VcPfEYGDER= zJ%im9O*qS;*k<37S@dz1nIkg&f3a3 zJAC=_MW(B5bNIUsJBFT?kqAy#g|&dvSPPkh!<@r({Z!T3&&@ ztV=A#g|ZYZ^uApSx+5XL!xEav97WUd0Npw{2yK-623+tLWgr>0OWw1+M0JDRxRG#` zReGWkLAc`gQPzbe_DBx{?pr?H=H#GI<*VY$J(}Kn1bbi<78w&L53SC4& zurBZb5C)MRFot9u^P`8=b1!8{Nq=dVcbQU-vd*wC!U5y zu4Bxaizam;K0aFUK3&0V%jg%(q{mnB z^p%XSeS2Tqp)c3Jx;0u%YNgn5k%jO;y+(GP7>pb}WFmmd8PUYbve6}y!x+?Z;0i{A z3`EZQVu`+G4C8OJXo0HXEEa=>-V@{sb-7e+9JTSJQe^C0lo2(29IzE1kdDbkfn!1& zwBTZPh105b=<-3{y{s=}N^x*u_fFmAy^JmjWLhh6^~k+b!%rC>2|XWeoPh-7DsR4C zdGN?mcVtXXBrd+Z$8XP@1gH0Yh?{$@dXN~Malm7!SsvOd4J_Rw)9guW#)rKo2akl0 z%JR)JM`|KNoBX4~W>Is*K?TA7c0LJ;IoNQP9h=+^{l{A`^*&X-iXEB}b7sKwm}p`7 zl9J%$lBUolL&o1;RzKAG#W6D(pIhd|Ok(hl;0pSdOfuyY7;9rzGymkdr~7o%R};pP zb<>np{$c4}Dn%$xIjzqj%B61;-t}dk7xR$WES{ogmpaD`_cqed%`Cy}PgztnZI9RR zf%LDcy(0d53Iw5yDTOwy^8|~IjjA0(Xh}}lon{cVm>pK}qKpZ()0yy!Qrn_TvV4A( zWkyOwk^5>vP?kj=<`Q#8pJm?QC~id4A$QeMj|b8OE*xyfBm!0W`P@4mL{^ilBfs~EucBm6B zl1cTzImT&{CluLvYst$_lNRH2R)HY=-D?@zz*9+sK@u95h$msB&7u<9o&9AH_%6OE zV|F6fnI)Yxs;bXRx5~zYu#BK+uVM@iDzvVrNG-hAvJIe_2kST&LI>ZWE*IBtRlaq3 z&cH4wgzenRKWQDk`{5N0-lsy)%Q*+qO0pKvSr6auvu@F{W$rronI0lur2WJ26LSmn zyu<{tq+c@rHGgSG3!zCWo^l%V3BIWUBkVo@5&@wWn|t$4bo#NJt&&6aFo9>T|1a5v zn>>Sn1sM{slzyNqwc-<1N}uL>gEI~sdijN9%5w9=5@TEP!=1z2I#q+0sPdSyZ9 z_sfy2?b%ZH+gn~)WJ~#Q5z(%$W}nRNy!f^f+cD8|^vVZ}w?xRTySm6EfDF$O_-1eO zmK}CPZj{k01s)*?OX1H&p?zV~^~s)7(Z^Cy7h|#+HKj9Mcp`j#R(i`;CwMvzk$5x@ zH{E5G=IRu7o36()ygAP+6kPZio*@W%Gx{UN`eiqDH;2ond2-k@g!Vk!=U)dS>5Czb zyyC0+JLLRjmT&n-RP{7C+}Pj&@Pq>QYsZqC)kNK;z?rtux6#c9^bkZ30+Ps6Pq5{n zD2`t5fpyQ4`#$UCWM!Nj&jwK`H34Bd;Ru2wQZwf*kZCctcfw?ZQYz6LHmY+tDTYtc zuw6JgKYW6XF?D#kb~9G0P}g`^g|xC2h;bNfGrGf}$vv(b@sjt^0j5niw`5rY`Uzu*!l|$Q6>7F)x|={7P1Osa#lV z%m#_e7P_bE6Kh3#iodtInCp9qHCCut`axo)0OMmLoPU94Tlr97;p1vU<`c4N4SoQ{ zaB_;jdzThVT^hdsXu2bv7YZD*{m8q-nS^O%Y{NVam&~xEUR>p#n`M8ZgI5V`fMRIb zB6ULbt4OZA1NGc)Fy}lz$cw3lS!%G_w&T6mvV5bcy_oR;*fV)U-opJ7FPG7Kd=e-0 z91EA}x+;9Vrw97<=KkS``zl#YUPj2Xn_-l?1ravl5&<~4J@akV@gRSSrH2Q9PF#7d zxsu4Vs^rFuT|KXFkKI|mfVW)=xZxUg9GYR7Y5F?nSOF#Mc#m(JlKuRl2J`3x22^nIG@p`aJ(2YYPU>Qv?4FC^H!pkO10@E>-wAoxXw&@?c}CmoAgOY5O2U3? z-8#BqPpkd9vAth~7zyTC+JaM;e3 z6Z2;6s7cG^2036)W(rLZ9kEu-y@k%2Qlj=Mt?%HRV4+7}wSVoF$Tu`;8+cVfHxhMK z*(K9D34Oq@apm@8#pPYSd;P>zOr6R%80B@$*>m8EjakLrEes1So!Z7zKt4wMk|MQDtubEM}b3XaK z&1=OnbaDm!8O4?GejjTgY$|5(V^wFlDbk4hdkCFOtR{s_**d<4`ehQM-69K(_&k`fGQ^QN-zi0c}4uL|Ne@1z=io2SJVdgmN9Ft|~0{mIi$CROWBP!|XSgrlah)HxT|Fcu9IR628%k3sfym#ePtt7|J25 z)@4=1_DLv|YRBN*Gymp28Qm^L`|%I?w6cySEa@d3$&Dg|syh`5E0oEDQVbj%D zWSh3Ip{+1Smh-3>OC@;9xZ`d@ybIK&-l3CI6E zD@VVq&3%5$GrnE4078cdI533(#M&%CiZ1V6>acFn9q`f{zXQ+p#qU6jzTp3OUBmj4 zw7+Zq+k&|*4Z0oUZ!c|t(}3fSYG6Qtq=N=<8BhZ82IP0K>f4wu`k&aA0VUnhlV)+;Je8;vf+DU-g@SuSP6)WpIoska7ipAp!Dx|LzY^F{S`N1?-Gj|J*ptpldGgw!aFL zTVehxcclg}tJAapoB!wezfBamB~krFSOCB#?05gqV?qH20g5KjKP_8T*l4NUraIm( z#=j_iK(q<}pPUSuvP+%Y-(KG?*1vM}fMpZmyRy`#6yRUCUx|RHruYBQP~O_&DBq@= z-7dPnXemIHDfb->VM>9-tP3dX(gW9~|7