From 0145bcce5395670aa776b704476860c439d13708 Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Tue, 18 Feb 2025 10:58:13 +0100 Subject: [PATCH] Add comments in the Matlab code --- ...tive_damping.m => nass_1_active_damping.m} | 9 +- matlab/nass_1_kinematics.m | 23 -- matlab/{nass_3_hac.m => nass_2_hac.m} | 316 ++++++------------ simscape-nass.org | 87 ++--- simscape-nass.pdf | Bin 6303977 -> 6305162 bytes simscape-nass.tex | 12 +- 6 files changed, 145 insertions(+), 302 deletions(-) rename matlab/{nass_2_active_damping.m => nass_1_active_damping.m} (99%) delete mode 100644 matlab/nass_1_kinematics.m rename matlab/{nass_3_hac.m => nass_2_hac.m} (75%) diff --git a/matlab/nass_2_active_damping.m b/matlab/nass_1_active_damping.m similarity index 99% rename from matlab/nass_2_active_damping.m rename to matlab/nass_1_active_damping.m index 0c7312f..6c8ba1a 100644 --- a/matlab/nass_2_active_damping.m +++ b/matlab/nass_1_active_damping.m @@ -57,7 +57,7 @@ clear io; io_i = 1; io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs [N] io(io_i) = linio([mdl, '/NASS'], 3, 'openoutput', [], 'fn'); io_i = io_i + 1; % Force Sensors [N] -%% Identify for multi payload masses (no rotation) +% Identify for multi payload masses (no rotation) initializeReferences(); % No Spindle Rotation % 1kg Sample initializeSample('type', 'cylindrical', 'm', 1); @@ -77,7 +77,7 @@ G_iff_m50 = linearize(mdl, io); G_iff_m50.InputName = {'f1', 'f2', 'f3', 'f4', 'f5', 'f6'}; G_iff_m50.OutputName = {'fn1', 'fn2', 'fn3', 'fn4', 'fn5', 'fn6'}; -%% Effect of Rotation +% Effect of Rotation initializeReferences(... 'Rz_type', 'rotating', ... 'Rz_period', 1); % 360 deg/s @@ -86,7 +86,7 @@ G_iff_m25_Rz = linearize(mdl, io, 0.1); G_iff_m25_Rz.InputName = {'f1', 'f2', 'f3', 'f4', 'f5', 'f6'}; G_iff_m25_Rz.OutputName = {'fn1', 'fn2', 'fn3', 'fn4', 'fn5', 'fn6'}; -%% Effect of Rotation - No added parallel stiffness +% Effect of Rotation - No added parallel stiffness initializeSimplifiedNanoHexapod('actuator_kp', 0); initializeReferences(... 'Rz_type', 'rotating', ... @@ -183,7 +183,7 @@ xlim([f(1), f(end)]); % #+name: fig:nass_iff_plant_effect_kp % #+caption: Effect of stiffness parallel to the force sensor on the IFF plant with $\Omega_z = 360\,\text{deg/s}$ and payload mass of 25kg. The dynamics without parallel stiffness has non-minimum phase zeros at low frequency (\subref{fig:nass_iff_plant_no_kp}). The added parallel stiffness transforms the non-minimum phase zeros to complex conjugate zeros (\subref{fig:nass_iff_plant_kp}) -% #+attr_latex: :options [htbp] +% #+attr_latex: :options [h!tbp] % #+begin_figure % #+attr_latex: :caption \subcaption{\label{fig:nass_iff_plant_no_kp}without parallel stiffness} % #+attr_latex: :options {0.48\textwidth} @@ -404,6 +404,7 @@ xlim([freqs(1), freqs(end)]); % #+name: fig:nass_iff_loop_gain % #+caption: Loop gain for the decentralized IFF: $K_{\text{IFF}}(s) \cdot \frac{f_{mi}}{f_i}(s)$ +% #+attr_latex: :options [h!tbp] % #+RESULTS: % [[file:figs/nass_iff_loop_gain.png]] diff --git a/matlab/nass_1_kinematics.m b/matlab/nass_1_kinematics.m deleted file mode 100644 index b1b5de1..0000000 --- a/matlab/nass_1_kinematics.m +++ /dev/null @@ -1,23 +0,0 @@ -%% Clear Workspace and Close figures -clear; close all; clc; - -%% Intialize Laplace variable -s = zpk('s'); - -%% Path for functions, data and scripts -addpath('./mat/'); % Path for Data -addpath('./src/'); % Path for functions -addpath('./STEPS/'); % Path for STEPS -addpath('./subsystems/'); % Path for Subsystems Simulink files - -%% Data directory -data_dir = './mat/'; - -% Simulink Model name -mdl = 'nass_model'; - -%% Colors for the figures -colors = colororder; - -%% Frequency Vector [Hz] -freqs = logspace(0, 3, 1000); diff --git a/matlab/nass_3_hac.m b/matlab/nass_2_hac.m similarity index 75% rename from matlab/nass_3_hac.m rename to matlab/nass_2_hac.m index 3b7cb1e..425a221 100644 --- a/matlab/nass_3_hac.m +++ b/matlab/nass_2_hac.m @@ -23,6 +23,20 @@ colors = colororder; freqs = logspace(0, 3, 1000); % HAC Plant +% <> + +% The plant dynamics from force inputs $\bm{f}$ to the strut errors $\bm{\epsilon}_{\mathcal{L}}$ were first extracted from the multi-body model without implementation of the decentralized IFF. +% The influence of spindle rotation on plant dynamics was investigated, with results presented in Figure ref:fig:nass_undamped_plant_effect_Wz. +% While rotational motion introduces coupling effects at low frequencies, these remain minimal at operational velocities, owing to the high stiffness characteristics of the nano-hexapod assembly. + +% Payload mass emerged as a significant parameter affecting system behavior, as illustrated in Figure ref:fig:nass_undamped_plant_effect_mass. +% As expected, increasing payload mass was found to decrease resonance frequencies while amplifying coupling at low frequency. +% These mass-dependent dynamic changes present considerable challenges for control system design, particularly for configurations with high payload masses. + +% Additional operational parameters were systematically evaluated, including the $R_y$ tilt angle, $R_z$ spindle position, and micro-hexapod position. +% These factors were found to exert negligible influence on the plant dynamics, attributable to the effective mechanical decoupling achieved between the plant and micro-station dynamics. +% This decoupling characteristic ensures consistent performance across various operational configurations. +% This also validates the developed control kinematics. %% Identify the IFF plant dynamics using the Simscape model @@ -49,7 +63,7 @@ clear io; io_i = 1; io(io_i) = linio([mdl, '/Controller'], 1, 'input'); io_i = io_i + 1; % Actuator Inputs [N] io(io_i) = linio([mdl, '/Tracking Error'], 1, 'openoutput', [], 'EdL'); io_i = io_i + 1; % Strut errors [m] -%% Identify HAC Plant without using IFF +% Identify HAC Plant without using IFF initializeSample('type', 'cylindrical', 'm', 1); G_m1 = linearize(mdl, io); G_m1.InputName = {'f1', 'f2', 'f3', 'f4', 'f5', 'f6'}; @@ -65,7 +79,7 @@ G_m50 = linearize(mdl, io); G_m50.InputName = {'f1', 'f2', 'f3', 'f4', 'f5', 'f6'}; G_m50.OutputName = {'l1', 'l2', 'l3', 'l4', 'l5', 'l6'}; -%% Effect of Rotation +% Effect of Rotation initializeSample('type', 'cylindrical', 'm', 1); initializeReferences(... 'Rz_type', 'rotating', ... @@ -75,19 +89,7 @@ G_m1_Rz = linearize(mdl, io, 0.1); G_m1_Rz.InputName = {'f1', 'f2', 'f3', 'f4', 'f5', 'f6'}; G_m1_Rz.OutputName = {'l1', 'l2', 'l3', 'l4', 'l5', 'l6'}; - - -% - Effect of rotation: ref:fig:nass_undamped_plant_effect_Wz -% Add some coupling at low frequency, but still small at the considered velocity. -% This is thanks to the relatively stiff nano-hexapod (CF rotating model) -% - Effect of payload mass: -% Decrease resonance frequencies -% Increase coupling: ref:fig:nass_undamped_plant_effect_mass -% => control challenge for high payload masses -% - Other effects such as: Ry tilt angle, Rz spindle position, micro-hexapod position are found to have negligible effect on the plant dynamics. -% This is thanks to the fact the the plant dynamics is well decoupled from the micro-station dynamics. - - +%% Effect of rotation on the HAC plant figure; tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None'); @@ -137,6 +139,7 @@ yticks([-180:45:180]); linkaxes([ax1,ax2],'x'); xlim([freqs(1), freqs(end)]); +%% Effect of payload's mass on the HAC plant figure; tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None'); @@ -193,7 +196,7 @@ xlim([freqs(1), freqs(end)]); % #+name: fig:nass_undamped_plant_effect % #+caption: Effect of the Spindle's rotational velocity on the positioning plant (\subref{fig:nass_undamped_plant_effect_Wz}) and effect of the payload's mass on the positioning plant (\subref{fig:nass_undamped_plant_effect_mass}) -% #+attr_latex: :options [htbp] +% #+attr_latex: :options [h!tbp] % #+begin_figure % #+attr_latex: :caption \subcaption{\label{fig:nass_undamped_plant_effect_Wz}Effect of rotational velocity $\Omega_z$} % #+attr_latex: :options {0.48\textwidth} @@ -209,16 +212,19 @@ xlim([freqs(1), freqs(end)]); % #+end_subfigure % #+end_figure +% The Decentralized Integral Force Feedback was implemented in the multi-body model, and transfer functions from force inputs $\bm{f}^\prime$ of the damped plant to the strut errors $\bm{\epsilon}_{\mathcal{L}}$ were extracted from this model. -% - Effect of IFF on the plant ref:fig:nass_comp_undamped_damped_plant_m1 -% Modes are well damped -% Small coupling increase at low frequency -% - Benefits of using IFF ref:fig:nass_hac_plants -% with added damping, the set of plants to be controlled (with payloads from 1kg to 50kg) is more easily controlled. -% Between 10 and 50Hz, the plant dynamics does not vary a lot with the frequency, whereas without active damping, it would be impossible to design a robust controller with bandwidth above 10Hz that is robust to the change of payload +% The effectiveness of IFF implementation was first evaluated with a $1\,\text{kg}$ payload, as demonstrated in Figure ref:fig:nass_comp_undamped_damped_plant_m1. +% The results indicate successful damping of the nano-hexapod resonance modes, though a minor increase in low-frequency coupling was observed. +% This trade-off was considered acceptable given the overall improvement in system behavior. + +% The benefits of IFF implementation were further assessed across the full range of payload configurations, with results presented in Figure ref:fig:nass_hac_plants. +% For all tested payloads ($1\,\text{kg}$, $25\,\text{kg}$ and $50\,\text{kg}$), decentralized IFF significantly damped the nano-hexapod modes and therefore simplified the system dynamics. +% More importantly, is the fact that in the vicinity of the wanted high authority control bandwidth (i.e. between $10\,\text{Hz}$ and $50\,\text{Hz}$), the damped dynamics (shown in red) exhibited minimal gain and phase variations with frequency. +% For the undamped system (shown in blue), achieving robust control with bandwidth above 10Hz while maintaining stability across different payload masses would be practically unfeasible. -%% Identify HAC Plant without using IFF +%% Identify HAC Plant with IFF initializeReferences(); % No Spindle Rotation initializeController('type', 'iff'); % Implemented IFF controller load('nass_K_iff.mat', 'Kiff'); % Load designed IFF controller @@ -246,15 +252,16 @@ if not(isstable(G_hac_m1) && isstable(G_hac_m25) && isstable(G_hac_m50)) warning('One of HAC plant is not stable') end +%% Comparison of the OL plant and the plant with IFF - 1kg payload figure; tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None'); ax1 = nexttile([2,1]); hold on; plot(freqs, abs(squeeze(freqresp(G_m1( 1,1), freqs, 'Hz'))), 'color', colors(1,:), ... - 'DisplayName', '$\epsilon_{\mathcal{L}i}/f_i$, OL') + 'DisplayName', '$\epsilon_{\mathcal{L}i}/f_i$ - OL') plot(freqs, abs(squeeze(freqresp(G_hac_m1(1,1), freqs, 'Hz'))), 'color', colors(2,:), ... - 'DisplayName', '$\epsilon_{\mathcal{L}i}/f_i$, with IFF') + 'DisplayName', '$\epsilon_{\mathcal{L}i}/f_i$ - IFF') for i = 1:5 for j = i+1:6 plot(freqs, abs(squeeze(freqresp(G_m1(i,j), freqs, 'Hz'))), 'color', [colors(1,:), 0.2], ... @@ -272,7 +279,7 @@ end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]); -ylim([1e-10, 2e-5]); +ylim([1e-10, 5e-5]); leg = legend('location', 'southeast', 'FontSize', 8, 'NumColumns', 1); leg.ItemTokenSize(1) = 15; @@ -297,8 +304,8 @@ tiledlayout(3, 1, 'TileSpacing', 'compact', 'Padding', 'None'); ax1 = nexttile([2,1]); hold on; -plot(freqs, abs(squeeze(freqresp(G_m1( 1,1), freqs, 'Hz'))), 'color', [colors(1,:), 0.5], 'DisplayName', 'Undamped - $\epsilon\mathcal{L}_i/f_i$'); -plot(freqs, abs(squeeze(freqresp(G_hac_m1(1,1), freqs, 'Hz'))), 'color', [colors(2,:), 0.5], 'DisplayName', 'Damped - $\epsilon\mathcal{L}_i/f_i^\prime$'); +plot(freqs, abs(squeeze(freqresp(G_m1( 1,1), freqs, 'Hz'))), 'color', [colors(1,:), 0.5], 'DisplayName', '$\epsilon\mathcal{L}_i/f_i$ - OL'); +plot(freqs, abs(squeeze(freqresp(G_hac_m1(1,1), freqs, 'Hz'))), 'color', [colors(2,:), 0.5], 'DisplayName', '$\epsilon\mathcal{L}_i/f_i^\prime$ - IFF'); for i = 1:6 plot(freqs, abs(squeeze(freqresp(G_m1( i,i), freqs, 'Hz'))), 'color', [colors(1,:), 0.5], 'HandleVisibility', 'off'); plot(freqs, abs(squeeze(freqresp(G_m25(i,i), freqs, 'Hz'))), 'color', [colors(1,:), 0.5], 'HandleVisibility', 'off'); @@ -314,7 +321,7 @@ set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]); leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 1); leg.ItemTokenSize(1) = 15; -% ylim([1e-8, 1e-4]); +ylim([1e-10, 5e-5]); ax2 = nexttile; hold on; @@ -338,10 +345,32 @@ yticks([-180:45:180]); linkaxes([ax1,ax2],'x'); % xlim([1, 5e2]); -% Effect of micro-station compliance -% Micro-Station complex dynamics has almost no effect on the plant dynamics (Figure ref:fig:nass_effect_ustation_compliance): -% - adds some alternating poles and zeros above 100Hz, which should not be an issue for control + +% #+name: fig:nass_hac_plant +% #+caption: Effect of Decentralized Integral Force Feedback on the positioning plant for a $1\,\text{kg}$ sample mass (\subref{fig:nass_undamped_plant_effect_Wz}). Direct terms of the positioning plants for all considered payloads are shown in (\subref{fig:nass_undamped_plant_effect_mass}). +% #+attr_latex: :options [h!tbp] +% #+begin_figure +% #+attr_latex: :caption \subcaption{\label{fig:nass_comp_undamped_damped_plant_m1}Effect of IFF - $m = 1\,\text{kg}$} +% #+attr_latex: :options {0.48\textwidth} +% #+begin_subfigure +% #+attr_latex: :width 0.95\linewidth +% [[file:figs/nass_comp_undamped_damped_plant_m1.png]] +% #+end_subfigure +% #+attr_latex: :caption \subcaption{\label{fig:nass_hac_plants}Effect of IFF on the set of plants to control} +% #+attr_latex: :options {0.48\textwidth} +% #+begin_subfigure +% #+attr_latex: :width 0.95\linewidth +% [[file:figs/nass_hac_plants.png]] +% #+end_subfigure +% #+end_figure + +% The coupling between the nano-hexapod and micro-station was evaluated through comparative analysis of plant dynamics under two mounting conditions. +% In the first configuration, the nano-hexapod was mounted on an ideally rigid support, while in the second configuration, it was installed on the micro-station with finite compliance. + +% As illustrated in Figure ref:fig:nass_effect_ustation_compliance, the complex dynamics of the micro-station were found to have little impact on the plant dynamics. +% The only observable difference manifests as alternating poles and zeros above 100Hz, a frequency range sufficiently beyond the control bandwidth to avoid interference with system performance. +% This finding confirms effective dynamic decoupling between the nano-hexapod and the supporting micro-station structure. %% Identify plant with "rigid" micro-station @@ -374,9 +403,9 @@ tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None'); ax1 = nexttile([2,1]); hold on; plot(freqs, abs(squeeze(freqresp(G_m25_rigid( 1,1), freqs, 'Hz'))), 'color', colors(1,:), ... - 'DisplayName', '$\epsilon_{\mathcal{L}i}/f_i$, OL') + 'DisplayName', '$\epsilon_{\mathcal{L}i}/f_i$ - Rigid support') plot(freqs, abs(squeeze(freqresp(G_m25(1,1), freqs, 'Hz'))), 'color', colors(2,:), ... - 'DisplayName', '$\epsilon_{\mathcal{L}i}/f_i$, with IFF') + 'DisplayName', '$\epsilon_{\mathcal{L}i}/f_i$ - $\mu$-station support') for i = 1:5 for j = i+1:6 plot(freqs, abs(squeeze(freqresp(G_m25_rigid(i,j), freqs, 'Hz'))), 'color', [colors(1,:), 0.2], ... @@ -394,7 +423,7 @@ end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]); -ylim([1e-10, 2e-5]); +ylim([1e-10, 5e-5]); leg = legend('location', 'southeast', 'FontSize', 8, 'NumColumns', 1); leg.ItemTokenSize(1) = 15; @@ -413,23 +442,21 @@ yticks([-180:45:180]); linkaxes([ax1,ax2],'x'); xlim([freqs(1), freqs(end)]); -% Higher or lower nano-hexapod stiffness? +% Effect of Nano-Hexapod Stiffness on System Dynamics +% <> -% *Goal*: confirm the analysis with simpler models (uniaxial and 3DoF) that a nano-hexapod stiffness of $\approx 1\,N/\mu m$ should give better performances than a very stiff or very soft nano-hexapod. +% The influence of nano-hexapod stiffness was investigated to validate earlier findings from simplified uniaxial and three-degree-of-freedom (3DoF) models. +% These models suggested that a moderate stiffness of approximately $1\,N/\mu m$ would provide better performance compared to either very stiff or very soft configurations. -% - *Stiff nano-hexapod*: -% uniaxial model: high nano-hexapod stiffness induce coupling between the nano-hexapod and the micro-station dynamics. -% considering the complex dynamics of the micro-station as shown by the modal analysis, that would result in a complex system to control -% To show that, a nano-hexapod with actuator stiffness equal to 100N/um is initialized, payload of 25kg. -% The dynamics from $\bm{f}$ to $\bm{\epsilon}_{\mathcal{L}}$ is identified and compared to the case where the micro-station is infinitely rigid (figure ref:fig:nass_stiff_nano_hexapod_coupling_ustation): -% - Coupling induced by the micro-station: much more complex and difficult to model / predict -% - Similar to what was predicted using the uniaxial model -% - *Soft nano-hexapod*: -% Nano-hexapod with stiffness of 0.01N/um is initialized, payload of 25kg. -% Dynamics is identified with no spindle rotation, and with spindle rotation of 36deg/s and 360deg/s (Figure ref:fig:nass_soft_nano_hexapod_effect_Wz) -% - Rotation as huge effect on the dynamics: unstable for high rotational velocities, added coupling due to gyroscopic effects, and change of resonance frequencies as a function of the rotational velocity -% - Simple 3DoF rotating model is helpful to understand the complex effect of the rotation => similar conclusion -% - Say that controlling the frame of the struts is not adapted with a soft nano-hexapod, but we should rather control in the frame matching the center of mass of the payload, but we would still obtain large coupling and change of dynamics due to gyroscopic effects. +% For the stiff nano-hexapod analysis, a system with actuator stiffness of $100\,N/\mu m$ was simulated with a $25\,\text{kg}$ payload. +% The transfer function from $\bm{f}$ to $\bm{\epsilon}_{\mathcal{L}}$ was evaluated under two conditions: mounting on an infinitely rigid base and mounting on the micro-station. +% As shown in Figure ref:fig:nass_stiff_nano_hexapod_coupling_ustation, significant coupling was observed between the nano-hexapod and micro-station dynamics. +% This coupling introduces complex behavior that proves difficult to model and predict accurately, corroborating the predictions of the simplified uniaxial model. + +% The soft nano-hexapod configuration was evaluated using a stiffness of $0.01\,N/\mu m$ with a $25\,\text{kg}$ payload. +% Dynamic response was characterized at three rotational velocities: 0, 36, and 360 deg/s. +% Figure ref:fig:nass_soft_nano_hexapod_effect_Wz demonstrates that rotation substantially impacts system dynamics, manifesting as instability at high rotational velocities, increased coupling from gyroscopic effects, and rotation-dependent resonance frequencies. +% The current approach of controlling the motion in the strut frame proves inadequate for soft nano-hexapods; but even shifting control to the payload's center of mass frame would not overcome the substantial coupling and dynamic variations induced by gyroscopic effects. %% Identify Dynamics with a Stiff nano-hexapod (100N/um) @@ -461,7 +488,7 @@ G_m25_pz = linearize(mdl, io); G_m25_pz.InputName = {'f1', 'f2', 'f3', 'f4', 'f5', 'f6'}; G_m25_pz.OutputName = {'l1', 'l2', 'l3', 'l4', 'l5', 'l6'}; -%% Compare with Nano-Hexapod alone (rigid micro-station) +% Compare with Nano-Hexapod alone (rigid micro-station) initializeGround('type', 'rigid'); initializeGranite('type', 'rigid'); initializeTy('type', 'rigid'); @@ -625,12 +652,10 @@ linkaxes([ax1,ax2],'x'); xlim([f(1), f(end)]); % Controller design +% <> -% In this section, a high authority controller is design such that: -% - it is robust to the change of payload mass (i.e. is should be stable for all the damped plants of Figure ref:fig:nass_hac_plants) -% - it has reasonably high bandwidth to give good performances (here 10Hz) - -% eqref:eq:nass_robust_hac +% A high authority controller was designed to meet two key requirements: stable for all payload masses (i.e. for all the damped plants of Figure ref:fig:nass_hac_plants), and achievement of sufficient bandwidth (targeted at 10Hz) for high performance operation. +% The controller structure is defined in Equation eqref:eq:nass_robust_hac, incorporating an integrator term for low frequency performance, a lead compensator for phase margin improvement, and a low-pass filter for robustness against high frequency modes. % \begin{equation}\label{eq:nass_robust_hac} % K_{\text{HAC}}(s) = g_0 \cdot \underbrace{\frac{\omega_c}{s}}_{\text{int}} \cdot \underbrace{\frac{1}{\sqrt{\alpha}}\frac{1 + \frac{s}{\omega_c/\sqrt{\alpha}}}{1 + \frac{s}{\omega_c\sqrt{\alpha}}}}_{\text{lead}} \cdot \underbrace{\frac{1}{1 + \frac{s}{\omega_0}}}_{\text{LPF}}, \quad \left( \omega_c = 2\pi10\,\text{rad/s},\ \alpha = 2,\ \omega_0 = 2\pi80\,\text{rad/s} \right) @@ -666,10 +691,9 @@ save('./mat/nass_K_hac.mat', 'Khac'); -% - "Decentralized" Loop Gain: -% Bandwidth around 10Hz -% - Characteristic Loci: -% Stable for all payloads with acceptable stability margins +% The controller's performance was evaluated through two complementary analyses. +% First, the decentralized loop gain, shown in Figure ref:fig:nass_hac_loop_gain, confirms the achievement of the desired 10Hz bandwidth. +% Second, the characteristic loci analysis presented in Figure ref:fig:nass_hac_loci demonstrates robustness for all payload masses, with adequate stability margins maintained throughout the operating envelope. %% "Diagonal" loop gain for the High Authority Controller @@ -782,144 +806,22 @@ xlim([-1.8, 0.2]); ylim([-1, 1]); leg = legend('location', 'northeast', 'FontSize', 8, 'NumColumns', 1); leg.ItemTokenSize(1) = 15; -% TODO Sensitivity to disturbances :noexport: - -% - Compute transfer functions from spindle vertical error to sample vertical error with HAC-IFF -% Compare without the NASS, and with just IFF -% - Same for horizontal - - -% Initialize each Simscape model elements -initializeGround(); -initializeGranite(); -initializeTy(); -initializeRy(); -initializeRz(); -initializeMicroHexapod(); -initializeSimplifiedNanoHexapod(); -initializeSample('type', 'cylindrical', 'm', 1); - -% Initial Simscape Configuration -initializeSimscapeConfiguration('gravity', false); -initializeDisturbances('enable', false); -initializeLoggingConfiguration('log', 'none'); -initializeController('type', 'open-loop'); -initializeReferences(); - -% Input/Output definition -clear io; io_i = 1; -io(io_i) = linio([mdl, '/Disturbances'], 1, 'openinput', [], 'Frz_y'); io_i = io_i + 1; % Spindle Lateral Vibration [N] -io(io_i) = linio([mdl, '/Disturbances'], 1, 'openinput', [], 'Frz_z'); io_i = io_i + 1; % Spindle Vertical Vibration [N] -io(io_i) = linio([mdl, '/Disturbances'], 1, 'openinput', [], 'Fdy_z'); io_i = io_i + 1; % Vertical Ground Motion [m] -io(io_i) = linio([mdl, '/Disturbances'], 1, 'openinput', [], 'Dwy'); io_i = io_i + 1; % Vertical Ground Motion [m] -io(io_i) = linio([mdl, '/Disturbances'], 1, 'openinput', [], 'Dwz'); io_i = io_i + 1; % Vertical Ground Motion [m] -io(io_i) = linio([mdl, '/NASS'], 2, 'output', [], 'y'); io_i = io_i + 1; % Lateral Displacement [m] -io(io_i) = linio([mdl, '/NASS'], 2, 'output', [], 'z'); io_i = io_i + 1; % Vertical Displacement [m] - -Gd_ol = linearize(mdl, io); -Gd_ol.InputName = {'Frz_y', 'Frz_z', 'Fdy_z', 'Dwy', 'Dwz'}; -Gd_ol.OutputName = {'Dy', 'Dz'}; - -initializeController('type', 'iff'); % Implemented IFF controller -load('nass_K_iff.mat', 'Kiff'); % Load designed IFF controller - -Gd_iff = linearize(mdl, io); -Gd_iff.InputName = {'Frz_y', 'Frz_z', 'Fdy_z', 'Dwy', 'Dwz'}; -Gd_iff.OutputName = {'Dy', 'Dz'}; - -initializeController('type', 'hac-iff'); % Implemented IFF controller -load('nass_K_hac.mat', 'Khac'); % Load designed HAC controller - -Gd_hac_iff = linearize(mdl, io); -Gd_hac_iff.InputName = {'Frz_y', 'Frz_z', 'Fdy_z', 'Dwy', 'Dwz'}; -Gd_hac_iff.OutputName = {'Dy', 'Dz'}; - -dist = load('ustation_disturbance_psd.mat'); - - - -% Spindle, lateral: - -figure; -hold on; -plot(freqs, abs(squeeze(freqresp(Gd_ol( 'Dy', 'Frz_y'), freqs, 'Hz')))); -plot(freqs, abs(squeeze(freqresp(Gd_iff('Dy', 'Frz_y'), freqs, 'Hz')))); -plot(freqs, abs(squeeze(freqresp(Gd_hac_iff('Dy', 'Frz_y'), freqs, 'Hz')))); -hold off; -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); -ylabel('Amplitude $D_z/F_{R_z,z}$ [m/N]'); xlabel('Frequency [Hz]'); -xticks([1e0, 1e1, 1e2]); -xlim([1, 500]); - - - -% Spindle, vertical: - -freqs = logspace(-1,3,1000); -figure; -hold on; -plot(freqs, abs(squeeze(freqresp(Gd_ol( 'Dz', 'Frz_z'), freqs, 'Hz')))); -plot(freqs, abs(squeeze(freqresp(Gd_iff('Dz', 'Frz_z'), freqs, 'Hz')))); -plot(freqs, abs(squeeze(freqresp(Gd_hac_iff('Dz', 'Frz_z'), freqs, 'Hz')))); -hold off; -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); -ylabel('Amplitude $D_z/F_{R_z,z}$ [m/N]'); xlabel('Frequency [Hz]'); - - - -% Ground motion, vertical: - -freqs = logspace(-1,3,1000); -figure; -hold on; -plot(freqs, abs(squeeze(freqresp(Gd_ol( 'Dz', 'Dwz'), freqs, 'Hz')))); -plot(freqs, abs(squeeze(freqresp(Gd_iff('Dz', 'Dwz'), freqs, 'Hz')))); -plot(freqs, abs(squeeze(freqresp(Gd_hac_iff('Dz', 'Dwz'), freqs, 'Hz')))); -hold off; -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); -ylabel('Amplitude $D_z/F_{R_z,z}$ [m/N]'); xlabel('Frequency [Hz]'); -xticks([1e0, 1e1, 1e2]); -% xlim([1, 500]); - - - -% Ground motion, lateral: - -figure; -hold on; -plot(freqs, abs(squeeze(freqresp(Gd_ol( 'Dy', 'Dwy'), freqs, 'Hz')))); -plot(freqs, abs(squeeze(freqresp(Gd_iff('Dy', 'Dwy'), freqs, 'Hz')))); -plot(freqs, abs(squeeze(freqresp(Gd_hac_iff('Dy', 'Dwy'), freqs, 'Hz')))); -hold off; -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); -ylabel('Amplitude $D_y/F_{R_z,z}$ [m/N]'); xlabel('Frequency [Hz]'); -xticks([1e0, 1e1, 1e2]); -xlim([1, 500]); - - - -% Noise Budget: - -figure; -hold on; -plot(dist.gm_dist.f, sqrt(flip(-cumtrapz(flip(dist.gm_dist.f), flip(dist.gm_dist.pxx_y.*abs(squeeze(freqresp(Gd_ol( 'Dy', 'Dwy'), dist.gm_dist.f, 'Hz'))).^2))))); -plot(dist.gm_dist.f, sqrt(flip(-cumtrapz(flip(dist.gm_dist.f), flip(dist.gm_dist.pxx_y.*abs(squeeze(freqresp(Gd_iff( 'Dy', 'Dwy'), dist.gm_dist.f, 'Hz'))).^2))))); -hold off; -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); -ylabel('ASD [m/sqrt(Hz)]'); xlabel('Frequency [Hz]'); -xticks([1e0, 1e1, 1e2]); -xlim([1, 500]); - % Tomography experiment +% <> -% - Validation of concept with tomography scans at the highest rotational velocity of $\Omega_z = 360\,\text{deg/s}$ -% - Compare obtained results with the smallest beam size that is expected with future beamline upgrade: 200nm (horizontal size) x 100nm (vertical size) -% - Take into account the two main sources of disturbances: ground motion, spindle vibrations -% Other noise sources are not taken into account here as they will be optimized latter (detail design phase): measurement noise, electrical noise for DAC and voltage amplifiers, ... +% The Nano Active Stabilization System concept was validated through time-domain simulations of scientific experiments, with particular focus on tomography scanning due to its demanding performance requirements. +% Simulations were conducted at the maximum operational rotational velocity of $\Omega_z = 360\,\text{deg/s}$ to evaluate system performance under the most challenging conditions. -% The open-loop errors and the closed-loop errors for the tomography scan with the light sample $1\,kg$ are shown in Figure ref:fig:nass_tomo_1kg_60rpm. +% Performance metrics were established based on anticipated future beamline specifications, which specify a beam size of 200nm (horizontal) × 100nm (vertical). +% The primary requirement stipulates that the point of interest must remain within these beam dimensions throughout operation. +% The simulation incorporated two principal disturbance sources: ground motion and spindle vibrations. +% Additional noise sources, including measurement noise and electrical noise from DAC and voltage amplifiers, were not included in this analysis as these parameters will be optimized during the detailed design phase. + +% Figure ref:fig:nass_tomo_1kg_60rpm presents a comparative analysis of positioning errors under both open-loop and closed-loop conditions for a lightweight sample configuration (1kg). +% The results demonstrate the system's capability to maintain position within the specified beam dimensions, validating the fundamental concept of the stabilization system. +%% Simulation of tomography experiments % Sample is not centered with the rotation axis % This is done by offsetfing the micro-hexapod by 0.9um P_micro_hexapod = [0.9e-6; 0; 0]; % [m] @@ -980,16 +882,6 @@ initializeSample('type', 'cylindrical', 'm', 50); sim(mdl); exp_tomo_cl_m50 = simout; -% Slower tomography for high payload mass -% initializeReferences(... -% 'Rz_type', 'rotating', ... -% 'Rz_period', 10, ... % 36deg/s -% 'Dh_pos', [P_micro_hexapod; 0; 0; 0]); -% initializeSample('type', 'cylindrical', 'm', 50); -% set_param(mdl, 'StopTime', '5'); -% sim(mdl); -% exp_tomo_cl_m50_slow = simout; - %% Simulation of tomography experiment - 1kg payload - 360deg/s - XY errors figure; hold on; @@ -1004,7 +896,7 @@ yticks([-2:1:2]); leg = legend('location', 'northeast', 'FontSize', 8, 'NumColumns', 1); leg.ItemTokenSize(1) = 15; -%% Simulation of tomography experiment - no payload, 30rpm - YZ errors +%% Simulation of tomography experiment - 1kg payload - 360deg/s - YZ errors figure; tiledlayout(2, 1, 'TileSpacing', 'compact', 'Padding', 'None'); @@ -1039,7 +931,7 @@ leg.ItemTokenSize(1) = 15; % #+name: fig:nass_tomo_1kg_60rpm % #+caption: Position error of the sample in the XY (\subref{fig:nass_tomo_1kg_60rpm_xy}) and YZ (\subref{fig:nass_tomo_1kg_60rpm_yz}) planes during a simulation of a tomography experiment at $360\,\text{deg/s}$. 1kg payload is placed on top of the nano-hexapod. -% #+attr_latex: :options [htbp] +% #+attr_latex: :options [h!tbp] % #+begin_figure % #+attr_latex: :caption \subcaption{\label{fig:nass_tomo_1kg_60rpm_xy}XY plane} % #+attr_latex: :options {0.48\textwidth} @@ -1055,11 +947,15 @@ leg.ItemTokenSize(1) = 15; % #+end_subfigure % #+end_figure -% - Effect of payload mass (Figure ref:fig:nass_tomography_hac_iff): -% Worse performance for high masses, as expected from the control analysis, but still acceptable considering that the rotational velocity of 360deg/s is only used for light payloads. +% The robustness of the NASS to payload mass variation was evaluated through additional tomography scan simulations with 25kg and 50kg payloads, complementing the initial 1kg test case. +% As illustrated in Figure ref:fig:nass_tomography_hac_iff, system performance exhibits some degradation with increasing payload mass, aligning with predictions from the control analysis. +% While the positioning accuracy for heavier payloads is outside the specified limits, it remains within acceptable bounds for typical operating conditions. + +% It should be noted that the maximum rotational velocity of 360deg/s is primarily intended for lightweight payload applications. +% For higher mass configurations, rotational velocities are foreseen to be below 36deg/s. -%% Simulation of tomography experiment - no payload, 30rpm - YZ errors +%% Simulation of tomography experiment - 1kg payload - 360deg/s - YZ errors figure; tiledlayout(1, 1, 'TileSpacing', 'compact', 'Padding', 'None'); @@ -1074,7 +970,7 @@ axis equal xlim([-200, 200]); ylim([-100, 100]); xticks([-200:50:200]); yticks([-100:50:100]); -%% Simulation of tomography experiment - no payload, 30rpm - YZ errors +%% Simulation of tomography experiment - 25kg payload - 360deg/s - YZ errors figure; tiledlayout(1, 1, 'TileSpacing', 'compact', 'Padding', 'None'); @@ -1089,7 +985,7 @@ axis equal xlim([-200, 200]); ylim([-100, 100]); xticks([-200:50:200]); yticks([-100:50:100]); -%% Simulation of tomography experiment - no payload, 30rpm - YZ errors +%% Simulation of tomography experiment - 50kg payload - 360deg/s - YZ errors figure; tiledlayout(1, 1, 'TileSpacing', 'compact', 'Padding', 'None'); diff --git a/simscape-nass.org b/simscape-nass.org index abccd71..3bdbd5d 100644 --- a/simscape-nass.org +++ b/simscape-nass.org @@ -277,15 +277,18 @@ J_L_to_X = inv(nano_hexapod.geometry.J); - [ ] matlab/mat/nass_references.mat - [ ] matlab/mat/nass_stages.mat -** TODO [#B] Check all figures +** DONE [#B] Check all figures +CLOSED: [2025-02-18 Tue 10:53] - [ ] Caption - [ ] Units - [ ] Legend -** TODO [#B] Check all matlab files +** DONE [#B] Check all matlab files +CLOSED: [2025-02-18 Tue 10:58] SCHEDULED: <2025-02-18 Tue> -** TODO [#B] Check if things are compatible to results of uniaxial model +** DONE [#B] Check if things are compatible to results of uniaxial model +CLOSED: [2025-02-18 Tue 10:53] ** DONE [#C] Check if it would be interesting to show soft/stiff nano-hexapod plants CLOSED: [2025-02-17 Mon 18:26] @@ -579,9 +582,6 @@ This chapter marks the conclusion of the conceptual design phase, with simulatio The findings presented here establish a solid foundation for subsequent detailed design and experimental validation phases. * Control Kinematics -:PROPERTIES: -:HEADER-ARGS:matlab+: :tangle matlab/nass_1_kinematics.m -:END: <> ** Introduction :ignore: @@ -602,31 +602,6 @@ Finally, it determines the sample pose error and maps these errors to the nano-h The complete control architecture is detailed in Section ref:ssec:nass_control_architecture. -** Matlab Init :noexport:ignore: -#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name) -<> -#+end_src - -#+begin_src matlab :exports none :results silent :noweb yes -<> -#+end_src - -#+begin_src matlab :tangle no :noweb yes -<> -#+end_src - -#+begin_src matlab :eval no :noweb yes -<> -#+end_src - -#+begin_src matlab :noweb yes -<> -#+end_src - -#+begin_src matlab :noweb yes -<> -#+end_src - ** Micro Station Kinematics <> @@ -810,7 +785,7 @@ Then, the high authority controller uses the computed errors in the frame of the #+end_src #+name: fig:nass_control_architecture -#+caption: The physical systems are shown in blue, the control kinematics in red, the decentralized Integral Force Feedback in yellow and the centralized High Authority Controller in green. +#+caption: Control architecture for the NASS. Physical systems are shown in blue, control kinematics elements in red, decentralized Integral Force Feedback controller in yellow and centralized High Authority controller in green. #+attr_latex: :options [h!tbp] #+attr_latex: :width \linewidth #+RESULTS: @@ -818,7 +793,7 @@ Then, the high authority controller uses the computed errors in the frame of the * Decentralized Active Damping :PROPERTIES: -:HEADER-ARGS:matlab+: :tangle matlab/nass_2_active_damping.m +:HEADER-ARGS:matlab+: :tangle matlab/nass_1_active_damping.m :END: <> ** Introduction :ignore: @@ -888,7 +863,7 @@ clear io; io_i = 1; io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs [N] io(io_i) = linio([mdl, '/NASS'], 3, 'openoutput', [], 'fn'); io_i = io_i + 1; % Force Sensors [N] -%% Identify for multi payload masses (no rotation) +% Identify for multi payload masses (no rotation) initializeReferences(); % No Spindle Rotation % 1kg Sample initializeSample('type', 'cylindrical', 'm', 1); @@ -908,7 +883,7 @@ G_iff_m50 = linearize(mdl, io); G_iff_m50.InputName = {'f1', 'f2', 'f3', 'f4', 'f5', 'f6'}; G_iff_m50.OutputName = {'fn1', 'fn2', 'fn3', 'fn4', 'fn5', 'fn6'}; -%% Effect of Rotation +% Effect of Rotation initializeReferences(... 'Rz_type', 'rotating', ... 'Rz_period', 1); % 360 deg/s @@ -917,7 +892,7 @@ G_iff_m25_Rz = linearize(mdl, io, 0.1); G_iff_m25_Rz.InputName = {'f1', 'f2', 'f3', 'f4', 'f5', 'f6'}; G_iff_m25_Rz.OutputName = {'fn1', 'fn2', 'fn3', 'fn4', 'fn5', 'fn6'}; -%% Effect of Rotation - No added parallel stiffness +% Effect of Rotation - No added parallel stiffness initializeSimplifiedNanoHexapod('actuator_kp', 0); initializeReferences(... 'Rz_type', 'rotating', ... @@ -1443,7 +1418,7 @@ exportFig('figs/nass_iff_root_locus_50kg.pdf', 'width', 'third', 'height', 'norm * Centralized Active Vibration Control :PROPERTIES: -:HEADER-ARGS:matlab+: :tangle matlab/nass_3_hac.m +:HEADER-ARGS:matlab+: :tangle matlab/nass_2_hac.m :END: <> ** Introduction :ignore: @@ -1526,7 +1501,7 @@ clear io; io_i = 1; io(io_i) = linio([mdl, '/Controller'], 1, 'input'); io_i = io_i + 1; % Actuator Inputs [N] io(io_i) = linio([mdl, '/Tracking Error'], 1, 'openoutput', [], 'EdL'); io_i = io_i + 1; % Strut errors [m] -%% Identify HAC Plant without using IFF +% Identify HAC Plant without using IFF initializeSample('type', 'cylindrical', 'm', 1); G_m1 = linearize(mdl, io); G_m1.InputName = {'f1', 'f2', 'f3', 'f4', 'f5', 'f6'}; @@ -1542,7 +1517,7 @@ G_m50 = linearize(mdl, io); G_m50.InputName = {'f1', 'f2', 'f3', 'f4', 'f5', 'f6'}; G_m50.OutputName = {'l1', 'l2', 'l3', 'l4', 'l5', 'l6'}; -%% Effect of Rotation +% Effect of Rotation initializeSample('type', 'cylindrical', 'm', 1); initializeReferences(... 'Rz_type', 'rotating', ... @@ -1554,6 +1529,7 @@ G_m1_Rz.OutputName = {'l1', 'l2', 'l3', 'l4', 'l5', 'l6'}; #+end_src #+begin_src matlab :exports none :results none +%% Effect of rotation on the HAC plant figure; tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None'); @@ -1609,6 +1585,7 @@ exportFig('figs/nass_undamped_plant_effect_Wz.pdf', 'width', 'half', 'height', 6 #+end_src #+begin_src matlab :exports none :results none +%% Effect of payload's mass on the HAC plant figure; tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None'); @@ -1696,7 +1673,7 @@ More importantly, is the fact that in the vicinity of the wanted high authority For the undamped system (shown in blue), achieving robust control with bandwidth above 10Hz while maintaining stability across different payload masses would be practically unfeasible. #+begin_src matlab -%% Identify HAC Plant without using IFF +%% Identify HAC Plant with IFF initializeReferences(); % No Spindle Rotation initializeController('type', 'iff'); % Implemented IFF controller load('nass_K_iff.mat', 'Kiff'); % Load designed IFF controller @@ -1726,6 +1703,7 @@ end #+end_src #+begin_src matlab :exports none :results none +%% Comparison of the OL plant and the plant with IFF - 1kg payload figure; tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None'); @@ -1830,7 +1808,7 @@ exportFig('figs/nass_hac_plants.pdf', 'width', 'half', 'height', 600); #+end_src #+name: fig:nass_hac_plant -#+caption: Effect of the Spindle's rotational velocity on the positioning plant (\subref{fig:nass_undamped_plant_effect_Wz}) and effect of the payload's mass on the positioning plant (\subref{fig:nass_undamped_plant_effect_mass}) +#+caption: Effect of Decentralized Integral Force Feedback on the positioning plant for a $1\,\text{kg}$ sample mass (\subref{fig:nass_undamped_plant_effect_Wz}). Direct terms of the positioning plants for all considered payloads are shown in (\subref{fig:nass_undamped_plant_effect_mass}). #+attr_latex: :options [h!tbp] #+begin_figure #+attr_latex: :caption \subcaption{\label{fig:nass_comp_undamped_damped_plant_m1}Effect of IFF - $m = 1\,\text{kg}$} @@ -1983,7 +1961,7 @@ G_m25_pz = linearize(mdl, io); G_m25_pz.InputName = {'f1', 'f2', 'f3', 'f4', 'f5', 'f6'}; G_m25_pz.OutputName = {'l1', 'l2', 'l3', 'l4', 'l5', 'l6'}; -%% Compare with Nano-Hexapod alone (rigid micro-station) +% Compare with Nano-Hexapod alone (rigid micro-station) initializeGround('type', 'rigid'); initializeGranite('type', 'rigid'); initializeTy('type', 'rigid'); @@ -2162,16 +2140,16 @@ exportFig('figs/nass_soft_nano_hexapod_effect_Wz.pdf', 'width', 'half', 'height' #+end_src #+name: fig:nass_soft_stiff_hexapod -#+caption: Plant dynamics of a stiff ($k_a = 100\,N/\mu m$) nano-hexapod (\subref{fig:nass_stiff_nano_hexapod_coupling_ustation}) and of a soft ($k_a = 0.01\,N/\mu m$) nano-hexapod (\subref{fig:nass_soft_nano_hexapod_effect_Wz}) +#+caption: Coupling between a stiff nano-hexapod ($k_a = 100\,N/\mu m$) and the micro-station (\subref{fig:nass_stiff_nano_hexapod_coupling_ustation}). Large effect of the spindle rotational velocity for a compliance ($k_a = 0.01\,N/\mu m$) nano-hexapod (\subref{fig:nass_soft_nano_hexapod_effect_Wz}) #+attr_latex: :options [h!tbp] #+begin_figure -#+attr_latex: :caption \subcaption{\label{fig:nass_stiff_nano_hexapod_coupling_ustation}Stiff nano-hexapod - Coupling with the micro-station} +#+attr_latex: :caption \subcaption{\label{fig:nass_stiff_nano_hexapod_coupling_ustation}$k_a = 100\,N/\mu m$ - Coupling with the micro-station} #+attr_latex: :options {0.48\textwidth} #+begin_subfigure #+attr_latex: :width 0.95\linewidth [[file:figs/nass_stiff_nano_hexapod_coupling_ustation.png]] #+end_subfigure -#+attr_latex: :caption \subcaption{\label{fig:nass_soft_nano_hexapod_effect_Wz}Soft nano-hexapod - Effect of Spindle rotational velocity} +#+attr_latex: :caption \subcaption{\label{fig:nass_soft_nano_hexapod_effect_Wz}$k_a = 0.01\,N/\mu m$ - Effect of Spindle rotation} #+attr_latex: :options {0.48\textwidth} #+begin_subfigure #+attr_latex: :width 0.95\linewidth @@ -2384,6 +2362,7 @@ Figure ref:fig:nass_tomo_1kg_60rpm presents a comparative analysis of positionin The results demonstrate the system's capability to maintain position within the specified beam dimensions, validating the fundamental concept of the stabilization system. #+begin_src matlab +%% Simulation of tomography experiments % Sample is not centered with the rotation axis % This is done by offsetfing the micro-hexapod by 0.9um P_micro_hexapod = [0.9e-6; 0; 0]; % [m] @@ -2443,16 +2422,6 @@ exp_tomo_cl_m25 = simout; initializeSample('type', 'cylindrical', 'm', 50); sim(mdl); exp_tomo_cl_m50 = simout; - -% Slower tomography for high payload mass -% initializeReferences(... -% 'Rz_type', 'rotating', ... -% 'Rz_period', 10, ... % 36deg/s -% 'Dh_pos', [P_micro_hexapod; 0; 0; 0]); -% initializeSample('type', 'cylindrical', 'm', 50); -% set_param(mdl, 'StopTime', '5'); -% sim(mdl); -% exp_tomo_cl_m50_slow = simout; #+end_src #+begin_src matlab :exports none :results none @@ -2476,7 +2445,7 @@ exportFig('figs/nass_tomo_1kg_60rpm_xy.pdf', 'width', 'half', 'height', 'normal' #+end_src #+begin_src matlab :exports none :results none -%% Simulation of tomography experiment - no payload, 30rpm - YZ errors +%% Simulation of tomography experiment - 1kg payload - 360deg/s - YZ errors figure; tiledlayout(2, 1, 'TileSpacing', 'compact', 'Padding', 'None'); @@ -2538,7 +2507,7 @@ It should be noted that the maximum rotational velocity of 360deg/s is primarily For higher mass configurations, rotational velocities are foreseen to be below 36deg/s. #+begin_src matlab :exports none :results none -%% Simulation of tomography experiment - no payload, 30rpm - YZ errors +%% Simulation of tomography experiment - 1kg payload - 360deg/s - YZ errors figure; tiledlayout(1, 1, 'TileSpacing', 'compact', 'Padding', 'None'); @@ -2559,7 +2528,7 @@ exportFig('figs/nass_tomography_hac_iff_m1.pdf', 'width', 'third', 'height', 'no #+end_src #+begin_src matlab :exports none :results none -%% Simulation of tomography experiment - no payload, 30rpm - YZ errors +%% Simulation of tomography experiment - 25kg payload - 360deg/s - YZ errors figure; tiledlayout(1, 1, 'TileSpacing', 'compact', 'Padding', 'None'); @@ -2580,7 +2549,7 @@ exportFig('figs/nass_tomography_hac_iff_m25.pdf', 'width', 'third', 'height', 'n #+end_src #+begin_src matlab :exports none :results none -%% Simulation of tomography experiment - no payload, 30rpm - YZ errors +%% Simulation of tomography experiment - 50kg payload - 360deg/s - YZ errors figure; tiledlayout(1, 1, 'TileSpacing', 'compact', 'Padding', 'None'); diff --git a/simscape-nass.pdf b/simscape-nass.pdf index 8732d73220988f8a0305135f13b976103744547b..8a104f3e6f6c32c7c5e00b2f20f250338f0c8f33 100644 GIT binary patch delta 130021 zcmYhD2Rzho9LJr#_ueC9JGbqOkWe)2m6dGD2uG2OqQoUaDJmHuqe4QNS5`uik-bYs z;{ROz`Stq0?w@aW?mn*X^Z9g1;my2RRy<%0@1O|7O`9 z(4)-xWnHd9*Z$M=Z_A%w-nMV@k!VPAc^;@{liE_)!{H!$^Knh+tm zEq#IW#Qnu6euOx?9^chx?=!wjO*Q2uvWYEU7ApDrkkS5><~Xe`%Zlf#QM0H*OS}qQ z>cL6c1ySXq;Pui`9U5}^wCUBK?oV{=JPma_oo;mUprjSVnoWdcp8A+-Xo#qt|D zFS~x@?z)h55^s&D1Hl2B>KD)oa;(j|9%!q6+;9T0J2pB=3$`8?to853nNT;Zj; zpphBGT}rl%vB04sw`?wuM~n6g~Kube~klQWB>me4hIE}FcJ&ngQ-+)#=?Gc z6GC%fTm<86m_H%>F6;#%HW!rFb70TFoUpI0Viqh6xim@4=peAK+PsItK+D0e+GKb?K^|d$3>_;Z3d;XH|S2Y>|N=mTkpB z3CCeEgd2k9GI*;mfkS9^e7{43foHMKveBj58QrbX$_&$jYrp*vM#3KP=~yl!LN31= zJ|g&;sEKT^{?uUSmktv*9mi*u@;}F`7%~iot{RLeg=|DdJP+}|r+4d_{0*a^^BnOf z%9`#RMBO~=bHC8!hg4*{{)_P7HTsayTcz?RxkFLo)&_F;h9GX zgQI+W*RUf2jr!G-pAMv3Aq2PH^Buo)_L#V`2P;C_HH|m@Ak~ZLv#-6}`A_Aze!5k? z=+1QRX}EdgY&o8(P=rw~r>}G?bYaWsW3gqD8Km6@^lid4HR#xdcjNxyHv*BuqXVkR#dA;7}ntlpBm9Wub!^f*M9hi7DajBTQ zUWw9c;>OhnRFO`3oMqZ)1&RurGlSI!Uyl`DMWhW(*SZ&p)T_(s-*KPF8dQIkJPmWd zcV#A{?hcEOM$7{Kg};QF$uAA5<`&cU%u9Ey9u-TtXIJN53h6a)yMy(0&Yy}3Ut8DS zk(r7|+%3rI2p#h$s?qUSD@%58G{%M>b^obF&SPdxx5L7NSF%+R(h91LDMftZW#u66Y1{^h@#B+$*0` zFUJ(6SFY{ib-o@hZ};31&+S=x zG1zETmZLp-ov{;dp61a;wu3HNFlmSSMz!yKjPuS~ z8A-=ZcStExemVLRQV^)%qUnnu=m7S6+fAaOio-@;P%k!1nQC&+js0gJth1H!j z!yf?$Qr~s8q!&^KIDQ!U_DJiRZgI7QLZNtYuIY!BuWey-{$xkRDcg_k*1ecZ;8rH< z@MQlKbJ(MD9a#&*cl@Nd%JrLO@KNq&{-;X)QIGD=ls=-~cj)~O+*tW#SHtpIv)=z} z+e;rzy0ToZR`+thNH}scl+RSo_O#B=@n*lUYt~=PeA0h>wHqBgZ#CX0#vJ6E`a~3; zr}yxyC0^=j>V54yu=||Rv>6FuLX-M)S8w$T3{Ls9hn2JFkmup`4}Uy&kZX=jJ*0`*~i8RI=&wY4qC+pP&Fw|YBxZ)-PZ_MpHSM~m7 z+2i=e^P81qcuy)*`E@&1o!$&b`u_E_0}Q7|Rf^lrt6iRBq?+3xJgm1fdM8_~Q~tHe z`M&UrZKs9&fhB>@EBIkHG3mF=96xJ$o(I_Z8}|;S6RmlO5p?fbJK_T7UgVA!KfdFA zoTsy))2_vavMhHN#hP{G{UD8&eK!S13JWprKvF6HSg;?fzquc*wqBUAeamCv1eIQX zCc5O6cdPq5n>cb@VDd3V_sE4tEfc~1G@0(eboGkI$F_7o#%SUj-1Vk8)NAf3QR-|O z)Zju~V8ZjXxpdPW-0XR0F^;fk%_hkap{t*seJDM6<=Tz+w^LMjK0OK-I#Gd?=XUBRnA znMGgT%jhSoBOEJNw%j!r(mCXrPk*+Et!g&ci0mlrA$ulH@LQZue}ya02U?@ypbGAKQdJDx*RL+IX`jmk#O;qr-+X$@rRtIj9YnIYp0~1J=T!LM_pje*0(&H7+!zr zh53($I}U`em6~%j4W0)=CjW-n_0`WxK5w1%fiEiC`>AOg$G8GIPCKI*4!_A&KXT+*ChC540C92ZhreFDKV&| zCX!NYJ9W`IX#JS9Y`-z1&FA8kv8z7SkC0&%KILC zGP7o3?kK&NFIM4MCnc$I;lY`CvPWBRvcAf-+w`}ht_Y88$pjrU>!-AI0U{9Y@3#@)D?FT4A~i54Mpi5iN3V3$)yF-^LllADOC`28!9&$-k^LpFZ7{X0 zO+wQHkHqJCo<=ePOC?JfGD+h)*=JehU$&Y!6|?vlCl5Os zHkD?Dy2ZGNzsu=OdUDuGNs%va{WV)1J<26!FnBV-#70rI}SmrTRm1L(h$@@6PZ=$>g zwAmectZZfpqDRdy;akpr&Fv(sKkDK1n2Fz7f7at{(c>$}EAFj0N$aTHQJ1Ghy%DA5 zJ;{8{BKE+&nbq4-c}G5kiF({r)mCyOM`!jR>3R*>DSuF^F;|ZZtu-=Jb)4iiR==t0 z7<>D<1eQgYU6~oyX)dztt@v9TTj7<(b?CKygMvH_>bCgeSMyT5p!T?m>>F0ESH`DB z(++tm8{HIrs)se=w0-5Gx$$!dhDRtKJ{i$b_dEUGFwe8OuR*6&S~v3Cx+{F$noC`_ z{WqWSrOIfkKG``u#V5mBj|zjk*CySv;!@JqW@z4e1fcCX;w2sX9(JFfk+!ZtLo zEH?$`swv$C#x18-)1QsNdBWnf{SLwNa z1yll8*t$wf>M==n0&l(3`TA3~9GEp_Il5c?QlEW!*zmh#$qv!DbxvmUTDFq?JNpM0 z>oYg&iEf`W?CkJI)+6y3MI;sx!t3y{Dt3w7$hSFY8YWBkrRS7I{kKn|q+fZ!{oS@t z`r9(+&ht}rsO6(z%o}rM=eQS2=cj9(=R=QQe=_FuU54%hWvY>TM!)#?QHtt=)~t@I zdef0tpWhhyy(|$Z+Y{=jiOJBnQj$t#IUPMqJDb%a7*oNFf8o?Bd+(L(K+w z*p{1pNBhCXey`U#j+cx|RNV*Hx<6bxD>6r*y(w}lXVRVd!sF_vYD$Xd>a=acONujb z8L_PrYEmoS-Qh>?JnVX`{J8Y7VIcf0zf^Z#@bhPeC%o=Eb8uxo%E~Um{e*@6cC%I-C-@#NvePq{KIVzTCskKIO1>MxN!??l#SREADoBL5_;=AJmh z_^z3;t*wdT=9XzqiWtL+UGDqoYY$Fpeka z20*>yeb4dTAA)nauCbf(xw@qH5DtrJV|S?07eufXhO{ zvtE3^i1<`To5#-*Tm1GWllY71e~a+^;exY<+cE>wuZ~nisw6i@68^ZNDi4%tm#~?@;N2CA#|8?Kzd5 z&fN7vUxKz$K4;a<9DO)%+(&q!)amLk>N8fj#T)kI`t>78hVpf%Zw5c0vXA69O_13Q z?doXn8ja~soN*es(C6Q2(CK1c5q`?~)LIsgMemFI!jfN^_3+Y?Ib8>&zICbh4bFxz zeqfd@dcmQYDX*&OmEUtI+01>sOv>{lV(iO<>9^bcW!@ncgzz2X#;Ng2`AxQ%mgFbN zl1op_Udd^Z7bNM;(MRciGP|~THqA4&Y%XN;`~BO??zr|-Q>#Ep!zY)b6h zUivP*eKx4L{yTmdKebJ@n_WLqvZ1wkZs&@~a@DrO_QDS1}=V!Q^~1v$UI{2CYDVjvhe`YyafZbu~YjdXb1x#4BL-HfVN zF7)U%kn6CW6r9iRmOUi<^=v-^Ta`>f#3^rO7WKl zjniKeHa^*uC)GYkt4#~~X?^qCuqM93<*b(2lJvxH)WmPDkL8r#w6(_r^of^MpGFR~7nsYmCq4U?>?3rFZ zJ)4XVTPCYG7>Riub}HxfI{a135B^hq!M@_JV?=s9M>F5y({Q!iJf@#)jn@lox5eIz zcoE}1vY(Svp5?T3I^m7MBNeTmqG`56yD%|&b0d8on)&biBEM-p>_r8?-_29#;rBV3 z&|NR;p)n>XWOYvyZy@bGz1&PcoRQdjG~3`{(b|&}miS|M;)CyAR$&jto7gGN&{&_Q z5Eh8<<&bf9rINMG5k&gV$<~qQ_PN>KO4$}Bd?_t*dmtr7ex{(UvPMSbaA=Jcm&VSz45Tw`o?R_#hx6$ z$?G)JEJ2^YkbN9kAZv@U^D-)>pqElEZ1gmCmT8VKxnDaXxrnSv>I>$U_hw*on(nyS zlut2qrbDH@Xd}$X$GORBBlW&_d18`>s%F92p>3}6&nm$ggp{kj8E;M<>c%|%3tk` z`%UN5+uySb-~7ye$t*`z8^P8g=7tT{c-o?$E-`Q2)<<<-!*8jETg-+(l)}lZ!s%8)<{eTGk!9sM`qbpOnJ`kZ8B5U2raX_m?NUhOYd5UW5_^mW1qDHd(g+r zoI-3L7f+2geqtDHoF0m0`69i%l`NyTi;A7rD)^-6R6yZ9k%3aaIG1h&kVZ@J@`-!5 zxH~fHo$bxd8OX<|7)Ir}^!aq`kH1-!=hOGJ%+K>cnaw;}*ub}j9`#gS*nC=)FZt@S zmizGcU>l-Aa|f*ru`tIx>%+qywz+s5ckkiDi^cAR=i8ih<|3NILfBUh^V!%-cN^c| z?pI=evljUI`h*YPtDc!+FTNeTTiZ+4H+^r7;&y*!vQx7!`50L6+7n-RcK3#`d$dVd z$YzTa>4{aM^4~AxM_;11%1?B91qB_e`<3|mvP9|y4WY}6g{cZRcQ~lU%*(#9L|yDk z@*&50Bn~_k6tnM%yX-jTxNG;5GWl-f{o;7SW&b|-wq*8B$Bw?zfjf5|A9cLJ`2aPm zq*89|Hel8yanU|P{@#hloAzpgc~(lAzkfvC?MT?HmSgz&tl$#Mdjn&(uXt{lF`f;2@7eR;GpMIZ4E5S7Taa5gOg_%&mRQ_=Ms*h{1WC}uew>o=O@FpyWjsO=I zDJoF`74)CoJlNSQqeWHF ze+U4nz=*04oW|7k@#sGre0n7V3l(txpPf6YK!D=^Lkt58Bq;tr#W1iyf#UyT3u1<8Gr5rVzB#SRDc+OLH_^IRe+ekpySUYff($*7yv<3{!))W_W?1ueK9I{ zpa!?E1_8w2_TCx`1Q3JU7lQy|aQp8J0*Jxwi$MS}xP37QAO^Sp&LDso+`bqDMiimE z|Br;g;z7Bu2Jjh#^1c|PGN|^&0I-8l-WP*Z0oA@3Bmz|XVgN%zfd2abok5~NwJ!#V z2Gzb8Bt{gE0PV2%P^>5dbi-Z+#K8B(pnw?A4gcSV0%AZn>{UPvd|wO-hymTOcOMY5 zcLE1`7l_$Ag98;1g9q)f_fYWGfNt2UfEdsXdle9)vM&bkGla^%7_h<+pd0>wBv@hy z&<%SP5Tmj$2COv%=!U)ffEX40{#yf<8$xAY3|Man&<%SJ1!6!q>{UPv=!X9*u;dV+ z8}=$726V$-1;l`E*sFjT&<%SP5QD(r_e-D#u`dQJIt1v3y@vuZpd0ooAO>{9UIoN} zZuq|fiw*(0VXp#WKsW4FKn&=Hy$Xl{-GJXKff~>bdle9a+!q5D9Rj&81}r)R=!U&V z0x_T)_9`F-wJ!!NIt1v3|L+5f4gpx_UIoN}ZcxVmwJxye5TG6Q?gU~``(nVNL!kD> zfJKKu?TZ164gtDh@B4t5zkW+v>0r?z{u(Z+0>{Om+*bn!s}2GBVejXMgLQ|1>=zCe z9s)98I9PcI$b#Wu=>br>_p)%X_7IQ_!@=T1Kt>D)s}BKLF&r#E1Z2i|I9Pv(eLDtj z40Qct$6y5_{_$h51QGujGFXF%e;gSsLc~9o3|1lHA5R9$5b=*GgLR0&!uR_R9EXE? z|KAP{Rw4rOWjI)h2*{Y>U@ambXNH5th=8ma4pt)q@@6<#jtIz{;b1)?_T3rGAFv`3 zkUzs!fG)_O;b2K3AcKa3HHm;68V(jE0k|pNH5@EZQX2Tv zv~-{|!4d_5Ag-2$9NZ|tjk2nig-R-uki*A%kOhm`hw~~Z9QOZ928MhDTG=9|PX8Dh zw45(pBE&ws>Sa|KZ6a@JS{5%xi$p!UZTaAWq0>Tm1o5%(5#7{E$&#O9QH&m+EG+CI zUOaiB=$(4AyUk@gHp!tNYh{C}P5Sc4)B7fEoJH()8O|sCsp@%c-XEe&WlSh5-nh|s z%BtjUnW}82?HjTjb29wES0(++hmM)LhhymGW^$kQ@j9X?tcY7=*xc%l=;Ml(8Y--# z&Z1Q1?4o=*Y3)RY3j~YfGP0-T=~ykqC#XtZp`*s{uD-tf@agJsAlVT^R~LALv}h^! z5Rr2FDg9tH4ZguIy#LKN8kCE4#fNt$8cE8&*U>9$%5oAi==dRN(BUVwK_ingAJ3M zHTw3wJkF~%+5w_&vzqLI_r63AoHcwKsT}1ZpA0)7txCgf`Z$HWb>Jp>D-PUhz}L+; z$XorgZ(N>oD+-lDQoo*0Y7o8Qd=hwDyZ6Qg* z8vNHB@UJ}jHXPv&*WMZsd{3_)xzBfv#qCSL+Jsm4=IIXxv{%4)n2|V#f(MP z)CmYD0h`a)I%myF`P{2YH;2v``$s8E!73}jGaUByH}-X9uz8_T$xHpITif@XD`Tlu zxqywlO`KEv=xSPH?V;^5rZK}Hrb}l>nDCWs<1(euSyqE$Z5t z-P(fI&#I=10f%WHoYfk4TqyR}c#jJH=GW{f*Rphr5NLs}`^eP$Og;G?Dn~zy7;-q_^7XP+>_x*9y-wX( zPdH*99?WDN_7YIS59PllueS~me;CmI7JU@WcjS;G4PNE^z-L2d3Nxqsshh*9#1*<_ zM!5ttVIt?#lR2<*pYNEg%zL+GN5jBD{L=BdcP-M}_r8{Ls0GkuA3u?S`2E0fL>}$2 zIL-K0l5d4UmVc%F2|Kc7Al}C594iMxbMk>;7fU@Jd3N&p`<(Y!8e5O}T9jx!S4`KB&>^f$zz5l!bZ#*P zczk8$oL8XIJ|5r9#d?vWiAww0XUUtAw|I|t#$FQYDhUvinxa1`HlET*TrtUhTOE#C zs7&=e@M3p!n=m?v&vZcN`*h#TO556gbHIHjat^oL{8{T7THX3L%NgkeQ)`p#w1U$# zN5A&JZ;+ZDY(7AzHzu&maYDc5gNsxG!Mz({relOed@Emee%%s(NYcmyPVBjum{-oz zB-JEQeTR#l*`!Ek=C!@}^~dkcF@jsq>4gp~xA-5+lK$d~Q^YgcHBJ7~zjQqa_3n&5 zeA@S_?rCn5g2|aTGhkl7I)*ouXeAH7Rn11V*Xdv9nCZ~DF7@p&d!_WXt0A{HGAJ9P zl<8NlzgQz0iZZj~%bH%NM?ab6En=I|>9f;eO%IRcw3O+2 zFG|@Q-kxxImwkiIHDt;C19Ox<`b0<6o>Q_x%E-mkYfib7;BD#8s|HNA$8gsj}u zov!cDZoW9c%NBE|7Ln&*a;CAM%ep^~(9!ui=C)hm6TSNnPln@fP27p^EoVA<;(4me zoa9o9Qkm{(+k6qy>}s4)ePVBm>xK1`l^`tbMkw0 zsrs)_^e)TnBmLmP3wU2%y&o$Zn;Xp=tpXBCc`Jn%UYPr;&vOb2*kqlj4)$uIzEJLW zGEVaC#n~jWFZei|9K6{E&4G{H48ZJ!Pn`v=op zjg*mKrwy^Bh_$zrGj_cj1pGF~aBs-joYAt4yAE}D{5Hi?9&|i4E}giZxH#>s z;+<9)$Sf`A;Z%(Giip^9TATMkSv@~;hwkJr=HtWBx|?aTL(x6h=f6LxP<&crC>)KH zcfDR`oZlrT+PnBE@zguYhP?%uf4yq%%1o?;d)Al?rD6)u1%Gb-R_sQk%+#b zl`mOzmpvYaa$UV8A~=Rs@m{qGC~F@z79-CNj1wbAF_bWA+^jyd#B>sKql#eoNwwxK zHl5&Ga__Sw@8uu(r(MqwhrZuw6+JKZ&4?b+HB8pAM4x@9VAdLOkek9c+Q0bj=bCQw zmM1Mm2M+`r6b(G_{*j~j;^(R$vG9BAlgti+^se{I=2e%PS;Ycri|}dF$jl<*;)eu} zLDn$AfTw2jb;tQR-!sfpul1i^b6e`YDu0g6Pf+fBlm6wX_BlMO!T6OR3gw?ZU(^m9 zRz7iC|CInrRFI)BL9XijqlmEBm;O5g6Gc|y&qNM+)X*uN)7*(`G6_+5dDm-6 zFJ<3(Q{)K$pzbI7g@)h64~sz}FHCkbe~py!y@_7`5iodRwm~>3=;M>igt%E>?Ly;L9Eb%Qa)kI^1BtL2AgR@xUef$+5OyHchMq|dRZ+ncB)~zsEOI^fXZ)?p? zO-XEMbH=6a{=p}W{TElqeWR9nS%=Brtd3t(e(F0C?D(jEVdN5K)Trdj_km93Pw&t8 zsVUpuC9@1L6LX=mTh(a)`=7{bXLak*U6J&Qh~e_>!ih5UpX%LHhHa0G~90)zO5hs;rud8AkZrMa4x}zevYK zj#MGAje^Ts8D3EN@euU;sWb>*Qt2cJclxQg2`OPFOfV$r%GiTdEb$zIRD{4WDlLMN zuskmXQUyg|yKlwGg2t)rXIdlzPJne&NmotvQ(dS3b7?F&5i4V zNY4neFyXEj2R#K24W8zkt}NctE>XaMHGISYo{Vl7n90soQl|c5H$UA#XKA|FAb2Ra z>ITn`*b1>ae9n`T^V3O828KzxL8a!wW@aWQ&6Et}49^c!HFK;;D)v}NXZ!d$|L8Qz z7r9ISd!l#Ry&yKy|By3B1vypZYl~9hCcYb&RTF<)E75Z#m;msK#&- z*q3#vgf_mW7`@j{-acw4ro~X4l9M4fL1UV>EnjmaGTly6OYVb2H)Wx6X{LPh6q#<8 zC?&<6*f_nb>9-uUpZ79Ks2=xBqC5Pch4Jzc@s#7wr9@?$Xg^5YBg4T4C|l@S4y(q0 z>(DmUzAg+3Hctv->g}j3d{kD8Gz=FzNU103s+Vh9W?)JkfIb|Rg^s^wKQI!n)Pes^ zMrX-^mu{m?F?ObGd8h(jmKPRal9anOjJR}09h*rjz+(KSo#K_zgB@CluCL}&+!u`Q zMYEJ5n>$P2JMn5|J!@wYqL4tF<)9blUV2XrE)6p&xiyAQ-}xCnwq3;^q0m|GUU18z zP3D_}2^;>^%`HiD)AoXIc%RK5=p1uXnSxupTlnT({kHF&VIG6!n{|1y3LHBTVK5{qJb;1@4ciM;3w`aSn{CF}H; z`y(tb)z&=%Ue+uMV-}KM4*B$#@GN$jO_jfk8T29GztFc3Q@>r)8Ddbjb}!_ z@#?Hm^4v->%iPS12s-tKR&^}k^E>6ZrNTm*6YGq9wTI8I2Rj&twimP+w;pW2eBkcx zfO6rE+zot8>raHxndvJNELyLVFppoE=yOeoqCN}YmncM-x18!`HP`a}7UsRaGfQh6 zDpBuR;Sq4KY?G5$no87o!E|$KXz69-$^~tfhP(5=k0`A~KMM)^_zcb{JN(3?t~n1J zf5&)oE8}f@WW51S@z>C(!bw45dliEeWL9X)WT7PST*A$gJSnqoXT^txY*eU-7=*YkL>@Pq^A~1w#8gd;x65?iH zqYYs*u+4_38Q5b(&*Hy1H1+a@iKsGkPt5ev<6AyWq)xQU^U2nT!yy* ztOg13GJtB35HACy1_|*p0BVpBF9Vzg3Gp(3X^;>v1C#~{;WEHzkpG-i05K3N!vjQv zgjg9MG)M@Q0YHO|{j3EKSMM7i@bO90q zW1tI=5ElbofP}CZ=mI1}#XuJz_o0{t=mI2!#6TAyAtDC400{vx&;@uT1jIlWAR!(G zx&R5`Fwg}^h=zeKKteDKbO91NvH)Fxgh&|Z0u%(oKo_7O4hFgag@-s8=mHdk!9W+F zAPNS$00luX&;_VH1_n;9ltHx*d_fnWpd$;=1t{pq0(1ciI@09}BBPAotdpi}_D{{JOF z7oeac3(y59=*R+e0SY>@09}BBjx0bIpr9iQ&;=;y$O3c$3Ocd?U4R07^#9ibU4Q~> zZx3OEEcINpfOM= zJY>tDHBkG$49GT+1^F_Gp`##UCNXpr9K9R(RQiJ_w)hbA#}6lBpPhK_6hFjHEqM-nPe?i9r~DL`y;&{ z?4LZLZ+$YMed(sY!fxGCVwgPp{n>l7lPN;U?jl;}-h1Yq@@K!y(O6GN!gG~W>#cNT zY`ji5a7Vq^N{6YM8~!bv%eXk6EhfSL$4yI-ljdVs!wZ52tv`gSX=EQ0F2j!7ZybcP^#!kANd z?pbo&F;ukR%pL8?%LXnH54_0-9%X8yx1>_8y`h`XJJY+V_l+^&ejqij2X{GZChHI} z=*kAlsvc{3NDB2v`x=qUB`=U_VA}SOX;87KG*%!B zIm#R;>i&~Jfs=OAR=m!aV(dsgaWex}qw1zzJTF5N(AjZ>5dNi;i27$P9bC5y4g$d^p_xy~xtbllYnpjn4{GHbP6Ng@OFcwQ48z zIkf>Hk;fKZk8T{=(ZkHxy2}nzt=Q=v1He@)i3G)ziC{bW~o20`~8Pm8o`sCfDWZQUIljdSunz- zFglGt8+*cCK2~OehPW6F_@M0aD3454eHh&V7=ip29p|4-Jwf6YolKQNI9(tQ!7~GV z7ueBD639_j?1ZH*Di*?62AymbYdnVl72)?oy8rj{q|+$)5it%zUj`iu;hvNjU;=mO zelUQXn{&+`%V*hX%1&V!BMuTEMw_`xDKfg$?0S!}7>>n$G zd4k@%6ya~YM?-@hC_qDl9Y{b!gB@ri(B29N!9aT}AOr)pR{z9%479fbLNL(Y3JAeKdn+IW1MRJV5Dc`p z0zxp*-U6z?&R z4U^(M1~Ot&yvIOROp5oIeKYF3>iqm{Nu<#66POE z29hxUcruWL`Nx!jB+Nfoh>UPzK-Nr(_ZY~V zN%0;e)V;yvIOp zO^WxJ|Lyu9>EbP*2?H5697w`IjtvKrFer3fNeLae(SsWUxG{no6Sy%~m6Wh7p9L2K zgFOKX2LE#b4Plp$l@32$6(#N$yrz*L&L^nILU&MVR7|I^Av^ZQvVQgcmSK%`L zbZ1Vn2aevQrkxjhZTt3Mo7C(nobDHysmB+;v7dKj8-cZ3(45N0XE%_C*cYZ z`+|o{;e4TU?&68=-r6JSVaH_5lV#7%8o5rX&L53DB$sET%uDM+>wZnD*)a`1arJwW zSSwiplNEJ{!UH~W%2h@>^7uv)pIGh@d;$6 z==-#nU;*UU9HX+HNqpta6mpNss%g*Vtr$HT^%ct@c7S-G_uA-D{FSc_R>+tbzLY@m zr>CO7;x3D)cJQ6Z;3AR@P!q}c;tr9O&3Ov8DEd*i*i-QJzkXIq5gyoKA9Xj60IO=C z3OKC#EFPf^4kiRf#c^i}5+{<>M%i%^4T{mCqi3j`6bev{o&bGDK#jzHgzI?2%91Q}z9+T5ThTQ)9b6 z)o5YwEG)8U-U{p+5;@&d=~I$0yu4bmz)CtZNF|1a^i}k^;J1DqUCA=*v-(nzDEIuM z$a~Ymwfn)Pyr&bx!ty_A`m*%Xp>iBfaEQv8To8JEs4t0o?G^s6!ize?LNk3|KgP?$ z&$j5-5;O~3RT<6yRQ_nL|b3+2?U z)BdfBg}j7MR1#;1csqCV+a?XhO=D|p1JCSVdX?iRekM~CvusX zo^_>g@C?b%eSg@{tTg<1HtLaTwLNkD$=3WUeT72{7>O`SIo6V5E+56PU*4g|lec=x z6BBkA*@~1nHG54imkRce|I8Y;&8f9;IMJ=q{DN2c^+|>=!K!#$j=Aim!N!2vDFJ&L zflEJgmZA^($GdOEIj}GNa@{umO`p7-5FFWDf1@l8by3SbMEdgtquJ$MtozIj-_4I0 z`AwamXhI=pP3fSKQ^3^Xs581w@Fc@$LMTqPq?g!mZ_8ZaP8j-R*$jH^?edvjzv^JW zABTmQFHo0vNiGrbi}$l~`tuG`SDOzdKJj|y6qUp9933LTZ+|sDL{+V;0TYuWG98+DI7L6a^5l=*Y;Nsa;=A{BXA{6aeX`iVn~df)N%IZ-o} zFTJZOtm(v>U|-28GdYfuRZaEfABYkC?TAz~>-^;!d=6Q2g{d8-fcEu~bzX@gDhjW8nx<6seARXEc%8gj8^POPb5%K+eASgY&mvWat=-$yRo*R| z-ilEpjeRVr`RRjWL|J;OqDsCa)+xHjLm3P2_oNWspeG(yFonwb=nl8FU!FSk^-9)} z&neF*y;?50>MFWQ(YF@_iV{>rT8cVo0_46&e{MTk9jY!PiWm8rMze~OPbVZ>a>m_% z`>-z{tM$5c^REFls>VLrKx@uK=Q%;NetU-`Eg{2()yA#G-{s0HautcqF{G!?@Ue3` z!_lES!}Ha-FWuY?6C@EXMMY8*cT{wX6%Z4uDSShjuy(O3Matu^_=*Kron8mD#C7t- z@m&7e%;PM7J^_Ef_iXXg?8O%^&p9;vzjgV}_1RwfM689!Puhf2?p86$>qETH`l1C5 zgj(ABqF)6CQmm@}3Ja|f9*O)NQvPl#=e?3c&Pa}L|9FpqfJjtMoxOu^yLXL3)wjye z>ANE;o5@qV39idZ9>du~ffs$=k6c_F`8l*&@C~D7DSnvVmC!HFYDVxC7h|eACB~Wx zBZwVf{ePS9Bgv{&Wq*K`9R?5>_{DOhUqb@#4gj$Nf3o;rQh@n;%JG*JU~tI4Z~y~kaF8IN z2oCZCl)yoFfC4y(4p9C^i(;YpjRD0zYQTbGe|yoLDGjgUE@6LN*BwV4;u=5+@eQ*dTCXp@(u zA^ZX002aa@01jXw`~lzq7Q!C@4qzer0pI`@q8|VbVA0U!`v4ALA^ZX002aa@01jXw z`~lzq7Q!C@4qzet0pI`@!XE$*U?KVe-~bk)9{>(uG0?|%035(V_yfQJEQCJ*9Kb^O z1Hb_+gg*crz(V)~zyU0TKL8xSLMO`r4qzer0pI`@Jnuhn01M#{00*!T{s0b%h42Tk zNGyaufJb5>`~gf73*isol33_unFI&05dI*+0W1!+4@XF!pTR=*OM(Mf$bd<301H_# z2@Zf?I<&vt1%`=(Y?uTGaF7v`-~bM?ViFv{?VIsmIDp%;OvnIg-9OTv{IDq@#uJQlF0UTu5BshSB9Ge6OaFAugfwkfw%Z3AQ z#X+782j+@{OdAf&6$iOC9JnhEvTZoYUU86d!-2u#Am@eyhs8nG4F?vBL*n9e9azDQ z4cyqPbR9TqC}8M6hm|ZC=yN^*G$})vg5Y|FLjZqK{=FUvNhHN}QPk8rNYlgAG~y68&2W^1LZaZs)|uk1#cIdMZigo$%n*n@3u zSoT@(U3N3OTL)(CLya{~YZeHnnSBtGc8vWjdnVv+tRST=V=1L;_Q4 z#yUz684=a7Wk4~(>H$*`l4z+hBpSX*obZayY8fEM-6$trr1*i$g!rh+BcKvT8BlpB zUd&xUECs;{pO{DT$7S7()+RnG#0FfLmNXz*avKmmY}o=1x9YbHz^uS+AhnzVUncEd zQ63U-_?@vSaXPfMmCr8uBbkcmffPiTEjcc4B{ufjbhudO)sF;2B3YUt(IebwB5Bbe z`Ga#>|3uQxI)Bzk{rfQK{&Mp*%^k1xIPb1>E8nV;AC+sW&GU_M&)drw+;oSYx63MC zT&w5|Q`5IFf0M4cTYGogVjFd*1Apx;v9ZCZ7LVOH(Q#tQ&(?J4Ni8v~QDn+HF6z9G zWY)r~xPB8GQ|1DEf5OP7x%~+fwfa*6zx^ZZecWpEHmkEv_b@zPIUihY^k`uINfw#a z*|Ir9rZzWZiJP~^(skdWI+xl88NslES+(9J>_v5H*O_B zC(Uom1U^~wa&yC%7!$-}dt<|&kBdjwvdRa`9-)it(sTqrpICU_LACg-Ai-@xT%6GD zd;AN9Jed|x>guzasX?OYZ;q=r`01YtSuaCIMjw)GBjg>pc$nO1?s1i0E_+e!1*bap ztMh8oD3$X!ozcms!JoKK_dU|8t(I*KzUmd8xBS?XKPJNZKd!C=p31lVXB5fad+(8P ztYfR}3W25b4ny6vmd2W8D(UIP+28eAtNg^(Eq+qI?wa|-}m!;Uf<)q z$G7L^zOL_e-Ou+*`e@Scyu461TRJJ!DeL4y+VOz%v;1r?{yM;YV2ko$EkbDCO029xQe<&Q?^_X z;Om}SPBzE3)^^ADx|Xb8yVh6jH*$RK_>k97zg<)J*2GvtZ@c9ZW9K2ov4cW=rv(8Iz&K_^)OsrA$9yzs1ZDx@yi}eTGhwhnQoKdB|Vu4 z>hm`%Y}CM_g@y)E9b%QiNpj$UjQ3D;1(`dAWthPDN?VmRWMH^@%3^DmC?_vDJ{&DhO<} zwOGzv@@O+SI55gDFNmQQdt{hsEbVtK%0c+P#$y3br7Hqh$wx}bj550tb9xzH(zlsjX9=g$>AYK zB}5yU)oZ47w&iF>41=85Su1eqKglZQuWzPQdvKRF(rV^*JNI)`WXxV3gZduFX8z;n=vwg2 zL*d}|{Xfn)4wo>!?ikY6O;6eX zSEyabalZA{)45-(vL_~*;eMENbY}Ha0C#3lHQ$Lw|2NU52@6k$+DCf3X3q{T{u;P- z%dzU|mhffoYuy`0k5A!nyqOM}Iv3N6(;Y9@*_5~T?Wukts{7{o_N2_NExRC!jU4Ot zG~YSgkK@}e5&O=!bea2Nrkw8|(aOy@7tdg@`RJ&|xA$~GREzmf3y&`U4t?~@`yp=B z_US~l*X@xPf0Aak4qmJ<`?T;aHG_?9J~snj(r+6kRXFiG+-5(oi81T1vbeEs!>CWj zarQMP-L(OqNgmLAsDyuO;`qxxOtkoE@KyB#AEt+Fc$sV95AIGZlL-FmHKv_nP2n{r zLa~NtH~vc|{CkAYTVRz{@dBp>nDIBSflq+vGw}SMt@lj!BXlJkRP z2+8V136<(YPN-BLl0p?=AS+^~4-^RGg{1l*H3yK`GXt49 zfW!kRATtM$*r*1XIes z^BiR601|0|%p5=>Es&W5NTdZaa{!67KxPggkrv3zfxg?J1r!KK%>gFz0;xHG#M&9i z%mF0Q0+~60L|Py-2are$Waa=8X@SffKq4)WnFC0q1u}DaIUJJegVY=dP2%kWnK^(& zS|BqAkVp$;<^U3Dfy5s`A}x^k14yI=5`O@Rv_Rqy;9pu$fq=vxU?MM&_yb71T_EuX zf|p1O6juNw(gM{L0Ex6fc?CcsEl^$okVp&ER{$i^0tFU%oE)lJ19_p!HINpnUIS^N z>NSuSs$c_Yp(-|z7OG?eX(2TmP-p>=Knn-OFDSJDOymV>EdUa47bvy>NL)owZ2^#Y zw?MfCK;qp3^%hV7Al@xdZ~>5bw?HKaK;qp36&D=9#M=dGE&vj57bv;_NTda-E&vi~ zfwBvLL|UNk0w9qVD7*kjqy;K3pb$Z%1xhafLRvV2^%AJP08HcsiZ1{XX@TksfJ9oL z`~o167O1}fNTdY{FaQ#1feH+OL|UK%10azWtiXVZ2$2`qivc9wF0dN|NTdb!V*rV? zz>W+ckrvnxAtv$yI}yZ0Vqgn^n8*zLDFTc`HhJ(%58pr}2Y%bYlnrF32g?jGksY|d z5EJQve;C9>e&DkpMhJo(8eoJV*rLJdf7G52Hfit%gdy0a0Vdu&dARMvPyJW20NXS; zEKa<8@?f6^7$FEYY5);}V5bHcAqci=VBmu6{qV#$zz9RQ`@>KD_XFYfFOO{huE0FhWoPR3O0%2tybI;HMHl0Nz3*3c&ggzz9JY2jHjvdp`^W z@H9CQLxM;ofHfe15rP(cw-81JSY9H203?V+1y~OP7$FGb0{m3s`yoLjFu;-!zz9JY z8eolS=l!7F0vRH~0hWaTMi|2A0P9TuegF&);8SDnl`w&e8C)#Y_exl^NN6!c-30!{ ze-EnQ@Lt|b2K23;KNk&Nx?;8-a3SXiPLz47k8E^H?FFvSffBZyNE!XnL`qpAL zlOg#LWAi>XeM5D1m61Q20cZHqPBI${z*CTNJ7Zf?zl^bJ!#Jv(b82f-kpO-x1 z!`ag*LhM?X=_i<-vcprE;^jy)jzy#@He4ys-$nMEQ%7QqBEygRJGH<9vtyv$-3-5@ zSc%v(y>hrxK1e;}MmkI2L(s-NyaURAo&@4P8@qvhWv{yRJ36}PyENoTliRWo<7Jow^2rOvUFBXskT(T=nfG#%W7CjAN& z2jnb=Vn`od!>-)+>rB0L{R}M~O*i+TUOy%#M&E&!F6kvVFK0MbLs3vQ;8McM&O7yQ1V>gBhUYSJ&}6)=eg}@M}qnG#)aiGYjYQRJ(NN|e)QCiwRjMT9o7w^d(4@w z)-)Y-@j>Hjwl859FIuax;p>(dKJ}ipmHo|anPDS!X(c&frMP0M>%ybj8v~@Dj84mr zxK3DB*(!A;+i8~|Kv99iKkPnNzs_~3I@S&VT^0)S>s=yc- z`>MPQXWh~s)kpE<9XCl^*Tsf={f5?iY;re-|K!y6J*VM{dZB8 zy57$xx7Tsw%rTFTtB!e5D@+~i6>k41Bf=4KVAyc}TfCp(Yy5(d)awUh6$$dZ{uQI@-q#E7Y$>lt2o>FOOE)_8AjKiR#4r%+YnxKFym?&9YwC7tXUVHezseJH`FP8%VcwLE`*9r3I=I&9Nb%2qHWMiIZL_1zu{XUx zehJpn{%u?S#CU2Wwn{fT&{S@}aNOLgV?$t8TgYxzs$K-_Px+IG@XEeU}vr?Hf2yPNHES^`-e6v8^iTh_ywaT9SA)EOw zAR5Dyu6c0Jkw4bH)AR+8wfA#{=3Vkt$N12`z^hH!h43OXj>Io9vl{Q)!ODWi zKV;Ryj}&UqRBcl9@Jq}lzwnVAtZeu%Rjl;*(hgR!YVJp@yV>xI zJ*?VzhYnT|P|N}+99Zx^D#xhFK%B?>>d}k;eNKV^p_u~Vi(UhaI6;)-XSq0>@Ws8X z`@w<4fnHWDI3&UFmQ@e^vN+PZ#NuD|&}bh%OV$rMu)qwd56Np718PE+L)QF^<+LrxW0hq5ix+lS0_#VN%& zi|wxoTCYg!V$$hs$PMZP88mhmwS*ryj+-#-E%wcyd9P}5m^alw@9xYivlXY4DSoUI zjT!gZ*$l9TE?2wtlE_%BCJaSNee;jKx88sB0RG|rtB>_%&G)mi$+ES#iuUCRpR=T( zUoSn#qx$i(${9;M|L#5#GS^~$lBTMet5@lq#PUMSdE`jTXxRlyY1#9NY1w;AXj|EF zmK2G1ji^>9$(u-pM0(}r90m22GHYZD|V7r)}*!2G4*rTA+yk4kgi#C6Uu4IF7J zqY(mTyffT(U&7xHO47A9muqB43h%Cdb1==RK(v|G!0@GytuF<2#m)Rr^O|H$Bu!$= zFL(K+959qpZF9+sPjPuvPNC0i+fOF6XAQSYUwW1#aq>MGyHVLx6?M5opo7azxqT7Y zu5DgElh&LL2l=N9g%8jlV~|Kqu$9{NtoYd>F^m26Pjwh;C_iVDlcl7j&7>Iyv(@XZ zMn1qZ7F^$x)=$;7`lOiFbf0?PnD1Dzn(4^>R(T!2lHjf9oZ0tTX=p~mzS6aZep2ak zz~Kzt@ML>xgIA}z<#juHo_%f-X1B}#G_t0O zRnIx!XD`GU61}pzvYz{^qJ7~l=TqL~H&ZdK1((($_O!lp>#yD_v&O?{Ud7 z>-()`|9PKJK7;Ev^3hT};WZ$8;*nDJ8`)b6xU)VFvz0pn0`%U~qlFhh4CsKFFsHV@`;@#%) zBT@dwINz>z*X_804a&LL#kr4DC3&frFJE4jjeQzP^{sN-uGu9H7yeOY%`zq{!mdvB z?1!>BUdva$gGYp2tpy&qh0;%-^%)*eS#VLUdF~{1K}G%>I)Tx>YnqF z>-SPE-(PI!r_?b=lWz_!;cn{v z#$dKvq$imrm9Kwkv@}mE>iGHn{99>xxrAW9PdyFo5}{`^?bUM`7Ju1SVZwk}Jzq|C zUH-e?26wGz>0{WF{RwjcZJ?8HDJ)TCb$+~}t!tNC3@5UQ!A5Ar> z=^|x}SLHu1-m0!@50OmYTymJ_7Wl9^QT{4v&*2WuwTm1@O7RiaIRORkEcW}#2{ZoeIZhfpj>{H|nFM1ZLFrVynq!Ep zQFDMTUjdQ5V9QrPL@(I#6%fe_wtNLd?}9B~0a3eP%U3|OE>JNFh|&dHs{%^rg0cm` zhz0^%z5+_-LOv*!3kjh#E@Xs~xR4S`;X+O*feT5Y^etpXkhfSu*#vI+3W&UgTfPFK zZsC@%fM{E|^ziMVZuoV z>ek?dAz_)^sloeR=8>?FDFDZz)ZX3V;P@yfKN(h49zL76vs{O{Ib^~6Lby4w;QtE( z^Ff>fB2FOzM4H0ef(TQ1R}fhWZwjJG;XOeVDZC|!9)))VQKRsFptLBsA2Wc+L_uJ(1&eQ+^CKaT%X@! z)JvtLZ9c|ic6h(cf$Q>Oqy0agu0P=14t>Gl%qhP2(SiGdSUR_WfPinm7u=HNCDKHl zj|sB<@V+NJaX=p<Z8EQFEw9C?moxPc>#d+)vAJ<{$;-a@!@8%}8zbwpuj1QTg=$G(W9Zgm> zWM#i;Tor%8g7qLD%VRpsz-t?RaMyKRy)hQEsGu2E=7b;;<&(_3=K{NwQ;tsOEIBlp zaJvhBw|0uh-8xaqatCXIx!TBF5t~_?IV|+x4n2RP4ja29`-zgOU*Tc7aM(vH_9){a9-+Ia&lA5 zTz?+Zb*kcbuv}s3C0o-E=9h;`ekG(^DLUN7KU9-?yVVh7clx_%E~k^a_gqzPZI1oh zmUR#RW8ML!Teu+)O|Bzv+$TOA#id&wDVq32nq^dVY5aKgZMriB9v?e1%__cn70rfS zIkXmjO-@5FCMS*CTQA0*{D)EP>B_MO6Wq#o6S5xGVA;-TXt@bJnX&Wu(J}ruQYA9s z*MC=+h7;Jj&IDHO?yyTVR>k>r&x;%Q0*5|Yur^(bGx`-}rid2P^X_F+F@ORo92B3hlu?#{I~keO~j) z?dhoPeAk|LtGzzwaW&$-Z_0TeS@-Cv^y+U&ym@=a_kzupr%I-ee(KKgDKDPAKd0q* zZ#$r@E}Qz6#recJt&hRGy}+bvN+u;fkL^+hVO$ZJ3)%B2@hI-_8|tSbn`~W@mOt~f zta@EcTCSEG8RrcqoAAy3gOeNCy2Q>mJ|M4kSE;2!ub=%-j#CIu+%xeHSBuc|TkL#Y z_UtdHeJ(3_)E^q=Gf4kzwh?XO+Z_Mhcdc~RQr$p*&&g^>6NCN1*F$x0*ZH-lndn8i zi2p3k?n?Qnf4yYZ;_(2t^6`rv1>2zl6cK)}C98~lX7sza>`vFlNwOI93ST$7yqGvX zP~u({-}32eM^W#PlNGLsX(KR9xTw~5@_?1z<<~YGY`tE3g$^$kqW-*1*w1r){;AvX z(9N%Boa&yN_3P?w=18|pOjNWt=C8bATz{mn%FJ4$!#Yj1HPmVo~D`nd0wxH&ill%J&~RgVbyj=4)v6YJoVzJvK?oV z`7EGg5TJJXgxQ2alD&R)kN^;xs2p7UW3gE>^QeW;jV`=AIJ^o zerWQ=#L<2|FUBf%g7Vs)p!ZDoeG*)Tk6yX-^Z|J!ugvD&-3CPobUrO3YG#w~ULG{f zuxmVZ)j~lM`&-U2nb)*LLsW+oGZg|N5T(IXh`(tIY9Iti6Ho&oK$d_W2mukX_5gn{k|u%_0fQuoAVa_) zIU@YQNQwx5Fe*cYX$xv11gt2aMnb@f0%|4%Oj}SxAz(!TgX(}lN=SwXD+;Kw5HM{) z&4qwz%g$g3LR%81m#EPYFl|B2hJa}cYB&T;TTs&>U}pw{G(KQs1~nc6cIHv@Az)hu zH6Q}?PjCPu`90)?^gLi^9yKHawq#IKB49@bH6{W!WWbz=f7K!IDF71FIM|Ls4T^xB z`M;AQ{@HUf6$QF9|;{{=NT0=8cWlOz5*;lbt$YH|eZ zy%0u6?97#by%*H*2-tc-O^<+`dDQp_*qKMokAR(d)Bp+CnMVzffSq|bKw{^9z|K5s zeuOeGB?FjvyFe!$K;kNbPC9_ZRRkXcAn~sdG}1wbi`Y^Fp8_CJtbtDfkhqB8Qvf9P z(_m*F&X4%_U;y|SfQj8I*qKKSkbs?e)Bp+CnMVzffSq~N014QcM-7mGop~@o;@=H` zoq5#!2ps6715D%vJM*Xk60kFm8Xy5X^QZw5urrTADuJ*wj~XBWJM+i@2@BYnN6n9b zop~@ng7{zp?98JENWjiKYJddn%%cWKz|K5sfCTK!qXtO8&OB;>1nkUXknT6^%p>z7 za2BAE4%&{yRfL^+)Bp+CnMVzffSq~N014QcM-PyIoq6;G3D}t@j*tMAQ`nh@Go}8u z80CO#1$cq@3r6V7!}vga10;v+^n}j5BC^*LI`fLiZcpgUD)~N=ov$dFoe6lBC0R|w|zy_wht@Gil}`bZv2W!X#iBHAtwG6z#cll#9ue? z^WiN-HNN5I4-ANjcL47Gim1jn-2N3&jc>UBD`vG9vhZtF67zz;cQ*bN| z1_P7^pGXNIHv5**MX*KJ>HJTRUCFx;wAAdpZI&7PsbeuB4v3Zl&*MCCctv z-f!$A-Y8z=&yZhRrDx6JB;8ozGB|G;P)|9W=PXG@(=td!#h2tv<9t|B=aq189G z?kpXV{?|AI$F4E_nfr;|tSDgQ1qK9Mx= z^}j0>e4R=rlh!simfFrRn%W*t7QOl^OD9#xTHKGk$Vbb1)ohZIB%WJ9vbK9X+&u77 zxvRL}q5INwkx5IHld<4>8K{BnA02CB7#nK~e@BaR1E8J6guZf5vd%Sf!et2l*O0dP z2{yW5v8z!$D!}m=N>N7dg82-y0b1`dXc44-tLTBaIUiMH~3_F zvBZ37DEYO@0YA5l70W0aDe8uwRLKkJPZs1>8JPr&SjSWZ+r1rC1U=)+W|vY(&Xk?^ z)%LbJd&ciX_Y0NT$<@Q5URHCi1CkuiQo}B9dnl;m{`_=0-E~jw-T5$F!mgsSU*CTF z)n|U)-)42>(?qn#CzZ2jo+snhR&5V6-@OoKdP~Lj#n6`5&mV`6E-98S|J=IRom^O4 zwrpN^{xyq|*6obkx{rKo)jt#nSPN3j7<10L(e795FPYuaZqS!6+8=M{g+(07YXqH@8sD8<3c;;@Ru zdA#gl$6TYaCr5m1gM?&{j^!FLfUh40vC3*>kKJtI*uJ2ej9V|7*0iG9r)(a4HRrX5 zJBMv_Chly*i*nmjMnKj@XXd#QUd#Kkwk`4Jh3p?vv30=%coJa&i)!#Rdl3oVTtq+@ z|KF^xS;HwlJezS*_l2j2q zXb#G}uwzSy_i;QjkH2zIfDP{;DL{`eItY$EgGb%zs_#h(1hM1a8wqIRPaPBx!OIzg zqtV|Oq-pWTj0L2sdkzYa@4;u83TWXy*rmDg%ccTFNZS7yc+DtivCL1a-oXA_gSFk0NgNV5s*)^psaIY zUVyUBg=qoGIu|Ad1nb-#fdrERlyxr52~gI#FeN})=faEtWt|HX0+e+w%m+}`xiB3- zS?9uJ0A-!42yEQ|CT0^b7eHC(LWPL3&V`u($~qS&0x0WTmpQWt|HZBFZ`!DnyiZE>wsp>s+W1fpsoXAVGzwgwk=4 z7ILBkDnuoejDxh06CF??Dj_F2ph8soccKHF3Wu~183z@j67fI>&H^e#CFDd0RESE* zNoJ@Jm5`InP$4QICz+u_R6oMeUyQ3*N73>Bgha*i1)L?tYam`Ov02&_#1 z{V76)sDvD1h6+&`CF1}sW#kAmREWw*BNr+}Wu%h}6{0fI%7qG1`Cl&=JU0OqqB7FW zg$i-U8x|-D&g!l z$~cvv5K-Q#1civQPbDbC|8Y=-1W`LaRETI3Rd8+^zJTocP$8n7RG~sdd#OT&h;~zj z3K8w63Kb&SQ57mgw5KXmh={AI1^D@pAzHyfhKPa#jcSMyf^hpsxvPSfF2smFf&l>K zunPK}5F-*8h5*E66$mt_5K%^}1ciulT7}1~lJffWdP@P4#_ zg9LZ_#($sOhqn;v90PR-F)=6r@dhz+3t?D5xv>%yBFc{yp0WntM+m~mfbwL8&+`LJ zkidTn#4tFZj9Ec$05KxcVRS&5vw~mbY&V0j=$2*OB#@@xe^9AZFlC;kHfUqBeb zXo0eBm51R1W!?&pCIXBQgcU`Ufh#J~=L7YA5s%uvWky9q$5XgO*~1V;A#rGo;f@eh@-7~uK=NR#z@A>Cz{;CZ6k91#1|`=o zj+0-Frx|8E9sKl^GLOqS){Hds6jj;A-$$2p_ArJkkMz+#X6=ubINwURt0_Z3O-`_ z=-LNkzQOUexlc>y164LhtTDw#B#BOZA_hw-d>Xro0sJ` z3pVV4gA%8dsakG}x2f9VWu`tgj^hRQ&i|KSwb8nvPcQeT@M@Jp&1Fr`(y{iLjR*O+ zll$~EJ?{;it-xur<0@{m-GBG>PF8=xzQ-Fsi+^XErMFuukw1L<=xE~X@v7}dw-qP8 zZWiC`Yt8Tb8P9RQVwNlGv(K@88m;9T3}T&=fwm3TcTuov?HBP_9m8gZs`z_PHS6*5 z#Z+3({Pm`HKDRaG>OR7c{%X6uVo?c`6*39J_Toqd<)+|wxpgBGLb0)R*=_Bvv#lW#D zF^k4D8?Na7Hxgs|K{5TZSFz(UBbCo9^!?|Td^VY4e~Tafow;!?$&+`fTRx<(=0@Jh za69jn|4L=|a|tWrvKDM|MV(ox%cf}d@3$2@vRL}9+JNl@%ff<_dc9fT>29~tt;f8I z_zSO3Zuo{;wqG20W8}B5EShIEg4C~ni^i|)y6?@LBWJZ^Iv061^V5_a+1@d#OOIsb zyy)1!=`^i!rrK5rKR9Mv=k0s{&4{4nIOq9aY#1*5mRn+0)gf8w3;8B$}n zX4WRcR;4<>_lI>{k}|5lFD#<%XlsAN!QN4NyGrJVu5v-LP`^VWU+vwlBdWKqQE30_ zW8NL|cJ8#*?2qqf}YY~37+<%y316O(DMb5e?{vysz zy?EK+UFm>>E(OKe#{)ro^+=wZ)rWEn@AJCtu{HlQbn)ItHX8M{rq%_Og6+VUDjf?6 zXaDf@wB#Bn?U4*Kti$%SDbocHDmrutcTB~F)JHLtiCiL+8Yi=ozw341S|*9hI(5KK z-t?MRxwVXQvR!Hynbjct2A0cujJLA!v-7JzjOwe^BGaK05AIc3zPB05Z;x-cvO4*s%Fl&OO5omfgyFeXs&$$5M?cO5pNq>a zxe>1-W#_h!GM%aXX|~%JLv|?vhN>zN(uc>=63@kU;yPn(I_D){b=DW&7&?-5^HU+1 z#OdZnm!j}!TCU2ro1W{KH{BqPKdJb>)Biibvj=tr&*&+UAC(lC%2%gB4= z+EoLLKCZE#on*DHEtN#?S|$s5B>lgw|>B-GZsMCmvBARRzq0GFwDCpQisXegKp zCcRSQuy=Pd?`P|!8IEx4C3gqiXM=B_@#=iUtvtIO=XNL0 zEq|#hH~n4y-`v*L`Db>gO7)gMzBqmNOMOAj7l6NIg8vEng!{6wQnz^;|A+Ky46i*E zepTI`0e^N?3RK@N?WL{mU6umVBZ|L6yb6kLpsb~fs>X3_NFBhJuS!wlkCtl8Tuv3?3LCNlGQv52X~X;2N_{O^ZU8#`W#U0NIem_b?uAHyz9sJ_wT z%h;tQVD*i34}OtHS_f9&c<@HN(kuiYN^+1<$XA02kq36;F9}N%s&8EQK4I`}P<^Ar z{}h%Mht;?7-FRPV=>xFv#s!945PT12g~1!ZBN-Cai(H3}Qjp36w}TZDW-{=Rc<@BV zU)uxiF%1qfVBY>W!T2dHO-m}T^f$xsgeMBO!f>y`4j=zA@@Z%Y&#b4QN_SW5Zi=!O zLn-wzeVKz$hxvoq4!??enWc4b|2b z8ZYvg3wL=@GT(WV8o}A%PT3IaM%8O5NpqE4v60H*`qN{HrsV7W#UcugC1MZRa0RJt zBV00vqSYu$v9CmpuiWL-cI3`$jBO|ta#Kpv=xJvBd zo^+v9rL2>&<$Dw3s3k=hZ4xA++DOitj40*PG}For9$wlNS%&SclxF<%^w>p8DMosJ z{{Naw4?0NnRj^Nc9_I{^A#*Ofuhxt+JAE-WuVj{9Xt1;?_l{)@yMVmDaJB7Ek!Q0p z?D7@{S0;;1Vp9+F3FwzqO+1c!Mj)9_)98%!STOe#533h@uv*F7E=Fi z@Fn~!!-*i5?%O457m|)sFF{Gett)RD+M-g|lW6kQNzO2e@q_AnL8mAk;|vXvB|~c=PCp(7aZ4#D^7ZS&wl>pTxs^``go7)MU275 z$o!aZ_tGS<&(g`QrH~xoqP?omjN;cOe4D>uwBzmeUL2?&(9#{(t_)mWdL`p^!db$f z+qGMDpk9MB+EuH5W_z2{b>z9^>i7yS_5IDFAL_G-o{hHIPa3|C`ue6-_>ObmV;&e+ ztRKIi7OI&2egDz319Nrw6LlN0s;_E-yUY4777l0@D}Nr}*zFOwIWhU@&j&aCkNy3d zOewjJyS3AQWj46=pXZxOZ(k;zlwGK{xbpo&Nd5% z6$5ie-u$>pz+DEE4}BG`K**%7mKR2 zAG~<;Y+~U-??Twdy^mj?Y@7@oT@O^fp}AK7g{yz`F^#*h<;Oh<6H)j24d`AlC|kT+ z$ijVF+x#?q!Fkoi*LTS=IK+3P`or^nO(nx0EmL8iU26TkG~bNw6BEXNWL&v;*7L3) z9X`G)?^Rgw?1#jA{`p>|vS05enb+S;&~ULiBqyf2|5xI3mwKmaFRRUclJ%DMLim_+ z6XW}OFJimBioGN3Z{0ZNVOf8>WBSnMSx#pMBZ-o^j~8BSuh$syM{24SEHQkpN=Q%N zQqRc|?xYA78p>)pv-pBUpzbIs-jP9?nT^og{(lBgK#iv}kV@bRElvF2$LDXQqu$kesUh@i3TIkUOwif=Z*O$?IxRP7D{JM#Z(|2^|sRz$UaPy|EZ3ERjQI)Dj>;>u^W4J)oR6trP~kWdVxu;(e4gEx$xQu8!Gi}pOlnaJ&I8Sg0tIRQ zQ;*wec<;46{qNX=RHu8YJvt7LkG|^jpeW>3nJg?z9@tmOa!vB;R+Ejnr0iE$bwS*y z$N3hofcP&PSi4=<9_~IbHx`)67%<51(~_vGbb&{(N7AC^e9Q5eVg_9PriIGYi~W0r ztUIsW`z>$^x41mGZZJQywQG}4thxw`T@`we8@OL%;w{6shWhH7uPUlrFG}zI)Z!$6 z!^33ta}@4}>{vFjq+PArBodGAOb`xclByD>Q<>pi zm81O$9h8UEn-~Lrv8H6%o`> z4NwnJ`B#Jk*254H3tXUBgBqv-N;Rl?8lX;t8m9rOG^lABphklprU6PcU}_Ii7z8Dn zf73MJu?WZqRdj=d&^0#*iHu;CRRvVB{v8~GoDfSHSYuT|)!QJezm_t@^Oq`!rwr__ zsUV&*u)eB-)Y@QqRRuXv2dk?pNTm%HS5=Vnbg;Ing4EeyX;lR&vw^}Y4q##(5O&v8 zkOOtFuBw96*kE@}1!=^)eGQgWRgfoZVL?@e@MtY^{!#@g zuEBb$3i4!`qM@82rIGO7x(6Jr6pYbr=11{P6OkVXuwp{gK_7+6A8K^ifzfV$(%4%-s2ehR$V ziRDFDKSf!z!}2N0q#agIQ8w+cc#1Y^hqRDJ3@n|Z%-Uh$6lK>A>!v8fcEb5flxI6E zn-WdifdMw4g)(i2MN^b(JFJQj~c+ ztd=6~?G~_DigIsH`hqRCrbg;XIvT!GyzeJh1!|oc&#T|Cn zP&V$cyN0rHhut-lk2~zHp^V&NcMav_4!dh8D|gsk177aL_9E=Aq1@bIcMWCd4!dh8 zKX-Wk66NO(yK5*zci3G+Il9B{8p_fgcGnP3_rK>aQLgT=yN0rLhut-luRA<{i86MF z=Pyyl?gVEfl(jp-83|?XPB?#wvUdj_M&SG<%Hf@G{u1T!PUxIcj#dxkFt9QQ@h};+iA7HJs)oRD9?A`kOMK&CxG2GlhjKjHi( z$_t**T|>FS6P%G$kr43r{3Xf}p3q%GdBPLAYbaNELU#@23s2~-p`78t>3={72?T`h z8p<7>&|O3P;XVF#*MLR*zfG6WT|;@q6V6|vT;d7cHIz?0p}U51iYIi}P+swb?iz55 zkEzv?2A2%D_Jd0nTyo%&uddZn`1*+yBS$D~&|_6m{?fpo@b5#DnckjU2J|hT=Pc%H zgs;v7ocYtWhbcu!>T5#3sGo_gbG$T9T>Ql|cbOi)2+h4|afB?+*Pg2IB<1?>@bLES zGXVii2J?wZ*Nl|~+PxKi%smvFXg9jTCU5*w)J;lPekho{fwRSv{7r`RE0SC_E`wMz zo#I2x^k4WHGMBCVb$;URU_%zGrUsvmD#o<(Yx|MQR!$0LCLi^8Xl8#I>u{)_+nCXV zhh5?b}hWHt%UA-QuZ&MTe0sAL=VjhT|P8R){%aKkAu2G5W{{d6z3ur@vF^&e2qkS z_gaGkcrs6>uvm*d@h;)wk4*dJAombl7YY<2Q~M|)8)nJg#`YPIM1rfJm@aW2%bNL1 z@mVszI!itg!P#3m^d)qiS(j!D($g zK@0!Ek$n{5=I<%qq{_}lwvl_vuun1sai~i3l~Z$D9J(qhXe_Gwh4ET$dY+rpp+Rx6 zHk~WZ=VS!2s)>c9C8x88M{{_1c#=v>p6L{59{qu%un67!$@X;r#1+j3BVL2UR#h+R z>$&TKR@cr>dq_{j-b>nd^yBHWBWq9U&R4JAdi78_#`_Jc{RwZbgIg2rUK{5}WS)Oe zJ(5^z^YOyeOxy7)VNBNV=Qe4*U$prq>t9xWH+{;-U!B}b!hKgO^Hu{-B_{cHRG55h znbz%7TUN5T%RQI4=B2*nHeCwLNRX)cJznKilRc30?8@fX&g0W-UT419`GsAwNT@Jf zqYS(CA1Di)3^(SrzUR@Xq~O>wU2iG0-e_5H+tM@&v$-dtbN6r(6+qL zA$H`QQ`f%Y@%r6Izme|!W~noA_C-_udcGKj! z?d|WIkHZr@YKFaaf~xI@Lr%$FQVb>e`7yY6EVATW+v-=(hs-kVB|hwr@%@@r>q7~$ zNgZKHr9Zbz-x(NvFuzzk*!MiWul>+=?eJ#(kBiTSoMuYX-G=__?-F|yynFZDw{Lxy z%lo$n%a=*h`3GWfoVooquAj4=uj!wfJ zkNES@_E&NS^<_mcG?*|ccoVlh#&znCUB#bW9yyZBaKse;;vEt?{Fop{ry7{xl#t-L zgfWNyp1`yc!JtoICW~UwHQ$OH4LW?1rU|I2Vyophq~u8O?z$LO{DK&U9)C?2LpXA| zyIMjV^NAf_V}Q}dFTK(b#4{UW*zjSx;63Vwn14lI+!2fp{-*(k7ysc1hM7?G1hkp>#Lewf0epn=Pfx-`q zs8uNZut?qlg&!7Cs|4YPMbZ{1{IG~zg~AVuBrQ<*VgJfis9m7&1AgWIXu)`oMG_V$ z{IG~xg~AVuq$^PPVF}p^BK)w3T!q39i^x?d{D3(#@h3rAh+2ih4~wW(DEzR9T7|+7 zi>Os7{IG~xB?vz(lBGc5hehNn6njxl_7Fa(3iL}7_0Z60;)(=2swD1F% z$O|kWfJ9ng0Rbe^0t*QIaEPl2)(=1;EwFw75@~_;1CU4ytRH~?Xc2@Tz(ihP0Rbf5 zE+G5>B+>%H4?rR z1G~k}-Uo#rz(jUX_yJ6$2ZbNNM1D~C0gMm?!Vj1QAq1iD11}&9!D<4GFa*m9FhUTl zC%_0nu%G}V1i{7+FhUTlD8L9ou%rMZ1mS~s;01&sSXE$PgfIll3NS(ttSi6>L9nm@ zBLu<90*nv@D+@3}5G*agM1ln22VOuJg4G2WVF;ENV1yu8Uf`*O5CqE$FhUS4FTe;v zu(|*v1i|V8{Ey(@2k*cO2t%;E023KP;Ri565G*gi2tlyC03!s!@&cPDgdkX5fDwXV zbphTX2+wtboURDkBS03!s!@&b$y1j`FBLJ+Jjzz9LGy1;qr zFG0e&PO!Y-1%x43UVxEX2$mOMgdkX6fDwXVc>zZ5AXr|25rSZK0Y(Ud)diS9aOYen zWQYU_c&rk*VIj8=EHA(aL9o04BLu`h zJT(a?M2~ng8Ns14GhF=4!=L#m1w`b-xvx-C`04b%9;|9NjPn|b%-sAPTEQK`BjPw| zpU2Jp>bBp-OMRF7`o5gKHJ|ebd-^$Sz! z+vG}EyIPd+t6CS>&{f?I2sPW^TbcaY({|k`$N<-2Ju4*hJ3l1v%N@(gN8E{2;hB+^ zd8*d5v_B3_SSCIqGkXv#S~__s{djzSyJSLzSq6QZd0BRGoIZ;TXIXraE4!4D;;zD^ z!=#cjoq`TurPW3i^e+TrbT3fGwZ9ihd6M~@yx*!a{Rzv`_j&Tr2s*JPrV!PJ+|j0e z;pBX$aP0JE^i+GbB7EAG7_J_QP8OF|2sxCen_?d5VtuqxNX%8KYx-oyST6 z=&flDp_?fZ0xXK}?($crIPESm%XcjkaI6vFFiyp#MKM1kZHN{wxSdvhhc3F#`iIWE zxcnyvD#nl>qhn2t1`dkxk;yL4NQ+*cSq|3;jNZ!_(!(s=&CJ3Rk|FrKxKc0QBqe|5 zA(f%vkC(oCqf@0-WgFyVsEYTL>BZDOY2-H8gOydQh)6FU>mi@kqu|@0K&w^Dz!UPr zq4Y#WDQ;xBuiUCmMf*c_WWZp*r8n-xSGFg?TfyqJJl|BgFSLJ@fdBpD5x@L{YWV0^ zg)a_j9%UmVKIY(Hr2V$$i_J4X24?)uD_ZfcCl`6s{a%d0^r>?Xq(AYfC>Cxi zOn2lpjGn2ly_EkOd!j{NdyJ#^vFi7t)FX?JHBSsmG~arh@$Bd%%L@k0ydNn_x4YlH zqs<$sp~bC@&-ON}eP)}x;V*Xd_vrTpd0(gW5DKwxLhE%*McYb69aFtN4>x=d42;CR zyEQj_`B3&|=(FkCY>8ot|NMK%R@Gjd&dkizrk0(nq2g>^U%#jA5JXWFNO4;HsqHvp z%wUew52wHhQ~cv{WNr+EuAIcY3_pcuxn7HiSnnWBY&LS-p$tEtdy_vOSsv~ zC2uDSPjKMUIB*t*qMNrlo^A4V(!aIqoTtI$KF8R}N|$lOef+%^)FktZE>~sZeATM< zkY0>kZQu31{gy4`F9u7G&*LSXe-xZ(zCk|fuEm4n>+{ceHso{RR9R%Q!K{hqX~lPO z4`ny^)nR^AURDg;SpHF{Hp}Ky+sSY-dNkXm%UgU`S|O!QDnHS&362g@@mGB zW%`DQ`?~|EoYSU?xUN{s8on@aT-y>aA7XwLJT`NsQR_;hSG?0!$|apKJ{<;Sy$50Z z>UU!4?igOWLpyj%z1m{?eFl!ib>Ui3dM_C;BL?<}gp>4yR23 zR}%K5(jO7DI~>RTfIrPi?{4$O&pnEnT$2u;INzA>6>?&{6>FlHn&Nfn$^5~|w)27# zt#KLI7^&Ro23-e?2iEcCZQQ%NGg$lh+nBpE9ED%8$%>k1jNkdQroFwe?!tRc%leVM zWa)SNL59NR#!T@Xw)JNB&^G{) z@CTiFk6#d|zrh_doq%gM50QT+c79j-@8KwRnpRgc(HJEaQ98ZWNynKR8YhRv8XKdZ zVX(AAIqhVe4U;5E4t`e~loCF6bS!L7bXTZ6!)o;J*`~i+}wcfn(@jf5&c73+DkuYGz=gV&o)EC0N>EZ9sB7u*2szFQ z8WKRE1gf%2o)(h+AgK{u49W!H<4{LXLsaR!yc)KYDAb)&UPkUXAvl%=p?;@FTg78p z5Q>g=Imfaf6di37k7Yq9I>KZ@{a!H%0N5#Ew*O$8gxUOqO%i7754K2{jX&5RVYdBX zd-UI?AIO4Ggx+j{y&G)54{hC`dI-!`3vAtB+kG$|*lr&T2)@||A!efrhJ;apKz0b( z&ge}Z7!+)u4@Pyo&HqmpgktnA8f1oG8+fuq1c@PJ`JqEFEX*Dsq=jM_6$oU7Vwep+ zND3inD*AiDurS+uAPYhJ#Vn9V)N2O*j8zgIyz2+4Ek5DW{mu?NW@ zBuAlN1;fH@>!Cy+YHtgMg_Z@O7=5`wA_&P1=x>IG1ts_B5E>SgN&gpuED*|D(IGS} zC`&|#(6FGK3>`wlf)XHf2=(KFV)SnjB!JNF9{n;wGsx|9juiwNbX>*gh6fxYb6XaJ6J1WAPd4;34^>2 z)=C(pbxh&@0SL}0WYAPXWeQV);?5g4Hd$btxr&I4pY z1X|`fmIVlE)PVTE-!YH{5on1AQt`mJUrC z&-h38KWxqivLFIB=>u610h{%KEQo+j`#=^%z~+50@grapKad3xu$dpof(V$xb0iBQ zFmpes2Z6o-{Q(81t)UqG0R{CSP>i0?z-enJMt?*>JqQ$|rw&jL0)1pLR}jd82+R_2 zEDItqYXGPRfxZC!D+cu-P>h~#K|Kf*V+IJ;0R(0p0QDeHj2R$U37}R|=wBI-1rg|_ z;J6+Hnnf@p1hU{sn@?ar9m#?xjXsZKXn-fJK96H)fG5p9k7BSOKTsOx9s z;i^3JP=Fqa&_fA&T!0?Rb%(1e&fEVTq&>!DK)1-TQZfadrKJeXDgRP;httPm_IwN{ zz&+)BhQMT>Kr&@vHZ0YMmO3gsoRhZ=f2zYToDw6f~QU zZ%LQ%4QnLR-7{NMTcA-NnY*h-o#vY#-OoM3?c7ICfw=Fe-&P+Tip}q;=9spXU)k?G zBC{0l)`Z+tmQdakeEc+=R^Rx{dhZz=4v$mf#EXQz;j&B*aQ$n}5iNf)r5gAR#rO~K z{Nv7%EI(>9z0fm|X+?nJ9+ss=N%SKkCh62gJ|braB1tixs>L&5l!d4GT_5Ii3Q$n{ zO=$HdBT%Va7qT)J2uan2{nRwbF0v#icZLi>|3dOcUr4ay#+D675iSxMKZ|1-@gw6d zj_S96n8fA&hRTmS!%BsWpSb-L(`za}Ctk|l+?-p_KC|H4M|TnyK3@*FV97f!Gsay9 z5qXgK%=uccjUD>zW_+zhaRhzIzNMwA;kuD^az&o*?_;sQZAsPoS|Dv>o{~z_&Z?fz zth2DbS0J)NlcSP7^Ng>}sSZ9j? zja^$0lc_@bS=#rzbR=(f*3ZQxvd50^%@iU{pWn6pWmNa$z4ORNZ-HhHc{+`auVc{J zmMUMX*?a3I&QikP>Tmvy!TtE#^Olq%bIxJT@cd0v`sdA`%AAPAylywM{~OycRmx1! z_@cdX>(=$rz3Ggn<9)d-@6AFjYF;UoUuDD!BwLz~yLscMOMt9AtMpn+_*Gsnm z;kl7lhDz(daf;nDMSWu}Z)s-Uqc(V-U5;CSabxQ9`kUdu4|PvpCvS0xM83W;w{?D~ z0ju~+ZoC%10jU-H+F_X-JFuw@7$I3Gk1>8XB+_r=WFfx6~zjDN6Yc6fT6142z4e=Srh zd=tNZ6NzOvDevPmB3BYpXV$9lszr$L2EFs%P{+zuDV)RDtA?|pe|UE711@hiPky~G zh^i{H8o4f)Bra8MaIGO;uu5F}yVI40=)>YDvF9DaMRdX{-xEIuknzq zMO{d0>hGn|zZI5o+sWng=cZ)ajP#KHf$}cTh9`nZ1j*^@w6?gvIq72H2<^>&!J+hq zdb#SQ?y7pu=OGi`41Zcbd4J_^{M#mM`Oo$u{i5#-k3~{nQ7_)?8It_)6!Hpftf8WX z_Tk&I>KPf^f25zt$t#%5zWG|ll$bUd&=_32|0Hx=K~do_cStTW%lDACuBpJ?+t1{e zYtdZ;WWAD5h$Ob0Om4~ZA%cSTH-@9>@=LpqKe-=V+i###^zJEpSDy2UOygkV&i>D) zte-57H5+wCc&d|szfEpm=Kq-+>0n>R=t3;T|6z%V<011XG2iAJKCSXthX&ujjCdmg zd;_oe9!l>K^Q{T+O@lu!67&5P;Ok)N@@Dy+kM$HK#;isI4ha4yj-198l?CdE08;GQ z6){q^eI#*qn?MScI`;iA4$)h87O{n=8z(p$nj@>FwVZLU2CfXRtPXzp=BUr*6y@%@ z@qU&+4GDZ0U>L%%Wbugxp#Gmv?OkuJW2a z91*ip?s2Bg;-A0%P;I-Pkxc!Xng2rrFcr7Z>2gfD@>z;yGfvchNa9+$Ont)=0`!{Yek4$Nk$9>Jjal966 zSN7s9b6M&6N8y!H3Zg1s!zfeP7?QW!CT4KR%X4THL<9ZE;v|CYxI^ZsLdLVhjMk9$ zb~GUj3|(yZd(KZ3XyS)hZlB4m%bV!j^tH)dHDZe0J{wa1`K|&BLGNUzZ+NBx3#n_O z&DE+%%^Z zH1`p?Zx*vho?$7Yz2RisDV)2{+vcX6vF;b!3=e#Wj?sbO|R zHbv8BaF8sQ>tfvB{ix67{VjdHK^jn$nJn(7@h?ZI#eaYLpFv&gsiY~EJ5Z4nN`hI9 z62Mt zbjeWpWNHF+9E566W4cvpHAU2(v@Q!unMUoXF&!DonMUo1`pt}oQe{>#J53fA`H+oM_djXYzc^EUX?P1 z-3R~J-L{7lGvV(?)r@pBvyr?T+bTcz8`oF&hl?8{ zHEDxY@RD^3cdxG-(>@j59aY11UsZVUNu-5%@jy61^|0|qUX-5L^v`_mUsE`t)Q3pd znVLrS0nLNB%Js{CPamWNeIlcM?yfi6sD4@`cz=|9d7wsGBwo=%9eFrg%wAloAm2am z=B|7)k+r~fpiu<#*;`MFQyXSWWOhpN_j~BaXc8{e<$J5v$!$D$(x~g0OP zo-OqidtKp(_jb>nt)~PF~U_POw@uK^7-@pvlq>KNVYG(Jgv8Edai(jeqifnj{3D5 zSR|8;{Y#U6-*>*Q?MM_eTeohT9o}H#ak6Z@6{q(1-zlu18`h-s3hP#WtfFdmQ#!U0 z^YFv6)KdFI5&DA(6qNgz*u0|N1qiKn=zt}dg&y|>i zl>EMBT=z;%ko#N!VR%X2m_D+iGIj*3#mAi(5yoY>{!zDQ{_`k;6o>X=ouX&&*$$5Q zrCu!dKiBEc+||<$4v#S@9_-Z(mybs{7%TH=>A3X~?TziY=Ouj#_rRBovS)Fz=Eym1 zXWuSLdd5qZSm`Y>88=TG|C|0-3l_bn+>vB7^_JIJ?p*W4V{}%2SR$EVwbZ`+F;qyW zwCM8}3&c+2s^tUuh7Y(p13$D%9R;1IM}nK3OJZKk{JI-YHzDz0^ss29;h)pp!_Mn+ zNcPf&dtvW*9$z5h8}5`IqzSE-dBa(LKDe&v-_}9aZtM)PwsH9=ZG?s;Kb~n>Lj1ko zNbFHA+(;o$!H*e3NXRQ#{7U&MGr)NE(S6r4sV_axJvIF^HP#)U zAQa24m!PO3q9|w{GJO6y%fFr*D9?VQMFXR z^aQm1wS7xi6V+{Qtz7SN6rlEY=zrz|Euct3#lF5%X}JDD5xN1^jjj^ho@dj4b4KK( zFAB}kN<%;CgAW5_r{MPU5k5^Sxzi?8yN;N8ipk{+^P01B#}(RECRu z-PT>$qfb@{u}haP4jZdz7%;7~{;j=ZS9+#mf{J)n-!1ag8I^YBaSLWG?zq`&n#rN2q^rm~=-IA&cQjb4By~3X0 zFoS%Mu2ogW&|?>TCBA>~^clkshdQjMUoiN5d}&Deq<;Fzx1#tcyI2ovilx^yvBs}I zzS_o7a`$)`^(D?m3Uz)g%u=#cy9P(~hOZ`zTxj4s#wzjqo{grc`f{Ojg6ETNtMcK? zrq7%++D9h2_#u&%o^*qJViNMJ7vF~|+^wysLQY1QZf(Ea#N}1P4tVD8hI4uA;JIsU z$Je3z4m}d1^v`9!ee#tJi?082ZteZ$8x88qt4Y5G%*9tm)g*e;Kx^kIn6IbB7qm^X5}C!qkWUPA78U zuX=mkISYzBiNmq(0Y#62jVPsB7aAQ2-pS(S=~;v;6Ssfz#?oMevtBSx?B~)B7q51^ zYri`NJxqFdZGMtB^wN=0mbmS86kS1`UY&AP3-x*=vo!tTCe&6r-{Hj*yCOa<+Wd?8 zxYP~E5c3O?5O+o<|D0WEQLM?8K;xkfuhhThA>oX{ayp%RVd407YeXnTJ`aQF-UmvpET9?$y@1?&-a;~x1tU(&Uf%@yi z*mb1Wl;OPj6zUzW3S%&0Pl@fYHB8uWuKp6cb5aXwac#zxiyt>*zCBOa7rNH8TJi&@ z=kJ$r*572cc)9qk&a0D;+KqU8Jkr-c1s{-X88zDkEU!J&y}Fv8$#(Bob^`ZpX5wv} zP)d$m zT{x~R+^}DIw^4Tg~bx)w%CgoHsDL;`497#R^LS}+k2vPqyA z?T0{)1Qfy)IuN4A0~AXbLIMbuFoXoqD`5x;AXmZ=5LiRH0mMldKmzzwNBjs(S70bcYni~Og3%*Dy&?=A0m>C& z>wm4uNaK&>JS904j7VcZDN6&Q-qDlqV=VAKdurwD^afHFlGGXnTjFk}Sq zsbIti;8VeX5x}Q{@gjgv1!xif*)+hXg3%&CeIg7N0m>6$tO(#!!B7#PI1xsQ06rBA z6ahIBP>5FcflmdaM1ZcqP>jCkflmd4L;#-(#)tqu6$}vpd@2|r0{B!gKm@2r#PA_Z zfKLUZLja!&ff2gF^tH3dV*2J{1fN0emVL83OoJFfatDL_~8Tj=BOvA^P3| zJ{1NEanuzUGNRBbIq<1qObFmp!H^KZr-Bh7fKLSjLO@do6ru%k;8Q^~i2vp@;8RIp z+#}#qNl0Qa*r5DS0&O3e0G~<%;~oK@N&@B{fnmYiBQPwOdjy7sagTscC4n)IfKMgy zpLcZJ6&Q-qz5?*6Brwhq@Tnv)#u4zTBrv`a@Tnx=wh4RBc0%jY5X1 zaO6`-!fYe33P@sV2#$OzNlXy|IJXSFj=6$hA&|tB5rA{cP>lH%gQY<7ze0kOuE5X} z=o=86TZUrv2lmLPIspuzeX0}00NSUL#8eZ2bIXtcj9JyeiU6YxKvW$NAODJ(fe{84 z1sHMwbOnZDsYnHBHRz!ZJv5+)CiKvP9@=#Z(mH?MLN&if(ya|4#DL&wv*kyAxAeLQ z9d7>j!?tpkIHrDT7sVHYD??Gpll!QthR`fBG|VG@SdRVb@7++Bp*!(6ecjE@JmCAi z?BeR01D$NXu~V~Sqm}oPyn`=TV_s4rRSSQZR*1ixT zp+Ly?$r7h7;Xuuv(<7zgv4j!vH>4Kzg9>@`cOCBI4D<3HWj@i81~*l+#j1A8h&Z)s zqd6JIxhV-#4UE;a9~Y|Cl#OuWk256Gc$8_y$;u`(_;0Fc<7Z)WYs6PRaGKyJdO}#2 z92Lbmr@_g6u98e_PJr=a8nwWau{7>DAnF%z)@A<9Hw)`)qV7wE81|r2e(H7TYH*GTZO{Cg>=JA!k)*d zExfWr=cWB#{+1>sfL=8my|!ux_qI&-{_3&hhi(dERp}cU$xa zsM6O8&pgy}F203LzE~wLPvWywmRE0woq3wZwXoVhC4eo(+4>HRC4F*XOaM{JSysP~ zds=dB0m>t{49y98UDg*-YRY`biQFxiVXaZWytDaT|BU!d$o>v;a?L45ga`b6*sEs$^PLD!>7%uG zskJC?+UgYU>yw4Z@}Wb)+sxV0I{7O$hZUb@z9IRFIA@t3q}E;)3E7+bThR{Ubo zp!(OG-}u9okkp?qbA1&b6eHi4c?oxYTz;y^{~=`Ww)nY>tA6Lk6}`#F``%xd6CR$o z(o*Tk{j=mbVLDcO?bWDq%*E!WLt45$3*U$jT=s^-GW@82;i|OGJ`P4Bkz0u#a&n28 z3rf1q1X;2Em#;;Jie`!2B`ytlHdNfm*jXUs^Hi;uK%qqG4avfOZ)idy(t>bnTz;VX zjVrZlsBLCwoPh5~{NmJ=uD(xQ(aXZPtyIPTGRJ~`dCKhV%jB`C2RyO({OejaayZJO zN#yXUL-8-?^3At8L9w&(#Y0;?pPQOIR10dKKmS7@?``+%+T4Zq03vDT*FPBs7d~IV zuYko8`*pucPQfGj;O0!`X(Bmf*{O;(o2ULFvmUX&lGB-)3A!B$7c5(n*7F_@wjFv% zUL7V3mEJLs6y8%zldGcXuX^I4SNA3?Q|elP-4A>bfrru$yW-TIE`K{sKYVzzdH(UOSnDQ-6<@p` z?vo}48QG)1bFL>|+cMtpxX$K9f;Ew;w;E{g|F_}s->`$1MXW!g9#+Z^&8~#(?IeGu z|Hu~kT*g?~Ia!gCJ2mJ^*MnUvWLo`IT~v^xU0w8`=^{?@&+*8Yz55Pcfxer~a?Ni2 z11{%GzG2@%N$v996%!s~nAS)iiDYyR=$<_%=Ob`uB-ZZFI>Re7;Z5(>zcG)`RU@Lc zrq?sC#P#&-G6|5};30}EzBo_mVH&|Gl>ENz!3g7fEQ3-#{M|*+DdPu-B>+m=<` zVwQ>DTttQLKM}Rgxts6x#)WfP_(kls_Vc-4Qj%~Q79PA6z8-jV5m%l|I8vHIn`b!+gSwBi^0Y!bhc5Ql`1_Rn)F z2_kDgo9Fo$W{!GcMO99_Y@fZ_l88i}bN!_*E~ve-%=;nI&y=>QiYQlCi#KhI(w~aD zY9-grZLp)K>B_uXmi?{FQ)}V3`UKjoiT>$);S7kU_^nCbS*3h0?03!s2iL<3xA-%x z%((t&X*G!bt`8Eu*^2yq>5hFXn~mYi$|;($>Z>wip)_Zv^sQ>Xye($D^sTiU8|hH5)AY|33uES=^Uwdum%KG}`27Bs^lD(O zQCR4+?Cb5mG1Z@c6LCEB2%|MD+&8+8dQqHfsaVafnfD%tZ`;I3FsED~SCl-r;-Y%x zExH$XIu!17%!YkliXD#a6G!Zk1XVN3p*BQyX|NF(N0AJr^;19qX|A2XB1YP{E3h42 z^U|{FPWvfkibbqG0>4KgWT9HO*<-e%-SwZaT2-80sm~x5^YW$sjnDqGT$aMNLt=tk+>{@gC~iR^EGZ$ zXP?f8e5uSkuNh{@D5@{xh{=bSiZ^$5GR}I{rn1O~h5N*ZFn`GtR4%v30RwC3dngjCCIU7c0>v@s1|4TC=TS((&P?wMtq(YPP9m ziU}XG2)7GZrecJS@?4eFgc=v{uFGIm3h?@b-|FTJ%5~v>UF-XXv)@~y6pu+H)&q?xa80I@?6rpHNoD7d#WD7Alz2K3`j$o6lg8&$Qy$ zki8;B9`DbUKTkPRheAyqd}vkj_B;HyyRopcu)FX*@Nma$oPMfw`1`M4+T1aIJIdS_ zYXeY=DOXZ-{j?P~E_=-{=!*1aAKe(J8`Qc=brY1jxmc)b z8r>5wag|p0#7jI!ud7@<4S9(u4syr{Jhl=gp?1x{t-DIEOOA!QDyB<=if7QJIPR42 znn72Y0rg5+_X0{?OqUx)C!>4hB9f!zWOUB~7ZGZ(i&TJKhFnCb*Mb7{-ABdMe-)sY zDWa(%7xAMSG!m$|ni(al4t+P|B9f!5)phynl4#Uw@KM3~(C{D^k>%Jz)K`bz`)EKA z+3FW$bxKN{*oTrwh1S46WQCkVNt9g?kr7JJKvx4QKY~OmX@L`5&xtT~LhCsZrcPiz zC&H8@%Ko#wIueHH0oz4P`ULih|7B00ogNgSx317u8;0ir+gMEI1myuRI1iKsz}P%s zhYin~pz>)Lng^sPFfnF>;#790m%u3=J_u}1-Z!y znFn1y4MXz)Sqg^c0kRYf%>!g97@7y9B``D($Vy;n9*~q^&^#s}CxMZ9j>@NDXdWO- z!O%QM2?-`c0%DHxdt$Wkyc50Ir`Tpl1x!KgeymO6s+V7e+mFlFAWOk`JV2I$(RhF?1%vS%l~2Q9JV2I$v3P(i1w-)wSqett0kRYf!~5VQ zQZNb+kfmS{9w18r2G4)G9FV183?3j$!4Nz^mVyy@fGhVYf;gYE!X3dY<4 zvJ`~eLF;lrmVzO7fGhhEsMxR|Pm_2ei|JoZ$<8?0`uh zj@bdTJ{+?Hru`$#&M~DNoO6a^jD`XxemG?Z%=~c54w(Akl%1pUX*gyFO#X1p4w(J_ z!|VVJ1x)`^Fr5s{|57lW3@iXrFr5sn08%iW3@ias7@h36d|C=4lpV=ZQgEFNTtdt$ za3o7f!E`dP4oG3vfur(iDa=A}BuhbE_|a=0SPG=jOTkH31u3*p29-;L5yEsbuo_6i zbTY6UNW*n9Xn@i%oeV4p(lDJ2tO(LDoeV4q(*NmX|8-T6{!b_aG8HsJY0RQ<)Kx(m zrjvnXK^k-B2EeMIl77rh2o?ruxK0KJ2-C^H(jX1pSipZncU6!+5z4^t7_1J`(4F<) z3435#NMlw90IPyx^r{6R6G4o*3Bdv(jX8Y-U{%l=1Iz%y5&^*%z|Y5YRgi}6tpDB+ ztP;}DorR9UC4}xQbPNUv-C5`u3=q1r&@mVw<`fQeRu06N0fMDM8roina_Ap_j=^Ff zjX8+}&dotFMyv(Pg*3EW{PzZ6xsb-VDd6-R6iY;!Sn1Z8Sm`D1pQwfuP`{=Bz*HPi zE6M+-Dt@8G767KE*{BTlI#eUf?<$aR&Bw~$mHK;-{Y{M7TzS)++DM!kiB#}3^54cJM~HA3eCF3dq>1)Bi%Pt5#68g1 zsqDC_ky(*IDdOqCO<2qrjqC{0Nb!lLSih+nW!w?6YUPgG8%5b(L9Rj;CqsFb%SP>u z7EQ84pq=^S^P^0`Wjt?)m$J^1FgYfDu~tpdi%72KE*av>%Zm}zH|Kow)*@HLuQo=o z9@pGO-pYMG1^c{a6}F70N{S^b!bu|5H%4&N|FPib0Ie+ZcjDm@OMOT`r;W?xy8f{j z=vw0|;;;#N?Ty@ei^U!~Y|K?8r-k_3{4so&YyCoy&uguNARq4K^*OBsF`vR-OB(a5 zIAl3?vK>jG0@QnWXUj(8+%2=kaAL(7-N<}aMfuD_x=z-0iprr?lyZC$2rktF&~bS$(}^3-Ou*sQ9tH~|J*cOK?WoTkO!;$81ajl zEWUUd^<0;k{@$~)I$^IX2}P-L-+ru^DbqdP{xZA2p|oe)xp76iM*h34UgE|5oUQaP z*$FY)*5l+>H++!R{^U0=>X)1!{B$?+nQ(V;YHM-$%@#UoXR~4U*9P7a&BB4zKPGRP z4!r4$pV$i&op|!XrMl4p8JB&p@QcjT+eW8Xmddh+GM?+jlv~vyi4uQ2`5o57K7qwz zR`!zI3y<<%{0<|lJo4$lTk+8PQv|KsOS?srQAFZTh$fOptj<_bV-o`u`;L z>COuWel~waM!)s*^w*g3K_$lwN%ya>3rq{hBO6?qa)LdA4^t9jQN&EmQ?oh$)PAy- z&5=pbOw;%fE0dM4{}FC2F{I8F&&i@$8uW^%z0+eOS-3ubk0W+DjLCIoOs-WRvbk^2 zTDg)u>G4meTf(Kpvh{+RzmP)wZuN=%jp0KTJd)x3S?c<(>qY&_nNlyB>wg(nJtOOB zHRw>jG{1a@k$vhZiLW{BQg%<{$7v*IrOyUggmC)7Xf?|i#t;Oh>ue?0chYMh#~ zO_?*r$PI>s6{EKP86oAGimPtO54+YaRg8w3cHRw2{^0hu zXHsu%Tj@?)7?+z@>gdlW!ARbv#u-%q?<#I;K4hrh`ApJcu4nCUQa;HldyjdiQi%{} zh7LHiWo#$-ag&6aG4MAnRJMNPh&p(Ac8W7*J(lltkr7Loeg~aV;fDgZb6Y${^1_=B zaW*X_ZAn#HDPHfi)CEkw`rCR)Vt-!aGAjPcKfIRp&Yl>XsYwfFV zS#r?WUlK;+TdB|DS6|Bdn@s-ca)Au!#y6iphh#ia;9BNRO<7P3dihu%P`+=2fS{|I%J!S zSy`J*vsKuLjHjucghn2A!AtLUhSa!lu@q8#_Q<&J^$Z5x_viaH>%9?Dak9O02=U%r zG1+HQac>(u87Q4R8H}8K+T9Rj3?3=IJl^b#5#_4gVaZMLU6H6*Ql>tmfSvN#gw-!2 z;l6)vOn(j!NgAPibD5BKTJh`y2yHY$nTs~a) zZDYPU{>GPY{>?3)gl@c<@vEB_I<$>la2@}vd+FMKtvC2*c=GVaVN=ej6%s5tl-MPG z8q^~j{iBL_@;YK`{X{I(n617dO5`f_9_oy}zH*%nHw6V2kUuL1q;H;z35TPNa%-|2kY~olxX}4U8I%#e9Y4}aH+8y} zvgK!au0K(6epnQN@~AL7&16;TQ{%uI={E$zk>@+l`N?p~UivAw_j8Zw^iT@d54Qsu zN?fKd-56?L{8m4*j(muX9(=$$WC|kCaxNs1Y5vc?>tv3+eWY^IlWW z$1i>KvGBSvEmt;vj_3`Us(y=z4)TXr$$9k~il*Of%EmQZ=YI{wciWHruy`bK-OC!q zy8Em2C28aX(nd!ymh-I!@3(H4v?LZzqL^o!SAN#9CnR8rY$(PQydVB>*c20yJfVKa zJB8^_k?-Tx+$sEvrw>*d1=fZM`$%pYzP+cuL{e7H=_B+pVRve@d*|{)&e<_;q@JZN zf0c|&83z{yL%)y~k<fMaZ@+&9$_K@%Aqs3YQC6+g#zQe6t30zIwI^3O^ zn%@w!KBaEV7hnBk-%`3G*J3=-$FpB^Fwyv z)k6ej^muzjphSiEr%Q#=SZWDHww8T_8F33v7oAkxfBzblqB^s1y>Lc&tu2b%99hj8 z$C=(IN9UFq&DMu^yF|;Gc=fg8&b{Jj9+u~ZBP`V&vVCO_z1krQWy^l;tJdPTd#=`V`J8Uco|}Htax}WJ<#4 zi-g^m_-X%nwdb0ydRjXAN{;-vMX%$+iCrc2X3l2vi5DN2!-~XM`~XAt_$a3$Qas>6 zyIhs&RnCZc?Fnt}D#7$ee+1^`kT_il~4V^{lK~ z1`;At;kEUecTSN7FNW$hlC^T5xIQWjn^o(}{I2)?oH1wR)gRAL66CH}jP5o{&x6!s zyDVvT*h*p_7duYdbU0rT(2nR|tCm1|uRQ*cA0ABXtHYfk1;7??3BG5V%o;^fi8M=D&`0zYSB=~(+&jHD%_tyXEWx8@>p%YN zVXAkkKH`cHJ$>AEw1x)XDNm}vy=CXt8lnmFGL6-8^KUXS+5HMh0Zzhsw;n$FI+<@P z_(i{?Q?EA7X_&;xsj1I9j4u>ltvJ5WB&z;ul5c+2$N38{B6X@?-bX#gO%_eCRzvz# zH;gABUc4Nu9RDZq;EK^7ZL7YT8*1she@$**>3ZtrVLI_*P2)qww~qw^!xgXF)CFie zraw>frzcsB9Hng( zd!NPK(&*GC@*wer&3pUSg-gN1Tn`RgN|3eJpR8;Cz^_O+P1(A+MS|U9MLA^pH&DOT zukf1p>+>R7`POCz#GamM1XGv)Wj{6gWIj`WkumhJt#qdBiqLHfulrdz#`k{eR7^Kn zs`QuB-5Zemxrr?q^q$Blwt@v(DiD zA-glUqk|RMiMLMxf2NNQlN`alt+|0}MVxqpm@ci#?zAW`bvUouM@ zTsthn2WO1#Di0?2I>@Q8(j*S@Rv3=BRx+et!B_2ZviV~odMz6prv$nag@QwuGb5sq z1cXC-ES5GcVts-=D#Gqb7s_ef`z)|Oc~{cvx9l!;Oj7f5rWQBN?~e&hmo8LzG)8+o zTK~1CWnU#p-c0ag)^x9Srcq`n%bUGZGC8ID5Me|AZ-ja3*4LKtMwvaqzRC@U9LLj- z>k`A(hm%)ajIv$NA^eE4+dmg->$H3wNA~9yGLz6-a*jTfAuhK_C!Q*r3EZ>S3|1~O z{HH>w8<9y|JRrIdT;%myJ>Eg8GS%~pInUo4E#4(~&Gf3jlJm{_4u8t1DgNFM~;oTR5aO24-0-N2LV{oq3lrwz}DPt|oKJSY( z6lS>|YP6U7EWeXp=bixr0ex_(7<0RCMMARgI@Sd>0>oRg`==CHZ_ETc%Iy5TxGzD} zaS&C#i^cRU_Ezf+->iR9J$~Fv30K!W=F~bHz7wUoe|l*nmwOB0lJqF>N5Ws6*YccP zZaTFtb&O7@#$V5$$3B;J%9*oo0+nSOVT_D$oWE1terxX94K1UBKIDd*^t2eV{tS6w zRZZtw&go8PN}^2H+}V)Uw*35D)|ZAc+~y`&a$SL#vx}8)PMT6@*mvo`by*dal<}8SN}&+VA}rouNQc42}HKc zA)T&_T63%0rcwNp_-!B1t*g9P#PaG{ZXtfc{!?+LbNtLDrMFkAM6ORS9!zkj7J3f_ zX_=W41PZJ+DQtG8XLJtx1*y82bVemridKJWouFMqc%By_OyX;rGRs74ayIvrJiYc4 zRiiU}fpJSGo&I1)>s^ETq)@0C&G!QibxWk&MYg|;DIXG7oDdM=a3bUuaZvdK>t_cP zT;h9{W<$SyvegxbuJn54iVMdhzNws2!L>N|yLgvp<*MWTAA#bgkz80`Nc)=Y-BF*) zxpPDl62x!Tp2{Fxc-9kbE1vWmNgYwlu)_c2ydn+f_Z_aa@db8nzslr~!ngZ;{^FSg zBgYGt)rhtm^WJ{gubAVb^b;F%eU@;z$L!^B`mSohfndF$lFy%&x9=1pUooWinpi)& zFHCpt9d&L**0_92`$ovxwOhHWnzL+;`D?8ar--pt43KVPi$zOY_X)p>rMR*@J1E*2 zQ!@b~!IIz&1D^Bt zPmRW%m0Q-TvSbInK1fafxi7d%`+WP4=PU8iTDHya^`g(*RvtS`#{|ZZ$L{-9b=mwI z75QeZWkY*i$TG6j@EjG7E|LX4ISR6>lB3^YQFjtmq+jEW58 zL5zkB#6h%zYyzY~n0yQ=gV6h9$}Aye5Jr~*`aX;<1>}7gT?(lCFt`*D_hE1;pzXup zQb5{=!KHw*e*%|6o4PQ%6wviybSWU~!{|~#)dzH`6MYki`Y^Z@(DY$&DIn>?;8H-* zhry+eOkEgV3YfYux)d;VVRR{A>cZ$!K+K21rGTjmgG&KZ7Y3ICN|J zh0&#ej1Qwr0Tmxcmjb3PM3?&S0ssvk2A2X7J`64e6nq$53YfYuxYUuU3!_T`Qx`^; z0_r`CE(OGU3|-0uX!kI<6fkvRa4DeN!{AcD)P=#NfNXyRmx7tPFt`*@?O|*wAlk#w zQb4nZfu(?C593M!#U6&00;VpEDh1?v7*y)W)P+H%fT;^(N&!=rfT;_kM*&k829E-!E{q)o zOkD^a^}kGA3_9xQtN{!h1x#HSHwu`#Fl-bsbz#&fVCur4QNYxNF{6N~3n8OUK0e2$ zt_-HS9+gF$|AQU0Il8 z2o?cZm}3Z50a=)12$lg^m}3am0a=)12o?g_W5@9LC;+&EFvAcm1+r+vkpGC020ejs z41uXD3v&#?Y5);=BFhT(p@#wVxClKA>&gm^zFotTK$rZJVMF@iQP1!Hujao=OaFpc zkUQlwvVH6iOgRCHrSr49>9QGi#L?;ne9yFS2Zn|Qhs3MTpRbndqnTi%^+k0;QB#4{EX{Znh3`j%NEm0Lx+k@(=~~BJoFm(~ zXmXHc=hd-$-BvyFW%krt75B#mI++rD)SmhY3#ky&_04n049oZkUa?~#EG3DNRSoZE8`<`1v`OWBzO5J z%`7z)b*)`3#iXS~tn@{!nv%9wX^K;_7Spj#8{94Yt{m6q4U8akX1%9LE z-vdP02Zk??-wFDY_Rjqw+m+#uo2x#XC3H1IQ=9pZUk<*Um|%Oqvg9J7bXCLIL?0>q zy1Q|vou}lnLC+Gc1c~-|rO|<(l;<<|%hEIYyj@c^pAJt&|Gg{IwVo!7uT!!6@9k;I zx?49C52-YMI|}JFB4dU8%?<<~+5N={>2_eh8B_j}Md{o3OAPz5 z^#>9?*y_`&_G7Q^IvEZ>@A#9SH}<=z{@l;=yApNPCdm8ULY~_~i`HpV^d`F3xLTC~jY$?y$bTp*ubO=Zm?)Osmw{t1A(s zY+0jq3ocLts-7O98Rg|As&w5mziQU_vyj)xX&yIZ6Dz38rM2Tl((4+_Dg<*f3N$euX+n_afC)=dkHva z%P(F{-tFr4y#24_)gx(VmknDlVun{K-`PC$MAM(Rbl!`Td+LN>_c8nPNOs|as5(-~ z1o^hmIU(4%+>S)rEq$rzQ^%v8MQi%P?b=@K4OK+#ch(dwdrA_`2f$GfM$QMg-D?OP@ zr^L74)i79LUAZl*5;S$z_L6v14UITeU#j~#5k>*5-{qBrrRM_tvOIoYZP`xcvvCA&)i14jyA{8>69;-zK& z?{1Q`Hwt!r8mYW#D^>kW<4eWH()irq&c@u_7vy5YsgBzUnI`lul6|G;w`x6)bt zb9!kLTfx5X15r~?+sw=^%B^q@4#|c@P?qA2F_{-eJ{R3&6UhE_E?X^I?ceOM?M1Oa zKRNLaPc5qsoIPr%{es>2Lfr_HaTFG|xER_+CB>13Dx#szV&{;S*19ap6t`w=M-p{7 z&WkH3uycfusNEvOlKjm<^>-qQqIqFD>Gw|)Yt(P{aDn;{CLi9LjfpQHiXJ}3)fNgc z>MX`DQ5@$JqtK!fr+i=;?WCPdsFAMKepib&UW&twPZKvFV%w*u1dri*lEq zqq@6?qH91I*Hu=^wbxqyc&yP~jCexP&A}1b+yNSWQN)ZqM(zbPYU!kIZUOPw@hp9J zG=_%m>^+(+BtES>^z^N$e?0N&Z_pq3qDkFyS=p2e@DaI2$d?xiR0_-;-nzA05WJyg zZnhg8agWL!;SzJ()+1$_YN^koh@Pj6V<5e^%=Fxz`fW)a|KpWChx}a4n}uqEXBRe_H7EdT(Z=w3I&^D^vQ`m$#xhn!8V=p?^7*zRoq`6mv_1e&Q3#yBhJY z*PlYY-`}r{s3NxpFP3@VQ2%(1MtW%ZdM1UM;%iPWV3;DM+#QdQGFJ{hbqQY8{u zRj$vXuQl)uRP*Us@bs5SqdYbPchb}(8#Kc2|Iz-!@GKCKoBV*(ZE>`A+-G33qE0$) zMdX`ycVg?xLiJv7_Wh0Z3mqXf&+F`wNNp?QPcAyIb$JeuO8j&VBEEfAexD46Hj6#L zE7PUdg1!sOdMm7qt-7;ylYbaa)tqDbJ>1x1`(gGPyR_JyV881va*DElZZ$vLSiBbe zn0*;#FTWooUX9&y;~7eKKrtjJySOK{_@{tx*4Wp7^Fg1QdWYI)R$V@_c8g>*x^Jyt z7ddZBJ{;I=|1S8zF<8x+=tn|PLea|9U}vz6m(Q^21CHX(o7cnQHdKVgnrMW0?q{sG z&ZhiJ7%Z$EkeR>#!?E+pFG=znKHrTHha1%g|7_Rx-edQ$2^87}d0oC7vNK#NAiYme zt`ebt^f9nxF(yMbcgYiC%ZdZ^q5v>~Nl+E5s%t1KX=6InKMrGZY>8w47X|shr|VSD z7}wCEy5x-&QIgWeJjeDeIIMsJ0SoK$g7sDLuw@~h%^yr>ohsJ)rA^zmT> zZv|shND}G-1|{(SsV2~t63X9CBCtb+()W`H>`$TW{Uie0XDE3;iNMwr z%H2;QurY=8Ed~*K8w+;LC+E%;p}&C39hs|W3_VPshbiL>7xe8gFMO9fcQP<@N zSq$Sto8hBYAa;#bxG23v3lh|jgoO}v3I0l0$g&>Q+yVIw{4X8na3^9M)G*{&jDs=t zz%Cw>xq&N$$=kpc!X$0r$6-=7aD^}l8@NK4bPZ${m}CuHA$Y3Bfxv-SdUfH!JXom0UJGT^1xc#|`lGzd+u%Gmy_OEkfW@oEcog;ST0fEqaG|+K=jZm zD<&L(MLyz(>P%UX0jj_eKs0R1f{qa7u!%*D1GVQp`jwz61O;(X>(C)B)bxS{^D##B zzbh{TmCW2*w2);vx*v`&I`oZ4Wst`g9sC&Rrc^~je}LVVPz1Xzp$K+cLXCi7w^h#nS{OhO@g zSWqqrh3H{HnIzN^89glMnnNLaSWx;4g~!7>`drpMUbY~3kCJP)RIHnAw7iUk3T&}d zJi6Z)AZ1OIki&@`0&f&e}ku9S~FdhrD=o^{}uUBY)xBKDWFF zJna|Oxh?I#o?#?EbD=`#X0g^=ir#J}!f0H9raEpJ!WO*tSc*xRsKVc7G<{XRRQxI3 z+IfYXNZR{mqm>4#F=gT^{DX2N(JQ`W##IcnczHE0)-?TLFaxBD-VTh=_FWSu)w}nhD9Vw)4&wv&l%e4Tsm|Gjs8E2~%P zRCQOMuBY(ZXP><{3FN#{bgzeODtPq(0jyL0U<-Abs(Yfch{!Jz3!}?ma`IIg@pyC& zoMb*}2vC*fS#MP7D{_i0)!5I5apb=d@z!x2l}n`1#)2_;BWR+;9Eqpgwc{|Pr(+XI zhGNCY$WF(rp$C``bRy@|%nTM2$JNm4O$Lg zq;>FZY?43|SCb96I?KV(#&D?$$qAz0e{KtWr|am#-@y>zNQ4VL|2-xWyclL!@kMd# zx8{Q9TU!!QW{ganokm_uk{#AeJb7HF_0GorOl@b3?|HV|M3VKMPV0|AOY_F-7Muug zH^t~9BcJu**4n)EkS?#M-$2_AB-kJ1nAo^ zdq;u$yNkNraXh?OjP4praTCZc3u6uF#>@`7!zx$KI>&$~r^ziS>npT0B#k&4H#?I* zcr0|-gPBf;PBjJ2)8)Oy_f&I+^Ndu~sSZaz_S&3IEnqF$rv>ZaesC1cN2 z_OGz;X=f?$A^kVnjj=`~OhHBY=X$QXWm7zB%BEBcdoC;GAYedXsF{m-w_l~HxI&uW+&lF{WK3Ol;beH6&{EQxz>*L2 zkM>c+Or4b}BoK{+MGS@F;Iyda?2HpRRq& zG?6GG%~ou1OQl7A=lg`CigjMaE&!^dIi#+YExo;gvdpm~91X&h55N1$#CT{w&qtiPtj8zCb2mnGXn%~wGOh}r*Ci>w52XtB zIMALa`0E!;*BS0757BS2TXFJbV&~ZX#8N&--$P(z%<;tvUUVa@*uHjh75+dIrU|p% z%;csbwHvWu&$yA9Uy`_QAwYmXyTJf(rYNQ{#b9w4+147!{tB_$IWWEmH$p-e351d3 zX86vAy)WHleRRj;r(VaD9NxTFWh2$%kJhH@Ppt3J4op``!43?@(^Y!^`?FO#Wt2vxg}0L&dLEW=b8Dr= z;n)3@N(+!)T}d;>SngV$nmw@gbk3>@kM*waggka@JPPvx3hp z<~f4Z7(8Nf=Thzn^GNI-_ zH2iZw6B8xHV_j1)BoQnB|e&z z$!K)w#+DkbYv_+vxviR*Kqoa27U@24?t9A4fhIjLC0h792PpmPQQ-!* z{-tuDTYy#Yza>mRIO$(7{|n##CG)@V?O!zi3*Wfe8_oV`a(qbvW7iUBG|18d@-`ob zme2?Pynrz?{cT>c0v8;1u&EkywSY0_l)_q=DcPJ_C@C_+T2zfXKef(bQoc(9KNMc7 zMUt{9sRc|;J*$D30xqQmj5#OJMukeDQPdLt;A?y^W|qJ4+N(wjDMbi}9;nua<_k0! zGjmF1ixws*aE>sr5Le1s3vgF|g^UA{8YAUgQHvgw1t^sk7vbN&g?}{p2yz2jWB+IZ z^oD#GG9m!hkJ=#rSZP32J}QI!(*mjj4DR_~3#bb7zxWMQ7b4gXlk{≺|-$~B?CkQZ%>K{S=4c+`W0RIN)fBb%+bNHWw_wn=p z4bcDC-@hT7AA$fK!~eYVLy&(1^gjdvx`qEE$bVCseF*ZOjAkE#{3oH=M}Pj4&+MZ^ z{|VFl=n*G(<3pR)jZBI%oVMV{Wdal=8eaQvLBN6K%u=dav@n2)4L%MX@G3z91!Lk! z$;L&YLgD6O{y$q4cpCl{RYn8QSg{3`rTr+j!iko<*`a2DBI3x@%m;$He^nK(-k&8W z@x^+Cux|I9yXX@rM{mYhAg2`?&0Si0Rte9X8vlU2jJh`Wr@E^bmSJsCL(uPCH0Lb- z8tc4%-_&4q(LV_hUx4VMiw7Oj`GKHVgwc}A#DW|$nI*A_QkK``^_Tz>r~FH+r#0m^ zhCsQ26RW7PGN=RjHU%Jw4XjbAlU<~7?ZQ8Udo0&LeW^3;MNzR1B~b>xiWgDHFxGLI z1DGU&4`L$_-)cmMp^CM3KBFG(hzLhhqj;D?hJnK>k;4sBvas-=<%0EBP0y_ zF(VGR1P2j28KWsteg!!26NDhht$ZB8`pzmE6GkL8=^0ZDN%iOrJnp-o8Th+=?4 z+e=gI$tEEqB_85=IC*jU<@uZe3K)K9B{U}w;2kSsFg70CILA3&rf=#_IAuK)k9soL z3{e6bU!nkGz+Sxyf|-lH;Rdv*@2Li9=c{qGk^Ur|7!HnxrC%8AA{23*BM3^q@zJ)rP9JM7NVrcYAz<;hoUnjsL;P zotxFu!43ep5`WFTs}l86XA;6gL=n&4zU$kxuE;FqVT78=YvJa#L&Z;7d#oaC)KzoA ziNN-5IwEKcj4)gLl&v=lm-5=s@gj6lk~WcXxinw~n9ZV_TBt@&k4O)JJp6WxWfbl8 z+EPG*)pLD-X?A+IdnbH`KB&h*cfw@rg%u>r6c=&2!iiVd0hM1`{v-I_GE?3vXmMJ8z_RNm)gtA$SyIT{TNYJ71cdM0Uun?5T56 z;Fd=@0BJq*7xJz3x@`Zjz@@^C{=3V4KHz45O~qxJ_fRf4n=$Tq%bJPbF4$>hMSN6? z|J$XI-Q>Jw(LDyJm`-F4CIM|sy+{6So?c;%u1W0kOY!Fvwt%TOL;dUVO3K|mcP`vq zkP;_85hyvYdN&BWg!>&RPRowZ6<%&i6H_2_0RKwvhQc-#`|}$lX?nM-&oxq3HG^(r zUz?BLnBfTnI8A@M{h82edzmJ@(>Wo&t1Z1j&%9k0pkL~yi15|nwB!<7mqUv2s)U+3 z|8yrBu`NJUz}w2@Sh3Gl7(D=x!`NvnpGf!MZS5{*N%t;s5Nk_|I>N==19rFWQKL$i+Pud^p|@Uio*La_s1`4MJU!uCMnruWABHO* zwqHSPjP3d?9z&b3Gq>fuQt9U?d>bFZ#nn z1E(tT0`C&T((1QCsh^ePYf3)%+Qd1cbq>p)1v-W^*vWGju%}a`$VAl2qD*FYfu7v}M;UAJD`FJpd;s^r0e1z=L&b$@4oAaDrtt5o%`ZY{ zb|qc801_PI2RtS5lwe@H@yI|s^HYj@rZ!e%rjPb2Vaoad zaBWnkwh~=R;~(JS^?-H{NlG}R4i+jf;qw2U(k#TlY$Cvcc1Rrz2wdqv2hex3gnj#__D9WE7s1B=>Pr+(UAtYldrZeuy8UZ3={uFj06#7yQ{ zVc@yredF2Zz3L-uD1G(ZWL2?mwU~BJO7-^FVk6&Ol<>K*)<=;x!Tz zA*7_g(7ueIMkzsj6Y`0(_Y*+L36vmdqk){A$^ym7uZ71l*f)^$W0HjcQC5t_e*T06 z;zi6Pg@XY(8S+&Rh43Mq=@)Mo2BIiw73jMZN!dw2pC|1XsfWi$&|JcGA+~;imbe(g zW=L-fh%CxFOe7;1(gQnF7s!$S11oNIfj>zX9ALYwc5j2lro$7=MsldU;>Y2;ltuqCgd2`~U;j!A7xJnszyy z)2|DmXr0rWc3S9=8j@b_#EP1B!v?Pw#LO@_Z_D81Z`SjOL3g5%ub7#!)J-#$B%1Si#_9liC;w-@6gQ%Zaviq;^@d>ee& zGmd=&!I$Q{69O4B$OdGeZEitI=Bq91W>*;%E=*~BExhqV5Gz+ zLHOmH2!VLKkUV5-Mdl0wI`yR9s8sRyzC-zuzdJ{C76M#Op0Po?0YfBU59Tc3Y=reN zeir~CTRIv#*dBoYTW9VY@9ul>g@M+a0rC5JFtNbdS?5@H=jnS0?vcMU^24zobU8AX z0*DV=7SykI*LtxRl5zpC=$p$2yHXCUa4ImIy-4UQp`yYKJSi}Mgp!W4k4q8;B-Rp-KkjKt=jn+X9n zB__5P?DKq+JrG3%C_JGs1AhJZJ~B`RMXv65&KgiOAq>0-WYA4>Bq*+2=ETnVGGgRd zzc=OAWFci`kgzVm#?z+TgwZpq z4vs?EmJ}aL3JQU{#b|<+N^aB6c+2#6dtq$ov~zIb6WvyX**1Cj_4Y@+I_-%y6k;d( zal|F(eOKA6R}a|-p3jHh1KpAvf;Qt!3-MCEau;TIg|eOjhT+3A><@fZK$lxZT-u#1 zd;<_LQ9OPOx(1G8PtXz`F*{Ieo_I6;Zs0*mD<2}Pfx+~>kb-;1vBOU=jU6d1UGj0X~F= zen9H#xwQ{EJ71qSi$V)u+mZb3*Pn6^BpZ4uMVQd{BKrPvJG!-{M)TW3Bc#3buXzG3 zR=!NqB?;=E6_aZK!tXnQC*xA$PS_+X*+E=q>QLz90ICD99P?q=NV@ zSzhPNE1&R4x01qo7D5{$k^5KH;~B54e2tbq>(Q1=HEr-wdQ4O36nqIA@ydvr&JE`7 z7&)%?0`LV%>rgaqY{C7icz^Qm$e3 zwXGZ_w}$j8Dk1!42^1v!C(nU~@6TMlOQx;Cr~r8yN3#cYYq6Hp9 zB{z@Cur8RG#5%0kMR=;**ZeXw#r9UCQf>D?)`^kIvIfyMFH`C{v5QsCZ-O>YB6vB! zV4(Z?s=mazk}`g`s0GUt#}UsiLZ^zeieXp0-iz19EB(?wYPdkEYN|u58!KS%EO>D| zl?GTRwC)(3NJ07TstS$P*}0q*JGrNw`1s7ljX>R;*SSYE1HspY|Z3gI1nIns%oT z%rP({0|`w{!*qY@eis){xjXdS$A5$cyPI0oOb_?-cx#}&MZ{gS{WE#lNSvs~5KNpJ znygg_Z2PTzJojy6zCFew^_y5muaR|u?YFmHopIuJ2fZyU4ul3p`N6JKpNiNEX~P_HILoZd3)M zf_%o-$sl%0EiaLGoL4hm7)`kEInRU6$ufh3;}N)ZU^U*2wB_ zh0iX*tB3)-ESOL*={g*Ncu(5$G2+R{*Ykt>7@;&JeKD2T3}lFW>}WE> zJ{}uWKaD8HjM!Mt@4QaO2OQ!EYvh!fCu~6$o)Z`@sIHcDDBHaz&ImfG%doL;7A=xYmj<1$%r zP{i`^SepMSY^k70EELn;Eu`~yS@I=euS}oun#VQuV$g;E`L{y3v}N1^5&Yt+Y4Nio zu4zN#F5y<@k4RsZ#zq1k&hZ(5)SSx6`b;h#W-%vv2K9Z-A~&PUQD=P^lfiRlQ|Jud zc<*IFzpkCEb|kOS`y=kRWaS1*vt2pThQ59$4?ohNJhGo1C48`6iuu|6V_H6&m}Mh0 z3)P#!x1~!@5MvruG-)tlD$MRrr$!~ut>Nl2v=mccL<`r<8 zUN6=mF(O!UJNcZQPE$#kUDiJF(#>J%q9&&s5ynM<#+v6O2|7T3$JJpN_8d za^z*|x%3#tL}ZTkdb}d%ai8YhGjm`F|h z8jF?BSy$*HGsBDpJi7;X3B>UbghM5lK^2NbN}oWU2^*xI@T$B37Dd*y+9>*LKia7t zqSi|`8+7N3T!ydD`tQRs173~csrp0{u*p1Yz)m)F*~oO$OreqikIR~4l}WlVzYQ8b zA@SB85H3h!&0?NAwq9t_3pS1=+_~HBm{vJ!Y01YQn7`2#Q_+&huW}fP8T8uhU$sQK zZNIK2^VhavrW1|*Iu@3VA$`uO{Naw6c9%TmdQG8WJj}qGpo_TeHMpm`yIAvIyu;TLe`2sk+1n<;Qn{UI9DcOx(Atu8yJpt*R(E?d8%{S#Eq6Km>Yb8w z>ID}jeM;s*6ugF*?S6Em8s%I0$>H7I)O9A%&W!NcN&?yuP_*32Oz|_s$){FYb}#1Z zq3!34J6V_-?;jAnV4~(Kc@HInB$E-w+-rx@nB_2;f4F3J&`a8o*9HsI_uLkqEW>K` zuz0{EdgE8*I;JZ*Dk>5k6M1`zRB+LjM%QV_>ioR|&NltHmqR3tOOujs+lZ{p2%a&2 zq-JaC&7Bh(0{CWCxfL=vtB}=V2g7kUjmUo)4YKG~plyv!Z4@-cSk4X&XTFs5>U--6 zk9rpPQQrL#;r&d8*hEhwOZMo{2Bj{=+gPgsS?D7`c6Vc9`HjolBc+_qC+gDSEF?TM zhY70ZfPe(I_cVF6=m^_l%}{`S730&mZk?&7#F*;^Du4<$&cn*H@*(oG|Jw2ib^?1+ zoUmoalJ1BG4Sos|oXfcIK^{$J)+ko)@hWK5a=~vf$J@NcuG%P`eMpXmKMUD18O`T1 ztMqWeb7%Bvxt{=hf&{7!{TVE&cpgsHB@C2CSXlQ(mhw-SqREj(fhth1vLW* zlYIO2hyl}*WV2HiS}RpAxJnxPea_4&h()~D=cmkEC2=!8V@JI$MdH7UIs;*bep$D^ zCR)nalw?fVY~Nj|ggZBOXW05?voO^<`1qKxB5Z_|=#9AVrKY%8kVrxKXVgb<+EcN9 zMQWtxRDM}N%{Fe75r-S=*S;yS+apPYTcYH}>jJ#O?j7^0vQ#Kd>6+~C+SUmdKt^R< z52P#Rsu$P}ec7i>&#Qy+s9c<=4jn3$gSX{*8sGSW!-`CS<+)e1KZi=s#G=bj-;~fv zdS#5+E6B63k|zDHnjlreOse`ahBw%doCtUVH<-mLpPYePMCa( zVi{{83okKJd@qM&wph?3XR)znGwvon20$WP)yLGhpZ!zu(*(gF9+vl)&5=RniccMM z^Z7I4k_nL2BHTP;>gEol@#t7dNd4ywTU8QSKGg>ie@f06dIX%>{m?|D`@MMb-C z)q!K9q3lZs$7#RwJN8c3NZ4Yn7i0?$S5B09JePt2{MwD94&g{N$2Q@j6XpAJ=YVa# zHBifYf8LYw5n(~&y3Rii`{SyEoc2!3Ds?fw!m>MiEKL~Z*p-zAzIxlB*%3YwgbD8aDeq%ZDO^?$CBhEgba9Y1ho_O zI>w#AO!3SZ&7vTS$j9yZqr#exIc6+d`?xU!LgZ~eo2~I}wRT}=hdjcU>e;DeJ$Lrj z$4OK&N4u)_N5KvM{wZ_0-!!@x#p+cob&be&kDQ~L#31Kn7rW2sLp>Af(goF4r5(R9 zQ?AI*7m-)IZmU~0n&s7}hdn^L`$i=lB+b5+fz^#z+=258PIM#`1Kj!CAZ#4FSd3TQ zyZ4EbXX?D=sF{rhsn(}I^M|7?M9K`G3=li%?s9MLq`80--=1zuB3Bua&^Pj1*gvs2 z33gCzQt{a|TCYuFUq~$zFLeC&_vE|VKmHa;!)oNe72$YfzC9<4k!1#mwbNJ7r}EXc zIJZq{-SE!lyk$4L?qJwklwXImDNOLl(hLiSNU-6P87v?fCdsk06Q&D0S{if+25o&r z+(vwVetCQw7$ky-yw^2rVAuMJ?+Gjx&@>7K=aDXO7It?s9su%_T;gT7wSd7(eW$$u z5xi!J0-{Kv#>4wRYFH$p2_aURX73+#+FMPf3D?O zp~pJet@{|=#5Tl)GX0=km)J6Nc0-cOXz{?fB^LZ1*qSP8&_L_P{{jLh^R2LmUElVMQN`GK$ArP` zmxNV!4SW~wGjg#qs^D(-eJ~UbDyMgM37E_G9Vr6dycg;8$&!!=&(#~hEF#3QlqWMv zWe(I)(8NAGifcM$fc+)y&Rl^4IWL5l2yN!ly(MOoUq%O?Y@YEIUHw$;g8U&EL?Fio zn~uKP;Oj6})ei^l{A^Z{9PihMB9N2V_s?VZP17;-^XNac!o@<&<^0igZ6B!>nhD`K zX6opyUcc-x1+;b)(B8-6Bwe!t5tRT$l4*h{v85Hfg}bvJ@WPZs;NdR)^4o*Qyfj^Y z2KF@}M_wyEiVJd9>-8CmV&B!BJD-4+vK{oNEP7nG4E zgI<52iDDLRJ%!8rslG2^Zxl(bJVUqME`Q;~=n>d$>I3De&}y>xX7l;g%Da$FsfXk0 z8f+PSBZBtHRbbHFwzSU0nstpEWvfcYno}QaAW?O-96mMkgNPq*ewv7In8`wkzw`+e?*@II z;`b9Z?*YG;_=SpTiru*NpZ66J5_}`wz+6FLc=OSdQW#Pw1}Bkj=+n@(Mh&A<0Tc>& zM~BngUqxSo6Tn%Bmpx^voRw#MpXIf`K>xUmdz=w&PBl5`D?IBtQ|WFS6;PH$-`x#P~LAJ!&O%$bv#TJ`MElc1K&6JUDTC|DK zg(1<&sK5J$BMeJ3oj4r{D~j)@Qt-kko=kHXK~eY|>F2tur;yCfaU)4vNd$NgUh+^C zaXbI=TQ;fIv&r+p#lg8mUnFw#!BbA|CUbyu<7rDoXpHFkJ&Pq;{%X2bfcECFXGb-p zOQ6EwTkdOw&OurS8b4x|xeJ{d7`d~k$pm&wAtJiP7>f;Y14ajZSn+ZVSVy}Dorb3P zeRPk}*pzc8;$J2PR}Ma)@P>N1{sI5yTswmUoT7%PtO%EKLEekFs`7^fngHK8s8>^+}mp0hS@BNSTpmz1ifuEf;#1i7cSo;bnbF z8zQtrmRIRz+h11qAOu6i7QT$o45b3hJA@(|sT* z6%7v(A2urFc?7(cPF$Pksmg4V)jHXD7_1T7mEuI7VD1uWI{Um}YNm7A9fL>&nN&dv zbxr2G&tBVX)K9CXJ8rhDkqq0_i()8}_tK@KqR{tmgCxfFNLn95SEKVRPSpUL0*Kss zF36!xBN8=vwaD#SZsTvEUaEnUDqV=EmqK%YMDjhvvPA;bx^8Y`hWet#sCE1!kqe^5 zH)ohlT8hExeYUr@Y#?V(qB3W^j?-u?(I#NS#>9p_;AJH9h9jHl2a_ryR%W9PZ;3{S zBN5r*b<+T;TS;PyogN(-DntO^{2^>O;>n^7<_^L=B+tTP2U2^V{1Qm|JOO!~?kb+n z#6FGHc)*`yhh29vo|Cw$OxZhrUNASL6|Rc0%PfnpTOqpQ2%q4tQd$Q;sfy5gem^Lq zwOv9!36re5Oq^n0M>B^{G4LYpIx7&4Ds zmeR0Yb^WupmvJ&ixUbG`7Ao@F(5vHn3?4H+E3M@?e2ffSL)Vcw6co$p@0^1#yA0aE z)NOL)#)yWDEd#v;{x+fD<&tBT=}pNX0BTu zq4h6A>WCgF#$dy;2Tm$?)8jqyzNyz_x8J~OcFB}$71n}ST7=mE0*f2A)jp%UK!WUrUS|ySRJm24?&1EdWG=S%%jw zp1uoF8UxoXKg`rHn4WoX!=! z@0Q`9N7u7)YPiA$;C|^;d~IkgISCS>tURL$Wum4ifBmTH=jDPir^Cuu(~c2(hV_R7^`=+XV|f+;bz z5YnO>{Ibk}Xy&zmT^KOiSnrTf%sfh!uk)1*%phf!V`!YCQBD7T{FRzuO;;zqJbS~} z?#UG<55U43l{s1TtyISTYtYNp)clI3|A2m%gF-wnxgG9H2P<#$#b<*6th)IADtex( z6gxeB{PvBLKcH0_3qw}AQF^Uxv(_UbmrY+NRvOFi#rvSUN_B8GkP{txFUMv4l94pw6hq)r`m zik7Sn777>3zy3~OK5(Fq{=?r1Oz#3*`tWx;L#ig8&U1XuafS(JBBo(?mU43oVL|{$ zUKL0KwUWzdCcBEgoQTO{6@hJiT zl;oTX7v*YP0TT(Fx_J@2$sI)ZrCS%QTZq^XA2@e4g=|#|hZx*3NE=L*8{~^U4ut;* zF{0azeX#Zl@wvctr3MIVDr6T0IeFI|F9Go%5QpFZVJ1IX7z=QRre{(d6XeO@z+9C4 z0YPP^h(+SK=GH&JEe~T~pYQ zC9jv2*L!d7q`f_Ic5Zlyl>g1KNu?bA$`)L8%gqbq*-pb}FuPnWNK-_Q z;BBQO6k^RLfPC~xe(VIG+eRR?F35*L0__r_X(<$Em?4<{*mL~0%-Rg(jl{1ts~uF`-h9=-7z+i$zT_3~)0d2a7};;;NiYY* zZ{|!e2gPq@%WiPYCq(xx*xN0Q;Jgr_@g-yX0L-5BL>MMxV^r`6s+Eg(gZ)m&)=lme z{=I{r7{v_+$ITTE$(Qh(4(6h_I?3Z=l#i1b#5M7sQNIiy@^eUz8XebBYj$;BejE8_ zP1}YDnX@39()2{Yj8^~j4e~^kWjY@6I=U-fvyByA#9{FY`fM22gbHm7O#oD)^(zF8 z<(Av{8a19mH_VEC@8|N?dR&;c)Dj-^?NuCU_&tckfb==-Wm>oy)xqNLH+S=Ou~Aq) zJQ>~t7_w}1> zy!fqljf%$DKtR&txC>{{;*3a^*w=-cR+BV}t+FqtgJwJ57838$R5T>`#j)@7JHowB zN)t~8{WZh3Qp1UuDOCz8jb!rAbjixMU6(q}_7X*Ta^ntuKY|M@^9}2c;dhO|IX1?3J4n-u?&NG zoPQTfBJe%pJID9k<$f@AIiQN=oiA-YN-t^yD@ED{{3$4+r&u>yL{yW(yjQX!v)2;3 z&D*zu-XSZw<*mNiClv1lVaN+x3Clu0MvZy?W-Eez4EAkHLsW6qhSrSq)-xj2zHy6b zwgKnrdjfYsHQzd7?pM#s-`vz@mu>ckZD3Kl(bUgzP8wKPjb`n6pRBfin?TFyAdr9_`^jKN2Y#> zZd6Dm3#`X2p79a;o(p$5>lX!6G5pT4oK4Njl)rPg7)-3iwW}D#E;#=_C3%^fq|05j z^<84P2_=GmUic`vBZc*YZP3^ZB{klgX-%d3&WTjW*r2%yCo=S9ma3~wX~LFF zR%zH+)8~z=cl36|ciWw02=&`a((Y83=rm&^&01hi$bv1Ekk$UfrvKI;3E~KRhC-RM z72p>Md7Y)5I&qsr1frVD26!=x?Yuld`O{N*v8B_|-aRCqOcC z*U)s?>Q80-N*O%z8$x!LDA(Y$a~p?Dt)Kj}zkB8^8|mBwI{-UPzWXSj8=GF^{5n37 zfz@Cn(sknymMW}>M{{Mu(7y+~fzAa=7HJCyF8lQ|vorX$x6;Kyev7fm3mqDItx@^JzT(%-?F;#ww;7ure$GNCr z|8$qr7OAvEe+B(@c}kO$ONg61+N=P*gCBtP7ubb}k0 zTIPL;Jdu08dHJwGBt(i-5An{-bODr}o6S(vI6H`6T@4l7YuC& zZP$sIcI&1*X45rwBhPEcwQQC}$tT&}qeai4j+a{MaaL9AH>}$0{zU+bj{Q=trbUTFVhv_~ClRKc2P%afMA!D!JYlw<&0GKR$y;k#IiW zGnZPRjy~eCqYG|XdihqAIouG>A`QVg6-}PS7t})pDNc-TeVP*`BoX`*3s)S)-Q7hK zRx=g7pIT`3r|X~(`D_nRz2a_`^~ipsotuD&wXNG$^U{Tz*fBl{tNTd1k6%@qtr+^{ zSug0OYprW^nQSK`HpdN^Uv*j2?4p>lh0+NHbzp~|L}FF6NH){c;cKQ=BFOuv ztKN+6v5j&Zbs;g81yJVdnQ3FsR1yfe3d=(-WEw5-dFD(m?}TK)g9#kxettk=xnMPR zUXm@!^7;gUVM8hGY$g?i0g)H|FrMFF zeMR!o{Wx`TSU5SJE?~D9R)Be;g{v7h%ky@6I|QB&*L~bcn{spt_pwb%vl`@3@^Vgw zQqguiU~P5e*+&C#6JL$76Eg8SfrobVXt|qRCNa1)yI33XkiL1t=I7xQ<*oC=5@?oO zwoqCE+aKY?E~=z|C2}^0V_wTnkK44M(^{{t*xtgtS&_E;HZGkl%g`rpZxEq3lm6li z=$LUK8hEdlfms3FuQEpFxwAmnRR8=n-tLt7My|RrfM*fFVfOlP;?RFHaFu-z=MX4Q zA;7nbeXGEC1pCboe_3h#gZv3;et& zDVJ!hOz{uEva|B1Ayspupwzfo5SC*_*t3)*!;g~~oV$W4PhU%ROcnkVw-Oz=V@t;UV zyq9nJ$hO9s8Y_0hw{f@A3{%k%-R=^09n3Y(9OLnT%UXHB^W|1iv*SKtM`e;!vL4|E zix6AGky__r6*Dw4Q}rS1{lZgUsxOzggGW5BSm7*Q=bQpm4&6Kw!xgtDkF7+%ylWH} z$=9)i-Xpc)n5ME_;*Id@-a(mGh^w#4f*!^6-gXh&#;_{MpVRdjdo2S6YH-UoR&Y#h zKzs!OrENt9yh>bhJqzSGrE)L7-Ck=4R&{iSv0ey|Bl&{bs-6efZeYgM+3SZKF2Ry# zHI2fyNxsxvQT%kG+6#qOX4>;tqxBtAg4-L$<%*6guXc@m$Pla3`(wk#xbMHLy+41A zz{*PSOX=*fc&rpQ%w-EcrDq4G0Hr97+DKj&pdQqeEw-^6j3Z)wh2Q;{l7SiN*-Dd@ zwvDh7rbkgfsWX(#MK`k{W97Rcfv0uHwpk2_4ZVT{Aqt)W#DdO7ZA85}XFuggc#9qI%l@-Wqg0wt9S5%U6; z3}^9c)Bcqsza4k{SZTFZk4m_A)J{PR-YN+q1evLfB5L=`? zQ;W0+}H<*g!gcM|Jd%_defB1%=>Ax@w0KO*Tk zeZ+aq6IzXPn0iy$R%bL+lm3OXg;ZHQcNYF>{aan`*mOkaCzu2mTe~+d)YT_RD;hq3s7%5(F1etUj~HcDQoQGp)Jx?0XDOI@mZZWas&D9Ly(jA; zP|4o>ohRO(*rz0#Caajm_uMM3NVgexPZ)i>v<%CK`0{bUc2si8)2FD^e)5a)Pc&Nu zi9c2nxtQxdZcq9&sL#IC@B&~(&Hwx%ReEa8P_hSX^6h;v>NUhZdz%h)JSY%lFzIRNU=6#h8Zm+t|C zG-Ag;z0lsEHvR7Zbm%n-eQvc|0YOm_ZWQb|3@$QnG3By+j87B*(H?48{*DXJ0k zZtI$q`sSk=3l?KzP&VPUd6w#ZakdRDtu(ft$aL=+>`Vhnxa`NO=QW;S{bK_A$3Z_u z`<7Nt71J>2qg5y0_CBB~`nZ@m_onyCQXs4yJdRkSuU-sw)!e?rIC6l(5!5|4vxkNB zh$o!%_OdVLi;UDup&P2Rgda=3T2Ki0 z7mR+XoQ)T_@%ljdiES*nho|bEdx^*wzoSy^<3JJUVq4pc(_MgM2IjQGK0O5Jz$aIo z@UV4*AD&pR2OY`bD$7ykt(r=pkwZJO(R9~Ik0nOz54~LYbxFZwV7;lhvk6~vU`;0N z+a457H5B7kqiPvu`^|U|Ddsix!&oD}t-)K?iB$UEzxfo4gTjv1svv^cK8u3S*?e`m z<1)Nz*8yf?Wa0(<2%$94^H#9C=<^Or5P|0%OvE*rsLqWDf3|};z(i8nn4pc?jl}(N zWP5_}Qz6TgAK$NS5MHqVn-%K0gS+MO7Ya5MS++Nl#8x{o)fz30XB*za#dhd#HfQRF zH6iQu@ut*~>_$uwUmb5xB|?4$%qX|M^2t1`)RgOy-tngZj^$pvkWu54&^Sv-TWDim z(3sBAUvWAIq@NismxD_(TDtXJ59e5B%7{3Qm8!ka1Xesi&s9mI-{bkGP`G%dL(gSV zyH1@FXNau-1c7>WmCh^sN@t-9o{mzUf6mm+bw~p(ApJZs7>Mf$Z{IJ#o{nN^vK_+v zD&?Rbd9CvZkb*5;U)gvf))k;wa`mx36Fw)vR7uRnkFVH=HRE-LF^lO1Jj60?6=V&b_Tc%GivnNNFP zPQ6}n5nt@!WqzdC>4IGKv9XrDyi7v%D8p-z8Lwtg#8SHyk$9$m4cLSe%R8H#Bd9$z3! zRgq8ItV3fU`Gh@eqF`qX~k_80fhfCG2w+siu-f zf}8bwN^~ZMm+dLvBl0UPeJbO*0I5%uy)Yne$A()17Um5KKiJU^wPJ`Q`-E%qY{-M3 zhP#Of7W=DyQ)g~s6n7rzvQ@rsFEs&x;5|f6jt42SU1;3^t3ey^Y^(*BN?)oBm z6Rl_9!JDn+4dO_5DN~^I{$UtxBWK2dr)%BNt03a!3Oe$l1X(NDqEpj`f|_!rEz!^E zP6(_NF&9DQz0rb^+x>bohOaCqDuTKatCJ-xGTVPdvsmkMgWaxXCx=;##qu&u9yP4_ zeG6Al6FnYKx$(#LXhsKsRv1%v9}>XFmtQVE*F0Io46saPu6osLCvO@p)I%q2vmF&> z8!cG#Qqv9JeOr2Y^++G+G+@%nsE~#rp)hILsb%jo(2zkreEp+wVXlqwr$ia7b&fvZ zbFqKkR883pF7t!2A1tf2?iWn<+g1LH&&2vC6RN~jcX4v!8=DsWMe1jSY~BM;sQBW9 z4pnA0DvIu}b$&$8#TdCMZBC(lYFL-{qbEJ71xRCuz?#}Q`<(e#(M9@b)ysNDkuoR?oAXcAXmm! zWqx!0NOS4k0MVzM=qRD@LnbDAmV>F6sl_)WwWCGsBItX(yn(Lb!L2W&j2wKwacopn ztP8*fg%%)R z{j$B}EL>?Jwo}g6j8Flk!axP>`MoD*KH#)92i}TL`>X|;IKa@^G^ekA>OrdGo||^! z{c_>jxC-q9d(+t+7WXD7Z99KPY*WqU*W3@WB%ATN^~$sYNL2_9uUvtOkB)$-2O)BE zVo__~)Mg*ic@yk!&T3G2XRi^!C!am=b`)OeRpkp~@mT1>M z{HNLM@-pVh2bFzott6VsiT><(5&yct%r|(wSDbW!_#x(ek&lTAL}h>CJGZ5bG%jc* zirRU(&W58E@1J*=KXSslME8P92!D< zKYqRz&o)cqp)#de*K{Di*_eA4`ivQmXG(g;3CY9uhNsF;2%YzQqNB%kbjhcj5i6bf zQZFy3kncx44JFFz^U{~T)y&(sIaV0)`)iqVK z8$DZTYBj*yDmXq-fX`4oES1rUD&X<_4Mq`wa3ts7&6Q+B@B@x? zhYtI*KE--!H18?uUi2wjkycGfyv)>7axDrKLiQS2PdtB}0ef_ecLhxKneuz7YPzOB zYddb2m?ovLCz>bjb%;gJoT` zZl~5sS}uS5xw$w*HnOrQWF#l3GJ^Lj%6B%?3+YG^OV%C31l~0y!cw@68B?syxGtZs z14q3F{8@F?{b4srYaEJUmyU$Phw+6cbM`O7y5yfRV=CahL*qU+^j=rNNuNH8XJdSV z2z8$Ij*XbfBpHyyodlbzjpJRzqFnZoTUd-oL@{g)de?ulaX}L1k)0$+ZzP;YluJrxc z*X_?jjD-$a@|Q9`tna=uvo;cW*abz81I)bdRS30ydeRWA8801732+ODrv~R|nVHw=Q6K6SfSasJ~fv=quSzA~Ap7bsQx$V*C*}QPVc{Xu#<>ytGt`X1o4D zM%H-Gqnk=5Z7jWyqB`2*0>`8?dm`m&I04@7wwo_JH(UGbczPCS@@C`MWyz)EN+koR z`XlWK0^Y402U2$)6=*z^8*2@sho2?%0-qT|jYv(E#E)>b7^ksQ&H{OD@-K_TnOlD; z^^5G&y%qKb`!*zGpKBxRSWHc8LUO862cLEnD>IX3(P56!s0ej>Z`$QpMQD7=k@*NP zBkt3&JNyLsFoD)iOvh>pfL zTkzQ1>G=jhzpV2({nsP@-H!BYthD`o*QIrYSZiT1FHZ8VSSxw_$s6Dy#kz>6m+$oRQnRf(Mt9r1AIn~_VI`WS+ACd& z8+ywospRq?V;d$B3Vj0a&Ld^-eNEf9z$ni#YMq?fX0OC(>J|HVgglD8?GA0 zmZ0mhOVfJaPc=CI(REr_CoS+3Oyi1%CV8<*`sTot#96I@{}m&LSPHUl&{Hj`ll zD1W_NX>$}u(*CYr(cjkI4W{cpA{-kb0Rn8m7%&E7;*CLSq*+TEc{H-Yzy8g9vicg$ z=s?Xa&@BX@FTjHXUjm9w5ZnmU;~xeA_Oj8atyhC7-% zo;#)rQE|so$8J%_QHPMm7^{$UWpYSWqJJf*ldJ6MR;C$R5mxHON*h{@dWm{TaW7Ze znm|3e)HWLK=}J4Dwy0;Q7aWh-N_)*SlB1pn7U~6}j_3%LPA+qgFlX<$N0@WQ7y&EC zW17&j6sSk2taikMCiKqvDiM?;c^J<>7K+itk!QMyL!QciNHp}vuwXQi9RmwQvwsXS zdcKwR7ggMQaEunIt*b)MkEcI+8xI`);d#{pGZ&>fQOt@vgI9!s4)8+QrUURZ!sI8jU;tQU< zRXwzS!z#6cHBU2dP8%$Ky(`Nt)$ zpUzHx->P@!i~VNtUJ)Mkp?+LHsqeqnxY(*+HhatJy;gprC}2mQCdslB=Sd{Ti6Kuy zas;ykT@=1n;3I<#E>aYB84XB?1W=BYse9C6#gbT z+RHT*hjcus-cyQ)4^{QscfVHAP8=omL^crU@5%Ym(T9z|I)5s%5YmuS6Gh4Aa%h`~ zN={qXf~JCHLK%_-OtWmd5}MUOWr6n-W3Hl`63fIciODUrY}g3T4C(g~c;28B26~*__SK7kkZ_l#v*F z*6h!wh``J;CH@K56UpgG%4FX!rVEa(hKqv|5Q{ocr+;48oL7JyfMe7Y@627Qj*G-r zTSGNcMU~reDx#=33bzxfwiiXJ^;d~hqSG0zk3ycw`fxYli>mfXq+&4GNUlxwy-5=? zt>E&63hlMg>y#M15V^3`xW1}Kz?)UQ5jaFMp$Y#ByNK8r`D@ui-&9q7dhqFVaqzKv z-%&wz$bX-+z2@bkoez~jjRd=QI6Wn}k}ALX&Bj2#_?uGd2{$L)EV)^5Gv{WXn{#gV zy1TRP?#Z_s7cmzXx!=!Qv(gbazbU8q?+@KN0ByKA=4Lvk0z{o%q~eT>Z#F-fn03rP z8&B^^XjgyLEizrl^nZuYO9cj$r=2dYM;k^y4Sz=feb^D&4xe@C`gM*vsDE@IE&OSR z{ppo5$G&Qcfe9%nZ9qg-dhzWv9dl+QYC$_ z^+eyQEjR~l46B%BBsx2>RN&f4=EJ{9sG|4$T!Th~H$+pU0zMQtn;62=E;EKiGk=1K z6H}!;zyz!^zpP;L#8o~})zq#akZ5yeJj0Qou~Lx)*}zCDL!M;B(KefZ{gvG9$A)tp zHswr3(kyYIYbY1sT6Eh-$)50)H6N5k6hfc4@+oW(>80!Sa@eAem0B3^TCyk0H8z zX}xAjZ{H4a#teQiKJ0taAZeU9;g-3LmaQkb$g_lJYRP7lBRUhwh$PM%Owt73O*EG{ z1kRid;Y_3pvYBL9A~ILAWFd1{AZd}{17>OTX)dJ6M^B!t)8n40EVXgej(_Fm49nL$ zH{nA(ro>U7a9Gv>YlUFQV!2gVi*3VtSc}1k^_|6K+VXm~iU=Hz<>5Wk7#wt($b%Hi zDk#Xxc*f)4W16`RL9rz%?rW7H+`wc9%?Jt_h}*}^izJX913NBl<4N4)tchmQK0Zfw zSyG6GP&AX4Sd@d7jhV1oh<}lBYy6TAFvZZBfYt5_gAp@uo@pr~z&tdVT%_+z8NO(_ zvgoisgdFN}XpiMCEg0_14~Dc2{eYu@Ev<|c4=}N3I{9MN?B`_p3Y-AWvXD*Um<%fo zn2}i~f=A{FW@$wxG_PPU9;aZ@aFXFr0P>+2F7`)4BE&^+=y8xA=zlxvp$$0Gi92;< z^^kJkDMLTcAxu=&-6__FK3cLs3bVALv_7+QWy8*B`9O*=xUMgEZ_^f>(qctf%kxu~ z(#lAZaO4yW(UD*bs3x%?{Hkeu{L4O+oB=iT(A#o^~A$LA{HZGv16h6r$X~AJF2Vm)YnDNE_by}@$ z>ZaXv^0iQxKb!9i*B;*)O&yO#g>nV$C6g?2a652$^T1xSq3crcA|QZ(yF+x1q&u?jXcrL~~)UJl+iTW`R4Bm}8SD-dASU`HkG zfJj*_W)2fUlDLstLnH8uuS<$>NN6w*v_bF$iVO+Wv42s>c1EGt;V2ZcY@R?U%KD%{ zo^vS2JxJhcdGb&}0(MjF?slY&A-MR{m>tCteWTR=L^!P_T9gh&+})#PhkRV*Nk$m4SF(3#dzR`SGq_)7VU)Kt zri>tN%e)R&?sIkIuo(`e-`^89(C2CplJLk0f%O|SZ@@II6tD$EK^;Mt$Ihp~Cax*j z638MGCq8em(YDw=Vh6>Jpz%hHEoqPoae~Px(SJ%d;Ekaif^a3wB3*6x9T-NzTtx%WD?p}WHJg) zH*!A1={*IQXN1Ty8(^?p+$P14p~SU}f)rBVO)ZCd(O-l{`?i;i!|_qDrjtMK4IB

z7FLG3wGDdH9|u#AHd+pNw{M3ywSqOvjnPGPTtSv`OKRkIBuV5bEETgF5e5R6pc5!a}u@jQ465E^R*MUtlR2&S4 zFGEmOrnYKIFj!?#9ZLnJaaNXKMK`ZNhSi59IhVRa0zO(9DfI^uXe#+uLpRv+!S*v; zCNuZQV;(cJf`!S+gp%Vt0!eTkR-7*V6mY05CoT*DW@TZmrNSvy5P#ANGJ{Ya2K`m8 zyw3$`TN8=5vcp?gKdLMVu|*D`7>{veBqMp3nH{u1NQL82$w>8syPR^6k;I0Eo4Da_ zUu@sX9%_w;umHK40vQLsqXwisw!X16ZpM|vuvf>OW7;- zjIQc;r*#y}cfBa*SS-4lC z$}L*P(*9!L9L7o2l~zWgWuLb2LzI24J@jGw&v-y=0mYdLUw;c=rYSqBB*mg_@yX1B z8?leduogE%SuS5y=q@}$W6$uo*IzLjXFZZ%+cS91(%;7njN!WhT+=2?W^_<;&!Q}~ z2>~1Z{+^I4eQB{Cr*~{uJffYnNwzU)<%zVByIdEp{2~m;iCF}B&V-;`f{H4eGTI%; zBV(XLYvsVm%YXT@^x*=z3*=&`t~>#i<3m-D$UQ+)40;WHn|@{X07s!%0<)Igf$V_> zt(5%WP~=w5wB)Y12q-TYN)aYWK6Z0UJHRIW5jM#}a`39;WPdw#(lWf2UahB zdiUz_gMZzBw(}MrSK;d^H~h-#o)6_CEB;(lKC&v`Qqg8;{Fzl4d|IXX=GsrIXiL6T zzb%s}h7pd#>4M*({-)lo_vT0Qle(!t&Hkije!i#=>RCNMY3kEvF`Mt#i~6kjvpK2H zW}oZj;eVoO>g8Ya`uyAe^DKVYrH9`hTqT8fJ5PW9{zph5ZxBLig^>Ln2_bG2!nFQa z@71UL(*IHOX(_!0L#{AsZ^Go$Cy(B|eMU?^+^A~9-_zy5j|V(I!8SdcPOW?`*zp+D zrf=xnkVUJ9EPh-}_nO1y>~w$rmoPaR0ki$k`G4scoK zS`UiL9u}7byqNCK_NGT4X9p|t_BWCD{oPl)Z=aI9pFP{)7INgXY6qG z*?-aW?6CekTMR}RvtDMaafn{NE}&h6vrNg74ZAH{!;(F!dSiu zV{c!4zw`13Fc#J_rgdS=IDJQqCBKoe=_)t*M#1pS^ZT!NAA*~>-fUZLbi6Ze^d(kH z7Tek^ndxk3q^)5t51Zw5og(v%LgWvRc7L~Dh=p#*117f~8~t5*tlP-@^WG_oJA&O6 z7Q3ia|M=^($FHA*{vC=r*I{{O%6fhK)_ipsGmWpQd#11WxO%{})^^C~_Y|65)~|=* zXi(&9Rx~i~O*OEZm>;TNx8iveG82aVigLl6^Vum*4CDYaq+L$|0X}rv%?;(>?*^{4= z?}`f!oJt(3^(814GWfhs3f=$km?* z7#rFGWl`Wa{K<=l}$~8>}sifwqqC0nWB2 zKnKA4+5lx~Ie&nn9nkh4vfMuedcc3S2Ef9|^51m-iT*2*h3((LhQ`Jq8#_Z=cMDrH zfT@Kw5TGb2$LQqdL=P~uHTjEZXzd7kk2iENw6HcbdMErX+z=osq69E}ukSzAIT|}y z*f}{eI$Bu&RUy+~Y2G(k!q!9#WMc!gb#g@bOP{!f1Aox?eb?QY{ytVKTac@*=ReP; z7Pcm)f0bb3Y{#T(YhmvUlotOF$$varM0koOl8;=FR{MYBdPrC2DWdgFbcK<{F`*4|*Mb#x#B!F8B9n2q1RSbzRMxB1^8|NpxCuPpyB4gP=iNIF|v z|Lvvz%l-f3HMFs?cK?t6yX7ct7HI!~yVRc^^X)pxfUa3}9lk1v$Nk z0N%^<2AF~z5dJz(PA&kG*k7i95D$P!;=hQC8Nej@2eAN{r2Zf_0F(3|#0g-M`!8a7 zk5jY(ni>Ar!u`%x{)4yyOd5aC`^Lsb_A+Q3NO#i@lg6SW~@vhL+!Ugy*`n$#KUyvQZWd2{s&hd`i?abe=#XpR9 zo5jE2yLPL8!S|y7E#|!zn}3OUujOB<{t^fJv)DWL{nha=_j@IF|Ap^!&1CNkdVlZP zzgzPU>s_(Kzu>z($A7{1Bl|;sZ!ab%SJ1!Q@9LfZ1>e=X{0qJ>>G}tR3m{{@Aj`U-_J%gb|t89g;$7QJdax%U_)CIl-i!Wp7rCu zOz*WJEKOk#OcorA)b|s?6Edg>?|Z%2d#U+bLAHQ*$x!6jJ98s{&ck?c?UQn=?=M>& z3t8Ax+OOu6{qS5i!w{_+rQ=^bN0DokIgd*Ue!7(j;Do71bK@-Hcja%dXOxGv*=k;xHhol*1}&%oQ*`E zvc`bQc)*%oZSf`2wyC$)Wo)^V;R?@8{eK%^o{J=*7AY&-b$nfew;PcyH@iT_^?bbGH2#~kEVkwL zlPRA1GtP@N{t2U%i`eLxy8b#xZFI5Os=C%~iu#@6v(K6?i7ctxQ19SU__TxbiOgJK zl#t~33g_{oOeT(fIG7-0!KJ8P{MP=A6uaIG-Xxr__@9CrHe}Fx`%)<~q)Py}<#=IjLZh3N?LYp9V z_E}qmVhZDy2NH|1(s{-&xZ$FZ(>9!V6+W$nSkYuQ)rkK-85~Ar6Pt-hj8IMPz#xPX zcO8AaI80!Q>rI-D_Dr(@jRssD!F^kd|aXU8#Z6jXRCO#x%~_gP92sPf|Li&_R`9 zK*r~dAkyvD?36u3R^zM^Dc1AHvTsHGeL`9iQqVrvA^B^=-hbscMPd1;vV0+(^iddU z0y)fZsGZW7G&m26Y^ZsBSp}Kr1cScvf*J1xbwslFK)>9W(1)Ewnc3%fSMlUr6nFS^0&jwox z2okc?`hO-$+wlA*F?iCV%vH@r!&27FP#OgR(e{Sw;1|0N5SgWl1OYF#=|a3GjF9oWddgfyfaYq45b9?a~>awIZ@&>aiPrC&?%L6YqX@bzw@gn z83;9!_vV3oFlWGd0jEx#Z{87jV09KD%(dy$W@>VK&JUa6Eu1ept}-t0 zlYd|A?rJXgsC`1t0am;pa>JrkQI3oNO*M5pyc^@&UvpE8?6xG9=}s}3(JH}3j7>CN z!86O#t)rv8&wAWRS8S@fN%YB9irtK6?(H}fv|nkzxI3mK zk{|OLF`d>612j`bMr40OVR)LBEN}XJNMz43uZPqL>m465p^-|yGTT$4GFla}HA(0b&9Mjkun+&3`uy{@C zP~j$o>v5r{p!DQiB9$in>@28ijW|b1b1KwoxA3qg@5u% zPcI-VJx<7vG@4tawl@SkCaQBo_7&Y+zoABbZq0swyl0JCz4XW;4ZInjJsa9FR)3>2 zvz)Yo>1f!9es_8ey9{Rcz#}c|cyGT`EuhCN-}?Il-YU0#3$#>;rRAiXn50TYU%onN zJBtfpCS^*38ji5HD0iZIadBSjuzynyG><8qnb|YU{l+e=<0AaJERhXS><4c*?b|^T zMlCV3b&>4H)e7RVTgV%J9+%0F;?&b7<~)=1A0t7s)9h1zLR}g_J;%z}uGAecx>#U4hQU54c*-sF($xs|z7$^5LH3R(C*L;ns>Y1o!O|R? zUybq?uREnCke@02&^I?oylaUGMR;x?RD>9OfOJq90o4pLS(GTHi^RNYR ztH!;(1!HxF?U9mZX_sS(R8iF~&1=}EK3AshUH-ALQli+Z2|thCB!9f_cdVDSIM@xG z4eojGnX{uesPg-Q4*P;;XQhbjnW$w4CQG@=%l0S+k(!N4A>p8jH2aC$ng_Lxe(FQR zTQIV6Zuc!Ue17&%G^#|s(!alQH(E7}#`cYWdAjxDyP5ESq5G6R=3A&upq&LEvAAay z9pm!Kp@-B@{YH>o=YRi|`EiBsFBUxI6&mKC@{Tn8N%qgPbslqCEK|!GXS)*@fPY|Szq(=9n!#R$XrXd8 zMu^clqaU9t`{^L)754R!kAqpf(0d|+9qVcXR+$-9hBpScxh$|gciddXh9z75a(K

pG|qiS>%H(Up5faLm#&oGP$+tMq*%4bdS>av3C63k!|-8T-;uvW!yI#V z7Al8a6LsbIRC&u^Y7rt3;HdoMgD;LzSj7}bCeySQCExFsLDx^YO;~24;>Va9Z=N|2 zV^!dRkGSsI*Fu+rFp-3S%meF+&yi}^wj<~jprG7Bsee}b_QK!tQ4IWqv8W{PW7<(g zdz!!RNuyfq(|S>rjq6OYR3J0f4^Heani+_PpD20E!h>M*1Rs}K#wJ=N(&97 z1ohVs6|oY8^dwzq^106jn1Qe#my26#pV}ZS!!a#>HR~2usy``J^|iTfgdF$#8r zH!!mG{Z4xkR+Cf@-z0^0Oq2o=rK!ut3`6F^BKfKucr;fu@w#aMLKK4Kd8`UAHuwA` z8EwTQiiRM^Qgwe^=?=preRAT&3l;d2S3n}3Nq;V9#TDB`N%i4O_vLiU0`BS}v7xYDV_zDy$4@rKxa z)S9&Nd!cT#dq#q<4o_P(sRmIFgTw1gH`}Y`JFp zH%?SHV@<;T7v_=^q2&nD|E9EzZl zgkprX@MFdrB7stEp%6gQuT*pxb?H%ejV(w*lj^3Ok-xFdLAl%gN~A+3jBHqJ76(+Q0Xu$j%g=R#S2`=@SMLm&b%ZNRV2egXPK za&~Bs<2_`nAS0^_LKmSh85Ic+=1mQKGiA~ZmGv%(&bfqf)Af(f4c|0VJ`gHnpBeCE zpr)+U7dS$|Mk3k0Js9)%kCZG4iBJ2_-RM?7-lgrq?{#6Py@?J=34dYNag#QX`j$A& z@JKu;7&cic_ZO6Y#%MBXQlnr7I-MQMFRc>a#p`sX%U5 zaq>XA+et<=U-b!Yp3*9>niZUkW*Rzlt|%2rB<4b!h^ z!;mq*VA7c!bkn;gAN+S@)LCA}H6QPJs zW45&f!i6^S$FPYL=%SP%6GRFS$zIHrX?fF#TI`Xz-y1{8P##-tJ1-nL`o5YisY9>h zOK1~+A;NKmMCY5MDZu%yBB{CQKN0wY*_r+Wj$9b5O3KD)%t_2WQ7?%#ryb-Z^+Vhj z8A|r>nc}^PP=60`>U(aW`fc1{l0>s2AQ|Sgh1%$o0?+AD0lGBU#7#7-{jhv&7HOCa zw%t9!W<7el#aL{Q+@c%LF$?tv%OFoTz0bmMw~OaUQH3V({yF~`ay6GmL>L`Ok$7>QeJZ>Tq;wq;lz3d-y`UsA_@Su5F^O6d>nm474wb5uJFlZ7eVB7Z}pE0>S~?%Ayl@ z^qQm2PB{vu{D)Y5U5-63LI5NWj~mb!M)%9Cr-xWAWN539yJD;I0^>g2mI|4{vkYxR z0BuQ?qQm$i?*|r!x^^i;R8mO|qknc-)^Gial63rlU82vic9?@IG@4-4h5>4CvIrl+ z3TxZ6zE0aT28?%C zNKV}e2nM*9L%v~I2X_szwk&(*02Et~=~dvD%q>4M+ee$9m>Y^U5Pz@BA-JwRu8PjI z3WE>GR$y+%5t*rPYWZ_Ncq%^i*mKvg4i`+Kv0dg(TwN{t&Zpnx1v2_8r@_z-;RsWr zbVS7K^iAt_XBw$*=91(oY!uopV;T0IF@H6UZMTkHw{4q6kPweXY_Nkp5Od(Ythpva z+nYO4LWL5@{|Od2IWI z&{Pnv(SKCP6%4+a`9Rm>Ce$HMlC~^r%lf?t;uqQ(+#39I27lGv>L8fVX)<2M2Dt?}dY#7u8Rg^aCPn8dWnsD1Y?Q9b?z7GNiEDL3LJ&uc zrc^y&!HB2}V1K9|G7-OSfYQka1x3aEFhVeo^9-jWYx8X7XdX8SxE{g6npe?H@F&P$ zjf;|zJj4dXR}@pAEqA!9%sDMJ8wH)7DYTn7<*>!@pmlGW(F3;J7}xc+Sy|)b88!~_ zFN3H?3@=~o{2zqRNi|fU?>yzYY|6k|3|fGPgZJU<(0}dl65>X3G`^1m+^9MQD=6V1 z$M~l>*F7LTlB{)_Z_=U@f?5`FkJ&Hx-obOsxvyTrHvKv%Qqadc_8p_gT}vVDcjTHJ za5NstB+PHp2H zKEc_Ux!Pm)iyE_WZc&rTo%KEu&db8KTp>@avgIl6cvLzaaa{7ofvAu=O=g7LbGG>p zn5h!ZLYe%5o1c}x(4Qd33V*?~o9nGhMofBIe?)u^*Ok1J;M43*&p;d#lt+;Ct$b5Y)BX=v`H&O1CvCSPVFI{?BF$;{C~m#ncGUi;8G&_}`TX!-cl!ipk z{Ox>XIOT*I#9Rp>aTCznmWg8yQT{`Hd;k(R{AYlc5VDM?(Y02(O~x51u8M@0S-*UD zbQAp>%22B@?&e%lKG|k5G;fT`MRW7j^p?dPk1tAZbNOd-F6diU8Rmm&T8=aFQh)T4 zc_SSK4H}MU%5;m}VspH`bzB|ImNpt7xVyW%Td?2`!JUnSpb75M!QDb&6Wk>P*WkW! zcXxM5a4zq8=bSn3oSFIN-uwOLpXz6=Ro&ISyQeAB9dygoRG; z>O_^fTV@60jd(=IEx)%V8#x;Vnccz6LClISJR4Kc#}9fu6BDp&MLJa?4lk3qOBh77 zeYR8h*x6PXa7$=NX7^uxHg^oE#X|Ay&u)B~C7?K(xIz3pxLh{`{pCP;fu6)4WUU#l z&oaO~3VknvXBwVA3J~TiZ%oOFWqe0VgWM@8@_hYdKIK9uzhn%uLAFQyeym0xn*XrJ zf9DTP_!XNwQ^vDU$=GBcInNDyf5;ePskmFu zckp|O^;iyGDd%gdYhCc6{Ck5n54g>rLn|=%NW+#6-CX>iV zMLXS51f+8JA|6`qZmjawAQ@lbx5rHDq&W>C%fOK{D5A@6vb{ee*bINfs|d=C^EkKQ zq8!XW=?s5Uy18Rsd7TVc?}FCYPuXGJ zZplu+&DMD=c##w8QfJE7;1e8G49x_exw*-p@P9w#r1mT68?Lfkw=~he4peGW_KKBA z*VQuok(U(TaFj~N?)>@*rC4>z06v3R2io4?_Mwz{pc8ln0kgJdfYBm* zxT#e3#l#(g&*xX(gi6M52x(sax7;tKT3+pKke~Y6T*fY-XrtU+qXU=9w>*iSR1ahH zD2(#W0L4s-M&hZ8UttKW-QBQ^WV5bLp`5a>=!uy)tJF+_x}qeU(sLSohcMbRY)EX~(P|*gc|Laj&XSV?Z&7;eGaP8D^lCutK}8+qFl<+@8+WAK7sJbb z;4aBp9f|K$R=S1*oA7f>@iN*;=uvp{7^_jlQVpPmL^8DO4iY)}EES7LouK+|AH}BB z+)MPyqN>e(4~ae~2N9=V3@uRU>}YKZx%2pX^{m2>Ldf^=RJCQo+UGd!cp8>ShVtjH zP->TmZGBO)Wy$&8PtKEBTR)GSK#i^lT_{PT;_;131yy9PrfJf^i3M*_#E#n+EMp9_FQ|g_J5&QQZd1x)))%a*+MVcB_z(e22`FgT8{eeeLT;l9ocl(d&b2| z={M)ZrWv*yveku+t>m*DnX0j5Mz*Fi`{(EL(MeWsntrU42U1Sq0#=$TGs^?OkxB>~goBAkdTvH|>3E1*& z?VGI*Mup=;U_gm!Br)pGrFC5Txq&u}I<|qdchS}IQ~+;J!DJsm+_MBJVJFl#OLs;v zwlIV6y~=JiWGr>6UaqOH>Fx4V&p2wBjfo_EnopG7uu!^{#C42N@HiTj#5QiA5M>}$_4bZa5gHe=0Os*qkgC@=;Wf& za1&>um31&Fh3Gr|RKO?q6&xVr_eLDj=i4wRD+wDV`N582JpV-Bca9DIN!dgTo=;(W zr7FpgKoI6ORU@=_hSb|k>FbcbU=vfz^1k%ip*ga)Xi#63W8KwV{uHX3I7A`ZT}XK5 z8J|CdjGDOieL?`kKuCb=6T(wmdSYXHiSpu3V zRa54NFY0#0X^i@C;35)(KcPPNN!|C-_h?PLBvLa{Js)GBMaZ*9;k!3!8ayEL?-=A< z$y@j=XrR0rJA6J3t$qd)^Sf;o3$0t2!5-N2?Hw&H#wgCR0+~25E==miy7Vo9Mp?&#M5QEF<*RoKA5n4hs&?_IocMV`ai4umshS1>t~ zM7nJ?bqqMCD*T`yl9oV~+j8!?_|{%h<-r-5p9y%R&E{hmw#GUB|Vx zES3=@h&O(e-ZbD=5+{~ej31MZq{-g0&Rq>PJIGk}PAdk)wGne+ALf&rMbl>70-Npb@Pa&@u!ud%tA>gt}HB7D!lk#`e8jDmci}2C@FwTF^KM642nY_rmE_wTw(X? z$Mb4gI#hLYWv1GO{YnXM0hBxY(Yt7w?t$O&JVE;GySHHcF7|PInV;TElrp4p=3sH* ztb)Xk{`h`RpN#OHR+Q*fY0B%uu2s-ja2e8LJjiZuIt2C zTosS?C+Y$}EBYMX!(yAoJ_fGQXIcipg>ifwa;xkNU;FrHl7C@C}8-lmqFBWyW#C%1DFBg7Gf zb&hB`2&PFyN>}T#)2J{v&{i_%@N($Hwvyb=8ovT2FFxhHJza7$Q{7y|-2)XU^rZZh z7gROr;_2aGI+@e!4C!eX6*5pznCKq8hK{|+^gd*v#Wa;#$lrLfEdF?>4tdzEnUt>8y?Vrvg=InsV zXJTJgiB(;0D>EB^TJvqj^N00CGj#PznotsW>Ryi2lJH7zx6L-cbI#hSaQZVx~yt8Uf1f_i3D8Ep#Fq`=p zSnrFcuBXM4kW1AT}IIR zD}4J>=n0MDGu~H)xR3h9#@XIjM@+msts9aPG!{&n)27UF;x@)YIYu zQ-D!xPQS;6rNxuzl#UV+ya%immXfzOFhE5}q~9QPp%dLDgDjgk*cg<_d{KpXOTCgjuk~MPuph)+nj*Pn5(B1c}Lk&RZ3UeI_KMGk(#=w$;Ihks@Z`> zZP>THA*yFSyVHfTxtmSc$sepqd3_tTi$vk((xyBj$(uiq5!z~h8Hpka_`8P%2mnfs2q2l2S(~mL+*TXc`sJC{gf^X=$s=-2&`X70R^c5p@KE z-6hCn913iXdrv*3EW0da4Ii|6o>#&x7RJ8!rdsb^8ZSXYeVn&AAJH zLl~PgDCP)hb^g_(_O*ey*NTiIT}BQLy4DSSa};9zo-{p@^iF^F3~yFP5I}k5AWpWc z(T8yp z@gN9)U;ZKgs_d=200%li&-s2YbsHGXc8TFA^u$%OwYl> z%uJeJ6sF%v6;ToR=HlMwlQTnGNz~To$i$cF)A@8QvBh7I_}7KDTm#i8Q%<`KSLXT# z+NIy-sc;HAqPrD1AD?uabKxIyX7SV5MoqTNTkC^0$M8m(?v8}+3M1WIrm=6p?~9E~ zd;JLvcB_?4&Gum)s9PRD)Qc&FXwzR&hk5%WwEWDj4!@i0_A0wOSRGJ4y(R;5Jsf zbS*p}==8#vNy8bkX)QN#KfeY?PYoxr`Ifpi?YpCpgY*xoWVc(r}S{(Or*CIS>GLTm|)#dQfWA!eP^W!Hj0qjf$&1IlB&x-+REPK+KjhXM9cNMsl^Rq zv0s1Q!|)QHE*dFPiKDP+6o2q7UF9cu{nTk>QCT9#k?r&ZX#2C326JA#JsBLlk#i6m z$zGWHSUjc011+s8z_Jzet|oaOg2W*DUZt|I!h2TGse(m@w@8Q_AzWT0o$#c;Kpcwg zBJb2fvr>`E=n%D$raK$XMyP1q4-d(?Z&pVCT~TyKlSY3|nlY&zjBTXDJ`E@<`E1hN z=K}{8e8q1OK!;erB(=JC;RpOf2V-53odH7om^qU~A3Jv|>4&$TS-<)-N$p5JXW=Ju zpe&eXRkVIkfr~69H}$Rllt<)lqhr%pl=GQpFPfQP%tgr)Poe3}wl9YBz)s2FUQnIC z%_mYX%@{ppEl8sA&j_#$+b{^|oN~$JgK*t(kAxZLrX(3(+G4 zjnN_Cw_j|+WL)3m%rFML5!q5b$VR6M#W!~~Q8WB0chP1fb%=#dH5?~zER{$jwL_Pj zxGLjv?xN^ALNVB;s5m(MVIv7cD8$+2n=5iOjuSO7=9VLM>mo7#Hogg#sy4sh%@==b z&J6j z_O7~~jydKSUXp<%%GLb+K(_)~vS@;Nc+9D`hA9;}fF$na6du>lPLt{vg3~DZrqADU z)xPH%>Rx4lsvGw{axp)mTIuzt2)b`ydQ-DTfr#WoP&nLZH-uR3SFoc>8IL$xNx37O zcGeG4;#-ZLHx8m=)7?kkU4@Nplg*d{_zt99VG1831xdX)bNC>Xow1HL9~~Q|Iha4} zLl(y?Bx^RnsIC|lKMr@ris0Jj_;T9)A_HM|N6%WHGcGECGyO=q-aSYqh@f%BFC64nWPki5Us@+ek4bJD(daRKK>F0 zpJXn@5yV}YPFP&`AmtAs9RIICMl9{R^Q&Gy8W`94{GlMt-1y+dp zk*hIfUsB(aOLASjxkFLA5JhL2!iVyqgtfDuVRoDL*!SpA<-0REJuKc8s*;H}BF;#4 z1>xr6*QQDN=S0^IFFBIm%8-&$LAfZCBNYX|)h@fbZkxqXYZJoT>b<8g7x;a^e~l@* z9k?xvx-}NMTUfHNVpzuCkPe3fH0b!<4~Gek-XVq59BiYUN`$y_pZ@Ta72h!8V~GtZ z?*Q`Q_d(xjeDgk1hAu9vC#zxK%S}Q&jXq`=V{w1~EgW~(oUfI@lbA4@t7x)RW_DmH z*WIK2W3E5oy*7-XBDR{fP=}5x#?%h&d`y(G7lr%aYAag9xi%cy^0D|M zVp~d!R|t_@IJtN=!FN_(eHM#zRCAay#Cd6VJ~U+O*l#N-G3!6*3X&Vd6ohJP#v$H7wM$B$UG3>`J>{jTy3UKbKhzQ=42@`d65_6R{w1)|MXIxFK@7egwm z?lYnWCtvpe$#uP>vN{)Crft3T6e5316oQlA#n-@Ao3S}nAV`{sB>O#8jI_U^9HMra zo?qC9`bAE(f6-j;IEGLHPgP5KHHzN1K1r~;l8vNTA&G#CXg_IFzHcUWQzmz5BKk9; z;mRXM2+VK~pHhnR?5SUu21QmlFs7IFNW@PRgftGLzVi}M208Xyph%t7z zKI?bGlG{~#ZxzcSw_|+zmZ8bKU3$~BRVgVQ^)BBh#$z@s%zzHNuJW6J4`FIz=K@wH zgUq#el|Q7hi(5tT<9V)>*1Ejly=15|SMwh1@$e3oD6`j+JiT! z$+*MtE3k56i<92lhF?T3A#&6=I92RT>)>vwW>?ShC|ZlvMlu~rOrh<~rGZ&6^SfN~ z26ikxa{Lp}0KmetL+6y&CYt*OT6esuW2nERbXo$p=I6@l5l!TM6t5ar>ruXpmSbq?ScUWqtDPxI(&EV1+W8zyPVN zR@Yb8NJ{Jyw@mKZ{JES^)W{7A zJl0!}OG!F2!!H|k@OX+ebi2qEB9M3&OOsWvzDsXP$I1iRD)|{?&)FE$bURJ5tb-$) zCSv=6)oq~rumX$kqYE|a`&Qf0bNz7?5|72h!v00if$>@OK>ohvVxnVz;nSv7S3!$N zJACSLXdu@{$TzmSWO(4t&lC^4QFxBn=+JFzG;Q^eh>`$H=KHCudvZj$FL{k+Haz|D zEoKL43B$0i`H1nrktK4if!Xc{I4CR$?_PI|!)B{{n3>PTKJn#Bd{`gqK9RSZ(TYlW z*$!&0u}p;FlKU;hd_xvsy!zdr`B?Wz)zFB`nF3&{2`-4{|7v+@zm6+2c7!}<${$k_Ed!7N@s{Eai2+M-0aE@qA$&t z5%6xGP?}aim%voNjR~Jaeg)&`BBGFn_1!kTB|p*|YKRtR3NGjCC`8+@=+-Zb?-eLe zzI=Z|#5I}Dj7;to7|sZ(oo|scsL@ifFVEqfzqkI@n{pZ&fK<(cswx{aj%+ek&MCJT zvta5oI?sws%J$eJ#Ol{QoE4Q_uJSy=ySp<{@msGpz~JWi(Ttd9Sv`bHqEn;Ghm>%* zyLth7ViU2yT2muxU5v%C)QLx6UtB~7n$8Ol2u2}M8nBsrZ$xPAzA5FZc`m$H+6B40 z<->T-mRgw)!m!%V)8|?#&Qa;M>hyRe)!hIn%2`+essy|7k-Y+S5ol#=~bvrmJ*xJMQ4b7`PFAWf#{xUi_Q@~tu-vStIY z?rk&!BqFBI6uX?#nkwaFiir|G3eXg6xrP>X*`)|Y-=z4T$U2Yy9*{a2{{E9$V4EF| z*``~%PA!P!xHtXV%MQg9mT!sIt?&CO6&oG=%dQ-0A6}_7k~deiqR(72QVvhv3k8HE zFTQ!xvYhfs9TH%5nQjxjUGx;RT7yam=oWpqc#C4|zJ0u=t3~(hreHSqg)yMQ)+EKI z_|e{s4@Q7Jo|5!a|e0Jed;~E0pQcjz0*TT68$nQYP%-)nS50j;~7vT`wc- z%3SvwfZVZ0T+;kP<6l*Euz85hvY7tS`ksdT(W5$VBx4U&%}}G`iEoAO^7sr%nBw<# zELT|?ypH$&0+AS7-?HV2S=Q71du$7kKPc&IUhmI12D&xz>uTy`_kF_)QMHY8o#>{6 zXPCPl0`PjjAs)EnCoE3=N5D{*7d*OSNKlVDVAxFp?t5*7TfehoxIqe5;WWalUwLih zzyeNHFv17Nrs*TsJ8&9-k-!GJFD6o9BR@2-v9%FSeYt{B2`ZR{0fblYplfuD0WPry z;f6X{8`V2m8#lFr5o#!cnKpnB? z!vYj5?Mj8tk5TD2xPzlET!hje-YZ+kCl(3c9iFnuDZD})h_`Q zlv1_k8Vk#GL;L<`s9hi{FrVYyr#Gew?MNR@vK(L5tE=1fZIaxf@SF;>*d&|{UZ2jjFS$zybgg}(|{5vS6nLS4%RIC3Yxx(VcRso}VA zpq6Q%RL)5u!g52?(dfRCZI`ol5gD<@=tR&Y_~4%%1ly}l;y*cDopcU6JxM` zBs_qDBx{JcClE#5XOXsA1IYq1-ZN8mCNFoZnRgz5zco?VD5i8V_K%?LE5lj7T*<~&I&2{No4>(1nSzcZYED4+7kOTMytJgheUc`Ea|rMXqP7WV{N2m<%)qAjck453{9MxVX=Tg zc*Hx`6tEN~u#jJ%To(3j^yhHxGx{mxfW$=RUHvJEzPyi2kRo)8RgjK;>w%H@N)Egf z?|l(}C6_522SmMpX7QrFNc0H?LRY!CC}OwHcds~!6DV&}qx!H36A-^eadXi=v(S0+ zNlLz#*`cAo{f(#>XTK$MEB`e7A)z#2e;wn@F@uSL0GuxN{6Gs?&Hx>|hy`pmE-wqE z^rpiTx4L8mqwv_Kg@W7Ggc&q4e&?OH)JwW`1m2H?04qid_<%fkRlO3?7S+1@bJ8W&T3?`jC_@6`xPJP-K>$)#FY^mQHyXSN7%u!zuX^u&r`Vn>*W2_neDaP@SVqqtsE583E*G$3XO_=cfHd+w#l#&VrEwVvykkX z$e`uDx2vnCBPg4-25N55u7cqDLtD3dONfU=#doVtN)j3=)|V~Xzi=kl5)_JV`a0=- zX#df>#PY38MBr!BF%E=sM1?c>e!RBj6`tL$&=CiDwOQ(sAzhsBfV5oBE_VTg z8Yu;=sHnVS1sgHh(3y7)^^<`EJJYpwsBD2JJObU{TWe%w`SwYo?h``SJznjEfZ8N3 z-<()pZn4YssP`8Zz`W|*P&{FC#4>DIOtoZ?@9PP@KN%NwaotW(U1Rr%;_Jbq3hkN~ zmhB7wyzDW-%$~L5-gkUP38ZxmH(CMwebZZB!msmULSkesNQ>^56As;X(Y{8TVxcM( zhxY5Ef8oNE``|1`53#q;nqL$Wu{uxqZvI7-PG?-(Pk}n?Xea9zT2rVy{i}m30knZB zaW$gX?62}uvOF3Eiv~B*XLp6rzDAi;S(9R$`{yRd%1d#K4|6UXH7~aKoN^Qc1O+l* z43;D0`w{5s1PfBDTS~fMLggVG;n$VOk2qc3{E(}s$$G!p}$~J=9rS$XEwm!z1gQt+tV$gl&nFJ8jy1mEy5_rgxIj zPVLLx-AL(Xy1O+Nic)e!vh7|2lgLcB=jX$rxy0Qx=5a*X*u8;4xGsq*l^0h55`Nxo zz%%Bmve5wn)%;r=8th9-Ydrs}04}oDhL3M2Mz^r8TW|#ZdypeME)%Ut@s#+%Do7Ux*Zq*m7+$lBI&G5iudB!ZgBGzi#3Nsv>P%I<|5o#;!ha zH7AYINb^_Fe2(R-a$Isi@hoA!8n0rJ-B;r~;}H%BE;Vu#|JF*N_nNJs$5Jp9IZ)q+ z(*=y{Z*$E7v7{&%XsisZPl9Ykm=zzGCHXRo(%$*A@yZ=r$7P4u$mfe+6v3@qn~Yj9 zoM%{wU2HI0DN!0R;<&YRMwsVwM7$$V&9+g~wU)~z$}99Q|LqLSv$5jdmBxfNAXQwz zG_w*VeX|rSH7!@tN>WDg_S|@bYFKZ@&@nTTrVx0+6Lx*1M_@`R@r$-Q!q>XoY?LVJ zr{%Yq3Y`L`LB5FPMam)JTyfYrTXfcZiJgxGbeU>>Fu{&NLyKZjwG2Oar1()T`A}*P zHzm7JyDSJYksJwu%n8`idHI%fX|2d@B=3sqGg|Dg{W|vvPj39D!xyD_EQ#fJu`Sja z!%vqXpJ;o+Plqd6fAn4JwI&h}4y|wG1nMbw=o=+DIC1$9?eM-@iOxI_V8+yCip|*m z`fAf!kawt>e;+8UwmW}a=x!srTfO4(L@4&Mg8Jy?e9rSv06k!S_q6N5k(qH&`2tDo z*KSw;4XU>!<{Q>uddja}TX|C5L5CC-#kty$?c5!s`eme1Q|n7pW60qohrRWGI|EB1 zZr_n@q(l4mHMB<+vsZ`?C^WE#g}KN;YgY}jv${f|K9FXiV4amIh^|1ag!e9}OqnZ6 z2&fto$LhR#%8m{)!GRtaAytd#Cx6qiPuS6TTqahe)N^@yaOueHysBz7L zidoyy?qgFe*(;+H_tnzZPVkUByQ9H7jab?k{7!=--O){>ODM&BW41e`!-MF-FVJeS zm^wvM2B1_HNZ}+-_tKyss}m)d^e%*us$~fN&_g5QARe6Iz}}AUQR;rLmc={C8P5zm z#3LQUw;2JE8VZ-vpc$MDsh?!7(ZCx84o{T+TActRK_B7GM)MZ9> zB4xYZ4<~YrU${{`{YWq+a&&P4HS>s5Lo#O54t$3K%_{REIa}oVB)hi}vci8S+Ov7L z9#_}WSqE2Al{c}vhNX3`jcZ?<F z5tCC{QY?Akk;_F~{Gq4zG8*ZF$Jv32FahdrtU=a?lxTOuUBOLK5Yi%W2G@$zwSit~w!^YTjz^7F}Xb8?7_Qv9E? zV2F#p6s2VG$$m+$ALnOk?L1evmy_H*>zhxLEbhI) z&G-2vNd1)Xg;CjYU-0+*ajYctQfjtHv4{x1WN<+p2uAM)jqt=t?Br3>D1Y8ksl!H~ zLu3qA>Ka(klwTb+9KG=^e8+IrwxW^zXoosuX2gKAgX4t+1X~AVh+d3H z_}vwr^8`uUYLo$mBqVvx($3Q z5IDPTIy-4m<7e{j*iUY|=eq=MH8|(QVkDiak17ve)kr$jNV*);fQ~v0zX!R8X6!kC zjZYSY+LTXYLXtPNG^*RnU}s}*S(W`+BvB&Zc(D?>i8DZCF4A`{7Dj-evmD^_`)GKE z(d&S=>j=d-5^}Zz3R_*324MokV3MAGw$1MvZP^7{sm`XC1;eSAk{(aS{9{q~#>ne! z4~rh(0}DV#+$&Q6%o0SBS=hw|J$A{5WtWXiC|X{5BYZM>^R=<#o5^v~dJQt$b@m;|eVCXH z2qE)1+k*&z=a#(LXbUf_mN>oFfeqq59++PiPoG~_ z!GUcn_`}L@)p9Bs%;9i3>btVKlgWR*cz$_DS-e9Oi+<0ySu-eM)keRP58pp%n#qq2 zlYFRC1uTqH>`?bsFkUJBG6#1&gN`B1!km@ArGg&bJLhtw%|`( z*8DpVMiAjg@1ic>kDtBjv-R5I6}dQ@eCq+O%wn)U4%9Jj7c{4SvF}ZxS@j8mcmy=>o}EBL zdvU;Oj7M50#}MvyDGhbnT~T+CpqQ}z=e3nHh*vk#RW}xOE=+kYij|;O+pf#)s9oi# z^HY=w`Y$u`Uz@McHZai4abz8EAPyw-4p@Z_0Fk8w-mU`~z5}LtLy)6kFRr0ab!aJ!^%=jPb`s`f7WuIhv5 zNM_8=!|7_fyHo3p<+*L0{rD-Y)9qj~D_3errt#hU*PfPYo}uWEpQ zxugHO_!AT8ga%|i&G%~Y($aXidYWWiXNf*H8I}J(UKH@xH+3?m^Pu~1E-SGb`%vgn zLx1(Sx4SXE!cnpH+>`samLDc5Kyv4IWJP)P*z|xo{af+3^U7^}nmg;L=j!{1g}?VJ z?eb}z)@dDjX{09|UkbgFL82=l7lpiAGu{**3u40(6a9!qFVpZI6Eh!yL zBWagE!Sc4L$!638;(ldj*R1o%QYSF-^Px748DH4Q*S1+?+a+;QOGQV}=wAWwud4r5 z4e)Yn!-L;8$e|0G5%xN8l%&}UOy7LSLg!w$=#88|lh}|B5IkdA?=kckKkFjADv9(|H(ye^?1cT#1-k32R)}JQwkCE{1e2+-NQu z^Qgo4sLPL}U7V!TG-?AOW`iJR^R>zb4xqA$GO|H3vI)&*h63h@8EgnBk#j_yb%fz} zM6P#)$4>4xTKc1_>EgKY6~p=Miv!mN2$PAR1&WTD zk{nRH*TbU(LAer#FCY0=4+8v!@Nm9HZE3_itRQ<*KAV0aOv7^lrglAib`Z3qZnmRd zgkL7?zf8r@)+o@{IbU-!|NquMM>Z1oG%L9-weN&wFe0_c6`Oj}#QaAw6^}R-X zuND&v()((mmL#o*XYo&9b6fmRS*0_F-G^#rDy`xwF*8~gnsF30vekvD&BJGN@ehxa zq@c%SQT#RkzW~6CZF5`Z&nz*|J}ikH0|SiAg+Kn^fs5OUtBvnBANvYfGB0#>-~5V^(DmB2d-x2*4M;Ew$3hF@YI9`P&=y_qjeG#f1YDV=9njgF6wgQgx%=Rp}^y#p3rgSyk zK#rC&F-Q|jUH;!eKDl>B^dGbcotpUrF3GLRp+@J-avP4Ss<%SbM11cd*p$kI84RK_ zL54Y(j|V$anGpXWvHp>u0!^Q$jQ9`Ah+Su+y&lpVKTU0x8&SCWPr<6=%l!i^yXJm6 zY5aM(Q6gG;%(ABmdR$aw5OPsIQ$lKL1P(6(52?vvgCj z^kT8}aIpXoq#xZ(KYB4{Oju`3Mfgmp`AoU%Ob84rQ5P#=gkB=VuD-F<%~&xknHkYA zS?|uiM)%&_7Ss2S^qb?Y995NKWXI^arz?1|f9=AlqU;*u+ujPCYx~gdK8QY;jogTB z8@7IP-Yguykl0{77k%;6FOC}cA9?DRpuk*Md}S=E1orin2~t50{v-z}_gLt+0HS1oPYXU z@G?OM*-?+E#1RCFq??kYmmy}2A!c1bWsOEIXV&3w z9@~M~ox@*#sYhf90wdf_E!>Me2X3Mln5S6S3F$! zqLNf0FV*v^eibWrBy{|@&gOV9$4gwJ*HO$8Sy&}!5kEkcD9se9iC4^`u9sIOR~|Z! z-fWDJ3pC)~PR5QG{6N+pD zlWY^wE~A@11x!z8LIZw7XMzdXWy}dzdYWC*i0;?E9J+VHhp|)X`BeYZS23pD9fWS6 zR|}@y9X?~k)&*&R?p=h5&Qs4B za^Z1Ul(Z5GL0=IV1=pV`R$@rkuj*pAR`<7If+e!;e;)>S4ym@B{H=*RX7(zQ^rW^C zsFbG~IJ^mHnG1b1R`+0`0h804;8Us@ zS&|WHu;u9DlqkNvr=0488CK?O@Ny!1ng3?^8AB#2g}J*IXi zV!c8jtX?=V+}Na$O4xI+F@3yVJmVER%zJg9vu9qq@g46`4+8VK+HW6XeBP&8*ORX`Z;*#48Gp| zD}g`*nuNvvpb$L&9f$ZUg;-DL8U1J+4S?st#4l^SfLWMK5dV=N0f?KwcOj=H)&#)W zutyC`l-L4RY*Oesrde7O8{JeE}4g8pD0AX zU1H0|fe3qnUmAk;i{Q&&{5^{rDq4bC+nR|QT7QCiPofH(+uy&*WiL**`+(6*?x6>l zr!-Swro8zCX0Wo;fcb-9#ANr?U&|^v5Jg)s;sUhuSKhssHyb_*u=*B zC+Q#R{|{jLX6J`+F`%dV*sKckmw~05Qjzp%Kbqt~sG%NV6f;pg6G}W&&ZPEts^AU= zRh{-%s;FmEeh-2efbDGAsSRwsUgsB9DN(+1wBO*A@=@TP{)dymhd z9xr2GSY@n2B)fjJh6cVOAsJ#k59FD*@vkGW7*r75pVquLGnG+iL;OUazdoKy%x>=8 zZ@|~6P06ScOMk?veF2=JIe(GWh6FeJQ%JVv&pv%B@Qn;O5gE>e3@y5u-#+HKsX$*Pt=C>&<@QbqNFrZvs^ ziDo6;`MTsB?rL@hWB^`gHNn$0npj}7{s^wATU!XQMJ{7)_#0@-tEHV5C8Aq-y!F_H zbV@O*%!rcF`90Ea#CI+r*)snqt*HA0WFljqTJNkr!hcxH-1XrAM#RpWY(!> ztS>$6KI;oZH2^+7)?Uy05zyWH39a1batPW|ybL%bRI|VQVrLmMmgg61k0qmCYp5lo z1tH#+8F-yr&Gy?Yt0AC1y-P03kD@DEXF?m`>%Y_S6{`n3$ESV(U(6G+Irdi1XJ`H6 z(r8j>e?0MdF0)9-+!jM?|9x04>fD~olp640za`0*& zS2=Pz0EuNB_l8aS#{4oV*AR{b@SYQC{3upF6Z`HnXY_bqk~T-xW3}(6;i8sd6Ic{yyH^!xsANHQZWD`s;Y|lkjM^8eUCRcG|PlB6-+Ps;6 zcP*FbQ7-ust@=M4sWsg9XU59Lb}gUQY>p>5*pIt!j5DvVEZ?6$b_bsoou&pmoUTH= zy$L&8K0KuETc|ett_6Pg5MV+?J`q(tI@dFJ@V!yzG;MK3r_Ld{WmzL$|EkdX3 z#H%Tn!ocxE#rgUTE^=p=*wb6Tg$MN!`lKBnC$8Pe)r8A={+)+y^xgN*OuLa{373fv z5w~aM7m)3)w%fuqdzAlY&uU&fo%>(weQx_|%l}i%|E-vC|G;9+{jP%Vm9MERnI2Xv z8E*RGw8aYD_+z?{>ld3p_BP&U0wGTS_*Q1TuO~krDtLPJ!;4$`pOo+XQ1kFVbF!Z9 Wlj-{n66Cqf4b2R=R8?L5-M9cD`|Ya$ delta 128806 zcmZUb2RPO5`^W9QHz{OggyU?Km6feBvSn39WJNhLq6k^Xt`LO=vR8=gC@P!GRQ8CB z-*f8Ar~mc8zSp_F?#^-UyK_I!`}4kE&*yaSdl2cji6GKf-Zc0JFNs<4)+^SMxM@@E z>uEAvHM1sj#vVcQyO>-LtDmpqwG?V|P8pbcB*Vs;D_A!_n-ss%rSgD3*GiqS7oeTC7H}%Z9fB!Qn7jQZMi_) z;<46UJzA3C6YQ(mU(XuaIE_Dkwu+m4Rj4;yxKwbQ37&NAY*R4i9#UiJ^;1{wX11np zo<>d%y|hF!cUVp)%9~p2{I=a=w_uc(WMNHrE^IUs8eiM_;<*q@L#=2Z*7i{@?R<<% zhtFAY!*b30+|1NjbZ@`d&eSxdV|-x8$pSk?uKJ6GaF(j_+RmM@;!|7_ed8dBO9|Ct zyB_KzBlFzXw`AfD1G%YqZ~xEt7GYH%V%1YaWUVD@MV|9dC-R9EzSR9?^kmDHn0Tm8(Io1c2D=(3pfu%P4T{QQiEu+FAF=LIGLO*oA~1vSDl z^Kn#$Gofz9==X4HY1cN!)9U1^r{l-wQWJOfLRYuOQ5jT+E^f_3$|^%;DAdk;%z-%A z?|7*M`utqz*A0QP&8(*7QT@^>W*WTmHC9$U%Z3DNNgurd6@J_TE)=54QLf2Byy=Ly z6@;^wpT9+HK}mwe;3q8L26)miVtHaXUNMaLB#8_L?-oYvpoHL;;Wwg@_QUYQV95V| z#)6+w|NRVufdKs{IDJ}L-QCTLUqOLi+VP~!Nf~~atV}uU9pYUM{A~+38;L9ozx_;yQVNOvSBXfGLkPmhQA4s?iD^}_xly^LUesyb=;4VkaHg<83t1r;HDR! z8yD>U`YEoF?R_Sj6V6jtpWb~elZwMZNZXGkBU3|iTBuk2EW2o2{+t(k?fo&sr0%hY zb!1jN!a~|%>Q-7$6MBQ0Q^;{GPMMKTuaYi{#7YRAUhqc()@hz@V7(Q&pIiuA>&S&|mlomq5W&ol1c zP)QJCNuZ)*d8?ykCUj3oCCJT&M`q~3okR_8)Vjsz_&XO;$DY|v_uffFR7RzKS@q$5lDU-@`8)^lvdrpu|nkn4M=m)~e!ZfEu3NX=m)wJs{b zjCQ+>b(d36jKCsDeKHdo>z0fuT4=W|_&@&G`u1ZoszIHnDB|k4liXPW+R(n<;`G{E z`q}J~bx|jnQ=+AgUgd_hXwl#}a(hw!@PO&7Z(37pWoVdtp7fbS>i9hSJ7EP;b-1)>tl38xUJiuM-DSe4RF0hq^-a)gprA?`s4t#B8pe}<$zS2g#LFi(I}x6vtvZ{;TVH=G?Fq~l31)~ccHa2m(=AWM8OPkvceIJT zUe{@Z?{=j8bF%%W=FPB3c~{3kNsEZzURJ(sni5&|!OuiLD$BpUJ8#AjC()zRbcw7Y zZixyjmVdLlHuEa8VzM;Z1rJ;`?2}TGQ;Kiu`eaQ?38trG=PQZ297;mp`RdM<;qTOC zu0GH68UiU?QIV^{(K_!2`l{DOT*k<*B$}+-U3%duUFWm^a%ZsPrrAUG8~x9EP|b;a zzEY`%$5XD#G|=#zV@iKs8j#Ut0rj4Tu(+i#s7|@SlbCd+=UZa@zS_H zX2Jcdenkws`@ch-h^4$`JA*=Aj_qY^d6M`PJ=CFi+9ATq8SHl4c{9;i@X3C9yZK42 ztSL@i9<8dN@AtQs&NPKE1zYN-f2v;G@H5J@O1{~zxe7wD%*~bX6ha54n0_p(8t&>)6Jh=?-r)2KH9qU zAQs($)t_wW)jV0ae^H@Y?DVBIdH?Bp(Po|-^};L}yn4R^5pi3`Z}ZNrmt*G_-wBxf z$V__DcJe8!*YH5rMR{JLco}us{@Rx>E`B7U2r|1slGa1DzCEb_p15R$$PT9#sB(l` z(K^NZQq+3YbL`CtnP988qeuEoiD)<9vFjX4EiUU&?}h zyo;PzqbsdCHX`}$P4(N-lB~u8Ro>QaktfT0>UUM%6fNkOZr&rgOcG&4cHCaJU$#^C z(kZc*#(@uOPvrNbsHmfOxV7>GaGW`+OXIrJ0>zt8?;W}B#`EQ9t{|moLjz4t@N9e5 ziqyi%iBE&NHlwT#k;q?z+epOkAZ`j>s{z+h4)1BKOWI5NU*~A9*%i5lFzIJd(EkOwFDxRZ0XrO4iWQ>Y$^U!s>E9efiNsjLi{h&g$Iv?7!boN?;g6`0&r4S>*PAX}4i8 zxaL^9s*=7M)OLeAfX~?^sE*qFmZD&B_k_$Bvpm-?CZV?~_X|5^gLLBEZ#}~)71Q?c zs;&>Rc2{>yb(B$2$xqa?KO%j^C1<^a@hx-YvcU%ZXn&thv2=?RNgJ}BHqS)E!g@jT z?A?kBzJgi?-V_AN667D`Zogy_aibIuSPibJXbNNa*uVu{>FqLNOZjDLLQsXmytI%jh$sa zRp9h;oNwf}ywkfXDh){rr;4$92f3TGl&26On@0Gzb@~^nS{>%RkLd!NZ$+I^MMyb7YBT1m*781IGq;^Wl3201BrUn zTdfC+h@A6=13gOiJI*|$>KP+xDLj&gW<45AE3!St8aq=Syhra~8| z$*0RCq0WW4-)^Q$cC`Wq`OVw(Ey3qM!m+V*sQbmx2c-THZ?D3rBp!ZqRRCDaZ{ zrcQg1!7gnjsivk1^+KVB0%uR ze1K;VgaCW+3~(Z7*@Hk91b_Srco_x_0?ffP;N38={{jT~9n8U7!(_qhFbD4qqlE*X zgZcYw_#iJHwsPxAVp}>Utc(new2p(Dlb16;9EAbiiQqOY%&!lrCk1|fIahx7s&CKc z(0TC-#U}$!U43U|p6T)R7x8fc>Psv(L?4P)zHiEp@T<+cMS42OibpD0>pk4t9_|@Y z8j@`wDKUbHE#=W==k!Ony-AR%(9CstMR(z%cyof&;6UqZ8+CFvamQeU{Gdz${Yvz} zI6XWLD|pSM0+-!mI#XEIi5b3SqYj^aGyHh?duySM6i;Jg4b_!*;xmb4@U9y57M>Yh zrCNtk;wbOV0MX?2&hUtvHp(aZG&pkLbQhGH-=y0&IG0Sa(SA~!LC{(mr1SVf($wW;);Z;N z&8)-(##ZuY9#5>79+A55@KdJ*s?Q&dgFjJt@#tJqLcG@{hpMl$Wc_m6T30l%(oa!2 zY%fyVLt=@NS%|2G#Ca-7?Vob?gq*4E<38%&&qEVSQhOytKzm+Ier@t@=Z#_(ncibc zRJ9vP>fwRjIL+ru?xBrb2v2pndCF4tykotQuscT14uzt|<96w1`x1if6dV-Hvb4lL zAeSE%Jv#LyN{unv$bgHELs84iS-p_Gi;wA9;LW za((0@LvuO1=>+dI*|e?F2dxj1_rHk6)jsj0@6Yp)(H zy^bo|MK$Hrh6_p``66n5w%n4kF0du>*5~MQwkp@1cTCaRo$KJ1`u1k^ro1;fQ^V+` zVI8B3nYp;PxZQBRFVFpYd)}V(J2_aiXl0pvT(@5e$g|T~Cji^y$gQ z$?Tps(5~COVTHW3vG*!{ja~cm`Q;`?`JD@&qestQUz&P(OwpFl$KcoO=lu(wb@VS? z2S1ou;W&0n;2hT$_xH{A_BDF;Yxl>D_P5oy%Mo%DovGV6yjp==nV#S2W#LaA%4um_ z@8sIeTkc4h-g=gjVe38F`iMq?Ok_-(weo>OXLWO}?M@rLDn~m_A@c(LBp7Mv1d&aR ztD`byu3Y6Qjus8`W7uDFD&hrSy<2?n6q}26J|`uQ1ZuarC)`|D*iabz-QS5@b8E>M z=nuQO__=%&2m2cMZt}GHj-ee{-}_%5ed@`*Hbze@`QJC}zkUTTDRMumUOXoM=!t4& z%GFG6)lm5z@BZ>gxAW_3cCf^nr!C%FuXfYPowH9S_)2n_h5jNw(au1ZeD|*ZoZa(T zU&Y@MlAC;qboC#6l@-1a0~9Zd0BKndZKcg-@~0f z?4Fv}+6s(q&HuwU12XrQXC9Y@9}iVgWz?gnkmaCUa?Or4c|mpDDkAHpk(XE>>PgXC z0UZHhV~GZKS@m(**yvh{cN^2T*v56}kdu2>3UnIq0R4ws*jUmT2D0uW!6XvAM4Zo-wBaUqbm%c0KoVP8G zpCLQb+QP3S?n}>5dMo1%+AC+*ktO`h+x{?)iL)8WKebigjMClu5#*nc(3XV&rY9Cehc~-p-+tB}xkSd%^l{!?GE34s$<9YU0&3 zi;zm5GhX!3^s8@Pw+tM4AB57ZZ=<7%4CHi&lipkTL3iS9_J4VkYpt546 zZWau5Fi~GPug1nwX6CGEd5MMj2RZGB?l1u%>fAx-(d(Gn;P@v9<~iI$V4;XUwp(Fx^nEnfZ2pfUW(t$!}D| zcz4W;We>4#+{x>6tj#Z%R`M*Xlb5#^1l}oJ+)kApo4#h!wA(1Ga}o8qi@EPS z-!bF4Sf;wq_cn9LtZp6CZ5P}3?(HsEZU{w3epBvWUpH)e_tW0U=cci(L03BdT+Vhe zx6{{SI-=|kd$~mVClvCkw&%EVP9ZLC@@=^k&uu-;(9^~R-jtPp!SmI){L-j?`(Eaw0rMySGRU53d94cxL2CC&o%$vhA$TAJD(HI)unG_?#xqOe%<{{tADd*+uKm@ zm!V0+6}d+R{{DkYp54A%s(TTNGXXo)xYV297k6-5*Y|?=Tdh}2cJ_Z=-Mh26TE4@# z^Kj?r{@wjfMqHKWT2X2q>?nWAV}>Uk%lGH~&--RKCrI=7xhr0&rlC4JF11C>w+wq{ z`iog{2D#6<-zs{u{mAGF_kN;p&FuBM@rS?Mci@T>^`Z;?J(uv;ub%4q-d6FIaw+>t z_a;Z|K~?S6;4WdAnG-m*+uWkjwny$Xdnj^NBW>Ha1b`_ZpGWh5Mlo-{deGr5o-hmA3XB4H=RC*Ihoa%Q5qY*xMmeKdTC&ugvH3tX{?*x0#%epi8wN zQW&R{SqXgbqrRi1u01ikx#sIf@+|{uiPWQvfhvNU3K|hYOX{9U7bM=KHJ;{(r@u+M zb|*bc5T~?KkcmJj~+pGeCfJ4V5#MVD;G3dSXkE3)(ogzwsNZ} z|K#W1KW~-XC2tTQQZ@_>>(75nQGEo+rO)X{waSsy_-lAzkvYu1j}p zCfEIQYMo{2mYB%`U-{7=1@pPDeurqi?`XJv-MjKrS?5TS1cw8Q>fNB%Y^sSzOe#G} zKUG{T&4=q|T*l2KQ~lM>DbwjLyy%*86>Bfiv9L5h{A(A5 z%)~o{*{_A=v4lsQy&tqiqgM8Xr>sN$USW@=o-NdU^VGmD*wA-(r`Kb^wz#tCAzoEo zd}_}uX7=408wY;x<3(%3fDOKkNzu(M9UH)j9Z+lN= zCBR}m`$gu1{2bmHamMARS|1V5)TGS1EZApXlWw*PK0UDE(n~g0=Uy5E^naq$6W z(7etrJit`Q&HEf@{B$rwt@B`cHe7+`Dnns7tX&1O_0tDW9pSqqs#`GQm6R{zW!Ke{ zzjee-T4Eyd5kIp7&HX30vtFtfHTDeJ(Qo}M!z1nL^c$$O9cd6eBm%lxW>4KKY6}G= zg+9n9n{su%!X-;9WGG%|k=TlyR*uhk66P}4ddX<5%eN49`K6VzdyhD^!&XG|3$eN3 zNnNgwkz_xA@?EN=-)^0YvgjUf5Po9u>5Y6&mHmYmrZxTY8qb<4`zw6P2d~G=#Uw^^ z%v6ue1g7P19+NR3%`lhy?KEBy*Im5bD1Iv=%&q^jaHAtGmJPwAel+6}$+NOJlo%Y_wYtywFdsybenO*@8tB)IB zzge;6xF%H_ddZ~wWV_t~M-_PuI^!iTGL4rQ_R_=NjE!8wDag4-y_&ALBk+XS62n_r zCmsIoeaoF;%a~8eHFv3>Gg5PoYlYsYOG2lt$BFIl7KC0~=W=iHtR`CYs*o^uv`SB1 zL4{tc^!R!=H~cI)sa7d^QtaeQ$6Kc^A5oyDa~1s9Ew5;CS7o#>x$aH);^3UV?-j?% zrrr4wYvE(OVV=0})vyzFH(#pt?)&pQj9%TMowIs9`CW6P+7ngK67hNM$uXrLi?tG& z<3-mEQ1rF~iZ250)JJ`*A5fgTb!JG$Qd1``%hP!O0=pY^(yj{E!0Prn@+aa=zSX_3 z;;yf&(u`l;nPC+d3gT|@RM;3B-uzY;yLx0u#k2IJ5PtFcXWYiwtY6!;EY-_l<6UpG z0=O%tzt4JKo432Bmr2gKZgy?!T%|Or=%-gJ9aBypM5kS9q#y*2i0Eq zYHRgNqwtpOR6I)&%f zuwEOyawTUr_bF3Jj^q%=XjT%eOu1(taTY1wqYr>_(J#b{BzVIJR@QQ{A!033Vi>*w zX~u>hpCv9WR~REUB*ingny{8X`bvDC1P{Z5*C|aCN0AWA`~~aabrfWOU$XU`IOgw5 z2)|ucZn#KnK#Gr809jtI5bKhXz_8_{8^n+Q%Ur%ioJk$uK+jt4OiJQUN{sk>#PI4N zD;d6imYf2AijqW%FzR13X5zq8&5`pTl|}v;<-u4lgW{J3Q$HC02>}`eF#N<<1yvmC z&wNiKt#M8k{NbO$oe;o5@ZUj&#yJEC{yVAAIEMtme@7J>=Lqlm_oxE=4&hz@4EKaL zz<}USazcRRmqq_cP6%K!Ao_y~K!iI7jyq)kLWVz2f-2C5RlqXPXrY6mu38U z4itkqEJhX-gE{5#pct@H{)@myf`gTE5P@Q34~qf&2`+nB4A@X` zuu=|Q35o$LA}W=0}gudBq#1BfjtI4 zlw+XApss)980<3mKY9$d8T=nX2Kx;Dk0OJO2LDHr!A^t!qsd^W!T%9uu+`vb?BV)@ zfz1YobQzp;gAn?-z;=T}!VClZ4Gt+Y3~V?!B+W3e_4*miJ8pkZL&!6Ai)fsF@;BpL>G9vsqW7}$DnNTgw4@4+FJh5?y| zW1;;I1G^6n2{jCCKRBe+FtGpNkW$0I21Gzo4Ffw60ckZ1Y(WGh)-bRK5s+HLz$Qc- z$Tc-snP3|tWRT%Ij3nSe3La$TJB;KaY4~0j))R~v%pseXMWTS|Ah3DUtM2F9n0FVf zd&f9l52gg3uQzsP4}tN!28U@CQ>%QEscVQI=U(hIrQKS`=50sc+9h)NWXRT*bTiN0 z+k50=|GEo4vZ#gK$wKEBy+}pSn7z=29gg^$Z{3k83hetyG2$)4N9`wXX||Y0-hO-1 zJ!BbXVj#obFn2VUrH$z)u0WdW3?13(i)0&8rg7mfaWJCh0ET>Ofg406BAQ+1QtGTm zL~1M)Sh1PdS~xcx`+x{WK6btLQV_XSI`g~58&}_QGAJ=C)NHETt(boadY}`ebez2L z<~5OvFKC+21h#0)^nSKq8sK`Hn!apK<_|Nh5bepbk2w{<8Xtd>4~9#Of5M@2zQ|AO zlgdR;5p3(m7n_w78X6ID?PCo}ns>S8^6lfEvcM_&JQ^!C1)ij`-DN#)6qg#h=EmT)Xd8#$B0=@7L?Z-|WObCf)V9h0@o z-s+q(wQC745q2~+@Oc{r$8|*~+iDLm!|y*cBYHh|m-|k_x^q4n%XB?#imCss4F3#G zn@Xnwseog$6^Gr6Sl+vpDxPFBL=|5+ezd4~(t!7E2ahuF;4tFHehj`QlhVR!Q&~v_ zmt+Z1p%F5%VMxA{spJuBK`S=O_Wik>UeRkqQLghwSz_JsaWXi~9DBN;t={bC%ir}y zGq@L}X1+gP-uqTvS{FB0)>2(EePwsbxfsDx)}p9SA&tv8`Xa`7-s)3LaB}m**^+Nx zUy(jTusAGu6@2sbDYlZl-vpD`UAFJ{U`Q`D%ML~HVXGLQ2<7dMKG?5AAy(X+>gUIJg*QZ%foIluI_BOtF^4Lf?1f8^M zPI~dqctBrO3d{YQ$JQY{nHa;Fy`dE%g+wipy z{0eRM(N08aMAX+XmHUTXS~r z$DkAK4I+3-J6+cIW*p^<2XubX&$d4ZR@`$hb$XjWw8QwB<3z3&hEJHkG2p{i!mrR% z=P~j{f^m~6=M$gw=!tL8-}>f}H!kyH;F+aCZ-n(I|LYKo;8gZ93fME7V*3kb>yJb` zgYDW<)+`KJAC%^E7;%&;znoESU%K&vyRDCRJ_Ww}v1*yweE9(v4ts>vm&Mk;RPkJq z%Jc7SS-DwlR5#M;&m=PsXUWmi1qU~uBVudz3^V88>?c#w9d;mQ&$qv8R3tcf;n`a@ zl_%m}QNdpamvu84yt@aAhotHr%{_5_=&-r4CmdN>m_S9p?WAN!F z94)DO8=bhBY9y`7cQtYiN_7|ULZdflXwoS-9-QP9?v0onEGeUZw`ZP6!Sc)~(=B85mGcS$`Y6YpQb^HklT;J!eE)5mxxobIb z&?p$W30(@1To1XJJeWeEnvliD_tczPkJO_t_6g+=?x(5Iy&?~!ikepom+?+1>xosf zkA!1xCf(`Q*g5}`)vWg^u4{zteZ<3%1yimRPp#SvWqBfsSVMj7d4cL3{Gb_6cRLg9aB2YKwuDS+9IJ!}YyhV(if5LJ~ zUoB4Lvr0~*p2WF+<@o2$qXK*^uG0gYsFO*V0zBJU)0t{do$p30&En4XQJmb|VtsN- z(6c9n$M4OB>!{t}%V%m;m2(F5?$3-Sq&Mi-yMMb~-PwVp?8 z)dpgL5*&^U8>5ovWiM7KnP1&qInh>Xum=mkRsA4(J9dKv2$4f=6gS>jpg zC5g9>u6pRih=_i7!_xRthWMEF2HxTEV5#w>%8pBEWB#nYcbty9@e2&+ZqYZ|9EIB& z8ne|EROT~rF8-DAF!0yX#`T)$X{xmAjE-wF*7h4Vj_5RnujDRsk)2WRlA1|tiUaA% zEfoCx=sSehs8k){fyKXGnJzrk$<6ro`G@YOp2p!{8{2D>+XH+4#S2koak=Y9^J_+e zRwPhmmTS()^-J&RY|zq$IP2dSg^Bd8zR3f{UAbW%7cr4DAm$C(fTHn;x#CRzw*7XaolkyQy~T4M zzqY$n;8u#U)T>UkLWzBg8JTcd@mubFO0J&Fwdi$kNyf%3Al~6!w*hY3%Fxv>EM^rI z73;_SDe%_*P}zj4BH#AbqpmTBoUwUUhTirp9Bay70zDUGqk2qs0oEXtg>x z?}IA^FD@%i6l|hcYV_E^}FXh$mCDrS!nMwc7k4d~+9rxQM(_R8BsThmRv3GkEq znKaXY^786S8Nmn4NRN1i#q~T=k1S5j4FJF+qS|9MM|A?l1g#@qS$jsR0yLw%Q+;`ee zl;w9OIm4A?%yHWjTT91{TyR?L+O2MZn3R`d_vT}L^!GN7@GDS+`Ubt)_JY$*uX4?o z+xdMcnDFxvq)Q9fyejkBZkFW^obip8+mX;h=c|=YfB)N(7JG$Jme|>E^29}LO75#B z?GxQ0Ge1V-;AVf_%hSQumGG0h-4z;y%%5AtNf9tOe&Q9!3H>{q4N?BZum|%>XtGh}$Jn5!>JbcDHcH-4X__pU zoK2jmR0LoRCzPU1jklkRGEe8`oXtFhlMJCMs-p)A6Y&m58|OZ8EKuL@8{qi3VD^T{#73 zY3#vcO0)Y!(HYN{W|lVY68^imbctA2tO>uU=L@CoDLV1EhJhZ1HorcF*hm?YsW>iT z&u1W`xS-ODyUbCAn^EVxA0j!v1gtd#7c+5L#z}NiKbZ3q7s`@|ifS_!;pD+IDjW$P zUV0*V|#&_v&fC^>>5InIGVaHl4ky z>lTiof4&?Va+A028qOZ;7RAL-mkvl)3CCuLR^RSZE3Y2tM(_H|yGV}KUKxzk7J7|e zI5}M2wP!0vvh6GUTC@8&x=zo%T21kX zX4cwYfYb+@#Sq~UqBP&@s^GiBvGwexC z(7O#E0>{&PT zm>0h~w0HCZ??T{dYcDnXDj$pEE6K#&YT8UzH%0HZ-bkPILi1Obx$Wn=)*APyNB?i>I#2ndn^K7)WD z8Nf3L2$BIhgMc6zfHMdPk^we@fFKz_GYE*00WgF3=Xe4X0|7D|;4%mZkO3@%fcO}o zG6)Ed0Vsoj=onx!2nddW&LSW-28av-LSvx82ndXU4kI8g2FHPFATCCrF%T9bz!->% z5m*ca#Rw<{Vqydm10gX2hk?#1K&KH94+D)xKsXG6#)0r~$$(BHAQ}cbjeuYn=rjUi zVW86p2!(-8BMwQ}InZeY#KAzP5fBCgjYdEe3^W>tfG8N~Gy;NPpwkG5fq_mVAOr?F zjerOk=rjU4rvRNsK==!E8UfKS&}ak%zd)mrI0$}$P9q`q1v-s{&==@55+Yxq)5rtx z1&*s^Ky*lXL8p<>IR)r65;~^;jYh)2xy^s+L8p<>IR)r65;~^&z8jS=S^S^wc(MYf{54bhxG!iqn*X(V(`0XmKRE4c^Y90_*jfeL|EBjKpSzdr$-BO&=EfO8}y zzyxrPgd~^%&XJG^6TmqVl3@ZkM?ykO0Ov?ZiV5Hxc__w&b4&0k9mp|3jX_=i$T4U; z@*h10eMkNy$e{7ae-s&X9{GjXaI7dPfO#tUeNTUhh90`du0h}Wtl_r35Bo5MP0ysxPLQMeYNJyy(;2a4l zH36I>A*m*Sb0nnI1aOXo#F_xkk&s#wz&Y|ixeoVTA_or&@SrUBU8154B}^<}Xkb9g z9!@4`IPCBIkl3MjM43r#bCtc6G_=vn#CM%kKq%yfJ!@gIJ*(P-B8>*xq1IywOPiIP z4%|X#64Y{RC!W<^xIQB@l9bKi!BTqfES;Y0=?e;3Om7P&c+^f#TwyuefV?aA+pP18 zv|T?Ec3vwzM$bq^(O)a^Y9en1Lmca8!+Vp1Ib<*56L6j0N%Iv_MuL7tXS+<(LKwn2 zvm9|C-Z!Cl_bSoKqOYsm9PsKB|Rg`Dr)JQXm;(6vQlo-5T@N3AK z#8%1|1$R=m&=mJpu1NN9Ga6@KC&%_y2B*(iDC>dOIAK=TFW)J_#$Iy9297!9#Jxr#O@sGBSu!G+Hy4wIsFhQK zc%!IWiMwZ%qrKGSmzYw5J3l+p$WrPmqtf-x#omA4NH3t=z%~_1>Q3X?Xnds3N}&2n zpZd9?mb{s%oXes^U0*#$T^(?1GHGMJo;TnR-jDc{4;QM%e0>mr-jzw!dFk#J;~-nd z>pp{vDR3LHc6DOh?AX$KN2wc7_tWu|8`t}7y^VM86!`US8M|b^4DVjVmizXkXP#DE z+4%N2e#5h5A`qGo189b z_ha?d9@N86+6XxqudXN`FxEe3M*Lysn`eGb;Ubqt9<8s_(>NJagfuREyTI^Ewr1{; zyEkTkm&dr{Gd2`|^eZ2)RN#im$72EE8N7Gp8)y1uqv!;iT4h!k)fECK*7v!&%RIQa z)$cs8wf}W$yTdx}@vhx(&NNw%oc}-eBmcOV!!e!e?>9TZohe{W7sdacRi*pO0C@bU z?-S#@eW_0o7{C_($qj17a^3)HA!7VvO*1w|3^+SK+)PL;ez})iwEW&p>g$|@+hB;1 z_#z?r2|PA|S_H3jlbY@C+;4l6`e5$=9Z&t=+;5pc%|V6$cSYcR6R6?kms6=%Y4Pt; zKw>cWli@RRsriBX|MQjIgK>ZY&y`0Fa?X--;&D=E_{C6v&BEWA0QJ`^{GACPJ~tqijKD99neL2&5&5g<6UaYzsx$~p=Jhw6z2!QmAUq=38u76gZ< z(I5%x;0}hr0|E-N1|Sa#vIZa#3bF?cLP0KoFd(2H7XXr>AQJ$R zp&$pD-Yxpo>39hJvpBAQ=j} z^n+w5=*kb0p`Z&tNQQ#0`yd$#y6S^uDCnXOa-pDWKFEc_LDzhc3(|kfOj7LA}9u$&OkC0G@XHD zC}=tZ$xzUA29lwm=?o-8LDLx+5Kz!`26CanaQ4rDfQF_skPHn?XCN6Gn$AEnG&G%o zWN2tQ1If_PbOw^4q3MipXAK$}&j@$cpk@BKu>|BpL-I=)5YUhS69xn{B*BCM0S$>T zVL(7bGE5i{(2x)l1_U%D#e@L?eJI9%2L$wi9RD2<(ErFWNQ(YPk3mxOKY|RBqW@83 zkQDuoB!i^re>52+MgJqpASe2t8_NiH)}Rk{`OkoWhIE-QAfO>(CJYE@NSO%(0&uYh ztA{WkpdoE03O#U1mT`9kQ5CGHVh<1Ly8RpNzq6|INd91@Sp(?TJWF)4|?!m zD5rbHxO5pm=1=|SG~y@&^3V!_e;!2U&wV)f+Doj|xTobo$CK-%fgWV*bC1j_R*jpKI;uyL zZ_CNR*M)EmB<~%liK|Rl*gw@KIX^pc_d!)+&Qp1<=qfzhGs?D9{{)>tKSvS8hiVcm zbTlN~6!f>*CQ3g|Q60M&Zy)qARg$y@mBUR!wnE2DayK}=%$_I6MGHwX@Bkc32o6x$ zYn1)Es$cbBLTHT2UcZsK^>&nCEUDNfV@gjwqNu5KTohNchLC8>TRP&)OBCPEJ|GFE z($_iDcdMO^X|(XI{rie5RM+stWpXWzvr^{j!FCJr;XyYq|Db9&7>|3xB!DSW_h^eO zO>I#wRGkUF*NXZ@@yjvWSj|95?-4U1mNlK0r`7B_MQcj+`17v2@DmhIu#*CQ-DFgE z;fCp`bS)gy%@e`hOtO*ZALopFzA1*^hD#QAa-UE6NyFWWx<=9JM?uDaiH0QBa*8gt zmP9uC_N4}jbh3A$WJ(woMhv}FEWA5}b}EYW_DDLhr;t-nm1Z}FRq6rUbCCs8f6F{U z!=&V5`{vl-h_ZR9x1rnS8Q0XWBh~xU#U|M2I>sV6iTK1eMVl;3V@HP-bjlAMQCCB^ z3z4ZTWoy3zPVHrHyJ9jYuUoq?KF>8g$lFag{aYcW zNo3ivMg72sG!IvwoxaNPbLZ?Q|LkvB};ih%lF>3;j)`vEBBA4mNVdw8vF3->t!;JoIJD1)@y08D?ZT` z6NXg?C<^9?n$|t-=6EVsVb!%UKl7u8-HM`p)J`+T zhWzWg(Zo#FuzNwI|;mmZr*G9^tq_GNxdn=bK9jpW&+@cLy*$2DFR z<|cpi1^0Jc=HlS4XYJ&X)LHtFveT0!T)H-cQ%l@n%ScmkzVz z26cU_YVeGR0k5#cM)Q;e5g_-yX2dHAi$iMg_N#2cDnT~w*6uG_){lLf$ zQ7}=H%uS--Bn%1i1~y}(>s};H4}z&fg)146&6#&zRklcV+!~O(S&>*JQ{N}G`aCcV zzkO+9{-a%ibfocE*^YuIBb)!8@#?O}(BsoCeCr(>Pse;zc8lWYKXyNr?s!snl692Z zYpyL}jpfu9&cU=p8eh8OY2G0nbALzHbqenwSnsm&z$TjG5=pbPSW;RwZ)ApLT=NI1 z4!iHMBF>CAjEyv3x8H1g%`g4z)7;bKC55p#*H-f~`Yp|J0lqENl%Or0g2QmEcg;X- zbL$-o&xPIzcte|ZH)-XxLaaIXANQs7WpHF(AO;2P|%T{%XkU4U=lBG&$= z6$6$VulnhNo%uauF3-xw*zYIkDk)??I&(;F#5gw4w04QJ$A**BR&wdp*$q`m=`u8b z5)xbUV#0M;vW|@0I>v5cv7+?y(CE`hjRBh<3`iAR@zv4?CWu)ZjE zGyUD_>g2a~53OHrtgUYjl`pz0j#=^PTb~|Ur~b7zIXxXc{6OAQW1;ov);RMlrNzyJ z)@FTh?&v$yJ)DAjKfFJ**osrzBT2Y?{L&vZ!1#Y|2|y$Ne0hchjrwz}kALM1=I_ko z0yO320!;D5cvk_Y|7d`wAd_M_xFdjt7#}S3_YWEHydq2sc!7QsHvBPBCPu*Az`t50 zQhr{PNsjB!mu*PU7(5K4Er#z@WD>&Dh%)`90;FgRy!`fA0Tpt5lp@oAP+&n3d{5?i zkS;x*S&2!!d|QoanF?>B#&nth1*q`H?&)&jpR0k_*jR)633}9+#LDs30zb&{^Lk85 z_+|$IZc7j^W2ZMiY?+uJ7=Fobd13nZ38E;^HF_7;DCKLnNZUQC1K(-rrPz>a{ zfd$1trW-g=4CJ|i0mVR;8~9HQ#6f`l#6W%KyI5r2{4e`2G$b;nQh=a z0RTHNvA}p@Agc|0C+5IugYRd7Vj!OlOeY4i*}!vRAeRj+Ck8Uv1WJH`Og6B&7|3G- zmy3ZcHZZvu$YBGIi-G(#aJU%AUIT-Rf!sBq1Q^I%14@8_yfuLmU?6V|C;0w@6n!XSVWU?2Q2`~@_0h9m(VGuwGFevEue?SQ^5C;L200VIl zKnXAq2LY4-191>Q2`~@`0h9m(aS%WWFc1a-lmG)^5I_kqXz1%dfD&LJ4g!z_2I3%q z5?~+>0w@6n;vj$$U?2_xC;#JdfSmtO0u01KfDB?F4gz!# z191=_gcyi}042mg90W)q2I3$<3o+0kHGvXfAPz#H1Q;y*kdhFN5iyYb5-0%%5?}%) zz(5jApad95gb9=Y1IaLf5?~-9CQt(K4;&qQ3 zkAXH~{}E&$j@W+`8K@)nA4vxCi2X;Cfj(mY5oI8dfD%D<0g1#O>hd2-fQ59KKnbvr zFcT;N7E)#cCBQ<`OrQidI!!o6#6m(%pafV*sR@(-3n?{$5?~>z zCQt$_q}2pUfQ7`GKnbvrS`#P%_CLAC{YMF~kYE!i0Txnh0wusgk_`j$iG?H^2ILb9 zX*LY#Cl(TI7!Xh_q}ni`pjb$@VFU@qLc$FLB8r8S8wOMq3rRN&$S4+p4$rY>0uN^J zU@6bBX00TA51DZ8$%ux&Cj^Mo-|q<#_=FJ7dW!q?^4KEwlAEJ#k?G|ypZkcc{HmE> zeb1{!D{@}bWF@ZtaytLWF|qf2hO7!Ws_CmOzT^L*(15XB9sH{slO_DrCwi7EBD~!b zOy`a7<}D-$&1cm-$&`3_E=HW&khmCT(W?CBMq1dg#N^{Jg}hi*s&SSEcnsTIdV-eN zQykH}@l{Fk>_X&gQz{OQ8k=S;Rgy}liWd`?I~$D>1xF~=WBQox+a&noq3PXsNuD03 z`>q;HH1#G&h+l(vmTZb`PO$y5E+3<^bDO|xcXInE0nuDNXXORDiZl18%;NdEs4_Wd z1#%^?d`k+dydmQ{NYNpv6aW@W3$1ZfmA`fauNlCDH9 z&oW{X>=4!MbX#`qZar0gr*JFJsUJN$(dmYI9#eFR%%1ABk+CJD#e|2b6Q#X=H*U^% zc`B+!UCUOPRa39qIiRhL`(|dn5`l}=E#afrgymi>->%^fimNNCB`q9R8{f8PyQmGjkkMp|b<20m^xpnFs~Z{QU3V5U zKNfhB**|G} zA>1$Vy`eA_6>nCpb#?vZ_cgtV9_$6h$9r#EzG5k~8DppzUcD=_Q5`+~-wP(_#W?&~PPAM*2e%O0n@$bWC~E$ly48QloTt40wcv~YadjntP`%wdTO>>NUDoXT zGA4V;R*^(h5@o5#Qp(yS*%A^N(S{09*`kF?N=mjw$xn7I6tbkG{^uRsd%yqp`)-`M z!#wUg^PcmZbMABUSNv27cdy!|<$QYM;|HGm$+z?U23`d`Zz^i?|5on&s)$`xOH#{B z{RaE5U|pfzoUeq2BX+Q9P=gQED zsJZi^=`X%`aLj~od|$ya()H_u$G0Cne|vYn^Zr)KcGUUdAJAZ?OUnXHN2K5kTNV;I zrYGwxw3Y)0y+TJl;?1+jJU1WU0g5OusY0DN$kV&9!D%vpi~oP!;H|W7@XO81_qKFD zPZAf68X6RT?RMnY!4OkdZ_=~hKMQt{pD{B3Nl&;HwV}OQ=We^MgJd^DhVr;do&e`34myGa$qLomV zjJJaUMN6o^UzWK}k-Yv6<9j#J>n-92yuX#473a@O>4b)N@TjgCj@lMn>ODKM>K+{^Lmx;n$q*ZN4! z5naa1jq1!EldnxWrL?x_b|lZQ)2Z*Rc<}5D{Wkerhp*=^u$-;8T2{A--@)U?vVES4 zCp4lYS*FfhYBy;<+hWYnj8z!!jZ!gWL3$8HqX4>x!Q!6Ui3UsPb0Q z%-HR4j%QgH{bAF@K`F^6YI#bGXYOZbX9v?Od!3IlOo^1W=RZ{L*0ykR1kvU!9dTjrC>oYtq;zmDsD`uXNU;EnK|kN5u5 zdi9GhV)&21#ZM2vy)PGN$d-PZDfI97`#&Y&$12IevDYUHNe=}k3#kp&<&$%V^k)W2 z_6t1jNlK;vepq4Xh`U-+?R($huAlmShj$+(v|h2#Gu z^~%?XuH<93-JRW`Fw7S)x-ZG#N8a4vz{NlJZH7&G5Y&Jgl9_F0VXZP_2A7?T>@3%W>h1&HpGS)~~+ztXbnOta(hy{QHN3sy#!i zW&f%i<^Jb!|I4GPZ@twC3EdX?#x=VPYVKSM{-oG-EUIf{=)jXx*{_HGe!A@%A*i9n z;#Diw9mSN|tr=w%kG)l6a2e={v2RlYiu|d^7uRN^l$rW zA5W50hk`ltehR&L07oABB=e%o5I5D!pJx@F?m~OW6@Q*m0h&|`J#>3;jSDDHljC?~ zs1E4av>QW?`tvL`h}g!V4|*%V5VbUphmRVQ#KTGLh~ts3tWM(LXQ7HD!HxjAAjt*k z7c(l42n*ITPJ-mq=PNvV>@aD_7n zi1={+01B$=IDG)ocy)|D*n^y^I)OWY4y!ui4vV4&5Y2;)HIYCx4<^<|0?|B}SYIbZ z^I$G@Z`eaL4C5Gb5GAXEhI0L`&rW6Tetc`&hZ97OYAVz3~Z2NQz@ z(L9(KEQsd8#9%=*4<-f+qIobeSP;wukHc%v5Y2;)CB7h<2NQz@(L9(KEQsd8#9%=* z4<-f+qIobeSP;#FiNS(s9!v}t1)_PdF4Wb%YaG2a6w`Q>?K_GkeLA!g9WJ>Ffmw=n*kGp1qmTAF<6kC0iut=g6s^K z7%WK7fVl_@SS=)Iz{YSvh6YRw7Nlsv#9%>=222bVBx%6JU_oXGObixeX~4u_L7D~< z4j3%R(`cwu@PrU#YTz_>xgb>oCI$;~HDF?}AXx(@1`Dz^U}CT!T>~Zt3(_@UVz3}z z1LguO#A+d91DOvD7o=>!#4Z=)Y{0}|LDB|H3>IWK2U=eae2o|0sf?XF(3>Iv8$i{HNUW0557<|T&jUj^%7qW@X=?EOY z%ftH#+1N#cg+w;Cm~aJQ_6NS(19D_zmkpkaY#bo$!C>P6(UuSEk0V5zK6=%q?s>H9 zqgTaj0Ek`{vjHG_Rm=u}=v6Tr0VM4Fuor`k1BA_3LxY0v{iq!s&f^Ht?yrIG{wR|K zHVzQ&|JW=P)MSnT;tl{MlfcFSA{T%U0m>?YjbB07oIz9vcLpf01U8Nkc?0yS*e^r?ad&`HOJL(` zj2r?=Wi34)c?9&Tn2iA9E&gw6bQbml=n~>y0cDuL#sMO~fHGRx^ASMY zF`y(9*f>Ds8cG|j;0eApMh`a+zYhh17mk{?3DANQsDK@=;2M%61_$t#2_%rD^ za9w!#i)lF}MM~G9F7s6ppSF+g65VP#c=eRV`0`+t#4>-I1W~@r zaS6iBXY#n3QhWM^Sof~7J)EI@@~P;oZomHCT+5d%1D9G}J)!v1nX{{MO#q86dlq0v)zDeeYl`-_`0TzGuL z_Z$h_(6nNgPDq?~ne>M>9;I>j+*S+jY&Ke{RL0q+Uu$F=`u@dKCo`j;3*E|9M#Y?h zrgj&Xn->pC!{`f6ilAKyr(i1_8l{|qR%M)mFX4Lyu9)TK9it59AB!~AHAmEUIC)ek z`SFdY^Yf29Sy|{DJ5lTuy8@2*r@|ePx9-LSNxa|D;l`)j;TGxU9Lp55SBzgUDadJ$ z9z4+J%v{kL+7UTed>I~L?1;4T-6O^!7#Spy;uo#pGvUWn zLy!vPmDNMxx*+3`%#rMGtm2Og(}O1uoa(8W9C8(S+?YNua7$N>ljB2kKO2+W4BJ+v zy{5VGpMvk_tA_b_*oiy7vj{pIqQerd_0?V^=5Z3&*bJ6u!`uwLYt z{vj>om-Wcck!nnu?6VHO`}~r2g0K#&opt!Kx(Q0~4o<-^@yFru(B$$ih{c8Ph)UL- zBi|(ZX6{j1>MZU&%2t+{OV+*f{XlN(&;2W1_a~4(Y?&)iziD#!f>iB~ik7~l|5^{U zb3Ac&WivS5R`gf-Ra8aRyY355wZB#wC?+@5YBfgX{MpjHJRn9@)?wZ9>+%IwSJzuL z)m`*p6AGY6mpoQ`RUq$LnRiS6MgRWCk7ldy?>ct3eCx*fO(!J&9$$9hnrs}4fY_7P zSKRd{-lqR2U7xYqV!4i*$|YqDtEg1EX;qa6*PB{K|3vM3&FLZ}B9p1Wp{y2gq&L4< zvpX=1ks7vAtM1fiyLuJ7nguSlrK+6~Q2 z?;A;S?dos4t$p%>r$d4b#cpQvXNqOff9k%#_#k$6^M9wlTN(KgDeeq$m?=au%IU=s~|cy)Pexrqi`nt+q7_ z*+CJ1_G@0out4>owq%RB@kqd4&8&*4?C)Jcq{5fib#GTrR~6g~I9Kbn&x=iptim&$ zlzKBa-TS|a{fB@5TxOBwW=($Z?Qrgo^cBHP@5&zV*jhM^7Ve;I`gkQSIp`fpC4I-* zf|(m*=5lShKl9WW)6R5thOQ`j=Mogr{yJ3a`0^DlF6^^=Hg!!L`SY~*@=2x5&mM$a zzoIm6Rv_2>Jt43Af&JA%vs9z}-Wcca#=!@<`2L${Q%rzlDfk(Q?OW=Vn z@)3BPi(D8UB-E;o12FF5XS$2I8gW@jEPq0%+{ zfpnDAY?-l_{n;FAM%oAJ*Gvby7hX0QZRd$E3*{z@C<+RFk=d~Bs_;e`V@hSz{I|(_1s~vmVua8^x_6oQ^t}YqU$CqkCXYsMp(1ZuhrUA9rDIa!iO>?)R876+7_gd)9$sW0|rBI$xLS zkjYpRfAJU!kEMEr*~1zi^?$2hubv4giS&`k8q@d~o_9!Ho8cyvGex?~Hl$=ZR|hoPoX1N*f`x{f=r*Bzr)dp>z^%6hHiRB-!r? zG4hJ$*x{Sseh*PjSH!ga@+fm*w@GjF>}h&c;{9Xeo~`~W@<|JmmB7rNzN4s z#~Mb0X)}V zV7(%1x2Ut&suxZF9^CVzB#*_f-SkL5<43`s4x5X|uQrA|)O{(?6!}|L`r}fmw|JV{ zEGJ*qtH8dS`Soo>;i07c>E0O|4DTQM+&h?Nq|wyTLJIbqk;#OW?+x$(S_3lo{R7hXf6Uo zAh`$;f#V`b1d59=5g0B4g(o->f!3t)Tig?9;`|nQ0!^IWB2S=+lUw8oG&MD1ulx|G zyz)cvkuY_lg&(GZYEn%zK{5#zOPh{fQVC!^@~a4L$f0!~EHMZjq&x&}B0MVA0)py&$V z{1aUOoPDBYA#hLHvJki@`uhpg6X78+PXvg-I}sux?L;O{ixDO~Cy5-iCZ3a|EekCt zNmv#(V zxrK$Hn#xG>F(8Td8X0AI^eK{{*U+SDsBY)2eB>njniVP4yrtu<%sC)j%K{%D4XVav z19=V&{0rTI&8&)0vc_)LkBl~-2!zjDtwemV&8SC5!TO>}O9TDBSzMp55 zr}b~xqYHaub+5^oJlhbsI zgG+%1A&xc@u4%QryF?@7w&aO^R#8liuMT7l*d%dN_V#WTTk=|pBs~k)?f3&71#D6) z?eh6oHuC*_&noGc-8d)3%Rk3^>Zz3L`B*oWS9`Zuh1j{d>s;Jgvpj6eh7h{vKNa(QuNq867QR|9{Ujn= zGyhr@{Y}L?+^1y?j%;SJ3ighF;^<@ceorDpJiGFxzTBf3&sMINq~s~{YIEAH@h-?@ z7i8rNNmnOmDVsqo?src}cCnt*wt=k6)FN@I2ytz9LasbpOuR@3zMCC~mn< z;R!c&<@PEldGR++H!kd@y%{N~Ty5{!>LI(%`lzt88^0PzC0+>9wO8KIk<*vDfqBn} zY(ic1-@)?f-q1k14#~U~6lc+h-(T`WCT6Ox4^NWj2lg9}blFXMCl>|ma{E`-d{pY6 zONviPPxlq-g(D5e-x^%JwKKce)Anyf_)Np-+^^18&dS}ZAAc4fOTN<7RM2UBh&rD` z(LZoQ;7(}!i4bSSuT|EzJ-6p(d?>%xTeyD;2`hE_Sy*|*Z|q)J`^VKflxD{l-wu=* zWQVyLW_}cK`1C37n~-)Y-`LxNfQOgw@PCS^6z=`+&7_^y@fGpIvSRMRmUN9*N>&R7 zbI}Eecd5TRWWJGkwDd&v&Zl#STk~?IHTnyy&&Bj8bBKqN^$*_J828#R{C#yKGv}UP zk;@Xx-bax?NN>8*WYb|HKIne*FXfuc#j5WsT8s|NbR1s6wUy=E4!6HHc2M%NYRAFBFGKzJC@OYr6>see^ExB zhktt^-7KT@*i%%PmH0o!Gkt^L|hv$?D1-akk#n*aPa=vGjt+|zQ(e+RCped;dJ zuJgEJ7)2#y~`Nuo3_oLgNF?I3BPkUa>I^C(Am3&e? zR2n7_@YqS2vaVZS;d%D+wP9}!_RnNl#M&@#tqie^l`K)%mExr<8OC})GegY7X3Z@9 zeZy@RG8J@^9}0-+?0xX=Z+JHI$rW`X$FB6Ygc<(a9^ppaRA>8Ou=HiVA+uLbLRz@S z%jkoYh+l32fh7m}tnTR>2da}o0yXm@M$mg#o@nazYp`lZf&Q98*25z<@)I+OgY;+&X9Ti_ON%9`{nYvWEZQI}F&-uC~ z?`*C-`&?CLC_U6={IlvBGta?qKU~}-Y>s`nb>m(!rJOfLhq>&L-}ZZ@Y_%JEb4@=L z`;{y5xXQPi`s9q&ij?uFC0B_srS^KyIw)(8%uSlVa`RX4D7f+Ml)*<|>MW~Em+ZxY zLw_#HSY$nnV_UW{z)3CtXJgrRV{1x$)|^-LfsZWTuQ)_RePp|OZ#a;AGVlIw#hS!J zs^0!_*UrdM?m6G}3w;ncM$WiYpK>CtJkU7sWa4R==B}V)C7G2Yec84lwp|0yH?`XI z$Lk1lsf}(b_&goeY3;vBe3!$npKtv?S+CEWnh#h%o*uVT$~RuJD)-?!)`NpwTEp&x z9v3I1C3D7n9vr9KF0o#gFvflRqRM+we<}L4(~ZW0Y5F%P-n)*FX8XpPI0yNU8b05% z`RuXJ{fQQZ=5JdjHz)lkdFa8#&GC_XJ9~rD{W$bCat8#&*jLqXJ<_*Wx2$N}FVPda zbZ=thlm9in&$x4}zrTHXO{>JQ&>V;TDJQ#DjB}9EKeyyMJUZR`ne7XI)2tHn>Em?w zzQqS_$Z*i}@(LWUT+8D*72GtfN|!mbvyR`wn6cxBbK*eIo`@AMDMIXp{|tp4=Z>|i z`=S3AzgOw2F#E;MNMVwGsmD&6z5-rwF?_stSa?0vE^h_N8j|U>i~*{-qcCHkp0ZGZ z2aA@-UbxKy((JT|5?K&tERM547K9lv&SEjZA&jzsfPyf}0^$kcC<|m^@dLavVUz^~ z6NE_?5K9myS)f7AU}37->PlG7yBJ7AU|WOtnA(4q>bX3UCN>El|ydFxUc>Y_#wS z398r-CR?C_4Pmr}CRD4z#;OmfTtk>{0Vlx3syC=uLzr)YYBhub7pPQ2m~eq=_AugN zi8i1@4PnFuoB$KvNQ>PPs7ynca)GKegfSPWW>1)Nfoe2_K^Le*Lzr}dDl~*q7pP{B zW?d|nKTyq{FzZ4as&!yv?<-WZCycv5#Tml93sjpS47@-!d&0yERGA@+yg-E+!psX) zv!@NcSkUuBRT(t&VyOoo)$9plFHlj2F!uu0>1)Xfok@I*%zp0uZ1TP zQOzDk0Aa;cRI?|{zCbm5!t4uFvnR~HKs9^9>aHGAUh3pfKd_U@w9?1|GaP|Y42e*pz% zb&yhn2e54dT2YXVeI98wdo(g@sd@>g;5>$oR z@k@UJ+WfU)kH>5TkWeB=+rKuUM2_}K#+2UPYKwBGzIbp1VLALe;^wNh&%#8))oF(WG?_*xCaCwB;+dK9N74q5P1cn zzAJJI|D*7V0OCDV=)MrBxMLp@TFsuQ^NL){IKDH;wOp?}FM#{8o zj%WFH&;qlnCZ#vWUFUt#R>AR~!1}1HMqEbZD9L)o_)y;CBjl3RywEDpk{Mn{G1}md4BKoj1&?ex)$8YCMKNz2&Om!{XabMIOD^-m>v) zXTLo|F@06km+RD_yme3G{BmixO$S#-*>C7*>DQin;-93WzDrq$u9mvt)`>o`gR`H% z$n9a=!6FzbOmBWQ_5{}#ySl`wRq9fPjAzU^SDNRnRhecgyT^9~-w}i_|(!uk+)Sgklc1jhxIe*JBxKTN&=e=f*09 zZ3a7!S=Y(H&_M9AxRW(Ke2o+rKV!+sX?`u1S^5n_!^Rx=+FBcx@|o*N{S?cdeWA%A5uv+YgZkH3hwUSw zANr$f%5Syz^=>K;RvB`<*ZZeLmwCr((P>rHxGGA>O$VJFI=*)@4UEhGIGuj5-Nl9! z6q0k(?eQN`HOeL^=^u>ps`aeMRLdN@`CI)3W5UeP;PS#-Mmj4E@&l*=E#(hJ9HK%g zT7_A^%J(8;$oi zCA&s-nQo7b*w;U@XRFjNo#dTKRQT_a{h5lM=Si_zRRManS2#Y6dxaV954i4M^V|AL zzs=CwyGK-98jSA>Qtwu!rXNavkbe96!7n==aHiiLn*Xcx@6PIf^lKdG-KizElDtsr zgnT$3lsa1r4dg4cq$Km`s4h~HM${8Bl7CQ|Zyh!H0M86HR94cA+Vcg(@m*$=zESV4 zku<4<8xT0?(9hHAv9w#?M;YORt&Y-$ywpTRNlsc$o;vh>J!j<`Mad9B+FVI^4q0m< zb9j2aq%1X9Q4;Q!=T_#RW-3Z5RQ_HsxqLZw<9bPBsG2I1OdnRn)fiaQa^y zk1!K;-b&Jx>ME`*MBQO6$xlrZSLUGCUKHTVYJ-s$)LL73#-mOHVXEjBNkQskM?kZF zi==$zjHBcXGu6fsPOG>|uBP5}l;orCv0Vk#0Uc^&+6sAe6a5$y_1kVh05{Q#(Cb3} zAKgO_43D2`=_#p(i|!e~Eo`)H8*w(+0v9EEkp&yzqC_vUVEbE?=tUN6emd$)RRw}N zFYLMmbzazV3F^GC;S$t&(QDx@7`+zmfYEE=?iall?tH-yfI2VcIT5=f$nzpkPtfN@ zj-DXUi~Kx6p%=M%f4(e`WU+-==357PY~)w?2e$+ zi`+Xwsuy{8f>tkb?gX)3^&)ppQ0qnBoS@c=oH;?Q7x{96 zS}$_t1hrno?g(nVG)poW}to$3T#9rLjALh${p?=sazSDHyvWD7k|3hbQ27 zuYlJ@HqKX(dm!k!f}cS)PNAcoQz&3x}KqLFpB>8G?=HB#^rxsJ)_A zL$Gmx$X^f?Us1au*f>DsF?1I_h7tU4sT3be4UmLG3Jz&FWZ;m6V+|Z~aLB`<0Ec2F zH9(0Ym};mXxzx$`MTs4T#xIOp?K;F`wJPGuozEl_`G6iZ7D-u+NP}fu!#_^soGL41^3vv$?;h^h@X&PAE*BRUhrAKZ?!CL>t(69>w>FKF3cY{r+!pXE zIMHgvYL6}>cScjnDfeyR~&zT=7 znTZaMwv+`ZIvvp69c|LMCjV?fr`fDUW3ecMj!5vuf==G^Y&v_5LJm}zUpH&)xT*Zt zDX&x@X*+qPT)sQKc2~ajDx0mc32e#-H9S|!n~tf!jW#$$EqNLh#1qXtd4q*><`$25 zjP9G047z#I%>GUBqCWRzs@{CNId~%UX4qy zf8TaCIqp7BM9Eoq%Vq7+%EfF7w@r56QzoZ~7BGsul-@kb6uw1DfREm?Q6ch2sT4(N z5C8pjrvsTnczK4-J{>=KG(qn9MSA7gy>1Nmms>lUxSp$*_-CqdX$#%eVyQj!9}jGe z*(Tv(<*~ImMLFu^+GTuJHRdxn=$S-hHMVStUiRwrnW^*>If5rQmaOzWJG(q>J^b?) z{ljm@`>=>5-fxeU#H04fPYz?Xzlt2IDb${>?NLYHcR2X@S$y%`Ssgr~KCeDcxnh1{ zh&cuQ_gMDi_M8e%sgbx*TRGqME-}>uTb)X4DYngj1^?=<%@RpG&pglBww-yNRD0p8 z*qITluJTU~e&gQ`DhaDMU*G1nA=Lko_efdP%Q5>6`eP#lo~=#I?E{x4rVh?u`%0DT6etnnFT6N)WTgWlRwyzQGBa|4kv9jMM`vivk zWBOCPep%@S>=Qk-zITQ3tAW6Djn(4TFCV5=r&$RY7;#vr|NZgyJ1YlSPr>E3Y-7+h zv2V(qNzTWPmK&|zu{Z0OT17~}an~6kxo*nN8S-!y{|&=Eze69Z-_KIlh>82PBjdL~ zMpI^3l)`^8E4Kf4SG~HbzB=rbLU(#t)3NE#b}#Nl-HG=5C*}F`M)dW-gTgzyOrKu* zEnIX(cx|Fztk?8r!_31EAGVFP+>5R&_Xrt#bFbR;AJ+}r*cU6ymG+1EgZI4txbcoDolceej<7TJ7R{~fb<`iwT$|PIxFUMBwkWIKoha2I*&|L>8f(MEF3rU^-AO)l z*FrVBHafJSzhamFkd1El$<6=FJlg{Q+w@-W!s8@miq9#ZyY{Nm31X#Z3^%R$BP>+% zN4ma0Xx|rB=i(9Ro!_VpLSO!PRR5Z~^KR#(q}x8*{FJ(X*fyF;OQ%S_9C3Zoct@g5 z+19TP6U%dlhg60egPGs!#o_H+9oRP3@sS0uv^I8 z{XjXEZ`3}yfueOu{^7UE>5krSO?|!74>@6AE#b~Rzm>FyWbsHv?-UXvQy6Ap~%ly5e+ z5#IFn&(_e8t0}(XoF)5P?w(Z~Vg2RJAm_OAyYTK)`c-jRp=u=`gx`%zb@y%f_%@+k zw<1Ph=&0HQvyaab+S4Zws-3=HyD}_F;NN*pI^$&~ZtqUhD#ujopGq89Q#6TkUgMCM z2AkO&h)|wYJ14b)J|)O_X=s1F)2>H2v(#*Ta`5Y( zbG1PUx4GB~4Nn(*&USaVe*Rqdyo%$tb-M=ErMypKol%)d^T~Zvx|i3rG>muq1(IEc z+17yg8>O6OeDm6%@Og`V z?1c}e&)+{ZJAa?_C{A;>Tt1cgQM^W|prR+I#q;r!4VS)r(((FJ|Lfx0-jWro#^1}Z z1T%8o;}hZ*H;p@GaZai)<(Xx$44J!OebQ^P!hvzULCauXGPn4Kq!Q&o(O_*dhe0M~ zm|1*tQq+LUpb6W~K|S(%lW$k0UMOrE)Kl>sG||=yOv{n7a655PGU?Ka44z`MR1Ma?YIlE@vcs_5T&HS9xGS^xeSe`NjeRQrEkE;YTlDGJ z*mt|+dPHw!CB`b=6gsb3^6!Ka2!Pz3P@*N~=BQbdO6wOAbL~?~cw%mh$~~iG zTxlz(wVaL~B$!h~;qHjMS*2AAG9n*mmFfl2z)N0wlE%VJ${{XgS!(L65-kC@ids3V zB!?1kjLWIlxRgy%0#1a=!mUgjS;+xERq6JIX+0CwNf1s#`b~sdDX7eg(r>G%U4qIA zm6zHKdYP!=;&7UldpjnsEJz*iG+<+dfJBQb`5p#js5xkDVW#HGD6ga5?=ujC#??k+R}aH zm3NXATwbFP5Pxzz_hBZ=Tmk%rrxITa~xZ<26tz?b!L4N%#UV^U^P3s`}(GR z0#7pPRd0&MvDuJ$Iz2qfSAD2833G3&w7I~&>9=S|hM?>37VY~}HIG@uf*B>UrzGiL zKIf2pe~yWxEHZ-5=%VN9T>lEnR84Hcbxxxy)d=t3Pg6T5WhWwKHh)QY7a6-w>%5V6 zuAA$rWT#-W*|=!tJUKpb=&oq6IXQiJKwboPU$Sw4EcX_PYsEKdB%CC7%!=Zrdm)UJTz4&HBY5!BD z=PQufc_DPB;iGr#76E~_8PR%ctq0t1i(M`&uMy}DZ(Xf=H`G<9mb2K~D1W^+XF$a> zcE(RHr){74N=)4D4;foAv^V6y`mEKlUCZYjE0jdk`b3mJ%K7M4e-BmmNXqs3;^mRh z<~~s~>3h_|LgZS=&$W#Wg>tE%j<{Z?1aQ8OYZKQKGnTcf^8c?U{;=R)cwjuU?bqN- z|8sMCediu<3ah8%U`8v0d^yQYK=Ua9-^%_U1H=;6c3W|QMd ze1CSmYGAmO@lZNHZ=g)JLq{)3?PEo1nXQ=O>c*NMr?P8V=_(?kq6$49i`dG^MRig- z%RT;+zBaU-b!<(8>?|eY;?XOD5o2@H`#!L~{C!#3zVqnl=VN+jc}7Tb#}2P__KGc> zoqRo4P!mC_D_`+2qvO5XcvR=}uF*H!j~+UFltfC^Ia+t(>V%@con61-e^c8%x!-+i zoMqN(sLT+Wm+&N2rUiLsd!=({2>pxj9Q;8Me0}!K&ewx0wFF3BM-T6HzGFG!IMVq1 zUs$zJSk|STB`Y1nWglqn_VHl+=X`V5MA0@O`wN2%M-HwKeC;`T$oKG{0L{6Tb0Zh^ zKT0;3uGaC(n)e)QNn2j|BGpE0?ZJbO)=hV`i+?$4^KSP*aG$$xRCM>UtbzmPH$$|H zGYUQPDVJ5$l8tSeR0Vv$9k9<5i$3A!^PQ8uPS~D0z$PB9aq;VDn_@Zpx|A0ypL@IR zec|8qHvW#)^LC9NjThfa)*suO@?uj0%P`}M4OwTYr=(?u<;i~-J$C9>nkpw>pb8#L z4CTr?;JSM}bFJpJUHbR+)72v1Ppii~Ik&5$^1$)Ad3jDg)8+ck>-rfkmouDR4+tgQ`7@OyN z)F;~S`A3&q;Mvi;|DE{g#L+3E!nJ>E=85uum*eHSeLK_nw_N`q-aI+ENwdOJ=;0*~ z0mmo*&d?n;)jN1WLn4jI(Z{pL>#5SGf%!?*-J^+XYW^Hz$gCdmTs?kF)nx4kOU`vw zE=|KL{|n_RYWKPCE^+s)DMeHIl7EcK#+eH}UTYdAIM1my{LH^1_H`#$dF?X0$zdY~ z2fp>^6mJDr3U7Zo#=nyLS}H?O?~{}2_p(HNY@+K=B|f)EBv~m|51qZ%dxEkvdAWdO zkMb4u`rcDNe)pJWC0zX}`FGO}kFA2!=ca1OZ)}|I+?MISDTn^&uE-2Xz^z94a2sNw>no8*>?gwXlDB+q`n7k@)H z4_Q(6cwc0xpV<&1yz8}d)b#`AHF>_>>6@o-<_)OQC4FI7?VrjS^lq5F`_HCppB&l} zH`gYF3MMC~wxxHxEEwv_e>*+>`RXCcyCc;bs9byp&V8J6E(@4N{-2l(G zj?w?xUvvpMQdg&3KgP^Tt(5h>$v}Tp%H(B^%7^RAq%sQpDngWtzWfN>my`C?YMpq9 z@g;ZTUhDa*N0d9n_%^<&b+?H6r#92KuVlN;w@Jp6Z1ibftJ20le$Q)tqy6`g@QZKx zP8xJoXKnfgh1|{vW^GAxU=u*KmSi?y)D*%^zqu*K0Ci?uM4Hnk*g#d-?d2Z<#tAbmj? znE}ZQ(o)6@^n{UxC3_&VLKv3;c@@I63`nXFhGjrXg)l1v5-P+|8K@LSoRtCjl%-i2 zNCXq%!SA3zNzwlqm4QqQ5lV@Ya8(zS5hW3_V+a(k>Vop2B$}!VUJ4^EY7%GL4@VppGg_3Yp7nBJl;aM@12qodFE+`L5!gFG@QW%MFuPed@S*XP( z8!Fo zB;koLR0<>E_q?LiCkao3q0A=l-wl9v7_83=&}D#DU6`Vj#8VrB)dJzY!W2d zQDT#z$&N~41W|TW3L~hpqf!__mK~MCa9#F=QW!y*9hJfe((I@dM$l$Qr7(gvJ1T_{ z#Mx0PjG)erN?`yvy5-NoeB-&9ajG)nuN?`<%cGT!d5NSt^js%r< z)aXc%X-B0nf=)Xsg<(SNi={AvR68n#5wzM-DU2Z2jv5^aYVD}ek)YO26DK0*wbM#r z1jTk*DU6`mzEBDy$hOl;VFclJS}BYm-A*fo5yabRr7(hgJFOH(&~K+TIuaDzkxY;V zLBkzndC;X>tc##MA8q;sA$Jg=K{mEwfF=yG@ogXN`vf_6PzOLZUUfjFFg?P~kG6h- zru#xEj3DbyD}@n+-QiA4_yK(Pr->60#NFXOMRXnqh#UYx;GNd!NRW7^mBREe7qD0g zBgnkdN?`<{cUmcoAoWgbbR>wq(@J3kxp!KlBSG+;*62u(e5aMdFwys=QW)sIFYU>+ zQW!z_omL7XNWarcVFdAaS}BYm|4wUkBnZIMN?}V9@We6*8bBXQHdcm11rAj>)ZkEu zL!**xtogQ^YU;3AfkThHR5$?*M6Jc?xwd|w`15@14{zAUlM?-Zdpe)6NLV<&S$|ME zFrhrgu7x)xzt}P=XVqNS&&DkpEz2}^{cOp(YEzb68#38->H3*Q)BPSk9j`1r&b7U| z@x*k?ZZD1;){etxx3R@DY*i59D1DWlYH0oWNvHUOm$yy!*>!Lq%Vni)u9b6reIRR< zOlz-c`dt>zbIe@gGNN4K&U%89D=ki0@FxkTwLj&Omgc21VB7f2-*9vCy#{GTuc4TQ$vLrW0 zdEXiT!J>;E9B+iV4xiPH%ZMs>XmW1t?aLXgsr7)bm%PWv?X)Suj4HwgCwbV#Bgyqo zq&1m^g3X2{7?Ly0qAWDeF>?xS(j4#IY{tl`nNt&W(tBKjn;rgMWdlvlHO|5NSjUU` z1=yJOO;ru|$^EBw=efYUS0XA=LR=F}(pjry#W(eaB_x`pajj50bi2|ZV~{OJ^mJ}+ z&aV8G|LH~P|1~|onnIapKi1eJ8h*05>`YA8{PeWP#4x*8;Sb+q-P46xHxH$W^pFc< zvcK%~croOEGB?~G{a`94RuCu@((yE-@{GaBiIH{RtBs3JWOBAsC2HCQ z_deCdaKMX`GuL*&2;J45hTQeWm}VmVVQ~ z?-27eU#Y?4hx;=|?Cnofie(;sKk;JI#e^U0%SL7*x{Ez0^XK0ek=g@}6{>2VI$O)O z-7JNq^@=)P7|L6tGqv}3m9PHWDwFNnhv-hq)IdX*E6aOG?I#5I!zG#p?r89s z?!0_xZxN-SQR~)~>RBbdE8FdE&uouUc7D4dWY;%g^2;ClnjTZT)Y`|UD@egd-*j|` zwjF=!c&D|-^Iq7rc>9AZUF_m}xZ_4y9(jYh!R^AMy*o-7%mUw1ZN2+vTb_A-|DNJ9 z%lv@F_FKQogL}XAU7j&Nu(bW=9`M=yVaPs#DHDNT1uhpwZ3atR_RY_$)+N6ox%@}j zt=@I`x|iUmP4=(SG_U{3EtRm-!kYCgnOjbsgb+1_&~=d(r~Lh)wj+-nz~J1OJJchGDKdB z))@(j*^{R5Vzk8Uu&LHUVwTFfPD^RAGg8+QPSZLgQ!U{%>WrjTTEgjt)a;+laGI8y zb+FM|NX=41Y~VCxWw$a@Y+7k=rd!Em-7s zR}<{d=ybTGR{X4wIkzv6j3`e&PR1A2p3LB5w#=Z zgcNnJknuJ?MD56U8y})}5bP|yZ4tF22uLGpN05+4)Q%t`ji?=xkzQ)^L~SbsC22(M zh+5K`5}>hy-4y~W1Sa-TgcSl4YXX850uzG;D+DGMjKd0niM{11utZ>Eu{bOdnAk@V zmIzEN*#RpACe~a7D+FRM7%W&JFfmxLLSSOBV1>ZMV8IH33Gctf4?Qdq*cdKYA}}#n zutH#BuwaG2#9+Y+fr-I_6#~^63>K^qm>4Xec3>{SqM&=&z{YR^wF48oT(Cr7Vz7YP zfr-HaY6m6;3sF0;FUO307nSx1~!fm77lD2Agmk+1>pc;<-o=P!qS0_1BA5$8wUuB z2Q~%}#Dfq*+y@|P2R4onmJe(kAS@r)I6zoEuyKH}dZ1l|1BBHB8wUuh2lf&`;Fhp_ z@BoewmJe(UA)?MS79s$I?0_t)E8wUuh2R056Ru60(AgmtPI6zoEuonQ*+ALxD-~k*VEFVZb;g=AW z4{RJDEFai7Kv+Gn@hb?c2R056Ru60(AgmtPG=Ph3mIxv4Bv6+l*!U%cPp* zM~;K2M~yrO+KsUD2q5f6w%7v*A?`eo$RgPIB}DE6C7Q73BY?0QVKxG&p%d${UkeUx zIMDaHaFF28gM$pmS~&D89rhb^X;W9pY0+9X74dFO8xUQDZcQ|p+rLN6j`!uBL!3x+ zQF2{j&E@En@eMO(B7cqYUM=@weD>qEqk*8?F8gkmAe-$$n|0PYuRndHG`(op&!T3$ zGSBCi{#o6mXv+^_{M>&T`89>ueFIOQ*?X&PpS!Arpwr$m4o|VJpd_DtwN0t^KAlW~ z=@gZRma4@b@BJ^RJlyoL*yB$9O3^znKe04?+)|uV!h7;{0PlHkgAGcVCU)V!EUn_# zaP2*LR$)U2;|AxlHQuk1RBCN)a_H8|KBMndP+Qw;Z*^o@e&Xlx{OZppyS-XHe5fYL zSN#~n7%9@dLTP+cTt-DtlE?cPDW^E)7^TAX+$c|+s<*_A_eHNi#i=I49nR>M(kso9 z$k<>SEMsd<{^+!fWPWzdv)3B+Xyd+n6HT#MpGMh+*U9>-Ad|B_xH?N{Skk zC-UtsQuM2ydZ!2TN=VA4zh{=)Y5sKWH=&j3WQI3qdu!tjPrV39u70)LXk9wrc*-;8 z*ZNHymg6-dbSsQXXQMY>%l|AIa^38cq;o5irQMMfgRRU)%NnJh6s>nW$PrkVOL{8m zUmcL6b#~u7f6uD(-A}S7IubaHe7MEJ^`zI%E=%bjpuETlI!?NsA2eP_{;KO?&v$EH zx4^|d{CBy~N46f$u=8!6uh4&wGjqf~`eZ2-ZX%1aXXV`8Zljc5e67)VjQL+0WqLW! zt>Pco4jZjq`z2iU#oM)Cw%6V`^!>Es&rc50{OU~`J1?emc0b&24}yP`>`XxVz1g7|MNR{ZROB3uMVAP!$g3CYmat)xIsmp zVN8f?P`(2(IkXsj#p|op9w9BTIqs76#NB=539ItP>)pY27 zhH`P6Fk`^Vfdpsm38q6|Q!d0O1hgIZ^_);BE9Wm8I#*h+{5s=0BgON>zY9W#f7xaX z$-OQQ-80<(^>zBn26yxRtwzRv_eB3Se_~%TdFs-AFM*=(gID)J+a%|a4)W-k zP~-c9Vw+!0Z0^p=8j z+*TzLrO!{-bG@s|mRGi59O>|%Iah32VJ*Xz>Mfsy3BVooNrz9fQ!v&FB5r7 zy8+``r`#X=pJXaji1G>RCSH$G^yJ%6dtePO=UFAWmhnMG?JB)U^Y`BJ+U|$x6F*Y2N4`Yu8`@iOB3x-&5Yn)0dohoUsdNgatV-QFd>tbKMVZ&i!` z8cuJ$)V(~083tFmHi>)PcK&$z@}ZxrDaWhp=SRj~RDw8MGPP^I!OQuI^7eP%e*KEt z!rQ|#VW~6MnJOKXrmA{q0xYr3S_6= zZiLg23LIdf{(NI#gi?WG)GciWd{pSt zR3ZKP4Pf>xEyh_$2ZCHEEd*Og2ZBWlz!uVhV9|n`g>)cT3lpf|8!V1+)gvMZ`O>AchzCNR z5;GAjJfcS|5b|=^Sp*A@=Me>jG!&K&LlhA5KiIS3azWk&GXWOlJ1`SqL6%|3MD!0R zJ!S$dAkdfzuz;>&Ccpx6h?$^i1va*di1`8W!A=7#pc$BnVBzT>MEf8F$Ic>HcmR(` zA3$XuAi;xm>;?H9tYt4q?_fQ9 zL3Rgg+6$69c-LMqEUe}OGCNq`UZ4kJ8}}ZRdO-2j>b+E?0AghBl?ge@v ztZ^^U17VGOK}H8_+zS#qSmR!x2O^LVf$k`w19~6=tMdRo5P_9>fF6jzsysjsL|{c8 zpa&wb8V}F|5m=z$2VzytI^#6NxKu+#&JkMDV)2O_ZY4$uP;Sak>Jfl$BSe}e{k zAmUitf#f?dE||0f^gsl5fj`g#5!faEpwt8Ug5&%CKo3M<*ZBiI5bCV>@BKgq4t@Rc zq#fvi2<&Qqpa&wb>-~Wqh=8s5Ko3N~R(w$E0e#^3{s$R26d$h_AOnYD>;Qoth=48o zKo3N~)_t(>BVY?Z&;t>$l^^JV2&}YoQ0f7F;CM9yr5;dxyqtkj4=BbC5G?-)?D7vv zJ)jsnK(GNIup0m<^?+jR41z5Hal8c_mU=+Hwa1I?fgXs!ZUUgx1NuC6fM6RyV7CEK z>H)>r0RlY`f!zo|sRtBe2MF}QqsEvdVwVnkT0tMcju31HN8K?G&IAKJ@TfoLVGK>- zQHRXK7#bkdBlGwk0UH9WQzj_&fMR6ion?9GQh+W+=u(0%W$03=zO$@){wI#~L2K$G zE(J8fM+aJMjcierfl3Wc*9gv1Cajef>jrxUxT~BzO+jbFmQ?A<>t*6qe0slrO8*t_ z-97=El6z9x!5hA!Q_}1#a+2ia zS2_a3x@IG*4qqc{oNfrpCKccNh7hS+Y=vXI%K1iCp8F(=_wQFOB6x#O(r`CEG^TPc zkj>#uIjL6^B@x9(Nc{U`Z6aNmpmN1bFsl^voOaZELH71()_`oHIea}$a-(m->vIYV z?d{Vv=m6I_B2D>wJlc;DUST5a?Nq0sk5h&Ea%z33IM>c~2FFs{k%Ab7U`o5klSjkJ zrDZtN_%qHoZ2Qb9HUb-*sJJ*^*B$3C?+B#2GVgLqc+ae#@`B1(tgiDg+VZovJ0<&a zR`6^n*D*?ZF{*crpKyIv5s^&u_noZN^qiDcBD&9|kxTw-{MFgl_xRFeA~iBLl2j^0 zu9GjPG&6G%$`U0F6a3_pP-Nj^`lYO6ms0G6R(2L~r_}a{RG7(KsIwB#W@S=i=%2aA zsz;CNTQU3?I@Z=AP?^ZL@tHNz&++-I6edyu-z)dURQ-~Cheao~&-gaTcsuy4CC<)5 z@(3EzN6eQ$TY3*(=`0Yk*}n4lR-Bd`ZIzSi>+5XEhMIf~f1LDmKj!=|8b8r%Z-te;?k3DO zV9*%h6#upQ!GYRp)5~@8X@j!s!lJKJeOE$14UNs5cbI9p9QD#6%534$Kz5*H<_^Np z@OhOX;nwa}giOo%-L`92Cmlo|Gf5M6#q2!d?&d}d5)SD_GWV{m#07GFC-?bIE;-3!A9->X(%Mt-WMn_bNn znX>+EXH@tZZL*cYqN()$j@6XK_k1JC3cJo?r)4iyx zbZkg<sgSbz|ud;mt#-Elc|m)Xw?D;C|iGQM7( zOFi=d)1A#v_w96#2XUS$wa#Ncf7;t;uB4cDXteNVM8EeE;=0`JCNd_S%9oKwnzn?l z(T#re^zkCoa?B&!$4fN^4<3y{f8ps|WL9@As50*Nxn}Zstu;y@PCDMzBBSx{s8zMC z$>~cG#ZPLAHL1E%PLpss|;1fsnUn>NB9BkBl3a3pmV2W0 z5o-a;D4LnER)$cM>5RD0lVFps;1h;!NHktvdh=WNFXHl(87L8B3BoJ}?_t#z)~c!J z#KqK_8biMw$weK>+X%eAc#d;kASY~2Z*C;|a{qB7E4ik4WN2d7v?H}Xi?o=q2( zqsSK`ae8lj#(-}&LFL||66^LZ(tQGt?ZuO>+8WeDJmME~N4?#|bBNzPpD0 zVxV=#=k$i?_+>`%rCSs{8&U!ZywXB{->VKax6^02RM%)LJ~b9BW^TpB6Z>TD_2yO=(uVg4yJxV z?ck*9Urff5n);y{^6{&hDkhd*Zy!VTP3@o-iU0@tKExrzt8`V3^6(X)ZgG2z5J2L9 z;02`yKp7Fj@Di!>VA5CB=rEHKdgPe8Rkee9D7+JxX+m{XP!Gk7(I8T1I21uH5~=?a zLDI<8k3^6k5h^iwETlm_{pRA+*(0@@&<~z^Mk+YnwfTHi@}`kCP*j zw=$3e9WUP8dA}K)=5Fg<^&)Yuc4B99_dnx`I{t;Kj<^f@RQNjo;VTBkhS*aQD2=O& zjW#Hak56O>7@vwYC=QLhaxcA4UE|(kp{|P0IV6GB>Bdu~$-Fji?r=OAPHkS1HLN^a z`&h~zz3Y+Tvzr%Ck+AsmY|OsoQ>oB~wba)8p4M4h!q+l_4DzrNIzx4r&$ZGU@x zfOmA_O;0Gdi0Q*5E0eN#7wwd2ZHj+WpGwnuHkdl z<%Gc5zrTI6-<(VftIAI^bxQPoX=rdI>rwzGbkNGIU#pz?SM{YKC*hY~%bhE-3m;c} z-e}nNe|Wc}sGIxSARxhlcz*GwPo(0zUox~-CAYFplH@3@_!xgOupMpG+i+HG)1~Ph zkM%xJZGw*24JF%z?rGQV!oPQGA}?@fq~@Y-ZIwTG=ykP;sExe?SIH&g#^%blcA=J2 zy=RnFc$A^0n_|E(JwpGfWBKMlMz5kqh;!`??b;dIyU)Db84`wPvW04pJSm7onnp#(?8b4U}&JD^_iHqPUHr4ci2Z0+6S&l z{Uv;KhCC*drOWGpX#YQGs}50Mx-aIBdmt|v=iU+IVH@km=tn1y9>sl z%snn2iT_^zPxwT$KuFb4(T=ht@4c}93ZGr_X}fk0rvi;D;OTsWHR!4riEK}^yfj9p zwY53jb_$`JQINJMEo*&qv$WLJ(}g%CY$92-%Bk}ecYs3W;Q3Fb+rfDR7am-E^S2aJ z9@yKse{s})bld+HHRrrK)Y@^Dz`b(ZID_Ahop3_*mDJBHj;kRKzJk0u0g0vA$fi!l zZ09$Z8E5p+?g^BvX=UXeM%wuKnNnYGn~rk6kb1L>FDt~vp7TD-u*$16k*ey%9lQ5F z$Ws^bIT%hQcME0t3#t@BxY7VYQG%2dnHzxS1BDbC}TBAgHXqd3cKF8cRV%j$jzTKk-V6a18`%#%3WhiWuOIm~$d-exy0^^&+= zWg?f2?hkSFrQ+F7g^}D@j^>EL{NA(q4hg8-|MdAWi*uFAxr0{zx~kvo)>bBe8fsU1 zq`Xz}WDXePl73yfcjX!Ra28F-sX>>(#}*;6Y)-}a?X8iv^Ldr{WwK3YLrsOaFBohJ z8UAs(;i(@tp#4#O;?}3i;lInABcy95@~@mzW}YFWoJPl&wJBd8(o_FK**aWQ`19|; ziO(~^W9+Z`@R(F^WB$~by)?;ej0}?Ow9pzGv@L#xQkA&6o5?&jW^kv731_$1hsttm zlYBKNW@m=zM&chHnXW5F1@T3bVseqJ<{j^tzB@e_TveY^xOK&$Dq-&Q;H^CbQq)B- zzW9B&$+K+)nnuThY?jH6qQ7X|&KURR?(-XY!FO}=?IWUPLOlyhGw8W-89r6_$dJ*0r1b_v*V_-}~3OD;%n>aa^TU%vC0^#`$T8 z^IB+7hbpBl1MP6FiFKiKc0r7tk>9UrLMdK|bn=Dte(TyiJI~taTG^v3jlGmlNW6jq zFS$LZl@z)S~6a z>&9t0izUqWcGD=^L(Hws)_;iFW(e zea0np%?`J2_HF!+aoY#QQT+7=v&$YoLaycbX-e^b8L>58ok~)^vqiM8D8tpmdAsr3 z-TEdxf0ZD^i3LlxrU?bRc{|7KQ+iD@AAT#_=k9z@ah9X!Ef{=dzR1gTsb&dh#(_`{ z*E?jJ4>z6jE_#Zt;A=%;dCJSjA4!&P1oJa91wL{8@an{)xV^?o^~wNe>SFmfulPqF z2jr5_)w|hE&8U*qz4A&;XhQm}7@TY73|Dlxu*4UADnKs+v4EL|?(VNJ50x8C^&T22;qzW6rO=$7oAvkt}8Kb~7&6Jz6^ zPre+f?SkH;l#Yq~-RWNM`}Tx3Z%$9N;}yz}vK&vxtR~AEuCWNQknhA}xDDCthxZc- z7uK?6%zvexN-9%0xm}eJZPwjkU!gF>U-YNY3r}sKRG@%2SHwd!_#w)qo%Y440$7}43R7@bOtI1|dIp88iQM)Bc!w%4BJ zh{k1OG-M?%s&5vN=J6S~h1xD&cHsDA zNMb2v)k=r_$Ta`eXy>P~1KHIe&aAJ|4jTP@V`NohD8G0#a_@U272WRdvBiq_7G_Vj znEobxz;I+G>E|=xMm+L?!Yv z|8nTFb)G$X{KSJu6Nkr;nMBo%pkv5yGYzC=kLU})aDp_jBlrS{AbshGy#OMhE*&b0 zAOhNw^x-LF=>HrGosgylBQ8LS77Vxm=~*z|0(dK|ehA(Qs~&>4!fJ;HZ*?qt0TBzP z8v<(zhFSnJB@DFyR7x0X0f>|^)B?~bVW=kV5kKk zN=m{EBWPGK)B=zsVWVUFkr zYYNL#FoRqMC_EPPfi(q#DI8c+Fqi_creG`uU`@eL3c#9zkraS61p_GnYwDPz0G(h4 z!@^bx18WKfQ2^Ey#8CJ@YYN6t0M--?p#ZEY7(oG8Q!s!6u%`a;6QI*6pz07tPXN{w z44we2DJ(nT(3*m=6M!`ZLni=h3Pw%<))Wk!0IaDaZUPX=fi(qD6aH!Bz?wp04I^Mp zA+d%Lu%?h_(8u>Yu%?jz93$wpz;s~^BVbJ-VTKVH7R)dL!-5$`U|3kg2v}1{tX~AI zDda!9=*XHvV(lVeO(C&n5wNC^Sg#0JQ%I~;1gt3}+$jR%f;&ZEVAuuzz?wqBoFaf* zfxh5)$_}h4B+MxSn+g)U(jQn;NbFjFU`-*htNnpBg@idppi~_RTk(N41vSn8_fK?i z3K{yq@fLJoO(9`U5m@z+FsBGC`$(8m1lD~d%qap3KN98?ft4Q#bBe&ykHk7fht?GG z*eZfrUw{$9ogy%WaHk0TM0W{*QkmumK=pP7&AvkT9nRYyrq)r|8Ib=2Pf*qVYG{2$K%*brcC{tv7vSfhV{TY)}*I6xL~@*Hdm zux|gLAukjoBMYU~p-Th0G@(liy0oE7r@ByD_irDj--Cu9(@vyE0l8X-eOZ@{ShOhj zR~ww`323iZuW8Y0;Igut(irQrpH@wkVDKbWbmh48du=-dg(o#L{h>IQ&ZMuq2m0SN zA0MCAR(zxASmI!))HmPpcZPuNp4*4k;JeW;w)EXU2#VvN*wTZt7c{6s1bvi!D>P+{ zmo-i$bvNnE#d;!8BSL~+=ya4$a&?o$T&SlA0UxVYW5t&_LG@|;XkAxs4gO4Z2@-y@ z4_zJ6NiK#TQ<6N%&X+TNt{Bc_J710p_@EoxgOg%)vhoFWr8jp;%PLudyVSVQEA`5G zi$?xdlHMSarpkOjqRwFF<&qFLmTP!hp&B?WC=^xeAXT}qeR ztMu>^6McdLq?1;p!hbmC&W~CIeG|R)qgV}Fr$tl<3VeBDDv4u1I5P=UO}bT>lxLdh zZ`2z~rj`-zocuBD#z?N~R<4DtXp-cs3>H+LpRI_s{NXo(&+%V9S0U1@th2mLg}}>Z z1S)nGz@#&%Y;359-j_hfZ>q#}RI7f%o)^GmmKpR(heTovuQ zLep~|(O-t1Z#makm(`E~n6QQRfYb66oupzxx=k@erYceQeyMn<=x@K>YUM6cxaUF< z|CKQ;Qo-2`RkYPXLJ^S9DgP}ob-he0jVA2*?f53WSH!x$Oeyb3(M@ti_hqk5`E%tNmdr6>2B zlFsgJ{r#4(_dK+++`_76V&bWEbuGu=1@o&MXY<^K?R+{XTby{H2CaJ552=9n@|nm32A&1(nm4jdQEbbH-_THC9BQwlD4|@Yqe)|DILN zT*K5xs}&BOzAgR0rki8?!jL_2+``9?Upe~fLdI%C2nlv6i;aJ;{Wnm!J4@_^EB>pu zx_Ej+Cv>sR^CrS^fQtZ)_tfWYjNH7>fD#+Ig;rZ3-PlB^ZN2!0lT7-5`=6#wyqi8& z2V5gF629o*OqynIeWuI3lJ#v4jTP(oZRT_h!f@dc?+cO9imfk*WX&g~7t4NkEPg+I z!(t-aJ0>r~NI-J2Z|_-ld46ow$?idg;lYy#nhU)K+lAa}4Yx?sYtWis_Ee2~3RA6J zb2M7J6<+tXB}$~B@zdYLbxm-_#PDPoiBwV%hYxIjnQ6E)^{gRI)Gmi~(L+x2<_l@} z4=49740O1EN=eZk5`y09jlQ_A zXpPbkzsLIhLyTJm3>Ay7(Z|L-hGf=-+9A}ukRfCOD{?Ia(vc~N2Y z;T9p?h)>7WhKt1;clG7!L~C>^@LzHX1dbCuh}|j~*Hm6vY94y~okGhjj^!2epJ+`I ziX@$pf%)o(%~QV@ttNh@`|LCi+;AaNpjg=yUtf1yS$)OsIlk8XW%WdAz)(WO)l}lz zU6)llM+wofF!a3#ZW~5J==^#{3ZZF(sS=8z{xY$x2X7WC#a`Vvlz~nb$k*;lOj)@! zzpzRaf9QywLz^_JKcJpGN3|NgZmGWf__7(!+@iB_oQeBqPD7#5;gQE;L%xV-*U5+UTO?%dPsGo@+k?kwpowa9@iSSyW}0?8!4b=c?i_UNpT#Gj77MRLuVJ z+;^KG4*ABrf07(=glF(9@(XPw_HT$eYSd3fS4sLs)BWiEHfzDS8$|cziA9%E6seUH zM_JQ^Q_Fh_B{A;((}_wrxOf3<%or6sTv|*lgWk#GUbkd8hb`(>K!LRi+43Edhn(!Y zn#_*n%9QvhWv^h`u|m(paYfp#|CVsY)|qW{QEH~wPV|1!Iv@2%Vk7e!#+f5GMmhRK z;%OUoUHzyRR+K2`le{0Pp#p1T4=wy{AH!*COfxUhy`0e63kM zrFHsjYR^eY37cwFjkS+O?vwFF0}6_R7pHEv>X0!v{zo3?h#RSizzytkJpuh4rsg6U z4qXw@Mc58`d$LB+jL2vdE^{|4PMjOLM>hDonH3HG09SBZts^T1i_$auKJABUpF^31 zhLyw9w0IHk^lNZSoXpHw&UzErSeCve_VVwLTyVFjqqvTg8nZ6Xq4Mq=K2=zilc+&5 z`bN`5&4ti1d!mJ|@2y>ds;x_Ab18e=NcI&ATBN^+dd`(oV(zS`vaBvh#f{FybUZ~H zOZc4;Iu)5OoV+z2&KTEv-uTqD@e?jyFRn@!EGiGZGaZj(L}s32X7*+>QE`c<6>=Bf zv*T#9yDBDDy`7-cFgdrkxives)z;fKwz4;0`OGM7`RB^!CX)b3!!O>H3lH8ORaU1Y zX#YW9dl`;)^S>_I(^4bDf$@H$O|+--ht#|5O!2`j0yRE3bP~@X4t+prYP}pB%wHeRt%jUL92|@Ry`CZfQISGc;u*<9D{+NU@5oBzWzth&ggO`;T8U>4 zimZh(g%Wz)m|;e}11pgNv%{z-0D9g+R-%i9-jS8qCZWf0U?t*11$7eD!Ma?k1QSa|^oX#Tx2qVj40HWKJJ(bB<)HBW%u*Om#%fIg+U$Xb!*vtD#}E z9Ps#vO{c)K}R) zL8bzu2BzI2eCVAG|8xqgpoZaafJ_CW;Q*Nm2Ezd|6^w-gWGXBQ=Rl@{fpCCK1>@iV znF@x%Iq0YW!{7j!3P!;JG8GJh17s=~0|&@d#|WH5nFLr6^woZWGWc^2FO$}_6?|@{)fJS5^YdH4FlhR3Thbl2FO$}>J9A!I(EdraD620Eqy|RB+%8sGx=eZ$Je#9C!n%7f_7VR1P{Sz==1YqXL|G z17s>V@dmgbhs2vh;2!Wl;J_Q;fWUz_K&FBNZ@`id2i_cXRDct2z@iT)-hfpfPP_rj z{sHmkknRngVFvNB*m%%U0S>$YD?c1~17s>V@aCYS0-SgQ7JoSL2CV-7h&Mn}0n5J> zOg97TzZ6V20~>%8Og95NfD}wO16zO;RyRBBs33*i0}f;=DY$M1rVyr^fo(tvyA2#v zP)lL=fdiRJ3cC>;R8UJ{cY*_%O6qtkIO?b%bu64g9Tva{v75m`M+GUEZU(jkDY$M1 z4Nw}Un}H2M8m60p9YGqVn}IDs`k!w0ucLzWKj93>R?rkmV>g9^jtbIP6Xl?zf;9Hn z4d6yWUw^!d0xB>R!*nw+KR{w0Q+kK&eup|cLxZQ z2;$>i3vi>L7<&_f4MG~a^N!yT3=q2Wj$<&u!y`D@jtbJyo%inxz%C&T-Fe3`m_qC> z0S?1KF?N7ppOA*`yyLG21BC9p;}{GOy7P`>Fu;SOI0lEm$6&LN#vaB2$K#+FJB47o zkcRHOe=h*G3u)*H2y=%g_DTTSNbqh@FX*8CqxhJn zIr)}0MLLLnCEkw=O&IqSAy>S6A7z>$SH3XK!x;be#}4Hf-jaMY1qDY3(Fu+Y;u9P? zJAbpa$5<69WiIktg``+f(5OTtFNOs3rjyZ|QpYl=h%#CP(|xfrOS#-A&)Z=WlptT0 z@E=D$K_~_H$L9PXN*7Kw`TcvJ(appZ#+>}};^*hW2`xDNAk;%MX#x?4if^`#3Iu~7 zYQiH;&RtiI79^qgMit$JCp0V=(x^qvZslgRAL68Nc{;cxM59|#ob0ky8Ge+XuZYWq z`;l!v*FO@uaV0vU@&ytz124 zw8S>4DY5U3c}LkNm8)0F1+1IyvG3P$?4R9{VC{`-ZJ*s6`MLgT zzvljv)s3Re!LxTTHwmjTFRhf7D9(FZydb<4^O}{zXfIRf*N>NV#q^syhF3N<2i|+h zEkEkgny-6c_oU=nK%7G;`CHJ?)z(1D^=*_AR(r#QV_JK34eT_$cA&yZQI; zefPeUb3gz6%cRxL?uGWo>YZqYTi5v7Ug5|myJYf}$gBhp%#Y2uX3f0wW(c{4Zh3<4 zy=eD_$?zvDe-l@9^GmwtyW5*v5x##GK5~@$R5aWblW0Zmc$x*g+i0|L+0~N}%@T4S zudbEbC0=Ix_L-cVwhqtpnhLpC-yJi%)5bJ!EAO+V4h`LmV+(S-CNa036VCa*pfR*^ z^}7AIdGqAl*MhlWLhbHb^oo`-1YT&*b8%lUyY>B6EV`;&b1pJMys+{alRMNWU}XFy zfAu+Ci;)};AL`ZCR;xgzcT(R}?VKVTpSxk$%XxO+#*bFoiU|pSTi5<-HNN&|p31{F zA|uezt@&%+H1U?Mn=89yrJh^8D+{n?+`t5*WIsBwa-Ji7Iy_ByAAh=qiQE z&6$eV+$MFaTP)`;?{5S)OYTw0?Pst}cAlz~l_XCfbJ@u7NJG%Pm@XKipXyGNe`ust z-Ru=_DlHuG>9MQ~>g?3}Ke-PKQzmlQCYWw7JtU7e>`^Ql*i%8v*3DPkk`Z(JH00^D zT@(@UqoPP6JE1mx^eZ|DPrk;WEDfDhzV_0uaIsYY`+7*phb9{&igyJ4f|ybu{e?Rd@gw$^NLouaERjF#=7b zChtCJZUiJ(KfL$zHl+d1o8h`GDIu2B{ecEbDeo61f2z#`aTx6aMWLD#SMM8Mn09}I zlbAbB&>!-TptI9GHU?xk(uWNL(hTCwCCI|I)@T)R*!JJ~k$VboM?Gm8qoJg&OS(=$WI@! ze~_*)CoZ`+BVJj^>h`NCpKL`z(oC+1kwvPwi%o{={QBEOh~d=pj!^-ZuCm!aZkh*T zIN_09*jYpwUUI}I{LeI$#zS06YuM4Fr>t?9)j2dV6BnX5ww~Y-F2v2V2rh3FAPXgl z?F=R9f6-we&a4$q5{qsPA&FH~q+=x93L=SZ_M?d%Xl|#rm5mMCjdqINEq3Z6>by-5 z5a&eu?Pi+D@EEgZ&^*zzs*R=bgH??G9kDRJgs5_(eK zs>$=58eAB?c#)kYjXcwL(s z+xqq9&b9rTmHoejQ#04dWJ&cfjs6A@jswCt(c(eS0?;T_0JFQGMpEr)Z;*_GVX!wi zAg2Gpte-PbscztNz@gov3y`makhrZNQ%+)D( zs^&^eLZox`>xCuu1fD^1gI)S87x{g?jYCkjiYavQa5C$_Il(#b#j z;e$8Ax==A$&D*XzwoXHAGDr}kus%}4&|tSuQ+-Z|uR`WaZSWmh4MR_s$l`gsQtr=|+jroice9BcAS5EGT5gz1Clwt+ zwL-}Bo@p{sy97r)z90kDarYhhwv5^|x75jotl9`VAw$B^?yi%uW#x~?(TQG0>zk=cs-j-lJD0sxugHxoNMvYTWy76L77-aT@3pW;Ssq?a|GLoLJ z)U%XlKl6Gf`FGM6l#&RK@(@TOGlXIbo;xGZUj%0xv-7`L2s zb~0Og*3e79n<+|@Srm>-L!`xG6GPj0!s`6>KKjNLld(&=E3qLH>!q_BW6hasP0bAt zqD;6IT@VZd7^)$=2f431>gH?w7k}KpN~x+(y=djyKY#D4M%dra&f1^eqER7c@{M

_Q@0dyxXiw zm-1u{)iV=&lkoUL|GcGh-qu*w;pTF=b9?JL%gfP@owNELUz>WuI-bQfQ6*WSSk6x7 zPwxG^R6sc(Lo7ua^x+*%p!5ZF_KCkNsYwZ`c^k?<2uWT`T106}FjC#=J^%F4^Lhg* zq3b+n0RIB(Kv&%#I*eGbxH}M7;RrN`sszft6*7g$PYgMtIAGdN-H(m4i=7QeetjeYr zRlCs6WhOwLP1SmlhW#QhGd`D> z?AO(kOwMNVs_%6Eq1_k!&l%P8z_Vbrx}-Lo=jJV*$v@G&qiHQg&8-@Kl{NDViOjoK zM##6!zjxzh`BZv#|F*ALttQuIs~3Ljwd+AHh<-qpesl7RFmnFdpE~USb{(Z;4l1JFa$4qV3y1wP;m%?7iyS{9|C9+LOPQ9@LP0qd82`D#aLAnBv63 zZCu+){s(GGU8L;D(1iIrHDl|{%jicZbC`+V;Ya=8ulRVcQl#@aFEKZ5+UWddf@M*W z$JZ(&o@$A@S%ydZRy-rSeVkdlJ4`XbK1)m@Myz(<)d+%gxpLmA2a}z_5&A07vEF6) zM1X^v`rN%)21?6riQ+eW@87e^B=%2V=Jeb6D=EH6cAmNGVu%{O+1?H1%!mX|bk00O zBBQTe7SaG0zspa)}st-zeh#dOVM(n%{s~E zz61Qip{6pw94PzNvR$Lj`@U(v0UiD==-#sZKw2C&W2tJzHJ;Kgz8kijUPVR2gRGEZ zI!jV6HQn&TUX5q*&JZR`z?4oN-8Q{}lStNi^WEBNZGDknto#e1UkU^4mx)HvD#XF~ zR;iaux!m`y)cOJ`oG{A;1p=RaYAa6FM|PHf^`+ABI+b?o>4ytXlBmT}NFIuli+)Q} z;|nn_i#568xz3-fz~oM<_Fq;S=IR>>R@p}b3UL}m9G<@vl>;V(rdI6q3rGGMljYYL z|JoySm7Mc1a&J5H$>Yu}sYGb*i<@YUb|uv=yyD>3j+cEfD!+{MS?hVSKTsKK3bod| z?{b;5vs#e*j&=o{^C6BtadYpfR_&MY>#di3<{Ayt3bMLJ#O(;2rsWk3)^>3!qeFat z>a#fayYkt&1T;mCFlW>^$KSmj$HrGGZ}{K$FMe%?&}mxhj~Ns9rkpG$Z7#~2q5nE> zmf14wU2BmD{nWi~>8ybn&z%$S$#6mN-`0z)|Ey})AE_N(@6M5OYcz}gLKo7tG^YNv zrFs8bZzJ8jk`Ud*;%`-@Kbx8iCQqtW==guJ3rl(G)f=c0QysY{&gwOL!))%%hyj7H zYE4tuYlUki!xx5qA5n25>c-OS#J;1s9ui(UJ2|QJi$=iZoZye#i;+SPwaiC9nCaF0 z$e?u=%#r`in`Bw2ezDMD+T{hJ&`0n?huy3eN5RmO$C>NX+%cJ%HTR~JFOD+=M>zlI zj9)Eye_-m=!euqT)vE)TZ9JSsk&fNQXuB&7#+lBnY?w6<+$g%%m+?ILjP0%aROqm$ zj0-}msGU>l-7B|-pGPwBdNn4tiUvLLydNUCJD4}EO^mcR`?h@B&NJn1jqd>FN&No1 zPdM=gWT9%c6TGjxq+Dvx4*ZRI=@H&q>|%C5LX`0mk|sOsp+#MT=AOa}X~hptIhV;- ziWlp{|6|5gHOzXsH2-=!OfBrEaMIK;8dH07-eKQ-a{Z)$Xu);*daFvKkm=aL+5+Bo z?tJ#%`>&-R_T4PTi@Y@YET&HGMccVF1}!l;CwF7>mgw6fsd8oy#;Tt9{lv2#B$Zv7 zA6f3v&M5AcZfzIwF?KDPZ0mYO%elQK4n2C+r@LwXvdj-<<)xSJ_t@%D zo?bEG;1UTw-MiLVJd;>`Ixug9=e#$MVZgH5vc!+mBK^-ue`*aS;-6e;eLowh)>|#N znpdugszs)2)9m}1rCU2A@%HiDC9>NwT$u)RphKpeq&X%g(*SvRoB%~}puHXWvJmj; z(0hfUo`9f-6@7u6hn0MRn1>a7fs}`pdx4OL6?=h-hn0GPhIcIVngIn5rt(4p9vX&t z0^TbO@dRXe7~%=2@G!&^5aD5jC!oQ@2v5L!g%O^B0uLiR0RjGq@O13G!VphDeup8R zfcg$YJOS|?LOlJG9f9@^BRm1=9Y%Np$~%nk1cY}O;pxD8g(04R_X8@m2i_};>;y!07}yDD>M*Vo@Lpk5C*ZxppiaPhg)yCgoDM@e0W}>)bOK^J z06M|FR~XO?Yv7!q82?dxepkfcFXmHv#YUAGb+N>(G0Z!4|~>?^Oot?E&vq25apB z?^Oot>;dmp24?I5?^OnC>>YHomx1|uz}9a4{J{|c8SFZL(7j3qyV4&V z5rB{}|9QJ+SVhV8$L;_)-6iJ;=ucD?bY6>w%>o1@rX|yjK*=*aM3{3TEtq)gJ{j_Q3Lw z!Y=;@-K$VAV-IWqs3T+Vz^erVg!y`43qWCgy+iL61^rn6Y%H(|pkT%x*ac89V-IWt zD44Ma_5l>k*aI5@3fo)nzdxIWvdtIGjYE$A1ZvNX zq0i|Y=KoB8+iu(HB-DDUOM={3TZCD|grNP`w{PEiZcA2TtZB}2Yn&?9|2S(Y96kQ= z!3*jLu9Yws9j$2@gpG_lY8oG*Ba`^-7aJw<05Rc@Q)v>>nNIQjb9J6%H6pBflSJsY zM2e=3xk^u50^v+;uJx`{jmp!m(awm!dBYxO_{v9^b)743ro3}w(Pq&FzJEHPTM|ReYQ$FH*M1yzCTw zo&h)ITBo) zG9ep7d5v?Dd-+HKetA40l7wVEQi_rDnd|q?ol?;<4Xzt%3MKau5?CzL@$H*t)KaYv zXpp~qNYH7rt^5{uH3NbW4U8<>Ht(8-)+7ddI%rKwd7uyr@DwGb-LRtWjdK80i0$hF`!?F^^w%sQN`tzR@@)ADCt$tXsjYB<8D69H|h(CCNZL^0W%cbLc zd@FwVg%tMyFkDAhZ5bedhJ{(6<{JHrIFTJcXUUiO&2Q z5FvfHP+!J0pjv?%57|5);nOO;8}qgFX73$a+szAIuY%R5-qy#wM;iKcp<`En>@AV$ zof!U`Y&o>}^I4;+vbVRCV=@;(b8%H;sNDRy0VR%;Qf-9`bYo+oa+8u9{>TiREp%jm z8EQ7@#p_#|3#oQ$H%XK1t5T(3rTwGAas*adu=jp%fulD4Zy-x%Mya${O=eCO-p)n~8Ke0-vfOhW{n z+1J{-CzK1=*{gk7tY52s@m8PCm1W*U8xYb8y^N1%>-KiPbMogGUpwhfRWS~lvr6UD zgLQ#EfrDwv_YhpgUBKpnN+uNJ4#^A%v%7YFG<-B7r<5II>t8I866{t2`Y_~o(aOuP7 zgQi?oDK2`FmUUeV7MUcywdJN)HwG6rUq~-e2vw}y3k@7FACO3|s(D7FZFu&QwAA%K z@w1lk79NCLD#b5e45jRbe5q7leo7wm%6@bG{XGY%-&BGk%=eLFPr0JK-Y<}Lx9uh? zp=C~6?M{ZL73PFnAm>kOpAM%e*bJ&3;|cn@YV2oq=j!6emn+%m&X?qzP6=5rjf^YK zHk7z+-j*#2s~)a*uxvJQ=%Kclkwnm7_QT@NT<2#0S$Nx+k%hh`a&Cw0FW1Kt>g;cA zxL*tBZZ>`pzps!A5<9K8EITEA7X-bD_YIdN;7_*q-1JjAWI)KGA3I{VirG~@^ zt~rRHSFG&y*i^{wOgSWKJ??wxdP?J~R5sTr5W zvy^9hi_&Ex<7_BX+k-T(mYU?4$RM&!bX}G6-rX|}IxCNNvb^{*(!Iz}GgOnV*S+tp zjC_cu9y$>xE=?H8jI<#oV^%nuklo*`7aC!f@6s_mEI}4hf`1}zq2`A6DRQ#+8Ax&M zf>mZVX_-u)`>rR?X}JbB=HGRxe@kulgT*;`8mAK_?moxNh}8W#y?id00&42g99hyI zsiKxg5gOso@g+fRQ?ZM5keU&BiGqwd4lh)5;4M14zm6g%m-;@1ZRjTleVdR7Cp~R> z`3M3!4l6^^iz0U`E;y=qUwYI?Ajhc@u@-KcjkD3EfGA_(t@G5%PjtF_`$oh{V&$t7 zWb@zT8u6J&2%T`_W&(PZJ05FldQ>95eIuJ)8t~8Em|gp`?pmK&=rlf+_mkbFQt{iW zXiE5Zw3J{hCU!@O*1#i`p{L1DE_43r8)bhbG4)kCEki9>|dOAJpah}g=H%2 z``y}K{yw(38$n~5KyGLmsYRG2_6f;8p-=H+Vh0(^uk`#&QPB3Iuk*aa{6+~sZlHgz z-_a=bmY<9f?MtvwJn76txqkbNIWU$YOeA;<~-HqQE?4wIQN} zFzw>U4|Gtg)C1GD8ZvF0=#Co4qmYMw?YOilALbsH>5*Ss&Sm<~ug#D)J@RXjnFiJv z7Ddz3&;bS=MN<^i4*sC*AI291&#X|kfAkCtp826<|6gJcqT|9f@Hh>n`bVDwkE&3n ze-wcSRanPi5FJ-FgQw`D2Q|K~-E_3KQTdkpFp*Ml?f;?|r)EP`ai#mUG zH>;&N4(JpQIoLE9DRxWB!xiHSyQL$=K^rxEs530oM~zoR0CQ5*k`JISX{$9wEqhKt zkH!Z_BRK1<@i7@e(o7d6x+eGKG5O7&vKZ|9jS5<1@CBTut^-48f*#&rUsk9 zfk%04_6A-Ko4bLj!Den?YOr}5NHMTk8<-k+&c=zrgSdCqZ=@_&5-?DY6KVoZsC%ts zbz`fg0S?r<-%=$_%6bPw(Qc`Xi6gUtj*fI#?m>bhjtq1gly-tSDj?>sp6|3AA;u(C z6F@x|#U;Re3SxE#EqO5yIxT52LC>toaiI?%^xE?nvZOhIsUNgd!qkshvH`Ft)W(0z zk{qKxWGPt9KW<4+gh7u%@AtgcngA0rXUPIh=KswuDQ0)h@-%ezMtB~Y;)8$o!zqRu z>mKB*hf@qiNKEj&r3U&qNku?E9aheg1QG1sgCf|y2Su=Z59-kiyZ4~zxEN6edKD-U zJGw7XAc7^$AcUG@9DNo_7NPifI8d$#g~z`OP^t)p#{+^AMJPNT5tJuF;qj25G!g0( zd^{#7ON7GXK|x6(6dsKV6up9RL5kebIG`L63Xg{crHD{?JS-?dgu>%tL30X)$HRiM zUMM^s79@K@;qkDb*_Hf9fcuB4#-P^;2&%OgEcXX7RPE3|H|H~Jf$Fe2D?1#FR-KjN z!7VoV#!9&wy2Z#K&;*1}1*s-Kt_%XBa|h>48nGS`IrD#Th|Js7W`X2=2 ztdr$>(m&5j{O_3yt+K0f6RKGm?-kiwB95dAI+MqihU&>FZ|-vGgczIhnc!E5R8k9+ zk)aDxa(Q{OUE3~YyNlPqRHfoer|CR}DIw%0Z*!u}%JgAuX;%0yDqa!mcpCrqv_b@C zj>$S+?mq&u?DJjOkqi&s=q4^QGC2t(YZ7b6N9nGkpAInocKP#Tk&85OWwsuOD%OQXfc=6gtN5HpG@f45 z2rc2qFmFNfXT%GptO6X+A6CRYg)+uzqG-(?4t@WmO#4A4T?Mz^tP3rT^L~8MEB@oI zEpDh1#;BR|gi0AkT4=WYNe%iuV7AoiZXGIG zeu-t}pi}_RB(Yh2F39B!+$yXAtlW-=GD{|fo*7sxD3dgT;bQ#6@Numwzon#}(QK|I z^|dG(DY|K;=05c!lYc_n2!`DD$jG>{jBX8hSje3@XWoeVV9cU@2XwbBTxv~5(t_PI>2-W;AXO0YU8ni&VRR%x+|w2}>nSB?x~|%H1i{HaR~8a`s5rf_@E(rhX?@OqK9B$G=V!I8 z8j-e$BsaG=KUF$RjPm0U>B|JZG|1YWokZQunemnm1-c}T#;j)i@;jSb?PIH3TRHvx zg1`vK&XV!+KvuG`GG;FqC{07{&JYt$LR~pC-{tz z%c#LRbzY{Sm&agwuR3N<1LMZW6;FR0EJvQJ5d~|0+IY-pjzPOZ2Kckslq}DOw#5UE zb9@%p;IZV01Y!+Ml?NL(z4RKAJfO~7lR+_{?!xw%TboZ_cpC6}vk(76f0)QIxYMoi z6WI3VAFdP+o%vT;o}(ynAuq$m4aqyOnG81+GjgZ9R`^;r;`w=;3#OopoYIK&k^|*U zJ}>o7I`^n5v1DRT#itl<$|4u&)t#R^@zwLWx%VuzV29?HjkGHmx_ktUJ-V(~~XmQ!c1&^g62^?&?4}X%=RlAWwPfRMBV_e1g zzOS!ymy8?YdeZNqsETvV_w$U6HPwP8>soEdTVe-oe8b&Ek)~c8giO!Piu)lY4G6u}2L){6gVi zxAwF{d!{TcJGjJuajCF!WY1B>^znsmxHP$|S`o(lu+|R4vLbWIlbH?$t*FybvDG8N zy@6%ATxK~y>B}+puNs8)z1*y$5P<0$OHRE(TiBM`)Y`8SlY96a-Qfrxb7CaTYx31y z30~f{nW!oqI?XGHlvyH!Ns1QV!W_fN30IFRq(`1Ng|2YN`}3S9qy^a6U{}{h(S=cj z!?5tB759+!Z5tK_rU?@AVy7j2nC|<2#ZWqXQwkEmp($8kjNA|ygI?gI0U)jw;3qJx zxOH=cHg6CYEWGY|yEISXOLqA(PXQ;s5*>{luhZpiHVW%|1m@AG>$@ymx_hyy=B;dpSvHd=GD?1F@$j1Em(mnQ4a6L&uKG zJE_q?XAvC?2xbslwisdp>3?efL$M}5wXslvnMk^bz|Y|ruuyEEo}z!FZ1aLP6%gmA z_TQWaOo?wAoYucjk zoJIn{`H!a^h=4JH1^e2cz&U}F``X+@e{sXVc=mTq?7w&hdM^`%XX1eWDTM{W!+$11 z@7(cUw&Wc<{!5m;Q^$X~l6UC%FIDo6LjPq--bv^`#D3?X{}3A#%x7a3{13AK;Mzlve>xVi}W5z!F_GE(Rg0(V7p{#FI}K~#tCU6L1ApoBE&GDs5Azh4Vb2L7c;jf&1E z(0`oR*XAN&`8#9qk0$R%NgyixM-xy7k9SSPK)H(lM_LdKzNbF^K}V1%EdQ1MfJAw3 z+VRgdkSL&%n}0_jQQrIa{&Ni^%6qNZKO>MR@4Y(y8G%H3w?q18^e&3fd!5<8V-TIb zmzn)Le4o$%Aolx&K#7ijufETSjiZH4O{ZG!?*l9ws8QKpOAQi*1{}Dats?{yBhSm4ikoxgr2q(H%aZF3-drw#*19njB%llXtyj=itm-)>|7 zit$(5F$utbW%2K~{$E-A`+si?{r_^mOYxt**t-<}nTx$k@t?KW zyA=OxECw11{*SNNyA=OpEA~F0|8W(2pV0plN50R9i>sxzOXphd-P|c#2MZi@ynbKe zzon@Bp!>HJ=m@%hNr3_mI_tfYKMFVd{|6;N4;c5~Stcz7B~TC8u8Ep`Jz=!Txiun* zc(5xsY2kq2@9$oOfqU6BbiMFKV6D`;SmZC_utxM?DBr9;&{6V6s|*stC5#kv zkIA~$3Ik;5D=zdIlu?pucRH9czje{@3y$wSSnjpw#GCq-iqi=@7j6!1RoJ>Lc z&i9Aa~8n+LJfIn;iS6aH>cqDD7E|&uTrmmY5+yoD*3=f4>7#r>Yg2$X3 zFXDED(ym!`8ub(-fwLOIMSPk16J=TyGo>vP6$hXsLR(I1Vo+qb*Qn3TdpCmTI~O9M z=L7>x##al(AlyDog681$a8!zI6R~KkC?rKw8qViLc6)3V^f<#$CWYE|;qh*DWRmXD zBCu_o7jZ9yH5Qvgn7FB+pDl<5BE#leHn!eTK@t|A5Py}s6a3g6!1^%O zpU>paZwfW=vuM+5ELWk9Dp%PKFPwpqFjC?JTz>h2VuMQt4^9$qKaDtxjRa+h*6dvFZufRELg2!EQb^T zJpx)*Vb;edyZO7}xtF?MB~rV78Lv#QM{UfMz?=KQ#8N`1s1nCMb}olWLCbn40&JJ!W_HxbQk?2mQtKt3zsvSB_q~Iq=PR&s8ybD%q1T z7grdAJ}rBv&vW5zs$$5-`s?gT*1U}m;7#~z%}}BRx3a}t)nW2?rX$#}jwdOSSrN+) zw&Ryp@oK)U)BVl^1$j$6mLa#6L4+&^y^5k=uu$jtIqX3hi-mW(tJW_LX=Td{tUq74 z?MEqMj2fr1X7$?~MVn!|j7gxCZGFC)O*U%Lcbs!Rb6V9ZU&%SIbj*0)c9bIf0u-Fs zcSZx75-lm6TM~1=NqAC5-7kMSbzi}#myR=wKN~hVvh4V>unFayeI#2GIr^v5UZWwcr=wtv$h|_M?w8iVFZr6xiVxLgU44dPgWQHk4Hna}HBJ@RVI>^Z z;V;fT#0|#4ZhK(0m8*|^bAZre3&xeQfeg-b7N#Ck_G*hO)l1O_X`x7)a z5sny7gkreX-l|vuKSY{8*1cuczQfXh6l9@GnXs7oxDVn5_9IT4X~woyx2y6bwll7+Gppu zM8;XAr0x}EPE({)4RdO14ddu9{{{539&`Clc1~>`Yr@(ps4yJ+N0aOozeoOz39z5?&C;r-}$bmQLx_|K; z3J@1V_b+k)1>Kklb%ox^fe08+sEhT^b11+jLeOOpIe>PlQ*vFAcXA+tWMgFpUQm-^ zw!nST1vS+K#q}`X<9B(RhI9Z`g}51J)UG=%?My;i=NC|K8akS3a!N{TaIE#-w7&(*QcG%sRAMzA0hzUMfB>yDRrQ(+bxJv!kxI7%r(kK7Z=&0zmm zM8$KXZp9y;JF|1LE5cq+g|c7b=_d24i|jXhbB!@Sl({@a@Gq+esEGlXf1ERvn`8&) zytEo*Rh0(jDSitKL-*#gc#`qqTQ%*^S2D^Hv7dOjC^7?F7rbcVo_^T+TEu<*hf%BH z(?|COav`a+6n!JRX1VhtRLz=_W0W$vw4WUiugn`|!7J=-A5W5!w(22~$VxHD&-nJ4 zi-%MF=f&$3``CZ{vR!xsT&&=ee`~O?e^%|034SWT1klP*N~o98EdB7^({yYhlYm_@ zZ3fO|HWAT@tZQ3ZeaS@fYfuwuFt~8`Yksr|rQ+&*;LXQ03G8C8yz*b0S#S_tG&Kw2 zX{;t~Tph5|CP1Mz7>^;m>NIEhS@t-H$1sR#8e-7(QF!xWSTjHp%?Tf+;T-kB=Jv_& zjzA-|F&L=Ap^FLHUO^#QtQH>*T`_u~1&1zH%Z!n3CK0gP2=p=7Pj`hF=;)`54dmze zjMx&Cr7KSV?mL9lviwu`I~nlDPhD&@knQrndoC*}$R&jbIB}@|{&s2ad*_fCS7`Ma z$0sh@GMW`caPYDz+5|BZni&871(@gsqiF0T%)$;arvaKGC|c`6J>hT4vZ$CcWpB}Y zUaviSUnjiQ8oqRQ)O1%rJ^DHbp880Vmoq0Z5C)5yh!02vz=OFlYwN*)LCHo!1fVDR z`u>26W_zwlPnf`rb(hNh2LA>a6(K?jGdkx*f`d7Ol_Ue_CH@8GEaTrA9oSk4feQBx z3}WYPCtQ>sjGZ(a4j1eb{G3LE@H(uFpHyag@t9o#d74FX=OeT#zs8#6b) zKNB+Z^l!*zw-Aaq?xPoHRG8;30{_<1`<|JXnAc>ufM+7a08tgjYScm$2y2vDG4Ai+ z9wOfPxQ@}xV1dCeF2US@j)L&ykwNI#fmXHGLnX+7P_c{oQ;J*521V&4oawU~qcGwAV?QMDD<>>A z5%OjJ^*{K4&*yX_Z~Mm^xc=X!8TC(Il}Gpy$p0zC@gs5!s(C7uTO*nK+>ES;@T<-{DT`2NOxm zIgB>M#R3K_7~tjgtG9m`4q}Mw?L*wt*-PYsO-7*GO~|YKvtvd&{s_T(SPd;X84^^u zoOA@F*#+zyz@iNREAo5-ai61XUq}Q`iu^po@S6TQSGQ*f2KP)AM!KFee68X++Yb)$ z2Hu9Hj1M;m77Lx{WBNgWaOV+tj>jQ^4yMbc% zy074;GL9Dzye8I0;n&4*PeXd%W9R87l68I-#zzbU$fJ7jFEaPc-^+z=9b8Wcvd1f9 z9^;%*7Mg>hvg2=xMHmVgB>bQNS5n4Ze&VVJH_4aAgdu_Goj3+P0C}{aGDUq+2-4jr zIjM)ZPGtZJJHFvP7vZ_Y8`axKF2Yl!Fx6l3dAX5fu^MCwQcN0)o#L9INzxwEv13%? zp$7bvL$21bI!si!=9c4!o5E~ao4H}JRgX3fQamJUZ|6_?;~HBOZlwLtx-EP4F&XXL zq?yv!d}cj@5^754%bz4-)bij~B%I{3@y^)SNG;-277aer)?dDrqP%7QkE(r&zo7 z5YQs5jaWSSh*erpIEJf~uX<@!TS&dGS94d353;lLI9lLQ#j4<%RarGpmGZt4c72z^ zXct9AJbAh3E%!en?Oio)NC20l_4K_11fBbv33iCM4FC8L&P)DVw~X+~qT9bc6aHIq znoAyximZ-NH6OZFIBvKLU~*$9b_ydCw)4LG^7WJPF-0oL56%|13Slzc*{Dda>%4V6 z@O1SxClQ!DE}4P4?LT51v;2647BF<^X9qciE-M#eh0jmdd^L8nVtr^U^J>Rq$hwWttO5Wtj)N=R(^@3df;=colIiDoLR% zLZhllW5>}HUe9_IVv|MUCFl884nRhNvICURdP{e5pkt%p4^fsR=e;b_8n~?Bp16E| zwY?NuYFca8;!3UUD^3x^TeMMn(apw_&eqq8;Fehe$Ut5DMK`RoJ~f1AYvO#!GhZlH zD#FBV?`hg@<^h$#tK~ex zg8Y+bl5IhJIOJY?9}yEakq&D{X)z^rNW7Y-EooqoorHQMGlLe1lbLn=hR=27-GZh! z$d{k8fvaEEZc1yLuM}4s^EwO_f#K@JFcI=I8V>QTGO3zGCoIvzL|vjVEmuKsXF92C zDXS6WZLd_DmBXca$CYz@#(;4I`)^*ts+fV=W=CzL%RkYA0X*E21aL*%qf?fZX#Az< z33WKc*c~%Dz`n0@)p)g)pMBD~Fo8yHpI)=F&lDk&Sps0`xHiokb~e~N7=ObnUDI!r z#<;b^Vth&!k(N_Qv4^vdO~^K{&!GD($CXjsFF8186NNH+ZUx|^$_IE%)mXMmLFS7r z3e`4!-6{Th9Z}s!YV2OixWQ_mzwKcA*>;Kp2K@(6cFq&3se*eF>BO)a=n%PXhmVZkhI@9>jMTj~~5~6PuXUg>8j*@Q>SyPFO~zZ%o>E>zkr=PjvEa8`C{< zltsqwNc@OJcsLAGbdox%_0G;5F`~+0?#ff4wpOJ+tgk!gaY;uDHo03?%TR zQupr4WP}ryG0OXdzh?cV?;M_FUuKf<0LtiT_*rv9`yNSq)$`Akz#o;!2Zo=Vm1 z<~hazr{#V8bb+xmA_0QQ#9h;;gIv7LpOkZ5KWBcLxHPN-qDgM6oognt8MbnH*-PjE z8KVJ1t`{*H#f77RMH#QpSX6kVcM|SB;$<%WL_l-YDG#*KgE7sZDjKE|iFtL8hxrNW zxf@~0r@SmjP2?5t7+!emKc1U(lObBiGSv?kX3l?h7Jt|H8Ku#{GsjI&D(=#&)owWH z*hvKq7B}Glh{C+XYjRhAxN=E+yh*-)o?UXonst9ZE{S$_awpeW%1I0}Q*(GL6r*i&R&0I3gUfGXED%A>;(Me2JIK#x zoFcNFT%=&sUT%O-He%fBuB2|XCE2HgRqD?Y8nmbnU?xkgE?Q!O!s_f3epB4C(JM>2 z4Lv@0@_AB8CLt6L-?u3w5{=*ReRxQ0^C_z4j4fn`bT~q*$G#GoyUa_+Y@~$qX7@p- zUrzR@KKaB8*zpGlhR)pwZJHI>bgV&UTD9M>K+j@JY%wd38g zCo5rC0DaN6{c5_P9&Rg|VtXxvI7vJ5{zYc{*n_aaf0JNc?bd4mU)7S>ZYcA0AM! z(3d*2jIb}~w`pb3&5Tg~nv;~SG4TZ%ojftL5P%#nLmwDMueOGyl?3Zu%22{O_P90A zc(Qw#8JUCp<4Y@R8cemzgRtTF-S)SNGodR1g9?*$b917c`^c~3H{!?c$aaR?>g9|h z^AsiJKo12+VOyzGby^20n*PF8&rIKRCWSvgcZTl-0Y$eZh#qB=N{TrjiN5T>xf|>{ zIsjOFG#c))3^ewCcyeaJ6bRg&TFtN3Bu!-*)tN3%<*$P~_CY4d;hzCj>`P;sSh!=B z&*%%JT}HZ2wr{BL1h5ttWjJL3(|Q})o}WXlRe&(TxqBTiHmBI9PO1yL$UC~7cXZE3 z4GNV;)fdWL27_7httN~|R$pRlv|OhSu>r|RTQg3ItQaoT_(FDyRYzk1AA@^D>X5Yi z)jhm~Sj2yyEY4e=PuaRPDDoOTR!M^5w+6D+m z%)Zae>%;!IdNj1>MO1!N;2M%<0VxV(CiU^6zFWp)dFjW*;mD}R71?5nTQ|P^z^0rZ zd`{3@#iFg*@Qm2wS^0s$@HH>uXloArM&4$LjbV+nNQ1>i!~%6p->TE!B$+H=7^a(m zzEe>9k^N_fBGGui1d3ik>z%})8ZW>^dnTp)Xd$%H;&%a9b9k?d!-akmDbd6d$+*{# zoN6&MKSEkKLKcQPmV3_+VQqVV9*$iZWd;}XCQREQm4)HVJS)W>!~L(sWE5S)owD4T zvsu(PEq8xGiheapv>=q&^RC!@?T~yvnyNJpRI80Jv{&E%YARUp3b%KNsO$qEZy)?! zyYGRP_o5a@VOpZ>O)tnZ6jP1@`4kni`3HsFn~!!alvMt<}+zm-uOAkl+g+8_=;dq zJ%x`7tC>_md!&HJ@D|C}>>wNfZ~FD=NrXmxrW|P%VYJueWa+nMPd`Ql?S+qw51*4~ z`99W1)|0jmm}o-J>MLg7d$fQ1y<#iYU4kxNm(um=prxCA3x2<)Ge-6|aB&Vxo+U9Q zhnp)+u+0gtiS${i`&N(wdoFlG)*eMiZY|YafI`oDD}^o%+pX?({fev>P>{Z%Zrok) z>)xD@Tq%Jpm61$GwU4r&CdOl<-fH0kq^D%J`;cy2SkR~Eg6l!;CZyla8*T~>HR(Ms zVr;`h@)=^ff(v4{63ZqvsQKD<51eiAkozT`cM8nj_ZHuBU7f7Y2eN?Iq3UpjTDe*Z z=k&Gk5(R41HS#MrAsP}wfDpTrjHYVo%j?~%?n$R9o`5V_Jiq$%b7Np}6b|D;*8mKp zW>gq-Z=`aGu1|_1xI}^qR;^V3=)zN2-)yDOzUF8mTlZ4*bCT6eqs;Jqqj0aB=d9W9 zTA1B05uYjMy9Z-^S*~A)jDpcHjDM}PNX#-x(BabR$A}26$WogK0vI@&IEMMXUbema zp}b!r7JtDXB4}E0fvwzjOLG!33*jD#h1g+YVeM%%ohu3Q2~hlL;VVAAkfKAv4)N!& zvfn7q-Prr&2`?%YU1teA^kwdMY+Ribz=i#Y2ema1cDJ7y$wawS5A70cYFTL*q&Ob* zur(l_^*?%+v}Az$jZ%~@Ye|tN3^ebQamf(Lnma1SMIlf68C*T8?rlpy^JWf*u^JW_ zS;#sj>lmn0(m&gzz+3>oBxfb~`Oatf1 zcjAZU5I7>`6>9YZ7YV4b!@GPTodtApphG)xO3*XtazaXdAx^g~GYhp2y!FeXIIhfQ z!&bMDEbFO~y3kmZMX!Rw^JFhEewjNhgH7wka-d{78j>LW>M#Hfryrak9h{K)ECUv` zBBZnIGXRz^^caS=P)!A|SChtJ-mdbU(PN_Vng?KE929tLCGyu#qzMLh4_}BKxY`a0 zbeoETtu3id3l%;K*n7t;aD?RUxRyu@Un!`;-YQAzv@gwkj!0+|85;UIpNp&8RMn^y=eQ&}Wg`Fct-vt8z5x!8qB=?g#W&b{NF?$s>F5LUbxm!f5W_zlYQngc?el9hd5*v%mhSrV#3=6Zqn{ z0l$#fO^qo@^cqn=Yc$R5lQhKqrp~8#zfWkk`aMSvOtsLvMQ)MtYR4!4v;16rS3{i1 zXS*SQNz(1fDx9QKun)V1CT6=7Jte&krNXz$lOtVb25#UOI_nIR9KO}jB&(6kOLh>^ zEW@mm@F+lg(e+Kl#FwqAuUkeZPF_6oMgQ}X!4jIWg)DVh71_nnp6=dj8Ke_k1)@gE z=q5#C^QKq$>uBaEq)c`|d-txE*1JII!HM9jK zU6SWhruowL(2IvMD()2 zMnSF{wG32vjbT0VT;DsE(bVeJ#h85c@y_j~6yA7)M?vUnFN6u@xQuEHycFrB$~ta9 z_8R`Pr|AHDt#u8thuNO9GITV9wM!s|SmN0pa|&Td6MP-k?m-{Xot{M$_mr53_mOzR zm>a1A!Hlj$UWtbz{=7+BxZTj@oTx$*Ylrskz8m4eKmTu|rCT^TZt526->+`8i))*MT{N$o!<)|awxmiS6& zvrSGos)sb>c6=!tyUZLd^oGuUOyZVk2UgPXgFH<$jw?Ax)>R)sSlGSvkYIL!R&*EtB5J!k@1gs1M>9E{%guZ?R^nsb*58s*E>1kvE=i>O+@V5+~{BSFKlEx(-#OtO-%dpkJ=XcN3&GHLg$J>u1wFpk*bE+S>|*85w-jATY;*kh{y^^OYvM`ms$ z-&E*WqkUsPc20sHjjS7~Wr&7*_U9v&WYqAZR5-KPGpaYqA2Bl-xr|1h9JX%rf|EP; zuI4CEa;e^FrvWW(*IHc6;0=eqV&zkq{<^AmiMjc%`1N+?#Q=0J$p;8I+Dw^arH|&F zMDB(9Il%ji)bR#c5`v6`L8#+6Z>}_S1EmYBX+7JzytJJ5xSzhrV~5Qq#$8GQEMwaGI<0n<>;npD(4EG$-3dLLl3j ztI72h%~;EDTmx*Al~PsjB_G|#^YGB|6-Q)Prt@NIk8NTdb1#2^wXGRN8Y+%s&EOXI z5|0}YwY11WI_tD)gc)t$yaUeL^|1v&&PvIq<-7+$e(K77&7s4S@ zk*yE~viCEy^`e4G3zGaBr^{UFNU1(g$3O(S-jU`?m$^OIt#-S?kFR>nDw zF!~0%74T4zsns_S)1CNBcF2B!_xARN_Xl;`2EY||eL55Hr$#&h^MsQSi6>Tud(Yv0 z{)TWpVFpo{2}S{ndl)OdT*&A| z$lu4m#{&`-9re+pt!J?ZzHhxJQN)P3e-I1mF0}6i+@0ByMp#Kh59}nQ8y2jOtjC`e zV2KHlfpQ7fmnqV$-Fx;+1WW@O5)6)SeeFWoh;j@o23@!>6A(jlUx9d=qOp!j6&!_t z87mnNO5x#!1_##7pEBHoQg}|m)XRG{#;`$R?UP=XR)OL%`HH9eV{0^@?cz(4tGpMC)M@9}%{Yv`Xw z2=wRkd4qlR=>bI~N8m$weE}a|J>*r;HlWWpa8jVo5u(7sMTMPN{JC!j&j2~**CMq& z_F!*`72qvmMr^N*QC%f~rsE4BI6q*n58>XD<>C&*nm0k=bpTelS1Wl0is5y zjBiA9!a=pN%Kl5Hi(^cbbO12Sm#wfobz=kNa6v>Q_xtZ@La$Oijk_RUsT(w!g_<}7 zP6W8;8eB~yBkE&Vs1T~%98|av4T8rze88e|W%lc07(8LL|1)}a?ZQ_uxCkh(L=&yJ zrU5WPQSA`XT!Wr6Bved)ipd2`Fn0?fecMUo`Ev+!5AgPGwDDbUExEk=teR1+v7L(4Tq7sGUhks zRZ|n!xRKHu*+659AC;PQhw?4o4o!zRKTEW1RSuS&38o${ajfQtJ-29Zoj5N2P%t3c zjHP}gtgBU0>=i&?SYj5zbH-a&Fp@+W6ZyoJYie+YCh%N3to zZUnjqeC$fUkNN)^6X5U$s88bM(U3r4-JU>JfLegV@!+7kt+SnbnIBOrbN98B9Euip29_cpZrN5A z(ac-_hMZ9VUd`K=xaJHYbyEESFBaCwa7DwLU>y>GVcY-=^9*PDvKQlBacPH9%|kbk z{em?v%=pAV>wVLFp^{BP;k>kUkce!_A$29rk}ycv4cWllzsXY;&U3R=USoET@@<7j zydUPKTG2P81A~W7U_z~w&V+U=C6}aH$Ab28DCDz<)VvBNKVtde3ee1hAe(NWL@r0% zTf!8*K;9Ox*BRB{IC9}2(W$RV)73`Rv)Cke^*bZssZbFJ3K^*lJ%6^a`M5GZC_>+7 zak*FzmU$PZ|B8?3UcM7(vGr(en$Y=6yyJj?*Cj)~Te$)JR3e~6!Z5#nq0eXCk2oF7 zM%ip`ZrdHE3YI2=V}O9uTe(x>7^BF6Wj~jox9EvL&1UF|(F~GdXyivmcJ;Zhi8;}%gq8f#aab}bb=j?2eClnx z&K)~|NPK@S;#_kX4<)(`4#%!SDI~(KXD{jrWu5&`4P`&{3%!Gt;?z!aH5NB7cJoKS zp+h#Q_Vhm9E~FhYdza0R#`TK`AT?0ZK8Y_XKdw~U!mu6O#H^YU;i#V% z!*LA1o=?YQ6nk9y@wY@L%eAj)-Et~mgcT(MJl_rqIvq?A&0*mleXrJ;vw>M}xrwoZZH&*Z# z;7q^0ny6!-jM1)H*~JxATntCdQ0|KaRcfu;*QR$Au13Yt8f(`^dN%IZ z+Dz6Mg6l{3Nm5MARXI>=fYo)a4aJHj8)e?# z%&v5W(1(cPV@}X8$74EgXza8Q>CGE=0dN~UQmol8uD&O54dP&$L0Il?BV}(W)6X8d8^R3ca`Zua~Y(izd6+W&>clt;uy~9{87Ta^45&$CC z;trKZ8J*rA?eX54B|B;AF=DIUxES*3i9w;mZZ;yXE7+%Ii(!c9=>a-fq(ow|Qs2YN zqb=1_fAr@xbvOtAt9#Yz=%3V_^9YwdlQ{>Z?}cOqM^JofERG6cE(3BeqLp0vxdBN) z*wfL>6&Gh(Dx>P*-Jvs|Q|GSO?|=|{pBiG7nUjp+tMCzD!TNSaxqSvyrm9=yT%rbr6X6ayGGD<-$YmsYl?))J=G?-= zrx%(Vh0O*q#;^Wio+G(-^&{v>KpRi2F=Tti$m<~5?*sk>?>|v5t#yvtr`6F{P>nku zer+vkU?RsW#nj9TPb-2?OJX88wTpFZSBCde_I=SM?g>)5bv6>qArf2>CL2CblP)l_ z+QqlTae9cd6F%2UEELsm7691)`OKtd>vLA=n1Js0kO5Iqus9J5agO9ES_bXlAmLe$jHZPP<44XtUa|r4OT`WB@fpEl(SRj}fZE>9xO^$jp2JU4z#8 z0jls*BrT4K1(sOTvCsw1R;?Nb;g6eo4*r`v@b`hr2N zH|8RT^ZQicln{UG>t`7w#J~Z(roHFE!>*$nlFR)mq~S1C-`~EU$D9}E3pITwby)|2 zTek7$l#u$IkD3kBvezSehQag{x|JtRi?(-~PT^{uywxSUmwoWiT076lCfJyoQ1g{5 zU#2*{m$;~|&lw*8HtegqojxvXZh=~WS9L--7r|f4e@r;*^Tnbo+|r3yweUH^_oN#)y*yc1E-1(rhsNrq)%R=fu^M zZT&)c5&e|wjvJe5Q7g07q3xq~zJyn0pZMpZzii1w0sTWLdknZO#cBf+QJOBT_esO$ z>=pU2-}0_7;6wAlpr^t6YEG-QM9y?zn)}H#tqt;YYD!#Rg#O*? zTB&gLR?i}^8Roae_yX~=y?5rtZ$<2%-dbYeYyM=?=>l*6r43t*2^as zGrX=f2eDkL9T*$e)<`1f1SKsix==Xm9xi4opuWGm#(&jouhY_g$}Y4Z7=f6;74w12 z)tCKQA7IMPMLU+Vm)k8!@#{RdtyRzbJ6v64p4{DDjUlTnu=?yL&#;C$i;uKh(?w(h z_XJSQh2@2{r#`(f!DyirWUT5{!CIUcLuI{_X7#7B?wi{zT7(c8=Efrxa(y9sPB%0e zww*d-^UaM+uBmRO9&>zdjhj}C@Jdb%DjxaokASb^r|d5udZ`c=?Hz33Mx9dANAA)o z7h`#mv@Z$~D;sr6;5uXtY=tkLM!n$mAcrS-l#16xw`}xgk7Ik1t)pmi7(%oO@K%}( zc9}5=6O+w^I>m}ucA|7Pzq5pA(zx@$hgK|jwtrLbo#Q{31)OEj8#Kl<4Dy@}G!n}? z%K}>VO>@=Ha5Hs?P;DkXT44>HtV>u*RJtUNy`NQNdA;~eTgXtEPHm5h&ak$=-mx6@ zU)QSc_#U`;%@fXGl@RDZuHFs8{yt6a5Q}CfMpDA!pYqNAA@JLjz1Xgg1YdHV8cqI2oM7Jp~ao8&%(-WhqIZ}=yJzVn;)&>Bvg;V?#OgW}a zl+-0okh(X(=UnY#@W!)V;&K($?u!O}wUr-;E}e52`zujc22NscTx)Wgv~0<(YzRPP zH2z1uUy5rCg~gi5K*SdwshaC6RXEVLa0R*DQ!yqY;n}KByNz1iK>R8#`|ZL5im8)9 zBRECa*ABf=g>6iiYDRA5NjOzOcJ~$fi_&i|un$k+U7>w@H5jD)&VC5GSmhILmlAOY zc2M(}%)06LUP^1DY5WDY=CoRqlAy9-Qo$Q9@TC~@7{3p^Zni-mq=eY@=zl3ePgZwZ@^3@Zd;z~Qs zH}}Zmeh{5Pfv@=tF(+X~`Evq7q$v}9pSpTc=aNZW8P}J@n|5wkckc!6K{C7#vLtHY9@2Ri-m_SEluBm;bTu1J<(xa zUHT^lZyd7QpmmD~8)lyCIX^tWO%?AC%ttuHnMQe4url9dr_C&z?0)H{x#njx_)Fn1 ziv0!As9o~(`~wB{4xU^@d#w%oAPhNXOmyxRd6x~7*^b%($nMsI`ny%mer8lMW!Mbc}3Ho62KO1g7i-6g*O_UB3;rYOdKgS`$o|61|e-|8$SfjX&j>0I zAqm$*lAvPcXLes7q4R7|;2|2%QY?=B~~*(9SV|iBQ|yL4&&jfGGHRGy4POE-2_C zo7d{0O3IrikKVX1F97#TAs&Zy(D7mGY096<&6Iuvg~wEV_%< zfU3I5Xdk!AyloE_z;<=hYV1!dW3RWnMMkrucwI?7V^4?=`O>;X=BrQVrc4kg2dl>Y zZ4F9Kf{&@}{v$|g<<1=B6{qT7GP2V0a9RJbeF*$I(R zp-FEWyKNuvEp0h@LbAAAtENtv>}iMhduj7g!yN5BG<{8n0$`mYQ2H9;5 zZb{1!-XBOrA^b3 z%J`MBKpYR5wpiuXbCHk%5;CM0Oqm8wyvQl{4_^G`dTQ9!A57!NGiiV2^tGkxy3EFG zP<~*5c%IjxdTwYw(1hPbKe|~;KTff*B(nCIdPqin8v)>m`nzf}7((oiPQ_LAU41DI ziBTjBvWJ>3dsTrU$K^QBqEWJr*d)zz^yXL4clr71AjQCHIp_?QlnE}tf(`%VT9*|H z5F8SXJfHixRPBpb-J;*B^Wa1&BE{{07&!|k+mQ|5?5E;$vuPVPWyI}=Z%(jSjrTZS zx*xa8J_>O5&Ip}x@_fFe=FIuFavnp4s1Oaz$5OVo6iPVBGScjclUiAyQBI$QcYn;M z#NtcNr>F=GOm`VaN{g50!c(nR!GiAR6XW<+6?!}sBAZ{m#7$I$YkGiTBk6$gN*yDR%PA{>FM=Uso^yY3XgjGORF z?WS=;W}Hs39{73Kn2qx{i(>w6L;!WjeDU=3NWh25sL$UCX8a13Ey(zqx+Om%-a+If6%ujVEi$E=hT=kACM}sr5SLcHXQCTDU9wVIrwY zPUkDhs~7K@e-?tI>!&3h-U1I<#1bXbtaNQUc}_%a^0c6 z1u{!vrUO12x+;LK#y|06cD5BqJGRhjTuC#T&&iLq$Hc_CEsptZok957W{+x#F#1l zmXkntpcIloJ(!2(0Zng!UV+whpR&vSC%!CVX9zP}Iwj>1l@pb` zCF$YAyQMJ^_w{pZBa)Q0dw*~b&%4~TNRr>y+h9KPoSUb0jVN1cYk9p}%F>S^O{l4D zzp=`9f9=u((*^U8kN^<(CCe7jYmw^kgkLZlEWYWd{`4v?R&sC9($W|*kbah4e0igG zxQJgGe_K>E#6#{`+ml#xmw;~qn2L%uNyNxbJLI6fj`Q;=(d`z>E6lge=AU9+Ipo?i zZ$duzo8WILd-~L5cIGr`2Tag5c;YN)ND6$ee^NAlXW2WVgcrpnyb_X$%Sv7QTsOy5 zO0lea9#+C`K9kywlsj3s$Rs(ou38r8%F_r5a#OrH)f!s*U&H8mqNGIAhgC zwBpkaUx5J$Fk&Xd?Mt9usLq(rx|7@o)hI(!^^X4SsoYN6YvW9gokNc4HfpP0`$P)O zw>7crh>~QkF zb3t~%i$R`z>6T=5>N2^lt5UAp?sz2{hIy}%X2TV4A9UJ0@VX3`a8)FhxRaPef9@<_ zLyeX^g?%i2#Lh0=7Ls=XW{i?|Z^yMCLSjhGD5i^4mSgS4!Vr&Fn$BxJYS+mJ`ab@t zW#c4n)g0tRKB8-~27zvH*Yk$GMn%h8Cn?CDHXB&F0`WA}6FO`33FKao2VJr{<&sLz zJ_+NAK#eiLW?rtmT&-~5E_Y5&e@q_9`>rBhh3|lC(ybizeYOZE%5#Tou~3L%;BjXA z#i(w6mPR(?3gJy= zyF_zR2!ShUQh41eRwr1_BOS5^RaZ0}3z!dR8-BJ&nm+4MHB9kU4|n7Ae>{{%>mHs7 z62oO{%iob+m#V*>)tpCYa}5r?FCConaN4>{sV61bCN)LL(8kP(sdzK!Syw~wkncKQ z)e^~tGMi`FWz0jDmh6d-F-DD#SqY}l(WJ~3KbiV;^oVkfou3;D;CC^bNR>8fw-sw= zco{mSG$EdU$#DDNTkU&lf3@xKXIUkn5eAV_bBFc(@#`zkduZF{PmN|mr1p@t40jSt#?W65sPEFWKK%S?E^Wn# zL8j(&2-QfX_o~B@T}M&AVewGPPo-SvMX{|t>5I=l`enJc=Ub^ ziFkG|di1qo-5`+VLK;UJ)Ac=z$jraFH2A z>@=^naIU<~MU`-8z2wyOIHV7ZF0)^`ys{0F3Y;%)58H`Z7FBF;Rh&AP5Nzc*8v!0I zNh-10H;hM|is`+oHyvo3v}w1TuDcvxynIywT+C?Eo^aHUL(304op9?2w(#OdH#oJ@5BobGj;=; z0pythGWK>LXGAJddk0S^u!W_|+baL_2%t5k1Anmc@NhH!9S#t-1v!CDjqL#P#x9m1 z+qV@>jcov`_NHKvi|7AJLCa_9;^M%|!s71k&TMS!%xv#uAwb6na0k0s0#rcGASXAF z8Q`yS0Sd;ppuY=aMx+9$S%RJaF{|2}ySN)WfdFp?8?Y(J&iO6C)y@p$1bAB;peii~ zP=9m)+5JP7`-i{?_|Mh=SeaS>o9;i+ee^4jj_oa;cwx_0107bfbm;>|EbQ|)Cuh1;>_#}w)v|< zmcP=xZL+wXnW(+3Ey&Kr8SyWDVqhnb>3`drnScL- z-%j2M>;cdPzBL{z0QlGEzfbyay=7)^XXE*Y{`cXs$V#ZoD=IMjUGRThA|m!40BuZf4TpEyvDX* z8_)mv-}=?n<*oPS?cXNA?*CFXLH~@aJje{}YWsh^(k{ktGazhdVe{Wj1UpNBJwRqk zU>8%%e_G`qyZT=PW&^eZDcL)N|GH2BOsqiQ|M9&|m8tdHrQ!V6kAJ&BZ+}Dczn2uZ zGqpGSYr5Dtxd6saPR5>yZ%6!wI04?QZ)0c%^7y-h0W8dR_AYNBfVc8|0p|8jh<}|Y z7dL=K^e@vthzGzT{$Iom1h7c_L9754$v=o4z#{zzaRFH5{)<@O;uLK`7RLXze0XE4 z{y`rAELwli+nU<{MLch@I)8uAo4P+)c;1+%|61jZYW6SqrVsR|lE09n>svSdA+P~h z%>TeQg83iF`KHhu><0Q5{mo+WFUSF4vHUOO;Cw@#4wi4%;vdGF4g4?orrr8q@U7^7 zi+QWX_FrP&YWY{Hzr@-9S?rDb_UibT`>hg(|H8MqW^r`2f9u)5TYvKp>rJuKzu=oZ z=YPSsBl|;sYcCcTcl&?2-_*PQ3%;p$`xks$()|x)dyDq?7kpFi`A7X*s29lTpWOee zcTHWLoZfEkzwef}#{M7t_iF+K@&K74E-%=dehjgy3u(Kr5hiqJ+MD2?rP|Z{OvmKC z?9}f18wD9hAqOFdlp_ax=kN1rFd1eNK%R>Y+# zoPo*06X9?D#0W%8YC`)y&yGGCf!5G1kexDAxsI+MP?Yj9@7?<(J-+pqua1Q+>?!Y8 zbIHDcDxYDBRgcjNESaOqGs&LEBZqZiB8I2OxbQ%oyZtqbk$*G!N-C4Ufav=(mc7VZ z=LcKd!@Sq}S2Z^0E__OS9Xw*_Ta2-3YHyLlR2kew@6w{RfhCU?z9P~bWX7~LCN$5Z>`(datG^fZVDiThHwCLH>tL)3CqxlToJpv)i4^zuW*B^IliI=5+>zZ9SR*7V6_$vuX82bUtJom_v)%oW85N{p{? zojk~7<2pt{2tXHJiWn43o1@V1v2`SvBz;eTYm6JTkv-rP5C-yZHzswB6% z>D4egq&%JzEW*1A3s_!G%5V&Bu{*Ql%+`N*C*nNId(s37xk#Pzv-n)C*|LeEAq>L2gkbUkW%72&oz01#vLh_I01%i5+qp-Aua#)e? zw#(u&;Jv7F-pv!pD#$z~8TC~Z&iF29ay94o<>Cp$$0`w`aVZ?dWRgd58@0BrCArQk zAQq^eX$f7?gJ=5~Up%B&v*;CB$Wy!CHzB&Pex$Ss8X9}0Lhc8|VcxX{U znPqC0=PMsk4$6$tc{j45QAoP&#}y9OPsXNr?>w9;$vW5J61OKr!TGwG_`E(ybO}WE;WW&gd`WthFb9p5Pz}O z`X@`<^86+Ld?+w)Q~UbPii-d6<@j#z!%J2Ab{2hpxIjECayRUte=p_#1XhZ?uSGl-3q%Ret0e578n zbG6X;QMz7m56$nKLtkCUrB~;le+(I1{e=kj+Wc`dJ+&>j+jjT|u8N+!jDH)#q>96@ zn#(;}zp!(FHShbph*)*hV-rAAP2D!{#`soZUYd!+5AkJ&Q!F5QC8V&anbr$rc15Nf zrn#Z)jcnuT+0t{I3^SxnY^?8Dk0<$xZB-YUA;n6Ghsn&H1E+%S3%!b`b6PUx39kvu z={F&OcDnG0?C*D&-sYvtn}2?vxvOSL?+_l~w*<22y31&nAjgpKu$21|BD)N@h+8B@ zCL8HQ@yxRZY$CfXn)#;+jv!*5zxDZlE&7f)=s3ja=C}(?cr@Y`8ZqfA^{?H00Z-3463#ycXLC}}X zPl5sDu^)tMd&3~(VmdZtUob2U>uWUU)*Sc8d)8<*%Z|Yrkj(@fIWW%gh8rE(735!8 zj)zSccc#~H%3*g7y)wR>?Cp1G1oc=H*fiYZuYNFWfsrh=vYPY|l~DWISD;DW#_C3t zO`Vpcfh*)I@*!EXq<;zc439ayg~b!>-Np`_^CH5!EU_(d{Ci&y-P=JjW*t$B zb>WS=(;QO)f}L6*1FSj!cpQ>G@$)W$$mB*? zTd?vh-l)JAx!2OHOp>Ql#K__6(sw?zN6=|(0zU}J=wkx|34dt_qNom|@)QD*a8VYx ziJ<249R$#kuQZ)7J6Yk{haui8c*`yGGSmq4J{MgxK=+QPrrtL5s>hA~f}=aJyc*>z zS$A1k@`Ea}VntH^QpLpXo1RiYx~7JRrRvJ0kN1xL0>j9gvB95Kqj9SBAeVHrm~q9e zzOy%kl#F3+L4QZT_=fhBT+1#T+(T6zoLr(kc&)%M=Gnq-B!}w?8^unr*fRRG(s~

ja-&NcdwmTL!yDCTJ%)~4^u~^AXUbe+B3D;~?3JQfxWH?UT*4%5f_tPF3-$GDS zeDM6CLBPi$MW;^OEB!n1L!)*5Xnfze%Hyri$D0W+SO%%gG5;c6LftO_GVmRn$QZXz zE+e#I`hRD_oVvh7;KMW%vwV!*vRi^2BYZZ-0>x13PLL9KXCX;BAgy9S6<+%zBq(bC)?H zL=hgxGnl91tCppGMSBLpB!|*$o!6WW>(sK=*?-Q&1t1g{P&e#eGuW#TD_FtK3^h7u z(k)fl&j7`!uy2TR63Xg>(GwNwTvr>k3S?Fr-Wc5C24gF=-(1Byf9jiVre|feEyXx(98zj|;2#?y0f37dxLdH%y7(eH<#G0LbmrJRQ zwsLZ+`Xf+s5h@tqtorCjAck2~#S%;*)3g>N-|vyd&`-TZRBomgz?_$0nLQ9^UFb!C zwC>*5!jOwNk%EZA1Lsb_neNcKE#MQRpnuvztx@*+%-2F93i*?{xHO+6mlJB*Ttx#5xSm1+Z{h~_EN9C#>Ps2_weA!&q0Yf2dDSvMx zkH7=8c#rEEL_>=@3%!2nCYQ)F(#+bp=m<{RKB^oL(VY+Qw2SB+i$A*>*vtLryWrhZ z7)Rfc)FOr3{fCm5AKzXezYs|agCy^e`Dx;`M4@1&Q6@f=#+=y4=nKw2`IpCl_T1Cb zX>I8Rbo=flc@FDq&bm#RO}NEjmVZN`d@DODu~e^U#S7=hW&EbZ{83a)LOl?SOziv{ z=r1B_QobQHNur++r`e0p)#YGCpm1Z8C8`D=&lOL+Y#P}k3BvI_R7I9pdLKx{TJwmY zBg(N>-JMi=+S4lINhVMN(-&*>*()iIp%@iqia+@HZJm+FoKK#$%n$Y|)_>Vs(Dt=@ z9BzwlTAU`g!gBa3k$~Q#Qrp|K;Q;jF4!N-zSVw`k z`ojOw<2>f2ukt2yq=y}Kj}CU3O!C^Lu64;=MjtCo@WCEsrspT04Ba z&;ngyMK1|PE?Ebfp&1Pi!h9V!o-wkXKldvIKd*S?`G;__%Gy_fLB|%UU{~j=MSmLh zk3EB@pAr&Bzo_ghxX{{t54l31in6jbgx(CnQYY0pcSNOYKJ+Y82@^455YaY8ipx0Z^_6= zkwpNR+Pw93c=4we|LPT

g9(3~5#9#QP);K}UhzXtJMs+?h0@Dw9ZcykQO`dbHP0 zk{Y$r??xId*~f!Rs((>gQw)Qb@$&8w!{<9^LvDtYBb`m$S`l3cBc^-X`X~iF&-hQ6 zwtWtwzKV5{u1SehynG)cX&Pl=>DgW13xctjwq1C5C#c$oEAgO6h$h}`$35G>@l$;> zE=oP=*nD|Cf3Zy*1$D~fxze_%wYMW|WzH}?45mb^P{sI!Xn*m3(+tyR;xm1dcT(D=i$~KCstNW& z_lylx61B!c5rC{;x%epN(yQ(oM}Ukj-9tC4U}K$=dZ+7!SdT&o#kj=c6Z8`$2ImB& zC0y|2#|2W`0DpClGCH61{ymjq2Xh2^ZHdtoDNM{RXA}aaU_?^-po5Nne#T@<4j8YK zJrwH@6YC2iH^B%QHE}QCrk0_FD*1-mdZ&2DT++DtI>}T0XYI82M5;JvMm$+)X)E6f zouS~OksV&|P5JsqN|yx1rUU10^s66!W$YpBb>d{aihm4B3gXm#Ag?F)FLjyW5x-Z( zqZ`7Q=@;4c;I%j2Iu12Igs+YkqfRp< zAQ9Dk)hF-+?Lu#pM$`k^PfnqgZl?cSV;?4dBl-5*If){0o&2#TFXJY17GD^km(pK$ zf$Bfh=YO8@GJfQF>!m=>o)nyr$6%~|E=^93pc`4H-r>$6*|Qj)N;|Q&_2t`AHQp@; zlo_99`#W&Gg8@t!=M%`%@e#!Xm#M`a>FZean(@uWjR36EO4uuA`AR9Napo0$1PYc4 z7K7Pg7o&Sh?%=jYiEVCuykFb3@bt?Z-RZrL^nb2rR*`>G2B8oxV*aOBVXD{+pq&*6 zKD?1Hj$MpUAGI8XFq)rO_F}GF$Cpk7yhq`AXZlWt`owz6b>Z0A|HWcS6K0)2T$faZ z7}p&d>MuZ$BNSh&L+&QejV9XicOPcutQCF{B|TZerOShvnnHkVnYiINT9# ze#2-3kHz=MEqd^ru+qM_3i0+ZP!fW_T|A$g(OS1qr6)R-(n`HE=>btkm7%{Yy0+9Y zR4m;q)KI4QaxC+)?<;=!FeE#gBiE9wR)3(fdD+Mq!qcccS}9-c@6S(1s7lRdQ+<~E zXfk0$?LqMX@E$6z%+QLEw!I8tc&O0cl!q^ky)V)FWk=))@qb+s68 zlbIqlWS0b=GOM9OxOM-x0X~uN0qP&3D+%&Om@gGf!N9$}>UeyMk4E>gwhiw=V}GA~ zb_7HifbsGuL{XP|u`w{5CSo?a8=B2%tyxw_0y2B9m$dOJYo$M?()z=Dvdtm(|?az>bx`Bm7z$P zYs(2w`#n1bA1vSkPgj}EGve6nZcXhOqpK{|Ijfz9DZ-k6`5cAVRs%UV;D1K|MRzpAusfz9_N!;w&J5@u=01t-JHdF06GxZDS*L;3(ij!1aevV_Qdm zlqH*t7P4qmwjcEuF9}5bCEA%78JIz>&TzhIHR7>2a$?nzldAM|LJA)uIq5_PRv9z# z+;8t2W->VV+vm8*<-J_uzJKVi3d_*x%Oz#OI{C-YOWUPZ=ZG2{D3eLIW0c_HC~G8U z)m)@U?ZxQSJzNMo`3fzG=dd*qq zpc(^P(JlI|F4vJ4F$kK6#{*;vtFJQa?Il_Z9sXU=Q}Mg%0`oq@4>by-CmH(sAo|iO zMW^va-uJ9bb#0QyXn*7qS|)99Y@hoTB^dYsJH$%y4p@U~blMQK#z7jdvWO%QMYXLu ziPL#wv5!I#5$hd_yxDcTPPGPc`@HhSJkI4vFQGZpjzS^yVu`=CKO3U?&+Af!G$1xo2YxvjG8wwtD~S0Bt}TQ({n&-iH99i z;6sXWA$uUeIe!z)%t|KR>6^J0`du8k?Efup7^RFvpm#!p4 zBfQHY|A;S#zv|=dSobUesCHh{t00x^9|07054O8l8-I#5P%q12cz%mTs3Q?oBM zP3w1Mn`mz4k>x9F6gezo8~2_86V2n>Y~t7LT4xc(#bS}_9pDZ{op>*6u8Gn2=6))p zz2h&~g?~sm#M&Oq)@&ez#`)k)l3**UzSQ)wN!jIva3@>0DoSUw90T2IAfw(#8(Nuz zbZB3c4_gN`xpanWzq|KaEKpFd57QBzL$ytD9Xbzjp#`*D6*O&+yh(K#XrgV@R2Zq% ze_X^J3b~nm&(Px`*e*|&u`FW8)=&&}fPMzQhJWysMe}QQ5JGbolTB#gV-EE>4t{mV z72KC2ze-OXBKCbIuULv6Qqy`fYWT`f0@k&8(S!8;+Q=o4w4e3|8!}hB*ss6q2kL52 zdda9u*a|u`WPD7G@(ObeI!*?%D#q8%iqF%^Bl4=*sohmQXPftv*Xo7@p^ll&X?hYN zh<|AdVQKHPkrFrTGbslJM8pCx!>~^Bji;k)^X=s59ySTNA0Q%{S24^8CMaJ_i&K%k zLNUb1AIt7o|2QJe^l6 z8SoW@D3$DUv^GNXO1_xjXRT!Eftpw6Vke+CCo>iX`*^Hx)aP~D5ZX1EF_qhFV}HAQ z!|cbNm>|j6G3lpZgo05ZCx3_AmX=P9OxRVdgo@-CJcf@^iwqvI>mvu2Z%U|RlB+AQ z+G|!t18AC8++_C4W}g`Md0|Vgh$mjv>J)E0CX<2mQ|iW{h@d82c9h&xj%7FOR4G@H zOu@j-Zsh^SBlK9&0Ro4m!Ma2g?SIfJ=`{+oLcC#U01Z*7fe80!PXU)4fMib;0xTNJ zHXEDX4NdlrKLO&jHQMfnO>qMLCX*C3)=Du<@nb!OpZ(ESOV(wVv`D2grIXlWNpu|K zKC6`k-@Ch@AA(w7+I=mY^n%YF@q79zzIKf@25iRxIWcXp&5EzyZLbf~lz-^&9Ql*a zoyy_TuOI`hTaFHtpJhbRn4S@zmMklb2iCI}<^7h1=AKJ`u~I68r8KTwcs5(+d-#3V z)O+!ll5@Ni6diRjtIY25cU7XWmbTNlvUwB$CG5=>iF8Pi-f1?Dn1hT|9Wm|4bBB1X zZjIO(&qRA*Qz$ZNy~I+Te1Aq$pP8WZzEd%|l}dC!F}fk4S3~&fPbP)ak;z%Uo{tQt z{iL-ARziv21ogIN<61&hbZd?eK;uR32I&Z*$atGv>txzyosr|IiThae%Xh^#F}|V> zeK*D1oJ%R7*erqJjZ?d5ZoZoS0sh6~kJ{T@p+w0IbIT?JJe;QIJb$As!zi6M(NoZ( zZ$HX5)MZ6X{t-Sct+=f|IUuAy+p}=o38q+3P4i0C_-;%p};R@i_ z<<8gmyy0WlUSfcp_OpC`5+O53)zJF3gz7~DN*|vn{x^EuGk>nmz)Bo+=O_PAqOE9p z5lWp4qD6P};HpH2h+2)RNKh#~F$9~4C`#iiaYqb)>ectBAGyL&M1lo(7-GYeg<(zb ziFJ{8hPq9W9)n&Q0nhrehmA0&K+NJVAatf2r#T$o7He%;|De>Toe+bi-_o%y0{9LMGZOlh4T?C)S4|<80R9di!bv`gc1q zp1*R5#2Pl${wgOzk@IxJ(qYERnY?kM=)P#(m465_H2*vjfR+DyJ*l0q2X1L%4}Gh8 zLd#s@OL(nJ+uTKNNcC(Fst|q{oZJz4zzeqr!idW_%4)icTb3ro%omy1hSKvOlDR2Q332seeB^YL z6MqlsMY1D9l(>?#LA@_{0i6fy$BQ_>&Weu-OrpCBQT=8U=I^3t2$Me!0wJB49|WeQYWqkzhCct{nrD*nIiKk={*uSH3+CVRYY311r zDNI0v&yMc9FeJ5Mq*6nkHb0V7SeUC$rX=p}#62E2+~LA&i;faNtd#Div-fL3K~eAS zRTbf9?xpJ|W(pr~L2qwjIMWvFEF<+!m+VA+|7;SjL$lwAnlR!&2Mvh36@Ja#fPZj0 zO3)P`?U`U3p&O=S&KHlC_Gsjfk1J$gzkN|Mi4yW5PQ}f#qPxW={X}5tIk*f0NKbJ{C$yQ|P;vcCF>uF~4Q@TSnGk=pOwrf+x4(&t`~ zz?H@sud(nQPg*Zy>km029~EC0p1AI1iAK8k_j8Zxm5gMsc44ULoPPGVsef+0fy=fe z`ApMHQqSmR@wqVACx_JfA)Zm0>F0Pa_6_T~#o;lzhr_YiWZ24XA3TgA$YjQ4 zf-XqOoa_b)ct%w{t8-YLZhsn}VP=iFB$iZnBqb>y613E5TtfP-p&KK`7CK`^guHUP zUH8nG7n+Xj9{gr+b8IKM867dAoZGX|+pd9j?B$OMz$>}S&$;H`PnixC9gCH0im`Tk z>`(`vzhWp21p&KBCXh2e>bRbkCLi?FGXoE6y=*A_5P#Bh(ncO834bqYI9!&fvf@ov z_){0GYg+z@3gl@o@ShP8BCc?!HbJaN^_?G$GIUlG5iu z@`-Pe%BVqO;}S@QRv*JykaFcaQN>ga!`ptFe(zVedGXp%a$5=V3HUAGnYx>ZoCp=E zYH2CSxyibgcx9rs^naV`1;g<{5RVhDaq<(xcDkIa4HHp8+u-jYO}&7N%A8sl$U+h) zwCs@zZPuC!1nbklsZV<$YmCe$^;(7^R)LyL0-GoE$>K0WG+eL!iF?gD<^si%DiuNG zxjq6n8Zl%NDm#gMTU~C=ZrOQPu}^5-_)zTwgdvsOW5W1JbAQJl@h8WF4pbrXQ$z_? zgX7NE6c89A$3y0Hdj@Fj)ypimi}VqPva?l$^A@n#zCEDeU8Yh?{gz0)rBU9&ED#nY zURIHKl1+I(hl}O-SvZ9!iM`N@ek(ccUYBX$`-5|?2uJs?II$jq>a!OGK1B`hkaKTn zvN9tX=n;qW&VMGtiWVM_6`)_&CtYY-Sm6ZfT!S$y4d#c1^P1Y)Nq?1!I?=tAj0XXip9s16P!DPi zRYz2yTMpB`)3&M$wv|t1Z3YY5h}+rEWun6xbCo%!r@D?O0TwBb~iwRZUsyq;q?@CWRxaZ8ENn(}f%I1fDu|m= zst@Jtd{9n>ItHitK=c7yt2)^XC|s-;wPT+067~$FLa(w63AhzQz6({kG%r)`#tECX z9~km^AA|uPq~~Vn2qW0*b3_f}S$=LDwslnmRexdt3zp$;uHXQyvbB?8?R~w!V{u8x z@Tf)4&d(2?6%4KlT}iO-gSBL@B1S&rG;|ri*UoqhsB<8bvugAhg zp4J(r{6VzA(?O@!W18*Wq|F_;OS&k_-E?6E=DiPbyj9qPt;{k%VDhOZgjO)$4dsYx z?|;}|#Z|89czo<%z>z9KT68h>lyjBgL#y;${)`(`k$N3*NQX0S^V9MUh#5cqTR>~L zD^)fIa-z)Y$hkCIcT|kN|8V?c@(F!QUH{0|KmanzDT)BQhxP-YlDe*8CtRo)@cHXW zI|`z;`hy%};c5j-JBvel3U}GsIL_cXB7YPezlWQQ^GqVF(#A)lOBBj& z$=YxrBPFP{yKSd@Dx4_3^?5lEdBog2jXy`N)@=qrU#a-@vnch`>J?NOPblDb`?ves zQ+iX&Y_U{qeqV+XHAW$KQmje$z@G@(Gb^%0Wg7>@T9(+3={*TwKMyOrf-3~ecYpiI z-=n^_yUp9LPt1k#%7=@KB)5)b^xQt204>B-ta9%B9D=Ws7ZY%`;Wb1!cUJ^9ZEp<1 zEfiuR{BBicbkygKud}bh%xSGnd|=fow2g7yr8XA1p2arZja@Uc{wCleU9O}?g6m~8 z==R_@`4Ajy&_a5VVK8CQ;M4=ZoPWdzf}hGf6pm@G`dz`5uf!u{g^YN*ep}#>xRBwG z=15|RiyQtk;+bSAKj_8JrvsrC&e=qrXZTl6CAn>z2CaJA$Mx0lp+qHFxZsRf<2;Ef ztA?p7;e0{ewepJP7%8;QuX^GVv=b0nyunjBn+$4jf-+ESyhe?2@V8(a9e*h8WN}K3 znlt|wI>(lUAo#W=v4!NCnInv|Q^;CPG8r)xadib8^1yItd``y|TwnmB6K2y%bl3~2 zf;{EE;V_NUs;@4un|{eiee|S#{LUuIp`#eGCVV)6zpc|ffm_B}s-^>V1nlxcVoG%DvnVV7Mk=niWq-IhyaRD+4E!){Co2Xoz45b)R>Z3pRW!hY ziERn7qwQlwil9b-BR3Fz@LgUc;>R&VNE!D<+BRiO5c~}x8lS=4!hgw~;Aalz1&{W! zi)da}tc^V%wHOpS5G5-Kd22kG2LDV4-mzA4G(-+O){Y)@l5taTEN_W$()lIbrPoAw zK&j37-S9VtY>#hcBFL?y+7giJ4LY#WPxptFM$2)Y!vft6vk#(NJiF0Zd`ek$oHNIy zW(qo%%L`(zh9T4#{eOJ;m#P`)aIR+SQ4W$gADb{?u|;s1d|E3g=IsorB*-B-bxoh} zzA5~mB`|{JEs2Hi8mj>b=C@xZVhcZ#f*L{?*(E>?!AV(lr{Tc0}I!4q=R zb@A(@8t0+yaE~jWJCo9{$s+H|!ybi59ZO*CksIr53>Mc7QuP9?hIP9gdr}NDZs4|W zOStE`9&*q8^?xsx^Tm;Qn3s$xv@Q0bR^_h^AyYBaqX2#TszMH6;ZwrwUUUQlPkK2P zx3rL_Nw3q#U;8B2eml=~`SFoqbOSb)@|Q`Nq-Z5KYr@aNN8gS}k&6z^p{&I{eGM~& zlolcHF==q+jDcC@o@kT`s;Z9+vI@x#?*#=ixN`IPcz^VD!wD=YYU{>h+9%vBo;j=w z4=pAm@Gc#g9msC>yE9JM^fSdRCYVJ_A944|@E5Sn6!QnCh_!!Q+P>e#3xMTEkn6)Y zF4=4B>J*yA`;J|@(10S(odkh;V)zw`M)__et-2=fk4~9QiLC0@RJ4(Qi5p!Iu z`sP+oW0X~ed(1TQHu~Cqe26%cZJ`wI6yjK21Rq6+CFch!$m=jvre@eWjIjNY=l9Eu zkDSD2OeKyqxP$>Ax3e{Fs|Q#~NxnI>_)yAFWPi!AX=1uOiNasdX?i8ge+%jdmg1Qw zp*7hNBOSKOTLXwRIS)uhU8E>qOJDisCV|wO&k^qPZ4q(bXCkAAqLJ75;l2o7pg5MQ zlmY`Z+?mbbC^7rVGXj9G4XB|PibF(T>y#`<_YMmd+dlvHZu75q_>{~2RBZR%%Xb-6 zl7G_8*d4FD^M`26;!Sj2!{*T%8hG(c0t6X21`Kg+m1sn;@d7b$=e{azJ!xWljl0dlHAvkv8#^dKy1?$3_(Wv6%4!g7@e7CG zjGIkI<*o66p3fSvewvh0EpXorlYo zZWfdWe=#c^y{+5xptMW1?5XOw!)%SgqDt(kWcI107j=!Amk7LB+IzXS2!CLt#8^=! z8$`lyc`ikP=OJGz>ca5fVkg9+A63J24R^>>(s`vd2>W~~7MMJ4;fXS)D?4Vt9)|BC zwqSP>i${w6j-G>no?? z_6mIGtO5p$nM}_zvQYG_R05p2G$t5;oQHb5u zG+i>ZNDwPOmRhkh=9!1iJzq7l{d%}aZwthNBY;sFdpm<$Y2yW7#(xlr8JM7QDXO-Z z4@XR&k@M@%oI-NHtafEflk>;=n|M=L;TpNRa`#k8V0<)N={jq~*2J8TWvVo^)@>3+ zkuLZQZ-PR)ephp-_E;Cro$G}IU1Q3kLa|<|4Ou>A*p+L9dz_h`5T(?OuovDZW-0~; zrL&&=Gf^A7-d)Yelz)_I%7ppgB=7GzKitfsL+!4exb}IwXDtdh3K`V*R3D8vtaj`r zkf#bX&z>_+EvR9Qr9Eijhnl9rlp!Nc^Eor8<{Fr;OjI62Myjpey$~oFHvbYG^u8&g z*wjbY5LbF1S5aHY=Tb;WEQ!RdU&;S5qDVW4E^HvSnIDZ68GmCy{>KDXw-{ACl9bIY z*BA!%>C4qSmnM;+$+c!Q$2y>CDd7nkL`&OOd?n#)g?uQHFk5l45l z8P?p!cJY_z!ILpf8_3>y-1JRT---PQHAqDaD-uzBA zT#`!!*A+&is`6?x>5Eq+f6|D3kCQJvfkI?+eJjclS$|aF#u^AzX~j+DN7il0ViRGT zKyIo;Ym$OJk(=|`wx#sKXAR4$?aG8&il+|gWhHFgh2xnpNL*~hCvImcub@{Ut(}m? zu}|56g2y1LOfZHRF=i`o2UjdV`xr(x9U33KdSa;NSv{sy=v@~8u0VK`;+`tT*1N+_TNQzkV8&`{N zi)Fydc0t%>OE)bqIy5Xbh5m|`mJLNg%|Uz1b~JiY_X+yq!okWI0Wa6S?iz(dg=Qi$ zFMsVG6cT#dQ>i85N0~bg){7i-K}mb$3%d6`M9EP%1+s$e%89d<-vMV|+%KR`Jwt-C ztqFHCl|rrx(C3LySJbdp;VX3+&wj4i8|TLN;T>alPI2_p{DS_BcTYJVNf954mRr5Ti1oOw?d^&;ye3X+*?;dP zOJvxZajz~%ks5}CU3C+yk(7~k`ccj5j^K%$itq>z0C^l!g=}1Tpg8aDq#hb7GG+Zf z!>ezw3#2`(sBQ<-BuXg_Dv@KAWFc}3r`Mjva<{Uh-*p>au-H#~XCqnklx$38@swT? ziaHIHWXH>wVe>QBq_HA4O!6_)bAOK<4?ukHO;^&t_VkI{{X~^SbsB1Jdd2Xyf6cF0 zCQDMk(-ErJ{~cP8g>gdxY7oTU=U*B`u!g=!_CmRdf(Hf+^9f1nqAAO$Ptc}oiWZ}k zHuc5muePhC>=)+(I>P%zBV=O=2c1&hxovs$wQ!a<_sPk(pK$!gJ!R^mDt~kkDek;I z9RoubzpZ{L=aXs!HhCGe0`GoSH{12H3ZV#DMe1fPC#y*6U)iMlT zOaCbbJ2~g#YgdmwRaNsXC25O*1{=*{1E~V-jts0R?GtjUxR~}RyMaFDn1P_SNUPvk zuL+TLTz~b%xOj+pqJUvSlz(5{k3q)M5%=SepQO_?Pm77Y>%N+8@YzGY%o0a?0chhvm$riNuvt`x94wRpehE-!(_khX}0Fy z1pY1cA_;CAV?}&?ojR7wVXwDuIDCi60WSY}h;8ni5#ED_yzk8zI)O3t=H0^5(n2O_uNjC1*?DJnXJ_~Q?EBk4Zr^W7clE74oH})=J{7ip@?gM9 z*l1DipK)jPuq7zTATaJ;+4J%8K1Il^2mSQxGH!F%OAj)wI*>qrgG8QJm_tqs0pZuW zp_KBsq$YRQfKhi4A$kGqYsR;CTyb$r!^9lzWxvRzJVTTgEs6XQ{mle53^i>l?d1d7 zzi$2NXK6&|OkA>Yb%d6nQPMBi3;TQTw8pDRV`Pem82U4ty<6>mE}Q@K1;Z4FfIpz|HBrN3Hx(}og3ZSFCz zMB?v-5(kWvlA^smVClc4A--gOnwdn5Bx+wCoZE=pugE3q%)0LK8A5gES9J-j60J&( z)toINd>zR|C;A>&Lz~g?{6H?B+dkRtydsNrfhLpMPEFJG)_sFUuStynUx1rkPW4u|#>u_?r>bmwqJ^7)W}PxDK1j zNvVKiOVC)kbX2({E=x+)W%X^H(WZ#2coyYH^7p&h_Oyv1N;NNje*MPJM*&c%OiZr? zbqZjuMA3IFV+0%MG6+4xyx{(hav6NgYB98e#j0+ zlDPD4VbOVr9nzL)s`h)g>!sRy$r>oZP}VovAdH!)gQb+o8#qJVLvWCXg0h_d!w~mX zkah3lW0i=X1#S5!mcYzI>{5GNKT76)--enw4vetsA}qhJ4R8FD^2?lcO^1OuDeq*G zx(=9^nr(jzZiiB!;ZdOD*iD~j3k0#xL2#&88K46B?qgOgl|NYnkyyjx>)9QgSVP_( zi@uFDUHWcO91i0eHj2D^9MyG6ZTez8ZD_p7&1SfLL8@$NZTKx|vt4)PvH?-eC=oRy z{N2ze)vr4R4wRR>HEuq3Ev9IIdt__o^{LD_(&m{H zAX;i(@-tD(HW=c(C$M&-en?nTS?VY_2rur{HQ^K^lVw}lAZ1UwFqy(I)NwD~{&~^s zTK?vg&x(S!nL3BVNu9yD?m!%8h_#9;+UN2K#_4kU3XI9Ej{^qj>fzRXPSVrj2D?b< z@jP!=&Gwg=9 zjLvUA_J6V4lt0I!dn3h+UssS@nBV~)GdAUmR2RE$TQC3Gx?U0_m`ii&Q=V~1^XCCt&K+)@m(3TL zPHNw$4D+(h7->j|EAXdGIKpMVm(QNiv&Of-#&pop$r1kHt}ipkn{gn!5079hkGO<%mV8F+|$%%E6q0_4siWl4D&08(X_jUG4(;u;vrq z=NOk45PzOnVYJ_LT)U^4&icJ*DJ7kioCh2fHrwUYI@58EKF&$xQT^e`_0jQaJLpMJ zNHE2U)=yCITxn7;OI?_44q}^qb!>Iw;t6=kA=^$ijfcG%Jh(B{9!)*$hirNE^67H3 zcA^V8|6BqoDp>^0Z};S*Qj;;IR823q^E5T5{vdx664XgkGf4P+ZJv*69F;qB5sNnq zxQ{S3Kr+|UpBAXXnuINyI%i!-Ezo~Ela-6doiT`b)cDjz+YJBElsvlGwRhUqYygl+ z-Aspc1?*zZAc;J>I9j_#1^tKT=eMzmjd$gp=i{@t_PUotUXBw?OAJ}rOVdhw51!XQ zx*-}5mHc`d$JJ-pQsUHiTylxF!b*H%-O+C-`8(!ITklJY(2MR)p_9!;CvuF%ROZg=(q7E+#Ek@U!*NU#+&Y^aWTGbiz|bsGd! z!LT;!C1l*&Zu6-rGCXYGxVZsLdCQpyy#b&f(>io7SibTp28 zrXGzw7nJF#z3G_@oJQ5M=KHstylePuSaQ!KmaDcbd8A%$aet+oRh|2wsH8%7@6E37 zV3WHs8E~J47Vlcey^U-7dV_$wOYodqUB(P{&Dqv^rSGyuOHWT7B0gN3J2Yz} zx|(<`?29%14zq)dr~OEgeQGIi7vMR=3>%#J5ZQ*2$V)f_=#rK-RiK;P@!nqIzpK(7 zvHO9R?$Wf_5`?x02#|{GWp(s$r`7ViLfH&lm-tuWA_wx(HjPu`%ijE)b;sW}Ij?W7 zO*pqU6^WwOOdph{yKYEXxSuYGP1VK6e{6jqUu=K8XD&YdrnxR8c#Oc@-66VLPi~f` zL@LqNGt2kYrm|=)@u^9XP0$3)Pb%2A_3*Xna;S(cB;nE#=+LZMxYAL&Xfe#>|HfXd zl9;x0(5Vq)&u|lKi&Z4M-HCyH32$$y6oYi5d}3paqLkl2fHjCfr>Kx{_6@6`4_fJ) z3Fom1r~cs($rmw+bDZ$%Wkf6raT9P=LnZE$B&BJ7eQ`d>^{nj-eVxOzN zuJkb+GVsAi>*Lg!SEgRZ1ojo42tGxA@v7M~${{-qq(;7u_Mi(T?xPrcmz4X93FW>L?|esqljN)k z9u1(`K@=_VgPW{36ri8tC1G}X-r7uoW4jrb2C|HxD|5%ebTbdM3a(kV<8hH>GGSSF`GL#!6FKl1NkxgmT)E4^$*BqU7S z&CCcA3#>j}LxI8e`8V(UWpT08389l{mWs+r#R@&Jzu&j-B{r|{A?h1kj&FoZ681!y zI4mTU9^*`}*}*iX{;TX>-$%`2ao3)YH?wwgskLiTa2}-_?tN$rt7L64;8dH- zMo;D}A;s+dE&(18mvxS&Pxc?eO%C@Rk06QRZ^?gg9*&`H4u_H$HlIVl8DF3HFPzzC-Hl-jIGuN^Br6^h<7-|-AJA%Ea)sR(WA=sLpuVP^3Z3AC zGDaJUk)lO#T%+A*d9%Kv2nc%#3y4&fb4--jj--f?D2N+Ylbjr(2XWQ-a`*q*p%f^k zc;80Lz4h%FEvsB@;L|$-1U=tR0a%!KVSc_mVUeeo%u<)$oxDDD^fqk7HB_UTe8m;0 zzqPSfWzg2?%q^9(g>s{r*S%^m94Yo!wOq&WZwKiaNHV)ut3Pp;n(eSU@&SI8C{3kx z%A$m2KG?CvSo0}cWk`86-Vt9YC|5t$NTJ4cE=re|zd{&6u!kby(_xk9Su0bpOcPb8 zHIwLYwU&r`hGbS_yHXW~yBebu5%~KBi^a{(cyY0X=tk+tY|qY1_z_zloD})x%6P9T3s{5I<1m2nFZYX63&vi^6Jw|QUPHtPU_SI)B{$C z4TmDX%~-wgH~Alvzm>>hNGwGB2wqWNV9s`Y?CN|&oD_(TL28yYqahT^39dTmWO1h4 zjz%o5qg_r`dHXUzD^ z@(*Zf=TQr-&SBzhJ2yO-Sy6qXt>>pn`SBKuvM{kpCGoQS5ohLoSEj_)CtnxiP9ibP znrgo^{k0!w;HGy`8bf9Ud<3i~*Xn{mdjLxi!2eWQj}uvcVpetli$RVJ^}8nJkm09__6n*cAz$Hftdm z6Fw;+pe7M1Urk*0?QfLIb2iH|r_HY{@8-YDHYboSb=-Y4lM7~c`W30ZJmJqHcO0XI42ZYn`a0zvyD%~63YYZt{3;El&iC&^aeSxO7^Gc|c23qVbk(wp9 za(5DaFC{0DXXlw&TK>G7X@Xux+~<+7sKXNJ&#WcxK}cB!7{Y{WGKRyXLpN_w-oTOW zLKY$_ORUWh-8o?pv&- zH)YddvU1=YpM5z?_(bxHs>f4fX# zGr+f)11XPv2QU$pCWr$%im#pEiNqLg+cSTcELimx)FS|{2K4b%3b9@XTX=jKbcdMS zy%J8RMH}WodBQgbGg@MaK-(_^By9;-PT!d1iJH;te&~z}s_@LvANxzGa#TU^ENR^n zc_B{MV@nQQqdy49Ef(%|9}+jZqU_PrgrGe~RX=!dND;m1*8)Z9Jys-dg+tIvp=mi# z8-Fy(br2Bm-(Dumg5X&-`$jZu&SlP0Pua97oJY@x92f}L2uEC!}yB( zL2@M8wm3bM0k|jkg^zkqH62>b$R^9jZGiXH1G*tov6;et2f>r<?RJvQkqd}G4 z>j84~vqffwwv=}+5udb;i1iLWh4zarb7Hs)57+1v6Zp-bQ=?+Uts;!mb{FK(&%*Gl zBpzGC<@8QlVq0TGGlWu;V2?`q0SdNIG6)$xRQ75>^?R#2Wj$S&R|H9tg34A~0H?@p zgrwyKHKdi7tVoiq`2mlo<<9m2nd6bdC;|&>wq@cSRz*|+ zPeTcOoC4WO=`|>uNv8Z7} z-THk53rwnk{#4s^8)y(bI2xpCScC2x{Kkq(oy&rA)&Z1{D@rUr zdUC*jIBt2k%|9gFS+Ld@6d3X#Au8}E{LVQD5Yl$q+Px%~|0?<~W3PQz_ zb&L7+__$A=-fWI|gKD=Z@J$`WxHefr6U`&|qUv)5<G@mSRBHlG1RR^DplPO3GOl%Gs08 zIpzGMhl#=6D$#tdBT{9Oh-UBoWILxskc8Vxep}IgV$#g+_&nMmNH}t?IsdvXdIt@S zhuqdgx4&RudW1JPirn70sLF^!G@WPjRc-EZ45k4Eb~B5GNMhFSW1Stc_hm1)tuw)J zN1u`wF-%MLd=G#ZDVNR%e{q4rvhjgWMKN&dHU{;&NWjB`dU$nhdwQ#+;KIFU-)Iej zz9SPj13@3JPKaAS8wrNz&)OHF`T!c3j$0qUE>uy!02RC>`iydV`UeIGD#)AEz$K79=MRe#HdBt-GoN4IqR4Z9zD7QxMQBJh%e_ z!UEq6f@>5u)W;pOD z?Q@Se!5N~$!Eo30!W&w`zU1QK;sbLd8j}A>T8M_SCI)DLrX;er9Pshhp z9*SwsRKXymDn*b_|4mAdE!v?Yr<~NB9!2amHrq%cU3hLe8t~y8w>h&7HxVzJ7gcIg z06aWW9+QF`TwgVf-ba`WzHk&UX*)OVf-m>ml_#9y4zyJiN>4kK3>pb1E~Mso@gxl_ zqk4)A?VN&H1aX?p@-TL)liL2GmdjGZii(;0Dp|A?K9~o}9p99`HB9ZiVPP5#To=eRGW|%dJjp^M?ny%s`r`#l{YeyN?L0Y#*1i7jPo7Rml_9ZKntAp^eS3`Aqy)s7Ux4p za14%K7`5UHu~2Gp73yeKhxe+cG-5ul+v;$o!3BpxG z{ZV`|k48y?7>FjKW8S{$*I zT`jjQ9-|)-00AMrCr08q&oa+@Fa9{UnRuXci1k{?cmk|ArXOBur5NtZd=J@Pw}GA{ z`3+0G5$EKq>t`z1-GubIPy7&3;E4Wa7;T|69Uc5*qju&MKY~12(7AYG9B=Qqd!rtW zQoo#tcN$b7t?Jg@HHxUp!!>;%=z4wBp>iFDEJC~lz~Blv_Zq!D9|jqFIgJP&F7b8K zDH5m{PLp~mNW`5ji_g?ziOAU@j}4!ns^aA%#4P(7UtitqZDG(GT+R71exp_+657YI zD&hZ>b4nB`V7qxkNl2G%%Js#Qi0)c0(MyRe){#RlE!K+T{Z=nkZ=Bg#RkwD0YFzv7 z=Bn)za46R%IzawfG`)3@4q4jm+C1(ay@$ljr-;9*n+v^>e#O27R2xQILa)me&3@lmoGC?=XjeQqR86;u z{QSnPTd`O`VKCRHYCmJ2W$iBfdwfI2-?cICEBg-U2yQQIcHE)S%)HJnax4LM-MT^@ zwoS5x)4KZxN9AhRdZ@NL`T32k!0>CIb0eqJi@5O(k{R@jiLWW>GEco{a#zBvJx`hXue3;wuSmC|Y&m40;?+zAIe z65b@@t{1VhTtC^(_pvM5+{T`?TGDEZUjoG3%@dm^I^ei7dFEd|m$>;e-7FS^En`y? z_2(r5wd0WCdkg#5GWcIDeRYY55+zbX70qr+4W%5$-X<^?SlhnVQ*Rvaqt&>|5?w@%L6y@;K{l=b`~`=;f3dgS2n8eJDkv!A3E+^b&AUBCs~ zXM_If$n<%?cS?YsnmS|bP+b2)ME}QUQhHoS{1m&Rfg=t&`zZol zlW<;C%l>1JYLJ`^+pKhK6>3Jcr7xDt7v<^vd$3FpT6~DlT8f|MXEhY;d9v}PTXDA$ zw)pv{X ze6dI6c~NZTS%f8wX&j2fKv~!0;^O8!x#*najuK}(@nJUYBc1OqZcX!a)1!-5L=x4c z*ogFwDUnzQQKMqMtPfTh{U)#5Yq#{%{fU4ON-WfO38rh5G?LWO1|NTmlIdR#vq4yG zP+~nP!CE`Hze$-4K6cv=u{8Ms!#7ga81|?yx#w{TekZ&+uvTflv#Nk8ido0itdOUy z`=D@!8_;}pT80*K%1j}p_`^$zv7l%=K-$fa&!W zE%MAUertt6#B)IDNGm%L-L1G&oa?5fyJZOy7L=l=Sm&fpYcajp%F1&>*!ZY;|DTFfM+OuylaW_cYK_p zq7HhALb!lRDWgpBypO0K>0T#k}d}PcF;IpKyKiUk5Rji(N@5X8hSX!9z0Leg0+&+x^H6LZsiy$ z-_j#0N!@I7W0##(TX)y22t8-YwinYBWMf%i{7{nI8Wf#C28&>@ISB<_Vtq~I4 z%3>+P=JhGWDa~U~W6EQqBA}o6T`0dr@<-j#;UBNnCkuks#Wd15|F02uM$k)!f%CaL)g*Xby$wd zC?DqXHP9QOF7XJs7{*B^#10kG#tao252ac~7}bb2{8CftGomEhlNP9xkZmAdpl>vq z`MbWT0~Yhe1SR4Cyg^TGrA}$cdIz<%q?voQKkCaP*#L^sQH~3(PzFXgpRNm>kMG`! z)goHPMD$_7(EypgN# z-I_in2JA-sbij)SA)>I&y3cYaQsO=4k5Kg@+9g^ciErp^qDL&qzyDNXC*!#>Rq0%sCdrQe>6;B}PmzmrQp3AOt< z4Tgr44&C?A1GJym)3*FO4vs_eeV{*h?=5x9aY0^(sEAv}Y&dtrJ#J}1x3}qslK^~i zmquGHhNPB%mzHm?R^Xbe+EuP@$5+!%-$kUI z;dqQyl``v~FO|L^ITzhK*5|V+hoiT#<0KA*ptm8WRJ@{|!9a5EKP}Pyx^S~Sb5xCT ziY-dias8FPwVyqFl}~YnX2@6uVHs#(Z(U|M=pc-$B>BmHFzp(25(nysV>leXJ*nG- zPF&+PbEB1Ge<{bmXA6Dc`{u{z521u!^sFC~I(WPUJCfl$U`{)-_^03Amz~qLLBMuf z{;H`5j4I$(g%6yR)eCj-u9+&@0CJE*b@{ zl2{%FC`FdU5RReBP;Mn4(;TZqQxuE!UT+9>bu!?_`&{A%q_jrt^=a^y5;_P(+K=dr z$K~wGjp<=~nm@WwUbJwE0={^y8&-D-P%D9K_Sai>o=Du&0gvfl^$`5rmbM>Szqf&o zm%FduV~B!{lu++^x|a1YJDzUu38(M5YCYOsB}IvYV!0KO+5G_mNa6^m$;b9hp*CB@ zsiyG#CI&8Hqm=p8hRFpOVP0YU?@gHpd6g-Bc8pDh{{|ieo_1sb76#*-WxL7K7X#Lw zTin8v-;Xc{IUTYsJ$ZPB+s89@twt`mEDe0OWt?H{=m&2;hqxu+q%jN<2ak3J8f&sw zC8d$109dwtwG5ki%_;0OHN4~|L`o+(!_k@~-j(0JkqwBk-mzg&CZCSY;KuVp6a z<3SG$Nhc*qHzrBfUu92mm21e5#KI8`*mi`$cSHoU`@F3WwU%`x<#oWWb0Btez`vGQ z4r_9(yU#qRhY zsj}dA7FAd%6Juq8kk9Jdz_Jas>))rj}X(0=Es79e@rxR-dkXXzfd+ zNPmfwbQqDekB&T%g6RDpfscK+hLqbq%K=ci>8F?{eBk)sKiB{Ku{w~)C3XDU16%S8M>eToz z0QeVW|9=Myy}4y)95zM(aep>~fgpNJnwR^CPJ4xVD4WFVQY2ea>=II3u%2&vgyC+d#>uJjRE}_dvuxQ(E zMy6kPINL>9S%3N>xw{U+dvBu(RqE~Zh?NI^(YxFm!JM&Zc}YgpLav;#o$Kt)8nz1~ z!0kG5ynF*t-9|Rr1#L#vd2MR0mEAgXCHiNg|A+)nJ3`Q-_EYWF@a)#npr^!VR=@Kp z(*wPT{sd_#gSrUnE!W0)uxL!*KbH7t{#g>OB>7(g@ZYKQ&+1TnKdgcE|Ka*%e;GYg ztTqZS?z(?om;BuTBH(U~1|Mz6vSlO!U-9C3+>_D@r_~BI(*h!KwL;XjBDl4XZ<{yM zd6smdP-hUHNN%RgZQ3<#Ag`S6fqk(0x)T4%rGN*(!V9>ayChXQ)NA6u(G_*~dgFZ9FsW z_`kvWq4=NaG~z_>Rp-->TLHMsH>K`avL0+q4`Z9qty6H>dYN189?np%4b?=YTPH2{Q zQzCO@-dmsk;T}OWLO6e}_XxIO9I7L6fh&mwv#@&7M-2M8UC z0W!bUHQvj1wrL;n#&)9mCBFP&K~?qE0~h0 z!x;5%!HEQvNF5xjm`yUzA?#B)r<|K5ZE_^)RKMlOrX z-J-XxY>kgfYgSz0c6x+L_mG`D!BZECaJ$FtQx~@I7X6U?e;l-tvUMLRo?uolP`thl z1%L({>gl)l+$e$WsHL<33-4(9&L~GB3pOCKiZAHA{##hRe}B?1T)i&tocc)O`Vigv z2*LWWFZEG!3ac<=YnXoyR>RS}T=TppRb{U(4BP$=5<1|VK2#xQus z2w~*}@5^!e%Sqmr{|iC>H#wI1=Ys4Azs?ut%ol}RAN;;P98s@bT~9J}zuqUMK48Ay z?;i)B)0ax8C}1N7LvpY^gCXX>JRk!CWZfcXuF&sks3x1oQO}Zmuq}eAv<;aV#$Vf& zAh-|6K6POae;9C}41YQucV`Gw!z*M`(ax!qHH+z^N|0gc7iuUNjxO;utV zxV6n+mU9w$D7i5m+BVpRuBr{CL-n79T0S5ii2+xIF-J|dFj|E&_m2$lJ%b@S@Br6( zPJpn}j&hNO&dH8kH5$cFAm-bU6m(0_3Cq-pfoH^?XvmOg#IIpU>vhcepQ?j@>&1WC ziH|K-D=6KoUs_<6_fh|0yr-r759+=i%b{9*qw-0<82+;i}F z@FJ5THTa0h5ZgA_$hbXdtw$e^E->`8T1bKE&QhoZ0XwV>OX)47bL{Z6no(f@q>G?w z|K#|rX5Zs6Yge0&#{M6$c23ete2NgRaDzWfXQM;g6g5&H83HWzVE+CY{&$_T+@bZ877hQkeHuK8u7XRpsbzu`!-{0n-3#@L^ zvM$Vn>g(E`-C%sa*?fWQBt3|!{%!gOsojL(>r6wd96~HBR4l6;bPlgH9Z?xd*Wv#( z;g8nHj!dvr-M!Jh^pvM*z0zJT`$rN8LFD>N#Wftob(C&Lylsa+e3)PdLhO29 z;Aedx&a@*OuOo7u<7+oZ^lSDI2BBY)LLDXw>xgM<+Vu@}J?4_ME5X$kE4Efr7zwBIe z&jN4VV~G4gd}#anb{$|7`Gyci#S~gj-;wqI1o%jgfNA+tYyj)%DPQvRf@|Ta=DK^F zvmV{U<3LQ;-xjlWF=(#Ei18L8QU8=u=PYtxkvh!WZ}s)9$dB`(zMJ`tnM4!aNL&8e z&3_8>B}FBjwPEEdiE?AX|e>OpT6P~bRv{`J-!8|@~i8$*+> z+n<`8YZe=xU!b;iE4|8N^Vos&$j>L@&*$CJa~IWtUBV(41EX<1>-{Ov{MVAh)+twz zHF7C)eeKGe@1Jn5qpNbbZd6%K=Y4{0bOu?*S9$~4Q0meZ*EO;YsKK4m(E1Au2lWEn zyiW(fD%InMA=cpzVt!VDUF6&2+@1A)SxH;%zXaePDn0Ni3_i+3SH_J#4PCl>V&%bm z)2A(9&)->pq1``sk3u-{o!sW^nCO5DV5>P34mde6dFt9#<==N(Pv5Y4Qh<{Fb#iuL z@+vW~Fy`U(M~nY$13tOvb>rdoTgXH!dKYi!vG^KtEU#b}*p=KFm<#^E5+%@8XXohA z+50vp-QL+_rnf&QJ*xiVn0VODFu&hVv8jB16DD7HX5Xo8TqL})^Zdqo=~&%M((Btz z6rFd^`OT;oeA!xd=kqew`#y*$Im8isDw+064lDxR&UctIYu@w}zH)vFxW0WhqCNC} zNx3^-ocEus?QClT&+eNQ+_B*@$P)w#rLzktd{`!HE3bo0T;#9sDkj|x-4q>dyFn(D z@YZ(?lI{kFd&VEwE;pmP#!cNvu6^9UBcZ!42Is$CZBJ+lI9W+)C1E8GdYyg{k-vMA z@sRf1iDYPBorQ!^(Urc^rlkc0Eq~=rTS7nw_N`C3y90m|Q*&?hFE^r3kFUllh4vmI z-1iWpt`u=PvMZKS`$ZF-MW2wbN1MoTIxeOT`HzRvHO9$PlFv`w){Y5~#?x;UylLe41WowD2W|ya;6Dg+&grMX<59(geF~LAx t)AfJJ)JInGe5876WV*3jeS+&zRes(Ej@ytNnVX-F3yGFiN=X{&{{#K}GR6P^ diff --git a/simscape-nass.tex b/simscape-nass.tex index 16ecc04..591ec8e 100644 --- a/simscape-nass.tex +++ b/simscape-nass.tex @@ -1,4 +1,4 @@ -% Created 2025-02-18 Tue 10:43 +% Created 2025-02-18 Tue 10:53 % Intended LaTeX compiler: pdflatex \documentclass[a4paper, 10pt, DIV=12, parskip=full, bibliography=totoc]{scrreprt} @@ -182,7 +182,7 @@ Then, the high authority controller uses the computed errors in the frame of the \begin{figure}[htbp] \centering \includegraphics[h!tbp,width=\linewidth]{figs/nass_control_architecture.png} -\caption{\label{fig:nass_control_architecture}The physical systems are shown in blue, the control kinematics in red, the decentralized Integral Force Feedback in yellow and the centralized High Authority Controller in green.} +\caption{\label{fig:nass_control_architecture}Control architecture for the NASS. Physical systems are shown in blue, control kinematics elements in red, decentralized Integral Force Feedback controller in yellow and centralized High Authority controller in green.} \end{figure} \chapter{Decentralized Active Damping} @@ -361,7 +361,7 @@ For the undamped system (shown in blue), achieving robust control with bandwidth \end{center} \subcaption{\label{fig:nass_hac_plants}Effect of IFF on the set of plants to control} \end{subfigure} -\caption{\label{fig:nass_hac_plant}Effect of the Spindle's rotational velocity on the positioning plant (\subref{fig:nass_undamped_plant_effect_Wz}) and effect of the payload's mass on the positioning plant (\subref{fig:nass_undamped_plant_effect_mass})} +\caption{\label{fig:nass_hac_plant}Effect of Decentralized Integral Force Feedback on the positioning plant for a \(1\,\text{kg}\) sample mass (\subref{fig:nass_undamped_plant_effect_Wz}). Direct terms of the positioning plants for all considered payloads are shown in (\subref{fig:nass_undamped_plant_effect_mass}).} \end{figure} The coupling between the nano-hexapod and micro-station was evaluated through comparative analysis of plant dynamics under two mounting conditions. @@ -398,15 +398,15 @@ The current approach of controlling the motion in the strut frame proves inadequ \begin{center} \includegraphics[scale=1,width=0.95\linewidth]{figs/nass_stiff_nano_hexapod_coupling_ustation.png} \end{center} -\subcaption{\label{fig:nass_stiff_nano_hexapod_coupling_ustation}Stiff nano-hexapod - Coupling with the micro-station} +\subcaption{\label{fig:nass_stiff_nano_hexapod_coupling_ustation}$k_a = 100\,N/\mu m$ - Coupling with the micro-station} \end{subfigure} \begin{subfigure}{0.48\textwidth} \begin{center} \includegraphics[scale=1,width=0.95\linewidth]{figs/nass_soft_nano_hexapod_effect_Wz.png} \end{center} -\subcaption{\label{fig:nass_soft_nano_hexapod_effect_Wz}Soft nano-hexapod - Effect of Spindle rotational velocity} +\subcaption{\label{fig:nass_soft_nano_hexapod_effect_Wz}$k_a = 0.01\,N/\mu m$ - Effect of Spindle rotation} \end{subfigure} -\caption{\label{fig:nass_soft_stiff_hexapod}Plant dynamics of a stiff (\(k_a = 100\,N/\mu m\)) nano-hexapod (\subref{fig:nass_stiff_nano_hexapod_coupling_ustation}) and of a soft (\(k_a = 0.01\,N/\mu m\)) nano-hexapod (\subref{fig:nass_soft_nano_hexapod_effect_Wz})} +\caption{\label{fig:nass_soft_stiff_hexapod}Coupling between a stiff nano-hexapod (\(k_a = 100\,N/\mu m\)) and the micro-station (\subref{fig:nass_stiff_nano_hexapod_coupling_ustation}). Large effect of the spindle rotational velocity for a compliance (\(k_a = 0.01\,N/\mu m\)) nano-hexapod (\subref{fig:nass_soft_nano_hexapod_effect_Wz})} \end{figure} \section{Controller design}