From 09dad1482c63f67c685699ee2e27fbe8098ac03a Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Wed, 5 Aug 2020 16:15:37 +0200 Subject: [PATCH] Add flex angle meas. + est. of required angle --- matlab/stewart_platform_model.slx | Bin 90132 -> 90414 bytes org/kinematic-study.org | 167 +++++++++++++++++++++-- org/stewart-architecture.org | 28 +++- simscape_subsystems/Stewart_Platform.slx | Bin 39753 -> 39057 bytes simscape_subsystems/stewart_strut.slx | Bin 61913 -> 63087 bytes src/computeJointsPose.m | 16 ++- 6 files changed, 195 insertions(+), 16 deletions(-) diff --git a/matlab/stewart_platform_model.slx b/matlab/stewart_platform_model.slx index 55e11fb3f8ceb95c26fdb7384d87006317ae1146..1abc349b8f5484cd5728bb655ec808dad753684c 100644 GIT binary patch delta 32454 zcmZ6xQ$^uxOMz$J} zTDl{PP>vpHEBzBa@W9Cj%{biR?Uy+BXbqj|&s2}BPqI=N_zZf?d~l-bP(GOi9IA(WT^Fzo3tfI91Na#ay}3n$x_V5Bmn~rz^;ZXc!Z6p*swW|1rq7wBc5=gw6)u z6C9~(JwXpv9Vr6r1?OjB(DdhH8YabBpfqmjSZ1% zA-a!z@wSMOs@P45`^xHKw-e_}+Y9u6CO;_}{Of-vKPejG`ya+Y{=09AfjTDm_cJ{1 z0;9Z=yeX*wSxiV>x0*^@=F&s~QtNi=jh=Wa+*gNPYOk2GYIf8O4qn6SDO$it4z z*jQ~^IxUZ`uVvMFb_*88Rd4k=iEBYyY!(W4Znw%t6{XtS?x!`iETmt1u! z5Pl;n>KC}%+sl0*nAZF*KPpY6_?dTs>{gZ!sfykM0GCwWbxZP*4Cy1sA)luL%&L?Nq`@9i6LMM? zxgrrr1D#-G0r4ob>vR#|92yE=lsOr4zJ}6OO;56;P2wKu2?STq^)6n_ixA$A zrailBFC8A{0^hgI-?zZW4T$S2i=7x}Ut1uCQ7^>xvI=(>f41~e8N+|w&(%F@?O8LF zwwZZxheBc*UQ&O2A3hQaeZu}*vIzfw!BF-EELU_SG0;!}WS#$8ls%`KOn-5Rp@&5A zv!KsG-Rk-U7VdgPVWL`>|irHhC>ovi;(GD(z_lc>{y}noIfGGQ??m4|ifr>kQ3@ zX!=}sQ}iVQY~rkf_qUPL@s!`h7SEYW-Cl) zk@)n3kFSI+WPet&?ScF&`0@6c5DOhhrW=O%5Rw&!ie4 zL6Iy}VhD#{Y^izM=(q92ThEZ#;yPAKlp-bP7MDWP69|nV0Zv z<3WC}(C{B%Xv2Vr1$$%;hbw20)KU|rgo}VGXG{(7*NPjsns269B(bs#ehl~T1k8Wk z*YDPxW5CJnK~(-)c6)<7sKwr4C_|7v6I8G9xo}>rd4eNcQLQ7kw}1Kbv1BBpdhS!c z0OybgKs3vF0Xr>zbS%{qa-eP>4HCZw(>~YXERu6$464})+BoTgxxtC*#CEQ88SxJg zqQ*+BH)+}aLNFx&R^X+bJKx9e>R;-I{T3FrcaIs%swH#Yj8+NmHVsi+B zHEwwCyNB9m?<=qA{Wgz|ywX7rZP;Fp9r)90bJlB~Dbn)NhTnGIf(@Y$!^3xNb_>d+ z85oDP3v(5wlg@b zWTUI}2Ziiz$AjMacim<>cO4Nr`sc`Xj=Mgj2NlW0DyMy=rlsMQVYlK}N4UTIo6K0c zRWQ$PB-sw-=s3{{bROmme#HLB(>Sddpa?#JY>CLhd8GCQOKzs;FK-l{U+*WX$TeND z6ia8_;W|i!$uZA*+c_3_$4oeK2}`&M^uY2Pg^5!#{~v5#Gp_i=E0|BDhI%Np-{jpxfl=jL^;$t^PtS%R&29j+vpTE zl0)`G-G{dew4Y@z%H@G#D=UMF2knC8g;I1QmP%2jn{mvnoWe7-tg*8cz&ykNX39vd zyOXEW)1#th9^l=_Xhp~!>3(MK;{Br0`~LX!ChV*vd_k$`K_KSTA9~oj{5wogO)4>P zl~*0&NiwkR%u9hwJ7|mWE@Ez!j0C4gr6gp_SO^WU1DxxaQd&-|uN)rwCxSk>_GSA; z?#IOE`%C9%K`c-hj*!9&0G0dfLUHILe=zh^>uop}qq&;K{@edp+>^1)-7lW)xB#r$ z?Om`tYBEu)TImVla#sS4U*%Gq5Z%`F>7 zGG74|Et4|(H#F$3nQG7{yoDeM0(oyXj^tQKyqBSCrl$!oOH4>L;NF8Yua?`GwGm81 zQT-?fw@t7PxJYbWW^}z)p^zK-a8#F?HEdO$%$L&yHg<4BFO zXe57*8Zo$T6G76*yXSPJl1IGEmVpe;T8w-}gip-H?Xuzns~2mnm6sC)RLP5&YIU)m zoUhT@4~SgLX32^i@G7wnZ^jC@4L#o-Ewp0u79%CoKH@XHDAG|gAN$&CSDBJjE3BA; zBJmSQJvtHj&IdL~@tHlA##SK;mjPusRRr&zxm0NzaO?Uh>Ihe@v@n!@WE-*nMO3M|3?p%n2 zHLF@`U7sLSn9!%7LjcF4Zr&4DpS+%5QTGEW#esAGu%#`gU>S8jmH*qKR(VLfP^C*yyht?b1zZYYF-assV z>V)^eU~JcExSBWj;a`O=!EDA&*HTu9(Cgf>>IG@DZZ337IpZDap7BFwhq~b6B$VGQ zLc9u%)KnLZjcQ1=1-wdJjGp3snbq1mIy5!qc~s_QAaIOG#QBifLL2>rP?+A2+-Da7 zSk#N)=+euTVI2Ax%4;PG={9sR<`F^)%H@gLtt zFBG&Wf9LC%6;dNS%W9dv-r_0u7{B@h{q6jw$S1r!s4}|TYpl1VOf+LWbAop0RZF6!tT3HzxAB*%6kYK0Fdt>mHmMJ zU;3sH20{GC)=0W`knZ?EK$NLKK$t*jbBe&&fN6eP=R=Of-A7ur%8HuprD)45&#NQ1 z1A6Vm(Tya#6sowo#+K7SX{musGPL+5t&Ywgzil9?1eE)D%JE~_k%m9_R)7EC?v?cl zk~>+7ijR1_o4))#l5Z1TjF+U-|6Zei7_N%j?#%q4*z{?snMxjf!E;GEQQl2CjiiyA{@xc4T#?WaDe}UY^szi3En3mM@+`Isx{(_6 zG5$II`CKhqUG#;^3<<1pPH+0q`Kh4R}_C&xw5<7BU^M1i=H3{6m zL^*24FMf%i_T1tZEUDYUCW_34B#y9#p1_Q98dV0Bi-ccE5(M7%Kmkx_yuQ~Gp}|1I{i{+N!VLy#oWZ!a};&W-&|Lk5FjuNPXloR!213MR{6uDvN6VwB!k z7=MoxMh(+n9PZ3PxlT%j4y)TYWlRj_$T?tvAw}*1gf#CSYN|=}+61{KC^bfiB~8g@ zcn`Ib0K1izq0k>$eU7#k83|vr2WXjkIauq9RJ-fh)7CKFvT&Iawh-b!5yArvQ}^ih z7zdx!lz#clEF&Ya<)aAV8j*b`f`T2*u9FR%7Ed^4?F3V3oHtEoc+F-^V+OxY!1O?a zcvTKH`A;^ON)##MM3>H(W&tn%7C*mvBOiZo+oPVvy0NFhy78`F2 zpXF_Q3x(} zmmOaR49mznSQ*L_cr1}wTj!1hw}e}tCdO!;WQQj|VW(73QJExq)Bx_< zG#HDG6au`kS`AN-bPcO!3lmWjvLV`31_QS}LD$Ikm~~!7)6lTwdc)!ptIXyvF4x)S z3Z)jsLk~u!uL2GzxFDpGc^FMFyh7L+Q<;V8H2r#?ek(j+z%|lT0B1;^W%JnIikBgj zP!9$RbQ4c_|8F~MH43(Ulg&x-JxM+I_FhouhE{ur7>pSQ}C7NvnStyo#SPcvI%5Z+%CXMw?SY59_P86YUNKnKoKgitU{=xFi3qBQai zWQ8p$^iQgI3~_^ItVq+~*{Dt5Ip#%#OEOGaeml4+S5!Gqev-o}#1dC2O)2~5`3Q0r z`k3ec0f1{sVkEv=Z1achCA&$jNGlO%9vI|I7D%`6WUkhI8_0I}G8KpFTqDwvV+uWq z%*9g8F5~ucTviZ6w(>>*>z~qMGZX)nOo9YPON{P$6oALgyXUH*?B`C?XF}D3j<=pQ+0?|-&@5P} z!1Q{S*fJ2?9}p$a4>F4l?mGJH{HYd{8oWbH*8?-nBo@e@GE5=1{Dd*{oo|HR0cT{o z?;09pJ`TWcS8wTDAIRY`ozX)dGGZ`yrHA9#GPn_OVnfx-_~o4{WFtfp8G<_K3IP@m z!zq^NU_6l3dMFX*Dt6O*5{K5^T=^+Ako5JjQ!2(Z>W6M@5w>g((a`_(57q)0FJ(DDdvphpt_D63%*(ju0kHFHf^0;M!D70?Xr@p zKUPxPed$tH;y)0&AtO2iS;zPJBnW(7Jbv&2d$L)0g(HSsupw|*+zm9Ct@G(_4MkDVa65+7J z`B1glx~sJV&59;;^|5{KQRS_~_Q+}Cl+g$jbh1(ewb|Y<-1fARwz@bJml-QeHmy^b z;CPUT85}&D&)cNSePIyJW$8=eX2i=lqpZV12SCd#tG_1v7~BeK0HzdBcIv^4TsV-( z7TK~6pf2ap-+D}N`ApmRGEaHv6OsQ32~#C}GYyl#-!am*yW;%>pUMu4 zqiEGYJczVJsbMd3fOOb(xip5V@mL|vutLaUup*9p~t7VOv+iPm$y(Pw98khYzf z^|RC1)qY@bGv7ieOjGSEP7_6=vZI8lOk+0!avGB+Uo&hnV+RySj&1{%8nA&_q-udh zkd~ZX&;jx002Xv5t%IdY;D=cBtWCTA8W5~9H4`2zTIzNcz*tBeySM7SL(&D(f_h50 zL28b8L8`PJuEhsvh|p`zYK?#N@w#L_x)z!>9zy}b(FNX`fl8$^P2UKzU>I}DnpnN2 zQ&rdT3jF$ex-c|*+%BQ`#97iRSDHOi9?WK~#B?67WCk50tDw@_udo037fcroKQ>pw zK17pL_yvz2psz^L);hCc0iuv0i56zr#}h`W z{RK`L9F~?e?Wl-bpAr4Mb|-}=u@syEtx|syRA0tE%p!^UngDq^&Amu$ABQXqi~@J$+Qu^uWMxQqE4z4 zcCafIdCsE&@EajHa--Xaas4oeKSABF507!KWze8g`qZywDrcFURQZW@%Me6q2I*W-|6=s7H` z@{b%gpimiyNw)(`Gfwgz$gQ1ywj0wY#h`eQG8y_O($L5$EoqZ6x^KcBVqL30gPG;gCVg=Z;QG4;dM_`<$?=0UHD9zt%!V+;D{-&h-vot3I*z z=NuAq4@%c{7bnt!x1L!N^b)enCx8#IKjW1gb=oDry;CaDe#nhT{ z>5Fa9%Rc6(LkZQ%aGkwx=5u0WKN7S^M&6j2hPxDUuGP7k>JyD8N|ZsyYvO}sr2!aA zv>%eFlsIl`1flC5v9{_NI}(YnRl^>0uq&2FVM&<#=WDuyb{ZGhM+vcv)O|Nk{XG8# z+z(bE-tqu?Os$7{EeLnMhLdrJ3%kRLmw@pbRUlhrWbx-17(e3OA}U0A%}Nn25;J-1 z$T-o{=NnAQcocNV$jAXo^x-G z7uW~N+7nynmoh=RcdPmgxPc7X+2glntoqds;@P4N9H zH7&jAklV!xaga}SRN9M3i*aH~wu$nNUw%iBRmZF}{|44qRRUO#3H5AfRd>j&Q%!i* zzK=1sE)&wpSIdJmG-EP0TpmyW)G(8;yGNEeY@agZSSs*V7pBWlF1^q7QmG(RV@$p< zO!qZl34IOO+J|BX1Y0@!&}CG>y5fm#mk8W795vVAD7PHdWkB@6X!o)sgG;c~Gxsbm zEIi1X%F^@sE!>S{gEw?}y=~)_aYn!?azfDM$SdUw3j-h)GMECBtIK!*@{Fd9F8(Hi z@#sizc38D^`mJ0V3Y9)Bm=;34oEDv5`u$KKrvxRek=fU-@Cush^}|%fuQJ1cd#%|V`F-&FCT7gp zVLS@IBn4m$#0t2BPkZN7)SdY-_#(r&0b##frD|%6St42!P@L8;%Enahzfh>D<}^z0 ztxlnid?j37#Lwo|tXMH+MGe(kZ^r#1?%MsdHy(E`a&+bHfp^q)$6?wAGLx?dI;dy`ljh^7KJw!d5L;o8Bd z!!y_4i$_RP6;Tog>``9xyc2M56xFU^m0(?Ecd!~l;*iu*p%Rz9t;wwiA@nBgaz^j6y@w{ff}G^>N>pT`CPp9;GYjZ58B2KHc5qe&n@ z#Q4>;GlX$80ejy8&{uRMv?^}#0=r7S*ef6h*X+GXXp$w+;PH+td3w+ ziA)B7TYr53F!V)y^B~hCO3=shxU7-tAVN}F0H&RGG9&*!s;-)gn&0>c>avK8`5CP+ zMcT}>1`@FIpWlJ_?Q9$)J8k0}MGN+kHF1mhL~{@QSvTC{_4uf?h&gA7rZ9 z{K!5JxIFHr_>r0|uYo=H6ul4dJbDQ{Fm~7NGh@3Ps{`k^Mg7tv9(r#*R^|AYPwm`S z)cgb@)lE}+_I*sB(bcOurc6#V{4@){WBan2x@k^X3A6caM}{G>Hx@Z_3p!nZS1%>n zcRHB>yYXLFhdWZ&#(%n;O5i)aOoYC>=_i^In9H<#Qg3HGNoBqQcPI?FLw~)_Qsvns zpJ8?5MQ|S9bM(14{9XEnMPO(kg+X{J*H&-5WRZ&-pus-mW~FI^Sp!e^(-`^=R!@ns zB%1gmKHEpTn~5dvh?H*0>+w1k7>T&$k407quw2GfX8mJ#2mkvA`sL2$JB82Nzevju z@dd>&%#-8yS|a?ts5sSM+MFFPJZ;u)znl%KQ6y z2~JBOoZeaCnfWsRy#sjTxz!d_+Tz)SBFNfDh~PV`y90q`pW^P2zZ(h5oLMr#aTo%u0IZ6ex2W}~OH5P;x#e7NswT{&Zq89Vs|6-$ zzMl$zi{l3aJulOgQmFz0R&1^On~pKV=vbW+Hi7ULM*tpi$u@T)*}@i{uZ5N6k(jRo z+Ao97Q#Q}Ui#Gy<{=CeIE-5?0F8)CijlbqDRP3}fMuA)IuDXe$5+0lF-Uv0efHj=< zUrW9}8|-%YI~+F#LPv7~p-f|{-YZ2MVZs}TcP?XL?u~yP=obsH`_e$w=&n1YN`fcp z+A$+-T&;d*C;5LUM^zi8D_RobkaNpc(qO-He^&dh*1+X<^oi4T z&9BnZ#hkPy^GCTZ)>Ok84JHJXpV$!{w)X96tBBK&$f;i&zQ;;7tL)JSlu)%>?s7KX z?lPTC{yJ2(;{3SEx&sqR(BOjHElbxL{`6sDFtvx@ldR9vCT`1);_Wme0oZmfY+)sl zh1(J*S{70%ORufEA>S}kuE2QxCLT!1XZs;o%a*YPZubE;teJQ4%ZXu>?qsE(RMW~H z=3uJpgxYoLX(}!8Z45s@^qtE&*v32-h}+IxZQgl|2j1F-e`b^FAaBpwj6iLa=n3EE|VBrCPtK?e#90K*Wbb-Vq*u+F}$x6!q{ZT)i{WKaovaCZf2;gs)!pL1`I zRPAq3!-ICId=m#vgM%Vz8OOS23ERtln*I#l`@O%FIevj;O;ThiY#!&hO|c~NdOyyf zOrIl2AJbQ9Dys*5t$!d|RI4!RV>ngYe8qMFyIsOA2WGPG%sO=_0KynQwAS|L>^v;A zGI4f~fjJ!dl4Z6PfE{=Hkw8-!n!SmM*QR;W5Px|TCFhA$b<>`OtluzjVYUMe|?o9N(Iv;W_uWM0P2(<7zSrmSBQ9!rTfQN??x+1O8);Y>XO^v-Z z78U+58;X?234&tU03;2MURwF$?J72X;m24!4!_8@Vm8Mm<7FJx4%4$C)C%Vul-)7Z z0maH(&)w*Pjs0Y4bmsJR0&T*!aU-a$H<2C%S8s%F*`Q^E*x2lP@PZG?@)QA|c1in( zaMRB59ZTqPN#`$Bb)LWPLK-MQkt*_*r@<(jVREae&J&}?0Yp^04HU~+HOG=FnB1*K zG`2BLYM=`R`Q3OVKV4dOW?Ab;V33xnTIto`k4m_uC5>*4c$dp`b? zMoCGTYHWY%3UGE++NP7&58*3lknnQE8P>CYoH9EAB zCX|y&?2)+x7ns~H%UHmWalkeZvd#B5R}vt^!RR8asN`U@V5DQPmr=YeNn#Y zpC!`p%SH0#9lOyzxyC%(%%8J0GM)u!xlrqRpW+qK0&a18tJ;68hgY=0f=w$QC*b)C z6e|%k1&&{c6;TM`KKUZ&Pgjic(}zTKqf<5aaj4cZma}3%;SwQII~)|X&Xv3dCMLT% zdp6k4cdo{m0vxt%jS8xJvDa#|(jQw6ZJwh;k)pl- zzJNld(s!QLO~Y3AP+~t!2cT4ol87t2;?ycQsMT4$&Dp;2z1vXWpG9vimCkT#K8~-s zK|%=Kg(-WQE-%w{cT6N{xhC-lo9l`{s{ZDT0)$*=UX)f3m%k8jt}sqWd)*4z8nUGv zYtYi}kLoS+UPu~UpDYOH@||rvK(3J1^<{Urdj-(grP-Mj1wxqCztV+1Z8^V1tum6G zlCHs$+FSRuobMQKg}FhD#KMQW3*}jySvbunnp6%}@$VL^ntX}jHufm&zFGytJWI=X z13qHNk7&NotM|?H;BAd*9h>?3CgQlB2pYKsW}IXUyP19Psv-D`8iFBgjXbi@{pXJ@ zq3L@aE{xDWvqK_-;N3gOkqrMBQ5d7q#K8(~&iN?L4X$zb!1hG?bNAEIuR(ufeM^+y z*f8CUQI(=jST&<^(CNS8YIoXfP|W#(1CaZYk5giIIDJOS4*}h%r)q@BL3hQT-vnhk zKSDR><5{IYD1R0EhAfG-e;63yzcldQV;$7Z>7=RR`OS^p796vWniN8ZzLz!Q~-!m`tj_ zedS!_G!;R9LQ-U*@%ZV93n~>>0UA>GH*jo^ZV`uf?l<&AuVjC2UsB(G@9b*rA-0|Z zlsIiO5lB-HdF?}Q4GH$rz?j!`N-?pk)|H+WGhk@Rt}l6)InO_#Ao?h)3_)_QrY zrOt($mg{V}0LK`xpfw7DgjsAXvFkU`#4l>cxYZ}PeJ-WCzOcV63oC8M04tCK>QS$X z#6u^eg{f7VhR*#WsdAHAhARtDjcDqnCqHk3fcK8Qw_T3cpNr8SrJw9dfI%f7GWj@0 z@MTHx=i{LRln?2?Ml^UFkoN^++U1+$dr1}dQ-PBevx{5~_%FqjgcfEY%4HHpp+Bg9>>ETMI#S{kw#cw%*QK_fmK_X( z{{(>;au2v2C&G;l?mP;o*~erix3@A5-d|G)HI`qu4DvVyG|>v|S{ zUdyWyi(V7pK=T}`va5O)1Js~1H3L*}lPBDjJ>k=&vQF>#JH0|s3MsKl(aAseDm%CP zs_W-+a%TO*ozT!tVK>M3>hlsw*YBz#;d%Sl-s0s%3ir>=&;R3*UH(=3&yp2tUk3iq z6B}BtAaRn!;X(tj8Dv5de|dvp_SQ}$?Tx&?0?|j4*{q%vi(4CNj3IBE-qn=eSeWh$ z=m?vvaW}LlBDA>wV&fn}K^Tg*S@`m>*}H2kBfr{^|7t${=>lfbWZj3@ z4Z*T|U;no!fFbxTfVqz6kjV+FbJm*sLrgxFdvcw9z(57SK;skFc4Vz1@`t$Culv;q z4?2xI^A^ZV-+S91En}O2Rg{$)K1GWG0o0melW# zmIkQ|jG6@Sph~K9W&h_PK6TCchhc76|B&20>K`__NBl!UkMjS)rV9^}|22HG@wUxG zB+UZIlDNHOfJc&oy~+X2QHvc>#BH8( zZSaNX&K0Mn-T5xJT1JzatJiAgt=;ElZxEz9OBk^2HJk@b2BWf-?f3h!u+Z}q+;=yYJW6?HiJ3|4L?GQU2!M@7k!x}f@+=N!G<8eL@g@Vvkr!k3P|Cg2 zaL+frzgftqQ-_r|Po2Bs^(N~H6^k(*@Dn5bcI3r(vp6Z{Kerg~>OYV033e07`fc_) zChg_VQDhqseRYb)7u^Pqb$j>oj-2T)m&0sW{m>zl#z5r3#|ooE(Bm|WZuK^1Q~84I z9kuof)H)1pm8Rm4jq?du5AOY0AYp&|04mMC{|&~dMn??yk^xi}mkYxWY|kVuOb5+0 z=}orB7#Ljiwo4#+^l?=^`}t>@#%>xd;~6q;MA&*&8~ zEht$n-ch)4y2wE<3RmW04*!Bm^x7;IEXpVR#0Dq5alk!C#+(Oi29-+^aUgH%r4G_- zy<<_30!qz$n>X*XFrGgEYz&v3r6`4R9FujrI`zRuXh0Kx| z4v#Go*ODy4!%43`+H7sOH3tbQI_Yr#&1^L6TlN@vk8*P0!zso@eBVUNN7)&+cAQ+@Y zjQs=6Cn+@I^fYUVyr(1wf(!`^JjQ@9R4`!aYkTSt41&LUfLE2!3yo0~5VGv$b~iBGpC7m2Qmv_iC!$6{bi^zxpU{old;`Q zdENfT{pUVmq8JmM|Z^rJ+uRLHmXb^Abc|I6aw6y9ke&+=YACMn&I6__Gv z%8wE-)7NWXzU)=P@U`UPIg;=$5QS~arDukfnomVfnst+`dES8Kt~)>Y5wV+Icc@k{ z(;bIFuI25EzhAL5!+M{9CsD@LS!x4SWuVST)@j@v@M2T?fXR7|&}1OjkYw0>Le#Q& z%HY~q3WvGmH*o%&KXYqeqkHv@Il@)%`n6xHo7}D56N{PB?*K(^nu_zqK>)w?%D57z ztOAGkFh`Hll!UMLEIM@1-g4oig7?FiXK2I<3-`=eZ~uPgUaL$QMj=_J1Mq*V zcGEau0Q_H>i46gT{1+rg!~Abhkdz7x^*`R)8Y>~3r1%V)BB*_+Q|fj`}Z1ipqHT#|L>8O$tp(2^rLBnHs=wNqw2! z|C5*GpY`%D-z&QX{NLBV)kdT?z=43wDbk!^feDgy3!wq}iiccizNeaE!W)#K9MX%; zymQJ0`87)n`V%)GMaVD}uq$K=t8SrgfG-1H`Li(8vT{b=N-*{EIN#Z?y9QI|XLEv( z5kxWU*zpeQoE3S{1fpD{hu`)TKJOLge&={OF__Us<<4eUmZXR7f+D9ULP18g$I)p;I9Hy|9W&4po&e$nsc_{)=|ZryAtUg z2uLn6`SEra2^bT9x=u7vf+LENP5}nP-`PBd0|<9WFv6rKu5AQho&4Y6p)ogoZ>b(U z(_B6A_V*M6xy{1u2JPnsp-ot_(wO(HWA1J~EX-#By-WM9Jz z39$g(`p7@rVo9zn))+CmZ2X)VK7J_DRpZU8#muhYa7muI-uLZO?oCv?@?(V*yBeU0 zcHHm@4s8f;_LW{;r<His1W~N!lc9R5T@F>vVrHIh&HFn-rT47^6Uj;FZZ9 zQr=j6;F7SI~iDP;rRP8`g=#Lll|7MW!%Y&=uo;Ge$v3!Mc?(km3aC+{5M- zOnQKHj~=>P%eyHD&9MB#$H@_s1Ix7$^fy z)x_s#e8K4*l^oG3zJzWCru1Y!??iJX1wt5&{U=(VWEylr>R>6*n04u)4jh=jzJteL zDbB1(dNo{w)el+zV#`{dMe`3she1~aBFrU6MI>M#P=MF#em-;t(h@ifDX~NdFEdw< z_jmGD_tjP)nWGqySsZbqlcBq0hpGd>&lJj#LYsRQGg?Z;Tc$U*llrte2G%~*uvTZ# zO4n)Bu}<@uAVavRrWC80+-jL-1kg)Uu8ps}-Uv#al+uF+@X$^uHLxf((?1jko@d=QI5PLJ}-}7SknE3`fH2xp)Jtn>Wcf8s9;A4pS$iRw1+iP4E{aaWvZt zkCmMVOV+CTU8<7{W3W-VBA3=%Q6fpw4Hwv(NT;YzAsxl_A5aPh`c=m8Sm8zBOw{|<(3uptPvRa zUjIgVtzq4Ro_P#S=uDr&ffb{DnXx0nVkfnz_r_4Xt}%nrgx-Quk{3tfV( zK*C)5+{|OYW_4Y>`gP?k?2^yn)+U%Q+%>D(`rg@fT7`1X#(0B|3AVN4)t=O{d=~%i z5@G=rlKN>fs_t|E1C~U>)PJ_N04c&npw6GlwX~;TpMJjwE2GE`+7BpH0lH| za1s}Q7@9e8ghy@5z5_F|H=@{8VYo-Fenxl`B1vUV2hoGQgp&yMf6tpnag_B>?2(l5 z%;+N6CL+)>)V6MpmVs`QD$$}%=yorAc@FwcntX~L)EEJ3vKBYYI~l1Yd$KyU#U=UO z%`0dtnSZoZyZUOhX)6ayT1MrS->ldezj$~M4E|2YgoXiil?+R={zf%{s8~q2AUY-reYWDKX)iH5D+0ynky_Y zPTGzpFeIQw3!r!)h4sCwIPa45AzN}C7}d50uhdRXDMe+|Xb~5E3{KI?dNrkX%u;TK7^$?&HP zE+os7<1ofe-#0;MCG6vhF+zP0dMuVF84kHl!?&Cyl3z$~{KM3(zpl%#BaF)&cT;_( zip$dk$pjn#4dh)>3_BmqM3b~Dz`xSV!JRc{P4m!KQ;%vigQt6`!@6}UA}tr?Z1wB2 zqY6;nB_!K9RTPGlGmZ-XL<4d6UyB3*x5~f$eUrTdLxQ2{$^7eQvf%sga#Ntq*}L9k9SMcoW;$a|nEyLyn6)k8xnVqO701$zG{q*%h|JnV#g z6O6?LyGf2PV|-e)Lc7#A(ot?@$n^^sC@R1nx;-#koHO=VOR{WqIghumTsMuAdc3zw z(>0bvF5+5}FJlo4O+MN_TNOfVuJ^HzXeFV;QO$Qo)|!>MMMYzf-x}`$E2}Gga3}2d z8ZBv9!e~koKH4+f(N?kJ@tS8yKb#q#4C^<8jAyb#!Hq6is|W7Qri`>pTjNiNunnQB_Ac?ZF$@^#{h#0uu{}|> z`nF##8o;W)z%OV7I?-DrOe1cV6pnz_cs7!In<-W$M7^yTfBA+6iNmV~X(UZiRtlAi zA4ePuGp1)sx#XMhY_{ZSRrBZ!1xtW!J2g`@8w+t5SDcGC_UV*63CfI>8k81-@R<`$ zfg=QoAtje{q-8N!_uyeXnX_KxqKHxM*IhuR6~v*BhW?aO>Ud#bGx(>B(>Gl!=2t1~ zbXOV-5NLQ99``98Z>%lIl7l%!pY?fmI*|T^2>2tOlTGa~d!qP^bn_&lSttPK;Z9Qq z%%#xI9<9*Z`XPr>@BXbYsCc#%=48SZkJUTksPGRh{47$ zNXvjy8zD5u-ge0b*VI3qj!Z#{0VBqR54_}UKP3iFvI*KIW`j+_(7ojXRiw<3{m#7@ z1+r;^!#%tWCPM^sDf%$GCalPy3cWcnN93cU7h*OAkpU-d|8CG8_X@D%Vb}5$s-44n z6PC+rZ|<6uchfn}KUnkdoy8X=sS_N77`j%jlGoJOjB$B0Xo0x*;}+K2kpE?WDza*+ zJ`1S*(O+pe&}fByQ_HNTD|>fU?Pcw#ZL8wgd3Mi$)u##W`HZn7T-F{>eZL5CqDSDz zrTa>d4459dJDAmD{QxL&Xdxj#$9zcd>4JQ0_eBeot@pbHA@dlr8^-l;**bCjh0D{H zJ?x+qrp1f>8`ka1W#yf|Odmv%B$@eeIU>{1vMLuAbkce(G;6cE8SA20!h7J9(>+ju z2BAuO&hie~vT$J;`~PgND1W%55bgm30l6f(*02-i_n(}|36(Hpsa5EZDqkBf6JR;f zRQ1>P$xZwDUXLY>*Wdzx!ID=^`d?KMygU9vcQG(D{@#|}K*IzwbG|FGu|l{N)0b|6 z!H9$MCQ{({KMeN(5>Nk}p?Lghl%?tIUg%ta2(9P~NR&dfP3kFRq2mSV#G!z5S7OWcs3w!cT8b_m+ zKeln?Ma5=Vz9jX5`W4gcg}q;Wt+(mlZi1`lauHz&tUD^+YatSxr$fp_+zY8*{Y}4t zJk8YJdj!{|m6Cu>(GomZ65VI+zC-J-3v_Qh2-^E-p*B0Z8&{FH9 z`xUaWB8oR;s)*G=Qz|n#lu4k4_cz_w@ zW>ot{!x?mum~z9FCjengs-|HBRcD2)J~^};F$_RwaDA&D6CxgziCX6dOz#1Xpz-;@ zO!roxME{+V<0ohm;f?mhn4Rh{g+ju=@uHS4+9f`m8b6zzHW{uj%%Udn1${2cp$!n^L09bAfI;`yufh`-fMveN^h28D z)~?*lX@GK3%}u&X?fljM^Df`w%Wa}VEn!Rr= z{1dDL5(?$FE{&z%`cAh`Wb;X}ixRBuZ&GQr$gE8W`1{zR8i8!rs`5q&j6_&8EQtnh;Klshy?47^IAe~f z-#^=XJa8CO3P1rF^i?5mZHc=)*Ph-(a7NQU>`vESO7eDikiPdJdmj{&f1Ie3-!W`q za-0!f*{K%qbT-FU06%MSOkqOc9rTWk*>OGvzq!!F_I$?Zp>O^c3G#L#PwPi-Pc6_V zR+G?U;Q37#%%l!G9Y;1{&^>!!##?gp8>4P--sZ&gL%tX{^mlO15x)3)0b0c&i|1ec zwb45B+8o*TMfwJ-+uZoh*qfqmGJ|GUE+apzs*6(AKX5$rxWE`AppOML8&S^oD4=z& zj?e5V23SWC#7?jMU`}_V9>v<(eG?G2!`>-KNA)EGaAS*7mV;`7s87S-xVrP2Ra0VeElC8 z=A%jU7ltIxY*T@UZt0NuwN6KGlm$fEGA z6&IlhMz-8B#h2c{v|GU4v#%94cknZp@vHlSmLMr6w2_d~T32g|CM6R(IB)eMA!S%_ zC>unM(nk2Bz5>cLu8>37MPRT2=)T&{5sZLfR@CRp(eS1<$s!y9agHY80zbLJKZNlr zYM#}=<^8f9lCV9JhjWiZi(xbtc9om1ftoi;&IO|ZbKYZ9d@u=9H*N1)|%#ibT z_Dlh~2Vusp2hGUj@c=yHpPNkKR>^s7`b>D_sBhZIH?7@|NyG%t`addC5D^fXfEhWpN^8>?E1lc7Ex+wXFNm;Nb=ExfEezPSn(xsu7v0fW3?H7hwe%?|uayX?sjz#O zvdf9kDQNkbjhIJg^Y{eOz_S{1B35SZI3+2>Bpn-w(L@HMUdRbak{%*UDiyAOp~M`P zB>1_aBt%~~w`ypLt)N2YWeQE=0e511Gxzv@gdi#sz5x01*AOhQkUrw(6~jsZ#HVPA zMhAR>fVKBMXzLsvTkJp4X^QN0%W-=7e6)K-v8t~F$ev^u=cU9mSw*7Re^pwOeIp_j z6Z$;;O1~$XV{;;o{(v*pWs=Zp(?}Jvxp$leM(>wTJU%r$V$)~iQB*FN90(#d@?okD z>8l+)9I8au^r>P<;MKlMHhJk;O*Pj{QKfz}Tpa$}>Et>$QypO^v+~89{=hJk{}W0!m(PO{UcMekhf3GGSY|gUHf+8-m^eLo6ya{p z@PUsA5=$zY+}9de;#Xg=k~ytsgA*l?UnaL~F16`^B!yr;F~#PNaaKMv2ua*ZJt~%z z7FlA#n2n>Fc7*ONw2#EcAH+FRgQ^3V{e(fuJ!Sq*)ZLMJw)z4qO zV8a@L<^G;U{*y5jtc0pml2Su{&L}K8;zD{Y2Mw|KDBPI2o02B3FqCha0x@yTkJBu?x!jAc2y}O zV2O;fmyAAJRPK@oYYb_*T}Ch<@>#+kA08%9VV5o*p8Hlj**BMxeojq_jXnJBL@nh_ zQps~K#yo=)^pfRCXlAS!&sNc?4>y5TBHtEq42G03jT_Zz*MX9&$W97b1OeuKG2u?#~|3;vwm%QvmB~G z4$-@ybFa-X%UQG-w?KnEES55kYFTk@;7fAzZasM3-qV5X%e&nzlLN?)x z&Q9ejir#%1WttyIY?cw7)&`#1jt&3ygr(y9DxW72JfvX2gQpVeIUxa^FJn&qFKEET zpQ8~t00`>$m{M|>d)%h6ZX8sJBN)8KzW5wbv5_{(D zzJ7mTo0Ddj`GxddLL?sLvECy7B*m_rh7YMRwI+zXEsQ0{Oj93ah%Vlb{Vlu%8~cJpR^kr42UV$nlQ{?{o2plK!+tfx<{^{`Ircr!}xMKZIx z?D7=t*d>AtH6G8ag%5?~!|HwEZaKK>?ca;y*532$=RTI(b9A{EKfHcDNgb`ev7_(c zeg8#J@wA_k7*+He1IN;6V+?gR1g0YALxkht=Zcj#6)|uXWp+p?`hh>KXp*oCoLjSr z>y%f}u-?kUY~7OmeBGoviv7Fhb3yxm=DQkXa<-|! zPL_cD$CX$N0B|4!JOCoV7-WS9AO~h;pi74#2sMF*!p~0cPv5SSoam2k!?zeG1tnaO z^UafWP-RcY@LwAbStuYGEYb=%#5xi$(?VS7Iqvs2phC>T`cpzTPW1{fKgBZ;r9z97d;SJty!I~wK*C%qF`l&&~D`|Kq zum^-F6C6DNs|<>3wpnkk-hhHKH>6_?*k&}8x*X$^oXMGM>gWP>DJX(jIZe@}JHdyt z>7H(ku{=Ys2qlZcO9#-=882}Ev&Qa-2gQ0Mx?E>vLfqFuvk}-g5~AjIf*IfQZ{^o_ zzdnq}&fn4j6&mpbF@!K(7mCa%@b~&rmfWrQV?8Y2>#_}0j#2myN?IsAIFppCLqB{g zvdpKyOE1P9l8`9UWhlAU)-KHb`FuzpKtg#8m1#_4PRMLV5=9a-UY!Wc+`I7l?sX&I z3-Kl_>i9%?sUNewN_@qbf8oD{ z=1_;c(dm80|2-Lk`~T#^Q^6VJ@puGJ4kHl!xmfB5!S`LVw%$s)0YrG)+%C-68htl) z_0K7OwQYIZ7jX~wnUw;cvBrN&l7`Y`@?K^PyECJ1k1uzCd?|>%RXnIm@WL6tOhg&9 zoL|c-4&1H82`LFi;WZ~`8~u=p>vK6Q!OCX%Mea-jsrqB5xi~|ndom>t1?5Oy6=n3! zn?IQ}-GB_}TrXiSN?o9`;X#I1I^W;_d5qDWh)Sv8fZ9oASCU2AhvlJCTH{#sCX}T0 zg7P*b!FMXHY)88x>`m+?QC(F{vO>ApFxz{tHrHSL;jJqTE~6S9uVEP9&dWE=aF`p& zY?aeK1XS=(VyAVYsqS#4ZivRKH_lD05yiW zS6A+I{K@t1lV@3-x;jyOvMSU=?_{NIqBTk<_OKt?Y>ozjd8v9X2#Od$4=faH>?thY zaR#pXt=_8i7k{!iiT0Y~N-b=W%M}0gqSH2m2lYagaDS>y=kK zQbuC50okGG+NKBG?Ni@!$|~fuY!DG~|5q*+qn{?)G5WV2tv(HHv6fV?>)nz__-KtU zk0(-xr=(?uSt8+6Q5R4Lk4wFTrIw}=xT zS)s~mTskBNY5-qT14|c~(&rWffmQh=pB_;5RKBbKwGfAOpd>0k@bvAZ>7;|51P;uK zEn`S(W}U7MHm8_OpaJQb@je&y<*f)Fy`4g<$M)OiLWP3Sp-wwK=o6d#FhRPdN{#8S z!8NPJ=jN<=xJR{TIK^Em+nq?U!hX{Z3mC~nZnH=3?r@C^O=sHc~fJO2z2UIts;gH z#IUN^#Evu==bC`_*3juLM`RBHGK?+WrV%999 zw*yWcN0@t4XVUv-0C5^|mO8hn5B6qT>bvez%r zZ)5_g1i3rI-V^fN#D|bQdD)v^RdRC(MXslh&eQcy{){qCAB~JQ2pS)?+VV~qW$QPD z;O9#3tOSsFd)Pt{p*{;9jn_$z16fLoZJ`2l6&tE(zb0LVt#qJ z9~jDDu6hY7g!00Eu7$%F*T(Nz-(RfiDrqYYHV6)TUL6qPooM6@%fb{Lb^erSH9|YT zzXy-3AlO#gE-(_K0}|!CD|QFsP!cZSW?O->45;Cl|3Ti_+a#6lhIDNgbbQ zheA&;z#(d<2eAa?-EJ@~QgYUh4I+{5BL5~M>b@X~$#W{*hv{bQnUe29yruVg*Y;+1 za(TA*aPK~@v35LtB7q@2Ojo$d3Lk%OZQpYO3M#~V-JTsepz~??SN%?k5NCYu#hqZT z5p(%@5%>Zi(7c6U8FL3)afVA2&rMc?WGQM&)$)~FX;*a@-X}fo6*E4cry;Ev~ zODs{uMPhI|qHqacOg9M|`5pN~Ar?!Wh}t;pvj&eOPO2GgS=^Yu=|wD6iJmO+_ey=p zz?pE;o&IRlI@5|aeQ^CSjQh5ybDn2NBhhA9NH)I<*F9XXdRH-`86Ai%(PvWjDNw_L z;#Sy#P0$|ny~$yphI&#C&YwCaMVrQ(O$OT0Ca1onviDe30-)q$Rz#?R=_6{R%$t(&CEPXCoKeT;`9-8ctH&W|`gh~scbiig>r=K~srn@HR}g4Mj84d;t48x) zEak2loC0+oJVSDMZyc%@vU&jeMwltvG7l*6euU9fVUeLs1mTGNb2~X{y-O~js?1$ZD>G#EVY;#*YB)K|)_R%qdSJ$v_@>usfVf~j^(0Zd|ST?wMj-@D*JdtXts zX3JpzY-iVZfU%^6d2k4xet1QRb`+jOxZxDzN^rT%hrH*}e{`QaYfa~1f~;}m+*+{@ z^q9GmMOm@Ct7(?x=8J(@QJ)hF{o!#b#$WRbPT7^`^M`mKS6IDwO<&0o*+<0I>qoUt z^F#FzdI_2t-WZ{z=76g!_*tp+t#{qgF#@ze*NmG|k$0EPjhp&sLLVu)y|b=%zSK>P zmDeSEa-CVlc8Pj4d^+RP9!R_GTUFB-ZagU-+mt{+jz$SV!mBly2FMAU6831B*L0X{ zrI{wBImAZ-+wc&0@*f^I?9kiS(?#ebx!%Njrx^wC+XV3H7zIe0Bgs2LTLvtGk9+Gn zpv_W^q><#`eNHuk5jUZ*m)04N0kCjvUokQ;|5K~k&=r7CVqncfRS$y z2K_@8vN=?>ToTfg&R<{rt0t9yOHv1O>P$&oR~B8WC8EOjSFP`%H>Js!!m|I5K@iJea%Nxs9Lu+KFb}Rc&d7H>2c2b=GG4sgI*YD_4da zDsKrn_|CGfW>zfx1H8!N1IF3|Zl>!D;KMRLQp}qwi^uQ4iwCrSjTZHYG=Oi=FYEVU zDG3TeXfy!o`fYkZ05rz$C44*^x9RT?ARy*BAt1=&g>#5N6@~zKPznox9}o_j1OEWk zzn>#bDd7zBs=E%mD&d%YKh44mycalR4O_PxwC&bhnZUU*CeddsHo-|598N9jCSqG3 zkygKootkCJ>`nM8mZv+LMLLjLm26njJz!`DDfHmQMT^veu;o(s*#=^L{h{Ab@cFZ8 zmqzkO^^i>Cxu7bdDDG*!u!j=8EBb6;b-C=1!O8B_QI7XYqxNj6k{k;?;=hC&3x<+| zFkXLw2#}lQ5=dMxtT_}ozyJ&rDti}O{vvIV7dS zWUJ^Wq3?bqBpB1qMI{^QuF#!qyM4RKZtNS`O+dF?QA2})yzMR7_G{<98C?mAj16wF zf(lVKAB3YIWUrxy3X4-k?LU*Ab#W>fxEjSq3u0jfkH7kK%kXW#HqG98>H1{g_g9Y6 zY#*G=ofE(D-xf~q$nPyRZf3K=SA6WhV1LYvBcpoy*s$iv@cLVp=Y zut9qyyfE7H=q}JJd0n_RX~x?~eawjxWSdDEGuF#wHKE&|-)7`)pnAj)JDWHxx9gz? zB?jmCXphv()#L9hN3fyl$fHS<;AF@CU7_DDr%extR2{ycfvV3O7)vUJH>1Obsn#i%k?H@bRwsP>s4R z4Fbxioart5t$7R=u^eESoLFX0a>U|c-WN3K7TFIem<@LQ*ySm1Z_#ioRMuCvr7uo< zTaxBnqN`8wm{>e+SkjbMa*C*vF8gC5e8+eIh=VsXD(dt>TFVPY){0&crRH)p>B<;k zOp`OcoCE#Hh747h$)66fiP4TCg!aS0q0FzzxGiR;!vLCULz(ifl|)xMMKhY+ba&$i z@c>s(1<>xOqIwac8VfiYzWqpNiimuT!dhmKW7kdk4cDP&NHI?o1tmg(2oB$PWWYE( zkS-(XTakPCunyESQf``K=JJ{~KaINA_042r|HnnHsE3a4$)DvpUGq9;pKm*?NnAsl z`dI+IZz(xGBNP|r-$2EiQfq9$(Qp$Oq*Ou0mpwD|!On@8LN&k`2OTB2$4v3sgHk$E zPWHs0^!eD|zyzwWI**^{K|uo8pL?7d zix8~v`8@Phl?Uh9^B?ntl=@n+g1aq6v;{*QQ*A__UGs9ytjqE<#GLJ988XQa#Lph+ zx{r73uVO)bu4A#5^77oal9(B@#x-7u4~H8`ol1i--xa=?b4a_cf1GqJxsuV40&aRs z?x$({e4=z#*snP4_Mp8JjKs8P>SQg`e)!BB52rd9&&ynS=1e^ZElz*y-!qO)d`eiI zEROzz>4)h8@blusv%zK6@r(c#w zfzgjY7bpxY(@P*#&Pm$d8g`$ph$1M}@7HH#N$K&Y2SyFQn<6V}+?bBAL$nasF*mmS3vyUud zvB&+rRe?2YN5wMMX9l27P5?IWJx;=^P!Qs*{rG5n{5KhyHN&aNted$jR|jHt;4lMA z$W78)kvq*a?mQ&wG=1b^^>2o9@SM!4o17}yZaP1QQRLRe2Q8?hln!g##v_RZe^rr? zEQ$Jde8^Kej&%n|b9cle9efn_7EqMSbk0g_*&0k^<{bqQ*^o&&9IgBWdiK5fDW;q@ zzOUnft+4l`8Rd5Uzy%keDmrT{IjW|p03sL+dQx1Rw~TT>xd@`qKdag{&W)~Xh4zoL z`0yYmWxy7jbkk9g-K>E6p+mw;F!TXuwa4u%n#XYNW#%0@++GM|aQ{!DMi}!q33~|Q z9?-aS)C2kfH}yvz*sFIYz?*)LT2%OUe?ERO$kelk7!IoggiO}RMR}3{q%1#kAq4z} zFo=pz$5=uSR`rH$5w>r;aYwG>PZ+0T?E5!49172)XFheFFN8n|CUg?@d**rqTi6DlnHoD0$ zx#7!)G)u@)`)O9b1)N+(*3A-_jfr?Ay|PJ%psIIIP+X8YLQA}Sd>TNY$|y!pNaZGK zoo0ZSCtx~l|3eL_wuffs^}^UeV}|e}BiAVNG6^jl*LzdNN`5%LTAx)FCl$)nIYHer zo^&EqE2dQEY|~|Z53YN=eNGDxPY>-e@~HUvyo@8QsgrE&Qy|eOOPmpI>%1nkOE*4W zHys*tnbf|PqLcl59+{hv0`~5m-6~gL|-^l0+3Jy3&?KLb9%h?z>c9MK~SFB_KE!pk|=~Du7C5z}Zemg2^tLwg70{&@QR8mFlns;bo5VbGmp()O>$yiIY1;fl02Tzq zTrCKi7eEHoc3GB=^F1@{oY;=kDjWIst=rfevc^YY;jQ!iLB`qwoNSI+-FsE?DUD{} zqj><|YuO5a$XQp@Bve&gn0GkJq(6SrvmbQ|`98a@+_UjzL>0z|=o%esIB+axy^5rj zLaP@XN4s}AB8~R-Iv@6Mej||9noO)n`Z#kW@N<3*=#cy9>2T}n^~11RDK|tnFfd=N z&MTt5eIb^n-YYsfq%@-vvw^j8>dFZdsuwH6 z&Hgq^?j<{^J&96u-+lLXsnq$#+G$j`q2g_bOCvQXgj8PWj3m15)gxMV<+1?kU6{N9 z5E7;l=GHFII0j9;L>tV@P;#e_{I#s@X~VgB6Ed|C#)) z(5a%uwhdnWv$03h^}+6eqwl>;dnDQ(DRcBIrM)2C=!Tq-{oISm5YN@ztk2Q=xzn?` z(q5Ja9e51Lw*WsfAyL8V|3ujjObjf7)L-}HIu@-NyFb9tQl69wrO_sX@8s== zjPhBSJrOw#q-`W4H9$%oS;;Wkr)#IN{#<;YUO&6q+q4 zmR7RgoF4*?f*`r)^aeoJ&4JYU1_)0?P`;yZD|nmE}x$>g{GA zXA)Dt_#jO*Ih@6WRr;sV28dFp;7+Q_7-jRNW~$HGp*WbYLp@K0p|NtVrR}gSOHt<{ zIgi=qdeqk8=Tg%w#=b}s+!PsPCCk7rE|H!6n3c5iE!;g>t7mS&4Jw*O4+q*qq37(O zi((*#QY<=du4${No9#B6Nd)-$z_N~A`oAmxm?&G4lthfDhFhgq7@KGbHQ+oNE73{B zny)5L=P2D#vFb7wff1Bb&;x;q)ch%^c(%nOqVAnnastO#hpOq?6N^7JD>h-E^s8x@ z;GXBPt{6@OTTD+RLJ7tOSz@3j`4Fv5y4D0+Z&F6?>&sm^`h^)}OMN8Fc5}EP z2_qfqCbGfqPh9A6?zpC~3r#Xx>>58H-G|rWUlWEWE4#{X$bQnZ(*JdUoFCJ3;|?z_ z>vThs)49RJlk%P+)M}f0?pS2e8x{(BOk!i>BPONL*P3BrZEk{l=rkuFIy(=Gg@huN zq!azM8VK>8Su*hAyRL2b*STZk(jWoX_{!)9JRF0OoPu6vXXr_a0K&D81=(#t=vfOD zgb9ri>(WRVCtn~>(L&?{XlKFZS;XekOmLhUYS9-bc7W?YT z7Q0s^?u^~TE+_PsOR2*<3(?`#5KXef36^~b`l`RMNh%-fL&F5Q011;UNMMl2sn=;9 ziWM)v4@+=;XW}ubdVduFUqyVfp#S7US;Dq8@;(NdDxSbr)jzK1t8*S9jAe7>2-UN=K6_$#oWscI18E;Wnbbq!QGglgl2uzA_TpsHY z{R$du9?hz66cUkxTtJ;F12l?UTQ-wfmkL1-x$Gm~F|Wx-8DfZv9_~*TOfzora+)&$ zTbjch-ZA1pa@G*hfMJPM!8lkSjs6)YJ_q74V4ChDtw6j}4vYjTb|K z8$-TU;p1CZVxZ&c!^zdo?!oXu18Wc0HYXSN_g0)`CK@G^6>%H66im+7kXV+M6_Mz6at95JpFC0fcKz9tPkSVuDixYfVtCRDFm< z)Jp_&84y` z>wIdMITG&0HAG`X9g0{YhRSG?YXM;#5tz>qR?O<@I019=XP{GDMrF0+rn=pAa3yY| zkjh}boT?t_6p-7A^6yd!@Gy;ZazTW*kWG+LM{1-qU)*SCLMw6^MdXF(oG_?WRNWER zSW3UDY8tL$sB-rB$_Y>FRAWbGE^U%GpvT2M`yQDYb~sl2t&=<Hf}=*subVw@_pfffaqB_831OjQeEYpI97gFCtM$~)|-0oK|bEkI~qVsH(2axVDmnQFUOFZF+4KYZo-=! zd$u#YCicPwWdCKJ?`GyqzjneH!-fmKz>5d?Q5leWP7Y65BPr$>+~-jClDUM1?Y?cy zSJA$&%|3-I+;*{gw-(tovhliy;&u#SMy47+Jy<@Bcb5}JS^RT{pQ^1IR)sxUgs3fI zNem9KVwX>LU>}=PCvY;FP@NX74o8Zq%7L-r?%R=14_TcDSz#<6p>{rbj@998cu~=O z;7Z7A<^m76fc6a^s?xGVt(NKhZWGB@pN}|PvWoGd&m8GqcOTGJzzRU8>^bk5rqHL# z;@1p}{W7mMS;4Y2hov2;ywK;SyYm~(t%|b)W)#O`?2>UQLKoKF@WWL$={I6`(*Qz& zQiK&2c1SlR_Grrj4#Vm{-QH=tWYFyQ&e$@?U@l?mbFFEe7DX^C2@Wyx^=q^~MAF-A zN%>(tCg{1!q_?n1C7@K|Kn?iQrui-Tm71g7C45p9_Qs8ZPo`{a8eC)NHY_v<+_7#0 zo>L}$)*9P#=!FomvnW?P;V@Zs(n;{Ks+QI-`It|xLrvOb&vxzX^5lbU^(E41aWH}0 zLu!HFoz}7_qSnz01@uer{S|G5mT~``J=Tq8HJtvP%y$?zs_y(5KARpU z2C=w<{R zoLi2fLM!E9B|cY>L!ieLEV2h+&=K3tycZqIE^a7U@x0tkjY7{ROx>~z=L$o?hD>rB z=18Uv)5py)wP3A9crID))E4>xUm3xJ)CX0!cXekrg{#YxDYSv54et!e2^&YA>t<2HUc$`z;#AH9n+LlMX})ol ze?V%Aw+pLV!0lfc&58o;w&O|U*EtL%?%WLdXLKQ~>7|X39Kl{a<(%4G~ zM->~JM6$1eyz2^2PmnIaN?s_Mp`DgCm7yK_s;c7FV3_zq8=29CF1K&CswWjw;*?DN zEe}Hz@ognR528wY(AD*G@w^uwA%EZs8O^;vU&#|i^B`-r_Mk?;}c$lNxRs@ScalD zd{gv=#y6E&>gH77H3(1+m7|i5*Gu#K;8FdM7djq;ZM#{f+0Z^R)i~|BU;97uWE)URkXu20!^!AC-3Z?cM~uY z>QOm7r@A_IzV$Ee5bZ}mFCMeZt zAZMe4>4Ol=Dz;37zgJ0+Fj4n612pSsD-t0^!VAi9%xhuNT|!X6ozG{>Bbsg0*~5?S z-^I*#zJwo7U^C8m;I1~7MyAI3Lnj@A3Of!@{q26J0d3sK0#Jqm3{$-IgUfy#0Ws(U zK5|f?#Vt&lSkdZWvnWcQoEW)TaNB~Y4a);>%)}39>QQ-ZfHoETM3i66sM^){51N%5 zEsdLROOc8`fvd3=qY`9IsdeD(w9|X%rjq-bQcBm$fV+OzW^YWLs|mKpH34%!@_O~z z<8V>|s6(VD$vOY*!RQ*F82lZ6?zz8f>vrqP_2>1Ec^9MOOhqN!$5ZhCe!)y|_724> z``?on^-0F@V{p!b1DA_z^JDZ%I)q)l)T?Z(;|6Ws0k^fclZOvS5rfBOdG0^&sP!Q2 z-0E1yjy~@9+-@&wIV_?0b)EDJ36h}f=k|94x3^n2pZbq7)|z*Jx>rvgjyVcGJjE(S z7k2;haK37_*!=3k=pmS?s8RN`51v~1bzHAIXZQ-&%Ybqog9~1 zn)<%!S7#z$-WPvSctI+s^k5iwSHLtxU>cmDFp zK(F;&ye|3MGA4SU=Gr@Oinh&L{X+m0J3b8)Qiq>TN+X=hB}qkcvs*45?e=PlXQRmxnOE@ojY~TBr3~_lbU}&mY~%Y1e)~l@+`X>#DgC{e0Cndrc)vM7? znP7Efx21$0NtNXQ;FZ+>cfVUusT@G?_mXVTsT_dopABz8O!5HX7rLW7fC%6Rij)U1 zzMMCM&msL_K~dme(4{;MPe^~i{nYa{i>i4A0ntVZ0f7rnWb)6) zALOq9p#Eo1S5UbE00&?N>Qw-|ei41yRuf#(PVj1SqQ7$Bz)bLm5QMAPs>+x^~52^&PG48VS|E36FG?*r0P1~9*fz9i)Wi|~T+#Qzed zag7&peFYj&1|Yv6|CPe(Ur0%}cw;vjP`fGs`NamE3b>7ze-p7l+A0957oy*9qW6av zVucET@pUsjmT+{FM448Kv>prb9;G z(*G{$2b%mJNfb@6q*ppvk_aTB3BY`Dfq%05{I?s}a==J(P_pJ<2mE&mh(As8r~74! zKp0x!t9%`-^rZ>@Z+J9#2he}_?RyZq)?ZH%0gFHel>ZS0zl{0Qg`a;@o!kFV`@qzf zQvMTz`(K4aU4Nih+JB)7L9SxZ;HKC3|7;KR{(%~Sp)bXhFsR&w07GehN22_zj}btz z+J9Y8Qv;&wEf^H_|LKz)`lIg-tnbAg&~(6MZyR}`#-EMAf)sTAUXpshIaK5E7!O3C z1f9R|ufK^KGrx&!Z@8E}>}>z*go=Pdw@~n^kTk{r7La%IMHjQ~-&+3@bNOH7)A!%V zc$Onr#{a7SCm!>^LihJzA#%`|?%(pS>Vk_(3JKcO1K%8#A;GZ_M0$T&^m<^{1@s@5 zu^s^HrNdl%NT~I}@e>T-IM9DLZ4caUC=sY!?{6fzzRCmC2B0sSwii}a7aL9o7;!mb;D3yV(khl*?Xm&#}e zrnb}np_+oJFU9=Va-e^Craj9aD0q1g_6zi%_iGRk`2T`J@Pc*>0rap9^1mt!yqsnJzFW{m#OJ=7{8i?m59C97oqbjAc zkouln^>1mWBT^$zH26CAYkzl)!z~A`DtgGQi}oMa-a-`);+l-^)Yr8S!__-qjyf10 z)Q??jl;snv--wr78?_6cOf>oD^}chMq+~7mQCuD))7kM?k{!eO6%WUR>nt@V zL-1=D%8KI;`WgZqh248lSNq*~zv^C~|1)SA5Tl)0~txgEc!mxNvNzGoHt&Qe#ODLSIy7gu*6O}=UyEtXMmu4- z3f~N?^FNQ;4=#4x;D@NERbfUJ4 zqk@H-sJmTrK3P8(+U0mV1^QesQ*@`n1b^+KWhao+j7r1yqss%)ivnv-!wM!8k$ znD}z_6D~ZLUB~+Lu=XU)8jyV$w;i|p2ba2+hO%M;F>M{1OC zui-Eg0k9ssJyAdlJ3y3VGs>%tV~-Ql$2k8Uv?iMEah#OXu&mv#;OK)%P&kSoV_j^m z^22m>joL;iq>z~rlcdD|?mclJitUw8@Nl4~d6*^~es z0JgLLj6pV#$qOZkrX;C4&MbxI5oof>T}qf{>?dy1HPocot^CzO8?)i^XILt2xUE*d zxmw76^w#3s{!^&(;E|5)j7bI=nxauU4&gOgPfnGi$auJ#X*74|;-dA7v@I;$pFb8n z=fv1srY!yF4rs`R|9B7J`3*Ym5B%SzMf(3UhLW6}NdE6+dKxOgfO9qzQqL(ZmUnCd z7)VK+ocU%+&vOFX=`;y+HZ&39KF9f*hGGA(9DY|UB1e|q^)LP&KXa#NRg76gJh#?7~GCk za!>M>%ltBbTRtm*w5~ar!D&NPVfQ)gflj_6Fyh~A6=~zs+8qy!;T@NiL6!Cu$}e>x zP-$wDVL1joi$Zt&ZhZB6HfhY=`BkfYPVaL98K>N94hqm~YnZ^fBz1c@iJ*(LOp(tB)>*{a-TqM(j5(bbZ&O`(&k81lf zXIbO3Txx<$Q~#1R9OoP3PAJ2NV_%jqzZPdG1N|tlzDKgYmUmai%gi9Ikr`hY+9FV7 zMmR=VOyWFRLe!!xsFJSp-iV5uPmwTXzT67K-Hlh&y1W!jY+K-s(_pjQTpx_EF~L*} zNo}PV`a2o`I1%qHsae)6XFNsLv`1>qs>Zk0s5!5tKhr^tNQq7)G(!PR+61|fZdz1Q zSsK*f%8FZjT5_g}w$H}7A8A*GtpYaw0cZ8J2+>5SG?hiUX-PYa8B9q!0WB!Nut2j$ z{0a2ICU>CC6Z#wK4*ZvUtlubbe;m%&6XuhM<1izj0|?&~*;tfmID4CV*+!#^3P_7H<3OWMP&Gz;Kk|{Bh%>dBn9ip2vpCi| z|Gv!*;dUTGNB>;C&duvWxKk8O8EdyM)1chj-s@rf>WB!Cdy^gyu?*o6m?Yc99Gf6M zfzHRA<(JxDeV)J-EoKKKk}VV6!i?6vpvlVjKF?u*e;U0RK(#g}kj$L-##_LWNvB-? z*()6v0#M| zQ=vx?E8Wrksg{<4s-t`jU;6ti@5_cPNtJ{^j`?rLZVxx5dN8~gOnigz9gpCp-tFhp z=fnHw=O@-jfD*A4*ch9ec1&fHH>>%*Cx&rrRUoolOcd`477UCz3E4DcEi;EI=M0e? zHn?ltW#R7+I$$Y)2xvuNuF5Y;T#*jrLqCc`uJ}IrLbbs_xV0yE*@&(@uQ!IuFq5hY z63^-1Uhe$9j^6As6Xw72~oT>jFj2f>Q$d>=B=%kV3@F1eo=Y+iGEgBa*dKReVVicz#mjkqO5iO?s$K1^;qfZ z*kH9O+=_lRbo6p@bMkwBe%LBMD~)JUEPnVUcMOneIuOD){;s_r;8JLZXeB;(ri{`t0_HW+nZy!AiFOQ5Q8grB zvY%~ho!B>eB{AIlM?>WZr~^s)wo0B?fljcjF##(c!1-V`4V|4x-e6wEay$5Y#|s{d zd{UifwoMLYCK5|vS1OaYdm#${Ayd*`{+4xJ=t(@4ilu$U*<=j0yc3@tB2?asjPHgA zFYx*;P^UTzEq7E`5^FI+x+c^!;_PZx<%QXwxxvoE9vq_JNm#M2+(^Rn&*>+Wbi;JT zg4A6wV32p*9jgn4~mQa2kX!dfZl2t>-G3P%xrxk+RBt?A-iNqA1F#1 znA^gGm9vui_G^&EJh-gm`TL-$&)eZL6@W7rCTH&sK$1Sy@eP-0AZRBX&OM2H0&wZSc z;Sj=p;I4c>qITw$G56_`GxurWYdXHzVCDk}+)g^|8k@ppM z94(tAXY&inJow<-4Zm<>L6e{mIFb1b5Q#1_eW@}tD4qr6h$Xyq@&{d=kc|n~rZ0D&;Pn!zRm%85k@~^)hkQ4M8_(AP_{dWD-K#vk_V`F~0{c*K) zaXfHbRo(mWz@2u_V>BH*?^-zdN;q@O)o2LorU~%sRLCImTB&zP0q06!n{{Af>TiB$ z(GGG~+eTTAsfI5t3F$O(ml_NK{AmUCgyxwgn+R{ve|s;%|2%+L`s9h|g~i~nQI|7o z8OFZ~TZZ0>ovEX&6sG67W7Q4T;@z6;k@Ues(>Vi$%n5VF#7V5UdBk}Yq{yu)9v@Q| z=L~!m${ITb`LeCEcXViO&iAy>%lykhAs%l`b_r$plUinSKYO23Orur}fTPQ(P=a(g z8u-j3$>)_YFXG4h6Q|tXhifJXf>`L4!use7o~1DTmMVN%r6j`PXIav~iy)e2Npv(# zwml%WqLn>+5=1#o=D*;93)Q>{+}hRwp5z$HH>G#o)LZ?P97%43UX<0wHjCR9y6$HT z^^PC#p+f-SPEhY2%Uj0+fR;C1%?WX?VuQ!mgL3qj8izQhe8qo!TYHyZCvz^~F)gA- z_$w2^{MjB?vCHHu4CJl%gPwi2LTNX+o=S#3!UXS4Uxcvn0!eC6I-rI^WyV&5Bf)QH z$AiOvO|R*r`uwOgH_*`S_9y_NKMl8^mw78T?QIYhz6c=SP5%M?|3qv`ArM6P|D~%l z-+cf#d>|nHWDZ3Vz!q21-iteHz_F<6klz^2z%Z+v^S@l%xg< zXn0AQRs9`6pFL2CWTfYKW@a`bt9pq&AI_Nv=<8E^IoXYEA=OLoB zny^c(*Y~;cqdi){_u|oYLLGR9@q7N zZbM0g*1M;=kvlSaLODJ-vmv(DFk2Q(?*!XT{7wYso!QGF;m_xjw|9h4vtolBf}gv= z<({{2f*$0SB9mX9t*7)7URKU6$K4FO6sct+t0A=9Gg}|8z}nEpocI?uydjTXUnMvn z#N_jbn#x=zAlD`=cJH$J(UxUAa{QF(C=Fc|Jf{v*R!O-o~iVvu0;v*3m zGriE8^9F*~NS-CyA6F9_`;?}fM9n~C%PxFd;XHdWQL&f95BGrl!8h%B+nJ;BRfMa> zm@u)~wx@Fcu%21V8uQPSuE%!5zT)g@t{@7QqHg8{fYWOVY|{br0QxE@C(?eIB!=qt zd_A{<1UEVgI4&oG$il_Uh7Ks041a}IwoItuSyNGh6LL89Lw`wx3kT%}={VX{TR`5B zFx2`sRJIlo`W~>L=pJsGUf{k3VnbhY0wb0bC7Zz`)Mz4XPI{*NK$h(pS{pjLj`n~} z+U-aqz=&3P;3LRFE7U1{ff+In_&fvD368gB@N$HfL94(1$&)Ye<75J z4$q~R8kz%BEN$)##yu&PpxAZd)VDQ?8Y;fKzm%yzp2hTI*Bq4_=@DnXgF+j$fX&`TC;Kq2f##YKyI}3pkG4RmUDG~|dK3?yG%3{8r0ESP3-Gk+fu3(-ut**2%40cNB1b=l8$=@GMW>FGI4=u`eTx4yD`#qPA5m7dZIDa#^-eP2S|$<%E%~+!E8_@iZ=2l zvVaS)1^0^=8WgJj*5pbfX-5SP%t@{ScsK;&f}wIEMHIs~=&qF6ZS*zN5HWvng5Ok| z8!v)&6p&>;`Y;f%A`z}aORY1CGMQ?$R&$?Z@N(2_ zOs;dgcZW~KI#x~b|C!~>eNUp<$66hP>NC&=$1^imu2kBl33O*JmYJ8k;LQmK4478{ zXN+j`hPE!4;>6(uC?Q-}&Ag#U+f`R<$syPM>BAe70cV|&=8TimDCPr|rDd~bZ6s$# zIYgI9XXL%>;}P4Qyy_`u84{CT?<*~{tZEVAd=_k_R%lf?dhJ*EDqMwP3q~qkgjoZF zE0UQtkzTAx*K6{fu*3ttMw$);aE8vYYMXkm_!xuB@nJSQH+JI)`n0Lipk_HXULG&X z&~xm*IxFQz)@wu-0b>riia%KA zLS3;c4(nSE9Vdmt=@kois;ZDkviNRBh+HYuAIpE(O&3jNgvYbupcirgXy7|VZ=L+q zzHbMRMGY`Wkf3!;iGRc01YS9$)Cp-Hr-Mfibg#Ow8VSW~FjI2>9y0Ubc&jLLOAp#g zPUSUM5Nc%`jYIgGvEmN|m;e{uE&40p%GYMKk>vB|Fy1~m2ezrH=G?4Nw`dI#WC)H; zc8v_)%2jG`j5dKZP7)Y;4d|Zx1U3jx798Aks{p-XO>sU$O5?4ww?0Y6?X8C=O(fZ|nKjUFcs`D5Z3VY)^|FH)qRk)@c;}DJ zIWzH-L^3!qS`x0GgC7pXuOla2+yLs`5DFSPV9j4`ZeqVYM4pA=62>W3?!v4RE&Ww- z55kBl(>(#g`dxp- zaFC4-IGFg9Oai&-F3QT?=0eyYbleA6qpWEkQlIKxb)aK(0GKaCYA%hA(`LYU`GLK_ zE|@K+6cCty>`|%rHcGBGl%+%QptISJJH&2hU)P}DFfm(!s%%J-5==TvnSVRKju9zc z?3>k~)HtKajO>q|V`|N!cF4ux#?e`Rb{HbZ>bj^Ex+95z1u#F@q_VJy_0jI?$mWAb z!l1|$n_xfI0}$f4*~Ae)oO#vvKE$EVixOtH8IRO*ySi!CS=*_z3h0K$Re%hPKcCkn zUgfT@H+*5V69c&=LiZuO;tp)F*ez%E0CFO!u2O}R!GiqF(zds zz3)Xy1nIW&at_-TKSV`lwsu1-sxysbZcsXjSMN|E%Jg+Q)&>uZ1Ex(DHO>UnS?XBu z)Mh}iEWH$hu{DM^ZsHayrtzfyfdIklawT6;57RHnHE>*>TpRv^PGj?%44f
==p zz_qe51gMu_O+O5*b>*7#)oF7P^HP;-S?4jzo~G?omo|4*NbdAwNnVNlfarxzY7b_= z-BXb=9MH=!5pR&j`oloR)F>mMaJs@-fEgZ=!KM1-M2Xg=nSgBS7ccPPmIgxcM`)G( zh8!5?-a^4B#{caQl$$L~E}yyWY7EA-nn6&U0kEKNz8U{GLrBA&~ z1c;+F8%-L5MhLc)FG&ewo9YJ^iSZ3z5b8mn)-(`=b}Hnc3Zgw)Wv^zsPR2s5A#K

l?g@sTLP-j@In5D{TbfkbN{gE4EMt$!Vt5n-9vTQPj~#9E`zy)bP$;xh zDR)8AlwcftlvPCP6k>gT$zUdc>9e-F06^txn;f#Diw%Zioh@wzZgLd|Fktb_cVeeU zW*7-gMyiW2LYTw4PXvv@wOAU%+EVXzI2QyN2N$<^74kF|9eNb&r1#7NrB@-m5=lV5 zi}O@K6@UaQe_Dht9=gYFSgP`7qGuBsn9Of_C^A6;mb;#q!RZ4=hj1c}jriH#0fTmB zD(Pw#lm*pdBL;cF^ss0STun?TAS}GFY3y`oeRa2mn7CS5Zg?!-zsZQ{(_4rKYe;(s zDkAC7auza@t_p;QN2XT@HhCvCbio4uBM!7GAX<`n|yMhbVK#&P#~@u0)WEv(#q zKIEfjYx`S{enC|zxGj)CvvzANfTGg-Ee+u2U?)%;#s!HE#WjL0iI_ozfe`3k1Q8a# z3-fnx4_np(yb;9W;3QDoEb$DunDld#Obt=XdXNuwNt4=(HB4Mb!ET@4Y62@ZebTb8 zJ?sp7rFLVZAbb}aT~_U~N2r)Zg>4q0qoZ5;pnhr^T+O&+v=W)98@<3jV4*x#btc0K zR6TtFJ=A)oHG?Q7vkAwvo%muwX%o^c_elQf;yX;{s9^g30}i0sVqz zC$Sf?B%C^};y^M~1M3ibm>5mFpEQ%|VJKdpeHt2Cj;Q5DzTnT-nGehF!a;Sl&8=#9 zv+%$y$kiki&lGvCwjh}UfQV35z_<9tm?>s}ckIBjL9**@m=`>0!Tp2dF&-6qtIwNI z!x*FwNpr6%eaq%2f#>E6>>q~v=orbZ2yw%w<3O|F z?&M?2(rQB)=D)$;F=cn$&M$%e?XYx;=~g=JkE3D{$B5BYowC$L03{qIolY=`c$r2Z z{%xGoUyi-fw2MZllL3HM14BoR_N*h%I-4a^eY zmyqR#vEbn7HE>(605+caWhYK*c$sNHrx0@i&x3?@ zpA#GVA41kiD7RDhFs}k`4RUw$ePTx>DRS62t-N5IRD%rUn~n%onr)61!s6)KhtB_2T+yG+!UWu@y_uG&K_WX2*o`E~rT-zsI%*2Z)`Gu9)+2Nq-NKB16Rk6D>la>H1+%jF6JSpj(Z^=mZ(yfW!!4~vHR)A%G0y0*f|y3KN)f2J8Lgq| z=7d`X0G<4+ePo^0`YB7nS!uhbJW~#G33;HKRsmlIGxAP9IY^K3>s{Z{F%&(t&%r8y zG^GT}lUQ%HV&}GIzpfEW{`Wyu0$2u=dOtThw9G;^+rZ57#GRzL0<)mcsldkD=bVbR}6I~^a_r~C&6ice-#$xz7}BX# z0ON9)2@JP_s0G@8a}%H5@h0N0w+zh!qpuNxUtr^X1Vee&f%(b1|rPX6WG zQwX=`##3i&$&QW!3REX(%@zshjll3z->8{W{2igtQ!K|+emcA&nt4h1JxCuct=KW6 zOADIjH=hlL1s@^F`!X0)j@^{jp@j@$34>p*rY-AY#I5pMuK5OYb;|#hV%04A02(9$ zQ%CbdKdou_em7j|wPN{B8n>WHKb@6u7yG6j^RL0gp9 zvEXs|Q_8AqSVb8(>D{x&(D;4TG$`llmqkg8(Byed81|?&l95}Bm0fc^&n$qr5h=#4wg3>+tR$c{!GK`1;0!yZATUQWN#a1io)p$vx z-IYkLtqRR`)w(zL4l)QmWB0lKe6Yc^T?_U7jhJEp6?zxw(O!sm!Ju8IBU_#PEVl}r zNsyr5C5{2c20JJ=<>0eDKsCx#>iXgmy77FI6m}PLwL?R@_8Ijcy?h|p>?W{)-Ue}; z)Mpd*bo~9fzj=MueZ}=K(BwGghVfxYGUdl>?8E%5a@V4(vFz|ssRpL{3Hns0xwb-j z#te;j?x_dm*#~U5n}6K-*JJNSyIkKZm9WqE=#pAG#lHEH9qdz*zN)_{a% z!Q1&d9u$SS4TMVus4`!{RdR6G+QnVva5zds8{lI#`S^h1<|8mhvl8lbjJT!vD8G0_e3SGSW6?%L zJ>QlF`Iq)zK&FtC8>9ZT{&shUr%BZVonU592HrNexkz%9)Zv>4I2&#F%i$z$wW=7* zbIPnBs2ii`x3TLYRq2CJ_sEb{NQ(EVXp*Fx%R^RSULyW;k5Y^Gf4lIHRMaV?CK$k) z=9#3??+yViT5CRiw=ktP-kwl-=>auZKKib=Bd*KiI6Dr zjTi3f8&Kd{6=m^ZPwr`;*S9>57nWw7azAPtqSIV4Gpk9@5OvCwC@9Ce&{T=w z)Su*0dd>>xym91M+dzVQNJ6{P1pHaNQY(iktc;x2es#a@_MF*Z-fUOXiv9Ur+7WJ<}cbOt|`kJaJK~g5jVIfWoJUvh8R72Xvi zryY>LZSpPo!@XW`(!w=#$^WTgCyv@%n)T>-EI*tQznBxE;mwr#o%p8hMy1B;b$R!* z*R7+MiCkvVcBa4Iu@ml#EinGMDU#>Q-zm`tj;k1K9Lb541)-7qw_gc_OL>F`*AT%C zK+8epC!2ztTlC^uBvAE^Y;VM zyhfQp58bK8`77=>u=*veT2L1I&74yvKz@w#L$htDaq}*wfsMR(3dA-qfI74@7sRkP zm;{0@*YZVJxM53!!#)B?S4!it|J~HrRD!_POl0dBG(KdVGh`9l@)~b9bqrQJ-Y_0(o&|1j& z0I7o~nYMgw0NTX1`&$6o;)vq`xx^SxjfY)m-~w= z%~+K*hF=JkbVLl)9s))1&jWbqxkk)M<%)Fuz;%TNxUQzg5%-Gp9tSP4ZWEy`IQ6&! ztB{(nFh8{?&Pj&L-P!3l)TEcjWEo^wXm7^%=kZqht$r`S%iZ1F>cn0jAdy}%L|LFR z9{0 zQ#&BY6j{28Mc+QiuGqj*&58d;O$JYAvX|GeSnw2*8t&uZS86q%-Rm~-7zQ3{TT+u* zsDbs+Kj1+)%kRO@iI8Q#b$c1UtW@{IbLv8yyF-1s&Ks+ID39(5uynY@w(v@&8%hHw`2#oZ}M59pC8CBZ8=7myi ztxQ=#S8e%=+@nhuuo+irKcySfdFy23rzF4VgQ)GZpjxI=s{>8wqV`geAJBR$!|UZ- z__BvkBcmV4ZR7L|l)A;x9vKUR6Em>ij5Ye$e~ejgFrFK4$Qbjx^nJC;C;lF3laoo^ zHlPpmflY)pIywzW1z&&WjUyN364mbav)k*a1c_>cLekb2K!NU{Zn54Fp7N+lYpM-I zWD2y#cet{B{KS)cjN9*d^o~mt-do%R8h*3ik&_mvcw!DkyVv1jo#r(s^dT7DqJtc1 z@3$d^5gJW2Y`&f4F6CL_72a)7J?VOmVJgNIoIqG#QdJj04DVv}dB`H}bqKs1=C^cK z-9;O;YlaXQfT`50wD1Lf4$JK`-orTmLWtW@A?xzCvFaJpd2Vi(?K-^x073H$cH)Gy z!|H6UYTlz;Ewz!XQ1EX`=!VviW6~NAHpol)^mccy%!7N$dFTGZ4c0v-adaSCoDMT? z$%cVb4mAya^68eODTPX{4ezQIbsI#L@l%`B=Di^_fRa4+$xi;F!##%+J;TJRt8Zmf z-r$Z7c9~V0Qw$H0bjj{+)!Z79r$PcvP{Lwwb=G1Ml}X=Y&JKoNOfki(PT@UQ9!E1Z zBh)fiU5bdi!y-29zZyuj#&RBSK^GgSQQ`qQ$(n5|!`@!y4L5JcK%Ys2RN>JP&3h0^ zZfq+XU`<_z+dbG+8YmDDC+34rJW}sAJM7^)(@H13~4z7jg$Jcs( zeBHc@Jfy2!de4w!52%cE=YqbaC#ourScee`ph12p5W1h8AEh0q-*XZaNr#=*xLZ?- zY)VrFH}i7@_n~3E*p;cSA^_3`q=m3lX zM9tAk(9ciMuYw?h6TcujQP5InF~$3|_gw1+Xqmxq_)ichAoqbYa3VR_;0~g3TDpyA z3Hqwq;RDtLQRCQkP9@G$NmIIpP6KT{BvT~iV*XynS<=yKJ*8FeWe4>TFC&6^4++&k zG;0V}y;~sFm$B^nUhVhTyO>+Uz-8xiM}g_=Uqm7#zHr zaTQ}N@BH=i^))bNM+md13d6GQ<}8`pl?EU`#DpaF@&z;H zGZxQfs3Fx^Jq!X3tXEvgZ(lSjmBJ$plFjyF}GwGq_VP7WVBd1RL)uq6s z7|`D9#Ja)u#wh{*r?UKii7YK^tu<8s6KOjD0VNx_h5eHUpSk7!!wC26e@NjG{SR9_ zBLAVFXT|@p`O=dF7~y|+L;zZTJIf6QleFb6%uhIp}LG zC76QxkLl10_p}gJ&{Io8iI-dtAYgLv*>ALL7~0-)7uO{O<-1zUQCOjFclP_RSny+*ZYB7BHhcqlZ{Ryu8^<^_30qXb-Bs$>x zqM~hCnhK}94Su(oo=rOZ$5oz=C{1Q~^GnF%pDWZ7NsrYkFo4N1k6{;QtBhEzX^9j8 zvWBfcS^{tOO+FFTQ=RP#>svyC`!xHWImHikyeJ9%nM_b!OqTJ)F&G>p&A>uK$xcJ%mt5Tym3 zw}f~x#s+7!FaXa$3+z#=h0`|1YBL8CIN-X~G$>(4LH{ zh|&~ck+c)pFLY#?y@5dh??_+AgV-cpTa2!wU^}Lk8T$di5dd{g-oErG}o;8F|E@)1T zvBe3R!rc%ZEV+)OX&9+VNTN&hvw!r}+F&?q2&_Y#J5aJ}SEX*tL)c2i{ls zLjlI|zzrZBGO{%@atimbB;DeECMvnapA{G{dEK89P}bjPU$Np{%J8-9>gArOoj(%8 zj>o_PC!?5>mMG^jS^cCL(^Y$R@HOl(z2;Pj_e}Xv8o#XC5u2Kc1pzWN=0VT5n`FosdhUYb`n9aL zfSZMYZ1_4Bya_0O3@zU-H^C*F^gyIC?aTk=>*iI!AoxGF$qogD{AU!#!2JJ=y5uxq zsQ>X#t)(DNa&9I~`llK&Tyjuq_rLFi(inh||L0B`*+LutkK-^vfPiR{jV963^VNZ| zlWWr#|GC-eI~!*IbEo{j-H6G}8HfM-O>#!&%fC30U)e0*oSc_Qoji~=@y`>R{qk?1 z@SIlge>{kL3Td$M9}k*RBpX!_0NA*h7(DH4ueEg?4!N-WZtEkIt@3$7$wH>&ry>w) zF)D307I*A;an!7sYS|-aHfPcPuH9OMm+0nj#dvNYD~BrkUfud)67q6bzfftSW1dVci zCL01{lWaBUJShbIo;D_7a1O4hXSiudMFqoJ=o^3-ut5>^a^2`CdrW{eQxqAI%s5u&g>Ddq2_g}2*^nUZo=2>J4V1X z`855=>z1?xNL1**UJ5#4d8LqklMJ-yt2w0FILhGT7WtaEnAD?l^Ch2}?dwsSPq>ku zSK1Z2uFL#YcHmNI*u;nR8jOfj%a*2*~G0+n5E|qlT;sW(UlKnH*T*2G> zS9~5KUAbg`qM)bhl}NXj7o-srw8>27fHx1w0FTDZuc+NwrOhrXEI2q^P42ZN1 zv=m~QAy^aGZvZt&DRBI9qZMH9CF&63+FMuiS}P^HX7?8|Ciyz1n_uXo9;~5OZ8GSi zyj0UdMhGyEsI)QJv@z`pp;i_?Snc|~;Z}HPCk0H9p>L7sqf_W*jS`_wJGO{N-p4*z zKmU8rO*Q>vV6=?Am(rwpK81xW-;A0eUanF^UkxY#u=;m&x9|YjxC`nnE0r2}>#MEh z@Yq$!TrNAoJq#X|LkX4$nZd-2WQEREj3T0u7oyGU%hsu4h&fprJTY_56DAz0Q9aLL1wxV@F5sOR8rO+9u0bUc z;0o=xaMzzK3uF+-qg%u2)}Q#WpVE5ufp0ni1ekCT?Ee(y*+JH&+4LFIJJf&OVk*{w zR(tB~a&|t@RH=CHoVB#$qK6WvrN_PV_A#eTm2bw=<9a+Ck-UhwM5lZ#TvY_?+!Y^B zmYa7F;_qNU+PbrQh*JYPu4{yUAULvUuWnubW}#lh(v__B(!krlwbm~!Dt3hRl#&Yo zlt~(9$f$ZU7_h{XrHqxIxU@xbR!WWuj}Fdu8B|D~VMN!z zBP=I{k*(fl!}>-NEo|BNI9AUOzEaMfg9gj-Ed2#<2DtU!88j%l@VHf3z& ztZF;5*=Jz4vs#OIbhT}+%;jDl!_;iDXf#_-Zp~{Yfy_o!?`jQ$(6wkWFzcgQLG-8_ zPEx5Q!EL%$N;Jq&om*IJ8t5)+a#x!6V!j~%@1dGd*JJzy3={~6KH0E>3UIA(D2erR zW3b?w{86&_SM(mE3mB&B4;ZwV-0D?gBVWJi7Ph;2m2>*X-fbpEN;-AXJ<4Lp0q5N1 ztrztQqk@zze?US?Gwc?>yDhBdutbU+!hmFGHR0W#wG=R^cn!l<{5Bt*!9MZ(bi5FDW8<V!jno^?KMPV6}ux))bX1HK^{zRr}k()N+C6kM8%CBV*i+pJ}EK8c~| zlDI_qSBpIRGA(ZZUi~oCyxxoNN4tzSV?@T@AL_QRW|OrY@lZZ=WK)K%UfD3_9!5P{ zoMLz)nYkN+nhtF;in&=_#%HiG+bW*K`F&D90pGy3OjWQWLL{+=Vs;YwCOGp$cH>kb zn{gZQFcX4T@fZTrYYs#^s0!}#J=py4u!%HFFU-^Wg@uP=x z1Q;I(XM5$}zE|CYh7c?SW!Qkz((S2s#TR zlurp5|He@Q87p2?valh+*Iiv31EDdSB|2KO46>X3rzgPQJ|0i zWq%AXVs(Z%D)O!4_AZ+B?BCtB&%s8I?@b$ot3lb??F(0ZBt%Cfa1{(=gE^4hV)=&4 z`^xAzD*$2zuE)ex9^kegA7JrtHVG^Vui0m9KHwagHU;I8Sn!~ld2aiI$;Ng0CM>wk z+>?e4mUkfLOqr_$-RaA7OAzVDAzo%@ycG&6cIyQ!yB)QvIVk)=v!Oj?Y1?U<>}}#3 z8dDH_MU^ z(|1k&ziW%sm)k#?0*fTJu1x*HsouG%rRWA8j2u2dKkfXVvC!9Un;JXx}JCq)>1~gZ;Jw$R5f%A%yu8*9=A*@6-HS&6~IDNzJR)8o#eKeadMX*o-67 zGNO-<)BHPAl@5#?O+4GNMrx|FU413ON37jU;LS>1`}KLAu*d5Wk57jRgKL@gqSX^( zRq1g);m`l4ykO-VObD?L3+5|JIeESo7w`)#WzBftRRtkc*BeY96H}|>hRiMs7O08)Rf(M~+@q+jL?1j_ zB7~Aik`m~EY;g=Jd2hq@+rVAwxLre=w%M2>E9%_MxMN#xYr;#jPf>IFOnAkW^En-9 z=A|mFC=`5ffgpk1dgRrm@>?^n$4tdRy~rOTyBPTRF0C&@9Wdx04i0vFO&5+FS2(e^ z>C3>gD$s@bfw~{s38HT}yPNN~_1vqccpd3ye6R%nf)@Y0pBUp+5b{JoH6kDHD!|1# z4U*5et}Vo(U9tX-TuuNJcMe{D=7-*$j7|u)SN|a#hM<6VNg&^9jFf3U+S?pA;eTh* zs@!Swv!L#p4>*K=_lh(QpXh>RtL zFwj)_72f-Q*S9&o{u=RL4g}~^1O3-0(E`5{GWcI6C766LNC!X*yZt~*tCt#(&*4Im zYE4xase+(UW4FsHW6PkYS)b;@_xsoYR@n>#BRPvTOEk&fBOL3yz8P`m09TM@U>P8d znB_%c%8POu1xPSypoR}dzt-@2>r-(=&jFnw46K=sl6aCXik>SmeFr+i{x*Uo!b95e z&iKA+3$HJdkOk<`Yh`64^E1n^@XO0mI1KF$Z}ZP#$N1RhlwaAMc@UegNmYe}I7#ju zPno~59mN-a4wN+uY|PK8B>oC2V)r6hKXoBS*PSCG#(MTaCQA`S?PGsaq-%O!#NV_6 zh6E3^ms)t%>w2|o1m!l@rV<}6bHL1eQDSM6=BwA2vH%p5)u1gx?*Z_#N|=A?9z2R0 z(bJ+WwhG2LlK($#eFaz?OS3kM6Wj^z!QEYgySsaE0)b$Q6N2mF5InfM1&847PJ+AZ zzlU?a``w)T@AK?KPxbpwRrmDt482v=-$$AJk2fGew*LMk(+EA8wlHzovZRtN(4G(Q z(}_)s8k%M&&z@zIsIuy^bu4-cm<;H3b?~Z>ce-APw)LeG*(^X zPWkvQ{!+z=FJq3FC@15ciQr9Fu7Uf}_&}M^h;VshpqUD{Yn1p?-#zDo&hIPVwr0Q7 z{?6i28>$lwOhI%<7mgO{ex2fT$0YZKtxdGmf>y*uw;cn>jrWamT&m*Bt|ZHW`u1y= z7b9vt6^(mv>RIlYzG2EAVee;9(Y^5O&0UwS1s_TNe6gDkautUL4{lAkc(MV~>ORcB zb6VgG@Ik&V0BC7Kbn%1hBVT8`8lNG#zX3mo&HgU1jy3(gnsGF(iS&BoNN#i?ycQ4- z?$KTs8XRtdXm{gL9(jQKIOme<^%fFx6Xc2XTAuDp<(eA!^0u5+yzdsep6&_wDG55m z#G{!T#EOd(1g?h#*e~Yi1s`hRp^o@X(F?ZqxfRozL%t{#CJSU8$Ot@)&kDOmk5d1n zkuSZd>*{E>T?vsV zErrKlA;$9O39!W#)Nikj%e`L8*i&-It+ue{8^KE%8eJ#lbqkHndZ^B5j?2S%)xf4RZR-fL#J!Ku^Z z;Gd&7dmMiWM-?t`^XQy-@=2#%FGfP5y^NZ2fx})zS7D&}Xh8CDpn-AY zcX0bzA;x`(d8U)2?o!1)Pb%E%xn-v3#dcNcZHYF-Dw?=}k&Zw-s?NouOY5#r5SE{1 z&$?5ea$y7+JdijwC*`SV{=+98Jq0w(?sdDAg3>IP`r*;*pSF+CJ8h5b*qm(#>0DF^ zlR)ZBK3k5grI?GA3kxk{5y(D*Q4 zPey+&bGw;?560ZSSj7{ATNUL$SkVC5uuF_uq=yz!#6*;C*I_8%| z{pSAmEWjO^*b7N02;sw$rmaL3icu2!T#sEFDUEOL;T3wUmHhaYx;Fy>{6U|^x`fJN z?!|5_HEV4il4qnPt7BxX6AP{X%I0qnWVv^{b5I;Dj6r{;<--A_iXSo_$YRs1$Ll-| zDNdG8(FT|Z@T_?|9y9B{sAKzKdcJf;P$nYQM!uv;E3#@t-z@!8KDpfXRyHeKB(L?b zQZB1yIcuLGXWvs*^q%^$8N>h7l(K4;v;Gp|>|;CkiLlT-F&hr-Bjos%&H4h2M7Q!` z9}@e4>9yjWTGJF`0J;o@U9XtdFh^|G&Dgkqhc#GVDbZg zawt9?3@v0Xsf4k5-la|Hx9cHk8p%ltH@$LNfEAV_LDVHVsN#@ zIllk?;(egg|3olvhtv8J=f%t`MYrwW;;2K8x(xhTe!Z61=z{zp7x^Mf1oSVX7Tu$A z8{{ak+v*kZUDmwdIW>8#zyLb|;n~qer-*1by<5KICyK4gw z2%{L6q?ekGIP6AO`}DhI^o!d5mnJDm`LL8}bmKgS$m9p<$ZaNm1!SxeKF-95gkD2U z2)d22m=nSYG4Z3`=H3yWU30y#wQeELdh z;y(Vgos6B?*WPc#T9_P-cPidQpDflwv>cjFNWZD?Xi`c)R}@N%*>c;)Ex0&Ws3`LH zX_jkA64|D`ah@G`?l?61^9kcioX-RHXM{k9hk$6{g#>iHJ~tYkp#kH6mnPrHJ313Z0GGt#M>D|%mx*d#-<2u*sfSKI`8=6R6xK-Yv;zdeQHyrjbz>f*rJ%DUcs zN{4E{y6*z`B@GzCItCvo(5^dU!8y|HAnwdjAeT7ae3^1#Cx$Ty6BV+WJrQF;XK}}; zi8wVz_;$~JD4uiiWnYrQyX5Ow0EWT2HjJWBZ9R9^(AKSkK$oa+XR}!TN;;wr#2eC$ z#7{vxu!7kzl_4u!_>DMc7xE0W@;jbwmf-gi;VYmPwh@&#$T5LylS|x8(@wQI z%^pP(=l%SoQIW9=xrZg)+4AZBp~}LG7#hFYm+wfbp0kBm)93am++G z$8??|=6UK5DRMlWyh{<8acu0$$=b&1VSY6idCCd)9*j3kO#$*HDAvoRl-QU_@t3iA zZ@zYG$~6LMrClz=-xv-Cy773=e%dy)Ks;Ket;7B?ahAnKr1smW(tYTN=n=X7glO*u z?%m$Q@A0hXcejPV&*zRstOh_8L2H6P7N*h#*AK5aPp8rieqyIrr?0i_mdcbkbXOCpRcC(}_I<~k!L_ezDRfVmevRqCthiqjU6%h+DQZP0hKsmH7t)FqD;g^R`0VGtA5Nuiu2%FsCdZ+yR>aEx zP2+C({@%LBTgeZ%nz(9K`O-oBhi)OVkvRLyrS2%4E$B-c?-}MEt9dN0A4%E>*9ezg zU$|C4DOn1&&;rNPh_>s&T>#M8+@#C^5-EogX*WDg-lf%>p1TbtjF~scpo|c`_JVW#Z1rGeZee@?C;-K2wM`nj>Q8j ztdm=;IXLYHb8TiPIz8{kV`Gx)Q9BMOKgmd|?txY--9GWXd}>-9<8cR0vsp2jezp=R zeG?U&fTTff#(@Qe!S>-|F9CJM>Y7Qb*H)9KU8%>Ge0e?0lWcq=HvoZUIEkS4B+i=r z>~yH!IL0I+crz|~G_z-i&yXJVR!8MbR^yRZLm@rvt8;^<=0#1lqSVC86m|d+#UWG* zI*MTAc6C%=ecV+|VrC!k%<}{IC*W^@T|CN}1Lzs2J0~pp#(rGk8XP3@^aIJ@l%E*K z@f?iicU8#)8q2!Bt4FA8zfCf^ty=zaf>qGe_hNlpN$Y{sXRDUh*98R=nt3V<!&Z9urP$N$2*fnIHQFYiH`@YX68Lv*0BxS1rq=9d!6bz&_nkYR@={8Lba0?dY! zMYPK&0hBZ}V@EqudU$MKm1NRNC2wVoG*2uC|sEjKTU;1zVUhw^&>~<=;1UlKz&=3#^Z(nbc zc6{(`E9M<;28zK(o0mkEdq4SUMni+w5_0xFE~;Pd{KTv8nnzJ!OKulxc0GlCt;zeh zDW1-Gl%Y>X+Xf)I~n|u{0c?C@*SOR zKIpvdGk1-a7}p0e)w&Ic%n-{b!Tm8*MP{@n;2JsiH;i~1CxMvo*@G=JDXXLwmL&_K!3*v1Ts^wEMnGJ-Z zO_{mN3m4wt{DK^p+OLztP1tmJ5gnq_yJ(!nFK(c z$>iS)={Q+o@1rj9$5CD%T=M{8S&jM$_W(+Qag2Pu~Q zDX?W#+*tCIVD!Hu+X{R~alLr26(D4pwp_ZX!_rs&vsW|ZgQrQsr19_X2{yLBadqcD z4%%hl+t5oYWK648cSkFdgs9pE*wjsIy)8oz>HCt*RA zHhuua<|=MscMK+KeV{nla@tqrR#&vnfo`GUlp}6o)tS&(URxr^7`$f@1icB58gYis zNL}V*Z4NgS*>q?U=0i5y^n-hc;!OAXrSfk_yk1%APVG%kiGcUkj z`>UEmeexWUBA}qa;(K|l=-2s~6|V@2$Ms3tSRUxIr`;!)und;#jRv_cO+rDxFycGl zjChR6aoTUbXZEiY!h^0YYYyIHR|9IhC&krr5ri(7YcVvZ%WM9#aAynbfTy%<9-^43 zA_o~o06v^3k%0h~Nld?#VMV3`wVcqVobsM(bLTw?ew{A`9Pv%YZq;r>ea=@%2d*S> z1*IiM#;>X0@n7i4VI66g?5RU7 zI%wQh<0*$l{ zGNCn>S`#qzu5TQl$HuKjLH!;Ns0;P($iX^&2?Z?E`LJ8Io~pkfB3oz1i9U+Ts}Ds# zyST*qo~T88k6vL(fK>!)q*hBGt{4N0e+_UaLzEW5D;?|uQS{&3E(Zzu1Q9J zdv+vw3a_pKn?6KTGg-5U!2)Y$vD5cadWAtMkB08^p*Yea`ItM?8m~Z}%e6xbLgYy@ zr6^%W+IkNgGU45s51J1zx7t06(}??&meo%Ku`|p2A(l~`J~+p~v60V*UI}Gvg;@Xr zuJP@8zo;W(g3gfRHLLF4ABR-H0&cy-LhoL;)-%X@CSMN^zN5kPnPc>{DO>NX`$jU> z`8*ReAH9MDRpUD~-Yd3o|_=ym$yH>MO5fl8?V;k)mx%|?2e}Ute zG!M*@d}esF`zAh;H$%dR6`|-%WHYkLgj`%@gGW2Pp+wt@QR{$i)OFkWpvn_RMP8fp zu+C!x{h9)E{B0Voob!8JXdvooblQMk=xyeX0cC3XVe;}?kPFaKD=3A*wH~< z0-+9@O2UP-XEIR3kl@VD;h=%*DdKQzeeJ=5{EDQ8C`hX)N$ zlS-X?MBW}?CheNXQPHm5=;CPU!$Iys0V5B@3K~ZIjgWAeTJ&Zp%d>MexnV-k;SvI) z6r>;?Hq^bXpAPWroe|U;qVOgq%9MUX+L0OFEubyD%i!bDSL0|yN?eXr=;xD&IXJ+g z8sH^uld`2~psP6_2F`z_|>bx4{b`G=gN9ER$6+)0%6?TF!ZYESEPwg9Yz;cO2l_p#d)Wk5=06=WZHDeTlFh)X?ebD$z=;b^}XR}flEz@@6^cl zC$?5q39~v)D14gYR+$qo`>le??1~&E=aFHU zKqeL#)I}a?eZ=^o)!I6l(#eE7J|-U?Fs`IdNyQ#NtH@j!?UmX7`@=3pwpYJj$)!Xa ze6g~Ya(CS=t#ZTWyN;|{MPy%P%uETymTcctiqAI|^gIO{y>Aqn-;&N)uJ7kAOlqRi zE|NiCT}XLcqG#lB>R7SQ`NsjrR_je*qIYY@o=)2hv0dg~3f{7JsiE%21g-kfx39$wwk4R2 zM1vR{U>F&9@J{hJY1L0s*0A~aT4}qf=)-~_16BY&kcV`S7pEcQXsFbL=Zd6%?9xj% zAm;XF!?Sy1_bSWb(VA!-q;!Baip4&06lUT0)?kMoo6C#HpT=z5t&|#eL=)C6@}b7R zGiw6_uh#WDzuvAfJx6i+(u7)-q@2$6jBTmBN;ru-4l=XLI3 zZ^FJr;K14otC~8IPCvVi5kN0 zT^NVyO!atOo6t59<~JoLV#!!x&JR1v@ZZqv08<;(hS(KGEj=?l8C>>jvEMgxnM1|% z=N6vP%f)}rqdtu@vX+16@g2penX-XSTD>O`DL)h<&HhJdzp&k0Ts>0=^v)w%f@jpE z1V%!PVp&htdN<2mKD~t+u6okk2FIK9fM4cozd|yWmQS~7%FJ>(!f}QiuH?C;Y{+P3 zyMgi9kKXXI^p0vsqG_u8+a4FO9CJ4B;96yWe$OT<+3>bdYQ?VYX;W_qM^V5@NZEJz z)=bMCONICov{m$ct~-+<<|bP8y~yFX)M2R1!7c1kt5^tFw(n5hOmFQ>Hz-aY7fPn3 zugs0uyFg~LhfS0JoriOLlv{5yl#0h_#tGOyDNo=6MG>0(nu(5v#X`?oBMUMVWcPp#^2kdAD{>y)_N{n zrs78}QIbI|d_%u?GB;%4pdl@v!?s+2DwvZjuBXj;*>M$CvJY~=%m}Y{NTCw})!t|u z9CJa>d(u*a)B1A!q1%fIngZhEVXJp)Aqzhp_b{2=cGD>)l9L_gBPjVwx~;FUZl``Q z24=;P&7_HqSjX(PKjheazZBJ!+VGP6ou=a*OyQ#N+i5NIO!3kOk80F4&`iGucuQnJ zjhYt+_fg+;ZAUf^;fwk)R9F@*&oZYaYZ&Ra-gbZG3t`P&VJ|s(OhFya9X|%s)^8(m z5_7G#S>MzNr*9}$u65T?7!UN5XV(+6a3l|BRT8b^JX$b0>-^sC?ICMT!I=(Yj>3YG z_l#2nSK?aK?4pVm)1y1x{!YX#AV*FB_S=p^f<`#}6PQsceAykz4K`92o+fKtxK%w+ z1}FFpooI!tC0~@~&7;MD<6HmoED2QsxMP{8iRM|2_~}($E&Ic$&s3oT{EHatekURw zn0+rZJ4`e!KzQt8#<7w3_)-~})sFmJ;iHwQsW#`~N5+a)!bQDf=shF*)tFV9g+o*2 zGSeqru_EUQq>3=evZ*d32km=uSs{8GZ`q0~ppWJD=^*H6cO2&&s-D8fG`f|7a}zF8 zU*rU8@xWR4JmH~q8(V4BbYPLxD&f~&rYvH(HR_t9W zfly477oyu0yVT`!KAn2R88_3Yyez_4ECPLN1B@(z-#C;=yC^E9X+@7QYC8=2b9ZNP zYlQns+(d36_fL@!tlKZdC-c6&^XOx-WOsvS@`g-(qBLHohU~i&v_-}r~A-EGGMY| z;Zjo(Rq1kWaN=oV3rAw(2oAFVQB!a(LDw8M9S$#w<&Q)D-a|K8m;oAz!qY*+-rSbA z^+I07WVnJcjooS(d5zcX>I$4GN<8%oD=_SN+9B#3()&TvTy0F!UVQ~C+l4qE!W4>B zDl;ZN^84TG*rgiO^DCm*4fUm)eg>krez#{5rNYpU1w6mm(gPr;W0e{ZM>7XyUE#;9V+&2^&hEYHXgxvXE2H)ZIUM$u589%t z@(L5SsVk-9lSUSr)&q=BE{#(OkRGBZ<3>li*q553k3{}+#HJol1}oaNZdFxLhZID{ zU+bFq3TV@dsBqR{%72pmHjQ~Gj1Y%O|=8c5&`2DBEhwemv_p_0uL%AekrRoblixC@6(_i0$M=dipKfC zF}n+Cpt=F5yn?-BcxcG;GU`$HTTOn`>_ewnVa<-|q_y_7re*`QQ%)3N8D9glx#r8; zHXF9za;L?g8}HKUVg2%J(O^XX*Igo{n#~q> z%k#p<@!mq${V9C#bbaLXV^d3w3-9Mv$8H~7g_V3I->k%~g-hTs_K3cq{ia~!3gL#i z@)tKY-p_o?zrB2O-{3&HX|duJ?i^a?`b>-RLT?E`dWr+;y?o$@RGl7k2cgYKr$7B3 z@#SR#Ch-#eR8Vjfg*~PNSW?h=wf)ctT7{*V!%?o|KJbD}fEf~ryRebYfu{6_!LI#i zjYhV+OL5alCtd^u)P6#fV7Gwyt^*a3B{Eb^9Fgq}8TFXum%Av}-ei3KEQKy_*b5;r z#l-hDq|m43cO>LVdX*4g1sQA>1qh!rhA~OZePf#of=b!gjb#FkBupgGK9T`S;DQ=o zZg=29AXJvjrnmS@D}wQWO*~Xt2xDc$By2(*D?V{NqGT;FyRS&U(>P-SN2dQeIeev8 zzwyLi8UA=NoP{8=+L%Z;#n-$nudcx3YzSgr>w~573hO#GJmiW6{8@YxI(!{S!#V@< zP12XoHLOA`9nJ!4_+?ThDPmI5I=YoAP-3+VQ@8oJz+btFT{y1TdTFt8sR(asj4IkJ zKIq#rO`9MAS!n8qJ6T~&kGr{22C$s$va9IMzlbiyP?X_wDI+k#5(A5&2!j1jWZbOe zF$OA2NK0Hv?Lxfnpb;!vt3x8Fp*2-BYu0zuiag3?FgwuzKjay+Cf(h zn}zJ)p2YYuPg!_3RU&xjCx@}+vuba#W^?;#{z@4E@>tGi)`t0^+o3e4a>m$GL%QK9 z3BxDlXzZp4={XsvqZ`GMm6e(u4H42pPcrrU&lEj-Q`TLVzBEaD^7Hzr_%cQ7nSHMx zafGKB8S^bopH+k-W1UVldJDnHJq=mCSY>)~;VKmlzh~TBqG_Uvg01=mjp%)a0abR6 z79M9H5DA^)CC;x*xO=djwG8)?Iz2ag0PpM~Xgw12qKC-jk~CP0no4NvV6LZtS5L7+ z;n_c1&b~fq`K3IB@ziJC2#aql(1i7O02b12BO%aUAHszU;GXem=)(RfR#4Y)bz9=# z+S*{I6*gKkl<171d6QZ|w?Hr`M)|Wb0kU!~kaOKUpUGMxCyqfFf$KxokGZs&j+F~T zq@H{b=r)DJ+--4Xw9AWKHr8qcoNZJ0jR5FqF1HC4tF_*L5N!d?0v&dO4tG$SBLc#d zIJ1Uyr8HQU))Pj5oZtNEi#ly@Q7ak;l6i_=D)c+(PfKzq+~068k)*1#N#p9dlv&8| zfCxgy3wUl2m;MMC_eklS#X?JVJ)@pG^bAc3yHc6(^?PB2m~ZPZ7j_+y%VcG>f7U@m z{0yNfp*6!|>p-EdUV-Sdx}{77+iYeV`?D(St$?jIrKw~eMs$Dwme`oSkyIM_55A)U zR2c`)?8w|GD@_924A#Zlq6v7qo_WM1V1!xQaGhljG*?NM8zm;&*V)RAqPrwmXR}fm zHzK#yeyrdW#0D&W4AcDLd-+%_dKUQMj>uUw7x{sE*HN5u`sZe&!T6Tc>T}<)p2pysd%PQ?(HUsrHGLlt;$}+EIT<^Ly;=tl@x6 zk1wR7(pFRfjgFC8i~F4hCLut^Jid3tl{$zK?=Cl;jl=RWhJ~jTNW9<)L{$Sa5lch9 zV8?#4d#OSHWu6LEL__d4mx>xuY6Ra|#)9xxq>*J4yB@<D(k(L z2`qiwKJ0Lu4+u(-G&#n}sZN~MeKdv~Xx`Jciob(ng;(+Ftxs(TvC?IsJEo)-8S)?) ze=~PBYQeb1VN13|dRS1nG7HD&qn2+)H1_7BIlQ8pPx=N?WA#NN5Sw~d$MwlmVoC6L z%-e~n^132tV%J8F__oOS3+9Pi# zm*{y-4KT&9_fma>oEc^756NKsC{Ufr1URdgRr(@e;;wGl_jK+n^MV zOm?WQQn<~LP9uPr44>|J^F_m*C2`V62F<1`0ezSU@6UkNCjcb8e$PpAnxrm6I0WH( zgmBJj1>Bb0^!ecF?c5^2y^1Xa#KqI);KkAsH>Zy(a?=G={Rv+NzKBnHT9k%bQxI4V z&&Y>7&6Pe&Fm>3rAT_016v=Kwj;>*L&MGhq++90+6X*aPlb$pb`?D#=+HbTi+!Kg& zVk7-TYNc%xx7;0PyL9K$zNf8TL)1-f>E+OosU(Rm0GK};6MmZ;4O0rEp*zK~Ig77b zU9Jq~O)(mcraD6zZNZwOahv{OIOgBZEH<``kG+&UaGlB?cb)%LNNU5?t|OMBOebT9 zN1UKOMqv-wvS;34Ng>C11e1`?niFhJFoqSqr?YbrRV_@djZ^cO!pi%77N4uq@N8P8 zu-V4(o$UL(Y&zq6OG4PZ(~Vw~q*>PfYL?%~(nC6~Ik_Iyv9uhpmDc3Iz&!SA56%*! z0Ni<(_vA93{6Hh6N$LH9t(APca!~S+uwVw8o<1FrEtk50x040CdWxIe!$m*8F7f>I zJ!<(odp5Uem@F6aUcOF>J%2m%SxCGhUsRo^KG95*U;NcqG01EYwj!zqiP%x*2a$C> zrn)t^VFy+BcJ2np2=7?R0Gh_F+l1G4w*FjKcO?7WCFZy-WGBTz*`w;u&PjM7Z&Bh& zN4|aqnkrUW*T5F96e()JsaDQHlho$jvBMg4`D4|m9pC;WDmq%p>*Ts2v_)5quaLlb zlggol|AM1`fTcs3Rz#znsiS0A&FOHH{6a&Jj+(geYv6a@owa(0Ir|$~uhTx868n6L z$Rxq3McALS`TiQ6++F(IKIb5tg~bwu@y)m~;1B&o-9DXyvEfr9x!BqA&((@f^jc8y z);e*lcnKzHiXUGf>iSFdb&!j#u&OnY2O5!(IJngPc8GY(ZuyE7={oVW4D2IW<}~IW z2|r%Zv$}74kT!Jc=Twl>4(7#24)mqimM|xq@Xcz{3fMW{7k4Q3t6rLOXPn}CvROQM z1M4&8hm@dy4qCTO9`H5p9e*wPa=p001*y!va)b+6l)2??1v#M8J7o){29l1OvOBJW zh9tcXD61ja#;y;yKLpWdRJD7u$0Hj2}GNkJ1oOke?WX@BOXE|;+3xzc0sCFEa zlUyJ?C|7w}8~!$~0M}~FL{`cHol)|*Sh2>F1gid=7^ZX;cPZjS*&M%8I~jni7o*m< zGJ^Dhm6j^+pd3?ZLw=YOqJ*;~;I8lOZ!Jtv-H%aKs--r5$q9Ij71v~_+I}cfOQ0v? zl=Ua&QRyyLou5@IVk`^0=YR-qQ@1Ldp|D0GTBniKH%-okUXU zFT+u|D!}_f<-~_X@HR_*9`rKzgqHRa4zmI2>vj?60kjJ$`%04 z&DlHZFq0E?ialhp&MpoORVu1&_~6tqRJld-d2Dv>5*w6cf%e>XevV?4WjU7RBMf?C zmz1IuMmaflA?~rx0|myAtId1J+_Y~+%SK(XDJSfS%460|2id-}+8IBxWRy2u%gdDdZmw2zaNhVxV8SUY9deyF zNo^?|M@bEZ)pj=El$F7Ni8MG8PTYpEy6>qj^&T8|xfj*Ht*jYIIdFff^>&rnj zsL%pXZftwps&V0=CqV^9N8f}zkW_Gco+O>06znXFI&nRE4i@&uZ`g4N-7nU-eD+_S z*NWe>=1Pswl6<+?-R(ZSF7bU!G%Tc#LlSA_k_t1Q%9ROHor>Iq-?%OqE z=etVQcRvZk9pgUJboOKWaU{a=Ocn;F<2d8zgJQzXW|4L)@y|72pw`VOi574*ZRmly zH-4^n^=`dkbD`D)D8$2<*~a86NJ5A^W`xT;mL;9Cw$t2!t5wk<_Z0YoC5#(5)>{MW zJ@r04*<9$~oHJ!%%50-Y`6@Ohcf1@wHz${~q!+Zf{aoA7D9cH&31#RXxK^q-AQJ_Z7a`sKIY zUY|1~-;sp3<^CWE9|OjZ-8}f`W&TPPVzc{{Vf_VQB3!G!w)*h2NFfT z!p!9zhDIx=cR*AUrrcr-Bf0Z^jn7;}3RXL!&YnYE2Ife@ojYe|nvPbks!@fH>jKM@ zz`&B<&M;voLXn!WgbUuNQQ6UOT$g*K#=<=A^9^1s5~wT(0Q&|1kMA0& zUmhUz*Y9>9cm)90YXr*c)~p~Y1%Sw_{Hp?h01^ljp8-bza#sMLk$}M}0AV5YHgMJq zXmD^JHTdseA8--;0fNpH0GzK(T17C^4-U+v134)IUL#&Wz*ixBdE=hUhfyFP)HEO<2>wv=7L=_FpdHv&aWfAINWv#%!gmHebpds)X zUgZma$^C=>lCyDe{FOoF-=m~bv*%(QJVHFV{;eZ40!$%20^)e>L`-4dTN+g5#+ITPX{J=dhBLd8%`-Ax|35+BIX=nm)U+IpT zV7fL4EMx%fDgDzMf8>_=gKnK1ADheoLeu)E)g)SAx^K#>c73gXw7=$@0n_low*RT! zBQ^e8Dg&tVKlHJ`=pWNw=}6lD&?{9K^1Q(LXdqes-B0%Epjd72-D9K;z<3=_|4m)< zZzvTgMjOEN+8KZ6H2|kIK>s(0zbM|nj3C~x2p06B{ZHHfiv9gN^!MLr!!j_M3?#4f zPuul$z{Y!3{B;UYybb{4RoM-p%Mk(C?;Hl{-*nrKSL8Yv`D*+Bgq))O8`%v)*Zs%# z|Ay}U8`RbNYWqtsEXYsyAB&=O!4^RcyjF+|z=B5pQ?dM4g~-sW0a$wfjAU9pu&{CX zFCiNb&;M`4wkqFX0Kr${7xZ{*_iEAk$U zd>wFT`e3c>8-EGo9XH@Wiu(T;Z}3;e?fxq|K_7tm->5=Rr9J=~^6KHWY6D#Ls`7uw zocw7VJ|xJ*06a{X4gTrsYSot5B=9_d0}fC56M6_THuz^2i3L+2JK+AJ;)D12{>R+a zzoa^de@n3q|B=!gf~CSJe@jil(pQU`4?De7z}H?J?cZvs(Eo-SqXXdn&u#wSn3sRk zYCs!?{|tox#xwjIM27qKxxpb0a3E!)e}?gYUAzB{_rw1i5BBzk17-XN5B8M&$5Ha% z_!g4C@mog!H2%&A-1sM|zojh30L<5HR5fz19~> @@ -629,37 +628,62 @@ using this function https://fr.mathworks.com/help/matlab/ref/contour3.html simulinkproject('../'); #+end_src -** Example of the initialization of a Stewart Platform +** Estimation with an analytical model Let's first define the Stewart Platform Geometry. #+begin_src matlab stewart = initializeStewartPlatform(); stewart = initializeFramesPositions(stewart, 'H', 90e-3, 'MO_B', 150e-3); stewart = generateGeneralConfiguration(stewart); - stewart = computeJointsPose(stewart); + stewart = computeJointsPose(stewart, 'AP', [0; 0; 0]); As_init = stewart.geometry.As; #+end_src #+begin_src matlab - Tx_max = 50e-6; % Translation [m] - Ty_max = 50e-6; % Translation [m] - Tz_max = 50e-6; % Translation [m] + Tx_max = 60e-6; % Translation [m] + Ty_max = 60e-6; % Translation [m] + Tz_max = 60e-6; % Translation [m] + Rx_max = 30e-6; % Rotation [rad] + Ry_max = 30e-6; % Rotation [rad] + Rz_max = 0; % Rotation [rad] #+end_src #+begin_src matlab - Ps = [2*(dec2bin(0:3^2-2,3)-'0')-1].*[Tx_max Ty_max Tz_max]; + Ps = [2*(dec2bin(0:5^2-1,5)-'0')-1, zeros(5^2, 1)].*[Tx_max Ty_max Tz_max Rx_max Ry_max Rz_max]; #+end_src #+begin_src matlab flex_ang = zeros(size(Ps, 1), 6); + Rxs = zeros(size(Ps, 1), 6) + Rys = zeros(size(Ps, 1), 6) + Rzs = zeros(size(Ps, 1), 6) for Ps_i = 1:size(Ps, 1) - stewart.geometry.FO_M = [0; 0; 90e-3] + Ps(Ps_i, :)'; + Rx = [1 0 0; + 0 cos(Ps(Ps_i, 4)) -sin(Ps(Ps_i, 4)); + 0 sin(Ps(Ps_i, 4)) cos(Ps(Ps_i, 4))]; - stewart = generateGeneralConfiguration(stewart); - stewart = computeJointsPose(stewart); + Ry = [ cos(Ps(Ps_i, 5)) 0 sin(Ps(Ps_i, 5)); + 0 1 0; + -sin(Ps(Ps_i, 5)) 0 cos(Ps(Ps_i, 5))]; + + Rz = [cos(Ps(Ps_i, 6)) -sin(Ps(Ps_i, 6)) 0; + sin(Ps(Ps_i, 6)) cos(Ps(Ps_i, 6)) 0; + 0 0 1]; + + ARB = Rz*Ry*Rx; + + stewart = computeJointsPose(stewart, 'AP', Ps(Ps_i, 1:3)', 'ARB', ARB); flex_ang(Ps_i, :) = acos(sum(As_init.*stewart.geometry.As)); + + for l_i = 1:6 + MRf = stewart.platform_M.MRb(:,:,l_i)*(ARB')*(stewart.platform_F.FRa(:,:,l_i)'); + + Rys(Ps_i, l_i) = atan2(MRf(1,3), sqrt(MRf(1,1)^2 + MRf(2,2)^2)); + Rxs(Ps_i, l_i) = atan2(-MRf(2,3)/cos(Rys(Ps_i, l_i)), MRf(3,3)/cos(Rys(Ps_i, l_i))); + Rzs(Ps_i, l_i) = atan2(-MRf(1,2)/cos(Rys(Ps_i, l_i)), MRf(1,1)/cos(Rys(Ps_i, l_i))); + end end #+end_src @@ -669,7 +693,126 @@ And the maximum bending of the flexible joints is: (in [mrad]) #+end_src #+RESULTS: -: 0.90937 +: 1.1704 + +#+begin_src matlab :results replace value + 1e3*max(max(sqrt(Rxs.^2 + Rys.^2))) +#+end_src + +#+RESULTS: +: 0.075063 + +#+begin_src matlab :results replace value + 1e3*max(max(Rzs)) +#+end_src + +#+RESULTS: +: 0.04666 + +** Estimation using the Simscape Model +*** Model Init +#+begin_src matlab + open('stewart_platform_model.slx') +#+end_src + +#+begin_src matlab + stewart = initializeStewartPlatform(); + stewart = initializeFramesPositions(stewart, 'H', 90e-3, 'MO_B', 45e-3); + stewart = generateGeneralConfiguration(stewart); + stewart = computeJointsPose(stewart); + stewart = initializeStrutDynamics(stewart); + stewart = initializeJointDynamics(stewart, 'type_F', 'universal_p', 'type_M', 'spherical_p'); + stewart = initializeCylindricalPlatforms(stewart); + stewart = initializeCylindricalStruts(stewart); + stewart = computeJacobian(stewart); + stewart = initializeStewartPose(stewart); + stewart = initializeInertialSensor(stewart, 'type', 'accelerometer', 'freq', 5e3); +#+end_src + +#+begin_src matlab + ground = initializeGround('type', 'rigid'); + payload = initializePayload('type', 'none'); + controller = initializeController('type', 'open-loop'); + disturbances = initializeDisturbances(); + references = initializeReferences(stewart); +#+end_src + +*** Controller design to be close to the wanted displacement +#+begin_src matlab + %% Name of the Simulink File + mdl = 'stewart_platform_model'; + + %% Input/Output definition + clear io; io_i = 1; + io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Force Inputs [N] + io(io_i) = linio([mdl, '/Stewart Platform'], 1, 'openoutput', [], 'dLm'); io_i = io_i + 1; % Relative Displacement Outputs [m] + + %% Run the linearization + G = linearize(mdl, io); + G.InputName = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}; + G.OutputName = {'L1', 'L2', 'L3', 'L4', 'L5', 'L6'}; +#+end_src + +#+begin_src matlab + wc = 2*pi*30; + Kl = diag(1./diag(abs(freqresp(G, wc)))) * wc/s * 1/(1 + s/3/wc); +#+end_src + +#+begin_src matlab + controller = initializeController('type', 'ref-track-L'); +#+end_src + +*** Simulations +#+begin_src matlab + Tx_max = 60e-6; % Translation [m] + Ty_max = 60e-6; % Translation [m] + Tz_max = 60e-6; % Translation [m] + Rx_max = 30e-6; % Rotation [rad] + Ry_max = 30e-6; % Rotation [rad] + Rz_max = 0; % Rotation [rad] +#+end_src + +#+begin_src matlab + Ps = [2*(dec2bin(0:5^2-1,5)-'0')-1, zeros(5^2, 1)].*[Tx_max Ty_max Tz_max Rx_max Ry_max Rz_max]; +#+end_src + +#+begin_src matlab + cl_perf = zeros(size(Ps, 1), 1); % Closed loop performance [percentage] + Rs = zeros(size(Ps, 1), 5); % Max Flexor angles for the 6 legs [mrad] + + for Ps_i = 1:size(Ps, 1) + fprintf('Experiment %i over %i', Ps_i, size(Ps, 1)); + + references = initializeReferences(stewart, 't', 0, 'r', Ps(Ps_i, :)'); + set_param('stewart_platform_model','StopTime','0.1'); + sim('stewart_platform_model'); + + cl_perf(Ps_i) = 100*max(abs((simout.y.dLm.Data(end, :) - references.rL.Data(:,1,1)')./simout.y.dLm.Data(end, :))); + Rs(Ps_i, :) = [max(abs(1e3*simout.y.Rf.Data(end, 1:2:end))), max(abs(1e3*simout.y.Rf.Data(end, 2:2:end))), max(abs(1e3*simout.y.Rm.Data(end, 1:3:end))), max(abs(1e3*simout.y.Rm.Data(end, 2:3:end))), max(abs(1e3*simout.y.Rm.Data(end, 3:3:end)))]'; + end +#+end_src + +Verify that the simulations are all correct: +#+begin_src matlab :results replace value + max(cl_perf) +#+end_src + +#+RESULTS: +: 8.1147 + +*** Results +#+begin_src matlab :exports results :results value table replace :tangle no :post addhdr(*this*) + data2orgtable(max(Rs)', {'Rx bot', 'Ry bot', 'Rx top', 'Ry top', 'Rz top'}, {'Stroke [mrad]'}, ' %.2f '); +#+end_src + +#+RESULTS: +| | Stroke [mrad] | +|--------+---------------| +| Rx bot | 1.03 | +| Ry bot | 0.93 | +| Rx top | 1.06 | +| Ry top | 0.95 | +| Rz top | 0.03 | * Functions <> diff --git a/org/stewart-architecture.org b/org/stewart-architecture.org index b5291fc..caedb4a 100644 --- a/org/stewart-architecture.org +++ b/org/stewart-architecture.org @@ -632,10 +632,10 @@ This Matlab function is accessible [[file:../src/computeJointsPose.m][here]]. :UNNUMBERED: t :END: #+begin_src matlab - function [stewart] = computeJointsPose(stewart) + function [stewart] = computeJointsPose(stewart, args) % computeJointsPose - % - % Syntax: [stewart] = computeJointsPose(stewart) + % Syntax: [stewart] = computeJointsPose(stewart, args) % % Inputs: % - stewart - A structure with the following fields @@ -644,6 +644,9 @@ This Matlab function is accessible [[file:../src/computeJointsPose.m][here]]. % - platform_F.FO_A [3x1] - Position of {A} with respect to {F} % - platform_M.MO_B [3x1] - Position of {B} with respect to {M} % - geometry.FO_M [3x1] - Position of {M} with respect to {F} + % - args - Can have the following fields: + % - AP [3x1] - The wanted position of {B} with respect to {A} + % - ARB [3x3] - The rotation matrix that gives the wanted orientation of {B} with respect to {A} % % Outputs: % - stewart - A structure with the following added fields @@ -660,6 +663,18 @@ This Matlab function is accessible [[file:../src/computeJointsPose.m][here]]. % - platform_M.MRb [3x3x6] - The i'th 3x3 array is the rotation matrix to orientate the top of the i'th strut from {M} #+end_src +*** Optional Parameters +:PROPERTIES: +:UNNUMBERED: t +:END: +#+begin_src matlab + arguments + stewart + args.AP (3,1) double {mustBeNumeric} = zeros(3,1) + args.ARB (3,3) double {mustBeNumeric} = eye(3) + end +#+end_src + *** Check the =stewart= structure elements :PROPERTIES: :UNNUMBERED: t @@ -688,11 +703,20 @@ This Matlab function is accessible [[file:../src/computeJointsPose.m][here]]. #+begin_src matlab Aa = Fa - repmat(FO_A, [1, 6]); Bb = Mb - repmat(MO_B, [1, 6]); +#+end_src +Original: +#+begin_src matlab Ab = Bb - repmat(-MO_B-FO_M+FO_A, [1, 6]); Ba = Aa - repmat( MO_B+FO_M-FO_A, [1, 6]); #+end_src +Translation & Rotation: (Rotation and then translation) +#+begin_src matlab + Ab = args.ARB *Bb - repmat(-args.AP, [1, 6]); + Ba = args.ARB'*Aa - repmat( args.AP, [1, 6]); +#+end_src + *** Compute the strut length and orientation :PROPERTIES: :UNNUMBERED: t diff --git a/simscape_subsystems/Stewart_Platform.slx b/simscape_subsystems/Stewart_Platform.slx index 0c57e23ff07e0aff2750dec1fe369244bc95191d..e2e1ac9f740469428a584170a3650b87bddc0937 100644 GIT binary patch delta 16485 zcmZX*1yo#5@-_?vcV~hV+@0X=65QP#f)i|T_rcv=gC)4TySqCC*NBBhlX9|1iA9VIHV!7fJTKlfJnK(ohj>=4EOvz&y3(wl&^m>TyU6e9%N*5D%W4L^ z=442Fa^cAH9GJ#ED8wmn8N%F-)%6DRx-MaOzOy_i=T84 zHcR*}d;m;*5hREL_7q4+prx2;3-nvXuUK^}1g#W-zE7;Q6GdsNwky!KyoWkI{`zkB z@;%D0(s%jWzWt9(2!+$SX3-Z#tk|Od)mtW3^1q=&u(GU$2QG2;$=lmTny4bWscuBJ zff9<}uoEgQWY^JO^4q`SPe_~J<*c51jv?NrTA7`Wzn-`IZx^MjcBFD;q|^XsDqp{+ zf>IcarLonI7@$RfNX2FP4Uv#jj)y#?e0=mqcZ=FT{W=79PTMPW?%@7Q35x152ef@3 zDv4LUg?{@>#b93lYDx^Y2p8@jO)bBWP(nQEEY+M%lWg%*%z?;Nn`<(P@OXZ5tOLmev`@AR8d2_-k+S*UnF0TRN z3nNRGS(q;vD|F&wvOTZQPZRVNLPEK~M(fxfRlkdPj9D&Z0M(u5bl=5N!WZ!+TbS`{h zoz7ACTJg%V7c(%T&iL(FZm|MESrW#hHcLdtzE;ULJbqh9##AgdY;?`ZOncJWeo>E1 z#&*fvK3(A7T7>?WE!Aa_je-AFksSr*U#kKIQQiDycv17fp#P(@5f{=V3K%djYXBJ7 zXE0E9A|5bPbH#3l1J!$@8a1%-5PPt1$Sl1v8bN=%3Y>@ei>Y!B6@(VUKr>`7-wlT_JD6 zft_Z&=qx0-x#J5z2R8$DZrW@L8>K~zvMzrdt;PZ&t8`*`ML6{^q#%&4n>AJmR-b3` zN8X06kzUe3SOJEpzDn%?G$<5d{?Y`~fzG_0mLqjW&w&ZvTafq`RZJRP|bKZLwPnT^fKwCc{QoyhJ z{doLR8Z1(JG~F@s>+uZvGGwM)GsOlQ^q9bsqKxdcS*zC)u&y}3ckwshhaa5)5ZTVAHyoG6C;O`;J=zycB{W zqyPO{U?=ffyNMQs69@wAo(G~NtQV6^T?Wz6?_!hYy|{mJ?{!Ja3u4Pdjc!!dhFb-8 zHEl4zMmRjV)xH(VLFNP2>75S*PIqO8f25I>^87l~)$`)+`1Q+X@>4~LG!I|fPFvAu z6f&~T+X-_VtjbpqHt@DuBplh&IWNSOnTaAA3gcRCegPsR1HsnXg4N@jdi)?g#URFf zVged(4ih7jA;BB?rwtS3h&OgKfiDy&7U1fY!${851?!2Ku4HN;J63!lrGceJseCT< zok44ArGp-Y zLxWX}m_Z|~L_iqnn$eUg>dVA#gh5w8Ge)=eXMdaeYudPk?@@3O#X%lCJp@<46`gW3 z-H1#Y(#SU?*62j6v)_LtY#*TFmdh4ZQ0?8?$C#u!qW#wbB-M)~Z*4gQ6uxb409 z^bCPT97WMgL#T@EwU`x;ag(Jg7j0lglWH^tzh>J8l<`Y60q%;2LN_hi5zd#b&}-7R zVA9~A$wxiKJ78_2XRPcJf4GFVB8(t^E5r}HAGk`rH&#doWUAJ=5}KHX-;LTyFYA%G zc2ZI%0@=4*wdhUhO%y!oIkLYek<|!I&XS)U@I*!j^QjE42>110;aerge-Un8%Y#Rl z@EN=or5Gz|06hKKvUqR)Hi>9S7o(6p2)LOoBiX;LH3JIeN1_Y{f44@shMX!NHHJm& z;`N@Ds?1fJAKYwBMkQE#S=Z$;MX3$4$d z$iQb$-z+%cZVXFeA+lb&vVOsPG*0L2qcJmZb$gO7T0-=pOKNe9+cXA$HN%o7aUSZ9 z52QL}E(dnNn=MvMOfZd}mn(@-4>i^^Q*7s6E5X8F+u5r8ir&&nN$yNJIV~kQzX{PB zvSC#s&g;_pQ(ExUd;B)h=)P`q4Mc($Yh+=*8OSD>zmdQ0S;cxSdRp&TH)#ChMa(0+ z5yf#KAqsQS>d(Hb3O+jHJq$Ti?&F97E5%a0j--Vy}xUDu1T0M0OQD4m`7{JVtIf|bApk$+n{xi5$C>4%k!UsN2Zcd@tg+(G)KNV6<6x0#xk>b#*yWjr z<`cR**qF-rd#SOScX`+X^lX(A-u+*#UDnHPf)&|+Jp~DG3qV-?CPnI zlx)V|gt=7HpraWuIX5Ux0-i8lq90#s+c7vw@yn1ie__EqllKDNv?WyR0qeP7ZB_3R zS(kG>_kp#vQZ(=^NFMav$ZKEisq_oGRMDwS*>Z48vl>0QbF%JmEBMNuxaORg=&C7J zU&`L6zJuNOdJVWfJ;4Z~bruRBLKD3~{nrkt4#25Q@OPJEr&{%Q#UxT|g7~}3iI@=7 zKLl-PPy^-U1DPvf_^bEA6Ja!dlL*Q5Z9Odx#$y$N>9$%T?3_S z6Y_h@uR9>GajK|L_@m>GTC{BGOwF9cVcjTP3=iZ#ypvPc9vU3&V5A^q)aK=0(2>ss z7ym}UvNg^)=RzqGLkSC6^ojgKPG)wq%G1?B`U2F1E8Vhf3sNY{xs8s!-oyRkfnGgh zweA~ldSoMp7U<0FGHT{Iz%mFmgML41iW>X^Hj ziRNz_w9cw9&th2MxH+woQ}Ch|X3suP|G+K&`ri|yXi;gUuKckjvT8f)_ zyGLleLd%7;Uq>OO>3TMGmQ>L$N*PN8!Sip=e8iXuh9!1+Ip59J5BQt_F#&&WX~gYQ zC^1KSZBROr5Wo$+$wj`E}Xsdu3X2T(U7sk@ix)=^(hcIc%=Q-t4v_TnSfa{!nyG@}X7G(hf)I8Ysi;A{`k;U)Jk z-ll!bUI)sa7d6oQDkI^ zVuI@*z3A^EoD*4GOX#}_eoOloS*>&(CYKCYx0DX`Wr!ZS(68NDmSwA-VGJUz0X{gv z>P4Em2=O|$lnz9lAJ)- zg|MNlo#qsi5USpr*FKZBRybLb`3-&9pA_0g@oYFo?ZSwr zA#y}wpa)06Z(y zh{}1J8{;KK1conh!IN2e%sXh}F-^yMr@hX(p97jcU9^+ALS&*A8+u_};|SOJT-43X zV0lhR?d1yFJ4_!sef`#t|BY%K*N0akmlK^wCbHiIN#BP_SS*Bbu@9*UrT-_2_tH0? z5_V-P+wWR$x{omb<&zW>)E_zlANI5LkNpqHn;lKH~89-3W1O2KR#vr_Fy|bX{9aM~^ zUAy`5CcalsdJw{n>ZCOqsxRH=7*;uU;HOKwcwK|eD9(v)TYT+Hw^GwoK>Ww`$Vm zZ*(Fl$|Tc##ajM|!+mmZc85Dp+R)V)nrmU85;hCx&!?&1>}o>BI0E_!$!6f;&cC@J zPwOFvJA04qF!(lM3DzNex7ha$2Ak3%Xj8&puKcqu7x&g zAWDxsrgf&sp*GrkPwwIx*Fa6gC&?a;XlSuw(#Ns(s5NzuNvi$&2=GX)(@189y7eYb zOY2udkGWN99DbpZiY6g9b%HiPz1>o(dC^*ZC2W=uEm;cAINz0|=JKU?qld@H)C?_s z!Y-0{1vDwdxas$Rb)GWFccVAF(ydRmJrDP*MR0UZ0)x>QQy|}w??F2Mbq5$wAI#>>NB4Fa~5WF z8?=IYeH+3uxr-8b)_?*lQqoiu3g_(=kl-uE6Mse{2X-=mK2fBX5SHPv?UNO(%AZhS z$VA;;bLkgV?5(m}C=Yg2hYeQwz&E{M&tCv~7GKFOKW7)ZWYe_(plPYJgFh75Dj)H!4Y8XIIp1CUl%Zu3YFIEt@J@u zdZMuJ07iqMACmDKLi%E8YsC;z_){;?HkodM{#}JSgl7FHRWt{L3OiRB*+zTP4^o4w-hsr>| zrodUiOX@relW2ozTUjQ=>pFmvE!3`tHM>kiy2MxN^}_G`=_cbu=pF7g8pul?H?RAJ z<2_3_13k@7X2g^kPwByb^BVUV1RLySS^>ctlpw)?xPW~EygryNKJ^?v^d~TS+dA9y z(SY|GX+pJ74e{0O_0=VS9KTxx1g&a){qBL;%?Q=qtm!w&4pm>I{HY3Z$x6k~xoLpR zUt6?v(U#^}MpoAorwuJ_3}xG`!(fkZF=FFE^ZDVZD)Z0G0-R*u1UG~v5UF?F`mlTa zTVX0z|8o7uf!ZZs)fLzCC3`v-|40Sm{1b!kI2xG548H!z)g5?!Yq!5z+jL-*F6^2y zYQH_~iKng&7RPGcR(cDn2YldH*d77|&G1aIPq~{Inl+70e5*3QvA^wMbf3BO;?R^i zm%2JgC4b@DZElS@Q6d*DEhllIwm^aFUh*5zHE`|K1RhZH5|cRe5{Vb&sGC)T(W%a5 z#*{0$S5`=Gg~%rA=E8?cU~jxU^fC>0t04*2_8@?kwih5)~dY47&~un5zaBIlo#c=u^aYs_Rs81l`QN# zuAggyCS+VEDcO8CkE)tQ=gznV#vT`THs;?Yd-+oa)z0*{3iv(tqF(u@#exjjb;o6X z4Ju_453o2Pn>D%&?u{0h_y45WI3X@pOpZ0F0BV*IxYMEB8xU&miS`>qk}}*v2%!{8 z?ZPnatA}B*Ky@n{JCK6OUlF>xsO!Y_>Xk)|#1}U!639&Qq~w%SxZ~E2GqydKhX@2O zY@YO-Apzd*_RPLReaprPbaC!^So_Tqxh}$p=Q1JN^Q(PC+$opKSZakSX=HC{nv2xg z49FW9Idz-JZ|<<02HnAx>zf%wH@YitUg7iwGs0mi_C1#f``viZ%NJ_crkgce0LQII z$2L~?=vtBXf<63*TKkG_ptmayDXdgHwut;z3P}|91u4m?Hz$i?wZS%4p@gwC+qqK! zJ)1C+5J$ zBj!5smFQrbA2v4xe44Zl&G64X1(CIWvuAP7kA8#cwNIPQVCVjjS(abP z5CKFVUY7nD)%}g6hVT9X6{u0={c<)7sL(_qY4Hd!WDviRL?`BtjvPog!{dnggK4!! z7;@lrWbl}kJllkFxFz)c;8!2+$hhuXYk7%=)`38Itv(|H&Pm z+6WwZ>-f4V@&`N>JQK!ULa&xv@Zyapw1c=sqb+@LpN-%at$!UYexwoLDzz5g43S!1 z7eG%szc-;NxO5*0oXTjUd`38OPz;JRS98fjix&``-8*Otrn$?6)INqDP0i z1}!>}XgQ2VpikGh1bbw6FZI{S+LuAa%Ida^x52QbwvTi?XH=ed>;1f(SlP=ye<%bt zpRqlfdqeDcz)dd`9LDE!;b3-Y#cWGFWF>jMF|=b8?*i*&JK$obc0jicPc@F$*wJW4>Uv&Kd!*3CqA$w6!5PpV@ZvPtZwx85JIw<2V_JHZ^Y7TYL84+cq|N8SUC+E~HfO3aSP{A<4g7>U9h%a$<3S1U z4y8NX)a5@wi|k4V01S$l-(rTG>)gnmuX{V$0koI5S9j2eJ{`Y~^!)>p zGisvk06@;<;3>~jthVzwOMtqYn7t*NDV;4|KhTDQCyh%Y@LS{n%+A)aQua?WSGfQp zBZa}}FW6XjFc|Yo7~OgLUW0A`(K$~DO|Y6AI_TERD`f{+TGO6wXVp6`({e?miACOE z->?_@=3WKT(Vtk4H>kZIZpTdd!|fCb!LAS&Dr8R)pZNmGvPsO#irCfAB*@YNh{Z8< zfL6UPm@58*il(dpCpB+;GODa56#oR1%xWf|AjBY{E6p^MLrNQMvnMs5i5yP1dfk}{ z#NG;9Sqt>u%qYPkYbuf$qym~0vK)*+7xC#v6`Br-K<4-gb~v|r+>+in`X_`LiM;C* zSP7l-F*LDIoa|K#ICuVG$qZK5EMlSn;39r3vw<>|NZK1Z1DQ#nyLjP?s9yJ{A51W? z@4|Ypr?69bY1PkH8GxmxLfUINlLwaDk<4XxdW>Ya5%icOUbxaKQ*Sgh{NASN&koPp ztIwm{PVMxmC2@K1v)Sr5rdT@I0xtBc&Db~%muZuz{<*C)eg`cCZVEo8i7@;UG%qM! z&lgn;FExoi8Mt#DEdO)lqd0vJf&UHx1_q7zcX!Ci_BXsrvXx(9LLJ!nLrwRmkwEHC z zKtiT7zjrrxmS+P#i5JJ9ZQ*gi3|+Sop)OtHSfh!MVU=eDs>Mv{5D`I_t68BYI!hWaUXhuZR(Z`f_ za!}tQ*5gJ$^ib_v z*Lw72!7#9!pH*Q)R0=#D$oC(ula%6E6 zIu~QULYMTS~wQ#K>2M7r1rlZ5wH5 zl>5wyx|7+xnlbdRALr8;FWJ1Rruq)39;%px2oO@k>-vlUPv^|^52f3a(N4KvAiN`o zjwp7l;WCqs@tf)~t7++XPL#^R7vmkd*RI>E3PTkO_Y$A+;xAO zS{3->m(^qGi~DcW;PG5n;raF%xi&SuC3U?kxa(rB^TXeB&M7({K0ejBl|d003Qz`K z|6HgX>254`4BQF~6Nnvd2apqQOL&EKLRR;Vp@hS!&-u!+Qwt15+Yst3g_aIqsW=Nq ziXOT25;Dgj>CYU0PCK62AbqHJ5M#TgbWwjt{_kboSJ9W__s6n+iuTt|xH$i@lerXI z`4f(h_5BZZEAdr$>;eA_ZBEWgsi4^Bnc%9b>0aB)^u;a*>b3d{{uPJigd%EFPbcyO zio4qP4ks_inwiIIY>7>*X-qV)DoyhuXkui^(90X0^t!P1$#&-$?tIgKq9}+QR!BD= z#EAxQIIn&Q%Qf>6ejt?IE9OTO#R-*U{k7dCax3^2_UFl0z-V9SKT*^`+|X{@5>NVo z>E9^o4_N!xk0|P)9|e%BwO}{f1gXdygZjpt7UR^`O8vDhQu6ZCU^y!H!V@P+f~8e3 zUV)!thg%hUdRh&mEI%2wQu|5t5W#`nAEJfvR|d!R8C0O7_{69S618S@r$e2_0cI%a|?huu?6e7Z#bs-2hP~dKN^>K;?~A)Ss`9nL7!o2M=~mEf?VJqlPp%ci{%m z8yZ9t#A2fZ;B-~?hNB?)xR}(MVzTLGgkG}^EdNUDteKZ{%V<3K4>_p^< z0Y&WfY7lUX+eFt#_aVVs{&QwsOfS%VrGp4NeiNc{+wN=(A`#lvg^+W_n-uff9cgn{ zIWpN=yv2XY!L-OxyqF6xsXK2N39(Nu;wxA~6Yop93mjs)i7pyJ`n-F8F3 zI6sU_aTWfoZSk7WZJrgm$bRB)RW+KDNv&au$w!KaCP`4o=fND&yOy2erEr?3p(av_ zseS@7bE{NT7-9Fh@*LnZs0p`|s6piSw)XV3@)?o8(nOBI*9JHi@1E(AoQ@DYXZ8(b zR9!eUlQkt|dAbMU@${yR@s%2%Pd0a^F#Z0c8Z^JW349{-%HymQs% z{;Pf3oGw~tX7d>rv!*UKDD`zHp&=%)<`4(vn()cche%}q6CG6@IHT8#?CENPO|0!N zmFhyRC@=TnBs56b0=0SaU|gXz>|KyDD#_(njZxG9kF*DH8^1tdZ=u%$q_;S);0$VD z_B_>>XsKV2K7mCVmZDzz1%kU&bBGifs@V_B;YpPk0wk8tw2^uwB7WI?G$71ZDD9-w z*3ttgOuV=x>$Kl~DGfnzQLiPh46#Gd(w)YiEI-Sh&QN!MgcdS1r3cK0k-d0w-I-C) zG!7;aZ{0Vw4+1%)_>Ps>5||`X>D}V*BoxNI ztTbEc&QK`3dIZET7(YmAL`3U^TaE^tYzj8!s|I=EwoYc%?XC8tq0NgRks4tw6%*W0PCo@f=uxS2fUYF zO$R!|F}05G2cakk>%e=Lz0g+&2`e7_+!q+p?Hw3IzlrExr42L97h0hd)#`l8aVSS- zdIw1BmzZ|0!VjnMvNHBRvCDS`92Y%wFtEKC5Slj|u*~|ZP-5C_lH=@~pBe72H3nCh z0Kc8VN~XrdxV@sazPEdFu{b50Yo%?@b!2QRc*>+PCnDbaE{UwSOP2=3c9T5{#`y{H zLn%)9pSP{Q#uu`)q8jInG9rCAJuh!wo8%HJ#|a_3W=1xPmuNgWJhVs6vEFA7Pt5~~ zV931jfd=BB0q{J|$GxN7>+zY3y5qS8n|7>hPDZu53}BT8oh#AGkNuvebQ@>aEM5D9 zrStrEy70M^rB<5Zsn14R=PNU(MO3s`9?p$J>MN%0Z?;~U^kyrjw*{@GcVO*Y@67Kv zj~8_`wCZ)&O;ehDcieTmtMV&}ki zGhx^PkG_wl&9!(gnkT*}^$+}l7cu;P=}g_Ljl_ji)J!s~Ln*$p&wUYR`=+U5fsJX5 zn;k!HE>Hd_zng+G<$TG?`EuS6^Dn`o}Oly@kR4SgSE_t@Ini$jR^1`5yIn0>e(G{@(KOS)KE0dsaBbMtvhqF}Uts(h53+I{V{eVa^Z$x`58&m42Iuim%CQ*Fhltjgt9Ze<6os^B7~@!l3DCDK$R1=0n; zf~XAh2kC9RFb!*yYjVFB32Kd(`Rj;~8QG=GR;PxgC-#1$Hr~L%&f^eMgAKsTh$)pV2O|1KE^oE)dX&0DiU| zqVku6*(6B{poWU`U?!Mn*hO|^o0imsC1qC$ASlq24N+z5Kc^bddNV+N^Sus^@%iBJ zehXW9fgP}A5J!bg60*uS`WXbYh_qqHxH+WB_FS=i8TShJGu@ukw?#UEbi zqlbkZFzp(&(>pXyiPvrTE?k=!JIEv7!e}mdtU~1uvb4i(VCtQPD26@es2`BU=;F8u9E<|(r17x$a6V&1hrrU^GnVjA4sw+A{YMh z@4~Io+clc^J-O~;oh|}38;c`cZp>w5kRo0TLP|(1{(}BT5*>-Le6cjuqzXrgp>Hf0 zCnZw2SL)1?HWE_Co*oZbt-~~s(yP`#OZN73wt(?pxxQ^)C#ahyLn6+>()#@v+fI6* z${hjW-aH|L2e3~wjLEPT%TorYx)E{Qfiwz@A>kKVohQ+iPm>lEwl+edJok(}(aQrP z1^tMo=F2TnsyXW6&U^ZO(907d1*sv!Q<6BP*U<5}W9|)i^tcYQdTD->DzJ3-&FT@{ zUjnT}p0D|BPAO}pF}k3g*1!#n5CE0N%8=);!Z2|CBR1eeD^6l|@_LDO{(Q$&N(=-c z-(tich(*s57HAigasj7~BY{lwaE9;{feLty8;+}ll8LDPXJ-i|n#tnhQX!W@?){dS z0zXuRVOV1A>ppL+eOy-C35YXcZO~{AKsHE`bonA?C|r6oSBl*HbvDA@HFb^ zw{Ht&tzKtT=a?Y3gs@=@*%2o~6koF6z3BW%CtAuw$nr4Nsp0+(9pjD8%Tl7|0A)=^ z)Cp1o4QnKG%4cEg_17fdd%#SPReY(p(vFa>4z=SUzaRKA zuBgrmvb6E;Oy&`$nKepk)Xe53fcyDu2_ENwMUZB-^}uE@@^TV*g~Vr6qQb&irzPjm(?ynjo^u;{L0bl9#H?X;#wraSs z3yGRciJVL-lYH0Vq2{0~N7q5MY%Hf_fQ?zyPA@b@N%nRXR6|=OUH92tRBPa2kYIaf zCxhjX@_e0ZC1P8q{S8xx!F(={YHsP9vS+XRVv>R@NF3)YiY zef)+ts;X<#yK*IaA`IPn31A!JjgYSi4C6TvMn zz#f)iv&)?!!0R{ZqWsF7YNqg^xmzS3cZ*MpRfk1hyQQz$?UbHKxN$R59J6WOfY2-R*wD4=`zzIY`Ds8HAZ1<2aBV^}5z+mIj# zDAAdTU%oG1J=%_;Zqg-W5`Fg@CbukK4ecC$RYpB`t~od-$Ga$Z)P5}sTTu9Mv?8NH zIVAWk6GOPSNW7~rPb1>v$W8VjyZxSQ$Efj9Zl$pHJJVX#M#Z0F7sd8eoD)k|-Eq6@ zs0Y;iFdsGE*omaa4xrVd`6H|Ilk?9%BmG5ZfU!gwaCytDC=;4Lv`zE93)?jKDct5+ z*fGMUS7gpw_*?JRAY*xulhcoMoxalEG+iW)AL!&!LyA=2Vt?ECWXlC!tnc^E?62yr zb1ZDlctkB2q>~n;W_BDiPhHd{Ua#S0df;Z_jjkM?u~SZ(ngBml>QTy1AJd&N&t25z z->hk8{?O9Z7+pC%D`XBC*;eodCb4;<-=>`2|2BAEOXs_0=Q#%r>FTxqa9jG#bG^a% zmS0`(w;&LNG*FS%%$(h9T(cEYa*$^KIx41@vaIl!UX@xbJ2x#<{TEK;Dh--b{B)`q{vGyo_1m=qcHziTQl7#wmsf zugZCYek$I|{Bj`}_Od{DmBC0F)ORW4%h-nTeWf9eip5PPcD3u8-770^qwmcv2Gjvl z*DAYPKi_B&jCeQ#@~mtC1fnsP5QkII!@b!JF28ePSrobaw1ye(X zeT}AjkZ6Eq68WVI7SKcqJ_;yi&9%P?N9EZ>RvK7S#(n{=3v->O>zAi8L2Aw6Ugl|0 zM1_+@-<&JA7G-)kJY)?Ss)|tvIa7`Xh50m$G6fue28YxYAK6K8X=Ac-OLA<10KYjK z1L*`XYom4&U~u=}Yf3tQFHES)E#SNA%w1MF&xrt+XZn4ld7x2y>U%P0lzBMHMCW6d zQgxgUEjX$~D_5{_Hd^i zZF^aIAQpr5(we1kpbTx{3+3OjxuVLmHn65y+Pkm~jn8(C-;vmwEbMA>G?IQ|(Y|^= zZ$|}wLjQEomZ@th!yM5+$m>m};+7ZQD~`&K)K|oM!WOCF$T`n6H$9zwcy6=dL~S~n zTMFColRP6_l89gSFpr~A6jPGn0+P|D0rd(|3v-;`b_O1WilP9tv7~O+X=pH+#s6)U zpP?!?o}d4l?l=DWolYGa8#$*oE3z4e2oFx6JJaU{WRd=&7Gu@Li-UpQsm7c^P`%vO zKG#pRiS=#a#xttbN@y@gD7|`1eni8!Bg{unbZ*V{^(@zXW&;2>uZ}(a-t$3-=|sZ z*vMmoGU%Lk%3uI9^s7ZJ1NB9?;%GdWhtJ*m7H)6)Zp+4b1rl&#vFnR$pRd|jE?Pby zQS8UrHAj|<#)s5D8$VYjJ-`T=qDFE7Oc@wPjqN_|(MmcB^1(>e(bzQt=1q(EO~)qV$DDn& zmJ#&Kuj5C>ljS-auW>MI&hnQQJ8Ep2S=Gvl2Ox3N{-jk|Cw^NCxPX>1llfYk?{mu z*^Kv>opnDRu9NKj^w*s(?^LtaTwrPZ(L~Si6)dk*`c*J?QIWv)awH5R2Kx?DVa}|$ z5Ot7x zInr!`>u6Z7OItycag|Gjf2iH#Cu^4tlgG`yso``hIZoVb!Fg$QgqP~m9|2+uUki@vvv^37 zy}UidDT~Zdv|<0-wOfiw8Q(ne81xO^|BJtWUmJuE~lIqfDHU-$*rC#NZttoXw z)%$Ln3>rrTD$|*J3y+avpOnX{1E2=D^+wemuUCfhm*i@>UYUW~K0{?*{2&32n2-Ex zQ%b7V$K@BV^e`u3N;br~Putq^^J2f#=;hroe>lMm^J2W2K-85H*yvz=rM#6Kn@|^1 z#VY6NK;K?{6!W%`dNX_RWN$}5@acbiN{eynCV|H~A$k;{?>taXH~L-qbJMtA0HnSF z!4+hcxc)*dsxb$|iGuoC_tUD=N!IA?;6xw}6XMQAZ}@Ism&->_j-#VKZ?-xxq^W9S zbe7OY;#lB3`ZG`}N(S=NQk74}#Hh4F7BNI9>dt!LFJK>ttoPuL6;HW47-(t~tG`$7 zKJHfxx*?g7hKHnweB?B5=3u~pIm#Qt|8wdN`;k3Muk(9%7=#wd3S^Wy1|vv?97NK| zMfKR*=jUvUZ{~FE=YV`#*cgV}s)C-!lxuX8i1agqHz=kv_0yZ@4%4O|M7(iMi7>vnWxeRcSapnzhij>MegzHDt z2YP(c(76|4x8C(DyxPP9QeKQO$-HqeL$-|5x356d#?wsPIJ5pp&V39t@P+pzDEbt~ zG)Qho%vTj*9N0b6&MINd}}Ic9w?@B{!H@I)ccG?;;hn`6BIF8TM7d+w$IQ@ zra?vf{42fEK>3ArOeeZzy=wLF&KS)qVLoWpNNOhs&-#?77JPpuY*rtnyjV38Q8`uDC zskey$0I(7jgAsz+rZS4Dmv~V{S{&9?<@>o{eD3PD3yf{} zsP(8ExGCAHhVSR5N2aQZtDRa3TL&;gHj5QRrAR{hw9QYTT~Km?5bXcTvtQ*;@TgV0 z6PnDmKQFKc=v~}LbcCe9G#v1goiu2K!iwbz2>%g*U!Ug1wCs=~Hf&tnU)Tm$VrF%} z5JV&869cOB%iWImR}4GN6J_2ih=yti|D#d|v;n24#dn+y1y5Q-p=Z1^LKNJ_aD=Dq z3GVwU!yIEtg;K|({iLUg+j8W#R}HRiga9BDG9eqFyY@m`bXQ}`{bUh(5oMdYoeI=+ z=qC=|q%uN|6B9y=3+C-QJ^IcuFl}|cb&I5oAWcI@Vr=VAcFi4k!$OXs_3n%ztD$26 zM7&S{IDBDdw?7w7OOK|8&-TLan84U4`q!`Wa@6g`=$14&HxQ z9aTGG;+%KkT+cB~v+&Yz>}c|dB`EgtiyxZ*b!xf>0!TVm1obPC_6tjm|4o$j^_tlg zhL=lS=Z!3K{1#PMR1XfWj?IrAgW&QqplJ;xvjpWDhmX11g5}#}SX~^4kk&eyrtb); z{uxZ<$z2q((%IfqXGC7s!Nw@VvX1b^nDg?rtNTwNBUFb{^BUTr5U@zjDtbdT9f%s!1mA7)JKq2cKP}u@U<+O z#f9Bf;`mTUH)c(eAiI3VVP$d^$LshDkT`Ve7 zc`9u=)+{dV)zLLS&x&PZ7ngIwGBpX81ncsh=w|*97onC3W6}jRACl~}=O*!N(3P22 zA17-XY`(jO7o*p#kJ{N3qxTLDu&I2xy;O=LCIN9cyXNQ-D*h~f3w_>n^jf{o|L|@&u5YL1_4TPgOfdm5>n8J1GsWc# zg_ozN>Fj6|?1XFw|AZavlzUFTMG>tu zH_dBX#!`V?4Wr8VrLvl4$?-clOcWsU`?Pivq-y{I91INXCQk(*osa(f*$yuw_l0YkVMi zetfC^3z0+{B&baTTKhM~=?6xKHfUY@3y3!5U$ERMco1?rAR8T$e^`GfoJNy&M(+bA z_T$U=UvNu0pa&i1e}+W#-$gP1`{;r3sSJOy{*(9rzar}fAn;T?kYy_RU%~(6H-mu@ z{#U20CLe;hpoV`7{wFi`;I6^l-Q5HHB+qxh_df6ad#zq) zre>e2>aOWsyHC}LuLT=!0)tnS0f#^X0Re#l`Dq7U3y%s0{$cA$!NNdcK0YWN|K28*Yczpr02XSVe<-)GJ^D_r~> zepZ=XM{X!hltqRW-VN9-D=|&WKk(V9j_^M5wN_b*=Z!I*;;$HlBt)2F&>=xv7pt`OD1VtO3HAvM*RMjh-AIqFH%=|1u6 zutV!1LO~8H27y??Q-F4FXe%vM1w=B+@1`vWV(jO87@F@Dmzt}sGzsA%a;M~ME}Xs2 zT&i^@_?C0#)(VUXm%5~+_5L`Df{fpE=1dz=sp>ZRb`bH4`FFTyxc$X7{760%+-uw; zKq(POE1k?nVGsLu*TI1|DQ)3at$X1;{`oG=+Wd50&Rs*uab~=%a|};jcCqtF-4E*^ z_?MV0W_i5}Wl&y6h{;^F_I`*P-)vTVb~XmH_bL5SS59uNyMQ{w3)sH~K}jR_fVTf* zNF+c(K=41Tt(l7vPz&<#&&U8pq2B&lG3eL7BP9k?gai9$q*VFKzj^|1NhkoLPMJ(d zVh?X{(%yLomW61WV)`$A`af`{((|A|A=6ENKVYK<)f=XnJ)H5cxt?IeHZPiWI;5}U zF@_Iu4c9z~%-k0z@Cx`AB=f2x_OE`w+GFeXcyrf``w9UFK;>6B(@k)e-k}^Y2MoY? z2D`lR$)<2Uh?p`vG$|UJ3XlO(@bt+r<*A5+=QC9iwVE=AP1+e{Qvn3e!Oe-^7m#J@ zDC1APY%>xxjanWgBu<{YO4U~tX;b-hBc+u{`Ez@nVTclr(Cu7Nw; zCZsQe&h zqmR!J@c=x@-@PxuH3eL;yH(n&pyy`P8tVK+xJ9ac4g{^zqghn0oaSuooh@33kj{%; zrYW%PZaU{?H#q6+Uh;f<$*Ac#Z?FqQjBv7vJ0{|4Y-FGPCeEIVIP$~mCaqGOvDL^s zdDUc;-$~~c^q*mb{-1}bK8tJ|^zRtiQlR~PtboB(w|@(~sd=E`{|uV9o_#9ihl4e+ zmx&y}iQ;=vjTD^KJqFgwc~m&F5(C}QHv@Ir7nV2y7AYnuL!O2kfhI{)3w?8?Q)ns? z;W|8)L7rud9_h*@_5fHR8}kG$E!kYKyLg;+^@k=Y?9Q+_zJV>4%)P`55buxIXsVaw023kS}$gMlelH$Ve&l4@hF1H{59|;SkJfiWm*^yYN#}suQd^ z6Vn-9U!pQL&Ord2KhwVrn=_{=PzQ1CF+mfYH1Zr~&1H6FQrQ*^mMtJ1%5L{C@8CK; zJt4iXaZ=9o1X~*FmmX_vRqdhdFoAvsh$eN?g)=Vbh)q$m&ri|re1Vvxky-7Y+e=wL zsIOmNc-5vi_J+5=wm7gbU{GMJV(9R(1f}kw`(@cK0fdCG>9NXv>w`v*YuLR5w!z;G z21>B$Bgq@b{Q&1ze2xnd?R76}h|~ETcD+Nt3A>;bfiWE>%(*OYOY8tG@H%!2;Mlpz zF?p?&g9yUnr*pXwINy~W@JuHw1XV}-o|V0Rr9Tq|je@fIZ1A%h zz48@^0l2dljzF+-$q#j7W}=9JM7`FVUH}Wt{A4R*$?7GqkuXHRKggP#l!(lm%T zg#U)TvreWG`SyiEfP}&lRHJeP4&H^ja9u6SjSK^5%Zeu?J-E~)RltR^GlWa+9DBpC zOB%n5w;@r}d-;t zBLr^zfPY_41?wCbmef^5_SmF}!EE}D1JIHU5ip5}S70urI@%K%Wp!Ll9_K(;15^+1 zmeR|*Af+>5w@kIQiegfr83Kt4_Nr{-X)36-y))SxMms1#e%>75JShvevR4-mra+l zVZJ@+oqBW4%1xWnB*^2BXFe=d6B#=(83zQ4V-v=~Z_Q)uV&`+D6(f-ZdOjBdwM8l` z;=3IgiFsY1VflHbUbS`F3b)V)BG=hAfk)kM7wYf5C_7ls*X$PPsMCJD&Q7ym1B0qg z7Adqxd@9Ta?XT>2V{Nz5%2Pd;){bb?%vm2xHP4sD0%IX>3Ck7X@?OsRnZ6lEWf&U1qRB^{Ix@Dig3_Xy|WoXVw65R@OpZl2;D@y)d}V$W5{*c()Ov z9U{v#VVA5zql4cHy0f*LtrH>dBJi8L(yXeuOnDG~Jhu_g@+ktDnxz=DUyKQpjX{$W z<1_(uKbqGd=u+IdFe%EouP!*@NTKr)(``-CR5YVsocXhEF5&nb{Df`tOE_TAe4=5) z#Q2noN=pL7dy*|HOe5w1PyM^Lt6{fjB=fP>)IDE3kL220%!oe(fgo!V zt4{~mIJUFj_g~!Bvti@sIOL~M;CbjcBb=+!L#(H)&uKS#T7iRTWnF@D&xj;pYj|UNeumu#zbk?EGflO*#F& zjXO+ue1E(%g0hDB}uigyySKXjEPB=jT*@SY;uw+_2$^|dIM!ZcQmW`3XL`1X@I z_?y{ZoM6(o!Sy&r&LRrc66(_;KgtPXF9EbgqE@8MQvy=$L-lqgxX@z5PJ=VtEg|>o zjNTLY_sb(g(i?!WlYTKy9Xt5T3sk^crl9U{Gn0&DLP8Ud@Nr7{%`yr=FYpN=@#{)% zkFyb5gfO!f896F5+`LdWYtpf_w0{p)i&Wsg(Y4nXl)KoYSb*7pD!MwjNYZ9_zUE}HKAptwT8-v7PJR~Ylr>4MKRi0e=UPf#$P+8 z6ZzL_>xTce`?@6ven>1>3BSme{j$&K+)42%`tdvzchMT@PjqUcy1z_T87?v_ezXya@1cx+G z0eweP1Ei1O3OPH61~#MAc2DJf)3h!E`|}GlNM=-bG;WW|UW5n3PJQB=$q!JvVo=#Z zW&mzi4gJkYIJ-VBZ@}p_q*r(<6H#8|BO6P`PyBoHu~(WvX#mJ;Uyyz1n}{T*3!iw& zGzXrqi3l16XwL@aFxv*B{YYpwbl(fYZu8=yD)v^GVv#BB=XfxR0#J?!BWhz|t2^d! zr6Rq9h;M#xI)@C->&k>q17J!(9d%NNRlw{l7o>eyeaPp5_24|ZeKIIYOAx;IOPzwi z;^6gteib$HXp8?)yMPD1${9Mk2AXege9eX10Uw??e5vQN?76 z&oX@&8^&QK!aL(rPFiCFX#Aut?S1EL{`>~m8r@?=dwHK;drW=be!5VR^6F2yGxYt52R@ zKLx@pgeg02m+=ziJ@2#ox?6TE%52*9j2t*1VSwrUfGA5&gH?@o%M#oHC+kI#^2U^6 zZFVW2|AoG<-Mr%sLMZK@rRN_qGXa2!R=3@@wi9WfL8?Xy(ZOJ$AqnzoU#mfo>S;rN z4N497dqLW=+p6`6Z5uD^VOkqY&QQbaWftO;E9AvJ=8G4ZE7CVgiz>VED=X_YC@PBz z$&?0scgj3dJ;R|P>X;tdN<$Z6j1Hy8?hHxt^6^UQ)wlY7WzCdfKmRCDH~~;swm?+w z9XZn;v>}9YZPyv1iJ3_6JZXs_apr(J^9ebNRb-aQ)#B|CewHdQ)`k zrmz*N2xUhL0vTO>l0f1-0ti4X#~oz6HM`g%yMOOHcc)@_YiB~VcKv{y$Ze0ko3|8( zr#R4CigWnzw=|{JiwtYCB(NiG2*;r~vI4_By3*oGJq<>ntZ&^QT&Z#w0m^5Q6#^Vh zBH*Mu4zn8C6e_r$A|DDeb_>B*PA52*Q&CPSdqwTbZwYkn7uwl!bOHcm#lzs{{r20% z75SqNz!!1=kZlmn&^4tZtf?^9&{^?G4tEuCTK`3Jp$2~FvF}8( zsWPQQ%=D-DeA(WNNfThZH6}b%ZkfEuS|2Z^DHexFa8sa0mk4T(bGzd#FihB0YOMs? zPm*7*Dv_}~3Awn>0F*<}Ir9wp(pmsKzP`?!X{X|N3|^_`n4lFo+&jnU@-z1J>Mc7i zN&&!V;a5S*sUNJE=h|M99=~A4a({4$-7jyGAxrrFAd<{7Lty~60S&2=#(CnJ0;~y{ zt__OQJWfepJpD1MN^!oRD)Rl4zFrKK>~F78Xmo#znN$eapiR(guCPi$FTX;mf(>Ee zRDM3vxBawk@Fy@hq_=2Qn6HFW4Y%40S6J3p3&IiYD9HN3es0PqDp{oKe4m4g+nRg` zOT9jMT9g5MpIT{5NjAdS6oK#=NlTZaqwfoMsQ)I~RUaKVs1Lft{X>_802X!z58JQ* zCQZ?yM)$+8yxjkXG?m-RU(dZy$qG~0=ug|DRHp|PHr_LLOfqH^s+Gd@nG|3OEYe+# ztzlGhAcN&68q%;%UJ0dC{`XccaabK2X^kvZEOiJnCIL0@Wy=F*KZjI@@XeAqipob&Fy3* z^R*-oW4FF0PNrb)$q9sxy$8&y$h#EXS&g;)sza^{3ki88SnRX2tm~aV1W%3=Zkyv3 zNATfstMX2}iGjw#`Xnj>kkg6*X(|2g3`Zqd7x=lT6}DFlj0^*bN}!O?qfy!;`Bz4x zN#RNiM5uv$Z)umiPKN8lqh|=}-r^^5NI!I6?*2@e*k_NWP8nYUK6zdmQ|}4kN*+q% zXTEMWBi^O2l_B4ayRJTU-^d(C3*&VSHGDRY;u2**fCIX2aXqv=0Z`&uxWUfi^PraKjMD_nLrYdAOP=bH-K|bX zON*qW+RVjVfcofy0bJZbwHwXFEx*v9YWU*js|0$;QLVGYsi9!6hC2Q595T<>Qx-4` zE?b3q8a^GWC|Vdpnb!y7L?Q?cZu&I2PX`A#EMfg+hz9MYlzv2MG>}uw7T<}mO`}I! zUS6l#_8a8X)`;YLXfs{uZqeE}?YOqkajK0;MZDb#vs=p#Ho&#>r}S@~v|Xog0Q<;& zd{y#fx{?U03JuY`4+2ggPgeTUL?7KuMU!)ysZ23@MW+CR`;y{gy;h*;;&-y9$NQVB zMbv=6u4-!YVRGU1lgllyNqzzD0O7HR7{3g>%=jRtE7JAQpN`$GPtUcIakKmd=SdHX4 zH0ZY|iN7|AHtR$FgfaAKIN01dxCUTBRHmUGHPBTS`x6ir9C;s)SzmYq8Oo@Mv>{_q zPXYUc+f2{uH@<$LX_sm{H0KGDRqK#6?b=lsJhdD?Y`V|B`d0}EFCjTyCTtV|^DVJ)z#>*SwK_#K z02US*7a0&%f;EwV&8sXSEqcgUC~OQJT&y!(7E?SV*@3P+%ZR-tc4$G{crCm&yKB`G zm=U_7N*Pt>EM|}%?6noG3~XN`*t5`a)=UxJmr8?b%2B-~LBu$+mtkLR5&OP$Nf7$$ z6taLoY8%N(7{Z))NcPK^teS7R({a@*k+xxQTRXt8)vUS39cN1}?`LOEw2V#JWrQPP zVF@m#SKC_NcO__SkiC&ekt6lrO5_u7(#JZ94v)flzZoGA;wTXcW2=T}+kKLB+`hB8 zUNjb_6ta}7xk(r)sD-Q(YY-qHf+)avI|9I$e<)K^$9|g= z&F`Z6(!7xW3w$f+w`3)qh!7>l5|n3v9uqlVHM>7TPoeUMerET%7n5r~w5Npu)xAE+=A- zvOml_C=FBQJy|LNq^3D|#G|h15<@N(`^_pQH57b(+sEiHrK?kB@e+oFxUm}%KjS@9 z2Q^Pz9OIrJD-R8##Q6TuCjLyNEftv(4$8AhY7Crjzbdg8GRr%(vPS8l?8!{3W8NO+ z?H|@WPupi_qwaKi^d~1f&SO;9k^ zOwZ74kt{?7=|V0;C&Wr8cTkVxSR*au_!_>Fg!u#Pr*mDaTWpR>CRMXO3(aNu;SBY@ zsK@MJ`MTcH&7tGA67e3_r^bn>u%icvncyo^6>WT(e*YcJKnsmo+;5!zKr8H2=6$4A zPEG9!aKJ*^VE=>YrRu54TesZ1T@4D@K_n7qDFSGD7-%^+%;|U|F>IIig2!)$U`)s! zuS&2y72vO9|0yM+j3lD0@h{&tLmU|DE63j8R0fyDFS2Eeysv)9^jjmi6+j9&V+yP_ zIr+6MRcu>yfJ@rL_ANu28XZ`(reN8uMF<34I0C{a*S}5bg0Ph%&o>h{$RO#XMl|D@ zCI>@42np?=%7~Slwr2QaG(Uy^nxEGB7DA(DhFqfhC8;dow@TUZ{bV`K=pMQnxg?94 z`ZpRf#zZK=gX7Ek^({<}bue0c`ccCpi5yv`k$ga=jieINRP!h|{H%69L zjqd@@(rJoWve^Q--}UtyE;2cY+~5KIHL9>Yq)tUdVG6;^Rbqg! z-I3FEsgK(%>)ac*%^THa1ePEq|5fMV{CaD$8~yp(!8sbL(?IuuacawXL{x_(O5hYA z(|gG8Qm=NsL-v(_3l{u7!a+j1?CqV~Z zKuUdfP=bo=kdQ3{CE$(>YN1JStd<|JqrWQtPU928UCKGH`Hj=K8_$zC?U$|u44)%{ z=-Ei|6jsf#2_wl?yX#>;ofV*a>k~%bL!A*rLR_cgXhnbZlShad=5ioG2~u2f6V*;U zX43{1i+<3y3AUV>Aql#Eo1vqO)yNY=Q%231VS zHj-6mv!X7|4iD0_^^SCxzUy4FT(GGfyn#-Vkt29go3;YYa`Um~Wg@pqm3|Z6{udE~ zyZRhJLw<-yaMZs{$iehK;?cg~&l~p(b-U`Z3bp&t_wkaMhV&?}@N_$kA9I$XT~ZaG z88|a+Kb9{#ngS9&5nH+Ii%Y{iKELERb2d3YAAO1G`cz0w@+iwJ?*b`^7l*WUl$KB% zzO2lDhafKznb_Up4$^gmwEE1fsn4yG;ipUMRkd4!NGGs5$eQPUKj=+?wd0%(^;Q{CBu z@oGr`v%67u5Si@FF0kF7rt^s`m^rklWVph*L1O~+{T>UHg6c)rw+TL8xgBnJM(c47 z&+g6F_vs4A8366kch9vcS{pNlEP`_leq}Te63AAIc!lwvt{-%eh*hgY= zrHuuhxl9l2TCTv&i_?kEe2V^MN7UdNud&=L$5g9IkH-ay!}W9%o$Fq(Y6hBlMyc zuzllpg)LtW!qz^JxMxS&U=34^9HIloV%-x6B|XWCC^f+SWlkipX3UzG^++#%QdOc_ z=&U$%z!?GgTveZ5iVOuQW!027%Mfcfxdgg0(g4;Pf7<`SPV`Gf!klYUetPKCh~Rr@ z6GIxB`I;Q9>~fb?HGJ(rt8JR4n~QB9AZ31rR>6MI377XLeMCl@b(AKv+SGwvEdRx; z>=#D$3Dd9M#3P5LImdV=J-g;~lc1H+d(yf|>q>oXop%=u1aElyfsBY83xcZ zRagBOkf&s(M(b~uBW=*e#!8F?yL`93*Zd)4(3*<-_}QNCX^Zk`Gf+%<^HQ7>fm$=j@j(i!A(@Pc3h09`&ISgJF9h=$N)Xl2gFlzNxdyED6zdo{}}+o{2y zHYF@0BDqL9bTNtQG?YG5WU6I70+=H(vPcDptsXu_=@W?rx-lV!UFmg>bn%sKv-CI01zgj+T$Jr z$s30&>3{j59t}go_GyPc)T5?Mr<(F^R@f!YZ6rtI)uSPoF}TsCbI4jkMnqd>pI|D) z%T%kuzH35w|cA`?~Q@~;7qVToJsa4KKVyC`ft3@wwKNp7fB6$1EDXFr^XTg znLB-E-Ha10Y#i|=Jd0bN`p5EnM-$M2n&Q`adz2`6ZLDvH^VP7Fg1}D-W{&_i5r`bC z`S4QEFcB2u-!4UaU-Msc;4fsj!Zzk@cEBH zLHotPjQ6?>H~613%b7odCb`B;H5p;dFO%Re(UkkZ@OtJBt13KUsNk4TuM_*U-9r{{ zy`db%Et{z6oBO{?ZhZ=@m%)oN!Me(-g);}Ep47pj=bPVK&=OpFh?>eg1MIwQ-EF$H zBz%ZQG|Ty7!QO^QJWI{-HnJLy197VD^|nADBC?-8(({+#7-|Jd3m39NjZa5kC!_*x zL`yksY2Iau>`XE|-4CtWQhb}abohdPni?6{r1-Y2QJu}ucTVu1fD^q!N{+5VZmap( z&9`Z7Rk$*K(52C^#o2Z}K(`a3A-$1&bVb~f7UoZclD!ViN=T&gAnJ78YZ^;8(X&}Tl`V|n*}C<~Lhf5y*%987)Ge7cB}w@{2FSA z1=A>Fm=3sv<&bVW_I~iH{>V^|L^eD%Puxoh_I@EB{9ly8^@LZJ zCS<~CHlyE023X=39U5cYlto6m>uB}ge6#~i*-6gGv*;M&(-%_y{6=7c57Sr9HMBqOZzU))J*Jiz7yMK~b0rP$vZm9J-yxmReC(@f7%Ae^Xn@ z)OvP7@)*3SoHTxnv)mYmKG#OBe21&; zvQM<;u!y@E6oQYKb;5=cVHofWZTPX_@xD6gB!KYG21S0J$|tm0wCikiks90v9lj;& zTJ7jdBt=g#o~8_mG2<`=FGNmBp28Z&cyylXL51={{|_K;JJ;d zEV;Lpm6GQeaH6OCY%8TsH#rl}tvg?q<%PW*XL=?^CCP1lUSB7<_?x(1Z*e3xA*a!h zeTuXwi=c=QB*QLmWk(l9?X7aWpo|U|5tro~Gu`j;gWsjKvx&+*M zcN9il$L)&;9KN5y)QxIjndbZE^zm>195St2|N6o4Bmvshh`n_FCvxv3WF6Pw;wAI- zIQs*^R1+k@fT%i0E(0x9_E)_4P3SlU=BYIHF4#O-TJaWP94z=}3+*43;rB8@h*A+W zd+H}xoWECUW&T%YvH^CZtij|naNB}6A+3~%wCHA5KbCg($S^45?1lt>&naKhBW%`rr#$mMqdldD-zSP{+s7=P zdc!$NTedA}BSbF6^ppQW)6SOc@$j zZmJT*De`$|ba=C6osnNMn2e6r5Nd#B>4CWpGC&-wm&@ngfhLrbqqt*+YiPG=*;syS zRX=+q=o$o&cMUKImQT^ZRGQmvUpEnR!}Zw&ZzTuNiJAWLPs!LP9@dml5+H*aT^+aq zE}?75*{8zI`;GK*P7wEGjntDz27_(K>qJ|ie-2v3uvS$=Iw+YZhWB{T)*Pj_`Z?gH zdBdcQee`}=mLP4lyw=`R;aYgVjAc`};ueK}t}YJnvl6Pmc85>Z*}1TtY7de&8jdK7 z5U!?x!@Ve0rel_xv$NO1wihbQKKUaww1f*Zg7hAZZ}%LDPl9jKstg0Fypank|W8FoGde@(;RECaw_? zy~#3F8&vsPxIsgGo$^;`CTV-;IN)qE8C^w&t|UNzo~tz`k_~)46fcw7IFH$`ujDdF zku8*phiW2Jy`@1^|0hf-y7v*L6mMVp1mT-VfjkMz%&{Y6RHkH9_AHaM(`pQ`bS4FO zZ2Rq%F&JI2^<)Tp+ke|1$oit;A!gb2edrUW$DcUmks~(V2>Jump8P*?N^PA)#WzTj zD*+fRupE3CLcKhVw`;Z2#m14{#sw68l#z<2l)fBX5tVq?A0MkgWk(^-)b+eIDC@NJuER$wp z!K0ZA^EHxv()V&zB*NI>w-ZMOw?Kk%{QlAw2%kH&d_we%RJtA^Lh{}m6W(v9+ui=B z*L+!X2?e}^{?Z%fZ1T_`#3xRMrDiAz1Eh6l$%X^NSU`w3LO$p3v;M) zl;606PjvE257*`8bLOKn}?ifbc4gzGw-`kr?$KdH^vUZyzY0`S}c>137rIZ z^wUdD>E;_Dz+D=B`O$;^c3tqtw?{oM-y0iUiheqV4)_=n;RT#I0hf;UMDd|m(;1B! zpWoxi007r>Z}&?SIQDF(;=pJ?@3V0S!R37xp};t%)tTbPiu3QVQ!Zq0K0_?lmsmV$3^YA z^y0S(hjo3(jPw6x)!=vao1(Kaf4)fKfaPXCp#VU9k`go1?}M`eNY}7r*b%H0`Pmb(XRn(JB3~(<*glKtclL<`k-pgSa$fu<& z>v~<@Xh?N)eo13OWTZhPgx&B%?>Ixn&90Wy?6W~egj0lp)kG8Cbu>3G#8XDRtd4a% z+yLyG`5_yy7Q{zamaxwUJtjaj*78#l1_5fj3$P+9qg=@m!RL)rW+0uA8C&hB^u1}U zlQASBF4+ZREwa&-u~TxPm8*l;z~YUOtQbjjL?UboBSxA6XFruf9FwAd`@-oCi`1=m*|+Fqar0&VP-2bQVqN^c<>)n6)pe!-tL zrhV?J!yt7ICpALFjM!?SGH1wYStJG|HDaa7;Pulh6N*a<6{^dIW}vZPavgI>@?nY} z2S`??B8*x`jjK)AJoU0(LKouluQ2O@qm?|K1sN2+A(v6LbL`n8hQr3hfyvSP|B^k*I;wVh>xL6e-g&jP;#}3DhDh=_ms~Op6 zwL0wTK4`+7T)t#6zpHZLzGl<_*})buQ{`5ALM=)e*|20noyZD&I#lpEF88!~xfV*9 zh7N3Qktw&m%1P+x`BV)AWd%@xR+Ww2VO|{t7a;8#jO)!;@N;VijX}oy`!cCvsd%Pq za5oI(kmXfDB7=;z<-7xoW`)wCW>oExasSYYSkxI^vQw1c9*&X*#TOOx{R(y21UKXz zeXpMU+EFXF=#1teuUL#^(!YJO9~Th*w=A8jB8bJndYeDwphG!RYcz2Rc)0^w0jf*Xv&)-Akec| z1_OJs#??vl3ExwNmCI3rg-BsY6_JE#wO*4~=LMyOB!vQIVT5h;d9*Pd_I| z#0A2^Hp9VYpaW3;6c+TWd*x|?7Ul|HYyaF#y94Xd(UM@-{;I~8kt7O7Q_Jg%mx(%Mvc_GMz#QfwToj(-?qWBO(R*VLtSD8Avx`TD;W2S#ig^cQ!P%} zT3Iv1!O{;LWmRG~$i1qvhklOuTOznsA~-W`=w|#apfkxSZaPl5CqOh>vB%t*Q0li% z8m(&{G%R%IlvIZnC1h+JXz_vdQCX`phS%lW*ud)0*Ylm#ol}eRWrj}RZ;5n0p5mF7 z_K{Dm^bK3cr~xava&O!qfT+*kSQQI~X|r1LY>e4tyw zkyQOSV0PyG=k554Q~b%5H#u=6y6_wYo!YPTFV2wocdNiLlw@p{Wlnapf)RTtB$n;O=jU~G%$92|ys z5VlDG?wf)-ox^`P%W_C(I4@-1Tqc5;Xp7~F@WMN!TZM* zz?%l)$&YohABsz5(Y@7dzZmg{J+9lT1YkHTyZzl|+4J{9tOkHRmfW9XyHBJ+MB(!q zks)KZ8LBA#1#bj9rIpfUafwj3Np zn^D1+IYm|}nV*eQyj5rnO6C{YuOR_#KXxKs29P(Ktd2(tAeqSd5HQ2g6!{Ca@^cud zR-N>tmcDOVb|T$<@E!Q?#A-{mR%rC|mcbX^y*Ik89%yeJ{-%lU7QO zqCK!;E)nM%6wJn`KrnlWFhwCsbpm*Bqtmkq-s+W!qg4Bj-KCjB)K{2|ez=JUhreVy&#pjG%DC26P_;ciQwwRhUP7^x+eP{yIUjP8*!; zPuOz#>zDCegQ>+Y?LG?bGF$+EK1T@QDLfA7^SX=6AjP_&8HKv)`B5r7c8hLdc5~9~ z&247Uczc9yX@KsX-mzq5vH-U*F)obMoBLgM9awna3V&b9a3W$ku`*%~9F6X~592BU zkB2sYVR?`Ty^3iRJN@qwU}qV>cj3MpP3$pjKMpw2URwj_XHG;gI!OSXOd=vJ|5|D{ zF3clM5aCx&rAPXK)O#urXr_8);eI*xigRFO6f$R>J-gP8Qa+a=h8CQs@ z)fwBrkX2ZZRDz3i5RghyBz7R;4bNRluZ!C&5##7HuI;mV-9z2(sxjPqI5h~N>iE#Ppy6}`a=V%;`e z^z*slOCvCSpnCx$Ech97dx|oQid?hzMcm0HKhE=6qqW84T;J?1A}Vxfiq&~5xqF&< z08?DkEBRGnQ4iE;@NIXQUeE|ClH-C-OD{%u0d}IbytU;8BZIcVyI^ zIhc&PTqEGBS5-)-99QgA3I4*6rtMI~*VLsq_NbwaciRWtu#6s`kvq{2E~|8^xq4<` z?(}gf)QRbH8t|tR6m-uqPyJ@b@srH0=3P4TRi_ZcP*B+3<{l^DKY~6*!fwJ9)qcdW znZIY%n9n3vnLm}-R(*LK7^WK@p?peGS!W`BVwXA?9kV3eI~aGuWyYYin4(_}TYVF+ z;zQHLe)C%>S!8J4c)Z6+~YSgqPwf^#)=Y|A(9pmbE*OSU7Zn!~$0MD^-`xxbeJg;1J zeH)^mu@JndPx;$otFdON#uZ)G`h`H`!PEAp9?NTd;t^-n`n(**(Zw*o(}DZl%S!OY z^l~wviWc|MU~Tf+7()S39ghnDVwQR7qa2VH4uPBeC5GeiNI5|83^f-V`#FPbyNnfVW|1^lJm)vGR*p`!@D^ksqJ3cMU%BAgPJp2$mSl z^K#sos53i@jJ#(i43V(tPguv-MgIsSgP2kBcR*-nS!!AtmH>#vZws)noRkCTDfT0L z+DcF6g!hvwx_r+HZv)}D=An|h}LZ=o>fYeix=>iC55+}08G=RGc!DHBbL8V z7G*G6JfnSkN})Wa8iuVpuTMaak(+%TkuKP#N9pD^^0eE3l`?oN3Q8HP^md zdtPkbo3dO-+;*`H$?in@+{TM_gLl#g=BvQLhxd#)Q}#_M8-X&l(+6veN{JU&z*^K7 zDBE;~yDLx2#{95E0bsv#Ig?`^bUJe9RzZGb9#u0H&yDzE#$Xrgrnl-=7g`bZPIlM( z>3yOB$N5w?xt8t18MwQ&ecrD+Y&=LZZ0>&g`Q0`B9`O~#=O+;uS71`D@1YxLSY-J; zQ+$jA>|i2MKjb!qa@eQVASLP4xL~6Zt5R;v0I4wv+|fR6XTT0*mtDj+ky=x*Xp7t( zVNT0uf^;=gg4$7#fd$CaAN*a?T7D#5>jAU?%s3?tP6*cF@5%|JQgia(#cM>c_s7&e ze|lU2Goc-R_e4UiMmN3|BMQlCL=M4%$e`(m$%~RE<|MSoe%qRkQwTRYWpo6y`Wa6hI`4hY8i^%hDvNw1N2<^2L2j z50dA&(KvK8g=>FaU=OQr5&g3h1O=MW1TpGt>WLtv>13|)Itg?o1!2^FCYPz#scNtj z2k4ya*;||9_n`~Nx;Z9QU1^rGIGsc)_RK^c#q!JIbTdFkUqixgTLt!DecHIq-vDHy zNg2==+knEZ}{+5LtRr}oq zD9bHu{26eehy|O^)M$UMyp*w;q}xp$e8t`=P}u@z2m^bn2`8!x$LNmY@J)A{yT3nJ z{i{FovyI6q3w~xQ4{CLE-SihgWgA|rzbrL+yQE=ot`7$L{B#jYA1unfNu&XkdR&L2 zT!#*$Um&AB#$xuc&@y3Rxa*^EP$a!Q)|f+5<7YrJ(f(oKTHnR#v3aUML&8_XuW`xl zq8OXkLmE$@J8ixNL3vls&YOddgNSzKn3arq_7>)gm(K5liJ^|i2TIc~0@|8{wkKB6 z1Q^9OUusL}h&Ni8?<%rv_4Ic)ces#o#C=Tnlr-U4}CQpA$aZI{e z?D_)cB+@!?Ji&cks;VXQD`F?_j!LYo&Oh21qhJBUv@InIq!ID6G8 zpB%Pi?J&;Nk}Fi>rRl)rx8^UuKTN5*i(CNAj|&=DUr2MTJU0}#^3QS~2CSOc?(u83 z?ytVgRG~(-$2a26yWhn_aQilA668;{Pi194*gCzJ|3rKPq~4@(&~@ne0%vKYy%e5f z?&!w2<4rn#{ob+%$jP;NJf34yGl zj!KMZ-B8}6O_|#;e`AI+L6ZdQDR7FY>kE#Pc0po9`i2oi^5wT< zBx2#~#UXEuA38ZtDM5dhhCsnUK>jy}AE+A3|2F|BDVF^|Df~0BLVpV}<0SuD<2a?i zwkb~Kul*b^^nYcMtH<*b{mC7&qv?Z8`N%@A0sq(#|1o|1IX=FA9Pwnp3NrkU0PDZo z-i*fuH3I&QXC?gOp51y8+3*3z|L`II>-K-#J%I8FY=1F47g)ux9~sd6AN6DY3u6z= zOQ86R`QI$*k0}iMUzkeZegf6s3qS_qf_?(h11bJ?+yKzK>G^@o`#5p_C}mVtH96ySE|_+5FK<32%Sj#w+H{5e)Ulo*}v+$04gQ2{%tdh zp!~Pi$8UZgC-uKD!P-EjBvfFHHWqL)@t=0r6LCSwfQm_IKt&x)phx28zs*2I*?d;~ za5ecjiT+hZ&j*(AZ!@tD_4x`PzZrgi%uUM;8IumGntN#?gC(-=% z|4%;HfBT2(0dw_;f!4{N{{sJ$3Gv^+G2;&)F3Uf;5&!iUQ2NhqU=R?3fAtU1^1}@W z_?nFJxBh>2%l+9b_uoJ&+rL1mlz)K#*&*`ZKpUsOz-l`vU`EP6z5dVA=zoJ7+=0Iw viRk{jzyDbk`0soEIgwS>b@EjH zvi{X;2cXv%pzw+^pkQb~KtNDH?w;Uv@Tef5e{BOPNGLG$-!Do6ak-ub35}ps09}Ov zBD7Ch_-p)G8&guLVnJG+?!Z6RKE?Yv_&+`sFJ z)L}&>z{GL`r)AXWW+zP1XB3U`HMnXT{lP7J^Uc$W@=b+t-C5fq4y0@2IFysaJpEj! zm*9+OU5VQ8J%a8I)p5tNdeT8w06)F&KePEwuJR6IR5|j4Fev~Nj)hEcV$ZKI<6Z|6 zxV0s}>5k)kD6~q9N!?VU{6L-y@1KcfPbdA4=!$6Z%WSvqzHr(P5#^nD9?+4gDWRWi z&DXy)<4#KSRTJLdsxvz{yYVQo6uuE)<0E&c?FUcFvS=N{9X^IvFXXX^;E@z+2As21 zIKVJ?&1lKNo~QtAhc_f`O#4KEis1=w3{uNKETAU(1OGhd#kfaFdE?fRc%eu!q%@a7 z`HvyeXrMJjs*nd2FSBz6fy{B|nHU-H)n@hK@A3LcI?v3?Stg@L$&nyx}I|R@E^lgV+Ol1byV`-I8ghqvnGA;9gHA zV3$7iX;Eajg)yBFQ_JHUtrY&k0ZW=7-{|mMEfBcw}w7E6UKy72jfMb?bH9 za5EU6?Cf2$0WV0+D>lUSKiw4?@|7aU#g)%r4cQ$TI@t*-J6|W+3syF3`DBt;>uWZb zum24q)c;*h4Y1fV!2bqm3kUt*g_ZD#_ki%vx}w(9<3;-Gs6&|Wj86+-V5gL-18?q# zhNX;Fh#am%e#HZ&5BEDFZw ztp~Gdjo0{d6cWJ-oL1pKaYs{id2zAxr{$7Sdqwz2L3dhu3PU%wPFr)~i$qF$t)Z@# zBQT)g(2stX2EPvGLD2~io2>Pd$Oe`IHsQej+#3xfCUGwiuM}jSy`m}{Xk-Q*#FDgE zdlq??a;!>f$ucU? ziL2GP`llD3G%zs%eoId9M0Saa+%`4G zn-JbNUCI#z6ZAq1BEsU*I+(D>34XXurAQyS?A!2X9F+#wYUdxErs*#*5=sgdRBUUN zO1?CjU(TJgY|&SHBpDZ$Y9>zVrD~!^Z=D(*4P|BZ>h#e{eB|^#G8=A0$p#+N{kf6f z(zi&p6kS8<`?Z*+6D|EoI3eA~X#>RPvae?OPD;R7u!P1%ePRL|$86?Ac{v zh@V#Vm(>C>nJZ_KYm(tF5AqgYv{#W~(Yr-IiA0FFdM61O-?3TOTrthn&{-C9@F)OT zK!R_c<+KW6u=xQ-P{md$8Pc^U%#}7Hn^4&TTTH~o=Fy`72>s4eu>;hP!R7#9wO5?* z4pV_&8OZs+%7}6qDq-BSSFuRHA}F21GOR=tz#a`AA3aAg@Y zoEb2Q0bX*rb5RBHzSYJG9coPETL-mapye;CE*{W96OBjT^po|9O!W`Z})&} zV@6l&*JSs9hNZK{#Po*eq0LMkRAp$rlvR(~97ZOg80ocz+*e7ZDjvbFYt!zH*f)9* zsH0(+>W^oCNCc_J)k-H|?vK%lYwnN#}DcHtnM~Wa#ipGHDU4 z6AKy!(D-PaWD}*afQmu!RbKu!f_~c@S=DLgzipnNE1=H7HT zFe3OE9kmP*{xqNU0F8u-A)bTj5#F)i(6#onXk%X!GB`iG4SCsJkb`R+?@B z<8E-_l}@-~%0Y#jE;10LxHgMoJ(AqA8GP3lb7jTBqz6ap-)^lQn0`xs&^zfvPdzi8 zO0>*$fh#k*f*Pb)m%naicaJ2d_9%X7E-m^z0KuG*ed3{J9d7WDGwnae5Z8z?9zzsE zH=T!&*sbu(5ytWA=1>HTN!y@c$Q>>N`nQ;j%a_{@tOP#kom^wYI+Ax`ZGDi20!qqD zxg5u$<2Mt{iCZ-)fL`eQi-U<9w)6Lfpp}I71m)w33pGC28W#$Ma)S02$2(8YUdhCD z!N}_vVBB`TMR=M$Z#|_SD6hb zq(0LA>_bf^I7_2CDk|Rhm?RFsFzwiVem`YcB@wcWb|-L_-Ru;5fQ#XC?PA{n%JS4+ z-0$bap}AZEye?`?edNR?6#%st-B^~Y(mG!T2>KHNLGEdqGB?&?F6JgHvb@<>*mjp5 zkLWs2G+E6(m+mc>-BLC<4~b^{2o6@U;Yd07jL)#xW&qhd@==%a64MO8stTA^s*`!_ zjtgz|#BK8Fw$%Kfzi@9ivZ%FirGN8-v9nYU>0-ppYK;2Ka4-PZFaQ@W5! ze_k6#bVlF&7!@aq&FLSdSol(*QU}XLSJ$MjFw+hjMf;R_x5mH412Wa~AMgvFTfk0Y zj@~s=>c(2EMy)Jex4BXP%?(^y89QuVPI-?V6n2b;+nuh%m^oaPu~{9phm_VELM!yZ zYlRbkP?-JK(Zsn8Eaj2I;K8@t!{F%H1&cf;D&>P7K_)fZ;CxCkTjMf;`qokdG^;oy z*1gn{Tcb!KaWi}88LN+9)j;^i%v?PTdJDV-9h8`W& ztep9SKhvv`+T`9}h=|KSCegC&ES0WSRqDg?K`1>Sm57?1>c509U zn^);$BN{SnX1VoVP~6~G!;q;nK*W$|=Os-=;y|RxpYjQJh{<`BD`nO>WVi>g5l$R~ zuK;UglO7;trMoG%*Ds4MzadEqdApr|;N$DI>O)+=!6JiX+)9oHng??4jFTi}QxF0S z9o+0s6k-_OC?_;-Xyw)6f`x#jUkydkHep{&l~I24AblwIW_&YaNYNn2K)i0CIjjuJ zs|Ub~!n7a}yI(GV#g&Yd5Y8wlC?M8xoT5vKa3+>D7z!sfWiUr*gofwiV9gDtw(8(* zJQl?IKK0m`SnWNz0{t*$hwFx&0Q%)SK!zZb+RhN$ksXOa+a3T*rTywv;!JPi&qu zTC#$2rf}Fxy@h}M_=EJl#7Vi(A82l%S9YegSAB$Xzyu5@n$$xV#<-#*Hb)I$U!J2q zU;~Sxk=g7UiI~Y@WSC~0_FZFKCTY=7(%$WK^SqrXX=vEaz=$Q81c_SqV$~9?rO1Rh zBlK1TmXfg*DBDm1(7B5qfbWq(wDIhL7P(nSvU(Ru!?q2DQVHmR5;$ZPnG;7*1r}T` zs)M-Q94N?sn`VBgR06C}`=|iH9I#t&&pccSj@cAaX9&|?m?t@&rxOr-z2W7J3ky8k zR_V8b!XQ7t*Ux>*OD}U8IV%C^$`6tSn0%~}esvCXsj)Tl-58vQKh1SSGv=Jy<3(+m zMF{F@3nO=-gFJ$u&u^ZwUMaG)A8MFCk(q^HTP@XWb7hDhtFIbK>%aiNI*ZAM@8S7y zocfQA!7H`OJ6-EKw*26+$;X$ur<>()rsA+9^rX_fGTn%;!w!#Mw*B#g6;#7W+<1JP zN6Ks^3sEYFvq`u+?pOKX3?eU>Nz3t11LkFf z+Ooktyji(v1x|Dn{Y?PFk@9|aXxT!|1G8C3+oMRv1xY)hg@IPGn!NOj8`xK&-?mOw z=`QrH<&jKp_@;O=wChgiG3z(5B!mr((9DJ;?yLeftqYBFKViM85AFPo48Y@yO=Yr^ zv9|5vJumwhi1ne^Nuq$mlC;dq!I|RsvH8++M!HMcM)p__*lPiEg3-j=>dFyC%ytCV zoZ?gdrO82<*b9sLGDLft2DDYm0SWEgI})11*0Zb}zxl{0B|67>Cq~!2xiWB7>r#1$ zxU|Y@{%~zKB(7i06qfMJlE}$cSRt3C9!4xS58E!3JE}uj*j3=kdDnY(zz)CQ>##mO z<_2nz%+HASBOd`IJmDqaVDs+vl%DdMy<%n8_`@Z9^dJR=J3%~9J#dr<7vsTW5>%^# z2uzd$`@&wMdl%RbBaICCk(UEEESfT#Vudc7R=o$c;(H;4R8ksq?3lT6o)oF=V9{|$ zoJw`2!=YYXBWUP&->D~1(^wmp4Nqr63O>)dg?<#(@d^WcNQ`DxDuPp2M$*BfSon!> z`>W_jNkti15Q#;>?jM9Gn}W5qNCQCih22jPP`uq^-`bj;r3PptF}o~!DHj4hcPhVz zQ4X-)?pQ3)f6V&|Iyo*{`xjK7uTp4_dsmu_Fy7i7#@OtmRiuWkZT+E5GyU1)fP`D~1ig~D2F4)!N`(R-srPt}YXba49(B(H2X|B19hsb~ zi{1jp=G>H*n5d{RDKC{8+nM}3B{xAfJ~Qxf9FyvD7n39Pc!l^ut@ef@Jbm2U!ljl} znbKM!W6Q4)rs}kJ#sR_fazfo!eElF7OT>>1ZAP)Dr>mCL zxMpqZ?k~HK>C@y#R6$lI*0FvqTM1PGwbWQ7wOva;IE_j=I|H=2 zao5}8-MP+I-8xRjnTPF!GF~>%YVVxa>yZ-+f2MH5b9^82Ccj$fSjz3Zua0+-f@Jh! zhp*K2%RK<(q5Vt1t6#%z6Lq+ntc+@u^|T3!$63E8-#ZCHLn=3M?zd&3=la#3-=6Et zR<%#1XD6yNeYKs=_Z?r51HhZ8_xKxsCIo=QfKtAgu{z%||0A6=7}2ZX|ErL+Nmrx% zv)ATvbj5iB0|KgH1p*=jN;p3x1{~?wIIVLceNETgxL;Wz#LM(fk~u^9;kgmt8q81o z7zTEMHPwrn@FZ;32&}C}qtY?iC5`!5($=K-xaRo89qRddID|dHZ4N~0{VC~LafUCQ z!jsLZe(24~#(GOpKe|gUc!k>teJDfp4!1T}W4)YTyo!U>c=Opsz`lQX228hJ|EXG- zD947TQ#ULlSRNRf^jh(IW_m?vuF(+S^?>^D*nI}EeDAMEAQ82z`@_1Nf!r9&L&?<7 za9WkHaC8!b_P&+EwW9MJrnD5K<^k28qbt}dS$I&Sc{RKRB>FAv@xA9mv& z>`PQn-yMw9|2s&MM&BH4a|rEK89PBFr0xC+c2&rH3f>91xL~EN6hIoIntF2^)J@q> z^pTZH*v2H`uw&)q73_oj@OuEJY-BEAi2wr`!RLdy7UkMSKQIzX4H0#8__;F<>O|U` zNVmPZh05KSj#sqyTbr#46}AJo??Iwyp!5`1c!kAG?r`Q|*$y=%B3|1D)_T;ea~&fI zM}e7Bi*Fr4i`j`iMyuDoB2PtvhU|DVH zEOmHg(qpL|EI&?wO%ruOlgSfG-XNfW&mPj9+{cpHKWnP%Mn0oiUPsn-2vmo06Jy9? z8u_s}vZJ5z1psY^(QGePDyWl3Bo2522r||XSEP4(z8;A!xy_lq4BDc)Ldrtu53kSv}u4s(rH87lU zTk~y|1B?z-QRCZ53A?EQ88sawW8iP=j&=o-=8n)o#Gi|>iCwx#`XyE&&SS(tViryu020i zxS5}b+fW}tyWzcg#-M?V2HvQq!^6@q=$B-*J9h!iwQ2g;92ee$*p# zEH5gESJZ+|DynY5jUp9sJbKR$6Mf%{dsoS;P(zMF_$ATM`(0e563rzUq@9ou(F(l?#y)<~IY_Zk zhFifdt?`c9D);P@5P!Elvy&sLmkbmi#ne-;jysv{=qKe}QNk{>ZcBalm-_T){pc@H z)c<5mC0$7<#M1;5MQT8wd>|8=*z-NQ+;dS;G6I%?YeFj%^I4^whY$X!B2i=M{quhA z@RW@F-PPC>Jz`Ebf)($8k zLMh~5bf7C|{cD?)Gyb(IDiQzMJ(aM3t&M8wKeho&4dH(TUTSq*V5om!Fml-hdo9|8B+Z3?+gWLW{!cpxZCK!c1z`!6dd)rvARrpb1P42U zgi;+$5QBh(J{^9*ab2EOXsdJZ*uE^{>qlup&pAP+d^Sk*$CY1kR&C3g1BsJ+I=X-~e)_oW%RH^q ze7XnPBHtYcE)&m|UsyZ{b%dU&AE|*YVLgWxU~k(6SBUh0H+sCRKcMx6k>?f2Z<;F< z0o!S|Ej;Z^l2QD{zQ%Fc`Q{www1YF6euOc_PX~Q{2 zB+Y7qg-aM$8R~Kk^tWY3n8?iB9f+hFTXw;w=EZ}qXr6eCe3_lkaRb=C-uJgFH&xP# zE9TKyXqeIf5?qDoc#XS>y@S_l%tS$Q$6U-1TIl3kL8L&E3JdW&(u4Hrh&lhe#&xzT zay_*LTa3dY%WHnzeVyalk{O4T)2-#YI@t8t*fuH{jcXJ%cMio7f@6h8)l|rHqK*gdsj_cnek z&mhyvapYS%qKN1D?Oo(Sw^))5I6ai2J(}GU_A)3)8FBP8-9g>Jt_+so8b|C==nb>T zGZvpW(R5XaDUpdN1i=m;_$<91i6Gc50IoNNvwjR zqUTBqA9v0SF|dQl2w#$`llF}IWw!Is&vSF9n0dn{99oOI3;DdmZp(>^=1$9ruf`)~ zC7sc)!l1q0kfRt}=m~u^)NDHSN>{()Lck!vuuW4vojw-*eh?!Z1cH8nCN>FmOqij9 z=F(_^E-tCJ=k~^i4~Dw5=72Y}n@S0d?It=oQnkrg5;M+N>|EY&ls+r8mkQ@Io@FQQ zX$=fn2$+}U6nVQukikt9`{i2t6hM>LQ=VUvD3qcqLW>%+H$G|P4*f`d6rDn*!ypIP zs6}bUHGrOhR}9LN)>9EgkC$GPCBC=NQv^^ugZLoVJFg570p;gaOXheI_()D2zN-6R zNcGf4@Q=&#f580;a+t6`wF{))J?;DTf#tfD2a0>W>mKUc-DigmiIk6jSP4abgPRiH zw(a7_`-C*&n4dsCV9dPd&L5JbL_`XBWezbMb{4y?XCO}nu82G5x=E#Dpz@c3KK_wP zPxis!_;RUTL*0FQ?w22hv(S1oO)4Mzt|<&@I2@BRYAvoR_=7!v*`SF%g78@Vy|@%c zFb8>3u6B~%Hq&WEjKHu$By1l8HIM4_Q_*=I={=P;!&{qyHq{zWHhFaD{sRfXG5X9( zR*T2Wf^HyImF!o(BoTg7yd-N(YZ&1rW2l(4RDK0sQjAjHndB;4?wHOJGN|Sog>mx^ zn|;gEcQfi4oVQM!lwOX!qiU}uXB%6Qo|tS5p*AQ0S~c0yNJhT8AD@V&YNDnd&og=# zzsX!SUS=qjj8)z>kC|x9A|q>n-z->GpLiYG(pyWNN0-j?6?kdE_0@0?rly}n9&P+P zKT>knQcJS9&l=-!sx68^VSwE?2|@%pZBPdh4IYNX_s=#j*Ah35Lg5Ou>-N{?=5|gB z;X9lBV4Z#eJg&!&gk=K@fYCrKV~1%X00s$nf^%qY80Ds31^S&ips3<4j zFj=WiTk4mltHZCxapkmQ&cNiQ!J1TJXILTI3l1~yv3CO^<>V!P<62eX9yT}RuD_ch z*ZbKBq~r9^n-5-s`u5dhVj)r9O1}Eo!Sr9mV;Y%J(Mdv`fgx(W1GJODT@o1a;}f-` zGvXDg644T4(#&_}f*Z@kvbEq}lOjKt(hga;U6-%Wcq*=>Nv#AOV*;Hg@ZhNMG6dzqsbh z+(`P^kE`TL=aH@);h|v~yR6iRN9e}NpBQv&?(eScmKhBUY#6E43Q&~;p?pnG)@~;c z@L9M#-%q{P`3!-J4>dUu;dMm@i%?~4V;*A_5VhYnrnl#AsCP%NFD%yQ1UsC)oh$Vf zSN05w+`3cMD*$?PmY3nCOPA_mKWr)4&a~%8Ge7mNBNZ8#@+3Vas95=STuaNunT)V{VFVOINqAdtQ5OrWfJXidZr*i$a(R#2sD?#(cP@m2j8{>L~0QCmi`E3Q88 zz|G}K z2kbEGVMFXhE~fdonC@WMzfjuQHnD#_hX+BEKLrv7o&n~ln3t&~5ZMu-GK&-y@&zOb z@e2z7!Pj^FW6T`{G?<3JqPje#8mDPOFXi`GI zv5-8WpGyx1$)EXqQ&Q`zIQ6EjG!;BQ{u8(@7GH>^UAZD4J@qm;7LBPi!_}|4k=(3J zP0NBH-88Hk>}z#^W64}b$fbLx>l6@xBBcac6DFmvCd+VYQ>ZmJr$XfDL`gCmqux_E z=~fuTE-I=B6ayC?_)HZ$p{oS(Wk&kYgPSK%kuQ-blx7{QPC+n`ls0mMaz;9i&j{cA zGb8yIxiw}lN;YgRj7U2Dgcr2I6Y;|1QLFWFPDH!|Zt)e%BKqC&cH1djmTw^)zF z6P-uR!q0vNPud?`?*#qG2f=%@`cNvpa{&V{#1DU|ROM#x?$_PZ-$Tnlq{=hOg(AIc zloDUI?eM=;8o(YnbRE5QhLI=`6u;|A7;qS3-*eMSV)+SNQFqR5pSGE;3>HJ~p5J#M zEPTTnv)lffc|hBPLj_nbRf(7j>{%Bo;=vHtwlh_Q zJRIjiJ8xR?!(J=d*X#EwTiLXGuAgnnfNa-e4bjErY61Q0nKhZ~nR}?OyRVP}my?bw@0G0UcBi0jXWGlQM#injJ;rhXq5`BW0))sPYyE}TN!8)0*0#;a zl$l*k8)gq9Hd<|Z9KS}`k$0T)6<>QW$_9-k~u5A>`Jhfn#kM{!jzAgh0f)Y-f> zWx-(sKABmAqXZciCLyBuS>axht%P4gfa-)UeB+bu;l*5M1$uCdAr^`6hzXxh!fDcy zv#pF(WGS^>tMb`0_I10oIExstslr1an2ij#`Bf0os9HdS?3%*Ot~TmNAl<}^D`&$)3uSkA4o9eujOq5)B!!)9!*+QSC! zKJD^E^27yQ-Aj|@0w{W8-p|tR_?$}7Ch91vQ5L{%NvT6{F(u}3tH(=O7)smi7gN-RA9puR!> zyA%DX)y1m?0t8eG^OxO(0A_XucN^=jWL>)qCbZz|cUn6A6Hqu-BJgq>i$d8;|NiC( zc@@!6i!T2xKZ^u_Kn8?3NP&e6WggVfiT(6@=ScDh<_0GSBBvB|0lO+B3|K0JwcKeH z{11XBIrqKHs4m@chl@;LCf7bpfnoMeL%$g@3}@fcQpiXpL?RImfS2G>+^Z9>Gh#m9 zBx4KbsPS;%5I?d99bC*nv|;xZI~F%;=QM~np67rj?<43m$|;dp89JE*2D0b1NkzWi ztp@TNvtb|KD8Pg`E}<$ru>Vt{7Ogx~^nd8Ysx>^9z zz}9f=euuuLPPv7S$R#Bcc!MVVh^JXNa_$93FxcoVJvkPmazp(Pyg49$1kY|N75NV4 zX9k1CTW6ZuNr_)$3gMsh$Qj+)kfin_#K&U7ak2ibb))eJaQ#{b9LKcpGsbmgea{a` zg$B$+s{C1oRJ8@WOpBUjO1-uW+)hLGU!#qD5f9@njN#~STdD%~QOy>;{J@2{*L|(X zy2Tvbp6+Qze!w7HOnJ|Zh9QhywiO*P=&nG9r`)yT@b~pczIwD~P{QE%COSGT;J!mK z)XzkU&!-RvtjF6Omqz7VE@AT3W7JmLk4BvL%e+mt(U+JsSjsfC^FH3`xyX2QYczDH zayZJxi*5&%Z&oZ&*-CvYw-L3tQI2Jrd8;V3tzJFBR2B2g;|5WTs!;r zWe*hU4O|foR|Ly}%wFkak2$=3*Vy^dO^RcP@-uyFA=)Chm)Hu=nqexm?OOc!eQa!X zpIGGUaFA)3_F(yGuBeSDdMa={^JC+(DYCEDw*?Gjrf(lHYqQE$u>>ltK{%3NwNd& zWo&JLz4Mu@xbvhM8w6q@#2Xh*Vc8j8Xm3WgIQ7Nxh-irrzA5amb-DD9RL;74TNA`-m5x~C0?juMa}ygdfbcW>lN zqodu<@vp*#35S!8+TVo6FRDjPIr0OMge=*>sGuuP{6x&huzJO5aPi3el-XwpFvX zX;lkDP!+JnbWcv!TIzglWFKd^=?ernQUCtG z^xE6q+~_Rdd#ayBfIc?k3dN$0?yB_>QIoGnvI@bgNnIlAu4#1yMMWAcR>q?(1llY? zPc7~_-$hl8!TvX#hoog@JdvQhp|*{DlamBKbN4_4hpMyaO^APL5VI^w7soaMv+V>W z$9-No>+M{{;~XPWS&ReE7UdW8fAi9Z{o=Pvf`KzT=V^*<%CM{9$kTLQ%HU)2l$1BI zT+5X!mw!+JdMvF$)XO=gA2mDFIePbmL-Z%_P3JuA?R)N6NW!!;HXC6YVI>D@h8QzU zB}Xu`7FLV=@98Nnhpf~N+4JkUI0tS{7SDhMf}SS@g|9Sc3?4(=AwvBGJQpEA4_L_U z!X)d(`JXl}ylA<-9nV$&SC-;%?hVctUVm1PScVn77Pi8 zTB*~zia+R$M^^8J(QZR-G-lmGhDX+1@%g5rzi+npas-d%CO2{d;9amJlV*>TyFgBA=7q;Ci7;Dztk=wWhOvG18TOT;|+W$(6pv- z=jIH2-`&|;C>b7bPdQgUEM(}ntk0>G+?QxmI&*gN&3%Wm3A)kFZ+$mMz;U`(HYG_8)#51)Bq$~ z75G-UJ^PGizl}!t&0-w;4FA36a@DE{SNjahzA9Px-(YES0y!`!XUarmi&1ZTti(b` zfeKH=v9XrDHZVaO<%(+3Jgss~yXwWk4>n%^bf%Lc{N7BzSzNWJ{*SAWPX%;K8T&t- z(=L<`=kaY8r~mDIz@{7+(85xMVrx>&x1_+mbRd){R8c8e?4n%rHN}gD8eqH|Vfm@v%H_?{} zQRXPaJglxFo^UA%-ZotXts*gm@=<2%QRY8rA*A1s|IM7hQEMBD2}quFfIWo+cC6u^ z9erdI{pPR&dYe4iBFfy6Vbxp`yp}E2yx8`kj=y5kSn%h{jC{IG2Ir#{XQ=-SqzX1^>?Hfd3HlMc{VKQyVfLQ$sacXdq2O2#c-7aIP8UVPJJA zUu+%+Ug{u$XF?p^qIb(gh`Tvouz7CvSGer%ggLE^>8DL5s)tzPBI%Hu7g7 z>D+x~;m5P_qEkX=6czw4+yNU7jE6TVM_d>DpA3xTLfNHP^J--K4e=LKLi-d<12c;y z7j>y3ZjO$n?NJgeIJqCDS7c$?!XKNjy2)A2zEhBWW8YS&7(alCPZC4_NHczb>Ba{k zZMma+;!~C}4g=0gd~g3rz<1b_9nvTp^z|ag5Vm(6J197S*F2azMLPOWO658HKj_HE z+SjH2-%R=6toc2He;|c>Obm9w;o0?e4NkzT>%Ih)1;F53hb%7CbBE2rh3SMLTww!K z!Qf9Y)@<+NMXlPx{?>UNo@s`4Pk&#B_-~}Hh@*9o((2Ne5th zmaRyY9+B*#Ksq-ytcUbs>GWC?o=fO$R7qVbs)9vu%_h8>);-OEiixe{iGMt|XyNr| zx%RSCIj^w=9v>5w5@N#c6I2a8{?IFAGz{Uq(4yW;_@|uHh^n^R4Buk4)!A7V)TL(I z?B@pL+M%-++M%;J0oJ>1a%a13pr)qMo~p$EW+jeCo7X#!n?EqXo^B~QDzfHZ(r@rJ zdPLz80*M}VCSPckws>eL=9fpX=-TfLh-E$+bv>@&I!oJ9y(9*YlSK99np2&ne+$0e zQSB3;4MklL7qFO07_?SM>O@7ae?M@V=5<^>RAp(0poBa72!+b>PdfV zRF2R}8ucHHG|-FKO!doLz3i$fg7|%;6(HbOLVrutY!Bn3=C~wKQd&rHbz3AYF5Y^_ zjL~r$6578F@$j_H3vHX$#MEukwA5IQr`9CY5n?Lk(AqDoNoiZ6E4j(N>v!(XP9Wlv zL`bdh7n2Mzwc3;b|IDttDW(#SKr7>KeQNXneHUATYmpY>HDOUsw5TRT0SjadjvWd>0dSpn9Ki&f~#S&MW5<-IJ5cZJC|>=1XBYdriO@ z@Js(^^ijz{0-ssFynIHFhvsn!wsvwzEFkjdGNRYxvnC%ueN{G|MOAeB)J|hbi=$aW zK{Ls<*m-Gr<{lQ;o${i))IJt?kVO;MQXCUb=q>)EZ*D&6zCPL@s}#9|D(Nu(t1%B@ zxwH&n-mpZ^&`7Hafx-vje{*ZMjjylI-y{1Rntyi7KtN6wHVK|~7zsV+5P(ZbI{oFI^4^f+Ke|JXGc104ym2JDVD~M zgRILuD<@(6j0q~I8-)UoUjXMy*n%~SXNE}ejRq-&pO5alvjKOk?$;aX|ANx59X^Q9plbkS+E6F<$(Fim7|vKqCP;o z5iME6X_LapurY3FTY8Cz$c3G*&ZbR48-XFi<(o;F$Sc;-4KpEMuqH$X84C))>KZt7fH4^rd`S8p`JYJYGYy5mVdf^ zh;1w`hKg?E_W_1lb*&FN9{c%93xxZ3B0qgYC%&bAg7`1_*toqi4h1qw@W|D9X5q<6 zeM$Pvjfo1YbLUmECYf0T*TZbTgTtt_4frsMMDSn`Hf0U~|mbB=D{$U}&Lg)-&U+U8=np6H% zHwQ(~;szvEPWh3p8DctQ4q11bq*@>2)vU}Tyrxwux8fJL^>{YPs+S>A739$a8#~Fw zdB2QOV(z6C%I87r3CI|-ePf!FCF(7zaUdWHLq~zLv{xdgDF?|0mGZ~yS);?7swzI- z<^6K}MHuV-B1xLDcEz(9bwGq!w*~OMt5Z^b86e)H2wk^qC<}#19qSzK zy6DwIUf|*&S$yd|{%EHPqFcA7=4`Y>*+k5!@>@4xHJ-5OAHUzYgdeM}HQ=FgUdaMW zrfe}_4|^KmTOXZ?aUUWq68y;tHPrk$y&wNvpjlZG?!GYObjS2>T{8ubsMVN$t zwYok6`@EzNV@U`VWQxx>SJ+8lSj15vdUQrNfbUT6zE7z4LJWGOd;p^|f&pwC?o@Mu z^EX_PNN(hAv>GV5Wh@1XbWNubx*C4PZvdA%uybX8pb@(L2u(Ssy3$ZxI7+nIZ+t5p zt;V%-E_J2xy0h6>dX23*m{udcAYnIMwGkQ`p5=VW7ej%QF-B=lbzqlDi@%dv!mFS< z(scPNd#Jlrf?R1TtC2X+DMJiNb{&G_1B%%in)|tX^Q=o!2aKz zplCJB!~~x)(9$($?-GRg{reK!P67L~Yy!^9nAr8Io2Hax&jT@^^W!cM<41*&W6d>6 z7qC`b+94JncGDxpru01vjqCo}ey1AOAJ<5_PW%LSsfNRgGFs5j$*Hm|3tf|FBm%3LbK0hF8CL_^xM3dCHHr{ zgwGo_`fO4=7G3Cqu`}?5rg4Sk@ytr#w92xaNkzgr$8BZdSXBD>Z2#k>Rz7eITZee5 z{xg?ptx)qWpcr}itvp`6e1a`Ff)K5G4^8SpCwI*>-u56~?lO|_A>L}s+w$CO+mKvXp`c)2;_D?aiw&2W_nO?6a%@nANUmXie}Q@5 zlJ56=5xfX{3SC3?(;H~h|CSrD1vWN#H|ycys?A1r=pYs<=Y` zeGYKyp{S8x;oHfN0j?9tus0Plq3e-Fo4ForG&~1Z+>a_r!f$ zS4l&E+z0|qxTd4`j=z$AvI0H@?nmTqHAcU(zP*L_(V=1R0eGK*2&bRiyLt?P(F(9i z3#pjs{pPYzV;7*p-bSkMf6j#LD@_rFaWVf7SML;^Nf&K_h8>$7J0070$F^;Ej7rD0 z)3L3NZQD-Aw$(TNpL_2Z=e*RzH}>A^8>3d$t~u9Sb0-|J{!Jfj{|3zC0p*|{NdX4d zC7SpOOmSCfVJiQo<(Yx`%0LgCwIe6YI8-PcaGxE;z+QA1UqFsD;-SG7(!Z`M(yVa@ zp>hpnu(T%jUyMlYxtRn%l6i?l@LJo!i)96;dupZ!=V!{#@o$bhVb5@?x#coHI&lbB zA534s{+b;s=1}F78)#M8{!zc79?FW4O@s1y<`cF&NSU!(b})N+fHnPpY6?7MuN{5~ zSHYhM)OqzE0)4E$^3ZS9#UT=e<`J%jnMg)Nr7t*6-k?9kPP1sBqaL%~>++3{vi>Xw zjIQr{Lu3v4>K!M&z2?lkE_FA3h_LpO@iy@c*{%uaN+)ybWUevYZf34r4%v&t5ip@g zZfPu9*llovayJ$CyQDg->~>8>SJ?d>J^}99@Ey-xC*01u2;s8G? z&k3~sm#QtSzQt1*Ti}~OW&_5{kanwR-l$x$@;g(MKwsjhBaxvh?i+E2krywg z+J>2s(MjH&*#jqRmiOEG3)xt-R##zwLE+zpuk~U6-##(wiV2onApM9^s#%2aCrLQ| zsU~+!P4H=$voHVgWv(b8{2Xyr5hwyRJKnH|M!?f2*UC{4N0u+h<5|W)`D1lig8J98 z;A8CjJGAN++6!^!#W?KHe!yb0EMTWAMQem(R*(wl=6(0(HelYD|yX=oT2oJl%U zpK)o_ihT%Gq#iq7shrGeyA4?b(63Q{}7E-tSqb)kiYzT0- zzn&txr8t;i5GrT48Uc&qattKW(M8?!SRVLh5?+vUFIoOkSz|A@ss`aI%wqoj*kkJ0 zx^kdx`OvV+Osb?=_gRhrzG|5XEW($cz2r4mar@?b3GN^SeO)@{Z>GONaUpsfFI(** zw=Ga^=`P~z9`C;M=wN5YK+>#;i|Ftfz+8nx4UzVGv(u<&mmZZxqMLyw3t^vBdoa>< zRY0oPJh2sI-yP7<;D`_@m_u9^Z|yh}ZCo`~XG#xgE0#;83+4HZgSy1vKBCv(=(TRS z7bxF2i#Var+S=&|cV3jh7*2^3@WKu}uk-u}0_kWg|A$Xsq+akp@o6+vf@3(^w<-dq z*D7P+9M)FRiv}#iZ^0S7S=Exwp}bBo0UxZ%lm*0Y4AWv9JfR|71~eq$Ih+cNza)Vy zA`}!Up)!K{^ST^C0+jmBQxhWLG|Yla9}kThRz07+sAY|fPC5Bde z##HEi%20}L=8g@fYAbqbUe>^*L(@qZ1fWdO@4^0l_o$=XKW3EY;+!eswN?k_vhbxv zqU29b+R!TVsU5;aOh%;DHpyW`_RMk@{-{9Bme7PWzN2B_bD?~cDaepeU}VM{&Bx2z zC5xz9X7w%Yah8rSS?!xs{$Kh^S7^>pPXw_1tB0R!TmOSr@0-@0oM zByFCF*Q|F)!ZPT@*0CK|?eN0|<19nUMOzc+#b548?`!bG;^~vTSCEMqQIB7zV^-4UppqR#uTj|p!p;|)}TzFNQ{Ja;chuwbq)-<#$}tu zU)=pMe@5L*PbIb?9pY{cclu*;-3E~8^|`wGxovZJ+gFv zJAE^9s)!K>*X?#2%u+n?;=QDoXCJ$pu|+BdXpGZsJ6TDc^;stP|6<>hJx!_G{B*|* zo}t@pCps0Bp=e?2*<7vdEq7sF$sDK~*K$<4A*-H2W$GOIChfv5Fsyb^+!2znWS)5C zf5nw=11fF`*PX!f(BS%@+=Lyh;m^*1UOzTtR;=BE{k}6H?L9<`=__-hO8AJhCN}*G z_%bf;IQWuEG}W??v2P$?b8hltm0-F8B6&{riLdsPPO`NKxbxu%__FPDvHEZ6I?vF? zn&PE-u9rBni-t2vUwMfhAbUO#jH>uMi5^1@^|hH#tmp}6S0dFhfBisKipKcu?(d(! zy!vGZE06)9_Lq1MOT=}AH^|lcuZoyZK*0EjM_gbN^>k7Qj-FcdOV&mRK_eYy0+|0B zVWLlmm`M;!t8Raa=}#U0NxZS!e*G8s^Nrc=LjnazwKk_`XxGWoj9$EL!&lDZ*lw>-pN`=mqP=~1ETa8Qe!s9j32T>Ye_(xhtVT=k3&YI~3B%`Q zD>((j^^*4RfiOG_;E^RaWjs;+HhO`ijh0B4k>mkknF8t}(vzmm6Bt zQgHyH==$iA%9+j*Y7zwn{V6iiEe4R|YMDhb-4;li2B>lcL}oY=uRjz;0>UUA7;ho; zMBam6lEF33=&FJ*Ff~Mezy&G<(w-rH;;`Spc!r(Q&F6LDP=vArbv6Kb#>;o-6V5v* zBX!X`Orn!t1M-kRqk*K+_r5iI&?Z7Rc&H1trd5LqWc#W}xZhwQ>#K>h_q7u%Mo`bq zkt^O4jG7ZZ?K)1`dr5Vpf0V>80T=DU3MXO(akL2V;gd*`50#x5)}54iYGF6`_wlfX zcKw_<1y4!U%w=C>X$ycNcEr?UI1$!_UUVLX!!lyeYy>u3YZFt3{ET!b2LHlAdW>%% zbD7-HCspeKYTL3p^h=E%4Wun)T6J7hit316Z80m+ItD?cRN1$X z3hPEZJS`5M^`;5490F_vOD@S&?ylb)oNcR+(z(-BG!SJ8ZH54*}oClBrn(^YNSXZZu)WO*pXX&-;nB^e_mL$1%<6#6VBo0 zT4=2d3$%YoIAQmCSl6%#0%>@~7TDF-)_nW^5&--O67~L#XNV>JAn#wP4J8T9`grye zcH*6hApUhX^kf|%U$(uVL&Ad?=T~v4V78g)92U+Q_lstW0UuW2hZu#v&>&aH`65Y@ zdpD17y*ytV%s7MthHqW6ts&BEjF7>(SQBQ9fPrTX?ONesqFc}AT#*}ZoRmvUx3pdx z>@cJiDBM<6YK(x(v)KCm$xL8>gpitZ5&1;pw!2j&oof+L7^xkdj%~HQ__rRNaIVYR zXN)L(Yh5z$`fQb^@Mty_*NR+!<0Qk=#oU(9P@l2SG(;eWsQVVV)ijYAU%&U%j@Gcf zlED3B2IpSnMI;h=M*c?HY@8(c6NfA;a8}u^LQ#1Lrw7j(;zvcCzj4%dG@I3qMm|L} zo00=ifwEkC5a%+nI9@9*6|EW^{9DKQb1=R&3ha4n(dWoBjnmIt@}5Wu6l`mdmKaZf zpDI}%XpoW*QHzM2G`9R(uK_w}(e^V2n`?zj+|`7y(grp6;`fzWaoEolE44!oK0|%R zt}~88$18`|KGiT4!dRinDomFJ7^?bfOU}M6w5@+F^Sy>&I8afM{}ps{-}WZbE-=Re zg;AXMC4Z-b3zI+!&rH`xqQ+L^35D)@CZhjh~JYbI>6$cW<9YQ8p8sbev1 z*Ap!PSx{mK54E~7|d+Hgz#P@s{fe@@Dy)IHo~kO z>bkb7x5+7;#RPSASl{K4u``p1lBa%#N?|zaG!PkZ{)f5x3Qx?fj6EOxU|n_$Nt#t0;^?cDor7jouyEYpKEBb>L9mO zaq6g?Lsv9Xx&%3lTv_=0ZUY_Q2U8t}o(r7?C2)B_KxS$X6Y1+sv3W3)9?oN948_4OPIfd}=a;3c^&^DIsEeE>0AtDb za_7>~%LAkl`SmXN*LPI2{-)X-lqI@e*i?)yVrOoVjA0?MBNpP1%5z5H2}}EV287V} z;l3UY8c)d~Y5T%y>ln_h$R}#3^wgM7wUJ89_`CF{+Gufk^M%kKyiqST*o7k_RXsnK z>JwwwOMZhBqv1Xj|Db%0W8Vb<@OOMJzktuQ`05)#kv`imD{f~K9(@TDt`6QecYYJL z9nFsCLQhp|(iZ=J#YV-sT@P2%ul2OlHh^R~Z-l*yW5NiCe@bGgr16q#sNJym6{gyk z4!BRT5&M*l8D$fqO+yqV^+U4gUX+txBqZ%l(-zvvS{AHHuAme$C8?4jn5%SP^C(AI zH(-(bcV75&PoNR*k}%kS!J*~-8IVMIg>y`k0H25l*oSr{;6lDoyA>{d#pLOxyXL(C zp9vAHq60Zi4sSb9$=mIs9^G9lzC^*)1{;XWK9|L3R6B!pddz?LBBRMe<}gu8I&Xx; zq*FM)s(4LT_t}2~5@dvYP5ff0ycpiJ=g?vCe$m+{5HReO_Sp4wE>#K%t8y@o>1W_2 z5_@U{K;`>UC2p$F(A_#4ZNW60Baa7K$-O&pAFVzqf^fy|?{bKyImtP3FlYdvEP-x4!Ne6SUncR9{KP;!W}e!CoIA zj-*^m7^yS*Kwoa<|MqQqbq_i)FVBaP=080FKW?W5bRy6c$VF_I3%-CXPdqQ0QbVB%Vg9?4kdlc&DQ=x?Odti zb6SvTXgVneAN6d!XVfEgNaiF;QcAwc{(@NLsA2INZE{U_;^L;S>8n`rq%e(2b0^^m@URObFJ$`1|-MKC#GioG7A~x(X{3b~U z{GL*T0kDcs*xCch7xMpWem(Lp?Eh)jG2($xK7a%PA;S5uSw|%c4Uk-L-NlI)&ZRNU zQ*cd^5-Q+ukP~dTFqL?GIJpWQhmp>12R~7cY!rmW@(Pa zHetoS$~Ix6abAsY48#kq#covOput3d!hr0!_TN4jdZmWkqn>Pl{vd_A5HSyg5ZPuF zzOP!aImF8&x2|-TSDP_W+SkS#T-ag#NR)v()lHkv*&g+&J5l13t_9&PE5# zt#adu(JwVfoZc*iJ1#)`D}QcaF=*Qt;xn`q?dUVQJIoOHtDm?aUrdxKln<|`hi)K^ zIPRH;W6)`_fZ=1vsZi@^$$xby^Unl5?yDAZX@*83iP?fK+k{9j? zXQ`A!T0y6`cEtEzq{xF|Mc057MO(K36RPFc#6M+>G9eO+FfqG)x z{&UK0KmvE&$A~4dALMoyLkj7%@=&S1+31ikyA~z0>$tpa)dO~ zPDzyLg@=fg{|~LQ?j~%dU_m8DQDS)qwh)B|>=;DaL7ukVu{Y$L^mLRk>+IST#)UR| zuv-o;>L&ZmrOl;jZMN(VIrep5xK2$~_~`IAcNn}D&0o||tZ?OvE=qalgSk0UBe~L$ zz#(n4k_`j$0h;#S_i{~0H=RpqU#Dx(4LgfGokRh0T&=;oZ^hXP!^U-qXaP&j(u6lf z&`)`)qR_!>I4jEx@jT)>L+ZS6vd_VPvfB0T=?TAe=So<_;stBDl%E)u-0}YK9Wh0BpbUPpClrB{WY<4eXC1(nd}(hrUd)C#YKH zm6B09`lQE((aXyK1J#XVV{LE3Z%#-r+?0` zl-))#IFM+$iS}kB=F(IPS$M)H&nS<1X^Fs9sm}e-wCGjrcC0e2_GYW8kKbA-fo9~T zK4(JAImujARQ5SKq%hC?$(-o9h5V_|nSyi~il3#wAfzI!CWHGQz4+6O4QF??2$6ii zM{@X69$b8&la5bYXSUOWn(i3f%|=Xdw4nvHFzXR>WoXZx*n>oN zb-ej)vlo631~s=?V4x#b!VOGD_KSNry|a6wFSzTk=Xxp%HY`Y$Hl7x$tc6dtFvXzc zsi>qwl*3X_R#@Ysj+7?`N$uk^c(FOg;k-f^d&q2H)l+q&6O{DrYB%XA16i0)9bin* zTpR?se4<0hSwM7%@UiG#bgI2<8X|8lonj!hFg_Y;;=9l2lJ~6xrk1c^U2XAuaZl8H z&Y=Jv%rURD^Q`Lc)d||KA}=oPG*k(xZ<0L8^L*uIkV+Fyk@;PK3N&q_`q)bp%MGKPSw;Mba;Zm4r;1&as@+FJP`#tqlAu2Jl3Em#X1WbadCV*Cz zsfzN@s(4GSB|NZ$N2X-TND-)}8qw#A7KJ^@|K^lQ-}n3FJbiXyrOCCPu7|;_-+x@X zV`hRM{&L72X(wyn7HJcu4l{KP8XbK|sJm5Q|%QD}>J?&^WD3hUuGXBd&LO@mn zoQ-XgG*s(!erGa_W)><_Q_>$dhW%c+7LZ2en^{53O@jhDN$_U7zaiS1wMWM*J&D1ez}Fgcn_6oiC4=qZkKJxNiA}qWk8bPm;|x->zCjy0 zwYDzRj1?Z2h%f_RIP@DtEgaR#0W&L+P`A)uL7KZjv6KE>^Bv>Yk@&3hi=7PX2mmhR zhi`Ql=*K-MXAhzq?uZV|yshv+WDfbw4o~gcbz3Mcb2U*8=+E5k56ACfykQNB?P_m+ z%iZYP0YiT@R#)+b=-2KgaDO}7gW2v0S@-su-ry(1bZI9zl(GO+L=3UmG~E%=wR%iV zum(0lSDA&_jw%=^3m4%A9C``NR}D}wVnkLLVA)2;!BpW!W|Ub6XZ>NbPj%zqDz|3g zeO2aW5;6<9LESg9!K3#XNDWAAcWRS|f+NvugcnWX7(eq#1hm1GRl=2z1B(n7R3s)e znGqrBq`v5$IEVu~-(sRLZkBrwxMpqDd+>{WCZcH(iC(P+amB8wO3kQd@+0|)vIk7) zFu$DIEg_nSfI2*Vi$Pv@ivvHe;Ulmxgwnr8W;KWGnM$ ztnjQ@GKnPk#yf9$9ihj-3+v*0h$4QL1bbDX&O_)!_rn_yQ1Ff|h5itTW+I09nIYWT ziz$s#l%k3hp&o-8hs|AYOQ<|a>J>F#|NM~WnSI^)A>GSB;ib+NzcN4&t$mEf-7-v&tw$)dEmou7OKNr-&ficrK69`L`P z0KUIq{|gZ)&e8PT?tX3owe<-VXkh>Oxtl#&;&LZcS8)ThE6IfAyTr8#wAy&Mis^QA ztAcS<8KGol=nG`8_ic%^U80IAU*Kioh4@o=A4j~>5PiL1yw9QXm?-{)*%9Ej1`DT* zJ2rF9pdH}f-)#k7etEDSS77umwhTyf-Gw+3?V_ma6OaMV5!vkQwp6XC@1k`qouBBqTNi)L zrTs#R9kRL^la^r!g}Em?2x;Ea89M^AfCWQQE;%F>A#e6-E0o(nRe4F0&px;9DfQY4* zW4fHt3=!M?jFHl-0Zk!dUd&R(vEMcHjEJEWjjq-Uhu3IZfP^2(pJA}p(lP@nbiX>h z7l|H#;qy6)C+g)l;uItis+#p~MI1%Od#3JpB#knRi}eZ$2`)`r>rn`Q$2KC663VHm zz&S)I2|b$6;B>^v$N78!R=ymtmN{6Vt341HPf5GW>`m_2NdcyMtI0}hcKg`F*nNy- zeo6825#m>sNV4OhWH#dT9&Ow1j8?a5ycQw(==n@<;x!Ahf zSi^976d2_E>cX#Pq~Z94e*+FmNeoIJ`CnuCI5ruUq2i|dbLB%;<#NiNmtq*+w?NF#|u5R`Suz`H{Wc`9;yP5^E9sVr@kc{ySfTcTEmE!6g+0~t4IwI`bFAF zlxL=!&m$%JJrN#nFZ%zil2=Ik9k- z(tHx#+Afjw%3Rx6TlkdgTwui5onHhiDdw~-|>?+K-p4!1}QRY zO5|`x;Q1DPZ{utN$@^QRdw9uC=6bJ0~K zj8@Lv8Pu9_JB|oX&-?NrP_&!aO{V)EJl&0AmW~iYDrF5GL~DozF)Ug1ljNyd>!{26 zpNYaHbP#W8h#Ey!Pg0us73_&yAXlegkR!D9`v?V zWgEUC9=%O49|NwqRK|t?M!!0`J&tg^m%%^;GE^rb7ODR>vePp{M&Ryu+aR`yY=7~$ z`t(SgHQHG@-Q)sOHiq;S>+AV(M=vnmx*Wa?bN%GO2Z}(l9KZ`gLXlf*Y<6$nB`)UZ z^${24A4oG$%}fc%xYl16C1_@fz7d#L&oEOf@hrSnT|x>Ig~Ez# zI~mYb;Ufr67(haA?7GOv)1{F0Z6&-Us2V{$*w5CAGT}PE3d9lr@49kqB6Y%_ll~Hu z-74=)=EA9bO>VQm7KWBZirF$GsvO+n;kUmD#E$}@n$rbQpW_g?n!no+Q$KBsNI9kv zJa}Ob1n`lezq3|xxlB>0EA#VI|3%G=S*BY-u&U441n3$O80#x2)Wd zk3s(^tl~erj|3-d$NZocj5M~;>)C<&0mWo-mAS+#<%<5+!oN{#d5`qHSLzXb4S%~e z1ExxVS>e8w@7U~@%(GboEp2nOzBXrlb~i~{kdU#y*&i+53MqoZtP9tzy<@r3>;0^Q zNfc~gdiZbs#Q!NkG|0@}4}QwE)rkLbZ2%`b^M80s3;0wMAioP_3oG~;(Znx@1FkMQ zWUlL`5yqrWbCqJajLf!Zao>~j(oM2`B}U>+GvZ5JvD2}G@1ngWI(ask&O5vwbar_T zKn?H4f6JW|{VeS}2&A7HSD=klXf+U)Dd)@bp?y z2OneBH{B>eOGMMunVTG~HKA#JEDz_++!@qnhctl|md%HePU~`?3PeL>w#UJ>ngvMl zuO8PhIP`7MjDU&dO~GmlB4pYtWEgaTRn&Rr)x7VjsBuZdm^YtdiEvKfa1$K#1N=Y= z#k(q7gUo_#1l`tppCPPn= zYNTj7;P!TbpmqKaUxXCF8jY~wVIdJW9llP(j8BP|PCv$HUm2QBnp*l@G(-)BFCMhR z%?o|71hLb;atk2rj)u{(dNH$6E`||gM$Xm{lW=po@aOh<4K!cjN3Wz)I;L8sfA8pQ zb=j(}rgXcyN&e2p`5)LmBZ-4Q_ z?>>oE;F}XL>>j=c`UTu#3c&=jV1#OD3&yv#;HYQdw%ypL)e|N(V7=f^js`E&hkML1 zs#5PeuV)3XZC}VwxWisq6_%$SKDZ!4Sd2RyhCuj84bH%WZo3huq@Mj44g?2Ib7c+K zqvv1io(4ewbrUjJ`moY=Ju~451iYBBtVd!N17;0GZR2jqsNCJ$N>D;~Kx0ps(-`56 zjQpIGcD;T8x^vlFwM)Ejr7gyzb>+=?-d433KV-xFOu&(lq}mMlUqS?JQ3Jdv-@fLM z#9A|vpF#O&-NbVJp`b1PU@nAj>g0D@Nz>UsW>|nhVx_X&hOi+A+XJTdz?VpvJuBLW zFY3Z>;Izc8peG9Rn#=GCAq9(0X0gw#PzsJCGCu`I`#)7=-$6+aTF+q8O{tBg`>Zxt zq<-9~t_=9V<&L{=lijhGN@@ns#EM0AfK{o>uJTjHk^xo&2Q{dNWI0}~Gz9Jb%f%=3rX)mB?bd%smuNV51=*zJ+o4GB`i z!T$DmV^&|og~1T(#t*LlX7vag%4St+)vRZv4vt5)iD8& z(Qxsfv^Tn-OP?(9<=xwcc*<*A6vK`BPnkDWw-wj`uoxQGjk)Uu(TB-nLWu;-w#w!f z>5Kz2ZT5+c!MGW3G~IC**z|)*T(JZx6F$;vzQs#eNjc#^=A4@zWTvIf(BCy(TU|yF zG+Zl>W@|zV7fNVKbVOj%%yX{7dCbha)-3Vs6yA#51>keOLr#VS7FBySm_%DJi}?2I zi3~~9qP^x7IiySH`W*R-T7ZTv5^o8=!6Oa0SdWrsiS@7^fJW?pnDe3oGFyM*+6Xeu zCOz-0M*hY>{cm!y9;YMee;h^$HMqXyfrEgk!~a)nTI+-ZcK#z0QCen?<#xXJ^0>vS zYLCL=(}vzX^r@AP2Esh0_YXTh7y$3l2}RP~5E?KfRst-y<4+^*tFJW(;Jdh?sn;d) zXJumWp}d_YGiCCq$A4Fd34di|wMCEzPDUBtnGI6n2xmvONRVrx9IjNUMtU|G&8J7n z4bV^ehdxD>j4>H+-CL-Hj5~WHES68s(t#hmA07!mTA#Xi!@4;o~NY)qnJE)hU zDgpP@{hg?A!!iDLi{ou@Snw>q+drv~>s1>v2B)ApS@aoLeXrg3(1v#Z1Va*OLX!uB zAH0T1(Z`hS6mHcyysD)H;VP_0tF1`B;WA}MIP|8leha(7uH!V@dKlIe|KL-O@jniN z1ofVC)PEQI6)QC-5tegrVbD}|F}GVmrUxW1MZ%_a8rG<63WjG+nhEc^3l|z_&$kEu zohf@EG%tBbF?7kRe@YC5LskaRC6W2>4Zb36dwnB%3Op7G;kxeReTo%Q|?it z6~@^Tx_WxlD*TX;ByyV|!4!&oa=k@eR~2^USe^r?W|iWnO!hxE719l}_uFy5!2|ws z6*8fBjqfp|r|tY0o}$enE&uHitvO8QctTD^gr~hwbcBV4hEw7qs4HAiPbl&`-g*Fr z4Uno>c{r77`WuKb`q1#Ppypa>zP=uZSjf4f8r(9wU8%ed`N?(4R65D`F!1n1-Sd@v zMEVTWRo67ruKU(|v1FA?3+1QLwE=@Ys!<$E$G4k&_5^wcd@LPd_r_y3%;{wwq}f^* z%da}K{8`eQlu_c`maL~w7Nz=?t|J9A7gqE}MHd@PPt4gRRfcJc52jCY4a&j|3lpV{ z*5;+I6}uhvB8sCn)s}>0T;}Bs^kYnoA|iZsc!cigKU3ls6Xs;KdPQb8F8FNy>cT!| ziN4gTgicm|Bl0W?f3xQOk#@k_|CQhzjn~uc!@l?bl%Av9Jclb_K|qqU{`-pMVqyDF z6RTtGyvmL9>G1d`m*v$o!H)sE-u9ExD{`jTH9%p#4@#0v|E1qmO?H+_ zBu$c=={m#$BYRELq0Z+?JLdVgCW4Oh7+Sy?w#6~NtJWuYO$+1T{n%MMdLW^<+qBu! zc5IxUTjFMbeK|M?B_Mo>3t)|mPvxlQKMwpxL}>G}(6AliVU-!W`S4uAv;Quy==$Ji zMzd-ZE6N}2I^zAIbCx!~u#3v(365T2cGPm@5-%zOB$F4+e6me+L7ZAaoFCk}8wW2p z)lM@BjA=e>%ap2josI+yXz^@|eDIEasaZ&y9IcIOIS5i6F$w60z@*#ScKt$K4-oNg z>FV@2cAyszqNprOv$SPWHc%upjfXM}Ft=-`k9#Qv>PSY7|oQiiKX>RD$TFGyud=^HMW0FoY6B%gQanEs4>{WJUd ztvt%A%Xq&}DoZMHEal+F<8-6WEADWPjr^Ha`dNi+u3oExn)p0xqFgCmrmaxU>{Wy4 zcib3u;U9#^EoAeUiR-&>gpN?flJG>}RPpAH#T08J?cBdkfCFcz`$K3kWmep(ofVJB zdKys@Epa$e2eWZW)UPOaIGFFMYzMJHu6EKBV1%VntX&KinM-dGI59q8`od7Ftv$=| z11qUHUXh)d10S}bVAx-3zq_})%Uq8mIiE!-KF|^C+bej782>=4sTM;3t(F%NkUjp3 z(_!kFP*Jx}4WNbT<#>ooKvm=8sfWsbGSFn|8(W-W!RJt2|f@!i2HBh?R?Sl6{ibn#ZU$azMk zzF~eth})VEcg8fvO?+${hrhcMB7e^rMUk*?Ol1;~0VqhQB*)~N81N<-SVXB7sUgeC znWEF*1@QBml;C`l{t~;iq9`intF$^n)x=^GQ3iN6UxcH@87!YSLaiik+;$kS+!tf) znB2Y71MlQcq)(S^aODXdB)-wg3hicSqE6v z(eSx|1BCQLZoFuWSqCs-;*#5Nxt5jtw7r($m(qg`k#FjT+v3U-enibNL8o}7(HU{s zY_GeW8&*;D(Z%ZK#$m1ZKMoTj5s1*ICl$mA#B9YuLP!NjpFpMfMYeJlnAQcVy_W@w;UGdmvNa=BwPHJ%u&zQKuzAe5#{4)$9@2#uzp5G{+Ko3TF|ya?zAh&vd~nR z5=&1&q?bm4>={aq(f|v54i0bTc{rI9bO%INdXr&$npyN}VHD}ONw5z@azNR^JB5x6 zs7PC+?|QqJ`|%D-(q9etTAcEPy0}{B{HGs*y|*7S3+&H!^9)i7oS*_4eoNc$Y3b~o zdzd^w+tc!VguCBKJ@y;!!jv$I3%uL9p35*{w@P$OS?agwAOU{Y2{b!HR1LK`6v-59 zOi3KVjS`w+;BWo8)-?FlbR8&ljSQVefMaAXy*}QUE`*fuyYGu|kMLa}0C8;~?$ClV ziV0Km7m3k>O0+nK`%2P*E4vu_ORIww)d&q!VV!-4CnoEqfWfy)K#!(h-moSY{nhbe z6l)tZ*xjkbuCYD|ZDY6+((*{j<&1)X^-yc+*Ji*GKMI-H=AZh};=bv+mvkd+c> zdl#8Owlau)9P)(tP4BM|Z^*&U`xCvWQ@N93X6wcgCJAZL4_u|TmLFTX`YiTU;7ntmi-ED!(%ur~3Q$?-#+6F+f%3e*dz#q9?K+wc z3CU!C&ynBa*5&F#ruAW@6i-F=JXO?^FNgWgM!f`4KtaR?S_<=BR?rIU1`Y+8hLT9n z+#aIe=@t^Ptx#{D01b)-9pke7g0E;#|yMnioYeV8(j07Vc8P zIY`R2Zh&VV??4n|Bi-#yslAWhJ*0_av!}7FE(j@x3HiArooyQyqY#pVf6kiiG4!VKoIB~%V` zr7SmlejbVJ!0~r5PRD;T!71#v*^~W%fZF&6bZ{mCAn z7NKLU^0m3@ur2FWYttUa2TAGb$8AF&sW~K#1J6JlnhmIi$6nyz=>Qu;iHFbxoRwaU zxt;=Fz4bKMbD-j_Kah^~me{`S)=JcH!P;CCJYemjr|v|Qyp-!Kz=K)7W)xAL{1#^S zL0>zce0}uhq{E#_Gciov_H`eV%fB$3GGe*hs|xB%nvHozXfiMUG`WVif?Z|yj-LRW zo(aRFnT9(lXS?Zbcdgu-b~eZ2@o)!<0!2{^rMpO+mrx3v3-GI1$8`U8_KTvUK{}~M z_SSf?_2G)cn$v40Rw^@X8VOHZ<>~L6`nA>yD^>F*7s_uHBsN4IKtd2Yn}W}|2maE{h{S?sviVJP5m#8( zU-_lKF++)x4*>WUmH5cb8cyA#bo_Nelt6{-WWM2fk4cXgtJwHRFlO9{*f8CYw>2K< zJO-0J*8<}22W)2{$qIZ6fjN>oW8fz`d{hHIe&%|HU7S};@T^n#GJ&S6x-R?!fj2Vm zn)a&!m9ZuN?G2mjkFqld+e(eu1iU5FW%{WON{1$HZ2;REyqPVa{&->Hhtulv4vO_q zg>91TW?Y&2OYH{TW4~84kCFb7hoC9hH%nhxKiL^@ErLIX9u=Rm=t!JDT96D}+WC70 zj7o)dsD(X`CP}I^cdhnUldIIAi>~{tAYEk*=a_p^k$1eRv6+XK?n%T+M917^bAg#WwhDQl{d>+;!+TnGIhB#pj;0y2~BKiy7| z2e%%TH7>N(z+|6TP^cSdm5K|(q<-6_6@?>H-orMtm|1tePbz$o{7#&JEPTat(Ncd2 zdU(PXJ#F8sJQ`2DNbiXqM`l8kZWGLjc8Y}A=`@80WWb`fnL~52{J`or2_2$^hY&S< zY%8KUnpKPCKhlPseQCY#0~F19e#`e4tD~AR_ZmA25=U1qy)F~5Y;_`^d72~znGotS zV#fF@Fh=Y87~qo?IAYH1txP4GcHXFk=}FLfi$7~p;OuzSQQ(bIKAn>zk!j^lMN)u~ z{$0d1TAQtntRzooqF1sImKVAg3CKU|Ma-OSs`|PrCgg;)o(7ZB@BVS86D`)X=B}J714v(I9igFW3vN zBr@4iKeCMv2U$IVB>84{ewHuW$@pv*FY04_7Te+{`SHLrxJzW^?;ZagCN{1wF9HSJ zQDSQu0^ke#a7F#}%9fh?`ZvjCQFl5s2+Q4kA99n#XHpc|#lm%NohKjtFy?eIpVKb~R?%CyS2V%V$I!>Y_l2F-u3v;^gV ziP(_%WtcLL7#yhE={Wb_(=B-3DzYy0(}Sg;14-$pUHJ5fAx>9<0w!m%fR1!N`A$2+`=8Wh8Oz zUS!=wbfjh{r1d`6S>B{aA#Ae5KcoX zCm$_hLglN;zMBS)kz@MP?xyAL`t z+AoL77yP5pjE&q%bE~w*`%8KYmpP;4&Y=7-owmsEJk5;bFKEKmlb7Bp!t=^}TXv=u zqj*sl!?U3`W-@Gmj>L0UC)jVO) zj9QwsM58!)2ciq=4O1{&;g|N!ru2Bddu}6BGxbq_c@XO|7>2SlX%q z5<(k4@esz{DkkveKeMyVTbMoQ&oA=(V%G5R`3oK;+4@*3%P1wf^C#URV=1l_D3pj( zTEaxG!BUdT6!QJ5&0_@;L8{awMWRV}w5xIS6tMV-7Jj zs%g)Ef6S|+B+NDxAyg7wXmChAmAteeB0a7j1l>{-o?jAiOjBhne_}sxLWLY+zDBlDdt~&3UIH z31iH?2pbhGyusrb2_C~#*}_0;hkP&@UQI{?1bFrWoada~!UBg|m?AgFKP^v=5||!K zL}_+-HSfb`fFm{da=Ru6n?)XduLe!fbN}`&|0YFD5dy_vS6*mDL#WiD4V+LG2w=B| z_zv!H2K=53tG_hkAWj6+Rv5FZIYaD%A$v48Al8dPoSRz0hdBfUA{c4UCBfrlg`=n! z>Uyp1{QNZpxzPs2|IbbAbH9T`AOG>HZl3G9v%sz}K#_`5Z*&IGzU{S8<)A&JkEx*< z%8pfGpMUwVN<%>Skd_MNOjZ@plL1d>BvvtV_lC!=56Urm;sy4ktx{wl$$!Sq)sq(8iug1a=@Zv=b z-MzM$5RRqwN9`kq^N)h1e=K_|++ue7r1V;Fm2{$0RwTW{HM_-F|L`M7x35dkN-j5j z9$Ovrp7T5tX%9Ug$>QaS<>pkspwiGK zQNMz=Kr-kpWbe95ajnGE3#Z9uph&%o;R*$vy~-Am%30Jl!SON6QhGXv>AriNww~7#`pAApe6_EeO za^-T-3&k-ZC0S{a=xi59qr`z9>aF;5l$1&Pm&Vc!I8?K?wTxS%jiNCd@-6Bmxr0XB zW=oz8t&FqkudY^^UE(4$;;OeTHGI_ii}MflUSUz^eRAn8^N(B^E&=ssi|EbZ!JHKX zw%y||X>BkG=!vCptTLP$pTXk&jgni@O(UEj@^*^S+P|E`t` zed|B?K_xp~CHHp7%5ywI<2=3pz1UchhY6hXtt^<2%C~WIigw+<(frz@!nK4$Nl`T3 zl{47BEt>0rugQ&|K!(EQMR(Q9&toDaI|?l&&V`BmzFkFiJz;%BL+e5VAQ4rwW4>+KracI7bGe2ycN0Jb!`~ zLbvyJBjOHXxmUv%$oJzjR&*}Dib{}7H9g!6L1q|yEuJ;kNX$!}cvt2 zk9|C>qkR_*t8u@)OeFfjOf*yj8#lEb#`$Vat?Ngy4ud56Qa$@fSc@Wzb;>g^r%`A^ zPt%qv(7qL^Qe?qxIb7r!I6n5agWchdCEH91-WTs0)8#t5p5)leDL2e0F=25(UEPtK$2 z4$76EF>{stPWnv!Gqzx|vE>z3Jlx))f*A03q#(>G7rj^5M?x-cYZ$d-U-1Jj!_m0p zfgB%*Mn(0BUA6Iq-Su^44B6rerF3*FzUiCVZTkDx2s(wxhc$>|LZ&_nm7BhSSH?ba zrm?5@c|sF@yB9zCD+$E=Cj6cbFNgCUc&jeU4|&|HzT>y2GLU~vlaO}!O>qPH_0sCs z?w(XF5o+nGHYRP4kzS0Rb0X3EHvF9siF~zpw0_<}$k-ueyG;Fs{#}fZ`0r{8%?|4?gE8iSwKfipFt{=HBl8av#1anRllMb@zw;1r7u)3W()8eYwlvagcxgTRB$KsL` zDet`FHE(3)3g_bd&LdH5P0!K&eTK8Gk+Leds>lq@mS@KJnZZl=s$>s;)2;5C3YjFP z6@C&GBo<_f637V;IID)Vp**qRNSa)fF#n@RW%-^@v*)g7{;;eemSsH8{b8fq7xsul zqlhAz0=Euy74KZu&*6|CPUvGED)Nh3>wWihenbAkx z+pod=Mq4iDbT80xRs_^)8#|(OPyQ>9G*Q>s732lGj9r+*3R9vi_fj+sonOWZgAty zL`B_-)yWc$&0=uket`EY+{Bt&NI5+@fZQt0W8g)k?o7GHIDu>5IC4c}tUS&zl6Oqz z$s`h?J3bUgKbuUt9VOWGl(3N9s1RPHnl<+AM? ztomdh4V5B?ZTq7KLte95dYMv610z3u)N2hD2Wd-HGY?}wh}`@0C(jp4MnX6+m@hte zOHn||#i#O@*SQq49?QxERbjF}wl^upxi9e1$RWOo_)Rog2}tXaK6*xA?CYdtU0JrS z^ASCipxyA8ySm@^Lc*1yZvl_q5^Ht1hQ^5M)pP8stNPW7>g23qMe2W7*Kqi8j6dVE zae9VG3DP8;qc--V#|sgJAt>VU?xPb4d`ntIA6}wRs!BHI6>=~ozNQD0kqdb3FI&@s ziezb(Blz&}5?;vmsEx^?TFFYE@#?+a!2D0>?+pb0Hw!*waSs;LkX`Nj=@RH@if>0^ zB{0m2_r=D^T#F#?G0Bc!G>m%iwG*smhGQD$9g3aW}$nP340 z^!h9s*>7a7omnZ?)s-yO%3qPtLZ@g$Tj@$XtgTdSm*ML1aHyPwDr)q8w1~!aOu(?zk zho^mf96sjCzMuGe?q}yBk_WIhgM$0ZXtNBuG6I$ji|NOU#DdLn10lI(ZbKn!i*qGO z@!QYmjTCs@>?RR!ddiBzpObh1;t>+%;nN<&jS{)*6Rs8fTW#{&hGOJT9C!u?wzV!S zPJ}uei^eueE9FPe7q|Yl+Ki237o1k!bn@^SO>7!czmSeU(W^dWU{T&z9#&REi2i9b zO0~8(v?bV7t!6LW&_HE(nH<%VBP_78(W;Xynb-X5W3XU^kCCC`wB9EBs`oWp56*O{ z&QkNABa-w6E~9&P^IK&=LTRxNg2}-?r zs%v-u*6!<1dqDd^Q*m-m{#|dz0rZMvgz#jplg$Bvk|0fE{S}`@@p8^rt_&*640dh? zFD-%H{1%;d@{HdZrNl7*gt|4$PM7_ZSrvR$e1yY@ZCHP~+yQKHozwRnl90O8kV<+) z_~k<3HF7=+%J(TG*U4dSm@`A)T>HciP4>a;I%mKsJT(}b6*sB37XyMu#E&wt0`(&| zp(G;l+HoXk9eBL} z<|cTc=Y`8v%rZ#>D^~~X)S0+Wd8u)n%@+@k6{q9xBOC<$CIumjl9+P#biul(;LUM@ zd7=sUO;G{UldO;<7pCB6C;{IoYCv-8D%2$eA=aeopoj^0BTk6sgB&lUKFpygRSm3r z2;N75fsZbnAClUT`mrenNd4gy9M*&@;+^J%iVUXVFc%%5V;TX(O<#g~cxN_b9-x?^ zJrfB0m==X7(iu4HJqn~)z&yir5C!EJt^uiUfbR^BssO1*UBGXK1xU~(`M;hjVCkA~ z08OI>2N@W`7`kv~wgG&zqL3@cX^Bs}GN2FCR51W)vs92pWwUTtpD|RlJWB=19%rIF zE&JFE0+Dk#@Hp+&X^__zSi!=9;5kZ2X<&AqV8vy?2}=QKI33{ms6ku@?V=&@>tFCVs^;mYiUUEA z8`1^^LImxx`9FJ9UqagS=5fs)2R%EjjU)^N;XuYb&Tw2vm6~}P*jO}F@i6i%usx4+ zABs@`&MEPsTu%SnSK|p_@52G<1ze{(;JtY>1iE!}`t)Q!VNxJ4^e=cEtl%`*l?s7< z3zX1USXzL?wz8li_C;JH$A?)@%hKdPpz|V5_T?fRCRK1$Bp@hsGy^{U`i720fg$0N zuAbIpR0L_du!L*!c)#~)up0w``b)Sb9hTs*-WsSV>#ywbUb)k{2jti`$0z-0GAbN=ttzPR?ch@~t z)#u)`&)!vic?Q0`3yz>54gLik1Ox;c1TzG@1_2EW{L|KvfCYo1el`@lWlFMiK|w$| z!9YN8K;mll@qpexrsez@(BHn!xGp5hGQ(7hjAv>YpyypxByx-8)0ww1zHcOg%4vI9 zPIB@-+-{_mN9H0TX3G{Bg&u`xgOI9!pP_eWaiP6%Wud1Wo)p#&m|z zYvLf{Z`@5WYEpH&k-dd!flOG@?Id>9q@vttxwR7(!=t1*)uV;}FqY4gYVo7Nn%na5 z_r!kDqxH?7H6UwwzU@~irxT<)1?qKUlMj6^LqXCK5_Vmr|trNJ$~!g-3iZhk!cRtEQbyy}xtQzh>FF7z*8 z{|SkrYSbZ3|7U>2Kcj&6Y2(x&&i=+IP8{<6pOt`m`xi3_XcQ!vzcI_{bc=V7Gx$ah z9Ct`(Kn}R{ft7M4ia?gg2O+q2l|QSKM$OZlFiKOP?W__3$i%gy>&<(cY1fll3>DeWu)-RY%3r?#4M5z zr@IL6&hPHKxwP+~Ex`eY%dCq)1$!X^Hg6q>+EEgLgHUmr`4$0->o#T+P5^&{7^8@&p}NuTru{8C2J7v=gnO~ET^bG-{JTOC*MJNIt^-{ zO+c-H+^2lREgnnH)uX%|tkkT5?$u_%;z;y9;;B(cgH~d(d4| z9M!w6)qyorahdgvSly3JYq;$8x>q#y=NO>d*gavv#pT}m+507Ip+VtEDXH#9o#;1{ za*T!gPKj8Rdjr}t`0Xu9cRjdfDe-bJ-Z@-gzA?r(iB-Sho;{8=E`ncOB*q*>P^CZX z$1Tc;yRM{v{ak^r#&G&_E9qc4!Hn!~T{^?2a-{+@vQa_^|D z2BSXlrPRe8dicOXG}sa_>X)N#C&-$H2WI}TqfwRs`j&#jx9_)_gw}xewWXcpqP)`4j}Eu%Q?ic+fy*oIIunXCtDTQ*j}LTNuyX;FTG zt@#ULA1dvnI%fRUCKW!|LVgq4*8W-{(7NQ-FNC3xL>jgPGhk=LGIwu#m0L#u3eDX2 zWq6n2(04F`27HC9@290~^$8l^oR&IpqBXj$9JbAaHKnG+h>Ar2BVa#LZm8hX+!hbVOjkVItbG^XctN54{KN7)E=mwL%P55b(*ARqFXv_+dq zv28hjra3X<{_zjUlDLu8vK6^~rHE|mptxSYLTJ*#)xtRKtFr3eg2RAR2xHY+@6!OO zOz}0Obw$D-Lyi?5BpO(_IvQi~_dKC83AKV@nkyrWJlZVJE(t@rI?I_(pj3?hj8U0m zi_~FSi207xD}Z{cTPCk3SuvhS4Ig56hBpsv@+%wnxJ^i|r&hM$t4GIIv+(C?`zw)S zgWQx&&mGK3OOy8W2F?kjvuUo)$jZgkR&}HAl53-V-X8Oci8bL%&erP)pm~F?*r|99 zg(lr}2J~&*3C3*#HKM-;fYjcqhna*aOyHu>yyfRV4Pl;-50^CWz4ok=)WtM~J_^q} z()|zaHzjY#QgS%sfYnkdALXv;3KISVaKnAYZWgJn)*~yM1mT?a2uXs$qq``j*`bss z`JkT7WaVFRE+2wAW(Ig3V`Ap-e?3oU-#}s_;o{X@IN3lbc=Kx71HnIDw|iCZk_737 zm&I}SHV3u$HV9m2V(S9f&ti@=x^(f$Da`-4=<$pgfGD4O2vOl7;%Qp$&E}A{(q1(O zkaD5D$cmFLP0-6DM0S)%KOyxR?uq$t3j%VeM9tIeLdw4>LEC^MXv{aNj;0HRJcky) z14B1m7dn6L7+N*WDvXlItdx)IHY#9)2_tu~1a8}4G67E4t{Sp@M$*p> zryI#0{WJ+guC_|3Eh4pQ^GMmrG@vi$sX_R{vP<-b%A3sG?1hvSIHHyEsgAz_;m%pi zr%d%Z8knkDJ@`TtzX?j7DJq*<#23?rCxDC_`Ha;(llHNpkxA(~%2*m76u$g-z5-$l|N<>2RX0u^PDs3;jmA5kn&gyOlL+Jt@Nf|9k z4J5cvzHJ}n1GT(_6;$Nk3ifkIU1NpKAFN=N zA3fZ}EwcGD0XkUY^Yf%r7}&vnLLnAP(9AFH&g?{ zOEHK0dH8oeM>QgDSN-9rrAGfsO|V+Yq**e}FTe)+a3_%2bmHqcdw%d>cv?2-0#0L< zq8<-WlX9&6Y|Etn0M5A|qW zX9ez}iD>}J`wDa@9sxT_*r;#CfQSf&uh|XAw_*}9^;IIXyNF4ch2!2vuSQ1X49=At zV8^4n+7V;5hJ#E-*GUo~WO7cbigQBSjJ#E%TTN}*8YJZURYl9CspE@X&b!YKId23} zA8`LI@tiSKevp0^0akImIe} zGjr0q90}ii)V8Cj%jj4xI0bH9Sr2ejvvk$ciE7S-f?mdSEjrG4;WNK&Ij!9J~`+b@dAtN0^` zz&0Thxt-5`i76T^GCeFRDhgV{sSnL3!kw8jXUrKn8Bgw~5fN2H2sblOUSkwzrc4g| z$$(TZ)>dqjs-MaPYliFkbEgtm_k|PzK0DAw@X5~#-ng&tMyt=>=0z?C(31nda0?@Y z-VA$JME&_fd1@Qh=lqenE`-K4+@Lns@p=JA3G;ay0CSDf4h|E(; zYY%05c=$W&+c#Z4?-gdtoYgQ&#^y(d`~A_Py1GeQ147Yc2<(Ojv)Z3}vK$C={EyjS zv58|oKU{O))&2wz!1YMNI~;C<=eU|nuy_?n!L{@UQ}XM8w>HZu%|(l$_e{H3(D-sc zzC#rP8O1(`7CP%=^w4{OX(2XmFL)V}obqv`&QOQHCrz{XGIi%Xy0NQ@rMNkN@BYrm zLLw#Yx|{sH5fr-gE*aMStV$#r#-cGT+>eQgH|PiRM15}QD?IV5QM4Y5w}?h^4}*CR z1x|Vd+Jkb8Mn)~Db8v|Lc#aqtaU2y4W6=dDvjf+LEpc@&!V4h-LhrJYF+Q{3nvKDv z#eJQ8G@HZiZEd^C+WSS&Og zl`!=jZ8GetX((oC0_OsCk)M(aWP?%Ay7QjQdov0nPBgZpiGXOh;55-Jtm4=8eSdt= z<}Kk|P@aUUQOw~b%E!2r=zhkaPnr#{5xnFs;0DcxuXc$6AvgowG$rZO3^#Z-?88$b z6zRghVa?9zN)v9Y>Csd~LQ*(8cSKc(FK3(EfOtyq;a;8Wsf$e`kZ^eiWmFkeNwmeg*kTMOiJF_mx3z1i`W$(u9Gz=T)z>ohU zCGwmi!IAq4l&IPc)+ciEQI7vzb&gM})EJdpHhBudfm|i9A(9!0&iGrSpHp&P<46%h z6f-^f5}LiyH86Pj>Y{ZE>?kmPGMlpu7>hhebc~&9hovcFX`&df*>3 zxNGQXxN%`ZlHAcM3jR(J9*&an%@1Sdq4V+!X?mWa&)^3$ag`C6w)W;1sdJ#dVk$9y;NPOY1QtYG)fEVJhBTt)qJ@n z8!H#6Sn9c4aQ;Ewu5sChQUDE`z>Ps0haCDFL3&0Oy&) zx|VGirV!oRc}Tx<7l8_En+{SfqDco;;ETfMypN%QsM@dMLOR*&Kx-nGEKFY?$gPb; zsE&-mGVR^aG8sR#R91?dbZS{}@o!-11ZcH_PcS}%UOu{;Fli!)fFK#3Q2#en1Ne^$ zl2UefTjZZAiywzFk0%kPJxd9sU;7ylJm`85mlvzVI;8x|NEJrR1Xv?IRx*$Em~ZPB z_0ARNC&hW8daq~3FP{m<;I}f9FPG$W-$5zCns1}Jx7IuVgQ9hjbV_*t1d%>yIs1FKK$8@-)T>Yg>Kn2X$^j33Bt8VgDIW)ZSZk=a{{Gn zHZ|#5Ht@;B0E;U7M9@GNgl#2aJfwaH)eA(zo)l>D!8$K|=nyY>c{T$NB;1#hf~%-Q z%o(7juo#5Qqc||*JE}RF{Z&=AQP3s?y#hb({Q`ex#CbHQ0C_bC{Sw`ml?D-OF*Ddq zTP9k}3$@2cV&WKPPR}kx4j67S1GLAldO8AQ;GGYIR+DItaPHvSDB;lW--t`Ra;WUS zDeXxc%OGkW(0kHU`%k6P91zPCMM=l7Hz_Aqx9Dw!FhB!=6bIt;V~RX~xYjxbJD@$f z^uy-PovfV6MFWHhY#~*4es4$(1uNV!`dWESPNHsWg&@on?0Tg6iJSBYe|d=l%yQLK z;~>ibRa(PCxu~3e@0EwVdj5VJT-(kKQ04~1xyGt;5i#z8gO^i@Y7~uPZJt@ZGr8Fx zV+{z@0rZT_f|9Nm0c zOaIXujE0Azx<*Ir>cAA>d5<#7-S0&rtghOi)CnVH&Tv|4;ViQ&eZXVE3pO3Y&#H#j ztH$5~Ca3407tsRV9y_5Cu4n4{ooBZ2cOe~l+YY!Ue>+CM`2@-xMtED#_eVri$a_1{ zVu4j)E}W=Na+~Bv+|BCxM&c=KkF$Gz0Yo`d=bz^cgS>C~f<2;RmZ`Lh-R3A_bTuY! zOV=w7&_p&u_@JL*e5uJyY^ap}@fHQ*W&)=BQyaZmG4dfrGql&11({0a3+mZ%Eyog2 z@cCnLr{XaasJvu81lP-sp7h>C@7GI$-hI$k0n>Z_sZ<(@*5TUDii4!NBa?wb25N&D!tTbwj-5jXvl?v13;w_07i!!v-?tSDo2e0k!(#uFSIG z0V7VPgE+e7GrKYx(S*OPK)M0oyC9De>?QANV!!u#l)$Y%O75smWmUbI7x657h8D<;~qXZ8Z!Kda5tI={nM&ySl$vN$?9hrK1)E<;7+ z9Jiq=6Zj;xh?l>op!-1p~4kT6! zdX8w9HYYfY&sM15I%hf-NNTLLHprZ7Gg;!dN#qF&^B3~JC!EW1`-h&%61iJ6q_HR2 z$0D)^7-=_x+eeWmVmf{^pwD}T{O{_`DlAl$KE-g`Pd)rzG4Nm72mZ+TX9<+j{@LG3 zVgIbOa>zfss9gL{9(OR!aU71@)}V^}eg+@+8!-D1ES`_U&lWyCqJqb5sguU_sQeSz z>uOYS{zti;R0IE?#=QFfHdZy@K>s;Z#S}p4io4Y00{a;eN2A3D9IzK&M7BSMkLypt zzkX5_2QKn*Wbi=XKCOexa^qPhMMh2B5;@}`s(3u4=`YkDNXjy6suUGsB`!btXb{-u zPy_?rL~JN&J?2~)mZqP0;70Wd<)!moJa%-4%ulkBEWNasQ9n>Sc$NVk_3uG0>M&2MU8zMPpwPky=^!D{2 z4ishjG-Ey(IVd~bjAk{TFu$;wNw|oxPm&;?py08#?){M$U(lDn1iT03m2q=k%?8hz zuZ9(Qj!`}0Ws@CrFiErkk1-XsUZ<27mzDT14?5K&Il;k|>2HbO?BjKmZ{PMeHvv6~M}1pdvAiFK~Bz)dT&9g6^O@vbSO` zrNtH=9af3Oa5O#faOgq?Sd1nYimxKeGnsJ*$$1?Nu^*V5(G*F$ysy?pFw>vSgsBf@ zAs|3hp30xTBv6GMzc(Re@DJ*V(g@yn$wsYIV52^n6?+$ICQdf2a6)_GPioSH+7zLK z+4k)BA4gxFiH(jcg9JfDgtcS%?s%S~Q-^OVo@rx!^uKw>r+7VL^}y~XZclAOD|Jo# z_dYV7wF*PAZFFBDzj^s@QX>+Ia1W`YNNusxlR5rA1#>?mirg2WkPaL+=(+Mjq{$Ny z16~^<_J<#bZWwDzF@UR(EIMv6s%t5Hi9;PTWzdv()ZY8E+MuK4wYvx|io;rHznvkT zPWVt0fY=vKz#p?5Ui{OzDo~*pjVvHD4_KHon_3({n*VS)3<_=!CL6w>nK+;jNRhzm- zsLD!3Hw<4I420B3u{D>Js_rMFVk{mhEhlx2-Y07@{E?v4A4|)q>{;-ga@Z&_S&z%g z_lGgnCW@`EzLJnSi|Z@Q>a4@7=^$EJ2emZrFo-BtOxJvEw2c2U?NFK{j&^3C^(!?3 zf~XOyEw2I#W$l7R9C3w44w!YMQ1P?!7ne$#L>`C3n{-Rm6!Qif|IGIRwpIFH-FrC*{Z?R7x zo2IlY4AHe0^=(Dj8*nBrA}k4fq|-PTMoLV~|0!}BZB3-pBV1cJ`iDOny_@>-#gM2) zUZ+lvY`OY=NSJs73*UXYn#uN@jFvPvO`qsE0kF&J=$5_^_u=*O?LQD!cW4j-_CGY` zF6CS4r}{U+5qH&%AD3Yk$Jg)e(B! zDLC&=T?X%)wXG%a71;s(wvojen4i%C$~7fla_CS!PBC`yFVqvaqrE zc5sB^5&n3^drhoAUE~|q9XVlAR{eEsPe1Zjhd`DDsX~Zf2^(H3N~!RHwpYzD*nenn zZRUuEYGwcKb+xpU82fIWv->tCfxKnBeHVvI5S3?T7?>hsAA_1sgj6 zetUH%&f2*9a5%FLNClQ#Xl}fbR`VB-AU5Y%p3+f|2-6;{(E>X~*lcImJPv>--%f@#8IN9ys9$g z2Ld5pQwx-@<|ATY?Yqk|;&H(8f&r&|fvm+v;WIeG$ZIp)(Rnh1H4rn}n*LN{?siO3 zMUXr5&Q{5Y7n8F`&0ibFkd01r7y>OrLnKv`;4cQSax&iWBa=EL0o*RY#o|+ zuEdB!3!T0wfv)~cN;(#=1{K~Up)?H_5%ftA4yz60FHNA!x*OedKs-_L7zQh; z2o9_Y8CC$u$Q?VEt6xnk5yCoBkTZmf^XJjp75rio6Hx$(f)5QqqKu}&RfK#m!g$`) zIGQXyf-zPgzndEALu+Qb`JyA}E!1*q8b`NSI9LtaD6I!ENv7~CXQch$FC3XL2hkR~ zi}<%p!Q4s?&Bzk?g9Q6=QGlPk+|oBC0KaJ>sFlC<(7#hMbH3wuqwI!mQ>wu#4NYf^ zKGL&n#K8S_ZT1Z9=rsY7D+DgJFWBz>z>V8J@iARHufx~ynyUXyAVmaY^ zo=rb@L#;qN&ER^HsfZXAd z-DecU9>i>Kdm&>c5)e-PVn#T)ONGO|Jzlzn0GJ~ZzjYY7*8Kv)qQ*`w;w2Y_SyZmBj3IVH;^TymZIpI*a76| zW6b5GlpG)c13(CkG+SdSsp@^IPed9mr6ya9o~LRt`H`eF9$(I&tT{sIBT+{6I~+@S4rAZM~6o?KqxbUvCl8eWpEc zssFxyyZyZsX_7wqEPMbs)8>sQ>`=sHJ}^Ew?skWVTSjBEp_UQ25LzX$Qn2{4@=1aI zz{=69%+qi*$gru}y??0M!B#D_ui~y8iQmE0%iNjoQL#N->`JOI@zoz z+U1(Su^v3`xe{U0h9Q|%(Y3jZES|1t>N4e6+qwm&P38=#+0f~dkP zL$KQDJ1nrt1Tfn_gTrIgRrLs5xEr&=9%#pEGy1zU)gfrESW5cjJFc$`{F2t)l5s$m z$ynZ>Ae;})m>*#tcK*{JPSG+;O{!mBJ{-A!*TU)X z3)xNM=GZ&e75{(mT~Vbh#hUB$)EpV?KUgQcgaZCfw6;xSKpxzDP*U^BfWn89@U_sy zrc!Fltv(kmq9Wci`|Y>xYd&kspN1|5Ce@ZGBQ(_Gy0(4^G`kEobS49IMy3~^aDM76 zD-KxGX^02HzbT+B5k(~}O#G^bdzp5=?B(4GbtbE?EmCdkF|Ni1M>4^5R+6|3D=|Y% zbW2aE0%$)`GJgKtdcmXKWQzVnrLrn?bt7*AV>LwWyKgE+IY^l-uWiLmp7as84x+ZQ;IBRD+Fy~i@bwFb{)Mz5TI0~3mT~5jf!`$ zIh`!NUv)pAOX$h}u|SCVc9N};fSBr|7X0rzJc=z%sBX7k$nX2FQn}?$j{+wPiz`Ex z!NT@J5}~bT=HiuBr^ur7=AR0u5uKj4z*yO7Pv@SxgXYAE(LDGt_VpZ%BP;IyzSjA@ zNy-q}Fq8W?3kO>ll6$T|7tMXYwYA2P^zbt2O@ja4UebK(_f4PTwi^Dw+spbADh|vJ z6=*x7lv*N-QQ<0ylTg{VdaSHy@M9CibinEk$dA)QsMljjElTM(2|j75lO}$>_ZD`E zwTXhj2tz-1VLr&BuoaDf*!az)Z_U;4=Iz$V;3}F3=wW~v*I;k>a@3=RI%pzfEcbDK zuOar)ZhRZ)Z$Em3=&}1jetrjPO?1Bv0pyHP9t*KG%ps}N?1LTS-6V445>FcvEZ{ca zzqb1`ADTIXQ&{xlc7$X?m4t7ETRYixNK|<)XzWck7i4tD`tl0s2Y%nofN<*JqaP{8 ztF%G<(9W7ei{9^|A@;ubwX=Q&oU89;8VfOq&X585?2pzvjw||Wl4h&mTzcfdKG0J7 zRm6IPAhwA#dDf;$Mx8VlF*J;|DCgs7yXZcvwz&F@s^XfIPq9E&3dtCDHNA4Dd>`4cJN2Xy7 z7;W%j3_a&5D?pz6t`uM4uqt2caqpjRT6LR$2VvmNomO2u{8Xo zzo4-F!hJ;tL9)x{?W93bVY8iUO^@u+ZnifEuASQE4TQcc>8oJSjm&;p-?%X$WVW4D z&g;u3Q@m-`8ilJ-PdJY|rGrGT4ASTehRqv{L`l`7ha$r;S4h9n1Oi;V7c{=&bspkJ z10Ut|2Tq%%2LiR%6F) zH=!-+gb%#+f||&P*6HaFRyr=zAToy@I9sxwOeQmLd&n0SP*za~MHzooIM1boyd59r z5MyENgBo`pv22&>)Li7-BI5rfRm2OwL7PVCY&K)H*~UFPPyhkmX+B;T)~%vHH+c6J z(b2Ghv3xt{%pzBMo=oa0?fej$?1->1_4l{_uoZ97L32LE96D`&pP3~{59RX|A&L#a zO12pwnLVL{W)o&0&`c+l&8CZG^VLJI89dEJ<-%_KyKD!46 zt`e)MO4ZqoHuO}42HslV*o|&)H--znG@3W>NAy}}puX4Y&NroQCt3z+{+rr52Mbb@ z7W10J`QHI6LMsrOsHbC2D9(2fNAmG5&-#Es=~a!>`MZj>Oexm}`l~AIavyh`)5U?g z>`ikle|=rtiM`Ic>6(a=n`>6M(bswrn^x)k{o3YTHV%WkGoA*nlX(q1*O5g70vZ`A z6ao7EeSGqCSx)Cr|e@?_ogcIk|q;dnfC^nJBESW7{!q(uoasDaj^jz{Ozjej+ES z?=Ep%(u+v8>B5E6?^hm19Fa2)=t~^0GZrgO%4G#RTAC;$Y&m-%qdI1j+|P+|PWz1H zHks3`=@@%14ki!(S^Um>dHMGYCk$=_oPGkGxG-ly;5WbCM{^VG`@7pUT*Se`KeoJ9 zf@Zi^LT%y$_gTe_l+NOK+v7vIqTO*(S=_+j+Pn$dWkSqlpzMGbIpGKdnOEzM zG=-2V&}dke-G%BmV&2mBF2Az@#fL>vj>xLrvyR`IMQ{pqT@|(a>)0cE^Re%3O2fJ&n%HVeagFz^GmlCBux?iE$ z1<0rXh%HJ>zYM6hR!Zh-ocIw0!$`eE_)*4tm^0*XI?E^_5-1f`-!>eL#CNNYV_4a7n3UHr>=0;Np@^0 zahVe?dYogTiosh`pc%t$BUxn#7A@(No{&8ww9d|H8s~IkNwrcJ+U$E* z$|>1->qTgyaaTArmq(qKg}tji%9=ozf%V@E&DUuWGvzq-aE|Y5cbBn~w8x7HE_}K4 zI|whPLv{JLjbD43)^~MiD7L|OxaJ(6o}L_^A0YiM~ zCRBc88!|aF6YpkY>+M9)e=qYcI{#ieOYo+0gf%9FW@EkP3hJ*f#sEZXT)O6j63}SE zy5mD7K_P9}fPhv-{&aHEVqp58VZJY@$&hPIlxr%#N`I_$)6M#6reM!Boo^?0Z#U9^ zu12%jxMEvnKS2Io(7Oz#Ne0Iz1#)eqzSQ0fsYwRSCWY}r?w3Z#t^ zLbGhQohG1k!I-;Qw&Bwiq=4U8VU|1uj58H7>WSE!U21f;Ll4CZvV;Wd7Td2LYd|q| z0p41nh8>NP@N*;YUuPB4Io_)nHnR(MWq-S7cgzQ@D&zcho?s5xox-F%&;Y5rfqIZu_C54Yk3rY-%!;{G4p(ohfexw-TCVmCvCX3Z5z|(|Eiu1H+BdQmO zBI?E%&P5x}P$7!HBmFl+f~?1C{D|}Qpam-0uCk&3+I*q;a%YS)vlMyWhlTr1a?J@V zy)Ssi>6GD1s7#v{*>piZ-Ch*|m3ji5;sF`>7e7OwI9F18{sj2orEc!j)3@m_agSr? zcrMyd{h;bwZq5fL$Jgsa-u&*&_iC}ZX4eDu1CECaQBx`0B)(a&3EWSXPFuG@P;x-q zrOS}hY~bxfGxMe|Z@iD2pddMf66%xM(2#@rpv4%tCW$MPXc(0}BQ%VdGF(ziS~U$Jrrbfx~5UvxHM|TKDi&?==sShdRPNcv?uyC=t!G(5ktUPw7=;>WaddcVefsv z_W?d^{O1mB>3s!#@*BEg3o|`%3YOL#R-)aB!q+ZLIDUuCbR#viDLQFqpGiz|=A?AM z8h8C2)mcM(o>W0xNf+emBsO~=6$-Q8ysU)0b^nw?zdY_09w2o7RofXqU%lg3B975j zgNB1Jse0TH-^h=8N*^mM!R1jvZ~g66pr^>rZ-1r2-3fn?U%}7Oo)`e&`KB4$kqmtr zR-~N;;d8wXPDp8xn0E?zu9-AY<@u)oB=`I5jLfz zb9@K+q8_|aFlV%qh=u(@;H_B=`N52=GV6-?joKx+H!}g1Z&`|S4mf}GJW#PDyW4nY zjWCz+qnEB6{8>d%_!+1|#Qacnz6uF@z8W~SmTtaj5&vh{2e6s=Jqs$U5;@z|^@+1T z;Gimh^Un#5$kkC0)Az=)EWh~(e<84n-(ERFmYe%T4VTpSiMCEH) z%D03sC-9i+r?`4JrPA4vTQLA%um{3ls1}nvwM?r+BR^vjKuLf!%)#aG`06RLM#gM0 z37=O&MwUDOXj(ZVreO{(r^c>5I3uC)7hfQU)plu&Nl+J8$@pASmHQpD|IkQwOatPH zR83g<7-em#nZ)LbxC&%cxh(oh)Bn@;M6-8jB%I{$K-4Pii1(kPh^d(1s;3AV0cwCN zL#3#oWrvV4fPRYuQ8HgHaIpn0sHMOY)M64hBS3Z+uS8D33UgHX8e6S{p3#2S&X4Vrq3tkFJXOoBg&WyV|uTieh`1aVntU^(Z@(8zX7Lx@mPhPBcDLJXkjGxb~Q zysZ(|I+z(%__zM}Tpat~#mzJUKc~}6Vu|+azT*G(Eqh*IsCC%=J5pKb=P&JTv>zCg zfb%&fvO1ugt+rIevy{N~1j=b3<8?^ky~aM>!pG5@LS8JPsAS?Q3Qbvj98H;jLImM? z9o&@RENryq)yb>&P-bq}{DvKA^p!<;^cp!fX7pLV3iys+Hds_JA4gI#uh{gIc7LmK zVdXHVviI8z50Jo&OCqiliv3*@H!qu^f~|-PRScZ5BX46>!Aaz`%rBX|g!I|=7?JT} zh+_3g0if}mjZGj<$2X91?Y8sr-;8_p9T6h!lO2D-2LU1Y+|_q9w|2HNw~2f2Mgg*O zu+Y0%TNR{O+vahg|LS~DB|I3tpjL`ysmdeGYfQ0dlUgY@;%ckY0K_NHasOn7bU6j` zvjq@=qUkD8g%V%max8YReUj&0%PpJ_B5ZwBx$z12RThP#SOml-CFYRd4XS z*VU~h&Qlehkj%PDJB!71+npP;2)PGV9Hs9~UH{7BG_r|wS1!N^`R9KlG|D-{{3r%ZG|+rnH|I8W>JnzjRm?xalw-*~kfyv! z^6c?vH$BI%bueX2I)Px(p)UNN$Z^@*JcOs#I&pdwY_PYYXHwrC$6SBn?7Zv&MJ|PF z8bL~NMygVo1&jENV}lmuH_^tLzJ$hQFQu*MC0@cBJgjEZsR6I|VyBo*>0QIT(RaB_ z?<239BJd0+;S|y5TdD0m#a%lgR4U41znqv|*b%Pjp#4t?Y$*$v2G{MhGgP^yQHE(q za-J{1p*Y4!wT)gjZZVSlq8=N}CuLAS{9cYFI6W%bJ9m4P=_&Gh?r&JQL$CeqDVQtT z(*%&QVRjEZ5~59mK(s3-dTw7e4+#xg;@&g3RIY*W6pghroY;u6TqzbQRndeAVw>=N zFlcaAK#~z&NEa!*wC&_*=HCB#u6R^i27NbPQG#Xyw*zYZ^zf}cME4QVe#1OJK)z8K z@lKbewbdTZWwY7YTN4aW5dQ~q0o0o&hsc{I=J*AubZ-suStp7X+y1S3r5=qsOKfkF zCRcJaKdW9tA5q4fW13^vc5h!wd_3K~{?wQeh?iR^~M@5*N9gFN~7hW*DYWLAo8 zUwuWpPEy2-5^6%-V?L?&&zOcW(8iqFFDKCW>SUC5NU@YT_qQZ8me}f847E&pM#k7N z3Bc~p4^Y)V0c(VXm?!G@R3cO;&%i|G8lzl9#?G-^>U!&pCCGF4FY{QiK+uJxV0W|O$%03GC5|e-Q z`1;4Y{$aSVTBxA8_WfH#LVOmH9ktk1l9%3!p9KDUhPmJk?Tn3jZAe~fH(96 zY$Up!@c$(dh{*FWS-34tZ+DOd%7D;SMA?hqZemZG|LwMu$QuOS6~t-O2@)iw^~ReE z@xEM`mcEIDK7KIV7zG&PLo10mj%dZ#$zyOd`KK`WD(9Haa2bFOH;@xWTk$p8NL1=b zSgpLwZN6yame}|ToN|*o`j%>;O=!C+ORK<5dVxyE+b94Qy60)kztUQ8e-j#mf!+Z| z2 z;+u7=A#@_gm7Y$eYUpxv03W^k2hqnL#ROFG<4lmo-Fup!+E?NO_U{A0gQ|yqU7{D) z_cD;1FM|z;mD9i~#OHj}o~bCf>FMN4>VV}mvn6;XB#?3BFs6Pa^&S;IWxk!8IbVUbnk&M2JS zpmkJ3o|xAz9{#-?F?GpN-v*YnchLdZcGA***7^VLr~&Uk0e*4%A)mzL^KA4#V#0GF z?Mi`wObCM~R0K0_(;Ce{Bv-l^K=b4| z_2*4`OY?)|6AV8OAoMm`=S-2o;nGi@CA-_opFiZO_HssH!irVVT5{A?W`JZYqwR3X zG@ng(7D1^r0ri}L&+C!R_pRa|2%2?tSGYA%--jX!^ku-H;BcRnc4>^F2Fy^} zifO$GNt>Ot#EN-O5Iqv0b_nn7AFc8E_a{d?M+y%4>^s$u0enYe9isTTxgJJUwzYlT zal8CJWE@6ON~@{55tC7ij6FGyE+*^}-N?3gF z*STlX(MSzozQ10<$2?YDh##eCeDJc-p)n<&q`kcSg< zTU#l(={#|kxtk~le^JsYwfUC%`5w7n$I$tSdwBm! zCuxVg51|LzNCSkO_K&Ly-q@4dyb*_&>nqRje&DBcgp2;7f>Zv6Yw&-Fd&`(e+pcR9 zcXxMpcXw&rp>cP2=)&FI-Q8UqhsLdOhsNEZnY!=yv-g=~eoQ8rR8mQ$D)pnXuXF9| z*lVxq1fnC*Hi0gRhl@n|1ruV{@9B1ZMf;STmcQ@CFe1YvxR;Q_n}*!F60Lh{`Jl>l&$_7+u$g%t_k5G#%}rfJZSFRwRWs$ z{nWb7MyaaP1ccE5TwOEa6@==Gx1v@Xz8|&S());^xT~i^9ZYwq?j+B@s@8icYfI5P z2dH=kehoZ$x3aNeB4^eoMEB~CV6D5Ng~R(kcqlh>$xpf?GtQw=0L4@4$wc2n8M$Wr zkG%-j!HBl@YP5LCBGPZ&uFeaIwsmtY)~xXEV#N%`2)!0Oj8$f@!Mu?+-{01UKoMO) zng)t!pELYrS8`ztwMOq77vOc1*DVsHx4Sl9<(t);+#5P`K53lqSh|@GI{>cMfdB)` z>hcvHQ}?}%NcFwV)bkR~Ud5LlEIVM?6}&^kn$xMeNhJ9ayxp7~#9<1{>X%?LVeB^` z619n?1>3GpPK}KKeNHBdqXRz6#*qOke*C5*M#gJf0GB@4OldpMKIo0^<;@uwr) zKT}6`{^UzrK5s*=G3cjf8oOJ(orp8lp$Z6pSOYVmsx zzz#(_Y9Q=T*mR=>E;9ZP*unq*1Usa!4gM$W*!(|W#}yEETvon2d{`VdQb^9f#2&;P z&%_cJx_Zii31iZE+I*~@2D%FHIQax0dZDKS@ zhRMu~+C?H{fvh?4l8afkB`q7~jjX-;1QyHoD=LKa6?uL`yN)s7EGo)ztFh!ho^E1m zD*PH3D;sn~NBvSypXD9EJL+Qjy#Q1D4ky9uG!A?ZE1YJ;ex`>L(~*>UWXe1ysbpCr z7U&3jOO#Dhmy%kWrR-o2t zSH|B-B?Qi&`5qQs!r<&4On-YiCWhbixJMVf;J>S5s%|FKKHD-_6 zpKst*(3ghkX+r}ZYJX`s&U# z3U=C1w*O!mIK}`up#xoz=lwFUn+I+ zu)QAT}}hyd90$0)ll5I)I)|LYByj>=oSUC^U_0D1$s$@?Y) zM~?+vP%)RuU7wR^2AVkA+TY@L18T9#jJJM`9v?XwO==yE>Y+`F%||@}DigmZew0lA z77zDY?fzltR=0}&`>*m}{1(iYa{ex+Hiz=Mu0v#Y295c-HoB{pZ?Z4CFKY3!X5I4 zD+olayn(?)pGY~{l{ld)j_soe`x z2+@SQSzbi1fq(Q#RwhjF^~Q}9z4TDGY0OD&pwrL0dVL&AUoexd=blP z2+%r?hf!@B!*S|VE$k~_uyhc*9RkEyBVJHG8)*5X+Yg;udEOWOqXFQFo@|bQXT4Na zc#Mi)nT#NV7IF#aCeXzJv?+?!scEmgjgFz~nlKh(oYa5ccN=K7?G|e}I%~@qA|$YA z7MxMV&kv0y^-9m#0k#@EKf-~$nLiY_e#qa6;E>ctd^=O!-AjI5^u#4_x-mWz>U7GZ zT5=Mqv2A?ts?db}0y8qGmDiiQMmrnwa7Ns=1$3}*bi#Ue#T@!^;7?9F=sIxPC$+_h zR9M$$%y0E$4c0z&s!n1F`&s0YL^{BD>=!c~ z8hwl)=W?_I_%hHhnt@?2nxc!VTIU;R7-t)3Duy|AjDb9&89v0#mCz4a z*1}urQ}pc~5uEro>SXhg584KIe`V!@)^cJX_jvb`xqOcqYNc<`xvWL`2BtX+oZG|c zp*v_`R5Srhf7&M^z_d%ksUIiqX%0e%=|Q4b=?HJ$mF=a04>1B?1IPZn0-JYKduiOT z?cd2aU7R`?$!wpd$Ovo*YMrXZz{P^1%IfQxC{hXs5|pXVq8AZh-M;}xlIUn1QXNNg zPI?e4sS6C7F8_R3+;2l*)5WWUQM|Cv9?!uWaNwjj2E@K9eai^#-}yIPVx6jgt~?fc zcO3n1)4}g`r)o07iXTgKc?B`Lw-bsV?QS)#-#0fW4k{ni&t3NzY_)}^-rV_sU8Pd& zKV2pE-Ok8S;bNunYi6i4)>Al*WePpBsy^yL$1D)x~2(UEuUq-ghtBSTulK+5Fe z@b}3nL@Eh|nd-A{>=hMEo-v@!fRffx?jM_hRV&Z(1fjc`ZMb8Flf+Fp7%P0H1j4qL zZ-k0`+~&9Nss)L$0;%wfN-(lzR-4lDapC_s{e&TEhBAStANW6(C*o$j9B&BrYr-Q! zRR08&MIO}Q07&%mXz-*jzm|Iw&6j}_qjm-C*$1SIGH5(MM{ z_n$9JcDjQC^a4*%;GOVae}H6)+@i+;o><{rDw_&Tw_GX7LN;GntqVG|pMu?tGgn9d z-wU3=kPM1%-D;~0&V47({a3KI5A^{BPmg z)pf0~I1j${9JTz*SAod&5Bw(JqqPs)*v%@7GfXxB-QwkoC64B`KYo{ZiwNsM7Z!+@ z%GwB#$SCdPb=}AtLjrc1%GZd6=<80zeAL6lpxLNZ&v>bY*UDz#O3e}B1Zt}_8+)nSR&DO{(vy2B%2+o>OSZai z`I#XAGGHPgL6>H?#-c72bYAv;orc!#3Hq4`)1qC@iJ{boWynbIyw&PGj`LP*I<$V; z*k++6+@Is*Uy!}4LY&hAlVqf=#)oRxkbjfI^I~oH?OO1W-%y$d#z!ucsa>4thsslK zIE+?F0>Jm3rW#v=xAy};g`C6(0_-Nu&dBfpZ!&!%C2GvUA2NeBkr#bmF&$~3w-PS? zmHAnW_MUsmhqjUj)Y(Q_*K5Ouq{wWC;;DrRhu_*J;=En#)H^`0u@)lvp+r-x@V->o zWWm3NWlBm7!>Xk?S9m1q@S~g)K=)Di3L}3+lO?xR9V=2nmw2Ku|4yPN2o?r0F9$6K zkizFll>>T29j6fCO%p_kq-~)HFreUco6&R^8sHcsYozEE3Hub6&L6=B7PEu))w%|z*CN$yyLJ1`%y(KNq4n|;< zLA{w1o{LPmk?DQ$oKipdZpn9q#)8-+rkvIs0GH>o*nPw+SY?XIqD7T34 zcqhTL0kI3)c9kT}_#;0dn9f#=tZZQOt$bc@j%=n`~VPwqqiL3+6nC z0wplGOaQiQA|TX&Q|>XAK0+$O$!UtVEQHQ&QT0p!f#v9;?y%ES-&1N$lf={EW^@Qjf9sO{qHY^c^r(ir>e$x$ zINS&A+L)8*qyfltwZxpNC<+$_jG0kVL)ANL5gjU!-bhqOpdff~HZ>Yjc*a)5)q7!O z-69To`!`(~3MmJGrz;B!A+(;yR)rTX+|Rw@hPSTo3t;H~+P_!6*UB>m9I94=Ui7TX zA;ic$*A>2SsG)uUa?Hul(740wWC`*}dkp)$c}(tUSY->)R}o3nYO1yaH8_{Y>RyDD z4~ZVM?9pg`g|hWNI~afwJJGU;fKcDTrBx1DNH^zDUZv1G5NW%Kj2Fk3vDeF4{=mq6 zRa)@Y7K5r%l?yc0MN)UL*tf~HIZUdjoA~IY?m$@`gGa_%lr7Le<62}yj`S&>DTrHK zE}xB<@5qXw4y??9kc+mNks7{#Bhoc8UO3SuM)n7vC=g12a`%TxJw5MY=)(Ho$9Vq^ zV2tzm3H}ON=~ZP?`b?C3U5*WCeTgHl(2t@>_)0Yo=3sF0Fq>v2+)RX8I1Q^VOR>6B3BtHnhLSt}yk2wsL|2MJ?>dn^svZK* zWuinpt@+i=iGN6l3{Ldj;Nh6E%;yr1EI}AsQ&Iyz5>x1T#6stGcte~*piAnGI|uL| zVzLaORpzyuJY7K1%v^Z``tK%|TZBgWAy5yl|4R?PRl@;*i4lLd4fmWa`7TpOGek&W z3&lxJ&8Z-uPS|L3xr%?YRWvdxrs;JU0+P&wV~^Suuc-zH@0z=3>onI>7r#2336G#D zgnn*^RuOY*K>AR%CA9Y_gWCZ9R1!nizm2Yx&k^>hru_ZZ3C`4`?AQoPldKAD_@F7y zD`ZbotJn=#RetcOer~OwR<#0Os7B-fXJQ>?68VO-@kDw7;@Yn-?#>dXY4lV4518pQ zUIqp_(9`_D29=1^Xc^bG#JIfk-T(oR&!TQma&jh{B5#1>{3z2XcECcC2C%Ev)FgXCqYHX!O_;QsT zoYyLEXP-(B-8EO-mj2+)*GOjLXqfBoIfA@{BF# zbSh+S$PH6&`N_8TKSZ zr~C@XUlizczZg%Hd&7BX)qD9XYO6tU_=njdZ6_r06@ib{a@I=)yGY}U62NNIsJV=Q0LbEOQ zs(k@%45S@^jvs1lX~h*~+IS4dZ*g@*us;;F{q@uQjxagC-!PfBjvW9?!kmCZKM)<) zXu#SIXJjXOlUs_TQXLgxesp}Pb5IkwJ@HCFv*!Fh^tn<+rc8gg$jKsE%9EsMg{P_D zzLZ0GpgdP(Hdl&dNdd6&wyQ}P!{VAvbSQ_b%X{MFZ{i8KsK#}~7%4BwDwVLs^%oI} zp3r4LSlOy091jEAy-^_|?YJg;UpMyMT>XjEw@+#{0~hvq{Al6zLn+{7BcsE|4aug} zS7TQ6NV-aFi!6dr!iYk>MfNbacR~9<914xAg9jm5ld+K zr=WC9GVIstSkEdk?b3;=e!6!>O5Ie`AH19E0PL>4Fye;}$PaY1A6k-fgaSX(_)=76 z%gbL%W51V}2$h=IlyMuKOd$fIhbnXLDNq2DO`yc1n1slTT5R-WlT$ovS5XVFiV#4SA#Gls!fGmkv3 zTZa~Y@&l4dMuiSWsqQ&tN#F3=KWqie@?40h%X9sR*oDkhlGhd6GSh3!GUzGU=y_u5 zW8SHMs5Co9cTjR2K>r=L_us9xU&x@UNzLRsF0MIZNfKBIPfON4=y+;<+2Q{B4?Mj{ zKX`ut%usHG`d^liW}`;f|GE>1-SLa#0q)@DlK*=rkk*U^_(&nHJ|JyOX3!(RSIKf< zTo*~C&5n@h!dRwwf9zfwVg?!pki^l45@sl8{qGFQf_DtSc3#5%*|=rJA9G(687_7G zhDB{L+*_RYx^Xi-@B@(-F3b_Zl!e_P2P8LRb;+GaCUZ!sSG?Gq5Km#sh6pd#qx#ib zIr}oees~sOn1Bx($cjjSV6t@oWbB*Ky^6^eZpsn=y#@JG#@cDGBZtlPcgtBPqBAh` zOki!^w9W8|COGeP$)9assc}Bi8@Q=1;%inGox_R%ll|u9fcLcgGJN6QU52u~ZY_n2 zJP7kBZhBpwm}v}6xW8mmi}br@3)-j~X{Sb0Kj;g{F=hKPPVnTD-!V(z z5sx1$Fj%5^-)OgSDEDw)QH0S1dqjm2WrMUSxW{b9CUR?W7Zv;q^-&VVuZozP!So)q@k2-L zWv~=5%pT5!sQFu(09uBMMmE_;&44g%qP>w+F+#aCY3nnNuK|S#nQNMp+DG->LR-qVN2Mu=>Dgl! zSOVQ^O9iB%E?mxW-NT2uq<9MxDK{vIyr3ie221kZA3+MHE?Z=$+=F7iXAT5go4>bnh=ORf=W+ zQY~3Po+dh;)=6bLneoCu}7l2%+c#aiQ1U^h!|>0+>{^v=Fds(3nG zPI5&_WA8A805e#T?dfh+ZC_B|m}f=_Uz$b`;k;b-_5q4rlN=hT;&y8MuFB!deq{s7 zy4grU8^8_O##x&5x`at`DD@Hxpwta0H|X=#eHOpW`xC@BC*~o+y=MK8@~O=K#kO6= zW6az)gluFLh#m*X0H z{!3`GYpWfax%^rxMI;^>+SBziQVdh#plWBhEfh@?IcKFU83W zD@BAInFxVI1=*n2qwTO4wVEADleLJO0VZYF-tgIF^v4zgHdgZFQC9cwh_}{UalQ`` z4oTz%MR{9$rS{}~Yv>+J0Pb`w{Sc%Zcn!k8vCejGo*{n2TYuAcsF z$hk&MTaW&Y>W8wb+QY!tm>U6l#&GqHG8WImx8^-331@qw1j>&fFy0Z41n4gf*iTQ& z2WkBWLh}Ub<+*j>HZ&J-8(Qo$&Sh+slTuKI5qfb;J7zMrn2x%1o-RgzICE)Ua zw$E3cB28hG)JP}RnrkfhuU5(JdQD6TF8qi@Oy3bYhXhLwvbirpP7b3gzm4EC$T6%v zg+5MYY4mDErbrPDP3t*$#Rd3Z1Wf|*E@T?KTdd&}DnFvJZeBrWUsYKIYyjZ}dGe)2 zKEvFo-?5VM&G3=|3kjRzl`q$#^!JR2vap(jNoavpHIrg&;S9(VIWiiGnBq+m%Cn`y zK*tBI^GO3F9paQe2LfrzNch+_OG4VgHK8Gg_d=XhkoqZ8;Q47bp_k9wRngSr)=2e3 zDhazkFzy;j1_A?5E2qmcxw2GzP2dyNIq3zw=UGMsY96nAaU2UwcU z&ql~2=h}{04{PZWT!ZH{U5qL zccE<>6aT5maWpS{qagt2k+L~aK6*_XyVLRpcYtkYfoVsDrDhK`|7z&nRou`}|KwJ! zwRPwur2#z3YZE=~k z(OCm;;S@SMM)XkM>xPq~Q9lHj?~vdS&aW8y!#(u-Bwm?-RNjwGVHVw7@PiJ(BCilj zjmP=RQ~~P-$cA=~uqky4l<6@kn1x;A?=X8~2SYzQq%kidJ}>;YNLI%ng24`6JI-u= zbTno+SpSxxaJRk(6*xiH%zG<|e3v5hdnjfW=0^Jr~_mi$T79V^!j0lZX!tljq?YiX+8xI560KpE%jYt{d-<0>{?CV=Oaq*-H86p zkqt{EU+J{g=q8?-j18{6N(o)$xV#zoYaTg3GDqz?5abKhwG;**#2sG~*Z3EN z5irlu=ZT}AAs+56!jYf@ajS#HdNw12RW_&cF9Pud2wiV!}S^$CL-HV=1?O6Dtbq zGy{DFNMv&SRM>N?M$jT4CpB02onb%+F4M^i39O8ACfAn&X8d_GYv78aAMdZf(YxQl;x-0FIbleVJ{+HF!;w&%5+m)e>Y?Ro{D6lj_mZsP|Jr;^OxV7!!Qj-u2T|$WvE7ZNkh{^b(MqRimGEF z%B5tfMzf)=MyrRRgO)~a&gilv=0&?NvU@eWiR0n-t*K20=4zYF3k>Zxhd_7NcjqWU zeE#GFK5P``_6*JI(W$zzY=roi5*X!9;yV6nMnVfkW} zWQ5@S!M3->@Lc!kQ@5P2`OmX$qLL`Ns~fYAa-s%M3#Es!P&1^84Oy>9&1=?_jrM5x zog&a#jYaB8M7AKmG~hoy86T+i9~ci%Xdi)EXxahby2mjP{Y-;Bv|)I{(-QSWtRd-w z0*ax|ZvvnguDBfkBZkV(6W;=bCx=_`&}Bf;kGn2lv&`vC<%j4_aVh!UsxJ2XLX|B9 zoX~vEmr7~|F~^%m4M10`sqFL7yILUK&YbStJb(iJmD zbqe2Oh+6MWDpVwd?#?Ja+cVMPV4Eq8$&=qlEwsNIe74P~p-#}p(81UVuSv9IC{YF_ z(#30N^4bVGizJu!B6P&MvN4$omN!;T2WXJ_Ovrkdw*}Y46%!_RwP4r*k5Cr4MHqwEZ&JLre3oo-i6g0t(Sz=U$w(U5h4)?u9Z z=NoL~ntm!f$^%4_PHCN^U(mEBUCkS|`EvDkr1iQ!jm@`=T+umPHI;R4r7F1gyBoFa zNMXD7CY5zQYtEOT>CBGX#vkg_PMj;h@Wy!(O=#0Gfw86a{!nuPPxGhm;$SefZq0(D zOIH@dyCbIpQ@|Nf6!05lfivvXGDUjty%Gx7FYc#9IS`SN@P%i!8qYKwJLpIX2TQ#9 zbJ6{Ui#(!WH#)><81GQ-CkSVu{vj!t+1NZQrov|EnSY_kWmWPezi;^8%(>0SgQ@=o z5v`Kda0c|ISk8$dgvXd(l*g{uRoZiga(6Bjb(<_xo&0+5*Tg>9^S^!R~MX?&|g;ec*vE>Y$ z753o}R*!@Zf|m^Ly7P{32%!;?CqBsxNLnOx_}q0)xcHeYQ^aCJO>qFjH!!T;jtR2( zbmpVE?f_qAsW7N;e65Ah zsY2)w;^RO~+fdXm`pm->b3B$;I-I@91Y~kisgd%*+gPq&Tr343P{b%q?`ttSevxp& zk95&uouzzT1OUcdsCe)u`0<7W4U3W^-{JY9Ok{5fpaJR&c9kTX8dV|cy>N~7!(eyK z1=*bU4nvSbG1uM&a&KlDmu0u-f!Dv{;bZd!iC%|qy*i9RWw68|_X1vj6eUd+S9zVb zGi>%Po9{tkv=?i5pc#@MyP_(-BtcQC5Q$-pU7Qf{PL20lo~f|(Hjo53@?BN;N1&@( zztNz!5CIS`G?)GTGE#@9?y^)!7r7DACh=t&7uUX75hzt)*hOch-!SWHeC;7D{}rfF zbi*=Caso9uizkEqSx$riS$B|aNWaIir5ry&=-i-rVw{dyDPu(UJ4#aKKo~{fuX6R$ z7Y*!Toz5^>1nQ21K~T5c_!X3|k4UK0#L2KKOD}+-g8mjb(o@Pi*eT}-+fUE@9!92? zgY+6Z;%b)4H4B`0h6$dyL8EUns(j_bJCDXOxPp!-~pN}_8k_I;~B=YbL z^Yz*558Jdigr%38;?1AT*M8V9@c(vAt7x)mh{Uxq~Y#xdS1`Dti z%Fj(~*|d~g)z6<2+nwgS{wQETf{!VXsh*#Cm==o@F!&Mt$Yr=%_`6WAI&UiM(rZib=b<$Kw!*sm{bXH8&u`47v9xJ%NdEa3x40W5*w^XytACC*LWPV zy{#efw;dqj?7w_eWZ@N?l1!KgBS*{YVd947UBHzi5Su1Ww6O&^3bPc_HxE0YJ)P6V~kR+cqSJRu5>?+~iff6FZUY`Nr+oo5nXU6nCe&OX;J9 z4z{zzPSP|C3W0aE_@RrstFb}6Pbxv+6e<@7r*5LT^1hq}!t%@d2G!p^{h^t{p8*2s zEO}+9uwjWOFoo7@Q`P|oIKqc9wpOS0KL;?ElR!nCh~ZaxRS8$XsVkqQ1e@n^@`x4d z6s41{(iU^Y(YOKP4q7_wn4{x+IV4{_mW|<1qAJc+B5gkx#4a1t+m`W+cBrQp3ZNp^RPs%au zQe)}sS-0As#wIj+-(p6aBDe!y_qET+l+n(f@3G;qR25&OQIIVl((#MTut4AY11982 z`2y<%!@bfMtz(P|;LFo;deGG1Hkh<#!5+8C!xrA2W5qropzxy_(aY-mKphGrsl!cL zYikM8V>eY3!k9G296rQc9VW9}n^SqYnK@2upk#DcN^))%7?2}RC<_6Kya%HyO>9y= zLVeIttG*bsg_T~+JGApe$O?a!Zt5&9)f-r;^;ph|@F9`pGPgbQ~uG@Nbat@5F zei&9AK&?)xDaXuZtQG(qLGp243NnKIjjzJ%C@N{@F2J6R-}#k$8;#}f^}Fd5+W&3k zZ2UFU=rov@bvR^BFMiWUS5hQOrIU;V6SNXWMpA?hOcgc3Fd_hl7Sy`kLrNsZqHDmI zYYCnpt=GG8A3OAeEZ$A;E@t|O_vBV{%T-dC?(G&JDI7)PGr|vO+at88Qyy33@(Rxy zBB(CXyNxr9^31@!wz`h-Yyke(-CprDPK4jykd1>ujhFNYKi#&X1>SF66uHCNB3c-#9am1 zuVVGc00EFIL1pS=3ZH>IFJ>wvlhsV}y6mD*nY)pSZ z*V|L*rK>^q9tS@QJc54mkgf4c=m~6b9kSSNkXWeI*sG=(+tYc>UOp|W?kN~Noe+8I zB6XMp#{~A&Ztt5rD!dvy&*9wVxuWjAGG}f zX@-3WbG`SSA-~*VGqcgyqAFN$CDk)x=;%IaRFd^(2>@~s(zHb|F=SNSlFW^_SGgu| z16v<);GGb;)JJHR#oNF#8x)1D-czs-$$tzv!tM*J zOOnq*X8=&X4a!f#{!qj&NsIM4871+pt=mc@h*)-*@60ERUbb!+(GdSD!R?=}Z8K%% z<-t3dJA+AWmbi(e7R@lII?^n8vD|BckFc;d!-dM|EmR=i@KUg;D?CU9z!H!*xSA%p zmvZu&Itw&q?CuqCtXWR-B`^3^b5gg9D0u~`&jesN7(ODK$WLEEZUSFq7<~J%;mWee ziY;So-|-2g4bGu$YTn?}Bp2+i9jelF_sBL{Jg{N8*UURW!EB|75Cn}0OMGO~rT9Yq zeyx@O?YX_j((R|N^lp@E{SXX&NC78)=)yfh6|pd@VAX%GuZ)e$8pWa)^5s&nNX^)( zO$Y!-^{`xTGIWsma&vL#$IV~jB8lQR&CV8F_7<_so5@2Dw2KgTY?TXyz@Z&YOf z7>UgxE|W!jGAtu4ihV8q}e<}h%Jb;hA#e8M2`i;mmex^ zjw0J1i~<8qLmgIJtXifH$f+>%Av&hIQ6!Z$nw+Ah7+GlDZs?(zAts1#fyQr?>A`8qi#9ickf8ZC_AtFIcL=n5;zXDk95O3b6 z^N`Jwpi_CpXO%0+1%#W-yfjIxwR&C8xn2)HYDEV9<|iG_O>#yNk4KWkp@}KlMqac@ zXm$wJzD!#rv6yoC(FGWFiw5S~_yn>nqxz#lBODByG)7;tG%uqo*CXF^gy=tLMtGrw z$jO}P*q5gyj93r96z6Yazeedn`k+SMB$`>~R!G+ygQ87Azr7{lM;sqU8+}*VH+=MM zIoDPnbD+qAt3pPy37JOggm`Y(*#TC<}dQ5s@GI^HLR5PhL-@s0*A24>HgJeqTf?aTZ+n_&)61}9w>EJ#wM)zlP$%J8_u^?2fv~IKFKM9^1Eei zKMj#~rzd{*V=Rw{x@tVIQ!5-dN07|s7+>fP+0v6#%51%GTy1cHdU7?TbxK;&Ng3?S z*iTUDkYM&IBWr0TuB_;3ZHqe|8ODf~MX!c8jb(s{iE1~5%an?Qg$uNW)mGUrsSXrz z=HIaj>IV=?0E8p@YUPzeK5|!A^cPw~)4lAEDEp+}Br0esjh~V>$UR}NP`e<`Wok?> z;DBY!$gefN#WpMXR&o#O;07o7fa~xPD1!zpW6V|G>d}h8;ckvOH|NgHu$5z>hgves zU&cH{`rl9Os+&->#Oto4G*G(2NIr<|FXQ640QJixmvwz-U5*mj8=N6N9zG z2S)D!x^V@GDc&xyjANW%puy*7mGSvnL|@YC{4(MKch8!%fo1FsHL`Ejofjtdgw0Pn zRP#?Ae-?lmD!p(Xljl=6;8!BB>KNecUvWY(%EthA79Rg^MI1gA^H7#tzsd-3-2c~@ zh}yYus%awoQ_l#wiLO-N85*9f_p@QSip>~on~K#XM;~ZRJSaI$GTGJyi(a4g%EJ{V zQtBq=RWcZ2TyyP~PnrynPtL_b59*24tgWV z?bze-as4|AmmN{i-faS7#2zBF;DR%s#AV09kIB$)ES#DnzdwJ!&;nf4#HcSQ)2E?+ z;bid{x18a9tj3@?+jqD1XFzgTh*kW$@gin1aTOhTlK*iw>|WK@8-M3T=Qqwp z?tms3YUl9uYGS(?iXzH@e$R=`Gfl!Ozt%-(c{ca=74|FcNZpAe$vKgzq(+|@`D~j@vT6C5Ect^rD40Y#Dx%6SaYF*)AH6Z!YG%@eQH?-82Hn3*>xPxohE|?D@BB7*2yjtT2uRI5s_-4${lTE z%C}k9Gua-{r~|;D>&HpLsPYF}`c&^YX1Vwe;|T;E^AXo!GO9>DVKlIxjq0^i@B3zQ z;+)78@-l8u$soGb|h}7 z%j_L~>oeygQdA#OX<-D=uP7a?UJb8ZD;m7VhMlqDP4giEnc@+_DR)lXF{j1ZEukn$ zbl(|TmH*RZlYfYLwOWIl4Yf{N?PqJUf{N7Sa*LX`AA8&PQ!oN!UXG=NaL=g&oR6G` zz%+#eQOTF#5u!UjiM3&3jtEgQ%p!kAxrn+-fiEIt{SruI=b&)c0O?hRze+E}|GkaE z<~BKB1x^RPV}O8=BnO(~16&*(-Tu*{Ep7dO@`(KN4Ffk<&4Q-GC+vP&@maU(v@X(Q zB3o-!N0H7f(XkSmTJV4Uu!l(r2&9@+E5YJ@968x^^}Ebg+!l5uKfvCDja|bSXs2R< zfj{6h7cL{g%r1o9es`p*-iaj9`-(OGhBaDlBww~mg#=Ez1NIjnjN&~r&~V7?LcqaN zU|$HJE*>%Xh>EDTL@PVX)#*X3@MGV$J2P(0nC;Jpxv@0M4J#pf^CWPr4^|!~ctPQR zJf-xG>Qpw}rFP4fN)bd_HA62+^qR_-2;TL3qW-+SVMGaW1pf>3(a7xpafzi{x)V(i zC5%~^u0kM$x26VY%n#yKlNfLawS_}~r5u5x>uGu-Q~aYiUucPhu+a)NI;TP&120(p zx^v5!*vVhP`y8qQ`k@3_t|BF^q*Ru)p~v!p62+lhbu6GiYtME>rZOr&1|6pJF&?ix z)SQ$as=+l!gcG;URCnZY2wAw8^F1k_R<^13fz={NAetB8OOg{65L(hzOn2>v$b*=% zL~c==Y{N<>&LU>*8G;HJNr`+v&jrP4!wS|> z`O+9+2`K|qfh!SaxEvNKA{Y2V5z)NHJ?*yL4BRUoi)up0sVxQCdipvcxfdMr{|rvu zJ(VZ)q7ur4o})h-XnH#b$sH;MzOx=&ge2hB)jUpn4$@zQG{>7GDcAP{8LR!iTe8&u zUAfJ%_cJ><`tS5@*BkeS%}nhd-6#)nF7s?3mgv9K*4n6&7@jkC zVe|NEAn4(TmoeVE%lVCvE-eGILM3h)x<~hi-Tn+(WogfFcBiIhZcIwWnCyi~$y$I; z7hGH3l@M!$4JaqoWk!~-;82QT0n@&E&*BB(lVHBDKzhKst^onb!pQ!VmTj!SI?9B( zQO<+lIlf9~;?VUnYt05{n_(Lj=+cS!*Mgs=R#uD`kY z4Ml!#BFj%fhznyJZYPVLWbg4bh%K6nliirhb6Rg0DbE7cUYNd?yBvITv^iUT;A+(m z$dVi_{?^PA8IPX^ix(F2Nda?k>U=<&&!KbhIg$OOfCDX?h`2B7ayQDdPTa$PdNN9* z0Q}wAy*HhL&}4_S`vAmlspDbuk(&&9N%~>U|5sbr0uJT2hNqcIt_^Z)W@6f+i1y%_ zqNsFxc9B~crVE;`v>CQKF56HlVr#Q1T|_zz70M;TaS2Hr*`l1vlrG~k!x$mude*FI z@7ezLdY&K8x8C<#-&*TiGyeZy>-)|wj~}$pVsbmo#(v68lpkx_?VLQD`?71-Y`e#{J!+BiBw*Z))(85DzZW@WS9kaUT1YpJ;@FvCn*Yji(@T<)0(*Ryi+rb+xJkmX zG1s}PB4Y056d&Rb)Gu=m4HMtWzPGzH)qQ()iAUZhkL4~!h8K%+d1c|^f}WfN&gBOW zGbfhI@f6CNohS~2E0Wo%1F8FdHd&bSD0hHR{wU&_exXZ;d-|J1oLzZ>u$Fbx>%pBu z`4#3m8>08C&<^~sX4_VP_j8W<@#F9K`USV{cRx$cpUmdC=m;4RC3rqP>c5*aGt=06 zT8l5b)5;dQd``cNKfC|-C4PtZxn~@L3t6>s4Y%Q-wr3<+fwm))$lg5XM!b)gcOEXX z{c$XzsaS`wXrrBYY*YV5g#@LYrBBl5$-Ac#<6NdLW;jw+J)>Rb;%xf^idtt3Uono+ zzGfai)!^pE`FCf5pP%|(W|^a>GO7F zg@D~rz9GKUNY!GC_u8wSV#NW~`7`vcyri#=HjTYr4bKIW!I6c#B2-Kd$6t-U(|FQV znHo(!&e|{)PvcfHE;t_jpnL1k-6Rf+7;}G^PB2KH^SSM7I~K`ZPaf;?_bjy=?%9~qoVl}odP$fZ&DZ7wDgLe?V#mn! zT`;c81E-Ir(^JLIUMv~Uzk0IlXHmqpPZrzTzi2ve>K#X%7Mjc1Z4nSoG%#2jV>q93 z3TX~4waKL%g}^P*j(1#pE1E`4xjy%;#@~djHnNI)?ZzD=wU!h2zUz#QFvwFpWIC?( zzBphh`#AM!Tq-xjQykkIn#Et6R=4flx^vT|0g62ityNkjHL+VbEAiCoq=MJad~083 zhUz+8H*Ynr8$BIlR7Ri?RfvZO?6C9^BcY9krzvroV{7xGMYqVh_Wi^cP2UU??^ogg zc129$=et>VLs^vM*n~K9P3wKT<$F9w>feVO`LT_n*SiL`L|>Z7;WsMwoXCB=D#dmp zcZAS-=-keAqAd59y*x#KLAZx?Ra=YeWZG%^aR1(8?xE@@+C+_S7XIR$#&~Uf>9}d< z;)2Ye$B#J&+IM9=O`KL=-gH2(d)UwV#BtW5W6D>%a_?KRH8OtFtub=5UVmBd+6{vR zdPjX)4DCBcPjOevYs=%dMU@;WDT$g~+Sw;k^$UrjWEb#KHmF(T3+LHCZ?85`Fo;q% zi17~lHHYr=IyZMFe;S^{ngj2{;r~Cl1vu?kf|I`$pzznC6pc(i9c5H}Xm=}ZAGpfj zfTTP=X^tiM%3rA`fvbgHSyBPXbKzco1Nd7~;GeKq&IjXs67cHQLA3C065dJO zx)SbSGl|)yg2VX`aX3xH`SXVr5Ops@`qQiabs+>Q6hb3)zEw;0@6-amS|qTuM+xcQ z(?h~fYXhR5>0ei_{ zKE)8M>y-lI>PENrzyk_lF!F=eEZ|!Tn4;)>XF{;1o3lP7_-SLiF|iEf_8Ow*`}`*S zsT3S;&jqYjHxqE(L$*draHJs`5r6k$+)QYg2C z735h4JA>vvV>E&jeI$I46L=_42TIQBz(yc#%w9mkFK|ZUUj_QeP>a+S5d&%ogV*v| z+Oj1;I#M?-AkEndss)R{TbG4EC{RL%oDV3x=>RES@REcAl@zJ5?Ff5pm&#vQBM;-Y zy|Dgwc&(BEVUc3JK)%rCZ|Ott4QSvMT|uJjO0c$HYWDVi5}xb^MS9?DzxD!&zXeUQ zU4TQsCf>>&$-CgDAmKOoID|78NIcC@l6VB7)VSeB!3?DA^+0v!2eeV=ZV!;~EKej- zU?Mmg7?gVy?yxm7#P%+b3EufH29_dq#CH&p@cuqXMBFb2eiKRks^qWab6EZa3xV52 z>Zl=EIvXtTy&nXU%xHAUT?}?5$kLQxX&(NNM*YrjQ8od12Gf28mSF#jq#aN`sD=ze zLA4>U1^UD6d7TOYt!KzUUaX3M*jTW#NsZ?qpxZZ~EWRREBP$vLsUTY{9W)d+4>s-h zosGORNTc|hMoCC4$A7djB_2?ROptxppe{1|RwO|X8JruEc0?Bc0BfH~G8no^0xyQt z&|C|LNO(dD68-Q=I$E+&2UzZsR0yPMU?=W5IvzVTq=C1|0JJ+~@Z+s{-%Xb6z${iP zlM6{yKpd8?4c%c9K0F6mHxvwBXPta!@s_fmbb-RG87t{>jrC z4vMRpaIx-ych|H1LAe6yBi79St^=~odRS6sB_hR*NUfD^1;PSP)u46KF(O?jviBrd z;GJd!^nWG?j7O!8Bzq{01)uo?f!U){t?0oY>=;7{3-oG3z{+pHS