From 3409af9646a428874fee9edac47964f03f6d6665 Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Wed, 15 Jan 2020 17:54:21 +0100 Subject: [PATCH] Try inertial control of the Stewart Model --- active-damping.org | 92 ++++++++++++++++++++++++++++++++++++ stewart_active_damping.slxc | Bin 0 -> 5020 bytes stewart_strut.slx | Bin 27935 -> 29696 bytes 3 files changed, 92 insertions(+) create mode 100644 active-damping.org create mode 100644 stewart_active_damping.slxc diff --git a/active-damping.org b/active-damping.org new file mode 100644 index 0000000..53b49d3 --- /dev/null +++ b/active-damping.org @@ -0,0 +1,92 @@ +#+TITLE: Stewart Platform - Active Damping +:DRAWER: +#+HTML_LINK_HOME: ./index.html +#+HTML_LINK_UP: ./index.html + +#+HTML_HEAD: +#+HTML_HEAD: +#+HTML_HEAD: +#+HTML_HEAD: +#+HTML_HEAD: +#+HTML_HEAD: + +#+PROPERTY: header-args:matlab :session *MATLAB* +#+PROPERTY: header-args:matlab+ :comments org +#+PROPERTY: header-args:matlab+ :exports both +#+PROPERTY: header-args:matlab+ :results none +#+PROPERTY: header-args:matlab+ :eval no-export +#+PROPERTY: header-args:matlab+ :noweb yes +#+PROPERTY: header-args:matlab+ :mkdirp yes +#+PROPERTY: header-args:matlab+ :output-dir figs +:END: + +* Inertial Control +** Matlab Init :noexport:ignore: +#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name) +<> +#+end_src + +#+begin_src matlab :exports none :results silent :noweb yes +<> +#+end_src + +#+begin_src matlab + addpath('./src/') +#+end_src + +** Simscape Model +#+begin_src matlab + open('simulink/stewart_active_damping.slx') +#+end_src + +** Initialize the Stewart model +#+begin_src matlab + stewart = initializeFramesPositions('H', 90e-3, 'MO_B', 45e-3); + stewart = generateCubicConfiguration(stewart, 'Hc', 40e-3, 'FOc', 45e-3, 'FHa', 5e-3, 'MHb', 5e-3); + stewart = computeJointsPose(stewart); + stewart = initializeStrutDynamics(stewart, 'Ki', 1e6*ones(6,1), 'Ci', 1e2*ones(6,1)); + stewart = computeJacobian(stewart); +#+end_src + +** Identification of the Dynamics +#+begin_src matlab + %% Options for Linearized + options = linearizeOptions; + options.SampleTime = 0; + + %% Name of the Simulink File + mdl = 'stewart_active_damping'; + + %% Input/Output definition + clear io; io_i = 1; + io(io_i) = linio([mdl, '/F'], 1, 'openinput'); io_i = io_i + 1; + io(io_i) = linio([mdl, '/WVB'], 1, 'openoutput'); io_i = io_i + 1; + io(io_i) = linio([mdl, '/Dm'], 1, 'openoutput'); io_i = io_i + 1; + + %% Run the linearization + G = linearize(mdl, io, options); + G.InputName = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}; + G.OutputName = {'Vx', 'Vy', 'Vz', 'Wx', 'Wy', 'Wz', ... + 'D1', 'D2', 'D3', 'D4', 'D5', 'D6'}; +#+end_src + +** Analysis +#+begin_src matlab + freqs = 2*pi*logspace(1, 4, 1000); + + figure; + bode(G({'D1', 'D2', 'D3', 'D4', 'D5', 'D6'}, {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}), freqs) + + figure; + bode(stewart.J*G({'Vx', 'Vy', 'Vz', 'Wx', 'Wy', 'Wz'}, {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}), freqs) +#+end_src + +#+begin_src matlab + figure; + bode(G({'D1', 'D2', 'D3', 'D4', 'D5', 'D6'}, {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}), stewart.J*G({'Vx', 'Vy', 'Vz', 'Wx', 'Wy', 'Wz'}, {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}), freqs) +#+end_src + +** Conclusion +It is similar to use: +- one 6dof inertial sensor and the Jacobian the have the velocity of each lim +- 6 1dof inertial sensor in each top part of the limbs diff --git a/stewart_active_damping.slxc b/stewart_active_damping.slxc new file mode 100644 index 0000000000000000000000000000000000000000..780596f9056e3c0f698c228b36fcac8fb450cb70 GIT binary patch literal 5020 zcmbW42T)UKyT?Osp-EGuNfQDjfq=k*A}uRO3!q3hKv0APOempAR}d*uLlLn70)l`P z!O&5P^rG}8MJdt*rTK;3_4<+Bb?&_ z_Y_qIMOS@}sday~F+NgA_ffXj-vZT|mG$+`)oQ=N*YSw^j$s!ses1}|j=sbL%AO?L zjF<2Whnp~>BtB};$4n@HT-#S+d)V&N@Zp(eq*7RhUX5T5lC`oXHg>}Ti|al@EfifCJp+q(g~Ir?vH z%x)BZr7$|gb;_k1@rJ}RoWxe;|G<@m+1?rFfi`sf1Ni~pbr0a`b$4TEKg?*w1K6$K z_Ex7KLEo$+t{WfmNMe+ClEL?Y!j@l zVhQPt11ABTtg4GOrb1^g?ro;9+%MPmRnU=5rpp;uR)fgEPAip)N+>Wlho$*ym(4k< zHHarAGpEDGcHMGCnyg|i#&;7;MdzmEc>ss`xTG_%NR!x1kZxWQA16{ULC{E?I|_Rc zS6GtWPOca*9_`|RP<=ze=`?|Ss zdCV66^YrPWuf^iZ&U3@nd2DIM3G)V?iUG5E zw)z!~@MJnP^4bYLFi~au>7q;#vzXv4moWV3eUnxR%`c)lp^Dg7_X=w1mc}ZxyjGp8 zL>b0I3c5`A#IjBDK%$8cowAOCl`klr_u|A20XpPpz3&#ka`@H{O8p3~xVRJ0)aYQoG!=gc&M_Et1@}`FdBLNi0sWs&o zA0F>7kxA?7J9CC`#%&m6>!Hgx(*5dNtLjs;(tKnC6R`JH64VeyYo;%fYMNgn+R{;7 zr~Ja-xCESsSsNb3l%UJEI)~Hd`eUZwl}StbWQP`Z#H1oXo9-TF))%T|w6j-25$+iG zjMkJK*O!R5-d|dujpHVFcuJE;^pLWVo=EB2Iykk?*z36vzOPy&w@>mDaI?K-^~g-OV~ebZ6T`o{uQ;3JtXY;2jg?4B|J_)u=KhfA6_FyXM7LAAb=obrY6{o?O z!OL9haFag6H?!&w{a3`^mhb_;iN7G$B)Xkhx*`ST?JjSwGhu)jLp?6YKcfFu!8#J> zBBrNn7uV*@V0~vRs&vTxgAwdjQCcuCRiVy&X|$OrxF~!dvcxa8yq}W^if#I5 zPXc5pJ)wclw4yZwZqU{&qP8|?3e(Xl-W4tO50{E z#fhz9(53Td;O(d>Zc{$r)U<1&y5Pq2j}4}ucppe}-`>lY1g8mTQq8q#`ZBRPzE_Aa zMZ>`=(T}_MPD;7@Op9;w=q^;|nsU)^QFEQGTK3))YL&yofscL@z_9reS$7~6H4Q#Z zl4>)ND;%SRR4XwU3-+Ta7qYz*h!1*GryK3iRj>`O;Y)DXc~zM3#|~Yb8)v7hXsdX& zFvhY5% zhfwLJf%%o^veReYguYaAK=_BNC?~{KC)lZ624E-?CfV1UqoUNso{Lx^O7lGOl3vLV z!9nL{PrapM+hv3dRH zk7~*`cKtz|Vv-@{P?{K-y*jOyqF#)`i77K6?6s<$@bNd>j`c11CJ2k);z`uQ(4P{$iDr55+>miD#D4Hd9!^!rvp z5^}d68W)emHBAXUA2WxRE``ko^fIqFj_pw%CNL0#kEkJ8E>9vL@hbwxC>InGhdSsN zf3)Rj6^>w1K=|Hh(h(eEOJR6W(p%3i!yhUEjDa%zw(rN`eJ5&ktlZc4_a3iz^^pwb z>t|%G+hl{j&_EXU?-B-`Zk0LeG8e1UcbG7K+V9X#j~$pPFkQ*TG6zFT>8DyR6E9#HXKuWDnr!h7s$-SJxG6Ynl*PQ=kgv)1<+z~w%YhqOvueiQ;?(5{( zD<1#CI*ow3E1j}EJsS!hXY%uu2iB+*RR1-3{3!8Po+}hZlXzCq000~$o|c-f7*hVY z+nRd2p>Wm*@l%@6V$c9(yJ;)7R(j1!Nhm2R@x3V6sK~lI7WnMKo3hs?7GoIywm{CEnZknpF_Ox|YSx<&;*Gx4Olm0Yqp?A4JS2#qf*5_7=Pkm0@WM;q~ zCsh2%qFt8wTcqs*!SHz~VLQ;kQ$RJbR_;j=ORORCj!)IQ;qI4SccQDTW{g7iWzW>U z#bQkh&7Q(&PF#woiiGUV-!?VYpUudUjmkzLDSkONC>T`T~x+iojz{D2eeJj7CBgzsV1o+$1dtmw8+>Jjn_ ze{wc?$w<~&o=;Df7VXm~r^@Mwig8g8=p$mc(wR8N}k9oUuYSnF}k*3eYsSs$e;)1x5w+3#i~9z zxxG(?tchFE@at@b8NOekGdfQ}s$c)U+mk%`U)TR*(B5sN{$rW>$K8=!hkPSCQ20}4gzC^A{@4A8T#k@u~iLKlJm*u}^N$Sdbh0WOw9b=2rQ4aunh Q0Fd;_C&k_n>%p)8084-f1poj5 literal 0 HcmV?d00001 diff --git a/stewart_strut.slx b/stewart_strut.slx index c1179d592058dd791637860056b5f4dcea6b90d3..dc3a694a22ef53c24472cc1563ed30ee744093d5 100644 GIT binary patch delta 11536 zcmZ8{1yo#3vn?9jA-FpPhv4q+?(Xh7xclHP!QI^xJa}+-g1f`xOa6QB|Gl$T_o-90 ztGZ^YyI0Sdox2R`e+Y`GAPo+I4gvxK4T2cMpiqa13I_3y&_D(j3kvg(gouD4XaMX0 zrvUgWE!hnaA-`Zmx#Kz@77aUoYaUf5RkbZw^Ck5FYOooAa=zUE5V!CuwP$1*pPa_inQ%oy#X-5hDqoH#X)WoNzS3?Fyv^Bwa|xxkP-r& za@(hpElA9$LL|r;Whr!-s+Lk+wl#@~c_nq)EAd>?Y8-fFGnU7dEjMC0cjV(2xuJ$M zsaxS#wyX#v@aoeVl>JrK4heTf1B!WI!QpF?dB6WqKD7imlf49%f#6Bc2LVBLzL^1<}KMF{X9Rn4K@0Ah<_KOMy^e7 z@S`;1pdcXlARs_B$g@AS0ZM#&`&%R_C{WP9k~}mh`k!)bmX~yT0yXg{03&wa7|})V zA7OX9E35Z}mU%RWPE%vJOuW9`{Enh{mGj& zK6|pN0(2qdB9zL4L%G&PO`tF-gap|L0x0O!OrRm>u~2O2CCT;3do@{eDTW!yB^ew- z#t1gnuS7+S6#vP%F(Ht<8ssS~HTxSuBe(s)mErXMjcD=MhnurXn>M zIq3lQ5x8G(`m|FBCk)05%U{_9-5YAAs@6Yy;rm`62JyL<30XJA43^;+fA#$upQw~n zzgbi{Rn<}T)BKv9gL@mG3zg}j4uQ&Aq98eDNX--)ISta)kEmUoM)t7JvK+1F9CY_Z z(UV9kEz zD>7h1pZL(T3TO!4+~>IU-4Tr_HfA^`;IpWpw0S0+tQDE*(Ce|g_-HH!&`t?nm~bA7 zJ<0FB@0qV@gO^^k9?Z5i(fsIW1;`4TUJ*Fe9Q#a)ij3honr`@j!;4&gV%-<)XYoH=Jg{FW5?(Dc(ql3jIZ3W|%g3TaS zR7QdfWuk&6qZrT~LLUb0&VR$FzlKZ`9#4a#!gJ`o$&wEC8H4_Z5`pOM4bNZuA%^LhE2bXUzaOEdlFPh#WKy>+WZrT@S#tFxWS!ualgOLzkr_?lJQ@iQbPNByTCPw{q-f(>G z5+k;tdxmkrq(SSk%;0e#KhN1`xmT2aX|{a)bEU#@_}~q<5O(eNURiFXBXYE`+U~@Z zHz{s)A~gfgiT=E3K#@N*APu-K=Rb+Lfjpb+99f1H3^rz6u)DQFt0#cTVi}<~y2E%7 z*pbZuzRdOA-&%HX&HXUoep#2=S`MW|kNRiN_Rq9KSiaQt88EXug%e(j`cuBCa%Pj# zcMdtfERf!(TZQCq3i>hvJRwGX@71J0+rbNqj(wqvm#sh;CQ)Y*0R6+R=p>H(MaU_^ zCzZW81)X2_Fe}l>uIaE~)#UTnO5kr_gTCM?o#N6HYjNo9Im>oAH zNm6|EpcLPB!jb%z2zUsldAO6@a=m0+_>zE58{$Y;scJ2(6^B(8z$ZzsE~65gp@O4c zKTm+v;vXb3sCH|LdLT9Tjc*;4HdM*x_fApa7oM_XCv86CqVH*`XH(1R!7yw+0@~K( zFDyP-7d^@r7%<1Io-{n^Kd8nq2^eP<$4_ELbpgTIMH+@PCiX6z(wN-+ ztd6{IUoZ|0iWLpVsYa1c;sPCyCQ5saBWC4%wP~h(>8FVFa&jT93fIqccof^yEcVZH zS|bnGSaK%k@v6YR8?~ROZ|79pg>uLvywh9tYrK$Bei^s3oL2j)H&K*x!XN#0O$wtT?`WODr z)EsMlhj~so+$kFfdrs&K;0-qddWk{Hp*S&8klQhhZOJ1A97FMu>B1!NR8~?&T z;aADgkyJdRzTFv)7sn5EcS z&N~e-0RE{)vSxbIi^EIN&o@X>P4>0gb9m%df7flGSOBshPB&$O6$Ua0?}Ng=T}eLnt_W5C^N+2ouo4n)4hT)e03Qp+0V(L=)zzXNkZJ zc*8f;$6ht0CnPQr1Px2HrLHP2ZkGNse+`MA>`z~RN1d)QK0-9-_~f>}9z#jswUt

nsV_Q80|%Y4x`UZ&CKIxMf-W-GF-4*r3$;AjCgpL9t5DOvThlrvMqd4A+F6 zhXNp?l#<$E66>p;B4>%N{??ZEBYZ>~qp47RCeiEA)Ht2Y+6U^^P3N6{doAtJXbD?? z-C4sp`K&MU;8Ly0)>n9yp0#ALPdA0aH6fr$!d_447hN5xKQ?V@P|Gh=)o~c)Z-ZY3 z{A3zg^5@yD_{2FG&`#JJJ>IsH{Buh6U?^iGkP)wJ+|+z?Wu1M+?U7|2Jgw9=XdabpH+5WEBvK! zK|olafcccPfX)`Skytv#k}k(ia{Y*nYt_VqVHwjB3zWpVVu_HUMY%4dcbrY)!0(ct zPBt1#mr^S4{%2zBQwV`Sg8+P0tMlgQ!Hf6Z_Szk5Zg8H?8-43n&u(~hZg`UIV`1FC4fL%QuJPbP;syIa7$3Gz2t zZ99D*_U~-W&-0v>N%(J1xG`n-ozX*E-V*Q&-2E<)t4}$t2%q#Y7&|-wCpGh+Q{cia zlh%11BtGqU%WXYk%8ek~&)S_}qi1$4{3mW5s>{|>QvUcVKQ3B1`iS>dT&aDbRiYrn z#$#>z0Y>v2rNknbZ>w(RRFMJ<`8X_^HM-FPoTtKvXEb{GAd@hlP~H(;($5h@nAPtd zTMVfYXUW<1y^@SQL%Aq*fp^4h4_KSfs*2|9EwhWHxhr88`KFFI&AIgQ^b@sF^tEC1 z@h#D3D`9GJEMS;!Sc=E_YvL9JKR{VKUAic}0j#An?-EI9;(ScgoNeg!#*j)->;_@9 z5TRHUm~a=F&j-jsN~KjnYO&|jFT~O6rvq>64vV-qm5S>r5GnTx-|vTB*A1p-`=Pqg zCP_DaL)B9){Or9w2;K;NU=Hru^KKC3bApUFv^V#PPM4(7O?I@8ZhkJ;k=~FZlJa|e z0(evTbqO){^2h}UclHi*dhr!r3p`)+yzh%`pd`QBV*64C`6H0pPTkz;hLR$(N1gm? z_vJXzy4YCUrb(b-$OhK?RjzfGINKBCVO$jeZk}XnpztHQ5#{jVVNqxtKl!wU*Ls|E z_$gd@(rRU-2>i0*-duzPT)gGCFc*$ zkmM#OVgEujN`cQwKF)7YZS4&+a6Eo7)365jjM!$RQg^D-ZqrFY-z>~E?RnNvD$YzM zl29TTZ?USZ*xdjg2cL_0`u#ClnEzI%D0bb0BT+d!4>^gssjJA!#Rq_|=dD760w_F? zocdsT&RuoBg4XxNyi-?pmB>I60hdS_}(X497wIh-CB7DS(>Or8e_$Eaq);6295tg&xUjPI}rdRGfW*C zY!n^6j>^1-6H5L%&({cK4DT@@yJ7iFpu)HPd^#|!Uo*^16TtXo?a8|Rq+HY35gh`w z2|Y}`xT{wi>emx+-9BoB3?%_yVvV7rXrfEE??vAG(8i)H%&LaI%@UV9cv%+95Jvy{%F5 z%EfrH3?)3p;OQE@QkV#wrAs$dy1)a;F%$L$QsgSJ+F*O+x+R?uiY%%lYgJDs_G*lW zXykqMyO8~el6w|?SmC_dg>?qD0)ena7=+Vi>agod70(%jWKR>U4bTUY3Su=e z7gpEZVq>s#-0XnT72E0MA$DLWD&n2;MoWghd#n0ghV*QMKiGUJ0V)&MnJ7a^A zC5_Q2KRBWzx2-#S{OKixnY68fLLy~MnB zF8V~g5#Zbr7nR%d(ODjapXwi|1^Az;ox3!`i>HN-!}s;2>c3Ff6Mo`=phv&Kj5qGM zGE3*hY{UOXeby94gcGSUCjfKO-66hCra_(QmWBPr^x#+Ao%Dpi^f~Zb{Gi_( zx8r!ySSyLoH{x_azrQ(>hwnDO7vltCRN@^d8im6*i%bi~B?!sw31igh6!5mlV*-_D(#2>u#Xp%vFt{<`_(-aO{dF*YMvZ=j5tA&-|2I7A_~zdQM9Z^<)JjZ>nB z1y#Bi&uSjRiznu>9yx=kRik!?cGDBM(U;q^RTEr5PnlmJk6Z+KOs*C9$lv1Q_AFEg zp6EWG07Gv%3ek+aXw8pMtmtyi9obzYMNHVx%Y@kIc8MpB{99C|Sn5#nesNdLm63Lp zlS-`MjYk(6z<1YCqrFSG1mUxWgVe$AtozBfU4j|lI-fg5F1-WeWaKBpC2Fm)pICLu z$hMcwTE2=fkCK{s4J5q0ddrp_M7nysGpw0h6Q1xf{=8wTW1bqhJNK%6V~_eX%R9Kt zEoE!l%{nC*h$r28IpDIgTgV265$okUwa@oBNBBMtXvsl3iXE>Vde1&d+VxH%gSYTx z)i#6=yP{1Y&W&Vdip>?Yqa^a)20TAmUah^y>z1k16X@6bk2?_xCT+ia88Cvi!M0<$ zgw<#V`983ag|gvj!|K9^zHH3OhWjWHp1aZUnI=NvlS|9AKJ9LIAYw3|pqso$>LoVC zr&Xc=$hz9%(;VHT^F`em&wRugZJ89D#LvNTURL2qaR(E|Ph>>8F89eZr;~hv z`Nj2Q)03*4uyl`|;u?YL;1^lpCT7Xuk}w|j(GMe7mwgb9$51`r#hl2XNd-~E6Ubmh zgp;)S>(^`;d1RFk&e*@>_}GWLa?bzq4$w#iSlZfRmhRaAaW_n8f_ibyro5q#SHjG@ zkDubGTJORutVkxoxJZ#9Ua11tUc8>9qYe9E9XglC3u-<1`=5G_yZbk=1ZTCWXi29i zHC%~YGlQTPMNv}fxV3=@Cz`>Sa7YQ-MA#MYQAM384%E5o_%J2p;V`L`Uy(h>j0pt+ zldu0o{WV8$Xm<@ObI79B!7$mGnSnXYC^T4XiI>V`N-%HY~4 z6qzsMVz#IyH%K(hh-p&W6{V!vK^2>C^NQsmRBPC&A0aPC;X3;hh%bJ6*}|{7q}YU) zq1Wc~Um4fGw;5ZaRb;n9FxE8$65&z;nx}@L^LM)OGx5!|=V3p-$ng24vv_R{SHVaBHR-E)aaJwot(trpxzeK&?jeEjRIkV*{KGZXf1Y zE?~Q=1JwO*TPsaBVOt}JZEQD}Xi`@}Rr>uVT;MN*CFf;QNBG6mTX|DOI-XAsgY{j(7BO;4iQz-fey)4 z_88&vZ2_$*B-V>hpX(k}@S~({bs5kXRBq;*>0t*=@AN2f7z$McDO2?T;_TXxTeCQV z9@vEyNDV|;(mm5*9PkHV7&x4V7w4Y%@!W|o284bRb}P3c(a4Fr<0Upx1s>qDUTZjr z?L{jo_$gtS#*#wc>sf#IfJkq@LJHF%RDoKQvA@J<%uFlw&#c@3NDK})wPcO2Z~TSu zIzR4S2gFxCj6<+Hh&mesU@o2`1=um-blcsIw1pbBe31wpnPfY;1eDCk%norGuny_+ z;XiusEMK3P6iUm7i-ya0t-%D4Zg|=ig;AvkfknufBB&z5mJ$OBg24D8?w$xHDJ!@W zrDnx1!*5Tt2IlwUnzS=wb`cI4LPTT^xcK=*3Zl(XPMJu|Uu!S{sW*m|aciGnD0j;x zDwmaMXMQ*2jQWBxS>P4OIOb6+V852kXrPpB*cyc)rxi`UA%;Y8N~co`RzilZX62Wi zZgM15Qhv$*$`8}V$6tn_D#w2vu0%nQlKrbEn8ioRx;Fsu)OaVHB)@m`2-1X^Q|*AY zJ!!EM+QxSDKm@)3I7oHC6)DjR2EPHnQm2C5?K^~rOyi3=P#6&i+Ev`zW$_f?cu(== zbRVYl8X?)>9)Y|{5Q|(&tw489QP9Q6Xhpn0^4;+sV@BP=ejtmS7e(ppA|7IPdx9ajq}KQ~d>haFi?B*6phsZN2*yE48QE3`ND9 zjW1FGwM2z{HB4#rLZ(R>58R9DemO~RTUa3Uisge*hchZF5xz-%KP=@{f5sEhc*4)m zv(mYr%od`O0G9QM&6Q4bG@!dLJ{?b~jJ{Ms(aC_WW}vTUTJ)_1g5A%eWZFos_#qCA z;1pCEDr36wv$`;#Z1<%?>U?J^8_8!}n|UGBXo`2%d7)2stB=}viIl9U8vzzxrv6i72zA=TJsWz16qEICVLN9YfVuOS!RMf^*MtXTfC%vs?yQRaJKRB~T2A9xm(2{< z2@w1c+zG^2hEMe?1dZgeAF%O?SaxQatV(u3_Rh zhO9coFxJTxdShO}iifi7A*mZUS%v5No4FY;3NMkf!q`f_7vjp;!SaIvsKBHo6+mt4 z_9sKm5m&q_<9_Yjckd^U$6Kzg(~0%7t*gu>xjPeH-`1DKdp@9(k6?LM07+X5JkYyf zWXl5{Fl>9Y)h+SdMls}N`QV@)zs91;Ap>?+!qHDZ9+@3@sJ~}a!QxH^!xadbeQ zugMVQ5mHMeGabqsb%t7R9n)g(bUm2L?FCl?)(1+xT$}luIp`DlC-z=4%Ll5g!4WMn zj$i{gxQ^^E5=0pqU^PB57Dj%8`akcsL-l(##b3uY#f6I+U}NK0Czd&^H36aTF6KYS z?GDTabv48zYrhRzGW`C=tF&(#$90x7sw=KPt_wGl*;>JLQgcwPg!yvqahx0{taQNx zd!d_!L`(mUTsZftfixtcTX}kTh+nT18zcZvT8M zQCH4;WvRl)tef5s!7>|#o;ymuK*wte@_@FMVGS$)3Wbp~Q*28k|5`^YpPdIOleILV zt<+zyRHPJ`<{_=V(?|80HOTWv9eCL4f(7B*YmlJ23mZ!wd)w@&e-MBh5Avuh)#X{M zGlZcpgIPe#dwaV`yccb1!kd#9+c5NvGUzUD?ndTW{Hc&ldYhfqlO#aSY+yGNyW98S zjWPt5MmI4)ov=JUAcihOaDlB|8h3k<(rW-3>peD2=L+!DoXTqG(DH&Qd~Xhtu|8?w zlHIeMFn9m)Za3Lr{}EtRYIy(TCqHt#*1g<5cU(~=ot=ZPWt@A^UqnB7t}wYnuAxj? zeRN*g@ypR&4(@5~SUsvtmA2Te2&<5bX+7zE2jke$y|-kz+Bff^f-%BOeqiPuVJ!A*mIT9GmBbnvIT%an?!YAvl~L55F}C6 zt~mGkv>g4d6sV&#lJ0VH3$v==UcE3EQ5v-i!g8gMVi8{gIggK#PFAU#CCO~RNYfaq zt!mP6DcSUA$cSbt@kUvuf+}g0E)8Om24<0D5)trxQQTCba$W!7#utUtZDH+X0%jVX zM$x5wx=2J@Wha2eaiB1R`ZKWXr*Y!VRYJxR17T(6C+YT-{Q=a~W*nBWc(&!zv3S3U z@$DO+xg=obi`GmoYxd{GNJl+7d+`hdT8*i(MpvA&Q%*K#`+(;K$$nGWU#1cj+jcQC z=Bq;bky{m-C)O2_9s5O-ztQ=OnGW>!WtN0xZ6cq;N<{$kxScBG^_aBJzgAY%>u*TJ zA?isZ#E_t@vr+QG>cV#ER7thw%9XNd2X@UNAl%=|L{ihPBOi@a*73+J5K*B~ehPxI z**eGPaY`tFvO&Rok70#^$q0h@P}_!9+ z&l3Rp#jAiv!q$uy2kE;>t#R&z*%2BmbJs4~RPK7Gk^1FLB?D#iwkv04bIrKMvWAy~ z@`fyrma7mHQRcm4lF09X!^lYnj9=$--jWHo*?p`YxX6`(gP-CkLj@55pW+mnM&s10KX=9xV!I1{Q}QFa>x^8!Le5&wuhal8`N-!L zg7fH23XoqkQ-1MO;>g#N$_x*!P^kV?U0bzKGe}R{94?_$6^&`0YQJ?+F_SGC((sF2 zw`{KZ?$yojvNYE6$#a?-NS+KpunCunm_@Rc2nA#BdRNJhZ!6vE61cFNhTSBl?Ui0v zexqEMRU+~1P!sMkkJxKAQ9A=x1L;+Mk_}jbFpfC>a4^h~CN9uPRn3s=9wYj_-&rn} zH1=iIU+ipb23W@#AjWHimrtdUY#_oEREf)y?&9P^ED&D;cl1+Z=ioTxLC(A}#>uT1 zRC9fTG->aQ$4l7G#n~eV75>`86wR#ic>fxHm=(sn_qRxv_=Nl*WKt7AMl(H$g@}Tw zCqD$CH*EKW+&s?x+a2ZD7;Uhb)9?KQrT8zr$zawo5oGGA@tLkg*$rcg%aKfzYn}z8 zSMJolUF+jlAHkc_7=IR6;s(laS@tB!HVlxBm(rRPRJMzxiMOfQ6DFGIxvZ3tJ=mm( zGuU1h^y(1|xU(5~NNxit(PMUfQy|-vCJP*2a^&Fkf7LREGW0}66R+>z24sc0=o1eI zly68=e1h4K6(iOX>^$QhT{Nt`%wbl8tx|`pAE@v##1^i;o?%v_*ozv&a(Wya!%|v0 z{)8=*jTt*aQJ$eJ;6H$|>u^1)-Qm@hWB7)6EnvDLoYiw~{@4NdwIH=wQLz9=abXEs zt%IB8rIqznX^0*CHG;)M)sQ|#_vf~b6!JZjF?rE*r&kQYu zS#(*wPHC|k>ezztRCoiDz>(fkST9Kw3Z=u?U`Iy=Y^_TJE^yvg@=$?8`rb<`7F}s& z8bl#;@d$7hxVs7fq?8A+8!Mg{VI`s7QmZ5w^mvX&5yXjJzp8xln5NcjJOdrf(0~7j zfCfUvZ*P?{IP$M^vK6q}Dkzb#XsQBjqrsq!I@Ur+<*GtL{t|@k8wpRaJxRfH$}&-s z;Se-@e)`?O%KpPgm+S)6z)xS}wn#1S7%J)W@2szXqk^>pHa&gdPF3tfv?I>B!wb1%>=b2eaoS}U6Sk}TXkw9k3Ht6{1@%l7N6t8Lk;R(UkgZ02HASv45mijx=fBhi`{ttsom#>)MFJA~s zw+i(ivWX&24nrRp2*?I92nZnv(9nt)u%@AFzs!j4d!Q~ducs;15yv;BB9K2epBz3V zxgxzsk-GhpF#S}eR-gYMswjTS<#$rGyaf9J*TJf{@5vOuE|b+-fQrZk+MKtq|Ch}G zXqX;e!8$#cxaqRlqg-h`I!XVsF}7hy#NHzfwT%XPrXVyI?1psY<-LS>E#i^|KuZ^T zyr|P$a2}b)DDI$@*EK#^%t;mHtcG}9&Uc=v&?RW)NW40Y-QyI0J~NaMPDB4JJNx@b z3`(!gNHQmA{XnwzJTvpvau+g&$zVK;L!P9aiABuzBL7bMTA74=Zam_Vk_JUbVbo*;&vS?m9N2SixBKxYJ~h-V3`89r&YIm>i@p?f=0h*crwM5-d4Ka2 zlzhNSW`ijkU7vnVEo#`V1&o9cw2&nQ6)c#ED;F#@AGrJW8wo#&o0GM2?)=n3iugjV z>7A&QZLgOy+V0lvi^vSut~+T@-;i`;z_QWQ!R{P&TezEMZ&Qo=pyzG7M%p(NmlTbJJ3gAI++O>*6W#iYfQDTXc6%na zR3+gi(r+GZ^q{;j3)C6xAobPRw1U`%qFU1J;#HP3bNFmDVzwgmU)-C@FDW82!iYCl zv7-2k`QMUFCrr}!uuR(uEK~NU8&c;iyAA>iRbwFBD!w=4IKq7%D(wdOuXX>i#x1I> z)RjL-gZ3YU!8F6rKkGi5pyEaIL+AI=s6l}F)@VRoYb>C)k?|ihYtH1E#)rxKqfz~1 zrU8EZ1o*pk7#K(X70!&q{|a6vC4U8S)0w}*vnlUifya#PzbK<#W&(fJ-DWtTg1{xS zFGT-rLSPc{O5GnLL42?pDL(H1Tp!}cCG-inY=#RIFvtGur)!P_CIaAh_>c2* zWDw^x+6P?@0|eyrAE*E6B!Ls=0awV?VNo6iCV^bM$K zLGvf4>KG@X=nsq_6bJ~}zg)%$ft!RBz!3}hKfs)}^QguT0R9J<{9nLyVqi5fB@oXN z{!bGB$Lj+D!Tc969w=@}@h8~-aVGx%L`|uIF_x5nKvtnLEv^I~_00JH1MQ0dt@*Hl zr%E5;H^MZ;b8@Ffn}}#M9nlI i_$SRjk-zAhJ?4CX9zGh@zrYXHz;hd#PvbWKX#XEq?n!h2 delta 9704 zcmZWv1ymf%w#5k$9D=*M2M8X5ySux)2L^W^G`LG}O>lR&!JXjl{<+Eh|Ni@4uT|5# zch%WdbIv;5tNWDi9(dLwIFh^+Boqc17}z_op0EVDY9urWsJ}ohIYcx#++Rp$7FebZ zY=)!+L@5r-b~B?qB@W#7IB3#ZQj|ayQ_+%8LpV5P*x;fr#T|bfUEAWNnSkW6&rsE2O(=YE2W`Rfv-npi!Fkk5Zok{fKvyBjflgcs+@WMJ=LIva^KmI9WSnllc z*LlHXsop??3cmarktvBEJ5x;m4gydP`uTSdfbuXe zf1;rX3l9DVsl5Zo_#GG54hHfKZ-00K3F@D^&4r(pi&b&e^h+Z3JI`DM@xf)V`tHq`!J`Mpvo1u{!a2W*P+BelC-k(>BtMI>3Hn#Ml5!sWKn+LsPT;Y=CCIOx+{&!G0m$pt$MXh&!s zkDcW8A%JxIs0lHNW(7}QoaB*59wV{fO_?@nWjhc@!P2nJ)_6_yJ8p3Qmp!%b2?zfU z(*n`Z9|SBSxkUOakE*%>M#E5GV8p1vVp1Z&n%&Yz6rWQ)k~5F;3Md^F^?L8ym6|(wQt}lH8PZ zRH%`~s*l8}gIh(566K-f^<=m0`H{qPe`#0NKuf(KAqoX7yY^7-m$Q0aQBL!<+`zs(p~}(JZ+ZqFWD5MtYxuuMwePZfo73TL*+POG z2E*caXp2&pUDT}w&}YD*(UN;Um-=6Pw5AQJUK9Tc{e=2n$^yI2P>-Gj;-pUQ6yR%f zSy_w|R=%T*)q^&yMJn>Rk2$O#n5wLwFlC#9(0PF|>|2k-VkW7vn+aQo+1e={s;MX@ zUzu;HcV?Op!?gr|YJr3|t?Gp^^l*c3Zj9qN0~i6GhJdNJ6P8Yadb;KUK0;l(bU6?1 z8z6eIO(mxnASWkWdO3^rLucjg0YtXoU$ToveM_v77gW5ns>bPa8I^=Or1kljFxSn1 z#s-pz{H)*^L0f5?mxt|mnL?*OEdsb_i`c_dJ2=&w7lJ3fq8-mF@;~Un(tayYlun%X zr`b=6h<{O8sDG5pHK8z_--&&^*+*j)aTERwy#w0<-VM1(5w^bIuH+ zKc`lOKh{*QZ0OU>khg;ABY!v(_t=ru0?s8Cm-qK_tP@w~#$20_VoBEJ>oWS8B6K2O zUj*=^-se>e6YP`~Y+I=|iJWeu4ei{Zd6$#ldi~I<#40EVvX!(L(389h_az9+gdZOw z9-dl;L<<@n`I=B-G#{%U1R$AQ*kdKX-zN^!jv+#e1}}t1?2D|y@qdm}qFlyBoKNOD zo@uP7@Eqd$)N^=QD|kF}s1$mdKXig|?G~fmdzoaxw7VCrJ4_U?%H5p#?LcC%mfQiE z>~>!!OHko>aIn7UMklqVMrlTl>L3dwKCVmzmIem#xyqp+?j)8!3g8;Ge2bVrT$M^4 zS8Fqj*64*gwHuYG+GSCvQc+S3m%+yVJiS{{_F8YL!~wYgHc)zMxo( zM8tQ0Td>6a5QxSM@&@GXHMIl%D?j+1zbs2(Ognx}0b@nz+(V8ci%eeIM{;{tqPU>R z1wCM`cWLIlOR{E7-tRewAFgYfA2lJ6z5UAj*yesCv?nP!M3hDTNeE>in!J36ny}bWqqE5Gf@i^ ziRP5u*)yQQ)rM*E_PY8xG#wZub7T=Zpt0=kedg-e=4LT$C8O$=CRTad{WxcsOo1S?NnNhm;KOFtM)=Rs+SAdeZU8LF4Jdv>Vz zU8E9`pc`ls4VAY53SyP+NM~U@!Rgn7T=L7;F&n*kizEl}LWHN#Vyqe1t4;Jyk|C#z zHCfR(F#!mwV;mTN9ula+aI3n!#YqQeOP*Zn%&`;v4ieEsqYy36(S4Ol_4*B ze+Qiq)HScT7{Rx>V3oiidA9mA+Hh!TBBHE?6_SVx^bOOo>&z2o!o0%j`IodxrnZty z?d|p4n!5X#c-`Q~83#ILwCQlWhWhjf?EwK;XQ5XhD=1<5cntC$w#f9YWT%hlGq8Zy zA;k7P(N{}CpCUtWCecOdyuru7nBZluy5#Q<*-q{gr}apmx)k*LBFqZ%iL3xC(?OgR z=3y;oS*mQ)hYG?5m3eHi0Ydqr_yO9CxultQ6><%^y5d|{yaL8f#pw@dYv^e$g1!LW zj+Pon8*JhbIp*ll7d|fjC`yr6gixPsE@-$G!3A!L)@z9rX&y_-6u%A~wHy3k5YE<5 zv*zR*KF1yH{RX4s_;cK*d8B#e-JeV~g!{4b!kMUD3@4ZhZH-}KA#x$Ed%T++F~W@# zqIP`vr6sZoV4^q+t1afvUjdlQ?$Q9d)NCxLajHFRo|F#bcX{vn81ZjdxR~8er?b$21#=6-?`sU&zs`I zesdTwp~tY#TB<)7%6_h9y}t=&tr`kkTC4 z%WDJT_$Tx5TpLo=W0bu`O`b2q6!XmISaAJE!nm{rt}k@i)q(zAH?-=2yA22SG(V@$ zEszFEA|BvQNFH@MI66~w-Q6t6SB&{P`_tuoCbGm@{tM$|XGmd4sr$#YDN5a5;`12i zX1+U^I-NbWW9xlBU(5;JIMTI|VnE3vk?fGpKSN}#S;aQE5Bmy}Z-w1xcT$OcHM18J zpM6d7GI?M}twX1q?P)Lo3FnH0;*`k^yECv-caCCRR2wrQ)aE&=_*rtT)0gQloVTxj zG=-wolavt=mz6FTYFo-!MX{nFE9)Rx5&jXAN4(dfr$>7GO;z)cx^fRvVSS``jJ79_ zpNx^2{a%h&N!o}C$)z3cs(I_K5sje4vsWNEz0!7Y(G1)3F`S+O_srSft;;<-GT{n4qWdIqvi+ zfo;}40-wBs&2QZssK7``T79fTrlGSs^FxDBFYE=}ywk=XHiK9xGf{YVAIa9&ImnVJrr$KTM{AI0G~?|bijPN)Ac>6VeUApJ3_ zP*aTlm6lwJ*~44V9!wEqLhp0*acSD$@*y~u5(Phd5-wL*WeyoAOYb!omxr??Ux1qS|ddC(lpyktb7B99L)o{TPB&Bq0 zakh=6P#avA!!Ddi-I5?9R+AW9f)JF45_yOt#<-a{x8bix%pqmr4p#@V9ep?qN9^g? z5i(qRttEZL#1ZFPb6nIr3T-M8?()EhrNDVzFq=ZP`XqOi$Ik0h8_sTW^(5JQ|50&u zeuu~|s=$_WKm=z7GjFC2$5;z7Y4NWKcC#=({6Ke2ge@dXJ*H!`Jpf$0FfV{i7tTZn zDZrm!C=s_T*&ONQRq?WR2@98CqNO%c)?Px1>P*M5@(Eiy&whgk+FQ>~sBHuy87@09 zqKFHs7>hN-aRPW;UDA4Bp5EjZE1LVluKSMv?fuUZaFsP%w{F+I^dy4KYCa7;{uEK` zBioJ8dZB97qI59M-dh03qalTnD%>ZRgEGqTguRRQ)1(o;i6Xy~)hl zB1pBB0zC1o&}f`0C}PWBsyDTs6gyl%c=80EgaNL1F3*}@bD9;aO&O|9 z1IHYRgc7e_wbq%@S`{1i*qiMvGlcJ^3!-NawV)dYtOa))Z9qUzK)Xd4jR&FgNOFq4 z$L{7Mj1sGPzVoZUj$(a>&Ri%(+s}>_uAc?+03#mk+cvV)2G+8x%w@Q4a7FK^jr9>OBe@M$S2NUUE(&!CnrmXjVg*}e4qybE1HtaL9X`l~F1xcUb8wHtrJ+*8K2jSsKOY}~-gO6x*w-zOctxN zSdkZR>NOPke0hkWXNCE>Cpu7X zs<@>`3LlrXO{Y8(hcn|Gv6>XpdN1ZV^aOCCvDniq)Y7ZJX+|URQOG(c6E#Hk4gfzt zG>FrWnOI{ZSc%ub-RG!i8$W^it$Xcu-ayP@Lbr&$IgIQb9HS;VxC!s?4buYsv}fp zjgX9mG+B}+Kc>KWVmWm5%Md<_nm9H1+8QICB%BoFSsaQl9aKVqZS1)fiXuyA*bkX6 zm=LE{dQnYc&DkdkNG`*|HpXDhV!>5j#xTudCI+{~^hbm^T_2{H zj~L?tttL-+Zf7Gmsw+OUTssC~TLbirvlVdPm~e1+C%tefgrB4MhGM>~tY6micp=p8 zo3Q=qROk@9#8^=(&Rn41F#2XQ(FJnr*vvDeuefsIqpq;n%kb8L=~H>p zg^99r!t|3RX^pmVh1keLBL;j;69W;N5^IaMSBKySBj6y=JIy>@ z)?^i;h7-6fS!@3uY0CIDXEQ9S8mxvcA(Vhw0`h^5+kQj{Rz1)ps8am?nEGX^ z8VzfI-6<@ecqn}4kXmGMKiJ3SsCix@nx^g%rt#9`c1LNmu~`tb?*dqxS-jE~Zv0s; z-c`#FvL}AYuwV-(I`o}9;_P+4IxV-70|KKMc}PBxvRvCzK}CD-7JMMe9l^&~|ER)| zz(XxRazXWp`V6vK4S|<{@zjELl(08%wbstXDotSSWzIU^RuDjwZ~2Mya7!4&q-DTd z4u$U!z}9StY~*b{w+;X(mQ3}Ccv)I#dQTd)%7F)nf=j-KO@aVc14KSZIUTqSKco0+ zJYCtTHKmx*ppy-h$C7YjnH%$P!DAdsB*|+L%2qJR9f|y$9w*IJ4-N4!y0_bZPc)4y zzMjQb`2<#8baD4p&;cWp!2xAmtPZZbo^!uPKUhakmzDu;yaj-Qeg%1vOigad{7Dq5 zw&)zc5Jx?hpLRrG8a5EL7SDu*^xVU!ape`DmraDDDBY&r&%2v`@M*ROvD4{@V(m^_ zqP-VlYoEJjpY0^l;gStK=rz91^)w`>y$l*PwR5q1uaSDb-a5p$F}dpDeb%{Vw-S3d zq2pW#X#X1UGy-rJ5isc;dk7XZf03E_v5w`Jq}U4eEfV!EJTGrGM6P5t1SBt4EJe0u z5*2Cp@uLsjrP~8LjkoGl;rAK$dazk|@k_Z1iQ-5QUYl|zIv_Q$G;*U$n7qgJy`Ht3 zBnkM`#x`AXBR<6dEhmSa@H)g9Y^weolR*6BYRo=_BZIa<(CNX{x7(V}Ge(1^4Eg#AuhZ%X zY)5?=?cLzsp9A`lviB1s?#TA8XzOu@Y=fSByl~QZhZj$8(w@6@n`aM+T#=BxE`(7^ z@+-#`Te|^r>9v}N`Pb_%z&YDALc!As$UW}|nnsdXDNW?>`6?rd6y+*YniS=dU9=XM zKfWZ^`2^>4T&bz_X_}P%^8?t3tY0$mShdADq|p=|zvfUi)Km9gR4phKgJ*N1B1HB*H=YITn$vM z^Oau>%UvB{Y)2?Zx}qFUt1V7O;W<4w7=&W5`Oa&^qc0S~e(c#Q+H?wU0ObILC&X|8 zsh490$pu`zO?n`X5@glRjPbAPqCR1!8>YWHGyRg$9UK~|^0AS+2Ppgo7_ z<6+QuR;X9rNzdag-w(XVaBVR^Anh; zGADJWDT91S5?@a#R@(qcb{ll=GSJz1e9q^~c_YGAW3U{21RL+4vn7A^D z!YNZh;`mKl*!mcND_8nbxQjrd0oOh2?UEddlQTlA+C&ESDy6%0k(P%>3Ch1BGVf>(>a*{ zOdYyQ1L(Di4{XD+9E;R+u|8wzJJWKRn9nq|<|2S0XU$EzK9Bk)0uz57Vt?Jj@@et? z0h&}VsjhZuvm`E^bZfT*lqE>ZLXz1taKmBq&I5m$AglglrH3zKK4Ef zE0bEe=zd27EPPLVwj{v+5Pn4~1{F^hCW;Jem4T`sQr&#Tpu(p*L#viSx1o`R8oPXN zhO1-HN%w2IxaE_$JOO#EqcSX9xW)GXs97O@d?lAy!BugW*zDhZD6Yx`|h6$0|NbBn1${Y~3!byG;WZsQ6c z*AY>J%gNO(lE5KC8-FTphHefn55D@m=c}qhJ=*a-byWoMxc$tb zO)e`%tS~M+px^bWIG{g_Q*}vt)pkkpaK>t5CY4dWYkK<c~V>!`~|v z-cYsq3sYpsFrvWT`xg{g)1kTL z;JoheJVU}HYux$G!DjF`zBv0(^v*Jf&N4!ou|*s4z&rG$pvvaBmhYyKG~0zDgKnr# z?hNkV1Qy z2VvVdn>8jsD7$_98Y0rXU;T zPof+x3rE0Y09`gIpxuqWc6m1pE&@-{rIArceoO?Ud0IXJ?E6!%3Q&05GI;rf^vKAwhA@`P}ZGd2DsKE#=*oX2BU2pn9*lnC&}`uS;4WC1Gel zR*y=LYjn+Pox6_hnK_Rx0IFN7Qb0?k{)N$pdV0UYO0sY7>*OclyZj?4FSbCaGBt%P zlRd&&m<*|#T9u5c+s^R7vOI&j9@9#u)NK<{>6!{ZW1D(oNgU+}?^`JW_(Zh2_MV`z z{3G3q2aY-K=BmeTo#y1$E63?pK01iD*-YmC1sf6$Jqw1{Ki# zBbMQIgvxq4?fTjCVa$)LZrHM0aqnwq*tQOJYey&v$ za(tNH)zQNGv~a`LmyQPQ=U{+h1UeMY4)%^F+9U=)Q{u$#Fv6M+GOJ(<#4*&bQV{RL z!Atypp3zZmLZm=(tXiI^_>QYDHjzRpIU>`P;<7`cq6Mok^r13u8?dkX5m8x-^7aId z-oz2Ea8F}Iqg$6OWgqHH$VsVJS1~+xt)Ud85h8H;eH$;-U2BC(pSc74sOFf(J7pJb zwERq+@VLb7ONS~Z>=sHU6^tO6^efpIDW7{;sS6@5MUD=Uk5C=-)kT^bxbYDuN{4wI9eECn2U(FdNB;(>yTTt>TbBCpE?Mxr70?@n}Hp}!a2}z zKPi;C9}$>P2bl0K-Sa#(h6;)WT-BCdtt7DQeN%Z=_`B?a_Ig z8AIgu9{&8M1||l+p%%eef!d~)F+6y_rzVP`adb^BYH4aT2=bJGv62646L@P{@9p$F zm=rZJTdBnDR)OF2A*!0ax!d(t+)KNmZ(X$`K^IV2&4UH;E(hfM3sFw$6mRcy%59+g zEDjYqmGCVKgIZScAgUS7y${JaAf1(D%}_Pr5`K~3^Y!p3?3VnG(a9F@Y?osfNR7^d zY>yx*A(}C2rt_cM_-r;M71-z{5~uOS9@qgIWy-($uln0rt<)7HDD3;(-+PT!>sv(E zGs2Iu7S?D({8S^=iuwT^W>ly5?>sdxw^UPlbA=rk7|_E!_)o?{TBQF0c^2RP03plp zKVaN4^bgRoD*6Lptf&5fWoy1afWU_1|Lud(vJw14XW8IFa6<$2VexLk19>6_`4hHrS6AbLFTK4}AAz-B~ z1@T`y2Y&DL00#p*e6z&)d&Jx2+aZb%w8X~)BHR5v5s@7(_$~009qn(siYUj=k#7Tq zV8Ou1|7F)h1l%Q}1eX4I{kPpeI~Bmdu>NHiMhYw=#i9StKk-kk?>`q9 zMg{bv!2^cbzyGal87$rCLiiS+Z~v(*#}BNxr}*QpReM~Bdu?Eu5&nP8^v_)v42KK#!m%(4@u=_TU`^^vd|1!|k2gW$i{+Y4W0T%*b07SJw2gaDA1798f_9wC< zE(C_*8&CIN!t9yjC+cs4UT=;1U&3{Uz-kLxV436JA}wzsiblW14;}ITObG9U3$gx( zJF`RrJ~;mI53L5>wC|0~{m#DSzZ-K8?gnzB>w=?PWOz$(_2Hm|i?0*f$G67CF L(ZU>>{Kftc41X1T