From 79eb28f55e9354787262464b785fdc0bad148f63 Mon Sep 17 00:00:00 2001
From: Thomas Dehaeze <dehaeze.thomas@gmail.com>
Date: Tue, 28 Jan 2020 17:15:19 +0100
Subject: [PATCH] Important update of the stewart-architecture file

---
 figs/frame_definition.png          |  Bin 0 -> 36689 bytes
 figs/joint_location.png            |  Bin 0 -> 41054 bytes
 figs/length_orientation_struts.png |  Bin 0 -> 36632 bytes
 figs/stewart_platform_actuator.png |  Bin 0 -> 2807 bytes
 src/initializeJointDynamics.m      |   23 +
 stewart-architecture.html          | 1162 +++++++++++------------
 stewart-architecture.org           | 1377 +++++++---------------------
 7 files changed, 887 insertions(+), 1675 deletions(-)
 create mode 100644 figs/frame_definition.png
 create mode 100644 figs/joint_location.png
 create mode 100644 figs/length_orientation_struts.png
 create mode 100644 figs/stewart_platform_actuator.png
 create mode 100644 src/initializeJointDynamics.m

diff --git a/figs/frame_definition.png b/figs/frame_definition.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b080079384ce134dc83f4efd48b5cdb9a376921
GIT binary patch
literal 36689
zcmeEt^;cAF)b`L4LwAFuARR-uAgLfF4N6FNcXvs*ARtIcHv>os($X<>clUeddDr_N
zd_R6?t#OvKnETvk-+N#C+SlF_`A$_Hj6se80)fD96=c;xAjBNtrT79B_{8q$=?CzJ
z>@5BE!wcZ@dGRR%_&>UXg03?NL=_HyA;fQ<eg-}ybCJ_=(XcmnaW`@L403mO=diM~
zb~ZC{_{?GNWRZ0wN)7_ig5JtXeelRWSaNsC{@32HdaqgUMKzfEX;AKOlFgh`6{$@W
zH{%pCBrt?e`i!wCF*_t7gfJ;t8iTb6H))LSA`X0nvKYM>>z%yFSUzldb=^<RuUEs@
zP?Y$6`=j-AjQMg+Z})nC>qA3uL_|a<z6v|tk%UP$gsYd-LP+W%N~Qo4X^9UHxOOAe
zm0xjOQ|ccH>*rD+Em8jW;g2L034J>pj_Wf?K{?qLX67+4E*>6;03%MsxKWM&{Z#Wg
zItF<VH;SY<7j8Hg)&kTsyC%V6)C-*EP4rGdUx80AC$rMBAwnM_jkpBD!$U|~GAhmv
zAK52o<?lH`^^Kubb!55FuAojc=0SHedXtbGUx2GDZYYTS>xJ3$I%Mc%N=#Kphb*_n
z3bJ)=T*)-Yn{t-Ws@Go0ZS9zCsye*|+8^0>hi^6!o7fuvZKarES)_2ud9n%?Yi{S7
z6KBt6F7nnvp$^9=mipp#(!modM`PEf07GU>E#>oR*t&jwkDkQHqk(tK_LlRVm@IG=
z5nQ^eU53`nKT6C&nilO>ooHyge&4#54aweje>&6+{!$kC1z%WVY0r^0ci*8IJa|NN
z^A8(umnaDSkcoz)5MN(TJ5++LnP%2{nZO~(>@>(8<@Nqz{+G04O)^OFzx6hit!I&u
z<>~nIuk&WZxSjKK^zA{?B@qhw|2*$+4MW$<?u(4Jg;jqyuRtKZ*K06c99~zFd%K1l
z8M@;}FMZD&0m?7js^iU#Z)Lq+g{tBuN;(H&_*6+dG|?#EcV<~j3nCaR=dN5=V3y(J
zgnyJ6KweKjMoNKfUDZ}qyNi;ht|x>8&$C30w>wTKEGLUNk~MiUfh(`LRDURbneL1Q
z0TI@@?vPPdfphxm@P$=KIj$uFuwt4^eOtj9orrYlEzjp{qR|TRC7j53i2;~jYMd5-
zn+ym085$!cNN2viI_B%2ncU^0F$5f?$ioi0nSnIow<mqZieqgweqB@D&$Y!t>HL~w
z)Jc622j=9T<w0<4v>;nl@_vU954|njTtcWx!Odv#X_Bfnp#O02`n-d+;~w0-`NUc|
z->*>lD7f6RVls@2Wsk&*eq}@7`v{t2YBSJ&jpL1MKR}v~FN0T|X_kFaYfBGY6DBn(
z5Y}9t72+h+w36;46T^Fx)~eOA$E4SqAMQOnk8;%SL#lp{KPMXV=!p-6Bpw*9i5z`*
zGY}lV=-*tHiQ2~NoPS9#mgxmI)~<(&e+)WW30Alh)^V^d(ujh7{mXe*aQ_^lWJ2=(
zOnZCB>LslOx_pj7g??KqZHK*))9b<dmkVun3QN9{<ON+Tm*ryg6NRiUQ4z>Vf)Ij;
zK5M(4YV3Zje0CSY6JFS|n?d0S<z>6@y{c@9bE%QS2e;|<AZaarAq&f_8UA8ihlu>{
zs;dZv_~J2EdVB>bCd?igN^D=8bsH!hi31B}I}T^3)y#CdR16YU7|COs_bX8G5j$ft
z$X>;!$9nz1^1KW?9HF$RD(?_4ky^PxLzW?d(t>7_Zsk{1I|WxrqCPKaK#vKH)7THu
z{ae-}bl4)!7TecQ4$J3Q72E`5Ne_=(U7Sl)mFt|^th0oMAto{b(7WyHZYI3luKzr0
z_ub9{7-c5dr+h3}dVcv0PqP~X$MrtxR^a(7?DNMKd-6!h7cdh}c|9?X9$6UjZP;ya
zhu_uO$t5L)aC_hLd;$H08QefFB(8J<KQr7y>d(gbL&6pVxy=G!#nj@bZQ~fv3s%*(
zH24XA>w$UbiJAxO%G7VOas>w*YY?CLv{oKo-gP@CTp5$VF)mgA=q1C<Q~&X~`eNr<
ziprgSYn+;!T0LXtqV?zvdyj0wS~GT<H<;rZ0RX|rFVRD?>rUQ|&5!%OM2Xa|8Q|!b
zXfCh{dAi2+YKzCGyZ}2?B0o)UoyL)&Vv|x*yiyTQmv(UaaVi_2i}{dxGFCFX{^9mt
zDo+Wb_93+c#^aNiY*D{D;NQDi+3H+*)tJ5?$*$}M6RTsJL{lKyj5`^$>Y@_RA!K9x
zYJ~7u<1n*qb;@($RXU1C?2Ok=ZivYW{O@f!!tmjM$J-=)xyO2Bzve`7rv*N_*H7~%
z<7f;=C{`OnOE*pu(@y@ti>$nJ%YR{`%vCvW(6pE(a!gI{R4^`0kC%9*gxWFj!~Nt=
z%Wo$1PU5%SFe+_&*?e{?j>8@cj%P~GD#d&w#v>)8_Yo2^naurGT9iUnKHzH;elws(
z_dTkhCAUp?Z>{RQksq9zgp}#(a)Y_$j?G40CRkJ8LQxkxNdVNAlD2>YtXp|T%#f5Y
z_AgmnHO|X%v)dA4XL8C`k3r~1F8h#}HkKeVx1HTS+ZJ)5xVKA)XO%}wyL9bkzP;3U
zikP)Z8B}=s6Ah~5h$dL(`$xu58%CHo%>rL{w3MmJ{%}e}sF?7?KcbD@hazq+wC6*T
zveyE0M1%_!92l>f5lW4S#0huW{;l-Qfqp03+}*l=TkqXp3=B@oZ)t846-@l1uE6&z
zXF?SZPvU>qy_9?;PL_hss<vu82GOpc`bV^jx?umK6Cyq43}8)fp&>Z9HAQQD2hSJ6
zQatZaNmqI>A1Wu0Qa>cyH<tc<R4-YQku8e;QKBJRWSfSRsN&~Vy_qcBzgleznUa2&
zuT>Bo;Q|5nx2uW~P#(yg<C8}ZGwayC^1)dS1Lu_ZNaTUO1=gur<-A_(AQ~yq0&;`k
zcfkBhU9X|Su;%~<*omiM6{kR3!xpK4>=S4febF`5EI5F5cJ<Q2=eQl4VJzc&GS+v=
znF|-De{oFBSLaQO+6g)ul4X&5N%v6zA#f>Z{dLaZKNdLS1J+p?F*`n6dcLpl5l3Y~
zI}0?rjRPa*A}>Qa&2#0V?h*9uWLn<t)p_%!=-;F0A1R8YP1!m$4>|rzU32me7;1l^
zeTb1H#+fsjdjiMXC8+%D>R#L{DHnbLQfk}nQ|xLY2s(1($*lq3^zcudoVept4dHSZ
z^_p#BVCg7t(-Qqo!>~xGrby7I(bo*#Pa#9Tb#G5>?oQUq4EjKmC5O>b5!r7SjH49t
z84>P5?r8euI49OC`yRB2rC-)5gQ-kuuznkdFK68`znlEyc|ERMFnMYRLTfXBQGL=@
zm1ey5!p&kG8QjesN{ZpYQq-4>rpgufL*ndW#T8R(%LF^@iHuV4^Y#)x-tKn*z=}k;
zY-uJqt`VP6I@a%-IUAVkU)OhRr*1Vj5<>Pfn6}-1mX5`K@Y;KE=8SU%NtP`2#+8x^
zCDi~C25EqD17Q&3y=QBh-fAkd+~1DVKqM<0;C4xk-iaGUIQmI>4wO?pmPaZa7XgPV
zCdb5u-pcYr+~um!x1jcZZuP_Z*}(})KW}daa<`~}j<BlPC}XZ4EWm2uRKDx$8l;wM
zSv@HGaw_y^$>Q9~ffolstXZmw2U^uFcX*HZ&Z5yfSuYB>d$Cd@c0?Nhl!EHxaZ%D6
zgI*ixJL$6Rk8MmVsqdV^K)0|+1e<NfsZ|KgYB~<L4afq?(4JLw=gps-<ipk!3qmPZ
zUZE)qy^=>^`iXJ?juq4#SRFt*TlcphF5HDlPZOsM%TkJ1GxgKVG>}8~N35*CMu*t|
zM@7drib(L%fY!FnBxqiXT6p_`;x+w*FtDlSu}}mF<VxGKWpR#;v5b#mFRHdb(-JY4
z5)NOVcqy`Cu3*P)$E@SH`Vz>=KES;`kT8S_RU$8Ce+BduTJc@C%CE!JTgJkd(*)K@
zU~t6h;fWoA<jfo%^h~zH6dB=ye5k-cAIL{aaWS2{eoF==f=Z}*`{x}uw--1k9}C@6
zE{t<0SxevyBZ?wtM6+OOzz6|I6;d0A+8n?fj)V-?t&H_CkNwf~NG)AOs*<q|P*aWf
zy&H<H9B<;1ZMz*kpN`nNJF;abJ7uak=_kO*ek=eJ%gTVt!pvsJJkhGRDJz}P-(g{$
zi)EH^@=h)1jyM?;y0Hy!&f4;An^^m~Wy=yM(R9yl^QofjSnE?>i=yd=nB_9CU(_Br
z&cCwcq<88XKWT|@sgL)GFP!!LTRXB!UI0acnn_Ay#@~&l%HF$UDWW=6Gp0>XkX?!e
zFZt&uwS?sv)W1AwNi*4x_6wIWX=HWyFVNZ1D9FnL6a8}U!LXxRA8|qvEW7G+@r9(=
zrRPWR2(|jCugB76bH*okGu^^Zqs$J?Y;PTDn0kGGtjrL=bB)`6IM~tt)=~A<2{o=y
zs+m4t*vR-{(-w_Sf1K@llQU+{U@;AAu9JQ)4_8;yqQv#zl|=<7*Ic8S|5BB+I{4@H
z`VI51o-+%AkR^hpu{J*oYr|`*g=y?J+qlB9!9(q!v<2W_ytI2FBbZMPGQrH#enf=+
zEFXZNh!v?<{v^J5BG)w)zFqB-8ON^P#039VI$LrMEjtNEXP~TzL5>5UN<=>?-GP6U
zu5s=+kFv5YtQCeNiANmht?G|v(2Cja<3=P-5K##g1*UQr_K%tHzgg9r32un{E&1)S
zN#*A!!Ye(emzLzr_zPPUj-E_`7QAuSNZ6s`7^=2u4JrVf!`<IKE!@Dej;e_!qB~VK
zb2OvC8RW(YfvQ!DrTv0_vU&W=ftABVD9X8>9>R1iB#8xzBM3TuN*)+vCWOcp3BKDQ
zOgyqnJRYaE_KAl&d-_E#IsWi_vY>Ln*HOcj*f1Vo&v(QRh)}>OfhXH>by1q0bk1OO
z)PArk;|XFejK*<lj%a5qG6ET1Fd%29LH$W`Djt&j^_j@mJrQ5@ImQLtawO6{n}$!G
zMt_x+<)96G`bL5`7x#LEI+)7u=t}_<7xu#8psmV$?+Is^K0CkDiDjeNxk;MTO|BEj
z3lT2)WU~pEYQi=BzkH<wR*b#%Bo^Y<M-5Ay0e<yu*FV=*5iu9>2~i&-Byal?o&$ed
zus2BFd%-NAH>w>*+-|P-<Og;Nlk=X-&Gx~&c?`yEu)d@BouoGyT-C|PY;Z!(7GfGc
zKPhr6&N^G8gy)w#qgg;;6IlZ0JNo$ni4qkXqz2MP@@>hdqNk_&#?}Fmll2N>FeYmt
z-nrsvvA`7w2zS`JuAjMXBfg<H;i)c(o@b<A6MW5pk0;cMdvKK{fs7xh*uvrR#`HSa
zp4DL*f!e0)9t<tu_>%nJGgd1B5dapL{kzlcy=~n1aB+9!Pbt#rEOg>ZTaLK^Ph#}j
zbOkBbwSgADOpduuG+W$0v7k|KS^v84dq$xM=xM12!~bXk;RrUIJH&Fp<;Cx|dGj)$
z+&W9n2xbD~pskHQehvQ<svZC8@~%Q(2{eR8v+!Cl7bYordT}JM4**S(95D0<2#v8C
zu!|7{kOWam4gOnIW*9n>@)OAq=YgX2-8O@pjzQ})eB%S2&4d&XaKphktIf@WU;;VR
z?Z1U^xQQS^;OxuzFEFx$GKb6mB7eX$BcQ_3>Z7Me;Hv`%?@mztd-!p27*AG<Wva-S
zGrmKmL^ee02*9X_hOaI3s?UzVs(Lf=Prx%`qe){b92W6}I8mVVFcp~pcy%*;3obzs
zl7f=(h5rBb|I`AA!{{zZz=}oMdq}c%j>>$v^M5Q-BrA?D(eo>V=NWTkfjUiA_FI6?
z%FB`K>;SOOxMccqx&v)eACz>}n`-x-{g1niuTBhtw9gFY(YKY&(&IU#?2GnF1l3!^
zyt7CB@eM~x3VpRZKXFt_1Z+Xi%H5!bYfFqAz~x99SZE`8Wy~lAAOgNsyZat1FNrCz
zT0dA?LVWLJb1&1yeZQfjTQwKfmX!sy2n&LUi2Awv7FKOVRTu?)QjyRCf}zXAx!0yh
zRoQRg`z*SDfs*u#j)%<QmRe;+2~|C_ZDtzRHLJVlWkgieOCFxo(gD(M-_|4J;+P?j
zkkSF2pkSGZh!{Es$k&Jn7HR38ok`}X>M;l43+R~pG9DhttE-6u%5P-x$?@OF%JOw}
z70ABn!=+rjZJs8Tk?Z9K?d>go(9{II)6-K?QQ-&u`<LP&TAwZKnp9SXQC7wV(ew=Z
z^M~Mrwzj&aX4ha;VK&4uJ()SqVeL0wTplE*Ut?j<S8W~P3M7&#Dvl^{OWiNLcilb)
zFA5@Da&c*i6p-$m%oA+LnKY`~6a3I|;u!=4B6mu4=nG9Ly3JfZWP{`1|B`(p;73ek
z<sTOrX%A_rUzW83Hq{kL5H94_mR%^1?XWR`fK9X9KW_H<Yue%J&M%p-DTf7ZK1P7B
zbsq?ZzA+Z7Cf5l)e0%txHY58$5(iG+?byb$u^fgRK7M$(X%zqr*3|UL)Qli9T7`*&
zBje`gYv1)+Qe><W6P<WyQxk)!Su#3~#BrSJt|YbE>u~JDEofH`<?QqOp7SHItl4^N
zf`9*Bn-2-w;2Ioxvm<DY^$^R$tL+HBD9|0h=hXGP;``jJE1d>b7MApo8$$f#yQHsQ
z-{|Z6Cb;m2{F$9)SX)bqh<3&!NFEdFOmV^NBgLj(96Vaenr*KAN+lv#{rTL<?SQ>^
z-7(Ma2HjYkizHnJ=S2bB*CzCkO_0op6VNZN#RMOPeu$A^prbR=(WPu`@ZD#BRW&tz
z_4ch51Jis!M*375aPy#`mM`NC`lVm2%jY_LUuOw$nw@WL{xoP!X!mZ+_R}Fd!8pO^
z!Yn=7bIauf7$(4bzgb}=KKjQ0WRfT`8@jD~#r`v%lke&!cLC?%;4TA0(M_&~V>3@g
zynA9o!u()o)P-9(&av6Qz2={~V(}^E%NEDW6)F;yP}H$bGjAysQ09&xeBowX$n5G7
zLfx`b#_Y6Q68`<F;vg*}V=|$(zq$tR;r>@;b#-7>wcWNA$qmtiMcqH$p`5kGt3x)+
zZIou@PFutPYKt@!TQ<UZE&Y-lglpiM)Mx&j)&}ovS`9m%mY=cwZRv2n{R%>p{^Q%X
zzv9QnPDY-nWQ7fM=j@if_PLjR_PGI5>powh!y2J7E|WFN{~0wU$x7%0b|1EX<K4Bo
zwDc?Ad-FNm-Tm*%DwmJh^LaNAZS6Xvq6MzLp>Udx9!$=sKpY95)~CZlC{AE_plVh6
zG0uOcQ=kK$aMGJ~->C6pI1dBE*QqJ?i97H&qfV)!@Bbulij6u00TgnVyO-lo*q`Ct
z`ql3TjY>KG*U698M4*@6p$Cv0JUoA)S)s3<k{n#f16`;?$_JIgucPAPN`NnS(9SXF
zTu~?}Di&*bMQ4}vMjNdQ;w<$hzC?o_vHBBL(^gm1z%`^I{&7Ckp$Dd_^8jMOzi!#I
z`juD|?0P#DF|oGVa`bpYILxY)TY{a<(YKg}$gPv(uF%#%+Z4EvYEKekfUvAyJ#2Yc
z^!s<m#c`hebBzAo_2_s1XP=1))bYk+(CcZuUDTM<vxODE$Qi?D3g}y7mg@5Z3s(-n
z4vEWjaeZ7FD;usH6+ba>z~B=9XMG+XCkjM!b8~SrG9g*H+jhC82p4WMEQ#A)+u@9J
z_SxK#A#`IEHTc(a8Sz*UF{;HVWPIW~DsmFCvzJLZe7kCZRn#?V9kTN)t?DCOq6nC=
zowqH*oGy0g0#0XrmyqZg-U$-pC7$C)gHz=s3y$B1yw3LvJ2`oAXEAG>k(j7tuH`2)
z5EB!#+oBb%kQNoIvQ{&61k14SLw6AS&kv$r*fiOYvt#}`=Nc7-&}R-0`=Ej;6}6^u
zQL)(RYyGKNSu-GUsEx8-g>8%PFFB7vN8k@4aC^6ezq29xCT+|RE5(ZgDU5rkpun=b
zD}+V*PEtz?0jcJ|Sxc)U?6+J|M*3{XUE1JmZ!iKYc@><f)>GOfUaayRHxCzt-lfvf
z6@2=%!9`o1fPjQa#+9ECh=lQ0iQ;EwD*Xh<Kh2a&&i!&t<RarX_)%@6_f}%t&pQiY
zFDy8O75(<x*hu9vmMowmAFUZ(UBxq)F~!?;Osz`)chQds-zJA8`t0&haXek!n0E$%
zNp5c3NNCufVFA)B)i=1^-5-DIGtfJYsOAU{-XBXWTvX6O_X91XfqO+fPgpK{3*q0(
z`SmI0+$|3+E+%eleN9LcjQagstDFQV9ZR=!{Ug@<hd>R8bF;@~0dQZoGGGzV!A6U+
zI_Oe{JVH-S6i{)<|KxY|ZhXSAIDxHVk$;f&@Q7}e1H{S}DiKA`t2v{Y=Nmnk$$|Sv
zNqF|qF_|?M`g2VhXRtxwb{B|_{sW6zH0Iy{?-LG(xq}-w*{;yX*_ZT7Z!|SgB)nkj
zK#Jn|{O5A>$B#z~vFpWSXqaj^=s>yXn=SnW1&UdC`WrK(ElV4i4KWuLb3|QT*Cz{-
z<Q%c=gRUO3Yy)L=)9A|?;5<>{`~M<IJRxI}bPPiS<sME~<wC;cD{}m-6f(J)&=t_G
zTwPnICRyp*r37MEo%pyABka5a){zr4GSm!@6wc1xBqnQg=S#@|6w_|iiG(8_?aLDG
z50q1SF?EBS@I0}bx5OMi8R_ZBemB7uzLP$~V;2_(zTQ_h2n!280Kag`ov>OC7Rn^v
zGQK(#NqA^`zp)uh&*{%6H22c0*DWC&n}XQqg`m;*K#s)RzV#oQU1-O~M~mA4C)g(G
z^oWj$SqvMEj^^Ck#>|lk(5)~isRhhA5Xz2C8f73Rj-QT<CHj~@shxmB#uEnQKn}Yv
zB)oNyz&+!Po^?+0%2q__OThqzc*nC1JinX5EZzDq*zeyvK0I^@4h&Jv9i;yprn_9h
zK+x@~tfItgeiwqs2=%ZDyd0m+@y(2kRHfzgCv0vmB=_P;PM&OS`mrR*MwKx%BeltT
z(?1#3`Xt|;Loe1<X+Uwa>`P;|(qYTM40NApI%QQyB6#DJMh6&$gxbHg`5coKN*G81
ztf-}&(55LH<{g8W`Bye3B7#Z88{+9%NU>#FTw;Ni|AQoMo%tZ>pWt%v=n96^e6hhs
zkbuQV?ZZ|9r@F3ZcH3g&!%aUYkcp?yy84tnZ<j4;+mtAF3jtd%N#QmOc=<vp<Cmh_
z0@op*%&`mdjVVJz*9S*wWVFmX{t({o&Z6tFes7pIIl^!9kj~d*px^!m(7Etu4;=gU
zOHz<V$?|af%H6%LHPW%fSoQtpFI9VEOd#kOa80cadVkVz#M^oS)SvJ6wvd%QT~ewG
zf`QS8M?jE(S3tdK+<ds}GDG%s%C1ax472<SY`(^EJ^bOIYhkX{9TQ-0i@w)Y&0n^*
z=SA)3YTWmYMvkUX8>HcOktXNDYaO$oZ}{}SHgE|*0YY$&!uwTZCujMjJc-PN1m3-x
zAx~kqw$sZ&MV$`fH(*SCZ`q>9FJH=TuKoRnYe%2Rs~Y1FkT9B#z14UejNfN%A1${>
z0y&NXsshrg3<l!grS07TecmA7)u)zBDqM0^J3Dj~lyz2iN;Rpjrd(Zz_7tLxKvOJ_
zJ#zob(tu7eD^mWS6#VM4A1_vG+;0x;kGG(KRLE%IC#PARgC!D=FQsJ`1jWwt;vWNA
zgmIuNfx$U*({OEi;1&a|52O*uI-5ZD?;-%mK!k)bg{2ON!0iVAzP7q1*+i+x`rN!u
z1mnBlT#)tI;j&r8xc%tQIPp3q<#5&B|K7;F^O_JOB=quTOYrH9+trDik=g1u?R3H8
zPLL*4P2_vQAzY7tih_=GwE-MLDOq##64Ng#T&1AY5)nA{-G%Fzi41%Y+7Q%(?i<br
zO_ATSGM|Y=&x%$H?pt-GiFY^4%Go^cGK@|SYCDUIw+Mj)^10KH*tpy8ly-2qUtd^m
z*SqcI6c6P_g=ImPN4_}g0j^N=`u(hDx<)mfGnUE~i+eULDmHtO$E+L{TW)u?NpfVo
zbG;KQdXY?c!5U!<CC1P+v@R0+b2vCUwWqQ@Y}f@wEm4xUZ>Y5v5Hp^e;?K_7A#puZ
zKLpQjN5vGrd`UH$5q8=DT`yg8zhYAZiGm+~@Xjw90;$cZh2;R(^YI&SfIoJL2?>>-
zpFFW%XDYlM<a-m-ls-FK1mf3x`1PDmCyd|mOcXxqk9I}HCwgNW?!MhsUc0K)h}IHH
z-@Xt<RC~Ly@|^ZJOB<AsrPsY=^Z=F#S3SG`C?8L~k+sqiW6&yy_!Cupr65)e4Y+Yq
z061OaS9`|GfUvc+t}eQbjhJe&j2<RlmmP+0-_{T()rC0a<AokB3?pI!eq!~=w;tT5
zsRrW7xfLY-VUBcZ*DT*UiI+bvtaCvJacKLC-)H1;+0Iu$wok&nPo^FIZx*1Y&4+X4
zX#~sdh#f@-Nf}Mm?NiohsC0?KF+rGtrXTB7v?YUzv^kKK0mvYiHh(`ZOHcm|Y3jqS
zLYhiwAla3xR%XvcN?6$!k$zqw?tB%3-4sQow3AW)<xzm3A>h*Fbyqa{WR+JvA)1)@
zj_hXYHCAkO+*f}8X@diO19Qr6E1U=9L18(saC)18Ho}Fhx#|{CKECXShjA><+&|T8
ztc1idBKvW~POD`&*`SPFR5Rmi@c}V2G;h3JWj3vj{$w@rfj=q7NVo*a(7%GdIs29O
z{@a)F51!{nux*LX;LOZd0VvQ*NnQE6=9fUETqr+Qx2IpWXMp9nsQOJ{P<ntC@_yNH
z2?J;SOqj#`{CW0}%N?jpT+q$1qDeaYlGVfp!oV~jTq>$jSDJes!DSDe@$u7bAKS*(
zu>PmZm${x>+NA3!H)sxm?-uZEk6C~d6q6xz`|RmEX44=h=j0^J$T&&L|KFQ}f&y5U
z;ycBlV&l1>JL*r5D1~F#X;TL8wr;N9R+`VnxG)sEaK)iV`)0P@oq&vNp^s?9Zl)6a
za8dHyGi_Vm6*lZ0xRPVvDgpq^Kq%{rR+vT0@wiQ>r-ugv5QSvAJh4ehyMW6;N(Ofj
z{{3}3-?gHDNz01hb~Ns9nK<IGH-!$T^|`)BbbtQ1AtfXw4XOw(_Y7y`i5=rHnPFA6
z-H}jxZY)eqWh2faE@H5YtTeb2hpHxG%9C>uh_F83ACx&mQ@Q_)QuGcarUCUwY*3J6
zNJt23Sq_zqQ0e67;;u^HJDk@OiC0HUfBcPZ#OymCIf2+mAca&%WZ6BCPZlppD=6qt
zXj`s`QQsYsP;7-DK6hc4XlGydiX;LKcuf?t)bsEPrf4&2E+eg=Hfr(-2)elJk&{)8
zQETyp3soc@N-cY?CNb=Sy9LROY%(*Q4j*F9&NF6WPCqKMHXy`z#?zc9V~q-nK79<2
z5%3hP7rmU~^jI6rTX&lQ9iTnYoUEL8c#w?E#3)?jhaV1RqYs0~8?FHAQC#$i+^m1Z
z_|u@v-4zvXK9izaVuoF5d9WB-W|a*|;+2r+84K`Cq=2ckfoDXN)X||SR_lzVu)lew
ztBXSAR)v$+-jnzI@b_*$3-w0C?P=>5cI#VajU7VtHXm|tUS<UF`kIwhFqz<$VqaW)
z(%KqpNLW~-8yK&1&XyD0dIfmujoIYZX4~1HJkRGxi@hNNcnMM2vgbUU?r0Hihtg&}
zgZgwf(9UjfXWn!8s}=L_esz`$9&k>TByk2-;*-~;`p;4d4lHsq%sg(xSbed1Z_S?{
zB<tUM1+p8BO_|asHslDq2F=yxt^F0G`3&3)1X0B;ls6iwpYcg_T(A7?7$kh)2QPVy
zp8W!}jUL%tUF`rNPXggdQjjfl3XYKmg?@NrDYHp$z`b+pYx*%%&M0R627^2A)2yQ3
z?(&>+<B}kWT%)uw(l5=lxMF&)|CI-Pz4=aa?ROuOV=qzO+FrT1+Q)gAKqV{>P)!W|
zZq-CDFE~p}A=ogKTu=uJ<-u5%D>v|1BgxTA;5F0(tz_)kwS!<Z5?;51lo$%ZWV+iz
zkqe`K`lkWqaD%dctP{h(%)&jcm-;=|W98@Sy<Zx4wko~R?~WmJ=dqgTAMwokGYvTR
z+V`~Q-;-+3NkC0B)A`6GU{iTKmW2`lxL^OP-y@@K<mo!k=70(m8cIMaVaJrrY!p89
zPr?{XX!VM1X*I_awTdL@!k%Wg7mx{b0q;8=@yZUxH0oP-L`wKN8?VH9&%j&tpd5bv
z1#xQX!)agEGi;FAzbo<O{r*ZWnh#EE%IElkF;*u(N@K!Uu}q;$n%}a_Tz(Il%DFyb
zg>MYzSD#-I@4m>e3i~K{An{4zxZE>mqSd3_^{4)=c&)j_U=RwY)85oukhHXP24t1o
ze7Gt3mzf1FA>rccb!Ax@3^>-!T?@b7)gG|3{<QJ7t@zBU-~lRtw-4H#6l4EpmuSd?
z%x!G&0cVGOV-@7_y7)|`j;vF}`|r4`!#Q5YYelm0O_BA%?E629o}=d@BF}I_0zTf}
zN_E)1cwS9X5|{GvQ7l=!{~g)WcCyyfcCprz{S)%>`HIJ8)(1ro`-eO*e_)koY%J<P
z;PBGT1Q&Gb$nhq=d69&Vv-89qG0BjTZAtui-XcAp=wKok;36hZ4<sJ<IsUb-`(<I*
z8XC1tH*4|En=xw1xw+1%Y}t88Xl^HK(KzRK6#gY;WhU$S&Ct;Rcj3dnCHT?pO9u{B
z%WTgezP+Tm*cXgoO|G(-*w`mclGy5An9={uEHr-9(@~pDLO>;sy5J`HrH1a`=9oOA
z#dpkXQO~c<=eZVF2h6&yZU}v|s=se;2sxT>)|Io|*Z>A9QV-4&tb&D-_>X!Yi>Vmo
zlsp~kLU97*a=gy%01dK82yLOzlj6iN6Z!AYpNLFqEpda%RWC)nJ@V(7CkiP0D~*p2
z#xe+T*w|p<ohb1OxI~*{%)>Cnpt=uwymdxVGKxG!Oj4$8wpkIK0AA|0T&OI2KU<}8
z_}2QhDge4<2H)w&VwKjE_k|pckfw9`gc-elzza?n&vD*=Y$<v={0L)(3C=cWwZ{SU
zGbJ3H*@zIlw?YZvZZtr(HwI@CGlUq7V+nSZGpx9tk+_PTgO@MfzDvhkd6a;Bu!A__
zV^f7)W*u&Kb)lk_@&*K6bYQzLg3^>l7c}MazpatNQ{n>(XN}FA2)Gp)1qFrIYw9!H
zKFLhJKz*^JYTN&7{d3#xR$<%K{7U8skr<XJqG-$#Tl<Xq&e!FioDG8K0{JFBy_<WZ
zjA=eWN+m0OK&gmeovolfs2J{ER`BqmDQRAO*{BcN<<zQUwQa~U;8<G9H#Nm)#Qk2|
zLdM<!H-^ROW}3tn=ZAt)92KY8YIj<O#Iu}Mr4LPfzum+-M2e6|)%ed>igd5jzYL65
z`xgyAjXKlQjBa_)w;me{EQn^YM3EmTApdq_n?NisiuMG76@{K64niHiBZc4A(z#Z@
zaAZ1}m8A6J?pD_Lcvl}UdixdBR$^mQ2^`EGRy$XjJky0!wSpJiq%`@b<cDF#GB#gj
z-c=V=j^t7hW2~-X&lrAbvMQEw`B2`NXm~Jt$|HUQd%ZQ{oBMfa*{bwA89*n2YJ;O?
z=MDUolr%BlG;v#AS@~)DfZ6jhrL)>~VehVSKVT+60_oV)odBOERCN~|6d3(W>RgzX
zoR)zh25^FUBXtcsT2WD+1Y1J%^kEkYRQDt981m_>o0fhgZ*1s@SVPBloS2*H&WPAM
z4b00`9){o3Pn5iiW1PKoY)Gg@G9MUxZv80KU%t#&gDmn9RJLPv_wXfZWQuq=FvH9E
z#pco44j1&kS;`qcOGBU2{<jJWhe=m}ycp!Z@`wXqUQjY~{8Xp!iyP(>5@Y!^z70fR
z#z0J$+kyE6ofhRlz+6s_AVd663;vv@ruaznl8Hz8fUkR`o6K}<1y-FA9*BYNak}E#
z1->55u2*~KEp?R|enS3q5$wp=aI_uZ(#plcTj7^h*thT1?l9vHE-A~e!W8#S?qMWY
zSO)KYLZKA3shZ;KUDoib%n?z_5PU`<9`^rb#YqoT81R&o%w*Jm<H#Es69a4=9_G5W
zd2n?6ywG579k6BQ&Ho&2z`|ewps|<=y94G4S?2KM@Sj)4cXfK{0*6|Ff`&K^Njzd<
z8Aw&VGfr8>i5EJUH=Aw7!KShG)AzypbSa26<Ua6+>(h6UPsMZ23;U5IV7jgo=nPdK
zmi=@0cYX@n*W(p5U28;K-(Ebel;l?_i4}@T0iuTMK5>o9ZWg=Y!^a-KZQ~M&SPE~(
z<P!bS^zk(JxzexPhFTSwLs|BZ$+zc5`3(&%PlYm2|A0;;3cdD#Y$^Yb-%HY8_z>&0
ziDA$(F(ty|X)|r50AHTo;+GTE;yrKhOk)`{<J^_H`DX~QH;0TAgkRguCym9#ZU<p)
z=ZhU)L-G!z@mP-BC!<CpA=c|vm=mY#n?5I9dhEJ)s6(mkK(FIh*eIaCXK<~O!%;0M
zN$Canu%)|F#66YA;^@5X{%HMRrL+CXmh*)AL>u;bs@zi*(0NE|JYd)`Oek)3&vs9^
z+ULF)kqpsY;X`+hi7=97o`+4xi0DwgO2?)%{0Pgd{^IpJrtY2*YKZ%xwSGvQa~0Lq
z^Kk#DD2D~DKL6j<TfoNC-M<s5re$|O!7GX2@AlOmgZnm%H*|*f20a!T88Yxh4X189
zV{Z*w@@s)Q<GB5quhv|w>*~-t%dd`Vq5PJmx_pRyN`}?tPpIV!2NJgzfaO?!(WDt(
zy)`$yC7YNSsilxBB60ABxyN^B9WUTsLuYJFt|UFJ<5so(QOvMrMje_QQ9t2WKHhYT
zdOU$=uM$nx6u|SY+Wh>Q0MZO-%bYU;+*;6wn37T&2=l)9&M0((D!N*KzqE#mnllI{
zNqaXCS?8<a_JT{VcUas|?m7eKE@16rt(np#`YheQymME;%AkdEU4UL&SKZRD_ZxlZ
zk*7a&IbaYyNiexYO&7rHIK72pzo$T=IdtRd!=*-b_pdo@&PDQJJ959=Q(st`3`7#q
z+1vlC-|l5M*_;4qMZ9n#7}uJV$T+z(Sz>K%<_WNgkNn~8%a1tc+noxouAd*}|IJpg
zKF5ZQio{BnxVW><=HJS#Sbr;AZ+<uvY1-Q3Oh`<m80(AFw`@2Hx%dCfB7&ILiX!f)
zvcG#InX%d~SM5u(=$$5`V>#5HQx<ehOx|$pG+Vz?ZPsY;{b@LlQhMREak!?Q%Ok)y
z2Y0*9+VTCzG8u&klkMDw_>>V%?QN6CyI#2KDW!Fc#8G_*=LxCeqR8~|*exo<$#Pe4
zv?F45r<HF;;q|hAm{~vezs^GxVx&=ocr$nGBvk-@mNYp|7-7z{K}Vk~aJKi#JE0d=
zjc&J{adI4d)&kJ6hb^(NW6mHWanl!=!Fm4uCL3eZqyAg`Jwx_AON}CnPJidTsh6l*
zT{m}3XD{$%-#`w;jCC|I3d8FQE536LYFpFOjf~}b7SYiOcpS~y4+++5I=vO1etKNc
z?JyN!(;7CvJ=6V5jBvS2&<oToWD-xW04FF@azp+ynEILx4pGbg&l$y-LC_=bC&&py
zwIFTmJ}?OOUBt1v71<ZuMCd@t91%%Swc1B<WCFNzpl!|o%C~R$)SlfZ{duz|TbJDu
zxq&4{+@CI-Z%zfl85VQZo1ONgPj|=<XWrP1hqLGc9H^D;Q_K7Hb6lTeR;$#yzu_!k
z=d@mvP26{n6I?w&B>r$<D+nIUTYG<+ROhd%<)sqy8beh!8er$N&;5sr#bSJr&PFEU
zh6+G9I`+|>he=G@#KiYuqZ4|-TLuD=X!svJ1O+~cBmA^IMV#1$Z~q0NIpQ@^AqY?k
zGTa7VFFLGixB56W4}>0B`1567sA!64qToCYR$G$AP$8_`^T^8OisiRIRLa=YS!u&W
z4K%^ZSvx0<C0Lkg6dg|6bKyfPdN$tb7Myj?d<1LrG}OGl3+{e(3v?CM0)@N$dnBN_
z<zZc$xf*;k@|nrs{Uz`8MMIO4tl+rMq5T|CH@RP7cDd&X-!vw1+waw$`%J$!91lDX
z>h$o2A}nAk61|8EmJDqSqy(k01p@*C4?x@5ff^sdHhUn{a@t3y9=isudl@P0-ft5~
zPdTl(b82-}q^;brAAk&~+UZQG$1d(2P*Kvn`Er12>g*R$3NG=N7nrUPuf>iun7o>W
zBc15ex7U;sj$i!`zi!2x)_9&{03C+jv&~waPCsrtca@%PpzF<TGy4f%<qjn6Vo`cv
zKhy8h8roBR|E`oSa_zY_>>Kw|9-HscgX9F?Eq9Bakgt^p*nEgMbUV-<@eyHSviA0O
ze`oLKG~c8ITum=xA(BmbSp0J!xnM{bbm>~kwqjMpT}1iX%uVr`ucsr}O`hK0jUuQo
zLD;bfoE@FoNG-gQVUaFAp6l=sa#$Y|ZM%}K8nEWW!V!?RB0#t;qWtdULg}$>cykEI
zEt~f$*Lci8w-yj<zJ67<m>Sq6B#y(`ad)=0<sV8LH9czE)~(yoe8m<o_~;?h@O#`D
zD*a)tbOGRjm4s1Cn2+MLNXCEwW7obZqMYNEtVkW1jb;XWGNMq`n$6QrlQu<scv!%e
zae8RgGH(HdrUuDYiGuSFnr0@q=!KNj-pkbv8LJwCIb`(hh7h-ju9Q#y;$Gc?ZPW`-
zmH%MI9w!Ufqiv=)Gv{HQ66<4~c_x2I!>uwA{lWkZ@TZ|z8o%{ct?8!s!9ruj+%`~+
z1C6S_fy7BN?gvwVs31<Mmjfatn^s#tQ2f+7bPZ*f3C~@utJ@6t5b01Sphm3#{?3Ms
z)QBJfLPY=+7uc2B^61T}HcF9Cn1b5*1zXtCeNLFCyHuB(=54zKFHG`{5kLxircQ0E
zE=Ck<XJ(scxSTBSpM9t$tRk*M`?_@9j4lpavC#eulX(|$>SM1fk^779={+2bO4C=j
zQZ6}s?|G653l0b8wRO>n40T#xd_coF`gED;32!6wTW{C8A5WX-_5WtzG5y`!L3eI-
zu|K1j=0Y;xXiuS(+R>H7SXFEO_n}zk0aXX14fH^=(8@|e3Q$X%8AP15g<>AI@&Gm8
zy>R7Rmz?fm1+=+eXt`b}s+#<9ucrS=*}e`571DRaTZ9lK%?qgrv-M!R9?$Qu<c$|H
zQ?6x&^r6384Q)KYy}#7vlW<#lbF;=w;V<siE#BXM>#DTSb5GHeXoejxs!(1p>mB@f
z-&pH)DN4aNGrSIzm4C(KV`4tfj=hBoyC-Wu0E51`d7<(6Fx;zTXwe&`3vkYFbNzhN
z;}4wqWj{%Pz};oPh1v&@fqwkZUG&;_Z*uC(K>+Ic-M6CDH!FD*uhjTENC;5I$4^c(
z9OmS1+85sW3VqM<UXbX-hs|<F#9N74Jd~!&Y|FQfW^e1#2tVp7AXoeG{``oO*WSya
zu%~i$yfQNHimBUahc}ekxgb3dLnq;n^-`(${Rh6phX?ME5M=Qb8VSRZGEHZlwhewj
ze5%lmRm(?A52h0EM}drWGj1RPop-9&WH;OmrQQxUHuUa`Pe_1{bH21Tq*_#RyUe+o
zU{8}W@PahSR=X@uskzW={C&gKmZ8LRi-g|<?n=?dc(rImWJBnln%3+L==gPrh@Fk-
zC@I8mf<rng`t&$g-e>=9o9k1KJKa1m3juhwAXWyA_=FG67%;N|jCT*ibyS?z2&v#G
zhwP*G{QmuM>Z$CWv72n>zyT~4-)GCLOXq6`HV25{+I}4YCIP7!U$oLcO3{i#AYZMk
z9_btX&%{klAM~GI(I3{BBeCmQzrYS6OM@)>$=rvJE#MRF!hW3F<DHBXBuF%!ZYSW9
zYGBopbfc9YiXZo@N-NjVF%)rU=ayDaBA9+V6nb*F?J&fq+SP5(2Jnr>w=TEd+Lz85
z@XG~3#Ds(d#nWn5EDC{)wY49gK7)4!CR6wJeK-ss$j?dIWOe6`ifOcwFsr?DI+1NK
z05x@=)kRUB1@wfWj7$n7EBB>KB_danUD=W{*!M>8O2^P@68ckkeeIn4m_t66xL=At
z!qyG?c1-Rc07lF?`Pe_2rwfd)9twpG74vl-{aP1T?7RQv)NZKNa!9wdx&0yFs2C`H
zDFoO*`|jdTR~h~8i=}bc`%wFDo`LZ@ciRm;ARZ3`y@<hKO8ork2Ak2`zdlU|RH+=E
z!T+qc-s|ZtU92xbDWLmM8`uY>nS@-G0*w)Q$cX_=L{djxU83V*bA|i!*(HKqs=_D<
zF~;@E<SAYG0oTJ0UAj2BxNoihHnrHej|Y|UfrB2e%kHbvvM>!zZ1j@X#KK;S9Qsk$
zg>Nj{2VN*B22iywh&Qxy^;KJpngd#Vwcn%ZbQ*{0_DC%0WLuo)$9ZE6%znWO^Wu_w
z-TSiSf1`i(f0?=|IV-k970JW@YUkf&wC75fWS5J=SdBy0A<B7v6h<xgg5-)MyYy6Z
zwdihA6G)xB?0QI6tna>})!Rj!m@TbD65x_7J+w!NbG3oQ^^rRLryL$*cx666+R47h
z+n&Dq>7vsyjlI-=FT`BO254`lL#Zi1IA^==ll=1frw<hI)^5r`pCK3(TvF;lFVxJ4
z#n}<@_3JRGzUecZRO>a4X}^0iXt33D_If8CLdD}x;DO14BP;U#9!Mw7r@F94$q!y$
z*w=phG=xMdFI=)@H$+21phznYr9bM=IiGJh;SE~9OEHDxg^uO^mX_3>laO%%mm|*L
z?7-M#@Ahh6!M3N4Ly%qr@zDb@vWW*QD<O5h<KFzc2)mK>Y(3gqYgfd1flRATqg~?R
zAiKfu23u=YBZ!Q;Iys=b|8G;z!^!!L%h1y7p8M;MZ8!W{Khu5h5<H3A(DHRV`W5RA
zi?V_C%FRo155gvNSj~{#_OtJ;yX+gco=OxvA?8&RE>Au<o$GeTl6WR~SPg6#<weD&
zu@_=cWpT9O+$M_6%ljE%|MYu|6D2Af>Z%R-R78IFea(HhaQLFn^r|P!<*-dPz9jXp
zo|gK@mRanSDx+aI;h`b`3K5|D7>Yu`!a^$lemul(CR+D+AQ1@|Y6>6%Z~&;IEFL&!
za{>%|!-i32<)r8jzm2gTreL>W0mC0LtK~+X>AREmn1Er6lCg%XTQO{BzmU9^Yv8_k
zoMH>h@rK!}30)|0e<kF<`oP58y=@ozwvZw|J~B++&(BLzv=N$)Yq1?NZI3Xo+qNw1
zb~yig>-ErFjVDT$Ag9H7DpASx6CN3vlHZeMR1{NEmd1a*y{NO=JztU^m6b(6D{Dx5
z*zN~J1nNhwo!N<+ohU6guT-EhZ^qv6Q*LGW>GolRnKLmrmug2KQh|Ah3|8&gYBFOu
zV80pvKygf#>-o3f8@^(c4UYK-h7e>yoP?*!kZbu}^VT5Wsp`1)exUg{S7${A40~Bj
z7URs-d}ajZ`ToW^!W)h(Mfv%Dr9PC8_uH<PBEl0tH2#wat*1vU{_Zu~EY@M!pVOE0
z2V4ib|B`Z6qMc_IOO`IF`%Lb}!f3iNu)FyDSP~g`lrJ4XKT+`yNAGxk#%qUtIMiqb
zZ7@;=$!G@b=wFRtm}7f0L1l5|v;pr@+RWF*#Ac=b@;v7eu>IIKm@GdEsRV|i;1dlJ
z_Jqxzg#&}s;}s>Onwpx`COzr^pZwcWk2%|9MMkY=J1MglpvgBf^uf_>mk%SyNr1$p
zkuEyjbJOB>Pn(7bqVqfyaY3xR>o)7Py<AI~jF&#2UM>jrU*Q6{;xUZ_Y5Mq+vsyOf
zV85$w)oHTtv&F&Df3kMl!~f1y%!v2*F}cF*$4^zWA;a_am^$@d9M;pr)>fg-6gRjO
z9NQ-0BO;!rK@s1P=_<(Lb2<q;{|%2ij*9v335Xa(D9j8fHjX|WbuAM)p+X;xT<6)T
zTmdz^!Ny>)IF{xvY%uMY|ML}ZTy*4HT2A13n;S@Yfp=h>E@$!v+vUK6j6yN3#_o|G
zh_c?)*X61>8Pvx74J6KV0+!S`k{WUVJCpkXJ(s*7()Nk+KDsSLEK%UxP^@tka6j7h
z^MBI&IQzk{BduaVtJZe^)qR^S|NWJ1Px==B;Qd7;J+lQe(DfV~qIzq%T#9L)dpBN)
zHrI68!$jx2x!ajXp(C^Ia4T(N^)fL)W9RE63X&S4Rc|lJ>1EX;N<TUV5GM>EN;K3@
z&^}uLt5vhuW?Q2GwH6py^yzW}>orz>TA2Q4L8y=R0t~ho%P#=;tb5)T4*nTtW*LYt
zyGE$9Ul9OO&0_V9#q|+y18WsBv57a=wsH7~bxT7E{UI=dQF4#y@Yd8+;^=;vAhU;c
zVkq{N+idl}ldbzOipqmK>e0PD#Rhw$p$6OXxfWL<Kr&e?jGun5;cUKbpsY+kH`fbH
z1pzZWy+D!7%**>6bW45iv1qf>kqU@X)t*BbT2;CI0OF}i{KVIZIqcF04a?JMaNv^k
z<;m{8dJnxu=x`g&Q&2vjfNcT4C0=p@+uXi*dH`zW7aILi>Opjjb98mV&!|FP7sfp&
zH>nlnvkkWVz_gB#nVM5Thc8-Ej)C%(vC+UV$58{yjGhK?8khSd8XsFiCMJ4qmTS%~
zQZ_+oR#+M5)!ymesuBtt(qoTIdkVBmNY8ogBJuHMZTI3&Z<+2fbQKVFUzjjs417}{
z#FImiTePd+i=Edx?*CY>WnDj^tvOa!(HQhki~2aK{w^Zmn_x6W)^C*V;<o_@6m!?U
zSsS<O!!hV@X#*LOLyqq+g{z#mhBJ6)s+BvMN17{Xp2a@@q15WUt8WJ;^^pcn`EE`v
z+5XjIH#IlZoT#Hcj5u7?ZEd}&sZAajR%T$_e8KwT4V3-$-(!cL$;rHhFPRAVr+3<8
z$VFmHxwmmzek}YX80u&KjZZ_Pq&^|V!%LthK8!_)hHZRd+GqL!^hNAeGO<fREN5c6
z9wfMQQQf{kM~^fd!p&t8Q=j+E`;qANYjY=Ojkikiz_}&HTp;uC5DW~yEpBdJ|B#TI
z+tFZbbz!Xf`C?}fsfOuxcWPS8>0s8+FD9Ombr&S@)RdN)i5=Xx`p3cc|7HQoxlkW<
zkhTo-*EjO%WkRG&befTzRhXE~^{b)Fws?tBMfLS5K|xqNJotkH3bbM`17l*4Yii<L
zS@6(dJC>$XrNA8W8v-&<>i6%rc?G__qNB6mZf&KiuS*{s7FApuKekC55+OU8j2e%=
zeccDmvkxqk?Ds~K4Pyya{dI<*|M(DuW)o|S_p5VljUd&5Ozq9q`-w?^2HtZPSJ#|T
zPHIZg%!r7$G1OFlcgB+=DXCOEZe;Zh&<5V!@V-+|g4;1E2?uUb(=~UhKW3&_H$uZ|
zX@A@isKRHWvt<Z{d;eg$2-AO%9T6iU>Mhdah%WiwpPZN|X>M*>@|~`$beVwLizhL0
zJSHxEcxS-!jl6PqPftmn-g0YHlv7NZob4-8P3<&yH_KNiVkcB@)VA>WVDd%4uRed3
zA%0|IQ=*)hTn8lP26tdiD4t(XFflFdjn<W;Q%!twPO`Gwm19k9yvF<Yi@Vls?T@4c
zWGb@1KhgJ-?sF%OdwAbpI`4ZMsi>gr?w&F*QqhX9QmpyM9M*|4C4`R$TN!l7w5QXT
zd>`MR&=P{R?(DUCUX0gY*+oZOB%MXk*VM*vWh5snYh7`}eQ;Fm*hLa2AUqrga6Mfw
z_E_rSi1FmpYs}s4>Fd~*mM`iW@d;mD0*W?*fqOBq?OTTL$w@Mvyp%v0ZkOyA&ZKwx
zhygeswsA*cVWgnpbM7y*lDSskC*;7KJ9r~o;TQ4{1N=rK;%`({ozl{NQ&Cc)V?@!i
z+lZQ&5X89dAWO^i<B^iikLKkc>oBLQ)l3;mxQWIc9IWU3eb$ZT#@X_t9jQ@0+}?`9
z(uLnj5rzZu^P>YAh!!!_Vsj%Z_=yc=Wq$^Sl$c-g1`ZDwZft%}OiWY&%=q!+a85_x
zkTvN``8Ya;-#Ya4Ox(hzK+}c5!TJ1PTWzcn{>5Qso0;Ib-aHlF1ljwcjTN&g4w6K1
zV1&tb3A-)Y(Ow;Pvij2FDkDCF&#ECOi_z)G($20ZpEh}Mk<aOTV&JdJOHR(%#l;V2
zXA>e6jNpL54Os^V2H-9)FnPV$dZd|gsl@|Ldfr@|m+W{~RJ_iHBuXpp;i)I#<T(X-
z#?WR2j7M7?c0C~MynB+Dy#pF@b*>0~_V@CESjLHi8^0?WpW>d|&VNV=N!1QWelRe2
z(nudxV&oKD(%Js5p_9J!Ii4|~${u7=u#S$Ir=YU~k?vu_r4|TGNZ^JD30<$3>`46m
ztFp1dko?srV510rl(hVZ;g!W!HOs*n0q_6z&qx3GAtZYM{M>&23`*K-=LZYqFFZfj
z&;SU<`tpP+6TK-9P%SZYL^e~Sp*_~(38hR=69e83H@l!<ivE!B=!CPbrsn*nHGl<(
zNIj%NPFOEx`er$z<0;AH6cjcR^5h#^TCxE!SlB!r9+sV$B(VJQW#`~TR5(mYrHO+_
zl2vSAa3WwJ&2aYW4u!X}O+x&M;(yxv%eSn)=Y1Te6clNtBm|UDq(d43K|+v}mPWd}
z4M6gRNS8=ScQ;6P#{~$|Al?0&>-{<I|KWb{<v6Yf)ZS~)nmFg2S+jLL*H=Ma_nIb)
zN2(6OvSK+`$>r$#s-CQ7MiX;BdE$2ezLBDO>?=h@o?Bn0mR7SO6A~o7y(Qn#+=1yP
ztYTucWPBXm#Pm}Bq?<o}1kxZ3r_>xA=rlAstPXrLGp<C<HwfS{_=PCw<fz(XZ}!=2
zvDWzOgFAg8Y%(Cwn7#j=Y}yx8{XKrm#$vTKd3NKvnq=D5!)bCCtYo44i;I2VxA*s^
zhn;A3%q;V=(jQN(W%tUar9TcI{w9c2j~>~qUyQXq+5UNT^#MeLgk}%x3^8O4!4BN|
zwb?(Iu`9p*Pg+v)r=pM0NJ;<ee`ON%?PJl8r%!aLFw8Fs$7qL1`a^Am*1yL1O6^o%
zkXbigbvY|=adQ_rZEAVeo#B9QMQi{5Y&D5DrkaG+czb5^zNm2%XF>uKQ&&b2Tf)bW
za(9DEn4b2g{$T5I)s6+rY-1W&n4kCkv#a;<W6K>10!ckR(w8q6FmAmft&gFJsH$;4
z9AO|Q)zs4J8c^VsF*2ctSRra6i592PQL}NxZK$nLJm+&pC%I$%R5Hn)fXv`N|FY2u
zip_KNUCw0Bzey~3LE+)cK9zaK1IeLVGNzKRk_Nt%l5kp08_UIUn0CJDphed*HolXQ
zaqIi{B_*YJDQRhzj3;O9&UP%YkMOf(`yaTz2?-1@UlN3n60`?4v7t$QCcJ<D<zS#K
z8oD?cJMF(jD)k9x&7WZMMn;bl&Gqog8c&96gg+~$XiM}H0F*5W*4EbkQ|sD4-1*?y
zoXA$QlhYV*cuA9!eV&arTD9@N<>mY364`>YM_3H^mx4)ot<V3<Hle-B&CB!M-=_t|
zV0`xM$FCOwB_%+hD7;lu6ScEr$;dd%stX_PZf+*<xxohs!eVBKpMLrzN%Vp?gupNL
z^z`(kHH-YTyZf$XOxp-2Vdv{`a8AX!(~Bt8q^TSYef$KA->L%>7m;Es5cT`?>C?`|
zP6qhF@huV_US7MUPHS9>%OE-_=ZHj4tkUZ0S@!E|Iw%gHwTIXG{wf|JrDXp)KmQs>
zhQFh%EH*ojIrZny*q|W7r_W>=3mJdrait6oqXo%&-;FdjzLiz)Gu(~vcmZzn^y1bc
zH5*~$LNf+N$nODGQlFa$jNAT%_-q@Aq`yXVkX~Eeyg=(2nX$%GvLssVXgzIQ1<TSf
zDRd8srTc)CId5)zJNNhqcGsU=pM@wWX=%0LiFo%xJ8R$G;)S%l@aTHIy}Ufj=P#iQ
zf}T)Vjl`nlj)t{<{6x2VLhaUnuZpzS+~OJ2vuEi)OFnl8{dM*$sjJ(~>WF$$v6Z}g
zgwtf>`X9mLD>1BH>Mq;HM`)L!9oN^AzZ~uCHq#VdoIZH4OuE3aT9qM@S<J%N`7e(m
zU6sr><X9-?j%XHVQE*^lkaxVSsR_!TI5~Ow!iJKpiKm3+6&2qS5@bp;xO6n9@r+j0
zeb$_Wt(&H%qJI3qf|Zf7(<b`*DoUQhJ$DygVqlP39BC&dWoF(sH-DC$pPgP)^Km2I
z-rVA8c6RoU%yIRJaWzFPWocv8?B_4k)V{w})DUxU7`R*e;>C;kO(NfL8x&z-@6+?!
z>K~2SS_8t_u9L4mTKP2g_ZN5_b_GPApOf3$e|s(z-O*(};^7u_@jSuTF~ru5!f@%-
zu4nP5w^>zSA`y}{&h=&R^13`bNU3D^zP#miEO~UqT_Ni}t~q>mMz*wS>Zm$gfd2ju
zil^u0-Z52Jc({o0oOin+^<r^W7VEaPZdI+v!uon}KtS=<_V$;60EHB<iaBU&67}+W
z9{T2pi)VCb@U4QOp%4yEIe3+~@7}#}a3CsoQjP8F8y#0s(t2lgCp2nQ<snT;O-%@N
zNg}RUG7Hvu@bGLrz0k>cn47R7g|AOfZ_jToc7W(W`5*d7HC(q>DEPV;4g5DXBL~iz
zkB<rBPehd0jJ=s)+|Qr?SbY3ivHt5oFiVp*bKs0UB#H3;VdJ$PguQ#?yD22(<@)zz
zht0H~`)V$*z1@BPV5DncAian!_}j3jjO;!m6Zgs+W|pqBy1Js)`ZUuP&~6lZDTW!L
zI@GkRvA#Y^Hc2imDP|A1^S|?Jf#|rdZaABREB@^T&$i=`&*dy!@H3-L&dMrdnUqd+
zeB#~6=;)+z-`3px($dGQEIfe5u5M?4*VirXtO~noj3*}xySkpwZ*k8M(|SFpQ4)%%
zhaQacEOW`|_|0*SxLdd4vT8cYQD3JT7Ria7Xaxl(LD@L_1?r}63aYl(k<QGG&o%#i
z_bw>n<o1KS9Okrc`?HCvd)hLp#!TGhQKMt3il*yFx!Ku28w%nzdm5Tsy1H(;xF{qh
z>DW0PHMO<jynDy1tvzFBXV==-*Gl+Z$j;fmxo;L*0nbK|*>8BH6_d44-_;$bb)*$R
z%&em`yLC0x&-Wz5ZD~1ks@sVC35Rl5-y4wFt_rIas=VIko{E^3NSK{;#`;R)HpLft
zK1$5_m-B8-UXw)xGtP*es^j<zf0egpR#xSqqudDzmM=%E9Idq73vvtFE!XvP3bKEc
zXM6!1kfT6OvHbV1f3EC=4^J39QL>Kqu#2tj?~#!S`w(9GNTTiSIRGMy+uKg#Daz*x
z5P;p>)+?xFwQP*7$*bMWwpJ>)B!t?HcShyM*GYxqX=y(NK}mT6WBvw>9p(C(=CZ@*
zGCG&|nqh9v``9WjkaBclV)7~JgZn0mDzW0J899o&-cWnw%OZb(+b$H%fGM--%#zbh
zM=Ks8mUTF4FmI+uPg?IDqw7v5OMLV3pg(wM9-oX50OI%PmB^G7X;9HGuckzz`j~rv
z7O@57<c!SGPTeyaa<efee>)YE@>0U+hoabjoC_$-sN0wYXcVXrgsM;fX8i804?7rW
zR2d=d@>SK+8WWZvUVf|c{Y^tgKuOi9gbRIoVJlXYhG>OxlG#*$k!8vi7B4{r4IC}#
zS9`JRpvQ-=KfAugok+%6ptn)xCYQh;zPl^!Z1E#efSlZ%iA7jHw^3I!-sXEJb5B<K
zix{N-%h)TZnswwnFhn~n5Hsen?H&?_vx`8+9%hm?am@42*HtK-p51b|K8xXS8~zeP
zE%NEtuWVQK%qN6=Nz>C$WzBjaoIz}3P5(8hPC}xwQ52K7X8$y&U;gXRLo=MnDN?`T
znxs#+VbZ}NOz~QOW(cj(#!a4&(zhaUal<};d80Q|wH^{0FXQ_AF>MP2A%!40CZ?1C
z*Sm9N2Zu<-u})3m(z-y%H?*SChB+)0j8WU#7(RUXwY8nS$##2TDXDBJxokW!ik9{Y
zFz0y>#yp`Ov1Is~8!6FX<>KGJlCF~&EpT0O{^WV2f0hDT@+E*2`bcFFUagw6oScxL
zAlj!-Wu`|pSTpNp2p=Ox4GMoTZuBp2MULt9zR}RrSgq7pt<X3*{SC4afuv4Xo9*N3
zt>`0(9>Vc4Y&k%wXp#i??}s(syuQ5rxOalrY~#vyjY?<bRO{t=IjS{{E_swDlat$%
zUBJ_Apf;g0X<i6kUrAZ(m6K{*@gJq&`pir?wyX5?Y0yAA?RPT93g#!#PWlNQuSjF6
zu$ecTIX}VJ0!Nut<=f;o-gkc}iautWE(t-Co8|wSaa>avPCX|a&Hr!CTQc9tg|)8E
ze*qkHLdJDX%qrW=tdJGmcIa?4Zmb-A?SzR9;6!ERuhkiGHPcVy6B2&q=B8FpF@{b}
zj*5zV<>z0T7>ZMdh8~Ubj%t{fPYe#em9nyWqN-{fJ*X~i6-vP3VY_~=(#`(S0D%uR
z@OPsoDco;2_AB6MJ@g~qCNd2f+E0x(mPj~ad^B0IB}ILS;OUliN15N)(9h-FUS9}J
z>-vn2J3nvReW!VI)7;G5`rp2r#eWzd%*;|((#@s3euuD|8j-!#pDOrJYUQOpZi1+(
zxZO3<&-xhV74UqKCkvur`<QhjZ6VTxoyO}FYrJKw;fYG^y&+9$ts$ThR+>c|;%kZ%
z&?ovpaxnKcIs3MoWfN(XPB{CI%>ELq*?006Y-Y0s>y6=XCVUmNGGf~SJ@3_+(3#nz
z@2u?@XSmVJD&=?<d`BvR<0yC9wIj$$>5vl({@>UClfeIz!2f?qU>HI14>^+(we!L5
zi?#z6(M6`@!dv9-<*y+0CqhSZA`^8J#tU@aXs<b6Ws-|TW`ugOLq*+ON67#YU9VHc
z0Ku-%`c?jblQF4|Pe-{Ip2shYULC;+G?m1^<)NZ|(icye3oR}ZkA(OU6BsI5$Ev7(
z(HR@}FLIt2a%%O{(GJtWp#<?5*7>j@Lzn%Ehms#Q`zyki%g6s)ol2o@p@PiO*2QIK
z-_6w2G(JAQ#<QWIAgsMz+37Pb8TaLV^G&vvwJyXFX=;@KqC9#c`Ke=Y=OZZKbJ(8h
zeXft3Xdtb3ZXit^YTcjAkKC$QC{b{8cmKPz^tsEZWn`qZRhX4EEp4Q=HLX<`rm!OK
zW^3DoKp>nGOG`P!!on)NtgWpp7Ck+uUF0+eh9211*icaL-vn78h&_H46tr7z*QJ#L
z)0&f$BcFo)!O}9lprBy3p}SiKvUW50wxNN_Hz((*rluy)EI%tM#w!Ng6OSmyE4X-h
z5n&d!g_-SZkMpy$*NY0n%W-~WO&63~#%PT{AoZ)<s&F@XbsGg-?A+q*Q`A;OUVuwU
zVeZ?h+#Blpx;k4Yr?%GC){3q5^{-i346sgDSJyJcc0YT6f4{5ip<8m)%b%H<?Zj%E
zo12g>nN{j2D~pSZqmPY^2?=M$ln)DkufWM%7G-)n-ZfpL^9O-L$VY-aNwtJ^ijK;V
zFQr~ld-uD}`|z#XczAeq_4RxE`{tF$M@QvC&Mq!CB=`!r!B!{1_e{#m%PZL2?b)nq
zb>6*`QdNBbcTiDLnXJgo$+1L?Q_YmVm0E2syU%z#h<Wo{<aoa6MLVtdSEyQJC;Ewo
z43Zj5S=Txevw2+lv`$Tty?_560ml*8JUu=6^XlvC5np7esj2Jg>e%As>JRPUfMMyB
zoRbrG6r4V2`2e?rudQehd3R3_VoPA`sy1s-X7y#+uf7_rPV~Fa5vGTdw4b1mdrz%E
zlua^_LSN$}yO`121S^Xjqj2b3xF;ea;*axi+#2!cPl|r4|J26}Zn^XG^BfmNqrjZ}
z{EVMJKko0_YcZA=$jZntva)8Cm3@aFba!_HF#%BiQf@9MHU;g2E(xMq6gB>v>}?u|
zv>#^JKc+j8O_@;M3n|IFs`U_y?E2i;DB|tyjdA<-bVYv8?n0};XSpN(pw20_gg#2K
z4;mU|Po6ya9u=jisVQS;$KKY~_B}dUNl9sVdA@|@KKdCc4Hxx`p%pvbgz{~vC{%Gk
zZ6j=t?qgNvNud%%AHDA3$P-|&x3{N#^vL(ek00{r%Yg)R(_eZDB-w)l?_uQU=fm};
zTRtc%Mm!Ixm}OyP{83dEyRx#fom_K|&NI1)Swpm68euy6{MoSbxioWq8#-wy0j>BM
zlXjSSsn_%wrH;0?r9KB-etupLF%1Iy??3#@tE)R$YkLnI08*!dHGKO<7!(`~sbXb5
z2y9x2g@t8%`|20BBbB6suiPVaL-VH*rBJS(T@EH-r1S0ML5x4ybz}fbH(lzCfTL;n
z6coLk5p;KOap@Tu1K|#6XlT0!2b(<uk7(`XnVvt-`1LEWu1@go-MgIw13-PoeEf*E
zzrWwv*SE#CV?lD49qj|+No$GG&+4}s50RyWTXcew<r?kk$Du1+G4=2ez>GdllMLO!
zXUs=1C~U(ZrsH>tiZ5TjL}idq1kp8BB&DPbd?jM&?CIH*|B}z)efOuCsCk0ZZSpu)
zM#p4}8Mf^N3UoPCdaa5MJ?(4fjg2qxoN&Z~fQkyH5|h$NhUoncB>4R03;duTo`(BW
zQUdhp*RMwc0tx^AS;FEOpFX91_AD5_;o#r^e<D1~)XgULf%ZSWDS33Iw^Jhy{$i_x
zi$O!Oe5j;08hHpET{PY}Ii!TBsOGH6xXtgwGYlKsz(^A%Y3Vz#^hY3!-d?$qk`l{Q
zE>_kZN4kSx-^J)BWUossvrw|O45FIFQyq5irXA>!p*l`4udS?@U`Oif>%+{BGVB=e
z9arP7Fw}_`Scr(oNJH#YD{(V5HDVkb9eF<U_A0KFUWHVyt`egYDMSVwyu`J{C8e<^
zY+v4$7Ug0iNV9gqq>uax$d{ImPJp?&x%q0`7DmKvgBa<Agpxu+?hTKONXyD1zafJ4
z<^+@xz6i3*ZrI`{ilU}0y3dapHbm-YUt%2hk$|P1Utn@zApF;_U%1U2f`ZyY(X_N2
zYuvE3s3>FX)bY3R-@b`yXlT4+&27g@`DzvI8bYO9%=xANdi4td%K&Dk=J=|<ob>2R
zQBjn|_E0)V68085;3S%Qd+0;pNm?%o+aM;RzXr>bmX=OWPlrhya^~hwySlpWlaRO^
zeY-o4IWILIXe>ZQmo6isxb{ygqRBDjtr<>SgzsV(=J~}1r`=zP_Ap8dE#xJO^k<(A
z0^qgpf5ytnz{dvzDDESmn8z+7Bf~FHck4AKuHok)YG3hR@5%-k9gmYEnnHMbEcJeO
zVaCbPgUrZyttpTz<>!yLTWlvFCLSN?dw|>z@TkbOd3x66yKvFa_?@52%Z|L$JN!uX
zq4e=jk5>cnVykgveF_WqnZ~pF@-#j^KJ*I7z3I}Cv26NiAnM0YpWbE2V##WS=_?W5
zgEKR7GBS5N!l_qJ_ZBIH+`mI}oQ$ljfI!{nV;U}8!@+NdzGAEEZU)-4mHxf5?2_Lr
z7Z(=|H>=B73_HTwnqT@rN=N(YmA*dB-riotasajW+J^3sXUMJ_$|SbuC-c#iZ-k0c
zi@w3kJrp4q><FhfxYWXla4M}(r-_2kKAkfDDO|woIWKReIR0~1R*|zJlaLFs##;@g
z%uH7^qo`ZjFbI?s-E&3%P*1l-TGd02o`{HEPVfA1T`om9DO)*<kc`YMAQPq%b&5hK
zN&iA?0H5b68zvsrV<x8TQny#weuaKQP1Yf(vd@thT-3%+qSqtGNAJBwY&%>Zi;9Yx
z=yQEmK?SvA)4z)&>w^D~01ahyYz)T!h<bVoV&YQh-CSQK=|mTzHDESi82EW5if0H1
zxUV@j#b&O_g!uBsMAB=){1@Z#JdNIDp@gYYQzC+)1?M-&!H85not?=42f91l>*Cn%
z@9(dXc-f$-?@{0D_0sSgNp<114U&Df%f7s;cZV%!3u%bGvFx8<J%mI=;*hHgO*6uh
zR%2UQ#BeEIh-zy?*_q-I?Em<<Gg&Ft<d-3$b24$u&zEnplD3<cn^Z|(Iw&C+q{1k=
zW~v?H1YB51bX{ru{QQ!V#KFYV-$S(AyE^$p^zfmqr6qH9bu|OE{rxn|Lry)0w-bM?
z{=NCc?RXn4*w?~07u9AHNTY3S+vZ!^o_lS*NdhrzYacvdN}T@>&}*d9@0bL3;(t#{
zvcmpRTwJW8rdHuqgS)77d4u-Q7k6R<vj(O;XBmF(wP2?=azU|mbX=-C=r^3JbNl`K
zH=EOjiX45U5Q2$TT*cX$$EM+oen9vluRej6Ry=Xaas}-3cYAw@#RQA@<z7cc%wH|G
z6|AfKbf2jz-U)aZ{0QiuYVtwhMPC?C0{DYm-YslmHlJ%x9S$He_qv}I!rAugNT@qb
z*21unFeYYZqt*T-&!e$-o)=q{qhsZ@!^w9%vGOpF5gC57Z201<_e1_W;|%#ajSAsr
zaafksxcTF)-UMC%KzOy>ZzcNQK%+q_1fMNL<tAZm;N%+sRKNxPn=JkWOAoocysS_#
zMWr_UJg9zq@WZJeAwL6}3rZzQh0XqtACHKiYySTBL^hVkDqcn=C~%gGiwk5+GB`Nc
zlol@B?Q=EZGgT{1OIub^VZSy=Q(-yPQelN)WM;O!aOBuU-DR<zVZpI%O=f~F*DI#~
zUoQaVB2}LU`^umr3Mr2zX^f6DSuhE!3COrcL|NkY=fcM8_>1k@@b-2|q(fjx@if?h
zDX3*5!^17jpD?GONzWAZ5M`HsSGfK0(N#ZHssqceLx}8}E{d+MF0*c3Y=&$Mhs8Ma
ztv3W@w%#`ve@gXRZ#SJTyAC7^)$~b8+-5GF>TU44I9-ZVn5=Pn2JU%0D~Emi>XJI7
zXXh%jQ7nt3h{6?RQHdWH7q>T&FEYWVA?{T$F)%H23ScPf)zuEGN^jqykTx<lUhem3
zd!H>kTSo<Ut^<-RcG^_qv77|W*G4GrcKC8P36ScSDI7Vig*0KsH=_8XhLEy<d}v+e
zmtbA<btp~hWDfz=hk6LA)^&T5;L@xv3aVGgb={U92vo>Oq_0A(oh;HvPvEgK_c*Jk
zP{+Ou70&xO`VRTr__jiNXt8__^e(ebB=2<HGFVcAJAdpSBWw;@uvztZ63ooZP#>|e
z{RijC$NQfX5%6)El*X|(oPMnQ<DF1d^<s0|BqU<z2FG&*u``88J)oV(BSrsg>+HM|
z^sHb$*<)KD+*kdj8gOol?GJ4p3ky?0QUTC)@93zlx!Dg-_|*5;FGdeu1&O7+$Mp33
za~?Z;LsHa3gM)grl)(|}&L`s+FOG-ZOwhFaZ2T+$C0E^CUrg0|@LG)LDZ=pUm$|8_
ze&Ea@m}t~EGNFVE?qh+`g8`E`TPFo}P9+GsaXfohfHZ{}pPMTv75LhXxsw##iXD2m
z<4`eC&46}8a*EB?KQa>Ou~Q%O?!8yk*}>}K`nuck^ZNwFY4GgPiyh$y&6w2qBqY#s
z6rf(~{2Y7?@*Xp;i=oHXKLcME?j9Z*^(XQ{t9Skj0fETa*w@O+BQNG-nz%yj6P}p5
zUvt7d7|d%Uw}Z`@nHh>`*7yBztF~4=k&wc|owy1q2_w<$oSeV)Cv&YmJ-M^j2<zHV
zEf_?zq~r*ZC%LeY6;I@nt=45{1y=IAr>6&1{q`kRU665iPcna`2Y-y_oNZZJ8XfN+
zPfp}tg1<N2zlMKpKNt`hfGfeUhmxo1Upx8I00qaq_m0DP$fJ&_oQd9uD!kR@<~}?^
z=F9%mjFZiMf2j*jiY2S&s{P;4+<S^}F~O4=2RL_!DHqRm=Mmv4#w5n6%ZcDDPEx7g
zRg)8VPQl|zLzodEC6~aHpS4Ad3<)nk!2UxoZCuo|cbYbQHB^ggJ+a$$*N&+psHc?e
zMQ1~tCcX2pzSV|{?GbHoh2Z^3rKF^+>yOmH8MNOb(MG|)`|o#Wa8}*Uno8;j`YDzx
z;H>6#(3EA66&;MPtDOGdWYJGBq6=%M@kY4ua+%c*a$7Xrrp{0*o%+n&!F4>(TiUCe
zn{ZaKp=-zcMBvC80%;%?3c$AxYM(@(%SGz(xZncx29!&Ffriq-b#zNi7IJ``n-hhm
z*OzBr<9f*PpJa6`jhFV&`Zn-OF%5;KeXWYZd*6;BK%OLIVTTi-(CKa~p6cH>5PT%$
znE-$xHGFs1mW}?~4VJC7M{ifE1GlZ2tu5P5-2pD3=Czb)<U%@snDm7M9!ELweK#%q
zhsTlS*0zI_)AG^8`%32s<X;3j%6|C3XfaXHHa7NP-h2M`ro;H)I`$>{{8xtL`OAZW
zofFCbU1^@zZQqE>=hAMob%L!OdrE9oTy!^tjPrDAz}qAMhULQD-r99gx~Q-2-D_ry
z`${)&;<dY$7XEi_GO{}sxdpUaeEj_TlZN3M)WR55{Ad$stpfr(f+l_O#+B{=yTBkj
zxX7PrY0a^f2jo)o=Drq%_2bD~|C?}3vl4GnP;9Nch1Gi-oJ-~`Inc2X<P;J-`49x8
zx6~O90F;3v1f)kW-uG52Wc?dhPnp&yq|}Vo%pzF>_zdEBz#6)(asGG7)U1+{;hM9N
z%h!<GADe|D<#A6Myc4+dwUFT8QdvU@i6w@NjEwIwF^F0+TH1O8KqAQB&eXY;>X5_E
zh=9*AUha-!)+`G|YRDz*R9RWsWUU4*t<d=NbT=|qcvxa5F)=ayo2edQ358pK>N5KK
zg+%ueGjm9}#f1HYjtjfPirjX?g|+b2p)%ye|7Il!BCMyX9ZYKxyp+Cbo1Y+y+TZJ-
zUR+u-3a|JYc<;l2$c-S_F)>6=sMH>=dz6=zA?00S^GA4NV*|z3!J)OS?G`I5>q=ij
zhjENfJAC}Rj5bCppcbN{tW4As{d^H{YlWAUxam{;qxnyG`|z1g^8zqG?uU+9wVLel
zD?7W`MS0o|(#pNRZGyW^=#Y#})$#$tgE<|~;J~{D3R9E%2Woy+%m%JFxiI9C*xA{S
z%`yTzQNG2*bOf_DblzO=-28=RK^2wz!NkuuVov1WyfNM!&xhI<;+PNW%o`g)pFW`j
zaGP=Y<Hf9Agu=>N=xr7W(d*w-X~6sI{g~Lk72*)jYV7IH{YRS<0#;KcPpoEZoE91y
z8sI2yEx3;^@8`teSkKSh$Mdy1HVYf&t*oAdXeq-*u3vy-z1qJPaQ-(RAw`v1Q$r4N
zp`fI^bN8-6*S9CyFqT6u@kQ}_c%i~D5sWBWhF}HC@y%nqn&F~fV26U!=lYT!1<{u<
zlKJLhz-%P*3(5WaMP3)q+cldkb6zJpkhqvOMni8}#Q3-xq-SKDCUOC*&i^KxIR^yA
z<>hgev*eB2f*v5<*q`YNz+>BuH{LU|vl?X|2qv^0a2!_qRc$h1V<DX|J=<Rf99Z&U
zh&I{v@7JR7@o|B?0fak$B+N*oprB}n#M18O>ZH_RRo>If>#RfMdZ<FZ7VLcjG%n@(
zkfEUdc-r}o&7C`U^0ceJU0s|I-M{}EiH}N*d(J%v-)g;j^~!R#CMuYvCh!gs{UHM0
zSCAMAC~r6T{pH7!5)L>H=6cY_3)%&21h>;nm7U_Cu;X-tIxt~wYpDUJ`#r37aCR0R
z2^pM@FTfh>Kfrg;!~GSm1J!2<H#a_rrwg+#f7+&|;+A`24szdL-31uv!K*4^)Z_tA
zpiyoA1P2F4+if`tsZUikHE8XuXXCjmVM+CqeSM*gS6enS-WOYd@^(j+752co@TwHS
zqYIUrk3HqFn*P1i6^ZH!NHk8wM;KHJiHo6~H>rclL(WfGVu{P#+}st`t6pqy3vPtG
z7E);|n%qj{J@^slfVYsp0=xyioF(o@<~VGG5ii$Sea^6Nu1^}Xb8{Cn6Rc@jSi%6U
zXUfI3C@ToH<!O}muhoTyh9d8jCKaxvi#!gMYwP&$(B)h=0!R;^n-d>sk!mS38wvdS
zb?CC2cDN9-k+VJ<Z*g~b{^aCj!Ha*T%sMq?t#(!({0a~G;Vk2b8w5h=9A<>@A+TNb
zNs7u1LqTDn;ercfyH-A-yO>`&2gBs<{vVS|D(v~9@qDbX3i81L*N;blrw>3ABKRCu
zZ2x$ju<N&c_KwS|&(8h|vm18-h$|{8HgAmOTGdxV&X@r#FgTxm08oRYqrWGM4K+$l
z-o&5}DBvcA0&UwrE;<zj#-!`M{sgJuy(XMAG&C?!NLkxyOx0^IPC~-HZ@Sz9=6qdC
zIyseFrR3&5OHEBh{uV6QcWrHrDxeL719LMtR{E2AZY~FI95=aPj}}1@H-;`yVE&IL
zgQj&BtmKJo^jjUBKEN(tDl1*W2jD#hl!!_jQ}C=ytE&ip8lRKeKTd9ZluedAoMyw1
zfeenP@HK$u{RXeov$LdQ97wFs7O8JK0i>WbA>G}M&y5G9R|r{ZX^Hd`I8GA=Mf2=g
zj7>G*n81LbN2&8~TX6MG!-YE+-YPhZ{vOuGUJ#H*ovU5t`**M&K;%^?a~`NLTF0e&
z{v)=non0}dG7yWvbzGe6tY*aMB56Wo#x-(K53sxL`g{}4mqY{BbE&0->9Y}uiM=ot
z$<%pg4yS1}TiI;|j+?^ZNwfD_N=hvd1hC%z!!Sa<hNv@pH)&{S$a1DC0z6hMz@%dE
z6373hT2<faw9$nNiWwO#X?U^0+|>P;#>+2&$ReYoiBS?06D=Kd<l{KL<Q6u>$HvBT
zvQSSA4x$V$&b<OJ2P`5gDIg9K9Y@6gLrAV5D?@TP;HHFcE)Q4+c!4MObr!0or8RxV
zz!1=QbG74nx)2cCX9Bp`6*SVrQC11W?Zi29=aee8!RAkc^+3n^{CpF@2pDLh-4f4j
z0Y`d;5EWL7NYHh@S-9$lN%e?}>rhTO1wia%og1eQ<UD|$ng9=Dv)28WTTl~(^gW7c
zl2f&Ap5O^k#;JUj<AG)YCPYWrrk=VHIPo3`z%|HKaa)Y<LijV}Nw9-7paNmNIMH~`
zeSLi`#2<51i+ehE=k)$*VP68T16=B4O#+E5uMS6M0DE6<+4vZO+qRr6@<R&NxF^~U
z!a}x6Lf~QT>8WeO)v;Ex*Rh7lK=K<EmGAWlqs_4GD6yQT{bu1#_V#d?CBkd=F#%r(
z92NhLOi|!ABQrB0k&#4|Gxpd>6YO6T_ywe`g2>hA`L43myu%|_Ztf^b0p~<TI;l|d
zHirSB4kRuI`<1b<c=nLTavspkLbR5(K1dB>8z+AyOsan+C3UbWauWw2-AeR!KX8yh
z$olqs@Ryd9Obfw$BbY1{Av`oZEC#d#=q0Oc42v-^T>v<WAXZe^{6V^*{?iN7jxfsf
z%uKW;wD<gIeNDkAK3ALX&CJdD7yZM@xq|>V@3)b>FY-LI7ZeiWvz<q2ygn+d-pI*4
z1+iw_S$VaTXu7q04-ao=*VvjT!EHSwW_l}u+kzM#!l|)bLBhWwKAs%@$EVnKK@6F7
zgi#9Y?(XVA;PO0MjsXYh4{2n|-dRF?{ORWV8*{Hyv_Z?H`qLfJZeR~#OcihchPdzE
zs~Us0yD(3z2Zq{70}>@8BSY>RkVyeZ01bg_^O}x;Y_$JS;9u=d13LfC@=T4BMZgp?
zmj$w0B<+NdpxE5X${2u|;PvSu@;|duyyJl+6%!YC+wWq4xtOfa)be0t%w^u6P4J?0
zOiXtkk+~8zX}0{NI^`=mfS)-e3VZR#Xxn#bG^SQo@<LLA*Av6K3gBfv$z@I-E{?Rz
z(1*N0mvx2m&UNDO&NM+?p#L0RgK@6>>eVgLaBO3Bn>;*R+zK3gsCX;`U5)exLf6ZG
zCMHPOp3;2{Ow9Z7!#7;`JP>ju7%72DijL1(w=1??cOYK?;ZOIuInv}ePt>s`8}cv>
z?N2MNu>`law)#MgCm5DlI5|0|{x9qP`Qrx)N@Uk>a6sMM6WXm0-f5@GNYQf4$Mu;+
zKi8534jyv4ZD$1|;GH2W<3oX+E4Ny5)6t;}z@yFtm-`75FWJ6iIWi+Nv&41J0RF2T
zEOYPx4|<INpW(dsK6{elea`gW=c?Sw@(m;xyfe1wFbj|l0CxR#17M380Q@j`9W@U{
zO*2J+&ygR68in`b>}+qlc8A0J@>JIbpOm)%LT)88gM(l>%VSpxVFIv@@zBp#%-U6N
zQB@>vCn9y}v_k~RQt5gfsRH(>xtaz?{vSiK>qk&4+)upW6nrg6D2a4WRF&(nDGSxB
z$&0B0RDZ!@_<(a45)KHwXMJ>Z<O#S1iEWT%QcVp%N@7w{_0l)lD%cE-DqH=Os0|_K
zf21yRZVbl8#(GO#h@$UW0b!{`O=PE7>VHAn$ZQTY_&nWC4gLb=EPQ#cRbe~dgo=>p
zhm5p0MI@yyn1s`2PH=YQF|Bh{M1+2BCl4I*Nd_jAYCz)zLSi)17r{afAcv~-*d9z3
z_q;lq5Imj#WIEaa<nJExZ-9`@R7mLuzn!!5CV~d)o?)}KE~Umj#Bf;97&{)qFp}zl
z;8<kTMW{vawZVR=lfe7>AVpbM7q`9lwXC0iMTa9XKkAI{iSMS4j?P&t^>x#L_i?GP
zRh}vYsT8kcGHS0w0^oDYW`FH$Y;=QxAfXbd12?j=Fib@dQ9=Ij;Z&s!H8Q1uHRS2m
z*GRRou~aV+g8Oj=KB9WT|KYTd3rGOm#lQ#eMI=y6_;cycZrHy2n@E8TiUEiW4+1hx
zpy(${P4NI|>z!=Rj*gE{CkKaxnZVIPAi=8swD(+I{JB|yohwx{LttEnM4~Y`Qu3q9
zH9c!WN0E(Y)*s7Jtsu0&qG4qXw?b4DgD8Nvl+wcc1^Iz;rrZL+&Q<uBc7JC&w|@}f
ztqPc?<qI~HxlF(jLT_HuF?U>C95RRS1zDbG8m9xA1?!S&4<T#4*lGM@8q+WFTNrA~
zFxE*A{3Mdf1d?c)e;E=2J_v~#B}R9UY089r^~Q#Ivgf{Zh4rlY>=F4c{^0u3zpV3U
zF7(FR27bJimQ#O|{`;>9AVZv>o4rj%wJboS8F2Q<&;17vkk*V$0p{vGzJ`Z02n#2V
z<-S8A@jAByfQ1WxgITu^Sd0h=pk7PNqTLD0QxFqFgH%Ci%OWprTwF}dz5M>_#CxAN
zfTdwgO7r*0Xdyp5T}iN+1iuD0o>^2hc$`>UD*)c>&cW&cl2*XLz&P}{_zQ>#i8oD5
z=tUpcvhLo<AH|Q{m|G{#qZA3#(HTx7<2R+tOf#@WGlliZkR#22?I1q@w~?$AIQ3J|
z->#k>!>jWnAaAIAiw!$U^qSFF8cq#N`V*(p6n_B7F;2?q<d8Wib62vdX8;vI0ch%4
znEX!SJRB(KwV^a51r0-Ma4GqXYFn@+*Y{#$Nr{=&kvPqy@}himV*|;4+0^a%m;V@~
znI{f8d!djmkV@3^bp^$TC!r4y;9LLUlxfNyBmq+yGX74VFMyiY0OXF$)&RTF^YBCi
zbqICd*V57p)HkP?NK1|94u(6ifRCk@PyCgP0_?!}&bMtjLK~ihGsy8!W7!QQQ_4DE
z^2s6Q*G^wOoVY(eH$omK+fP_n`gyRhnji;(LIQ`&wl;XBb0hMe<mn2lhd}+6$-9}|
z9!F8oiwih#ta->^oVZIfPdOh72x|&Ya2Ex@CX<5T9tLRTrv8Y>0J4b0Wk!gM+Tf!o
zUfB8qSMNVLsSarY6g==ej{l)HwYGj*AIai0Y`<sH8`}&%2njf~5U-3rXw|!OfBEtS
zicF)<ZvVC_|Ih>L38@q$dYb(rH=Y8ON)qSs+(zwfZBzC^<xQVe)zxG3mA3%)Q?iXn
z(m#2!2RnHHTdw8eg$Jy%Zol=W^jaA|mNv%Bol7U+p;6(nVP0{;--Q5bxIMe6ZTH+F
zlr}H0J^mGUFtV_K(lso=M;}19k+Cts|CK-VW=Pnf3IXt`4;GB%<ugg)9j!!Adx2n6
zIp=Osdj%XcfE-;WUItop1!M@qr9`GwK&vH#E16t*TnQwT9$;N$_y!{T*!6BjLv&<h
z>z|uz7vRNg>PO$>UfwZmdYkp>i~O>j7y~JhR|Ak~Y5;vM?Eym-AUz$D(LmxtAQDVn
zH|8GT<2Maw$o`MPg?#rnh{k*5wVd1%Ac@j3F`hU%$oU8<Df^H<k=@Wg6MP}3GZYgh
zYwyqw<K4x^MnWS<fq!>&9DtFi@3@r}9~<>UaS3+pWW%>*4*Cq*0R95PE#<c4(Hm9p
zA!g(sIY>5JD|`Bzbm5wCHy}DXx|Y{!dg-!@A*IN1T?uHOZB#ovF)gq+Bx?jDK5F|~
z5kQ?%pBwMvEkp;{nB~c5WWC1M&f)rSeI$<GDaT6aZB5-Ps6P3qzI*2YVE`(DaL_$~
z&vETPCnd*+kzEpwjxhGC&j2aLL_UWmykl8-R!BY=kYT*9uMg!-(+x_l@4r%^n<;<!
zT;_S<dA|8B=v?rCM0yEQReGe>>A1{}Wf{lxw?pX&;w23>2@6KZ_Aa&0WrTPDt{v1=
z!YKH}6cq`;$rnZCSs)&o>p)Q?Bp@I_NF*rmkkcZ&E7F7WJi%CO#k%joQ(7TqEiG9C
zgP&G8?Etrjhli&_nK9FpEvC!NkTpn9cp^$lAx7(o(&#7eE3GL7T(-+_Lo88w&=k;^
z>W_52ocdhvN#d;u`QpJlQC}c&86>U$CbFa5#s9Bzx>eJc|9;;pl$8Ca4t^5sq?ODA
z0y1|bu7sy)0|KIt`g#|$wtNwpIm|bILi&86oUq5VTTaAmBO@d135Y)pAGSP8=KM)u
zEo;_o&=ZdgD9E%iFOPY1TW0=wh~oNs{Z+EpRo3Ds0zscp0tukSVA59M3K)h7)Gj}5
zuy*DY7e_#NFTaq2vbE7xPz8IO9Gvcp2mTHwu|B4ki*5S-l?bp?v2xF=^vZnA@*qGW
z0l*S|L)bLdzxQ}(VPWBReYUCr8P$N`!97SZWE<-%JN04`5_&*0;GG_{?CcRxJAmn+
zbE%jkU0q)RQCDuN#J{ln`y=rz6A}?nCK$9vT>=Hu3T3Vg)LcIw1B?OTq4!@02&!<?
z(pNk;FZ=@n97f*o+O^{F-aFUa0R2eM%BsZvsdE(Q?%~1ded&rU#se<^ZwfGhaQo@!
zLtP1ee%IYcQ1$s)RD=)JakT>NsjNyOWIeQ(bKtFpM%Q;H<*Ka;#O>bsHxYiBTLY^=
zn|zCm<g;H2%>N~(l{7010uD_`NTAf5^8k1;S!PD`kk{H0kvj#1Jn7d4vc+%iDJ4?8
zi=^``J%qR0Keq#&sO_;;jwI<^Jv<Pp8uf)B<n;8%5T4rM(fI()K@`}sEoCRYK{gJ+
z=_d-{I-pxT8OlHq_tS!8fGW;{`j03ivd`5sGc&(I9{{{&B%o&zrPUt?&P;X5#j^PU
z6~+d;)E-W4Q~S=N2%4|{0w(|*kuVJpPlXkpHE|KH>%+8w(m#_2(-m~Ke7h-4p}v^D
z!NJ(DN~ASEE3C60oV}T%ggK!VDCRh6kk}_(XF=Z;upQIxuktqmGyO7Ek&x);b8>Qm
zByCzOgWG6jY02@-!4bSJl82my<6%Yt<0tvRzcie!JOupF4UPfPk3EgziFS!Sd7I0{
zDXf9(t@W=%^y}6V?Ypr}v1?Z)JuHU6(gHs9c^!}kwMt|(eDmfB6Vq34lgiir$2SOp
zk<9jjLlhA#npB-fG@mCQ1|nvi1+A2mLj*WkJif{0d{bE#-={0}l<iiXY8OgoBYRig
z;aodADb7on@c8pFjvxL~>lmN5mFNgp-@dSFR=)?HCd(Vylj@x*W@7A!*Pr9!$V^O4
z!HMIRmX`MR_Tqn)FcJ`aiI1@`ZSU&(T9Ar?IJmf`rh8-KX|Z~UI<ur8)efo4oqQpG
zm+hG$A^(Geg9-b~WsPjLTu-nA&*LdmLHEN>!MsA$%iE_6^Y49U68NRsR3qd$QRi)Z
zeK4-$S4!laYm?gAUJ0Kq5qTfwzMqZndU52QG&ZKHTj!d(vyv?0BhN*?6<d{FG-cV_
z-*0{=DK1Xm+B$4~-3;u2^^6xE<0by*Z6gjc;9AR6B-0ds4l%;=uCA^M2FOTB^-N4M
zGfot6q-vRT7PBJcv(A83=qdEMvY--jH%i8L#JZ&RH@fEh&sBMKGBlSl$)w%SrwM;B
zMc=Ut-F9bA2ubWCKR~6;TJT|CtA5}j|Gj88J~1&hIXTEt)6mervXZH3nu}gLE6;e}
zz}!5jt4o@mfk8uET~A-%@AYH*Clg8!V3h@|*(yO%Q4e@{cqZXrC-Q-xmB~;VSUvL;
zhQBY@&e<GqX=%w%*tB(Z?F2qOYvSH}U0t4=s^;Pk*U#{Mh*n*R3nH^a^^8Psh)<u1
z4)BnZku5BSi>yF6K_+VNtapZcGL^E|YF|0<ZJ}G2Ym!k@o0^-;#O&?a(bLnDQd2kX
z3ov1Qe1sLFz>{EXVIdoHbmXK{QBmQ3+>Pp5uL}m|xRdDiYtrh^8Ea%$QCZpV;bFq}
zo_n_h1fJI_MEl;LTvMKgyqk>Q=ctw+Hfz6oN#^f+Ewmeb7GQ2O0vYN)@X&w9Z#uY@
z8SnFN^QcmUchrVat4><-NJ>c^&6+UYr@eodosTd3mTLRAyB{CTF!xS`Zf#jPJ3Aj9
z(GdqLvcxEOHgv1!SiJIJCLJ~BZaCj~<_#obF|4K3bYQxppumnf{^lz?-<qbKjxDX<
z3<?Tvvb4lYm5kCP7xt1ApF5X{D{`)E^mNZzSoU`p#Dy<+#pm2sDc8kdg2x;c_^`bE
z{B_pva3cBd-V6Aa!9==wtp*w`87Odxa09+d(1t+!>u>MIn{VC^kp{rEe<s*v^i6{H
zB}bf*hev{|pgc$1<2bpJ^71jKdNWSlLZpOeIWyDk-QDA%f9j#o*HxsZ2zs4=XKlRv
zmXYy<O2m8S+D7MA1IjhFI7dpu*Mqv()<KT(#b`UIKB$+JR)#MraWNtJGPJXcKynSx
z0I9{xvs8CK_!VqW*=J-ou4A^NmQNXFK<kjIq$+SOH27GZp?;6BTAmGl;OaEuNLOM~
z%2o+@n=@IKF0XLu-ALU1`f<ze-x9K(%H!kSvs~mj(J?U^nwrB1bCO`ngd0KhYn)S?
zc^|)#8_|it1jeK-48QjVuh$05HiIe=TXg_?VVu8+F{}wv(RoMy+WIityHPS<Km>wR
zrXUL=jw$<&#Mh61sXWbUkoWNs@e>tw`I8Hc20z;z9UWDcRPaA*1$>hp>zmE(H{xKx
zjZv!7W@&G4Cw=&kjskbn-O=$otnu`;N}Fgvx?FP^&*v09oLXcB>A<@p8D>k`MGTBM
zZ?ZIoW4w}Mx~%@|cb4>n_i~Zao}(z!kJjB9|NEDg+H)7x!NGw;ZSNyvOwVJ&JA_{`
zpqH6{Zfc4qPVSq0mUPy@aa^f7GX@$eI1VR&m9}QRBD#j>vSwHxZR>wcY=R59x-tzb
zowAfo>@un;P@Ix~|DM`U^vANvEOU$uo6X<b%r-$PPct}U6;gzkVP&J6N5=vA21e{~
zE}FC!eU{uh&9Q<A<(lHON<-vFHP5e>)q}nHW_0iU$dol&>d}dg=4RA&$9T~8;q|iU
zq2u$s_YHR&{}i@y;bY-rVUUuO8+`bH1wTNH?Y)@`5yk&J(XqYFQmq}P%_7B<@Fbz{
z+rX-m7JVd5WY>pO=KFU|y{()|^Nl!2?-Ak#2yBQx@*Oi5y1MnnLGfwSDWpkfK<S<V
z$U&x^HCL3IO%tTEOO0mZQ?kNi&%V4iWssjo51HB%u^4~;Y)FflI0;8}8FF3@+3RnL
zvvP5A{z*xcNw;2SD4hojN6D<So<v4(t@*buH0_*la&e^_kL{c+o?Psmc?t!44q><S
z&BKvyu~bpvlq_{-CC2-jGPSQ)?D_W3>fBPdIrYmmkKWiY-rpdH;dyK7{tt9mK#xoZ
zlJ^eRm34j&eW*;AqBs?5kB@7_Y(Uf97HP$iN<XlaV3Rnck>oi<*DJbunfmtED+$Q-
zyyEh`zPu&zx8&*R?+@!2`-L4qs5<669nz;;rCoqaaO7UEsU}2)XI=R)ykmsGqkc}S
za>(yd9SblsjKsm;WuC}n5H8zS)A7h=Xs{fd367Z`Y42E6BAi%*s-<2<EiC8@{gb-V
zt|C`?`T#6O3j@mU<q3LJC_cYCby@VWR!(9(YbJ23Ym)FDwsX9pj_t1Pa}I4Y&<Fd6
z<Q~~H<8ZRA18=W*-rmu{dK2;`CQ~#2ThH?AtdZwrp`OBjI1dyV@9XCDG(NPhtj+rF
zE=cvySpYXcyhA>#G|kJ__P^%lmx5H`AyUKzlx+qPv$OENfTtiZrR?<Zo@I_@`#AIR
z?(OY@=uYQs<|rA{_$pUIh<dK|bIH6BISlDKY{q~4j`ZL#95Mr-_C9?X1H`=bpM{Gi
z7gB@lZkImig(vvybuaQrIT!nA&xHrs*#@_qH@ys1)ef((E;#&m{eP4&<ovo96r|8y
z<ESCL7*#xF`TX04?TcOa`pGTl+nAVp?)A^V<rs`vS0X?Q&i7EL!UGx_gs-Msw)9+F
zVy>>dK;VZp_2rtO_4Ps^b4*Ok?>)=W74G%&8A^P``EMCNWDD9j7nA4~R&L@X2KCkB
zKUMq5B#SzGZ{vu+SY6JP1yE7{{yxW)<-|hN(@$o^y&W?}8NqY+X_E>`9@<i$Dl5C;
z8Ojb21B!tIYRt^cY`nZ3EiGt(M|%7E*0Jkt1z^i{zLY6tzhx%YVj1=D@PN1y)b=w>
zwbs4YIMx65q-6y$U%5K-y?gi8{weV4JJrq}o}3th!Y=k&nb(!|EN_qwtQ?%VCkK-q
zHDskqT&ODggpaUcCsyZQ-A>oiN*fxSs*}lR0Rs<}6yL#D&Q}wd{{DiBimF1eK)2Ar
z)pe3KQikn)N8g}y)vR@*d{%>oeYN)a<mS;|NB*PYfz{S!`=ftk_||wJDiT)R-ODov
zH8nNYy}!4fJ$sf{Sa`DGH;vk070uAMFVv3lXo36D@R<qeqPl2Q$lNXd@xx+uW;r=I
zHW87+S1J#>*zTCVls4zpSGCJmOH<1Qci?DAta0Fg`kZEkXJN&V*uHQA`v>PdOH8nz
zA8L}~&e)1`ZLwzlb1SNF%z#$Ek@fFUFFz{-l+$EXtuHBQfvOX0bsoBiEpxOC2T_d6
zI9i~i?i0%<1nIt8BiSF!m37)QFE6i<&`@>(fu7#pdw?N<=n0sb(x8n9?6tnnLK&s1
z%7N{lNJU9m+}K!XdKfK}QD6nh=jf)>tQt#<85cQJ$k!}&tF^bQemVB6<eYG)&7E+u
z$fWnR63G87EG(p>o0yo$%IKH#P@6C){vhp8t*xG~25rbr39SoydU`0qZ9o6CF4*do
zPHE0f%$P(=KZ%_!>H4_K4;Kf}2GB4!H&-G}(V&=g=)-pj+M&%-ZOmjtqh~P*M|gee
z?eBF_CHM=4(VJ3GPF@fXRkF8-JI@Y|o0PJ1b7wqJkzR)fYu4Kxme)qYPI=lSd5bs|
zgK7Z9)6<%jU&bC>Q1mQuDr>x~X)olWO`1r+@(-Cai@xYvB$KOUjsx=nV8Ox7-G-cm
z5*f*#oRSi=mj-aG<x46@G*sv<EiH?Ri&GcXnKL^coIDDkiTq>uZ>e-z@S4D|CET_T
z>@}{6tt2g{ZY*!rFB!Y#=;Vaxt3+&a@;EI&JNwJWg!%>sA4MP8GBL0M%+sbGUgy%%
z(t>A)nGWSD1^M{|;T;MHbYbkerdalCbjgbS@V<R>3*9^Ka3lH=9rzt_L&qFAhZOgw
zlb_&x5&JAglk_~QI31SA8!nbQ_$@;&LkU0zVAw#(G*b;c?hd=mVeJMf`h%IL68yI~
zo%M*tMOWjG?)itvqqi~$O_`Jue3ifoXhmuU4^R8r+OM$Ig`$6TG!S;bbefb}+So+C
ze*F3|;p0eY9fnA0Kx7veS^dpjXzY6V8qcylQ6(az1;vOW<QI&04LVovb#UZtnAPNo
zO!v>vKU%O=CwY=)XlRJ>=_TOHJGVc5V+XA5dW$^tHbhz@j%<r3-@i(T1+S33GoM^g
ze>x#&SEdo;E~JRx8|ZkK<SUW57=z!QiO^6;R{UPJMWH$~F`6Grv)+HUFJ?+{G0@cW
z$0tq@NKvvw|0XzZSg*_LjB5F;5mQatd!6W7P41<0mcfQiZPr9jW;7-Ezx1^C75m1w
zaSbyYiUv}Z?(`iV9kB}v_U`Vo!F3}d2q-Z>HHRGsPZ~=CwEQ`RK+r*8m&pM5W>l&H
zIM~tBdcdUAG^$Hn@8N3$ETfO|soGNXn^-Y{ud{3)6dMGtzQA8mmsHLFi_akEY2LB8
z_W>0L0}Y96{QY+?uAuw}QJIXKoE9I8O;C_oK={r_TNa2O03_t-#aUuD8BP3PAG4l6
z9F<2Grzh$o+#&2p2<Nk#u6m@+Lz~p%lu2z!v5w`R7?w=vq9fNx0$EyWDh*uTQBw75
z_QYlz1pXs;aQV-R`;L`t=&)KI82k97fQFO<T(z&JIP=uSHUh|!GLT{_mFxBB3r!Hh
zY7bYkLaB`@ggNt(wg5;9@f+X&bC{lyw3M%2DMq|gr{h1tfrJ+nxSqoAW!Yu3I~JR_
zoEP_89seD<9~H~}B>WtlI`rY~(<sI$8Mw{=Lbyg{RL^p<k_O}b!|1%#A9sz|9@}BQ
z=9SIV$ci_{6sLD6Jg>dm;v|}`jPJg<q%I>)5xj0&dXHPy<5H$HfdW@5_`jUV)q@2`
z{$j)yxMppZn6M;y2AGEeKq6XwtK&J=#24tJ3~HktGmrYekV`B&rp8QsWS60o`j)XQ
zFg@t~OY#R!_h?j}Ac#%*h-FH(yMI4?x%TmO)+22}s+yi(L0+Ui3TM*>KBd}gt0j$%
zjjxoVLUJI4R+d5C5h8$=K_w!z4_=PsjP6g0ckiBFvHGs7Ac<Q|%Y#gnr*@Ej*XvG*
zy<>@irmG+7%y0<>aO@D!3MaItYlI54S(FPWn4)9=t-wB)Yi`jhoZ&O-^$xP2w3%3i
z)pn%^88bb4StSZKy0Ed3s{C4Y4+S?w6{W68FMQIkm@+3OCf4%kDahWE=OH+9O^H4$
z-9i$!ar3S5Of{0V@s$IzXI4{N$6=~imONS=>4gwC68p!82-I@R)3zSZSf5n;^K+4h
z#>A5<<*V_%_%JJ3qm=Df1|vV5nTK_9#~ig%-ws-t%jp-ZV}wi%$*h1xp|$hh)>gUT
z_S#w?V1?(A8A{n{TZCQuy*ULa#`nxrI-cCqQ0Zt}8HkdIZ&ONF#4o_7P5NkiP;AHi
zBTU(V+P}^@*ot%*+kXaE@7|ODR93fA1KH_n!e~C}1<s=SGv*xMZC{GjE-gqLtO%e9
zHC9dlM}{9E{}P|&?vtNaq_o)nMbm8KI;s!RU$9qbZ;g)!u>VH6M?huSZhkY`Y*I@m
zkQCYQ{X+uThvY>KKAY$&KN?fhj1U?NlkY#`vJJ4}<8(xiq;k6$%S{AGIb23PlgUlh
oo7SAS$1{!aYp^rHwO60{wCvydEF3F9h5}#GujC~P#PmM?f5h!X;{X5v

literal 0
HcmV?d00001

diff --git a/figs/joint_location.png b/figs/joint_location.png
new file mode 100644
index 0000000000000000000000000000000000000000..d065427b1ffd2fbf3eb4077136e8484e952bf1bf
GIT binary patch
literal 41054
zcmZs@1yojR7cKnKh=fQZp&%gLU5Y3w2ny0E2#9odDF_0BN=PG8N_V$}Gy>8kh;&QW
zzqaQ)-t*sa-!T~9;c>I~v)8j?&bik6y?UT1M}S9-heDwU?%t7AMxoFX;71e}8&+mD
zd|TjuFzsdTKEj2M2kw(V`2C#C9Zh=_iZ%fGK?|GPG=@bghg%vBD%K_r&X4VkQO?fJ
zTxM40_C}9wjJd4sOykxhs8OiPsJpT^9=XJ?Ot|Vq8lRqRQe3_q7|0NNp1J(v&zG?#
znrdoVTFRov?);<0N+VXrT?+Tb4%oG8#Z*R%qa(x36hCXKv00r9a%U^Q%vH{STX=R_
z-Xn@$NV5@dpEP&kA<_Nfi|3mC)KCnsi@j$qmaMEt57u?1qDxm8X5^`(Cs4%1B=|U7
zn95yNfyl=tkF)*?@~`ljWJg`Y4DvN$F1sb$WV#=RTugE4>A@0?j-|;>xYH|{jKKX^
zZJ+BQN!~^ZR>6O6@Ok2T%-mc5Z?min42tQAio}~t6sX5@wR<<^SzZN}`yqexZrS(t
zT&*>B2;XN;<ViDWQHBxUgLzEy-lJ*Xw|pBI7}l%7Ol+HKFs&9s*NmFxG>9Zw-;*<-
zv?1Lm*9auOn$=ftmq>3z`84p`@(9W(c|TmyA_IB8$Q^D2?tJuxwGZaC_{TL-_QyWN
zl;O|4FdMT(*ZD%OA9CbV4r7jEM;Krl6T`>W{<L0k8uP;32Xm({8cm+Q3G@2?#B67(
zUCViBvz$FS$t2T?2Dc^0t|1%c8o*}U@SLwV*J{<z&HCbQ=R^CwTBv+{dn>tU%N$+=
zGq#3{A@su21Gmu|LsbM%O<gB53D-N&WU^c>H3`<U76svvD1Sv_TjAt-#`@r>b!|h1
zdxdh2;eoQUO;7L=7-p=P(a(s6jSr+yt*=SQh>63mIRpiYFJd-f*!yD4g$|`PaWODh
z-APuF9d9EIVR~J!Az#$Ar31e=ePM-58AWDH?=ozN=Z|c8p0jD%s^&^oiPH-VEKkNZ
z5xy>4Eo0v?G`r*Bjk_UWqnkF1<8wY=+QG!uX|M{eA>KjmF#hD=@V?~K8Ty9Q8{NhI
z8y)KIH|J$OP}#Ujj{R{Bt81h#=R`0h9`=|!)DPDdW)|+(@kZT<HJ>ke?vuyczE$?%
zL|HzPB7g$1vG9)6ZPAm<HqEX&rf4>#cd}+|FETphX3h$>8d)UAV2|rJFT<O|hwdt6
zN<b0H$g``G8m(I8%d&S1Zi4$twI1aLrwwj-<;!hSv0JjTvJ$<rAvPi(3D?hIM_~{P
z#@mO_RbmYbv!5hIZJUqD>mtTz7I=F{mgaHooVg+G<Tl3!cgRIIM?%e7?8gchGP`U-
zd@^eWZpn^^fJ2HjvUUvJc1rXnzHR+8TdQ0A(OQKh|1jgHv%>pusIthh;HEi>lo7R*
zcaVlCyWDTjW3pI3jB_;m$LZhfQlf2TQFl|F&u+!_H@?o>65XB8)=g{ax*9Pz&KF|I
z`yS=}=?7g*y_fiC7B9RjS32!0*(TLr1{`6J4B)JdSU!%kb?ahg|F9UDWTP>1Wg;ft
z<Ut<HCU~DRbA@ysThWJv@EJU>Jh}xrq>-X*2$cQHh%@;~bPO4gj7<mdN)>-7C4qR|
z0Yfzr7y7)epSx}!KFUL5)HzSYJW*F@RnPRO?hMX4FmT`|ivdnP8s&835jMu2VaVPw
zy=u?PyiT&Bp%dRQ9_D)|KHplR6l?zkmJ)8GM&H7j4>yn7VZ0elOZNU5&hM-*M>-`>
z-brsT*<c&tHrj@G{+yDj`M@w^B(R__>+$VbNb@gx=Z2bNA2}Ww+nXH)eA5EA7skU1
zG)}cCmqUV(T?CxRVYYShb#rzj#aKswt9bOAfq_|B3DN|*cL;A}9vTIT>bgJ+m)xv~
z_|c^1o)?wTQO|`AUUMZ=s(g}^@iRiQz1Tl~M$|{I(Kh1a%-+&MY0lZ2F1k61Rxc4^
z9It4k;52%!n(+56cI1hHE+J0W-?N35p-DAdOPfc}dtgiZP2}>_)?ta_Q*{*2`L8X}
zs?ykz-G5w7+1%i~X~&>OqV)Nn2AJ(iJolDVUC~m??1_4Z8!Urw*2MhrTy8ug3zK^l
zMvOialsD`MO7bX{GWq_P+2z9>1B#Xq>*cEn#*{y7rEP?Fl_DIRVsycgWhEYv7_dLU
zrNJ;U^6Qb9CRiDJ`-#sqY6N+7(-#43AtTIgzV6(z3e;0?x*^qn{s@JOHE1tnqjl4i
zux0n1H2R*A0#_zcB>YkQoukvBK$fS0yu1qxA$oV&r9WU^L)Sv{jaqls3jN;vFyyj3
znGF>W2IKS};}hYc?<(6?eVwJ86@8B)LQT**a3lAD?EV15fcQ491je!7Lzyt!8A(+W
z#K@bxLl}E#1zfdxCPjaIzyEV5<RftC<bU3_+^>BF`F+NL?Vk(eKmGqN5J~vo1s4<b
zOstKaFc32|NhNBTtm8|VIx+tJ)thSg@&A7HO4KmvX?$u;QgjKqH^c6BDxW*9>CG)p
zq&UH6sXn}YWe5X{(lWu^P8(TC4V6giJf*rl&GF@0(NWA84U&mIvnyRIqMx={kU;;<
zQznYsN?CnP&t(1iw<<G&1g3gf7456Y>ds8J@ot8%Oh~Ebi+S>Y7k}j%?>-5sk9k2X
zWzTbOMN8~1Jg5ny!YD?Pl=0~rnh6GrkLY#Y|E(KUXvdtmh18GWMf(zqo$x-N=h%*A
zVyJDOTEPY%d}Ucb#S?Y)kmA?-5pmRe6ix>%JJxNCx|FnVWd9OT;*ld59g=0c4q68o
zXt|c5i06vDtBM@?G2Y9{Fk{D-7aS-O1;79C75NI47}|k;sJaX@CF7qvbK#nF6<1x^
zCecTKPLBA!&3nEow?Fx_I$k_tgbXr-!=IbH|Mx^p-j96$=N62e97XJqW)>gmQ4re_
z{O=)5ooq!}87jzIw?;oSQC}b>?*ClP#W17w?_rl$cIHCShY$T+J6{zf*J#B#M`B|8
zf4$%bM8!Xw@Q7z`Ux5r~C>A+%OSW^4(|GqKQla4U?AHok6}y|5HoCp9H^$J13v9@1
zMa65HIIFtWFug$|MQ8Dy@@e(apcwyi+AF`&Z(GmP(P*1E&qa5WU#ET$vZ;yZV^n{|
zfSd<?=XucnRq3Kjml+s@2z(;1OB;x7e89*Z!PX!Wz#&98rLpN6#nf0E`w%pAk5gY5
z#qVqFgTeJQJTO`TsU$T`Xsp+Hc<?oJdX@z+TQGVsk}0LvgMH>GCBwQ0NGb6#RmJoS
zT}jcCP)UXn)AI4-bbp+!@gQnM4z(C%o{h!TjO%KAoy(@;rj}-jUOjO~%{||gdRqh5
z4OH*wt37hK{;k+2OCk3sg6qK;<eHQ3&xOpc^tqskNW1K!DH?^$juR-Lah3k_w&M>R
zi$+>8FxV5u@S}rxU0H}+USzu8NuZJ#Lt968MtewDo%_dIH0St^NUjr_vMgYthZ%J$
zaAT08cuRDO(DIw?ym)UvaPX(#9o#&ouqg>%Lp+DU>6*TY{>z7@dXHUKpBWU*m5_$K
z5-&N2<JAz|e9E}H<MPr#0Y7t<*rfI3#P?f0>vSDucp7qIO$1GkJ9oLhM0=i6-wrdO
zYPp)wTHxLJvnp!ub<?TxQ5<E52yIckHg<Ny0%wVo7uv2Nhv#pp7KTm1idMUXb55my
z&M|&PD5M}^aAX>b@`?jnZ))g}RzQKoTSwNE%8*TuCc8-@!T9aexp@2!mIU*+Mr=6|
zL)*T67*CsL=1KZE+gjAG@_mM|f#2ZP3PB>hcDHM0l>4!X=(@gOJW1oo6%6Dh4L|;%
z41d}F%q1S1S>@#7y+~Cuv4+~|ilHqx8P2_YJyS=5c>!5Cd3Y^{GDE*FTWI_^Mxs~E
zhpR6cnRirv;&PDbYTzHVJH{*tqt|^b>g+@?kD#=`z~~jekb*d4%A-_M^dz)b^;iSd
zPdzN3;Uzrq+^C+iv+&{^T5lW4;bPBY(n^HjfX}PL#}R4s7-0_`l}sFiTgFmKd(Yk8
zC=Q(}##S=F;Q8_8p5Paa#?P2WeGl*dgMJhSdb_ums)Uc2pAjY4SZzpHxK3sT*`J73
z4Y~96PK7RO-<-D-?*{A$=y9M_*xixPFk*T2p_EJ1<KG5eKD_J`hx_Ovn8%^S63a7~
zx9|M9Qdn(>@5mrzL!^Xo4;S@Lq{`StwP^Gv53}GLy1wCA?Q)Vv?noNpDsoq1l3^7S
zqWWRCt!piZiOG)Dt)}s-tJ!9>JsF(y$3dRrR|Ok1XuP;@bDO=0Rr*t$iw4w8>S%{U
z3qBm5AFk6iaixk{_Ezd@=&#IHrV{MY;pWDTe*UmhsaYfL5#mteZzPR(eXmpJ2US`o
zjJz$nQFLX#`x!TPY*Dg(2<?y+Ms{oTIH`Jo&@04<cUM@8T8%LK!<KC(q#xRb{mzV1
zDXfevO6H#oHTMqY4VS9?cjqJGah}30*|zRog*x^!6-KI9O5O&q=Z0m(bC<&ks`{eD
zivN_9aUa;g>)|rRjPG6{mtD=$W+PwB({yZ4P#SNKY78yvJPasB9vv9>DW}t_CsbCA
z!d~bRw)&<U>h`N~E#)bnlQg^4J6C636wCSt2JS`UkNXuQ{CYCoAXY1lzt7#G6*t%>
zd4rN^`<>l97RD;?b4%>o!z+QjFC<gE?*FlwlCnz7L}Frhx|0;OW_O;M-9yL!Wq7Pi
z_M)M*YCQ@^g2aEIv)+fwk(En6GAt8CTn#G!IIsL8Rg<!{l(p>5<6Z0?@<%#nh)>H(
zXh2$!k6K@Mn2}sPm#CzrcNR?Y53uJ_uIQx0_3$g;Il6iMQ}~*;?uJDWvB$QrGY|Qz
zKYQYSpc+%d!b7}I>e6&~FNa1#x@q{wf^o=P6msjPj^QHVD*gdeQNXW&79Q-bb*<s!
zB_d%b)s$E>l5nfxPh15=tD4|oDIpgnJvND<?IuW6kM6}rez!&A?^yXT{il-gLm7JU
z{2u_yQ`JfMzdJRo@QGh@K>}_cv*_=|JLAd!UZK}R+y3u8{=3|z`*->Kc-r5q|FewL
z&i_3|uLGdU|2Fd9<+h2x%aP+bf3N<}vg3Hc-{n@?zZ?ATa<lH=W!3SLzgPcfS#Z4K
z@A8*~zgPcRzP)iw^p7p*x+XeSP^bS`!$rcG`(Jyh+wA>oBo_&QJ^wRf>$czjYgukP
z;_tG666?QL|96=~iS6Iz)~(dPSN~^OZman3@>M1Ff3N=UGL6#T18v=G`g`?%mgP1F
z{w|X$asIu@f0pr;xc*&k-T3+U>i;auZT$YbjH&e3CjVJ3m$d$Cld<iW|6cvyW$o>#
zzsrKwe{J&LWlrnAHW}MW|9ka+mbJG^|1L9G|Fy|~muap4+GK3A<?q%1S=Qbh{JTtM
z{nsY{T_&*pYm>2!Uwq>6mm~tBN2!s3qW{%p?DUCJLMi1>P#NM`|22sA#_r!6WBs4y
zMUTIcl)ml%?-kMA6#qKDA)EeRdwllz8%XI}k$*340aW=<@EB6-|Fx2t$KUWu-zfQW
zG0p~m6&j=mh6}hw5=2EF^eDgg;;nAgVxex5IM;H2NXXUd1rk4Rr{_jf{J!BO7l@(k
zV_-m;Kisxwk8@hDFim%vs2pv7WPtotL<*qZT4sF4Kmjxv-<Q`hFBrN`4r~cF*+~Qz
zJucwA&8>BiPx-8ZE^1GC?L=d3c0E39hHT3RJ%p|@Jj%$Fr^OikiBU)o2f7_+D_em2
zvY=vw`}*B!H3N<}=X3~Y(s%1u7D*+VEfJxm>U;yP6>%ippwZk-Lz0f|+my-qS8f|v
zSh!k^?$`SGpc)%PR;a0|@4dh#*x1|4u$?Wsk9Y3em21~NjhbsrsVCfiP5ph}?dj8N
zzP`RcfBjO1&#G&NQc`+(`Js-};qOK2DgD#KTeoigoSPd7eIFI2tfSMp*q@Q*S$Cck
z=%P-@8#lZZ;a&XOUvp>-m9#>WvVT4NHTrAlUW3Z`J4DxrD{0NI?0rfQs!AI+ZNdG~
zh??Z0jExP?>r2AvkH5Uc#KGxLy-V`^#fx)<gv=5W@zc`=GBPr_=g%`<yA}xB8=1UB
zO6r%Cl*GxQm4|kLjxIDQiT=io8v+)?7ku*bdC<|(X%2|1?|FGi`TP4vL`J?1567sF
z;Wxc@?HX!&;Ij%WJ$&>?)~oj0ff+#w6B84>=ewjNr5iWUL`6kQmlMPsgPuP}FDxn=
zDKV!oHZ~S`HV}Ax>~T+Cp7w;74W};?{h4a3qD?8w&^NIADxj=8y0=iAKELMZIDJ2{
zg$lM_lOEE3@ZiFaA3yv80{Y8sji`mKERJgLhBFITjhD;Z!G~895Evk*{L<LShIxNe
zvOoR4QF{byv04Ai^}4gf4<9aXZEbz+>Pq|Y!Kb=fLNQ6|K5P%pftj1Thup9yUi7A-
zB4LJNLZPIcogEvExRP=Gw|ik<>fhQ;(W4c%d+Hm^myk&`=OCLC=_O|rDE+W>UGwxP
zmN_#%1<YJpuW@QVH~$?=-kkg69nZ*!2%F`cvO?S0+btnfU-Zuo)dTdT#l@>+F63~g
zs(IC9XLo-;pb5F4B^phaZs^igOmjwompFqB=&xFx=fb&SbS?EmYID~~>XiAu(_pRk
zZ}9TP79;OIeYzGaU?vmJeE;dUk64^q#rZojT4ApaLg}Ryi%hyYtzMe-_4QGT+Fgay
z>Wmi+@8GKHTwxxG7qx%MC>Lt8zwuZxLF|^3lhDY>2w<J|_L<(~o1|o9-*?Dac)X_M
z3_?s3FtX7IQ8=9Xdxi>~7j3CQe(E9d`F1pn&3L^OiwpIUQ$J@)xNP3=%9Sg{Rui!%
zU9sP?HTh$OtrfxWmSJDN-eF*5G#kvOx*sRR#FMW`n=pgDyFS(P@mBDDf70m_Clv+N
zicTxqtYtGhdwWs0-`7|a<ENWmk<f@ch0L~w*{=*2;I$IcOLZ0)wLXjgt*Us%26s4&
zSeBo+aRIGk`$g1{UHtavCJH!?@{DxKnzxbkIlh$LT&*fO_4U_dg)E;fduA_QnY4rm
z>x>f)yA@0xGeN2%TGhFhn_ZI{Kt%tmW^dAHqS6r)6SFr(jwmQ7=qs3F;akeCV!qf5
zV%h#ImzBn7N+x9{czgTeM%=K~EEk=?0--07$H&KkK|u^`Y(Y_++N1ZzbF@l6x^Dj}
ze)c^GP6ysR;h4BdMaN^anMT?xp5T&@i^Y0kO1XW^1X+7~yUW4c`xr@gA+VjtMgtB$
zC65n8M<|VGWAe=a3$&e$A75xh?fhQg5ZV1+ct}Vm@l^Z92W&asQu>_ZVatQq`FJJf
z#Oui_O`_BWm|t_F<Z#%qJ6;Obh{AqKEywywEwx9B%~XE4#(@=dIv%E0!|mPn*6u%i
zNDQYlyOfnDRCPBU>Ylr&Duu+V?M%}-K0dy$ot;n4PES^*>XJG;6~+qqO}hu2UU76|
z_e$0i8eG~Cx2dj8x-0QQCgbaY8M;H$HBV=pO3lR9hhLO$+>aHwA|^JfHW?Zknyy>r
zBr7LJLP9cYUx(T33MOj7Ad<KaPyZ4?G@sx+$%{PwJD<DjJc)$)yM%=Mw{K%pQBkdo
zm4#(za}*X9e*OCOGACzFX<{D<rSV}-J$ZN3YMDXAPBWr?4{)JUeokO9DmbBuX(yIt
zFA;coc_B_19Zfm*WmKDrmiGRgJ2^M`nicgucOorqH@o75w||B!&CJhd6l9Y3NF8zL
zd!GoR-oAaCty$Fale_{)A8O_HbJP2K5DkSpZ%m#%d6SrE<*wnJn<;bU&C73$l^7}N
z1Bb_c{nQ+U8NIB^4=;US>FwAOBxE#DtI&9I=MF9}FK<&z%f(BV<O2w4Ev~3E^i?>m
zjyA^%nm-*Y<pd8YTtyXIPf67tF0rR8CIlrVc{S<UwJ|+0Hb(1(*ntqb1?fk@D$;#p
zhflm*%4P5;#ARwmMv?oT6-2Z}4-t*XgMO`aO-eKe{x^8ptqW8+jvJrL6TKLM^YEH*
zBP2T{-5z%F-JEmh6n9#=bF{nq>h<e1)hsnUA?Aa_<vg>YTv|?TwULod3Vn};k|90$
zo<vFAalX9*?=!E9BqX9<<CJU^7cSJ#hDmqdB$9k$*D?O0eFfVYFHu$0{uh3g^LlPC
z`!j;n@4rLIjeb8*N52HZc1ZJfv+SWIYwhLdMUw9a<s?))FN6gKe$Xzna#$UWEH4)k
zb6!)hu*i1foal64uaR4yta%k0n!6iM!lL*<L*q`J*NM(B-`>_YIeK2#ttSwO8{69{
z+1Vjnx|JIf&QmcH0%f2(HcY%Qb%bcR<K`wdR%&SkKNeH93E*w2WkQQrx(Pmt_kP^x
z0&p<NjJ{y)`nwr7jzUeUZE7kB4uY71LQY2~p7TlRv+wQAU6F_TV35VJGV7e0&Lq!W
zDx=m=CN{SATb%aXuU@^f7%hJFlHiguR5d81Pz#T@I=H1Y@8yPqIg|(zBgx3g3+?9>
zORXl_cUQ+OeFa!D+8tN7dGBqr)@y|%#FnBtacZ$S!e$b)(OOayF%2%*u(oW;p3W)Z
z;p6{oJkNbqN-A-G-$l%ENp^2-;#J_M{<W|fW+;g<VvcOWQy%s?^InIG86h;H?}E81
zzhc40OuOTgo!2J?%m+hiJ&y`K4(uSRyMoBrUDj*%D8(E;jof#*#8#9v$JtQCrm3lE
zF<BjxAnuH8RLFW#!OhK0HF##;@b`0OZMqJgDCc+E1NER%4%}cgxO}^u246=Z&G;4I
zgvH4kaY^^xRJkxZhvmW7@PZ^4E*QwzH&Y#-oQQfJ7VFNxeECu=duZwFTSlao_x3(h
zZ?t;_;Y~tJe8a{j(tgZhFjrSzRu&UNkPLQ5hdMjmtD_Qk;*dVxcp+mdiiU=Eyq$FR
z<mcD7or#ihkogWRVkUZeddMqHdlI{b3yf-*T}q#Rd(NI${SJQmoH$rm0xZW$3tYEN
zlvPwl@*iWw#Kb(Nq@{Y%UgIg8Ps8YwTOWOc+c7m!(bklh@`oMI?Oufs<Me=AyqcPt
zkR0!}vvdnw{#9^r$_<PY&bd{{O}C#sxe7=L+_A8b55kP?`1$9ohzL@X?)bLJ8h3CJ
z?i9H&W-hMW$sv2cFsZ}9pFf`<1y;&K#QS)bJ`2AQGUd-$^W0?Eoy6JkHiuqyG~D3c
zy?ZWz09=+nXDB?aaaV~s;jmuY%<g*2C^uYg%Xmr1;<BJ%Bs}_ET%7hn@fXS;_M#i-
z^NBw>1=UcJiZv$))JOlcFPXCyZQ-!5Uw9q(>Q%D!R4qQWKwvO;Z8YSIn1M&U{dsk#
z_q4RMURNz6$GtjMhNQZ|WjcM2O)T!ZW4_sz*RyRbNljBzbuHWS_wH#FKDq0krVF4B
zJmzVFn#i4d_htaZk%baa@imoRjZlU7a-Q-OhRSU`n5_wTOWma=KfkxsUiF~Y%rdLQ
z(=Mugh3vp?gCj3B)$jLjhj-!Onq^kBbtk)*;7B5s#PN>tk8!U)<`}yg3H5oT5@QJC
zCht9}QnMKV!M~Tj2cuzNzj^cKdXki<0=H$*QGRYKK!62%J?#oRCh*vFr6j4H%2LNc
zcK|f|o2~S#c%}emJhs|c09tN!2~XMl{7Q^>{=8<j3ooshL;iBD^w}}LlH?94U>d|{
z*>lUE2L|F=Rjrn?ovro&0LVym3)-A*-JX6yq~<=+o~)9YF|tC&>Y`=|9&we0rO0Vj
zOD#`NR~2`H;24twGYX~JZMY?vc{3<Wu<2T)KEb#jFY#AqF|pViFR*!^_Fm?y`Q1m|
zkufuttsOuIs09!P@3VnxUi&|A4tH1O_4FoPBOAhK#ajT(Q;FDo$c+uc{dX2%qQ)0V
zDvL_q=muY25;V287P)L1?yig&sV_))9tyOzwUz39gFo!AbX=yMGCB#Va#}6SdaYbV
zNGrDSl`)LRxSdqbWAj!Lcai%xWzY7vT2J@UGHdI&-srb)ZzwBYynFX<wpK|{IEzvX
z%DYhFp3nDs^bVse%~hc|nT&E75`(L60>7o09i5}2qG}^k*J+q;c!BJ)ea=u=T3Y&c
z7~OqaTi%L_ic&H>x80RCruRB_dPAjAUzho%%JcKz^z|uMIxIHMGzX8AStseP$MG6r
zLsjAJ&ro7vW=<chKR0}DO|`Q&a+}9$TqKG^v$5s%r5FLTcRlY%$Rx}uXlc7F%O+aj
z=eC&{E7S_(<{&a8%ciELVn#$oX|XWZ_!bB)2-kc2I+~P@eTRt9WZ-%JD~Iw%ztHzm
z$k#fK-&OIc`23_i4+q556jPZAs0H#PulJbty-CT|uS?XcakKs5-?EkOzPFaMBl-FB
zXGjD2kPJ~=wflw{r4OH_kF3lqZxkoh)zw+P0v9^yiI;GF2L<zOL`0L4^hp!Msu)I(
z7TuALYduX!!3RA_s=IZo&2OLcxbfFDN003B+PtW%^WLcU#c<vEuC5908%)kQvzU>T
z4xx${KjR1ybQ4h3Dq#XpJdd-Jy%0*?=ijr`F?#E~y)(*Go|$kKy^oCCoC)S0tx<R{
zT!h^-W?h#6?5HJ_*8E7A{W~<^42JU`AD^syn}UsyZ0WvM(OT(mEk4Z~qPbD!TZfjQ
zV3Dh`C|oNd;~ett2KI&^Pvg{-^tCHjeBn&qrlww%I{B@#Rz6FpRs8g^mHe%E4kjjl
zKR-<Eh3uT_)1<TG0P*$e@OSSn4(9N)SuQO)5JB32v`6>E#DveR?`l!pEIFw}kJ9z)
zsFTB;*|hh146LlL{LfQt4I71h%heU<aq4j=PC2e6bfMYE<Tb@hP}V2#b?0?59}aoQ
z{PbIixjM5#bbY33);=6@#ona5r_*_vP04@wB=N<IG5}1^5fPb!sYod()Lp$G2_+{d
z1CA_mTvkK)ih@E&3687+m<tC7hu?kIB8pqz$|-#OIsbE0Jv}-k2g4~y><$}&-!H|d
zeW`v3aLQ$+pmiUPWB+)&r{dsOTn@YHRg|@n!>{8@8$p)fRB5@RDDPIvfGy(Q472|9
zar+)gkE7MH<8|+|+1jHuMn1m2akZfMfR7(Py4CcECH7|m;D`Wnw=vyd-_6Mh{j8Od
zai=j$pNCNal{<D?ri0o;6Qr#wF*VOZ@e`4>1X%1cFl_+gbRHWw;6^SdJ3}$T)`>5)
z*AjtBEKJo&1DiAKiWO8yl!$@kPAM&2_rQRoWoBERSIu*C7|V%FtXZ$19zTSag~aC*
zzy@ZeL<NX)?wa2hfx_^Y`7;pOE%aVNjRN@3*wbva*ZMAyyA8K882I$Cbowblf+JPW
zNTIPj<b4qUSqY=8jwyWZ-)V>?a?D3w1_bcCY#6}5JstQ&44FydckfMy^~r>`a2D}J
zlJbl<Z!Q2nj1e>^hw_c#JmL7>aU}N&Wzl4r(IaX}E534>jDZ$vp)!m;VaSXdFE3dc
zbjOP#ysN26b}W~LVe&(Hc{JoRl8YA`qj`;%eoul8@y_>Yx0of6h!p|kZ)+<!Nmf%<
zma((rdr+3x4J>Z0dRr0V$H=`-B(Z(vyLi&H=A%bVP^(-Qk^?ez6FEdgq9LoOi_12T
zH8(Z!*v`mm&np7#MH4fGZE<<9Ioxw>^kvm(G`W8L`ZQ<Rc;h=Jc^5d|#fhr2wk{Ie
zY|o?Jf~VgYtm;mj@bK`W`AtJP1x8cy^DpqYv1Vtl=Sjpo{nZ(Rctz>Du=S+Q`euBO
z<Q@%DQ~|EeK_z;!I$H8`etu|?S{Zt|S?W{MuE3{&3F|Gps_T0S@|$$p$f`)HX=qUH
zjoT9iQ*fJrE&)^l-Ju>gDUK(K*})ycC5GOH<@T^gAB643uQ+Ryws%a`n=O|h0OH0a
zi03sb9aztkb4){)#;22rhL2cH-Ij}D{V4mx<c#gA^;#ovNU~k!ydD?DEU;Z}&8`-d
z)CPbD?eNmWkZlt37)!t{-FD6;0^5S)tr;}O!NMwl!Y3#AJp~IB(`NRyaG}i)nRJC1
z!xPc(Wcz4F1+GVD%0j*}84=EC`IP&lPb1&FsXsp0hE%Sc;N~GK@eOEn$I*ISPezhg
z`+SmjHyp1;&HLR?5{V=trX#6PfeOLO_D%|!$kw1r+5#%-OTLNot0$?)?;Od(K%4pd
z1OCYN6~Qd?jqxgHYgP9sbywZ{QCXin_C0n-Omp}rt+7kdW;-o)VdABEiP`{zrx^G)
z0w8~akBj7;WZjZ@sGxw~Be9JSc^*`c{<Xcd)YN$Xm8-yt!F>V5%4up+(R=MDTY5WX
z9fr<h8et!U;9xdUDG0zJLP*;NEpo(M?frC2boA4qdn|w?6k_<Azun)#gTi6}f&_<V
zq2DE|a<t2&`xF~YE#w1Mx1^IXLj;8=&^aLzl>y<NArJs!y3^`?AZxa_1wg{C-0dvt
zo^vhS(?COPe|1vTp6qJR%+8wirOvGT0?K*|_%ClW9+4yf_Bt%|-Z-nNd;{hv5_XA#
z(r|jTJ|uScDR6qN<YaPA?b4sCWmCW4hna%|-$0;6Y?QXsQu7vG!WPjqfw#B!83J`c
zo*Na+*KUf_{E||`RAbx`rK;UmN_hX^U_Pm0t#Y~B^~9sJw)mxPhaKAt16$EhH?>4-
z2$hQE#_#QIBZxYv!!|Qbuk3Rls;RXg90QWpVsArEVfa|(kC&G;@(s`^bRCE(eeFeC
za(%6CB=?uqph-|rQhtT{)deNRG;&^c=`uTeFq8>C2u%R(ZC}5Nuzb>U`Qh*9@4pFA
zr7Dv6{(Wnrq<gfqw-gG|ida}$jV<4ALvC6HGrB-gHOEf``+rc$P_!5+^an8|-?WDg
z5xXG&EiNvSl9OK~CVt$<vZ3(p+c%HXgLy#6xF5(i*sThasxH1<uRQ0%%)|2rk~^=*
zzD>~><IF=uk|?*G-3O$+FkHac(9j@pxR3&1{_K;D9+aSiW&N{uED9Y1@!bX-dLENb
z%0%}yQK+2_A8x$3qp0{Rw`y(1pF+=ONA9hga!ifWE+&9TcRsif5->nNIuJqqUcTge
z^7X=6&7Ph;_1X`RT=xNcmT$GQqcQl3Ucb||ZYM>6zI8vxC+B*TJa^5b$2Hf9eKBwd
zc_0<T1H>lX*CmVMRB~$E_w2r_s`DB);ZC|O=RE6ihnGZ<FDol6mqmj09eH^ppiy85
zKKow^TvaQ4MR7l)Kxm2<v1Lf|KCR%qKtRb;zhdHA1L%w&9JH^$A8itgj=xB9Y4P{{
zFbraKJ=ZjJkdpoKxXe=csytT~H%VK~p%$!HZ-+WoP1sV(GsfOd?%xwYr$g;`=${(e
z!DM2%BeRQ{+2=OSO&Wj-bAZ$5cZT#?n3$R~WIna8>^|HOkQ>U?%?YP`;TzCt5iFCj
zzDOtwiD#m8y(sVzDKW7xfTu|QXA^C}|4_I@M8XwJE$=vcq|YR_=X>Tu#n(RQ*LjWG
zw$dI$Xw88(XCmD5Ss-r03or3k`Octrj?#VFv*g}I_e#`gfov)^NNOR}f<cbUg9UbT
z_rQ2*A3rjjuAiNTf#?lnK&U7VqaF?x$zZQSLICy$2$~OWfFj0cG0cNaK-~mXQwAjZ
zoMk>YhRBiCjOj%;AS9)df<?5kcYeA{VXQ6mCSyPr7pmf9u*&-MDG+KTzw?^T=|+Gw
z51cndc8?}%@;gw(;bJoqNdK3?`zZ8We1Ws8xu3owVJSa7TyAS`X8=$D+j{=|`P1S2
z<o>8T?5wOmK>SmU8a_EW*#r#)XwW#ExQ=Zz8Ib-?)>WGlz-U%AJ8D8!<6j}s?t`N~
z0}vF;&P;JXn#UKCLq70hLnEWbzO>-g5`dA2h6;GC{RNTK0y!CmX<KLKPrzU}*S<6n
z%K0l!ZJ+tDfMRKRBpG~X2eep(SOZ{AgJ-8(6NsA+ax^wJE{s>$zqVxM;`&w8BQ*<}
z43oI{C7=o5WNh&y(EV_65dkKPbQeH25lemT>gtNnQ2;x5Fhp{)xwpr1`LfS)ZdE7%
zg2SC<xd#v4++15G6o{*_(jk^WC_jWi6KK@kBbh?{{Nb0ZtKS0b;{~7>FgcWfFoQu(
z7l1)&iD=Ad2t=bEVx94S_wJp`YRM4fO&s8X)6Eq6sjzX2;e20U>0`5<G5lnc6l7%0
zw<vUFWn|FLojZrnPdMm-#Yr<Wvk)r&m%t>@E|8PItgDlT1cK--=6N+yAf$?|6ji1m
zX#=<xB;PN4Q{H*BDbIeaOdm9nDCIjWBE6jKqH=bZ-{0gk%WbZ7L~*8o>k(Gvi5Ga?
z{y-|S=Z#76aN)P4H`*k6`QcJljFe|(TNm-$%J#OlWZT)6d77yrQzDggg~vY{{h_gr
zFgu$eU1!yU;8LL0h}vN_A%@UvsM?|=88SC-BH9H|i>p_!_U7r=v8|hzm=AGTRm_nC
ze1Q_ddh;dz<Nb{vdP8xVmm)`&yJH%*-^p_&n-AqeQQVFn0#yQd|22TdhCn6+cXz=$
zP=MqC(JUXgM#ng<3^xQ4GiHC$4MO#w8a;yD5B6%JFqPs(-d3$ucKl?16<8y6c5Dyq
z4^rCmRSn2?P*tx$YRM=rj?lKM@CTaR4~-WwU2#UnFXS>qIofidQ24*|0QvwjY3T(q
zgL;%!$ulfU<90A=lGQ{dFGLR5cs817CHav_p13Jy&qS3ozr(_VM6W|LI+tl*yu8S$
zsI5`+yv^_G`n*Oh_=kJz-rYxar-$au_hXwrt7KS^OzU|a7_R|r-+uN!3;JnDF@`wI
z4gl1UmYuxqUB3h1)(f_33TTO0SYGzoHn_|N+_k{##En|u>2)BZka|q}Qt#48x<w#V
z|8b+=7Qbpw2cp{)n}u`wLBnY?-ZmELyhP3d+LQ<V&T={aPz<s6w}$Nw?z$(9e&?zo
z%1eJdfl9D4S`v(Pp1e2x{v|rk-{0`Y2BMs&>(RW9R)r@$w(o<ciThw~_<{2y4UMlU
zVN&hDJTdc$7XWmXM+-VAT7LU@>yDb*U^&3LNv|VI1lkpiF*AIR7PhA2uHHZgOMx^f
znyp(ERd=##Z827gXm<Qw$1V_zzXpT=o)#H*kdH<8f_K_34SdF%m%V+vugFwM`@-tC
zlmMm3!43e1UNlq^Ngi8w5wiZXEu5XEr?c}aNL1&!tKZ<zxqN7O%!q}B^?R{D0H_R{
z{hhmauki5X>#f>CL&Ss5ZQ%+~GR3D)pWe{Z(?idv@>jGis6$x;uB@&C1Xv3khkE}<
z0R2T!nEREayXepM<#v<<%VQ8835w_&fC30^;N$0y0XP8p<d-iF-8390KhrSu(-2Ai
z{0H#lIUssu-4M&kpc|CF^MJsH286AvcGpKf_Y)B|7edg;x)a2=0iq{tYeC=gW&mLt
zAWujK8SMo<s4VroU)|#C#k%XDbm!WO>zF~&mpI*@O-)a~2-%{Q-dh2Jd0pwwo#<C>
z$^FGt3Wl+0^^PY;d)(!~A_466$)Cf;HTa&Xnypdrd|==as6omQo?TWMfhh1vb_9t+
z^AmcgZy*yvHfeb+Jo&ZmbcY+8h)!pfTi$dVav~q!J0Nqp6~Cz0s@A2D0)<GFAR%0X
zQUF+=M#RPk{+ygcqaIS#K3p_h>nRS%v~(`ES{1}GXgQnCwMS-amxX>ykvp>JvDV!`
zIDmSgZnHAXJD8{6)98O5c$ZRwn$$4l8l?Y2<h_40(tHFP8yo3PA~gDZl4^{&bFSs9
z2FT7Jj?5f-UZdCt+=&Rb;NdBdi4Y(T*c1)$WyhrV*~x{Fk!5fGEYC##lY2C5LPCQ=
zm*?Pc)1h`qY<Kc=XqSd8=hY<wBS?hE$sAH?lI?iUJ^zX&F+VbYdwUy>@A2=2Zy|J&
zmE9!%I?3?X_?Lt_)s}j?x|jq7zpK4F1Bg2e4P%hLKpm;gugN$r?}c0;YWc&BKje~d
zD3g3tKD+^he=1*9Lbf=CFR!l^;B?2OO`R$y&g-w|Gcqzjy1u^st1C+~<2ZJ3jame_
zrVG%V{oOHZwDR3ib63E%ma14#%*uv+Z@g;UJH~QZ2Iw^hi6MJKMoo<z+L5Mk(5T<b
zLt#+8`#{VfiDjJ`1Caa$X>3_pt%>Goo>AhTKR*k1H61Uvg<M`<`DzDg<wGRiy?2j6
zR5S)OVZ}rV%^&g5bN`m5&aHg``cyW<jXNd}V`@&9w4c#Sdr3&2{3ZeQPgM=Wq%*of
z`gD^Bbf6BXy4rJs?P2ryczA|u;}ypnUx-#Fs@|vHkLyd5r+7(3Z#8<gU}nZp>fk5I
zr0YB_6ml@|4*>h7ozc8x-Rx{^g;vbTya_YP-(M>7oX(yC$&8k8<pbcx1eF=ioz83j
zah`s!W|J<5Ze@fVovUACqs&+Vbk4!AS=recp<#g(aHO3)dsdY#!Q}wb1GEe48WA<W
zskwQ?O$NG|(@{0mCEqM|4}r}|*i56KodW-+O4+0N;6Z&Tt@wVA_vsht1G_-)(-rbT
zR?bq6X3<OWwQ>xeQ(7U*(FpM5{tA0jsICY?e>zgggwQs5XLfc@&N-mEvp_kEI0FQr
zI)JM5V6F$#Uy-*%x1L3K!hyuP_Q0fsW$x!s9>=9ei0lOw?`iJ`G}s2BYS5j@D>fxq
zLVpKd8Q=>pK7Q)Ml-p2GZ2(8`L1D_9;7zNBKBPA8eMLo+<-r_KBh^G$puI^h1M<bf
zz~}J0IVDLZMM?DT&rN|-k}xY=W?{(~UH0?y>#cEjhSN}d^yty+Jr8Jhy1)-=VWLWy
z9<(3-%tmN`wk>_nGMlQE1Q6+TxWAOyXadX?;g7H7=}nA{Z9!{A(V!HxWz_+2|Hc_a
zgqVZv`60J0=tsDMgb3NOmeWJe`($U_b8q7J%1Hk~4%y}vXo$_mm?mD~;0OU4Vb{S~
zwlDiNy9=UUx6nU>{ZprxmrjAYyQ}lKZGff1{K`nt;!vKx|4?ffz4ejq;oN(Dwc+B1
zw=gHM56-c_KO1&eNeSlz($xTe16-Xs=)KIYmOTy8fwhlCITLYv6lmX`A9~F7rsr7a
zSGaH<5hkIabMzDF(qqspt?Eo-0$E_{f{BBpbH$`w($wO|;yvh4(W_(iv@hE;v#=x;
zZPi1ZcU#w;VAn^ms+5E1!CvhJZ%IN&*9}xsH%|y@3`0$fKw3zplVg>B_p|Db=eQA#
z4#VizVaLw15R7XMhv~vTrprZphw$>zpj7F59i&-qcth+{!7K!H)cAEP9c*RnZ^=G$
zlG1jmjBQ_;&$HV=m_-*96k4~ity$45t)wDAULcK*J*h*mAEZ3Ic?AGJh)E|LhekZ7
zpx7ZIf9=7qOKQ0~W|y@3^7N(GD(2~464GjA@Of3#44wC(oc=Ij?Zg8Bdw_ZvUA7u%
zU+FFD<ryeJok`M3N>T@YQ{HD2PSubvuQD_9+5Nl|Mzg@pFqzDy{ilAx7Q~!Z77C4L
z9+^mccM~Q;5-;oWbb%fSB7d<}*8-=<lZ-<YM!>B*mFnP%;H^fG9yoN$d&!@?c=3XY
z*ANqWIc1iYdMZB^?;X0=r|dlY@B)mLD?42mI_&N_-<^QSbkN?lIo`LeUr=56o<#vI
ziCJim<~ioW@GF1CEO{cFnY1Z(4@;s895gvfHEiBvZ^AhST9qiU>JJFYtZhlBwedD6
zH%Re@w<@6x3k#c1kF%O-xn!N~jH3tx0MI_WCVjfkNa>zOgxXqm<i!DaY<Y&62u;x^
z08Di3y9DPQ3n1}Cap|@L>Ch~-plWVz_94CwnWaAe@fQR}o9p<g%QlgXKR&M%IYRqI
zvjHje#sHyFK<JXT&rUu)OhLHU16v7GD=RKg4wyiOfZ)+)*+8|N%`Xq-nF6Nb&?*iD
zU@)R*{ymdSc+!Ot$y6;ZiRxoeo{-FhJRHXNFXzuzb1k9p5^B4M7+pe%aB-(0%zi+5
zbiU)tDlQ(ECjTB$&7hL%C1-yxFp|ryTw;5PPbCBWt?Fm<Fd?fG`Tp4`sIRYQWsY{1
zohRkLe(qeO?8Z%mY{d)*+X_u;h%;46IT#wyLWFuqP31s(4j|E6)`<g)cTEInh7@$h
zFo{NJ?8!WP#s*EE<KO*CFfG#Ll%STQW!oh<!~;b3;>C+JTSvk`qX5Yu^Cu`8^jtKd
zggt*+m>WUqq3dBCbJZQ&Au95dC#he!yp{%7q1((t&ZYAeMEb8i(qmOq)vorr<uiE5
zg<-lInzGd@s@g75`uX%UMgAG>E1^FYrYjKgQT_uvC^#4Z1ec`SZ`3plEsVR)CqQ}$
zfX)mLAoa0!+)Kh%SD|Cj@B(KW$aW!cR7lGfS+yt~5QFe(#UfyW3erANKq#XgFeyl>
z`GmA1!Nel>*MAf%FOX&}`<|g-j>CGb7@`XgPXqdm?CQBsKqf8SY03VWl0qf$^a9M_
z%@lTU^>6Vq%m~Go{MqH~!nCOOsfV81A`^@!m!Is8wRLy@0%!udF8??L2a?=iMs7?^
zNu$P15MW<cZ=6}etj%1cIv<GHz~^Z<AF{)2kRgzQxuL03?0rU?kB80`Fxnq6M7@vS
z(O8fRk<=PWdkkHMQu-M{$)!U;>lgYnhyXHXc%Pj@k`4zIGNa^{Y$_K`#lJg4q++j=
z9d$&Vgz+}$-m(Y@fjU*1k8~q*v>dz7)?rKqnIZy-#ve%WH#6F6k$ZZr(boj%qJKqP
zN@Vd@{M<=YekmHW*kNvR8Hm7RNO?#@6BH0cJ&y~)oGdykgm3+Bk2I<nJGI(6Y;?ka
z4J+&CQE9Gh$#LlHokJ`KVs<J_U4%)WMgyP)O@Q`Lyf|}}$Je!<q@FHd;%fu6OT_N`
z)S(lh5p)i_OM>eo>Io!igr>qQgw|u75SSe-C@4VQ7ZkBRfH{>;t4qIYtZ&J#sJ`cv
zfW**M?Ya$`6->ROEnSj;4(V-hWl(Jq)()UQvFJV0_PulGPQL04d@PJy?d|N~SA(se
zZQ~C8_mLiZHN*zt=K)m`A!k$=MsW8LwqklOYsn&RHSV}ClSgdHo*VE|5XcZ@Jmq!t
zdSGC{-pfT8;5Yzopgl0+09iBk3O9pQLn5a{4ixR~`@$1H)wEsQVn?6PL)9Dss0|}j
zh5nr(AtCm;{m@!L8oMyAvH(K?@RHxVUBCA9nD&0SQ4LxYjfBe^fT9q8`P+vys;f1G
zE7+%m9(bgxM<&7_ds%lgFG!&Qyf+?mpO`$+r)?8UY}b0H4~`5f=6pmULhfN)2jmE7
z2b0j#D*>$(lzJpP{+z|~$KtDYoF0H;NM9CG8U#Y_mh($TPqpRs;6skrK#g0FL4Z8H
z8gM$Lnz6*UZyOLn9t4&4z0x&oJq)Ran~mv_(5F!q4|#W_@qvmm?aK1xGKgD3CAKU|
ziBCWQKu!RH3|el3c){yhz}$MFuMB4p2&%(B^E|5J@CEP1cJ4M3;7K5TO*}iV<g5-j
zH&?d`;U;iZiDyoAABvJhO&sQabaZGyyZ8tKkHgYH+rVQja8RHLUItL6$aeK`qA=DC
zLMAwJchRjB&ScVRWq92r=`k#prNIc{(a~Q)ix@X~*8@))sdQxjzvh0TQ=fc?ETxV6
z8ukZi9{Rf?j_eY|Z`<2@Op=5wk-=yyNCQ<OFklFBPifLBatDaic|Qjq0M8d`XgWc9
z#Kps#iB#A70kFp@*cAm6st`Y8yL#M1S+3ao=!_P*!a2T#aE768e0XO)@q20NAz?#7
z;fG|4<iE19!$Ob(X~ms}y&h<uQRg1Npb6>e1Hx};Xov`g|7SW3$eqH|sG?<(e`f(|
z0{5RUnG{uhAy3Rj6aWaDJ4#BXaQZO&HI}Hp$6p04N3u)}K-(!$^A#tuYNRs9+-dK$
zP-cmq7kPGXHXgD%%^ctK4TB38(EQL&4I&D02x-1L4(YZ+Hm0o{dz-R4RX0U01H8={
zsnQ@tX0DK7!3=Pb{{!>OB~mc;qdV?KyvgjSDKHtrDM8E0&YmUnsaT2-X3ieZz1xD^
zi435~zvn7_GXj(Yyfv#PET#cLOHg2jclD$}wmx{jXOtaz!ka(AL}14Y0)U?|FL_E%
zHvaHS-g9kg^P7;pgM)*i4}i?~HR_MTp{Rxuqt9}$4(4c&xyivmmJ-BVAdC@0JuF#!
zz`%gMqc1QCm1j^DxERcrJbCgYALi8%eYM727-rI>Of?y@U=kaO0Q<46b&e1urEI-b
z8{>^mh)!T`2%mu({Vp<6^>hwDWa7my6uWO<X6_G8Qn5J?N%U&%FU!XDx|GmnLd!+B
z=x<5+_>pa;2EO0-W1vM$3npcuUxqvuW(UA}X6|}k&S~w)5UzuR0A!J37*itW)ar#k
z_!!Y(?CCuU;;EUyTeArz{-(xr-pq7T9?>v)n-9}}FlPye%fii_H@X*fRx$ipg$0=a
zgZqH*IJDC*b>k(brKKT*ZF3#(5h>}-yLZYJ8A1d`e7)Yjf|PYEp3h}6;=?XaqaJA2
zc$_z7x#VvUF)fD@MyH69E;ycChPlz*VOmkPz0ftl%}{^BV`A=_nEVozB%C`qI3Ok?
zGhQaM>`#BaY7UQu!9)fgo?ic?+p?WMLuy8rtNb%y6g(#bRG9u<`>s*@n4~2ASx-2W
zdkzl8tMf6A@@+7L63uro@UWp@tojPnk<7`?iw1)EsC{Ci>U1ULg@|q53n?@PVNR6B
ze(hZ7xi~M;-=j*UO=}$2cVNm2COnaTq<_E;&OX5EOxl}xw-;-np{HZhfF*nDR>F1(
z%wWKORCFz&G1#5P*9f}<c>Ldx2r}9M&^ZC1n<^#6GZ-}t#PhyZ2JX`Mg*HnBx|@R~
zs?c`m0GgGh^}vgJgCzfg2Kp26v`xC($tvBg1eD$tBPm2B+<OMASTzG%J9hPhY4h^#
zdGEO&YRan&&I=M`a&v<?4+BKn2ep}UAV5HG!nuLv;@fT2DL!{_2$-%@MGo_SBg69?
z@2tXr))SME+yu~9J`==V{_~x@!U)GtkMHCX<`Au48?Hs31%~aJ48oTVyXCl7w1u<r
zpPr-nJi8P37_+B=@<uU5)Wn;5=RG}c5PzW8K_li6hzx9ROyBt5a4_;TXb`~2=-UL#
zDf+?3XGt|jq2Za8XVRy!s}{ze&*S2;-@kApQ#pbG8$Xbk;2y_Q^rxhC)K{qohA-ZF
zaW~|Y^c7Y%E-`5uYhdB!nhM;$I1Wp9?xO9Z*%f^Lsv=L5(wd~OR?p4}_w{knDh}}^
z(Ik5*7KwPkBz?$$H~2hANYJ`G2Yzo=m%A>l|8}%pv`flqMFVNqgB}n4F=kLZKt&bb
zg&|;=7ZjN9Ny_UD7=RdsaoAs9Bam^tkGIZim0B#iSiq1tlphZJb3MJi4-l}xCtsV(
z@k7&N?jsO$+tXv$GV?s6$(})sDU2yJ@z3+&J`y)>WIPJM8V-v|(2FXme?U~NC&G*+
zjjQtUv$SIPyX)q8;vF3wj7&^vvUx8(ZO)(>Dgv#s&-}OLNoZ&k9zBXkDH8zg4TiPL
zS|LL(bzTa+b01`vE1aBNn`Z(bdIAD!J?k$n7HBO1CI-R4?s$ew-ou1DKty>@3&_Ti
zQV#}qm?YRMcg1W-ix_&vE)%NseQHoZZINOnDC-KN^dCG5?|)6B@MhulqnoH+DwX)j
z#He-UYECWp8jIZlZ9~J4@=AB1j|t2JNT66Kv_I894K-=P*F^yKfk+Fj%^$-=;C!NV
zWMp$9>&L?v)KuSAa!N`jz~CL^z<VnhX=xQJAasSt#xB|A7M^9GV_>xP^ss;fpPn3v
z7m_yflk9%zdrv~tlOWy-=xza52Bt`L&7(FX+;_86+V6OHczia`!-$D?aK(Rvqkt}D
zXD@#qPlEl{jSQE@bsu3K$+z9zMp5lLb6-jY&<-EF-8eE(-eO|Ad~|St44&oG=wa>p
z42Zs-r-^1}VyeK*GmZ?+3<SI@htiU`R$>he*3jjZBdEpzwEt-rl^f|dJu7(!!)g#s
zFlGj|u4-le=T8wg`qkEPtgv09$OH=&9RMY?z8^h{aNg}c=G^t+gYi31!NYn?_M%o+
zEMW9zwjU0lXjkmb`6i>j*|?xm$>>K1XBg?|n$bb*=0TEsLesNs!o_IHFp1lDk;FjH
z_n@cp+;&odQ0K6D&^al0!%=6fUb2k4_nfrcC$=Fq(O7qPTaT|zRtMJ=fNdj1!|T|f
z1%?aXFaZ^#fS!&HH11DEb>N)H+rYqU%I(*HAR1wKmG{wQ5s~47nFvp_20&|a>#ook
zgZWcTY;3k(&HzaiCdmg-<Bf_&XngMijsu0*XYpb2hy^q&MDJ~b5yGJt^H0I~`Sa(S
z$jDnT8xQ6|LLSmM{0UM4O-$V8oHJdlYpaOvG)r@glx3!t)JVonXiL=inHmr3wL18%
zaEv;US-Si7d0pYCUylC1JC2oTjh2MQ&bGfQ?1CqjmW<apKv;s4yz5ge>*xkYSOnkC
znb;K&#mR$RA>ZJMjlE}OmD}N^s2D15psWHF{~SJklVO3#b9MLY=OZe(oD2*MV!qs1
z+2gtoEOP93+R40HEMR42l{%rgoX*Yq?uL&w!aUN_Q=8Tg25V}%3=1w$QQd`Md2k4(
z-Qc}=@x8*TON7cQMlF&L1!{#peZ82tTM5_|X=dBOH#d}r;9Wdu8U^de&mAlK|B57Y
zsSSwH?>(mytkRzRL8a+ClMb$oJ8Hs*uzZmW3*Lf)Y@Nz}4XtS16f6d|1oJ_z2Aiu_
z$tjK_n!Ch!NGE8cti*oedza;8Weo~6bllz~1SrC!D+wv-qvXWp!}?3NX3gJuuI@nZ
zy%1U_z|UGCiO`(o-Fu5g)AVG>$>4bhy)QnIP)>2ZJ)I2;4^{MX!%$WksY6f%_l2in
zciWs>JTh06iz{?r-!;#Zx7{tadi*$9e&d;bLT2_wb?A>8*KUqt%=SeHt@Tb;smE??
zY=GUmB}><a-Oo2*1|wdBi7E2DIX^#NOtYt;^s~9yZf15(=w0um7KOEQjS3sAlR4&j
z;T3fJRUVSlZAu<%=si_DH%$3V&`6cAD|g;KSA4tls^zzzQ~mECy<f%p&z^iP8M@V^
z@=PVRMhtT5^Rh3u#+0JZN$z^iqx$H#lc)4bo?J*bs@Ftg&aonrscQ~d%noXZW=bNO
zrFLmSV+<Y@y5v$Av}er&@9849Ir&XPVd?Z@r`vX#6Svu_Bk^Z^{qzwPW#!D0T`}ej
z@#ml2T`@&`KD$<gW#agwa%^?K<x()oAJDdxusA4Tt<#3y9plDH#7_KznTVyMk$;t9
zA@FD}F)i@9BJos_!Rd9q=jRl-SxZY&B6w3jz}{0+m(oW-ozYbjDB`C3;lXj`N^*7L
zJ)f%z*B7g4ZAbT1@x;(o#Cqub2vdg*8KNUj)VMH{<9udjA625bNhRw<)45EU)62de
zcvaLhD4e^&>JLU5Z4<TB_b?CWxBHOxZFHG|K;F#Ei72lo@r(Z>`_0u0)1{OqoELmz
zu0A7@2|(`((hc{$+cx&1cb(Vx?3i~JXmbc5S||SQms@-H(bdq4d}b35nU}<{5*Qqn
zQ0ZJtx1!N@EQ9H|;s2t=l1K70+0xPgJjGF7O)bjkA@;mKb$6m<2Tao5Ra8s|%@L0M
zk;|&10?`zeg4@1;&BZ(Q5maKT#V0bWpK4ZEY0EG85jNrn*o6jX*Y|+?hoMb9@FhA?
zRQ9!vp8Ie~0-n30&ST=_$*yo=6mMIuw4}d4==vfS!^FfR^Soe}N01?;p&Z8SJd}SM
za_+KH<faS$_t+4$L%S=utHCjx>l_69_O*OTwc)&It5ihA1&S*0jmvM*sA8;ioRXOS
z!H-YvrPMy>D(2L1?Ih$ujE1mEgq<_&rm&n3DlLj0*rbh4Y-9J4Rr1W!`$Z%Yw%68_
z?WspDts^a>{!^5U>}AZGpAz!5P3R0{znu-z14dO%Sr<s(wm-Xl;QQHrLo4TFs+PO1
zL{4c=O(@lwbLe@rCz@z;uI+i!R49x3-vc$TV$5_Yig8R(Lu9LUuUV`0qGIZ|>%9~-
zQ}=vc>pj)Rnb!S4uX+?$N?hKa!kPI3+%>Sw-^dLozU-6oZpsAB_EXPmkS(eP0!oH>
z{o7Q6N*`sM%;;wrD(A2^3xx^ehIdbdQkn4M@qbRs-N)~rrFwO4>z+Ls4_Y*K2ujU8
zne#?{60e}h39IJI&mVUmpWdey;KaGYFd6l*I3asx`zEWjfu-M~XCRlG#UqP4+izZ<
zBsXBvK67bLrNmmsJZ~r#9&Bu_%!5^HAGBK(yc-@&R}>sNKP~nDwfCR#T!;N1KWr97
zQb;M4B6}5~kRmgp%&ds4%F51Yl90^ENJg@f>{&u&kEDo_Y(g1nT(6_^Ja1gT$940%
z@xSpu9}nl*S$uuI$M^GjAMf#cJ&(Jt8#o0HAmA)oOsM{0jHNaXr4O|~<foBbOz%Or
z`Ag~Q%1x?TQNJ_u{yQt$qhG`(e$I^@ymh*H_88mOLD?Pq!wXK)&Rl-IemcvAfCLy%
zu<%eY)_zaDZti8d=l0^B+f^I*WOm;4-0aGE$y(m}(@S;{Z-09~#_AM%yNjN&WiM{u
ze?a-QrJs{_-xk@gY&+I2q?-lax4n?J6nm4NMqE_kh-Qc7@ebc@)(?_oJzRZ5e&!0N
z_pMS{irx4izec$3O3mW=A)z644Xrr|){^4ie_d$49&<EQQWlD3%I%AkeelUy<J0oI
z*O6HYxyMI1CMAF)Q#lr)))ILosODG8<qf9CN}tN;8gl1e4bBw`k);zpVcG94{?2<z
zE#mn2{<!sgtD`ovLNrS+EY@(ZcT!g!@aGVV_}xnNMwGTiAcf+Tne!o0T7#q0S_Nk7
zeQw>?X5x7)!0Ec-Rd-i2?N17kXqUEIqHj*iXkC49mEK6*vi44)P+M3{R?Xiir<URx
zW!91yr2c_zv}Zd%--xAn?YYXbusc2FkIwgsM^QeeCk*baY-IIc8JbtjUpQN1skFLB
zY_PZ8d8Tg@d&vEkOMka6emm*?f~G*kLQb)CwYYQLb`;M#_La(w6!o5G6zXohrlp7v
zPF%W~!7-umr$%4XY?gwJrTi<sFoW$12al-Gm6`=w?bt*!j`ZuNb@$OkrOBr2|JYeG
z9P6x(S7O~n+aF};y|T4g&|Ii-??*QYtF;dnFZgiJ*d{TYqBEXttoJ%;rm?c8d?hwN
z!L3%bGTv=6b6HKk`s>TK3#vWwfZTodEH?L2yj|TfyQZw$ygc>K>K4}ZGV(cJuGo9W
z{npk9(HzZN5VMTiBUX9K?P07~f|mZbk0LIgMi*5sa{$xxna@&mvyGZ}fmV&+ZvM}V
z>W>ZDOVjQx<xJbUt$Jvdo1J~{MVqdf?vm`Vv(57Y?QG?Z_437XJr^EhVfWEcHSqmq
z{5ue5m)z|=tDT?hqRTpCa;9r4pl05p;k|iP8xyaz;n=0v*+*Pi)Y4(28nuGwSGJ{Z
zsyVFDcD~?=q%p`(PjVkxTv{G~JoUh%VfOL6*`Yi9AFGSf`aV$pef9li5x?8a;cq)L
z@~(;1y&D!AmW|i>bNvZN$+!Il7HXoh*T;pfaBlWbs=dPpEXv${)zedqgEuo1ct6_)
z#QHzU9;`GImG#ioj_;gG5KVh%ZCU@U^+lxAvvQ{1$kkIyy%lu7%5D4{rSm==PFxUB
zdt324cdTFGfc8lswZ;yf790|Mm2JHDGvi{ENB{4cg!G@oo9yl51~?uxxReQ4ewWW!
zpzeRLr2GQQ;i2HtY}7hJo4{fJB%sq=(SoPlVQs59|GtXAl^s8>zmK+Fx_P^Mw7==b
z-`?Uf>FSVsKaK)ja`^LL<lr0WvU;O^pSKqBwaf^$4ohz-m)?1YPxMlCy-D6|aO}2+
zxLr86+}XOSYgA*{L%*G?@Wd6Z0{ONZf6JLlrR8aQ|9%h}Fy4dDQ`a|ERcX-Dx+wAG
zo!@0;JRIDgX@5w!RK>1Wu)1_`)XZ6?y7ksHsu5;e#|f9X0aKgmjZ5~=XGe~<OE-;s
zs5iG+i1G0LV}~$3&a-v%*0L7n-p7o2M~(F0cnR(D#;!^4L+M55pZ1<1n5WJo-3<r4
z^)+g2seelEsAf1d*}cXm)c&M2OG&lOU)iC3dBr*yqNh@3=GiXBi;mpWv|LwLO?{4v
zzJ@w-it@ts6~pV6dYthy1<?c$a$w^Ri5AXKzN7<;%d(C_BU^m_%BEZASwAQAG7p6-
z8U^}wOf~26sEXRZ`bRXo)!lo*+v=5h)n6wivuY-qx5h5`eTowqKjW<P9@8~Twa5G4
zulW}DkI1F+yQjTtY74cyC6yzVfO&3H+JAUl`?h(-{Uf~jq(02}&tI*L{11pL>EwU^
z<*2ROzn_u$-_QJ?Z>Z4x?>Er@pKr)J^?zRBf8Q|qe_p}o|53kU^uX%tZU5nfc3Z0b
z2M^cF*Yb}aC-?BcKU&`M_0IqB<1YXA8?<=;zrVpF;lJOo`Tu-_X~zF~h5voS|NATc
zv(*1v$^ZW>RE(ir8NqgJJkocGYxj{y;;px+1FRmjtrc&QN@DyH=_I#<mv^`#(8G-4
zDdpJu3i^Kif|g7_<Xb9AHz*bScW%^m6=b0k9*L#3F?P*n=6UMk&akU&tV4R)-q^LW
z+;T=S#<?Q5fRZomfdGw8@M3{~zeVq%wdIXUVbV$s>W89rT*LZPymh{ByOFm24Yjzy
zifmA~o=L!TZ1ve{D!m>Dmx(PT;SHAG7&Lx=J>Pq#TAB+{eM~QC!dq7_M?=&JY(iQh
z6RLM9sgmx6vuDpDzmD{(0tceGxpO$Tzuy>Q8FksD@bG{hJE0#wJHl_%o9-7VNxDhz
z`sPF4f;@Ys%O9#=j8bciLmL$X*Yb|BWbWV+t@NlXw#oSYIA!tyb<^int2F;C?!9}j
zL(nV8wjK{WcPL7COkIu9Z5lRE2^{Zst!iC~t+N0c<n?s^@emE=^YF*A1+U7VS)82Y
zh;KO#k!0p*XIIPWS#$tUA)*MD35Ajc!njfAum=ye<3ddm?d8|pjkA-{OrRb?d&)tQ
z1MPt?Ut&YMzJLF|siESPoa=7J%}>idXw`mi=h-4#_JKu8MF|@O_m5eT=PE6>*XcJ2
zluOj5=E%O}Y^FsAW9!!OcVV}0JJVd(*4B<HBNoS+BYAZNI!y1Vd$Bwa?(cYEV`LO(
zIp|xF(hFk%xu6bf3#zWBi+#rIw|6mK>zp!8Mmes#v7KQvog{VK7TNb<eZ`+;@9mzs
zsHYvWO@d2Y{8=+Nz{Hga?I0ZxDfmC6Wx9R))H|ki^9ED=Is#~ego6hF^B3uPoIhVq
zlZoLNX^TWhV@mkMvU)i>A;IKNaFo!kdzBeMN*`8I8eEiCM-xK557@CK>BJ4xvbd^U
z*>Z<|`x#21+ePfcG!b>z-tb2?Lg*uS&<5QJ7($wukI3xQ7fA_p9~m7jr+G+zM|yf0
z<H>;w=#cAP8F$qX_1e(8>xZCY+1T>djNhGW|K85S8lFYtL~{KaFZ0f~YyD|5hQ*F>
zXgp=7e*Q|L<oT?=9o3!xh=}3ZA&ip$ObDJ2i$OcYEG4t{?xNT&E*<$k?=uP1J!mjO
z*o%^n2Xk>a^cs3Gt;E<#-|DKtx|wU*tA7lKVp8&0lf9BUr#MrSPuWFmOqOtD{zf6X
zruX^fHP$)`H`Ip-yaI3+@GjIaSh7K17D`B>r6X7rMSt6*Wo+*B7_RQ+=9a$NUU0tc
znMK_?3^7!X-{hON+qsPl2NV?2nhFyeXi}<KWD}hiE>l_c21d=}?e1PDQ>Xtjz%ADQ
zSxDC(r6XrFo*F(hhes*tYfF3=^bBa{9w+_aj}@LlL(fpVDk}H(c7|~2^rohzLALKs
zyc)%$et%a7_rrCjoHyQAa9&kI!?jOKL*omir09C;@f<nvk|wD^jB;G{;Hs6-#rF39
z{_4$FMFWPpW6e8F91SmSu`oB^1xsM)J)yMm_k{wGL`b7Y(&GS$$}CZK`M@h;WlH1)
z;xIlr&sr7qso<ADL_)|XXh*yJ{BGOuNLES~asZ`<N9pEQ+lOP1baUR}Z20~yA^EJ<
z?RmYp-<0O-pEe#_%Id*=q;#EPi{;g(;DjRe+eLb@thQ>^3MzDj_JKJZXdg|}z7Vyt
z%X%GHU78gsR)9k*8LicxpXta0N1&mFvVkSOMeplnbc=@<+T@qU?BR}eUYs(7L<1x3
zAuK`YZ+I8shCccAGp*7(vC1^%gd)qjqMwQNORjO1`<`y~Sm%)+xAbJQnwiD1ZE=!E
z1lu2uiLu#)(eqn2d8OcvgI*vN-WkHWfo1?Rh+#TjOA8DB$giz!ZKFgiYd3|dA_>X~
z`IwV9Q)~Js`Th(-2Q^Gn6RZP1{B#<GwP~gik&$2MjwDcb!L|j-eYGPlRX(fd{h9?+
zv8RzA_L@^YtF76c(QqtwF75JwdX1Du+;8qDG1g3iWy-tSGk>1Q;$U%=+^!HyA^z6Z
zWrL`C&i<|J>?&D$IolPipiZ*=P?TdS4})+sH<dt>MLwEu{NHaGW}<bZ&fgwE7yH~3
z?Z!3%i+B4BquFBFSXdnKsrjyqY$0FDqIQE=IB<t-ZZ!HZI=Tcq7+*U%n*5#j@}A3P
z6#X|;3$!TNPW?Er>N;d)PUD!VY^0BPo$dGDLQdkcpx2bncMp1NlZ(aV$;4ErWchP2
zfnvbIM<lMst{qC4<-OdeU<#!=s6`foRaZt#z5A?UJS%0nxDq=tH(h7aiw6$)p{bF#
zr^)vb7Zkq2KP<q_`asq@8cXL4EmZ@g^kSM1q~ONZ*^_*xL(iC!=i6b5DeA>T7xq=o
z{XSi5IwXzd6M7PDJxg<dva0?&h5Pq&)b{&B#<SyJioG~DnxgFO-$zg9vP1)Us!{R9
zX*%BNc-hws>s?k4B&|ZA=Lt2~n~HQy#sD2Ks7&C}Id71ocRX}^Bd|G56*EM~3R}*S
zc9zdRXz{t(FMq`PH9a{W7i7QDj!A8aEg_4(=YGq~TA%CVd?#qDXme?~Y$?)WSzO;<
zd=Yzb>5XX8hUqX9UaQZLG_qig((vUv^)4JjP6C>N(_~VSash%Z;%$W-ZhX-PJ^K~t
zHcP&Du89cQ817|(2+@yObXv5`1o6(W31KtnY!J#agiwYEFR@q{GuJ>IB<=K>26Dtv
z`0}h|B`Duf|N8R1ghOS)H!JIK{O_>Xk7rgL@{9fDDfFoh9qz9;QdT%Wz40bJkGDBh
z(@d<{nA?o-1_p+`(9mE+=?Ebu#@}n<i*JK{T}R}0{Fxj*$bM>}SefQcLQ}XwqSv@K
zLQ77y-0h;DAQxBRNBBuS;Te|l?3A$gA#y4hU=Zc>jtONYU?U`?BIVHS#HK?SJ!CwG
z@%}S4g&hswuh(089e209s-v}ZN6$^t+kVK_{8?B2)*3-`s;4!z(^;2UTz{H+YdG2t
z=GJI@;p=eO%EF@Pz;WQP)Bm&p4uX)C5TV4}I}DS5{Z`+RXn2W*g@p{fF`6Js0>t;s
zahNbpp8>xLvZ^nTi9@eQ<Vu~Hr>@<vnPS$<ih{<$2^Isa!Yd4cq+Q20f=a_B(l-4d
z^=NZynn~=g?y4P`$M^HcTmRj3ifjCNSAJE^Y{0&N(X5VW8I0GKu473PmBL~yuQqS;
zjKJuQn2P#K_mep_O$_dW3madgk!l_{9PaW@bVq@wseyHi2rAS#-rimJE0F$(JLRF^
zMFAt1=P9;}AH+6aDP}#yNnOFz+|Ya{ub0Ku>t<!E-ldEjrmr#WO1QydOuhKvX2`(h
zhyK2MS4V&i;7=6^tN;N%z$oz=^Wwm;uzk=XV=pVK+`iw?_DsG|dE|$f80$;xDz2_3
zi$5K!iVw&VSTgC6T_+<TLf7RzzTMod_Sa`ANaL9S=qbK9Fa~>+WtYbe5P9E!f*A}F
z)3*F+NY=nGDUUyq6t;DX9n+Cw3ooSwKKYhEa^GlpcrTCArSqRySa+b5HNDrBE<NS|
zs{u^~^__YRo%f~ztKD?82_yC`H-?<eJHCoD_G6dC*q{r7;09<Lie<#kplzWj48_nW
zhP$C3+aW}9oBcR_@w1K`4{J5&{)j)e8V%if{ynh|FEdeI^ZyiUl-j!Otk-e*Izgc;
zJ9x}B_|t5|%<ZmI9loYIVs^*yXn`0HUCWE_+19#?tBbU>3Asl_Us(AK@i#wNCmiJ{
z#I_!usAMR-Ln#&@i#z4dr*jK=&b`RU)1R&maCJVlI)8ovPK;8ThcKTCU!biN9J-uL
zn?7`f!m(;Bwm_jKFW^f`UagqI)X{@WzqauB7oNS^)uTCDcGi008s8Syko!`)lLx*h
z?`IghF<!YnV1?FktMOJgw&O9vCPe&(=}EeNo++!5vazCF9z=`xFiRyyxo+1}V0Slx
zI0Y9n@vGo|%D=MehERFiOwa#*@^{8`W!D`iKc_hN2i&)z`6k9wIg>5_G~dQgf+vyh
z#2$^p2iy3v2ivc<*2mV&Z!;H7*YC<_c?|Ix?$1=Hjfl+)0EiAe|ANss7cDns4qk*Z
z9P??S{I@UT<I>SWe*KKdEvx_f!aY?omJ%#=d4lD}4dH}P+Ss||N&ndZsiqA_kBQoM
z7xVx0+H1X{aemP#i9*Y1H|=bz9(n|ySeK&@=T_xaa^9vFR%W>%>-gl>`0Ol^ZV_+{
zSP8_#$9R#OF8pS_b-^4KTN}h9H@Bjj^?`xPxF5x!AR^Wo>$b#@7VBYR<R(i3eLC)$
zO*?n)G%qw-YkqT9cAbG3-;bVHbLSno1z#?W9Id&(&S&&%+AXQ+JU5q*eTVHFQ?##4
zy_~$cb&oce$qX(68VC?QcHu+NyUW)}QP<Gm0!=tx&vT*W;8sZogA)f;6(^XpdYXtc
zerBM&6yiuv*gSTO5>y}DB19|&Eih)?QK$n(Gd^_9nNg{WMckSi|9%4@<i5Ohg^lGd
zYMZO~hfWLh+)CcRri8L<<S>I{_uhH<7qKrfY?r!=XO;*7dumy1hwwgI;xAPNwOCui
zm_Qud*@$K;vM!((!0AA|v$IvJ!q6i+dz*mB2Y7-xmJtpD>1U#v^Q9;6&E?e;)LrZd
zUN0My<v%HwZ$iV}n_O&8{7_}vT-_+@DT>Xl?;p}Zih2-yKRI#*L|qEYL7d&A!0w|6
z+FuaA{a3u_YMJD_9fK89<-A}Ci3O7l#(=ZHB*2~=wfX>t4I=bb-sm;|MRl}GQp4YN
zmUdu+Ms2ght@Y}*nzZTWR63$*JCo{Mn-chB^!H4twQs$C|JQ!D%?_px@~CW@b@ff^
zum_bwwX92}q^K4Z7uN(yn~J6+s~Yr5hHz2i8GZaII!NWpDZRMLlz(PbJSm&}larG_
zPd4oo@~TK3n_FXU*ipo~Kl3$}4~0fO!y)6V^m3a82H2S%w`>mjB~}^hPEk#pGPMt{
zS^723p1_IV1k7yDSj!v^HDBqk4o!9SVJ!Svh$toA@iS+Jf#u{05*@Ml?DYF3hE)-i
zXfch0<s^)dV*p9y^!&mMK}HkyKLbdiAr&uAeK+D)lRYcPUXn5Pj>3F%x?(3|Y}vy!
z)}*Df_iwwl`rohj6L8#|Uc*NL(V7)DEQXzO50FT12hyT*1_#o-MOtiFV9ogF&!2Y=
zl3@6hPCa{rJWRx{%ofk2E_cg}ps;W#5%@ni<Q|I6WD^U^D_BOyJ07h?rb`U}uv;{&
z@ZGQ37aJA&)}sD~B$eh_HG#^ZpxG>bJN0&Hx~@l_`>j`aC<vkk!L}5Jb&~6;UwIa&
z;)#+Os;GVP@=1VO;=zYMp$?O20K(v1J8@83abmYtYG00?z}(y%!4ZD@=2+%FI}=-=
z19jf~$Q#2dA8DAPhVjC!TCz;P^2X-cVm}3CJXw|1)jhE$K`i$9N@Z-JG9@w~^&J7$
z4h{|>5}Jw=F$nlbFB%B<20kJw??u7tKR@z3v2znp)M*?vP?4Te&?ox|OGK&}0+NE7
zOD3s_<`3m|nj%W?%C~_!%Q9mOG{-HeTC`b0_%6U4LtHP|Fw-D_l)HE@@Bj^zpfW^e
z*>^r^1eUR{kYW=%R<D^~0>q&U{VrBQpLcWV$o8B-Ta@hBFjmMD*U)IK<dDEnb*!qg
zT-M}xR&oKY<4)^sehf!YdLa&2{#u>`aEAtrft?acirZ44(h`Glfg&ckU|E`(`O-JV
zxXLGa-mpoCISw5GbF3Mf?tG)1#jcEigZ>8t3O-&8F22^97`siUnEC|;LiLyEGZ)Xo
zFm=GT^VJ&>5iT8_xn#ijxA@$*c8>-W8@i)06nk)O5@$br4R>LXe<#vND@XMw#E`jB
zpn}=eNVM?4Uncf-)>g@%YHzu~m(T@unMg%yph_JXE5_+;wq5KbAr;)2FtB$H<z4?S
z^i4~H*()s9{L6T<3(YsKc8*=}&A?YG3f#?!b(_MCjwxgWc1Omk6~v4n9VP53pI>tg
zscF)BZNHd3HW*yLbyZ7?HervLy5Nts`^CoKBatoccV3Tv6Q>tFGjrQX3{536(>td|
zpm#KfJ)t?_P)x!39mftIw9q^Fv#e|>@8XRge`;jRx!bGpNDx*hq>JPNXdj?Q&Q%9D
z!h8)ilX*d3th5UclphiUdnsPl)&jn<2^z<<$Yl>)c+b-O<aieLD&L+`KizBC5MQKE
z1}H#DZ4F1Q4`RJW+<~B>p`nTA<Rpt!(|Fjvpwu6VG4nkOfjD<-MrvyJk*qt=>kudH
z`$Buq&q4capv#IKkvK@TAU0X7Z)9~%bG_rir#oZWHf|h}hqVf}%tKJn>g6Q1;7J!d
z-@4t@bA%NJ0u}I6qh^WNUMIe<*BYI-uW(rcpw>F_3zfLtW2-HM8Hb%N9-qa2n5)5^
z5sYQsyF}rx-FP-Gs<cGt8>J{sGGz0ISEmYk5_d&H2%Plid&VaDDQLuqF>cm(soZYB
zOfgj|WSk}ZeaiE`sVhIfpPl<$_Z+Fj%`+Y^P)&FOz4orcv*35Tk;X=^XIyQ0Hd>>O
z=IcdMvD!pIPVk#O8>9*f3QFN@Q=@r60j<d4-`~6b{eu@H+IUd6nZ*6Z1BtfRQ&^_A
zT};S=Q$3P^;Qsy^m0yfpEv(tlY!@-YFEYkJkyy{L>jFVREx=CY+;!sM+5FRfpI4!H
ze^-3T?0#<rLIPSbx~qj`+F-}wZo7!6fR3Shv|#4=*HQ^Mmf<651)Oocwa;iwY^hv;
zm26&ia)Fq&*Do_z>3;)`){57g3eQo7u=RPrJqiOj7YZ9p33EMFl20!F3N~)!7Eahx
zM>~}YA>2IRGTLedLCx~&>KRdilew>6g<Xtdb1kaZ2&pbYyNJADjRcvVJ(cmTU~8B@
zoJ4{5wWF6D8jz`q^8GUya_3%Lr6slwZ{VlGt<8X>L8SpXR@I-f_akDJ^%nX6Ja@}O
z)IeoWT5~te`m?+DmamtIKkFqW5*89-g-!VT^oL%7kdVN@Z)2CqO@8?WAcEsC9T9pP
zapB<Bgg1d6L8diHo+-9eq)?)6CL5l2;%buX%~)%FRr}57UREX<4oU(4H-Jkv!;@q)
zP*&Kx&9LM0J7PgBltg6`*nNHQ*VlvOtzkbuThIsa(O$i*o{>0|7`-+vt+(yE(i!1+
zrbnqyHO3%V_bO^b-L=-gRFxtCgdu-W9<EPIACa{Hu!m+%wDi|V+*B^`)_N4~AeUZc
zUQjA*`4Jy1+)8R#B&fjnovt8Q`mKH#B;G}Wp7QBw<_GW68a=Y-_PraDMTT@7x;^iH
zO{l5B%?#b}xv<lfGiVNt<~MNe!8ZA-6k2-mOCJxTOYu3PC{U#~Sq7E;DPoDj!&y4<
zB#Rwp7cnvGWlK0G5Y$Al9qoYyv3qoB8ikOV?|p)d)IX8?93ojKM1Y9!a7xhp>1wLS
zd`>mHF0~U|F5b*)_F34s&b|s{COy`B_l}-DyBksY9Got{rZ4$*dEjKX64-3--oM|7
zAV|{Y&KlR5{`<I{=J5XJ;i7(O{(``332_=`etEL-pd{t)oN^<OftC3YIG5|SRjP`J
zY7~v8Lj9d(Y!Rw$MN6(#6o=jLtnByu^J|-3N?_on$2fMz?maPwA_Ae!Q-ggOa4^W;
zP#2Rn-t*_r#gqJytce2*v9qvf9-BFER9iq(q*y*A+Qmdi{l_NXAXe^*SBNC0v5Kj?
z+2N}FyWAj8Bzo2bq`izc33)v4!66!hd<$B*spV{Jdkh5G5Mku|s(mQv7%48&a1keV
z7^kdVwi7<;&ZndgA0I#IEO_u>?})*i{cS&!zRAkDZLFS}$B!S+<okXbc?8)h<l?WL
z0#MJ17DmW($eF@xkSOh~VLaG>vOs7vbEYz$tmBXjPSHjv@uzz10swbfyh9Q%YjqE;
zSW1NX(7X$h9B4`lFKMW&yWAH`_}8Qj7@ouo0QSu7W}_n`rQeecbM#iP-_<eO12rf*
zFb%zkUfl1ew>z@>h1?X}wX0@i@R9g73A@vOlq9AIlM7cv(Yu!7Hw7ZWsYfB3m@~DY
zevK8kS_eynC6YA)PXPgC6HMOoNrL|FUNJr$*L3@ODfYV<LfIILHsz)Ucm>oe>j!$R
zOw6K2J%%N)ArZQ)=a+D0<HYm%25OPI&KYQs7J98IH$gEoU4DhyU++kQO-Z1N2}z3a
zK`sx>`ZmA@@*1+Id;>vpOM!>+&u#hRD*wPcQBN7(CrvI*<sUas+jTz<|L{JN@dXl?
zmSaq^*L&=^d3ouA>&Pt!TE-3tcLDNEZyx>oiOKKV^8A;NCr=k_PQFaBk^b_dU_HfG
zn^BBNyU%RTtC(MBt`pFj`2q_W<EroLTcz%JuF%Lt=YeE=3wPbPj~2!-cz&VxM{-)^
z(DxFh`;N-3@Ha!kDZ{f#rSS-{OXI<9=tcLLyJ;L#p0WzcTQ_c$e&^r9bP={M<Bv<o
ztxcNRa7)2OWnzi}JC%I(diy6p0s($7v@ElC?<?+Pcpe2iW{_RRcprz>eU&*d2FR*N
zcCM2^8OJ(rd6t<CxW~T)pwOrka`F<SvFvbkB78Mi<ll{ms3q(zY{LC=f8nwGf`{?D
zO?*Y&_}?Ruv`;A=`b)w=3GFd>q^MZYVpsSK4=SN)#Ox}NTu>^@FG@X7TU#sf>xd6|
zN(o#EF5}H?Z1p+CA1CG?Vw<{we4FsXKY9!^5+YGp<suR?0#Ms}*h3T<;Ui>#7xUhr
zrGYCM#y0<Td2ZO>@W3c8<s7ob%PBFNhtPp1s78Oo@Yid;!TY1<A>;}MiZ%L##L7k7
zy+AiZUTTX@wE5MYqnz2;RAPo2K62QO;y;@N`|PKr*VEHGRqzq<KUfl_-=l#qz*-)G
zn3Uu)$VMKa^M3hjh+=9kYDRYSaflJ0Fr9dvKH3$EgF>0;HNgi5*JOUL5HGLe`0l*G
zsi~<=e(n>u;V%y$26T!B_e$F?9t;$9X3?1xMUVjv<0ufZ#JLK7TUbMvRhlPKQNqz8
zDr<bS*s1V5)q+6-58}xnmfXPQdTbt)?4suW9~MyO5Pnan6~AoSGs=D4)4T63CheD^
zO(1|)Cb{KgIjdlmgnR$yTl~mfE=wmSB(z}7pf}xsX%qn+z{T0$Q9iz&@LVy-$UsyF
zHzAI=@xe$Qo6S}cA|M2cm<`2<10)zbI0%}19nxLQo<M-aZ@MvTuiWkloHzyqb$~RP
z?O{YH$_D7$7qgiKd|XnYeGZa(*#<9w`=|j;1y@g@b$E^j`@@{=2f}VgM$?MNp(mbC
zXZ;1heemaUAM*hiZBZzNCNCgE$d2Hfes2LF1?r~exkB}wv&a`pL0R}g%@%GX0>j{k
zi{&9GEgS9(q38@BP4o_h>9OmHt^h%|Tr3+;-)3uueZ%gD+HNk!K9FP}7dD5(4t6kV
zGK?TTPTbTZC9S1D{ZDH`p#11)V1i3~=@LqM6VQfrfmqQVEYeU+-GoFm76>fjkS6Fo
zbcII1ju}A{h8wZ$zhs{){%p*}Q)z)1p*5k(#Aiw-CS<QcN2J$ra^jZXpM|9Daz5-s
z`-a3F8D(Y*4FsLA|NWRm(z56HoyS3vw*w>jP)_1Bf_yY;v0c1=^JchgGItMb$7a7L
z^a)x7gz_@AB{*Ua!1w<ZJpnSVK?HnPo8wLxJ|C|vnGkmYNF-a)5l~wbwCpcC<^vn@
zj^JTJy#+jM;&1X=QkxeK`f>!<>DUzX&CvQ%WZYAA`PxkX9*v$)2$8>2P}UN*9yTHE
zhzo4YPTBx3fZ5anBnm>M6N|wtN@?=h!c%G$HDh1U=P{lZ;{ngT=TN}fSkbdoC>|Ca
zC)NF?5dglyVN6Y!gfe+UySYpW;|gRpgL1c=VFOqfNP`BzA&K6nUgp?ENTVNObulzj
z%m`-b)7vwbT4*zpUGTn^3<aYPlI$HpKj`*t3uHtS*0?WT;PJ$C5KODF$L_XyVT4n8
z{0{pIe4<DU_0!bv`GACthJfE$R5Tj#k~v4)Jip#Q4->FSkQGOQek`A$pkV$)<K5lI
zJn;8w{UTyw;iTtNcG;fr)?>;Za($M@2?OTX<N8q&2@fAk`-$dj3zp>sCfmcKXABIa
zNCoXu!&i9`Cs$hJ8+gpsZE0+2vBKr_gVj@k+Zfev>eni2X4`LQT-?XL2`jm~VPYrp
z3Pj^lmr)N?pM4dc`?0@UfSwl>NAVQaSPI|YlV<wM(th|KN`ks040@>C3C4;$S^_q;
zeYjw})dduh37F~^FWDm&qSQSH``QDU%T3|)o0;35WxSQujrW1QmlVVQWy26MmF!ag
zF|=HXe;Hk$he)zGJ#*eWAiyH0kGgY*flP!3|Ne2Wc@?v0|Dc@u{Z+o3G6-&{yh!T>
zAdqK|VxQT)2@1?Z6d*V$EDrjS)XjG~;bXuZ%`WM{P69rHEVmx*lgEG{_-~rD(0_#n
z4aF(*_X9HT!FGnRhfp{}Ib|oFb(=aZ{&)r43je?cX1)(t94U`)yD<HsYQFvoxsfC8
zIX&CXv$%)CWEa^{&k}bb0r7#k5P<IIJiPCgg+`=!CKg-dxtxD4+A+nq)B{#qi=L7O
zvL#Y6z%A^|$>E)UrQyN`e!$kyx`gql7BSTG(~T{J1OU3my|#Mkpg;=pD1yhd9zh$a
z54(gNORupDBP^;<obQgSE>d-+<=B0m>QooGOj9!R?$pHMkdflyQ3PN@mnFC`q$%MD
z*6_9BA<1>sItN}UK=$OHje+y`0SheDs{(<XTUxrWqYI$p>ABgoBEXW);vf*@DQkl3
zUIKJMQq;_Z$g~YU&kO|73cUt9>7k2K@KK>B<frTTv?@@=id65!T?m_c48a_ir450@
zI?b)X&*Ew%7|q|7y(N4i|Gd)SPk^fIM^Z~+j;)BB%^xN#x2c$ee20Jl#$Kdv>)9NK
z%2<*>UI<MWw+3jgdZiIhn|5T%fs0u6YhFFKVqOjZSa->9^$e=anR#kf=DC~9dyfAj
zPJ4VCGTP#Jbt{K;K_3wspiU5U@<o0pY<Aw-njfl|VS*<>vyfu{-g=Ydk&2HVhC5Zl
zcFMOR+D)GRDJvutLIOUfZwYwPoX~s(_4@O=mY+-1^S^)n;>AP!BLy4O9Fhcav>1>@
z89qBlU;VQu&!EC1zw-!Jr+MGLz2NZVDawo^(;!SD;RYVf2V)B(QcAB1<bICrY4}49
zHZV6&ezSrk54SO6Ed5ouoP~dwq9HsQuFQEBiOEOX?6tVl<yNQmlf(u~bPKZsQopR<
zBJ66Y_FO8f$8M)g<m}p1Ha0d)4RpQ+)2>+~e&wetsr9OTe-mv1!A{^Q|Ak2`=kI#V
z{4=we2CVYeCd_z=lU28Hb1;kud@x>Hp)!50pwFP%w{mzAbh)Be67WX5-Wiw~toFMf
z@svZt?iE@L_P>4ZBe!!wRM-z}0zT>S!D@MMOt`}i&#RQyQeiwY<!5<{%HQ%x0TLVn
zS#vfkLGO>;b%JJ956&lg-o(3fLF0jR;1FvSFzh-!_d6(XSwl^29b0gkPC+jojvf1Z
zh1i0JLwHd-;DiRWZ45reCAlpgOsuG=P?ObC^w|Rw93n?UFCJAvrw|vrN}w1iLcJ;%
z*Rh(jmE*(8{&uS)j!Y)8KmJ8;WF1ls(sjZe_-nDaI>%9I&+4G+(Bqv?nT4BcvH|5d
zPN<9oI)U(r#gHYPOQb-%)-rKscUPhxqGn;iMR-$a+ebZ_E(In6uL)HWVI9E_TYw`E
zkbu_1k^>@P!G}$1R{2YJ>OmKp@Z|c;(HbmCLrYs~BI^K)Ug&Q;Fcja~k1@?5^7T6T
zAd>!LXamhgItjr-xp4@v-_T!ktYtj-6fX^35~+nqXAR#J#sAQ@jgFGzw|^Q1GAO0A
zQ!=;`@}z=Q6OFx|8LU&ZgSSHdLEZ#5!pGgeaTAQ=b|)=2K)>b@NOUJk7nvpq3K*@{
z3QKPkyrjRz5A<OPAq}q1l!x`2dWSH{|7uU$SQXe^fzxvuUNT~T;J%s%nGn=E^hZ$Y
z;DOt_XU{b(F`>oO+*$hg%xXR9n&9rXMr)?(H&4@34AGRImg2)emG-Yq2wWO&Qz0?+
z>cf)pA-IJ8KO;KwLmWe2faM~GU}SZ_MnWY9LrB%%Ki)w9ex{SVgdKpis<Bc3Xh2CG
zLK0+13dGT#LXy+~qHxo8x>-%btT?E&^!dhU$f-WBNL<ESs`sa)CI$Qx*PYCBp?H5x
zC3m^=Ka{(Rfa~EX*yY`!wB^(6Y#Z7(pv}ZsE`P%7l^~maYLr7Dc2HUT{1fj;+U<xY
zg!5U7FGJMoD7iF%xg>o<q&({wt6d5G49O<Lkkr$9&Xm8*9zq!Y!|bi+?ehW|G)ZcR
z7-9S7NB{@xcDVPyKy_m@xwiSX%J1`qM!+c!=lT5>K)Uh?X>s1S!E|t;)-bU9V;Gl}
zSH&-O=rVo-IdlO&EVbfEB#$Hi?W<d3loB;#xRH6*oBWnh`M*JR7ET(uau6}#!xY6}
z#~iyeBu>r{5`4o?ilM24F}lf2zIDqsJO|B9Q3C1@7H(kBL`YR1{rsMq22oJ#%u-cU
zIQ{nuq#6|abAJ_mxHwEusA$vml=-0-Vp)GDzgN6!r$;TP>l*4q0fcZvntMH7yUU^J
zA^bj^vogxAvJI0H0s%m%By9gT%XG}lW`}%#NnzM?4yh0!OtX5m;wJV)lgzfiL=0ew
z#dm}GxYfw%RnAawed|7@<@qI%>+=rS0tw>+Y9(@B4H=0T{1g)r2}1)DfoZHaFX@Bo
zZR9^Y;btWXo1DE1IxYW&?f3w*7OEPIHV%0-u!(v)q!ptLD+Y9`f8`OaU2Sr0vRg{l
z8Z04UTv>v5`>2xKo36*&dk7Vez~gZe0s$U6IXRKp2>BxCEn%c}A77=NnK&g@%LZZ|
z(s~*6SztsTg>@pqHMecNk*O8UIW&I=LN{#Slw!pmC^eDZV>rLGX%r=UlX2x7(gl)_
z9Y(1@Q31#wX@}Zhki}}DLi)QrRnWG*GLBSpU=)!o7aZ;qorr5q3%GAS?9((9o3r99
z5x%xUEn4vO>9;xpP(wW(Q|@|7$xx6DIG~qEPo<FmljCNP27Sh-LUKyNi6m$_JYLRN
zB!S<;Tym_etT$S$vs~N9$MX#qKdJoi%&}$`8*V~d2vmMD(7|2h^-BWlZcysXO|)=l
ziX5CY*s77v5zhTe%O&4qK;}1?xnm5hkt8?p$1CjAX>NM8+{!<j+GY3eUvMWi5vs{0
zkAW7{-((6-zQDU74-82QN#+FK|L4q%L;~<2%^_SQdV`z8s*s&HMUCeizC026NYL0&
zc54-!_}#Lo772e08K|`NP4A;dM%%zzv_^Y@9DNX~+7II=D1Ue8H}g2+1N45b-(~3I
za~L8zuKoKro6CKBw&3ZWH^Jn?(7$QhwkA+|TG30a?360URz!+ZM1F9^t_|N}LGZ;t
zk>HE8w96mtirc7K$=M*FM6D^lHrmzIMbbY)N5&F_em{*2*#_7(bhP`y!3fpi*ZqNw
zy8z^-;)n>vR9|Uqbf{n+;jMB<cV;tqCzm?(iGzN!J!>~mD5BU<3F{*lct`#d4%v4|
zAV!wrJ@<>dM#x`%oXg#Qi($YZ<=gD+Y<h^mtdZ{#K$~gs9rRhYq74a>;67}t81hJ^
ze8+!3MHoPm15xBYGG0R)Rzkc>eWDr<F#-9JS{)o3G>_fxcy>GuyD0#^F0!YA{Mo~X
zyFlO-WtCA><bQ&|pqsec7ei`XtN~`L5ZbxWkbCv}%s@Q0T`?pA{4p|57?3+7GBh9y
zol3a5lhXZ^;1JD{Y=WC_jo^@$zZEW^IZh(0Q^4W0GSYIe-pom7=wrp!tey#}EgT$g
zu(qTUK;f7+eBwyz6NIQ(9P06bwGg#yD|DV_LJLM(QN3N`0u$pb%<kEG0zi7WyS|bZ
z5(<J;5rfzBIFY~@>^iv}(XsdLy(Gj>oV&tkPW^}S@EVq~@+vNqm|=f+|1tCz7Jzt*
zhm6DXNhNDE{Ow~azkuCRJ#pgl1A9a(3`ebpY61|QUkgxMruh~a<&f$Qy@D986L`e%
zY^1$;U#cU|I~F<dtk1#p%^J1ZNE|$a>>Y7wA7)Zw9UGg!G}z~s-bB3!3hmu(TYXEg
ziIPN_NDlqanQ!{$Y1rlzV=8iy{^^e8FF1cde*jeGeqbaCXg*`VAb26{`>h!emr=?-
zvuxNv5bt<XEoiYDVoZX%hL&*jAVp|rzRs_5cb<ept2GbI>jz1NZz^QJTVjut6nl+!
zL2f$AXG&|q=x$#UI)Tagulz!|^vfnRNO&-#Q$+q`SLUhHfX%l67c1%Tt_IsO>YlJS
z^Iu34>6`~RWBNHx$vr4m>Z||$z656H6%?(MMO4+a8)BCFn|uV<QzgDg{Xh+fQ@v%F
zECG}n3@6P17)_`>h_e`(Hp<zr6ZNY=<5UgRydsKtjNz3-ejihv{z3Zx5EsUHo8Yer
zsO(BR*IXI_`jRyCeA1P-Vs2f%fMk%KC2mGSj9YiuzVzUrPXsQtoQBpd#>8zaLQt=i
zBi|_~KLB&FhFB0{55$=bG2FE{&5`t>pa!u(35es<s@9yb_gaX-4hI>4jmTVNm}<t~
zLYr!1-5|DdN=$*NzMdcl2DzWvUdRJw+TzT>8?rKhS|gG<uP8In(Iw;KAfgZyTwR#m
z{J6f3q;G(eiY%3pBgfF^`kAcsSsm&`QjL-tjBE;bb{u+}VHJ$pwu!73vL_rDu>slf
z_da{|5!9=pWG;50#?~F5?E(_3)u*~TA0V-UP>quSU;*QOS9E~`+h{213X;Ro2viVp
zu-E32wG-ju5t=Wy;G&&BHxxV{(TXb7x?IM4iPDtXh=N@4*8SGqWkGC!=8)blLE$4q
zhIDdh{uURy(wwqh?RZ0IalQe~D6><8v7I#Y5HU<<E+fDUBlVeA2u|f8KaB=`cx<c+
zdTk!S30C~{BA8WtLkf%$yN}&;L<zyXZQDdoZ{$S0lv9djfd8}Z?zs0lhoJ0+i1=S~
z9Jx4IY!jImm|!AjNJWWYeC0<EY4;Z9Zk|F-Tmj_^5V<co4{@JeSJhUhvHeNp#Min<
z!KS~$ju5>TsqV-X*iHLAM>`V9ZX;PJz@BhH&MVv$`!A-T=|CWuNa))EUu_A^8ztX{
z{qs%b3@E~DQOzzWK*l4<FDUp0N;iSIs!y$$sFC9(eA@XlZ84`Lhm!%Sh1~|j(P6N$
zo`reRXlPlZ+(3+FBE6Oxf679)ANhzX^N2eiq~A5un65Q_rLpbFCM`xh+Zy3XRM+2K
zYs2T9@irp}cQ(09f~7%Ah6J5h4V<3ZioTlyjsqZ39essPg9NWJQYd0Jot8L@UqxW1
za{hq_%;9lhZ5?aD*dNt|XQ`6TW;g=+fHEiV{IE>hKFa+H`2ePcYS<ByplNbt8NqXt
zEE|dAG^NXiZ#+Ej4xbuW_4ZnGa{UnV(C%F{$@l@1o}gEeuE}tx*w3gBHytjLTTbrd
zg@JkkD*C5M1pZm5&#+-+WMr<l`cD)#ktp^o33T_!9RJF@jm!WQPZ>l#5hSByB#Ux3
z;U1@eQ^10`e7C5FnhbxrX?F8s3DLZhodzwLe(kM~Bn1Qo$*Cyd>yZQ7`k4OyU2IJ&
z%~?2H!=&0z>%W(RYVVPgkw;!1$O+F@3C}2#+Pu<f-D&rzBwq8qiGIS&{Mw4vl>H`q
zyG|S$R>~MISzjD+z$xvVVB-$uqN&&SROq=>=qmz-7~TE%z82ol`sqaokL_)m#-;l!
zU%lr(4ShSp6);*cc!73Vf9Q(2bFuH+H*s#96n`j}y=!QPmR47A>{b)DLHD7mlFdOh
z$Q47P#jE}PRu!!e;$-fqeSwioOQ_-{WXHZ{(YxqQyhL-w#dqb6*+s8Ay^|y8(ftm%
zyW#A$oOS6vc2+hvDyvo19&=m)N6eFQz0L~?36TcIJUKZ+LLyDFjr#A^&ZsK;XPNWQ
zdS#wb`UT%x*-pbf@C!}%ZxKnqt|J^xk27=(q@3nw4pQXz<x@U>oZtFkCe1YkQ}naf
ztX(S&S>mx{$G$Hva=u;?qPx0_*TNb1{B4u7-=7y1%?F$Px?23v%RVem;~l@fz5Oc-
zF`Ve*Isb)z&z?PSylf1vvkNUW%E2MIdV8ZVIN9*!WL9CJ1nGYG{>U<$L+AdaAX`ty
zaeqH5ISOZy$<f&!s(7IqGm5`-6~WKyczmmqAT@Rzu4nY}_Ffv(G2PH}EpVrt&ue5f
zlh%qM$M-<B-RtXF`$-hndE!vA!A2T|$LB6y3{Cnyb-usqN_k3UR#q_C8{9v7o=?iv
zc+3;uA}%SZ7cRJslk=^lWxJ&)``GMk-o|ExOUaf_r9<3o!E<<S$k+I-o7t4rw12iP
z?{pL8xKcjV@MK0|X!fM!HKu@P4mH3czW6cO>xun^$#}_o&uM1e*<`E$rg(5t6@7gd
z9nD4+KtWASeZBVV(T5um^SD^nN&K#{RM>d^Q4`+73bI{ZmUR!LoUS5YMelcU^;ziN
zK8NUz4(&v_D@|i#yx}U>kr;|eOB=eM&`oM<fYD1y8fzTTZ2s2L);4JH_l!Fc2$9z8
zPrqy0LxW9L79x4J)dz3OhKbKCT=KU}c2y^mww=Gnl#S6rIvE;dY;2sZI<CwWe)G&X
zS}ICh+b748qiXRNWJMIPf*yUTUE}LAeSUuD>##XJKwYsWqES(5``cIZi0@}@Y{uI6
zmV8gu;k)>;qVbaN0>{O{s+OkPMcOARmqjAy;tuv*%eIzXJR_s~K7gafjQW!H$ITzl
zi93xnvHD^#=7MMRn2=$bPSD((({vc`rl5@>$G7g-ae?=dX<iI^n%$A+q8_{S*5OJv
zUiZq*&D|7S$Iii##rMN&y@J!tlf18h<tt2l=_sXvf$_se)3<vPG+h?Hp7_`94*t6C
zw)vm6-;$2lRp)A_8K$1n+V@SL_YmiAY4htL3}YC2kV#^^+uX`PI&OX3q-E<<I&21l
z)RXV1(yzHDA^v`FFsyeHJhZKUKhToT>ebJmGIJgeaJ`5>0<Xl`f+dXo2O$zzcZ1*S
z&&yAuFU-H4e3O<K6hx22sTP~^6D1eMW%;3FLxTZ7Z&qm?D8J&NEuK6}sn2)*2qhi`
zqP$zi*!VU2)1l2Gaf#=|GgWN_+4f*Hf)r!p;_y`VTnXv0Ni8prud0%}`eN4$^OM2H
z9&Xgjx*RrmV;9|3M*~9>6Du#TxGf^4c+>*xER42?9G}$usy*jb8K<%4ngTBDlOuce
zpx>9O1@*K|<V;Mo<vycD*dwqnn<^<K@T>9>3;A3pfdl2P6HX7C{i{RoQTD8{baiu^
z$K=I%W!@^+xb$l8<UpRi!@ApbT$YxWtnOhQHjzMUq1<f$b~z^}2L?bJuJ^sY%DXo1
z+DO;_;e)!qe#|*ltQ<|qj~|ye1<~Xi+-Yo7O;1nv`17ljCuaZt{j6sc^oHHa$0sL;
z(SbAyd+`3ydGY&;-x3b&#6qJ>>9{mwLYfoN(b3<vL>@Lv{Vg$`^{{WM{F1y)k>lI>
z8nYCYv8<o_uD#e5BVzUyy#(V*FV^ybs-3;>B3Xi!tk0jfpOM)UPKQfo+@Jb1oco7Y
zrAOt*IEQiVid7aG1*xgM5sh(zBU4j?5Mtd44Sj2}?POX`4rBG8S+V;xcKKUgx%F<1
zqYM4jeo2^|+(DW+5Ao%M;gV&|z8b$rf|pPGy;R=pax$$TP9bt?^iT~GMT<Cs5*B9^
zJEd`jM>x6`ulL5U!A&eKEv+iZ)-`h)PAq)B7S7K1FlIerb_oG!W+pu&V{P?dSlj5M
z^73-7MUTVxgji`5Y^b^gN1B@%uq2t8e4po}uyPt&TKi>XTadHV=11{gERO&9(e#(E
zd}U=NYo(QMwON%5$J4U1CS();4xe)w-LNz}*c;YD^P0l%2y@FImDb`Xarda&<>|pS
z6&or{gyoYDZ>5(k$}MyJM1@-QGi(XZ(%-Z3v8>b3&=5u7+5O0_-{$y3&PN>v`p3P!
zyv8ObUXCt&n)3+tDZagn?xp)#PtW^`TndLddtd2@#Ml{gOJBw<$a*a2m#<%)<;sSE
zZ8wf8e9&CQM*Sts@7JFD8pr)q=$E%G4?34JvP?dhsBvb;8fp%0Ytqq>KQey1_hWH~
z%@=IsKInmrq8sQl>pd7Tv%Et`kgbqu{|`-R&M^IcF%jX57v2TE8F@K8XVcelyzq7A
zE;{8PyZa8OFa0PeDkwNrJ~ul){$g}N_f^1=BXZ~6Rb&#r!k2=>zQT~M%%PCCYcyNS
z`ACDRjK2S~|DBe8K4k@&EGMch+Ru{po1E(Y=)Ew%i%Nlb_=Js1YTDcHPDNFzv#h(Z
zZmTZsWozr3rKQq29~~Sr6GKBc^j|zE921<ID}0z!YvA3q+nZ(|g^h9deB|2t`?tHe
zxM0w5S7q;W5A08hTrXa}qykc?Cqi|bg($mY`2g#|i637&9VDy2xVyXJX~r?$TZ|+Z
zFpKVqc&x^2^2Pn6_<g_Rp!0Fn452BmdR?JhNtaRt-?(x<F3E9`+D<%RL?49`zy*Y|
zW2F%a1y8H0a<5S6zj<7hn3VMQZT@jDRK}cPw{VTd!dns&5=xAPg=WUaYDSy^)(dDD
z4!={pi|!Ctf~Ngd9Jg8X`Ev@}WbjYv;y%R(b_{E%Im6Z_wPi4>b~2sN;XYO0R&9*u
zlXP<h)O7Wwc}<4RQd}bjkB7H>;WV>5wYxgJklnw4m&>cl_~sL)d9TU`a#xH5AP0I>
zP~Z|Kq8po()GJPb$ImFcjp6Zh-RH%d_3R95P8|Jl^?gT&g15JKE!S{7%_qmZZKJAb
zI(T5qltk`%<@dL?i2C<A)Q>oS`r%cW$dT8Zb>-`_kDRe^%;JNm#plGgLL23={OzG0
z0()gza=P~3g$<5dmZ_{(RUh6_8GSoODV$6<W;L|QJWEbR@p)<EIq^9ECr8UlN(@eQ
zFSf7=ePk%;Gv57BGvm}|-HfiFfr|~F9ETjGo_?5qUR<nyIC}2X)u)F9MMNSrGw`#i
zUAFfc&(&ELA_)uE;K8Nh54I_#101@n@h$19DPCPq*mU>)IO>UGB20WoUuyQ<G|#1A
zI{8JX#X59)ZiG`xQO5lyvqwmX#+c_2!^!Z^cDA;=*%`zS93V$Sy&M|a1*|#}F}30b
z%47q<x2{1r12P|%dvNuk?^z)czv8s6X6pi;<PEo|GrBTWGkfgn><T~QiVXyz2YR5n
zk1bd!!US)sOPFqLz|n_C@(uPzscG}FApgKte!DJ(ZFIpCA%5I7&PPs5E~)p6Sd^Nr
z6Avnb15aW#V9%Culu5YkErCBgKP&w+apOw7z3<!JUYuKJ?%{#+UzrmRd%pbkO*G#i
z+v|eH$!Af1N5j<%4<GHLS9!O_LazK4rN<35W?AKgJ7cJ`rO>WMYJ@u?&QYov?R%bK
zMJ9T?m<Mu}DPcbhqrJAqPP?^SxZx#kmv3+&Tq3@O@xzV{YbE0uA9V!Qeo8JZWPQ}}
z_(b!w57W>1YM7Hx^V?d!onJXDARv&PlM}9)0ae=Wm^b(XA6sx7-9(*s$d73|NvOW=
zY0UgNdGOkc_NU5_E7PZSjYl@#x^>+_^3A(<?8vuZN}8YQ+mEug+eYW@x{VKYL}#5|
zM+?6fQIs(gJ|4*(*Bbez&w0S)in+S_dIaA0AD`i!FfcG6A9&hlSD`EQ>ap3o9ut48
zrLnO7LS2sU!>p|-6B_OAEfp8ZW&h57Kkarx^WS;0XGPgX*%??H3JVK6-oAxr5gnuV
zPIkqQ_$z<9OlIz@nrQ2Kl<1v>l>4H6L*!|GT@m$8Ao`->RQEoq8Shx1)b##++}m`&
z6Fd<QPxI%Ol^J!V%WFx-_k_N&E};10EPaBfXSlnlvgVw)?R}quzB@g3Ij`U853-{_
z>>wG>6V`J~UvXO)Td8p<@=mVsKs{wHW*#1%ZNE)4sRxs@LspWFZ-z5`RX>*M;`dF5
z@8S8AJOVuoU+r;=ZluF|rn^;p{pfBo-{obw*Vpqh`ecFjPmKsu4c+jTbK+kXJcU|E
zoUtd1-)BH>+tZ_a;z@K&3?ED6+}yaUS65}!joJXy8u-R|B7%@JKhVr@yJlYe0Uwn?
z&fBtl{=g?ECvF8jHgr{3mc(m3dh`f~6+b^JzHi??j>Zx3Ca>5h27fY*{Z>PHUgmOj
z_8n#qIK?}k8Lh8fHZ|EQIJe@13_B$qh0XX3%i@EP5i2447|jd`Y26Q!Z)(O1F2q|6
zeII@MC{a0#zsbwFw7=-4$m5q)x<vw-KeO|ya=a{p<Thu6dYPhXUU|p)%$ayM&MRjw
zA2%GdE;N$3f4VKFi2kLi4u2G)w&Ejg<cM22IJ(phb6)!X%qsG-=q>HNr-Zb$%UW(+
zIi6auB1W-0GDtmdVnX2wkFc!>_W#MrtniLMe|#%UXA@0IklXEYIDVM(ypNCZ<~KG6
zns8g@8#okjyrQ~o5K6)H=Eoj$mho+u>=b2~Bz+_Aj5RuY=KNZgYU2DZ!5(tFtem7(
zd)OH^F{~++Vp-S7&WlX!Y_Gxpk8H8}f^C^nq{hgeT}HxT+IwB>KfI+saYJSF)2nsY
zwaX^89=diUQLUlSdbFjmsOa<3s(>QGU(AtRM|N$zD~R3p>d6;Kje``gBE7>M6Z_yn
zcj|my@D?N~ejj3IY1D4c)2kgUse1i#;ub@A>!Vw=+{cU(cF59yf9N{etJHGOtJ1W>
z^wNo<?%Aa`20F;Kj~y4kpWUd_+S)39=uml-19x|u!SR6e+vhIq4%^0+aFugUdl*;p
zL+638P7}ZFWACTx)?5onOytD7o?HFx>h3<gutG;eh0WkXm^t3}Lur-0o0^-OH-<Ib
zkBj5t3_}W4+uhBAHa-5<!D`-wihXTjjJ+<u@|z3dLCO@0GB>8rQfnsD*~oK<KdG0P
z4AZj|zyEE;N5bNLSJ$<M;fLkr9AOQQavFKb=adu`#rpN@*I1khfAON`W))pwFj0dV
zhR>K>ySz<_vqwBPt05p^daK}eX}t2ltE*f|l_Q;NX_}Nm2F^%_f0)j_+y1}I1uunU
zdCtQ)>xXmZTO<c(WJeB*(pOOMxXzthnR7YkkoHtP&~=@6NE9Pw4suE7X{(6*G%uM$
zhn&g>u$5ye2i^_O4Y`$DSy!QhpemPi-q$zrU$Svj>F~jW`W;mzB_%ywxl~T(>tfFy
z<Fy<~sb4w1Z{ziW<Ef`?jvG<#<k<8+M0_PP!#HbNu821yS@7mSPfuFoV^f1eGBRUR
zQ{C@Pgkz?b_tL!#eSJ<GDGdgc$P>80*T$x&8~DhSH>>#QZ?@C-A1H=59{(Y@>&y*u
zPh~jXwN+@m?G`neD3i~hXX5X9Xy3tYAt*KM>ZaYg`ubFrmDf&BPcsJhRpjj4Lw7U+
z$(|}t1Y<D&J+D$!to@CqKa^NhPg`k+4D&{~es`jJT;BU=*8yZJFSS#yF;eP|be|Hw
zXfh=vFQ@nSK)hwXfn=1<t=fQpo3~B=`x!^6bA5aY@3{5!_5ZhN?;UqF^3JXgIVVmw
z!zmA5OSV|cW1B|bg!On8_2)LF33BY+POm6K`%p|z^4w|G)9$6N(ZN}ozY-*$6dC2P
z9(_`;nXx&(<tDO`PmZTw>1DA7*IgaBm>1Y1TTJ_D*VAXujta-@iD*2@%kp}30f_?H
zY4wZG7Z{%4`XPQ_Go$#!1(PtVNC}=TPwXU2k1(t13hU-aI^DZ^a&5S#!n-R|-M1f`
zYJQ+RU;4IT!X>BNQ|!Wp3rH@ZP+$wb0TG7oE4T6;5sj&;PwFgQSQqHN`e}KD+450`
zioLzShFg{gMf7bfI>!&7L4yI2&C!^~b2vMXC!+E0n-T2&=L!s;^=0$iKu#W9&?ksQ
zJ>rc;{^Po|&fHlC11cTfd$EEsr*)0BczR^YKWy1cr@R%HWg|D$z0USf(>IDkYHQwV
zvmQDbovmYOzv8*}L#)FO6AaXmF@P&`fVrnwIzjWuR^O9(Cw8nqlb2Ijxq|{($bRd$
z=fr!mHOvoe%kOhwy|Cum!}JULr`%RUZ^}ffaf{z?jt*-Zah3?abiSZ3t_Ugg{JgW$
znTIFa-`{IYeXA$PMyZmf<1a3$J<YF~rjwnQcS?{=AoPrx*?CV-!-z&#8I!J}wb@kT
z&U|B^58utaeQLx~ocErAP(<Ur%hg>6=n+aBm&Km#PJVJnMtiSrNDi;1!4D_z6?O^9
zs5XU_%g0$BMx7q**nQ)ktnt}nW1YMM?W&Q@=2bq%kEE_~1=~FkN!oL5%6Jdmt!-G3
zjc)686+fK(!pd@1;vvIU8<FC^lX{yT_rAS)uY*>}S7@Z9!1zqlv{&;;@1&UaA!d!J
z*__XU)iKj4ZsQlDyq-lVF-yxzM;f+z%{vJ8=LioOm|JRm+SH^m%EeJ$zgIiDGqbm-
l`FM=8><g5x@5KHxT~mxKZz*bHp}>Dsl{6J|kD6co{{UjC|4IM=

literal 0
HcmV?d00001

diff --git a/figs/length_orientation_struts.png b/figs/length_orientation_struts.png
new file mode 100644
index 0000000000000000000000000000000000000000..51f5ebfcf9cee31b749011d4a1f70bb5b02a46fc
GIT binary patch
literal 36632
zcmeFZWl)sw8wR>8-4fCzC?PG~h@_;VbR*p*-AD^!z|tTHf^;`aiAuM0DBaS1o>zbW
zGjnFnhx75wnX@xH%I^EVPuz9g*L^=5rJ<&Pk3)q6gTe5X6lI^nVDNPC7Qw;*pZwAZ
z{tEs<bCXeeh6P@JST7>M-`LKIx^6HSZ3Og2iC^Bg03TAi%jvjlI$64Vnz~xRJUu<R
zY#i;}%uSswxSU+AQg_6uU@!)llI+80UTIsi-hR)HvTts*kNxl6v42P`tr!^+CMQi)
z^vva9_LSb{xZJe<@<;7WM~A>>A4A8|@eR)A;+nDHDQ>MU&aB%+veH-~3=GOT#0=DL
z{MA=Zx~(i9kTA1X-a818q+8{+>Q8f9A-VVN#82xM5w`fFpr{tEut-G)>?02pSy{gY
z*98uf#!_5H=!H6=EnQxUd*|=}wXp`#s$kzGxnd#}kyyvj)lK%{N4!{dok{3KMA&z6
z(iw@ZOVHbSG6RK9>o}mB9!S%oaf}y}YW`wlWTeYWQ3IDf3et&KeQ3RLmx!oTV~sRH
z+7<oQuRU=}owb~bNbvdwtEL($nv11uc0_r3Rwc{Gh$7>kEZdpR7_`YF5Pb((iNqjm
znI{ZBlNQ+%d=r8Fwj@k%02lr^NKvKOiq-PtDGp(xrYv~PydZX_I3-0a<oRCHoDMkl
zW5Y|@@o>(`Z_R)ACO3nxUm@?CU^+_-Mq~egX1lZ+66}v;V;ECC>HVs*bgf1>aD&18
z?7HRM1U=?X`OdTq3-UEm*`Ff^ny1&0v&w?+!0VH$qt=<>7`wvY=JY1PY14UL_m_UE
zva;gRITLc7wCzRl)s7AGM@YrZ>p>#}ZG2hJKT}g&C7T-pL_{vAuhfY4g@%ynNT%^s
z8^l8;iJ?gbMk1np-oIbOquiiw)k+e!`CrM($#yD`ipq6n#-h6h2?d!Gbo-8UaxpRn
zC}wNQUVbm-)uakeR<0atC>>;D93EhEkB$_p`&IdZXiuPQ<h<!NYvs-fv%BpOE)kIw
z>Bc5J@>|dwGk@{P?#-N_Oq3)K;Q%}enSn=EY}+|=V66Dhd782_i&UGxQvI8*?<~k=
zRdnqC8t={s?-ysFtot0le2WOYq)73_arj}LC;N0cygk|twq!R_z5I$!hkHhgNGaaF
zKNG`e&y;CdBFO(<eZ-h2awW{Oinnt>pg}<6T>jidW;NVs?treBI0Z9^zRt@KtVUKg
zmp%$P>MUrsGO<<sC1|zL>xu<2=>0k3BnEvBBRW{QL0J92>wNG?2ue4)1c;EL4COIy
zCFOIq2^p^+2Y&Sl@U$yn2fN^vj6oa~DOOY_$px-EL2d2k&-Tpwc}@{W$uOGU!;A9V
zt{^7zloIT?OT_(6a}~k?DNIf3`l8f>Xxd}n2O$y(E$Y*Efdc1(o!uE6k8xu$KR0yj
z;(z7Y<-)a?(ce0m`d4)or5@mrFx(iEug+lj1!KP=%R(Q?=Ns>;pRZ}rvXGbv(Iq>0
zv>;~K)cqvuGv@O1Of@1R?vZF&#wE@k-Vr7Nz03#`Eyh9@mz~EZB-?$*g8PW|4`4Gg
zpRAD*Ij!3wH58tw(Fvod)fWKsTC&&}0rMGsXY*QC_AczNz(;lInf!FZ8B}ftzwW4!
z5)ticf?GXV(Ob~C;7|RYh4=9KOG@nxU3k97@6A0pnwNt%oA4{#H`oDrX5=@IwV<UE
zIN<3bLDj<K6l+9?aUDj<dW4b}YeN^H4n&v`bSo}-cr7q^f=9qV!(Ghs+2svP)7K@v
zHctfy;~ItEq=6x=vxw=2qY(Xe0xU=EhLJc@(2P0Nc<I#%4t%FGY)NsG7gr+&J6#U(
z{ZD3BFW-I0_O1-X_ei%%MlVLj;g@6-zsoa?WIH3CfdvLLP>kgNaWTQl%R9(KT<6bu
z?Pi)M-o#eWRgSsq1^FXZu2)@*?2I6bKTohhT2)~-Z8n|G-9hRjY|?CbL(`8@)M1)~
zc+fD6S6>xP(qevf1Z(rCt_vW!_jbfT-a$UdBIYZ+#u#-6_QW{MjgQ*$v3Zhe^ZH6!
zfZ4ev#OCQq4ac)o;KLY)cR#^jA+;jRwNWs6Ro7GZcKouT=RQE<!H>=5{iZS2i@L)4
z7#A%0HJ(CK>X(L>;abDhV1eCX1ELE`J~fO9ko!=~UkXY`AZ@b!TlzeMp0uzhMn<|T
zD3?Vk1`^@>MN?*xtT;E3@jdmwe+%cm2?kMAWF$RMgM@1aVm_WV8kMptY`9*qr3ou@
zY>nAUyZx~%<zHFS<6;v0YBKn(q!QRq7)*~!;-@7Fncn(|Oz;Op*(A&l?GpBF&mtSh
z{e=HhWaMcjdr%vaMLIaX2U^Jgv)9$UhB3LcEL^{=6qf;5hNqx&%>M$#^gwVk6jQ(p
z&;FA%^_zvwkVwUarw0v@-;iYJow_HhXB7;L#6N*Ilf|fs;mtgHh{T8D3Ur4?AUYH=
zNF<@v$j)p~Y-d;E2~X5^5hX}}TJa!C2)3iSwef$67e{<q*nF<DTGMAA)Rlpqg21IF
z$?U9U-fkt37iFl)0`@L4QeW0QWaZAnE|SeeWDst!*=QD}nDrExU_!7Bm*uS?ysUno
zEiq*3XXE_H(;%6AFj;;o1U8MQ@HmDa^(mEV`rk)8-dZWUA<pxjWv0N|cXW}xJNW8l
zV02{U;iEporty{Pr;(951>T0x<i*wg`l$bx{5x}Jcmn+v(M=w3VvIX)U`;5O^n0qL
zGSEK5`<0Pw+)e6K8d&@&w~>|$^T8_IO|{Urog!*M*fUvx4Z?MT<QLF1@HkLQWU8|m
zQP{pg&m)SbBJe}Wg<&=yX51M+!S~qLOFeR--g~ge?A)uoOiV=YdK3&)<jVN2GvOY?
zE&MdJKh1}8N=OazZvA3?lCmMa3}WsNO3;SQY~9a-jWk_}@QlRlN?@~Aws=x&#9=pm
z0ealgq(cVju?T9Ys7MBSQ72kU4szSeGx6<rY0f<Q)rSicNOu*tMrh85OeZitQ5t28
zfKbXNO-ym@PVagHrr>$F5K4hjfD`l>mz>66+o_9R5h%($Oe35~F==_B6D&9v%5?~3
zr(2T3W1j{Eo&&Gzx$|pCp_U@9@ki{h3Xab1A=OlV&fxU!v`H)l3m{z<p85!eDv?^6
zXn5+|6Yku`^P~O@H^OA}aefU=#p}B#Z>UR3P&cnY3Ry2h`n|)Zf!|KW6P#;ZzBfX9
zl$Ir`F&@)sersjLC<Nwtl0HOyN`Bgo<#VfxM(-a%n<BpEGnG29$y1%KijYjhZf=?&
z>wPb`=+D}nKK{UOuuJ5|R3iTt#ZZ@bfka)>zcFQ|Q1czWpc<jC3}39QJ0J$9$OFq;
zZklJ)YA1c>b{mCRe)#lHNhbcYvEQz}S$CAl^*Q(W)77&_hmynkJH}6Xw^y39i&h=B
zmeLe~rNZO1?h+I2OHH5zcGXihVOZBVX2N=c<9V+{B{)g=?mb0ku6yap<>mBU724nR
zP+VU2Go2ue-n+Yj=wznj>QW^B#p{>B)#B_8B2J9k%7!n~lt&Y6fe!$%)B1j%t`GX&
zZkqSEt<R;|BjYauJjqw@n&&y&cHxO`L<4gKFG4w=(`&Ic{Wb9r?5KAJO=Kz;db?-H
zD!Q2gGSP{nY!1d@^#XNp>5cW?-j(K>KmFj4v}hj20fEX$t16ra^K)k}`MDb5?qtw9
zJ=JW_-=H0tnfkiG@KTk#^dkGHp-Igs9`5)R&;1-z!r1fbcCX(4FCSexXi58z?jSy~
z^za_|9@o6wf3C9Tmz8=DU@5Un;!`8@6mIEy+JRW{u5N<7&7tNz`mqUEQ)C8r()#CH
zB+QLeuL&#*?<x}xRAXZXytZkWk4sK{1_}7QfD(yfg4(Pv>W0TGI}S6QO-ohtU2Dq5
zJfS1-3#OcTKNj=guM4B^X~Tn`D|45e5lI*`U5QRTvQi`L52WUME7?rG49zhiV1dDs
z^CUwr96N!~)6IydEUE;P#zVZ7;Ixq3;@=fZ%05EsRz%E-MnHKUA}hxa2+UIY8qHJl
z4@QjM|5b_esJS9V{`BMPG@|r0J|eGqpE)X@xo0J}qh#T4@;(ErPt{rQ=ru^KX_Ht)
zFdt||954nwk)~m`=Yq|3p(zm&B|*-;GY^BW@2NUJN;MrvOe7u;$PgHpJ`14&yyC<0
z^RM?P#rXp=iMu=ydO?fR1KQH!xEx(8DR^2%%DD6#x+B>9)6u?9W+L3NO0s2l1UOjm
zQV2r{Y**>M)?}FK+08@~#~DQ($cZLQ2>RF}0dBEkbjG)II8sI88hH&w1lupzE!<vs
zLq7L6FMu}v|9|~|aR+ksAGUA>MJfhip_&z6l#j38k#6b`sri-eGO;-(txUdJe{jT{
zRnxJrl~owCDfa^Q6iPrzaAjfG()_ou@4}yqU)|j_e}Cj9ylu)$fYl|!A+Nt1aim96
z(tR%3mT~q3BTO`ls0?;{+#FxJ*`t-%8Z{-DYO_3UaqMNhCc%W3&dFxci8V58eg|F|
z=@kk5)@dWFinH=o*<_qZcqiIs03I``ycyg)%|oic$D$S&8~cvn_=}0PHEWqikFW^{
zn7K-t6`wqL5*88R=|ec}kscKlwf^S_eBa*Q{<)waySlo1<iOU>&c<e4JZWrv{H1sE
zudCG5)PgTxD(Ri<>~cPRdNnmQrB-?pLZ)(B)D|{$UxmQ|i8dN{r>5Pf>EpY;rP-yJ
zLv>(UOExuB9sM#noWc#F8H&D~AANC1ZUYB^=HlWaD=$w>MD$Qb1`fOi(3M;C^y=Un
zFtg6DUy14H)KpYrucr3)oI^rFwoHd!5(b@~dV&9A5fZXIct9NV^QVrCjLgg#6CUf)
z(GkCZfN8nT=aLePtnBRIuV3Y1g@uJ>Ivo5$LYl@-_oW=NYpSb1q@+-7Y;M}v+vhek
zOa-(S7T%|#rna%RcAhFNDak7??wgg8@0Q-UpVc7xGWs~hAOQu+0)5ztDDZNH?QNtB
zW6aqQE31;YU=EU!8DK(7OG}Y4F_lv4ii!+eT>Wf!<-tm5X&ne-%gf8v9%^=KUFd0Q
zJ~B6F^6>B&9UmY5`BTxsffM|3e9I2E@cHxS$HibS>pv+gV9T^M#96(I-jo^}drkW)
z^UpfTfs?ySM-hzuI@E=hl{V8;Kx3IdAtB)yxpw-~rM1$;=8GKZzV?R?AJiUJHNKhJ
z_lWs4QG76lxHZL#NL-*Xir0%5Xxy~AEkXjMfvSzhgGGUZx4DO~nWYaesNXtME$$oI
z-`~&u^eG`F<uQ;2Ha0dMoj9T`6m#0{jzf3niCTuZlB;V)Y0Moietv!pEiHK^C2TP5
zXIffMb#=X`%7=%aM#se1IPQ3ai=)$E#(C^}QSk97cbbE_pJ(1u+5Y9M5=4W7hca9o
zU$e?4QLp>#8EHp2K9h(@^6%d-o<4o5`1o;!Qz!<$*<jYgyDTj4-oKaC(J8$z+C@lu
z`*ykO^5cNR9Qv~c)+G!90fF~PNp2gXY-;JET~Q<~!rp)GvZ$pwi)uZ6+7AA1pgCO5
z!e+&Y=6QGs5*ND49s1f9t?lH@$M9faDuIvNN9AA6griVasdtYQl$G(kefxH+I^NLX
zK^doE!~5DfpO_Eq+UH;_)Ed2~-Nj{PgX`YlrH-j1U=m^-9OEEmY4Sc&8SG{YFDVI~
zLjBMF_Fnw;ry3f!3JMBx^YY#%CR#cz(TTdVvazw@(Tctw9esv@PxX6|{^5Dd`bfUp
zpWjL~4%3$OQQS+P%gYlgDjtCCW8>ufl$#s&_AT*`A3uZxE`^tumuaK|W+X$U$$tbt
z;;IQ9?-m`nL>s1Ob&vLvXJwX-t98tAAxKOxG)zlL`4LIPM8Ru@))7JIIYlq&=au9p
z5-n_NZ~wdLpg*U+K6(CX$J4;|`@I&fw}<BWYUv-#%HHHC#6NxZO!mnWB87OmYI-|s
z>$M%SPgR(MkB~+tLVE(v!=ZBIQiEq4?To`D*hmVMkrOnA>4r=>a!vGmckjN*$Z&L;
zQ&U&B`u!~-H$VSfLPGWwt4peCsvxjLV0ukg$J03JuJZQ&%>xoA21%vbKxK4v6irR<
zD8$jY*!D{~FTjB5)=)mkYplB@%}Wj--@6T131icgqfeQDS6DZ~%KPq1!>kgA+F!Gi
zU*EvM${K0f5e_WCbl$%D!}|KVtenU6J<U$eIp1B03+q)d_*otQgTYD5;&0!-i);(T
zbjjG*6f}odfdz+zz%R74wUf|(>j^2SB2iRcuNkQne|ETeuMo)K!Y)u6BTP-8g2t>%
zU&(_qviu?e_@WmtUc5<8R<g8Y2HRB=p@OcwkI84%pIcQ$8U(aAkyHQc&vJ8rgZl|1
zx5>#hH8haGbVQsNg8Xm5=Z1Y2dePWfV!_);azx6IqgZD2NkN__{5b`)hMN0N=ArNW
zkK(Em&A-N)j(&df!qW1A`<g~b$l<K&rRI|-2_sY+z_k5N7b9@emy*KqDBIuMd4v#g
z%NyAb562*&6JLAAZi|}>oJq~fc?=DgP1|UQBW8_m?KUFnPglg@#8db~#%+P58cs}d
zrcM$PlJEWfmY1jdFDxuvjwh|&B_|i?DX%A8ALdK#AC9Px%*?0&Jtm8J<?`$6KG@N-
z25Uw~m&;QZ92}gV&Avj7p1YO<84_Fbt*w>yN--i5kvnqlmV95!<m2&2A^A52(Mbdc
zHoTrXJM%Cp#NB0Qk0~nR@cl+3>i#(?hJ8sShK$p!JB}83{$Vf_aQ2Ifi$%JX@}Xld
zkhZqAX7ernTT|6B628YjQEfb`d%U+dc~uYeg9n0D5i93(s(SaEa|YS2bXhGm)VX+Y
z>tK8mPs)BNnVOoWd5r7+{{8#SyLTO6+mm@r;Zae|dRI?!je&Px07d|L8#c|nGRIlb
zez9F~$*V(6Bd<mDmA=%~O~z=i=QcKMVxBuMpczcp#;1#U0*hX-eR@fy!fD;&p&yex
zr_}#OCjXFy7m24*m-af@wZlg5V`L;2vkC&)8AT#;GUEpAE)Zi_SlDS+-GevpKYSn}
zA$jEPp3i6MEeE_N2(+@Ybu`nKwJ*2zc3N)&i~_Gbpjl`Y>ve&d)Nj{JQ}A2g8W2B-
zO?u3+)LQuE%Ou!#Xkr(~+xF8nuYnRah#oPN5s*krb;V{S84XJ_?psA6oJFWf_}yGi
zg{VnM!S-UTX83ZwV^%d=>Wl)yCZZ|~9ABc-uXS8rPBLEETkKFte(=gE@M0Q#c~+&e
z+j=8;c6LT1>>Sj?-I_*!y%)h1x_5nbq1)mo0(?p>JwOqQgn_511Ckd-LNOdmwIJ>x
z1RbbG@>DD7+1c5Df%{%e*ErbEx1@8oUcOC9Nx|#A?<%CP&fXR_;DMxCP|g~;b8H4U
z-%BM{%Qpk}#<v-JS>2GAZN1;Vnf!Rq)|(;#xyN^DX<IoTe@LH9*_G}eWZtArJGG|Y
zoW|cU2n*Ns9O&!opY3%Jrsur`fy#8Q$-6ma(d6p<=-Kn<BDASuo?HnD{V_VXNlBd#
z`h-9r>8!BmiHwi;^l2_A_}=0=7D_1jt?>DmpA8;gnu}`wL@7?_>FcwxvNA|XWpe7*
zlzAUmYFB43BfF8UK}QIi)Lhi(*iogbuoBpc>AA&JL{!A9SG+dEcl)Jo{9N7KlEu9%
z22us@@c{U-Z+vrPj7Kk-*0|f!IE}<!Ap|B&1R_?`*-9$Vg`v^WPB1iugpYgt+{v$a
zsTE*hpDHTeZf)7G^d>(tGyC{O(hB$h*WKn5=v`qy`QUnc{<?4ds3h_6^Pi;a^>5zX
z`Wi>u15~{J`g{{b*nRC5kelE2*{c0aT>?;!JlKS;5KrGeJ&HFnBB<wyO0aykW)mmz
z$g==!kgzbkG4$~ft+ebj8!yr|aBf5I?CLuE7)!jMmL~iVz!E;o-Zd9#fNoY5q|S+8
zK%h)4ED_JYXt}HnX4AdupPJJ9b8xU-{ZToI%i?F5siBd%-Nt-tU|{?YR>mD(+fi2e
z*Hm4#Ek~R%99&%8)&PmkiBc;N?4Lb*_5vnV;aH56U!dKr>Cs+37I>w$AC6{%Qii3O
zW0U#C0tElwWWI>WN-I9|uXqAUF~(&A2`8Tdoi#N{92^{CsfFU8iGW~3XLvHK%+2e6
z?w-hH_*h<EzBZVoOsKxG5c@XKu9CX?>iK3V^v*9Xer?$Ja(_KPv%<2Es>X4aYIuBH
z5O*Zy<gTUTpiuBcFlP%#Z7oO*^Y5C4tau=@Z0K#pEPE+h_Fp^kc<vZ5t7pvQ<S8dy
zFU4@Tm<;DCrFkSK(;Wi?nl-BQzj*oJ!GoW*PV}&meDxD+O1VzAkkHU=&BLqTEK=DY
zKZf8_3zh|3`AD9xF@dn&kFiths1Q^ew2WxULiOQ!E0bTRDeQdDnccbINTjW;O(jz@
zy@#tY*85<E*K5y&p6p3yrJ%!9XO+!J<m=by4TR}^eSJ+g*B9ca3!yUs7uzs3CL6ij
zKxGw`7uT0(y_r&(#@Bz6>}MN301#6FfD?Gh!*3jC2~bPnrLYS>T}yR9@p>X)GiZMF
zl^9%L&@|6EZ|F|;lDZH8RWivmI`zR${cxzAm4EaIRl2rsGw}K#vwr_8wT**=MGx7?
zFetMn1hd_}8&;s1|G;D88J+*(ljH4a1tTLmr{*Iv5Zpy@y*e9~&EacbkV?jhlj)?Q
zpGp~nH-o#7FQ(h}e{~-eJNd_;<C5`M4>DxlR_i1O{sJHdSvfhP+qdQX{KVzt<f^Kw
z>bB_hG&H2$-T6VJ-}+e|3IIFUaz$n3gNN&KozwO?OXS=}y})&ztxDY}f$>2otVh%r
zWWo|rTG3ygR+Tws^}7%2cLd*b9zHrF;SphDi_&+je^omlkm@<_pR^lzbAgjKTq+<W
zbh0k0AE=g^z@#udHT45bQeCVTC{XLo)$TEy4v+)dVM*eMV8xu^ZeHY}`oo70RZ<0C
z=V$mt1JD75Pd=cKAV2vSJk9fNp!93+`LNTfxTb3U;WOqvo;*qkJO*G(sZK4)?4?Z=
zJt8P_=c!9eW-$3!ilHx?_E#bf{i2&3FL!3XFLp!#E%p>Wsh%)0Uu=JMykL!+-n>4L
zoR}!DsEBp@_U-2TAnhyt{F#-EQ?K)*T#T^S9z$u<9~`HqeGHJkxdqoF0~TBsN~L4e
zai^6F*Wd5FfODhx2GNIwhld+_FMr@LZb^f{u3QWmoAZyL;o;%-;ZMp@(a}rc)Q)Ro
z)gV+@{CVN)L?RzYgPkUc_*_->eq+P7qOuZ2Q!_a;lkl)4kB@^RmfEQ)0W5#AlsqAr
ziHRw+o6a}(XmjFVEhqi~@CHF33;8O62yVQ}gO|^fK5OEl^THdk;^P3y^9q;TwVT#6
zP0O6=!7UmQ*D%Obfn5`kk$wHM+_Rls&H}Uorm1Xd-q`ZX<YSU?Kyu?wL(jF}YJa-_
z&cGQGl@MfFeM?<2x>eRhl~w~QX>R>4_ah<?oj~q2<J!YH<Mr!x)5T6>)9F$SDJf~}
z*RX*L-kf=<LkG6T{6RKabd-7242*CLOw8#HOQ&mC%%RX1?NZBwl|F#I)1bA*#>N^M
z&X-HEn0)!*T)6HB+%iJKw`N3d!+(9ih6GIYQ<Bk-7XORW-|y6|?d|UZ{VF%_K0Y^M
zT$%^zY2Eq8m-;_H*u76?J-ruSkpn?3crBnVWFiAiz8aj~1DG@C4)T64DgGljH#gmK
zGjw%{qxbN9JTD*}cJ7u_#?qGa`yf!y*DZ!qZ&fEr3_+90WSG+$(S7oyEknW=;K3D}
z37PqoRfBrhdlQD9v>*;xc17P7zufD<Nn=D!<MdluUUs>;Iw7H@WzBEn`(G~r{vM}^
zkaMGx@`T7MwemCOGJHhR+qdm}1L7TarOlSc)4F#x0RDBJ_dh8I&dw;{Y?;ou)?-r(
zLQwhUAm0H73mh^L2N`bQ<uCf}&C2P+YAF^3(O$g7F$Hk@zd(o^+c088Vdm$5KkeA~
zno#QU4N!k#2C7quJ;Gk%(Ezzj4S1fEBHf#pZRq5CJB_;)&Wkd@jQk9_h%(FkC#RZy
zJ>&a5$1+KJ`B?#~%mwK^WW8x=G{nSdHw2Jd0D2;Mw93K8wg`||ES-d2YbhfN2Pfxi
z0E6PdyT68Ns+O0eH~!e+dm5Yjk3bZ4Aal%l-`(b>%RfE2xw)qeDvXjAxbYI{H?G@L
z)#-vZ(+zokm;2oYFDEVXn_FCd$!9sKZq}4hlaP#T+R43G_$$@bbWh>cG&dw#zX#$u
z>Q#u0m5DF07XvU1XynYx-z>HnB<rt0iu~u#AFr+Q?w>9GVy|Ak%10lo>=%sz6b7Bw
z0!scb;I;rrj=asT1$zUsUk{J!i62~ysG1;HL$XH**pVSM7D$lXqCR$qJ_`*Pb=+VK
zD5(P>vwLEhXkB}}#IWb)a^U9H?b}@lUUO?ZJM;aeE(qr-(0O+T%z+^C4dBynZ|)qM
z2cCA&djVCBjE#M<x6lS9{Fj%0jt%R~z`(tiqFDU)nWDbIfG_R>SP*lk=|D}Z)JOtL
zhoBd>;jhc}svpTu%2%sBh)O7)g=8DX1jc81yfrzS;kn;Mp80aCX4>%=cpu1?%gVw4
zVY51Em1zMy88AW>w2b!N)pb5wWqcLopiU515x^mLO;`{mph$1F#++s%5EL1K*WS~v
zjkV@^@`sdQG!oQH3THhcIoYX6`H<S`>a)7LR|?+VBFc#zi%~2YCY$5MIN6K=W+1nz
zc^FHCRQJ~<1Gn*^D5mk4hWO7~5xFEH5Q-o#0lDuVk0%Y!3=Ht3{rsBZmCf?(z4zKM
zA=8_`m^(p;dfbQp^}0HmVB_XK@z|GzPkBrjT1__(CM|2M;feo(73(k#zk-}Em%%rX
z0G@7D4)__;B&DRLp3UD}8G~w09YAOPhBPoJWsAPe4uSfyu`&CpswgNxL*Z7p(sDn>
z_%Z}I%aP&XrOl7gXzwcrB&S<8dt9vr7m)|r3%-yYj}<;|0fozXTSvzgfMZr(3(YNv
z&7Tptt@htzVOg!hUTEG%2BSh&kYwZ&1sDxFpS3%AD#^p^XJD;M(d;Ezz;^>04NU7F
zbvA6SnOj{`1BjQUiYN(TVMJCI0{}X`V3plzB5sOmYR8HqvYo;{hpgm=?nFW8^jgBU
zK<n7hD>14f-MN6~MbHNz?kOjhIZO*4@60OO+ZPQah0oTxFagIaeswrvnD_~hgss;{
zrI*LGtq{lsV*o2n8-Euc7sm{!v${IrrC-0IVq@KvDK|GZSlQXdINgC!lF-nofEWky
zL!6v_H9nxbVi34jKSMNWf%M=t$=)h#h*#K{V0!>7Hg3)6rVmVO_C0yvb7)QH{hJ6{
z2Vhse4Gh#e;p5}0O?=ABbL|&deUqB1?C1!kM2!4Zo*pEa1T+gE(k%dg0fXp9Fe<P$
zTr!RY5P>W@BZ(X@bmek=W5~Igxw#3m@Uixvi;#+<4j3XUVMzwA*Z}_?0SYs>7NlrV
zF)?D>r`eApPLE0hRRIVAdESioYWj@(h-%IH)3mCZnhM_&#~S-dnScOEY9U8)hlOVV
z)9C8zLgqO$W00qozVXN3;dpm`0EB#HKo%+~DfOm{B|+I309k+y4Oo$?i#(i~Yxb?*
zDEwm2N!S-O5I}ib6g8gHT@X$L`CFk`_jmCzcNry)YFn>fgA_g?HPucE5FXw1H>U~^
zRMyw0o-p#|1gR<^7@)bq)6_IuBFu5J;uR_;fl0Z}R%t|7*c(8u5N5At21-7PAV62i
zEGIYiOMr5e{`4LQ_#U9fC}sj}E(d;^fJWFv3^c76S>UGc!nFaVj0tG8Dh2j0k&#Z#
z$5VFV*QdYyfKLFp13>Suz!tnV3i4UGxvf9~0tKizrso5Sy1JBNFSp7f2BFk(WyLbz
z4TF%*-YG8gfdvi;vr5^3+kM8C5s*KDSbqkf1*`?FUk>Coy=0<+d?2EJ2KZ&VqrKg0
zr+&5Wa9G*jP>^W7Q{Sn%>k*+uXBak#4#;CO1FuC|&&Nt3A|prs^-_lKjwwLRbexa;
z{Uwb3k3KZ3uK{cRTv+HTY6X%Jl{DcYI$4Oh5-5)G(ghbuU9GF@);iJ-4Gq19fF@Fn
zRJ5yS2cChCjeWKaLUEq>(WoZh^=Y>hF)?xbK)^9y0PwVhi87r7zn7Qy2OkkW0n$(p
z_(Kv$C-DPp2B40AbxU3I&fi?0_!Dpa%SFpD2M45X(#*T#MAAtB9Dez-rddf+NGK^R
z46QWj`CSc&6@BrYxW;K-&DQpQ;8~9`K*Sdh9UXUi06Um8i!Ltae|}iqlgOEhzXvjx
zKQnFvfRY2iMG#O6cz|jB<H9S4w(w3}auEdFyu!k0;LQM~Z|&%4*%pE>zK2Bp8xted
z9xE$v-{A+zF@Pb3JptL8`D$a<FNuV_0h;jsouB}A%M4h{<=H?WM16oXIK8*OUkyq+
zx40H2cLPou$DmE$>d=@d((Uj+neG1mjs+;+VjCv?3ousU5$S%m$L2V+pnT>nFprX!
zbK91yZ6`j{cC;j>kt-!tRs88%r&^)!PIFC@HYFOu&BoSXPr8{)$SEVi1ik-!XYsz+
zu0?@F4@Ix7VjPet)p+~g7VY{1#M68<t`AK%&4`tga~YC5a4#^GbkPqGTm?w~A`8J7
z>;SloOCY+uyu6jF343D<b93{v9naRD?b>-Yket`X{AA(e<lLI9i~vsiU1sLMc(J~^
zei0)xbGXtw=E+d7dnMD*q!jh^^t_foXnTRY9Dt-d_wPqz()+!kcC2e#7YAAI2en5m
zL0x8xeM0lUfltqCYDxo%Jp|=xJ!i6+d5E}mn|%a8UY4)<+QiFC80ec02brs@Yu#2w
zPu*TS?#0!vMR!29evN(h=g;5Pp}Q+8Dz*e5s|_g44<)8l1k!{eycfWnTO)V+QibAy
z&;Ge=6(W;=`a>1TK4IX7e{(f|GrO(?Z259UsC98n+xQcxkqi!MKvPi<JRb?TQBdp5
z+y=1)<Ox87uyApiz-ocV;%Yv83UMIe_|z+#j6McnHjOX0KY|L%dfMTkyDt_HfCUIj
zlJ|=vPwH?|DJdz%&)0Gc)%<nz^nL))f)a-!nJTND&9|q5DyWL!2?p55-S-bjeY}CY
z0MYoBgrAX1*X<d<gFeU-4?f+-W&r%-O3TF#lb~QCC7-49cJ%~??6)m72Zv(q#63_4
z0Y(XtEtkvOf!SGEuplBPd1sJflsPZ9JKhurp0DT6_-q!#?1Jj)xE%9=KUe2>CROwU
zD9(Otdv=3D5`|eU?Hgz9O#9{80X8n~fkBiUTo&jb2x~1|;qwQb#2Jj&Yu^%>ngFhE
z0zv+nwl-=rZmOW?tOxmS%LNy*G$_-z2ssOYf{Hr)<iuk82-tBs#N_P92mTbh$<NI#
zGiigj92Gn9I?f0al4{H5+F4bE<wr^tl$Ndnerf?y3jhTwJvoyB7^$6c#RUn;=2+2f
z0=rTnI3?0$;C+)XPI|Bn#op~Vrx1t$nM(PDkhQh734r}gAl>i-=;inqaGfSYALTf7
z%A{$p<T|Z<D#KO*-TDoPrWe7R!mQ@kZdP6fQu;ZsU-$r^ZdGc5I-K*^b8Q!hJxfoY
z-Mo0I<9mf}Qm&6Xr+mJRV-OQGF<X9o4kEJGW^pa#R$0_D&{T@sbCup9qyi<i4P4NH
z$~)e#iB#OR!B*c_0K_E|H+MV`uk-1i>BT<4?IraqRKUtNB()bnd9KoH-wXhSz+he9
zE5EEc+T|T~0Nsx9oSk%ZC|b|@oKAsqddmyh0fP8wW2^}f5k-cLiHV71NVLI&0jbQh
zgH^Zh_mWO$aqcq`dsT(ypUT+Tu^apCqqA$5yjcG6fs~wl+L#(tWVDU_1po)l$j5gO
zJD1<mk|DNJ7g}vM0Z&7-g!vAv<vC^zQvM9#X*<XOCIwuhWWZi1ecdPT0)Sw~zG%No
zO6qR#*i1{Q{u)c!A=I*u4+X{F-``dL0ewv9oQrH38XzeHMxg_!FM9t&A`1(P<B4zr
z+8;u#XR0d$nd-nt=wDycN%*|~4?hK&Eu<pj_*%-TS>17vIY{o{tQf9_$o$NJsbafQ
z?dQ+;hZN`&z`)?CpG%!eXVsOIO#9PB4BUt0QucIZFQXIp-nT$-|72&jNWV5tUGglf
zSig44${$5|v#1gw<V1I{I<N|2fQOybQd5&SUBIcS{zO6t0=a%brA7@>zk2v7-<zfH
z)f3dz)RPq!xS9UPl=K0opmUHn6<D)nUrHCy8_4qr_{T<`;)8{zyQE2&0&%=gOq?>V
zeC<*PQtV`qrih4$I0oK;geSvigRT3lb{;JND{bTQKGY_v&=J&XmM%O_ZCAQG+n5wD
zb^Y`D&fL$R)`6Vj;%Oi*@HtHJ=c%TC1*i;A5r1@aK^w;-WiJda{co3-2LqF3rX4mn
z^9r#PZLySmb!#7E>J~z9#kGQmUA8@XrL%p5=DmO84*;6pofK^bPaHkh+im*@R7wD;
zq6DB9w5(J?hYCV@xW89S<jn|i2C62gMgfj;_ps+xakwwwVd=i~x&O8mQCZ+za9nt!
zFn@{1>i*b@IOvA(l<n3=O!Wj{yC<t`NK%EIEJ1_?^@^SXW2kJBoSY0CRRSnNJ^%#q
z*LeE*FG_B5vf@h0UdK|PMri_3_<$aFn6B9eEc}!<YK4-T8nckl#2j(bhY!miTAI?s
z`kIl%CZD=-ox=fTCT1R_5VUKGpV^}4+gwr-2c!z<Y%)Qoxn4lGsbB2H#m0hqX*ZoL
ziwZ*8$EQK`I406~kT~P|Q%y}GsG^jacN6%2<KW;B-);iFkjLT&DS(=QY}fqO+k3bn
z11}jj!X$v-U^n6Ld-{}v_Rsejt~i-60Fx_9n|ETImTRt`)i9p{W?Vx<!&y&L3&2*e
zPO$soz>YygLV)z@JR<t<sB=$%YX_bIVnm^m1)yoTZY+PUSXEy&?=6q&fV>xSn}B+n
zDX%$V*c0Bvxw>mV1-94ebtixQJjUHn8>))p<^WKdx~OsnG?(AmauQVa0Ognpy9uuR
z@172TQ=t&BB?Z_Slr9p|)B8^Me^tA_jXX_D+!N=6;`4lKCbV>L{e^jVG6oV)N8)0u
z^81e;W`MtiBn0@G^Qu%WKyK3e?V$k5EPP~Y6Dhjjtuo)2sOGfLeaQXn{63ZD=Gksg
zbGN&i8UgSbONC!b{-i#X1haxlRI`nql>pO&oVNp%NzyUcCIMjj`N&#JiwyYtdrVA^
zloz8S2duFN`aghz^#T&*!s=pYws8`KFq=EH3~X%QuO~A;eCPtx2caz1I2IM~pTAdE
zrzea&KabhNj5@;lxc#)Gg&@B6TUV@CD~cit76HKusAZW0*lGYsynxz63pY1D-;<r{
zK#j>3e9ub;%!5j(1Q8pHCm&Cz3JO6$T2NULqLben$-;HBI2R`YkOtWbD=X{5LR%<E
z$$y@RUG&n4xaMlIYrT9aXk%j|$?88Ls_#qtt^07y0OS2dt}|WMAlnWp3J1)wttjLc
zMjo3laDfmx(wizYQ2d3qULVveCBgzg;DHKgfT*b}x{VHK>*@#%eTHfW(Bomm)f|ad
z7+e-+1uC+dpQ{`|DbOvYzVnHh86&_4fZ*?^d(i!wTEX4DDoJ^suei7v2*0o8_#8kq
zT4S#E-VaygCh_VxYo?$a%BF;Tj`TplY@Jruo$N|$tEx0~biM_nVy3m&&<i^wE$Hv?
z%vVL=Q(KnO(gKYEWh@p6iF9BF)~`UDA#0#vdnHJWL5>a8q(P+yN(sS!(1?5ORoO(@
z14UB=B<#7Xlbyq3kP=&a&t`*&0a5xsM;jwr>~I|3FPNN|lBiP#v*uagpox=W`)H66
zt{-X{A+@@ys)wGh1TXK9w#C-FA3q+0atIp-M^$`u)wWnk$><Z%Y5_QHP&NnoiwVef
zdI6}|rZ2ia=QNZ(XK~_OTt7|LdHPfaq(*>G&;D1v-q_d>Z64oua{<UImR2kg_+}u5
zk<ymWfD<XV8lVG+v^zz>P7R1oIEWJOP_zuYtgc}|8l-4*Waz!^qajB4Y0IY{e@$%y
z%7&Sl`761FxH+wzLOhL#%)dr}<+Y)l{4rr+Q1WFI5EwIJ7xg=JzAy*bF-QmRad7m;
zNWG54<M%gg=VN94W~AwTxc1~?HKll^qNSy!=S21KV@3&y*=uh>K>zyU=e6QVZsY2o
zgagRjSlDNeE(qU+-LxN0;3)zb+O5L0VFy9UL06kw(uTgXX5|`sdXJ&Px8(&)>gASB
zzQ1A{|17{vJTJc8da9|Z?h9x#Rsb-r&QT3yo4$a~hW`pYf4azx_l_ovH4O~5M!Bn4
zh)GD&TUg^Mc-w8LS&N0^>`I+x>W0R`{zL@F2Z=8{${L=wI8*?0P`9tnBG;kkZWpD%
zhTCm>bTi-AA9?T4`bF(1uDzo}NkyefXufd@@Zd^-FCq_MB-;M~<O%W)Lr37zK>T}Z
zWE3!UcU=N1_5zE0$D(ct;&U&cQlz;SCugTNr3LZ|E{)N=94xg#!kBr_JY>~g<yLx_
zhrnH|nd%8p(*#UYeq9{`^n%3EOQ`{wcXf3^PX-DA3ez7xNL-lFQd2AI=~02E65#Ur
zK;7i+yLU>DAG@CUW!;?I-uDF9H%-_jgoH)S8FZLH?J<Bj0Eu?(ZYKB`6dHc?^!Og$
z697c)`}d^2%HKgN0fo3153u&*ZtzKTbTq~#afXDhFD)zTII3N+dXNL&-b3jfVE9)`
z9C_H+@C6wYQG(F7(srd{pj!X&<Hw~cJ$(JuYtXd<3QeN4yi>`bAP!RBt?Eypsp#(A
zyLIA%FTTAAIKfotoTj3p0@-54O@`Lr&LNu{iDK|4{btWDur)Z4DQH6SI2X46StjY9
zy|oLXru(+X!Yxa=EDvNpg6%cj685GM1dBj2oY)Q(H7C17dP3oQD#gun0{SD<Anc~u
zJ_gN7Hl?cNv|^wt6>qCbBd4H10@}(zK?yXR9bW;yHUAeV93M~6(xaL_zr8*W=$iu2
z`BhlBQFR51OZiuz$Z?;YJ>6(?dl%F!Nxy&p4jen+WM4SFTKoCH6!*g%jn~@1zsY5h
zX}Tpl&5oOnizV>^6GK&fz=N-eD~djHH*gB?8z`;;_S|~=NU{w5X}6_#w}}ssO#a@~
z*ys}pB1%dd!YtZH1rFd;LRqHObbL$<6C+~?Xu~rzH{ZTs1m16SbX3FGSRK$oAVpKV
z0DRW*l)^Nx_TtdXqS{ag(Z@hHG3BN$H+P14HJI<+JNmL7>Q^3S<piQSRd71uP5t)<
z|5ubQT#le6KiK3Jv!5EAS+ACZ281i?ZI6>LprP-^<>h6^_C~yCx6~Hs>N1S`y&D4v
zSU?s=Mn#qHb^~q<bhFLJM@NH?LI7(A#17Gj!ool2o`bIY_Limh4mNFoU-aGfwzua1
ziw=ABif!#>2N|pl?L8oKILKlo5d4CI!-In`1eF|U$kEh%=Wm+<b{aI_fututFAr3u
zFo1J|x(`81R6~O()P4xM^Z<+jCFl6d)D4}~-3{EQ-Q3DGoNvyR8hx<`=8Br*bk$r_
zJ*FLJU!v|@Vcto9y7pfBHo@;fIvI!H!>Y;k>f;8dv5ASsA{$q{Qm}ns7NBQM$=p0=
zB;e7bP)(lw5C7U8v2buIBDD3h&>IZM#W*;MdUhCUd_4hAIcIV3X}eY53h2A2!+Et1
zhv6}&J6=r96cViL;wH3YXWIr;0z13ANhm475ra;f3tGE=TDwU@4@~S%$zR~`)ID*B
z1D~(m-6P}U@<0po?Mlrt4r!1gCXT3aK8xK6T!6C?rk3-?k|0OGUMzjoBCR_12^=lA
z>@COWtufZtRsaeB+6YF+#)f8Q{JsjfF6jY=6r`j<>yL+c!^FlJy1TlFNJ)P`3*GwZ
z!3dJ$y}doUF@u<!^5W(efKnj92-qpmkXC+U<nfW<XS@yB4V;9_6DE+sU4ED-ldpKv
z9)zdz?oxQczBlO8J|gd81SrV*xACIs@$nT>BZn`V9s*s@H8nMp0=*pC>iE)+#Hz-2
zJeUOqYew>nyQ%cG?W<pzw3`8jJv%%5xQv2?gpXm>?S09S#kPmafhVseSFf`P)}Twh
z=(Kq9CT~v91nT+MRV&aV*snsI$IMTn$)2)ZHg8igI<?98;8yx~0Lj?0kPX}Icx&a`
zVi@0U^(F;O7u_Q_xsO3pZIUwPaOcomC9}V!?v`-4O+^wPa8pZ^Ad)GVr|c-0j;HQc
z`6$_y#zeLje*P?+Q$4}kw##5S*At4A>`hDZUGrr{qX<8Uez`hidM>UK<WYouRTyy+
z*Tp}*iV}~)GLV&qqMEJQc@e@x|0aj0&HY(~!`<}5JLtvDT#P#tGc#LNACn#SvAWH>
z<LP%x@`zO!#70fU*2;E^TM}Im1qb$b+{tLkNZR-(ogj)8F1ndt0n-Ui?l>Sv9!S4y
z#FZEXZ3m|;-If<|(~2~SsN1pQM&v}!7gL+~h`bdz`7{c0`2`|?fs{{iluTw7&PLl`
z(8m9LT4qfTSzhTu$3sXW$Q~4kc^##j%!*P+trM0^eSWtL#|uYzDT@BH6lgqN50nY!
z@5P+H#V~s=3<r&$-J`k3p9?j?wj6S2==joVc4)&%&1_*YLB9|-;c>dPIl>WT*Ie(8
zZ~36)iM==HvPEyn1E3DSD7zUXw9M8wIH%m3SE7YzCFMrsdq8*?C0M;{=h=u`qNE4e
z!o7<>oqL52Gv=RxA?iNlPZ)LM4T{8J$E8cq$$#0yL&+PalgT%e?-46(k4>xfzo=2g
z9eSQ2`U<=1o+G=B)F*IqNC^QGrO*sbSt`S?ag6Ksc|KN9Jz<e`a6Gk%2za%OxTOi2
z6N>Z;I?8hpdOg>}Cp>7*Tf3UdCl-WX&tlxvOV$f0dV}tEKlzi-$uRs#9Y)w#U~mO=
zJn~QrXBJbld(TJy-CNsj4;P_80Fy>;N@I`9ei~-cd_GXOgq@h4t6IXiQEENi`Z|z-
za9`dL#w*I7Yrz#3@IZLpQ0+j~Yb0K6;%9oWzeMUWU84lTj@ap2EcL=G<7e4b#|?p$
zSir)WnM=zYKM-8dW@?+I=&_61>s?GwQX{Aayi~qz_Tnx0^af=p2gQqPBswnyEId(B
zwKtv+pAEG!Bed2dkdYNH{@QT+X#d>0fw1TaVk!c(j6aLGlHClb;`B-rU!N^F1|!`7
z2e=-g9jq%;-qv93G%ID{UsOxyg!Fjhju$UMb<8P29D?nW8gviwW_6?0iQk!brScQ@
z&xPO$11yfNur8n8n-h%Q)>NF{q}T4f_dRBZI{yG)6nXQd(y@ESy%kLb_PT8}SJuqd
z{8!P1%lK--_=Gu6AR6sO>SP@H&|G&9nX|(#k-Y>9hI7h%*~fNcs}K88TD=Q+JU5vR
zY^U#!%7=Vtdg-qOdll`b{o<b^7&Jn$QSisRsWt;{=VfMcii@^HoMwJU2#mJ2U+%nE
z5G~`xxF+`^A90`EM*CQGBiU`*g68R=`lcFBbFD$FLj)1^tMLnpe=+7VHKcua2cIpa
z+88hKWY)(m3Zxv56*QzQ-Ea4Cw6ecb#}`$%qh|4Cc2nhcdc3t`&gM;A&6JEYEt%b#
zAEP6-fm@Ke_03yvg8YbnUBnqbHE;IbcgLN2v{QlpP=-LfOJnj0owdmykHmOLy5`5a
zMCefiH`|(_Lk*qEbDe%sI9+}&-nku{yhzmXD<`w|#Tmz)WDJ8i%08!Z$JK^{CX@E9
zcL?q$i3HO(9p17n(4mr39jv{KjsxzXKzHF)qN&Cz@i^?fbWbnGq#(*N3lz1%6O@OB
z-;tw*WV-XKf`m;9tt(MCYasG6Hd|~C*i@o^bMXq`-4oeXcIa<AT;2Lk`jmWluBnA!
z0Pk89>oWX!EaJT9^0N`>k_7i$n-Jtl<@XWve%r%RAvtniK;5((LR_cW`FQQd&>T-3
zi81~7UoSw0(jDK0H%Bh-Bj)qxq0_)bM1edcr@f131S<3W`v}WTavGyX7@wD;D&ej~
zx9R*y_CeXvJ_li|dTY+mCKzqW&J<zOZA%-sT_$;rS1FqCtFw&U^xW<E#Zfj|uWO>t
zE>RSASu)~7Mh$AIiI%Tx#G`Qqa3mVMq#h7^k&PI;Sw~F#2%Z-ek4N&??{@a)h(zva
zYd3`)5B)Aiuptsn<Xdl8@&c_Wd5%;9urRIk=aos?J+mx$z=?uRZO~rT);moVLK$`K
z);o0oy9qCNRW%lLO+yi<D~_xoo;2nS4HZ4Wb1wC`@m~;4V+p@OL%hb0`nBfgIF%7y
zHrG0)C!fjLd=J|0xyt0@l>P&Qrfc<xi2=`jAFO_oo|8`A&8uNw@7bWdU|Dd{0}YYm
zRq?3x*2x6(`JMzWqnot3QdakG=fZ_a6ZqE9(IRk-p|mgOvYuLICLesYUfPgz`~1${
zg;C4yoy{B!5|P0*53m80pDl&AN?rEP-BtF`Mrd04x<m-;gvV*8tCVuiowtKNfgd)2
zu3{G63fx#aVy8Wx7?BKGSFtHkgN_Ku%D%{|=o>aid0FpuRd|!xEJhe#D0wJ#ow0T2
z#U1QB9HzLzL0Fw-I&fB$D#eF&OX1bg+vru%Qk;W&O*OWqTE*MNV_(Mg*)@uBcYb`l
z^#oqw6fSTV4UPt%M4jYomFn;1d8Z;n%$&@TIdPD-3R0W?WNy~)RxMv<_xWCS&jx7+
z#|O^~F1qn?T(qdxX+u^rg;?c<TTxcCPg%O!jGntT9xyLBFx*0f@-8QEzb3Ks-bwgM
z4j4XgWl9@G@CaUPjhGagu!YDCTU@p)<6hA6DQDWm8>2X>uUYr3O#eMITUVOE8N>YJ
zsSq!7>HwTB_a*CLH-+^qrTJv99Dg5Wtj2Us)CqLZSCM*z(p;qX6_Pt>v;Hz{w-xq-
z_uNykODlFzq~^a%F!v<(5|+Il^s~g34){`JyT!5NjwKdk21B-*qZoUSw-_~cr_DOf
zDHgBCXoOi8a*vUb!VN*?_IcPk(Y#roKPC(e8l(&S_r-m9Nt;gN6_bfSNk;Z_(CrJ(
zKu;RJ8p=O-)A;WfFSfN|@@pK6!#@-uHDl!RBw+HAZ)jvF4nF_;Z2ovKQfL&Q6M(>N
zxTsWKDE#{!0`C_($NsZA;aZRW``fxiP3*6VG4?TaRA{fs{`<WCGju*NGLpZMA(rhO
zS6w3j>EKj(%d#2TK*<hQWaGcH!?|bwd)~u;_d$Qt2Jj^OJqW3IFl54r``0)VR&we^
zIsYn|Y>IlgMd{%B4jdYw%G?$J7H}faasu7_N3M(~Ika5asan6-1<H+`kh*s%6F@U%
zQ<74C{&Ofcj+BZ15p*ihuN;6WH9Z@N`Zt=}h(Y?l9ptaY>uD*a?pb*G-_qDSDs~42
zAWH%_wDabv{P6UA2#u5L&)$iZ(FU#P^WW3Zxo7ERTNe$Lw|4$}{^bLpjE)?k`q0ro
zupzDB(H#WLP~ZkzOGDo?PC*+`qV{i<J&mZsu-|YCWGS_GtJXbmGKnYwV;!R@o)^d8
zjA@tFq24L~3+`Xvust9o&9*TA?Shd<X4N|>NfDaP)NQFOw4Z~W7csmcR#{(gMic+Z
zL9rvY3oC;<#jDk$q@O?p0sWQ+n7nDxm2j)W(iN@G|8~4X1?@+0v1*ePSny_adzHYy
z4M>{6ra-qx;S$`Zr1kkfCrcf{d*?Eo-Af*l2eg@tYKAs}YHJJrkTa0|{invHNOrU!
z!>)<<-1l0WcGt5T@qlf*T8;!-*D=E_bJ)<bt%yHJ@;gQ6giL!6Y%t&k|IYE-kUO?x
zMXT2@=tgi3P%VX6RkJ}q1Hs7nR7(4BwdzONme`C5<G)=yH;f-@x^7-RlAyQ}DrO9B
zh3%q@a32&Ai2ZM&j@QyOWueLkZfYp^Il42DnL#W;+eo`4Z=;CxFPi^0!||G;?ZMa|
zABH!MC)XUHQyh!J_?Ltg5FY{g-}U4MYzA?|q!wtiYG-|Cc~YhtP5IkyE*}g~Mex2^
zyXY}sfwq8F<<{4k)Kb)(%{ogWc?YWni;OW`CU?vFB6sNPVN)8kYg3U7+1UeU9}|@a
z#;=Fmx&MB_plv>C6xWS_UC$@_8^-CC(2riq*-7xffh7C;$9t6LNVbIuioU%SpOOKv
z{81A|Zcp&z1VE0j#X^R11IWv8etIWwiv2c7|0gx=9et`6vnLU0Uo`um*vQBU>G9^*
z2UWuVHZJjl>7?i9zh0flM%SMQgDTzqKfS*C)2Y+^8E4PKO;<1Wp9$$DdidNUWcbl%
zVZ-}x08Z}zp2zy%^OC^x5N)#meOubmH&*b^%KnJX6#nny|J$3uPaZ(_;5{e($>QK8
z7&PqPk!d|6^sff#8PeQBNuT8YS!bO>1l51myF>?Ud7j<ts{rznol6OK&(#zBUXQG-
z=x1PM1))*$uuRxJX@R|P+#jR%|GdY{ugA=h^cY33YgFNABFR4FO?{sAUjZ1Ye8q~U
zruLp^SfB<X7Li&oG|97zW`@4p?t;Y*CXal(5JhQI>-U8bY3s56ov^VVk4%0t0graR
zJV^5*BkL5hX7>$hKgdASn5stO8gr+!?)0BSqDnvbigqxGlw8nd=<Kq9tUp0;XO%*e
zHkmiEV{1Ohw<&mx!qkmSeqPPkgx{G!XP)EU?Y~!Tsv8up7s0Qmf_&+!3<9lQA8_mR
zCk;JrRIm9V1D%+5hfVyX^@X*<;9PD4G(9cKuMZw3UP<xVs;5(;xI3z#K<1dcE!GDj
zIG=NH54TNy-_H3J@&+!2-hlGtXoft7NS?mFg7I(2(q9T4%5^L$|Ad<7vy-~}n~u+!
z=u}tY<jgGgO{;-wAs8^Sis=#0xQZtkU1@7?vm1}CIJ@nPelTy=UoV6PzT(b(xmE<%
z5~*+Dlg}IoqgpNLwl=FBPmx^zJ*UAiEVm5(%0YtQ?^+6`zMgtgisJ5N;gT-|W#4yF
z7;N<|y#tM2ADp15qoxMmtbVNc7fSaf<rRA|`}N|qO?q2xz9Qh?3)z!wW%y9ISq3i1
za#r|zcV@;Yf=PNRh3ZRA|H_n%rt|Yy8rD`j)_Y?Ul~+{+-_S2PCVWsR6Wy5X#93fo
z1UVRoiB!8+7&*GL<lj&NcBiC5{x0xk7t%cOS3IxGs$`EH$)0dr&JZR_COFXGxL_CC
zCX1eUuz%z??m#hePvAut(_dX+@qy91+Suk=ftx0&CXU=)ofy7;J1M7db2=AVI2bnz
zdj?&%E`7cvOtD4~JE%K_mpO)+LwWPEXVWTmk&miVSK%4(j9+ncUS@Fxj2i0?Qtp+k
zUg5;%RW!WUxZ!@sm{pN+BA4s`{qw$0jKyxulM9=di&lma`+OUk4B-t)-|V4~HLQU`
z!EWsZYfE%X=Lt|06|;iNaI9YPhNM@zIosfyUhI*Z)z3|eSlO05nlaK*s1?<GJ(P(X
zi~Xs`*1(DW<pIaV)1I@2{$>4)CzjsKi36WYei?{-9rkA&cJJoBo=px4Mw*gK`r>|V
zJ!%YEL=uxrHa^+Vw^WjyqEnA$PVJ{K<-}s*I2Zc!laNVvivIs7>N~)>UjO&)3Xv8W
zDMdwAWs`=ajJA~(A)64{QfU~eC|fBbD|?U9Az5W6nUyVjumAmg&-q>db6u{}IafZP
z_xl;I=k>Z@_kBOPT2WC^4u5~<*Uh=RyHCu_q)e@Nc~KM<4Xp;~X=zp6V{q(G1?&uY
z!jM}jAZVy&rMqnQ(2IN=zDKu{)sUv6nk#pqlr4yk|HJ(4rNe%M{yK?=73CW)>s)>O
zWB<Fst!7+QqUICk*197BK7y@n>%N3l&WKU!v&hTKySclIhN{re(X~jkZoTesE`!+?
z_+XB`hlk?ZxE06QeigngM~@y=t6x~+*cR#S?fp`vu2kS^nvG43$zg!&jwKqGFVh@@
zbP94vP%YZ)g8v7%{~h;3hZ)bz`8PX?djEbAezj4bo9N`4WQO8p&MNyqY6MOh)_=z=
zN_byOD#JZC@8&kU-HIEnqKwBZ1<dbfJj}azv|?JZJglefpRynmXX{vmxV!*)MJ3CT
z?f1V~j&5!d=^q|eK7anns3gG7?dyGfd^j9cUkK@r&syim3e1Rvs^pCS1zAxkax8nV
zg{`1~Kx|A**>*(+1_rCjmZ^=!eBez@PTsT;TDh9vYiLN*SYgepGxTUzgHD~{-MZs{
zg_P{gJe#R_G%D7uuUvnphb`&Y-S)^#YcY$xD-m+Zua;L<Hqg_*b7Ej*+$$oo2?M&k
zyu6-~@l#h9x4yo9dwO7Cbw-j>(s?~SHH;B76Ob8Q0IhS=#mA2x?dRtwDo=<W+wE#o
z-n{ue$*o>`(Y!UPPcvsKWJRia;&$QGAC1Ki4cFZ0Ysy|G+2@5<Hynf`(rBcxqU{Ki
zf@Y4A(7md#o{SQfI>*V`*%HeejOYrH(bzRwp9Fb|6gM}wo15EE%Ba<YM~~=zH)%sq
zdi=O|qt}pSQbNLb`FtBo+vh-`kLzRmZ5b2W%63#QWZtTDbXpCbt&?_62*0ZQ%@5yb
z6(n52yc)%JO?2}w?nL*ztep}=62bBD`*aH&UV&=~N!=!P_Olp#%OxS*g70@?-MzAA
zrM3pmR%y4Jb6;klr~h1CO?W2YCP9~Fl{PgsRaISW@r5GYEyDN0u$_3tkDsO&j#=6C
zQP>zYz00lE=ckWs2%Ep=mpW|S=3;w5NAX87lg$8iaZ%CwjT_PE@<T6!DCY4WK)#<m
zd7@1@b=Cse+X&=k;FDS~ylNT!nQ#BQuMe%5@_hS#C{A~SruXHGqH3$l&OHyJGDgnH
z+>Sgor6MVmD&eIZTP<hzYyVW=>#qj{-yZ(TF>sHCC#AC3Yro&Iwis_JJv}`TC>v9*
zN}%rq_ED@wYijmKW3XUAsccQ;IQ2#@qvd5EzAiG-iXpb;7h3RWG@VpaQ!}D67gC&;
z^=45zCoPp~V@GYagU|24M-?{8Beli<*vZ{fv!mtq>;BHVM@5?9#fy{^)3dXD;9PwE
ztkixKJ-wc6vFkaNiFOJK>|ZR!+s)5F<yj404WtErRyG^s`|G3Qv7vSc)>N*4wNK<u
zf|y@a*~>iHEgK)1Z)nMv?x$Eo=Affin*Vn9vPg^ds72dcx@!k(?17)Lo$KZozJbIK
z;*26FDv>*V@81{ik3O#O=HwR)n2by~M53UtN#eUk=RvPSW52o3+5423qLtbGj$1_)
zaVE<GPIN|oAE(OFI&`+b0F@*u>e!L5T^WINi`VXcaXD?_;^NYPfpeK1A&)-TSu6vM
zaLzHbl@m>@S%TCLf@ZP(*r?ASSSC`ALtES0+BWXk8hnrCXrpM@{gkC6eyeY9-gXt`
z^IhBea<DHWFXDu0WseWbuGmrWB`>Xh*=L=doepE29ozX`rw5K-zWjVt^3b7-PF|{0
z3U92El9PXf(-tA^_y`2awvP#p)nC38=x{e~<~*6;zQ6XE>YREswLIl4g`Ks~<LUzr
zIr10Ej_s<*2+ST?GW5G|&yTJgsJ)Ppal6d@RUPXr2LI)?MjG)P>+ZQ=Gn|i9!vI~N
z>!zkeKn}UywRX}fgf2NhKYyk}?;(rqCGV4L)neMY&uVpN)%(tsrHO>K6&B_n6pH`a
zChl0V{+Z7~SBo;v^)!-&AIi&pz(M*>_0}=-evKDJd@hn1opf{weMQVmL0W2Vb?~ID
z++@D-?K;7+YzZgoYEkq1GWq|0Siyp!O1KD3-WO|bWiDzbXx{L&JYYGZab##{h)BRA
zEv>!fC43x{E}`E7QUv%fyTrtT(QSVk8d`;B9SA7NV=V^_<Za8WOPTjuu3nS~_hu8=
z5}IE_(UGI{D${X&+4^VYB2<6Q8;DdmoXmE1b%lIIb!~NJusv6JWoa&6ztm%Tv|Zy_
zIKHRw0(4?%zJgM)2VH(}Fwi3x1ub|eoPLN#QS}DBV(q|Dzw<w~n=6j?4~_VK8;t=;
z&+_()$j7&i908(F;#(xx5zSu5#y$)PFzGJy&T+>yOiU+dy2b%bC{(|4<sa}6z((bT
zumt>uCs1RdA^Yc#TIJp=MvU4&9<!WCX-^LkaP$c_%yQ^tDjLH&dVa!mYNCAo^F0Tb
zl0;9KoUdg-fO&v#0K@pxr%&HM8e=VegiD$dHQH}Mp`m6Buh0wSJnHrm0=NRjR#pmm
z1DdbJY_Sz{J)Kgg>#11aPifPk$%Jj-u+hfPgKgqgyON&`KNIF*hll|MY15;ze`};)
zqu=ioa<QAV=x9pa8exOXpBIyWW-l7c5QE%uk*Y9w8!49abUXiFX10!zqjamW_l{;F
z+ZT^wRvdlnURFfE$N7h|vojG|UD41z1*X3h<e@eTn~@kQ2_i1^e|>c_#|qN|E`tn*
zs=oI(;U@NDP6kbn#Bcb2Q(WAfx8eJ}AkiNi@6}Zge|T#fYS6}c-`f@YHBDb0%sBJ*
z)Pf;?|LuSh%#8T?`9FXD{J!~q9B7g@T}Mr+U+{~B^-5f$`F7oJ!&q9AzSo*>`lCzd
zSY^|i&ks2K_GJ;Oq>!gdrFCi3H#ihJ&{ZlAZf_=S&F+);_ZvLQ+D%JKivUf&%ZU~8
z5ij(rL0a$LbfU4bQ8c_(OjvG%8?$A)W#J9CwXgYQ;aTPR(lRasjAfc8{FE;l{bDO_
zKB1(fght@d&EHByvhetEqjWEi)lbmkk7H%8Ekv&k{(TL+$+71nEj0O`>mp^^^6mG5
z56dGjU)pCJ%trmZ<yzANYZ`Oi%jKK=;+AhoXqcX6h}_NgVN%*aRxu^c>YFVyGc)!M
zF>yeX5VG8FP}Qo$1<bbYZ7Au0mJM$)31(<s;eMV5HRM9iqN3^up$Ket*V&OCur^47
zq_6()8@I!raW2JYZnc}tKfdhU;I~jP9J#wx&}_`?-4?~X2+Own*XB|_G&Vj135baF
zz!a(l`(y+CJF(ax)E7viFnZ^8b!*WyY!Xvc2va?NoRToQAhRJt6A%c(e4f7(S-h9J
zuB2jpEU!*jlD+u&H3rtgwyespx3`UNi8%5CQ%q<_paVdFt?_y5pchtM9;n!f@80!7
z=CB9kn2uAMgP2~!_yYSm)4pGgbSeY5WS|DgEdBI@Q=Tohccj$2vg3S{$+w*+O!tax
z%%fDIv9#ZO+u51$RD+&8IR^3oMl6i^(i<OFP={}W6)X~7OSH75AOimtdiucOJk%&7
zoyEkOA}AuF1|%VK@yZuQHLVNVDlVTj?YN+(VV3kNQ(lBCZ=2Ec{FJI99KC*=QcuCS
z2ayD^(N<%}sW;mSputl*Ct)Hs_#<1O%X6(b9BzPy5S#Qbjg|I?nnvvw5J>84Z$_oU
z&~5J*G?9J3KG#I=Md_O>;~&_T4^!{4oJ}w386K_<^qAg5xW-U&i_t!M(3BVx;{|GF
z`!J{_4ULV1a9H3_=H)S550(2+Qz994<LVHWojdD@f*n-Q`PHQ{Ib^`eQ}@@HK9{YJ
zj;8K1Y<iSqo+9PoV%TKZ>7PE}{(i<E*^+ICV=K|D!>Qodv149^kZN0fuJGqLAY3|a
zpN|v~^m|d8PFabNvkITS#T@scFw%~ThAG4{d?DU~BL({1Q%LEDnv>vg@RvdMdK<l0
zy%)1rc2)z$j~`*J#a?I1tjZ3SiSO<Mfhttejt2z7-l3$lit<=pRb5^lK?5lD_ww@g
z3=TeQvy3Y!2*Uy!hbAn)5CDL<FEh8vk1Vs7Dtw^$SQP7H<v}M{hJ<0hFWd$q_a`gu
z`D`o4y4F1vq1%^DpTg@9P@eFuh<1Hul%K!<pSW;qL;U_U>;vk;PbmmhT8cx+&W2zD
z+vFHfcTp3d(g2skVW=r}`|743@nk#$mH`z6|9#Z~=c+z`?j{ZfP+KALeqT+QV!I@i
zQuZ>UGv((F={=%hwVq5mR&r7XWfWJx`UM2sy4nK(5;BHsV2l#24>)$n%4&(UV|BS-
zerm3Cjo3meC6O(F2bm|rFl%Ty>AIY7ewQpyDj!{)H-Zere65A0yNgZPGRoG<j3e&t
z$#@CdEs9?w9=$zhmTTQXq<?ss_q?twEE+Bl6-c_y9)w18>s+U+FtV6r?d(SydbjVv
zlVltk<if%S7*NPtc#sSG?sRzo)_>ladP%o=m?p1E5lS+CsiiTvjNflOpFY9%j5kNj
zTe{7sDCVdcM9d{8kQa)I1`!cH<QKAXa#s@&Z&?2M^l7|We>J0Jf#}!VW|}pu_Xj;t
z>VRVu$-4ywQ>yBT$PLnx-k{SvdtlmN4B|DW{Pq=f^}4c`ECY<={NwCTbjQkdV)9S+
zuQ%8&vd&0qA3`1p387N<eBce#E>H0A++PffXK!@i<!RW=vuBSKRA``>7xkLnc5!(M
z4IjvY;267s%kKu+9t?LBsm@WA(soj=K1%1gn0X^$cQ>Ekbi`fJhl4tZsa-Jr7@uvo
z$#j`9CxmWV(ntxC*6ioXwb<@N^m63?Lfu%4XRZY^7Tk$(+CC~*k;!(4uvZLmNfy%k
zs69Wu%zKWyIqqC^9a4U={RC}!<DG2pxPAL}@pe-}h!r)efKyBr+#jl;8Mgu9Zy(hb
zZ*H%6@8G-}fA(lJJ9JW5QkKy57CH`BKx|D&#6*a>Rgz#t>^(zC{tw+jD+^!AM5?V>
z<SYu^Ef<QPY_)F=Vih{k;ob*Q=OY9*MjCnfvt@P#ZeV6M9c*}uK^BEofwa?Kw?DiD
z+!{0hgNV|ot`4;C+|Q;UKZl|?Av+k~in@Y2Z~Hv`JQJHcZ@rEA0ON-N%YqGTtPm`H
zyvIP~O^_D;)7m<B_6xBiZFq%o?;Rc8SO#XV_H^dT^72dAY;cHMc287t?~|3~!~vEx
zdvjOOfqE;;fg_Z2hAJWjU#qLD?V;{*gDmHuPTqO3aDoX5ZQitrq6~c5j>(19)zzPn
z-zG!ChdSfepFhSQHILtvw`KO{v}}6$bqB2_#p(tJuEQpb`W_3sAmC=KAW6bM7MfwX
zY3O}uU~d~h;Y!qHko>ayEwpxhWE<>EdR1?BV<3XYavdM4si}_)!sBV4E6UV&F~|yG
zXRcr0>!sW`<ZzFYnr<9A=5c7{YJdFpkgJ$}DIxZIwfdf#aQ7S=mr|iW2$m3F-+@x|
z+M#^=wp(Q3%%+@+K1vZG=h{-sYj*@JGqQ3(J7iW|s}mNfSafc6(szG#n8t|yO&12v
z<)C)f0|aiZXDQ^_kL(%Ni9|+XEp)~Tm2D5ioJ64E?BWt8q8_93IEXv)oq)q^85_H&
zJKS;B7F$a--y3+FOOO?!{TcLkuaMBB%mWB!M5?I2w)n!)y8dBV?y)zS!;$yuZ2j2l
zl44_HwIBpX3^323`X78}<+F~N&M#kjYI5?YPFR6IyVxV<qw{6bEv9T0WmDE-X-PYz
zS70^z<hTzVvHkgmG`&wKi9B&r_n$xaUc5**TtIo!p%b<^Gt%~q7$=b6$w+my@^i4b
z*vbAi$_XgWu0cC+_ij_$!T-VP{@2AN+;&WX<^|M(!Wja1*diUX-&W0A;4t_RMD~G>
zLW#2d-HuChqbK|8y`&<g9ebfcYWCWVk!E3Cf^u!XInCprFTnz+LscSMM?vi-nri4d
zsELt}NzKa-kxrd$=5gn5#^J;!(vTKfpTBf{nq8Uq>qNTiDN2_*#*(kZlGWFH0_D{{
zA)x>w`XcJcCr`@Y!cw<5Gn{YRLq*}s#MO%h0e_J_*?-{!Bm<SX41%Sg?lj$FB<$E~
zEiZ&AU)h>1yf*djBK+Gw)h`NPIRoAA$Efk5l7&G@K1tAyr|9HACDK$J=a?)H4-aAn
zgz^QBQpMRZ6cSx-hq1N{8G>^r0Cf>TCiDb!&UBhXlr$8jM?zJwa6YHd{%<?4hv!l)
z&f|SRT9DZw`$BG}YHmJcOuerRY+vxY%)Fn9`&V7>)hJyIp84Z*Y@cwq$u1Egp*nHy
z=a@w$WdZn$B`4SP=xAw$mgk4HHo0|t9}fR@nEmECJ3CQS9@KVwd;gCMP`Ap?{w6uu
zucoF(y@U7W{CJNao9G>o>S-ts7kP0|K%&vt`Sc-DMUbB=ySlohuVpCtG%@n<^74W-
z`CSik1}T-Tz!%Mi*R5B4W&%cU`C-6fT#73CdA8mdl=fi);8j;!r6E#qnSTZBXz8Oh
zwCMNxH4iwMR%ya|MVd)JXT6j9OdYNR8DUzJV=wROTAO6eN8oJyo@vTl=C4<F!wY^L
z1=;7(Cm>s!2wlLaCoF%kUvJimwRVGL{r7eDj@k=_O`F9u{Z|-oL{@Va_@t$!Sv}gd
zWDnA^qu#F(NB35VKT&=2en{S@u%C&6h4fF;L!s<PQZC{c9%xQ#HBPh7h2!6F&wk+;
znXi2GLOc!X^NWj<aGIHFj9z_CTnV6QVS85f2}u-e8TdfPwLCAF5XK?Hr{ViL?x%hJ
zu<ivRPft&RnJrq}Xf0V?v><XEy#Dya#E0vLNNz~v88}oA97yb3TAPwz%Tzsh&N?)6
zON=k;CK{{QN9qcnwjrgEbo$FloLMMi4}2{#d!Lon^eR8;_3MwjIWe75N9@9CO?>&(
zmQ3;QqT=EMLP8am;>5G&*2wp3NwwpXlONmL+r^(8Gheq&SXfxvap=11Xiv{^1A~}y
zIZzszO1-G5s5s4oE$(xmF81wm1(HldL-SoPT!jz*44g;z0Fz`6RBpWLG}Kg;qs{0Q
z9UXl#1~_5r73=Ds_rwA9)~(XN3H{UG-#Wx|{sq7$Jc#b%0y#V&|9k`8DGrrG5d9F@
zHtI-##b7;865A(eU8IZGkpA_V$}fc~S2yX5tZt+Ur#M^&jqZ`%MGvwp@R~))f|gh3
zN}bk+rf4Z2k;n<*tHlf^EqP}>fL@EdZiukH+OcC4xgEE{%U?W&%>j|kg3V5RH7>=e
z*tMD3K$Ju5EBv_Sqdt97C~zA4J6!-Yv(sf*aCK$O)4uo9hBD2^D|nC{V9i@^$&R3a
zw&fSGNHVBtG^2CIDMv&cGSx_0ETQxMNL&+`xTF=ZBoWnk4jyC_`55TFF(fxP_vCzf
zi=sB_7s<Q4!<??O2#%JeTZzpN$}vuJ<>KPv3CvA>eIQh-|1<62=I%1_Kw;*H-DV06
z3z+54h!i=yGY#rnB%rbrpSJk1i+wSUzN)1)c>ZMPCTzrPkH1;lP@~8pT1!ym$j?9<
zuub~Zn+_;pdO?<lU&+zku+#hJF{?cijr^kgWFeA{kW>*O7l8J?gM(EFhM}THbiXS6
zlbY`e@CX{g5{g2{bu?S8Yi@e_Izj{7#tNqGIXEO=Svh%Ut;+f64lKhE!Fk}7@3i1m
zg&)s9emns!0YIUflKL=dgjVsxa9XL_sZ+GbS%0Tj!e!q&=Ps+Bvp2$NBdT8FLjePW
z6Tlig>K<iLLFP(nn_!!in%akQN#XQqYDKH~I5`XH%(fcSXm=A=D~3n_eIzR-hA-9!
zUOrGV(nXxnU+!fkde9tul(b?NE#r8un~T$Csl~I}J3W`}kS1NtvV^<>xmTJAprd!S
zTg~plJ^&T59A^oRm;wTpTpd_WTU$&MZ+p|BO_YbfDg)c~WSS;QAbHdAT$x#9*dC;w
zh9XvGtmql={`Lpm5YKr-!50Q`0)ak>#~Va+e?lfVa!S6xlD3tnAt(~8d;p)Q!%m+)
zOHYA=Ms{s^N)|^!&hUsS_mhePD1vJ@85(m-GsnfpGkXlaeSxIVt~x|T;SCG&#QfpZ
zLNZx6Sh?}rMG!v|Zzx10;-CVpVVdw)p5Et<qzfQ|^#!jMBF#kZ5`vXhknb>Bj%1z{
z)g~nq#mO>Jht;3g5Al}b4Bd%(S|v)hjSIcfL=F5JGQvMt30M=*I@BRP<vCCA$V1V3
z8<r+O9!@`ta__6zK`I(RZUb$Z`vPSrA3Rnby8#Go8Qb{{si%=61NbxlvMXr2!Ny4P
zH>~U;P?{0LiWLqAZ|ulNWFNj%i8Ie^Tek0ZeII^k5W#q^E!ReW5w<Z60=ss3VU-+)
zB*iI2OX1UTV`E-Y2mt|kg#al2VG%i!Gi+P(`@$^3rggAFpb)JmwgV^@@_z-$prE$1
z8ysF88Ewy<TIyQc=><oGS`S)g7Bf2NWy=7JLgMqi?oVGIF>T;e4f|bkC!3lmk0BiI
zfdK*X+3}`4yI+f4x7w|Y4Ope2ow-?Bb=}3W>M1X=jG<Y#E)#;^D~BJWH3QVJ==Rk2
z4CBXECCbCgFFOhxjV6Crse~PQn3tEQc<#(33i+w_uGJ9uAz|V^(sfK>Yi1xp(XJN%
zktT9US6A1f`PqgoeB=24EiQV{qrqTedf=N6+!7kDb)ILji>#?p`A@mr`_=PO>Q98#
zJd6ub9IdRt0iqs?sP18d)*|aep&k~8Lg#;RuMyXUB=r<Sv=E31j>=1s5AL2+EQ8}X
ze?uYVg;MgSW>kZv_$A2tP(aMXVyg<9gE*u>?yM0@M`8IhkHw2*WE)HRol2LuD5_rw
z_b0|j@gT0)lq|%xWZXw6fiEL*L5sTGw*y5{<WXW>17HOLU;(x0qgED^TUc5%#8V2*
zttW{#5{h`(2cCtG1~QJ{|H-`}A0h=Q@cqH3_2#uC#@?Z2*e@j1M_fFByioeNnH5)*
zNbjQet2z(u@2R4qB4W$}`D>KbA>&%XeLRA-mg4qMEoT5&MABv8w|{10Vz-FM69j#N
z@&pE^W%HjudFAqDiY9H=!rfTP6h?Q<Oowl{0(;)Eqe|DQ<CLP}{ql>hVp^?RN}*eh
zt=`Qu17wU7&?+f-y+n7}0SaYg6Nx$F!vses$d^4%Uc9&&Z2g0JMK4kNWI~fkoJw%y
z<MB;?=GhgY02W$p%-V@4g~ad~357_JtV<S5u;iqcO48kv*QvF~;P52c_=kRezljSB
zvD5(|N1}#cOZ^!Inr_5WBWyU76Pxk0O^KKC{}v3xV#4C)X9wP4nnuSIb3>alFUlOR
zVZZD%9qg&6J~?{K_pAfz5_;5Kn%J5G4T7sFv~TRXTS6f^Ca(;S3HPPhKghJxYb!Zm
zNTH_}l@gbR%2a4AGiy5x2oGvy+<o(AFEU*uV5X>O9Mvzjv`ti9KSXRD0Ge7cN8l78
z$xP$#x<wuy|8%79$jSe=rVv@Kc3iYYRo`;pIQv#<RlZBlPPaV%9Gsr>DDNYRHw!!<
zrDoQR3n{d_AXB%je8KTNGC25DYpQN|mTa61x^T~6a&#B@{T7t5_Vsd3ZO1iVj3yoh
z>V+uHKm_MlYPE23sDoP?=PK@`2rGwf`}Xv=(>vrn+>#g~45l|84zGnz36{d8;T4oj
z(nTe<J@89V;>a~?<bzQ#MXa)4W{h!Zr?b1h(zyu956~&MU!HPB<N2KY$`Sj%njT<K
zI_@*gBn)h1pBbaP4D1})x^Dj|C`SA7{ls4b69mhO=y7bqmq-{jYmb4Pq_u7@%Gd&R
z`vwHbd8D75b-?X(1xq;NALO;*XfcvOwm1xc=9Y6QKsihaWd+3tlx)ol$*H=9lf-fj
zaj@?|GDB#s3Gp1nAxi2j02<xi>vnbnIkeS0n+35GzeVdSdghoIfM7^JT;yxo+r#1T
zFtN}deHcbM(Df4dfp{9oFOT~uuNk1kNh}fWm`T5{W-7J=vgaf*>70_|3bWJ3dT$&L
zh1bH`sA_f*nQ)pTL5(flb1VIJTpHVDiDVb{e62&3)kGGGI_^DI1ipZcRQ8bQ2jW4E
z3u&Qzz3N%f=So@WJq}ePa3!Io52B)?P`k<`>lKIXi*|d8;2>(zau9&BX2$gm8oG|b
z0;_I#GPK#bpH(#_d>h6R$_X0gdsa33I3Xe70ao%+I3?26FPIsx{Buc9uQOpu;f*mA
zujh4iEM4W`T%z6jT_OdiJ$sqBewyQbdXepg@DR5ie{sP{^5*aL#C%IL(_|xd=6?<y
zn8MEP9sbGk`@9*M4H$ITz1z;C=VuJlFeqV}@wz0HgIb;>K(J7{5gWzJ(<_80BL-h6
zR>aM%>+vSn#KYmmPViFldL&mhZ{{aHuqYiO)LvcYwx}iZ5c_vaP{_5?8$N-7fsM`O
z$X%^vpw!(<0f1CwZO(JeRAvn|^F+<zdg63}Lyr51(Zg^)w0Vf-h*@J?I)E=sGBIZW
zUis6mlFL8rMB@)08p{caqw7eBWbb$b*QJ`LyvhV_CFl-%o#d&)tqUF!3=vCLV(2zT
z8ZOoTI0-hx7YxU0SAuJbeiPEBYLf1@&%!xrV*Xd4#Em1as;&B-a&ujt@;IUn*_5v2
zlq<~h^m?GI$hpUX;=%l08h8m%Pg8rPr3qu6QPO8Z+75)2u54he7<qe?bMFTDW`6=m
z)SBV>z=a6yw~NC>2Bn)Y5)xzdc@R?bTK2D0qme@Z!Il@%t`x&w&+tgUkYZY2++AK?
zu2tZ0fB<O(47*nkPoUt?!={tKu7-W%A7rtU3>o;U0YG+azc835yy*-WuWQPEhtWFo
z3^&uHdCUlOx=pFV{?7Qn%yEKG?zBQ!<;q+avyM4$x-{GuoqpQ+T7`D%6}tfBuEIl~
z*3pSbS?a;U{U|s0^W>E)+feoxz#~U+&G$VHbyb`SC`vfUk3~x|>Btf{3LJEq4ucJJ
zj-?JJSX1yJ<m{$-a@~KRltwQgAfON9UfR1#Yg!*=OuRl|ZkR)Pmc$mon0>HZvzXyB
zIrU~G>D@cPr2n)1o(5tAg!t_T`EV?#JeV?(;exV0TQMGSBLtZS%cf0V2W}P<XHgg!
z5nK*yIqjPm15d-Uda~vRk|(P0J+rcPM86q{+j_KXOkwASlbtjd>>zJPRi+5tcKKn%
zNn$yHgfC@APnq;aFifU+R<!jg6-y^ck_?PA9I%9diwANLMD5%<<7JBRcVZ5URIXm%
z;S2iy#<$l3i@TE0tvkB#dkd+=uAaV#GL(cgPz25>DcKHi@8)S}KqvgeMv0%qg84QI
z01k(Gv?*?5?~%?4iWQ+HsT|~S)`g?ue@m9E$*OuGdr2YeG<3B%wEy74023aD?RI-Z
zAXr93?FnliB(;%D7fC*iu0appz$X2WhK5Ea4g&R5ohmGED~>ESG(~|11H6u_R(ElQ
z`4q|z2?{2vJzh75CFc%xA2s*|XD6q6WO{U}leeV^=t+#hunCbm1pyc&?I;*qR^jIi
z$PxK}LayfFhrJ^UQG*`FW+o`Hh^q$!tI&~zTMZr_Y8oDPtEg8<j|(}vasAeyzMlU6
zN|et#q#bUg%n@usw|D{%2J0LN;>Jc%gh_`BOibGs7u2#xm&Z?%<Kb!w>WY2DFp}U;
zsA_DQx?`#r5X4ic<KKx)8cRtE`7Fr2&nhTb3`CsXkL<2=q(OC~@u5)oK2RZD?gs0@
z4QFUF;4Xk2<CE3GQ(pwqL=g7~IEOSPq0foM>;j;Gm$iM0zG@nC|76@cZC-C7_V~fK
zw4X@G8dW7=<Djah7Emp}2ZSluu}mTb%s>ceH<&o;zGz!5m^;qBHo;9Q&1HLxQZ>%-
z<mfrJ5Ur;%kcHJ#pA<$;-iW;rNDw)<&RReX#8{F1py^1k#{~pBxIPOI4{YKX2-7NJ
z0EMz0#G;{wdRCUiMA7Wv_;b<Fq-p4@Dk=w`R`?MG#V{2W6|sx9x}GPnb^G=VWU>VF
zMOAIe@o5wcF*GEw`PYGR;AoZ-SB!#@n8F~NrwE}I{$4sZa!JnHlREd-P}4)wr~!vS
zLb)dyp8o)rH<AP#?mjuCdu?oN;2Bb{D$$_;vnlDO$4Z&NekqaR8R0Le$<(uM+ctrh
zfLp<5V6j%UmylCV54Q%El^rAR*?yT{b>_QK-~^5UNv?>!xBv-W4g@m5t7eBZSTb6C
z)yX#BhV`7&`~=xCh-(Junvs%OmHqp7Hk8@dkeswsP03SQ({jcM-ORalVcYnnm?0EB
zP6!BraICR~r<C~BLm(6${?GFfrzw#~D-R-E{@dcK!es<Xup~yAW4&XLmxt>T&=LgQ
zfYI+B?+KaDpyn&K?s<T`sylakpdI$Fl-&?0Lrx6vItcA$$(g!1J*XNrlpu;^o%jmF
ziY+3$VVtX5&zwfhcBk}*f$`g{wi%G2YY-<Zs~?zNV%HX{@%=_}celZRwl&1=s5VTD
z9B4Rq)6r!n9=i;}MZ{MamDFB7J^~be_t*dqaah&$o6?%c6yET{Q9K<UB3DmEbTmA5
zMlTz71jIZAYx?`^j?LhgEx@#>7U(f$4Os166wP(1X*R*L<_4ngH#pm)&eJ8`B4G3y
z@JdI%(GM~iMu7=wBFw4E)Tb6YoVtSkC6N%{-rc)*69fvC5io()gIq@c1O3l}Vt^?l
z){#hO+K-(S;U7pX{40$t6)yL8t`>0rg&hgWelcQ{zbWm#&kYyGmwYvw+3=phc@Fug
zd;x6b^8kb3Bs6;*@Sc&0$pj-y8sx|XZ;f?=Rp3^R_aLn{(j+856acEB-~WE%hJk^>
z<KRo6mx6If(H`OW_vS?Jsj`8`m{(=YC0Gt*0h8y$p&)bc+|F&=j4gV&<Xon=%}^I_
z28(kU<3tWC;*~W*VZE+F*vZC7+H8>meLJcm9MPmmD#ug&v~-u_;0JvNZ;B<+hF#~_
zwAEmFyad%en}jtdxhDax<JL>eygVt5q^c*@Z!i?JbeFiQ4Imrd3l$(XAmdQ~aOq8?
z0DK04<P$?|d?a3V^!;^bfPusW5sS?T#TRx^z5iRWMQaay)G|D}veYIndw+{qm8qUE
z7ULDvqg@sjq4aa~<#ruOS8wbBdEpUigA5!5gscEijcav}%kA4Nux9`h0k#J~;?9b_
z;^EQ(HUa-g6RZRhgyFaqdn#V=3p&m4g4#%O6hIqfa|+J3@iZKQgTnVxPkBPKz<7?J
zqya+Sz68*f*t3#V5x_Ov@}nk<RBTc1vsx&{P2^?-D;h%9u}?(^B)%@%=Dgzp1=-dB
zB7`8+I=c<=>OaFE{B0$8k|d<gPEHzP4DpnYF2pL@VddX2=L=#oM^aCE$>0>yF>!t_
zXO{n&9G&Ylrnd@s6(p`IxG0idG~i707MwXD7Z8UC(*=zZxbyX+&up7Ob2wB5q$U#n
ziA_C74zcPQ8$xhDiL!9<C$uV(+YYcAeVmgJp<@#J5}fncDcx;e*jsJq&Yi@0udm0K
z+dBIaJHhUVg%8a50akxNwBuUcM-khlfVcp5lQCK}7!%FdU)Uj^Fd_WFun>KA^YY#U
zRpBPG5sT>4WeHUyt!dok9*W(&z2Rq^)0}$r7R*Xk(N+85Tgy-;P{u7vw^8h2lC+Vc
zA!AT9^SoAhKO72Mhr%BsJh!DAt%ED20g?zL1x@TKU-Ruv?=y4P{dd<2Kr-!jpo6~g
zK_7#dZ;f;mw&vt=pQEav_y-8v5ABP97TZR)Wa%d&L7PHuoq>BFEDVHb^~%?Wo2E@K
zr0%5LN-0Y(%Q#O-Zi+z$;R_B!?!$nI78?Pw60l0}-QPosGC_~}fFs_j9p9dH9SScc
z8Cadv;Cn2yU&0gw<{45B%|6QcyZ*hGh`1=W*RZ8%IXa3Fyq&BygyELPZDsP_@m`lw
z7nA$gZ*^{Q-t=<aT`Gbmk)#aiadvI<<|rAb06>@@)Qw9J0^9lb&Thr+zzRQ7@6)NE
z!hx%;;gY*NW|`nIaTg_2VXj5Ilmyh1yAg3(8l}p*M8g_%w~MEQxu(XdmDP)wA2s@r
zU>yZRPjYU6&mt&&qUj1i5V9)gqbKohOtD{+(fKB(Bskg_IVIsxa{ns~xy2Xyp;<6v
z1~64sQ}dgc^nf0Rm4I6bb{{%?*g|)BZ0sE1;*)P1yeO%E{MHOa*O6>bv<^u=L!i_W
z$My5v2DG;6`A19N@_j!-DNnbZN`hjiL6b)(u?ok}G*ZWVj~ZmnZ}EUn-2+=)H46pc
z@tBjqQO{1W8}a51<}zE+Rn5A>Dx}j5Jen!^)H>#!S%MV?_0`pn0lZ1m)WF3sH!SgS
z82{nJ&rqm6AwR%+hX>6K1ji)|Hmb7ucWVB9*(^t&x6Vj({)R~0Mp6%>4k4zrH|%T2
z9MkD83`-;+(%i&5!j;)V7qA^cR;lS2cfo@Zz7^P~N)8SVNn_6Bu3l?A&#wQ^Oay2{
z(p!K)*<qEGgnNteDQ_wDToc#w8C1c9!SZw)aYRE#l)WaSMBSNTx$kO*%3s~H>w85P
z-8*S%C;(n;Vr8wwhoA|dSU5r;A&sQ7@?v7yb-eS0Y>Oil)f>~RtnAu;(4-rF!bXPk
z#2?hTFi*-&rPO;I7|4vjkz*hQ%NjC#*8F)RBrg4zN8zkXOn5K2^)kI%z&Cw+Il=Qu
zgMNi4<FAO=GT3s6Y^V+!heCi{{(xFG=;h1rsVBk2+y=Zq$5Vlr#^B<ikPvlKHvb0?
zV!#N^&OzlbE_%re^~GUao<r`_z-rSD&ulp%atN2P9KkV_o4vK-)2FYwHeI(axeltp
z_=sFn0rHQSj|r_}nH%%``uz?XJ5scj2eMjeUk0T2e)IQ|(0NCx`fpm3a%=Lo1}U))
zAI?;_KMv=$MsH<<=`*0gzT2h<pEqT6@A)oSEZ5_@UoKFd`UtHVHwgs=^=vwL7%Nur
zry<&6#Odl}wZ4i9BaYiqX`LT3xXucvJ@Tk##<1qHxw3U-rIh^}I#jh?7ax=*P!?}v
z3w%qr)c_zKL6CtIZDwU{y|#KfQ{()31BO>{`yy9RA>d-oA~N1|3Czuv02O-rZ$~)1
zRk6J+D`6)(zqFJ)9u1|`k0c<CgnVt+OY^T)*pC1(BO{sm(xI7rf3FI^L@2!vAHKqJ
z;`;04fx!nD&Ig}+l&TndleJsCpc{T&-Xz%{a7bLif;n>bgs5U!JsvmPv0|X%EdvUL
zU5LS?&}3ohNj;Q94~8+P%&nT9cH%3A9Ce?BL~h-ZtgP%nXK|t619(b@14U}cG(88e
zErRo1QN|_C;(%dL`GX`|h3>AT`{EJ&YVN&i0GE;nX|*naDUXUN&U0-wXS<Zea719>
zIfm6U+R=zOPf=%~Z9R`FnRr8c%5WQfS}+Z9fA%8I@{E<(ac3%dDvvuXC)Tx>?f}Ax
zlN>fdBpt&MR~YM;0^67!XtHFNIKm#5EGTIUrJjp|W|(KZQ?|LXOmFTv&_hyVVq(+<
zjgfidZ<ClD$^P{VG7^xjC9QOaQR^1&O!}sY{v2_UgDoqmDB=68Z{M^ciaR73{1O8q
znCEZ&^TT`~`M~zrS$le0E(7IIATscnIc)t?lCU+=<T&y<jtR?~P|gAVw@Wl5^&!12
z7(bnYAfR~86*&nkX>cwLev4g)BxKK_Lk&HWva&kaZ+Uo9ys|?k31uDKAUu@)?1&bT
z5+K=xv!3Yra$5=tCgU>-$1g+b9amQptd2XD5FQ`nJrI$FeOof{rvWExE>Mfno#93h
z;RW7+eplOEEzN#9aRZv#?6PYTTN~g0_+{gH&VWXwEkoDWSY)$~c7Zt#a6+FzGabm(
z&&y3Ygk?xx02jM~fG(G6q3}u$1yTI9ESTFljQ$8lD-Ptx&Ytiq3JR$TaDFEZSZt~s
z12b-+luEG^0hcfjOu8v9(*r%@+NCEs;?NJuiI^oRN{$r={Iq6YT*eI;jv-ci&iDPk
zV5RQL7%ApRxmh&Muz)G{K<8}#?Ch+`f0+?lTK33{5~NBVf@5hZUz6PR9J+$xaepb{
zv}+w|L>I!$oZB4GlC2@REhylP$;)JmuCLMAVD+TCPXL6M!HC;S{%y;Q_ox%c?q(s0
z@_!DHfNq-^7fiY-Dt5)p9NTR5#>V85<K3@Xmo|y8$8L9s`1AdmJJd7#0i2_xCzl?;
zL~FOUK*uSx{kT3Rh{Z%n+204C)jm5jBbW{9)(I?q@aM=#!HFrp60^k~D$J8|5g9t+
zXv5AH{NbB_e@eAa5LpL07LW}9zG>oAxwsGQe*mtWB?&SNFTjVWU5+1?#IcG5$TvlN
z3df+>x(ipX9SPcJ)O6iCW?SG98zwGMhnB5=EJybls8nxdmUK&jMu~KTL0lF!{Iniv
zQm2r{p&NoVCYht_Y-=GZsIRKZx76R`3Jip(T(T`RFo@vPFyOg!egR!2V~V>fu|UN-
zc^dXY&6MNy61MH=HlT3KT#ZPw*`)@1_5TyeTz#>3DfLXtlf>1jS^)qD$QUIp#lpUP
zxWV4_@S92r%O1<^S+*ChZd>8j3TGAJ-1DH~YR+ykVZ=29+-8&`2r3ZRvG^-6(yvsf
zegajEOitR4_ff(E7CNnL7?rE*vzZf6m!YHAnxE+TOlj#n9N7T(gTtjJv9!yK`yj`Z
zF<V({>kGIhqn}|ZD1l{|6D>vd+mRzpvr$>e5LFN=z}d5ptdwCWD8B9TcE!&sbmEjU
zA|cUR8Sd5HA7t|Tv_1wLgP2RTkGCpZ#pPOtS1GdT8c?O<u4^~<XWLsVTU%Rq-=(9a
zZM$O*vr*)^eCS-E_6P4z#n$$Hxy4NMW;=hhpK$`Cu@ndV8xX5+Yl|Sp27f~9tqPHk
zwzk6KLN?IOXM%gROS7~kES_XBKL^8IX!V)$B{3cYb&4fOBC^G&G#OZPYcC8~vfFg?
z3pL-Zpf0EI<rjKZr2t#BllK{~5dj0-!BF?4=@mDPe4_)!so8vUb$vY+RK3}#?+mN@
z?S){~$iCrW3x*h|`)Kg=ClX6b<*^0`zo5V0H#(Xdpz!>{LfgmGv^1NPDITliK<02h
z0BgAjGeG<YaoGzFZVOO8dltm-SiIQ3hI5uZ>A0TpmX40j&);8f{Q33kBy6$pX=+!+
z(7>|nxH)q5#I#N74B9#ovbUf9mrF5mAFaU^eMlser6l;+vV&bkp#W(QOyB(E$epKw
z!_JgGwv4asBokRSf;^0j0?j-xq}eFA%b|dH>+yQ@ZuXhFl8R5O-%CRN(b}kD6yC@F
zQHyP6YATafOJBcBx_%uUT|?rfeQ4NifLgD-oEovLy(}5A$l`(*Q_Q<}Us_C|$h!-Y
z33A#45bEKwDAbDNIz|w*1lRvqcX~K|<+g>DA<i9I+SIWj+~9J>^zogUywqbmwr+j%
z!FTi%ASOwuI!F@q=8Y{X8*+}c#w644+E(e6A9+jMF$jKn;=(q52g2@a<@AKOU$13Q
z<=ay1GLw-aC<87t9U~h7K_aD_zoaw-Xn9_1wWK=8&)*BcC)>mBs^_b#77xr@XmrhL
zEl%Ecb!}hON2@JUFhaYYmWJkEX5fo*N0g|*M}E**JAwyvD>A$78@tPBv{k*<c(w;(
zW+um%^77aV0&$p8=_KC7OW4^d$M?2SnARU1*SbPfoo!vHWmJ$^1P8B`7Ta5$-CIR9
zaGdttjbkh{&s)-ct&H~Z8LqB%eXkrD$q|s|p?dxGJabge(r$sry>AEJGo{QaT>t&&
z;+tvT0Lh<j{w6m+*l|`)MB8(&qiA(>4{fR+{Asc2p~CW6k0b2=9I1WyXl0stPr1m0
ze+)}x)r56f%-r<zQmfnAcErcWdw9CIe1X#H_1cRo-P{S8qHBM%yPnYZt!)gdllMLN
zZ1W<6d1gb6VafUZ3a`$`Xdawgm@<9z56`}R`?fwl)ut<W@LsASt$^xr(PkctcJU7D
z)<E6Xw_RgK?cxEyMA-e^64@E)rd`b4i;T4bJ5vr8ZM;Ke%|;ibbQd3ZD0JF$*QZ~0
zjOArVYV*^#D+oUSV9ZnSNND}JYwhBurlxKSlg1|w2?T%P$>)rzD{nGfkVx}fRNQjy
z?E{BY=4;(FywL?Kcf&HG3p4k=sGdL;7<$Xud4FT%$E3q-jLYvLjkQW5hJG4t%QMIx
zO{dqf9ogj)u}k~8PhRR$@*f86?=Sx3_ijyIq_c12P`(pvpt^tSB(JUBsoVDUjokZQ
zhNtddXCG&_cqp;5Me4Y->ff=k123wdpXC)25|WgcpSxPDr$3!eImB7hb^d8$J8M%`
z{`kH<4f(5<l&6|1-bPcc=!gEu`|W99@fbAK9XsTX9_0(KE&0L9N^^YE-O7a4VeIC4
zLoNPbd|JGYko+uly6@&{PwKVlMSbtX*UjBhSO%9%q>f!t@SOfp-#N^E-sx-oCMMsi
z{wYo_E<0!E&pkb_xLF^c(xT>Fe`i;+-?tkI+1h_5C!gNTSIO6z{dF;My6KyP;N`cI
z8Zp1KJzwp$&$k%9n|<QVl$9Y>^o7QmeF+B^w{#01Gx_E#E-o&K>rpm+3*?r+xPR;Z
zt@Iapx8XtgP#48~yKz48a$Z5f>x+r=7jZ-EnQU!$^I9kBE3cNB&DmwY|2CMBxUbZ|
zRDSG=QhZXZJk{xh!R7n`elziK-tgMG%gW45OxFbycdh@(5!+#1fBArowRK*8zE+&}
zhADv%-tN+(DU01*96XUHo`~4`ZT|YYl{+?W*pp&*=hApf%l4(ErQcJxnV6V9_fP%4
zDMf#eDqp9rbdTmHn&X<x?EZAw+Ws!Zbu%+!GcJ+ZDHZrbvw5&~N={8*A)PJd^4}S4
z{`#T_%U%|WAhn*`pS;fPr<5}}7%Lqm<>?TnwD*M2i*T04l@<3xp^OV|Q7U}DqO0~}
zKxLzQY(I~V3gYA2+pp^H%GOa&x-vAgm|^-}{la8I`>B{x3cXvV@5ldc8r-V>(EDk9
zpq>mBy<Vf8OQ?6l;Pl<QLPMw2XpcLeWAr_V$DDEL81uQAxKvnJXzW`=&0ofAyX}EM
z=Wth0cJRkX_zXRcXX##QkIg!VGi5V!jwta5^F*p;78WXthevXl9@^0`m^D(vN^?zc
z@K)i^j*f3Pj@%Fr-!d^eI;v38Y%VA>vOa;j^_YM9`H<qcUw>ay(p+nP;6Ok8neK_v
z!B@AN`r_TwS{FE#zZ^&?e?K=n>$YPf{cv3!Q{v?>^<#hke(^tdXIIhs_8iRGk#JS*
zl<g_%kJI!^)gBm~-yffL!ktR+*|z5@LPItb`TQ!H0t(Xi#zHr}<1gr+S+X}2OmjUp
zE#>1|e(hr7^R9-$BZ-$EMMiSv<mR&G+?dw#RNQn|43VMHI+s;k@age<%WQ4o{G^h=
zrwW3PrBh?Y2WfuMiOi**KCbD651#wPWJK9~Gi*XzdXs5!D|a9Bl;r(uvixr!D%^3F
zRpSX7H;O#Bck|7W=ev?0e7kYis$DbWRAEO&#=*7h0M@GO@r|!qT_-LouFEq%_|U1-
zqNB_Cw&07KmQTioFwS@XdFf|-nZf*r#euZZx`%6DPc_GxsjW{8cviJHUDNNzk+VEO
zFCVBjeiC8qotRfh9{aid?wEIv?StWh?>VYzt+DN+hFaTKJh}qorviS>Z{G3zOm#+-
zjFns<<&a-h-{rJld}sG&>zJoMcYJzBWL=QjaZNcplT%0b$G0DA81_l`urUhOH?g;W
zhF3Yby<CLxD5z~LmA~wGf*uGb-oLi#@jraM-G^g7Npdn}rl%k03DW%2x~+w+I%9rz
zl%u@oE30&S&JISp?>YX%1=B8aoRv5O^y#hIXN@ZD24-AJbY=lrm6Yl))ZU*vwvP9q
zRhna5@9jg0uBOfUN}D<l^F-cx@9`;gTZ2{8q?hD7s_>VOwj}IHa<Ft6+vi+ik|ck}
zEKGri<;1He!mmH*915jrn)JCXRlNO{p0%qhhu4iGxK>kq^TV156@;UQ{}^t`hl6YA
zPoq!2CRha>^GZuAb4K4rJLx+0jayaPncVEKe(}LTBxrcX#Ur)DdMV$dl=)bEBW2SM
z1-UCf2OUU==^8sHJ2yUFW*{<d+>ntR`cpuJ>R{Rol^yH*_}+jyKmVtn%t9?)$2Qz~
z&xb|*v3*~S=CN!)z6(#^8EwhFFUDqrI}Idz{k`Y%Mb6%M+qB>@5cAIWWW@>7S8=b}
z6TTR<x>{ebjJ<xLQrCu&BR^kpQ|A#3!>(j{!PnvYZ`1N7vot;Rwi0GN8M#+PnDxXJ
zhvQXgJ^vg?lPGd~k}$Whi^W9Zj@g1<$eTHv+d?j9owWL@LVPyo?-DY9VgE$vmrvmg
zWq@3T1%2u3Thenoy4V{Px!xWYmN1ZgD|=3a_V^~fnl%be$`FGww$Bz6_~*<iHHFj@
H26z4+xJZvX

literal 0
HcmV?d00001

diff --git a/figs/stewart_platform_actuator.png b/figs/stewart_platform_actuator.png
new file mode 100644
index 0000000000000000000000000000000000000000..a486ea733535b088d31782f9c9b1032f23f59ab1
GIT binary patch
literal 2807
zcmV<T3JCRyP)<h;3K|Lk000e1NJLTq005={003PG1^@s6FWnuj00001b5ch_0olnc
ze*gdg32;bRa{vGr5dZ)e5dq33^FIIp3Y<wqK~#9!?VWpYRP`0dKQRwM5h_z32nxnF
z0jZ)06~Vzo@lhp3T5%{P0y1_6A&|C;)}kg_u(U|QYIUpwg2fgoI#dd%tq^G#i^bMQ
zDLxWWz!q9;pb#nn(?8DHX0zE%c9Xk%fA?~}GdsJv`^)aV_xIiN{+%Bf3=Sg8@$*{-
zjJ9bC9c~96X>CA`!zX_ya08HM^B6i@(AEH#iP=d>c?Ix($S3L+U>0ya@aK?U>uJC`
zU^;Lph{TNG@4!bPpR784{>L$Jt>b|1z*m9gi3S~KTE&oIOwi{^tqn3_8ZwDXfWG?r
zO5jW*rojbFis4?V5!2u|Is;>3j!h&%$kK>u$P~T~d@knL7lBKSm<B&FF_q&+OhYEn
z8z@fj-WcFSBc{O*OlXB`C&jTnjhKeCBa5ck<x!woUstuJ&W)IcbmKB0AE;LcXsaH7
z5tyQ69S)ph#580QlYqUzRlus4_Z|bT1r9_>)xZ$*0pKi~-$0@ZFaQ`DrNU$JA`&vX
z3djxuF&{^g{G))s0e1n%+gt|<X9FXEciR~ECh!fSQj{(e^J8EvPz2Nhvw^pPuh@JC
z25$lXN^<N6!1f@i@+x2;@Dtz*z#3p_wAeR<4?!SiE>MmX(*mqSifWJA^o19$7Ybhn
zJPdpZsbZfFthH$~iRl-5sJdQ{#K0<*oJLBMn7*m)TY>w4uE1)bEZQhG7%}};+ha{a
znkx5OZT||`pkDV~Kz}2p5z}wfApzL`A_4RQS{9TVjF=h6A>bZW;cJjelXrj_Sgg{B
z=>Tegk;r=Ee*+7EEx<6FCL^W`cwTMHN}v$fh=h(#v*|Lg+y(Vs0XzjPM3#A$=&^^f
ztWOYdF)$>~@jT!apqH9!v3QB5noZ|13Q6)eBE5ZvhHMhQtJijMh_0zpuPN2X%`QvK
zSX8S@?*p6*TnD@gd}e~lZ4?v~Flf-AHpf*}Rk3T=uE1PZ7H|`=M}JK(D>1`{&`Qi{
z)21~hgOZYxW)joo>Y{<bCSVEBfRx@}9wht25H7F$WOaBp0~Y}gA&r=p+H{#$?w8sw
z1?B;#AeBYaOhOtllNoyvlH2YK{L;ho_%hOydl0Y#X>q;MrYG&lM&iTC^x|(&Ti-ci
zo`9^sDFb$SNX&fTIp7Rr?eSQ(ErW_nkX(Pdi%_~CZNRr7Dcts;H?p?-N@O+T7U1_$
z(T>hKFV`Y<47o1f_^rTPk3X{;vZkj&9}D$Z5b+X{Qcbs4ey;vcg$L(6M?b45!TWuI
z4_)@kPX+qXyuF7P*av(YDdgCIETO1DG6R`%(6W)WMe~szGv?6L{Wk0<Lb7d%G}Sf|
zuM2m=`6;4#{~53Gj;fUswK*36-vp)tuch%m^ib1eE$|&ZRtEf3&&LaNCZ^j&jQR)o
z8gOBp_v?_F)pX!Qwe4R44!1IHyUWBZ2L7TFF8YS&0{cBYuji3q`t88?kSxzKm8yHw
zASqX=RG1reUw%Z(5LFhk&C8*7d{0;4(Kg1+OmO`DG!k=|&fof&<E8pzJ)(cFab03Y
zPB2fU%RZHG^OQ_p;h@@2D^+@yB5g!wBE=nz9(~Vkz~G2&qd0=3KX=EBou@y<TifwH
zpQy9a9@M8<jT1x6Y`xb{MIHNttHeBAZLT}iLz}Jk*ab*;jORQiW(02`>w#vg^jv~$
z)N}*h<jQYC3PawGIleoAlW?$|-_ww$`_oYr>yLbZI#gYdy4b(^c~Utk{<0c1q;Q9-
zy??3-F9BYN89z|NO1nFFjwh+)EK~dTG2m{GNZC!Dx%o+s-%GgAMeWOKjkaXzJvk+g
zYL8$z&=YUt*c~Efv8wGKs525#F9(oiwy}5+xW9wMj5tAO0)Nu)-R!Y_nbnG6-%YQ1
zIFejA2gyc-1;dmBzm18s3|40-9ty}np#8WMiTQ$tajI2nwl%)Js;fZ1>o@8(mLoB~
z%^qL>C+f`gPaqk}kzn}{mDH2fgAY@f2qZ)ojX&zWiH9e2UYsE28OYWbzfg%e9{6EY
zDCGp2r?t9wAaqfocI5~)z6+6nd%9{bzonAnLY1KBA-$0bksxtbV3FFi+mO92!$i!3
zYM#YLMPiYQWPl1>vN4O57!l9x!x#e2&``*Kkagjo>cmcVNNp#=YkGYnl%QLY_~`+C
zKeFlQWF=@a=%mhCI`Mgr?8}$cF>4EVBK=A?s9nC#1!5Md=UNx@f3+$pyX$-7ffYyw
zXIzq>-3M5#-%+n&n<qUC2PNy&EN|uge6_o-M|N0vme$uDb<!WG%eY48F`2rA^HoUX
zsx#V<?vqQFm;-1YV68)f&n0?+Pw4SAYMVR=Je}lc?@%%iKx#2>RLT6FLzCDKcwJ4O
z^YwfaVWOHgso-XnNMnFE+VP`G1rva)k!;g`q-ds4&6N8R{Lh>Em=8QddgH1op%?K>
zqatyyX!Jz7YMh?pcXU@<@+guTTNvlF{Xz~>XfcKKwA&8C(uzDJJUCPZNL!_H87bn}
znLxE}jk3ie7!Rz|Fwv|OJ>(fkZRYDpA;&f(0PZ)As1|rs?dM|=SEyaN3F(~TOt>gn
zWFt#$%a9VVRIx>Wl@nAtEkSAo`(f}C@2c5wn}&<h>I0->X~mC`MPu)&bJQMurZ((q
z;9exC{f0`c@5hnShV-KbiS3dJt&t9i*?<JcYd!d^h<YD}#5SiRIqlKL6JPLYrc9Zj
z?2NVt*<J-C6LS`}t6QkydMA!N^@L|5S)tYX_fDI-aKmM(GeYgk1xTzjQrT{#G>Pd8
zdLea>rAQvPQvW_|(-k}{TC|82D^|2QuCA`mSz?;n4k7C6>#46#JyGNeF-Ibqo_r+r
zHI)pP@*6zIBg9YLPC=G!ECYTW=lz|o5HlZHOB2~_eWsBz6xc)jg5q3ccap=jT+ZT@
z^HYn|K$atU@^wf(U~ijS^UD23r29r+q&Rpal83Lr_9!=EI)IOnqK(UueEYpf#^)NF
zDkG)~SdT1qC`ZcY)|z@ZV!DEedhf5^+ekH*XX1F*F+;eC8Nm*uvip9daCk1#ox^hF
zMoeGP1BrRfLc&RRD^YF7iV!2m@pGF>^S#Tbt5ak!V)}yN$PQ@dAqA@AkZutMQ{}#?
z?WHvBU0#VS1vXNe#5A>S@C;d`wl?Vh<6X&>uTsfakJMbQwmA(2hA782CNXvt5)Q0!
zMU~eg8J>@jMgbMX-?h~cJZwg~tc-1A+$~6ay2dpd^I0TMUWo+MH>s_8s?BYnaTH08
zJWc%WfLSVt9;bQtVkc36R2VfPt0a3K0}~j=O->^yq-o3N`M}Th^*u<xs79ox{mDVO
zpr7eU_cLM!9@SCgtkvfaqK>ubPV92#XAg$3;K``hXX|sHsAG$RL`*|?u$;sl;&uSP
zGh!P2z<zab<6$Xr>K=@k20zq!G~#;WModGdu%4E?gKQ+h&cQ}ZL#7bv;74mtj}g=0
z2Np-!lLv{vuH1-e$T+ssw6WC+WS0{orokyEXmM+UasqH6qX}<DB!a>Ed>!G>bRCbh
z&E6Q)3%C&pzBbw;bdNc0O}@(#^BJU8^HS4(p~I_o3k-q8{{a5xIi5c#G_3#t002ov
JPDHLkV1n4_KMeo?

literal 0
HcmV?d00001

diff --git a/src/initializeJointDynamics.m b/src/initializeJointDynamics.m
new file mode 100644
index 0000000..586a469
--- /dev/null
+++ b/src/initializeJointDynamics.m
@@ -0,0 +1,23 @@
+function [stewart] = initializeJointDynamics(stewart, args)
+% initializeJointDynamics - Add Stiffness and Damping properties for the spherical joints
+%
+% Syntax: [stewart] = initializeJointDynamics(args)
+%
+% Inputs:
+%    - args - Structure with the following fields:
+%        - Kri [6x1] - Rotational Stiffness for each spherical joints [N/rad]
+%        - Cri [6x1] - Damping of each spherical joint [N/(rad/s)]
+%
+% Outputs:
+%    - stewart - updated Stewart structure with the added fields:
+%        - Kri [6x1] - Rotational Stiffness for each spherical joints [N/rad]
+%        - Cri [6x1] - Damping of each spherical joint [N/(rad/s)]
+
+arguments
+    stewart
+    args.Kri (6,1) double {mustBeNumeric, mustBePositive} = zeros(6,1)
+    args.Cri (6,1) double {mustBeNumeric, mustBePositive} = zeros(6,1)
+end
+
+stewart.Kri = args.Kri;
+stewart.Cri = args.Cri;
diff --git a/stewart-architecture.html b/stewart-architecture.html
index 1cb20d3..b033165 100644
--- a/stewart-architecture.html
+++ b/stewart-architecture.html
@@ -1,11 +1,10 @@
 <?xml version="1.0" encoding="utf-8"?>
 <?xml version="1.0" encoding="utf-8"?>
-<?xml version="1.0" encoding="utf-8"?>
 <!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
 "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
 <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
 <head>
-<!-- 2020-01-27 lun. 17:41 -->
+<!-- 2020-01-28 mar. 17:13 -->
 <meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
 <meta name="viewport" content="width=device-width, initial-scale=1" />
 <title>Stewart Platform - Definition of the Architecture</title>
@@ -284,116 +283,104 @@ for the JavaScript code in this tag.
 <h2>Table of Contents</h2>
 <div id="text-table-of-contents">
 <ul>
-<li><a href="#orgca240c7">1. Procedure</a></li>
-<li><a href="#org86418be">2. Matlab Code</a>
+<li><a href="#org00e3f0e">1. Definition of the Stewart Platform Geometry</a>
 <ul>
-<li><a href="#org95a8af4">2.1. Simscape Model</a></li>
-<li><a href="#orge7772a8">2.2. Test the functions</a></li>
+<li><a href="#org1457a25">1.1. Frames Definition</a></li>
+<li><a href="#org32834dd">1.2. Location of the Spherical Joints</a></li>
+<li><a href="#org89adc42">1.3. Length and orientation of the struts</a></li>
+<li><a href="#org8144a48">1.4. Rest Position of the Stewart platform</a></li>
 </ul>
 </li>
-<li><a href="#orgf574cc3">3. <code>initializeFramesPositions</code>: Initialize the positions of frames {A}, {B}, {F} and {M}</a>
+<li><a href="#org76843a5">2. Definition of the Inertia and geometry of the Fixed base, Mobile platform and Struts</a>
 <ul>
-<li><a href="#orgb31e49e">3.1. Function description</a></li>
-<li><a href="#org7b8e6cc">3.2. Documentation</a></li>
-<li><a href="#orgdeba6d8">3.3. Optional Parameters</a></li>
-<li><a href="#orgc1bdcd1">3.4. Initialize the Stewart structure</a></li>
-<li><a href="#orga780117">3.5. Compute the position of each frame</a></li>
+<li><a href="#org17719cd">2.1. Inertia and Geometry of the Fixed and Mobile platforms</a></li>
+<li><a href="#org4b3d396">2.2. Inertia and Geometry of the struts</a></li>
 </ul>
 </li>
-<li><a href="#org89ec5b4">4. Initialize the position of the Joints</a>
+<li><a href="#org5d1e341">3. Definition of the stiffness and damping of the joints</a>
 <ul>
-<li><a href="#orgc3d5c40">4.1. <code>generateCubicConfiguration</code>: Generate a Cubic Configuration</a>
-<ul>
-<li><a href="#orgfbca2f8">4.1.1. Function description</a></li>
-<li><a href="#orgfcd09a5">4.1.2. Documentation</a></li>
-<li><a href="#org714652b">4.1.3. Optional Parameters</a></li>
-<li><a href="#orga0c06c2">4.1.4. Position of the Cube</a></li>
-<li><a href="#org8b1cfb2">4.1.5. Compute the pose</a></li>
+<li><a href="#org19983f8">3.1. Stiffness and Damping of the Actuator</a></li>
+<li><a href="#org0fd028a">3.2. Stiffness and Damping of the Spherical Joints</a></li>
 </ul>
 </li>
-<li><a href="#org32836d0">4.2. <code>generateGeneralConfiguration</code>: Generate a Very General Configuration</a>
+<li><a href="#org03f0bbd">4. Summary of the Initialization Procedure and Matlab Example</a>
 <ul>
-<li><a href="#org511b6d1">4.2.1. Function description</a></li>
-<li><a href="#orgb637703">4.2.2. Documentation</a></li>
-<li><a href="#orgabdf6ba">4.2.3. Optional Parameters</a></li>
-<li><a href="#orgf08cc15">4.2.4. Compute the pose</a></li>
+<li><a href="#org7200c81">4.1. Example of the initialization of a Stewart Platform</a></li>
 </ul>
 </li>
+<li><a href="#orgbd5d46e">5. Functions</a>
+<ul>
+<li><a href="#org0a6d53f">5.1. <code>initializeFramesPositions</code>: Initialize the positions of frames {A}, {B}, {F} and {M}</a>
+<ul>
+<li><a href="#org8f553b7">Function description</a></li>
+<li><a href="#org4e2c69e">Documentation</a></li>
+<li><a href="#org783c53d">Optional Parameters</a></li>
+<li><a href="#orge5fef0b">Initialize the Stewart structure</a></li>
+<li><a href="#orgd470608">Compute the position of each frame</a></li>
 </ul>
 </li>
-<li><a href="#org8d06987">5. <code>computeJointsPose</code>: Compute the Pose of the Joints</a>
+<li><a href="#orgc4af1c9">5.2. <code>generateCubicConfiguration</code>: Generate a Cubic Configuration</a>
 <ul>
-<li><a href="#orga74be1e">5.1. Function description</a></li>
-<li><a href="#orged612e9">5.2. Documentation</a></li>
-<li><a href="#orgdbc3b9e">5.3. Compute the position of the Joints</a></li>
-<li><a href="#org6636b9c">5.4. Compute the strut length and orientation</a></li>
-<li><a href="#orge378fdd">5.5. Compute the orientation of the Joints</a></li>
+<li><a href="#orga0db128">Function description</a></li>
+<li><a href="#orga8af8ce">Documentation</a></li>
+<li><a href="#orgf6dcdec">Optional Parameters</a></li>
+<li><a href="#orgc131adb">Position of the Cube</a></li>
+<li><a href="#org93497bc">Compute the pose</a></li>
 </ul>
 </li>
-<li><a href="#orge020103">6. <code>initializeStrutDynamics</code>: Add Stiffness and Damping properties of each strut</a>
+<li><a href="#org92d1e9c">5.3. <code>generateGeneralConfiguration</code>: Generate a Very General Configuration</a>
 <ul>
-<li><a href="#orgaf4897c">6.1. Function description</a></li>
-<li><a href="#org5335f58">6.2. Optional Parameters</a></li>
-<li><a href="#org3fd0b36">6.3. Add Stiffness and Damping properties of each strut</a></li>
+<li><a href="#orga59a0dd">Function description</a></li>
+<li><a href="#orgc06e7cd">Documentation</a></li>
+<li><a href="#orge595742">Optional Parameters</a></li>
+<li><a href="#org0900b6c">Compute the pose</a></li>
 </ul>
 </li>
-<li><a href="#org2b181fd">7. <code>computeJacobian</code>: Compute the Jacobian Matrix</a>
+<li><a href="#orgcb907cb">5.4. <code>computeJointsPose</code>: Compute the Pose of the Joints</a>
 <ul>
-<li><a href="#org7ede423">7.1. Function description</a></li>
-<li><a href="#org5097124">7.2. Compute Jacobian Matrix</a></li>
-<li><a href="#org99481a5">7.3. Compute Stiffness Matrix</a></li>
-<li><a href="#org472b8f6">7.4. Compute Compliance Matrix</a></li>
+<li><a href="#org7a962d0">Function description</a></li>
+<li><a href="#org0f67148">Documentation</a></li>
+<li><a href="#org143cb0c">Compute the position of the Joints</a></li>
+<li><a href="#org3deadf7">Compute the strut length and orientation</a></li>
+<li><a href="#org86e55af">Compute the orientation of the Joints</a></li>
 </ul>
 </li>
-<li><a href="#org42f859e">8. Initialize the Geometry of the Mechanical Elements</a>
+<li><a href="#orgb84b028">5.5. <code>initializeStewartPose</code>: Determine the initial stroke in each leg to have the wanted pose</a>
 <ul>
-<li><a href="#org15ddf0b">8.1. <code>initializeCylindricalPlatforms</code>: Initialize the geometry of the Fixed and Mobile Platforms</a>
-<ul>
-<li><a href="#orgf91e9a9">8.1.1. Function description</a></li>
-<li><a href="#org174fb57">8.1.2. Optional Parameters</a></li>
-<li><a href="#org20a37fd">8.1.3. Create the <code>platforms</code> struct</a></li>
-<li><a href="#org23aeb2f">8.1.4. Save the <code>platforms</code> struct</a></li>
+<li><a href="#orgb109209">Function description</a></li>
+<li><a href="#org52ec2e0">Optional Parameters</a></li>
+<li><a href="#org0900f1b">Use the Inverse Kinematic function</a></li>
 </ul>
 </li>
-<li><a href="#org08b9351">8.2. <code>initializeCylindricalStruts</code>: Define the mass and moment of inertia of cylindrical struts</a>
+<li><a href="#orgf5ee234">5.6. <code>initializeCylindricalPlatforms</code>: Initialize the geometry of the Fixed and Mobile Platforms</a>
 <ul>
-<li><a href="#orgcbfa79e">8.2.1. Function description</a></li>
-<li><a href="#org0555b5f">8.2.2. Optional Parameters</a></li>
-<li><a href="#org295542d">8.2.3. Create the <code>struts</code> structure</a></li>
+<li><a href="#org481c24f">Function description</a></li>
+<li><a href="#orgde51791">Optional Parameters</a></li>
+<li><a href="#orgf88a5fd">Create the <code>platforms</code> struct</a></li>
+<li><a href="#orgd9f983f">Save the <code>platforms</code> struct</a></li>
 </ul>
 </li>
+<li><a href="#orgfef124c">5.7. <code>initializeCylindricalStruts</code>: Define the inertia of cylindrical struts</a>
+<ul>
+<li><a href="#org27dec1b">Function description</a></li>
+<li><a href="#orgc83a3e8">Optional Parameters</a></li>
+<li><a href="#org2138482">Create the <code>struts</code> structure</a></li>
 </ul>
 </li>
-<li><a href="#orgb5f49ec">9. <code>initializeStewartPose</code>: Determine the initial stroke in each leg to have the wanted pose</a>
+<li><a href="#org971d4b2">5.8. <code>initializeStrutDynamics</code>: Add Stiffness and Damping properties of each strut</a>
 <ul>
-<li><a href="#org16bc1b7">9.1. Function description</a></li>
-<li><a href="#orgdcc1638">9.2. Optional Parameters</a></li>
-<li><a href="#org79580d6">9.3. Use the Inverse Kinematic function</a></li>
+<li><a href="#org15af79d">Function description</a></li>
+<li><a href="#orgbaa540a">Optional Parameters</a></li>
+<li><a href="#orgc3f6629">Add Stiffness and Damping properties of each strut</a></li>
 </ul>
 </li>
-<li><a href="#org7f49db4">10. Utility Functions</a>
+<li><a href="#org80070c4">5.9. <code>initializeJointDynamics</code>: Add Stiffness and Damping properties for spherical joints</a>
 <ul>
-<li><a href="#org5e1e7a4">10.1. <code>inverseKinematics</code>: Compute Inverse Kinematics</a>
-<ul>
-<li><a href="#org4a5b7c1">10.1.1. Function description</a></li>
-<li><a href="#org16c2586">10.1.2. Optional Parameters</a></li>
-<li><a href="#orgd1d1be1">10.1.3. Theory</a></li>
-<li><a href="#org8c782f7">10.1.4. Compute</a></li>
+<li><a href="#orga2113ea">Function description</a></li>
+<li><a href="#orga74cd19">Optional Parameters</a></li>
+<li><a href="#org043d632">Add Stiffness and Damping properties of each strut</a></li>
 </ul>
 </li>
-<li><a href="#org0570ed5">10.2. <code>forwardKinematicsApprox</code>: Compute the Forward Kinematics</a>
-<ul>
-<li><a href="#org23b424f">10.2.1. Function description</a></li>
-<li><a href="#org66c7154">10.2.2. Optional Parameters</a></li>
-<li><a href="#orge00b1b5">10.2.3. Computation</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li><a href="#org2a131cd">11. Other Elements</a>
-<ul>
-<li><a href="#org0150942">11.1. Z-Axis Geophone</a></li>
-<li><a href="#org502059d">11.2. Z-Axis Accelerometer</a></li>
 </ul>
 </li>
 </ul>
@@ -401,25 +388,108 @@ for the JavaScript code in this tag.
 </div>
 
 <p>
-Stewart platforms are generated in multiple steps.
+In this document is explained how the Stewart Platform architecture is defined.
 </p>
 
 <p>
-We define 4 important <b>frames</b>:
+Some efforts has been made such that the procedure for the definition of the Stewart Platform architecture is as logical and clear as possible.
+</p>
+
+<p>
+When possible, the notations are compatible with the one used in <a class='org-ref-reference' href="#taghirad13_paral">taghirad13_paral</a>.
+</p>
+
+<p>
+The definition of the Stewart platform is done in three main parts:
+</p>
+<ul class="org-ul">
+<li>First, the geometry if defined (Section <a href="#org4196fde">1</a>)</li>
+<li>Then, the inertia of the mechanical elements are defined (Section <a href="#orgf6ef133">2</a>)</li>
+<li>Finally, the Stiffness and Damping characteristics of the elements are defined (Section <a href="#orgbf0cbc6">3</a>)</li>
+</ul>
+
+<p>
+In section <a href="#org155b73b">4</a>, the procedure the initialize the Stewart platform is summarize and the associated Matlab code is shown.
+</p>
+
+<p>
+Finally, all the Matlab function used to initialize the Stewart platform are described in section <a href="#orgfc65d48">5</a>.
+</p>
+
+<div id="outline-container-org00e3f0e" class="outline-2">
+<h2 id="org00e3f0e"><span class="section-number-2">1</span> Definition of the Stewart Platform Geometry</h2>
+<div class="outline-text-2" id="text-1">
+<p>
+<a id="org4196fde"></a>
+</p>
+<p>
+Stewart platforms are generated in multiple steps:
+</p>
+<ul class="org-ul">
+<li>Definition of the frames</li>
+<li>Definition of the location of the joints</li>
+<li>Computation of the length and orientation of the struts</li>
+<li>Choice of the rest position of the mobile platform</li>
+</ul>
+
+<p>
+This steps are detailed below.
+</p>
+</div>
+<div id="outline-container-org1457a25" class="outline-3">
+<h3 id="org1457a25"><span class="section-number-3">1.1</span> Frames Definition</h3>
+<div class="outline-text-3" id="text-1-1">
+<p>
+We define 4 important <b>frames</b> (see Figure <a href="#org09992e5">1</a>):
 </p>
 <ul class="org-ul">
 <li>\(\{F\}\): Frame fixed to the <b>Fixed</b> base and located at the center of its bottom surface.
 This is used to fix the Stewart platform to some support.</li>
 <li>\(\{M\}\): Frame fixed to the <b>Moving</b> platform and located at the center of its top surface.
 This is used to place things on top of the Stewart platform.</li>
-<li>\(\{A\}\): Frame fixed to the fixed base.
-It defined the center of rotation of the moving platform.</li>
-<li>\(\{B\}\): Frame fixed to the moving platform.
-The motion of the moving platforms and forces applied to it are defined with respect to this frame \(\{B\}\).</li>
+<li>\(\{A\}\): Frame fixed to the fixed base.</li>
+<li>\(\{B\}\): Frame fixed to the moving platform.</li>
 </ul>
 
 <p>
-Then, we define the <b>location of the spherical joints</b>:
+Even though frames \(\{A\}\) and \(\{B\}\) don&rsquo;t usually correspond to physical elements, they are of primary importance.
+Firstly, they are used for the definition of the motion of the Mobile platform with respect to the fixed frame:
+</p>
+<ul class="org-ul">
+<li>In position: \({}^A\bm{P}_{B}\) (read: Position of frame \(\{B\}\) expressed in frame \(\{A\}\))</li>
+<li>In rotation: \({}^A\bm{R}_{B}\) (read: The rotation matrix that express the orientation of frame \(\{B\}\) expressed in frame \(\{A\}\))</li>
+</ul>
+<p>
+The frames \(\{A\}\) and \(\{B\}\) are used for all the kinematic analysis (Jacobian, Stiffness matrix, &#x2026;).
+</p>
+
+<p>
+Typical choice of \(\{A\}\) and \(\{B\}\) are:
+</p>
+<ul class="org-ul">
+<li>Center of mass of the payload</li>
+<li>Location where external forces are applied to the mobile platform (for instance when the mobile platform is in contact with a stiff environment)</li>
+<li>Center of the cube for the cubic configuration</li>
+</ul>
+
+<p>
+The definition of the frames is done with the <code>initializeFramesPositions</code> function (<a href="#org6e9d4f6">link</a>);
+</p>
+
+
+<div id="org09992e5" class="figure">
+<p><img src="figs/frame_definition.png" alt="frame_definition.png" width="500px" />
+</p>
+<p><span class="figure-number">Figure 1: </span>Definition of the Frames for the Stewart Platform</p>
+</div>
+</div>
+</div>
+
+<div id="outline-container-org32834dd" class="outline-3">
+<h3 id="org32834dd"><span class="section-number-3">1.2</span> Location of the Spherical Joints</h3>
+<div class="outline-text-3" id="text-1-2">
+<p>
+Then, we define the <b>location of the spherical joints</b> (see Figure <a href="#org8501f58">2</a>):
 </p>
 <ul class="org-ul">
 <li>\(\bm{a}_{i}\) are the position of the spherical joints fixed to the fixed base</li>
@@ -427,49 +497,180 @@ Then, we define the <b>location of the spherical joints</b>:
 </ul>
 
 <p>
-We define the <b>rest position</b> of the Stewart platform:
+The location of the joints will define the Geometry of the Stewart platform.
+Many characteristics of the platform depend on the location of the joints.
+</p>
+
+<p>
+The location of the joints can be set to arbitrary positions (function <code>generateGeneralConfiguration</code> described <a href="#org867e45c">here</a>) or can be computed to obtain specific configurations such as:
 </p>
 <ul class="org-ul">
-<li>For simplicity, we suppose that the fixed base and the moving platform are parallel and aligned with the vertical axis at their rest position.</li>
-<li>Thus, to define the rest position of the Stewart platform, we just have to defined its total height \(H\).
-\(H\) corresponds to the distance from the bottom of the fixed base to the top of the moving platform.</li>
+<li>A cubic configuration: function <code>generateCubicConfiguration</code> (<a href="#org4125fbc">link</a>).</li>
+<li>A symmetrical configuration</li>
 </ul>
 
 <p>
-From \(\bm{a}_{i}\) and \(\bm{b}_{i}\), we can determine the <b>length and orientation of each strut</b>:
+The location of the spherical joints are then given by \({}^{F}\bm{a}_{i}\) and \({}^{M}\bm{b}_{i}\).
+</p>
+
+
+<div id="org8501f58" class="figure">
+<p><img src="figs/joint_location.png" alt="joint_location.png" width="500px" />
+</p>
+<p><span class="figure-number">Figure 2: </span>Position of the Spherical/Universal joints for the Stewart Platform</p>
+</div>
+</div>
+</div>
+
+<div id="outline-container-org89adc42" class="outline-3">
+<h3 id="org89adc42"><span class="section-number-3">1.3</span> Length and orientation of the struts</h3>
+<div class="outline-text-3" id="text-1-3">
+<p>
+From the location of the joints (\({}^{F}\bm{a}_{i}\) and \({}^{M}\bm{b}_{i}\)), we compute the length \(l_i\) and orientation of each strut \(\hat{\bm{s}}_i\) (unit vector aligned with the strut).
+The length and orientation of each strut is represented in figure <a href="#orga64d353">3</a>.
+</p>
+
+<p>
+This is done with the <code>computeJointsPose</code> function (<a href="#org23de000">link</a>).
+</p>
+
+
+<div id="orga64d353" class="figure">
+<p><img src="figs/length_orientation_struts.png" alt="length_orientation_struts.png" width="500px" />
+</p>
+<p><span class="figure-number">Figure 3: </span>Length \(l_i\) and orientation \(\hat{\bm{s}}_i\) of the Stewart platform struts</p>
+</div>
+</div>
+</div>
+
+<div id="outline-container-org8144a48" class="outline-3">
+<h3 id="org8144a48"><span class="section-number-3">1.4</span> Rest Position of the Stewart platform</h3>
+<div class="outline-text-3" id="text-1-4">
+<p>
+We may want to initialize the Stewart platform in some position and orientation that corresponds to its rest position.
+</p>
+
+<p>
+To do so, we choose:
 </p>
 <ul class="org-ul">
-<li>\(l_{i}\) is the length of the strut</li>
-<li>\({}^{A}\hat{\bm{s}}_{i}\) is the unit vector align with the strut</li>
+<li>the position of \(O_B\) expressed in \(\{A\}\) using \({}^AP\)</li>
+<li>the orientation of \(\{B\}\) expressed in \(\{A\}\) using a rotation matrix \({}^{A}R_{B}\)</li>
 </ul>
 
 <p>
-The position of the Spherical joints can be computed using various methods:
+Then, the function <code>initializeStewartPose</code> (<a href="#orgf18df21">link</a>) compute the corresponding initial and rest position of each of the strut.
+</p>
+</div>
+</div>
+</div>
+
+<div id="outline-container-org76843a5" class="outline-2">
+<h2 id="org76843a5"><span class="section-number-2">2</span> Definition of the Inertia and geometry of the Fixed base, Mobile platform and Struts</h2>
+<div class="outline-text-2" id="text-2">
+<p>
+<a id="orgf6ef133"></a>
+</p>
+<p>
+Now that the geometry of the Stewart platform has been defined, we have to choose the inertia of:
 </p>
 <ul class="org-ul">
-<li>Cubic configuration</li>
-<li>Circular configuration</li>
-<li>Arbitrary position</li>
-<li>These methods should be easily scriptable and corresponds to specific functions that returns \({}^{F}\bm{a}_{i}\) and \({}^{M}\bm{b}_{i}\).
-The input of these functions are the parameters corresponding to the wanted geometry.</li>
+<li>The Fixed base</li>
+<li>The Mobile platform</li>
+<li>The two parts of the struts</li>
 </ul>
 
 <p>
-For Simscape, we need:
+The inertia of these elements will modify the dynamics of the systems.
+It is thus important to set them properly.
+</p>
+</div>
+<div id="outline-container-org17719cd" class="outline-3">
+<h3 id="org17719cd"><span class="section-number-3">2.1</span> Inertia and Geometry of the Fixed and Mobile platforms</h3>
+<div class="outline-text-3" id="text-2-1">
+<p>
+In order to set the inertia of the fixed and mobile platforms, we can use the following function that assume that both platforms are cylindrical:
 </p>
 <ul class="org-ul">
-<li>The position and orientation of each spherical joint fixed to the fixed base: \({}^{F}\bm{a}_{i}\) and \({}^{F}\bm{R}_{a_{i}}\)</li>
-<li>The position and orientation of each spherical joint fixed to the moving platform: \({}^{M}\bm{b}_{i}\) and \({}^{M}\bm{R}_{b_{i}}\)</li>
-<li>The rest length of each strut: \(l_{i}\)</li>
-<li>The stiffness and damping of each actuator: \(k_{i}\) and \(c_{i}\)</li>
-<li>The position of the frame \(\{A\}\) with respect to the frame \(\{F\}\): \({}^{F}\bm{O}_{A}\)</li>
-<li>The position of the frame \(\{B\}\) with respect to the frame \(\{M\}\): \({}^{M}\bm{O}_{B}\)</li>
+<li><code>initializeCylindricalPlatforms</code> (<a href="#org773abb5">link</a>): by choosing the height, radius and mass of the platforms, it computes the inertia matrix that will be used for simulation</li>
+</ul>
+</div>
+</div>
+
+<div id="outline-container-org4b3d396" class="outline-3">
+<h3 id="org4b3d396"><span class="section-number-3">2.2</span> Inertia and Geometry of the struts</h3>
+<div class="outline-text-3" id="text-2-2">
+<p>
+Similarly for the struts, we suppose here that they have a cylindrical shape.
+They are initialize with the following function:
+</p>
+<ul class="org-ul">
+<li><code>initializeCylindricalStruts</code> (<a href="#orga0d2b7f">link</a>): the two parts of each strut are supposed to by cylindrical. We can set the mass and geometry of both strut parts.</li>
+</ul>
+</div>
+</div>
+</div>
+
+<div id="outline-container-org5d1e341" class="outline-2">
+<h2 id="org5d1e341"><span class="section-number-2">3</span> Definition of the stiffness and damping of the joints</h2>
+<div class="outline-text-2" id="text-3">
+<p>
+<a id="orgbf0cbc6"></a>
+</p>
+<p>
+The global stiffness and damping of the Stewart platform depends on its geometry but also on the stiffness and damping of:
+</p>
+<ul class="org-ul">
+<li>the actuator because of the finite stiffness of the actuator / linear guide</li>
+<li>the spherical joints</li>
+</ul>
+</div>
+
+<div id="outline-container-org19983f8" class="outline-3">
+<h3 id="org19983f8"><span class="section-number-3">3.1</span> Stiffness and Damping of the Actuator</h3>
+<div class="outline-text-3" id="text-3-1">
+<p>
+Each Actuator is modeled by 3 elements in parallel (Figure <a href="#org654f3a8">4</a>):
+</p>
+<ul class="org-ul">
+<li>A spring with a stiffness \(k_{i}\)</li>
+<li>A dashpot with a damping \(c_{i}\)</li>
+<li>An ideal force actuator</li>
 </ul>
 
 
-<div id="outline-container-orgca240c7" class="outline-2">
-<h2 id="orgca240c7"><span class="section-number-2">1</span> Procedure</h2>
-<div class="outline-text-2" id="text-1">
+<div id="org654f3a8" class="figure">
+<p><img src="figs/stewart_platform_actuator.png" alt="stewart_platform_actuator.png" />
+</p>
+<p><span class="figure-number">Figure 4: </span>Model of the Stewart platform actuator</p>
+</div>
+
+<p>
+The initialization of the stiffness and damping properties of the actuators is done with the <code>initializeStrutDynamics</code> (<a href="#org9dec0d6">link</a>).
+</p>
+</div>
+</div>
+
+<div id="outline-container-org0fd028a" class="outline-3">
+<h3 id="org0fd028a"><span class="section-number-3">3.2</span> Stiffness and Damping of the Spherical Joints</h3>
+<div class="outline-text-3" id="text-3-2">
+<p>
+Even though we often suppose that the spherical joint are perfect in the sense that we neglect its stiffness and damping, we can set some rotation stiffness and damping of each of the spherical/universal joints.
+</p>
+
+<p>
+This is done with the <code>initializeJointDynamics</code> function (<a href="#orgf228861">link</a>).
+</p>
+</div>
+</div>
+</div>
+
+<div id="outline-container-org03f0bbd" class="outline-2">
+<h2 id="org03f0bbd"><span class="section-number-2">4</span> Summary of the Initialization Procedure and Matlab Example</h2>
+<div class="outline-text-2" id="text-4">
+<p>
+<a id="org155b73b"></a>
+</p>
 <p>
 The procedure to define the Stewart platform is the following:
 </p>
@@ -483,61 +684,67 @@ We can do that using various methods depending on the wanted architecture:
 <li><code>generateCubicConfiguration</code> permits to generate a cubic configuration</li>
 </ul></li>
 <li>Compute the position and orientation of the joints with respect to the fixed base and the moving platform.
-This is done with the <code>computeJointsPose</code> function.</li>
-<li>Define the dynamical properties of the Stewart platform.
-The output are the stiffness and damping of each strut \(k_{i}\) and \(c_{i}\).
-This can be done we simply choosing directly the stiffness and damping of each strut.
-The stiffness and damping of each actuator can also be determine from the wanted stiffness of the Stewart platform for instance.</li>
-<li>Define the mass and inertia of each element of the Stewart platform.</li>
+This is done with the <code>computeJointsPose</code> function.
+If wanted, compute the rest position of each strut to have the wanted pose of the mobile platform with the function <code>initializeStewartPose</code>.</li>
+<li>Define the mass and inertia of each element of the Stewart platform with the <code>initializeCylindricalPlatforms</code> and <code>initializeCylindricalStruts</code></li>
+<li>Define the dynamical properties of the Stewart platform by setting the stiffness and damping of the actuators and joints.</li>
 </ol>
 
 <p>
 By following this procedure, we obtain a Matlab structure <code>stewart</code> that contains all the information for the Simscape model and for further analysis.
 </p>
 </div>
-</div>
-
-<div id="outline-container-org86418be" class="outline-2">
-<h2 id="org86418be"><span class="section-number-2">2</span> Matlab Code</h2>
-<div class="outline-text-2" id="text-2">
-</div>
-<div id="outline-container-org95a8af4" class="outline-3">
-<h3 id="org95a8af4"><span class="section-number-3">2.1</span> Simscape Model</h3>
-<div class="outline-text-3" id="text-2-1">
-<div class="org-src-container">
-<pre class="src src-matlab">open(<span class="org-string">'stewart_platform.slx'</span>)
-</pre>
-</div>
-</div>
-</div>
-
-<div id="outline-container-orge7772a8" class="outline-3">
-<h3 id="orge7772a8"><span class="section-number-3">2.2</span> Test the functions</h3>
-<div class="outline-text-3" id="text-2-2">
+<div id="outline-container-org7200c81" class="outline-3">
+<h3 id="org7200c81"><span class="section-number-3">4.1</span> Example of the initialization of a Stewart Platform</h3>
+<div class="outline-text-3" id="text-4-1">
+<p>
+Let&rsquo;s first define the Stewart Platform Geometry.
+</p>
 <div class="org-src-container">
 <pre class="src src-matlab">stewart = initializeFramesPositions(<span class="org-string">'H'</span>, 90e<span class="org-type">-</span>3, <span class="org-string">'MO_B'</span>, 45e<span class="org-type">-</span>3);
-<span class="org-comment">% stewart = generateCubicConfiguration(stewart, 'Hc', 60e-3, 'FOc', 45e-3, 'FHa', 5e-3, 'MHb', 5e-3);</span>
 stewart = generateGeneralConfiguration(stewart);
 stewart = computeJointsPose(stewart);
-stewart = initializeStrutDynamics(stewart, <span class="org-string">'Ki'</span>, 1e6<span class="org-type">*</span>ones(6,1), <span class="org-string">'Ci'</span>, 1e2<span class="org-type">*</span>ones(6,1));
-stewart = initializeCylindricalPlatforms(stewart);
-stewart = initializeCylindricalStruts(stewart);
-stewart = computeJacobian(stewart);
 stewart = initializeStewartPose(stewart, <span class="org-string">'AP'</span>, [0;0;0.01], <span class="org-string">'ARB'</span>, eye(3));
-
-[Li, dLi] = inverseKinematics(stewart, <span class="org-string">'AP'</span>, [0;0;0.00001], <span class="org-string">'ARB'</span>, eye(3));
-[P, R] = forwardKinematicsApprox(stewart, <span class="org-string">'dL'</span>, dLi);
 </pre>
 </div>
+
+<p>
+Then, define the inertia and geometry of the fixed base, mobile platform and struts.
+</p>
+<div class="org-src-container">
+<pre class="src src-matlab">stewart = initializeCylindricalPlatforms(stewart);
+stewart = initializeCylindricalStruts(stewart);
+</pre>
+</div>
+
+<p>
+Finally, initialize the strut stiffness and damping properties.
+</p>
+<div class="org-src-container">
+<pre class="src src-matlab">stewart = initializeStrutDynamics(stewart, <span class="org-string">'Ki'</span>, 1e6<span class="org-type">*</span>ones(6,1), <span class="org-string">'Ci'</span>, 1e2<span class="org-type">*</span>ones(6,1));
+stewart = initializeJointDynamics(stewart, <span class="org-string">'Ksi'</span>, zeros(6,1), <span class="org-string">'Csi'</span>, zeros(6,1));
+</pre>
+</div>
+
+<p>
+The obtained <code>stewart</code> Matlab structure contains all the information for analysis of the Stewart platform and for simulations using Simscape.
+</p>
 </div>
 </div>
 </div>
 
-<div id="outline-container-orgf574cc3" class="outline-2">
-<h2 id="orgf574cc3"><span class="section-number-2">3</span> <code>initializeFramesPositions</code>: Initialize the positions of frames {A}, {B}, {F} and {M}</h2>
-<div class="outline-text-2" id="text-3">
+<div id="outline-container-orgbd5d46e" class="outline-2">
+<h2 id="orgbd5d46e"><span class="section-number-2">5</span> Functions</h2>
+<div class="outline-text-2" id="text-5">
 <p>
-<a id="org3a0ea63"></a>
+<a id="orgfc65d48"></a>
+</p>
+</div>
+<div id="outline-container-org0a6d53f" class="outline-3">
+<h3 id="org0a6d53f"><span class="section-number-3">5.1</span> <code>initializeFramesPositions</code>: Initialize the positions of frames {A}, {B}, {F} and {M}</h3>
+<div class="outline-text-3" id="text-5-1">
+<p>
+<a id="org6e9d4f6"></a>
 </p>
 
 <p>
@@ -545,9 +752,9 @@ This Matlab function is accessible <a href="src/initializeFramesPositions.m">her
 </p>
 </div>
 
-<div id="outline-container-orgb31e49e" class="outline-3">
-<h3 id="orgb31e49e"><span class="section-number-3">3.1</span> Function description</h3>
-<div class="outline-text-3" id="text-3-1">
+<div id="outline-container-org8f553b7" class="outline-4">
+<h4 id="org8f553b7">Function description</h4>
+<div class="outline-text-4" id="text-org8f553b7">
 <div class="org-src-container">
 <pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeFramesPositions</span>(<span class="org-variable-name">args</span>)
 <span class="org-comment">% initializeFramesPositions - Initialize the positions of frames {A}, {B}, {F} and {M}</span>
@@ -570,21 +777,21 @@ This Matlab function is accessible <a href="src/initializeFramesPositions.m">her
 </div>
 </div>
 
-<div id="outline-container-org7b8e6cc" class="outline-3">
-<h3 id="org7b8e6cc"><span class="section-number-3">3.2</span> Documentation</h3>
-<div class="outline-text-3" id="text-3-2">
+<div id="outline-container-org4e2c69e" class="outline-4">
+<h4 id="org4e2c69e">Documentation</h4>
+<div class="outline-text-4" id="text-org4e2c69e">
 
-<div id="orga050617" class="figure">
+<div id="orge2b11c8" class="figure">
 <p><img src="figs/stewart-frames-position.png" alt="stewart-frames-position.png" />
 </p>
-<p><span class="figure-number">Figure 1: </span>Definition of the position of the frames</p>
+<p><span class="figure-number">Figure 5: </span>Definition of the position of the frames</p>
 </div>
 </div>
 </div>
 
-<div id="outline-container-orgdeba6d8" class="outline-3">
-<h3 id="orgdeba6d8"><span class="section-number-3">3.3</span> Optional Parameters</h3>
-<div class="outline-text-3" id="text-3-3">
+<div id="outline-container-org783c53d" class="outline-4">
+<h4 id="org783c53d">Optional Parameters</h4>
+<div class="outline-text-4" id="text-org783c53d">
 <div class="org-src-container">
 <pre class="src src-matlab">arguments
     args.H    (1,1) double {mustBeNumeric, mustBePositive} = 90e<span class="org-type">-</span>3
@@ -595,9 +802,9 @@ This Matlab function is accessible <a href="src/initializeFramesPositions.m">her
 </div>
 </div>
 
-<div id="outline-container-orgc1bdcd1" class="outline-3">
-<h3 id="orgc1bdcd1"><span class="section-number-3">3.4</span> Initialize the Stewart structure</h3>
-<div class="outline-text-3" id="text-3-4">
+<div id="outline-container-orge5fef0b" class="outline-4">
+<h4 id="orge5fef0b">Initialize the Stewart structure</h4>
+<div class="outline-text-4" id="text-orge5fef0b">
 <div class="org-src-container">
 <pre class="src src-matlab">stewart = struct();
 </pre>
@@ -605,9 +812,9 @@ This Matlab function is accessible <a href="src/initializeFramesPositions.m">her
 </div>
 </div>
 
-<div id="outline-container-orga780117" class="outline-3">
-<h3 id="orga780117"><span class="section-number-3">3.5</span> Compute the position of each frame</h3>
-<div class="outline-text-3" id="text-3-5">
+<div id="outline-container-orgd470608" class="outline-4">
+<h4 id="orgd470608">Compute the position of each frame</h4>
+<div class="outline-text-4" id="text-orgd470608">
 <div class="org-src-container">
 <pre class="src src-matlab">stewart.H = args.H; <span class="org-comment">% Total Height of the Stewart Platform [m]</span>
 
@@ -622,15 +829,11 @@ stewart.FO_A = stewart.MO_B <span class="org-type">+</span> stewart.FO_M; <span
 </div>
 </div>
 
-<div id="outline-container-org89ec5b4" class="outline-2">
-<h2 id="org89ec5b4"><span class="section-number-2">4</span> Initialize the position of the Joints</h2>
-<div class="outline-text-2" id="text-4">
-</div>
-<div id="outline-container-orgc3d5c40" class="outline-3">
-<h3 id="orgc3d5c40"><span class="section-number-3">4.1</span> <code>generateCubicConfiguration</code>: Generate a Cubic Configuration</h3>
-<div class="outline-text-3" id="text-4-1">
+<div id="outline-container-orgc4af1c9" class="outline-3">
+<h3 id="orgc4af1c9"><span class="section-number-3">5.2</span> <code>generateCubicConfiguration</code>: Generate a Cubic Configuration</h3>
+<div class="outline-text-3" id="text-5-2">
 <p>
-<a id="org0e617ce"></a>
+<a id="org4125fbc"></a>
 </p>
 
 <p>
@@ -638,9 +841,9 @@ This Matlab function is accessible <a href="src/generateCubicConfiguration.m">he
 </p>
 </div>
 
-<div id="outline-container-orgfbca2f8" class="outline-4">
-<h4 id="orgfbca2f8"><span class="section-number-4">4.1.1</span> Function description</h4>
-<div class="outline-text-4" id="text-4-1-1">
+<div id="outline-container-orga0db128" class="outline-4">
+<h4 id="orga0db128">Function description</h4>
+<div class="outline-text-4" id="text-orga0db128">
 <div class="org-src-container">
 <pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">generateCubicConfiguration</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
 <span class="org-comment">% generateCubicConfiguration - Generate a Cubic Configuration</span>
@@ -665,21 +868,21 @@ This Matlab function is accessible <a href="src/generateCubicConfiguration.m">he
 </div>
 </div>
 
-<div id="outline-container-orgfcd09a5" class="outline-4">
-<h4 id="orgfcd09a5"><span class="section-number-4">4.1.2</span> Documentation</h4>
-<div class="outline-text-4" id="text-4-1-2">
+<div id="outline-container-orga8af8ce" class="outline-4">
+<h4 id="orga8af8ce">Documentation</h4>
+<div class="outline-text-4" id="text-orga8af8ce">
 
-<div id="org7c2df93" class="figure">
+<div id="org0282af9" class="figure">
 <p><img src="figs/cubic-configuration-definition.png" alt="cubic-configuration-definition.png" />
 </p>
-<p><span class="figure-number">Figure 2: </span>Cubic Configuration</p>
+<p><span class="figure-number">Figure 6: </span>Cubic Configuration</p>
 </div>
 </div>
 </div>
 
-<div id="outline-container-org714652b" class="outline-4">
-<h4 id="org714652b"><span class="section-number-4">4.1.3</span> Optional Parameters</h4>
-<div class="outline-text-4" id="text-4-1-3">
+<div id="outline-container-orgf6dcdec" class="outline-4">
+<h4 id="orgf6dcdec">Optional Parameters</h4>
+<div class="outline-text-4" id="text-orgf6dcdec">
 <div class="org-src-container">
 <pre class="src src-matlab">arguments
     stewart
@@ -693,9 +896,9 @@ This Matlab function is accessible <a href="src/generateCubicConfiguration.m">he
 </div>
 </div>
 
-<div id="outline-container-orga0c06c2" class="outline-4">
-<h4 id="orga0c06c2"><span class="section-number-4">4.1.4</span> Position of the Cube</h4>
-<div class="outline-text-4" id="text-4-1-4">
+<div id="outline-container-orgc131adb" class="outline-4">
+<h4 id="orgc131adb">Position of the Cube</h4>
+<div class="outline-text-4" id="text-orgc131adb">
 <p>
 We define the useful points of the cube with respect to the Cube&rsquo;s center.
 \({}^{C}C\) are the 6 vertices of the cubes expressed in a frame {C} which is
@@ -720,9 +923,9 @@ CCm = [Cc(<span class="org-type">:</span>,2), Cc(<span class="org-type">:</span>
 </div>
 </div>
 
-<div id="outline-container-org8b1cfb2" class="outline-4">
-<h4 id="org8b1cfb2"><span class="section-number-4">4.1.5</span> Compute the pose</h4>
-<div class="outline-text-4" id="text-4-1-5">
+<div id="outline-container-org93497bc" class="outline-4">
+<h4 id="org93497bc">Compute the pose</h4>
+<div class="outline-text-4" id="text-org93497bc">
 <p>
 We can compute the vector of each leg \({}^{C}\hat{\bm{s}}_{i}\) (unit vector from \({}^{C}C_{f}\) to \({}^{C}C_{m}\)).
 </p>
@@ -743,11 +946,11 @@ stewart.Mb = CCf <span class="org-type">+</span> [0; 0; args.FOc<span class="org
 </div>
 </div>
 
-<div id="outline-container-org32836d0" class="outline-3">
-<h3 id="org32836d0"><span class="section-number-3">4.2</span> <code>generateGeneralConfiguration</code>: Generate a Very General Configuration</h3>
-<div class="outline-text-3" id="text-4-2">
+<div id="outline-container-org92d1e9c" class="outline-3">
+<h3 id="org92d1e9c"><span class="section-number-3">5.3</span> <code>generateGeneralConfiguration</code>: Generate a Very General Configuration</h3>
+<div class="outline-text-3" id="text-5-3">
 <p>
-<a id="orgf5e3752"></a>
+<a id="org867e45c"></a>
 </p>
 
 <p>
@@ -755,9 +958,9 @@ This Matlab function is accessible <a href="src/generateGeneralConfiguration.m">
 </p>
 </div>
 
-<div id="outline-container-org511b6d1" class="outline-4">
-<h4 id="org511b6d1"><span class="section-number-4">4.2.1</span> Function description</h4>
-<div class="outline-text-4" id="text-4-2-1">
+<div id="outline-container-orga59a0dd" class="outline-4">
+<h4 id="orga59a0dd">Function description</h4>
+<div class="outline-text-4" id="text-orga59a0dd">
 <div class="org-src-container">
 <pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">generateGeneralConfiguration</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
 <span class="org-comment">% generateGeneralConfiguration - Generate a Very General Configuration</span>
@@ -782,9 +985,9 @@ This Matlab function is accessible <a href="src/generateGeneralConfiguration.m">
 </div>
 </div>
 
-<div id="outline-container-orgb637703" class="outline-4">
-<h4 id="orgb637703"><span class="section-number-4">4.2.2</span> Documentation</h4>
-<div class="outline-text-4" id="text-4-2-2">
+<div id="outline-container-orgc06e7cd" class="outline-4">
+<h4 id="orgc06e7cd">Documentation</h4>
+<div class="outline-text-4" id="text-orgc06e7cd">
 <p>
 Joints are positions on a circle centered with the Z axis of {F} and {M} and at a chosen distance from {F} and {M}.
 The radius of the circles can be chosen as well as the angles where the joints are located.
@@ -792,9 +995,9 @@ The radius of the circles can be chosen as well as the angles where the joints a
 </div>
 </div>
 
-<div id="outline-container-orgabdf6ba" class="outline-4">
-<h4 id="orgabdf6ba"><span class="section-number-4">4.2.3</span> Optional Parameters</h4>
-<div class="outline-text-4" id="text-4-2-3">
+<div id="outline-container-orge595742" class="outline-4">
+<h4 id="orge595742">Optional Parameters</h4>
+<div class="outline-text-4" id="text-orge595742">
 <div class="org-src-container">
 <pre class="src src-matlab">arguments
     stewart
@@ -810,9 +1013,9 @@ The radius of the circles can be chosen as well as the angles where the joints a
 </div>
 </div>
 
-<div id="outline-container-orgf08cc15" class="outline-4">
-<h4 id="orgf08cc15"><span class="section-number-4">4.2.4</span> Compute the pose</h4>
-<div class="outline-text-4" id="text-4-2-4">
+<div id="outline-container-org0900b6c" class="outline-4">
+<h4 id="org0900b6c">Compute the pose</h4>
+<div class="outline-text-4" id="text-org0900b6c">
 <div class="org-src-container">
 <pre class="src src-matlab">stewart.Fa = zeros(3,6);
 stewart.Mb = zeros(3,6);
@@ -829,13 +1032,12 @@ stewart.Mb = zeros(3,6);
 </div>
 </div>
 </div>
-</div>
 
-<div id="outline-container-org8d06987" class="outline-2">
-<h2 id="org8d06987"><span class="section-number-2">5</span> <code>computeJointsPose</code>: Compute the Pose of the Joints</h2>
-<div class="outline-text-2" id="text-5">
+<div id="outline-container-orgcb907cb" class="outline-3">
+<h3 id="orgcb907cb"><span class="section-number-3">5.4</span> <code>computeJointsPose</code>: Compute the Pose of the Joints</h3>
+<div class="outline-text-3" id="text-5-4">
 <p>
-<a id="org89bede3"></a>
+<a id="org23de000"></a>
 </p>
 
 <p>
@@ -843,9 +1045,9 @@ This Matlab function is accessible <a href="src/computeJointsPose.m">here</a>.
 </p>
 </div>
 
-<div id="outline-container-orga74be1e" class="outline-3">
-<h3 id="orga74be1e"><span class="section-number-3">5.1</span> Function description</h3>
-<div class="outline-text-3" id="text-5-1">
+<div id="outline-container-org7a962d0" class="outline-4">
+<h4 id="org7a962d0">Function description</h4>
+<div class="outline-text-4" id="text-org7a962d0">
 <div class="org-src-container">
 <pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">computeJointsPose</span>(<span class="org-variable-name">stewart</span>)
 <span class="org-comment">% computeJointsPose -</span>
@@ -876,21 +1078,21 @@ This Matlab function is accessible <a href="src/computeJointsPose.m">here</a>.
 </div>
 </div>
 
-<div id="outline-container-orged612e9" class="outline-3">
-<h3 id="orged612e9"><span class="section-number-3">5.2</span> Documentation</h3>
-<div class="outline-text-3" id="text-5-2">
+<div id="outline-container-org0f67148" class="outline-4">
+<h4 id="org0f67148">Documentation</h4>
+<div class="outline-text-4" id="text-org0f67148">
 
-<div id="org722b220" class="figure">
+<div id="orgcd41ac6" class="figure">
 <p><img src="figs/stewart-struts.png" alt="stewart-struts.png" />
 </p>
-<p><span class="figure-number">Figure 3: </span>Position and orientation of the struts</p>
+<p><span class="figure-number">Figure 7: </span>Position and orientation of the struts</p>
 </div>
 </div>
 </div>
 
-<div id="outline-container-orgdbc3b9e" class="outline-3">
-<h3 id="orgdbc3b9e"><span class="section-number-3">5.3</span> Compute the position of the Joints</h3>
-<div class="outline-text-3" id="text-5-3">
+<div id="outline-container-org143cb0c" class="outline-4">
+<h4 id="org143cb0c">Compute the position of the Joints</h4>
+<div class="outline-text-4" id="text-org143cb0c">
 <div class="org-src-container">
 <pre class="src src-matlab">stewart.Aa = stewart.Fa <span class="org-type">-</span> repmat(stewart.FO_A, [1, 6]);
 stewart.Bb = stewart.Mb <span class="org-type">-</span> repmat(stewart.MO_B, [1, 6]);
@@ -902,9 +1104,9 @@ stewart.Ba = stewart.Aa <span class="org-type">-</span> repmat( stewart.MO_B<spa
 </div>
 </div>
 
-<div id="outline-container-org6636b9c" class="outline-3">
-<h3 id="org6636b9c"><span class="section-number-3">5.4</span> Compute the strut length and orientation</h3>
-<div class="outline-text-3" id="text-5-4">
+<div id="outline-container-org3deadf7" class="outline-4">
+<h4 id="org3deadf7">Compute the strut length and orientation</h4>
+<div class="outline-text-4" id="text-org3deadf7">
 <div class="org-src-container">
 <pre class="src src-matlab">stewart.As = (stewart.Ab <span class="org-type">-</span> stewart.Aa)<span class="org-type">./</span>vecnorm(stewart.Ab <span class="org-type">-</span> stewart.Aa); <span class="org-comment">% As_i is the i'th vector of As</span>
 
@@ -919,9 +1121,9 @@ stewart.l = vecnorm(stewart.Ab <span class="org-type">-</span> stewart.Aa)<span
 </div>
 </div>
 
-<div id="outline-container-orge378fdd" class="outline-3">
-<h3 id="orge378fdd"><span class="section-number-3">5.5</span> Compute the orientation of the Joints</h3>
-<div class="outline-text-3" id="text-5-5">
+<div id="outline-container-org86e55af" class="outline-4">
+<h4 id="org86e55af">Compute the orientation of the Joints</h4>
+<div class="outline-text-4" id="text-org86e55af">
 <div class="org-src-container">
 <pre class="src src-matlab">stewart.FRa = zeros(3,3,6);
 stewart.MRb = zeros(3,3,6);
@@ -939,143 +1141,76 @@ stewart.MRb = zeros(3,3,6);
 </div>
 </div>
 
-<div id="outline-container-orge020103" class="outline-2">
-<h2 id="orge020103"><span class="section-number-2">6</span> <code>initializeStrutDynamics</code>: Add Stiffness and Damping properties of each strut</h2>
-<div class="outline-text-2" id="text-6">
+<div id="outline-container-orgb84b028" class="outline-3">
+<h3 id="orgb84b028"><span class="section-number-3">5.5</span> <code>initializeStewartPose</code>: Determine the initial stroke in each leg to have the wanted pose</h3>
+<div class="outline-text-3" id="text-5-5">
 <p>
-<a id="org46dc7c1"></a>
+<a id="orgf18df21"></a>
 </p>
 
 <p>
-This Matlab function is accessible <a href="src/initializeStrutDynamics.m">here</a>.
+This Matlab function is accessible <a href="src/initializeStewartPose.m">here</a>.
 </p>
 </div>
 
-<div id="outline-container-orgaf4897c" class="outline-3">
-<h3 id="orgaf4897c"><span class="section-number-3">6.1</span> Function description</h3>
-<div class="outline-text-3" id="text-6-1">
+<div id="outline-container-orgb109209" class="outline-4">
+<h4 id="orgb109209">Function description</h4>
+<div class="outline-text-4" id="text-orgb109209">
 <div class="org-src-container">
-<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeStrutDynamics</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
-<span class="org-comment">% initializeStrutDynamics - Add Stiffness and Damping properties of each strut</span>
+<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeStewartPose</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
+<span class="org-comment">% initializeStewartPose - Determine the initial stroke in each leg to have the wanted pose</span>
+<span class="org-comment">%                         It uses the inverse kinematic</span>
 <span class="org-comment">%</span>
-<span class="org-comment">% Syntax: [stewart] = initializeStrutDynamics(args)</span>
+<span class="org-comment">% Syntax: [stewart] = initializeStewartPose(stewart, args)</span>
 <span class="org-comment">%</span>
 <span class="org-comment">% Inputs:</span>
-<span class="org-comment">%    - args - Structure with the following fields:</span>
-<span class="org-comment">%        - Ki [6x1] - Stiffness of each strut [N/m]</span>
-<span class="org-comment">%        - Ci [6x1] - Damping of each strut [N/(m/s)]</span>
+<span class="org-comment">%    - stewart - A structure with the following fields</span>
+<span class="org-comment">%        - Aa   [3x6] - The positions ai expressed in {A}</span>
+<span class="org-comment">%        - Bb   [3x6] - The positions bi expressed in {B}</span>
+<span class="org-comment">%    - args - Can have the following fields:</span>
+<span class="org-comment">%        - AP   [3x1] - The wanted position of {B} with respect to {A}</span>
+<span class="org-comment">%        - ARB  [3x3] - The rotation matrix that gives the wanted orientation of {B} with respect to {A}</span>
 <span class="org-comment">%</span>
 <span class="org-comment">% Outputs:</span>
 <span class="org-comment">%    - stewart - updated Stewart structure with the added fields:</span>
-<span class="org-comment">%        - Ki [6x1] - Stiffness of each strut [N/m]</span>
-<span class="org-comment">%        - Ci [6x1] - Damping of each strut [N/(m/s)]</span>
+<span class="org-comment">%      - dLi[6x1] - The 6 needed displacement of the struts from the initial position in [m] to have the wanted pose of {B} w.r.t. {A}</span>
 </pre>
 </div>
 </div>
 </div>
 
-<div id="outline-container-org5335f58" class="outline-3">
-<h3 id="org5335f58"><span class="section-number-3">6.2</span> Optional Parameters</h3>
-<div class="outline-text-3" id="text-6-2">
+<div id="outline-container-org52ec2e0" class="outline-4">
+<h4 id="org52ec2e0">Optional Parameters</h4>
+<div class="outline-text-4" id="text-org52ec2e0">
 <div class="org-src-container">
 <pre class="src src-matlab">arguments
     stewart
-    args.Ki (6,1) double {mustBeNumeric, mustBePositive} = 1e6<span class="org-type">*</span>ones(6,1)
-    args.Ci (6,1) double {mustBeNumeric, mustBePositive} = 1e1<span class="org-type">*</span>ones(6,1)
+    args.AP  (3,1) double {mustBeNumeric} = zeros(3,1)
+    args.ARB (3,3) double {mustBeNumeric} = eye(3)
 <span class="org-keyword">end</span>
 </pre>
 </div>
 </div>
 </div>
 
-<div id="outline-container-org3fd0b36" class="outline-3">
-<h3 id="org3fd0b36"><span class="section-number-3">6.3</span> Add Stiffness and Damping properties of each strut</h3>
-<div class="outline-text-3" id="text-6-3">
+<div id="outline-container-org0900f1b" class="outline-4">
+<h4 id="org0900f1b">Use the Inverse Kinematic function</h4>
+<div class="outline-text-4" id="text-org0900f1b">
 <div class="org-src-container">
-<pre class="src src-matlab">stewart.Ki = args.Ki;
-stewart.Ci = args.Ci;
+<pre class="src src-matlab">[Li, dLi] = inverseKinematics(stewart, <span class="org-string">'AP'</span>, args.AP, <span class="org-string">'ARB'</span>, args.ARB);
+
+stewart.dLi = dLi;
 </pre>
 </div>
 </div>
 </div>
 </div>
 
-<div id="outline-container-org2b181fd" class="outline-2">
-<h2 id="org2b181fd"><span class="section-number-2">7</span> <code>computeJacobian</code>: Compute the Jacobian Matrix</h2>
-<div class="outline-text-2" id="text-7">
+<div id="outline-container-orgf5ee234" class="outline-3">
+<h3 id="orgf5ee234"><span class="section-number-3">5.6</span> <code>initializeCylindricalPlatforms</code>: Initialize the geometry of the Fixed and Mobile Platforms</h3>
+<div class="outline-text-3" id="text-5-6">
 <p>
-<a id="orge220dba"></a>
-</p>
-
-<p>
-This Matlab function is accessible <a href="src/computeJacobian.m">here</a>.
-</p>
-</div>
-
-<div id="outline-container-org7ede423" class="outline-3">
-<h3 id="org7ede423"><span class="section-number-3">7.1</span> Function description</h3>
-<div class="outline-text-3" id="text-7-1">
-<div class="org-src-container">
-<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">computeJacobian</span>(<span class="org-variable-name">stewart</span>)
-<span class="org-comment">% computeJacobian -</span>
-<span class="org-comment">%</span>
-<span class="org-comment">% Syntax: [stewart] = computeJacobian(stewart)</span>
-<span class="org-comment">%</span>
-<span class="org-comment">% Inputs:</span>
-<span class="org-comment">%    - stewart - With at least the following fields:</span>
-<span class="org-comment">%        - As [3x6] - The 6 unit vectors for each strut expressed in {A}</span>
-<span class="org-comment">%        - Ab [3x6] - The 6 position of the joints bi expressed in {A}</span>
-<span class="org-comment">%</span>
-<span class="org-comment">% Outputs:</span>
-<span class="org-comment">%    - stewart - With the 3 added field:</span>
-<span class="org-comment">%        - J [6x6] - The Jacobian Matrix</span>
-<span class="org-comment">%        - K [6x6] - The Stiffness Matrix</span>
-<span class="org-comment">%        - C [6x6] - The Compliance Matrix</span>
-</pre>
-</div>
-</div>
-</div>
-
-<div id="outline-container-org5097124" class="outline-3">
-<h3 id="org5097124"><span class="section-number-3">7.2</span> Compute Jacobian Matrix</h3>
-<div class="outline-text-3" id="text-7-2">
-<div class="org-src-container">
-<pre class="src src-matlab">stewart.J = [stewart.As<span class="org-type">'</span> , cross(stewart.Ab, stewart.As)<span class="org-type">'</span>];
-</pre>
-</div>
-</div>
-</div>
-
-<div id="outline-container-org99481a5" class="outline-3">
-<h3 id="org99481a5"><span class="section-number-3">7.3</span> Compute Stiffness Matrix</h3>
-<div class="outline-text-3" id="text-7-3">
-<div class="org-src-container">
-<pre class="src src-matlab">stewart.K = stewart.J<span class="org-type">'*</span>diag(stewart.Ki)<span class="org-type">*</span>stewart.J;
-</pre>
-</div>
-</div>
-</div>
-
-<div id="outline-container-org472b8f6" class="outline-3">
-<h3 id="org472b8f6"><span class="section-number-3">7.4</span> Compute Compliance Matrix</h3>
-<div class="outline-text-3" id="text-7-4">
-<div class="org-src-container">
-<pre class="src src-matlab">stewart.C = inv(stewart.K);
-</pre>
-</div>
-</div>
-</div>
-</div>
-
-<div id="outline-container-org42f859e" class="outline-2">
-<h2 id="org42f859e"><span class="section-number-2">8</span> Initialize the Geometry of the Mechanical Elements</h2>
-<div class="outline-text-2" id="text-8">
-</div>
-<div id="outline-container-org15ddf0b" class="outline-3">
-<h3 id="org15ddf0b"><span class="section-number-3">8.1</span> <code>initializeCylindricalPlatforms</code>: Initialize the geometry of the Fixed and Mobile Platforms</h3>
-<div class="outline-text-3" id="text-8-1">
-<p>
-<a id="orgfbeef82"></a>
+<a id="org773abb5"></a>
 </p>
 
 <p>
@@ -1083,9 +1218,9 @@ This Matlab function is accessible <a href="src/initializeCylindricalPlatforms.m
 </p>
 </div>
 
-<div id="outline-container-orgf91e9a9" class="outline-4">
-<h4 id="orgf91e9a9"><span class="section-number-4">8.1.1</span> Function description</h4>
-<div class="outline-text-4" id="text-8-1-1">
+<div id="outline-container-org481c24f" class="outline-4">
+<h4 id="org481c24f">Function description</h4>
+<div class="outline-text-4" id="text-org481c24f">
 <div class="org-src-container">
 <pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeCylindricalPlatforms</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
 <span class="org-comment">% initializeCylindricalPlatforms - Initialize the geometry of the Fixed and Mobile Platforms</span>
@@ -1117,9 +1252,9 @@ This Matlab function is accessible <a href="src/initializeCylindricalPlatforms.m
 </div>
 </div>
 
-<div id="outline-container-org174fb57" class="outline-4">
-<h4 id="org174fb57"><span class="section-number-4">8.1.2</span> Optional Parameters</h4>
-<div class="outline-text-4" id="text-8-1-2">
+<div id="outline-container-orgde51791" class="outline-4">
+<h4 id="orgde51791">Optional Parameters</h4>
+<div class="outline-text-4" id="text-orgde51791">
 <div class="org-src-container">
 <pre class="src src-matlab">arguments
     stewart
@@ -1135,9 +1270,9 @@ This Matlab function is accessible <a href="src/initializeCylindricalPlatforms.m
 </div>
 </div>
 
-<div id="outline-container-org20a37fd" class="outline-4">
-<h4 id="org20a37fd"><span class="section-number-4">8.1.3</span> Create the <code>platforms</code> struct</h4>
-<div class="outline-text-4" id="text-8-1-3">
+<div id="outline-container-orgf88a5fd" class="outline-4">
+<h4 id="orgf88a5fd">Create the <code>platforms</code> struct</h4>
+<div class="outline-text-4" id="text-orgf88a5fd">
 <div class="org-src-container">
 <pre class="src src-matlab">platforms = struct();
 
@@ -1159,9 +1294,9 @@ platforms.Mpi = diag([1<span class="org-type">/</span>12 <span class="org-type">
 </div>
 </div>
 
-<div id="outline-container-org23aeb2f" class="outline-4">
-<h4 id="org23aeb2f"><span class="section-number-4">8.1.4</span> Save the <code>platforms</code> struct</h4>
-<div class="outline-text-4" id="text-8-1-4">
+<div id="outline-container-orgd9f983f" class="outline-4">
+<h4 id="orgd9f983f">Save the <code>platforms</code> struct</h4>
+<div class="outline-text-4" id="text-orgd9f983f">
 <div class="org-src-container">
 <pre class="src src-matlab">stewart.platforms = platforms;
 </pre>
@@ -1170,11 +1305,11 @@ platforms.Mpi = diag([1<span class="org-type">/</span>12 <span class="org-type">
 </div>
 </div>
 
-<div id="outline-container-org08b9351" class="outline-3">
-<h3 id="org08b9351"><span class="section-number-3">8.2</span> <code>initializeCylindricalStruts</code>: Define the mass and moment of inertia of cylindrical struts</h3>
-<div class="outline-text-3" id="text-8-2">
+<div id="outline-container-orgfef124c" class="outline-3">
+<h3 id="orgfef124c"><span class="section-number-3">5.7</span> <code>initializeCylindricalStruts</code>: Define the inertia of cylindrical struts</h3>
+<div class="outline-text-3" id="text-5-7">
 <p>
-<a id="org9a66ea5"></a>
+<a id="orga0d2b7f"></a>
 </p>
 
 <p>
@@ -1182,9 +1317,9 @@ This Matlab function is accessible <a href="src/initializeCylindricalStruts.m">h
 </p>
 </div>
 
-<div id="outline-container-orgcbfa79e" class="outline-4">
-<h4 id="orgcbfa79e"><span class="section-number-4">8.2.1</span> Function description</h4>
-<div class="outline-text-4" id="text-8-2-1">
+<div id="outline-container-org27dec1b" class="outline-4">
+<h4 id="org27dec1b">Function description</h4>
+<div class="outline-text-4" id="text-org27dec1b">
 <div class="org-src-container">
 <pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeCylindricalStruts</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
 <span class="org-comment">% initializeCylindricalStruts - Define the mass and moment of inertia of cylindrical struts</span>
@@ -1216,9 +1351,9 @@ This Matlab function is accessible <a href="src/initializeCylindricalStruts.m">h
 </div>
 </div>
 
-<div id="outline-container-org0555b5f" class="outline-4">
-<h4 id="org0555b5f"><span class="section-number-4">8.2.2</span> Optional Parameters</h4>
-<div class="outline-text-4" id="text-8-2-2">
+<div id="outline-container-orgc83a3e8" class="outline-4">
+<h4 id="orgc83a3e8">Optional Parameters</h4>
+<div class="outline-text-4" id="text-orgc83a3e8">
 <div class="org-src-container">
 <pre class="src src-matlab">arguments
     stewart
@@ -1234,9 +1369,9 @@ This Matlab function is accessible <a href="src/initializeCylindricalStruts.m">h
 </div>
 </div>
 
-<div id="outline-container-org295542d" class="outline-4">
-<h4 id="org295542d"><span class="section-number-4">8.2.3</span> Create the <code>struts</code> structure</h4>
-<div class="outline-text-4" id="text-8-2-3">
+<div id="outline-container-org2138482" class="outline-4">
+<h4 id="org2138482">Create the <code>struts</code> structure</h4>
+<div class="outline-text-4" id="text-org2138482">
 <div class="org-src-container">
 <pre class="src src-matlab">struts = struct();
 
@@ -1268,267 +1403,123 @@ struts.Msi = zeros(3, 3, 6);
 </div>
 </div>
 </div>
-</div>
 
-<div id="outline-container-orgb5f49ec" class="outline-2">
-<h2 id="orgb5f49ec"><span class="section-number-2">9</span> <code>initializeStewartPose</code>: Determine the initial stroke in each leg to have the wanted pose</h2>
-<div class="outline-text-2" id="text-9">
+<div id="outline-container-org971d4b2" class="outline-3">
+<h3 id="org971d4b2"><span class="section-number-3">5.8</span> <code>initializeStrutDynamics</code>: Add Stiffness and Damping properties of each strut</h3>
+<div class="outline-text-3" id="text-5-8">
 <p>
-<a id="org5d4c1df"></a>
+<a id="org9dec0d6"></a>
 </p>
 
 <p>
-This Matlab function is accessible <a href="src/initializeStewartPose.m">here</a>.
+This Matlab function is accessible <a href="src/initializeStrutDynamics.m">here</a>.
 </p>
 </div>
 
-<div id="outline-container-org16bc1b7" class="outline-3">
-<h3 id="org16bc1b7"><span class="section-number-3">9.1</span> Function description</h3>
-<div class="outline-text-3" id="text-9-1">
+<div id="outline-container-org15af79d" class="outline-4">
+<h4 id="org15af79d">Function description</h4>
+<div class="outline-text-4" id="text-org15af79d">
 <div class="org-src-container">
-<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeStewartPose</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
-<span class="org-comment">% initializeStewartPose - Determine the initial stroke in each leg to have the wanted pose</span>
-<span class="org-comment">%                         It uses the inverse kinematic</span>
+<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeStrutDynamics</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
+<span class="org-comment">% initializeStrutDynamics - Add Stiffness and Damping properties of each strut</span>
 <span class="org-comment">%</span>
-<span class="org-comment">% Syntax: [stewart] = initializeStewartPose(stewart, args)</span>
+<span class="org-comment">% Syntax: [stewart] = initializeStrutDynamics(args)</span>
 <span class="org-comment">%</span>
 <span class="org-comment">% Inputs:</span>
-<span class="org-comment">%    - stewart - A structure with the following fields</span>
-<span class="org-comment">%        - Aa   [3x6] - The positions ai expressed in {A}</span>
-<span class="org-comment">%        - Bb   [3x6] - The positions bi expressed in {B}</span>
-<span class="org-comment">%    - args - Can have the following fields:</span>
-<span class="org-comment">%        - AP   [3x1] - The wanted position of {B} with respect to {A}</span>
-<span class="org-comment">%        - ARB  [3x3] - The rotation matrix that gives the wanted orientation of {B} with respect to {A}</span>
+<span class="org-comment">%    - args - Structure with the following fields:</span>
+<span class="org-comment">%        - Ki [6x1] - Stiffness of each strut [N/m]</span>
+<span class="org-comment">%        - Ci [6x1] - Damping of each strut [N/(m/s)]</span>
 <span class="org-comment">%</span>
 <span class="org-comment">% Outputs:</span>
 <span class="org-comment">%    - stewart - updated Stewart structure with the added fields:</span>
-<span class="org-comment">%      - dLi[6x1] - The 6 needed displacement of the struts from the initial position in [m] to have the wanted pose of {B} w.r.t. {A}</span>
+<span class="org-comment">%        - Ki [6x1] - Stiffness of each strut [N/m]</span>
+<span class="org-comment">%        - Ci [6x1] - Damping of each strut [N/(m/s)]</span>
 </pre>
 </div>
 </div>
 </div>
 
-<div id="outline-container-orgdcc1638" class="outline-3">
-<h3 id="orgdcc1638"><span class="section-number-3">9.2</span> Optional Parameters</h3>
-<div class="outline-text-3" id="text-9-2">
+<div id="outline-container-orgbaa540a" class="outline-4">
+<h4 id="orgbaa540a">Optional Parameters</h4>
+<div class="outline-text-4" id="text-orgbaa540a">
 <div class="org-src-container">
 <pre class="src src-matlab">arguments
     stewart
-    args.AP  (3,1) double {mustBeNumeric} = zeros(3,1)
-    args.ARB (3,3) double {mustBeNumeric} = eye(3)
+    args.Ki (6,1) double {mustBeNumeric, mustBePositive} = 1e6<span class="org-type">*</span>ones(6,1)
+    args.Ci (6,1) double {mustBeNumeric, mustBePositive} = 1e1<span class="org-type">*</span>ones(6,1)
 <span class="org-keyword">end</span>
 </pre>
 </div>
 </div>
 </div>
 
-<div id="outline-container-org79580d6" class="outline-3">
-<h3 id="org79580d6"><span class="section-number-3">9.3</span> Use the Inverse Kinematic function</h3>
-<div class="outline-text-3" id="text-9-3">
+<div id="outline-container-orgc3f6629" class="outline-4">
+<h4 id="orgc3f6629">Add Stiffness and Damping properties of each strut</h4>
+<div class="outline-text-4" id="text-orgc3f6629">
 <div class="org-src-container">
-<pre class="src src-matlab">[Li, dLi] = inverseKinematics(stewart, <span class="org-string">'AP'</span>, args.AP, <span class="org-string">'ARB'</span>, args.ARB);
-
-stewart.dLi = dLi;
+<pre class="src src-matlab">stewart.Ki = args.Ki;
+stewart.Ci = args.Ci;
 </pre>
 </div>
 </div>
 </div>
 </div>
 
-<div id="outline-container-org7f49db4" class="outline-2">
-<h2 id="org7f49db4"><span class="section-number-2">10</span> Utility Functions</h2>
-<div class="outline-text-2" id="text-10">
-</div>
-<div id="outline-container-org5e1e7a4" class="outline-3">
-<h3 id="org5e1e7a4"><span class="section-number-3">10.1</span> <code>inverseKinematics</code>: Compute Inverse Kinematics</h3>
-<div class="outline-text-3" id="text-10-1">
+<div id="outline-container-org80070c4" class="outline-3">
+<h3 id="org80070c4"><span class="section-number-3">5.9</span> <code>initializeJointDynamics</code>: Add Stiffness and Damping properties for spherical joints</h3>
+<div class="outline-text-3" id="text-5-9">
 <p>
-<a id="org4c68b98"></a>
+<a id="orgf228861"></a>
 </p>
 
 <p>
-This Matlab function is accessible <a href="src/inverseKinematics.m">here</a>.
+This Matlab function is accessible <a href="src/initializeJointDynamics.m">here</a>.
 </p>
 </div>
 
-<div id="outline-container-org4a5b7c1" class="outline-4">
-<h4 id="org4a5b7c1"><span class="section-number-4">10.1.1</span> Function description</h4>
-<div class="outline-text-4" id="text-10-1-1">
+<div id="outline-container-orga2113ea" class="outline-4">
+<h4 id="orga2113ea">Function description</h4>
+<div class="outline-text-4" id="text-orga2113ea">
 <div class="org-src-container">
-<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[Li, dLi]</span> = <span class="org-function-name">inverseKinematics</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
-<span class="org-comment">% inverseKinematics - Compute the needed length of each strut to have the wanted position and orientation of {B} with respect to {A}</span>
+<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeJointDynamics</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
+<span class="org-comment">% initializeJointDynamics - Add Stiffness and Damping properties for the spherical joints</span>
 <span class="org-comment">%</span>
-<span class="org-comment">% Syntax: [stewart] = inverseKinematics(stewart)</span>
+<span class="org-comment">% Syntax: [stewart] = initializeJointDynamics(args)</span>
 <span class="org-comment">%</span>
 <span class="org-comment">% Inputs:</span>
-<span class="org-comment">%    - stewart - A structure with the following fields</span>
-<span class="org-comment">%        - Aa   [3x6] - The positions ai expressed in {A}</span>
-<span class="org-comment">%        - Bb   [3x6] - The positions bi expressed in {B}</span>
-<span class="org-comment">%    - args - Can have the following fields:</span>
-<span class="org-comment">%        - AP   [3x1] - The wanted position of {B} with respect to {A}</span>
-<span class="org-comment">%        - ARB  [3x3] - The rotation matrix that gives the wanted orientation of {B} with respect to {A}</span>
+<span class="org-comment">%    - args - Structure with the following fields:</span>
+<span class="org-comment">%        - Kri [6x1] - Rotational Stiffness for each spherical joints [N/rad]</span>
+<span class="org-comment">%        - Cri [6x1] - Damping of each spherical joint [N/(rad/s)]</span>
 <span class="org-comment">%</span>
 <span class="org-comment">% Outputs:</span>
-<span class="org-comment">%    - Li   [6x1] - The 6 needed length of the struts in [m] to have the wanted pose of {B} w.r.t. {A}</span>
-<span class="org-comment">%    - dLi  [6x1] - The 6 needed displacement of the struts from the initial position in [m] to have the wanted pose of {B} w.r.t. {A}</span>
+<span class="org-comment">%    - stewart - updated Stewart structure with the added fields:</span>
+<span class="org-comment">%        - Kri [6x1] - Rotational Stiffness for each spherical joints [N/rad]</span>
+<span class="org-comment">%        - Cri [6x1] - Damping of each spherical joint [N/(rad/s)]</span>
 </pre>
 </div>
 </div>
 </div>
 
-<div id="outline-container-org16c2586" class="outline-4">
-<h4 id="org16c2586"><span class="section-number-4">10.1.2</span> Optional Parameters</h4>
-<div class="outline-text-4" id="text-10-1-2">
+<div id="outline-container-orga74cd19" class="outline-4">
+<h4 id="orga74cd19">Optional Parameters</h4>
+<div class="outline-text-4" id="text-orga74cd19">
 <div class="org-src-container">
 <pre class="src src-matlab">arguments
     stewart
-    args.AP  (3,1) double {mustBeNumeric} = zeros(3,1)
-    args.ARB (3,3) double {mustBeNumeric} = eye(3)
+    args.Kri (6,1) double {mustBeNumeric, mustBePositive} = zeros(6,1)
+    args.Cri (6,1) double {mustBeNumeric, mustBePositive} = zeros(6,1)
 <span class="org-keyword">end</span>
 </pre>
 </div>
 </div>
 </div>
 
-<div id="outline-container-orgd1d1be1" class="outline-4">
-<h4 id="orgd1d1be1"><span class="section-number-4">10.1.3</span> Theory</h4>
-<div class="outline-text-4" id="text-10-1-3">
-<p>
-For inverse kinematic analysis, it is assumed that the position \({}^A\bm{P}\) and orientation of the moving platform \({}^A\bm{R}_B\) are given and the problem is to obtain the joint variables, namely, \(\bm{L} = [l_1, l_2, \dots, l_6]^T\).
-</p>
-
-<p>
-From the geometry of the manipulator, the loop closure for each limb, \(i = 1, 2, \dots, 6\) can be written as
-</p>
-\begin{align*}
-  l_i {}^A\hat{\bm{s}}_i &= {}^A\bm{A} + {}^A\bm{b}_i - {}^A\bm{a}_i \\
-                         &= {}^A\bm{A} + {}^A\bm{R}_b {}^B\bm{b}_i - {}^A\bm{a}_i
-\end{align*}
-
-<p>
-To obtain the length of each actuator and eliminate \(\hat{\bm{s}}_i\), it is sufficient to dot multiply each side by itself:
-</p>
-\begin{equation}
-  l_i^2 \left[ {}^A\hat{\bm{s}}_i^T {}^A\hat{\bm{s}}_i \right] = \left[ {}^A\bm{P} + {}^A\bm{R}_B {}^B\bm{b}_i - {}^A\bm{a}_i \right]^T \left[ {}^A\bm{P} + {}^A\bm{R}_B {}^B\bm{b}_i - {}^A\bm{a}_i \right]
-\end{equation}
-
-<p>
-Hence, for \(i = 1, 2, \dots, 6\), each limb length can be uniquely determined by:
-</p>
-\begin{equation}
-  l_i = \sqrt{{}^A\bm{P}^T {}^A\bm{P} + {}^B\bm{b}_i^T {}^B\bm{b}_i + {}^A\bm{a}_i^T {}^A\bm{a}_i - 2 {}^A\bm{P}^T {}^A\bm{a}_i + 2 {}^A\bm{P}^T \left[{}^A\bm{R}_B {}^B\bm{b}_i\right] - 2 \left[{}^A\bm{R}_B {}^B\bm{b}_i\right]^T {}^A\bm{a}_i}
-\end{equation}
-
-<p>
-If the position and orientation of the moving platform lie in the feasible workspace of the manipulator, one unique solution to the limb length is determined by the above equation.
-Otherwise, when the limbs&rsquo; lengths derived yield complex numbers, then the position or orientation of the moving platform is not reachable.
-</p>
-</div>
-</div>
-
-<div id="outline-container-org8c782f7" class="outline-4">
-<h4 id="org8c782f7"><span class="section-number-4">10.1.4</span> Compute</h4>
-<div class="outline-text-4" id="text-10-1-4">
+<div id="outline-container-org043d632" class="outline-4">
+<h4 id="org043d632">Add Stiffness and Damping properties of each strut</h4>
+<div class="outline-text-4" id="text-org043d632">
 <div class="org-src-container">
-<pre class="src src-matlab">Li = sqrt(args.AP<span class="org-type">'*</span>args.AP <span class="org-type">+</span> diag(stewart.Bb<span class="org-type">'*</span>stewart.Bb) <span class="org-type">+</span> diag(stewart.Aa<span class="org-type">'*</span>stewart.Aa) <span class="org-type">-</span> (2<span class="org-type">*</span>args.AP<span class="org-type">'*</span>stewart.Aa)<span class="org-type">'</span> <span class="org-type">+</span> (2<span class="org-type">*</span>args.AP<span class="org-type">'*</span>(args.ARB<span class="org-type">*</span>stewart.Bb))<span class="org-type">'</span> <span class="org-type">-</span> diag(2<span class="org-type">*</span>(args.ARB<span class="org-type">*</span>stewart.Bb)<span class="org-type">'*</span>stewart.Aa));
-</pre>
-</div>
-
-<div class="org-src-container">
-<pre class="src src-matlab">dLi = Li<span class="org-type">-</span>stewart.l;
-</pre>
-</div>
-</div>
-</div>
-</div>
-
-<div id="outline-container-org0570ed5" class="outline-3">
-<h3 id="org0570ed5"><span class="section-number-3">10.2</span> <code>forwardKinematicsApprox</code>: Compute the Forward Kinematics</h3>
-<div class="outline-text-3" id="text-10-2">
-<p>
-<a id="orgb4e6dcc"></a>
-</p>
-
-<p>
-This Matlab function is accessible <a href="src/forwardKinematicsApprox.m">here</a>.
-</p>
-</div>
-
-<div id="outline-container-org23b424f" class="outline-4">
-<h4 id="org23b424f"><span class="section-number-4">10.2.1</span> Function description</h4>
-<div class="outline-text-4" id="text-10-2-1">
-<div class="org-src-container">
-<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[P, R]</span> = <span class="org-function-name">forwardKinematicsApprox</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
-<span class="org-comment">% forwardKinematicsApprox - Computed the approximate pose of {B} with respect to {A} from the length of each strut and using</span>
-<span class="org-comment">%                           the Jacobian Matrix</span>
-<span class="org-comment">%</span>
-<span class="org-comment">% Syntax: [P, R] = forwardKinematicsApprox(stewart, args)</span>
-<span class="org-comment">%</span>
-<span class="org-comment">% Inputs:</span>
-<span class="org-comment">%    - stewart - A structure with the following fields</span>
-<span class="org-comment">%        - J  [6x6] - The Jacobian Matrix</span>
-<span class="org-comment">%    - args - Can have the following fields:</span>
-<span class="org-comment">%        - dL [6x1] - Displacement of each strut [m]</span>
-<span class="org-comment">%</span>
-<span class="org-comment">% Outputs:</span>
-<span class="org-comment">%    - P  [3x1] - The estimated position of {B} with respect to {A}</span>
-<span class="org-comment">%    - R  [3x3] - The estimated rotation matrix that gives the orientation of {B} with respect to {A}</span>
-</pre>
-</div>
-</div>
-</div>
-
-<div id="outline-container-org66c7154" class="outline-4">
-<h4 id="org66c7154"><span class="section-number-4">10.2.2</span> Optional Parameters</h4>
-<div class="outline-text-4" id="text-10-2-2">
-<div class="org-src-container">
-<pre class="src src-matlab">arguments
-    stewart
-    args.dL (6,1) double {mustBeNumeric} = zeros(6,1)
-<span class="org-keyword">end</span>
-</pre>
-</div>
-</div>
-</div>
-
-<div id="outline-container-orge00b1b5" class="outline-4">
-<h4 id="orge00b1b5"><span class="section-number-4">10.2.3</span> Computation</h4>
-<div class="outline-text-4" id="text-10-2-3">
-<p>
-From a small displacement of each strut \(d\bm{\mathcal{L}}\), we can compute the
-position and orientation of {B} with respect to {A} using the following formula:
-\[ d \bm{\mathcal{X}} = \bm{J}^{-1} d\bm{\mathcal{L}} \]
-</p>
-<div class="org-src-container">
-<pre class="src src-matlab">X = stewart.J<span class="org-type">\</span>args.dL;
-</pre>
-</div>
-
-<p>
-The position vector corresponds to the first 3 elements.
-</p>
-<div class="org-src-container">
-<pre class="src src-matlab">P = X(1<span class="org-type">:</span>3);
-</pre>
-</div>
-
-<p>
-The next 3 elements are the orientation of {B} with respect to {A} expressed
-using the screw axis.
-</p>
-<div class="org-src-container">
-<pre class="src src-matlab">theta = norm(X(4<span class="org-type">:</span>6));
-s = X(4<span class="org-type">:</span>6)<span class="org-type">/</span>theta;
-</pre>
-</div>
-
-<p>
-We then compute the corresponding rotation matrix.
-</p>
-<div class="org-src-container">
-<pre class="src src-matlab">R = [s(1)<span class="org-type">^</span>2<span class="org-type">*</span>(1<span class="org-type">-</span>cos(theta)) <span class="org-type">+</span> cos(theta) ,        s(1)<span class="org-type">*</span>s(2)<span class="org-type">*</span>(1<span class="org-type">-</span>cos(theta)) <span class="org-type">-</span> s(3)<span class="org-type">*</span>sin(theta), s(1)<span class="org-type">*</span>s(3)<span class="org-type">*</span>(1<span class="org-type">-</span>cos(theta)) <span class="org-type">+</span> s(2)<span class="org-type">*</span>sin(theta);
-     s<span class="org-type">(2)*s(1)*(1-cos(theta)) + s(3)*sin(theta), s(2)^2*(1-cos(theta)) + cos(theta),         s(2)*s(3)*(1-cos(theta)) - s(1)*sin(theta);</span>
-     s<span class="org-type">(3)*s(1)*(1-cos(theta)) - s(2)*sin(theta), s(3)*s(2)*(1-cos(theta)) + s(1)*sin(theta), s(3)^2*(1-cos(theta)) + cos(theta)];</span>
+<pre class="src src-matlab">stewart.Kri = args.Kri;
+stewart.Cri = args.Cri;
 </pre>
 </div>
 </div>
@@ -1536,87 +1527,16 @@ We then compute the corresponding rotation matrix.
 </div>
 </div>
 
-<div id="outline-container-org2a131cd" class="outline-2">
-<h2 id="org2a131cd"><span class="section-number-2">11</span> Other Elements</h2>
-<div class="outline-text-2" id="text-11">
-</div>
-<div id="outline-container-org0150942" class="outline-3">
-<h3 id="org0150942"><span class="section-number-3">11.1</span> Z-Axis Geophone</h3>
-<div class="outline-text-3" id="text-11-1">
 <p>
-<a id="orga98eaf8"></a>
+
+<h1 class='org-ref-bib-h1'>Bibliography</h1>
+<ul class='org-ref-bib'><li><a id="taghirad13_paral">[taghirad13_paral]</a> <a name="taghirad13_paral"></a>Taghirad, Parallel robots : mechanics and control, CRC Press (2013).</li>
+</ul>
 </p>
-
-<p>
-This Matlab function is accessible <a href="../src/initializeZAxisGeophone.m">here</a>.
-</p>
-
-<div class="org-src-container">
-<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[geophone]</span> = <span class="org-function-name">initializeZAxisGeophone</span>(<span class="org-variable-name">args</span>)
-    arguments
-        args.mass (1,1) double {mustBeNumeric, mustBePositive} = 1e<span class="org-type">-</span>3 <span class="org-comment">% [kg]</span>
-        args.freq (1,1) double {mustBeNumeric, mustBePositive} = 1    <span class="org-comment">% [Hz]</span>
-    <span class="org-keyword">end</span>
-
-    <span class="org-matlab-cellbreak"><span class="org-comment">%%</span></span>
-    geophone.m = args.mass;
-
-    <span class="org-matlab-cellbreak"><span class="org-comment">%% The Stiffness is set to have the damping resonance frequency</span></span>
-    geophone.k = geophone.m <span class="org-type">*</span> (2<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>args.freq)<span class="org-type">^</span>2;
-
-    <span class="org-matlab-cellbreak"><span class="org-comment">%% We set the damping value to have critical damping</span></span>
-    geophone.c = 2<span class="org-type">*</span>sqrt(geophone.m <span class="org-type">*</span> geophone.k);
-
-    <span class="org-matlab-cellbreak"><span class="org-comment">%% Save</span></span>
-    save(<span class="org-string">'./mat/geophone_z_axis.mat'</span>, <span class="org-string">'geophone'</span>);
-<span class="org-keyword">end</span>
-</pre>
-</div>
-</div>
-</div>
-
-<div id="outline-container-org502059d" class="outline-3">
-<h3 id="org502059d"><span class="section-number-3">11.2</span> Z-Axis Accelerometer</h3>
-<div class="outline-text-3" id="text-11-2">
-<p>
-<a id="org3dfdc07"></a>
-</p>
-
-<p>
-This Matlab function is accessible <a href="../src/initializeZAxisAccelerometer.m">here</a>.
-</p>
-
-<div class="org-src-container">
-<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[accelerometer]</span> = <span class="org-function-name">initializeZAxisAccelerometer</span>(<span class="org-variable-name">args</span>)
-    arguments
-        args.mass (1,1) double {mustBeNumeric, mustBePositive} = 1e<span class="org-type">-</span>3 <span class="org-comment">% [kg]</span>
-        args.freq (1,1) double {mustBeNumeric, mustBePositive} = 5e3  <span class="org-comment">% [Hz]</span>
-    <span class="org-keyword">end</span>
-
-    <span class="org-matlab-cellbreak"><span class="org-comment">%%</span></span>
-    accelerometer.m = args.mass;
-
-    <span class="org-matlab-cellbreak"><span class="org-comment">%% The Stiffness is set to have the damping resonance frequency</span></span>
-    accelerometer.k = accelerometer.m <span class="org-type">*</span> (2<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>args.freq)<span class="org-type">^</span>2;
-
-    <span class="org-matlab-cellbreak"><span class="org-comment">%% We set the damping value to have critical damping</span></span>
-    accelerometer.c = 2<span class="org-type">*</span>sqrt(accelerometer.m <span class="org-type">*</span> accelerometer.k);
-
-    <span class="org-matlab-cellbreak"><span class="org-comment">%% Gain correction of the accelerometer to have a unity gain until the resonance</span></span>
-    accelerometer.gain = <span class="org-type">-</span>accelerometer.k<span class="org-type">/</span>accelerometer.m;
-
-    <span class="org-matlab-cellbreak"><span class="org-comment">%% Save</span></span>
-    save(<span class="org-string">'./mat/accelerometer_z_axis.mat'</span>, <span class="org-string">'accelerometer'</span>);
-<span class="org-keyword">end</span>
-</pre>
-</div>
-</div>
-</div>
-</div>
 </div>
 <div id="postamble" class="status">
 <p class="author">Author: Dehaeze Thomas</p>
-<p class="date">Created: 2020-01-27 lun. 17:41</p>
+<p class="date">Created: 2020-01-28 mar. 17:13</p>
 </div>
 </body>
 </html>
diff --git a/stewart-architecture.org b/stewart-architecture.org
index 2b2bcb0..bfdef68 100644
--- a/stewart-architecture.org
+++ b/stewart-architecture.org
@@ -21,48 +21,146 @@
 :END:
 
 * Introduction                                                          :ignore:
-Stewart platforms are generated in multiple steps.
+In this document is explained how the Stewart Platform architecture is defined.
 
-We define 4 important *frames*:
+Some efforts has been made such that the procedure for the definition of the Stewart Platform architecture is as logical and clear as possible.
+
+When possible, the notations are compatible with the one used in cite:taghirad13_paral.
+
+The definition of the Stewart platform is done in three main parts:
+- First, the geometry if defined (Section [[sec:definition_geometry]])
+- Then, the inertia of the mechanical elements are defined (Section [[sec:definition_inertia]])
+- Finally, the Stiffness and Damping characteristics of the elements are defined (Section [[sec:definition_dynamics]])
+
+In section [[sec:summary_initialization]], the procedure the initialize the Stewart platform is summarize and the associated Matlab code is shown.
+
+Finally, all the Matlab function used to initialize the Stewart platform are described in section [[sec:functions]].
+
+* Definition of the Stewart Platform Geometry
+<<sec:definition_geometry>>
+** Introduction                                                      :ignore:
+Stewart platforms are generated in multiple steps:
+- Definition of the frames
+- Definition of the location of the joints
+- Computation of the length and orientation of the struts
+- Choice of the rest position of the mobile platform
+
+This steps are detailed below.
+
+** Frames Definition
+We define 4 important *frames* (see Figure [[fig:frame_definition]]):
 - $\{F\}$: Frame fixed to the *Fixed* base and located at the center of its bottom surface.
   This is used to fix the Stewart platform to some support.
 - $\{M\}$: Frame fixed to the *Moving* platform and located at the center of its top surface.
   This is used to place things on top of the Stewart platform.
 - $\{A\}$: Frame fixed to the fixed base.
-  It defined the center of rotation of the moving platform.
 - $\{B\}$: Frame fixed to the moving platform.
-  The motion of the moving platforms and forces applied to it are defined with respect to this frame $\{B\}$.
 
-Then, we define the *location of the spherical joints*:
+Even though frames $\{A\}$ and $\{B\}$ don't usually correspond to physical elements, they are of primary importance.
+Firstly, they are used for the definition of the motion of the Mobile platform with respect to the fixed frame:
+- In position: ${}^A\bm{P}_{B}$ (read: Position of frame $\{B\}$ expressed in frame $\{A\}$)
+- In rotation: ${}^A\bm{R}_{B}$ (read: The rotation matrix that express the orientation of frame $\{B\}$ expressed in frame $\{A\}$)
+The frames $\{A\}$ and $\{B\}$ are used for all the kinematic analysis (Jacobian, Stiffness matrix, ...).
+
+Typical choice of $\{A\}$ and $\{B\}$ are:
+- Center of mass of the payload
+- Location where external forces are applied to the mobile platform (for instance when the mobile platform is in contact with a stiff environment)
+- Center of the cube for the cubic configuration
+
+The definition of the frames is done with the =initializeFramesPositions= function ([[sec:initializeFramesPositions][link]]);
+
+#+name: fig:frame_definition
+#+caption: Definition of the Frames for the Stewart Platform
+#+attr_html: :width 500px
+[[file:figs/frame_definition.png]]
+
+** Location of the Spherical Joints
+Then, we define the *location of the spherical joints* (see Figure [[fig:joint_location]]):
 - $\bm{a}_{i}$ are the position of the spherical joints fixed to the fixed base
 - $\bm{b}_{i}$ are the position of the spherical joints fixed to the moving platform
 
-We define the *rest position* of the Stewart platform:
-- For simplicity, we suppose that the fixed base and the moving platform are parallel and aligned with the vertical axis at their rest position.
-- Thus, to define the rest position of the Stewart platform, we just have to defined its total height $H$.
-  $H$ corresponds to the distance from the bottom of the fixed base to the top of the moving platform.
+The location of the joints will define the Geometry of the Stewart platform.
+Many characteristics of the platform depend on the location of the joints.
 
-From $\bm{a}_{i}$ and $\bm{b}_{i}$, we can determine the *length and orientation of each strut*:
-- $l_{i}$ is the length of the strut
-- ${}^{A}\hat{\bm{s}}_{i}$ is the unit vector align with the strut
+The location of the joints can be set to arbitrary positions (function =generateGeneralConfiguration= described [[sec:generateGeneralConfiguration][here]]) or can be computed to obtain specific configurations such as:
+- A cubic configuration: function =generateCubicConfiguration= ([[sec:generateCubicConfiguration][link]]).
+- A symmetrical configuration
 
-The position of the Spherical joints can be computed using various methods:
-- Cubic configuration
-- Circular configuration
-- Arbitrary position
-- These methods should be easily scriptable and corresponds to specific functions that returns ${}^{F}\bm{a}_{i}$ and ${}^{M}\bm{b}_{i}$.
-  The input of these functions are the parameters corresponding to the wanted geometry.
+The location of the spherical joints are then given by ${}^{F}\bm{a}_{i}$ and ${}^{M}\bm{b}_{i}$.
 
-For Simscape, we need:
-- The position and orientation of each spherical joint fixed to the fixed base: ${}^{F}\bm{a}_{i}$ and ${}^{F}\bm{R}_{a_{i}}$
-- The position and orientation of each spherical joint fixed to the moving platform: ${}^{M}\bm{b}_{i}$ and ${}^{M}\bm{R}_{b_{i}}$
-- The rest length of each strut: $l_{i}$
-- The stiffness and damping of each actuator: $k_{i}$ and $c_{i}$
-- The position of the frame $\{A\}$ with respect to the frame $\{F\}$: ${}^{F}\bm{O}_{A}$
-- The position of the frame $\{B\}$ with respect to the frame $\{M\}$: ${}^{M}\bm{O}_{B}$
+#+name: fig:joint_location
+#+caption: Position of the Spherical/Universal joints for the Stewart Platform
+#+attr_html: :width 500px
+[[file:figs/joint_location.png]]
 
+** Length and orientation of the struts
+From the location of the joints (${}^{F}\bm{a}_{i}$ and ${}^{M}\bm{b}_{i}$), we compute the length $l_i$ and orientation of each strut $\hat{\bm{s}}_i$ (unit vector aligned with the strut).
+The length and orientation of each strut is represented in figure [[fig:length_orientation_struts]].
 
-* Procedure
+This is done with the =computeJointsPose= function ([[sec:computeJointsPose][link]]).
+
+#+name: fig:length_orientation_struts
+#+caption: Length $l_i$ and orientation $\hat{\bm{s}}_i$ of the Stewart platform struts
+#+attr_html: :width 500px
+[[file:figs/length_orientation_struts.png]]
+
+** Rest Position of the Stewart platform
+We may want to initialize the Stewart platform in some position and orientation that corresponds to its rest position.
+
+To do so, we choose:
+- the position of $O_B$ expressed in $\{A\}$ using ${}^AP$
+- the orientation of $\{B\}$ expressed in $\{A\}$ using a rotation matrix ${}^{A}R_{B}$
+
+Then, the function =initializeStewartPose= ([[sec:initializeStewartPose][link]]) compute the corresponding initial and rest position of each of the strut.
+
+* Definition of the Inertia and geometry of the Fixed base, Mobile platform and Struts
+<<sec:definition_inertia>>
+** Introduction                                                      :ignore:
+Now that the geometry of the Stewart platform has been defined, we have to choose the inertia of:
+- The Fixed base
+- The Mobile platform
+- The two parts of the struts
+
+The inertia of these elements will modify the dynamics of the systems.
+It is thus important to set them properly.
+
+** Inertia and Geometry of the Fixed and Mobile platforms
+In order to set the inertia of the fixed and mobile platforms, we can use the following function that assume that both platforms are cylindrical:
+- =initializeCylindricalPlatforms= ([[sec:initializeCylindricalPlatforms][link]]): by choosing the height, radius and mass of the platforms, it computes the inertia matrix that will be used for simulation
+
+** Inertia and Geometry of the struts
+Similarly for the struts, we suppose here that they have a cylindrical shape.
+They are initialize with the following function:
+- =initializeCylindricalStruts= ([[sec:initializeCylindricalStruts][link]]): the two parts of each strut are supposed to by cylindrical. We can set the mass and geometry of both strut parts.
+
+* Definition of the stiffness and damping of the joints
+<<sec:definition_dynamics>>
+
+** Introduction                                                      :ignore:
+The global stiffness and damping of the Stewart platform depends on its geometry but also on the stiffness and damping of:
+- the actuator because of the finite stiffness of the actuator / linear guide
+- the spherical joints
+
+** Stiffness and Damping of the Actuator
+Each Actuator is modeled by 3 elements in parallel (Figure [[fig:stewart_platform_actuator]]):
+- A spring with a stiffness $k_{i}$
+- A dashpot with a damping $c_{i}$
+- An ideal force actuator
+
+#+name: fig:stewart_platform_actuator
+#+caption: Model of the Stewart platform actuator
+[[file:figs/stewart_platform_actuator.png]]
+
+The initialization of the stiffness and damping properties of the actuators is done with the =initializeStrutDynamics= ([[sec:initializeStrutDynamics][link]]).
+
+** Stiffness and Damping of the Spherical Joints
+Even though we often suppose that the spherical joint are perfect in the sense that we neglect its stiffness and damping, we can set some rotation stiffness and damping of each of the spherical/universal joints.
+
+This is done with the =initializeJointDynamics= function ([[sec:initializeJointDynamics][link]]).
+
+* Summary of the Initialization Procedure and Matlab Example
+<<sec:summary_initialization>>
+** Introduction                                                      :ignore:
 The procedure to define the Stewart platform is the following:
 1. Define the initial position of frames {A}, {B}, {F} and {M}.
    We do that using the =initializeFramesPositions= function.
@@ -72,16 +170,13 @@ The procedure to define the Stewart platform is the following:
    - =generateCubicConfiguration= permits to generate a cubic configuration
 3. Compute the position and orientation of the joints with respect to the fixed base and the moving platform.
    This is done with the =computeJointsPose= function.
-4. Define the dynamical properties of the Stewart platform.
-   The output are the stiffness and damping of each strut $k_{i}$ and $c_{i}$.
-   This can be done we simply choosing directly the stiffness and damping of each strut.
-   The stiffness and damping of each actuator can also be determine from the wanted stiffness of the Stewart platform for instance.
-5. Define the mass and inertia of each element of the Stewart platform.
+   If wanted, compute the rest position of each strut to have the wanted pose of the mobile platform with the function =initializeStewartPose=.
+4. Define the mass and inertia of each element of the Stewart platform with the =initializeCylindricalPlatforms= and =initializeCylindricalStruts=
+5. Define the dynamical properties of the Stewart platform by setting the stiffness and damping of the actuators and joints.
 
 By following this procedure, we obtain a Matlab structure =stewart= that contains all the information for the Simscape model and for further analysis.
 
-* Matlab Code
-** Matlab Init                                                :noexport:ignore:
+** Matlab Init                                              :noexport:ignore:
 #+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
   <<matlab-dir>>
 #+end_src
@@ -94,28 +189,32 @@ By following this procedure, we obtain a Matlab structure =stewart= that contain
   simulinkproject('./');
 #+end_src
 
-** Simscape Model
-#+begin_src matlab
-  open('stewart_platform.slx')
-#+end_src
-
-** Test the functions
+** Example of the initialization of a Stewart Platform
+Let's first define the Stewart Platform Geometry.
 #+begin_src matlab
   stewart = initializeFramesPositions('H', 90e-3, 'MO_B', 45e-3);
-  % stewart = generateCubicConfiguration(stewart, 'Hc', 60e-3, 'FOc', 45e-3, 'FHa', 5e-3, 'MHb', 5e-3);
   stewart = generateGeneralConfiguration(stewart);
   stewart = computeJointsPose(stewart);
-  stewart = initializeStrutDynamics(stewart, 'Ki', 1e6*ones(6,1), 'Ci', 1e2*ones(6,1));
-  stewart = initializeCylindricalPlatforms(stewart);
-  stewart = initializeCylindricalStruts(stewart);
-  stewart = computeJacobian(stewart);
   stewart = initializeStewartPose(stewart, 'AP', [0;0;0.01], 'ARB', eye(3));
-
-  [Li, dLi] = inverseKinematics(stewart, 'AP', [0;0;0.00001], 'ARB', eye(3));
-  [P, R] = forwardKinematicsApprox(stewart, 'dL', dLi);
 #+end_src
 
-* =initializeFramesPositions=: Initialize the positions of frames {A}, {B}, {F} and {M}
+Then, define the inertia and geometry of the fixed base, mobile platform and struts.
+#+begin_src matlab
+  stewart = initializeCylindricalPlatforms(stewart);
+  stewart = initializeCylindricalStruts(stewart);
+#+end_src
+
+Finally, initialize the strut stiffness and damping properties.
+#+begin_src matlab
+  stewart = initializeStrutDynamics(stewart, 'Ki', 1e6*ones(6,1), 'Ci', 1e2*ones(6,1));
+  stewart = initializeJointDynamics(stewart, 'Ksi', zeros(6,1), 'Csi', zeros(6,1));
+#+end_src
+
+The obtained =stewart= Matlab structure contains all the information for analysis of the Stewart platform and for simulations using Simscape.
+
+* Functions
+<<sec:functions>>
+** =initializeFramesPositions=: Initialize the positions of frames {A}, {B}, {F} and {M}
 :PROPERTIES:
 :header-args:matlab+: :tangle src/initializeFramesPositions.m
 :header-args:matlab+: :comments none :mkdirp yes :eval no
@@ -124,7 +223,10 @@ By following this procedure, we obtain a Matlab structure =stewart= that contain
 
 This Matlab function is accessible [[file:src/initializeFramesPositions.m][here]].
 
-** Function description
+*** Function description
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 #+begin_src matlab
   function [stewart] = initializeFramesPositions(args)
   % initializeFramesPositions - Initialize the positions of frames {A}, {B}, {F} and {M}
@@ -144,13 +246,19 @@ This Matlab function is accessible [[file:src/initializeFramesPositions.m][here]
   %        - FO_A [3x1] - Position of {A} with respect to {F} [m]
 #+end_src
 
-** Documentation
+*** Documentation
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 
 #+name: fig:stewart-frames-position
 #+caption: Definition of the position of the frames
 [[file:figs/stewart-frames-position.png]]
 
-** Optional Parameters
+*** Optional Parameters
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 #+begin_src matlab
   arguments
       args.H    (1,1) double {mustBeNumeric, mustBePositive} = 90e-3
@@ -158,12 +266,18 @@ This Matlab function is accessible [[file:src/initializeFramesPositions.m][here]
   end
 #+end_src
 
-** Initialize the Stewart structure
+*** Initialize the Stewart structure
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 #+begin_src matlab
   stewart = struct();
 #+end_src
 
-** Compute the position of each frame
+*** Compute the position of each frame
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 #+begin_src matlab
   stewart.H = args.H; % Total Height of the Stewart Platform [m]
 
@@ -174,7 +288,6 @@ This Matlab function is accessible [[file:src/initializeFramesPositions.m][here]
   stewart.FO_A = stewart.MO_B + stewart.FO_M; % Position of {A} with respect to {F} [m]
 #+end_src
 
-* Initialize the position of the Joints
 ** =generateCubicConfiguration=: Generate a Cubic Configuration
 :PROPERTIES:
 :header-args:matlab+: :tangle src/generateCubicConfiguration.m
@@ -185,6 +298,9 @@ This Matlab function is accessible [[file:src/initializeFramesPositions.m][here]
 This Matlab function is accessible [[file:src/generateCubicConfiguration.m][here]].
 
 *** Function description
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 #+begin_src matlab
   function [stewart] = generateCubicConfiguration(stewart, args)
   % generateCubicConfiguration - Generate a Cubic Configuration
@@ -207,11 +323,17 @@ This Matlab function is accessible [[file:src/generateCubicConfiguration.m][here
 #+end_src
 
 *** Documentation
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 #+name: fig:cubic-configuration-definition
 #+caption: Cubic Configuration
 [[file:figs/cubic-configuration-definition.png]]
 
 *** Optional Parameters
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 #+begin_src matlab
   arguments
       stewart
@@ -223,6 +345,9 @@ This Matlab function is accessible [[file:src/generateCubicConfiguration.m][here
 #+end_src
 
 *** Position of the Cube
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 We define the useful points of the cube with respect to the Cube's center.
 ${}^{C}C$ are the 6 vertices of the cubes expressed in a frame {C} which is
 located at the center of the cube and aligned with {F} and {M}.
@@ -243,6 +368,9 @@ located at the center of the cube and aligned with {F} and {M}.
 #+end_src
 
 *** Compute the pose
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 We can compute the vector of each leg ${}^{C}\hat{\bm{s}}_{i}$ (unit vector from ${}^{C}C_{f}$ to ${}^{C}C_{m}$).
 #+begin_src matlab
   CSi = (CCm - CCf)./vecnorm(CCm - CCf);
@@ -264,6 +392,9 @@ We now which to compute the position of the joints $a_{i}$ and $b_{i}$.
 This Matlab function is accessible [[file:src/generateGeneralConfiguration.m][here]].
 
 *** Function description
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 #+begin_src matlab
   function [stewart] = generateGeneralConfiguration(stewart, args)
   % generateGeneralConfiguration - Generate a Very General Configuration
@@ -286,10 +417,16 @@ This Matlab function is accessible [[file:src/generateGeneralConfiguration.m][he
 #+end_src
 
 *** Documentation
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 Joints are positions on a circle centered with the Z axis of {F} and {M} and at a chosen distance from {F} and {M}.
 The radius of the circles can be chosen as well as the angles where the joints are located.
 
 *** Optional Parameters
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 #+begin_src matlab
   arguments
       stewart
@@ -303,6 +440,9 @@ The radius of the circles can be chosen as well as the angles where the joints a
 #+end_src
 
 *** Compute the pose
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 #+begin_src matlab
   stewart.Fa = zeros(3,6);
   stewart.Mb = zeros(3,6);
@@ -315,7 +455,7 @@ The radius of the circles can be chosen as well as the angles where the joints a
   end
 #+end_src
 
-* =computeJointsPose=: Compute the Pose of the Joints
+** =computeJointsPose=: Compute the Pose of the Joints
 :PROPERTIES:
 :header-args:matlab+: :tangle src/computeJointsPose.m
 :header-args:matlab+: :comments none :mkdirp yes :eval no
@@ -324,7 +464,10 @@ The radius of the circles can be chosen as well as the angles where the joints a
 
 This Matlab function is accessible [[file:src/computeJointsPose.m][here]].
 
-** Function description
+*** Function description
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 #+begin_src matlab
   function [stewart] = computeJointsPose(stewart)
   % computeJointsPose -
@@ -352,13 +495,19 @@ This Matlab function is accessible [[file:src/computeJointsPose.m][here]].
   %        - MRb [3x3x6] - The i'th 3x3 array is the rotation matrix to orientate the top of the i'th strut from {M}
 #+end_src
 
-** Documentation
+*** Documentation
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 
 #+name: fig:stewart-struts
 #+caption: Position and orientation of the struts
 [[file:figs/stewart-struts.png]]
 
-** Compute the position of the Joints
+*** Compute the position of the Joints
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 #+begin_src matlab
   stewart.Aa = stewart.Fa - repmat(stewart.FO_A, [1, 6]);
   stewart.Bb = stewart.Mb - repmat(stewart.MO_B, [1, 6]);
@@ -367,7 +516,10 @@ This Matlab function is accessible [[file:src/computeJointsPose.m][here]].
   stewart.Ba = stewart.Aa - repmat( stewart.MO_B+stewart.FO_M-stewart.FO_A, [1, 6]);
 #+end_src
 
-** Compute the strut length and orientation
+*** Compute the strut length and orientation
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 #+begin_src matlab
   stewart.As = (stewart.Ab - stewart.Aa)./vecnorm(stewart.Ab - stewart.Aa); % As_i is the i'th vector of As
 
@@ -378,7 +530,10 @@ This Matlab function is accessible [[file:src/computeJointsPose.m][here]].
   stewart.Bs = (stewart.Bb - stewart.Ba)./vecnorm(stewart.Bb - stewart.Ba);
 #+end_src
 
-** Compute the orientation of the Joints
+*** Compute the orientation of the Joints
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 #+begin_src matlab
   stewart.FRa = zeros(3,3,6);
   stewart.MRb = zeros(3,3,6);
@@ -392,92 +547,61 @@ This Matlab function is accessible [[file:src/computeJointsPose.m][here]].
   end
 #+end_src
 
-* =initializeStrutDynamics=: Add Stiffness and Damping properties of each strut
+** =initializeStewartPose=: Determine the initial stroke in each leg to have the wanted pose
 :PROPERTIES:
-:header-args:matlab+: :tangle src/initializeStrutDynamics.m
+:header-args:matlab+: :tangle src/initializeStewartPose.m
 :header-args:matlab+: :comments none :mkdirp yes :eval no
 :END:
-<<sec:initializeStrutDynamics>>
+<<sec:initializeStewartPose>>
 
-This Matlab function is accessible [[file:src/initializeStrutDynamics.m][here]].
+This Matlab function is accessible [[file:src/initializeStewartPose.m][here]].
 
-** Function description
+*** Function description
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 #+begin_src matlab
-  function [stewart] = initializeStrutDynamics(stewart, args)
-  % initializeStrutDynamics - Add Stiffness and Damping properties of each strut
+  function [stewart] = initializeStewartPose(stewart, args)
+  % initializeStewartPose - Determine the initial stroke in each leg to have the wanted pose
+  %                         It uses the inverse kinematic
   %
-  % Syntax: [stewart] = initializeStrutDynamics(args)
+  % Syntax: [stewart] = initializeStewartPose(stewart, args)
   %
   % Inputs:
-  %    - args - Structure with the following fields:
-  %        - Ki [6x1] - Stiffness of each strut [N/m]
-  %        - Ci [6x1] - Damping of each strut [N/(m/s)]
+  %    - stewart - A structure with the following fields
+  %        - Aa   [3x6] - The positions ai expressed in {A}
+  %        - Bb   [3x6] - The positions bi expressed in {B}
+  %    - 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 - updated Stewart structure with the added fields:
-  %        - Ki [6x1] - Stiffness of each strut [N/m]
-  %        - Ci [6x1] - Damping of each strut [N/(m/s)]
+  %      - dLi[6x1] - The 6 needed displacement of the struts from the initial position in [m] to have the wanted pose of {B} w.r.t. {A}
 #+end_src
 
-** Optional Parameters
+*** Optional Parameters
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 #+begin_src matlab
   arguments
       stewart
-      args.Ki (6,1) double {mustBeNumeric, mustBePositive} = 1e6*ones(6,1)
-      args.Ci (6,1) double {mustBeNumeric, mustBePositive} = 1e1*ones(6,1)
+      args.AP  (3,1) double {mustBeNumeric} = zeros(3,1)
+      args.ARB (3,3) double {mustBeNumeric} = eye(3)
   end
 #+end_src
 
-** Add Stiffness and Damping properties of each strut
-#+begin_src matlab
-  stewart.Ki = args.Ki;
-  stewart.Ci = args.Ci;
-#+end_src
-
-* =computeJacobian=: Compute the Jacobian Matrix
+*** Use the Inverse Kinematic function
 :PROPERTIES:
-:header-args:matlab+: :tangle src/computeJacobian.m
-:header-args:matlab+: :comments none :mkdirp yes :eval no
+:UNNUMBERED: t
 :END:
-<<sec:computeJacobian>>
-
-This Matlab function is accessible [[file:src/computeJacobian.m][here]].
-
-** Function description
 #+begin_src matlab
-  function [stewart] = computeJacobian(stewart)
-  % computeJacobian -
-  %
-  % Syntax: [stewart] = computeJacobian(stewart)
-  %
-  % Inputs:
-  %    - stewart - With at least the following fields:
-  %        - As [3x6] - The 6 unit vectors for each strut expressed in {A}
-  %        - Ab [3x6] - The 6 position of the joints bi expressed in {A}
-  %
-  % Outputs:
-  %    - stewart - With the 3 added field:
-  %        - J [6x6] - The Jacobian Matrix
-  %        - K [6x6] - The Stiffness Matrix
-  %        - C [6x6] - The Compliance Matrix
+  [Li, dLi] = inverseKinematics(stewart, 'AP', args.AP, 'ARB', args.ARB);
+
+  stewart.dLi = dLi;
 #+end_src
 
-** Compute Jacobian Matrix
-#+begin_src matlab
-  stewart.J = [stewart.As' , cross(stewart.Ab, stewart.As)'];
-#+end_src
-
-** Compute Stiffness Matrix
-#+begin_src matlab
-  stewart.K = stewart.J'*diag(stewart.Ki)*stewart.J;
-#+end_src
-
-** Compute Compliance Matrix
-#+begin_src matlab
-  stewart.C = inv(stewart.K);
-#+end_src
-
-* Initialize the Geometry of the Mechanical Elements
 ** =initializeCylindricalPlatforms=: Initialize the geometry of the Fixed and Mobile Platforms
 :PROPERTIES:
 :header-args:matlab+: :tangle src/initializeCylindricalPlatforms.m
@@ -488,6 +612,9 @@ This Matlab function is accessible [[file:src/computeJacobian.m][here]].
 This Matlab function is accessible [[file:src/initializeCylindricalPlatforms.m][here]].
 
 *** Function description
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 #+begin_src matlab
   function [stewart] = initializeCylindricalPlatforms(stewart, args)
   % initializeCylindricalPlatforms - Initialize the geometry of the Fixed and Mobile Platforms
@@ -517,6 +644,9 @@ This Matlab function is accessible [[file:src/initializeCylindricalPlatforms.m][
 #+end_src
 
 *** Optional Parameters
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 #+begin_src matlab
   arguments
       stewart
@@ -530,6 +660,9 @@ This Matlab function is accessible [[file:src/initializeCylindricalPlatforms.m][
 #+end_src
 
 *** Create the =platforms= struct
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 #+begin_src matlab
   platforms = struct();
 
@@ -549,11 +682,14 @@ This Matlab function is accessible [[file:src/initializeCylindricalPlatforms.m][
 #+end_src
 
 *** Save the =platforms= struct
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 #+begin_src matlab
   stewart.platforms = platforms;
 #+end_src
 
-** =initializeCylindricalStruts=: Define the mass and moment of inertia of cylindrical struts
+** =initializeCylindricalStruts=: Define the inertia of cylindrical struts
 :PROPERTIES:
 :header-args:matlab+: :tangle src/initializeCylindricalStruts.m
 :header-args:matlab+: :comments none :mkdirp yes :eval no
@@ -563,6 +699,9 @@ This Matlab function is accessible [[file:src/initializeCylindricalPlatforms.m][
 This Matlab function is accessible [[file:src/initializeCylindricalStruts.m][here]].
 
 *** Function description
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 #+begin_src matlab
   function [stewart] = initializeCylindricalStruts(stewart, args)
   % initializeCylindricalStruts - Define the mass and moment of inertia of cylindrical struts
@@ -592,6 +731,9 @@ This Matlab function is accessible [[file:src/initializeCylindricalStruts.m][her
 #+end_src
 
 *** Optional Parameters
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 #+begin_src matlab
   arguments
       stewart
@@ -605,6 +747,9 @@ This Matlab function is accessible [[file:src/initializeCylindricalStruts.m][her
 #+end_src
 
 *** Create the =struts= structure
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 #+begin_src matlab
   struts = struct();
 
@@ -632,984 +777,108 @@ This Matlab function is accessible [[file:src/initializeCylindricalStruts.m][her
   stewart.struts = struts;
 #+end_src
 
-* =initializeStewartPose=: Determine the initial stroke in each leg to have the wanted pose
+** =initializeStrutDynamics=: Add Stiffness and Damping properties of each strut
 :PROPERTIES:
-:header-args:matlab+: :tangle src/initializeStewartPose.m
+:header-args:matlab+: :tangle src/initializeStrutDynamics.m
 :header-args:matlab+: :comments none :mkdirp yes :eval no
 :END:
-<<sec:initializeStewartPose>>
+<<sec:initializeStrutDynamics>>
 
-This Matlab function is accessible [[file:src/initializeStewartPose.m][here]].
+This Matlab function is accessible [[file:src/initializeStrutDynamics.m][here]].
 
-** Function description
+*** Function description
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 #+begin_src matlab
-  function [stewart] = initializeStewartPose(stewart, args)
-  % initializeStewartPose - Determine the initial stroke in each leg to have the wanted pose
-  %                         It uses the inverse kinematic
+  function [stewart] = initializeStrutDynamics(stewart, args)
+  % initializeStrutDynamics - Add Stiffness and Damping properties of each strut
   %
-  % Syntax: [stewart] = initializeStewartPose(stewart, args)
+  % Syntax: [stewart] = initializeStrutDynamics(args)
   %
   % Inputs:
-  %    - stewart - A structure with the following fields
-  %        - Aa   [3x6] - The positions ai expressed in {A}
-  %        - Bb   [3x6] - The positions bi expressed in {B}
-  %    - 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}
+  %    - args - Structure with the following fields:
+  %        - Ki [6x1] - Stiffness of each strut [N/m]
+  %        - Ci [6x1] - Damping of each strut [N/(m/s)]
   %
   % Outputs:
   %    - stewart - updated Stewart structure with the added fields:
-  %      - dLi[6x1] - The 6 needed displacement of the struts from the initial position in [m] to have the wanted pose of {B} w.r.t. {A}
+  %        - Ki [6x1] - Stiffness of each strut [N/m]
+  %        - Ci [6x1] - Damping of each strut [N/(m/s)]
 #+end_src
 
-** Optional Parameters
+*** 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)
+      args.Ki (6,1) double {mustBeNumeric, mustBePositive} = 1e6*ones(6,1)
+      args.Ci (6,1) double {mustBeNumeric, mustBePositive} = 1e1*ones(6,1)
   end
 #+end_src
 
-** Use the Inverse Kinematic function
+*** Add Stiffness and Damping properties of each strut
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 #+begin_src matlab
-  [Li, dLi] = inverseKinematics(stewart, 'AP', args.AP, 'ARB', args.ARB);
-
-  stewart.dLi = dLi;
+  stewart.Ki = args.Ki;
+  stewart.Ci = args.Ci;
 #+end_src
 
-* Utility Functions
-** =inverseKinematics=: Compute Inverse Kinematics
+** =initializeJointDynamics=: Add Stiffness and Damping properties for spherical joints
 :PROPERTIES:
-:header-args:matlab+: :tangle src/inverseKinematics.m
+:header-args:matlab+: :tangle src/initializeJointDynamics.m
 :header-args:matlab+: :comments none :mkdirp yes :eval no
 :END:
-<<sec:inverseKinematics>>
+<<sec:initializeJointDynamics>>
 
-This Matlab function is accessible [[file:src/inverseKinematics.m][here]].
+This Matlab function is accessible [[file:src/initializeJointDynamics.m][here]].
 
 *** Function description
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
 #+begin_src matlab
-  function [Li, dLi] = inverseKinematics(stewart, args)
-  % inverseKinematics - Compute the needed length of each strut to have the wanted position and orientation of {B} with respect to {A}
+  function [stewart] = initializeJointDynamics(stewart, args)
+  % initializeJointDynamics - Add Stiffness and Damping properties for the spherical joints
   %
-  % Syntax: [stewart] = inverseKinematics(stewart)
+  % Syntax: [stewart] = initializeJointDynamics(args)
   %
   % Inputs:
-  %    - stewart - A structure with the following fields
-  %        - Aa   [3x6] - The positions ai expressed in {A}
-  %        - Bb   [3x6] - The positions bi expressed in {B}
-  %    - 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}
+  %    - args - Structure with the following fields:
+  %        - Kri [6x1] - Rotational Stiffness for each spherical joints [N/rad]
+  %        - Cri [6x1] - Damping of each spherical joint [N/(rad/s)]
   %
   % Outputs:
-  %    - Li   [6x1] - The 6 needed length of the struts in [m] to have the wanted pose of {B} w.r.t. {A}
-  %    - dLi  [6x1] - The 6 needed displacement of the struts from the initial position in [m] to have the wanted pose of {B} w.r.t. {A}
+  %    - stewart - updated Stewart structure with the added fields:
+  %        - Kri [6x1] - Rotational Stiffness for each spherical joints [N/rad]
+  %        - Cri [6x1] - Damping of each spherical joint [N/(rad/s)]
 #+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)
+      args.Kri (6,1) double {mustBeNumeric, mustBePositive} = zeros(6,1)
+      args.Cri (6,1) double {mustBeNumeric, mustBePositive} = zeros(6,1)
   end
 #+end_src
 
-*** Theory
-For inverse kinematic analysis, it is assumed that the position ${}^A\bm{P}$ and orientation of the moving platform ${}^A\bm{R}_B$ are given and the problem is to obtain the joint variables, namely, $\bm{L} = [l_1, l_2, \dots, l_6]^T$.
-
-From the geometry of the manipulator, the loop closure for each limb, $i = 1, 2, \dots, 6$ can be written as
-\begin{align*}
-  l_i {}^A\hat{\bm{s}}_i &= {}^A\bm{A} + {}^A\bm{b}_i - {}^A\bm{a}_i \\
-                         &= {}^A\bm{A} + {}^A\bm{R}_b {}^B\bm{b}_i - {}^A\bm{a}_i
-\end{align*}
-
-To obtain the length of each actuator and eliminate $\hat{\bm{s}}_i$, it is sufficient to dot multiply each side by itself:
-\begin{equation}
-  l_i^2 \left[ {}^A\hat{\bm{s}}_i^T {}^A\hat{\bm{s}}_i \right] = \left[ {}^A\bm{P} + {}^A\bm{R}_B {}^B\bm{b}_i - {}^A\bm{a}_i \right]^T \left[ {}^A\bm{P} + {}^A\bm{R}_B {}^B\bm{b}_i - {}^A\bm{a}_i \right]
-\end{equation}
-
-Hence, for $i = 1, 2, \dots, 6$, each limb length can be uniquely determined by:
-\begin{equation}
-  l_i = \sqrt{{}^A\bm{P}^T {}^A\bm{P} + {}^B\bm{b}_i^T {}^B\bm{b}_i + {}^A\bm{a}_i^T {}^A\bm{a}_i - 2 {}^A\bm{P}^T {}^A\bm{a}_i + 2 {}^A\bm{P}^T \left[{}^A\bm{R}_B {}^B\bm{b}_i\right] - 2 \left[{}^A\bm{R}_B {}^B\bm{b}_i\right]^T {}^A\bm{a}_i}
-\end{equation}
-
-If the position and orientation of the moving platform lie in the feasible workspace of the manipulator, one unique solution to the limb length is determined by the above equation.
-Otherwise, when the limbs' lengths derived yield complex numbers, then the position or orientation of the moving platform is not reachable.
-
-*** Compute
-#+begin_src matlab
-  Li = sqrt(args.AP'*args.AP + diag(stewart.Bb'*stewart.Bb) + diag(stewart.Aa'*stewart.Aa) - (2*args.AP'*stewart.Aa)' + (2*args.AP'*(args.ARB*stewart.Bb))' - diag(2*(args.ARB*stewart.Bb)'*stewart.Aa));
-#+end_src
-
-#+begin_src matlab
-  dLi = Li-stewart.l;
-#+end_src
-
-** =forwardKinematicsApprox=: Compute the Forward Kinematics
+*** Add Stiffness and Damping properties of each strut
 :PROPERTIES:
-:header-args:matlab+: :tangle src/forwardKinematicsApprox.m
-:header-args:matlab+: :comments none :mkdirp yes :eval no
+:UNNUMBERED: t
 :END:
-<<sec:forwardKinematicsApprox>>
-
-This Matlab function is accessible [[file:src/forwardKinematicsApprox.m][here]].
-
-*** Function description
-#+begin_src matlab
-  function [P, R] = forwardKinematicsApprox(stewart, args)
-  % forwardKinematicsApprox - Computed the approximate pose of {B} with respect to {A} from the length of each strut and using
-  %                           the Jacobian Matrix
-  %
-  % Syntax: [P, R] = forwardKinematicsApprox(stewart, args)
-  %
-  % Inputs:
-  %    - stewart - A structure with the following fields
-  %        - J  [6x6] - The Jacobian Matrix
-  %    - args - Can have the following fields:
-  %        - dL [6x1] - Displacement of each strut [m]
-  %
-  % Outputs:
-  %    - P  [3x1] - The estimated position of {B} with respect to {A}
-  %    - R  [3x3] - The estimated rotation matrix that gives the orientation of {B} with respect to {A}
-#+end_src
-
-*** Optional Parameters
-#+begin_src matlab
-  arguments
-      stewart
-      args.dL (6,1) double {mustBeNumeric} = zeros(6,1)
-  end
-#+end_src
-
-*** Computation
-From a small displacement of each strut $d\bm{\mathcal{L}}$, we can compute the
-position and orientation of {B} with respect to {A} using the following formula:
-\[ d \bm{\mathcal{X}} = \bm{J}^{-1} d\bm{\mathcal{L}} \]
-#+begin_src matlab
-  X = stewart.J\args.dL;
-#+end_src
-
-The position vector corresponds to the first 3 elements.
-#+begin_src matlab
-  P = X(1:3);
-#+end_src
-
-The next 3 elements are the orientation of {B} with respect to {A} expressed
-using the screw axis.
-#+begin_src matlab
-  theta = norm(X(4:6));
-  s = X(4:6)/theta;
-#+end_src
-
-We then compute the corresponding rotation matrix.
-#+begin_src matlab
-  R = [s(1)^2*(1-cos(theta)) + cos(theta) ,        s(1)*s(2)*(1-cos(theta)) - s(3)*sin(theta), s(1)*s(3)*(1-cos(theta)) + s(2)*sin(theta);
-       s(2)*s(1)*(1-cos(theta)) + s(3)*sin(theta), s(2)^2*(1-cos(theta)) + cos(theta),         s(2)*s(3)*(1-cos(theta)) - s(1)*sin(theta);
-       s(3)*s(1)*(1-cos(theta)) - s(2)*sin(theta), s(3)*s(2)*(1-cos(theta)) + s(1)*sin(theta), s(3)^2*(1-cos(theta)) + cos(theta)];
-#+end_src
-
-* Other Elements
-** Z-Axis Geophone
-:PROPERTIES:
-:header-args:matlab+: :tangle ./src/initializeZAxisGeophone.m
-:header-args:matlab+: :comments none :mkdirp yes :eval no
-:END:
-<<sec:initializeZAxisGeophone>>
-
-This Matlab function is accessible [[file:../src/initializeZAxisGeophone.m][here]].
-
-#+begin_src matlab
-  function [geophone] = initializeZAxisGeophone(args)
-      arguments
-          args.mass (1,1) double {mustBeNumeric, mustBePositive} = 1e-3 % [kg]
-          args.freq (1,1) double {mustBeNumeric, mustBePositive} = 1    % [Hz]
-      end
-
-      %%
-      geophone.m = args.mass;
-
-      %% The Stiffness is set to have the damping resonance frequency
-      geophone.k = geophone.m * (2*pi*args.freq)^2;
-
-      %% We set the damping value to have critical damping
-      geophone.c = 2*sqrt(geophone.m * geophone.k);
-
-      %% Save
-      save('./mat/geophone_z_axis.mat', 'geophone');
-  end
-#+end_src
-
-** Z-Axis Accelerometer
-:PROPERTIES:
-:header-args:matlab+: :tangle ./src/initializeZAxisAccelerometer.m
-:header-args:matlab+: :comments none :mkdirp yes :eval no
-:END:
-<<sec:initializeZAxisAccelerometer>>
-
-This Matlab function is accessible [[file:../src/initializeZAxisAccelerometer.m][here]].
-
-#+begin_src matlab
-  function [accelerometer] = initializeZAxisAccelerometer(args)
-      arguments
-          args.mass (1,1) double {mustBeNumeric, mustBePositive} = 1e-3 % [kg]
-          args.freq (1,1) double {mustBeNumeric, mustBePositive} = 5e3  % [Hz]
-      end
-
-      %%
-      accelerometer.m = args.mass;
-
-      %% The Stiffness is set to have the damping resonance frequency
-      accelerometer.k = accelerometer.m * (2*pi*args.freq)^2;
-
-      %% We set the damping value to have critical damping
-      accelerometer.c = 2*sqrt(accelerometer.m * accelerometer.k);
-
-      %% Gain correction of the accelerometer to have a unity gain until the resonance
-      accelerometer.gain = -accelerometer.k/accelerometer.m;
-
-      %% Save
-      save('./mat/accelerometer_z_axis.mat', 'accelerometer');
-  end
-#+end_src
-
-* OLD                                                                 :noexport:
-** Define the Height of the Platform                              :noexport:
-#+begin_src matlab
-  %% 1. Height of the platform. Location of {F} and {M}
-  H = 90e-3; % [m]
-  FO_M = [0; 0; H];
-#+end_src
-
-** Define the location of {A} and {B}                             :noexport:
-#+begin_src matlab
-  %% 2. Location of {A} and {B}
-  FO_A = [0; 0; 100e-3] + FO_M;% [m,m,m]
-  MO_B = [0; 0; 100e-3];% [m,m,m]
-#+end_src
-
-** Define the position of $a_{i}$ and $b_{i}$                     :noexport:
-#+begin_src matlab
-  %% 3. Position of ai and bi
-  Fa = zeros(3, 6); % Fa_i is the i'th vector of Fa
-  Mb = zeros(3, 6); % Mb_i is the i'th vector of Mb
-#+end_src
-
-#+begin_src matlab
-  Aa = Fa - repmat(FO_A, [1, 6]);
-  Bb = Mb - repmat(MO_B, [1, 6]);
-
-  Ab = Bb - repmat(-MO_B-FO_M+FO_A, [1, 6]);
-  Ba = Aa - repmat( MO_B+FO_M-FO_A, [1, 6]);
-
-  As = (Ab - Aa)./vecnorm(Ab - Aa); % As_i is the i'th vector of As
-  l = vecnorm(Ab - Aa);
-
-  Bs = (Bb - Ba)./vecnorm(Bb - Ba);
-
-  FRa = zeros(3,3,6);
-  MRb = zeros(3,3,6);
-
-  for i = 1:6
-    FRa(:,:,i) = [cross([0;1;0],As(:,i)) , cross(As(:,i), cross([0;1;0], As(:,i))) , As(:,i)];
-    FRa(:,:,i) = FRa(:,:,i)./vecnorm(FRa(:,:,i));
-
-    MRb(:,:,i) = [cross([0;1;0],Bs(:,i)) , cross(Bs(:,i), cross([0;1;0], Bs(:,i))) , Bs(:,i)];
-    MRb(:,:,i) = MRb(:,:,i)./vecnorm(MRb(:,:,i));
-  end
-#+end_src
-
-** Define the dynamical properties of each strut                  :noexport:
-#+begin_src matlab
-  %% 4. Stiffness and Damping of each strut
-  Ki = 1e6*ones(6,1);
-  Ci = 1e2*ones(6,1);
-#+end_src
-
-** Old Introduction                                               :noexport:
-First, geometrical parameters are defined:
-- ${}^A\bm{a}_i$ - Position of the joints fixed to the fixed base w.r.t $\{A\}$
-- ${}^A\bm{b}_i$ - Position of the joints fixed to the mobile platform w.r.t $\{A\}$
-- ${}^B\bm{b}_i$ - Position of the joints fixed to the mobile platform w.r.t $\{B\}$
-- $H$ - Total height of the mobile platform
-
-These parameter are enough to determine all the kinematic properties of the platform like the Jacobian, stroke, stiffness, ...
-These geometrical parameters can be generated using different functions: =initializeCubicConfiguration= for cubic configuration or =initializeGeneralConfiguration= for more general configuration.
-
-A function =computeGeometricalProperties= is then used to compute:
-- $\bm{J}_f$ - Jacobian matrix for the force location
-- $\bm{J}_d$ - Jacobian matrix for displacement estimation
-- $\bm{R}_m$ - Rotation matrices to position the leg vectors
-
-Then, geometrical parameters are computed for all the mechanical elements with the function =initializeMechanicalElements=:
-- Shape of the platforms
-  - External Radius
-  - Internal Radius
-  - Density
-  - Thickness
-- Shape of the Legs
-  - Radius
-  - Size of ball joint
-  - Density
-
-Other Parameters are defined for the Simscape simulation:
-- Sample mass, volume and position (=initializeSample= function)
-- Location of the inertial sensor
-- Location of the point for the differential measurements
-- Location of the Jacobian point for velocity/displacement computation
-
-** Cubic Configuration                                            :noexport:
-To define the cubic configuration, we need to define 4 parameters:
-- The size of the cube
-- The location of the cube
-- The position of the plane joint the points $a_{i}$
-- The position of the plane joint the points $b_{i}$
-
-To do so, we specify the following parameters:
-- $H_{C}$ the height of the useful part of the cube
-- ${}^{F}O_{C}$ the position of the center of the cube with respect to $\{F\}$
-- ${}^{F}H_{A}$: the height of the plane joining the points $a_{i}$ with respect to the frame $\{F\}$
-- ${}^{M}H_{B}$: the height of the plane joining the points $b_{i}$ with respect to the frame $\{M\}$
-
-We define the parameters
-#+begin_src matlab
-  Hc = 60e-3; % [m]
-  FOc = 50e-3; % [m]
-  FHa = 15e-3; % [m]
-  MHb = 15e-3; % [m]
-#+end_src
-
-We define the useful points of the cube with respect to the Cube's center.
-${}^{C}C$ are the 6 vertices of the cubes expressed in a frame {C} which is located at the center of the cube and aligned with {F} and {M}.
-#+begin_src matlab
-  sx = [ 2; -1; -1];
-  sy = [ 0;  1; -1];
-  sz = [ 1;  1;  1];
-
-  R = [sx, sy, sz]./vecnorm([sx, sy, sz]);
-
-  L = Hc*sqrt(3);
-
-  Cc = R'*[[0;0;L],[L;0;L],[L;0;0],[L;L;0],[0;L;0],[0;L;L]] - [0;0;1.5*Hc];
-
-  CCf = [Cc(:,1), Cc(:,3), Cc(:,3), Cc(:,5), Cc(:,5), Cc(:,1)]; % CCf(:,i) corresponds to the bottom cube's vertice corresponding to the i'th leg
-  CCm = [Cc(:,2), Cc(:,2), Cc(:,4), Cc(:,4), Cc(:,6), Cc(:,6)]; % CCm(:,i) corresponds to the top cube's vertice corresponding to the i'th leg
-#+end_src
-
-We can compute the vector of each leg ${}^{C}\hat{\bm{s}}_{i}$ (unit vector from ${}^{C}C_{f}$ to ${}^{C}C_{m}$).
-#+begin_src matlab
-  CSi = (CCm - CCf)./vecnorm(CCm - CCf);
-#+end_src
-
-We now which to compute the position of the joints $a_{i}$ and $b_{i}$.
-#+begin_src matlab
-  Fa = zeros(3, 6); % Fa_i is the i'th vector of Fa
-  Mb = zeros(3, 6); % Mb_i is the i'th vector of Mb
-#+end_src
-
-#+begin_src matlab
-  Fa = CCf + [0; 0; FOc] + ((FHa-(FOc-Hc/2))./CSi(3,:)).*CSi;
-  Mb = CCf + [0; 0; FOc-H] + ((H-MHb-(FOc-Hc/2))./CSi(3,:)).*CSi; % TODO
-#+end_src
-
-** initializeGeneralConfiguration                                 :noexport:
-:PROPERTIES:
-:HEADER-ARGS:matlab+: :exports code
-:HEADER-ARGS:matlab+: :comments no
-:HEADER-ARGS:matlab+: :eval no
-:HEADER-ARGS:matlab+: :tangle src/initializeGeneralConfiguration.m
-:END:
-
-*** Function description
-The =initializeGeneralConfiguration= function takes one structure that contains configurations for the hexapod and returns one structure representing the Hexapod.
-
-#+begin_src matlab
-  function [stewart] = initializeGeneralConfiguration(opts_param)
-#+end_src
-
-*** Optional Parameters
-Default values for opts.
-#+begin_src matlab
-  opts = struct(...
-      'H_tot',   90, ... % Height of the platform [mm]
-      'H_joint', 15, ... % Height of the joints [mm]
-      'H_plate', 10, ... % Thickness of the fixed and mobile platforms [mm]
-      'R_bot',  100, ... % Radius where the legs articulations are positionned [mm]
-      'R_top',  80,  ... % Radius where the legs articulations are positionned [mm]
-      'a_bot',  10,  ... % Angle Offset [deg]
-      'a_top',  40,  ... % Angle Offset [deg]
-      'da_top', 0    ... % Angle Offset from 0 position [deg]
-      );
-#+end_src
-
-Populate opts with input parameters
-#+begin_src matlab
-  if exist('opts_param','var')
-      for opt = fieldnames(opts_param)'
-          opts.(opt{1}) = opts_param.(opt{1});
-      end
-  end
-#+end_src
-
-*** Geometry Description
-#+name: fig:stewart_bottom_plate
-#+caption: Schematic of the bottom plates with all the parameters
-[[file:./figs/stewart_bottom_plate.png]]
-
-*** Compute Aa and Ab
-We compute $[a_1, a_2, a_3, a_4, a_5, a_6]^T$ and $[b_1, b_2, b_3, b_4, b_5, b_6]^T$.
-
-#+begin_src matlab
-  Aa = zeros(6, 3); % [mm]
-  Ab = zeros(6, 3); % [mm]
-  Bb = zeros(6, 3); % [mm]
-#+end_src
-
-#+begin_src matlab
-  for i = 1:3
-      Aa(2*i-1,:) = [opts.R_bot*cos( pi/180*(120*(i-1) - opts.a_bot) ), ...
-                     opts.R_bot*sin( pi/180*(120*(i-1) - opts.a_bot) ), ...
-                     opts.H_plate+opts.H_joint];
-      Aa(2*i,:)   = [opts.R_bot*cos( pi/180*(120*(i-1) + opts.a_bot) ), ...
-                     opts.R_bot*sin( pi/180*(120*(i-1) + opts.a_bot) ), ...
-                     opts.H_plate+opts.H_joint];
-
-      Ab(2*i-1,:) = [opts.R_top*cos( pi/180*(120*(i-1) + opts.da_top - opts.a_top) ), ...
-                     opts.R_top*sin( pi/180*(120*(i-1) + opts.da_top - opts.a_top) ), ...
-                     opts.H_tot - opts.H_plate - opts.H_joint];
-      Ab(2*i,:)   = [opts.R_top*cos( pi/180*(120*(i-1) + opts.da_top + opts.a_top) ), ...
-                     opts.R_top*sin( pi/180*(120*(i-1) + opts.da_top + opts.a_top) ), ...
-                     opts.H_tot - opts.H_plate - opts.H_joint];
-  end
-
-  Bb = Ab - opts.H_tot*[0,0,1];
-#+end_src
-
-*** Returns Stewart Structure
-#+begin_src matlab :results none
-  stewart = struct();
-  stewart.Aa = Aa;
-  stewart.Ab = Ab;
-  stewart.Bb = Bb;
-  stewart.H_tot = opts.H_tot;
-end
-#+end_src
-
-** initializeCubicConfiguration                                   :noexport:
-:PROPERTIES:
-:HEADER-ARGS:matlab+: :exports code
-:HEADER-ARGS:matlab+: :comments no
-:HEADER-ARGS:matlab+: :eval no
-:HEADER-ARGS:matlab+: :tangle src/initializeCubicConfiguration.m
-:END:
-<<sec:initializeCubicConfiguration>>
-
-*** Function description
-#+begin_src matlab
-  function [stewart] = initializeCubicConfiguration(opts_param)
-#+end_src
-
-*** Optional Parameters
-Default values for opts.
-#+begin_src matlab
-  opts = struct(...
-      'H_tot', 90,  ... % Total height of the Hexapod [mm]
-      'L',     110, ... % Size of the Cube [mm]
-      'H',     40,  ... % Height between base joints and platform joints [mm]
-      'H0',    75   ... % Height between the corner of the cube and the plane containing the base joints [mm]
-      );
-#+end_src
-
-Populate opts with input parameters
-#+begin_src matlab
-  if exist('opts_param','var')
-      for opt = fieldnames(opts_param)'
-          opts.(opt{1}) = opts_param.(opt{1});
-      end
-  end
-#+end_src
-
-*** Cube Creation
-#+begin_src matlab :results none
-  points = [0, 0, 0; ...
-            0, 0, 1; ...
-            0, 1, 0; ...
-            0, 1, 1; ...
-            1, 0, 0; ...
-            1, 0, 1; ...
-            1, 1, 0; ...
-            1, 1, 1];
-  points = opts.L*points;
-#+end_src
-
-We create the rotation matrix to rotate the cube
-#+begin_src matlab :results none
-  sx = cross([1, 1, 1], [1 0 0]);
-  sx = sx/norm(sx);
-
-  sy = -cross(sx, [1, 1, 1]);
-  sy = sy/norm(sy);
-
-  sz = [1, 1, 1];
-  sz = sz/norm(sz);
-
-  R = [sx', sy', sz']';
-#+end_src
-
-We use to rotation matrix to rotate the cube
-#+begin_src matlab :results none
-  cube = zeros(size(points));
-  for i = 1:size(points, 1)
-    cube(i, :) = R * points(i, :)';
-  end
-#+end_src
-
-*** Vectors of each leg
-#+begin_src matlab :results none
-  leg_indices = [3, 4; ...
-                 2, 4; ...
-                 2, 6; ...
-                 5, 6; ...
-                 5, 7; ...
-                 3, 7];
-#+end_src
-
-Vectors are:
-#+begin_src matlab :results none
-  legs = zeros(6, 3);
-  legs_start = zeros(6, 3);
-
-  for i = 1:6
-    legs(i, :) = cube(leg_indices(i, 2), :) - cube(leg_indices(i, 1), :);
-    legs_start(i, :) = cube(leg_indices(i, 1), :);
-  end
-#+end_src
-
-*** Verification of Height of the Stewart Platform
-If the Stewart platform is not contained in the cube, throw an error.
-
-#+begin_src matlab :results none
-  Hmax = cube(4, 3) - cube(2, 3);
-  if opts.H0 < cube(2, 3)
-    error(sprintf('H0 is not high enought. Minimum H0 = %.1f', cube(2, 3)));
-  else if opts.H0 + opts.H > cube(4, 3)
-    error(sprintf('H0+H is too high. Maximum H0+H = %.1f', cube(4, 3)));
-    error('H0+H is too high');
-  end
-#+end_src
-
-*** Determinate the location of the joints
-We now determine the location of the joints on the fixed platform w.r.t the fixed frame $\{A\}$.
-$\{A\}$ is fixed to the bottom of the base.
-#+begin_src matlab :results none
-  Aa = zeros(6, 3);
-  for i = 1:6
-    t = (opts.H0-legs_start(i, 3))/(legs(i, 3));
-    Aa(i, :) = legs_start(i, :) + t*legs(i, :);
-  end
-#+end_src
-
-And the location of the joints on the mobile platform with respect to $\{A\}$.
-#+begin_src matlab :results none
-  Ab = zeros(6, 3);
-  for i = 1:6
-    t = (opts.H0+opts.H-legs_start(i, 3))/(legs(i, 3));
-    Ab(i, :) = legs_start(i, :) + t*legs(i, :);
-  end
-#+end_src
-
-And the location of the joints on the mobile platform with respect to $\{B\}$.
-#+begin_src matlab :results none
-  Bb = zeros(6, 3);
-  Bb = Ab - (opts.H0 + opts.H_tot/2 + opts.H/2)*[0, 0, 1];
-#+end_src
-
-#+begin_src matlab :results none
-  h = opts.H0 + opts.H/2 - opts.H_tot/2;
-  Aa = Aa - h*[0, 0, 1];
-  Ab = Ab - h*[0, 0, 1];
-#+end_src
-
-*** Returns Stewart Structure
-#+begin_src matlab :results none
-  stewart = struct();
-  stewart.Aa = Aa;
-  stewart.Ab = Ab;
-  stewart.Bb = Bb;
-  stewart.H_tot = opts.H_tot;
-end
-#+end_src
-
-** computeGeometricalProperties                                   :noexport:
-:PROPERTIES:
-:HEADER-ARGS:matlab+: :exports code
-:HEADER-ARGS:matlab+: :comments no
-:HEADER-ARGS:matlab+: :eval no
-:HEADER-ARGS:matlab+: :tangle src/computeGeometricalProperties.m
-:END:
-
-*** Function description
-#+begin_src matlab
-  function [stewart] = computeGeometricalProperties(stewart, opts_param)
-#+end_src
-
-*** Optional Parameters
-Default values for opts.
-#+begin_src matlab
-  opts = struct(...
-      'Jd_pos', [0, 0, 30], ... % Position of the Jacobian for displacement estimation from the top of the mobile platform [mm]
-      'Jf_pos', [0, 0, 30]  ... % Position of the Jacobian for force location from the top of the mobile platform [mm]
-      );
-#+end_src
-
-Populate opts with input parameters
 #+begin_src matlab
-  if exist('opts_param','var')
-      for opt = fieldnames(opts_param)'
-          opts.(opt{1}) = opts_param.(opt{1});
-      end
-  end
+  stewart.Kri = args.Kri;
+  stewart.Cri = args.Cri;
 #+end_src
 
-*** Rotation matrices
-We initialize $l_i$ and $\hat{s}_i$
-#+begin_src matlab
-  leg_length = zeros(6, 1); % [mm]
-  leg_vectors = zeros(6, 3);
-#+end_src
-
-We compute $b_i - a_i$, and then:
-\begin{align*}
-  l_i       &= \left|b_i - a_i\right| \\
-  \hat{s}_i &= \frac{b_i - a_i}{l_i}
-\end{align*}
-
-#+begin_src matlab
-  legs = stewart.Ab - stewart.Aa;
-
-  for i = 1:6
-      leg_length(i) = norm(legs(i,:));
-      leg_vectors(i,:) = legs(i,:) / leg_length(i);
-  end
-#+end_src
-
-We compute rotation matrices to have the orientation of the legs.
-The rotation matrix transforms the $z$ axis to the axis of the leg. The other axis are not important here.
-#+begin_src matlab
-  stewart.Rm = struct('R', eye(3));
-
-  for i = 1:6
-    sx = cross(leg_vectors(i,:), [1 0 0]);
-    sx = sx/norm(sx);
-
-    sy = -cross(sx, leg_vectors(i,:));
-    sy = sy/norm(sy);
-
-    sz = leg_vectors(i,:);
-    sz = sz/norm(sz);
-
-    stewart.Rm(i).R = [sx', sy', sz'];
-  end
-#+end_src
-
-*** Jacobian matrices
-Compute Jacobian Matrix
-#+begin_src matlab
-  Jd = zeros(6);
-
-  for i = 1:6
-    Jd(i, 1:3) = leg_vectors(i, :);
-    Jd(i, 4:6) = cross(0.001*(stewart.Bb(i, :) - opts.Jd_pos), leg_vectors(i, :));
-  end
-
-  stewart.Jd = Jd;
-  stewart.Jd_inv = inv(Jd);
-#+end_src
-
-#+begin_src matlab
-  Jf = zeros(6);
-
-  for i = 1:6
-    Jf(i, 1:3) = leg_vectors(i, :);
-    Jf(i, 4:6) = cross(0.001*(stewart.Bb(i, :) - opts.Jf_pos), leg_vectors(i, :));
-  end
-
-  stewart.Jf = Jf;
-  stewart.Jf_inv = inv(Jf);
-#+end_src
-
-#+begin_src matlab
-  end
-#+end_src
-
-** initializeMechanicalElements                                   :noexport:
-:PROPERTIES:
-:HEADER-ARGS:matlab+: :exports code
-:HEADER-ARGS:matlab+: :comments no
-:HEADER-ARGS:matlab+: :eval no
-:HEADER-ARGS:matlab+: :tangle src/initializeMechanicalElements.m
-:END:
-
-*** Function description
-#+begin_src matlab
-  function [stewart] = initializeMechanicalElements(stewart, opts_param)
-#+end_src
-
-*** Optional Parameters
-Default values for opts.
-#+begin_src matlab
-  opts = struct(...
-      'thickness', 10, ... % Thickness of the base and platform [mm]
-      'density',   1000, ... % Density of the material used for the hexapod [kg/m3]
-      'k_ax',      1e8, ... % Stiffness of each actuator [N/m]
-      'c_ax',      1000, ... % Damping of each actuator [N/(m/s)]
-      'stroke',    50e-6  ... % Maximum stroke of each actuator [m]
-      );
-#+end_src
-
-Populate opts with input parameters
-#+begin_src matlab
-  if exist('opts_param','var')
-      for opt = fieldnames(opts_param)'
-          opts.(opt{1}) = opts_param.(opt{1});
-      end
-  end
-#+end_src
-
-*** Bottom Plate
-#+name: fig:stewart_bottom_plate
-#+caption: Schematic of the bottom plates with all the parameters
-[[file:./figs/stewart_bottom_plate.png]]
-
-The bottom plate structure is initialized.
-#+begin_src matlab
-  BP = struct();
-#+end_src
-
-We defined its internal radius (if there is a hole in the bottom plate) and its outer radius.
-#+begin_src matlab
-  BP.Rint = 0;   % Internal Radius [mm]
-  BP.Rext = 150; % External Radius [mm]
-#+end_src
-
-We define its thickness.
-#+begin_src matlab
-  BP.H = opts.thickness; % Thickness of the Bottom Plate [mm]
-#+end_src
-
-We defined the density of the material of the bottom plate.
-#+begin_src matlab
-  BP.density = opts.density; % Density of the material [kg/m3]
-#+end_src
-
-And its color.
-#+begin_src matlab
-  BP.color = [0.7 0.7 0.7]; % Color [RGB]
-#+end_src
-
-Then the profile of the bottom plate is computed and will be used by Simscape
-#+begin_src matlab
-  BP.shape = [BP.Rint BP.H; BP.Rint 0; BP.Rext 0; BP.Rext BP.H]; % [mm]
-#+end_src
-
-The structure is added to the stewart structure
-#+begin_src matlab
-  stewart.BP = BP;
-#+end_src
-
-*** Top Plate
-The top plate structure is initialized.
-#+begin_src matlab
-  TP = struct();
-#+end_src
-
-We defined the internal and external radius of the top plate.
-#+begin_src matlab
-  TP.Rint = 0;   % [mm]
-  TP.Rext = 100; % [mm]
-#+end_src
-
-The thickness of the top plate.
-#+begin_src matlab
-  TP.H = 10; % [mm]
-#+end_src
-
-The density of its material.
-#+begin_src matlab
-  TP.density = opts.density; % Density of the material [kg/m3]
-#+end_src
-
-Its color.
-#+begin_src matlab
-  TP.color = [0.7 0.7 0.7]; % Color [RGB]
-#+end_src
-
-Then the shape of the top plate is computed
-#+begin_src matlab
-  TP.shape = [TP.Rint TP.H; TP.Rint 0; TP.Rext 0; TP.Rext TP.H];
-#+end_src
-
-The structure is added to the stewart structure
-#+begin_src matlab
-  stewart.TP  = TP;
-#+end_src
-
-*** Legs
-#+name: fig:stewart_legs
-#+caption: Schematic for the legs of the Stewart platform
-[[file:./figs/stewart_legs.png]]
-
-The leg structure is initialized.
-#+begin_src matlab
-  Leg = struct();
-#+end_src
-
-The maximum Stroke of each leg is defined.
-#+begin_src matlab
-  Leg.stroke = opts.stroke; % [m]
-#+end_src
-
-The stiffness and damping of each leg are defined
-#+begin_src matlab
-  Leg.k_ax = opts.k_ax; % Stiffness of each leg [N/m]
-  Leg.c_ax = opts.c_ax; % Damping of each leg [N/(m/s)]
-#+end_src
-
-The radius of the legs are defined
-#+begin_src matlab
-  Leg.Rtop = 10; % Radius of the cylinder of the top part of the leg[mm]
-  Leg.Rbot = 12; % Radius of the cylinder of the bottom part of the leg [mm]
-#+end_src
-
-The density of its material.
-#+begin_src matlab
-  Leg.density = opts.density; % Density of the material used for the legs [kg/m3]
-#+end_src
-
-Its color.
-#+begin_src matlab
-  Leg.color = [0.5 0.5 0.5]; % Color of the top part of the leg [RGB]
-#+end_src
-
-The radius of spheres representing the ball joints are defined.
-#+begin_src matlab
-  Leg.R = 1.3*Leg.Rbot; % Size of the sphere at the extremity of the leg [mm]
-#+end_src
-
-We estimate the length of the legs.
-#+begin_src matlab
-  legs = stewart.Ab - stewart.Aa;
-  Leg.lenght = norm(legs(1,:))/1.5;
-#+end_src
-
-Then the shape of the bottom leg is estimated
-#+begin_src matlab
-  Leg.shape.bot = ...
-      [0        0; ...
-       Leg.Rbot 0; ...
-       Leg.Rbot Leg.lenght; ...
-       Leg.Rtop Leg.lenght; ...
-       Leg.Rtop 0.2*Leg.lenght; ...
-       0        0.2*Leg.lenght];
-#+end_src
-
-The structure is added to the stewart structure
-#+begin_src matlab
-  stewart.Leg = Leg;
-#+end_src
-
-*** Ball Joints
-#+name: fig:stewart_ball_joints
-#+caption: Schematic of the support for the ball joints
-[[file:./figs/stewart_ball_joints.png]]
-
-=SP= is the structure representing the support for the ball joints at the extremity of each leg.
-
-The =SP= structure is initialized.
-#+begin_src matlab
-  SP = struct();
-#+end_src
-
-We can define its rotational stiffness and damping. For now, we use perfect joints.
-#+begin_src matlab
-  SP.k = 0; % [N*m/deg]
-  SP.c = 0; % [N*m/deg]
-#+end_src
-
-Its height is defined
-#+begin_src matlab
-  SP.H = stewart.Aa(1, 3) - BP.H; % [mm]
-#+end_src
-
-Its radius is based on the radius on the sphere at the end of the legs.
-#+begin_src matlab
-  SP.R = Leg.R; % [mm]
-#+end_src
-
-#+begin_src matlab
-  SP.section = [0    SP.H-SP.R;
-                0    0;
-                SP.R 0;
-                SP.R SP.H];
-#+end_src
-
-The density of its material is defined.
-#+begin_src matlab
-  SP.density = opts.density; % [kg/m^3]
-#+end_src
-
-Its color is defined.
-#+begin_src matlab
-  SP.color = [0.7 0.7 0.7]; % [RGB]
-#+end_src
-
-The structure is added to the Hexapod structure
-#+begin_src matlab
-  stewart.SP  = SP;
-#+end_src
-
-** initializeSample                                               :noexport:
-:PROPERTIES:
-:HEADER-ARGS:matlab+: :exports code
-:HEADER-ARGS:matlab+: :comments no
-:HEADER-ARGS:matlab+: :eval no
-:HEADER-ARGS:matlab+: :tangle src/initializeSample.m
-:END:
-
-*** Function description
-#+begin_src matlab
-  function [] = initializeSample(opts_param)
-#+end_src
-
-*** Optional Parameters
-Default values for opts.
-#+begin_src matlab
-  sample = struct( ...
-      'radius',     100, ... % radius of the cylinder [mm]
-      'height',     100, ... % height of the cylinder [mm]
-      'mass',       10,  ... % mass of the cylinder [kg]
-      'measheight', 50, ... % measurement point z-offset [mm]
-      'offset',     [0, 0, 0],   ... % offset position of the sample [mm]
-      'color',      [0.9 0.1 0.1] ...
-      );
-#+end_src
-
-Populate opts with input parameters
-#+begin_src matlab
-  if exist('opts_param','var')
-      for opt = fieldnames(opts_param)'
-          sample.(opt{1}) = opts_param.(opt{1});
-      end
-  end
-#+end_src
-
-*** Save the Sample structure
-#+begin_src matlab
-  save('./mat/sample.mat', 'sample');
-#+end_src
-
-#+begin_src matlab
-  end
-#+end_src
+* Bibliography                                                        :ignore:
+bibliographystyle:unsrt
+bibliography:ref.bib