From e70f3fe1e518e4081ab025379e6b2121e60e73a1 Mon Sep 17 00:00:00 2001 From: EmaMaker Date: Sat, 13 Jan 2024 13:00:23 +0100 Subject: [PATCH] sim: nonlinear simulation Demonstrates both the analytical solution and the current PID values work --- .../self_balance_customcontroller.slx | Bin 92738 -> 80356 bytes matlab-sim-v2/self_balance_nonlinear.slx | Bin 54257 -> 100140 bytes matlab-sim-v2/selfbalance.mlx | Bin 8294 -> 9869 bytes ...elfbalance_resolve_nonlinear_equations.mlx | Bin 0 -> 10627 bytes 4 files changed, 0 insertions(+), 0 deletions(-) create mode 100644 matlab-sim-v2/selfbalance_resolve_nonlinear_equations.mlx diff --git a/matlab-sim-v2/self_balance_customcontroller.slx b/matlab-sim-v2/self_balance_customcontroller.slx index 769c8bd4a18e71b7b1f9df4fac39ba3a79b5944a..a99fcea2ddd4913fb6a107b58c91e24ebb0b7e2f 100644 GIT binary patch delta 9377 zcmcgy2UJtpx=yHL0rWZ+2m~DwMv>m61sw(v5l|73K1c~Ipj4^H!5J6}AY>pys3Jr} ziUbowfT*Z+f>a?CmEMKW5=!1ackY`v?_Jk=Z@qhGvQ{9Pea_zJ-{1fJ-}i4`bqbEK z1rD4yNu+=jV*9}f#CgOi;TwEk=^(y7*@nzP{M&~> zf7wi5o(TFAp6SaoeR(42&kpeavKZ(u-R*x~4D=`A>Yr!&@R@4UF>ZC4|765;#i=12bzpIZ%nYfoOw?PfKW>$M?bhPhabVS_+rYPk8DGsP#p}2 zH$xlG3gb?ajV+78_o<9>Q`2QL%FT`K&1 z29Yxy)K}=t@}|#HOp}j0Lp71)RQl>*1bf<-vVs-z$Lx$zx_9UB9CvfZPmA;~ZZb1Z8vc_yfe&{#}een^0C!V0bTkcuV7AJC4 z-r2;`(vn`f{?1ssWuyUbY1!e$3rDQ|I$80CJ1`$jpbkar&R4O`!H|r=)`nkp9~O|h zVV>8q&*y!ai@2)W83`1M6*Zutp;1^^XoADx=%pxx4)h&KBpm$1+sCJ)I%4&#m>}X< z>#1x1D(~scF1K-BFr!zh1?HJM%h!^;?T4Gk-<3t!nbc!*N;!ksjoVDGpm5#3L0!`5f19q-@Y zpBtcu)@vd>rB{9rr%(0mAcmF(Qmzr~@$Jwtlk2^kS{wBE4sOnLnb^Vv9q z4Hrem#^O$C2orh7KVq(*#(AR@on(TS#Vz1MWesC@HoW+ezoWn3VKUeES?Y1ynOo3-Jr>tS^m*mW$4cxfZQ_x}!8!#cpkSY*i$X zDMS2YvKmck#X6>8+|^dqy2$QvqZFhxkpQSh%+=l zSRFVRHlFXyh?d&A++E^GwD+SOF<9?q1}wcZh9-V3r_a~ew`t|p)YM#I`FVM9>b3bL zdNiT&&Ddv?7i==qy|aJnRr4pV4nYR;HYLqDr*0n8|C+*w65(#H4rL#;EQlP*`XCqF zVWu_Oi_LB!Fg8X-6FQnG49Wxt6J#s)@P{WZA&wXQ!ffQJFD>r)I829)~tQ%zUN>6>rqQe+b?S}lu0|h z(%gHwF2~2oG71U}=>^XwAv^ob$1*p$IJ{CK`r~Y9PD`K0gq4*QuF}~!Qg#TfNE=B$ zN7O8CuU$LS;}n4-&Qa^o5ka5Nc#2tBnFL!|S(o@V&hIO!Z`3d=G%2r)4i4|Oc3=I- zKbyu+%pX{7qjq1WzWI5-)BXAARr+KH$s#}Q73np7S%kB(!YaT*Jv^S3L;1#L6??96 zroxc1Jz?jBZ&miHTzq_dZ|G1Idsv$He3=qF#7t8oU95d@)sVY(UBCJWw z;WYq$Pqj4HKGNe5XeJ>cku0NzZ9SKqarM=<6iJC}K1PI(k;mp#OV!F)GT@hqhXVQy z@OE?9s<`9!Jhwt(vD+ z%`?H%#Z-^pa`zPUY0@HVXiHN}f9X7Nj_%O{r8j42tAPbK!zk}6vXL{%y8h{wOaq%~ zke#N69s5xjT@QG*qq0Bwi0NWBkCQ!JT$G!8NUQ&H^xI%S1V6^f!c1&&e6UE(@Ho&^@!HSfv{Ha^$dU%g~c1+g2K zcjla38G?9bTh+%ME7i3Iue%C~p)+8rh+g|>g1Nt{Z?ZKzw58A>thQ`M)Kmx^48tam zz{LSP)cw@d)T)KI5XzPo;661qRqoyOI0HO6r!}+&Z>mU>AvgpyoTl=AmI@#J{LXNZ zlgp2ptev|A=q4pIbWmF^>-v?!NOsFvF;ds7pLf_h*DE46$!MTQ+UNXCSK1vDN7?xJM_UUyMXN;Jp>fR{3+ScPWY@7YY%hR(y z5!!%;?;cROQuNjOU2(O5*=Idt$)<`8K)?`(6AduS%gbS_1EGOHVn7qL*kU6ixm4R{ z-d0XwqbVWuvKP*+N!5xodt}em*C!n|2uK^xicmDzoV3uQ%>_qzO6TY2A7PI(EwV9D zIy2vF0|`|;RJvpRi7naAfBI3OGw*Yp0aP&^SaD?2{Qw%;Shy=~fN`x$*sSNwL7XP% zv4?o`#;L9%c8h;>;7#_iOExwnfV|SG#j_Y5hbhPT0mC!8vu|{%!-9#$u+#cMc|&Ee zAkN}w7-y8g`nWqJ8mb}C6=%pEEsrM(^Qyy_8~bU2fomV*up4U&g+z)CL`3sL~w zLSw$!^i2R(eThmh769KA+wY zmRNz0BXvLYX0Odiyw+g7;C_dD@NOkyxD!Io=QmfVjF!DN4o_)fq%#cO=Da;)o<;RH z*PX4%2xvUYX(!ZNda5E7+V^Qq@e7ECs^*4H;O&eH1z!#*T&yuX){Oj@!A80<$K7(riF_on25@K8>agSjieDAen|1t)Yw*d7A>D zRVUl?>uc{#JiN{Ad0%W#O_XBGXfM_u?jbr96c!$Z<=de+$@YZ2jq8-x!NaC%zVFK{ zs%&bG?sp8jfCjjbX=uweBzKtWx&r~OJ^h3n@Zm?{kO_)GBS34-8!E>H#1!%)4{h3p z%APfz8mx|(n!?;S<;9}>>Vd*11GcN!iX`GFy8|gYMzgulMOe%xkHGnE0dYHkUerxf zcKPnjkhSY{SE(~Y^4ja&CdrI-I-_XfG7O81u(34S=T|!{9UU{VSz)q3Sa4p7Mc)HR z0B-AuI3^OhE^D4~A5;dp(&`nv*q!3Zpo}Wq6cT9!0MATLY2|Ir^Tt5Tn_v-(Vhcd6?PT1qV`F2-FP9zMvF~_2s4gj>tN|BU04PjEM5Ne& zB_RvNoF&I?$xX{{=LCZMHK+Ow98;E9bL*b9U7dou?~&imVdF!bFkY!^J)eq_F8-EW_w!+lsy0_WkcZ&ZY3W`zyMYn2C0w$A_u zwikW$k`r;Y4Hn)7j~{#IIp^;V)FFbc9WSBJHG+3KK=*OriRQzNW9FaML1^0Ar#peL zy#&<)E+wmgv-+>qNtq<`i=H^BRI_#k9X^p;JeKhR?1qAV#L79a8^EsFueL=jO(cO# zg+2Hrpt$_FZF_sh^q0;u2ba7;J1-cI7CCQv*DM$N=L31%Uh5(syxe7jo$Y(ZVKFvY z%Y!axPEvLtd7*R zw5aI2-ED36Fi~8$`g@1=q7V5>MaB-ARB@+@rp>T)+Wwr69j*gAYDB7Qmk89****>3 znKHw-@u(i|c(EBUoTuX@Qh-!})PW)b&;ZG18UmtlR!oEil3p zOAmaC{J6vUj9E)6=Kv2-nyvri&Xo!vAeLrXp?CCBgFAY+KsjyJ9?u{fC9dQI*~)Wg7np*is`@6N^}F-%GPzKQ#;2@MczP~cSqllAhZFt-2sHG7$u+E|e$ zn6$M6$AaqjCY$Rmyxxh{d)|`h{xU|8Hu2z&=CoQPqiRtldpFV8<3 z@#-jmISJ=v5F`ZGPT2eb<{PZq`FX#lU5-Dr&VpG)*XZu_F)e zD4qqb-g@COj4@i^_*lEC5{|72i&+`znf#2Pb`$O4yK3#A^Pvam(j*z!RrmIXCPafZ zi(HTffWUU7ow#Ol$jc}zul0cs)KelA-r%7leQI9jb=4-25^|tX(*UaVrODhfWY*#L zk(g$F(18t?>q!!ReaXryAMD~O2Snx#YQHXsOoZal`rxY0$cr4%mN~{REZTo1P!REX zfs0TigW zK0~I>RZcIy;1?SKHN6?uhb;+V$#8&$rGn0*BR{`{X%m8N1LzECRo>0vf8nvVTnc3Z zwIv5Qfmb~^3wHw2uvux@8zXX)T}3^od!B~O_Q6Vo*l!JZsO0&l+x-De3SmIfXoWkU z63%%53vtjvvkE^z90iv)^f0!TVUt7yq=%QW&|kj9U701i)W+fhIF{y+_7PY#5h-vp z@m!XkHe>CLQai9iFV{IcrEc7&0m;X{DZO#f1Xdl;MjiCz^DmlAC7_Qb1L_ZfPDIq= z&q|SpKwH7DBY?*(<)wqHcowD$qp+lgI|aH(`4q~^;rYW8djkf7d))ut9TGZe1U@?! zM?jgDB=eR%7J3&x?#A_jWv=J4;Pv?pRN_9fml+kg-};{cjW-bfnOuJyU=wOHQLD7Q z7V+r0;EsJG4RYD%l0oO;m;v`);xWAkW<=dkzc~hPOQr#KCmEo32eYOJGb?ktgkEAu z;WVo;-9V2BrT@abO+E(#E*AE8`Ekhe*I*l(PjE^Hlfji+T;210eq4pgo&8EqN+Z*e z3wNBG8&l-jfEL_)976{t7U9s1wPq6W<~m2==K%Uz^E%I}$a)k&hG`MKh>y=obm}U9 zx*3Z2K_B>QX&T7^*k^#nkyksEnlnS8!Cplrb66|7CTPpTL4%c9^d=Ygxh5e%_(n@v zF0~p+sH_Wlr$=A!v1kUGC%LGk@)(2D;;$LDwdU*%^Z;HVex-DK{BlYFGmWU zA4EwL^n*Zm4m@KEK(4C)U{yb`jA2`xak6i3c|5v#1-cNvGLy#O7BLz@&B@eXd4G6w zebvIzao{vzH@MaqEE*OBFpZ8j5wI=k8aNDB-=q>)1Xv1!{V)UFrgqS~44N#T)an!j z=QbbIemli^Vf`U1Vy<^2au#)X0?~#Xj9MLN&NeV;5GGg^1M>se8zRH}uwJ#?ZEs5t z!NJq)ce;M)&OU{+$;Ta@D+8f1@MJdavJj%L7nFm=d7y28Y`PB5zip4~NX!mJSOzBR z&OJX2y4z<8%!sKVdZWNvx+c4ULST|CUs|OKoTM!VYzq zq9#p2Pqv}M!XQ(oH;}0x`019M$3$Ch7$|~^@NQ3a7IJ{CsU9ph0LBmK{%p`k6{U@) z+V@qNMSw?ZZ3Tr-GUUArY!Id$mL2IKW{WSqyjogXKzH7J@ulxo2+$0rX}7Utl8p52 z&9~r4tAZ>Q3iYc1*%E;c8%Y9H9Sh2vbR{!-eU>l}@z#MAviD!1f!!Pjw%8;vFi=!` zy?^;Wt*?e({(hwT+YQQ|lgd+Nfx!p>d6VwjbTQc_%#S*qLxu5eqy z`G6nK95^H`V-t3Wx??H1I0iL>YI18md&K2OZ{>RD0;gBn*SDqn zJh3<<70pQDn6$Rt?P;idLGs)q>hmj+Ov;VnZ_{0nsnBS%YQKO`*S%jV>odfXx=4zw z8yT+Op1M&XgunN}-}-Ax$%jwzgOcy|RVeTO*ezat?Pks*YTCzfj<-0GA+ljIyFKIX3g;HUZIhZgu3w zf>tC_i=6g|vR#yaP34>VBm@F}??({kJdxt$5b}?Fe99{LQ_uF1MJfC4Z9n*3@UJ04 z2t1X=8R|F1u8A-r=#>PY_2 zw1X4$x7RPyc;1n32qx~xV|-SZ2*K`1gY7751j0GM-8WE)u*(Cv7cUgIYbQJ!`S(j+ z*%0R4k>~lou_c`HKx#?CNp=N%)y0QEpnkjQKSoO1;ji72B5ZgdcM)ECASL)J?Fj=O zNE5zV2lzJ%uY6a8a2^Y0e(Lz!f1u;V2nAT=F3I1q1wbVJkDLDXtI`R-GXX`Ig-87k zGcf8ur~Yk}o)^BGh{!6(xU%3V_RjKU{%8 R(9wjyc_WVr*{Z`q{SWxI&6xlI delta 11262 zcmc(F2UJsQ*7gaYfG8*m2-1|^I{~CCy$MKfmy2`-rT2pc5tU+sMvyAKE4`zlq5=|X zr1#!?4g7Dsb7$_%n*Uof-#>GI);dW@&Ux$J&wlo^--&gS4_(L3U(+HcIS2jrcM*E} zOn<6~1A>Y;o}IrAvqBnIm9G0GEDrj6UEjnXt>W0xWv5Z6$+)$kPsQBlu3?Ezn4aD( zd(D20VvBU6>%|FL{bw0jC(K8FRNrRcHcrpBF@JHO>AGU^;IT5z$Fr#dCoXZHKCNv0 zMYTL`7cauezwG=&)Y1yUk~-a+>$p-{ws@J9GQ-{im5BK)77&cD?+ zp==i1By>f)O5DC*%@a`nWyz+LcLu-8ZOuw#{RwsP8o~$}7 z7&;YhxFlRuS!v1~&Gk#akbuCcAK)35|Iu6FzxuW3fLn#6`%wPl$Bz}MR8X;TaXc0M zOf$BSa8ycTLYw@)cA8qWv4=dtWasEX3m`CMTWodz)oFhWh%c&-qMxsuDLgyyP~pSFSRJ+MMxvxehP7!xm3y z1q?t#1_lNb9#w+X17n|_bQfA(R#8!zZBjUVTU=bc(IVESj0wqu&G6L zt&BDrf#FNu>T|*sTJ6oGMVGn_%E)c~u#1=R&UI*cnVNbf-1<#ozk7pK#el~X<9ySL z8s_CUNGT}TbY|&c`WKDW)gK+FWb|v_gdaS7nEU#*GAR}F z^=M`}c8!XmfV>3VtgXfVtiYuzHI(o7ohNss7zypMpYeu58i%=sZ}pWrqrBR~OFlL= z@kvM+HDiQKTwGid@5%-3ya9Kbxym_yPiXJdQz)Rb_Dgk;4sX<-mQq$$b_scJ`u5i_ zN=B*M_LoT@?-4SX$stkNQ#DOB64f|b`8sWsD>=wOH_I?AER4|Q*!Z|>)SKzHa9aPRICcfVG7B7^fj*tv6xMcz_hUtd#C&!ot@uF$Um8u^t>MmsmkUsd(t z=g14b?P=4kuaLOivbo#ILYFQnOG`^jWMT6%GBaJ~x^iH;V4XX6-ab5aArsA|$15ji z#ishSa$pb{U^n77zQjDK zcNqU1`H?Yn7%VmV)vLUg7VWyNKG%40XOtd}iG`(TVq(JFhJu2kbK)y{K1j#Nh(?5T z#5chsTpCWi?Aw!Lm_;P_l)*4l`{ERIAn0^I35_ef~{>*<0$rpfCZ7UBZ_ql&8P-UdQIEty5Kajxdj2cSg{%*b zum|3dQXjkzkmK9*{NV&z&+7=kz3R7soZ7$6n4CvV+IPk|6~jT9Fc8<^{xA` zJYie!GCw4DGkGpsm>YUa;Uhh#n!3}wa+Z@Ia7?cH0Z-!;5*Lr1x43pcg%pn9G0fza zm9^B9-%VGIWH6fcaBskut3Ey7{)ml2KF~x6n|0)#Q$5^Ov|3T;S@Te?%o<0f=e%)? z6kS;=ox?-6Yu@L96PSA{d`%Ug~saW;BJIbw=q1!0hVz!Wysnf{Gsc zEf9Y0g^)+ZT*J4`7wsEtxQ@GwL8I`tJH`z{X6f?~p$iw$Z6W{&2?*zlUou z*3ckV3QyM}2?o~PR~J}uiH$9|eiXpf+-z1dAtDaz(c`xpj=C%FjCZA8A+53$OfFIY zb8_v;*AEH`N=rD*rQ9ERf8WSxQqH>;1dqkOGOhj!cU(&xEGFSTBwKc?zh~KwT(ui^ zxI41ycil`0D-_1I{!rR?DdF*xC(nU}&!nc1XCr6g;^GMIT3E9rlkD!dIoB=Yw~_)( z_kj8R!9h^uc@br;7yPTud!(lr(m|}@UVOZ1-Ecrsg44V`Jmirqt9_ z0z8Jmn|U_QA0CjS(#g+qI)M-I(w>>tL93sdhshzuYk9~Sw+f55Z{I$SjNIIPXlG~l zJT9)+Xj`vrZ5*W8LAAbg~OTIKS#3^mAT@q*KTSg%Lg+!U#&DZn%4B< z%~Ec%OL%-+#w+u+X87av$vahEb`@7u)I2stLm#gDW0@$MI54x=)cZ*xd(JlQeWkr6 zj-&x(D;M>QG8j{Jtva_X=KNcc4QKN@iZv5k1iQQw%}HJSpnEZGZHxZ0Nm_@V2k_1v z8}}Zrq2O(+$?0j*fb&kr8NUmMJygri{g$DpN8^kem0iTks!1QqcpP<-Z3+^+;NBBF ziA}u{u=MJq7|~v2T^W+ag@txN|rfMfLDK>c9a3jp{o%gBJeco zG5Vz9=}R*EN+CMPCl%3z!|n!Pny!3Jzdz)Wg5k*v(iiQC!UmQVXipI$R{ zdNgK!btZG3x|?&!;x03NDC<>hgGc|ZirKAxcN}0G1*9xNZ>C)DA3tR<-;;3o;An!@ zWX3&EcTOQ(mo$JIy7w|Cg^rHS_3&U9gO}flmv9xoGj>&)k@D09No`cACp@j2DC=)P zAZ`G&4@3r!Ww?kl!`Qe0BvYK_5QvNq>&ICB#fl`!K%%ifVYQ*A%(205?3OWXh#dIKZ~C zHIz0SZWe(USh3V_bQsWh2Ms}uU$(4)5)=_ z@!=H^Ah;#FMw{&VQ})>mj5UfK_-AXJnA!!TTkHfJY~k?ZjqRGBtc=gXOWu!ZsTe1$9R@G6 zGROs#T8He~0~$5A&|8w5oqg?<o>i88Ri0TMo}R(wLerOhmn>VG0Gt3aW2mbeH9YOn_67cO4bb)Bt>)ydg;lr`y0;l?k|*g(#b3oILuGUu_65rE1zj5soJgU#;jDX=JWAFdCLYNXrSoX^rtlsOh~ zUP&ND31nB@fc6J%tzg_$+h)Dy2(h&&WRuU{!NH|7Q^&i$u-+8;plQ4v(4dLiQU`0S z7c_G75BBadR}6>LBn8az4BlyCnuCWM8rY9oCqvdIG^7)C8x}DNiBfl7PmMov|CDXA zCgeT7qqdP;)@J3kdzYA$S3+VFHUAfu&!Zusw%R7Qoj@RI0D5QMld^PyC^LT$mh!q% z(NT;_6IE=kPWoy!uHXHzqchJ$=w~DI8gXq=Nj%`JmBFoDFU~TA}bOnhRhIVL6ru zs!ANbC*%;QSpITLoLInAoTJOs<>j7&SM1AI92jzeKlZ(`y{{U@*gJxgO4N;HQLrW^ zrGz(n>l54ohh&iP$_A^F6Hl=%_!;L}bu>b%fMxO>7_GpsWdUgA6A;h=Q1C{%9;sy( zRhef#jMkIq0etnt2W0_^a_!aCRdbNqu+MTS>_$|3&Awh+^Wfm*?AcduuAJY`X*=3& zK&9Wkm63zA?0$2v?-0KafZOCOycQGlu7P5wW*DzqRaGSe0xrQZ-nsLexoyQFS=$=9FM%8gu&3QSm3N- z{APS-&8Ds3cG2cyzX>3{MwXTdFAgjW^aq>EU2(d3CPnol^RHl}`-}AWzh*`Oo82bh z#{8KXr?3YPxIu1bn5Db<-uj0ma2_krsLrK{?x~izG{E|J#Ko@@23RvF<2@HkD`?5B z0Y-W^^FtRL3BEU>SuZUujW;w!Z42DJyj)x2FjcAOqTZr!QRB0Cj?ULxZ4$Hg3LZXC z1xy4p5&YT)B&ER5Kx#*EieB_%QGfkQMVo6rRc@7|4>{>SWoL5(yU;=bK+geOVW!Wu zs9-l_^C#XhrP>rsHe>jtrOgO?L@-EjxhxOWAsSYW>6ios)dDu}8Z5xi&(FGijFy&m zE`low`yq@1reRRhz@GH>@hm{6~hG1W^+y<+i7k<3`_WgU$Xk&PHjv-fpRgG~( zM1-cc_H||Dd-6LY#9(2MHx3mG10KFumIYxL#+m4eubM=K^vEDLiV?BnmWnya*Aw3g_fJoykTwary#n5 ztj)wzA1DKbRi8>qORu-Lw@a8T)(pAT!Iv%jq>$nLxs>^Ig1`un|6Ln4=?XOip ze+B@`yl_^&v+&y{W_0r;kX}&0+bM$&R-3+k`_=(858_(nkh52wqYFTBkQ2m$n?geB zd3kwV@S;TGz9e$$PnqS+0rBXti9M;u(SX*L;jHrj4)+8NU6%r+hCy5%b&i@E zIR9F_;W7{kPJN?4iGXvq$>cyVYuF!L20UY8{Zx@fg|6M_r_Va!UMVi}Tp^#!aEP1D z&RVk&kdkoR`v!7)ARrzEw!Rc$OEJ9hA&Ou*Is&dxr|3*Z}#X%h4fTCU7gi4Jiw_)+uJ$O8rYeYJA-VtZPjHgswK%%We;Nx`4#w z{x&=bmYP8!}%1Km`L{o8BWkCg1<2698i`H(eqJJG&EzXdpjuq2BkHYM}>D z;ESg$Spa(w6%*?&bA?R^tc2metwleBkHaX4zzc4%quPip~5IcdY<-V6ti3|up~|i z6No5pD8adT$ zetm#0{qRixDM_%0-KEZ*UP}YgV6n>pF!bzCf`s~8TU*hlV&+sP=o2{{^C+NbJj=PeNBgH_ZYg)O9z7v?^MDPaVjQ8_oC`0N4io<+tuH zU8>#I)!1K4Z%@p4dUH0CtwZd7`X?3*zHqHPN_Ee@z=nz&(WO&?29>^ow37*FPPb>w z_^9i%FY1pnW92_z*fiuAnlx9_De`s=hS}RK{BXB5oX_og?jd1`zrHku* zP0*Tun~eYAuz_<1atE}`Tn8rz>C7(<9)~O`?=epR9)Eu3qPWJ9CpM78`kG+tqRqC) zV#DOAJ7xI>&J)O~{fND}qZr?Y*u(ApAvinh;0i-f=*L!&g_I0`#se$pb#vUESiSPCsJh?qvcE97@)mgQ{2 zk#c%$P~!GDsawpUm*SrBO5#Zb_9_rsF4yR3byjHgPN!Q?XI#Vu;p7N8Bj-6=hi2=3S)xN~2D-F;%=^ead%x4BK}}FYVU|a3Gqvk&#`ebkE~llC zz^=MSV0sPupg0eTKNFr+)%N`~1cMaMye^; d;!b6u$elX7c-x$2^LEr;^P=c~IH zUa2j24=^t~?>)jkX~^tYw6Y(8l>k9%bux zg8o;mOj9c?tbOUNX>18d0BUC_Ga`N-L9@Fp<>IQNEe&;%~qLq~k;e{JJ7@LrsD$nUT zcXn=i`UhYJfVD&{T^?|!FgvP2cu zZJ86a=DDG|nxx<@GeALlYGlErMnr+gt_U*F?v4yC*RZ-bZ>~|$2@*zdj)B2^S;kTj zQ|>m{2d6By#!F~j_F2FJoSn0Z0;N`>&*Q5zKw*&anu(ER)=LTR`~`&T4#28i!|;Q? z!$u%jQ&Uq5?(P8{6$3bP7DH)4Ow8$w^mM1eYVXZM`ZHdT;yc;HopAyKC<6(7YvN@j zwz2Bw@X39GnEuMWzDlWxpbWxYK>0oHo&_Hr%7Eelh!k^{51)(?-RLd02N?m`hA_mM zLP*WlS1E*QQwUivf>EcDpfc~tii#SHH$|HO3IpOTLunKsBh7sdfF}Xbb52f~YX%|w z%e&ANnKBaSP}KGVNr6p+H7YhCAs;BbBz{*hFP=SvQ^8owKHZ|sTC z2DoxT#6YDp%LQ=r@@fKVTeQ6ih<&_#aP{H-@R18hCcm|``OIi-!C)q@RyAXONU*xTC+VstI1PJH_QQjH$SHM|A2KxKRd z5#5wlTPwRbRA=#oPRO_|NlwD0i+gjScfEK>Y}-%v=b!*BbOk9PA$=&US+2JLGc4Nn zks_4Rqv1+RK|%orP($og>#MTBZ8w0afaD?lm;faPD#BcQTKLcOda=(4Se~(;pC7)6 zP%hYsY8uz~_pbtU&MT>EXbFOj84=DBY%Q1p3XKb_>D>h-pL3wT1y+j}_y=h0RQw%+ zh5Z7VRQ*=choKa5zx7t+Ca4qGtj?2zl59v!a=7cX8UsIH~IyeAq2i8~?n z1Dl#D?K#CQFK^AImlVqmbP!z>ym7GJmIoNGV_Q-;u=!0uyBd`GC&&mcI}eg$w+6fq z2>ih-?@3YVz(rg@?F%T52DY}T^1Bmf0g<$zl3h_Oz#W3+HNJWCX6rik!ecgYfFbB6 z5WT9mhXS92`os1xY=iRsX8JYIBA&pqk#)7TwLPw9VQOk%ko+2SAM53R!o)ntWI@)S z1!Nbn3-drWrQ=^8Tn;gbmfL#yp|R0b&Wn&ym>1uO00q;f`hB-SAU&Pxr-t1o|jL<OSW;3L&BDrqvE)WjkjRUON|Z>kW)qQLb@sILu=lcOMXz$u zA|%mdoN}i{B=}iH#6qi(H{IX2o3aYemb-^FB|$k9}PN;_c{8i08NQ7pFILC#!rjR<-dX+6JSJ> z3s9pO1nJPC;2nHlVkWS|Ncxw?(9dLP(YG}z(0SU7B`-9Y5Y(#f9=^67H&ncD+Iy%v z-}JKgK;Pk|De2HkB|_8aF`-8|&XkN?DkJ}AU6hClXfXYyDf(l?!h)jcQO>hy8y+)yE`*d@2~!?Qk#SrBQK zs4|+Y_{#Dt$0gebK{1y0RRcop%|1*m&)oUZ^n9@oIC9^!!p{T9g?LODn9F#T`Wc@t zqta7rEnnX+DVDaSI&EkiwaV5{9F^wu@R%w5LZtcj+4HeiF3nvM zlfU{Rx!Q?XG%6KBbTDWu-)k^?)?fV~4;kQj)dKs$GR(q}wT+V{J2&@(ONU3H!h82u z;nQ1&_bnw$#zGC+w)@YBPy}YoU(Y`Im?S#m`0R;mh3~({EhnX7_UhJUs%nM{^%>Mw zbxuEHHNW}w9<{RFT9V#~&2~*ov;J(CH}wKpHG=eQp0ThUa!GC3@k+8`+i3tBunW0%TG|Y?LN5G^bCRs7afF&kwVa;y`7mcE3}9cC5#Wuh%iLw z5Oio^KGKrdhg2~q?$5ZGUI#}Su9H?2&>~7m5MmhH3kW2}kr9FXn=|}0XiPmL;y6MQ zvvL99Tk-M&q8>p))c4jDW6p%=V;8$&FD-2=j1-W#VJ{{iE+%FtU@PSyE@0;%Z6_{m z`>T|Ltv$w+8NtIYZs#CwCn+Hz0A7U!#HH-S1*9cJ>;=Tcezir~iAx~G#3eBq%m{Y! zspo@cjx-SDSkb|Za6}MGib_|=vLbSciA9Bx7$t6m6p^R|<}L@~JSLPAah^*=SV~Y- z3MncoAuJ(^loF8^<7X8>N(o9LkrL9PVxnTwVj|+=(ijm=1U;sK6LC@UUwnd}6^WD- z6ejq-grKAqW<(Idgkj)9oU35uKpZ<(E`Y!ze*TZ?;YaYI+h)ircz6+UL=|{J!~hYI zicUqp2qKE;#NW=6Vm!qWGK_zNBnV>t?ZD|@UdK5wU&RsHL{ILc?_8(B@Jk?giS)xT zrV%SzmPBX}?LI*dTXJL8Bte_gPr>I47-=Meh4HVZ2<(miFXQ;_Z6y-pg+%Z%{=G&1 z@s_xk1p8DYs!zj^NFjKB+9gIr3XG>R6Qdyop8b2n{NuAqB?L3QLM*3(z&w*eoW(5A zAjmN4NW^KzzgZ{Xmw$W)qE*E(Nh3rU2^J^~=0~^~|L%?~9gK@KLXh#VRs<~R{NLTd Rpob}yM(`f5xItK;{{ykbCHnvX diff --git a/matlab-sim-v2/self_balance_nonlinear.slx b/matlab-sim-v2/self_balance_nonlinear.slx index 061c212d72400d792afa1c447a0bf5775ae86c50..f8511e937f614e8f8b23c7df54d7d5e4c828409a 100644 GIT binary patch literal 100140 zcmeFa1zc2V_$WMzv1{Pku7QXh1Ji_r2#APuDTp`;Bf|{N45?suV_<_F2-paiYwHR& zy4Z?@ih+oN%6;B*=1kzsfV=$fcklPR`U7UpdE=?~skb~`4VrZ#;s5%O4i4U1b$bYj zgnqif!w9~d&11{iX7aG82#%O76q!bfLl=6wJGX7sy%iK_>oVHWn?!2z3H|)m0-jvE z_hb?L`8{&9&XMJHnddSA2U4M>g$;=&d+psLY{6J9*)6MnpSl0`g)y!+wshu}O z|Ka$%*B^g)xzj6Z&ZSiNG-)0>uZOL5?}DQR&FNLsUfGa8@&x7C60`Z|p8Y{0?YVOz z-3Z`1zAV*%G>J6JkTj#oZ&m=DaS4gkZN~q5_&-XJ_ebMNq@sMm;nEvh9jqds&iMH8 zV@7uR^5x6_$&zF)>oxr9lP9M)4QS@+KhbdhId%2<>i%Av^K~$ zJ@9C_IAq+oJ?G}P3%|6iSNx}&&Ye4V_H$p=bWrPAhTYy=UfFl@?OjVNYBp`^xwN<4 zL|Jj(N%7@OK~^D?{Z})anm30hKRkXg*SYyqlgAD%+uYmg(6Vh0*4X*&davzwvZg$@ zyItb6gVfq*^Lu}KzSwN?-|MJ{3g0?qRDJ$@&(-YYj%-;(LKHMLWIk7us(u}*@(Mcm69GFv{J1*^M z>7AIE7?>^Hc})Ch-xiyxT^>YNmff|Im#jE(;>4YOenXo#Z{GRAtK^VGuXFR-UgOG1 ze8(G2W`F;5+atib(1^xcaB<0>+c!#1jR$(?a0+J{w4D6(%*_57Yc_1yx1Jt4`Ny}f zMjN}HS=zT`#@UR-(udcsxdPm`{$5XCvvTFu7Hzu^GB$p?A-q$UE@f3urY8eE9#5;d z{#xAbO!sEJ_Hg$3rR_o_c@|mn^2(~6RtLte8sN6*k&EGo3-&i=4!H`=E$z-c6yJs< z{ww7nX;WT`o!Q3g{x8ExoqOB2+_%oP<km)z2hQ5$bm;zKr}JKI7#+C)cpSf#dzGy-+%3`+qct=3`TT*8D2@6G5FT4TX%9} zB*Dic?cFvoypm0W_Z$5_Xw5%I!_%VQ{^P&AN!RxBGj8rFw&@kc`L0PU@xwiT|2=l` zz@{1RKz^@YzI@}&gTv`Y%}q^8W^6nXQRolF3d$elR+i_!0}b`0Y~_sCV_aQtfBRYi zy^2TNXkwo8IwKcU6O&_@`tYDn&;JYP_MZ%2NLovhXX2=(-FF5aot%ASl(%=%z5U}~ z>{|Hn#n$;o-m_b@oe=l}Xjz><{Rcdq@zEIu^^W+;vJLdmWv<~%dYI?A-9GLC<(5pF zFk<}sq~Ro&q;t=1!0_Z$b`vMBTD9H$$uys!W1@rcoz83r3+o#SmY4`NM3P)S{=+hE|bwvkZ@Wfi^yL7+C&d-j|x1@Uyd;xBC6}!FNAr zXJ;d|``2H8eX4nP`pJ!i0sZ^OS#JQLx_K<3@JQsdzq})+mp`<;zK-f}eWQ86#EDy+ zLk%7-T%O)UoCInR`YVH;(8%4kZQFjMy$c>be8@4&zjDP(Ep-dXWiND(ffPV^xBy9;;BcI{;Ihf5K?+L-&U4* zI_&1Q4h4e-4Z5-9Px_~OK@!WD)N6nLEf;3EmfhLg*Uru^Yk%|Ab5ae&Nt-t9-@kvD z%dMpTuAO@KmV9t@>SYsunrJA0;FzaN|@I6QdhP}i=e6Cx)bi+T5$X6IV_@tRqG zm)w|l_fFS-mjD&llzvWj9X)!`=Z~inYW7KFU&YQPZxOu)&{OESJUs7M?r@WKCxmsN|VoKAdO&Q#aZJeB)UxVtt zGpl)PMG&6_nlenfnGms{|bwu9P&HGjA#eZPkbD+_gK1L z+S&nb8+M#O@5qFwe^+(x-hH2Ga8B&E^=a1yx4(RN!4&+x&O0I`OB{@N2?qINRaI4q zXvXmNa+3SOg9poQ@Agg*JM zQqqnWmzIaWxqq-#yLMUeowATR0j+)%EL56v6YE8(1}o%KiqrYm*6xMzSc%QgNu!gDroN%3Ilo`vwvjd7rm3fC>^$U|!EfI_rKP2&DOEM#=ZH64 zOz6392**1qT;gAWW6g=F87bcUocT7G_b zX65r4V+IW$9`wDs@^*UG!rd*``Mpg#mfSJ$*^+x95b4Sjfg%8+5hj>NY~bv!X&4+N7Akb{nmvuQd*IuhKQ z%F^4;Sx*vkSrPxpufOfkp~I)|RZoVW&cA%w6Z6Lmo{pMk*lW)YkmqgSKTM3tm7MxI zDxvz5S3ySb=H!S+IeswA3${AUU%h(u4j58VB{%G!OsiOW;^fIS$;rFlzmKdee^j`t zU6UC-+RIZr>>Gc0mmq&jaM{~jdFi$*s|KclcqZ)tQ<4TwTj1%$ldrCC+-+nN9|r9& zTC&8K!`TJ|HZd`=X4;b48JCRc|MK^BoYZfG;}D4wDYo_H=#{%>lnSPIU0{9Hg4o zt?PF3NA>GP3l?}znv~iPg(r)aEi=9S9c;{$vC~#BrnO9XeJ>rkX-B0+V_=*`M*MT+ z=7RQpKYgpnPqUxh0_3&N%i`jpHa5YhPMw;3Z~ywoamBrM?%Fk^Uq43}lPk_W^MpaZ z)--tEiWPsneR4YF!Gi}$JHQ{w{`R}^8K0{?Ke?J6O@7tC>dTiehdktKpw!)ce%Fek zW_*->dC$)J_9oW>gtW`Baj8|0r+O^6t=?1d@ml_|=+Zf4zqz1JFD~!>?%R*DbB`ug z{{xZ6rAy8Z^V&Sy6St=mw2ds$*_ORel$$k~e{O4VZuFz~lah{bFBu|_6dd%^uCGZ& zJEy$32m>tYYv_|lfC17^mZwjD6NUQ)yUfq6{P1D0^iR)~Yb;B^X{>&8I6otIGZFH5>{!?WnstDGYji=NO6HjGT7KH{GOqw^O^C$oGKq1&WaZsj-(c|a`hxkV0vr#5_sJf@sL* zkgfIXfEAt(U|a?*T(~gFw7k~S>$At+1^aw&q|I70G@xu}@$vIgwVsncH>ZjqS^A_Z>JuNpqf(3l3B%a8W+E zq@`icK_9HP+busB`+;*5%ReS`kS_-4vH$FaR?(HU|jL#{x-<+R4d)D1j zx+AgXt$Es|4-0C)KdJTG$cnggfPK#Uy96SVoq<{R?K*;$o$#aN`q|kngL6*Gr?gxk zyuE8Mi}iV)Sdvu;F>U6B#a+X%Z(xFjP3|YGDt|O)^k~m%(@r4Mom|{(##I!zh2Pun zB@pboyM1&{Y`@cg{WX$2{*YsML55%9v50h|D{tqu`O|w>7NrMEG;ZJ9#civ>dl_T5 zzGc+A$H75a;*-w`PlJ57YSrr2@hLADpjL{F%D>lC1wbHX^Kl~G`o*zAaqjaogP^`= zV&bW}9nW^`nbc+f{cS;}J?{o@|FQh;3*X^l`Y`(sB=|5+3JL$K!FchnNkM>$dHMmuj&txEE3sy5y28|%wvZ*?6WFu@d*%=9nk zdT)B&rBkOtrl#)TNKC%DZEjHcc8l_9Z3gY5eXk16s-0u|Fwrs1pkt>y4^AYH_p;*K zYz%hte_Z=x$>YI!@(&+AELyZ^$cNa6tc`B7TeiEm$x_CMD)YT?;X>(Rvr{*~t!7Fd zTNevWJT_Tu^-J@&loY>xn?C(VMN0gu^`W1TgLtX;^iTJ>B{#Ot?m`Ycf34W)*0G2n zl-zJKjN7zw<+FR|hU88z$lU$u{-VsvcT3D)CV$AC)t!0ABjtpoa@-8p>QANH140t+ z#vQZuNb5O0XS?In&u_dS@jUsKe=hru!G#Z+{paG9u2^!=nJ~DRb&)5hRZuzc{`9x182AI-UG| zQ$^|R-J3&d-=Ayu&+#eTmA%&;KW;&uaNKkIsHH<#Yi(_9t)~Atfkf@{<G=JOho`x>o z;01t(^76!q#P8J*y#&lR?6rE`x;>zUP(}h|YSF@lH$Ro$E_(OQ%*87H(;lR_(D->W zz4m1Mr;=xDAK3n=Ua>3V{?>Uh(SHBLmCmHwxw1C$hI&rCXc>Ija%gV4=VRM%8~$=a zo_*Pqik+daLi0A=1aD;XCEL9|yO$aEv`BT|Y_(?c=3C_+XHIwO+N@>EaIo}iAJsxC z=!oEY_wO%y*Lsc}yQDjFvhU0J-#w;Rui6q{HrOTS`RXmLyPDns7g=8Wz3O$L}-tV<*W@U7ZVP+7&PHGHALPuQnI!FLwQBv& z6t105Y|2b=u7|G}tZ$lc?Ut;F!d?<)wX z>(O5Jndil)z6v0$`m|`dEI6;AARzNp^}dQ4h%!cduN-7P`OawY`R?_QoY*RUlvDaP z>xqAwfBKz_;NkggYir*?{-%BV_NJM#udeSAiZIB7C*E!bYCiHu)k!eH;PyqGvXYig zdjbi$B>4xwRp2BGAv1udTYj_xN6PbD{WT z?=!8gC7YRjt}5Id^LTGx=Viyg|5##J{rKe6r9Waf`I|H9W>?kfW%FUr@2L?8hN+>fZe{k-8UA}j;kQSYZX3k|G~+rS&+`%Z)Cua zd~=_gl_)3o>2o$B{OrkpjzxfU1(t%pR3OW@*$rdDHR+h-NyfX=wG-jZEinAUwsa_p z0GoXA$79n$gFL}xyUw3&6H`86VZoohH*A14zo^@<65d?L=&W)wK>#r7$SCd8ae+cvTq1pHxQWS7$CUZs!-fBiYC ziA#0OliCchOcNj|UvzhS>Z~hQuX=+w(LdPwc_5z^`+gF{)AzZr1NNrw-m&9&<&B*K z-8V%R29_iLH_e$ehRkC5Cw1!FdFP%zgIv0XNZ0IW-*?nFM&}_(5KRvT&pXL?`>3{y zckjIq&Ykmeqqp~dv-@zqqd2Jb`#Gn7RAz2q2$QU0%BNi@`t#2};lrk+q$GLG+pMnH zrr?G`j=jioi06J#f@#1H|K(nTefOpYtUhTm^Wz~1_7i@5EzWs&s)oV8+Nrn*vc`8o zKkYDRX&CnI@yYIxPeBfU@zetFwIJsA1pf>1tJrl5X-LM9&hk`~(U3AcGt;2*lHHG+ zFRG$SQ+vKH$SjbY{{9Nn^x%1~fq??4%t}acKoZFB)`d_<&FC-?U7m_-+&A-v4ThW?;iC*Kzt%Ib6AFv8yeef{dCf`V%2~P2T z@ERf>9`^!9AlDz|y1|f-hj8lZ-+$i$?cS+Jk2J{pAp?&(;_vzDT(emX1ko@<}oM;1?Ba5o%DHc<< z?Q+|=3$*#*0Ru)sj;8>!Tb(*~+>U0Pfb^}}v{~H`g1EI`hs{9D3eP;b3#_|`^@KAE zQw=D2$RoIv3kj^liQg*&oJNf*gIqlXw8>yQcg~nWx|pavS zW;`HeHyTYkj2^w<^SdXRZ{CPpy4u|`7e72syWXK^&o`ehwd^z>TEDupB7SOI++c_j zl0FsN)sBDs_;FcbR%X9aFs9j@W_T?s99rwW z!YnxEE35z8NAF&|@Oeo~HF+_xvs#vPw%dBz&ik^_;B}Nh_6u}%=)nSr-nwK%IBS>u zNPN0Hnza8cOmUsv<&lzMDSK4{Vf;Pt_aNdc5`{zJ_SPZ(wIkDO6ORgSk3uPsS+i!z zpP&DI?)>>_kV5QYJCcOOvifA3F-+2AY@w#c{)-oy`u&B953iaUx8q_)nOy3Azn5T;A2CO}t9{eNwtt-_` z+?I5YYEts`>sOFUNI*T!fw?%OMTS~hj)%zL_Q|Tp;gzFFZP<=Cwr|_U2+ix6c8Qen z8Z3@g;-4mS%s&6T6tbT4#?K6TR}sWqL1Kz!bDjrFn^B;n%&#$GcW<*`6o9f6JjAN z@E5$n$U&N|KT5Mb0~ZP6sUVvcq;}726j^gs!bVL<>Xfv8{aGc_Zj8Q2Ik` zAg$Ygv}G|Q2w$Q!(8!S^VeSFU%pJ(!J!E)&T>!2Fa=Rd7|M-3PmhFsu!E25G{HFBc z6;f3npa=w--0SP|CiWhuCKV_<$@OZWDXf0|_*tms!%R0LV{Yh~17UMJ(DBJLkJTSi4=05Za$2_Wx$ z175MOx`;iGLQ?ss$%^qdW3p>t`W5l~?W5d+GOrmuMxptPZ{NQkopg2aqLR44O90`18;; zm?a%*Vlon@jBkNG9Z>o_%@EWKf6MLz2X0vUKs*H@$AnkRF)u*5fX#C`Sg_Q{Cg;v; zhVYgn*lREh$>*M}xGu;o{~I!cgQ{v%yqJ){?Rhs7yc)=~KAv8i0ONWp%nFzl)I0$N ze=R(A>eTR;mset54H(x_h`aqDlOp-DJtXT<^hU^c?d;<)Zx3iG)BJ!K9s5ke$Hd{pvsaltO5gfxKk|(xqTdcq46joPP zPd>k(J(^2)eK#F~l6yNH4&^{nqz6*M58i(Ew)qTQ3L$FA3kaIAXa>w8SX{Vxai2$u zEk9>zW@hHMZ{Mu(;ot|E$o0LaLf7*LG`+ekw1m{p<5dR~Ck^5Ega3(KfaTQuu6$QkrJ42l)V+bDwsL>G@a`|_Seh5^q( zeVV_QzR&6Hnen4|`VVLD;ZGs!2_|T~jUmb5y^)n?9?Th_6$~81GwJ{LuV=#632k{1 zX#umf(I|3)pta}Zq=(>w%^QQ~Ywp5=nYJ*-kA@eVdi5E+3{ZiP zrP*%#^<_ttfQ9T#5ra$$fQf$+#5_Jc-VQKEgG)J^LK467Pga+u6}0_Y6nIRu7p%r) zFuj2XCe7TESS|Ee+UCsl*mk`rXP#eJeD_4049yP~=WRyw6#MU`2PJo_FgyLt8#0Ui zGpfL|_k#2c%q(x|{^yL1AKLUfa3&|}btiD@j#VO;@W>H{P3^Y|G_T8$mv{oiC(ggE z{Z?!j4owzJpfec0phA4Y!uAxtYWCC;2 z=lQp3ereHFI<-R|a1;~2JZp(`Bw)YupR?Bs3xmLsM+w2ZsrIv_>;9OL zi_OuWxpa?&jlI;vq4|L}O-X1mMr3sE_eJj_SV1da!#t4RODocv*6+3&v=~0+`5a`C zA@m8mx_a;iFgD=C?PH&tCxlesNVm|pg!e3 zj1^Ou2`{!6Eb=p_Ykl5Y>`K8D>nU!ViT4pV0SUYco%c@*a_VC@T@yeI6*0M2uo{ zIoJ4z%sl}5_zmiKXS94!nD3t-Fn(g?OR+{Bhf zCCZExNx0$0*l*vsNI=0SD#Ap8jXjTNVhojm1~d}{H^LNpc92Ag_g3M$NGp11(!;Hy@CNu_%AcPv}0zITWKA=md5%{XTbm2G>%Gu)3C=pw#z(Kv7I5J8uGqD{?Ch#-EP{WA+6RHjpu?*Uh6ZopW<4Dt$NNd4~ z%0x`H0L;i#3@a*AFIEJ_)u8ofi=qG{0$*!=u)2ul{7@+yNrVCz^(Pp-DsVM1jYma^xtQWrsBRs^Vk)!(O`qn*h(%>uD5QjDNz z!TJb9k{DB8DO)TP!8cPm@#$w8dxE7B%0~ZcCy<8F@gnQWjO0fu5sARXQK0>w%oYRTN--a1jLa8}LD!44 z7R<&9IWV%~d?Zm)E*~2QDp%4B!73C-Nup$CnxOwYEEMhd~77`$qj3|3hrwL&Tf(v2?&DZ>mdrG@(Dup&UQtX{16d6pAdRa~4^bSk zs#;0mZemM?;8a_O&?=6#PGb8;iTP3=z6jzmLP27t9h9Ha2QePWmhpMUgV6ZJ${X89 zMh@22Um#y9aga)6h`B^KtYN(BdQ1%=Xx%!%XchNWftTKXpbkL@t%PzE3NUpK?i>VX zE)K{;@Bx2?&%+Fhj$R012Cs$>{)t#3)++Wcp<;=YKUN67kZwLm+1zkQO}K$V(^<$B z>T4ANtZk1dImFGnDDT6TW2IybA-P{9_&-o13Sw1AgeX9lu{B&6Rk|cbOJTCE(n2wx zEfvP|?PboG*3d2}_F%jMgkoM)Bu)`sv~}g^BZ<14=+HJ8s;Y87AuSYZRZ?RmfV7@! zWF7Uq#XO{eKwXI>60K@V0Ri7bj5W`fdO#8j`P@3i0^;#-Ojvc6@I<5r`9KB@*@9l zoLm|YCl~!VVXt-L48hLoNoB= z5TkKmQ?{iCE>#)bFo6Map*9XkL{oYoQWnt<5Uue5LQT~J5LQG#K=j4~2sKp?Kv)s| z05KX5AkXLnRFmY|n#%PV%7`-tYV>Du8 zj*ZopX4<83MC_+F^~nCuWp#@ku53{a_oxUIh(tlk3`@B*f*`6IcjSxz=Nbpd8;f-s z5I26KKv@R~U(l$eRkW!`9#lvXWp&GgH=iqvl)_RW5tMBNI5pbS1EXd+-S8nr%5S8k zkFqU2aH-1Zg$YEkap(p8;ce-MNl`{GOhBi`l3*OF#%j$`7%k-S8;4%Xw)D_TRYo_x z{CJ=OePxZ8iqULP4|H`3>ITuhF~L(crUx{&Lb}27L&;TG{v~Qm@P2Mo513jC>j76B z3R&Yug;ldfeSp>}sT)cM5lk1t#0i>uYS2L8z(k8NC~jzx zVO#iOVn(^qpw-s09+0&b*A2I)gCsJp(O@N7(*vKfh;EqN8xmRB)LS&>*np$!~Jzbnfr)~;zQ zW*?v|%nA0`d@inEFKWx!PLCCEdkAS&tA} z7YCVUG^(w(N?^3NpskL^A_Zl)1i0F2_d03HCLJe~ z5(u`U&=^$J zyuEVsjB>R(P0MO?3$2BSNL78t;IPgS0&-nuCQoit6|uXFjZlVvCIZTojMx z(kTAmVZYJ@zQE=eTEHvFG~fsjO40IRe2-H@LGc&LqF}kPMni~@#`p?7wPuFlpM5}0 zvPG~MhX<067ReHIr^*0tu3SMSaE!*o8X#{loEmMzVm1nuY01)f2un7!7N(d|8FZ?- zM%nRW*&IGB3a`_yMj1utZtPHv$7p3B{L^@*==$fPKlePAAIcZ=fM7z7P$ZPcX|w}N zg*3j8bCwEuiYG`O6x189{jsM=0_#>nJ;PwtoT8EdxI)yjkLAl8BqE7a@h*sB4F7`_ zZKAinLTF|WgqL^C%f9d8lCc_fi0x+>Q6ktOU z3*s$>YRRHlz>~WDK{a!{BfMdnB@|M_8yd6(2%sYIUI7RogacN$MX1jrsD^<iDnHPI+f|CD)?CUIURqXgv2LI5`!FiP?w4t zYO?DoVsrTss#ny(1Of_8pg=SZa6vl~2{8YkUO)kyf>-}P(+fWjNHl!@odVFQV;VNV z|E2c$FM46HUMue_k<>A)NX^4eg=it{^Z`dkZHWD1LvDPwEJ}(EMq-qy4OGRZ3`O(! z9~y;5=ina!YWzbzm`P_DTUgM8Rm-}S9vvtuY!NitLj)NF z)dFN?30TVtG(g^}YLTs8#}rG}p`F5`B_i0JjPD6W56QTp>Kki69Djwmt2APpm9j?y z541&_j(kyUzbgydMx%ERB+XJ8KPVdmA6>cOfJ~sL7k)^GMFKSl$g$miiXA}~%AI<| zel67&YMMC!$fUqVJURt^qUqa+N2jtBp#BOdpq=ooi1_{_OMTE_+nz0Gie0m0mW4id zo@)Lx;gCeYHgqjuBFlzv=uuLc2n>kgYAbzxq+F1zzLF@p6+wQrx1JIqY*fcK;}0{Y z3^xXLlP$F|*--}2(EAF-%2uq+2tcff4{8k)5HWwo41O%rkFK_LU#&R| z5UOrK8b(dk&KD)?F={gErzRS|zd%jp`3E}jCR>`TWEwElq@x<@1SOfOt%cef#Re`; zMcBEg-nd$8I3Zb@l!W&hOl=T2su)^3IA|<@)>aCzMkx#oOZ`x2!c>PqN(K_-Q9IQ^ z4PA9fvs61jL9K{NwA6;b8aWy!TH18CN_D8UOl(b2LPmw81Uqv1 z3Sm%KsOur@wN8RJOiR(##v`E_ahI!p4+kA9f=jE`lX27pmB71!FzIp=s5D*U9PdlR zQEFIUOx2c8r9k5N>(nWDU;n})SnBLcr~iZXMbq%R8ito8L2@-Y#_)p1bokOZUP!M`I|XS2c;y9i-JmC|EZz1x~h79CTr2MXwh~ zbAnVB`bb4nDOe>LaUfMP*t)M;D z#;SIV)x{L_hlA?8JmSIE`DH5i!nlGm;qNIc)KT;%#Luvn?&lymb#+R0ijFS08MMh#79<@bs z%2GaXAe4&?Bb-MJ%$Z^%Ry_fTR1nlwO_->%BJfztSxQ<@JHnCwcgH8uwH?lcH~4Q( zOwucVzUZhcvHHn=#;Ql^0%)#hc#irVs`qU_u@Sya*M{ zY*kCFV$k5`4;N*9&?sm7e+3#P7gP}aG(LX<2(yG3K>AG~p#d9Y3iV_MsdPdCskMZ= zkH~${6W?4U@z~m|dbFBwwYI2I`tD&%I5l4bkbV|Ljp%Z8o zu+h~rY|3G)2^-Oue%Q3BR%L@q!$j9&nXu_`l#vH@rA?*@#6YG|972eg8e5bCfm}uf zVk~V<5s1;TWC$@58-kcpxhRvPT98wvN0cvr5jjFewIN4Es+_=1AKU)b*eCSATF*+t z*Av*n;5S##GU%tLN)}Yv8zs4vUDluSL}#<&)X;uHE5U1;MnaQ-?dJgXHwZ`jknV4B zDb9i`aL>0SkvhVYAjO)85OmOuEEt8QN7q~z7gGM1^DeQ~%!0qRd3SR19GBO}eddG? zeO>Y|texO8=WENPWzVzTU5)OXl@U15YuU@ZJo5=FZoPSarQ}U}2j9H4Z-$wTo9Az_ zR}_3m(k^6o@vz0e?{D^Y*jmx-mHe(1SKhE+Pz84)xK}o;{?;{bd)SQ;e{XhnU30a$ z!NRp$Um2ZmHTh-l#n0(o^9CFdZm?>{O5r^a&Fs8C>Z)nX&b*Vnt8((=d&6?$x4jL% zEWSQ}7E@9CcOS3-6FIdX$}6ONy4)}h0D_v3G(zPf(M-)+^; z%!9P?^X8l1Jw5VoWGyjzWyl)PUSxunm)(c^>#ueSBcqa5t|G5vkbgWXjU2-;Z1`b*pIi z_Wb0nGcxx5IV$Vwn1YMv%o#5VL*7sO*pWy?;C%MHeEm}*@VR#j5(#eKA%#f!BAJ;f z`n~hcBk?Rsr)Yw~99N4^ z(-WT^>E*^cWSkPV|HhDAvyFE&^V^o~Iex6&tNia%$Lu$_u=PeOZjO`d72d-hC)rK% z%noG_B7Ycs^&%rCV;b-80hVJ9%ry1-I%eO}X2reTE{++!c154Xf4yJ3{#+ZY^7h_~ z`_qkX$DK-Q-F#ar&v1Z4SD%H378aArGrO!FQc)SPu$F${cG%So!HY)@yta47-!mTG z-oGMkcjaln=G zKwfS}=$wWAdoMq}dEIwkkFcZFemT!pW<37T#&zpCx>5>T+`rki>+OmAD%ZT@ zUFvnzwl9Nj8)nf&x;boi=EZl?7tNx3m;7kcX4@*e=yms-F0z`jg=Od$l|7;F@XfHr zp!J7c1~)Su4#eJEHhhHb5tDX*1+6>RLQs5mV%#~uuip=`irc3>Dtqy`t0tSC#u+j! zflVEokx2d2^F=tnI4C*76S83&R0JBD82{2&ope7(=`^a!c5cyTi{^7k{Yz(zD7(@8 z>V)y1-8gqYFBK)P$hx$8pIhK8$GbPHR-Kl;Oc8w+GQN_EJO8uEebwp?2b%6YfGc|6(#%bx@JvfUiEz=#sjQ*_H*5X{kthV>ptuATP zZc6EpdyxlUbw2Q#agv+y#D4MbeP##Jk}VS!2TQj<`@NUvp_du6D4PbfZ@(&IX2+Qe z(u3sTDZerP9(wrZ)r`K=;^}h^H<|Z6{o^pd5ivt5=%@GO88S_LEg#<*6KRvxWWp7v zcXQkiPhU*-ob}^auFavExx+c#Qru^Fb8~4E?p*!ctg3yXQ*uRNfLZhnYHnUj%Fy}U z;wKiehgr@E4Hm`^JNmYVk8sVJ`_q$elb(yMnS}+hE@FX1NqheCT=6+d8>g7*bI+XI<f{1YHknhCR{c!OE92y zKnKdDgTvwGtPMt2dM@s^^T4=uK|>`Ao`;Tcub!|VN_K^ry^Gs++@_ET#?y@Eb=_ap zrrU5XYg`3&{QLE0)J=OzLqh`$j@IlCIPt1rWIL%}-sx=9TQ!?JIn@*UnhkmUHj8uO z8R=*@@rI?3>@<<5^~!X(2uKeFI5|cT$_B3@`qE^k5<&0 z!05sKS6_b6Jm>O&9j|GZJGzcDV@$sFEg`gEgK4p0RnPJt?|aS8@#3efnt8DI2(LqN zpM})-Q!H)Yj+kFE$Mem@wL|-MO@k>3>q9#zY(_OJGgvb?>v~sTnzwg7MV$nwydhMCb{` z7^*=G#bpUNDHMnP5?3Z*W0Aic$T6Y~BFEN*VZ#@97<2JK=bW~sR&9<=Zui-`n_E)# zyP=m&n89U>rW#hoR)1*y&~owOvy+0%f9qLoah%fqTh6pMhQE1>y1nUO&||{*Kiq?( ztSdN+*Ycz;BL>^Iao@Qk#-w!MXaBNw7A3{Q1(L;E;&$+A9xNMMvny`lfkf_>^J*Z|87tEyEw#c-nRKD z^TPf2y?zsnbRHclUft#Iob8XFZ}?zS*mT+UlJ2b!?4Pvu8H=*#lH(ocF4LCmw~M;l zyi-qy=1q4n*Uf1*{qVLUZf(0t+Ps=`EOl=7Z!vkJw~V#)zVw1>ooAI-Iq*xw_xBGI zCVO6u_V4NW>T9C8iGZCZU-i4+h&505-Z4pNa+PV3{r(aC(}d}f6GLOFzP92|>6AZv zL9>2&S7u$DbFreTS#8df&@Icygl4RoH1!7AVo}1;MStc-+r|5goKiUU#_7jL_LdaY z`fe`jx2yW0puXO3%w2k4}-^U3fwziBtWj*(1zp)*fOWy6iofs2ZDL82UIrR_c zcUBW$H4lAxW8=+Wt3>NJbDj?y5ZOZf*y~bCC(FW5>yOc^N7OtW*h;wL^5Z^ThuiL8 zr0-l}v10DJpwZ{voMXN!N#8`ujO;VMGoL*D``e_;38t|r)LrkYZhmT2*mUEu_LDpp z<_Jfe$?os9ch$Z&YtuU32~4~>_FCu8ye-T9gA4t3qPzb3rwT}=4uFMn3uZ_~$Otm&Sb#kYc~Igg_c48B;lN6t0g-DGLr zifjH|Ml~H7U6Hosae%uxWh&`STZ^TX3r%)W-Ta?zTG=kf$cF!6@P?K7Z;p6(-}?Hj z&0kdxcj7luM#4TU(Z{{|aB-%*MiY-A#NWC-|EkzwlB z-9VB)5_USn&QCw7P-bHiCYMKAnVHF;lL)qH1X~^!Baw#7Ou3Q>vj_pj3~MDK!ps{j zE@g+nZ`kQWWm2hBJSAt13YbPjKm`B~i?L$m#&Ybo8EvmjjH9B2JR1{BDvQpur18iU zIOLtopbEHT4wcR$(>Ve>37GiBfkc`wn%6ZtLq_*OM2IVuN5JJe-8}1NN zBu=f(uqQZtW-0*xCB(4YR={CeP{;y4lSyW9EiA~ETqcFgV=}oE8sCD-6cDp)bs;8J zc3PYLSD+)MLJ6Fp9_I*qjIc{4Y|+I+u*{dkmyTu29 zvqY+mRT>2dZqX=gu7E=|Cv#aGz@2T5aHq4#G#1r@%3xDiToz9`p~8n7H6&7OdO>Rk zs@FvGd;yg!;InCDh6RI7X3!`+GMjJCBGY*^Hiu5(P#6><+YO`@%6#HrrKVIOM!TPE z(SmDhvpNq6nTTY=E{=LY@l=)};Gu9hbOxVeNu~=Z=41wi&Ly*HmX>6JfM-sjQ8;`H zOV#|5nHs(d(L!FCFIyI_4Sn>S=!a=ZXEDtgG%}aZ;gK1ZYzwl5g@8e(v8im3e{;II zB{3-qcta2%hs|u-8dZ#GqTL1!T*YodXqd0K&BGSk>tt=F{7z6&jE0_KH;J_w_KkQ& zh?^~$MrD{YEa)r-B)61LiDI%S4zA|3XdP#y{|L}6XjH0zC7_d83?_@r5b$_pOZ1Dy z<5+Mhpe)RpDv|)~av-Nn8%fmZOtXMJPAqfKVGJq=nK@`2js=eoOMrP)4uvNWSW?s* zg=RTm#!w3i=~8}G;Dasg`Jdtk*0_=fI(UK=67tZJe)z2pmJl|fMW~Gn{F{0SjDbjG zGLU2sMm&b#raw(?hP*pHnJIP8jZ*1kU8c8pg1sZ)@aD$3+S1P%J5Rsjc3c?k|iU<7czoHOTfEP+)N;1>-UeXa$W z!)LI_6o$DugTtrtnOtJsjS_Y>Mmd5&s(n?1NXa+2u8qc^P|jmIJLnTQ+a;C`@K92%L$q*?G_Yb=}364a3;^>O3~ z^EdTy!_tC9wX|T;U^=C7xB*@MPjTblFayA;j~U=7A}c}+AE=Za<-ab!@)lnM5aUD8~vb!#!q2`6Xp{Aa^QeF9{(kBaKy8@c>gGVpjx8% z0h~H2#oV~QxWfks0j`*w9gBw^929!cDRc-w;2$QI%FsiGmD3S?Xuc$D2)Kb<3qFMc zvd`m?865BrE$QGI3OLX{pThvZfY77XD(}9I)>Sn9a{xjyr@)46DvNB%pn%V5$>NYL zIF?j0m%?M1vzg}Lh7c>gfayxV{eMRQq6cQGz#Kp$TT*EdG_ftgPX;i_0y>vLXR^4K zEG7|<)rGn7LJ%|)iS?wpw{;#1I2pCK{`@cf3u#$*`T2Mg#!2cKmbT$`GCTIi%pbcH{gZ-!% zetq1+au6tfP)|o-JXTDlIf=0S!wR7%=GSoDZi-!!X6giPsyvPmema%Hwq#k-$UGXv zNepnN$Q-&QABGpi(GbkgA$lc(ajYZ4oM|6d8sQg{$)rNiOM`fq4uL*{NhPz{Y;)Lv z$fQs#c#sIrgPyJjY+it zkBwr^r4XRvz63^cO=m*W1Y+;Bih_bn`lO`}B^v}DP9kd*523p=^)>%5gi*-=!V1|^ zhM_P=vEf6%7EaKfJdF0QlVq`TEm$7 zbyhS;s0oxof|Uf)N-ikS0IK}@@K%xqI?zcN^bX})Ly@^R#X8YcaF`dZAQ6rdB$gE7 zrTG4<&|5Ubn;;Is!Xei-*7X1m30lSa1`YkIL_^`^<1g!Y`Pmr;z87H168&^l_wqSB zMebErzlX27+#btdC^}YPfki0RZV;;w4~*gZKLM-ON=vX#drJ;MVYZiD;n*4OMoh3evFCnXh_1xLo;m1EyJ~$+%Oyfn4FG? zl*65FSQg911nyWjG4_xOLGBe#!ju(Z-83SQjfn_WG_c`PT3^WR`eJi3aKMjHjD0sT zc8Y}*Hq6B!#u}qzf$+oi@cz(uB~j7*2>v)gBIO0ZxWvENi{K_>95UbxYKI_)*-!Ma zHdB`_6x3=LL(Ta1N8iQWd%zMt^rJB?R(Hja{%J9l?4unHA~cIAg~=|+2O29*NP$b6 zO%-t^Rz#skh#eW&Ge18UxNws~VX&!8n5&{dCLbatHl55ir*g6&MB#vdXi1o#w zBSE&{usb&xN}(Xt_`!gxM1vaOC=JOQ83#iUP&To}4zxlCzM_+?lz>8mb*n&V!vB>@ ze362dKUH!O!ws-#e~A^k7aG>sNp~2VbmFHff>?xZ+XO5%?xe+!#x+K( zJ8(HhA=g+*Xeb;_gDz2oL)<{^;H6v~(dFI7*r~X9VXS?jINVg#5vp&B3522*Bu;8E zoRW|cNY+9W&Dof6!(c4h_T%tSn5#y3HPTBI@SxUJ6{Fy!6SOCT;-^{5UMgkBsUZdm z$X<}z3hh5Top|Li@nW-3oW-88UN|Cjb7-WF2`B04+xMad3X4I0l>D$Z)7BUoqg?!GO8l~E82UeTr&T_Q+ji9j6YfmcCYY-H zld_T;Ux-1iFzZ+m>?oj-e0dC?FZO}?PBa@Ot0SgPVs!eHF%KP>3|p9lkm!V22Ps=D zLw5iVieSgWDU=cL9*&1poeqUbQGH$7gL9_0PZ(d=jiaGxI@(wQCRs`626X^b$L2_X z6(>NmfjGh18!&6IiB`qA(uxx_+H%CGp6063^`5NafI)(Tlx+Eg0d6q!}6 za;vOKc$G@IQJlSvG`5O`>chXTadqUw730E4WY3izNL_`5tS{JGbY_%7AC3m^2Na5? zMpRAK63E~HxF~%Zpn#wKE9ow2qHf)oQ-Ig%Di@a$O=|6)Ef(X-FjxM<;i+ zk_4k*B}3Km^F{tx#BKp=pxIP-O=bTCkSDP-+1?F&Jee3)^Rj^nCE!HEa>!bn`H z#$pe2$vy-liqa;wu?pj^y)2wHFT}3YBen_a9J;_}M0cW`ZnHa9!sgY%OlPC0tkU@a zji6T*pc_UAD%4ZZ0|qb9UL1;nTTfvkwSv$Ct*4z(iqp#R6bDKrHLMmCRGL-Qi6R=~ z2Q`K*dDRCd1fK)$F1HnCM+@RX-RWgGRu;Q31Qa$d_Fw`4cuABlCIKmN-&z-iy!nv%6GO%o?;eL& z47t#!yvaJP*>gc8#_h=jU8fAgfJen zB$_6#ZZuve4Az~X#B=hvYX)}s=M3dYn2g~=TFPEFQYeQ^w}=NKp_w1lS`Xa>1Zu|&|G|pa*h2v3?4X%%I74+=CsjpxYA4?U1JR_^- z0RC8mI(G-jj*XPVouDJ*5F+4xqB#mky)>vgL?+4%HMo;tsT)+yNdQ*^p~)`AgdR3E z1ru1(2G#ZkB1hv95uu|MmRupMbzAv4zpYG8{hVsj82|qw6NAlz!OSS!tb-C*It`sd z(vjxC=Z|z54sh#X)hDzCH{r$MiDy_^jvt$*tBxW+teo;A_VJk5Dk!d9#{fIg?XYN0 z3zV2UU+yD-xA_P;T zAc+RV)Po|r76(e;a}}U+_^=j}i>|)Z>8jyHaVYA69Jz_&P2PGV7$7}p5k?Ai4)PC@h)o5fDZUV2?Xm<_VuWC)q+rnD zel(E>Wa@|u81 zFvt>&cu5dyEx7bg2t$s`u|=zcKD3S&WUJf4U7`{+FeOfgF!qxeHmc@Y90rvIJkfbo z$2F2(mu1r(EYWaLjSqHJilHI3Mou{w);)o{5b35;99)YQl$D2kWq zIeMc#ne|8v!zJQ8m@VNGXGB%Nv^|K=(K?Buh+T;aqaN&@mt%?-f!0DVl3iSPg~7$K zzWRw&T9cVi>8J}B^auo9)mk4OrwJWZ@IO ztxcQ~o_L<%Dn&DJOqwgwJwrBqudC#vOXvyT3EW*R0F&K5@+9kt7#d##LQN(5VV)A{R52;xaaG|oo z%X88iCxYkqT^rNISj02>I1y72ot&daL(hkIPl3WYi@iS1oR_#<^lCHcr&z!Qeldpk z`Y@Z^ACr2&Lzk9Ujq!pJMwSfnrj%UVf#v*;h-A!r2~VH0zo4k=t66-13Qb=RaWZui z;__M{@C&L0#w*kw?$LFy+4n8`qJD^YBzaASl!KFyVjII*xYmO(7Vv!j9pde8Y+BY0 zXLKu$-Y>LCbkG)Q>%BLqT20pPDOUkm%*7;JXRhQ{tx%}jMnWFsVJgY-VxU5eh>0UP z12z@%fRP}KUsf`pdfks9Yqo#U^EKfV}^wBW~uvf>d-aNbo83ItbWGjH5iv zu^7T;K_Lw`ihI@^{yIF1*!0c zX1Ex_5;DJKJon7x9f@LiNh^u(1qfR?Smxx zL2Fkrv(`P}FzT@3t%^8-J4}VuGk)DV86ul|Y3I+A4$;T3sNh~nA7Ob?ZY&;-wz4U^ zTnzax@b)qcPcz)T2xAWGi)ICPS1%xRCes=-D1qY!gF9kOS9l7c1Y;xaFmO>qO$QWq zX$-w=aF(E8e^gfM^iDW8g8+ohkWc;DLJ03j_OKh3cSF59XggC-zMCm+e9S>@ta#Lm z@vAWof6^JQKrEhpv<5~dS#9DbHj|Fnn(FKh=qGR#Ld)&I3`g-KFOb_7w*l?B3a%h; z@qN07mvY)VK`15o5$6)j1`+#;Ev3{Gg`r)&M21AvlGtG{B+I9Ln0gdX=oO09crm<^ z$gz+$BJGxW!6HTtiF1j7JA~lSjRuj8(_5YFL09|4+N;L$*Ip~W@QqRWVxvcP&4|H3 z!gQ{v*Jol#5HeC~Pz!7Yqwyf+GK#cxWvYz%3J)|$ka(uWh8%R@ffI^End}H`<#I%W z0gx8jqe#)!16pcWh|hc1t%1Y*fJFk15N)#t3{jvqJoXd`>fW`+i6&gd)Dcemm?M8RKlZ&ZO=9$ff_No`VsjphXbK`aJR4}&v06nU>yS+B4jT~_a_rp zGnC(YDP1YSKpInofw12jqL&md_)?I)HH5|tDkK`k#TcxKJUv+G_1*srMNtzXce!*X zC^$u|AYB*kK!1Pq?kAjj!D=uit-NqKD`3mC6w%lB5mkh1Vd5 zU;PDgydu}g?*mzKCzCnt&Ejoia?M&=3^HH!*#td>;y38B1jFQFuLkiRmO?@g%W-Sk z#RPk{gGDWZvLaIkLS&|%#kV2Zde-0RGN&^25@s}D09|2egxf!ge)X$Ce}0bI*$`!OKBwFVK2H<8Lp(u8Ld1zj zpvNx{d#?wbo`@A8G7i_Np2C~m0;(FPAHE!nyOWz)A@4}ZZg7A?f}LUl#_San6eDso ztO*#sUxJX)JH~{L*)t|++^#WU^}ccKa1&VWoFt(B-id~`b^v!|??;U&4pNvN;o6Njy$Jmi z7<^ZTSD5aq2{4p`P@F(hkR2fFboIdM`M7>&OgLUW*-5CL*tV`uxsoEZZF|UK39%xT zJ}bV^vk~a2LMmHB2uOrG7_>8#6cOGDYZFX_FrU}DL-|$+8N|tbO$+T(>V?M*YwVjU z#aOhNFyhiLdM5Q0vD8C*MjSpC)pIynnM_Wns1?S>gfk>{xcNG~g__r>dPPc?>P^Y) z5U8(YDQ@gRbvWT6iLYCiSSe`tLLETl3lerY2Cz+WgfryWq(?;E z@D{j##IyEr{*95>Fblm`*`ws}S@;!1B!BT%n;G4NvKxR64bdVL{&m_Bx$)5v*m|0V zM{34g%I&(ll|BW#cbqGN!9-{q9WN2=iGxU?s~mHimE+Hl-GpaI{Rl(*lph^5LXHTm zPZoTM2l2wf)-~KQh5AjI$dPb5x(510Bw&Nf0P#!a4miZlQq_Vk8-}SeRpNYfj2i1b z6>|&U3K9fXnBjtK@`xaH41-z{c6`^il5N4n2+hOUj$%_0M|(7E!TaIpQh-u86eOk_ zkoc_JxuW=KhxrEprTKISqe27(tA7+85eWq{aHN}>2Jbd^w>VN~y@aqH98oCVXhFNg z3}&=s=ShkP9|-CUh$s}e>9Jl>Vug>3BLozZ1#l*^N4VZ1hdQ`vMb-vHN>eD*IbxgG zu`iPhw#||N%Yt`-;t2+ly9*&MF&B2^L0XfYIx5pkh_b_57y<_!2NQ~j6P-i2!H5rQlc*3u1i}zp3+*qeS_Ae!Ra=xa zocJV=X8-8MP&aWNqeuG<=o^L_78Q9J!r2Hx7A~88T){*LM_0I&(+CPIjh$i-b?r3O z1X$R81@pUh;5rTlWA20E*cxhE#^~ zyzvsciczj|FQJ+v5RJ-!_fE;S-{=WR$tGt3S*YL;rtA%hEe$5v;xt`O<(AU@7^qX4 zY-NlVaQ-JkmL78|)YCyOWgm9G1XKz+*VUn)hyW#yil|qrXO$}Z{F7l}!nmmQq2-{S5!Ibq(0*fAQQ`*p7}l*M zLbJ>}hlm}4LW9tmAa1fmm;+`Q6c|14wTA1YX{5#Z>JS6`T(y7@Wi~FS^Nsn?A?h4M z4V3{(lCn7~N>o#QY$03}3Tl=`Xa@wZ29gY;Q7utM7?j!2k%DBzq?C^o(QU2uid?=U zl)8kF!Y|F~+>yVfHZ7rmok-bp$g?v@CIs9m1l}wNHsPcclm&~@(j_Y05kqIyKm-CJ zb$b3Fu(ZvtNW^c>M~-TLsO<)?FCXG+wqdH08nHMQBFF||i6BGDhICT_)nkyr4M@R) zPR$4qY!f@4OpGeKqIiJ2HjUVgJupGUF!5KuT}6YGCI~#>07>T<(U1r{jcAF>GYrN@ zN6&AuW4WawZ71nvj0 zH$(swt6p7GHjI76P^#XUS9&i2AXX{?RGbA!bQ)v+p%)Q4SJ)1s6eI_|fJbiAxD8-8 zr(0tfL}z%@0JRFza|IlJy7Okiy%PZwh~A@|32`u6 z`=XNoFXDO=fsGYcb`i5mK?H`#nL#NNnQ}9c*nlO8XGF<}(|~v80M2-CiEFiEt8nM}m*X8SI*ZUr^OP zd|j7piSFqB2rHuDo&XdQq6Hmfs?_R14n_WR8;*1i6N6qIT0L0A1=<`|t9V+9AJ;1yap3^}_R$5I96EZ&un)5FsYkq=FDd$^oiE?#zm1P2xf zXBA^3(^cS&h@5Q!<+cb+oo~>D5uGKn*#(2i5>IT*rQ)7Jdst)>lr?lcL8wu3MCLuv znM^@6jpRLY!E;8ZFx@-iolSW zN@nLoRKzeP?l6ESowpPkoN&Z}2JXc20o)@hA$#AB!HV}q75?k{GJ5!cf%+^zx#4ibV_6L3h!>g!$I$d zC7d?0$SI``YGN45l9inaptCf>OV(O2rc92`xd@`sId5vf*55hhh)*zF{02iQkwOf_ z7M8lA8Q`{pX+cY<`uvt`*5qcj^ehY3Et8kD&k#Ic5Cb}Jx3IvW0am(Iu1Sh;cw6bR z0C9ofpeedc#I$LGQaKk;l_(!Q5cWC@QImTND_j=}{+zwBF<2_2${UaAAy#%l#PlQG z(}qZm>BAEEF|d}HkAp=x!?34lA3=I~2jn=}#YiF8i9^;}1x^nwr0}HU`Gb=OH8$ql3_^5Var$#*%eIbfDeFXHaivzg5Hm<|2rHi(-z?+gxUfLk92e8e z@~wrvt1cd021h+=O6`O}+|DVoST%UT;ru_Cw}-gu7zLLt9A5*AnF4kq7SxP}j-!(a z%O^#grPLZ2m5_#&uicxH7D37z>^IBF8!!-AZ;nzM_)MBr!h_9(>%opU%i?|HL}r&~ z=M9bThn;b!_cgp^_bi(bw?ztc!0;l1#E}o9yp}!e@G!kOGzyKf7oe8S*yKoiWs&>> zTt06Ib|0A2+KDRCH2> zJHg8~pUk1<$Xs=tFbI8ag+&3zjL4&K(z`6)8S>kPa8YrFr0cpAN(7m-!ei})JWApi zsYJu$rc^kb!^jganeNhzvA!!dTz&F5qZ(?-S54d>u5kaDaiyQc{SsqRt;-uELzC!% zo{$*#-iV?ax-`%dpC#^6VA2sgzZ0IiZ)s^+r3W?Xf}?Avg%bOFb{CiNaGfziQBchU zDF)4Xf7s;kO+-%JEIky(9IcE5(#t$(*HNI|_GyK{fjG2L&=XOGV>DbM8ixy~9;39? z6&REvQXmgcP8;dUN&2E*c1v72BwXmQ22?E{A#A0+z4XIM{nXBHw?;_2-tdg7z?@~D zxP?UuK5}Y^MdWeFfhW=CgdjUZ`QXq*Jd3`Z)ogXAG1bL0x0#Q)d&*Q0VKfr;?M32Y zZoA+npgPx&7Q>-P2#Z!KIg1emcxhL&Qzs%k!J5so>~Y>I)R-(G7o$-r99urcAhA@^ zIg(lgMNyH0@CE5e9Km$H9f{dm-ya)4fx1IMO6!p~&dQ>3q{#nuw?6q!K6sQ@m$K z(faAW%!70HxTGj0qX9ZO8X&ovtd$YhQ?1!x1NHDQK_XaF3rd6%P<^6tmNW=}NAXrb zZ-{}G6IRi5bU2Hh6SrN0Y8crq$XshDj$5ZKy^ezwrvoklw79pkO`jMN7Wvv?U0hOR zi8V+qm0eVy^ygIWNr>JJT;VK8H#;T21H=%rbauvL#hIV*M5OJGa?U1n)VkIVzmgOb z)7Kj9sW zB?geW)}WI}m=}cP@bGMkd@m^bB==~zWFQoQp*K!B z(;4hTI_1+$F&$hU>InO+9i3*K1j`c<{m{GW z_*!NQ&9;J0Tnki0$;SiNdU!9MJh{C$^JWJjOtH-a1Cb9_Txi(vagL)jO*s6X6n=9TjmLrWz(sY(iMt?qP}N)*O{&@aoiAq2&`mP zf`1H9d)a0j*m6MtWl$C;cjfTuYBm>RFh*Fw>r!b$qUPthfM0OVs@J;*pa_1}x{OkOXE4c#R=BZ`u+F^vW0 z-$hJ31PL97*e%@~M86pR850&~23`IPE0p=y<3_Ej5>*@^v{s<|QT7c9Ro zd2wAm!0P#*(lR+|?}No=YhcwmX$Ws)EV!s}B*{>tgTMxu@@$ClG*L?gA7mczb%R#y zfpbtaViF`$Q}QvIooKEUb2!D*)QhO}Pt1hdgs~{ew$-q2xPnpF#i@|B9JX1mRdus& zo+AA*0hoGi6kdu36;{jk);Aq7@tBr^#&Ze`jmU9ZRGN%RHyPw>^F0Zr+hTZgj*{@A zkc_Pem@Oh!`Z^A#*6DVLqA1gb_o=|`PBthDdRN9sOhz^eU(gYl92}=D#w;19$0j(* zk{P;N4J4nUI2>M{amuZzUKRq!q6ZyZtd-h86|OMkSC1@4%(tb@!SIP_y~ z6X)f@%GrD0_x*o1CBEKDHGlTEfB)~}7yABDe9z>4KhsedbP3&fgQ5^WjepX}7p4M5 zklh;yvPXqFSh2>JPgfW7{`&6fPamx8>#hiqyu1D)vFjxPa$%L~h`efd$Ec`2Ow4V zCtIw|#Tt$Zw&S9VQ*$6*CthYGIgZkBfFMG;o0(04r^Lv4*7lIEHLqgPjT`ExZPaS5 zSSzPOOt>O&WelRcyenveVZGG(tRJQiTU5H4iBiBQ1APf2on!Ig0Dn#I@{%`6hEIky zC!dCj2ZQfYyd)9AYsW1F2J_RJFoiHwI8Z|t@N>d|2qZHpRRuR@)U(9Cr#s5h$ffg7 zdoB)f0UeA56T!BjAHde+rE4_~Yx1k8Vvb9Via&@W7SF*^uxjtxu;lB;DtNn-c9o(n zw;VD`rFG+39&>=|W3?d_pJ4V&tP(bPz$p>UHWGtSN=WX90*DY8Jq=A^Qf;mW-Ql2} zIjbDfm4wRs$i%OG>E)fXO-uZ;nqJ^3?x(ATZm!?SZRgf=+k2bq z`D|}@eJ@{VukUT{b#sN?R|Z1P4ZuQ_e+ZkXieXin1l^r-lI^!4CSoNo7sFk z)qN#^andyFY@X+&nPiMZ7P=W%!}+cA9?J!VgQ}lu+A44D^R+F}+pT1R!!|)7g#e?&h}t zRaio#ejtX89i)eV$BnwjDDVFgw8NW_QQh{t&`dHC zX1{bb7Lny7<{4C#kvkcLL^Y4Txq zH(khYY^SsIgI)qlt?1)8l*UFiYwPc@q@!>waWQ-W7e$l20XVKiM$|KoL_>cOYjAXN zQfk&4Uc)r2>!CZ=bO~Nl+Zw`Ph86bLg#Kpq4@Mo(TWZR4oBr@kw>z0XNzboPXNZ3M z=xG|u_3#aU`UZcPO!17R1W<63`J zp(4LV#LLPhK=w9v0Ry0$9=%&JOMm$4@}ren^X9788#Y@*r0a4+o7vpED>eQUzgvID z=j}=N_UYzEZVNzYYuf4#7BlKfAbdFbXk{vzA&9rrU|Y69io)3)Xrid`qQMdJllDIw zwPqL7f|i+QaEz%sqPaZu)I5k#IE`!U?ugp%DWAArE!! z;gDc5TLGw*x4(wLVf&6IsAZC#;Q+yJy?%d%|7}*<%~5-pLpzlwH~1KopdUno5^B_L zR&JW38-R(wrXQzsYZXD#3=fY#kwo;dXo9l6q5d@2WI4}fz1ea#F>$2NN;Fhnitjq?NqgIy4!_*!c^LSVM zkrsvj_&B#F7y&;B-Vh|0a9av)ZMf!`GuTUv7WuQy@nQrF!8V{RsE<)IH$7UDpVI2e zoxuyu3@JLr@O4vYMoxnW2}+{4nP@*F|Db?HpMvh7x|s7N25ha%Lz9;ut05VyB^PRq zRtA3YM{Rn0TW{gJ| z-$PB^Wx{}RfXn&tHuq{y=Gpjkz(l2xfTml_~FP+xTs^zcvlQ76>^wdWly%_n?xmPQ@z)_+X_A{Ed_|m-! zjVWkRA)x(?iL{@wmQdppe>7OrlaI)~lSU9EYNO54flDd1NYG*!`vzlC%?rg@QLJ@( z(fEwFR=;<=b%I=a(@|ye2Xl9+i1A5CqixMv>W=Eq6i%c+aLC|5mEI8<5F#)?+6#`$OQ` zfHMTu5Vv>oJJe4By>F&Bt-dlwWBc8iaoyDolf56Mi;O86x>T%udHji0S_e=d6 zed(S?gD$(&F?==b9LSR|>{?@15|Z>5?f=Qaj{~yiwm0^Ox?;B6yY>WG#GNf-ya3&4 z>qZums@Hr^4L3sWK*NxtCxBq>&MUmZP&{oM!*@{8-c-h7FQP`%NV?cIyHid32s8@K zo6-RAu?!=Sth%+#s)kcV5i!3f7GWopjIopu{*cn?$w|4?sJtjQe+I6RM&T7@akKy#C@4sL=e%Xq~UdU0aa|M(BU7V2Y{2^o>g=|1L zB^9AG)n|QO4|SJA*9(5mZNTq^86jBhvNz|Za@wLdgM&uX-`EpfGtw9-@#K8gcAa#6 zT{%J1GPO#Rkw_c9MjARX1O5=NtH*) zy=H1!NS2WGPz=s9TBuH1T?%1`eq=YGLfXW<3=E2?qL5<+t~c-Aj@YgF!j8RLtyz9B znT(DQy*!yNwXnIdvzgu8+T6?S>~3vuZfEVFZet8cPC#JZQUf2ZZ|{xVA=n*d1LE)em2${Km4>-NHcDFVPJB9qt zCWevQ+Ri^o=PG1LK(vgTxso-2z@gxzI?co={)FH-#&Pb&)*cIWv(?eX-^jRQ;;@7_X)x~7~ zZl4pis4y+Y%o@c^{NWw(KgtLYKRpRSKs0Y+aC(UdxkD)GL!`7i=_7Po_VRVpxo`0$ zmo1`9Fg0f_UYx|bi#B6WEL5K<lT*ST4APRQJswKJR?6T#tz>EpDgp7Q&gVoF!-Kv zkEP~55`rk{h z{M>8b6hHQ!&Ab;k#cS``bMJ$j;?O&O?$vI}1oH;p#mDrM{CZ4n7T@>Iz2a-{SWn*#JOLthFHW7?sgFD{G6Uirp*@w|BC9ag-GSKRcDE8Yjs z(Jw~#{tdOe>2x zonKNvH}v~o;<0%?oj!g}Khrq9qWByAd${Xe(*KW{elI+m4yTvJ=hP3zc|-knE{UG6 zygJjZMs&ouYgiZ16>u0|C_L8TXK4N%*$&oW(|fjy_NZ_06@Ag#gFy5ne@MUcPlwMl z9`j4_G5s;K%j2&+SAReHfa$K`zmjKs`a3uPUt+$m3BWs~f5aEJnWOPzelw!m`_C~? z&>8DCkaT?RJuB0CV4mPB=9^twj}mNHh(_8g||BL=MJm3{Ch(^^PhuHtdB<(7eW7FiCi7MvweE&#&-Z&JXk4 zrS;|YYBNoZ^^#p0r{9u7hewuXh$ZfI@yw6A*2v~sR+-T(**oq|ZZ43#5jc!m-E1$r zTi9LiZME}AzUXz<_jY!7*YjK5LVstwu(y}>%>wq>rv+N^Fr?vbZ?~K4c6ZiW+gUW+ z-RiBkbA_GtPN9v&k-fs^Rzc;t`_1lW4C@nFRzLSAQYk;f^IMO8<$wL&S}H}~e-0Kl z`wNkNEi#;E=2u7|7~>^|jqCAcu#JE7cmMZ)dgr}VioVlU17CP-SIZ@NR_Z_ea^(+x6Gr2I{)JQu7DWES zulP#;wN&auN}0k1yGi=T?4z&-&i>WE{hxmY7(e;>RO(MLVk#vX_`$!PN;Oe3c9z+o zfBi{_o`3)Lhw_xC^uynuN_6W=WT4w`z5CLdW%{?yMKP5M@LFO|^dU^uPQ=H1(hH{bg%R|M71{G{yI9 zN|g>9-s^9C``3RPZS7!853M%;<=>8I6KVIo)(jc-!Y1ysBsK9?>UVzccfXVR)A$kJ zKO$Qd|NGA0F_xu{thO#5s49Vq_TUKkt<<-E zfA*_i{>%RaRG@ErEPKCUG^4i_C!+@&2`0A!ghDKXAoHeLjMrZH+01kC>D}6EbC&4{`=C9HT@P7eiC-x5j delta 4423 zcmeHLdpML^7k~FmF5@ouTj98rF=j9mN<^WFa>v{IG*Sq#wYp-{&{oBu8 z`$UHHNC{rs#}hw89ho8{)wEw51nRE$&Tnz;?YP)jRR>GWNz zMxOJ2dZe&<=|my;blbqa6~3<7qi?iF6zZL_OK$}7D#q%8ITd(2`kTS=C|Yx``gfDkXOt#%S+3Ven1D$u`E3mvYzq+S-wRmcqS-aRFVI`!sqFF@}pH zyq;FwxP67k9<8-*&b-|A(hpyF(BLtvYUQ2-N~gNK&b`Tfj2@CC5?Ut!U7=Yj1WJ1P z@ZYnrOmguEVuHY|1YpKHiTZjrQPh*~zb3lgi<+*{j>Bnnui!yO-3_EALX45a74Z;B1e-I9R8@A|wBps_KFB{JcfK%v0^yM4d!jq)`}D4kZ@aqhLS$2Owk{`Olk+Z(oKYWsPE zJ3BJ9Uqvily59dFxAK|cqAfiOj-9bx@gO6h{9=9U9LKkgJ7i{s`Q@}+dU!IYMN4S0 zPaa5>FJ`O{Lh1X>c)8iW-h9b=jcXhk@@dr+s;t|azp&;Par$LZ&|skLo$Tt2ks*?T z3YYBks^C;fYTNQ#8-2&kJ5q>wMl;=;Wm^0jnR&&q*DTQJexQYX&|HE}M57_EaM#?Q z)s9geBfjNV>!%N8AE5^p7W1pPiKiJdDmRldvf6(ml1jNekC6WSGvAQF6<-ctDlo{$ zGe%4M=1OB-WBGY*-G^$Q;^k6`ao~oomuq6f>c*(xrY^n14u?sb7}($03N|*Gmu=3k zSpA~lckki5ul`l@_GWw=D?q_#aD0!maYV6y?X_f!qGcm%o@NyY@SHSi~`2O@~fFnx)Oe{8`(SEJ$uLzN2^HzsyCrSv6y z|BUcQTYla+5??YQ!XxqQ6eR?FiN^a9PW}fUyf5+>pC174%Piw(2f+J6dHmb}zUKd* z-GE>7|G7K&%h-Lz|37;G{lB08+J9SqJzkg0Lj&=EHu~B^S8o1bRnJxIDti?#6bn=V znxE4u%*yQsfQ+^mddRgFDYR5z!xebp?1QTT`k*KXU6-Seci+4X-IJpyJaE(mpwXoi zRJqtxn0TCxpW$$-byPThq8$K=u(_NkMR)^fZ<+)M(j@e$B;oMZ6f4-M0kqKE>Ht(- zq>CyqkP#}00&t1}jBT44>m!*fIn1ptsLNR$VQS4%07q?rGTPBj5I(N8N|!@4EE$ei zK#q7g%L5#QTu-1XnnwqfK=y+@99jm>z}RI#6{dOtml>0fTnFJ*FL1}i&X!^`FPvgW zqS-TSNmN_fdXfXpmWgrU3|rf9n{bEqcCd9hm}?Ri#yLai0RM7d(dZmnG^2qJ0P2m&WkfDY?xAofl3pRSzsOxojooCJEDQSR`_O4^foq~wISNr(0hFZGmJxDve1}@7S(G?xk(1$ zeiqPyK5U>18(2UK@;`FbY@i3%#Q=S@yqbWQZh!zSIlvfiXGKA+ zSz0iH1Bmdt1|}}z04vm)MS!0EZwBQ02 zQR8<2;_O_ei0tAfVO)u13E58xeLnE+K`s)02PP&LbuyG|NDN(3Ib6|&HZ59qj61WB)ls$?m`Vm`3Ixyell zCbN{`C?E4RebGh`&G){hx)t&QeQir0Pk_xb{c0`M=mz)xSf4k&+tr%)ymH KkPYpU(fN>Hg3kZddi$k%(5R?nA(E!(e!*MuLMg!Gw$m-)02v@j@esK$vX5zt(Yl>F#7d-|#Yc3?M^nMgC`Eg$jza0}XkEL4c z5N6=<`-~i0>$>QK;*MI!JJ`blRuKk7MK1?3Jv^Eo4!JSi(G`$UzW%DZnHrS|dt9vb ztTsj84&<<8y#=)O;#A?M%y75l)99EsyIa^mNV zia#wmV{w9ce6&n~H9?MS?tHX;bnG3+q*+gK!+4&AaX_qUf(%{WSwNA^IBy@w01^*Db`0n1fW{n$VTu>o3qKV2Gafbo%-1%gAnj0!NjGRE{q*P<#U+2wuIAOjaq?L z{HuyvdBBy*<01vc7Sab|hhsucV!6xC?Zf{B-Q}jmu4NdSybXJ2&N@7A9X#FaX~-F0 zIII~5-r(0kmQRWtc%oY_@vS5LbX(F1WrBdHE1PGYbWFlrl@tXS5XGzq&W(KjB6-crm z`W`hsWW-IX50%uhwDAR9?;y4UxO#{mAuEDI=(VO^u z&ql|-IK9(e`t6cgmL+`Ny$fW}q~+&l)MGhbyENH-t6IMi+H&B|vE#eb1>@DN4&bht z&7ATH1y_uKZORVES(b1S?*Ek3$Xcaa?(=7`b-E-X-tb%Ny|Rc?v(rMT@oxf2 z6o7=tRJ%Q)?fS8Go(;N_x*heztRmLy6H<{`V%cTPKUB@t#8hTjGok?Sj>m66q?L3e zUgVi))ckDEMFiXrwR+}^z1T7%9!oxRF1|L7+*#0RY2~1*~w9rQv zK42{SGrCsIT_AJItJc%Xu}SW9QkthLSe!QMtvo^$DJTKOir3IbgxsEwN=&Jf92VL~ z_k6Hzd>Svn1%q8+zMtn!WxN0$%`^#(zs8V2ZmroqgZ+H1bgp<}ErtQT z*myRNSM=DEXdVE+FTjzkoRnm+oAm!!<$CETMJ#ME!G)gdi|-B%9~b)=b_8)`6(+X& z#Bf!Tf-{9N7r(ab_av zx-y*P8=B8I!U$0}80y}D;1j#Id*8P)wb=U094eYG-84m>5OV$;Jalg{@tuIz4??Z- z#Sj}Z=^5V6%$>C{*keBPQH0m^&XIZ6T01rN>FFuz&8P32_Mt2hw|^>1)SoY|ci%dQ z;N6Nm-|rk*rx^i4WoaE*D>@Z*p*zx5H~TOR{$^!M9J|n=WRX;Wq*1~B`q=LINgzu{ zkyasyC|;$qF0{7Pl}URveWi00l1j>{vYNrznN5Uj&hsK39$1K#O}LhaLiInV|fXHKeq%nQhLrDea16(h!M;BniWL=ITIev^}{22qfedNzt@de(!hzv2ohC8|B z9y`eC?WoO@Wnt2$2vN)e0wp7C$J`Q14;N-RMatAILrESh-V6G}t)&%G{Sy`5am=c>ud9Al*E(7WFpInGiIa>tZ8uw6_vaebXD5fX zR}{4s5&*^XTOUzkep4)p+QMMhJ7tv|krA~U+y%ktih__I%iQ0&%Yv2a4577LSJDlY zF_UAC$*?Zu zbVNQLeN?|{GdEZDpvLKov?ewq>)TRSX&n#b`B>n5O7rV1Pe@TuU9q^gx-)Y{Qow4P z%%gs662enXI}C#`riTt;M(9@Mg9LV#VDXnEhKYZ8B;!z)BSv1DQdg=L z#j*6EqekL*g&@w5OQRM+YNlPG7KSk2e9(uSQrx?XN0LMRE<^r6UsXq=Z0{F5+F@mj ze|2T|#m{?^)L1XlU@;gTJ>F(Jx@R*b9N^()@f6^Lvix>E3;yO+v!!*5Z;xgrn0++3QQ2CR9=#fa=(be`PA&bO&p*se<+bo!VvrPE z3Tb_idRae78dAW{9u8b$x=88d;8E$=s+G#hdo)YhqM51*ZFAu=FtWH~FjoHM2BZ$R z_b}2j8O>6JyS(k>-0#R(DseqGiz{B zL=69@1D0)z$XA3|)JMXY{deuQeTXU26=SqyGc!0By)5r+m8GbUr8`vl?Y zvd#Xp&H*dDRa$^WtBxGU7N+T@@;b1r>{nSC zjlQuF-wTx3aV_BCnjs3+lB+5!jLW0yMy#vBhwXioxyQ*hSr?ov-m-nbl9DfJOPb8d znQ)Bv8!MG1q~j}hNQd;II_Ep8uBmaGU+WXBih%hq;7%LeTYWL?+gz zJ-;G-Xf#f=AVmtLiF321^R(y}Hixn;1&d#5O5e)SiB8d~m=)=-3J{7G3@=s7h3x)Z z9HUQK70$ftEo&IvNovEmH2|2gr}pAjnTy#BA2@ler&Cp8`(~;!c>O%9L-kvz5MH3I zRLUZWaCEAfwOE3mQ{IRdu+aI@&J)w0s7}Iv;`(rXzRDq4h-$$nK4=tjWHD%TqD@en zjFW;yB9*Ipp}6O*%#+6}Nh&i@kY7F8NmHm>W*&L6} zL%U-^`$~f^OC^H&T@WKYU%zN=Xz56F0iQYg8RSHWFMC5Va%V;#ADHFCfQl~%#xOCL zLgS2bQ5V$UwjkB`^#zbhJHF`1)x|oLP-kUGY%G~D>Hj$UDqbG+qu$BhBqk&No%&6| zk2Zs6g7>^8!`@YkWRy&o7iOU$2v>5VNO_>6ds)zc3zKON!Or?4bJ||ccY583+89hEWY7ockjLV3UoeryEUbK zH}dU5!i0q`@AhN>64RE_eyp(GQ?6pd$+D%L3Fvjs8oB@?`@Q zP99(4_EC`dcN=r$MmSm=tzzLgwB0%&;8An?le_dW~X{treAf@=?Rfpxxooxt=NK zmB*maDiFy4%9S3^j{Ei?*0W5ug#!%TQeoux4Gl>Q})A3S>fygG|cC6jU-<-`NQYRn2t*7 zOgZq3Mb-0bo4veU1$e%W@{T86@cYt0ZqUqSJtWW>Ogd_4eF`+bLa%MsOh-*0LPYYKks~2Zd@Ti;|Tqx1zBWa^6jK zn*qp?T8*?OHH(owjSc!A%**&lwDX3|UjO3y{PCHG%4c5qrgmE^N#)!EDhPoJL@S69 zA|>$2!XAgK6z;ip1@`;)#70+jq=#-pA1!$j@g0nod#5V1UCNK`)AQPYHP zG@N1t$K-l)j`^MGy`OB}C54J0_;qm|%!OgRJ2rG$QkV|uu5$DrI{{Kl zUlB`pjFI*G5e5%8%q;{W;&3b%lgobD_|F-uyP`rMpo03{r79Pb6A8p97Tb&)Hpp|6 z)kx}kONqNd?3oeCzwH2V98!-;0xM&`!Xl+SjFye%ZI_ zZ)vGsiJG~e0P1zxy<4m#Wm|P3u1bbcN#bf_w2`VW+q&Z4P_lhNE0tX(E1}j~c`BoR z-5F8P9Y?7b4OeB$ca3A;5Q{(?du$3y^sXZ-P`~*u|FrD4vY}U`e(06POIVc1cqFIx z6yIWEgeUM8kC!saC!JVIZaMNhWjJDCg{i~lx21+xM?h^@C446rdk%B{N<7HIHj^|p zBWcIdEGd0nYNV*Sl0j`|oVN`uu8Z>d+9)ncqq=xLCQ z8>?hS&Y8c>Tmw*M4$#K|5`wS;OK7B?+T60f{bMhi)@=KQibC|NWSB^$p7^y9^ZaDo zsD}Xp%RImP4K8k`Pa`WGoM`UIoUp(8Df+Xl(})@6qQj z@t-E;Sb5S5v9qcvG}ZHBG{j4V!dYzWu07OSnG1RCB%7uQBZVh;KVtGY9KHp+%`sV6 zRNSqat=pJiCwA2G2enHZxqZp{bv~^to?B>4J`6EfoXjbfT#PX>T4K4fs93gA zr8Hn;gRmDV%b(}_UJdQ%|LCtLd&0I`c$$Q}(Lk;s$@bTq#Xlq~S}u3M)U_&$i5Zlf z(uR&LNZQ2p=L@_?3@?U58L+J-*&9)=Da)jse*<3W3x1tyqvpEzn3uh{ zL+mv8T1e4;!U&O+(I$Al7!-|=9fSv9(>q1cJRgiYWD6GN%l<0DDTP?o$Ed%?IDlg( z8tCXMfghflA|4sL0!g^N5mbMPPkGBWn1}0pwDQ?~R4tUCKBNmR58hnt;zKqHwxt z#c_1T#PiS9wm6*(i)S5pJG=}%)5M;vxNxZ;#y5U>mwSF-O(2r(71^I}w=9=Vy^>J~ z*@>q*4*JyGRoTObgY#{p!SC4LRz#jh`kamktYQ~uK>TS!(6QTxg>Ux0ZLoC5mAKnK zGwW~ocZs1h8C|dS`Y?82G<*k4m^#cRM9ED?e^tR0xN(o-OgNdYiZwa5zov55UBFm; z?&z{C1%`TB^+u~Aw`mgCDSc>2hDOp!%yNs*W)6FfUQX`K+ip*ej>Jc)_wZ~IIA9{+ zw(I9znvPu`WM2+>BXkUfgOXd)r;D{!a|jK@ODKJqCOspWkT5aK!w68Oi5x4>5W@N$ zyWJapJ2=;Z2LQ1o5M9c#xzzN zMa?ss(lCN%wQUDIpq7PHOLM{gK&y@oWz`Snby_zj1Osc7>O=Y+`FqD3+%l^ z3Wl2(Wsh655CUJH4?^B=IF zE0B`**u$gNO4)D2MU9e~z>q=@O9qGO|L1xtdWaiU+xpEPVzOY43;I&(7+H4X4_($&>U~=Gvu@*o!kVqj2gEhm!Q#C=3tE9t z)q@IZhhw)I!{Jk>Y#-dM?32kmeh^+RY)jfSHX)^RO;Ty-Q!>8OJ#MVGnD5S+YczPl z?6oN({bI5H!F#A*nk^olOb_>|Mvm-p;$bU(;p}9sT&9^=qrCM8)`naF)X=`EC7G#)RS;!&yR~D`wj^dc#_KJV zYiVoXThO*AZaRYG7Rs}jCG0h7Hx_kT0k7R93FHPROF2c^{0#@ zm&b#`Kt&OM9jZ8TMLg&Zs6TB0>oRP{Dq@fiXJSgkM>Jper$56STd!_evwuhpIXfOy z8`Q7ghb0&_qZ=;e96_%UvC{QZH#!jk3Q%KRUhbupjbn-Y1zEozE_P|onF;*i);2Gc zsI)=U07w2yEk=NvvvIpAn*IZA{*Z{_L@-b8q(H+jJJY0$twMx?fh%_KWDOsdpsN<_eSV&a_H8#Pf+ zq3x8@Po>DYpPE%*oIj6MCaC)Vc!Wv>0_Cv3I%1093y%h`(sFeKBA=hBGu2SkRLH+h zzp1n6FU2RotM}im992%Jq{fi+znC`0c04<8lA*nBpFg=uuyZALG<5MFnt7$_Ng=jU z`*bhXFi{B)NwWE8`-3}LdlSymenZ2UGAL^$)BiY5=LHlgk)?lWHq7>=nFs>hBwFU2 zoO8;{n!?EcpJw@Q683VJp=LC+nNr6^!;q@kA6i20;`9z-qX><`5z$4BZwKa#)T4wa zSB*2Q1un9t)5U_)L4{%zXPk0Sp&>SN{SnSQWoLq9Iv!|skuRwKTX6^qX|N`TERwMR zzmcE3VETXr~J3We+Xk;UnGO c5DVm65L_)fxLmCDoWuy@l z-ur&m_r2?R_gZJ~bM3v?`Q!TQ>}#iL|4?k`$00I|m@y#(VPR#G!6tAR0TcK1B}wwT zLhDWC=bWZEiM@x%O-6IBh`CFh9FLb(q(FKLsYM?*9(x;C#!i)d}2*P8>{s zG?6m+^zvtcG9}z;Bq$rvoV(y_o=~PltG4ere{;CM_71tWvU*(KE5J*cPlR`!ZH;lN zttJ2M-!%~}s7-)zkkYn=0v{S<2=vI zY{jAuDoJ{+YD{W{9NyyK$hVi=lwT8hT@{m520E#!$M0Xzf>L-(fks;u7tR+Qockcd z{E`e05ss35Q;^7!3-UWr+K-t2KlA4wI$066CK6TKF!}{k+TP$ZSEYx}b z*iYL>njWvX_&*tb>6=gzHlD^QPW_rdoCTsznV_WZZq*G?gNe`DH%M4e^wIR_){!H! z6BFpkcv8nSxR&jUfJTRs09II}N3-O|hc@~>lw4iVr@6(Q>oM5g8C>eQ1CTyG?Gng> zn{vx&{G6ESa1MXdlaIbe#r7>>i^8xkK6?1Q0SE`{$}-NJrd`t$m$>lUEr%4P2v9ia z>eTLQ=AyommTgHi6pwFXqS#s%H9i&MuHkLs*XYnSd8lCrG}9o<4jxab7Oz2#Pc9gI z#KBTWrk7Pn9NONC*TVGB=JQFT-UT{idFN_rXFE4E&#fX;x!8m=@RZHRrx~W(IR1RQ zN5HD)Q-TUbWixq?X#(X^qquOaEvVe8Wk)JA!c61kFpAr+-8rHaZd@_jaQuddIMR~a zg4c5|`)ef;U^E-gepp zpL}cqkC$vOUakKqp^{bfxY_XDfX<&4>@u*ooZSbZz{fOY6N6$6evw|M)0}5niI5Em zz%3NfF^%OuCU^K4xiP~%dESbU^2JV*95M}GB`JHjY$>}L%M>kt+LTT*Uc;GaKs{2%8nY02!nrBcqd0lZk1^mL}TV`ARQBwQVzT z^=7dD&PKX$gZ<&dc-ZFbBQgrCI6FY>L$@pLE0^sLxr)&}_8Xtq7W-$W=tFUBnCGL9 zzdDaram;hmPvdh5C||O#i3}Y(sBKT)=VO4eFS7HfBoqfG{Lhc@yuc{tL!3u=okEe> z_br8|5(FuhbHO$GeH~}?rRI3ISVT69v@`4tEvWT%Q(C+cp%}unc2oM#vYLULTB)HX zQeK$H+OMA^KCGrpfFg;pALCD%vPn<{DD1d>;;%_IT!rf@ZWSjaN@4`frXs1|mp%aK zwPbK^oO6_ZJ?&0-_-Z3J&j4hkP!@ym+9ek?y)f)|;kZHQN(iPA#A{L~7hW_>C25h& z>bLQ`oUWDR`I-J?3?yQDR*h8C&5fp-K&d?UpVvGX4So>r@8obu5O(_Sv@cEb0*Ww4`y@TL)2%hC)Z__Nj#QtL zeJtv!ACdo+rbj$N#}pZ32lT+I2O3Pj_S0*0fgQ=c?HJ%Xi zxX?pP=!)&E=p`BZdPUklw_jhN1KlxO)e&SbJx;t5;uR*E_60O=zYuh37H!yEFCKbiUrg^y zj)}b&VAO&IG4lK-xp90TRcOaSjPrnfxmB_La{y{#)paSHF(Np*9>y6Y-ZaS9*-mge zL8sCnTDZY`cy+pUSI$Nl4J?Z?_@DSs)g5sVaeo4q4{7hOd{Ckclp@;A3xZu2SwV%D z!xc&Qq0vFI1uCjNr)d4fra^D|%_2wpX&CagVaC`mpUBmggTF04N`%K?u3s{&&iXi- zop>%8?)6d2d;F584g_!!;sFUIzdVyA>H)mE)%PNWVYX}QV;E6Z05gKkWI-L7PreQQ zM&V*Wn!uO?$0kt^$SpOcu=xG>=$PAHf-g$gI>s&EERr;)Fn-xFnxB+OglU0#?w3q% zvTkpac=3;D`gApkg*FM;a_yWF%fgv&VhxDPwflWGrM8D>-L3@eH)&*Ws!uiu32;pa zJ$%dRteXp}LF>~3K~LifrX^XHA;!Ho9Hh{F^fs6^9yecQN2H6{$&*JZz>~b~u|~bw zl_~hkQNZq5uv40}x6cB8C&qsr#^0}i0iX=M8IxxlCsqD3X%EP1oA!6?ty*>H#?P#F zy-za&KqvN7t;q^bk|UOR$cr7z%S+E$*T()`!ae|ipUeGtvAGtXqW>LXo<=#W@F8>n`K zbJ9cC!s#Q3;$LmwJxD1Dp=|Psigi@_`oee|{zpt)?+#%eQC-K(1ebhg(el-qI-)G? zZP2Iatu(+I1lwOe+%tF^r?RW?<8h}ThGJpeE-)Rh&z)qT*GnAdc5M0^sKR;uo2TKz zaA|=bSgt0ocKAK_TTd{+$Fs%a%Npq9o4(pOrH#^j6}nxiB+(`6%m4YeMHA0^{^%+y zA=|(g=IyEwTPx8g4g{#A`9czHK5oxKo1}`;gE+7f+Ny#i5GqoDe z_f9hHC%5gvz73OBIeIW$&v<&scr~V)Z{*mUwqs}c>tl0eQ0vhfq55mA9ha024NhgI ztLG$oE98oA=lTX*2Ht;P_@g`S1`o0+sUxjc`+Lz|UE>ztFiV-{J|kYuj=H&fW@B3C zV)X|obFCG(TzBv26sY4q%&##Cgb%lKACjc&!~C`9+uHfShfdm4QdO==b$spYsim4b zyXV|dc8;r>@vOO5vlX>)wOfE)QlIhb0uF?~FEyV;;l1_8?HX(g2(F*F zO&bpj$>dbzuG(i^ZLQWR=WY*%FPsUbl22HpLqh7RjO5iW%zw|$wI>wY$zNQ|`Wc~< z`w`<02T#8#1z3lfJEYJOBCcOHXbIAck*RK>wxksdcjM)W7kW;@XU>@kwATY!u4I7~ zg7CYVi6WXJum8lB!Ah8F3x=<<>{9OKZYa(~6Z1lo79Fb0bGaKk&Ct`Z2xlm0c9g?@ zO|5Jh{n?vcnW4ar0W2#8=Hj9q z#6@-QQ)yZF|8q2!70f{46d|^(k-x6m1BZv|F_w2!9slw>aY%@rwgF>imiM~|Zl1bY zej|I$PiMd&$=@5k)ie6n$Wn~9Nj&h1sB7yucS=*IXbksC`v(PJTB`G7YFJiUkyA?X z+#VtC6T6TOZiqeXY7It9y|bdx;m`-ecM)I22Ko*U&!&%Df%`kvDJTmuU@SbshrB3a zT-#%D4zj!SdL1;wj;F0{J+BFxui!iLj)*lfQAns=5i&VYg7zm6lHu#VT0TDuOvzYH zzg38IO1@`KNc+D3cC}fAVMIQ%95-mGceTnpm$fb;sHCb=L!{!Um-w|vMFZ;|o~Nq; zB3rTLOvb+hfViKxOf3w1^YaXzs2CMF%-XGMahd;tC{M^7cvtKwj84Wg=d;ISqxz(ni;(4=2q3Um~zUhHD(=o#~yYWSqL+6wSC>F9Oa9?TfaGAbB zH(7=3ncZgoED&y}dmcMg1BRfA4ZmHDQD4sm2Z*4j-{mvnDpYSOo z=vDL5SQ}>OM7rvB#dr9lTi5nft@M^$V~MzXP&9N^d)p;{yzGxB2wgq6VUrDVY9gWM zQ9%OlBQ2(5S)o zyts>+l?OEM#L|ss?e`rrxqf)_B1*t==iiX~C3A9}`4U#qCEkPidIt zr4ze$J%{ufh4W)%zhUDSMZ1M1=7-xHWzaJqW;*s}e-o=7-*yr{ROAua!;5RFa>BD9 zn&$k_UCdX|C;G*2q>PGQvMoW!W|HtBApOR+T=PS>*DoK|XNG|ZzTBDl#F#ES?=!~$ z6ZL~Dd82HXN-}+`%5RA=CofiPvLG!7F$#M2wNrYeDvYnmn-qc-?DPaYy*2(`M3Re; z#{6ZW*IH>s+H+;&zXEwjG3BgY3Pu|tC+`AAFSkRY_#_TTOXZM85U1@D?}C-QqmrMQ z1HBT8*nM{7cn%bv7!#{U?zZ?@0C24~_-Za1XHncd`~^XQ*!;izsjmMlFvs)vm~!z+ zP78_Dg9_5+x4PZtCR#jdm)Ar0Tj$(?hYd(mUJR!wvEZdnn^vh5x3bN6F(;=GP0Gr< z=>Z>#aI*6^u`h)a`Rt-NqcUD&z%V%Ef%7CIu5x!P^Pr#B0#cCdZ67eq@%dx!p?IxE z))y3RW}G-PfIbvrZH?Xk;5rPoN}M7>2|D3vy{yWW3@K&Cj%`A1ZMcw>a8T? zmcB&z)Mqw?exL}<{Q;Qm?)*i0U&J;x8!T1WwF|}7Wiq<=9!pLRPV&qxZ2=!?j>wOr z*~O*-4m8PcjWL`!(%(etSH-w;<<}aWuUMMoM9znbJ5z@Z)tZBHTYZhdO`HkS6gnwW z0*u=;>wJ!qBF9v+?d@z-a-<%@zHRq&8}cu#TFma91-IFKV*nUiGE5V#&{YuUvVAHg zAEC@C@UeLqa-ZIn>HrIrOyaRcLZ^i|hn}#*EgwG0n$QvTTNae3#f5Cc+vZ7r-wM9? z8dWd4HsGd zVr+3EpXfBB37`Xib=~8@Rr(bQtFqfZ23lId11znoFzpsF$zHz7*Fsg~Br6rCZb`5( zcozS%cB+rz@6@(>`hh_|-?$WJ`q7dsn(k;x#=6?x2T>&|$;X{9zp}e`)GpKu`&@)S zB0E{U=1MG=9DZ(raY3qT=PHR#&^l0$Fq-_OrEq(`#< zi^tqfY5=C!HX?T3F*tE0;&7le9Oi@Pt1cSN1$V_VKoK<-YQy zw>6!+Kxydja`5l%pnATcUvxTK$KtH$V@qgW>x7`$AaBsHD$9fBv1RheC>mDIkJ!+r56T%w*G5_5S zYv@s#H&QSm9aju5GcwBFY{DR*D{pq!3BQJJ}mu zTEQtO9O_-~^CG--oN3*+GWphCN#Djnp5mqT>2V%nG(B0WD=qH&XrR3CwK&ARIFmV zia@%{{sBQ56`R8Q2vi>oj7yP zBWdsw(Q6L-Gk~rjEwwd@0%zz4H<;xLD!(FACk|b+HTQE7z(?5n5`BK`%74UEvAM1c z#x(4MhiNZKW`F%+F9=-p``8xyu8C1d-u{eqxm@!oS)(Q{J$-SduVh&ve&Vi{1*q6W zbASQwJ@7Qe#iL?IdHL7A%<&!&7QK7ys((vlK6}8>PQqh4!`?v%v~GJcbCg0=s3OiJ zWif07fpIknGO6CA;Q;UY>_cAE?NLw~M*Fh=i{5|VL65mnR`;OD3w%+2RzHc#IV%1a zB%QiefOeY}-;W~9c}!-d*`G<~_5ZLCT9rnX&J$Mlpaj6Xr+XbsR6BDo3`o8?G)m<` zcIOIt>(yMngp$WmveLLGDhveDpk4kM&Ovd!1W8mFl4du0!lA?+34diw=^-K#D2*hAAgeOe-IaKR70muda^X?;yAYf z!qsjc+M^+-^6Rj4%=kj+YAKnQm48{c0D}Hare&>`!A7|&OhEKh>8%;^!yBAO-F8SJ zClt~mfRxq3sRtjQRTXw(v4n$p-teAWIIuYOC5P?nPe0$&vddd412q|*rPx_|A*$kd zddX}1f;@FDdD2;s`p6^ibuBosPTGkkSh2q--*kKORZ_(2ssh#@W|wmszfrXKDb|U*DBnVXqyA&F^tm^IuKeK zLHildM>o%Sx_$tX4E{CF)puMDrv15LN>UC^(|Y99oItyPQ&F=bdm`?CFAruoC7Az9 z6vCqTM<)8$u>a$)2w>b?9L)dW^`8s_4i*;Ee+vJEuc2Sva1BAEW7)}JsQN1>8Qf$y%Ox;X?hxrSOD6j&)!IkAMeYyaX+HR87coRki z2I5V>Ig5*=K%x3%>az0C{3I)0F+PB}W%)2MH+0G=`c3V8&m@0}LdyR$h);Ap>X(RW z`Sr_^{W-kqzp>nYDfpBAm1Qzm008BcWg}M$dp9=LKgXJs-dA=}-=022)8Fve@zK6@ z@Phut7e0uP*>6|XET39x|KP_NBJ-_~5ohT8*@YX4)uH5kG9Pz~8fS&Pa0M)lc5#xX zvJr1Wqn<)F3`3zNwwtdMXt*P?!OFh(4yebsgsqaqThZ)xpU*L3chobeP;!}6!%4~? z#Em!8fUT!Y0{xnz>ZK1NKB!%DUT!T;0sSX+b`?1{ z9mcf^Xb}2Y5y5Tz{pVTfOZ0yyl&|8gT?#Y+fPwIzZtGy;Zf|1BX6|I>;qdCcf82IV zb2)mM9W&rYTM><>WnQQ5tExg|BeNc|4 z^2Z@r0cILv<_W)W_Uc*FGJ-esz|UN<6N$;i6f|7`NiZ%`(<;#qnGql(Hp$!fFsnAG zLw!ym21B^=O~SGRIkby675@fzNAGk(Z^*~y? zu6&>Ku&xZ)hSiFc`1F6WBBGhRZ|yH(KQ0<}Sog$c(QJT2TSn}wPfx=2Z;kFCTi^p% zksafDDm!(HP*Yk}UcLFq>a39jqy3%=fjRTJNL_qLcl~{VN8ZMAF{-TpCxhhgcb~Q6 zPtqJAza?E9Ta?ot#B)AoMM+1 zFH+;QRPkg<4jN|Qd(2|vVE2I~bL0c99>56X{zajGESrcjFlLtXn(H3A*7>=a_+zaC zARoORa^C)Xp`_X?0((U^>+2$zAe;$wWmjAs82shLMep&iq+q#r1NW8`03hUn0bso* zh5zzlCl7aLkN@Yv$0Ez|%WcW04|s9Hil?R=E=S`Yo0q-0BJU}BwsYYuJ&j4Lf&EJl(Qqddy!y}rWQWHD&(_7d1Fl;ST^ict%V*5*>mn|nDOdFq2;>FthJbnIVgWg$DqncJ2{ci8TtLv-IDM%;5w<<4f?K;CQA0D#QKynP*00h~`3ywg8Iyy1dY4V%l z2&h_|rx4lE^UBSLiM_m1ZBTZ_DM8BRp)_yV$XLWk zosI9yi1F{++uO&pgFD+N3wHmTljEQ7=FD#*n7IU@yKrKc~)o2D^6w8Qumd8>}s>*sYbR|jXN zXSbki=7x>w?Qc6zk0x&IPuyelw{=G|84y89vy@tL$C(HZSDni`2{7+O@G7m5_JvIY ztCuwqcODD&Z*YH7jAP^Ro(f;pe!_7<*yHJpWmQZk#P@8&wdG4rfY)X^$Jw!CYyoY| z!wq@Hx@FGdnDCt$X!L>P`Ujfdg|ku46~yc#n<@006xF;)pBdnG9Q-mA?x3M#5YY}b zvzpmnw>j4@) zgwOE?G58O8!eGZ8|84uj(`O=#b1thdxy&s?Hm+VbcUxn717rT&WJg`3$`g;_*%Rr* zV&o0){J+}p@2r{2UT^der)C>vbS+1H7sgti03vpJ`jxjhSzTRl7jzBP$xl1y%9Epe z9S%EqbW}7tHQHd?cHLEt^#IxqmY9qTo)TE9*1ya-bTE&KVo zT-r*CvijHA1myhm(EQxWbM+~(KuHQk&v^_$7csy69QX|5 zXUoCC&~ci%?TARQ1j1d;h@ty?m)JM>Xy17zS3Bhd&O6p#6P zy@EfsX$_(kPrF=6Y?BGN2iw%VUDZ;L4MQ8_0=ryJTiSV4`LOc(jM{OcyShB&&%4uz zxz|lPT7uqL5NgLA!O@57K$V*}-e#BLBtVK+AVE|hgE%d46sV zKD^5&+o>NQZ^pyjvLq=I-*eOGAAKd#c$WtB4UODz_^IEi7@IH$@JF$KE>|M52_i(a zWHyTB>pvg3rnIqK2{+0*t*BaFTkB<jzK<_{SD=IMZ*(tdxj!5l5ei+@TlEF!_S7VhLFqp;xfR`6z z*a0`gCxR1>I9!5l^0U#KKq_f&b4b=3mWhk(quOrqF=X5`RFxM5#(vrfIIwO4}_7LOvOz<-K4fB zSgUoh01D5YnoP*lyaVbr^sUgF%IM-fDB zj&Bf1KPnEF;^^n^MJT4Vy%V$cVI@T$`h-JN-_)s=GbA1x7l8N`{X>}2FDH}9TAF;$ z<1sa-sHh@%$eMrE+GnBXx#A;4KAN28>jNW;G9 zWgCN~=xZ`%hf49ZwNtbdbvbMXgarvS640-BZmlo-g#}k+nZnJg{2KGW&N5INvw2Wq zP3{|Z?Fy9n+-KtG6&R)lIV|^VVcO8n=d(P>N(je_U2cHXQXy#p^hUvWIz~3*INxdk z;Tt{0?=V@JWh6xl#V*5aBZ?U`rQ2kdYS=y+Kp{T2k%wY4u&vI<5Y&8HrQ zVON10M%_&cLD>YHZx7y)8}4pmCiUr=S@?fZ?gp4+1WbstQL+!OU8!RuKF3Go|9I>) z*fT^}+usaLg{*`=oxC)EgOGZ|E4Dw=5JjbeD;%??~IAjoVHW4_Ft9^vSU)7(E&b> zP#D*)F^MXPMYGCxFvemi9Qs*{$%>~{SI+c%HW{aI%e-r20&1tm2d$8<;}03du*giG zQadEr(AJv}rIw>6l%UXweY6jVn4fF8X*tQ7mWXL3rgY!6OFvguqEU>p`L5IiyFeum z?nvMCneDb70%j zOgxLlS`vni<_4*gxobeNk9`D&#XKRcheS_nTOc9d9k+_<-v{H!9FN`!$M{sc+5#jDCI!JMANK9H1 z)P`BZWXn0D+XuFsDZ`4iTyRNQ=)auA^pN7{SgE8^i})mL2AG9uYuY-pn@p#p<(cyI zyeo}Vy4$t znte`I%-brB0!CjVbaYK0G4Ff8y|sBeUV(7=EMb0Kd<>hk0+cx~SQY2@?B^H-wQaS* zPCzs_Nry3JGrEW?VwMR%0zUhVJe*3~F=VQJFBFS?BN8VVNm{WevWX9!LXp1m`Wv!z z9v26rcy!LLXr#M{7{x=Cfa@iz&^pbymwhM!0Z?eS>dDt@^iZ%%89{y1B9;6KHGy4+>DWx#gNXgp9vyEepxLE45Qhl- zk>iK3UD;>94mMa{+`IX@J-}yM=SSjF=|Zj3F~W$D@Hf$v=cPXQUpP0yT{twX$wXUK z^F1_VqV}?$Z_%_LMz#SHbbBx>;Ydnvh?9I^3H_c5{aGlw3oH=1;u_!Rf7qsf!$(>3 zVEarxEaF7T6>uh%y)jcAK@t=5VKh=znv3{)sN0m13!jrZku=+TMa<%bVox}xmrw4K zh*$Vj!c6_dhVhb+B-#Ts`|04RYX)vf+Ccizmol1^TVmAThls| z^?aw>FKB$Vmustm+e1^}GX1_OG#nDPLhrH#gU@+j+dvSut2gEib_7g`5z2mZL zHa|BIiZ(4YziTJaT%sISz4BL5Jmt}q5|jonaFvh6wRiuA+l)-OgmJYX4V?FhT@_K= zc%KD`KRoiT8toH9G<&le0eez429))#jB`fF84g%=T5Q;uqEJM2ony9Va@|i8%7b!; z(lAW3)ALqiu-1&+`iYNM+?t_>YldCBsQzjYvp<=fj|9pkLCbt|*VfAwd5MBrE?lnA2Pj_VPXv4w5ldS)6|=6C*l zI;HNmZU}~Q$u?<@&A8Nd<9UnC>}Rg=8`NQIMdCNDxM6&T1w*!mKQK>O7i;NB1Q!sF z)OB2h3Zq9X$7D^M_MNY`i_QI+U4@i`7b~a=G>xHILlnyQv0NkA@NKA+9-u@A?kO+NBcr{1|}*d7l?1e@+T5$>i4zG#9x4G(I-4W3Oys03BQ{V9vo{A6SF>H*WZyzdrP3KdNx)r^se0i_J~<)5?qEDvHoajAXcs@c%A_ZU1}k5$Xt z=$G^QG-jU@3{8aB#80_|!hSo%A#Q|TblCr6)xQZc=iN-%z9x9~Jbi#A3giY_;cq3` zHvT|K_Rq^b*8**|hjNpfq!1h9g|fc>UncvE0F&9s72T0s&U^cjtGQ^;R#GK&dlUsa z5m?YdP>P^7>N85t9i~KJI-i1Qc@ol%s$U*D0o-Nd3L;E`zQ}-jo83M7XyK~$t)lq$ zL`+IMztOwp%*StgjCPwdudYVXs_uuo0^wS_B?<>yM!0-0nbLB}KE*rBg!1Dl_tPWP zB(d!HtKacLg}s$@dRN<8!MXk+Me!B1O*Os^oIiX$2WP~?W8VWCFBt&-fnq+LW=OS~ zDlG@Y9>GKm;;(HUHwj==l@2Qk+cc{eG(T7SHu#HG<;UVr)%dy|xn`!>N#RVrPAmii z`H$d`4+>TJituwaf8yqCKh>>qURb6*B&8_8uL!>1<|BmD@U>kv!^*31tOX>+2ZL3r zr9J*%0Z@N1tR=GeXK3bC`J)=|Ui(LY$|f~fNq4xRthrL{%SogB`rw%lY*qRGOAStt z6tz9zREwOxO?cd7Yw^$Y0#vD9S~-{t1g&)1@$m*=d@l@;gBXX;Ec`7!$oEEElM`QR9T% zk{4!25EGVES2_m0$Fy>RAh_&D>Q9|X74mLjdBpVU8S!70ZQtRX0|l_}u`eFr8O0@} zQ|1z;W0qunpc$^0YaN^|+DVhlCG<-?f(g=An%z-d>`{V=d`6mQRd(*IB@Jo5HEt^P ztB;Ws3Mv|O5{v0;S!tdH7cI5}2J(3fslvDt#=r2fxN)hBTgv_VvN9-(ZkGCj$YN3C z_T=ftxR|ym%oOs&54N4V-9ltRFq1bVRvmi9EJ>p;%>3Fbm>;7zewV@-aG+bgHBS~5 z8q1ZcEL3x4HqFrFwO7ris!}@PdhN49XJt;GC~vnSKxpM%^3zbPskbo(Zmx5l0E8HH zy6;>m6pZQUjI0oGclW$LjTrK!M>G37V3x2@R0@!eE~mp0tKt2P!P>F64_aDtt}YhW z9c9+W90qxie?avyG3s3*wmmf(gR1ifcqDAqTXu5_SOa(@HCA_e%x0_YK0Kz<`KJLaG9$~6J?)z{?tD)-P=)=-DGh)gt77F zPH)~(f7R>UO-E8@X2PFN!Cw+iW^1*c40-(M_>qmE3hZF7t>!C*dbFyu9ja3T;Z}xf z1iPX@0HFqVVI*726`zl<_zXWm#k4 zt9vEHSlEnhFf!6=$g7KK=Ay^`m|J6v9o&89DeY@{!8FjlI9*QN?RVeRW@FCtshiFM z-8r=(gERHCB?MAEZKDpvC*6UQC0eK)!B1qqO|46p=S=nwjeKu8P4jq{sxN+XlZa0p zh|BX8!o<`~=(6zb@kd_b_!Bnzqx*!>6?bWFf1>~jXtRbZYK^NFwZX>b`l7msNbJ(x zmo{HMY8Ro?4S^pEdrl^0@JAz|EF_H8BIplwY*i4{yqDgN+K2ERH@}ukKkA&iYc>;( z%9|oRdJYyDX2JBqAj{&ydTTgRIIWrm}zC3@zi&LeMGb zczB<{Se@b5#)Gk+>Qc%YGMK*mwP1>}fzqI6^0{b|v!d0`$>F8aaP?q(ryiU!yr>g= z$i8Y6BH31&F_4&DjQEb&11jZvH*Tn96lx}dG4@?CIE$TTJE;7+2c)haynzoZ0638N zAxVHB;C}p@2W&7TI$4DLk$y%!n1F%AH5lJ7dh5gv_9y{ffg?%M%ThcEdejFg9eY3; z*_b0T?U9OFEy-L_^v}9W3 zl6=pp$=zQf!Nh>57XC&U-DK(8yj3CmHnoY*{pQ(>DNE{Xj|{ zB?-I?WmfSHXf>#B^D=~;NL5jra~iTWsTue_>2M*MKwTX6stB#+rj$akr-O&M3s3UaAjC$*6>^8hdBq@VyY|j)qlY~3q&kN#qYP-k`qLX0 zypl5072ZaTSO+wi%nBAf>R@Ql03yKV(;FdPm7lt=?Lr5aE=TSd?aRk6_490+Q5qqH zb*p?b9<(2$r*IuCmtnV~)FwB>t=W2v4?p_N7b<}7%iiW6ZU`srPzN=^>|VwepQL|6@7hrG_|<-Z*$!F~ zrrbq>Du#sNt_h*=-F`LxQ_OtdUWF+j6V+vS1@<}S#(8{Izos3Lu~ z8WdUUufy8Mp^%9NMKgNM9<+M>m8>p>jc~kEj3_w1G3vYOBCu8O;JHhgHptLQ){T=) zLo_aB=hDcld#|AOloO4?PVKIRoJn^7e!yGx&QEwDA;q%d$%*h_8GlHu?uw z-a}h1?Rv^VE^4myGD+$YmPHchWiqFGGG}Z;YEnij6CH#0S(57x%}#Sl>O6&d{B1Y? zs@?-S<)?uCvg^2%B|bUZ2sPD*AE0ABx@M=O+4$nZ>*kClFJ;?x%1>XTLznoTXD-Vg z_yeL!Z!B;xyRK#)ekh$X0l(H27vAI*7~brXntGic(*Gj8r^zewdqFoL=C7{aBJh-P z>~(-mS&0XJi88x;q?-E9vKD82zM2%?>VkPhkSjyY*GmoTJ>8^OU=xa4Q9nhby-qK! z;13@tG72PWKV87Ojwc~a91XsH}t7^Htm76t8Z;UGV_R^J}aeVovZqF6*D_$l6U?EXB z*smH4!dKY<@t@^Z3wIN96L%9fGbdLIRaYlx3s-j=3%5VgfwZJv<$elW>6<6yzOJ$+ zTT~k%l(A}Vj(VA`_?{f}dR1s^t7pS<<*N8b7x@z(x&*H(i1N)Zm|X3!PaI>eu|1LE zj5CniPX-n9Z|-{Hwx5g(2mOA(smU(IPLJyC4I^f5E9@z;=FCUZ+j2lm$J!jg=f2Sa zDx&g*%?S5b97gVJ#(BMs7Vf4Zg3b_jcEv3BL+K|T+hQ7jrBLaW&esL(f2efu`k!PPO!nHo3S8iS`sMfCcJV8*nenq87gjjNCW{2y z#thD;$2lzR9PibGQgUvmUMPWHVr%t6<@PXW{xhDrl>5fa1_;k0WJZPpBXHk?QNm#g zINVy^#a&{MVh5ICa^S^eX-1y+RH$#}VCty+qHHDmaf!H}u1ESMve3y{dde%ukoiHM zCsv*mOp)di52lc@;z{+*YD@7cKG^=LE*+*WtgY40p#$97Rrw7Tz2343GCn<=Hr>a# zouBxH$yw>PezhEfJJR&2_W-K$4({KHP=+^CsC*@0?RBU9zlf0beic=@**H1=aW8{- zA?#3gT!5c)l03QTZ8T2d^pXU|Z&Vc%AW{l!@AAWb)B38;Vy!O_!#(hGc{$aZYN*Vj zBYSIhz6wH1Sw8|hY3!V_Qo%0`?Rw<>FtTXstk?8p2!m9l7}bC~x7 z9i0hj5PxWo2;y^dYR>1w)A`_CH}RZEOo0i>`RzNnXly20DP-m_Mib2}d{mIjaI_t| zyq5g4H1+UHLiVq}M(bJA-tg^plzgw#PXB+6R^7th!o0S4iW^TH(ZZL3mhil&%3sq~ zb}aA%9HH^Yu@69%b0}$T