From 26551a2383648b7528916f0c4a53aa1627699a35 Mon Sep 17 00:00:00 2001 From: Matt on thinkpad Date: Thu, 10 Mar 2022 23:53:11 +0800 Subject: [PATCH] init --- .gitignore | 8 ++++++ EulToQuat.m | 23 ++++++++++++++++ NormQuat.m | 5 ++++ Quat2Tbn.m | 14 ++++++++++ QuatToEul.m | 9 ++++++ ins.sldd | Bin 0 -> 2736 bytes ins.slx | Bin 0 -> 86264 bytes quat_to_euler_error_transfer_matrix.m | 38 ++++++++++++++++++++++++++ 8 files changed, 97 insertions(+) create mode 100644 .gitignore create mode 100644 EulToQuat.m create mode 100644 NormQuat.m create mode 100644 Quat2Tbn.m create mode 100644 QuatToEul.m create mode 100644 ins.sldd create mode 100644 ins.slx create mode 100644 quat_to_euler_error_transfer_matrix.m diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..5806ef1 --- /dev/null +++ b/.gitignore @@ -0,0 +1,8 @@ +*_rtw/ +slprj/ +*.zip +*.dll +*.lib +*.exp +*.slxc +*.asv diff --git a/EulToQuat.m b/EulToQuat.m new file mode 100644 index 0000000..762c9cc --- /dev/null +++ b/EulToQuat.m @@ -0,0 +1,23 @@ +function quaterion = EulToQuat(Euler) + +% Convert from a 321 Euler rotation sequence specified in radians to a +% Quaternion + +quaterion = single(zeros(4,1)); + +Euler = Euler * single(0.5); +cosPhi = cos(Euler(1)); +sinPhi = sin(Euler(1)); +cosTheta = cos(Euler(2)); +sinTheta = sin(Euler(2)); +cosPsi = cos(Euler(3)); +sinPsi = sin(Euler(3)); + +quaterion(1,1) = (cosPhi*cosTheta*cosPsi + sinPhi*sinTheta*sinPsi); +quaterion(2,1) = (sinPhi*cosTheta*cosPsi - cosPhi*sinTheta*sinPsi); +quaterion(3,1) = (cosPhi*sinTheta*cosPsi + sinPhi*cosTheta*sinPsi); +quaterion(4,1) = (cosPhi*cosTheta*sinPsi - sinPhi*sinTheta*cosPsi); + +return; + + diff --git a/NormQuat.m b/NormQuat.m new file mode 100644 index 0000000..7d1913e --- /dev/null +++ b/NormQuat.m @@ -0,0 +1,5 @@ +% normalise the quaternion +function quaternion = normQuat(quaternion) + +quatMag = sqrt(quaternion(1)^2 + quaternion(2)^2 + quaternion(3)^2 + quaternion(4)^2); +quaternion(1:4) = quaternion / quatMag; diff --git a/Quat2Tbn.m b/Quat2Tbn.m new file mode 100644 index 0000000..663d19c --- /dev/null +++ b/Quat2Tbn.m @@ -0,0 +1,14 @@ +function Tbn = Quat2Tbn(quat) + +% Convert from quaternions defining the flight vehicles rotation to +% the direction cosine matrix defining the rotation from body to navigation +% coordinates + +q0 = quat(1); +q1 = quat(2); +q2 = quat(3); +q3 = quat(4); + +Tbn = [q0^2 + q1^2 - q2^2 - q3^2, 2*(q1*q2 - q0*q3), 2*(q1*q3 + q0*q2); ... + 2*(q1*q2 + q0*q3), q0^2 - q1^2 + q2^2 - q3^2, 2*(q2*q3 - q0*q1); ... + 2*(q1*q3-q0*q2), 2*(q2*q3 + q0*q1), q0^2 - q1^2 - q2^2 + q3^2]; \ No newline at end of file diff --git a/QuatToEul.m b/QuatToEul.m new file mode 100644 index 0000000..abd029b --- /dev/null +++ b/QuatToEul.m @@ -0,0 +1,9 @@ +% Convert from a quaternion to a 321 Euler rotation sequence in radians + +function Euler = QuatToEul(quat) + +Euler = single(zeros(3,1)); + +Euler(1) = atan2(2*(quat(3)*quat(4)+quat(1)*quat(2)), quat(1)*quat(1) - quat(2)*quat(2) - quat(3)*quat(3) + quat(4)*quat(4)); +Euler(2) = -asin(2*(quat(2)*quat(4)-quat(1)*quat(3))); +Euler(3) = atan2(2*(quat(2)*quat(3)+quat(1)*quat(4)), quat(1)*quat(1) + quat(2)*quat(2) - quat(3)*quat(3) - quat(4)*quat(4)); \ No newline at end of file diff --git a/ins.sldd b/ins.sldd new file mode 100644 index 0000000000000000000000000000000000000000..4409166eb080bd9f0873ff58cd5ce096c77198e5 GIT binary patch literal 2736 zcmaKu2T&917RQs&L25vH6#^;{S|osg21Sb0OA!$zK&S~I0Y%EADg7cKO*%*~q7vmDGTo_1M8=)rrm2BBC8e8ZImrd6uvv6-=sTIyF}S4 zolmIC2o+FBc(kMupKa9jz`bpY&t|6N($*=d5IDv{?s9a;t)h6@D~}R4`O=0X-rL7) zmdJV)`=lhACk3!-i6~lW&O)qUk5|F($2{0(1gpgsu|7rvs&D4YjzcmvrJqc9S6-Z5 zzn*2umZK!lB;=V~O#YL_j@yi!Iy4$X&lRm(nM;FK#aWMj`?$IsG2qeWLSnsYq1zOC zhn=5Qf8jCl2r2-aWm!a^4HlV#x=81Kt^Q^`fM1>hIkxP&tc{pOxge_#Ze^&dFmmR( z%|&*r+3p>&==s(ie?ipr7p`W~9O~i#*BpQ=3&8c74+e{e%OAdT?iqPTC~)ZRWOr<8 z@wr}Z;DNFpfJc2Bs zZBR%ZMU+y=>0_Ew#E6Ia$^vS_B(vJ%g$Jw}AJMN6wKpYA>lf-jwS_qK$I$aMPJS-a zadD}Fh#J_|iJW6W)XM6A$k22lNk}+_OJNA*a+N8`a+3m@r9A%jg;Q&%VrbMLp`>0Y*gQ@3SQ~IcaC^)AdN7sBM>vH|oLfb0e z<~u6;XcZ|U;~QCy0Ih)01@{_7+riA>2QJ(bEZm(!;hpA`enc{RU9!tZ{sFSK3NL)S zP?ZQfu+*Ny6Ja40(OTeNNkWnlqQ(Hp#}E*R9U$q1_C>=TUHv>g6b`#H*xc5nLxC@N z*;+Q3vNE2A>!AlrGsTF_IR`1dZDt;MoOvVvATWxTq_*C&$`IN z>4OcIwP8$kCa9zO2ps!m6SzByDGJsaazzM>0G7q~=gy8JPdY25+dJKMmcPy?R#`)U zp=xY~&}HP>3g`^X#5`r(lCA5UOv1)mkHd}ce*0k=m!XqZ65TOvVGc9`ej}S`mHSZ} zZZttnLIgkmWLlvh2IaZE3_sd#upvJzrFgV}O%LvRRKs`+GCv3rn@#eGQDaEpcR5aP zf<)%Kp~~1F>NwTSvu5~I4QJ*WUP(8NlGU5tdtIk#teJOEsel|+sSxTlQpPwrl-E70 zB472sbhb_7InuI4GM#4f_~&@$q%T;1A1?lWgbF zDaIX1*+2Pm|7FmNNmO!&RX{^WKEGfKR1;S;6g^$MyQA!unc83-fqy^=6wwsj-INsk z%-R)e#e-x!7Jue(8cPHGV_*ZDh+=KR3F9oQvtfac_~iP|6Mefb(|DDP*=K{|PU}y_ zuRtMMFt?unz3GX<@U9)A`QMF(zEIi5eC4Y?V=e(*GIGpVhr0wI4-Mn7DJb-pY%xAx_Qz0`Z!yU?v5tkG)L z>ic%Y+l%yUY5WB_qHZ>09TKA4xI3p$p@d1jPX(%J1%2K3lDu=2Ob>ho-QRS zwD4|4skdfiZqbri{tWc196CZkFGp>{5HM$CJ|NMH=0_)5Nr2!J0a~xI3&=8BAsYm zEwX0vT3n;3r-s5o3i=D|a1H$F?jyI?4eBpCccVqZhJ>O#R|YTRMoQ>S@)QT)zq$gQ zzOGp%0AdDsV7~)$-X9oecsDQ4!!ET;XyFQ1;HKLTIuFyN<;a8P4^N}CXJJi@H2N8m z(SJR=Yn)Y0%(WRh-LFSk(V<`on<|dn)jrKnpT^q3OP#u1qwNv#L!Uu`CT-|N0`Zok|fQDD)J zukm2AZSt6?l(JX^z7gN1I`}R2J!Sga0Rl3v6&6gU1G~qz~Wqy~g zIR=YC<1zZ4&R&NJ`x*DJg)4A8+u}L4W6qo;b$oGYfW`AdgaR|#D6VTTy_X9`o!3ZiCDH|1j~IoRQ|3!Lp*!m)j<|QK4q%S-n`MWV5}; z*}h8oVmSgPfCKHdRz9wf;?rs&bq1P(?XRmBTEaF0vmX|@!=5_ F^f&&MNo)WB literal 0 HcmV?d00001 diff --git a/ins.slx b/ins.slx new file mode 100644 index 0000000000000000000000000000000000000000..f7bd558d33c4ebae92a1725522350ca6b4dc0dc6 GIT binary patch literal 86264 zcma%>Q*>b6)}~{tVjC6PPAX0+wr$(CZQHhO+qUhba~fy--{~IReX-XVd)>|VdFNc1 zOGW}11Q`GT0OIE(0AP5dbvOhB01$=*06_YgQ5Uqfaxk=V&{lA@F|^mDaj~=*Op>ym z=R*j(enm;D{;efnFqg;1%_MXN7$VA^ugl$}yh?j%b#}DP80C*d7t}z%*OKLYtHhS_a6HVCo_MAA9Xkp_(AX)X}aQE|pBFY0G)1L{m-X)wT%IYY7wSOru`nUQ! zRh2-^HTr#r04NVVDzgyOJ~9YLTb$~S`R`cGf>V-xVekcA%rwkf4@9AQP}G`Of;LM* zsYfc*GO^mWi2Qc4w~aK5DGN5pibOv_d}{ZFS6ZVYccM_i*7+B4mG3YRUi#l>*}%DT zik2H|WLhPW$ZnY>8c$;^$4zHsZT4h#9mrn)t4C(Qxw{-bUhi}T)h%;>E(A6e=YM5SICS^K6w4O0uKxT0Q$!j+IEH(_Ovwr8VeUTt^DYa!EfBN z^G-XFQ&*M$SZ^TGCQ+rk`w(&S5m}0<7k7P*@hBiewn?x(czf+O;7GC5;b)sv%up2h z;}?J^=C#VGO7b2}f4YlT01xKQKR2MwB+V*p1gh$bHj$Ht~} zRgIcJasOx;`psA~Z!(sq87@FJUg|U9voT*0Q!Y?K@=kM~ZMXBDJ?kppwPa-K|3{)p z9VgKLMpWs1xtD1WSt+nyie<_>TzT|L&7i%?I3QH1bYyFGQlSjXr14F$Z8x@R>lQ}B zENW1Jcu|6G9c*P54Q*bl>@o4$U>K*7hlq)h$Ak^gF4M%ndg$72AH)goESFP_&a zWd$gV!zYUcPSLSdgNQTJP~QRiwg`B(TCm1tHj0yvr-2Z@Pd%j{%;>mR%e7ze^|OxU z_*ePn+5Q&VKQR$X-MDJ}V44L103iOsWN&KeXklt)PWwN2=~-Con;V$w8r$hw{wtCH zJHN^VP4hlF@HWjoPmOFC_0+stn-Rh0EJ3dxQM*ZE^l zQ2~*7Ym!kk4%&#R6FM<+{z)kshuGQa!SzWZ5+0u^e#}UW&Aeg*2Hc1(S%DC|S2-1F zLZSDFB!U&=Aud{3U+D-TocKgrC;^Q&zkj82%x2Lku)QT14m`xE&M4FLiHN}=Rw(Td z0SUAXXwVf?C<^_m8rQFoMnl7&EZz8h6u2guyIkwxvP^B9iRq+u$c)z8BA>eXQO5CJ z#zTC=4m%+#K>jn~N?bh`_#Atq0aawB(=v_qixe&Xf@{$QcKX59P;xHyM_q^9*qCy;iN z2cC*6vDm?rD1Ne`;8mtvBx?#w%bQV56zwFRfKfZ;ZNl{e_)j_~E<)&SKU9c*2$B5n zbo8yQj7*K?4IRX+jI95S$1u9xs-F%<$k{uvr?W^NL`e3}lv0j)yq6C?W1UVo;-AOZ zZrWmeVPP%5;~U&4Z&PMo1rnpCnsacv0UqgC|G?_|_jyWm( zG~7|_aP-0&l@xVK>ySNT@xN~xA&&N=%&kTGuqqka8u%W#L1-1vFzB56EGqZ(syC^$ z^cf|m#>UFPjqer89Y@Oo@OFw*-K{ip?-??BZ(2mO6kC_gdL6p}jp$Zsk(<2#44w;q zlYQ$aXfYrF0P_DDyuE|2gQ1aywe$Zpsim&IiK&(0zXceKo9LkM#IhO%|1Ci5L2 zPpU^@Fd#qGfP2-0Jnt7ZoBw#rZyxiKYdy^u} zo}Xny+-j9pDftX@LP>zCVvCJz;$PZP-Av^)#3a`mZWd(kk$#$+20h7KM83@7mRk93 z!y;MC7PEh)*nW}Zp_dyTzKmq15A6G~Xtd0;aG%hv5G>gyJ6}x!OAzTH60liR}OTpEd(C%fD4Jj2<`Z=YtV?{({Q&q#_GP5E$A5 zZKFPIgK5%(f8s)yihH}JJRvQT(6pW2)oR1*?uoB&L5I0I2lExg14k3~*KR()3cw!> z>ZPHt=}iR9H7_40qir$~BTWWLKpfan5a&P=1g+`q8`hCgBERT{FDB}nJc=E6SEAIqXTIfar6^XOs9*4WAfDnyMKeOVPOnV) zvJq_yW2s*|`;Q71?F)+c|E~Ze1JnOm0cx_qxrB&%Xb1HSM+}Qa+zVH_G@g&=Uk>{5 zg;g!bHq*(x-97New)E&+3$Q@JJa9A-VAh+Drzreku>P8QI{uWv_hw7)2c)94$3mT^s@@D^2uz!+--H0ZgW?|Pw|2a%1v0yE3f{UD7Xct+`~WY zbN|0Qz{tS;BRR?O~6+pV`+|fw1!EMQ5e(V#{--^^4e)^<8I35xx zb??t^f}9IcoR?mC;e)T{mdC4!{|YjBmbvvQ2swt!p_>-;oo|6#z{#G{8Wygl}-1`sZFt5biNZ(%aB{bWSFJl z6(5QB?HcE%uFwx{b-zO}>seRS{lhN&EoXqm1va=2NT>_m|1m!(d47M9`}fokyb)v; zQ^i0|l;$kYyj~sG-l(vWz-@)@7&{NX9d9h7Mv$l$i!}jzyrCqK@cgt9aYcDqufvp2 zm5iCcqO?Dl7JIyVrM0;XS-kMru`0RC=(1?LU1izhKjqXRTM#o?s*O5FYjp z9?&E$(BvUV)p>fRj{zET%eppSoj0n9?R|aQ9@anY5@d;}tMy}*=^uTte)O?4bkH@> zbU&naFBRc@-SrXYnCe%yM|oC;zZ<_ zJX9vTrBy;*W?i{n|2XE~@_tShaWesn>JZFGx zPTnOZdS@~)!`k_pvk+$yQtQdMY;K24rc8jt&cki4 zB@e`skrtUEm;Z1Zzk|Oxx_>Wtm#K$YDZ$7z*<^VAS>Pj3Ot(!HOx$T*AP@xXLsnsT zzF<7i@OIG3TW{Y4Gt9*cs={ma?Y>VYjuJ!eCV5%@B)IoTps2rR364rj$W<0(T6 z;$@*z_xO)W{)>G_dFls;{0|zO|BA)Z`F{sv7{hPXkB=bq%mb>2r|+()m~v5Pj#79E zNJx!l33t$p3CkHAWGffQM1%}E|(VV6~v|G|alL@Q?lYKMTh z`y0)G{HbX6)=IutUkpRyaYPU0SF~Ljb2r7HQy;{JaLGJ(Vyb$2-k6SYOCDyMmyEhr znlOYVl460I76ax8y9>0VWs%hZuENE>@(oinJv)pVx14m6;H@YP)iuJb$A|6SC0=vu zyJN*Rkj7th1oTPMlc2A>MHb7Y9aFIR4}gFAGp>^;x%5YXf35wb|2H9oTz-z3_NLZW z|FWuPR4<|*KC;lW7id53FMDB28RbSRSv;Q`abZAky36Z&Cd4fc-piGZvff2XEi zs!2K^%FMZ^*`4)ANs0&oWTntiRg)WNAYsjPn|kr%-Mvj19y16N-n!gg!HE0VIec(B z!UEv|T}LmNQiq@^fv7z|rfC&^@6UPEUM~upbo_y2p>ou>wh0Ou;%x#U)ujUC;4sm_ zoU-e{5xboSPARreTC;f8e+Ih-)uz(&6C~{q_22)uVC4)g40Y`d|JP2>@$V>{A00yH zJqppY98@d``Qgzdw3UcI9h9zA_|SCn7$WV~R)?d@hn1O2u7csRFloI7Qq5#rhXr1& zE60_n&QRYDmcR~IYmUWrro|lp{;yshoG=M8O3+Y!&I>Ter4$MffuVykt>eVQ077C7~Z=e`+eHcgkySo!3XGImX?%EJ-{)u*>#y{FfYit~VjfbKdxCpRZE5lMAG z_2S%Ey&IML?Y@`p8C3QL3?|k|QP*0RR@%0RT|{YxE8#j+S~>x~3L1Hde+1 z9gZ>y-|M_>0XYfyqR=4@RGXCr2_a#ktiLyL-f|_>_{2f}6zZOWp%MR#YHdkV_gdZC z$FH8*yi*gYjMJ%%L=3>sUDwVU%am2`ZIIqYxqm`LBEfz6AQTf0vjy?dgHNj0*>=dd z_3eM{tmB9nYNA1a)WdxS`nDu4gZa|&DI6SXxp-}*-P$dPyj^BoR`J$s<;AuKQxlHQ zq{Xg0#fkZ*XQ(!BpnA<5c64}rmGjPObv`-Idx_+lShj@ws{0<^FQ6p_N)qlgmA;M{EV zYmEmhz#{-MBBQ0X{u&$1!xaz^h@)^Tr=g;P3AdEt*UD02ffyTUf#|gd?e6tV!off# z#SAgUr``7DZyFjI5lx_$;1}2fdHud5N^L@hi721}Vgq|`;_y&DptLh&2uarMY;dWv zZR2#`SYoza$9}bk%daf|)x-h+s@e7Uf#ZBYA2@&MlU-}SCjw|`sTD61zI{g`0*>o8 zX}kV$mn6BPB>g+SeH(9-J(^a1k*uyA8^azyrQc24n(dqR@AsrJsO$YeTN{ULvLaAQ zCd$Rv=eyw(;~vPRW)W(HPR|1VHA|(0X;v!ssXy?<@@OWQ!k&=z!vj>e=Xh0_cpd6T zCKlzVf*53SdiuIk9oGwnx=8%?;GfQ5e@@)hRWeC`xQJ|`I=V$^KlaqQ<#Sc%Mr|2} z+mHtA-ivM0XS4&mr>y2cH3_y&I1RTF$*NN_AyHA6R&M7>ZfAP;z1Fw_V90o52S>+1 zF88mG+6-*rUFeQD+t7UVT@Y!%927yc_Q_fnQ!*z)5WJ>ei%RU;9x#|(`&qS+c0}hI zwI8&nz;l62pVt-?Gyb42m|+g!kZZ~!R~Mq)Qn(}HUj27}2F2PinB8)f;p?%UzEItk z_M=qO1c@v1kH{9yK4gbSXvI=XD@Ci{)~BH8z~9Lt@%B< z6s*(I7Ib4hmma_H`55}%aRw9gD&Z@-<2nqCW$tpp^os1q^% z^%@UNLQX{Fk4VyW>C#c??qw^R`zSoy=f^I(^dj{=ChH!$-2`K*0`boCx}{eO(u}w( zn%1Q&7BlX<+v*Z!6g1Ymzl}eH4`#ge^XiWo;C@KtbD(e6Iw`4ip#bZj7O*iMq8_!?k`( zTlR&+;Qp|eZNP1(zx}E&4y9#+84pxp+XY{K>=`pLFkMqSJ4ygf;YG7WFa$SbJlyz0 z?JfUdlk3SXohgdqTEtVlNA($WmBH?|#41zNH?tkj71QceTR|*Xrk~;Odr9sqD@&?k zJa17!z#74CK|hN*it_TxsPUE?c?Cz8)bn1w7ki|5J_KY1-eralhhq#7!1`EBS3A#C z@ZC4mIA`s36Taft4-(?8bjak8Cg^qG4C=QB?GBe-mXVH7T%A)PLeL`DbwdFQq4O)T zz(u~JY5E{wuo`DuwY|ULD`le^@TK|tiK%})qgq*pB~%Oz>bg8$_0s#!?l3M&UH2-` z?tE)L8|um^x)KtQ3yg-c{NwHGhDNDgMFc9r*dV`(?T_^r55cb6#X*U(KA=(M9oR>S zUR_*y-7c|Rw|if6-sM%ZM!`YmNdfQxs4X%wE=3bSD|Xo1TLJ=>g>`*(%uQ6PS6)T^ zXzVVfua+$I-yRyiX4-ZJZ=d9-8IZyW1c4n9ZR{Bs81%H>)uU2VT@5@o%CdZjQJ}dm z!j-Ets;4$jI+k&HXo-R8k~pk**Jrqu3Y1^=MWS_Mf+H(0!!Jgv#2p&Uu+SgKXWvPR zjygHl(4_*m+Z@Laci4g-juuWFKaB<%x!xk$nuG!qPb1e0Iz^1y`hrMKdw(xN`G3$g z1~;F%WiKr)`Q2mk(PZM~UU!6W>?@-29ZcpdFBp_3Dd--z=sWD^d>=c(-OVlE!bp?q zB=1!9HwT8wJobCrkzm;&`{#s5oeYHM#=DJWugOj|t|h}=OQ5lOjn;rz;zl9Q5riJ-LgEj^%GlO9)MLPR&*BCdJ8PL|kskZZH8$iG+H zArZ$8&OS`y1mjP|t{VJ02stsbl6?6eUPu`!%}dz3p>k9Kh&8WROpK!5_d8V;U~8Ld zRnf^8tXg=s3sCI8hSlgS51T(mphT;hNu-Xk5&kp+UwN>Z8zmQ_?~gKmd^g|xF8OSI zHr3ZBs*LzHmip})`JL$e=g*(l@B+HSed}JIERa%Vxis2T5-z8S*iVeRR<*14de1?y z$2bP_B zZ^`a`vGs)Dh(E9Re=D1c%S;MAc_$a#sV?2KtWKDUT`j#^D7n3ZCMaI+0_pF*EW}hX z@Mc7GFE9L2^)D?eGeX5AN?W`%>kayWN#4-fVGUr3?UWR@9- z(1`?;iupvKCfjW1IaD=^5#{I1IQ&9%nUlF8u)%H?D$QwGke8^KVAQH!dtXmq4#T9* z-5&|AxaXd7jrgD)T|yFX&BIaF1+5p~@95X18{m0EQQQ=7mAtlu3zM7h=4JWc5Y{Do?}cz1C5(l3 z5pYmlKG-u3B{#W_r2T}IoEdG2_d-aDn?qHb0F2-{0e%zlb8i#=NGC^u2Goq<#MJ0c_Q*#8^WILzZSOTH;?paj zRB>V9r(4slEa&{D*NnQos?7*XIQP$$Zp=uTd)Ou&Y7gM$Yc-BRSQN73_?DY>?7U=T-bg7!D4OY-N_uX5cgzm6FmN8w}Nfg9m1m z`H)o-MpQwxX@q<&RR`QbS3062)3jJgS$b8+rB<=+jn2EjSB;P;ukw)*XE$vDEBTAs za^8Fn3~0CRY9FCaB#~A#cw)9Nve#1GzFxo`U;{0S0}Y{Lqqo;Ua(=XN5>$WDSovb% zr9z9hLWBk@HQD}iMxeeIiArelT1-rI7bEHF9g)P#>(SIM7|<5fb9hn*-)q%m#$BN} zR`9fENVx}j_t%)WRTO&|YDi9A9zqLabHY~}jG1qwA#-ASTAg3-m^|f6Q&eQfsWNS~ zmL?w=ZDcsDfiz)fyJ5ar2OfwS>gsYf4&&J1nXfm_Q+j*&##%@yvz;t$ z8YSbGt@FIO#`<#^yRYX{nmt_Ndv z2iMoVv6}h-t(ISDX=!66HG(Z_TLOWHNTzO_?+G2XL|g=6vDRU1zu$I~5m?$krW zVNj0!J+fUrL@$~Hl;?4L6bzbeHK5|>cT0&}`(?gk@*jo}- zG|EDe-kF%I;qp9MP|)1zm4no)MnYL{VUc?Sc`u&nC}d03mR6`5i)ETv5|9>+Ay77f z#XoRq*0uR=4}v#oFe!L25133uKGTnqjMJ*PgC znT@K%S5x*M-&NWONI~&Md7Z)&d%1PPzVN0Lh3c2y0AMl%;gU6%l`XD>-_8*Qt_RCg3jR8`3Js+L` z0@b!xRWHNbiCrDpKC;E_N}IR6Iz@)J$Z4GM>CG89uSR@|4|jZ>XReLbl0}q8+>;#+Eo0!&wL7HEY)Ayo0*rV( z2GNVx=pz5gibv9xm5t2_5e>Xft@o-87`e>v@9*XHR!i11Ech;3O=tG{OQ5Tpx0Y&0 z!;wwRjQ(v!-eogCS*GU5l!r?fK`%JQfHr~~c zO++#pQ>l{P|5(<)_mx(ZZ=)u9ZV0oH zeW@|;ugg!rv)PL(jtj>FXdcW5fwCuWINO;21rrM8&*JAXtPtf*UfXKM8@VzXt#C3X zhZPg@j;5>u<`}xM>;P& zVUVb^O0Y>1OIcW}0~>lHN{i-x%M2O)_FJxz(J|a-5%uKKAi5C2o@j-sx8R*yA)l$G zeB;7YU^)%UCvgvT#?X~61F~8VKGGV-YxtVQwr=%?<8q(QXI{FG`8 zC61XR*V?;q>$zvlS=>uYf{xg%wgtYM(?X$?B-^pwl1zWm#Bv(a%$Z4&(T7oE(KZF1 z*Ixg~bx>E>_q$+mOpZgFsoT_!>GgH5XH&xM#%u2 zHWjRup=;H52VTbORD@$j-4pi891@xyciaL3Ii0y}9H1w1@vX8TZAxaw$_vOPTtRTY zQRnihBI|g>2Cv@%X@A&>-$b`)Zxrp*+1EWy6fBK-I~SqMH&NmAJ*O05ENPGTFpV(s zOhs@n*%g}=m)NOy0k#&cAO2F%1m#uAAr}9IwXy6`u8Z5v9mME?481J7F@41U&6~kM z{2Q4f^j3E}AGP#J$&;UbY~M;4HzX1b`z-IdLgtdY?cKj?SzLl;&|aOC#Y&HR7V7(Q zPPIG_7YY*UDz}_D+54ngR2&oT27mYN8b@dmJtR_nd%LWn;)C*SmkfCA=)*@`iQHEp z;Y{{RvBKy>l9$3`$H^xyen}(?pcuL|mA(}8yKPu4m1j$Zj+0RwyWPle%g9{`Vlt>! zf((frkNGZgKvV)@K}|ig~(+>7+)s!nB6*3tj)grYnqg z43cF<#a#H(BwM&^Yu50Ovoy)>UHITY8!iSY94E4SIdf%Rn74T&ttP(Gk;kR%w=sP( zyJ?N0>gVkp!3n-Z#5^uS1JO;-NOovo@{zTeTg!ro`C}}BY@Z-9D4si^ zXr{87I5xDkw>LE2PEcX3ExyelpV6WZQfXP4n|cXHkQOg-Q^17DFtXj&Q059+48%MC z%cy4#sj$JEPH`FqF$6AY%#1K6?>@aTy{gr%>KGXY#GSw;(Db-xi&cDeieNv_-?~6C z%<*r)iy9|CS$9~0Wsoyw4(<8Tu`}~JM3-Tf$H?up)h9)xY$x^p+Xc?Cn3lDJcK`hR zOniK!D=94qqoJdD6`aaW(Rl6xu2Y z(+E-;m-6`ED_J#ax9yDiq%n9J@Z?Fh5m+bmClL{gG;{ZgYy&Q6pMcID8(hyBj{rWS z(ox5lWJ5Qy;JhGc{F$0^2wz*{$4-j+RCZ!&%0 zB8GofZ&OTmEbBb6)8*zNXOcq>W zldmRAn`5b>?ZH0_Vm<{_zF68oC88hHrPd0K-TKiq2ri*9rDLAYFw=?YiT1Pu<+>P3}T`RyI$0^_{ESR%-00$t;8I(_QF zq6n?6B;Q08C0Muegf{@O%cEuvtI%hpSoyu`+bG z{+O$gL9FS4HtxVo~-In(y=!!9D50_K>hrqo-IUSty!%t=GH=7jmX3x;L1Ired`H zX~2ONf#550s#|%hScKi={AHQM*# zH@@z0us6V*&rBF@rUGNJ)nz=ODt7}ywH8pv(Bs1E^B#sh_kqZY!&5Lt3I6d3@<7b< zwN;KNNZvg~2gGh=^QN$UuZ2~#nYidSVvyGLaMJAtxEIJN`@mju|CUx+mkQuLaQcrpKxe`8TQhvc!4k~P2R@x8q5BdzuUVN=ch^%;a zACc)xo(vfL)bl;6xfgopBzh4?jY9o{W8ukH;wnrhH6cl`S3+>p|DP2 zuSTu`L}wSWT49qUy7TPbklg%yFmVg|Eo?~#z3q)i&dQQruyECR zA;3aN=;PXIC|GCZ3F@K2%WRpdo{KcVta1{!rv*%ztEgM;GI{dCxUxueuAFl#0S1^D zQ`q02nOZ!jaZ@IXSZ-}A_yK=}HX8sFfZYDJnvM;JuxqGcAQug}&QjF>4XUKTMkcFU zS@3!^Rcxrjxl;7lrM0g5U?G!xcwW2rMahdcGi9DtGaCT9dyzwR&ZqbaB(~M-X7TrL zb7_N6?-J7wvS16>AVrsZ`HSbWp{;kI{e)ul=Ux@95<{RxMairiQpnZg&B*fGM(-ok zD8h6v@WQ$XajPaG^6yqGEwaMP3Ah0~F4v6p&4%^bmDp}=TNl^-r%|VPt2KED%D2c) zLoeHyp`b{-FDtLqHm-S;RPEE=T-I`L3#kEFyV^-3SQ@e1=FhEQEU>E5$XCQqQ#hSu z@{^lu5`>!MOC$s2a`o`=gPWGRebq+4tz8POL|pd3aNVS1~lS-&;=Wj0|da!NV`z(U4sjEMy1> zp3E;w)X^;8?LNa_Cgy?l{%~;Q1_zz8Et3Zxo{221-R)%v#Cm-y$7&j!(4zZtH-!t! z0(L1KEWTX3u$sXx=V;Dvibt=MpRK#m`>GS}BlJz}>3R{+wtTk!cX^=G`#bAAF=Sww zP|Q;(RSzj+Vqwc^IPvw4m7t4}?nTAtAt6J)#Z|2Xjm$8GUwylNGDDPU^8WiJVLOuL z(Z$83P~(N~8Sbz&$yTVUO3m&4C8P3i==i=e*>8h!(O~a?JBzlxq9VjW&!yZ7kOd`?&lGs&RTT%1=_uK;Z1$ULTUF0n ze8~6c#s~WQ{cCD27~wik#xjp6RiR>}N~2Mfst6-~6?>S4FPqzsq03O>98_)~M9uKhuyaK)uj6*8#Tu1b0E zjY3OH>)Y!qy2+9nW3Corqp*BEyD5h(8^nZzlI1_=y$p2_apXhQ|WKgHIgZ?4iq zqEfoW*ccd)-oD)?WwSiH`cP65S1aS9&slnA5y!5?D|x_5u)V1$VW#_Yfe=aZ4B2sb ztJh#rOyhUVFh5ntsGZtulP@!M?NrxRH{rv}3LR;`8wtbsHPXe4(`?JMrNwBJkQ0~3 zaiiws@x!)VGbgTqo&bge$vgbcDmy#>18eckc;=?L$xpq2^N)~R+P*6q6;Qvq8x!C7 zcF7SK==Rud++Dwn;br8>ZK04g$axYf5@)BWA zh1T~nugmLCxZZX$-(R2o>=Q~#ybVhaYw#J(ZXlm4uKm--9Gw~okc4L zeeVHRt(u>XX&;z(6VpXpJ>9iqVMQ#=3f9+u_B1U5*`pMHL{kaoK$6^85onbx{BGq*C-KgqH60k{t+`ESxTRy2>CWIz0t(R<2{&l!jRK#|Sl_eDFVDF|DN8I+fpCuuIK05lIQcor^BL|Rc%7t7vqYr2 zlG_O_NQqgnCGc!2q}h+fEFx2B$eSX%YFTf-A}0`^UkGlDyxoo4?PONceUE)! z-58Sp)_AG4YhRb&$oU+svvVdHCFsZ;wKrCA+Q5>=P!48ngpB@FNc#w?YSWh2(NX45 zUXjg;^ChjgPuiPHBY-Tt83I{bM6N`D>WW7pcePCxHcRJb)nl!UvgH^8H%?SO$KNnc0ngR2l%lja*0M)SaP9e1`o z3Kj70)=n{qxQW5bB_df7$5*u;N3*$E+{5cyKCSoCxo=7bc>E{f^tmuuJp-U%t1 z!)H-0zg@+EXnZ(Va|P8D#XK~bjeW;}p|KhapV}Ezu%8D{8${|aBtZ}aY@&+!hx!6E z-qW?u_h(R0P;g@-hPSI)23bUvC4G5vD7oqe(0yraV{|VNM5|fJjFtE7NAy8+Z;kh++n?~&aGG|vTZ%|*f~Fk{h!vZf+JdouWe6QDfYVFIR5t>!NI`*Ro%hl2ih` z5n6GrUdT1USTlX9b3Utfo{qk|t}~NRAk=M{$LID><#nO95BupnKcG%Y&Bv)^76^>kP6+;yhQyXj z$xMW^hR>>rJJDPx3I-02H-q$hHfAuH0rp>rPu{r&4K47#b8UlXDD z;pnjYtuwl+-#Ky|cUODEh|84m9ka(y-ta+P6i1f+U?}DAcec+z7NVszl_jA8(+}~p*0N2`t zPHb0IThh-Bv0Z6UtVpl(h!;*86>7dLl5LzD6bSMQ#H~RL(U&<#gSCg>(o;&vE24DQ z*8bXL<#-bWPmFPVoqoRFUUh|=^^D4OK2?^s8p3(H-g5bhA86Ip-ewW$OWv zF?M%$W^Z{(CM^7bEc1!V@5r~=aaK@k1K5|k2~t{`tUB-k1UC7Ffq{ri&ulL?{ap^a zqWenfzMTa2h(&TH|3qM&kV?J!3xu+1S{4@$nHO3Wa+-7{xjNL`X?Vc^5$p{#&6p%o*ntN%l@OZshOaDIl@<`6{DU z-#bN(+NU11zt{0w;BC=<1?S!6xRr5rI(1>WTb5g^)lfNm$J~AHHE*S}**(GELa)7V zFwG51Q|zC2m7KS>o2o<43C~NF>Lz4%+4qU`0&D{VD)qzH61lxmV5p`)Mcws%$GyXW>NS@k$W&pPm)~ei{PgP~SIs=t4!)ws`_)+t#&^kCIMRm}x zu(9LK4z^W%bipSLdFQtF$uM(ruBT~;zU=T1@m@xbi*9g=A6HZ26h0qr<0Zf+&bkM^ z@MsAWQg%eQ*~vaSI=-?m;0s(LH-iypBwNFa=0ONZiUV7H(EH=(=jZckCwERy6trti zx50G>N>?2v-Z%3DrNkdma_1|$38pq(i&=G5frF&)3u&VoWdT5X#0<<+wd|oTnXh** zsy&YwC#Q3~;m@5QGMe}3_jDF#L}qrPLK=qD7am|;oSyPS4<*xT`>|8!PMLjF5A@C+ z93O(#8@&#}!?G(1_jaQo2i(0}iy%5QyyC(Sr^)QSv~c$5Y7DDy89=0n1F|MV6Cdh{ z2_xT{2X5CcomGs}T}i9eB!6PLbu9t^%Uwb^2}I-uGhW!CMTQMYFvHnC|- z;vYv049l5oLQ3Q^B*Oy|=S+w8&D`(Wz;d!WZ%t>*VqsZ_o)Gt2%mr-@>$hi-BVq%Q z(0H~!6H`;e=1n-j6aJ?9&`?&6SPw9%hRqJfzbD>_J3{-Ijljw4x4kQW!V%*j8YiU; zNF$H@WJ)LkS7Lzy)ioyC36@0V&&V3$Ab!sb4lgq`6V?vp#TCKB33gX5_lKMqmJR{@Tfy}IJ*bFXI)TP|M!M7!_@!>+hJKCZJEU&_zm$Gvk zQWZSt&sTgA-WqfKVNP7L=Raa(wztp+!BZELqXiP_X3zX61_lL=V@C-KHCvw3%@>Xd z!x`BSWlybHTGDLflmU_H?}tTRt)9shAsnXCtz>1=0h#gkrMCu7ki>%{CnZbitlfY( z;jNZ280hFWr@eVW&`il0=J%`MXi>KDQUsFZNod#MmMb=$f6#y&tWP@RE9-IS^eEdih`p(t(I~_XaO|pBL>M0V|wI(GMw^^%e zw#$YC{Qd(zi^Hd;o^3wko-~*@9cWjVtG|)a1be-_C@Iud zgXhrm~B;_oLPyghQ z4Ux4uIjwK2IPu#0`XqSHJTL7jZj{n}dD6nYAsNY&QP%3L8d%Sb9fxTD%WKc7!e zE10IGSy^3~*^*DnJv6b$CW7e-hz#`&j_&rh6%zhyrD~q`CRj@_fN+5`g6)BwkxBLU z7A6wvyWGBNOTc>x>`IrkyH%=$+lsNH`nErh7-zX%QCYFX3zpXJ=T+fucnI;|Ox4&s zc>v}_x)d-y!Xg_3BjK}^l8w^_E8Q0(rTzMnj6{@kzy0FtZFVK_I1DaydJZ%yJt~jwdMN$8(HVrBudm|>$Yv%wr%^gb=tOV+qP}vv~AnA-90_` zMoip!Z`2>C549_I=34nIV*NT>PayU60zB@~!O*@@t>TUkSNb0V|NKB;c~eu<39l!B z+0$)4z7E(NFEli?Ur!>wzkKp~AqWYJyl=OFZ-sj!9kLF88_18A-w=M>^-j8G-G zox>ZFY2S5pkH7a()sPwUR9IM8hgn4=TZ|;?KADE1r`ueH+Z!MvAcEClj0jq%IT&Z6 zsE-@e&^KaF6<6Hsu^|>VQPV9TQbmmmCuOwsCCEwXRn^te;=R3_8Rai#fxV5*Uzg>{ z{|3jgr2ZaGgw~yU9|v5%;jvAbW?U_pgqm9;Jzp8tg60Dq<{bpVz;)*4wjuZnxcnNpk+;kW+(n%8Ymr5n-qOwu z1Iz*R>t)r+Bw#v;98cQP(9=`@Nc=eT5HB*%y>&A!0goe6pn1I+_Hij3Yck3u($5vz zs9W>uO0@{hwol7+iVhgLwY0WA$Amfq`UeLRCm=sfvn5r1&~NC(=kxOo`iU0Ss6@~+ zH{<0GVa7^UBUWZ<37@zZ7Ma7lE;6YDJ)?uK7W&Q_&;{yoosU>>jyvQx8BK!loy9d& ze7tpsuHZa2(e2{o`nm&t4oHp%NSU~z)(NNq2Z$avaj}Jc);{qE(FHDMD4dBIK;52_ zlE?rK>n&X=Q7lJw@ieFQ*5>lT>*+CE3R?-{Uo=)F&?7a1K#5_B=Ck6+?8M+>6^#wn zmRoH}Hg(`y14>%|NrK|=^AaC2U?m`U72uujf}n^(Wo z5#e2)9+yqe#OP>j#IsWc5IFdJ#pf0WiU`u~?EJl3U!VD!xk@`*`1TRL!?Mcp18Si@+A$zoL3<{UVi z^&inj)|IU03)cd*hlQVA?<@XoYY-5S7=Ek;W340rL|6W#0$`2XFdih1xe{*2FY2Gy zMN=3VtZoH{7q7#gG;j{SxG+?*E5h#Z;wAW^E@W^oHBblkOMo3H4WfnVG(0RNIQ( zH)S~=M4<{+HyYl1H5OO|21qPW0AF(bbD0+z0o|CWXii(%TiWZ$0R5{~Ud)`##5GM% zbcp$dvo~rbKyUMuDRF)*$A#_$iAI&$S$%k`wfQ$0U*Df>nnL4(S#{G`Uf%gdTljjc z%1Y(5KZ)R>A$XCdb+bbWVlMX;0mL% z6AcVMl-&JpPVG|rQ-98;(kbn^+FLyc)Xc3O^0AQKL-GvMJQaZu^&=vI$opHuvyg$2 z)Bajo8z;S?j^rez<~^Rqy#ZR}7RxUMdWog`-=4SL-?_l#{F4CN*ah?j2?-O_-CSK? zg!eaQbbC|~ijDJQ@UU=UTO@%uICz+dZ1owGIl+!<-)X)+YTa3yweOV0;Ed{#c3eO% zVP)zT)#Gy#N{)MZ8^uD}0$SM2b#=ER(dqxiWp6=Nxe9IcMUQK*&tzn(g;309cPo$MVygKt9np-Q+o>Nms7%W3<41+U5V;0v@2Ty9bk=|BbMeX4r* z8lQdS7VCH08t-~NHA*v8&JNzLHKqhVD-@f{P6u4WgH$%ttplH?`{Z}`sxrR4eD%Ei zOU-~wthN6=kfujErG!e494DAE$!R2VlRi)n=P>D@^rrTZ<#MbSF{WU;R+t^}GC5f3 zGrVQ*kLKUU&|+d&Lxuq=u~0RmsrZC>k<<#2-BH94QP z1^L|R1+z&6ne3~nPVWj;79w`=^z^Pq3s{2;XnLVuXnTztWgrf~cAh%f933K1IEIyX zBR~5`)*v|QeC3tXx8|Tu&Q}}}-!VT0)q_1=K@GxP#LAXZj^+)}!6L7Te7(2sy|Ou7Q}>ve}N@_Cf2s7g{9m3C#3ZrBcu9a zkrNa4{oud(Wphr^7RPToY!_9s!rUwkJSxp3f+FWxF>ze?H1$MPSXg%&J#L!@G~FBJ zks7CcK3}LyqIX%2FHUOm^dqt5OuPlgc~@NO_u*z{Oc`lE7E5BUolS7I?S2+*s;UYd zbIX=TNhm5|ng2DcwcKJK9jTZ9TF(^dGwA3j%4KmIK3-l@ky&VcC5936Cc?UJh*u=u zzFb=M}+ zm3a6mdG)3rG`c~L4y>nh?}-+ReLyH2sZ+E@@8jse_w@o;*2K0$-F0(vuuVWp&%DGF z-q_UX>071WSN%&HnoqfKc!9h3j3}WTht&#ng^>Hxr~sGR;n%1CFR?H)t^($VF?N`R zfjk%BQcrWAY}Llu@f&1@t%3HKj6-y|@L$0(1>Gw?zS0~J*3W~+E1RuZCBi@q;h91I z3qHRKxpSJ?taFaLmxG3&Ug4Q0<*D+Y6YwGlF(1imOcN(_h%X5i1NHJ2ar~`d=zqn# z6@bAwbs5&TSkJjv-$a=O6FK?*(*vG+_bF$NovH-PI&`|c+U2O$fGK^BoN|;u6@ru@ zY|e|IvDUK&GQp(zd*>Mb%f}5cF~B2ujk@_@PuG57%3OCSlbF~r?kFfIPD3u%bG1T* zeF^?X1r(S!fXl=AXHldV23X-Xt1{i@Hc4%kzOzn&-d8tVe|ltud*zLt-s9_lJ6$7g zR&Yt#YPcaBMZ#|D*2$sO`^7t*q92W-Gi_KQI}_DmD-C1XM|=qousogU1*+`CUS?g2 zrTV!1xduuozKw6bFl5xz>3NOi`x-0&8y7{(G~y^>(Y?J?Pa#i`{P`0X0q*|}Uba8} z8xvvvvN;IlBkS@|<_Y@(iovt%1;a zAaU#yi2m^5*eD0!V0xk^+okJ9UEbg4W0Uw%G`8B_5ex?``f=0~=A2xB%0H%k>nqia zrShLYXlyKkY95wXSWM$z#M;|qU5`}S*U9oh7Tst_0Wo+jPO*ZqK?b2Cp%aF-_> zcdB$9H?-8p126L4tA@ecs3z?b=lMogBFc?^gC~d+uR~ulT2_G6M5&NGmM$gqjhgF6 zTnnsnaKPb!2&~#U@Bw}R^@k9(+h|yG!fH*^WF`fDgolSqMxTq@&^A1KTF%&BHv-=#_YEPyHcR3hOmw;EhV3L=tdlj#q?!s z?b|1G1>)~ERNWOd69rQDJRA87IwcT5hLTZNQIxnUm=+6|?fA&^Jo!Y`rTobX;wF(G z_Hpyzf(k<-Gck$7hMw4hG&36Vi%Up|0MnL++K~NYql3x%rZo3){kQFAnyu$ATy)0t z(vBe2ADPEjcmFOF&zac(k-q{~!R8*c)Hbh8qpwB9h8Y?jYzG!g z6w+s{;Kto1NWcwHuYww+q}meCFE?&}9)u}8&5r_s)Y`Xp4lTg8sMY@(HTGxgs_fMb zGqV4I$f(qq|(pCeIKm72fZzr>^9!4%Iqg&mUe4X)L37iUsPZLid|7$jH;py(_G{6P(GuC zeuA^h3{lc1pG#qhbw>`z)Ua-mLI7gIt}cldOt!en6Oe$mGsK$+F>;kcu zf$1rT7{3_;rU?k>UsF?qMnIoUC;x)0Op%RhGo5jSr?9nt!VRml4Kfe+wF_D{kvA#R zF)$#!){lO2fCEIwdu3t(6@M8z}zL` z%MBX<`;+DS_3nJO3q|Hf7kowABuw+x?M@Fn4J0d#|IOrLA+uiOB|HL;Uo*Imm2UPVWqSt{*88<9lAeR` z@4lm3c_F!m#M^?jgKVhkE6jtP_R*6Oq1)dYo;cZC?z%vl7PFfF1Ui zIAlW&yoUcLeSOcGwE&{I7ut}YUl<$<4Wm@XJmc>`E-fod+mDZPcwnS9+V=qxg2`!Z z_YsNJ&KWt9)Y5PO&JNS@dAKeJh#mv^Qyx9?BS-Lgta zf#4uOcVK)R>iwp>%~t+bP1)+vHc5sAvR`eScL@=?#(%tR!hUdg+hky7&aH`H2?bsq ze0O?c-Up{3L@vzac|Nhacs%@ z_qG+;`630SMMR6D4@C(niD35^nt%>>h`FY92PGaDVjvA$%Kh;+UlQ+ux4Mq|M*51h zqJ2bgorKR=RYeJi`ZX;l2426-fa&~K8r20>U0c@?A|f*RH5qh}ZftDy%|IXNbrCFt zD(&v=c}K$)6EI$*@2@dAs;?z~(?eP4w zH0l1M{MBmz8JFzH5z`$k)NYT$6zg1-kW4{cNReq&8x66 zeQ?Fz(7)u`dA^Qu@?CuO=&n4xX?%UGKAa59&(GVe*xF7y)jixc!NAr}w8eKHU!LJeqR!F+cX1Hcx}X6@>*2PBrr;rT&~10ItvX zi53|9^ji4%8tF>Oz|b-pu4(PPx|I@wGs()y!BHuL#vQ!}q<`NCOClm6Wfv!)Tei~v ztmV*DcppJ+ZEB31D@t;9e>TKi7#Asu zdU~-@Ck;I5i)exoI2t#_`Rvp|n{*!$VJ_afiL+c)XyNwowr5W*v#C|vzX@TL8)c@L}WjuBUMZ5(4Aym?F^HL=dp*h;9*2$jd3dNj8Yu;&J z5A@s{PvBMBeb!XlSC;?I4TO|?jVdjK;VEvoq$B@H9laOHD4`xh*xb&&oPxKAZLP#^ z$jfY~s~df<$u3a%Q{Qyxo}H_AJv$J&GMk3w>1#XH``w1%>q?gDczyq1N~B=ZYP&-R zx32YBt-m>)YC*pCE{*0IWyJzL=>xdkPy_1D(<$9-ghj5sv>c@h5uOhOM8OGpY zrIrOjt4ex>z3z;OPPVqTXd*)|wj?rfWSo}YN(15|H-FIZ^Kjg9nTWF=wA=9k9R@S; zV5K?@A>AsUZF(Zoyu2I&%!P)*dbNCVUa3_qJb-ow;NWwt!rL@+^4rQC6jV}lXoMkT z%CBXbX=>quiqo6QU2Ld_5g1r&qtFJorYsot%Ay~za%)D%U}G&(FGvps1ai)JVKz>y zQwRAm%|%R}ZK(X!8yhnTZ}RTxL^mbtG%_n%ZeqS>}?*E)y0r zK1YS}v;T%-Go6^3qpVO9*OfRrK%vEvz+c zzibHPdt!-4jB0;RP+3WdiHk9*qmhwO-$ttzlCJUQ?^$J7nM~lM{(c)dY+-7sYf~4N zmY(nneGR;~LEufUyS|Lg&p)-@i3*$8{9(cy45{hyVMY+FhkQE7m^{ROhnI?)ai44= z7k7q!{W?2@;L*0-O436${RXZNJl5C=ve+kFTj57V#p~@Qdnc7}Ywh;PL(e>ZWN$m) zo?U&O>`bF-JWBHd?-;GsYnGqik?9ym9poo6BE}q&)C_21kycVdN~bvS)R&?x zSLV>R)BA(5Cu>6oiqLlqZ=Qdtn<;Y+Vs@U4w~*2Eq)If|6nk)xX~N!^cNVo3<0YAh z;mX^YjG1zLcs52sMg~Tkd)UwC@H(DG$jUXMJYIH`u@TbkSpa)?uM_IsTtupJ%w34lpkS40tefVy*c&FR}=h{2O^Kc}5 z*D>4vNmz=1}`w<*paJjvKVI$O+pKn>wI5eay7fe~ItvAk)nut17RoKlAaE<1X0lQn# z2)QVA&lQomh%U}i_*+|!lagi!f~=!Y{A*~io9LgY4&7ph)Si?P2zD*|L(#db zzk%kQNh_iP7=hXXi=o|Qr>_0vRxIYBoBNl>;hiz^wgPE>%|j8erD8uobs<)Di{_4+ z5a>S|cYvYzh`PN^f#G;LRPBx{Rw8XLIq;?!LP5beqNH0s>E*7~pwg(#G(>n?pYP?D zFOlWSnT*|SF(Ur8 z_z)Ir*ZuA%Oc~}%D0~izR`(yS$3JyMgyTgVX9fm_AMfv@ zL`$Q5Q47N9{pxXfb;P1FT3VUIrBjr;lNXe&RKVeKMdIP9d<8@XD>kl}#pyl6RLY{) zl1yf03_&fZ4%+Bg)D(-P!i!NF(RWE}Y1@1+rh4V7f>NH^Qi5}Z!V6rx8?8ave6)O- zeMr(veb``N`Iv(PYwd4u!(9^~z{JG&S$tTpqLZ|AA+Bp1#bP?H4oH6vMezsZz9Wnp zh2pNq2q1yM!NJQN06%-0T0Aaow@8sljxHr2Xh@%0whZu~aMPki%68Xu?|I^u$uumQ z+;1lKjiDImSiKlc?4usuU-$L!DA74Vr#H97Ec%mzq)x9c1|HYL#z*VGtmwBSj=Q*j zrk%6U7#|rW{4;Z~HlaG!-<3q=6IoOC?M#hrVul|%eIup56J_;=ehC`b7k%G=fOy>0 zDSp~(?(XqyZ4|kDiFA8W|LUHfr72L(QE0GGLIycHI~#VlY-J;`Y~-V&^HngbDkouV zH+Nqbrbobi5_fX{s2*>#e>|r^KWPwPIQzlwLMUE5DzgYPr2OSJK7Rl%Vb_uffF1ui zp2}>%x4@qC@`8LZ>1@o4`>XDG((UzP0)YpAB1RAP^T6$7Fv4vo-AFy!v{^JT#)G(~W}Et`Ti| z{(bU2CR%jAg2Lt}^8H0x8t&H$=Qrm#NZ>S7wTCB)N{|r1k?Kzqb%|Dil8>e(H5CR* zO3L`_oUOOELMModZS^CTu+uCAQkQnn(2eF{SNlDmsF>k^o)o%0>fsjdiSiU%;$eFTGFyB+Do2%;flZ_t(!iN2xu#@6w_J z`|Ewtmb|>YDU?Z8M3bGXzoB;9kZ5czWf>V*cXD+>}gZ7Tb_i^@%ah^0F+{nA@{-GV9+U6c@KMbks~dO`Jav z*Mg6wet4bMz+C4-m8&htsf}VF?hArxqV(ow#Uzhvb(lP})W^w+5BV7AHp_d&Rkr-$ z;r{*Vr(^c0*@>Cvu5K4aVG)2NFl_+U875q)O}_(xNZ(srytqU^S*3ouE zShh7&hEr4H#M&P+JUidV5AQ3(q*3$dc3SJQhQyDbPwVArLq}J8L`NqFiZiLfP};K!eDa4JW7Zn$uJd zse^cz(bPG|aJS@vXT}ICEFpfKoZeQ0t4%T@>?`%IFa2d)*MO8z5Scl77cS{i6gs&O z*=|<8Oyj1XJB5QjN4RfRe#MOHmD*rDejk~?eKSS=bF;G?+nMfz9~wtHjWeePX}N6R z8x#3NMKt%{enqkS`J0KAv!MiDf~JbN0;F^5Att?GolA1K=w33Z*<+Z39jPFvBb!w zFpkMc0}V*97eKCv=4X|;NmNwe6wMb*?{;O}bWsL{bk0>v(70mWe*9c!LrVrUBO*>kDi-xqf7 z=_WdUL?}?am7S&ym@c>CAPD8-$b0?b>FZi0a6N^bIjDm%kSSb*Hp_Pv8Eqx?H>tUPPGb(&}Z>9p{1)uqoOZBVx z;de(-64%5pwuuDWmd=VPtlAf(N4P`2M6yQz0ori#o!o^W?8Tzr6kHUPHMx z<`iOv*Fzf|vqY?MI))(?dH($TyuKm%%FXobJ~*)dr#1r-G~cXkt@g~xL+r0}?>8pF zss6~!TEWG%`wP1%P!WyQD>KnG`r*0iaj~)|rpL$UDyJo4L=5!nB87EnLGuiz6P?9l zC$cV9x}EIvDp@-Adz=m2V-}PknV+4FgP}3CuS;4-S{p8%4d|mNe@jzJRqy%JTHR>A zL8!YucQQ9;lmkvh2Zmy|M+Ety6TFi=wDum5eKE#UXTU8(%P4iFHID&};CG`7KB zJ;U6OTxe>Q`ybn%1~HPtmcNUc(Led2e)zbsyk6lM&a1xv!8|U7wv*8W2LOn{2LQnQ z<-h(<`h>EfnX!?xm9g+IlKQ{tzC#)tHX9O1-ZN?#9`uzrslkPUE)DDiX^;t%T~JF~ zOKgaeiwQ~W>9sors1pvuPGEuIj|kvaDH)+d%B6DgYW!ZBwRAS+7nv>(4rKI0mjP_; zv{T3LN0+JaKS2y1fA97y^k6rRoI^J<5A-=ZR}H?yRvx8S9_dZl2kO2yytYrUH4l!k zLNkAww?@91S})!@BHp&>E}lNKk)%qFUe!3vgBJ{1-0bb`UDGF?GJI#}j$*G&^5h4G zZr!EnP35yQbS_cRR*Y5^SU2w=scB~!{Sw?JQ!Rw~){&ROAJ7l(hi zvbuLRDDHK^fbuIql?}l}it~diP{?9ClIT5u#R}gy(0F;29|-ExV8-Zh;342=5!S)FR%w%m(md&+K1_P5F+=HL1{3eVW2hY zBj^*(AWDZW@2`iAqoBNCCf|?5b&}v2w7^S0=ZZjgrR}ISJeh8$E(_blL2q^g!l%^~XhFFX~x(%p>3x#Z|^|}oB7DsTStpMRorXGh`ueQ=qLn4qxXrgMURf_IFv{$N&*(1hb<4~!Ez}3Y72T^_q)qqZH zlGh_O%jGyb`Fz6If=3iowuIO--LX~RDw_b%?O8>xWK!&a?QFTj(ploCQFVtnm<01Q z*jX+vSP}%uMf$)?MWr4tTTe|@)I7q_B+A)So5BIcmV-FU2$+S#Id#$tr(}>yRsj> z%jAWJWh?&WKMy}asj#|B5-%gn7=Li@4@1sVa|4T1i%vCib6Fa$dk3{S=cy%#Q>_O( zLfT7uXWV|E$Yo2@hQO?n7>&*Xx6iR=t-I4_3r&d57~Hgx%QZB_R6aTzU!Qxnbopc) z2H*r`A|2Eu)8ahfm5&jg-$tY)`=!+_RH2Qw1X43Vr5DYr%12Wb&a-C9dU}SOS29iz z;DW>xrBywhUK3HMjAH~u?(51&5XI9ZOR<#&AiCWb-57P z!oGYv>5X0eNswZ0+WLsElHYpd$CJZ%!pmliF?F>jx!_@j6+%m==7z9Q2G!xK2ru#d zaZj}Ea9Q{iGiG$+?#S?McEj%+g01cWJh~!0zBPy)aWobIundEBfjfv~@}c;YKOYy? zoO597mEW5C^3gcwn82_5b(67NdEDSLbtMZJCjuP>xv zej3s3;4X#0QFxa@R-~ponh(FAWK7+@=1+o)Q@x6}A4bO;hff$Lg(0rb?H#mj)~ws~ zT@6v@7~_UstKo@n>Hoa^$>e|5o4>XD__*&#E%F4!img4CpL4x4=UsSSAbWXRd#v7XLH;59zu6G~UqKc% zGIz3d_&+6Cb0daG9LYPk)@)A={P4?QPQ8)aa3aB2>!4Xr@i3YWR>4ZKsr2g!Taw)= z_Nc(Ki~AyJq?^J%~2?&zaEFYi1MMu z_MPm89`>i@xt%+@MnzxH9a_c%o(c`FuNXiGYGBr2Qj9lB?%-yfH+shg{nC;xH@jAD z>f?AuJF|z64Zn6;R@|^#=LGhzm!Dehp;Ke}cB`x}ksG zS^i(_?5d`Uz#aKJ^p8nA*hhiJwQy7Tl~go#i3oY!dU>K$64o>o5Q<04xFZ0m3MD9} zJvW}}*QRyt+q!Fh&HLb^Y134^ulf-^fbY(&=eGfX_t0VFZ|$aeE^&rF1fLS9*CGTU z!!;)KAlA#Kc(n_*-FMh$4*fL84|Au3M;6Xma1u$pW~ zRn*jIJio7l*xJ;q{9cgv6X73G1;f2?m&wUF^$_H)ybH^#+H8;1uc+S9i*ieMGRUT=Hrs%{hgx>(wvCanWEfi zq`(s-(;Z<4b@xM9k+LW;aqejt3n0wRsFiMgySpV~=z}=Tb6AM^He?h<$7Jk839HGg z=e9vn1965wJ#}OEN`xuO7z0eoDjZV~B+3CZl8g*A6uWSSqgcJ3kCDp{bQkdx9V zft92H!ac{?ogUZQ%9;;^+vp==>4VfTY><$XY#Gui@gE0G(LsmM$5Rn>?rlbG4+pqh z4a?za)PL9MX6x^T8K6n+F@Wj=O+b^Cdx^c4?xyG$@CXcEMZs08CO=9Nl8VkPZq zLnU-F;GGldH+9E!-BnoG{}c%*h5Mk z0WML~LDmh?X91gH%)%5D=3r)uv|s<3heTCCs6(q={yj(>z8vR=D*kypj+!2-(7K@* zBLYLOss-LZVqr=oS|_2YP%b0cxl1A+f*6}pEbY`EcM><$;DIMOnL;UW9K?~3f@E`Q zm;c^v(rIlwvKCsT#47mQl0%g+lE*S>4#hPudA}MHp3mVv%)9O%W4vtPfUkQ90woKA z9#D|9MRnb#uL#R{)C(>{Oi6_vh3vm6RzavP)FbwwdfV z{T#JO%I5B#MRHZ)8~?mCV*P!`t$M6@*a}TNHvCZGNPi&A%-%N-&so_?J;6h}g`g?H zU5Q31oh`re)*TC7bl1i2<>$RKxFWcAVaU)^ywmLGWud3A6r`hJ<H|y_|ePd^SjBu4ax2D!>H&aB4j2>wRT$c zHn!3$x03FwsjHnoXbF1kp=ae6! zbpGP9EB*pj=&SY5+)(95N@%YG%{Tb}j)}2UwRxEOja#Ms&3Hrqe;Z{3BO_yzzs^=p zj{jYguQaV4H`)-teR=~1;IkiVVhVLP&a|z!C{nWBEVQr`V@y087yQSPgP=if0cI2K zFFK*)qW%DS*e5=&kD+Ukpzj*IteK)i=X|wkh8-d{?Mda7W~bK9gBaC7(V3o@8<&#% z%KBdVI6iBZeR}6Mrkh0a$!L&Po%tk^n6^%K+1ij`hMm#IWIH?)?DG6sFqcxISUD*{ zvC7syk<#5Gc~mL6c2H>0qwa9|Suj!=vmCoho_}-#2{xH{NRlL5#{UP8NjX6S7caG+ zoj>2wuI#4MwaP1JXlG`eJeKbF*t8tdgvX>b5Fkf~pI)|Urev-?rs>($2HYe&jCV0a zvVsJjNA`3Cq0Sg*prfbT5g&~I9)rC-&8#XF<$gvdrUwb@Xg)`5 z;+PWsCJt3i^f#T%Hu)Ie4g)!TN&lf89mArT;wpMP-FdpXLMGAw*e~IGx(hdr3={K| z2UQzrp^TyG(oN_0J@vIaELHUXFlj7SP90mg4}oG0_Quv|6>c}vxEotQ}lFQg&?Oh7LTF%Hy-bBfqRv#yDb56v=8`z#-SJazAnuZB4J8*?nLh zs+zwbEu59=kP0hdY9*OfVeaFSJE+C+FaV26cqpuC(Jfrd^N-{-EX9<1n_$vHer3AU z9^tUG@{>Hp8but-_>4#ye=k>Y5K090qGup0-fg?%q_Ss=t$-W$2q4l064AwkmIY81 zFbTtgJrc7-L{A-K&&Xx>8sJ%>#SB;`tUn)_HeV5&p8ip(SR9pSM(3DeF4GGT9Y?@G z0+JQuM}Fb9cazbLBD?Xy$Kp;HqFr@g{{lBdeNL%nQCby15}p!(ztvIBPvPFv>U=43 ztmD>KtPa4VppMM>Qa=5|`s67l-3c!fTBNH6wg4W22lbZ51w^KX0k~n&t*9EkMsxKn zL|+7=SefFYNJA3XiVNu2M=P}loz9_B${q#&@B9YL{RFK%in!FRN3Js!2yJwUT-s)L zXh+XS3p9Vv%>w-U>%k4A?c~GIZzY_5F4>QM+78^jjvr)$p#w<@RI!aZ=K0}p&tGKr zvl{SOGeup(+LG1DH8Ac9l0`P;bK3Frh!X?3c_HMP#h9pa2pFV$_wBGEAqJK%4Pnll zANsOP-wUrlZm8>?H&9u%Jz7f1T1sP~n+YS$tdOr?N@YwVOf`fIx4AarN`lNQ*l`pX&sQ*!b z2_Wc*ATdLe?>op?t8?AU2rf-^0y(kjw5$j$G+r}?!VZ2^kHXVh&=KJfIV((nm6c!F z#~%8s;F>(idM;r*H|dVOH8q*SWf@nB-xn*m?^NH9JzP&x$-KhA+4`bg6ncHdJSR-a zqU(W-+rtts(oRaaun`kDQ1XRL@fK&8KCqGDF$RVWb>N3#;UIBTGW&2&+-F&T_nldN3eIKZS9YW&Mt&mJ|I6?uKZ+n8J4k#+Nx|!GI zU0H$K-d*y6B)yDX6~~CC*Zt{;AvvLXNJ4h7ekAeDd%(@TXArvXg09)V=q1B_ExlBp z+at7fg0XU52s@y9cSx1c_ehyQ?4ZbTATEk?$~ye#oZG%Ay;nGLH~~uMxXyLIY~C8}2~OX8R~ z@gV3X<=HdrKzg+}wIrrk9O(&jxwpwiG4{}l8LZFx7w1#EDza^R^?lt6_$K$5^_IWr zL}XKtmM>tZ+B!!1v@!5#i$8o7Y6hV2CRN&(e=~$p9g!enhEIjIZOU%Nrc7RQ26Qib zOIQ7A9=>VMg~6|OwNathDpUIAueWxunHpY>u7h})B)_`&mR`=VRExpH|8k2xGU(#r z&UwI`cU5u)xu1@2gDpMZ>gm)o5**Ml} z3X=)qES-#32#|TL3y$y#cBKh-`n+t}n$BztJia`EJW1bVQ})`QjbAR5MIAGfqLzSm zZ)=o1=%*1GS~l-Pqk~WN4e1mGZeD8TEQe;R_xb4G?Ibb-_CPGaq|=ufcm6FPDQh!) zoYo7N4h;4HA)&e8Z#%gh9xYf=NZ*|Ik( zyE%SOpfwd=owFrsE_m*c9(0DDo+YEqWe$fiOF%y!Gu8Km-|B}hnZby?3G6W*j(_nE zU#s_nT$nG%WK{ZMz9rQ8GP+Qn`A@0fiywa)1{eTf`u7&}zodfyjHu35y|GrgU#b|Go0G%RA#S$`;rZDFm|X`=7<6?|IBFR^0gyYOhrr3i z=AkI^&e4X&JYXO#d1u2SU@b*Q+SuZ!-Y(E)J>4GVZeJqG0kg^;Qk?7-hH(PHB#Hj| zfmBpvL|~v`tYf<_&351T61>V8eLSgv&kU6?Te2*8+1&6F+pib2X?C?7uS-2sNz?I1 zrNurJ_;^)7WUZPxQAv+tqbcEG$(WZQ@K;0O(#5FLfYi`g?49N!`x(+@yZ~|m@3Jju zx1-3!2>L-hZ|fA&vtUJSl$WW;OasUg)><{bPo|432l%G*&ix2{r++Etz95&onb}-p z(uM_%3?xtNk?G;RC0i}~SMMhHRd}FVyTE&fV?76`;qio@9UlRsKd`ltXyPf0(%IDQ zU^^PT5UVXtlx^n-90d$7BI8|66@Rgc*N>Dgzr0*WEuo6?wB%uW5kl5Dot!hpux*-U zPaLO)nftu{dUzN7zNHOm{AuD7Y@B2TtWvs9*vc`mIZqpdzrx^@E|2CdDih>@o7EYZ z>AZaWD8+lRp%18d*2yF8`7z3XuR8DZ?qwr$>U)R;QrPE+yw3$m>hd}=gS%#B6}8NU z?k*g>6)0GRlr}PO9XG{5NMjM;V#V!$5YxvxwHI-R<8L z>rTFRHL6PMe2BO!))2JAM?5{l(9h$iSEel4FWd>U`kuRxN2N#dv%B|yHxb6Bfm`dp zN?T~be>4&QlOxXX-%Z36ueI&Q=-kc+H3%WaI+4r%VZ!lj7PLkKGViYdn3T95(XXCJ z9nLzmL@U|*xWdoeC>@d1M*sNa_u+7|%KX7~!_58p`BG{<@43qqDf+JbbNOi9JF=i4 zV&Cyyu6J0ODF4-)`?L3;P*mxLd;9qb-@SdZw&m-V_R^DVb~7yp>6lhW(`lmht;`?R zDvDJ4Qi^JVuL$VAt&C8}Vdx4Od#rTH6#b#hj|BSJ;QL+c>+8eJKe($wai9a|_`Gx4 z3tMC~!;2%_2Q%bCu9S1kaCq+y-upH_4Q2hjmWc>3CIl_ws(t6AI%%_CR{s?fd=wSPdz5i89Ke(;NtM-B2v?eo{3W3<&g% z6hyN}S|+gpSi4V-2gG^U-@0E(FHY*~Q)EZLQ<26pY5gxRMdlCFI z3+JI@b<@^$9NR82!uem6ePfX5P`72?(dlk8P>vi4f3!GS^8sr%fO>`&}78>W;XgIUXncZn~dUnOH;i$vpxq?6YI zRR9K6(!wbu2lautrJY2%s2rcGfxwlp&=dh=2xN`?l&-_MAE&6WK)IoRPq#wv{ispg z7^F(Mcf%q6OciINibk7hu%jZj3V>p_96Axm(BiwZRG{J5qkuV{D8dwvH9#HyIYb7G z24`dqdti~b2w@Xn5gd6l-Q?>z>y7JD%)CY^G8)#sEj+}7D1?Jzr= zu|EX@ae)E+H0j;%*po!vEq-kiWw5C;px{ij2w*l!F?SA2F8@V`mmZ8Q)6gX^eD5=; z1h;v9wHIjE=DX@#rmF9M3YS5O0!o1VHex{-X`OZAU0oDu5=8)XKqKV~H@b-n{Piz{ z8Cyqpm0&U|uzO{A=#)+JG=t^NOHPK{kOO?sF2!}W~duQ48+*@_2pe?d?-Cb-Dj zi6hO_OW#ZB9>A};T|kMIW{s6H;eG)>+Tb()3;!(Z+Pn zw!bfq+H|S)7HXdMI31eD6#AO^3W?+3DSHB0LucnM@V}ojVk^-{zf!_JsmtCBaH;;f2(Og92BZl&Ck)(LH{v^FhP1a z_YZtf-QHDK*p3ar0(eUd;Y#ttIox6k*=jWcJ!wLo*Ewg~opT#FGZ%nsvfxOZjW*XG zA1}gv3W=1&R$H)6f~|{W4Sta(*l3Z$$i~`6DmN+k+cipo~ zAnh1w*g>cG7#gzT0_|p2SKIIHzHv-&OqYX*vSc!&qwUeIIcxxvBvkN@Tje;$nAs>#D7}82 zp+g+1o4Q{^b_Yd5ErmFH{o$P-SiT}Sossg_ z19VEfqx~UF6g9e50dk|*^tJnaaX2wvvKNczBZ?=e!Vmz4kgux5pb~ROV)yuy2xC&O zv3nKL-M_tb6M@J8Yl@^A@YFrl3cgp-uvZ;{(9fH#0$u7;ByZxn_O_$}0%wLf3^R^3 zn%O~EcokuukaQUCs5b^Auypt~#)FZw^NeEM+je0+88nMBh=zfBYXO-C{j-dZsd@m% zu01LQsNDd*S7xn`kuFHzIv||~N9n9?U_)X*6svYa#A&jwMz`QXS9R}i6#(|a{Y<^SQ7M) z3oI5XFkix4y?YhOY!Q!;&$NCM0kdOAWp)F27FxH`B+Cf6_q0t@iYp85j{XuR!Ql+E)_JdngGvd^uy__LEy&-L5a)=pK@V9MZ%PG01DGG z&_EOGK`18oQEMGF$MJ_3O#Pa33>+j#My5C>d_CCPArSqJ&gYT=HLbGC;|o@9irAZQ zbiSgL4x{d`TE>{F3Ag&%Ke3HGDLm$hX{4DPjB%37@3T2BBbUlHCOyLvm5F&P@Sl0n zH&-huiRggS_$!R;UTR*9pRak+A#tb|*}eHM z4Khpgn3uU`!~p`Da7-S6p<}NXg@Low6C>3n)gYy}u%BOqzW?D_mV|+PuA0Wa2xqaP zfri|*O)@hqETDt(mLsQKIs}Z}f@3cTr+d-L@f!ia+n;Dk;@&JoanIFc9Yfj69yOCd z&q#jFO`#6lZz=PU7ZlXrbr1}0a`0DjImEccNpRU1cdizc+^B7dy|n3xEd_-(&;~BA z4Cv?n?^*fdrDh&XpT3Xj>3%~4fY0i*TiS5Tl&NcWffp6p{og-WjB_0aR?!ynEUSTJ zStj5fUa8Dw;r2HqdXShPoVNz^l}Oa_D5Zk)5WZ>NaFLytm?LWiT@S3rrEPLUuLYr- zA2@XgsJR36{0Hka1sJjk-fqe3kGGfnwILkhe}KA&mlW^oL<8}0PQio%=q8O58-)ma-)}XQA8dYF93f1AVPo%`mcO+OM zV?Zs}icJ=9ie*t#0-Sp);cPe>Dl<{SldTEc{!W6!5E52gd;`YuU5U3F(ZaZA6H!4e zS5z~Eqz+A7=UE6X4IMf|ob!q)K4yGt#(OA~*t?+p?TTsRrXCf1?#r{A-|8^+Ak+X- zrOOIDB?Pbt#g2|pmi@^x$Qpv?0J@STBL|I|lly1?{jm&B-jHvos-n7S1!FQEkPpx$ zLgbz$3mO}!w(k_^4UGnn<2#UZA#pen_Mj=+m$hQxAC+!tg9!CXuw{ij3t1P7BK0MRV{l`=_Sb(PkLLLFn!^ zQdi$WZ86i1At-rTbpy7}B%d67aNj=JhJZwSo=qi4o zDiN_N;%6oiq0avw(afoK!PHqU_Wh<;oxTw5=(-sC9>xXjE;gfqS6u{u_a%6#eoQhD zDz!+YHyG~Oq656dGr1|tc90>A+ZizXENKZjZXL2Tkl7mmlV3hsz?Ty@lpKx^7O@l| z!a=mcF)uZ}TNBEcleBea09`tQb5z6`Ifk?Pk`xa}DM_n;m1cjFqGeb1pY z!CudlKcHF$-5kmRZU+h>4X2795rIElz|*jJcxd>b^_ljW7;JbLGNIXUDT)0eH<;lHdq83Ej5U&D3i<9dkQ+h!j zWWdL@Ibf1ZnvYy;N=bm5+6^5-RiN4lG#mr>tmOlV|3ra;O09r9D~Loe&hIVUP)ioc zAqQaNZjDzcD~!u2i;L7I6)VWIhs`>xBK7;!q%sQS6OyOVY{d%qW~rBLzqHrz4qM{# z(x5Ni6(EOI1>6u0sas5f*%y1zZYjZHW42n2tlG%y#wG*VFeH;Zw-q9L(Mv1(mKcA+ zZ`fanEHHrmniJHWl9hodg=;1z>2fOh)X$YN!BI+sjAM$i8s&NTno|+gHmgiR8Hp6J zRuzj&1>eCP_S`EWq?i3*wW4ub)nAW3CcdDkK>cg3cgi4b^YPwAQCx?|Y*V)bXcH{$u8yh&Ml8}$Fsf5j=~4Gt>m$Li z=9zGb#U(r|0v{<2tiZ`tF*N`aW@raviapUrCrlWd1k2n?mBlRrD4iT&;TVI0(x%$T zE&(t;-+H&EGG%TH&BN&q&~sv2JKBJyiQ4EctYnf1)I=on$EA6!UeU}rr!Bpbh1jC= z2SKY6KtgGKfAr5C@|-OaPFzSfk>P^z?Nn@GQ0S$uAS8KWa+JVQUX$z;=7U?hTl-gY zvAkbzclKgsUNb^wO=76FW^hdYfB`$rsUJH3WNG$_Fh5h2**159AORtV+5vHm$wpRe zf&-gms|j$dTG9uHMdKwCE97)Y?i;-CvIG;ASjQ&|MVnopN_aU_UkU9;uz(qe6IfXdwfhF_du z%#H%tc-w!?>?Kl=FalF;F8AbhGt)Wp8guDr8FPvc-6nh%M(}bcD_-T=-6STGvrNv+ zg9x2Y67l$67&n;Hud7@#|0t_Y8ouHF5`5bq3QOAy5v(e?F6o{1AIts-3FVN0(}eCU z|Jt`B6dc{h8;S@?7Jwa&dvoWb?4Pnh9QAD|9TL8tvNb7(4XeEU<#GJu<+tGv?h}ak zU6!igBS)vuTCA7(xt@eOd>Nq`<5@mw;+tthqMv&b5s;0AR}(WF6yv^BqB-8gwfR91 zOy_nIR-Xm4ocPc69P}y@JotWg19%?~nMx~Vz_#T!PAeUIhv#1tgIH3s=Z5v;_<)x^ zwiL+yJGg~#^8s}e59wmsYut*AfhWC16(AjrBGMb{Zblb60b=$WEt?fPqvmZOS4F)4 z=pz%+#i0*cDZrUK7#zaUA3xNC9;FoE7kFmjPmzF}hoeU}ql`EHw%esB8EFz~(QZ@T4Q3?L}$9tramCWvfCcZjSBnUTD z{)Tzs=6FT4cgOfY0kwJGB$P7_=f)q9z`!<#Aen=?3WF*2W|>cpMMBl4#0XD4bgG-3Ls<6FI zR?mX$zHJLl;qwsOA(h}je=*)%5y1f*KCICst9TyB7|p3Gs987Vbn;NDqP_QsVT%@j z;!FG5h320-wPd6ks@%#VUU4s85ua}ZMe}0ZPVu!#b0lA!yJc64 z{!$=|n@0-2-y-rg8yzuKROuU7X)cfS3Ubw-%@B~%m`tp!qPnhk$n}Fk&n+8Sgb4br z@2?#90f2CALT;Trn}0SQU1oQ4u{?j3fa1Hmj5>Mt-c>90#Cf9idtxyXMJWVAkkS`#S5 z6Gn{JjXu}k?p6;pWSMIevx_Swr1E&%K#(FD9h1iME@T4lPhcyH4Ac%N2W`aR=9ZIn`}o95Wk>h@Td5qbyiilJlU9KOB9BsA4C)bKZKAUF5qAGp z>Q7Ie^l~|lDQ=)8wM-ocLn3LN(u?7$z9(uQ-RqpXvF*e?axIAj$odo(GL8v0OHgE)c@EsxObws_Nd6vN(=F}K#Er%#*~hy{0qo8 zXdgvn@k`#hZE=u5eTCNoZjGssMEMM>9^4#J;fWjHaDb)+Zfv6f@jU zfv#mAbgi7|?)kc=+OfIR0rPQ z=(@jy`j$i)UMW7Ng8``I%xrS!wZjcrn==&zj5J*OQVM)!^>!5B%MS~@kx%Qnk3*irHf=HgZ*8b!NTvW)%7 zq?5Wn*FQind*-G-+&(`k7r*=|ZNq4Tg*jx(Al;-PJTd)TeSe>rx6k3@F}&!KdHFEQ zvOov?MiZZ?ldgCU_k|lZo@+8MXxb5_>|x6+Oj7`|#zRWz+*RLm1N)$769=YwMoXrr z)?Ht7aggyDsN8PM{G2T(g_94U&u!n_PKO67is(ikb-L}32hFc`+==-D0C5D@G9)W_ zlOrA_)t%(n89Di;e?vvS?pr{EN^A(dT#V1GZm-wZ_Y-`roSYoZ;1>18zhKSh!F*NrG$e3QFCRjVPPKsj zRc5PE27LEO24JKj9dPTUc{l+H>%~NxXY~ec-wX$;=lGnV68na&^suiCFb9T7*R{L7og6P3D0wX!Wl$@8K%mM z0MGMjJNU1#7(3WU>=;B1E_;U2ZXoy!qEByLVhxzSe5&G$XPnc-B=Qx(nk z-NRZj$9oH6gR{L*4PeJ4a0}tskR3ueHRY=d;a)*p+lLw0T*r$6&of=l2O7cqG*!=V zea?4L-XMqrPgB7x^u5Xm5l*N3>aZ8J%iYBP4$@ICXg4!4F95iOiDm5R68;5~Y^9gD zu;$JGd*a{*oyt7hWi?h5@O3fpXFC7eEg$)%jSeE0S#Fvuc!31&hF%i5T8jJ_VV*0? zG5jCCBH`37NtGb+N0=(a)|tJkG%n1^4L7?d3Jl|NKsWWzE&buc^NIBz@pGYy9Nexa zL4F|`I9MJ)?)W6&;M_*u&w^%$h%D#SA8V!WB4Ty9HyiR6Ej{W__59_l`83eH9fJ7sZh^g-h%}OG9#o=8}3@T(kPz`W3m! z$(vyf%AY!8lX#=oF9Pt!Bt7PW<#WTC@YG#DSG#6SOQTZkQJsIQz#nk~mWeZ0xE51) z73Vyc$KpoNXWm_!k$Vg!yu-3_?V3bjd?OUgpJ5SUMIMc zw`nMf$96RW=rXU8&9j%`V%w}fi1lX(XYF?>)n|lbx0^|CA^inkT8%X3jHIckG@HuWK~w~SB2k2CHJzNVKV=4SYM!O!Jfs&@k-Xmr{pcMT>x z<+X{u|CDuG#;(;tUJKfJzi$g-Jo0^fjSLW5#l-ARN0?XNoNs5fGFpzym60iAU&Ifs zq03o1fC@>8O#%l?kWL}*Qb=J-775D=DwdJ-fD*`Ek44F9lb;7a5MyR3OCK@?rK^zf}}7QTHK7BoUMtsz(z-dk(X4kI#8t zGkj`6dv0RasD^mLxC0#7HhVwsD8Qt^3=i77S7fjoXdbnmwP+U)dYUXY=oZ>3*HV&L z;$MJfr>nSsn(HpU!cQ>NKO1{O2nMiur=QdxRq&2LR3_d@)jKh7=-$eYjTNS2`|lmj zeZOHp0BNiT5um_}c?58hYM*?dottWl6P(`B}#L9>&TL|_=W)l z^7VO0DCX77sKYNs2LjPT z*D5J@jyBob_TM*L|L*5Q$EeiLhvo0&V zWm6PeZj#9xd`0u8coMe_wsUMDrPzG1TaI#qE5qOTyUlXb>roj)2=}}yf4&Uy;iR5{u394XuX_4l}b-lhW|AG8~b{ z#PO&90Q^t>0;Lg0h7l+^{EG-h5a!hc*h3E~Zn;r7Ix=(a%3r#LL zyd-T3kIFKt<_PSWcDMY%(*-javTpbu;cmsJq|$BgDe`p08H_S;`_aWEc)SK3-pOI(kNP*f9o1&B9~og zR}F;XEqZ#~5V{2i49!(kCeQr?|1hNxp^3=iX$%sNO?oMoY=?Qex#t&8ql@TWG<8$u ztT!M?%Aq#t$jI8MKir93{xM}Maw4Ld4F?CYk6PW%1iM1Yh`}!cCz{0qM~XjgHx;f% z32p?reJ(UPHKMw>yjW7%Oq!MCR<6QmgYUga{*Lu^hyh?}}E6d28ojA@|0pDun*a8#h4N9LA_oDiE->2V>cKGjZ!{U^{y{_N0R4fuaQSfq}GDC4c7?>2L`%g*Yk|8j<8@eieJ-HwLxcrxESat-4Ly~D@a_dHXnA9@L<#GCvpX#02gN_6pffYGirtn}kb1HD!9Oq2C>p_Q$Dher61s6;}hJ zuICl_@?WdiG6&=yQm%bdVO4@d+_(eNMlHvzM=-$3u9p6wT1Il!OA{6&o#sl!C#H7b z9?d68`({&{?3%4=kKVn`Q;Em4Yl^`O)siOQbKM-YF7KD+wb_)x1~dbq1CCwc?Dkxd z4?9^?10)(*dvP(ub|8zA;1IbVZ`!5isfk-oi3(5T}iOqz3e&)hswRHGmCL{93i%XN$*36rW1EFS;T}NZ4EUZ`EqxLfYj0Q zny*yxjk&W|JYx-T@^A@dqHMR6JnOQGh!rnw0LGRPSC4{0j-1S33G@essP1JF%F)%9 zN?GBV10l#>7n#XaIHLh{TvqL11|fOZ;F6UXy=Vuw_fT^bb4Ait+{WDwX<}osm&nHI zbkGc7c&c6Cpsky8z&em z(ZI&!H*-75|JUjNAIO26nWB-Er51mhmXnx<6sMM)lA!^#gc_renVo9Ui2(oz{`>Tu zoPRY5Os(zQ=#0z_9G&$TS^tYMca@=Gx57rc}yXd}JAEUkw zEMP#6bXb=_DpcU~XyEq&N1>5o^EOsbvoQi62?uA!{yCPOpy=nv2RBb6p@=00j+BB5 znJ^Xyj1>b{MA5m?TKp2z-Qjmd3NydQuP7s8c}b{zQ&_|H2V4KcXinJDMT})lU z1gmPo8AgMFIn{#RfxGwR8?|gvDA8t1;}*davS2U|1hI??O7O6NYNgDXj&BMU{cW=E zf~&ot*s7mLG)bwhBQZ-|`xZHYFLw?Kues|Cxb21Y8aD^GQ|cxZ8~$RvbLpWJ&`ISa zO&5Li4R7dOF*@EmuY?kt?Y7)OaKfHD)|)o?tM#&CoD6bZ19~&Ds3^%R zriJ9+{@~Zg$iMo1{1Y-={DW5g|rrme8RAR}HuwM(`Dm@%5-{COxkHO~J$(n_%FN5~5X#a|};qhW>;xSNZ^ z;N-XW26waVjt8^nC`N4bQ`za7M5T3R%Poaoo{O*0XaM6oA|F%cRgushM#P?@qX()| z<&i5*#UW%!2Ni&(SsMf?@-iC?@cP$Mp;;whUd)3T*1ToIvfm1Yf3D^2j!wqL^^VZH z|FV~mu{-eR7I>~&^{*kV6$hj^1^yayk^zze#Cs{wez1utMd>Q> z8(l~*(o4wT`U3rQhfucC?&kB-;supeRC1ksuwfj7GRqWp#zBipubcEvn_+iHdV1&Xz5W0%j7k-otZw_)2)peNLP& z+O)c7th_EF-LuIiLCPkmj|PK(lUV{cnLY{buE8z|kGOMZq^_-13A8FSS>zkv+3E~= zAGeUl9yh1?(0sJfsDj5b7SyX|0!N$uZOd(1fh*Q26;Xvo=%P<;i_G(op%wKHq(7xO zr?Z_MeLk3qD{T2-XQ%8iK3kBpQiwD20{*NuSB4MpLr|hK&X&5idJD;S z&Z0+8J2~E29F||6ul>arp{vag9>@*X?IJyAqa9)^*AuFFsL^Ye3>xW?&e*Vc}xLqdZZ;@6XG(4?U?1(WCIfmKfI)cy^VPyrqS6gN^ z{_+x1+YY`y{Z#UStLdJ&GOn+q)9vAQfi%PC%HgY#J=Kl;dilp3xo{uxXeMn7aN+7V=QEkb2C#h6dx`sXdOr<2y)9gQ-To*&n$Dcim&zlKLGZY`zu+dW>dvtb{%Vy_3!-%K}e zH-~5D&mWEJhF!s|EjK;qshFR+%+V$!r^B@dAuor|FQbQxca8xenU;MP35c@y0t%>@ z#n$rkRW)b+b7j}~jq7KF`*)74yFJhYNh<344%~KHM}fv9M$EHJM6|#erblNNKRZ3p zjH9z?hpWg4S^vnQ9#+-&hkJH+4(9)j-i>emV9;*9$ql~s252HGU^kC8E;1Dse8lrr~x4~28(rbD^H@mufoo>VJRtFlSI~^=PI=dC}@{YyNnGsw26G4JO7n&C* zR%(`bcjxZm*QOo_NeTrg@(~xdnE0>{`7chC$JsZu>zgqvF5w{R4nHv7;N^Ss&Y0P* z^c8eDHrkX~oAQpR@I=k5XCHVo`I_%6?~y555{1>KDQaDP_r8o%4! zm(nY4$dfomPe(_rEHbAHAw3U|P(XlGM(a z)*C152zj|WGT(?bCOon@_0j;~Jq6dgat`*hI2M=4&7qr}Nrk@eQ#-iwDZJVID0m7! zyZ46O?B?@|D>U@n(lzW2W}YUfW&7jZ4yl!G8-UAaz8hUyU6x_k46q@Orzamby`v zO&zw5usNw47Z!!GJl}mb4*z-yho+|Izfe7YpE6o8TSj7|t|{@A>S|bCNtdd`hnpk4 zdHl*Av~I#EiRjC>lJQhJr& z=O((pcT!RntnEyB#qW%8D|Teh93P&}^mOv-^4qvg-G4SM8=Cw%QT`L|@$Gtr%0J43 zj_OwN_@3$e;iA-WPsAw#*w2MKb2dNS^^qTDLic3Hf9IP;NM}Z1=&&*mMNuUvL-lxM zl+5RoWvQnTS_tnaQ9eHv77X}S$n4?y%iXo-c21^ckPpGE=bs5o&qY2>uLK!2PDMK) zY!r4!d4i!V>(jr|Tpl^U4LJ1Ehv%kjTGWW_H~XU{P)7%y!-?(lhUc>$8;^1;xVX4k zxmhxy{MO^wrfE|`*qNf9F6+{Ipo3t&B-1yC% z@)vyH-vxS3PEr!!pkj{q?1KO<^+PSYm2LWj+Rz z<=N7;Hc#pn;*;U&#wc8c(sRRp`}peJQ~8-oWc}$dUXf8J$>Xxoi075d$}&`g8aymw z@mWSw=gy{gy_V7H`s<;xxeVLNp3uaum3IMZ!(%6Bb^|!tx(G@x%n!(-=0`@8jA5Vf z#8On#OV*BX%AW+3NdiW)rU+7kSP~i1G=y7=HznE&K$*&}bLgtEu0Dwixf;>tXLV}b zC1=SH7XTOg2dJ{Y6xYZeTx*p6X&n4^+@}ub9P78E=dwIYC~ynjARAE0L8#-8@gHKn8N+mb_X z08{p1@P-fYr1N5Z{Q&6A2z)_<)|UYFX9j;w`Wl6odk;P(3F8XLWC^Vc%MpC@_mjxylWk!(?U7lRh(U4i$4UseMy{vLo`74ebj^t@YR}HR#q1eAGA;*xFH3d-L z%aeTUiP_O1@H|NHaW;QA8a6u|<2N;P%Fe5Q|MBtW9-P(_W<&cc!D^gP4356IfA)%T z^^Jduoc7_HE(4~qKAAHGh6#?%g>Bqa^WH?r!vF_49*7uFlHAU#oTj(&KG&Bwgw*H& zkg3Vl`zsJU)GF8u+dvypz23y5*`u>ixRGw|`cb&B1tXT zmEvv5JWAlRN2h=1&yB1rZw{^16)q0*jnXa)Ln*L$@)sDwG5|~&*mLQ8JB+V(2H4fW z?~6tj^(+ZX_;=$@YZDrySMb+~Vjf3(qoZn3L@r%kGzS>aVD9UdN!=l$XSgBTq=K2G;%tyvhN16w8A zD5xF8j&L`)oZt8U-F|WMNEG@ZvVFV(BQ^Q+hc&O~maJTgUA}%g0t4D8EvwKFy9J+r zB}(+R-}_?YXxNVhXjFN6(xLVxw7(>L?(WA~UFF1^bC>pb_m(bwPEW|1Yq~yfmA4n) zxo@UB$b}aLQc@gA_f2D1xUX=EgfX$hJreX~&)tpDG^(kzk||7%ozVz3(|5-7>$7iN zqT%s^sD@5MQ+~s#D}{@gf2|ipsEDEZ655Ne!kCrYHtOZ{edwq`TbBdwvYG$ItO(Sx zb@&M^;<_M;&=HLI`LsJw>k=b)8lf%WLxQqrmV+GPVJ!O{6G*Aq3{lt(427paWD84^a zG*5sJ`72Hn`Rn#@sOTW{n=;xUwjT)FPUn+D{%HA^?y7Gs^w0io-#H_7T?s^eWf|6X z>A^Styiat#Kd#SD&V&r)^;c%#z%BgGAJtvY)J+W0!DF|fokjLH+~$|Zz+o=an{*Oz z`d^Kxo!X~^k=udp?X*q5w$|ytkmsXbc^<%D?l0x-H^_#pX9Zn>Y+HNJLfW?&va$F` zJ;2g0Acywd{~&eu-^JwWR)KXr1M%B*A3?zFzY57VF1shaZp3eJueyaod{e)q=D$*l zptrXZSC$f4f48|r(S^hkM1}rrY%oQfvdaSRY)n}L( zf})<7t`mDJTu7>U1=5Ep`39JOCj2AVL)6v7FGgO^N1(Pb^tRP4unwuPjgrZQvl*pA zU#uK*+h3%*cEdlmy5$_LWsrzY`tcxu{6IgGeaykX`7@=<8ds1SmXTOB1zQvaGq54o zB_TPMkr?F!XPSbi662j{2p>p`gr&x!gIPXVy!yoPHv;&;{BR}}X$W;F2u(BvJ2VAt zNs6dQi$ZLxbhp*Zu`AWsRMSV!m(Qu2IIZ-ui&f38DjOHhtAJfrG_#vk$v}hzw&+1{Ox>LI z4hb=~2S36WWJ}Gz1|%v*_zycw=+iZ3kkGerWFMhdB_~sL+MeWAY#%<<0FYJLKNQ-T z9dtEDv3FjOP4Y`rYMUGui-p%egEj<=LR`urqn|GcBO+;x;E}MP+#~`uzxD`yiNQJI zbAY7eJn9V7E}Y`}OGIyK!Ch#|_U7kb)Hs$Mf!B@Wdi7ksdnMy@qh}DMFGoVM<$LmPT<_4075$bu9Ni(ZEb$6K z*Jk?U3g(8|9My`6u^vy|a!aa@^N3=L=zq)zJZuGv{LY5L@FTLz81vJ6<$arKbIYhe z)nFkrcY+8t$Byv;I!4DV3Zd{p!n?#C6r-41)Y1Z!bJ*@183Y2x)uts`<=Rd{b#)-n z9ID+Z&;ke}9@7bV07)$dS~ZL=HpI;dLyT(>o&>(I2dgZWTx?w!j<5_zINy{)vrY35 z0oVv_h(L$(7HO`?ODKntCKntTnyExBpb^Q4Taz0r%x!pRV7V>?8c6TvHhfU>jboL_ z(1mJ2ss#?t;hGTxGt{A_Q~o4UY;k)YP>iDlJMN75*vN)i1;c%YyhJc`=IreFf=uq^ z!l*%$oZ9ijD*@m{rVB7zFba)@;Pu1~?IA*y+awAA8DaeC2#0vo1b;|%DZBdO!B}qt z(ZC+0>AqlR-Om7vVC`kgmh&^bw;0S08TnlD|B4mvB<70(st@G9c zx+Dxvd$dUO?gzsHuCG%sP-m@IMIYpVPki2 z=-BNMXMcl%h*v2d+`^!Rrd16_SVT`x0f0E=j%H~C!chRUPb^G11p1_EFHpI{l$m}R z9*(Pz6)d5Ugcy!v?}5L^{z-U*G$`Tk#J`+Yg8-(c`MJi>nQV#%^?RFXW)wr61O2vG z+v-b<3;**X#vp2d&0k(C$BDt*ilj3Q>HA+OuI2#)Rf%#bP*!Sof?|1jfk+N!~NAqZgDzyvVFe9@R5(Y-@W=^3IG z|NRBE!Q#JzV&)PEsQzlE{-oN`1_oCc*AoaKODncM!^^Cqx5pM$;MZf3tRsNnZFLMf z$3mm5_I$i$6h2gOIm|fxy)yr6-B^p4y6*NaFi#ssX%C1_nX$CH>m;VE28Z_?i7tY3Eqju{Chk5=M#w z-}Z&=kW8Nn{7ziaoQj3*m?AFxtL*Oh4GNh%ICa!%!ka6c8d!Wd& zX@q&~i2r%05~o`w->Rn)7Pf!2WC&^?nKJmbgM?KFWh|MdD(i`h|9q?lA7sdn{E>2+ z0zXYdn4v;J8U+{m$S0!6;!3YrmQa$E_GRr0NlN1V}Pzw^X1hfn1 zrHJ@jO-@BiPVik2-s_LrwdZfp5Icq*DZ;U?c@#{+Bx}RsnLoweyv!cVc(^1!)`5A9 zrl(H{?9HVM^6RcczX!?~m?p99Qe{F9+^s4Xrwr(c1sb>{I^?>6%%o17Vlj8De~p{b zA5{m0I0O8CLG>t>o`|Ex6QR(Fg4V}3Q5am(QaNBs$JJ3H-aji28KNKv!AQ}1hPuc_ zfTk-Ci;=7}HK8Ot-xM!B34WEd<{k* zD6aaULV4kijpSA#=uH4HOcb=rbAn@Z>c|NR4wOT~85`wE5iGanp!G%dz45SX>J<8| z(gbyBwrLtn&aeyri?er(u_apDMceMxwr!iMZQHhO+qPEQwr$(CZJyryyFczZxyeax zQk6N9N@XVVed?_-#(V%NhgKE+R0$T<*sLf9-e?&m;;kk=L5~!6k!q$7h00H}@OW*v$ICf`d(yPmJwcM6!% zCrMCFTn~EJ?%1C#X)irY%Y08+cZ{ilHSlP&5 zF6@GW2}3(07xkBd_KQ9%D_!k9&)I^7JB3Z69K-)=5~*7G#Kq=H&1@#S&6cIn5Vat5 zww@J#gWsjq3qiLbNUy&MJn2a$Ki=pT2r1DkRr78E`YBX_2fyRwHTAv1<5DpgWTi z+WSTQ&^9cFX1QU{{xP%qluxMQ)<{@@K8DQ6H;Ufb8cwkvoNed0FHKYF?}mQz9pED{ zKq2Aw|2f_OLNZIx!J_#@PwC?a&4PH<2w&tTIKx31;xUXpf)^`DXA2uxB2e817RPxNN${rj&FlBu13TfD4c{6L-2)^8Lv#ygf?wALT_h)+47U@%#}9W&mcGkvdGU7 zUUkQ3mX%JDuvl2QCZcG*vN%ak&^+l5q)>s(S*I)}J`r(f$wAz5YH5g%ip(}z-NF9I zjGQVoJ53t^^T^LXv&D?SttQ48vrZEN?t{)mg(^h}zZH>h!1(#iF}HweQbW(`A4ox5 zGg?Xz@4T%oT5lXI_%4_7y({g2!9CKqWhriPTUDpLrp;OfKkS3{*aPaK4_Sh_qplbv zldq8qqE|R(j8{luOf|vP^Pl9bexx){hbCf*G-7>?0%fFXmH3oKQ7}QNK$QUix!(od zqT44Ty_FAEq@k^0I68nDAc1YGtXd%^NOd;YQn5GhB86;Ivgg|aV6Qdr#190GA&dIS zGwuwFUhB7{T$KK_leAAzD_71!4ne}S7hooHY40Znfsr&4F#Dq%d|_LO${nuboZ{b4 zu)1nx!48&5eqlT*RP*z?WCUjyye|&0FVQx^9H6S;oyi88!!6wogfdWiQtVhCv1StqY;*t!#6;wj&nQP z<&3e7uoJq)M&KS%rDCr}a*$GUs1wgw5F!*Dw`vIiZH>{K#Ma}Np+PklNH?bp%+075 zq=DP0|K^0la>RDQZ8BlGuNPLt)~(xpjR76uQN@1IvZq9j zs;LgEV$LFY-VvWuHvrB_%EF)t1x{7>MOA26WhyjjAR}m^WVoTA(O8@rNRbjk$)%Wv z6@i0CKS3>cs3o!4f{JaY3f?rbEn-MJr4HVf1edlK`ofm~E4l~=vj?gTem%Tzz=nDv z(vcT>98O)Gz~S$mG^x@-ov?;U5Bm=#9KxLJR(*d76Z$RyKQfgy*G%Aud{vv10Aa*0 z^`HX{`$fWGlWNRfJTi5kaIL;J(z*T!-*kS;w^eug-WHf2@opzA-i!+kV;BN83Wtsz z6M;?;$qfOgD6bwGYr#q#+3Jh0omh8-Ld~}}bWnJRkoC<7T6y1_t1N$fUlO%k?C6gK zxVj_EJ3E-SUY#2Pr9f`b9-bT$Gb}Yki4Tq;xS2|`%Gq-16+AQfX7m`tKrceE19GhD zKH<5tSG2qZIJrVx=O~-o;XNiH%!GuoZVuF!p>gV}Ab9%bE7?dbQbYWx@bYqgR_M4R z3u`-URY#q+DB*(&d5=>b?MM?$%Mq2{IFt_*i$ z+3M`{({>sBP(-!)rCm!(3>Pzd2qCs0LJVD$otE7`P+}w~S+zj40egLp|&S) z7o!#SNjsLH0}BWz&A$;Aw<^fV@LMp@85ED0$&tFQK+H7To|CYxkN}qYx{pu*&hc1w zNC4;kkT^JTRFfroCa++69eOV9_Lkxi3U|rC(a=%YP`}6K2k7N4s4mN3OSykWscGO` zu_j=+wvGf~IGS!UkW@1d-%2pjU)Fda#2XATP`ite3^_o`)5@%|?p_|fUUnUePQNQu zbS?p;*Lh>wa}EUa?J~fG@gxb9IHO{v+sn#^!#u<+WEotGzO~52Pz$^K1@3vlq9;Am zbD$MxD6JKW+oN|N!(t%a8algmidG}$co^mRqJ+HsKP)m-cBY`tUMeLj*-P=c>K4Fh zwdxn+118qjF+rF`;XHWdMT6#GWn|E5BB|Iut2c=vQE+<+YxB0UV8b;fXMXlho-L%8Z(Z#ql%^ z?7U)_g7IovDdQB_nQ+MkK#AjhW1#z=K=wZV>^*#0y1No41lyE!h5gp60$ghj2I$*U zzy9(HpBv^G!k=szzD!FfVdT(4NuY$^KnTA6HI69zJoa@T<+YLE%vMvhxU;n^$$Dkj z@S1wdg}q1=P+BO|^o``V!sYq!(hl-98Ur9zPXwS01IVa?s%~CtgLtNDYZ6M_TaFcIHmc!b5?Cf@TQ#Lwe%kEyB=u!kyzgMt874jVB*UFwO$=5tieVGe8^$24+FSKb8XwL zO^J4vXi4Z0Qy{bwAo{Gl&mwpvTt29Si$aQt!BrC0jq_^6X66JE^j zds;iXJmG`92>o3;f_HTo>vAvJ@m7G~%e)^u{K*jecX|G+98x1(3M|M7G?6! z4P*<>O=R=V+gI*F$hz4k1iXoF?<|bx3L%4D(}rHv#_NFam}o>5uPD5<-tgH6M|>** zV!L8m@Nc&gD3R%dV^t&ZUO_3m!(!E=Vv`@my|gm;<;vvwu=e2s;qi1UA+SACugRjC zDMP zWDLQpzjfgfRvVBmC z%@DztdOvpP(?0gUwK|M-eHbD7b{oWted~DKwTv%2uW0MT+jS30Q)28F1$PJ-Y0xE+ zQ-}%I;))m2F6R0}mQ>0gfP_~^j*i5sf=Glq#6y^(u#cRLh~(aTG4(i!l6!!TLzan^ z-w=snb{(tqtm^zP)`c0Q+z}xA0pd-;jLNnWxOi+ zH=JI?jW9MZP+}4AC9{w^W21?D~^D4v&xw9rf+FrOr` z`61T>LeA`IU&*PdBTSB-OZOeTAo5=iv%p}ah*&ZO^Bljwh1{wxSpwuHdRCk52-Cd5sV7%O>F_VxXl!dW#{^e3XC&$X0|7 zu?K6(VlhkH31Uki6A`TFf{=_s1Ymk+nFS#bigUeR5lE=L{o)140DXz~V+TLwWB;y? z{kKa!h!TC94dO+=8RGg@CjPfe9mfiP)`k5=eHh{Sb|d?5mzu(heLX<%#ol5}`6PqWOM7VOG5vMog^>eq*f-58dWD#R9&3X%EqH!L;C`1SX%6Dk3@ z_I=0* z#b^;mSe#Sra1T5QY-YNggBU(Skdn&tHtS$SQdAd}$Qw!YzSY`;Qo21Ie1Zi;gL*-U zFfmav@?04~a86)C;zGg|V&X#d5QVJKyUyVpNsh)PJ7N|pWY?QZqv`5EAKu9o+cfXs0ceKm4oX& z@{o;ZNBb zuYH$S`*%2(;C50#^#h}K*&~3r1gCN?cn6AlGD0kU^VzstX_&9}u0*VBZs9`DetGf~ zvIp6;CB-$v#--ut7K9-gVR@tmrQ-C9#OM}?FdPd)jql`Y_Xs_^W1*k(xDR1eKiGm- z@ed%n-xO{c43>NMW?A&AvOuw6`4eTE182Xl0uN&|M5&giky%0HEHj79s z*^-)2pBG}=aRZ7(s`qng{{xX!uY1Ry`LvZ!pqK=iURR9#f9{DyF(x1w;%;yw5bygW zWJA19ZqD#~qcZwMBj5wDzZp4`q&T^LcbW$1B-^fzM3{bAQk=f2BqZo0xSuUCb!8Ch z=6W;pa*HeTvg0N- z-~H0+V;=stL_yE|l?kHw{)Dd3JzE|uE5#d2tE&;pZq9-%R7B$LwtxrZ0~PQY>@M0w zzd%nXYL5>M^Qs-2AE6Gw(8WA-u3Y_&+3EnoUqo*#B5L|>as$alcJ5OwRCTJ@chXbH zz=18#=&Nv9&?F+OYEJ<|9|TZ6L=8e8EV!^_+c_jq8}&FI{W{;a1fQJ?N&@#8XF~$J zYV%gs>OIy6lym<_;!RRdf=#fiXTet3{70=744{*YkjM*68*msF1VMuTUQK~vfegWR z#mPI?C^+^j0r39~E3`xDv(CqYc!Sz)Hkib$XCERFm36WRn$+WwV(L`S*m`M78V@TK^}orgUIq z*On|pBGyXN+1UTD@}zkkPDm2}a%u7-p9H>{Xk7HDEyx} zb)y%e3N#?eY6@a~G9oGbv&Ee^Bof5N4Hf32GJf9Bl9c2r{-s7q&d~6bgcowSQ#wdL zQ;l$RHdDA;ENY34uG8+QIcd{lyvrbx49@;0#Dm>C7$L?#Z8rjzLYYRa>Ure4McawDUKs9JeKXA?{ zRH-n4&KGVKI}V+O2U-WHU=AVNk}!Ubc`wacL8O2PafGim$A>Bv(i*0d!6YUgAP2RD z^|Dgs4{-D)Fors_k{huh{%?NnHBY8K9n1ExRr`1o8|i?K`5e?|Q9wSbUq`XTbGBq` zULD!28N7iMlmBN`j9)vJFaewmvhreEM7~zA5VB|WOO(UmT(cVNWpc>^4UdubIXkHcPG4m_9C+DNV%i@+}C+sEKV<+up%0>wY!5r>oKYx+s z9H5&qyZ?fdV=#-Us?f%uEc<{;^`BPRe}-79=fjEZcZD|GWmvNR88RrOlC!ulDfQu0 zkT;!QJWU5L4^YP*xx`jzc`Fp*;<{6}b+0`56wBhN#(Va6=$8E?zv*VvnD9V=c%suh z(I=e}tX~t*UlHJ+Y3m!r5P496+y&ux!w;ebyb8eULhM8HN5M41F5@Vla{o~fF`LGz%bqJ+ zhI^AdB;!Pfc$G9F*ZO`I_;!lvH*PyYiFlRFmTk`X@aqxsA(%ylecgb5Q%v_y{>mJM ztu(-2)+OYEcMv2>Q6JRZyE{Rei|=xj41K^AT+5A_b3!+EG805Wk3?(WVu%#&XLvjq<(r@*`|6Gd#&mCr9~Ufy_1QI)2aQ*krCC@+%bL;DX@BLo|0KN z=fabzZ+N?G)uygLv-%}*zYM&&vGdrpY)>Aqp_4D}Aay7A`Odfuchwa|>c-hLmr!u? z1ND@?a~=2?Z+Nk1;p?>{zbPt(<}DcRX^FH{+q3>3(>B~0&Hv4j z7Cks}W5tn`^&7v8E-fDa{&w;DWc~1V;l(f>8F1Xi!RyA5O}WB`?8=$+x%v0+?OhF^ zNW3EvE+H~%i%Fxr!os?OMUSWJ-JjyJn1sVm7!W}C(NXE3>w=$w7KYxo;hXk1Y8~;FE}s^hGIRN zQNYq}g*%jt)*_6Jtw6e4Unl!uYU&N%)%s+h{DkowRY|lG0=UH!f0ui?=W%2>=0krE z?o*9+c4&7!UbxD{&~nuxH$4Kl$piisg#+yjNz)Ro@?A+~k1`Kh<~}0c2@Y|8EZU<{IwQw65&>RmWe*Q~=zpOPemjH-HzG{i5+B)6bI? z=B<}2hFNcqZf-7J+R?zPjzJ1n&mNxaG`g3a7_tI)F6YvykO}?g{hGkBsUiF^r=wD@r8wB;Y+w14t!~nP`-Ot6EzR+fw z6D!_7s1fpW9=G=gxL7#4DrTKd^nX$t@ikwit2YgAr}kVt>fONs#sY(C*orT1E*`Ar zf1^^-0_r|weLbFEZ~s>5F|cSqOksZ`B;)e-ye#OeCO@3HwIzI%;WOoQTb~>l2fWqZ zUwxH+z|u5!q@tM#{|`m)Va=S?;+N`gFg`iFaQS*=cirOTiDy|&zdOvdtGhmSsa9%f zIDm!qZDIZT+KB8(-U#4OesJ5(#R$$6juayZh~l0i|^L$YLX-wx8D%G&;C{BS+b5 zGYyXe|8PT1uH8c3Uai`^U#8w3)tn4+RfHBt-c?*27{E(;acS#=y*T^wP6(YnF8;&9 z22~|#4ap^5+4T@r*_7WK-H`#%gC^_4cbW(q@#2bwSpXc!*BGr+m2IF} z9h_JRM^pXCYi}Eb6W=#zT;CAPa?~uG{y-X~|pQ zLM#~L7K$ZB;!GIj^#I-D3kc{J4I*i%YAHyp&6R-1vEom12FdRydTm^td&92)AVVN( zgg2rG=_Aq>a)(WC8_ilws3ze-XT?-OxZ7?O?X(DqeBOF{{jv)f!^^vpGTSgJMAf|V z;?2Yh7n;I4g-Hf)Pvl3Vj!kJGS`!^p815>?&Ulyjs+s&LM>g}=DIaUjK0ZVJc7R#^ z^9_k|geOPoc)3wn5|n8(QJtI6)S{Ed#LT%RF0qQ*S`u^Mb@^Cb zB0@4sIx3*4*GF(PcQsA3rH$hpq=r@-=J;@^llWs{8nJM-UJ>smI{Wey@5-xrwXE07 zg=X?&xiS{sBm9YnTep#OtUl$fE*~T5mFNQNK{EYc#Y`0qyd#4SHG=dcfft9akuB)} ziPwl&@svgctzD;?>`V$8SN-613Z*+4mAW#LN?(>0)z;W3uk|?~4W)#-e@|#kBvqvA z!%+;4i)HBZ6`OwFtD!v&Z7GCih^gpojEEs4SGB=rAPpbGBgAkY0_s2nSK*F=7T2mg zimPt{-{Tv_H*S{ROA2{?$BpWjb?8;(ubz*dl3xh&FpQ9c!^S1&-!)zxss-bN2Lh=(hhO z`nk&A6e_hc#GNm6UOk@iJIGaIH1jVv7W2IclbXC$vB`AIw(tqp^cWyy{1M;d39Hu0 z;e0Rsx+c=z1|C7UQAx&^(8PlWNKVwpqL5Q_u0iE7MP|DyPNij1IIRcYW{q-7<+O>#}@ z_C7rX!RhtYKTSntx)}!M*zPjs%@tkX5711%x=k*wOf9}wBPXH+j(#j$U851(jRRlX zz92|JXAcJ_Zf(rY)CzK9`tzHhlObwpE3KY6tG^o@9GZR?UtFi?-8&L5W7QH6WqCqi zZ`JuxKcJtjx;U$p69vUIvLZBF+$5eaChiK@u)1`J5ehVCC?8c7ED2_WDV}VJ)~8S3 zmdyk(7?^h!9Pt9Qz`^bv-2Y_Z@_8UNQr){Rt^{gd9L6-p@^9EeODR?Km3V+3iDfCqpGJxoYyl1 z$UpV_q)M+m5#*AWrpcV@Lx&`$Hi9j24=E2)nMtXdG@%o2akL5rC!tVOb+#Y`H~LgQ zHAi7e`Vt@#IeB%esJSq>qYXp|1)IXB{l!T?9Urn>B&y+#Myy=?dQ#EVoOoqh`R7HO z5%lB__E(Ml@XVwQ?piHwv~|z6at1;3%T~#}AT**!%d`aIqRT53V&zD?cp4Cu_$}@Y zsXkPpm>8x9Q<^BSk~A}{;%>~#qQ2nGk%o9bvYNPn?a+S)V)3gANE~jM`PtNyF>62H zHQmw+E$NOMPi8IHiBy$XNODS_9W{0(9(+r{5V$CVNpOQ(ngJ1=M+QRk%-72e6$@|x zB~1>nT60W;Ihw)rF1MaLANagd{W4-#;Hz?cc5byre9f9coWiBF{hfr96ohimnGeFA zL8YP*2R_dDOKc5%XP3a`;oIQET1r_%3ZA|Rnm+wkymu=9^fG1Rwjf4;6`==kuH10FS`($Ey!CvEwwVq8^uTE zTjoh||91J_+=*@sQuQ+_e0ngY-0jaL_LQ{PT1ypdFdteulv&4(udzYM50JT_TN$G6 zgs8V}h~Ml5j0{t=n$$@<0Mp4#ql(T-=f2Oi05bZxy+7XVb&+9Rw6;5U=1h@Z*?E+? z*D7d+YNW2VM%S#+%eqm%6~3c!W$kKGT~fP3$2eCmbJI8G&IDKao}EA zzH@1`$HrQ)+bLr!wr9lacHJr7SshX}MJxG;oJpK5m4b3A%pGR3f1e*_@76hZjgl!~ ze5;P{$HaPAO$%j#L+y=@cDAY<&#Wi75_fVIYq z4p-VNpjE*fS@@^B9pv0eh_O-G1PSea|0q$+fEU9XsxBvzjnX_v#s<;N5MqfwaPo*W zsLsbwvgzgUw~w*@4rzrUdZtmdfPp`pW7CYu)vJp2F8w$r#M8{t5LvfL-iuaLo_#HH z#sD!B;?VLLq3OjWoTus1u&VzN5|@N4>yt4nOYrF0b$x>b;|13kB--0!WTrBHF>{h)u@ zLk^30O*b8t)(ypWfg#UJH5Bj$%bAnvmZ|7jcP7{Jj>~!CzRe7^HEX@R3qj(J*S2fj zba2pTZpODJI*1#354Hmzvz@oD*0wN4hWOhZ!^7OX&vBVfyt~^CedO?mvVZTq97Xu7 zH;bl?KE!U~nnCY2a#b6GzhN;3ju!(gH)h*QQ02z6nV-GfeMo(yjGXiDOzh5|q>Z+A zhBWmRD}0e`4HdRXjeRbzLAggmA}@ztAH5iJzCB@ysD5n@xlN6%Dlh4bjj!!>24uhb z=ZBlW6`GAzJY#26dkEhc*d_70-i&jXkCDeM*B3oX!Pa>WNq(*;U z@49RcjOwPiowYOLOet#gkvAD425*pTD);HkQGyLo{(bfux;UCnTT2}zW`?LQac9!7 zhDLsYQX5{S7E$gnvX(?z!w6!ETuqX`8gA~)LM!gP2i=3R##i$sGFPixHIvy=Ule2i znYk)AQLXeed`-5Ik^XimCX&I@xPHg84RU_0Tn zoV5UT5YGGgk*GE!owHDXC!xDuzWgllEb7KPb)j(Sh)_6ADHFv=Z9HZk)KGKw^S^i1qRc4U*!d-zC|?BI3E((_rpedp$mhaufBUf z*H#@LczS}62swQeNs1j7tH0!6u3-(`KWI@)$9#!oDMb4PJ#+|&a`7pbmK;hORcLg( zbXmOqe*g37!~VmQYo}YXf>Ydw_w#G$-XI|4W1;JWt}7=!O0;aRPAw+(2UhSPw1m$0 zKkJXVFW>hJ*NSwBtI+3H?Bq8mUICvl!<=PORSff~j;hCNsykK#mlK&{HWD%v#C6)L z*IcjylAu3s%BIpB-0{10Op9&!m#B1jYQd9e&u%_;+Wv-QS0vw&wd z?}(1YC>XW#d3J65lJ?FUdJ|9hp*HwYf6mL_5;vT@!=-;@UFK>3HRAorU98w$4begE zEdH@f*&554+L(KFdjpaM*V1eHXgCAH#Ff3GQ9k~bGPQRVm6>+j#7#0n2Gi`D``8)`vM-t&4q}_ZKq&aLX*Y+w3!?TE zZy0m@l+h4w(Ot7n#zM!a(U+Cd@Xq-F5!yykz!7IH=0O`qig@eD9-rHh7(fN~`n%hB z`da|^wc3q@;cBvkKpJ|_hwObjHxRqYDDqDO(S<%0cFtu?Y(F9}<*A`vKJEpj*+lLN zTRTDxTV6dqZy_o0=$t>iE=r3-?STR@;0w%Ck^GL?>7$IgDuEHdvzxno5I#sndB|;m z5<(tQVz{04wAOVcp@(Czd;o>|D3sFX^N@VM3U_7e_6QUWN2d}7x(h5DXO;nFSVt8& zGydv>VH}j=ExXeps!{-*PWpR?t`w!XQB?^elm>6gWvwWZ@9Y4U}Yr z@FGKzjq+8Nlf=4kSm}O#DX_bZ2{pfE^CV^IjfWC27S^k>5 zO;Ei=jMUixe~9>_hV!ywO26I&@26}8mY7O4OLH4;^-viCn_+qJ1Iu>NSXS-@9Wyd!Fwu;3s=xUvMZc-1DYn0E{+ z>8Z?m&3>+V)6?*-gIj*eA@9Q7X9{;-tlI?PL1}muUMXyAq4D(==A<5STC!yT^#TCE zo8!$w;wNoJfWKE^+@SQ)5u_Hyn?7;Jtg!CPlIE#K;GFXs;I;MNnd8Wh+BDx zAcfvcnrHBCltyw8Hp{~gDzawM3l$=L){Q-ylkO^7oZa63N zF|@6F@V@!gqC?Mo-F#gR^uRUWwie*zOSbO3ubl?s6WJ)#KsZOpX$QFrrzr+qRk!s| z3*{hF7w}J%GD`I>E88blgk7w6ZV3V)xUn&DZnh(>ZEEwXQ|&wl4@poibeTosNJMSl&QG0(?13 zuOI?o=@`3h+37%jMQdCy?Q&237T%rNdxKB>*iOp=#AyGcs>B|16?TMaAoq4n$zxZTu!q>9C1IJ|W`W zc38n?o->$nrb#`T^0Vt-Zqe%6&PO8frI;YOOh|gdOo6WByEBJz-TJg^)One6>9~%Y zbD41S9t&%uW|EeVyo7S8$Z#_HhF+s7O1)gw^{f$*j^GC!_z}5snR+E(Etfy~B&uTd zN`Io+3Vd&Oa6@#OlrizPSi$VIRFE+zqTkhy~Wo zQqg4~kgE0UGx`JZQ?aw(5uf^c8@-$r=-XS>7<8KY>b5?hHM3b0!aB*=D~;*aOI`fta}cApt@%@PGGj`GwSNC`#mArgN^%ja6)#wcZL+II<*cZgH$`Zx9EQHGtrQtwkcHyl^DTIvO7^H@h~`? z+AvBnSDs*7=*wS3szVr#v1I${!@&#a-KS9$+{I{p(9>(IH9hqP!`V9O;MEL zs@F|i6JA-v_4zdYNH;@y6b>VhS-4FoYby`2+4cLvsOs$yDjm}-)Yx}})Xfb%BV0F~xN zbMk(~QB>%OIV&#Tg?>xIakX4FW$X>xSskoueSRQW-%bkuNtsr(g;WteZi$iXORHjg zv*XK^6Ln1E)zRhq>B1hm`||_*zk4DnLzcY6LIMD2$o^l<^O!g|{_Ba9Wv#fuiR#z$ zK*jtvyEgr&-=m=j)gcsGe}a|-26Agl|C*kZVRvJ2Y*ohmrbbuXM|xi`y|7k}GaDXB z{N(g>Zf-7q^xAf3gy?n(n#dRNvI)LXqZb-1F%NI^y2<2jiq-aOd3zmavrQl7b5AD{ zV$Q-Au+|eyW~;7c1?teUf~WNXOt;3SWNwMg^$^b0b@~`;>!Z)k!Iw4sQw_?ZiLS*O z|A&Ylf)CZ$ms;iZ*z<+#do`9weYF`s4+uX1+l+wJk}s4&PZLBTD)s!EB|R#3lb;(> z(;C`=78P13aP}by6#}2H))=r*7r$Di(DTc*f`+SmQO1e;^KfVTYa_brwgJn>x+%R$ z&FmDG^uT=kAuusgr^nI9`PTfWvqw!O^KBH*y`TBedOS56z}!UA8QCPHX@)p#dja9h3Q2_z&{m+HIq`ir!}ueFvg8XFw5lZNgUf8y*#4{o!yVDy9BmjS}y zjr}1o?Ptp4hXI9sMTK%O>E$E49FdA#gYqU?l&kE?rSXkY>TEHs{^kr&Mmk+hru&9CDSJ1PWX*Cu;fbm|p4EU85H!9qji_tKt^Zx6K|rcAN?Gx5JIdM97xnIn@% z@n-q5=6Q>}{_1m2kF&**Ct|m6W{DpREcD#1^-KTy&2Ipu!W$F0RKRwfItq^DEf6WY%5) zJa2$@M6(Yg4e@whQ<_^_@QuvMl)7mXhQ zY55q6jO`lYi{dYOKZmfTx~r-XVdJk+0VJUPP8e(1uwjqD*ihxYK)=O1>K7?uz=rL6Eh6 zOXN&Q!GTcFR8<<*0_9gX;B{ys+xU`ZK!t-q)DVZ9T_UMZs}zvyI3jlvdHrIfpc~dY)6xA(S?*#)IEz6jp%T>Y5jfdW`eYaCKOx37HL&!1x9zFBOy9GW^4esgH6O^v2^CCI6;b(qL8 z>RI7Ptii&j?h@tGr$8txMft~qK+71CBqY{5bRi@xwaFP;kP!b6>qVVOz$XSbS zl~D4TE@Mp=W~HgHlP?9x8!(YHlvI|P?6R^1C?gGN@nww1r@L)L5UM!h+oag~l1tD?ev7{*Y!7DHFnZ-bOL3$qTS5wWa+)WO14L`fB3vdZJ_F^+3m= zV%!G~KS*;on=8j>kq*CYFn8Ptt;Q){0W#Sg{6?f60e;LyG{<6?x?8!W9=?~cI$01B z{x}W-#Oz7rnM@}7{@VL1-9P@#OUV(Ko^&}26^6{-CeS?ZJp;l;=e^PFc#=V#tBvGx z(CTkrI#z!o!UVQLXbeTO381SCO=Egi#~aPWNCDO58|wL-H0M=ezb<$8R3~Tk*iwVuNT>Qf0h+W?>j!(K z<54hZJjSw107C=Iuz3p;jt=%RY?s59^rxgZq?UcQfiw+Mb^JgcA2PhCFcwhh)PqTb z*`S4pYK}w^aaYQBV!^GGNbgq>iF zU`!2b-$gN+Ew!N3;z~uU!A&Kbi8;N|7QFw@p&!yD8qA|$$q4J zLbwVQQ$e%YAM5H)*5Y88(d4_@cTYzGc&A1B!beih&S&k7byo+FgV}r__>4{G-ptK3 z44aSC1oJ@=OHynYZ7&~EqA*6_6S%Ny{uO;jOkWgO1q!1-me7w6036jrrA6qHZ6P2uX>D20DQr9NDj(g%AeEV4* zo-6Ff*dC|qZ+Cmj9Vb~y4-*SzOA1^ig&lG)l`pZO9GCVaOLrR@`5}a*0E~x&{*whn z)yqx^4ODRUnHoxOxBJs77gRP*IeMk5@EoH{D#Q?F6`Duy?lGl0_c8}@cfE(GN)@j* zg{96PU%4j2>Ks~QDv63~U|q^bV#f>pg_J+sjNbpmmbS9@JttgTA9s+OTfYB~jDVut zgB03do9izi007+oZzp7HeM2*IoBulQXD4V|2GS#k+RtJJ zE*6S{jU@EY;YCPFA+G zU8hI>+Sb)?)6E+MMC6OJ&<+U^g4S52w9Y7ohlv)mI$Wjs{8;l3igWWP(0{Y{o@t9c zfWdpQ2iazj6p#>s=Rt?pL!4C>V#sL`MaJw_)4p78=)!Gi2 zt|?vuIFEfVrV%aJ`r)yfqN|Mk)4k^>>3Ps6<_jywR`K5ZIe`lA<*`oT-5cR_f8pmiIrGOq)UaUDs&7^cq#pE4%P7iuszAt(= z=#u>4_K*PIfwE3y_A(=ozXx`y3TQBkbdMsnIFB(5Gq-@0e8#Bn{UoZ2J}_o$`c{*o zF()F@ux=*J&j~cbD$ZQ_j6O$H?`gZfUG$p{yx@w43YFuEW;j%Z8iG3xV|To)7Kv!R zmC`E1vUcaBO(l#eo9yj4{hj%O@&f36*@KQa-xJKdf^W|iJU^MI%TO-^ip-D6*hE=K zhmj<4fg0O1uhbh(f_wBD+U+R;>V>#nUp@2pWkdhU%RAwYk^nflrD5sUF%impUgE%p zNhW%n@@AItB<7m2McsX|GeK`rC!jG3D$a-okq^`9uj#9#hy29?jTWQvZ{O8znm!%> zCa2l~mFK%3=>L7a_o-HBJjYto)w3v!n*anW$80|PS8?sE=k%8K zFv77&1&bZ%e-(BXV09%)!^R0N!QCOaThQR{?(XjH?oM!bcXxMphv04W%12@ zAsBN;@QzQocwy_0JA%S-xfSR5?^qZh7)z?S7aXwg$!=4L!PN_Z_e4Qe0#L?c-S0(j zh$g}ZU+JkIS9(Pw&>lB;fc=bbbw6ouc=)~Lc6Hb<2MnH z{dTA8xQ?O-#YGtUW}6UG=8TDc-P+1^kn9;h8WN$;M%{;e%ioKa$h3*A zknoz!co0YSoP`j#eP$UYLl&XM2;g7vD)Gu;N2~4!Hk7n8e1#QtUB^zw*i)oq4 zkOL78VsG5DOj1NQ(iXgGXV>zuqf2v(h=8*&?|>^mM}eP(?+%G1Bge1j=9QM8VFnRJJf+IMDkyV$6%&^C{C))q?z11~@e0(! z`{^kElvMSMzxED})Q+an&XPc-g|oZTu&UERXxpkDHC?(tt1IY4n{qL_W#Q{_su?si zS|kM?D?f`CcXJgcMkswT+X~L4u7gs56%Ewrx^FeQ4$$p2lIitq!qI+OiCadR-#v&H zuAi)y$cH#`5>*MC{*15M8GOh0siik@i2S-sW07oD+k8pBS(Lz>N_mt-6=pszcvc{B zx0>7{TWwyTdLSNSm}N;!_Xo2Y>GV+S9H3et9+TK7iYexd&1;8VHSA?BI_mZhT|W3N z942J4q-t?Y>hu(a1-`;DoCJ|fL*FammT5u?U~1Z4pvc@G>Zm8b%Zytk5>X$EW$<+0 zkiaBx8Fz1fTB8DnPn*o!dkZzzW95!0(tAxkH0vm--Sl9H$v0EvlH7~f^~g44rgpy0 zB+3+;FBVh0bxw9~<}SjgG1b1HtIeP|j?ky$$X6SPHxPeWm+XAN**MzDw(NF6GafWY z(?4c5wrg*5-0+c3p6XXPEZcXtiUY50d!nay5NcSn^#5Rnlu1XkQ3jl;aF|}w!tQBn z<3d890&{#zB!LiDZPJ2(5EhFGF;3W3emj2OQ_D}#&M4@ z-9Led*v(5BvZt!qwQ5`6GkDpJR>jAAtm-c)7N3=l(9v1AegSj`mVg!))U2*J?S82W zqTE~+HGFGm5wEfwVl=+C(A-(0YB+(mO;heery;QZl<1%=YsHhO0H&&CrfkB1+2wAV z%u~%xa{lqNP@IrRg#Y2gyd@f1MRk4Al%>y6Ws9o`ua|WFTPRCQvvh=uwUUnqXZFK8 zS$h`efcTmvH3R2V!&#}V<4vgu z*ku+qTMwaLS+jsR(|pC*fND;bX`_PF;yktWVm;5mM+fO3a@% zKRN*;lte553(XOK@z3?h7i`7b6I4<-Nh=9)737|LXN%8TL86J-Hf^-}hCp7Xepwx+ zpCW={ASGA`X(w1-WkJ}6qLh?cHi|rvFCI!(HW$E}7u1ez^jYSHN>8aQ>v<-4J{T3G z1fB{BMYZ=Ss*zDEyj&i0alED`imH7sLpctQ666d`AjFuqE?oob257|Y z!kI2p;Msy5mxp9l>!UG)3rviBsMk^zg5hu)au?QXtS6($iDDTZNV74LlD>WF%!WPv z{6iy^ZJ}&Zix$krgr2E1MR8Go8bCSH1}9h1?(ryojwJE)JioJgaODB|keIo-WY~IqVcUMkB%5pRA@PG;bqW6je2(HXa&o z2~LG>orp)MSx7e#MdHBN^-hYBA6Ig$Ea+`Sr;S_C#t~i15l(9_$0um>by|V z^>$D{zWsW?*v;$xc768q?OY~B=S^vt!c+!!!7d&L6Jz|tS0=1;*2PF#-lzU=<2p+n zk&M;)U;)uc$kzQ)Mh9t3Se9r@k*6)p9c2yk43yot&v0FgXI?o{a&yYZs!C^r-zgPk^YQDw$70IdXfS!VC3oujk2>$%sFd*jJYB z)^L7o7MJhhDDAyUJxqo?m24%Pi>F z>bt3$SOMrXmxXfYtAk28;e=2iF%nYs`}?NF>YnE z&WiZnrK8uPv#!L|i5?c>EZq#GhQ$ondlv(C&{#gd>EMLa>iw;RExj&UM9xf}fL|M9 z%b|GxW+P5f#`~#jQ}Vl8T4lnc#H&e zqoa!ljBD5PCqi|R_E#$NtGv}6DGApBK|2xC$++(x*Ux24ZCN|SI*0llclAnd9vrz{ zr_;SR^_QM%iONT#tm-i9qZb!fHTewLc+Q@j={HKX2c4MHN8QzzU9YI$xHg4PmQP?k z(J>v9u07lkRXh35tZLPUb*dxM(bQk^osZk4>RvfZc~VlPi;u2o#cs@)1jd+XyO5To zixFLIw&>T>l6@%DTE**}K04HliPoolEPnOBAf}Cae-UWgJ8>LZ!TWwT_KL_()%7&N z#+cQ!*jw8P5q*Ye%hmj|y?pK(R=C#_d)rCZoio)NyU{m1?Wk0D?U4S`d6h_f{thsq zi_b9c3tk@f2?$kTC>6TWAo@Pb2F(uLtYlosRy_v~e4$y9UCSZkC#sxxauIGu6THa` zm)D2V;>&f)jI9z^=+qPw+?;5LlF2mRHC9Yn5%2|k7{{&NQjNQ&b+Co|5noCbFM8+2 zZVi#ut9=AV(*UxvXdz)1*<83``A@;D3pq|XLT9n20;p>Y6F-fDgp$=bA#6LykZ`ia z1NlaQJm8rKmzdjhju5m8y5P-L0vC-GRY7&a93$mfFg;Mo&mvub&#rqK(`VY?G1Z;$ zB4;X;5*j|}7L9{1TM*;OBEc`V(tl}68yNg?YPe)!v_x#gs#r#iO{gR1`5=dql;YLG ziFA`ehR>BU79#se-!d>bpGfl`(N5#cnd;$=Zd>dtmoO)v_}B*9kSP~($QOs5m+MJQ5z&7AB`#lO~|uEnCL z*CaN=M#@%c#ou9J0cl;(h>tYgG>yQ))Fggmi$tu#y6AvWRR8EUQ zs0m^zW6%phv-VaLEcD&Hr_1po9~W@eN~fh~38{jDV10+NZU>~OXoY`{mJd)EW+ zO9FAVyUdP)BU`4{Q653tCdoEgNGVzPhZI6z*@2$?fFA$42|6~#^D=_Q5e$MMb%Jj$ z^J>oRBi0cZ!?zal190>>%RD#^UF#$W8hA%OBviDQA0_gq_l}MGw^3J}YRl`~lL>;W zx9Rq8Dxfz*Y#3z9A?>;HAJ3l0i3d^!?~ATId6ltbJv5alU}j-0U7b^}?)1dp&YRrt ze}Sfkq1 z>v8PI2*r|{{4dfKGtQ?Xff=d=%|b)vJf@ficH~0WA7z@)*vH1x3Xn$oW1O5PfwRlRP}kEh?M4I?g?bi!3Nh0Gczw~Q^{ zdBni$y1RZnPP={`sC{fa=KWT$1X@hld$P2qc&F}R(5zP!1K%sJQaycMMD4q2BI4B3 z*!=#!8rR6F@X#ZQc~`LY9lZ67Qt3#gYH2vd@BMX7e(6bc@wK1|4?3`_dI4S%kgxe6 zX)C%u(Sv@3XEWh>4UJk$rm;dbI~QV2Kyj9%oJ*)lDr;drAEfMzzR^yOLo<62Vy$1b zXsd^FU#UFohq)+f~lo!(y@qK z5yg4;r<~=5`_Eh)Gk6qCcTIo9C6+Y(%?zlyzCd4yJ#t7lds^n+fQu_Kx|PHXXsUC1wMR4y%%pZMKV;D!ox z9nt0<+*j^b*zsPxz(s&z}Jd^2|U3b+Z%sbU+6Pd9O6 z`r!F8$m#8{0%ScI=ZxgUy#lwW>cfKK2i~3+kj)lx>99ejQ;gnmksCL zR*R`#)Lg>&qSu(4ss6(!apTNhV=utF&tk?Q#rC?!XnIhimh>x@rp9Pyo+S0Vwp}$7 z=W~Kan21T33aumx4CDCLE0N`z@#TX1j2ktW8g9%Q3<0v~vq>Uzs0RIJ@n4aWMUazC z$%3(2^QmJBsE2|b(3ps6Vn}F=u`yWlY0kevt^TlWGc+Cu>Vzl6ybtCzpf{k6F{A}# z$ob`s@9r7KL@JC2hX5;AM;9p5;kDQy2nH>(?vN(Ws3uVVI1u21^EYGw&k2O-ux|@J z4tAX$Ae4h1o$p96+|m{OAti6QwaRS|;kh%?<_{^i)dEj)q;?B?pv&c*I73cf6J5B= z8}oA!7dH1CBx7dCD3UxBJ0OLb$H`bc=RnQLTH;n}$c(T0BHuG_eTfe&;c?Vp7;OV^ z{jk`b%fDf8-0wwk*c;}KjNmF9ynSZk-uOVCx-YyG9=XmkSlJOb9}rXH&*5ppC|G`SWlcEqt@cx z;}aFHBzH${rfy!rm=5pME~AV1l9Qt1fJWzTDI~%nm}|lLH#JK%E4=4m;Y&3nEMNHW zU;kn~@jbIQN73WcWZ|HhwP|A#h|N_)d!6&FiI;W` z77s5@TB0_4eJ-ka_BT$-sxr{>Y|7bXF*GlhgJSlR9-M-kNW1zkySG2=^|A8#fA%!g zT7+}Mfgh>isSpslEZf$?0fo^u={x}ha2y&+{K~x!Q#t0#U8-R<4xT9sag~?EA;SEP zItxW19%DEGs>cepoqdkY#Nx?x<=E zJs12jPtek;MoQ)}Xf(N#!d2o#BQZ}FqXV)-7gw9ifV1dN`PJmvbta!*_y#qn7l;R+ZPQ|@x4 z0CST?>Xa|lV`d`PAGz3tBH7cd)oLc;5NBwA31`6+L|K2^F&~%t5N5N}>;I*k6NM^R zl`+jC0_&EAdRNq*uLn7rcw9>2qj!I+`(4FOk{&UgIA2Ltn>|vYAk=zQULUJcwV;^dD1r9o&$%TY$KPjTrL&}-#)UD; zn0yFcTZVXNcJSNytg7(OvGgcJ;q_=n-Js)NG_ICGz^p3I+oP<5Vq&6Y%qjYuE`Tnv zD5tSS_2ROnF}`Cp5wH6dPb@V9@LExL&@DMud&{!h7l-UcVIjI#hd2zbE>U?bGPhQ%4c+ORb(Jzcdw( ztSWo0*U#qJyeOAku21RAHakh5dOWax{&~6mbKzYJsKAyH5kEke2mhUMO)f0zBvG!d zNM20Q_+F$>erL&QC=jOpXw}=-vf842X&aVsw7;jG8j`cFBf4b3yPZ&sUkKH?5(pGL znBHbZ7}7-xd%Xq;VDO$s|d@6e7BZ=HqZnB5bU12Z-_`}O7~7i_gWgH};( zWv{En^_`aOwX5cm;sdX8V4k-7BuJ^6}ePKBEnupKeEl7+N!$`WkSJi~Ar% z4PNsfK!7EH985z6U78ylOm`r7(FnWT@dRBD~t$RdSa(Kb;>qu{}DW9~K zG%knW^m%}L5%P{=w7`EPl1*KG5tHl-aKsT|*2xMw6Bi%8y|<*LPFjGK8HyU{b>)c` ziZ0p4E zs~1qcKGl|l)J~VLAZ~7IpN5Tu!}O`&33lV_wY*dFc>;knpIxQqbrg4hpVaaiL>%WD1TkM`b7_;jEp^u5T_DBl|pe} z8CXH{34QE`Kw{%K{9>pwK)I_NHp&)xSvYMI4N5wSSDEJR9s~_`ZRu~DBgBN)jH~9r z)qYr`5-3{+l}~T>L+?quUt_I}^=Chgcd(<<=NrQ|!(D<`=d_ZFa*0(p25x!4@aGpl zRcA!BVxC!!i$&*34vftkriq_jjm7(pc2b*s(~}_OB>*e1Bq0Dc*^C0dUJ&bi5V}-H zyk&{zY*C+aXPm?}J6F-j1zmh%uwSBI->vd?@hJ26=Xek-ZNgE&4#b83Qxp9WL#bu~ zc#i+g8%$WzQv)YP6Yky=7QyNa1Zrn6;05%XCOT0q5p+*n0B9oO(vYN7cYq>7fI|#O z7Tt0{nC|Q-kkQ^AjJwCJCn-2kgrtMj>LRRcqt9zg^xpAs>Gs8N7P@T9irM z;6gD}{0t5!J0^0nPd7XjNA~V#)Al;=`@WnoyT^a&=}(1I(9wO>7waRUu3_N=pCNr| z8w*wb5i37-z3A+2-#X^GqkCK5i>tSsx+kXHyNH=bgkStC4@6O?34LTe1<7{us+3u^ zr=qhL_UukN8E;Uof|qbpVxha(Tu>E_NrD3I7Xfro^Ljc{WHc}kUD2(_5K{FXn#}5e zPD82*KfHjsN71#500V_yAR2m0Q+%`7{2JV?nl(P(Hx(E?8_RoO7h$n@BKh8RFFM&Y z8VW5!WJnw{+5@;{8-6H1kRy8mpHO8juEu42xx_0MVSHXP_NnjU?{4_)SJd264i}ueHIh0(mhGpg!_6Ex#lJ~OucJ3 zh14A{7f+k%D)aSUljScq9p#bq8WDjxLlI#tpEYA;D>y8b3YbzuB7OuDI{##t_Rbhb z57viIs|Awaxn<~!6yB8@Llj#|96T)Xi!_<9KXL07oX-%_=S;WY=A^^;21V@^f$S-) z;<=H2QgtRNEaOW~A@r2L_E`RqeaNo8x5Gu;8yR@wF#)*q#Ml#kiW*E<77W>pWrr46 z8RW`bt`)vY!mjo+$CzRa#1x#SKR_7XV`XO6Ss~N)<7qM8@%Hc){H=*P+)46g4d#AE z5r8P6tcHlh!3m<(3aY0(4cJ5wnZAbS>)73PM-f+rOJRP=quCd-r7WnAKs)+j8n*~u zbCK5pl(mUPbH8KSx}hIzIQZ#XcOjJW1kx6Ahx!bDA2g}g{mD}m^6n%qy7fo&nsk_D zL?eRYKGZPKo+Wt+)Y}WiA6QCDgyG1>$YkpuHg&8WDA+>pc5_0%$A|2lMZ;8w!PFc6lp(KZtas7OIKf-^}sva?qcEgF}y7qJT)xUG)Esjas+%<=% zP_vF*i5$=l9ncQw1>)du!&ul``@AolckAt-N zI(0cm^bnD;*(0d1Mc!W3+Kp8mA$=#DJg|?Z`Cvt zeqv&2TT0@my;ok6NRL%1RV$s6Oqon!|2ELkc+43HeH%nrw+l$cpc41*Fo)A?=mTNR z&e(kxLLF79vM4a0Rp9K1L39ZrOq-Ub_~hU`1uZe(qn?7RVz%YLQ9X-A_7Ot)s$g<8O+P$mm^nXer%d}-ikYnXomt)V#8Q` zOVnS*+k$(eKB9f(&;9wf5D)GdmGh8cd?GRUBGyM}kCzp4@a=neWy7qoIcx2+OpHM3oQ;hKVjBo5QCA$(s!8`>Dd(*+ox7!Z!3B zz2sWTp@!q$wvXQcxdEGFMF<-Q#R|w-Y|Bic!+?#dE5xqc&6xI)d?>yw(6y!|O1=&O zsp_E`^89O&BcEUPp@&y%r)vWP0*XfcAI~Gq48Mm~sA~MC1%3;y zK%qtm`glg$8m2|!RF5fv-G48y+fPrAZ1u5GG$qge>4CU3VlgzC+Q!rutU>6y{YOTA zzowUK7~9&%0w^Nal5}*y_7phrA9fdIWmd1bW_Tl|s}8H70vR z17V$h>>y1%d4iv3*$bW`-_N!FoJ^anc%K~)_6>fG)@2&rJ&hcqN-4BDzOxwVKyZ2z zq=U|Gk&6d8gWgwytbLjTyFDx_XaA=WYYd(e4?Ew`q#r>gQDpuGzS+E`tN z-f;oR^j^{eu2;R?HH<2Xz_6i_)sykNZ?J+Nb_#B1N*Y^?;_J-rwftdADj0{aG=@Jk)Ka zdKdDbA?ioH8D>}*%G1zCpB8UYD`LhcQfpkg^ipjO%BEuR)jD7Og}gMg*p3iQQ0~*h zHu-`%>S=0T-m15Z0}jKrzi_Vfk;*U$iE9@`-mC1E6i|man=c-bGyiP3ZeM*^7h0J> z9o1p))v!famk?exDN);#Yh`av{pq$WSha$%U?DvA;YD5`)#ri44rX+3!Q(LEq-5A= z1Td8b1fCdB8FvHbVZYP6O=L*dbZE-U=a7+CC1#tau_PQ5Xs!HQn7WQULA3x-@x;>$ z4^8Y_k0mguxje`+xk_X1?d@U0Gw>v8(H z3rz`f^w;juZO!fO%POKUoFn`6G#~OW4Ub=SGZfGVWx%%h$+t+ zr5JLjD8LSMiq)}V(MgAs?E#0cXP?)_pAF#Lupbz9RS~`iZ2L1D#uz;mEZBw6Zv+&M zfn(WsYrZ5FoOkX$B@$$ys$^LV6%O5Hw3kIhq0Es!vfu zoj3<8GS#=Q;b%%cbA(i2LB>qo1~GPlROqZ^q_4iSoy_6V6iHHT-S&RySJLWdQnnu7 zecq&z-4MBXWYy^D_^w-qoZyE^qigL#ujG)tiqRk#zluAd$O8A3xg30w9mL8;$v&gM zOrBKNhN7Fl%3^sM*+RwQbfc2eMNNS!z45zcxihU>_=9qx`H}(A3W9e|)JufacrM4- znDZjtd;2rp-;LjL%&EjPP#_>Rr2jGOv9SC;4WnvhvnGo8K2=?Vqs2qoOSh5=p;?%# z6c-NxyezJgSr*0JQ+7|QRgHap`B~dCNB5jhCW#Uk+4Lea^Xt(S&%Rn)b&6eq7i665 zlzW?-(J@wyZ%E>#yE|oZO4j?DjpOiiSm26{sk%#v7XicV?Pom1uyV(rH-#R#MmqD1 z6)=@ntv{X9`?Die&O{JJnc1pf?^tFlvDqZZi^;dw4D*c_G?Bdqwtlpf&`5p@T)vEto&v|Y5gHyKm) z#F97cj0jp5>FJm%v(m4FchTJV;0b>C@<2C9DT~}p>tSB@&JQwRq}y1zT{!qjilNxw(m(& zo9!OGoMY1^Zl-CUS*!ixYh@jdXh*2-mwIXl%V*>%VR~>sY#ivhXZnvoVPsEFtJjC_ zf?vc{>xyR9i)BZ^o|xhqk*Az7zN3I?D1m9#UDbL6Nk8s=;dM>@$RxL3G~WoUc-s)B!{%vdNwoQmT+V8 zWsBCeH8y%PKRF^?Vfedzf`Nz}g9>H$NOnL}G*{>~pb<`)UE9tbq?+xYwWx1^-XtNf z#G{Auk2@|H6d?LR#_4KjDX9#SAOO7miL2A-fWaS8XoNM9&4q(k8tG|X**;ct+@)6? zDRUlG&qWbRkh?(pxg1lqs*+=emG_Qr+Ui(<@m4*}~{OuB} z_|j*d^*W{M1k1@rt9*Vn+f&t-Ab#I5ua0un%W;SR=el@e7!aCL^O4^q!>&M+3q6NC zuo5Y~JG7-9Lh}vn_MEck@rN{cfQ)Cr&~wnU5vSW*orbj6n|<{6w5@qWYx&XoJru8rKCy(0D)O=froa+Jn%3SGzHp_DZk zOjWEyf2Q_|&mfd;Se*y394HHsZ_0~GTAt$yG`c5cb}G$%-zyD;QM!vyA2>G{jvVz& z1AW1k(U071C^If(|4tDAT04P!FX;Q$G0(GK>Z!!IE%U=OnB{w9ok}{BC{jM9DpZvc zy`wY1O02@2_micE>uLK^%@<8hqxiA)fa*&YdFTsM_p2GUvq>^@u#O@R^k#}`N}G9;~m12YgXoh*-?IbO_Z z9>!>epMvv4xy~{2T)@rDUo@vc-m@K!Bo%zvnKj)OCwI562sXlLkzad|Qm&qZvVKlA zRJ9w!Pjq+gi&8B37EvUxIJR!Ut%tcis_N}Px)Ks?jJSUEjLFWzM;fLUItPE8xx?bO zql{1Om>B2~q|r&rRe_4qZg?%*A=?SApxD>VBoxR9MKMLT29aFGj0z@`{b)f!IJwuD z5nLr0Xp&ZFy(2uKetY>zLl?qxnfeo~{jIho`ySD{z5%Yj0jC9P)8gQed2|r;DqD1M z7)FH7m3~CALuj!^*`ZU};rad(6i2@<){@v42Up+1-0DTcAj>+c6TV zzn+v@riLw36wjgrZhcYzCVde<-b8>YbUChEjL0I>^oP&8GQj zB*DM-$*a&Gr9<7!s^P;A%3S*~;utC>K8KWp33R+SSl}qEdCsxgBbB-);Kd4FO1Q;T&x>94XSw4DiIeF$sGtxe6wzamK_C zrrW7$c0&*G%4FecZXAJYNoPd~Lz?6x7>aF2%FJPYT4^3i;MI1c6M4mluATN)cYfRs zc&l%mT?9LFRIa&N$|8OD;F#mKnzU=nvutEuO-o0!xje2oXy*`5A=%5Xs%8tZifrxB znY}s)of^m7#CgtU*1}6ri!58aouwq}IIqLp(DZ!)_Kj59L`Qg!eET*1>Lt*|P;)wVHlt2w z#oT6S#d-Mkb0+xI99P+0knM=AGj;l>@u63wC%82&6zO`7$w%wB=C>0wHJmvAADNmc zmWr69LN(mykrzKG)aL><{?Fy?S<6C+Sbogc= z(>S7dXI1t0F>CEIb9#sFYVfe}(cHOujc4o+O&B)u9vH$_z{cM;U`yT*fZbE6NpiZ7 zWa$!z4mBVQ6jYHYPU-oW7=7}5z0=4Xd9+B}X!+qHbAtWASYYpR^d-Q{ZuZqr^yCDE zIEs@8n3?s%Yv}le*y(ei1?!=e9w6D2ph^wC5<1037LC;2?V^Cn)%!Pyz&~rlB?T$i z^J>LmCe;uzRdg-(of?2v_-dk7@I60g$$LnKH`bi!GT8!KYjM@U(ZUZ5L$d?LN$nh( zxfM1Ib7*lX$<7<%Dz-zGSVJmK15qO40lZ`Q=!(cTs%810sH?P)@`kPlVI~UUkRXQO zlpygxduE;l8H~2Jjfosa1HM$lebv+b@YR=Q$rYsTokDp`vs-9ElOmTsF;pMs1gSBJ z1m&(IsY^xh>vnUfITh*d%}O8t{>_R#Y$zoZg}Yz zl`FF?sfHN8T#Ww7r-Z_@<0@Sr?O|z^kBcj-G|pAPpGl_$xyAE}BXNf<+r)1^jn*9} zPhr1mY5^5FJ8jG%!d3Oo`c6< zN}Jod;xSiK+pctNkrVWB`YJGgb*f=ovT$)&$W5tn7dz?IU4U_w!P&3x6P0~d3dSqY z{pQ3VM(2of?vBzcrrL}Prxp*vNY`W?^XIIqB^Q2Zcidu~2U@21gUG|#&OA4erZ4qI ziX9QA!gZ@s%*0n5lk+VVO%M0hs3P?x>{5F#7nj@@1xZ~?mH{2H}&rFGK1=Z zzf!^+GVI2JjE`XBHFtkE>i4bp7gc>&MOLSp{n;s&z|YGj;x$$w7JbOycRbW_Rr%C? zLAcgVKyk< zhe|QItwy)IY8yHl%yWG^znr-jYYR1ov)n^R?soNdd3<&p#88SemVd#Za4u^Jiz1Qx z@kLp}UZGhK?FNTiqygyA8)I016y|Gi3th)(L>KyAGIxTt^&FtjNU`y9wjWC+XB$f0Um}|b8xB;8>b-2TU9`k zTlGf7$V}!8)h6%{uRx~WOeq?Jw~Tur-5{dhKF8ymoS*EQ$Hj5HN!AI1RW+pSTg|ed z1r}N6t(UZ<*a9VqZDXOTSgxY;ZYO60==kfZ0LgF`BIV@ z%I8QM)ZuZikq6KoHowSh)GrJhdW?YgWr{zUh#gkOuC>d55w$Clhce?-uuBY?p9xCW zf_59Prepa6v9>PpMHE3o%00N9sOkEUNS5YYab(adS-P5ts1eij@*@<#mxlQ~Tjn)I z%#feCb+P|7mWh<~#T`DOiIberh*?|l9tA=Lu)|hq2HVYGTgDnT$Cs(os({#e$HiVb zJYvvVvts+h3~c(tcrpIQNmD|KI*?L1Lrm*Y_OX7g9ygb4g(bm7R&OdfIf|t4nqAQe zxvW8u@9pcUfNqjVa#D$+v_4uc*eF-7v@W~Merll56Vx45VNtfo3QXmOyHU2pu<>HM zP@IX_x>nfH0a$9H!Swk{)%@v_6I`3pHSsa*)%r+Vkp`38m#p>Er5nJ>x(_Ap+oc`k z^T2C#^5bfO88naFFB?=ngT2FBZcj#jDn$4fFw(uMlT_y=m@1}{I zkVzE@p&W7ICsm=&c8;k1U%@a22LiQ%rSOxVc@%VXW;T=Aedf=z;rx(=|>NE9@S^~tVrXWEG)LT0rz7( z?#_MS%QO}KDOb3aUF1qr2md+g#C47B?{t`A#%zmpGwPMfxvQ>_10LLcD{;mq zF4E9VgQ$9i0f*i$Ui-$DcN1O9;PzgJSv6^U=m)@!LA*VaxfMzpE!B;f)(ZV93PJSP zZf};trptcRo!AN)dhPNVe$N&--eu=y!BlM zu}{e}RZ^Rc;aQj-0+9&dSR%)MC{#xIck?m}*x=s7P8JFJ2ZtCRJ9R>1>zo*GjH1DBRkd1KtsY#-+9!B8Z|X^7n7#t>j`e$*8k@PCnVg3M z?U;c8ktfGEDjcKMaduO<8L}nq@fUsQ)K-E7H)IuBPbvDaMRAdqH_^w;!&u$?ccd-c6NMerMA{Gi_Bf6OYVB=SBR_X-5px0tSw?{6RYGck z%ay)byjia;NdvXEA?b`VyT%ni#8TG4fe8;98|f;5F!=_LE-DttR26B`x{lbN(td3n z5F(5}0qa=Z657OXqH{uFF6Nk^^J7-3Gt=3v@xruFDNF}LuoHK>D1)8WvSzSlF~V_# z1uo9}@s=uy3bM2f*cAo}@foGSMgdOz=6H{>!aX=z{PZ=4+KMw{JbuWuK(il^j6pKG z6r!&`tk?ot(zkRe_@^&xxP@WD7_I4J?0qNW#>!z8T%A!1f01c@*i*0f&ClA`U)FJo z#NKSS0bI_DSU^A+e_iVBVrFe< zWn}~;x4^>rUe}U;10#Kn41ROtcQ6ptMK zoNURY*#WmcA7WluW{-~%LuPebcc~y z3$UMw<@e{_t<%3&*wHM*_A6Q*PoP!pZ{7%hrb1vHuTWk=8Mi8$!wi@(%$5jhBdjGl z@~dK&F|XovqMonJgq{@kk?1(mFdq1FO=A5LQ7d6l+`XuThihj>a~z+@6<6`&_@N?~ zMupZZy-m2MBbR>`zjPy;CaLibb_Sc=5oje@gCc;8c>BKcr3;^v6mnIj0w89vP!M|>n+W-9AnA~cvXi&e?2;|B|(hTftDBV^pxMmtR0C|bujnG%13T5U-QwKSf@Aem3D`nDt93}gs-8Y4%a z+CWaA&T*hLe#Ag24rxe~KR)M!4qwwI1Q5t6QFaG|+OfQ}If<59$EMU^j zeJGE&nNd;RKBGGy`TKU6G45O%mJkTk$7Qrq%IMk(TR+veUh=1kBj|I)#owepp1VmR zj(vTYkiKW;MV0x;;44>`l-}Q3$D2M1 zj*}2^REC`dQ#JDHD7krme>OgFo#*y%oW2{EK&Ova<&b>BjigYaJa@0J+aII+K5;2+ z<4A_rzmZRkq(zsZpsMP8c&DD=A$NDi(5`uZX*A73^6Dd+y{F#c2kX*0+FGWYP%{^r zYkel0Pykm5emRuxz2VQ6kKeb?&4C?jXX#0j8M`qsl;H?*z{;v=&p?oJg*n1S=5DC4 z0vJc8{;TEKn7MAe*uvgWvmh4&dfqPq9$n#F~ni!B9?*? zs_8g-;TttR;}zOVOQfu?6MPBNGarF4FCmT}tJ_m!9`JK0F@xz9l$Z#en2~I!d*YRl zk^|e1*I~xwN-e$#p+#%%3CKBR=g1Y>PU3)bhj-q@t{p6+|KRgT@go`{`F#gu#V7J(2{ma®7 z<-}9h`s5bZgwNRF7A`fOU1gAP?8HOfBJUAq8h?tn)zB`+=v+zdC4=QzjHoQ8wrr7Qc8M8PPY99iXzn$` zhtax00#+tAZ$vd~p;X9BtH_|;I^3Ypx-8yE-Lyj5vV*aMVcqiJJ^L9j-U9<>OHlx0 zJ0Qmd5FrrbGo9l%KynXZz=ENVfHS`xfIt6rXb9L?I~rL#>L|L|8aZhFHuV1rkR6%4 z^#)vl4~Urs%r5wJ~H)jFPZIZuT*a`6aIG9;E zS(;f}(EUNsx3n>^Ff`LMvDdTuO^Sac9=i%*v;j!O04nL@)z3{Wow8 zppjY`IqDheIqK0F*w`D%+S}L~**lsUIs8-eM&j5}nF0V505IIYfkfc`0CRb z;*?SV;KZ&;n-KN?CV9^1@qxc(>8{xk&<&7+j^c;-- z-SmI$n%Gh)krPTlKnof`KxqG>{_*QG;$NtarcPG+)_P`^w6@kJzcPwpY$eqJjX4_N zmBIX*WS@=yQnd;OrbdQNmPP`An)s&zmbSFU=m0Q334g7~39Em=2pO6=+SvaS$U@or zW)jc|J^}h0`rqU+bovWO-_X#=SkKAQ@gG~m8!!G8EMRn+0)YNrC}Z!xLVg*oe!VwF zCIOpkfcp}X_p2U zO=-Z9CIJ|O`vBwHZyvPYjz2hN0P+6A0gSx1re+3umSO;nU~jBv@Q>9sZ4v2z3;=Kd z2spo^{tde-`U}j;#?Z)8(9FOQ(5&_B-TtX~1vpnmfPbOARQ*NT|BuGT{!g;~nm+Y6@&2e1gvb9v`&Tm6Ut8O+ z`Mdt4Z2$xRS;2qG_80B-E9=(`Re!RCLI2A7yG!X``Ko?}{hBrCPuNfJ{|5VA|NRR4 zb=C8qut=o;0{deP^slgA7XkeV8^ij)VgJ&gzrucvd0nf&Jl^{}uMDv+_?^KGXjV`?pE( nEA7{5jX!C_ynmtnGRYw;0S>V7elsOWfv5mhL$lCteenMQR_c!Y literal 0 HcmV?d00001 diff --git a/quat_to_euler_error_transfer_matrix.m b/quat_to_euler_error_transfer_matrix.m new file mode 100644 index 0000000..ffcb87d --- /dev/null +++ b/quat_to_euler_error_transfer_matrix.m @@ -0,0 +1,38 @@ +function error_transfer_matrix = quat_to_euler_error_transfer_matrix(q0,q1,q2,q3) +%QUAT_TO_EULER_ERROR_TRANSFER_MATRIX +% ERROR_TRANSFER_MATRIX = QUAT_TO_EULER_ERROR_TRANSFER_MATRIX(Q0,Q1,Q2,Q3) + +% This function was generated by the Symbolic Math Toolbox version 6.2. +% 13-Jul-2017 08:41:41 + +t8 = q0.*q1.*2.0; +t9 = q2.*q3.*2.0; +t2 = t8+t9; +t4 = q0.^2; +t5 = q1.^2; +t6 = q2.^2; +t7 = q3.^2; +t3 = t4-t5-t6+t7; +t10 = t3.^2; +t11 = t2.^2; +t12 = t10+t11; +t13 = 1.0./t12; +t14 = 1.0./t3; +t15 = 1.0./t3.^2; +t17 = q0.*q2.*2.0; +t18 = q1.*q3.*2.0; +t16 = t17-t18; +t19 = t16.^2; +t20 = -t19+1.0; +t21 = 1.0./sqrt(t20); +t24 = q0.*q3.*2.0; +t25 = q1.*q2.*2.0; +t22 = t24+t25; +t23 = t4+t5-t6-t7; +t26 = t23.^2; +t27 = t22.^2; +t28 = t26+t27; +t29 = 1.0./t28; +t30 = 1.0./t23; +t31 = 1.0./t23.^2; +error_transfer_matrix = reshape([t10.*t13.*(q1.*t14.*2.0-q0.*t2.*t15.*2.0),q2.*t21.*2.0,t26.*t29.*(q3.*t30.*2.0-q0.*t22.*t31.*2.0),t10.*t13.*(q0.*t14.*2.0+q1.*t2.*t15.*2.0),q3.*t21.*-2.0,t26.*t29.*(q2.*t30.*2.0-q1.*t22.*t31.*2.0),t10.*t13.*(q3.*t14.*2.0+q2.*t2.*t15.*2.0),q0.*t21.*2.0,t26.*t29.*(q1.*t30.*2.0+q2.*t22.*t31.*2.0),t10.*t13.*(q2.*t14.*2.0-q3.*t2.*t15.*2.0),q1.*t21.*-2.0,t26.*t29.*(q0.*t30.*2.0+q3.*t22.*t31.*2.0)],[3, 4]);