From 3f4fa5ef18b162fc9b8a0aff7f292da53467dd41 Mon Sep 17 00:00:00 2001 From: pmusau17 Date: Tue, 18 May 2021 12:12:13 -0500 Subject: [PATCH] figure out how to check collisions property --- kinodynamic_rrt/KinodynamicRRT.png | Bin 0 -> 145205 bytes kinodynamic_rrt/README.md | 7 +- kinodynamic_rrt/kinodynamic_rrt.py | 41 +++++-- learning_ompl/planner_and_graph.py | 174 +++++++++++++++++++++++++++++ 4 files changed, 213 insertions(+), 9 deletions(-) create mode 100644 kinodynamic_rrt/KinodynamicRRT.png create mode 100644 learning_ompl/planner_and_graph.py diff --git a/kinodynamic_rrt/KinodynamicRRT.png b/kinodynamic_rrt/KinodynamicRRT.png new file mode 100644 index 0000000000000000000000000000000000000000..cec9b8d7dc537148c6dbd9219625bfa58fb9e6d1 GIT binary patch literal 145205 zcmeFZby$_%*ELFtfPjjGN~(a;h?JBP(xM>UBHi5$qN0RKm#BbrcXxMpNH=Uc&)moT>GN#eaBjJjXB1cbMgMgb1^)eTR12vD0mX$B627wSb``h=tq|? z!EfI2&lg=pbLHzXX$wP*71&Bt)LRa*SDH zuRio*Ulm%ye(;ly9dWk(QwVJtyUvb6EKu5M(JkJ{YcA@fk_q3x&g5cz9;#%^zE&2aAKtv?QyH@spIl>C(e@^m0WAZ<7@;__m z+W$bo|G?w5|DRLF9N9pYmf-Q;s#020#6vwC;($cOpqCT@4Ygk%$Q#?nTU4EK5(oGd z7Z=}}$oe_$SIV+I01j&y{W`z4=D+er#`V z@5{6pNF_qY!cPy;?TF?IQnRQCC1z69&QUJDI6rBd;H07Pi-;hNdSv7s6hxq;ZiRW9 z)AYX07!iYFcZG`sA3wiQ&v(o&KE#!yqa(ZAe=}-`e97Pe+P~S>xX-4GU+m4Bdm|$w zr@MW!?Qju=G{qdfHe$FplR479WZA_qHS?LIX!F#NvryX(jv>p=$&#cPh z)W#qsg*<~U{qbU}-Sx5X3k!?ay1GXT(H4$yZ1G0v>WVG@JU`vRxDA2BxD^%! z1%+K{Tpo}88YyC-L$^JGt-$^xiI!`~7dqMAJOf#LN&)o^d;7B3+vdey@Z9X?FMaQRcDy}mlC`}U@A1%XrT_bheDuk`{Nh2t z9~xn0Jf!8p57%Hrse6le_x}BN;hN6xWd+Z^@@|&rwVv2C=by1YJ>%i3^`v$Dd7y1Kfhl~u~7UQCk7P-c4+M*tS3 zYxba~{FKLq+slFEtSpO?F}K4R|8$MAFam)?Pc`!rOwTd%vQPHwqucH5UD>81x!=v2 z0?FI_NHm+3wA}pC(vApys;UH$W8Nc1ndo-1Ur_jG&T@aPXZ#a(F-n=`JCZ2->tk3q zupG=r^K0trd=xWO*>q|#tgWpjCo;3omcq5%TN+5TK8A;r;1V-dzs?B`390!^BlTgl zH_Vi-)av)M%&K$e)3dYfy}kL=w9Hv}LrTbr^-6o!X5|S!ME%ZuTO_C1t(ln_M`vg2 z0R^RNw{NSh6bhan>b}H%ML|jbZO)=wn*=c{tPXp)Yt>8?1?1v!aQ{=cy#9pFEdGz8Ha$M1r283zYVnq#R?R#4_(W5VfZK74tsh=pCheL9eLgL}P@ z*I{F>lXr72$|Q3pR7o=dVxSz+$?NFoXbH!{cbi-AVtrkI8KuyCqIEu8t8<|v`lg^e zAH=x+RHfVQ>QIo~>Y##Q1uVULw6tNzk2xav2XI-+tD7i2+J|#=omNtk58;i)CmUr_ zW{4Ur%HYVzmR~P_IIb5AElpJkW>xHu8Zp^3d^hS#a&&Uav7VQF9>ZtzRGT?RE=4vY3qFv01Q0ba3Tq z*Pvxq?5pnV>`0nL$HcVT4QYslGiyY!8{n^x6)nD}i__j)85mGSARh>xy9GHLx1P|^ z(Z%ma-Cs>hzxkag2g0k=VKZ<*^;q^2zsvqTcJ?o@rije2ZYU^{7{d%hREZ7^4GR1# z3R=Gx7C|)Kxii}@CoeA{Eq#xdH=4s_aBJMAYi54Fq1p?5q}+*JDvVKQI9sQDyYaSX z3aiOz{sTarg)xh&`40@4_eYgXO&I}0G0#p8SnNKA+!gCBwOj2Q?Ry^e=zV!PpZoDL zoobOeUUkL6q?E1gqu)(Iizk~^f~&_QOse(YMFS)?3LUp+kcp61no2+*4$wHp&de`ek>Pjar{5)uaX&-@ zhAD<6Y#yrKT8nyKRl?q z=-@vXN3ZTq5H=dgr3oNrnuT?gHCP(&v~cryf4%MW2;l@Pv~?m=t;l?Bs;WxpB>JJA zWa5z3;g-(v?y}A3d_qEkr_&YY;%V>iB?*4v@ullwG)N!*Vg!VF#dx-Ez8GlDzD3<4lEfdF#zv zfB$&m>9~%R8a-`oD(%rk;txSVi_6LJ`VAk55}C2&nbe3JCY|VzFC!zPbhVe{-QpnY0VmlrTE!+H5HvH_hYNU| zZi{_NHvqga$T(-TC^VMY-r1qgE3me=x9{1bsR}PLYuPH~-2XRPbFHVv0 z#%9n-7UwvNeTjggeLzV|uaa&*Od_U5s#T)9U>GoRnq zmP(vq_)WvHTs}T|d|Vx3T4`qJiA)sGPq9EUof>aUJdl= zSMBynp^RJB;Sr4n1qF2(CBy^-;0|fJFvYtcKd`d068-1dAy}+N^ulB9CJoFUq-!#& zWGq>7JI;qHrRG<)w@bUja(|emR^iO?VqDR_+7p$G$J+N`%A?9K`t;OQ(`B8*)y=I- znS3-!<~G2(R6zv4>me&8gp$!%*j~)nd4QBgSY$wa3i^NN81~$OqZm$a{gMFMlc-hY zUVb4Z?SM=wE*}<+TjPoaQOpZo9Le_Ry?_7S71H^YTaSJjQWzvZ zk2RdCk3p*kY28kr)?_m&(}q*IxR`Xzar952h_RMVdafzgIw_V45umE?KYpD1EXAy|(x2iAWK`XLM33)q z+NZd*G#4@_(60y{8-1p!vYi5psW?uvQC9mkWr*r`Kr$EGLFr zPuLAXxBu;OYO8vK@)3;~)O1R-gBH>)Tw zKinwWblhp7Q^|dU4M-{?CYI;8{dxl=2s;HGsE8oJ^9UH6nC;(9gg0-tz?Ft8Tn>z8 z44k?oRFb44g}%_r94-o8wCD!$KLd&Y;fl>ZIPV?QM?w=CCQ6j2=!fF_ojSeUOBOk<77z0z?uPFR6Tc6wP z%t_qhGH-{da#~98Uvc62H}@|Rb^NtxQ=S5|M%U5Nxk4#WUK#%H->oNK&i{MHzwR$L zrh@y2zd!u*RsO{v{_yWx?%a9)bmo75&!1HB_lVgW>Z>lOcjP!B)d3aRLLlm1=ky;~ z|F<_hN499m&F!>v4|HLZv4UF+HyxY}(vW8$kQKbzf=UvqzY_vqIg%|K zlZ%QR__IV-gl7<$Dp}T*a{oEAv%dW+`=>t_H98&s-#z+}O9=q%A1U}tE5lzVAw?_X zBje3QfSyI9!LaWx^3ybPuL9-Y0S<`@4i2s!EijRgl%y|Zgw@vEERM{Q8Et80ES~T~ zZ(ra04ie7_7l1Jc+41h<5S>-!8`2IgC!>MQU{|=V;Cn<4p$HbWK z2DnE!7V@O{akt(G9XwAQ(N|<}$JCi} z-Uc7&*{53r2XZ1YQGcrxDWByTm~iXLfc?i3i>NXZzkdCCsW(xoM~|ki66_eH+L!bX zuc_%y`NBg^gqe^qy{YBurh1D^K>e)E#9C{?8f$VgI2Z+>QWpdVQEAoPXCLn)*wPKF z8DSFSRA>ahDJoqIHFtF_&iGR<#5zpYbaZ?IUAGN7Nhe2H{Q2_*a1He4TSMpO=DLe4 zv^3rJ2EG$?%S1l(lNC7fm5JsgTDRC3FKLhE4KFU{uFj8@k&u|lZDZE$jNzGESg>v) zcL0W(v%t5X7ZcVp4at^!*oJ*|LnOG`w$In6k?wLtzT>E z9n4o8^f0;#xxhbQ#BQ@tzcS5>WRos;O$tSSdRPzmMwr1)| zzWn^ag&FZ8iq$D)&z1*}fW(wj)Sp?>~K-hcC&%+WFC} zx8Ps2T}=6$VT7xek*SiG^b0NTO~C>fCrI_wHlbw6>gzA8uRl*urB?KoTKEHcyO07l zRohr)5_8rkUFD4Ks;VRJ+|B3-d!rpAD^2bdKn?vpYU+gh zhZyp)+~9#6A8cx^ULXN_8WdaO>zu3PQmgF-5)yJLk=Eot&{;1LYAWTj!q@Vd+Q3Ot(c}`A@KhzOBQHn$ z+IUGZT3!|c_59%W}#gNh!qe^Yv43DG)Q3P!L=AGvdHRZ zdu+Gj3pu0bsJr{c`6)scrO;w3FfEONM8o!F&mQrp9m_pe3TeuILt`{!^CquGiY2nO zM?Un52oo``1u)0h{9M9o*FxU1(9`3j4XDzi*jZU6z?#`BPR+|x%}73@mD<6AV}Va#{Kt`WTKG-3OQ4xk8SUll$40hBtsTWp*ncAyu6Hp^dG>P z2rccbt3&r(&8mt6D<}`>Qsw!vNoMH^J%#fUwSHHe#?0P_7}>umAx2lSFil2QmSv!j z^ZxzIAn@Me-Bz4ABkCMyOp7(Pee{vS%~?&=FAPs>#%697ElAKjZmP~-s_QCK%Zw$f z>!D>J1;3=W_P5lh;AVB&0NY?xFAlzT_nCIy2pGgj6=%2O;R9A*=;I3r_p3xiqOj&$ zy1ER2=!=F1Nk~XQ0DXa3LPIX#Kr$Y=M~$f3u+BptyPxc@!;y=it5}R(%4`;&gHriW zcmygrXKWq3H!PDHkFanSEzRYVQBarQpuP(VN(OUj-h2p72IN%$`C_g*wFcG*q5PBV zZ;HP4E3acN{avj#VQXC3ND|(aTei-{*amTB4;G0@NJ!agW0+&8OAUf};=>fl-aRJ6 z2a`p4rI3w{O*)QGh5FaKcg;?Q0FJwxQ}KW?qlIQ_1{aiY`9*w&V27+q*K_BlMf$t0_y5i*f-o<1JHVb-qO9s;2YCOzN& zuJtXjlpe$A3&%pY|!4Ks-+wD`g?Gd$I>3<&+Lnd&tme;os^g*2MFFN9hwA_p( z!sC(67-i%Mf^0Xd67%ASRlX+KhCYT`_45S2RCw)V#e!?gN;jl4Vg)zQ9HK-CkVqCI zx3;z(UpQP$x@^*ba|IUC?Cfmqk01d_Y3VB{0VFK{4Kq268*z)oJ{AbKGUKBDAuqOYnkECh8ILH)~))dU~ROC)??ZO^CwIwVRS0cZZo7 zpM`}585wY|6_S)|hgtt+XmX^GWqUoL z!jfk(B>?8u_U>-_=DavLZyzG7ins0P$xO01dZLFf@=~2{$(LfIxh(X-G)+w9@$sSN zBYVg$YaxMaEXA<5DXow|6FW*#lx>#h{SwfmGF`(D%i;b(r>@~b`)U-& zQ!DnM9Qvn8-m)pUiVWj6vdgL6JT}?`sl8)NuvS45`@jpGRp-})d6RJgjJnWUd~($$ z1`;F>4MBwbA$cK^^yy0&?>>Hf1O9#D=r9`6JvT_-GMyxQi^q_;^eR}TQszPS&Q*+3 zAAcfqeE-Icy^7Q*yL-1ar_e_@Bb;>HvKDM?O?*Xh~Wy)kMAGGhV3`5C~2A1 z-YH1UC?_o0s``C(=~9c+)o|>-$3q9H#$owzgJh=z>|lJTw^qbfhC;$d{L`e zC5}U4OYNa8-mf!VKc}bc1kL$Raaopnf9(gU3^5Wf%@K^)H@9bP4!qLPA$@H4!bL8=2{PWmD>+y-wM+;Q51R!8S{K(XBmbp?dO4aha%F*3aYT8J98TiGYup zj$g*cPR2?|c3(m|I4xi37%=`FMajQj`eH0d1UA>htv<9aA@oZTPH*-6V$rJNJS|x+ zZ~H1v7I>6@4h`0b&0fiSQP|;nU_6ZwNNY9rbJ_56*~E;-({#pG%%Jx;0pQsIi)9O5 zthP(trD_1k$YAOFudz&+BkS^~aQ-!Z6x-9o>bzS*=(;dgQxG_G-0*Vv3+e>gN)isj zk`tpe5~thV9j<$a5wF% zHa0d^4q3Gx-$duiXMV;<{u?uhmqJ2l$YK#hjJnf&sA!FWWww#t$@$6FPMiLQwp&pF z+-7?$>udCTi;8QUNA|-JS2i2#Zo5!3qoa*$%lVh$npX*2;_aKM^(^Jld?s*jUg#%* z`VD2Sru6hfX=Qhm&(^8-C+LycXZIYH6QocMCq}rg{DP^%eUb{^ zQPcDDqOV@vfV6pu3i1`yr6E;`ff|SW@zZ9p(-r(t(W0Ue(<|hU^9?V0dU}ur&g6;Y zqDkj~=dq80jXgCqybq?IWse=yl#yu^dD_j*E@bf%7=_8H6%o(Wf5iu@%f2Z*768xF z9=@*635(M;4PFMqhGx;5o*71#d{}W)<_juupE^)=&po*gYQ+4jFZnup7X)r}onIMt z>OH;VB>JV4XQ2s8hSd;t^d!=FB$jR_!;RI>Wg>mXw2~VQv0vL(mS%r4u?z^!V^2z< zl4rsju9C6fgCn05k##V|wYix4cnX=A-o3jFqovT42E7bc?js}E_vk#N?CsY*x|iVY zXQ0@4mya(7RwV-1E?V}Rmg`WvK@uILEQHPwhOF|>pk%h8Mhap^%W`+=rFq$U;di%= z2sR(2Qg4qJjL%Rj+8NdjVtdmZ{2c|{z!uZ7!cPNfN_lQ4_AovUssR&LzZ==~+etai z$HlWWD@Y$1UX_s0zvMe%4i)V`C7d)=Dlax^{cSan=^!m*OjqmUl7A>hx-^_8qSkm6(u| zbutS~HRGL6pr1|{Tg3XE7u;4P_X|Lu9_a*(`{-J1Lmt!a|9-uu57S-RH!G0X0&z~$ z-JiEVBu7z(zM*U&wDy2J!GcI=hQ?}Z-<^=&V*pG2))Q{6n|AyRL+1WGHtjLpxyXhO zU}%FA-moNYeFJ3$(iGW96Bnm&(bYRs7cgAHekmJW@%s;w>$e`~Hx8Cq-k@4?1~rHzFvBz*XE2c!C=@U`k%fv7F$$h_hae%OL zT-@JYSQOe&zDPDZ0b|$-w6x{gFdOKG56l)&)rR^R9rQ?C4^lNUa6aF2FyNt#@$axj z(lU{Hm3#N@WkdIhoQLaWe7GfPKV@Nj0aVqa>N$K?J%-aM)XNC(+d^Hg(Uw`gGmFiG zc7(2@WZ66KQl5`TYI1oEE&9upjitLPJCUA?bA)ptJPid2Nlyl9+yuW|Q204O zeM?=x%TMX5PBr{{99ICbz7-_Xos4~2z~fllf6kVn2yE`%CqIp{=T+{|ag=Y^;|mwFdUY1Aw%K~TlY zgc_sV&^&PQ3^gtkaP=BGxTe}c0wT-rCCf?C&!gE@A9CB-+08?4(LdRr-M@QrJXGZf z&ICvuI-vMS&1}DpQw`C;ZM$?;NyAPd^1uiRCqI*u32(eQ77S5QQGtTvB4ZGw=l6fO zBoAFj9Dg)a4Z@ABc;8&Ua;tw!xa+esX3YeXjulyX?wGIkSyWh+TV}=KZUbs}m5Nzb z_u*PFwg76Q*pT~Hq>29l;j{?zp>oX>`FMt<8uvH_e&rsSvo|&q$r=Z{gzlY= z6rzzWW`-x9iK5-z-I1yG;{2crS*g^U^aq|Wy|N++oe%V9r0>L!I(r2105w6S9~t(1 zM|RrWz>Ke{Nvc?H4p}tc!ltcvV#HBB@kCd?fn{S)`(Th2u0T`0w!WAIW*cnkZa8 z(ny76!yh?KhpUl30MyJ-9HBAn2(l44uX^C@x$ch`06$LXw>sa;^4JD%B2TvoAL#{s z{_^GMWaTfI$??y#b}Z zG$j^jYoSH9w*ZtYm)SGHto)N$Y9pkuW2k& zB`lu&t%BIJzldWolX_o%acy70^m*Zy_cOcx<30c1!Hb?@limBfIg%XaPH1E-m)$Ll z@h=S39EdWBW-O~sax8l+V;*~r;q}U|@KVW&_8`w#A+1NrPzR;%N0aq5s^m~g>!XSNjE(8f&lkJJs*!PT zJPcCu-TU`7=3MKAm#%oS>Bi9QGPcEi*_ve@jx`@`Kc~4&VT?|}yfsu1{27ZMO=rQ+ zE-$VpnriIQnecR$j=@B^YA#}CL5r&I5_Md5K3(yn>?d3PzggY9Ot=fL^2TFW9SX$WWXoI3R?5e|Fl0*k}j|38hT4a}OW+$a-?RZ#i=jGICh^h5FC*bOcA}(r=jfZI+Eov!uu_WYtmx0eU?BbD_^d04PAADbl=9{0GgM1lAXD5 zxEcFYQBqCgtEH*__T%&qKSnIuSS%4;Tbiy<2TYi9RA;uE0>-9C*X^N*0&UK}Dt!J` z*cDbgf;az#p%PP|9ilaK5sF0|H-Q&y)u1{$DRr#pB^9gch)X#>!a3E@S(I?pr933g zCn*@|ay|LrY>7U;MQAF^aB?h55V^^JOZbZ_zPg|Qh8BgNt2FNP<;_ukO$EkL1O1%i z;#U@(^Rg1bI{vO$?Mv$8oyF8r9qdzirdL<6f28&VI!e{7GSQF_udy@PntTbs9d~os zc7if9c-=QV|G8W41e@t02Bhh6jfWDvv-eP1LP>gUvTInp-5AB+c!D*(SCKu-O4j^q z#BJy+Gb(EquPuRRR-lmeQe$!|zK#aLDaQNxiUj$JR%OVngccQV72qUb6Z#pt?dR2AL z%}j=EYW)e8U~v+DqbeSSse9lJMNfBtG$io>SvYWB10g;a(+dqEWcW=yBRh&Be=?>x z`XlI<0ITj&wOLWk$!7HQ_f!S_`I4ka>|B&{n{539jW1Cyk=Y$hm^(P5KD6`w?UfZc z^b)dog6sGZ6>Vf)6F3uS#tV+gt+_Sn8v0>xTxrLLQtf>PQ&p|5>aY3g@^mv?E>*Z2 z!ylnAzOg?U#!=Kb`o^ZZ)7GZ6fJNj)!NNoEUX-BtqXXY$UT-z>Q@h&NY=UBw9#g04 zsFvJhNHI3w7M_NKtQU#YOZ;uXy`%?iE}}Jy=mgcxAqp0D(H>!g*)n|J@&p}~sW~g` z7x5L9in*lMv_~gPb!vY_X*ay0JdTxXC^C$XWLq)vV_W~=W8ja@nONN=F~FPIp`#i* zSwyk_Gy1CYE0bdW@&)0ImC;~R)jYIfmFeT)m30dvzIzKoyn=^POkFQC9#qkhR4u$M zN}a6yY)$o`>y?{k&kdneZmxpVbVY>CycgC7mNF=Jg0GaA`UD9uA~8=mqWb@d@^}5| zzP=bBQV1ei(_J=FoUax#V<)Y9HvRaf)wfgRl5}^x0KYKC*N$$w_ggDv+lJ>y*Dag0 zQB{UirK`3({&p?dbm-Qm(=&2=XCvfSqfvS6FWa(Ip00B%+oSL?CegEW;S176c^-N+ zQBmXGDWC3bG;nv{S)*k|FviHQcxI$5SWQ}8=lmJbcDtk|1~*MfMn%m&*0)7XX6g0{ zHj9Io{=ntc*Rr)kVjasii7SNCPspcnGF+*8i=0o6ziU?}V-ngAVFfgty0$cX&bM{w zfkub2Clv5x9Uajb1&NWXBLwHKn}yd1h7T(H7mNCLD+(x;<+qMfy&kM_` zq9QmnAuW$bu~_o~C@i=hnzVdm`TLe7ik7Bk1y8V_DW*sIWD zgdAS7mbZjX3+@=jPwk&dO*}KV%>SlgQ5-(9UuapJ;H1pLLfps&ChfE{B!X%irEOgSWBR_JCWL+e# zs`rvQV?=3hED{dj3VO(R0YNCZ=IT`6KGB{ZNnA{am~q4(mdeMsFSyY~){#Tv|J`qB zo_AWi5L*~m>|GL3J{M;5gUbT^84JY+B2R38q-Irdl6Sn#@p$qJ>(QR)BCi6=p)L1x zqDD6Fgl~0GoUorCC$FglM>5MVuf^4_N8;^1X*l$`Uu>k5D3pBbP#FlKODgm#k{Q61 zJVJDkbq5J}*Nc#H7~e2AH%Iy~E4=>(iSv&?mD808kUuxM%*nJzCng zUR~E>QJq7R^poKp0{l0TZC`M_Yx(>~HZyGxA7Dp0J@MrtYw@b%*%HH1Cw)<(OMHBM zf354$>IKKhI30?I5-BOp%SzgxyAJG3*0Kwc)5c8_@7g?Lm-St6yXl5~3$azMuA9`# zYbiAsM4x<(G7w6=a{JBLOxF$4NQ?}(c7&}c;pIJgi$uFsOX80weXmkV)pX325b8<_ zmE@Z5{oEpH>)lI*_f!|-=!Z1fiJIm|!gW#;%CI7aMC^XfMGcWfIF(IN`jgmK6Rsy{ zefhBdBino5qe=S=n^0OQS#tcf7w-nEpvywLmqMC0G|L%#{L`#x9r(B3W)J%LB&4G` z@qR_x7txfc%;eb9Hpi3`$=T=(Z?Y!dRUa?jEj){=-ndNY?jEeo%)o#$@x`3}@N``I zc7Hz~VO(50*H8f>ZT!}mhRoJT%M`}Dx;rwsqf`!r#)+(L$ZAnKatmgQ}EBh^8h?ta42uf-l^vb8SQAS&hp4Fojf$lYZ* zgVx{Puw=MTFcFO!rkgZx=_0sv+f=o-FjK!-@jgE#XL7ZcHv`IUC>dETc7w_?nqOt{!hcu%5-oPVeq-YsJzdOjzl7T;Rc`Fu|-)k%Hq zC~ChIaS+vZ;n2=^VBoT8A?bC1A5oISOpH)XNr@*>WcYX!eRU`rryI5;rT)650Sk5o zT!XWv(EYl5E0HIPE1!oFyJdHk~G zroMNVbacu}S?0};pEyw^6B0s_yf@a*fCi>mlHF9f+E27)%SIH$>7P>iafcnjLSAj) zKXcsOnz6orxeu+t>83(Zrs9@8htA6(l;Wa9BZsm#f~N-&*w48VqgHwhcoj|~@UhBE z$MX9z)t%Ex&d3wbl{iZI4s=#r|oOF^2bCaWkq#AJb+X8wg#7_8k(K9x3_g5K2uS^zfKXpIO_7Sv`HJL zD+OZ94b8tbH4B0&!0^eD8`WA`S}-s$`e*4ye^UQ#E7-dO8Xwp_I;*y4N^$C^>AV;6 zvV`W$<0cCV=8|4m?tU(+wV^UHmyHXmgTrWtUFj$)nGDmMw4{o^Ye%!P6jNg;l5y&c zAY!LS_4UuEJ8k=B^B)daQHPp(+}gk+W?2@tm7aS(k(RCQ<+O?xV$0`F2$@96$#fJ}uUddZX`Y}eQytU7X z2x~tmOxG0Mh*WoBBICyiAgS}l#8rke1k{ROzcevNRyCixmM{Chh?~|1d%!+$qS&fI zFl2FdRtV_(IwSZQDt{UUeroc;z6j5wIteqZcx|CCRem*l9n!z{8(xaHu@S|!5kzpN zO`uDoaIyC1d!B7t^=aCS;wuwdjMiw54!??tZRTL-)_U(3p_mk9C0lAV?<7o!Ws8 zTmIImYi)UW^($}vP)9VM@s8i5OZxObS#UWipZt;`#swk%=1uj^{In%EDfl1ILWp#a zH<0Z8mgk}4yTG?=Ydb~TyS}l!CUhuFz+1pWgP!NBw{N$B>+=M5VSs0HhnDuz{fT`} zDk@Kg%wjap>L+~^vy~?szrnxDJQDpN?gNGJf2hfdI@FH9r^5IqpFBz+Ahl!d_tI>p zQjym3WY0H+F`$E$$TO3ea2Mq(BO~uuyf(siCEcP~`(N>toT!rn9okBzMiMSEd94a~ zilISi*muL%{1dm68dlFlIryEoSNfOY{o#r6 z!4F0%s)REJ30@u4G+nQ}&cjUg<0o(Fq*^7fdwzPbz*CaKgHarf(^j!eyVj8%N&JhZ zY$J>>)`V*;rr9Tnv$-%ji&1UcMxE5v+vvS3_n7aGOk(j)4xNR#E2N{X7=@fz_ufPf zb+AZe^AtF0sc;gm?HOKC!VnJnHtIqS1=~7r`jN(st8%zr)0N&$H>KaHX|OwZ;mLn; z@v3s_@W$ptJyn-!9vQBS*>~{6z4erV^4(5`tDlvfGNb>PVsYCHA?sy0Z|&%E+TANGp8 zht_{h&4SaE2iJ^(|FXr{F>nTZmNhF@4Dcp1XajrawIqkPVadK2Y($tkU>yds!LgTAS|$IXm_0IP=vxR2Fp< z7E>;r-?eUAl1lPNSV;|=UeY!bqFxL3H;=NZNBF`|dZ`7{>Yp+uMHOYR#I!R+uo$Du zreTZV@|Ps8ab!L=^?n6dWkZK6)c1lwyw%4X)zYqScE7n`J@%|2Ye0hB*!@CvU z=JW&iBS>z|V})Z4O`Mf}Pcf2uY!wixchvpNaT{%^|CeJldgQbYhs{G?V)b+RJMANS zsVsFB?QRt*JiDgq4x#qMxF6s7a=hOXOO4bSEqafwN@wetTv)wv#nJqB`zAgGCbfzV z6>idTPL9jA6RXz}iP-dS4DMIK>Xhvd5nPm?9@=Po@R_GNIVAf;V_K7ceZW5Tipd-M z5-!c+6XqoTodiaCp3x$SJ+=C{mcmE!^Q$jee-t|5kvtk+-6@-=$p3y*WeKYOO)rLKe7v8fI|ooF(2=}}Wt zlkwW8Qz+fLgBSaESmmqEj~QT7G9CADerSIG%flRYyh>SLDB0-p(9X3NMjJoD4gPGA zieiD|b6dEkD`R(E-dYB?8$B|K-~4Sy{xhbMQ?lE0H+&7`iy~Lr0&Wd;oS_^3HmR*i zE)sg38EJ6rO2^*yh?>xyM`w^Xr((qY2vyl>7$ZKzOE5bg?O6d*jTyJGz(t?8<^tK?l2I%y)akB@o}s4aK; z$JWDyjk&j&RP(#nU~h5AIbN-Z^YNTj-}gt zECOqD(SyI@qMFk#A*{Ssg{19t4Lk_n02L3(kh$!TI`w7dy`aox#ax-xs_2yG?af>Y zZ=GmTFEJ659?*R>HbW~8!WY7->J5!3psps@cksgYsNH

I4h+LTzj2FaSNFgzHqR z+=ymu7|$G=J=D>TEqPaZ!%PJV(M$Mj8Pa>xN@6p;jY+))-^kpba67H;m{6}wD396x!J`3g6} zj4W_xC^!l$$l_rTX7w3UNBTtRmi%|4AAC8&dvykBM2#Q4_EtMg^I+hN_F*@PIQsmC z`NCt^(U52Q;7+IXpJws?_uyr-xt}_sc>Cyde;eg_9@vpjb+$ly8e>R*h9gKqF^m1< zhqU9u%kMjkwYTFol+Oit4_$b&V(NCKQ zYfoy*yYZNi*b?|YGoQE63N!awz?H__-2Xx=!nnMnZ8(D&bb;!ht5ZuH;ij`Zgd4%x zJmeo`=jKjY$%iIe$Q5+f!YBW-Ot3G%&rO%b*D;ccZ|m!C1>X)3<29!hwBox~e&J;i zo5`c$_*v^-G7o5X)!ZUe;`qOORd?i~5a2Ofs6Q^NwTbQITV!Vvwj3dLZ{U*AV^5B(X+EI1mc*(*k z^vy(YS!nJ#AonG3q(YTinUNT}DA_MvA@zht4%iQ{SHTF_{Ws7DY3|*F;uA{j;{n$J z1JlRl%Mk@F**!k@MM>q!k8 zmENt@b9{uCD=eQ52xSY=Sx@KPwR8yBNgKUY68Xeo)LyxKsy(mWCW3V%TKDQ4{?H>c z?wZ9BWyYk(cAd9K-0e4k%N;tyJ<(_X%$;2*}Iap2a>Brnet^;vnB}a%z7# zcQyaO$367d4d$+IPqS@PQqI+(SsltwulD{~0?7Z106Xv6zQ_u+AS)zLX>Ei0ipEsi z^^nK<@UIR6^DJoZ*fB9NeS#WyNL18^Di3}FCE+PN1jTJ+djFeKTJ-U7&xqx$C)QUE3D5bH)~t zOP*eRn` z6B>ASo|YmyBI7*HCR94HQvcoM6{30otp+z@&4=*K%X9SiS1qek@3LA1VVeXlREwfo zvf|d_)J7-s4o)#j1z-nYEmgHh);YHW^CShZG`0h3{ zTsYDpsE>X+eN=TK>AGh&XPo-9#&=q=dWa~>G2%lHA6BtS$0|aEB1W9api_1F*mvJ2T;vM}3CsR4~D1m*6!t@SabJd-|V+Dea2r8%DJDU4y1DNh$(?kn93 zo!AnSw7QDdpb#Oze04!js2Z$`>Z$hIdp16e<_j*tW!MjGa8lVEVtrWxqna85o#Hf@ zXzy3v>-PQqlpAH2;_XZVQ}uYc zX48u}6+Y7moC+>Mn=)KBG7j;NsOR%yQx8gWRkek%*iQ;`cwK{0>h5%q^;mg4QPU!& z)Yv8vQ)Yz!1!8&1&8USB4W55IZ$-BdfP1`G0mL|5qI2Vke{`nt0O%ls2wDH2oAO60 z@tppVcZ&tl-DNoQ2oCfj_P=Q=8g5|wMAvo9=yy&JKI-eWd5vYsD=hlPEn9hdMZdcU z+tuO9&#lS*8DNcnJ3SF_P+OhU)S&I-CV3s z{PCGVdOvNqLOl9F6a4ql0hh0L$&T6;PzyOBeQHF^?@N_kqXn|Ppj1%EpjUR&tjp@N z_63NL80$MXFBqm#YWpOQ`e#}^bufjO@|)|kaFWlTMXX)5w8-;Y-Lp$AJw=0& z{qv1}tI+e8u*fs`un17i@%+~=KYa0@&ib!M(^37utGmV5xNh=H1>W{!Iol|UxW;@@ z{-03}!+xf4Z827?%VKZ~lM~4snM*u59@#IK-=;B^KtuV{QkI8ncT;*Q*La(z49*E0 zG${Hj-L|lnV4&vgy=l%~#QV0VJgw{7l+~_&;tTeUGsa#{n!N~b-E>pKLAz-5-n7!< z?^6CqRQ8nn;+o@N9FqtlI=^r7Ewx-vUUE?psQo?)iFjVk`I)liqW82vqQ1QBMyHOT z9JkW0E6mN4@R^}jwlxQhVKDoMJ_&f9Uo)LyD@6AM&RCXUQ=OV==ZQ;Q z?*DflRl55xHHPMvoJ0uWBs+iJt_HMm+jN3xISlGC4Mtc^amkRJFzgUj)oy71yV*0L z(AK+55LeJO#)}Nllqje$K30i$idHeqO|6VedQqP#FO*BOKCG@@J&~Z^t8Z*>KSxXZ z0xFNvLCLq0=DLIj9xZh(>3rx!uh=d6vwoW$J$JyjXeFz zpf54|innO`Sl6(w1@uFky(ZsP**XxjSliGIhS>$vMKLWyAto>!Ghs4;uf*)amF({` zi{A89lVPg*sQwLJ{Foc_nC~`xvuDPe-Q3djCPz;w5Ipt59L4tqL~|nj zHaNbDZj=&9uv{?OVVVr5NXc{}I4yzdvi{2m!P@xGKf~GG|1ys9y=G^zTF24@YQ)&$h*>V=V zwFN7ga;IF> zdufYfPSI*ChVMoy6BcGkg!IPVSdtu6qHT*~goqcbn;$Cx@weqK7;{^?X)b!JNe=&u z)wW^eY9V>X5+(EHw$@$63^2=0EnR>Ry>L+FT!z-uGHfnRsFB+~L_ruu(%daC4Sg7` zPRtkue_k__F0|ozA5R8_>1OfPlcJ}6DTth=e$|K7ah*Ntbnr_RZsK<8Y=iV8??N_Sr7aI$6hsH2 zLHFQlH1}VV7jfZcE6SvE%<5^c-_)N1;u&K7y zXX!=)i+10Tu_;^35Itcw#=|SNx?3MQ4iRL}xSZG_Bc05qS7$ z7?k~Fs@Hm~o!!WPG$_*B4mlR*%%>;pVA339D6oi|NEIt{N~(9BsB!>2yV670zZ2Yl8cz-%EYaE=)%bxYz^V#wn7ViMwALDozp1)%rJ15_oq9jweQ?R-yd$cJ3UrLeZI z1s1j{6f!QN!-+|I4-U3)z~7*G!uf)rMYvZjitT^-=QV$=w+E7n7;Xiw5Ud4@Xr5Iq z#*cn_+Le#m6(&(E|E}{lhpz|h@&bzdR3sa||8~e*T#ma%){5`?{LS90da;YiZ8y3h z-ge1rLUd8iY55i_oR4iY?)awpy@fS&Jf(5tftigFo3f=~4Dw8}(!t>Fsy@ffE+3gI zWffKhza|CZY$PyeDUOS;Y{%7}o+R-wczf+e=Vm1MkFmWCY&^(tDt&j-Xr$h`+8)Gv zucaa%`UN5${jL$4O}6i}HIeqrkfF&0+n_ndX)J5KyOKRnnxC&+;(Eor1?^<-QaDUy z{iW@2$M*D70f95zM{{zxlTCo~y_2aW@G7c-yX=oT<3}=qj)P?YJ@M!IL0sK8FHYDf zxgi)QD#RZj-Q>A4T6L7}9|dq#nuq;zojCUTRP6U`toydd4bRsz!?7v{ZMwh0gHl~-n=d~G4d+MgE&0ybfA?H4A zG}InQsMg<<$&XLsnptxNU2@URdvoLim8olYR#f+hzN(6^**W!uXc}DZ*McbX6{@urDWYnrw*FzAYom{0mW7Pc-Vxlv zAwafdPiT#RH6ZtQv?jI)ECbiQT8wL-&+ILruJ-5WT1oZ;nn^L zYU}DG6MM&o$~yOJl9H{FSwX1Y`)Pm3jJCxTbnLaQ(Am$p{H%9g@1d!u6CBfWL@gz` zAGXyhflj-O7Yh0eM&axI0+NX|hZG%o;sZtL-RdvMm1WVRy6Tpfs z&Q<0%T-8wvzkf|A+_@w%lqiXD$$*O}O}#{`>uzt7(kL8ndxYvYrtsA)Qnb`bidHhkwV>4LMaL`_JeMU{-PJxo3inz%jx$r;%<90CdNOPZ@9a)n zyL0aRr@uoH$6KJX0@OGm>6sGFNnh)Q-Sg|F9WNXeh3s{HBW4=LbPf}k>FbT(7iS(c z$hGT)KEzn^QM~b(oqZ|N44?c?A}{A0rg5!x7#H<;C}aCY_F@x1cEgd64vcx;JJ?`~ zDH=K!)O(qenVK^g^Q7fw8y}_zVJ?mH_LfpclTK9KNXWFX<(l!vAhv-A z%aO3B<=c(_9xsYDi}(2kwA>pPkee0xI%0Zzq%a1KIiBlgvpGo-%FG++dW0ZG25X!K--hjjTFf| zv{{+M!F~)Msp>jez6PXV7X`6Xs@S2{wiuWiUXQ_(*XbsZpE$ah)2JJ6q*%~t2VqeC zvKqMf0OQor%gHHe`F{9q@wyXcUxdW58^;`6U97UhGVJh#6~A^Pxt?L&%ymL`Gy>Fc zJKN*!^ZRObKFujf#;;jRnPAkcR<<0>4S*G7P-XvUhY2*Sv@|y9xB6HDNyaMI?24$1 zUlHIv05(_#Y?TC~crZYn0X4DalM~>v?g!M@FTlJ49Ict4i9*dH64E4FnE}imLJhzE zkv}{31SmCSAe$$EO#wWrG-2oYy^jBtTjvQpEejGLIOUUH(RS=xP*-cjJTvY+{_#D{ zQaJ$L%J3lio}sv}pTx0udwT1|3wLTLHYkpbKcFc*aqT6h=jcgJ$=6haf-LvlaKY#k zL29n)$9xJKPel-M{p9OHZpL*EtYkyXb z7eT)d{%qo0lI|3hyr`0AklvOuNeh2#^WUG$eBO!9c&_pCoE+w*C`mUn$WE77LNdK& znzrc!cT=DW$bD4$=_=fJLoONK<*dzQmv>?92c`5un&$eO@SWz=?)q%<2){7Wv3QE+ zFzom%{HTci8fk`}c8ZDCw@;hlWOb)kS(+&HI7=qjTBIGr(7VCs^d27BMR!y!%EcpW zljP0rz~U!rqnTi@3&C=h6QXnu4jIuuP2iQ{9TX7wY)`fun6+k& zgyF6U&h$1G7df*RsfV4T1O3@m1P5($3n?h%`eL7pu6^R4Pj$kgB~)71az?38bkIo|JFA7KvJI$i!^Dp7PmOl7z7ontsB(bHhjh$<5!sw`- zCQ=W{sN`q_mF6X*E!(dYk}Ef3%dh#mLvp0mp1z$A0e7aEqxbKGV;qO@VZfvbwD;TR zpjcq@w8djl1SbRlGi#x=G&Ro^8&%I0*G^jj?twA;cutXt2+Pg!8S?Xz?g-#s{ASA2Wnm36hUfx*%!LQ_+7 zff?*J9$Zeqh6*nFgzCD=-tzRuLv?kV(GpVvArzoW;s9D005_gbO!Hp3QV#GA(%!3- zZGgqXBI_%n5=Bj{CJ{wIr&hHZb*Ln zdE=SFo3TfeQ*nt9FgMVB2c%%p(6ZvJDTEOh*o4#98OcmZ3xb>8nhb?iKkFK=Exr~_ zI_(Ex5*DvaA+P}A^v1}JuVprX3&+Q{Rw+U{H_dj5_>n5eu4hV zf>XRjpOA0P+7eu@*#!F`>>$0RWU;U!ScVvA5SCsedZ`EF^|-?P0@R6?9Yc@9dSwM$ zH@iF}dH4&rZ3r%|5o6cl<31pA=+g#95CYI4hF#(n_~M2DzbXT;PXUV+$Sd;lt`Sg- zfKg%yTIJy1Bw&dEAB5mLC;IT=17U6t&N4v&mm%QgIOP0wWZUehkwR zdH)Nn+-|`3dA=yZq!*XL_MA!Y>FzqhC`CMnr>aun*n`9<5nfyIe$yk=bP2mgBJ3l^ zn5BUrZY0&?1X`T_Cn0)b`$}P)SJBR3cCfD+2R%lS?Sa0rpv#cQ#X^g=yZ}_d{NNWb zqwnVK2ijIrpEbS~XJGCH1;b|5Xf~)B-)?+NGPC;m^))qzjFTfufj`n>&J=0yBum?&%Y- zd$-sk{%?Z@O%Zbnp-6=S=gB-6@?Vx@nMSr+lHabrE=G69B?P$D4A05V)VJu9A#>Y* z7Tea?J-sT6`5y65q9k;iJ^?Y0LG8R}#Na~J@D=TJ_wfgo3}%S?@KG-ZGGU+mU@W4x zBkvKfXoZ2m=dP|%KZCbGqzkroH7zZA(15degqg%zFhq#E(so3To~;D5XX3Y@+Qf%S zrH7`fHi1ZvT<370;paC++t5Os?}a*G&_~}!8P}hN$P}LI&2&V&`}(Ij>`{xt9GB#9!yrBy&j^{fm<$6RoEEO4 zvU0rEmHYMU*SFtWM!K?Rq7Q%VfWly~mo;Ty;$B)l}V-`@F0r|$h zn7f}f{XYvx*5B4n1uz5r#)i|8;6_$Irw)9j$=D!csA+p9yT4xN05{GQvL`!RrLsO1 zf#0`VkFb+Yt!YZrR>v=`Q0XV!*u(3HLyq}Js`L?a#CJV=7hamo9-d>lK*i~Zb-h9x zoxd+ol*oR=>Q=MPx5(&dW^x@u?-JmwqC1qVJ~+g}Y#;tgzOi#8Eu8L`5^q<)Ta3H+ z(JPlm`cMhdI@cq>G&Hh{elhzSU8camv<{!)epz5J=35Xb1Ek>_pBZJvY2mmnaMvrh zxK(6_+G1WNW+qdtOY##K+EQ1Y70h2e%Anq==Ka>&-&}q$9_w13T-JmaBPG;qgg%bP z!{5%c_xs<;eN*k__hGNKs5OGgOSnva1x%e^I#dFrE71Y z-jZv_=){YacBRCC+vC#_{J3RueNV5}aVy!-^j4ThftdA><-$b+zq&e_JjSQH;Sl4r zppk7^{YK8|z)Gxv9zW2kIg1cKvb+MI3Ca?#)4c>d!(!OskqV~9i#f{WfmpGL_9i-J z)bq;mq~W=Hcakcn6@3ic&dVNr%0HHcHZeI(Yjf#oBPOfQllfoJkKpPKt5e%QO?Dtp z-w+W@g)NLdH}4TrjEg>SQ*Pm;uTY~rwEl;qFUn9xU2IEm_S~wa{Fq2F{PAMio_AKj z@J1u>w~LF{pqgq38odUBksgp(NB3^t`pNP4LYZ!4Y`%5U5e_Uy$imrUR6otSi>310 zPWL#=@JGe7HBVFJ9@?CU^+seaktaNfG&)M0UhlsEEKbKM6lRHYWnYJ=giR?q*@mat z^h-o5&jXwGHvqI?cb3$txUx<-48Fd;MBwlPN5Ald?b2XFKBaoMp!~_gBNis;G|jQZ zQI#x%ea&{1xBP-D^BmOYP8&=Hy^2O74XSzF{>CN^6#iKa-^_YJ>dhRMznzSqRi8CD6d zDF53yWu)1z9RE|q4Gtito9cgU&vw{)TdTxbho7+Knl3b49_rrwqDlEXr1MDqN?vi) zsB~U^{^g#slr4t?vBt9kxAHbQLG%*Bp))C(Q70#N0kws}j<1!$r<{@ZMPi(3Hg+O( zlZIXJ4z+1*c;I2ToNn@?0o`s@UtdYWK>^Ml0rQr0V8e({rUdt-wc3tPnW;zmLz}C) zYl0!Iu>D4$8W2OKr|u$u+um^qOj># z3Yy&zo22$1eIiX_lf#1?TR*&itn0xq?X~FPM>@g9pPDk1D|ER26TnR6GWy;J6ypEH z5C8nbXyq=+)}49nR!+|Ub+Ub;eM$JW^6h|45%_MC#CO+V+PObw{Aq1b5_i?>He2UA zlO#MMe}wVe{4rEjO9m(P^a!B*T~aT0Y%VJ>Y1f{Ainefmf?jJZaHeHBkojzzymgTa zk4#byq=-3Vc(s_U@p+ny7zyJy{jG;N-8i$DRVF|ML1KdW6lYx`FzUZ8pa6G_))REZ zdofdJs#A1iz-)H-;&GuVHY_An?v8r740bV7eSf?imbfi@ga9>Hl6TtB3t@4_bQulh z0OZ!i7aWZacb$AfXtbv|lAy*~>H!l0#v{w71#wcI*vkIr{l)@J0Q=FOA7>7#F$Bml z0C%HUK(v}&(2d<<$uWCuV{@LF`Clr+N4whPjXn=~&Hu2mIuqbtsrs%ob|wYBISa(Q z>okURt{c%Cufoak-Z$1zE(aw^v_eY(#rqT&#xSyItT;H9@F; zmKWr*rdj0>vH)ec#ui&^!F5@-VUaM6kS;FJdwt$7!}01veL46rya1K6>fzVk-XdJW zy`XD>(=c<$Ke#jsdDcI=+*@oP^78Vua57#6Y4gAY8E~^miZ+w`hOW6qSc1JmUBmS! zbRtR_3vb1fzSZNMZUzSQR(&QP^QQlDX4(E$T;2@)$cFqsE98}BUA0MS+km`PCAr8JAiQjweKW|nE;5U7_3Fz;qrvs^fbZEBQHhy%`dm1Qqzgs z_a@tiA&%~-l*Zm7RAH*J740O`Ba=vP@!F`4 z_!HiolU0!zd+kmclW-&dP#EvESN)>8<>$>r=EDXn=~udYggXj!7q`KNyAn+7W$}Ml zb_8-FFiw6s+!1;FGzH>Now{2*d~!5Db7^)?(bu^WS|>~;3Wu{lFV4r?r8_(bYHw=B&&=Z$a~vKSWs*$3;D5Ylo9bN) zfM6P6U+oZXO&$WgfF}(F{qZ2W0D%5K5xBgdX9%n^&+9#tDxO@Ah(y^Wq0kcg3PjB! zZB_m!d%*^2lu4o#XB2}|s|t|!Zxo*33j>W8%ILGdakTwd!>io|sO}Ofs)BYp!V^1| z83+LWJ|X64bCbfk_O#q|wYKJzA_+suq zz10+?om~@*nck8X<`kd_K}VO`vuoG>l!n)$L4JExH%lT41%b>Oyvo;U7W}X{V#Jv7 zNmh@pRxH%s)Kk)8X>g7yi-5RU2|mAb8DMHa5<)Z}n~4BLAUy-8^E7o=Y{%2{!>-XX zIUk{`t*WA1!qK83^+{b7XlgSVyulAc2?cdcl+%wPDlR?HkBM~_^^|j^EdKs+gpJUS zyop|qWYilza>k?+oO2*@{bV@E_ySm!)_e4;3qjz}YiUlBx!D4%1Re_bIvXG`4 z7{#%@?Vk7(rWX!g947dTH2ENDaER?RULzc6ueU<}_v%1&(gmV3ql^w8OT`l%z6QgK zxngQ-k4ZE|l;&i9yPdhZVTAGi0>>LH>9QYRi~-k*My z@iE}M?=xOEc+jrC@F@)%4>Ef>tOVBq&kgyC16A|}&G!dgjYu=4GO6JzM2WDJcyi5@j)Q-FviPvByJ%OS>l`sq znnb?j89?h;GcWEf9h7~{2%mobYpQYoiI$d}{J(g19Q1$NCjlcX{Vq{27M6dB3HD?= z`aHt&Au~gi{0!6u7OgjpT_OR7;evrK@s4DL-lBn?aP;J$>5_;C>FWK`lj_5U_FvZ+ zyuak8i3s)%RW%8^n&qR3F^&g*$A?bvjV(fC34l`;Pldm`1fYoBpcB9%<#8D#tfYw7 znFkvN8!y0@bTlJPG5t1vo2z&%1;aL^0X62WTPix8NMUISCFp<;&9u{kfj&`|Rt736eCTHdBoo|aP7BwkJ zMu|bJc>EnOldbw%Ea)^E)@fx4@SD{>ah{t0r=kQ0A~3N6fRZonT{k4_-SNe*oT&kN zg0jW01k#}Ld$!72TrsgF{*8`lq+mK9Za6TA2|Q?2u9*sq%PN;?nxFx!FTX798f9C- z)=vc;j*(?yDMdh_`53TQ{#$nEul^+|@(F?+3Ch4rl$+`bYI-_jHhNe6t&>}{`}GMe zLcqR&41>y@2@_M4hAv^$(@cy7?c!fdsy_sQK*?y7W$+JdZQEwRXZMdqk2WEyPtn*>1~9pt>$%j#GYL~}R?}Ub<+%4% zblCmsrkcUliThWtWW5YwuTYEFR8!+B?rmxTT5u2lnIS@FrqUkQG;CYGBwEk09f%lV3Xop8y%hPkds4&Ox|+;Pd>e4-Uy zurV|nLPrmveH0QBm1<~4TUz@E@qRP)20R0tz#9;ILJYY%o4YtL0iLk%i=n_ddaK0- z62OcFcXT_K=ADs4(`3RF_34|x_FLWfw{LZxOw6=$F>7hi+MwPd${HrOfx&3!c}D#d5*6)*OXmpqEVK-c}3Sp#o-87;!O@-QMP92D(z6}D2CjHI`S0F z$5f)5FhvWYOAJQeI{-kS&)~_33|csV>D+J2aZjosMph;;@Eqtw7#$|}2q-#osjcYz zQ&tp~8E>Io;K#j<&= ziu`x;er+_U80_`0VoJ)#`JTAv%}NAzg(~)T3TuQ^rilBqPg zx$AHlhYmM_co=NgMQ7_@kh3+S%0_Y<_PNv4R(_(;g)L_S?6OtRcn>hMkuiSTGChip zC?;~K861uDQ^DOSgL8r|*!$M%(CXQiMK<3p^{tCUB9#h%AItmi9>{myuruk;)~*74 z)^^eA_xudcsjVASi&xV^R(nJc(nFg(jaluL<&97zkuy2w<6;Nk2xvT8tYBBMyahtyHaetj zu5+M>b$i2HqO1R_1l-{)pts3PdlPg8r?Ax}1HC=HCzFY`6Vql|o$b@TfxfoJzn#t& z-LxMW#TVZiUO83!MXz~ycu^2sC$wLlJR+H7dsJQhgQ<|Qz5RK|e@ZmDzpP$edRA7$ zC;lsX@X_xn3lo+Tv<%X_2oh~+-5`0~3mMB_8{`P-H|qPWSlh*@X)fBms*uo&11P#C zs#mX#MJl)ERYd$?$NWqqyr|l){=lO4IJnSI@8iIa{QLE~h$&q_O?rI^55m%#*J+n; zeF15UgcIzB6`4f=WM#QIF&ed!82{W;6r zz5hzR0aQi!ArC!+<-!9N**Y#}ot|k03%)**DT^m>9Zn2&1)I=5Fx$jg6$EfFZBC>} zbKvjt2~0XE_nK?>B8b6FXjF{sDL^@2xai&#iqLx*CkM%2-`m{h~;1LtvNW?RwMeg zLWP0Ow}!L|fBmRB9T&14=3RRxM|%kq(sh0KeNfo!vMql2QE~&#>3MQ}vBKjCN0r$l zi_wy~p6!f3@S%Lp|2-y<60|!Co+eoJXZV|_an@boponU(v$xklcYibPu+VYZ&tvXg zqk0rlOtXo~w8*0ghgQ zfTM`89ykKut0$@1=Uv_D5{1!S z4cC=p?ygQ7ughSPOeekTfvp~^s0H|jNahs3`iop{_ve>Oo5ex)457n)XcqP7=( zM>H2#-U*k`gocvq`khUXUiElUderK>HH9JPaxgBZYE1n}*iIIo0LtF-F7}}_Xc>UX z5**}=fjUdvQ_*R&8L&;pyvvq_-AwQ8?BTRTVk?`udz**?ds5a6Gn&GVY^&S8j^wh5 z{UEhn71e!j6=3YO zsBORqo7wBszqKpKUvi8*GH#!y21>Va@u5v19griP6-L?3+(rBrwttigN+je9H>+6r z!)tA4l|H!HN5i1nA!HQy#x9V#lU^vExLsUhFX5(yG5V2pGH!IGimLde zCW~pnk@@1a38pH9k#X&ysd3>4EXhAY&d|$>A<(#>cPTU68p>f6y_exBmnTbCQl0wL z7Sp#c2b+x16B#sRh zWM$#e`igTy@sgS`jYKQ?Fq+eRw9cJ#MnCKgkPi@&VCpM;PJg3b8I27QeRH{Y^tEWf zmAZ1pUqQC+`c2%-45flUx5pbSEPR45KZw}Z9zOZ|p|Qxn;_&Z(-)p-S=(7`@hg#5z zw(F0!C7J0)4wtK~I~BX0>AQ?FZ!0t@3tkAC7f?h{85n=x!%t zuD6sR>Vc{1zU-B3&n_8-p|E#*d~|d^!KT#xt6|(NKF8K|CL+Efj~_qrxZ$BzJcBIM zL+R?HhBWqGDO?!SAs61LTr=n*`C4(Kb+hgMGF(E46oeC;8+RdQa_H zDEa*A;R#i8IfdC6gmixP?x(h4m2jEGmlEwZN!3$kt-(RQO#kKyM*rP~%UD5m0q(~r zQ=iCE64Ab4@s-l18?s%iFCEj01?|&ebDWZuuDDk|{tc!I&4q}lUx|D$dE%A~&tq#c z5>5S2ai92sY?-dh9q&K;KH8%5c?M_5A&H3VB@X8(sDqmlZ;blMKF36r!G8C-eScNh z4)kNYi$vD|Qj6_dY#QtXyWINkcRy`Z~-98aCwusaVwY`q@G6)Afjdbik)$n&q!NoEwcq(VOASd|r)U$@QJJ2`)j?m7W#1=O zY1PBHW5a9d+G9p%zgvBMP_|Kwxr;(yQbw8yF$)-4ojs%=AqJU2oQFz;ukhB-JV0f5 zqNuJ;LqN1AwH_~=Z*2hy5W%~ZndMKGv;fl93#cXQfrv1#bmMa-7eQS8#1kk{c+XMB zr9c5V*Tu&-Hj{%ifX!m<6wg&#%QA(-W3KKaVD?lUUoGY~WQ>m=<&(L4c^r2(;)Tx)Vk+2; zjV_eK_g+YrrZjojm66?JbN0~IR@u+*;5R`m3tnMX=Pi)7C-)sFKDxo*{+~<9Nr<@u z@k-z=cQNXl5VyGoZ?RL*a(o4_Xtb`rDUiJpmdw)4>^m<>+UB81Jk-sF;<$#)3`6II zj$?_+v?U=P)1oQes7(o4r=?(>LM6+`{fwGOw6HUA^nI0ssIPOz_nk#BpYh*SYk8xcY{z%Qg?V^gKiz?M0)=q+D8yWMKSK?+uhSJofLal$x}Xi37QxuJcDBTqU-`hXY|BjaoKVkt z;B7DdTFm0?zidihKx)0*`~3OyYyAB4@XUkW_eX<+gUPafn>Wq|o8P|=?e6aG5F*Sv z<(_rT6M)f!TKI!@j&o>$cI|yb%0uTsiah_yp8E<^8hYRO!fo#-9 ztV+;D7e*Pa7>4AqjA4jmmIdMz5>+d(Bd-yy+bpk1=Cu*>_F*e{g(vr3hWaMydeJ@w zB7O|=%gTw~eYQS@IQ)SHt`EA^dX9);1#4lsor2F^mwO=x3O!%x)lX`Gr1h}J=v zw8kq3W?$Zj{C*9mEBSPi+1$s!E)>RN&RH1*eqqJ#9StAWz(787kZ-f5riE_bR7x$e zi!nqvN#zmE@r*(8>1*z1Rukm07{^!0UJcq1?wCmUpk)yG_Or(L|kUm!7we(efC4L^%vZaH4^IpXC{>fZXQ&3~_%3d!j~O~8q$se`;r7n<=h*_8 zZtXsU%7-*%DFk*}52u$VcARie?1qrtdl{LWeXMsGMf2%XN9`R$gTqKAaZ(@EYTZxM zEnJS$`w*5;qT?kE;MAS!`}S>VEcDOo{rMDZUJ-^M2$TpQwxw22fv1JzaN;#6O5dcW z`i~LZE;(1b!Ab*dNZ;m>!QZ)QZH&2@vQ{P|RPa9X{{MN$!a?6!n2ERoR?7!y{|%+= z0`Z)edqH^jx9;vakOQ~({)msC-w(v`O5xHyKh)g>OW<`0LDmA|#VuvI+!{LqR==HO znHM3Vt#|EWU?uFf82;MmPpP6t^j1702tmhMitkL@zNeG)6jvLtGe;Jkv@jR>Od9^H zs85gx?)jvX9hWc`r$+;m^j5)0YTx)* zEgFw{?4-Yhn(p97Lb3fmM$(hAB)ejYme-49SPoN+l-Tv>Pe2H)nd7+k^;gP8n~kByH`KH#-o8;KuDT zZ2)9CaHr7RW*|!`a296%bh&}>-Wvvg7 zPgo~xZl`^#Kf0!0VYf~DBU8kgop94~q`EHCKO+Z4k%bCG!U1c$zu!u6@ptcK`QqXXC=Z${Lki%8{f@B?rCfjqHn%w1aA(k5jfHzr9o>> z$IJSyR$xVf)GD_jbqRMoR;f>BL-usHw)J&f+_~Z_e@GmzoT2)D5ZW z<5+cOpM*i$RFAN?g^&Fqfkt>O&vIm8&eoPUBLHdZb~;>`!_8m*9PKDU(Fu~(#ie)x9S2+3YS zVM+V^?Ejdl5vPu2GvONRA#2q&K@a$xouM>cAKM!fcA1B>wXhwIn7#)gsuap+ zWB@imwD3|>%c)XMqNexR8oQl2j7SJl!sfr~r6bXi20gqg~Rg-%db?t2-{18W^k}Pur=Tc3NtM57HPy(_%+uKKb+V4*eG@Q8DItl;TNb_ z0^Ul6qSz9tePTl!rz2l7mSKbH<}arq{AACjAgVQ}(%O#nH`uV#cgCuA)M_CVt)|NP z&yVu<_%M7JqFlNf)~ucy!(ZfaKi3WRp$LS6x&QSxPM=8>FkqAti7JDgofZ+$jGy#$ z>tsZ&1$Zm4yml^rJI`4NA}gv2EXw-t6_+9~7|K}JT8z6;VV_F^leHy|Ped; z!fVIj<3q%U(ajwB5%FH<&xP$4ksC?Z1Gih39l?HcUsW~x!-udRBf<9w>rzhB!Qna( zY)h@SEDaU!I9y9exV!m=E-Q~I73}#rU%c0SE!Je1k(7++xHn{;U2R|AT5rrFLbzM$ zHgwwBe7~yKNPVyl-*+|P88{ey-#q2zhGxT<-6)?=$ctr0W%?*pa`WbNMC-a`eJeO_ zq7k{mAjD>2zLKX%lqeM0u6#t=o_YN9>Q5Zb=QzaU7DzJ&B-ZT#ZZ})oiPhmg9g8DU zrn1q4tcq{)4D5XGKb&VHDQhKm%lZJlImZL%>bqBq-MS)t?7^SY)n-?TjhbcR;p#DE z$5x-zob+!McW>X_7%%65aLIGt@ez5t5pzdDV9IfZ-{QnBp;BMG-5-o|EI zG#d~+vW#~UYOJgonVx4#3IApv(?8;hjV9QS*j?&~%diW%Y3&UArfZ>68|@hs`=~nx zz6H8zUSIrD;^?g{7yG35*Ja#n73yp$e{y_;+t|v=iVz3uQoC}N#VuB!fTA--qq67M zg{Ka+HL12^nwGlRNQ|}R!w(ptZ#Uw8RTR{*K<1|O)TJ+f9~szV*%F8FwmrR^x2uHk z>@tr=u16NwI^o8D)?z)~{xOjw>)Svcm+`T@vL*(bXqksi2na3IeDnwf?6NXQH>uC_ zzwyA{;x_+Mf}WC0x#U!qK51yzZ;jb5v#0VEypjPsMP<-{u4zpL1xny?keP7wupkN- zQdiSIUELvYyiJZZUcr9*#+i8=^T=Ijf8-j=FobKG1j05uKIPV#Wxauuj7u113I@rG z{QvSnpbY`iP3AP~gB>^r-o~sE zy5B;DBvUi?3eE|`)pEHF<6*bT;wp8EVDfOH3ISzr3Km0@`&xs|RyF_Av5#zwAb zS$o{RDO7FGU}a#^TQ~obHny1$T!Av#&K)}8_vGTR21kRpBtVS}uKmBdppiW`x>-bo zlm%eWyBsUKNeSL>%<3}@9xyJx3?2;x)O9SXdq*k~Ew;eW#7Eg7hL^$$PrW$`X@i=^ zjDFdE;Xd8zr>js9AJe6KAs_MWq@8;JveFY?{9tD-oar-{@Nv_=mGAbWw2ps!JhOj6 z%ni4kR?ulK4bLE4c+aCXQ0Jd8xjo6DSr2n(B59e63`<-tGvc1y;)>aT`PGZ8UMqIQ zIBjFRib%mBg4`XyB1XYyY}Cc&ly0xybGj1@lQnKc(>@K|CR5Et{ zSu&y>WBgnPtvfT#DkyME< zI|`rmE{a^;@KGe!JAd*B?uqT<9@|?UEOuMT6A_fYB?M^+xCzRUZ%R5QGPE(APQ#ht z3iR}tkk|rN&$+*=r-zW`0vuftpw_^*o}E1VlyN8}$$>2jms8JG{@yX+V6$rcsu1GeAHU4Jtd>BVy;|;vK`|` zZ^AT;F&nQmqJJ3t;)XB`7I}!CP%rXhF(sT*VXScM`{=ffJvboygOuufz}7MeTN{&5vXPT4?k|yBb!W>#eh`{ zV7sy&{K>R`E#gKJs)*gEV|ZPnXJ~jIq;N4ZGUnuZTWA8T<?(KEgs>C-Nx`u5jSOdmOZEcB(RpmmkYc-=2CqdS;imC~ZW2}p% zh$*hNEsSIDR}9z~ROtE)9~BL5FPZMvx#x?NbDP{8;FD?8;vo`V5C7ynvBfn6X;Gjk zF|;-}_sXa)q4~1QRyRxY)U#tuzRX_v=SYx1D3R>W1rYT9HqppNb$k{lVhf^EsalVB@=i#4vSn{SFyMy>Zt0u}L&9_v6n>hRwQeyU#!qbRyWD)+LbA4OGCHA+{$G3Vtmai+eSJU@yfE%Iz#T%)-4;TYHk^Xg z>gx0HH!u9^vaK@z=rmB~3%NO`?aUs(<x5ay9bye7I{lW|#v~Q8Cf3(K^!)GFgE5 z+~^52FQLX6?D#t#%OiY|gq;f%=Y*b!Gn2htJ*Q-0rfJESu;c<;d%PhL8_qyxBGWar zb)&qyuRI@*K0mNW`TnW_KIM!yP}3%KDQLdvql=HoO>(A8DwskQYn}^)&xp@5mN}S$ zWCX~2Y`mAw*e#1Avh&3*d)6083rVqZA&;SigtKbYTF#?v=WDi-tuwEF?p+bj6rU!i z%j60q-@H3~kX5r#`R#_kz7%cXrBUUNr$h4l&DuY60_H_FMdpg%hoVW2W zAN09oiN#+iJ07A~=Sm_mF$%8afuOK{(Bo{2vD93v#4-q!$z|ZYI|}5m6fT^^=IgeR z39m>;O(8>{Fl(T=0PfnkUqS_tEnis^PqbKc%S>R){02k8*?Oe{A5opxW$KO3t7AcH zwxc7E8+CRglyx;9J)}m+Tlpgk&7(2XQQXZC;q}NtBc}v*1hcubVC$b9?Q)>b|3lVS zhc(@XZ4U+v888Lu7@~;MqJ-2?6tMu6ZUh18?oJ;SP*f0U3#DtLTR}xaBsWqz2BQZf zzI!0P@9}>8<#9Ydvi*MdeZ_g5=Xq_OCBH2GJ2GyQx5UcFnI_xQG%j7DFvQfw3Fxe` zodx*#Th2#bz&(8AZAf$AwrR^q|DaAa#->W!!1EfLWrGg~!L~f2gylB)kEy=IudKLT zUorpBNz`e%+_2?kvq3pKW;yFNZnDIaTg+ZD-QYpAjYO-rit;JcPt)9`K>{o5N1#12alX0X?p{WJ}re zgS=c*p)|Fv8-v5NuUaL_)3l?aUXYQqDBYj~CC(3(?B}w-uH!C02 zHsL9(WTeB?Z_yEb+m^!Gf1J){q9$S`WCcVe=jdR~g=RezjMBKO-xfa3#frNF^sk3* zhqdbfaM;+EB|Str7|fcVCnQ`0>-kC&dd6-gN=|gF&vuUjFQQ>u_)sa`420F!M5<)P z?W(D86!f-p!FTL5&0Gs_SwXFXb#vqU8i!o3F{2TfXKy18W{#%-(24(|@oSRUz!KxY znwWwCRc#+#Z9gMd%u4lfMh=d_oMa<%HhK@c`J;AoDwvw{M{BQh^MA3 zaOdhGnP29-g>>Bx2-Lmrc7Bl2U*Iu?IiDHD?^K#>HM>>Aq#=qW2fXiaAEFjJglXRj zyM`L-vGsPS-O-+RIvug$5p%q`kR!b@%Ft#b6D4W^6hUvGoc!P+8hZ_XRooZ|>xB#J zdT#qUI4LSr!gotrCf!n>GXhNNsRUJ8bRg*|25aQd{iFWpqB}RJ*Usb?C)PT$ZBH2W zX)#1AeN!(Xtc2Yl-sE`M73lwd`q?Qv!4y_#W9)hP(vy@FXN2u4Q(nAa-X$j!pshAL z^g}Ks(-x{s#6gnp>e8$H?ToJ5>Gt&g4(D)@@GEJhRE$?eZ9gbQS66u@Q>Pn${^dk5 ziQ2$=_~t~&vh9~2P@N}mDq6l_uGF^FIBj@%G98m;A1d1I ztU9cwnBC^WT{g~CN!-y9Pyna+#*G`qKWw$%z#1TecZCm!os5KeL%0eKhlya-TKF6# zMH-EjH@}vP{*b#;|2-gQ!oCdKSiwVFI;*p!uf?#aV}M?+9t*?OYUH4Yb`~lNa%tMy z!|(mZ)ueJD#(tY&kA8B9%$0J!A@ow_vcBR|waE9hyOUqQ+@rG(98wWy=;n~}s6iM;^$V|B-e0bmptgx@4Cr3po# z7KF>rEP?HM#AqKBZW*wBmBXMsW?qqS38VsP%e8)hMfF4^hN@aF~7j-025(Q$;yh zE5oFi-Lm)W@XN-Gt4>F*p5*Yy*zRFbVCnjER0jF$s)=X*6*11lEAS%7yY&Ew6J-_L z_NKdB`i=ZtU2kWvYtN&R^?ogCi>*5SfXcktm7N>jR&3kV0wt?3GpyO`Wb^vFa{~=J zYf8j|AD7!}U+EvMC^puss-hKZQSwjw!wCH1w1z}_9n}V$*b41jP}XjGgN=uw@!zNsi`qp#?8&mNy)L%medg;wWMta2gN8suX%rPP8(GW!DyA$Kaii9_cg?n-G6>$<=p_IzZIW? zC+n@&q90XqsO@2x=I^fcvgh9=&QP@7aH?GVd^el7RXzN3KT_Vkw0A4DV$hj{f0p== zVhd~?dRJNC_~W22hZMM2IOl#SW*#M3j8xGR`yU#!`D5rHXr*lRh1|FoC%0px{~oo! zwuKdn|C2aO#0R{PBF3Dl7t@=IvKgD!3vEj&mY&PEhp3iWRHG}RJsP9S2|*So%9*Qu z<1EZ>SQ)Na=eAFJVymY3FBj89}fP+!E@+Qbkxf^;`+x*cxczU|JspTs+F z9!`~cEkLyi42{@EG+Cy9Yj{=Bt$N>>HB=LwR7mIG) zMvXN~I@q>s1&A#o1|?_wpWp@BRKWyNXf^?2jX2#=ujbmtA0`U`pp(Yjr+t{yhCt)UPzil;j`r;5pN>> z>*Gx$OIzG}7mws|+;>xe*1`QoadT!i{7-M9A<{>KJy^*tY4w{r@4M&^G zjhwr+Swq#+7y&Gz3Gt=+{P~wj{gMwC7GvkHsmD}}4sW?;y0N^xJbl1Fd!L|5JSg52 zW17dzL2@n|ly>i!iwF$`*7yM=KKoBLNl!S`W1uTddJiTi!m!wO)f=h`$CD{!#_QVT z`ivYloIXdsInAC7`Fu{|glN&6Z0b*0yS=&7+ip6>Vy~sLMIpvj-Y(u69V)jIC8>$T z`R@y#z9ZhnolvB?J3!DY42a#YupX5hGM*JX!MfJ7Vq%kEf%G`AUieUOR40el6f%oY zc8PXC#CFiuDM6X|B1&t^xVVW6Qt)ufDWR}uvDm9O2u zOj7pWnLFFRcSio700O-|Z;i45V^oD*S@IQzWDddD)}smoay;yvmOoPv@Xs~pU{3E^ z)u|rMoJO74GN7FIMTu-5U6+a6Ad0d5d`$r=z9grb#D<0jW+kfXKaYh$H&;IOwmR+| zDXlk8<91kxsCK>n66>E~B5T!b^bl6gV*Fd96A;~8u|BbXORKNQZ2sD3Bwu;&29!5S zkb`(QlPRxD{pL7ySdk;p2iS#4cokKa`)lIpJA&{L_qOT^PI|aFG=u#PRsH`I0MUVBzq1O!n|{{xZ?t zn2;qj7J`ws9&9MP=wdojt3T)WvV^W7O?DaPK|q}~jGPPHc$-7!^1^VAcJNdH?KM{U ztnj-vIObJgx0+?5c*Il&i5(k&u$fs}l^KDSZ*eYB1@Yls1Iw;{69^E4JL>UDIT%dwX`TEvPW?n{5Z8oMn!f~k&kt5mP1J_r64x9N*vt7Ts% ztW}WukMKfKia)~}b!qPgc6*S)B$=!E0VU*f{O!L(oBGuope_KS{IG`0dWCPNXwpe1 z2Le64=|s2@Gv_*v2RlfyDytT)J$#4EN&=%WGS(#Gy|Y#DEoILJcp#|Q|3bkAd zr1aby+T`BjN=4*fW!DUP{{-^}amS0{cQe|qY0ETf=hwG7)u(x0z8W6d@tf4ZAS!BQ zX!`awZ3O5EUT=tv*RCu<+;2*Ck#eaQ^>_H)cE?;Q&70_PH52iMz_Q{@OM-Z8+x-eX zRaF|$Rc{!T=(^em4O{f?jPcbNN4VC?5{;z0Ht}xTq`PHqQ2XqK3N+p+yi%qiXro`; zsK(FLndK*5*zvriBtJ%Jzh!3*`S*Dbibg6>Fy~b6-r z+u*G#9L{QKm?;uTqL_sQ+!uNOG+c3wVE#%mbK5KZqcLR5F~T_ZCRCS7SR;1ou`t#u z7?6Y<%SLH{@c~ygwa0U?#9!h6EquXcRpQIXRv+nn(Y7u(W!eu_0Lm~K)q5dwG*^k3oc&nc2$WR z**)@%(_+d%r)wSU0n2a_NggbD3k<3YX z`67o{d5amHPxhGhw%(Wy&dqTp2|mWi)Ajgw_?1b>-bw>vIPA$Tthb60jtb7aF`EB? z@Ka2$h^2jE(@;kcgbn;dJM<9Bz#!K}>UF*q_dzYxv%P0ABtu`)a`lycPh#fQ@mL(R!YUqvbF=TtA| zhdOdlSi4I|*gF}?SqdoYD^}?+$}l*Q3_Oa_A6jommh`oySXTw zPuG0v;#sLxiyEIgY;@`y8Wb;VK_c7>#QQg3@mPiKL7wY5{N5S~QJVNU9m=6V@dJ^>o0LFZ<9=S7%if7hm)e^G5K zDQAsm$Y7&#vCgZ<@Ebd$^=d?RWZ!ywX&p(l-nxiOb>qmc>;wa0S&6tnll?Sz=~4iD z7RvAOf_~5G zl!6Sk4OjG@ruiv`R z=^SeA^$%yR1#Qm+ocR1;()x}AZs%;F^O~kN@s^$kuY$jv(ab};CBwy1+gWR`OMu9m z(4&8*wl)JVy9;@GE3$>A;Q}K0cRNN-Hh zdHM3Cgk6tFm5Ddu68usS375(dIwZ*y=u*)tCz2I{taZ|Uc9neVlk>q*dP=c&qq!ofFIjHvZnU?!E^->#&a&;1}WvnAx*X9+v1?Fj|q zy4ttvp|kOI%i~~Rl^?P4f>b|F50|0n9GmakTf$D^QVl z?AR^1mIGm^B|(1wOn)=~8{NJgAp@$G-{TrDcRXnEbrhKH)AF9aPlD9%V^6!-%qoPcC_~;b>^Sl3RcoIqA z+E*PP(FYU(gyL#PhJH+9qB9;X;gO}iy>?0fP1un1E~28;d&E(fHCn`+^T7HlvzCQf zTucLiX>ZNr@4;}YJQurg587CoYDU}vv)PCUvM(P%gMkqF(X)nz%XwAHHykS&^2*-M zwJ#$2a@vLy`b65|LSSv{2@^COce8nO3=bW7De@`){b9*!0di~~n7-1GkLFnb&UO$+ zyC}cCoxyi>VtOERMUE0GzdKvxp-1S=v~3OT>}me&o`x$3C*e8GoWfc+{R3(vQ27g` z9S^N}w*8+(DCWNUFvp0|u8L6cq`W{JHFI+YtLx2=5JT>DRwxmv;9spn^r9V^+x_ImxmS<{T+J;W&Vfth^%s zgzh#oD%JP6c&d7bY815p=J6^)YnxR2dU!JeOFv*YMfv!@b;|u9ex>5c|8P~IdbC^H zE6-k9UeYb7zv(5xN0G-tCyozeTSpJ3allfq*u9efEN&@aFw!?(nqFMiWA(5}`_en) z-9hq*P=1jY%1knl*eY%%>=cgb+s%o5HOoao46{U&t9{kHdpeHo&kv-eSc5-iW&(cO z{Iuw&D52~quA$&Jo-5LV?;Bsz+YNKi)y@BMD7FdnxQhg!Y*O}oETlr7Tzf|(nApNI z_TR=S_rI0*6)d2kHoI^yudE;jb@gm|eS8!%864jsd9n1_KST)jtBnaXhI;H^J@4l> z>)5k-k);S_1Ntu&Ia`e6ab*wgnGB@~&M9P8zjCy5zAb<4{c*x6J(etSvy90?k$xJa z4vtgf_T2WSe51>}+foBu8oC+^7c=|w<-cFXT8Q%!yfhfCy+D_vMv_PG-XG0O%CX&i zS|gDMU0nHe+!;C%J!;}IUgDYB^6lHBh0FU7-M4^u*`jj4lu+wU1V-Kh0s=qZNWn8d z3=|i1U`LczZf!V)RpxTm)cy+9U?Y^<6Mr8k8nitRYyV(4x~yx~M&rE$nYSx>vT-uw zSCkaMO=OG3Z>beKudz5y^(G}zPTcPC^ty&$LI$OOm~eD--T2hxQEt{mZ>K9q9=wVg z9LEcI=-Ex{aNN)CYjfr%e)lG}ULh7WhqfyM)v)w;>fiFRTdtb?MA~Y+!v%EB0$?Vp zyR#i&I$?juXvZ#6f?h06;3n{GfPuxF{N$yy_N>!`US92d?mL&h`N4Y@qH?_9uYfjS z-u6d{o(-cO_0Xr|vYBbdV&8&S&gZ&bC>OYpyVAIiA~H~vkrauB`oICs)$B@W45qx_NAr%pGV%BwWqS!hnDMVd6b`p$}u-)f_IK#*3vs zZ_f^H%kYu$pn`|YIVRO_9{&D#)$jWL%TbIIBAelYpU^G?27|kI8^HU4FlvXXW>c=3 zy^BaaZxS^;AN)E#eHvylGXE1~4DmLDa9&}{$1e4Pu(}`L2~U3WImwQny5w2aYHOrR zp<6=}gg5&-a`quXoqF3(TuTNQFyo@*!3n{1mndS&Cx}O`*^F{I?ANBfrcM+#8aWU} ze93RH9`0#mrl)}>$5>s&j(i|@f<=8fbUq8-JIkNF<{=K4B8L}3;xE?Be*&N);3_-; zG^^tUkkwsMr8H!x#qsqTtN%l(?ffbSMk@=*>9q(r?8?Hx4)aLX2|}MfAteW2q)`a&DLKYh{o#Z4Q-E(>Sswt?M%A?tWGZEQDjd+hm&Cm1_(X^h zx|=zojs?vXolxtw2-HG2G}?2IW2OL2vs;sy`_|p^@s5OF!C6WTp<4z}(D-BkrHgrE zWTF4&vW>W~4VR2(fYi#aYS|*xE?c1->2EbM>ZYuM&a82$EGl35t2|0QR0gUEdMohi z%cf2hA=qF`TgkX3+PCtU_G)Oqn{LDXz;}ZMZfh$buzg*jvH#)8Zu$6 zKk-msQKa9h`?C`-Z63>lAWYfk%uWn2);d>Sdo0fso|FZ+r4m!`W7@au(OL8ZjN_;4KR+DR zKXA5p4>}C!4QA`}{h+?o)YJQh?ltkVVYPXGxg+B`p!w=s4&%!~2zyITBGG~OgZmTkbJNISpA2RwCAt!i1gYG$AP zy`VZF6va^f>~bc%WCFZqRRFh6+96-R3OLh-xU$}f3c(^0hv^&f@2Ykn?p0Y0cL1(UJnR8-SxZ*yc-S-ZhnlU#>P zkJYQx0oX@Gh}(IQzN&!Z+g31lT=`HaQwM<M4DF z;bCXSjSlT>k)!ZyEYrbM-?)Z0$EX_Ff~`F-UwTe`b1g7Q%6F5m%qG2+Hz2>$%G2>P zhOV96Op^)FzH_LOM)kYtzdOQ}z{G*ItXl~#zc&@prAO2XvWwViPI<-x+6k4bFCreK zwT8ys1w&1uKL*{0Z!-eeH9YRc=u-12pmbY)ea!O9r03X&_wTu}>e0^K9Uod4U}izaF!H!qzgr`D{}ylst`j%F@$L}C4YRVa zczpL6$`5aToF0^1o%y>_A|LY|(eeZvdf=3Bap`Zjd~AjvK!vg~Du9!1)}3b8bH$3) zMm85ki`qQuS*kTHP{!9oy%7_3uXDb}7wI2#vdX2-G3bGWkvx6p{V@4!uJpHfEEE24 zW>5QDH2f!2Ps2{-xt~P|5xX^w>;_k{rCGYT&k-WjGS_I3{()NRl3>6R=)tgkN#sN0*YGQH)2Y?Qx3K{}=A*f-sxjga9q|^N4 ztwdLw$|A|_W(3tp?^hjsQVOJ4W7eN=q-S>B)Gzn0_Z7Me_gT`Dvi;N{*ezc&j_-8< zQ7IlS5`He$BL{Z}r)<8jFpSOA|9N(P%_|skUg^X%prF}>QQxS6tj3mZrT}JJ&5|^Z zS>#(q(2LfEfx8ZuCa8BBi)jGMBExzu49HpxuQfWIuCEmf7O=+N(u7sMlxdI|3NA(X zZ_5swz!3HrOvT{WSGt$2K2oR440)df)NSxJPJlpIxljQQjs_dL^tY!>lEygaLVYaw z1a2vQR!X75}Uh(e&AEt!2-vB}lSpLh!X**AW zPw?oP>lpywEKE~nEOLi)4TVQ*Kl>AEs9Lv0r}nsT{k{GXhuB=(NJQ3rR10W$%U1LB z#|kWoyL#S%bU?PWA%&(YY+op1{gkVuSeKX9|A6A2*NAJqLn$Z;fX|wBNrL-pvb)j9 zS_6>IES6Q;j%KuCcD`QfS(Y{eP*%IF>}LeXg_o9|%|M#he&^4ZAb zp$$TFW>bT>MierI60jryi~i>02>p{I)|vHXT7CKmAj&SSVF(h5Sf z+VF@IcL8gw*VE9~@ovNrQwPM}CjSYk?yL}C@y>()u-`_lsvRDcip0e8)|lq5P1X%MffQdpi|?pJ?oev z4oCk+gAB&oMVhPitx=_4qcJ_UsNluGjmqkxKZ~tULIW=@)s4wgP<2va?5_FlS)fj0 z{{>Um2-|g$kfo@($S*nd^yPZ@!Fo3)g@4cR834}!f=XUe5f{glSG{gP2d@NC@IL)h zjZ%C!3BOf!M%NQF1+PPG^v!=0ucAZwBX&!EhhlYG%m**^;riBzs;Gfo##7}Y+=lpw zt4OR%Lv9-^NVIrP^H$>h-UF>sc#!#tAK$*omKf{zms@CG(3dct2(yc7*xZpXFSBsw z&c5uJ0!?~FX0LfEep!1q99&W}gdc|PpV=cOw@TO!glhcFK+&uRHfI1~F&_$*mS9rk zlP;{=z#voimCbOP+3|KDd%UIFdBLmZsZ-aeDG6JF#IHJi`mjV%ypLO44tC}7DYzq) z0*);0ZTKkE*C{!-6lSaDen|zgi-7@0g6bD1e(}^u4Pn}_b2OBonjnyj{m;$!Lt{~l zdt1G=g%mYQIv&v>5*;esByUK@qN^5&~57)d$45d=1)ejnUI@3z@4zi(fIiEC`l#X zHwF@}>}OBE_%~^GZI0~TEAy{Er$b9HrsSLVSzme;~0Sp9GzIKXd6yKf=nZRn_=H%kyqJ@GURAJhPhg{WM)HHuG;k$$LfKf^3$`MEd|HRtpa)_4cFgK2Z&QTg-CWcx1AD9F{OGuon@B&DQQ zcar>_dujSKk7&0#|59cj6nqM&ub-LG!5j9|qkIvM?cNs0n4xQi-W;$tJI@_nMBh(; z3lsG7dTQ0mKJrkxdVV|O!m0(JBLK0PBFO5j;wA%2U$0zuIRDcR0p`89lP^Yl z?))-r4~`G6auVqxj)dGMToRmmeZaQd`1k%{E$!{7oXgJLLfMo7lZmOw&|MFiZGvJ_ zZ&@h?uN;f|ZA5$Fy|EmJ1!P;u)y#%($Fu2;OsIhUgwUIqpr`LP8~7?68SAh+8H*?Y zeg=h7r-O9IV|t5C*eMv-WB6p0edOMb`4W}$)k0s{?+o7^*^}tfT8eDDoN~jaysl3A zqgx3hR(gOn+{{M4ZqF?aEh0J_$=lRHSoj;bz$}eu){eO3)r<3Z3ayppQTYD+V*BTr zf^m1EY7F&*y?&TXl{tmUHGhZKI|X=}Ktsyb6E(YHY(OJ`1C)R$Uf)j^@R{(ZPoJvb zUR~0;zK|1^=1+UI`x!5MBPMDwHln1DR#Z|=z(Z%Le1Y#LC&iSN^1V7Cx7upPA-Rrn z+hH9r9V*xR}w(8ZZ)Sr1c zicXSGsbEfL=UuXk6QH(IWbg+q*5mQ^l9`96&&ulC7EXyE}08}zrP6^sWfZAM^ zR}*|0A1~=Xtw|XId3OyEX{BGR+F*1VlNqFCJX}#^7P9($(FE`Bw+M4>j#Cw8-GX&U zFbKrg{4wzRd2z?=R#q!au^jP*YBPX|wr*00IHvCHfV!}mQDfX!eV^YuF4WYH4^nJZ z|M7OgUuD>K8~Gbv>R3#fxN`Jg=cnfFqre+4qTeu3?uLi}ZBl*OuI0+9Om+P3iD`?g zBk;Pi5&~6PQufH;jlMf}mj)x_XDhnc?Y!U}sJz@kha4#E&8V`}z-~-yZq)_&N5;@T zK9kDt91f#XA(0)88VN0zB?=&9t^mj$r%J-yLjg<#%*96|xg7cANqzN#b!lD(go_Fs zlgY=oR-)fW#!D3aavFWx67o=Gq=7;wk(4mlqvPXIsOaeaSer+%Y;^p1Hg~j3{j)1) zoJy3HemT@{t{Y_E%CmKpH+>7A-PYNus6AIg_)R8yHnjiwbN_D|;{huho;%(M3fX_t zqeWn2>1mDBTXV5N;0?qH49Y+P2H^;&ut5(3AyGQExELU@8l^wIx#Mg?Sd~2~{gvP} zf|vHZ;flgZ=1z(^*};208AGsKlx$@I24l)i9}x4ats5EKViH*v|D#)D6%`ol{bh`p zd%t%Mzcs57?6*)J)oYT}f-gmqTy6(~aGb~CI^Qe6X`5s|D=aO)&X!q!_F+^|b=HyH zxd@qcKw>^2!_lML*QNHFnqj;uXD6$^Q1xl^-E3f0si?6!H@l}UW5Oy{I zZG{YKzV3b#OwJ$S{{=3J2vTYX9uSLGT|q!s(E19~(e~Wi0d&3*&ucy|*9zX#f@(_D z2q5mk_wMFaIN30bpT4B8XmpOYGv=74@f(I=cprVo16+De{pF74(nh3bL$}I^TmLgA z=t3-2l2~&ax|}nx8oFBn19K^wQ{foLgqAE1q<_I&Hi}|v9naPEvt5sEoFR7GSC0Se zM*(lfx}c2!h3$D}cv?H=2?_$^%&6$c_DXN&-Y>amrv1(%5Z*Xuw9Y$qDn#%cQM#Ob zZ26gd4g<701jx34DTvs`E*h_HA-&>{q*ls++D?Q2DE*~{{hN1wDp!X8a2a_4oxj^{ zDSCIWknOQ;dckoW$0+z#qnE}mvF1O~`eh7f(%IQPqDrWwhft2u5x{^ZZ!K)eM#(sq z&~+^=bId&IVwdfp%757?dNOubHUY}98!h z9_D95yLD<|u<)B%e~Bp`HCIDY|IJ4Bz(|!ey)xS~3a+OIJS5+jx{Y5u>htZ_EWJZ_pQy*M&d%A&@^ah z6!%n_oj)m~#l2hBDQ80mh*88Ff{&%36tas7IFl;xb6}Yxo>+hRWl|EnE=wB|lllYK zhuP6{*$5B=h|8;fPjz*5t=|1-(RuG5ynYG96tOD8WwHX|`t>7I$>-NJX}560p2oDZ z@H+9*x~+HuftkbE6g|G^95uv-7GHKpLC)ng{TsCd3<8 zXFUCu$G?O116B9z5IT469E0@ti@KfnOSeLC+uK$ePle@ngFIR&%V>$#QeXq#_lGdh ztG{%WWA%Wt3RVw|xt0@r&HE+GHYdNq(z{#9l&duH2iHQlw`;V&ITE~jZIg6M@ z-qZM*@(%NM3-H{Vvm4yP9u#smhwq2hjAFXzL5p+cAjBR^wK0rLgmke52Q3titgP*f zlni+7LZ;c+c2}<6eajW-|Cl;m-geZ~FFohOteZCz{cXB-AHY3YH^4DcQHtml@F~C+ zCQQzj>Zkp;fFYR(M+GqaGCZL8Ux_*V+7~SWV+^p}SHO{w1anA0DBTn3*ok&-Vu_#8ew4~np(!)=HC;|c)&__Pf4YC4# z`zrDISv zrpw9jyZ1+cg}xob7dck{k4=#iXT!DmAcmo@k8MWOKjVac@F4V1R61!kG$VC~Af>rc zxZWs}fN64*mpexXh^>eS&)}nE9%b;4ACFQ`-!~aVNGZvRLjkq-#D9QHHwo$5dRtv_ z(k>v^&zG=|f-{L8#*gt&fVU*9lVi3pP!5=Qoi_`d&8M=Id0>+H_yH_?rJ|O+Pc}7G9RN-y;>TGVv~@kUy;WYMw*ihY#FU5Tp|Qf;ig+dH ztgkn~kw7zZKf0aqMgIU0WATH=_GC(X949}Yh|iNW)ropEyP z19t!t@=I9PYn1>rR3-p@~=Xv&4B^}Vrgw?Gx);(Q}Ce2I&T|0R_6iN zVkix&3V`;3&R*|Oa4+s}KZ<-RzkdCCD_Qm&_U8VJpK+=96|{7KTfUc10u75@PY%V% z=S(>i)cqa{pv2`+l}XYSE6M0I)UG!Ktph2k_gL^?X)zH5xXtP%#&-we?;+~{ z03BhCl#-;5!|l8eco=V-(A_xil|xrJ1Vg0u6pj?X+Gm#R8I`*V0MhgVu|CGU>(d?b zO&lj2^RP1YUKJq@U4M2Qiqz@%@7Gw1vMkjO*%e#9T6_YWi54J0t32>w;=S>ADbXV; z2QV2u@RXyYlk25Jqw&*aT93SSg)KuP>;ey^zk(9(Y&Ar$`}0kbH; ze1CJo`R)zCxr=rlhB@zjY@G50o;?@4u_9~HA#llhw%}`}{YJktt`|&eO>;#G=_bJQ zs(UaiD=YfAe)F7bjUDo)Nc*e2cBPBJ2 z&lJvM&U&siB8t${A5{$Ky^}^Z2MOI$gmy)Te3dZdn-INH4E+XW-X)eshb z!!6>a;O2jSAy^FNI0T-mui&h(ty_4a<&ag_yJ|jxLBthN;g&;evI)rwkr|2c11xH3faWr*wg6A9+Uk zF_+LAGoR;!HRiJ3F_OY1=j}MR}V!Vp@QQOMcIcIBj9Y50G(4oc;rx) z2)c0-8_e|lg)9Z@w!#YXC_TGXp2Brr)kofdD-Eh!_Bbznl?d>~;ZZv?8s>_Dj*enn zGV22yp8Y)-+W{_D+=7=pVduq(wnE76LUe(vJW>8!GX_X#&j=UelarIDMfcywd)Q&G z#?J#7kL{pQhQO8K@OM?|XD*8J)S#NO=x@%>*Q9tz_g?tL0Bn*UwY%_%BUEECII=29 z9}w63VobHP!h7NEifkAa&%_2MJv2=9R3q5&zKp3pPpW?g93DcDdM2Q^Mk?hzZnDK! z|NK!zrXfy??2`xHNB#Q{DPXu`4;BYQ>+Wf+4bauMalW7{jV{7l%FO4MCZ?zT3=gL* zT?cdj?@VR$l9efGX-G_e8adP24|2vgdL-7)M+)HVNx)BM<1DLKVAtjj-q)Kc`3)UF z#EOSP7i%m=A9}d;=5p{!b>|rZgqHksB>FHT&XoM^@T*MDoGDmO5#-n4|01h77G}%< zh>zZJ6_W#EYy&PZODilMuvy$&|Eo*{GPwIsT97m35DuAHQbZWI0s4NFbkP{E~I40pb=TkpsC}uVz4O3 z5qSQ)0Y@p;7&dHx5TBZooGq$n)c@4kS-`Gk~9*gug$zU+PPPs@74FS zTgkD^n%n3+{XjFVQa$C^Pgz{xhY!E!N3OhHcDkUd6%rnCkB))F%XAn^zdk* z-_CXcDgR!=?f(Jks#}1^$LE}!@hQ~aMe!=gd8;}WUGB=QJei9q=E&0x>vEs$BPYf3 zjwj2pc;Z8o94Sk={FS^%C{Q2>7`c8I@K$J^rtqTzTTUVKLk``qjF*%aK1IB-`t~#` z&;^N*2%rFv9w1@VZZxF&+SvG{3^E>1KGJ_eYam7=tebRV=j0_1D+Pb+lGYvntmC_7 z%vk}NB}kKDC%o$-52E~gieF9czq>@>)*@e~ajHX0hbs*WPfWM@$rogaY!@jaQTgYw zO@5Z0ETexv7%5_KU!{QVu_Jb+TS~K=KH)+AgMOW8cKQUkRjV!h?4Tpykn0sUH3PEZ zWkwX(xj@#=R6t0G4}@(;9B(T92lUaoB8j5!P7b!k%sD@p`55hF{FjsgHc)oiXbKpQ zG$`39-4L+8K@a3-HGe`L;6_aSGJ32{NljeNo~R^YUjyGMlatLMIU;=}M;d#Je^=Cn2yTk!}AX zs?>h!+BY_%roex@u6z)x zHiSm~fYAYZAksy1GfJ)6cW+hra>eeHjk5zPtHbde6m9!LWHpKGc#{_f9H=QgIo@;? zqTheSdd$u3y8!ZM92&Orn@<5`7h}%>jsVeLiF|=&tN06LZn~=!ab@`zESNRN+?le& z)p(l`>ZhI){R`X#fh(1}&0dRG7?>Nt)XX^q403#^rF9w86yv$SpuwkHLy#Ziu(ctvTh1 z{Qcp9`_Cht&T9K1{>od>-AI7pJ#WD39mu|ffO_wamGJuMFs6CAJSfU%uiY-=VKj1g z_)!cGbYvo7G%MSzTc~pI`H%K{8m*6R5c*#UCCLXpy&_|D;b@?%kcd3-UuwLU^t?O;*~ac!Y@yZdV+aN1d`9I`Ewn>I*HtH;f5Z3ch=YNQ*}q@Z@|07GE+HF# z?bj<|KPULWl~Qy~>!YwgM=M$v9tMj_733dNLVa49b0$xM_|7u}JBl-+q70kt**ceQ zPW>^-#BdBL^m&r1e|!?94(`&bB)jJv5{J(Gs|p@~ZUn5Ll0P2oOSam&W1>Yxq}0@- zTmuGx15B5J{-q)B+6TR0PDXN~fCF>@>_&(xSp;%Y$aGy<2k$75^d_8CZ^1{i{4&~C zTRw7+KYT+ocfrxLB(39rrYdqxr*x3#KI&X6YbUd9;!&b2uwPT9Wc(E}U8zVu;8Fv~gJz#K??s*7|DSV!Iu74? zH0!iiPkqykM~D@T`B$QNBXDjm4{baa&XX+(a$3$zDahuH8+bNS^mvd5T>wP%Hr7Le z``78;6~A)nB?JDV;($act2`&H8Bksxm2;#Y>3(C120f8Q-8*7k?&*NGMCEB)&0Qr*VSi< z9D`B^SHtq()i5Nh#=tgqL2#lE^;3eG4SUgOp$|J^l4E$!TtwTfUB2Jlmnzl?a2iC+0_XlS^DX+HUikehaMr-E z%hJlK$gG|cl2@5$-S$SI80r5NsuACZH*+0OMdc`(_39rPHP*13uu@f3{YC;1#r_Dq zo<%p@%lP>?qV9>GxzD-zyeRYQM;Ak*)WgC(Pgp0zhh)ugw<#Vy`7_nJ7?mO~zpg}f zD}D6n-|dM6{R^UF4BC;;SgfD+fZ^y^AGgNFxzy$+I$%uo$IPa)xprtiO1EY7fq0eS z!_nD<&`(VCAbS18xVgGs4&)^lCpiYx38q8n#jAXfA=N%Zr(PFP#hk5Xm0DS~Ck}qM zp%kFb$?XPu3qpg59nz@ZKDJf~*4DmF+`^Tz=Q%`{Icj>~p8tObN(xvvfUNGby(IYQ zGhndU9l^f%QaRcZHX0(@0kO{y89fWs6?P=1U+s;>nNgs1|ZxP5lW=zq>rG{ir)WmC|~ z{3h#MH=K1W$BA%v(7q)mY64NkvYXAIpp?|OaoFTaqdW|7mq*_8j=~ljiYv{X!qA_1 z*b$lUv2MJtC<83&C;IH}_S-| zROP9!b<@Y;6xjg<`SrZaBF%-58y4R8BY-cIfOw8r>5rC*_+U~_jf6x!wktK2vG5vk z1#eYLoyKyzCvV-_FlP(c!n&z8X425q#se|c7M=GB#OT}^5siEmZ0VW(%KmxBA;kLJ zvE{&07l3_ki-8p;ulLMQ#Ra1Q?O&v!-tRj+yujzpsiqzCF z;Dz@zpdUET+Z3ty!B@xBJ5a`7&trV!Q#Qa`A6%Up*v}BvA=sgVS%X^X-#*jX;D;hI zpkxYNo8lIS&Srqz#PIH-tJerAYnt8m^&^>EjgPN8t2latmqB*10Yk}Al=Cyr9l{_3 zVO7lTq5NqUP!{+#)rYze249%puN{M>;dfjFbA}LrV9%aGlLmRW)mPPC%~0TOI8BPW zcM1pJ$6QxE|3xbt8H)lM*YtvdqxrqqVH!#xyd}^GHe7|Ckf)H=M&}N)1%FM-85FG( zJqh5Pj39r@o;&(S{*n?(OjT8zGIr#JhaB?1UWJa-xHu1c!=u{27yRhe+=LRcdNEEM z6q)Zm?2R2^P3Z6#@%e}y1|E5JSuGt*_2mAeVdDIk?@xmIg}majAp(9@B%DRqR|n#Y zJ0sgi_0@x*9x=F)gzuq~5vEvRr#5BhE?+546G%)>=I*RHXmfZ{d$%!noO{`U@kXw# zeB(sj+k2yVFXU0#D?nq3c*zajaKf0Ov(YsgfJk5*Y$w!6tu}sQz;E#aZA)8A{euLrOu{>@{Fy&q$ zHIlRm0Hj|r1j5fV*|7t1Lc-wRY6DKo-%|FoXV=E{uU0B?0&*zv>Q$ynFR#7c((}?feL$D=a5MV*`#@*hnb+rz zGZ`ISjD*QFcIP+p%r(|V_H4`)wTLy2Erst<9o+Qfe;M)@C|_?Th&=#K0Kg7TR=q^m z-Cp~)=iu=I>Fj{}6_Zu}D(uc0VBJpxQVXfJCS}RB+_)08%ze*dG}6f1RTAh6nm%B~ zwThS;_J3b~(2nqaFxX!hqbA;a6?Ok0H$S@4Q$Cg20{o|`l#peEzf4-6Q&T=0$Bg_& z23IzF;(xXul-l52-Fc_Vg9&mPhu3`+!g=xtjNrLo2@h}|D*77$x9c|bfmBdyXW#mP ziT`j?s+Rxk`STEfb)k?zS8nXW@KWZI8>D7F5S-h80nQX_#GS6=z#8`_*t zq%*l_O-??kM<^DJ|3Y?`o*TxF$%3V>lCFaLDD%vRf5$gpg1q8HCy%NY_2bFK$JSmr zG(71pR9?}BOcSX?}Ist$F&Awm#mt%A%YN^G<2I>^sZClZK#^k+Xs>c4_> ztpKGZ4h;YSD;qDg3Gj;D-a~n-5wBtWTA{PI)IUN;hlYa6Z2_Yz%_?b;RF@Kx=n&x~4vNc#1Hu%!y%EExBF@XsUW>a#3F`3GK`$@9k} zRS`Z`xfAF8z#jO~Nxz;-9;OQJE_RE^;j(B$uCE_JvFA`RD)Y1ld((s|Vw?>A1ZWg7 zo$U866wb?eriuDCTonKENKy&Bl^uspp+b`H23{b`Zz_hr+5x$>;9o}if9C?k^(ncm zjKKgH=B{28IW6UdtEp~+vT5J)H%fC(hzJ{5>IRaSw>w}Ts~MB^LYyjyN48A#QxD+A zVjA~c*<)hTn&hyr=ZpV-?5}mVJs6b_^|0kPsnqT$Yw~7uqPyl4z|{<+HGB2y)kRcd zqLpbLHZ^6u#3OO?qn(FB0pVzW-vLK~K@-pspB-W3e?L?0FA|)*sUcngP5sD`ELx7S z(KUr*dOKh_K;<#>`SWLa@bg{rr+Kd9hVb5=k#HMk1^=&6VRzb75Tmu#`tvvd57vFIiX3{5#u_JG_IPvl*)d1vZpYQ^q!y5TPNk>sv;W&d@N7Pd zOe>|)zbM$Arkr%Cx@;`t{4^>AQ)? zN{hr+JMs?XM}-81y{~p&V-Es1JxFqU^|m`vT*RX9LI@RS58zC|a+*SUEH~yGb!dsd zVM>Y<6VvW92^4xSb2oI#Nlvsz_8m3ETVeMlxY&DE;QO<|z}4nWLPEl)9VI6~R_8Ur^AdIpB| zS1MisU%q@vUmfi018!Bnjj)n0nngCSHD?;D*S0!E4Q$KpTc3SGkSp5Ve#gq_4KO^Z z9Z37;jCXMXBjrul+pm$Fyh#8(wPISS)h+y_lQ%av$1wq!ULJo>@i<_F@>@5qTYipJ z@5}*5@WwRejSN#{1x*r--C}0!4S-}R%Wgl%xF~{D`){y7;;VdoGD{H5*#WLjp#s41 zd$EP#tkY8lrzu~%;`NHPU8IPk<6YAHH~?JTrb7>Qqx(Ka_Ie-9bJR6jG_Utgsj(4H zsLY=WdTYqYP?6~et51pw-^Y%PLDYgi^=-l+iJiDCD79gK+3-4zbHc8nDV91RW(AP_VOhaEIVSF zZaa&(X(-m0{KxGXIq?lqctb*J0iA zMOj9m%Bc?utKEA+CZrR*!J_BFe6;Ecm?Z+nk%*)evr)Ju9}emvC-m{z!Waf_rNsrp z?>S(|D+pNL`h%rBuk|+uUr{cO+rt_Po-eU=hBo8bU>ZV6qK1n6VUTT6AbUmojP3F5 zz0}dU`}*R1rB*BF+7~r{o1LCuK_t#L4mDzuy>evW{*hu)|k_09(iB?CG?{`5ZPnRKk>i zdyxFDS2^_7DWgBU-SGuMD$WD`-m+<1n5)Ldq0xL#p)7U+RkWqe{LXNx0gjPHTL@yK zh<*iWfIy`$YI!(0`73+&v{UF=d(e4}5bfqBqqmc|>+$2Vf!jXaLLAj?kByz-;fjxa>s^B|_)UzAByu3NbPoFxtBXH6C6On^D zqKEKGahFRHYhlk+D&q5Dje^+U;~?>0iV&Yx{B$|Fvn$A|s6y*?vi(Drq*xNr z;dj0<>dy`J^)|p?$pM0stjWqlt3-@ETN@}YfZ9cdM0MH(>MZi&;s`}{Cal>lkEOu6 zvPqqT@eX|Q)`jZ%1yJJ&f!ikvtO|q!4voXLX=%w4gt~}YAxb+D2g`v5Ix5dbaO?#< z9|I@MK^Z+)n<`c!D#{aYY_Adh*T)u2B){9`PS(?aTkD=vaPC_FXecaCpN!{?6=mw; zKAgRe+@!5_|JVo|CMZe0b2DD|ZIa@=X%0^z=E|Y5oo2VOK|?sk-MCY!AHY^8B<=c9 zayTHs1W2b}D zU$;Z|!-WJ#VvzsE^xqfv#|`XK!+mfhG3cxl5E*AFQ_QTF(HZHo)K_x0dBR&%Z1L;i z1037$kC7nw$>%b;MeZ-Qq;v1VGWmoc|D(bDq1QV1}QH-h2vDClx2q}nxu(&7sY8(_(~8r zV1xjwOy$67eHS_XZYK+=I%Um}*))k40U^7SmvGTHP}b~jX+`((f{SH%aBgZxP-p2K zDu~WyUe2bbRp8Sp<$~rgvz7HyB?QK#zqM3V$$iI2QaQ#%9d(a=#%kyQjl`uur1j(f z4rT-2_AKyV0UvKMJM@&zJW~e|M~_bdv5GqA5;)X;lB`CSl1h^P%upejFd^{^e;j*Dv78&s$(v%QkZ_CzVSjv3~!k1oyyeM1H zNV2(dp4n~yHkA|JB<^m>d$YW}zQGWu9#K(Q1s1kGCQ%9-Q4Y#2)y(Htp!2oFbC%csTLbmr)8R#;Ny?S{z}R|)=^5W} z<2p95g04N^GiAXLw%#l%k6eA0pRi@YkO9LO_2r`~XC-cHoCnr7?*jtxT-GXQom}{* z9zWnevWkKlESAi>!mlLGB>W2Cb!i@Txa4|r3s@eNqHMipS)-++u~(xYBeF>Yd)3g; zyuyf-!A{OMU?xL3LP zX?)CXm&YZO%WS7?$3Kz&Bp{9E{5x{jCgO^2q&oyNr$MXm{hRwak7z*R4Nw8?He!dW z>EPqXLX}iXOXj<~Zvv(7w@SyTM<41Fv2;c!dD;hHn*;H;l>`v*QLcz_F2j?v4^tYs({DXrj$bD~akI&HOi9yZa- zVPQGG15fH*4uv($UgUy!&D)6H{5~;nlLy$`eA@Cdf!YrJJauMf=8LE%d#=4G(faaG z^dYhz3VIvWaqC_0ORaO2KF=SL13%H>Q~)(b9P8CQ#THwV|2UxN6z`q!s41qNFDk{& zWWeQ=g5PLnWU19RE=7!h))>)^kCa|h@HP_KdW8v3dI$`Q0C+1?joJYLsDTqjqTJgU zXFjQ>NDGf9S{prLE4htEZ-K*w!(S9t*L3|ttL|ud?~M*?tFc;MINQFx{||7I0E)8N zSG*|_D~-S%1iVgb?zFl>H<)>L1KU2LH)9;~P9E7AYJRRz@^-tPe@;Md zmy!hP=6P8bj6F*oWfE8UbyPUO7Bh*ar3}?R0kWhD-Z(<=wffTtaqBy{Sl0`>TqakFNW5StTTA>L}w!*nf+u``knrE%e+Czy~O;7;@=5l$%6t! z@*S8!Oh)0XO!nptq;$HG;^%JfhBf>#O_~(ZN?!wj?YBCrV!q30I;H<)6SU#rC}X-! zj1l10;@enrln%asN3fl=&X)tC%i33VN=I9ii^mhy9t*9R?EUha4K+*Nj>ol|39W3f zW}`wlj>i#$g@a)a5e z`C3qabM8EE^(s0I-pIZDv)Yt&1<&-g`Yz zU01gYZ0)tWHeboJ4v4KsKfg*}6_jY62|pUT${gxzqiycG6G3*e$Gk2y&wZ$Lf|YqFjH1(T9V6Fm*$=rF|-7&}{m5g|07w@aydF{_a5qy8juVjfZi-)KEl zjFT2Ih>y_Ws)HbEFVLm%2TE}QuLBOq)SPOFyh_o{d}|D&Xe3&%@sc6F5eM*rxx#kd zluGPQzkYOqW$^I=&n0myrCin<9vv0LyBEjznFvh0E(mkz`Cgk zc`DhUnKk0(S==h=jrn|=5PmgAuUdAi_qBz1Y=*kpPC$zP0NmgKYMBCXqN?zPG3{&D zshX0bqwOcXC*BmjQH2ooYWpOn0TM6k%fuzIiBhKxJbgtez9wKW^CnD^~Dp{QRcCToC|B3%^O9 zRm}DumC&nOhx)IBtjE=3oTX#C?>KSZPq)78m(s0F5RxnUfjS6JBLZ*6hZuGr17+nN z``ym7tv6Sb`2vmyWt?KqHKpMi^?eIfV$C?bnSSqac(+SlcS`d5^Iol<&8i|ur|`+K z2r8$Zn5hIxFyKCx%1R8vVgRwKvKG`7JMQr=a#JU6XYG;DS}5jWhI#!5KUOyGHmpU* zzhp?w%oKY0^jELed|73tkD&@acP;;3(h!r49LbAIZ1o(EtlsFz6<1~cSdWs1cF(ZA zw4w+BFDs+<#E^@DkO)SALkTwZT_2;h#?RTZl`r*(9_p-Gk;wEaR=w_Vyn)DX>?^`g zyWD)J20W}|)|L;EKl3BmdHX5EDXLJ5@`&&3K(~|ka7rB?c*pe_6O^K6VyDFdu_lih zdH*Vn4F+mvlRy(R9VS=QZtv&+6dCY`)4}r6wl!tHPN77bs_ZAhlcukXM6-K6n0KQ2$jpQj>S03! zp2DknE}6!5Q>Ax-H6=b<=S$jE!`LR&qTAlMzBV7o#RFCtU`KODT>IPVdU<1^tT#~} z=Fuva|My8T(S`K%d=m6tcSgGoyf$%Uo(woNempGf1(tW3YKG;gFJ)FLpMz6@|ADl@ z&P07D$h)9>e?bJYWn5&?lmh%Df?Z+lPsYhd3rkSk;?#cHr|q1hf*g=o-1#lAFW+*g zfAbJ|%NULVsj;DIBM@=6wyc&?5x%=rl@xz8F1jC1&CZN6@BXp_Z!ti+iKDWu@OstZ zUyORBp;fcG#al{o!sVV|;`=75zPX)Vl^<#cbbh(rBt`!*mC(HvIkbgtVgkWMAI^h}&+m)C76GJ8d>OKP z5EVE$(CR9KsVg*+Qvb*tD7cdx+JR4%b>QhaHNR-|9B%b`cWY~vR8xfjN?Coa>UHnM z2k750bPZqP>Aqq#p_>L3#ffH2Oy~@-?f~xIzvB)8M9b!U8hJi}z!yRccpu*ETX*V; zJykCqA+7W3BTV*=hLrPe6-H{?k44OkMGhkp zLR&lc>zC8iABcnI?-QkU2JM0|*cJ=5F>qm?v{x``Ejlo(UgW=0U{$wvjcQV;{;<3T zy0&{6;Q}j%ssARSo()(_CO6Q-XXr+|l@MBtQcCYwfk?x(2D{T^Oll`sjGsrYyG7Q7 zU@^(@@pfNdps|JV09TtW!BB7hGEtEiY4zVLrzlO@w7+F?g5)zV(fP45X=U= z1~uES$yKR=-Jy_U3UuAm4qxI`RuD08sfnX_ROC9@Kl*%3l=n=5dGFu%@p&m7W)3U{ zQVY+We4Y3exIAM)25H~*XP~=idv}){BCY{z+R^TWZyo^i3t-4Gd^hi@vtN6q&hO8s z5+c|21U!>PL{K}A1RIaJ$|~r8~?pAl$_fihlGGym73w&#E7My_O(hTQJ z5P|7;kRq?N;jTBT>u7dkK1upLvtVfN>>g{urJ;naOi85pU0vxF(an0sfw$NMEsLTLqXTuR8>b%yDo1>v|MH0HCkY z5Nc%{;Y4&|(~RQ8!NtLOa2KRsQ9$-=nUe;IIj-NholQut;wS#F`|?0Qo7mJl{^eVZ zj?^j6^6x1Olmj2c+gUn{I)zP$b-{7&iBcQE%2#IP#KdtMr#Meas2qM8zDV6kPKOfD ztN0!~vxc`J?SSV&bNS0bDK)vc8IYENSo7@OoEn%~Eblrpw(^SebQU(}%AfBK9d2KxmF0*f1H0ps zHdn513Ii$xAiwXFUHwkHi)wJZ1jz&*+8%2;(~&zhY!1*-5tZ2Q9{Y@G)&@^zjhcW9hS~@_09*nQnk?48ChNaAR32oG8MM|5`S?wcDbZWYEI-RJM^~4&7qsHBqXn|mjivcQowO0y3KzlIF*4RYq|2W z*Umm-+S6$Gnjnx($z3~A0;a5%P4CB_8?{ZDwZ+XJY^E7KKpUMXGiA31LoLS*%nL<~8{NpWO{MOx%}}PQH&3O;Yd5iF&{XsHTEXYfhTaL4 ze_e0<(a}-56a=@hfiX*oWLol#m649xGRlqj$TEZ3bs|MnhMh8Q;YKVprr7Peb-@ke zXYVgvXv1}eHJl0xAnwhuz!5o4t>;!HUozGl`2Ql6JmE2 zS|@7?q8ufZsB3N5fk`^Y_8!UBm+Cc38Hu8@`4)KSB~|5hwiB=@&<5htGc z_ts|v9WP;ua5TqXYw|FsS0HincSmKX>HR6?c-ndd9pbxQfnI7v^CwL=lwVCUJs|t< zOCV}Th!puc*{)xu4f$F%eL8D>C2ws^vN`|ue)36iU0aYViedKVaxCL0%(qjS&8KC( zog&qd668ilT?Z6)$AS*vb21(Xd5TG>47~F2AeFh<<5cKkwq>i3Jj(Qr3%LT}rMwP> z2W3DmEOT3Z(N;$X^fEr^_7#k3r<7iQLcq$;mWiGw+^9{13-Fn*R5L#IM zlN9G*XM4@o^&xH2z&fo|rpgCqNv|8kte@Jf+Rpp>uoYsz{~*qPJ;QTo`&6y2ne6vj zXI73k&_tS2#;oO1*=d15xOhVIAYRDVc>5~+StX|5@wq-Hv_^BfO!*S52QHVqD)`Qe zE-f6EmVPQMbgXa|2j$5sl<paHOyP2uk;& z(P#P$&~R^2SA zu)c*r-rlN0 zL3^k)`c|WFmfMVa$ZHVC&6j0-wKg|54?XjWinhz_IWxSXA*lxSf-BtyMvywHOP5qA zRYc(k5w`Mbt00jnVkV%|d&|LoVAHs|bhr17DJ(Nq-)YEOO-&8R8`m1lM{F8)CN40I z5sInbDsK(?%@9G&)Z%-!gs-CmB#@@%`gv1 zzSAuw$Y$*ac~T&^IWFYdKmz`VONMjQaY?z&Wt(hY+vYf&Rqouu!vPUG3#wNvN%I3K z%(_)LRo4PHcskD6KYs9FZUV?uDzUt8v`}WrnU&2YT2qlEWm zI}|=?+sY+vq*9%A)h(`Qv+UboY+W zhq<_{>NaR~9wb*%$cON~==)S-;MP@a)M|J0^!D{@wWYPqc{Tw}Yr&IlijhH(=;Au5 zA+#h0T zL7jas&;gqze;?D_YnPig?)zk1BpM$Ra}Q+F0d~!N_C9NB(I(O*N2a8cU|v{RViJc! z?1NZP?UxZ%Nq&C*@-szzP_EE%*cqX9X(|GaG6VPkj;<$vR{}$v;Y#Y|;#^uvaab0q z#Rlvh6uo-8`X*f#<;szyN1f}mFmnE2o0=xty`^0_Q7j_ny2ev=A{E);31Jpxhz!9p zWddqBG!8*`;nLUHcTm=c54(WTjEmx*rc~o^X~`Izv=JXQ@Rc=`f)v&8*e%=WCy*3g zDbt(4@pYDeLcx8nc`KyMe&CSI%obN&F7&t$=d}PT*Khj)o zEx`r6Qb5?o$`=rL{gIHF*{m)n=Ss$z^Ip*Pza?b=L;8RxcDo)JO;_uh4M8v9ms}w} zGQ7Yoad8^gs?*RyMmLe-LA1ZLitWb_zh-7-IaES-$V7`MTx~*F1j8Q*>$R3BFR)U8 zZNMi#(uOvYDrMTSPx0r!x;0>AQtT7zWPU4#>5I1+!Rm=e+y|Py z%`KOYroy0lsK(OVR3`HgXX$wmNSOY(n9}ay=bA!GJQeSSB|7Zw(eqDw#=ZkKy*WrA zAa+JZQeyr=m|r<~CI&9IKZr=oFLf6-9$1!^mfq33uloCIYjXA-ue;0M$Hqz;_6`K~ z9v7S{&JNuCKcy+97GTjZ8;H1cUi!Y?cC`?l@JId@o%!4DHrnW(K~}ZramzqKQ@*?o zsCfkx)9Ozy@YCGsj-086+~qYMbvjOLu$@U|eE&AgVKbPoRL_+i=RFV1;FOd}mwFNe z-r;SFJ--Pn4nm~liI+gHTos0okB_4!0A@?<_wz-WZ?)ATo-T@I>FkKI zJ^tGi>_Nfk=(o6+B*I(Gp30vu1}|Jdq!v{b^L1G0%T?s$_cl}rddSquX7z? zMCMfICTrhkaG!Flt-DE;8@R@tCn07{%ZE)CZnPAMwID+Zi!y&pLfs>=*U48onlynw zOWrMy9*xcq<$?`QnCxgBF>*xZqA0Bmi`j^YQk3M$ER=O;_|6jwwjA+Yc1ypZD}%%H zU&Fhczg@Wn&HIeU*ZBf0E2jxu=BB;WRn_Xy zQ~2Lb{$-W(^2ifaRliO`5pyEnUyE9~Zy5&yorKq5#~|FQTF?n6c_H7 zfV!d)F&>ErY!3JkRq2RM0lTdY>Y@3-$BBjjdNwgN4X#akYo|Hq>|9Ng;8ko#e{^Jg z1?p!t6M8QjHa1k4mn}}*k3I6q|H}P@Dacj=8&d3koq}t7)jCB}CxxBoh;@@FZQYyo z@B?35yk5CI|E&VuM`=<1IQB}M;pT_C3rx^}!IG<4hnt47*4Fy%{Y0xLT~0^d6@p&f zgz4`*4a9Sxz(NNI&_H;j?XC~M-YW(M*q8j}?Kfgbb5pvcXws&R;2B$gBG%P$yxFJ7 z&_I<*ceZm33=Ps@XY)GW-xuHE>7REJE+!Dm?7mzyC0d+M?Ip%1QE`0uSSiqa=T?d7 zot`%X-NGkYc#kUM4{4Lo3`|}PoL;$9UnQcv^AmXJ-ZlE3JJGWoanr3~(iaG^AWljq zGS6z((4!t~l@s=C0G{yI)q%%qqk)kQkksLP`^IyN!iCsQBg`&NwZ6^D#^9Y%K%Y2e z^V~yCHN3pt*4zi^3LiTkgEDoC3*%xRJ~aRQCP%XJ$LcPcv`Hc?7J(&DXcq#}h|;UO*VUCmDl<*8Gn;xu4`Rx?-AiKp>MNm(*OKFi21A=e9NgSF>$OQCUA1Y;l&~_- z?peV#D!KCnFZ)kYJ2|)Y!ywA@mKXNC3V;U@Q1~7}LfU6>FI>I)HYQkIJ)h)vUSi{3 z*|Yb^#**SJ`jg_Rd_q$6^hLMbx9*R5?!~Pl-wXi6!R}sS$&c^Ra}^`{4;~cso}rd| z|7I{Y4WOz72o$e?2Jk2k+%7f=9q$SE=QN3b@)x`v0W zdmrV^yCr=j$yZkKPaR4qZ2WQmO1{5Gs(Y8?VV9{Up4Yf(OQ}zP)}~1BRjkR zHkKlv4YF~oc_PzW?dEg+$slrqB8-d?!g^Uab(RQDPb1S3EjkCCn3{68U*zYb7iJ`_ zSzVsD`aVSRQ%U%thUd(qKQ2O6R?ZC@ukQn!h_1?3;F`bfuC2kYd3uraVf(n*b7*lz_&|4LC~Ih|iUT4#89nnfXCoo? zo5ZKp^Tto3zEv7|GSq8X3arxGoMvdbwV8l+6cRhZ%b3!-Z%lC!lG5#TfDj9!kIYaCxjriolgPrhhz z@80s}86b4>??N6{*%PDz-MHXc{4(@SV%8A zc(~p7Xz6%PYMQy;8FC!MKuo3#r4Z!ex3E}Mj&Sh1{=*BgN@pr{l4a78oQ_a1=rTXpD^9xK2amGCNTc)xTMsJ;- zw=17@FXao12nIlOGd;G`7$E!CXK?{{z^)(?I-J3EchD6`s+7}l$PR{=OleV&iC2Y$ zLPhrwgTN=&&x+W!=o3_xZBk}3D6WZZL`t9nW)6_O#ZL6(UCo{-G3rHP zR$h1#Y?Q!78{a`UsvZB<)2Fv6nH*Suzy@&+moA8i*|npX@O{~cn^>nBi{X`Nm6hB3 z*it}q`uBs;G>6wV?9V0Q+SP!I9}yA}ty~QSQ)dFs)_#NPu+x^Y`dVly(coiA_giSo z#hlGU*anH+OP)z#maO^aF_S&Ge%Z*Ze{J9J+$ON2E2vtlndiWCpc<;;I}Rl^E{3%p z_*c2Ij?)u#q|RXIjM=|^;yIhD!;Tyszy5T5xz!!bgS)WDtrz%7ImStR1uT!_dqZ|9 z6A%lp`RM#A)%wpRUPo->0}f`-HCKzXJfp{{&pBpjPB@p6tdNDkJy0oo$vg&q*lTF) zJ~}+mQfajKba4Bn7ULU6{ujUuNY6m=yv0_0NoU~|5p~HARzD8Bid}6NdayFP0lK?E zwOIWxu##v1(tD0^7mx?^rgnAGz#b+q-L<2`v8T0ZGU6(OPQB6b+TYeR;gB>B1jo!B zpaKip72n)2euS&6LgdP?w17XK1zWsIJsOc?N z{`KB0`A?BK@^kgd%FM)7eL~aM8uGP{*vL~f<9(t*w?pFwOR{9vQ zogwYq-!FRW1z1et)AQiXPNke}gNcp?@pROB;T)Bnf4HpVwur-Gy_r@~Pg8hG?RBfk zqT{j9?P1Wr+J&oBP(U<&&rfeR^D^{VB(64o;i)#iZqg1L4n(wUAx@M_l*=d=z+`&= z>d`j};w7UKMUhM5eO?feC6{lcj)!2eh3x1-0s|NdguL9`h*R}hEgOVnaC_E1_e{?I zFZiMonBve=0LL((Y|yBI_7kIpDG4Zj#v43tMC_&=M~pj^(Le!ivADYT*Abi$8sql zFlWo6%*9M0px5|8WDwcG?T60|BS-b^Y0w?aS&qXkPNgTg=L+438Eu1isS*T+Ba5LT ztCjg(lPPk(5FqZPQ2pKhF=n_yUz%M_oyz#Vk&;8sbxcc16MgINPWeEmHM}yy)~mI> z$cJI+VI<>kAudaCwL6)k;g^o5t_;SE(rrbAfFScl=C|i@0jzIISFcOHYr8xq3}sF6 z8pz-LQzgI!>d$|4-VzJt`6PV0o*%OP+su1p_0#7T-Rw-lD=4f~elhswA3ioCR;z4o z-$t@@2+~#|ez$^Pu=wsC{H}=E_G~NK?CMt3y6=kJBlP~>EGCu=Y#Vb9J*k3%7=vO* z^Vp9qb3S1O_tU1ZO4 zu;*HE=?zT0Yiwj4w8TE0#ISX|@Y(_=1^$Z*cTT0SA8^3f;t%eoCqf?%1*ffn+Gm8z^cne z(QlplXTj67ZMFTtofg}`C<^84R7C(%XBDG#Q>!OH@73EvjDN70E@AZ`7qSl z^ax*-yEu*QT0Kwrfz9d2>Qmu*ea%KTzRsW1o@*4}SyI~_rrn1pou1|7EmTXkUX*27 z@N**ldF_H zd2Uk3#UJ-^aDR6D=5_TrQ3w;i_7F6nw^m9#KE4xwCxJ9rk$5Xg6u!nu3O)NHXeEq} zgt0FPNMkZbO;jjUhEj!oe~<6FvI+JlgSyUNv09ic`N4|3CCh!kIWwM`lO~SElQfm; z( zd&`TP`|d6KWD-H*uP#TLzSnNHe}5I2NV~V~jLy!%X#!~q z4ibht);Wa&cx|DzY}iU(obmU@4FzRL*Y|iE13~M0+1vFz19Gho0Te4aVCb9PXy*M* z{o8LQm9cN5C82ke#Y>8f(gwi6sv3uAzlQ`7j8c$ka5oFl5@7+zG)kuqjlDY!zst{whc5p&1Pxd1d`w%v7Yn;Q26L^d{WZVmY%w@zlm(0SQ|c##AYb>z%8xWI_oTmpU4DBV?8S4WV3C^mr?dx+}#xVz*$!uC2O zI;3)!`5LxIbTAD^6dCS`q9ZJZxj30XVUV9Jdyo(+-!72)5j}yh7=;}^>W5BLj67&Mo-#Cc36poe_&lQp&NiIZV0s4jT(TRwr3nMqX zxvWYNg>B63d+!&2ZH*UKl5H}fpxVfnYDoUa*}=`#j_j7()ZyA5n#>}%IPC~u4ybHI7dn%5o|jMhwqGls(-0LZ;h(zJ`^LP#QUt z2~+(+PRyFC+8I5oR75!+VnFvgSaVhvs;{@NDYXjRkmJfUnyF1{6 z?~F!5%`%|j_=TPRSC6~xmD@@UtzXwz=LOB!+|Wx`dyMYlaKtTBwn!eeR*-BSG^~7f z2^rvnyO#+^j>{J3*3{WgpF0ig6}1AMm6$hmz9$*Zb$^NxOErx*j;4*Srsy?HeaEM2 zZuS@P{JJcUdHUSX*#IAuAp(*U_D8B3?|FI208xHMR@S?O1d!54nw!h3m4UsVxWj?I z3^=el;Dk_xYLx{HzT9PC;uiCLymPwayFMQifnLK`oxmxIy`#(qxJP4$Cb?p7*!(=j zqo8b_=HAd-PKh&DTW%~{tBb{V`f1X6q)cU3v>EC&fVfc-ur?B+TYaSgzg=^R#Y_9+ zHwy7d>ak1mUuT7vpQfxxXNR&H!p!z&cR&xcke00ob<^R_wKDz1btxJ!j5)U&OwH}= z5;a#v^%HvDfN%l zT~0^%X;yI zgQ0tzwG(1|dVs0t@BEqKxoQM@KHNjumTzDpyNa(K6W27~^6YUKzd{*61u2}*FcGAR zvF+vj2u`^aSKHm?3GJirfO~J1s9xI_}XP=#KJA~KBhnuV%EQ> z>RcT+yTyrrYAlEi3@BaGe`3GUt}jO~pd1>(Aml0gL7b?jTIkny%XC9QZyt6saSE3L zk5hJM%or1T+2FbBu#}rk%j~{28rmMtO!xT*=6K(g0s`VPJLH{@f(DVDgh1rc?Vil2 zD@&a+M)9P3+2+2aq4TCtfG6yBD-v*(Y!2i+6po{b^K#b<-@Hc6)$0Rc%;4pu{)Fld-40onNOi981_&$>_W49o9jp#G9Ks4XtmGM=p=C z#6K%j%AOyw+(Qd}l`zy1-HHeZPCs4?+S16U+aQ7s+!@T=KfoQVaMz1mRFa+6PHumy zNujbD0Q8`!+aEb@;={XKnk*EfLM92$#}fdp>X?fct&;?Tjj6tvYQzI!7+B-`nJk27Z}-q?$d$O+ z_#RK!>+%aCM5{;S9~of3l=e!=N?$~=f90?d>TQ*K1c0lzbj1CXWy*^~d}UF+A?7Zv zvvt}Eh#qF58B2vYS3U@*uCJ{1l%0idY=-nDBof4iU2T9E(gDU!yaNklf3FQ8 zj4FuMOF5ZzRCm_k{O-CD9i!NU>hL*$6Uq}F8K;u$-REwJqwfe8yFIt?%b0UM|2ZAE z+Rf&aIZ+`&ssX9gc3M7UcF*&}lG#TY~DVY)#&jD6+-uC@>jVQ$TP*%<+(M9preJ zm$Xr?czeg30o^1G$oR!`$7rE0wii;jrQvEv`i`N1!9Q_6cgBPD0_UZc2|^~_=7a5J z1}rk97=?7HyL#mcPV?^oW|1SR*^sY^2)a+UH`y$Mq*Ar&O23c*#HFWB3Q&vU14gTM zc0M*+7RoX}2|DEgQ9_T&WjQvbHrcQd;Tt2rPxTqL&YHt?IGzngT9)xxyu@EA5Q(xS z@y7kZYUp*1JVN~T(#8~8>+(uoaKaqJjh{*AZt`l&w>OdRie#6`IWdh#*Wu#5R~o}a9G9MH%u@~ zWn$K2%`dZ)@029qgm#Nze-Vw9O8LA&qgD*(m>QXKeH@dlU z>&l+fmj)CGLQA}h&C+M5)5xrTu{JOZzILmD8LBfjnVCROvP>EOsGM-yW!b)WjV%2g zP=3yQS81z+j_mVY7fH9l@EjPKaS!`V@{G)Qr;^W~XWKi%f{%pJQ4OH`^U|aooE8T% z(%s!AM@N+ilD#~?L1nbVvdsh}l>c9)#S|ux_lpNyMpyS*digqAmbYD;A7C4wN>A>WXKV4!J&|8+n2W0LP&xN`x>>=E7hJ4~MT_2$inGy3u9Bao+ zX4|?3cj)(X#N=VZ?7`XG36W!wkyX&nO5j^$^o?|L-{jjNbDQ4ZIN)oP@fS}wre=+3<#WSX7jMuid6IwRdr8zl3v^hq0 z7~k%y=)UnPP(?^iPz7SPM*_k{^acEvNcUP@s(n{VQaM8j182K4uh*mTfL~S@*vkfu za4O&W3eMQa3ysGZKEVZum1>|?57;lfv>OE=zTBk zVxrX^c>_$+F!eQ!A8YKx9q#O8h~3)`3nTc`236~3&5De{%ylH!0kF-3&~>F=9kU)8 zn$#FPh`V|W_pJ|m7RfE~_ zXba08(oqhia(98qN~?`8J-o?!)0?|DNDBhL|oo`YOP z$Y`NyM?R3MEi-OgR8DZ?LWV5)EYP37K@N>ZF?ewpn6^Mh!gX6urB6>wxV#nWc4{PA zhh|#|$^}C{;X8G+RBt@gtoVW9BYZ}g`UAbk3B}0+PuYp1qC)F$^N>eG`JGPTiu>Xb zFGV&K;VZrtDw^S>TpcJq69*)!f)+a2_w;ZEb2$-ndcD=LZHU?1a~l{O1pZ9OzBGAE zYM4XK-g=a8S9Yq;Lk|y+oJVIH%mP*L?j%V^95CGUIeAycP~$dr1*iH>dKk>~3XZ;% zUn&#Y5Dv4HIZ&XWDVApaad^vwT$ARO9-G$zkzQY(JGvX_5YCd)lp6UVc#^2RFFPON5<~^8`t%@J|O^Ifip~zrS*{CO-zo~ z5nU|X87}N8lN@k2x_7qD<>JkzG7d~1RKJ>zl2XfhgI8f@K~+?8=5L#0VdzUfjTeCr z;zJ%k&Mfz%HOhF5FECiZ{!RpWu`Pghb6G&Z0_2M>jhDX~A2$RJ60_f`T=jV_Y4&obTsi< z8|T(;`K<&RkvDbLHo`OVuU54*TB>N#&|ah%ot(aSIRsa0!$OILJA&8!P(Wl8bsvKfRfNk^zqIo+ zepX-Itwn7r6l8_ez2EPR9nd`em*Y%=Z8^G9B(PB4dits_|KJB)@r?Pl?9L5<(ZX8c zEfWOn2wps240O)>d@g3c%~{qZ;N`4R2R~)977T6vBFneGsWmaon$JZ5MawNIK+xz_ zAyeZ|iCvnId`^YRnPN5#WE22Yj879l;aFcWTYAgf{5(NQ3ScWD*;vRcV?xu0TX(MN z*O4;4rTp1N=$Ahb`Gb>P%>;pEVHLaORh!^-2sexpa8)h~pn8}W)YZME5~+&?&PxDH z9NC!VK1l{XJP|d5xOODouo&8mZ>urC&Mek1Nvl4AQraK!4wlP6@2C*y9G+>{>5Wb@cHjcrmck`PnWT`F z8hB@Z2!mI73H5(gy9^UWN|`p&(QzoPxDV&2P%763C0xdM2^*iBuQLT>R|?Cn0QA`x z1?ic%)!l!9t#3vu9nGwIGP;(=O83BQ4w(A30dGM&4Gj$*0OKHzw{k!>gW#Yg?$GA= z;=Vl2i?l{e)_jg&f#gvuU~ey*u8j@b45wjdk+MCvI~@>^+ks;s%RTwi{w9#s!)HM2yzm@J zIA35XAydP!_q27TsuqiHrKlKvLk2CV`$CoBre^ST=)%f6#&>Ph!b(9!#SH9&Y&^xG zhRt7+<^BceqZidxb_&YlvI+lRH53&UrMNrcV(dNtftpJ(*&5-O$nIDd=XbEP4(#(% zfQ8f>MgcuI(B+2KJj9(i1Yic>4%*P}!B4=-cXxT8L?bHHtbr;dE$P>Uzx+dAsq9N` zSAdy${YYeO`adw+?e^pyd?{lk3BP<%tp%fORohM_M$0nv%`Vm*2QMrx10SUDf3gOy zYuL`+(#q=B<{s8{uL5_BgsfxL+cx#9>k% zVB+LWfE2YF-NO`R#Dk6<^A{q2xqp4qT)&PHbS?)Xnh_JBv2R$;DVy1?&BJAJkhsbH zO5iL=ph4-B^XJn~zSyGDEJt!Rb`Nr)o-7#Be!9VA_6_cOlRrO&dkKcYqIfggJl`=8N9gy1?kJQ6<)>HyrAqQ4173hMI8t(Ft8SIXQK4kyzZo~0~; zsKp}`c?eHKgx|X|nCHfA{Vzly{jn2xF=V48G{4Gal|b6rwU~2xHK!~PGGGE)KZkpU z^0(6wxF38$^_P2X3=o;WSC43`G9t)>sI7=074DlmiUS4Cy8%?q`AL3E{x;c)eo-9} zKqD#`eZ!Mp?WZhiF|JLP>*{lkd&@7>?@qNYyGQ&(b&8qzxNGq<#Fidh15;}ZK<@K` z-*wg%&R2Ma|E(oPL3tHLnYtGk#%m0h@}zh@8+R+_cNPT^bX-22_GmO(0An9fRwhYs z_3CwFirBMug^Rv?XI8nb^4^yzMkpgZn zFtcJflA899Ec&fxqH7;DEQYL(D zYB$+k#S(rgyfBfeh&xc-{rWSdi?^vdfqmXq7D#`aQJ)^Tciq zkWD~V=hC67Ph7rWZXVT&T(?^a$|XQa@e7p|t=zGN1t$n2mUo2P;YE=vLY)l(cu|)ek~ny0wV7m|vr=TMSx$)E2O`cJnVc@%z`o|I!6r9TyJqW>gR!P=R8d z^C&9Su3HN|ofz=;X^Y8PCs`CEGb~^R_s)rM*h!*lJgni1f)YpwC3r$4X*z_b-c>*O zMhQ&kb5W(lz73KqwK1774N7gKfbgDXS!_e4D7i8^8@&kp)M;N|2zh+B_~HMg9h0Z6cf!pSQltL5IyKcg*6LD+Mi}mEIHMPMs!8J?4rDK{=&cAb;W5r*H^j1Qo zEOpTmcG8Jbfg|COHkUuC>@@Vz4$RA4rfoP}k6jNFBcquAA*PoJ-*C^h zEb#_ucC&Z0PK88la{^)D3&j_K5K$n&eYoZ|8#QTH&~tP^zR}9Kc#e^SF&Vmig9OG(Bpz{KhANRb)7 z!iggQMK2-HE0G2qwMK)mSHJTZ#jvi4GcpLo;894fe7vTfdb48y(Fr;E zDavsEzya}HDU9ajK~xCmBR+fE5-pFZX0qol*BuliZ--0VKQF*!+!sp^iQ}he2RfQ8 z4pS9^qBp5h*BtfflC~o{N<05fL~rb&(mgsWEDbcND@hG%v-;kfpBxt|AS|1sTA||y zAQFtIXW)Kk&v8wgvATh%+(6^(uyphARZKoT?ObWR@phA=BK~7JL$mwqEJ-RF7OGB55LUJr$G zcI!cH+DJ2RQp)gk|4Dm;xURLRGrS#{?iL&j9p#*E=>~?86Bl+CdH3L7R&A zoO5E(8U^M^Y2MrK<$GyZWr9!POR zS1{WFVxv8?%+QG@+2nri3?#Ujq-Lx`=scGvpJ!@poMuFZ(sb1Ndan74^t@7?bDdnY3VGNT5`ZUGSBxb_8)vcf z{A>gCK#AZAfC~$@S$Qs9dN%4l662YXVBXSGsl=BMuuM>8cV39n-~Fvq*Pp23VtcIHR*|obJMsu@CzHH;C2iKCWX{RBX_;M_wViInDt8~r#S#R z-!H);yT$9S*W4C?J$Rrl5$F{*2H{C}%CAxZughSi!oPeXpatZ27H5ub@bRRkTGmK1 zD9ACnY7hx>5!)&9Wy|-CPV|(*JXhpEe&m0Xcx!@77k`7KBoKIEa!|wl8afW3D#7w(+?O!x-C2ObC%rUxxfFRPII4@g)SkUtGYG_WE-A+{dTea+-D&}XCsISR zRrdC-Ds&0ikLT;F9$3L44u@QxCdAc#zp20#?#ckj9WspvldIS9Lr+YWWr0o-)y4*P zH3*_@Y5ODIJbJLE=eN#lp3k7hpVl!Hl9kJLJQtpH7i#umKGn!O91;wQ^C#wa@>y>g z8dJqErbsEsJZ$Pw4zAS+AxziLW9am1__Z+VZ#R4mlsa@Ohj8@ESdrY%SAV~Ib$zpj zJB_+$Rf5njgpO}Vj57;*y$?OHmZZdY5jMY8Ci*_UM>FU_d<^X!g?EmUz7nm*_CP(D zB0_;_E#cuMu5gg51nyQWD*nD`N?fZp|EI=NHcDd^fJ$)r^rh*>liY*d)oC4&b0M}{ z4LBrML_}1a$4aer9w*?U5;)61rvSK41XU|Fh1^GD_uRg2C??Io&>rTcv*s%lRRKUA z)|C8|!I$fWOMktL~)M1(H{^lw6QVtsbY6`Q7rebf(!!)P>^hP|hZpV;dww_7t2ava^R_ zz>Z4RQdC#<;`0|8Eazq z?v-EUPfA}Cb2@uwy8GJ$j;@h%dReYT((Bgqc1`Ld{-IPPJ%g(LT zibxXLJlyo@CiL|PG;neM=`KOEd)KeiZuOlj+;wyJBktNG$ruKw-s@F>IsyZ$4RHOX zzJ5)wt#aggyj>I!myyA>(2sq@*$g0u>v<2Fm`C7MY}C<~y7xX;hUXKKKY!ZHWF_RP zBe%AigzLdb{6vAa@Sw@{Z~Y^(=}zjuR~n#QZ2Bc6?d_e02rNf?1>*As^e8-%GXa(^ zsD;-2Qm;0vzwD&w-3SCaSR(Rz&&!v?%ZX^*ZFEx}>r8&;2$=Ywv3B@)%1s=>Pf$C7 zC@6J@7==5>2>OsdyN%>nG2kcS-j;t0Jz0hUlm#U1n_9;TSGx|fTM_Ir@DaqeBtfl1$LR#-Z5?<$D~6L ziXf;eGl;0vTVu#?ATAdN0oR@QTJsg}%g<6yQw)7rGNv6ZI_c{k7=6?(0H_WiFhI;>WrBe7 zk@iQhQ|g)POiy;p1tos%7&9MUW(VT>3=Xhc%^~>k(p6D00$NN}&CefPB zwoP2CUWLTwh`)I=v=?%xRx3F+q=ON2wwL&c`Oo<^&$EKlG>aWtN$6}%jpu>=-qB?= zbdgl6yYI22nMJHbCw2(`Q4hd`2!9>Qf_nHnR-q=bAuS?O7m}#k@lt9;y14eEOPgUS zSz#S8>ld#SsatF5=F~l8VmD$bD|ZBpk0j#9GBIUG))4!`K&t(gHIm}MNE_Ko9eDTj zBP?iT=*Y~-81}#S+Yd231I_=pyQwKkVZu8tS-NMsd!d`tZrgTX9fE?({^;sjo*?|@ z2$;Q@2n$1L-%1txqTpJU5dS`_t>qxH%by|~pQg5X!DL6zY&i#C_|!FO8pDt2`Gh?M zHFR=fR`83b4c;MC2}N2}eC!|vqoJxyE~t9>{OBu>7Sbbme+~qlG|aZ%uSaRu<~NMu zA@J|zNCfO2P~wl80Rg39fb>N!<38OX60m>97P~5NXY7{4DeR!kkEdC4R~HoaG{Hww z<0`isx;fE6sauOBntugCY6X)tjN_~t!%cFdd-z-;7k0wcg?@zdmm;^$Ut-JaS5kVUp$}XJdDT^L-dzFor&8bpW zI2D+&dB1sBSeS`-!{BAOey`1q4QV6SbG{yw_5pGd^#8zLHTeAvWvnN!b@67bZggneNj)Koj> zg|$~}Hr*LdKkYO#w|^0cwRe8F12(h#*qsF|%i9Fu1|#rxXFK##^c5iXZKC=H4q*%i zJ~BiAbjkr&gF)=N8d>(OgUZGp@)5IXHs9`4skMT zxDaROjoI2c-)8I}@JWRb-l9VYN8ijQKVA0qiGUTkzcsJ!P-|>euhT)(0^K+K~OBWPgzVHO+9rU}rnVcvFy-0~2^YLMPxBAq#*>LJK2*E$a zRKMM%bBE9<%y4*Pqvu@8Z*u1bQTVi2KY1C_v?2qDwYuo z2e7Y9P%qMv7rOK;hLBe@yZB_4{Pg{MXih%7Z!htJC8D(%OCL=px&#G-JAl+`$+&gx zNk2{=d3c>9Qez?2#XT(hV%281LW(rZ@E?19{_MZas!^1H=cC6=xK~3rexu$lrlkOe zw$(uvXK^K;ELtuFxVw!Stc3)LUZ!0DVKbBt#*Q_rkC%elzejU7=CXZk062i+{@bG` zhYHbn8h_5fZB^AE`Cm0z4Swd`Z<_+lQJ&I|uDxaG)+DuNc1?Bv03xDwlkoe^;y;;h zT;Uwk6MhlWQ&=> zR+*kGcIAH?M>IkcboRxvg4HvnLkkhbQgZuF{r)T`-TQQA?t72TIt&rO#%d;v8HBUP z2w;{zs>OsK9n`M)o(P4oi2$hIBHP42`aZr2ol^Z*g>K0Mu?I1<|6;Nd`&;b+7>njT zT86;x{WCyoT-XKQgloK{T=9x&D}g?JU2QCN#uS()srX^dD`#VPl-R)F9P@CXIpqvt z9}|ZIkp~U9FDvO<$Rl{JypzJbl_TLAd)6&+xx29j2zcZyzEhJTCiM}@&rF#7hrPAX z{7u7Gs}?1y9PLNmDvVye$^(3&1}*WsjOBEfjd%ged#7r{5S_oNed&JhXQJBOY_z_%~SU&&$X9R#dXr zP4$vwCOvJ*kk@Zu2Yt#71r)m4>Kx3&X&dVD%p9qU4)HEB$dlZc?LqFh7Vl(2l#-(D zPFA=6zAv@~zK&GFRhg~jcSoM%ZWSr?zN1TK1{hpA27FZxz^D=aLVpCf z$=>vzrBqZ_Yl$^c)x*RcyG=W`Rel#QhK}Ww4;{=z-7obsH~Y&lbnIs|tYi=TIlzs? zuPSDxIew3`ws~XSyf{eWen>!Jq24|7LZjna9N2v!J?Ed4bpDaEvoisUOyNOf%8@CP zuLSWs4&Z2p8Oi}@9j4~CAOGfeLX5@cc$kxRvckKggMHt%!3PDE=pIB-VUOrp#y24S zXToJv+IM_nPfqw!6?(z;f6I2aE}m|a$6iZc+ThhZB0c#QVOQElsff*TNxu24GCEKDkz6F$ z9$Onxf)~&HJ$PlCS;h4$J(k64vX|ciOvKD900MOVpI5)myMJOj?e)H3-JN2F~mkQwRT!(_B$O$^||)lRO>5PU3`wzi%YzgKGE5f%)FyMi7xl^ zS*#eCzbGRk19iIt2csu2Apx?A!!KOpgfUB@3eucM`^VN_stb4anLkIo%D(8byzY73 z2w%0*^|v<2;HyDrdw|W%)+`pb{t5mWf5W6}9e5JOl+Kh8uIaHJ!bFzx!%d{ta<1DD z-3P*p1~{;WOj(%TPlb(DK;GCR^ToX1X^+Z_*yoEbiX7LT!_KV%CG(M1@yZ$B4h?YF~Cf}ueHgOCM=Y`(5T`$*D z^;F{JF7UE2JhDk=^-|#b**M*Y_1o&)0dy915E{!AXszASmnmEI=bXMC#YrW1!!R?j zZ14*4;xto`9mI=`G^$RE4W%hy6}YzNOAyJ<{OgH)rp`HErAcEjWB5cgB}cK!EzX&B zsa$ugZsiFO9-SkV6=IbJ_Ph`1XG-ssDhW2{f1uDE=dh6;vzpY_Nt0rhu*j_HwvV|h z_8!*8*Xrdr6Zw$gwZm0MT6J*E9UqwrE&2iR2+&V1On1{eV|!h@T?cEwZ=^*DO>A_E z)$GDufrjkA>}3^%MA3g83^QsI(f4s}f&8go(v}S-iNdf2D=c;(n(k zneOCMqFyktYN@FC>H0EJCbhduKcYH7qi%ko^JQ4GQ|ws_;iD&=PINNYycixzrixVz zX`Mk!roaDmZ|=*dI5Uo@1FL6??rNF`0d&alM|qt)?{2-4T#=^6>x%4;Gx*ukCQMb@ zrDxD-Fb`RCPU%b!+ z#H>}!2Q%ueO&5f`$YCut=vBms-lZ>3kCgC8Gi_{aBrA9nBCHcvuvx^wHmj+=$e97P z=x1*9hIL)>B3Jhvn$9n^>>a_8)T1?wFY%~t?p+-0Gk>-P`hgvH7RE)NPGM3|5*)+( z)cifmVZ_^3gDX?=He2NZW(c~Sl`t%Y)06a$E{+>Ybf%$FijUNNq@_V#qNUnW3z?Do zr`pczpV8^&R-YN}Re0x@+l>&#Cgq?cdTEDRrzfpy|9ny!gik~SsCIZG3>S5kS0m54 zEE7NB5S3L<7;>elr^Ee6B6SN#JoMS-4T>6I7PIkN_c5RuG*G45W4u+?_B#!;m;YcJ z(jYL#dMhjDdFzfo+Zifi3$4fN^FL8b=I=kp-1;Y#qBmA}aj>djJEU_m7JbBCA+W!{A3BL$7oMZ>Z(&64vuzNDAE{aDTgqtp=ALAMA4jS3{iAKnKvtS^nH+e#Savc<(I60@*e4GcHKQ-Ge?7 zjWbxwt{m7!;J+g-)<SjW~qvQpN_KyL(014w=Oi$xn*J|Bbz7zA+~dC(+$m7aCz zSs|{31@e2emb5e>1QLSRCvb?{mivFj6g4QOw&n*2S(FS-5J7rl6sug~$UaU_hw_H3 zvd7+%7jGr^6_YPObqcB-@0{p9X5wJ;!EsOMW%qONPCD~q!-XcVChKG~&+VyfxtqR8s$%N(jekKVwmM zyuS!^__Q?U=amNY4vZ>I`i_?me!T)=r~f*#AOX$m?=Ced8>l-LF#DI$`d31B2Fq4Q zX&Q!?uZsMp2?w$ortzpx?6~^l;%TmpMhwcm)}Y4q3PEc`Yr>Ud?%C-Nx@a1>xzg9} ztD}an3ZcUT(Pv0dhix__etRFId?KL>16(lTjCR7=Zs0&xkQL;r&kDqtiPnjA8V z0_I#hI$8T9MdyoXOf?DQ{hpt!qT#(84assY9~-D~EfD>+|F#PNC$Ss3n*;8Oiq}5T z2g>iRH}C^Bc%_S?wIiy$d9Qly=Rk9yzMbC=2UiTa&GdfF4F*)<0P3aSbLS=n@|oiT z-6_wdwgBHz=S1p+IGoC5+QRW~-l?w3q{S_U6`rPJGhH7vOkZ_S6&3 zK^+wlLbEmyV@RAl)lE1kRn%-l7%u_6W`D4|y9XWMi`qR`CCZr?8Fqdh6l(fad#`xm zcJ&1&S?J3GxL)_H%IT9Vt^@$Fv2fK^e>bPKE{C8z&3%Bjj{x-^J2}yV*%x&++{%ie z*>@eRxdFWEOJT(8XFvKB)$0|7mxxz^08FW=2eOwS4xEHh(scn8Tq5%OXn|eTXD-(3 zmEtvZb+o{`m*!7aA-=voEr3UT06P4$ohYYtvu%NaW;Z5m^PuJL#VQMl!)glqgX~)O z9|~Ncqhcs4yh770CqD}(791lJgMFW>a1E+>yy={e6}iB}ZvQBc6fMkM3z(j`nXJHZ zL3HK>EboBf!9&y1z#wz+jfxt`u{Ck00o@{PML^?A%BWym;|P)bw>RjA!8wWz>Yk`- zB2DPi#tdmN_!AvAntW6cVj;A#J$F<8lrrX98zA2JCey`UiGzRQ zp7a#rbtEh)EhRR~4%NidA~}5=LGLRE0T7BWAu42U1^s;vuGGH%t=y{ieaQBj3Zm&d z<#VU&&QA|^?7STR`r)~H`v2C~#r*Qfx~>jlfk4$4md%mpK}yKhi(pX4SJwwA_`f>) zVlAhXXBbd+P!&;Y-prBXN-1RA6Pv76c3sOsPJ9Gl>f8Huha2FiT|bNh7Zw%*N3LW& zz@3j)ZPPv@R%w9)Wd0{9296$2FWe*~enRx<8GKYaf0S6oli6MGhT%CdXKqFA9ou+0 zg4kQqa&7G88aH*CT^1@-iPQpS$?w%ecr_3XfVhh3a?_iFhcfYgCQ7E^(+P8){yVaXK4_O3+ic*CTz0^WqpFefyz&0;(u{pb`xT6g;_5FL6xAp#|GwtDOQm1E9QOQj!J(L{cJe&C4UjN?Q4 z35DUvwBu|J)2q_Ek0rw@3M&@s;j2ubLDBRh_pgO03(IgK4Zak^B{f~cYVP356T;^d zZiIMb{n!~_IwLEbs!^a}aWO8UvE1%TB70uaLc_3F&^@RP)5BTG=uC&;w)da}fmR7QtJ&T03MAq>*Qnqze0 zU?T@_0ap+8Dv8SiSmQar^m2SNe5283(|>I&C;+k7YS()5rYQtzq;T)xR@&Lh=^ufP zA6o;fdWZONzp2@&!$?avAY!iVY0}5NA??;C3jvt^q!c`pi|pHV^Qh{Rt)~N%q;S2f zRd$`2w*Wbry(KD?U*;yMGxgGn#iXWFj>AT-(BZ8m zZVR;|e+kaF(eJtG_+oA85OjcVod3)Q(EUOtGeFjhkPwZ{^2&0)NNwkzH%A4#LkGdk zhuk`k7?yG+&B#3e1VSu$Q_Xg(*MSvRa_sQ&Zp(U^qN7j`-Z7pe{9nxkQGh@o>J@gj zo$|hV{K3!b%XN*dD`wwX)#VAW0Smn=FFrDq)%E2cfbg8aKegs&1@rAo_7u*7=ql8) z7<@4Yo(qiDDCTGvCv3D3G-+2+<-{QK0iuZ19;&xwF;4bcn&!Vk4~(>{+lm-*YWPriLi51^|6x)4vdM#!(`$S1T`BQ8!tOS$38kBaN*v32O& z2@^1tMM+#C622WlwcmUtU4Obv2v;9r#bC)HxOoHx5H{kLeM_%JjFS6PpZ@Ib2w@r8 zkjoLQ>#0m`OJX4DZY{bk^7*8`gBrBKloB9uuLrdB*=%@Uqp~ER$2oklbuiwy@nj=^ zzzuW|-S;~rhPIWBF8@l%pa#PZ!9|7h0%Q$Iq!0EH7%#;M0uZbb3T8Grma3X*!b6}q zswmQj2w?Hmr&eTq7?Qu-R7p>p0`3Aj;ZW4vU5e#}h##tB2NLrK+zQ!mp#k9?yX!kFdADYAy4bqJL0^XjbB%kYa=au$m?=GOi{E9yV z%5D>RMAuO(gJG>KyYCzo^&>6a39D%hs_!|eA|k)}l8?ySRG&PB2IN>g^P1W^#%u6T zU6$$fK-ou?9NjZkN<88;7qi6zuKGH35Wjo#l)MC)htUVf#hfj=rOOjl6qtL`Z>Q^(mj%WIsb(YuovwSEIwVl2FoXhKSktHDvZaPYJP!eYsZb*~tb! zKjqP~pC>LFp1`YBOE+49?}MAqW2s1a?W%E9hzetBT)9w?briF(w#@mtCjCuIk|G*l zfYf?JS06^yTQ6i$$Z7R<`PO{f3I>nCuALU^Eic< zm0`mClLq_1y^ZGe22c3Cnrer&6gS6{nl@L>6Mw3@dz6)tfeG%>qj)99%H7jTbQ}WpgZ7SnF)XU&(3YIvV;AG4X5w4Mn zuID{6cg!D&aX3iwI&e05?6*D&3EoxsaI;zN*;>Fsv)AiuL#Kq1wrEcFx|VFCADz^P z2TtD6tXhjN!@C&a-d7WbTi9`SIvO*l9_t4;;9FBR+h}3q_%;Zc+U7X4-mj;pKrV)$hmilg9Wd zUoK{LTdU2kd?LNteA`Z+QdE}q9cL{4vl*A_58b6!KlOmjP`~smIXlR zE=6yPyIj>{XuIXQ?P*n16oEevpfO$$tWwtCOi3i2?f{Y;^Jc42BdT5dpn(Sf#1B$I z;2=ekh|?PyXzSL9z_8x+Uar8rY=^jo6T<~)6S_t!KyD)PtI%iZ^EO`Zt3lXAI|R7l zM=Xm^8#?BE_&{1I3V8uKzQD`|{x-g}5uZrn z;e?d66XcOO+!x+G@@w#^=awczU_-zUSBIp*<|1`c2Tl`QwFcojZJ(EcM^=Xa{(Lcu z7n1cJEsKBT*|dX2=#15Xo18G|2APMOWh@7T!$PRP=U{7K7(0n!p)IKSRhf9N;JrHe zs*)VfaA>r`=Pqo-6ch^Y-uAj3R}7Ur{Ou?4*}H(;VUj?GCM3VA@DqOEEdP=Gq%;T* zww?p+g%2-?&#))5mxy-x9;^G<^$8>6+<1u~m*3VstY5HEEXl3Mu3Mnft(@ODykn+e zqfWqmSxoz~EQ9l}&e2KWQxQowQ%)Qt=ilLTYZ9M55Of-EGe3-FuK*qZc~k6ptI5tn zj$Jm}lUhz-fv^lL0iMbnQ|95IK2zYdl4R=r%!cZ9Ca~in%&d}?UHxe&Vh`l-vxRIR z=Y-Uc*e7}i&}J;HRSiPs8$fvsERbKSVO9d8xht1_E`i|_PdTo7dEOVLB8_)waK!q+ z0S_qXFjHs8qDeFQfP9AgpmXQPP2jAQZh!-B#>dBdnRr!)O6IJstWeYOz;A5|3Ew2k z-Bo?WFt`WRbcXf}m?n~fp<2V2wIe~#T^_|M&f^E;)fN?Xj{#mtbRQp&_1`cKX$bsn zz{HRbv-ES(&wnc18PmlF`gjT|hfW%|Tg&kY=N2fl1Q62nWatCCia~d>Tvx+R~NOXzrr_3mRS&_3l&Q#AEqYUH~c}7}%Eca(@15{yH~z zc$!KOo5({+Rqu1ubn&`hEIDsPZ6rj0-fl_x#783JD7kydHU5^5AeFxyb;E)?o zwXb__9`3M-1Ab0;GD_ud_gb(0`5b^U)p)r1(MAJmPp``N39fjyaqsaC96Ijq=H_Pe zDz3Q9lS-_Wwcv3^_c-y(nX&p*MD`?9s9hn(Z(2&XFryE;n@RW2m$j0V6yK-A*- z$-y|dwvu5{_yh~cX>HZNjGZQm+WB>-4AiPkRRFq?7^07sg@b#+R=XSA53TkwoC?xq z-!yu$p2r{v<#;FPH5+7Id-MU-i>^gq`JlTJ#2(StUbweBr**fi^lQZS#`%1>#})J+ z18u_#;5~tLbyKXqMENSze(y8QA`L7=Im#mW9rg}x_Y7^w&~9ni=8z6`+4)pN#%~jj znXi!&1Z-D0P2paG$%mw4iD2C7akaJ^&Tqy~es2Fgoc0GXB6s_5nA|=f^*&Oc_Y1$& z0yvxXrE-UnPJz6d4FtVsfj)}b4TAeYN-s~LVm*TcBeMEfFsTyn3ebCl~)39)EBC zyL0rJYQeXcWHc~`klq{hPKl8bWKx3ozf&K?|M82{)6)~Mh<_ysT7JVa#uj^Sgfy#I zcq2*a<7R38*@ic)3%28J73M>qhp~A$=kspWsNvVhalH<*)x5bXVHlaim+m`>{LFW` zfX<$?`6(cw5S>aSaaL&k@BcB0;vD{bY2yNewmQW%j|;!Uj-Z}IzRt3jKafr~lj-X{ ztvG0F8copE8}P@rCk2&xd3iS;N4jEf7l0=o1t2Qgo|8N;;prxf7mq$-L59oFHEnaZ zR89w{wc7kHw^X$k1jDir03qlm{rlvtre-nRyP_`yuZWbCbi(s}z@lHpUj|a6Jf1Jq z4N5$yKcpt1q(9H29Qrw|P!?$m+p8rvv?q}qopaVhybsV@33b{`ZBkfwI6lz{|O9=fqnD^WZEf7I#Ke zy)}9As2XxSTAS6114Xvw=38q&0QBQdy1mi_*04_{KpCh#$2QWIZ&p2pHd?*y90c4kMnXxN3c9Sp_{?B zfMJ61RR&(iO|03m4eua#7G}!Mf%*SD#(phDySJ_xzRmOeZ4Jv&LUoGEro*+0Yn!n;+z%)$UNvD+@^uY`%(#q+6OpW@MY71Yjm*^%1K?Lylyqq)f~hKH4`kB>rB;of(8 zb?{R*z@ z0{B{is$b^N$j{dwr)gv=m9@G$SBx|mYQ#vtcTneR`H<3_hcijN>3v#-(%)YkDI(_) zpnBWg#C`Hwv&uYqZ0Z4M_EGO!KhBDuQ&uLCDU7%gb*8T_dM0qL*F_)bNK6>U;T639 zMJdK*+8*q}_Rtg`_LD9cfEu}A$CvHS)xL?oiSw@`!{e>g_<5^EW*QF!CFHESitsq3x@!_~GK!QccS{5|!c$b1 zmUEzLdTwa@;Vy7I;u`A)hH^gc>QWr`rmYoy2h19BVLl>h7&{@9R%)+*xpe-VFb#g=TQ@?SCvhUY91?f{H5jnk%x+-1Q2c6 zBJK&<&QOK6jr3z+m<8zL+YwNETlnH)zB+dp7~+G-ARa(IDI>iNrrZUuJotb++`0@M zxehU)0PMB|v}eA9EY!{UIoZ-1tB|N&N^5ic94G|(Uw@CLFER6_pj!Yz*$;irUuubr zJbp>lO%s2mM5xCEiN<4&ME^nUU$GkQf3q-WVXZobDV3)c=}cQMh^QD6mOcd;a_6s? z73M+KtXPe8Db41Q$D8?ABqmc>#o7WQN5W%hn%NVkKgAZ+^@(dvMjf^31X@V6s_SocZa;UUp4F6tJdzRR_zOI+V=cYM)IrNF_G!9 z=aFpg&H;rTNzqT|-y)u-8-HXEqQx4SqJU3q3}=#J+ndcDEcqIRe^*;^H&Up|Kl zx(SCrkID~bBJA?tm3^~Dw==#sS5sp_gyOah_0`i+&efW$86bBF3@Tz7=|*BIy;8sZ zJTqc}C{U(iNE#fcZYk7GTNkc!q>0oHpSex0tmeW$(LgEBdHD{AX^Q2foBz_gQo57D zD5N`1{ia|iSvHAtb$^}7pKSIn@IxuDXe4Ey*-*W&>D4LLcGCwUP7!&xyvRkZsi*_> z<_;#4sXcY(H^)IQ(KYSEl^DDE(A9!KOShe%zz%g}^)Id_Zdx1y8TaE9TD=$d#`5Tj zbvN~-vPxR*E|Nh}RBEz8n8kc3xd#@u>p@8CyLkh%N6ivnb8@u05P17p@w@JpuCA_0 zRaS$~ z5O@XP^;F_dFAB>*IKqRWe)0jnP0~=?3GR0ET48ag>72|RehvecDrmDRcYirate*@j3 zn1YAhMn{TCY!=FfYZZ`9G`}x31slW;c1+hz2va#D#wcmh_0rkU;j=z{88Y-7`iFvzUYD?&D8^`q^!7V3O=}eR!in1l%9cixV>6 zT7L4W_y)WQ%X|bo2(Y)!C(Shz30{pXPpr^NU(;i>w<|}xcIjif;_B&?YdM&5ZSTTE zxG{TVo;LNQ{KR1$q}58FVIA%5?<$xejl+5(FxV~%Lh_nR2iWimt6LkeBQtD?-VCOt zp}dMUiY&FFBoDl1mS3P`(=_X#Eg9o5Z>t@Pu1PuIlR$M^3OH7$+ZGo^t4K7$$8 zu=@bfog_2!8?o|fcwph8y!&y0&W;`RB?_(vse4H1#Kn^IWGDl{-r$4mo=T0iZ7jBI zYdxEyJ4q|z5V9&1F}~BVDl^#MUsG8-SJmG9tRs=$xUeB-bqIDqx2n?<((~u~9h9;0 zG&D(Nn&OKCW=T{QMo<>O6;GsY72Fe))4pF3^FJ2Dr)7Ku?9GW+A`Keu(r@ zq;Do1C^Faj>W^N%!4#$ALsf(Lu5Ce$GTqW4$5L{W(TQF?mF%`_wbMIN;*gb8`|~yd zm%izTeX1mNNP#k1Aq|(Sm>bB=I0?;Irgq!!$4y-osmv@C8Ojh+u5yO_=4-+$`x_>yGs3FwqAs-M1XejCf%d^P_(a{7tWV zQy?N_8A`15nRRMTqC{n-tbG;4+zER0Nv>)5+8V~4MsWODmUZ6r_1hlw8$kg-z#^*assf!hhi&uxH8E*MApTAz!%WWE6yXf6Z+iDzhvI9< zcc%V(me5`IPsCk+&mGj*OD@?)Y)9!;>rI=Ve^x^7UZHA01(*nk?!YW_3ac7tJ{2ZP z6JzSiq6*}%iC8A8qUGWuu`ANA&Y=FDhp!Iy7OB(1go5@G{UFz@ty&gTwTjSmN$!qx$zOMxetB3#-@qJw~kLC9<eKIC$xz*9T3#8uJdP0Q`pPH=2V2>-k zSQmIlPtU?*jI^S)f&(e>U%@;!qW-9mL=Qz0Y=7 z^w}e3S^oc!_0~~MzyBLBA&d|Z`2Zqmfr5l0C8?Moq0)^=2n+_u=+R6JP!T~I10+Vn zfYDRw63G!8NXLfMV8n9+`u#oUdH(Pm&+#1h-h21`itBZ~uFKVqEv){~;TFR4zaQVb z+Crjw^#N5;F_1n!FZq>in{~LTVaSWdOy&noGVDCGhzqTi{F(Aht3iWu6Un&NMzu4u{ze^NQ`+aURrRJ`Ib*)c zjpZG6#zBmNe4yT%4?W0fe9l068^*_bN18{I&6q)z5Km|D9(doX#3_ucpgVgh-2-D+`l1{z)oZ_)`% z6b{=k%ABr$_jG1JvuicWIgzL!&3`Mi0p$0){Cc^?OeG(9`b@5z`_VV&cFi2}P6pSH z>+Md>z4h^go4VDHS@$AwoEc^lBV05ci%Ql!BLRfGK_O!5c>k z{UfHpE%M`lxD`#`pY`7{pQ_SSd;=ilpzdbEhn2yYMqB+9zZgz?X^y>zEOJ^QF%b>L zrYO%voD6A>)#yHi6AIt+2K67!XQQ~%W9>R&os$h&SgR(gyxf@J^wM5UmnCUIL+1?< z^1?WH-bXoBh{qfkQMBAJZ6PYH$imkMOU_tLM{9SJF}vZ22T){b1H#LYL=dU-nNGfa z?bVymrW-v6N`VhJK3s%uvynvlpjPt+v+o#cYUT9*ex7h8yw8(AcIN zUMt6;rD!)kW=iV$@Xo0Qug04j)eA=?dVDvz-`hkf2>(8`#%BNf?oMCJatY;!0u_$0 zZ8LecM$y?l=Pr~)W(qR&6op*AB5-x5&+)3!+S=8_ zZnweqHDdITpidt&KE7n}T3pAq0Z3~}Q9SWF+s?Cycdj|2Ya_NR`+U%mR02K~YA zH7KCw-`9_ukje?qyGh~OB-A;hMZ`egBixyo5WknLbdiz&Uc$|PGridUd0T)mJ+{Y| z_Op)qq-r{yYPLZsKtgzUMsT&FFZx7

o7I5)u+-#BVf+%C3KTmV~i+V6}eCJCOSq z{JNIn=kE>TVv7_7H&DXKyWb)AAAc#cCUuog__K*F@6puGA%=PX16YzV`r4K~(Wg>zigzs(ufM0gcFW9b;Lnma*;W5({~1U=sEqjeJ8vv_dmxF3okd3@ z1Bht?p(cy#HS2$_di7hkPNbYL)6X4aQ{BC!XNU|ul&3>xU)#?7`zc2&vlD#{7+7zi z5SUe#G@mc+%GtVsC9HF}PiQU$Z|LBI87cx$HjU)+)7) zOdw;XtXk}j?ep?oLqh@8z#jfGI35h83CFBp>7eNa4yW#B{{*08;V*dBPu6<%N z3le$OV$>Mi(y}!F?{NIDaeUQ3KMAD&c~)0c_ITqv<2V=|bFl>Z1my6h6|sn#0Of%Z zE@H$VJ96J~BLm)DnQ}8gX@+gh!mD$0FK$C(pEg8xZD-{?j4nsAN(EnPqrx9);TNRtNy|eJKH*( zOdq{mf&u-MkhVr>;RUY$0wlO^W!6pEmAhXU#+>Yv3G?E2ku&pPd2H|1=@lEQ>Epwq z9cHS`EqqO+@6lFRQj-8hE#YeV$L}i6QkNNjWYX^qq!dSc)*R%|u>Z|C6ZdUs7M$fb ze>>!VCicmhC=T|rz+6swn_6iyZ&xV!I=Sz2FVo z(Re3fy=7HFS^dytL_#C&=4Sd>{?Vhev#t|NA5l){p~P`lUpq|iD}vVMdSGH z58W284xVA*g76UYVaFF511=}9?c)pF#=H1XwpcMq$#k=Bu>0)8Xs%s+crlZZ1XCx} z4Mq2X(WP9xr)+1y?B}}^3lTe84wC6(d=P_PY{^skCtpY4Kc$?+6y+qZ)@M%CNt-%TiYvIR zqBP3pN9`OIg5DX$zh{)}2+q_Xl#0g3(?d%Oa%hKk47!=hsxNk3_quo4*`a7Lw;bP~ zQ!9wrw)vVDv0qNA7)I8-e?ODd_zJ;1uA1nFr`&3xC=!->LHC_G-O#3@_qng%>;Hdq zxU{t1f7I7Avf`dC`;cBxM*Y6uG<=dhI1M`y;`8YvI%CW^BHA%sh`NI*EXLSP>MSd~ z4Eq9y-+lx4%jKPlj?lavtVr6Dd#Yy3`>O=h8BedmjOa@?PxaAp{Ji*7V|^6?1yqAm z-Vv8y|LXmMUom!?xMNb)Dv_Cad%c`eRKn$A%*Y=VFn|{euO35AsM*?XcqSisvYsaV zv#Y+o)GU(v`>mz~wUDGM48%iMy}`+D<70vZlD(^}Ts=`12d{$siE+kF7L}D+i7Q|l zIwh6_@&g@n172w{wkHg`0LL#tVgqW#6VJ{>F|TG2%G54N1(c0S(T8Ft)(;=vhzs98?ZEd_^5%No zaRW|Howu=`H*bXM1c|h!Wneq19ZKFWJ%K6@m-7wrJ@Z;qCNI2w-&bw^@L|s$-NDqf zN#uWcu;_&g^=^Ei{wDmbtw5Gl@Xp?|h!^hIz)&!Zj^$JH!1&7LTFQqY7w!yTwEScRN75~Xr{meFu z|E#z35|RJmN5LP5&k#IYyLgzUA1LR15Y{Ox`x@G=C^I7Nnwe>uIN*@;Bs99iNDbr=!CpcEC_3VFMh7vOgmM;bc}k;_z`D}rjy^s zK&_!k-HG`SzlNE^k0tQgQ|ivL(PVb5>tHOyWMzRr0!GChfAfp(rPK zGJxy-ZuZ5~npn{1{M_H%JME#%m@_^;uA$bW zhko2)FaF`}AKt!w8;y=u@rAWfa*07Avi16!R=0V-RT8!erNn46K8M=B4nr%qOBPwK z|9m8L>bh!ZiJI7GinOII%n`a)1jU6Qh$83c1(H}BA7A?j;c^Z!LwJUjGOL1zztuKFcz~LpEDJg%0o3Jt5+xH zv$C@8o9$=2JHHR>&ZKOe#^6P0K_0d2m4+7IMC9OjaZ8hdDga!?ZeiPwI%$1aLO04j zHPO8~kgYo6aw3HaXF{-yh26hjVt6+6u8#tF2fzGuY)U@B_2#@={p6?gb~Z`Fx_Lz* zIqHlI+{?}();sR%_nG)odumJ36v8y`g1m%P8^UgVi;w(?J4G}!SKf&|VDP*=CN0qE zF#FDcuIacic-G(Rd^7ve!2MagQpHAn=2)SR->YP zjZBOE%6IZdR5I2!uA+R)5fTmYuNevLs)1qf*@a!R$XZwAA1?24n2`x{y9%b0$7hF< zR{!T}d7${OlKN+7nkkP;tRm%i*XcI`zY zor;wW$Hgq(B!azDny;rJWc#tQQY>q;^)}HVpxWHd_JS?{0?=h6k8=x7=U7&U5wO$cpb9?Li>f|+gfB@qXs;;h zpy@B-N}R7i(T$EVinD&hq{;Jiv>Dc5yynx4GlzZ)jNIogowg*FTr=(E|Iv0hNcst1gne(8Bw7tI%i zB+z>9qB*$U4KAubvbJwrijMZIkJlq_F~rN91$^JX#mC`LbiepGduNO?xW2srX7 zAKAUns1Ma0qkd8tfYT}Y2C>j&Tfb^1f7!p$y#m-N<0s?Nb8}ywiIP9<4~cnpe!mJ> z=sA*^Dlh~i4e*iM?Tqe^?WBY1mu*|VmNt+y1QFgX9Z}(X!^yB|W2T#Qq&%%BIDNV6 z?NMm(U`;9iI-eQq(?`+f#%yeP=)NJ#3ng3?)zIP*-u?EYq0$p>K7B~o@&=^`aX_9VS|GaP0>{rE@yTNART zf|)YwPYREL_MLF+Wl+&@xdgY~+HehgQzmwdi&9W0UzjS*%l2(C;%*Ec>?V&d6nC-` z>(4G&_%Gi)#3j3kd#g(1S$aie&!aRF73xdsm}BshVm9{)@hZMJ8j-0wcJ;LLgF|xy z&nAq{tv>fPDq)D_wm<`J1qc3L;fMegF5THNSh8(dt@rvj`HgH(NMjZFlW7UkYPl0)8qI$lg*A z(w7&+{xg#x&oLO)(Cq550w6J+F@4bMY_8+XC;}t=6sox)BF>WHGsUx1yBYkz_7l3m4 zmF_bkgp}!lKcDA>)pdsccmL7abJtC;;Ah)q)t_ogZ;w5Sf6vUR<*3luJMWd0iY5ed)qTu?n@xHYTt(kJiP4x)-{xq9Va8 z!EY;GfIZi3()oo8u>7S9Rgjl;S|4+jXi1Gc zeK>8XY{-Yz#e8~YHWRCF7>?LeAICrM<_h{zkyhO!8iPh(H^=Ck=j9@W1&3uBT@v|5 z@x__!cS);nU>a7BB58-qX%f~SBoCP?cd`c!R`b6;)DXY+51!ds2d1l3Td zw3RK)clkRvR;9LoGUOq0uuKw$!vUs7_h_SP(#aa*#QLkUyaEZ<*3OB75~fFWoabEn zai$2>cX3{pmcSMMPT!$41?Jy)aOVLS52{_G_Ex%Y(RM1ghStT>_EdYAp1dpsR9s~S z=e3KdGBrIIOuU!cFJ!90WvhUBFhLlRvLcvmYz|uhZT7GS5bCZ-@k2x*8OYN z5qFvxO3;f>t!^i__ij6$YHN8pa6IH~97C-ljr+KGlDJbyt7=H9OM&B@70RfPvbGN& z^Kh;oT`GnDLAQo^>Smgc0p@Y9Ymz&!HEwO>jnl&N}lDV6UlF^ zp`Z86SkbvbaycQm+X2xZ(k0?v06|)$P1eEdKvu;&NFHoU-Js9^Hx!%6+t#D14D9ql z@h|Gg4YXnJH^Ulqb42G~aS1A6zOTzEQAhkRm3sJ}1NRnAoU7}~Q#Fm;fcEB)z23T1 zbiKZf`tC0n-`Cud#oxcFf1>q#Z9&flj`MKE8->v>`J9X+VDt9pqca}EHFqL|&qNIL z&tmZ3-N~*j7g3=$#rXG;$7-Yd#*{l*f)ZUSBSS($nl75{SMR@%eQMD;xcsvmAUcCA zw6(m}qhm<&5kf$;Pcp^OuKZ{CtNu(PUW`~5;Do1>)GJ$}EJx9TVe_&UtoJy1gv((A z`|S#Ovuz3Qq5f%v4gdAjNVKYr{Nry!&fg=Vx>Qy7F$gFIV1}!Z*9CuktM{FZ?xh@E zV%RCQGCL_h(4XMzL{K`>))HnaTpxa>ZlY+dadBE^-p7UNUaE@ng42PZzk*)YpTl2z z3)qz$5s~^W{WkVd=m(rFRJry6LoXD}=Bw@lkk?vYdD}yA`_UPYvMxzDm44u&Rm7pR zT#&S_m?`fJkW|rmb1B}`uf)p2f(`I6d_JA_+TMNUft7nf=uvom(htuT`1uQfcefAP z3r4}e@a|6$LX{5{-@$`__&I*%My#jTp$5 z5>Vp8g5*~gO};IH?Z16%X(0Ww=(!=W!!{@7Uvpi%mh13#lsAFOo_oj;s`yU!nvdA8 z5@WjQZeyK|?pLnu;6=@bt`Hxg*{hP3fMpK&CkNjQqWHhxRcH0Yg7?N@Tbf{EP6_Q)|A)`x^fTOq+MyPoHf$a05h~5C4s? z{Oe5JsizN)UZK=a*DWioYZAm_Vf~H{OGn!)r`l#m^RluS+qKU*mpNaE^lmi`;tZB8 zxP3H|oc`(KwDaR+?t?Ez__smmi~9We_rzjzOg(Ds;%OHx<>4xtA72{mBN}3DLUU@g zq6=HMSmk|A08j~Rb)rN;V_hW}a&PM0!;Akxyg?5^sa0ppv2ArEZJzeKmnzstC#ss6 zaeIB>;A7ljJ*nsS1J8}m{k{g`Yq@rBo6b9h@EWS+jEO4L$_Wf#E4!%mqO>&`3ilb; zl@B~iF4!@zrExJ~ec_mUwFHoK;;%H9aZ8wetw^OEuJpu^=Pl3pwY}2P?Wg8=X#G^< zarEC`3jKd^I2ELcX!QL2r}Ee8x_4!UYdf-KJjMy@caQbFh%U|euJ)2SVVmnC*Ewt) zvz3F=a3S!Ix9ZlWv_v8=Jb|aO--Y?ZNyX-v>u$AUoxoq}{Q2`UJ29~Zet()pDmJGQ z6?VOW%y$#Nmzy{lpa!HHZWaX-YWj)cJEL4*9l}>`8J*{yg}Y8MR7gTz6;uFLj1z6Ant!OhCQ!C(9-W8 zTeg**990BQh$!njhkVib<0--4M~4FR|vpW8R~YRlZPUI1N0PRPIHg>YM(81~_N z9<)j)SykMV{n|e4$*4VYETnynrJ!oGOmW*_aPZtY`jd)K0bTc(r2%jobg$R-yDV*O z4DG&V5>4&lp7RTp9gO>F?G5Q)#aO*Q{z4K_h5C?6n2;yo+DX2#=EPOgMBIe${oo2Y z0boVb!;mv?J#K-BD0GQWagD!zTa;#&>)u0b9h!J8|g%vVxJ z9&x_elM^QM6#Er_;o(aggnU1hv|&8Rw3iccu9VB{s*&bMO0g62JC=0gfKJ%g;iGr? z+Xll1CZvbc6ZY$M7b<_cHdc9B_>e8_@Q+nzu?#-SteiA4Kj&~#z>^=g_+Vh*$Xx;8 zr{JX>kxSksV!G|?kJU|lA>m6%`oxY8w5r<#>3yTU1d2isuw{gGD8L47>vtAf6Beq+ ztvKKIN6k}mwOwDB+cjus@M6U+5CLkGry8c|;4Yx~>bhv6&C4b83(O4)P_f4-{^#-+VBHLBk z=GVMVfw%$2tiqkKjnO1`CZ**tED*NR+ffL*XtMgCi!+t#W;1|aNmv=us5W_!p1dAk z6CMX@#uO?Mmc<>LR#QA-jZ`n;)Km3k&_(i2!N$t3r}9cYA-#8>yyjqwtacte>KicR0YBc>YumgI$={Es{Mv9V1-8MqFq9`(Z;wT-X9whRBH+a*`wDtJ{5)d zwI%qHH&_8)hr=xtQt6}CEmR&c@WnFTW(|HRB&v9TYX8P({FAafC)RrWMF7r~P%n$--TY$dUtuCZ`p+x+NW;OlAdh&s-3jDi5bf&l*r*rj-j(`D*jM% zX{kmz?l05R>rlM@`v0`dG=OU!ReQUvj-*-fX*M`Nf~?Pz`y}XlDctlWv&#pn#_2GT zu4M`Vl`Y@|vx3szJ38U4-Wc5diLh@OFqP=qH{5w1+=lI~em3BD5ir)ctU%g{B()ik zzY8uR&P6IU?{`pghIJkpT5W(7Cz|4sXBxX?zTfqGZ`zgvJYe5Br@>2VP!jySz%-_VjynjGO4wRfx7H7>Mhcp+_53`w zNfl@fu-m<17ioL8)-W!??Z^C87PgBp|IM091?2?zu!P@mQ>v|*PtkvNDMaLkRgs~N%H~-lzrh`KtmOwq zxhs^auM80)Mu|hIxuMC6l-fN_PA>nBJIEFT@{nIaZbyht!Dh1Mg&;^~y(C*GP8fR^ zOCLxY{4!npAtCrs;7a8mF~#AK+jPs1C-lKXk!^4OZ3poyn^t<4l|1GBMMW+*T9(t5 zl{UPVmv=qluOL`i)R*d7U?rQ>Ax{fNb^tUR2XoD%#QMi_;6GB`+kB7`z~zEL?dhkQ zA6Fv1I{noJ*`ICoWU+>bDdtbXJz8|;P=<|}_?f-rRY_*4y~>v&&nLkP)lVd>D>Cgs1?jd~aa@NXX_n#OYqewe5&qXo<)5Ttr-F8XV{3OD9? zEnwrp6^K4p5PPwHYMTRFYv;^7UWGPtYz3sgrgaPcZ>K#wV2l`T z;Z$MP&6G0-MNDtsU#AWdychBDcUS)52%J^x?_2t;GdKUKIwZK$4L=qOTYKQNGC07f znn*nzP309f^`*v~ZUa@gm^BM?j@IZQ+|})W0!THXfd*k-;z)kGIAC$d!YdoLVfCkQ zbv5p~!D2<`3AuZB(Yk?tV!u57|ERF=lWHAtOHYLq1rV1wI>f`u)o1dLEAO?pwX{4R zJ=AMrbw_sP^Bf$opO)Xhf8QU~aqb#qg^o0!U_=v;5i(grMeORotv2!Rbxy)sMM2Y@ z+7aA(o4C8PAdk7IQN+|m>Bp+iV>djK6}f-BDqd9GnbjdEJX^5q$uRwzA1IvLD4$8? zZ)CeNSM7g(+zYTEUbHVMU8EIAq4tTiHvbtkA+KvZc)&PuJmh&P4E#$~X|eC$)5v0$ zLzr`8vld2LarnpwBw7)cP@-1Q?|AS`pbveLRu0HcW4wFKjy=Cl#J{6&d|cmkgrqjutN zHnTGaQ?2oUE56p(`Zc>!@wA|B(@VPO*4?_UIoyt)&by%vvpTlSp{hZ3eG`+7b>K?9 zI(n#R&9PJQSJxIbEx2q;6#i2G5Q)8cvs+KY&$eN#yTiVX(2`U=zM zo{sGfv64;Ck@?B%=Lfp!^Iedt-h_Nk5^=F0m#ZZ)caE$(zCn@MFxW4@&)#FLw>#v+ zpMLX(LvUmw^@{V}*x2xqO~w(h-Z%(rrJw?w;|`bDp}ROpD6d zOJL?Re)gH?HK+){Q!%dc@o8q)>C)z z12mvooS}^bqfNVQYr7IvwBPVBC zl>(u{-WaL@-{4Q>fb9b(6uXIYgjw%69F9ZGH z^?Gsia08H0J<+Mmz3EeBY6|8X-OZ#112R??Q{BsUns+-OUrEO!@V2;^D1NP7yVP**TgYHPtnD4Of%Uuvu8tAhZ76#d74 z?$XfIq;6{Et*RGM3lP~Zdb!eNLtiJB6T{v^hN z@;(W#GE)){F=9cU{QX|Jt7y`D%pTs|fyN)jfbcv!e3d=o+n}JBC=QP`het`|yr|<~ z{5d7etdbaDP?5lM$0&1PTPgwf3MZwKKyt|Lc&R^pFclVy+&w6hYQ{-v3v&b z%V?J)d#C;jLXt2=+z*+`1lg(Sd#lrZcOtM-gA=BO#4kTklvGDxd%)g z)2XM7PKv z^a6zN?yMhq4#97ek4=X>mK&C)>yVfkGf|Q#_dITPX(+F;+{#I;ZI2<(oC!xE?J|WA z!E?yDPmuJ$1?#gAl5ukfC`fLs0Xno}$HB74o%nxL9`(MvSp3J+%!Z@c5xnnBgS-GW z&Xcd)?!tmY=*P32Y`JF|*p?Y4W}_0Hy)eae&cG>4Tbv-8oXt~+Kf4ghTfg!pV?by;#h zoNUE?V8V?*zHN3jb1Ckk0<&i%HHX?S%`2JC(q_0W7y$ z8|UwTt)}$<%Y)_RCxV_c<&-}+C^i17)fzPZ_(TF#peTAB9VZ?UgKYTnNk~LxNNk}t zuB_e(2lX>j^3UO}&_o;uz!?-pqM!gV^5wmw!gL|GtuCcw8u-!iQ-b}XbF4q z0CKDmn5TXSy zqhQs5B4-Zg0SaqMAQU8dL{$ser||6HJ+!LzH82H(NlQ|@ey{O`T)j{PV447~Dw}Y9 z3=+FMDC=7Ck(0|MT=HGr!!HIO2K%CUYE)E}ssw7*1uo{GTkKM8oJcl%xBRWk!&4#S zAiymxp?7wOfvS&350_QmWc-EZ8J{0cnW#Rm74k3GBns8DaKBs#Aah+%SSBSG_OWi* z^QL99ESa&yqDZ|B_1s&#pJ)&jg%n@Ai}$pMJBSF8>n{XlWe2yh?-+JuXAkO{ulGsc zI0C2k?cbicl$Mp?Uf|sfDd!pOmYj);|ht_7# zmF)uat<@ph)jx-<`n^oL7^Tkf+u7HD)64N*TCBD7n5r{%^|T}=Z2CymcpY@mAGQ8f za<)5LYdgN%8Mm0v)!E$yQT*j|HHV*u6AuXlU>B8DI^eH#tjbJJ2^NY|7S9hCL=~^G zMusQz*SCudCoX4=;E2R9j;-?48dwGX*F$K{WGGvMSbiPQ?E3-!M6^zhFE*67c_Z}?uex^k?yThl1yQgH$DnEqky(Uo-iDa~@0zoZ zS-L(X2*{bq4rO24GlcfKIPsz;?LLbNQXFsco1yvma%E;iuvVUD?%h%DI$9?&}j`{kS})&r%RpwjV-_8)QzbWFpwG8EXb%A zt#G1EpLur$&^Q8Kf;uLATP??4$DwZtu8u%>{asZdNY@3L9||-Ce=ICqo><%p2xEi% z`H(Ip!;-SmAlORy!sPABog@ngHV(x*^dF0vtc*g!g#{OiWXlbs!-vBh@|}qm7m-N0 zrw}ee5`kknb<7CpEt2!R7xnovE13 zNR*%b9CJbuzL54rWDXSeAX6Fvd_8J{>UA=Up*d$Iz8EW*pn#g^wc35eyc?~Jtnk?x zvv^ggoe!%|D!D)Y-HfOwPe4jcvDWg9^xNh%NFfs%C zSuf|;)|wr8h(b!`4;XVT=TBr&O}5szp6A7zzF2fm+g!Bsb_mrk_q+<*`!CUQ$g&p- z|L`A!p5P#r%3cjoP+NjK$wzn?&a1SML>CT_F<=x18;=xuU}V&^Ii1?M(y1EVKmV%Z zG#enexDVRK-3R{w?!+yF_t=*_!0&xMDM}$@uhHls+nBdtP4VYF3XOMBn?&MO!kl=?^${HM7SC+Tq~qyg_ku)n@Q-`dHYba-@sLJ9SE=UW>z;aGx~Ghk@P} zx>F51%Lllb4h){8S$WcG55_Q{a>S+d(DR9r<6nWQ3kp=#(T>*nKs704T7(M6=+}^J z*@00zX$q+C45NADJ!Bd)8k8UAqNXy0%N;Kat2Ae~(}zrHlfAx_R%pR+eBZVa9ij_G zl>$XJ&_FE}qp>5ZMs!|)Q@u-RSu7KJx@5*2&m~Ep&keRfoA!w*<=|Yz105_G85!W~ zd&#~d>6zg$C~Cnr3m}eIgPE(+`hZPPcp0~u)w~x*{5-QhSr)*ka=6SCQ~w<&!q6}4 z-Wn>A-*wMEkJOG$h2E5rWqWF?{QI2IjB&qpT%c+mv2iI&;aD!5Pe`}A`~=|YJm)g) zcT*S{(~K_V8oq63!aKs<0!@|E8TLxU2}*E(&LkpmRX!_vYX>v`uwVWsgDv3g=1ODpQ_+KbI@^SI7JDY#Qk zxH+2^n>mS*MC8{Uq0TDQjX%Ph0OnVgV)zwym%vIn5GK4&`7b*4JzDKGM4fX9PzI(R z%2j`!hkrEh^;(%~p8$;ZP5EDJ`a(m}zX4kDvAjGUv;pqug5or)AFo1tbcn3Vn6RQb zm_tY@Y-E&PY<`RTr|Nxr6e2NtbM1{Rt(W?z(&zxM%73MQ4U}8Z#OQT%p-^4n^Dk zS5wofCGpl6ADwtW$m`|GzBs@zCcvAbk-MuA35dbrkp6}T_)K0a4-PXuXMNi@eRH9L z`JrpUg}IrN4dut^epyMMX-$ConTeVyaE(d^bE&@5V|z*Bs8kn2^J**i)}&z)itNu< z!WU_@RRii>PpGV+9V2Oo$xU54IE zo$s#PaSj=Zsv+7uLFqpYDSf;1{Z?Wxvy=j7i>b3>Gwp{$z_QF1WsVV2?&yddIHuem zawErq<;Mjq;NTV%GL~HlEHdH5H=Tk_cpDWkrmUFM`SlKT<(7(|dH<|nu$|~JL}IH1 z1`OK|yVt*s(q$MQ2p$PcUb!K)dTItrW>S}ja)vNQa>G*8x6YcbO}yX)LnZl3kh~L6 zPFp`;II}Y}SdtaZRk;saqw|YkKWRUIHy=XYL&W2I4-*8=rnqbj@Nn{85L8-)c2BtYb? z{C^g7<$)PhRTX7Rx>E@Yc#JuH=z|W|`ky8*{X5WCEuSZMn*eOPts|uSLbpZlXoVSU zlp#@_+{WdkOqpW^4U~ShmR2a>m?a&#Gn)XB};D!^1oADS4H1G4=LmzaNPj@d=VG^eZl-&NHKdBA$7v z+Z|21G%OlWJfU9MmbOXLc}BR&s?&ky`{zwJ9> z578bhw?F&GfzdWF=xfBStr3*_o?!8z$pxQS5H-{YC1v+m_W-y1Z}j8EhiOa`(~H_g zf0fCa%FK-B=At(lbtQ@BGkKcfI!TWT!@>R0x8aZq++ zHq*LCm{}q7UZg)SZuGgAaaYPY%=@?G8LJp+~9u5v8ki76#OR> zOik6VrHAoUIGp(JwrAl9YV$wuH^XslM=?9EM4fyRIU(3}_NCSD*}hKGrtu7x7s7rk zBSNcuFK)xcogG7P23YCaCNfUvJ;~PQwD+R$oq?Sjo}FbC+!o~<8#`)8RqBT>=6^+2 zU_&v1P{nQMGgUR%yy&|Tn$HPeb9YoF9#o;$N5=;KGaFFJzTHbshzLNYQd#m?6EZu4 z8)X|xPi+eYkJb9&OoM=rMi>7f%}9mo`;_9r;lCUY)K8@VvQ#(Z7ooV&{2ckv9ZI2d z^^WG$;P?r;WhoKnlK~@(3XNy6Rgb(M3vaK;dt1wHFB*~iGw~lj;hT+N?M6V@HCR~9 zT%?2|{_@G%wGdvr&)Cc&LO&9l>48_(H@G%On_(BW@z7J?CfR6w|G zxl}eXg>-sux@RwMX_gD}MiR2UK)F{_0IR4-G?D?`Llx zaDv{XwFC1b@^3RNOhH7jC6O?4lKCnpJYzmnjFA8j1U zw5@X+Bx$oaKM7_YLn1Rw8HNp2AiD*epis?Y1u9k9vM1jB+6WMMKIFe{5~UF_yc3oR z6b$ruwlC>^kUz~{BUc=#3LfzyZJ*2#k~)NadTC_4W1?tb7`l#)?#B-3DMGed4|u>R zbfs%fR@UrZ)ZrMB<1c@wDM;q@pxtt*0tq7y!+mzhpQ%%l0Q()=S$uhX%#BN#GMSx) zj+i}ttSTA@1l>BXOIg5@TDgP8Kq};Li>kkqZjS(OsrsCWpPd{QWA7a$uyBE zJE}{(X9%^y#u1=}?R%7?y|W~LXK6CGndKE=5gXyGf|twn$`MtijPFN%0!8$Wh`Jg6 zQeUz#si{G8AgWj&*yIka0)a?iOtKkHZc*vNMuLLPM|cmLW= zHTCQ9h$`B@vCqQ(dFb$TN$^=qi>m?=HX~-pwY9N9I@k}APDj(iEY=*hXEHEKui$oU zK7=EpL4mG12PO_J3rI3$h}pWIW!Oum|a$?e*llfRTBMlhM#-8-z)AO|3wF+8G)J~Y;sN*Cf0N1@@$6;d;j6^CZ(1gEE zKL6YJb}*0CSX+CeXm`Iz|9W0-Xt=5PYu=eh!|SE0>J#E6_g)0YAnUm!)U~e@qf13e z#qq<@$7U8q%U$`ez)kQm91ztcrtj4Z)_|0pZl5VAiynaTvu>kkQbw2t-C*9rpTCZUj%7c5tsH660Ssh2qm=qWIKUF8@j@RoLLnC|#-*^-u$>VNa(BaMCLxs}bIN4W`SVcTZpP8k!6zuc=_4lpZA?~ImkwsrtB*vK z=35NgomwsME`L-q(l;Jz=~5uuTAIwYRklgUk6ovex;mI0Ad+c3KR*7uDQUWzeLmP$ zM%GF8*U10_eUmY2?w2K0o8Orz6%tvY=UNF(_sE2j(Zzlu^3R{8dBE`8*N1>FA4FN2 zf9b~Jytp`>P`==zpr6yz=lYEBtFoa)R~(-A`x^y#Ilsc^!05eRyRT1>x8xqLojQgn zZkbZv3I;X#CzJR$*0CYgv78Rkm>gPw?t*2sQ=a;XBeKFg+B{4g55!@-$00x~$kz4# zTe|YXfTO{bmT99CroDF7;%ZMg%+N<`lGvuB7+h3&PZEZ{05An1bzy7evR7HXbZ`aA zQnCoY^xfUtnWKb^**k{!$lWT=e5Iwv;a>m%@uJ2QQ-;(Q9(m3pb61X9FdFTL57^$a zGFaraN#kISQ4VTkdDue<pp33IXkTksb5W)^TV1Z$q6I#8|aE3ZIX7 zzJe_p;i5L`{?L~rhU>D<`WLr^be5cum({)LO+3l`j{Duv(LQU4!_BHP0T(0d-Vn@C zI#zIm)HA)$wyP$E>4Cl!fKZy5;0#%h@>Ia?vA)zQ^k^okVFb%c>ssiIs#-@ap@?!D zncs0k72dngXwgqu(N#D6Trl zJ0oaulagnE{G)h<`4Fp!W_cZKdh`59^C6wtGlyy%zS;+L!G><=aQpRy7vo0KMBfVU!fHw}=rJjk%KTZP zEVhp;$3WTVD_vOaz!4wD*E7Mymm_-<{c?5uIk}u3=9qA|3-`BKaMN|seRY^%M=Mn> zqaPUYDkagLY6#Bd*1z z$98w_Ls+9BF*l;yc@eIe$$=g#xi_C$R+vfHb*AuVPacX!vHfei9gK|)I?(Rt$UA*4 zm)_Q>vV)n;IYk0RjKD2@>eM}t)2eZhP9N(h{8joRXoENcX^Pd`Jq9Y`lQw8iZ74OT zi2pHZP#BkL)$5$@yHh5sUd3EQTYUR=X5Ae9z|W&{RF-_KoZ_VG3V^~4#wQqI(^Bit zv3g#}FvC}+*^Rt$g9(6EL*OxBsgN}Nf5$%tb+4vsA;vN^^v&M`9%N5bJ4_ocr5?#JW4`-evlf1GiBuIqih->=v6 zl~SZuERu4I{8I`dCvZMG&1<|kVk@?Mhh*&v}u@wMh4z=dTuLB+&G3Aj@ z!+1f!%*0m3EBYHLk)-r) zwfJ9SQc_0dcxEksdJw-%ooxA#zq@d?vmoN2S2Kww1&6h3sfe_phj}%0sY&sj#4nf` zz{t*p3RnDI7`UxIVP4&Fb1gSS*>}C+r`AYksS#z$GsI}Y?F`bbD>NuS1oQ%HXw6PG zuGRD$G!*dVyI656R4K~*BDrk-x@&_Y%fRtmXUj-iV&zbw0!)Id=gB2Fsn3!An30VS zZ&`R^!b3lOLkO)P(Vl1S-;Z#MjTG;|iEt^jb4YOtWjH`1msK*)eJ^mob$WETm(hgqPVPE(j~H>~-0eui42zzaFoaLxb(S0Q>sNm#Xp$f_drktW1{AGfh}tbO zpdGI+PwmYswpLvIqn-cv(KJg+OYi&m59I!=lQUkelpsaALU#Qj|? zzz($p<~~~n0}dWWl+)&0a{P(bguvME_TlTZC+9S^I#= zdMVqXh5_v0MFS!4KX+gJJ&r#L%zu&IN0ZtQv8aLmkEj?vK3Uby0%j3QHv`xWQKpSr z;Fz=FBOb^=05##Hlui#gwz~uGD~Jq)d|Zn2kd)y82L0W|FqX9 zHzV3D5k|cMD7uSwSpbT5giIWZMPloJQlryP*m31E-o-CUV+uC!?HFF;l>ofGtj*F- zEI>d-T=YOtajqcuR;wq%?zfi_iLDkuBVh?Jf^p+8_qPTVUvFj-Jm4bfqg25%@Lips z9p|w77zf_=V#l^-l239R%|O32U6D(K1p#dErkm4Exeh5wW|LH%%Tl+6-X5!fH!Z-i z0loVmS_*52-(*K0)XxzI@mWQugn!0-4=q3I6YNMlJX<|M%((!D=w9^;jX8hL6?W7A z?KBp08nmG$+%4}+jUO^ugraGz(^#VJg@{r0R4DOH zB0{yJ$w4clJK#;Hw8552_j}4$7&E9FCv1zLjqXv%PppmlIRuxAs4&6z)dCwq4xR57*FGqi!D^&rMtLwWF~0{G5agc z^K}Y4E`d8QanQ1MaX(N4k@*vtbbsv5-oKkMl@7U4h>W&0r3LxG<$URos*Lt(&T1(8 zEJ6I3_U|TnJNzV)yW0`~B{P_2^vGMa;jd;!JOmQiCaVCh2+Z}Imt0~92bP8D-O98F zzr`T}2U}P-575z$aC`gbgN1`F?(ZjDsq8Ti)MX+bXxy$l5xFf*Tvx`^Yb-nl0tlBw zdu{w@*$I*M5Ui0G+-fRg#15*3uwTK-Pk6|0>%TeHBRqssj%_BHMbJ2XzR1n#y{;@P z*{YdekJMKSJ{C~gi8&ZLVW>u0)hT=g-8Rdad8P8g!|a8k%J=kpmLF-}vTUUasMt83 z?8WvUbJI7$4kvc6DkrNA>tk&~5It@vBuVfn@%+$u4xfI+g1L=BJ6R258R(S!baL$aIn%Zw=oM%36vAPaA- zGD}(5r+FdH8U}C{@&quA-m-JrKv&CPVUL?ou?**&U7Sz&ET3}mkef9pXJJpk(FNS_Q^6yc8l-**B~yho1YquE1X zV5JeYGCin2d@9CFaVk1L7vAKyk6pa$jGI!$y_@b`J-iB7i}#j9rN4%b>Yw(kXi3Hz8*0^w*3z!s&4ua6PNChh>TIr9j5c7C2apY?~Bg+PA3 z=kw^UEgJ6M3dg7hd{73?p)@I2>X5nL&k7O8zUh|YIHcGJwYohhXC{T%icav~vS|rU z%i~6Di%(5dXT;zm!-vsTICC^4Icgl% z>X7c$bQyqYNq~wtX{odLd3ELY&>s#WdnIF`vn|(0#%#AYs#gLV6qVPx1HRTu(Xl#` z-v2DyYFCqd8iwDv=34_L?*}QkjQrOTJo{rs z!Y5_2u8@j|WZIg3pviDuaZKX26LqO$tlFfDxg~B! zG>d2Acw~M3Qq=udKcp~*jS)k9*AC2ZN(yTgDzYNO1TQ(D%_uF>JyQP6KKP$9Jg2gf z^LbreFKvePwPEih6Ue~cb%_55A=XiMSviigIi}=J8NiQ@r?ZzPu3&)q%cETCCw81k zH}S|47#x*8766-JU_5A|%EXGV?KgOA;EJ4mypxbkYAD${$Z~m=uw`*6VJCan&_YF8 z$kyD@rY5V8sxkc+J7M|v6?8-PkY(IE{z9hTb~d)oh_1~0lRa+LR!p2DJA0U$n>9t; zb^G=LfG3O6sazUJ2Wl`zvabe`WbIi`<0nrj{U|(%b>a#MNgzmzKc^^+5tef%``v$voGGeXrBxy7ovFqVpWU!VfZ-#vKu3gi)G{f5n`Ped) zro+1VC;mOg(#J)@{Nh)tg=)1)BSMhzuys+4Mgm8NqwtlC0gD{0@Z*G{PMU;-iQ!n) zRV9PKKONxk|K(mM{8fXoz}nT9oXy5KlNUy~Vyd4fp+*C~d|u@KC3NwNgi!k@Q_`qB z`r;rEKLLtg#SaYZexi`7;9UWHF4u!mOd$5g4a4^+#m{B1o5JH$6uJqf&j&ru+9)Zp z>^+U!7X%fArHfM(lTQ${Cf z+G9E@?nQNut*-Vsdf>ajAG(@QYP@$f@Wub~OEAzrTU}&ZUScl8=(eol@BW1iAat*kVp;|TjGCZvyG9R_+3kit<}G-_D;QBNWHhefGrH%7 z(6`W{C7Ju7LQq4liPbQrSekgaeb6P|<3E`yUvDaJO~zb*J@&wCz&gowWh%R&_dg}Y z|8@SnOR&#z2eXjT#&&zkhX9jydv|tQ(yXX_mDLhb=sUoWoNg0x*CLN5XH?Whz^})d zk;|ef|1oG6z8Zuiwbbj`>`@kQg_RZ22u~ezJ2p?rE#4e;*~gLRzK$v}>R}RNkSx6n z`P*2mWj&{Gsw*^1tEhNlUYROYyM~NLcLLY0Y#r;eV16+#4QmN1vGK4lgaf{M zco66md!<*ZeA;`@*b@>6@A4urcm3^$(`SU?hFSjHNnU;eWe!CtxT%Jvdh^_^p+5p> ziQzkU34!DJ%F22 z;=iW64)1zprP(!8I`h(#A=-8fJC*183k zoULr%!91z{4>>ojZSvrty!2MkHU#|oGHc|u*CBGE=>bIy5o2{}p8<%yqV zjJ6R259^;4r3kUIc9pXIzFKj?zi@~aRT4h8i7Eaq8Ns%uOq|)uYh^`KU9k$wS473|1@X(WCPn!V$1}6sN&XQ_i5M>|;KPM2Hczw%V+pRp7ICfc;P1S4D){3ANi1zW1uEw-V^g(fCS>7I)X#Mn%*$ zVqKcOU8&5++fDMQyYk9yOwtUbf~z?km|t$a(k!X%>b~>5B-jr-?U_F=ob2<3^8RUrwwNKqMX0IERcHkOr%3b7VfDD z#S*ma`K5RO@;5zUt~yzK=q_1TDqq?DB5~j;`mhNI-wf^uyWBk6+S%Te7Ki^96p0RM z%wQH^nZ9K5=i+_tf0n((gdvMuV+-bz2L86T->^AefO71bMMJp;J+H5hESABRWS{)@ zG`bUWCq&rg^A2P3mOUI*A6B!-nuc4_y`%ZF6GdSw@y_hoPWD1A? zzIzC#dV6eli*vb(^}?6Ujgs?!8thxYKK})~E*?Q@j{fySJm!Cl5_UTh9-4j=1|YzU%d0Yi zIP5^XSG1c{86y-y=Ptac%!` z+cj;~0JdggRcG!|8o;OaX8d~?p}MzwHo!~L1-f_;@$94_-L7B?c_#?!vz5V1ofOL; z$XHF%GFE%uo!tP4=t-{D4l1Br8AVzR6L zlS+L2&!MAXo)S~Dm6pjOmfBz^SwB*UhSbH){K zrP(hgn~*%}Llp0Usq0X4*u$q$UGkfD70z*LppJC4;u>XG2^{5qVv{QJC2I6blYc`S zPwh-k8sq3_6~PNV^jGZ*6mz(e-5NI2H zZ=E$Q9kSK*Qn(s=iRmSFdw+x7=21b>;lc?iw$6KCENYA$hUaR{2Vq9cK&iGm#C1oE`UAG8+L%>| zNoH->Fef0_a}^OM?1{_eKMi(v_j(2CE``x+2&kUK*b^$STKdYXM?Wz*0-ur&ybY>R6KunonJu5-Ug7&JcP zaJt%pSicTCynH*Fnb7e1oz#k|0^`loqtNpq!}zohy~2f!{HjF+D3o?DsL+BHo(&(l zFwgM_!CZ`mdRV$y(Ja){YM8JBhjOH>K}O`GAz`kL;9sD~!RL!^sUHv=jEC70a?0wv z#%?=)F-8(Xqzd6I?LpjSHYDrz--`oUje37xJmtUJq)69$Ia;I4agVvX#9Odphtf;a zIP{EYGxKW*{%!PIxAUfB$EHlE3_PG8rBJHp!WD4|rznYO}@4d3IHGPIb z)r`tiOgD3UvC^zv4fb*PSuiFpZ56ooom-9V>J$xD29fJ zON9?Dd(}C`%}AI0>40Ts)tIXW_XHqUD+O)MCx+}Yusx|gYSG#u8w^>pCk`y>FT}$g z)85Xyn=s-O3jkTz{L$lU1BcGIFiKgT@_Tl)_isnk_yXkYUNdClu9mdqq^Uqy1Y)sF zHkdQOjcQztuR&HYH^=O1Ef|eFq#u@s%S}c?l1vLnL#%z%kf@1~$7@&_;3yuIhV?&C za=ZQ;gF5@bUFFhZ)Apw78y+_DLR`n1nXol))SeuYba}N`P`w9lC6A^tKSwkvVz;jKW)y*2Kz+Q z@3+y!{%dT{8yZ?=Vg;!pzAI#K;nw@V8O^V1+lkj%*oBOKuXzyff|^2~{k#3=HDV!X~Y!nlrn%lH-%WQMjsYX_6(zM*wIdm|&w>YoFl2QM1_xH#}zA7~-;h1mX zG&vw@rx(-1dNd?|GRY&dQptyIKmO3uV(7R)ij5=fj~^@8b(Sw{+Z8ri$KX4Eu7!e{ z|JG>Z4`6(J{_0i8P}MWty!jUD0T;|Hph^c^1P+13Vbe3V=O)UjR;?hELtvn_gICa! zRiu2h%VwBnVa=6I^O6|HOq}tg7CXJd*dEfQt#G&zE{GZGN#T@$HGJK6P4* z0e#HvP|2Iv@s6x@Vm1;JqY(drD$CkrqhT$MgBA4BI&Ydm#-{`+6?IDaiu$UuxhzLn zz)atq8$<>f4q&m?=CAhg_zWze&L=N-`%vey*Vy>b#w42v7@y-{U@b-#G&^W;o^B$xd!&HDq^0SpM&=K@9} zEB!_iK!QK5RN6oZ?A!|t)WN^UevF^E(>pkd-rPsFbZ=)@Aa*ydst7?muc*{`xBuCV z-iFvbzx?g*ugxxBqxkj~b;0s%=O7HNSlvuD_>rbZ(E|-JqJ~~}GpFR?Y#DxavWiuN zW1`RbS{GWCP}@$^nCz4kou;56dm(FWImWX!4sP}Uoz1L{h;XZ86=#ZYH@W}$dW&P_w2UJYh zii(r!u!9BhP!tWwq!=myN=$IYeT~gT&A#6J@;rG` z?dglav?~bjp=2=S*PWBS(k$^htZyD3>umGLnb=MriDll|Q4kw-7X)p-s~{5M$zQ zZnUVEpRR;`0yd?8n^FHg)H%GsDP=ht}|$Ak3251H{uyT1?u} z(Wa@FMyu{~8+rxm-`kdG^)p4m1Z72q7UK2WQCHhmLmw5IMuZHMBlCDVidsBu1ydVi zC7P!nlNl0GoR>L23xmzRm6KfcbH## z;E-oifr?Kz#KRjh);v6OrGQZSd=PHn-~Ej)C@`o!baeMfZMOFNl%pU!?LdE4t6SEy z{Q01Uy>f#eYD zkq-xCQyMYWy=t`~&yl^3W2~S8JWFH3H_S8X;B)c8rh?2|oIygL;V1*RZi#MbbDSD} z=M9OiDT44L-YH35UyFn7_(vcS+OH$tzJzVZPlV}~zE87m4giz9{6Jf7rp5K~emg?I zd!c+P*Y)NPe#Yhy5ed-oru-RPh>y2vF6mi-7bcF?P;v(xms_s5XBnE-2?YMbYyoXQ z4*(tK_rS!kTf@%$!P?*Re9QUG{++)z?BfL>jwX4@nM@sQM7%h1+7H+A7Pi1i8f7Xx zNJ({0NV_A<_~6|YS&31qw}oF@TEy^!HekjlF(@;hZCg6wHuUL^a0;1^;i9WjUMaeK z_4_3sPk(UiWDl9XOhh#q+{68f#eq5uQI^LoGLHNz;mBbQGYt9}+h^4SMdCb6RZ=-a zP12jkdY?cI+s|kj3hrgIYP8=z?-n9b90I&chDhx+z++~-xIMTEUtA>S1mrJ=TL=-; z&X5mLqJ7kIa`==s;=p_2cpqlo*Ye_hZC2Ol80yAxxIr9CA$)G0B;tN5d%lCbTy zwOZysv)vlTYC4n$d`>UL(;p1|@yFlh{YO*N{CL!b)=p{S`l#@>Z`vKC@{p-WUbrot z#=w$=4IoM3*c$x)5?=Nhy#~2eNOL2I_L7z{!N`T)~BZ$&CFKRE}!SZ z$Tx48;Tc<{&k55lso+}Eh&Q?RF0e(lgD}4R*Y9PYUXXq+)Gndu?P;9wE2oY4?QG%4 zARjezc@QVrUPDluNWpEq)h6aa-+aps**ZeY~$YC zg&NZIYw~{u?5OyER+AUU&VSwiZoM);2MFC=)8hkGSAE{4u#G){0)w){IdfU6U+h58 zai!t&Hu=uWkQDKj;hQ5DUa-Ip{e0|h9S$20F)TDN+H123_^g%{_x@04&arZ3m;YBeE)SGoFDh@EZ?Vm-K<`r)DSOHyd(Lk%XBv z>321vZCyD6Kuy@kiMBL*6_>6+f?Or{L}eMb`yVR6D@!(1SbM_D9SZYZS1Pd}fhq@D zU*b{%QnI=`I>xqz{z$e?pFaN0@y=gwQE7^tBMXJ3(WP?>L0fHy1-LL%th%^}deZiH zGNA4`#)i&!_lg`QzVzDp?2>%=w(H!!ru6+Tz)j@lak>f2?RX4}%ArY}Z7ZV{ zWR&cmNv_$Ml8{j#*oe&Vze4p(gIW=W2-w=p_>#z%?*;S7gDxn*>8Di}J^My+GJ)T^fu ztEo)E@9oxJRxpM!st3j(*(@h0X8giaTouRF&%@e6mXogC@jM*<>46~pE>Xm8W|!j- zY|#TC5#Yw1($AnUa%*;UkV+kSo!G0^(*|5zRu$@hzUou|SOx5t9MgTzGV;jGCKxr% zgg}bv2?t4oE!|s_5v=%M*`65w%Y9JMhm{Md=@$hLY9^|zh^EFvJY}xcpLk>VZOLS_ z2qgRdYo1Fpq8iO(E8QKHWJOO+&lKbh3!n(LHJXg$qFvxL#tt}A6`9jM>csjFKclT& zpf&l<<7{Do^dxxg1lwg+(gy&#DxNm3)@u2-K$0Jhys}s%krD@xjCm{ooH208`Y015 z^lS#rrj>MfN$g578zCB~2Fl%BL$lTuBsa&^8`icRu76CUZXC5WsI6ItEq|Kq8uCPo zYKVX)aFkp(-Nau<{o{;()&93<$OanY%5#+jFnU1n7uO1@kI_u=S8U(yyzNubAtBg2 ze_iKJY`2Qv2hRLQl8~y>@)ErGRp0_pIP1S6@49|1mDa0rboiZ$Pfq*zO+~hEY(=$%fh#qKc?8$?V7s z=ZG}9%~w#>VF6jB`?QnMvm97x*&dR3b?6z0m3#6x^y?J)ACFBl7aZ{bj8F#f)Zhb| zOTzz<)2djD=T(v(mY_Sdr1wmdZRBNm2l5}R11lN1T~`}~3%FCVU<4)L!ZENltTc{r zaI4$}l3XHI+R#Q-rtJuU&Upqq-tQptrAAb)+jQ5@TvnYc@{5UCZ?L}UG6w(B@EQX* zMZEzt!MId~4S3YyXsJ(WX+rg$;Cg19Iv~cW^D0C{JB$|7j2+tY;ANV`(ibj)o`CoL zNphf0Pen~G1&1CWHhFnAfi6`EmjcAYA<`g*`?RJrqW(gsne^3QPg;HC=*)nv)Sk-* zmc0D-k$(vQX=ik=9B#N%3L_X4rH^+Lv^+~e-eygyt5E!37Sr!wn?DbHxz#@%%_sGZ z_dTUY@NNZHrimamnd<71(6^xcJ1npPtPC47Tm0MO|92GFr#_x)q>$BStq5fH8ioF6Fcs#3RM*^_O}8G^6<51h)bh0 zfLn{dVz2n5avdD7DH&%aCUaqESLGS`HgD))4MzZP1NSOr+6in&CRT-L(pEi zL?2YjV2EiQNXe?>YY=QP3HE;~NZL09lY1J;fdLz*w660^x!R7W1Kq15Zn+sW(}@KTa4t9GYDO9EpIBC1H58>y31_DN|hpv@_F2^VhJE$~N>*NeFI zXVwrZ*A%4vSFGDy44#a3k>J!LqDO+Hmg;uJJ;N(|k5xd>>On2Dp*#SenClN(KzSvE zf*gdhdq$A7{?<#Mo9Si5D+N+L3cb0~aHWweU7}*)k_uljpW{$Q zz5H34bhQpDd^$LSb>~93KNjl-Y4i)y2GvbEWQTU;M$MZ7sd_?{*s1Xb<-v3;gLDwY zJJs{Ktg`BZ`uF@k7sea88#L%&#SxaJR*>t*3$9M(huV7@a{1|F8Wvpr%rg*~gxI2x z?H6HP18Pzg+ho8r%V#-OV`4&`fB!GP_ayhU# zdDbvZa8)Qd^`s+i{tJLR0sfa_VP;j}_8Qt8s64EGz~PQf7aYcDS+}?XBFDB2A;{&g z5;`KuRcnR~tUW-p_lGXgZZV#XP^91|n{nwsuv0WXnp}4YNX#hgqJ86K#Q?k9O z8UUT@Ja0T1vjo>xgL|N9V)IC4T%M*O-far95)QCI!+nP{;jMik&R>_RbR+MofkaZ5 z?%0oVOJ1F)EiQhb#yvh{p2Ea4~pOPMg9lcI$wP{|3xgH zjI;UkATB0d+g<+4re%5tst|BbyMP$VuxNP0>d0gIyz+_oconlr);yp3t3aO_6|xMvkC*K4(>zn=@~e zUbr_GVp;b_V85zypRx>xk_6lce%W(vPYVN{!AZ#2PqY|MqmA@*fpNP6YD&_GK5qh( zy9~e>l3FoDL>X!?28leLoIuI3YYbg_dd)UdC1CgWqNqvApS2~J{LfgJ(i1Q*MDxv&=)S_NiL+F`@E=IkioiR$sb&= zja`lZ8N$*Y+TKmAKM`}AA&?04C}T8XH0c`2bc7&?Ke{|N>)AQaB2jtnceWoZBGU+^ zVr*31ORZAhLvWiyr3$bh&|l3C6Lj*O;{{5J`}g3X*PpOf76d)ko6@LcyDPb5?Joeh zsB6({Q&SgoZtmI3um5UMsbBS%`2Ja4PtPU)t%*&S&AgK}f|Sn)xu#lsoIR`o z#ezL$*SFI^SjnTS8v zJsMCj7$my(WfB#p4H_ejnC|x*jQ9%QW(_a>SAmp|L6Dr6o!#ub-)d)Jh)Io{oTzHn z8hO#=ujS~}+ked7mZKWr=$a3rOxAyO0)!=AWB!d&wGDvo0IY7tX3M+-NRM<3ds66Y zeAZln;nx<2DHux)UIxP?9p+T|rkgw3ci?YdmKF`AZ$xtdj`%Oo!Q&gG8O!uiA+|L^ zxD5ix+feK#j!z;Uj1_8dI0e(1=01DtcEOx5|- zYX-f1WuS6kA2+4v0Hf(4W)nWfU4!-4Pr6#HI_p3ImfR6L;?F(|%GgO2+%Q&bG7;;J3b$k3zUpm}m4r4lnmp zrqeqw6_zVnL%h9iIs`_i$*zeNlJ2wUcM50Nc^EfSjrPo4)5@bMXMXr0X~{!sd~DKT zD8CPEi;U{c1+VRBN8RRu)WUgDOb(y;avyRyzEaU!ak7u92gyuy@cfoI201LO>cD+= zl2ywNCIe){`vk7Xy4HUmbkwyi$;3a;3zGtP(8r$*XzLq+yLV_0&*%&QqJ3}0E#DxH zNF7-&56&q86IyXi83v&%#4>OxbZYHh66LU6%5AjSgY-LiCYA$`jL4af^4 zp@_30oZ_ut^da)&1K(R$Kt>Uu*y1e)8W51@3L2++sk2S;69*Zg!4^zosjSaZuSJpG#_YkXciGglF8j-7Ex%*jqn|G4Jxz*9m$*5#U8 z@Q)0QjL=X@jKCjz+U&`H>be%!m60+LH^uN8hV`qK6D+}_4jzmPT&*iX&$6$e*v@`3 zh73PB=1Y#tpxf3#j()(WXOOOcMpkIQE|W0TU|TMKKl{fMqjjuK7V!}`~-QVHC`YlFNM|M)HgiUCMtK#fJ>(Own*6{x+-n@=Zj0_Et z=LwQxs^p5iF|U+Gp0!ZMTTLrLk-FzEf@nD7DZ0in7lJvfJiy#DOEl$krr7)XozAS*x z#FI8@iq{FhK#R^qI8DWR)Zlj4Cv4UM;1YXxsw$A13aY^qsvEu(=WH)oG5spo7MGRo2+@D`fS9wD52>8!PH>(^Q6SG?$;X z8s-!cpO}3%tduz)eK!zEb%W74qanx8eCd(Bd+V*if)eD7LS0Ci3>Rl17ndYIXAAd9 zDS9*ZZ$HTGH|Xw-h`;|nOID5%d|%@@pDw5MlvS=#x#zX&TKM#Ib&}+rcc+~+m^99S zpF=NGQw4>6aFi4dKk~_|JNKX%#sk%5Tnh@{t!vYkI97;;46ub_kVOxxmn&ek zOGa+@-W73}#ewd3Jq><}R9Tgkt!UZ3%A}jd{q@$`N++RU3UQnIgCavCgr|Wycv8Jw z#WLN5s&S7s{)VXZ@mmV47I>rIp=J%oG**3yV(;uOR^uZ}zm}c8^X^lvBk4SNFQ2<- z=jPlG_qX-Tne_57UHJnNdg`pr<~mHi0@9&lVZ}(a<#1lrvk;ZJ9zK!3p&V@ zOkxxzqiVXkpW9WmoEw;a6}XmXaCY27lkO_&dKSA+5Y6767HKm$)7q}+fY)6=22(;hS@(k^Kf<;hi9bIsLG8;P^w>qf_HPltih4nBo_f%r2Zdt4?mQPe z`kpfW`<_1Av_?{b7Bg|B!jt2<;dT66Lg`1QT170`G#)O&9+L5!A#b4weqrn4FJyz6 z1&fBiNV+M5xV_c@p+utaW|Bj0M0Z`NHt}G0f33u9gU$6C-L=M{6N#=NCWY3sXjrE> z@!=il-f2(A=E%~sD|rH~w};28-tf^wo}4XY#Wd?qv1Y#nFM7Xk{SZBxRIH8PXE%Px zvfvfLM{P6yu+&K)-j$JZj_WXTStEQpjP6?YMV}hF?ld9H<~V1>S!^&oB@a$K_?eh_ ze`%6}LgCe&>(}&q(K}hO+Y`P;J-1J5y1K4r5pKUbeWzd4DgGxF_+n4XODQWWNAbx; zV%-|k6sN*Bx(oNodyo?@6T;;|Cr#BSIEsR5u!1;xRxHvsV=?d^+yxZy^>Vcn+($MoC zAk`p3$E5c1vpYF?YljMOXDH2;T3%BHhHST8`=QCeG^{-04ynYGxHVRK(>4(0qxZ8V z!0&wgt=1XRTotiiMs~LqmbMk`ZK1VUsgQ+U&F*LWP&KA&JnBQ<%`hM-i{4t+v$YjQ5j8$AsaGc zXeiIjF&ycW@+qRP(*P1))e}C%WwSzj!y;R)6)-GY^ytBZz};{Tofn5fM{8qDyj2%0 zj60q(;^OeVy?|Vuv<}7#P09;{-TT+=Y+RN;5FnCX-Nj;LR`)%-d=~{ z2c-=!zG}*D5B9UoIyhdnzZ^xara{{<&LR_p-rdz$u2?3JtHR~Yv@*SPDaQxh4!2DP zW(JYxqdTusSX7{yT?1Keq{??BFC?rlY>OL9lcZX-_7m3=-KCgkaZi(?T>iNB5{|3)hFZ&$uHn~O?bD-akVExt2Lrx6Py3% z)pu4rlZR(DgIr)z}3~Xw2ET;Y_$Qyg-jb zDGx%Dm|%FV2)9NQWM3HlVk4cIeQkrp9M3h1ACl;z)?r2TY(?d<4Sw`M*mJg1D2m6@WsbxI=2L4&f{TCEz z{8|gSHou+YONDLSl>^NAF^l8o^cORIRm}Uv5D!Ov^Kic=JhSY|?hfb5d();5bE!*( z81mU%SriigBL1MWIZ(s73iQ+wR6DQoA-vtg< zt=BE*dM@MO6Pc$NZp@VyTnX1es&#Cn%498jKxxcXS##4;lh?C^_*)gn;4FQqbu#BIFe!6NJf%z0e$)NP6KUK2wW#}Z`;~ld3=X& zZ!iB#^ur=(A8%bP|LTEDPt4#26n0}*n!oweOs3Jsm{4Idvr?_AO6{Cc02%ap9D#P ztBgnQm|yAd6HmW6u@;mBtXxUcw$)_UCu5wEOdz5)-l%0iqm{8!>(-3XSR}>TU=?xA z6R+}6^Ww1?2!*MG>sd%g!ia!ZjBuhrU_p#ct&fTi(uzeFw~s6{3M0%W>M}9 zTt0Vi*&W_kEc8NJs)4!$bF<^jZMx*KmASI0>zR;>(#Zv8k(Rnm;vjofloO( zC!!;{OO!oWr1yT@XAHT;N%B*z{^)Hi$)35mWu)$O)myHB$VV6lm#ceBrR~^=YG?m@Y*F2Sp z*g&)#)3Tt>)E0eRqwCag$psx}F3m6MT{aM@@U*E#-q4i@QUMM;2V&#tV_<) zfd^>(LS7u8+C`0d_`BaAO@55g$_O%n4b%7flSc-8&&aN7of|Pmd4B0UG~*A7 zoRrQSz81r|f9C?}so9f$x|_iiZF5LHI}7Lclp4#_jEWH(T?6mVQEg@+$x>fuWoN>duM=y*0+uzmj=-c=2Hos=SQ~XGF ze=?EbU*YH9iz#OLI(kbm6U)_A+j*UwmPqr=-~{#R|u94y{7q7gxt7Yw7T(J?(1 zjL}>I%#Cu-fwIzt^XBBi?!7nfzgQ%EUyZ%jO3P)M3*S^_z2U$w zn8x*$Ik;T3VUy4aQrb$km4o(3wP?Ge)5%}X4>;Ik)QQucw&kq;9l=x z*EdKjYu55QaI4L*UxbiV1zhxytev~eo%A{jJ!mFks&l~5*)6=9tVqfEh8 ze2u$HcW-bWm>z2+(H&IR50pF;n63I;vusQ|zd2-MF%qi%W=aw<<(pq{lX=*{+ui=m z-g+$lH|YrH`R9W|Jp9P`27F?l(&pyo`pWI^b!!|3)IJOG=vLkf%q3(J?ja>Ckd2lDa{>EN6hK9SZ$g02}>n6@b1wkFp>M+*ACQH ziV0g&c?Isn$j{~Mt92E%%Nt;Tn7^-@0A6FIZe+&MWAd&$^IF(**#oZ;+1si=-pfmN zv}|{4vs9F}UjFFM3q(&W#BZmPAJXY*z)MhYZd%fk%e^z^mldOW>kBoWA;K~ikwc;+ zmxL3}8iI=_K)rdT>~wf!93yVGVg0k*XVQRL$WManBBOP{c zD#T1ZL>bbek~5JKvEHVe&L6rm{0iUtNT~=)=jn-4KOf;P629K!)D$tHMdXWZFO%Z0 zy^Ru_cek_p*k=)@``pZ}e&{Uc2t*>ux=&x9?~XVj)-DO-Xz#^^ptEr%I8~@;RQ>x-~6KjNa9?#9 znuirxD+H=UKSwolytdh$W;?e~6|#YDrZ1ZI7D+(`uReoZ4kC|FZ1k-02UtGqy8-T5 zxm&9bz`O3JeEr3?Y~-NitdlqJ1ucw0N{(pAXqR9>?&Vc^cCIt&LY`eaakV%8ydJNj zt6-r~$yqtMjptidrlxnjycEuyIrG^5O!bXx?@pf&ac$i9`Whp|*aUJd+IU0`jDP4q zs6HRX6xet=+}kcT(#`YLTHu}&-(CZSM99EclXQEV_aWCq(s#7zv%Q=C)d$I?iB1+K zrIf`!7gBY^!rcvYengg3!9|6#OqfLkf}rwODlUg-vZk-B&4w7895-syZIc^n6>jZ3!i^5Eo~(4JRXKXaqL;!181v%#<#LZ@D` zLZi49?FJC4c)yXGr0sEYK8#Cro-tFdP7#Z`*jqYQby8+?9@tOfuM7H1wwXM9*eBC0 zUOE#1ez9~jvb5Ck_1%ft0O>|Zz09MhF&;dP;7g=PR`HY=9kn^;s+IKixS}9+;e2!5 zJK2`asb$f{bZvN@07W~LAmYl2Dq<}SFK|Yrw)$mYFGpwe9lX^B@yxKXzHW0 z2j11KOJ9AkyZrL{De~U#Y@Dt$G7_}^B34#bgsdiNhx*Z!;LkQk!s$6Ek}rxyrR&pW z6t7aNeTdjdk-*KIF)a^w@QXG6#httg!&soScs&OVId;3OsUNCJZFf? zR1%rzWG-aPTof5=nWvS^tYw~KpEo`4e%pH=`*`;Lv_Cu@a$w!Vbzj#x{(k3uo$j`J z?hwcpGq!nf6DB1Huo`>3U9HMrEbuTnGEfWgtb_5!TN>{jKG%)oy|j})V_IYncml!x zEEK8`Dw&ZhlLaKLU4j?z>x~C8I9FQy@^6mm8VhXq=xFJltZ?)ZrVQMrUfMk>;z`oZ z`)D$%4nTp@J>TVt+P8hScoU=CMd5me_t7ke=)QL;B)q)8u#S1g?7J4jpThTZH3aYV zHBrw?3~VkW0vp4=h*N8LFqugh!YmQ1z*ps%)H98lt)1|6n)&{u++h+|Xf@vaQk-`n z?zDB8FYGRD-L%=&rF!HRoHqoS)3c!B)|upHS+ zGnTgL`Nz(`J$LL@Hxct}cVM0&WP7+aKk%*EYrAZYTSO%K3HA9xa}1Z5;}k({3tx?* zh6XK|u7TNk1`%t;vBuCbRez9st~h?9!(hF~KhYWC?$BR68&Yc}H_O}2PUX8?QRm_S zn1QP~Db33|VvZEH0+;2E_t6Q55@G{7AdzAmI!tSsJFHyfNbf+SxOw@Gw|v|Nk=(Yu z`M`-EyDKBCwz}Gfe6*;nB(s~tkR zN_=3KYT3r!BezJf!yRo4d0{E1@p&kt3$4W@xdRN<{r3V5sgu#}Q$KQMHW)iE+|j>7 zktaBs8|G0{(Esck8BUbhdr4oE(o(JHlTw#zibT(nD&uy zabX`n2&zuHS8`8qr}|8YWd7FBR2O0O5NUNkuVV{tx6~O>N^jEQ)__jgIj*9|O6kk|b;d36`B=cl^^{_V%KYEZf3Zf2CO4mYQ=E&Ki^ykp|{@VH07 zfTZw=DC<54HEX@8Au8(`;+h@NfTZIh^#c~yO{VH9CW}sZme`PKuKFgnQdZ^rh4MRG zQoA7CFC=ZCQu9H8FzH0MACnimXQcy4_xi-l6;`>LoyQ$Vj~VUENoqX$Cbd?5SZ+|r zhR}_;MCZ$)C!Y)_zP@d=Rd1RcEO$7?Z+LYFcLRxK2Bq)5)8grrmg~Q5X2#jq*9Xzb zvzISlPT3;?XjfN;!YK)NA!QqzFBNP3{D(C?G*2DJcIV_s$(p{@Z#7y%KOq%gpU79n zZvMq;sTf|{n?`ZvhOX`*7f%M6{1VBp*Lcz<>pW%~Oh;Q^+HNn}+B4+_=|m^$AATVj zq;bmjUhs+QEapA)eqC=1{?Z*?ye)Ocz~Dxj(N`<=Qj_0VKOZ08yGJ0tOy@>iG^B2Y z>$~p*!ucSMNb8TsmNx707uf=6`)~6Q;d37;4EyTR)q2b(+XT<>RykC%Yl7cSm32CA zbDvCKm#J}sIYc;ye^DWb#q&D-q*$56iYd{BE(ja3c)^$t#b*Ov5==V!qMKOU!KGf~ z{L1Z{rqf+By4=j2;|~o}&O;z;x`0p%80yuj@gSHc_IXYK9--X`0ZAGszKkumlbCgZ z8d5BSU&On3pXBtjgo)AX0Se&{nQx}tlo<-)kkFbx-5??sK!A(v<~M;R@z=D%g-%uo zJ&N0Ygpw1{sHcmgx-DzWJfA-?Vi{5%rQdyBaC?}T+w?Tv3A=8Mg`;u2LH{zPtT5c${QDqT*Drr^2LQ3cubU2Ck z@uqjuy~9{CIXPK$?+aDW29lo6WXU|?MIgP1ABZSn8-fHqH*A$ev4jvLx3GoRzP|Y^ ziPFrBl_XTwMYm8#kGb1Mk+@LMXp6H$z_@2NQW`rl+b~UmW>CW1`}&;!N5YAR!_@@d zZkBiJ-&bESa?_^w(!E15Kl8=7%uSahEJ^#=ELVL=RH)(LMGRBj;;pwAb6NWNxHosZ zxwx^9=nNY}W@?vHgL!|{?9SGFZf$)(fbb33lLy38MlNhZYFl@d&K9Gtxw!JJ9h9Tv zJ-6rf0RKI?)SMiqIOr6QuWM}PpP5XgUL(80>Nu{BE|3-Utq}4Dc(>dFJ4SBXx(x=Q zBg1T{d$B5?-vX5`ZPa2s|lE>b=l z(WVnKRyO}@DEM~5(p3)>;40{xWxKnpl8z;q)0r;wU^8ai3< zTlZT=p)QrqluNt%X#U=br=>0{diI2lRvODr+{VvN`kInO@D~ka!rR=TcTFQ`WlFA8 z(d0`MT3d*oJMQhpvoj&dN;p4s*t@sN+M+j_^SBg2xhXXxhU!Y+iISu)hLTUC#6#fa zj4ohYb3*EZIIxa2xf}SsTWT8h>Y8<#Ng6i6H_mK6@gd{(Xa*ps zzt}9@N?ANOxPieZtC(WybPhJc#qbO5=Qa}7p2uDRcG{u!ufEA=H*{^Knum6M7243J zqsLU@EaZY~qX+7gOGeg<`9>E%ITaQ~B`^$9LG2G7?S8H=??DCzgLh4XXUKD9!A9ju8|AQ=`{iJyS| z%qF4h?pn6f)!8&HvSFR$E?xj{2ZmLX*h(vJXiR#Il&CNiTQSPKptV%|S`ibJt$bXR zmpjB#f{$2$Y6HJ+kbn&)UkJbJYO6vLv8SB$F}#*3@yN(DnQUo*bBvR&a?k69!Q{7V zmhOj{gR)Ux7CHlhl9EX_kV)syBepl=tsGC3e3Da?s_g&ow%ChOL5Ea7g4-&`2A+O( z(U@qy|5}Z=Z5Nu~QtQ{T>plhq?YucxMg*9=odJKw)>`{O_)z+Cp}`tLQh?a3PHkF~ zSot_vY8?@J-pqylQ4ZMWh$Us(*45dsAGch!|szE4iFv@B?8G@x9nwt zB3zxiUj?^k|0JuVL=i5rMqfJQeEQR;g{@iJ9z94e7bYcx2smOs-L(Y@!h17+pk`>Z z7LbLy`4p>jJ4K?ozqFGW%e~@fOiokj5?_7c=sHDXngAAY6oavy7GJ25&O+&2>YLl? zl}Q7%d}kT^T-I>-!wFB|1`%8GS~2GCzGp(6aQ2o*H!F{Vqr`+}C`1dGv@zCdi67ZDG1O{WzG{^ffORmu&7mkpK~$WT z5Npu@%wMoHc9La8q!UA!(_(b<(%_=@lzgi-;jhAm*mS+Pa}^ceRWaCdTO-lE#U_ki zB7t#Z2sYLt|Kb8zxc*SQcn&Mzf)SC**Fnym@X%!2XtdV1(lY1Rb(`u-Zr3}W@A>)N zWZm%CpwTM*>uC!%K!doZz~lI+a?9vaB7dsKph6z%xNz-X_-idP3z^rRMUA3_T}mz- zYv*}%$pYIzWg1V!R#CTLouZ%?lvzjxeF3lha%^uor=0k;BSnf_0wCzM`t=0N33_C5 z&a;9O_~<&75=4K=p1rb0ZL7`2aAoQz$<-Dvqy9e`{mDBPuC+A~y7 zY-jUI1)S%4Khl7XsD*D-7cm@eQ07E$vV&MgGDh+0$-`T?K09M984CfJ1A`2E9wMQDTU13^#5eEAh_s8Y~*PU~qfcD1LWC*%|>36l^>+vOrL zlF(0QewcpKQGefNQq1g`Ug~h$b(BU+^H823wcgF8KFuKHPQSL-GpzI@CMYHte76@aMjXd_G@1uS+P!>GIum zSHXB0As117`tJ|B+JYOi%~VRzF{anSkj^lq1ZCO^DsD4^w<&Gns9>14on>0;re9nG$I1Bo+H}izSzvjbWbX{WcEmQeFun}0H`KIfkU!I07D3uw)!t?4UPJd zJqi}D;`L<2&VKlC8QOUe8jiv>A_@K!*^IF4Gc==**}@DvQ>8t~rE?BRr@eEboe{%Ceiezsj} zN9-J92nEe<|i zU0n!=B^5-G_iI1&o<7sN$;rVf=?g_V>0ouCOyMfL@~&NMdeWjh7X%b0AqJ$C`n=NM z?7Rz}}g^Bvzj1!)B%C*M4`S#oRIh66Stkb6AE+^8hk*zqFl(sli zYPrz1TYqmD>e;OjSYLI(^L-!egFTSG0*g@9Qj^1qXx*Rktt!yx_Nx;v-kGV)@=&5e z!A1YHy@{rt6UHbgllaF~|L^`o%;8>4mJiE|w_e)($vsFHLZLMToTo~B2Pi~yW@jc5s#^O@_Yj_Q2oSox8j0J|r zj$ZtUNO>2P-adhh`~_kZ|NS&*|8q!&V37{~4&OOBz(MXGg#1aK^ni>yI8xQ`|LAF< z@O0_1pYC2H0DPYM&Xa@TvUC2WRyA^Gb+;(;DL_2z?~NLW2r8UrqekU_AAruf*APg4 z&&1?>1zDEHjk}H8s;Wt`Yal?^dGOo&gu3KH0S>< zUl+D;8A;s^zEtH8sM&+xBdHG3xq}Zg2oF-GgCjZX7H+Fny#u9KT3VXwD>@HamEnRP z9`sypRZ~-&v#)}5{$YXlYL1XuSAg|U#YMBObV7BWEY?_2yR-g8wFLozt?hkh+*e|yJ4DNsRab$p-iC&cY^Gi5q?w8CT!2^HbOgikw#UFH z0g4+tGZg5~J}2?n`j+HeewjAd4j{VDatD)GVXNj-Ch>J9NnTN}?sA~yN(b$aA0Z-3 zzTXn%IMw0n&@K^u^f>LDeL`WOfJ`WZG+17<&eWqLd%Nq}<@WdexT4rkdCO;uT-p3d zo!a>~puYEacQ$u$E;YvBh@drgO|M-7pyUW7>b^2n2R)=)tV)L(;iV>p*Ei#$YMVJw z?7ta6?t%}6jV;{V+?TfJin89kF-ERu<-sb>WQ1rH$v%I3GE z-H*^nFXFQ*2a5l{q5Q%KkYU=5HNJCSondO?MQ4*EYYEFSx?ZyZe)dCNxq2sOB~Qgo`^ zQA}cvqwjn4$1DuC8GuPFwi!u0pXllbAsZzL%P4-Jln>r5#1?;3Qn39L@qGatah5(e zCua(Xt$15IFn9%C^A?o>#E`=xy~1;KOL!$mhXLc0oWG7Hc@}r!-M^;06M#m&cO2;!lO0i&COXVNvx`c>qbz$ zPERK^Y}!_VCFBKjF*L5_^z~v>N0o<5xOzn78L*=>d9Z6Fu4-L>X?fYjlADXGpW_yR zb37jxSN69p_N;Tvnd}_$c6Jv5fJHI;U*46Imr-vz2iJ~}7Gf9&%5@yJM-njD>WU_C zR%EfjWMg=HR<$_LPmDJ>IkC{8+WqYF&sS=kS+pxH`vj_2^K32xjwAy$-^n1bG(q-= zmxt^*N+nHZu~U|1F-UTUwKGF5Vl4%!k4W!KlXU<(7q=`{<-Xc)=f1f#9`C(1jS%@} z-(Jt#S1Bcky|W*0)+9Z7 z24BX))9C5^)IC-L~gT z%a@wD;nQ>?Hn2<}-pe4)i!(U|T}3ACdc2aGKVN+L{MoQOSKD)MdxY2!#12ehL|k0l z;|PwdI>DVtH5(q?k`Uk+zNN`hB9ypBfqvCkVYYIYo-6jz&brT@2m}lvr$xfTuWUU= z`q+>B!nr)*(p5czlvDfp{6|*XqKS4Llc*;%oMHE`zEnO;1h(b`XfO{z>AdODrQZ;y(R}gc*koM19_c&zgZ?n znLFD2)mb1RqNdKWPhSPA=~ZC!b>8#u?NNV9dXza0{=+iGeE<6~nArz|Wp+;LuhWTe zT?%~TAizV$+mgGBlth%wWVJs&1tTls1}kAU{NYmc9edK6U-LF*-#@o!ptHST|6zRj ze8~XNTB#85BIY$7wg!E|tDt&h6|QZ+HJyon_Y3C52(r45cQ0C3Z$1F4+z2wV*{oSz z|7(4uT}77Z5cOsf1ks~RlqDG=1cj?COZ@tAyyp_$B}oX2Ri=`-y5NN zy??jh>~BvDdibS%zj*6^w!-11~WQD=eyh4jHsO?Li=z?v73Lz+nqpc-bz@ zFX%Tv0L=l&*d7}Ce#{a;j#MrD9c6F~&R}w;zh_Y+`^!38#z}Yx$Hc^ZjYS1xax?)m zE||NRFARya(~Mdm1(Q5d8gyXDQvhH<)Z&Ai0}(mHN9c&_Qa<$7sNvNmhjY3mmRT>7 zl#wY=6ZwbSAh&gg?c*-34?4uaZ4m7T`~afsHf)BY9tW?7}hpZvp|1mXHqf~5p?g(aR^?XM(ewqHO&j#3@f%oU5EjL;7?4cRI7}< zECXH+i8=RYkzi!A%>{vx*knRRL8($;7X-*aFTmTWA6|hs>lR&FgZUaGmfSc*0JmcU zPWrUXhv%$Pfdsa#s2*GB4l!>Z2eneq6B1fMjx9Dbk>_K_a6l~;@>4|PeCbGAiPeDX zM2v~+&SI0?(kWBw%zIw5zm)Xe14J)&Uf#A5fM}+p#&f6a*?3Ddb*K#Fr=4N*pkc;C6;7z(b8KwJP1ADhg*{fCrf`Kky~-$H z)0=W2FoU(FvYpFAuEfa+VIXAubauO&lMXALvdd#Ed#@-Zcb-u&iS2iGR#W>3p|=7ha z={)ZWLGPHofz5|SBJfJ75QN(GCGDSi>35<+g~MnXjOSP4e!Od9X5;1#E-n^g_L#c} z(n}8TpQ5|FShSw=DcC*H^$rgI<$Th;pP!%G^+oSr#O=m!1{4`pv81%LG^5AdJ0wP1 znd%&Swl3(i>sh@B1vb-}NfEHKMAI=O(Lz6gk_+VgEd41Ea7u}l6OSG}3VNS})O|_r zElU#Zm+(dU&F$AhB1Zz2LiOiw|9$w4oU#A)&nWr9kx113uhafhBJ-~)`PY;n+V@ZE a+r}PW8*>QFxD*)y{6kAC-N?Ug==X2TdGEUb literal 0 HcmV?d00001 diff --git a/kinodynamic_rrt/README.md b/kinodynamic_rrt/README.md index 2e21c47..9b463cc 100644 --- a/kinodynamic_rrt/README.md +++ b/kinodynamic_rrt/README.md @@ -1 +1,6 @@ -### Kinodynamic RRT \ No newline at end of file +### Kinodynamic RRT + +This implementation is inspired by Jason Nezvadovitz's repositiory [lqrrt](https://github.com/jnez71/lqRRT). + + +![Kinodynamic RRT](KinodynamicRRT.png) \ No newline at end of file diff --git a/kinodynamic_rrt/kinodynamic_rrt.py b/kinodynamic_rrt/kinodynamic_rrt.py index c7459e9..2a2a776 100644 --- a/kinodynamic_rrt/kinodynamic_rrt.py +++ b/kinodynamic_rrt/kinodynamic_rrt.py @@ -27,9 +27,12 @@ def __init__(self,xs,cost=0): # max number of iterations class KinodynamicRRTStar: - def __init__(self, x_start, x_goal, time_forward,goal_sample_rate, throttle_speed, number_of_motion_primitives, iter_max,grid,min_speed=0.1): + def __init__(self, x_start, x_goal, time_forward,goal_sample_rate, throttle_speed, number_of_motion_primitives, iter_max,grid,min_speed=0.1,rrt_star=False): + self.rrt_star = rrt_star self.s_start = Node(x_start) self.s_goal = Node(x_goal) + if(self.rrt_star): + self.s_start.cost = 0 # Define the parameters for rrt @@ -47,6 +50,9 @@ def __init__(self, x_start, x_goal, time_forward,goal_sample_rate, throttle_spee # Initialize the list of vertices with the start point self.list_of_vertices = [self.s_start] + # This prevents duplicate nodes from being added: + self.list_of_xys = [] + # The path begins as an empty list self.path = [] @@ -87,13 +93,18 @@ def planning(self): print("Sample Number: ",k,"Number of vertices",len(self.list_of_vertices)) + ## check if this point is already in the tree + point = (node_new.x,node_new.y) + add = not point in self.list_of_xys + + # get a new node and if the ray connecting the new node with near node # is collision free then we can add the vertex to our list of nodes - if node_new and not self.is_collision(node_near, node_new): - # find the closest neighbors this is a list - #neighbor_indices = self.find_nearest_neighbors(node_new) - # append the new node + if node_new and not self.is_collision(node_near, node_new) and add: + + # if the path is not in collision self.list_of_vertices.append(node_new) + self.list_of_xys.append(point) # get the index of the minimum cost vertex within a step length of the goal @@ -168,6 +179,10 @@ def new_state(self, node_start, node_goal): index = dist.argmin() nearest_trajectory = primitives[index] + # get the distance here too + if(self.rrt_star): + new_dist = dist[index] + #print(nearest_trajectory) #print(pts[index],pts) @@ -181,6 +196,9 @@ def new_state(self, node_start, node_goal): # each trajectory technically has a speed but I think I just want to assume that each point has # a speed equally to the minimum speed, not sure how this will work node_new = Node(xs=new_state) + + if(self.rrt_star): + node_new.cost = node_start.cost + new_dist # make the parent of this node the nearest node node_new.parent = node_start @@ -190,7 +208,11 @@ def new_state(self, node_start, node_goal): """function that checks for collisions in the newly sampled point, - In this case we can use the trajectory that was used in the euler simulation""" + In this case we can use the trajectory that was used in the euler simulation. + This currently naive because it just checks if the end point is in collision, which is fine + if the step size is small but not correct if not + + """ def is_collision(self,start_node,end_node): bloat =5 @@ -267,6 +289,7 @@ def extract_path(self, node_end): def search_goal_parent(self,all_paths=False): # create a list of distances to the goal # random sampling allows you to add a node to the tree more than once (need to figure out how to prevent that) + # did that I can now change this to be simpler # well we will only consider candidates =[] check_for_redundant = [] @@ -347,13 +370,15 @@ def plot_final_all(self): x_start = (-0.006356, 0.030406, 0.322701, 0.1) x_goal = (1.077466, 0.921832,0.750663, 0.1) grid = 'porto_grid.npy' - time_forward = 0.2 - n_samples = 100 + time_forward = 0.3 + n_samples = 10000 goal_sample_rate = 0.10 throttle_speed = 0.3 number_of_motion_primitives = 5 + # RRT or RRT* kinodynamic_rrt = KinodynamicRRTStar(x_start, x_goal, time_forward,goal_sample_rate, throttle_speed, number_of_motion_primitives, n_samples,grid,min_speed=0.1) + #kinodynamic_rrt = KinodynamicRRTStar(x_start, x_goal, time_forward,goal_sample_rate, throttle_speed, number_of_motion_primitives, n_samples,grid,min_speed=0.1,rrt_star=True) kinodynamic_rrt.planning() kinodynamic_rrt.plot_final() #kinodynamic_rrt.plot_final_all() diff --git a/learning_ompl/planner_and_graph.py b/learning_ompl/planner_and_graph.py new file mode 100644 index 0000000..d0c11b4 --- /dev/null +++ b/learning_ompl/planner_and_graph.py @@ -0,0 +1,174 @@ +#!/usr/bin/env python + + + +# Author: Ryan Luna +try: + # graph-tool and py-OMPL have some minor issues coexisting with each other. Both modules + # define conversions to C++ STL containers (i.e. std::vector), and the module that is imported + # first will have its conversions used. Order doesn't seem to matter on Linux, + # but on Apple, graph_tool will not be imported properly if OMPL comes first. + import graph_tool.all as gt + graphtool = True +except ImportError: + print('Failed to import graph-tool. PlannerData will not be analyzed or plotted') + graphtool = False + +try: + from ompl import base as ob + from ompl import geometric as og +except ImportError: + # if the ompl module is not in the PYTHONPATH assume it is installed in a + # subdirectory of the parent directory called "py-bindings." + from os.path import abspath, dirname, join + import sys + sys.path.insert(0, join(dirname(dirname(abspath(__file__))), 'py-bindings')) + from ompl import base as ob + from ompl import geometric as og + + +# Create a narrow passage between y=[-3,3]. Only a 6x6x6 cube will be valid, centered at origin +def isStateValid(state): + if state.getY() >= -3 and state.getY() <= 3: + return state.getX() >= -3 and state.getX() <= 3 and \ + state.getZ() >= -3 and state.getZ() <= 3 + return True + +def useGraphTool(pd): + # Extract the graphml representation of the planner data + graphml = pd.printGraphML() + f = open("graph.graphml", 'w') + f.write(graphml) + f.close() + + # Load the graphml data using graph-tool + graph = gt.load_graph("graph.graphml", fmt="xml") + edgeweights = graph.edge_properties["weight"] + + # Write some interesting statistics + avgdeg, stddevdeg = gt.vertex_average(graph, "total") + avgwt, stddevwt = gt.edge_average(graph, edgeweights) + + print("---- PLANNER DATA STATISTICS ----") + print(str(graph.num_vertices()) + " vertices and " + str(graph.num_edges()) + " edges") + print("Average vertex degree (in+out) = " + str(avgdeg) + " St. Dev = " + str(stddevdeg)) + print("Average edge weight = " + str(avgwt) + " St. Dev = " + str(stddevwt)) + + _, hist = gt.label_components(graph) + print("Strongly connected components: " + str(len(hist))) + + # Make the graph undirected (for weak components, and a simpler drawing) + graph.set_directed(False) + _, hist = gt.label_components(graph) + print("Weakly connected components: " + str(len(hist))) + + # Plotting the graph + gt.remove_parallel_edges(graph) # Removing any superfluous edges + + edgeweights = graph.edge_properties["weight"] + colorprops = graph.new_vertex_property("string") + vertexsize = graph.new_vertex_property("double") + + start = -1 + goal = -1 + + for v in range(graph.num_vertices()): + + # Color and size vertices by type: start, goal, other + if pd.isStartVertex(v): + start = v + colorprops[graph.vertex(v)] = "cyan" + vertexsize[graph.vertex(v)] = 10 + elif pd.isGoalVertex(v): + goal = v + colorprops[graph.vertex(v)] = "green" + vertexsize[graph.vertex(v)] = 10 + else: + colorprops[graph.vertex(v)] = "yellow" + vertexsize[graph.vertex(v)] = 5 + + # default edge color is black with size 0.5: + edgecolor = graph.new_edge_property("string") + edgesize = graph.new_edge_property("double") + for e in graph.edges(): + edgecolor[e] = "black" + edgesize[e] = 0.5 + + # using A* to find shortest path in planner data + if start != -1 and goal != -1: + _, pred = gt.astar_search(graph, graph.vertex(start), edgeweights) + + # Color edges along shortest path red with size 3.0 + v = graph.vertex(goal) + while v != graph.vertex(start): + p = graph.vertex(pred[v]) + for e in p.out_edges(): + if e.target() == v: + edgecolor[e] = "red" + edgesize[e] = 2.0 + v = p + + # Writing graph to file: + # pos indicates the desired vertex positions, and pin=True says that we + # really REALLY want the vertices at those positions + gt.graph_draw(graph, vertex_size=vertexsize, vertex_fill_color=colorprops, + edge_pen_width=edgesize, edge_color=edgecolor, + output="graph.png") + print('\nGraph written to graph.png') + +def plan(): + # construct the state space we are planning in + space = ob.SE3StateSpace() + + # set the bounds for R^3 portion of SE(3) + bounds = ob.RealVectorBounds(3) + bounds.setLow(-10) + bounds.setHigh(10) + space.setBounds(bounds) + + # define a simple setup class + ss = og.SimpleSetup(space) + + # create a start state + start = ob.State(space) + start().setX(-9) + start().setY(-9) + start().setZ(-9) + start().rotation().setIdentity() + + # create a goal state + goal = ob.State(space) + goal().setX(-9) + goal().setY(9) + goal().setZ(-9) + goal().rotation().setIdentity() + + ss.setStateValidityChecker(ob.StateValidityCheckerFn(isStateValid)) + + # set the start and goal states + ss.setStartAndGoalStates(start, goal, 0.05) + + # Lets use PRM. It will have interesting PlannerData + planner = og.PRM(ss.getSpaceInformation()) + ss.setPlanner(planner) + ss.setup() + + # attempt to solve the problem + solved = ss.solve(20.0) + + if solved: + # print the path to screen + print("Found solution:\n%s" % ss.getSolutionPath()) + + # Extracting planner data from most recent solve attempt + pd = ob.PlannerData(ss.getSpaceInformation()) + ss.getPlannerData(pd) + + # Computing weights of all edges based on state space distance + pd.computeEdgeWeights() + + if graphtool: + useGraphTool(pd) + +if __name__ == "__main__": + plan()