From 0bf8f54a82e45385339a76bc7bc46fdc26056f6f Mon Sep 17 00:00:00 2001 From: Monkin Date: Fri, 16 Dec 2022 12:56:32 +0000 Subject: [PATCH] Started working on report --- reports/2022-12-16_px4_simulation_monkin.md | 113 ++++++++++++++++++ .../assets/Pixhawk/px4_mavlink_msg_flow.png | Bin 0 -> 44873 bytes .../assets/Pixhawk/px4_sitl_environment.png | Bin 0 -> 24444 bytes 3 files changed, 113 insertions(+) create mode 100644 reports/2022-12-16_px4_simulation_monkin.md create mode 100644 reports/assets/Pixhawk/px4_mavlink_msg_flow.png create mode 100644 reports/assets/Pixhawk/px4_sitl_environment.png diff --git a/reports/2022-12-16_px4_simulation_monkin.md b/reports/2022-12-16_px4_simulation_monkin.md new file mode 100644 index 0000000..16ac7c5 --- /dev/null +++ b/reports/2022-12-16_px4_simulation_monkin.md @@ -0,0 +1,113 @@ +## SITUATION REPORT 4 (16/12/2022) + +# How to setup a PX4 simulation using SITL + +## Introduction + +This report aims to describe the steps to setup a simulation environment for the *Pixhawk* board. The simulation will be done using the *PX4* software, which is the most common software used in the *Pixhawk* board. + +Simulators allow PX4 flight code to control a computer modeled vehicle in a simulated world. It is possible to interact with this vechicle just as you might with a real vehicle, using *QGroundControl*, an offboard API, or a radio controller. + +PX4 supports both SITL (Software in the loop) and HITL (Hardware in the loop) simulations. This guide is targeted for SITL simulation, where the flight code runs on the same computer as the simulator. + +--- + +## Supported Simulators + +While PX4 supports other simulators, the following are the most relevant for our use case: + +| Simulator | Description | Supported Vehicles | +|---|---|---| +| jMAVSim | A simple multirotor simulator that allows you to fly copter-type vehicles around a simulated world. It is easy to set up and can be used to test if the vehicle can take-off, fly, land, and responds approprietly to various fail conditions (e.g GPS failure). Multi-vehicle simulation is also supported. | Quad | +| Gazebo | A powerful 3D simulation environment that is particularly suitable for testing object-avoidance and computer vision. It can also be used for multi-vehicle simulation and is commonly used with ROS, a collection of tools for automating vehicle control. | Quad (Iris and Solo, Hex (Typhoon H480), Generic quad delta VTOL, Tailsitter, Plane, Rover, Submarine | +| FlightGear | A simulator that provides physically and visually realistic simulations. In particular it can simulate many weather conditions, including thunderstorms, snow, rain and hail, and can also simulate thermals and different types of atmospheric flows. Multi-vehicle simulation is also supported. | Plane, Autogyro, Rover | + +**PX4** contains documentation regarding the set up of each simulator. The following sections will focus on the *jMAVSim* simulator, as it is the simplest to set up and, as of right now, seems to contain all the features required for our use case. + +### Simulator MAVLink API +All simulators communicate with PX4 using the *Simulator MAVLink API*. This API defines a set of messages that **supply sensor data** from the simulated world to PX4 and return motor and actuator values from the flight code that will be applied to the simulated vehicle. The image below depicts the flow of information between the simulator and PX4: +![MavLink Message Flow](assets/Pixhawk/px4_mavlink_msg_flow.png) + +Note: A SITL build of PX4 uses [SimulatorMavlink.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/simulation/simulator_mavlink/SimulatorMavlink.cpp) to handle these messages. To see the messages that are exchanged in more detail, visit the [documentation page](https://docs.px4.io/main/en/simulation/#simulator-mavlink-api). + +#### Default PX4 MAVLink UDP Ports +By default, PX4 uses commonly established ports for MAVLink communication with Ground Control Stations (e.g QGroundControl), offboard APIs (e.G MAVSDK) and simulator APIs (e.g jMAVSim). The following table shows the default ports used by PX4: + +| Port | Description | +|---|---| +| UDP 14550 | Communication with Ground Control Stations, such as QGroundControl. | +| UDP 14540 | Communication with offboard APIs. | +| TCP 4560 | Communication with PX4 (flight code). The simulator listens to this port and PX4 initiates a connection to it. | + +## SITL Simulation Environment +The diagram below shows a typical SITL simulation environment: +![PX4 Simulation Environment](assets/Pixhawk/px4_sitl_environment.png) + +The different parts of the system connect via UDP, and can be run on either the same computer or another computer on the same network. + +PX4 uses a simulation-specific module to connect to the simulator's local TCP port 4560. Simulators then exchange data with PX4 using the MAVLink API described above. PX4 on SITL and the simulator can run on either the same machine or on different machines on the same network. + +## jMavSim Simulator +https://docs.px4.io/main/en/simulation/jmavsim.html#jmavsim-with-sitl + +- Talk about jmavSim +- Coding Environment (Works on Linux & Windows) but with specific configurations. + +### Ground Control Station + +Now focusing on the Ground Control Station: + +![Ground Control Station](assets/Pixhawk/groundStationOverview.png) + +Fig. 4 - Ground Control Station + +In terms of hardware, the ground station just needs a telemetry module, identical to the USB module represented in the figure, that will communicate with the antenna in the rocket, using the *MAVLINK* protocol. + +In the software layer, resides the user interfaces. The software represented here are essentially GUIs that utilize the *MAVLINK* protocol. Namely, *QGroundControl*, *APM Planner* and *Mission Planner*. The first 2 are for Linux, while the last one is exclusively for Windows. + +Additionally, this layer also contains packages that can control vehicles, with the *MAVLINK* protocol through a coding language. In other words, these packages allow you to treat *Ardupilot* and *PX4* as an API to control the vehicle. Here we have represented the package **DroneKit**. + +--- + +## PX4 Deep Dive + +As mentioned above, PX4 is one of the most popular *Flight Controller Software*. For that reason, we will explore it in more detail since its supported features are very similar to *Ardupilot* and the documentation is easier to follow. + +### Supported Vehicles + +Although PX4 supports a high variety of vehicles, model rockets are not part of that list. Nonetheless, I believe that is not an issue since this list is targeted for the usage of the software as a *Professional Autopilot*, that is, controlling the vehicle's trajectory and moving it as desired. In our use case, that feature isn't required so it should be fine as long as the features mentioned in the [Introduction](##Introduction) are supported. + +### System Architecture + +The *PX4* documentation provides a high-level overview of a typical PX4 system based around a flight controller. + + ![PX4 System Architecture](assets/Pixhawk/px4SimpleDiagram.png) + +Fig. 5 - PX4 System Architecture + +Note that this architecture is similar to what we wish to achieve, as it contains most of the sensors required for the model rocket. The missing pieces in the diagram are the [*parachute triggering*](https://docs.px4.io/main/en/peripherals/parachute.html) and [*persistent storage*](https://docs.px4.io/main/en/dev_log/logging.html), which are also supported and documented. + +### Flight Controllers + +There are many *Pixhawk* boards to choose from, such as the [Pixhawk 4](https://docs.px4.io/main/en/flight_controller/pixhawk4.html). The comparison and analysis of the most suitable board should be made in collaboration with the *Electrical Engineering Department*. + +### Supported Sensors + +It is confirmed that the Pixhawk + PX4 combination supports the sensors and radio systems we are looking for. Anyhow, there are a lot of options to choose from and, once again, contact with the *Electrical Engineering Department* is needed to reach a consensus. + +--- + +## Conclusion and Next Steps + +After analyzing this information, *Pixhawk* seems to be a promising board to introduce in our model rocket. However, the current information isn't enough to reach a conclusion. To do so, we must convert this theoretical information into a practical example. Thankfully, the *Software in the Loop* solution mentioned in this report provides a way to simulate the *Pixhawk* and the rocket model. Thus, the next steps involve testing this *PX4* and *Ardupilot* software, to ensure they fit our needs and are capable of adapting to our scenario. + +## References + +\[1\] [PX4 Docs](https://docs.px4.io/main/en) + +\[2\] [PX4 User Guide](https://docs.px4.io/main/en/) + +\[3\] [Ardupilot](https://ardupilot.org/) + +
+
Published by João Mesquita
diff --git a/reports/assets/Pixhawk/px4_mavlink_msg_flow.png b/reports/assets/Pixhawk/px4_mavlink_msg_flow.png new file mode 100644 index 0000000000000000000000000000000000000000..4989d844473e1e5e8bcddedaf58eb5da6e1fed95 GIT binary patch literal 44873 zcmd43XH=74_$}y9QE3WDmu5ief{2224M>&VyEFk2L+?e94$_MV1nEdedRGByLZmBI znt?oAsJ?Cj>@BJiNOGD`j`E~Mh=gwVGQC847ckVp) z+`0d*l3oJupt*MIz{`K`I!e%URU@n$;1?46N9vExovTftIJUY7ekXHLHg-RE?rJyj z=f6H!sqMLQRSPN#kMw*jHs>$Dz4aJ}-!UBEl;Br!8&STL6lY7Fc=N`4k^vQJl7Y}w z2ZdYwp`@Yt@2x+*`tL&ijVQ8X0dBgweSf(I_lSjJOxXO-XylPJ?vKXe77F|+v&@my z$DNhkR7w8(_bV&kYRbP~Y$=nWvj6+-8~?w3o15wEXz{E}?s$o6va)Hx#JK}EH7ULO zO?UWCH|3;t>}`V%!Z56=^JpGpaCSJ|DYQhv4!H?jEb)DnYtqH=SYrv$GL<=BLL*w0Kwzs>f@Me?Z2-%|-p5H|JQk~+ZvHe!US-M}` z5i*7+2Yqr?r{FvsE12d?vBE^nWU{Zinlk#EElBv}-ngcvg0U#|eukObKuz>GED&uv z8FHE3$hq<7v++OhW&DfkfHeXC_$M-9MGvNp?Q>8BWG+TR66@0ihFR@Dk1h*7-OZKh zdLlDz?rn}s&S)=`T#n)@3qD@qkWsSyH7HPBVR1N?v7cVl`Gv9Tpch_#_;wVo}xS9F%PaCGQgEMHeVY*6o zJA_Iv_i&=5tRP;p>>U{C;Lb$`qxY>yxW8Z3+r~ew=&Hx8Rh@?@8`XZ=$_gx_Wx!79 zwTy9{eoP%gcJiAj!puAnHz}jUjg(p>Xm~D#Gp5r}Ta{Nf@^8F-*}75o`l@6pzIi*= z@;Dz^*2$~}Jw*hcy5l0m+w)S9_ovN7!vm6Uj%U+hRqloypbWcA6fSA+y_;@-c2^DC zb#{V5nPdD6?+*#q=?MoDhRU0|PBv4bxrHQ%pT%kg?2Rgw=brqrpTq>=+pNPYx^>h7 z$PUJHPxY#np8qm3ax+IBz7d-#EwnF6Gbn=xUU$Vn>VBy% zA7}<)Q#h|i^Ep9c@*rhMuefR)fQKu@|{BqtO(*aib;k$NwUqSV;seqThW9t0^by!1L zx&0qDlhr}Ea>h6D2d3-;;)Fu!fv!G|;C3_g&)yaD2iywG72{8wR?XQQe|g=kEU);e zitE4xRWXlMOSPw)u;4c2It4XP z&+)MMqM3rqK?SY+v}JIhYjCDbyo9R#LsoQkSCHqVzM(qz&937$VZ&;_$?~$Ibd$0} z;F}hk%`5Sff9enxTj&F3`)uv7EB|$07iRAoey|ePtC>5Q(GQ$q(PRX9sV7aIwc@kj zuNyNX!09>PK6~d_eC=}6dvmX!MTc`pS;G;sOZ=)?zz6m zoTeGalAN;3904_!B4^*_snU*3-3D%{$zBQT3~N6M{4JWxXK<9!@yG6#%tG$H1@Fbc z4&Qn8ezXyy@0SNCfB z*iGTSQ^xkU5pByc0tRY=wF<6|9neCtL%4f@Tr?wq;v9 z2^~^w1>&7MZ#odFbB%A#O^hb(3eAa+O>hK~`Lgw{H}jfe2ajAk?*;81 zqTKq(4xF3j8&gGs(aMS?KibMO?ALT7Q}3H!o^Kh* zf{PcV2K9gQUjyMKyO8c-?Q??(i&Vq3hBI0;N4dC&*FwoYL$$)&9+UcpM7_CsL7?27 zEx1o=K|4OgC&nEui-oLSG*DykF|b0`2t_h+26ZzUUx&_Jv)+ljK!ct0SeAzBv_>nk zG3VnG<*#Nwi4zNNf0|riBgs(lp@*p{^8~-xh5tDl){e&xXa;@kQR@$<=Gki5_yrtP zi0c9_&D-cr4v$$7VQtMQEAebiIQXYOJ6g(WqXh))Vop_r6sCP)M43g>KyV2DdHu`7 z4enK$u6lyHy>O3!nx6+Xh>d%0i((MXr)?v(>S8|&4d)iUW}P1^w=EiWV$<9N!`kaH z?YkpuQZA>ieQbtR-gE0QAFU_279e?ui%KS**I38--dqhGy~f7UCsT5~s#s94Vl=PR zDYWWImnyo5ATI7$$e7h$7M`u(&Q|4X&cMs8E)R1tJSxf2YQ!XVgIW!;+7h&9A997% z`%AxPk8Mr@NRz$#uOE=PS}~B5!d>g1^3cSmFAsUe!=?YbZOJySy?jVhGtpPq1Pm+E zMRU2>#=3Mxk|f~c1;?9LZ_|_&xPVZRwo78o>I}88=QMlXGce|VNDPxi~*yRV3+I)w=bEK$fP@qC7kL{7tcO3-L% zrz~IcISMC&=>j$#UT{L;`=vsHka*U-80DGYJOUE5t^(5z16y5-bVI_D%aGW*i=+B*Y1?TMP2$j;gTBFa=^C2M9(N-m0MSO0!3H9&+1zJmTwKEi+ zrD<0EWU`v-QTy!6wlx3nL`GET+u)94cWFg=4~K8^E**F2a$YwZidHVo6mS(^5Tk}5 z7(0J5mnCTVc*94dLgFLt3Q&QFIHL^7y-6EI{fUG!WGw90y>?9nnujFe1EEzkvL_pw z_-qNX^yi$@uz;!P_SQryIr}JqO1J_dTdeMd-(sZg90*!5j1M9Ab*Zgs z=X_*G@;dh7qcuNkv5IMR2m+aP)?i~6kJ@8*-j+hzMt!4{P^8`*dum!}xQ!2((P>g<4DJ1j3}nnWir;)FQp4(@mUdvCug+X6LpH?He1{ zqY}lFW_XoTfGgK|RAqO23jTh^8nFFY#vYhR``f?e*01N+Xca0yX*1H9IXAaci-%>< zTODxH-d$??hGG}G5ymf~ax+>qpdJl{yHK{05sa!5&b&cM!!wut)`<<|{X<;krdadfC82`^R^jkE>D^Fl0%Ikgq4V8il=9i*Yyla#}UxI?`WKoM=CqFdBt#N6M_3P=8yUvg26sTc)BLyXxQ~7)d-J;-~~r)?uwZZsWPQOzq_&PH*)r-IXAT(9-d@qe^X_R z{7ogZuv2^kD*tO-Lv0XuQCaj%4U{%<4aE#3*_m?AGG3&|v5A@jW zt86J^Ifjn()%EB*eweYs*VZcf$ahRtW{2$Wpq*R!^t?`HW$pGGZdJ&%VqhUJ|L$!r z2|%pat@GHUNK?@7+FEBcV7(FLj zrJe&1%~K_}6Ro*-_>ltV!R)yXBd9>*KUEx6(bjT*Rx~M5=zsn8>NLffDwRNB4~y^2 zaKqQbL!8HB>WnnYRbLj8vXP{E)!nD-YW=%>O&&JVx-u?uB6;-AQ1(IF6Z6N^9OXXE zHdn$E4bu-kHx;GbNpRab?52_n_~^F62BLZQy5@~=ci_{$U+!R zCH328BBzJ**@PhKMmCjlBb-loXMRNZytsN|svW*ghoZH&x%bJH_R59x$#$9Np7l2B zP%dedN*TUGm2{Oku5j1186Fhy5o_ZwG8vR8U??Z}rhjcQkn zdlBXlv$5_8lBm*!-NFG8A(`da6$O4g2gZz5@w(A^7Hu}#g~iyZvSBbn-x-r9>=97d z9V70%Hb`P+-~cuEdvb{T7I4N@y{5a0Q{l;(IFde{l&G*^p?e% zL^_=_^jB7tMn8*VDeOhsO_ec4VjlkFGJ3=BAk=;GM*LBzXL^l?teT_wr%NR1J{OVG zOWj*O^Nj3*GiF?*nMRFCy;CixRTS&o%gd;T9yH~{{$C`PtwlIU;X}K=BYy8t%5@K- zO*h=H1UpwL{iawy=y9K^h-SG&;pbs(wqoKM_E@g8q-o1!iQOzvx_q(sGt@j-4Cx&^ z4GXLF7P^`uGK(#be-Lyyp3AWFbK2iQ-jB-}@+phgeGtCqlVIgaHCG3pR!>dwIU9T? z({&>V&xl%UgTrw3lL<||b_(UDCKuKov-=w^6xo+%AfL5|T#eJ_g33-cY9`;@hy@`t z`KJ82N31XD&!fv#GPq$MQBq%XXVOnquC24W5D336%l$w<@9nrf|2+97GwELdCW5ql z^__?4_nqoRy0d-Z4uX4Jk1^|+H zOLW_t%;82V;g&MuvA?ldV9Y9^e~&Mq9=eOov;bRz!DKk`?XjE0t@i-$>jaM%)51mq zf3c%?|E^$X^zp9O0iB@Qk3~NWIC!9k>)*j&xK))n0zGyTs30&EXx7DB#4F|ey8&ri zWmWx{Y6qw67r6h{Pj^M|QSuYce}WTi%#W!gbaSpZuSg(dXo%PD=NuxoQ;b? zM~u-vR$rOzE2>(4zk}BiPyRQ;(xm~OT*1?AP-6YCNsuW6*hCfb5BS(NKZS^R*`{vC zd$$+pe^N4f{-LN06NvGbu?JVZN&CMB_Gh6VxREu#M| zfcB?(??v-rkS;6Fce0CttvUSv{Fvsq<=LU3Cw72Gv(YP{=~LusG!J~eF+9X^$-!HzrYa#z(G2^Wjk8sT{lQBVmg^EG`kFF0 zy$1Y(zafQS%|lOQj`u#RIv4~u=U zCp!ZmonJigteXQA|H~U#Jtwp$uRB#}e`)H(Rl*C1SHzzGH(E$wB^R-3{#ym8+$H}z zk;!{Xf7e7?`R_}i+`mfdZXio#QaeWt8`!%_r`K_t7ML&Iva+CKXt(Q}DAQxn%-`tr?}a0^qQ`kKMn5 zC!IJYoPXhKTN0~4ORzQdf84fB1VFT!XSpLs7|<-c$Y@rhU*8mN*n!fY8}RW zE!aT;f1Z!~^c4oX0NTa>kI&Du2OTUuukB@UqQ~HBc1NV}W=X`+dHfsQ`HF|SmQtO! z+xLouD_^#(rT>p$qWuNn-ZLN+Rn&YTpG*kaD}dMijRgNI6nz1)X8L*3V+Ke1ovHXm zSl3AzGB>#Me}p_bSFrJHASVD6vgL3)Qf|&2#D9=Z{>FcOX(C=Y1Z+wjGl{mqw}K;@+ShLX-51;(xcP7VoTmWUFkm$I(7xYIDY_TqbGqXd zOmy;O$$xIcOeK5p%QnSA{HJZo-xBM8J8s6(#&|+N1aJKhb5C{KD9SL%JznMU zKmGeO1OLojm4NR$Ge1Gfoox^V!0lAHd5BqOB^}%%coKj#cogtO8(gH^ao!<#E7yuC zwEg$hz3SkTa-=$Ofa8CYWSo@IM@-k*DGKBYKH1+C!tGiO$Jkf{fY9nSj4BS{hx_^Iv0LNs#MoJv~I1a~%J=Y!`S8u4n7uo0Qn}%~-|^Kwy)7vir3t z0LNDn0Vz5P!)<^o@4=DT-050vEAdi;7~+ZLC2+qoWX3@4<^ix>Epvc4-WutwK`&hq zpVL}C1}G~aHI}zC5dp=1;4)^!onsjhLq(kdgx@cSnIi!3A?Vw>Tx&WHT>^ex;NW#U z*z)e0b-%|%*}aFLHc2i}p~dFb53xHB8;jq^PMN|sE6>8H0@vjy zl|Z16!n6c8it9)ej*xS~As1vuQIBa`=fov%iysb2hJpZzqNU{na}F{+H37^U>|j)=(?2nMAya`sicQ+rtM?0D^fh~-+u zN}@vtyLUE$epl}7;gdUXI!5r$bIcRDjTNw*(&h>A_lqMG5qU*B)Zyn z*s1J_xLKJ|C~#FL$*y{eAxbVW4%ccGe3=hvFF7C_{niJdFI2`uU4QmURFS43F}Ni-4q+L3t*=W3CYdxjz6AdIjbsRfSa<4L*Yqp z7xbP*s`Vcg2PAYp%2^#%FobjwerFlVo$e%*bDXRz^`iU%)0TdIOFVp=2!=~o3g;f^ zXi5KCisZ2HyG>*oh89QU{?v4v@W|9Qmjx`t0g_A3o$*dMa6@ep&=f!2J@$z7qv7s1 zQB7ZX9vzn7fxgYh`=?z-GS$jxSrOOzJUQ2zu2ciSO1{U5ju=&GLgY5JH7h}}JPCpNoS02_(O-i0nOH~jA|P)XO! z0Dmv13O?wTQ7T`a{>_vdFhzd)HdgSX@CVdZUQ+)g)2a%GJpd$fvIwu*EnTCCns(Uja>0HD5~fD&5<5tRHh(fl1sk#+>w zP>Z7T81#jsLBmd+2(35CQ5jB2cz5tV1G@T1t*=BD_d(~=$;d_i-#4R<@*>&!x7347 z19p1LQ#2$$7`3DECtnylwTM)3@0rEr5#B)^wcGk*A9OjXu8b496vOR4D>R0Xz9e{o zY9syNo&xq^@7Nyt9#3~2=}uNd{fWBX?$REn+yYm2Ez*1AR5AfOCN;e@deB=JjVvp# z;&p z7pC7?1sJsFpjhL>0P5}0Fec0?{a%(_e%!&=Rm&_-=ltb)q1vA197(Hg4d&*2_d@fB z&zQ`YkaBX>yKjcIQ18UJ5DJAttCKA1Og+cN&i9j~Zu|y&uq`Z$$XO*Uuzb2m-?Z?G z)5>a!rVw&MY4(T~JE~YZ?s2y{Qh_CJm)beZPjrTK)1&Trc#f0is{^I@m@mBsT(EE}sF2Cl5=schyw{u|CnsQ0@DCnZryniiV0EaQrB+P2#0p zl*6|m(tL7Ywpl+W85B>&c0t9HaND`qYp82ZZuZ`ree?DiZs!Y#|2Ea6r360WRWUxA z#2Q-dM5Edv_f7qGikY2PER&{-hf{9s8CN$#>~$^bcd^DZ4ouFEn>k#SuvN?RevBTk zJxJgyfVSdKf97ZbD!IY){|zHoR5_i0BUR8K(wbx6asL^*I8_J8X-gqC#T}vo-W#NoKG_?;)g>dhNz!^dZt#nNsk6REf`^ay2z{#jreMzdxG|dHdVbmw zoGBZdP#+#_L$OVGCN|a2QBw2N?tIcz(?xa}=8f$XcE4`Je1~e@NM1GS7g%3XD^dEn zcXI!y{?eZRu@p!)3|8YkLv~AsA-t6Q?(`!M!ve%PeCb1MdgekYgpByx)}K(@k=wsd zcAe`0@`8EnnV(jkf-s`*nh-P#5dXGY>^n;WykQ08@{z@`3aX;hmqmtaoK)yOPrpNPhcNU81eQCLMpd8e7hsrO%>$g*MJ?2%^2|? zYf3b13ggu^q@M7s=LoA>>`pAKvg>*N`mO$DCvhUF?AG}`H_?9YTJ>Q=<(pq$ADx?= zCB<=_?K^NC4^bOck8`fSqP80uy(B7oA7M2SDw(OR;`a_2Wh%q`^~Tpb&QV~IgzdDU~JO2=!$Q|El<>)vd!ym|m9)*97F?w+-bO%d~S;#%! zlRe)W((DDtBNA`Hn0`tptYBLf7T$Ha>2ti(HzeiuMuTDon<-}XUN@shgtOyx zWR>3pq{ndD2M5O|LCch@8_{7Q!McS1&~?v0+wD_h+Bf)^Fq z!*cGGOQWC`k8G^8tlB}65_ZH@Xul(@En zk;^PVVh4zxeocvGFn-s-!goz4z0mYqN>ylKJ&7bV#!U9{ z>*Cj?$;{*sgbC(tyWS%sb0~WlM_GV~q;(og_w3H-(WUH?WNlY|HF&pp&&QhxnXX+n ze0;tQJ#@j<_uF!j^%L(f6$U=sSHPkh8K^kY#xN@e`z#*qZ$w4V`}4SH*n$UXquvyj zkC(iMlJXQ?QD*au*w->&XML1)4O$UDYT#Mj3U|24x$-WAoS+;j7Mk^_;(phLYkl<7#8=h7`Cd52qyA3_IsEAx;S%sh!M=KZe(JzU}4CdZ9CNYwn%j7ZE&u zWX{mE;PxoDgyGRWpn#!9$I~Rvbn|k>`^uX1h&uAH(Hd1vW@0T{o}TQpj^NE^I5&CZ zD_3S_zQZ7^y<9nSAAEVg-*I+8FkkO27`A;uD<_|U=Y$_-$A2dEbryD}N8HjVn3&mY zO~iLLWMY*TqD)KCUjdocnlhx{Gc3@fsx^2|+^sKF7mu$>Q!ikRAEy{jdX-mPo{0Zs z;S%;hXx+R?yNR`}_!Np_b?u>9V-204n09C9hhP?|p?8j#n!hlHB{BxQ4+*_-C7$+l zOpFPV@KP2l>({qRvBc0}#8Gsngs5kUpdzz!J$NsFFcsc@FOnCZXYx{T&Q;H2i(dNR z*Xy> zRzr;|k2%BIpB{`8T!$5uE0bzGg{L#Q%rnILJJ}+(_=Ou=Y%?#3I(As8r`MitAoQ0P6b#!#s`?6ECNgw|KP;#4MX2B4+RE$xC0@lD;w5jk zpq7nf&M$bs71@Ybga+2@UH3fCgy*yb!URgq&ridoJ>24qdfZ<@_{M0sjy*Yi{rKPo z3yL&zW8_`ay}^PyI*i!C++D6JvDN7Kj9uf;Xy+&A;$iiU!w7=G*;CjM`b8&VwH7*BW6*7sL?<&!u|5 zAp;1dE$OA>FR&leHp_WXgz1xIxs#li#V;#(8N3yp)tBRrsq*M1G3FG}8F z$zTmjw5Rz%p|x!4r~gZv5G5eX?Mt7YAf{&_!heI;lwY3XdT{gl#Cu@~BCy!P_3_1O zPAaE_7+JqB09JA)JOyRY*i>#}B=(^#OVw2L=(^(CS9QLCKW${bTjKE_D)KqWj8azH zjy}G-5!T*p9rYlSBJ>-I?7pdz88bGaal|o z6^4Ft4eo2M5fkwi7{hjRoYt^9(PAqGtqQG~Dw>9#He<8I7(5{e?-pNK5rLDLWyyQw zPSui`M-lZ(JdXmeZWeTfpK@DxW&N1}N~d%6WWJavqy4R@7rTwCu7&ae>ta9CjHb36 zVJJ3o2jK#FCir>CYJ>Jn+3C~!8HUSw%xIVBxOhIN`-j)CB4;17604EE=KW5Q7dA^; zF2&Pg@}>d9d`HZi7KDtLS zPKS*+rE}}Qyx|dW18ULxi1+KZl}wF+(PoJ-kT10)PgvPSoiEOqziA-&-3KfS`RB9O zrG@&kwfmJvk#au4Pz(4*`0k@P)jOdvA$C01OF%k_zUw#jXtgL_`5?W`a8*|vV#zo< zR)k&G?5}&ZzRD*$*l_$Sx6&Q$H+4DX)pzxNmU#DX1a+r~Q9;6b>sudMsKtfUCnNi_ zu-Omay#E9gw0v7NqT=QgZdnaTG5*fY=?Q_owKy6|cratR`67!xbtj_VHRsbU&eQ7n zG8XS;Y25opL()7!rrwDvFLzIJNOjIr5;7x$hQ*nWHOtSr7I0PGX+CJEtU|WGc(mAK z(r#rSqsllObB)!$C&jV6&r+MvnpjOS^D0SM>Uz%Qw>EaEv+gRQ7igB4FG-|4)z)+$ ze>h$!2dQTJXr%nGFyiy=u=ahGwjvpiPBD4*-t|ao_!S^mAS;;>*>K2GqRA`g`2&Ee2ZJ1LAwPR&%Dg zR|y}e^!i!CquoI*MAZk}+mj+9<|}E;u3r2?&fQ<;?}b*;1_EpheI)4-lFO-=*s}VM zsIh+d0g6&OMiYlBROgW(?X=KU(YQ*NQ-T!Z*=n@(S%J{%tU=|*B^tKnx7u+(-Zb{^ zw6-ZVGw#tp;r{d68d%5n8Mv@K6X5o#hvR#dU2>S#7=S)6F~R=zVam2=_J3+@mOOJJ zQLwPY42~t$>rq23VMg`BxU>V0xb>@>8IrPQPR(y$h0iQP>)37zZsbvahpevYW;tEy zP_Vr`bKZWUn#ze5J5*%Y?SISZH;lNLi^l_4)Wa1}|UgwP;gnXup%3{Dr;n zr1O%>vkncdl31}Zx|cJa5KBxy^@<4RsCvJ*du8<1Td4`#jqf>blY~-Z&1%qLYF^@y z>VmPb#uRTX93qYVe)0~^AwR4~;hUzp_cowkF!shmfnmw32u$Mu``r)h0UlOK8ULvd zx#a*1fjuaVPmtv%-{{DCDsX#?gX8=T6Fs(`8mo|T{QETjNq8?b&wgI( zN0A7(rX~dhVPloUWO0tB6{9_Tb}+5%0D!TZYl-uc@TI zn_3lbA9?hQ1)}ce54n26nr}1XKs=u@Lz1DMr2lR`vdYP$##%{C{iaQtA@!{HyC3&- z&ggY1Ql`Y+bH9g;;>sOmnlH=Srg0z1Yi+H}`$bD9qIX-8N{{lc8kR`0%dVoHA99Z| zG5BJJcO|&xJVPh&zw;aoS*Z%x^HlmN6rGC1XCjQA=}OiIQo?3d*K5KOd7vk^!xCDK zOP!)?`kl^}nIHlhUzH`f_n0r(J$Z!_99?)mU7!wT=V!Nbi7?Zx?q2=K{x*8KN_{*Z zmCPeyzXWWScW69WdzP|2kT~_A-aeFau<5mA#7aI}iWzEVfO9H(<*zWBeD1QkKYjXj zUERE&g)O$ZMOURDNq}ozGSeepgS=h$P>*@q*k!Zcwk)hYj!W6L(}~oDgO*P4;{59# z*nGupi*)E+x)k%v0;@#`3d8<_Yq+JJnhd1XFfNXtKgew^oK$#9w+{`q2>)=Nno6xK z6GPr`{x@?D?6w(a?t{3ZRJyQIg_*b4AXGB*)M?l^J_g3qQi3FW#Xv#=35PWgj%Zc8 zE!m{Y#j9x+TA7ggI@;~*Q!X@78QWQDgn0Mg9nDR|*S1czJUgrVx=u1EfSkN2yVzTr zYD`;^AP@*2ZKF*%;*%dt-vj$zryl`^%87k<6>RoV$)$CGO-;KyR;(9`if-* z>l&!VtioPxS(y~+2$Kl+!Iv}yW+uWx^xcyI+vyK9*x#bPQ58En9YdpXYt+MDv-J9P^qDq;;@@9N)25Q4fjuIw=PWXY;BTnXR#iy zli-$FwtF-EwdPn#=r+)0Fr9q=N(Sd6!95LcKiG(fvXtTtaxT$`!+$m)_Ly?xK-DST4UeeJy*1jC%a6K%hp zR8Hz~Nlzomev3Y(a`||B+Gaxs(hH+m^?mV@zAzEihsS*tzn%_b3}^oO?1#?^{iS;^ zdiEtaRj%jl}ofck8==L?kk?3*b#Ailz44zB-V)}-z+oUgK3GX z=`E?^;7QfV8=K{wt@@48El{KCi|4arrdmQZ%z9k(`n4+$;P>f zStB+!vr7547_7s5kd-<|@Gx=#@p_G3$)$hB8250AMm@H#&{pp@<(mm{8TQXt=MPXs8s zwsoy6bxvG@pf1$U#84@+l0RchD+sujpHE_il2HF$p&6>P(N?{JOXy^Y$k96x+{4Z! z8jZsirRYnjIkL%rE}G?{3K+CcDf{|drxj#3jwe>8C05#yY}Z|PH1xR#bC9w2yYS=N z@qXRhRe;Z^-aD0vR5g>>J|5AZ%KyXLH$^&?H1Vjk%Ld77uSk|kbLuq$OP9j%!liuw zyRyC%2^%9=w%z!4N31*Dv`P;(6diM@61gZ|eHBfG%W}Uc72Bi@3q}LsEb7yPl9!*J z+o;ZxBE@G(J;fery3kC|skJtQkBzM7Z|l;%C`6@G4NL0Qebyym47 zRlSNc`-L%tn=>LI%1}yx9p@I z_6x4ru^(|9@xDQr@BaJ2zO-xYRVq0G>~^8E$=ISN6XDY8>uvAvGqJUNtDm3VMc1oX zI!LjJ;`iD;Q}5H7uN4KOTQ!YcgV`?+-gExBh`*=TuH3Il@{TBAsJ)O;Sdj2repZN7 zG;X*CHzj}{sRhg~vmn@te3H-xyf8TID;?izpFNQy9+*gk2A#KJ3SZ1rxwg@mc+&>x zvQ|Wiw72c^I~*a6w9Tte=(r0Lku1Yqnbn5l8A2+_qw3^@9cCi4efR!0tYkARx^NR5 z0#5mp3=Im1_)Ceu{>vEK#Qg8e-DH*~Qr*nDg^3)wkiQzHUqrHb;4NqP@d4#u8vK$b zQ6KVuk51*T&)>TgD?{XDiM>`T$)Eo!ltdo??-3+Z!il$|6!_Z&XAk!+229`Sq`R#P zC^FBsBh|`sye&H3Sw(ELMgVR<4+wSGh6tdpQ0eI7@cDJ%_9sbcWL?H*9R?u+Xf`KDUdob>I0hQDH@}Dy$7(d7J7i4Ju*bd1wTeh$kPKdEeqT3 z{!K&;jX4SbKc2mN@UQLw^!QXR>^C;)6Z?OZp2{xn4t)ZZHc%n(cg%V;g>Mx5J9>U) zp3T_p!lu#sCj{@r_NCbXDf&i7AAr7bDZO&vw_6Zw^I%xAt`1;WF36lnLl)4RRjE)yyrxuSW{*MWcpqJWW19%Uc zDiyOPERE*@ z=@!_!K&jU+{ITB*$Y@+G(7rS?VaMPsPh{(^n$K3t5VzD>LU4Qi;Z6dgVyk)OJ8CIX zvpnc%);q(U^t2?m^Zg;{HsnW6h95gOvFVH)9ZoMANHPFzOJ>JQAuybV9Q%&YVR@7YX~8a7tc;C5lNr(gsP`EZQeK_|8-1e zHujhEd2X=q%1=JiRO4JEYLW1)Dqru)^RL2yLgsnhuvq!CY}c=2yqZLX9%vsi&GDLX z%u!tJld->bVF@t4w+RP75kZZ}{?vlJ?+;H`IL>&3gF)Zn2L_|3Ay|uK+d?1EMl&jK z7adX*1X_8@H6AR5p)PP7Jj4N3wjCLx^27;(X!uGD8U`tw^#NbdmG$?h$Ylf0x3(QM`j*p681JpR2%7-92Uc|ozF z-j4vS7&-RAj>wkAEeWjk!d|g>nmdu|hjU#(7H7RITiAu;U3oFYu&F%rpfb`ekdgSXss(Rx$v zdewoOPUZevEhT=xLM}^QSz#;(dagFTEufY`t1YQqifHF_*y_M9z`1ls+JLn3d5-54 z-xNmxh&5He0WXM3)z#n&<{40apHjve@!$o8C_>sD&@KXuB6~nfP-G^q1%c@ZbnOm{ zTLyj9Vnoh|1+Y?Z5bSe1nrG}XCWk~q3BO*8m&xvCa!ENF7e`rsG3d(!4I+&&zwt|x z=H6@;m9<~JqEz-r;v1!L|ZNvno%S4w6VlxgK8j%i-3r7-X_2Z4VxvnmY8-8-#y$IZ~=6Uy( z4E|ssb@0du$lPNEqDZ^R;w&N4c>k?#s>QVb|KMR&USMR z4T1BTgN{|v)FU6u;n6qGm|)N#(B~%jmC5eFUhc>kG0F%608%w;Bd4-$t5rtn^2nH) zuzAPQ6&RD4(|-M{MEh+PA;?*bVSBzL&}WuJC))Gw$`Z8zaIONzLukt!h{k^LH*GQ@ zv{+cc3X4?QzF>~xcBG7w#V;UQ5M*dP!gO^Z`ze^N9}`s`r_R<)f)Q7)L`n!(465%% zsOQsC&U(MbL8YC$om}NyGha;`N{8%4Y1&p4mgnq`zK5gFr{wX8W#+fs-pj6frck(@hoZ zEW!P!13$B76fBE{gVxY=L8PC?mJlFi?RpObPjE2Qai9hAsI3@(%oXqB43k93VyR?( ztQ(N1Rj~(c4Uge{5?i#mwjs3Zl`W9fch+jUlq;WP|#t3(? z=KgLNpg&tthhPr-s~;LC!-m_7^*LWoUAqPy|{Z9#>7ol$XXy z=Irtgd^LO#jjvvL$J+L46bXp*V*p@r~w!J*yArWTx1dgRglz;HhqKU#}VvBNGC_0EI$3usxO-^S#hg<-P zf=M3PooEz*yp#1=^u z(A;eiJd@i}0#*_PEjxi26i4ps8w}Q7pNLgA%zMqI-HWM?R|LJhRqOW-{S83hn;p&B z@YPH_FNWB4?^X>u#oO;Mre46j3hu-=0Et?9(shFevZG_xr3n9aAmLGEzbt#*m-Ef+ zi#l~aScbWmF^<^Qj*L^mXl3ra?4U(DJZ!mkaRE=%yt{D}C}BS>;;3dK@p)8%rIJ84 zF|bf%c2)`%IF)(6MjQ*82NhM;VYZ?rF$sUVH5ckwaIArnws-&`aGMV%gFg$AIe# z+7cX#?>IX-+P6SduJ&_Tns!dUgr3eg;kRT!`6bgfJsgpx#>!Ee$TMcn=vwy$_Hp3j zt(@aI!l!8jhI{p5{&Cx)Oam7$9v#r;k1Kw(-Q+$Z7o4#iWYhC2C0F{zMs*c|_8wqm%>6eTZXFcI9lmp)oT83bBqe}0_hJ*k zrN$09*5B9adjUFOZh9`cC4&T$=_)*m`Wzw-_kKzz= zlx#CINC*AvI>P0BdGmX1k~(jJ{%Odea<6^|NV+oYf5q_0A~8TXEG+dOsp#bGfSYma~R>7f6 zsyb$xL6y-tcLu%=z>`J;2p-*iPyJ4+*+wtX9*2mjwf&ZKWb8T{KQ~y=_(^JsyU6`_ z;I(-V$`kBVQ)ff!<>|`CndfUKiY$4Rwtu8SlkT9y=Zd-!lbIOqLD`%~YLi|6t*wEt z1Mugwfe*CpbwqVrpWh;s8FrMdXRhCPP%X47vkO}B%x88a+XdE(h$X=q#sP6vX7Bq* zlZ+{|s|n~{C{GAj<*Lj{c(pJKWSWCVav-6qW~Mh1C0(gWPE{?%CO}G~YLZh@SuJ1A z=e@PTiX+LPWnim?InWK0%IOB^+3Ud&I?c9 zC9R{~QZgvO?;bk;eFLca&9{1&*WQ5=v+f?JRy>2b$0+Buo&uZY*HvxId|BAvz(n|W zd<@~EyN{KWE>>noTQYyY!7DnlyLIoCmhAo2ikE{WF?K|a+2R1PH^ps4;W1%SnHQ;h zJ?g8zfpN3$2aeI`onBe2;8ewDoK~)aq!vW;W}isDY!zd3q6-ITF-Ie_-VatUxCUWe z1KvX|K&d~ndCyh=_mv|g7IBCc)(%AJ!Zu}^vJ!*$M!mfxN1Y7RZr=|^nyw`8o=JLs zf6{?O1+25?1YpJ1U;^hr2SaVgbW=DrcK8#0>E`jXU;7j723edA0uu!aCLUFRi?1F3 zL}Zm3*8g8Ty=7RG-S_@|6H2$V#L(R#jl>`g($XMO0!la1NOuZ~1JWVgU4nEB3?&Fs z0s_+Y?D6}1{x3alkK4Is_Ot<^%Z2#5@HeI;olQ}!9_cs48IH4!{=a84AW^%7)SMM{ z&v#xEBG#w%x#}k5Hoc?Vof>RsXkK|!Dk>!?Jj z-?#tbi1;(EU$985;|LH3n~y&wD@UhTPFAG&5lo>J2|5x3Jj z@9=d#ZLN?>yYFK?Qi{6Djd;6Cs&AM-bB~}N+$86=D)=y@OW-PFK7Q?i;v6KOqCm=!b(|zg9dj-Oot~+zs`OY|uhXLQ{E)`_Nl*B2sXj1UEXOv^ShO~AiZ5G570@|oo zCAej42f&5r3vG;l`bTj-ceRZof9?34=3s$>6jNr6?la5Muv_zl%s1!!=xdsER)UF> z*l`)Oa%Peozq>+5{M(;zFJC;_n+r^r-XiqFM$0dMUSgcwUnTnGgx(3VLHcVu4f@of zXNo6RJxGHtKAI7o3c@SRz^gSObqz{89S%MFS<9#`EW=nSKYv-L?fe!xPPHGQ?rPyY zRTj_7;x%GX!x9ZBBWD+DcVjQ+qXI5|U>>q{X??pK5+aLu_X(BNu0O{4@)zUjZ)~Rz zKhaL!UV6h$wnRxk3SD>I?EARqty6wN)oCt$_5pT$GC9M233V^fD?-WJ0_r~1X5Kae z7%B(KILmk{7M;tjm~Q-VJrr}eG~OcM@6V$_I^NCC0FvOZtGnX%={OyKv(+inU6N5# zIC}-Ajlb#~)zFRJlcJYbn5mc*o=Nc<`;tBPH`Sor(5mlVj%rc&SI0`9?w(4WE|(>* z74;!_#z&?N14B?-5d>Z;mu)=u-F6h;^!TO0D4^qVbx}7M1_z^IO^fB%wVT8I>-RMy zXWMNloY4~rZmZ`V$}s$!t$vB~rCLw)pE%UUU;9pcKmo+N?=PC7zgvQHY0&PF=jw8~ zE@ec?TDeb#>9blppcPQT6MfP0VCw=uU~3oFQs`KK1sSh~#S7LDQm8X27;@~%tq_;T zqU?TcVS5e_r;lxk2@dx@krEsDLw}F^6AsaMoDmNuay;eb%UXw`aUvF22IkOKdGBKC zJ$>EPX5S2=Z+@1eOzTm<#l^XA!S%aXWU$zmJ`gI(VA{TaIolotpffPJogOWqai{c!WVdd@IBH{6rwo5C*B9pNz?lp#c zl!)pz=l)8Sd%s`^L={7xl|qMO!yaotzzqeJ5g)O4g{el9t&wG|?B&9C9cw90Gierr z@n6#KTnE_9)8c%?sMa}Kmw*Rkau;zdXPZ@}Y&@Z>ZH8*KA_kR6)p@x3 zg)HTv&1kVW=4*sV?6=_fP+O*r!dy%J1$>%^=W{5!8aL)!@hqR;{%lQ`k$fQMh#Lk0 zoqmY4M%I@i*gJN5g_sPic6lkTka#TXr@iKC7ASjfzgYEob&$0d6ARB4yJ4xf>*{AM~A7TU9BuG$J z1s%~)VAeld@%cqEe;8|jtE!)~QWT1Om%vvM*0xClrtxF0zdfpqOLXRVxds7Ks?lq> zM{e_C2J=$1>bWHP%1Wrry?o~^G%-`6H!X${n zP5J3CX}}NZP|Klke|o`3WZ`+6i)b~^o>aQ(?{FAKBr{Yi5LO8QV$I%eRLT$i#HVk3 z*vC@DRJrSQiB1*jR&}$bhuEq;Fm*`@RoyXt!aeDWwFquMRxy%Qgf&;PdJ ze8=IE)+ARZfXV6oL-avyP9l79#(Vbm0`$H)N5~V7L3G`;q1hm}jRk$`AVP zbHHR3trcV+{CJVeK_dmnIL`B)z`V@$=xt3~9j?Y6s$VZDqC|g&>4R74DC9fpF7d0) z*G7=`sC`e1!WM$YJnt`H_*{M!Pt*-; z(7r_n^YuEc?cTH5z+zayI0Lw)ut8p)1eH1CC!EJj5U&o0hv*FL0!X_I9> zEd*WouLAXX_LoEh+cM)_*e4YDqf^^hAn24lQWg@46MRFr|JhSGtj!T4MB8bffqxVD zEi03Dt1<-@=u3KYJhD6uu7`Y8J`r+`wwRl8R00{7*Z61@-)EvaDX3k&<>2HZ0 z4aYjRD&dlog;MlkQjv~LN>oOtH+Ce)yS{S{<3^Dqac63G5sByiXu&yU=ifXGFV`9r z4KWY`N6MWIM#j$~o9HS+kPAO>HPbDp`z^Fe1k=aoOD+M$cRR>oLA(odSljXXCE|d! zspzTw74Mn)zO_v*^OOq8pu5p@XAYQ;%Bk%I8wvJQqukNCX!7>FggtwNI3(rYZ*Mx(TH*$6gK@t1LUNu!UZf)rZ7b*GMBKY8ol`vtG@K@-Nur{;6pdky&O4e^KF)BO2!c z|5Dbve|OlNb;5GndE1vna^RA86hECW(DMbBj-)Za-yOcAsa!HU#xr7Y`vl+4Jm_hi zCo6O%BBdqK)<{>AD&1g_su^2ng~ ztsyUSaaz0XzK}3U)2B^D9aB3mj;5qmN<3)+Hi5c8haS(Pj$rCD5c5=3&|o6i8Fc(A z?hUd3UU{88~NPTIKpF( zpO%iwVZPK;8v12RfB?=XIaXf3&)*`H+5e zw0mX~*A3^-L+L1DSprALK5g7~j=m>jJ5jdJ=HZ39l;z*2E$vmo0!(sw7TQTyneEjq z*eTJW^}1GAX1rB9nuRr5!9*RP9b7(c=HEV8<~lQNRdR|_@?ZN*%XV@+VI_aC9Vi(O z-(#*N=qaJV7h|xU>E-g6&8V_TsGDd?6oBUTL3g{P?cXP8bk+EZxB*v~4>>nBi^kGb zdib;Jar-iVVfc6a~2yCvH@$gN!X361%1FYQZ$iZs>KNxti9saJL?8i_@~ zcdmOX2|8`JsPt7@6snH*c^PT2j-}FvX?oy=7AUXLzsr^{JI;KN@8e(2C?l2Q5?oyx z!{Gy2HQdrQyCK@^#90wM|Ib75q!kO){x@w#B^CPCZcKZfjk)B(&pays!07lD+KOsg z?H|Xyhp_}=hwUhmw|7iWR4rcyHteL9s7ly)m1$)8C~rw*HcmHvG#RsHPI%H(-gg^y zLZUHW^Vn7~;pdc7IEAVl_ST15o%a%fE)QwQ7<|X2;0MjG_8G?Z=U&K+i~rfmYjtyJ z^IvHmeBv^7%VNr_4v+=RG?2evk{d$t5!EMcyiv~SmtfI<7Nw=uHwvlgsO1!W3`b~j z#A5*l#7h@5;B73@I5U<~+ZR9X!_JqLtZ{&kr1{3#O`Ea7dI5IH%}uN5>n`z>f5EH~ z7;Y7iU?CcPb6yFBP(!pyPMdt;K9+jcK1*6GAJh4fozv7Y~T-x_xf! zuq?c>QOARfCo¥Me`(<*~DT@im{?4S0y4fyt}WU1n+yl}Z~zszxok+~VF34eK@0 zO_Ly)FU;%AKCy2EkRW8&MfxhO%cp@f=6b?+G>ONjJF2jEX&@Eb2O%GDn5TUJ zAxLFDU>k#>)QNd;Z`?yS(ufe6t+0S9`BvgpD6~#g!M`@vS80Wl=0RomUFCQ)dT>=` zzL>wQ`0TLVa)7?+r`nxsFZ^4JK4|+RZxJ`C)CA<4V74w<@Ewjhh{k~#fhRO?rjJV= z5iSe)i_$al=ZF7g6B8IOpNJiI@l#Wyvk(mtGvfKSODh~HZf-xOD+{Rzp@>a9C!(~9 zjmG6_;J_Nhq6A>1>;ECD3u=FjYq6pLqyR2YtIx>T`gsI1}<1a8GtDM|5 zQZeY_wo-XQOvU2Yo^LbP-gwioG&7Ws<{7sQCq%1BLN@Z(pA*e-zh1)_dH%EID8zLP zv1v?z!pxSy(!BHXveJ^Qvn|@K&6tt=7}`5W4&?gwq!%9my^n>4s21vRb7bs3EX}#( zC!ThY)?af#sc$k_3bpOnM&P31$k#(sA3kp{xl1@^zNn1Dg|lL7r~=E)ZTZ2Q*!g(n zV|7TCbhM`?O@X#SXEjIZUexisy?5fz^N7T7DG|ILL6|xZ$xn$aS!qIn{!Wfa3@TVZ zKEa&QK^>@;HKL zpV)NGXICz-aPb;2@%-%bt5PNAwk95{f6)a}&#~K4da~?Z!D-{K4n%Lcd3UW=qD7_@ zJ14wvE|xi2(x<2cPyEGE*U$3O!Y3H=L=l0TIC+W-QIiyKl^l^}pE?u@TYG|4uT&Xv z{<^9f1-cRILspi4j;-ND0YR;Z86`7KQI6496VqkZ$KeF?E?i$iB3U#@kz_p5Fs#_O zAEQPhpEssws~O1*c1nl+5q%66BZD5pdeoXp5J@W6Q*CWLzySN>zUqtc*Tr@)mot-Q zmwjt$qDntovCTDlM1Ax`3qtT<+2hpjqIg$oXpQg~TkK=sui9Z&JQ~Sbm2#i>Xvt$l zB<0}V*0#EQ|8U69Os`$9amSk6&gSP2s3zDjLe2}5bd8{}USgO@zu2h|-T;Pk9qgFl z`MMaR-6Oqh4?`ygI?T)#QXBf%utY#97~d=KNOo!IlKRE%vd{!9;g^01SrbN$TDBA> z6dVw9rCdV1w^G#_o+LE#0O%**Ui20IOexC+`?AYRN3#mZq79XDs5(h7>FsvmSnKh= z?tF49UaIahKN-S2@Mn_NB7iKJU_j8mWKe1TTS|wCV_m|jBYL`})5jJOlQ>K(*n`s( zyVxtt@+*lzL9BVfVKDYQhPIN+t%#+EReprs5tHw0pF0&9tv_~#L~YXV!3Af+(*mo3 z!ccxQs=sk(;nRniL+0voN1a=9zXg^J`#8I6bSGg|Kk#Xl6p94KNbKHqAZo#l6a~lg zHZWvsk`hNP)g_Pdj)Gb1&j0*$RlaeO7S;NLAAI}>Z|})mxG>slJCUbi)?5V`dzU|q zO9q+WxI_~@Vxt>%qj>yKu+w&kwe^@B?soJP3;nq$P7Va4ooVZ9ULOV)uXaMI*rWCS zogE=ov>lY3B_StG(&l0PHg&qM&KHU9CViW*bAF;Z-vr;iyKyNN zeeB|&n>FY&k=TXd62UzsjU|o0R`2@q{H-XpCt~fM1>K^(BY-~81m6{@U9XZloIc%_ zru<64e0}Pt?pt4dXSUHcQdZT{>%ZZ)mPcpW@FXP;Js&c=Ox*DBXG(@x1@eRWqX{z@ zR_+60;(qIP>tcAeVoC`s=o#YTk>%Hc8Ma^R*i~us*SvO)*UAXhF^@H9+&c2rSD$`* zy~E_wxRN4S>GfhjfP=at^i<`U%`dS%njP`H+?-yE2mXA-a%R=EH@i~> z3gmk^N~H)tN|rQ+J4Go`4Ms5}c2Uu?l{v}&g?@%Ax?02^v z(yB9&^&)i&9Puo%&yq3tv4)r5_MG;E*cX5j$aIhEIQVjV65wC6sSt9 zMoe-XcKe(jvi!L-(S#|kuoEO{+)tIRqjBaaD1b ziNmeNOoXNW5XTdudMEf)-E+oALRa!RVx# z1jK}Ua=mEh>_4%r3JdrC=&d6@MuAx7spAIYK>aIT^BWSS0i0QwElT5SXMU75r&9@9 z)LTlSq6a{6_7eL?vW@p_bt%L~AFH=KK0M)<_W&Ezw9C)=;6E<$>1@ErqWof-IVVR; zWl|aMAiQ}d|$0|BLf1SpgEj=qae>K{eBItgQ|G9e*s|Ik}gtoq^A z!?D7JSTt5E$=SCRLi`m-Ib-iL%*(Fg=K=QOBV70|h2y~|OkzRGA_IC@rI+l>TSr9S zd>VnP<2)Zq80SltqfK8h1yl{ceo0H0tRC>UC%;!?`#2^aGaobvee{qErzmawWfu^q z4<{m&|Js)Dq$0!l1bxrf*sZR)gEay{I%EZnb&mWiyIatWG(=Y zL|6X+#HncxQRtsqC^}bB#dte4p~h;imGUTOi&Z&jzOcDNIqH4;w5$EM;C~OCM0TuI zH7EMChFCAaJT8C0jPcCU&RA*Xxbm#FdJt-HLgg3=B(}bMoZQ|B)IKS6t%8X@~IDKCO9Ylw3#@x$BcSz`a($wE7i+EJS_+LD~ z)*ls~Pt549*KMgRN^?|KHv4OI3d22)`91e2 zSJ1wsnv3wsNO7i+uxOJ51C2;?-6iY-#0}&;f5=kPL8%XMAqpas;_bl8*_rp?!7e12 zdPu7+`}$-oXfotdClrtI;{3|4{IVUey3)P(H4Nx9gmH{~1Nc1s93M)IEPNXN@?^a_ z*2owksT7c77ju98hAa4$)N^=CBXg{O>gn>Zf1BSf>mB4 z`Tv~!8t-pym_FI$oI8kYFzuW}F@qj)@(eF$`+K|nJgB_-*fm=^YQC^V|#5Mejn z^ef_teE%uj+`R8ifJ}6k-MhntHI@mo1xan+IuZr7*E%wfqGE7p;9}5vmIKG13R`x@ zuZ4N%ZFH}#7-jZ}-WFGYQJq7^?;7esOa}(doT`17Ugs>Kck2GTd?8tOF07}$_!8yt z(Q)F>o(^$-&oV?z{OAVD_4~RuSHwvgHsNb0dzczTAn>T^Fl5+K;y<*hG z74QsGY1Akw+BJ_9?k2GFQpTdJ#bejgH9PPI*Dr5Z-}*o;;9pxSwvPPI9w)uZwcheQ z6nTJWM|b#QtARQ_{*=bIQJ`0ST)IUKKsFx>}QDAxo6nx-SCi-|gCdM?ImM@CIt= zAj>*TACDGa(FTWe-m=R&zIU-Kka6txA0asUNKvl60fObmfn*CXv}y!B0}6WX_roe~ z9a_im5BrK5ipN0ZH0Pa*MP_2Z-+=LM*>o$@I^K%N+3H+xU!dD$^}TUN3$HaLKONyQ zV&c_{HXNrmjqqE=htX{oL)P!Ta$PYZqz{*#vBk;CwnhpOEr>9dCj?IDL5ZSVpfX@I z=V{ME(y})b?oTqprmC}eP>SBVe3289)xe+J)kQh})RvE-v}(_$=Y%2{G6ck#o&TuU zt8{S+1hZZtMdX{KYJ#J>?qdosdw{ipi{EeQ?cgZ@8SYiKR{r(G@-ME_E#Qdj09=E8 z7E~m6uwBYpD75|q;kjs}KS<)Lf5Lw7zP%J;RciPYm zH&QHfRZZ^Dn!MJ>qRd^G6iQA(?#Yu38~Jw~Na~zKjfme@sT(c9>@dkPPX3LKxdG>B zN3tuVK&kHI!E)Fe#%!!n7J2rKS$WnEZ{!w6LKJgi!o6mpphHv~+M;m1tZwOegu95RaXtHqRWsRF28#291;APOe zW7+Vqa;M!Dmn}LBrMs~ps@NS1{&Ck=?`CO%_|~1q z_kB^AK0I8$j-#Ivfl`@3IuW}qpRe6)4oG}PmDR)A5^NKs&e#~5Xm$V7{sF4L@eDKR z&WdMVIzuNO)3q-*jR0{ZI^koq#<)p8*_)lC8xNUg7XK;TCf@=;%g6XuhUt40Nf+qt zLnd`2vO35V95Lthtf?Bx!3(SSym9RIr<>a24*owc#=n z2T(2cAUM!>)Gs4OIV+n!Zw%EohvjcY$>y$0nJ@5B8QDe+9(pIo;R32a!E37 z7iOweB1Wt%CYq9s4W(lFZ|QLh6K#W8-^sJusn#z;KW}>EI?Ls?mV4d;Rn|TbhQ~tf z?qM{n8})?<{kzM`bBWbA>w@mXvOfaXTadvhThCS}q+=62@Fv4l`RIHrfzgIw&auZA zFywe`e8HQfzIM5Tf1iP|l0uX-6qL(FL*U^dnksCMTXriOCYef^%T>1Iy;Yav)%|W^ zHCps%8U)a~#8DRqnf^>WSPNYYarSwXd37y^6&tWwdwW#_{ziNku4mc0Va;ycv__8F zP#IH>z6M=tUI%^;py(RLA3;*go#=Ewp=c%Q;W||cmtO)QlTCmgs`BTW^8g|)4tqB! zlu^9NvHYuDQ6Bvpgd);k3v30P5^~l%5dJAO9Iiw{tGrL^;uD}3BF7#g@(E8aupj_A z3B}x*S(yvfb|fLG&rx{tb!L=~20^i}HGMIoKIDjlbi8DI%XSL$j-PbZH?XSD(hnNR z`O@hl3gM+uU_(KuId*v&UsJoyWlJ9)$C)>|*`Mq!$kGj)Vzp+Qq~iv{>`P}C(! z=9XT7SAVv4^l*6)xMGx2hf&J~4qSfuQcDwVT{i*IiX1H$d&I2n-05asazT9l8X;## zuk$rStPp|B&71m*^%Ktyo6~2leBb#RdVqDvu!OhwN&-QzhIw%zeU&5HQ-#Q0BtozV zSqWiYBFzAb=={?5)_cKvvyv!I0yrEom13`)*1sPjZ0}C{^uPi%YqgoBfYz}bQR5NP zusT5|hYDd?`s1JQDsh^@f4zFI*TV~i>^6y>8>O#!d#OVR&aFH|TziV=)ayiuWXOpa zCEc~Dk+4|)XyV0kKobaXL42aw;9XPu4Ses}k(|*<eaQ+Nyo8m_rZ~MMqiutX@G&&bD#}gHRd{BH+ava zOp{WQO2DA_V720y29IqVXuM2L^9lA>FUw3RUQrlZE;<>op9bmt7f&`*wZvCv-a!OS z`ofk=3=K_${~|7SqBj3(NHS*fyN=rAO_QGC+83S|x6mJy->jvaLGndR=o9A5oRP(0 zl3WS5U0KOt&VA#6fO88V!sXnW3pW7=c&BoehQX~-ms78TuAI3UOnoR+*3*2TrrU6H zRGv>vck7w4IV($}>)u-Bx(_A#sIf(C`OlpEv{=6CVLx)PB90@-l2(V0z?hy-T!lC2 z^c{+Jb}IafYE@^uF=TyLbLga`$i=SfRg1j>Oz~H?&~h0Is1?qw=LehT;yICW6;bJtJGpost36q4hRiGas zjF>DwXk7KpJzRKM@A)><@^#oColNVrkN>ygoNa^xwS4uZ#>|dBS{B0Boh?kV8{DDM z&ff>eI@_hxi!FPaWp(>{$%(oF|n))$E+wP5d((ubnso*ZEyC^ zUx8nb9TIxq6fHB!N|{qvLLPI!A_6|VS--j{cSohmbjJiN6(6geEyAO1mJQ3WWnt(E z#!tlBa<-SOAD=*rOz&f~+#3DErA*mUr!ANZ3eF|N;b@s#2UdkPEf_f&3Xe1G0*t|M zxNQ-97pA$C+Ae=IX_z;Dn?`qXw!3#Q;g>E$l`8J-3j9ZR8`2h}F$p2e&mq+}g*{}M zxQm`um=VcMbQGR8cy`pzr{5!5F>kkDUtm6ZL*nWGPMYJvq8L@=m;1uu1f00G7`H-G zrJ|MKwK16BMyRvAqJ^!Lyr(*jtiW6TzLLkK^8qeSpRMY;IqDG(BYFfxJj~{e|#OIC4i=J!kx8Tb!*JnV~7L{ci){Hia+?G3vBND(G&t&enJMBQB|TM)3rrgqIa;S)#@h|G#-h5o zEXjtRF>Dq)&R3(gD~-#Xs6^aO*cAzti*8xB2TQ((v}3kMZ-U5t#%a@RNY>2{mzt-R zL?nzi56l9LtV~$BVIG(glxC@K$)wW>yKj=d@(Gooyh1@(#cWEf#-_0%!mT1EX*w=P zQ_2d{vpX?|zy8-f&_k{71Iy6~^))ndE<3O14lIjd34$*Y?W6V@7)N>5^7`-H=I#ZK z*~_6jXf`eXg=4wV+3(MFJP4DP5AiHtF!NMZqIW(|R0`g5RS(+FZCak*_RM(~Zo7R} zN$9h{;(FbCYfmvgX4~26rBwE;tfAws&0|Bcu|@K@X5YvJzHi!W(D)?x@Vr4X`CeQW zJP<3&v3fQ_u9oYGLFD`NB$v@uRw}U8i^o?D}c!?>&Vf@zhL^R1RJecA;_3@KmjkX!(^W5C3oTseGI7tfNZ)PGx4)z$ww zCtNs7fCm5r=h`YU4uHv6H^3XFJB8dhk^E6Xm7MS1o~P*M1Og#NyPBTV(Pi8pFYy~lndKu05I4G zZj?w@sR0IEoA%qE0$Fb5R^+3Z^v?Z74PvT*eBJvL7?ra=%~V8x&G};(o@tw9?lwAG z3fQ@|SAUBV%FCmsSl9${gS>xb;gkV@Vy6SJ(y@;$3d4J79W(35RkdH(ws+L10m%0o zB*C49ULUo3h6!S|Z|-dS6Xk9$eZ|=7y@4)ZOqviS0G2CrKh+WopP*W+1?n+~%+#WB z`~GV7g(LTz4{J=i4d!C{A+;k#yMQuWMYDrWdK`2h0nl53o5B-PRkQaiWy||k^uEd< zezY?Z^{78tkL9+mko#Z}*J-QgEou9c%L55fWhe>Dc0a%}ozb|IvHiKNH{*9KQGfX> z^QX-$tzTP9%a0J#GHT~1)oSshe1F%_=)A3wj%I_L*EO$&0f3jxiBc@$bsUe8&2e@-(Rp z4nJ|S{175d$$b(3It&^%|HiuQeR-GfNO@O>Q%>bP?&!lOp!=LSC}Q`uM6GduZV=7? zW}j)7`URlSxJWLw{`9iy9taHQ0hATz%QN1th|p z;S9Ko790S(J@a=P6D7O5#(PAIv25dHA&A&HqFHc~Seky#kqLgRCADXeajQF|A^J7z zl8HRLy`tCx$6}o&tj${8@Fk$p=K+7EDA(3PR(kjVV#%Yg_PfAHs&~siRR&Y<15qj( zZPb^*BFST%0Ny9>-#ou1h$)=FGKk0l4KSy#qw8ZTV+jp$)Xq)$zQ6!%#B~lxe6N9x zcy^ex$|RkxR`m<>H)P0S+fdIpn`c+cGRjb5nh7K(I*Nc%(K_Hk5_o_nr|`s8V3_bj z=0)Jrfd+t(ViV9)=Fu;#8{(B;5h72y)%mCoa z%~YLIWP$;_6Z``>a|!0i#KjA~Ne{_#hGZs26f_M?pMiYP{a$+oYEYGgAZNiR(iP#7 zG9CwfUQ2J4#*>r{EhFmNXbI&4?=H7^(>&2zhhC6|#>6{ShJu8~&o4mQk4lSF!qzgf zh2ZQgwjfN2m+379u>7gV$fZ*h#rcR#p|Q8t!^GFfA!RLgt+Zd?sS=5}Ne$My`I{{2k*0_*w1`EYruith?ry!v?PuKgK>`*$n^Vy|}nChkQDAOCSt9xXo+fuJ{0!S_OF4 zaRw)}0?ak@m6t-8J|rfh^A@2DrLC7$$XlolNmfhZp~ymgyvI)iBbzhu-7uQ5{ia^5DM3pW4v6b}98?%;p_FVTdO7TTv22>K1mz9P{KJ$w1hu`kV++^5xN zk%lQ`NHHJ}HtBE4OCrsiF{d9Aw+^3BK&ps8x{ZmI)sBgmxl?@B0h0;m_~|F;)NwD{Ho`gJB_l$d?>>YohH zE1p=_KPGwJZ%s<@c{zO@%_y)Y9=}^#iAIk_#;C{-c-pv*oPmk2f3vtl)hRjlk$5#k zQX1qXBOm0YN_CQjzb4$w&*@)C$(p5Mcw3q=IPGF~k^QXkq;F!t2o@dGLi)1nMH4`` zo>!v30o@XV9Oo8$$8ATkZz308??LV{cP_T{iHQ>z-C3nqdzt%VD^$)haU6*x8Nv@P zdW1O&lv0G{#`hrorT8YDi7^h}4Kra0mqYmrzLUPcCP+nA{(t{IIJg)!my6&~8xWcy zrY{+D$i9XAHJ8BAIqu++Tv~YA5)OK^w~CyjOy3lKBE1n+fB1&M=q}X_*^mv?JoFj& z`@b*lCv<2rH#sIwc(FAc>0#n}ki|rj1xt`_G4OVGb5l)zY4I53b+oTeg8+!Ne_<@W z@-1^r-_U=8x8#tNmc;^WGni$ulG?#Sp+ASY_7-f3|N9pCh##+}jG}_M zT0{zRveykVZzX)gBMS|{3*f2`yuK@kJ0(SV{}NgRB#{$4tO%!#{Xtpp^3J;}o2oD- z<%bE(;mG&sn0r)cTCG_V@{B?NIfw)OgqC3HGH zve`fH{=JSM7l|OgM;fel0Ta6%;1|qKE9uOYvOgFQOcCuZ_SW74`oe0=SQ!TAuPF1Y z+{K2ts<1Y(AVRH|ITE%#)ETM`c>hQ_jN= zL*^^_ZX_v{f{c`tS@1QA8<~YPJu?5zt~GcxG$Kx=eQ4v5=f&{JWI-bM!qC1j?f;S( zzz<0An}B%EJBA%>dAOqBQuh&<7?C+CWjswkLh=|>tPN(6E>MLLUMoJf_26LoD^bTaio~J# zR3g(vMHr61EYY75V+78JLnulj4w(6tiH5fjg#21IJ%X z)b%gXPNTcL=Yh9-<{9`XL~bB~Duc$BrZ$xGs0ravM(W6K7;z3LC=O=}wpBcU@xNlR znE>|sa>)c5d#vxsV2$?9y~OXJFJ0)GU_Dm@SGK$*H|GjhE+FXvW;AP}&v!0D>zwA7 zD*x=r5aSVa5$*|qAvZ_nQ>T5BpX}qQpBi)!Dx_eB%xx-5DoObxEzw)ct|Q$4GG?ao zcLr8LH||&i%s+lP0Mm8l0mx8ErbFh6`<_gRf49_bd|7<1(^zc|(omRX-2cla8EGp5 zcZtGSdZy(hnd6TaTKGA+;2QA|8ql9@;tO)Mk}SaZrIL#42pt!)ROfyV($$Lf4K2eN zx^Btj^3vL{GRU?n+s_dF{e}3P;;Q#xHnQxt@gQ674(XC2`2zgDBj2ECvhH7{so5tM zFr%*GL|2+N;5mStA>jJd9ZsnNLB`8>Y(0|zUE`0}OI!akgWNN-88MHi`c!F3KtHPZ zu>=TUS5abtzHCd_Z(Qv_yy?X&L-tXTNB{6!3NilA$Qd8*e7o)E&%Zx_)jq2Vvc8DN z!0qwvN890e4cMWw5m@Vi8J1M&K4oKn0z~)bjv{PzKN20q;viu%eu3Z?PASduA@P2V zAjr@}yD7%q(ax|@-D2v`IrGL*3%tFuX-0_i2spu+h3U+<3KHW}wR3?v4y^N*}X|uqWT(7nSh% z>Aj+U4MHs{Uu9ZG9OJ#k6I%aw-;0e(Tm=`D((%BvT3&20&$$#LKMoTP@;=~P{&Bqa z*dCy@kJs;sbP-D~P4(3UqO3OfxLz8Z3YpUAjS!$+_n19Xz*lm379;=XBNUjlFI z=YmGsixs7<&oU6+(Iwk6fQ*s;IL+3JOhoPL5JQ7fS!slg>i+_BM%M(u0;tFa9_~_P zB*bPTGTEU?1z^`@ID=RN7+p4*iR8S6x2R+FQn^X;kl{xL;F#B_??SEB1Ab(~A~U0k z=}SLTk6t{NQotR7m0ll6u=EOHf(7e+8cfjkRs80Uy7=ij_U!RU=jZ9}yn68;?`~Dw zmqmO6%3T4OgA^^=x&>FI_4^JN`EZ(<^_&V;O@am?xBAXn0!F$$cv{EmF14fjvj|6CZIHe&Hk;Am?yqEFx_o&m zMG2(`VPhHkNRAZI*$7YTvs0vhJT@=x^f0wsq4mc#f8)2MykIIT6c_OP=_U->nFj+IfPi2XESe-3CQ0|~^K(8|S%n~EOwss^ zelQ@blF)&qoki8HSD&I%glEGR!R@02oy19_QpoCG)w^LH zt?%_b+^M3B(#w&E0nDJl;!_LCL6B89+ujQYk5x3MWY$9P= zry`6@RT-&ueXvI2;w&rM#OZZBQ0q0)SwM3lo+@Fbpj0nr=~r%nS|-M;$|Gj(F)pR# z9$y#p4VRG)X-z1_;hC?`cIjA%$)qbgV2hQ+W$nm?xBU`sKk@!oNFhfJF#l{u_p%R4 zp^4<=a6BvNo3cH_vq^0JwJ-dSk&by3253(Y4Pjk+jnGqgwD^=#TSGlEY5|NcBh+$gdh_=kO_3HUpsnMQ&WCm_~-;tdf{B23PMH&p2tQd z+{|G5^o(+Fr`wlDb{mpl*_KTi*5+!8b!$8$Zj0aH3j2=^cv>J5I|V7jZ0~I2^=J*L zHq(9vW{`1CKQmv{;^};Qz}c|OnkqlE$lQ=+j(#OeQJ#4IdeqMc-&<)NGFR2K9=$>n zC{;BuAyMLj`Eb0Pq?a!5TIp7FeA}m)(t}e+d6hyv2Fvf4WM3;4j`w{>Mq&DkPget? zD|46e(`m2D!@zHqtuc7_1DUh(;WcB^*LS|(A467SU5ZBOQ^9kXfHS{w7)yJ&u@!GG zpTrk3hm7uW4aD^6I5+tZ5t8=iA=;!fyTVax9%el@uIlZm=<1T&98=OL-Ach+w?#N9 z=eKQlp-CV5W25=KO!Ka*@5|ktQ~ebRN^;`vPYesW_vS=WRp*iMQJdm0vh=sHTaFJ? zJTOAq8YS~5$QxID9bK|>o?>v*uNVctcNyQgyir~9yLWOHWkK_c2Qh}F02f5)x?+4) ztU-Ck_lJg%dF3PiwqbYab5K{h6#ZV%t~KR*MbX~w1E-kq-=D2oA? zVrVkxJ#bNSeJyWrvdcUKU5^!&T$xtk-rnU65VN9x6yuEJ6w)kX7*Yjp!|PMs9-&p> z#X#+Oz61s>*S_(%xXyI`tBdLKFAF=srala)Kuv7ls8N>+G{`(iT+nD9k2^4yIUBN? z(;BBK1zrXTR$axw;@d<^Cq!zrlvww7%c`8)4VLv-=-Zkxe8ysUJDLg%7#AWm;K=Yx z1zVDH;YqJgjJV%6-h|gCCnoXs^u4k_)lQgo}mfC<7AovTS^` zJPr+IY5IzP7$3Qqmwg0br??p4QVXzv0o%G?2S`}YH0|Oa#X*~_0Tm#b#?nI{G{}=c zgB;^Pi`>lac(2Xo_I?sqegxb}RvqIShhL}-BLiC52jUWK^MAgwTsLmCu+?rYU`eqX zfxV(AIE>Pb6)Ob&n$IGu|2v-R13SiCAv%S_AP;b8nP0$!HXf<_DM!AN(<-KnGd|1Vm&yBaxf6`y-! zJzI&q0vPlyHjQg6B0t4H(&1k#hnnBaWy`6EqD>!B=!3iv!dtZ;!gKI7Ly5mv> z=8VcN%9AsBN#_0rSylXtH-sX8cJ=4AlvBv77qX6tGi&V}h^FMC8%tOVAkj0zv{ss6 z@1{CUhu1;_q$K}N$ZxJhXfMtQW<0FKKxTxMA0c=f=A)ZHH%O;s>W70F`IfFiI|u8gy(qTXFmG=?Xaftivoisz?gCYxm$8#wVXfg zPDg0iHzM`KHRAU!g1EFka1^7TnV^^;XESx3WRx&K7IomYpE|_1In-w zaq>{V?|bfu-egNmjyIv4N6&j$v<6YL{$g2pku{E>7-@|(d?`F4NYu7 zt{)^m(AWvw7iN(awrj^KvKLbmSiP)eIxen0PYd!DXCDJXXR*^hm?EzGfQC>&6199z zBC>uONjyYiw1^GABil~oC|u+2at|3d_T#DEVj&B<)AYu+!gCk&uOOZ1j>imtGz0jtipM= zP|4y13vYdUGoS`kDJlq*#_72B2X_kq3`7r$75L%D{IYFzQh-_(O(s9kLHpCS)%~j73E~1$(!*UW? z*O!ZSLV;@m%jDeIiuea$8ouBv0(Knrf>1-39;yD5K(H(h#RRaN`H)d{r^vc!>)Cx+ z;(7ey6Y#!`yd3$}zA+8T0i$IAVk;y$1x=5?Hv->IqZL1%KCw{D0e!iV?2BWgBGx8Q z-;5-Cp$8mWH8Jh{7p~`u>_e`OKl`5&kA5Sriz?0+M0%MGx19~%fj58&mIm(hpe1WX zv^QD}nrU&xiMDwE!da1>U;|lX*plKCuakua*l!CkE(R^NF$d5vXYVQLP`r~3Z+kct z!NG#6!3l9mm3t8nk{s7zW9IIkXfj!V)hYAM&N&5Tu-AH4IYamAGTZxe5*|7en=??> zu0JG=3i|&#JM(ZT`?rnvs7RC~BuNNmZA11F389i*h7@HRJA+8c5?K zvu{OVOj*lrER&hW*uB^7`Mt;Sd;fj=Psbdy-1qms@9%Y9=k+;3X*hlFF4Ipa^%qvN z#8e8x1kjMmpu2y^DL_V9_kVpN+t7kVC5jsbP~NS<|oqb z#%KL45d~W=+V7g+ieEkIKcja5z(=(N3ewJvYVjRQHDZh_i~Wu)FvK#)A%nNRxVv7# z0#tg|^uvTE=B3Kz0S9jW`O1eV>*t)gAk;aV1S=I`0KFE^d6ku%q1&b-t?KoNYh(1> zbW4XsuUgwP6OpIPwrWE)lfrUu>TfUt_1>3U-{YJX^rZaPepPy`gU0`S9)cn#6eNN@a}Q_UhX684m@pZd-Q``HS^BZUCaU-8qPmtddw2E()z1qTqNnG3XK#>rd4De5DZr~%g+8t#UAg>z- zHt*MsWOiD(j6A3xTo11HY?H3})AO;m(#mNGeo+jQxFpId|DuHvgR^YHY1VTlp+3|3 z@5Xy9?q=}#sod9Gt=D^5@#9tKdcxp^dE49{^H)a6M&_f~?#*nSy+}HH{rc|E0DbT&y9C9iR>}yI_9PfJ9PUq<%k;~Zb$BXV7 zF7D5YTwhf`ggbVkQNFZD+{cjOu7O|60G5?%ScDv2l6-L>*l54g`q5Ljzt0j{^hc`f z9^U(6hn<;G4_1ugbBMo?e}PgJRZ7AW!wT>h9M8M>ch+(WsszV;6XLMRrnTJKSy|Ac z%Kw50_U#+Lcw~+;GgdK}BJ0b_s8{H=`7`9|<%3>F6Q0}!!MTG`@25?d+mP&; z_{qVJvrT?3U#~D3B1$|{-;4|0I>;6?mTRNIxHaDY5S`y`8ETS9*EMOu&$|eJbWI>Q z>>*zljo8J1x`UxSajJ4PsJ*hs`ot4%a&O@MoM zWhaAxn0nfuP-+uOUryW$bsdH3wFUl9ZK9lvDQztHf0M%G1eSe@=1L z=2L1xr6byELpc=+y12byQQH7uc$xhd8SVvLn+tgrW8&C#vMRu6k(gdHt01k^*Tvl< zt{*Ex#5aH-%=wq}0oZ!G)2c@A_W4?t|4!ewFo2-oR&P?hXRcG3=?5y#a=>@w`tz+| zrOqn6&d_N|@K5PiOLKhZv41Uz%}E+>9F~&!{gk>ek>aNb`a{}L2r|Arh1NUm!P3v3 zZp5)vQBX2md_v@@5ADQ2S`AN+psI>M<~?-KcT%lXW*(P%7%*`;l#N-_K5$Y%-H0dD zGokxt9ji0n2CU60Y>yTSEkIkpF!lgiaeAtGzIWu@%euYJ zV%^H#rnH%V$aw&5EH~CymYID+^2(h4M<@a7&C*?SL*peR^HGJYwGq0Wcp!1uZYU6;ND~Y2Q<-+_jrao=aB|S1N=mzykB3uuCsaEwZ&bt76B<3>8oJ$T(>`@E53o0jCG;%qvDt| zszbIJpFLOU0iF{{&^llIO|=p32!57fRK(x&v$T20VJT0(zlBa-abpyD03@y&vQueeie48K-ak ziLFsfyySJ@*LE%a$92b71^Bw>aNnP?AAL;x0READd)N@vAK5cED>1FEcj;|@Q@vZ@+U%gNZ4FV&)aIpz&cMoiRkWQYx<;5$ zS^Fj%aE5QYMwf{7gIRufV3qfJAvsj$m(y*zH}NHKt+xp79MCD3EWum}xVPr79ezUl zs;kT>sYnagsTHsR&3=Q@HbHmJE4qEf9dZSa zsIj6kLc>t<`mxuF=dZl5Bpwf(JN;RP*qIAqzJKp?Y-JuD-I!`P+=?r&%}S92TKFBJ zWtBI16R5BA_V`IIiD@!8V4Eq!z&-B`E*Vd=K?vp^QGj8h69rr?GwV+1DLk5^@Uqu| zq5HLs1$rtyu&n3IZ#wIR8^$#tioE`|dwOd^)NWZN;-GdDZGb4H_~T*Y<)>Y}`hmV) zv?y=KLCpIk#`}-aEK~PSi$mYe^1-9QS|dD?zo8F$CGkyiVc!@1;oDxcEcR4ml-k$P zkn5oxbpyUMks0POobiT8VWl_fU78W`#nlv=&lu0z{#bseI*m7PrxQf5q&J5o^2>ZO z-z6bjzyay{-_5Til7iDlic( zZ(DqiZ`8fpm~I(JA4W^M?@C!uqt6>GqWc7{3BqL+u2(5F|9TYL+13C#J=)177Vcjx zQ^_-=!`qMyW2m5{z8R`=pJ}fBd397nsA_c}`S`Pn?aK|sx`5j}IIB%=;%i2~Yu|&+ zliXg(ar@)T>^c0N?)up$}^=i%2T@VediOQ@`&;uYWqOD>FDuSQ!rq zoP`$L6bZ3SV6Ji0H$AYyO*NTUl?*&6bf_Z2jG0;`obLEd*QAx&1s2ip^JcQhQuwGW0x_OB1pX_w6W#PS( z+j!r8Og#m9vOZRx6S2u$1cXn90n8Z z`vnW2*-`{)5V7d!DA?AO)Zc5eql=lcMA(;-SD1s<#xHauO6bx8i zkBh9l5Fgu|lGC4kyttcf=x^!)i*rdaqre{58FJmSYS5MAGwG?Hyl!D|Yy|Et-eWp& zuHGP`J+2BzJrG^K)FM|~w9kRzNO0D*p%-Th{bm|iq=z0^)FSQqef3Ck`TSdZ&jWn> z)QDodWuz7$zAub16q0M#6RZfk#YN@|8xPjBT5v;OW$K_+cCWAIB$6wx7}p{*c4!Pu zcTstld&>-}Ro_4?lj1j(t(9@*qUC4;PgtPyeyygh>Ua-Ghot$o_~oZHgm z$GcJ|`ki}*BPJ?wF`^klcfDTH^oE6^mfS@gnYS=gN!iuCE4UN;9;>CPmhjn?!(6c7 zjL@M8S+2Kmvi-cBo_l9m_|%FZ)`p}Bk<>z}6v`ZHw#UCfGH6z5d*DZ`Dvt6~o|#&? zHxQ&!DS9#0g=5J~pwT7ZJZ99+wz!-OyC^wUamErbzs9 zT^x^2HymiA^LQjsHphoG}m_114IT^@S(E(mZFc=CRWsQF0dtj|kbzSkK##9&UrbaBSVi#&r)WO6U(U53muL!r#dyMXF1#^_m`!k_Qp14`t*l2<`*lH%m1jkpj zM4br9jP>_Xsk`f3pDlSqYNz5^1Kt~64^E#uQ|ZLq?tCQ`9L?u%CAp}j@rGLaCCpY5 zIENmERm=YRkr-1h#w5_OrgwRL+dyBLK%JXlO^g`@*F@)(s8j85Q(m=5jO1qMH?fI& zCZiEQ?~@bZ4sjW0WXQ_bi^mVS?G%9rUkJC+<^%s%`f!y=P!+7qY&`3)d zBi_Vk%QjKs6gt4xk(dh-Vs_*oo>=z+=Xx@SHE|xcr?S`7+o-~#C2y^XcfC`m)Y5#W zi}n1Ggp}qC#TZ;Ae2I{CX6^of?urdcCpT(a7Jv`iFg_^Gb-$s)SvjAIq@qmJYeMBh zp+7uA>FJtI6+d*2KlQNM$nEDwm(P)`l9%6TLI~kDbVkgEUY_vz8AS2swQzDAmx{jJ z<}TXvP3Tw`v}P!^APVdpB{$J+Z^4+8!>|L780%V)wEKczN?^BaKwVD8XQf_Os+@wnzdcs2tFC;MW4*5SAE;xw7SOcByx>Kw{5bNQA!0LJ)Y-79n3^3QW4CGPJ>2Z4 zQGQZ4LQ27#eQpczsT?yF!3}HR{VDdSO-hUp40mgdQt_n<{xk)402yMD97}iuj;~G zWhAlMK_!~grom7ocmsC)h9bOkN0J&(T2i^*VtZjESF5yx_1iYmW<&`Tq)1lIWYkD$ zI2G>dQ2j?HhXwN}L00HMPduzgp8W!7o@OM4iUi?11+b$}vR|F#o_}4xsz~-MvIi<% z{>b{sV=RQE^i<9^z?6Y6d(EJersD~VsG|Gp<`wIUTK)DxSncC-OEOVl1UgsKx)5@# zbzzT=mHGDL$#`xt`s%!0bZ(S_eXrZ1aN@j?x>7kmA7iW6;FpwGEtN&6tDKW0D%VI6 zcf|94zpy9XCC>D5hu(n_@v%JJ2|ZZpzK}^9hTx@4aIhJRPygtf%`5hr(GB%+RB0Z5 zxH^ftC0pv-$ZL7mX!)CU7XJabW#9Lb>5CUnGI6YrNOYC0@j z_@~&b__$279F|_MfgXd^01vbpOWLlRZd0w8v(A!Yj zvi|j5VFsInzkvtDa8BF&Aifb-HDV*_w23PQkUL9T_N(SCe-ps5VCXg<66+Ess(&)5 zbifji1I>kfpGCv#_$0DYIhT0p#qQz}g}K$@Zp%LL-=cV|#T|wSOp18dr4w9_gEW+) zXP@=aaU$QsmA=MJP@#?RDKG)>(eTZ>98v$LKxk{pKQt z@*%e1^F7n-I8n#BGdtHPl&k(dH|u1(!l!do>3tzV0MIJW5kl|zLdV68SSZMXhE#n4 zP>^3mdW3?rO4}bEqR74zP#SC!Ha>c9?F+ihaBTwe$6ZY}PxZ4GFo`!DqKh~Ycwnwu zWm4fzY~slgX7g6?bSIvljSFLpP%RoMyT|4#(QUGpe1k=R|Fkrv1MOL!Q5nOQC);=+ z)I91BoC1+%)3G>|vh_%?!|PGgVVhGBy1bj{R~Miopjr(>*WG7*8>|rCjn;WJ6^en- zgwx?h{(&Oju=c3UB?#H7+b83ETtfa=tJFb#{#i2quGKg=E@QMbqT zv1bZI3x|LDVi)n%;z72w<9XqNiP9)ec6%o;BX2d6feAFLhK{s&NmMYiZCbaCdIfc% z_Q%vfZ+Z+0ne5l7S-{+TmId9J%^DUCZ__#(t!`NXX({sS9NA+qM_T-SRW&_Oh)aag z&!{5AJlZ=~Vh_+iF+$7D3pH6W{3-~WCkDw~y#G5=UO@j64*J^!-#MI|sSgqq*fqB-r(9A}G>V{pHdn zpQbu7?SH40^YJ#7zkG>ZyjrU;INN`skzXzCdRc57h5>Q+vKQp7QQqp~qpl#5e;qz> zkczmnCm+MnFMJg5KcT>(G6$2Y3al2%6E-mOYJ|aBxkyq1=Kr$7XpuwWQyp|`Y`%kt zZSEtazOymaH)oHyoNH@fH7^PzLY?W%+Qo{4p+0X9g*$Z{vW@XdP*UR4T|~Yz zTP+p3a4aZj3QW~+hRk>`A_*vb@C<%%&_^*K9Q$fL# zDqopnMd&s^^g}}bD~S^EoP2wZXGC&Oe7Ce;7438{kgQ3_lXMlDFkQe07BYCVTw`dV zm^Dg#a_T0q?oO44cuW9R{Tq)7d6tMx-jHxR=GdxpP{9T77e)JnMwTtU#5kX5_qoQS zFQB@m_Mgnkd>K&N&ivPE*-6X1vC~`puf)jzUs@*8f%lwwS1`L#aQBey(PZlgNuyj9 z=w*9vrNh&X^)>Pdk!PTRS70Bl+)w)7mpwa>Kz7eYHe3_U|9+n(=o1y2fw+T(HhOLs zY9ZrnLSL@4t&gKN)4GRXWi|w=D<3J9qd(gJ~mP$HF_F zzn*h@ZRx??iBV@Kll1sbzNmfxC5`}f>dj${-C9R<^G-l0q$-vXfXZPsr3_#H)PI6c zU%^N(YDdtQteR&afN?ykE7q(2jkQOJ-y+5Ve83Tgh)G%@5Ek7jgPoPqBGI$~gO9hJ zsupqy`T=gX)7PsWem?8_l(zjc&#DsS u@FAyJ>(#mIJ6AXI2hX$r_kU{|ZU*j`VHcS_n{s&<{L|9VQ_okkdip;L7?)=N literal 0 HcmV?d00001 diff --git a/reports/assets/Pixhawk/px4_sitl_environment.png b/reports/assets/Pixhawk/px4_sitl_environment.png new file mode 100644 index 0000000000000000000000000000000000000000..8fd4cd2290cec828f92efbc29e441503108ccc7b GIT binary patch literal 24444 zcmeFZXH=7G7cGk0EuvsoxBbP+=6<-P&++vPjwo;z+EcZ~bP!H|TftY@vco_DP|-@pg=RZbjdJx)VI zbKz#-;gvkhrH-$f!|=fEM|Zohg`K)6ljV%*s1^d-TJo1Z5olF<5#ayF z9;+I;($Ji2p#D3AbIN%{LjyT;_s(ry53_|@Km24bVo@zmHSXPF?W*rWtvqA~g;-l& zHf~!T$Bi1TuFCN%&~d&ztXqC3M3YF@o^?Zcl@q+2np8JOlJtiKW zo~U6C9bqdhEVQy_0EQM**Kh#E#xA}V408$`Jiq6ow=xk`fn{no8Rzyp`tExHdNk_s z{1;w1`CXx#nvLoLf*fJ7T)^TQbgap|qM>SPOx#Qj(a~BD(;?tPZ$pv<)zqf0?9D`y zsq1Bpl#a(yC{9-^CLZx9RZIQ$!6POX9d=?OeraPxVVi~el>p;JTv?gly%4U7tV291 z9jFCjr+Nn;Fog}B9UL@?;1A)tB{d;Y&fIJ^H`%Eqm|Vs!9lg{&W!BF4$diO#w)(`^ z`Dn7zEYz$v*U)$NqhCuabaHNlxpvb)<<;Ut4on%4av@ zD$*Ct#G)f0E69t6P`M4K?d-zfz#DLNHxR;x{#ot~-r=F^4p!YtP=2AgRS zr35`!bhT2*lljrB65%?F!9^_ zDI-nDexc;|4OfY*1lu1+jldC;{!^*>A7FH-#{VG<5fLD@4coAkAlwBCh8 zTfKF0eZ*31FXsx$T{z$7w)zp=AA*vQz>kZm*8BTtZ9hE~orq&Y#g-5|D>p>j9D`!H z-SbGr@2&VJ^KQBhR}~GFFmA+G!+PQq2Y)Bh*)K?ThFpI6IlYAlZao62{bHX zA@HeAkh_3cWuP9k+B2;b=BWu$FU7FUBhowENT8hy?2g?_Hrz=FPP@(|eAo$M1H zYXQn`>hAUnnrPapje>(xg+)Vizly--qOIKy$8|1G(zXxqZnCvjCE%gL)kgSRj8;lp zseE-4I@QTxfM4(llBHNpE5a)Z{L4j=neGfHdtf1i;insN4(+}DfJOVAR-=GlE&G3i&Xyo*V_ zS`eqbVAK#Fk1H_SiPv~}+StJYg!|m@Hc2@L)r-rt?7v^n?|@?Ci(NW?lPuM-Vga&# zHlI3@3oDt2ga}up@C9fH!?-7vyUff=ImHt0GX>7jTZ78V0py7AN3bi(kPYKdLpO{o z{B#<6`@rRXq%KFClT1Oe5v4W2uvG}zb7xg^vG?Pn3l#-z5RYrRy#`LEGU`+F?a&)g zw|E}_jPc`AggBMHA@Mg;9>e8f&UGJ%zC|u)$;>F(IUBllJc?f3O0%5`=x>gZr2+)9 z@?n2C^knA)vK5J?YZylAaul@egglt60+j0Xyd{!IGPd{d{L(3^e)(`q{l z`SmtW9lIu?X`mRoOwN*t8n3O{?((>)&~uJ-=B>3ks4K%5;wOig>{(uRk83)j7zSh| zj;lC7pB?}A3~Aq~!!zKy67KNv`6V`fPTzfZIAaJgr5CZSFNX=YVg2#>Y#tORcY!TH z123WQyzvn2Sq;TFl|NFRA?}!#mY27NaP*|RuUO6tf z!%yGD*K+=z6M}byIjt@JOcrxwvO@m-ENr}>#&`akVD$)X7t<%Cla*C(XR55y ziwo3oGNw$_^!)k-mABkul)^V77tJGMktTw&9BX{iqTQ{n+38(2Pq$-1I#Jr<0SO3u zF{FayrHdqCQH0Xqdk)>48bZNpkg$=Nk8B)sYm+GQlg*0EP@VF}mx$k|S!Om!Xe{KR z(Fe$#_yhz#)N&7xs!6f(tjG_IzbRO?C9t+-=}I>AiG|CNtzkFZ$#EU5jF<#}mO{K+ z)ktDuEHSHu*{cg{nV^CwL^d8%;QTpk_SjXLHc}=pWQe8t&u%>QRB1^`WX-5%aONdu z^3?!gNt+9bOygomanX!KoZAk5-H298{6Vy{O+~q8_0qDZk)`Lt(s@7n*@f?|aHn>u z0c+VZcyQ(1Y`Q!q_4?d>a(PwbF~PGcza~U&E=n?aihELchNbkaujjktU9MHkC3qUg z^GX(++Er_*Nnp8Ecq0P3S|t4<4lRhu%_Oe0&#^>rB6AlKz1fd!`09b^RS8c!z*$?P zMG!gV)#Ci#!Vs?{Wz-s$cDZw`e#IlfWP*X5F+f{w@Gh2q`G?$;}_TwBMd z?Lgx53))1Dci2p3+?!A4Q(M@}Gq_5}dp2ZV!61&%qToGc8xaf8Ax~w`Iz$dd-EjD` zO+b^xD=WtkGwpuKtQ@-z2eYc&x*L*C@OIR_;!|SeX+qW}bKWDUofU{4YM3ch@J(8w z{fmUEZ-V1yMFBlm6kA>^LlP|f-b9wRFfu++1l!*CN@K7WYgKuMTn~p=Ktk%}wv3ot zE$3lgc*9_6ijRJ&X-Y9a-c}e!d>0^rJbU%5Af3i_JlCyG)lSJ%lL6RHFe9l=L^{S+ zgy)@*ah54@y0u5623tuZ$#43f5G_qW>qu}0FFe5fYI$uxRM4WsfKeqq| z;verZ)E9l4LMnb#Fw29M(8r{LPZ-ttW}3>AbK*Mg^zEPrdMb*IdhneZ0T143ARWWS zW=X=P10qm@}vTC}8ebZ@2(h7faCP9}9B41O7Ofe60&tf7I%U4B_ zWJ?gP6Kq!z9PLAF1?wYQXskhru)XuH1H<4fSgym{g4F`KvjuhT4Kq%l1qyjrJ-$y< zSfcF)4>6Zn)}F^@sP0;d(+%vyH+tnVr@I9dqK=d4K8q5rtPMHnh8SoS#mQ7VI{MC% z>{m%zqIOEP-nHeV;$ojcrl1H6>@vlD$O^Gn-hwBJQZ}7HiS6cncQnjFq8L5Nd-@#L zFX#}Pz}LU<^h><6Qs-!gvRi|2p-0HCH}^frCU&UMNc6<3t~`tQ>i9&QGcmkx&H)6y z5KyF`on5(Cg}{e9i?Oy!H|@?Z zl#4Z%tOcQ_rlTN8*|!PR>K|@8{bnfIdes4Coo|a^-2S@`Sa`;f*8yr>VXWKBUDKk(zd5g6aRO0~{8t^AMBv_Hc4*;hwrO zrE<=s!ZGM3SJm!jrj5@Is7#j4=qM*7b15Bn_SS`E`s17cBB-6@sN<1%k%&5c^yD2R zcv*F2o7^c`QdO03i6U6HUNKHt%UNJm{gxBj-1(XI#~;x@Dt8_zBI`v>zldwD_1b&e zbt`h{g3nH_%@#`V5l1-xvS{hE?dJ+~WV%0F2!z6x%1g8lL<8!YH$@ItR(a+VPPNn) z7-+I1%l%f!aVoF=GxQ%jdye%vXceR@hKj;rTGw4A!2KEc>)-me@&&2hr-@UEJx(^vZexNa zk%Yf`tTgtlPKn^bzln+dZN3r>h+IRQk3id+o^1OZH?5X1ib7#j1oqPKd6|ATyC(hh z#P5F~+*;t9pKnkj?C(LbnV)?B^HsRQOQ0dgHb-yFcHxVja z2JC}1>tnTD7oW}t3RF%cW%!9|)^_bcL<1zbXa9AKvPhBguOS|E&l19jyPe9#5v z_UDIZ(-A75Kz##)zF=OwpbOq#({Hns(G< zD>RY3iZJX@5`rRdx6)=_5} zuijM)4+fF?w<9flK?#vj?TV*{<9efwl=;sb`qHePfp=iAV$`-YA%+#b@5ukiy*4z# zj&$t6hr(i9xG1-VA4IELD7WWW?Zi>&p*HH#Rzo3aI*#PcJfX0rCw=YEuBXO038a;d z4I!^XT6!%QmeVfxZZ(-NY~oDBX<SBFe;;w&{=rEBT#hW7T>7p1in@Rf?pT zsN3bjg5*eN9-nDZ-^&>O)a@!u^NXF%G1%Tx2>yvN#Wf1fa?gN$fmm^V*lQ7zS3JPD zfgG`lO)mWV5&|d`;$$$hu`!$sSvNvGErKw=yiuqaKBZ#DfU|hq!qd|f$D=lotg??N=U%@rl$Uh3n$ah zB5Tr{qmy2~0##ijV5Y8%f2AqCJvI&Hm|I+!3ul6+&7{lg0>?F+6aCIfk=S|F*y<|& zMn+JaWYc?bIkF*#jy*Z9^ZIP_Dp9#Bhu6z-+qb3vTCQCNRJgllCIuBeh_^Wj?oPly+)%w^s^fQ{A%jgR;bHR<)?!q7!7jz=7s+5SS z9OO$Ib_vs~hF@%Z6KzxHKQB038f`WEW=l5|4b|5o3d+q%{%e&J_gE!|9wXdVre*EY z4^2O>X*To?R1U5Pg&nN7h@_<}aqr|fZ#N#5V|i&<8C_VFsNyyJ`@q7q;ihkH0UDnn z@!v)rfb2mc1*L5QY2VT>)4kk&lga4B)?OfhrQUTkoHLqC4Ib`%cz3D(?P&mn4Z7(z zuG7(27^8nbw!~J8sbY>AVp5ae>d1XrWEaH6|E+3l_GrKn;C=)Ebo=$2?aw=Xr%R_x zPx(k}Y~>y;dVSw(ZKq2oT3R|a^kfs!Yg!mSNc+8M3&nT8`f}A?aBIo4bIX^xJ2lO` z7B=oCdaWj*`H?J zFf%Q&{0T970Oi6`;&C@&-NA40A_9Vt_);=fa#wp9Ei}XAtbnVwm+5gS<=x!K)dB8> zbzA)qq?zZ|U|`yIOOK|tctYQK72_fIroK}Q^wj$cnm0kuCE-XMZntOhvK7O)$%u=m z+vZGtQmKXLOabcBg3b5>H7OkBkE!#U)T?}^uKvj3(&T9DlazBi)4NAmLm&OeRSuGs zO+rh{kaQhH-E_!I!Sb6n2G)8nYoSH%O%Hco0OWYn1~}` z-o6!KicZ!W}liTam0*3Jv+G(?? z5|6)6&YZ-GF~V)PK4$gCys;XOSP+HsmoMf{?>;q2#fADPJY0gE?(vxZyvRct`5pjK z$4S!`CYSFoZ;aKzIE+!l@?<`?IHBO0%A|vvOAiLlWa13ns{EL{*Z)HMZ3f~uWvHEuTkDlc7`k3S>zw3Wmwm^~~zHLgJ zyQ$1EK`+|3T6GC-`}5pV@+yiF!-<5zh#|!NmB1c9{>_%2r;Yr*79a1I zCe#IKaj;DP;gH=JyTcAG-Wgt>^4kptI||l3eq}s`li$s+>9AQz?UROujBbxHp_uL` z@h-Kay)(arIeDYXA9{@BaV^+l|1>aLtMXvT-KB6<U0`x_C(F}#=E)mi82G(=B2}Tv0Xh zI%-QkLVi^0m>}fwlfR6UgwPGuXvfD(d_%`)+--*v^a;Mh=9S0llF!AfWI6?BEY33I z3`3R=j>3Gb9S{CSp!D}wf88rty@N>5>QTC{CIYvy&zo?yq#3W%X}p!Goa->rT`~*rH79iyK(4t0 zmLewL?h&7})PD?V3Mtz)PIEBrc{-yfYY_rKgzXYfv%^F&6g5#Bs@;iGbtJ6tl=1&- zF~ZLiZr><|do9E5w}z4b1mJWd?yJ*B-BBjDMG1$NYE=Ux9vZQ5SCo}8y&%3HA=?ae z#Sm35!fSvG7axOCie$dscLUp8kq1DL;QR13@TbNfkzEjZZskQIT`yOS?; zVMBG}2Ca@s=ReGoVSpYskq8+S#J@LVaQv@ut6nm7Xx!&(M$2nTIA?-N;?>j|z1qUU zcDZ||*VZbD%bMduzN(y7u~fGWMoYFf}w z{wwz1S4ZLH5+I?rsDA=g1fT6g&lxABQ}WyI5^QLy-c?nx!iPNrSe>FSDQka@*$~MO zc214ja)o?hF@5Y{y<)yZiZ3zq1XppJ`FDoGHFY`B!Y%hd*~X_s&_-%MCBC08Nsd#YYvn?M&+cVE%4T)yF<<*O z`Z^{?yL3_l$dR4kO1}lUrh;pcp7DsDb`<=3E2%54<1CiOcp>H;Hlt`!lyv05f9wHE zfqZ@lJb*pCJ08F$5PT8@&f#JGLx5e@Q!FgMtS-U=>39-RI-ff*S||I0owctIQA zN#I_W!3mN0QeuVKH=zB%M%U~t+^$CBa3K6e`H=Fg4fI=3erG8-S{Pp8Ju}!1Cl1+6 ziUhPikkD6>K~7Od_SUxwHYx5Q$H&)qr(+x#fVwbc&+y^ZT>E(3(6$k8MFANu!c!_O znv1_9?UX7Qo-nqLt((s*ET))VRskDMhztO)@m8>wJv#iEHV|b5d7B}BF!}hw%>;;t-ed?vd8 zx%GYO5TtXDHaIWN9SU47Z|+|%2Wd(zI#c+@J*w`8Vr)5!;h*<|XlOr(vahQ{EU1S7QPjwSK!J`@3$X8?*cGZU{s%NxB}6b+KaOXuEe zq~|}3g@G`>F5||MNcU(W%Nm}GRBR;kBq_7*uDSlw@rK)DcgBvS-PL=T$tosb3p`hL z+06B~x7h2KW*q+fvN5#r%j~R5?|K4{kKbJn8?vFe$+<)v`ljPuYw)^w`(uI?VV%z^ z>y&*6m~3ccJ9AmwSFm;^$=sZN{BB^xHRh{CS(QELhkI@!#k6(PCyP|zIoTIUT$I0>3R z(qDwXqaV7IZZEbOWrNsgT}QjH4?k}BHvQq*VY~S8u!2`{=areION`U)KW5&QmWqbOo?9BF)5v;D z(lUh9OCp|V)ZJ;Qcz0V-0Cw;|J3G5hZ0gBa6g*b(qsEbM_qkR1vn_~kPJER1n;i(M z$KZ$w49#U}2zpiuGm03h^3C>~+iZ@I?J6>5a+3(3Nq$B~HN1MY!~uTHwPZ2H_>xEK zF`2h{&%;XMF8*T-zcr6&gyj{*?NiJFuh^g7+&y{+${Y-5Vp$xD?}RA#hC0$QfKq z_E`Oygoir9NQve8iyPdm8!b15PjoZhV00OpT;~7^AItbq#;a`pviJ8fMWFP+@d1_v zMLHi*PbRg(p-2-6PS} zBRVFIT<&7$zEGhF0Th6j`!+Y}yH*zx&!KXfF5KWbdn!_=zdsC@dgeG6p6iC#&rPbE z8$9&MnxrcmXl)(6BlE=J(=DK@_OZLWve`Sg*B^P>=6lY?+UkhKkg>U#Ec5$Nz?0PRC>uNsE5 znPWhC@)+sN2|ba+-1T?3xM)OMQL)60We%ZvKdu{#k(6r~o{V zO`iX@OU{=M;UOwHd_e!?z5@`8<0MhWTq^aI%A&+n0s zsas9{Z?-vq|7Y8H53^EagA2nf$Gx(^_-w_uEIl-?;w9AYRoTGd{4!%Zkr(}l73ciw zRyNixK^AGnn!5X5|I_(2iY6zCQNf*I7p)upAo1R}9ej3DJnqVVGxtaWBQ#yWlk|SL zuu#jWV$qu;ZEYN(u}(EtcC`=dHl~Ic5gBuOrpAN+iyhOxQTxsDUyaP_PGa7hH!qo) z?T$~ZqtW%JW82Nn`sKE4K=GF5t++K4=Rqt`1g8&eEWiDiK)R_gTw1bRahGAE#`icW zR%Ws0y2Rr|YdJNg?e>6B={jZVLI2aVc4%sU8uCDb8*|Rs;iDy|vyj@0;u3}J_DCZR z2tbzF_l*Q503msb8$wQfVSZ6uzN)!2H50f_WQMtW=Tnd1^3*ffZ`ATmx64a{t?f*5 ztN&KrbXRTDyk{$-3za=DeWA|VJ+tny`%0;P#T3}bKw`Jr5q+a)wauYi3+uKPOR-w0 zl&z9s^Q&xk*jlX<^yJ>HDG|As5|Nm-vOd?GyQVa7g(%LWpRGD?=S#gQXnIwK z(Kz|dvT)DbG=6Md-yiY&_d6YjsbTMKmN`kcq2|aGrd&N&VdcRf%icS0_|;`>e^iF=oN?eh+br$Zac~aPY`M!&j-A1-}A_q zHemLM{%oNOeJo|$mW(JfX1+-)jCcV{^JdcsL6H0KpCgd3acKxV47nh((T{0t5xcTL z>(f!3O)91zA!*%&!Q)6vebgZ0xtS~ax6qx)j*gC=*l~KoaDi4!Qh`FB(D0Huk{)=5 z{}g9h$SOh%Io`)|!JRQ1#yan;2UE7k$Wtc!NiNvs(c?T0<& z6Retqb4m@2^&JNUG%GNUHCOH{)Z1)+DTbD|7cmm*zbowr2U@z3Y~$_02}Qf*qurIA;tO zBZ7l*rm52RS!Xd86;}KaYV(apvsB$c4S1Zn`8ut7+IckA^ z(y%qSN(D7HR^M>lkMem|K`3b}9F&2& z0Ms~dht?y8wxa@STi*u-CGz;5$^&TQOHT5m2c{Yk+rCCKn;g;lBv(vBGZryOve*d=$We`t7K z&bDcTXM|D1fcnhXtVx+__g0S-zBr>~Ac>4Q)T$*w%A`-JUbORZ-$}6jjMwt1*<8=} zS)XSL9*WZySh0p_HSo2McCmT@|djqcrP%0 z{>_hUSbK}a)Ya-=QR=G#C5a%5kHe+k2Np11tTnDH4}*UI|AwbCI~x`tz#kSwukYNY z-qzi@p(F(PCL$cL*;MV#DNY$;>ZR^JjMQbdlIPRgkGZ>9F7W5!WQ2M}r3j2ZmrdK& z%M)VOyPB;}s+OO3M~8vLac|F~E-Y`(NYD88ghk5)__U*T{PR4kzd`$HZM_(mXSpwi z$UXQ&>GsdSZ=an|A#=)x1qH(`%nC$axNGr4Cg#fvg0tM8q0LlJD9I$S@De%(DncIC zatw?0hQxRKww#}Umag8m9a^o+WwWbx^chNl>V}rp6+M`zZ_}L!=r8jtk-Ls-RGtmc zC8UhRax_UyY$*wU^W9S9U3K+|uMO+F58}%zdQwmz{AjD_~6sS}e+p3fpBVLnPD0xb(5Mav1jn*ryCf)y#z%pN%o;Cz%W12^=h| z!sV7%GC4cgkkO3fZ-$aM%(at|&R*;o3Ds&$xPjn|`O3537+9$1R7BbaV^7;*F6LF1 zz-&c^NW~>!#cHXTb|dd+yDsju&72$MVZ>d^G2ZkV}pMWj9uDlcred2`ovCHTSmVq&IzRB%HCK!;fyC-g10M})n>ft zI(l5_QDl^~;@=XN?{c7N^amz>X4*8e+SGa?PvuR~y<L=YHN7!&AL2nLeDBu0QR!W2rxI3T;MrGS1+inR7WxbN)AG zg(;>nGz34p`L&P!<00~K;D(~e1hg0b{?|WyjKF&R*XNipRlXh+g~v4Jpo2!^%MQUt zNd3Wro*yP%*gu}o&dw(KczSlhp|A)hex}73_O-})TU70hnvDUuRzV3(=djw9blZ=$ z5SV`mS4Q{hO5L`tA3G_MW-(hGiCdZc;c|-D`?`O-O;Hzq{{&^g=6Ea9-lt0|pTJ=( zUORe%RUcbyxBbs1hKh%a1ccus_G~SuQ=H?VKzF<0!+q_4k8y;^t{0-Sq~p4(^iGA; z1@dZ2`XV1?oj96a*YK-Q$cd&t4OcIf=6<`Uw7w;c!%vx8=iG zn_nOWoMz8k$1wJ`bI_TpGE)g;xy5JSiy5Ugp3lkzYMzc-Ir7gjSqwNqvom-q9vQL< z&dx~awmTuVdP-^_Rz#Tp3dg<|j@$UK|4w`i`?57Mg3DB4DDf$Z9u#YelO4%kcv3nz zAv~_m+g^qB>GLJl%69kv3QWZ;DQ6t+eQ(##TOQS88g%fNrLFy!>7j#H7~i+j2bB+3 zgplb=T#EGtXJ;9vnepXPAtlN!8S3V=3S8sIa!X}v(J*QDqZDTPrd|HUHIae&LP7g; zPz`vjWji#fy<$!nNmGlJvnc!PwSD4h>X#Fm2<(HxD9EjLB|TC47@+HBB)0`^6(j5O zV+6m1ih6;dX!A~~jRcig7UzTo7EUPL!E99=uPizGiM$Lc!se^a4_eg=JR0NRAhNKD zv%y8h9w~caM}W$%qzg#n9h z;TH_BE64KG@u3dSQU0z;Jj! z(oVE>Zuoc9sb)a1cg7ukoEbr&P4ztS5llOO zamG3A$*dPBw6L0o%n6W7Gyui*ef`e!ZacbWtta`4hajeQpc7<3S|^C_739l z)0WhG=q({!Ya4H#)i@L{ffNT@>gC|_X#uX$z?Z89f6x5Xpi&amn;fi6>OO)AMVy~y zvhqsqCkfxK{~W8~#L|B24b}q1{4%TD`dJ9)0fa2co}4s{+A$M<=B_ghkr2QxyN|uU zQ9D(9KKs+UGmmcP(GfD85JPvAgwnqtoJMhayF_)#IuTc5G=J&<)>i2%!0 z*ro&h0EK6QPjvR3~7*E9gb?%IE`7tX&g9}?=gJ3WP3IOQ$w zDbANS8?Q1x>6{Gkp<<$6o4uC1HmA2fF@R};#^N?Nb-r1}10 zFL;|S+?J1tN2f>?^{)jEGeK%3tH#4*ySQVMqI#Vy0S=C^^_>Ao{rN)lD60HuPv*iB zp}c+1qeXf@<5=0$%O<|A4{Mf7@~`o{dlYr*ym|ANyJ~-N-Hpp_apl?R*7qvl?kx3=(2HN<(_&U__vW4;-Lsu~wkIiV%su$^78vtd+x=*$_?rdY)0&|G zJ~v<6Ao+NBlAD)6-MTl!Bl?3I)-@@bfRG>6gwo#uz5>uOxSTKK_KxP~==NiE(C1LCov=tc7PH2N$&W&kvhV|MYw{$NkckV2N9lt|zH;sm44v%<{8#W$Q(4 zJZc8VJWz$uok;j7cAYk6o9G4iB3Q{@N^hr74)Ju!ex?$0qW@+SLncYWT-?VT8 zjANat`=)h1a`eOJuiRgKbb->gqqPfpx@t0slOl$)i48RY{TZ*a(fu*-+|}MM_G;2w zt^w4+^l=APVtFM|SAN=WcmHk|%qK;|c(#HOSR8(ItLh49q;bSn_BKGT%bC@wa z?!w5j;`0@mJ#f~Fn%zo=5c-3rf~w$1Vz2Kd28=YYL@G!qa6n>fJgG~&d`5)jxW?V5 z#d^&7(*9@gsb>lz6KkAF!YE6uT{r9)U$>*l6byYwIL5h+?5oy$!s%xV=yZV5MRX}R zDPgk<+XwJV9`LLzxwqsqon)oLTMe>AJypEHQ1V&OAwHJdv510#0rTVM+{KXTB_9is z(4pnLXE$I*KNbjZT`c1ImhQDR=7U*CSLx%{J=%AX6c9juM(nq3m* zbPfJj*6|Z4BaQc~w!t^>P_|!vmj5F&egc>O>IMGKHvW$ZZM0S}i%IvUf3X&Lo{b6! z?C-RCrp&-MX-6;T*M@m+*1>@sbMyr1!cV-tTex361xO%Y(@v>mcM#6{EUp#3-rXto z!{6KaNdVDgnyAeKXegdDk3*KPF0qWspsEKMJd-SJsjQwg)q%>8v- zS#3)Tm(gZYHbQ8iYFXO#zsoa03W~J7ukp6(?qC~TS8J(%-dR~ehoAMxoE+!Igrx3q z>_swTPeFr7>c(1T z^3)yqs=a5*T!TN@ESl%ALUoh;*(%woyKQ&bBt*7y3M*bW?|xqOGRTlMkQZQS@W6>9 zl`HC|3>}$Ih-?|^>Btk_Q#n1YVi!llmuLN7(0)cvgpqWX@#9ZNR};Ap+pd2j`f_co zO}cifg*?*x*|63X4gl!BKPV{S+xZ_0pwH${!RwzY5nL(IHfHReC;439ZScF52km04 zd6=;DEZP^F5a{1nB)b=1^>?IS-clqknmR9xmV(7Y_i%n* z(!%~6o5Opxu=Dxe6RoeJD0z0XDr^P-rRf%nt9Lg4!5RI6E4zKTLMiD``rXgDn8*l6 z%5(r z-qe;(5t(pQE++;#Zem@>O+AfK5I{VV5A|J5_8K?Kdb%VL;M^7iY3mFw0+aDyGc>+# zlPlbTG=c`T%q2Y?>A&5(QQ^1cgt%Bq=CmUCE(Voeg$G+~Z||*FPlwsN=}7T6X4s9- z1`UF2c!o85Vhse@#i)%(>1C{-l*~6PPf}MBJ?95- zmV1^hNE|9j4-kD7|7H(!P<0bsjS zET`;3CQ0VP`LF-*kj}o&Q;>~{>9)NA@&+2a&fJ1D+fl9YHPzU$0gRf@!5j50d!~(w z@E;taWQ=bFp3!Z$4Drr4-u2mdPJeVMMMXFgXgfp_354K}aF5QvMw6P^AeXZC2sx*g zc_?5FyqY?@lpM2f4~K^UDxm)>fg_a%4_}b1-v}+6;+n)TtHW!R9s$Xbf52*Fhj-Df zpsrO#F8E_X-Y*DE2y;?BfEpEG(Cpa)R3$%uz4Z7mGKP1Ak@7-$`3`rP5{x>MQ_N6* z4E0y5lW zSNiNBo_@B7Pf(-^5W=rhJPNc^$h*^lu_d&5lt}j}MS1y2$%bj|pZPB8Qbk#lx?S53 zluv9_Z7s+s{Dn;M6YJ#>RLB3r;>z0nO@dF?5r~Jx*5^yPvGI~ba2{3&D-o{e8vpqd zIB#w%1aau+z78%P{HL;i4Ry@N+jJjJg@z_ZGKQ$^4ZRnJakx+0lUCSAB+QGfFxjYS zeYm=yEND1##S8MLu4sFoy#ete7yabF>|Z-<5mMq5RA@dx+|B~ z%bC_{qHcY}PyT5lZ$kCDI>r&TYx28t`My3EQJJXno*D|KD*qUV;odA%?h%4+); zctb%nf8H<7htU4ve(n90$_}oNk3Z8$@KiEop@pD*CEJKw_7Z~VsA$`T*UQTZ5j_(^ z$UH#sZc~V?@og$dSO!kVh~qDm3%Z7aFau-I{a;aaZgahA-|5Vuk=2fo^VYi|Y55(j zF{$)!@plX=1=_*atswaTV>sGTA@o=gs{$U1c``4>x6xn1NM(Tf&wX%?VIQVWQ)ezhvQC>r$u1E)p!P%(pB14>YhNzbyO)pFX5q4F);$#ex${2wa!40 z@4AKfDq*>q3wbB@q09ZkQ*^K9M{PL-5%nY+H;wJ5Qk7$xo3YL|LTd zE71*(!N&{hTy!)UfX$wVlJuiyFs;|e^TU*Ov_r;Y+|!MBXi=4au!inlF*d6c+0AEH zksNv_BmMZ#KUlrsH$7Ku+;%9{_CB|y1nRfvr^h+=-dF7rFXQY->o%9}wKsW<*EifH z^o(hit6Do@F;CjE5Y3^dB=44_i%0y_7qcIf8tP`pA%M0PqHgE0dxjgHt7Ww1p18 zCj<3sGcw#95On3ymh@{j{iz>YjkDGj4)2({#-yXBwy5iL5p=WUDxqxdc?Z*Dqs6h{ zPUK0B7!!-ha!&B8Q<}atPZp%*<-SqIxd9GFOt?!E_tB*5*nbwiwVC1s>~yMVW6lFGX7G6G4JTn)XfvjJDEt=$IyDw|-|~mB^J9F)F(T z?Z<>&{-H9WmRiZz`89!eWYhtjW==w#52okV2g}P#mu_0Y7d*BRo{{Us;uq_Q;!R6C zeq)^&KnVTe+|Tk`bPQLo8K8AO2l*iBeCXBhfiE&MU7^q=|8?>TcZEiU)74#=lC$?- z=Q`Pe+KBy~{5s(6-60cLZ}bj$N}~$70)O^H?zNqn zEm~n5GwRyiQEO3B4i=5md?aCqKsdQiL%*{F`c*94kZhuQa`|nCJ7$H(c z?f|;+AvH&}Vb3QNI{2G56vDFE2PP-;Bgb#xybv3!9)s9>b$2i|+h@j{6oSULUe!w1 z9S|LCaw1udQ~55}ZdR_VhJ5tCbU^5UceS?Od(ybYJ%*O?k=_6D1o$(xG(4qe47}iA zpEdDcm=eE#r`>-Q2@oSSANOBD0?gy|FG9utdtVF4170Sg1iaWp>F0}0u3*jA9Y%d& zF5uW0fuPmJdI4h-leRD^g&sgg{w>r%ij;%1BgG) zEDB$LxeP#E(y&y8p-R`EH~rZmgARH!{{?^JNV&x6i*jFEmakfxT5!xT6EmfrO~!gy)DmKKdr~P0G1ZO+v67r~9d=1QmR448z=s1L@KWIp039mD1^}I#3cJQe z8@ghw3t@YCxE}Rf7L^z9ORp?Ji@~5_8KU$3sIKX!?|nj_QzDOg$MP6^@$-Xcr{`VEve$-R>+n_C)J(MZ7{;F$yqa}_aNUZrF zsn85Y0K~kZm6(2ek+`hn?)L>ocyH656ga5RlP$C{u#tXWYy5YEMS*es)oapr7}v_c zWud3gRvrnYL|-w<9gu+!xQ}MthjHYmE>y9pZW2H#UU#DC|7mfZdNM}#oNdS(;?SVz z8#yZ=5sSYtY{G$KHqWVh#i^7s|C741-J81oP!c}5yc>t}mTepAJ3-oR2Ok&leaQn5 zLNh;R9liV^{nAga3st_l8I@XSq}+z@3niQf%ATYkkqSfsTa%@F0^$btZ6AgpN(@EZ zaTP%G-g}{O>ds%<)DeI%m~vg-zEhg@JW3)L&@?A>tjDVyX#!_uD1WXkvN{jYE;<0# zt?j#+XLRp)e;S!DQpOH7G6{(C25E(I5a+K4P=Gf;5Dl#9H4t)+b1`nVCStBO%&u%i zv+|G49{-UE{-yVPxe_Jue@+y6rsder$}&}w3rH^ZrJx5z_yd*AzK-;u{{BN6^nZ^& z^Z#E8AU@g`_5M}0`hTHSc0Sv8ojc_%N7(J61^IC1vnh3gjZJrTSJcbZS7rmpqbHA~ zZhPw6Che=EOYT=Lc#aD9f3YKK8}sDd@cT2rD}V5;$v;%NJK<=AH|J(X`HcqV1|BkR zh-CPxhXZ+<+1l|mWog)ZtjwVjxuO0a8SeguzNoN}trG>b9Bb}j++!@-T5(0_xU$H) zU0q|rj}pi%^s+;SmZP!8R@Oz)5rRXO?V`uZ9jnauR zB$9o7ZtB@Mh1k!n6K}!N)tl5GYA%5Bg(q)1@cu_B9Canz$#2WXZKAoXD>L?6NV%gd zmn}WxD?kdXL@b8~A@^j`eYOOU{r!%5nl+)%ggb}H5N$`Dx9uW zt&P;{Lec!o9JOr%GA0YZbdHsgQ5HTs<99E@*wg5N+ey(#7S;d~&OCq}1=6t)Pw?kzzb(hr{-+Md~w#>IAuNv8yt!Y+qCbiVR0!R>)g5Rkz##F}}Y#Gc_% zfJsbPW;X#tlW(zk0k_o)EyIv;JVfqroQ|)6Gw|{d-T1Tuzl|)*OZM1zmX|JeK0eUS zskTGwJ2k(*IKc9UEq6Vp(-PBVy^6HYoxH_%B}{I$cz2}kBtn=mL12?^BkyNL>!+mh z-x66UHBbGl5B!u10xBGK8Hpf)y7yc5muT{u?Ugn+FE1IHhTH{m>8}TWi`xgTRg~e} za3WSk1v!GEid&k4LndQwNr3~!FP6VGcrYc~;zj4Z2yYJMMu$fbQnN^pjc24A@oT?v7ktcigXELAV6p$9Rkdvf&w830-=c# z2qR6Yp|dIkLJGY|AdDu4CLjr&NcM!$DLeaN_a8Xtxz2UY`@HY-JNI224+caXzh?+) zr@lNn&9lwBzB0rQDxWzkxG*nbT36b70rpMlY4P96Ih@?*W)NT>FcPa@d^#(;>q6|i za@jC52O_^8nTvgVwKF!ZDJnPY*SN{5;PLsoh}o5~s-2+^lP46PH!TbD>3ZP|o0-+# z)5WIo28H#N_D!(z((k#-mlEBrDbJv@yDvliwRYEM@z*qP ze~kfNYA9OGVDopXrN3!9pCQ;gv$!VPi;+^xTiul{mbe7lhj z?yvLy6b58hZ=yD<%s9L(vis)Lh7BTBrla*ddHdDP2#<-MdT?`5PkN0123$6#^dV!D zD`crOcaqh7dd1bT{tkS_Xg6kIb26^4?Eaka=5n32wU!~=Xr+aThQ7VLXxA5vKvic{ z0Y99QAD8f-hBVq`*}y(tYo-~^cuN#*sFD{8GS7L+>-sumL2#+0=aZ!RdD^Pd1~ad5 zZ|NuJ^{{`j5~uZjY#$$fZ{KJIj#`rv2r8M@_Uw9hxs z>X>ft{WwPYbb&Wdop_usP5EQm^yQ^PP$=r^9(HdY_0!B7OS~W)h1`RUc^1ocgF)4_ zF&h)qeNF#kF2qvQ6D77v8cwlQn@Fv!a7pOoc|kMj$VS=->uO6ugbm9F+l$XX+nlKA0Dnk2jWfpf<$QDP@e@!4PX`>(2 zl-EbD@pS=poz8T#jIZo~_lutOilGA}m@-hvk}P2_?_LHv+%c&p&JUirMJE40glilp zIaBPU=`Z-C<9uRfvKSYvb!!Qnx)FRp!9&BlMW3}$#Uf|ZTHi}B9nqB)@J!(U-Uzq# z;`tpi5e5_P5p5i#3<FAjJCir-^qt1m^3}r3IZc2r1m*ftE;4P&EUd8*#dLUsmFZ zU^8ZD4L8x8HgG?0zG*|x-*TeRI%ghU$MBS2ePXYl=$o^a#u-oViU?mMYzQ^i-vrNL z!(YOpEy85?WtwfH6O3-gRfzkbcA-2#Db2~7;z;h?xHG79d4??qCwZH-=L|jb2@W(% zdwbi*sTylfK93h4N0KvB>_mrDsQMY=R9Y5L7O``{*A{yBq4Op~%fwzR2%*s%W-&H=o zCUsVEqDF~%Bc-Z%e#0flk6NkzgD;9JO3`YXtsDWFQs{@PZfV?w9UB+XYr4FQ_F>IV z8sUL66mjm*Y(|Z9ZGQW{rxXbWAhfi2({1JgntcNobYO(Qz7$ zphu*+51_uPEKi#z-v#4PcCOiy)qYCcZUmypz$Y|D(pM2)BTPqRUm4;2nHmRJS%$^wXZv299!(3)q`}A> z^11t1IBz-w_4Om%kvWprRds(|l$=J|dPsYptBik2)*+^~&MPaV=XWR&eVtemCR_48 z27@7v^%jQ|wZCuNCEk-YP)bSS2KVQz#`C99H*XbSRuqlRixV~2rjOaHSm_LL;|T|P06 z82n{C&hb0#ZrBJ67_Urwdq*-4E?pV0yXfy=9~nr#_$563qFWHrzG8>_jXGiSCo2X1D6W4Lz&FcmLR9C+(Z;)C>!<-cEQ)^YW2V87Q5s3&{f@iMB0yhzc;Q>Fz)+D z7eS#%H{lcuEtYmB(A;%2>$=KAF>~Tj!jAYM6~>=RDSx{5EgdUTd1(67zO9)2_2r$d zS^!@SySDy1_BVUQ9`iYW4^R}KX|ioJUkGvrHLwAPL|Y73N>gWxuT4@t?)9d^&RkQ> zakzR$;2yZ7{rTRroJ|q5i+}9Uycn|h1YggYmv1%Qb?y;=nBC(!g&qtuFh-45K^`R7 znboR>S!m$4;*=rEv}?Qx`4k9wMYR}78oyy2zo73hQWoH#qLp|o$MMna@Kf@b{xW&X zu^nIkscC-@L|?WEHM(Nin=}D>Z%s(^5*s<>*FPcN4?N7E+d9O~3#cxWnC@426>q(B zJ{>0H@@Q}v12T^T2qGm3ZqJS(+PDi_3)!#0$%q>KmkDt*i^z>s-D`shFO)_I~LRBn`kX zdrB;`F46L_r0ZM_$r*pjA<3EB%zCIu>M*?a?b9+|Tpr-cyd7z273m+stTCrlqU~R8 z`*;Q=cPz0=dPcmmR+<`$Qd}uISyH5Cd%#XFP!Bnstd9I8&aUBn0i+8>>Qp9cwFF+* z4y*$!tH52!8i05qJ!{i7K_BUt(Z8mRD-*!tL+&{r_ET7h?#}0_q8a)K z4D$G8zr+YE&HNoEtG%EgzF&ZuDwy~tTqZ`e^8ATW1*Ev{0gn3v?9~p6P81xfhP1K! zomOg_RIZeq!KM`Y`qBd#pJ6#U-CKrZi8UQ&pPC~~tMxfB01@;R1S<_(JE;*qz$CHh z$Ot*6OX?n?V_`i4h(y$5QH?*QOoQU7uzKpm8A4C)c>q}hdE6^|PeCqFumsZovW89GM_r<4wy%*aq4A6!z$<)NYWIT&JJ zQMwAC7;~-jUPLd+wD+pLwq-i;3knK?0gDDsHUoxGZ620;t|og_|7go0iLyHb1X%G?`dB?o^{Ye=xw_;o+#Ll6>zfg+b>;sVcX%C&W-{O{Vd_ODdoF%)y97@uR`_)shYw%jO4b zHh&*=;Y7B*fnGR|Lwd&vAg-go6LXK1ZV#~j+1D^n%^tDoo=wn6AxO!lID|0vnV&1A z69A7NGvl9v*Q+U@TCr{#k2gRGZJj+TVGn?@sLGXjClj-~l2K~89bRl6kHuM~2LJed zW(*|b;=|EbX}&Q&f@xr0Kn! zNL@r?x7SgP%REy}UZ>Ur1AZx5S|1=SYfr0=OFBi_Y!S6u4@0X`8Rv-