From f1b91f068f7267a5cbde1e610f838eb6105c547c Mon Sep 17 00:00:00 2001 From: Thierry Zamofing Date: Fri, 15 Feb 2019 16:45:46 +0100 Subject: [PATCH] add sample model: try to build optimal controller for 1/s^2 --- MXfastStageDoc/MXfastStage.tex | 11 ++++++----- matlab/sample.slx | Bin 0 -> 27215 bytes 2 files changed, 6 insertions(+), 5 deletions(-) create mode 100644 matlab/sample.slx diff --git a/MXfastStageDoc/MXfastStage.tex b/MXfastStageDoc/MXfastStage.tex index 27e66d8..7896b3f 100644 --- a/MXfastStageDoc/MXfastStage.tex +++ b/MXfastStageDoc/MXfastStage.tex @@ -199,7 +199,7 @@ $\rightarrow$ at frequencies above 200 Hz, the current increses up to 2 amps, an $\rightarrow$ The closed loop response becomes bad above 20Hz (motor 1 ca. -10\%, motor 2 +5\% )\\ \FloatBarrier -\subsubsection{Friction} +\subsubsection{Friction} \label{sec:friction} To measure the friction, the stage is moved at slow speed from +lim to -lim. The current is proportional to the force. @@ -763,10 +763,6 @@ scp userservo_util userphase_util usrServoSample/usralgo.ko root@SAR-CPPM-EXPMX1 \end{verbatim} \end{tcolorbox} -\begin{tcolorbox}[colback=red!5!white,colframe=red!75!black,colbacktitle=red!50,coltitle=black,title=TODO] -Here is still work to do... -\end{tcolorbox} - \begin{tcolorbox}[width=15cm,colback=yellow!5!white,colframe=yellow!75!black,colbacktitle=yellow!50,coltitle=black,title=DeltaTau Shell] \begin{verbatim} root@:/opt/ppmac# @@ -782,6 +778,11 @@ Motor[1].Ctrl =UserAlgo.ServoCtrlAddr[1] \end{tcolorbox} +\FloatBarrier +\subsection{The reality of the state space controller} + +The state space controller assumes that the system is observable and controlable. The bode plot shows a flat amplitude at low frequencies, which makes the feeling, that the system is observable and controlable. But in fact the reason of that flat amplitude is friction (section \ref{sec:friction}). The viscode damping is also negligable.\\ +This results to the fact that $F=m \cdot \ddot{x}$ consists of really 2 integrators. But an integrator $\frac{1}{s}$ is neighter observable and controlable. Therefore we have to check, how to implement an optimal controller for such a system. diff --git a/matlab/sample.slx b/matlab/sample.slx new file mode 100644 index 0000000000000000000000000000000000000000..9d5d36349e1e82515b0f7396f541b4f0f835561c GIT binary patch literal 27215 zcmaI7Ly#^^7c|(mdE2;c+qP{#ZQHhO+qP}nw(Y*HdH-3>Hxn_7+SD#1tKyu@JV!wq z6buar2nY)3(Mn!U;t}Oc3m6D!00amK=f7JU6K8-iz!^YqWant2;Am%W;^=H);zZ|e zV;!S3B{#%?^p!IHHtZl}(U7PDvW%L7gci_FIJHrV+<>=HYVq!wO%Cq4Z#oxkHr9nx z7hCv@kS|+c94LWAj7XxcN%RE9YqR!);xWpU(V!$Lp#TcuQN?nKej+v0qlRv-?f;OS zz>=&Ey{WCO7!AJ{WI$#Qb1|N?7^vyC!dd&r&x~`Q0*<}`Xo|@c%NG9I(orPHWR!gB zQaCL~aFj8bP(Uk4QsBN#4Xw3e|2isxM^SrzFdN-%x|k=^P-(>lZ@EeC>=E^=vBT@S z_Y$+w1|4$wElhJf#a5|+iNeSmW<=Oxl9hwzNe6fnk|5)3W9G&+W|4wK-S^LjaW5${ zDJ&PFzR}l}kJWl!iX4B20yld<`_?5{`-}>c5xZ??7f9pPY1kt@cL*Bj>s+#vCu7mV zBgu*Ryve*h#ion2Wc~T1oWK-9S2`cZ80pnJ@}>5>(bXco!v9brM_kc4@*frA|Ivc? z|D?pm?f*-PNgSi?5CfcO9kF>`iZKj~=0;-+#o{wiwa9QFsS?skajy@nbNyBV*xu3a z>vK+0r%}o{%jI|d63m2CxHHbn*vpsmvJ|$0|8Q`To&#ZWHCcS$hHJ^($o4NlR011yReD(!3xgrKdS>N{6zB2gzw2 zngu=+q|9n{Ma!YiUnPktYGdcSzIe|MNSj;h-=zJgKxn~vUC;Ty8cjQ|AMze=p#O`1 zElH(2?LXX${~fabKm4NZ&L*}_7IwD(=XL7FHXsBtpo#jGcy!qi!I@LYaB-J^Hgy99 zv=-MPe|a&=aqMPqCn>X5WerCWBM#t<7eff{hPvM81bp5&QV7}$?H!`=V7a3PnO{!Q zvWaw#GAPS{HmvjH!aq~ake95#9>|$hy#79Aj{E&Ja5Bog z|9BT&5!aNUouZ+4)UDv%des;I2L4}YElXn%YluKVdB{LO82?Xb&gL#QhPD6;YdU*d zvz@dTePz4fG4V)e<_i?^#NBXzi8in5d;tRE?mxN46JcUeNKjD`y{Vm?RCZ3Dt5env2ZMF}f+JgID?h6-xl2Y0 zjsVM7Zz+tPVt35|1#tNctaEq_6sMEV9QloMaW9C)&_ZE?l9Il~grRi$i*=Vx(Uh*2 zxMXd4ln4+~Gd7&09;}}r#M_vb<_*2*d;QrXJ97eWt@`TfOS$^GQsmJK&Dut2zCZp< zu=>TmwV0A*$);r(DdYl|I0o$HvPW4>FY;$j!3(d(pxPtFr z8Tc_`Tbi-OIrU3Q5v5n$I(^TZ&y_z&xX|l^r>D~Sat}mh#R<)J%y)N2Csun?=aiOk(62P!-rf`)(wCi`nCA}% z-%$zQQHYg1);2a{;tm`DbbQ$+RO)om3R$S_L161Gb8Fp!8wTy_*Tp@EPm*E zu%#S%F_#VY>1RnRlayVnz1qp0cE&cnjR!!A2GiNrmlflb>yJH~%-VEx3|l8R5y4R; zzMQ#ZbM)W!s~*M`RFj;&HI!KUcKp81%gPr^C|+eNB0&VntIrI!j^iq*7^0!6=#7cu zA1t@gU=}!iMnGjvO$ZFsFan1K)&1r8nI&wWO48gnxAahzV_88ZG#Fs-l#)$JPEb&$ z;p*#OL-9i;L0fpZMA9Ac&G2yWs$2ylO>6}yY>)%lBD%MIZOgK!3De4J^wj2Nr_><= zsV`t`c0}~9M|R$oCaM4H;^DR~sVNR&?M(79G7=LxJT26a=0Pi@Ufu$WM3^yhR5En+ z0!^6F`+=!qfpS2|llz%ipHCmvQjR0!*EKNL+<5GRp!23x*cVS%H}9KucvNOf()-t< z1)TRdtZlFiO>>dv9e(vfm0DCf$@*Rvv=;+dzq*{m-F#$Ln9M^(mj%_yOWu& zuI^cOn}MK|qIg(;JGWT_b!#_nuj1k*VyQ009uyQjJ*0Tc28*oM&$f@0q}(fRoO6jn z*S{ycB;y=Z&eg!zo|tALMOYfhbQL&wAQlqBT{ol4 z@@Pz)cA(g^(i3F19s*s`Mg@D!Dv0I=(}Gyir{>k9KnscZ)t+;bPc9wnpLd}>90(u5 zZ~E0Y8N4PLcP!g&=}DXt=jpP&aJ^E^0~*ZjHt9zP_iv^7%YG@3rNy!uk5c zbd*)4_c?fZmmB45q~Go-l_;Dynjer_mU2~r z6*PR^xXI%1luV@&CdW%aj1V6WUJd+m((WcsP2MXA%U7k3;&HXg6ZR%=FBhNSyLmV5 ziQEPRNd1&Zo+`^C31!Ff+{cG&=w;bPq%L{u)1m!BxxvFZp|1Ir(o%HJ8>;BaNEqIP z(@qS0W?o*_4}(tdM1B7LGO^2nc>@ksx*4Ey5yela7yRVp!NW%ezAI0E6EYnV)8hl* z5W{899}Hu}&p#TPtd~;YKuIpX;94~KH~%7T3%yv=>kddz{tBCsi|jrv!@g*|o0yr5 zb-Y75nahCjrCu!DF8ce}%FUK6?R_t5Bu1!U^foEm@cdHwT@KFmK7X*edEkrjm2?gY zK%+{&IlMt&bH5z9B6;NHQa-(Tx@3<@EMUCAeYSGUE0 zs{|gA;q)}J<Ft9LX-bLr9*RkKrBd8^iz3t?7sa7E&gRg$P>4b{ z5_hCkAD;fD{aq%U4FV7T0}*e`%F2qa&KKA5Ou^o_5F?VlFq&NC$lh{_-q!kCq|x(o&|*2iyXA&> z7jEWEU@h0nd7*jlA*)kTsq<=6OL;EcO+u*PVa(Tco;A>)tV>z8vD(G3ra7V5CYsB( zf9zBbfL`9Fgj_>0g(l0v1L^w4@fGNYzdb62cT0J6x!pT^%(m^g4&L6~Zr+XBTh}L` z4P2nw=^POf);yntuhuB!UtCBGP23(C64nk_6O*fVqMG@u7xlGJBu>aR(9qaA`fq%} zsWk^!ZrElb>)FP-d&>1fZ}%qiDfN$&qrH0%8s6vr0H}_jT_3J@n|@ z;7v$Dy2RA^<1M2tCGW5^+j0C{{Cbif^}T4`5Ism*4K@go75$VPcNjFcS;p`-j4>J% zcS=g52Z5XVOSCTdkO&D1Ki%D;h?T(L*=hV_@se)10USLht!i!{;zv_ZOl?WPc0oi0 zSh6EbJQX?F` zbNe>}o^65$XLJ4BKwFfrgP-00>2+MwkY?@X_2+i=ZE6N}#3x=cGg8kL9TT_ww>ht(BbcGNsTkGC=d-h;a8P$%AOGWn5h!%r;0p%! zF;(4G3H>Bs!#Lg&(n=lr??c!DC+NG`#}Lr zBfes+v{E+;9)hAUrJ^bA$o}qP$m#VQWHUyGV^E)-zkRh+X{U#$TK*RSU+7zLz{DdF zEiJ8ux~~`}tl&jg8)DNRLmMSWJ5Q5AF99u}t4Z8nO~*r3qT-i_mhF)e{?DselYlX^ z0%h7C=aZ8Y0nQC`XA%@HwIhkLqN1mxdoTf|j2IUF;=#_8PDhr6DYo_F@1B_(hLJ7! z#P6LK+agulBJ^Mtr8wJ@zWreWzC6xJUxL0mC%ZEr;S)z+-@}&0#6%O+<4w%K*%`dd zOs<=a)@$+RzE;Y~+Ugn;Vaze+8Ib7uy3ijNFXSDx0rA4%xX_08@W-$i=cB zpf}87k4UvaG!LrO(F6cY_nR?3OL5Xo$Wz4=C%VRVFa*T>J#Gb7CLw^poQlIK zm@y&RA7M*)t{n(!F?P36V6i=nGT8+?VFtqpNEW%>&Ra_}i(Fk@o7aN&mYdo$s_mrD za3r-aA*oLOk`&?ma`xg*xQ>k5w(^oJG@*<0$&jofq^WqYX-dK`sQ7s)t#|b}w)0j| zr{V*LBSVi={@se(soiy=o~icus_z)A#1gnhavvWs_VZh2vpRnC3EteAzv2u9GrR42 zO@hadZLJJbmj6QMJ&LG8=>U$)LS!4AdBs^@U$2)pJJ~0bVMTFnv)e0OL%q;{wt?a6 z{Q)n^#OA;mMBfBhwNK6bf$a`WQ*`UUHX2Eh8FM#7?eFxXEH%X2%EnWg$>D8}zPl)J zc65c9#e+qf{`1;hC7qKSAPB`A?pB!tdLWA$)mJcSFhz35C>W6jD2;jjX*%=#2RjEA z4eXVT_a2zZoNy1zK#LKN0cAX&r!Qzjt*uQkD~AwpE%=#gTUu)vdajGK_iE7C&pWHz zbh1+>TwiO?nSo;11bbj`wmmQ-!gDkba6Pd4%=(}TB|G#2%0`ImEOSQd}E)v%-M z$e#+v;c&emWju1~g(?*U1f*x=emnPdd6ZC75F(=b=T13{?)CMULq`Zwes5iaEymZv zTj42*X5ycmZRCO6cFFLbtgqCB055j{F=rF<^#L_HYj@Y1<}M$(SEX=V+rGx!l&8Xw zZmkbIbGn95XLfGxu3xTlKFVNC)}U2~n^0XE;xZ&faBhMFzOe`e8qCoL1!T9a@$s&r z{pShlqB^|ugZ=_1S<@(CimY=VKKHa>KE0NXuI>sc2kU^MF>dV81}qA6gw6_n(j$;0 zuv9}3ZP3|{DLdHLz0Md3dXV=!LmPrq#Naaw;YVL87Dg$Iqe^wkate(6y(iB&sYJ6z z|7!9{FNoDV0smFCzZ-(36>pXA&ef-q)D1t=?H14Xes#+p)(?FM{-Q1*B<_{bsw+|}!rnCoUbK(Pz1D=Vg;(MtSAz-X?5o&P zt4D2<9BAH$^{uTWje~v3ReGpfjNfI&9M#li#E2^p>gIm zuObC~U96vWUmzV?v6UANV8IL()2RTXlnTowCaYlIX((pAV?t0t_Olw1O>@4F&vvr+ zDH^cyEB|p<*jtMA9Ob=4xVjV1i;+LyuKZWAHQ7l(C#7g!BW`fe7Pr!)x3!@2hwgHu z&AF(i&eLoNp&VAI#D4{-^Mf+r2IgC(#yfj1Xs)E^_1~G4y{AFWGrlQ*d`Rl;0s1kA{H>T^)2VD;f3_-@)QkieA z1)Z?^$dsmeZ6^0yK1(GGgWJo1T6e17oZph<+OJ%K^8k1ErImg40s++fxfPCus`_JnjZI7eF4oTfx9N7HWn)LoiSpCi zSGYnT=hl|iwvyxQC9aWxM79v(zbF&$+N_mv3*yb_T6Y7%)aP4u9V$>CFuj{AR+fbb zcjG&$TI;E!%4YFZpB-V0uxU?9zZA9f!~&dA6*x6vqP6ibvA0B!xyMo)JejwZEz6SC z0+^-($UbF}SQyif4z400ye2`i1x+>2NzL=l2x^%s3T~pwV33U+jB4_O-BJ%hZ>WM7 z%c^Oj10(23fvJf3x8(oLk4w}}V(XYLGjL@DrOUVPr&~g$L;iR1^=x)#T+Guc&p;A72q)S+%r(@B=ke}Cn@RzRLhZBV7I3%ZZ=5BTl zbkhl*ur5V`%Z9FW8^Z9uNT~^7idK+LDCs$+H5T@?D8P!98u=?m5^=hn=@?)`}08 zKAEPly?O=x8I9zU2?KIVa{8nM>T8=sBU3TTn}#HddlxzP_PcSYc;_(kM;SSvJgd>6R|Ekk0f{ z*TohE^sY{{CUAbb z(jq>KeWEhpOjnq6y=-(dsI}FW3BO%tE@z(4B+q@Mw^NY{ zy;zpE+V#9YL$n;)c-D4qO{dwB;u_CEO8&(vNQEI`HKmL?FD50^lDX^j<1%5?o=(>H zSEDiPC$GxW#h&!%&@kTJH0Ixl1<~Ah6)8)K+f*hmnEcS)?s0u}PhGW>_B_xADXVqF z5L2El={Zsb6^r~fFRUfbhM7(sW#M5jsR%LiX>R?-&f5?(P%<54#jO9^p>gMd$3J{$AK0t?J`72WTiQL?|I+?DKSbQ2VB?Yh{+tOOKhHYky$j5LyK+%;JQU~;B5 zVqBo+DL_be8x4SeupAVR;MOHht>ys9shfXc3hMZUJ_ng^DJnIg+th&d;zsSZ^5Z=O zNY3C_Za{&o)WXuJg~l6imrXIa_`^X<;h*lDGSP3|QSNBgPWA_s@Pzs1J*)#@}6xyYa9Poe|0e*ZPXqd)nk| z@M-;_e>(UIY(x#=vnQYGaFU_ZdfZ;#1=AIkmO~-Fof)W=J zvb5sgCwv&L3sDKlB{%Ojw$y; z#tR(ZSW&bL-q(IX@?8DUj8$F27ZMEWokonB1zGpWXyZ9xZ zOMy*o-+AtEoo=rGMo6y#yZV{JVNdPRCFl%3uIcB|1?E}?4aW-9GEBHh{&_=x$$DAq zM`W%dnArP)o~irahGz55KP46)2ncBy2ng$c8X9XmBP(MIfSDt}=Kmx$H@sGETWpPc zpVaQnZ?DZ;>!;c(N1li#8xe2oF;<+jt-L*)&0rJT3dK@N4NbhCdv|aGO5Q*u&k}hK zuDY4HKtUdJKwxpd56w`?ZzOVG6knxfc$K^%!Aa(qVNZ6RRnD&a&p!^28xN{1qywTH zQHLREAmxtgwvLY(g$zjDfmc>1+IE7y7co6=#-9K7M|Md_A2e4T?v7t>J_4M)opS>E zI)B+SiYHxgX*Ijjil(g0nZz;cvtb9&qo{H z3YG~3bd;e^UWZVA_(%okmBoGngEwe?YB6gHc=^nNe3r6+{`H{tn|F80^N~<$;u0J@ zsono}?a+wUFP)L z@6}?EyplupTX>y>sqdn;W`i#rnXu$BLto%FZ_dY%BmQ^=3axVwWW_b)C7M<}U2SEl zhOhOYwkxp6jqNV2oIh?Oj+YQ5N~6p!h3!U^I&s)vkW!{NaCyUA>x|4l@IdA9Y*{1U zA3Vnp$Q6x&xm3~|dy0;a{TQOZA9M{Jl*8#msTAo8)CtTp zvb+V53Pc&2s#*dK&2yl^moC7N)Ve(utwJ(C$XwvOYd5K)|60A>2)~qBs>eVpRxw2b ztqrtK1nl53Qg_4D97ay?!qd7 zOGi;+9~0l7!c_3_kI`hT@O%|WtwvVwp?zMP;R@4-h3f>(qU6s!qh`jdT>u(w2WHCr zF^4kE8Cd#7LU|41LRG!FFP@gJCmqT6Yn+N1G# zM%X@1K>V}&8IC~fxP|1@zR_G#vW)wTHGP~*&AREXIJEQ=UMSWBtr(j=GNlz^vlueW z5Ss-i6`TF`G%E|Lpc$teVXdoekoN*BDq~C#J2F*ZTqgLnEm$!Z7R?%BL?{Ke4!FG| z6)Y%QxCqqxI=y^LeWM4G*}m;iNu+{<5z&@GaURkoO&6!WCoE)oQgS_n?Qdjvm7oL; z+5+}yM$@FAUic#TVhW!Q&g|#eY>&>Z9R*d)cr8<`)sVyQCfOh#mhPSRPS4?e;-FtQ zvpd&kXutTrF5m7_zdTa+Z#Zw)+;2Y)?{;sZhr7H8X}3{#+XVPw0iTcDZP0Aa1xF%(|V5t4cUW=V1P;)FQqgUtWS<=Q;eH zuDj5)+w;L5`>@K-$HDId?mw9IpFhZ-syom(d&8g9!)K2UU9Qh(*o+QH4taXY*f}+d zQx{CaopAbHW~gtgc)J~DbvsoZR$XVc+!?}s^t#t?ps&)sI6tUk89WFC4!aD!m%a8t zvp#cSkha-9PIqTRzs7IBF>e7s1eed9#cSbrh{+!6d+6^>JQsUuv;Y1Trjusj)VDkL z{CrlQXli%apMP?)Dwu>s(Qfo+MF zgm|9d3%9r^f<3BQh#K>GvrH$5YL)H z7P&w6=7OF%4WB-Ee0EpCu2~Xnot-|(?7|{=G+IYcXbcI2Dgufw105vdRgE4UnuiRF zqwG;op~9EyK2rqa;6LjlQ)*9vex7kguRU%-vG zZh!eTA@J|bCMz+N@p;~HG7HQFc4BcrD1u>?{PdvTr;=Q_fB}X_f*rIZsu^V_U~MH( zz^O%wnt;imNo*lO9TP9A+@%bOQr+~fy#O$k>?RAUSKUvZM^G}k1hGW7XoGpY3D7yv z&N+$XQUP)`K*m49s*RP|v?3B}di%d&0!T9UjqGhhZ12?czHM5OgrUH}8SauU6Z$X< zCH~F0GD`JMO8bN@N$dKD$)grfEtO>kHi6=!$Q8j zFyvTC!kNM0f=#u8lzTl0f+Tg_#U)2os`3BY5aYvT2FyR^2G-dC)%QFJKg z+rMCXOdgR+hE}X0bbzhvZx<)My z9^lD%zBpB$|50W9T@W6;p^7!VApwu^LLIqFEMX@)GDnvOdY|m+aSj`?(GzxKA{t27 zs@0~?O-go{9oh=BU_fr|AVs3>U#{(TGj6qga+Na0hdSSK9uQ4#9bqe5FgyrZ+MNLT zamOi()5(ch(Ef`)c9vxCyqoUVqynr)m^5gpSgca@=iUn4YGdrRnj+_gn5vx~>C}cc ziB>Jq9sP}B2+~WRUB@J&`CsQ|rJf>uVMkWJ_JpB!q|sxmNrFrjh7QSEk2^RKr_Sh6 z)Iup#&eyy0*!@eSP}0f%{-S#bzzGmVMV&yEcSc`Fhu|Tred-gFz+El{HJPH`Qt(Y; zlSffb1X{K7KI?-b^CWZTQWWiSCu5pw;sqJXhJ%}aY3#aR(doHAJ$)gg3cs=pF(%%e zlp4z%md&?p;?k{^zB3b0_7dt7p-6;#811pVc(_8PTdM@;MBfk2*K@Mg+BMo^{L+|e ztCC@xPP6ag^Y}AY7FDtQHBfFV5r|BIrrogT`1)T_hOa=C^HOCu=`@h@=Tx1KKr4&} z*Z5DPyC-BDk#IbtFzqzLV#pUYx+pZ(R#y{kW!$@hx|HOgQ)v^F*y223i1%s7tUn}B z;Bt?;g#Hmhq@^OalX&=WgBA}?DJrXpv}W4h*1%uZ;%+~F5J~W!BG6?x zj6y+GLJY2n-MzmmQVPFH)UOtre_P^>tqb(@PrAE>RRON>gO;Va{Gf6 z#^B=`ctq=TL-~X@SOAt+uixydxh^nI3#x8@rXq>&F4mm~f<8B7xf_j|tu0$(T!;C+ zVC#Guu5gC7Zgx#IgjBOp*(FD;Aw=b6!ssx`#PcUgbSEkvaDKV>^A}u!}IwI zuKAEq5>a-pa^;~e?6N^ug%encCIsPd8gk(Vo=n8K5yTf@!1?%$)`5=qn=86qG`rrknhaAMl)DLEkateIe0K zv5`!AB#3RswBQdvg<{J#1tZXEL~91>c49Uvl-)IL5zR08g)qy_pU*AJQZ2cM@{WN* z)Y4v#48VP@k7yI}aovj@);lUcID4*AB+H|X7LFa}q*3Y~+tQskEZWXfFn4Y)rBO5tl81Yp)xq?Fp%RBw~f{?MLx0A4fDYUFBHGSOmAFx8J>bSgRO zWaPYr-_QN1VBDSY593U^vz$%1kY7`LMLl?rH}uy)TpF*5%-RoLu5IBMWY^>0TY}FB zdXkaEmx(yYOaO2`#5^QucjG0_3{0Xixb~2m4WEe7M#XHn)Jurk0}OK&-YX;mK{C2Z z==7z0k_n1D%2PN>VGXd61NonHDWt&YgrbL*!DH2d$P=Guk_9x-Yh`Tc=uuVsX?tD+ z{LCe(WvW`T)x#nfXAm;L1~+ioMF6dr#ycwVabV#S7Y#i@xPh5v4Vk(R%tJ>lEJ4}3 z#``ndkOo|XH_%~#4BmyG{=Y+8prIyEWr?(t>JGaK_ecanlS?^e0%Y8&0E@}x@R<3< zhYXMC%h4M|g8E8RSVx)bQWD^l>KOIg_xJF~zID0ial@D7t?=tOM(TcZ8!?dSngtsY zT*#ORQ+{P!NSopQ>tiP8W@kb36-zCjI1uNKqwZBIKy8)WP|zdmwZ%-_bN z^P408sE#U|v@KiQBB$&eQkvI2FY7r2I@1q4UR1WJ{i#i@`1zUh)=V$lo%3flwY@`O z1Nf{}1S`gYALqp!8P@`hA-AA?IYTJS6ee0`T6Bflc_l1$IlPV^nTGp8=S~-uX6~MY zELmkBt%n(pKhDYW&*98RwrM?pqDauWr}UWZ*LO$ZHrce;p=U0#JDYuXpy+4CaOg&HoAf~Kbz$`-jGGru@<{G&v_9!FLXc8!d-v}rtQNgy< zink3A?#+Z{{c_o1K66%M_DMZX1 zU|s{?>cvJ`eGl=Tq>Nt{***c?#x0427^u?EUxZ-?THr=<>@m|@-sn_ zT`2CzQN2z}GirgGE0JfoZUIAAtH8ZilRL+d1uqbEz3~}saz6tVL zx|XGy9zqpasn$Z26#A{C$$o-le>hRE<>2#^)ftJ0P#yzT(+q_CtjLVn9+Gl{O>K+8 zSbGCS&x7DpkeZdn`j$jCD*Ze2WK>*j&^=_+Vwe(cJ7M~!`Sh@Mme;_1f9R!sHt{4_2RM2nf`!{}=nAZ&t$ z%%rtcMPUw5j3-PAR-U1xj6d0-@Hh%tGEbOr$z@yg%KN>U@X6&jct$UO&=SuuG@Le@ z9~Vvv|H!@>ilIJi3C6j4dp*Z4=|$GOd}+dIByrBeC7nwD>Nb?mDBBn^^vhd}RfKnG znrerpGDK0?>gXN4B@+ji<(s-#(AA~hq^MBWfA|JfTQzL-&Wg|5D;+mKQBY?Q4cfa$ z^u>t;?vn*9P}zM2u&ti|-tPsB{viHZ3f)6eb3LV$GOX3WS|wT*WjQw_(rGSYH|s<` zNqX^F%-zX&od>vfoErN@Z*-X13^a+XmtAQDE6UDO;HiqRU(>-OL%|rP^z03{LN&fA zt%10v&l`OpTtxl4OOm^DW%)gHv_&VLm01fDd)e@B1DJd4s_+Y zVUCbk&Hg+E29tzNpS_5>a>uA2Pnl&o4>SXU@R>qtogYWX+C-QN$6bea32Iz}gH_f~ z$CcPQE8`y*Fy+cLk<#0~Nek|DjlcCi4&Ks!4ny4qOYERn;FkE7@yhH}@pU}pw;|wm z6;^uHI)1-P+~Tr|toB#-GON6EDMQbGX3{S&#{m;P`g+pTEM#ux?rf^jlZe6-f9PWtQ_yuTrzCvjn=?B z)6-3NGsz!!gXvC9>-zk0beAY!w=QMU;d zQikB%hp_fTx6ru*C@l)}N`z7{Ix9K#*jCdV?LWX8`&;hqGA*exD>Qsmfme@(GIA8o z7uV)Nynl-qrFZr2T@ll*T7yDF7XrU(oUjhX8O4#fx!s(QPG~DhwHV;MH;D&Qb zoIeB%6FMOR%kb3HaG8dDRP+qXLB91;na(NYDK*imC*^@>+F8y$pHzua8xulGfg=c?CfLc3dkvs%aR)L)Z25HJNtx9Wo5>#PE67Df_**l7o4>1##vtR z`z{9TTaq3df)3pmtgkh%Z`lN{czF#|=+=K=%6BFd;6O&r1Ix<4JW0Beh%^J% z#0xf{P&UnDxiG{9L#LxSv}o7pg~(AogK`IlN8-sqIKbHEVlmGE<2Y9s*8(0CUtOFi zX4Q)ey|lvks-x8?qF?1n6yUVn6iJxOy>g2y%W=K4axi*%hTfusD-g?rsP0}STO`EF zU7||o9@6XdTTiJJa8&%Qr&)RerWQxI-Ekr^-p7I%m^dI*O1c|~QXL~`$dy}iw>cV% z8hb8=JGLmk%+q(n&#Co|eR!LOfzsFq`tl8YQrnXV5FS&rH||>=)uBrKzm;TqaS*!k;|yxZ9wZ(Bl;D(AE<0J z$KB$E9*Pa>hBil-mjO!nH+Di(#E?I&wINqY?Y?%(kj;1{ zoBRtzg<IN0G@eYEp z*jTFwsW*n2{ER;ErPO+J=2l4ld|WV?7Zv(Xgd^}8!64EUrMBv|9wgQ~Xh?udePzmm z)A+@e`r@l^P`BmjlU%!s;-)&u|Id>Rxmx5hXPd^H77c~yn;a+GR*NAj-do1qw7%#@CmpEP(<}HnH z=AACSC0_I4KL}fFzCY6DCDQ(DEjaacxmSfmLQ0IbdI|Bkn-+t?Uv}0A&_~Glx@7!L+R*ZQ1>p_m{Hs!^j%bXrkXe0_dlBN;L(lNCZ$3 zfrCcd(B7AWPNQD;W+OFojN@HWx3@^lTUC9U7t@#0LKJqnlPHxt@Lc3@tnL-6{&SI5 z;F7wJqOkn6^IZqx=Bu15w}}LQRhwG7qErLbg{cZ?;a0lAvIlih4ZSBcvuO>LYj6s^ zzLGE>wf1!rzGqH?EU>Lr-Z5RD#tAj`zjQk3zYanTg#C9|JB!spiOUs-r~=NxG5L2F z4Hfthl8gMqQeq0I;rJM-3t++SWA9@;mRdHKN@db20wS|uLz%+V%v*`p2DT{B!@r&+ z1$?Wd7Bne%1a^OOZripZK(QlhA<7Qha%6!gUz{mYOmla)GGS|*7lwysCJ6`6+cJDA)vCt0N8n!n; zqhgk{%IF1lV3**JbJ)Eth><=_dNN@Sb;{l~ZTgFyKC%^0Dq8DB}o zA~PjdhN@0V#Q!jlkv-knP}(@uUtT$x<4&=D*u7VD{&*EH^U~YQ$uGIOF*J|}$;In{Z=}p~rapLOTQ}hc z&)VX|ik=PH2kizYK4Vi;QJL7f`f==%#q#SCJAOj%YITXfT^rEA$g42Fd=9YKsSC3x zd|LdOtkm)Xw?;1MGymn4No?cC+}<2&n17~akX?JAWw_KQ?d2x9uOs+Cuj8M^$^LHp-f7&J2#oLH9bsccW} zcF!7AUK-eoU;FN!`PsPpc{OX?!*y(9FH~Wsm=9!bZMZ~VGQd*v)y<2XG#OEs@wgs_ z6HPc*jYwX*T_FUwr2$Q1AKc)p6pI#{plb68rhBz9&aLN2bM76W#WI_EBrg5(aa7%p zY2^0b;H+X29oA88E}j|#oV4f5YyW&MHP>QBN;zw6XYxp7YEVmDqqCJp&6ZfBRP$3q z8bkDK3`BUa%0~8r1^t3Nh_QnT!5*yT8d%3BwXMQ8*qHXjsUB<>lOGb2-61f1Hutw%+Gs6H0W zP4opK4WC(<7djo|vSZi!1r!Qnj|TbV0cN$ShfT|WYMhfWtiiO~j^2lz#9d-}L@iIeU379Y|ucx7xYxq5E!b`^0R&>pBjn zy7vgVR5_t0j5Jj12-%TdSVfEK8x;{xZaHZRHwg~HBQuD)*hT`;$CN+RBfHy1`kxD1 zvGAUk`tPihwG=d5z)`a*E9j=Ov#C`z0J5z)#$`_z)*t4xg9+iSHUw2sLvM9vEJdPl zV1h`wl;Tht&;uHMVf%h{6VvhPo3|F>vf2`ABTNAIh{5_4Ccy2TQSQU|BqQ~6C2I)3X9FBm(f*R0~QDlZx^n{i2%F!~53`C!M~A zU4_~eRCWB`(^oh)kxwIv-W|Phi{%D3=G+<4Hi*c=yIH9%d07)@ObQ)Aw=$%pQR*H0QmhVmCo`gh7G2w=M4juP7K&L#ZA|3>+5O-qVKF$zl~63RK78{775 zAX#0ce>K7_%nXgobsHk9(_w~tR4ANaI9(X1@%~)B^#amT%!S|jA1&>gYukNLPEae%-XCNmgFQmD7+LH^xCUx(Xhkc_4G8k_zL&F zIX`H++M&!8yYsg+<@i4R{x`&y50;$I{%`4$Eb0F>m1ksUYiePpY~sxDeNq;^>USpnw<(BYqP|eZPR8_X~$~b38e@}M^lPcff^zhCYrF56!f`*rlK)Q6X>a@>xzIMdx#6dX^Pz% zVb6f?neOb~{eC~pd?5v!78q>da$WQ;?7f5#%HxSBF@WY;dq^$uT)C#oYrh|77Awkh z@d`K#)E6NBA#Ns-QiE9+F6mh9XugTjR4%TrJQNpJc4dQ zcxESV$@st$@$5#TF=9T5Kdl<|5q5A05}`X(mL_4!va?rSguyy+Y@?lyHh4^5Ug(27 z%A=RqBIOJ_PvFAIARX{PsPzSIdrTx=&3?k3LV?rL>s&D+-I3Xld@n#pL`Y{jjVCU7$HnCJ_3)O zDJ49y_}3wX6K!Pv3qj!g^Bd7*rfJvdzAvREKk%_6XG}*jwav?dlbCs>2-=hwlFKeH{Oo&0C4z^qKs2aKT6$bhyM$R z2~-mpfE}ojwV4B$6;x}E02athwALJ;AO&@VYue-Hq&#GB84Mg!4_;8A)lBdB)->DA{U=ME?+egu&P)tK)_vRLWCu3J(1yU?IZ zt2x@+u*a)o8?3B*OO!X=R8dz35(}V=zW)qS?N>A{O~xLPp)B7GtnKG0pR>n@2+{>* zupJm>UgQAQEX)A8i|eaDPrOvMi)m$k*paTfezXF_l~kgeu^1dx=1T`U zW_T4tkNJ}E?wLa2slZszyjcVMbsORh8vWfq6K3u95eymtJ{=(a$C44z*}e@_VGT}= z3d9fE`hjS3j6G33_n=&7l*e0Rz8tD$&P1U)(?kIz;cnW0A4m*ti`e0d#dBC9MoPT@ zFcI-0QUHpL9ONgMwX+zf5tN{FOB;hpz)Bpn6G#%Pk(VL}M*)uUy~6xEYWu_uFpcYSSM1`6w>w{`TiSEc9<5(xY z#l(d!Y6a#9D_(?oo?<7SrFel9nxIxd08fz-njPqY^7IXiG)TxFS7|FBy?jk!UQ%N1 zqja`l)ShZ{0styIDbW&hBp#=&z!Uj@Rd&`a~6I;tD>7V17<~Skr zK7SAaX1H9QNb<-KYj9^q6m-{;Ky6{q(f@jFTMzjKYy;iL;Y%aW%3ZDID5Ipeq}Uko z@(wOGfanS`+8N#Qvn@c6OGJ1$bFPa+gARTc0FnAL}(-tR;sdN^ic>SXWX>sv+$&P z(GV=wmY05AU)kpblrs%WB*E}Orch`#?_wJxPb+7#)&|v;2Lke?-XE5LUNA7B|NATSZ*z@Y2$-F#KjNP=E^<=V8Sy(1UaS* z7(tD6{2MGxxN8VI+75cw<5u;NFmzHg@ufLReUTNa3iRB<6x1x4+&F?qKA+%dvJf;4 zd)wj3D*o>^`b6zTmGMir z0X>eJ)ZIwMO5DA`*u7qUsJul*!fkX2x{VD)Tay}$W|`V2<3mPfA=cu@l6Xn;lGJ}O zR+I$lJPoFurGc_Dl}r2kbyV@(ZPVE8iPk{>(wzpJ%t;M2n4||R2(fj?A?duqblvZmfOA;B(bLcc zalGZL3o2r0I4)MS!t541>lV%f#fnNNZ1)M3wSo*f)fDQHKqA**oN)E z#aM3WMvPu(H@f|~v+%_=wt9dAo4z)m+(Db!2LM#4+&z(KuBuLgkp{6B1FS)nVJ8bB zz2N_Z2yVhX9~srS2%aU5 zLL?iqFJU{4HTp^n1v*n9>5MQK_)bI#>K2bjk)}vGKJEbXW8II$=)@un?Mxd`(-X56 z120rJ=h@kmfdq1^^0@D z*<9Tv-C%6M6i)7t;I?NXEmDN?6}Wqr=3XiUFT&Z3`YbJ;O7;#QKfeN=b~xv%Y>vNY zL+P#XR0nITN_a_2hiwIObagy)g}VPg)3kO7e6b87kY<6+eSD;b9LVLg+%C-V*;IH zszS{i6YoEo)MTi2!s&alf#bEHSD~R5U|m;B(4AM&&1(u2NX0Xn!h|(uAg7m__9aSg z_KEH^(r57AeNoULQmxh99KmteCudbFWX#JYZlT?(zv`H_fC(XgMp20xM}Q4Mp00iI z5+SUgFy9D64$K^ip#l`+Pay=<>{TrySuAnjdl3&uqPP5PTc5CwZwhlMm;U)$LKde- zhvzt^`E(Tqd}L5NncCI+TGZ0*Y#Mgx(KI^^m^ETYX$4h~L<%ymLJ=K1NNbqG*^ z2dG6poc?|h*$(DwZeqZ`JqN?!j|gr8Qionh7@ZF!sRbAI_&w(_W55gxI8-@+c9*}f zV0jdgnVoM=q0v=r`ZMj$ZTn=TI#FXc<1q0v29CF2oM1-kB-j<^hu9?&v_64`*{3vo zZ87Q@{O|Que3^Dn7Ov*L+7%hpPXvvR{A=^PafpNN5{^{AgaUCdZWZq%7ecV|fvXL6 zzg;z;-D*?ZVjDY3zqA-hza#}hK}dTV!&7C5#M7lKe255g?(*0ppqmpty?SbawGOdw zvx0Y}cddXH5!{5#*AB%UL@yZD-?8ofCnc!z-^($_kx`>{h&Fxd?j^v0Md;Uk|(-oH_k!BqZ?{h*|7q zR3yR>_cR@j#`48wVB_+JLdmg1IP#gwPkO@L(a*fybdxL%_#`u}O?6$8mDEH&hP0$C z^mAd_(KzZu@4q(7~&dex%yvp866OJ5+38MWWjaKVK zr6Q0IUk~4PjQ=z|$!$!5;ZYEtv6N{T@WW?p&k3Aw(wwck*_$f3K@<)pt_=Pn3uYjr zaD4NIMlxRx&kq-8y?KTvUAu58#ubNNuyEo-92CEO2&e1W)21P96~!+lyXi0r1?Xx3 zWRR^Tch&q#XH8qm6=S6mekoA3X%fYbRAfwIv!v_Ea+>5BwzH?iOoeQE5Y=IH2DM_U z9V5FJH{CJWTu|;S@v{6FpGlur%i>)wr?_f)uXEXf8Dn}8BVDbZ6i8(aVfi;wPmH4M z(3^o_)1+EB4~j%Uof&nJeBrFGAE5-AZ{bCnKyaA@>^0=7?~t;}+_m872f;@h5@1IC zIaE3BB{uSmktJ(I71*0;n1&n@9qRr@WXsGE4`F8T09C$AJ765va@lB;U14|-Z&URz zNNcdP3E~n-9BQEOx%+HBF)3LGmu0$D4qm$bf#^u{x@eYkwLx=A3>)6)pYhdW3@k7T zY=XOn&ZL}V&9E(ik{9E?D&2F>AB5#*W~h(~Y&5w({R+Gd%G>;Mn(E691gp&p6^P=d zn8Q3CQz(8iN;kPESEmPT)6axllaXP%6<1h<=3&GYTxOm~qg@z5S0rWnxUL}HUY#-l zcJ1Iq;?&aju-sIC$_qf=;R!Bf=qR2V*1ZRhk&=>m-YCpR)3s36lDIbD0iFETUv_(v^&5Bv0M)(SEpT& zPy*s${l?F%QHq6RHEDZe1$QEcCDywnmT(|}&X|Q7IZZqt*aoZBtp;MNE!v>kPgvtv zV&K%Q!tN8oGbPQlEv=_cLSn;W%;kd7T#U zH5q!#lat~AsT2&^~t8kH{BWwv8H<(~SFuBu;-FJpIA`Hpc z*8<#V6{uC)XaBCREqBayrN-bUwY$4Z;s zEIu?yOIip$C64C&m!V(Y_M$kfN|IY;t4w?BDFm`)^Y4i(CToB($Xz>_3#!d#|AdSOh#9T z|8kNJA0P#B0M64wtNf&+xbTP_c)`@gayD?ewh4s+a=X_JUEmZC7ATN4aL|m*Ry|14 zO>}#D1|+i!(O-?r5wwkHU4BOL-H0@Rz7X;gAeO+Lk1yj!NP?gf@sZgBYcx&jME?;! zn2kKsSPb}qcy*_QynH8sTb!WHUk>Q`YP&P^2f1fPA(!G&XiJ8tw!PV5tpNQ!!F?ua zYNt;s|C_&5dv{PL<~L_m1N7)o{gU2;6nDiB5&ZB zp5XlsUfz$aCOTwkp33~yHcpIX&6VQGS+X+waFSy6loyzr(ZbZFP#epusluWr{L*AW zHMo@J*f?mbvhCKw55dnN=5?_0v ztjuoPS?t-=K)A;c zUuL~*#?=v&3sT>{2W$@zReplN!bmAw}=-y-bf)9n8NbT18Kx!cMDkjsqyQ@k8EO@6~ z=SdSUkGf-g`384mu3bE(R=B00We3DmhRS-X){W-QXU%q)wFXEtd<>?%pFZd%Ijy1~ zfXiX?dF)j?OW#OaQ6x1l>5jvvc4We*3yEFEP3;@yV6&N_i+JvQgjq0mskl$;7e|O| zKS|V7X`W((t8x%jBxlU+7Q!%U^x{5@^~{gPF^SHWQ?n~9FXtbGGp@9->&0@d7X|9o z${j;BR3@kvfOM361NI->O|Y+EmU36q5*J&x1WNOLaDg0%)>%= z7%r+41l$T!uO<{OZ*BX}TNWL2kUw8Rqf|_(Pcc}JY~|wF4Dz1nTg=+vN#CAjP!`Ei zh9Zf9108(yaGvPc&n0ZakTz06fm#kC?x73e;W3Ec{7BiYrwyqzB<&5YCAbvQ25Mwl zuDaz|m-D0Kfw|>k%&$~S+^71R>kyPYbaYW#)UsC++5^V)NDZ{J$6_zm~~MHJKYzYjf!Epfdf8z>XTk}R2GcAb3MzK zjd;aHikU~s&Z*2~ky_2F!s zp=G?iT@aTG7?(dB7(K&SG{1nWGc}d7tQtIHyvQkX!{X978mg>(aN0tK-3ujHdSu7N zdV}bMGPI_d0o&JsLP1*Z-L5H*U%@@F!7}ioG|6@(C?~jhSxesgluA1(DDE6xCp|E10a5W(+CfBProC=`e!Ql^=mFf25?aZ`C(6sJ6GAhmu-*$>|d|#eAb5n3nkbZ^@ zcw^zGnp+H>(bHepW5+NRyCwnmHnKg@;U}=s~uZVi}9J} z;A6EaHX4|%?=e7alhTq}cY!IcS0F1r9!Rv>WQQm?UehRqOb&k}j$8=|lMj+#3R}{ZozP912Ozj6kdNNQaxV4QvJt?~+ zQ@Re7mQ`gKb0adY`#L{zcRaugVQ;c9@*o|Nb4yTjW16xgTvLU@7oTs5!3S)%8Xs1_ z_4)J@{@3_s5L=~y1K=VKm8zgn7@UxfwQ8(iw!PbsR+^$CA{CgzOA~jdT}{0Wu*YyA zu~0}ZULS|XHrKPrK>-2EwrRPxy6$C=s#-?MZmgfdAE|O%p26U4Vm-tSSW^MRU*}+! z^bjj9$RjS;_G}*xhR!-A;eWcx-yK~iuKNfA37;mD*SLKd>7c3IEvM(-ew;N-Fv0R4 z&`K)G4>5}%$Qw9!IiLX90ZXsaE(r+Q6H8imNm9)gEu^F+uc-g3DDUM)(IG{ zk21U9S3%O2U-1=4UH}b@iv@IP+ z>Jw|;7WGbzA^u>`fHrb^#@VBrl_Y^!?xj~AhaD%>L|)~Hx~U+QlMP;5ZwjD*{6#xrYeKq9b;C1yZcB7wuFi8Nm)#$P>+roAq{u)xR% zIiF+<*>Q~9CyL98Dpb7$i5C9sd`GUv|^R{UEvB`Zn7;$W7hEt_U$7Do8b=wM@Xn}92^gz{jI zN{6RbGGtHry!QKBOH*ZHC|NOOMlFgiEU&(8Op1XPqf{fIB23pcRe6nK!>d(ODKYl! z1LJE+>=H>qpro$*2N+imQhqNoyOk!0y6Q&bY9-7rSD2b+{54)nO?Q7^nZb3!VFqQ2 zJ@RTzP0xLSJf1CZkLp;LyHBOdsR?fE)PDihRw7thuYiy#KG1TmhU9u5ORUeq7Hw`` z$*U{q0>G_N>Cyw5bX7eVuWU&w8Cg_2JyD{h@qjfdo-Qod-kT<+YEY!FZkah8Wc67x zXJB9TcwPPUDtGpD%KfDF{6Kin+xT!U|4c>XVd}Q5{ORR%+ZMNhaziZ{D*CnY4#A?? zJ=)!j7V*{Xvf^b&xYf-J_PqY1_2n@9Q;eG#YPvn>jsz+>sm$Hi`|25G1MxBUExKFm zTw1-Rk*pbL#P9T#nz&Rn@*&J6j0m%9u_PdiD7FC!pl3*unpyB^#Ef5k<1k<6Q8%ya zfX{FOJ1dngm)G+Sks90qwDkVWly04{iq zDB&;#(BJPsM@CH=*SuB!odO2}BK)hsZ;ww~8=L6qn2TB38Q2)==o$PW^>U1q?IaV@ z_tR%|0(j*L!9hucFz#VYCsACPC|F8im1O<=2W#?q)Vu3GX?#g~M1N9BGl%rp73C%y zH&+y%0)AY8&1d0L5)`i?bV28Yh>4Tcuzm|0bkC_84qa(y8u~rnVd6#@9}ZZ80xxK1 zsvcqL7s1PFy-j#`; z^J6W}iKrcy3btMPxfTjPK_0S+otaR~+3G;5#-+$K4iK`KhLbs8hMMd$EX8f)A(l_A zH*Yh-rylY0vgxLDBFdp%dvk7471%!$_dm`E?y-%x_(&GRU{@GWU;cC|pgjX*d4LTnAyeFO6^CVF;n6^?amod58)RM;Sl zFB96ATMwazM;BB~`5)t{V?vo@55UB~a9HJ{uGUxCr{#b0q$KM6I4}^tkR3Vfx6!5s z&niiIt0RP$WY)4Ms7TRMnD; zms6wLyJF4^M*y$DH?8{L2K8UHvo^OkGO@H}{PI>9z|zXr&O}ea-rCy6z}D8v<_}dZ z!a86&nUKDmKL0Q{UC4usjLL~m%gy+NwD}ctA&1Naxou@n$d4HgZb%Pno-ZF+2_~{d zf$9bwg!9nq2*O|D=V{p7!Dk0^h+REhSIr$x*$}=x5dIr$W>o4W5Ls8s!I$vIT1;Df zXnPI8oOZ*lc(MC0lL^{{%_va7=y+A12JX4Z2ajp3{_ZS^raQgVH#P3x2Gu{QBWY!1 zq92#2u4Q(e!A)cy3redcK!Zx^2&ix@r zT405sxi`EwsdsHmqh}mK3v?NYe_(J-&B`=^GE~CYsWYrYrSZ0tSBs|3^5e`U81YP2 zG!_8<(=+jp#cA<%E;cDx*3UorUUb`ijZB*O4og%gIB#eeNX{gv?d6WZMheQTrE`Ay zm_swzub6#ij+#6Gt-3nBW&gX1yCnOBN^hz;z73*(Qc>E<&cOD!YX7fs^L&s|j2@wn zT55Et`Ymc!K+B#<3`x~0f&|m<>-`XzqM6^`o!^55f*%w40Q@c}1`vWu8NbQm|2F;> z6#qSo6eI-&|NljTzWL_x4-(lh&@=Rp+K=R%0 z1Z14XSLOXqNT@bgzsR@9-3I{#g!(3^nxNHNq_(uv0ytY6*lPSS4SHgiO*fg4{Iz=a z>bh-QE9uCksl_m1a&bj(fgzmfg7*+ZCqBAA;8SW?H4#Txe6`_ZF&c3sgXL*;aj0|Z z{z7s0H6=clYOHt+tK97TaJ_f0iHgeCsvRP{R)sWZ!<5-WMI^^3o_9KHkW*7!tVj?N z@I5e%(n1u0IbQ6o+$l89wveKGG|gQIU%1UFF~uf!T}4%6g5_h2J$=aG^|+bb5|6Db zZbkWa8hqe54tS#f#W?$GH&%-<73xChcP`ZZ5b#qVo?Kt(qeWi-nw+Q*HPy}dT(hGv zBdzLfnbsYBoF`dRbd)gN4U+)~E!$DzZCC3f5`05rBHttbO9AB<%*Rvb72RD(+2u)P zn}8-Bp7x51ak4JV?b!vKmiA`QSJFt|oCltTQmZcDZcPVP0A(P)*%AF|E(Y2O<*8}- zuco?%QQJ%bZk8f;uNpoajAL=!QL>#gV29N!{uLUr5jbN)D%@I?o`eXh9MtXx*o6W! zM2BY|lU9>7q8|4?QOaz_lf21W>&AOzDUWx-3dEyhMe)spU0^^!ux}pJvN15XWn}o{ zGdD&{rjrS+r%im)amM1qFDwd1<4)foxhJ6blPWf~*Bp9~)fH*dic+lZ-kYPe%fUv8 z{OVNme#ozsH8jR?IWZXZ<(OR)T6JOhh8n(NiTDKB zfS0zg--d8%W`o5W`_fRES&-jZ*Pyes;}%40o45=f6+#}nMhU5o8MH*wf@kIGL)U%Q zk_{pdKWl#qkHb;~cegt81Tr_5QUx=eHeDG42ViVP4njAY_?ynft9uNJL4ESY@H!~1 z3zcYyJ7P-BSLJFy*zWOaP%@Ki$v*Z*OgbW92RF(vKsS-Hq`9O)c%Y&d z7w+JE;1ovD=C$)}SI+*lk4lmhxCYh<$1(Y&m)e#_ON$_sgdU@xY`|c%u ztHQG4ihn(NePOV!`<}tHvy?1sB9X-yo7+e|?{ZWSmFs4knI-x2YeX4tw#D@x3~LZu zGnZk|DYXQYte)g;w-BP;dQ99chUBBS&b@us;SqFd;{6uM1oeu*`B2HU?ptx8h1rpi z1uV+qtf}CI9QD*iC z^h*vuTIFNhY^jx2s(4q}gMX{ctM#2kaie@}!hC1hVF%J9j}QXJNd9QNBhv()jODN- zh9#Lc!seM&v6&00EuAh}r>>4=sTerMw|j(qtq(4HuMK0rPZh8Lz2`{X!5*twu`Kp<;9sFhP`0l zi27R_jQ7m<9Vh-r!MB4Y=wFzB>p$_H@xD~$Z@HY`u5*8$rhhM7`5yAVJk)Q9_*>Td z8}jZfe~)>;LH9QXk^3*0KPT?Lw(Gu!yk8XlhODXl6Xf4Z#P^){Yqj5;NY%e^{(0s0 z9`=46@Ehi%_7~VctP0+f-sjxEN!sdvA^kgd`cE17d+ht%_cxYN;~%j9ArpR2eV=ar zrlM&61NB|<`JVPZQT$EI`zPAp)5iC(_X*u^n1t3prg!fF@AHY@0C=6hWf$*%`2JG( z`-j20e=*AcabbK`n46JPcI7xB-t=id|mUtwQX0{ktr1p-2Odken(J8`4`$G86i DRqH;) literal 0 HcmV?d00001